YASKAWA SGLGW, SGLFW, SGLTW, SGDH SERVOPACK User Manual

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Linear Series SGL□□/SGDH

USER'S MANUAL

SGLGW/SGLFW/SGLTW Linear Servomotors SGDH SERVOPACK

YASKAWA

YA S K A WA

MANUAL NO. YEA-SIA-S800-39.21

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

About this Manual

Intended Audience



This manual is intended for the following users.

•

Those selecting Σ-II Series servodrives or peripheral devices for Σ-II Series servodrives.

•

Those wanting to know about the ratings and characteristics of Σ-II Series servodrives.

•

Description of Technical Terms



The terms in this manual are defined as follows:

• Servomotor or motor =

• SERVOPACK = Σ-II Series SGDH amplifier.

• Servodrive = A set including a servomotor and servo amplifier.

• Servo System = A servo control system that includes the combination of a servodrive with a host

• Parameter number = Numbers that the user inputs toward the SERVOPACK.

Indication of Reverse Signals



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

• S-ON

• P-CON

designing Σ-II Series servodrive systems.

Those

Those installing or wiring Σ-II Series servodrives.

Those performing trial operation or adjustments of Σ-II Series servodrives.

Those maintaining or inspecting Σ-II Series servodrives.

Linear Σ Series SGLGW, SGLFW and SGLTW linear servomotor

computer and peripheral devices.

/S-ON

/P-CON

iii

Safety Information

The following conventions are used to indicate precautions in this manual. Failure to heed precautions provided in this manual can result in serious or possibly even fatal injury or damage to the products or to related equipment and systems.

WARNING

CAUTION

PROHIBITED

MANDATORY

Indicates precautions that, if not heeded, could possibly result in loss of life or serious

injury.

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

injury, damage to the product, or faulty operation.

In some situations, the precautions indicated could have serious consequences if not heeded.

Indicates prohibited actions that must not be performed. For example, this symbol

would be used as follows to indicate that fire is prohibited: .

Indicates compulsory actions that must be performed. For example, this symbol would

be used as follows to indicate that grounding is compulsory: .

The warning symbols for ISO and JIS standards are different, as shown below.

ISO JIS

The ISO symbol is used in this manual. Both of these symbols appear on warning labels on Yaskawa products. Please abide by these warning labels

regardless of which symbol is used.

iii

Notes for Safe Operation

Read this manual thoroughly before checking products on delivery, storage and transportation, installation, wiring, operation and inspection, and disposal of the AC servodrive.

WARNING

• If you have a pacemaker or any other electronic medical device, do not go near the magnetic way of the linear servomotor.

Failure to observe this warning may result in the malfunction of the medical device.

• Be sure to use nonmagnetic tools when installing or working close to the linear servomotor. (Example: a beryllium-copper alloy hexagonal wrench set, made by NGK Insulators, Ltd.)

• If starting an operation with the linear servomotor in a machine, set the linear servomotor to always allow emergency stops.

Failure to observe this warning may result in injury.

• Never touch the linear servomotor or machinery during operation.

Failure to observe this warning may result in injury.

• Before wiring, install the SERVOPACK and the linear servomotor.

Failure to observe this warning may result in electric shock.

• Do not operate switches with wet hands.

Failure to observe this warning may result in electric shock.

• Never touch the inside of the SERVOPACKs.

Failure to observe this warning may result in electric shock.

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

Residual voltage may cause electric shock.

• Do not touch terminals for five minutes after voltage resistance test.

Residual voltage may cause electric shock.

• Make sure that the main circuit power cable, the control power cable, and the linear servomotor main circuit cable are wired correctly.

Failure to observe this warning may result in damage to the SERVOPACK.

• Follow the procedures and instructions for trial operation precisely as described in this manual.

Malfunctions that occur after the servomotor is connected to the equipment not only damage the equipment, but may also cause an accident resulting in death or injury.

• The SGDH SERVOPACK supports both AC and DC power. If DC power is supplied to the SERVOPACK without setting Pn001=n1 (DC power input), the internal components of the SERVOPACK will burn and may result in fire or serious damage.

Before using a DC power supply, be sure to check the parameter Pn001 setting.

• Do not remove the front cover, cables, connectors, or optional items while the power is ON.

Failure to observe this warning may result in electric shock.

• Do not damage, press, exert excessive force or place heavy objects on the cables.

Failure to observe this warning may result in electric shock, stopping operation of the product, or burning.

WARNING

• Provide an appropriate stopping device on the machine side to ensure safety. A holding brake for a servomotor with brake is not a stopping device for ensuring safety.

Failure to observe this warning may result in injury.

• Do not come close to the machine immediately after resetting momentary power loss to avoid an unexpected restart. Take appropriate measures to ensure safety against an unexpected restart.

Failure to observe this warning may result in injury.

• Connect the ground terminal to electrical codes (ground resistance: 100 Ω or less).

Improper grounding may result in electric shock or fire.

• Installation, disassembly, or repair must be performed only by authorized personnel.

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

• Do not modify the product.

Failure to observe this warning may result in injury or damage to the product.

Checking on Delivery



CAUTION

• Always use the linear servomotor and SERVOPACK in one of the specified combinations.

Failure to observe this caution may result in fire or malfunction.

Storage and Transportation



CAUTION

• Do not store or install the product in the following places.

• Locations subject to direct sunlight.

• Locations subject to temperatures outside the range specified in the storage or installation temperature conditions.

• Locations subject to humidity outside the range specified in the storage or installation humidity conditions.

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

• Locations subject to corrosive or flammable gases.

• Locations subject to dust, salts, or iron dust.

• Locations subject to exposure to water, oil, or chemicals.

• Locations subject to shock or vibration.

Failure to observe this caution may result in fire, electric shock, or damage to the product.

• Do not carry the linear servomotor by its cables.

Failure to observe this caution may result in injury or malfunction.

• Do not place any load exceeding the limit specified on the packing box.

Failure to observe this caution may result in injury or malfunction.

Installation



CAUTION

• When unpacking and installing magnetic way, check that no metal fragments or magnetized objects near the stator because they may be affected by the magnetic attraction of the magnetic way.

Failure to observe this caution may result in injury or damage to the magnetic way's magnets.

• Do not use the magnetic way near metal or other magnetized objects.

Failure to observe this caution may result in injury.

• Do not place clocks, magnetic cards, floppy disks, or measuring instruments close to the magnetic way.

Failure to observe this caution may result in malfunction or damage to these items by the magnetic force.

• Securely mount the linear servomotor on to the machine.

If the linear servomotor is not mounted securely, it may loosen during operation.

• Do not carry the magnetic way by its antimagnetic cover.

Failure to observe this caution may result in injury by the cover’s edge or the shape of the cover may become distorted.

Cover

Magnetic way

• Install SERVOPACKs, linear servomotors, and regenerative resistors on nonflammable objects.

Mounting directly onto or near flammable objects may result in fire.

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

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

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

Failure to observe this caution may result in injury.

• Do not cover the inlet or outlet parts and prevent any foreign objects from entering the product.

Failure to observe this caution may cause internal elements to deteriorate resulting in malfunction or fire.

• Be sure to install the product in the correct direction.

Failure to observe this caution may result in malfunction.

• Provide the specified clearances between the SERVOPACK and the control panel or with other devices.

Failure to observe this caution may result in fire or malfunction.

• Do not apply any strong impact.

Failure to observe this caution may result in malfunction.

Wiring



CAUTION

• Securely tighten the cable connector screws and securing mechanism.

If the connector screws and securing mechanism are not secure, they may loosen during operation.

• Use power lines and cables with a radius, heat resistance, and flexibility suitable for the system.

• If the SERVOPACK malfunctions, turn OFF the main circuit’s power supply of the SERVOPACK.

The continuous flow of a large current may cause fire.

• Use a noise filter to minimize the effects of electromagnetic damage.

Failure to observe this caution may result in electromagnetic damage to electronic devices used near the SERVOPACK.

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

Failure to observe this caution may result in injury or fire.

• Securely connect the power supply terminals and motor output terminals.

Failure to observe this caution may result in fire.

• Do not bundle or run power and signal lines together in the same duct. Keep power and signal lines separated by at least 30 cm (11.81 in).

Failure to observe this caution may result in malfunction.

• Use shielded twisted-pair wire or shielded multi-core twisted-pair wire for the signal lines and feedback lines of the serial converter unit (SC).

The maximum wiring length is 3 m for the reference input line and 20 m for the SC feedback line.

• Do not touch the power terminals for five minutes after turning power OFF because high voltage may still remain in the SERVOPACK.

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

• Avoid frequently turning power ON and OFF. Do not turn power ON or OFF more than once per minute.

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

• Observe the following precautions when wiring main circuit terminal blocks.

• Remove the terminal block from the SERVOPACK prior to wiring.

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

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

• Do not connect the SERVOPACK for 100 V and 200 V directly to a voltage of 400 V.

The SERVOPACK will be destroyed.

• Be sure to wire correctly and securely.

Failure to observe this caution may result in motor overrun, injury, or malfunction.

• Always use the specified power supply voltage.

An incorrect voltage may result in burning.

• Make sure that the polarity is correct.

Incorrect polarity may cause ruptures or damage.

• Take appropriate measures to ensure that the input power supply is supplied within the specified voltage fluctuation range. Be particularly careful in places where the power supply is unstable.

An incorrect power supply may result in damage to the product.

vii

CAUTION

• Install external breakers or other safety devices against short-circuiting in external wiring.

Failure to observe this caution may result in fire.

• Take appropriate and sufficient countermeasures for each when installing systems in the following locations.

• Locations subject to static electricity or other forms of noise.

• Locations subject to strong electromagnetic fields and magnetic fields.

• Locations subject to possible exposure to radioactivity.

• Locations close to power supplies including power supply lines.

Failure to observe this caution may result in damage to the product.

Operation



CAUTION

• Do not stand within the machine's range of motion during operation.

Failure to observe this caution may result in injury.

• Before operation, install a limit switch or stopper on the end of the slider to prevent unexpected movement.

Failure to observe this caution may result in injury.

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

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

• Forward run prohibited (P-OT) and reverse run prohibited (N-OT) signals are not effective during zero point search mode using parameter Fn003.

• If using the linear servomotor on a vertical axis, install a safety device such as a counterbalance so that the workpiece does not fall if an alarm or overtravel occurs.

The workpiece may fall during overtraveling.

• When not using the normal autotuning, set to the correct mass ratio.

Setting to an incorrect moment of inertia ratio may cause vibration.

• Do not touch the SERVOPACK heatsinks, regenerative resistor, or servomotor while power is ON or soon after the power is turned OFF.

Failure to observe this caution may result in burns due to high temperatures.

• Do not make any extreme adjustments or setting changes of parameters.

Failure to observe this caution may result in injury due to unstable operation.

• When an alarm occurs, remove the cause, reset the alarm after confirming safety, and then resume operation.

Failure to observe this caution may result in injury.

viii

Maintenance and Inspection



CAUTION

• When replacing the SERVOPACK, transfer the previous SERVOPACK parameters to the new SERVOPACK before resuming operation.

Failure to observe this caution may result in damage to the product.

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

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

• Do not disassemble the linear servomotor.

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

Disposal



CAUTION

• When disposing of the products, treat them as ordinary industrial waste.

General Precautions



Note the following to ensure safe application.

• The drawings presented in this manual are sometimes shown without covers or protective guards. Always replace the cover or protective guard as specified first, and then operate the products in accordance with the manual.

• The drawings presented in this manual are typical examples and may not match the product you received.

• This manual is subject to change due to product improvement, specification modification, and manual improvement. When this manual is revised, the manual code is updated and the new manual is published as a next edition.

• If the manual must be ordered due to loss or damage, inform your nearest Yaskawa representative or one of the offices listed on the back of this manual.

• Yaskawa will not take responsibility for the results of unauthorized modifications of this product. Yaskawa shall not be liable for any damages or troubles resulting from unauthorized modification.

About this Manual- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - iii Related Manuals - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - v Safety Information - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -vi Notes for Safe Operation- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - vii

1 Outline

1.1 Checking Products - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2

1.1.1 Check Items- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -1-2

1.1.2 Linear Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -1-2

1.1.3 SERVOPACKs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -1-3

1.1.4 Serial Converter Units - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -1-4

1.2 Product Part Names - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-5

1.2.1 Linear Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -1-5

1.2.2 SERVOPACKs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -1-6

1.3 Examples of Servo System Configurations - - - - - - - - - - - - - 1-8

1.3.1 Single-phase, 200 V Main Circuit - - - - - - - - - - - - - - - - - - - - - - - - - - -1-8

1.3.2 Three-phase, 200 V Main Circuit - - - - - - - - - - - - - - - - - - - - - - - - - - -1-9

1.3.3 Three-phase, 400 V Main Circuit - - - - - - - - - - - - - - - - - - - - - - - - - -1-10

1.4 Applicable Standards - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-11

1.4.1 North American Safety Standards (UL, CSA)- - - - - - - - - - - - - - - - - - 1-11

1.4.2 CE Marking - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-11

2 Selections

2.1 Linear Servomotor Model Designation - - - - - - - - - - - - - - - - 2-2

2.1.1 Coil Assembly - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -2-2

2.1.2 Magnetic Way - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -2-2

2.2 SERVOPACK Model Designation- - - - - - - - - - - - - - - - - - - - 2-3

2.3 Σ-II Series SERVOPACKs and Applicable Linear

Servomotors

2.4 Serial Converter Units Models - - - - - - - - - - - - - - - - - - - - - 2-6

2.5 Selecting Cables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-7

2.6 Selecting Peripheral Devices- - - - - - - - - - - - - - - - - - - - - - - 2-9

2.6.1 Special Options - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -2-9

2.6.2 Molded-case Circuit Breaker and Fuse Capacity - - - - - - - - - - - - - - - 2-11

2.6.3 Noise Filters, Magnetic Contactors, Surge Suppressors and DC Reactors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -2-12

2.6.4 Regenerative Resistors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-13

2.6.5 Linear Scales - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -2-14

- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-4

3 Digital Operator/Panel Operator

3.1 Functions on Digital Operator/Panel Operator - - - - - - - - - - - 3-2

3.1.1 Connecting the Digital Operator - - - - - - - - - - - - - - - - - - - - - - - - - - -3-2

3.1.2 Key Names and Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-3

3.1.3 Basic Mode Selection and Operation - - - - - - - - - - - - - - - - - - - - - - - -3-4

3.1.4 Status Display - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-6

3.2 Operation in Utility Function Mode (Fn) - - - - - - - - - - - 3-8

3.2.1 List of Utility Function Modes - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-8

3.2.2 Alarm Traceback Data Display (Fn000)- - - - - - - - - - - - - - - - - - - - - - -3-9

3.2.3 JOG Mode Operation (Fn002) - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-10

3.2.4 Zero-point Search Mode (Fn003) - - - - - - - - - - - - - - - - - - - - - - - - - - 3-11

.2.5 Parameter Settings Initialization (Fn005)- - - - - - - - - - - - - - - - - - - - -3-12

3.2.6 Alarm Traceback Data Clear (Fn006) - - - - - - - - - - - - - - - - - - - - - - -3-13

3.2.7 Automatic Offset-adjustment of Motor Current Detection Signal (Fn00E)- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-14

3.2.8 Manual Offset-adjustment of Motor Current Detection Signal (Fn00F) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-15

3.2.9 Password Setting (Protects Parameters from Being Changed) (Fn010) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-16

3.2.10 Motor Models Display (Fn011) - - - - - - - - - - - - - - - - - - - - - - - - - - -3-17

3.2.11 Software Version Display (Fn012)- - - - - - - - - - - - - - - - - - - - - - - - -3-18

3.2.12 Application Module Detection Results Clear (Fn014) - - - - - - - - - - -3-19

3.3 Operation in Parameter Setting Mode (Pn)- - - - - - - - 3-20

3.3.1 Setting Parameters- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-20

3.3.2 Input Circuit Signal Allocation - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-24

3.3.3 Output Circuit Signal Allocation - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-28

3.4 Operation in Monitor Mode (Un) - - - - - - - - - - - - - - - 3-30

3.4.1 List of Monitor Modes- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-30

3.4.2 Sequence I/O Signal Monitor Display- - - - - - - - - - - - - - - - - - - - - - - 3-31

3.4.3 Operation in Monitor Mode - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-32

3.4.4 Monitor Display of Reference Pulse Counter and Feedback Pulse Counter - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-33

3.4.5 Allowable Maximum Motor Speed for Dividing Ratio Monitor (For the software version 32 or later) - - - - - - - - - - - - - - - - - - - - - - - 3-34

3.4.6 Hall Sensor Signal Monitor (For the software version 32 or later) - - - - - - - - - - - - - - - - - - - - - - - 3-34

4 Operation

4.1 Trial Operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-4

4.2 Trial Operation Using SERVOPACK Internal References - - - 4-6

4.2.1 SERVOPACK Setup Procedure- - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-6

4.2.2 Setup Procedure Using Linear Servomotors with Hall Sensors- - - - - - 4-6

4.2.3 Setup Procedure Using Linear Servomotors without Hall Sensors - - 4-12

xvi

4.3 Trial Operation for Linear Servomotor without Load

from Host Reference - - - - - - - -

4.3.1 Servo ON Command from the Host - - - - - - - - - - - - - - - - - - - - - - - - 4-22

4.3.2 Operating Procedure in Speed Control Mode (Pn000 = n.0) - - 4-24

4.3.3 Operating Procedure in Position Control Mode (Pn000 = n.1) - 4-26

- - - - - - - - - - - - - - - - - - - 4-22

Trial O

4.4 to

.5 Control Mode Selection- - - - - - - - - - - - - - - - - - - - - - - - - - 4-29

.6 Setting Common Basic Functions - - - - - - - - - - - - - - - - - - 4-30

4.6.1 Setting the Servo ON Signal - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-30

4.6.2 Switching the Linear Servomotor Movement Direction- - - - - - - - - - - 4-31

4.6.3 Setting the Overtravel Limit Function - - - - - - - - - - - - - - - - - - - - - - - 4-32

4.6.4 Selecting the Stop

4.6.5 Instantaneous Power Loss Settings- - - - - - - - - - - - - - - - - - - - - - - - 4-35

4.6.6 Motor Maximum Speed (For the software version 32 or later)- - - - - - 4-35

peration with the Linear Servomotor Connected

the Machine

- - - - -

- - - - - - - - - - - - - - - - - - - - - - - - - - - 4-28

ping Method After Servo OFF - - - - - - - - - - - - - - - 4-34

4.7 Operating Using Speed Control with Analog Reference - - - 4-36

4.7.1 Setting Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-36

4.7.2 Setting Input Signals - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-37

4.7.3 Adjusting Offset - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-38

.7.4 Soft Start- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-41

4.7.5 Speed Reference Filter- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-41

4.7.6 Using the Zero Clamp Function- - - - - - - - - - - - - - - - - - - - - - - - - - - 4-41

4.7.7 Encoder Signal Output - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-43

4.7.8 Speed Coincidence Output - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-45

4.8 Operating Using Position Control- - - - - - - - - - - - - - - - - - - 4-46

4.8.1 Setting Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-46

4.8.2 Setting the Electronic Gear - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-48

4.8.3 Position Reference - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-51

4.8.4 Smoothing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-55

4.8.5 Positioning Completed Output Signal - - - - - - - - - - - - - - - - - - - - - - -4-56

4.8.6 Positioning Near Signal- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-57

4.8.7 Reference Pulse Inhibit Function (INHIBIT)- - - - - - - - - - - - - - - - - - -4-58

4.9 Operating Using Force Control - - - - - - - - - - - - - - - - - - - - 4-59

4.9.1 Setting Parameters- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-59

4.9.2 Force Reference Input - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-59

4.9.3 Adjusting the Force Reference Offset - - - - - - - - - - - - - - - - - - - - - - -4-60

4.9.4 Limiting Linear Servomotor Speed during Force Control- - - - - - - - - -4-62

4.10 Operating Using Speed Control

with

an Internally Set Speed - - - - - - - - - - - - - - - - - - - - - 4-64

4.10.1 Setting Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-64

4.10.2 Input Signal Settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-65

4.10.3 Operating Using an Internally Set Speed- - - - - - - - - - - - - - - - - - - -4-65

xii

4.11 Limiting Force- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-67

4.11.1 Internal Force Limit (Limiting Maximum Output Force) - - - - - - - - - -4-67

4.11.2 External Force Limit (Output Force Limiting by Input Signals) - - - - -4-68

4.11.3 Force Limiting Using an Analog Voltage Reference - - - - - - - - - - - -4-70

4.11.4 Force Limiting Using an External Force Limit and Analog Voltage Reference - - - - - - - - - - - - - - - - - - - - - - - - - - -4-71

