YASKAWA SGM, SGMP, SGDA User Guide

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USER'S MANUAL

AC Servomotors and Drivers

SGM/SGMP Servomotors SGDA Servopack

YASKAWA

YA S K A WA

MANUAL NO. TSE-S800-15C

PREFACE

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

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

YASKAWA ELECTRIC CORPORATION

General Precautions

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

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

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

product.

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

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

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

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

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

made by the user since that will void our guarantee.

NOTES FOR SAFE OPERATION

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

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

“CAUTION”.

WARNING

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

ry.

CAUTION

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

injury and/or damage to the equipment.

In some instances, items described in

follow these important items.

CAUTION

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

WARNING

(WIRING)

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

with sound local practices.

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

(OPERATION)

S Never touch any rotating motor parts during operation.

Failure to observe this warning may result in personal injury.

(INSPECTION AND MAINTENANCE)

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

Otherwise, electric shock may result.

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

er when the terminal cover is open.

Otherwise, electric shock may result.

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

product.

Otherwise, residual electric charges may result in electric shock.

CAUTION

(RECEIVING)

S Use the specified combination of SERVOMOTOR and SERVOPACK.

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

(INSTALLATION)

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

corrosive or flammable gases, or near flammable materials.

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

(WIRING)

S Do not connect t hree−phase power supply t o output terminals

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

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

Failure to observe this caution can result in a fire.

and

CAUTION

(OPERATION)

S To avoid inadvertent accidents, run the SERVOMOTOR only in test run

(without load).

Failure to observe this caution may result in personal injury.

S Before starting operation with a load connected, set up user constants

suitable for the machine.

Starting operation without setting up user constants may lead to overrun failure.

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

stop procedures are in place.

Failure to observe this caution may result in personal injury.

S During operation, do not touch the heat sink.

Failure to observe this caution may result in burns.

(INSPECTION AND MAINTENANCE)

S Do not disassemble the SERVOMOTOR.

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

S Never change wiring while power is ON.

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

Manual Contents

This manual provides Σ-Series users with information on the following:

• An overview of servo systems for first-time users.

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

• Servo applications.

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

• Inspection and maintenance.

Manual Structure

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

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

Σ Series products or who need to select an appropriate servo.

B: Chapters explaining how to design a servo system: For users who are about to design, install, and

operate a Σ-Series Servo Control System.

C: Chapters explaining maintenance: For users who are going to maintain and troubleshoot Σ-Series

products.

Chapter

CHAPTER 1 For First-time Users of AC Servos 1 A, B....................... .........

CHAPTER 2 Basic Uses of Σ-series Products 15 B........................ .........

CHAPTER 3 Applications of Σ-series Products 51 B....................... .........

CHAPTER 4 Using the Digital Operator 167 B.............................. ........

CHAPTER 5 Servo Selection and Data Sheets 205 A, B........................ ........

CHAPTER 6 Inspection, Maintenance, and Troubleshooting 343 C........... ........

APPENDIXES

Title Page Area

Provides an overview of servos and the Σ Series.

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

Describes the effective usage of Σ-Series features according to application.

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

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

Describes user maintenance and troubleshooting.

A Differences between SGDA and SGD Servopacks 367 A, B. C........... ........

B Servo Adjustment 374 B, C....................................... ........

C List of I/O Signals 365 A, B, C....................................... ........

D List of User Constants 397 B, C................................... ........

E List of Alarm Displays 409 B, C.................................... ........

INDEX

415 A, B, C.............................................................. ........

vii

Basic Terms

Unless otherwise specified, the following definitions are used:

Servomotor: Σ-Series SGM/SGMP Servomotor

Servopack: An amplifier (Trademark of Yaskawa servo amplifier “SGDA Servopack”)

Servodrive: A SGM/SGMP Servomotor and an amplifier (SGDA Servopack)

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

Visual Aids

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

and peripheral devices

Indicates references for additional information.

TERMS

SGDA- S

Speed/Torque

SGDA- P

Positions

JUSP-OP02A-1

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

The text indicated by this icon is applicable only to Servopacks for speed/torque control (Type: SGDAIf neither this icon nor the following icon appears, the description is applicable to both types of Servopack.

The text indicated by this icon is applicable only to Servopacks for position control (Type: SGDA-

If neither this icon nor the previous icon appears, the description is applicable to both types of Servopack.

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

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

jjj

P).

jjj

S).

viii

JUSP-OP03A

NOTE A Σ-Series Servodrive alone cannot ensure the functionality and performance of the entire

machine control system. It must be combined with an appropriate machine and host controller so that the entire control system works properly. Therefore, carefully read the instruction manuals for the machine to be used before attempting to operate the servodrive.

Yaskawa, 1995



All rights reserved. No part of thispublication may be reproduced, stored in aretrieval system, or transmitted, in any form, or by any means, mechanical, electronic, photocopying, recording, or otherwise, without the prior written permission of Yaskawa. No patent liability 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.

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

1.1 Basic Understanding of AC Servos 2..........................................

1.1.1 Servo Mechanisms 2................................................

1.1.2 Servo Configuration 5...............................................

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

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

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

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

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

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

2.2.2 Installing the Servomotor 19...........................................

2.2.3 Installing the Servopack 22............................................

2.3 Connection and Wiring 25....................................................

2.3.1 Connecting to Peripheral Devices 25....................................

2.3.2 Main Circuit Wiring and Power ON Sequence 2 8..........................

2.3.3 Examples of Connecting I/O Signal Terminals 30..........................

2.4 Conducting a Test Run 37....................................................

2.4.1 Test Run in Two Steps 37.............................................

2.4.2 Step 1: Conducting a Test Run for Motor without Load 39...................

2.4.3 Step 2: Conducting a Test Run with the Motor Connected to the Machine 44.....

2.4.4 Supplementary Information on Test Run 46...............................

2.4.5 Minimum User Constants Required and Input Signals 48....................

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

3.1 Setting User Constants According to Machine Characteristics 54.....................

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

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

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

3.2 Setting User Constants According to Host Controller 65............................

3.2.1 Inputting Speed Reference 65..........................................

3.2.2 Inputting Position Reference 69........................................

3.2.3 Using Encoder Output 73.............................................

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

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

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

3.2.7 Using Torque Control 88..............................................

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

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

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

3.2.11 Using the Reference Pulse Input Filter Selection Function 99.................

3.3 Setting Up the Σ Servopack 100................................................

3.3.1 Setting User Constants 100.............................................

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

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

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

CONTENTS

3.4 Setting Stop Mode 104.......................................................

3.4.1 Adjusting Offset 104..................................................

3.4.2 Using Dynamic Brake 105.............................................

3.4.3 Using Zero-Clamp 106................................................

3.4.4 Using Holding Brake 107..............................................

3.5 Running the Motor Smoothly 111...............................................

3.5.1 Using the Soft Start Function 111........................................

3.5.2 Using the Smoothing Function 112.......................................

3.5.3 Adjusting Gain 112...................................................

3.5.4 Adjusting Offset 113..................................................

3.5.5 Setting the Torque Reference Filter Time Constant 113.......................

3.6 Minimizing Positioning Time 114...............................................

3.6.1 Using Autotuning Function 114.........................................

3.6.2 Setting Servo Gain 114................................................

3.6.3 Using Feed-forward Control 116........................................

3.6.4 Using Proportional Control 116.........................................

3.6.5 Setting Speed Bias 117................................................

3.6.6 Using Mode Switch 118...............................................

3.6.7 Using Speed Loop Compensation Function 124.............................

3.7 Forming a Protective Sequence 125.............................................

3.7.1 Using Servo Alarm Output and Alarm Code Output 125......................

3.7.2 Using Servo ON Input Signal 125........................................

3.7.3 Using Positioning Complete Signal 129...................................

3.7.4 Using Speed Coincidence Output Signal 131...............................

3.7.5 Using Running Output Signal 132.......................................

3.7.6 Handling of Power Loss 134............................................

3.8 Special Wiring 136..........................................................

3.8.1 Wiring Instructions 136................................................

3.8.2 Wiring for Noise Control 138...........................................

3.8.3 Using More Than One Servo Drive 143...................................

3.8.4 Using Regenerative Units 144...........................................

3.8.5 Using an Absolute Encoder 148.........................................

3.8.6 Extending an Encoder Cable 157........................................

3.8.7 Using SGDA Servopack with High Voltage Line 159........................

3.8.8 Connector Terminal Layouts 161........................................

CHAPTER 4 USING THE DIGITAL OPERATOR 167.....................

4.1 Basic Operations 168.........................................................

4.1.1 Connecting the Digital Operator 168.....................................

4.1.2 Resetting Servo Alarms 169............................................

4.1.3 Basic Functions and Mode Selection 170..................................

4.1.4 Operation in Status Display Mode 171....................................

4.1.5 Operation in User Constant Setting Mode 174..............................

4.1.6 Operation in Monitor Mode 179.........................................

CONTENTS

4.2 Using the Functions 183......................................................

4.2.1 Operation in Alarm Trace-back Mode 183.................................

4.2.2 Operation Using the Digital Operator 186.................................

4.2.3 Autotuning 189......................................................

4.2.4 Reference Offset Automatic Adjustment 196...............................

4.2.5 Speed Reference Offset Manual Adjustment Mode 174.......................

4.2.6 Clearing Alarm Trace-back Data 202.....................................

4.2.7 Checking Motor Type 203..............................................

4.2.8 Checking Software Version 204.........................................

CHAPTER 5 SERVO SELECTION AND DATA SHEETS 205...............

5.1 Selecting a Σ-Series Servo 207.................................................

5.1.1 Selecting a Servomotor 207............................................

5.1.2 Selecting a Servopack 213.............................................

5.1.3 Selecting a Digital Operator 215.........................................

5.2 SGM Servomotor 217........................................................

5.2.1 Ratings and Specifications 217..........................................

5.2.2 Mechanical Characteristics 232..........................................

5.3 Servopack Ratings and Specifications 235........................................

5.3.1 Ratings and Specifications 235..........................................

5.3.2 Overload Characteristics 240...........................................

5.3.3 Starting Time and Stopping Time 241.....................................

5.3.4 Load Inertia 241.....................................................

5.3.5 Overhanging Loads 244...............................................

5.3.6 In-rush Current and Power Loss 245......................................

5.4 Σ-Series Dimensional Drawings 246.............................................

5.4.1 Servomotor Dimensional Drawings 246...................................

5.4.2 Servopack Dimensional Drawings 289....................................

5.4.3 Digital Operator Dimensional Drawings 291...............................

5.5 Selecting Peripheral Devices 293...............................................

5.5.1 Selecting Peripheral Devices 293........................................

5.5.2 Order List 299.......................................................

5.6 Specifications and Dimensional Drawings of Peripheral Devices 308...................

5.6.1 Cable Specifications and Peripheral Devices 308............................

5.6.2 Motor Cables 311....................................................

5.6.3 Connector Kits 314...................................................

5.6.4 Brake Power Supply 318...............................................

5.6.5 Encoder Cables 320...................................................

5.6.6 Battery for Absolute Encoder 325........................................

5.6.7 1CN Connector 326...................................................

5.6.8 Connector Terminal Block Converter Unit 328.............................

5.6.9 Cable With 1CN Connector and One End Without Connector 330..............

5.6.10 Circuit Breaker 330...................................................

5.6.11 Noise Filter 331......................................................

5.6.12 Magnetic Contactor 332...............................................

5.6.13 Surge Suppressor 333.................................................

5.6.14 Regenerative Unit 334.................................................

xii

CONTENTS

5.6.15 Variable Resistor for Speed Setting 335...................................

5.6.16 Encoder Signal Converter Unit 336......................................

5.6.17 Cables for Connecting PC and Servopack 338..............................

CHAPTER 6 INSPECTION, MAINTENANCE, AND TROUBLESHOOTING 343

6.1 Inspection and Maintenance 344................................................

6.1.1 Servomotor 344......................................................

6.1.2 Servopack 345.......................................................

6.1.3 Replacing Battery for Absolute Encoder 346...............................

6.2 Troubleshooting 347.........................................................

6.2.1 Troubleshooting Problems with Alarm Display 347..........................

6.2.2 Troubleshooting Problems With No Alarm Display 366......................

6.2.3 Internal Connection Diagram and Instrument Connection Examples 368.........

APPENDIXES

A Differences Between SGDA and SGD Servopacks 367..............................

B Servo Adjustment 374........................................................

B.1 Σ-Series AC Servopack Gain Adjustment 374.....................................

B.1.1 Σ-Series AC Servopacks and Gain Adjustment Methods 374..................

B.1.2 Basic Rules for Gain Adjustment 375.....................................

