YASKAWA SGD7S-2R8F20A023F40B, SERVOPACK Sigma 7 Series, SGD7S-2R8A20A023F40B, SGD7S-1R6A20A023F40B, SGD7S-3R8A20A023F40B Product Manual

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-7-Series AC Servo Drive

-7S SERVOPACK with

FT/EX Specification for Press and Injection Molding Application

Product Manual

Model: SGD7S-20F40, and -20F41

MANUAL NO. SIEP S800001 94C

Basic Information on

SERVOPACKs

SERVOPACK Ratings and

Specifications

Pressure Feedback Control

Speed/Torque (Pressure)

Table Operation

Maintenance

Parameter Lists

All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or transmitted, in any form, or by any means, mechanical, electronic, photocopying, recording, or otherwise, without the prior written permission of Yaskawa. No patent liability is assumed with respect to the use of the information contained herein. Moreover, because Yaskawa is constantly striving to improve its high-quality products, the information contained in this manual is subject to change without notice. Every precaution has been taken in the preparation of this manual. Nevertheless, Yaskawa assumes no responsibility for errors or omissions. Neither is any liability assumed for damages resulting from the use of the information contained in this publication.

About this Manual

This manual describes the press and injection molding application option for Σ-7-Series AC Servo Drive Σ-7S SERVOPACKs.

Read and understand this manual to ensure correct usage of the Σ-7-Series AC Servo Drives.

Keep this manual in a safe place so that it can be referred to whenever necessary.

Outline of Manual

The contents of the chapters of this manual are described in the following table.

When you use the SERVOPACK, read this manual and the relevant product manual given in the following table.

-7S SERVOPACK with

Item

The Σ-7 Series – 1.1

Product Introduction 1.1 –

Interpreting the Nameplates – 1.2

Part Names – 1.3

Model Designations 1.2 –

Basic Information on SERVOPACKs

Selecting a SERVOPACK

SERVOPACK Installation – Chapter 3

Wiring and Connecting SERVOPACKs – Chapter 4

Basic Functions That Require Setting before Operation – Chapter 5

Application Functions – Chapter 6

Trial Operation and Actual Operation – Chapter 7

Tuning – Chapter 8

Monitor

Combinations of SERVOPACKs and Servomotors

Functions 1.4 –

Restrictions 1.5 –

SigmaWin+ 1.6 –

Combining the SERVOPACKs with MPSeries Machine Controllers and the MPE720 Engineering Tool

Ratings 2.1 –

SERVOPACK Overload Protection Characteristics

Specifications 2.3 –

Block Diagrams – 2.2

External Dimensions – 2.3

Examples of Standard Connections between SERVOPACKs and Peripheral Devices

Monitoring Product Information – 9.1

Monitoring SERVOPACK Status – 9.2

Monitoring Machine Operation Status and Signal Waveforms

Monitoring Product Life – 9.4

This

Manual

–1.5

1.7 –

2.2 –

–2.4

3.7, 4.5 9.3

Communications References Product

MECHATROLINK-III

Manual

(Manual No.: SIEP S800001 28)

Continued on next page.

iii

Continued from previous page.

-7S SERVOPACK with

Item

This

Manual

Communications References Product

MECHATROLINK-III

(Manual No.: SIEP S800001 28)

Fully-Closed Loop Control – Chapter 10

Safety Function – Chapter 11

Introduction 3.1 –

Input Signal Connections 3.2 –

Pressure Feedback Control

Operation Patterns for Pressure Feedback Control

Changing from Torque Control to Pressure Feedback Control

3.3 –

3.4 –

Control Block Diagrams 3.5 –

Setup Procedure 3.6 –

Monitoring 3.7 –

Introduction 4.1 –

Speed/Torque (Pressure) Table Operation

Operation Patterns for Speed/Torque (Pressure) Table Operation

Table Parameter Settings for Speed/Torque (Pressure) Table Operation

4.2 –

4.3 –

Operating Procedure 4.4 –

Monitoring 4.5 –

Inspections and Part Replacement – 12.1

Alarm Displays

List of Alarms

Troubleshooting Alarms

5.1.1,

5.2.1

5.1.2,

5.2.2

5.1.3,

5.2.3

Resetting Alarms – 12.2.3

Display Alarm History – 12.2.4

Clearing the Alarm History – 12.2.5

Maintenance

Resetting Alarms Detected in Option Modules

– 12.2.6

Resetting Motor Type Alarms – 12.2.7

Warning Displays

List of Warnings

Troubleshooting Warnings

Monitoring Communications Data during Alarms or Warnings

Troubleshooting Based on the Operation and Conditions of the Servomotor

5.1.4,

5.2.4

5.1.5,

5.2.5

5.1.6,

5.2.6

–12.4

5.1.7,

5.2.7

Interpreting the Parameter Lists 6.1 –

6.2.1,

6.3.1

6.2.2,

6.3.2

6.2.3,

6.3.3

Parameter Lists

List of Servo Parameters

List of MECHATROLINK-III Common Parameters

Parameter Recording Table

Appendices – Chapter 14

Manual

–

Using This Manual

 Technical Terms Used in This Manual

The following terms are used in this manual.

Ter m Meaning

Servomotor A Σ-7-Series Rotary Servomotor, Direct Drive Servomotor, or Linear Servomotor.

A generic term used for a Σ-7-Series Rotary Servomotor (SGMMV, SGM7J, SGM7A, SGM7P,

Rotary Servomotor

Linear Servomotor

SERVOPACK

Servo Drive

Servo System

servo ON

servo OFF

base block (BB)

servo lock

Main Circuit Cable

SigmaWin+

or SGM7G) or a Direct Drive Servomotor (SGM7E, SGM7F, SGMCV, or SGMCS). The descriptions will specify when Direct Drive Servomotors are excluded.

A generic term used for a Σ-7-Series Linear Servomotor (SGLG, SGLF, or SGLT).

A Σ-7-Series Σ-7S Servo Amplifier with MECHATROLINK-III Communications References.

The combination of a Servomotor and SERVOPACK.

A servo control system that includes the combination of a Servo Drive with a host controller and peripheral devices.

Supplying power to the motor.

Not supplying power to the motor.

Shutting OFF the power supply to the motor by shutting OFF the base current to the power transistor in the SERVOPACK.

A state in which the motor is stopped and is in a position loop with a position reference of 0.

One of the cables that connect to the main circuit terminals, including the Main Circuit Power Supply Cable, Control Power Supply Cable, and Servomotor Main Circuit Cable.

The Engineering Tool for setting up and tuning Servo Drives or a computer in which the Engineering Tool is installed.

 Differences in Terms for Rotary Servomotors and Linear Servomotors

There are differences in the terms that are used for Rotary Servomotors and Linear Servomotors. This manual primarily describes Rotary Servomotors. If you are using a Linear Servomotor, you need to interpret the terms as given in the following table.

Rotary Servomotor Linear Servomotor

torque force

moment of inertia

rotation movement

forward rotation and reverse rotation forward movement and reverse movement

CW and CCW pulse trains forward and reverse pulse trains

rotary encoder linear encoder

absolute rotary encoder absolute linear encoder

incremental rotary encoder incremental linear encoder

unit: min

unit: Nmunit: N

-1

mass

unit: mm/s

Pn100

Speed Loop Gain

Setting Range

10 to 20,000 0.1 Hz 400 Immediately

Setting Unit Default Setting When Enabled

Classication

Tuning

(default setting)

Use the encoder according to encoder specications.

Use the encoder as an incremental encoder.

Use the encoder as a single-turn absolute encoder.

This is the setting range for the parameter.

Parameter number

This column explains the selections for the function.

Position

Torque

The control methods for which the parameters apply are given.

Speed

: Speed control : Position control : Torque control

This is the parameter setting before shipment.

This is when any change made to the parameter will become effective.

This is the parameter classication.

This is the minimum unit (setting increment) that you can set for the parameter.

Position

Speed

Parameter Meaning When Enabled Classication

Pn002

0

After startup Setup

n.1

n.2

Parameter number

The notation “n.” indicates a parameter for selecting functions. Each

 indicates the setting for one digit.

The notation shown here means that the third digit from the right is set to 2.

• Parameters for Selecting Functions

Notation Examples for Pn002

Pn002 = n.

X

Indicates the rst digit from the right in Pn002.

Pn002 = n.

1

Indicates that the rst digit from the right in Pn002 is set to 1.

Pn002 = n.

X

Indicates the second digit from the right in Pn002.

Pn002 = n.

1

Indicates that the second digit from the right in Pn002 is set to 1.

Pn002 = n.

X

Indicates the third digit from the right in Pn002.

Pn002 = n.

1

Indicates that the third digit from the right in Pn002 is set to 1.

Pn002 = n.X



Indicates the fourth digit from the right in Pn002.

Pn002 = n.1



Indicates that the fourth digit from the right in Pn002 is set to 1.

n.0 0 0 0

Notation

Digit Notation Numeric Value Notation

Meaning Notation Meaning

 Notation Used in this Manual

 Notation for Reverse Signals

The names of reverse signals (i.e., ones that are valid when low) are written with a forward slash (/) before the signal abbreviation.

Notation Example

is written as /BK.

 Notation for Parameters

The notation depends on whether the parameter requires a numeric setting (parameter for numeric setting) or requires the selection of a function (parameter for selecting functions).

•

Parameters for Numeric Settings

Notation Example

xii

 Engineering Tools Used in This Manual

This manual uses the interfaces of the SigmaWin+ for descriptions.

 Trademarks

Important

Term

Example

Information

• MECHATROLINK is a trademark of the MECHATROLINK Members Association.

• QR code is a trademark of Denso Wave Inc.

• Other product names and company names are the trademarks or registered trademarks of the

respective company. “TM” and the

® mark do not appear with product or company names in this

manual.

 Visual Aids

The following aids are used to indicate certain types of information for easier reference.

Indicates precautions or restrictions that must be observed. Also indicates alarm displays and other precautions that will not result in machine damage.

Indicates definitions of difficult terms or terms that have not been previously explained in this manual.

Indicates operating or setting examples.

Indicates supplemental information to deepen understanding or useful information.

xiii

DANGER

WARNING

CAUTION

NOTICE

Safety Precautions

 Safety Information

To prevent personal injury and equipment damage in advance, the following signal words are used to indicate safety precautions in this document. The signal words are used to classify the hazards and the degree of damage or injury that may occur if a product is used incorrectly. Information marked as shown below is important for safety. Always read this information and heed the precautions that are provided.

 Indicates precautions that, if not heeded, are likely to result in loss of life, serious injury, or fire.

 Indicates precautions that, if not heeded, could result in loss of life, serious injury, or fire.

 Indicates precautions that, if not heeded, could result in relatively serious or minor injury, or in

fire.

 Indicates precautions that, if not heeded, could result in property damage.

xiv

 Safety Precautions That Must Always Be Observed

DANGER

WARNING

CAUTION

 General Precautions

 Read and understand this manual to ensure the safe usage of the product.  Keep this manual in a safe, convenient place so that it can be referred to whenever necessary.

Make sure that it is delivered to the final user of the product.

 Do not remove covers, cables, connectors, or optional devices while power is being supplied to

the SERVOPACK.

There is a risk of electric shock, operational failure of the product, or burning.

 Use a power supply with specifications (number of phases, voltage, frequency, and AC/DC

type) that are appropriate for the product.

There is a risk of burning, electric shock, or fire.

 Connect the ground terminals on the SERVOPACK and Servomotor to ground poles according

to local electrical codes (100 Ω or less for a SERVOPACK with a 100-VAC or 200-VAC power supply, and 10 Ω or less for a SERVOPACK with a 400-VAC power supply).

There is a risk of electric shock or fire.

 Do not attempt to disassemble, repair, or modify the product.

There is a risk of fire or failure. The warranty is void for the product if you disassemble, repair, or modify it.

 The SERVOPACK heat sinks, regenerative resistors, External Dynamic Brake Resistors, Servo-

motors, and other components can be very hot while power is ON or soon after the power is turned OFF. Implement safety measures, such as installing covers, so that hands and parts such as cables do not come into contact with hot components.

There is a risk of burn injury.

 For a 24-VDC power supply, use a power supply device with double insulation or reinforced

insulation.

There is a risk of electric shock.

 Do not damage, pull on, apply excessive force to, place heavy objects on, or pinch cables.

There is a risk of failure, damage, or electric shock.

 The person who designs the system that uses the hard wire base block safety function must

have a complete knowledge of the related safety standards and a complete understanding of the instructions in this document.

There is a risk of injury, product damage, or machine damage.

 Do not use the product in an environment that is subject to water, corrosive gases, or flamma-

ble gases, or near flammable materials.

There is a risk of electric shock or fire.

NOTICE

CAUTION

NOTICE

CAUTION

 Do not attempt to use a SERVOPACK or Servomotor that is damaged or that has missing parts.  Install external emergency stop circuits that shut OFF the power supply and stops operation

immediately when an error occurs.

 In locations with poor power supply conditions, install the necessary protective devices (such as

AC reactors) to ensure that the input power is supplied within the specified voltage range.

There is a risk of damage to the SERVOPACK.

 Use a Noise Filter to minimize the effects of electromagnetic interference.

Electronic devices used near the SERVOPACK may be affected by electromagnetic interference.

 Always use a Servomotor and SERVOPACK in one of the specified combinations.  Do not touch a SERVOPACK or Servomotor with wet hands.

There is a risk of product failure.

 Storage Precautions

 Do not place an excessive load on the product during storage. (Follow all instructions on the

packages.)

There is a risk of injury or damage.

 Do not install or store the product in any of the following locations.

• Locations that are subject to direct sunlight

• Locations that are subject to ambient temperatures that exceed product specifications

• Locations that are subject to relative humidities that exceed product specifications

• Locations that are subject to condensation as the result of extreme changes in temperature

• Locations that are subject to corrosive or flammable gases

• Locations that are near flammable materials

• Locations that are subject to dust, salts, or iron powder

• Locations that are subject to water, oil, or chemicals

• Locations that are subject to vibration or shock that exceeds product specifications

• Locations that are subject to radiation

If you store or install the product in any of the above locations, the product may fail or be damaged.

 Transportation Precautions

 Transport the product in a way that is suitable to the mass of the product.  Do not use the eyebolts on a SERVOPACK or Servomotor to move the machine.

There is a risk of damage or injury.

 When you handle a SERVOPACK or Servomotor, be careful of sharp parts, such as the corners.

There is a risk of injury.

 Do not place an excessive load on the product during transportation. (Follow all instructions on

the packages.)

There is a risk of injury or damage.

xvi

NOTICE

 Do not hold onto the front cover or connectors when you move a SERVOPACK.

CAUTION

There is a risk of the SERVOPACK falling.

 A SERVOPACK or Servomotor is a precision device. Do not drop it or subject it to strong shock.

There is a risk of failure or damage.

 Do not subject connectors to shock.

There is a risk of faulty connections or damage.

 If disinfectants or insecticides must be used to treat packing materials such as wooden frames,

plywood, or pallets, the packing materials must be treated before the product is packaged, and methods other than fumigation must be used. Example: Heat treatment, where materials are kiln-dried to a core temperature of 56°C for 30

minutes or more.

If the electronic products, which include stand-alone products and products installed in machines, are packed with fumigated wooden materials, the electrical components may be greatly damaged by the gases or fumes resulting from the fumigation process. In particular, disinfectants containing halogen, which includes chlorine, fluorine, bromine, or iodine can contribute to the erosion of the capacitors.

 Do not overtighten the eyebolts on a SERVOPACK or Servomotor.

If you use a tool to overtighten the eyebolts, the tapped holes may be damaged.

 Installation Precautions

 Install the Servomotor or SERVOPACK in a way that will support the mass given in technical

documents.

 Install SERVOPACKs, Servomotors, regenerative resistors, and External Dynamic Brake Resis-

tors on nonflammable materials.

Installation directly onto or near flammable materials may result in fire.

 Provide the specified clearances between the SERVOPACK and the control panel as well as

with other devices.

There is a risk of fire or failure.

 Install the SERVOPACK in the specified orientation.

There is a risk of fire or failure.

 Do not step on or place a heavy object on the product.

There is a risk of failure, damage, or injury.

 Do not allow any foreign matter to enter the SERVOPACK or Servomotor.

There is a risk of failure or fire.

xvii

NOTICE

DANGER

WARNING

 Do not install or store the product in any of the following locations.

• Locations that are subject to direct sunlight

• Locations that are subject to ambient temperatures that exceed product specifications

• Locations that are subject to relative humidities that exceed product specifications

• Locations that are subject to condensation as the result of extreme changes in temperature

• Locations that are subject to corrosive or flammable gases

• Locations that are near flammable materials

• Locations that are subject to dust, salts, or iron powder

• Locations that are subject to water, oil, or chemicals

• Locations that are subject to vibration or shock that exceeds product specifications

• Locations that are subject to radiation

If you store or install the product in any of the above locations, the product may fail or be damaged.

 Use the product in an environment that is appropriate for the product specifications.

If you use the product in an environment that exceeds product specifications, the product may fail or be damaged.

 A SERVOPACK or Servomotor is a precision device. Do not drop it or subject it to strong shock.

There is a risk of failure or damage.

 Always install a SERVOPACK in a control panel.  Do not allow any foreign matter to enter a SERVOPACK or a Servomotor with a Cooling Fan and

do not cover the outlet from the Servomotor’s cooling fan.

There is a risk of failure.

 Wiring Precautions

 Do not change any wiring while power is being supplied.

There is a risk of electric shock or injury.

 Wiring and inspections must be performed only by qualified engineers.

There is a risk of electric shock or product failure.

 Check all wiring and power supplies carefully.

Incorrect wiring or incorrect voltage application to the output circuits may cause short-circuit failures. If a short-circuit failure occurs as a result of any of these causes, the holding brake will not work. This could damage the machine or cause an accident that may result in death or injury.

 Connect the AC and DC power supplies to the specified SERVOPACK terminals.

• Connect an AC power supply to the L1, L2, and L3 terminals and the L1C and L2C terminals on the SERVOPACK.

• Connect a DC power supply to the B1/ and 2 terminals and the L1C and L2C terminals on the SERVOPACK.

There is a risk of failure or fire.

 If you use a SERVOPACK that supports a Dynamic Brake Option, connect an External Dynamic

Brake Resistor that is suitable for the machine and equipment specifications to the specified terminals.

There is a risk of unexpected operation, machine damage, burning, or injury when an emergency stop is performed.

xviii

CAUTION

 Wait for at least six minutes after turning OFF the power supply (with a SERVOPACK for a 100-

NOTICE

VAC power supply input, wait for at least nine minutes) and then make sure that the CHARGE indicator is not lit before starting wiring or inspection work. Do not touch the power supply terminals while the CHARGE lamp is lit after turning OFF the power supply because high voltage may still remain in the SERVOPACK.

There is a risk of electric shock.

 Observe the precautions and instructions for wiring and trial operation precisely as described in

this document.

Failures caused by incorrect wiring or incorrect voltage application in the brake circuit may cause the SERVOPACK to fail, damage the equipment, or cause an accident resulting in death or injury.

 Check the wiring to be sure it has been performed correctly.

Connectors and pin layouts are sometimes different for different models. Always confirm the pin layouts in technical documents for your model before operation.

There is a risk of failure or malfunction.

 Connect wires to power supply terminals and motor connection terminals securely with the

specified methods and tightening torque.

Insufficient tightening may cause wires and terminal blocks to generate heat due to faulty contact, possibly resulting in fire.

 Use shielded twisted-pair cables or screened unshielded multi-twisted-pair cables for I/O Sig-

nal Cables and Encoder Cables.

 Observe the following precautions when wiring the SERVOPACK’s main circuit terminals.

• Turn ON the power supply to the SERVOPACK only after all wiring, including the main circuit terminals, has been completed.

• If a connector is used for the main circuit terminals, remove the main circuit connector from the SERVOPACK before you wire it.

• Insert only one wire per insertion hole in the main circuit terminals.

• When you insert a wire, make sure that the conductor wire (e.g., whiskers) does not come into con-

tact with adjacent wires.

 Install molded-case circuit breakers and other safety measures to provide protection against

short circuits in external wiring.

There is a risk of fire or failure.

 Whenever possible, use the Cables specified by Yaskawa.

If you use any other cables, confirm the rated current and application environment of your model and use the wiring materials specified by Yaskawa or equivalent materials.

 Securely tighten cable connector screws and lock mechanisms.

Insufficient tightening may result in cable connectors falling off during operation.

 Do not bundle power lines (e.g., the Main Circuit Cable) and low-current lines (e.g., the I/O Sig-

nal Cables or Encoder Cables) together or run them through the same duct. If you do not place power lines and low-current lines in separate ducts, separate them by at least 30 cm.

If the cables are too close to each other, malfunctions may occur due to noise affecting the low-current lines.

 Install a battery at either the host controller or on the Encoder Cable.

If you install batteries both at the host controller and on the Encoder Cable at the same time, you will create a loop circuit between the batteries, resulting in a risk of damage or burning.

 When connecting a battery, connect the polarity correctly.