4.11.5 Checking Output Force Limiting during Operation - - - - - - - - - - - - -4-72

4.12 Control Mode Selection- - - - - - - - - - - - - - - - - - - - - - - - - 4-73

4.12.1 Setting Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-73

4.12.2 Switching the Control Mode - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-73

4.13 Other Output Signals - - - - - - - - - - - - - - - - - - - - - - - - - - 4-75

4.13.1 Servo Alarm Output (ALM) and Alarm Code Output

(ALO1, ALO2, ALO3) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-75

4.13.2 Warning Output (/WARN)- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-76

4.13.3 Running Output Signal (/TGON)- - - - - - - - - - - - - - - - - - - - - - - - - -4-76

4.13.4 Servo Ready (/S-RDY) Output - - - - - - - - - - - - - - - - - - - - - - - - - - -4-77

5 Adjustments

5.1 Autotuning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-2

5.1.1 Servo Gain Adjustment Methods - - - - - - - - - - - - - - - - - - - - - - - - -5-2

5.1.2 List of Servo Adjustment Functions- - - - - - - - - - - - - - - - - - - - - - - -5-3

5.2 Online Autotuning- - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-5

5.2.1 Online Autotuning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-5

5.2.2 Online Autotuning Procedure - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-6

5.2.3 Selecting the Online Autotuning Execution Method - - - - - - - - - - - -5-7

5.2.4 Machine Rigidity Setting for Online Autotuning - - - - - - - - - - - - - - -5-8

5.2.5 Method for Changing the Machine Rigidity Setting - - - - - - - - - - - - -5-9

5.2.6 Saving the Results of Online Autotuning - - - - - - - - - - - - - - - - - - - 5-10

5.2.7 Procedure for Saving the Results of Online Autotuning- - - - - - - - - 5-11

5.3 Manual Tuning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-12

5.3.1 Explanation of Servo Gain - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-12

5.3.2 Servo Gain Manual Tuning - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-13

5.3.3 Position Loop Gain- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-13

5.3.4 Speed Loop Gain - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-14

5.3.5 Speed Loop Integral Time Constant - - - - - - - - - - - - - - - - - - - - - - 5-14

5.4 Servo Gain Adjustment Functions - - - - - - - - - - - - - - - - 5-15

5.4.1 Feed-forward Reference- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-15

5.4.2 Force Feed-forward - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-16

5.4.3 Speed Feed-forward- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-17

5.4.4 Proportional Control Operation (Proportional Operation Reference) - - - - - - - - - - - - - - - - - - - - - - 5-18

5.4.5 Using the Mode Switch (P/PI Switching)- - - - - - - - - - - - - - - - - - - 5-19

5.4.6 Setting the Speed Bias - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-22

5.4.7 Speed Feedback Filter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-22

5.4.8 Speed Feedback Compensation - - - - - - - - - - - - - - - - - - - - - - - - 5-23

5.4.9 Switching Gain Settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-25

5.4.10 Force Reference Filter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-26

5.5 Analog Monitor- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-29

xvixiii

6 Inspection, Maintenance, and Troubleshooting

6.1 Troubleshooting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-2

6.1.1 Alarm Display Table - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-2

6.1.2 Warning Display- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-4

6.1.3 Alarm Display Table when the Application Module is Used - - - - - - - 6-5

6.1.4 Warning Display Table when the Application Module is Used - - - - - 6-6

6.1.5 Troubleshooting of Alarm and Warning- - - - - - - - - - - - - - - - - - - - - 6-7

6.1.6 Troubleshooting for Malfunction without Alarm Display- - - - - - - - - 6-17

6.2 Inspection and Maintenance - - - - - - - - - - - - - - - - - - - - 6-22

6.2.1 Linear Servomotor Inspection

6.2.2 SERVOPACK Inspection- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-22

6.2.3 SERVOPACK’s Parts Replacement Schedule- - - - - - - - - - - - - - - 6-23

- - - - - - - - - - - - - - - - - - - - - - - - - - 6-22

7 Appendix

7.1 Linear Servomotor Capacity Selection Examples- - - - - - - 7-2

7.2 Calculating the Required Capacity

of Regenerative Resistor

7.2.1 Simple Calculation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-4

7.2.2 Calculating the Regenerative Energy - - - - - - - - - - - - - - - - - - - - - - 7-6

s- - - - - - - - - - - - - - - - - - - - - - - 7-4

7.3 Connection to Host Controller - - - - - - - - - - - - - - - - - - - 7-13

73.1 Example of Connection to MP920 4-axes Analog Module SVA-01 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-13

7.3.2 Example of Connection to CP-9200SH Servo Controller Module SVA (SERVOPACK in Speed Control Mode)- - - - - - - - - - - - - - - - 7-14

7.3.3 Example of Connection to MEMOCON GL120/130 Series Motion Module MC20 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-15

7.3.4 Example of Connection to MEMOCON GL60/70 Series Positioning Module B2813 (SERVOPACK in Position Control Mode) 7-16

7.3.5 Example of Connection to OMRON’s Motion Control Unit- - - - - - - 7-17

7.3.6 Example of Connection to OMRON’s Position Control Unit - - - - - - 7-18

7.3.7 Example of Connection to OMRON’s Position Control Unit

00-NC221 (SERVOPACK in Speed Control Mode)- - - - - - - - - -7-19

7.3.8 Example of Connection to OMRON’s Position Control Unit C500-NC112 (SERVOPACK in Position Control Mode)- - - - - - - - -7-20

7.3.9 Example of Connection to Mitsubishi’s AD72 Positioning Unit (SERVOPACK in Speed Control Mode)- - - - - - - - - - - - - - - - - - - -7-21

7.3.10 Example of Connection to Mitsubishi’s AD75 Positioning Unit

(SERVOPACK in Position Control Mode)- - - - - - - - - - - - - - - - - -7-22

7.4 List of Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-23

7.4.1 Utility Functions List - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-23

7.4.2 List of Parameters- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-24

7.4.3 Monitor Modes - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-40

7.5 Parameter Recording Table- - - - - - - - - - - - - - - - - - - - - 7-41

xiv

xvii

Outline

1.1 Checking Products - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2

1.1.1 Check Items - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2

1.1.2 Linear Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2

1.1.3 SERVOPACKs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-3

1.1.4 Serial Converter Units - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4

1.2 Product Part Names - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-5

1.2.1 Linear Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-5

1.2.2 SERVOPACKs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-6

1.3 Examples of Servo System Configurations - - - - - - - - - - - - - - - - - - - - - - - 1-8

1.3.1 Single-phase, 200 V Main Circuit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-8

1.3.2 Three-phase, 200 V Main Circuit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-9

1.3.3 Three-phase, 400 V Main Circuit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-10

1.4 Applicable Standards - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-11

1.4.1 North American Safety Standards (UL, CSA) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-11

1.4.2 CE Marking - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-11

1-1

1 Outline

1.1.1 Check Items

1.1 Checking Products

1.1.1 Check Items

Check the following items when the products are delivered.

Check Items Comments

Are the delivered products the ones that were ordered?

Is there any damage? Check the overall appearance, and check for damage or scratches that

If any of the above items are faulty or incorrect, contact your Yaskawa representative or the dealer from whom you purchased the products.

1.1.2 Linear Servomotors

The location of the nameplate varies depending on the model of the linear servomotor. The nameplate is affixed on both the coil assembly and the magnetic way.

(1) Coreless SGLGW and SGLGM Linear Servomotors

Check the model numbers marked on the nameplates on the linear servomotor and SERVOPACK. (Refer to the descriptions of model numbers in the following section.)

may have occurred during shipping.

CoilassemblyandMagneticway

Nameplate

Servomotor model

Ratings

OrderNo. SerialNo.

CORELESSLINEARSERVOMOTOR

SGLGW-40A140B

94 0.8

O/N

S/N

YASKAWAELECTRICCORPORATIONJAPAN

Ins.

1-2

(2) SGLFW and SGLFM Linear Servomotors with F-type Iron Core and

SGLTW and SGLTM Linear Servomotors with T-type Iron Core

1.1 Checking Products

SGLFWandSGLFM

SGLTWandSGLTM

Note: The location of the nameplate varies depending on the model and capacity of the linear servomotor.

1.1.3 SERVOPACKs

Coilassembly

Servomotor model

Ratings

OrderNo. SerialNo.

Magneticway

Servomotor model

OrderNo. SerialNo.

Nameplate

LinearSERVOMOTOR

TYPE

SGLFW-35A120A

200 W

1.3 A

80 N 200 V

2.5 m/s

O/N S/N

YASKAWAELECTRICMADEINJAPAN

DATE

Nameplate

YASKAWA

TYPE:

SGLFM-20756A

O/N

S/N

MADEINJAPAN DATE

ins.B

SGDHfor30Wto5.0kW SGDHfor7.5kW

SERVOPACK SERVOPACK model

Applicable powersupply

Serial number

MODEL

AC-INPUT AC-OUTPUT VOLTS Hz PHASE AMPS

S/N

YASKAWAELECTRIC

SGDH-30AE

200-230 60/60 3

18.6

VOLTS PHASE AMPS KU(MP)

412808-15-1

MADEINJAPAN

0-230 3

24.8

3.0(4.0)

Applicable motor capacity

1-3

1 Outline

1.1.4 Serial Converter Units

Nameplate

Serial converter model

OrderNo.

SerialNo.

SERIALCONVERTER

MODELJZDP-A006-156

For:-

O/N

S/N

YASKAWAELECTRICCORPORATION

JAPAN

1-4

1.2 Product Part Names

1.2.1 Linear Servomotors

Coreless SGLGW and SGLGM

(1)

Magneticway

Hallsensorcable

Maincircuitcableforlinearservomotor

1.2 Product Part Names

Coilassembly

Hallsensorunit

(2) SGLFW and SGLFM With F-type Iron Core

Coilassembly

Hallsensorcable

Hallsensor unit

Maincircuitcablefor linearservomotor

SGLTW and SGLTM With T-type Iron Core

(3)

Coilassembly

Hallsensorcable

Magneticway

Spacerfor installation

Hallsensorunit

Maincircuitcablefor linearservomotor

Magneticway

1-5

1 Outline

1.2.2 SERVOPACKs

(1) SGDH for 50 W to 5.0 kW

Withthefrontcoveropen

MODE/SET DATA/

CHARGE POWER

CN5Analogmonitorconnector

Usedtomonitormotorspeed,force reference,andothervaluesthrough aspecialcable. Referto5.5 Analog Monitor

Paneldisplay

5-digit,7-segmentLEDusedtodisplay SERVOPACKstatus,alarmstatus,andother valueswhenparametersareinput. Referto3.1.2KeyNamesandFunctions.

Paneloperator Chargeindicator

Lightswhenthemaincircuitpowersupplyis ONandstayslitaslongasthemaincircuitpower supplycapacitorremainscharged.Therefore, donottouchtheSERVOPACKevenafterthepower supplyisturnedOFFiftheindicatorislit.

Maincircuitpower supplyterminals

Usedformaincircuitpowersupplyinput.

Controlpowersupplyterminals

Usedforcontrolpowersupplyinput.

Regenerative resistorconnectingterminals

Usedtoconnectexternalregenerativeresistors.

Servomotorterminals

Connectstotheservomotorpowerline.

YASKAWA

MODE/SET

YASKAWA

SERVOPACK

SGDH-

CHARGE POWER

DATA/

Frontcover

SERVOPACKmodel

Referto2.3SERVOPACKModel

Designations.

Panelkeys

Usedtosetparameters.

PowerONindicator



LightswhenthecontrolpowersupplyisON.

CN3Connectorforpersonalcomputermonitoring anddigitaloperator

Usedtocommunicatewithapersonalcomputer ortoconnectadigitaloperator.

CN1I/Osignalconnector

Usedforreferenceinputsignalsand sequenceI/Osignals.

Nameplate(sideview)

IndicatestheSERVOPACKmodelandratings. Referto1.1.3SERVOPACKs.

CN2Encoderconnector

Connectstotheencoderintheservomotor.

Groundterminal

Besuretoconnecttoprotectagainstelectricalshock.

1-6

(2) SGDH for 7.5 kW

1.2 Product Part Names

SERVOPACKmodel

CN3Connectorfor personalcomputer monitoringand digitaloperator

Chargeindicator

Controlcircuit

∗

terminal

SERVOPACK 200V

SGDH-

Ve r.

YASKAWA

CHARGE

L1C

L2C

Powerindicator

POWER

MODE/SET

CN3

CN1 CN2

Paneloperator

DATA/

CN8

CN5

BATTERY

WARNING

Paneldisplay

CN5Analog monitorconnector

Panelswitch

CN2Encoderconnector

CN1I/Osignalconnector

Nameplate(sideview)

Servomotorterminals:U,V,W

Groundterminal

Maincircuitpowersupply terminals:L1,L2,L3

L1 L2 L3

B2B1

Regenerativeresistor connectingterminals:B1,B2

* Control circuit terminal and regenerative resistor connecting terminals differ the position of the termi-

nal block by the SERVOPACK model.

∗

1-7

1 Outline

1.3.1 Single-phase, 200 V Main Circuit

1.3 Examples of Servo System Configurations

This section describes examples of basic servo system configuration.

1.3.1 Single-phase, 200 V Main Circuit

Powersupply Single-phase200VAC

Molded-case circuitbreaker (MCCB)

Protectsthepowersupply linebyshuttingthecircuit OFFwhenanovercurrent isdetected.

(Referto2.7.2)

Noisefilter

Eliminatesexternal noisefromthepower line.

(Referto2.7.3)

RT

Magnetic contactor

TurnstheservoON andOFF. Installasurge suppressor.

Referto

2.7.3)

SGDH-AE SERVOPACK

YASKAWA SERVOPACK

SGDH-

200V

Digital operator

(Referto2.7.)

Regenerative resistor

Connectanexternal regenerativeresistor toterminalsB1andB2 iftheregenerative capacityisinsufficient.

(Referto2.7.4.)

MODE/SET

CHARGE POWER

+1

+2

-

L1C L2C

B1 B2

Maincircuitcablefor linearservomotor

(Referto2.6.)

DATA/

C N 3

C N 1

C N

Encoder cable

(Referto2.6.)

Connectioncable fordigitaloperator

Connectioncable forpersonalcomputer

I/Osignalcable

(Referto2.7.1.)

(Referto2.7.1.)

Connectioncable forserialconverterunit

(Referto2.6.)

Serialconverterunit

(Referto2.5.)

Personalcomputer

Hostcontroller

Connectioncable forhallsensor

(Referto2.6.)

1-8

Linearscale

(Tobeprovidedby users.)

(Referto2.7.5.)

Hallsensorunit

CorelessLinearServomotor

1.3.2 Three-phase, 200 V Main Circuit

Power supply Three-phase 200 VAC

Molded-case circuit breaker (MCCB)

Protects the power supply line by shutting the circuit OFF when an overcurrent is detected.

(Refer to 2.7.2.)

Noise filter

Eliminates external noise from the power line.

(Refer to 2.7.3.)

R S T

*1: The positive terminal for the main circuit is only available for use

in the three-phase (200 VAC, 7.5 kW or more) SERVOPACKs.

Do not use the positive terminals 1 or 2.

*2: Before connecting an external regenerative resistor to the SERVOPACK, be sure to disconnect the lead between terminals B2 and B3.

1.3 Examples of Servo System Configurations

Regenerative resistor

Connect an external regenerative resistor to terminals B1 and B2 if the regenerative capacity is insufficient.

(Refer to 2.7.4.)

Magnetic contactor

Turns the servo ON and OFF. Install a surge suppressor.

(Refer to

2.7.3.)

SGDH-AE SERVOPACK

YASKAWA

200V

SERVOPACK

SGD

H-

MODE/SET

DATA/

CHARGE POWER

C N

C N 1

L1C

L2C

N 2

Connection cable for digital operator

Connection cable for personal computer

(Refer to 2.7.1.)

I/O signal cable

(Refer to 2.7.1.)

Digital operator

(Refer to 2.7.1.)

Personal computer

Host controller

Connection cable for serial converter unit

(Refer to 2.6.)

Serial converter unit

(Refer to 2.5.)

Main circuit cable for linear servomotor

(Refer to 2.6.)

Linear scale (To be provided by users)

(Refer to 2.7.5.)

Encoder cable

(Refer to 2.6.)

Connection cable for hall sensor

(Refer to 2.6.)

Linear servomotor with core

1-9

1 Outline

1.3.3 Three-phase, 400 V Main Circuit

Power supply Three-phase 400 VAC

R S T

Molded-case circuit breaker (MCCB)

Protects the power supply line by shutting the circuit OFF when an overcurrent is detected.

(Refer to 2.7.2.)

Noise filter

Eliminates external noise from the power line.

(Refer to2.7.3.)

Magnetic contactor

Turns the servo ON and OFF. Install a surge suppressor.

Refer to

2.7.3.)

*1: Use a 24 VDC power supply (To be provided by users).

*2: Before connecting an external regenerative resistor to the SERVOPACK, be sure to disconnect the lead between terminals B2 and B3.

Digital

SGDH-DE

operator

(Refer to 2.7.1.)

SERVOPACK

Connection cable

YASKAWA SERVOPACK

SGD

H-

200V

for digital operator

Personal computer

DC power supply (24 VDC)

−

Regenerative resistor

Connect an external regenerative resistor to terminals B1 and B2 if the rgenerative capacity is insufficient.

(Refer to 2.7.4.)

MODE/SET

DATA/

CHARGE POWER

C N

C N 1

24V

N 2

Connection cable for personal computer

(Refer to 2.7.1.)

I/O signal cable

(Refer to 2.7.1.)

Host controller

Connection cable for serial convertr unit

(Refer to 2.6.)

Serial convertr unit

(Refer to 2.5.)

Main circuit cable for linear servomotor

(Refer to 2.6.)

Encoder cable

(Refer to 2.6.)

Connection cable for hall sensor

(Refer to 2.6.)

Linear scale (To be provided by users.)

(Refer to 2.7.5.)

1-10

Linear servomotor wirh core

1.4 Applicable Standards

Σ-II Series servodrives conform to the following overseas standards.

1.4.1 North American Safety Standards (UL, CSA)

1.4 Applicable Standards

1.4.2

Model

SERVOPACK • SGDH

* 1. Underwriters Laboratories Inc. * 2. Canadian Standards Association.

CE Marking

Model

SERVOPACK • SGDH

* TÜV Product Services GmbH

LISTED

∗1

Standards (UL File No.) CSA∗2 Standards

UL508C(E147823)

Low Voltage

Directive

EN50178

EMI EMS

EN55011

class A group 1

CSA C22.2

No.14

EMC Directive

EN50082-2

EN61000-6-2

Certifications

TÜV PS

∗

Because SERVOPACKs and linear servomotors are built-in type, reconfirmation is required after being installed in the final product.

1-11

Selections

2.1 Linear Servomotor Model Designation - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2

2.1.1 Coil Assembly - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2

2.1.2 Magnetic Way - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2

2.2 SERVOPACK Model Designation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-3

2.3 Σ-II Series SERVOPACKs and Applicable Linear Servomotors - - - - - - - - - 2-4

2.4 Serial Converter Units Models - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-6

2.5 Selecting Cables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-7

2.6 Selecting Peripheral Devices - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-9

2.6.1 Special Options - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-9

2.6.2 Molded-case Circuit Breaker and Fuse Capacity - - - - - - - - - - - - - - - - - - - - - - - - - - 2-11

2.6.3 Noise Filters, Magnetic Contactors, Surge Suppressors and DC Reactors - - - - - - - - 2-12

2.6.4 Regenerative Resistors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-13

2.6.5 Linear Scales - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-14

2-1

2 Selections

2.1.1 Coil Assembly

2.1 Linear Servomotor Model Designation

This section describes how to check the model and ratings of the linear servomotor. The alphanumeric codes after SGL- indicate the specifications.

2.1.1 Coil Assembly

40 A 140 A P

Voltage

200VAC

400VAC

LinearΣSeries Linearservomotor

ServomotorModel

Code

Specifications

Coreless

F-typeironcore

T-typeironcore

W:Coilassembly

Magnetheight

WGSGL

2.1.2 Magnetic Way

SGL 40 225 A C

CableConnectorforMainCircuitCable

Code

MSconnectororconnectormade

−

byTycoElectronicsAMPK.K.

ConnectormadebyInterconnectron

Code

Withhallsensorandforcedcooling

Designrevisionorder

A,B,C

Lengthofcoilassembly

Specifications

Options

Specifications

Withhallsensor

Forcedcooling

LinearΣSeries Linearservomotor

Model

Code

Specifications

Coreless

F-typeironcore

T-typeironcore

M:Magneticway

Magnetwidth

2-2

Designrevisionorder

A,B,C

Lengthofmagneticway

Code

Withmagnetcover

-M

Highthrustforce

Options

Specifications Remarks

Onlyforlinearservomotors withanironcore

Onlyforcorelesstypes

2.2 SERVOPACK Model Designation

Select the SERVOPACK according to the applied linear servomotor.