B.2 Adjusting a Speed-control Servopack 376........................................

B.2.1 Adjusting Using Auto-tuning 376........................................

B.2.2 Manual Adjustment 377...............................................

B.3 Adjusting a Position-control Servopack 380.......................................

B.3.1 Adjusting Using Auto-tuning 380........................................

B.3.2 Manual Adjustment 381...............................................

B.4 Gain Setting References 385...................................................

B.4.1 Guidelines for Gain Settings According to Load Inertia Ratio 385..............

C List of I/O Signals 385........................................................

D List of User Constants 397....................................................

E List of Alarm Displays 409....................................................

INDEX 415...........................................................

xiii

FOR FIRST-TIME USERS OF AC SERVOS

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

1.1 Basic Understanding of AC Servos 2...........

1.1.1 Servo Mechanisms 2..................................

1.1.2 Servo Configuration 5.................................

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

FOR FIRST−TIME USERS OF AC SERVOS

1.1.1 Servo Mechanisms

1.1 Basic Understanding of AC Servos

This section describes the basic configuration of a servo mechanism and technical terms relating to servos and also explains the features of Σ-Series AC Servos.

1.1.1 Servo Mechanisms 2..............................................

1.1.2 Servo Configuration 5..............................................

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

1.1.1 Servo Mechanisms

You may be familiar with the following terms:

• Servo

• Servo mechanism

• Servo control system

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

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

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

TERMS

Servo mechanism

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

1.1 Basic Understanding of AC Servos

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

• Moves at a specified speed and

• Locates an object in a specified position

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

Configuration of Servo System

Specified position

input

Servo amplifier

Servo motor

Feedback part

Detector

Controlled machine (load)

Machine position

output

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

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

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

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

TERMS

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

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

1) Servo mechanism

2) Servo

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

Feedback control

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

FOR FIRST−TIME USERS OF AC SERVOS

1.1.1 Servo Mechanisms

cont.

3) Servo control system

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

Related Terms Meaning

Servomotor General servomotors or Yaskawa SGM/SGMP

Servopack Trademark of Yaskawa servo amplifier “SGDA Servopack.”

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

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

Servomotors. In some cases, a position detector (encoder) is included in a servomotor.

Servopack is divided into two types: SGDA-jjjS (for speed/torque control) and SGDA-jjjP (for position control).

servo drive and controlled system to form a servo mechanism.

Host controller

Reference

Amplifier (Servopack)

Servo drive

Servomotor

Servo system

Operate

Controlled system

1.1.2 Servo Configuration

1) Configuration of Servo System

The following diagram illustrates a servo system in detail:

1.1 Basic Understanding of AC Servos

Host controller

(5)

Position or speed reference

Servo amplifier

Comparator

(Input)

Position or speed feedback

Power amplifier

Detector

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

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

(4)

Motor drive circuit

Gear

(2)

(3)

Servomotor Drive system

(Output)

(1)

Controlled system

Position

Speed

Movable table

Ball screw

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

available: AC servomotor and DC servomotor.

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

a motor is used as a position detector.

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

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

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

or speed as a set point.

FOR FIRST−TIME USERS OF AC SERVOS

1.1.2 Servo Configuration

cont.

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

(1) Controlled system

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

Gears + Ball Screw

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

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

Coupling + Ball Screw

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

Coupling

Rolling-contact guide

Ball screw

Rolling-contact bearing

This drive system is widely used for machining tools.

Housing

Timing Belt + Trapezoidal Screw Thread

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

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

Trapezoidal screw thread

treated as a minor coupling device.

Servomotor

Timing belt

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

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

TERMS

Drive system

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

(2) Servomotor

(a) DC Servomotor and AC Servomotor

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

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

1.1 Basic Understanding of AC Servos

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

• Easy maintenance: No brush

• High speed: No limitation in rectification rate

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

(b) AC Servomotor

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

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

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

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

Rotary disc

Light-emitting element

Position detector (encoder)

Light-receiving element

Armature wire

Lead wire

Housing

Stator core

Magnet

Front cap

Ball bearing

Shaft

Rotor core

Yaskawa SGM and SGMP Servomotors are of the synchronous type.

FOR FIRST−TIME USERS OF AC SERVOS

1.1.2 Servo Configuration

cont.

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

(3) Detector

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

(a) Incremental Encoder

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

Phase A pulse train

Phase B pulse train

Fixed slit

Light-receiving element

Rotary slit

Center of revolution

Phase A

Phase B

Phase Z

Rotary disc

Slit

Light-emitting element

(b) Absolute Encoder

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

• Difference between an absolute An absolute

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

and incremental encoder:

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

1.1 Basic Understanding of AC Servos

(4) Servo amplifier

A servo amplifier is required to operate an AC servomotor.

The following figure illustrates the configuration of a servo amplifier:

Servo amplifier

Motor driving AC power

Servomotor

Commercial AC power

Reference input

Comparator

Feedback

Power amplifier

A servo amplifier consists of the following two sections:

(a) Comparator

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

TERMS

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

(b) Power Amplifier

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

Proportional/integral (PI) control

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

FOR FIRST−TIME USERS OF AC SERVOS

1.1.2 Servo Configuration

cont.

(5) Host Controller

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

For speed reference, a position control loop may be formed in the host controller when a position feedback signal is received. Yaskawa PROGIC-8 is a typical host controller.

TERMS

PROGIC-8

A programmable machine controller. If combined with a servo amplifier for speed control (maximum eight axis control), the PROGIC-8 can provide position control. The PROGIC-8 also provides programmable controller functions.

1.1.3 Features of Σ-Series Servos

1) Σ-Series SGM/SGMP Servomotors are synchronous type servomotors and have the following features:

• Size and weight reduced to one-third those of

our conventional models. Compact Servomotor for saving installation space.

• Servo performance (power rating) enhanced to

three times that of our conventional models. Enhanced power rating (kW/s) to satisfy every need.

• A wide product range covering rated output of

30 W to 750 W.

1.1 Basic Understanding of AC Servos

SGM type

Supply Voltage Rated Output 100 VAC: 30 W, 50 W, 100 W, 200 W, 300 W

(0.04 HP, 0.07 HP, 0.13 HP, 0.27 HP, 0.40 HP)

200 VAC: 30 W, 50 W, 100 W, 200 W, 400 W, 750 W

(0.04 HP, 0.07 HP, 0.13 HP, 0.27 HP, 0.53 HP, 1.01 HP)

2) SGDA Servopacks are divided into the following two types according to usage:

• For Speed/Torque Control: SGDA-jjjS Type

This type uses speed or torque reference input. Reference input is by analog voltage.

• For Position Control: SGDA-jjjP Type

This type uses position reference input. Reference

input is by pulse train.

SGMP type

TERMS

Power rating (kW/s)

A constant that represents response performance of a servomotor. It can be determined by dividing squared rated torque by motor inertia. Power rating is the electric power (kW) that a servomotor can generate per second. The greater the power rating, the more powerful the servomotor.

FOR FIRST−TIME USERS OF AC SERVOS

1.1.3 Features of Σ-Series Servos cont.

3) The most common usage of a Servopack for speed/torque control is shown below:

• Using Servopack for Speed/Torque Control (Speed Control)

Position reference +

Position feedback

(Analog voltage)

Speed reference

Position

Host controller

Position control loop

Servopack for speed/torque control

Speed

Convert

Pulse train

Position feedback

Power amplifier

Servomotor

Torque (current) feedback

Encoder

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

In this way, the host controller can freely perform the control required for the servo mechanism. The Servopack undertakes the speed control loop and subsequent control processing.

Yaskawa programmable machine controller PROGIC-8 is available as a typical host controller.

1.1 Basic Understanding of AC Servos

4) Servopack for speed/torque control can also provide torque control as shown below.

• Using Servopack for Speed/Torque Control (Torque Control)

Host controller

Position monitoring

Position information

Speed reference

Torque reference

(Analog voltage)

Position

Convert

Position feedback Encoder

Servopack for speed/torque control

Speed

Pulse train

Power amplifier

Torque (current) feedback

Servomotor

Set the user constants for Servopack to switch between the following torque control modes:

(1) Controlling servomotor torque by torque reference

(Torque control I)

(2) Operating servomotor by switching between torque reference and speed refer-

ence

(Torque control II)

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

FOR FIRST−TIME USERS OF AC SERVOS

1.1.3 Features of Σ-Series Servos cont.

5) Servopack for position control can be used as below.

• Using Servopack for Position Control

Position reference

Position information

Pulse train

Host controller

Position monitoring

Speed/current loop

Pulse train

Position feedback

Servopack for position control

Power amplifier

Servomotor

Encoder

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

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

(1) Code and pulse train

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

(3) Forward and reverse pulse trains

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

6) A Digital Operator can be used to set user constants for a Servopack as follows:

(1) Setting user constants to enable or disable each function

(2) Setting user constants required for functions to be used

Set user constants according to the servo system to be set up.

BASIC USES OF Σ-SERIES PRODUCTS

This chapter describes the first things to do when Σ-Series products are delivered. It also explains the most fundamental ways of connecting and operating Σ-Series products. Both first-time and experienced servo users this chapter.

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

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

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

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

2.2.2 Installing the Servomotor 19.............................

2.2.3 Installing the Servopack 22..............................

must read

2.3 Connection and Wiring 25.....................

2.3.1 Connecting to Peripheral Devices 25......................

2.3.2 Main Circuit Wiring and Power ON Sequence 28............

2.3.3 Examples of Connecting I/O Signal Terminals 30............

2.4 Conducting a Test Run 37.....................

2.4.1 Test Run in Two Steps 37...............................

2.4.2 Step 1: Conducting a Test Run for Motor without Load 39.....

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

to the Machine 44.....................................

2.4.4 Supplementary Information on Test Run 46.................

2.4.5 Minimum User Constants Required and Input Signals 48......

BASIC USES OF Σ-SERIES PRODUCTS

2.1.1 Notes on Use

2.1 Precautions

This section provides notes on using Σ-Series products.

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

2.1.1 Notes on Use

NOTE Always note the following to ensure safe use.

Two types of supply voltage are available, 100 V and 200 V.

Both Σ-Series Servomotor and Servopack have 100 V and 200 V types. Be sure to use the correct type.

Type NP

Always use the SGM Servomotor and SGDA Servopack in pairs.

The SGM Servomotor cannot run without the SGDA Servopack. Do not plug the SGM Servomotor directly into the commercial power supply. (Direct connection to the commercial power supply will damage the Servomotor.)

200 V or 100 V power supply

Do not change wiring when power is ON.

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

Voltage label

Direct connection

Damage will result!

Extinguished

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

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

Even after the power is turned OFF, residual voltage still remains in the capacitor inside the Servopack. If inspection is to be performed after the power is turned OFF, always wait at least 5 min-

Careful!

Residual voltage remains in capacitor

utes to avoid the risk of an electrical shock.

Wait at least 5 minutes

2.1 Precautions

Always follow the specified installation method.

Provide sufficient clearance

The Servopack generates heat. Install the Servopack so that it can radiate heat freely. Note also that the Servopack must be in an environment free from condensation, vibration and shock.

Ambient temperature: 0to55°C

Perform noise reduction and grounding properly.

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

D Separate high-voltage cables from low-voltage cables. D Use cables as short as possible. D Use at least class 3 grounding (ground resistance

100Ω or below) for the Servomotor and Servopack.

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

motor circuit.

Conduct a voltage resistance test under the following conditions.

D Voltage: 1,500 Vrms AC, one minute D Braking current: 20 mA D Frequency: 50/60 Hz D Voltage applied point: Between R, T terminals and

frame ground (connect terminals R and T securely.)

10 mm

Conduct a dielectric strength test as described on the left.

Use a fast-response type ground-fault interrupter.

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

Fast-response type

Ground-fault interrupter

GOOD POOR

GOOD

For PWM inverter

Do not perform continuous operation under overhanging load.

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

Servomotor

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

Regenerative braking continuously applied

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

Frequently turning the power ON and OFF causes

Servopack

the internal circuit elements to deteriorate. Always start or stop the servomotor by using reference pulses.

Power supply

Time-delay type

Starting and stopping by turning power ON and OFF

BASIC USES OF Σ-SERIES PRODUCTS

2.2.1 Checking on Delivery

2.2 Installation

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

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

2.2.2 Installing the Servomotor 19.........................................

2.2.3 Installing the Servopack 22..........................................

2.2.1 Checking on Delivery

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

Check Items

Check if the delivered products are the ones you ordered.

Check if the motor shaft rotates smoothly.

Check the types marked on the nameplates of Servomotor and Servopack (see the table below).

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

Remarks

turned manually.

