Yaskawa SGDB User Manual

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AC Servomotors and Driver

SGMG/SGMS/SGMD/SGM/SGMP Servomotors SGDB Servopack

YASKAWA

YA S K A WA

MANUAL NO. TSE-S800-16E

PREFACE

The rapid progress being made in today’s automation and information technologies is resulting in a growing need for even more-advanced motion control for future high-tech equipment. The end result is a need for devices that can provide more-precise and quicker motion at higher speeds. Servo control technology makes this possible. Launched by Yaskawa in 1993, the Σ Series consists of innovative AC Servos that were developed using leading-edge servo control technology.

This manual covers all products in the Σ Series, which feature superior functions and performance. This manual was designed to provide comprehensible information for users who are about to use a servo for the first time as well as for users who already have experience in using servos. This manual enables users to understand what Σ-Series AC Servos are all about and how to design, install, operate, and maintain a servo system. Keep this manual in a convenient location and refer to it whenever necessary in operating and maintaining the servo system.

YASKAWA ELECTRIC CORPORATION

General Precautions

S Some drawings in thismanual are shown with the protective cover or shields removed, in order to

describe the detail with more clarity. Make sure all covers and shields are replaced before operating this product.

S Some drawings in this manual are shown as typical example and may differ from the shipped

product.

S This manual may be modified when necessary because of improvement of the product, modifica-

tion or changes in specifications. Such modification is made as a revision by renewing the manual No.

S To order a copy of this manual, if your copy has been damaged or lost, contact your YASKAWA

representative listed on the last page stating the manual No. on the front cover.

S YASKAWA is not responsible for accidents or damages due to any modification of the product

made by the user since that will void our guarantee.

NOTES FOR SAFE OPERATION

Read this manual thoroughly before installation, operation, maintenance or inspection of the AC Servo

Drives. In this manual, the NOTES FOR SAFE OPERATION are classified as “WARNING” or

“CAUTION”.

WARNING

Indicates a potentially hazardous situation which, if not avoided, could result in death or serious personal inju-

ry.

CAUTION

Indicates a potentially hazardous situation which, if not avoided, may result in minor or moderate personal

injury and/or damage to the equipment.

In some instances, items described in

follow these important items.

CAUTION

may also result in a serious accident. In either case,

− iv −

WARNING

(WIRING)

S Grounding must be in accordance with the national code and consistent

with sound local practices.

Failure to observe this warning may lead to electric shock or fire.

(OPERATION)

S Never touch any rotating motor parts during operation.

Failure to observe this warning may result in personal injury.

(INSPECTION AND MAINTENANCE)

S Be sure to turn OFF power before inspection or maintenance.

Otherwise, electric shock may result.

S Never open the terminal cover while power is ON, and never turn ON pow-

er when the terminal cover is open.

Otherwise, electric shock may result.

S After turning OFF power, wait at least five minutes before servicing the

product.

Otherwise, residual electric charges may result in electric shock.

CAUTION

(RECEIVING)

S Use the specified combination of servomotor and SERVOPACK.

Failure to observe this caution may lead to fire or failure.

(INSTALLATION)

S Never use the equipment where it may be exposed to splashes of water,

corrosive or flammable gases, or near flammable materials.

Failure to observe this caution may lead to electric shock or fire.

(WIRING)

S Do not connect three−phase power supply to output terminals

Failure to observe this caution may lead to personal injury or fire.

S Securely tighten screws on the power supply and motor output terminals.

Failure to observe this caution can result in a fire.

and

− v −

CAUTION

(OPERATION)

S To avoid inadvertent accidents, run the servomotor only in test run (with-

out load).

Failure to observe this caution may result in personal injury.

S Before starting operation with a load connected, set up parameters suit-

able for the machine.

Starting operation without setting up parameters may lead to overrun failure.

S Before starting operation with a load connected, make sure emergency-

stop procedures are in place.

Failure to observe this caution may result in personal injury.

S During operation, do not touch the heat sink.

Failure to observe this caution may result in burns.

(INSPECTION AND MAINTENANCE)

S Do not disassemble the servomotor.

Failure to observe this caution may result in electric shock or personal injury.

S Never change wiring while power is ON.

Failure to observe this caution may result in electric shock or personal injury.

− vi −

Manual Contents

This manual providesΣ-Series users with information on the following:

•

An overview of servo systems for first-time users.

•

Checking the product on delivery and basic applications of the servo.

•

Servo applications.

•

Selecting an appropriate servo for your needs and placing an order.

•

Inspection and maintenance.

Manual Structure

All chapters in this manual are classified into one or more of three areas according to their contents: A, B, and C. Refer to the applicable chapters for the information you require.

Chapters explaining how to select a servo: For users who wish to gain a basic understanding of

Series products or who need to select an appropriate servo.

Chapters explaining how to design a servo system: For users who are about to design, install, and operate aΣ-Series Servo Control System.

Chapters explaining maintenance: For users who are going to maintain and troubleshootΣ-Series products.

Chapter

CHAPTER 1 For First-time Users of AC Servos

CHAPTER 2 Basic Uses of Σ-series Products

CHAPTER 3 Applications of Σ-series Products

CHAPTER 4 Using the Digital Operator

CHAPTER 5 Servo Selection and Data Sheets

CHAPTER 6 Inspection, Maintenance, and Troubleshooting

APPENDIXES

Title Page Area

....................... .........

Provides an overview of servos and theΣSeries.

......................... .........

Describes steps to take when product is received, plus basic wiring and application methods.

....................... .........

Describes the effective usage ofΣ-Series features according to application.

.............................. ........

Describes operating procedures forΣ-Series servos, turning features ON and OFF, setting control constants, etc.

........................ ........

Describes selection methods forΣ-Series servos and peripherals and provides servo specifications.

Describes user maintenance and troubleshooting.

Servo Adjustment 539

List of I/O Signals 555

List of Parameters 561

List of Alarm Displays 569

....................................... ........

.................................... ........

177

221

........... ........

499

A, B

B, C

INDEX

.............................................................. 573.........

A, B, C

− vii −

Basic Terms

Unless otherwise specified, the following definitions are used:

Servomotor:

SERVOPACK: An amplifier (Trademark of Yaskawa servo amplifier “Σ-Series SGDB-jAD

Servodrive: A servomotor and an amplifier (SGDB SERVOPACK)

Servo system: A complete servo control system consisting of servodrive, host controller,

Visual Aids

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

TERMS

-Series SGMG/SGMD/SGMS/SGM/SGMP servomotor

SERVOPACK”)

and peripheral devices

Indicates references for additional information.

Technical terms placed in bold in the text are briefly explained in a “TERMS” section at the bottom of the page. The following kinds of technical terms are explained: Technical terms that need to be explained to users who are not very familiar with servo systems or electronic devices and technical terms specific toΣSeries Servos that need to be explained in descriptions of functions.

The text indicated by this icon explains the operating procedure using hand-held type digital operator (Type: JUSP-OP02A-1).

JUSP-OP02A-1

NOTE

The text indicated by this icon explains the operating procedure using mount type digital operator (Type: JUSP-OP03A).

AΣ-Series Servodrive alone cannot ensure the functionality and performance of the entire machine control system. It must be combined with an appropriate machine and host controller so that the entire control system works properly. Therefore, carefully read the instruction manuals for the machine to be used before attempting to operate the servodrive.

− viii −

Yaskawa, 1995



All rights reserved. No part of thispublication may be reproduced, stored in aretrieval 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 isassumed with respect to the use of the informationcontained herein. Moreover,becauseYaskawa 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.

− ix −

CHAPTER 1 FOR FIRST-TIME USERS OF AC SERVOS 1...............

1.1 Servo Mechanisms 2.......................................................

1.2 Servo Configuration 5......................................................

1.3 Features of Σ-Series Servos 11................................................

1.3.1 Servomotor Type 11.................................................

1.3.2 Control Type of SERVOPACKs 11......................................

1.3.3 How to Use the SGDB SERVOPACKs 12................................

CHAPTER 2 BASIC USES OF Σ-SERIES PRODUCTS 15.................

2.1 Precautions 16.............................................................

2.1.1 Notes on Use 16....................................................

2.2 Installation 18.............................................................

2.2.1 Checking on Delivery 18..............................................

2.2.2 Servomotors 18.....................................................

2.2.3 SERVOPACKs 22...................................................

2.2.4 Installing the Servomotor 24...........................................

2.2.5 Installing the SERVOPACK 27.........................................

2.3 Connection and Wiring 30....................................................

2.3.1 Connecting to Peripheral Devices 30....................................

2.3.2 Main Circuit Wiring and Power ON Sequence 34..........................

2.3.3 Connection to Host Controller 36.......................................

2.4 Conducting a Test Run 40....................................................

2.4.1 Test Run in Two Steps 40.............................................

2.4.2 Step 1: Conducting a Test Run for Motor without Load 42...................

2.4.3 Step 2: Conducting a Test Run with the Motor Connected to the Machine 46.....

2.4.4 Supplementary Information on Test Run 47...............................

2.4.5 Minimum Parameters Required and Input Signals 49........................

CHAPTER 3 APPLICATIONS OF Σ-SERIES PRODUCTS 51..............

3.1 Setting Parameters According to Machine Characteristics 54.........................

3.1.1 Changing the Direction of Motor Rotation 54..............................

3.1.2 Setting the Overtravel Limit Function 56.................................

3.1.3 Restricting Torque 59................................................

3.2 Setting Parameters According to Host Controller 64................................

3.2.1 Inputting Speed Reference 64..........................................

3.2.2 Inputting Position Reference 68........................................

3.2.3 Using Encoder Outputs 73............................................

3.2.4 Using Contact I/O Signals 77..........................................

3.2.5 Using Electronic Gear 79.............................................

3.2.6 Using Contact Input Speed Control 83...................................

3.2.7 Using Torque Control 87..............................................

3.2.8 Using Torque Feed-forward Function 94.................................

3.2.9 Using Torque Restriction by Analog Voltage Reference 95...................

3.2.10 Using the Reference Pulse Inhibit Function (INHIBIT) 97....................

3.2.11 Using the Reference Pulse Input Filter Selection Function 98.................

3.2.12 Using the Analog Monitor 99..........................................

3.3 Setting Up the Σ SERVOPACK 100.............................................

− x −

CONTENTS

3.3.1 Setting Parameters 100................................................

3.3.2 Setting the Jog Speed 101..............................................

3.3.3 Setting the Number of Encoder Pulses 102.................................

3.3.4 Setting the Motor Type 103.............................................

3.3.5 Adjusting the Encoder Supply Voltage 104.................................

3.4 Setting Stop Mode 105.......................................................

3.4.1 Adjusting Offset 105..................................................

3.4.2 Using Dynamic Brake 106.............................................

3.4.3 Using Zero-Clamp 107................................................

3.4.4 Using Holding Brake 108..............................................

3.5 Running the Motor Smoothly 113...............................................

3.5.1 Using the Soft Start Function 113........................................

3.5.2 Using the Smoothing Function 114.......................................

3.5.3 Adjusting Gain 114...................................................

3.5.4 Adjusting Offset 115..................................................

3.5.5 Setting the Torque Reference Filter Time Constant 115.......................

3.6 Minimizing Positioning Time 117...............................................

3.6.1 Using Autotuning Function 117.........................................

3.6.2 Setting Servo Gain 117................................................

3.6.3 Using Feed-forward Control 119.........................................

3.6.4 Using Proportional Control 119.........................................

3.6.5 Setting Speed Bias 120................................................

3.6.6 Using Mode Switch 121...............................................

3.7 Forming a Protective Sequence 127.............................................

3.7.1 Using Servo Alarm Output and Alarm Code Output 127......................

3.7.2 Using Servo ON Input Signal 130........................................

3.7.3 Using Positioning Complete Signal 131...................................

3.7.4 Using Speed Coincidence Output Signal 134...............................

3.7.5 Using Running Output Signal 136.......................................

3.7.6 Using OL Warning and Alarm Output Signals 138...........................

3.7.7 Using Servo Ready Output Signal 140....................................

3.7.8 Handling of Power Loss 141............................................

3.8 Special Wiring 142..........................................................

3.8.1 Wiring Instructions 142................................................

3.8.2 Wiring for Noise Control 144...........................................

3.8.3 Using More Than One Servo Drive 149...................................

3.8.4 Using Regenerative Resistor Units 151....................................

3.8.5 Using an Absolute Encoder 152.........................................

3.8.6 Extending an Encoder Cable 162........................................

3.8.7 Using SGDB SERVOPACK with High Voltage Line 164......................

3.8.8 Connector Terminal Layouts 166........................................

CHAPTER 4 USING THE DIGITAL OPERATOR 177.....................

4.1 Basic Operations 178.........................................................

4.1.1 Connecting the Digital Operator 178.....................................

4.1.2 Digital Operator Functions 179..........................................

4.1.3 Resetting Servo Alarms 180............................................

− xi −

CONTENTS

4.1.4 Basic Functions and Mode Selection 181..................................

4.1.5 Operation in Status Display Mode 182....................................

4.1.6 Operation in Parameter Setting Mode 186.................................

4.1.7 Operation in Monitor Mode 191.........................................

4.2 Using the Functions 194......................................................

4.2.1 Operation in Alarm Trace-back Mode 194.................................

4.2.2 Operation Using the Digital Operator 197.................................

4.2.3 Autotuning 201......................................................

4.2.4 Reference Offset Automatic Adjustment 207...............................

4.2.5 Reference Offset Manual Adjustment Mode 210............................

4.2.6 Clearing Alarm Trace-back Data 213.....................................

4.2.7 Checking Motor Specifications 215......................................

4.2.8 Checking Software Version 216.........................................

4.2.9 Current Detection Offset Manual Adjustment Mode 217......................

CHAPTER 5 SERVO SELECTION ANDDATA SHEETS 221................

5.1 Selecting a Σ-Series Servo 223.................................................

5.1.1 Selecting a Servomotor 223............................................

5.1.2 Selecting a SERVOPACK 233...........................................

5.1.3 Selecting a Digital Operator 235.........................................

5.2 SGM Servomotor 237........................................................

5.2.1 Ratings and Specifications 237..........................................

5.2.2 Mechanical Characteristics 269..........................................

5.2.3 Option Specifications 272..............................................

5.3 SERVOPACK Ratings and Specifications 282.....................................

5.3.1 Combined Specifications 282...........................................

5.3.2 Ratings and Specifications 285..........................................

5.3.3 Overload Characteristics 288...........................................

5.3.4 Starting Time and Stopping Time 289.....................................

5.3.5 Load Inertia 290.....................................................

5.3.6 Overhanging Loads 291...............................................

5.4 Σ-Series Dimensional Drawings 292.............................................

5.4.1 Servomotor Dimensional Drawings 292...................................

5.4.2 SERVOPACK Dimensional Drawings 400.................................

5.4.3 Digital Operator Dimensional Drawings 412...............................

5.5 Selecting Peripheral Devices 414...............................................

5.5.1 Selecting Peripheral Devices 414........................................

5.5.2 Order List 424.......................................................

5.6 Specifications and Dimensional Drawings of Peripheral Devices 442...................

5.6.1 Cable Specifications and Peripheral Devices 442............................

5.6.2 Motor Cables 446....................................................

5.6.3 Connector 447.......................................................

5.6.4 Brake Power Supply 466...............................................

5.6.5 Encoder Cables 469...................................................

5.6.6 Battery for Absolute Encoder 480........................................

5.6.7 1CN Connector 481...................................................

5.6.8 Connector Terminal Block Converter Unit 483..............................

− xii −

CONTENTS

5.6.9 Cable With 1CN Connector and One End Without Connector 485...............

5.6.10 Circuit Breaker 486...................................................

5.6.11 Noise Filter 486......................................................

5.6.12 Magnetic Contactor 488...............................................

5.6.13 Surge Suppressor 490.................................................

5.6.14 Regenerative Resistor Unit 490..........................................

5.6.15 Variable Resistor for Speed Setting 491...................................

5.6.16 Encoder Signal Converter Unit 492......................................

5.6.17 Cables for Connecting PC and SERVOPACK 494...........................

CHAPTER 6 INSPECTION, MAINTENANCE, AND TROUBLESHOOTING 499.

6.1 Inspection and Maintenance 500................................................

6.1.1 Servomotor 500......................................................

6.1.2 SERVOPACK 501....................................................

6.1.3 Replacing Battery for Absolute Encoder 502...............................

6.2 Troubleshooting 503.........................................................

6.2.1 Troubleshooting Problems with Alarm Display 503..........................

6.2.2 Troubleshooting Problems With No Alarm Display 529.......................

6.2.3 Internal Connection Diagram and Instrument Connection Examples 531.........

A Servo Adjustment 539........................................................

A.1 Σ-Series AC SERVOPACK Gain Adjustment 540..................................