10SGDH-AE

2.2 SERVOPACK Model Designation

RatedOutputofApplicableServomotor(kW)

Code

RatedOutput

0.05

0.10

0.20

0.40

0.45

0.75

Code

PowerSupplyVoltage

Single/Three-phase,200V

RatedOutput

Voltage

Three-phase,400V

1.0

1.5

2.0

3.0

5.0

7.5

Code Specifications

Base-mounted

-P

Duct-ventilated

-R

Rack-mounted

Code

Forforce,speed,andpositioncontrol

Applicableforvariousapplicationmodules

MountingMethod

RatedOutputof ApplicableServomotor(kW)

0.05to7.5

7.5

0.05to5.0

Model(Fixed)

Remarks

2-3

2 Selections

2.3

Σ-II Series SERVOPACKs and Applicable Linear Servomotors

Linear Σ Series Linear Servomotor

SGLGW (Coreless)

17 models

SGLFW (With F-type iron core)

12 models

When a Standardforce Magnetic Way is used.

When a High-force Magnetic Way is used.

30A050B

30A080B

40A140B

40A253B

40A365B

60A140B

60A253B

60A365B

90A200A

90A370A

90A535A

40A140B

40A253B

40A365B

60A140B

60A253B

60A365B

20A090A

20A120A

35A120A

35A230A

50A200B

50A380B

1ZA200B

1ZA380B

35D120A

35D230A

50D200B

50D380B

1ZD200B

1ZD380B

Σ-II Series SGDH SERVOPACK

Single-phase

200 VAC

A5AE −−

01AE −− 01AE −− 02AE −− 04AE −− 02AE −− 04AE −−

− 08AE −

− 15AE −

− 20AE −

− 30AE −

02AE −− 04AE −−

− 05AE −

02AE −−

− 05AE −

− 10AE −

02AE −− 02AE −− 02AE −−

− 05AE −

− 08AE −

− 15AE −

− 20AE −

−−05DE

−−10DE

−−15DE

−−20DE

Three-phase

200 VAC

Three-phase

400 VAC

2-4

Linear Σ Series Linear Servomotor

SGLTW (With T-type iron core)

22 models

Note: The model combinations shown in this table are used when the maximum rated force of the appli-

cable linear servomoter is required. To suppress rises in temperature, larger linear servomotors are used in some cases. If so, the SERVOPACK capacity can be lowered if using a motor at a lower force than the rated force. Calculate the required current and select a model with a margin of approximately 20%. An allowance can be made for up to 1/3 of the combined capacity of the linear servomotor and SERVOPACK in the table.

20A170A

20A320A

20A460A

35A170A

35A320A

35A460A

35A170H

35A320H

50A170H

50A320H

40A400B

40A600B

80A400B

80A600B

35D170H

35D320H

50D170H

50D320H

40D400B

40D600B

80D400B

80D600B

2.3 Σ-II Series SERVOPACKs and Applicable Linear Servomotors

Σ-II Series SGDH SERVOPACK

Single-phase

200 VAC

− 05AE −

− 10AE −

− 15AE −

− 08AE −

− 15AE −

− 20AE −

− 08AE −

− 15AE −

− 08AE −

− 15AE −

− 20AE −

− 30AE −

− 50AE −

− 75AE −

−−15DE

−−30DE

−−15DE

−−20DE

−−30DE

−−50DE

−−75DE

Three-phase

200 VAC

Three-phase

400 VAC

2-5

2 Selections

2.4 Serial Converter Units Models

A003JZDP 001

Symbol

A003

A005

A006

A008

SerialConverterUnitModel

Appearance

Applicable

LinearScale

Madeby

Heidenhain

Madeby

Renishaw

Madeby

Heidenhain

Madeby

Renishaw

HallSensor

None

Yes

ServomotorModel

SGLGW-

(Coreless)

Whena standardforce magnetic wayisused.

SGLGW+ SGLGM-M

(Coreless)

Whena high-force magnetic wayisused.

SGLFW-

(Ironcore,

F-type)

ApplicableLinearServomotor

Symbol

30A050B

30A080B

40A140B

40A253B

40A365B

60A140B

60A253B

60A365B

90A200A

90A370A

90A535A

40A140B

40A253B

40A365B

60A140B

60A253B

60A365B

20A090A

20A120A

35A120A

35A230A

50A200B

50A380B

1ZA200B

1ZA380B

50D200B

50D380B

1ZD200B

1ZD380B

158

156

001

002

003

004

005

006

101

102

103

063

059

060

061

062

047

017

018

019

020

181

182

183

184

189

190

191

192

ServomotorModel

SGLTW-

(Ironcore,

T-type)

20A170A

20A320A

20A460A

35A170A

35A320A

35A460A

35A170H

35A320H

50A170H

50A320H

40A400B

40A600B

80A400B

80A600B

35D170H

35D320H

50D170H

50D320H

40D400B

40D600B

80D400B

80D600B

Symbol

011

012

013

014

015

016

105

106

108

109

185

186

187

188

193

194

195

196

197

198

199

200

2-6

Note: When using a 400-V winding linear servomotor with a 200-V SERVOPACK, the parameters in the

serial converter should be changed. Contact your Yaskawa representatives.

2.5 Selecting Cables

L1C

C N 3

C N 1

C N 2

YASKAWA

200V

SERVOPACK

SGDH-

MODE/SET DATA/

POWER

CHARGE

CN2

Serialconverter unit



SERVOPACK







Note:Thefollowingtwomaincircuitcables areavailableforthelinearservomotor. 

MSconnectororconnectormadeby

 TycoElectronicsAMPK.K. 

ConnectormadebyInterconnectron

2.5 Selecting Cables

Linearscale (Tobeprovided byusers.)

Name Connection

Linear Servomotor Main Circuit Cables

Between SERVOPACK and linear servomotor

Linearservomotor

Applicable

Linear Servo-

motor Model

SGLGW-30,-40 and -60 SGLFW-20

SGLFW-35

SGLGW-90 SGLFW-50,-1Z

SGLTW-20,-35

SGLTW-40,-80

Hallsensor unit

Cable

Length

1 m 3 m 5 m 10 m 15 m 20 m 1 m 3 m 5 m 10 m 15 m 20 m 1 m 3 m 5 m 10 m 15 m 20 m

Cable Type Specifications

JZSP-CLN11-01

JZSP-CLN11-03

JZSP-CLN11-05

JZSP-CLN11-10

JZSP-CLN11-15

JZSP-CLN11-20

JZSP-CLN21-01

JZSP-CLN21-03

JZSP-CLN21-05

JZSP-CLN21-10

JZSP-CLN21-15

JZSP-CLN21-20

JZSP-CLN39-01

JZSP-CLN39-03

JZSP-CLN39-05

JZSP-CLN39-10

JZSP-CLN39-15

JZSP-CLN39-20

SERVOPACK end

SERVOPACK end

SERVOPACK end

Linearservomotor end

Linearservomoto end

Linearservomotor end

2-7

2 Selections

Name Connection

Linear Servomotor Main Circuit Cables

Encoder Cables

Between SERVOPACK and linear servomotor

Between serial converter unit and linear scale

Connection cables for serial converter unit

Connection cables for hall sensor

Between SERVOPACK connector CN2 and serial converter unit

Between serial converter unit and hall sensor unit

* The main circuit’s cable connector is made by Interconnectron.

A connector is not provided on the linear servomotor end of the main circuit cable, type JZSP-

Note:

CLN39-. The user must provide the connector on the linear servomotor end.

Applicable

Linear Servo-

motor Model

SGLW-

For 200 VAC *

SGLW-

For 400 VAC *

All models

Cable

Length

1 m 3 m 5 m 10 m 15 m 20 m 1 m 3 m 5 m 10 m 15 m 20 m 1 m 3 m 5 m 10 m 15 m 1 m 3 m 5 m 10 m 15 m 20 m 1 m 3 m 5 m 10 m 15 m

Cable Type Specifications

JZSP-CLN14-01

JZSP-CLN14-03

JZSP-CLN14-05

JZSP-CLN14-10

JZSP-CLN14-15

JZSP-CLN14-20

JZSP-CLN15-01

JZSP-CLN15-03

JZSP-CLN15-05

JZSP-CLN15-10

JZSP-CLN15-15

JZSP-CLN15-20

JZSP-CLL00-01

JZSP-CLL00-03

JZSP-CLL00-05

JZSP-CLL00-10

JZSP-CLL00-15

JZSP-CLP70-01

JZSP-CLP70-03

JZSP-CLP70-05

JZSP-CLP70-10

JZSP-CLP70-15

JZSP-CLP70-20

JZSP-CLL10-01

JZSP-CLL10-03

JZSP-CLL10-05

JZSP-CLL10-10

JZSP-CLL10-15

SERVOPACK end

Serialconverterunit

end

SERVOPACK end

Serialconverterunit

end

Linearservomotor end

Linearscale end

Serialconverterunit

end

Hallsensorunit

end

2-8

2.6 Selecting Peripheral Devices

L1C

C N 3

C N 1

C N 2

L1C

C N 3

C N 1

C N 2

2.6.1 Special Options

Connectioncable



fordigitaloperator

YASKAWA

200V

SERVOPACK

SGDH-

MODE/SET DATA/

CHARGE

POWER

CN3

Connectioncable



forpersonalcomputer

Digitaloperator



2.6 Selecting Peripheral Devices

Personal computer

YASKAWA SERVOPACK

SGDH-

MODE/SET DATA/

CHARGE

I/Osignalcable



Hostcontroller

CN1

Analogmonitorcable



CN5

CN8

NS300



CN11

CN6

CN4

NS600

CN7

CN4

CN6

9 0

X 5 4

0 5 4

CN11

0 5

C N 11

M S

N S

CN6

NS500

CN4

CN10

NS100

S W

200V

Connector

POWER

A R

S W 2

C N 6 A

C N 6 B

C N 4

CN6A

CN6B

CN4

MECHATROLINK-I I/FUnit (NS100)

DeviceNet I/FUnit (NS300)

PROFIBUS-DP I/FUnit (NS500)

INDEXER Module (NS600)

2-9

2 Selections

2.6.1 Special Options

CN1

I/O Signal Cables

Name Length Type Specifications

Terminal block and 0.5 m connection

Connector terminal block converter unit

Cable with loose wires at one end

1 m JZSP-CKI01-1 Loose wires at host controller end 2 m JZSP-CKI01-2

3 m JZSP-CKI01-3

JUSP-TA50P

cable

With connection cable (1 m)

d Digital Operator

JUSP-OP02A-2

1 m JZSP-CMS00-1

CN3

Connection Cable

1.5 m JZSP-CMS00-2

for Digital Operator

2 m JZSP-CMS00-3

CN3

Connection Cable for Personal

2 m JZSP-CMS02

Computer

CN5

Analog Monitor Cable

1 m

JZSP-CA01 or DE9404559

Name Type

MECHATROLINK-I I/F Unit (NS100) JUSP-NS100

Application Module

∗

DeviceNet I/F Unit (NS300) JUSP-NS300 PROFIBUS-DP I/F Unit (NS500) JUSP-NS500 INDEXER Module (NS600) JUSP-NS600

* For details, refer to the manuals of each application module.

Only required when using Σ series Digital Operator JUSP-OP02A-1.

SERVOPACK

end

Operator

end

D-Sub 9-pin (For DOS/V)

SERVOPACK

end

SERVOPACKend

Personal

computerend

Monitorend

2-10

2.6.2 Molded-case Circuit Breaker and Fuse Capacity

Current Capacity of the

Main Circuit Power

Supply

Singlephase 200 V

Threephase 200 V

Threephase 400 V

SERVOPACK

Model

Power Supply

Capacity per

SERVOPACK

Capacity

(kW)

SGDH-

(kVA)

0.05 A5AE 0.25

0.10 01AE 0.40

0.20 02AE 0.75

0.40 04AE 1.2 8

0.45 05AE 1.4 4

0.75 08AE 1.9

1.0 10AE 2.3

1.5 15AE 3.2 10

2.0 20AE 4.3 13

3.0 30AE 5.9 17

5.0 50AE 7.5 28 67A

7.5 75AE 15.5 41

0.45 05DE 1.1 1.6

1.0 10DE 2.3 3.4

1.5 15DE 3.2 4.6

2.0 20DE 4.9 7.1

3.0 30DE 6.7 9.7

5.0 50DE 10.3 14.9 78A

7.5 75DE 15.4 22.3

* 1. Nominal value at the rated load. The specified derating is required to select an appropriate

fuse capacity.

* 2. Cutoff characteristics (25

°C): 300% five seconds min. and inrush current of 20ms.

* 3. A preventive circuit for inrush current is not built in the 24 VDC control power supply. The

protective circuit must be designed by the customer.

* 4. Make sure the current capacity is accurate. For the SERVOPACK with the cooling fan built-

in, an inrush current flows; 200 % of the current capacity in the table above for two seconds, when turning ON the control circuit power supply to start the fan working.

Note: Do not use a fast-acting fuse. Because the SERVOPACK’s power supply is a capacitor

input type, a fast-acting fuse may blow when the power is turned ON.

Molded-case Circuit Breaker

and the Fuse (A

Main Circuit

Power Supply

2.6 Selecting Peripheral Devices

∗1，∗2

)

rms

Control Cir-

cuit Power

Supply

Power Supply

Inrush Current

Main Circuit

0.13 63A 60A

118A

∗

0.15

63A

0.27

∗

40A

10A

∗

0.7 20A

1.2

∗

20A

Control Cir-

cuit Power

Supply

60A

24 VDC

（

）

∗

2-11

2 Selections

2.6.3 Noise Filters, Magnetic Contactors, Surge Suppressors and DC Reactors

IMPORTANT

The SGDH SERVOPACK does not include a protective grounding circuit. Install a ground-fault protector to protect the system against overload and short-circuit or protective grounding combined with the moldedcase circuit breaker.

2.6.3 Noise Filters, Magnetic Contactors, Surge Suppressors and DC Reactors

Main Circuit

Power

Supply

Single-phase 200 V

Three-phase 200 V

Three-phase 400 V

Note: 1. If some SERVOPACKs are wired at the same time, select the proper magnetic contactors accord-

SERVOPACK Model

Capacity

(kW)

0.05 A5AE

0.10 01AE X5071

0.20 02AE X5070

0.40 04AE FN2070-10/07

0.45 05AE FN258L-7/07

0.75 08AE

1.0 10AE

1.5 15AE

2.0 20AE

3.0 30AE FN258L-30/07

5.0 50AE FMAC-0934-5010

7.5 75AE FMAC-0953-6410

0.45 05DE

1.0 10DE

1.5 15DE

2.0 20DE

3.0 30DE

5.0 50DE

7.5 75DE

ing to the total capacity.

2. The following table shows the manufacturers of each device.

SGDH

Recommended Noise Filter

Type Specifications

FN2070-6/07

FN258L-16/07

FN258L-7/07

FN258L-16/07

FS5559-35-33

Single-phase

250 VAC, 6 A

Single-phase

250 VAC, 10 A

Three-phase

480 VAC, 7 A

Three-phase

480 VAC, 16 A

Three-phase

480 VAC, 30 A

Three-phase

440 VAC, 50 A

Three-phase

440 VAC, 64 A

Three-phase

480 VAC, 7 A

Three-phase

480 VAC, 16 A

Three-phase

480 VAC, 35 A

Magnetic

Contactor

HI-11J (20 A)

HI-15J (35 A)

HI-20J (35 A)

HI-25J (50 A)

HI-35J (65 A)

HI-15JCU (35 A)

HI-20JCU (35 A)

HI-25JCU (50 A) HI-35JCU (65 A)

Surge

Suppressor

TU-25C240

TU-65C240

Built-in

Reactor

−

X5069

X5061

X5060

X5059

X5068

−

X5074

X5075

X5076

X5077

−

2-12

Peripheral Device Manufacturer

Noise Filter

Magnetic Contactor Yaskawa Controls Co., Ltd. Surge Suppressor Yaskawa Controls Co., Ltd. DC Reactor Yaskawa Controls Co., Ltd.

FN, FS type: Schaffner Electronic FMAC type: Timonta AG

2.6.4 Regenerative Resistors

2.6 Selecting Peripheral Devices

SERVOPACK Model

Main Circuit

Power Supply

Single-phase 200 V

Three-phase 200 V

Three-phase 400 V

* 1. For the optional JUSP-RA05 Regenerative Resistor Unit. * 2. For the optional JUSP-RA18 Regenerative Resistor Unit.

Capacity

(kW)

0.05 A5AE

0.10 01AE

0.20 02AE

0.40 04AE

0.45 05AE

0.75 08AE

1.0 10AE

1.5 15AE 30 70

2.0 20AE 25 140

3.0 30AE 12.5 140

5.0 50AE 8 280

7.5 75AE

0.45 05DE

1.0 10DE

1.5 15DE

2.0 20DE

3.0 30DE

5.0 50DE 32 180

SGDH-

Resistance

Regenerative Resistor

Built-in

(Ω)

−−−

50 60

∗

(3.13)

108 70

45 140

∗

(18)

Capacity

(W)

∗

(1760)

∗

(880)

Externally

connected

−

JUSP-RA05

−

JUSP-RA187.5 75DE

Note: 1. If the SERVOPACK cannot process the regenerative power, an external regenerative resistor is

required.

2. The following table shows the manufacturers of each device.

Peripheral Device Manufacturer

External Regenerative Resistor Iwaki Wireless Research Institute External Regenerative Unit Yaskawa Electric Corporation

2-13

2 Selections

2.6.5 Linear Scales

Encoder

Manufacturer Type Output Signal

Resolution

m/pulse

（µ

）

Scale Pitch

（µm）

Output

Resolution

Pn281

（

）

1 to 31 5

Renishaw Inc. RGH22B

0.078 20

32 to 63 4

64 to 127 2

128 to 255 1

1 to 63 5

LIDA187

0.156 40

64 to 127 4

128 to 255 2

Heidenhain Corp.

LIDA487 LIDA489

1Vpp Analog voltage

0.078 20

1 to 31 5

32 to 63 4

64 to 127 2

128 to 255 1

1 to 31 1.0

LIF181

0.016 4

32 to 63 0.8

64 to 127 0.4

128 to 255 0.2

Note: 1. The linear scale signal is multiplied by eight bits (256 segmentation) inside the serial converter

unit.

2. Using the zero-point signal with a linear scale made by Renishaw Inc. may cause a deviation in the home position. If so, adjust the setting so that the zero-point is output only in one direction by using BID/DIR signal.

3. This list does not cover all the applicable types of linear scales. And, the linear scales listed in the table may not be applicable or available if their specifications have been modified or their production has been stopped. Check the most recent catalog of the linear scale manufacturer to select a linear scale that meets the specifications.

4. Select a linear scale so that the total current consumption of the linear scale, serial converter unit, and hall sensor is 190 mA max.

5. At parameter (Pn280), set the scale pitch of the linear scale so that it satisfies the following condition. Otherwise, satisfactory control cannot be obtained.

Max. Speed of

Applicable Linear

Servomotor

m/s

（

）

2-14

64000

Pn280(Scale pitch (µm))

Examples Correct: 1,2,4,8,10,16,20,40 Incorrect: 3,5,12,18

must result in an integer number

Digital Operator/Panel Operator

3.1 Functions on Digital Operator/Panel Operator - - - - - - - - - - -3-2

3.1.1 Connecting the Digital Operator - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-2

3.1.2 Key Names and Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-3

3.1.3 Basic Mode Selection and Operation - - - - - - - - - - - - - - - - - - - - - - - - 3-4

3.1.4 Status Display - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-6

3.2 Operation in Utility Function Mode (Fn) - - - - - - - - - - - -3-8

3.2.1 List of Utility Function Modes - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-8

3.2.2 Alarm Traceback Data Display (Fn000) - - - - - - - - - - - - - - - - - - - - - - 3-9

3.2.3 JOG Mode Operation (Fn002) - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-10

3.2.4 Zero-point Search Mode (Fn003) - - - - - - - - - - - - - - - - - - - - - - - - - 3-11

3.2.5 Parameter Settings Initialization (Fn005) - - - - - - - - - - - - - - - - - - - - 3-12

3.2.6 Alarm Traceback Data Clear (Fn006) - - - - - - - - - - - - - - - - - - - - - - - 3-13

3.2.7 Automatic Offset-adjustment of Motor Current Detection Signal (Fn00E) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-14

3.2.8 Manual Offset-adjustment of Motor Current Detection Signal (Fn00F) 3-15

3.2.9 Password Setting (Protects Parameters from Being Changed) (Fn010) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-16

3.2.10 Motor Models Display (Fn011) - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-17

3.2.11 Software Version Display (Fn012) - - - - - - - - - - - - - - - - - - - - - - - - 3-18

3.2.12 Application Module Detection Results Clear (Fn014) - - - - - - - - - - - 3-19

3.3 Operation in Parameter Setting Mode (Pn) - - - - - - - - 3-20

3.3.1 Setting Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-20

3.3.2 Input Circuit Signal Allocation - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-24

3.3.3 Output Circuit Signal Allocation - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-28

3.4 Operation in Monitor Mode (Un) - - - - - - - - - - - - - - - - 3-30

3.4.1 List of Monitor Modes - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-30

3.4.2 Sequence I/O Signal Monitor Display - - - - - - - - - - - - - - - - - - - - - - - 3-31

3.4.3 Operation in Monitor Mode - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-32

3.4.4 Monitor Display of Reference Pulse Counter and

Feedback Pulse Counter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-33

3.4.5 Allowable Maximum Motor Speed for Dividing Ratio Monitor

(For the software version 32 or later) - - - - - - - - - - - - - - - - - - - - - - - 3-34

3.4.6 Hall Sensor Signal Monitor (For the software version 32 or later) - - - 3-34

8-1

3 Digital Operator/Panel Operator

SGDH-

200V

3.1.1 Connecting the Digital Operator

3.1 Functions on Digital Operator/Panel Operator

This section describes the basic operations of the digital operator (hereinafter called the digital operator) and the panel operator (hereinafter called the panel operator) for setting the operating conditions. Set parameters and JOG operation, and display status using these operators. For the operation of the digital operator (Model: JUSPOP02A-2), refer to

3.1.1 Connecting the Digital Operator

Two types of digital operators are available. One is a built-in operator that has a panel indicator and switches located on the front panel of the SERVOPACK. This type of digital operator is also called a panel operator. The other one is a hand-held operator (JUSP-OP02A-2 digital operator), which can be connected to the SERVOPACK with connector CN3 of the SERVOPACK.