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

or scratches resulting from transportation.

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

necessary.

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

Appearance Nameplate Type

Σ-Series SGM: SGM

Servomotor

SGMP: SGM

Servomotor

Rated Output A3:0.04HP A5:0.07HP 01:0.13HP 02:0.27HP 03:0.40HP 04:0.53HP 08:1.01HP Power supply

A:200V B:100V Encoder specifications 3: 2048P/R incremental encoder

W: 12-bit absolute encoder Design revision order

Shaft specifications 2: Straight without key 4: Straight with key 6: Straight with key,

shaft end screw hole provided Option B: With brake S: With oil seal D: With brake and oil seal P: Drip-proof provision

Servo motor

Σ-Series

SGM Servomotor

Σ-Series

SGMP Servomotor

Rated output

Servomotor type

Serial number

Rated rotation speed

Rated current

Rated torque

Manufacturing date

Appearance Nameplate Type

Servopack

Σ-Series SGDA Servopack

2.2.2 Installing the Servomotor

Servomotor SGM and SGMP types can be installed either horizontally or vertically. However, if the Servomotor is installed incorrectly or in an inappropriate location, the service life will be shortened or unexpected problems will occur. To prevent this, always observe the installation instructions described below.

Servopack type

Serial number Output power voltage Applicable power supply

Σ-Series SGDA Servopack

Rated Ouoput A3:0.04HP A5:0.07HP 01:0.13HP 02:0.27HP 03:0.40HP 04:0.53HP 08:1.01HP Power Supply

Type S: For speed/torque control P: For position control

Applicable motor Blank: SGM Servomotor P: SGMP Servomotor

2.2 Installation

Before installation

Anticorrosive paint is coated on the edge of the motor shaft. Clean off the anticorrosive paint thoroughly using a cloth moistened with thinner.

Anticorrosive paint is coated here

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

Storage:

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

Between −20°C and 60°C

Installation sites:

The Servomotor SGM and SGMP types are designed for indoor use. Install Servomotor in an environment which meets the following conditions:

Free from corrosive and explosive gases

BASIC USES OF Σ-SERIES PRODUCTS

2.2.2 Installing the Servomotorcont.

Well-ventilated and free from dust and moisture

Ambient temperature of 0 to 40°C

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

Inspection and cleaning can be performed easily

If the Servomotor is used in a location subject to water or oil mist, install a shield cover over the Servomotor.

Alignment:

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

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

0.03 mm or less. (Turn together with couplings)

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

NOTE If the shafts are not aligned properly, vibration will occur, resulting in damage to the bear-

ings.

Mechanical shock to the shaft end must be less than 98m/s

(10G) and must be

applied no more than twice.

Design the mechanical system so that thrust load and radial load applied to the servomotor shaft end during operation falls within the range shown in the following table.

TERMS

Thrust load and radial load

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

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

Motor

Shaft end

• Servomotor with incremental encoder

2.2 Installation

Allowable

Motor Type

SGM-A3 68 (15) 54 (12) 20 (0.82)

SGM-A5 68 (15) 54 (12) 20 (0.82)

SGM-01 78 (17) 54 (12) 20 (0.82)

SGM-02 245 (55) 74 (16) 25 (1.02)

SGM-03 245 (55) 74 (16) 25 (1.02)

SGM-04 245 (55) 74 (16) 25 (1.02)

SGM-08 392 (88) 147 (33) 35 (1.43)

SGMP-01 78 (17) 49 (11) 20 (0.82)

SGMP-02 245 (55) 68 (15) 25 (1.02)

SGMP-03 245 (55) 68 (15) 25 (1.02)

SGMP-04 245 (55) 69 (15) 25 (1.02)

SGMP-08 392 (88) 147 (33) 35 (1.43)

Radial Load

Fr [N(lb)]

Allowable

Thrust Load

Fs [N(lb)]

LR mm (in.)

• Servomotor with absolute encoder

Allowable

Motor Type

SGM-A3 49 (11) 19 (4) 20 (0.82)

SGM-A5 68 (15) 19 (4) 20 (0.82)

SGM-01 68 (15) 19 (4) 20 (0.82)

SGM-02 196 (44) 49 (11) 25 (1.02)

SGM-03 196 (44) 49 (11) 25 (1.02)

SGM-04 196 (44) 68 (15) 25 (1.02)

SGM-08 343 (77) 98 (22) 35 (1.43)

SGMP-01 78 (17) 49 (11) 20 (0.82)

SGMP-02 245 (55) 68 (15) 25 (1.02)

SGMP-03 245 (55) 68 (15) 25 (1.02)

SGMP-04 245 (55) 69 (15) 25 (1.02)

SGMP-08 392 (88) 147 (33) 35 (1.43)

Radial Load

Fr [N(lb)]

Allowable

Thrust Load

Fs [N(lb)]

LR mm (in.)

Reference Drawing

Note The radial load and thrust load values shown above are the maximum allowed

values for the sum of the load generated by motor torque and the load externally applied to the shaft.

BASIC USES OF Σ-SERIES PRODUCTS

2.2.3 Installing the Servopack

Σ-Series SGDA Servopack is a book-shaped compact servo controller. Incorrect installation will cause problems. Always observe the installation instructions described in the next page.

Storage:

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

Between −20°C and 85°C

Installation sites:

Situation Notes on Installation

Design the control panel size, unit layout, and cooling

When installed in a control panel

When installed near a heating unit

When installed near a source of vibration

When installed in a place receiving corrosive gases

Others

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

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

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

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

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

SGDA Servopack

Orientation:

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

The Servopack must be orientated as shown in the figure because it is designed to be cooled by natural convection.

Ventilation

• Firmly secure the Servopack through three or four mounting holes.

2.2 Installation

Installation method:

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

Fan

Fin

30 mm or more 10 mm or more

Fan

50 mm or more

a) Install Servopack perpendicular to the wall so that the front panel (containing connec-

tors) faces outward.

b) Provide sufficient space around each Servopack to allow cooling by natural convec-

tion.

BASIC USES OF Σ-SERIES PRODUCTS

2.2.3 Installing the Servopackcont.

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

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

d) Maintain the following conditions inside the control panel:

• Ambient temperature for Servopack: 0 to 55°C

• Humidity: 90%RH or less

• Vibration: 0.5G (4.9 m/s

• Condensation and freezing: None

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

)

2.3 Connection and Wiring

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

2.3.1 Connecting to Peripheral Devices 25..................................

2.3.2 Main Circuit Wiring and Power ON Sequence 28.......................

2.3.3 Examples of Connecting I/O Signal Terminals 30.......................

2.3.1 Connecting to Peripheral Devices

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

2.3 Connection and Wiring

BASIC USES OF Σ-SERIES PRODUCTS

Standard connection method for Σ-Series AC Servo Drives:

Molded-case circuit breaker (MCCB)

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

Noise filter

Used to eliminate external noise from power supply line.

Types: LF-205A (for SGDA-A3A, A5B, 01A, 02A,

A3B, A5B, and 01B) LF-210 (for SGDA-04A and 02B) LF-220 (for SGDA-03B and 08A)

Magnetic contactor

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

Type: HI-15E5 (30 A)

Allows the user to set user constants or

Digital

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

Power supply: Single-phase 200 or 100 V

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

Σ-Series Servopack

Brake control relay

Brake power supply

Used for Servomotor with brake.

Regenerative unit

Type: JUSP-RG08

Exterior type regenerative resistor

Type: JUSP-RG08C

Types:

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

This wiring is required only for a Servomotor with brake

Connector kits for pulse generator (PG) and for motor are not required if the following parts are ordered:

S Cable with terminal connectors S Cable with connector and amplifier terminal

R T

P N U V W

Connector for PG (on Servopack side)

2.3 Connection and Wiring

Operator

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

1CN connector kit

(Type: DP9420007)

1-meter cable with 1CN connector and one end without connector

(Type: DE9404859)

Personal computer

Exclusive-use cable between personal computer and Servopack (for NEC PC) is available. Type: DE9405258 (2m, 6.6ft.) Consult factory about cable for IBM PC (IBM compatible PC).

Connector terminal block conversion unit

(Type: JUSP-TA36P)

The terminal block allows connection to a host controller.

0.5-meter(1.6ft) cable with two 1CN connectors

Host controller

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

References are input as analog signals or pulse trains.

PROGIC-8

Cable for PG

This cable is used to connect a Servomotor encoder to a Servopack.

The following two types of cable are available according to the encoder type:

• Cable for incremental encoder (with connector on both ends)

9.8ft: DP9320089-1 16.4ft: DP9320089-2

32.8ft: DP9320089-3 49.2ft: DP9320089-4

65.6ft: DP9320089-5

• Cable for absolute encoder (with connectors on both ends)

9.8ft: DP9320088-1 16.4ft: DP9320088-2

32.8ft: DP9320088-3 49.2ft: DP9320088-4

65.6ft: DP9320088-5

A cable with a single connector (without connector on Servopack side) and a cable without connectors are also available.

Connector for PG (on motor side)

Connector for motor

Σ-Series Servomotor

Connector kit for PG

On Servomotor side

This connector kit is required for cables without connectors. For moving parts, a cable for robot must be ordered separately.

Cable for motor

This is a power cable for connecting a Servomotor to a Servopack.

For a Servomotor with brake, this cable is also used to wire the brake.

• Without brake (connector and amplifier terminal included)

9.8ft: DP9320081-1 16.4ft: DP9320081-2

32.8ft: DP9320081-3 49.2ft: DP9320081-4

65.6ft: DP9320081-5

• With brake (connector and amplifier terminal included)

9.8ft: DP9320083-1 16.4ft: DP9320083-2

32.8ft: DP9320083-3 49.2ft: DP9320083-4

65.6ft: DP9320083-5

A cable without connector and amplifier terminal is also available.

Connector kit for motor

Connector for motor (on motor side)

This connector kit is required for cables without connector and amplifier terminal.

On Servopack side

2CN

BASIC USES OF Σ-SERIES PRODUCTS

2.3.2 Main Circuit Wiring and Power ON Sequence

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

Single-phase 200 to 230 VAC 50/60 Hz

+ 10

% ,

–15

1MCCB: Circuit breaker 1FIL: Noise filter 1MC: Contactor 1Ry: Relay 1PL: Patrol light 1SUP: Surge suppressor 1D: Flywheel diode

For 100 V Type Single-phase 100 to 115 VAC 50/60 Hz

+ 10

–15

% ,

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

Terminal

Symbol

UV W

* For 100 V power supply: Single-phase 100 to 115 VAC

Name Description

Main circuit AC input terminal

Motor connection terminal

Ground terminal

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

Connect U to the red motor terminal , V to the white motor terminal, and W to the blue motor terminal

Connect to the motor ground terminal (green) for grounding purposes.

Regenerative unit connection

Connect to a regenerative unit when applicable.

terminal

+ 10

–15

+ 10

–15

, 50/60Hz

2.3 Connection and Wiring

Servopack

ype

3) Form a power ON sequence as follows:

a) Form a power ON sequence so that the power is turned OFF when a servo alarm sig-

nal is output. (See the circuit diagram shown on the previous page.)

b) Hold down the power ON push-button for at least two seconds. The Servopack out-

puts a servo alarm signal for approximately two seconds or less when the power is turned ON. This operation is required to initialize the Servopack.

Power supply

Servo alarm (ALM) output signal

NOTE After turning the power OFF,do not touch the power terminals for 5 minutes. High voltage

may remain in the Servopack.

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

• If the Servopack is turned ON immediately after being turned OFF, a power loss alarm may arise. To prevent this, always wait for the time shown in the following table before turning the power ON again:

Type

SGDA-

Single-phase 200

VAC

A3Aj, A5Aj A3Bj

01Aj, 02Aj, 04Aj A5Bj, 01Bj, 02Bj

08Aj

Single-phase 100 VAC Power Holding Time

6 seconds

10 seconds

03B 15 seconds

BASIC USES OF Σ-SERIES PRODUCTS

2.3.3 Examples of Connecting I/O Signal Terminals

1) This sub-section provides typical examples of connecting to main host controllers. Connection to other host controllers is also possible. Connect to the host controller according to the connection examples shown below by referring to technical documentation for the host controller.

NOTE This sub-section describes signals related to the SGDA Servopack only. For other sig-

nals, refer to the relevant technical documentation.

2) Example of Connecting to PROGIC-8

SGDA-jjj S

Speed/Torque

Servopack for Speed/Torque Control

Servopack

Yaskawa

MC unit

Not used

(Reserved)

FG (connector frame)

*1 These pin numbers are also applicable to SV2 to SV4.

*2 Do not change the standard settings of user constants for the Servopack.