There is a risk of battery rupture or encoder failure.

xix

WARNING

CAUTION

 Operation Precautions

 Before starting operation with a machine connected, change the settings of the switches and

parameters to match the machine.

Unexpected machine operation, failure, or personal injury may occur if operation is started before appropriate settings are made.

 Do not radically change the settings of the parameters.

There is a risk of unstable operation, machine damage, or injury.

 Install limit switches or stoppers at the ends of the moving parts of the machine to prevent

unexpected accidents.

There is a risk of machine damage or injury.

 For trial operation, securely mount the Servomotor and disconnect it from the machine.

There is a risk of injury.

 Forcing the motor to stop for overtravel is disabled when the Jog (Fn002), Origin Search

(Fn003), or Easy FFT (Fn206) utility function is executed. Take necessary precautions.

There is a risk of machine damage or injury.

 When an alarm occurs, the Servomotor will coast to a stop or stop with the dynamic brake

according to the SERVOPACK Option specifications and settings. The coasting distance will change with the moment of inertia of the load and the resistance of the External Dynamic Brake Resistor. Check the coasting distance during trial operation and implement suitable safety measures on the machine.

 Do not enter the machine’s range of motion during operation.

There is a risk of injury.

 Do not touch the moving parts of the Servomotor or machine during operation.

There is a risk of injury.

 Design the system to ensure safety even when problems, such as broken signal lines, occur.

For example, the P-OT and N-OT signals are set in the default settings to operate on the safe side if a signal line breaks. Do not change the polarity of this type of signal.

 When overtravel occurs, the power supply to the motor is turned OFF and the brake is released.

If you use the Servomotor to drive a vertical load, set the Servomotor to enter a zero-clamped state after the Servomotor stops. Also, install safety devices (such as an external brake or counterweight) to prevent the moving parts of the machine from falling.

 Always turn OFF the servo before you turn OFF the power supply. If you turn OFF the main cir-

cuit power supply or control power supply during operation before you turn OFF the servo, the Servomotor will stop as follows:

• If you turn OFF the main circuit power supply during operation without turning OFF the servo, the Servomotor will stop abruptly with the dynamic brake.

• If you turn OFF the control power supply without turning OFF the servo, the stopping method that is used by the Servomotor depends on the model of the SERVOPACK. For details, refer to the manual for the SERVOPACK.

• If you use a SERVOPACK with the Dynamic Brake Hardware Option, the Servomotor stopping methods will be different from the stopping methods used without the Option or with other Hardware Options. For details, refer to the following manual.

Σ-7-Series Σ-7S/Σ-7W SERVOPACK with Dynamic Brake Hardware Option Specifications Product Manual (Manual No.: SIEP S800001 73)

 Do not use the dynamic brake for any application other than an emergency stop.

There is a risk of failure due to rapid deterioration of elements in the SERVOPACK and the risk of unexpected operation, machine damage, burning, or injury.

NOTICE

 When you adjust the gain during system commissioning, use a measuring instrument to monitor

DANGER

WARNING

CAUTION

NOTICE

the torque waveform and speed waveform and confirm that there is no vibration.

If a high gain causes vibration, the Servomotor will be damaged quickly.

 Do not frequently turn the power supply ON and OFF. After you have started actual operation,

allow at least one hour between turning the power supply ON and OFF (as a guideline). Do not use the product in applications that require the power supply to be turned ON and OFF frequently.

The elements in the SERVOPACK will deteriorate quickly.

 An alarm or warning may occur if communications are performed with the host controller while

the SigmaWin+ or Digital Operator is operating.

If an alarm or warning occurs, it may interrupt the current process and stop the system.

 After you complete trial operation of the machine and facilities, use the SigmaWin+ to back up

the settings of the SERVOPACK parameters. You can use them to reset the parameters after SERVOPACK replacement.

If you do not copy backed up parameter settings, normal operation may not be possible after a faulty SERVOPACK is replaced, possibly resulting in machine or equipment damage.

 Maintenance and Inspection Precautions

 Do not change any wiring while power is being supplied.

There is a risk of electric shock or injury.

 Wiring and inspections must be performed only by qualified engineers.

There is a risk of electric shock or product failure.

 Wait for at least six minutes after turning OFF the power supply (with a SERVOPACK for a 100-

There is a risk of electric shock.

 Before you replace a SERVOPACK, back up the settings of the SERVOPACK parameters. Copy

the backed up parameter settings to the new SERVOPACK and confirm that they were copied correctly.

If you do not copy backed up parameter settings or if the copy operation is not completed normally, normal operation may not be possible, possibly resulting in machine or equipment damage.

 Discharge all static electricity from your body before you operate any of the buttons or switches

inside the front cover of the SERVOPACK.

There is a risk of equipment damage.

xxi

DANGER

WARNING

CAUTION

 Troubleshooting Precautions

 If the safety device (molded-case circuit breaker or fuse) installed in the power supply line oper-

ates, remove the cause before you supply power to the SERVOPACK again. If necessary, repair or replace the SERVOPACK, check the wiring, and remove the factor that caused the safety device to operate.

There is a risk of fire, electric shock, or injury.

 The product may suddenly start to operate when the power supply is recovered after a momen-

tary power interruption. Design the machine to ensure human safety when operation restarts.

There is a risk of injury.

 When an alarm occurs, remove the cause of the alarm and ensure safety. Then reset the alarm

or turn the power supply OFF and ON again to restart operation.

There is a risk of injury or machine damage.

 If the Servo ON signal is input to the SERVOPACK and an alarm is reset, the Servomotor may

suddenly restart operation. Confirm that the servo is OFF and ensure safety before you reset an alarm.

There is a risk of injury or machine damage.

 Always insert a magnetic contactor in the line between the main circuit power supply and the

main circuit power supply terminals on the SERVOPACK so that the power supply can be shut OFF at the main circuit power supply.

If a magnetic contactor is not connected when the SERVOPACK fails, a large current may flow, possibly resulting in fire.

 If an alarm occurs, shut OFF the main circuit power supply.

There is a risk of fire due to a regenerative resistor overheating as the result of regenerative transistor failure.

 Install a ground fault detector against overloads and short-circuiting or install a molded-case

circuit breaker combined with a ground fault detector.

There is a risk of SERVOPACK failure or fire if a ground fault occurs.

 The holding brake on a Servomotor will not ensure safety if there is the possibility that an exter-

nal force (including gravity) may move the current position and create a hazardous situation when power is interrupted or an error occurs. If an external force may cause movement, install an external braking mechanism that ensures safety.

xxii

 Disposal Precautions

 When disposing of the product, treat it as ordinary industrial waste. However, local ordinances

and national laws must be observed. Implement all labeling and warnings as a final product as required.

 General Precautions

 Figures provided in this document are typical examples or conceptual representations. There

may be differences between them and actual wiring, circuits, and products.

 The products shown in illustrations in this document are sometimes shown without covers or

protective guards. Always replace all covers and protective guards before you use the product.

 If you need a new copy of this document because it has been lost or damaged, contact your

nearest Yaskawa representative or one of the offices listed on the back of this document.

 This document is subject to change without notice for product improvements, specifications

changes, and improvements to the manual itself. We will update the document number of the document and issue revisions when changes are made.

 Any and all quality guarantees provided by Yaskawa are null and void if the customer modifies

the product in any way. Yaskawa disavows any responsibility for damages or losses that are caused by modified products.

xxiii

Warranty

 Details of Warranty

 Warranty Period

The warranty period for a product that was purchased (hereinafter called the “delivered product”) is one year from the time of delivery to the location specified by the customer or 18 months from the time of shipment from the Yaskawa factory, whichever is sooner.

 Warranty Scope

Yaskawa shall replace or repair a defective product free of charge if a defect attributable to Yaskawa occurs during the above warranty period. This warranty does not cover defects caused by the delivered product reaching the end of its service life and replacement of parts that require replacement or that have a limited service life.

This warranty does not cover failures that result from any of the following causes.

• Improper handling, abuse, or use in unsuitable conditions or in environments not described in product catalogs or manuals, or in any separately agreed-upon specifications

• Causes not attributable to the delivered product itself

• Modifications or repairs not performed by Yaskawa

• Use of the delivered product in a manner in which it was not originally intended

• Causes that were not foreseeable with the scientific and technological understanding at the time

of shipment from Yaskawa

• Events for which Yaskawa is not responsible, such as natural or human-made disasters

 Limitations of Liability

• Yaskawa shall in no event be responsible for any damage or loss of opportunity to the customer that arises due to failure of the delivered product.

• Yaskawa shall not be responsible for any programs (including parameter settings) or the results of program execution of the programs provided by the user or by a third party for use with programmable Yaskawa products.

• The information described in product catalogs or manuals is provided for the purpose of the customer purchasing the appropriate product for the intended application. The use thereof does not guarantee that there are no infringements of intellectual property rights or other proprietary rights of Yaskawa or third parties, nor does it construe a license.

• Yaskawa shall not be responsible for any damage arising from infringements of intellectual property rights or other proprietary rights of third parties as a result of using the information described in catalogs or manuals.

xxiv

 Suitability for Use

• It is the customer’s responsibility to confirm conformity with any standards, codes, or regulations that apply if the Yaskawa product is used in combination with any other products.

• The customer must confirm that the Yaskawa product is suitable for the systems, machines, and equipment used by the customer.

• Consult with Yaskawa to determine whether use in the following applications is acceptable. If use in the application is acceptable, use the product with extra allowance in ratings and specifications, and provide safety measures to minimize hazards in the event of failure.

• Outdoor use, use involving potential chemical contamination or electrical interference, or use in conditions or environments not described in product catalogs or manuals

• Nuclear energy control systems, combustion systems, railroad systems, aviation systems, vehicle systems, medical equipment, amusement machines, and installations subject to separate industry or government regulations

• Systems, machines, and equipment that may present a risk to life or property

• Systems that require a high degree of reliability, such as systems that supply gas, water, or

electricity, or systems that operate continuously 24 hours a day

• Other systems that require a similar high degree of safety

• Never use the product for an application involving serious risk to life or property without first

ensuring that the system is designed to secure the required level of safety with risk warnings and redundancy, and that the Yaskawa product is properly rated and installed.

• The circuit examples and other application examples described in product catalogs and manuals are for reference. Check the functionality and safety of the actual devices and equipment to be used before using the product.

• Read and understand all use prohibitions and precautions, and operate the Yaskawa product correctly to prevent accidental harm to third parties.

 Specifications Change

The names, specifications, appearance, and accessories of products in product catalogs and manuals may be changed at any time based on improvements and other reasons. The next editions of the revised catalogs or manuals will be published with updated code numbers. Consult with your Yaskawa representative to confirm the actual specifications before purchasing a product.

xxv

Compliance with UL Standards, EU Directives, and Other Safety Standards

Certification marks for the standards for which the product has been certified by certification bodies are shown on nameplate. Products that do not have the marks are not certified for the standards.

 North American Safety Standards (UL)

Product Model North American Safety Standards (UL File No.)

SERVOPACKs SGD7S

• SGMMV

Rotary Servomotors

Direct Drive Servomotors

Linear Servomotors

*1. Certification is pending. *2. SGM7F-B, -C, and -D: Certified; SGM7F-A: Certification is pending.

• SGM7A

• SGM7J

• SGM7P

• SGM7G

• SGM7E

• SGM7F

• SGMCV

• SGLGW

• SGLFW

• SGLFW2

• SGLTW

UL 61800-5-1 (E147823) CSA C22.2 No.274

UL 1004-1 UL 1004-6 (E165827)

UL 1004 (E165827)

xxvi

 European Directives

Product Model EU Directive Harmonized Standards

Machinery Directive 2006/42/EC

SERVOPACKs

SGD7S

EMC Directive 2014/30/EU

Low Voltage Directive 2014/35/EU

EMC Directive

SGMMV

2004/104/EC

Low Voltage Directive 2006/95/EC

Rotary Servomotors

• SGM7J

• SGM7A

EMC Directive 2014/30/EU

• SGM7P

• SGM7G

Low Voltage Directive 2014/35/EU

B, C, D, E

EMC Directive 2004/108/EC

Low Voltage Directive 2006/95/EC

Direct Drive Servomotors

• SGM7E

• SGM7F

• SGMCV

• SGMCS-

 

(Small-Capacity, Coreless Servomotors)

Linear Servomotors

• SGLF

• SGLFW2

• SGLT

*1. Certification is pending. *2. Certification is pending for the SGM7F and SGMCV. No application has been made for SGMCS certification. *3. No application has been made for SGMCS certification.

Note: 1. We declared the CE Marking based on the harmonized standards in the above table.

2. These products are for industrial use. In home environments, these products may cause electromagnetic interference and additional noise reduction measures may be necessary.

• SGLG

EMC Directive 2004/108/EC

Low Voltage Directive 2006/95/EC

EN ISO13849-1: 2015

EN 55011 group 1, class A EN 61000-6-2 EN 61000-6-4 EN 61800-3 (Category C2, Second environment)

EN 50178 EN 61800-5-1

EN 55011 group 1, class A EN 61000-6-2 EN 61800-3

EN 60034-1 EN 60034-5

EN 55011 group 1, class A EN 61000-6-2 EN 61000-6-4 EN 61800-3 (Category C2, Second environment)

EN 60034-1 EN 60034-5

EN 55011 group 1, class A EN 61000-6-2

EN 61000-6-4 EN 61800-3

EN 60034-1 EN 60034-5

EN 55011 group 1, class A EN 61000-6-2 EN 61000-6-4

EN 60034-1

 Safety Standards

Product Model Safety Standards Standards

EN ISO13849-1: 2015 IEC 60204-1

IEC 61508 series IEC 62061 IEC 61800-5-2

SERVOPACKs SGD7S

Safety of Machinery

Functional Safety

EMC IEC 61326-3-1

xxvii

 Safety Parameters

Item Standards Performance Level

Safety Integrity Level

Probability of Dangerous Failure per Hour

Performance Level EN ISO 13849-1 PLe (Category 3)

Mean Time to Dangerous Failure of Each Channel EN ISO 13849-1 MTTFd: High

Average Diagnostic Coverage EN ISO 13849-1 DCavg: Medium

Stop Category IEC 60204-1 Stop category 0

Safety Function IEC 61800-5-2 STO

Mission Time IEC 61508 10 years

Hardware Fault Tolerance IEC 61508 HFT = 1

Subsystem IEC 61508 B

IEC 61508 SIL3

IEC 62061 SILCL3

IEC 61508 IEC 62061

PFH = 4.04×10 (4.04% of SIL3)

-9

[1/h]

xxviii

About this Manual. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .iii

Outline of Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .iii

Related Documents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . v

Using This Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .xi

Safety Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xiv

Warranty . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xxiv

Compliance with UL Standards, EU Directives, and Other Safety Standards . . xxvi

Basic Information on SERVOPACKs

1.1

1.2

1.3

1.4

1.5

1.6

1.7

Product Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2

Model Designations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3

1.2.1 Interpreting SERVOPACK Model Numbers with the FT40 Specification . . . . 1-3

1.2.2 Interpreting SERVOPACK Model Numbers with the FT41 Specification . . . . 1-4

1.2.3 Interpreting Servomotor Model Numbers. . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4

Combinations of SERVOPACKs and Servomotors . . . . . . . . . . . 1-5

Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-6

Restrictions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-9

1.5.1 Function Application Restrictions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-9

1.5.2 Restrictions on Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-9

SigmaWin+ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-10

Combining the SERVOPACKs with MP-Series Machine Controllers and the MPE720 Engineering Tool

SERVOPACK Ratings and Specifications

. . 1-11

2.1

2.2

2.3

Ratings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2

SERVOPACK Overload Protection Characteristics . . . . . . . . . . 2-5

Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-6

Pressure Feedback Control

3.1

3.2

3.3

Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3

Connecting Pressure Sensor Amplifiers. . . . . . . . . . . . . . . . . . . 3-4

3.2.1 FT40 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4

3.2.2 FT41 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4

Operation Patterns for Pressure Feedback Control. . . . . . . . . . 3-5

xxix

3.4

3.5

3.6

3.7

Changing from Torque Control to Pressure Feedback Control . 3-6

3.4.1 Mode 2 Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-6

3.4.2 Mode 1 Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-6

Control Block Diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-7

3.5.1 Pressure Feedback Control 2 (Pn458 = n.1) . . . . . . . . . . . . . . . . . . . .3-7

3.5.2 Pressure Feedback Control 1 (Pn458 = n.0) . . . . . . . . . . . . . . . . . . . .3-8

Setup Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-10

3.6.1 Flowchart . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-10

3.6.2 Disabling Tuning-Less Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-10

3.6.3 Setting and Checking Other Station Monitoring . . . . . . . . . . . . . . . . . . . . .3-10

3.6.4 Settings for the System That Uses Pressure Feedback Control . . . . . . . . .3-13

3.6.5 Automatic Offset Adjustment for Pressure Feedback Detection

Input Signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-15

3.6.6 Settings prior to Pressure Feedback Control Operation . . . . . . . . . . . . . . . 3-16

3.6.7 Gain Adjustment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-18

Monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-23

Speed/Torque (Pressure) Table Operation

4.1

4.2

4.3

4.4

4.5

Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2

Operation Patterns for Speed/Torque (Pressure) Table Operation

Table Parameter Settings for Speed/Torque (Pressure) Table Operation

4.3.1 Setting the Number of Speed Table References

4.3.2 Settings for Speed Table Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-5

4.3.3 Setting Condition for Changing from Speed Table Operation

4.3.4 Settings for Torque (Pressure) Table Operation . . . . . . . . . . . . . . . . . . . . . . 4-11

Operating Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-13

Monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-14

Maintenance

5.1

FT40 Specification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-2

5.1.1 Alarm Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-2

5.1.2 List of Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-2

5.1.3 Troubleshooting Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-8

5.1.4 Warning Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-39

5.1.5 List of Warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-39

5.1.6 Troubleshooting Warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-42

5.1.7 Troubleshooting Based on the Operation

. . 4-3

. . 4-4

and the Number of Torque (Pressure) References. . . . . . . . . . . . . . . . . . . . .4-4

to Torque (Pressure) Table Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-7

and Conditions of the Servomotor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-49

xxx

5.2

FT41 Specification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-58

5.2.1 Alarm Displays. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-58

5.2.2 List of Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-58

5.2.3 Troubleshooting Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-64

5.2.4 Warning Displays. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-95

5.2.5 List of Warnings. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-95

5.2.6 Troubleshooting Warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-98

5.2.7 Troubleshooting Based on the Operation

and Conditions of the Servomotor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-105

Parameter Lists

6.1

6.2

6.3

List of Servo Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-2

6.1.1 Interpreting the Parameter Lists . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-2

6.1.2 List of MECHATROLINK-III Common Parameters . . . . . . . . . . . . . . . . . . . . 6-3

FT40 Specification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-4

6.2.1 List of Servo Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-4

6.2.2 List of MECHATROLINK-III Common Parameters . . . . . . . . . . . . . . . . . . . 6-48

6.2.3 Parameter Recording Table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-56

FT41 Specification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-70

6.3.1 List of Servo Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-70

6.3.2 List of MECHATROLINK-III Common Parameters . . . . . . . . . . . . . . . . . . 6-116

6.3.3 Parameter Recording Table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-124

Index

Revision History

xxxi

Basic Information on SERVOPACKs

This chapter provides information required to select SERVOPACKs, such as the SERVOPACK models.

1.1

1.2

1.3

1.4

1.5

1.6

1.7

Product Introduction . . . . . . . . . . . . . . . . . . 1-2

Model Designations . . . . . . . . . . . . . . . . . . 1-3

1.2.1 Interpreting SERVOPACK Model Numbers

with the FT40 Specification . . . . . . . . . . . . . . . . . 1-3

1.2.2 Interpreting SERVOPACK Model Numbers

with the FT41 Specification . . . . . . . . . . . . . . . . . 1-4

1.2.3 Interpreting Servomotor Model Numbers . . . . . . 1-4

Combinations of SERVOPACKs and Servomotors . . . 1-5

Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-6

Restrictions . . . . . . . . . . . . . . . . . . . . . . . . . 1-9

1.5.1 Function Application Restrictions . . . . . . . . . . . . 1-9

1.5.2 Restrictions on Specifications . . . . . . . . . . . . . . . 1-9

SigmaWin+ . . . . . . . . . . . . . . . . . . . . . . . . 1-10

Combining the SERVOPACKs with MP-Series Machine Controllers and the MPE720 Engineering Tool . . 1-11

1.1 Product Introduction

1.1

Product Introduction

The SERVOPACKs described in this manual provide the following two functions to achieve high-precision pressing control for molding equipment, compressors, and other machines that require press and injection molding.

Function Description Reference

The value input from a pressure sensor is used to perform fullyclosed loop control of a torque reference.

Pressing Feedback Control

Speed/Torque (Pressure) Table Operation

For the values input from a pressure sensor, you can select either of the following two types.

