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9 Adjustments

9.2.2 Online Autotuning Procedure

9-6

9.2.2 Online Autotuning Procedure

• Do not perform extreme adjustment or setting changes causing unstable servo operation.

Failure to observe this warning may result in injury and damages to the machine.

• Adjust the gains slowly while confirming motor operation.

WARNING

Start

Operate with factory setting.

(Set Pn110.0 = 0.)

Operation OK?

Load moment of

inertia varies?

Operation OK?

Continuous online autotuning.

(Set Pn110.0 = 1.)

Ajust the machine rigidity setting.

(Set at Fn001.)

Operation OK?

Do not perform online autotuning.

(Set Pn110.0 = 2.)

Adjust the friction compensation.

(Set Pn110.2.)

Yes

End

Write the result of autotuning

in the parameter.

The result will be used as the

default vaue for next autotuning.

(Utility function Fn007)

Front Cover1
About this Manual3
Related Manuals5
Safety Information6
Notes for Safe Operation7
CONTENTS13
1 Outline24
- 1.1 Checking Products25
- 1.2 Product Part Names27
  - 1.2.1 Servomotors27
  - 1.2.2 SERVOPACKs29
- 1.3 Examples of Servo System Configurations31
- 1.4 Applicable Standards34
  - 1.4.1 North American Safety Standards (UL, CSA)34
  - 1.4.2 CE Marking34
- 1.5 Sigma-II Series SGDM SERVOPACK Upgraded Functions35
2 Selections37
- 2.1 Servomotor Model Designations38
- 2.2 SERVOPACK Model Designations50
- 2.3 Sigma-II Series SERVOPACKs and Applicable Servomotors51
  - 2.3.1 SGDM SERVOPACKs and SGM*H Servomotors51
  - 2.3.2 SGDM SERVOPACKs and SGMCS Servomotors52
- 2.4 Selecting Cables53
- 2.5 Selecting Peripheral Devices62
3 Servomotor Specifications and Dimensional Drawings67
- 3.1 Ratings and Specifications of SGMAH (3000 min-1)70
  - 3.1.1 SGMAH Servomotors Without Gears70
  - 3.1.2 SGMAH Servomotors With Standard Backlash Gears72
  - 3.1.3 SGMAH Servomotors With Low-backlash Gears74
- 3.2 Ratings and Specifications of SGMPH (3000 min-1)76
  - 3.2.1 SGMPH Servomotors Without Gears76
  - 3.2.2 SGMPH Servomotors With Standard Backlash Gears79
  - 3.2.3 SGMPH Servomotors With Low-backlash Gears80
- 3.3 Ratings and Specifications of SGMGH (1500 min-1)81
  - 3.3.1 SGMGH Servomotors (1500 min-1) Without Gears81
  - 3.3.2 SGMGH Servomotors (1500 min-1) With Standard Backlash Gears84
  - 3.3.3 SGMGH Servomotors (1500 min-1) With Low-backlash Gears86
- 3.4 Ratings and Specifications of SGMGH (1000 min-1)88
  - 3.4.1 SGMGH Servomotors (1000 min-1) Without Gears88
  - 3.4.2 SGMGH servomotors (1000 min-1) With Standard Backlash Gears90
  - 3.4.3 SGMGH Servomotors (1000 min-1) With Low-backlash Gears92
- 3.5 Ratings and Specifications of SGMSH (3000 min-1)93
  - 3.5.1 SGMSH Servomotors (3000 min-1) Without Gears93
  - 3.5.2 SGMSH Servomotors (3000 min-1) With Low-backlash Gears95
- 3.6 Ratings and Specifications of SGMDH (2000 min-1)97
  - 3.6.1 SGMDH Servomotors (2000 min-1) With Holding Brakes97
- 3.7 Ratings and Specifications of SGMCS Servomotors99
  - 3.7.1 Small-capacity Series SGMCS Servomotors99
  - 3.7.2 Middle-capacity Series SGMCS Servomotors102
- 3.8 Mechanical Specifications of SGMAH, SGMPH, SGMGH, SGMSH, and SGMDH Servomotors104
  - 3.8.1 Precautions on Servomotor Installation104
  - 3.8.2 Mechanical Tolerance105
  - 3.8.3 Direction of Servomotor Rotation105
  - 3.8.4 Impact Resistance106
  - 3.8.5 Vibration Resistance106
  - 3.8.6 Vibration Class106
- 3.9 Mechanical Specifications of SGMCS Servomotors107
  - 3.9.1 Allowable Loads107
  - 3.9.2 Mechanical Tolerance108