3) Example of Connecting to GL-Series Positioning Module B2833

2.3 Connection and Wiring

SGDA-jjj S

Speed/Torque

Servopack for Speed/Torque Control

(MADE BY YASKAWA)

SERVO NORMAL

DECEL LS

D/A OUTPUT

ALARM

SERVOPACK

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

BASIC USES OF Σ-SERIES PRODUCTS

2.3.3 Examples of Connecting I/O Signal Terminalscont.

4) Example of Connecting to GL-Series Positioning Module B2813

SGDA-jjj P

Positions

Servopack for Position Control

(MADE BY YASKAWA)

SERVO NORMAL DECELERA-

TION LS

ALARM

Servopack

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

*2 Change the Cn-02 setting as follows: Bit No. 3 = 1 Bit No. 4 = 0 Bit No. 5 = 0

*3 Pull up the CLR signal with 1 kΩ resistance. Change the Cn-02 setting as follows: Bit No. A =1

2.3 Connection and Wiring

5) Example of Connecting to OMRON Position Control Unit C500-NC222

SGDA-jjj S

Speed/Torque

Servopack for Speed/Torque Control

I/O POWER SUPPLY

C500-NC222 (MADE BY OMRON)

SERVOX

X-AXIS (Y-AXIS)

2 (3)

(ON when

positioning is

stopped)

(ON when

proximity is

detected)

Servopack

SGDA-VVVS

Note The signals shown here are applicable only to OMRON Sequencer

C500-NC222 and Yaskawa Servopack SGDA-VVVS.

BASIC USES OF Σ-SERIES PRODUCTS

2.3.3 Examples of Connecting I/O Signal Terminalscont.

6) Example of Connecting to OMRON Position Control Unit C500-NC112

SGDA-jjj P

Positions

Servopack for Position Control

I/O POWER SUPPLY

C500-NC112

(MADE BY OMRON)

CW LIMIT

CCW LIMIT

EMERGENCY STOP

EXTERNAL INTERRUPT

HOME POSITION

HOME POSITION PROXIMITY

LOCAL READY

PULSE OUTPUT CW + CCW

DIRECTION OUTPUT CW

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

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

*2 Change the Cn-02 setting as follows:

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

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

Yaskawa Servopack SGDA-VVVP.

+24V

(ON when proximity is detected)

11A 11B 12A 12B

+24V

+5V

024V

SERVOPACK

EXTERNAL POWER SUPPLY

7) Example of Connecting to MITSUBISHI Positioning Unit AD72

2.3 Connection and Wiring

SGDA-jjj S

Speed/Torque

Servopack for Speed/Torque Control

I/O POWER SUPPLY

AD72

(MADE BY MITSUBISHI)

SPEED REFERENCE

(ON when positioning is stopped)

(ON when proximity is detected)

SERVOPACK

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

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

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

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

kawa Servopack SGDA-VVVS.

BASIC USES OF Σ-SERIES PRODUCTS

2.3.3 Examples of Connecting I/O Signal Terminalscont.

8) Example of Connecting to MITSUBISHI Positioning Unit AD71 (B Type)

SGDA-jjj P

Positions

Servopack for Position Control

I/O POWER SUPPLY

AD71 (B TYPE)

(MADE BY MITSUBISHI)

X AXIS (Y AXIS)

(ON when proximity is detected)

(ON when positioning is stopped)

SERVOPACK

024V

EXTERNAL POWER SUPPLY +24V

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

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

*2 Manufactured by Yaskawa Controls Co., Ltd.

Note The signals shown here are applicable only to MITSUBISHI Sequencer AD71 (B Type)

and Yaskawa Servopack SGDA-VVVP.

2.4Conducting a Test Run

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

2.4.1 Test Run in Two Steps 37...........................................

2.4.2 Step 1: Conducting a Test Run for Motor without Load 39................

2.4.3 Step 2: Conducting a Test Run with the Motor Connected to the Machine 44

2.4.4 Supplementary Information on Test Run 46............................

2.4.5 Minimum User Constants Required and Input Signals 48................

2.4.1 Test Run in Two Steps

Conduct the test run when wiring is complete.

2.4 Conducting a Test Run

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

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

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

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

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

BASIC USES OF Σ-SERIES PRODUCTS

2.4.1 Test Run in Two Stepscont.

Step 1: Conducting a test run for the motor without load Check that the motor is wired correctly....

Operate the motor with a Digital Operator.

Check wiring.

Do not connect to a machine.

Step 2: Conducting a test run with the motor and

machine connected Adjust Servopack according to machine.................................

Speed adjustment by autotuning

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

Purpose:

Outline:

Connect to the machine and conduct a test run.

Purpose:

• To check power supply circuit wiring

• To check motor wiring

• To check I/O signal (1CN) wiring

• Turn the power ON.

• Operate the motor with a digital op-

erator.

• Check I/O signals (1CN).

• Conduct a test run using I/O signals.

characteristics.

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

• To match the speed and direction of rotation with the machine specifications

• To check the final control mode

Connect to the machine.

Outline:

End of test run

• Perform autotuning.

• Adjust user constant settings.

• Record user constant settings.

For customers who use a servomotor with a brake, refer to Section 2.4.4 Supplementary Information on Test Run before starting a test run.

The following pages describe the test run procedure in detail.

2.4 Conducting a Test Run

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

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

Operate the motor with a Digital Operator.

Check wiring.

Do not connect to the machine.

(1) Secure the servomotor.

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

(2) Disconnect connector 1CN, then check the

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

Note: When absolute encoder is used, connect

the battery. Also, initialize the absolute encoder. See 3.8.5 Using an Absolute Encoder for details.

Secure servomotor to mounting holes.

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

Disconnect connector 1CN

(3) Short the alarm signal circuit.

Because connector 1CN is disconnected, the alarm signal prevents the power supply circuit from being turned ON. Therefore, temporarily short the alarm signal circuit.

Power supply 0V +24V

Short this circuit.

Force this relay ON.

1CN disconnected

BASIC USES OF Σ-SERIES PRODUCTS

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

(4) Turn the power ON.

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

If an alarm display appears on the LED as shown in the figure above, the power supply circuit, motor wiring or encoder wiring is incorrect. In this case, turn the power OFF,then correct the problem.

Note: When absolute encoder is used, perform

the following procedures after turning ON the power.

Set the bit E of Cn−01 to 1.

Set the number of encoder pulses (Cn−11)

to 1024.

Normal display

Alternately displayed

Example of alarm display

Refer to Appen-

dix E List of Alarm Displays.

Set the dividing ratio of encoder pulses

(Cn−0A) to 1024 or below.

Turn OFF the power once. Then turn ON

the power again after checking if the displays of digital operator extinguish.

(5) Operate using the Digital Operator

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

Refer to 4.2.2 Operating Using the Digital Op- erator.

Operation by Digital Operator

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

2.4 Conducting a Test Run

(6) Connect signal lines.

Connect connector 1CN as follows:

(1) Turn the power OFF.

(2) Retrun the alarm signal circuit shorted in the above step (3) to its original state.

(3) Connect connector 1CN.

(4) Turn the power ON again.

(7) Check input signals.

Check the input signal wiring in monitor mode. For the checking method, refer to 4.1.6 Opera- tion in Monitor Mode.

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

After turning the power OFF, remove the short circuit.

Example of Un-05

S-ON (1CN-14)

Internal status bit display (Un-05, Un-06)

N-CL (1CN-12)

P-CON (1CN-17)

The memory switch can be used to

eliminate the need

for external short-circuits in

wiring (see pages 55 and

128).

Connect connector 1CN.

P-CL (1CN-11)

P-OT (1CN-16)

N-OT (1CN-17)

Input Signal ON/OFF Monitor Bit Display

High level or open OFF Extinguished

0 V level ON Lit

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

P-OT 1CN-16 Motor can rotate in forward direction when this input signal is at 0 V.

N-OT 1CN-17 Motor can reverse when this input signal is at 0 V.

S-ON 1CN-14 Servo is turned ON when this input signal is at 0 V. However, leave

the servo in OFF status.

(8) Turn servo (motor) ON.

Servopack

Servomotor

Turn the servo ON as follows:

(1) Check that no reference has been input.

Turn the servo ON

For speed/torque control (SGDA-

jjj

S):

V-REF (1CN-3) and T-REF (1CN-1) are at 0 V.

For position control (SGDA-

jjj

P):

PULS (1CN-1) and SIGN (1CN-3) are fixed.

BASIC USES OF Σ-SERIES PRODUCTS

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

SGDA- S

Speed/Torque

(2) Turn the servo ON signal ON.

Display when servo is turned ON

Set S-ON (1CN-14) to 0 V. If normal, the motor is turned ON and the Digital Operator displays the data as shown in the figure. If an alarm display appears, take appropriate action as described in Appendix E List of Alarm Displays.

(9) Operate by reference input.

The operating procedure differs according to the Servopack control mode used.

Servopack for Speed/Torque

(This section describes the standard speed con-

Servopack

trol setting.)

(1) Gradually increase the speed reference input

(V-REF, 1CN-3) voltage. The motor will rotate.

Servomotor rotates at a speed proportional to the reference voltage.

Servomotor

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

(2) Check the following items in monitor mode (see page 179):

(1) Has a reference speed been input?

(2) Is the motor speed as set?

(3) Does the reference speed match the actual motor speed?

(4) Does the motor stop when no reference is input?

Un-00

Actual motor speed

Un-01 Reference speed

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

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

Offset Automatic Adjustment

2.4 Conducting a Test Run

Cn-02

(4) To change motor speed or the direction of rotation, reset the user constants shown

below.

SGDA-jjjP

Positions

Cn-03

Speed reference gain (see page 68)

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

Servopack for Position Control

(1) Set user constant Cn-02 so that the reference pulse form matches the host controller

output form. (See page 174 for details on how to set user constants.)

Selecting reference pulse form (See page 70)

Bit 3

Bit 4

Bit 5

Bit D

(2) Input a slow speed pulses from the host con-

troller and execute low-speed operation.

Host controller

Reference pulse

Servopack

(3) Check the following items in monitor mode

(see page 179):

Servomotor

(1) Has a reference pulse been input?

(2) Is the motor speed as set?

(3) Does the reference speed match the actual motor speed?

(4) Does the motor stop when no reference is input?

Un-00

Actual motor speed

Un-07 Reference pulse speed display

Un-08 Position error

BASIC USES OF Σ-SERIES PRODUCTS

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

(4) To change motor speed or the direction of rotation, reset the user constants shown

below.

Cn-24,Cn-25

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

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

Refer to Appendix E List of Alarm Displays and Appendix D List of User Constants.

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

Electronic gear ratio (see page 81)

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

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

Purposes: 1) Autotuning

SGDA Servopack

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

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

Servomotor

Connect to the machine.

2) Speed adjustment

2.4 Conducting a Test Run

(1) Check that power is OFF.

Turn the Servopack power OFF.

(2) Connect the servomotor to the machine.

Refer to 2.2.2 Installing the Servomotor.

(3) Perform autotuning.

Tune the Servopack according to the machine characteristics. Refer to 4.2.3 Autotuning.

Power supply

Power OFF

Install servomotor on machine.

Servomotor

Autotuning:

Automatically measures machine characteristics and performs optimum tuning

Servopack Servomotor

Servopack

(4) Operate by reference input.

As in step 1 (conducting a test run for motor without load), perform (9) Operate by refer- ence input on page 42. Perform tuning

Host controller

Reference

Servopack

Servomotor

associated with the host controller.

(5) Set user constants and record the settings.

Set user constants as necessary. Record all the user constant settings for maintenance purposes.

Servopack

User constants

Record the settings

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

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

BASIC USES OF Σ-SERIES PRODUCTS

2.4.4 Supplementary Information on Test Run

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

• When using a servomotor with a brake

• When performing position control from the host controller

1) When using a servomotor with brake

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

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

• Vertical axis

Servomotor

Holding brake

Prevents the motor from rotating due to gravity

• Axis to which external force is applied

External force

Servomotor

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

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

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

Power supply: single-phase

Brake control relay

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

200 V or 100 V

Servopack

Cable for motor with brake

9.8ft DP9320083-1

16.4ft DP9320083-2

32.8ft DP9320083-3

49.2ft DP9320083-4

65.6ft DP9320083-5

Servomotor with brake

2.4 Conducting a Test Run

2) When performing position control from the host controller

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

For speed control Type:

Speed

Host controller

Position control

reference

Speed control

Test run for motor without load

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

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

Reference from Host Controller

Jogging (constant-speed reference input from host controller)

Simple positioning

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

Check Items Check Method Review Items

Check the motor speed as follows:

D Use the speed

monitor (Un-00) of the digital operator.

