Yaskawa Sigma Mini User Manual

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AC Servomotors and Driver

SGMM Servomotor SGDF Servopack

YASKAWA

YA S K A WA

MANUAL NO. SIE-S800-27C

Safety Information

The following conventions are used to indicate precautions in this manual. Failure to heed precautions pro-

vided in this manual may result in serious or possibly even fatal injury or damage to the products or to re-

lated equipment and systems.

WARNING

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

CAUTION

Indicates precautions that, if not heeded, could result in relatively serious or minor injury, damage to the

product, or faulty operations.

In some instances, items described in

CAUTION

may also result in a serious accident.

— iii —

Visual Aids

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

Indicates references for additional information.

TERMS

Speed/Torque

Positions

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

Indicates information that is applicable only to Servopacks for speed/torque control (Model SGDF-jjCS). If neither this icon nor the following icon appears, the description is applicable to both types of Servopack.

Indicates information that is applicable only to Servopacks for position control (Model SGDF-jjCP).

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

Indicates information explaining the operating procedure using Hand-held Digital Operator (Model JUSP-OP02A-3).

—iv—

Safety Precautions xi...................................................

CHAPTER 1 BASIC OPERATION 1-1..................................

1.1 Precautions 1-2.............................................................

1.2 Installation 1-4.............................................................

1.2.1 Checking on Delivery 1-4..............................................

1.2.2 Installing the Servomotor 1-6...........................................

1.2.3 Installing the Servopack 1-9............................................

1.2.4 Power Loss 1-11......................................................

1.3 Connection and Wiring 1-12....................................................

1.3.1 Connecting to Peripheral Devices 1-12....................................

1.3.2 Main Circuit Wiring and Power ON Sequence 1-14..........................

1.3.3 Examples of Connecting Host Controllers 1-16..............................

1.4 Conducting a Test Run 1-23....................................................

1.4.1 Test Run in Two Steps 1-23.............................................

1.4.2 Step 1: Test Run for Servomotor without Load 1-24..........................

1.4.3 Step 2: Test Run with the Servomotor Connected to the Machine 1-28............

1.4.4 Supplementary Information on Test Run 1-29...............................

1.4.5 Minimum Parameters and Input Signals 1-30...............................

CHAPTER 2 APPLICATIONS 2-1......................................

2.1 Setting Parameters According to Machine Characteristics 2-4.........................

2.1.1 Changing Motor Rotation Direction 2-4...................................

2.1.2 Torque Limit 2-5.....................................................

2.2 Setting Parameters According to Host Controller 2-9...............................

2.2.1 Speed References 2-9.................................................

2.2.2 Position References 2-13...............................................

2.2.3 Encoder Output 2-17..................................................

2.2.4 Contact I/O 2-21......................................................

2.2.5 Electronic Gear 2-24...................................................

2.2.6 Contact Input Speed Control 2-28........................................

2.2.7 Torque Control 2-32...................................................

2.2.8 Reference Pulse Inhibit Function (INHIBIT) 2-36............................

2.2.9 Reference Pulse Input Filter Selection Function 2-37.........................

2.3 Setting Up the Σ-Series Servopack 2-38...........................................

2.3.1 Parameters 2-38......................................................

2.3.2 Jog Speed 2-39.......................................................

2.4 Setting Stop Mode 2-40.......................................................

2.4.1 Offset Adjustment 2-40................................................

2.4.2 Zero-clamp 2-41......................................................

2.4.3 Holding Brake 2-43...................................................

2.5 Running the Motor Smoothly 2-46...............................................

2.5.1 Soft Start Function 2-46................................................

2.5.2 Smoothing 2-47......................................................

—v—

CONTENTS

2.5.3 Gain Adjustment 2-47.................................................

2.5.4 Offset Adjustment 2-48................................................

2.5.5 Torque Reference Filter Time Constant 2-48................................

2.6 Minimizing Positioning Time 2-49...............................................

2.6.1 Autotuning 2-49......................................................

2.6.2 Servo Gain 2-49......................................................

2.6.3 Feed-forward Control 2-51..............................................

2.6.4 Proportional Control 2-51...............................................

2.6.5 Setting Speed Bias 2-52................................................

2.6.6 Mode Switch 2-53....................................................

2.6.7 Speed Loop Compensation 2-58..........................................

2.7 Designing a Protective Sequence 2-60............................................

2.7.1 Servo Alarm Output 2-60...............................................

2.7.2 Servo ON Input Signal 2-62.............................................

2.7.3 Positioning Complete Output 2-63........................................

2.7.4 Speed Coincidence Output 2-64..........................................

2.7.5 Running Output Signal 2-65.............................................

2.8 Special Wiring 2-67..........................................................

2.8.1 Wiring Precautions 2-67................................................

2.8.2 Wiring for Noise Control 2-69...........................................

2.8.3 Using More Than One Servo Drive 2-73...................................

2.8.4 Connector Terminal Layouts 2-74........................................

CHAPTER 3 USING THE DIGITAL OPERATOR 3-1.....................

3.1 Basic Operations 3-2.........................................................

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

3.1.2 Resetting Servo Alarms 3-3............................................

3.1.3 Basic Functins and Mode Selection 3-4...................................

3.1.4 Operation in Status Display Mode 3-5....................................

3.1.5 Operation in Parameter Setting Mode 3-7.................................

3.1.6 Operation in Monitor Mode 3-9.........................................

3.2 Applications 3-13............................................................

3.2.1 Operation in Alarm Traceback Mode 3-13..................................

3.2.2 Operation Using the Digital Operator 3-15.................................

3.2.3 Autotuning 3-16......................................................

3.2.4 Reference Offset Automatic Adjustment 3-21...............................

3.2.5 Reference Offset Manual Adjustment 3-22.................................

3.2.6 Clearing Alarm Traceback Data 3-25......................................

3.2.7 Checking Motor Type 3-26..............................................

3.2.8 Checking Software Version 3-26.........................................

CHAPTER 4 SERVO SELECTION AND DATA SHEETS 4-1...............

4.1 Selecting a Servo Drive 4-3...................................................

4.1.1 Selecting a Servomotor 4-3............................................

—vi—

CONTENTS

4.1.2 Selecting a Servopack 4-9.............................................

4.2 Servomotor Ratings and Characteristics 4-11.......................................

4.2.1 Ratings and Specifications 4-11..........................................

4.2.2 Mechanical Characteristics 4-16..........................................

4.3 Servopack Ratings and Characteristics 4-18........................................

4.3.1 Ratings and Specifications 4-18..........................................

4.3.2 Overload Characteristics 4-25...........................................

4.3.3 Starting Time and Stopping Time 4-26.....................................

4.3.4 Overhanging Loads 4-26...............................................

4.3.5 In-rush Current and Power Loss 4-27......................................

4.4 Servo Drive Dimensional Drawings 4-28..........................................

4.4.1 Servomotor Dimensional Drawings 4-28...................................

4.4.2 Servomotor Dimensional Drawings: European Safety Standards 4-37............

4.4.3 Servopack Dimensional Drawings 4-45....................................

4.4.4 Digital Operator Dimensional Drawings 4-46...............................

4.5 Selecting Peripheral Devices 4-47...............................................

4.5.1 Selecting Peripheral Devices 4-47........................................

4.6 Specifications and Dimensional Drawings of Peripheral Devices 4-50...................

4.6.1 Cable Specifications and Peripheral Devices 4-50............................

4.6.2 Motor Cables 4-51....................................................

4.6.3 Encoder Cables 4-54...................................................

4.6.4 Connector Kits 4-56...................................................

4.6.5 Cable with CN1 Connector at One End Only 4-61...........................

4.6.6 Circuit Breaker 4-61...................................................

4.6.7 Noise Filter 4-62......................................................

4.6.8 Magnetic Contactor 4-62...............................................

4.6.9 Surge Suppressor 4-64.................................................

4.6.10 Variable Resistor for Speed Setting 4-64...................................

4.6.11 Encoder Signal Converter Unit 4-65......................................

4.6.12 Cables for Connecting PC and Servopack 4-67..............................

CHAPTER 5 INSPECTION AND MAINTENANCE 5-1....................

5.1 Servo Drive Inspection and Maintenance 5-2......................................

5.1.1 Servomotors 5-2.....................................................

5.1.2 Servopack 5-3.......................................................

5.2 Error Diagnosis and Troubleshooting 5-4.........................................

5.2.1 Troubleshooting Problems with Alarm Display 5-4..........................

5.2.2 Troubleshooting Problems With No Alarm Display 5-13......................

5.2.3 Servopack Connection Diagrams 5-15.....................................

CHAPTER 6 EMC DIRECTIVE MEASURES 6-1.........................

6.1 Servo Drive Inspection and Maintenance 6-2......................................

6.1.1 What are EN Standards? 6-2............................................

6.1.2 What is the CE Marking? 6-2...........................................

— vii —

CONTENTS

6.1.3 EMC Directive 6-2...................................................

6.1.4 TÜV Certification Body Authorized by EU 6-3.............................

6.2 Measures to Satisfy the EMC Directive 6-4.......................................

6.2.1 Applicable Servomotors 6-4............................................

6.2.2 Applicable Noise Filter 6-4............................................

6.2.3 Applicable Power Supply 6-4...........................................

6.2.4 Motor Cables 6-4....................................................

6.2.5 Encoder Cables 6-5...................................................

6.2.6 Control I/O 6-7......................................................

6.2.7 Digital Operator and Monitoring by Personal Computer 6-7...................

6.2.8 Cable Core 6-7......................................................

6.2.9 Wiring Examples 6-8.................................................

APPENDICES

A Servo Adjustment A-1........................................................

A.1 Σ-Series AC Servopack Gain Adjustment A-2......................................

A.1.1 Σ-Series AC Servopacks and Gain Adjustment Methods A-2..................

A.1.2 Basic Rules for Gain Adjustment A-3.....................................

A.2 Adjusting a Speed-control Servopack A-4..........................................

A.2.1 Adjusting Using Autotuning A-4........................................

A.2.2 Manual Adjustment A-5...............................................

A.3 Adjusting a Position-control Servopack A-8........................................

A.3.1 Adjusting Using Autotuning A-8........................................

A.3.2 Manual Adjustment A-9...............................................

A.4 Gain Setting References A-13....................................................

A.4.1 Guidelines for Gain Settings According to Load Inertia Ratio A-13..............

B List of I/O Signals B-1........................................................

C List of Parameters C-1........................................................

D List of Alarm Displays D-1....................................................

INDEX Index 1...........................................................

— viii —

Overview

About this Manual

This manual provides the following information for users of Σ-Series Servomotors and Servo Drives.

• 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.

Using this Manual

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 required.

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.

Chapters explaining how to design a Servo System: For users who intend 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 Basic Operation 1-1 B........................................ .........

CHAPTER 2 Applications 2-1 B........................................... .........

CHAPTER 3 Using the Digital Operator

CHAPTER 4 Servo Selection and Data Sheets 4-1 A, B........................ .........

CHAPTER 5 Inspection and Maintenance 5-1 C............................ .........

CHAPTER 6 EMC Directive Measures

APPENDICES

Title Page Area

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.

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

Provides the measures to conform to EN standards.

Servo Adjustment A-1

B List of I/O Signals B-1 A, B, C....................................... ........

C List of Parameters C-1 B, C....................................... ........

D List of Alarm Displays D-1 B, C.................................... ........

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

3-1

6-1

B, C

INDEX

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

Index 1

—ix—

A, B, C

BASIC USES OF Σ-SERIES PRODUCTS

Basic Terms

Meaning of Basic Terms

Unless otherwise specified, the following definitions are used in this manual.

Servomotor: Σ-Series SGMM Servomotor.

Servopack: Σ-Series SGDF Servopack.

Servo Drive: A set including an SGMM/SGDF Servomotor and an SGDF Servopack

Servo System: A complete Servo control system consisting of Servo Drive, host controller, and

peripheral devices.

Description of Technical Terms

Technical terminology that appears as bold in text is explained briefly at the bottom of the page.

—x—

Safety Precautions

The following precautions are for checking products upon delivery, installation, wiring, operation,

maintenance and inspections.

Checking Products upon Delivery

D Always use the Servomotor and Servopack in one of the specified combinations.

Not doing so may cause fire or malfunction.

Installation

D Never use the products in an environment subject to water, corrosive gases, inflammable gases,

or combustibles

Doing so may result in electric shock or fire.

CAUTION

Wiring

WARNING

D Ground the equipment ground terminal according to electrical codes (ground resistance: 100 Ω or

less).

Improper grounding may result in electric shock or fire.

CAUTION

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

Doing so may result in injury or fire.

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

Not doing so may result in fire.

—xi—

BASIC USES OF Σ-SERIES PRODUCTS

Operation

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

Doing so may result in injury.

D Conduct trial operation on the Servomotor alone with the motor shaft disconnected from machine

to avoid any unexpected accidents.

Not doing so may result in injury.

D Before starting operation with a machine connected, change the settings to match the user’s

constants of the machine.

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

WARNING

CAUTION

D Before starting operation with a machine connected, make sure that an emergency stop can be

applied at any time.

Not doing so may result in injury.

D Do not touch the heat sinks during operation.

Doing so may result in burns due to high temperatures.

Maintenance and Inspection

WARNING

D Never touch the inside of the Servopacks.

Doing so may result in electric shock.

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

Residual voltage may cause electric shock.

CAUTION

D Do not disassemble the Servomotor.

Doing so may result in electric shock or injury.

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

Doing so may result in electric shock or injury.

— xii —

General Precautions

Note the following to ensure safe application.

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

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

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

received.

S This manual is subject to change due to product improvement, specification modification, and

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

S If the manual must be ordered due to loss or damage, inform your nearest Yaskawa representa-

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

S Yaskawa will not take responsibility for the results of unauthorized modifications of this prod-

uct. Yaskawa shall not be liable for any damages or troubles resulting from unauthorized modification.

