YASKAWA___ =-I Series SG€MLJH/SGDM USER'S MANUAL Design and Maintenance SGMAH/SGMPH/SGMGH/SGMSH/SGMDH Servomotors SGDM Servopack YASKAWA MANUAL NO SIE-S800-31 2BSefey formation Safety Information ‘The following conventions are used to mdicate precautions inthis manual Fatlure to heed precau- tuons provided in this manual can result m serious or possibly even fatal injury or damage to the prod ucts or to related equipment and systems ZAWARNING indicates precautions that, if not heeded, could possibly result in loss of Ife or serious injury ZXCAUTION _ Indicates precautions that, if not heeded, could result in relatively serious or minor Injury, damage to the product, or faulty operation QpROHIBITED Indicates actions thet must never be taken ©Yaskawa, 1998 Allnghts reserved No part ofthis publication may be reproduced. stored ina retrieval system, or transmatted, in any form, ‘or by any means, mechanical, electronic, photocopying, recording, of otherwise, without the prior wntten permission of ‘Yaskawa No patent lability 1s assumed with respect to the use of the information contained herein Moreover. because ‘Yaskawa 1s constantly striving to improve ts high-quality products. the information contained an this manual 1s subject 10 ‘change without notice Every precaution has been taken 1n the preparation of thas manual Nevertheless, Yaskawa as- sumes no responsibility for errors or omissions Neither is any liability assumed for damages resulting from the use of the snformation contained in this publication<4EXAMPLED => IMPORTANT TERMS ‘The following ands are used to indicate certain types of informauion for easter reference Indicates application examples Indicates supplemental information Indicates important information that should be memonzed, including precautions such as alarm displays to avoid damaging the devices Indicates definiwons of dificult terms or terms that have not been previously explained in this ‘manualCONTENTS Safety Information mw Visual Aids v Overview xt Using This Manual xi Safety Precautions xii Checking Products and Part Names. : 4.1. Checking Stl Series Products on Delivery”... 2 111 Servomotos 12 112 Servopacks be 1.2 Product Part Names . 8 121 Servomotors 1-8 122 Servopacks. 1-9 Installation 2.1 Servomotors . Peers 2-2 211 Storage Temperature 2-2 212 Instalaion Ste 2-3 21 Augoment 2-3 21.4 Onertation 2-3 215 Allowable Shalt Loads 2-4 216 Handling Oi and Water 2-6 217 Cable Stess 2-6 2.2 Servopacks . eateries 2-7 221 Storage Conditions a7 222 Instalaton Ste 27 223 Onertation 2-8 224 Installavon 2-8 Wiring 3.1 Connecting to Peripheral Devices ..... 3-2 3814 Single-phase (100 V or 200 V) Main Circut Specticattons 33 3.1.2 Three-phase (200 V) Main Cxcut Spectications a4 3.2 Servopack Internal Block Diagrams ..... + 85 9.2.1 90 10 400 W 200-V and 20 0 200 W 100-V Models. 35 32.2 054 to 1 5 KW 200-V Models 36 329 20K t0.50 KW 200-V Models 36 3.24 6 OKW and7 5 KW 200-V Models 3733 Main Circuit Wiring 33.1 Names and Desenptions of Main Crreut Terminals 32 Typical Main Curcut Wing Example 3.33 Cable Spectications and Penpheral Devices 3.3.4 Servopack Power Losses 395 Winng Main Orcutt Terminal Blocks 3.4 VO Signal : 3.4.1 Examples of 0 Signal Connections 3.42 List of ON1 Termnals 3.433 VO Signal Names and Functions 3.44 Interface Creuts 3.5 Wiring Encoders 0.2... 06. eee wee 35 1 Connecting an Encoder (CN2) and Output Signals from the Servopack (CN) 352 CN2 Encoder Connector Terminsl Layout and Types 3.6 Examples of Standard Connections . 361 Single-phase Power Supply Specifications 362 Three-phase Power Supply Speattications 363 Position Control Mode 364 Speed Control Mode 365 Torque Control Mode 4 Trial Operation 4.1 Two-step Trial Operation . 411 Step 1 Tnal Operation for Servomotor without Load 412 Step 2 Tnal Operation with the Servomotar Connected to the Machine 4,2 Supplementary Information on Trial Operation . 42.1 Servorotore with Brakes 422 Postion Control by Host Controller 4.3 Minimum User Constants and Input Signals . 