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YASKAWA SGMSV User Manual
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xiv
Harmonized S
tandards
North American Sa
fety S
t
andards (UL)
European Directives
Model
UL S
tandards
(UL File No.)
SERVOP
ACK
SGDV
UL508C (E147823)
Servomotor
•S
G
M
J
V
•S
G
M
A
V
•S
G
M
P
S
•
SGMGV
•S
G
M
S
V
UL1004 (E165827)
Model
European Directives
Harmonized S
tandards
SERVOP
ACK
SGDV
Machinery Directive
2006/42/EC
EN ISO13849-1: 2008
EN 954-1
EMC Directive
2004/108/EC
EN 5501
1 group1, classA
EN 61000-6-2
EN 61800-3
Low V
oltage Directiv
e
2006/95/EC
EN 50178
EN 61800-5-1
Servomotor
•S
G
M
J
V
•S
G
M
A
V
•S
G
M
P
S
•
SGMGV
•S
G
M
S
V
EMC Directive
2004/108/EC
EN 5501
1 group1, classA
EN 61000-6-2
EN 61800-3
Low V
oltage Directiv
e
2006/95/EC
EN 60034-1
EN 60034-5
13
15
Table of Contents
Default Chapter
3
About this Manual
3
Safety Precautions
7
Warranty
12
Harmonized Standards
14
Table of Contents
16
Chapter 1 Outline
22
Σ-V Series Servopacks
22
Part Names
22
SERVOPACK Ratings and Specifications
23
Ratings
23
Basic Specifications
25
MECHATROLINK-II Function Specifications
28
SERVOPACK Internal Block Diagrams
29
Single-Phase 100 V, SGDV-R70F11A, -R90F11A, -2R1F11A Models
29
Single-Phase 100 V, SGDV-2R8F11A Model
29
Single-Phase 200 V, SGDV-120A11A008000 Model
30
Three-Phase 200 V, SGDV-R70A11, -R90A11, -1R6A11 Models
30
Three-Phase 200 V, SGDV-2R8A11 Model
31
Three-Phase 200 V, SGDV-3R8A11A, -5R5A11A, -7R6A11A Models
31
Three-Phase 200 V, SGDV-120A11A Model
32
Three-Phase 200 V, SGDV-180A11A, -200A11A Models
32
Three-Phase 200 V, SGDV-330A11A Model
33
Three-Phase 200 V, SGDV-470A11A, -550A11A Models
33
Three-Phase 200 V SGDV-590A11A, -780A11A Models
34
Three-Phase 400 V, SGDV-1R9D11A, -3R5D11A, -5R4D11A Models
34
Three-Phase 400 V, SGDV-8R4D11A, -120D11A Models
35
Three-Phase 400 V, SGDV-170D11A Model
35
Three-Phase 400 V, SGDV-210D11A, -260D11A Models
36
Three-Phase 400 V, SGDV-280D11A, -370D11A Models
36
Examples of Servo System Configurations
37
Connecting to SGDV-F11A SERVOPACK
37
Connecting to SGDV-A11 SERVOPACK
38
Connecting to SGDV-D11A SERVOPACK
40
SERVOPACK Model Designation
41
Servo Drive Maintenance and Inspection
42
SERVOPACK Inspection
42
Servopack's Parts Replacement Schedule
42
Servomotor Inspection
43
Chapter 2 Panel Display and Operation of Digital Operator
45
Panel Display
45
Status Display
45
Alarm and Warning Display
45
Hard Wire Base Block Display
45
Overtravel Display
45
Operation of Digital Operator
46
Utility Functions (Fn)
46
Parameters (Pn)
47
Parameter Classification
47
Notation for Parameters
47
Setting Parameters
48
Monitor Displays (Un)
50
Chapter 3 Wiring and Connection
52
Main Circuit Wiring
52
Main Circuit Terminals
52
Using a Standard Power Supply (Single-Phase 100 V, Three-Phase 200 V, or Three-Phase 400 V)
53
Using a Standard Power Supply (Sin- Gle-Phase 100 V, Three-Phase 200 V, or Three-Phase 400 V)
53
Using the SERVOPACK with Single-Phase, 200 V Power Input
61
Using the SERVOPACK with a DC Power Input
64
Using more than One SERVOPACK
66
General Precautions for Wiring
67
I/O Signal Connections
68
I/O Signal (CN1) Names and Functions
68
Safety Function Signal (CN8) Names and Functions
69
Example of I/O Signal Connections
70
I/O Signal Allocations
71
Input Signal Allocations
71
Output Signal Allocations
73
Examples of Connection to Host Controller
74
Sequence Input Circuit
74
Sequence Output Circuit
75
Wiring MECHATROLINK-II Communications
77