— xiii —

BASIC USES OF Σ-SERIES PRODUCTS

Yaskawa, 1999

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

— xiv —

BASIC OPERATION

This chapter describes the initial procedures when Σ-Series products are delivered. It also explains the basic methods of connecting and operating Σ-Se- ries products. Both first-time and experienced servo users chapter.

1.1 Precautions 1-2...............................

1.2 Installation 1-4...............................

1.2.1 Checking on Delivery 1-4................................

1.2.2 Installing the Servomotor 1-6.............................

1.2.3 Installing the Servopack 1-9..............................

1.2.4 Power Loss 1-11........................................

must read

this

1.3 Connection and Wiring 1-12.....................

1.3.1 Connecting to Peripheral Devices 1-12......................

1.3.2 Main Circuit Wiring and Power ON Sequence 1-14............

1.3.3 Examples of Connecting Host Controllers 1-16................

1.4 Conducting a Test Run 1-23.....................

1.4.1 Test Run in Two Steps 1-23...............................

1.4.2 Step 1: Test Run for Servomotor without Load 1-24............

1.4.3 Step 2: Test Run with the Servomotor Connected to

the Machine 1-28........................................

1.4.4 Supplementary Information on Test Run 1-29.................

1.4.5 Minimum Parameters and Input Signals 1-30..................

— 1-1 —

BASIC OPERATION

1.1 Precautions

This section provides precautions that must be observed when using Σ-Series products.

Do not connect the Servomotor directly to a commercial power supply.

Do not plug the Servomotor directly into the commercial power supply. Direct connection to the

Do not connect directly.

commercial power supply will damage the Servomotor. The Servomotor cannot operate without a Servopack.

200 V or 100 V power supply

Damage will result!

Do not connect or disconnect the connector when power is ON.

Always turn the power OFF before connecting or

Not lit

disconnecting a connector, except for the connector for the Digital Operator.

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

Do not perform inspection or maintenance work for at least 5 minutes 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

Install the Servopack at least 10 mm from other devices.

The Servopack generates heat. Configure the system layout so that the Servopack is located where it can radiate heat freely. The Servopack must be installed in an environment free from condensation, vibration, and shock.

— 1-2 —

Ambient temperature: 0to50°C

Provide sufficient clearance.

10 mm

Perform noise reduction and grounding properly.

1.1Precautions

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

Install the system according to the following pre-

Casing

Servopack

Signal

line

cautions.

D Separate high-voltage cables from low-voltage cables. D Use cables as short as possible. D Be sure to ground (ground resistance 100 Ω or

less) for the Servomotor and Servopack.

D Never use a noise filter for the power supply

between the Servomotor and Servopack.

Do not perform continuous operation under overhanging load.

Continuous operation cannot be performed by rotating the motor from the load and applying regenerative braking. Regenerative braking by the Servopack can be applied only for a short period, such as when the motor is stopped.

Do not apply regenerative braking continuously.

Do not operate the Servomotor by turning the power ON and OFF.

Servomotor

Be sure to ground (less than 100 Ω).

Servomotor

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

Servopack

Power supply

Do not start and stop by turning power ON and OFF

— 1-3 —

BASIC OPERATION

1.2.1 Checking on Delivery

1.2 Installation

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

1.2.1 Checking on Delivery

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

Check Items

Check if the delivered products are the ones you ordered.

Check if the motor shaft rotates smoothly.

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

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

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

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

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

or scratches resulting from transportation.

Remarks

— 1-4 —

Servomotors

Appearance Nameplate Type

Standard Servomotors

Σ-Series SGMM Servomotor

Rated output A1: 10 W B3: 3 W A2: 20 W B5: 5 W A3: 30 W B9: 10 W Supply voltage B: 100 VAC C: 24 VDC S: EC safety standards, 24 VDC

(10 W, 20 W)

Encoder specifications 3: 2048 P/R incremental encoder F: 1024 P/R incremental encoder

Design revision order

Shaft specifications 2: Straight without key 3: Straight with flat seat

Option C: With brake (24 VDC)

Servomotors with Reduction Gears

Σ-Series SGMM Servomotor

Rated output

A1: 10 W A2: 20 W A3: 30 W

Supply voltage

B: 100 VAC C: 24 VDC S: EC safety standards, 24 VDC

(10 W, 20 W)

Encoder specifications

3: 2048 P/R incremental encoder With reduction gears Gear ratio

A: 1.5 1: 1/5 B: 1/16 2: 1/16 C: 1/25 3: 1/25 (10/20 W) (30 W)

Shaft specifications 2: Straight without key 6: Straight with key and tap

Option C: With brake (24 VDC)

Σ-Series SGMM Servomotor

Rated output Servomotor model

G89526−1−1−10

Serial number

Rated speed

Manufacturing date

Rated output current

98/8

1.2Installation

Servopacks

SGDFA1CS

DC24V

SERVOPACK

CN3

RDY ALM

CN4

CN2/PG

CN1/IO

Σ-Series SGDF Servopack

C N 5

Applicable power supply

Servopack model

Serial number

Applicable motor capacity

Σ-Series SGDF Servopack

Rated output A1: 10 W B3: 3 W

A2: 20 W B5: 5 W A3: 30 W B9: 10 W

Supply voltage C: 24 VDC

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

— 1-5 —

BASIC OPERATION

1.2.2 Installing the Servomotor

Servomotors can be installed either horizontally or vertically. If, however, 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 follow the installation instructions described below and install properly.

Before Installation

The edge of the motor shaft has an anticorrosive coating. Carefully and thoroughly clean off the anti-corrosive coating using a cloth moistened with thinner before installing the motor. Make sure that the thinner is completely wiped off.

Anticorrosive coating

Do not get thinner on any other parts of the Servomotor when cleaning the shaft.

Note

Storage Temperature

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

Between −20 and 60°C

Installation Site

The Servomotors are designed for indoor use. Install the Servomotor in an environment which meets the following conditions:

Free from corrosive and explosive gases

•

Well-ventilated and free from dust and moisture

•

Ambient temperature of 0°Cto40°C

•

Relative humidity of 20% to 80% (with no condensation)

•

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 to prevent water or oil mist from entering the Servomotor.

— 1-6 —

1.2Installation

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 in the following diagram.

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 bearings.

— 1-7 —

BASIC OPERATION

()

()()

()

1.2.2 Installing the Servomotorcont.

Allowable Load on Shaft End

Mechanical shock to the shaft end must be less than 490 m/s

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.

Servomotor Model

SGMM-

Standard

With Gears

A1C31jj

A2C31jj

A3C31jj

B3CF1j

B5CF1j

B9CF1j

A1C3JAjj

A2C3JAjj

A1C3JBjj

A2C3JBjj

A1C3JCjj

A2C3JCjj

Allowable

Radial Load

Fr [N(lb)]

34.1 (7.7)

44.1 (9.9)

8 (1.8) 4.0 (0.90)

10 (2.2)

51.9 (11.7) 47.0 (10.5)

76.4 (17.2)

89.2 (20.1)

Allowable

Thrust Load

Fs [N(lb)]

14.7 (3.3)

Reference Drawing

TERMS

Note a) The box (j) at the end of the model number is for the shaft specifications.

b) The allowable load is applied to the shaft end.

Thrust load and radial load

Thrust load (Fs): Shaft-end load applied parallel to the centerline of a shaft

Motor

Radial load (Fr): Shaft-end load applied perpendicular to the centerline of a shaft

— 1-8 —

Shaft end

1.2.3 Installing the Servopack

The SGDF Servopack is a book-shaped compact servo controller. Incorrect installation will cause malfunctions. Always observe the following precautions when installing the Servopack.

Storage:

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

Between −20 °C and 85 °C

SERVOPACK

RDY ALM

CN1/IO

N 5

SGDFA1CS

DC24V

CN3

CN4

CN2/PG

SGDF Servopack

1.2Installation

Installation Site

Situation Notes on Installation

Design the control panel size, Servopack layout, and

Installed in a control panel

cooling method so that the ambient temperature of the Servopack does not exceed 50°C.

Suppress radiation heat from the heating unit and a rise

Installed near a heating unit

in temperature caused by convection so that the ambient temperature of the Servopack does not exceed 50°C.

Installed near a source of vibration

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

Corrosive gases do not immediately affect the Servopack Installed in a place subject to corrosive gases

but will eventually cause contactor-related devices to

malfunction. Take appropriate action to prevent corrosive

gases.

Others

Do not install in a hot and humid place or where

excessive dust or iron powder is present in the air.

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.

• Firmly secure the Servopack to the mounting surface through the mounting holes.

— 1-9 —

Ventilation

BASIC OPERATION

1.2.3 Installing the Servopackcont.

Installation Method

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

30 mm or more

Fan 50 mm or more

10 mm or more

Fan

50 mm or more

Servopack Orientation

Install Servopack perpendicular to the wall so that the front panel faces outward. The front panel is the side to which the Digital Operator is connected.

Cooling

Provide sufficient space around each Servopack to allow cooling by natural convection or fans as shown in the above diagram.

Adjacent Installation

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.

Control Panel Environment Conditions

• Ambient temperature for Servopack: 0 °Cto50°C

• Humidity: 90% RH or less

• Vibration: 9.8 m/s

• Condensation and freezing: None

• Ambient temperature to ensure long-term reliability: 40 °C or less

— 1-10 —

1.2.4 Power Loss

The amount of power lost by Servopacks at the rated output is shown in the following table.

1.2Installation

Servopack Type Capacity (W) Inrush Current

(Aop)

SGDF-A1C 10 3.8 2.1 7

SGDF-A2C 20 3.8 2.0 7

SGDF-A3C 30 3.8 2.9 7

SGDF-B3C 3 3.8 1.3 7

SGDF-B5C 5 3.8 1.3 7

SGDF-B9C 10 3.8 1.5 7

Output Current

(A rms)

Power Loss (W)

— 1-11 —

BASIC OPERATION

1.3.1 Connecting to Peripheral Devices

1.3 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.

1.3.1 Connecting to Peripheral Devices

This section shows a standard example of connecting Σ-Series products to peripheral devices and briefly explains which peripheral devices can be connected and in which locations to connect them.

— 1-12 —

1.3Connection and Wiring

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.

Molded-case circuit breaker

Noise filter

Power supply: Single-phase 200 or 100 VAC

Host Controller

MP910, MP920, MP930, and MP−SG1 with a Motion Module

Connect the SGDP SERVOPACK to a Yaskawa host controller.

Digital Operator

Personal computer

Connecting cable: JZSP-CFS01 to 03

Allows the user to set parameters or operation references and display operation status or alarm status. Personal computers can also be used.

JUSP-OP02A-3

Magnetic contactor

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

Model: HI-Series

AC/DC power supply

Supplies Servopack with 24 VDC.

Magnetic contactor

AC/DC power supply

Power supply ground line

Encoder cable

Motor cable

— 1-13 —

BASIC OPERATION

1.3.2 Main Circuit Wiring and Power ON Sequence

This section shows a typical example of wiring the main circuit for Σ-Series Servo, and describes the main circuit terminal functions and power ON sequence.

Typical Wiring Example

Single-phase 100 VAC (50/60 Hz)

FIL

ONOFF

MC Ry

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

SUP

+24 V

024V

Power supply

Servopack

CN3 CN4

24 VDC

GND

CN1

ALM

SG-COM

Servomotor

Overview and Functions of Main Circuit Terminals

The following tables show the name and description of each main circuit terminal function.

Terminal

Name Description

Symbol

CN3 Main input terminal

24 VDC ±10%

CN4 Motor connection terminal Connect U to the red motor terminal,

V to the white motor terminal, and W to the blue motor terminal.

Ground terminal Connect to a ground and to the motor

(green).

CN3

2 GND

3 24 VDC

CN4

1 Phase U

2 Phase V

3 Phase W

— 1-14 —

1.3Connection and Wiring

Designing the Power ON Sequence

Observe the following precautions when designing the power ON sequence.

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

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

Power supply

Servo alarm (ALM) output signal

Wiring Precautions

• After turning the power OFF, do not touch the power terminals for 5 minutes. Residual voltage may remain in the Servopack.

• Avoidfrequently turning the power ON and OFF.The Servopack has a capacitor in the power supply, so a high charging current flows 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.

— 1-15 —

BASIC OPERATION

1.3.3 Examples of Connecting Host Controllers

This section provides typical examples of connecting Servopacks 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 section describes signals related to the Servopack only. For other signals, refer to the

relevant technical documentation.

Example of Connecting to PROGIC-8

Servopack for Speed/Torque Control

Speed/Torque

Yaskawa

PROGIC-8

/PA

/PB

/PC

D/A

GND

+24OUT

SVON

PCON

(Reserved)

SVALM

OUT

(connector frame)

Servopack

24VDC GND

CN1SV1

PAO

/PAO

PBO

/PBO

PCO

/PCO

V-REF (T-REF)

+24VIN

/S-ON

/P-CON

/ALMRST

ALM

SG-COM

CN2

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

*2 Set input signals IN1 and IN2 in the parameters.

— 1-16 —

Example of Connecting to GL-series B2833 Positioning Module

Servopack for Speed/Torque Control

1.3Connection and Wiring

Speed/Torque

+12V

−12V

+5V

ServomotorServopack

+24 V

CN2

1Ry

Yaskawa

JAMSC-B2833

SERVO NORMAL

DECEL LS

START

STOP

2 45 46 47 30 31 32 48 49 50 10 11 12

D/A OUTPUT

0V 0V

/PA

/PB

/PC

0V 0V 0V

ALARM

16 17 18 19 14 15

CN2

6 7

CN1

1 2 3

CN2

2Ry

+12V

DC24V GND

CN1

V-REF (T-REF)

13 20

PAO /PAO

PBO

16 17

/PBO PCO

/PCO

*1 The ALM signal is output for approximately two seconds when the power is turned ON. Consider this when designing the power ON sequence. Use the ALM signal to operate the alarm detection relay (relay 1Ry) and turn OFF the power supply to the Servopack.