A.1.1 Σ-Series AC SERVOPACKs and Gain Adjustment Methods 540................

A.1.2 Basic Rules for Gain Adjustment 541.....................................

A.2 Adjusting a Speed-control SERVOPACK 542......................................

A.2.1 Adjusting Using Auto-tuning 542........................................

A.2.2 Manual Adjustment 543...............................................

A.3 Adjusting a Position-control SERVOPACK 546....................................

A.3.1 Adjusting Using Auto-tuning 546........................................

A.3.2 Manual Adjustment 547...............................................

A.4 Gain Setting References 551...................................................

A.4.1 Guidelines for Gain Settings According to Load Inertia Ratio 551..............

B List of I/O Signals 555........................................................

C List of Parameters 561........................................................

D List of Alarm Displays 569....................................................

INDEX 573...........................................................

− xiii −

FOR FIRST-TIME USERS OF AC SERVOS

This chapter is intended for first-time users of AC servos. It describes the basic configuration of a servo mechanism and basic technical terms relating to servos. Users who already have experience in using a servo should also take a look at this chapter to understand the features of Σ-Series AC Servos.

1.1 Servo Mechanisms 2.......................

1.2 Servo Configuration 5.....................

1.3 Features of Σ-Series Servos 11................

1.3.1 Servomotor Type 11..................................

1.3.2 Control Type of SERVOPACKs 11.......................

1.3.3 How to Use the SGDB SERVOPACKs 12.................

FOR FIRST-TIME USERS OF AC SERVOS

1.1 Servo Mechanisms

You may be familiar with the following terms:

• Servo

• Servo mechanism

• Servo control system

In fact, these terms are synonymous. They have the following meaning:

A control mechanism that monitors physical quantities such as specified positions.

In short, a servo mechanism is like a servant who does tasks faithfully and quickly according to his master’s instructions. In fact, “servo” originally derives from the word “servant.”

TERMS

Servo mechanism

According to Japanese Industrial Standard (JIS) terminology, a “servo mechanism” is defined as a mechanism that uses the position, direction, or orientation of an object as a process variable to control a system to follow any changes in a target value (set point). More simply, a servo mechanism is a control mechanism that monitors physical quantities such as specified positions. Feedback control is normally performed by a servo mechanism. (Source: JIS B0181)

1 . 1 Servo Mechanisms

Servo system could be defined in more detail as a mechanism that:

• Moves at a specified speed and

• Locates an object in a specified position

To develop such a servo system, an automatic control system involving feedback control must be designed. This automatic control system can be illustrated in the following block diagram:

Configuration of Servo System

Specified position

input

Servo amplifier

Servo motor

Feedback part

Detector

Controlled machine (load)

Machine position

output

This servo system is an automatic control system that detects the machine position (output data), feeds back the data to the input side, compares it with the specified position (input data), and moves the machine by the difference between the compared data.

In other words, the servo system is a system to control the output data to match the specified input data.

If, for example, the specified position changes, the servo system will reflect the changes.

In the above example, input data is defined as a position, but input data can be any physical quantities such as orientation (angle), water pressure, or voltage.

TERMS

Position, speed, force (torque), electric current, and so on are typical controlled values for a servo system.

The main technical terms used in this manual are as follows:

1) Servo mechanism

2) Servo

Normally, servo is synonymous with servo mechanism. However, because “mechanism” is omitted, the meaning becomes somewhat ambiguous. Servo may refer to the entire servo mechanism but may also refer to an integral part of a servo mechanism such as a servomotor or a servo amplifier. This manual also follows this convention in the use of the term “servo”.

Feedback control

A control that returns process variables to the input side and forms a closed loop. It is also called closed-loop control.

FOR FIRST-TIME USERS OF AC SERVOS

3) Servo control system

Servo control system is almost synonymous with servo mechanism but places the focus on system control. In this manual, the term “servo system” is also used as a synonym of servo control system.

Related Terms Meaning

Servomotor

SERVOPACK Trademark of Yaskawa servo amplifier “SGDB

Servo drive A servomotor and amplifier pair. Also called “servo.”

Servo system A closed control system consisting of a host controller,

General servomotors or Yaskawa SGMj servomotors. In some cases, a position detector (encoder) is included in a servomotor.

SERVOPACK.”

servo drive and controlled system to form a servo mechanism.

Host controller

Reference

Amplifier (SERVOPACK)

Servo drive

Servomotor

Servo system

Operate

Controlled system

1.2 Servo Configuration

The following diagram illustrates a servo system in detail:

1.2 Servo Configuration

Host controller

(5)

Position or speed reference

Servo amplifier

Comparator

(Input)

Position or speed feedback

Power amplifier

Detector

(1) Controlled system: Mechanical system for which the position or speed is to be con-

trolled. This includes a drive system that transmits torque from a servomotor.

(4)

Motor drive circuit

Gear

(2)

(3)

servomotor Drive system

(Output)

(1)

Controlled system

Position

Speed

Movable table

Ball screw

(2) Servomotor: A main actuator that moves a controlled system. Two types are

available: AC servomotor and DC servomotor.

(3) Detector: A position or speed detector. Normally, an encoder mounted on

a motor is used as a position detector.

(4) Servo amplifier: An amplifier that processes an error signal to correct the differ-

ence between a reference and feedback data and operates the servomotor accordingly. A servo amplifier consists of a comparator, which processes error signals, and a power amplifier, which operates the servomotor.

(5) Host controller: A device that controls a servo amplifier by specifying a position

or speed as a set point.

FOR FIRST-TIME USERS OF AC SERVOS

Servo components (1) to (5) are outlined below:

(1) Controlled system

In the previous figure, the controlled system is a movable table for which the position or speed is controlled. The movable table is driven by a ball screw and is connected to the servomotor via gears. So, the drive system consists of:

Gears + Ball Screw

This drive system is most commonly used because the power transmission ratio (gear ratio) can be freely set to ensure high positioning accuracy. However, play in the gears must be minimized.

The following drive system is also possible when the controlled system is a movable table:

Coupling + Ball Screw

When the power transmission ratio is 1 : 1, a coupling is useful because it has no play.

Coupling

Rolling-contact guide

Ball screw

Rolling-contact bearing

This drive system is widely used for machining tools.

Housing

Timing Belt + Trapezoidal Screw Thread

A timing belt is a coupling device that allows the power transmission ratio to be set freely and that has no play.

A trapezoidal screw thread does not provide excellent positioning accuracy, so can be

Trapezoidal screw thread

treated as a minor coupling device.

Servomotor

Timing belt

To develop an excellent servo system, it is important to select a rigid drive system that has no play.

Configure the controlled system by using an appropriate drive system for the control purpose.

TERMS

Drive system

Also called a drive mechanism. A drive system connects an actuator (such as a servomotor) to a controlled system and serves as a mechanical control component that transmits torque to the controlled system, orientates the controlled system, and converts motion from rotation to linear motion and vice versa.

(2) Servomotor

(a) DC servomotor and AC servomotor

Servomotors are divided into two types: DC servomotors and AC servomotors.

DC servomotors are driven by direct current (DC). They have a long history. Up until the 1980s, the term “servomotor” used to imply a DC servomotor.

1.2 Servo Configuration

From 1984, AC servomotors were emerging as a result of rapid progress in microprocessor technology. Driven by alternating current (AC), AC servomotors are now widely used because of the following advantages:

• Easy maintenance: No brush

• High speed: No limitation in rectification rate

Note however that servomotors and SERVOPACKs use some parts that are subject to mechanical wear or aging. For preventive maintenance, inspect and replace parts at regular intervals. For details, refer to Chapter 6 Inspection, Maintenance, and Troubleshooting.

(b) AC servomotor

AC servomotors are divided into two types: synchronous type and induction type. The synchronous type is more commonly used.

For a synchronous type servomotor, motor speed is controlled by changing the frequency of alternating current.

A synchronous type servomotor provides strong holding torque when stopped, so this type is ideal when precise positioning is required. Use this type for a servo mechanism for position control.

The following figure illustrates the structure of a synchronous type servomotor:

Rotary disc

Light-emitting element

Position detector (encoder)

Light-receiving element

Armature wire

Lead wire

Housing

Stator core

Magnet

Front cap

Ball bearing

Shaft

Rotor core

Yaskawa SGMj servomotors are of the synchronous type.

FOR FIRST-TIME USERS OF AC SERVOS

A servomotor must have “instantaneous power” so that it can start as soon as a start reference is received. The term “power rating (kW/s)” is used to represent instantaneous power. It refers to the electric power (kW) that a servomotor generates per second. The greater the power rating, the more powerful the servomotor.

(3) Detector

A servo system requires a position or speed detector. It uses an encoder mounted on a servomotor for this purpose. Encoders are divided into the following two types:

(a) Incremental Encoder

An incremental encoder is a pulse generator, which generates a certain number of pulses per revolution (e.g., 2,000 pulses per revolution). If this encoder is connected to the mechanical system and one pulse is defined as a certain length (e.g., 0.001 mm), it can be used as a position detector. However, this encoder does not detect an absolute position and merely outputs a pulse train. Zero point return operation must be performed before positioning. The following figure illustrates the operation principle of a pulse generator:

Phase A pulse train

Phase B pulse train

Fixed slit

Light-receiving element

Rotary slit

Center of revolution

Phase A

Phase B

Phase Z

Rotary disc

Slit

Light-emitting element

(b) Absolute encoder

An absolute encoder is designed to detect an absolute angle of rotation as well as to perform the general functions of an incremental encoder. With an absolute encoder, therefore, it is possible to create a system that does not require zero point return operation at the beginning of each operation.

• Difference between an absolute An absolute

encoder will keep track of the motor shaft position even if system

and incremental encoder:

power is lost and some motion occurs during that period of time. The incremental encoder is incapable of the above.

(4) Servo amplifier

A servo amplifier is required to operate an AC servomotor.

The following figure illustrates the configuration of a servo amplifier:

Servo amplifier

1.2 Servo Configuration

Motor driving AC power

Servomotor

Commercial AC power

Reference input

Comparator

Feedback

Power amplifier

A servo amplifier consists of the following two sections:

(a) Comparator

A comparator consists of a comparison function and a control function. The comparison function compares reference input (position or speed) with a feedback signal and generates a differential signal.

TERMS

The control function amplifies and transforms the differential signal. In other words, it performs proportional (P) control or proportional/integral (PI) control. (It is not important if you do not understand these control terms completely at this point.)

(b) Power amplifier

A power amplifier runs the servomotor at a speed or torque proportional to the output of the comparator. In other words, from the commercial power supply of 50/60 Hz, it generates alternating current with a frequency proportional to the reference speed and runs the servomotor with this current.

Proportional/integral (PI) control

PI control provides more accurate position or speed control than proportional control, which is more commonly used.

FOR FIRST-TIME USERS OF AC SERVOS

(5) Host controller

A host controller controls a servo amplifier by specifying a position or speed as a set point.

For speed reference, a position control loop may be formed in the host controller when a position feedback signal is received. Yaskawa MP920 is a typical host controller.

TERMS

MP920

A machine controller. If combined with a servo amplifier for speed control (maximum 44 axes control), the MP920 can provide position control. The MP920 also provides programmable controller functions.

1.3 Features ofΣ-Series Servos

This section describes the features of Σ-Series servos.

1.3.1 Servomotor Type

1.3 Features ofΣ -Series Servos

Σ-Series SGMj servomotors are synchronous type servomotors and have the following

features:

Rated rotation speed Maximum rotation speed

SGMG

SGMS 3000 r/min

SGMD 2000 r/min

SGM 3000 r/min

SGMP 3000 r/min

1500 r/min 3000 r/min

1000 r/min 2000 r/min

4500 r/min

3000 r/min

4500 r/min

1.3.2 Control Type of SERVOPACKs

Rated output

0.45 to 15 kW (10 models)

0.3 to 6.0 kW (8 models)

1.0 to 5.0 kW (6 models)

2.2 to 4.0 kW (3 models)

0.4 to 0.8 kW (2 models)

0.4 to 1.5 kW (3 models)

SGMG type

SGMP type

SGDB model SERVOPACKs allow the control of speed, position and torque.

• Speed control (analog reference)

Accepts an analog voltage speed reference.

• Speed control (contact reference)

There are 3 internally set speeds. One of these is selected as a reference by a contact.

• Position control (pulse reference)

Accepts a pulse train position reference

• Torque control (analog reference)

Accepts an analog voltage torque reference

SGDB SERVOPACK

FOR FIRST-TIME USERS OF AC SERVOS

1.3.3 How to Use the SGDB SERVOPACKs

J Using SERVOPACK for Speed Control

The most common use of a SERVOPACK for speed control is shown below:

Host controller

Position reference +

Position control loop

Position feedback

(Analog voltage)

Speed reference

Position

Speed

Convert

Position feedback

SERVOPACK (speed control mode)

Power amplifier

Servomotor

Torque (current) feedback

Pulse train

Encoder

As shown in the above figure, a position control loop is formed in the host controller. The host controller compares a position reference with a position feedback signal and sends the processed result to the SERVOPACK as a speed reference.

In this way the host controller can be freed from performing the servo mechanism control. The SERVOPACK undertakes the speed control loop and subsequent control processing.

The Yaskawa programmable machine controller MP920 is used as a typical host controller.

J Using SERVOPACK for Torque Control

SERVOPACK for torque control can be used as shown below:

Host controller

Position monitoring

Position information

Torque reference

(Analog voltage)

Position feedback Encoder

SERVOPACK

(torque control mode)

Power amplifier

Torque (current) feedback

Pulse train

1.3 Features ofΣ -Series Servos

Servomotor

The host controller outputs a torque reference to control the SERVOPACK. It also receives a pulse train (position information) from the SERVOPACK and uses it to monitor the position.

J Using SERVOPACK for Position Control

SERVOPACK for position control can be used as shown below:

Host controller

Position monitoring

Position reference

Position information

Pulse train

Speed/current loop

Position feedback

SERVOPACK (position control mode)

Power amplifier

Servomotor

Pulse train

Encoder

FOR FIRST-TIME USERS OF AC SERVOS

1.3.3 How to Use the SGDB SERVOPACKs cont.

The host controller can send a position reference (pulse train) to the SERVOPACK to perform positioning or interpolation. This type of SERVOPACK contains a position control loop.

Parameters can be used to select either of the following pulse trains:

(1) Code and pulse train

(2) Two-phase pulse train with 90° phase difference

(3) Forward and reverse pulse trains

The host controller receives a pulse train (position information) from the SERVOPACK and uses it to monitor the position.

J Setting Parameters

A Digital Operator can be used to set parameters for a SERVOPACK as follows:

• Setting parameters to enable or disable each function

• Setting parameters required for functions to be used

Set parameters according to the servo system to be set up.

BASIC USES OF Σ-SERIES PRODUCTS

This chapter describes the first things to do whenΣ-Series products are delivered. It also explains the most fundamental ways ofconnecting and operating

-Series products. Both first-time and experienced servo users

this chapter.

2.1 Precautions 16.............................

2.2 Installation 18.............................

must read

2.1.1 Notes on Use 16.....................................

2.2.1 Checking on Delivery 18...............................

2.2.2 Servomotors 18......................................

2.2.3 SERVOPACKs 22....................................

2.2.4 Installing the Servomotor 24............................

2.2.5 Installing the SERVOPACK 27..........................

2.3 Connection and Wiring 30...................

2.3.1 Connecting to Peripheral Devices 30.....................

2.3.2 Main Circuit Wiring and Power ON Sequence 34............

2.3.3 Connection to Host Controller 36........................

2.4 Conducting a Test Run 40...................

2.4.1 Test Run in Two Steps 40..............................

2.4.2 Step 1: Conducting a Test Run for Motor without Load 42....

2.4.3 Step 2: Conducting a Test Run with the Motor Connected to the

Machine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46

2.4.4 Supplementary Information on Test Run 47................

2.4.5 Minimum Parameters Required and Input Signals 49.........

BASIC USES OF Σ-SERIES PRODUCTS

2.1.1 Notes on Use

2.1 Precautions

This section provides notes on using Σ-Series products.

2.1.1 Notes on Use

NOTE Always note the following to ensure safe use.

Use 200VAC power supply

Be sure to use the correct type. Do not plug the servomotor directly into the power frequency supply (Direct connection to the power frequency supply will damage the servomotor.)

200VAC power supply

Always use the SGMj servomotor and SGDB SERVOPACK in pairs.

Check whether the combination of applicable motor series of SERVOPACK and of SGMj ( motor series) is correct or not. Check the setting of parameter Cn-2A (motor selection) and always after changing its combination. The motor may get

Recheck the setting of parameter Cn-2A (motor selection) after changing its combination. Refer to Section 3.3.4.

damaged if the combination is not correct.

Do not change wiring when power is ON.

