Yaskawa FSP User Manual

Sigma FSP Amplifier User’s Manual

All rights reserved. No part of this publication may be stored in a retrieval system, or reproduced in any way, including but not limited to photocopy, photography, magnetic or other recording, without the prior agreement and written permission of the publisher. Program listings may be entered, stored and executed in a computer system, but not reproduced for publication.

This guide is designed to provide information about the FSP Amplifier hardware. Every effort has been made to make this guide complete and as accurate as possible. However, no warranty of suitability, purpose or fitness is made or implied. YEA Inc. is not liable or responsible to any person or entity for loss or damage in connection with or stemming from the use of the FSP Amplifier and/or the information contained in this publication

YEA Inc. bears no responsibility for errors, which may appear in this publication and retains the right to make changes to the products and the guide without prior notice.

Yaskawa Electric America, Inc.

2121 Norman Drive South Waukegan, IL 60085

United States

Tel: 1-800-927-5292 Fax: 1-847-887-7310 motionproducts@yaskawa.com

For more information refer to our web site: www.yaskawa.com

ii iii

WARNING

YEA manufactures component parts that can be used in a wide variety of industrial applications. The selection and application of YEA products remain the responsibility of the equipment designer or end user. YEA accepts no responsibility for the way its products are incorporated into the final system design.

Under no circumstances should any YEA product be incorporated into any product or design as the exclusive or sole safety control. Without exception, all controls should be designed to detect faults dynamically and fail safely under all circumstances. All products designed to incorporate a component part manufactured by YEA must be supplied to the end user with appropriate warnings and instructions as to that part’s safe use and operation. Any warnings provided by YEA must be promptly provided to the end user.

YEA offers an express warranty only as to the quality of its products in conforming to standards and specifications published in YEA’s manual. NO OTHER WARRANTY, EXPRESS OR IMPLIED, IS OFFERED. YEA assumes no liability for any personal injury, property damage, losses, or claims arising from misapplication of its products.

Safety Information

The following defines the symbols used in this manual to indicate varying degrees of safety precautions and to identify the corresponding level of hazard inherent to each. Failure to follow precautions provided in this manual can result in serious, possibly even fatal, injury, and/or damage to the persons, products, or related equipment and systems.

WARNING

WARNING: Indicates a potentially hazardous situation, which, if not

heeded, could result in death or serious injury.

CAUTION

CAUTION: Indicates a potentially hazardous situation, which, if not

avoided, may result in minor or moderate injury.

vi vii

FSP Amplifier User’s Manual Table of Contents/Preface

1. Checking Product and Part Names.................................................................1-1

1.1. Checking the FSP Amplifier Series Products on Delivery ........................... 1-2

1.1.1. Servo Amplifiers.......................................................................................1-2

1.2. Product Part Names........................................................................................ 1-3

1.2.1. Servo Amplifiers.......................................................................................1-3

1.2.2. Model Numbers.........................................................................................1-4

2. Installation.........................................................................................................2-1

2.1. Servo Amplifiers ............................................................................................ 2-2

2.1.1. Storage Conditions....................................................................................2-2

2.1.2. Installation Site.......................................................................................... 2-2

2.1.3. Orientation.................................................................................................2-3

2.1.4. Installation................................................................................................. 2-3

3. Wiring................................................................................................................3-1

3.1. Connecting to Peripheral Devices.................................................................. 3-2

3.1.1. Single-Phase 100 V/200 V Main Circuit Specifications..........................3-3

3.1.2. Single-Phase 220 V 0.75 & 1.5kW Main Circuit S pecification s............ 3-4

3.1.3. Three-phase 200 V Main Circuit Specifications......................................3-5

3.1.4. Three-Phase 400 V Main Circuit Specifications......................................3-6

3.2. FSP Amplifier Internal Block Diagrams....................................................... 3-7

3.2.1. Single-phase 30 W to 400 W, 100 V/2 00 V Models...............................3-7

3.2.2. Three-phase 1 kW to 3 kW, 200 V Models .............................................3-8

3.2.3. Three-phase 0.5 kW to 3.0 kW, 400 V Models....................................... 3-9

3.2.4. Three-phase 5 kW, 400 V Model...........................................................3-10

3.3. Main Circuit W iring..................................................................................... 3-11

3.3.1. Names and Descriptions of Main Circuit Terminal............................... 3-12

3.3.2. Typical Main Circuit Wiring Example...................................................3-13

3.3.3. Servo Amplifier Power Losses...............................................................3-14

3.3.4. Wiring Main Circuit Terminal Blocks...................................................3-15

3.4. I/O Signals.................................................................................................... 3-16

3.4.1. Example of Typical I/O Signal Connections..........................................3-16

3.4.2. List of CN1 Terminals............................................................................ 3-17

3.4.3. I/O Signal Names and Functions............................................................3-18

3.4.4. Interface Circuits.....................................................................................3-20

3.5. Wiring Encoders (for SGMGH and SGMSH Motors Only) ...................... 3-24

3.5.1. Encoder Connections..............................................................................3-24

3.5.2. CN2 Encoder Connector Terminal Layou t and Types..........................3-25

3.6. Examples of Standard Connections............................................................. 3-26

4. Trial Operation.................................................................................................4-1

4.1. Two-Step Trial Operation.............................................................................. 4-2

4.1.1. Step 1: Trial Operation for Servomotor without Load.............................4-3

4.1.2. Step 2: Trial Operation with Servomotor Connected to Machine........... 4-9

4.2. Additional Setup Procedures in Trial Operation ......................................... 4-10

4.2.1. Servomotors with Brakes........................................................................4-10

4.2.2. Position Control by Host Controller.......................................................4-11

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FSP Amplifier User’s Manual Table of Contents/Preface

4.3. Minimum Parameters and Input Signals ..................................................... 4-12

4.3.1. Parameters...............................................................................................4-12

4.3.2. Input Signals............................................................................................4-12

5. Parameter Settings and Functions ..................................................................5-1

5.1. Settings According to Device Characteristics............................................... 5-4

5.1.1. Switching Servomotor Rotation Direction...............................................5-4

5.1.2. Setting the Overtravel Limit Function......................................................5-5

5.1.3. Limiting Torque........................................................................................ 5-8

5.2. Settings According to Host Controller ........................................................ 5-12

5.2.1. Speed Reference......................................................................................5-12

5.2.2. Position Reference ..................................................................................5-14

5.2.3. Using the Encoder Signal Output...........................................................5-20

5.2.4. Sequence I/O Signals..............................................................................5-23

5.2.5. Using the Electronic Gear Function.......................................................5-25

5.2.6. Contact Input Speed Control...................................................................5-29

5.2.7. Using Torque Control............................................................................. 5-34

5.2.8. Torque Feed-Forward Function..............................................................5-40

5.2.9. Torque Limiting by Analog Voltage Reference.....................................5-42

5.2.10. Reference Pulse Inhibit Function (/INHIBIT) .......................................5-44

5.3. Setting Up the Servo Amplifier................................................................... 5-45

5.3.1. Parameters...............................................................................................5-45

5.3.2. JOG Speed...............................................................................................5-46

5.3.3. Input Circuit Signal Allocation...............................................................5-46

5.3.4. Output Circuit Signal Allocation............................................................5-50

5.3.5. Control Mode Selection..........................................................................5-52

5.4. Setting Stop Functions ................................................................................. 5-54

5.4.1. Adjusting Offset......................................................................................5-54

5.4.2. Servo OFF Stop Mode Selection............................................................5-55

5.4.3. Using the Zero Clamp Function............................................................. 5-56

5.4.4. Using the Holding Brake........................................................................5-58

5.5. Forming a Protective Sequence ................................................................... 5-61

5.5.1. Using Servo Alarm and Alarm Code Outp uts.......................................5-61

5.5.2. Using the Servo ON Input Signal (/S-ON).............................................5-63

5.5.3. Using the Positioning Completed Output S ignal (/COIN)....................5-64

5.5.4. Speed Coincidence Output (/V-CMP)....................................................5-65

5.5.5. Using the Running Output Signal (/TGON).......................................... 5-67

5.5.6. Using the Servo Ready Output Signal (/S-RDY )...................................5-68

5.5.7. Using the Warning Output Signal (/WARN).........................................5-69

5.5.8. Handling Power Loss..............................................................................5-71

5.6. Selecting a Regenerative Resistor................................................................ 5-72

5.6.1. External Regenerative Resistor...............................................................5-73

5.6.2. Calculating the Regenerative Power Capacity.......................................5-74

5.7. Absolute Encoders........................................................................................ 5-78

5.7.1. Interface Circuit.......................................................................................5-79

5.7.2. Configuring an Absolute Encoder..........................................................5-80

5.7.3. Absolute Encoder Setup..........................................................................5-81

FSP Amplifier User’s Manual Table of Contents/Preface

5.7.4. Absolute Encoder Reception Sequence..................................................5-84

5.8. AB Encoders................................................................................................. 5-89

5.9. Defining User Units and Setup.................................................................... 5-91

5.9.1. Position Control.......................................................................................5-91

5.9.1.1. Defining User Units for Motion Profiles..................................5-91

5.9.1.2. Position Units............................................................................5-91

5.9.1.3. Speed Units...............................................................................5-92

5.9.1.4. Acceleration Units ....................................................................5-93

5.9.1.5. Setting Default Motion Profile Parameters...............................5-95

5.9.1.6. Profile Speed (Pn2A2, Pn2A3).................................................5-95

5.9.1.7. Profile Acceleration (Pn2A4, Pn2A5) ......................................5-95

5.9.1.8. Jerk Smoothing Time (Pn2A6).................................................5-96

5.9.1.9. Quick Stop Deceleration (Pn2A8, Pn2A9)...............................5-96

5.9.1.10. Motion End Window (Pn2C0)..................................................5-96

5.9.2. Torque Control........................................................................................5-97

5.9.2.1. Torque Slope (Pn2C1) ..............................................................5-97

5.9.3. Homing....................................................................................................5-97

5.9.4. Digital I/O................................................................................................5-98

5.9.5. Auto Tuning ............................................................................................5-99

5.10. Auto Running a User Program................................................................... 5-100

6. Servo Adjustment..............................................................................................6-1

6.1. Selection of Control Mode............................................................................. 6-2

6.2. Analog Input or Contact Input Velocity Control........................................... 6-3

6.2.1. Principle and Block Diagram of the Velo city Contro l.............................6-3

6.2.2. Parameters of the Velocity Control.......................................................... 6-4

6.2.3. Setting the Input Gain...............................................................................6-4

6.2.4. Adjusting Offset........................................................................................6-5

6.2.5. Using the Soft Start Function....................................................................6-6

6.2.6. Load Inertia Setting...................................................................................6-7

6.2.7. Adjusting Speed Loop Gain......................................................................6-8

6.2.8. Setting the Torque Reference Filter Time Constant................................6-9

6.2.9. Notch Filter................................................................................................6-9

6.2.10. Gain Setting Reference Values...............................................................6-10

6.3. NCT Position Control .................................................................................. 6-12

6.3.1. Load Inertia Setting.................................................................................6-12

6.3.2. Position Control Block Diagram............................................................6-14

6.3.3. NCT Gain Parameters.............................................................................6-15

6.3.4. Additional Parameters Tuning................................................................ 6-16

6.3.5. Filters.......................................................................................................6-16

6.3.6. Flexible System Parameters....................................................................6-18

6.3.7. Gain Factor..............................................................................................6-18

6.3.8. Integral Clear Parameters........................................................................6-19

6.3.9. Tuning Procedure for Position Control Parameters...............................6-19

6.4. Analog Monitor............................................................................................ 6-21

7. Using the Panel Operator.................................................................................7-1

7.1. Basic Operation.............................................................................................. 7-2

FSP Amplifier User’s Manual Table of Contents/Preface

7.1.1. Panel Operator...........................................................................................7-2

7.1.2. Resetting Servo Alarms............................................................................7-3

7.1.3. Basic Mode Selection................................................................................7-3

7.1.4. Status Display Mode.................................................................................7-4

7.1.5. Operation in Parameter Setting Mode......................................................7-6

7.1.6. Operation in Monitor Mode....................................................................7-11

7.2. Applied Operation........................................................................................ 7-16

7.2.1. Operation in Alarm Traceback Mode.....................................................7-17

7.2.2. JOG Operation ........................................................................................7-18

7.2.3. Automatic Adjustment of Speed and Torque Reference Offset............7-20

7.2.4. Manual Adjustment of Speed and Torque Reference Offset.................7-22

7.2.5. Clearing Alarm Traceback Data.............................................................7-25

7.2.6. Checking the Motor Model.....................................................................7-26

7.2.7. Checking the Software Version..............................................................7-27

7.2.8. Origin Search Mode................................................................................7-28

7.2.9. Initializing Parameter Settings................................................................7-30

7.2.10. Manual Zero & Gain Adjustment of Analog M onitor Output .............7-31

7.2.11. Adjusting the Motor Current Detection Offset ......................................7-34

7.2.12. Write Protection Setting..........................................................................7-36

8. Ratings, Specifications and Dimensional Drawings.......................................8-1

8.1. Ratings and Specifications............................................................................. 8-2

8.2. Single-phase 100 V FSP Amplifier and Motors Combinations....................8-6

8.3. Single-phase 200 V FSP Amplifier and Motors Combinations....................8-7

8.4. Three-phase 200 V FSP Amplifier and Motor Combinations...................... 8-8

8.5. Three-phase 400 V FSP Amplifier and Motors Combinations..................... 8-9

8.6. Base-mounted Dimensional Drawings........................................................ 8-10

8.6.1. FSP-A3B* to -01B* (Single-phase 100 V, 30 to 100 W)

FSP-A3A* to -02A* (Single-phase 200 V, 30 to 200 W).....................8-10

8.6.2. FSP-02B* (Single-phase 100 V, 200 W)

FSP-04A* (Single-phase 200 V, 400 W)...............................................8-11

8.6.3. FSP-08A* (Single-phase 200 V, 0.75 kW)

FSP-10A* (Three-phase 200 V, 1.0 kW)...............................................8-12

8.6.4. FSP-05D*, 10D*, 15D* (Three-phase 400 V, 0.5 to 1.5kW)...............8-13

8.6.5. FSP-20*, -30* (Three-phase 200 V, 400 V, 2.0 and 3.0 kW)

FSP-15A* (Single-phase 200 V, 1.5 kW)..............................................8-14

8.6.6. FSP-50D* (Three-phase 400 V, 5.0 kW)...............................................8-15

8.7. Servomotors: Ratings, Specifications and Dimensional Drawings ............ 8-16

8.7.1. SGMAH Servomotors ............................................................................8-16

8.7.2. SGMPH Servomotors.............................................................................8-21

8.7.3. SGMGH Servomotors ............................................................................8-25

8.7.4. SGMSH Servomotors.............................................................................8-29

8.7.5. SGMUH Servomotors ............................................................................8-33

9. Inspection, Maintenance, and Troubleshooting.............................................9-1

9.1. FSP Amplifier Inspection and Maintenance.................................................. 9-2

9.1.1. Servomotor Inspection..............................................................................9-2

9.1.2. Servo Amplifier Inspection.......................................................................9-3

FSP Amplifier User’s Manual Table of Contents/Preface

9.1.3. Replacing the Battery for the Absolute Encoder......................................9-4

9.2. Troubleshooting.............................................................................................. 9-5

9.2.1. Troubleshooting Problems with Alarm Displays.....................................9-5

9.2.2. Troubleshooting Problems with No Alarm Display..............................9-37

9.2.3. Alarm Display Table...............................................................................9-39

9.2.4. Warning Displays....................................................................................9-41

Appendix A. Host Controller Connection Examples .......................................A-1

