YASKAWA SGD7S series

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6.5 Speed Control

6.5.1 Basic Settings for Speed Control

Application Functions

6-21

Click the Adjust Button.

The value that results from automatic adjustment will be displayed in the New Box.

This concludes the procedure to automatically adjust the speed reference offset.

Main Page

Table of Contents28
Basic Information on28
The Σ-7 Series41
Interpreting the Nameplate42
Part Names43
Model Designations45
- Interpreting SERVOPACK Model Numbers45
- Interpreting Servomotor Model Numbers46
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
- Ratings and Specifications58
- Specifications59
Block Diagrams64
- SGD7S-R70A, -R90A, and -1R6A64
- Sgd7S-2R8A64
- SGD7S-3R8A, -5R5A, and -7R6A65
- Sgd7S-120A66
- SGD7S-180A and -200A67
- Sgd7S-330A68
- SGD7S-470A and -550A69
- SGD7S-590A and -780A70
- SGD7S-R70F, -R90F, and -2R1F70
- Sgd7S-2R8F71
External Dimensions72
- Front Cover Dimensions and Connector Specifications72
- SERVOPACK External Dimensions73
Examples of Standard Connections between Servopacks and Peripheral Devices79
SERVOPACK Installation81
Installation Precautions82
Mounting Types and Orientation83
Mounting Hole Dimensions84
Mounting Interval86
- Installing One SERVOPACK in a Control Panel86
- Installing more than One SERVOPACK in a Control Panel86
Monitoring the Installation Environment87
Derating Specifications88
EMC Installation Conditions89
- Wiring and Connecting Servopacks92
Wiring and Connecting Servopacks94
- General Precautions94
- 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 Encoder118
- 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 Arrangement127
- I/O Signal Wiring Examples128
- I/O Circuits134
Connecting Safety Function Signals139
- Pin Arrangement of Safety Function Signals (CN8)139
- I/O Circuits139
Connecting the Other Connectors141
- Serial Communications Connector (CN3)141
- Computer Connector (CN7)141
- Analog Monitor Connector (CN5)141
Manipulating Parameters (Pn)145
- Parameter Classification145
- Notation for Parameters146
- Parameter Setting Methods147
- Write Prohibition Setting for Parameters149
- Initializing Parameter Settings152
Control Method Selection154
Power Supply Type Settings for the Main Circuit and Control Circuit155
- AC Power Supply Input/DC Power Supply Input Setting155
- Single-Phase AC Power Supply Input/Three-Phase AC Power Supply Input Setting156
Automatic Detection of Connected Motor157
Functions and Settings for the /S-ON (Servo ON) Signal158
- Function of the /S-ON (Servo ON) Signal158
- Setting to Keep the Servo on and Supply Power to the Motor Continuously158
Motor Direction Setting159
Setting the Linear Encoder Pitch160
Writing Linear Servomotor Parameters161
Selecting the Phase Sequence for a Linear Servomotor165
Polarity Sensor Setting167
Polarity Detection168
- Restrictions168
- Using the /S-ON (Servo ON) Signal to Perform Polarity Detection169
- Using the /P-DET (Polarity Detection) Signal to Perform Polarity Detection170
  - Detection170
  - Using a Tool Function to Perform Polarity Detection171
Overtravel and Related Settings172
- Overtravel Signals173
- Setting to Enable/Disable Overtravel173
- Motor Stopping Method for Overtravel174
- Overtravel Warnings175
Holding Brake177
- Brake Operating Sequence177
- BK (Brake) Signal178
- Output Timing of /BK (Brake) Signal When the Servomotor Is Stopped179
- Output Timing of /BK (Brake) Signal When the Servomotor Is Operating180
Motor Stopping Methods for Servo off and Alarms182
- Stopping Method for Servo off183
- Servomotor Stopping Method for Alarms183
Motor Overload Detection Level185
- Detection Timing for Overload Warnings (A.910)185
- Detection Timing for Overload Warnings185
- Detection Timing for Overload Alarms (A.720)186
Electronic Gear Settings187
- Electronic Gear Ratio Settings188
- Electronic Gear Ratio Setting Examples191
Resetting the Absolute Encoder192
- Precautions on Resetting192
- Preparations192
- Applicable Tools193
- Operating Procedure193
Setting the Origin of the Absolute Encoder195
- Setting the Origin of the Absolute Linear Encoder195