Direct connection

Damage will result!

Always turn the power OFF before connecting or disconnecting a connector. (Except for Digital Operator (Types: JUSPOP02A-1, JUSP-OP03A))

OFF

(POWER and CHARGE lamp)

Always turn the power OFF before connecting or disconnecting a connector.

Note that residual voltage still remains in the SERVOPACK even after the power is turned OFF.

Even after the power is turned OFF, residual electric charge still remains in the capacitor inside the SERVOPACK. To prevent an electric shock, always wait for the CHARGE lamp to go OFF before starting inspection (if necessary).

CHARGE lamp

2 . 1 Precautions

Always follow the specified installation method.

Provide sufficient clearance

The SERVOPACK generates heat. Install the SERVOPACK so that it can radiate heat freely. Note also that the SERVOPACK must be in an en-

50 mm or more

vironment free from condensation, vibration and shock.

Ambient temperature: 0to55°C

Perform noise reduction and grounding properly.

If the signal line is noisy, vibration or malfunction will result.

D Separate high-voltage cables from low-voltage cables. D Use cables as short as possible. D Ground the SERVOPACK ground terminal with the

resistance 100Ω or less for the servomotor and SERVOPACK.

D Never use a line filter for the power supply in the

motor circuit.

Casing

SERVOPACK

Signal

Conduct a voltage resistance test under the following conditions.

D Voltage: 1500 Vrms AC, one minute D Current limit: 100 mA D Frequency: 50/60 Hz D Voltage application points: Between r, t, R, S, T

terminals and frame ground (connect terminals securely).

line

100 Ω or less

Conduct a voltage resistance test under the conditions given on the left.

10 mm or more

Servomotor

Use a fast-response type ground-fault interrupter.

For a ground-fault interrupter, always use a fastresponse type or one designed for PWM inverters. Do not use a time-delay type.

Fast-response type

Ground-fault interrupter

GOOD POOR

GOOD

For PWM inverter

Do not perform continuous operation under overhanging load.

Continuous operation cannot be performed by rotating the motor from the load and applying regen-

Servomotor

erative braking. Regenerative braking by the SERVOPACK can be applied only for a short period, such as the motor deceleration time.

Do not apply regenerative braking continuously.

The servomotor cannot be operated by turning the power ON and OFF.

Frequently turning the power ON and OFF causes the internal circuit elements to deteriorate. Always start or stop the servomotor by using reference pulses.

Power supply

Time-delay type

SERVOPACK

Do not start or stop by turning power ON and OFF.

BASIC USES OF Σ-SERIES PRODUCTS

2.2.2 Servomotors

2.2 Installation

This section describes how to check Σ-Series products on delivery and how to install them.

2.2.1 Checking on Delivery

When Σ-Series products are delivered, check the following items:

Check Items

Check if the delivered products are the ones you ordered.

Check if the motor shaft rotates smoothly.

Check for damage. Check the overall appearance, and check for damage

Check screws for looseness. Check for looseness by using a screwdriver as

If any of the above items are faulty or incorrect, contact the dealer from which you purchased the products or your nearest local sales representative.

2.2.2 Servomotors

J External Appearance and Nameplate Examples

Remarks

Check the types marked on the nameplates of servomotor and SERVOPACK (see the table below).

If the motor shaft is smoothly turned by hand, it is normal. However, if the motor has brakes, it cannot be turned manually.

or scratches resulting from transportation.

necessary.

Rated output

Servomotor model

Σ-II Series Servomotor

Serial number

Manufacturing date

Rated motor speed

J Model Numbers

Standard Servomotors

2.2 Installation

SGM S − 10 A 6 A

Σ Series servomotor

Series name of products

G: SGMS S: SGMS D: SGMD

Motor capacity (See the following table.)

Standard A: YASKAWA Standard

Encoder specifications (See the following table.)

Servomotor Capacity (kW)

Symbol SGMG SGMS SGMD

1500 min−11000 min−13000 min−12000 min

03 05 06 09 10 12 13 15 20 22

− 0.3 − −

0.45 − − −

− 0.6 − −

0.85 0.9 − −

− − 1.0 −

− 1.2 − −

1.3 − − −

− − 1.5 −

1.8 2.0 2.0 −

− − − 2.2

j j

Option specifications

B: 90 VDC Brake C: 24 VDC Brake S: Oil seal F: 90 VDC Brake Oil seal G: 24 VDC Brake Oil seal

Shaft Specifications

A: Standard (straight without key,

with option specification)

B: Straight with key,

shaft end tap (one place) C: Taper 1/10, with parallel key D: Taper 1/10, with semicircle key

(For G series 05, 09 type only)

Rated rotation speed

A: SGMG 1500 min

SGMS 3000 min

SGMD 2000 min B SGMG 1000 min

Symbol

−1

1500 min−11000 min−13000 min−12000 min

30 32 40 44 50 55 60

75 1A 1E

SGMG SGMS SGMD

2.9 3.0 3.0 −

− − − 3.2

− − 4.0 4.0

4.4 4.4 − −

− − 5.0 −

5.5 − − −

− 6.0 − −

7.5 − − − 11 − − − 15 − − −

−1

Encoder Specifications

Code Specification SGMG SGMS SGMD

8192 P/R incremental Optional Standard Optional

4096 P/R incremental Standard Optional Optional

12-bit absolute Optional Optional Standard

15-bit absolute Optional Optional Optional

NOTE

Refer to Section 5.1.1 Selecting a Servomotor for the SGMP-15A type.

BASIC USES OF Σ-SERIES PRODUCTS

2.2.2 Servomotorscont.

Servomotors with Gears

SGM G − 05 A 2 A S A R

Σ-Series servomotor

Series name

G: SGMG S: SGMS

Motor capacity (See the following table.)

Standard

A: YASKAWA Standard

Encoder specifications (See the following table.)

Rated rotation speed

A: SGMG 1500 min

SGMS 3000 min

B: SGMG 1000 min

Symbol SGMG SGMS

03 05 06 09 10 12 13 15 20

−1

Motor Capacity (kW)

1500 min

−1

1000 min

− 0.3 −

0.45 − −

− 0.6 −

0.85 0.9 −

− − 1.0

− 1.2 −

1.3 − −

− − 1.5

1.8 2.0 2.0

−1

3000 min

Brake specifications

Blank: Without brake B: With 90 VDC brake C: With 24 VDC brake

Shaft specifications (See the following table.)

Gear ratio (See the following table.)

Gear type (See the following table.)

−1

Symbol

1500 min

30 40 44 50 55 60 75

−

SGMG SGMS

−1

1000 min

−1

3000 min

2.9 3.0 3.0

− − 4.0

4.4 4.4 −

− − 5.0

5.5 − −

− 6.0 −

7.5 − − 11 − −

− − −

−1

Encoder Specifications

Code Specification SGMG SGMS

8192 P/R incremental Optional Standard

4096 P/R incremental Standard Optional

12-bit absolute Optional Optional

15-bit absolute Optional Optional

Gear Type

Code Specification SGMG SGMS

With foot Standard

Flange Standard

IMT planetary low-backlash gear Standard Standard

Gear Ratio (Varies with Gear Type.)

Code Specification SGMG SGMS

1/6 S, T*

1/11 S, T

1/21 S, T

1/5 L L

1/9 L L

1/20 L* L

1/29 or 1/33 L, S, T* L*

1/45 L* L*

* Not all applicable models available.

2.2 Installation

Shaft Specifications (Varies with Gear Type.)

Code Specification SGMG SGMS

Straight, with key L L

Straight, with key and tap S, T

BASIC USES OF Σ-SERIES PRODUCTS

2.2.3 SERVOPACKs

J External Appearance and Nameplate Examples

SERVOPACK model

Σ-Series SGDB

SERVOPACK

J Model Numbers

Σ-Series SGDB SERVOPACK

Motor capacity (See the following table.)

Voltage

A: 200 V

Model

D: torque, speed, position control

Applicable motor series

G: SGMG (1500 min−1) M: SGMG (1000 min−1) S: SGMS D: SGMD P: SGMP Blank: SGM

Serial number

Applicable power supply

SGDB − 10 A D S −

Output power

Option specifications

P: Duct ventilation type

Motor Capacity (kW)

2.2 Installation

Maximum Applicable Servomotor Capacity

Symbol

Capacity Maximum Applicable

Servomotor Capacity

Symbol

0.3

0.50

0.7

1.0

1.5

2.0

3.0

−

Capacity

4.4

5.0

6.0

7.5

−

BASIC USES OF Σ-SERIES PRODUCTS

2.2.4 Installing the Servomotor

Servomotor SGMj type can be installed either horizontally or vertically. However, if the servomotor is installed incorrectly or in an inappropriate location, the service life will be shortened or unexpected problems will occur. To prevent this, always observe the installation instructions described below. When using the models with an oil seal, installing the motor with the output shaft up may cause oil to enter the motor depending on the operating conditions. Check the operating conditions.

NOTE

Before installation

Anticorrosive paint is coated on the edge of the motor shaft to prevent it from rusting during storage. Clean off the anticorrosive paint thoroughly using a cloth before installing the motor.

Avoid getting thinner on other parts of the servomotor when cleaning the shaft.

Storage:

When the servomotor is to be stored with the power cable disconnected, store it in the following temperature range:

Anticorrosive paint is coated here

Between −20°C and 60°C

Installation sites:

The servomotor SGMj type is designed for indoor use. Install servomotor in an environment which meets the following conditions:

a) Free from corrosive and explosive gases

b) Well-ventilated and free from dust and moisture

c) Ambient temperature of 0 to 40°C

d) Relative humidity of 20% to 80% (non-condensing)

e) Inspection and cleaning can be performed easily

2.2 Installation

If the servomotor is used in a location subject to water or oil mist, the motor can be protected by taking necessary precautions on the motor side. However, if the shaft opening is to be sealed, specify the motor with oil seal. Install with the electrical connector facing downward.

Alignment

Align the shaft of the servomotor with that of the equipment to be controlled, then connect the shafts with couplings. Install the servomotor so that alignment accuracy falls within the range shown below.

Measure this distance at four different positions in the circumference. The difference between the maximum and minimum measurements must be

0.03 mm or less. (Turn together with couplings)

Measure this distance at four different positions in the circumference. The difference between the maximum and minimum measurements must be 0.03 mm or less. (Turn together with couplings)

NOTE

TERMS

If the shafts are not aligned properly, vibration will occur, resulting in damage to the bearings. When using a pinion gear mounted directly to the motor output shaft, contact your YASKAWA representative.

Shaft opening

Refers to the space where the shaft comes out from the motor.

BASIC USES OF Σ-SERIES PRODUCTS

()

(

)

()

(

)

()

2.2.4 Installing the Servomotor cont.

A precision detector (encoder) is mounted on the opposite-drive end of the servomotor. To mount a coupling, always protect the shaft from impacts that could damage the detector.

Perform a mechanical design so that

thrust load and radial load

motor shaft end falls within the range given in the following table.

Allowable

Motor Type

SGMG-05AjA

-09AjA

-13AjA

-20AjA

-30AjA

-44AjA

-55AjA

-75AjA

-1AAjA

-1EAjA

SGMG-03AjB

-06AjB

-09AjB

-12AjB

-20AjB

-30AjB

-44AjB

-60AjB

SGMS-10A 686 (154) 196 (44)

-15A 686 (154) 196 (44)

-20A 686 (154) 196 (44)

-30A 980 (221) 392 (88)

-40A 1176 (265) 392 (88)

-50A 1176 (265) 392 (88)

SGMD-22A 1176 (265) 490 (110)

-32A 1176 (265) 490 (110)

-40A 1176 (265) 490 (110) 65 (2.56)

SGMP-15A 490 (110) 147 (33) 35 (1.38)

Radial Load

Fr [N(lb)]

490 (110) 98 (22)

686 (154) 343 (77)

1176 (265) 490 (110)

1470 (331) 490 (110)

1764 (397) 588 (132)

1764 (397) 588 (132) 116 (4.57)

4998 (1125) 2156 (485) 116 (4.57)

490 (110) 98 (22)

686 (154) 343 (77)

1176 (265) 490 (110)

1470 (331) 490 (110)

1764 (397) 588 (132)

Allowable

Thrust

Load Fs

[N(lb)]

[mm(in.)]

58 (2.28)

79 (3.11)

113 (4.45)

58 (2.28)

79 (3.11)

113 (4.45)

45 (1.77)

63 (2.48)

55 (2.17)

applied to the servo-

Reference Drawing

TERMS

Note Allowable radial loads shown above are the maximum values that could be ap-

plied to the shaft end.

Thrust load and radial load

1. Thrust load: Shaft-end load applied parallel to the centerline of a shaft

2. Radial load: Shaft-end load applied perpendicular to the centerline of a shaft

Motor

Shaft end

2.2.5 Installing the SERVOPACK

Σ-Series SGDB SERVOPACK is a base-mount type servo controller. Incorrect installation will cause problems. Always observe the installation instructions described below.

Storage:

2.2 Installation

When the SERVOPACK is to be stored with the power cable disconnected, store it in the following temperature range:

Between −20°C and 85°C

Installation sites:

Situation Notes on Installation

Design the control panel size, unit layout, and cooling

When installed in a control panel

When installed near a heating unit

When installed near a source of vibration

When installed in a place receiving corrosive gases

Others

method so that the temperature around the periphery of the SERVOPACK does not exceed 55°C.

Suppress radiation heat from the heating unit and a temperature rise caused by convection so that the temperature around the periphery of the SERVOPACK does not exceed 55°C.

Install a vibration isolator underneath the SERVOPACK to prevent it from receiving vibration.

Corrosive gases do not immediately affect the SERVOPACK but will eventually cause contactor-related devices to malfunction. Take appropriate action to prevent corrosive gases.

Avoid installation in a hot and humid place or where excessive dust or iron powder is present in the air.

SGDB SERVOPACK

Orientation:

Install the SERVOPACK perpendicular to the wall as shown in the figure.

The SERVOPACK must be orientated as shown in the figure.

• Firmly secure the SERVOPACK through four mounting holes.

Ventilation

BASIC USES OF Σ-SERIES PRODUCTS

2.2.5 Installing the SERVOPACK cont.

Installation method:

When installing multiple SERVOPACKs side by side in a control panel, observe the following installation method:

Fan

30 mm or more 10 mm or more

Fan

50 mm or more

a) Install SERVOPACK perpendicular to the wall so that the front panel (digital operator

mounted face) faces outward.

b) Provide sufficient space around each SERVOPACK to allow cooling by fan and natu-

ral convection.

c) When installing SERVOPACKs side by side, provide at least 10 mm space between

them and at least 50 mm space above and below them as shown in the figure above. Install cooling fans above the SERVOPACKsto prevent the temperature around each SERVOPACK from increasing excessively and also to maintain the temperature inside the control panel evenly.

d) Maintain the following conditions inside the control panel:

• Ambient temperature for SERVOPACK: 0 to 55°C

• Humidity: 90%RH or less

• Vibration: 4.9 m/s

• Condensation and freezing: None

• Ambient temperature to ensure long-term reliability: 45°C or less

Power loss

Power loss of SERVOPACK is given below:

Power loss for rated output

2.2 Installation

SERVOPACK

type

SGDB-03ADj

SGDB-05ADj

SGDB-07ADj

SGDB-10ADj

SGDB-15ADj

SGDB-20ADj

SGDB-30ADj

SGDB-44ADj

SGDB-50ADj

SGDB-60ADj

SGDB-75ADj

SGDB-1AADj

SGDB-1EADj

Note a) Power loss of regenerative resistor is allowable loss. If the loss exceeds the

Output

current

(RMS value)

3.0 18

3.8 27 77

5.7 41 91

7.6 55 105

11.6 80 130

18.5 120 170

24.8 170 22 222

32.9 250

28.2 260 344

46.9 290

54.7 330

58.6 360

78.0 490 520

Power loss

in main

circui

Power loss

regenerative

resistor W

30 20

60 24

Power loss

in control

circuit

Power loss

in total

334

317

357

390

allowable loss, the regenerative resistor inside the SERVOPACK should be removed and connected externally. Because the model in which the regenerative resistor is externally connected falls into non-standard specification categories, contact YASKAWA for further information. For this non-standard type, “Y8” is appended to the end of the standard model number.

b) For SGDB-60AD to 1EADj models, the regenerative resistor is placed sepa-

rately. The regenerative resistor unit provided from YASKAWA is described in Section 3.8.4 Using Regenerative Resistor Units. Its power loss for SGDB-60ADj is 180W (type: JUSP-RA04), and for SGDB-75ADj and

-1EADj is 350W(type: JUSP-RA05).

BASIC USES OF Σ-SERIES PRODUCTS

2.3.1 Connecting to Peripheral Devices

2.3 Connection and Wiring

This section describes how to connect Σ-Series products to peripheral devices and explains a typical example of wiring the main circuit. It also describes an example of connecting to main host controllers.