There is no need to turn OFF the SERVOPACK to connect this hand-held operator to the SERVOPACK. Refer to the following illustrations to connect the digital operator to the SERVOPACK.

-II Series SGMH/SGDM Digital Operator Operation Manual (TOE-S800-34).

IMPORTANT

Digital Operator JUSP-OP02A-2

DIGITAL

ALARM

RESET

JOG

SVON

OPERATOR

JUSP-OP02A

DSPL SET

YASKAWA

SERVOPACK

DATA

ENTER

Panel Operator

YASKAWA SERVOPACK

MODE/SET

DATA/

CN3

A dedicated cable is used to connect the digital operator

SERVOPACK

to the SERVOPACK.

If the digital operator is connected to the SERVOPACK, the panel operator does not display anything.

3-2

3.1.2 Key Names and Functions

Key names and functions for the digital operator and the panel operator are explained below. Set parameters and JOG operation, and display status using the panel operator.

3.1 Functions on Digital Operator/Panel Operator

Digital Operator

DIGITAL

SERVOPACK

OPERATOR

JUSP-OP02A

ALARM

DSPL

SET

RESET

JOG

DATA

SVON

ENTER

YASKAWA

SERVOPACK

Panel Operator

Key

Digital Operator Panel Operator

ALARM

RESET

(RESET Key)

DSPL

SET

(DSPL/SET Key)

DATA

ENTER

(DATA/ENTER Key)

(UP Key)

(DOWN Key)

Press simultaneously

MODE/SET

(MODE/SET Key)

DATA /

(DATA/SHIFT Key)

(UP Key)

(DOWN Key)

−

(RIGHT Key)

(LEFT Key)

JOG

SVON

(SVON Key)

DATA /

(DATA/SHIFT Key)

MODE/SET

(MODE/SET Key)

Function

To reset the servo alarm. Note 1. The servo alarm can be reset by /ALM-RST (CN1-44)

input signal.

2. The servo alarm need not be reset if the control power supply is turned OFF.

To select a basic mode, such as the status display mode, utility function mode, parameter setting mode, or monitor mode. Can be also used to set the data.

To display parameter setting and set value.

Press the UP Key to increase the set value. For JOG operation, this key is used as Forward Run Start Key.

Press the DOWN Key to decrease the set value. For JOG operation, this key is used as Reserve Run Start Key.

Press the RIGHT Key to shift to the next digit on the right.

Press the LEFT or DATA/SHIFT Key to shift to the next digit on the left.

Press the SVON or MODE/SET Key to perform servo ON/OFF in the JOG operation with the operator.

IMPORTANT

When an alarm occurs, remove the cause, and then reset the alarm. Refer to 11.1 Troubleshooting.

3-3

3 Digital Operator/Panel Operator

3.1.3 Basic Mode Selection and Operation

The basic modes include: Status display mode, Utility Function Mode, Parameter Setting Mode, and Monitor Mode.

Select a basic mode to display the operation status, set parameters and operation references. The basic mode is selected in the following order.

(1) Using the Digital Operator

Turn ON the power

Press DSPL/SET Key. A basic mode is selected in the following order.

Status Display Mode (Refer to 8.1.4.)

Press .

DSPL

SET

DATA

Press .

ENTER

Fn: Utility Function Mode (Refer to 8.2)

Repeat

Press .

DSPL

SET

DATA

Press .

ENTER

Pn: Parameter Setting Mode (Refer to 8.3)

Press .

DSPL

SET

DSPL

SET

DATA

Press .

ENTER

Pn: Monitor Mode (Refer to 8.4)

Press DSPL/SET Key and UP or DOWN Key to select the desired parameter number. Then, press DATA/ENTER Key to display the contents of selected parameter number in the selected mode. (Refer to each operation instruction described later.)

3-4

(2) Using the Panel Operator

3.1 Functions on Digital Operator/Panel Operator

Turn ON the power

Repeat

Press MODE/SET Key and UP or DOWN Key to select the desired parameter number. Then, press DATA/SHIFT Key for more than one second to display the contents of selected parameter number in the selected mode. (Refer to each operation instruction described later.)

Press DSPL/SET Key. A basic mode is selected in the following order.

Status Display Mode (Refer to 8.1.4)

Press .

MODE/SET

Press for more than one second.

DATA /

Press .

MODE/SET

Press .

MODE/SET

Press .

MODE/SET

(DATA/SHIFT)

Press for more than one second.

DATA /

(DATA/SHIFT Key)

Press for more than one second.

DATA /

(DATA/SHIFT Key)

Fn: Utility Function Mode (Refer to 8.2)

Pn: Parameter Setting Mode (Refer to 8.3)

Un: Monitor Mode (Refer to 8.4)

3-5

3 Digital Operator/Panel Operator

3.1.4 Status Display

Bit data

Code















(1) Bit Data and Meanings

Item

d e

Bit Data Meaning Bit Data Meaning

Control Power ON

Baseblock Lit for baseblock. Not lit when servo is ON. Baseblock Lit for baseblock. Not lit when servo is ON.

Speed Coincidence

(/V-CMP)

Movement Detection

(/TGON)

Speed Reference Input

Force Reference Input

Power Ready Lit when main circuit power supply is ON

Speed or Force Control Mode Position Control Mode

Lit when SERVOPACK control power is ON.

Lit when the difference between the motor speed and reference speed is the same as or less than the value set in Pn582. (Factory setting is 10 mm/s.)

∗ Always lit in force control mode.

Lit if motor speed exceeds preset value. Not lit if motor speed is below preset value. Preset value: Set in Pn581 (Factory setting is 20 mm/s.)

Lit if input speed reference exceeds preset value. Not lit if input speed reference is below preset value. Preset value: Set in Pn581 (Factory setting is 20 mm/s.)

Lit if input force reference exceeds preset value. Not lit if input force reference is below preset value. Preset value: 10% of rated force

and normal. Not lit when main circuit power supply power is OFF.

Control Power ON

Positioning Completion

(/COIN)

Movement Detection

(/TGON)

Reference Pulse Input

Error Counter Clear Signal Input

Power Ready Lit when main circuit power supply is ON

Lit when SERVOPACK control power supply is ON.

Lit if error between position reference and actual motor position is below preset value. Not lit if error between position reference and actual motor position exceeds preset value. Preset value: Set in Pn500 (Factory setting is 7 pulses.)

Lit if motor speed exceeds preset value. Not lit if motor speed is below preset value. Preset value: Set in Pn581 (Factory setting is 20 mm/s.)

Lit if reference pulse is input. Not lit if no reference pulse is input.

Lit when error counter clear signal is input. Not lit when error counter clear signal is not input.

and normal. Not lit when main circuit power supply power is OFF.

3-6

(2) Codes and Meanings

Code Meaning

Baseblock

Servo OFF (motor power OFF)

Run

Servo ON (motor power ON)

Forward Run Prohibited

CN1-42 (P-OT) is OFF.

Reverse Run Prohibited

CN1-43 (N-OT) is OFF.

Alarm Status

Displays the alarm number.

3.1 Functions on Digital Operator/Panel Operator

3-7

3 Digital Operator/Panel Operator

3.2.1 List of Utility Function Modes

3.2 Operation in Utility Function Mode (Fn)

3.2.1 List of Utility Function Modes

This section describes how to apply the basic operations using the panel operator to run and adjust the motor. The following table shows the parameters in the utility function mode.

Parameter

No.

Fn000 Alarm traceback data display Fn001 Rigidity setting during online autotuning Fn002 JOG mode operation Fn003 Zero-point search mode Fn005 Parameter setting initialization Fn006 Alarm traceback data clear Fn007 Writing to EEPROM mass ratio data obtained from online autotuning Fn008 Fixed parameter Fn009 Automatic tuning of analog (speed, force) reference offset

Fn00A Manual adjustment of speed reference offset Fn00B Manual adjustment of force reference offset Fn00C Manual zero-adjustment of analog monitor output Fn00D Manual gain-adjustment of analog monitor output Fn00E Automatic offset-adjustment of motor current detection signal Fn00F Manual offset-adjustment of motor current detection signal Fn010 Password setting (protects parameters from being changed) Fn011 Motor models display Fn012 Software version display Fn013 Fixed parameter Fn014 Application module detection results clear

Function Remarks

Reference

Section

− 3.2.2

{ { { { { { { {

{ { { { { {

− 3.2.9

− 3.2.10

− 3.2.11

{ {

5.2.5 .2.3

.2.4

3.2.5

.2.6

5.2.7

−

.7.3

4.9.3

.7.3

.9.3

−

.2.7

.2.8

−

.2.12

3-8

Note: When the parameters marked with “{” in remarks column or in Pn are set for Password Set-

ting (Fn010), the indication shown below appears and such parameters cannot be changed.

Blinks for one second

3.2.2 Alarm Traceback Data Display (Fn000)

The alarm traceback display can display up to 10 previously occurred alarms. The alarm data is displayed on Fn000, which is stocked in the alarm traceback data. The data can be cleared using an utility function mode “Alarm Traceback Data Clear.” For details, refer to 3.2.6 Alarm Traceback Data Clear (Fn006). The alarm traceback data is not cleared on alarm reset or when the SERVOPACK power is turned OFF. This does not adversely affect operation.

3.2 Operation in Utility Function Mode (Fn)

Alarm Sequence Number The higher the number, the older the alarm data is.

Alarm Code See the alarm table.

The following alarm are operator-related alarms which are not recorded in the traceback data.

Display Description

Digital operator transmission error 1

Digital operator transmission error 2

Refer to 6.1 Troubleshooting for alarm number and contents.

INFO

1. Alarm traceback data will not be updated when the same alarm occurs repetitively.

2. The display “A.--” means no alarm occurs.

Follow the procedure below to confirm alarms which have been generated.

Step

1 Press the DSPL/SET or MODE/SET Key to select “Alarm

2 Press the DATA/ENTER Key once, or DATA/SHIFT Key

3 Press the UP Key to display the data for a previous alarm.

4 Press the UP Key to display value in order.

5 Press the DATA/ENTER Key once, or DATA/SHIFT Key

Display after

Operation

Digital Operator Panel Operator Description

DSPL

SET

(DSPL/SET Key)

MODE/SET

(MODE/SET Key)

Traceback Data Display (Fn000).” If a number other than Fn000 is displayed, press UP Key or DOWN Key to set Fn000.

Note: The enabled digit blinks.

DATA

ENTER

(DATA/ENTER Key)

(UP Key)

DATA

(DATA/SHIFT Key)

(Press at least 1 s.)

(UP Key)

for more than one second. The latest alarm data is displayed.

(To display one newer alarm data, press DOWN Key.)

Note: The higher the digit on the far left, the older the

alarm data is.

(UP Key)

DATA

ENTER

(DATA/ENTER Key)

(UP Key)

DATA

(DATA/SHIFT Key)

(Press at least 1 s.)

Note: “A.--” means no alarm occurs.

for more than one second. The display will return to Fn000.

3-9

3 Digital Operator/Panel Operator

(

3.2.3 JOG Mode Operation (Fn002)

• Forward run prohibited (P-OT) and reverse run prohibited (N-OT) signals are disabled during JOG mode operation.

The JOG mode operation is designed to move a linear servomotor without connecting to the host controller when performing the trial operation. The JOG mode operation is used to confirm the movement direction and motor speed setting.

(1) Precautions

Observe the following precautions when performing JOG mode operation.

• The SERVOPACK must be in servo ready state. The JOG mode operation cannot be performed while the SERVOPACK is in servo ON state.

• The servo ON (/S-ON) input signal must be OFF.

• If the parameter Pn50A.1 (/S-ON Signal Mapping) is set to “7 (Sets signal ON),” change the setting to “8 (Sets signal OFF).”

CAUTION

(2) Related Parameter

Pn383

Sets the motor speed reference value of the utility function Fn002 “JOG Mode Operation.”

JOG Speed

Speed

Position

Setting Range Setting Unit Factory Setting Setting Validation

0 to 10000 mm/s 1 mm/s 50 mm/s Immediately

Force

(3) Operation Procedure

Use the following procedure to execute the JOG mode operation.

Step

1 Press the DSPL/SET or MODE/SET Key to select the util-

2 Press the UP or DOWN Key to select the Fn002.

3 Press the DATA/ENTER Key once, or DATA/SHIFT Key at

4 Press the DSPL/SET or MODE/SET Key. The servo turns

5 Press the UP Key for the forward direction or DOWN Key

6 Press the DSPL/SET or MODE/SET Key. The servo turns

7 Press the DATA/ENTER once or DATA/SHIFT Key at least

Display after

Operation

Forward direction

Reverse direction

Digital Operator Panel Operator Description

DSPL

SET

(DSPL/SET Key)

MODE/SET

MODE/SET Ke

ity function mode.

Note: The enabled digit binks.

DATA

ENTER

(DATA/ENTER Key)

DSPL

SET

(DSPL/SET Key)

DATA

(DATA/SHIFT Key)

(Press at least 1 s.)

MODE/SET

MODE/SET Ke

least one second, and the display will be as shown on the left. The operator enters JOG operation mode.

ON.

for the reverse direction. The linear servomotor moves as long as the key is pressed.

DSPL

SET

(DSPL/SET Key)

DATA

ENTER

(DATA/ENTER Key)

MODE/SET

(MODE/SET Key)

DATA

(DATA/SHIFT Key)

(Press at least 1 s.)

OFF. Or, press the DATA/SHIFT Key at least one second to turn the servo OFF.

one second to return to the utility function mode display Fn002.

3-10

3.2 Operation in Utility Function Mode (Fn)

(

INFO

The linear servomotor movement direction differs depending on the setting of parameter Pn000.0 “Direction Selection.” The above example shows the case of factory setting.

3.2.4 Zero-point Search Mode (Fn003)

CAUTION

• Forward run prohibited (P-OT) and reverse run prohibited (N-OT) signals are disabled during zero-point search mode operations using Fn003.

The zero-point search mode is designed to perform positioning to the zero-point pulse (phase-C) position of the linear scale that outputs the zero-point signal and to clamp at the position.

This mode is used to confirm that the linear scale outputs the zero-point signal correctly. When the maximum speed is set to 5 m/s, the movement speed for executing the zero-point search is 60 mm/s. The following conditions must be met to perform the zero-point search operation.

• If the Servo-ON input signal (/S-ON) is ON, turn it OFF.

• Release the Servo-ON signal mask if the parameter Pn 50A.1 is set to 7, and the servo has been set to always be ON.

Follow the procedure below to execute the zero-point search.

Step

1 Press the DSPL/SET or MODE/SET Key to select

2 Press the UP or DOWN Key to select the Fn003.

Display after

Operation

Digital Operator Panel Operator Description

DSPL

SET

(DSPL/SET Key)

MODE/SET

MODE/SET Ke

the utility function mode.

Note: The enabled digit blinks.

3 Press the DATA/ENTER Key once, or DATA/SHIFT

4 Press the SVON or MODE/SET Key.

DATA

ENTER

(DATA/ENTER Key)

JOG

SVON

(SVON Key)

DATA

(DATA/SHIFT Key)

(Press at least 1 s.)

MODE/SET

(MODE/SET Key)

Key for more than one second, and the display will be as shown on the left.

The servo turns ON.

5 When the parameter is set to Pn000.0 = 0 (default),

pressing the UP Key will run the motor in the forward direction. Pressing the DOWN Key will run the motor in the reverse direction. When the parameter is set to Pn000.0 = 1, the movement direction of the motor is reversed.

Display blinks.

When the motor zero-point search is completed, the display blinks.

At this moment, the motor is servo-locked at the zero-point pulse position.

7 Press the DATA/ENTER Key once, or DATA/SHIFT

DATA

ENTER

(DATA/ENTER Key)

DATA

(DATA/SHIFT Key)

(Press at least 1 s.)

Key for more than one second. Fn003 display appears again. The motor will be servo OFF status.

3-11

3 Digital Operator/Panel Operator

3.2.5 Parameter Settings Initialization (Fn005)

This function is used when returning to the factory settings after changing parameter settings. Pressing the DSPL/SET or MODE/SET Key during servo ON does not initialize the parameter settings. After initialization, turn OFF the power supply and then turn ON again.

IMPORTANT

Step

1 Press the DSPL/SET or MODE/SET Key to select the

Initialize the parameter settings with the servo OFF.

Display after

Operation

Digital Operator Panel Operator Description

DSPL

SET

(DSPL/SET Key)

(MODE/SET Key)

MODE/SET

utility function mode.

2 Press the UP or DOWN Key to select Fn005.

Note: The enabled digit blinks.

3 Press the DATA/ENTER Key once, or DATA/SHIFT

4 Press the DSPL/SET or MODE/SET Key. Then, the

DATA

ENTER

(DATA/ENTER Key)

DSPL

SET

(DSPL/SET Key)

End of initialization

DATA

(DATA/SHIFT Key)

(Press at least 1 s.)

MODE/SET

(MODE/SET Key)

Key for more than one second, and the display will be as shown on the left.

parameters will be initialized. During initialization, the display shown on the left

blinks. When the initialization of parameter setting com-

pletes, the display shown on the left blinks for about one second.

After about one

second

The display changes from “donE” to the display shown on the left.

7 Press the DATA/ENTER Key once, or DATA/SHIFT

DATA

ENTER

(DATA/ENTER Key)

DATA

(DATA/SHIFT Key)

(Press at least 1 s.)

Key for more than one second to return to the utility function mode display Fn005.

3-12

3.2.6 Alarm Traceback Data Clear (Fn006)

This function clears the alarm traceback data, which stores the alarms generated in the SERVOPACK. After having cleared data, “A.--” (No alarm) is set to all the alarm traceback data.

3.2 Operation in Utility Function Mode (Fn)

Step

1 Press the DSPL/SET or MODE/SET Key to select the

Display after

Operation

Digital Operator Panel Operator Description

DSPL

SET

(DSPL/SET Key)

MODE/SET

(MODE/SET Key)

utility function mode.

2 Press the UP or DOWN Key to select Fn006.

Note: The enabled digit blinks.

3 Press the DATA/ENTER Key once, or DATA/SHIFT

4 Press the DSPL/SET or MODE/SET Key to clear the

DATA

ENTER

(DATA/ENTER Key)

DSPL

SET

(DSPL/SET Key)

After about one second

DATA

(DATA/SHIFT Key)

(Press at least 1 s.)

MODE/SET

(MODE/SET Key)

Key for more than one second, and the display will be as shown on the left.

alarm traceback data. The display shown on the left blinks for about one sec-

ond when the data is cleared. The display changes from “donE” to the display

shown on the left.

6 Press the DATA/ENTER Key once, or DATA/SHIFT

DATA

ENTER

(DATA/ENTER Key)

DATA

(DATA/SHIFT Key)

(Press at least 1 s.)

Key for more than one second to return to the utility function mode display Fn006.

3-13

3 Digital Operator/Panel Operator

3.2.7 Automatic Offset-adjustment of Motor Current Detection Signal (Fn00E)

Automatic motor current detection offset adjustment has performed at Yaskawa before shipping. Basically, the user need not perform this adjustment.

Perform this adjustment only if highly accurate adjustment is required for reducing force ripple caused by current offset. Automatic adjustment is possible only with power supplied to the main circuit power supply and with the servo OFF.

IMPORTANT

Step

1 Press the DSPL/SET or MODE/SET Key to select the

Execute the automatic offset adjustment if the force ripple is too big when compared with that of other SERVOPACKs.