  - 3.9.3 Direction of Servomotor Rotation108
  - 3.9.4 Impact Resistance109
  - 3.9.5 Vibration Resistance109
  - 3.9.6 Vibration Class109
  - 3.9.7 Enclosure109
  - 3.9.8 Heating Conditions109
- 3.10 Terms and Data for Servomotors With Gears110
- 3.11 Servomotor Dimensional Drawings112
- 3.12 Dimensional Drawings of SGMAH Servomotors (3000 min-1)113
  - 3.12.1 SGMAH Servomotors (3000 min-1) Without Gears113
  - 3.12.2 SGMAH Servomotors (3000 min-1) Without Gears and With Brakes116
  - 3.12.3 SGMAH Servomotors (3000 min-1) With Standard Backlash Gears119
  - 3.12.4 SGMAH Servomotors (3000 min-1) With Standard Backlash Gears and Brakes123
  - 3.12.5 SGMAH Servomotors (3000 min-1) With Low-backlash Gears128
- 3.13 Dimensional Drawings of SGMPH Servomotors (3000 min-1)132
  - 3.13.1 SGMPH Servomotors (3000 min-1) Without Gears and Brakes132
  - 3.13.2 SGMPH Servomotors (3000 min-1) With Brakes134
  - 3.13.3 SGMPH Servomotors (3000 min-1) With Standard Backlash Gears and Without Brakes136
  - 3.13.4 SGMPH Servomotors (3000 min-1) With Standard Backlash Gears and Brakes139
  - 3.13.5 SGMPH Servomotors (3000 min-1) With Low-backlash Gears142
- 3.14 Dimensional Drawing of Output Shafts With Oil Seals for SGMAH and SGMPH Servomotors145
  - 3.14.1 SGMAH Servomotors145
  - 3.14.2 SGMPH Servomotors145
- 3.15 Dimensional Drawings of SGMGH Servomotors (1500 min-1)146
  - 3.15.1 SGMGH Servomotors (1500 min-1) Without Gears and Brakes146
  - 3.15.2 SGMGH Servomotors (1500 min-1) 200-V Specifications Without Gears and With Brakes148
  - 3.15.3 SGMGH Servomotors (1500 min-1) With Standard Backlash Gears and Without Brakes (Foot-mounted Type)150
  - 3.15.4 SGMGH Servomotors (1500 min-1) With Standard Backlash Gears and Without Brakes (Flange-mounted Type)155
  - 3.15.5 SGMGH Servomotors (1500 min-1) With Low-backlash Gears and Without Brakes (Flange-mounted Type)161
- 3.16 Dimensional Drawings of SGMGH Servomotors (1000 min-1)164
  - 3.16.1 SGMGH Servomotors (1000 min-1) Without Gears and Brakes164
  - 3.16.2 SGMGH Servomotors (1000 min-1) Without Gears and With Brakes166
  - 3.16.3 SGMGH Servomotors (1000 min-1) With Standard Backlash Gears and Without Brakes (Foot-mounted Type)169
  - 3.16.4 SGMGH Servomotors (1000 min-1) With Standard Backlash Gears and Without Brakes (Flange-mounted Type)174
  - 3.16.5 SGMGH Servomotors (1000 min-1) With Low-backlash Gears and Without Brakes (Flange-mounted Type)179
- 3.17 Dimensional Drawings of SGMSH Servomotors (3000 min-1)182
  - 3.17.1 SGMSH Servomotors (3000 min-1) Without Gears and Without Brakes182
  - 3.17.2 SGMSH Servomotors (3000 min-1) 200-V Specifications Without Gears and With Brakes184
  - 3.17.3 SGMSH Servomotors (3000 min-1) With Low-backlash Gears and Without Brakes (Flange-mounted Type)186
- 3.18 Dimensional Drawings of SGMDH Servomotors (2000 min-1)190
  - 3.18.1 SGMDH Servomotors (2000 min-1) Without Gears and With/Without Brakes190
- 3.19 Dimensional Drawings of SGMCS Servomotors192
  - 3.19.1 SGMCS Servomotors 135 dia. Model192
  - 3.19.2 SGMCS Servomotors 175 dia. Model193
  - 3.19.3 SGMCS Servomotors 230 dia. Model194
  - 3.19.4 SGMCS Servomotors 290 dia. Model195
  - 3.19.5 SGMCS Servomotors 280 dia. Model196
  - 3.19.6 SGMCS Servomotors 360 dia. Model197
- 3.20 Shaft End Specifications for SGMGH, SGMSH and SGMDH Servomotors201
  - 3.20.1 SGMGH Servomotors202
  - 3.20.2 SGMSH Servomotors203
  - 3.20.3 SGMDH Servomotors204
4 SERVOPACK Specifications and Dimensional Drawings205
- 4.1 SERVOPACK Ratings and Specifications207
