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E-7-Series SGD7S
YASKAWA E-7-Series SGD7S User Manual
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Model:
SGD7S
-7S SER
V
OP
A
CK with
Analog V
oltage/Pulse T
r
ain
Ref
erences
-7-Ser
ies A
C Ser
v
o Dr
iv
e
Product Man
ual
MANU
AL NO
.
SIEP S800001 26B
Selecting a SER
V
OP
A
CK
SER
V
OP
A
CK Installation
Application Functions
T
uning
Monitoring
Fully-closed Loop Control
Saf
ety Functions
Maintenance
P
arameter Lists
Appendices
Basic Functions
That Require
Setting bef
ore Operation
Wiring and Connecting
SER
V
OP
A
CKs
T
r
ial Operation and
Actual Operation
Basic Inf
or
mation on
SER
V
OP
A
CKs
P
anel Displays and
P
anel Operator Procedures
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
2
Table of Contents
Servopacks
21
Table of Contents
23
Basic Information on
23
Setting before Operation
25
The Σ-7 Series
35
Interpreting the Nameplate
36
Part Names
37
Model Designations
39
Interpreting SERVOPACK Model Numbers
39
Interpreting Servomotor Model Numbers
39
Combinations of Servopacks and Servomotors
41
Combinations of Rotary Servomotors and Servopacks
41
Combinations of Direct Drive Servomotors and Servopacks
41
Combinations of Linear Servomotors and Servopacks
42
Combinations of Linear Servomotors and Servopacks
43
Functions
44
Selecting a SERVOPACK
47
Ratings and Specifications
49
Ratings
50
Specifications
50
Ratings and Specifications
51
Ratings
52
Specifications
52
Block Diagrams
53
SGD7S-R70A, -R90A, and -1R6A
53
Sgd7S-2R8A
53
SGD7S-3R8A, -5R5A, and -7R6A
54
Sgd7S-120A
55
SGD7S-180A and -200A
56
External Dimensions
57
Front Cover Dimensions and Connector Specifications
57
SERVOPACK External Dimensions
57
Examples of Standard Connections between Servopacks and Peripheral Devices
60
SERVOPACK Installation
62
Installation Precautions
63
Mounting Types and Orientation
64
Mounting Hole Dimensions
65
Mounting Interval
66
Installing One SERVOPACK in a Control Panel
66
Installing more than One SERVOPACK in a Control Panel
66
Monitoring the Installation Environment
67
Derating Specifications
68
EMC Installation Conditions
69
Wiring and Connecting Servopacks
70
Wiring and Connecting Servopacks
72
General Precautions
72
Countermeasures against Noise
74
Grounding
77
Basic Wiring Diagrams
78
Wiring the Power Supply to the SERVOPACK
80
Terminal Symbols and Terminal Names
80
Wiring Procedure for Main Circuit Connector
81
Power on Sequence
82
Power Supply Wiring Diagrams
83
Wiring Regenerative Resistors
86
Wiring DC Reactors
87
Wiring Servomotors
88
Terminal Symbols and Terminal Names
88
Pin Arrangement of Encoder Connector (CN2)
88
Wiring the SERVOPACK to the Encoder
89
Wiring the SERVOPACK to the Holding Brake
94
I/O Signal Connections
96
I/O Signal Connector (CN1) Names and Functions
96
I/O Signal Connector (CN1) Pin Arrangement
99
I/O Signal Wiring Examples
100
I/O Circuits
106
Connecting Safety Function Signals
110
Pin Arrangement of Safety Function Signals (CN8)
110
I/O Circuits
110
Connecting the Other Connectors
112
Serial Communications Connector (CN3)
112
Computer Connector (CN7)
112
Analog Monitor Connector (CN5)
112
Manipulating Parameters (Pn)
116
Parameter Classification
116
Notation for Parameters
117
Parameter Setting Methods
118
Write Prohibition Setting for Parameters
119
Initializing Parameter Settings
122
Control Method Selection
125
Power Supply Type Settings for the Main Circuit and Control Circuit
126
AC Power Supply Input/DC Power Supply Input Setting
126
Single-Phase AC Power Supply Input/Three-Phase AC Power Supply Input Setting
127
Automatic Detection of Connected Motor
128
Functions and Settings for the /S-ON (Servo ON) Signal
129
Function of the /S-ON (Servo ON) Signal
129
Setting to Keep the Servo on and Supply Power to the Motor Continuously
129
Motor Direction Setting
130
Setting the Linear Encoder Pitch
131
Writing Linear Servomotor Parameters
132
Selecting the Phase Sequence for a Linear Servomotor
136
Polarity Sensor Setting
138
Polarity Detection
139
Restrictions
139
Using the /S-ON (Servo ON) Signal to Perform Polarity Detection
140
Using the /P-DET (Polarity Detection) Signal to Perform Polarity Detection
140
Using a Tool Function to Perform Polarity Detection
141
Using a Tool Function to Perform Polarity
141
Detection
141
Overtravel and Related Settings
143