Display after

Operation

Digital Operator Panel Operator Description

DSPL

SET

(DSPL/SET Key)

MODE/SET

(MODE/SET Key)

utility function mode.

2 Press the UP or DOWN Key to select Fn00E.

Note: The enabled digit blinks.

3 Press the DATA/ENTER Key once, or DATA/SHIFT

4 Press the DSPL/SET or MODE/SET Key.

DATA

ENTER

(DATA/ENTER Key)

DSPL

SET

(DSPL/SET Key)

DATA

(DATA/SHIFT Key)

(Press at least 1 s.)

MODE/SET

(MODE/SET Key)

Key for more than one second, and the display will be as shown on the left.

The offset will be automatically adjusted. When the adjustment completes, the display shown on

the left blinks for about one second.

After about one second

The display changes from “donE” to the display shown on the left.

6 Press the DATA/ENTER Key once, or DATA/SHIFT

DATA

ENTER

(DATA/ENTER Key)

DATA

(DATA/SHIFT Key)

(Press at least 1 s.)

Key for more than one second to return to the utility function mode display Fn00E.

3-14

3.2 Operation in Utility Function Mode (Fn)

3.2.8 Manual Offset-adjustment of Motor Current Detection Signal (Fn00F)

The adjusting range of the motor current detection offset is -512 to +511. To adjust the offset, perform the automatic adjustment (Fn00E) first. And if the force ripple is still big after the automatic adjustment, perform the manual adjustment.

IMPORTANT

If this function, particularly manual adjustment, is executed carelessly, it may worsen the characteristics. When performing manual adjustments, run the motor at a speed of approximately 100 mm/s, and adjust the

operator until the force monitor ripple is minimized. (Refer to 10.5 Analog Monitor.) Adjust the phase-U and phase-V offsets alternately several times until these offsets are well balanced.

Step

1 Press the DSPL/SET or MODE/SET Key to select the

Display after

Operation

Digital Operator Panel Operator Description

DSPL

SET

(DSPL/SET Key)

MODE/SET

(MODE/SET Key)

utility function mode.

2 Press the UP or DOWN Key to select Fn00F.

Note: The enabled digit blinks.

3 Press the DATA/ENTER Key once, or DATA/SHIFT

DATA

ENTER

(DATA/ENTER Key)

DATA

(DATA/SHIFT Key)

(Press at least 1 s.)

Key for more than one second, and the display will be as shown on the left (phase U).

4 Press the LEFT or RIGHT or DATA/SHIFT Key for

DATA

(DATA/SHIFT Key)

(Press at least 1 s.)

less than one second to display the phase-U offset amount.

5 Press the UP or DOWN Key to adjust the offset. Care-

fully adjust the offset while monitoring the force reference monitor signal.

6 Press the LEFT or RIGHT or DATA/SHIFT Key for

DATA

(DATA/SHIFT Key)

(Press at least 1 s.)

7 Press the DSPL/SET or MODE/SET Key.

DSPL

SET

(DSPL/SET Key)

MODE/SET

(MODE/SET Key)

less than one second. The display shown on the left appears.

The display shown on the left appears (phase V).

8 Press the LEFT or RIGHT or DATA/SHIFT Key for

DATA

(DATA/SHIFT Key)

(Press at least 1 s.)

less than one second to display the phase-V offset amount.

9 Press the UP or DOWN Key to adjust the offset. Care-

fully adjust the offset while monitoring the force reference monitor signal.

10 Press the LEFT or RIGHT Key or DATA/SHIFT Key

DATA

(DATA/SHIFT Key)

(Press at least 1 s.)

11 When the offset adjustment completes, press the

DATA

ENTER

(DATA/ENTER Key)

DATA

(DATA/SHIFT Key)

(Press at least 1 s.)

for less than one second. The display shown on the left appears.

DATA/ENTER Key once, or DATA/SHIFT Key for more than one second.

The display returns to the utility function mode display Fn00F.

3-15

3 Digital Operator/Panel Operator

3.2.9 Password Setting (Protects Parameters from Being Changed) (Fn010)

The write prohibited setting is used for preventing accidental changes of the parameter. All the parameters Pn

 and some of Fn become write prohibited by setting values. Refer to 3.2.1 List of Utility Function

Modes for details.

Setting values are as follows:

• “0000”: Write permitted (Releases write prohibited mode.)

• “0001”: Write prohibited (Parameters become write prohibited from the next power ON.)

Step

1 Press the DSPL/SET or MODE/SET Key to select the

Display after

Operation

Digital Operator Panel Operator Description

DSPL

SET

(DSPL/SET Key)

MODE/SET

(MODE/SET Key)

utility function mode.

2 Press the UP or DOWN Key to select Fn010.

Note: The enabled digit blinks.

3 Press the DATA/ENTER Key once, or DATA/SHIFT

DATA

ENTER

(DATA/ENTER Key)

DATA

(DATA/SHIFT Key)

(Press at least 1 s.)

Key for more than one second, and the display will be as shown on the left.

4 Press the UP or DOWN Key to set a value:

“0000”: Write permitted, “0001”: Write prohibited

5 Press the DSPL/SET or MODE/SET Key to register

DSPL

SET

(DSPL/SET Key)

MODE/SET

(MODE/SET Key)

the value. When the value is registered, the display shown on the

left blinks for about one second.

Note: If a value other than “0000” and “0001” is

set, “Error” blinks for about one second, and the previous setting is displayed.

After about one second

The display changes from “donE” to “P.000.”

7 Press the DATA/ENTER Key once, or DATA/SHIFT

DATA

ENTER

(DATA/ENTER Key)

DATA

(DATA/SHIFT Key)

(Press at least 1 s.)

Key for more than one second to return to the utility function mode display Fn010.

3-16

3.2.10 Motor Models Display (Fn011)

(

This mode is used for motor maintenance, set the parameter Fn011 to select the motor model check mode. If the SERVOPACK has been custom-made, you can also check the specification codes of SERVOPACKs.

3.2 Operation in Utility Function Mode (Fn)

Step

1 Press the DSPL/SET or MODE/SET Key to select the

Display after

Operation

Digital Operator Panel Operator Description

DSPL

SET

(DSPL/SET Key)

MODE/SET

MODE/SET Ke

utility function mode.

2 Press the UP or DOWN Key to select Fn011.

Note: The enabled digit blinks.

3 Press the DATA/ENTER Key once, or DATA/SHIFT

Key for more than one second to display the linear servomotor model and voltage code.

DATA

ENTER

(DATA/ENTER Key)

DATA

(DATA/SHIFT Key)

(Press at least 1 s.)

Linear Servomotor Voltage

Data

200 VAC or 280 VDC 400 VAC or 560 VDC

Model

Linear Servomotor Type

Data

Type

Linear servomotor

4 Press the DSPL/SET or MODE/SET Key to display the

servomotor capacity.

DSPL

SET

(DSPL/SET Key)

MODE/SET

(MODE/SET Key)

Motor capacity in units of 10 W

The above example indicates 100 W.

5 Press the DSPL/SET or MODE/SET Key, and the linear

scale type and resolution code will be displayed.

DSPL

SET

(DSPL/SET Key)

MODE/SET

(MODE/SET Key)

Linear Scale Type

Data

Type

Incremental00

Scale Pitch Multiplication

Data

Resolution

8-bit8

6 Press the DSPL/SET or MODE/SET Key to display the

SERVOPACK’s code for custom orders.

DSPL

SET

(DSPL/SET Key)

MODE/SET

(MODE/SET Key)

Note: The display “y.0000” means standard model.

Code for custom orders

7 Press the DATA/ENTER Key once, or DATA/SHIFT

DATA

ENTER

(DATA/ENTER Key)

DATA

(DATA/SHIFT Key)

(Press at least 1 s.)

Key for more than one second to return to the utility function mode display Fn011.

3-17

3 Digital Operator/Panel Operator

3.2.11 Software Version Display (Fn012)

Set the Fn012 to select the software-version check mode to check the SERVOPACK and encoder software version numbers.

Step

1 Press the DSPL/SET or MODE/SET Key to select the

Display after

Operation

Digital Operator Panel Operator Description

DSPL

SET

(DSPL/SET Key)

MODE/SET

(MODE/SET Key)

utility function mode.

2 Press the UP or DOWN Key to select Fn012.

Note: The enabled digit blinks.

3 Press the DATA/ENTER Key once, or DATA/SHIFT

DATA

ENTER

(DATA/ENTER Key)

4 Press the DSPL/SET or MODE/SET Key to display the

DSPL

SET

(DSPL/SET Key)

DATA

(DATA/SHIFT Key)

(Press at least 1 s.)

MODE/SET

(MODE/SET Key)

Key for more than one second to display the SERVOPACK software version number.

encoder software version number.

5 Press the DATA/ENTER Key once, or DATA/SHIFT

DATA

ENTER

(DATA/ENTER Key)

DATA

(DATA/SHIFT Key)

(Press at least 1 s.)

Key for more than one second to return to the utility function mode Fn012.

3-18

3.2 Operation in Utility Function Mode (Fn)

3.2.12 Application Module Detection Results Clear (Fn014)

The alarm A.E7 (application module detection error) occurs when turning ON the power for the first time when the SERVOPACK is used without application module after the SERVOPACK has been used with application module.

Clearing application module detection results is performed as using the SERVOPACK individually without operating the application module detection.

Restarting again after performing the following operation will clear and reset the alarm A.E7. Then, the operation of SERVOPACK without application module is enabled.

IMPORTANT

Because the parameter is set for the SERVOPACK with an application module, change the setting or initialize the parameter value (Fn005 of utility function mode) as required.

Step

1 Press the DSPL/SET or MODE/SET Key to select

Display after

Operation

Digital Operator Panel Operator Description

DSPL

SET

(DSPL/SET Key)

MODE/SET

(MODE/SET Key)

the utility function mode.

2 Press the UP or DOWN Key to select the Fn014.

Note: The enabled digit blinks.

3 Press the DATA/ENTER Key once, or DATA/

DATA

ENTER

(DATA/ENTER Key)

DATA

(DATA/SHIFT Key)

(Press at least 1 s.)

SHIFT Key for more than one second, and the display will be as shown on the left.

4 Press the DSPL/SET or MODE/SET Key, and the

display will be as shown on the left to clear the

Blinks

DSPL

SET

(DSPL/SET Key)

MODE/SET

(MODE/SET Key)

After about one second

application module detection.

The display changes from “donE” to the display shown on the left.

6 Press the DATA/ENTER Key once, or DATA/

DATA

ENTER

(DATA/ENTER Key)

DATA

(DATA/SHIFT Key)

(Press at least 1 s.)

SHIFT Key for more than one second to return to the utility function mode.

3-19

3 Digital Operator/Panel Operator

3.3.1 Setting Parameters

3.3 Operation in Parameter Setting Mode (Pn)

Functions can be selected or adjusted by setting parameters. There are two types of parameters. One type requires value setting and the other requires function selection. These two types use different setting methods.

With value setting, a parameter is set to a value within the specified range of the parameter. With function selection, the functions allocated to each digit of the seven-segment LED panel indicator (five digits) can be selected.

3.3.1 Setting Parameters

(1) Value Setting Parameters

(a) Types of Value Setting Parameters

Refer to

7.4.2 List of Parameters

(b) Example of Changing Value Setting Parameter

The parameter settings can be used for changing parameter data. Before changing the data, check the permitted range of the parameter.

EXAMPLE

The example below shows how to change parameter Pn100 (speed loop gain) from “40” to “100.”

Step

1 Press the DSPL/SET or MODE/SET Key to select the

Display after

Operation

Digital Operator Panel Operator Description

DSPL

SET

(DSPL/SET Key)

MODE/SET

(MODE/SET Key)

parameter setting mode. If a parameter other than Pn100 is displayed, press the UP or DOWN Key to select Pn100.

Note: The enabled digit blinks.

2 Press the DATA/ENTER Key once, or DATA/SHIFT

DATA ENTER

(DATA/ENTER Key)

DATA

(DATA/SHIFT Key)

(Press at least 1 s.)

Key for more than one second. The current data of Pn100 is displayed.

3 Press the LEFT or RIGHT Key or DATA/SHIFT Key to

DATA /

(DATA/SHIFT Key)

select the digit to be set.

4 Press the UP or DOWN Key to change the data.

Keep pressing UP or DOWN Key until “00100” is displayed.

5 Press the DATA/ENTER Key once, or DATA/SHIFT

DATA ENTER

(DATA/ENTER Key)

DATA

(DATA/SHIFT Key)

(Press at least 1 s.)

Key for more than one second. The value blinks and is saved.

6 Press the DATA/ENTER Key once, or DATA/SHIFT

DATA ENTER

(DATA/ENTER Key)

DATA

(DATA/SHIFT Key)

(Press at least 1 s.)

Key for more than one second to return to the display of Pn100. The data for the speed loop gain (Pn100) is changed from “40” to “100.”

3-20

3.3 Operation in Parameter Setting Mode (Pn)

In this manual, the parameter is explained with using the following format.

Applicable control mode for the parameter

Speed

Positoin

The number of the parameter

The name of the parameter

Force

: Speed control, internal set speed control

: Position control

: Force control

Pn406

This section shows the range of the parameter settings. The maximum value can be set even if the parameter is combined with the other sepecified motor.

Emergency Stop Force

Setting Range

0 to 800 1% 800 Immediately

This section shows the minimum setting unit (the setting value).

Setting Unit Factory Setting Setting Validation

This section shows the SERVOPACK's parameter with factory setting.

The following alarm shows the setting value of the parameter.

Decimal display in five digits

Speed

Position

Force

This section shows if the setting is validated "immediately" or "after restart" when changing the parameter.

3-21

3 Digital Operator/Panel Operator

3.3.1 Setting Parameters

(2) Function Selection Parameters

(a) Types of Function Selection Parameters

Refer to 7.4.2 List of Parameters.

IMPORTANT

Function Selection Parameter

Servo Gain Related Parameter

Position Control Related Parameter

Force Control Related Parameter

Sequence Related Parameter (Input Signal Selection)

Sequence Related Parameter

(Output Signal Selection)

If the parameters with “After restart” in “Setting Validation” column in the table are changed, turn OFF the main circuit and control power supply and ON again to validate new setting.

• Pn10B.1 and Pn110.0 require the power to be reset as mentioned above.

• Pn10B.0, Pn110.1, and Pn110.2 are enabled with the off-line, so the power does not have to be reset.

3.3.2 Input Circuit Signal Allocation

For details on each digit of the parameter, see 7.4.2 List of Parameters.

Parameter Meaning

Pn50A

n.2 n.8

Input the forward run prohibited signal (P-OT) from CN1-42 (Factory setting).

Forward run prohibited signal (P-OT) is disabled (Forward rotation allowed).

The number of the parameter

This blank shows the setting value of the function selection, as well as the state condition on the panel operator and the digital operator (JUSP-OP02A-2).

3.3.2 Input Circuit Signal Allocation

Each input signal is allocated to a pin of the input connector CN1 by setting the parameter. The following table shows detailed allocation.

(1) Factory Setting (Pn50A.0 = 0)

The factory setting for the input signal allocation is as follows.

means factory setting.

Pn50A:

Pn50B:

This section explains the details of the function selection.

3-24

3.3 Operation in Parameter Setting Mode (Pn)

(2) Changing the Allocation (Pn50A.0 = 1)

Set the parameter in accordance with the relation between the signal to be used and the input connector pin. After having changed the parameter, turn OFF the power and ON again to enable the parameters.

means factory setting.

Connection Not

Signal Name

Parameter Setting

Allocation

Servo ON Pn50A.1 = n.xxx

Proportional Operation Reference Pn50A.2 = n.xxx

Forward Run Prohibited Pn50A.3 = n.xxx

Reverse Run Prohibited Pn50B.0 = n.xxx

Alarm Reset Pn50B.1 = n.xxx

Forward External Force Limit Pn50B.2 = n.xxx

Reserve External Force Limit Pn50B.3 = n.xxx

Internal Set Speed Selection Pn50C.0 = n.xxx

Internal Set Speed Selection Pn50C.1 = n.xxx

Internal Set Speed Selection Pn50C.2 = n.xxx

Control Method Selection Pn50C.3 = n.xxx

Zero Clamp Pn50D.0 = n.xxx

Reference Pulse Inhibit Pn50D.1 = n.xxx

Gain Changeover Pn50D.2 = n.xxx

Polarity Detection Pn50D.3 = n.xxx

Reference Pulse Input Multiplication* Pn513.0 = n.xxx

* This function is valid for the software version 32 or later.

Valid-

ity

Level

L /S-ON 0123456

HS-ON9ABCDEF

L/P-CON0123456

HP-CON9ABCDEF

H P-OT 0123456

L/P-OT9ABCDEF

H N-OT 0123456

L /N-OT 9 A B C D E F

L/ARM-RST0123456

HARM-RST9 A B C D E F

L /P-CL 0123456

HP-CL9ABCDEF

L /N-CL 0123456

HN-CL9ABCDEF

L /SPD-D0123456

H SPD-D 9 A B C D E F

L /SPD-A0123456

H SPD-A 9 A B C D E F

L /SPD-B0123456

H SPD-B 9 A B C D E F

L /C-SEL0123456

HC-SEL9ABCDEF

L/ZCLAMP0123456

HZCLAMP9 A BC D E F

L/INHIBIT0123456

H INHIBIT 9 A B C D E F

L /G-SEL0123456

HG-SEL9ABCDEF

L /P-DET0123456

HP-DET9ABCDEF

L /P-SEL0123456

HP-SEL9ABCDEF

Input

Signal

40 41 42 43 44 45 46

CN1 Input Pin Allocation

(SERVOPACK judges

the connection)

Always ONAlways

Required

OFF

− 8

8-25

3 Digital Operator/Panel Operator

3.3.2 Input Circuit Signal Allocation

IMPORTANT

1. When using Servo ON, Forward Run Prohibited, and Reverse Run Prohibited signals with the setting “Polarity Reversal,” the machine may not move to the specified safe direction at occurrence of failure such as signal line disconnection. If such setting is absolutely necessary, confirm the operation and observe safety precautions.

2. When two or more signals are allocated to the same input circuit, the input signal level will be applied to all the allocated signal.

3-26

(3) Allocating Input Signals

)

EXAMPLE

Pn50A:

Pn50B:

The procedure to replace Servo ON (/S-ON) signal allocated to CN1-40 and Forward External Force Limit (/P-CL) allocated to CN1-45 is shown below.

Before After

3.3 Operation in Parameter Setting Mode (Pn)

Step

Display after

Operation

1 Press the DSPL/SET or MODE/SET Key to select the

Digital

Operator

DSPL

SET

(DSPL/SET Key)

Panel Operator Description

“value setting parameter” mode. If a parameter other

MODE/SET

(MODE/SET Key)

than Pn50A is displayed, press the UP or DOWN Key to set Pn50A.

Note: The enabled digit blinks.

2 Press the DATA/ENTER Key once, or DATA/SHIFT

DATA

ENTER

(DATA/ENTER Key

DATA

(DATA/SHIFT Key)

(Press at least 1 s.)

Key for more than one second to display the current data of Pn50A.

(/S-ON is allocated to CN1-40.)

3 Press the UP Key to set to “1.”

(UP Key)

DATA /

(DATA/SHIFT Key)

(Sequence input signals can be freely set.)

4 Press the LEFT or RIGHT Key or DATA/SHIFT Key to

DATA /

(DATA/SHIFT Key)

select the second digit from the right. Press the UP key to set to “5.”

(Changes the allocation of /S-ON from CN1-40 to CN1-

45.)

5 Press the DATA/ENTER Key once, or DATA/SHIFT

DATA

ENTER

(DATA/ENTER Key)

DATA

(DATA/SHIFT Key)

(Press at least 1 s.)

Key for more than one second. The value blinks and is saved. At the moment, the CN1-45 operates with OR logic for /S-ON and /P-CL.

6 Press the DATA/ENTER Key once, or DATA/SHIFT

DATA

ENTER

(DATA/ENTER Key)

DATA

(DATA/SHIFT Key)

(Press at least 1 s.)

Key for more than one second to return to the display Pn50A.

7 Press the UP Key to set Pn50B.

(UP Key)

Note: The enabled digit blinks.

8 Press the DATA/ENTER Key once, or DATA/SHIFT

DATA

ENTER

(DATA/ENTER Key)

DATA

(DATA/SHIFT Key)

(Press at least 1 s.)

Key for more than one second to display the current data of Pn50B.

(/P-CL is allocated to CN1-45.)

9 Press the LEFT or RIGHT Key or DATA/SHIFT Key to

DATA /

(DATA/SHIFT Key)

select the third digit from the right. Press the DOWN Key to set to “0.”

(Changes the allocation of /P-CL from CN1-45 to CN1-

40.)

10 Press the DATA/ENTER Key once, or DATA/SHIFT

DATA

ENTER

(DATA/ENTER Key)

DATA

(DATA/SHIFT Key)

(Press at least 1 s.)

Key for more than one second. The value blinks and is saved.