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

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

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

Motor speed

Number of motor revolutions

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

D Run the motor at

low speed. For example, input a speed reference of 60 r/min and check that the motor makes one revolution per one second.

D Input a reference

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

D Check that the

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

BASIC USES OF Σ-SERIES PRODUCTS

2.4.5 Minimum User Constants Required and Input Signals

1) This section describes the minimum user constants that must be set to conduct a test run. For details on how to set each user constant, refer to 4.1.5 Operation in User Constant Setting Mode.

a) Servopack for speed/torque control

Cn-01 bit E

Cn-02 bit 8 Motor selection

Cn-03 Speed reference adjustment gain

Cn-0A Encoder pulse dividing ratio

Cn-11 Number of encoder pulse

b) Servopack for position control

Cn-01 bit E

Cn-02 bit 8 Motor selection

Cn-02 bits 3,4,5 Reference pulse form selection

Cn-02 bit D Logic of reference pulse

Cn-02 bit F Reference pulse output form

Cn-0A Encoder pulse dividing ratio

Cn-11 Number of encoder pulses

Cn-24 Electronic gear ratio (numerator)

Cn-25 Electronic gear ratio (denominator)

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

Encoder selection

alone

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

Cn-02 (bit 0)

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

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

Reverse rotation mode (see page 54)

2.4 Conducting a Test Run

Signal Name

S-ON (servo ON) 1CN-14

(forward

P-OT

N-OT

rotation prohibited)

(revere rotation prohibited)

Number

1CN-16

1CN-17

Function

Switching between motor ON and OFF status.The memory switch can be used to eliminate the need for external short-circuit wiring (see page 129).

Overtravel limit switch The memory switch can be used to eliminate the need for external short-circuit wiring (see page 57).

APPLICATIONS OF Σ-SERIES PRODUCTS

This chapter is prepared for readers who wish to learn more about the applications of Σ-series products after fully understanding Chapter 2 Basic Uses of Σ-series Products. It explains how to set user constants for each purpose and how to use each function. Read the applicable sections according to your requirements.

3.1 Setting User Constants

3.2 Setting User Constants

According to Machine Characteristics 54.......

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

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

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

According to Host Controller 65...............

3.2.1 Inputting Speed Reference 65............................

3.2.2 Inputting Position Reference 69..........................

3.2.3 Using Encoder Output 73...............................

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

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

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

3.2.7 Using Torque Control 88................................

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

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

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

3.2.11 Using the Reference Pulse Input Filter Selection Function 99...

3.3 Setting Up theΣServopack 100................

3.3.1 Setting User Constants 100...............................

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

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

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

3.4 Setting Stop Mode 104........................

3.4.1 Adjusting Offset 104....................................

3.4.2 Using Dynamic Brake 105................................

3.4.3 Using Zero-Clamp 106..................................

3.4.4 Using Holding Brake 107................................

Chapter Table of Contents, Continued

3.5 Running the Motor Smoothly 111...............

3.5.1 Using the Soft Start Function 111..........................

3.5.2 Using the Smoothing Function 112.........................

3.5.3 Adjusting Gain 112.....................................

3.5.4 Adjusting Offset 113....................................

3.5.5 Setting the Torque Reference Filter Time Constant 113.........

3.6 Minimizing Positioning Time 114...............

3.6.1 Using Autotuning Function 114...........................

3.6.2 Setting Servo Gain 114..................................

3.6.3 Using Feed-forward Control 116...........................

3.6.4 Using Proportional Control 116............................

3.6.5 Setting Speed Bias 117..................................

3.6.6 Using Mode Switch 118.................................

3.6.7 Using Speed Loop Compensation Function 124...............

3.7 Forming a Protective Sequence 125.............

3.7.1 Using Servo Alarm Output and Alarm Code Output 125........

3.7.2 Using Servo ON Input Signal 128..........................

3.7.3 Using Positioning Complete Signal 129.....................

3.7.4 Using Speed Coincidence Output Signal 131.................

3.7.5 Using Running Output Signal 132..........................

3.7.6 Handling of Power Loss 134..............................

3.8 Special Wiring 136...........................

3.8.1 Wiring Instructions 136..................................

3.8.2 Wiring for Noise Control 138.............................

3.8.3 Using More Than One Servo Drive 143.....................

3.8.4 Using Regenerative Units 144.............................

3.8.5 Using an Absolute Encoder 148...........................

3.8.6 Extending an Encoder Cable 157..........................

3.8.7 Using SGDA Servopack with High Voltage Line 159..........

3.8.8 Connector Terminal Layouts 161..........................

Before Reading this Chapter

1) This chapter describes how to use each 1CN connector I/O signal for the SGDA Servopack and how to set the corresponding user constant.

2) For a list of I/O signals of 1CN connecor, refer to Appendix C List of I/O Signals. For terminal arrangement for I/O signals of 1CN connecor, refer to 3.8.8 Connector Ter- minal Layouts.

I/O signals

3) For a list of user constants, refer to Appendix D List of User Constants.

4) User constants are divided into the following two types.

1) Memory switch Cn-01 and Cn-02

2) Constant setting Cn-03 and later

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

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

SGDA Servopack

User constants

Host controller, external circuit

5) For details on how to set user constants, refer to 4.1.5 Operation in User Constant Setting

Mode.

APPLICATIONS OF Σ-SERIES PRODUCTS

3.1.1 Changing the Direction of Motor Rotation

3.1 Setting User Constants According to Machine Characteristics

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

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

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

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

3.1.1 Changing the Direction of Motor Rotation

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

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

Standard Setting Reverse Rotation Mode

Forward Run Reference

Reverse Run Reference

Encoder output from Servopack

(Phase A)

(Phase B)

Encoder output from Servopack

(Phase A)

(Phase B)

Encoder output from Servopack

(Phase A)

(Phase B)

Encoder output from Servopack

(Phase A)

(Phase B)

3.1Setting User Constants According to Machine Characteristics

3) Setting Reverse Rotation Mode:

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

a) Method 1: Setting Memory Switch

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

Cn-02 Bit 0

Rotation Direction Selection

Factory Setting: 0

Set the direction of rotation.

Setting Meaning

Forward rotation is defined as

counterclockwise rotation when viewed from the drive end.

Forward rotation is defined as clockwise

rotation when viewed from the drive end.

Method 2: Shorting the Wiring in the 2CN Connector

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

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

(Standard

setting)

(Reverse

rotation

mode)

Servopack Servomotor

For Speed/Torque Control and Position Control

Encoder

Servopack

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

APPLICATIONS OF Σ-SERIES PRODUCTS

3.1.2 Setting the Overtravel Limit Function

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

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

Forward Rotation Prohibited

→ Input P-OT 1CN-16

→ Input N-OT 1CN-17

(Forward Overtravel)

Reverse Rotation Prohibited (Reverse Overtravel)

Inputs terminals for overtravel limit switch.

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

P-OT

N-OT

ON: 1CN-16 is at low level.

OFF: 1CN-16 is at high level.

ON: 1CN-17 is at low level.

OFF: 1CN-17 is at high level.

Forward rotation allowed. Normal operation status.

Forward rotation prohibited (reverse rotation allowed).

Reverse rotation allowed. Normal operation status.

Reverse rotation prohibited (forward rotation allowed).

Reverse rotation side

Servomotor

For Speed/Torque Control and Position Control

Forward rotation side

Limit switch

Servopack

3.1Setting User Constants According to Machine Characteristics

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

Cn-01 Bit 2

Cn-01 Bit 3

Use of P-OT Input Signal Factory

Setting: 0

Use of N-OT Input Signal Factory

Setting: 0

Specifies whether the P-OT input signal for prohibiting forward rotation at overtravel (1CN-16) is to be used and whether the N-OT input signal for prohibiting reverse rotation at overtravel (1CN-17) is to be used.

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

Bit Setting Meaning

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

rotation is prohibited when 1CN-16 is open. Forward rotation is allowed

Bit 2

Bit 3

when 1CN-16 is at 0 V.)

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

(Forward rotation is always allowed. This has the same effect as shorting 1CN-16 to 0 V.)

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

rotation is prohibited when 1CN-17 is open. Reverse rotation is allowed when 1CN-17 is at 0 V.)

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

1CN-17 to 0 V.)

For Speed/Torque Control and Position Control

Servopack

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

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

Cn-01 Bit 8

How to Stop Motor at Overtravel

Operation to be Performed

Cn-01 Bit 9

when Motor Stops after Overtravel

• Inputs signal for prohibiting forward rotation

(P-OT, 1CN-16)

• Inputs signal for prohibiting reverse rotation

(N-OT, 1CN-17)

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

Factory Setting: 0

Overtravel

Bit 8

For Speed/Torque Control and Position Control

Stop mode After stop

Stop by

Bit 6

dynamic brake

Coasting to a stop

Deceleration stop

Releasing dynamic brake

Servo OFF

Bit 9

Zero-clamp

APPLICATIONS OF Σ-SERIES PRODUCTS

3.1.2 Setting the Overtravel Limit Functioncont.

Setting Meaning

0 Cn-01 bit 8

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

Setting Meaning

Cn-01 bit 9

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

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

Stops the motor by decelerating it with the preset torque.

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

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

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

If torque control mode is selected for the Servopack for speed/torque control (SGDA-jjjS), the motor stops in the same way as when the servo is turned OFF, regardless of the setting of Cn-01 bit 8.

EMGTRQ

Cn-06

Emergency Stop Torque

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

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

Cn-01 Bit 6

Cn-01 Bit 7

How to Stop Motor at Servo OFF

Operation to Be Performed when Motor Stops after Servo OFF

Unit:%Setting

Range: 0 to Maximum Torque

Input signal for prohibiting forward rotation P-OT (1CN-16)

Input signal for prohibiting reverse rotation N-OT (1CN-17)

Factory Setting: 0

Factory Setting: 1

Factory Setting: Maximum

For Speed/Torque Control and Position Control

Torque

Memory switch

For Speed/Torque Control and Position Control

Emergency stop torque

Stop by dynamic brake

Coasting to a stop

The Servopack enters servo OFF status when:

• Servo ON input signal (S-ON, 1CN-14) is turned OFF.

• Servo alarm arises.

• Power is turned OFF.

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

Servo OFF

Stop mode

Stop by dynamic brake

Bit 6

Coasting to a stop

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

After stop

Releasing dynamic brake

Bit 7

Holding

dynamic brake

Setting Meaning

Cn-01

0 Cn-01 bit 6

Stops the motor by dynamic brake.

Causes the motor to coast to a stop.

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

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

Setting Meaning

0 Cn-01

bit 7

Releases dynamic brake after the motor stops.

Does not release dynamic brake even after the motor stops.

3.1.3 Restricting Torque

3.1Setting User Constants According to Machine Characteristics

1) The Servopack can provide the following torque control:

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

protect the machine or workpiece

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

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

Level 4: To alternately use speed control and torque control

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

2) How to Set Level 1: Internal Torque Limit

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

Cn-08

Cn-09

TLMTF Forward Rotation Torque Limit

TLMTR Reverse Rotation Torque Limit

Setting Range: 0 to

Unit:

Maximum

Torque

Unit:%Setting

Range: 0 to Maximum Torque

Factory Setting: Maximum Torque

For Speed/Torque Control and Position Control

APPLICATIONS OF Σ-SERIES PRODUCTS

3.1.3 Restricting Torquecont.

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

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

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

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

Example of Use: Machine Protection

Output Signal for Torque Restriction Function

D TGON D Status indication mode bit data D Monitor mode (Un-05) bit 4

User Constant Setting:

(1CN-9)

Memory switch (Cn-01) bit 4 = 1

Torque limit

Motor speed

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

Torque

• Using TGON

Signal

This section describes how to use contact output signal TGON signal.

Servopack

Photocoupler Output

Per output:

Maximum operation voltage: 30 VDC

Maximum output current: 50 mA DC

as a torque limit output

I/O power supply

Output → TGON 1CN-9

Torque Limit Output (Running Output)

For Speed/Torque Control and Position Control

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

ON status: The circuit between 1CN-9 and 1CN-10 is closed. 1CN-9 is at low level.

OFF status: The circuit between 1CN-9 and 1-CN10 is open. 1CN-9 is at high level.

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

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

3.1Setting User Constants According to Machine Characteristics

Preset Value: Cn-08 (TLMTF)

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

Note This function is changed to another function depending on the setting of bit 4 of

memory switch Cn-01.

To use output signal TGON

as a torque limit output signal, set the following memory

switch to 1.

This memory switch can also be used to set level 2 torque restriction (described in the next subsection).

