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E-V-MD Series
YASKAWA E-V-MD Series User Manual
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SGD
V
-MD SER
V
OP
A
CK
SGMMV Ser
v
omotor
T
ype A01/A02
Rotational Motor
MECHA
TR
OLINK-
III
Comm
unications Ref
erences
-
V
-
MD
Ser
ies
A
C Ser
v
o Driv
es
USER’S MANU
AL
MANU
AL NO
.
SIEP S800001 02B
1
2
3
4
5
6
7
8
9
10
11
Outline
Selecting Products
Specifications and Dimensional Dra
wings
Installation
Wiring and Connections
SigmaWin+
Operation
Adjustments
Utility Functions
Maintenance, Inspections
, and
T
roubleshooting
Appendix
2
Table of Contents
Default Chapter
3
About this Manual
3
Safety Precautions
6
Warranty
11
Complying with European Directives
13
Table of Contents
14
Chapter 1 Outline
20
Σ-V-MD-Series Type A01/A02 Servopacks
20
Examples of Servo System Configurations
20
Type A01 Configurations
20
Type A02 Configurations
21
Part Names
22
Servomotor
22
Servopack
22
Chapter 2 Selecting Products
27
Model Designations
27
Servomotors
27
Servopacks
27
Selecting Servomotors
29
Sigmajunmasize
29
Selection Calculations
30
Combinations
32
Selecting Cables
33
Power Supply Cables
33
Servomotor/Encoder Relay Cables
33
I/O Signal Cables
33
MECHATROLINK Communications Cables
33
Ethernet Cables
33
Selecting Peripheral Devices
34
Chapter 3 Specifications and Dimensional Drawings
36
Servomotors
36
Ratings and Specifications
36
Dimensional Drawings
40
Mechanical Specifications
43
Heat Dissipation Conditions
44
Holding Brake Delay Time
44
Servopacks
45
Ratings
45
Basic Specifications
45
MECHATROLINK-III Function Specifications
49
Dimensional Drawings
52
Chapter 4 Installation
57
Servomotor Installation
57
Servomotor Installation Environment
57
Orientation
57
Installation Standards
57
Connecting Servomotor to Machine
58
Protective Structure
58
Other Precautions
59
SERVOPACK Installation
61
SERVOPACK Installation Environment
61
Mounting the SERVOPACK
62
Mounting Orientation
63
EMC Installation Conditions
64
Sgdv-Mda01EM3A
64
Sgdv-Mda02E8M3A
65
Other Precautions
65
Chapter 5 Wiring and Connections
67
Wiring the Main Circuit and Control Power Supplies
67
Main Circuit Power Supply Terminals (CN32) and Control Power Supply Terminals (CN31)
67
Main Circuit and Control Power Supply Cables
69
Typical Main Circuit Wiring Example
72
Power Losses
74
Input Power Supply, Molded-Case Circuit Breaker, and Fuse
74
General Precautions for Wiring
75
I/O Signal (CN1) Connections
76
I/O Signal Names and Functions
76
I/O Signal Connector Specifications
77
Example of I/O Signal Connections
78
Sequence Input Circuit
79
Sequence Output Circuit
80
I/O Signal Assignments
81
I/O Signal Setting Parameters
81
Parameter Settings
81
Wiring MECHATROLINK-III Communications
83
Connecting the Servomotor and Encoder
84
Names and Functions of Servomotor and Encoder Connection Signals
84
Servomotor/Encoder Relay Cable Specifications
85
Servomotor and Encoder Connection Examples
86
Battery Replacement
87
Noise Control and Measures for Harmonic Suppression
89
Wiring for Noise Control
89
Precautions on Connecting Noise Filter
90
Chapter 6 Sigmawin+
92
Sigmawin
92
Preparing Sigmawin
93
Connecting a PC with Sigmawin
93
Setting the IP Address in the Computer
93
Sigmawin
93
Setting the IP Address in the SERVOPACK
94
Initializing the Communications Settings
95
Starting and Operating the Sigmawin
96
Parameters (Pn)
98
Parameter Classification
98
Notation for Parameters
98
