YASKAWA SGDV SERVOPACK User Manual

www.dadehpardazan.ir 88594014-15
5 Operation
5-2
5.6 Internal Set Speed Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-56
5.6.1 Basic Settings for Speed Control with an Internal Set Speed . . . . . . . . . . . . . . . . . . 5-56
5.6.2 Example of Operating with Internal Set Speeds . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-58
5.7 Combination of Control Methods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-59
5.7.1 Switching Internal Set Speed Control (Pn000.1 = 4, 5, or 6) . . . . . . . . . . . . . . . . . . 5-59
5.7.2 Switching Other Than Internal Set Speed Control (Pn000.1 = 7, 8 or 9) . . . . . . . . . 5-62
5.7.3 Switching Other Than Internal Set Speed Control (Pn000.1 = A or B) . . . . . . . . . . . 5-62
5.8 Limiting Force . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-63
5.8.1 Internal Force Limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-63
5.8.2 External Force Limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-64
5.8.3 Force Limiting Using an Analog Voltage Reference . . . . . . . . . . . . . . . . . . . . . . . . . 5-65
5.8.4 Force Limiting Using an External Force Limit and Analog Voltage Reference . . . . . 5-67
5.8.5 Checking Output Force Limiting during Operation . . . . . . . . . . . . . . . . . . . . . . . . . . 5-69
5.9 Absolute Linear Scales . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-70
5.9.1 Absolute Data Request Signal (SEN) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-70
5.9.2 Absolute Data Reception Sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-72
5.10 Other Output Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-75
5.10.1 Servo Alarm Output Signal (ALM) and
Alarm Code Output Signals (ALO1, ALO2, and ALO3) . . . . . . . . . . . . . . . . . . . . . . 5-75
5.10.2 Warning Output Signal (/WARN) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-76
5.10.3 Movement Detection Output Signal (/TGON) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-77
5.10.4 Servo Ready Output Signal (/S-RDY) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-77
5.11 Safety Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-78
5.11.1 Hard Wire Base Block (HWBB) Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-78
5.11.2 External Device Monitor (EDM1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-82
5.11.3 Application Example of Safety Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-84
5.11.4 Confirming Safety Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-85
5.11.5 Precautions for Safety Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-85

YASKAWA SGDV SERVOPACK Specifications

General

Model	SGDV
Type	SERVOPACK
Control Modes	Position, Speed, Torque
Communication Interface	MECHATROLINK-II, MECHATROLINK-III, EtherCAT
Protection Rating	IP20
Operating Temperature	0°C to 55°C
Vibration Resistance	5.9 m/s² (0.6G) at 10-60Hz
Shock Resistance	49 m/s² (5G)
Protection Features	Overcurrent, Overvoltage, Undervoltage, Overload, Regenerative overload, Encoder error