• FT40 (11th to 13th digits in SERVOPACK model number: F40): Analog signals

• FT41 (11th to 13th digits in SERVOPACK model number: F41): Data via network connected with MECHATROLINK-III

Operation is automatically switched between speed references and torque references based on information set in the SERVOPACK.

page 3-1

page 4-1

1-2

1.2 Model Designations

Basic Information on SERVOPACKs

F40

Press and injection molding option

023

Specification

Code

FT/EX Specification

None

BTO

specification

Specification

Code

BTO Specification

MECHATROLINK-III communications references

A 200 VAC

SGD7S

R70

A 20 A

023

Maximum Applicable Motor Capacity

Voltage

Interface

Code

Specication

Design Revision Order

Hardware Options Specication

ThreePhase, 200 VAC

1st+2nd+3rd digits

4th digit

5th+6th digits

7th digit

8th+9th+10th digits

Σ-7-Series Σ-7S

SERVOPACKs

4th

digit

1st+2nd+3rd

digits

5th+6th

digits

8th+9th+10th

digits

7th

digit

R70

R90

1R6

2R8

3R8

5R5

7R6

120

180

200

330

470

550

590

780

R70

R90

2R1

2R8

0.05 kW

0.1 kW

0.2 kW

0.4 kW

0.5 kW

0.75 kW

1.0 kW

1.5 kW

2.0 kW

3.0 kW

5.0 kW

6.0 kW

7.5 kW

11 kW

15 kW

0.05 kW

0.1 kW

0.2 kW

0.4 kW

Voltage Code Specication

Analog sensor input All models

Code

Specication

Applicable

Models

F40

11th+12th+13th

digits

14th digit

11th+12th+13th digits

14th digit

F 100 VAC

SinglePhase, 100 VAC

1.2.1 Interpreting SERVOPACK Model Numbers with the FT40 Specification

1.2

1.2.1

Model Designations

Interpreting SERVOPACK Model Numbers with the FT40 Specification

*1. You can use these models with either a single-phase or three-phase input. *2. The same interface is used for both Rotary Servomotors and Linear Servomotors. *3. The BTO specification indicates if the SEVOPACK is customized by using the MechatroCloud BTO service. You

need a BTO number to order SERVOPACKs with customized specifications. Refer to the following catalog for details on the BTO specification.

AC Servo Drives Σ-7 Series (Manual No.: KAEP S800001 23)

1-3

1.2 Model Designations

F41

Press and injection molding option

000

Specification

Code

FT/EX Specification

None

BTO

specification

Specification

Code

BTO Specification

MECHATROLINK-III communications references

A 200 VAC

SGD7S

R70

A 20 A

000

Maximum Applicable Motor Capacity

Voltage

Interface

Code

Specication

Design Revision Order

Hardware Options Specication

ThreePhase, 200 VAC

1st+2nd+3rd digits

4th digit

5th+6th digits

7th digit

8th+9th+10th digits

Σ-7-Series Σ-7S

SERVOPACKs

4th

digit

1st+2nd+3rd

digits

5th+6th

digits

8th+9th+10th

digits

7th

digit

R70

R90

1R6

2R8

3R8

5R5

7R6

120

180

200

330

470

550

590

780

R70

R90

2R1

2R8

0.05 kW

0.1 kW

0.2 kW

0.4 kW

0.5 kW

0.75 kW

1.0 kW

1.5 kW

2.0 kW

3.0 kW

5.0 kW

6.0 kW

7.5 kW

11 kW

15 kW

0.05 kW

0.1 kW

0.2 kW

0.4 kW

Voltage Code Specication

No hardware options

Code

Specication

F41

11th+12th+13th

digits

14th digit

11th+12th+13th digits

14th digit

F 100 VAC

SinglePhase, 100 VAC

1.2.2 Interpreting SERVOPACK Model Numbers with the FT41 Specification

1.2.2

Interpreting SERVOPACK Model Numbers with the FT41 Specification

1-4

1.2.3

Interpreting Servomotor Model Numbers

Refer to the following manuals for information on interpreting Σ-7-Series Servomotor model numbers.

need a BTO number to order SERVOPACKs with customized specifications. Refer to the following catalog for details on the BTO specification.

AC Servo Drives Σ-7 Series (Manual No.: KAEP S800001 23)

Σ-7-Series Rotary Servomotor Product Manual (Manual No.: SIEP S800001 36)

Σ-7-Series Linear Servomotor Product Manual (Manual No.: SIEP S800001 37)

Σ-7-Series Direct Drive Servomotor Product Manual (Manual No.: SIEP S800001 38)

1.3 Combinations of SERVOPACKs and Servomotors

Basic Information on SERVOPACKs

1.3

Combinations of SERVOPACKs and Servomotors

Refer to the following manuals for information on combinations with Σ-7-Series Servomotors.

Σ-7-Series Rotary Servomotor Product Manual (Manual No.: SIEP S800001 36)

Σ-7-Series Linear Servomotor Product Manual (Manual No.: SIEP S800001 37)

Σ-7-Series Direct Drive Servomotor Product Manual (Manual No.: SIEP S800001 38)

1-5

1.4 Functions

1.4

Functions

This section lists the functions provided by SERVOPACKs. Refer to the following manual for details on the functions.

Σ-7-Series Σ-7S SERVOPACK with MECHATROLINK-III Communications References Product Manual (Manual No.:

SIEP S800001 28)

Functions given inside bold lines in the functions tables are restricted for the SERVOPACKs described in this manual. Refer to the following section for details on restrictions to these functions.

1.5 Restrictions

•

Functions Related to the Machine

Power Supply Type Settings for the Main Circuit and Control Circuit

Automatic Detection of Connected Motor

Motor Direction Setting

Linear Encoder Pitch Setting

Writing Linear Servomotor Parameters

Selecting the Phase Sequence for a Linear Servomotor

Polarity Sensor Setting

Polarity Detection

Overtravel Function and Settings

Holding Brake

Motor Stopping Methods for Servo OFF and Alarms

Resetting the Absolute Encoder

Setting the Origin of the Absolute Encoder

Setting the Regenerative Resistor Capacity

Operation for Momentary Power Interruptions

SEMI F47 Function

Setting the Motor Maximum Speed

Software Limits and Settings

Multiturn Limit Setting

Adjustment of Motor Current Detection Signal Offset

Forcing the Motor to Stop

Speed Ripple Compensation

Current Control Mode Selection

Current Gain Level Setting

Speed Detection Method Selection

Fully-Closed Loop Control

Safety Functions

External Latches

on page 1-9

Function

1-6

Basic Information on SERVOPACKs

•

Functions Related to the Host Controller

Function

Electronic Gear Settings

I/O Signal Allocations

Servo Alarm (ALM) Signal

Warning Output (/WARN) Signal

Rotation Detection (/TGON) Signal

/S-RDY (Servo Ready) Signal

Speed Coincidence Detection (/V-CMP) Signal

Positioning Completion (/COIN) Signal

Near (/NEAR) Signal

Speed Limit during Torque Control

Speed Limit Detection (/VLT) Signal

Encoder Divided Pulse Output

Selecting Torque Limits

Vibration Detection Level Initialization

Alarm Reset

Replacing the Battery

Setting the Position Deviation Overflow Alarm Level

1.4 Functions

•

Functions to Achieve Optimum Motions

Function

Tuning-Less Function

Automatic Adjustment without a Host Reference

Automatic Adjustment with a Host Reference

Custom Adjustment

Anti-Resonance Control Adjustment

Vibration Suppression

Gain Selection

Friction Compensation

Backlash Compensation

Model Following Control

Compatible Adjustment Functions

Mechanical Analysis

Easy FFT

• Functions for Trial Operation during Setup

Function

Software Reset

Trial Operation of Servomotor without a Load

Program Jogging

Origin Search

Test without a Motor

Monitoring Machine Operation Status and Signal Waveforms

1-7

1.4 Functions

•

Functions for Inspection and Maintenance

Function

Write Prohibition Setting for Parameters

Initializing Parameter Settings

Automatic Detection of Connected Motor

Monitoring Product Information

Monitoring Product Life

Alarm History Display

Alarm Tracing

1-8

1.5 Restrictions

Basic Information on SERVOPACKs

1.5.1 Function Application Restrictions

1.5

1.5.1

1.5.2

Restrictions

This section describes restrictions that apply when using the SERVOPACKs described in this manual.

Function Application Restrictions

The following functional restrictions apply when the SERVOPACKs described in this manual are used.

Function Name Restriction

Tuning-Less Function

Tuning-Less Level Setting

Mechanical Analysis

Restrictions on Specifications

The following restrictions on specifications apply when the SERVOPACKs described in this manual are used.

Item Specification

Mounting Type

I/O Signals

Option Module You cannot use a Safety Module.

Linear Servomotor Overheat Protection Signal Input

You cannot use this function when pressure feedback control is enabled (Pn440 = n.1).

There are no rack-mounted models or duct-ventilated models.

You cannot use this input.

1-9

1.6 SigmaWin+

1.6

SigmaWin+

The model information file must be added for the FT40 and FT41. Add the FT40 or FT41 model information file to SigmaWin+ version 7.

1-10

1.7 Combining the SERVOPACKs with MP-Series Machine Controllers and the MPE720 Engineering Tool

Basic Information on SERVOPACKs

1.7

Combining the SERVOPACKs with MP-Series Machine Controllers and the MPE720 Engineering Tool

If you combine the SERVOPACK with an MP-Series Machine Controller or the MPE720 Engineering Tool, it will be recognized as a SERVOPACK with standard specifications. To use the parameters that have been added or changed for the SERVOPACKs described in this manual, use the SigmaWin+.

1-11

SERVOPACK Ratings and Specifications

This chapter provides information required to select SERVOPACKs, such as specifications.

2.1

2.2

2.3

Ratings . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2

SERVOPACK Overload Protection Characteristics . . 2-5

Specifications . . . . . . . . . . . . . . . . . . . . . . . 2-6

2.1 Ratings

2.1

Ratings

This section gives the ratings of SERVOPACKs.

Three-Phase, 200 VAC

Model SGD7S- R70A R90A 1R6A 2R8A 3R8A 5R5A 7R6A 120A 180A 200A 330A

Maximum Applicable Motor Capacity [kW]

Continuous Output Current [Arms]

Instantaneous Maximum Output Current [Arms]

Main Circuit

Control

Power Supply 200 VAC to 240 VAC, -15% to +10%, 50 Hz/60 Hz

Input Current [Arms]*0.4 0.8 1.3 2.5 3.0 4.1 5.7 7.3 10 15 25

Power Supply 200 VAC to 240 VAC, -15% to +10%, 50 Hz/60 Hz

Input Current [Arms]*0.2 0.2 0.2 0.2 0.2 0.2 0.2 0.2 0.25 0.25 0.3

Power Supply Capacity [kVA]*0.2 0.3 0.5 1.0 1.3 1.6 2.3 3.2 4.0 5.9 7.5

Main Circuit Power Loss [W]

Power Loss

Control Circuit Power Loss [W]

Built-in Regenerative Resistor Power Loss [W]

Tot a l Po w e r L o s s [ W ]

Regenerative Resistor

Built-In Regenerative Resistor

Minimum Allowable

Resistance [Ω]

Capacity [W]

External Resistance [

Overvoltage Category III

* This is the net value at the rated load.

Model SGD7S- 470A 550A 590A 780A

Maximum Applicable Motor Capacity [kW] 6.0 7.5 11 15

Continuous Output Current [Arms] 46.9 54.7 58.6 78.0

Instantaneous Maximum Output Current [Arms] 110 130 140 170

Main Circuit

Control

Power Supply 200 VAC to 240 VAC, -15% to +10%, 50 Hz/60 Hz

Input Current [Arms]

Power Supply 200 VAC to 240 VAC, -15% to +10%, 50 Hz/60 Hz

Input Current [Arms]

Power Supply Capacity [kVA]

Main Circuit Power Loss [W] 271.7 326.9 365.3 501.4

Control Circuit Power Loss [W] 21 21 28 28

Power Loss

External Regenerative Resistor Power Loss [W]

Total Power Loss [W] 292.7 347.9 393.3 529.4

Regenerative Resistor

External Regenerative Resistor

Minimum Allowable External Resistance [Ω]

Overvoltage Category III

*1. This is the net value at the rated load. *2. This value is for the optional JUSP-RA04-E Regenerative Resistor Unit. *3. This value is for the optional JUSP-RA05-E Regenerative Resistor Unit.

0.05 0.1 0.2 0.4 0.5 0.75 1.0 1.5 2.0 3.0 5.0

0.66 0.91 1.6 2.8 3.8 5.5 7.6 11.6 18.5 19.6 32.9

2.1 3.2 5.9 9.3 11 16.9 17 28 42 56 84

5.0 7.0 11.9 22.5 28.5 38.9 49.2 72.6 104.2 114.2 226.6

12 12 12 12 14 14 14 15 16 16 19

−−−−8 8 8 10 16 16 36

17.0 19.0 23.9 34.5 50.5 60.9 71.2 97.6 136.2 146.2 281.6

−−−−40 40 40 20 12 12 8

−−−−40 40 40 60 60 60 180

40 40 40 40 40 40 40 20 12 12 8

]

Resistance [Ω]

Capacity [W]

29 37 54 73

0.30.30.40.4

10.7 14.6 21.7 29.6

180

6.25

880

350

3.13

1760

350

3.13

1760

5.82.92.92.9

350

3.13

1760

2-2

2.1 Ratings

SERVOPACK Ratings and Specications

Single-Phase, 200 VAC

Model SGD7S- R70A R90A 1R6A 2R8A 5R5A

Maximum Applicable Motor Capacity [kW] 0.05 0.1 0.2 0.4 0.75

Continuous Output Current [Arms] 0.66 0.91 1.6 2.8 5.5

Instantaneous Maximum Output Current [Arms] 2.1 3.2 5.9 9.3 16.9

Main Circuit

Control

Power Supply Capacity [kVA]

Power Loss

Regenerative Resistor

Overvoltage Category III

* This is the net value at the rated load.

Power Supply 200 VAC to 240 VAC, -15% to +10%, 50 Hz/60 Hz

Input Current [Arms]

Power Supply 200 VAC to 240 VAC, -15% to +10%, 50 Hz/60 Hz

Input Current [Arms]

Main Circuit Power Loss [W] 5.0 7.1 12.1 23.7 39.2

Control Circuit Power Loss [W] 1212121214

Built-in Regenerative Resistor Power Loss [W]

Total Power Loss [W] 17.0 19.1 24.1 35.7 61.2

Built-In Regenerative Resistor

Minimum Allowable External Resistance [Ω]

Resistance [Ω] −−−−40

Capacity [W] −−−−40

0.8 1.6 2.4 5.0 8.7

0.2 0.2 0.2 0.2 0.2

0.2 0.3 0.6 1.2 1.9

−−−−8

40 40 40 40 40

270 VDC

Model SGD7S- R70A R90A 1R6A 2R8A 3R8A 5R5A 7R6A 120A

Maximum Applicable Motor Capacity [kW] 0.05 0.1 0.2 0.4 0.5 0.75 1.0 1.5

Continuous Output Current [Arms] 0.66 0.91 1.6 2.8 3.8 5.5 7.6 11.6

Instantaneous Maximum Output Current [Arms]

Main Circuit

Control

Power Supply Capacity [kVA]

Power Loss

Overvoltage Category

* This is the net value at the rated load.

Power Supply 270 VDC to 324 VDC, -15% to +10%

Input Current [Arms]

Power Supply 270 VDC to 324 VDC, -15% to +10%

Input Current [Arms]

Main Circuit Power Loss [W]

Control Circuit Power Loss [W]

Total Power Loss [W]

2.1 3.2 5.9 9.3 11.0 16.9 17.0 28.0

0.5 1.0 1.5 3.0 3.8 4.9 6.9 11

0.2 0.2 0.2 0.2 0.2 0.2 0.2 0.2

0.2 0.3 0.6 1 1.4 1.6 2.3 3.2

4.4 5.9 9.8 17.5 23.0 30.7 38.7 55.8

12 12 12 12 14 14 14 15

16.4 17.9 21.8 29.5 37.0 44.7 52.7 70.8

III

2-3

2.1 Ratings

Model SGD7S- 180A 200A 330A 470A 550A 590A 780A

Maximum Applicable Motor Capacity [kW] 2.0 3.0 5.0 6.0 7.5 11.0 15.0

Continuous Output Current [Arms] 18.5 19.6 32.9 46.9 54.7 58.6 78.0

Instantaneous Maximum Output Current [Arms]

Main Circuit

Control

Power Supply Capacity [kVA]

Power Loss

Overvoltage Category

* This is the net value at the rated load.

Power Supply 270 VDC to 324 VDC, -15% to +10%

Input Current [Arms]

Power Supply 270 VDC to 324 VDC, -15% to +10%

Input Current [Arms]

Main Circuit Power Loss [W]

Control Circuit Power Loss [W]

Total Power Loss [W]

42.0 56.0 84.0 110 130 140 170

14 20 34 36 48 68 92

0.25 0.25 0.3 0.3 0.3 0.4 0.4

4.0 5.9 7.5 10.7 14.6 21.7 29.6

82.7 83.5 146.2 211.6 255.3 243.6 343.4

16 16 19 21 21 28 28

98.7 99.5 165.2 232.6 276.3 271.6 371.4

III

Single-Phase, 100 VAC

Model SGD7S- R70F R90F 2R1F 2R8F

Maximum Applicable Motor Capacity [kW] 0.05 0.1 0.2 0.4

Continuous Output Current [Arms] 0.66 0.91 2.1 2.8

Instantaneous Maximum Output Current [Arms]

Main Circuit

Control

Power Supply Capacity [kVA]

Power Loss

Regenerative Resistor

Overvoltage Category III

* This is the net value at the rated load.

Power Supply 100 VAC to 120 VAC, -15% to +10%, 50 Hz/60 Hz

Input Current [Arms]

Power Supply 100 VAC to 120 VAC, -15% to +10%, 50 Hz/60 Hz

Input Current [Arms]

Main Circuit Power Loss [W]

Control Circuit Power Loss [W]

Total Power Loss [W] 17.3 19.8 26.2 38.2

Minimum Allowable Resistance [Ω]

2.1 3.2 6.5 9.3

1.5 2.5 5 10

0.38 0.38 0.38 0.38

0.2 0.3 0.6 1.4

5.3 7.8 14.2 26.2

12 12 12 12

40 40 40 40

2-4

2.2 SERVOPACK Overload Protection Characteristics

SERVOPACK Ratings and Specications

Detection time (s)

SERVOPACK output current

(continuous output current ratio) (%)

Instantaneous maximum output current

(Instantaneous maximum output current)

Continuous output current

(Continuous output current)

× 100%

100 230

10000

1000

100

100 200

10000

1000

100

Detection time (s)

SERVOPACK output current

(continuous output current ratio) (%)

Instantaneous maximum output current

(Instantaneous maximum output current)

Continuous output current

(Continuous output current)

× 100%

2.2 SERVOPACK Overload Protection Characteristics

The overload detection level is set for hot start conditions with a SERVOPACK surrounding air temperature of 55°C.

An overload alarm (A.710 or A.720) will occur if overload operation that exceeds the overload protection characteristics shown in the following diagram (i.e., operation on the right side of the applicable line) is performed.

The actual overload detection level will be the detection level of the connected SERVOPACK or Servomotor that has the lower overload protection characteristics.

In most cases, that will be the overload protection characteristics of the Servomotor.

• SGD7S-R70A, -R90A, -1R6A, -2R8A, -R70F, -R90F, -2R1F, and -2R8F

Note: The above overload protection characteristics do not mean that you can perform continuous duty operation

with an output of 100% or higher. For a Yaskawa-specified combination of SERVOPACK and Servomotor, maintain the effective torque within the continuous duty zone of the torque-motor speed characteristic of the Servomotor.

• SGD7S-3R8A, -5R5A, -7R6A, -120A, -180A, -200A, -330A, -470A, -550A, -590A, and -780A

Note: The above overload protection characteristics do not mean that you can perform continuous duty operation

2-5

2.3 Specifications

Degree SERVOPACK Model: SGD7S-

IP20

R70A, R90A, 1R6A, 2R8A, 3R8A, 5R5A, 7R6A, 120A, R70F, R90F, 2R1F, 2R8F

IP10 180A, 200A, 330A, 470A, 550A, 590A, 780A

2.3

Specifications

This section gives the general specifications of SERVOPACKs.

Item Specification

Drive Method IGBT-based PWM control, sine wave current drive

Serial encoder: 17 bits (absolute encoder)

Feedback

With Rotary Servomotor

• Absolute linear encoder

With Linear Servomotor

Surrounding Air Temperature

Storage Temperature -20°C to 85°C

Surrounding Air Humidity

Storage Humidity 95% relative humidity max. (with no freezing or condensation)

Vibration Resistance

Shock Resistance

(The signal resolution depends on the absolute linear encoder.)

• Incremental linear encoder (The signal resolution depends on the incremental linear encoder or Serial Converter Unit.)

-5°C to 55°C (With derating, usage is possible between 55°C and 60°C.) Refer to the following manual for derating specifications.

Σ-7-Series Σ-7S SERVOPACK with MECHATROLINK-III Communications

References Product Manual (Manual No.: SIEP S800001 28)

95% relative humidity max. (with no freezing or condensation)

4.9 m/s

19.6 m/s

20 bits or 24 bits (incremental encoder/absolute encoder) 22 bits (absolute encoder)

Environmental Conditions

Applicable Standards

Mounting Base-mounted

Performance

Degree of Protection

Pollution Degree

Altitude

Others

Speed Control Range

Coefficient of Speed Fluctuation

Torque Control Precision (Repeatability)

Soft Start Time Setting

• Must be no corrosive or flammable gases.