+24VIN

/S-ON

ALM

SG-COM

CN2

CN1

+24 V 0

1Ry

— 1-17 —

BASIC OPERATION

1.3.3 Examples of Connecting Host Controllerscont.

Example of Connecting to GL-series B2813 Positioning Module

Servopack for Position Control

Positions

+12 V

+5 V

ServomotorServopack

+24 VIN

/S-ON

ALM

SG-COM

CN2

CN1

+24 V

14 15 16 17 18 19 13 20

14 16 18

DC24V GND

PULSE

/PULSE

SIGN

/SIGN

CLR

/CLR

PAO

PBO

PCO

+24 V

Yaskawa

JAMSC-B2833

1Ry

CN2

2 45 46 47

SERVO NORMAL

DECEL LS

START

STOP

/PULSE

CN1 CN1

PULSE

SIGN

22 21

/SIGN

+12 V

CLR

28 38

1kΩ

CN1

/PA

17 19

/PB

/PC

49 50 10 11 12

0V 0V 0V FG

ALARM

2 3

CN2

2Ry

+12 V

*1 The ALM signal is output for approximately two seconds when the power is turned ON. Consider this when desigining the power ON sequence. Use the ALM signal to operate the alarm detection relay (Relay 1Ry) and turn OFF the power supply to the Servopack.

— 1-18 —

1.3Connection and Wiring

Example of Connecting to OMRON C500-NC222 Position Control Unit

Servopack for Speed/Torque Control

Speed/Torque

(Made by OMRON)

C500-NC222

+24V

CCWLX

STPX

ORGX

EMGX

CWLX DC GND DC GND

+24V

OUT-1X

X-OUT

X-AG

I/O power supply

−

+24V

X-AXIS (Y-AXIS)

EXT IN 8 9

2 (12)

3 (13)

4 (14)

5 (15)

6 (16)

M/D

11 12

3 (19) 9 (25) 8 (24)

+24 V

(ON when positioning is stopped)

(ON when proximity is detected)

1Ry

CN1

12 13

Servopack

DC24V GND

ALM

SG-COM

+24VIN

/S-ON

V-REF (T-REF) SG

Servomotor

CN2

X-A

7 (23)

X-/A

X-/B

X-/C

*1 The ALM signal is output for approximately two seconds when the power is turned ON. Consider this when designing the power ON sequence. Use the ALM signal to operate the alarm detection relay (Relay 1Ry) and turn OFF the power supply to the Servopack.

*2 : Twisted-pair cable

X-B

X-C

6 (22) 5 (21) 4 (20)

16 (14) 15 (13)

14 15 17 16 18 19

PAO /PAO /PBO PBO PCO /PCO

Note Only signals for the OMRON C500-NC221 Position Control Unit and the Yaskawa Servopack are

shown here.

— 1-19 —

BASIC OPERATION

1.3.3 Examples of Connecting Host Controllerscont.

Example of Connecting to OMRON C500-NC112 Position Control Unit

Servopack for Position Control

Positions

I/O power supply

C500-NC112

(Made by OMRON)

+12V

CW LIMIT

CCW LIMIT

EMERGENCY STOP

EXTERNAL INTERRUPT

ORIGIN

ORIGIN PROXIMITY

LOCAL

READY

+5V +5V

PULSE OUTPUT

CW+CCW

DIRECTION OUTPUT

+24V

1A 1B

5B 8A 8B

9A 9B

10A 10B

7A 7B

−

1Ry

+5V

+24V

1Ry

CN1

10 13

14 15 16 17 18 19

Servopack

DC24V GND

PCO SG ALM

SG-COM

PULS /PULS SIGN /SIGN

CLR /CLR

+24VIN

/S-ON

Servomotor

CN2

CN1

External

power supply

+24V

*1 The ALM signal is output for approximately two seconds when the power is turned ON. Consider this when designing the power ON sequence. Use the ALM signal to operate the alarm detection relay (Relay 1Ry) and turn OFF the power supply to the Servopack.

Note Only signals for the OMRON C500-NC112 Position Control Unit and the Yaskawa Servopack are

shown here.

— 1-20 —

Example of Connecting to MITSUBISHI AD72 Positioning Unit

Servopack for Speed/Torque Control

1.3Connection and Wiring

Speed/Torque

AD72 (Made by MITSUBISHI)

STOP

DOG

SV-ON

READY

SPEED REFERENCE

PULSE A

PULSE B

PULSE C

0V 0V 0V

I/O power supply

−

+24V

CONT

1 2

SERVO 1 2

4 5 6

ENCO

4 5 7 8

10 11

3 6 9

+24V

024V

(ON when positioning is stopped)

(ON when proximity is

detected)

1Ry

ServomotorServopack

DC24V GND

CN1

+24VIN

/SV-ON

ALM

SG-COM

V-REF (T-REF)

PBO

/PBO

PAO

/PAO

15 18

PCO

/PCO

*1 The ALM signal is output for approximately two seconds when the power is turned ON. Consider this when designing the power ON sequence. Use the ALM signal to operate the alarm detection relay (Relay 1Ry) and turn OFF the power supply to the Servopack.

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

*3 : Twisted-pair cable

Note Only signals for the MITSUBISHI AD72 Positioning Unit and the Yaskawa Servopack are shown here.

— 1-21 —

BASIC OPERATION

1.3.3 Examples of Connecting Host Controllerscont.

Example of Connecting to MITSUBISHI AD75 Positioning Unit

Servopack for Position Control

Positions

I/O power supply

AD75 (Made by MITSUBISHI)

READY

STOP

DOG

PGO

PULSE

SIGN

CLEAR

−

+24V

X-AXIS (Y-AXIS)

1 7

11 24 25

+24V

024V

(ON when positioning is stopped)

(ON when proximity is

detected)

1Ry

2.2kΩ

CN1

10 13

14 15 16 17 18 19

Servopack

DC24V GND

PCO SG

ALM

SG-COM

PULS /PULS SIGN /SIGN CLR /CLR

+24VIN

/S-ON

Servomotor

CN2

CN1

+24V

*1 The ALM signal is output for approximately two seconds when the power is turned ON. Consider this when designing the power ON sequence. Use the ALM signal to operate the alarm detection relay (Relay 1Ry) and turn OFF the power supply to the Servopack.

Note Only signals for the MITSUBISHI AD75 Positioning Unit and the Yaskawa Servopack are shown here.

— 1-22 —

1.4 Conducting a Test Run

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

1.4Conducting a Test Run

1.4.1 Test Run in Two Steps

Conduct the test run when wiring is complete. By following the two steps (step 1 and 2) described below, the test run can be performed safely and correctly.

Note To prevent accidents, the test run in step 1 is conducted for a Servomotor under no load (i.e.,

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

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

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

Purpose:

Outline:

• To check power supply circuit wiring

• To check motor wiring

• To check I/O signal (CN1) wiring

• Turn the power ON.

• Operate the motor with a digital op-

erator.

• Check I/O signals (CN1).

• Conduct a test run using I/O signals.

Check wiring.

Operate the motor with a Digital Operator.

Do not connect to a machine.

Step 2: Conducting a test run with the Servomotor and

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

Servopack

Speed adjustment by autotuning

Servomotor

Connect to the machine.

machine characteristics.

Connect the Servomotor to the machine and conduct a test run.

Purpose:

Outline:

• 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

• Perform autotuning.

• Adjust parameter settings.

• Record parameter settings.

When using a Servomotor with a brake, refer to 1.4.4 Supplementary Information on Test Run before starting a test run.

— 1-23 —

BASIC OPERATION

1.4.2 Step 1: Test Run for Servomotor without Load

Check that the Servomotor is wired correctly. If the motor fails to rotate properly during a Servo Drive test run, the cause is usually incorrect wiring. Conduct a test run for the motor without a load according to the procedure described below.

Secure the Servomotor.

Secure the Servomotor to the mounting surface to prevent it from moving during operation. Always disconnect couplings and belts for step 1 of the test run.

Check the wiring.

Disconnect connector CN1, then check the Servomotor wiring in the power supply circuit. I/O signals (CN1) are not used.

Turn ON the power.

Turn ON the Servopack power. If the Servopack is turned ON normally, the 7-segment display on the Digital Operator will change as shown in the diagram. Power will not be supplied to the Servomotor because the servo is OFF.

Normal display

Example of alarm display

If an alarm display appears on the 7-segment display as shown in the diagram above, the power supply circuit, Servomotor wiring, or encoder wiring is incorrect. Turn OFF the power and correct the problem. Refer to Appendix D List of Alarm Displays for details.

Operate using the Digital Operator.

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

Refer to 3.2.2 Operation Using the Digital Operator.

Connect signal lines.

Connect connector CN1 as follows:

(1) Turn OFF the power.

(2) Connect connector CN1.

(3) Turn ON the power again.

— 1-24 —

Operation by Digital Operator

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

1.4Conducting a Test Run

Check input signals.

Using the Digital Operator, check the input signal wir-

Example of Un-05

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

/CL

ing in monitor mode. For the checking method, refer to

3.1.6 Operation in Monitor Mode.

Turn each connected signal line ON and OFF to check

/S-ON /P-CON

that the monitor bit display changes accordingly as shown below.

Input Signal ON/OFF Monitor Bit Display

High level or open OFF Not lit

0 V level ON Lit

If the signal lines below are not wired correctly, the Servomotor fails to rotate. Always wire them correctly. (If signal lines are not to be used, short them as necessary.) The signal lines can be shorted externally by setting the memory switch.

Signal

Symbol

/S-ON CN1-1 Servo is turned ON when this input signal is at 0 V. However,

Connector

Pin No.

Description

leave the servo in OFF status.

Turn ON servo (motor).

Turn ON the servo as follows:

Check that no reference has been input.

/S-ON

Servopack

CN1-1

Turn the servo ON.

• Speed/torque control: V-REF and T-REF are at 0 V.

• Position control: PULS and SIGN are fixed.

Set /S-ON to 0 V. If normal, the motor is turned ON and the Digital Operator displays the data as

Display when Servo Is Turned ON

shown in the figure. If an alarm display appears, take appropriate action as described in Appendix D List of Alarm Displays.

Operate by reference input.

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

Servomotor

— 1-25 —

BASIC OPERATION

1.4.2 Step 1: Test Run for Servomotor without Loadcont.

Servopack for Speed/Torque Control

Speed/Torque

This section describes the standard speed control setting.

(1) Gradually increase the speed reference input

(V-REF, CN1-12) voltage. The Servomotor will rotate.

Servomotor rotates at a speed proportional to the reference voltage.

Servopack

CN1-12

CN1-13

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. Refer to 3.1.6 Operation in Monitor Mode

for details.

Un-00

Actual motor speed

Un-01 Reference speed

• Has a reference speed been input?

• Is the motor speed as set?

• Does the reference speed match the actual Servomotor speed?

• Does the Servomotor stop when no reference is input?

(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 3.2.4 Reference Offset Au- tomatic Adjustment.

(4) To change the Servomotor speed or the direction of rotation, reset the parameters

shown below.

Cn-03

Speed reference gain Refer to 2.2.1 Speed References.

Cn-02 bit 0 Reverse rotation mode

Refer to 2.1.1 Switching Motor Rotation Direction.

— 1-26 —

Cn-02

Positions

1.4Conducting a Test Run

Servopack for Position Control

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

put form. Refer to 2.2.2 Position References for details on how to select reference pulse forms.)

Selecting reference pulse form

Bit 3

Bit 4

Bit 5

Bit D

(2) Input slow speed pulses from the host control-

ler and execute low-speed operation.

(3) Check the following items in monitor mode:

Un-00

Actual motor speed

Un-07 Reference pulse speed display

Un-08 Position error

• Has a reference pulse been input?

• Is the motor speed as set?

Host controller

Reference pulse

/PULS

/SIGN

Servopack

CN1-14

CN1-15

CN1-16

CN1-17

Servomotor

• Does the reference speed match the actual Servomotor speed?

• Does the Servomotor stop when no reference is input?

(4) To change motor speed or the direction of rotation, reset the parameters shown be-

low.

Cn-24,Cn-25

Electronic gear ratio Refer to 2.2.5 Electronic Gear.

Cn-02 bit 0 Reverse rotation mode

Refer to 2.1.1 Switching Motor Rotation Direction.

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

— 1-27 —

BASIC OPERATION

1.4.3 Step 2: Test Run with the Servomotor Connected to the Machine

Note Before proceeding to step 2, repeat step 1 (conducting a test run for the Servomotor 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. Test all items including parameter settings and wiring as conclusively as possible before completing step 1.

After step 1 is complete, proceed to step 2, in which a test run is conducted with the Servomotor 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.

(1) Check that power is OFF.

Turn OFF the Servopack power.

(2) Connect the Servomotor to the machine.

Refer to 1.2.2 Installing the Servomotor.

(3) Perform autotuning.

Tune the Servopack according to the machine characteristics. Refer to 3.2.3 Autotuning.

(4) Operate by reference input.

As in step 1 (conducting a test run for Servomotor without load), perform Operate by refer- ence input on page 1-25. Perform tuning with the host controller.

(5) Set parameters and record the settings.

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

The test run is now completed.

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

— 1-28 —

1.4.4 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

1.4Conducting a Test Run

Using a Servomotor with Brake

A Servomotor with a brake is used for vertical axes or axes subject to external force. The brake prevents the motor shaft from rotating if it is subjected to an external force or the force of gravity acting on the load when the Servomotor power is OFF.

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 Servomo-

tor and holding brake operate normally with the Servomotor disconnected from the machine. If all operations are normal, connect the Servomotor to the machine and conduct a test run.

For wiring of a Servomotor with a brake, refer to 2.4.3 Holding Brake.

Performing Position Control from the Host Controller

If the position control of the host controller is incomplete, check Servomotor operation and then conduct a test run according to the following table. Always disconnect the Servomotor from the machine before conducting the test run or the Servomotor may run out of control.

Servopack

Speed reference

Host controller

Position control

Speed control

Test run for Servomotor without load

— 1-29 —

BASIC OPERATION

1.4.5 Minimum Parameters and Input Signals

Reference from Host Controller

Jogging (constantspeed reference input from host controller)

Simple positioning

Check

Items

Motor speed

Number of Servomotor revolutions

Check Method Review Items

Check the Servomotor speed as follows:

D Use the speed monitor (Un-00) of

the Digital Operator.