Setting Parameters
99
Monitor Operations
103
Chapter 7 Operation
105
MECHATROLINK-III Communications Settings
105
Setting the MECHATROLINK-III Station Address
105
Setting the MECHATROLINK-III Axis Addresses
105
Setting the Number of Transmission Bytes for MECHATROLINK-III
106
MECHATROLINK-III Commands
107
Basic Functions Settings
107
Servomotor Rotation Direction
107
Overtravel
108
Software Limit Settings
112
Holding Brakes
113
Stopping Servomotors after SV_OFF Command or Alarm Occurrence
117
Setting Motor Overload Detection Level
118
Trial Operation
120
Inspection and Checking before Trial Operation
120
Trial Operation Via MECHATROLINK-III
121
Electronic Gear
122
Limiting Torque
125
Internal Torque Limit
125
Checking the Torque Limit
125
Absolute Encoder Setting
126
Absolute Encoder Setup
126
Multiturn Limit Setting
129
Multiturn Limit Disagreement Alarm (A.CC0)
131
Absolute Encoder Origin Offset
133
Chapter 8 Adjustments
136
Type of Adjustments and Basic Adjustment Procedure
136
Adjustments
136
Basic Adjustment Procedure
137
Monitoring Operation During Adjustment
138
Safety Precautions on Adjustment of Servo Gains
145
Tuning-Less Function
147
Tuning-Less Levels Setting Procedure
149
Related Parameters
152
Advanced Autotuning
153
Advanced Autotuning Procedure
155
Related Parameters
169
Advanced Autotuning by Reference
170
Advanced Autotuning by Reference Procedure
172
Related Parameters
178
One-Parameter Tuning
179
One-Parameter Tuning Procedure
179
One-Parameter Tuning Example
192
Related Parameters
193
Anti-Resonance Control Adjustment Function
194
Anti-Resonance Control Adjustment Function Operating Procedure
195
Related Parameters
202
Vibration Suppression Function
203
Vibration Suppression Function Operating Procedure
204
Related Parameters
209
Additional Adjustment Function
210
Switching Gain Settings
210
Manual Adjustment of Friction Compensation
214
Current Gain Level Setting
216
Speed Detection Method Selection
216
Compatible Adjustment Function
217
Feedforward Reference
217
Mode Switch (P/PI Switching)
218
Torque Reference Filter
220
Chapter 9 Utility Functions
224
List of Utility Functions
224
Alarm History Display
225
JOG Operation
226
JOG Operation
227
Origin Search
228
Program JOG Operation
231
Initializing Parameter Settings
238
Clearing Alarm History
241
Automatic Offset-Signal Adjustment of the Motor Current Detection Signal
242
Automatic Offset-Signal Adjustment of the Motor Current
242
Write Prohibited Setting
244
Write Prohibited Setting
245
Vibration Detection Level Initialization
246
Confirmation of SERVOPACK and Servomotor Model Information
249
Software Reset
250
Software Reset
251
Easyfft
252
Online Vibration Monitor
256
Chapter 10 Maintenance, Inspections, and Troubleshooting
262
Maintenance and Inspections
262
Alarm Displays
263
List of Alarms
263
Troubleshooting of Alarms
266
Warning Displays
275
List of Warnings
275
Troubleshooting of Warnings
276
Troubleshooting Malfunction Based on Operation and Conditions of the Servomotor
279
Chapter 11 Appendix
285
Parameter Configuration
285
Unit Parameters
285
Axis Parameters
285
List of Parameters
286
MECHATROLINK-III Common Parameters
303
Parameter Recording Table
311
Index
317
Revision History
320
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YASKAWA E-V-MD Series Specifications
General
Brand
YASKAWA
Model
E-V-MD Series
Category
Servo Drives
Language
English
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