2.3.1 Connecting to Peripheral Devices

This section shows a standard example of connecting Σ-Series products to peripheral devices and briefly explains how to connect to each peripheral device.

Connector terminal block conversion unit 1CN connector kit Cable with 1CN connector and one end without connector

2.3 Connection and Wiring

Host controller

SERVOPACK is compatible with most P.L.C. motion controllers and indexers.

See next page

Molded-case circuit breaker (MCCB)

Used to protect power supply line. Shuts the circuit off if overcurrent is detected.

Noise filter

Used to eliminate external noise from power supply line.

Types:

LF-350 LF-315 LF-320

LF-380K

Magnetic contactor

Turns the servo ON or OFF. Use a surge suppressor for the magnetic contactor.

Molded-case circuit breaker

Noise filter

Magnetic contactor

Power supply 3 phase 200 VAC

MP920

Digital Operator

Allows the user to set parameters or operation references and display operation status or alarm status. The following two types are available in addition to personal computers:

Mount type (JUSP-OP03A) This type can be mounted directly on the SERVOPACK.

Hand-held type (JUSP-OP02A-1) 1-meter(3.3ft.) cable included

Personal computer

Connecting cable type: DE9405258

Brake power supply

Types:

LPSE-2H01 (for 200 V input) LPDE-1H01 (for 100 V input)

Used for servomotor with brake.

Brake power supply

Regenerative resistor unit

If the capacity of the regenerative resistor is insufficient, remove the internal resistor (P-B terminals) and connect it to the P-B terminals). For SERVOPACK with capacity more than 6kW, a regenerative resistor unit is mounted separately (connected to P1-B terminals)

Magnetic contactor

Power ground

Cable for PG Connector for PG

See next page

Regenera-

tive resistor

(option)

BASIC USES OF Σ-SERIES PRODUCTS

2.3.1 Connecting to Peripheral Devices cont.

• Connector terminal block conversion unit (Type: JUSP-TA50P)

The terminal block allows connection to a host controller.

• Cable with 1CN connector and one end without connector

1m (3.3ft) DE9406969-1

1CN

0.5 meter cable with 1CN connector

2m (6.6ft) DE9406969-2

1CN

3m (9.8ft) DE9406969-3

• 1CN connector kit (Type: DE9406970)

1CN

• Cable for PG

This cable is used to connect the encoder of servomotor to the SERVOPACK. The following three types of cables are available according to encoder types.

For models SGMG, SGMS,

SGMD

a) Cable with a single connector (without connector on encoder side)

engt

3m (9.8ft) DE9406971-1 DE9406972-1

5m (16.4ft) DE9406971-2 DE9406972-2

10m (32.8ft) DE9406971-3 DE9406972-3

15m (49.2ft) DE9406971-4 DE9406972-4

20m (65.6ft) DE9406971-5 DE9406972-5

Incremental Absolute

Cable type

b) Cable with connectors on both side (straight plug on encoder side)

engt

3m (9.8ft) DE9407234-1 DE9407236-1

5m (16.4ft) DE9407234-2 DE9407236-2

10m (32.8ft) DE9407234-3 DE9407236-3

15m (49.2ft) DE9407234-4 DE9407236-4

20m (65.6ft) DE9407234-5 DE9407236-5

Incremental Absolute

Cable type

2.3 Connection and Wiring

c) Cable with connectors on both side (L-shape plug on encoder side)

engt

3m (9.8ft) DE9407235-1 DE9407237-1

5m (16.4ft) DE9407235-2 DE9407237-2

10m (32.8ft) DE9407235-3 DE9407237-3

15m (49.2ft) DE9407235-4 DE9407237-4

20m (65.6ft) DE9407235-5 DE9407237-5

Incremental Absolute

Cable type

For models SGM, SGMP

a) Cable with connectors on both side

engt

3m (9.8ft) DP9320089-1 DP9320088-1

5m (16.4ft) DP9320089-2 DP9320088-2

10m (32.8ft) DP9320089-3 DP9320088-3

15m (49.2ft) DP9320089-4 DP9320088-4

20m (65.6ft) DP9320089-5 DP9320088-5

Incremental Absolute

Cable type

b) Cable with a single connector (without connector on SERVOPACK)

engt

3m (9.8ft) DP9320086-1 DP9320085-1

5m (16.4ft) DP9320086-2 DP9320085-2

10m (32.8ft) DP9320086-3 DP9320085-3

15m (49.2ft) DP9320086-4 DP9320085-4

20m (65.6ft) DP9320086-5 DP9320085-5

Incremental Absolute

Cable type

c) Cable without connectors

engt

3m (9.8ft) DP9400064-1 DP8409123-1

5m (16.4ft) DP9400064-2 DP8409123-2

10m (32.8ft) DP9400064-3 DP8409123-3

15m (49.2ft) DP9400064-4 DP8409123-4

20m (65.6ft) DP9400064-5 DP8409123-5

Incremental Absolute

Cable type

• Connector kit (DE9406973)for PG. Connector on SERVOPACK side only

SERVOPACK side

2CN

BASIC USES OF Σ-SERIES PRODUCTS

2.3.2 Main Circuit Wiring and Power ON Sequence

The following diagram shows a typical example of wiring the main circuit for Σ-Series products:

Three-phase 200 to 230 VAC (50/60 Hz)

+ 10%

–15%

Main circuit power

1MCCB: Circuit breaker (for inverter type) FIL: Noise filter 1MC: Contactor 1Ry: Relay 1PL: Lamp for display 1SUP: Surge suppressor 1D: Flywheel diode

SERVOPACK

SGDB-jjADj

(Alarm lamp)

The following table shows the name and description of each main circuit terminal:

Terminal

Symbol

R, S, T

U, V, W

r, t

×2

P, B

P1, B

Note

P1 terminal is not available for SERVOPACK with power capacity less than 5 kW.

Name Description

Main power input terminals

Motor connection terminal

Control power input terminals

Three-phase 200 to 230 VAC , 50/60Hz

Used to connect motor

Single phase 200 to 230 VAC , 50/60Hz

+ 10

–15

+ 10

–15

Ground terminal Connected to earth. (For power ground and motor ground).

Regenerative resistor unit connection

Normally, external connection is not required.

terminal

Regenerative resistor unit connection

Terminal used to connect regenerative resistor for SERVOPACK with power capacity more than 6 kW.

terminal

Main circuit minus side terminal.

Normally, external connection is not required.

NOTE

2.3 Connection and Wiring

Form a power ON sequence as follows:

• Form a power ON sequence so that the power is turned OFF when a servo alarm signal is output. (See the circuit diagram shown on the previous page.)

• Hold down the power ON push-button for at least two seconds. The SERVOPACK outputs a servo alarm signal for approximately two seconds or less when the power is turned ON. This operation is required to initialize the SERVOPACK.

Power supply

Servo alarm (ALM) output signal

• Do not wire power lines and signal lines in the same duct or bundle them together. Wire such that signal lines are kept apart from power lines by at least 30 cm.

• Twisted pair wire and multi-core twisted pair shielding wires should be used for signal lines, encoder (PG) feedback line. The length for wiring is 3 m maximum for the reference input line, 20 m maximum for the PG feedback line.

• Do not touch the power terminal even if power was turned OFF.

High voltage may still remain in SERVOPACK. Perform inspection only after the CHARGE lamp is OFF.

• Avoid frequently turning the power ON and OFF. Since the SERVOPACK has a capacitor in the power supply, a high charging current flows (for 0.2 second) when the power is turned ON. Therefore, frequently turning the power ON and OFF causes the main circuit devices (such as capacitors and fuses) to deteriorate, resulting in unexpected problems.

BASIC USES OF Σ-SERIES PRODUCTS

2.3.3 Connection to Host Controller

The SGDB SERVOPACK can be connected to the following host controllers. For details, refer to the technical documentation for the host controller.

• MP920

• GL-Series Positioning Module B2833

• GL-Series Positioning Module B2813

Speed/Torque

• OMRON Position Control Unit

• MITSUBISHI Positioning Unit

The following diagrams show connection examples with the host controllers manufactured by OMRON and MITSUBISHI.

J Connection to OMRON Position Control Unit C500-NC222

SERVOPACK for Speed/Torque Control

SERVOPACK

SGDB-jjADj

I/O Power Supply

C500-NC222 (Made by OMRON)

X-axis (Y-axis)

(ON when positioning is

stopped) (ON when proximity is detected)

/S-ON

(T-REF)

X-/A

X-/B

X-/C

* These signals are output for approximately two seconds when the power is turned ON. Take this into consideration when designing a power ON sequence. Relay 1Ry is used to stop main circuit power supply to SERVOPACK.

/PAO

/PBO

/PCO

Note The signals shown here are applicable only to OMRON Sequencer

C500-NC222 and Yaskawa SERVOPACK SGDB-VVADV.

Connection to OMRON Position Control Unit C500-NC112

SERVOPACK for Position Control

2.3 Connection and Wiring

Position

C500-NC112

(Made by OMRON)

CW limit

CCW limit

Emergency stop

External interrupt

Home position

Home position proximity

Local

Ready

Pulse output CW + CCW

Direction output

I/O Power Supply

(ON when proximity is detected)

SERVOPACK

SGDB-jjADj *

/S-ON

/PCO

External power supply +24V

*1 These signals are output for approximately two seconds when the power is turned ON. Take this

into consideration when designing a power ON sequence. Relay 1Ry is used to stop main circuit power supply to SERVOPACK.

*2 Change the Cn-02 setting as follows:

Bit No. 3 = 1 Bit No. 4 = 0 Bit No. 5 = 0

*3 Manufactured by Yaskawa Controls Co., Ltd.

Note The signals shown here are applicable only to OMRON Sequencer C500-NC112 and

Yaskawa SERVOPACK SGDB-VVADV.

BASIC USES OF Σ-SERIES PRODUCTS

2.3.3 Connection to Host Controllercont.

Connection to MITSUBISHI Positioning Unit AD72

SERVOPACK for Speed/Torque Control

Speed/Torque

AD72

(Made by MITSUBISHI)

Speed reference

I/O power supply

(ON when positioning is stopped) (ON when proximity is detected)

SERVOPACK

SGDB-jjADj

/S-ON

/PBO

/PAO

/PCO

*1 These signals are output for approximately two seconds when the power is turned ON. Take this into

consideration when designing a power ON sequence. Relay 1Ry is used to stop main circuit power supply to SERVOPACK.

*2 These pin numbers are the same for both X and Y axes.

Note The signals shown here are applicable only to MITSUBISHI Sequencer AD72 and Yas-

kawa SERVOPACK SGDB-VVADV.

Position

Connection to MITSUBISHI Positioning Unit AD75

SERVOPACK for Position Control

I/O power supply

−

READY

STOP

DOG

PGO

+24v

X axis (Y axis)

AD75

(Made by MITSUBISHI)

1Ry

+24v

ON when positioning is stopped

ON when proximity is detected

2.3 Connection and Wiring

SERVOPACK

SGDB-jjADj

L1C L2C

L1 L2 L3

CN1

PCO

/PCO

/S-ON

P-OT

N-OT

CN2

CN1

Servomotor

A (1)

B (2)

C (3)

D (4)

+24v

ALM+

ALM−

PULSE

/PULSE

SIGN

/SIGN

CLR

/CLR

PULSE

SIGN

CLEAR

1Ry

2.2KΩ

2 3

* These signals are output for approximately two seconds when the power is turned ON. Take this into

consideration when designing a power ON sequence. Relay 1Ry is used to stop main circuit power supply to SERVOPACK.

Note The signals shown here are applicable only to MITSUBISHI Sequencer AD72 (B Type)

and Yaskawa SERVOPACK SGDB-VVADV.

BASIC USES OF Σ-SERIES PRODUCTS

2.4.1 Test Run in Two Steps

2.4 Conducting a Test Run

This section describes how to conduct a full test run. The test run is divided into two steps. Complete a test run in step 1 first, then proceed to step 2.

2.4.1 Test Run in Two Steps

Conduct the test run when wiring is complete.

Generally, conducting a test run for servo drives can be difficult. However, by following the two steps described below, the test run can be performed safely and correctly.

NOTE To prevent accidents, initially conduct a test run only for a servomotor under no load (i.e., with

all couplings and belts disconnected). Do not run the servomotor while it is connected to a machine.

The test run is divided here into steps 1 and 2.

Complete the test run in step 1 first, then proceed to step 2. The purposes of each step are described on the next page.

Step 1:

Conducting a test run for the motor without load Check that the motor is wired correctly....

Operate the motor with a Digital Operator.

2.4 Conducting a Test Run

Conduct a test run with the motor shaft disconnected from the machine.

Purpose:

• To check power supply circuit wiring

• To check motor wiring

• To check I/O signal (1CN) wiring

Outline:

Check wiring.

Do not connect to a machine.

Step 2: Conducting a test run with the motor and

machine connected Adjust SERVOPACK according to ma-.................................

Connect to the machine and conduct a test run.

Purpose:

Speed adjustment by autotuning

SGDB

SGM

Connect to the machine.

Outline:

• Turn the power ON

• Operate the motor with a digital op-

erator

• Check I/O signals (1CN)

• Conduct a test run using I/O signals

chine characteristics.

• To perform autotuning to adjust the motor according to machine characteristics

• To match the speed and direction of rotation with the machinespecifications

• To check the final control mode

• Perform autotuning

• Adjust parameter settings

• Record parameter settings

End of test run

For servomotors with a brake, refer to Section 2.4.4 Supplementary Information on Test Run before starting a test run.

The following pages describe the test run procedure in detail.

BASIC USES OF Σ-SERIES PRODUCTS

2.4.2 Step 1: Conducting a Test Run for Motor without Load

Check that the motor is wired correctly. If the motor fails to rotate properly during a servo drive test run, the cause most frequently lies with incorrect wiring. Conduct a test run for the motor without load according to the procedure described below. For customers who use a servomotor with brake, refer to Section 2.4.4 Supplementary In- formation on Test Run before starting a test run.

Operate the motor with a Digital Operator.

Check wiring.

J Securing the Servomotor

Secure the servomotor to mounting holes to prevent it from moving during operation. Alternatively, install the servomotor on the machine and disconect couplings and belts.

J Verifying the Wiring

Disconnect connector 1CN, then check the motor wiring in the power supply circuit. I/O signals (1CN) are not to be used so leave connector 1CN disconnected.

J Turning the Power ON

Turn the SERVOPACK power ON. If the SERVOPACK is turned ON normally, the LED on the Digital Operator lights up as shown in the figure. Power is not supplied to the servomotor because the servo is OFF.

If an alarm display appears on the LED as shown in the figure above, the power supply circuit, motor wiring or encoder wiring is incorrect. In this case, turn the power OFF, then correct the problem. For details, refer to Appendix D List of Alarm Displays.

Do not connect to the machine.

Secure servomotor to mounting holes.

Do not connect anything to the motor shaft (no-load status).

Disconnect connector 1CN

Normal display

Alternately displayed

Example of alarm display

Refer to Appen-

dix D List of Alarm Displays.

2.4 Conducting a Test Run

J Using the Digital Operator

Operate the motor with the Digital Operator. Check that the motor runs normally.

Refer to Section 4.2.2 Operation Using the Digital Operator.

J Connecting Signal Lines

Connect connector 1CN as follows:

1. Turn the power OFF.

2. Connect connector 1CN.

3. Turn the power ON again.

J Checking Input Signals.

Check the input signal wiring in monitor mode. For the checking method, refer to Section

4.1.7 Operation in Monitor Mode.

Operation by Digital Operator

If an alarm occurs, the power supply circuit, motor wiring, or encoder wiring is incorrect.

Connect connector 1CN.

Internal status bit display

(Un-05, Un-06) Example of Un-05

• Checking method Turn each connected signal line ON and OFF to check that the monitor bit display changes accordingly.

Input Signal ON/OFF Monitor Bit Display

High level or open OFF Extinguished

0 V level ON Lit

The memory switch can be

eliminate the need

used to

for

external short-circuits in

wiring (see pages 56 and

131).

If the signal lines below are not wired correctly, the motor fails to rotate. Always wire them correctly. (If signal lines are not to be used, short them as necessary.)

P-OT 1CN-42 Motor can rotate in forward direction when this input signal is at 0 V.

N-OT 1CN-43 Motor can reverse when this input signal is at 0 V.

S-ON 1CN-40 Servo is turned ON when this input signal is at 0 V. However, leave

the servo in OFF status.

BASIC USES OF Σ-SERIES PRODUCTS

2.4.2 Step 1: Conducting a Test Run for Motor without Load cont.

J Turning Servo (Motor) ON

Turn the servo ON as follows:

S-ON

SERVOPACK

(1CN-40)

Servomotor

1. Check that no reference has been input.

Turn the servo ON.