A.1. Connecting the GL-series MC20 Motion Module ........................................A-2

A.2. Connecting the CP-9200SH Servo Controller Module (SVA).....................A-3

A.3. Connecting the GL-series B2813 Positioning Module .................................A-4

A.4. Connecting OMRON's C500-NC221 Position Control Unit........................A-5

A.5. Connecting OMRON's C500-NC112 Position Control Unit........................A-6

A.6. Connecting MITSUBISHI's AD72 Positioning Unit....................................A-7

A.7. Connecting MITSUBISHI's AD75 Positioning Unit....................................A-8

Appendix B. Special Wiring ...............................................................................B-1

B.1. Wiring Precautions.........................................................................................B-2

B.2. Wiring for Noise Control ...............................................................................B-5

B.3. Using More Than One FSP Amplifier.........................................................B-10

B.4. Extending Encoder Cables...........................................................................B-11

B.5. 400 V Power Supply Voltage ......................................................................B-13

B.6. Reactor for Harmonic Suppression..............................................................B-15

Appendix C. Specifications for Peripheral Devices..........................................C-1

C.1. Connector Terminal Block Converter Unit JUSP-TA50P............................C-2

C.2. DC Reactors for Power Supplies Designed for Minimum Harmonics........C-4

C.3. Surge Suppressor............................................................................................C-6

C.4. Magnetic Contactor........................................................................................C-6

C.5. Variable Resistor for Speed Setting...............................................................C-6

C.6. CN1 I/O Signal Connector.............................................................................C-6

C.7. Connecting Pulse A/B Encoder without C Pulse (Index Pulse) ...................C-7

C.8. Absolute Encoder Battery..............................................................................C-8

C.9. Connecting Regenerative Resistors ...............................................................C-9

Appendix D. List of Parameters.........................................................................D-1

D.1. Parameters ......................................................................................................D-2

D.2. Switches..........................................................................................................D-7

D.3. Input Signal Selections.................................................................................D-11

D.3.1. Home Switches.......................................................................................D-12

D.3.2. Extended input signal selection.............................................................D-12

D.4. Output Signal Selections..............................................................................D-13

D.4.1. Extended Output Signal Selection.........................................................D-13

D.5. Auxiliary Functions......................................................................................D-14

D.6. Monitor Modes.............................................................................................D-14

Appendix E. External Regenerative Resistor Specifications...........................E-1

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FSP Amplifier User’s Manual Table of Contents/Preface

xiii

FSP Amplifier User’s Manual Table of Contents/Preface

Using This Manual

 Intended Audience

This manual is intended for the following users.

• Those designing FSP Amplifier servo systems.

• Those installing or wiring FSP Amplifier servo systems.

• Those performing trial operation or adjustments of FSP Amplifier servo

systems.

• Those maintaining or inspecting FSP Amplifier servo systems.

 Description of Technical Terms

In this manual, the following terms are defined as follows:

• Servomotor = SGMAH/SGMPH/SGMGH/SGMSH/SGMUH or other

compatible servomotor.

• Servo Amplifier = FSP Amplifier Series.

• Servo Drive = A set including a servomotor and servo amplifier.

• Servo System = A servo control system that includes the combination

of a servo drive with a host computer and peripheral devices.

 Indication of Inverted Signals

In this manual, the names of inverted signals (ones that are valid when low) are written with a forward slash (/) before the signal name, as shown in the following equations:

• S–ON = /S–ON

• P–CON = /P–CON

xiv

FSP Amplifier User’s Manual Table of Contents/Preface

Safety Precautions

The following precautions are for checking products upon delivery, installation, wiring, operation, maintenance and inspections.

 Checking Products upon Delivery

CAUTION

• Always use the servomotor and servo amplifier in one of the specified combinations.

Not doing so may cause fire or malfunction.

 Installation

CAUTION

• Never use the products in an environment subject to water, corrosive gases, inflammable gases, or combustibles.

Doing so may result in electric shock or fire.

 Wiring

WARNING

• Connect the ground terminal to a class 3 ground (10 V or less).

Improper grounding may result in electric shock or fire.

CAUTION

• Do not connect a three-phase power supply to the U, V, or W output terminals.

Doing so may result in injury or fire.

• Securely fasten the power supply terminal screws and motor output terminal screws.

Not doing so may result in fire.

 Operation

CAUTION

• Never touch any rotating motor parts while the motor is running.

Doing so may result in injury.

FSP Amplifier User’s Manual Table of Contents/Preface

CAUTION

• Conduct trial operation on the servomotor alone with the motor shaft disconnected from machine to avoid any unexpected accidents.

Not doing so may result in injury.

• Before starting operation with a machine connected, change the settings to match the parameters of the machine.

Starting operation without matching the proper settings may cause the machine to run out of control or malfunction.

• Before starting operation with a machine connected, make sure that an emergency stop can be applied at any time.

Not doing so may result in injury.

• Do not touch the heat sinks during operation.

Not doing so may result in burns due to high temperatures.

 Maintenance and Inspection

WARNING

• Do not remove the panel cover while the power is ON.

Doing so carries a risk of electric shock.

• Do not touch terminals for five minutes after the power has been turned OFF.

Residual voltage may cause electric shock.

• Never touch the inside of the servo amplifier.

Doing so may result in electric shock.

CAUTION

• Do not disassemble the servomotor.

Doing so may result in electric shock or injury.

• Do not attempt to change wiring while the power is ON.

Doing so may result in electric shock or injury.

xvi

FSP Amplifier User’s Manual Table of Contents/Preface

 General Precautions

NOTE THE FOLLOWING TO ENSURE

SAFE APPLICATION:

• The drawings presented in this manual are sometimes shown without covers or

protective guards. Always replace the cover or protective guard as specified first, and then operate the products in accordance with the manual.

• The drawings presented in this manual are typical examples and may not match

the product you received.

• This manual is subject to change due to product improvement, specification

modification, and manual improvement. When this manual is revised, the manual code is updated, and the new manual is published as a next edition. The edition number appears on the back cover.

• If the manual must be ordered due to loss or damage, inform your nearest YEA

representative or one of the offices listed on the back of this manual.

• YEA will not take responsibility for the results of unauthorized modifications of

this product. YEA shall not be liable for any damages or trouble resulting from unauthorized modification.

xvii

FSP Amplifier User’s Manual Chapter 1: Checking Product and Part Names

1. Checking Product and Part Names

This chapter describes the procedure for checking products upon delivery as well as names for product parts.

1.1. Checking the FSP Amplifier Series Products on Delivery .............................1-2

1.1.1. Servo Amplifiers.....................................................................................1-2

1.2. Product Part Names.........................................................................................1-3

1.2.1. Servo Amplifiers.....................................................................................1-3

1.2.2. Model Numbers ......................................................................................1-4

1-1

FSP Amplifier User’s Manual Chapter 1: Checking Product and Part Names

1.1. Checking the FSP Amplifier Series Products on Delivery

The following procedure is suggested to check FSP Amplifier series products upon delivery.

Use the following checklist when FSP Amplifier series products are delivered.

Initial Inspection Comments

Are the delivered products the ones that were ordered?

Does the servomotor shaft rotate smoothly?

Is there any damage? Check the overall appearance, and

Are there any loose screws? Check screws for looseness using a

If any of the above are faulty or incorrect, contact YEA or an authorized distributor.

Check the model numbers marked on the nameplates of the servomotor and servo amplifier. (Refer to the descriptions of model numbers on the following pages) The servomotor shaft is normal if it can be turned smoothly by hand. Servomotors with brakes, however, cannot be turned manually.

check for damage or scratches that may have occurred during shipping.

screwdriver.

1.1.1. Servo Amplifiers

 External Appearance and Nameplate Examples

1-2

FSP Amplifier User’s Manual Chapter 1: Checking Product and Part Names

1.2. Product Part Names

This section describes product part names.

1.2.1. Servo Amplifiers

The figure below shows the part names for servo amplifiers.

1-3

FSP Amplifier User’s Manual Chapter 1: Checking Product and Part Names

1.2.2. Model Numbers

FSP - 05 D - MC

Flex ible Se rvoP ack

Max. Applicable Servomotor Power (see table below)

Input Voltage B - 100VAC, or A - 200VAC, or D - 400VAC

Control Method MC - Se ri al MH - A-B quadrature

Options

- No options C - Pre-loaded ECA M S - Single-phase amplifier (08 and 15 only)

Output Capacity

Code

Max. Applicable

Servomotor Power

(kW)

A3 0.03 A5 0.05 01 0.10 02 0.20 04 0.40 05 0.50 08 0.75 10 1.00 15 1.50 20 2.00 30 3.00 50 5.00

1-4

FSP Amplifier User’s Manual Chapter 2: Installation

2. Installation

This chapter describes precautions for the FSP amplifier series servomotor and the servo amplifier installation.

2.1. Servo Amplifiers .............................................................................................. 2-2

2.1.1. Storage Conditions...................................................................................2-2

2.1.2. Installation Site ........................................................................................ 2-2

2.1.3. Orientation ............................................................................................... 2-3

2.1.4. Installation................................................................................................ 2-3

2-1

FSP Amplifier User’s Manual Chapter 2: Installation

2.1. Servo Amplifiers

The FSP Amplifier servo amplifiers are base-mounted. Incorrect installation will cause problems. Follow the installation instructions below.

2.1.1. Storage Conditions

Store the servo amplifier within the following temperature range, as long as it is stored with the power cable disconnected.

Temperature range: -20 to 85°C

2.1.2. Installation Site

The following precautions apply to the installation site.

Situation Installation Precaution

Installation in a Control Panel

Installation near a Heating Unit

Installation near a Source of Vibration

Design the control panel size, unit layout, and cooling method so the temperature around the servo amplifier does not exceed 55°C.

Minimize heat radiated from the heating unit as well as any temperature rise caused by natural convection so the temperature around the servo amplifier does not exceed 55°C.

Install a vibration isolator beneath the servo amplifier to avoid subjecting it to vibration.

Installation at a Site Exposed to Corrosive Gas

Other Situations

Corrosive gas does not have an immediate effect on the servo amplifier, but will eventually cause electronic components and contactor-related devices to malfunction. Take appropriate action to avoid corrosive gas.

Do not install the servo amplifier in hot and humid locations or locations subject to excessive dust or iron powder in the air.

2-2

FSP Amplifier User’s Manual Chapter 2: Installation

2.1.3. Orientation

Install the servo amplifier perpendicular to the wall as shown in the figure. The servo amplifier must be oriented this way because it is designed to be cooled by natural convection or by a cooling fan.

Secure the servo amplifier using the mounting holes. The number of holes varies (from two to four) with the frame size of the servo amplifier.

2.1.4. Installation

Follow the procedure below to install multiple servo amplifiers side-byside in a control panel.

)

. in

FAN

C N 3

C N 1

C N 2

C N

FAN

C N 3

C N 1

C N 2

10mm(0.4in.)or more

e r

(

m r

0 5

C N 3

C N 1

C N 2

)

. n

(

0 5

30mm(1.2in.)or more

2-3

FSP Amplifier User’s Manual Chapter 2: Installation

 Servo Amplifier Orientation

Install the servo amplifier perpendicular to the wall so the front panels’ connectors face outward.

 Cooling

As shown in the figure, allow sufficient space around each servo amplifier for cooling by cooling fans or natural convection.

 Side-by-side Installation

When installing servo amplifiers side-by-side as shown in the figure, allow at least 0.39 in (10 mm) between and at least 1.97 in (50 mm) above and below each servo amplifier. Install cooling fans above the servo amplifiers to avoid excessive temperature rise and to maintain even temperature inside the control panel.

 Environmental Conditions in the Control

Panel

• Ambient Temperature: 0 to 55°C

• Humidity: 90% RH or less

• Vibration: 0.5 G (4.9 m/s2)

• Condensation and Freezing: None

• Ambient Temperature for Long-term Reliability: 45°C max.

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FSP Amplifier User’s Manual Chapter 3: Wiring

3. Wiring

This chapter describes the procedure used to connect FSP Amplifier Series products to peripheral devices and gives typical examples of main circuit wiring as well as I/O signal connections.

3.1. Connecting to Peripheral Devices....................................................................3-2

3.1.1. Single-Phase 100 V/200 V Main Circuit Specifications.......................... 3-3

3.1.2. Single-Phase 220 V 0.75 & 1.5 kW Main Circuit Specifications............ 3-4

3.1.3. Three-Phase 200 V Main Circuit Specifications ..................................... 3-5

3.1.4. Three-Phase 400 V Main Circuit Specifications ..................................... 3-6

3.2. FSP Amplifier Internal Block Diagrams.......................................................... 3-7

3.2.1. Single-phase 30 W to 400 W, 100 V/200 V Models ...............................3-7

3.2.2. Three-phase 1 kW to 3 kW, 200 V Models .............................................3-8

3.2.3. Three-phase 0.5 kW to 3.0 kW, 400 V Models .......................................3-9

3.2.4. Three-phase 5 kW, 400 V Model........................................................... 3-10

3.3. Main Circuit Wiring....................................................................................... 3-11

3.3.1. Names and Descriptions of Main Circuit Terminal...............................3-12

3.3.2. Typical Main Circuit Wiring Example .................................................. 3-13

3.3.3. Servo Amplifier Power Losses ..............................................................3-14

3.3.4. Wiring Main Circuit Terminal Blocks...................................................3-15

3.4. I/O Signals ..................................................................................................... 3-16

3.4.1. Example of Typical I/O Signal Connections .........................................3-16

3.4.2. List of CN1 Terminals ........................................................................... 3-17

3.4.3. I/O Signal Names and Functions ...........................................................3-18

3.4.4. Interface Circuits.................................................................................... 3-20

3.5. Wiring Encoders (for SGMGH and SGMSH Motors Only) ......................... 3-24

3.5.1. Encoder Connections ............................................................................. 3-24

3.5.2. CN2 Encoder Connector Terminal Layout and Types ..........................3-25

3.6. Examples of Standard Connections ............................................................... 3-26

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FSP Amplifier User’s Manual Chapter 3: Wiring

3.1. Connecting to Peripheral Devices

This section provides examples of standard FSP Amplifier Series product connections to peripheral devices.

It also briefly explains how to connect each peripheral device.

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FSP Amplifier User’s Manual Chapter 3: Wiring

3.1.1. Single-Phase 100 V/200 V Main Circuit Specifications

Cable type: P/N YS-12

Brake power supply Used for a servomotor with a brake.

Host controller FSP Amplifier is compa tible with most PLC motion controllers and index ers.

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FSP Amplifier User’s Manual Chapter 3: Wiring

3.1.2. Single-Phase 220 V 0.75 & 1.5 kW Main Circuit

Specifications

Observe the following points:

1. Connect main power supply shown below to L1 and L3 terminals. Power supply is

single-phase, 220 to 230 VAC +10% to –15%, 50/60 Hz. If power supply of 187 V (-15% of 220 V) or less is used, alarm A.41 indicating voltage shortage, may occur when accelerating to max speed with max torque of motor.