Setting the Regenerative Resistor Capacity198
Application Functions199
I/O Signal Allocations203
- Input Signal Allocations203
- Output Signal Allocations206
- ALM (Servo Alarm) Signal208
- ALO1 to ALO3 (Alarm Code) Signals208
- WARN (Warning) Signal209
- TGON (Rotation Detection) Signal209
- S-RDY (Servo Ready) Signal210
Operation for Momentary Power Interruptions211
SEMI F47 Function212
Setting the Motor Maximum Speed214
Speed Control215
- Basic Settings for Speed Control215
- Soft Start Settings222
- Speed Reference Filter222
- Zero Clamping223
- V-CMP (Speed Coincidence Detection) Signal225
- Operation Examples for Changing the Motor Direction226
Position Control228
- Basic Settings for Position Control229
- CLR (Position Deviation Clear) Signal Function and Settings231
- Reference Pulse Input Multiplication Switching232
- Smoothing Settings234
- COIN (Positioning Completion) Signal235
- NEAR (Near) Signal236
- Reference Pulse Inhibition Function237
Torque Control238
- Basic Settings for Torque Control238
- Adjusting the Torque Reference Offset239
- Torque Reference Filter Settings243
- Speed Limit During Torque Control243
Encoder Divided Pulse Output245
- Encoder Divided Pulse Output Signals245
- Setting for the Encoder Divided Pulse Output250
- Setting for the Encoder Divided Pulse Output251
Internal Set Speed Control252
- Input Signals for Internal Set Speed Control252
- Setting the Control Method to Internal Set Speed Control253
- Settings for Internal Set Speed Control253
- Changing Internal Set Speeds with Input Signals254
Selecting Combined Control Methods256
- Setting Pn000 = N.X (Control Method Selection) to 7, 8, or 9256
- Setting Pn000 = N.X (Control Method Selection) to a or B259
- Setting Pn000 = N.X (Control Method Selection) to 4, 5, or 6259
- Setting Pn000 = N.X (Control Method Selection) to 7, 8, or 9259
Selecting Torque Limits261
- Internal Torque Limits261
- External Torque Limits262
- Limiting Torque with an Analog Reference265
Absolute Encoders271
- Connecting an Absolute Encoder272
- Structure of the Position Data of the Absolute Encoder272
- Encoder272
- Output Ports for the Position Data from the Absolute Encoder273
- Reading the Position Data from the Absolute Encoder274
- Encoder274
- Transmission Specifications278
- Calculating the Current Position in Machine Coordinates279
- Alarm Output from Output Ports for the Position Data from the Absolute Encoder280
- Multiturn Limit Setting280
- Multiturn Limit Disagreement Alarm (A.CC0)282
Absolute Linear Encoders285
- Connecting an Absolute Linear Encoder285
- Structure of the Position Data of the Absolute Linear Encoder285
- Output Ports for the Position Data from the Absolute Linear Encoder286
- Reading the Position Data from the Absolute Linear Encoder287
- Transmission Specifications291
- Calculating the Current Position in Machine Coordinates292
- Alarm Output from the Output Ports for the Position Data from the Absolute Linear Encoder293
Software Reset294
- Preparations294
- Applicable Tools294
- Operating Procedure294
Initializing the Vibration Detection Level296
- Preparations296
- Applicable Tools297
- Operating Procedure297
- Related Parameters299
Adjusting the Motor Current Detection Signal Offset300
- Automatic Adjustment300
- Manual Adjustment302
Forcing the Motor to Stop304
- FSTP (Forced Stop Input) Signal304
- Stopping Method Selection for Forced Stops304
- Stops304
- Resetting Method for Forced Stops306
Overheat Protection307
- Connecting the Overheat Protection Input (TH) Signal307
- Overheat Protection Selection307
- Trial Operation and Actual Operation309
Flow of Trial Operation310
- Flow of Trial Operation for Rotary Servomotors310
- Flow of Trial Operation for Linear Servomotors312
Inspections and Confirmations before Trial Operation314
Trial Operation for the Servomotor Without a Load315
- Preparations315
- Applicable Tools316
- Operating Procedure316
Trial Operation from the Host Controller for the Servomotor Without a Load319
- Preparing the Servomotor for Trial Operation319
- Trial Operation for Speed Control321