- 4.2 SERVOPACK Installation210
- 4.3 SERVOPACK Internal Block Diagrams212
- 4.4 SERVOPACK’s Power Supply Capacities and Power Losses214
- 4.5 SERVOPACK Overload Characteristics and Allowable Load Moment of Inertia215
- 4.6 SERVOPACK Dimensional Drawings219
- 4.7 Dimensional Drawings of Base-mounted SERVOPACK Model220
- 4.8 Dimensional Drawings of Rack-mounted SERVOPACK Model228
- 4.9 Dimensional Drawings of Duct-ventilated SERVOPACK Model234
  - 4.9.1 Three-phase 200 V: 6.0 kW/7.5 kW (60ADA-P to 75ADA-P)234
  - 4.9.2 Three-phase 200 V: 11.0 kW/15.0 kW (1AADA-P/1EADA-P)235
5 Specifications and Dimensional Drawings of Cables and Peripheral Devices236
- 5.1 Specifications and Dimensional Drawings of Servomotor Main Circuit Cable238
- 5.2 Servomotor Main Circuit Wire Size and Connectors242
- 5.3 SERVOPACK Main Circuit Wire Size272
- 5.4 Encoder Cables for CN2 Connector274
- 5.5 Connectors and Cables for Encoder Signals285
- 5.6 Flexible Cables290
- 5.7 I/O Signal Cables for CN1 Connector291
- 5.8 Peripheral Devices294
6 Wiring318
- 6.1 Wiring Main Circuit319
- 6.2 Wiring Encoders324
  - 6.2.1 Connecting an Encoder (CN2) and Output Signals from the SERVOPACK (CN1)324
  - 6.2.2 Encoder Connector (CN2) Terminal Layout325
- 6.3 Examples of I/O Signal Connections326
- 6.4 Others335
- 6.5 Connecting Regenerative Resistors347
  - 6.5.1 Regenerative Power and Regenerative Resistance347
  - 6.5.2 Connecting External Regenerative Resistors347
7 Digital Operator/Panel Operator351
- 7.1 Functions on Digital Operator/Panel Operator352
- 7.2 Operation in Utility Function Mode (Fn***)357
- 7.3 Operation in Parameter Setting Mode (Pn***)369
- 7.4 Operation in Monitor Mode (Un***)378
  - 7.4.1 List of Monitor Modes378
8 Operation382
- 8.1 Trial Operation385
- 8.2 Control Mode Selection398
- 8.3 Setting Common Basic Functions399
- 8.4 Absolute Encoders410
- 8.5 Operating Using Speed Control with Analog Reference420
- 8.6 Operating Using Position Control430
- 8.7 Operating Using Torque Control442
- 8.8 Operating Using Speed Control with an Internally Set Speed447
- 8.9 Limiting Torque450
- 8.10 Control Mode Selection455
  - 8.10.1 Setting Parameters455
  - 8.10.2 Switching the Control Mode455
- 8.11 Other Output Signals456
9 Adjustments459
- 9.1 Autotuning460
  - 9.1.1 Servo Gain Adjustment Methods460
  - 9.1.2 List of Servo Adjustment Functions461
- 9.2 Online Autotuning463
- 9.3 Manual Tuning468
- 9.4 Servo Gain Adjustment Functions471
- 9.5 Analog Monitor482
10 Upgraded Versions484
- 10.1 Upgraded Versions for SGDM SERVOPACK485
- 10.2 Upgraded Functions486
  - 10.2.1 Additional Functions486
  - 10.2.2 Improved Functions486
- 10.3 Additional Functions487
- 10.4 Improved Functions498
- 10.5 Additional and Improved Parameters501
11 Inspection, Maintenance, and Troubleshooting506
- 11.1 Troubleshooting507
- 11.2 Inspection and Maintenance523
12 Appendix525
- 12.1 Servomotor Capacity Selection Examples526
- 12.2 Connection to Host Controller539
- 12.3 List of Parameters549
- 12.4 Parameter Recording Table568
INDEX571
- A571
- B571
- C571
- D571
- E571
- F572
- G572
- H572
- I572
- L572
- M572
- N572
- O572
- P572
- Q573
- R573
- S573
- T575
- U575
- V575
- W575
- Z575
Revision History576
Back Cover578

Brand	YASKAWA
Model	Sigma II Series
Category	Controller
Language	English

YASKAWA Sigma II Series User Manual

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YASKAWA Sigma II Series Specifications

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