• Must be no exposure to water, oil, or chemicals.

• Must be no dust, salts, or iron dust.

1,000 m max. (With derating, usage is possible between 1,000 m and 2,000 m.) Refer to the following manual for derating specifications.

Σ-7-Series Σ-7S SERVOPACK with MECHATROLINK-III Communications

References Product Manual (Manual No.: SIEP S800001 28)

Do not use the SERVOPACK in the following locations: Locations subject to static electricity noise, strong electromagnetic/magnetic fields, or radioactivity

Refer to the following section for details.

Compliance with UL Standards, EU Directives, and Other Safety Stan-

on page xxvi

dards

1:5000 (At the rated torque, the lower limit of the speed control range must not cause the Servomotor to stop.)

±0.01% of rated speed max. (for a load fluctuation of 0% to 100%)

0% of rated speed max. (for a load fluctuation of ±10%)

±0.1% of rated speed max. (for a temperature fluctuation of 25°C ±25°C)

±1%

0 s to 10 s (Can be set separately for acceleration and deceleration.)

Continued on next page.

2-6

SERVOPACK Ratings and Specications

Item Specification

Encoder Divided Pulse Output

Pressure Feedback Detection Input

Sequence Input Signals

I/O Signals

Sequence Output Signals

RS-422A Communications

Communications

Displays/Indicators

MECHATROLINK-III Communications

(CN3)

USB Communications (CN7)

Communications Protocol

Station Address Settings

Baud Rate 100 Mbps

Transmission Cycle

Number of Transmission Bytes

Phase A, phase B, phase C: Line-driver output Number of divided output pulses: Any setting is allowed.

Input Signals That Can Be Allocated

Fixed Output

Output Signals That Can Be Allocated

Interfaces

1:N Communications

Axis Address Setting

Interface Personal computer (with SigmaWin+)

Communications Standard

Number of input points: 1 Input voltage range: -12 V to 12 V

Allowable voltage range: 24 VDC ±20% Number of input points: 7

Input method: Sink inputs or source inputs Input Signals

• P-OT (Forward Drive Prohibit) and N-OT (Reverse Drive Prohibit) signals

• /P-CL (Forward External Torque Limit) and /N-CL (Reverse External Torque Limit) signals

• /DEC (Origin Return Deceleration Switch) signal

• /EXT1 to /EXT3 (External Latch Input 1 to 3) signals

• FSTP (Forced Stop Input) signal

A signal can be allocated and the positive and negative logic can be changed.

Allowable voltage range: 5 VDC to 30 VDC Number of output points: 1 Output signal: ALM (Servo Alarm) signal

Allowable voltage range: 5 VDC to 30 VDC Number of output points: 3 (A photocoupler output (isolated) is used.)

Output Signals

• /COIN (Positioning Completion) signal

• /V-CMP (Speed Coincidence Detection) signal

• /TGON (Rotation Detection) signal

• /S-RDY (Servo Ready) signal

• /CLT (Torque Limit Detection) signal

• /VLT (Speed Limit Detection) signal

• /BK (Brake) signal

• /WARN (Warning) signal

• /NEAR (Near) signal

A signal can be allocated and the positive and negative logic can be changed.

Digital Operator (JUSP-OP05A-1-E) and personal computer (with SigmaWin+)

Up to N = 15 stations possible for RS-422A port

Set with parameters.

Conforms to USB2.0 standard (12 Mbps).

CHARGE, PWR, CN, L1, and L2 indicators, and one-digit seven-segment display

MECHATROLINK-III

03h to EFh (maximum number of slaves: 62) The rotary switches (S1 and S2) are used to set the station address.

125 μs, 250 μs, 500 μs, 750 μs,

1.0 ms to 4.0 ms (multiples of 0.5 ms)

32 or 48 bytes/station A DIP switch (S3) is used to select the number of transmission bytes.

2.3 Specifications

Continued from previous page.

Continued on next page.

2-7

2.3 Specifications

× 100%

Coefcient of speed uctuation =

No-load motor speed - Total-load motor speed

Rated motor speed

Reference Method

MECHATROLINK-III Communications Setting Switches

Analog Monitor (CN5)

Dynamic Brake (DB)

Regenerative Processing

Overtravel (OT) Prevention

Protective Functions Overcurrent, overvoltage, low voltage, overload, regeneration error, etc.

Utility Functions Gain adjustment, alarm history, jogging, origin search, etc.

Safety Functions

Applicable Option Modules Fully-Closed Module

Continued from previous page.

Item Specification

Performance

Reference Input

Profile

Position, speed, or torque control with MECHATROLINK-III communications

MECHATROLINK-III commands (sequence, motion, data setting, data access, monitoring, adjustment, etc.)

MECHATROLINK-III standard servo profile

Rotary switch (S1 and S2) positions: 16

Number of DIP switch (S3) pins: 4

Number of points: 2 Output voltage range: ±10 VDC (effective linearity range: ±8 V) Resolution: 16 bits Accuracy: ±20 mV (Typ) Maximum output current: ±10 mA Settling time (±1%): 1.2 ms (Typ)

Activated when a servo alarm or overtravel (OT) occurs, or when the power supply to the main circuit or servo is OFF.

Built-in (An external resistor must be connected to the SGD7S-470A to

-780A.) Refer to the following catalog for details.

AC Servo Drives Σ-7 Series (Manual No.: KAEP S800001 23)

Stopping with dynamic brake, deceleration to a stop, or coasting to a stop for the P-OT (Forward Drive Prohibit) or N-OT (Reverse Drive Prohibit) signal

Inputs /HWBB1 and /HWBB2: Base block signals for Power Modules

Output EDM1: Monitors the status of built-in safety circuit (fixed output).

Applicable Standards

ISO13849-1 PLe (Category 3), IEC61508 SIL3

*1. If you combine a Σ-7-Series SERVOPACK with a Σ-V-Series Option Module, the following Σ-V-Series SERVO-

PACKs specifications must be used: a surrounding air temperature of 0°C to 55°C and an altitude of 1,000 m max. Also, the applicable surrounding range cannot be increased by derating.

*2. The coefficient of speed fluctuation for load fluctuation is defined as follows:

*3. Always perform risk assessment for the system and confirm that the safety requirements are met. *4. The pressure feedback detection input applies to only FT40 specification SERVOPACKs.

2-8

Pressure Feedback Control

This chapter describes pressure feedback control.

3.1

3.2

3.3

3.4

3.5

3.6

Introduction . . . . . . . . . . . . . . . . . . . . . . . . . 3-3

Connecting Pressure Sensor Amplifiers . . . 3-4

3.2.1 FT40 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4

3.2.2 FT41 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4

Operation Patterns for Pressure Feedback Control . . 3-5

Changing from Torque Control to Pressure Feedback Control . . 3-6

3.4.1 Mode 2 Operation . . . . . . . . . . . . . . . . . . . . . . . . 3-6

3.4.2 Mode 1 Operation . . . . . . . . . . . . . . . . . . . . . . . . 3-6

Control Block Diagrams . . . . . . . . . . . . . . . 3-7

3.5.1 Pressure Feedback Control 2

(Pn458 = n.1) . . . . . . . . . . . . . . . . . . . . . . . 3-7

3.5.2 Pressure Feedback Control 1

(Pn458 = n.0) . . . . . . . . . . . . . . . . . . . . . . . 3-8

Setup Procedure . . . . . . . . . . . . . . . . . . . . 3-10

3.6.1 Flowchart . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-10

3.6.2 Disabling Tuning-Less Function . . . . . . . . . . . . 3-10

3.6.3 Setting and Checking Other Station

Monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-10

3.6.4 Settings for the System That Uses Pressure

Feedback Control . . . . . . . . . . . . . . . . . . . . . . . 3-13

3.6.5 Automatic Offset Adjustment for Pressure

Feedback Detection Input Signal . . . . . . . . . . . 3-15

3.6.6 Settings prior to Pressure Feedback Control

Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-16

3.6.7 Gain Adjustment . . . . . . . . . . . . . . . . . . . . . . . . 3-18

3.7

Monitoring . . . . . . . . . . . . . . . . . . . . . . . . . 3-23

3.1 Introduction

Pressure Feedback Control

Pressure

feedback

control

processing

Speed limit

processing

Filtering

Pressure

sensor

converter

Filtering

pressure command

SERVOPACK

Analog signal:

-12 V to 12 V

MECHATROLINK-III

Host controller

Motor

and

mechanism

Pressure

sensor

amplier

CN1

MECHATROLINK-III

distributed I/O*

MECHATROLINK-III

CN6A/6B

Pressure

feedback

control

processing

Speed limit

processing

Filtering

Pressure

sensor

Filtering

pressure command

SERVOPACK

Host controller

Motor

and

mechanism

3.1

Introduction

Pressure feedback control is performed by inputting a feedback signal from a pressure sensor to a MECHATROLINK-III pressure command (i.e., torque control command).

For the FT40 (11th to 13th digits in SERVOPACK model number: F40), an analog signal from a pressure sensor built into the control target is passed through a pressure sensor amplifier and then directly input to the CN1 connector on the SERVOPACK.

For the FT41 (11th to 13th digits in SERVOPACK model number: F41), MECHATROLINK-III data from a pressure sensor built into the control target is passed through a pressure sensor amplifier and through MECHATROLINK-III distributed I/O, then directly input to the CN6A and CN6B connectors on the SERVOPACK.

Pressure feedback control can be used to perform high-speed, high-precision pressure control.

Pressure feedback control is performed in Torque Control Mode. It cannot be used in Speed Control Mode or Position Control Mode. In pressure feedback control, you can only use positive torque references. You cannot use a negative torque reference. Change Pn000 = n.X (rotation direction selection) as necessary.

Stop the motor before you change from Speed Control Mode or Position Control Mode to Torque Control Mode.

• FT40

• FT41

* For MECHATROLINK-III distributed I/O, we recommend R7G4HML3-6-LC2 I/O Modules from M-System Co., Ltd.

3-3

3.2 Connecting Pressure Sensor Amplifiers

Mechanism

Pressure

sensor

SERVOPACK

Pressure

sensor

amplier

SG 16

U V

A-FB 5

CN1

Sensor signal cable

Ferrite core

3.2.1 FT40

3.2

3.2.1

Connecting Pressure Sensor Amplifiers

FT40

The input signal from the pressure sensor amplifier is connected to pins 5 (A-FB) and 16 (SG) on the I/O signal connector (CN1).

Type

Input

The input specifications are as follows:

• Maximum input voltage: ±12 V

• Input voltage resolution: ±10 bits

• Input impedance: 30 kΩ

Signal

Name

A-FB 5

SG 16 Signal ground

Pin No. Name Remarks

Pressure Feedback Detection Input

Connected to the pressure sensor amplifier.

3.2.2

Implement the following countermeasures against noise to prevent inductive noise.

• Use twisted-pair cables.

• Minimize the connection distance.

• Attach a ferrite core.

Recommended Pressure Sensor Amplifier Specifications

• Output voltage: ±12 V

• Response frequency: 500 Hz min.

Note: Response may deteriorate below 500 Hz.

FT41

Connect the pressure sensor amplifiers and the R7G4HML3-6-LC2 I/O Modules from M-System Co., Ltd. for MECHATROLINK-III distributed I/O to the CN6A and CN6B connectors on the SERVOPACK with MECHATROLINK-III Communications Cables.

3-4

3.3 Operation Patterns for Pressure Feedback Control

Pressure Feedback Control

Important

Height from pressing position

Time

Pressure

Approach height

Search position

(detection position for the

pressure feedback enable level)

Pressure feedback control

starting pressure

(Pressure Feedback

Enable Level)

Pressing pressure

Position control

Positioning command (POSING: 35h) or other position control command

Torque control

Pressure feedback control Position control

Speed limit

Pressing position

Pressing

direction

Control mode

Torque control command (TRQCTRL: 3Dh)

3.3 Operation Patterns for Pressure Feedback Control

• Pressure feedback control will be performed if the TRQCTRL (Torque Control) command (3Dh)

is executed while pressure feedback control is enabled (Pn440 = n.1) and the pressure feedback detection value exceeds the pressure feedback enable level.

• To suppress shock when changing the control method, change the control method under the following conditions. Changing from Torque Control or Pressure Feedback Control to Position Control or Speed Control: Stop the motor before changing the control mode. Changing from Position Control or Speed Control to Torque Control: Set a speed limit (Pn407) for torque control or a speed limit (Pn480) for force control and keep the speed constant.

• If the torque limit is released when operating with the pressure feedback detection value at or below the pressure feedback reference value due to the torque limit, excess torque may be applied to the Servomotor. This creates a risk of workpiece and machine damage. Set appropriate values for the pressure feedback loop deviation overflow level (Pn447), torque limit (Pn402 or Pn403), external torque limit (Pn404 or Pn405), and torque limit and force limit (Pn483 or Pn484) set with MECHATROLINK-III commands.

An example of pressure feedback control is provided below. In this example, the control method is changed from torque control to pressure feedback control.

3-5

3.4 Changing from Torque Control to Pressure Feedback Control

Torq ue

Time

Pressure

Pressure feedback control starting pressure

(Pressure Feedback Enable Level (Pn44C))

Pressure Feedback Disable Level (Pn45A)

Pressing pressure

Torque control

Pressure feedback control Position control

Control mode

Torq ue

Time

Pressure

Pressure feedback control

starting pressure

(Pressure Feedback Enable Level)

Pressing pressure

Torque control

Pressure feedback control Position control

Control mode

3.4.1 Mode 2 Operation

3.4

3.4.1

Changing from Torque Control to Pressure Feedback Control

You can select from two modes to change from torque control to pressure feedback control: mode 1 and mode 2. The mode is set in Pn458 = n.X (Pressure Feedback Control Mode Selection Switch).

However, if the pressure feedback type is set to pressure feedback control 2 (Pn458 = n.1), the setting in Pn458 = n.X is ignored and mode 2 operation is used.

Parameter Meaning When Enabled Classification

n.0Set mode 1.

Pn458

n.1 (default setting)

Set mode 2.

Mode 2 Operation

In mode 2, changing from torque control to pressure feedback control is performed according to Pn44C (Pressure Feedback Enable Level) and Pn45A (Pressure Feedback Disable Level).

Pressure Feedback Enable Level 　

Pn44C Setting Range Setting Unit Default Setting When Enabled Classification

0 to 10,000 0.01% 1000 Immediately Setup

Pressure Feedback Disable Level 　

Pn45A Setting Range Setting Unit Default Setting When Enabled Classification

0 to 10,000 0.01% 1000 Immediately Setup

After restart Setup

Note: 1. The area shaded in gray in the above diagram is the area in which pressure feedback control is enabled.

2. If chattering occurs in the pressure, mode 2 can be selected for pressure feedback control to enable stably changing to pressure feedback control.

3.4.2

Mode 1 Operation

In mode 1, changing from torque control to pressure feedback control is performed according to Pn44C (Pressure Feedback Enable Level).

Pn44C

3-6

Note: The area shaded in gray in the above diagram is the area in which pressure feedback control is enabled.

Pressure Feedback Enable Level 　

Setting Range Setting Unit Default Setting When Enabled Classification

0 to 10,000 0.01% 1000 Immediately Setup

3.5 Control Block Diagrams

Pressure Feedback Control

Speed control loop

Pressure feedback control loop

Pressure Feedback Control

One-Parameter Gain Level

Pn4A0

Pressure

feedback

reference or

torque reference

Torque

Reference

Filter

Pn401

Torque Control

Pn402, Pn403,

Pn483, Pn484

Current

loop

Speed Limits Pn407, Pn480

Pressure Feedback

Enable Level

Pn44C

Pressure Feedback

Disable Level

Pn45A

Pressure Feedback

Overow

Detection Level

Pn44D

Pressure Feedback

Loop Deviation

Overow Level

Pn447

Pressure Feedback

Enable/Disable Switch

Pn440 = n.



Pressure

Feedback

Detection Monitor

Pressure Feedback Output Torque Monitor

Pressure

Feedback Loop

Deviation

Monitor

Torque Reference Monitor

Feedback speed conversion value

Pressure Feedback Control 2

Stability Gain

Pn4A7

Pressure Feedback Control 2

Stability Integral Time

Pn4A8

Pressure Feedback

Moment of Inertia Ratio

Pn4AC

Gravity Compensation

Pn440 = n.X



Pressure

Feedback

Reference Filter

Pn45E

Pressure Feedback

Torque Reference Monitor

SERVOPACK

Motor

Pressure

sensor amplier

Encoder

The FT40 and FT41 use different methods for feedback from the pressure sensor ampliers.

Refer to the following diagram for details.

Pressure

Feedback Filter

Pn44A

Pressure

Feedback

Sensor Gain

Pn449

Pressure

Feedback

Offset

Pn448

Pressure Feedback

Polarity Reverse

Switch

Pn440 = n.

X

Pressure Feedback

Automatic

Adjustment

Fn009

CN1

SERVOPACK

Pressure sensor

amplier

3.5.1 Pressure Feedback Control 2 (Pn458 = n.1)

3.5

3.5.1

Control Block Diagrams

The control block diagrams for pressure feedback control are provided below.

Pressure Feedback Control 2 (Pn458 = n.1)

Methods for Feedback from Pressure Sensor Amplifiers



FT40

3-7

3.5 Control Block Diagrams

CN6A/6B

Pressure

Feedback Filter

Pn44A

Pressure

Feedback

Offset

Pn448

Pressure Feedback

Polarity Reverse

Switch

Pressure Feedback

Automatic

Adjustment

Fn009

Pn440 = n.X



SERVOPACK

Pressure sensor

amplier

Pressure Addition

Adjustment

Pn469

Pressure Feedback

CH3

Pn9B7 to Pn9B9

Pressure Addition

Adjustment

Pn46A

Pressure Feedback

CH4

Pn9BA to Pn9BC

Pressure Addition

Adjustment

Pn46B

Pressure Feedback

CH5

Pn9BD and Pn9BF

Pressure Addition

Adjustment

Pn468

Pressure Feedback

CH2

Pn9B4 to Pn9B6

Pressure Addition

Adjustment

Pn467

Pressure Feedback

CH1

Pn9B1 to Pn9B3

MECHATROLINK-III

distributed I/O

Pressure Feedback Loop

Deviation Overow Level

Pn447

Pressure Feedback

Overow Detection Level

Pn44D

Pressure Feedback

Enable Level

Pn44C and

Pressure Feedback

Disable Level

Pn45A

Pressure sensor

amplifier

Pressure Feedback

Loop Feedforward

Pn444

Pressure Feedback Loop Integral Time

Pn442

Pressure Feedback Loop

Proportional Gain 2

Pn452

Pressure feedback

control loop

Pressure Feedback

Enable/Disable Switch

Pn440 = n.X

Torque

Reference

Filter

Pn401

Speed Limits

Pn407, Pn480

Torque Control

Pn402, Pn403,

Pn483, Pn484

Friction

Compensation

Coefcient

Pn123

Pressure Feedback

Overow

Detection Time

Pn44E

Motor

Warning

A.922 Output

Gravity and Friction

Compensation

Pn121

Pressure Feedback or

Torque Reference

Monitor

Pressure Feedback Detection Monitor

Pressure

Feedback

Output

Torque

Monitor

Friction Compensation Torque Monitor

Torque Reference

Monitor

Alarm

A.D0A output

Pressure Feedback

Loop Differential Time

Pn450

Pressure Feedback Loop Differential Filter Multiplier

Pn451

Pressure feedback reference or torque reference

SERVOPACK

Current

loop

CN1

The FT40 and FT41 have different methods for feedback from the pressure sensor ampliers.

Refer to the following diagram for details.

Pressure

Feedback Filter

Pn44A

Pressure

Feedback

Sensor Gain

Pn449

Pressure

Feedback

Offset

Pn448

Pressure Feedback

Polarity Reverse

Switch

Pn440 = n.

X

Pressure Feedback

Automatic

Adjustment

Fn009

CN1

SERVOPACK

Pressure sensor

amplier

3.5.2 Pressure Feedback Control 1 (Pn458 = n.0)



FT41

3-8

3.5.2

Pressure Feedback Control 1 (Pn458 = n.0)

Methods for Feedback from Pressure Sensor Amplifiers



FT40

Pressure Feedback Control



CN6A/6B

Pressure

Feedback Filter

Pn44A

Pressure

Feedback

Offset

Pn448

Pressure Feedback

Polarity Reverse

Switch

Pressure Feedback

Automatic

Adjustment

Fn009

Pn440 = n.X



SERVOPACK

Pressure sensor

amplier

Pressure Addition

Adjustment

Pn469

Pressure Feedback

CH3

Pn9B7 to Pn9B9

Pressure Addition

Adjustment

Pn46A

Pressure Feedback

CH4

Pn9BA to Pn9BC

Pressure Addition

Adjustment

Pn46B

Pressure Feedback

CH5

Pn9BD and Pn9BF

Pressure Addition

Adjustment

Pn468

Pressure Feedback

CH2

Pn9B4 to Pn9B6

Pressure Addition

Adjustment

Pn467

Pressure Feedback

CH1

Pn9B1 to Pn9B3

MECHATROLINK-III

distributed I/O

3.5 Control Block Diagrams

3.5.2 Pressure Feedback Control 1 (Pn458 = n.0)

FT41

3-9

3.6 Setup Procedure

3.6.2 Disabling Tuning-Less Function

on page 3-10

3.6.4 Settings for the System That Uses Pressure Feedback Control

page 3-13

3.6.5 Automatic Offset Adjustment for Pressure Feedback Detection Input Signal

on page 3-15

3.6.6 Settings prior to Pressure Feedback Control Operation

on page 3-16

3.6.7 Gain Adjustment

on page 3-18

Disabling Tuning-Less Function

Other Station Monitoring and Checking

(Setting is required only when you use the FT41.)

