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YASKAWA SGDV-OCA05A User Manual
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2.2 Block D
iagrams
2.2.9 SGD7
S-R70F
, -R90F
, and -2R1
F
2
S
electing a
S
ERVOP
ACK
2-19
2.2.9
SGD7S-R70F
, -R90F
, and -2R1F
2.2.10
SGD7S-2R8F
Control
power
s
upply
B1/
B2
L1C
L2C
U
V
W
Current
s
en
s
or
Dynamic
brake circuit
CN2
S
ervomotor
ENC
Gate
drive
V
ari
s
tor
M
+
Gate drive
overcurrent
protection
T
emperature
s
en
s
or
Control
power
s
upply
+
−
Digital Operator
CN
3
Computer
CN7
S
tatu
s
di
s
play
Proce
ss
or
(PWM control, po
s
ition/
s
peed calculation
s
, etc.)
L1
L2
V
oltage
s
en
s
or
V
oltage
s
en
s
or
V
ari
s
tor
Relay
drive
+
−
+
−
CHARGE
Main
circuit
power
s
upply
Analog
voltage
converter
CN1
CN5
Analog monitor
output
S
afety function
s
ignal
s
CN8
I/O
Encoder divided
pul
s
e output
I/O
s
ignal
s
DeviceNet
Module
Feedback
Module
Proce
ss
or
(PWM control, po
s
ition/
s
peed calculation
s
, etc.)
Control
power
s
upply
B1/
B2
L1C
L2C
U
V
W
Current
s
en
s
or
Dynamic
brake circuit
CN2
S
ervomotor
ENC
Gate
drive
V
ari
s
tor
M
+
Gate drive
overcurrent
protection
T
emperature
s
en
s
or
Control
power
s
upply
+
−
Digital Operator
CN
3
Computer
CN7
S
tatu
s
di
s
play
L1
L2
V
oltage
s
en
s
or
V
oltage
s
en
s
or
V
ari
s
tor
Relay
drive
+
−
+
−
CHARGE
Main
circuit
power
s
upply
Analog
voltage
converter
CN1
CN5
Analog monitor
output
S
afety function
s
ignal
s
CN8
I/O
Encoder divided
pul
s
e output
I/O
s
ignal
s
DeviceNet
Module
Feedback
Module
S_An
alog
76
78
Table of Contents
About this Manual
3
Outline of Manual
3
Related Documents
4
Using this Manual
11
Safety Precautions
14
Warranty
24
Compliance with UL Standards, EU Directives, and Other Safety Standards
26
Table of Contents
29
Actual Operation
34
Basic Information
40
The Σ-7 Series
42
Introduction to the Devicenet Module
43
Devicenet Terminology
43
Data Types
43
Interpreting the Nameplate
44
SERVOPACK Nameplate
44
Devicenet Module Nameplate
44
Part Names
45
Interpreting Panel Displays
47
Panel Displays
47
LED Indicators
48
Model Designations
49
Interpreting SERVOPACK Model Numbers
49
Interpreting Devicenet Module Model Numbers
50
Interpreting Servomotor Model Numbers
51
Combinations of Servopacks and Servomotors
52
Combinations of Rotary Servomotors and Servopacks
52
Combinations of Direct Drive Servomotors and Servopacks
53
Combinations of Direct Drive Servomotors and Servopacks
54
Combinations of Linear Servomotors and Servopacks
56
Functions
57
Selecting a SERVOPACK
59
Ratings
60
Devicenet Module Power Loss
63
SERVOPACK Overload Protection Characteristics
64
Specifications
65
Block Diagrams
69
SGD7S-R70A, -R90A, and -1R6A
69
Sgd7S-2R8A
69
SGD7S-3R8A, -5R5A, and -7R6A
70
Sgd7S-120A
71
SGD7S-180A and -200A
73
Sgd7S-330A
74
SGD7S-470A and -550A
75
SGD7S-590A and -780A
76
SGD7S-R70F, -R90F, and -2R1F
77
Sgd7S-2R8F
77
External Dimensions
78
Front Cover Dimensions and Connector Specifications
78
SERVOPACK External Dimensions
78
Connector Specifications
78
Examples of Standard Connections between Servopacks and Peripheral Devices
85
Installation
87
Installation Precautions
88
Mounting the Devicenet Module to the SERVOPACK
89
Mounting Types and Orientation
90
Mounting Hole Dimensions
91
Mounting Interval
92
Installing One SERVOPACK in a Control Panel
92
Installing more than One SERVOPACK in a Control Panel
92
Monitoring the Installation Environment
93
EMC Installation Conditions
94
Wiring and Connections
97
Wiring and Connecting Servopacks
99
General Precautions
99
Countermeasures against Noise
102
Grounding
105
Wiring the Power Supply to the SERVOPACK
107
Terminal Symbols and Terminal Names
107
Wiring Procedure for Main Circuit Connector
110
Power on Sequence
111
Power Supply Wiring Diagrams
112
Wiring Regenerative Resistors
118
Wiring Reactors for Harmonic Suppression
120
Wiring Servomotors
121
Terminal Symbols and Terminal Names