- Trial Operation for Position Control from the Host Controller with the SERVOPACK Used for Speed Control322
- Trial Operation for Position Control323
Trial Operation with the Servomotor Connected to the Machine325
- Precautions325
- Preparations326
- Operating Procedure326
- Maintenance327
Convenient Function to Use During Trial Operation328
- Program Jogging328
- Origin Search333
- Test Without a Motor335
- Tuning340
Overview and Flow of Tuning343
- Tuning Functions344
- Diagnostic Tool345
Monitoring Methods346
Precautions to Ensure Safe Tuning347
- Overtravel Settings347
- Torque Limit Settings347
- Setting the Position Deviation Overflow Alarm Level347
- Vibration Detection Level Setting349
- Setting the Position Deviation Overflow Alarm Level at Servo on350
Tuning-Less Function351
- Application Restrictions351
- Operating Procedure352
- Troubleshooting Alarms353
- Parameters Disabled by Tuning-Less Function354
- Automatically Adjusted Function Setting354
- Related Parameters354
Estimating the Moment of Inertia355
- Outline355
- Restrictions356
- Applicable Tools356
- Operating Procedure357
Autotuning Without Host Reference363
- Outline363
- Restrictions364
- Applicable Tools365
- Operating Procedure365
- Troubleshooting Problems in Autotuning Without a Host Reference370
- Automatically Adjusted Function Settings371
- Related Parameters373
Autotuning with a Host Reference374
- Outline374
- Restrictions374
- Applicable Tools375
- Operating Procedure375
- Troubleshooting Problems in Autotuning with a Host Reference379
- Automatically Adjusted Function Settings380
- Related Parameters380
Custom Tuning381
- Outline381
- Preparations381
- Applicable Tools382
- Operating Procedure382
- Automatically Adjusted Function Settings388
- Tuning Example for Tuning Mode 2 or 3388
- Related Parameters389
Anti-Resonance Control Adjustment390
- Outline390
- Preparations390
- Applicable Tools391
- Operating Procedure391
- Related Parameters393
- Suppressing Different Vibration Frequencies with Anti-Resonance Control393
Vibration Suppression395
- Outline395
- Preparations396
- Applicable Tools396
- Operating Procedure396
- Setting Combined Functions398
- Related Parameters398
Speed Ripple Compensation399
- Outline399
- Setting up Speed Ripple Compensation399
- Setting Parameters403
Additional Adjustment Functions405
- Gain Switching405
- Gain Switching406
- Friction Compensation409
- Gravity Compensation410
- Current Control Mode Selection412
- Current Gain Level Setting412
- Speed Detection Method Selection413
- Speed Feedback Filter413
- Proportional Control (P Control)413
Manual Tuning415
- Tuning the Servo Gains415
- Compatible Adjustment Functions425
Diagnostic Tools431
- Mechanical Analysis431
- Mechanical Analysis432
- Easy FFT433
- Easy FFT434
- Monitoring437
Monitoring Product Information438
- Items that You Can Monitor438
- Operating Procedures439
Monitoring SERVOPACK Status440
- Servo Drive Status440
- Monitoring Status and Operations441
- I/O Signal Monitor443
Monitoring Machine Operation Status and Signal Waveforms444
- Items that You Can Monitor444
- Using the Sigmawin445
- Using a Measuring Instrument446
Monitoring Product Life451
- Items that You Can Monitor451
- Operating Procedure452
- Preventative Maintenance453
Alarm Tracing454
- Data for Which Alarm Tracing Is Performed454
- Applicable Tools454
Fully-Closed System456
SERVOPACK Commissioning Procedure457
Parameter Settings for Fully-Closed Loop Control459
- Control Block Diagram for Fully-Closed Loop Control459
- Setting the Motor Direction and the Machine Movement Direction460
- Loop Control460
- Setting the Number of External Encoder Scale Pitches461
- Setting the PAO, PBO, and PCO (Encoder Divided Pulse Output) Signals461
- Setting the Number of External Encoder Scale461
- External Absolute Encoder Data Reception Sequence462
- Electronic Gear Setting462
- Alarm Detection Settings462
- External Absolute Encoder Data Reception462
- Analog Monitor Signal Settings464
- Setting to Use an External Encoder for Speed Feedback464
Introduction to the Safety Functions466
- Safety Functions466