11 Press the DATA/ENTER Key once, or DATA/SHIFT

DATA

ENTER

(DATA/ENTER Key)

DATA /

(DATA/SHIFT Key)

Key for more than one second to return to the display Pn50B. /S-ON is allocation to CN1-45, and /P-CL is allocated to CN1-40.

12 Turn the power OFF and ON again to enable the change of input signal selections (Pn50A and Pn50B).

3-27

3 Digital Operator/Panel Operator

3.3.3 Output Circuit Signal Allocation

Functions can be allocated to the following sequence output signals. After having changed the parameter, turn OFF the power and ON again to enable the parameters.

means factory setting.

CN1 Pin No. 25/(26) 27/(28) 29/(30)

Parameter Setting

Allocation

Positioning Completion

COIN)

Pn50E.0 = n.xxx

Speed Coincidence Detection

(/V-CMP) Pn50E.1 = n.xxx

Movement Detection

(/TGON) Pn50E.2 = n.xxx

Servo Ready (/S-RDY) Pn50E.3 = n.xxx

Force Limit Detection

(/CLT) Pn50F.0 = n.xxx

Speed Limit Detection

(/VLT) Pn50F.1 = n.xxx

Brake (/BK) Pn50F.2 = n.xxx

Warning (/WARN) Pn50F.3 = n.xxx

Near (/NEAR) Pn510.0 = n.xxx

Reference Pulse Input Multiplication

(/PSELA)* Pn510.2 = n.xxx

Pn512=n.xxx

010101

0 Invalid 1L H 2LH 3LH 0 Invalid 1L H 2LH 3LH 0 Invalid 1L H 2LH 3LH 0 Invalid 1L H 2LH 3LH 0 Invalid 1L H 2LH 3LH 0 Invalid 1L H 2LH 3LH 0 Invalid 1L H 2LH 3LH 0 Invalid 1L H 2LH 3LH 0 Invalid 1L H 2LH 3LH 0 Invalid 1L H 2LH 3LH



Pn512=n.xxx Pn512=n.xxx

Remark

L: Valid output signal: Low level H: Valid output signal: High level Invalid: Do not use the output signal.

 Factory Setting

Pn50E:

Pn50F:

Pn510:

Pn512:

Note: The output signals for Positioning

Completion Signal and Speed Coincidence Detection Signal differ depending on the control method.

3-28

* This function is valid for the software version 32 or later.

3.3 Operation in Parameter Setting Mode (Pn)

)

IMPORTANT

1. When two or more signals are allocated to the same output circuit, a signal is output with OR logic.

2. The signals not detected are considered as “Invalid.” For example, Positioning Completion (/COIN) Signal in speed control mode is “Invalid.”

• Allocating Output Signals

EXAMPLE

Step

1 Press the DSPL/SET or MODE/SET Key to select the

2 Press the DATA/ENTER Key once, or DATA/SHIFT Key

3 Press the LEFT Key or RIGHT or DATA/SHIFT Key to

4 Press the DATA/ENTER Key once, or DATA/SHIFT Key

5 Press the DATA/ENTER Key once, or DATA/SHIFT Key

6 Press the UP Key to set Pn50F.

7 Press the DATA/ENTER Key once, or DATA/SHIFT Key

8 Press the LEFT or RIHGT Key or DATA/SHIFT Key to

9 Press the DATA/ENTER Key once, or DATA/SHIFT Key

10 Press the DATA/ENTER Key once, or DATA/SHIFT Key

11 Turn OFF the power and ON again to enable the changes of output signal selection (Pn50E and Pn50F).

The procedure to replace Movement Detection (/TGON) signal allocated to CN1-27 (28) with factory setting to “Invalid” and allocate Brake Interlock (/BK) signal to CN1-27 (28) is shown below.

Before After

Pn50E:

Display after

Operation

Digital

Operator

DSPL

SET

(DSPL/SET Key)

Panel

Operator

MODE/SET

(MODE/SET Key)

Description

“value setting parameter” mode. If a parameter other than Pn50E is displayed, press the UP or DOWN Key to select Pn50E.

Note: The enabled digit blinks.

DATA ENTER

(DATA/ENTER Key

DATA /

(DATA/SHIFT Key)

DATA /

(DATA/SHIFT Key)

for more than one second to display the current data of Pn50E.

(/TGON is allocated to CN1-27 (28).)

select the third digit from the right. Press the DOWN Key to set “0.”

(Sets /TGON “Invalid.”)

DATA ENTER

(DATA/ENTER Key

DATA ENTER

(DATA/ENTER Key

DATA

(DATA/SHIFT Key)

(Press at least 1 s.)

DATA

(DATA/SHIFT Key)

(Press at least 1 s.)

for more than one second. The value blinks and is saved.

for more than one second to return to the display Pn50E.

Note: The enabled digit blinks.

(UP Key)

DATA ENTER

(DATA/ENTER Key

(UP Key)

DATA

(DATA/SHIFT Key)

(Press at least 1 s.)

DATA /

(DATA/SHIFT Key)

for more than one second to display the current data of Pn50F.

(/BK is set to “Invalid.”)

select the third digit from the right. Press the UP Key to set “2.”

(Allocates /BK to CN1-27 (28).)

DATA ENTER

(DATA/ENTER Key

DATA ENTER

(DATA/ENTER Key

DATA

(DATA/SHIFT Key)

(Press at least 1 s.)

DATA

(DATA/SHIFT Key)

(Press at least 1 s.)

for more than one second. The value blinks and is saved.

for more than one second to return to the display Pn50F. / TGON is set as “Invalid” and /BK is allocated to CN1-27 (28).

3-29

3 Digital Operator/Panel Operator

3.4.1 List of Monitor Modes

3.4 Operation in Monitor Mode (Un)

The monitor mode can be used for monitoring the reference values, I/O signal status, and SERVOPACK internal status. The monitor mode can be selected during motor operation.

3.4.1 List of Monitor Modes

Parameter

No.

Un000 Actual motor speed Un001 Input speed reference (Valid only in speed control mode) Un002 Internal force reference ( in percentage to the rated force)

Un003

Un004 Electrical angle 2 (Angle from 0 (zero) degree of phase-U))

Un005

Un006 Un007 Input reference pulse speed (valid only in position control mode) Un008 Error counter value (amount of position error) (valid only in position control mode) Un009 Accumulated load rate (value for the rated force as 100 %. Displays effective force in 10-s

Un00A Regenerative load rate (value for the processable regenerative power as 100 %. Displays regen-

Un00B Power consumed by DB resistance

Un00C

Un00D

Un010

Un011 Hall sensor signal monitor

Electrical angle 1 (32-bit decimal code)

Input signal monitor

Output signal monitor

cycle.)

erative power consumption in 10-s cycle.)

(Value for the processable power when dynamic brake is applied as 100 %. Displays power consumed by DB resistance in 10-s cycle.)

Input reference pulse counter (32-bit hexadecimal code) (valid only in position control mode)

Feedback pulse counter (32-bit hexadecimal code) Allowable maximum motor speed and dividing ratio monitor

(For the software version 32 or later)

* 1. This parameter can not be used when the linear scale does not have zero point. * 2. Refer to 3.4.2 Sequence I/O Signal Monitor Display. * 3. Refer to 3.4.4 Monitor Display of Reference Pulse Counter and Feedback Pulse Counter.

Content of Display Unit

mm/s mm/s

Number of pulses

from the phase-C

(zero-point)

deg

−

mm/s

reference unit

−

100 mm/s or pulse/ scale pitch (Pn280)

−

3-30

3.4.2 Sequence I/O Signal Monitor Display

The following section describes the monitor display for sequence I/O signals.

(1) Input Signal Monitor Display

The status of input signal allocated to each input terminal is displayed: When the input is in OFF (open) status, the top segment (LED) is lit. when the input is in ON (short-circuited) status, the bottom segment (LED) is lit.

Top: OFF (H level) Bottom: ON (L level)

7654321

Refer to 8.3.2 Input Circuit Signal Allocation for the relation between input terminals and signals.

Number

3.4 Operation in Monitor Mode (Un)

EXAMPLE

Display LED

Number

1 2 3 4 5 6 7

• When /S-ON signal is ON (Servo ON at L level)

7654321

• When /S-ON signal is OFF

76543218

• When P-OT signal operates (Operates at H level)

Input Terminal Name Factory Setting

CN1-40 /S-ON CN1-41 /P-CON CN1-42 P-OT CN1-43 N-OT CN1-44 /ALM-RST CN1-45 /P-CL CN1-46 /N-CL

The bottom segment of number 1 is lit.

The top segment of number 1 is lit.

The top segment of number 3 is lit.

76543218

3-31

3 Digital Operator/Panel Operator

)

3.4.3 Operation in Monitor Mode

(2) Output Signal Monitor Display

The status of output signal allocated to each output terminal is displayed: When the output is in OFF (open) status, the top segment (LED) is lit. When the output is in ON (short-circuited) status, the bottom segment is lit.

4321

765

Refer to 3.3.3 Output Circuit Signal Allocation for the relation between output terminals and signals.

Top: OFF (H level) Bottom: ON (L level)

Number

Display LED

Number

1 2 3 4 5 6 7

Output Terminal

Name

CN1-31, -32 CN1-25, -26 /COIN or /V-CMP CN1-27,

-28

CN1-29, -30 /S-RDY CN1-37 AL01 CN1-38 AL02 CN1-39 AL03

Seven segments in the top and bottom rows of an LED turn ON and OFF in different combinations to indicate various output signals.

These segments ON for L level and OFF for H level.

EXAMPLE

• When ALM signal operates (alarm at H level.)

3.4.3 Operation in Monitor Mode

The example below shows how to display the contents of monitor number Un000 when the linear servomotor runs at 1500 mm/s.

Factory Setting

ALM

/TGON

The top segment of number 1 is lit.

Step

Display after

Operation

1 Press the DSPL/SET or MODE/SET Key to select the

Digital

Operator

DSPL

SET

(DSPL/SET Key)

Panel

Operator

MODE/SET

(MODE/SET Key)

Description

monitor mode.

2 Press the UP or DOWN Key to select the monitor num-

ber to be displayed. The display shows the example of the data of Un000.

3 Press the DATA/ENTER Key once, or DATA/SHIFT

DATA ENTER

(DATA/ENTER Key

DATA

(DATA/SHIFT Key)

(Press at least 1 s.)

Key for more than one second to display the data of Un000.

4 Press the DATA/ENTER Key once, or DATA/SHIFT

DATA ENTER

(DATA/ENTER Key

DATA

(DATA/SHIFT Key)

(Press at least 1 s.)

Key for more than one second to return to the display of monitor number.

3-32

3.4 Operation in Monitor Mode (Un)

)

3.4.4 Monitor Display of Reference Pulse Counter and Feedback Pulse Counter

The monitor display of reference pulse counter and feedback pulse counter is expressed in 32-bit hexadecimal.

Step

Display after

Operation

1 Press the DSPL/SET or MODE/SET Key to select

Digital

Operator

DSPL

SET

(DSPL/SET Key)

Panel

Operator

MODE/SET

(MODE/SET Key)

Description

the monitor mode.

2 Press the UP or DOWN Key to select “Un00C” or

“Un00D.”

3 Press the DATA/ENTER Key once, or DATA/

The upper 16-bit data

DATA

ENTER

(DATA/ENTER Key

DATA

(DATA/SHIFT Key)

(Press at least 1 s.)

SHIFT Key for more than one second to display the data of the selected monitor number.

4 Press the UP or DOWN Key to display the lower

16-bit data.

The lower 16-bit data

5 Press both UP and DOWN Keys simultaneously

while the display on the left appears to clear the 32bit counter data.

(The display shown on the left is of the lower 16-bit

(Press simultaneouly)

Press simultaneously

data.)

6 Press the DATA/ENTER Key once, or DATA/

DATA

ENTER

(DATA/ENTER Key

DATA

(DATA/SHIFT Key)

(Press at least 1 s.)

SHIFT Key for more than one second to return to the display of monitor number.

When the control power supply is turned ON, reference pulse and feedback pulse will be “0.” The counter value increases by forward references, and decreases by reverse references.

Displays the pulse number from 0 to FFFFFFFF (4294967295) in sequence. If one pulse is decreased from 0, the digital operator and the panel operator display FFFFFFFF (4294967295) and then decrease from this pulse number. Also, if one pulse in increased from FFFFFFFF (4294967295), the digital operator and the panel operator display 0 and increase from this pulse number.

When using the 8-bit serial converter unit, the feedback pulse will be 256 pulses/scale pitch.

3-33

3 Digital Operator/Panel Operator

)

3.4.5 Allowable Maximum Motor Speed for Dividing Ratio Monitor (For the software version 32 or later)

3.4.5 Allowable Maximum Motor Speed for Dividing Ratio Monitor (For the software

version 32 or later)

Encoder resolution defines another speed limit (input sinusoidal frequency).

Step

1 Press the DSPL/SET or MODE/SET Key to select the mon-

Display after

Operation

Digital Operator Panel Operator Description

DSPL

SET

(DSPL/SET Key)

MODE/SET

(MODE/SET Key)

itor mode.

2 Press the UP or DOWN Key to select “Un010.”

3 Press the DATA/ENTER Key once or DATA/SHIFT Key

DATA

ENTER

(DATA/ENTER Key

4 Press the DSPL/SET or MODE/SET Key to display the

5 Press the DATA/ENTER Key once or DATA/SHIFT Key

DSPL

SET

(DSPL/SET Key)

DATA

ENTER

(DATA/ENTER Key

DATA

(DATA/SHIFT Key)

(Press at least 1 s.)

MODE/SET

(MODE/SET Key)

DATA

(DATA/SHIFT Key)

(Press at least 1 s.)

for more than one second to display the motor maximum speed that can be set.

maximum dividing ratio that can be set.

for more than one second to return to the display of monitor number.

3.4.6 Hall Sensor Signal Monitor (For the software version 32 or later)

Step

1 Press the DSPL/SET or MODE/SET Key to select the mon-

2 Press the UP or DOWN Key to select “Un011.”

Display after

Operation

Digital Operator Panel Operator Description

DSPL

SET

(DSPL/SET Key)

MODE/SET

(MODE/SET Key)

itor mode.

3 Prss the DATA/ENTER Key once or DATA/SHIFT Key for

more than one second to display the hall sensor signal pattern.

Phase-W signal monitor Phase-V signal monitor

DATA

ENTER

(DATA/ENTER Key

DATA

(DATA/SHIFT Key)

(Press at least 1 s.)

Hall Sensor Signal Pattern

0 1 2 3 4 5 6 7

Phase-U signal monitor Hall sensor signal pattern

Signal Monitor

Phase-U

Phase-V Phase-W

L H L H L H L H

4 Press the DATA/ENTER Key once or DATA/SHIFT Key

DATA

ENTER

(DATA/ENTER Key

DATA

(DATA/SHIFT Key)

(Press at least 1 s.)

for more than one second to return to the display of monitor number.

3-34

Operation

4.1 Trial Operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-4

4.2 Trial Operation Using SERVOPACK Internal References - - -4-6

4.2.1 SERVOPACK Setup Procedure - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-6

4.2.2 Setup Procedure Using Linear Servomotors with Hall Sensors - - - - - - 4-6

4.2.3 Setup Procedure Using Linear Servomotors without Hall Sensors - - 4-12

4.3 Trial Operation for Linear Servomotor without Load from Host Reference - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-22

4.3.1 Servo ON Command from the Host - - - - - - - - - - - - - - - - - - - - - - - - 4-22

4.3.2 Operating Procedure in Speed Control Mode (Pn000 = n.0) - - 4-24

4.3.3 Operating Procedure in Position Control Mode (Pn000 = n.1) - 4-26

Trial Operation with the Linear Servomotor Connected to the

4.4 Machine

4.5 Control Mode Selection - - - - - - - - - - - - - - - - - - - - - - - - - - 4-29

4.6 Setting Common Basic Functions - - - - - - - - - - - - - - - - - - - 4-30

4.6.1 Setting the Servo ON Signal - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-30

4.6.2 Switching the Linear Servomotor Movement Direction - - - - - - - - - - - 4-31

4.6.3 Setting the Overtravel Limit Function - - - - - - - - - - - - - - - - - - - - - - - 4-32

4.6.4 Selecting the Stopping Method After Servo OFF - - - - - - - - - - - - - - - 4-34

4.6.5 Instantaneous Power Loss Settings - - - - - - - - - - - - - - - - - - - - - - - - 4-35

4.6.6 Motor Maximum Speed (For the software version 32 or later) - - - - - - 4-35

4.7 Operating Using Speed Control with Analog Reference - - - 4-36

4.7.1 Setting Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-36

4.7.2 Setting Input Signals - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-37

4.7.3 Adjusting Offset - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-38

4.7.4 Soft Start - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-41

4.7.5 Speed Reference Filter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-41

4.7.6 Using the Zero Clamp Function - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-41

4.7.7 Encoder Signal Output - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-43

4.7.8 Speed Coincidence Output - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-45

- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-28

4-1

4 Operation

4.8 Operating Using Position Control - - - - - - - - - - - - - - - - - - - 4-46

4.8.1 Setting Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-46

4.8.2 Setting the Electronic Gear - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-48

4.8.3 Position Reference - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-51

4.8.4 Smoothing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-55

4.8.5 Positioning Completed Output Signal - - - - - - - - - - - - - - - - - - - - - - -4-56

4.8.6 Positioning Near Signal - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-57

4.8.7 Reference Pulse Inhibit Function (INHIBIT) - - - - - - - - - - - - - - - - - - -4-58

4.9 Operating Using Force Control - - - - - - - - - - - - - - - - - - - - 4-59

4.9.1 Setting Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-59

4.9.2 Force Reference Input - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-59

4.9.3 Adjusting the Force Reference Offset - - - - - - - - - - - - - - - - - - - - - - -4-60

4.9.4 Limiting Linear Servomotor Speed during Force Control - - - - - - - - - -4-62

4.10 Operating Using Speed Control with an Internally Set Speed - - - - - - - - - - - - - - - - - - - - - 4-64

4.10.1 Setting Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-64

4.10.2 Input Signal Settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-65

4.10.3 Operating Using an Internally Set Speed - - - - - - - - - - - - - - - - - - - -4-65

4.11 Limiting Force - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-67

4.11.1 Internal Force Limit (Limiting Maximum Output Force) - - - - - - - - - -4-67

4.11.2 External Force Limit (Output Force Limiting by Input Signals) - - - - -4-68

4.11.3 Force Limiting Using an Analog Voltage Reference - - - - - - - - - - - -4-70

4.11.4 Force Limiting Using an External Force Limit and Analog Voltage Reference - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-71

4.11.5 Checking Output Force Limiting during Operation - - - - - - - - - - - - -4-72

4.12 Control Mode Selection - - - - - - - - - - - - - - - - - - - - - - - - - 4-73

4.12.1 Setting Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-73

4.12.2 Switching the Control Mode - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-73

4.13 Other Output Signals - - - - - - - - - - - - - - - - - - - - - - - - - - 4-75

4.13.1 Servo Alarm Output (ALM) and Alarm Code Output

(ALO1, ALO2, ALO3) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-75

4.13.2 Warning Output (/WARN) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-76

4.13.3 Running Output Signal (/TGON) - - - - - - - - - - - - - - - - - - - - - - - - - -4-76

4.13.4 Servo Ready (/S-RDY) Output - - - - - - - - - - - - - - - - - - - - - - - - - - -4-77

4-2

4-3

4 Operation

4.1 Trial Operation

Perform a trial operation after wiring is completed. Use the following procedure to perform a trial operation. The procedures for Speed Control Mode (standard set-

ting) and Position Control Mode are described in this chapter. When a specific explanation is not provided, use the default parameters.

(1) Trial Operation Using SERVOPACK Internal References

(Refer to 4.2 Trial Operation Using SERVOPACK Internal References.)

To power supply

YASKAWA

200V

SERVOPACK

SGDH-

DATA/

MODE/SET

CHARGE POWER

C N

+ 1

+ 2

- C N

L1C

L2C

B1 B2

N 2

Run the linear servomotor without host reference input. Check that the following wiring and settings are correct.

• Power supply circuit wiring

• Linear servomotor wiring

• Serial converter unit wiring

• Linear scale wiring

• Hall sensor wiring

• Scale pitch setting

• Scale signal count direction and count quantity

• Motor movement direction and movement speed

• Force limit parameter setting

• Polarity detection operation (only if polarity detection is used.)

 Purpose

(2) Trial Operation Using Host References (Refer to 4.3 Trial Operation for Linear Servomotor without Load from Host Reference.)

 Purpose

Run the linear servomotor with host reference input. Check that the following wiring and settings are correct.