Cn-01 Bit 4

TGON Output Signal Selection

Factory Setting: 0

For Speed/Torque Control and Position Control

Sets the output conditions for output signal TGON (1CN-9).

Setting Meaning

Uses TGON output signal as a running output signal.

Compares the motor speed with the Cn-0B (TGONLV) setting.

Motor speed ≥ preset

value

Motor speed < preset

value

Closes the circuit between 1CN-9 and 1CN-10

Opens the circuit between 1CN-9 and 1CN-10

Bit 4 of memory switch Cn-01

Rotation detection

Torque detection

Uses TGON output signal as a torque limit output signal.

Compares the SGDA Servopack internal torque (current) reference with the preset value.

Preset Value: Cn-08 (TLMTF)

Internal torque

(current) reference

≥ preset value

Internal torque

(current) reference <

preset value

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

Opens the circuit between 1CN-9 and 1CN-10

Closes the circuit between 1CN-9 and 1CN-10

When TGON output signal is changed, the following bit data are also changed:

• Status indication mode bit data

• Monitor mode Un-05 bit 4

APPLICATIONS OF Σ-SERIES PRODUCTS

P-CL

3.1.3 Restricting Torquecont.

3) How to Set Level 2: External Torque Limit

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

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

N-CL

ON: 1CN-11 is at low level.

OFF: 1CN-11 is at high level.

ON: 1CN-12 is at low level.

OFF: 1CN-12 is at high level.

Torque restriction applies during forward rotation. Limit value:

Torque restriction does not apply during forward rotation.

Torque restriction applies during reverse rotation. Limit value:

Torque restriction does not apply during reverse rotation.

Forward rotation

Reverse rotation

Servopack

Without torque limit

Speed

With torque limit

Speed

Without torque limit

Speed

With torque limit

Speed

Torque

Cn-18

Cn-19

Output Signal for Torque Restriction Function

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

• TGON (1CN-9)

• Status indication mode bit data

• Monitor mode Un-05 bit 4

User Constant Setting: Memory switch Cn-01 bit 4 = 1

Examples of Use:

D Forced stopping

D Holding workpiece by robot

Sets a torque limit value when torque is restricted by external contact input.

This function is valid when bit 2 of memory switch Cn-02 is set to 0.

3.1Setting User Constants According to Machine Characteristics

CLMIF

Cn-18

Cn-19

When P-CL (1CN-11) is input Applies torque restriction as specified in Cn-18

When N-CL (1CN-12) is input Applies torque restriction as specified in Cn-19

Forward External Torque Limit

CLMIR Reverse External Torque Limit

Unit:%Setting

Range: 0 to Maximum Torque

Unit:%Setting

Range: 0 to Maximum Torque

Factory Setting: 100

For Speed/Torque Control and Position Control

For torque restriction by analog voltage reference, refer to 3.2.9 Using TorqueRestriction by Analog Voltage Reference.

• Using P-CL

This section describes how to use input signals P-CL

and N-CL Signals

and N-CL as torque limit input sig-

nals.

I/O power supply

Servopack

Host controller

→ Input P-CL 1CN-11

→ Input N-CL 1CN-12

5mA

Forward External Torque Limit Input (Speed Selection 1)

Reverse External Torque Limit Input (Speed Selection 2)

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

This function is useful in forced stopping.

Photocoupler

For Speed/Torque Control and Position Control

Output Signal for Torque Restriction Function

• TGON

• Status indication mode bit data

• Monitor mode Un-05 bit 4

• User Constant Setting:

(1CN-9)

Memory switch Cn-01 bit 4 = 1

APPLICATIONS OF Σ-SERIES PRODUCTS

P-CL

3.1.3 Restricting Torquecont.

N-CL

ON: 1CN-11 is at low level.

OFF: 1CN-11 is at high level.

ON: 1CN-12 is at low level.

OFF: 1CN-12 is at high level.

Torque restriction applies during forward rotation. Limit value:

Cn-18

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

Torque restriction applies during reverse rotation. Limit value:

Cn-19

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

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

Note This function is changed to another function depending on the setting of bit 2 of

memory switch Cn-02 (see below).

To use input signals P-CL

and N-CL as torque limit input signals, set the following

memory switch to 0.

Cn-02 Bit 2

Contact Input Speed Control Selection

Prohibits the contact input speed control function.

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

Factory Setting: 0

For Speed/Torque Control and Position Control

Servopack

Run the motor at internally set speed

Contact input

Servomotor

change.

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

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

Setting Meaning Input Signal

Used to switch between P control and

Does not use

P-CON (1CN-15)

the contact

input speed control

(1CN-11) Used for forward external torque limit

P-CL

function.

(1CN-12) Used for reverse external torque limit

N-CL

P-CON P-CL N-CL Speed Setting

Uses the contact

input speed control function.

Direction of rotation

0: Forward 1: Reverse

PI control. (For speed/torque control, bits A and B of Cn-01 take precedence over this signal.)

input

0: OFF, 1: ON

Normal speed/torque or position control

Cn-1F (SPEED1)

Cn-20 (SPEED2)

Cn-21 (SPEED3)

• Handling of the TGON

Using TGON

Signal on page 60.

signal is the same as for level 1 (internal torque limit). Refer to

3.2Setting User Constants According to Host Controller

3.2 Setting User Constants According to Host Controller

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

3.2.1 Inputting Speed Reference 65........................................

3.2.2 Inputting Position Reference 69......................................

3.2.3 Using Encoder Output 73............................................

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

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

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

3.2.7 Using Torque Control 88............................................

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

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

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

3.2.11 Using the Reference Pulse Input Filter Selection Function 99.............

3.2.1 Inputting Speed Reference

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

Torque reference input (analog voltage input)

Speed reference input (analog voltage input)

→ Input V-REF 1CN-3

→ Input SG-V 1CN-4

Servopack

Torque reference

Speed reference

↕P: Represents twisted-pair cables

Speed Reference Input For Speed/Torque

Control Only

Signal Ground for Speed Reference Input

For Speed/Torque Control Only

Use these signals when speed control is selected (bits A and B of memory switch Cn-01).

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

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

Standard setting

Reference speed

−1500

−3000

−4500

Input voltage (V)

Set the slope in Cn-03 (VREFGN).

APPLICATIONS OF Σ-SERIES PRODUCTS

3.2.1 Inputting Speed Referencecont.

• Standard Setting:

Cn-03 = 500: This setting means that 6 V is equivalent to rated speed (3,000 r/min)

Examples: +6 V input → 3,000 r/min in forward direction +1 V input → 500 r/min in forward direction

−3 V input → 1,500 r/min in reverse direction

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

• Example of Input Circuit (See the figure on the right)

For noise control, always use twisted-pair cables.

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

When position control is performed by a host controller such as a programmable controller.

Connect V-REF and SG-V to speed reference

Host controller Servopack

Speed reference output terminals

output terminals on the host controller. In this case, adjust Cn-03 according to output voltage specifications.

2) Use the memory switch and input signal P-CON

Feedback pulse input terminals

↕P: Represents twisted-pair cables

to specify one of the four modes shown

below.

1/2 W or more

Servopack

Cn-01 Bit A

Cn-01 Bit B

Control Mode Selection Factory

Setting: 0

Control Mode Selection Factory

Setting: 0

For Speed/Torque Control Only

The Servopack for speed/torque control (SGDA-jjjS) provides four different control modes.

Cn-01

Control

Mode

Setting

Bit B Bit A

0 0

3.2Setting User Constants According to Host Controller

Control Mode

Speed Control

This is normal speed control.

D Speed reference is input from V-REF

(1CN-3).

D P-CON (1CN-15) signal is used to switch

between P control and PI control.

1CN-15 is

PI control

open

Speed reference

P/PI changeover

SGDA Servopack

1CN-15 is

P control

at 0 V

D Torque reference input T-REF (1CN-1)

cannot be used.

Zero-clamp Speed Control

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

D Speed reference is input from V-REF

(1CN-3).

D P-CON (1CN-15) signal is used to turn the

zero-clamp function ON or OFF.

1CN-15 is open

1CN-15 is at 0 V

Turns zero-clamp function OFF

Turns zero-clamp function ON

SGDA Servopack

Speed reference

Zero-clamp

Zero-clamp is performed when the following two conditions are met:

Condition 1: P-CON is turned ON.

Condition 2: Motor speed drops below the preset value.

Preset value: Cn-0F (ZCLVL)

D Torque reference input T-REF (1CN-1)

cannot be used.

1 0 Torque control I

1 1 Torque control II

For torque control, refer to 3.2.7 Using Torque Control.

APPLICATIONS OF Σ-SERIES PRODUCTS

3.2.1 Inputting Speed Referencecont.

• Using P-CON

Signal:

Proportional Control, etc. For Speed/Torque

→ Input P-CON 1CN-15

Control and Position Control

The function of input signal P-CON changes with the memory switch setting.

Servopack

Switching between P control and PI control

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

Switching between torque control and speed control

Memory Switch

Cn-02

Bit 2

Cn-01

Bit B

0 0 0

0 0 1

0 1 0

0 1 1

1 − −

Cn-01

Bit A

Memory switch

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

Switching between zero-clamp enabled/prohibited mode (for speed/torque control (SGDA-jjjS) only)

Not used (for speed/torque control (SGDA-jjjS) only)

Switching between torque control and speed control (for speed/torque control (SGDA-jjjS) only)

Changing the direction of rotation during contact input speed control

Changing the direction of rotation

Meaning of P-CON Signal

TERMS

3) Adjust the speed reference gain using the following user constant.

Cn-03

VREFGN Speed Reference Gain

Unit: (r/min)/V

Setting Range: 0 to 2162

Factory Setting: 500

For Speed/Torque Control Only

This user constant is for speed/torque control (SGDA-jjjS) only. Sets the voltage range for speed reference input V-REF (1CN-3). Sets this

Reference speed (r/min)

Set this slope.

user constant according to the output form of the host controller or external circuit.

Reference voltage (V)

The factory setting is as follows: Rated speed (3,000 r/min)/6 V = 500

Zero-clamp function

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

3.2.2 Inputting Position Reference

3.2Setting User Constants According to Host Controller

SGDA- P

Positions

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

Inputs a move reference by pulse

Servopack

input.

Reference pulse

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

• Line driver output

• +12V Open collector output

input

Reference sign input

Error counter clear input

↕P: Represents twisted-pair cables

• +5V Open collector output

Connection Example 1: Line Driver Output

Line Driver Used:

SN75174 manufactured by

Host controller

Line driver

Servopack

Photocoupler

Texas Instruments Inc., or MC3487 or equivalent.

Connection Example 2: Open Collector Output

Sets the value of limiting re-

Host controller Servopack

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

Input Current i: 7 to 15 mA

Examples:

• When Vcc is 12 V,

R1 = 1 kΩ

• When Vcc is 5 V,

R1 = 180 Ω

↕P: Represents twisted-pair cables

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

When Tr1 is ON Equivalent to high level input

When Tr1 is OFF Equivalent to low level input

Photocoupler

APPLICATIONS OF Σ-SERIES PRODUCTS

Pul

MotorF

MotorR

(

(Posi

with

setting)

dif

fer

3.2.2 Inputting Position Referencecont.

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

→ Input PULS 1CN-1

→ Input£PULS 1CN-2

→ Input SIGN 1CN-3

→ Input£SIGN 1CN-4

Reference Pulse Input For Position Control Only

Reference Sign Input For Position Control Only

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

Cn-02 Bit 3

Cn-02 Bit 4

Cn-02 Bit 5

Reference Pulse Form Selection

Sets the form of a reference pulse that is external-

Factory Setting: 0

For Position Control Only

Host controller

ly output to the Servopack.

Sets the pulse form according to the host controller specifications.