431 User Constants 432 Input Signals 5 _User Constant Settings and Functions 5.1 Settings According to Device Characteristics - 611 Switching Servomotor Rotation Direction 5.12 Setting the Overtravel Limit Function 5.13 Limiting Torques 514 Limiting Speed 3-8 39 3-10 3-10 aot 3-42 3-43 314 346 3.16 3-19 3-22 322 3.23 3-24 3-26 3.25 3-26 3-27 3-285.2 Settings According to Host Controller 5-15 521 Speed Reference 5418 522 Position Reference 5-17 5.23 Using the Encoder Signal Output 5-23 52.4 Sequence VO Signals 5-26 525 Using the Electronic Gear Function 5.28 526 Contact Input Speed Convio! 5-32 527 Using Torque Control 5-38 5.2.8 Torque Feedorward Function 544 529 Speed Feedforward Function 5-45, 52 10 Torque Limiting by Analog Voltage Reference, Function 1 5-46 52.11 Torque Limiting by Analog Voltage Reference, Function 2 5-47 5.212 Reference Pulse Inhibit Function (INHIBIT) 5-49 5.3 Setting Up the Servopack ....... see 5-50 5911 User Constants 5-50 532 JOG Speed 5-51 533 Input Crrcut Signal Allocation 5-51 5.34 Output Gruul Signal Allocation 5-57 53.5 Control Mode Selection 5-60 5.36 DC Power input 5-62 5.4 Setting Stop Functions ..... 541 Adjusting Offset 542 Using the Dynamic Brake 5.48 Using the Zero Clamp Function 544 Using the Holding Brake 5.5 Forming a Protective Sequence . 5-71 551 Using Servo Alarm and Alarm Code Outputs. 5-71 55.2 Using the Servo ON Input Signal 5-73 5533 Using the Posttioning Completed Output Signal 8-74 554 Speed Coincidence Output 5-75 585 Using the Running Output Signal 5-77 556 Using the Servo Ready Output Signal 5-78 57 Using the Warning Output Signal 5-79 558 Using the Near Output Signal 5-80 589 Handing Power Loss 5-82 5.6 Selecting a Regenerative Resistor .. ceeseeeeee 5-83 561 Extomal Regenerative Resistors 5-84 862 Calculating the Required Capacity of Regenerative Resistors 5-86 5.7 Absolute Encoders . cee 5-92 571 Interface Cricut 5-93 872 Selecting an Absolute Encoder 5-94 873 Handling Bettenes 5-04 57.4 Absolute Encoder Setup 5-95 575 Absolute Encoder Reception Sequence 5-97 576 Muliturn Lint Setting 5-1015.8 Special Wiring - ‘ 5-105 581 Wirng Procautions 5-105 5.82 Wiring for Noise Control $109 5.83 Using More Than One Servodnve 5-113 884 Extending Encoder Cables 5-114 585 400-V Power Supply Voltage: 5-116 5.86 DC Reactor for Harmonic Suppression 5-17 6 Servo Adjustment 6.1 Smooth Operation - : seeetssseeeees 62 61 1. Using the Soit Start Function 6-2 61.2 Smoothing 63 613 Adusting Gam 64 614 Adusting Offset 6-5 615 Setting the Torque Reference Filter Time Constant 65 616 Notch Fitter eg 6.2 High-speed Positioning .. 2. eee. cess sees cee ve 6-7 621 Setung Servo Gam 67 622 Using Foed-forward Control 68 623 Using Proportional Control 69 624 Setting Speed Bias 6-40 625 Using Mode Switch 6-11 626 Speed Feedback Compensation 644 627 Gan Crangng Function 6-16 6.3 Autotuning .. . Pees 631 Online Autoturing 632 Mactine Rigidity Settings for Online Autotuning 633 Saving Results of Oniine Autotuning 634 User Constants Related fo Onine Autotuning 3.28 64 Servo Gain Adjustments... 2. -ceceecccccsesseeseeseesee 6-27 641 Servo Gain User Constants 6.27 6.42 Basie Rules of Gain Aduustrent 6-27 643 Making Manual Adjustments 6-29 64.4 Gam Settng Reference Values 63 65 AnalogMonitor 2... ee see cee wee ee 6-35 7 Using the Digital Operator 7A Basic Operation. ... . . Beititea atnaosieadatte ee 711 Connecting the Digital Operator 72 712 Functions 73 713 Resetting Servo Alarms 7-4 714 Basic Mode Selection 75 715 Status Display Mode 75 7 16 Operation in User Constant Setting Mode 78 7.17 Operation in Monitor Mode 7Aa72 Applied Operation ...... ... - 7-19 721 Operation in Alarm Traceback Mode 7-20 722 Controlling Operation Through the Digital Operator 7-2 7.2 Automatic Adjustment of the Speed and Torque Reference Offset 7-23 7.24 Manual Adjustment of the Speed and Torque Reference Offset 7-26 7.25 Cleanng Alarm Traceback Data 7-30 7.26 Checking the Motor Mode! 7-32 7.27 Checking the Software Version 7-35 728 Ongin Search Mode 7-38 7.29 Inmalzing User Constant Settings 7-38 7.2.10 Manual Zero Adjustment and Gain Adjustment of Analog Monitor Output 7-40 7.2.11 Adusting the Motor Current Detection Offset 7-45 7.2.12 Password Setting (Wnte Prohibted Setting) 7-49 8 Ratings and Characteristics 8.1 Servomotors . EEE bee eel 8-2 811 Ratings. Specifications, and Dimensional Drawings Be 82 Servopacks ..... . . 