2. Short-circuit B2 and B3 terminals using the internal regenerative resistor. If capacity

of the regenerative resistor is insufficient, remove the lead between B2 and B3 terminals and connect an external regenerative resistor unit to B1 and B2 terminals.

Brake powe r supply Used for a servomotor with a brake.

Cable type: P/N YS-12

Host controller FSP Amp lifier is compa tible with most PLC motion controllers and indexers.

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FSP Amplifier User’s Manual Chapter 3: Wiring

3.1.3. Three-Phase 200 V Main Circuit Specifications

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FSP Amplifier User’s Manual Chapter 3: Wiring

3.1.4. Three-Phase 400 V Main Circuit Specifications

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FSP Amplifier User’s Manual Chapter 3: Wiring

3.2. FSP Amplifier Internal Block Diagrams

The following sections show internal block diagrams of the servo amplifiers.

3.2.1. Single-Phase 30 W to 400 W, 100 V/200 V Models

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FSP Amplifier User’s Manual Chapter 3: Wiring

3.2.2. Three-Phase 1 kW to 3 kW, 200 V Models

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FSP Amplifier User’s Manual Chapter 3: Wiring

3.2.3. Three-Phase 0.5 kW to 3.0 kW, 400 V Models

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FSP Amplifier User’s Manual Chapter 3: Wiring

3.2.4. Three-Phase 5 kW, 400 V Model

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FSP Amplifier User’s Manual Chapter 3: Wiring

3.3. Main Circuit Wiring

This section shows typical examples of main circuit wiring for FSP Amplifier Series servo products, functions of main circuit terminals, and the power ON sequence.

Observe the following precautions when wiring.

CAUTION

• Do not bundle or run power and signal lines together in the same duct.

Keep power and signal lines separated by at least 30 cm (11.81 in).

Not doing so may cause a malfunction.

• Use twisted pair wires or multi-core shielded-pair wires for signal and

encoder (PG) feedback lines.

The maximum length is 3 m (118.11 in) for reference input lines and is 20 m (787.40 in) for PG feedback lines.

• Do not touch the power terminals for 5 minutes after turning power OFF

because high voltage may still remain in the servo amplifier.

Make sure the charge indicator is out first before starting an inspection.

• Avoid frequently turning power ON and OFF. Do not turn power ON or

OFF more than once per minute.

Since the servo amplifier has a capacitor in the power supply, a high charging current flows for 0.2 seconds when power is turned ON. Frequently turning power ON and OFF causes main power devices like capacitors and fuses to deteriorate, resulting in unexpected problems.

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FSP Amplifier User’s Manual Chapter 3: Wiring

3.3.1. Names and Descriptions of Main Circuit Terminal

The following table gives the names and a description of main circuit terminals.

Table 3.1: Main Circuit Names and Descriptions

Terminal

Symbol

L1, L2

L1, L2, L3*

U, V, W

L1C, L2C

24V, 0V

(2 places)

B1, B2 or

B1, B2, B3

Name Description

30 W to 1.0 kW Single-phase 200 to 230 V (+10%, -15%), 50/60 Hz

Main circuit AC input terminal

Servomotor connection terminal

Control power input terminal

Ground terminal Connects to the power supply ground terminals and motor ground terminal.

External regenerative resistor terminal

1.0 kW to 3.0 kW Three-phase 200 to 230 V (+10%, -15%), 50/60 Hz

2.0 kW to 5.0 kW 400 V

Connects to the Servomotor.

30 W to 5.0 kW

30 W to 400 W

800 W to 5.0 kW

Three-phase 380 to 480 V (+10%, -15%), 50/60 Hz

Single-phase 200 to 230 V (+10%, -15%), 50/60 Hz

Three-phase 200 to 230 V (+10%, -15%), 50/60 Hz

24 VDC (±15%) 400 V units only

Normally not connected. Connect an external regenerative resistor (provided by customer) between B1 and B2 if the regenerative capacity is insufficient. Note: No B3 terminal.

Normally short B2 and B3 (for an internal regenerative resistor). Remove the wire between B2 and B3 and connect an external regenerative resistor (provided by customer) between B1 and B2 if the capacity of the internal regenerative resistor is insufficient.

1, 2

DC reactor terminal connection for power supply harmonic wave countermeasure

Main circuit Positive terminal

Main circuit Negative terminal

Normally short If a countermeasure against power supply harmonic waves is needed, connect a DC reactor between The amplifier is delivered from the factory with these terminals shorted. See Appendix B.6 Reactor for Harmonic Suppression for details.

Normally not connected.

1 and 2.

*Models FSP-08A* and FSP-15A* are single-phase, 220 V power supply specifications. Connect the following power supply between L1 and L3.

Single-phase 220 to 230 VAC +10%, -15% (50/60 Hz)

When a power supply of 187 V (-15% of 220 V) or less is used, an alarm A.41, indicating voltage shortage, may occur when accelerating to max speed with max torque of motor.

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FSP Amplifier User’s Manual Chapter 3: Wiring

3.3.2. Typical Main Circuit Wiring Example

The following figure shows a typical example of main circuit wiring.

FSP Amplifier

 Designing a Power ON Sequence

Note the following when designing the power ON sequence.

• Design the power ON sequence so that power is turned OFF when a

servo alarm signal is output. (See the circuit figure above.)

• Hold the power ON button for at least two seconds. The servo amplifier

will output a servo alarm signal for two seconds or less when power is turned ON. This is required in order to initialize the servo amplifier.

Power supply

2.0 s max.

Servo alarm (ALM) output signal

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FSP Amplifier User’s Manual Chapter 3: Wiring

3.3.3. Servo Amplifier Power Losses

The following table shows servo amplifier power losses at the rated output.

Table 3.2: Servo Amplifier Power Losses at Rated Output

Main Circuit Power

Supply

Single-

phase

100 V

Single-

phase

200 V

Single-

phase

220 V

Three-

phase

200 V

Three-

phase

400 V

Maximum

Applicable

Servomotor

Capacity

[kW]

0.03 FSP-A3B* 0.66 3.5 16.5

0.05 FSP-A5B* 0.95 5.2 18.2

0.10 FSP-01B* 2.4 12 25

0.20 FSP-02B* 3.0 16.4

0.03 FSP-A3A* 0.44 3.1 16.1

0.05 FSP-A5A* 0.64 4.6 17.6

0.10 FSP-01A* 0.91 6.7 19.7

0.20 FSP-02A* 2.1 13.3 26.3

0.40 FSP-04A* 2.8 20

0.75 FSP-08A* 4.4 47 12 74

1.50 FSP-15A* 7.5 60 14

1.00 FSP-10A* 7.6 55 12 82

2.00 FSP-20A* 18.5 120 163

3.00 FSP-30A* 7.5 60

0.50 FSP-05D* 1.9 19 48

1.00 FSP-10D* 3.5 35 64

1.50 FSP-15D* 5.4 53

2.00 FSP-20D* 8.4 83 126

3.00 FSP-30D* 11.9 118

Servo Amplifier

Model

Output

Current

(Effective

Value) [A]

5.00 FSP-50D* 16.5 192 36 15 243

Main Circuit Power

Loss

[W]

Regenerative

Resistor

Power Loss

[W]

— 13

Control

Circuit Power

Loss

[W]

Total

Power

Loss

[W]

29.4

198

161

Note: Regenerative resistor power losses are allowable losses. Take the following action if this value is exceeded:

• Disconnect the internal regenerative resistor in the servo amplifier by removing the wire between terminals B2 and B3.

• Install an external regenerative resistor between terminals B1 and B2. See 5.6 Selecting a Regenerative Resistor for more details on the resistors.

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FSP Amplifier User’s Manual Chapter 3: Wiring

3.3.4. Wiring Main Circuit Terminal Blocks

Observe the following precautions when wiring main circuit terminal blocks.

CAUTION

• Remove the terminal block from the servo amplifier prior to wiring.

• Insert only one wire per terminal on the terminal block.

• Make sure that the core wire is not electrically shorted to adjacent core

wires.

• Reconnect any wires that were accidentally pulled out.

Servo amplifiers with a capacity below 1.5 kW will have connector-type terminal blocks for main circuit terminals. Follow the procedure below when connecting to the terminal block.

 Connection Procedure

• Strip the end of the wire, leaving the ends twisted together.

• Open the wire insert opening of the terminal block (plug) with a tool

using either of the two procedures shown in Fig. A and Fig. B on the following page.

1. Fig. A: Use the provided lever to open the wire insert opening.

Fig. B: Using a commercially available 1/8 in (3.0 to 3.5 mm)

slotted screwdriver, press down firmly on the screwdriver insert opening to release the wire insert slot.

2. Figs A and B: Insert the wire end into the opening and then clamp it tightly by releasing either the lever or the screwdriver.

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FSP Amplifier User’s Manual Chapter 3: Wiring

3.4. I/O Signals

This section describes I/O signals for the FSP Amplifier.

3.4.1. Example of Typical I/O Signal Connections

FSP Ampli f ier

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FSP Amplifier User’s Manual Chapter 3: Wiring

3.4.2. List of CN1 Terminals

The following diagram shows the layout and specifications of CN1 terminals.

Table 3.3: CN1 Terminal Layout

2 SG GND

4 SEN

6 SG GND

8 /PULS

10 SG GND

12 /SIGN

14 /CLR Clear input

16 TMON

18 PL3

20 /PCO

22 BAT (-) Battery (-)

24 — —

SEN signal input

Reference pulse input

Reference symbol input

Analog

Monitor Output

Open-collector reference power supply

PG divided output C-phase

Note: 1. Do not use unused terminals for relays.

2. Connect the shield of the I/O signal cable to the connector’s shell.

3. Connect to the FG (frame ground) at the servo amplifier-end connector.

1 SG GND

3 PL1

5 V-REF

7 PULS

9 T-REF

11 SIGN

13 PL2

15 CLR Clear input

17 VTG

19 PCO

21 BAT (+) Battery (+)

23 — —

/V-CMP+

(/COIN+)

Open-collector reference power supply

Reference speed input

Reference pulse input

Torque reference input

Reference sign input

Open-collector reference power supply

Analog Monitor

PG divided output Cphase

Speed coincidence detection output

Output

27 /TGON+

29 /SRDY+

31 ALM+

33 PAO

35 PBO

37 AL01

39 AL03

41 P-CON

43 N-OT

45 /P-CL

47 +24V -IN

49 /PSO

TGON signal output

Servo ready output

Servo alarm output

PG divided output Aphase

PG divided output Bphase

Alarm code output

Opencollector output

P operation input

Reverse overtravel input

Forward current limit ON input

External input power supply

S-phase signal output

/V-CMP-

(/COIN-)

28 /TGON

30 /S-RDY

32 ALM

34 /PAO

36 /PBO

38 AL02

40 /S-ON

42 P-OT

44 /ALMRST

46 /N-CL

48 PSO

50 — —

Speed coincidence detection output

TGON signal output

Servo ready output

Servo alarm output

PG divided output Aphase

PG divided output Bphase

Alarm code output

Servo ON input

Forward overtravel input

Alarm reset input

Reverse current limit ON input

S-phase signal output

 CN1 Specifications

FSP Amplifier Internal

Connector

10250-52A2JL or Equivalent 50-pin Right Angle Plug

Applicable Receptacle Kit (YEA P/N: JZSP-CK19)

Connector Case Manufacturer

10150-3000VE 50-pin 10350-52A0-008

Sumitomo 3M

Co.

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FSP Amplifier User’s Manual Chapter 3: Wiring

3.4.3. I/O Signal Names and Functions

The following section describes servo amplifier I/O signal names and functions.

 Input Signals

Signal Name Pin No.

Common

Speed Reference Torque Reference

Position Reference

PL1

Note: 1. The functions allocated to /S-ON, /P-CON. P-OT, N-OT, /ALM-RST, /P-CL, and /N-CL input signals

/S-ON 40

/P-CON

P-OT N-OT

/P-CL /N-CL

/ALM

-RST

+24VIN 47

SEN 4 (2) Initial data request signal when using an absolute encoder. 5.2.3

BAT+

BAT-

V-REF 5 (6)

T-REF 9 (10)

PULS

/PULS

SIGN

/SIGN

CLR

/CLR

PL2 PL3

can be changed with parameters. (See 5.3.3 Input Circuit Signal Allocation).

2. Pin numbers in parenthesis ( ) indicate signal grounds.

3. The voltage input range for speed and torque references is a maximum of ±12 V.

42 43

45 46

21 22

8 11 12

15 14

3 13 18

Servo ON: Turns ON the servomotor when the gate block in the inverter is released.

Function selected via parameter.

Proportional

operation reference

Direction

reference

Control mode

switching

Zero-clamp

reference

Reference

pulse block

Forward Run

prohibited

Reverse Run

prohibited

Function selected with a parameter. —

Forward current

limit ON

Reverse current

limit ON

Internal speed

switching

Switches the speed control loop from PI (proportional/integral) to P (proportional) control when ON. With internal reference speed selected: Switches the direction of rotation. Position Speed

Speed Torque

Torque Speed Speed control with zero-clamp function:

reference speed is zero when ON. Position control with reference pulse stop: stops reference pulse input when ON.

Overtravel prohibited: stops servomotor when movable part travels beyond the allowable range of motion.

Current limit function used when ON. 5.1.3

With internal reference speed selected: switches the internal speed settings.

Alarm reset: Releases the servo alarm state. 5.5.1

Control power supply input for sequence signals: users must provide the +24V power supply.

Connecting pins for the absolute encoder backup battery. 5.2.3

Speed reference input: ±2 to ±10 V/rated motor speed (Input gain can be modified with a parameter.) Torque reference input: ±1 to ±10 V/rated motor speed (Input gain can be modified with a parameter.)

Corresponds to

reference pulse

input

Line-driver

Open-collector

Error counter clear: Clears the error counter during position control. +12V pull-up power supply when PULS, SIGN and CLR reference signals is open-collector outputs (+12V power supply is built into the servo amplifier).

Input mode

• Code + pulse string

• CCW/CW pulse

• Two-phase pulse (90° phase differential)

Function Reference

Enables control mode switching.

5.5.2

5.2.1

5.2.7

5.2.1

5.2.6

5.2.7

5.4.3

5.2.10

5.1.2

5.2.6

5.2.4

5.2.1

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FSP Amplifier User’s Manual Chapter 3: Wiring

 Output Signals

Signal Name

Common

Speed

Position

Not used.

Note: 1. Pin numbers in parenthesis () indicate signal grounds.

ALM+ ALM-

/TGON+ /TGON-

/S-RDY+ /S-RDYPAO /PAO PBO /PBO PCO /PCO

PSO /PSO

ALO1 ALO2 ALO3

TMON 16 Analog monitor signal —

VTG 17 Analog monitor signal —

/V-CMP+ /V-CMP-

/COIN+ /COIN-

2. The functions allocated to /TGON, /S-RDY, and /V-CMP (/COIN) can be changed via parameters. Functions /CLT, /VCT, /BK, /WARN, and /NEAR signals can also be changed. (See 5.3.4 Output Circuit Signal Allocation).