Settings prior to Pressure Feedback Control Operation

Automatic Offset Adjustment for Pressure Feedback Detection Input Signal (Fn009)

Gain Adjustment

Settings for the System That Uses

Pressure Feedback Control

3.6.3 Setting and Checking Other Station Monitoring

on page 3-10

3.6.1 Flowchart

3.6

3.6.1

Setup Procedure

Flowchart

The following flowchart gives the setup procedure for pressure feedback control.

3.6.2

Disabling Tuning-Less Function

Disable the tuning-less function (Pn170 = n.0).

3.6.3

Setting and Checking Other Station Monitoring

You must set other station monitoring only when you use the FT41. There is no need to set other station monitoring for the FT40.

You can use input values from pressure sensor amplifiers for pressure feedback control by assigning them to other station monitoring.

To use other station monitoring to acquire pressure sensor amplifier information, you must do the following:

Connect the host controller to the MECHATROLINK-III distributed I/O device with a MECHATROLINK-III Cable.

Send the Connection Request command (CONNECT: 0Eh) from the host controller to the MECHATROLINK-III distributed I/O device.

Note: For MECHATROLINK-III distributed I/O device, set the PROFILE_TYPE to 30h.

Next, send a Data Read/Write_A command (DATA_RWA: 20h) from the host controller to the MECHATROLINK-III distributed I/O device.

With the above procedure, you send data between the host controller and the MECHATROLINK-III distributed I/O device, so the SERVOPACK can check the data being sent.

3-10

3.6 Setup Procedure

Pressure Feedback Control

Information

Torq ue

Information

Byte

Command

(hexadecimal)

Response

(hexadecimal)

Remarks

20 20 –

00 –

CMD_CTRL CMD_STAT –

0 Total input lower 8 bits

This gives the total for the 6th and 8th bytes of input 0.

0 Total input upper 8 bits

This gives the total for the 7th and 9th bytes of input 0.

0 Input 0 lower 8 bits

Input 0

0 Input 0 upper 8 bits

0 Input 1 lower 8 bits

Input 1

0 Input 1 upper 8 bits

10 to 15

00 Not used.

Example

3.6.3 Setting and Checking Other Station Monitoring

For details on the Connection Request command (CONNECT: 0Eh) and Data Read/Write_A command (DATA_RWA: 20h), refer to the following document (issued by the MECHATROLINK Members Association).

MECHATROLINK-III Standard I/O Profile Command Manual

Allocations for Other Station Monitoring

Set Pn9B1 to the station address to allocate to other station monitor channel 1.

Pn9B1

Other Station Monitor 1: Station Address

Setting Range Setting Unit Default Setting When Enabled Classification

0002 to FEEF – 0002 After restart Setup

Set Pn9B2 to the number of transmission bytes for other station monitor channel 1.

Pn9B2

Other Station Monitor 1: Number of Transmission Bytes

Setting Range Setting Unit Default Setting When Enabled Classification

0 to 4 – 3 After restart Setup

Set Pn9B3 to specify the contents of data assigned to other station monitor channel 1.

Parameter Meaning When Enabled Classification



XX Address offset

Pn9B3

n.X





Data size (unit: bytes)

Reserved parameter (Do not change.)

The setting of Pn9B3 = n.XX depends on the data format of the MECHATROLINK-III distributed I/O device that is used. The data format when you use an R7G4HML3-6-LC2 I/O Module from M-System Co., Ltd. is given below. This depends on the information in the 6th to 9th bytes.

After restart Setupn.X

Example of parameter settings when you use an R7G4HML3-6-LC2 I/O Module.

Pn9B1 = 0004h (R7G4HML3-6-LC2 station address) Pn9B2 = 0001h (number of transmission bytes: 16) Pn9B3 = 1206h (address offset: 6 (input 0), 2 bytes)

Note: If you use an R7G4HML3-6-LC2 I/O Module, always set Pn9B2 to n.1 (16 bytes).

3-11

3.6 Setup Procedure

Torq ue

3.6.3 Setting and Checking Other Station Monitoring

When you connect multiple pressure sensors, set Pn9B4 to Pn9BF for other station monitor channels 2 to 5 following the same procedure as for other station monitor channel 1.

Pn9B4

Pn9B5

Pn9B6

Pn9B7

Pn9B8

Pn9B9

Pn9BA

Pn9BB

Pn9BC

Pn9BD

Pn9BE

Pn9BF

Other Station Monitor 2: Station Address

Setting Range Setting Unit Default Setting When Enabled Classification

0002 to FEEF – 0002 After restart Setup

Other Station Monitor 2: Number of Transmission Bytes

Setting Range Setting Unit Default Setting When Enabled Classification

0 to 4 – 3 After restart Setup

Other Station Monitor 2: Monitor Information Setting

Setting Range Setting Unit Default Setting When Enabled Classification

0000 to 14FF – 1000 After restart Setup

Other Station Monitor 3: Station Address

Setting Range Setting Unit Default Setting When Enabled Classification

0002 to FEEF – 0002 After restart Setup

Other Station Monitor 3: Number of Transmission Bytes

Setting Range Setting Unit Default Setting When Enabled Classification

0 to 4 – 3 After restart Setup

Other Station Monitor 3: Monitor Information Setting

Setting Range Setting Unit Default Setting When Enabled Classification

0000 to 14FF – 1000 After restart Setup

Other Station Monitor 4: Station Address

Setting Range Setting Unit Default Setting When Enabled Classification

0002 to FEEF – 0002 After restart Setup

Other Station Monitor 4: Number of Transmission Bytes

Setting Range Setting Unit Default Setting When Enabled Classification

0 to 4 – 3 After restart Setup

Other Station Monitor 4: Monitor Information Setting

Setting Range Setting Unit Default Setting When Enabled

分類

0000 to 14FF – 1000 After restart Setup

Other Station Monitor 5: Station Address

Setting Range Setting Unit Default Setting When Enabled Classification

0002 to FEEF – 0002 After restart Setup

Other Station Monitor 5: Number of Transmission Bytes

Setting Range Setting Unit Default Setting When Enabled Classification

0 to 4 – 3 After restart Setup

Other Station Monitor 5: Monitor Information Setting

Setting Range Setting Unit Default Setting When Enabled Classification

0000 to 14FF – 1000 After restart Setup

3-12

Monitoring Methods

You can display the input values from pressure sensor amplifiers for two channels at the same time. First, set other station monitoring with Pn824 or Pn825. Next, set the check channel with Pn9C0.

Parameter Meaning When Enabled Classification

Pn824

Pn825

0101h

Parameter Meaning When Enabled Classification

Pn9C0

*1. You can check the other station monitor setting in the other station monitor value 1 (lower 16 bits) area of

Option Monitor 1 or 2 (32 bits).



X

You can check other station monitor data with Option Monitor 1.

You can check other station monitor data with Option Monitor 2.

Set the other station monitor number (1 to 5).

Immediately Setup

After restart Setup

3.6 Setup Procedure

Pressure Feedback Control

Torq ue

3.6.4 Settings for the System That Uses Pressure Feedback Control

*2. You can check the other station monitor setting in the other station monitor value 2 (upper 16 bits) area of

Option Monitor 1 or 2 (32 bits).

 Option Monitor 1 or 2 (Pn824 or Pn825 = 101h: Other Station Monitor

Data)

Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

Other station monitor value 1 (lower 8 bits)

Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8

Other station monitor value 1 (upper 8 bits)

Bit 23 Bit 22 Bit 21 Bit 20 Bit 19 Bit 18 Bit 17 Bit 16

Other station monitor value 2 (lower 8 bits)

Bit 31 Bit 30 Bit 29 Bit 28 Bit 27 Bit 26 Bit 25 Bit 24

Other station monitor value 2 (upper 8 bits)

Setting Check Method

Perform the following operations to check whether other station monitoring is set correctly.

Connect the host controller, SERVOPACK, and R7G4HML3-6-LC2 I/O Module from MSystem Co., Ltd. with MECHATROLINK-III Cables.

3.6.4

Set other station monitoring for the SERVOPACK.

Refer to the following section for details.

Allocations for Other Station Monitoring

Monitoring Methods

Send the Connection Request command (CONNECT: 0Eh) to the SERVOPACK and the

on page 3-12

on page 3-11

R7G4HML3-6-LC2 I/O Module.

Send the SMON command to the SERVOPACK and the R7G4HML3-6-LC2 I/O Module.

With the SMON command, set bit 28 in the SVCMD_IO area to 1 (other station monitor enable) for the SERVOPACK.

Send the SMON command from the host controller and set the Option Monitor 1 or 2 data selection code (0xE or 0xF) in the MONITOR1 or MONITOR2 area.

Make sure that you can observe the pressure sensor output with the pressure feedback detection monitor using the host controller option monitor or SigmaWin+ tracing.

Settings for the System That Uses Pressure Feedback Control

FT40

Set Pn449 (Pressure Feedback Sensor Gain) according to the output from the sensor amplifier.

Pressure Feedback Sensor Gain 　

Setting Range Setting Unit Default Setting When Enabled Classification

Pn449

0 to 10,000

0.01 V/rated torque or

0.01 V/rated force

Setting Example

• For SGM7G-20 Servomotor

Motor rated torque: 11.5 Nm

• Ball screw lead: 20 mm

• Sensor amplifier output: 0 to 10 V for 0 to 980 N

0 Immediately Setup

3-13

3.6 Setup Procedure

Torq ue

3.6.4 Settings for the System That Uses Pressure Feedback Control

The pressure for the rated torque is 11.5 Nm × 2 × π × 1,000 mm/20 mm ≈ 3,612.8 N.

Therefore, the servo amplifier output at the rated torque would be 10 V × 3,612.8 N/980 N =

36.86. And, Pn449 would be set to 36.86 V, or 3,686 [0.01 V/rated torque].

If the pressure feedback detection input is negative, set the Pressure Feedback Polarity Selection Switch to reverse the polarity (Pn440 = n.1).

Parameter Meaning When Enabled Classification

Pn440

n.0 (default setting)

n.1 Reverse the polarity.

Do not reverse the polarity.

FT41

For the FT41, set Pn467 to Pn46B (Pressure Feedback Sensor Gain) according to the output from the sensor amplifier.

Set it so that the product of each feedback sensor gain (%) multiplied by the maximum output value (0.01%) for each sensor amplifier is the 100% pressure feedback value.

Pressure feedback 100% value =

CH1 (pressure feedback value (0.01%) × pressure feedback sensor gain 1 (Pn467 (%)) + CH2 (pressure feedback value (0.01%) × pressure feedback sensor gain 2 (Pn468 (%)) + CH3 (pressure feedback value (0.01%) × pressure feedback sensor gain 3 (Pn469 (%)) + CH4 (pressure feedback value (0.01%) × pressure feedback sensor gain 4 (Pn46A(%)) + CH5 (pressure feedback value (0.01%) × pressure feedback sensor gain 5 (Pn46B (%))

Note: CH1 to CH5 are the pressure feedback values acquired with the respective other station monitor channels.

Pressure Feedback Sensor Gain 1

Pn467

Pn468

Pn469

Pn46A

Pn46B

Setting Range Setting Unit Default Setting When Enabled Classification

0 to 10,000 1% 0 Immediately Setup

Pressure Feedback Sensor Gain 2

Setting Range Setting Unit Default Setting When Enabled Classification

0 to 10,000 1% 0 Immediately Setup

Pressure Feedback Sensor Gain 3

Setting Range Setting Unit Default Setting When Enabled Classification

0 to 10,000 1% 0 Immediately Setup

Pressure Feedback Sensor Gain 4

Setting Range Setting Unit Default Setting When Enabled Classification

0 to 10,000 1% 0 Immediately Setup

Pressure Feedback Sensor Gain 5

Setting Range Setting Unit Default Setting When Enabled Classification

0 to 10,000 1% 0 Immediately Setup

After restart Setup

3-14

Setting Example

The conditions are as follows:

• Servomotor: SGM7G-20 (Motor rated torque: 11.5 N·m)

• Ball screw lead: 20 mm

• Sensor amplifier output: For 0 to 980 N, 0% to 100.0% is output.

≒

The pressure for the rated torque is 11.5 N·m × 2 × π × 1,000 mm/20 mm Therefore, the servo amplifier output at the rated torque would be 3612.8 N/980 N × 100.00% = 368.65%.

When there is one pressure sensor, the settings are as follows:

Set Pn467 so that the sensor amplifier output × Pn467/100% = 100% for the pressure feedback detection value.

Set Pn467 to 10,000/sensor amplifier output = 10,000/368.65 = 27%.

3,612.8 N.

3.6 Setup Procedure

Pressure Feedback Control

3.6.5 Automatic Offset Adjustment for Pressure Feedback Detection Input Signal

Set Pn468 to Pn46B to 0.

When there are two pressure sensors, the settings are as follows:

Set Pn467 and Pn468 so that sensor amplifier 1 output × Pn467/100% + sensor amplifier 2 output x Pn468/100% = 100% for the pressure feedback detection value.

If the two sensor amplifiers have the same output specification, set it to 2 × (sensor amplifier 1 or 2 output x Pn467 or Pn468/10,000 (0.01%)) = 100%.

Set Pn467 or Pn468 to 10,000/(sensor amplifier output 1 or 2 × 2) = 10,000/(368.65 × 2) = 14%.

Set Pn469 to Pn46B to 0.

3.6.5

Automatic Offset Adjustment for Pressure Feedback Detection Input Signal

Preparations

Confirm the following conditions before you automatically adjust the offset of the pressure feedback detection input signal.

• The parameters must not be write prohibited.

• The servo must be OFF.

Applicable Tools

The following table lists the tools that you can use to automatically adjust the offset and the applicable tool functions.

Tool Function Operating Procedure Reference

Digital Operator Fn009

SigmaWin+

Setup - Adjust Speed and Torque Reference Offset

Operating Procedure

Use the following procedure to adjust the offset of the pressure feedback detection input signal.

Σ-7-Series Digital Operator Operating Manual (Manual No.: SIEP S800001 33)

Operating Procedure

on page 3-15

Click the Servo Drive Button in the workspace of the Main Window of the SigmaWin+.

Select Adjust the Speed and Torque Reference Offset in the Menu Dialog Box.

The Adjust the Speed and Torque Reference Offset Dialog Box will be displayed.

Click the Automatic Adjustment Ta b .

Click the Adjust Button.

The value that results from automatic adjustment will be displayed in the New Box.

This concludes the automatic offset adjustment for pressure feedback detection input signal.

3-15

3.6 Setup Procedure

Torq ue

Information

* Even if a Pressure Feedback Overflow Warning (A.922) occurs, pressure feedback control will

be enabled again when the pressure feedback detection value decreases to below Pn44D. Execute the ALM_CLR command to reset the warning.

Pressure Feedback Detection

Value

Pressure

Feedback

Control

Pressure

Feedback

Overflow

Warning (A.922)*

Remarks

Less than Pn44C

Disabled No

If the pressure feedback detection value is less than the setting of the Pressure Feedback Enable Level, the system assumes that pressing does not need to be started and pressure feedback control is not performed. Normal torque control is performed. Set the value as a percentage of the rated torque. Note: Processing is performed to determine if pressing is

enabled or disabled, so set as small a value as possible.

Equal to or greater than Pn44C and less than Pn44D

Enabled No –

Equal to or greater than Pn44D

Disabled Yes

If the pressure feedback value exceeds the setting of the Pressure Feedback Overflow Detection Level, it is treated as an error and a Pressure Feedback Overflow Warning (A.922) is output after the time set in Pn44E (Pressure Feedback Overflow Detection Time) elapses. Set the value as a percentage of the rated torque. Note: If Pn44D is set to 800, an error will not be detected and

a warning will not occur.

3.6.6 Settings prior to Pressure Feedback Control Operation

3.6.6

Settings prior to Pressure Feedback Control Operation

Enable pressure feedback with the Pressure Feedback Selection Switch (Pn440 = n.1).

Parameter Meaning When Enabled Classification

n.0

Pn440

(default setting) n.1 Enable pressure feedback control.

Note: As a rule, use the default settings for the following parameters.

Pressure Feedback Offset

Pn448

Pn44A

Pn44E

Set Pn44C (Pressure Feedback Enable Level) and Pn44D (Pressure Feedback Overflow

Setting Range Setting Unit Default Setting When Enabled Classification

-10,000 to 10,000 0.01% 0 Immediately Setup

Pressure Feedback Filter

Setting Range Setting Unit Default Setting When Enabled Classification

0 to 65,535 0.01 ms 0 Immediately Setup

Pressure Feedback Overflow Detection Time

Setting Range Setting Unit Default Setting When Enabled Classification

0 to 5,000 0.1 ms 0 Immediately Setup

Detection Level) to suitable values for the system.

Pressure Feedback Enable Level

Pn44C

Pn44D

Setting Range Setting Unit Default Setting When Enabled Classification

0 to 10,000 0.01% 1000 Immediately Setup

Pressure Feedback Overflow Detection Level 　

Setting Range Setting Unit Default Setting When Enabled Classification

0 to 800 1% 300 Immediately Setup

Disable pressure feedback control and perform normal torque control.

After restart Setup

Pressure feedback control will be enabled at or above Pn44C and below Pn44D.

3-16

Set Pn407 (Speed Limit during Torque Control) or Pn480 (Speed Limit during Force Control).

3.6 Setup Procedure

Pressure Feedback Control

CAUTION

Torq ue

Force

Important

3.6.6 Settings prior to Pressure Feedback Control Operation

To ensure safety during setup, the default value is set low. Use a monitor function or other means

Important

to confirm the motor speed and set a suitable value.

• Rotary Servomotors

Speed Limit during Torque Control 　

Pn407

Setting Range Setting Unit Default Setting When Enabled Classification

1 to 10,000

1 min

-1

100 Immediately Setup

• Linear Servomotors

Speed Limit during Force Control

Pn480

Set the type of pressure feedback control to use in Pn458 = n.X (Pressure Feedback Type

Setting Range Setting Unit Default Setting When Enabled Classification

1 to 10,000 1 mm/s 100 Immediately Setup

Selection).

Parameter Meaning When Enabled Classification

n.0 Set pressure feedback control 1.

Pn458

n.1 (default setting)

Set pressure feedback control 2.

After restart Setup

Set the Torque Control Gravity Compensation Switch (Pn440 = n.X system.



If you enable gravity compensation (Pn440 = n.1 value is 0 when the pressure sensor is faulty, pressure feedback control will not be performed normally and the Servomotor will be operated with excessive torque, possibly damaging the workpiece or machine.

Set Pn447 (Pressure Feedback Loop Deviation Overflow Level), Pn402/Pn403 (Torque Limits), and Pn483/Pn484 (Force Limits) to suitable values.



) and the pressure feedback detection



) according to the

For a vertical axis or other axis that is affected by gravity, enable gravity compensation (Pn440 = n.1). For a horizontal axis, disable gravity compensation (Pn440 = n.0).

Parameter Meaning When Enabled Classification

Pn440

n.0 (default setting)

n.1 Enable gravity compensation.

For gravity compensation, input the pressure sensor output to the SERVOPACK and monitor the pressure feedback detection value. If you do not connect a pressure sensor and disable pressure feedback control (Pn440 = n.

Disable gravity compensation.



0), always disable gravity compensation (Pn440 = n.0

After restart Setup



3-17

3.6 Setup Procedure

Torq ue

3.6.7 Gain Adjustment

3.6.7

Gain Adjustment

Gain Adjustment for Pressure Feedback Control 2

Use the SigmaWin+ to perform autotuning without a host reference and to estimate the moment of inertia. Adjust Pn4A7 (Pressure Feedback Control 2 Stability Gain), Pn4A8 (Pressure Feedback Control 2 Stability Integral Time), and Pn4AC (Pressure Feedback Moment of Inertia Ratio) as required and then set Pn4A0 (Pressure Feedback Control One-Parameter Gain Level) to a suitable value.