Overtravel Signals
144
Setting to Enable/Disable Overtravel
144
Motor Stopping Method for Overtravel
145
Overtravel Warnings
146
Holding Brake
148
Brake Operating Sequence
148
BK (Brake) Signal
149
Output Timing of /BK (Brake) Signal When the Servomotor Is Stopped
150
Output Timing of /BK (Brake) Signal When the Servomotor Is Operating
151
Motor Stopping Methods for Servo off and Alarms
153
Stopping Method for Servo off
153
Servomotor Stopping Method for Alarms
154
Motor Overload Detection Level
156
Detection Timing for Overload Warnings (A.910)
156
Detection Timing for Overload Alarms (A.720)
157
Electronic Gear Settings
158
Electronic Gear Ratio Settings
159
Electronic Gear Ratio Setting Examples
162
Resetting the Absolute Encoder
163
Precautions on Resetting
163
Applicable Tools
163
Operating Procedure
164
Setting the Origin of the Absolute Encoder
166
Setting the Origin of the Absolute Linear Encoder
166
Setting the Regenerative Resistor Capacity
169
Application Functions
170
I/O Signal Allocations
173
Input Signal Allocations
173
Output Signal Allocations
175
ALM (Servo Alarm) Signal
177
ALO1 to ALO3 (Alarm Code) Signals
177
WARN (Warning) Signal
178
TGON (Rotation Detection) Signal
179
S-RDY (Servo Ready) Signal
179
Operation for Momentary Power Interruptions
181
SEMI F47 Function
182
Setting the Motor Maximum Speed
184
Speed Control
185
Basic Settings for Speed Control
185
Soft Start Settings
191
Speed Reference Filter
192
Zero Clamping
192
V-CMP (Speed Coincidence Detection) Signal
194
Position Control
196
Basic Settings for Position Control
197
CLR (Position Deviation Clear) Signal Function and Settings
199
Reference Pulse Input Multiplication Switching
200
Smoothing Settings
201
COIN (Positioning Completion) Signal
202
NEAR (Near) Signal
204
Reference Pulse Inhibition Function
204
Torque Control
206
Basic Settings for Torque Control
206
Adjusting the Torque Reference Offset
207
Torque Reference Filter Settings
211
Speed Limit During Torque Control
211
Encoder Divided Pulse Output
213
Encoder Divided Pulse Output Signals
213
Setting for the Encoder Divided Pulse Output
218
Internal Set Speed Control
220
Input Signals for Internal Set Speed Control
220
Setting the Control Method to Internal Set Speed Control
221
Settings for Internal Set Speed Control
221
Changing Internal Set Speeds with Input Signals
222
Selecting Combined Control Methods
224
Setting Pn000 = N.X (Control Method Selection) to 4, 5, or 6
224
Setting Pn000 = N.X (Control Method Selection) to 7, 8, or 9
227
Setting Pn000 = N.X (Control Method Selection) to a or B
227
Selecting Torque Limits
229
Internal Torque Limits
229
External Torque Limits
230
Limiting Torque with an Analog Reference
233
Limiting Torque with an External Torque Limit and an Analog Voltage Reference
235
CLT (Torque Limit Detection) Signal
238
Absolute Encoders
239
Connecting an Absolute Encoder
240
Structure of the Position Data of the Absolute Encoder
240
Output Ports for the Position Data from the Absolute Encoder
240
Encoder
240
Reading the Position Data from the Absolute Encoder
241
Encoder
242
Transmission Specifications
245
Calculating the Current Position in Machine Coordinates
246
Alarm Output from Output Ports for the Position Data from the Absolute Encoder
247
Multiturn Limit Setting
248
Multiturn Limit Disagreement Alarm (A.CC0)
249
Multiturn Limit Disagreement Alarm
249
A.cc0
249
Absolute Linear Encoders
252
Connecting an Absolute Linear Encoder
252
Structure of the Position Data of the Absolute Linear Encoder
252
Structure of the Position Data of the Absolute Linear
252
Encoder
252
Output Ports for the Position Data from the Absolute Linear Encoder
253
Reading the Position Data from the Absolute Linear Encoder
254
Reading the Position Data from the Absolute Linear
254
Encoder
254
Transmission Specifications
257
Calculating the Current Position in Machine Coordinates
258
Alarm Output from the Output Ports for the Position Data from the Absolute Linear Encoder
259
Software Reset
260
Preparations
260
Applicable Tools
260
Operating Procedure
260
Initializing the Vibration Detection Level
262
Preparations
262
Applicable Tools
263
Operating Procedure
263
Related Parameters
265
Adjusting the Motor Current Detection Signal Offset
266
Automatic Adjustment
266
Manual Adjustment
267
Flow of Trial Operation