121
Pin Arrangement of Encoder Connector (CN2)
121
Wiring the SERVOPACK to the Encoder
122
Wiring the SERVOPACK to the Holding Brake
128
I/O Signal Connector (CN1) Pin Arrangement
130
I/O Signal Wiring Examples
130
I/O Signal Connections
130
I/O Circuits
132
Connecting Safety Function Signals
134
Pin Arrangement of Safety Function Signals (CN8)
134
I/O Circuits
134
Pin Arrangement of Safety Function Signals
134
Cn8
134
Devicenet System Configuration
136
System Configuration Example for Devicenet Communications
136
Connection Examples for Devicenet Communications Cable
137
Precautions for Connecting Devicenet Communications Cables
138
Signal Names and Functions of the Devicenet Communications Connector (CN6)
141
Network Connection Methods
142
Connecting the Other Connectors
143
Serial Communications Connector (CN3)
143
Computer Connector (CN7)
143
Analog Monitor Connector (CN5)
143
Basic Functions that Require Setting before Operation
144
Manipulating Parameters (Pn)
146
Parameter Classification
146
Notation for Parameters
147
Parameter Setting Methods
148
Write Prohibition Setting for Parameters
151
Initializing Parameter Settings
153
Managing Parameters (Pn)
155
Power Supply Type Settings for the Main Circuit and Control Circuit
156
AC Power Supply Input/DC Power Supply Input Setting
156
Single-Phase AC Power Supply Input/Three-Phase AC Power Supply Input Setting
157
Automatic Detection of Connected Motor
158
Motor Direction Setting
159
Setting the Linear Encoder Pitch
160
Writing Linear Servomotor Parameters
161
Selecting the Phase Sequence for a Linear Servomotor
165
Polarity Sensor Setting
167
Polarity Detection
168
Restrictions
168
Using the Servo on Command to Perform Polarity Detection
169
Using a Tool Function to Perform Polarity Detection
170
Overtravel and Related Settings
171
Overtravel Signals
171
Setting to Enable/Disable Overtravel
172
Setting Overtravel Signal Polarity
172
Motor Stopping Method for Overtravel
172
Holding Brake
173
Brake Operating Sequence
173
BK (Brake) Signal
174
Output Timing of /BK (Brake) Signal When the Servomotor Is Stopped
175
Output Timing of /BK (Brake) Signal When the Servomotor Is Operating
175
Motor Stopping Method for Servo off and Alarms
177
Stopping Method for Servo off
178
Servomotor Stopping Method for Alarms
178
Motor Overload Detection Level
181
Detection Timing for Overload Warnings (A.910)
181
Detection Timing for Overload Warnings
181
Detection Timing for Overload Alarms (A.720)
182
Electronic Gear Settings
183
Resetting the Absolute Encoder
189
Precautions on Resetting
189
Preparations
189
Applicable Tools
190
Operating Procedure
190
Setting the Origin of the Absolute Encoder
192
Absolute Encoder Origin Offset
192
Setting the Origin of the Absolute Linear Encoder
192
Setting the Regenerative Resistor Capacity
195
Application Functions
196
Input Signals
198
Output Signals
198
SEMI F47 Function
201
Setting the Motor Maximum Speed
203
Encoder Divided Pulse Output
203
Encoder Divided Pulse Output
204
Setting for the Encoder Divided Pulse Output
209
Setting for the Encoder Divided Pulse Output
210
Software Limits
211
Setting to Enable/Disable Software Limits
211
Setting the Software Limit Action
211
Setting the Software Limits
211
Internal Torque Limits
212
Absolute Encoders
213
Connecting an Absolute Encoder
214
Multiturn Limit Setting
214
Multiturn Limit Disagreement Alarm (A.CC0)
215
Absolute Linear Encoders
218
Connecting an Absolute Linear Encoder
218
Software Reset
219
Preparations
219
Applicable Tools
219
Operating Procedure
219
Initializing the Vibration Detection Level
221
Preparations
221
Applicable Tools
222
Operating Procedure
222
Related Parameters
224
Adjusting the Motor Current Detection Signal Offset
225
Automatic Adjustment
225
Manual Adjustment
227
External Stop Function
229
EXSTOP (External Stop Input) Signal
229