For speed/torque control: V-REF (1CN-5) and T-REF (1CN-9) are at 0 V.

For position control: PULS (1CN-7) and SIGN (1CN11) are fixed to L level.

Note The parameter Cn-2B is used to set control modes (refer to Section 3.2 Setting

Parameters According to Host Controller).

2. Turn the servo ON signal ON.

Display when servo is turned ON

Set /S-ON (1CN-40) to 0 V. If normal, the motor starts and the Digital Operator displays the data as shown in the figure. If an alarm display appears, take appropriate action as described in Appendix D List of Alarm Displays.

Speed/Torque

J Operating by Reference Input

The operating procedure varies according to the setting of parameter ’Control mode selection (Cn-2B)’.

SERVOPACK for Speed/Torque

This section describes the standard speed control setting.

1. Gradually increase the speed reference input (V-REF, 1CN-5) voltage. The motor will rotate.

When a host controller such as a programmable controller performs position control, it may be difficult to directly input the speed reference voltage. In this case, constant voltage reference should be input once to ensure correct operation.

2. Check the following items in monitor mode (see page 191):

SERVOPACK

(1CN-5)

(1CN-6)

Servomotor rotates at a speed proportional to the reference voltage.

Servomotor

S Has a reference speed been input?

S Is the rotation speed the same value as the setting one?

S Does the reference speed match the actual motor speed?

S Does the motor stop when no reference is input?

2.4 Conducting a Test Run

Position

Un-00

Actual motor speed

Un-01 Reference speed

3. If the motor rotates at an extremely slow speed when 0 V is specified as the reference

voltage, correct the reference offset value as described in Section 4.2.4 Reference

Offset Automatic Adjustment

4. To change motor speed or the direction of rotation, reset the parameters shown be

low.

Cn-03

Speed reference gain (see page 68)

Cn-02 bit 0 Reverse rotation mode (see page 54)

SERVOPACK for Position Control

1. Set parameter Cn-02 so that the reference pulse form matches the host controller out-

put form. (See page 183 for details on how to set parameters.)

Selecting reference pulse form (See page 70)

Bit 3

Cn-02

Bit 4

Bit 5

2. Input slow speed pulses from the host con-

troller and execute low-speed operation.

3. Check the following items in monitor mode

(see page 191):

Host controller

Reference pulse

SERVOPACK

/PULS

/SIGN

(1CN-7) (1CN-8)

(1CN-11) (1CN-12)

Servomotor

S Has a reference pulse been input?

S Is the motor speed as designed?

S Does the reference speed match the actual motor speed?

S Does the motor stop when no reference is input?

Un-00

Actual motor speed

Un-07 Reference pulse speed display

Un-08 Position error

4. To change motor speed or the direction of rotation, reset the parameters shown as

follows.

BASIC USES OF Σ-SERIES PRODUCTS

2.4.3 Step 2: Conducting a Test Run with the Motor Connected to the Machine

Cn-24,Cn-25 Electronic gear ratio (see page 81)

Cn-02 bit 0 Reverse rotation mode (see page 54)

If an alarm occurs or the motor fails to rotate during the above operation, connector 1CN wiring is incorrect or the parameter settings do not match the host controller specifications. In this case, check the wiring and review the parameter settings, then repeat step 1.

Refer to Appendix D List of Alarm Displays and Appendix C List of Parameters.

This is all that is required to complete step 1 (conducting a test run for motor without load). Whenever possible, perform tuning associated with the host controller and other necessary adjustments in step 1 (before installing the motor on the machine).

2.4.3 Step 2: Conducting a Test Run with the Motor Connected to the Machine

After step 1 is complete, proceed to step 2 in which a test run is conducted with the motor connected to the machine. The purpose of step 2 is to adjust the SERVOPACK according to the machine characteristics. Conduct a test run according to the procedure described below.

SGDB SERVOPACK

Purposes:

Servomotor

Connect to the machine.

S Autotuning

S Speed adjustment

NOTE Before proceeding to step 2, repeat step 1 (conducting a test run for the motor without load)

until you are fully satisfied that the test has been completed successfully. Operation faults that arise after the motor is connected to the machine not only damage the machine but may also cause an accident resulting in injury or death. Therefore, all items including parameters setting and wiring should be tested as conclusively as possible before step 1 is complete.

1. Check that power is OFF. Turn the SERVOPACK power OFF.

Power supply

SERVOPACK

Power

2.4 Conducting a Test Run

2. Connect the servomotor to the machine.

Refer to Section 2.2.4 Installing the Servo-

motor.

3. Perform autotuning.

Tune the SERVOPACK according to the machine characteristics. Refer to Section 4.2.3 Autotuning.

4. Operate by reference input.

As in step 1 (conducting a test run for motor without load), perform (8) Operate by refer- ence input on page 44. Perform tuning associated with the host controller.

Install servomotor on machine.

Servomotor

Autotuning:

Automatically measures machine characteristics and performs optimum tuning

SGDB

SERVOPACK Servomotor

Host controller

Reference

SERVOPACK

Servomotor

5. Set parameters and record the settings.

Set parameters as necessary. Record all the parameter settings for maintenance purposes.

This is all that is required to conduct the test run.

Normally, the machine may cause much friction because of an insufficient running-in period. After a test run is complete, perform adequate running-in.

2.4.4 Supplementary Information on Test Run

In the following cases, always refer to the information described below before starting a test run:

• When using a servomotor with a brake

• When performing position control from the host controller

SERVOPACK

Parameters

Record the settings

J When Using a Servomotor with Brake

The brake prevents the motor shaft from rotating due to a backdriving torque. Such a torque may be created by an external force or the force of gravity acting on the load and may result in undesired motion or the load, should motor power be lost.

BASIC USES OF Σ-SERIES PRODUCTS

2.4.4 Supplementary Information on Test Run cont.

SERVOPACK uses the brake interlock output (BK) signal to control holding brake operation for a servomotor with brake.

• Vertical axis

Servomotor

Holding brake

Prevents the motor from rotating due to gravity

• Axis to which external force is applied

External force

Servomotor

NOTE To prevent faulty operation caused by gravity (or external force), first check that the motor

and holding brake operate normally with the motor disconnected from the machine. Then, connect the motor to the machine and conduct a test run.

For wiring of a servomotor with a brake, refer to Section 3.4.4 Using Holding Brake.

Power supply: Three-phase 200 V

Brake control relay

SERVOPACK

Brake power supply LPSE-2H01 (200 V input) LPDE-1H01 (100 V input)

Servomotor with brake

J When Performing Position Control from the Host Controller

Check motor operation first and then conduct a test run as described in the table below.

SGDB-jjADj

Speed reference

Host controller

Test run

Position control

Speed control

for motor without load

2.4 Conducting a Test Run

NOTE Check the motor operation with the motor disconnected from the machine. If the host con-

troller does not perform position control correctly, the motor may run out of control.

Reference from Host Controller

Jogging (constant-speed reference input from host controller)

Simple positioning

Overtravel (when P-OT and N-OT signals are used)

Check Items Check Method Review Items

Check the motor speed as follows:

D Use the speed

monitor (Un-00) of the digital operator.

Check whether the speed reference gain value (parameter Cn-03) is correct.

Check whether the dividing ratio count (parameter Cn-0A) is correct.

If the motor does not stop, review the P-OT and N-OT wiring.

Motor speed

Number of motor revolutions

Whether the motor stops rotating when P-OT and N-OT signals are input

D Run the motor at

low speed. For example, input a speed reference of

−1

60 min check that the motor makes one revolution per one second.

D Input a reference

equivalent to one motor revolution and visually check that the motor shaft makes one revolution.

D Check that the

motor stops when P-OT and N-OT signals are input during continuous motor operation.

and

2.4.5 Minimum Parameters Required and Input Signals

This section describes the minimum parameters and input signals that must be set to conduct a test run. For details on how to set each parameter, refer to Section 4.1.6 Operation in Parameter Setting Mode.

J Parameters

• Basic parameters (common to speed, torque, position control)

Cn-11

Cn-01, bit E Encoder selection

Cn-2A Motor selection (check only in substance).

Cn-2C PG power supply voltage change

• For speed/torque control

Cn-03

Speed reference gain (see page 68)

Cn-0A Dividing ratio setting

Number of encoder pulses

BASIC USES OF Σ-SERIES PRODUCTS

2.4.5 Minimum Parameters Required and Input Signals cont.

• For position control

Cn-02 bits 3, 4 and 5

Reference pulse form selection (see page 70)

Cn-24 Electronic gear ratio (numerator) (see page 81)

Cn-25 Electronic gear ratio (denominator) (see page 81)

When these parameters (except for Cn-03) are changed, always turn the power OFF, then back ON. This makes the new setting valid.

If the specified direction of rotation differs from the actual direction of rotation, the wiring may be incorrect. In this case, recheck the wiring and correct it accordingly. Then, if the direction of rotation is to be reversed, set the following parameter:

Cn-02 (bit 0)

Reverse rotation mode (see page 54)

After changing the Cn-02 setting, always turn the power OFF, then ON, to make the new setting valid.

J Input Signals

The following table lists the minimum input signals required to conduct a test run. For details of each input signal, refer to the relevant page.

Signal Name

/S-ON (servo ON) 1CN-40

(forward

P-OT

N-OT

rotation prohibited)

(reverse rotation prohibited)

Number

1CN-42

1CN-43

Function

Switching between motor ON and OFF status. The memory switch can be used to eliminate the need for external short-circuit wiring (see page 131).

Overtravel limit switch The memory switch can be used to eliminate the need for external short-circuit wiring (see page 56).

APPLICATIONS OF Σ-SERIES PRODUCTS

This chapter is prepared for readers whowish to learn more about the applications ofΣ-series products after fully understanding Chapter 2 Basic Uses of

-series Products. It explains how to set parameters for each purpose and

how to use each function. Read the applicable sections according to your requirements.

3.1 Setting Parameters According to Machine

3.2 Setting Parameters According to Host

Characteristics 54..........................

3.1.1 Changing the Direction of Motor Rotation 54...............

3.1.2 Setting the Overtravel Limit Function 56..................

3.1.3 Restricting Torque 59.................................

Controller 64..............................

3.2.1 Inputting Speed Reference 64...........................

3.2.2 Inputting Position Reference 68.........................

3.2.3 Using Encoder Outputs 73..............................

3.2.4 Using Contact I/O Signals 77...........................

3.2.5 Using Electronic Gear 79..............................

3.2.6 Using Contact Input Speed Control 83....................

3.2.7 Using Torque Control 87...............................

3.2.8 Using Torque Feed-forward Function 94..................

3.2.9 Using Torque Restriction by Analog Voltage Reference 95....

3.2.10 Using the Reference Pulse Inhibit Function (INHIBIT) 97.....

3.2.11 Using the Reference Pulse Input Filter Selection Function 98..

3.2.12 Using the Analog Monitor 99...........................

3.3 Setting Up the Σ SERVOPACK 100............

3.3.1 Setting Parameters 100.................................

3.3.2 Setting the Jog Speed 101...............................

3.3.3 Setting the Number of Encoder Pulses 102..................

3.3.4 Setting the Motor Type 103..............................

3.3.5 Adjusting the Encoder Supply Voltage 104..................

Chapter Table of Contents, Continued

3.4 Setting Stop Mode 105.......................

3.4.1 Adjusting Offset 105...................................

3.4.2 Using Dynamic Brake 106..............................

3.4.3 Using Zero-Clamp 107.................................

3.4.4 Using Holding Brake 108...............................

3.5 Running the Motor Smoothly 113..............

3.5.1 Using the Soft Start Function 113.........................

3.5.2 Using the Smoothing Function 114........................

3.5.3 Adjusting Gain 114....................................

3.5.4 Adjusting Offset 115...................................

3.5.5 Setting the Torque Reference Filter Time Constant 115........

3.6 Minimizing Positioning Time 117..............

3.6.1 Using Autotuning Function 117..........................

3.6.2 Setting Servo Gain 117.................................

3.6.3 Using Feed-forward Control 119..........................

3.6.4 Using Proportional Control 119..........................

3.6.5 Setting Speed Bias 120.................................

3.6.6 Using Mode Switch 121................................

3.7 Forming a Protective Sequence 127............

3.7.1 Using Servo Alarm Output and Alarm Code Output 127.......

3.7.2 Using Servo ON Input Signal 130.........................

3.7.3 Using Positioning Complete Signal 131....................

3.7.4 Using Speed Coincidence Output Signal 134................

3.7.5 Using Running Output Signal 136........................

3.7.6 Using OL Warning and Alarm Output Signals 138............

3.7.7 Using Servo Ready Output Signal 140.....................

3.7.8 Handling of Power Loss 141.............................

3.8 Special Wiring 142..........................

3.8.1 Wiring Instructions 142.................................

3.8.2 Wiring for Noise Control 144............................

3.8.3 Using More Than One Servo Drive 149....................

3.8.4 Using Regenerative Resistor Units 151.....................

3.8.5 Using an Absolute Encoder 152..........................

3.8.6 Extending an Encoder Cable 162.........................

3.8.7 Using SGDB SERVOPACK with High Voltage Line 164.......

3.8.8 Connector Terminal Layouts 166.........................

Before Reading this Chapter

This chapter describes how to use each 1CN connector I/O signal for the SGDB SERVOPACK and how to set the corresponding parameter.

Refer to corresponding section described below as necessary.

• A list of I/O signals of 1CN connector : Appendix B List of I/O Signals

• Terminal arrangement for I/O signals of 1CN connector : Section 3.8.8 Connector Terminal

Layouts

• A list of parameters : Appendix C List of Parameters

• How to set parameters : Section 4.1.6 Operation in Parameter Setting Mode

Parameters are divided into the following two types.

Memory switch Cn-01 and Cn-02

Constant setting Cn-03 and later

Set each bit to ON or OFF to select a function.

Set a numerical value such as a torque limit value or speed loop gain.

APPLICATIONS OF Σ-SERIES PRODUCTS

3.1.1 Changing the Direction of Motor Rotation

3.1 Setting Parameters According to Machine Characteristics

This section describes how to set parameters according to the dimensions and performance of the machine to be used.

3.1.1 Changing the Direction of Motor Rotation

This SERVOPACK provides a reverse rotation mode in which the direction of rotation can be reversed without altering the servomotor wiring. With the standard setting, forward rotation is defined as counterclockwise (ccw) rotation viewed from the drive end.

If reverse rotation mode is used, the direction of motor rotation can be reversed without other items being changed. The direction (+/−) of axial motion is reversed.

Standard Setting Reverse Rotation Mode

Forward Run Reference

Reverse Run Reference

Encoder output from SERVOPACK

PAO (Phase A)

PBO (Phase B)

Encoder output from SERVOPACK

PAO (Phase A)

PBO (Phase B)

Encoder output from SERVOPACK

PAO (Phase A)

PBO (Phase B)

Encoder output from SERVOPACK

PAO (Phase A)

PBO (Phase B)

3.1 Setting Parameters According to Machine Characteristics

J Setting Reverse Rotation Mode

Reverse rotation mode can be set in either of the following two ways. Normally, method 1 is easier to use.

Method 1: Setting Memory Switch

Set bit 0 of memory switch Cn-02 to select reverse rotation mode.

Cn-02 Bit 0 Rotation Direction

Selection

Factory Setting: 0

Set the direction of rotation.

Setting Meaning

Forward rotation is defined as

counterclockwise rotation when viewed from the drive end.

Forward rotation is defined as clockwise

rotation when viewed from the drive end.

(Standard

setting)

(Reverse

rotation

mode)

Method 2: Shorting the Wiring in the 2CN Connector

Reverse rotation mode can be set for the 2CN connector for the encoder. This method is used to standardize parameter settings without using the memory switch.

In this case, reverse rotation mode is set regardless of the memory switch setting.

SGDB SERVOPACK

For Speed/Torque Control and Position Control

SGMj servomotor

Encoder

Short 2CN-1 and 2CN-7 in the 2CN connector.

APPLICATIONS OF Σ-SERIES PRODUCTS

3.1.2 Setting the Overtravel Limit Function

The overtravel limit function forces the moving part of the machine to stop when it exceeds the movable range.

Using the Overtravel Limit Function

To use the overtravel limit function, connect the following input signal terminals correctly.

Forward Rotation Prohibited

→ Input P-OT 1CN-42

→ Input N-OT 1CN-43

(Forward Overtravel)

Reverse Rotation Prohibited (Reverse Overtravel)

Input terminals for overtravel limit switch.

For linear motion, connect a limit switch to prevent damage to the machine.

P-OT

N-OT

ON: 1CN-42 is at low level.

OFF: 1CN-42 is at high level.

ON: 1CN-43 is at low level.