D Run the Servomotor at low

speed. For example, input a speed reference of 60 min check that the Servomotor makes one revolution per second.

D Input a reference equivalent to

one Servomotor revolution and visually check that the Servomotor shaft makes one revolution.

1.4.5 Minimum Parameters and Input Signals

Minimum Parameters Required for Test Run

−1

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

and

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

For details on how to set each parameter, refer to 3.1.5 Operation in Parameter Setting Mode.

Servopack for Speed/Torque Control

Cn-03

Speed reference adjustment gain Refer to 2.2.1 Speed References.

Cn-0A Encoder pulse dividing ratio

Refer to 2.2.3 Encoder Output.

Servopack for Position Control

Cn-02 bits 3,4,5

Reference pulse form selection Refer to 2.2.2 Position References.

Cn-02 bit D Logic of reference pulse

Refer to 2.2.2 Position References.

Cn-02 bit F Reference pulse output form

Refer to 2.2.9 Reference Pulse Input Selection Func-

tion.

Cn-0A Encoder pulse dividing ratio

Refer to 2.2.3 Encoder Output.

Cn-24 Electronic gear ratio (numerator)

Refer to 2.2.5 Electronic Gear.

Cn-25 Electronic gear ratio (denominator)

Refer to 2.2.5 Electronic Gear.

After changing the Cn-02 setting, always turn OFF the power, then turn ON again. Turning ON the power again validates the new settings.

— 1-30 —

1.4Conducting a Test Run

Changing Servomotor Rotation Direction

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. If the direction of rotation is to be reversed, recheck the wiring and set the following parameter:

Cn-02 (bit 0)

Reverse rotation mode Refer to 2.1.1 Switching Motor Rotation Direction.

Minimum Input Signals Required for Test Run

The following table lists the minimum input signals required to conduct a test run.

Signal Name

/S-ON (servo ON) CN1-1

Number

Function

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

— 1-31 —

APPLICATIONS

This chapter is prepared for readers who have mastered the basic operating procedures and wish to learn more about the applications. It explains how to set parameters for each purpose and how to use each function. Read the applicable sections according to your requirements.

2.1 Setting Parameters According to Machine

Characteristics 2-4............................

2.1.1 Changing Motor Rotation Direction 2-4.....................

2.1.2 Torque Limit 2-5.......................................

2.2 Setting Parameters According to

Host Controller 2-9...........................

2.2.1 Speed References 2-9...................................

2.2.2 Position References 2-13..................................

2.2.3 Encoder Output 2-17.....................................

2.2.4 Contact I/O 2-21........................................

2.2.5 Electronic Gear 2-24.....................................

2.2.6 Contact Input Speed Control 2-28..........................

2.2.7 Torque Control 2-32.....................................

2.2.8 Reference Pulse Inhibit Function (INHIBIT) 2-36..............

2.2.9 Reference Pulse Input Filter Selection Function 2-37...........

2.3 Setting Up the Σ-Series Servopack 2-38............

2.3.1 Parameters 2-38.........................................

2.3.2 Jog Speed 2-39.........................................

2.4 Setting Stop Mode 2-40.........................

2.4.1 Offset Adjustment 2-40...................................

2.4.2 Zero-clamp 2-41........................................

2.4.3 Holding Brake 2-43......................................

— 2-1 —

2.5 Running the Motor Smoothly 2-46................

2.5.1 Soft Start Function 2-46..................................

2.5.2 Smoothing 2-47.........................................

2.5.3 Gain Adjustment 2-47....................................

2.5.4 Offset Adjustment 2-48...................................

2.5.5 Torque Reference Filter Time Constant 2-48..................

2.6 Minimizing Positioning Time 2-49................

2.6.1 Autotuning 2-49........................................

2.6.2 Servo Gain 2-49........................................

2.6.3 Feed-forward Control 2-51................................

2.6.4 Proportional Control 2-51.................................

2.6.5 Setting Speed Bias 2-52..................................

2.6.6 Mode Switch 2-53.......................................

2.6.7 Speed Loop Compensation 2-58............................

2.7 Designing a Protective Sequence 2-60.............

2.7.1 Servo Alarm Output 2-60.................................

2.7.2 Servo ON Input Signal 2-62...............................

2.7.3 Positioning Complete Output 2-63..........................

2.7.4 Speed Coincidence Output 2-64............................

2.7.5 Running Output Signal 2-65...............................

2.8 Special Wiring 2-67............................

2.8.1 Wiring Precautions 2-67..................................

2.8.2 Wiring for Noise Control 2-69.............................

2.8.3 Using More Than One Servo Drive 2-73.....................

2.8.4 Connector Terminal Layouts 2-74..........................

— 2-2 —

Before Reading this Chapter

This chapter describes how to use each CN1 connector I/O signal for the Servopack and how to set the corresponding parameter.

Refer to the following chapters for further information on areas covered in this chapter.

• For a list of I/O signals, refer to Appendix B List of I/O Signals.

• For terminal arrangement for I/O signals, refer to 2.8.4 Connector Terminal Layout.

• For a list of parameters, refer to Appendix C List of Parameters.

• For information on setting parameters, refer to 3.1.5 Operation in Parameter Setting Mode.

Parameters are divided into the following two types.

Constants Usage

Memory switches (Cn-01 and Cn-02)

Constant settings (Cn-03 and later) Set a numerical value such as a torque limit value or speed

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

loop gain.

— 2-3 —

APPLICATIONS

2.1.1 Changing Motor Rotation Direction

2.1 Setting Parameters According to Machine Characteristics

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

2.1.1 Changing Motor Rotation Direction

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

If reverse rotation mode is used, only the direction of motor rotation will be reversed. The direction (+/−) of axial motion is reversed, but other items remain unchanged.

Reference Standard Setting Reverse Rotation Mode

Encoder output

Forward Run Reference

Reverse Run Reference

from Servopack

(Phase A)

PAO

PBO

(Phase B)

Encoder output from Servopack

(Phase A)

PAO

PBO

(Phase B)

Setting Reverse Rotation Mode

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

Cn-02 Bit 0

Rotation Direction Selection

Factory Setting: 0

For Speed/Torque Control and Position Control

Encoder output from Servopack

(Phase A)

PAO

PBO

(Phase B)

Encoder output from Servopack

(Phase A)

PAO

PBO

(Phase B)

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.

— 2-4 —

(Standard setting)

(Reverse rotation mode)

2.1.2 Torque Limit

The Servopack can provide the following torque control.

• Level 1: To restrict the maximum output torque to protect the machine or workpiece (internal torque limit)

• Level 2: To restrict torque after the motor moves the machine to a specified position (external torque limit)

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

2.1Setting Parameters According to Machine Characteristics

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

How to Set Level 1: Internal Torque Limit

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

Cn-08

Cn-09

TLMTF Forward Rotation Torque Limit

TLMTR Reverse Rotation Torque Limit

Unit:%Setting

Range: 0 to Maximum Torque

Unit:%Setting

Range: 0 to Maximum Torque

Factory Setting: Maximum Torque

For Speed/Torque Control and Position Control

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

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

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

Output Signal for Torque Restriction Function

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

Parameter Setting: Cn-2C = 4

is reached.

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

Example of Use: Machine Protection

Torque limit

Motor speed

Torque

— 2-5 —

Too small a torque limit value will result in torque shortage at acceleration or deceleration.

APPLICATIONS

2.1.2 Torque Limitcont.

Using /CLT Signal

This section describes how to use contact output signal OUT2 as a torque limit output signal.

I/O power supply

Photocoupler output Maximum operating voltage

per output: 30 VDC Maximum output current per

output: 50 mA DC

Servopack

CN1-8

CN1-3

/CLT

SG-COM

+24V

Torque Limit Output For Speed/Torque

Output → /CLT CN1-8

Control and Position Control

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

ON status: The circuit between CN1-8 and CN1-3 is closed. CN1-8 is at low level.

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

OFF status: The circuit between CN1-8 and CN1-3 is open. CN1-8 is at high level.

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

Preset Value: Cn-08 (TLMTF)

Cn-09 (TLMTR) Cn-18 (CLMI) : At /CL input

Note This function is changed to another function depending on the setting of the pa-

rameter Cn-2C.

How to Set Level 2: External Torque Limit

First, use a contact input signal to make the torque (current) limit value set in the parameter valid. Torque limit cannot 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

/CL

CN1-*1

Servopack

Without torque limit

Speed

With torque limit

Speed

control function cannot be used.

Torque

/CL

ON: CN1-*1 is at low level.

OFF: CN1-*1 is at high level.

Torque is restricted. Limit value:

Cn-18

Torque is not restricted. Normal operation status.

— 2-6 —

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

Examples of Use:

D Forced stopping

D Holding workpiece by robot

2.1Setting Parameters According to Machine Characteristics

Output Signal for Torque Restriction Function

•

/CLT

• Status indication mode bit data

• Monitor mode Un-05 bit 4

Parameter Setting: Cn-2C = 4

Cn-18

CLMI Forward/Reverse External Torque Limit

Unit:%Setting

Range: 0 to Maximum

Factory Setting: 100

For Speed/Torque Control and Position Control

Torque

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

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

Using /CL Signal

This section describes how to use input signal /CL as torque limit input signals.

I/O power supply

+24V

+24VIN

Host controller

/CL

→ Input /CL CN1-*1

Servopack

CN1-9

CN1-*1

4.7kΩ

5mA

Photocoupler

Forward/reverse External Torque Limit Input

For Speed/Torque Control and Position Control

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

This function is useful in forced stopping.

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

— 2-7 —

Output Signal for Torque Restriction Function

• /CLT

• Status indication mode bit data

• Monitor mode Un-05 bit 4

• Parameter Setting:

Cn-2C = 4

APPLICATIONS

/CL

2.1.2 Torque Limitcont.

ON: CN1-*1 is at low level.

OFF: CN1-*1 is at high level.

Torque is restricted. Limit value:

Cn-18

Torque is not restricted. Normal operation status.

Note This function is changed to another function depending on the setting of parame-

ter Cn-2C.

To use input signal /CL as torque limit input signals, set the following parameters.

Cn-2A

Cn-2B

Input signal selection 1 (IN1) CN1-1 input signal

Input signal selection 2 (IN2) CN1-2 input signal

Factory Setting: 0

Factory Setting: 2

For Speed/Torque Control and Position Control

The function of the input signal changes according to the setting, as shown in the following diagram.

Servopack

/S-ON

/CL

IN1, IN2

Setting Meaning

0 /S-ON (Servo ON)

1 /P-CON (proportional control reference)

2 /ALMRST (alarm reset)

3 /CL (torque limit)

/P-CON

/ALMRST

/CL

— 2-8 —

2.2Setting Parameters According to Host Controller

2.2 Setting Parameters According to Host Controller

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

2.2.1 Speed References

Speed/Torque

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.

Servopack

Speed reference input (analog voltage input)

Torque reference input (analog voltage input)

V-REF (T-REF)

: Twisted-pair cable.

→ Input V-REF CN1-12

→ Input SG CN1-13

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

CN1-12

CN1-13

Speed reference (Torque reference)

Speed Reference Input For Speed/Torque

Control

Signal Ground for Speed Reference Input

Reference speed

For Speed/Torque Control

(min−1)

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

Motor speed is controlled in proportion to the input

Standard setting

−1500

−3000

−4500

Input voltage (V)

Set the slope in Cn-03 (VREFGN).

voltage between V-REF and SG.

Setting Example

Cn-03 = 500: This setting means that 6 V is equivalent to rated speed (3000 min

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

−3 V input → 1500 min

−1

in forward direction

−1

in forward direction

−1

in reverse direction

— 2-9 —

−1

)

APPLICATIONS

2.2.1 Speed Referencescont.

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

V-REF

Servopack

CN1-12

CN1-13

Example of Input Circuit

The adjacent diagram shows an example of an input circuit.

For noise control, always use twisted-pair cable.

+12V

470 Ω, 1/2 W or more

2kΩ

: Twisted-pair cable.

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

V-REF

PAO

/PAO

PBO

/PBO

Servopack

CN1-12

CN1-13

CN1-14 CN1-15 CN1-16 CN1-17

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

Host controller

Speed reference output terminals

Feedback pulse input terminals

: Twisted-pair cable.

Use the memory switch and input signal /P-CON to specify one of the four modes shown below.

Speed/Torque

Cn-01 Bit A

Control Mode Selection Factory

For Speed/Torque Control

Setting: 0

Cn-01 Bit B

Control Mode Selection Factory

For Speed/Torque Control

Setting: 0

The Servopack for speed/torque control provides three different control modes.

— 2-10 —

Cn-01

Control

Mode

Setting

Bit B Bit A

2.2Setting Parameters According to Host Controller

Control Mode

Speed Control

This is normal speed control.

D Speed reference is input from V-REF.

D /P-CON signal is used to switch between P

control and PI control.

Speed reference

P/PI changeover

Servopack

(CN1-12)

/P-CON

(CN1-*1)

0 0

CN1-*1 is

PI control

open

CN1-*1 is at0VP control

D Torque reference input T-REF 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.

D /P-CON signal is used to turn the

zero-clamp function ON or OFF.

CN1-*1 is open

Turns zero-clamp function OFF

Servopack

Speed reference

(CN1-12)

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)

/P-CON

(CN1-*1)

CN1-*1 is at0VTurns zero-clamp

function ON

D Torque reference input T-REF cannot be

used.

1 0 Torque control

For details on torque control, refer to 2.2.7 Torque Control.

— 2-11 —

APPLICATIONS

2.2.1 Speed Referencescont.

Using /P-CON Signal:

Proportional Control, etc. For Speed/Torque

→ Input /P-CON CN1-*1

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

/P-CON

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

Memory switch

Memory Switch

Cn-02

Bit 2

Cn-01

Bit B

0 0 0

0 0 1

0 1 0 Not used (for speed/torque control only)

0 1 1 Not used (do not set)

1 --- ---

Changing rotation direction

Cn-01

Bit A

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

Switching between zero-clamp enabled/disabled mode (for speed/torque control only)

Changing the direction of rotation during contact input speed control

Meaning of /P-CON Signal

Speed/Torque

TERMS

Adjust the speed reference gain using the following parameter.