Pin No.

31 32

27 28

29 30

33(1)

34 35 36 19 20

48 49

37 38

39(1)

25 26

23 24 50

Function Reference

Servo alarm: Turns OFF when an error is detected. 5.5.1

Detection during servomotor rotation: detects whether the servomotor is rotating at a speed higher than the motor speed setting. Motor speed detection can be set via parameter. Servo ready: ON if there is no servo alarm when the control/main circuit power supply is turned ON. A phase

signal

B phase

signal

C phase

signal

S phase signal

Alarm code output: Outputs 3-bit alarm codes. Open-collector: 30 V and 20 mA rating maximum.

Converted two-phase pulse (A and B phase) encoder output signal and origin pulse (C phase) signal: RS-422 or the equivalent.

With an absolute encoder: outputs serial data corresponding to the number of revolutions (RS-422 or equivalent).

5.5.5

5.5.6

5.2.3

—

5.5.1

Speed coincidence (output in Speed Control Mode): detects whether the motor speed is within the setting range and if it matches the reference speed value. Positioning completed (output in Position Control Mode): turns ON when the number of error pulses reaches the value set. The setting is the number of error pulses set in reference units (input pulse units defined by the electronic gear).

These terminals are not used. Do not connect relays to these terminals.

5.5.4

5.5.3

—

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FSP Amplifier User’s Manual Chapter 3: Wiring

3.4.4. Interface Circuits

This section shows examples of servo amplifier I/O signal connection to the host controller.

 Interface for Reference Input Circuits

Analog Input Circuit

Analog signals are either speed or torque reference signals at the impedance below.

• Speed reference input: About 14 kΩ

• Torque reference input: About 14 kΩ

The maximum allowable voltage for input signals is ±12 V.

FSP Amplifier

Reference Position Input Circuit

An output circuit for the reference pulse and error counter clear signal at the host controller can be either line-driver or open-collector outputs. These are shown below by type.

• Line-driver Output Example:

FSP Amplifier

Applicable line-driver SN75174 manufactured by Texas Instruments or the equivalent.

• Open-collector Output, Example 1: External power supply

FSP Amplifier

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FSP Amplifier User’s Manual Chapter 3: Wiring

The following examples show how to select the pull-up resistor R1 so the input current (I) falls between 7 and 15mA.

Application Examples

R1 = 2.2 kΩ with

= 24 V ±5%

R1 = 1 kΩ with

VCC = 12 V ±5%

R1 = 180 Ω with

VCC = 5 V ±5%

• Open-collector Output, Example 2: Using a servo amplifier with an

internal 12 V power supply

This circuit uses the 12 V power supply built into the servo amplifier. The input is not isolated in this case.

FSP Am pl ifier si de

CN1 terminals

 Sequence Input Circuit Interface

The sequence input circuit interface connects through a relay, opencollector transistor or NPN sensor circuit. Select a low-current relay; otherwise a faulty contact will result.

FSP Amplifier FSP Amplifier

FSP Amplifier

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 Output Circuit Interfaces

Any of the following three types of servo amplifier output circuits can be used. Connect an input circuit at the host controller following one of these types.

• Connecting a line-driver output circuit

Encoder serial data output signals (PAO, /PAO, PBO, /PBO), origin pulse signals (PCO, /PCO) and S phase rotation signals (PSO, /PSO) are output via linedriver output circuits that normally comprise the position control system at the host controller. Connect the line-driver output circuit through a line receiver circuit at the host controller.

FSP Amplifier

converted to two-phase (A and B phase) pulse

See 3.5 Wiring Encoders for connection circuit examples.

• Connecting an open-collector output circuit

Alarm code signals are output from open-collector transistor output circuits. (AL01 – CN1-37, AL02 – CN1-38, AL03 – CN1-39)

Connect an open-collector output circuit through an optocoupler, relay, or line receiver circuit.

FSP Amplifier

Note: The maximum allowable voltage and current capacities for open-collector circuits are:

• Voltage: 30 VDC

• Current: 20 mADC

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• Connecting an optocoupler output circuit

An optocoupler output circuits are used for servo alarm, servo ready, and other sequence output signal circuits.

Connect an optocoupler output circuit through a relay or line receiver circuit.

FSP Amplif ier FSP Amplifier

Note: The maximum allowable capacities for optocoupler output circuits are:

• Voltage: 30 VDC

• Current: 50 mADC

• Connecting two FSP Amplifiers (master-slave mode):

Connect output of “master” FSP Amplifier to input of “slave” FSP Amplifier.

FSP Mast e r

FSP Slave

• Connecting an external load to FSP Amplifier’s output.

Maximum current: 50 mA.

FSP Ampl ifier

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FSP Amplifier User’s Manual Chapter 3: Wiring

3.5. Wiring Encoders (for SGMGH and SGMSH Motors Only)

The following sections describe the procedure for wiring a servo amplifier to the encoder.

3.5.1. Encoder Connections

The following diagrams show the wiring of the encoder output from the motor to CN2 of the servo amplifier, and PG output signals from CN1 to the controller. This applies to both incremental and absolute encoders of SGMGH and SGMSH motors only. The numbers in parentheses ( ) are applicable to SGMAH motors. For SGMPH motors, refer to the Sigma FSP Servo System Catalog (YEA-KAA-FSP-6).

 Incremental Serial Encoders

FSP Amplifier

Output line driver SN 75ALS194 manuf act ured by Tex as Ins trument s or e quiv alent.

 Absolute Serial Encoders

Output line driver SN75ALS194 manufacture d by Tex as Instruments or eq uivalent.

FSP Amplifier

Applicab le line receiver SN75175 manufactu red by Texas Instruments or equivalent.

App licable line recei ver SN75175 manufacture d by Texas Instruments or equivalent.

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FSP Amplifier User’s Manual Chapter 3: Wiring

3.5.2. CN2 Encoder Connector Terminal Layout

The following tables describe CN2 connector terminal layout and types.

 CN2 Connector Terminal Layout for the standard FSP

Amplifier (models FSP-MC

1 PPG0V PG GND

3 PPG0V PG GND

5 PPG5V PG +5V

7 NC* —

9 /PS

Note: NC* – Leave contact open.

Serial PG

/S-phase

10 SPG5V

2 PPG0V PG GND

4 PPG5V PG +5V

6 PPG5V PG +5V

8 PS

Serial PG

S-phase

Serial PG

+5V

11 SPG0V

13 BAT-

15 /PC

17 /PA

19 /PB

Serial PG

GND

Battery -

input

/C-phase

/A-phase

/B-phase

12 BAT+

14 PC

16 PA

18 PB

20 NC* —

Battery +

input

C-phase

A-phase

B-phase

 CN2 Connector with Commutation Sensors Terminal

Layout for Hall Effect FSP Amplifiers (models FSP-MH)

1 PPG0V PG GND

3 PPG0V PG GND

5 PPG5V PG +5V

7 /UIN

9 /VIN

U – Phase Hall Effect

V – Phase Hall Effect

10 SPG5V +5V

Note: NC* – Leave contact open.

 CN2 Connector Models

FSP Amplifier

Internal

Connector

2 PPG0V PG GND

4 PPG5V PG +5V

6 PPG5V PG +5V

8 NC* —

Applicable Plug (or Socket)

Soldered Plug Case

11 SPG0V GND

13 BAT-

15 /PC

17 /PA

19 /PB

Battery -

input

/C-phase

/A-phase

/B-phase

12 BAT+

14 PC

16 PA

18 PB

20 /WIN

Battery +

input

C-phase

A-phase

B-phase

W – Phase

Hall Effect

10220-52A2JL

10120-3000VE 20PIN 10320-52A0-008

20 PIN

YEA P/N: DTCR6973

Previous P/N: DE9406973

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FSP Amplifier User’s Manual Chapter 3: Wiring

3.6. Examples of Standard Connections

The following diagrams show examples of standard servo amplifier connections by specifications and type of control.

Note for single-phase power supply specifications:

FSP Amplifier FSP-08A and FSP-15A are single-phase drivers. Main circuit connection terminals (L1, L2, L3) remained.

These devices have terminal B3 and internal regenerative resistor. Observe the following points.

1. Connect main power supply shown below to L1 and L3 terminals. Power

supply is single-phase, 220 to 230 VAC +10% to –15%, 50/60 Hz. If power supply of 187 V (-15% of 220 V) or less is used, alarm A.41 indicating voltage shortage, may occur when accelerating to max speed with max torque of motor.

2. Short-circuit B2 and B3 terminals using the internal regenerative resistor. If

capacity of the regenerative resistor is insufficient, remove the lead between B2 and B3 terminals and connect an external regenerative resistor unit to B1 and B2 terminals.

Brake power supply Used for a servomotor with a brake.

3-26

Cable type: P/N YS-12

Host controller FSP A mp lifie r is compat i b le with most PLC motion controllers and indexers.

FSP Amplifier User’s Manual Chapter 3: Wiring

 Position Control Mode

FSP Ampl if ier

*1. P represents twisted-pair wires. *2. The time constant for the primary filter is 47 μs. *3. Connect only with an absolute encoder. *4. Used only with an absolute encoder. *8. Use a double-insulated 24 VDC power supply.

between terminals B1 and B2 (for FSP Amplifiers with big capacity).

*6. These circuits are hazardous, therefore are

separated by protecting separator.

*7. These circuits are SELV circuits, therefore are

separated from all other circuits by double and reinforced insulator.

*9. Optional – not available in all models. *5. Connect an external regenerative resistor *10. Resistors are different for each model.

*11. ∅ Represents contacts of CN1 connector.

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FSP Amplifier User’s Manual Chapter 3: Wiring

 Speed Control Mode

FSP Ampl if ier

*1. P represents twisted-pair wires. *2. The time constant for the primary filter is 47us. *3. Connect only with an absolute encoder. *4. Used only with an absolute encoder. *8. Use a double-insulated 24VDC power supply.

between terminals B1 and B2 (for FSP Amplifiers with big capacity).

*6. These circuits are hazardous, therefore are

separated by protecting separator.

*7. These circuits are SELV circuits, therefore are

separated from all other circuits by double and reinforced insulator.

*9. Optional – not available in all models. *5. Connect an external regenerative resistor *10. Resistors are different for each model.

*11. ∅ Represents contacts of CN1 connector.

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FSP Amplifier User’s Manual Chapter 3: Wiring

 Torque Control Mode

FSP Ampl i f ier

between terminals B1 and B2 (for FSP Amplifiers with big capacity).

*6. These circuits are hazardous, therefore are

separated by protecting separator.

*7. These circuits are SELV circuits, therefore are

separated from all other circuits by double and reinforced insulator.

*9. Optional – not available in all models. *5. Connect an external regenerative resistor *10. Resistors are different for each model.

*11. ∅ Represents contacts of CN1 connector.

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FSP Amplifier User’s Manual Chapter 4: Trial Operation

4. Trial Operation

This chapter describes a two-step trial operation. Be sure to complete step 1 before proceeding to step 2.

4.1. Two-Step Trial Operation ................................................................................ 4-2

4.1.1. Step 1: Trial Operation for Servomotor without Load............................. 4-3

4.1.2. Step 2: Trial Operation with Servomotor Connected to Machine ........... 4-9

4.2. Additional Setup Procedures in Trial Operation............................................ 4-10

4.2.1. Servomotors with Brakes.......................................................................4-10

4.2.2. Position Control by Host Controller ...................................................... 4-11

4.3. Minimum Parameters and Input Signals........................................................4-12

4.3.1. Parameters..............................................................................................4-12

4.3.2. Input Signals .......................................................................................... 4-12

4-1

FSP Amplifier User’s Manual Chapter 4: Trial Operation

4.1. Two-Step Trial Operation

Make sure that all wiring is completed prior to starting trial operation.

For your own safety, perform the trial operation in the order given below (step 1 and 2). See 4.1.1 Trial Operation for Servomotor without Load and 4.1.2 Trial Operation for Servomotor Connected to Machine for more details on the trial operation.

Step 1: Trial Operation for Servomotor without Load

Make s ure the Servomotor is wired properly and then turn the shaft pr ior to connec ting the Servomotor to the equipment.

Step 2: Trial Operation with the Equipment and Servomotor Connected

Adjust the Servomotor according to equipment characteristics, connect the Servomotor to the equipment, and perform the trial operation.

djust speed by autotuning

Servomotor

FSP Amplifier

Connect to the equipment

4-2

FSP Amplifier User’s Manual Chapter 4: Trial Operation

4.1.1. Step 1: Trial Operation for Servomotor without Load

Caution

• Do not operate the servomotor while it is connected to the equipment.

To prevent accidents, initially perform step 1 where the trial operation is conducted under noload conditions (with all couplings and belts disconnected) .

In step 1, make sure that the servomotor is wired properly as shown below. Incorrect wiring is generally the reason why servomotors fail to operate properly during trial operation.

• Check main power supply circuit wiring.

• Check servomotor wiring.

• Check CN1 I/O signal wiring.

Make sure the host controller and other adjustments are completed as much as possible in step 1 (prior to connecting the servomotor to equipment).

Note: Check the items on the following pages in the order given during the servomotor trial operation.

See 4.2.1 Servomotors with Brakes, if you are using a servomotor with brakes.

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FSP Amplifier User’s Manual Chapter 4: Trial Operation

1. Secure the servomotor.

Secure the servomotor mounting plate to the equipment in order to prevent the servomotor from moving during operation.

2. Check the wiring.

Disconnect the CN1 connector and check the servomotor wiring in the power supply circuit. CN1 I/O signals are not used, so leave the connector disconnected.

3. Turn ON power.

Normal dis play

Example of alarm di splay

Alt ernative display

Turn ON servo amplifier’s power. If the servo amplifier has turned ON normally, the LED display on its front panel will appear as shown above. Power is not supplied to the servomotor because the servo is OFF.

If an alarm display appears on the LED indicator as shown above, the power supply circuit, servomotor wiring, or encoder wiring is incorrect.

In this case, turn OFF power and take appropriate action. See 9.2

Troubleshooting.

Note: If an absolute encoder is used, it must be set up. Refer to 5.7.3 Absolute Encoder Setup.

4-4

FSP Amplifier User’s Manual Chapter 4: Trial Operation

4. Operate with the panel operator.

Operate the servomotor using the panel operator. Check to see if the servomotor runs normally.

See 7.2.2 JOG Operation for more details on the procedure.

5. Connect the signal lines.

Use the following procedure to connect the CN1 connector.

a) Turn OFF power. b) Connect the CN1 connector. c) Turn ON power again.

6. Check the input signals.

Check input signal wiring in Monitor Mode using the panel operator.

See 7.1.6 Operation in Monitor Mode for more details on the procedure.

Turn ON and OFF each signal line to see if the LED monitor bit display on the panel changes as shown below.

Input signal LED display

P-OT N-OT

/ALM-RST /P -CL /N-CL

SEN

/P-CON /S-ON

Top lights when OFF (high level).

Bott om light s when ON (low level).

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FSP Amplifier User’s Manual Chapter 4: Trial Operation

Input Signal Status LED Display

OFF (high level) Top LED indicators light.

ON (low level) Bottom LED indicators light.