Encoder Connection
78
Encoder Signal (CN2) Names and Functions
78
Encoder Connection Examples
78
Connecting Regenerative Resistors
80
Setting Regenerative Resistor Capacity
82
Noise Control and Measures for Harmonic Suppression
83
Wiring for Noise Control
83
Precautions on Connecting Noise Filter
85
Connecting a Reactor for Harmonic Suppression
86
Chapter 4 Operation
87
MECHATROLINK-II Communications Settings
89
Setting the Communications Specifications
89
Setting the Station Address
90
MECHATROLINK-II Commands
90
Basic Functions Settings
91
Servomotor Rotation Direction
91
Overtravel
92
Software Limit Settings
95
Holding Brakes
96
Stopping Servomotors after SV_OFF Command or Alarm Occurrence
101
Instantaneous Power Interruption Settings
103
SEMI F47 Function
104
Setting Motor Overload Detection Level
107
Trial Operation
109
Inspection and Checking before Trial Operation
109
Trial Operation Via MECHATROLINK-II
110
Electronic Gear
111
Encoder Output Pulses
113
Setting Encoder Output Pulse
114
Test Without Motor Function
115
Motor Information
115
Motor Position and Speed Responses
116
Limitations
117
Digital Operator Displays During Testing Without Motor
118
Limiting Torque
119
Internal Torque Limit
119
External Torque Limit
120
Checking Output Torque Limiting During Operation
121
Absolute Encoders
122
Connecting the Absolute Encoder
123
Absolute Data Request (SENS on Command)
125
Battery Replacement
126
Absolute Encoder Setup and Reinitialization
128
Absolute Data Reception Sequence
129
Multiturn Limit Setting
134
Multiturn Limit Disagreement Alarm (A.CC0)
135
Absolute Encoder Origin Offset
136
Other Output Signals
137
Servo Alarm Output Signal (ALM)
137
Warning Output Signal (/WARN)
137
Rotation Detection Output Signal (/TGON)
138
Servo Ready Output Signal (/S-RDY)
138
Speed Coincidence Output Signal (/V-CMP)
139
Positioning Completed Output Signal (/COIN)
140
Positioning Near Output Signal (/NEAR)
141
Speed Limit Detection Signal (/VLT)
142
Safety Function
144
Hard Wire Base Block (HWBB) Function
144
External Device Monitor (EDM1)
150
Application Example of Safety Functions
152
Confirming Safety Functions
153
Safety Device Connections
154
Precautions for Safety Functions
155
Chapter 5 Adjustments
158
Type of Adjustments and Basic Adjustment Procedure
158
Adjustments
158
Basic Adjustment Procedure
159
Monitoring Operation During Adjustment
160
Safety Precautions on Adjustment of Servo Gains
163
Tuning-Less Function
166
Tuning-Less Levels Setting (Fn200) Procedure
169
Related Parameters
171
Advanced Autotuning (Fn201)
172
Advanced Autotuning
172
Advanced Autotuning Procedure
175
Related Parameters
181
Advanced Autotuning by Reference (Fn202)
182
Advanced Autotuning by Reference
182
Advanced Autotuning by Reference Procedure
185
Related Parameters
189
One-Parameter Tuning (Fn203)
190
One-Parameter Tuning
190
One-Parameter Tuning Procedure
192
One-Parameter Tuning Example
198
Related Parameters
200
Anti-Resonance Control Adjustment Function (Fn204)
201
Anti-Resonance Control Adjustment Function
201
Anti-Resonance Control Adjustment Function Operating Procedure
202
Related Parameters
206
Vibration Suppression Function (Fn205)
207
Vibration Suppression Function
207
Vibration Suppression Function Operating Procedure
208
Related Parameters
211
Additional Adjustment Function
212
Switching Gain Settings
212
Manual Adjustment of Friction Compensation
216
Current Control Mode Selection Function
218
Current Gain Level Setting
218
