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UAK series
YASKAWA UAK series User Manual
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9.3 Advanced Autotuning by Reference
9-23
Adjustments
9
4.
After confirming that there is no pr
oblem, click
OK
. The following window appears.
5.
Select
the
Position reference
input
option
under
Reference input from host cont
roller
in
the T
uning main window
, and then click
Autotuning
. The following
window appears.
223
225
Table of Contents
Default Chapter
3
About this Manual
3
Outline
3
Safety Precautions
6
Warranty
12
Table of Contents
14
1 Outline
18
System Configurations
19
Model Designation
20
Spindle Motor
20
Servomotor
21
Σ-V-SD Series Driver
22
2 Compatible Devices
25
Combinations
25
SERVOPACK for One Axis and Motor
25
SERVOPACK for Two Axes and Motor
25
Power Regeneration Converter, SERVOPACK, and Motor
26
Selecting Cables
27
Spindle Motor
27
Servomotor
30
Σ-V-SD Driver
40
Peripheral Devices
43
Molded-Case Circuit Breakers, Ground Fault Detectors, and Magnetic Contactors
43
Surge Absorbers
44
Absolute Encoder Battery
44
AC Reactor
45
Magnetic Contactor for Winding Selection
45
Noise Filter
46
3 Specifications and External Dimensions for Motors
48
Spindle Motor
48
Configuration
48
Ratings and Specifications
49
Output and Torque Characteristics
51
Tolerance Radial Loads
57
Motor Total Indicator Readings
57
Rotation Direction
58
Vibration Resistance
58
External Dimensions
59
Servomotors
63
Ratings and Specifications
63
Torque-Motor Speed Characteristics
66
Overload Characteristics
67
Holding Brake Electrical Specifications
67
Allowable Load Moment of Inertia at the Motor Shaft
68
Allowable Radial and Thrust Loads
68
Motor Total Indicator Readings
69
Rotation Direction
69
Shock Resistance
69
Vibration Resistance
69
Vibration Class
69
External Dimensions
70
4 Specifications and External Dimensions for Σ-V-SD Drivers
76
Power Regeneration Converter
76
Specifications
76
External Dimensions
78
Servopack
80
Specifications
80
External Dimensions
87
5 Peripheral Devices
92
Absolute Encoder Battery
92
Specifications
92
Setup Procedure
93
AC Reactor
94
Specifications
94
External Dimensions
95
Magnetic Contactor for Winding Selection
99
Specifications
99
External Dimensions
99
Terminal Descriptions
100
Installation Orientation
101
Noise Filter
102
Specifications
102
External Dimensions
103
Base Mounting Units
106
Specifications
106
Power Regeneration Converter and SERVOPACK Combinations
106
External Dimensions
108
Wiring
112
Mounting Method
113
6 Installation
114
Motors
115
Installation Environment
115
Enclosure
116
Installation Orientation
116
Coupling Motor and Machinery
117
Σ-V-SD Driver
119
Installation Requirements
119
Thermal Design of Control Panel
120
Control Panel Dust-Proof Design
123
Installation Precautions
124
Installation Orientation and Space
125
7 Wiring
126
Motors
127
Precautions on Wiring
127
Spindle Motors
129
Spindle Motors
135
Servomotors
137
Main Circuit
137
Σ-V-SD Driver
144
Control Circuit Power Supply
150
DC-Bus
151
Local Bus
152
I/O Signals
153
Ethercat (Coe) Communications
156
Winding Selection
157
8 Operation
158
Ethercat (Coe) Communications Settings
160
Ethercat Secondary Address Settings
160
Ethercat (Coe) Commands
160
Ethercat State Machine
161
Device Control
162
Settings for Common Basic Functions
164
Servomotor Rotation Direction
165
Overtravel
166
Holding Brakes
169
Stopping Servomotor after SV_OFF Command or Alarm Occurrence
174
Instantaneous Power Interruption Settings
176
Setting Motor Overload Detection Level
177
Spindle Motor Settings
179
Setting Local Bus Addresses
180
Trial Operation
181
Inspection and Checking before Trial Operation
181
Trial Operation Via Ethercat (Coe) Communication
181
Limiting Torque
182
Absolute Encoders
184
Encoder Resolution
184
Backup of the Settings
184
Battery Replacement
185
Absolute Encoder Setup
186
Multiturn Limit Setting
189
Multiturn Limit Disagreement Alarm (A.CC0)
190
Absolute Encoder Home Offset
193
Hard Wire Base Block (HWBB) Function
194
Precautions for the Hard Wire Base Block (HWBB) State
194
Operation Example for the Hard Wire Base Block
195
HWBB Status Monitor
195
Restoring Operation from a HWBB State
195
Error Detection in HWBB Signal
195
Connection Example and Specifications of Input Signals (HWBB Signals)
196
Operation with Sigmawin for Σ-V-SD (MT)
197
Brake Signal (/BK1, /BK2)
197
Dynamic Brake
197
External Device Monitor (EDM )
198
Application Example of HWBB Function
200
Confirming HWBB Function
201
9 Adjustments
202
Type of Adjustments and Basic Adjustment Procedure
203
Adjustments
203
Basic Adjustment Procedure
204
Monitoring Analog Signals
205
Safety Precautions on Adjustment of Servo Gains
208
Inspection, Maintenance
209
Advanced Autotuning
210
Related Parameters
220
Advanced Autotuning by Reference
221
Related Parameters
227
One-Parameter Tuning
228
Related Parameters
235
Anti-Resonance Control Adjustment Function
236
Related Parameters
246
High-Speed Control Adjustments
247
10 Standards Compliance
250
Models in Compliance with Standards
250
Precautions for Complying with European Standards
251
EMC Installation Conditions
251
Precautions
252
Compliance with Low Voltage Directive
253
Precautions for Complying with UL Standards
254
11 Inspection, Maintenance, and Troubleshooting
256
Inspection and Maintenance
256
Motor
256
Σ-V-SD Driver
257
Alarm Displays
258
List of Servo Drive Alarms
259
List of Alarms for Ethercat (Coe) Communications
264
Troubleshooting of the Servo Drive Alarms
265
Troubleshooting of the Ethercat (Coe) Communications
287
Warning Displays
289
List of Warnings
289
Troubleshooting of Warnings
291
Monitoring Communications Data When Alarms or Warnings Occur
295
Troubleshooting Malfunction Based on Operation and Conditions of
296
Troubleshooting Malfunction Based on Operation and Conditions
296
12 Appendix
301
SERVOPACK Parameters
302
Parameter Recording Table
326
Index Numbers and Corresponding Parameter Numbers
332
Index
337
Revision History
339
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YASKAWA UAK series Specifications
General
Brand
YASKAWA
Model
UAK series
Category
Servo Drives
Language
English
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