Note: The servomotor will not operate properly if the following signal lines are not wired correctly. Short-circuit

the signal lines if they will be unused. Input signal selections (parameters Pn50A to Pn50D) can be used to eliminate the need for external short-circuiting.

Signal Symbol Connector Pin

Number

P-OT CN1-42

N-OT CN1-43

/S-ON CN1-40

+24VIN CN1-47

The servomotor can rotate in forward direction when this signal line is low (0V). The servomotor can rotate in reverse direction when this signal line is low (0V). The servomotor is turned ON when this signal line is low (0V). Leave the servomotor OFF. Control power supply terminal for sequence signals.

Description

Note: IF an absolute encoder is being used, the servo will not turn ON when the servo ON signal (/S-ON) is input

unless the SEN signal is also ON. When the SEN signal is checked in Monitor mode, the top of the LED will light because the SEN signal is high when ON.

7. Turn ON the servo.

/S-ON

FSP Amplifie

CN1-40

Turn ON

Servomoto

Turn ON the servo using the following procedure:

a) Make sure there are no reference signal inputs.

• Set V-REF (CN1-5) and T-REF (CN1-9) to 0V for speed and

torque control.

• Set PULS (CN1-7) and SIGN (CN1-11) to low for position

control.

b) Turn ON the servo ON signal.

Di splay wi th servo ON.

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FSP Amplifier User’s Manual Chapter 4: Trial Operation

Set /S-ON (CN1-40) to 0V. If everything is normal, the servomotor will turn ON and the LED indicator on the front panel will display as shown. If an alarm display appears, take appropriate action as

described in 9.2 Troubleshooting.

Note: If there is noise in the reference voltage for speed control, the “-” on the left of the 7-segment LED may

flash.

 Operation Using Reference Input

The operating procedure here depends on the parameter settings (control mode selection at memory switch Pn000.1). Use the following procedure for operations with speed and position control.

Operating Procedure in Speed Control Mode: Set Pn000.1 to 0

This description applies to the standard speed control setting.

FSP Amplifier

V- REF

CN1-5

CN1-6

Servomot or

Servomotor rotates at a speed proportional to the reference voltage.

1. Gradually increase the reference speed input (V-REF, CN1-5) voltage.

The servomotor will rotate.

2. Check the following items in Monitor mode. See 7.1.6 Operation in

Monitor Mode.

Un000 Actual motor speed

Un001 Reference speed

• Has the reference speed been input?

• Is the motor speed as defined?

• Does the reference speed coincide with the actual motor speed?

• Does the servomotor stop when the speed reference is 0?

3. If the servomotor rotates at extremely slow speed with 0V specified for

the reference voltage, correct the reference offset value as described in

7.2.3 Automatic Adjustment of the Speed and Torque Reference Offset or 7.2.4 Manual Adjustment of the Speed and Torque Reference Offset.

4. Reset the following parameters to change the motor speed or direction of rotation.

Pn300

Pn000.0

Sets the reference speed input gain. See 5.2.1 Speed Reference.

Selects the rotation direction. See 5.1.1 Switching Servomotor Rotation

Direction.

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FSP Amplifier User’s Manual Chapter 4: Trial Operation

Operating Procedure In Position Control Mode: Set Pn000.1 to C

1. Set the parameter Pn200.0 so that the reference pulse form is the same

as the host controller output form.

To select the reference pulse form, see 5.2.2 Position Reference.

2. Input a slow speed pulse from the host controller and execute low- speed operation.

Reference pulse

Host controller

PULS

/PULS

SIGN

/SIGN

FSP Amplifie

Servomotor

CN1-7

CN1-8

CN1-11

CN1-12

3. Check the following data in Monitor mode. See 7.1.6 Operation in Monitor Mode.

Un000 Actual motor speed

Un007 Reference pulse speed display

Un008 Position offset

• Has the reference pulse been input?

• Is the motor speed as defined?

• Does the reference speed coincide with the actual motor speed?

• Does the servomotor stop when the speed reference is 0?

4. Reset the parameters shown below to change the motor speed or direction of rotation.

Pn202, Pn203

Pn000.0

Electronic gear ratio

5.2.5 Using the Electronic Gear Function.

See

Selects the direction of rotation.

5.1.1 Switching Servomotor Rotation Direction.

See

If an alarm occurs or the servomotor fails to operate during the above operation, the CN1 connector wiring is incorrect or the parameter settings do not match the host controller specifications. Check the wiring and review the parameter settings, then repeat step 1.

Note: References

•

List of alarms: See 9.2.3 Alarm Display Table.

•

List of parameters: See Appendix D, List of Parameters.

4-8

FSP Amplifier User’s Manual Chapter 4: Trial Operation

4.1.2. Step 2: Trial Operation with Servomotor Connected to

Machine

Warning

• Follow the procedure below for step 2 operation precisely as given.

Malfunctions that occur after the servomotor is connected to the equipment not only damage

the equipment, but may also cause an accident resulting in death or injury.

Before proceeding to step 2, repeat step 1 (Servomotor Trial Operation without a Load) until all concerns including parameters and wiring have fully satisfied expectations.

After step 1 has been completed, proceed to step 2 for trial operation with the servomotor connected to the equipment. The servo amplifier is now adjusted in the following ways to meet the specific equipment’s characteristics.

• Using auto-tuning to match the servo amplifier to the equipment’s characteristics.

• Matching direction of rotation and speed to the equipment’s specifications.

• Checking the final control form.

Servomotor

Connect to the machine

FSP Amplifier

Follow the procedure below to perform the trial operation.

1. Make sure power is OFF.

2. Connect the servomotor to the equipment.

3. Use auto-tuning to match the servo amplifier to equipment

characteristics.

See 5.7.5. Auto-tuning

4. Operate the servomotor by reference input as described in step 1 of

4.1.1 Step 1: Trial Operation for Servomotor without Load. Tune to match the host controller at this time, as well.

5. Set parameters as required and record all settings for later use during maintenance.

Note: The servomotor will not be primed completely during the trial operation. Therefore, let the system run for a

sufficient amount of time after trial operation has been completed to ensure that it is properly primed.

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FSP Amplifier User’s Manual Chapter 4: Trial Operation

4.2. Additional Setup Procedures in Trial Operation

For two equipment configurations, which are delineated in the subsequent sections, precautionary setup procedures must be followed before starting trial operation.

4.2.1. Servomotors with Brakes

Use a servomotor with a brake for vertical shaft applications or for the application of external force to the shaft to prevent rotation due to gravity or external force during a power loss.

The servo amplifier uses the brake interlock output (/BK) signal to control the holding brake operation when using servomotors with brakes.

Vertical shaft

Servomotor

Holding brake

Preve nts the Servomotor from rotati ng due to gravity.

Shaft wi th External Fo rce Applied

External force

Servomotor

Note: To prevent faulty operation when using gravity or external force, first make sure that both the servomotor

and the holding brake work properly. When assured that each operates properly, connect the servomotor to the rest of the equipment to start the trial operation.

The following figure shows wiring for a servomotor with brakes. See 5.4.4

Using the Holding Brake for details on wiring.

Power supply Single-phase 200V

FSP Amplifier

U,V, W

Servomotor with brakes

Encoder

Single-phase 200V

CN 2

Magnetic contactor

Brake power supply

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FSP Amplifier User’s Manual Chapter 4: Trial Operation

4.2.2. Position Control by Host Controller

If the position control algorithm of the host controller has not been established or finalized, disconnect the servomotor from the equipment before performing a trial operation. This will prevent the servomotor from running out of control and damaging the equipment.

Reference speed

Host

controller

FSP Amplifier

Check servomotor operation as described in the following table.

Controller Reference

JOG Operation (Constant Reference Speed Input from Host Controller)

Simple Positioning

Overtravel

(P-OT and N-OT Used)

Speed control

Trial operation for servomotor without load

Check Procedure Description

Check motor speed as follows:

Motor speed

Number of motor rotations

Whether the servomotor stops rotating when P-OT and N-OT signals are applied

• Use the speed monitor (Un000) on the Panel Operator.

• Run the servomotor at low speed. Input a reference speed of 60 rpm, for example, to see if the servomotor makes one revolution per second.

Input a reference equivalent to one servomotor rotation and visually check to see if the shaft makes one revolution.

Check to see if the servomotor stops when P-OT and N-OT signals are input during continuous servomotor operation.

Check the parameter setting at Pn300 to see if the reference speed gain is correct.

Check the parameter setting at Pn201 to see if the number of dividing pulses is correct.

Review P-OT and N-OT wiring if the servomotor does not stop.

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FSP Amplifier User’s Manual Chapter 4: Trial Operation

4.3. Minimum Parameters and Input Signals

This section describes the minimum parameters and input signals required for trial operation.

4.3.1. Parameters

See 7.1.5 Operation in Parameter Setting Mode for more details on setting parameters.

Turn power OFF once after changing any parameter except Pn300. The change will not be valid until power is restored.

Basic Parameters

Pn000.1

Function Selection Basic Switches: Control Mode Selection

See

5.3.5

Speed Control

5.2.1

Pn300 Speed Reference Pn201 Using the Encoder Signal Output

See See

5.2.3

Position Control

Pn200.0 Position Reference Pn202 Using the Electronic Gear Function (Numerator) Pn203 Using the Electronic Gear Function (Denominator)

Changing Servomotor Rotation Direction

If the specified direction differs from the actual direction of rotation, wiring may be incorrect. Recheck the wiring and correct if necessary. Use the following parameter to reverse the direction of rotation.

Pn000.0 Switching Servomotor Rotation Direction

4.3.2. Input Signals

Input signal selection settings through parameters can be used to eliminate the need for external short circuits.

Signal Name Pin Number Description

/S-ON Servo ON CN1-40

P-OT

N-OT

Forward run

prohibited

Reverse run

prohibited

CN1-42

CN1-43

See See See

See

5.5.2 for more details on turning

See ON and OFF the servomotor.

5.1.2 for more details on the

See overtravel limit switch.

5.2.2

5.2.5

5.1.1

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FSP Amplifier User’s Manual Chapter 5: Parameter Settings and Functions

5. Parameter Settings and Functions

5.1. Settings According to Device Characteristics.................................................. 5-4

5.1.1. Switching Servomotor Rotation Direction............................................... 5-4

5.1.2. Setting the Overtravel Limit Function ..................................................... 5-5

5.1.3. Limiting Torque ....................................................................................... 5-6

5.2. Settings According to Host Controller............................................................. 5-6

5.2.1. Speed Reference....................................................................................... 5-6

5.2.2. Position Reference ................................................................................... 5-6

5.2.3. Using the Encoder Signal Output ............................................................5-6

5.2.4. Sequence I/O Signals ...............................................................................5-6

5.2.5. Using the Electronic Gear Function......................................................... 5-6

5.2.6. Contact Input Speed Control.................................................................... 5-6

5.2.7. Using Torque Control .............................................................................. 5-6

5.2.8. Torque Feed-Forward Function ............................................................... 5-6

5.2.9. Torque Limiting by Analog Voltage Reference ......................................5-6

5.2.10. Reference Pulse Inhibit Function (/INHIBIT) ......................................... 5-6

5.3. Setting Up the Servo Amplifier .......................................................................5-6

5.3.1. Parameters................................................................................................5-6

5.3.2. JOG Speed ............................................................................................... 5-6

5.3.3. Input Circuit Signal Allocation................................................................5-6

5.3.4. Output Circuit Signal Allocation ............................................................. 5-6

5.3.5. Control Mode Selection ........................................................................... 5-6

5.4. Setting Stop Functions ..................................................................................... 5-6

5.4.1. Adjusting Offset.......................................................................................5-6

5.4.2. Servo OFF Stop Mode Selection .............................................................5-6

5.4.3. Using the Zero Clamp Function............................................................... 5-6

5.4.4. Using the Holding Brake .........................................................................5-6

5.5. Forming a Protective Sequence ....................................................................... 5-6

5.5.1. Using Servo Alarm and Alarm Code Outputs .........................................5-6

5.5.2. Using the Servo ON Input Signal (/S-ON) .............................................. 5-6

5.5.3. Using the Positioning Completed Output Signal (/COIN) ......................5-6

5.5.4. Speed Coincidence Output (/V-CMP) ..................................................... 5-6

5.5.5. Using the Running Output Signal (/TGON) ............................................ 5-6

5.5.6. Using the Servo Ready Output Signal (/S-RDY) ....................................5-6

5.5.7. Using the Warning Output Signal (/WARN)........................................... 5-6

5.5.8. Handling Power Loss ............................................................................... 5-6

5.6. Selecting a Regenerative Resistor.................................................................... 5-6

5.6.1. External Regenerative Resistor................................................................ 5-6

5.6.2. Calculating the Regenerative Power Capacity......................................... 5-6

5.7. Absolute Encoders ........................................................................................... 5-6

5.7.1. Interface Circuit ....................................................................................... 5-6

5.7.2. Configuring an Absolute Encoder ...........................................................5-6

5.7.3. Absolute Encoder Setup........................................................................... 5-6

5.7.4. Absolute Encoder Reception Sequence ...................................................5-6

5.8. AB Encoders .................................................................................................... 5-6

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FSP Amplifier User’s Manual Chapter 5: Parameter Settings and Functions

5.9. Defining User Units and Setup ........................................................................ 5-6

5.9.1. Position Control .......................................................................................5-6

5.9.1.1. Defining User Units for Motion Profiles ......................................... 5-6

5.9.1.2. Position Units................................................................................... 5-6

5.9.1.3. Speed Units ...................................................................................... 5-6

5.9.1.4. Acceleration Units ........................................................................... 5-6

5.9.1.5. Setting Default Motion Profile Parameters......................................5-6

5.9.1.6. Profile Speed (Pn2A2, Pn2A3) ........................................................ 5-6

5.9.1.7. Profile Acceleration (Pn2A4, Pn2A5) .............................................5-6

5.9.1.8. Jerk Smoothing Time (Pn2A6) ........................................................ 5-6

5.9.1.9. Quick Stop Deceleration (Pn2A8, Pn2A9) ......................................5-6

5.9.1.10. Motion End Window (Pn2C0)......................................................... 5-6

5.9.2. Torque Control.........................................................................................5-6

5.9.2.1. Torque Slope (Pn2C1) .....................................................................5-6

5.9.3. Homing .................................................................................................... 5-6

5.9.4. Digital I/O ................................................................................................ 5-6

5.9.5. Auto-Tuning............................................................................................. 5-6

5.10. Auto Running a User Program..................................................................... 5-6

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FSP Amplifier User’s Manual Chapter 5: Parameter Settings and Functions

 Before Reading this Chapter

This chapter describes the use of each CN1 connector I/O signals in the FSP Amplifier as well as the procedure for setting the related parameters for the intended purposes.

The following sections can be used as references for this chapter.

• List of CN1 I/O signals: See 3.4.3. I/O Signal Names and Functions.

• CN1 I/O signal terminal layout: See 3.4.2. List of CN1 Terminals.

• List of parameters: Appendix D. List of Parameters.

• Parameter setting procedure: 7.1.5 Operation in Parameter Setting

Mode

The CN1 connector is used to exchange signals with the host controller and external circuits.

 Parameter Configurations

Parameters are comprised of the types shown in the following table. See

Appendix D. List of Parameters.