Pressure Feedback One-Parameter Gain Level

Pn4A0

Pn4A7

Pn4A8

Pn4AC

Setting Range Setting Unit Default Setting When Enabled Classification

1 to 65,535 – 1,000 Immediately Setup

Pressure Feedback Control 2 Stability Gain

Setting Range Setting Unit Default Setting When Enabled Classification

10 to 20,000 0.1 Hz 400 Immediately Setup

Pressure Feedback Control 2 Stability Integral Time

Setting Range Setting Unit Default Setting When Enabled Classification

15 to 51,200 0.01 ms 2,000 Immediately Setup

Pressure Feedback Moment of Inertia Ratio

Setting Range Setting Unit Default Setting When Enabled Classification

0 to 20,000 1% 100 Immediately Setup

You can set Pn45E (Pressure Feedback Reference Filter Time Constant) according to the system to suppress shock when updating the pressure feedback reference for torque (pressure) control. If a large value is set, it will increase the delay and make response slower. Pn45E is valid only when pressure feedback control is enabled (Pn440 = n.1).

Before lter After lter

Pn45E

100%

63.2%

Pn45EPn45E

After reference lterBefore reference lter

Pressure Feedback Reference Filter Time Constant

Setting Range Setting Unit Default Setting When Enabled Classification

0 to 65,535 0.01 ms 0 Immediately Setup

36.8%

3-18

3.6 Setup Procedure

Pressure Feedback Control

3.6.7 Gain Adjustment



Gain Adjustment Flowchart

A gain adjustment flowchart for pressure feedback control 2 is provided below.

Start of Adjustment

Execute advanced autotuning to estimate the

speed loop gain (Pn100), speed loop integral

time constant (Pn101), and moment of inertia

 Enter the value of Pn100 for Pn4A7 (Pressure

Feedback Control 2 Stability Gain).

 Enter the value of Pn101 for Pn4A8 (Pressure

Feedback Control 2 Integral Time).

 Enter the value of Pn103 for Pn4AC (Pressure

Feedback Moment of Inertia Ratio).*

ratio (Pn103).

*If the output differs greatly between pressing and

non-pressing states, set Pn4AC to the following value: Pn103 × 1/Output ratio at end of machine2.

Enter the pressure reference.

Set Pn45E (Pressure Feedback Reference Filter

Time Constant) to the desired settling time.

(Pressure Feedback One-parameter Gain Level).

No vibration

Increase Pn4A7 and decrease Pn4A8.Adjust Pn45E to a suitable value.

Torque saturation occurs.

Increase the value of Pn4A0

Check the response

waveform.

Vibration or overshooting

Check the response

waveform.

No vibration

Target reference not followed.

Check the response

waveform.

Vibration

End of Adjustment

3-19

3.6 Setup Procedure

Torq ue

3.6.7 Gain Adjustment

Gain Adjustment for Pressure Feedback Control 1

You can adjust the following parameters while performing pressure feedback control operation. Refer to the following section for details.

Gain Adjustment Flowchart

Pn442

Pn444

Pn450

Pn451

Pn452

on page 3-21

Pressure Feedback Control 1 Pressure Feedback Loop Integral Time

Setting Range Setting Unit Default Setting When Enabled Classification

0 to 51,200 0.01 ms 2000 Immediately Setup

Pressure Feedback Control 1 Pressure Feedback Loop Feedforward 　

Setting Range Setting Unit Default Setting When Enabled Classification

0 to 1,000 1% 100 Immediately Setup

Pressure Feedback Control 1 Pressure Feedback Loop Differential Time 　

Setting Range Setting Unit Default Setting When Enabled Classification

0 to 51,200 0.1 ms 0 Immediately Setup

Pressure Feedback Control 1 Pressure Feedback Loop Differential Filter Rate 　

Setting Range Setting Unit Default Setting When Enabled Classification

0 to 10,000 1% 100 Immediately Setup

Pressure Feedback Control 1 Pressure Feedback Loop Proportional Gain 2 　

Setting Range Setting Unit Default Setting When Enabled Classification

0 to 10,000 1% 100 Immediately Setup

If the following conditions are met, you can also adjust the following parameter.

If a Pressure Feedback Loop Deviation Overflow Alarm occurs and the reason is clear:

Increase the value of Pn447 (Pressure Feedback Loop Deviation Overflow Level).

Pressure Feedback Loop Deviation Overflow Level

Pn447

Setting Range Setting Unit Default Setting When Enabled Classification

0 to 800 1% 100 Immediately Setup

3-20

3.6 Setup Procedure

Pressure Feedback Control

3.6.7 Gain Adjustment

 Gain Adjustment Flowchart

A gain adjustment flowchart for pressure feedback control 1 is provided below.

Start of Adjustment

Set the parameters to

the default settings.

No vibration

Check the

response waveform.

Vibration

Is Pn452

(Pressure Feedback Loop

Proportional Gain 2)

set to 0?

Decrease Pn452 (Pressure Feedback

Loop Proportional Gain 2).

Decrease Pn442 (Pressure Feedback

Loop Integral Time) by 0.1 ms.

Check the

response waveform.

Vibration or overshooting

No vibration

Yes

Increase Pn442 (Pressure Feedback

Loop Integral Time).

Adjustment of Pn442 (integral time)

No vibration

Set Pn442 (Pressure Feedback Loop

Integral Time) to the optimum value.

Increase Pn452 (Pressure Feedback

Loop Proportional Gain 2) by 10%.

Check the

response waveform.

Vibration or overshooting

Set Pn452 (Pressure Feedback

Loop Proportional Gain 2)

to the optimum value.

Adjustment of Pn452 (proportional gain)

3-21

3.6 Setup Procedure

End of Adjustment

Overshooting

No overshooting

Did overshooting

decrease?

Yes

Decrease the value of Pn451 (Pressure Feedback

Loop Differential Filter Multiplier) by 10%.

Vibration

No vibration

Yes

Set Pn451 (Pressure Feedback Loop Differential Filter Multiplier)

to the optimum value.

Adjustment of Pn450 (differential time)

Adjustment of Pn451 (differential lter rate)

Increase Pn450 (Pressure Feedback

Loop Differential Time) by 0.1 ms.

Was vibration

reduced?

Was vibration

reduced?

Increase the value of Pn451 (Pressure Feedback

Loop Differential Filter Multiplier) by 10%.

Check the

response waveform.

Check the

response waveform.

3.6.7 Gain Adjustment

3-22

3.7 Monitoring

Pressure Feedback Control

3.7

Monitoring

You can monitor the following signals through analog monitors or through MECHATROLINK-III communications option monitors.

Analog Monitors

Pn006 or Pn007 Signal Name Output Unit

30h Pressure Feedback Torque Reference Monitor 1 V/100% rated torque

31h Pressure Feedback Detection Monitor 1 V/100% rated torque

32h Pressure Feedback Output Torque Monitor 1 V/100% rated torque

33h Pressure Feedback Loop Deviation Monitor 1 V/100% rated torque

Option Monitors with MECHATROLINK-III Communications

Pn824/Pn825 Signal Name Unit

0050h

0052h

0100h

0101h*

* This can be monitored only when you use the FT41.

Pressure Feedback Detection Monitor

Control Method Change Monitor

Speed/Torque (Pressure) Table Operation Monitor

Other Station Monitor Data

10,000/100% rated torque

0: Position or speed control, 1: Torque control, 3: Pressure feedback

Upper 16 bits: Pressure feedback value [0.01%] Lower 16 bits: Speed/torque (pressure) table operation status monitor value

Upper 16 bits: Other station monitor value 2 Lower 16 bits: Other station monitor value 1

Monitoring with SigmaWin+ Waveform Traces

Signal Name Unit

Pressure Feedback Torque Reference Monitor %

Pressure Feedback Detection Monitor %

Pressure Feedback Output Torque Monitor %

Pressure Feedback Loop Deviation Monitor %

Monitoring with SigmaWin+ I/O Tracing

Signal Name Selected Data Name Description

Control Method Selection Bit 0

Control Method Selection Bit 1

/A feedback 0

/A feedback 1

Position/speed control: High, Torque control: Low, Pressure feedback: Low

Position/speed control: High, Torque control: High, Pressure feedback: Low

3-23

Speed/Torque (Pressure) Table Operation

This chapter describes speed/torque (pressure) table operation in detail.

4.1

4.2

4.3

4.4

4.5

Introduction . . . . . . . . . . . . . . . . . . . . . . . . . 4-2

Operation Patterns for Speed/Torque (Pressure) Table Operation . . 4-3

Table Parameter Settings for Speed/Torque (Pressure) Table Operation . . 4-4

4.3.1 Setting the Number of Speed Table References and the Number of Torque (Pressure) References . . 4-4

4.3.2 Settings for Speed Table Operation . . . . . . . . . . 4-5

4.3.3 Setting Condition for Changing from Speed Table Operation to Torque (Pressure) Table Operation . . 4-7

4.3.4 Settings for Torque (Pressure) Table Operation . . 4-11

Operating Procedure . . . . . . . . . . . . . . . . . 4-13

Monitoring . . . . . . . . . . . . . . . . . . . . . . . . . 4-14

4.1 Introduction

4.1

Introduction

You can use speed/torque (pressure) table operation to perform speed control for up to 10 speeds and pressure (torque) control for up to five torques (pressures) according to table parameters that are set in the SERVOPACK in advance.

To use speed/torque (pressure) table operation, pressure feedback control must be operating normally. Refer to the following chapter for details on pressure feedback control.

Chapter 3 Pressure Feedback Control

You can perform speed/torque (pressure) table operation in Speed Control Mode. It cannot be used in Position Control Mode or Torque Control Mode.

Stop the motor before you change from Position Control Mode or Torque Control Mode to Speed Control Mode.

4-2

4.2 Operation Patterns for Speed/Torque (Pressure) Table Operation

Speed/Torque (Pressure) Table Operation

Speed table operation

Reference units

Speed reference

Torque reference

Speed Table Switching Position 4

(Pn6C6)

Speed Table Switching Position 2

(Pn6C2)

Torque (pressure) table operation

Speed Table Reference 4

(Pn6B2)

Speed Table Reference 2

(Pn6AE)

Speed Table Reference 1

(Pn6AC)

Speed Table Reference 4

(Pn6B0)

Torque (Pressure) Reference 3 (Pn6D6)

Torque (Pressure) Reference 2

Torque (Pressure) Reference 1 (Pn6D2)

Torque (Pressure) Reference Time 3 (Pn6E0)

Torque (Pressure) Reference Time 2 (Pn6DE)

Torque (Pressure) Reference Time 1 (Pn6DC)

Speed Table Switching Position 3

(Pn6C4)

Speed Table Switching Position 1

(Pn6C0)

Condition for changing from

speed table operation to torque

(pressure) table operation

(Pn6A6 × Pn6D2)

4.2

Operation Patterns for Speed/Torque (Pressure) Table Operation

This section provides an example of speed/torque (pressure) table operation. The following example is for changing from speed table operation (speed table reference 4) to torque (pressure) table operation (speed table reference 1).

4-3

4.3 Table Parameter Settings for Speed/Torque (Pressure) Table Operation

4.3.1 Setting the Number of Speed Table References and the Number of Torque (Pressure) References

4.3

4.3.1

Table Parameter Settings for Speed/Torque (Pressure) Table Operation

To perform speed/torque (pressure) table operation, table parameters, such as the speed table references, speed table switching positions, torque (pressure) references, and torque (pressure) reference times, must be set in advance.

This section describes the table parameters that must be set.

Setting the Number of Speed Table References and the Number of Torque (Pressure) References

Set Pn6A4 = n.X (Selection of Number of Speed Table References) to the number of speed table references to use in speed table operation of speed/torque (pressure) operation.

Set Pn6A4 = n.X (Selection of Number of Torque (Pressure) References) to the number of torque (pressure) references to use in torque (pressure) table operation of speed/torque (pressure) table operation.

Parameter Meaning When Enabled Classification

n.0 (default setting)

n.1

n.2

n.3

n.4

n.5

n.6

Pn6A4

n.7

n.8

n.9

n.A

n.0 (default setting)

n.1

n.2

Do not perform speed table operation.

Use speed table reference 1 (Pn6AC) for speed table operation.

Use speed table reference 1 (Pn6AC) and speed table reference 2 (Pn6AE) for speed table operation.

Use speed table reference 1 (Pn6AC) through speed table reference 3 (Pn6B0) for speed table operation.

Use speed table reference 1 (Pn6AC) through speed table reference 4 (Pn6B2) for speed table operation.

Use speed table reference 1 (Pn6AC) through speed table reference 5 (Pn6B4) for speed table operation.

Use speed table reference 1 (Pn6AC) through speed table reference 6 (Pn6B6) for speed table operation.

Use speed table reference 1 (Pn6AC) through speed table reference 7 (Pn6B8) for speed table operation.

Use speed table reference 1 (Pn6AC) through speed table reference 8 (Pn6BA) for speed table operation.

Use speed table reference 1 (Pn6AC) through speed table reference 9 (Pn6BC) for speed table operation.

Use speed table reference 1 (Pn6AC) through speed table reference 10 (Pn6BE) for speed table operation.

Do not perform torque (pressure) table operation.

Use torque (pressure) table reference 1 (Pn6D2) for torque (pressure) table operation.

Use torque (pressure) table reference 1 (Pn6D2) and torque (pressure) table reference 2 (Pn6D4) for torque (pressure) table operation.

Immediately Setup

Continued on next page.

4-4

Speed/Torque (Pressure) Table Operation

Pn6A4

Speed

4.3 Table Parameter Settings for Speed/Torque (Pressure) Table Operation

4.3.2 Settings for Speed Table Operation

Continued from previous page.

Parameter Meaning When Enabled Classification

Use torque (pressure) table reference 1

n.3

n.5

(Pn6D2) through torque (pressure) table reference 3 (Pn6D6) for torque (pressure) table operation.

Use torque (pressure) table reference 1 (Pn6D2) through torque (pressure) table reference 4 (Pn6D8) for torque (pressure) table operation.

Use torque (pressure) table reference 1 (Pn6D2) through torque (pressure) table reference 5 (Pn6DA) for torque (pressure) table operation.

Immediately Setupn.4

4.3.2

Settings for Speed Table Operation

Set the ten speeds for speed table operation in Pn6AC to Pn6BE and the speed table switching positions for the ten speeds for speed table operation in Pn6C0 to Pn6D0.

Pn6AC

Pn6AE

Pn6B0

Pn6B2

Pn6B4

Pn6B6

Pn6B8

Pn6BA

Pn6BC

Speed Table Reference 1

Setting Range Setting Unit Default Setting When Enabled Classification

0 to

2,147,483,647

Speed Table Reference 2

Setting Range Setting Unit Default Setting When Enabled Classification

0 to

2,147,483,647

Speed Table Reference 3

Setting Range Setting Unit Default Setting When Enabled Classification

0 to

2,147,483,647

Speed Table Reference 4

Setting Range Setting Unit Default Setting When Enabled Classification

0 to

2,147,483,647

Speed Table Reference 5

Setting Range Setting Unit Default Setting When Enabled Classification

0 to

2,147,483,647

Speed Table Reference 6

Setting Range Setting Unit Default Setting When Enabled Classification

0 to

2,147,483,647

Speed Table Reference 7

Setting Range Setting Unit Default Setting When Enabled Classification

0 to

2,147,483,647

Speed Table Reference 8

Setting Range Setting Unit Default Setting When Enabled Classification

0 to

2,147,483,647

Speed Table Reference 9

Setting Range Setting Unit Default Setting When Enabled Classification

0 to

2,147,483,647

1 reference unit/s 0 Immediately Setup

Continued on next page.

4-5

4.3 Table Parameter Settings for Speed/Torque (Pressure) Table Operation

Speed

4.3.2 Settings for Speed Table Operation

Speed Table Reference 10

Pn6BE

Pn6C0

Pn6C2

Pn6C4

Pn6C6

Pn6C8

Pn6CA

Pn6CC

Pn6CE

Pn6D0

Setting Range Setting Unit Default Setting When Enabled Classification

0 to

2,147,483,647

Speed Table Switching Position 1

Setting Range Setting Unit Default Setting When Enabled Classification

0 to

2,147,483,647

Speed Table Switching Position 2

Setting Range Setting Unit Default Setting When Enabled Classification

0 to

2,147,483,647

Speed Table Switching Position 3

Setting Range Setting Unit Default Setting When Enabled Classification

0 to

2,147,483,647

Speed Table Switching Position 4

Setting Range Setting Unit Default Setting When Enabled Classification

0 to

2,147,483,647

Speed Table Switching Position 5

Setting Range Setting Unit Default Setting When Enabled Classification

0 to

2,147,483,647

Speed Table Switching Position 6

Setting Range Setting Unit Default Setting When Enabled Classification

0 to

2,147,483,647

Speed Table Switching Position 7

Setting Range Setting Unit Default Setting When Enabled Classification

0 to

2,147,483,647

Speed Table Switching Position 8

Setting Range Setting Unit Default Setting When Enabled Classification

0 to

2,147,483,647

Speed Table Switching Position 9

Setting Range Setting Unit Default Setting When Enabled Classification

0 to

2,147,483,647

1 reference unit/s 0 Immediately Setup

Each of the speed table switching positions 1 to 9 corresponds to one pair of speed table references 1 to 10. Refer to the following diagram for the speed table references and speed table switching positions, and set the parameters in ascending order of parameter numbers.

Continued from previous page.

4-6

4.3 Table Parameter Settings for Speed/Torque (Pressure) Table Operation

Speed/Torque (Pressure) Table Operation

Speed Table Reference 10 (Pn6BE)

Speed Table Reference 9 (Pn6BC)

Speed Table Reference 8 (Pn6BA)

Speed Table Reference 7 (Pn6B8)

Speed Table Reference 6 (Pn6B6)

Speed Table Reference 5 (Pn6B4)

Speed Table Reference 4 (Pn6B2)

Speed Table Reference 3 (Pn6B0)

Speed Table Reference 2 (Pn6AE)

Speed Table Reference 1 (Pn6AC)

Speed reference

Speed Table

Switching Position 1

(Pn6C0)

Speed Table

Switching Position 2

(Pn6C2)

Speed Table

Switching Position 3

(Pn6C4)

Speed Table

Switching Position 4

(Pn6C6)

Speed Table

Switching Position 5

(Pn6C8)

Speed Table

Switching Position 6

(Pn6CA)

Speed Table

Switching Position 7

(Pn6CC)

Speed Table

Switching Position 8

(Pn6CE)

Speed Table

Switching Position 9

(Pn6D0)

Position

4.3.3 Setting Condition for Changing from Speed Table Operation to Torque (Pressure) Table Operation

4.3.3

Setting Condition for Changing from Speed Table Operation to Torque (Pressure) Table Operation

You can use Pn6A4 = n. Pn6A4 = n.X



lowing three conditions for switching from speed table operation to torque (pressure) table operation.

• Pn6A4 = n.0



Speed table operation changes to torque (pressure) table operation when the pressure feedback detection value exceeds Pn6A7 × Pn6D2 and the motor position exceeds Pn6A8.

• Pn6A4 = n.0



Speed table operation changes to torque (pressure) table operation when the pressure feedback detection value exceeds Pn6A7 × Pn6D2 or the motor position exceeds Pn6A8.

• Pn6A4 = n.1



During speed table operation, if the pressure feedback detection value falls to the setting for Pn44C (Pressure Feedback Enable Level) or less, torque references are restricted to the setting of Pn6A5 (Torque (Pressure) Reference during Speed Table Operation) or less. The pressure reference in Pn6A5 functions as the maximum limit when the pressure feedback detection value exceeds the value of Pn44C. Speed table operation changes to torque (pressure) table operation when the motor position exceeds the table operation switching position (Pn6A8). After operation changes to pressure table operation, the pressure feedback control follows the setting in Pn44C.



X (Table Operation Control Switching Condition Selection) and

(Table Operation Control Method Switching Selection) to select from the fol-

4-7

4.3 Table Parameter Settings for Speed/Torque (Pressure) Table Operation

Speed

4.3.3 Setting Condition for Changing from Speed Table Operation to Torque (Pressure) Table Operation

Parameter Meaning When Enabled Classification

Switch from speed table operation to torque



(Default Setting)

(pressure) table operation when the pressure feedback detection value exceeds Pn6A7 × Pn6D2 and the motor position exceeds Pn6A8.

Pn6A4



Switch from speed table operation to torque (pressure) table operation when the pressure feedback detection value exceeds Pn6A7 ×

Immediately Setup

Pn6D2 or the motor position exceeds Pn6A8.

n.0



(Default Setting) n.1 Disable Pn6A4 = n.

Disable Pn6A5 and enable Pn6A4 = n.



X and enable Pn6A5.