271
Flow of Trial Operation for Rotary Servomotors
271
Flow of Trial Operation for Linear Servomotors
272
Inspections and Confirmations before Trial Operation
275
Trial Operation for the Servomotor Without a Load
276
Preparations
276
Applicable Tools
277
Operating Procedure
277
Trial Operation from the Host Controller for the Servomotor Without a Load
279
Trial Operation from the Host Controller for the Servomotor Without a Load
280
Preparing the Servomotor for Trial Operation
280
Trial Operation for Speed Control
282
Trial Operation for Position Control from the Host Controller with the SERVOPACK Used for Speed Control
283
Trial Operation for Position Control
284
Trial Operation with the Servomotor Connected to the Machine7-17
286
Precautions
286
Preparations
286
Trial Operation with the Servomotor Connected to the Machine
286
Operating Procedure
287
Convenient Function to Use During Trial Operation
289
Program Jogging
289
Origin Search
294
Test Without a Motor
295
Tuning
300
Overview and Flow of Tuning
303
Tuning Functions
304
Diagnostic Tool
305
Monitoring Methods
306
Precautions to Ensure Safe Tuning
307
Overtravel Settings
307
Torque Limit Settings
307
Setting the Position Deviation Overflow Alarm Level
307
Vibration Detection Level Setting
309
Setting the Position Deviation Overflow Alarm Level at Servo on
309
Alarm Level at Servo on
309
Tuning-Less Function
310
Application Restrictions
310
Operating Procedure
311
Troubleshooting Alarms
312
Parameters Disabled by Tuning-Less Function
313
Automatically Adjusted Function Setting
313
Related Parameters
313
Estimating the Moment of Inertia
314
Outline
314
Restrictions
314
Applicable Tools
315
Operating Procedure
315
Autotuning Without Host Reference
322
Outline
322
Restrictions
323
Applicable Tools
324
Operating Procedure
324
Troubleshooting Problems in Autotuning Without a Host Reference
328
Automatically Adjusted Function Settings
330
Related Parameters
332
Autotuning with a Host Reference
334
Outline
334
Restrictions
334
Applicable Tools
335
Operating Procedure
335
Troubleshooting Problems in Autotuning with a Host Reference
339
Automatically Adjusted Function Settings
339
Related Parameters
340
Custom Tuning
341
Outline
341
Preparations
341
Applicable Tools
342
Operating Procedure
342
Automatically Adjusted Function Settings
347
Tuning Example for Tuning Mode 2 or 3
348
Related Parameters
349
Anti-Resonance Control Adjustment
350
Outline
350
Preparations
350
Applicable Tools
351
Operating Procedure
351
Related Parameters
353
Vibration Suppression
354
Outline
354
Preparations
355
Applicable Tools
355
Operating Procedure
355
Setting Combined Functions
357
Related Parameters
357
Additional Adjustment Functions
358
Gain Switching
358
Friction Compensation
361
Current Control Mode Selection
363
Current Gain Level Setting
363
Speed Detection Method Selection
364
Speed Feedback Filter
364
Proportional Control (P Control)
364
Manual Tuning
366
Tuning the Servo Gains
366
Compatible Adjustment Functions
376
Diagnostic Tools
382
Mechanical Analysis
382
Easy FFT
384
Monitoring
388
Monitoring Product Information
389
Items that You Can Monitor
389
Operating Procedures
389
Monitoring SERVOPACK Status
390
System Monitor
390
Monitoring Status and Operations
390
I/O Signal Monitor
392
Monitoring Machine Operation Status and Signal Waveforms
393
Items that You Can Monitor
393
Using the Sigmawin
394
Monitoring Machine Operation Status and Signal Waveforms
394
Using a Measuring Instrument
395
Monitoring Product Life
401
Items that You Can Monitor
401
Operating Procedure
401
Fully-Closed Loop Control
402
Fully-Closed System
403
SERVOPACK Commissioning Procedure
404
Parameter Settings for Fully-Closed Loop Control
406
Control Block Diagram for Fully-Closed Loop Control
406
Setting the Motor Direction and the Machine Movement Direction
407
Loop Control
407
Setting the Number of External Encoder Scale Pitches
408
Setting the PAO, PBO, and PCO (Encoder Divided Pulse Output) Signals
408
Setting the Number of External Encoder Scale
408
Pitches
408
External Absolute Encoder Data Reception Sequence
409
Electronic Gear Setting
409
Alarm Detection Settings
409
External Absolute Encoder Data Reception
409
Sequence
409
Analog Monitor Signal Settings
410
Setting to Use an External Encoder for Speed Feedback
410
Safety Functions