Type

Function Selection Constants

Servo Gain and Other Constants

Position Control Constants

Speed Control Constants Pn300 to Pn308

Torque Control Constants Pn400 to Pn40A

Sequence Constants

Others Pn600 to Pn601

Auxiliary Function Execution Fn000 to Fn013

Monitor Modes Un000 to Un00D

Parameter

Number

Pn000 to Pn007 Pn550 to Pn551

Pn100 to Pn11E Pn1A0 to Pn1C0

Pn200 to Pn216 Pn2A2 to Pn2CB

Pn500 to Pn511 Pn200 to Pn2D2

Description

Select basic and application functions such as the type of control or the stop mode used when an alarm occurs.

Set numerical values (speed control). Set numerical values (position control).

Set position control parameters such as the reference pulse input form gear ratio and application setting. Set speed control parameters such as speed reference input gain and soft start deceleration time. Set torque control parameters such as the torque reference input gain and forward/reverse torque limits. Set output conditions for all sequence signals and change I/O signal selections and allocations.

Specify the capacity for an external regenerative resistor and reserved constants.

Execute auxiliary functions such as JOG Mode operation.

Enable speed and torque reference monitoring, as well as monitoring to check whether I/O signals are ON or OFF.

Encoder Selection Pn190 to Pn192 Encoder type selection

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FSP Amplifier User’s Manual Chapter 5: Parameter Settings and Functions

5.1. Settings According to Device Characteristics

This section describes the procedure for setting parameters according to the dimensions and performance characteristics of the equipment used.

5.1.1. Switching Servomotor Rotation Direction

The FSP Amplifier has a Reverse Rotation mode that reverses the direction of servomotor rotation without rewiring. Forward rotation in the standard setting is defined as counterclockwise as viewed from the load.

With the Reverse Rotation mode, the direction of the servomotor rotation can be reversed without changing other parameters. Only the direction (+, −) of the shaft motion is reversed.

Standard Setting Reverse Rotation Mode

Forward Reference

Reverse Reference

Enc oder output

ccw

fromXtraDrive

PA O (phase A)

PBO (phas e B)

Enc oder output

fromXtraDrive

PA O (phase A)

PBO (phase B)

FSP Amplifier

Encoder output

from XtraDrive

ccw

FSP Amplifier

PA O ( ph ase A )

PBO ( ph as e B)

Encoder output

FSP Amplifier

from XtraDrive PA O (phase A)

PBO (phase B)

 Setting Reverse Rotation Mode

Use the parameter Pn000.0.

Parameter Signal Setting Control Mode

Pn000.0 Direction Selection Default Setting: 0

Use the following settings to select the direction of servomotor rotation.

Setting Description

Speed, Torque, Position Control, and Programming

Forward rotation is defined as counterclockwise (CCW) rotation as viewed from the load.

Forward rotation is defined as clockwise (CW) rotation as viewed from the load.

(Standard setting)

(Reverse Rotation Mode)

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FSP Amplifier User’s Manual Chapter 5: Parameter Settings and Functions

5.1.2. Setting the Overtravel Limit Function

The overtravel limit function forces movable equipment parts to stop if they exceed the allowable range of motion.

 Using the Overtravel Function

To use the overtravel function, connect the overtravel limit switch input signal terminals shown below to the correct pins of the servo amplifier CN1 connector.

Input Ö P-OT CN1-42

Input Ö N-OT CN1-43

Forward Run Prohibited (Forward Overtravel)

Reverse Run Prohibited (Reverse Overtravel)

Speed, Torque, and Position Control

Connect limit switches as shown below to prevent damage of equipment during linear motion.

Reverse rotation end

Servomotor

Forward rotation end

FSP Amplifier

CN1-42

P-OT

N-OT

CN1-43

The drive status with an input signal ON or OFF is shown in the following table.

Signal State Input Level Description

ON CN1-42: low

P-OT

OFF CN1-42: high

ON CN1-43: low

N-OT

OFF CN1-43: high

Forward rotation allowed, (normal operation status). Forward rotation prohibited (reverse rotation allowed). Reverse rotation allowed, (normal operation status). Reverse rotation prohibited (forward rotation allowed).

 Enabling/Disabling Input Signals

Set the following parameters to specify whether input signals are used for overtravel or not. The default setting is 8, “NOT USED.”

Parameter Signal Setting Control Mode

Pn50A.3

Pn50B.0

P-OT Signal Mapping (Forward Run Prohibit Input Signal) N-OT Signal Mapping (Reverse Run Prohibit Input Signal)

Default Setting: 8

5-5

Speed, Torque, and Position Control

FSP Amplifier User’s Manual Chapter 5: Parameter Settings and Functions

 Servomotor Stop Mode for P-OT and N-OT Input Signals

Set the following parameters to specify the servomotor Stop mode when POT and N-OT input signals are used.

Specify the servomotor Stop mode when either of the following signals is input during servomotor operation.

• Forward run prohibited input (P-OT, CN1-42)

• Reverse run prohibited input (N-OT, CN1-43)

• Set the parameters according to limit switch type (NO or NC)

Parameter Signal Setting Description

Uses the P-OT input signal to prevent

Example: 2 P-OT Signal Mapping

Pn50A.3

(Forward Run Prohibit Input Signal)

Default Setting: 8

Example: B

For more options of parameters Pn50A.3 and Pn50B.0 refer to Appendix D.3. Input Signal Selections

Example: 3 N-OT Signal Mapping

Pn50B.0

(Reverse Run Prohibit Input Signal)

Default Setting: 8

Example: C

Connection example:

Normally Closed type

P-OT

FSP Amplifier

CN1-42

N-OT

CN1-43

forward rotation. (Forward rotation is prohibited when CN1-42 is open and is allowed when CN1-42 is at 0 V). Does not use the P-OT input signal to prevent forward rotation. (Forward rotation is always allowed and has the same effect as shorting CN1-42 to 0 V). Inputs the reverse signal from CN1-42 input terminal.

Uses the N-OT input signal to prevent reverse rotation. (Reverse rotation is prohibited when CN1-43 is open and is allowed when CN1-43 is at 0 V). Does not use the N-OT input signal to prevent reverse rotation. (Reverse rotation is always allowed and has the same effect as shorting CN1-43 to 0 V). Inputs the reverse signal from CN1-43 input terminal.

COM of 24 V

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FSP Amplifier User’s Manual Chapter 5: Parameter Settings and Functions

Parameter Signal Setting Control Mode

Pn001.1 Overtravel Stop Mode Default Setting: 0

Speed, Torque, and Position Control

Overtravel

Pn001.0

Pn001.1 = 0

Pn001.1 = 1 or 2

= 0

Stop Mode

dynamic brake

Coast to a stop

Decelerate

Stop by

to a stop

fter Stopping

Coast status

Zero clam p

Coast status

Pn001.1 setting

Note: For torque control, the servomotor will be placed in coast status after either decelerating or coasting to a stop

(according to the Stop mode set in Pn001.0), regardless of the setting of Pn001.1.

Parameter Signal Setting Control Mode

Stops the servomotor the same way as turning the servo OFF (according to Pn001.0). Decelerates the servomotor to a stop at the preset torque, and then locks the servomotor in Zero Clamp mode. Torque setting: Pn406 Emergency Stop Torque Decelerates the servomotor to a stop at the preset torque, and puts the servomotor in coast status. Torque setting: Pn406 Emergency Stop Torque

Pn001.1

Overtravel Stop

Mode

Pn406 specifies the stop torque applied for overtravel when the input signal for prohibiting forward or reverse rotation is used.

The torque limit is specified as a percentage of rated torque.

Parameter Signal

Emergency Stop Torque

Pn406

(Valid when Pn001.1 is 1 or 2)

Forward run prohibit input P- OT (CN1 -42)

Reverse run prohibit input N - OT (CN1 -43)

Setting

(% of Rated Torque)

Range: 0 to 800 Default Setting: 800

Stop Mode

Stop by dynamic brake

Coast to a stop

Decelerate to a stop

5-7

Control Mode

Speed, Torque, and Position Control

Max. torque setting for an emergency stop

Pn406

FSP Amplifier User’s Manual Chapter 5: Parameter Settings and Functions

5.1.3. Limiting Torque

The FSP Amplifier limits torque as follows:

• Level 1: Limits maximum output torque to protect equipment or work

piece.

• Level 2: Limits torque after the servomotor moves the equipment to a

specified position (external torque limit).

• Level 3: Always limits output torque rather than speed.

• Level 4: Switches between speed and torque limit.

The application of level 1 and 2 in the torque limit function is described below.

 Setting Level 1: Internal Torque Limits

Maximum torque is limited to the values set in the following parameters.

Parameter Signal

Pn402 Forward Torque Limit

Pn403 Reverse Torque Limit

(% of Rated Torque)

Sets the maximum torque limits for forward and reverse rotation.

Setting

Range: 0 to 800 Default Setting: 800

Control Mode

Speed, Torque, Position Control, and Programming Speed, Torque, Position Control, and Programming

Used when torque must be limited due to equipment conditions.

The torque limit function always monitors torque and outputs the signals below when the limit is reached.

Signal Description

/CLT

Monitor Mode (Un006) Output signal monitor

Generated when Pn50F.0 allocates an output terminal from SO1 to SO3.

Torque limits are specified as a percentage of the rated torque.

Note: If the torque limit is set higher than the maximum torque of the servomotor, the maximum torque of the

servomotor is the limit.

Application Example: Equipment Protection

Motor speed

Torque limit

Too small a torque limit will result in an insufficient torque during acceleration and deceleration

Torque

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FSP Amplifier User’s Manual Chapter 5: Parameter Settings and Functions

Using the /CLT Signal

The following section describes the use of the contact output signal /CLT as a torque limit output signal.

FSP Amplifier

Output Ö /CLT CN1-*1 Torque Limit Output

This signal indicates whether the servomotor output torque (current) is being limited.

Status Conditions Description

OFF

The circuit between CN1-1 and 2 is closed. CN1-1 is at low level. The circuit between CN1-1 and 2 is open. CN1-1 is at high level.

Servomotor output torque is being limited. (Internal torque reference is greater than the limit setting). Servomotor output torque is not being limited. (Internal torque reference is less than the limit setting).

Settings: Pn402 (Forward Torque Limit) Pn403 (Reverse Torque Limit) Pn404 (Forward External Torque Limit): /P-CL input only Pn405 (Reverse External Torque Limit): /N-CL input only

When the /CLT signal is used, the following parameter must be used to select the output signal.

Parameter Signal Setting Control Mode

Pn50F

Output Signal Selections 2

Default Setting: 0000

Speed, Torque, and Position Control

Speed, Torque, Position Control, and Programming

Pn50F.0

/CLT

Torq ue li mit

detection

Output terminal

CN1-25, 26 (SO1) CN1-27, 28 (SO2)

CN1-29, 30 (SO3)

Use the following table to select which terminal will output the /CLT signal.

Parameter Setting

0 — —

Pn50F.0

Note: Multiple signals allocated to the same output circuit are output using OR logic. Set other output signals to a

value other than the one allocated to the /CLT signal in order to use just the /CLT output signal. See 5.3.4

Output Circuit Signal Allocation.

1 25 26 2 27 28 3 29 30

Output Terminal (CN1-)

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FSP Amplifier User’s Manual Chapter 5: Parameter Settings and Functions

 Setting Level 2: External Torque Limit

A contact input signal is used to enable the torque (current) limits previously set in parameters. Torque limits can be set separately for forward and reverse rotation.

Reverse rotation

/P- CL

CN1 -45

Forward rotation

/ N - CL

CN1 -46

Ö Input /P-CL CN1-45

Ö Output /N-CL CN1-46

FSP Amplifier

Rotation speed

Torque

Rotation speed

Torque

Rotation speed

Torque

Rotation speed

Torque

Forward External Torque Limit Input

Reverse External Torque Limit Input

Torque limit Pn402

Torque limit Pn402 or Pn404 (limited by whichever is smaller)

Torque limit Pn403

Torque limit Pn403 or Pn405 (limited by whichever is smaller)

Speed, Torque, and Position Control

This is the external torque (current) limit input for forward and reverse rotation.

Check input signal allocation status when using this function (see 5.3.3 Input Circuit Signal Allocation). Default settings are given in the table below.

Signal Signal Status Comments Description

CN1-45 at low level when ON Use forward torque limit. Limit: Pn404

/P-CL

CN1-45 at high level when OFF

CN1-46 at low level when ON Use reverse torque limit. Limit: Pn405

/N-CL

CN1-46 at high level when OFF

Do not use forward torque limit. Normal operation.

Do not use reverse torque limit. Normal operation.

—

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FSP Amplifier User’s Manual Chapter 5: Parameter Settings and Functions

The following output signals and monitor methods are used when torque is being limited.

Signal Description

/CLT

Monitor Mode (Un006) —

Generated when Pn50F.0 is allocated to an output terminal from SO1 to SO3.

• Un005: Numbers 6 and 7 (with default

settings)

• Un006: Depending on output signal

allocation conditions.

Application Examples:

• Forced stop

• Robot holding a workpiece

Parameter Signal

Pn404 Forward External Torque Limit

Pn405 Reverse External Torque Limit

Set the torque limits when the torque is limited by an external contact input.

Signal Description

/P-CL (CN1-45) Input Pn404 torque limit applied.

Refer to 7.1.6 Operation in Monitor Mode.

—

Setting

(% of Rated Torque)

Range: 0 to 800 Default Setting: 100 Range: 0 to 800 Default Setting: 100

Control Mode

Speed, Torque, and Position Control Speed, Torque, and Position Control

/N-CL (CN1-46) Input Pn405 torque limit applied.

See 5.2.9 Torque Limiting by Analog Voltage Reference.

Using /P-CL and /N-CL Signals

The procedure for using /P-CL and /N-CL as torque limit input signals is illustrated below.

FSP Amplifier

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FSP Amplifier User’s Manual Chapter 5: Parameter Settings and Functions

5.2. Settings According to Host Controller

This section describes the procedure for connecting an FSP Amplifier to a host controller, including the procedure for setting related parameters.

5.2.1. Speed Reference

Input the speed reference using the input signal: Speed Reference Input. Since this signal has various uses, set the optimal reference input for the system created.

FSP Amplifier

Torque reference input

(analog voltage input)

Speed reference input

(analog voltage input)

Ö Input V-REF CN1-5 Ö Input SG CN1-6

The above inputs are used for speed control (analog reference). (Pn000.1 = 0, 4, 9, or A.) Always wire for normal speed control.

Refer to 7.1.6 Operation in Monitor Mode. The motor speed is controlled in proportion to the input voltage between V-REF and SG.

CN1-9

CN1-10

CN1-5

CN1-6

represents twisted-pair wires

Torque reference

Speed reference

Speed Reference Input Speed Control Signal Ground Speed Control

Rated m otor sp eed Facto ry setting

-8-12

-4

Input voltage (V)

Rate d m oto r s peed

The slope is set in Pn300.

 Setting Examples

Pn300 = 600: This setting means that 6 V is equivalent to the rated motor speed.

Speed Reference

Input

+6 V +1 V

-3 V

Parameter Pn300 can be used to change the voltage input range.