Enabling/Disabling the External Stop Input Signal
229
Setting the Polarity of the External Stop Input Signal
229
Signal
229
Overheat Protection
230
Connecting the Overheat Protection Input (TH) Signal
230
Overheat Protection Selection
230
Connecting the Overheat Protection Input
230
(TH) Signal
230
Trial Operation and
232
Flow of Trial Operation
233
Flow of Trial Operation for Rotary Servomotors
233
Inspections and Confirmations before Trial Operation
237
Trial Operation for the Servomotor Without a Load
238
Preparations
238
Applicable Tools
239
Operating Procedure
239
Trial Operation with Devicenet Communications
241
Trial Operation with the Servomotor Connected to the Machine
242
Precautions
242
Preparations
242
Operating Procedure
243
Convenient Function to Use During Trial Operation
244
Program Jogging
244
Origin Search
250
Test Without a Motor
252
Monitoring
255
Tuning
256
Overview and Flow of Tuning
259
Tuning Functions
260
Diagnostic Tool
260
Monitoring Methods
261
Precautions to Ensure Safe Tuning
262
Overtravel Settings
262
Torque Limit Settings
262
Setting the Position Deviation Overflow Alarm Level
262
Vibration Detection Level Setting
264
Setting the Position Deviation Overflow Alarm Level at Servo on
264
Tuning-Less Function
266
Application Restrictions
266
Operating Procedure
267
Parameters Disabled by Tuning-Less Function
269
Automatically Adjusted Function Setting
269
Related Parameters
269
Estimating the Moment of Inertia
270
Outline
270
Restrictions
271
Applicable Tools
271
Operating Procedure
272
Autotuning Without Host Reference
278
Outline
278
Restrictions
279
Applicable Tools
280
Operating Procedure
280
Troubleshooting Problems in Autotuning Without a Host Reference
284
Automatically Adjusted Function Settings
286
Related Parameters
288
Autotuning with a Host Reference
289
Outline
289
Restrictions
290
Applicable Tools
290
Operating Procedure
291
Troubleshooting Problems in Autotuning with a Host Reference
295
Automatically Adjusted Function Settings
295
Related Parameters
296
Custom Tuning
297
Outline
297
Preparations
297
Applicable Tools
298
Operating Procedure
298
Automatically Adjusted Function Settings
304
Tuning Example for Tuning Mode 2 or 3
304
Related Parameters
305
Anti-Resonance Control Adjustment
306
Outline
306
Preparations
306
Applicable Tools
307
Operating Procedure
307
Related Parameters
309
Suppressing Different Vibration Frequencies with Anti-Resonance Control
309
Vibration Suppression
311
Outline
311
Preparations
312
Applicable Tools
312
Operating Procedure
312
Related Parameters
314
Speed Ripple Compensation
315
Outline
315
Setting up Speed Ripple Compensation
315
Setting Parameters
319
Additional Adjustment Functions
322
Automatic Gain Switching
322
Automatic Gain Switching
323
Friction Compensation
324
Gravity Compensation
326
Current Control Mode Selection
328
Current Gain Level Setting
328
Speed Detection Method Selection
329
Speed Feedback Filter
329
Backlash Compensation
329
Fully-Closed Loop Control
330
Manual Tuning
334
Tuning the Servo Gains
334
Compatible Adjustment Functions
344
Diagnostic Tools
348
Mechanical Analysis
348
Easy FFT
350
Monitoring Product Information
355
Items that You Can Monitor
355
Operating Procedures
355
Monitoring SERVOPACK Status
356
System Monitor
356
Monitoring Status and Operations
357
I/O Signal Monitor
359
Monitoring Machine Operation Status and Signal Waveforms
360
Items that You Can Monitor
360
Using the Sigmawin
361
Using the Analog Monitors
363
Monitoring Product Life
367
Items that You Can Monitor
367
Operating Procedure
368
Preventative Maintenance
368
Alarm Tracing
369
Data for Which Alarm Tracing Is Performed
369
Applicable Tools
369
Fully-Closed System
371
SERVOPACK Commissioning Procedure
372
Parameter Settings for Fully-Closed Loop Control
374
Control Block Diagram for Fully-Closed Loop Control
374