Cn-03

VREFGN Speed Reference Gain

Unit: (min

−1

)/V

Setting Range: 0 to 2162

Factory Setting: 500

For Speed/Torque Control

This parameter is for speed/torque control only. Sets the voltage range for speed reference input V-REF. Sets this parameter according to the out-

Reference speed (min−1)

Set this slope.

put form of the host controller or external circuit.

Reference voltage (V)

The factory setting is as follows: Rated speed (3000 min

−1

)/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.”

— 2-12 —

2.2.2 Position References

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.

Positions

Pulse Input Reference

2.2Setting Parameters According to Host Controller

Inputs a move reference by pulse input.

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

• Line driver output

• +12V Open collector output

• +5V Open collector output

Connection Example 1: Line Driver Output

Line Driver Used:

SN75174 manufactured by Texas Instruments Inc., or MC3487 or equivalent.

Reference pulse input

Reference sign input

Error counter clear input

Host controller

Line driver

PULS

/PULS

SIGN

/SIGN

CLR

/CLR

: Twisted-pair cable.

PULS

/PULS

SIGN

/SIGN

CLR

/CLR

CN1-14

CN1-15 CN1-16

CN1-17

CN1-18

CN1-19

CN1-14

CN1-15

CN1-16

CN1-17

CN1-18

CN1-19

Servopack

Photocoupler

150Ω

Connection Example 2: Open Collector Output

Sets the value of limiting resistor R1 so that input cur-

Host controller

Vcc

rent i falls within the following range:

Input Current i: 7 to 15 mA

Examples:

Tr1

• When Vcc is 12 V, R1 = 1 kΩ

• When Vcc is 5 V,

R1 = 180 Ω

— 2-13 —

: Twisted-pair cable.

/PULS

/SIGN

: Twisted-pair cable.

PULS

SIGN

CLR

/CLR

CN1-14

CN1-15

CN1-16

CN1-17

CN1-18

CN1-19

Servopack

Photocoupler

150Ω

APPLICATIONS

Pul

MotorF

MotorR

pulse

og c

2.2.2 Position Referencescont.

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

Selecting Reference Pulse Form

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

Positions

→ Input PULS CN1-14

→ Input/PULS CN1-15

→ Input SIGN CN1-16

→ Input/SIGN CN1-17

Reference Pulse Input For Position Control

Reference Sign Input For Position Control

The motor 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

Factory Setting: 0

Sets the form of a reference pulse that is externally output to the Servopack.

Sets the pulse form according to the host controller specifications.

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

Bit D

Cn-02

Bit5Bit4Bit

Input

Multipli-

Refer-

ence Pulse Form

orwar

Reference

Sign + pulse

0 0 0

train

For Position Control

Host controller

Position reference pulse

Reference

Servopack

CN1-14 CN1-16

everseRun

Two-

(Posi-

tive

logic

setting)

0 1 0

0 1 1

1 0 0

¢1

¢2

¢4

phase

ulse

train with 90° phase difference

CW pulse +

0 0 1

CCW pulse

— 2-14 —

2.2Setting Parameters According to Host Controller

pulse

og c

Refer-

ence

Pulse

Form

Bit D

Cn-02

Bit

Input

Pulse

Multipli-

Sign + pulse

0 0 0

train

Two-

(Nega-

tive

logic

setting)

0 1 0

0 1 1

1 0 0

¢1

¢2

¢4

phase

ulse train with 90° phase difference

CW pulse +

0 0 1

CCW 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.

Motor Forward Run

Reference

Number of motor move pulses

Motor Reverse Run

Reference

Input reference pulse

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

Example of I/O Signal Generation Timing

Servo ON

Base block

Sign + pulse train

PG pulse

SIGN

PULS

/COIN

Release

t1 ≤ 30 ms t2 ≤ 6ms (When parameter Cn-12 is set to 0) t3 ≥ 40 ms

t4, t5, t6 ≤ 2ms t7 ≥ 20 μs

Note (1) 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.

— 2-15 —

APPLICATIONS

2.2.2 Position Referencescont.

(2) The error counter clear (CLR) signal must be ON for at least 20 μs. Otherwise, it be-

comes invalid.

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

¨ reference © reference

The signs for each reference pulse are as follows:

¨: High level ©: Low level

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

Maximum reference

Phase A

Phase B

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

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 frequency: 450 kpps

SIGN

PULS

¨ reference © reference

CCW pulse

CW pulse

Clearing the Error Counter

Use the following procedure to clear the contents of the error counter.

Positions

→ Input CLR CN1-18

→ Input/CLR CN1-19

Error Counter Clear Input For Position

Setting the CLR signal to high level will set the following conditions:

• Sets the error counter inside the Servopack to 0.

• Disables position loop control.

— 2-16 —

Control

Servopack

Clear

Position loop error counter

2.2Setting Parameters According to Host Controller

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

Selects the pulse form of error counter clear signal CLR.

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.

2.2.3 Encoder Output

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.

Error Counter Clear Signal Selection

Factory Setting: 0

For Position Control

Cleared state

Cleared only once at this point

TERMS

This output is explained here.

Host controller

Servomotor encoder

Phase A Phase B Phase C

Servopack

CN2 CN1

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.

— 2-17 —

APPLICATIONS

2.2.3 Encoder Outputcont.

Speed/Torque Control

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

Servopack

CN1-14

CN1-15

CN1-16

CN1-17

CN1-18

CN1-19

CN1-13

CN1-20

PAO

/PAO

PBO

/PBO

PCO

/PCO

Phase A

Phase B

Phase C

: Twisted-pair cable

I/O signals are described below.

Host controller Line receiver

8COV16

Choke coil

+5V

Smoothing capacitor

−

Phase A

Phase B

Phase C

+5V

Line receiver used: SN75175 manufactured by Texas

Instruments Inc. or MC3486 (or

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

Output → PAO CN1-14

Output →/PAO CN1-15

Output → PBO CN1-16

Output →/PBO CN1-17

Output → PCO CN1-18

Output → /PCO CN1-19

Encoder Output Phase A

Encoder Output Phase B

Encoder Output Phase C

For Speed/Torque Control

— 2-18 —

2.2Setting Parameters According to Host Controller

Position Control

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

Servopack Host controller

VCC

CN1-11

Phase A

CN1-12

Phase B

CN1-10

Phase C

CN1-13

CN1-20

I/O signals are described below.

Output → PAO CN1-11

Output → PBO CN1-12

Output → PCO CN1-10

PAO

PBO

PCO

Encoder Output Phase A

Encoder Output Phase B

Encoder Output Phase C

For Position Control

Divided encoder signals are output.

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

Set a dividing ratio in the following parameter.

Dividing ratio setting

Cn-0A PGRAT

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

— 2-19 —

APPLICATIONS

2.2.3 Encoder Outputcont.

Output Phase Form

Forward rotation Reverse rotation

Phase A

Phase B

Phase A

Phase B

Phase C

Output → SG CN1-13

Output → FG CN1-20

Signal Ground for Encoder Output

Frame Ground For Speed/Torque Control

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

Setting the Pulse Dividing Ratio

Set the pulse dividing ratio in the following parameter.

PGRAT Dividing Ratio Setting

Cn-0A

Unit: P/R

Setting Range: 16 to No. of Encoder Pulses

* : 1024 for SGDF-BjCj

Phase C

For Speed/Torque Control and Position Control

and Position Control

Factory Setting*: 2048

For Speed/Torque Control and Position Control

Sets the number of output pulses for PG output sig-

nals (PAO,

PAO, PBO and/PBO).

Pulses from motor encoder (PG) are divided by the

Servomotor encoder

Servopack

Frequency dividing

Output terminals: PAO

PAO

PBO

Phase A

Phase B

preset number of pulses before being output.

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

The setting range varies according to the encoder used.

Setting example:

Servopack Type Encoder Number of Encoder Pulses Per Revolution Setting Range

SGDF-AjCj

SGDF-BjCj

Incremental encoder

2048 pulses per revolution 16 to 2048

1024 pulses per revolution 16 to 1024

Preset value: 16

1 revolution

— 2-20 —

2.2.4 Contact I/O

Contact I/O are sequence I/O signals used to control Servopack operation. Connect these signal terminals as necessary.

Connecting Contact Input Signals

Connect contact input signal terminal connections as follows:

I/O power supply

Host controller

+24V

+24VIN

IN1

CN1-9

CN1-1

ervopac

Photocoupler

4.7 KΩ

5mA

2.2Setting Parameters According to Host Controller

IN2

CN1-2

Note Provide an external I/O power supply separately.

There are no power terminals to which the 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.

Input

→ Input IN1 CN1-1

→ Input IN2 CN1-2

Signal Selection 1

Input Signal Selection 2

The function of input signal IN1 differs according to the setting of parameter Cn-2A.

The function of input signal IN2 differs according to the setting of parameter Cn-2B.

Factory Setting: 0 For Speed/Torque

Control and Position Control

Factory Setting: 2 For Speed/Torque

Control and Position Control

Servopack

/S-ON

/CL

IN1,IN2

/P-CON

/ALMRST

/CL

— 2-21 —

APPLICATIONS

2.2.4 Contact I/Ocont.

Setting Meaning

0 /S-ON (Servo ON)

1 /P-CON (proportional control reference)

2 /ALMRST (alarm reset)

3 /CL (torque limit)

External I/O Power Supply For Speed/Torque

→ Input +24VIN CN1-9

Control and Position Control

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

I/O power supply

Contact Input Signals: /S-ON

/P-CON

Connect an external I/O power supply.

/ALMRST /CL

Contact Output Signal Terminal Connections

Connect contact output signal terminal connections as follows:

These output signals are used to indicate Servopack operation status.

Photocoupler output

Per output

Maximum: operational voltage: 30 VDC Maximum output current: 50 mA DC

Servopack

Photocoupler

CN1-7

MAX 50mA

CN1-3

CN1-8

MAX 50mA

ALM

SG-COM

OUT2

Note Provide an external I/O power supply separately.

There are no power terminals to which the Servopack outputs signals externally. Yaskawa recommends that this external power supply be the same type as for the input circuit.

Servopack

CN1-19

I/O power supply

+24V

Output → OUT2 CN1-7

— 2-22 —

Output Signal Selection 2

Factory Setting: 3 For Speed/Torque

Control and Position Control

2.2Setting Parameters According to Host Controller

The function of output signal OUT2 differs according to the setting of parameter Cn-2C.

Servopack

Setting Meaning

0 ALM (alarm output)

1 /TGON (rotation detection)

2 /BK (brake interlock output)

3 /V-CMP (speed coincidence output for speed/torque

control) /COIN (positioning completed signal for positioning control)

4 /CLT (torque limit detection output)

Output → SG-COM CN1-3

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.

Contact Output Signals: ALM

/TGON /BK /V-CMP (for speed/torque control only) /COIN (for position control only) /CLT

— 2-23 —

APPLICATIONS

2.2.5 Electronic Gear

Positions

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: 2048

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 2048 x 4 = 13653 (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: 2048

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

Setting the Electronic Gear

Calculate the electronic gear ratio (B/A) according to the procedure below and set the value in Cn-24 and Cn-25.

1) Check the machine specifications.

Items related to electronic gear:

− Gear ratio

− Ball screw pitch

− Pulley diameter

2) Check the number of encoder pulses for the Servomotor.

Motor Model Encoder Type Number of Encoder

Pulses Per Revolution

SGMM-AjC31j

SGMM-BjCF1j

Incremental encoder

Same as parameter Cn-11 settings.

— 2-24 —

Ball screw pitch

Gear ratio

2048

1024

3) Determine the reference unit to be used.

2.2Setting Parameters According to Host Controller

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

Reference input of one pulse moves the load by one reference unit.

Determine the reference unit according to machine specifications and positioning accuracy.

Example: When reference unit is 1 μm If a reference of 50,000 pulses is input, the load moves 50 mm (50,000 x 1 μm).

4) Determine the load travel distance per revolution of load shaft in reference units.

Load travel distance per revolution of load shaft (in reference units)

Load travel distance per revolution of load shaft (in unit of distance)

Reference unit

Example: When ball screw pitch is 5 mm and reference unit is 0.001 mm

5/0.001 = 5000 (reference units)

Ball Screw Disc Table Belt & Pulley

Load shaft

360°

1 revolution

P: Pitch

Reference unit

1 revolution

5) Determine the electronic gear ratio

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 Check that the electronic gear ratio meets the following condition:



0.01≦Electronic gear ratio



100

≦

Load shaft

1 revolution

D: Pulley diameter

π D

Reference unit

If the electronic gear ratio is outside this range, the Servopack will not work properly. In this case, modify the load configuration or reference unit.

— 2-25 —

APPLICATIONS

2.2.5 Electronic Gearcont.

6) Set the electronic gear ratio in the parameters below.

Reduce the electronic gear ratio

integer smaller than 65535, then set A and B in the following parameters.

to their lowest terms so that both A and B are an









Cn-24

Cn-25

These parameters are for position control only.

Set the electronic gear ratio according to machine specifications.

Electronic gear ratio

B = [(Number of encoder pulses) x 4] x [Motor shaft rotating speed] A = [Reference unit (load travel distance per revolution of load shaft)] x [Load shaft ro-

tating speed]

Cn-24 RATB Electronic gear ratio (numerator)

Cn-25 RATA Electronic gear ratio (denominator)

RATB Electronic Gear Ratio Numerator

RATA Electronic Gear Ratio Denominator





Cn-24 Cn-25

Unit: None

Setting Range: 1 to 65535

Factory Setting: 4

Factory Setting: 1

Input reference pulse

For Position Control

Servopack

Electronic gear

Servomotor

The parameter settings must meet the following condition:

0.01

The electronic gear settings are now complete.