• I/O signal wiring with the host controller

• Linear servomotor movement direction, movement speed, and movement distance

• Operation of brake, overtravel, and other protective functions

• Required parameter settings

To power supply

YASKAWA

200V

SERVOPACK

SGDH-

DATA/

MODE/SET

CHARGE POWER

C N

+ 1

+ 2

- C N

L1C

L2C

B1 B2

C N 2

To host controlle

4-4

4.1 Trial Operation

Step Item Description Reference

Installation and

mounting

Install the linear servomotor and SERVOPACK according to the installation conditions.

−

Wiring and connections

Turn ON the

power.

Linear scale

check

Polarity detection

operation check (only for detection)

6 Jog operation After setting the mass ratio (Pn103), perform jog operation.

Connect input

signals.

Wire and connect the power supply circuit (L1, L2, or L1, L2, L3), linear servomotor (U, V, W), input signal (CN1), and serial converter unit (CN2). Disconnect the CN1 connector during trial operation using SERVOPACK internal references (Refer to 4.2 Trial Operation Using SERVOPACK Internal References).

Turn ON the power. Check the panel operator to make sure that the SERVOPACK is running normally. The alarm A.08 does not indicate an error.

Set the linear scale pitch (Pn280). After setting validation, check the linear scale status using the panel operator.

Check whether the polarity is being correctly detected.

Connect I/O signals (CN1) necessary for the trial operation to the SERVOPACK.

−

Jog operation

−

Check input

signals.

Input servo ON

signal.

Input reference Input the reference for the control mode being used, and check that the linear servo-

Set necessary

parameters.

Operation The linear servomotor can now be run. Adjust the servo gain if necessary. Refer to

Check the input signals using the internal monitor function. Turn ON the power, and check that the emergency stop, brake, overtravel, and other protective functions are operating correctly.

Input the servo ON signal, and turn ON the linear servomotor.

motor is operating normally.

Run the linear servomotor from the host controller in the same way as in step 10, and set the required parameters so that the machine movement direction, movement distance, and movement speed are the same as the references.

5.1 Autotuning. If an error occurs, refer to Section 6 Inspection, Maintenance, and Troubleshooting.

−

Host

reference

Host

reference

Host

reference

Host

reference

4-5

4 Operation

4.2.1 SERVOPACK Setup Procedure

4.2 Trial Operation Using SERVOPACK Internal References

4.2.1

SERVOPACK Setup Procedure

The setup procedures for combinations of a linear servomotor with hall sensor and those for combinations of a linear servomotor without a hall sensor are different. Use the setup procedure appropriate for the system being used.

Cate-

gory

Proce-

dure

Setup procedure for linear servomotors

with hall sensors

1. Install and wire the linear servomotor and linear scale.

2. Adjust the linear scale.

3. Connect the cables.

4. Set the linear scale pitch.

5. Check the feedback signal.

6. Perform jog operation from the panel operator.

7. Set the force limit.

Setup procedure for linear servomotors

without hall sensors

1. Install and wire the linear servomotor and linear scale.

2. Adjust the linear scale.

3. Connect the cables.

4. Set the linear scale pitch.

5. Select No Hall Sensor in the parameters.

6. Check the feedback signal.

7. Assign polarity detection start input (/P-DET).

8. Set the mass ratio.

9. Set the overtravel signal.

10. Set the force limit.

11. Check the polarity detection operation.

12. Adjust the polarity detection.

13. Perform a jog operation from the panel operator.

4.2.2 Setup Procedure Using Linear Servomotors with Hall Sensors

Perform the following steps 1 to 7 in order.

(1) Installation and Wiring of the Linear Servomotor and Linear Scale

Install the coil assembly and linear scale so that the motor forward direction and linear scale count up direction are the same.

IMPORTANT

When using linear Σ-series servomotors, the motor forward direction (coil assembly’s movement direction when current flows through phases U, V, and W, in that order) is toward the side from which the motor cable is extended. The analog 1-V p-p voltage input from the linear scale to the serial converter unit is counted during phase A (cos signal) progression.

If the motor forward direction and linear scale count up direction do not match and the linear servomotor is run in this state, the linear servomotor may not operate or overrun may occur.

Coil assembly cable

Motor forward direction (U to V to W)

−

Phase B progression (pulse decrease)

Phase A progression (pulse increase)

4-6

4.2 Trial Operation Using SERVOPACK Internal References

INFO

 Motor Forward Direction and Linear Scale Count Direction Do Not Match

If the motor forward direction and linear scale count direction are opposite due to wiring or other factors, set the parameter Pn080.1=1 (B-phase progression, U, V, W-phase in order).

 Linear Scale Count Direction

The Heidenhain or Renishaw linear scale counts pulses when the sensor head is operated to the side attached the signal cable. However, the direction in which the signal cable is extended is different, so the count direction is different. (Viewed from above).

• Heidenhain linear scale

Reverse direction

LIDA 48

Forward direction

HEIDENHAIN

Sensor head Signal cable

When installed as shown in the diagram on the left, operation is performed in the forward direction when the sensor head is moved to the right.

• Renishaw linear scale

Forward direction Reverse direction

RENISHAW RGH22

Signal cable

Sensor head

When installed as shown in the diagram on the left, operation is performed in the forward direction when the sensor head is moved to the left.

(2) Adjusting the Linear Scale

When the linear scale is an open type, adjust the head installation. For details on the adjustment method, contact the manufacturer of the scales. When the linear scale is a sealed type, adjustment is not required. But the dimensional tolerances for installation must be maintained.

(3) Connecting the Cables

Check the power supply circuit, linear servomotor and encoder wirings. Do not connect the I/O signal connector (CN1).

For details on the linear servomotor’s main circuit cable and encoder cable, refer to 2.6 Selecting Peripheral Devices.

YASKAWA

200V

SERVOPACK

SGDH-

DATA/

MODE/SET

CHARGE POWER

C N

To power supply

+ 1

+ 2

- C N

L1C

L2C

B1 B2

N 2

Encoder cable

4-7

4 Operation

4.2.2 Setup Procedure Using Linear Servomotors with Hall Sensors

(4) Setting the Linear Scale Pitch (Grating)

Turn ON the control power supply. When the power is supplied normally, the panel operator on the front panel of the SERVOPACK will show the

following display. A linear scale pitch setting error (A.08) will be displayed, but does not indicate an error. Set the scale pitch (Pn280) according to the scale being used. After setting validation of the control power, the A.08 alarm will be cleared, and the settings will be enabled.

Normal status

If an alarm other than A.08 is displayed, as shown in the following diagram, the power supply circuit, linear servomotor main circuit cable or encoder cable wiring is the probable cause. Shut down the power supply, specify the location causing the alarm, and take corrective measures so that the display returns to the above normal status. For details on alarms, refer to 6.1 Troubleshooting.

Example of alarm display

Pn280 Linear Scale Pitch

Speed

Position

Force

Setting Range Setting Unit Factory Setting Setting Validation

0 to 65535 1 µm0 µm After restart

If the linear scale pitch (Pn280) is not set correctly, the linear servomotor cannot be controlled. Make sure that the correct value is set before operating the linear servomotor. When using a SERVOPACK right after factory shipment, the alarm A.08 (Linear Scale Pitch Setting Error) will be displayed but does not indicate an error. This alarm is generated to remind the user to set Pn280. After setting the correct value and setting validation, the alarm A.08 is cleared.

Control is performed the SERVOPACK using 1/256 the distance of the scale pitch as a minimum feedback pulse. The count is performed in the serial converter unit using 1/256 of the linear scale pitch. Make sure that the scale pitch satisfies the following conditions.

Value of = Integer

Examples Corrent: 1, 2, 4, 8, 10 ,16, 40 Incorrect: 3, 5, 12, 18

Linear scale pitch

64000

Scale pitch (µm)

Linear scale pitch (Pn280) = Distance of one cycle of the analog voltage feedback signal.

4-8

(5) Checking the Feedback Signal

Check the following feedback signals to the SERVOPACK.

• Check whether the signals from the linear scale are correctly received.

• Check whether the motor forward direction and linear scale count direction are the same.

4.2 Trial Operation Using SERVOPACK Internal References

IMPORTANT

(a) Checking the Signals from the Linear Scale

1. Turn ON the control power to the SERVOPACK and set to servo OFF status.

2. Displays the monitor mode parameter Un00D (Feedback Pulse Counter) on the panel operator or digital

3. Move the linear servomotor from end to end of the stroke by hand, and check whether the correct number

EXAMPLE

Using a linear scale with a scale pitch of 20 µm, if the linear servomotor is moved only 1 cm by hand in the linear scale’s count direction, the number of feedback pulses will be as follows: 1 cm/ (20 µm/256) = 12,800 pulses

Note: The actual monitor display will deviate by the error in movement distance only, so a value that is

Be sure to check the feedback signals before operating the linear servomotor. If the linear servomotor is operated without checking the feedback signals, the linear servomotor may not run, or overrun may occur.

operator.

of feedback pulses is returned.

Linear servomotor cable attached to coil assembly

When the linear servomotor is moved by hand to the side with the cable and the value of Un00D is 1F400 or FFFE0C00, confirmation is completed.

close to the above value is acceptable.

INFO

 When the Value of the Un00D is incorrect

• If the Un00D value is not displayed correctly, the following conditions may be present. Check the conditions and take appropriate countermeasures.

• The scale pitch of the linear scale does not match. If the scale pitch set in Pn280 is different from the actual scale pitch, the assumed number of feedback pulses will not be returned. Check the specifications of the linear scale.

• The linear scale has not been adjusted. If the linear scale is not adjusted, the linear scale’s output signal level will drop and the count will not be correct. Check that the linear scale is correctly adjusted. For details, contact the scale’s manufacturer.

• The wiring between the linear scale and serial converter unit is not correct. If the wiring is not correct, a normal count will not be performed. Rewire the devices correctly.

4-9

4 Operation

4.2.2 Setup Procedure Using Linear Servomotors with Hall Sensors

(b) Checking the Concurrence between the Linear Scale Count Direction and the Linear Ser-

vomotor Forward Direction

Next, move the coil assembly by hand in the direction of the side with the cable, and check that the Un00D monitor is counting up.

When the linear servomotor is moved by hand to the side with the cable, if the value of Un00D is a countup value, confirmation is completed.

Linear servomotor cable attached to coil assembly

INFO

 When the Value of the Un00D is counted down

When the value of the Un00D is a counted down, set the parameter Pn080.1 = 1 (B-phase progression, U, V, W-phase in order). Enable the setting by setting validation. With this setting, the SERVOPACK performs current control by treating the linear scale countup direction as the motor forward direction.

Pn080.1 is available for software version 32 or later.

Parameter Description

Pn080 n.0

n.1

 

Phase-A progression, phase-U, V, W order (factory setting) Phase-B progression, phase-U, V, W order

(6) Jog Operation from the Panel Operator

IMPORTANT

1. To perform a trial operation with a load attached, set mass ratio (Pn103) before running.

Pn103 Mass Ratio

Use the following formula to obtain the mass ratio.

When turning ON the servo for the first time after installation and wiring, stand away from the motor moving part as overrun may occur.

When the calculated mass ratio exceeds 20000%, set 20000 in the parameter and adjust loop gains.

Setting Range Setting Unit Factory Setting Setting Validation

0 to 20000 %

∗

Speed

1 % 0 % Immediately

Position

Force

INFO

4-10

Mass ratio (Pn103) =

* This setting range is applicable for software version 32 or later. The range for software earlier than ver-

sion 32 is 0% to 10,000%.

Perform trial operations without a load attached, where possible.

Load mass (including mass of coil assembly)

Coil assembly mass

−1 × 100 [%]

2. Turn ON the control power supply and main circuit power supply.

3. Operate the panel operator or digital operator and move the linear servomotor using jog operation. For details on jog operation, refer to 3.2.3 JOG Mode Operation (Fn002).

4. Check that the linear servomotor moves normally from end to end of the stroke.

4.2 Trial Operation Using SERVOPACK Internal References

INFO

 Unsuccessful Trial Operations

An unsuccessful trial operation could be attributed to the following conditions. Check the conditions and take appropriate measures.

• The load is too heavy, or the jog speed is too fast, resulting in force reference saturation. Set the force limit referring to (7) Setting Force Limit. If the force reference remains saturated, lighten the load or lower the jog speed.

• The linear servomotor is moving slightly and then stops. The linear servomotor, hall sensor, and linear scale are out of alignment. Check the wiring, scale pitch setting, linear scale count, and whether the motor forward direction matches the scale countup direction.

• The alarm A.C2 (phase error detection) occurs when the linear servomotor moves. The count direction of the linear scale signal is not correct, or the count may not be normal. Perform (5) Checking the Feedback Signal again.

• If the count is normal, the malfunction may be caused by noise. Check the wiring and ground conditions of the SERVOPACK, serial converter unit, and linear servomotor.

(7) Setting Force Limit

To prevent danger during setup of the linear servomotor, the factory settings for the forward force limit (Pn483) and reverse force limit (Pn484) parameters are set to small value (factory setting: 30%). When the linear servomotor moves normally in jog operation mode, increase the value set for parameters Pn483 and Pn484 to the force required. Set the value to the maximum value if no particular restricting conditions apply.

Pn483 Forward Force Limit

Pn484 Reverse Force Limit

Speed

Setting Range Setting Unit Factory Setting Setting Validation

0 to 800 % 1 % 30 % Immediately

Speed

Setting Range Setting Unit Factory Setting Setting Validation

0 to 800 % 1 % 30 % Immediately

Position

Force

4-11

4 Operation

4.2.3 Setup Procedure Using Linear Servomotors without Hall Sensors

Perform the following steps 1 to 13.

(1) Checking Operating Conditions

Make sure that the following conditions are satisfied when performing polarity detection.

• No problems when linear servomotor is moved approximately 2 mm.

• Scale pitch must be within 100 µm (within 40 µm recommended).

• Minimum unequal external force on the linear servomotor (5% max. of rated force is recommended).

• Mass ratio less than 30 times.

• On a horizontal axis.

• Friction on the guide is a percentage of the rated force (air slide not used).

(2) Installation and Wiring the Linear Servomotor and Linear Scale

Install the coil assembly and linear scale so that the motor forward direction and linear scale count direction are the same.

IMPORTANT

When using linear Σ-series servomotors, the motor forward direction (coil assembly’s direction of progression when current flows in phase order U, V, and W) is toward the side from which the cable is extended. The analog 1-V p-p voltage input from the linear scale to the serial converter unit is counted up during phase A (cos signal) progression.

Motor direction (U to V to W)

If the motor forward direction and linear scale count directions do not match and the linear servomotor is run in this state, the linear servomotor may not operate or overrun may occur.

Coil assembly cable

−

Phase B progression (pulse decrease)

Phase A progression (pulse increase)

4-12

4.2 Trial Operation Using SERVOPACK Internal References

INFO

 When Motor Forward Direction and Linear Scale Count Direction Do Not Match

When the motor forward direction and linear scale count direction are reversed due to wiring or other factors, set so that parameter Pn080.1 = 1 (B-phase progression, U, V, W-phase in order).

 Linear Scale Count Direction

• Heidenhain linear scale

Reverse direction

LIDA 48

Forward direction

HEIDENHAIN

Sensor head Signal cable

When installed as shown in the diagram on the left, operation is performed in the forward direction when the sensor head is moved to the right.

• Renishaw linear scale

Forward direction Reverse direction

RENISHAW RGH22

Signal cable

Sensor head

When installed as shown in the diagram on the left, operation is performed in the forward direction when the sensor head is moved to the left.

(3) Adjusting the Linear Scale

(4) Connecting the Cables

Check the power supply circuit, linear servomotor and encoder wirings. Do not connect the I/O signal connector (CN1).

For details on the linear servomotor’s main circuit cable and encoder cable, refer to 2.6 Selecting Peripheral Devices.

YASKAWA

200V

SERVOPACK

SGDH-

DATA/

MODE/SET

CHARGE POWER

C N

To power supply

+ 1

+ 2

- C N

L1C

L2C

B1 B2

N 2

Encoder cable

4-13

4 Operation

4.2.3 Setup Procedure Using Linear Servomotors without Hall Sensors

(5) Setting the Linear Scale Pitch

Turn ON the control power supply. When the power is supplied normally, the panel operator on the front panel of the SERVOPACK will show the

Normal status

Example of alarm display

Pn280 Linear Scale Pitch

Setting Range Setting Unit Factory Setting Setting Validation

0 to 65535 1 µm0 µm After restart

Value of = Integer

Examples Corrent: 1, 2, 4, 8, 10 ,16, 40 Incorrect: 3, 5, 12, 18

Linear scale pitch

64000

Scale pitch (µm)

Linear scale pitch (Pn280) = Distance of one cycle of the analog voltage feedback signal.

Speed

Position

Force

(6) Selecting No Hall Sensor

Select No Hall Sensor for the parameter Pn080.0. The factory setting is Pn080.0 = 0 (With hall sensor), so the setting will change to Pn080.0 = 1 (No hall sensor). The setting validation is required to enable the set-

tings.

Parameter Description

Pn080 n.

When Pn080.0 = 0 is set without connecting a hall sensor, the alarm A.C2 (phase error detection) alarm will occur when the power is turned ON.



4-14

0 With hall sensor (factory setting) 1 No hall sensor

(7) Checking the Feedback Signal

Check the following feedback signals to the SERVOPACK.

• Check whether the signals from the linear scale are correctly received.

• Check whether the motor forward direction and linear scale count direction are the same.

4.2 Trial Operation Using SERVOPACK Internal References

IMPORTANT

(a) Checking the Signals from the Linear Scale

1. Turn ON the control power to the SERVOPACK and set to servo OFF status.

2. Displays the monitor mode parameter Un00D (Feedback Pulse Counter) on the panel operator or digital

3. Move the linear servomotor from end to end of the stroke by hand, and check whether the correct number

EXAMPLE

Note: The actual monitor display will deviate by the error in movement distance only, so a value that is

operator.

of feedback pulses is returned.

Linear servomotor cable attached to coil assembly

When the linear servomotor is moved by hand to the side with the cable and the value of Un00D is 1F400 or FFFE0C00, confirmation is completed.

close to the above value is acceptable.

INFO

 When the Value of the Un00D is incorrect

• If the Un00D value is not displayed correctly, the following conditions may be present. Check the conditions and take appropriate countermeasures.

• The wiring between the linear scale and serial converter unit is not correct. If the wiring is not correct, a normal count will not be performed. Rewire the devices correctly.

(b) Checking the Concurrence between the Linear Scale Count Direction and the Linear Ser-

vomotor Forward Direction

Next, move the coil assembly by hand in the direction of the side with the cable, and check that the Un00D monitor is counting up.

Linear servomotor cable attached to coil assembly

When the linear servomotor is moved by hand to the side with the cable, if the value of Un00D is a countup value, confirmation is completed.

4-15

4 Operation

4.2.3 Setup Procedure Using Linear Servomotors without Hall Sensors

INFO

 When the Value of the Un00D is counted down

Parameter Description

Pn080 n.0

n.1

 

Phase-A progression, phase-U, V, W order (factory setting) Phase-B progression, phase-U, V, W order

(8) Assigning Polarity Detection Start Input (/P-DET)

When using a linear servomotor without a hall sensor, polarity detection must be performed after turning ON the power. When the input signal assignment mode is set to the factory setting (Pn50A.0=0), polarity detection starts at the same time as the Servo ON (/S-ON) signal, and when the polarity detection is completed, the Servo Ready (/S-RDY) signal turns ON. To incorporate a sequence at the host controller that monitors the Servo Ready signal and outputs servo ON signals or to perform polarity detection using different timing from the servo ON signal, the polarity detection start signal (/P-DET) must be assigned to a user-set input. After setting the parameter Pn50A.0 to 1 (the input signal assignments can be changed for each signal), set Pn50D.3 (/P-DET signal mapping) and assign the /P-DET signal to any input terminal. The setting validation is required to enable the settings.

Type Name Connector Pin

Number

Input /S-ON CN1-40 ON (low level) Turning the servo ON and the polarity detection function

/P-DET Must be allocated ON (low level) Turning the polarity detection function ON (enabled).

This input signal is used to start polarity detection. Either the /S-ON or /P-DET signal can be used to start polarity detection. When the /P-DET signal is used, input signal must be allocated. For details on assignment methods, refer to 8.3.2 Input Cir- cuit Signal Allocation.

Setting Meaning

ON (enabled).

OFF (high level) Turning the servo ON and the polarity detection function

OFF (disabled).

OFF (high level) Turning the polarity detection function OFF (disabled).

(9) Setting the mass ratio

Set the mass ratio (Pn103) before starting the polarity detection.

Pn103 Mass Ratio

Setting Range Setting Unit Factory Setting Setting Validation

0 to 20000 %

Use the following formula to obtain the mass ratio.

Mass ratio (Pn103) =

* This setting range is applicable for software version 32 or later. The range for software earlier than ver-

sion 32 is 0% to 10,000%.