Setting the Motor Direction and the Machine Movement Direction
375
Loop Control
375
Setting the Number of External Encoder Scale Pitches
376
Setting the PAO, PBO, and PCO (Encoder Divided Pulse Output)
376
Signals
376
Setting the PAO, PBO, and PCO (Encoder Divided Pulse Output) Signals
376
Electronic Gear Setting
377
Alarm Detection Settings
377
Analog Monitor Signal Settings
378
Setting to Use an External Encoder for Speed Feedback
378
Introduction to the Safety Functions
380
Safety Functions
380
Precautions for Safety Functions
380
Hard Wire Base Block (HWBB)
381
Risk Assessment
381
Hard Wire Base Block (HWBB) State
382
Resetting the HWBB State
383
Detecting Errors in HWBB Signal
383
HWBB Input Signal Specifications
384
Operation Without a Host Controller
384
Servo Ready
385
BK (Brake Output) Signal
385
Stopping Methods
386
ALM (Servo Alarm) Signal
386
EDM1 (External Device Monitor)
387
EDM1 Output Signal Specifications
387
Applications Examples for Safety Functions
388
Connection Example
388
Failure Detection Method
388
Procedure
389
Validating Safety Functions
390
Connecting a Safety Function Device
391
Devicenet Functions
392
Setting the Coordinate System
393
Coordinate System Selection
393
Setting the Reference Units Per Machine Revolution
393
Origin Returns
394
Origin Return Type
394
Parameter Settings
394
Setting the Origin
396
Positioning
397
Acceleration/Deceleration Patterns
397
Parameter Settings
402
Positioning after Continuous Operation
404
Positioning Patterns after Continuous Operation
404
Parameter Settings
405
Special Functions
407
Action Definition Settings
407
Initialization Functions
408
Devicenet Communications
409
Devicenet Communications Settings
411
Setting the Node Address
411
Setting the Baud Rate
412
Communications Methods
413
I/O Communications
413
Explicit Message Communications
419
Controlling Operation from the Host Controller
421
Positioning
421
Continuous Operation
422
Origin Returns
423
Switching to Positioning
426
Hard Stop Operation
428
Smooth Stop Operation
429
External Stop Operation
429
Hardware Limit Operation
430
Software Limit Operation
430
Programmed Operation
431
What Is Programmed Operation
431
Command Blocks
431
Block Command Details
432
Command Block Links
436
Creating and Changing Command Blocks
436
Starting Programmed Operation
438
Reading and Changing Attributes
439
Devicenet Data Management
439
Executing a Module Reset
441
Maintenance
442
Inspections and Part Replacement
443
Inspections
443
Guidelines for Part Replacement
443
Replacing the Battery
444
Alarm Displays
446
List of Alarms
447
Troubleshooting Alarms
452
Resetting Alarms
484
Displaying the Alarm History
485
Clearing the Alarm History
486
Resetting Alarms Detected in Option Modules
487
Resetting Motor Type Alarms
489
Warning Displays
490
List of Warnings
490
Troubleshooting Warnings
491
Troubleshooting Based on the Operation and Conditions of the Servomotor
497
Parameter Lists
507
List of Parameters
508
Interpreting the Parameter Lists
508
List of Parameters
509
Parameter Recording Table
532
Appendices
540
Corresponding SERVOPACK and Sigmawin+ Function Names
541
Corresponding SERVOPACK Utility Function Names
541
Corresponding SERVOPACK Monitor Display Function Names
542
Devicenet Object Model
544
Devicenet Attributes
546
Identity Object
546
Message Router Object
546
Devicenet Object
547
Assembly Objects
548
Connection Objects
548
Position Controller Supervisor Object
550
Position Controller Object
551
Block Sequencer Object
553
Command Block Objects
554
Control Parameter Object
555
SERVOPACK Parameter Object
556
Relationship between Parameters and Attributes
562
Relation between Alarm Codes and Alarm Numbers
567
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YASKAWA SGDV-OCA05A Specifications
General
Brand
YASKAWA
Model
SGDV-OCA05A
Category
Controller
Language
English
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