Rotation Direction Motor Speed

Forward rotation Rated motor speed Forward rotation (1/6) rated motor speed Reverse rotation (1/2) rated motor speed

SGMAH

Servomotor

3000 rpm

500 rpm

1500 rpm

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FSP Amplifier User’s Manual Chapter 5: Parameter Settings and Functions

 Input Circuit Example

+ 12

470 Ω, 1/2 W min.

V-REF

FSP Amplifier

CN1-5

CN1-6

Always use twisted pair cable for noise control.

Recommended variable resistor: Model 25HP-10B manufactured by Sakae Tsushin Kogyo Co., Ltd.

Connect V-REF and SG to the speed reference output terminals on the host controller when using a host controller, such as a programmable controller, for position control.

Host controller

Speed reference output terminals

Feedback pulse input terminals

V-REF

PAO

/PAO

PBO

/PBO

FSP Amplifier

CN1-5 CN1-6

CN1-33 CN1-34

CN1-35 CN1-36

P: Indicates twisted-pair

Adjust Pn300 according to the output voltage specifications of the host controller.

Adjust the speed reference input adjustment factor in the following parameter.

Parameter Signal Setting (0.01 V / Rated

Motor Speed)

Pn300

Speed Reference Input Adjustment Factor

Range: 150 to 3000

Control Mode

Speed Control and Programming

Set the voltage range for the V-REF speed reference input at CN1-5 according to the host controller and external circuit output range.

Reference speed (rpm)

Reference voltage (V)

Set this slope

The default setting is adjusted so that a 6 V input is equivalent to the rated motor speed of all applicable servomotors.

Note: The maximum allowable voltage to the speed reference input (between CN1-5 and 6) is ± 12 VDC.

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FSP Amplifier User’s Manual Chapter 5: Parameter Settings and Functions

Using the /P-CON Signal

Ö Input P-CON CN1-41

The /P-CON input signal switches the Speed Control mode from PI (proportional-integral) to P (proportional) control.

Proportional control can be used in the following two ways:

• When an operation is performed by sending speed references from the

host controller to the servo amplifier, the host controller can selectively use the P control mode for particular conditions only. This method can prevent the occurrence of overshoot and also shorten settling time.

• If PI control mode is used when the speed reference has a reference

offset, the motor may rotate at a very slow speed and fail to stop even if 0 is specified as speed reference. In this case, use the P control mode to stop the motor.

Proportional Control Reference

Speed Control, Position Control

5.2.2. Position Reference

The reference pulse, reference code, and clear inputs are used for the position reference. Since this signal can be used in different ways, set the optimal reference input for the system created.

 Reference by Pulse Input

Positioning is controlled by entering a reference pulse for a move.

FSP Ampli f ier

Any of the following forms can be used for the position reference:

• Line-driver output

• +12 V open-collector output

• +5 V open-collector output

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FSP Amplifier User’s Manual Chapter 5: Parameter Settings and Functions

Connection Example 1: Line-driver Output

Applicable line driver: SN75174, manufactured by Texas Instruments Inc.,

MC3487 or equivalent

FSP Amplif ier

Connection Example 2: Open-collector Output

Set limiting resistor R1 so that input current I falls within the following range:

FSP Amplif ier

The examples below show how to select the pull-up resistor R1 so that the input current I falls between 7 and 15 mA.

Application Examples of V = IR

R1 = 1 kΩ with V

= 12 V ±5% R1 = 180 Ω with VCC = 5 V ±5%

Note: The following table shows the signal logic for an open-collector output.

Tr1 Output Level Signal Logic

ON Equivalent to high-level input

OFF Equivalent to low-level input

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FSP Amplifier User’s Manual Chapter 5: Parameter Settings and Functions

This circuit uses the 12 V power supply built into the servo amplifier. The input is not isolated in this case.

FSP Amplif ier

Note: The noise margin of the input signal will decrease if the reference pulse is provided by an open-collector

output. Set parameter Pn200.3 to 1 if the position drifts due to noise.

 Selecting a Reference Pulse Form

Use the following parameters to select the reference pulse form used.

Ö Input PULS CN1-7 Reference Pulse Input Position Control Ö Input /PULS CN1-8 Reference Pulse Input Position Control Ö Input SIGN CN1-11 Reference Code Input Position Control Ö Input /SIGN CN1-12 Reference Code Input Position Control

The servomotor only rotates at an angle proportional to the input pulse.

Parameter Signal Setting Control Mode

Pn200.0 Reference Pulse Form Default Setting: 4

Set reference pulse form input to the servo amplifier from the host controller.

Note: This function works only with a Pulse Reference, not with a Serial Command.

Host controller

Position

reference

pulse

PULSE

SIGN

FSP Amplifier

CN1-7

CN1-11

Position Control and Programming

Since the reference pulse form can be selected from among those listed on the next page, set one according to host controller specifications.

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FSP Amplifier User’s Manual Chapter 5: Parameter Settings and Functions

Reference

Pulse Form

Pn200.0

Parameter

Input

Pulse

Logic

Multiplier

Forward Rotation

PULS

Sign + pulse

train

---

(CN1-7)

SIGN (CN1-11)

PULS

CW pulse +

CCW pulse

2 x1

Two-phase

pulse train

3 x2

with 90°

phase

differential

Sign + pulse

train

---

Positive

(CN1-7)

SIGN (CN1-11)

PULS (CN1-7)

SIGN (CN1-11)

PULS (CN1-7)

SIGN (CN1-11)

PULS

CW pulse +

CCW pulse

7 x1

Two-phase

pulse train

8 x2

with 90°

phase

differential

---

Negative

(CN1-7)

SIGN (CN1-11)

PULS (CN1-7)

SIGN (CN1-11)

Reference

High

Low

90°

Low

High

90°

Reverse Rotation

Reference

PULS (CN1-7)

SIGN

Low

(CN1-11)

PULS (CN1-7) SIGN (CN1-11)

PULS (CN1-7)

SIGN (CN1-11)

Low

90°

PULS (CN1-7)

SIGN (CN1-11)

High

PULS (CN1-7)

SIGN (CN1-11)

High

90°

PULS (CN1-7)

SIGN (CN1-11)

Input Pulse Multiplier

The input pulse multiplier function can be used if the reference pulse is a two-phase pulse train with a 90° phase differential. The electronic gear function can also be used to convert input pulses.

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FSP Amplifier User’s Manual Chapter 5: Parameter Settings and Functions

Example of I/O Signal Generation Timing

Note: 1. For the input pulse to register, the interval from the time the servo ON signal is turned ON until a

reference pulse is entered must be a minimum of 40 ms.

2. The error counter clear signal must be ON for at least 20 μs.

Reference Pulse Input Signal Timing

Reference

Pulse Form

Sign + pulse train input (SIGN + PULS signal) Maximum reference frequency: 500 kpps (200 kpps open-collector output) CW pulse and CCW pulse Maximum reference frequency: 500 kpps (200 kpps open-collector output) Two-phase pulse train with 90º phase differential (A phase + B phase) Maximum reference frequency x1: 500 kpps (200 kpps open-collector output) x2: 400 kpps x4: 200 kpps

Electrical Specifications Remarks

Sign (SIGN) H = Forward reference L = Reverse reference

—

Parameter Pn200.0 is used to switch the input pulse multiplier mode.

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FSP Amplifier User’s Manual Chapter 5: Parameter Settings and Functions

 Error Counter Clear Input

The procedure for clearing the error counter is described below.

Ö Input CLR CN1-15

Ö Input /CLR CN1-14

The following occurs when the CLR signal is set to high level.

Clear Input Position Control Clear Input Position Control

CLR

FSP Amplifier

Clear

Position loop error counter

• The error counter inside the servo amplifier is set to 0.

• Position loop control is prohibited.

Use this signal to clear the error counter of the host controller or select the following clear operation through parameter Pn200.1.

Parameter Signal Setting Control Mode

Pn200.1 Error Counter Clear Signal Form Default Setting: 0 Position Control

Select the pulse form for the error counter clear signal CLR (CN1-15).

Pn200.1

Setting

Clears the error counter when the CLR signal goes high. Error pulses do not accumulate as long as the signal remains high.

Description Clear Timing

CLR

(CN1-15)

High

Cleared state

Clears the error counter on the rising edge of the CLR

signal. Clears the error counter only once on the rising edge of the CLR signal.

Clears the error counter when the CLR signal goes low. Error pulses do not accumulate as long as the signal remains low.

Clears the error counter on the falling edge of the CLR signal. Clears the error counter only once on the falling edge of the CLR signal.

CLR (CN1-15)

Cleared only onc e at this point

CLR (CN1-15)

Cleared only once at t his point

High

Low

Cleared st ate

Low

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FSP Amplifier User’s Manual Chapter 5: Parameter Settings and Functions

5.2.3. Using the Encoder Signal Output

Encoder output signals are divided inside the servo amplifier and can be output externally. These signals can be used to form a position control loop in the host controller.

Encoder

FSP Amplifier

Frequency

dividing

circuit

CN2

CN1

These outputs

explained here

Phase A Phase B

Phase C

Host

controller

The output circuit is for line-driver output. Connect each signal line according to the following circuit diagram.

FSP Amplifier

Note: Dividing means converting an input pulse train from the encoder mounted on the servomotor according to

the preset pulse density and outputting the converted pulse. The units are pulses per revolution (PPR).

 I/O Signals

I/O signals are described below.

Output Ö PAO CN1-33 Encoder Output Phase A Speed, Torque, Position Control, and Programming

Output Ö /PAO CN1-34 Encoder Output Phase /A Speed, Torque, Position Control, and Programming

Output Ö PBO CN1-35 Encoder Output Phase B Speed, Torque, Position Control, and Programming

Output Ö /PBO CN1-36 Encoder Output Phase /B Speed, Torque, Position Control, and Programming

Output Ö PCO CN1-19 Encoder Output Phase C Speed, Torque, Position Control, and Programming

Output Ö /PCO CN1-20 Encoder Output Phase /C Speed, Torque, Position Control, and Programming

Divided encoder signals are outputs; therefore always connect these signal terminals when a position loop is formed in the host controller for position control.

Set a dividing ratio using the following parameter: PG Dividing Ratio Pn201

The dividing ratio setting is not related to the gear ratio setting (Pn202 and Pn203) for the servo amplifier electronic gear function during position control.

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FSP Amplifier User’s Manual Chapter 5: Parameter Settings and Functions

Output Phase Form

Forward rotation

Reverse rotation

Ö Input SEN CN1-4 SEN Signal Input Speed, Torque, Position Control, and Programming

Ö Input /SEN CN1-2 Signal Ground Speed, Torque, Position Control, and Programming

Output Ö PSO CN1-48 Encoder Output Phase S Speed, Torque, Position Control, and Programming

Output Ö /PSO CN1-49 Encoder Output Phase /S Speed, Torque, Position Control, and Programming

Ö Input BAT (+) CN1-21

Ö Input /BAT (-) CN1-22 Battery (-) Speed, Torque, Position Control, and Programming

Battery (+)

Speed, Torque, Position Control, and Programming

Use SEN to BAT (-) signals for absolute encoders. See 5.7 Absolute Encoders for more details.

Output Ö SG CN1-1 Signal ground Speed, Torque, Position Control, and Programming

SG: Connect to 0 V on the host controller.

IMPORTANT

• When using the servo amplifier phase C pulse signal to return to the

machine origin, always turn the servomotor at least twice before starting the original return operation.

If the configuration of the mechanical system prevents turning the servomotor before the origin return operation, then perform the origin return operation at a servomotor speed of 600 rpm or below. The phase C pulse signal may not be correctly applied if the servomotor turns faster than 600 rpm.

 Pulse Divider Setting

Set the pulse dividing ratio in the following parameter:

Parameter Signal Setting (PPR) Control Mode

Pn201 PG Divider

Range: 0 to 65535 Default Setting: 2048

Serial encoder

Set the number of pulses for PG output signals (PAO, /PAO, PBO, /PBO).

Encoder

Serial data

FSP Amplifie

Frequency

division

Output terminals: PAO (CN1

Phase A

Phase B

Output

Pulses from the servomotor encoder (PG) are divided by the preset number before being output.

The number of output pulses per revolution is set by this parameter. Set the value using the reference units of the equipment or the controller used.

The setting range varies with the encoder used.

5-21

Position Control and Programming

-33)

/PAO (CN1 -34)

PBO (CN1 -35)

/PBO (CN1 -36)

FSP Amplifier User’s Manual Chapter 5: Parameter Settings and Functions

Preset va lue: 16

PA O

PBO

1 revolution

Resolution

(Bits)

13 2048 16 to 2048

Number of Encoder

Pulses Per

Revolution (PPR)

16384 16 to 16384

Setting Range

Note: 1. Turn OFF power once and turn ON again after changing the parameter.

2. A 13-bit encoder will run at 2048 PPR even if the setting at Pn201 is set higher than 2049.

A quad B Encoder – Setting of the pulse-dividing ratio.

65536

201

PGout

4192

PGout – number of required out pulses per revolution.

Example: 1000 counts per revolution needed using 8000 counts encoder.

8000

100065536

8192

201 =

PGout

Counts

6553665536

PGout

4192

Note: If a 1:1 ratio (for each incoming pulse, one output pulse generated) is

required, set Pn201 = 0.

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FSP Amplifier User’s Manual Chapter 5: Parameter Settings and Functions

5.2.4. Sequence I/O Signals

Sequence I/O signals are used to control servo amplifier operation. Connect these signal terminals as required.

 Input Signal Connections

Connect the sequence input signals as shown below.

XtraDrive

FSP Amplifier

+24V

Ho st controller

Note: Provide a separate external I/O power supply; the servo amplifier does not have an internal 24 V power

supply. External power supply specifications: 24 V ±1 VDC, 50 mA minimum. Yaskawa recommends using the same type of external power supply as the one used for output circuits.

The function allocation for sequence input signal circuits can be changed.

See 5.3.3 Input Circuit Signal Allocation for more details.

Ö Input +24 VIN CN1-47

External I/O Power Supply Input

Speed, Torque, Position Control, and Programming

The external power supply input terminal is common to sequence input signals.

I/O power supply

+24 V

Connect an external I/O power supply

FSP Amplifier

CN1-47

Contact input signals: /S-ON (CN1-40) /P-CON (CN1-41) P-OT (CN1-42) N-OT (CN1-43) /ALM-RST (CN1-44) /P-CL (CN1-45) /N-CL (CN1-46)

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FSP Amplifier User’s Manual Chapter 5: Parameter Settings and Functions

 Output Signal Connections

Connect the sequence output signals as shown in the following figure.

FSP Amplifier

XtraDrive

32 25

26 27

28 29

ALM+

ALM/V-C M P+

/V-C M P/TGO N+

/TGO N/S-RDY+

/S-RDY-

ALO1

ALO2

ALO3

I/O power supply

+24V

Note: Provide a separate external I/O power supply; the servo amplifier does not have an internal 24 V power

supply. It is recommended to use the same type of external power supply as the one used for input circuits.

Function allocation for some sequence output signal circuits can be changed.

See 5.3.4 Output Circuit Signal Allocation for more details.

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FSP Amplifier User’s Manual Chapter 5: Parameter Settings and Functions

5.2.5. Using the Electronic Gear Function

The electronic gear function enables the servomotor travel distance per input reference pulse to be set to any value. It allows the pulses generated by the host controller to be used for control without having to consider the equipment gear ratio or the number of encoder pulses.

