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CONTENTS

xiii

5.6.15 Variable Resistor for Speed Setting 335...................................

5.6.16 Encoder Signal Converter Unit 336......................................

5.6.17 Cables for Connecting PC and Servopack 338..............................

CHAPTER 6 INSPECTION, MAINTENANCE, AND TROUBLESHOOTING 343

6.1 Inspection and Maintenance 344................................................

6.1.1 Servomotor 344......................................................

6.1.2 Servopack 345.......................................................

6.1.3 Replacing Battery for Absolute Encoder 346...............................

6.2 Troubleshooting 347.........................................................

6.2.1 Troubleshooting Problems with Alarm Display 347..........................

6.2.2 Troubleshooting Problems With No Alarm Display 366......................

6.2.3 Internal Connection Diagram and Instrument Connection Examples 368.........

APPENDIXES

A Differences Between SGDA and SGD Servopacks 367..............................

B Servo Adjustment 374........................................................

B.1 Σ-Series AC Servopack Gain Adjustment 374.....................................

B.1.1 Σ-Series AC Servopacks and Gain Adjustment Methods 374..................

B.1.2 Basic Rules for Gain Adjustment 375.....................................

B.2 Adjusting a Speed-control Servopack 376........................................

B.2.1 Adjusting Using Auto-tuning 376........................................

B.2.2 Manual Adjustment 377...............................................

B.3 Adjusting a Position-control Servopack 380.......................................

B.3.1 Adjusting Using Auto-tuning 380........................................

B.3.2 Manual Adjustment 381...............................................

B.4 Gain Setting References 385...................................................

B.4.1 Guidelines for Gain Settings According to Load Inertia Ratio 385..............

C List of I/O Signals 385........................................................

D List of User Constants 397....................................................

E List of Alarm Displays 409....................................................

INDEX 415...........................................................

YASKAWA SGDA series User Manual

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