OFF: 1CN-43 is at high level.

Forward rotation allowed. Normal operation status.

Forward rotation prohibited (reverse rotation allowed).

Reverse rotation allowed. Normal operation status.

Reverse rotation prohibited (forward rotation allowed).

Reverse rotation side

SGMj servomotor

For Speed/Torque Control and Position Control

Forward rotation side

Limit switch

SGDB SERVOPACK

1CN-42

1CN-43

Specifying whether Input Signals for Overtravel are to be Used

Use the following parameters (memory switch) to specify whether input signals for overtravel are to be used.

Cn-01 Bit 2

Cn-01 Bit 3

Use of P-OT Input Signal Factory

Setting: 0

Use of N-OT Input Signal Factory

Setting: 0

Specifies whether the P-OT input signal for prohibiting forward rotation at overtravel (1CN-42) is to be used and whether the N-OT input signal for prohibiting reverse rotation at overtravel

For Speed/Torque Control and Position Control

SGDB SERVOPACK

1CN

-42

-43

(1CN-43) is to be used.

Specifies “1” when external short-circuit wiring is to be omitted.

The short-circuit wiring shown in the figure can be omitted when P-OT and N-OT are not used.

3.1 Setting Parameters According to Machine Characteristics

Bit Setting Meaning

Uses the P-OT input signal for prohibiting forward rotation. (Forward

rotation is allowed when 1CN-42 is at 0 V.)

Bit 2

Does not use the P-OT input signal for prohibiting forward rotation.

(Forward rotation is always allowed. This has the same effect as shorting 1CN-42 to 0 V.)

Uses the N-OT input signal for prohibiting reverse rotation. (Reverse

rotation is prohibited when 1CN-43 is open. Reverse rotation is allowed

Bit 3

when 1CN-43 is at 0 V.)

Does not use the N-OT input signal for prohibiting reverse rotation. (Reverse rotation is always allowed. This has the same effect as shorting

1CN-43 to 0 V.)

Setting the Motor Stopping Method

If the P-OT and N-OT input signals are used, set the following parameters to specify how to stop the motor.

Cn-01 Bit 8

Cn-01 Bit 9

How to Stop Motor at Overtravel

Operation to be Performed when Motor Stops after

Factory Setting: 0

Overtravel

•

Inputs signal for prohibiting forward rotation (P-OT, 1CN-42)

•

Inputs signal for prohibiting reverse rotation (N-OT, 1CN-43)

Specify how to stop the motor when either of the above signals is input.

Setting Meaning

Stop the motor in the same way as when the servo is turned OFF.

0 Cn-01 bit 8

The motor is stopped by dynamic brake or coasts to a stop. Either of these stop modes is selected by setting bit 6 of Cn-01.

Stop the motor by decelerating it with the preset torque.

Preset value: Cn-06 (EMGTRQ) emergency stop torque

Overtravel

Bit 6

Bit 8

Invalid for Torque Control

Stop mode After stop

Stop by dynamic brake

Coasting to a stop

Deceleration stop

Releasing dynamic brake

Servo OFF

Bit 9

Zero-clamp

If deceleration stop mode is selected, specify the operation to be done after the motor stops.

Setting Meaning

0 Cn-01

bit 9

Turns the servo OFF when the motor stops in deceleration stop mode.

Causes the motor to enter zero-clamp status after it stops in deceleration

stop mode.

In torque control mode, the motor stops in the same way as when the servo is turned OFF, regardless of the bit 8 setting.

APPLICATIONS OF Σ-SERIES PRODUCTS

Cn-01

3.1.2 Setting the Overtravel Limit Function

Cn-06

EMGTRQ Emergency Stop Torque

Unit:%Setting

Range: 0 to Maximum Torque

Specifies the stop torque to be applied at overtravel when the input signal for prohibiting forward or reverse rotation is to be used.

Specifies a torque value in terms of a percentage of the rated torque.

Cn-01 Bit 6

Cn-01 Bit 7

How to Stop Motor at Servo OFF

Operation to Be Performed when Motor Stops after Servo OFF

Factory Setting: 0

Factory Setting: 1

Factory Setting: Maximum Torque

Input signal for prohibiting forward rotation P-OT (1CN-42)

Input signal for prohibiting reverse rotation N-OT (1CN-43)

Invalid for 2.0 kW or more

Valid when Cn-01 bit 8 =1

Memory switch

Emergency stop torque

Stop by dynamic brake

Coasting to a stop

The SERVOPACK enters servo OFF status when:

•

Servo ON input signal (/S-ON, 1CN-40) is turned OFF.

•

Servo alarm arises.

•

Power is turned OFF.

Servo OFF

Stop mode

Stop by dynamic brake

Bit 6

Coasting to a stop

Dynamic brake is a function that electrically applies brakes by using a resistor to consume motor rotation energy.

After stop

Releasing dynamic brake

Bit 7

Holding

dynamic brake

Specify how to stop the motor when one of the above events occurs during operation.

Setting Meaning

0 Cn-01 bit 6

Stops the motor by dynamic brake.

Causes the motor to coast to a stop.

The motor power is OFF and stops due to machine friction.

If dynamic brake stop mode is selected, specify the operation to be performed when the motor stops.

Setting Meaning

0 Cn-01

bit 7

Releases dynamic brake after the motor stops.

Does not release dynamic brake even after the motor stops.

Note

For SERVOPACKs of 2.0 kW or more, bit 7 of Cn-01 can be set to 0 only.

3.1.3 Restricting Torque

The SERVOPACK can provide the following torque control:

3.1 Setting Parameters According to Machine Characteristics

• Torque restriction Level 1: To restrict the maximum output torque to protect

• Torque control Level 3: To always control output torque, not speed

the machine or workpiece

Level 2: To restrict torque after the motor moves the machine to a specified position

Level 4: To alternately use speed control and torque control

This section describes how to use levels 1 and 2 of the torque restriction function.

J How to Set Level 1: Internal Torque Limit

The maximum torque is restricted to the values set in the following parameters.

Cn-08

Cn-09

TLMTF Forward Rotation Torque Limit

TLMTR Reverse Rotation Torque Limit

Setting

Unit:

Range: 0 to

800

Unit:%Setting

Range: 0 to 800

Factory Setting: 800

For Speed/Torque Control and Position Control

Sets the maximum torque values for forward rotation and reverse rotation, respectively.

Sets these parameters when torque must be restricted according to machine conditions.

This torque restriction function always monitors torque, and outputs the signal shown on the right when the limit value is reached.

Specifies a torque limit value in terms of a percentage of the rated torque.

If a value higher than the maximum torque is set, the maximum torque value is used.

Example of Use: Machine Protection

Torque limit

Motor speed

Output Signal for Torque Restriction Function

• /CLT

• Monitor mode (Un-06) bit 4

Parameter Setting:

(Cn-2D) = jj3, j3j,3jj

Note that too small a torque limit value will result in torque shortage at acceleration or deceleration.

Torque

APPLICATIONS OF Σ-SERIES PRODUCTS

3.1.3 Restricting Torque

• Using /CLT Signal

This section describes how to use contact output signal /CLT as a torque limit output signal.

I/O power supply

Photocoupler Output

Per output:

Maximum operation voltage: 30 VDC

Maximum output current: 50 mA DC

SGDB SERVOPACK

/CLT+

/CLT−

Torque Limit Output For Speed/Torque

Output → /CLT 1CN-*1

Control and Position Control

This signal indicates whether motor output torque (current) is being restricted.

ON status: The circuit between 1CN-*1 and 1CN-*2 is closed. 1CN-*1 is at low level.

OFF status: The circuit between 1CN-*1 and 1CN-*2 is open. 1CN-*1 is at high level.

Motor output torque is being restricted. (Internal torque reference is greater than the preset value.)

Motor output torque is not being restricted. (Internal torque reference is equal to or below the preset value.)

Preset Value: Cn-08 (TLMTF)

Cn-09 (TLMTR) Cn-18 (CLMIF) : P-CL input only Cn-19 (CLMIR) : N-CL input only

Cn-2D

Output Signal Selection Factory

Setting: 210

For Speed/Torque Control and Position Control

Specifies the terminal to which /CLT is to be output.

Setting

1s place = 3 25 26

10s place = 3 27 28

100s place = 3 29 30

Output terminals (1CN-)

*1 *2

/CLT Torque detection

1s place = 3

10s place = 3

100s place = 3

(1CN-25, 26)

(1CN-27, 28)

(1CN-29, 30)

J How to Set Level 2: External Torque Limit

P-CL

3.1 Setting Parameters According to Machine Characteristics

First, use a contact input signal to make the torque (current) limit value set in the parameter valid. Torque limit can be set separately for forward and reverse rotation.

To use this function, always set bit 2 of memory switch Cn-02 to 0 (standard setting). The contact input speed control function cannot be used.

N-CL

ON: 1CN-45 is at low level.

OFF: 1CN-45 is at high level.

ON: 1CN-46 is at low level.

OFF: 1CN-46 is at high level.

Torque restriction applies during forward rotation. Limit value:

Torque restriction does not apply during forward rotation.

Torque restriction applies during reverse rotation. Limit value:

Torque restriction does not apply during reverse rotation.

/P-CL

1CN-45

/N-CL

1CN-46

SGDB SERVOPACK

Forward rotation

Reverse rotation

Without torque limit

With torque limit

Without torque limit

With torque limit

Speed

Torque

Speed

Torque

Speed

Torque

Speed

Torque

Cn-18

Cn-19

Output Signal for Torque Restriction Function

/CLT

This torque restriction function outputs the signal shown on the right.

•

Status indication mode bit data

•

• Monitor mode Un-05 bit 4

Parameter Setting: Cn-2D = jj3, j3j,3jj

Examples of Use:

• Forced stopping

• Holding workpiece by robot

Cn-18

Cn-19

CLMIF Forward External Torque Limit

CLMIR Reverse External Torque Limit

Unit:%Setting

Range: 0 to 800

Unit:%Setting

Range: 0 to 800

Factory Setting: 100

For Speed/Torque Control and Position Control

Sets a torque limit value when torque is restricted by external contact input. This function is valid when Cn-2B is set to 0, 1, 2, 7, 8, 9, 10, 11.

When /P-CL (1CN-45) is input Applies torque restriction as specified in Cn-18

When /N-CL (1CN-46) is input Applies torque restriction as specified in Cn-19

For torque restriction by analog voltage reference, refer to

Restriction by Analog Voltage Reference

Section 3.2.9 Using Torque

APPLICATIONS OF Σ-SERIES PRODUCTS

P-CL

3.1.3 Restricting Torque

• Using /P-CL and /N-CL Signals

This section describes how to use input signals /P-CL and /N-CL as torque limit input signals.

I/O power supply

Host controller

/P-CL

/N-CL

→ Input /P-CL 1CN-45

→ Input /N-CL 1CN-46

SGDB SERVOPACK

1CN-47

5mA

1CN-45

1CN-46

Forward External Torque Limit Input (Speed Selection 1)

Reverse External Torque Limit Input (Speed Selection 2)

These signals are for forward and reverse external torque (current) limit input.

This function is useful in forced stopping.

Photocoupler

For Speed/Torque Control and Position Control

Output Signal for Torque Restriction Function

• /CLT

• Status indication mode bit data

• Monitor mode Un-05 bit 4

• Parameter Setting:

Cn-2D = jj3, j3j,3jj

N-CL

ON: 1CN-45 is at low level.

OFF: 1CN-45 is at high level.

ON: 1CN-46 is at low level.

OFF: 1CN-46 is at high level.

Torque restriction applies during forward rotation. Limit value:

Torque restriction does not apply during forward rotation. Normal operation status.

Torque restriction applies during reverse rotation. Limit value:

Torque restriction does not apply during reverse rotation. Normal operation status.

The signal shown on the above are output while torque is being restricted.

This function is changed to another function depending on the setting of memory

Note

switch Cn-2B (see below).

Cn-18

Cn-19

3.1 Setting Parameters According to Machine Characteristics

To use /P-CL and /N-CL as torque limit input signals, set the following constant.

Cn-2B

Control Mode Selection Factory

Setting: 0

Prohibits the contact input speed control function.

If the contact input speed control function is used, the contents of the input signals shown below will change.

For Speed/Torque Control and Position Control

SGDB SERVOPACK

Run the motor at internally set speed

Contact input

SGMj servomotor

After this memory switch is reset, the meanings of the following signals will also change:

Monitor mode (Un-05) bit 7 and bit 8

Setting Meaning Input Signal

Used to switch between P control and PI control and to perform other functions.

input

0, 1, 2, 7, 8, 9, 10, 11

Does not use the contact input speed control function.

/P-CON (1CN-41)

/P-CL (1CN-45) Used for forward external torque limit

/N-CL (1CN-46) Used for reverse external torque limit

3, 4, 5, 6

Uses the contact input speed control function.

0: OFF, 1: ON

/P-CON /P-CL /N-CL Speed Setting

Direction of rotation

0: Forward 1: Reverse

0 reference and so on

Cn-1F (SPEED1)

Cn-20 (SPEED2)

Cn-21 (SPEED3)

APPLICATIONS OF Σ-SERIES PRODUCTS

3.2.1 Inputting Speed Reference

3.2 Setting Parameters According to Host Controller

This section describes how to connect a Σ-series Servo to a host controller and how to set parameters.

3.2.1 Inputting Speed Reference

Input a speed reference by using the following input signal “speed reference input.” Since this signal can be used in different ways, set the optimum reference input for the system to be created.

SGDB SERVOPACK

Torque reference input (analog voltage input)

Speed reference input (analog voltage input)

→ Input V-REF 1CN-5

→ Input SG 1CN-6

Speed Reference Input For Speed Control

Signal Ground for Speed Reference Input

Use these signals when speed control (analog reference) mode is selected (Cn-2B is set to 0, 4, 7, 9, or 10).

For ordinary speed control, always wire the VREF and SG terminals.

Motor speed is controlled in proportion to the input voltage between V-REF and SG.

1CN-9

1CN-10

1CN-5

1CN-6

↕P: Represents twisted-pair cables

Standard setting

Torque reference

Speed reference

Reference speed

Only

For Speed Control Only

−1500

−3000

−4500

Set the slope in Cn-03 (VREFGN).

Input voltage (V)

J Standard Example:

Cn-03 = 500: This setting means that 6 V is 3000 min

Examples:

−1

+6 V input → 3000 min +1 V input → 500 min

−3 V input → 1500 min

in forward direction

−1

in forward direction

−1

in reverse direction

Parameter Cn-03 can be used to change the voltage input range.

−1

3.2 Setting Parameters According to Host Controller

J Example of Input Circuit

(See the figure on the right)

For noise control, always use twisted-pair cables.

Recommended Variable Resistor for Speed Setting: Type 25HP-10B manufactured by Sakae Tsushin Kogyo Co., Ltd.

When position control is performed by a host controller such as a programmable controller, connect V-REF and SG to speed reference output terminals on the host controller. In this case, adjust Cn-03 according to output voltage specifications.

The internal ¦12 V power supply can be used.

+12V

−12V

Maximum output current: 30mA

Voltage: 12V¦2V

1CN-23

1CN-24

1/2 W or more

Host controller SERVOPACK

Speed reference output terminals

Feedback pulse input terminals

↕P: Represents twisted-pair cables

470Ω 1/2W or more

SGDB SERVOPACK

1CN-5

1CN-6

1CN-5

1CN-6

1CN-33

/PAO

1CN-34 1CN-35

/PBO

1CN-36

Set parameter Cn-2B to select one of the following control modes.

Cn-2B Control Mode Selection Factory

Setting: 0

Cn-2B

Setting

Control Method

Speed Control

This is normal speed control.

• Speed reference is input from V-REF (1CN-5).

• /P-CON (1CN-41) signal is used to switch

between P control and PI control.

1CN-41 is

PI control

open

1CN-41 is

P control

at 0 V

For Speed/Torque Control and Position Control

Speed reference

P/PI changeover

SGDB SERVOPACK

1CN-5

/P-CON

1CN-41

APPLICATIONS OF Σ-SERIES PRODUCTS

Zero clamp

performed

when

Condition1:/P-CON

Condition

Motor

speed

preset

value

3.2.1 Inputting Speed Reference

Cn-2B

Setting

7, 9

Control Method

Speed Control (Contact Reference) $ Speed Control (Analog Reference)

This speed control allows switching between contact and analog references.

• Analog reference is input from V-REF (1CN-5).

• /P-CL (1CN-45) and /N-CL (1CN-46) are used

to switch between contact and analog references.

• Contact input speed is selected.

1CN-45 1CN-46

Open Open Analog

reference Closed Open

Closed Closed

Contact

reference

Open Closed

Position/Torque Control $ Speed Control

This control mode can be switched between position/torque control and speed control.

• Speed reference is input from V-REF (1CN-5).