- Precautions for Safety Functions466
Hard Wire Base Block (HWBB)467
- Risk Assessment467
- Hard Wire Base Block (HWBB) State468
- Resetting the HWBB State468
- Detecting Errors in HWBB Signal469
- HWBB Input Signal Specifications469
- Operation Without a Host Controller469
- S-RDY (Servo Ready Output) Signal470
- BK (Brake Output) Signal470
- Stopping Methods470
- Settings to Clear the Position Deviation471
- ALM (Servo Alarm) Signal and ALO1, ALO2, and ALO3471
  - (Alarm Code Output) Signals471
EDM1 (External Device Monitor)472
- EDM1 Output Signal Specifications472
Applications Examples for Safety Functions473
- Connection Example473
- Failure Detection Method473
- Procedure474
Validating Safety Functions475
Connecting a Safety Function Device476
Inspections and Part Replacement478
- Inspections478
- Guidelines for Part Replacement478
- Replacing the Battery479
Alarm Displays481
- List of Alarms481
Warning Displays524
- List of Warnings524
- Troubleshooting Warnings525
Troubleshooting Based on the Operation and Conditions of the Servomotor531
- Panel Displays and Panel Operator Procedures541
Panel Operator541
- Panel Operator Key Names and Functions543
- Changing Modes543
- Status Displays544
Parameter (Pn) Operations on the Panel Operator546
- Setting Parameters that Require Numeric Settings546
- Setting Parameters that Require Selection of Functions547
Monitor Display (Un) Operations on the Panel Operator548
- Basic Monitor Display Operations548
- Input Signal Monitor (Un005)548
- Output Signal Monitor (Un006)549
- Safety Input Signal Monitor (Un015)550
- Upper Limit Setting Monitor for Maximum Motor Speed/Upper Limit Setting for Encoder Output Resolution (Un010)551
- Polarity Sensor Signal Monitor (Un011)551
Utility Function (Fn) Operations on the Panel Operator552
- Display Alarm History (Fn000)552
- Jog (Fn002)553
- Origin Search (Fn003)554
- Jog Program (Fn004)555
- Initialize Parameters (Fn005)556
- Clear Alarm History (Fn006)556
- Reset Absolute Encoder (Fn008)557
- Autotune Analog (Speed/Torque) Reference Offset (Fn009)558
- Manually Adjust Speed Reference Offset (Fn00A)558
- Manually Adjust Torque Reference Offset (Fn00B)559
- Adjust Analog Monitor Output Offset (Fn00C)560
- Adjust Analog Monitor Output Gain (Fn00D)560
- Autotune Motor Current Detection Signal Offset (Fn00E)561
- Manually Adjust Motor Current Detection Signal Offset (Fn00F)562
- Write Prohibition Setting (Fn010)563
- Display Servomotor Model (Fn011)564
- Display Software Version (Fn012)565
- Multiturn Limit Setting after Multiturn Limit Disagreement Alarm (Fn013)566
- Reset Option Module Configuration Error (Fn014)567
- Initialize Vibration Detection Level (Fn01B)567
- Display SERVOPACK and Servomotor Ids (Fn01E)568
- Display Servomotor ID from Feedback Option Module (Fn01F)568
- Set Absolute Linear Encoder Origin (Fn020)568
- Resetting Motor Type Alarms (Fn021)569
- Software Reset (Fn030)569
- Polarity Detection (Fn080)569
- Tuning-Less Level Setting (Fn200)570
- Advanced Autotuning Without Reference (Fn201)571
- Advanced Autotuning with Reference (Fn202)571
- One-Parameter Tuning (Fn203)571
- Adjust Anti-Resonance Control (Fn204)572
- Vibration Suppression (Fn205)572
- Easy FFT (Fn206)572
- Parameter Lists574
List of Parameters575
- Interpreting the Parameter Lists575
- List of Parameters576
Parameter Recording Table607
Appendices614
Examples of Connections to Host Controllers615
- Example of Connections to MP2000/MP3000-Series SVA-01615
- Motion Module615
- Example of Connections to Yokogawa Electric's F3YP2-0P Positioning Module for Position Control616
- Example of Connections to Yokogawa Electric's F3NC3-0N Positioning Module for Position Control617
- Example of Connections to an OMRON Position Control Unit618
- Example of Connection to Mitsubishi's QD75D Positioning Module for Position Control619
Corresponding SERVOPACK and Sigmawin+ Function Names620
- Corresponding SERVOPACK Utility Function Names620
- Corresponding SERVOPACK Monitor Display Function Names621

YASKAWA SGD7S series - Page 219

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