Position reference pulse

Servopack

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

Bit D

Cn-02

Bit5Bit4Bit

Input

Multipli-

Refer-

ence

Pulse

Form

Sign + pulse

0 0 0

train

Twophase

Posi-

tive

logic

setting)

0 1 0

0 1 1

¢1

¢2

pulse train with 90° phase difference

1 0 0

¢4

CW pulse +

0 0 1

CCW pulse

orwar

Reference

everseRun

Reference

3.2Setting User Constants According to Host Controller

(Neg

(Nega

with

setting)

dif

fer

Bit D

tive

logic

setting)

Cn-02

Bit

0 0 0

0 1 0

0 1 1

1 0 0

0 0 1

Bit

Input

Pulse

Multipli-

¢1

¢2

¢4

Refer-

ence

Pulse

Pulse Form

Form

Sign + pulse train

Twophase pulse train with 90° phase difference

CW pulse + CCW pulse

Motor Forward Run

Reference

Motor Reverse Run

Reference

Servo ON

Base block

Sign + pulse train

PG pulse

Input Pulse Multiply Function:

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

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

Example of I/O Signal Generation Timing

Release

Number of motor move pulses

Input reference pulse

t1 ≤ 30 ms t2 ≤ 6ms (When user constant Cn-12 is set to 0) t3 ≥ 40 ms

t4, t5, t6 ≤ 2ms t7 ≥ 20 μs

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

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

APPLICATIONS OF Σ-SERIES PRODUCTS

3.2.2 Inputting Position Referencecont.

Allowable Voltage Level and Timing for Reference Pulse Input

Reference Pulse Form Electrical Specifications Remarks

Sign + pulse train input (SIGN + PULS signal)

Maximum reference frequency: 450 kpps

The signs for each reference pulse are as follows:

90° different two-phase pulse train

Phase A

Phase B

(phase A + phase B)

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

Phase B is 90° forward from phase B

Phase B is 90° behind phase B

400 kpps x 4 multiplier: 200 kpps

CCW pulse + CW pulse

Maximum reference

CCW pulse

CW pulse

frequency: 450 kpps

3) The following describes how to clear the error counter.

→ Input CLR 1CN-5

→ Input£CLR 1CN-6

Error Counter Clear Input For Position

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

Control Only

Setting the CLR signal to high level does the following:

• Sets the error counter inside the Servopack to 0.

• Prohibits position loop control.

Servopack

Clear

Position loop error counter

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

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

Cn-02 Bit A

Error Counter Clear Signal Selection

Factory Setting: 0

For Position Control Only

3.2Setting User Constants According to Host Controller

For position control (SGDA-

Selects the pulse form of error counter clear signal CLR (1CN-5).

Setting Meaning

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

do not accumulate while the signal remains at high level.

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

3.2.3 Using Encoder Output

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

jjj

P) only.

Cleared state

Cleared only once at this point

This output is explained here.

TERMS

Host controller

Servomotor encoder

Phase A Phase B Phase C

Servopack

Frequency dividing

circuit

Divided (or dividing)

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

APPLICATIONS OF Σ-SERIES PRODUCTS

3.2.3 Using Encoder Outputcont.

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

Servopack

Phase A

Phase B

Phase C

↕P: Represents twisted-pair cables

Host controller

Line receiver

Phase A

+5V

Phase B

Phase C

Choke coil

Smoothing capacitor

Line receiver used: SN75175 manufactured by

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

Texas Instruments Inc. or MC3486 (or equivalent)

2) I/O signals are described below.

Output → PAO 1CN-20

Output →£PAO 1CN-21

Output → PBO 1CN-22

Output →£PBO 1CN-23

Output → PCO 1CN-24

Output →£PCO 1CN-25

Encoder Output Phase-A

Encoder Output Phase-B

Encoder Output Phase-C

For Speed/Torque Control and Position Control

Divided encoder signals are output.

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

Set a dividing ratio in the following user constant.

Dividing ratio setting

Cn-0A PGRAT

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

3.2Setting User Constants According to Host Controller

Output Phase Form

Incremental Encoder

Forward rotation Reverse rotation

Phase A

Phase B

Phase A

Phase B

Phase C

Absolute Encoder

Forward rotation Reverse rotation

Phase A

Phase B

Phase C

→ Input SEN 1CN-5

→ Input 0SEN 1CN-6

Output → PSO 1CN-26

Output →£PSO 1CN-27

→ Input BAT 1CN-28

→ Input BAT0 1CN-29

SEN Signal Input For Speed/Torque Control

Encoder Output Phase-S

Battery (+) For Speed/Torque Control

Battery (−) For Speed/Torque Control

Phase C

Phase A

Phase B

Phase C

Only

Only For Speed/Torque Control

and Position Control For Speed/Torque Control

and Position Control

Use these signals (SEN to BAT0) for absolute encoders. For details, refer to 3.8.5 Using an Absolute Encoder.

Output → SG 1CN-19

Output → FG 1CN-36

Signal Ground for Encoder Output

Frame Ground For Speed/Torque Control

For Speed/Torque Control and Position Control

and Position Control

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

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

Cn-01 Bit E

Encoder Type Selection Factory

Setting: 0

For Speed/Torque Control and Position Control

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

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

Motor Type Number of Encoder Pulses Per Revolution (P/R) Setting

SGM-jjj31j

SGM-jjjW1j

Incremental encoder: 2,048 pulses per revolution

Absolute encoder: 1,024 pulses per revolution

APPLICATIONS OF Σ-SERIES PRODUCTS

3.2.3 Using Encoder Outputcont.

4) Set the pulse dividing ratio in the following user constant.

PGRAT Dividing Ratio Setting

Cn-0A

Unit: P/R

Setting Range: 16 to No. of

Factory Setting: 2048

For Speed/Torque Control and Position

Control Encoder Pulses

Sets the number of output pulses for PG output

signals (PAO,

PAO, PBO and£PBO).

Pulses from motor encoder (PG) are divided by

Servomotor encoder

Servopack

Frequency

dividing

Output terminals: PAO (1CN-20)

PAO (1CN-21)

PBO (1CN-22)

PBO (1CN-23)

Phase A

Phase B

the preset number of pulses before being output.

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

The setting range varies according to the encoder used.

Setting example:

Motor Type Number of Encoder Pulses Per Revolution Setting Range

SGM-jjj31j

SGM-jjjW1j

Incremental encoder: 2048 pulses per revolution 16 to 2048

Absolute encoder: 1024 pulses per revolution 16 to 1024

Preset value: 16

1 revolution

3.2.4 Using Contact I/O Signals

1) Contact Input Signal Terminal Connections

These signals are used to control SGDA Servopack operation. Connect these signal terminals as necessary.

I/O power supply

Host controller

3.2Setting User Constants According to Host Controller

Servopack

Photocoupler

Note Provide an external I/O power supply separately.

There are no power terminals to which the SGDA Servopack outputs signals externally.

External Power Supply: 24 1 VDC 50 mA or more

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

I/O Power Supply For Speed/Torque

→ Input +24VIN 1CN-13

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

Contact Input Signals: P-CL

N-CL S-ON P-CON

(1CN-11) (1CN-12) (1CN-14)

(1CN-15) P-OT (1CN-16) N-OT (1CN-17) ALMRST

(1CN-18)

I/O power supply

Control and Position Control

Servopack

Connect an external I/O power supply.

APPLICATIONS OF Σ-SERIES PRODUCTS

3.2.4 Using Contact I/O Signalscont.

2) Contact Output Signal Terminal Connections

These output signals are used to indicate SGDA Servopack operation status.

Photocoupler output

Per output

Maximum operational voltage: 30 VDC Maximum output current: 50 mA DC

Open collector output

Per output

Maximum operational voltage: 30 VDC Maximum output current: 20 mA DC

Servopack

Photocoupler

Host controller

Note Provide an external I/O power supply separately.

There are no power terminals to which the SGDA Servopack outputs signals externally. Yaskawa recommends that this external power supply be the same type as for the input circuit.

I/O power supply

Output → SG-COM 1CN-10

Output Signal Ground Common

For Speed/Torque Control and Position Control

This signal ground is used for the following output signals. Connect to 0 V on the external power supply.

V-CMP COIN TGON

(1CN-7)

(1CN-8) (for speed/torque control only) (1CN-8) (for position control only) (1CN-9)

Contact Output Signals: BK

3.2.5 Using Electronic Gear

3.2Setting User Constants According to Host Controller

SGDA- P

Positions

For position control (SGDA-

jjj

P) only.

1) Outline

The electronic gear function enables the motor travel distance per input reference pulse to be set to any value. It allows the host controller to perform control without having to consider the machine gear ratio and the number of encoder pulses.

When Electronic Gear Function is Not Used

Workpiece

Number of encoder pulses: 2,048

To move a workpiece 10 mm,

One revolution is equivalent to 6 mm, so

10  6 = 1.6666 (revolutions)

2048 x 4 (pulses) is equivalent to one revolution, so

1.6666 x 2,048 x 4 = 13,653 (pulses)

A total of 13653 pulses must be input as a reference.

the host controller needs to make this calculation.

Ball screw pitch: 6 mm

When Electronic Gear Function is Used

Workpiece

Number of encoder pulses: 2,048

Machine conditions and reference unit must be defined for the electronic gear function beforehand.

To move a workpiece 10 mm:

Reference unit is 1 μm, so 10 mm  1 μm = 10,000 pulses

Reference unit: 1 μm

Ball screw pitch: 6 mm

2) Setting the Electronic Gear

Calculate the electronic gear ratio (B/A) according to the procedure below and set the value in Cn-24 and Cn-25.

a) Check the machine specifications.

Items related to electronic gear:

− Gear ratio

− Ball screw pitch

Ball screw pitch

Gear ratio

− Pulley diameter

b) Check the number of encoder pulses for the SGM Servomotor.

Motor Type Encoder Type Number of Encoder

Pulses Per Revolution

SGM-jjj31j

SGM-jjjW1j

Incremental encoder 2048

Absolute encoder 1024

Same as user constant Cn-11 settings.

APPLICATIONS OF Σ-SERIES PRODUCTS

3.2.5 Using Electronic Gearcont.

c) Determine the reference unit to be used.

Reference unit is the minimum unit of position data used for moving the load.

To move a table in 0.001 mm units

Reference unit: 0.001 mm

(Minimum unit of reference from host controller)

Examples:

0.01 mm, 0.001 mm, 0.1°, 0.01 inch

Determine the reference unit according to

Reference input of one pulse moves the load

machine specifications and positioning accuracy.

by one reference unit.

Example: When reference unit is 1 μm If a reference of 50,000 pulses is input, the load moves 50 mm (50,000 x 1 μm).

d) Determine the load travel distance per revolution of load shaft in reference units.

Load travel distance per revolution of load shaft (in reference units)

Load travel distance per revolution of load shaft (in unit of distance)

Reference unit

Example: When ball screw pitch is 5 mm and reference unit is 0.001 mm

5/0.001 = 5,000 (reference units)

Ball Screw Disc Table Belt & Pulley

Load shaft

1 revolution

P: Pitch

Reference unit

1 revolution

e) Determine the electronic gear ratio





Load shaft

360°

Reference unit

Load shaft

1 revolution

D: Pulley diameter

Reference unit

If the load shaft makes “n” revolutions when the motor shaft makes “m” revolutions,

the gear ratio of motor shaft and load shaft is



Electronic gear ratio

Travel distance per revolution of load shaft (in reference units)



Number of encoder pulses x 4

NOTE Make sure that the electronic gear ratio meets the following condition:



0.01≤Electronic gear ratio



100

≤

If the electronic gear ratio is outside this range, the Servopack does not work properly. In this case, modify the load configuration or reference unit.

π D

3.2Setting User Constants According to Host Controller

f) Set the electronic gear ratio in the user constants below.

Reduce the electronic gear ratio

integer smaller than 65535, then set A and B in the following user constants.

to their lowest terms so that both A and B are an









This is all that is required to set the electronic gear.

Cn-24

Cn-25

These user constants are for position control (SGDA-jjjP) only.

Set the electronic gear ratio according to machine specifications.

Electronic gear ratio

Cn-24 RATB Electronic gear ratio (numerator)

Cn-25 RATA Electronic gear ratio (denominator)

RATB Electronic Gear Ratio (Numerator)

RATA Electronic Gear Ratio (Denominator)





Unit: None

Cn-24 Cn-25

Setting Range: 1 to 65535

Factory Setting: 1

Input reference pulse

For Position Control Only

Servopack

Electronic gear

Servomotor

B = [(Number of encoder pulses) x 4] x [Motor shaft rotating speed] A = [Reference unit (load travel distance per revolution of load shaft)] x [Load shaft

rotating speed]

Note that the user constant settings must meet the following condition:

0.01 ≤





≤ 100

APPLICATIONS OF Σ-SERIES PRODUCTS

3.2.5 Using Electronic Gearcont.

3) Examples of Setting an Electronic Gear Ratio for Different Load Mechanisms

Ball Screw

Reference unit: 0.001 mm

Load shaft

Travel distance per revolution of load shaft

Electronic gear ratio





6mm

0.001mm

2048 × 4 × 1

6000 × 1

= 6000

Cn-24 Cn-25

Incremental encoder: 2048 pulses per revolution

Ball screw pitch: 6 mm

Disc Table

Reference unit:

0.1°

Load shaft

Incremental encoder: 2048 pulses per revolution

Belt & Pulley

Reference unit: 0.0254 mm

Load shaft

Gear ratio:

2.4 : 1

Absolute encoder: 1024 pulses per revolution

Pulley diameter: 100 mm

Gear ratio: 3:1

Travel distance per revolution of load shaft

Electronic gear ratio

Preset values

Travel distance per revolution of load shaft

Electronic gear ratio

9830.4 12362

49152 61810

Preset values



3.14 x 100mm





Preset values

Cn-24

Cn-25

360°



Cn-24

Cn-25

0.0254mm

1024 × 4 × 2.4

12362 × 1

= 3600

0.1°

2048 × 4 × 3

3600 × 1

24576

3600

Cn-24

Cn-25

8192

6000

= 12362

Cn-24

Cn-25

49152

61810

Cn-24 Cn-25

4) Control Block Diagram for SGDA-jjjP Servopack for Position Control

SGDA Servopack for position control

Reference pulse

PG signal output

Differentiation

Smoot hing

Feed-forw ard gain

Frequency dividing

Error counter

Primary lag filter

Bias

Speed loop

COIN signal

Current loop

SGM Servomotor

Encoder

3.2Setting User Constants According to Host Controller

3.2.6 Using Contact Input Speed Control

1) The contact input speed control function provides easy-to-use speed control. It allows the user to initially set three different motor speeds in user constants, select one of the speeds externally by contact input and run the motor.