• /P-CON (1CN-41) is used to switch the control

mode between position/torque control and speed control.

1CN-41 is

Position/Torque control

open

1CN-41 is

Speed control

at 0 V

Contact input speed control reference

Speed reference

Control method changeover

SGDB SERVOPACK

Speed reference

V-REF

/P-CL

/N-CL

SGDB SERVOPACK

/P-CON

1CN-5

1CN-45

1CN-46

1CN-5

1CN-41

Zero-clamp Speed Control

This speed control allows the zero-clamp function to be set when the motor stops.

• Speed reference is input from V-REF (1CN-5).

• /P-CON (1CN-41) signal is used to turn the

zero-clamp function ON or OFF.

1CN-41 is open

1CN-41 is at 0 V

Turns zero-clamp function OFF

Turns zero-clamp function ON

SGDB SERVOPACK

Speed reference

Zero-clamp

Zero-clampisperformed when the following two conditions are met:

Condition 2: Motor speed

Preset value: Cn-0F (ZCLVL)

1CN-5

/P-CON

1CN-41

ON.

drops below the

s turne

reset value.

•

Using /P-CON Signal:

3.2 Setting Parameters According to Host Controller

Proportional Control, etc. For Speed Control

→ Input /P-CON 1CN-41

The function of input signal /P-CON changes with Cn-2B setting.

SGDB SERVOPACK

Switching between P control and PI control

/P-CON

Cn-2B

Cn-2B Setting Meaning of /P-CON Signal

0, 1

Switching between proportional (P) control and proportional/integral (PI) control

2 (Not used)

3, 4, 5, 6

Changing the direction of rotation during contact input speed control

7, 8, 9 Switching the control mode

Switching between zero-clamp enabled and zero-clamp prohibited modes

Switching between INHIBIT enabled and INHIBIT prohibited modes

Switching between zero-clamp enabled mode and zero-clamp prohibited mode

Switching between INHIBIT enabled mode and INHIBIT prohibited mode

Switching the control mode

Changing the direction of rotation

and Position Control

TERMS

Adjust the speed reference gain using the following parameter.

Cn-03

VREFGN Speed Reference Gain

Unit: (

min

−1

Setting Range: 10 to 2000

For Speed Control Only

Zero-clamp function

This function is used for a system in which the host controller does not form a position loop. In this case, the stopping position may shift even if a speed reference is set to 0. If the zeroclamp function is turned ON, a position loop is internally formed so that the stopping position is firmly “clamped.”

APPLICATIONS OF Σ-SERIES PRODUCTS

3.2.2 Inputting Position Reference

Sets the voltage range for speed reference input V-REF (1CN-5). Sets this parameter according to the output form of the host controller or external circuit.

The factory setting is as follows: Rated speed ¦1%/6V

Motor Series Factory Setting

SGMG (1500 min−1) 250

SGMG (1000 min−1) 167

SGMD 333

SGMS, SGM, SGMP 500

Reference speed

−1

)

(min

Reference voltage (V)

Set this slope.

3.2.2 Inputting Position Reference

Input a position reference by using the following input signal “reference pulse input.” Since there are several specifications for input signal, select reference input for the system to be created.

To use position control, set the following constant.

Cn-2B

Control Mode Selection

Note Speed / Torque Control is selected at factory setting.

Cn-2B Setting Control Mode

1 Position Control

J Move Reference by Pulse Input

Inputs a move reference by pulse input.

Position reference can correspond to the following three types of output form:

• Line driver output

• +12V Open collector output

Factory setting: 0 For Speed / Torque Control and

Position Control

Reference pulse input

Reference sign input

Error counter clear input

↕P: Represents twisted-pair cables

/PULS

/SIGN

/CLR

SGDB SERVOPACK

Photocoupler

1CN-7

1CN-8

1CN-11

1CN-12

1CN-15

1CN-14

• +5V Open collector output

Connection Example 1: Line Driver Output

3.2 Setting Parameters According to Host Controller

Line Driver Used:

SN75174 manufactured by

Host controller

Line driver

Texas Instruments Inc., or MC3487 or equivalent.

Connection Example 2: Open Collector Output

Sets the value of limiting re-

Host controller

sistor R1 so that input current i falls within the following range:

Input Current i: 7 to 15 mA

SGDB SERVOPACK

Photocoupler

SGDB SERVOPACK

/PULS

/SIGN

/CLR

1CN-7

1CN-8

1CN-11

1CN-12

1CN-15

1CN-14

/PULS

1CN-7

1CN-8

Photocoupler

Examples:

• When Vcc is 12 V, R1 = 1 kΩ

• When Vcc is 5 V, R1 = 180 Ω

↕P: Represents twisted-pair cables

Note The signal logic for open collector output is as follows.

When Tr1 is ON Equivalent to high level input

When Tr1 is OFF Equivalent to low level input

The power supply inside the

Host controller

SERVOPACK can be used.

About 9mA

If this power supply is used, it will not be isolated from 0 V in the SERVOPACK.

1.5 V or less when ON

/SIGN

/CLR

/PULS

/SIGN

1CN-11

1CN-12

1CN-15

1CN-14

SGDB SERVOPACK

Photocoupler

/CLR

APPLICATIONS OF Σ-SERIES PRODUCTS

Pul

pulse

)

3.2.2 Inputting Position Reference

J Selecting the Reference Pulse Form

Use the following memory switch to select the reference pulse form to be used:

→ Input PULS 1CN-7 → Input /PULS 1CN-8 → Input SIGN 1CN-11 → Input /SIGN 1CN-12

Reference Pulse Input For Position Control Only

Reference Sign Input For Position Control Only

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

Cn-02 Bit 3

Cn-02 Bit 4

Cn-02 Bit 5

Reference Pulse Form Selection

Sets the form of a reference pulse that is external-

Factory Setting: 0

For Position Control Only

Host controller

ly output to the SERVOPACK.

Sets the pulse form according to the host controller specifications.

Position reference pulse

SGDB SERVOPACK

(1CN-7)

(1CN-11)

Set also the input pulse logic in bit D of Cn-02.

Bit D

(Positive

logic

setting

Cn-02

Bit5Bit4Bit

0 0 0

0 1 0

0 1 1

1 0 0

0 0 1

Input

Multipli-

¢1

¢2

¢4

Refer-

ence

Pulse

Form

Sign + pulse train

Twophase

train with 90 phase difference

CW pulse + CCW pulse

otorForwar

Reference

(1CN-7)

(1CN-11)

(1CN-7)

(1CN-11)

(1CN-7)

(1CN-11)

otorReverseRun

Reference

(1CN-7)

(1CN-11)

(1CN-7)

(1CN-11)

(1CN-7)

(1CN-11)

Bit D

pulse

set

(1CN-1

(Nega-

tive log-

ic set-

ting)

Cn-02

Bit

0 0 0

0 1 0

0 1 1

1 0 0

0 0 1

Bit

Input

Input Pulse

Pulse

Multipli-

¢1

¢2

¢4

Refer-

ence

Pulse

Pulse Form

Form

Sign + pulse train

Twophase

train with 90° phase difference

CW pulse + CCW pulse

3.2 Setting Parameters According to Host Controller

Motor Forward Run

Reference

(1CN-7)

(1CN-11)

(1CN-7)

(1CN-11)

Motor Reverse Run

Reference

(1CN-7)

(1CN-11)

(1CN-7)

(1CN-11)

(1CN-7)

(1CN-11)

Servo ON

Base block

Sign + pulse train

PG pulse

Input Pulse Multiply Function:

When the reference form is two-phase pulse train with 90° phase difference, the input pulse multiply function can be used.

The electronic gear function can also be used to convert input pulses.

Example of I/O Signal Generation Timing

Release

1CN-11

1CN-7

Number of motor move pulses

(1CN-7)

(1CN-11)

Input reference pulse

t1 ≤ 30 ms t2 ≤ 6ms

(When parameter Cn-12 is set to 0)

t3 ≥ 40 ms

t4, t5, t6 ≤ 2ms t7 ≥ 20 μs

/COIN

Note The interval from the time the servo ON signal is turned ON until a reference pulse is

input must be at least 40 ms. Otherwise, the reference pulse may not be input. The error counter clear (CLR) signal must be ON for at least 20 μs. Otherwise, it becomes invalid.

APPLICATIONS OF Σ-SERIES PRODUCTS

3.2.2 Inputting Position Reference

Allowable Voltage Level and Timing for Reference Pulse Input

Reference Pulse Form Electrical Specifications Remarks

Sign + pulse train input (SIGN + PULS signal)

Maximum reference frequency: 450 kpps

The signs for each reference pulse are as follows:

90° different two-phase pulse train (phase A + phase B)

Maximum reference frequency x 1 multiplier: 450 kpps x 2 multiplier:

Phase B is 90° forward from phase B

400 kpps x 4 multiplier: 200 kpps

CCW pulse + CW pulse

Maximum reference frequency: 450 kpps

J Cleaning the Error Counter

The following describes how to clear the error counter.

Phase A

Phase B

Phase B is 90° behind phase B

CCW pulse

CW pulse

Parameter Cn-02 (bits 3, 4 and 5) is used to switch the input pulse multiplier mode.

→ Input CLR 1CN-15

→ Input /CLR 1CN-14

Setting the CLR signal to high level does the following:

• Sets the error counter inside the SERVOPACK to 0.

• Prohibits position loop control.

Error Counter Clear Input For Position

Control Only

Error Counter Clear Input For Position

Control Only

SGDB SERVOPACK

Clear

Position loop error counter

Use this signal to clear the error counter from the host controller.

Bit A of memory switch Cn-02 can be set so that the error counter is cleared only once when the leading edge of an input pulse rises.

3.2 Setting Parameters According to Host Controller

Cn-02 Bit A

Error Counter Clear Signal Selection

Selects the pulse form of error counter clear signal CLR (1CN-15).

Setting Meaning

Clears the error counter when the CLR signal is set at high level. Error pulses

do not accumulate while the signal remains at high level.

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

3.2.3 Using Encoder Outputs

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

Factory Setting: 0

For Position Control Only

1CN-15

Cleared state

Cleared only once at this point

SGMj servomotor encoder

Phase A Phase B Phase C

SGDB SERVOPACK

Frequency dividing

circuit

This output is explained here.

Host controller

Phase A Phase B Phase C

TERMS

Divided (or dividing)

“Dividing” means converting an input pulse train from the encoder mounted on the motor according to the preset pulse density and outputting the converted pulse. The unit is pulses per revolution.

APPLICATIONS OF Σ-SERIES PRODUCTS

3.2.3 Using Encoder Outputs

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

SGDB SERVOPACK

Phase A

Phase B

Phase C

↕P: Represents twisted-pair cables

1CN-33

1CN-34

1CN-35

1CN-36

1CN-19

1CN-20

1CN-1

1CN-50

/PAO

/PBO

/PCO

Host controller

Line receiver

Phase A

Phase B

Phase C

Choke coil

Smoothing capacitor

Line receiver used: SN75175 manufactured by Texas

Instruments Inc. or MC3486 (or

equivalent) R (termination resistor): 220 to 470 Ω C (decoupling capacitor): 0.1 μF

J I/O Signals

I/O signals are described below.

Output → PAO 1CN-33

Output → /PAO 1CN-34

Output → PBO 1CN-35

Output → /PBO 1CN-36

Output → PCO 1CN-19

Output → /PCO 1CN-20

Encoder Output Phase-A

Encoder Output Phase-/A

Encoder Output Phase-B

Encoder Output Phase-/B

Encoder Output Phase-C

Encoder Output Phase-/C

For Speed/Torque Control and Position Control

Divided encoder signals are output.

Always connect these signal terminals when a position loop is formed in the host controller to perform position control.

Set a dividing ratio in the following parameter.

Dividing ratio setting Cn-0A PGRAT

The dividing ratio setting is not relevant to the gear ratio setting (Cn-24, 25) for the electronic gear function of the SERVOPACK when used for position control.

3.2 Setting Parameters According to Host Controller

Output Phase Form

Incremental Encoder

Forward rotation Reverse rotation

Phase A

Phase B

Phase A

Phase B

Phase C

Absolute Encoder

Forward rotation Reverse rotation

Phase A

Phase B

Phase C

→ Input SEN 1CN-4

→ Input SG 1CN-2

Output → PSO 1CN-48

Output → /PSO 1CN-49

→ Input BAT 1CN-21

→ Input BAT0 1CN-22

SEN Signal Input For Speed/Torque Control

Signal Ground For Speed/Torque Control

Encoder Output Phase-S

Encoder Output Phase-/S

Battery (+) For Speed/Torque Control

Battery (−) For Speed/Torque Control

Phase C

Phase A

Phase B

Phase C

Only

For Speed/Torque Control and Position Control

and Position Control

Use these signals (SEN to BAT0) for absolute encoders. For details, refer to Section

3.8.5 Using an Absolute Encoder.

Output → SG 1CN-1

Output → FG 1CN-50

Signal Ground For Speed/Torque Control

and Position Control

Frame Ground For Speed/Torque Control

and Position Control

SG: Connect to 0 V on the host controller. FG: Connect to the cable shielded wire.

APPLICATIONS OF Σ-SERIES PRODUCTS

3.2.3 Using Encoder Outputs

J Selecting the Encoder Type

Use the following memory switch to specify the type of the encoder to be used.

Cn-01 Bit E

Encoder Type Selection Factory

Setting: 0

For Speed/Torque Control and Position Control

Sets the encoder type according to the servomotor type as shown in the table.

After changing the memory switch setting, always turn the power OFF, then ON.

Motor Type

encoder

specifications

2 Incremental encoder:

3 Incremental encoder:

6 Incremental encoder:

W Absolute encoder:

S Absolute encoder:

Number of Encoder Pulses Per Revolution (P/R)

8192 pulses per revolution

2048 pulses per revolution

4096 pulses per revolution

1024 pulses per revolution

8192 pulses per revolution

J Setting the Pulse Dividing Ratio

Set the pulse dividing ratio in the following parameter.

Cn-0A

PGRAT Dividing Ratio Setting

Unit: P/R

Setting Range: 16 to 32768

For Speed/Torque Control and Position Control

Setting

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

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

SGMj servomotor encoder

Phase A

Phase B

SGDB SERVOPACK

Frequency dividing

Output terminals: PAO (1CN-33) /PAO (1CN-34) PBO (1CN-35) /PBO (1CN-36)

Phase A

Phase B output

The number of output pulses per revolution is set in this parameter. Set this value according to the reference unit of the machine or controller to be used.

The setting range varies according to the encoder used.

Setting example:

Motor Type

Number of Encoder Pulses Per Revolution Setting Range

encoder

specifications

2 Incremental encoder: 8192 pulses per revolution 16 to 8192

3 Incremental encoder: 2048 pulses per revolution 16 to 2048

6 Incremental encoder: 4096 pulses per revolution 16 to 4096

W Absolute encoder: 1024 pulses per revolution 16 to 1024

S Absolute encoder: 8192 pulses per revolution 16 to 8192

Preset value: 16

1 revolution

After changing the parameter setting, always turn the power OFF, then ON.

3.2.4 Using Contact I/O Signals

J Contact Input Signal Terminal Connections

These signals are used to control SGDB SERVOPACK operation. Connect these signal terminals as necessary.

I/O power supply

Host controller

3.2 Setting Parameters According to Host Controller

SGDB SERVOPACK

Photocoupler

/P-CL

1CN-47

1CN-45

/N-CL

/S-ON

/P-CON

/ALMRST

1CN-46

1CN-40

1CN-41

1CN-42

1CN-43

1CN-44

Note Provide an external I/O power supply separately.

There are no power terminals available from the SGDB SERVOPACK outputs signals externally.

External Power Supply: 24 1 VDC

50 mA or more

Yaskawa recommends that this external power supply be the same type as for the output circuit.

I/O Power Supply For Speed/Torque

→ Input +24VIN 1CN-47

This external power supply input terminal is common to the following contact input signals:

Contact Input Signals: /P-CL (1CN-45)

/N-CL (1CN-46) /S-ON (1CN-40) /P-CON (1CN-41) P-OT (1CN-42) N-OT (1CN-43) /ALMRST (1CN-44)

Control and Position Control

SGDB SERVOPACK

I/O power supply

1CN-47

Connect an external I/O power supply.

APPLICATIONS OF Σ-SERIES PRODUCTS

3.2.4 Using Contact I/O Signals

J Contact Output Signal Terminal Connections

These output signals are used to indicate SGDB SERVOPACK operation status.

Photocoupler output

Per output

Maximum operational voltage: 30 VDC Maximum output current: 50 mA DC

Open collector output

Per output

Maximum operational voltage: 30 VDC Maximum output current: 20 mA DC

SGDB SERVOPACK

Photocoupler

/V-CMP+

/V-CMP−

/TGON+

/TGON− /S-RDY+

/S-RDY−

Note Provide an external I/O power supply separately.

