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YASKAWA SGM series User Manual
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4.
1
Basic
Operations
173
For
Position
Control
(SGDA
-
jjj
P)
Bit
Data
Code
Positioning
Complete
Base
Block
Power
ON
Reference
Pulse
Input
TGON
or
T
orque
Limit
Detected
see
next
page
see
below
Code
Status
Base
block
Servo
OFF
Run
Servo
ON
Forward
Rotation
Prohibited
1CN-16
(P-OT)
OFF
.
See
Cn-01
Bit
2
(page
57).
Reverse
Rotation
Prohibited
1CN-17
(N-OT)
OFF
.
See
Cn-01
Bit
3
(page
57).
Alarm
Status
Displays
the
alarm
number
.
See
the
table
of
alarms
on
page
185.
4
SGDA-
jjj
P
Positions
183
185
Table of Contents
Table of Contents
9
Chapter 1 For First-Time Users of Ac Servos
6
Table of Contents
9
Basic Understanding of AC Servos
14
Servo Mechanisms
14
Servo Configuration
17
Features of Σ-Series Servos
23
Basic Uses of Σ-Series Products
27
Chapter 2 Basic Uses of Σ-Series Products
27
Precautions
28
Notes on Use
28
Installation
30
Checking on Delivery
30
Installing the Servomotor
31
Installing the Servopack
34
Connection and Wiring
37
Connecting to Peripheral Devices
37
Main Circuit Wiring and Power on Sequence
37
Main Circuit Wiring and Power on Sequence
40
Examples of Connecting I/O Signal Terminals
42
Conducting a Test Run
49
Test Run in Two Steps
49
Step 1: Conducting a Test Run for Motor Without Load
51
Step 2: Conducting a Test Run with the Motor Connected to the Machine
56
Supplementary Information on Test Run
58
Minimum User Constants Required and Input Signals
60
Applications of Σ-Series Products
62
Chapter 3 Applications of Σ-Series Products
62
Setting User Constants According to Machine Characteristics
65
Changing the Direction of Motor Rotation
65
Setting the Overtravel Limit Function
67
Restricting Torque
70
Setting User Constants According to Host Controller
76
Inputting Speed Reference
76
Inputting Position Reference
80
Using Encoder Output
84
Using Contact I/O Signals
88
Using Electronic Gear
90
Using Contact Input Speed Control
94
Using Torque Control
99
Using Torque Feed-Forward Function
105
Using Torque Restriction by Analog Voltage Reference
106
Using the Reference Pulse Inhibit Function (INHIBIT)
108
Using the Reference Pulse Inhibit Function (INHIBIT)
109
Using the Reference Pulse Input Filter Selection Function
110
Setting up the Σ Servopack
111
Setting User Constants
111
Setting the Jog Speed
112
Setting the Number of Encoder Pulses
113
Setting the Motor Type
114
Setting Stop Mode
115
Adjusting Offset
115
Using Dynamic Brake
116
Using Zero-Clamp
117
Using Holding Brake
118
Running the Motor Smoothly
122
Using the Soft Start Function
122
Using the Smoothing Function
122
Adjusting Gain
122
Using the Smoothing Function
123
Adjusting Gain
123
Adjusting Offset
124
Setting the Torque Reference Filter Time Constant
124
Minimizing Positioning Time
125
Using Autotuning Function
125
Setting Servo Gain
125
Using Feed-Forward Control
127
Using Proportional Control
127
Setting Speed Bias
128
Using Mode Switch
129
Using Speed Loop Compensation Function
135
Forming a Protective Sequence
136
Using Servo Alarm Output and Alarm Code Output
136
Using Servo on Input Signal
139
Using Positioning Complete Signal
140
Using Speed Coincidence Output Signal
142
Using Running Output Signal
143
Handling of Power Loss
145
Special Wiring
147
Wiring for Noise Control
149
Special Wiring
150
Wiring for Noise Control
151
Using more than One Servo Drive
154
Using Regenerative Units
155