When the electronic gear

function is not used

When the electronic gear function is used

Payload

To move a payload 10 mm (0.39 in): 1 revolution is 6 mm. Therefore, 10 ÷ 6 = 1.6666 revolutions 2048 x 4 pulses is 1 revolution. Therefore,1.6666 x 2048 x 4 = 13653 pulses are input as reference. The equation must be calculated at the host controller.

Ball screw pitch:

Equipment conditions and reference

must be defined for the electronic

units gear function beforehand.

To move a payload 10 mm (0.39 in): Reference unit is 1μm. Therefore, 10 mm

1μm

Payload

6 mm

(0.24 in)

= 10000 pulses

No. of encoder pulses: 2048

 Setting the Electronic Gear (for Reference Pulses)

Calculate the electronic gear ratio (B/A) using the following procedure, and set the values in parameters Pn202 and Pn203.

1. Check equipment specifications related to the electronic gear:

• Deceleration ratio

• Ball screw pitch

• Pulley diameter

Ball screw pitch

Deceleration ratio

Encoder Type

Incremental encoder

Absolute encoder

Note: The number of bits representing the resolution of the applicable encoder is not the same as the number of

encoder signal pulses (A and B phase) output from the servo amplifier.

Number of Encoder Pulses

Per Revolution (PPR)

13-bit 2048 16-bit 16384 17-bit 32768 16-bit 16384 17-bit 32768

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FSP Amplifier User’s Manual Chapter 5: Parameter Settings and Functions

2. Determine the reference unit used.

A reference unit is the minimum position data unit used to move a load (minimum unit of reference from the host controller).

To move a t able in 0.001 mm units

Reference unit: 0.001 mm

Determi ne the reference uni t according to equipment speci ficati ons and positioning ac curacy .

Examples (in mm):

• Reference unit can be 0.1 in or 0.01 in or 0.01 mm or 0.001 mm,

etc. A reference unit of one pulse moves the load by one reference unit.

• When the reference unit is 1µm

If a reference of 50000 units is input, the load moves 50 mm (1.97 in) (50000 ⋅ 0.001 mm = 50 mm).

3. Determine the travel distance per load shaft revolution in reference

units.

Travel distance per load shaft revolution =

revolutionshaft loadper distance Travel

UnitReference

• When the ball screw pitch is 0.20 in (5 mm) and the reference unit

is 0.00004 in (0.001 mm),

20.0

= 5000 (reference units)

00004.0

Ball Screw Disc Table Belt and Pulley

1 revolution =

reference unit

1 revolution =

reference unit

1 revolution =

⎞

4. Electronic gear ratio is given as:

⎛

⎟

⎜

⎠

⎝

If the gear ratio of the motor and the load shaft is given as:

is the rotation of the motor and n is the rotation of the load shaft,

⎞

Electronic gear ratio

Note: Make sure the electronic gear ratio satisfies the following condition:

0.01 ≤ Electronic gear ratio

The servo amplifier will not work properly if the electronic gear ratio exceeds this range. In that case, modify either the load configuration or the reference unit.

⎛

⎟

⎜

⎠

⎝

⎞

⎛

≤ 100

⎟

⎜

⎠

⎝

4x pulsesencoder ofNumber

reference unit

where m

unit) (reference revolutionshaft loadper distance Travel

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FSP Amplifier User’s Manual Chapter 5: Parameter Settings and Functions

5. Set the parameters.

Reduce the electronic gear ratio to lower terms so that both A and B are integers smaller than 65535, then set A and B in the respective parameters:

⎞

⎛

⎟

⎜

⎠

⎝

Pn202 Electronic Gear Ratio (Numerator)

Pn203 Electronic Gear Ratio (Denominator)

Parameter Signal Setting Control Mode

Pn202

Pn203

Electronic Gear Ratio (Numerator) Electronic Gear Ratio (Denominator)

Range: 1 to 65535 Default Setting: 1 Range: 1 to 65535 Default Setting: 1

Position Control and Programming Position Control and Programming

Set the electronic gear ratio according to equipment specifications.

Reference input pulse

FSP Ampli fier

Electronic gear

Motor

Electronic Gear Ratio =

⎞

⎛

⎟

⎜

⎠

⎝

202Pn

203Pn

• B = [(Number of encoder pulses) × 4] × [motor speed]

• A = [Reference units (travel distance per load shaft revolution)] ×

[load shaft revolution speed]

 Electronic Gear Setting Examples

The following examples show electronic gear settings for different load mechanisms.

Ball Screws

Travel distance per load shaft revolution =

Electronic gear ratio =

⎛ ⎜

⎝

Values

in24.0

= 6000

in00004.0

⎞

⎟

⎠

Pn202 8192 Preset Pn203 6000

6000

1x 4x 2048

202Pn

203Pn

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FSP Amplifier User’s Manual Chapter 5: Parameter Settings and Functions

Circular Tables

Belts and Pulleys

 Control Block Diagram

Travel distance per load shaft revolution =

⎞

⎛

Electronic gear ratio

Travel distance per load shaft revolution =

Electronic gear ratio =

Values

⎟

⎜

⎠

⎝

Values

⎞

⎛

⎟

⎜

⎠

⎝

3600

Pn202 24576 Preset Pn203 3600

12566

196608

12566

Pn202 20480 Preset Pn203 1309

360

3x 4x 2048

3x 4x 16384

20480

1309

= 3600

°°1.0

in0010.0

202Pn

203Pn

in4x1416.3

= 12566

202Pn

203Pn

The following diagram illustrates a control block for position control.

FSP Amplifier (position cont rol)

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FSP Amplifier User’s Manual Chapter 5: Parameter Settings and Functions

5.2.6. Contact Input Speed Control

This function provides a method for easy speed control. It allows the user to initially set three different motor speeds with parameters, and then select one of the speeds externally using a contact input.

FSP Amplifier

/P- CON (/ SPD - D)

CN1-41

Contact input

/P- CL (/ SPD - A)

CN1-45

/ N - CL (/ SPD - B)

CN1-46

Speed selection

External speed setting devices and pulse generation are not required.

SPEED 1 Pn301 SPEED 2 Pn302 SPEED 3 Pn303

User constants

 Using Contact Input Speed Control

Follow steps 1 to 3 below to use the contact input speed control function.

1. Set the following parameter to one of the speed control selections. The

default setting is "programming mode".

Parameter Signal Setting Control Mode

Pn000.1

Control Mode Selection

Default Setting: D

Servomotor

Servomotor operates at the speed set in the user constant.

Speed, Torque, Position Control, and Programming

The speed can be controlled via contact inputs.

Servo operates

Contact input

at the internally set speed

SPEED 1 SPEED 2 SPEED 3

Servomotor

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FSP Amplifier User’s Manual Chapter 5: Parameter Settings and Functions

Meanings for the following signals change when the contact input speed control function is used:

Pn000.1

Setting

0, 2, 8, 9, A, B, C

3, 4, 6

Note: 1. 0: OFF (high level); 1: ON (low level)

2. /P-CON, /P-CL and /N-CL functions differ from those in the table above when Pn000.1 is set to 3, 4, or 6.

The function is switched automatically when Pn50A. 0 is set to 0.

3. The /SPD-D, /SPD-A, and /SPD-B signals can be used only when signals are allocated to the input

circuits. See

Description Input Signal

Input contacts. Speed control function is not used.

Input contacts. Speed control function is used.

5.3.3 Input Circuit Signal Allocation.

/P-CON (CN1-41)

/P-CL (CN1-45)

/N-CL (CN1-46)

/P-CON (/SPD-D)

Direction of rotation 0: Forward 1: Reverse

/P-CL (/SPD-A)

0 0

0 1

1 1

1 0

Used to switch between P and PI control. Used to switch between forward external torque limit ON and OFF. Used to switch between reverse external torque limit ON and OFF. /N-CL (/SPD-B)

Speed setting 0 reference etc. SPEED 1 (Pn301) SPEED 2 (Pn302) SPEED 3 (Pn303)

2. Set the motor speeds using the following parameters.

Parameter Signal Setting (rpm) Control Mode

Pn301

Pn302

Pn303

Speed 1 (SPEED 1) (Contact Input Speed Control)

Speed 2 (SPEED 2) (Contact Input Speed Control)

Range: 0 to 10000 Default Setting: 100

Range: 0 to 10000 Default Setting: 200

Range: 0 to 10000 Default Setting: 300

Speed Control

These parameters are used to set motor speeds when the contact input speed control function is selected. If the setting is higher than the maximum motor speed of the servomotor, then the servomotor will rotate at its maximum speed.

Speed selection input signals /P-CL(SPD-A)(CN1-45) and /N-CL (/SPD-B) (CN1-46) and the rotation direction selection signal /P-CON (/SPD-D)(CN1-41) enable the servomotor to run at the preset speeds.

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FSP Amplifier User’s Manual Chapter 5: Parameter Settings and Functions

3. Set the soft start time.

Parameter Signal Setting (ms) Control Mode

Pn305

Pn306

Soft Start Acceleration Time

Soft Start Deceleration Time

Range: 0 to 10000 Default Setting: 0

Speed Control

The servo amplifier internal speed reference controls the speed by applying this acceleration setting.

Speed reference

FSP

Xt r a D ri v e

mplifier

internal speed

internal

reference

speed reference

Pn305: Sets this time interval

Maximum speed

Pn306: Sets this time interval

Soft start

Maximum speed

Smooth speed control can be performed by entering a progressive speed reference or using contact input speed control. Set each constant to 0 for normal speed control.

Set each parameter to the following time intervals.

• Pn305: Time interval from when the servomotor starts until it

reaches maximum speed.

• Pn306: Time interval from when the servomotor reaches maximum

speed until it stops.

 Operation by Contact Input Speed Control

The following describes operation by contact input speed control.

Start and Stop

The following input signals are used to start and stop the servomotor.

Speed Selection 1

Ö Input /P-CL CN1-45

Ö Input /N-CL CN1-46

Note: Position Control is used here only by Pulse Reference, not by Serial Command

(Forward External Torque Limit Input) Speed Selection 2 (Reverse External Torque Limit Input)

Speed, Torque, and Position Control

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FSP Amplifier User’s Manual Chapter 5: Parameter Settings and Functions

Use the following table when contact input speed control is used.

Contact Signal Parameter

/P-CON

(/SPD-D)

Direction of rotation 0: Forward 1: Reverse

Note: 1. 0: OFF (high level); 1: ON (low level)

2. Input signals indicated by the horizontal bar (-) are optional.

— 0 0

/P-CL

(/SPD-A)

0 1 SPEED 1 (Pn301) 1 1 SPEED 2 (Pn302)

1 0

/N-CL

(/SPD-B)

Pn000.1

3, 4, 6,

Common

Selected Speed

Stopped by an internal speed reference of 0. Analog speed reference (VREF) input Analog torque reference input (torque control)

SPEED 3 (Pn303)

When contact input speed control is not used, input signals are used as external torque limit inputs.

Note: The contact input speed control function is used only when signals are allocated to /SPD-D, /SPD-A, and

/SPD-B.

Selection of Rotation Direction

The input signal /P-CON(/SPD-D) is used to specify the direction of the servomotor rotation.

Ö Input /P-CON CN1-41

• When contact input speed control is used, the input signal /P-CON

(/SPD-D) specifies the direction of servomotor rotation.

/P-CON (/SPD-D) Input

Level

Note: 0: OFF (high level); 1: ON (low level)

• When contact input speed control is not used, the /P-CON signal is

used for proportional control, zero clamping, and torque/speed control switching.

• Position Control is used here only by Pulse Reference, not by Serial

Command.

Speed Selection 1 (Forward External Torque Limit Input)

Signal Logic

0 Forward rotation

1 Reverse rotation

Speed, Torque, and Position Control

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FSP Amplifier User’s Manual Chapter 5: Parameter Settings and Functions

 Example of Contact Input Speed Control Operation

The following example shows operation by contact input speed control. Using the soft start function reduces physical shock when the speed is changed.

Motor sp eed

+SPEED 3

+SPEED 2

+SPEED 1

- SPEED 1

-SPEED 2

-SPEED 3

Spe e d 2

Spe e d 1

Sto p

Spe e d 3

Set a c c eleration an d d eceleratio n at Pn305 and Pn3 0 6 (soft start times).

Sto p

Speed1

Speed2

Speed3

Sto p

/P-CL (/SPD-A)

/N-CL (SPD-B)

/P-CON (SPD-D)

OFF OFF

OFF

ON ON ON ON

ON ON

OFF OFF

OFFOFF

OFF OFF OFF OFF OFF

ON ON

OFF

OFF OFF

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Yaskawa FSP User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Table of Contents

1. Checking Product and Part Names

1.1. Checking the FSP Amplifier Series Products on Delivery

1.1.1. Servo Amplifiers

1.2. Product Part Names

1.2.1. Servo Amplifiers

1.2.2. Model Numbers

2. Installation

2.1. Servo Amplifiers

2.1.1. Storage Conditions

2.1.2. Installation Site

2.1.3. Orientation

2.1.4. Installation

3. Wiring

3.1. Connecting to Peripheral Devices

3.1.1. Single-Phase 100 V/200 V Main Circuit Specifications

3.1.3. Three-Phase 200 V Main Circuit Specifications

3.1.4. Three-Phase 400 V Main Circuit Specifications

3.2. FSP Amplifier Internal Block Diagrams

3.2.1. Single-Phase 30 W to 400 W, 100 V/200 V Models

3.2.2. Three-Phase 1 kW to 3 kW, 200 V Models

3.2.3. Three-Phase 0.5 kW to 3.0 kW, 400 V Models

3.2.4. Three-Phase 5 kW, 400 V Model

3.3. Main Circuit Wiring

3.3.1. Names and Descriptions of Main Circuit Terminal

3.3.2. Typical Main Circuit Wiring Example

3.3.3. Servo Amplifier Power Losses

3.3.4. Wiring Main Circuit Terminal Blocks

3.4. I/O Signals

3.4.1. Example of Typical I/O Signal Connections

3.4.2. List of CN1 Terminals

3.4.3. I/O Signal Names and Functions

3.4.4. Interface Circuits

3.5. Wiring Encoders (for SGMGH and SGMSH Motors Only)

3.5.1. Encoder Connections

3.5.2. CN2 Encoder Connector Terminal Layout

3.6. Examples of Standard Connections

4. Trial Operation

4.1. Two-Step Trial Operation

4.1.1. Step 1: Trial Operation for Servomotor without Load

4.2. Additional Setup Procedures in Trial Operation

4.2.1. Servomotors with Brakes

4.2.2. Position Control by Host Controller

4.3. Minimum Parameters and Input Signals

4.3.1. Parameters

4.3.2. Input Signals

5. Parameter Settings and Functions

5.1. Settings According to Device Characteristics

5.1.1. Switching Servomotor Rotation Direction

5.1.2. Setting the Overtravel Limit Function

5.1.3. Limiting Torque

5.2. Settings According to Host Controller

5.2.1. Speed Reference

5.2.2. Position Reference

5.2.3. Using the Encoder Signal Output

5.2.4. Sequence I/O Signals

5.2.5. Using the Electronic Gear Function

5.2.6. Contact Input Speed Control