This function can be used for both speed/torque control (SGDA-jjjS) and position control (SGDA-jjjP).

Servopack

Contact input

Speed selection

No external speed setting device or pulse generator is required.

User constants

Servomotor

The motor is operated at the speed set in the user constant.

2) To use the contact input speed control function, perform Steps a) to c).

a) Set the following memory switch to 1.

Cn-02 Bit 2

Contact Input Speed Control Selection

Enables the contact input speed control function.

If the contact input speed control function is used, the contents of the input signals shown be-

Factory Setting: 0

For Speed/Torque Control and Position Control

Servopack

Run the motor at internally

Contact input

set speed

low will change.

Servomotor

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

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

APPLICATIONS OF Σ-SERIES PRODUCTS

contact

input

speed

control

contact

input

function.

the

posi

ype,

type,the

Reverse

pulse

inhibit

(

)

(INHIBIT)

3.2.6 Using Contact Input Speed Controlcont.

Setting Meaning Input Signal

Does not use the

speed control function.

P-CON(1CN-15) Used to switch between P control and PI

control.

P-CL(1CN-11) Used for forward external current limit input

N-CL(1CN-12) Used for reverse external current limit input

Uses the contact in speed control

P-CON P-CL N-CL Speed Setting

function.

Note In the case

tion control

the re-

t ferrence

Direction of rotation

0: Forward 1: Reverse

0 0 Stop (or pulse reference)

0 1 Cn-1F, SPEED1

1 1 Cn-20, SPEED2

ulse inhibit

function

1 0 Cn-21, SPEED3

INHIBIT cannot be used.

b) Set three motor speeds in the following user constants.

Cn-1F

Cn-20

Cn-21

SPEED1 1st Speed (Contact Input Speed Control)

SPEED2 2nd Speed (Contact Input Speed Control)

SPEED3 3rd Speed (Contact Input Speed Control)

Unit: r/min

Setting Range: 0 to Maximum Speed

Factory Setting: 100

Factory Setting: 200

Factory Setting: 300

0: OFF, 1: ON

For Speed/Torque Control and Position Control

Use these user constants to set motor speeds when the contact input speed control function is used (set bit 2 of memory switch Cn-02).

Speed selection input signals P-CL and N-CL

(1CN-12), and rotation direction

(1CN-11)

selection signal P-CON (1CN-15) enable the motor to run at the preset speeds.

c) Set the soft start time.

Cn-07

Cn-23

SFSACC Soft Start Time (Acceleration)

SFSDEC Soft Start Time (Deceleration)

Unit:msSetting

Range: 0 to 10000

Contact input speed control (Memory switch Cn-02 bit 2 = 1)

Contact input

Factory Setting: 0

For Speed/Torque Control and Position Control

Factory Setting: 0

For Speed/Torque Control and Position Control

Servopack

Run the motor at internally set speed

Servomotor

3.2Setting User Constants According to Host Controller

P CON

PCL

NCL

In the Servopack, a speed reference is multiplied by the preset acceleration or deceleration value to provide speed control.

When a progressive speed reference is input

Speed reference

Soft start

Servopack Internal speed reference

or contact input speed control is used, smooth speed control can be performed. (For normal

Cn-07: Set this time interval.

speed control, set “0” in each user constant.)

Set the following value in each user constant.

Cn-23: Set this time interval.

• Cn-07: Time interval from the time the motor starts until it reaches the maximum speed (4,500 r/min)

• Cn-23: Time interval from the time the motor is running at the maximum speed until it stops

Note For position control type, the soft start function is available only when the contact

input speed control function is used.

3) Contact input speed control performs the following operation.

The following input signals are used to start and stop the motor.

→ Input P-CL 1CN-11

→ Input N-CL 1CN-12

Speed Selection 1 (Forward External Torque Limit Input)

Speed Selection 2 (Reverse External Torque Limit Input)

For Speed/Torque Control and Position Control

a) Contact Input Speed Control when Cn-02 bit 2 = 1

• For Speed/Torque Control: 0: OFF, 1: ON

Contact Signal

P-CON P-CL N-CL

User Constant

Cn-0

Cn-01

Selected Speed

Bit 2 Bit A Bit B

Stopped by internal speed reference 0

Stop

Stopped by zero-clamp

Analog speed reference (VREF) input

With zero-clamp function

−−−− 0 0

Direction of

0 0

1 0

0 1

1 1

0 1 SPEED1 (Cn-1F)

rotation

1 1

−−−− −−−−

SPEED2 (Cn-20)

0: Forward 1: Reverse

1 0 SPEED3 (Cn-21)

Preset values (0 or 1) and input signal status in the portions indicated by horizontal bars (−) are optional.

APPLICATIONS OF Σ-SERIES PRODUCTS

P CON

PCL

NCL

Pul

rotation

otat o

3.2.6 Using Contact Input Speed Controlcont.

• For Position Control:

0: OFF, 1: ON

Contact Signal

P-CON P-CL N-CL

−−−− 0 0

Direction of rotation 0: Forward rotation 1: Reverse rotation

Preset values (0 or 1) and input signal status in the portions indicated by horizontal bars (−) are optional.

Note When the contact input speed control function is used, the reference pulse inhibit

function is not available.

b) Standard Setting when Cn-02 bit 2 = 0

Input signals are used as external torque limit input.

0 1

1 1

1 0 SPEED (Cn-21)

User Constant

Cn-0

Bit 2 Bit F

Cn-01

0 Stop

−−−−

Selected Speed

se referenceinpu

SPEED (Cn-1F)

SPEED (Cn-20)

Input signal P-CON

→ Input P-CON 1CN-15

a) Contact Input Speed Control when Cn-02 bit 2 = 1

Use input signal P-CON

P-CON Meaning

1 Reverse rotation

0 Forward rotation

0: OFF (high level), 1: ON (low level)

b) Standard Setting when Cn-02 bit 2 = 0

P-CON

Note For the speed/torque control type, control by external reference (voltage refer-

signal is used for proportional control, zero-clamp and torque/speed control

changeover.

ence) is possible when the contact input speed control function is used by setting bits A and B of user constant Cn-01. For the position control type, control by external reference (pulse reference) is possible when the contact input speed control function is used by setting bit F of user constant Cn-01.

is used to specify the direction of motor rotation.

Proportional Control, etc. For Speed/Torque

Control and Position Control

to specify the direction of motor rotation.

3.2Setting User Constants According to Host Controller

4) The figure below illustrates an example of operation in contact input speed control mode. Using the soft start function reduces physical shock at speed changeover.

When Contact Input Speed Control is Used

Motor speed

2nd speed

1st speed

3rd speed

Set acceleration and deceleration values in Cn-07 and Cn-23 (soft start time).

Stopped

1st speed

2nd speed

3rd speed

OFF OFF OFF OFF OFF

ON ON

OFFOFFOFF

OFF

ONONONON

Stopped

OFFOFF

Note For the position control type, the soft start function is available only when contact

input speed control is used. The soft start function is not available when pulse reference input is used. For the position control type, if contact input speed control mode is switched to pulse reference input mode when the motor is running at the 1st, 2nd or 3rd speed, the Servopack does not receive a pulse reference until positioning complete signal COIN

is output.

Always start outputting a pulse reference from the host controller after a positioning complete signal is output from the Servopack.

Signal Generation Timing for Position Control Type

Motor speed

0 r/min

COIN

Pulse reference

N-CL

P-CL

Selected speed

1st speed

2nd speed

3rd speed

Pulse reference

1st speed

The above figure illustrates signal generation timing when the soft start function is used. The value of t A maximum of 6 ms delay occurs when P-CL

is not influenced by use of the soft start function.

or N-CL signal is read.

APPLICATIONS OF Σ-SERIES PRODUCTS

Control

Mode

3.2.7 Using Torque Control

SGDA- S

Speed/Torque

1) The Servopack can provide the following torque control:

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

the machine or workpiece

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

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

Level 4: To switch between speed control and torque control

This section describes how to use levels 3 and 4 of the torque control function.

2) Use the following memory switch to select level 3 (torque control I) or level 4 (torque control II).

Cn-01 Bit A

Cn-01 Bit B

Control Mode Selection Factory

Setting: 0

Control Mode Selection Factory

Setting: 0

For Speed/Torque Control Only

This is dedicated torque control.

A motor torque reference value is externally input into the Servopack to control torque.

Examples of Use: Tension control

Pressure control

Cn-01

Setting

Bit B Bit A

1 0

Torque Control I

This is a dedicated torque control mode.

D A torque reference is input from T-REF

(1CN-1).

D P-CON

D Speed reference input V-REF (1CN-3)

cannot be used.

D User constant Cn-14 can be used for

maximum speed control.

Example of Use:

is not used.

Tension control

Tension

Control Mode

Servopack

Torque reference

Servopack

Cn-01

Control

Mode

Setting

Bit B Bit A

1 1

3.2Setting User Constants According to Host Controller

Control Mode

Torque Control II

Torque control and speed control can be switched.

D A speed reference or speed limit value is

input from V-REF (1CN-3).

D T-REF (1CN-1) inputs a toque reference,

torque feed-forward reference or torque limit value depending on the control mode used.

Speed reference

Torque reference

Switching between speed and torque reference

Servopack

1 1

D P-CON

(1CN-15) is used to switch

between torque control and speed control.

When 1CN-15 is open Torque control

When 1CN-15 is at 0 V Speed control

For Torque Control when P-CON is OFF:

D T-REF reference controls torque.

D V-REF can be used to limit motor speed.

D V-REF voltage (+) limits motor speed

during forward or reverse rotation.

Principle of Speed Restriction:

When the speed exceeds the speed limit, negative feedback of torque proportional to the difference between the current speed and the limit speed is performed to return the speed to within the normal speed range. Therefore, the actual motor speed limit value has a certain range depending on the load conditions.

Motor speed

Speed limit range

V-REF

YASKAWA SGM, SGMP, SGDA User Guide

Specifications and Main Features

Frequently Asked Questions

User Manual

PREFACE

NOTES FOR SAFE OPERATION

Manual Contents

Manual Structure

Basic Terms

Visual Aids

CONTENTS

FOR FIRST-TIME USERS OF AC SERVOS

1.1.1 Servo Mechanisms

1.1 Basic Understanding of AC Servos

1.1.2 Servo Configuration

2.1.1 Notes on Use

2.1 Precautions

2.2.1 Checking on Delivery

2.2 Installation

2.2.2 Installing the Servomotor

2.2.3 Installing the Servopack

2.3.1 Connecting to Peripheral Devices

2.3 Connection and Wiring

2.3.2 Main Circuit Wiring and Power ON Sequence

2.3.3 Examples of Connecting I/O Signal Terminals

2.4Conducting a Test Run

2.4.1 Test Run in Two Steps

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

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

2.4.4 Supplementary Information on Test Run

2.4.5 Minimum User Constants Required and Input Signals

Before Reading this Chapter

3.1.1 Changing the Direction of Motor Rotation

3.1 Setting User Constants According to Machine Characteristics

3.1.2 Setting the Overtravel Limit Function

3.1.3 Restricting Torque

3.2Setting User Constants According to Host Controller

3.2.1 Inputting Speed Reference

3.2.2 Inputting Position Reference

3.2.3 Using Encoder Output

3.2.4 Using Contact I/O Signals

3.2.5 Using Electronic Gear

3.2.6 Using Contact Input Speed Control

3.2.7 Using Torque Control