Pn6A5

Torque (Pressure) Reference during Speed Table Operation

Setting Range Setting Unit Default Setting When Enabled Classification

0 to

1,073,741,824

1% 0 Immediately Setup

Pressure Control Switching Pressure Percentage

Pn6A7 Setting Range Setting Unit Default Setting When Enabled Classification

0 to 10,000 0.01% 0 Immediately Setup

Pn6D2

Torque (Pressure) Reference 1

Setting Range Setting Unit Default Setting When Enabled Classification

-1,073,741,824 to 1,073,741,824

1% 0 Immediately Setup

Table Operation Switching Position

Pn6A8 Setting Range Setting Unit Default Setting When Enabled Classification

0 to

2,147,483,647

1 reference unit 0 Immediately Setup

4-8

4.3 Table Parameter Settings for Speed/Torque (Pressure) Table Operation

Speed/Torque (Pressure) Table Operation

Pn6D6

Pn6A8

Pn6C4Pn6C0

Pn6B2

Pn6AE

Pn6B0

Pn6AC

Pn6A7 × Pn6D2

Pn44C

Pn6C2

Pn6D4

Pn6D2

Pn6DC

Pn6DE

Pn6E0

Pressure feedback

Feedback

speed

Speed reference

Tor q ue ( pr e ssure) table operation

Speed table operation

Speed Tor q ue ( pre ssure)

Pn6D6

Pn6B2

Pn6AE

Pn6B0

Pn6AC

Pn6A7 × Pn6D2

Pn44C

Pn6C4Pn6C0

Pn6C2

Pn6D4

Pn6D2

Pn6DC

Pn6DE

Pn6E0

Pressure feedback

Speed reference

Pn6A8

Tor q ue ( pr e ssure) table operation

Speed table operation

Speed

Feedback

speed

Tor q ue ( pre ssure)

4.3.3 Setting Condition for Changing from Speed Table Operation to Torque (Pressure) Table Operation



Torque (Pressure) Table Operation Example for Pn6A4 = n.00

Speed table operation changes to torque (pressure) table operation when the pressure feedback detection value exceeds Pn6A7 × Pn6D2 and the motor position exceeds Pn6A8.



Torque (Pressure) Table Operation Example for Pn6A4 = n.01

Speed table operation changes to torque (pressure) table operation when the pressure feedback detection value exceeds Pn6A7 × Pn6D2 or the motor position exceeds Pn6A8.

In the following example, speed table operation is changed to torque (pressure) table operation when the motor position exceeds Pn6A8.

4-9

4.3 Table Parameter Settings for Speed/Torque (Pressure) Table Operation

Pn6D6

Pn6B2

Pn6AE

Pn6A5

Pn6B0

Pn6AC

Pn44C

Pn6C4Pn6C0

Pn6C2

Pn6D4

Pn6D2

Pn6DC

Pn6DE

Pn6E0

Speed reference

Pn6A8

Tor que ( pr essure) table operation

Speed table operation

Pressure feedback

Speed

Feedback

speed

Tor q ue ( pre ssure)

Pn6D6

Pn6B2

Pn6AE

Pn6A5

Pn6B0

Pn6AC

Pn44C Pn44A

Pn6C4Pn6C0

Pn6C2

Pn6D4

Pn6D2

Pn6DC

Pn6DE

Pn6E0

Speed reference

Pn6A8

Tor q ue ( pre ssure) table operation

Speed table operation

Pressure feedback

Speed

Feedback

speed

Tor q ue ( pre ssure)

Even if the pressure feedback detection value exceeds the setting of Pn6A5, speed table operation is continued.

4.3.3 Setting Condition for Changing from Speed Table Operation to Torque (Pressure) Table Operation



Torque (Pressure) Table Operation Example 1 for Pn6A4 = n.1



Speed table operation changes to torque (pressure) table operation when the motor position exceeds the table operation switching position (Pn6A8). After operation changes to pressure table operation, the pressure feedback control follows the setting in Pn44C.

In the following example, speed table operation is changed to torque (pressure) table operation when the motor position exceeds Pn6A8 even if the pressure feedback detection value does not exceed Pn44C.

4-10



Torque (Pressure) Table Operation Example 2 for Pn6A4 = n.1

In the following example, the pressure feedback detection value exceeds Pn44C, so the motor operates at the pressure reference in Pn6A5. When the motor position exceeds Pn6A8, speed table operation changes to torque (pressure) table operation.



4.3 Table Parameter Settings for Speed/Torque (Pressure) Table Operation

Speed/Torque (Pressure) Table Operation

Speed

4.3.4 Settings for Torque (Pressure) Table Operation

4.3.4

Settings for Torque (Pressure) Table Operation

Set the five torque (pressure) references in Pn6D2 to Pn6DA and the torque (pressure) reference times at which to change between the five torque (pressure) references in Pn6DC to Pn6E2.

You can set the the speed limit for torque (pressure) table operation in Pn6AA (Speed Limit for Torque (Pressure) Table Operation).

The speed will not exceed the value of Pn6AA (Speed Limit for Torque (Pressure) Table Operation).

Pn6D2

Pn6D4

Pn6D6

Pn6D8

Pn6DA

Pn6DC

Pn6DE

Pn6E0

Pn6E2

Pn6AA

Torque (Pressure) Reference 1

Setting Range Setting Unit Default Setting When Enabled Classification

-1,073,741,824 to 1,073,741,824

Torque (Pressure) Reference 2

Setting Range Setting Unit Default Setting When Enabled Classification

-1,073,741,824 to 1,073,741,824

Torque (Pressure) Reference 3

Setting Range Setting Unit Default Setting When Enabled Classification

-1,073,741,824 to 1,073,741,824

Torque (Pressure) Reference 4

Setting Range Setting Unit Default Setting When Enabled Classification

-1,073,741,824 to 1,073,741,824

Torque (Pressure) Reference 5

Setting Range Setting Unit Default Setting When Enabled Classification

-1,073,741,824 to 1,073,741,824

Torque (Pressure) Reference Time 1

Setting Range Setting Unit Default Setting When Enabled Classification

0 to 180,000 0.01 s 0 Immediately Setup

Torque (Pressure) Reference Time 2

Setting Range Setting Unit Default Setting When Enabled Classification

0 to 180,000 0.01 s 0 Immediately Setup

Torque (Pressure) Reference Time 3

Setting Range Setting Unit Default Setting When Enabled Classification

0 to 180,000 0.01 s 0 Immediately Setup

Torque (Pressure) Reference Time 4

Setting Range Setting Unit Default Setting When Enabled Classification

0 to 180,000 0.01 s 0 Immediately Setup

Speed Limit for Torque (Pressure) Table Operation

Setting Range Setting Unit Default Setting When Enabled Classification

0 to

2,147,483,647

1% 0 Immediately Setup

1 reference unit/s 0 Immediately Setup

4-11

4.3 Table Parameter Settings for Speed/Torque (Pressure) Table Operation

Torque (Pressure) Reference 5 (Pn6DA)

Torque (Pressure) Reference 4 (Pn6D8)

Torque (Pressure) Reference 3 (Pn6D6)

Torque (Pressure) Reference 2 (Pn6D4)

Torque (Pressure) Reference 1 (Pn6D2)

Torque reference

Time

Torque (Pressure)

Reference Time 1 (Pn6DC)

Torque (Pressure)

Reference Time 2 (Pn6DE)

Torqu e ( P r e ssure)

Reference Time 3 (Pn6E0)

Torque (Pressure)

Reference Time 4 (Pn6E2)

4.3.4 Settings for Torque (Pressure) Table Operation

Each of the torque (pressure) reference times 1 to 4 corresponds to one pair of torque (pressure) references 1 to 5. Refer to the following diagram for the torque (pressure) references and torque (pressure) reference times, and set the parameters in ascending order of parameter numbers.

4-12

4.4 Operating Procedure

Speed/Torque (Pressure) Table Operation

Important

4.4

Operating Procedure

Speed/torque (pressure) table operation is controlled with the VELCTRL speed control command in MECHATROLINK-III communications.

This section provides the operating procedure for speed/torque (pressure) table operation.

Set Pn440 to n.1 (Enable pressure feedback control).

Send the SV_ON (Servo ON) command.

Other station monitoring is set and checked only when you use the FT41.

Refer to the following section for details.

Setting and Checking Other Station Monitoring

3.6.3

Set bits 28 and 29 in the SVCMD_IO area of the VELCTRL command to 1.

• SVCMD_IO (Output) Area

Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

N_CL P_CL P_PPI V_PPI Reserved (0).

Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8

Reserved (0). G-SEL

Bit 23 Bit 22 Bit 21 Bit 20 Bit 19 Bit 18 Bit 17 Bit 16

Reserved. SO3 SO2 SO1 BANK_SEL

on page 3-10

Bit 31 Bit 30 Bit 29 Bit 28 Bit 27 Bit 26 Bit 25 Bit 24

Speed/

To rq ue

Reserved (0).

• Output Signal Bit Descriptions

Bit Command Valu e Setting

Speed/Torque (Pres-

sure) Table Operation

Do not use the CMD_PAUSE (Pause) or CMD_CANCEL (Cancel) commands during speed/torque (pressure) table operation. The send timing will affect behavior and may prevent normal control operations.

Preparations Start Bit

If bit 28 is ON, the VELCTRL command is interpreted as a speed/torque (pressure) table operation command.

Speed/Torque (Pres-

sure) Table Operation

If bit 28 is OFF, only VELCTRL commands are acknowledged.

(Pressure)

Ta bl e Operation Reference

Reference

Torq ue

(Pressure)

Tab le

Operation

Prepara-

tions Start

Bit

0Do not start.

Start reception of speed/torque

(pressure) table operation commands.

0 No command, or cancel operation.

Start speed/torque (pressure) table

operation.

Reserved (0).

When

Enabled

Level

4-13

4.5 Monitoring

4.5

Monitoring

You can monitor the following signals through analog monitors or through MECHATROLINK-III communications option monitors.

Analog Monitors

Pn006 or Pn007 Signal Name Output Unit

30h Pressure Feedback Torque Reference Monitor 1 V/100% rated torque

31h Pressure Feedback Detection Monitor 1 V/100% rated torque

32h Pressure Feedback Output Torque Monitor 1 V/100% rated torque

33h Pressure Feedback Loop Deviation Monitor 1 V/100% rated torque

Option Monitors with MECHATROLINK-III Communications

Pn824/Pn825 Signal Name Unit

0050h

0052h

0100h

0101h*

* This can be monitored only when you use the FT41.

Pressure Feedback Detection Monitor

Control Method Change Monitor

Speed/Torque (Pressure) Table Operation Monitor

Other Station Monitor Data

10,000/100% rated torque

0: Position or speed control, 1: Torque control, 3: Pressure feedback

- (channel 1/channel 2)

Monitoring with SigmaWin+ Waveform Traces

Signal Name Unit

Pressure Feedback Torque Reference Monitor %

Pressure Feedback Detection Monitor %

Pressure Feedback Output Torque Monitor %

Pressure Feedback Loop Deviation Monitor %

Monitoring with SigmaWin+ I/O Tracing

Signal Name Selected Data Name Description

Control Method Selection Bit 0

Control Method Selection Bit 1

/A feedback 0

/A feedback 1

Position/speed control: High, Torque control: Low, Pressure feedback: Low

Position/speed control: High, Torque control: High, Pressure feedback: Low

4-14

4.5 Monitoring

Speed/Torque (Pressure) Table Operation

Speed/Torque (Pressure) Table Operation Monitor

• Monitor Area You must allocate the pressure sensor values to use in the speed/torque (pressure) operation sequence and pressure control in the pressure monitor.

Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

LCIO_RDY*

Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8

Bit 23 Bit 22 Bit 21 Bit 20 Bit 19 Bit 18 Bit 17 Bit 16

Bit 31 Bit 30 Bit 29 Bit 28 Bit 27 Bit 26 Bit 25 Bit 24

* Only for the FT41.

Reserved (0).

Reserved (0). Current Sequence Number

Pressure monitor (lower 8 bits)

Pressure monitor (upper 8 bits)

CANCEL

Pressure

Feedback

Status

• Monitor Details

Bit Name Value Setting

0 Not ready for operation

0 or 1

8 to 11

16 to 31

Speed/Torque (Pres-

sure) Table Operating

Status

The status is 0 after the power supply is turned ON. The status will change to 1 when preparations for speed/torque (pressure) table operation have been completed.

Pressure Feedback

Status

The status will be 1 when pressure feedback control is enable.

CANCEL

The status will change to 1 when a command to cancel speed/torque (pressure) table operation is received. When operation is canceled, the motor is stopped with a speed reference of 0.

Current Sequence

Number

If speed table reference 5 is being used for speed table operation, these bits will contain 5. If torque (pressure) reference 3 is being used for torque (pressure) table operation, these bits will contain 3. Use the Speed/Torque (Pressure) Table Operating Status to determine whether speed table operation or torque (pressure) table operation is being performed.

Pressure Monitor 0 to 15 Pressure Feedback Detection Monitor [0.01%]

The pressure feedback detection value is stored here.

1Ready for operation

2 Speed table operation is in progress.

3 Torque (pressure) table operation is in progress.

0 Torque/force control

1 Pressure feedback control

0 Not canceled.

Speed/torque (pressure) table operation monitor

canceled.

0Default

The number of the speed table reference or torque

1 to 10

(pressure) reference that is currently being executed.

Speed/Torque (Pres-

sure) Table Operating

Status

4-15

Maintenance

This chapter provides information on the meaning of, causes of, and corrections for alarms and warnings.

5.1

5.2

FT40 Specification . . . . . . . . . . . . . . . . . . . 5-2

5.1.1 Alarm Displays . . . . . . . . . . . . . . . . . . . . . . . . . . 5-2

5.1.2 List of Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-2

5.1.3 Troubleshooting Alarms . . . . . . . . . . . . . . . . . . . . 5-8

5.1.4 Warning Displays . . . . . . . . . . . . . . . . . . . . . . . 5-39

5.1.5 List of Warnings . . . . . . . . . . . . . . . . . . . . . . . . 5-39

5.1.6 Troubleshooting Warnings . . . . . . . . . . . . . . . . . 5-42

5.1.7 Troubleshooting Based on the Operation

and Conditions of the Servomotor . . . . . . . . . . 5-49

FT41 Specification . . . . . . . . . . . . . . . . . . 5-58

5.2.1 Alarm Displays . . . . . . . . . . . . . . . . . . . . . . . . . 5-58

5.2.2 List of Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . 5-58

5.2.3 Troubleshooting Alarms . . . . . . . . . . . . . . . . . . . 5-64

5.2.4 Warning Displays . . . . . . . . . . . . . . . . . . . . . . . 5-95

5.2.5 List of Warnings . . . . . . . . . . . . . . . . . . . . . . . . 5-95

5.2.6 Troubleshooting Warnings . . . . . . . . . . . . . . . . . 5-98

5.2.7 Troubleshooting Based on the Operation

and Conditions of the Servomotor . . . . . . . . . 5-105

5.1 FT40 Specification

5.1.1 Alarm Displays

5.1

5.1.1

5.1.2

FT40 Specification

Alarm Displays

If an error occurs in the SERVOPACK, an alarm number will be displayed on the panel display.

If there is an alarm, the display will change in the following order.

Example: Alarm A.E60

Status

Indications

List of Alarms

The list of alarms gives the alarm name, alarm meaning, alarm stopping method, and alarm reset possibility in order of the alarm numbers.

Servomotor Stopping Method for Alarms

Refer to the following manual for information on the stopping method for alarms.

Σ-7-Series Σ-7S SERVOPACK with MECHATROLINK-III Communications References Product Manual (Manual No.: SIEP S800001 28)

Not lit. Not lit. Not lit. Not lit. Not lit.

Alarm Reset Possibility

Yes: You can use an alarm reset to clear the alarm. However, this assumes that the cause of the alarm has been removed. No: You cannot clear the alarm.

List of Alarms

Alarm Number

A.020

A.021 Parameter Format Error

A.022 System Checksum Error

A.024 System Alarm

A.025 System Alarm

A.030

A.040 Parameter Setting Error

A.041

Alarm Name Alarm Meaning

Parameter Checksum Error

Main Circuit Detector Error

Encoder Output Pulse Setting Error

There is an error in the parameter data in the SERVOPACK.

There is an error in the parameter data format in the SERVOPACK.

There is an error in the parameter data in the SERVOPACK.

An internal program error occurred in the SERVOPACK.

There is an error in the detection data for the main circuit.

A parameter setting is outside of the setting range.

The setting of Pn212 (Number of Encoder Output Pulses) or Pn281 (Encoder Output Resolution) is outside of the setting range or does not satisfy the setting conditions.

Continued on next page.

Servo-

motor Stop-

ping

Method

Gr.1 No

Gr.1 Yes

Gr.1 No

Alarm Reset

Possi-

ble?

5-2

5.1 FT40 Specification

Maintenance

5.1.2 List of Alarms

Continued from previous page.

Servo-

Alarm Number

A.042

A.044

A.04A Parameter Setting Error 2

A.050 Combination Error

A.051

A.070

A.080

A.0b0

A.100 Overcurrent Detected

A.101

A.300 Regeneration Error There is an error related to regeneration. Gr.1 Yes

A.320 Regenerative Overload A regenerative overload occurred. Gr.2 Yes

A.330

A.400 Overvoltage The main circuit DC voltage is too high. Gr.1 Yes

A.410 Undervoltage The main circuit DC voltage is too low. Gr.2 Yes

A.510 Overspeed The motor exceeded the maximum speed. Gr.1 Yes

A.511

A.520 Vibration Alarm

A.521 Autotuning Alarm

A.550

A.710 Instantaneous Overload

A.720 Continuous Overload

A.730

A.731

A.740

Alarm Name Alarm Meaning

Parameter Combination Error

Semi-Closed/Fully-Closed Loop Control Parameter Setting Error

Unsupported Device Alarm

Motor Type Change Detected

Linear Encoder Pitch Setting Error

Invalid Servo ON Command Alarm

Motor Overcurrent Detected

Main Circuit Power Supply Wiring Error

Encoder Output Pulse Overspeed

Maximum Speed Setting Error

Dynamic Brake Overload

Inrush Current Limiting Resistor Overload

The combination of some parameters exceeds the setting range.

The settings of the Option Module and Pn002 = n.X (External Encoder Usage) do not match.

There is an error in the bank members or bank data settings.

The capacities of the SERVOPACK and Servomotor do not match.

An unsupported device was connected. Gr.1 No

The connected motor is a different type of motor from the previously connected motor.

The setting of Pn282 (Linear Encoder Scale Pitch) has not been changed from the default setting.

The SV_ON (Servo ON) command was sent from the host controller after a utility function that turns ON the Servomotor was executed.

An overcurrent flowed through the power transistor or the heat sink overheated.

The current to the motor exceeded the allowable current.

• The AC power supply input setting or DC power supply input setting is not correct.

• The power supply wiring is not correct.

• The pulse output speed for the setting of Pn212

(Number of Encoder Output Pulses) was exceeded. (This applies to Rotary Servomotors.)

• The motor speed upper limit for the setting of Pn281 (Encoder Output Resolution) was exceeded. (This applies to Linear Servomotors.)

Abnormal oscillation was detected in the motor speed.

Vibration was detected during autotuning for the tuning-less function.

The setting of Pn385 (Maximum Motor Speed) is greater than the maximum motor speed.

The Servomotor was operating for several seconds to several tens of seconds under a torque that largely exceeded the rating.

The Servomotor was operating continuously under a torque that exceeded the rating.

When the dynamic brake was applied, the rotational or linear kinetic energy exceeded the capacity of the dynamic brake resistor.

The main circuit power supply was frequently turned ON and OFF.

motor Stop-

ping

Method

Gr.1 No

Gr.1 Yes

Gr.1 No

Gr.1 Yes

Gr.1 No

Gr.1 Yes

Gr.2 Yes

Gr.1 Yes

Continued on next page.

Alarm Reset

Possi-

ble?

5-3

5.1 FT40 Specification

5.1.2 List of Alarms

Alarm Number

A.7A1

A.7A2

A.7A3

A.7Ab

A.810 Encoder Backup Alarm

A.820 Encoder Checksum Alarm

A.830 Encoder Battery Alarm

A.840 Encoder Data Alarm There is an internal data error in the encoder. Gr.1 No

A.850 Encoder Overspeed

A.860 Encoder Overheated The internal temperature of encoder is too high. Gr.1 No

A.861 Motor Overheated The internal temperature of motor is too high. Gr.1 No

A.890

A.891

A.8A0 External Encoder Error An error occurred in the external encoder. Gr.1 Yes

A.8A1

A.8A2

A.8A3

A.8A5

A.8A6

A.b33 Current Detection Error 3 An error occurred in the current detection circuit. Gr.1 No

A.b6A

A.b6b

A.bF0 System Alarm 0

A.bF1 System Alarm 1

A.bF2 System Alarm 2

A.bF3 System Alarm 3

A.bF4 System Alarm 4

A.bF5 System Alarm 5

Alarm Name Alarm Meaning

Internal Temperature Error 1 (Control Board Temperature Error)

Internal Temperature Error 2 (Power Board Temperature Error)

Internal Temperature Sensor Error

SERVOPACK Built-in Fan Stopped

Encoder Scale Error

Encoder Module Error

External Encoder Module Error

External Incremental Encoder Sensor Error

External Absolute Encoder Position Error

External Encoder Overspeed

External Encoder Overheated

MECHATROLINK Communications ASIC Error 1

MECHATROLINK Communications ASIC Error 2

The surrounding temperature of the control PCB is abnormal.

The surrounding temperature of the power PCB is abnormal.

An error occurred in the temperature sensor circuit.

The fan inside the SERVOPACK stopped. Gr.1 Yes

The power supplies to the encoder all failed and the position data was lost.

There is an error in the checksum results for encoder memory.

The battery voltage was lower than the specified level after the control power supply was turned ON.