Speed Detection Method Selection
218
Backlash Compensation Function
219
Compatible Adjustment Function
225
Feedforward Reference
225
Mode Switch (P/PI Switching)
226
Torque Reference Filter
228
Position Integral
230
Chapter 6 Utility Functions (Fn)
231
List of Utility Functions
232
Alarm History Display (Fn000)
233
JOG Operation (Fn002)
234
Origin Search (Fn003)
236
Program JOG Operation (Fn004)
238
Initializing Parameter Settings (Fn005)
242
Clearing Alarm History (Fn006)
243
Offset Adjustment of Analog Monitor Output (Fn00C)
244
Gain Adjustment of Analog Monitor Output (Fn00D)
246
Automatic Offset-Signal Adjustment of the Motor Current Detection Signal
248
(Fn00E)
248
Automatic Offset-Signal Adjustment of the Motor Current Detection Signal (Fn00E)
248
Manual Offset-Signal Adjustment of the Motor Current Detection Signal
249
Manual Offset-Signal Adjustment of the Motor Current
249
Detection Signal (Fn00F)
249
(Fn00F)
251
Write Prohibited Setting (Fn010)
251
Servomotor Model Display (Fn011)
253
Software Version Display (Fn012)
254
Resetting Configuration Errors in Option Modules (Fn014)
255
Vibration Detection Level Initialization (Fn01B)
256
Display of SERVOPACK and Servomotor ID (Fn01E)
258
Display of Servomotor ID in Feedback Option Module (Fn01F)
260
Origin Setting (Fn020)
261
Software Reset (Fn030)
262
Easyfft (Fn206)
263
Online Vibration Monitor (Fn207)
267
Chapter 7 Monitor Displays (Un)
270
List of Monitor Displays
271
Viewing Monitor Displays
272
Monitoring Input Signals
273
Interpreting Input Signal Display Status
273
Input Signal Display Example
274
Monitoring Input Signals
274
Monitoring Output Signals
275
Interpreting Output Signal Display Status
275
Output Signal Display Example
275
Monitoring Safety Input Signals
276
Interpreting Safety Input Signal Display Status
276
Safety Input Signal Display Example
276
Chapter 8 Fully-Closed Loop Control
278
System Configuration and Connection Example for SERVOPACK with Fully-Closed Loop Control
278
System Configuration
278
Internal Block Diagram of Fully-Closed Loop Control
279
Serial Converter Unit
280
Example of Connections to External Encoders
282
Encoder Output Pulse Signals from SERVOPACK with an External Encoder by Renishaw Plc
283
Precautions When Using an External Incremental Encoder by Magnescale
284
SERVOPACK Startup Procedure
288
Parameter Settings for Fully-Closed Loop Control
290
Parameter Settings for Fully-Closed Loop Control
291
Motor Rotation Direction
291
Sine Wave Pitch (Frequency) for an External Encoder
293
Setting Encoder Output Pulses (PAO, PBO, and PCO)
293
External Absolute Encoder Data Reception Sequence
294
Electronic Gear
297
Alarm Detection
298
Analog Monitor Signal
299
Speed Feedback Method During Fully-Closed Loop Control
299
Electronic Gear
299
Alarm Detection
299
Chapter 9 Troubleshooting
300
Alarm Displays
301
List of Alarms
301
Troubleshooting of Alarms
305
Warning Displays
322
List of Warnings
322
Troubleshooting of Warnings
323
Monitoring Communication Data on Occurrence of an Alarm or Warning
327
Monitoring Communication Data on Occurrence of an Alarm
327
Troubleshooting Malfunction Based on Operation and Conditions of the Servomotor
328
Chapter 10 Appendix
334
List of Parameters
335
Parameter Recording Table
366
Index
373
4
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YASKAWA SGMSV Specifications
General
Brand
YASKAWA
Model
SGMSV
Category
Servo Drives
Language
English
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