≦

100

≦





— 2-26 —

2.2Setting Parameters According to Host Controller

Electronic Gear Setting Examples

Examples of setting an electronic gear ratio for different load mechanisms are shown here.

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

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

— 2-27 —

APPLICATIONS

2.2.6 Contact Input Speed Control

Control Block Diagram

A control block diagram for a Servopack used for position control is shown here.

Servopack for position control

Cn-1D

Feedforward gain

Cn-24

B A

Cn-25

Cn-0A

Frequency dividing

Reference pulse

PG signal output

Cn-02

X1 X2 X4

Differentiation

Cn-26

Smoothing

2.2.6 Contact Input Speed Control

The contact input speed control function provides easy-to-use speed control. It allows the user to initially set three different motor speeds in parameters, select one of the speeds externally by contact input and run the motor.

Error counter

−

Cn-24 Cn-27

First

order

lag filter

Cn-25

Cn-1A

Cn-1C

Bias

Speed loop

/COIN signal

Current loop

Servomotor

Encoder

This function can be used for speed/torque control only.

Servopack

Contact input

IN1

IN2

CN1-1

CN1-2

Speed selection

Cn-1FSPEED 1

No external speed setting device or pulse generator is required.

Cn-20SPEED 2

Cn-21SPEED 3

Parameter

— 2-28 —

Servomotor

The motor is operated at the speed set in the parameter.

2.2Setting Parameters According to Host Controller

Does

not

use

the

contact

put

speed

co t o

ucto

control

function

IN1

and

IN2

will

become

contact

input

speed

control

Using Contact Input Speed Control

To use the contact input speed control function, perform the following settings.

1) Set the following memory switch to 1.

Cn-02 Bit 2

Contact Input Speed Control Selection

Factory Setting: 0

For Speed/Torque Control

(1: Enable, 0: Disable)

The contact input speed control function will be enabled.

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

Contact input

change.

Setting Meaning Input Signal

Does not use the contact

input speed control function.

sesthe contac

IN1 and IN2 will become

contact input speed control signals automatically regardless of CN-2B and Cn-2C settings.

nputspee

IN1 (CN1-1) Set in Cn-2A

IN2 (CN1-2) Set in Cn-2B

IN1 IN2 Speed Setting

0 0 Stop (or analog speed reference)

0 1 Cn-1F, SPEED1

1 1 Cn-20, SPEED2

1 0 Cn-21, SPEED3

Servopack

Run the motor at internally set speed

SPEED 1

SPEED 2

SPEED 3

Servomotor

0: OFF, 1: ON

2) Set three motor speeds in the following parameters.

Cn-1F

Cn-20

Cn-21

SPEED1 1st Speed (Contact Input Speed Control)

SPEED2 2nd Speed (Contact Input Speed Control)

SPEED3 3rd Speed (Contact Input Speed Control)

Unit: min

Setting

−1

Range: 0 to Maximum Speed

Setting

−1

Range: 0 to Maximum Speed

Setting

−1

Range: 0 to Maximum Speed

Use these parameters 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 IN1 and IN2 enable the motor to run at the preset speeds.

— 2-29 —

Factory Setting:

For Speed/Torque Control

100

Factory Setting:

For Speed/Torque Control

200

Factory Setting:

For Speed/Torque Control

300

Contact input speed control (Memory switch Cn-02 bit 2 = 1)

Servopack

Run the motor at internally

Contact input

set speed

SPEED 1

SPEED 2

SPEED 3

Servomotor

APPLICATIONS

2.2.6 Contact Input Speed Controlcont.

3) Set the rotation direction of the motor.

Cn-02 Bit 3

Cn-02 Bit 4

Cn-02 Bit 5

SPEED1 Rotation Direction

SPEED2 Rotation Direction

SPEED3 Rotation Direction

Factory Setting: 0 For Speed/Torque

Control

Factory Setting: 0 For Speed/Torque

Control

Factory Setting: 0 For Speed/Torque

Control

Set the Servomotor rotation direction settings according to the following table.

Cn-02 Bit 3, Bit 4,

and Bit 5

0 Sets forward rotation

1 Sets reverse rotation

Meaning

4) 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

Unit:msSetting

Range: 0 to 10000

Factory Setting: 0

For Speed/Torque Control

Speed

In the Servopack, a speed reference is multiplied by the preset acceleration or deceleration value to provide speed control.

reference

Servopack contact input speed reference

Soft start

Maximum speed* Reference speed

When a progressive speed reference is input or contact input speed control is used, smooth speed control can be performed. (For normal speed control, set “0” in each parameter.)

Cn-07: Set this time interval.

Cn-23: Set this time interval.

5000 min

−1

Maximum speed* Reference speed

Set the following value in each parameter.

• Cn-07: Time interval from the time the motor starts until it reaches the maximum speed*

• Cn-23: Time interval from the time the motor is running at the maximum speed* until it

stops

* : The maximum speed

SGMM-Aj: 5000 min SGMM-Bj: 6000 min

−1

— 2-30 —

2.2Setting Parameters According to Host Controller

IN1

IN2

Stop

Contact Input Speed Control Operation

Contact input speed control performs the following operation.

The following input signals are used to start and stop the motor.

→ Input IN1 CN1-1

→ Input IN2 CN1-2

Contact Signal Parameter

Cn-02 Cn-01

Bit 2 Bit A Bit B

0 0

0 1 SPEED1 (Cn-1F)

1 1

1 0 SPEED3 (Cn-21)

Preset values (0 or 1) and input signal status in the portions indicated by horizontal bars (−) are optional.

Speed Selection 1 For Speed/Torque

Control

Speed Selection 2 For Speed/Torque

Control

Selected Speed

0 0

1 0

0 1

1 1

−−−− −−−−

Stopped by internal speed reference 0

Stop

Stopped by zero-clamp

Analog speed reference (VREF) input

With zero-clamp function

SPEED2 (Cn-20)

Set the rotation directions for Cn-1F, Cn-20, and Cn-21 in bits 3, 4, and 5 of Cn-02 respectively.

Note For the speed/torque control type, control by external reference (voltage refer-

ence) is possible when the contact input speed control function is used by setting bits A and B of parameter Cn-01.

— 2-31 —

APPLICATIONS

2.2.7 Torque Control

Contact Input Speed Control Operation Example

The diagram below illustrates an example of operation in contact input speed control mode. Using the soft start function reduces physical shock at speed changeover.

Motor speed

+SPEED3

+SPEED2

+SPEED1

−SPEED1

−SPEED2

−SPEED3

Stopped

1st speed

Cn-02 bit 3 = 0

2nd speed

bit 4 = 0 bit 5 = 0

3rd speed

Set acceleration and deceleration values in Cn-07 and Cn-23 (soft start time).

3rd speed

2nd speed

1st speed

Stopped

2.2.7 Torque Control

The Servopack can provide the following torque control:

Speed/Torque

• Level 1: To restrict the maximum output torque to protect the machine or workpiece (internal torque limit)

• Level 2: To restrict torque after the motor moves the machine to a specified position (external torque limit)

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

This section describes how to use level 3 of the torque control function.

— 2-32 —

2.2Setting Parameters According to Host Controller

Control

Mode

Selecting Torque Control

Use the following memory switch to select level 3 (torque control).

Cn-01 Bit A

Cn-01 Bit B

Control Mode Selection Factory

Setting: 0

Control Mode Selection Factory

Setting: 0

For Speed/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

This is a dedicated torque control mode.

D A torque reference is input from T-REF.

D /P-CON is not used.

D Speed reference input V-REF cannot be

used.

Control Mode

Torque reference

Servopack

D Parameter Cn-14 can be used for

maximum speed control.

Example of Use:

Tension control

Tension

Servomotor

1 1 Not used (do not set)

0 0 Speed control (standard setting)

0 1 Zero-clamp speed control

Input Signals

The following input signals perform torque control.

Speed reference input

(Analog voltage input)

Torque reference input

(Analog voltage input)

: Twisted-pair cable.

V-REF/T-REF

Servopack

CN1-12

CN1-13

Servopack

Speed/ torque reference

— 2-33 —

APPLICATIONS

2.2.7 Torque Controlcont.

→ Input T-REF CN1-12

→ Input SG CN1-13

Torque Reference Input For Speed/Torque

Signal Ground for Torque Reference Input

These signals are used when torque control is selected (bits A and B of memory switch Cn-01).

Motor torque is controlled so that it is proportional to the input voltage between T-REF and SG.

Standard setting

Reference torque

(%)

Standard Setting

Cn-13 = 30: This setting means that 3 V is

equivalent to rated torque.

Examples: +3 V input → Rated torque in forward direction

+9 V input → 300% of rated torque in forward direction

−0.3 V input → 10% of rated torque in reverse direction

Parameter Cn-13 can be used to change the voltage input range.

Example of Input Circuit: See the figure on the right.

+12 V

• For noise control, always use twisted-

470 Ω

1/2 W or more

2kΩ

pair cable.

Control For Speed/Torque

Control

Input voltage (V)

Set the slope in Cn-13 (TCRFGN).

Servopack

T-REF

CN1-12

CN1-13

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

→ Input V-REF CN1-12

→ Input SG CN1-13

Speed Reference Input For Speed/Torque

Control

Signal Ground for Speed Reference Input

For Speed/Torque Control

These signals are used when speed control is selected (bits A and B of memory switch Cn-01).

Reference speed (min−1)

For normal speed control, always connect these signal terminals.

Motor speed is controlled so that it is proportional to the input voltage between V-REF and SG.

Standard setting

Input voltage (V) Set the slope in Cn-03 (VREFGN).

Standard Setting

Cn-03 = 500: This setting means that 6 V is equivalent to rated speed (3000 min

Examples: +6 V input → 3000 min

+1 V input → 500 min

−3 V input → 1500 min

−1

in forward direction

−1

in forward direction

−1

in reverse direction

−1

— 2-34 —

2.2Setting Parameters According to Host Controller

Parameter Cn-03 can be used to change the voltage input range. (This is also applicable to speed restriction.)

V-REF

Servopack

CN1-12

CN1-13

Example of Input Circuit: See the figure on the right.

• For noise control, always use twistedpair cable.

+12 V

470 Ω

1/2 W or more

2kΩ

• Example of Variable Resistor for Speed Setting: Model 25HP-10B manufactured by Sakae Tsushin Kogyo Co., Ltd.

Parameters

Set the following parameters for torque control according to the Servo system used.

TCRFGN

Cn-13

Torque Reference Gain

Sets the voltage range of torque reference input T-REF according to the output form of the host controller or external circuit.

Unit:

0.1 V/Rated Torque

Setting Range: 10 to 100

Factory Setting: 30

Reference torque

Rated torque

For Speed/Torque Control

Reference voltage (V)

Set this reference voltage.

The factory setting is 30, so the rated torque is 3 V (30 x 0.1).

TCRLMT

Cn-14

Speed Limit for Torque Control

Sets a motor speed limit value in this constant when torque control is selected.

Unit: min

Setting

−1

Range: 0 to Maximum Speed

Factory Setting: Maximum Speed

Control Range for Torque Control

Motor speed

TCRLMT

This parameter is used to prevent machine overspeed during torque control.

For torque control, set bits A and B of memory switch Cn-01.

VREFGN

Cn-03

Speed Reference Gain

Sets the voltage range of speed reference input V-REF according to the output form of the host

Unit: (min

−1

)/V

Setting Range: 0 to 2162

Factory Setting: 500

Reference speed (min

controller or external circuit.

The factory setting is 500 [rated speed (3000 min

−1

)/6 V = 500].

For Speed/Torque Control Only

Torque control range

For Speed/Torque Control

−1

)

Torque

Set this slope.

Reference voltage (V)

— 2-35 —

APPLICATIONS

2.2.8 Reference Pulse Inhibit Function (INHIBIT)

The reference pulse inhibit function inhibits a Servopack for position control from counting input reference pulses.

Positions

While this function is being used, the motor remains in Servo locked (clamped) status. The /P-CON signal is used to enable or prohibit this function.

When this function is used, therefore, the /P-CON signal cannot be used to switch between proportion (P) control and proportional/integral (PI) control for speed loop. (PI control is always used.)

Servopack

Cn-01 bit F

Reference pulse

/P-CON

Note

OFF

Use Cn-01 bit F to enable/disable the INHIBIT function.

Schematic Block Diagram for INHIBIT Function

−

Error counter

Feedback pulse

Positions

Using Reference Pulse Inhibit Function (INHIBIT)

To use the INHIBIT function, set the memory switch Cn-01 bit F to 1:

Cn-01 Bit F

Reference Pulse Inhibit Function (INHIBIT) (1: Enable, 0: Disable)

Factory Setting: 0

For Position Control

The INHIBIT function will be enabled.

Setting Meaning

Does not use the INHIBIT function. Reference pulses are always counted.

Uses the INHIBIT function. /P-CON signal is used to enable or prohibit the INHIBIT function.

/P-CON Meaning

OFF

Counts reference pulses.

Prohibits the Servopack from counting reference pulses. The motor remains in Servo locked (clamped) status.

— 2-36 —

2.2Setting Parameters According to Host Controller

Relationship between INHIBIT Signal and Reference Pulse

/INHIBIT signal (/P-CON)

Reference pulse

Input reference pulses are not counted during this period.

2.2.9 Reference Pulse Input Filter Selection Function

The reference pulse input filter selection function selects a reference pulse input filter inside the Servopack according to the output form of reference pulses from the host controller.

Positions

How to Use Reference Pulse Input Filter

Set the following memory switch according to the output form of reference pulses from the host controller:

Cn-02 Bit F

Reference Pulse Input Filter Selection Function

Factory Setting: 0

For Position Control

Sets the memory switch according to the output form (line driver or open collector) of reference pulses from the host controller.

Setting Meaning

Output form of reference pulses from host controller: Line driver output (maximum

frequency of reference pulse: 450 kpps)

Output form of reference pulses from host controller: Open collector output

(maximum frequency of reference pulse: 200 kpps)

For open collector output, the wire length must be as short as possible (3 m max.).