Using an Absolute Encoder
159
Extending an Encoder Cable
168
Using SGDA Servopack with High Voltage Line
170
Connector Terminal Layouts
172
Using the Digital Operator
178
Basic Operations
179
Connecting the Digital Operator
179
Resetting Servo Alarms
180
Basic Functions and Mode Selection
181
Operation in Status Display Mode
182
Operation in User Constant Setting Mode
185
Operation in Monitor Mode
190
Using the Functions
194
Operation in Alarm Trace-Back Mode
194
Operation Using the Digital Operator
197
Autotuning
200
Reference Offset Automatic Adjustment
207
Speed Reference Offset Manual Adjustment Mode
210
Clearing Alarm Trace-Back Data
213
Checking Motor Type
214
Checking Software Version
215
Servo Selection and Data Sheets
216
Selecting a Σ-Series Servo
216
Selecting a Servomotor
218
Selecting a Servopack
224
Selecting a Digital Operator
226
SGM Servomotor
228
Ratings and Specifications
228
Mechanical Characteristics
243
Servopack Ratings and Specifications
246
Ratings and Specifications
246
Overload Characteristics
251
Starting Time and Stopping Time
252
Load Inertia
252
Overhanging Loads
255
In-Rush Current and Power Loss
256
Σ-Series Dimensional Drawings
257
Servomotor Dimensional Drawings
257
Servopack Dimensional Drawings
257
Digital Operator Dimensional Drawings
257
Servopack Dimensional Drawings
300
Digital Operator Dimensional Drawings
302
Selecting Peripheral Devices
304
Order List
310
5.6 Specifications and Dimensional Drawings of Peripheral Devices
319
Specifications and Dimensional Drawings of Peripheral Devices
319
Cable Specifications and Peripheral Devices
319
Motor Cables
322
Connector Kits
325
Brake Power Supply
329
Encoder Cables
331
Battery for Absolute Encoder
336
1CN Connector
337
Connector Terminal Block Converter Unit
339
Cable with 1CN Connector and One End Without Connector
341
Circuit Breaker
341
Noise Filter
342
Magnetic Contactor
343
Surge Suppressor
344
Regenerative Unit
345
Variable Resistor for Speed Setting
346
Encoder Signal Converter Unit
347
Cables for Connecting PC and Servopack
349
Inspection, Maintenance, and Troubleshooting
353
Chapter 6 Inspection, Maintenance, and Troubleshooting
354
Inspection and Maintenance
354
Servomotor
354
Inspection and Maintenance
355
Servopack
355
Replacing Battery for Absolute Encoder
356
Servomotor
356
Troubleshooting
357
Troubleshooting Problems with Alarm Display
357
Troubleshooting
358
Troubleshooting Problems with no Alarm Display
376
Internal Connection Diagram and Instrument Connection Examples
378
Appendix B
383
Σ-Series AC Servopack Gain Adjustment
384
Σ-Series AC Servopacks and Gain Adjustment Methods
384
Basic Rules for Gain Adjustment
385
B.1 Σ-Series AC Servopack Gain Adjustment
385
Adjusting a Speed-Control Servopack
386
Adjusting Using Auto-Tuning
386
Manual Adjustment
387
B.2 Adjusting a Speed-Control Servopack
387
B.2.2 Manual Adjustment
388
Adjusting a Position-Control Servopack
390
Adjusting Using Auto-Tuning
390
Manual Adjustment
391
B.3 Adjusting a Position-Control Servopack
391
B.3.2 Manual Adjustment
392
B.4 Gain Setting References
395
B.4.1 Guidelines for Gain Settings According to Load Inertia Ratio
396
C List of I/O Signals
398
Index
422
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Safety Precautions
35 pages
5
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YASKAWA SGM series Specifications
General
Brand
YASKAWA
Model
SGM series
Category
Servo Drives
Language
English
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