Load mass (including mass of coil assembly)

∗

Coil assembly mass

1 % 0 % Immediately

−1 × 100 [%]

Speed

Position

Force

4-16

4.2 Trial Operation Using SERVOPACK Internal References

(10) Setting the Overtravel Signal

Polarity detection cannot start in overtravel state. When using the overtravel function, connect the signal wires and use in base block status. When not using the overtravel function, set the parameters Pn50A.3 to 8 and Pn50B.0 to 8 (OT signal disabled). The setting validation is required to enable the settings. For details, refer to 4.6.3 Setting the Overtravel Limit Function.

(11) Setting Force Limit

If the force limit is set after (5) Setting the Linear Scale Pitch and (7) Checking the Feedback Signal, overrun will not occur. Increase the value in the parameters up to the required force. Set the value to the maximum value if no particular restricting conditions apply.

Pn483 Forward Force Limit

Setting Range Setting Unit Factory Setting Setting Validation

0 to 800 % 1 % 30 % Immediately

Pn484 Reverse Force Limit

Setting Range Setting Unit Factory Setting Setting Validation

0 to 800 % 1 % 30 % Immediately

INFO

If the force limit is set too high, polarity detection may not operate normally.

(12) Checking or Adjusting Polarity Detection

Check whether the polarity detection is operating normally.

IMPORTANT

(a) Polarity Detection Completion Timing

Polarity detection is performed when the /S-ON signal (/P-DET signal for /P-DET signal assignment) is input after turning ON the control power and main circuit power. During detection, the status display is P-dt, and the /S-RDY signal turns ON when completed.

1. The linear servomotor is turned ON during polarity detection, so take measures to avoid electric shock. The linear servomotor will make large movements during detection, so do not stand near the coil assembly.

2. Polarity detetion depends on many factors, such as mass ratio, friction, and cable tension. If any error occurs because of one of these factors, the setting may be incorrect.

/S-ON input (/P-DET)

Speed

Position

Force

/S-RDY output

Polarity detection

→Status display: P-dt

Polarity detection completed

→Normal operation possible

4-17

4 Operation

4.2.3 Setup Procedure Using Linear Servomotors without Hall Sensors

(b) Checking whether Detection is Normal

• Simple Confirmation

After turning ON both the control power and main circuit power, input the /S-ON signal (Use /P-DET signal when using the polarity detection start signal) and perform polarity detection. When the display on the panel operator or digital operator is bb when the power is turned ON, the display will change to P-dt during polarity detection, and return to bb after completion. After detection is completed, push the linear servomotor down on the stroke end and check the electrical angle in monitor mode parameter Un004 (electrical angle 2: Phase U, angle from 0°). After confirmation, remove the linear servomotor from the stroke end (10 mm min.) Then execute the setting validation, and restart polarity detection. Repeat this procedure three times. If the deviation of the electrical angle is within ±10°, the polarity detection is normal. However, the polarity detection operation will change slightly depending on the detection location, perform the following detailed check at the end.

• Detailed Confirmation

Based on the user-set position, measure the electrical angles using monitor mode parameter Un004 (electrical angle 2: Phase U, angle from 0) when polarity detection is performed at 30 points each 1.5 mm apart. If the electrical angles are in the relationship 12° ±10, the measurement results indicate the normal polarity detection.

INFO

The following table shows the position intervals used to perform polarity detection when the following linear servomotor models are used.

Linear Servomotor Model Positon Interval

SGLGW-30 SGLFW-20 SGLTW-20

SGLGW-90

1.2 mm

2.8 mm

4-18

4.2 Trial Operation Using SERVOPACK Internal References

The Sigma Win+ trace function can be used to check whether detection is normal.

• Normal Detection

The detection result is normal if the speed feedback for the speed reference for the last detection waveform (unspecified number of detections) is traced. The following criteria are used to determine whether a trace is being performed.

• The feedback polarity is not inverse to the reference (speed is in same direction).

• The feedback speed range is 2 mm/s up to the maximum reference speed.

Speed reference (mm/s)

Speed feedback (mm/s)

Speed reference (mm/s)

Speed feedback (mm/s)

Speed reference (mm/s)

Enlarged

Speed feedback (mm/s)

Time ( ms)

• Detection Error

The detection result is an error if the speed feedback for speed reference for the last detection waveform (unspecified number of detections) is not traced.

Speed reference (mm/s)

Enlarged

Speed feedback (mm/s)

INFO

Time ( ms)

Time (m s)

The detection waveform is not always the same, so the waveform may be different from those shown above even though the detection has completed normally.

4-19

4 Operation

4.2.3 Setup Procedure Using Linear Servomotors without Hall Sensors

(d) Troubleshooting for Polarity Detection Errors

Refer to the following table for troubleshooting if polarity detection is not completed normally.

No. Problem Cause Countermeasure

The linear servomotor does not move during polarity detection (speed feedback is 0).

Polarity detection error alarm (A.C5) has occurred.

Polarity detection is not being performed.

A force limit is activated.

The mechanical friction is large.

Overtravel signal is detected during polarity detection.

Parameter settings are incorrect.

Noise is present in the scale signal.

The coil assembly is being subjected to an external force.

The linear scale precision is rough.

Linear servomotor traceability for the polarity detection reference is poor.

The travel distance during polarity detection has exceeded 10 mm.

Check whether the status display is P-dt when the /S-ON (/P-DET) signal is input. If P-dt is not displayed, check whether the parameters for input signal selection Pn50A and Pn50D are set correctly, and check whether signal input is being performed correctly.

To prevent danger during setup, the SGDH SERVOPACK’s factory settings for the force limit parameters are 30%. Check the set values for Pn483 and Pn484, and change to a user-set value if the setting is initial value. Increase the value to the maximum value if no particular restrictions are required.

When the mechanical friction is relatively larger than the linear servomotor’s rated force (10% or more), the linear servomotor may stop operating during polarity detection if factory settings are used. First, check whether the mass ratio (Pn103) is set correctly. If Pn103 is set correctly, increase the value set for polarity detection speed loop gain (Pn481). When the load is heavy, a large gain will cause an alarm. The gain cannot be increased under this condition, so reduce the mechanical friction. If the mechanical friction cannot be reduced without difficulty, consider using the hall sensor for polarity detection.

If the OT signal is detected during polarity detection, polarity detection will be ended and the status will be returned to previous status. Before performing polarity detection, move the linear servomotor to a position where the OT signal is not detected.

The settings for scale pitch (Pn282) and motor phase selection (Pn080.1) may not be appropriate for the device. Check the linear scale specifications and feedback signal conditions.

When the detection reference is repeatedly output several times in the same direction, noise may occur in the scale signal, resulting in malfunction. Check that the FG of the serial converter unit and linear servomotor is connected to FG of the SERVOPACK, and that FG of the SERVOPACK is connected to the power supply FG. Also check that the encoder cable is securely sealed.

If the coil assembly is subjected to an external force such as cable tension, and the speed feedback is not 0 regardless of a 0 detection reference, polarity detection will be poor. Reduce the external force and make the speed feedback 0.

When the linear scale pitch is 100 µm min, the SERVOPACK cannot detect correct speed feedback. Use a linear scale with good scale pitch precision (within 40 µm is recommended).

When the size of the speed feedback for the polarity detection reference is 2 mm/s max, detection may be poor. First, check that the mass ratio (Pn103) is set correctly. If Pn103 is set correctly, increase the value of polarity detection speed loop gain (Pn481). When the load is heavy, a large gain will cause an alarm. The gain cannot be increased under this condition, so reduce the mechanical friction. If the mechanical friction cannot be reduced without difficulty, consider using the hall sensor for polarity detection.

An alarm will occur if the linear servomotor movement distance exceeds 10 mm during polarity detection. The linear servomotor may have moved during detection for some reason, so check other causes and take appropriate countermeasures.

4-20

(e) Related Parameters

Parameters Description

Pn481 Polarity Detection Speed Loop Gain

Setting Range Setting Unit Factory Setting Setting Validation

1 to 2000 1 Hz 40 Hz Immediately

Pn482 Polarity Detection Speed Loop Time Constant

Setting Range Setting Unit Factory Setting Setting Validation

0.15 to 512.00 ms 0.01 ms 30.00 ms Immediately

(13) Jog Operation from the Panel Operator

After checking steps (1) to (12), perform a trial operation as follows:

Note: Perform trial operations without a load attached, if possible.

1. Turn ON the control power and main circuit power.

2. Operate the panel operator or digital operator and move the linear servomotor using jog operation. For details on jog operation, refer to 3.2.3 JOG Mode Operation (Fn002).

4.2 Trial Operation Using SERVOPACK Internal References

Speed

Position

Force

IMPORTANT

INFO

 Unsuccessful Trial Operations

When turning ON the servo for the first time after installation and wiring, stand away from the linear servomotor as overrun may occur.

3. Check that the linear servomotor is moving normally from end to end of the stroke.

An unsuccessful trial operation could be attributed to the following conditions. Check the conditions and take appropriate measures.

• The force reference is saturated because the load is too heavy, or the jog speed is too fast. Lower the jog speed or lighten the load.

• The linear servomotor is moving slightly and then stops. The linear servomotor and linear scale are out of alignment. Check the wiring, scale pitch setting, linear scale count, and whether the motor forward direction matches the scale count direction.

• Polarity detection is not being performed normally. Perform step (12) Checking or Adjusting Polarity Detection.

Setup is finished when all these checks have been completed.

4-21

4 Operation

4.3.1 Servo ON Command from the Host

4.3 Trial Operation for Linear Servomotor without Load from Host

Reference

Check that the linear servomotor move reference or I/O signals are correctly set from the host controller to the SERVOPACK. Also check that the wiring and polarity between the host controller and SERVOPACK, and the SERVOPACK operation settings are correct. This is final check before connecting the linear servomotor to the machine.

4.3.1 Servo ON Command from the Host

The following circuits are required: External input signal circuit or equivalent.

Speed Control

(Standard Setting) [Pn000=n.0]

+24V

/S-ON

P-OT

N-OT

V-REF

CN1 47

Position Control

[Pn000=n.1]

+24V

/S-ON

P-OT

N-OT

PULS

SIGN

CN1 47

4-22

4.3 Trial Operation for Linear Servomotor without Load from Host Reference

Step Description Check Method and Remarks

1 Configure an input signal circuit necessary for servo ON.

Connect the I/O signal connectors (CN1) in the circuit on the previous page or equivalent to input the signal necessary for servo ON. Then turn OFF the power and connect the CN1 to the SERVOPACK.

YASKAWA

200V

SERVOPACK

SGDH-

DATA/

MODE/SET

CHARGE POWER

C N

+ 1

+ 2

- C N

L1C

L2C B1 B2

CN1

N 2

Satisfy the following conditions:

1. Servo ON (/S-ON) input signal can be input.

2. Forward Run Prohibited (P-OT) and Reverse Run Prohibited (N-OT) input signals are turned ON (L level). (Forward run and reverse run are prohibited.)

3. Reference input (0V reference or 0 pulse) is not input.

To omit the external wiring, the input terminal function can be set to “Always ON” or “Always OFF” using the input signal allocation function of parameter. Refer to 8.3.2 Input Circuit Signal Alloca- tion.

2 Turn ON the power and make sure that the panel operator

display is as shown below.

3 Input the /S-ON signal, then make sure that the display of

the panel operator is as shown below.

The input signal setting is not correct if the display is not the same as on the left. Check the input signal using the Un005 (input signal monitor) from the panel operator.

 

Check input signal wiring in monitor mode using the digital operator or panel operator. Refer to 8.4.1 List of Monitor Modes.

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

Input signal LED display

P-OT N-OT

Un005 =

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

If an alarm display appears, correct it according to 11.1 Troubleshooting. If there is noise in the reference voltage during speed

control, the horizontal line (−) at the far left edge of the panel operator display may blink. slowly. Refer to

Also the linear servomotor may run very

7.6 Connecting Regenerative Resistors

preventive measure.

/P-CON /S-ON

Top lights when input signal is OFF (high level).

Bottom lights when input signal is ON (low level).

and take a

4-23

4 Operation

4.3.2 Operating Procedure in Speed Control Mode (Pn000 = n.0)

The following circuit is required: External input signal circuit or equivalent.

SERVOPACK

CN1

+24V

/S-ON

P-OT

N-OT

−

VE Max. voltage 12V

V-REF

Step Description Check Method and Remarks

1 Check the power and input signal circuits again, and

Refer to the above figure for input signal circuit. check that the speed reference input (voltage between the V-REF and SG) is 0 V.

2 Turn ON the servo ON (/S-ON) input signal. If the linear servomotor moves with the speed refer-

ence input 0V, refer to 4.7.3 Adjusting Offset, and use

the reference voltage offset to keep the linear servomo-

tor from moving.

3 Generally increase the speed reference input voltage

The factory setting is 6 V/rated speed. between V-REF and SG from 0 V.

4 Check the speed reference input to the

SERVOPACK (Un000 [mm/s]).

Refer to 3.1.3 Basic Mode Selection and Operation for

how it is displayed.

5 Check the Un000 (motor speed [mm/s]. Refer to 3.1.3 Basic Mode Selection and Operation for

how it is displayed.

6 Check that the Un001 and Un000 values in steps 4

and 5 are equal.

Change the speed reference input voltage and check

that Un001 and Un000 values are equal for multiple

speed references.

7 Check the speed reference input gain and motor

movement direction.

Refer to the following equation to change the Pn300

(speed reference input gain).

Un001=(voltage between V-REF) [V] × Pn300 [rated

speed/6V]

To change the motor movement direction without

changing polarity for speed reference input gain, refer

to 4.6.2 Switching the Linear Servomotor Movement

Direction.

Perform the operation from step 2 again after the

motor rotation direction is changed.

8 When the speed reference input is set to 0 V and

−

servo OFF status enters, the trial operation for servomotor without load is completed.

4-24

4.3 Trial Operation for Linear Servomotor without Load from Host Reference

INFO

 When Position Control is configured at the Host

Analog speed

reference

Host

Position control Speed control

When the SERVOPACK conducts speed control and position control is conducted at the host controller, perform the operations below, following the operations in 4.3.2 Operating Procedure in Speed Control Mode (Pn000 = n.0) on the previous page.

Step Description Check Method and Remarks

9 Check the input signal circuit again, and check that

the speed reference input (voltage between the VREF and SG) is 0 V.

10 Turn ON the servo ON (/S-ON) input signal. If the linear servomotor moves at extremely slow

11 Send the command for the movement amount easy

to check (for example, 1 cm) from the host controller in advance, and check the sent movement amount and actual movement distance by visual inspection and the Un00D (feedback pulse counter)[pulse].

12 If the sent movement amount and actual movement

distance in step 11 are not equal, correctly set the Pn281 (PG divider) outputting the encoder pulse from the SERVOPACK.

13 When the speed reference input is set to 0 V and

servo OFF status enters, the trial operation for position control with the host controller is completed.

SERVOPACK

Refer to the above figure for input signal circuit.

speed, refer to 4.7.3 Adjusting Offset, and use the reference voltage offset to keep the servomotor from moving.

Refer to 3.1.3 Basic Mode Selection and Operation for how it is displayed.

Un00D (feedback pulse counter) [pulse]

Refer to 4.7.7 Encoder Signal Output for how to set. Encoder output resolution (Pn281 [P/Pn280]):

The number of encoder pulses per scale pitch

−

4-25

4 Operation

4.3.3 Operating Procedure in Position Control Mode (Pn000 = n.1)

The following circuit is required: External input signal circuit or equivalent.

SERVOPACK

CN1

P-OT

N-OT

CLR

SIGN

Set the reference pulse with Pn200=n.×. Refer

to 4.8.1 (2) Setting a Reference Pulse Form.

Set the electronic gear ratio with Pn202/Pn203. Refer

to 4.8.2 Setting the Electronic Gear.

−

Set the motor speed of several 10 mm/s for the refer-

ence pulse speed because such speed is safe.

Refer to 3.1.3 Basic Mode Selection and Operationer-

ation for how it is displayed.

Un00C (input reference pulse counter) [pulse]

Refer to 3.1.3 Basic Mode Selection and Operation for

how it is displayed.

Un00D (feedback pulse counter) [pulse]

−

Check the input pulse polarity and input reference

pulse form. Refer to 4.8.1 (2) Setting a Reference

Pulse Form.

Set the motor speed of several 10 mm/s for the refer-

ence pulse speed because such speed is safe.

Refer to 3.1.3 Basic Mode Selection and Operation for

how it is displayed.

Un007 (input reference pulse speed) [mm/s]

+24V /S-ON

PULS

Reference pulse according to parameter Pn200.0 setting

/PULS

/SIGN

Pulse reference

Step Description Check Method and Remarks

1 Match the reference pulse form with the pulse out-

put form from the host controller.

2 Set the reference unit and electronic gear ration so

that it coincides with the host controller setting.

3 Turn ON the power and the servo ON (/S-ON) input

signal.

4 Send the pulse reference for the motor movement

amount easy to check (for example, 1 cm) and with slow speed from the host controller in advance.

5 Check the number of reference pulses input to the

SERVOPACK by the changed amount before and after the Un00C (input reference pulse counter) [pulse] was executed.

6 Check the actual motor movement amount [pulse]

by the change in Un00D (feedback pulse counter) [pulse] before and after executing the sent pulse reference.

7 Check that steps 5 and 6 satisfy the following equa-

tion: Un00D=Un00C × (Pn202/Pn203)

8 Check that the motor movement direction is the

same as the reference.

9 Input the pulse reference with the bigger motor

movement amount from the host controller to obtain the constant speed.

10 Check the reference pulse speed input to the

SERVOPACK using the Un007 (input reference pulse speed) [mm/s].

The number of input reference pulses (Un00C) can be obtained from the following equation.

4-26

Un007 (Input reference pulse) = Input reference pulse [pulse/s] ×

Reference input pps

Pn202 Pn203

Electronic gear ratio

* The encoder pulse differs depending on the model of the servomotor used.

Pn280

××

(1000000)

(256)

Encoder pulse

YASKAWA SGLGW, SGLFW, SGLTW, SGDH SERVOPACK User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

About this Manual

Safety Information

Notes for Safe Operation

CONTENTS

Outline

1.1.1 Check Items

1.1 Checking Products

1.1.2 Linear Servomotors

1.1.3 SERVOPACKs

1.1.4 Serial Converter Units

1.2 Product Part Names

1.2.1 Linear Servomotors

1.2.2 SERVOPACKs

1.3.1 Single-phase, 200 V Main Circuit

1.3 Examples of Servo System Configurations

1.3.2 Three-phase, 200 V Main Circuit

1.3.3 Three-phase, 400 V Main Circuit

1.4 Applicable Standards

1.4.1 North American Safety Standards (UL, CSA)

CE Marking

Selections

2.1.1 Coil Assembly

2.1 Linear Servomotor Model Designation

2.1.2 Magnetic Way

2.2 SERVOPACK Model Designation

2.4 Serial Converter Units Models

2.5 Selecting Cables

2.6 Selecting Peripheral Devices

2.6.1 Special Options

2.6.2 Molded-case Circuit Breaker and Fuse Capacity

2.6.3 Noise Filters, Magnetic Contactors, Surge Suppressors and DC Reactors

2.6.4 Regenerative Resistors

2.6.5 Linear Scales

Digital Operator/Panel Operator

3.1.1 Connecting the Digital Operator

3.1 Functions on Digital Operator/Panel Operator

3.1.2 Key Names and Functions

3.1.3 Basic Mode Selection and Operation

3.1.4 Status Display

3.2.1 List of Utility Function Modes

3.2.2 Alarm Traceback Data Display (Fn000)

3.2.3 JOG Mode Operation (Fn002)

3.2.4 Zero-point Search Mode (Fn003)

3.2.5 Parameter Settings Initialization (Fn005)

3.2.6 Alarm Traceback Data Clear (Fn006)

3.2.7 Automatic Offset-adjustment of Motor Current Detection Signal (Fn00E)

3.2.8 Manual Offset-adjustment of Motor Current Detection Signal (Fn00F)

3.2.9 Password Setting (Protects Parameters from Being Changed) (Fn010)

3.2.10 Motor Models Display (Fn011)

3.2.11 Software Version Display (Fn012)

3.2.12 Application Module Detection Results Clear (Fn014)

3.3.1 Setting Parameters

3.3.2 Input Circuit Signal Allocation

3.3.3 Output Circuit Signal Allocation

3.4.1 List of Monitor Modes

3.4.2 Sequence I/O Signal Monitor Display

3.4.3 Operation in Monitor Mode

3.4.4 Monitor Display of Reference Pulse Counter and Feedback Pulse Counter

3.4.5 Allowable Maximum Motor Speed for Dividing Ratio Monitor (For the software version 32 or later)

3.4.6 Hall Sensor Signal Monitor (For the software version 32 or later)

Operation

4.1 Trial Operation

4.2 Trial Operation Using SERVOPACK Internal References

SERVOPACK Setup Procedure

4.2.2 Setup Procedure Using Linear Servomotors with Hall Sensors

4.2.3 Setup Procedure Using Linear Servomotors without Hall Sensors

4.3.1 Servo ON Command from the Host