Note If a reference greater than 200 kpps is output, the reference pulses may be miscounted due to

noise even when the reference pulse is an open-collector output. Miscounting will result in positioning errors. Make sure that wiring is correct and always set memory switch Cn-02 bit F to 0.

— 2-37 —

APPLICATIONS

Each

bit

number

has

Each

bit

number

has

2.3.1 Parameters

2.3 Setting Up the Σ-Series Servopack

This section describes how to set parameters to operate the Servopack.

2.3.1 Parameters

Σ-Series Servopacks provide many functions, and have parameters called “parameters” to allow the user to specify each function and perform fine adjustment.

The Digital Operator is used to set parameters.

Parameters are divided into the following two types.

Memory switch Cn-01, Cn-02

Parameter setting Cn-03 and later

Each bit of this switch is turned ON or OFF to specify a function.

A numerical value such as a torque limit value or speed loop gain is set in this constant.

• For Speed/Torque Control:

Parameter Name and Code Remarks

Cn-01 Memory switch

Cn-02 Memory switch

Cn-03 VREFGN Speed reference gain

Cn-.. ... ...

Cn-2C OUTS2 Output signal selection 2

Each bit number has a switch (ON/OFF).

Parameter setting

• For Position Control:

Parameter Name and Code Remarks

Cn-01 Memory switch

Cn-02 Memory switch

Cn-04 LOOPHZ Speed loop gain

Cn-.. ... ...

Cn-2C OUTS2 Output signal selection 2

Each bit number has a switch (ON/OFF).

arameter setting

For a list of parameters, refer to Appendix C List of Parameters.

— 2-38 —

Some parameters for speed/torque control and position control have different meanings. Refer to the list of parameters for each type.

For details of how to set parameters, refer to 3.1.5 Operation in Parameter Setting Mode.

2.3.2 Jog Speed

Use the following parameter to set or modify a motor speed when operating the Σ-Series Servo from a Digital Operator.

2.3Setting Up theΣ -Series Servopack

JOGSPD Jog Speed

Cn-10

Unit: min

−1

Setting Range: 0 to Maximum Speed

Factory Setting: 500

For Speed/Torque Control and Position Control

This constant is used to set a motor speed when the motor is operated using a Digital Operator.

— 2-39 —

APPLICATIONS

2.4.1 Offset Adjustment

2.4 Setting Stop Mode

This section describes how to stop the motor properly.

2.4.1 Offset Adjustment

Why does the motor not stop?

When 0 V is specified as reference voltage for Servopack for speed/torque control, the motor may rotate at a very slow speed and fail to stop. This happens when reference voltage from the host controller or external circuit has a slight reference offset (in mV units). If this offset is adjusted to 0 V, the motor will stop.

When reference voltage from the host controller or external circuit has an offset

Reference

voltage

Offset

Reference speed or reference torque

Offset adjustment

Reference voltage

Offset is corrected by the Servopack.

Reference speed

or reference torque

Reference Offset Adjustment

The following two methods can be used to adjust the reference offset to 0 V.

Automatic adjustment of reference offset

Manual adjustment of reference offset

Reference offset is automatically adjusted to 0 V.

Reference offset can be intentionally set to a specified value.

Note

If a position control loop is formed in the host controller, do not use automatic adjustment. Always use manual adjustment.

For detailed adjustment procedures, refer to the following sections of Chapter 3 Using the Digital Operator.

Adjustment Method Section

Automatic adjustment of reference offset

Manual adjustment of reference offset

3.2.4 Reference Offset Automatic Adjustment Mode.

3.2.5 Reference Offset Manual Adjustment Mode.

— 2-40 —

2.4.2 Zero-clamp

What is the Zero-clamp Function?

The zero-clamp function is used for a system in which the host controller does not form a position loop by speed reference input.

2.4Setting Stop Mode

Speed/Torque

In other words, this function is used to stop the motor and enter a servo locked status when the input voltage of speed reference V-REF is not 0 V. When the zero-clamp function is turned ON, an internal position loop is temporarily formed, causing the motor to be clamped within one pulse. Even if the motor is forcibly rotated by external force, it returns to the zero-clamp position.

Host controller

Speed reference less than Cn-0A setting is ignored

Speed reference

CN3

/P-CON

CN4

CN2 CN1

C N 5

Stops instantaneously

Set the following memory switch so that input signal /P-CON can be used to enable or disable the zero-clamp function.

Cn-01Bit A

Cn-01Bit B

Control Mode Selection Factory

Setting:0

Control Mode Selection Factory

Setting:0

For Speed/Torque Control

→ Input /P-CON CN1-*1

— 2-41 —

Proportional Control, etc. For Speed/Torque

Control and Position Control

Control

Mode

/P CON

signal

closed

APPLICATIONS

2.4.2 Zero-clampcont.

Cn-01

Setting

Bit B Bit A

0 1

Control Mode

Zero-clamp Speed Control

This speed control allows the zero-clamp function to be set when the motor stops. D A speed reference is input from

V-REF.

D /P-CON is used to turn the

zero-clamp function ON or OFF.

/P-CON is open (OFF)

Turns zero-clamp function OFF

/P-CON is closed (ON)

Turns zero-clamp function ON

D Torque reference input T-REF

cannot be used.

Servopack

Speed reference

Zero-clamp

(CN1-12)

/P-CON

(CN1-1*)

Zero-clamp is performed when the following two conditions are met: /P-CON si

nal is closed.

. Motor speed is below the value set in Cn-0F (ZCLVL).

Settings

Set the motor speed level at which zero-clamp is to be performed in the following parameter.

Cn-0F

ZCLVL Zero-clamp Level

Unit: min

Setting Range:

−1

0 to Maximum Speed

Factory Setting: 10

For Speed/Torque Control

If zero-clamp speed control is selected, set the motor speed level at which zero-clamp is to be performed.

Conditions for Zero-clamp

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

• Zero-clamp speed control is selected.(Bits A and B of memory switch Cn-01 are set to 1 and 0, respectively.)

• /P-CON is turned ON (0 V).

• Motor speed drops below the preset value.

Preset value for zero-clamp

/P-CON input

Zero-clamp being performed

Speed

— 2-42 —

V-REF speed reference

Open (OFF)

Time

Closed (ON)

2.4.3 Holding Brake

2.4Setting Stop Mode

Holding brake is useful when a Servo Drive is used to

Servomotor

control a vertical axis. A Servomotor with brake prevents the movable part from dropping due to gravitation when the system power is turned OFF.

Holding brake

Prevents movable part from shifting due to gravitation when power is turned OFF

Note The Servomotor with brake has a built-in brake that is a de-energization operation type, which

is used for holding purposes only. The brake cannot be used to stop the motor. Use the holding brake only to retain a stopped motor. Brake torque is more than 100% of the rated motor torque.

Connection Examples

Use Servopack contact output-signal /BK and brake power supply to form a brake ON/OFF circuit.

The following diagram shows a standard connection example.

Power supply

BK-RY: Brake control relay

Output → /BK CN1-8

+24V

BK-RY

/BK

SG-COM

Servomotor with brake

24VDC

0V (24V)

CN1-8

MAX 50mA

CN1-3

Servopack

CN2

Brake Interlock Output For Speed/Torque

Control and Position Control

This output signal controls the brake when a motor with brake is used. This signal terminal need not be connected when a motor without brake is used.

— 2-43 —

APPLICATIONS

2.4.3 Holding Brakecont.

ON Status:

Circuit between CN1-8 and CN1-3 is closed. CN1-8 is at low level.

OFF Status:

Circuit between CN1-8 and CN1-3 is open. CN1-8 is at high level.

Related Parameters

Cn-12 Time delay from brake signal until servo OFF

Cn-15 Speed level for brake signal output during operation

Cn-16 Output timing of brake signal during motor operation

Releases the brake.

Applies the brake.

Output → SG-COM CN1-3

Output Signal Ground Common

For Speed/Torque Control and Position Control

This is a signal ground for the output signals shown below. Connect this signal terminal to 0 V on the external power supply.

Contact Output Signals: /BK

/V-CMP (for speed/torque control only) /COIN (for position control only) /TGON

Brake ON Timing

If the machine moves slightly due to gravity when the brake is applied, set the following parameter to adjust brake ON timing:

Cn-12

BRKTIM

Time delay from the time a brake signal is output until servo OFF status occurs

Unit: 10 ms

Setting Range: 0to50

Factory Setting: 0

For Speed/Torque Control and Position Control

This parameter is used to set output timing of brake control signal /BK and servo OFF operation (motor output stop) when a Servomotor with brake is used.

/S-ON input

/BK output

Servo ON/OFF operation Motor ON/OFF status

Servo ON

Release brake

Motor is ON

Servo OFF

Apply brake.

Motor is OFF.

BRKTIM

With the standard setting, the servo is turned OFF when /BK signal (brake operation) is output. The machine may move slightly due to gravitation. This movement depends on machine configuration and brake characteristics. If this happens, use this parameter to delay servo OFF timing to prevent the machine from moving.

Set in this constant the brake ON timing used when the motor is in stopped status.

— 2-44 —

2.4Setting Stop Mode

For brake ON timing during motor operation, use Cn-15 and Cn-16.

Setting the Holding Brake

Set the following parameters to adjust brake ON timing so that holding brake is applied when the motor stops.

Cn-15

BRKSPD

Speed Level at which Brake Signal Is Output during Motor

Unit: min

−1

Operation

Cn-16

BRKWAI

Output Timing of Brake Signal during Motor Operation

Unit: 10 ms

Cn-15 and Cn-16 are used to set brake timing when the servo is turned OFF by input signal /S-ON or alarm occurrence during motor rotation.

Brakes for Servomotors are designed as holding brakes. Therefore, brake ON timing when the motor stops must be appropriate. Adjust the parameter settings while observing machine operation.

Setting Range: 0to Maximum Speed

Setting Range: 10 to 100

Factory Setting: 100

Factory Setting: 50

For Speed/Torque Control and Position Control

Brake Timing when Motor is in Stopped Status

Power OFF by /S-ON input or alarm occurrence

Motor speed

−1

(min

)

BRKSPD (Cn-15)

/BK output

When this time elapses, BK signal is output, regardless of motor speed.

Servo ON

Release brake

Servo OFF

Stop by coasting to a stop

BRKWAI

(Cn-16)

Apply brake

Conditions for /BK Signal Output During Motor Operation

The circuit between CN1-8 and CN1-3 is opened in either of the following situations.

1 Motor speed drops below the value set in Cn-15 (BRKSPD) after servo OFF occurs.

2 The time set in Cn-16 (BRKWAI) has elapsed since servo OFF occurred.

— 2-45 —

APPLICATIONS

2.5.1 Soft Start Function

2.5 Running the Motor Smoothly

This section explains how to run the Servomotor smoothly.

2.5.1 Soft Start Function

The soft start function adjusts progressive speed reference input inside the Servopack so that acceleration and deceleration can be as constant as possible. To use this function, set the following parameters.

Speed/Torque

SFSACC

Cn-07

Cn-23

Soft Start Time (Acceleration)

SFSDEC Soft Start Time (Deceleration)

In the Servopack, a speed reference is multiplied by the acceleration or deceleration value set in Cn-07 or Cn-23 to provide speed control.

Smooth speed control can be achieved when progressive speed references are input or when contact input speed control is used.

Set these parameters as follows:

Unit:msSetting

Range: 0to 10000

Unit:msSetting

Range: 0to 10000

Factory Setting: 0

Speed reference

Servopack internal speed reference

Cn-07: Set this time interval.

5000 min

Cn-23: Set this time interval.

For Speed/Torque Control

Soft start

−1

Cn-07: Time interval from the time the motor starts until the maximum speed

(5000 min

−1

) is reached.

Maximum speed Reference speed

Cn-23: Time interval from the time the motor is running at the maximum speed

(5000 min

−1

) until it stops.

— 2-46 —

2.5.2 Smoothing

The smoothing function adjusts constant-frequency reference input inside the Servopack so that acceleration and deceleration can be as constant as possible. To use this function, set the following parameter.

Positions

2.5Running the Motor Smoothly

Cn-26

ACCTME Position Reference

Acceleration/Deceleration Time Constant

Unit:

0.1 ms

Setting Range: 0 to 640

(Smoothing)

This function performs acceleration/deceleration processing for input reference pulses (primary lag characteristics).

This function prevents the motor from running at progressive speeds in the following cases:

Reference pulse

Reference pulse frequency

Servopack

Accelerati on/decele ration

• When the host controller which outputs references cannot perform acceleration/deceleration processing

Reference pulse frequency

• When reference pulse frequency is too low

• When reference electronic gear ratio is too high (more than 10 times)

This function does not change the travel distance (number of pulses).

Factory Setting: 0

Apply acceleration/deceleration processing

Cn-26 (ACCTME)

For Position Control

Servomotor

2.5.3 Gain Adjustment

If speed loop gain or position loop gain exceeds the allowable limit for the servo system including the machine to be controlled, the system will vibrate or become too susceptible. Under such conditions, smooth operation cannot be expected. Reduce each loop gain value to an appropriate value.

For details on servo gain adjustment, refer to 2.6.2 Servo Gain.

— 2-47 —

APPLICATIONS

2.5.5 Torque Reference Filter Time Constant

2.5.4 Offset Adjustment

If reference voltage from the host controller or external circuit has an offset in the vicinity of 0 V, smooth operation cannot be expected. Adjust the reference offset to 0 V.

Speed/Torque

Note If a position control loop is formed in the host controller, do not use automatic adjustment.

When Reference Voltage from Host Controller or External Circuit has an Offset

Reference voltage

Reference speed or reference torque

Offset

Offset adjustment

Reference voltage

Reference speed or reference torque

Offset is corrected by the Servopack.

Reference Offset Adjustment

The following two methods are available to adjust the reference offset to 0 V.

Automatic adjustment of reference offset

Manual adjustment of reference offset

Reference offset is automatically adjusted.

Reference offset can be intentionally set to a specified value.

Always use manual adjustment.