413
Introduction to the Safety Functions
413
Precautions for Safety Functions
413
Hard Wire Base Block (HWBB)
414
Risk Assessment
414
Hard Wire Base Block (HWBB) State
415
Resetting the HWBB State
415
Detecting Errors in HWBB Signal
416
HWBB Input Signal Specifications
416
Operation Without a Host Controller
416
S-RDY (Servo Ready Output) Signal
417
BK (Brake Output) Signal
417
Stopping Methods
418
Settings to Clear the Position Deviation
418
ALM (Servo Alarm) Signal and ALO1, ALO2, and
418
EDM1 (External Device Monitor)
419
EDM1 Output Signal Specifications
419
Applications Examples for Safety Functions
420
Connection Example
420
Failure Detection Method
420
Procedure
421
Validating Safety Functions
422
Connecting a Safety Function Device
423
Maintenance
424
Inspections and Part Replacement
425
Inspections
425
Guidelines for Part Replacement
425
Replacing the Battery
426
Alarm Displays
428
List of Alarms
428
Troubleshooting Alarms
434
Resetting Alarms
463
Displaying the Alarm History
464
Clearing the Alarm History
465
Resetting Alarms Detected in Option Modules
466
Warning Displays
468
List of Warnings
468
Troubleshooting Warnings
469
Troubleshooting Based on the Operation and Conditions of the Servomotor
474
Panel Displays and Panel Operator Procedures
484
Panel Operator
486
Panel Operator Key Names and Functions
486
Changing Modes
486
Status Displays
487
Parameter (Pn) Operations on the Panel Operator
489
Setting Parameters that Require Numeric Settings
489
Setting Parameters that Require Selection of Functions
490
Monitor Display (Un) Operations on the Panel Operator
491
Basic Monitor Display Operations
491
Input Signal Monitor (Un005)
491
Output Signal Monitor (Un006)
492
Safety Input Signal Monitor (Un015)
493
Upper Limit Setting Monitor for Maximum Motor Speed/Upper Limit Setting for Encoder Output Resolution (Un010)
494
Polarity Sensor Signal Monitor (Un011)
494
Utility Function (Fn) Operations on the Panel Operator
495
Display Alarm History (Fn000)
495
Jog (Fn002)
496
Origin Search (Fn003)
496
Jog Program (Fn004)
497
Initialize Parameters (Fn005)
498
Clear Alarm History (Fn006)
498
Reset Absolute Encoder (Fn008)
499
Autotune Analog (Speed/Torque) Reference Offset (Fn009)
500
Manually Adjust Speed Reference Offset (Fn00A)
500
Manually Adjust Torque Reference Offset (Fn00B)
501
Adjust Analog Monitor Output Offset (Fn00C)
501
Adjust Analog Monitor Output Gain (Fn00D)
502
Autotune Motor Current Detection Signal Offset (Fn00E)
503
Manually Adjust Motor Current Detection Signal Offset (Fn00F)
503
Write Prohibition Setting (Fn010)
504
Display Servomotor Model (Fn011)
505
Display Software Version (Fn012)
506
Multiturn Limit Setting after Multiturn Limit Disagreement Alarm (Fn013)
507
Reset Option Module Configuration Error (Fn014)
507
Initialize Vibration Detection Level (Fn01B)
508
Display SERVOPACK and Servomotor Ids (Fn01E)
509
Display Servomotor ID from Feedback Option Module (Fn01F)
509
Set Absolute Linear Encoder Origin (Fn020)
509
Software Reset (Fn030)
510
Polarity Detection (Fn080)
510
Tuning-Less Level Setting (Fn200)
510
Advanced Autotuning Without Reference (Fn201)
511
Advanced Autotuning with Reference (Fn202)
511
One-Parameter Tuning (Fn203)
511
Adjust Anti-Resonance Control (Fn204)
512
Vibration Suppression (Fn205)
512
Easy FFT (Fn206)
512
Parameter Lists
515
List of Parameters
516
Interpreting the Parameter Lists
516
List of Parameters
517
Parameter Recording Table
547
Appendices
554
Examples of Connections to Host Controllers
555
Example of Connections to MP2000/MP3000-Series SVA-01 Motion Module
555
Example of Connections to Yokogawa Electric's F3YP2-0P Positioning Module for Position Control
557
Example of Connections to Yokogawa Electric's F3NC3-0N Positioning Module for Position Control
558
Example of Connections to an OMRON Position Control Unit
559
Example of Connection to Mitsubishi's QD75D Positioning Module for Position Control
560
Corresponding SERVOPACK and Sigmawin+ Function Names
561
Corresponding SERVOPACK Utility Function Names
561
Corresponding SERVOPACK Monitor Display Function Names
562
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YASKAWA E-7-Series SGD7S Specifications
General
Brand
YASKAWA
Model
E-7-Series SGD7S
Category
Controller
Language
English
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