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9.4 Servo Gain Adjustment Functions

9-15

9.4 Servo Gain Adjustment Functions

9.4.1 Feed-forward Reference

Pn109 Feed-forward

Setting Range Setting Unit Factory Setting Setting Validation

0 to 100 % 0 Immediately

Pn10A Feed-forward Filter Time Constant

Setting Range Setting Unit Factory Setting Setting Validation

0 to 6,400

(0.00 to 64.00 ms)

0.01ms 0 Immediately

Applies feed-forward compensation in position control inside

the

SERVOPACK. Use this parameter to shorten positioning

time. Too high value may cause the machine to vibrate. For

ordinary machines, set 80% or less in this parameter.

Position

reference pulse

Encoder feedback pulse

Position loop

gain Kp

Pn109 Pn10A

Differ-

ential

Default Chapter6
- Safety Information6
- Notes for Safe Operation7
- Table of Contents13
- Outline25
- Checking Products26
  - Check Items26
  - Servomotors26
1 Outline26
- Servopacks27
- Product Part Names28
  - Servomotors28
    - SGMAH and SGMPH Without Gears and Brakes28
    - SGMGH/SGMSH/SGMDH/SGMUH Without Gears and Brakes28
  - Servopacks29
    - SGDH for 30 W to 5.0 Kw29
    - SGDH for 6.0 Kw to 15.0 Kw30
- Examples of Servo System Configurations31
- Applicable Standards34
  - North American Safety Standards (UL, CSA)34
  - CE Marking34
2 Selections35
- Servomotor Model Designations36
- Selecting Servomotors48
  - Support Tool for the Capacity Selection of the AC Servomotors48
  - Servomotor Capacity Selection Examples48
- SERVOPACK Model Designations49
- Σ-II Series Servopacks and Applicable Servomotors50
- Selecting Cables51
  - Cables for SGMAH and SGMPH Servomotors51
  - Cables for SGMGH/SGMSH/SGMDH/SGMUH Servomotors56
- Selecting Peripheral Devices60
3 Specifications and Dimensional Drawings68
- Ratings and Specifications of SGMAH (3000 Min -1)70
- SGMAH Servomotors Without Gears70
- SGMAH Servomotors with Standard Backlash Gears72
- SGMAH Servomotors with Low-Backlash Gears74
- Ratings and Specifications of SGMPH (3000 Min -1)77
- SGMPH Servomotors Without Gears77
- SGMPH Servomotors with Standard Backlash Gears79
- SGMPH Servomotors with Low-Backlash Gears81
- 3.3.2 SGMGH Servomotors (1500Min87
- SGMGH Servomotors89
- Mechanical Specifications of Servomotors109
- Terms and Data for Servomotors with Gears112
- Servomotor Dimensional Drawings114
- With Standard Backlash Gears114
  - With Low-Backlash Gears114
    - Dimensional Drawings of SGMAH Servomotors (3000 Min -1)115
    - SGMAH Servomotors (3000 Min -1) Without Gears115
- Without Gears114
- Without Gears116
Dimensional Drawings of SGMAH Servomotors117
- Model SGMAH (3000 Min -1 )117
4 SERVOPACK Specifications and Dimensional Drawings225
- SERVOPACK Ratings and Specifications225
- SERVOPACK Installation231
- SERVOPACK Internal Block Diagrams233
- Overload Characteristics243
- Starting and Stopping Time244
- Load Moment of Inertia244
SERVOPACK Dimensional Drawings247
- Model247
- Single-Phase 100 V: 200 W (02BE) Single-Phase 200 V: 400 W (04AE)249
  - Three-Phase 200 V: 500 W/750 W/1.0 Kw (05AE/08AE/10AE)250
  - Single-Phase 220 V: 750 W (08AE-S)250
- Three-Phase 200 V: 1.5 Kw (15AE)251
- Three-Phase 400 V: 500 W/750 W/1.0 Kw/1.5 Kw (05DE/08DE/10DE/15DE)251
- Single-Phase 220 V: 1.5 Kw (15AE-S) Three-Phase 200 V: 2.0 Kw/3.0 Kw (20AE/30AE) Three-Phase 400 V: 2.0 Kw/3.0 Kw (20DE/30DE)252
- Three-Phase 200 V: 5.0 Kw (50AE) Three-Phase 400 V: 5.0 Kw (50DE)253
- Three-Phase 200 V: 6.0 Kw/7.5 Kw (60AE/75AE)254
- Three-Phase 400 V: 6.0 Kw/7.5 Kw (60DE/75DE)255
- Three-Phase 200 V: 11.0 Kw/15.0 Kw (1AAE/1EAE)256
- Three-Phase 400 V: 11.0 Kw/15.0 Kw (1ADE/1EDE)257
- Single-Phase 100 V: 200 W (02BE-R) Single-Phase 200 V: 400 W (04AE-R)259
- Single-Phase 220 V: 1.5 Kw (15AE-S-R)262
  - Three-Phase 200 V: 2.0 Kw/3.0 Kw (20AE-R/30AE-R)263
  - Three-Phase 400 V: 2.0 Kw/3.0 Kw (20DE-R/30DE-R)263
- Three-Phase 200 V: 5.0 Kw (50AE-R) Three-Phase 400 V: 5.0 Kw (50DE-R)264
- Dimensional Drawings of Duct-Ventilated SERVOPACK Model265
5 Specifications and Dimensional Drawings of Cables and Peripheral Devices269
- Main Circuit Cable269
- Specifications and Dimensional Drawings of Servomotor Main Circuit Cable271
- Cables for SGMAH and SGMPH Servomotors Without Brakes271
- Cables for SGMAH and SGMPH Servomotors with Brakes271
- Flexible Cables for SGMAH and SGMPH Servomotors Without Brakes272
- Flexible Cables for SGMAH and SGMPH Servomotors with Brakes273
- Cables for 400 V SGMAH and SGMPH Servomotors Without Brakes273