For detailed adjustment procedures, refer to the following sections:

Adjustment Method Section

Automatic adjustment of reference offset

Manual adjustment of reference offset

3.2.4 Reference Offset Automatic Adjustment Mode.

3.2.5 Speed Reference Offset Manual Adjustment Mode.

2.5.5 Torque Reference Filter Time Constant

If the machine causes vibration, possibly resulting from the Servo Drive, adjust the following filter time constant. Vibration may stop.

TRQFIL Torque Reference

Cn-17

Filter Time Constant

Cn-17 is a torque reference filter time constant for the Servopack. The smaller the value, the higher the torque control response. There is, however, a certain limit depending on machine conditions.

With the standard setting, the machine may cause vibration resulting from the Servo Drive. In this case, increase the constant setting. Vibration may stop. Vibration can be caused by problems such as incorrect gain adjustment and machine malfunction.

Unit: 100 µs

Setting Range: 0 to 250

Factory Setting: 4

For Speed/Torque Control and Position Control

— 2-48 —

2.6 Minimizing Positioning Time

This section describes how to minimize positioning time.

2.6.1 Autotuning

If speed loop gain and position loop gain for the servo system are not set properly, positioning may become slow. Techniques and experience are required to set these servo gain values according to machine configuration and machine rigidity.

Σ-Series Servopacks have an autotuning function that automatically measures machine characteristics and sets the necessary servo gain values. With this function, even first-time servo users can easily perform tuning for servo gain. Servo gain values are set in parameters.

2.6Minimizing Positioning Time

The following parameters can be automatically set by the autotuning function.

For details of how to perform autotuning, refer to 3.2.3 Autotuning

2.6.2 Servo Gain

Check and reset the servo gain when:

• Automatically set servo gain values need to be checked after autotuning.

• Each servo gain value checked after autotuning is to be directly set for another Servopack.

• Response performance needs to be further enhanced after autotuning, or servo gain val-

ues need to be reset for a system with lower response performance.

Parameter Meaning

Cn-04 Speed loop gain

Cn-05 Speed loop integration time constant

Cn-1A Position loop gain

Setting Speed Loop

Set the following parameters related to speed loop as necessary.

Cn-04

Cn-05

LOOPHZ Speed Loop Gain (Kv)

PITIME Speed Loop Integration Time Constant (Ti)

Unit: Hz

Unit: ms

Setting Range: 1 to 2000

Setting Range: 2 to 10000

Factory Setting: 80

Factory Setting: 20

— 2-49 —

For Speed/Torque Control and Position Control

APPLICATIONS

2.6.2 Servo Gaincont.

Cn-04 and Cn-05 are a speed loop gain and an in-

Speed reference

Speed loop gain

tegration time constant for the Servopack, respectively.

Speed feedback

The higher the speed loop gain value or the smaller the speed loop integration time constant value, the higher the speed control response. There is, however, a certain limit depending on machine characteristics.

These parameters are automatically set by the autotuning function.

The unit of speed loop integration time constant Cn-05 (Ti) can be changed to 0.01 ms.

Setting Position Loop

Set the following parameters related to position loop as necessary.

Cn-1A

POSGN Position Loop Gain (Kp)

Unit: 1/s

Setting Range: 1 to 200

Factory Setting: 40

For Speed/Torque Control and Position Control

Positions

This parameter is a position loop gain for the Servopack.

Position reference

Increasing the position loop gain value provides position control with higher response and less error. However, there is a certain limit depending on machine characteristics.

This parameter is automatically set by the autotuning function.

Cn-1E

OVERLV Overflow

Unit: 256 References

Setting Range: 1 to 65536

Factory Setting: 1024

Set in this parameter the error pulse level at which a position error pulse overflow alarm (alarm A.31) is detected.

Error pulse

If the machine permits only a small position loop gain value to be set in Cn-1A, an overflow alarm may arise during high-speed operation. In this case, increase the value set in this parameter to suppress alarm detection.

Position loop gain

Position feedback

For Position Control

(Alarm A.31)

Normal control

(Alarm A.31)

Cn-1E OVERLV

— 2-50 —

2.6.3 Feed-forward Control

Feed-forward control shortens positioning time. To use feed-forward control, set the following parameter.

Positions

FFGN

Cn-1D

Feed-forward Gain

Unit:%Setting

Range: 0 to 100

Factory Setting: 0

2.6Minimizing Positioning Time

For Position Control

This parameter is set to apply feed-forward frequency compensation to position control inside the Servopack. Use this parameter to shorten positioning time. Too high a value may cause the machine to vibrate. For ordinary machines, set 80% or less in this constant.

2.6.4 Proportional Control

If both bits A and B of memory switch Cn-01 are set to 0 as shown below,input signal /P-CON serves as a PI/P control changeover switch.

Speed/Torque

• PI Control: Proportional/Integral control

• P Control: Proportional control

Cn-01 Bit A

Cn-01 Bit B

Control Mode Selection Factory

Setting: 0

Control Mode Selection Factory

Setting: 0

Differ-

Reference pulse

entiation

Feedback pulse

For Speed/Torque Control

TERMS

Feed-forward control

Control for making necessary corrections beforehand to prevent the control system from receiving the effects of disturbance. Using feed-forward control increases effective servo gain, enhancing response performance.

— 2-51 —

APPLICATIONS

Control

Mode

(CN1 12)

(CN1- 1)

2.6.5 Setting Speed Bias

Cn-01

Setting

Bit B Bit A

0 0

Control Mode

Speed Control

This is normal speed control.

D Speed reference is input from V-REF. D Signal /P-CON is used to switch between

P control and PI control.

/P-CON is open

PI control

(OFF) /P-CON is closed

P control

(ON)

Speed reference

P/PI changeover

Servopack

(CN1-12)

/P-CON

(CN1-*1)

D Torque reference input T-REF cannot be

used.

Using Proportional Control

Proportional control can be used in the following two ways.

• When operation is performed by sending speed references from the host controller to the Servopack, the host controller can selectively use P control mode for particular conditions only. This method can prevent the occurrence of overshoot and also shorten settling time. For particular conditions, refer to 2.6.6 Mode Switch.

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

2.6.5 Setting Speed Bias

Positions

The settling time for positioning can be reduced by assigning bias to the speed reference output part in the Servopack. To assign bias, use the following constant.

BIASLV

Cn-1C

Bias

This parameter is set to assign an offset to a speed ref-

Unit: min

−1

Setting Range: 0 to 450

Factory Setting: 0

Contact speed reference

For Position Control

erence in the Servopack.

Error pulse

Use this constant to shorten settling time.

Set this parameter according to machine conditions.

— 2-52 —

2.6.6 Mode Switch

Use the mode switch for the following purposes:

• To prevent overshoot during acceleration or deceleration (for speed control).

• To prevent undershoot during positioning in order to reduce settling time (for position con-

trol).

Speed

Overshoot

Time

Undershoot

Reference

Actual motor operation

Settling time

2.6Minimizing Positioning Time

In other words, the mode switch is a function that automatically switches the speed control mode inside the Servopack from PI control to P control while certain conditions are being established.

Note (1) The mode switch is used to fully utilize performance of a Servo Drive to achieve very

high-speed positioning. The speed response waveform must be observed to adjust the mode switch.

(2) For normal use, the speed loop gain and position loop gain set by autotuning provide

sufficient speed/position control. Even if overshoot or undershoot occurs, they can be suppressed by setting the acceleration/deceleration time constant for the host controller, the soft start time constants (Cn-07, Cn-23), or smoothing time constant (Cn-26) for the Servopack.

Mode Switch Selection

Servopacks can use four types of mode switches (1 to 4). To select a mode switch, use the following memory switch. The mode switch setting methods for speed/torque control and position control are slightly different.

TERMS

From PI control to P control

PI control means proportional/integral control and P control means proportional control. In short, switching “from PI control to P control” reduces effective servo gain, making the servo system more stable.

— 2-53 —

APPLICATIONS

2.6.6 Mode Switchcont.

For Speed/

Torque

Control

Memory

Switch

Cn-01

Bit D Bit C

1 1 - - 1

0 0 0 0 0

0 1 0 1 0

For Position

Control

Memory

Switch Cn-01

BitDBitCBit

Mode Switch Setting Parameter Unit

Does not use mode switch.

Uses torque reference as a detection point.

Cn-0C

(Standard setting)

Uses speed reference as a detection point.

Cn-0D

Percentage of rated torque: %

Motor speed:

−1

min

Acceleration reference inside the Servopack: 10 (min

−1

)/s

1 0 1 0 0

1 1 0

Uses acceleration reference as a detection point.

Uses error pulse as a detection point.

Cn-0E

Cn-0F Reference unit

When Torque Reference Is Used as a Detection Point of Mode Switch (Standard Setting)

If a torque reference exceeds the torque value set in parameter Cn-0C, the speed loop switches to P

Speed

Reference speed

Motor speed

control.

The Servopack is factory set to this standard mode (Cn-0C = 200).

• Example of Use:

Torque

PI control

P control

Internal torque reference

PI control

P control

If a mode switch is not used and PI control is always performed, torque may enter a saturation state during acceleration or deceleration, causing the motor speed to have overshoot or undershoot. Using the mode switch suppresses torque saturation and prevents the motor speed from having overshoot and undershoot.

Without mode switch

Motor speed

Overshoot

Undershoot

Time

With mode switch

Motor speed

Time

PI control

— 2-54 —

2.6Minimizing Positioning Time

Using Speed Reference as a Detection Point of Mode Switch

If a speed reference exceeds the value set in parameter Cn-0D, the speed loop switches to P control.

• Example of Use:

Speed reference

Speed

PI control P control PI control

The mode switch is used to reduce settling time. Generally, speed loop gain must be increased to reduce settling time. Using the mode switch suppresses the occurrence of overshoot and undershoot when speed loop gain is increased.

Without mode switch

Speed reference

Motor speed

Settling time is long

Increase speed loop gain

With mode switch

Motor speed

Without mode switch

Overshoot

Motor speed

Undershoot

Suppress the occurrence of overshoot and undershoot.

Time

Motor speed

Settling time

Using Acceleration as a Detection Point of Mode Switch (Standard Setting)

If motor acceleration exceeds the value set in parameter Cn-0E, the speed loop switches to P control.

• Example of Use:

Speed

Acceleration

Reference speed

Motor acceleration

Motor speed

If a mode switch is not used and PI control is always performed, torque may enter a saturation state during acceleration or deceleration,

PI control

P control P control

PI control PI control

causing the motor speed to have overshoot or undershoot. Using the mode switch suppresses torque saturation and prevents the motor speed from having overshoot and undershoot.

Without mode switch

Motor speed

Overshoot

Undershoot

With mode switch

Motor speed

Time

— 2-55 —

APPLICATIONS

2.6.6 Mode Switchcont.

Using Error Pulse as a Detection Point of Mode Switch

Positions

Error pulse can be used for position control only.

If an error pulse exceeds the value set in parame-

Speed

Error pulse

Speed reference

ter Cn-0F, the speed loop switches to P control.

PI control P control PI control

• Example of Use:

Without mode switch

Speed reference

Motor speed

Settling time is long

Increase speed loop gain

With mode switch

Motor speed

Without mode switch

Motor speed

Overshoot

Undershoot

Time

Suppress the occurrence of overshoot and undershoot.

Motor speed

Positions

Settling time

Parameters

The parameters required to set each mode switch are summarized as follows.

Cn-01Bit B

Mode Switch ON/OFF Factory

Setting: 0

This parameter is used to enable or disable the mode switch function.

Setting Meaning

0 Uses the mode switch function

1 Does not use the mode switch function

The Servopack allows use of four different types of

Mode switch is used to reduce settling time and suppress undershoot when the motor stops. It switches PI control to P control when certain conditions are met.

For Position Control

Speed

Reference

Time

mode switch. To select a mode switch, set bits C and D of memory switch Cn-01.

Cn-01 Bit C

Cn-01 Bit D

Mode Switch Selection Factory

Setting: 0

Mode Switch Selection Factory

Setting: 0

For Speed/Torque Control and Position Control

Actual motor operation

Settling time

— 2-56 —

Yaskawa Sigma Mini User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

CONTENTS

Safety Precautions

1.1 Precautions

1.2.1 Checking on Delivery

1.2 Installation

1.2.2 Installing the Servomotor

1.2.3 Installing the Servopack

1.2.4 Power Loss

1.3.1 Connecting to Peripheral Devices

1.3 Connection and Wiring

1.3.2 Main Circuit Wiring and Power ON Sequence

1.3.3 Examples of Connecting Host Controllers

1.4Conducting a Test Run

1.4.1 Test Run in Two Steps

1.4.2 Step 1: Test Run for Servomotor without Load

1.4.3 Step 2: Test Run with the Servomotor Connected to the Machine

1.4.4 Supplementary Information on Test Run

1.4.5 Minimum Parameters and Input Signals

2.1.1 Changing Motor Rotation Direction

2.1 Setting Parameters According to Machine Characteristics

2.1.2 Torque Limit

2.2Setting Parameters According to Host Controller

2.2.1 Speed References

2.2.2 Position References

2.2.3 Encoder Output

2.2.4 Contact I/O

2.2.5 Electronic Gear

2.2.6 Contact Input Speed Control

2.2.7 Torque Control

2.2.8 Reference Pulse Inhibit Function (INHIBIT)

2.2.9 Reference Pulse Input Filter Selection Function

2.3.1 Parameters

2.3.2 Jog Speed

2.4.1 Offset Adjustment

2.4 Setting Stop Mode

2.4.2 Zero-clamp

2.4.3 Holding Brake

2.5.1 Soft Start Function

2.5 Running the Motor Smoothly

2.5.2 Smoothing

2.5.3 Gain Adjustment

2.5.5 Torque Reference Filter Time Constant

2.5.4 Offset Adjustment

2.6.1 Autotuning

2.6Minimizing Positioning Time

2.6.2 Servo Gain

2.6.3 Feed-forward Control

2.6.4 Proportional Control

2.6.5 Setting Speed Bias

2.6.6 Mode Switch