The encoder was operating at high speed when the power was turned ON.

A failure occurred in the linear encoder. Gr.1 No

An error occurred in the linear encoder. Gr.1 No

An error occurred in the Serial Converter Unit. Gr.1 Yes

An error occurred in the external encoder. Gr.1 Yes

An error occurred in the position data of the external encoder.

An overspeed error occurred in the external encoder.

An overheating error occurred in the external encoder.

ASIC error 1 occurred in MECHATROLINK communications.

ASIC error 2 occurred in MECHATROLINK communications.

Internal program error 0 occurred in the SERVOPACK .

Internal program error 1 occurred in the SERVOPACK .

Internal program error 2 occurred in the SERVOPACK .

Internal program error 3 occurred in the SERVOPACK .

Internal program error 4 occurred in the SERVOPACK .

Internal program error 5 occurred in the SERVOPACK .

Continued from previous page.

Servo-

motor Stop-

ping

Method

Gr.2 Yes

Gr.2 No

Gr.1 No

Gr.1 Yes

Gr.1 No

Gr.1 Yes

Gr.1 No

Gr.2 No

Gr.1 No

Continued on next page.

Alarm Reset

Possi-

ble?

5-4

5.1 FT40 Specification

Maintenance

5.1.2 List of Alarms

Continued from previous page.

Servo-

Alarm Number

A.bF6 System Alarm 6

A.bF7 System Alarm 7

A.bF8 System Alarm 8

A.C10 Servomotor Out of Control The Servomotor ran out of control. Gr.1 Yes

A.C20 Phase Detection Error The detection of the phase is not correct. Gr.1 No

A.C21 Polarity Sensor Error An error occurred in the polarity sensor. Gr.1 No

A.C22

A.C50

A.C51

A.C52

A.C53

A.C54

A.C80

A.C90

A.C91

A.C92

A.CA0 Encoder Parameter Error The parameters in the encoder are corrupted. Gr.1 No

A.Cb0 Encoder Echoback Error

A.CC0

A.CF1

A.CF2

A.d00

A.d01

Alarm Name Alarm Meaning

Internal program error 6 occurred in the SERVOPAC K.

Internal program error 7 occurred in the SERVOPAC K.

Internal program error 8 occurred in the SERVOPAC K.

Phase Information Disagreement

Polarity Detection Failure

Overtravel Detected during Polarity Detection

Polarity Detection Not Completed

Out of Range of Motion for Polarity Detection

Polarity Detection Failure 2

Encoder Clear Error or Multiturn Limit Setting Error

Encoder Communications Error

Encoder Communications Position Data Acceleration Rate Error

Encoder Communications Timer Error

Multiturn Limit Disagreement

Reception Failed Error in Feedback Option Module Communications

Timer Stopped Error in Feedback Option Module Communications

Position Deviation Overflow

Position Deviation Overflow Alarm at Servo ON

The phase information does not match. Gr.1 No

The polarity detection failed. Gr.1 No

The overtravel signal was detected during polarity detection.

The servo was turned ON before the polarity was detected.

The travel distance exceeded the setting of Pn48E (Polarity Detection Range).

The polarity detection failed. Gr.1 No

The multiturn data for the absolute encoder was not correctly cleared or set.

Communications between the encoder and SERVOPACK is not possible.

An error occurred in calculating the position data of the encoder.

An error occurred in the communications timer between the encoder and SERVOPACK.

The contents of communications with the encoder are incorrect.

Different multiturn limits have been set in the encoder and the SERVOPACK.

Receiving data from the Feedback Option Module failed.

An error occurred in the timer for communications with the Feedback Option Module.

The setting of Pn520 (Position Deviation Overflow Alarm Level) was exceeded by the position deviation while the servo was ON.

The servo was turned ON after the position deviation exceeded the setting of Pn526 (Position Deviation Overflow Alarm Level at Servo ON) while the servo was OFF.

motor Stop-

ping

Method

Gr.1 No

Gr.1 Yes

Gr.1 No

Gr.1 Yes

Continued on next page.

Alarm Reset

Possi-

ble?

5-5

5.1 FT40 Specification

5.1.2 List of Alarms

Alarm Number

A.d02

A.d0A

A.d10

A.d30 Position Data Overflow

A.E02

A.E40

A.E41

A.E42

A.E50*

A.E51

A.E60*

A.E61

A.E63

A.E71

A.E72

A.E74

A.Eb1

A.EC8 Gate Drive Error 1 An error occurred in the gate drive circuit. Gr.1 No

A.EC9 Gate Drive Error 2 An error occurred in the gate drive circuit. Gr.1 No

A.Ed1

Alarm Name Alarm Meaning

If position deviation remains in the deviation

Position Deviation Overflow Alarm for Speed Limit at Servo ON

Pressure Feedback Loop Deviation Overflow

Motor-Load Position Deviation Overflow

MECHATROLINK Internal Synchronization Error 1

MECHATROLINK Transmission Cycle Setting Error

MECHATROLINK Communications Data Size Setting Error

MECHATROLINK Station Address Setting Error

MECHATROLINK Synchronization Error

MECHATROLINK Synchronization Failed

Reception Error in MECHATROLINK Communications

Synchronization Interval Error in MECHATROLINK Transmission Cycle

MECHATROLINK Synchronization Frame Not Received

Safety Option Module Detection Failure

Feedback Option Module Detection Failure

Unsupported Safety Option Module

Safety Function Signal Input Timing Error

Command Execution Timeout

counter, the setting of Pn529 or Pn584 (Speed Limit Level at Servo ON) limits the speed when the servo is turned ON. This alarm occurs if a position reference is input and the setting of Pn520 (Position Deviation Overflow Alarm Level) is exceeded before the limit is cleared.

The difference between the pressure feedback reference and the feedback detection value exceeded Pn447 (Pressure Feedback Loop Deviation Overflow Level).

There was too much position deviation between the motor and load during fully-closed loop control.

The position feedback data exceeded ±1,879,048,192.

A synchronization error occurred during MECHATROLINK communications with the SERVOPACK .

The setting of the MECHATROLINK communications transmission cycle is not correct.

The setting of the MECHATROLINK communications data size is not correct.

The setting of the MECHATROLINK station address is not correct.

A synchronization error occurred during MECHATROLINK communications.

Synchronization failed during MECHATROLINK communications.

Communications errors occurred continuously during MECHATROLINK communications.

An error occurred in the transmission cycle during MECHATROLINK communications.

Synchronization frames were continuously not received during MECHATROLINK communications.

Detection of the Safety Option Module failed. Gr.1 No

Detection of the Feedback Option Module failed. Gr.1 No

An unsupported Safety Option Module was connected.

An error occurred in the input timing of the safety function signal.

A timeout error occurred for a MECHATROLINK command.

Continued from previous page.

Servo-

motor Stop-

ping

Method

Gr.2 Yes

Gr.1 Yes

Gr.2 Yes

Gr.1 No

Gr.1 Yes

Gr.2 Yes

Gr.2 No

Gr.2 Yes

Gr.1 No

Gr.2 Yes

Continued on next page.

Alarm Reset

Possi-

ble?

5-6

5.1 FT40 Specification

Maintenance

5.1.2 List of Alarms

Continued from previous page.

Servo-

Alarm Number

Alarm Name Alarm Meaning

motor Stop-

ping

Method

The voltage was low for more than one second for phase R, S, or T when the main power supply was ON.

Gr.2 Yes

A.F10

Power Supply Line Open Phase

The Servomotor did not operate or power was

A.F50

Servomotor Main Circuit Cable Disconnection

not supplied to the Servomotor even though the SV_ON (Servo ON) command was input when the

Gr.1 Yes

Servomotor was ready to receive it.

FL-1*

FL-2*

FL-3*

FL-4*

System Alarm

An internal program error occurred in the SERVOPACK.

–No

FL-5*

FL-6*

CPF00

CPF01

* These alarms are not stored in the alarm history. They are only displayed on the panel display.

Note: The A.Eb0, A.Eb2 to A.Eb9, and A.EC0 to A.EC2 alarms can occur when a Safety Module is connected.

Digital Operator Communications Error 1

Digital Operator Communications Error 2

Refer to the following manual for details.

AC Servo Drive Σ-V-Series/Σ-V-Series for Large-Capacity Models/Σ-7-Series User’s Manual Safety Module (Manual No.: SIEP C720829 06)

Communications were not possible between the Digital Operator (model: JUSP-OP05A-1-E) and the SERVOPACK (e.g., a CPU error occurred).

–No

Alarm Reset

Possi-

ble?

5-7

5.1 FT40 Specification

5.1.3 Troubleshooting Alarms

5.1.3

Troubleshooting Alarms

The causes of and corrections for the alarms are given in the following table. Contact your Yaskawa representative if you cannot solve a problem with the correction given in the table.

Alarm Number:

Alarm Name

A.020:

Parameter Checksum Error (There is an error in the parameter data in the SERVOPACK.)

A.021:

Parameter Format Error (There is an error in the parameter data format in the SERVOPACK.)

A.022:

System Checksum Error (There is an error in the parameter data in the SERVOPACK.)

Possible Cause Confirmation Correction Reference

The power supply voltage suddenly dropped.

The power supply was shut OFF while writing parameter settings.

The number of times that parameters were written exceeded the limit.

A malfunction was caused by noise from the AC power supply, ground, static electricity, or other source.

Gas, water drops, or cutting oil entered the SERVOPACK and caused failure of the internal components.

A failure occurred in the SERVOPACK.

The software version of the SERVOPACK that caused the alarm is older than the software version of the parameters specified to write.

A failure occurred in the SERVOPACK.

The power supply voltage suddenly dropped.

The power supply was shut OFF while setting a utility function.

A failure occurred in the SERVOPACK.

Measure the power supply voltage.

Check the timing of shutting OFF the power supply.

Check to see if the parameters were frequently changed from the host controller.

Turn the power supply to the SERVOPACK OFF and ON again. If the alarm still occurs, noise may be the cause.

Check the installation conditions.

Turn the power supply to the SERVOPACK OFF and ON again. If the alarm still occurs, the SERVOPACK may have failed.

Read the product information to see if the software versions are the same. If they are different, it could be the cause of the alarm.

–

Measure the power supply voltage.

Check the timing of shutting OFF the power supply.

Turn the power supply to the SERVOPACK OFF and ON again. If the alarm still occurs, the SERVOPACK may have failed.

Set the power supply voltage within the specified range, and initialize the parameter settings.

Initialize the parameter settings and then set the parameters again.

The SERVOPACK may be faulty. Replace the SERVOPACK. Reconsider the method for writing the parameters.

Implement countermeasures against noise.

The SERVOPACK may be faulty. Replace the SERVOPACK.

Write the parameters from another SERVOPACK with the same model and the same software version, and then turn the power OFF and ON again.

The SERVOPACK may be faulty. Replace the SERVOPACK.

Continued on next page.

–

5-8

Maintenance

Alarm Number:

Alarm Name

A.024:

System Alarm (An internal program error occurred in the SERVOPACK.)

A.025:

System Alarm (An internal program error occurred in the SERVOPACK.)

A.030:

Main Circuit Detector Error

A.040:

Parameter Setting Error (A parameter setting is outside of the setting range.)

A.041:

Encoder Output Pulse Setting Error

5.1 FT40 Specification

5.1.3 Troubleshooting Alarms

Continued from previous page.

Possible Cause Confirmation Correction Reference

A failure occurred in the SERVOPACK.

The SERVOPACK and Servomotor capacities do not match each other.

–

Check the combination of the SERVOPACK and Servomotor capacities.

The SERVOPACK may be faulty. Replace the SERVOPACK.

Select a proper combination of SERVOPACK and Servomotor capacities.

–

The motor parameter file was not written to the linear encoder. (This applies only when not using a

Check to see if the motor parameter file was written to the linear encoder.

Write the motor parameter file to the linear encoder.

Serial Converter Unit.)

A failure occurred in the SERVOPACK.

A parameter setting is outside of the setting range.

–

Check the setting ranges of the parameters that have been changed.

The SERVOPACK may be faulty. Replace the SERVOPACK.

Set the parameters to values within the setting ranges.

–

Check the electronic

The electronic gear ratio is outside of the setting range.

gear ratio. The ratio must be within the following range: 0.001 < (Pn20E/Pn210) <

Set the electronic gear ratio in the following range: 0.001 < (Pn20E/ Pn210) < 64,000.

64,000.

The setting of Pn212 (Number of Encoder Output Pulses) or Pn281 (Encoder Output Resolution) is outside of the setting

Check the setting of Pn212 or Pn281.

Set Pn212 or Pn281 to an appropriate value.

range or does not satisfy the setting conditions.

Continued on next page.

5-9

5.1 FT40 Specification

5.1.3 Troubleshooting Alarms

Alarm Number:

Alarm Name

A.042:

Parameter Combination Error

A.044:

Semi-Closed/ Fully-Closed Loop Control Parameter Setting Error

A.04A:

Parameter Setting Error 2

A.050:

Combination Error (The capacities of the SERVOPACK and Servomotor do not match.)

A.051:

Unsupported Device Alarm

Continued from previous page.

Possible Cause Confirmation Correction Reference

The speed of program jogging went below the setting range when the electronic gear ratio (Pn20E/

Check to see if the detection conditions

are satisfied.

Decrease the setting of

the electronic gear ratio (Pn20E/Pn210).

Pn210) or the Servomotor was changed.

The speed of program jogging went below the setting range when Pn533 or Pn585 (Program Jogging

Check to see if the detection conditions

are satisfied.

Increase the setting of

Pn533 or Pn585.

Movement Speed) was changed.

The movement speed of advanced autotuning went below the setting range when the electronic gear ratio (Pn20E/ Pn210)

Check to see if the detection conditions

are satisfied.

Decrease the setting of

the electronic gear ratio (Pn20E/Pn210).

or the Servomotor was changed.

The setting of the Fully-Closed Module does not match the setting of Pn002 = n.X (External

Check the setting of Pn002 = n.X.

Make sure that the setting of the Fully-closed Module agrees with the setting of Pn002 = n.X.

Encoder Usage).

For 4-byte parameter bank members, there are two consecutive members with nothing

–

Change the number of bytes for bank members to an appropriate value.

–

registered.

The total amount of bank data exceeds 64 (Pn900 × Pn901 >

–

Reduce the total amount of bank data to 64 or less.

–

64).

The SERVOPACK and Servomotor capacities do not match each other.

A failure occurred in the encoder.

A failure occurred in the SERVOPACK.

Confirm that the following condition is met: 1/4 ≤ (Servomotor capacity/SERVOPACK capacity) ≤ 4

Replace the encoder and check to see if the alarm still occurs.

–

Select a proper combination of the SERVOPACK and Servomotor capacities.

Replace the Servomotor or encoder.

The SERVOPACK may be faulty. Replace the SERVOPACK.

–

The motor parameter file was not written to the linear encoder. (This applies only when not using a

Check to see if the motor parameter file was written to the linear encoder.

Write the motor parameter file to the linear encoder.

Serial Converter Unit.)

An unsupported Serial Converter Unit or encoder (e.g., an external encoder) is connected to the

Check the product combination specifications.

Change to a correct combination of models.

–

SERVOPACK.

Continued on next page.

5-10

Maintenance

Alarm Number:

Alarm Name

A.070:

Motor Type Change Detected (The connected motor is a different type of motor from the previously connected motor.)

A.080:

Linear Encoder Pitch Setting Error

A.0b0:

Invalid Servo ON Command Alarm

5.1 FT40 Specification

5.1.3 Troubleshooting Alarms

Continued from previous page.

Possible Cause Confirmation Correction Reference

Set the parameters for a

A Rotary Servomotor was removed and a Linear Servomotor was connected.

A Linear Servomotor was removed and a Rotary Servomotor was connected.

The setting of Pn282 (Linear Encoder Scale Pitch) has not been changed from the default setting.

The SV_ON (Servo ON) command was sent from the host controller after a utility function that turns ON the Servomotor was executed.

–

Check the setting of Pn282.

–

Linear Servomotor and reset the motor type alarm. Then, turn the power supply to the SERVOPACK OFF and ON again.

Set the parameters for a Rotary Servomotor and reset the motor type alarm. Then, turn the power supply to the SERVOPACK OFF and ON again.

Correct the setting of Pn282.

Turn the power supply to the SERVOPACK OFF and ON again. Or, execute a software reset.

Continued on next page.

5-11

5.1 FT40 Specification

5.1.3 Troubleshooting Alarms

Alarm Number:

Alarm Name

A.100:

Overcurrent Detected (An overcurrent flowed through the power transistor or the heat sink overheated.)

Continued from previous page.

Possible Cause Confirmation Correction Reference

The Main Circuit Cable is not wired correctly or there is

Check the wiring. Correct the wiring.

faulty contact.

Check for short-circuits

There is a short-circuit or ground fault in a Main Circuit Cable.

across Servomotor phases U, V, and W, or between the ground and Servomotor phases

The cable may be shortcircuited. Replace the cable.

U, V, and W.

Check for short-circuits

There is a short-circuit or ground fault inside the Servomotor.

across Servomotor phases U, V, and W, or between the ground and Servomotor phases

The Servomotor may be faulty. Replace the Servomotor.

U, V, or W.

Check for short-circuits

across the Servomotor There is a short-circuit or ground fault inside the SERVOPACK.

connection terminals U,

V, a n d W o n t h e S E R -

VOPACK, or between

The SERVOPACK may be faulty. Replace the SERVOPACK.

the ground and termi-

nals U, V, or W.

The regenerative resistor is not wired correctly or there is

Check the wiring. Correct the wiring.

faulty contact.

Check the power conThe dynamic brake (DB, emergency stop executed from the SERVOPACK) was frequently activated, or a DB overload alarm occurred.

sumed by the DB resis-

tor to see how

frequently the DB is

being used. Or, check

the alarm display to see

if a DB overload alarm

(A.730 or A.731) has

Change the SERVOPACK model, operating methods, or the mechanisms so that the dynamic brake does not need to be used so frequently.

–

occurred.

Check the regenerative

load ratio in the SigThe regenerative processing capacity was exceeded.

maWin+ Motion Monitor

Tab Page to see how

frequently the regenera-

Recheck the operating conditions and load.

tive resistor is being

used.

Check the regenerative

Change the regenerative resistance to a value larger than the SERVOPACK minimum allowable resistance.

The SERVOPACK regenerative resistance is too small.

load ratio in the Sig-

maWin+ Motion Monitor

Tab Page to see how

frequently the regenera-

tive resistor is being

used.

Continued on next page.

5-12

YASKAWA SGD7S-2R8F20A023F40B, SERVOPACK Sigma 7 Series, SGD7S-2R8A20A023F40B, SGD7S-1R6A20A023F40B, SGD7S-3R8A20A023F40B Product Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

About this Manual

Outline of Manual

Related Documents

Using This Manual

Safety Precautions

Warranty

Compliance with UL Standards, EU Directives, and Other Safety Standards

Contents

Basic Information on SERVOPACKs

1.1 Product Introduction

1.2 Model Designations

1.2.1 Interpreting SERVOPACK Model Numbers with the FT40 Specification

1.2.2 Interpreting SERVOPACK Model Numbers with the FT41 Specification

Interpreting Servomotor Model Numbers

1.3 Combinations of SERVOPACKs and Servomotors

1.4 Functions

1.5 Restrictions

1.5.1 Function Application Restrictions

Restrictions on Specifications

1.6 SigmaWin+

1.7 Combining the SERVOPACKs with MP-Series Machine Controllers and the MPE720 Engineering Tool

SERVOPACK Ratings and Specifications

2.1 Ratings

2.2 SERVOPACK Overload Protection Characteristics

2.3 Specifications

Pressure Feedback Control

3.1 Introduction

3.2 Connecting Pressure Sensor Amplifiers

3.2.1 FT40

FT41

3.3 Operation Patterns for Pressure Feedback Control

3.4 Changing from Torque Control to Pressure Feedback Control

3.4.1 Mode 2 Operation

Mode 1 Operation

3.5 Control Block Diagrams

3.6 Setup Procedure

3.6.2 Disabling Tuning-Less Function

3.6.3 Setting and Checking Other Station Monitoring

3.6.1 Flowchart

3.6.4 Settings for the System That Uses Pressure Feedback Control

3.6.5 Automatic Offset Adjustment for Pressure Feedback Detection Input Signal

3.6.6 Settings prior to Pressure Feedback Control Operation

3.6.7 Gain Adjustment

3.7 Monitoring

Speed/Torque (Pressure) Table Operation

4.1 Introduction

4.2 Operation Patterns for Speed/Torque (Pressure) Table Operation

4.3 Table Parameter Settings for Speed/Torque (Pressure) Table Operation

4.3.1 Setting the Number of Speed Table References and the Number of Torque (Pressure) References

4.3.2 Settings for Speed Table Operation

4.3.3 Setting Condition for Changing from Speed Table Operation to Torque (Pressure) Table Operation

4.3.4 Settings for Torque (Pressure) Table Operation

4.4 Operating Procedure

4.5 Monitoring

Maintenance

5.1 FT40 Specification

5.1.1 Alarm Displays

List of Alarms

5.1.3 Troubleshooting Alarms