- Cables for 400 V SGMAH and SGMPH Servomotors with Brakes274
- Servomotor Main Circuit Wire Size and Connectors275
SERVOPACK Main Circuit Wire Size313
- Cable Types313
- Encoder Cable for SGMGH, SGMSH, SGMDH, and SGMUH Servomotors316
  - Encoder Cable with Connectors for SGMAH and SGMPH Servomotors316
  - Encoder Cables for CN2 Connector316
- Encoder Cable with a SERVOPACK Connector and Encoder Loose Leads for SGMAH and SGMPH Servomotors317
- Encoder Cable with a SERVOPACK Connector and Encoder Loose Leads for SGMGH, SGMSH, SGMDH, and SGMUH Servomotors318
- Encoder Flexible Cables for SGMAH and SGMPH Servomotors320
- Encoder Flexible Cables for SGMGH, SGMSH, SGMDH, and SGMUH Servomotors321
Connectors and Cables for Encoder Signals323
- Connectors and Cables for SGMAH and SGMPH Servomotors323
- Connectors and Cables for SGMGH, SGMSH, SGMDH, and SGMUH Servomotors325
Flexible Cables327
I/O Signal Cables for CN1 Connector328
- Standard Cables328
- Connector Type and Cable Size328
- Connection Diagram330
Peripheral Devices331
- Cables for Connecting Personal Computers331
- Digital Operator332
- Cables for Analog Monitor333
- Connector Terminal Block Converter Unit334
- Brake Power Supply Unit335
- External Regenerative Resistor337
- Regenerative Resistor Unit339
- Absolute Encoder Battery340
- Molded-Case Circuit Breaker (MCCB)341
- Noise Filter343
- Magnetic Contactor348
- Surge Suppressor352
- DC Reactor for Harmonic Suppression354
- Variable Resistor for Speed and Torque Setting356
- Encoder Signal Converter Unit357
- MECHATROLINK-I I/F Unit358
- Devicenet I/F Unit359
- PROFIBUS-DP I/F Unit360
- INDEXER Module362
- Setup Support Tool Sigmaindexer363
- Fully-Closed I/F Unit364
6 Wiring365
- Wiring Main Circuit366
- Wiring Encoders372
  - Connecting an Encoder (CN2) and Output Signals from the SERVOPACK (CN1)372
  - Encoder Connector (CN2) Terminal Layout373
- Examples of I/O Signal Connections374
- Others383
7 Digital Operator/Panel Operator402
- Functions on Digital Operator/Panel Operator403
- Operation in Utility Function Mode (Fn )409
- Operation in Parameter Setting Mode (Pn )420
- Operation in Monitor Mode (un )429
  - List of Monitor Modes429
8 Operation433
- Trial Operation436
- Control Mode Selection449
- Setting Common Basic Functions450
- Absolute Encoders459
- Operating Using Speed Control with Analog Reference470
- Operating Using Position Control480
- Operating Using Torque Control493
- Limiting Torque501
- Control Mode Selection507
  - Setting Parameters507
- Other Output Signals509
9 Adjustments512
- Autotuning513
  - Servo Gain Adjustment Methods513
  - List of Servo Adjustment Functions514
- Online Autotuning516
- Manual Tuning523
- Servo Gain Adjustment Functions526
- Analog Monitor539
10 Inspection, Maintenance, and Troubleshooting541
- Alarm Display Table542
- Troubleshooting542
- Warning Display544
- Alarm Display Table When the Application Module Is Used545
- Warning Display Table When the Application Module Is Used546
- Alarm Display Table When the Linear Motor Is Used546
- Troubleshooting of Alarm and Warning547
- Warning Display and Troubleshooting556
- Troubleshooting for Malfunction Without Alarm Display557
- Inspection and Maintenance562
11 Appendix564
- Selection Example for Speed Control565
- Servomotor Capacity Selection Examples565
  - Selection Example for Position Control567
  - Calculating the Required Capacity of Regenerative Resistors570
- Connection to Host Controller579
- Example of Connection to Omron's Position Control Unit584
- Example of Connection to Omron's Position Control Unit C500-NC221 (SERVOPACK in Speed Control Mode)585
- Example of Connection to Omron's Position Control Unit585
- Example of Connection to Omron’s Position Control Unit C500-NC112 (SERVOPACK in Position Control Mode)586
- Example of Connection to Mitsubishi's AD72 Positioning Unit (SERVOPACK in Speed Control Mode)587
- Example of Connection to Mitsubishi's AD75 Positioning Unit (SERVOPACK in Position Control Mode)588
List of Parameters589
- Utility Functions List589
- List of Parameters590
- Monitor Modes606
Parameter Recording Table607
- Index610
- Revision History615

Series	SGDH
Position Control	Yes
Speed Control	Yes
Torque Control	Yes
Protection Class	IP20
Type	Servo Drive
Communication	MECHATROLINK-II, MECHATROLINK-III, EtherCAT
Feedback System	Incremental Encoder, Absolute Encoder

YASKAWA SGDH User Manual

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YASKAWA SGDH Specifications

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