There are no power terminals to which the SGDB SERVOPACK outputs signals externally. Yaskawa recommends that this external power supply be the same type as for the input circuit.

I/O power supply

Host controller

3.2.5 Using Electronic Gear

The electronic gear function enables the motor travel distance per input reference pulse to be set to any value. It allows the host controller to perform control without having to consider the machine gear ratio and the number of encoder pulses.

3.2 Setting Parameters According to Host Controller

When Electronic Gear Function is Not Used

Workpiece

Number of encoder pulses: 2,048

To move a workpiece 10 mm :

One revolution is equivalent to 6 mm, so

10  6 = 1.6666 (revolutions)

2048 x 4 (pulses) is equivalent to one revolution, so

1.6666 x 2,048 x 4 = 13,653 (pulses)

A total of 13653 pulses must be input as a reference.

The host controller needs to make this calculation.

Ball screw pitch: 6 mm

When Electronic Gear Function is Used

Workpiece

Number of encoder pulses: 2,048

Machine conditions and reference unit must be defined for the electronic gear function beforehand.

To move a workpiece 10 mm:

Reference unit is 1 μm, so 10 mm  1 μm = 10,000 pulses

Reference unit: 1 μm

Ball screw pitch: 6 mm

J Setting the Electronic Gear

Calculate the electronic gear ratio (B/A) according to the procedure below and set the value in Cn-24 and Cn-25.

1. Check the machine specifications.

Items related to electronic gear:

− Gear ratio

− Ball screw pitch

Gear ratio

− Pulley diameter

2. Check the number of encoder pulses for the SGMj servomotor.

Motor Type

encoder

specifications

3 2048

6 4096

S 8192

Encoder Type Number of Encoder

Pulses Per Revolution

Incremental encoder

Absolute encoder

(P/R)

8192

1024

Same as parameter Cn-11 settings.

Ball screw pitch

APPLICATIONS OF Σ-SERIES PRODUCTS

3.2.5 Using Electronic Gear

3. Determine the reference unit to be used.

Reference unit is the minimum unit of position data used for moving the load.

To move a table in 0.001 mm units

Reference unit: 0.001 mm

(Minimum unit of reference from host controller)

Examples:

0.01 mm, 0.001 mm, 0.1°, 0.01 inch

Determine the reference unit according to

Reference input of one pulse moves the load

machine specifications and positioning accuracy.

by one reference unit.

Example: When reference unit is 1 μm If a reference of 50,000 pulses is input, the load moves 50 mm (50,000 x 1 μm).

4. Determine the load travel distance per revolution of load shaft in reference units.

Load travel distance per revolution of load shaft (in reference units)

Load travel distance per revolution of load shaft (in unit of distance)

Reference unit

Example: When ball screw pitch is 5 mm and reference unit is 0.001 mm

5/0.001 = 5,000 (reference units)

Ball Screw Disc Table Belt & Pulley

Load shaft

1 revolution

P: Pitch

Reference unit

1 revolution

5. Determine the electronic gear ratio





Load shaft

360°

Reference unit

Load shaft

1 revolution

If the load shaft makes “n” revolutions when the motor shaft makes “m” revolutions, the gear ratio of motor shaft and load shaft is



Electronic gear ratio

Travel distance per revolution of load shaft (in reference units)



Number of encoder pulses x 4

NOTE Make sure that the electronic gear ratio meets the following condition:



0.01 ≤ Electronic gear ratio ≤ 100



If the electronic gear ratio is outside this range, the SERVOPACK does not work properly. In this case, modify the load configuration or reference unit.

D: Pulley diameter

π D

Reference unit

3.2 Setting Parameters According to Host Controller

6. Set the electronic gear ratio in the parameters below.

Reduce the electronic gear ratio

integer smaller than 65535, then set A and B in the following parameters.

to their lowest terms so that both A and B are an









This is all that is required to set the electronic gear.

Cn-24

Cn-25

Set the electronic gear ratio according to machine specifications.

Electronic gear ratio

B = [(Number of encoder pulses) x 4] x [Motor shaft rotating speed] A = [Reference unit (load travel distance per revolution of load shaft)] x [Load shaft

Cn-24 RATB Electronic gear ratio (numerator)

Cn-25 RATA Electronic gear ratio (denominator)

RATB Electronic Gear Ratio (Numerator)

RATA Electronic Gear Ratio (Denominator)



rotating speed]



Unit: None

Cn-24 Cn-25

Setting Range: 1 to 65535

Factory Setting: 4

Factory Setting: 1

Input reference pulse

For Position Control Only

SGDB SERVOPACK

Electronic gear

SGMj servomotor

Note that the parameter settings must meet the following condition:

0.01 ≤





≤ 100

APPLICATIONS OF Σ-SERIES PRODUCTS

3.2.5 Using Electronic Gear

J Examples of Setting an Electronic Gear Ratio for Different Load Mechanisms

Ball Screw

Reference unit: 0.001 mm

Load shaft

Travel distance per revolution of load shaft

Electronic gear ratio





6mm

0.001mm

2048 × 4 × 1

6000 × 1

= 6000

Cn-24 Cn-25

Incremental encoder: 2048 pulses per revolution

Ball screw pitch: 6 mm

Disc Table

Reference unit:

0.1°

Load shaft

Incremental encoder: 2048 pulses per revolution

Belt & Pulley

Reference unit: 0.0254 mm

Load shaft

Gear ratio:

2.4 : 1

Absolute encoder: 1024 pulses per revolution

Pulley diameter: 100 mm

Gear ratio: 3:1

Travel distance per revolution of load shaft

Electronic gear ratio

Preset values

Travel distance per revolution of load shaft

Electronic gear ratio

9830.4 12362

49152 61810

Preset values







3.14x100

Preset values

Cn-24

Cn-25

360°



Cn-24

Cn-25

0.0254

1024 × 4 × 2.4

12362 × 1

= 3600

0.1°

2048 × 4 × 3

3600 × 1

24576

3600

Cn-24

Cn-25

8192

6000

= 12362

Cn-24

Cn-25

49152

61810

Cn-24 Cn-25

J Control Block Diagram for Position Control

SGDB SERVOPACK for position control

Feed− forward gain

Frequency dividing

Error counter

Reference pulse

PG signal output

Differentiation

Smoothing

Primary lag filter

Bias

Speed

loop

/COIN signal

Current loop

SGMj servomotor

Encoder

3.2.6 Using Contact Input Speed Control

The contact input speed control function provides easy-to-use speed control. It allows the user to initially set three different motor speeds in parameters, select one of the speeds externally by contact input and run the motor.

SGDB SERVOPACK

3.2 Setting Parameters According to Host Controller

/P-CON

Contact input

No external speed setting device or pulse generator is required.

Using the Contact Input Speed Control Function

/P-CL

/N-CL

1CN-41

1CN-45

1CN-46

SGMj servomotor

Speed selection

The motor is operated at the speed set in the parameter.

Parameters

To use the contact input speed control function, perform Steps a) to c).

1. Set memory switch Cn-02 as follows.

Cn-2B

Control Mode Selection Factory

Setting: 0

For Speed/Torque Control and Position Control

Enables the contact input speed control function.

If the contact input speed control function is used, the contents of the input signals shown be-

Contact input

SERVOPACK

Run the motor at internally set speed

Servomotor

low will change.

When this memory switch is reset, the meanings of the following signals will also change:

Monitor mode (Un-05) bit 7 and bit 8

APPLICATIONS OF Σ-SERIES PRODUCTS

the

contact

10,1

input

speed

NoteInth

the

posi

pulse

3.2.6 Using Contact Input Speed Control

Setting Meaning Input Signal

0, 1, 2, 7, 8, 9,

Does not use

input speed control function.

/P-CON (1CN-41) Used to switch between P control and PI

control and to perform other functions.

/P-CL (1CN-45) Used for forward external current limit input

/N-CL (1CN-46) Used for reverse external current limit input

Uses the contact input

3, 4, 5,

speed control function.

case of the position control type, thereference

/P-CON /P-CL /N-CL Speed Setting

Direction of rotation

0: Forward 1: Reverse

0 0 0 reference and so on

0 1 Cn-1F, SPEED1

1 1 Cn-20, SPEED2

pulse inhibit func-

1 0 Cn-21, SPEED3

tion (INHIBIT) cannot be used.

2. Set three motor speeds in the following parameters.

0: OFF, 1: ON

Cn-1F

Cn-20

Cn-21

SPEED1 1st Speed (Contact Input Speed Control)

SPEED2 2nd Speed (Contact Input Speed Control)

SPEED3 3rd Speed (Contact Input Speed Control)

Unit:

min

Unit:

min

Unit:

min

Setting

−1

Range: 0 to 10000

Setting

−1

Range: 0 to 10000

Setting

−1

Range: 0 to 10000

Use these parameters to set motor speeds when the contact input speed control function is used. If a value higher than the maximum speed is set, the maximum speed value is used.

Speed selection input signals /P-CL (1CN-45) and /N-CL (1CN-46), and rotation direction selection signal /P-CON (1CN-41) enable the motor to run at the preset speeds.

3. Set the soft start time.

Cn-07

Cn-23

SFSACC Soft Start Time (Acceleration)

SFSDEC Soft Start Time (Deceleration)

Unit:msSetting

Range: 0 to 10000

Factory Setting: 100

Factory Setting: 200

Factory Setting: 300

Contact input speed control

Contact input

Factory Setting: 0

For Speed Control only

SERVOPACK

Run the motor at internally set speed

Servomotor

For Speed Control only

3.2 Setting Parameters According to Host Controller

Selected

rotation

In the SERVOPACK,a speed reference is multiplied by the preset acceleration or deceleration value to provide speed control.

When a progressive speed reference is input or contact input speed control is used, smooth speed control can be performed. (For normal

Cn-07: Set this time interval.

speed control, set “0” in each parameter.)

Set the following value in each parameter.

Cn-23: Set this time interval.

•

Cn-07: Time interval from the time the motor starts until it reaches the maximum speed

•

Cn-23: Time interval from the time the motor is running at the maximum speed until it stops

Operating by Contact Input Speed Control Function

Contact input speed control performs the following operation.

The following input signals are used to start and stop the motor.

Speed reference

SERVOPACK contact input speed reference

Soft start

Maximum speed

Speed Selection 1 (Forward

→ Input /P-CL 1CN-45

→ Input /N-CL 1CN-46

External Torque Limit Input)

Speed Selection 2 (Reverse External Torque Limit Input)

When Contact Input Speed Control is used:

Contact Signal Parameter

/P-CON /P-CL /N-CL Cn-2B

−−−−

Direction of rotation 0: Forward rotation 1: Reverse rotation

0 1 SPEED 1 (Cn-1F)

1 1

1 0

Common to 3, 4, 5 and

For Speed/Torque Control and Position Control

pee

Stopped by internal speed reference 0

Analog speed reference input (V-REF)

Pulse reference input (position control)

Analog torque reference input (torque control)

SPEED 2 (Cn-20)

SPEED 3 (Cn-21)

−−−−: Not used

Modes Other Than Contact Input Speed Control

Input signals are used as external torque limit input.

APPLICATIONS OF Σ-SERIES PRODUCTS

3.2.6 Using Contact Input Speed Control

Input signal /P-CON is used to specify the direction of motor rotation.

Proportional Control, etc. For Speed/Torque

→ Input /P-CON 1CN-41

Control and Position Control

When Contact Input Speed Control is used:

Use input signal /P-CON to specify the direction of motor rotation.

/P-CON Meaning

1 Reverse rotation

0 Forward rotation

0: OFF (high level), 1: ON (low level)

Modes Other Than Contact Input Speed Control

/P-CON signal is used for proportional control, zero-clamp and torque/speed control changeover.

The figure below illustrates an example of operation in contact input speed control mode. Using the soft start function reduces physical shock at speed changeover.

When Contact Input Speed Control is Used

Motor speed

2nd speed

1st speed

3rd speed

Set acceleration and deceleration values in Cn-07 and Cn-23 (soft start time).

/P-CL

/N-CL

/P-CON

Stopped

1st speed

2nd speed

3rd speed

OFF OFF OFF OFF OFF

ON ON

OFFOFFOFF

ONONON

ONONONON

OFF

Stopped

OFFOFF

OFFOFFOFFOFF

3.2 Setting Parameters According to Host Controller

Note When the parameter Cn-2B is set to 5, the soft start function works only in contact

input speed control mode. The soft start function is not available when pulse reference input is used. If contact input speed control mode is switched to pulse reference input mode when the motor is running at the 1st, 2nd or 3rd speed, the SERVOPACK does not receive a pulse reference until positioning complete signal /COIN is output.

Always start outputting a pulse reference from the host controller after a positioning complete signal is output from the SERVOPACK.

Signal Generation Timing for Position Control Type

Motor speed

−1

0 min

/COIN

Pulse reference

/N-CL

/P-CL

Selected speed

1st speed

The above figure illustrates signal generation timing when the soft start function is used. The value of t

is not influenced by use of the soft start function.

A maximum of 6 ms delay occurs when /P-CL or /N-CL signal is read.

3.2.7 Using Torque Control

The SERVOPACK can provide the following torque control:

• Torque restriction Level 1: To restrict the maximum output torque to protect

2nd speed

3rd speed

Pulse reference

the machine or workpiece

Level 2: To restrict torque after the motor moves the machine to a specified position

1st speed

• Torque control Level 3: To always control output torque, not speed

Level 4: To switch between torque control and other control

This section describes how to use levels 3 and 4 of the torque control function.

APPLICATIONS OF Σ-SERIES PRODUCTS

usedasspeed

limit

when

bit2of

Cn-02

3.2.7 Using Torque Control

J Selecting Torque Control

Use the following parameter to select level 3 or level 4 torque control.

Cn-2B

Control Mode Selection Factory

Setting: 0

For Speed/Torque Control and position Control

This is dedicated torque control.

A motor torque reference value is externally input into the SERVOPACK to control torque.

Examples of Use: Tension control

Pressure control

Cn-2B Control Mode

Torque Control

This is a dedicated torque control mode.

• A torque reference is input from T-REF

Torque reference

Speed limit

(1CN-9).

• /P-CON is not used.

• Speed reference input V-REF (1CN-5) can

be used as s is set to 1.

eed limit when bit 2 of Cn-02

• Parameter Cn-14 can be used for maximum speed control.

Example of Use:

Tension control

Tension

SGDB SERVOPACK

SERVOPACK

Torque Control $ Speed Control (Analog Reference)

Torque control and speed control can be switched.

• A speed reference or speed limit value is input from V-REF (1CN-5).

• T-REF (1CN-9) inputs a torque reference,

torque feed-forward reference or torque limit value depending on the control mode used.

Speed reference

Torque reference

Switching between speed and torque reference

/P-CON

SERVOPACK

1CN-5

1CN-9

1CN-11

• /P-CON (1CN-41) is used to switch between torque control and speed control.

When 1CN-41 is open

When 1CN-41 is at 0 V

Torque control

Speed control

Yaskawa SGDB User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

PREFACE

NOTES FOR SAFE OPERATION

Manual Contents

Manual Structure

Basic Terms

Visual Aids

CONTENTS

FOR FIRST-TIME USERS OF AC SERVOS

1.1 Servo Mechanisms

1.2 Servo Configuration

1.3.1 Servomotor Type

1.3.2 Control Type of SERVOPACKs

1.3.3 How to Use the SGDB SERVOPACKs

2.1.1 Notes on Use

2.1 Precautions

2.2.2 Servomotors

2.2 Installation

2.2.1 Checking on Delivery

2.2.3 SERVOPACKs

2.2.4 Installing the Servomotor

2.2.5 Installing the SERVOPACK

2.3.1 Connecting to Peripheral Devices

2.3 Connection and Wiring

2.3.2 Main Circuit Wiring and Power ON Sequence

2.3.3 Connection to Host Controller

2.4 Conducting a Test Run

2.4.1 Test Run in Two Steps

2.4.2 Step 1: Conducting a Test Run for Motor without Load

2.4.3 Step 2: Conducting a Test Run with the Motor Connected to the Machine

2.4.4 Supplementary Information on Test Run

2.4.5 Minimum Parameters Required and Input Signals

3.1.1 Changing the Direction of Motor Rotation

3.1 Setting Parameters According to Machine Characteristics

3.1.2 Setting the Overtravel Limit Function

3.1.3 Restricting Torque

3.2.1 Inputting Speed Reference

3.2 Setting Parameters According to Host Controller

3.2.2 Inputting Position Reference

3.2.3 Using Encoder Outputs

3.2.4 Using Contact I/O Signals

3.2.5 Using Electronic Gear

3.2.6 Using Contact Input Speed Control

3.2.7 Using Torque Control