821 Combined Specitcatons 824 822 Ratngs and Specihications 8-29 823 Dimensional Dravangs 8-98 9 Inspection, Maintenance, and Troubleshooting 9.1 Servodrive Inspection and Maintenance ........... 9-2 911 Servomotor inspection 92 912 Servopack inspection 93 91 3 Replacing Battery for Absolute Encoder 94 92 Troubleshooting ...... aie + 95 9.21 Troubleshooting Problems with Alarm Displays 9-5 9.22 Troubleshooting Problems wih No Alarm Display 931 923 Alarm Display Table 93 924 Warning Displays 9-35A Host Controller Connection Examples A.1 Connecting the GL-series MC20 Motion Module . A2 4.2 Connecting the CP-9200SH Servo Controller Module (SVA) .. A-3 A.3 Connecting the GL-series 82813 Positioning Modul Aa A.4 Connecting OMRON’s C500-NC222 Position Control U! AS AS Connecting OMRON's C500-NC112 Position Control Unit ..... AG A6 Connecting MITSUBISHI’s AD72 Positioning Unit .. AT A.7 Connecting MITSUBISHI's AD75 Positioning Unit . .. As B List of User Constants B.1 User Constants . B.2 B.2 Switches .... ..... B-6 B.3 Input Signal Selections B-tt B.4 Output Signal Selections ............... : BAs B.5 Auxiliary Functions . BAS B.6 Monitor Modes BG C Additional Functions for SGDM-CIDA (New Version) C.1 Additional Functions for SGDM-(iDA (New Version)Overview W About this Manual “This manual provides the following intormation for the E-It Series SGMCIH/SGDM Servodnives ‘© Procedures for stalling and warmg the Servomotor and Servopack . Procedures for tual operation of the Setvodnive Procedures for using functions and adjusting the Servodnives Procedures for using the built-in Panel Operator and the Hand-held Digital Operator ications for standard models Raungs and spe ‘© Procedures for maintenance and inspection M Related Manuals Refer to the following manuals as tequited Read this manual catelully to ensure the proper use of Z-II Series Servodrives Also, keep this manu- al ma safe place vo that 1 can be reletted to whenever necessary anual Name Manva Vumber Contents ENiSenes SCMCHISGDM —|SESHOOSIT | Describes the procedure used vo select Et User's Manuel Senes Servodrives and eapacites Servo Sclecwon and Data Sheets Tl Senes Servopack Personal _[SIE-SS00-35 | Descnbes the apphcatwons and operauon of Com puter Momonng Soltware software forthe Ell Series Servodnive mont- Operation Manual tonng devices for use on personal computers Tell Senex SGM—HSGDM | TO-S800-34 | Provides detailed mnformavon on the operé- Daatal Operator tuon of the JUSP-OPO2A-2 Digutal Operator, ‘Opetanon Manual which 1s an optional productUsing This Manual Intended Audience ‘This manual 1s intended forthe following users ©. Those designing E-II Series Servodeive systems © ‘Those mstalhing or wiring E-II Series Servudtives Those performing t1al operation or adjustments of E-IL Senes Servodrives . ‘Those maintaining oF inspecting E-ll Seutes Servodnives, ‘™ Description of Technical Terms In ths manual. the following terms are defined as follows ¢ Servomotor = E-l Series SGMAH SGMPH, SGMGH, SGMSH. or SGMDH Servomotor © Servopack = Z-lI Sertes SGDM Servopack © Servodrive = A set including a Servomotor and Servo Amphfier © Servo System = A servo control system that cludes the Combination of a Servodrive with a host computer and penpheral devices ; indication of Reverse Signals tals (ones that are valid when fow) are written with a forward In thiy manual. the names of reverse si slash (/) before the signal name. as shown in the following examples ° /S-ON © P-CONSafety Precaut ‘The following precautions ate for checkin products upon dehvery. installation. wiring, operation, manntenance and inspections. {Checking Products upon Delivery CEE EE EEE ES ee ee ee eb cere eee eer Seer eer 4 CAUTION '* Always use the Servomotor and Servopack in one of the spectied combinations [Not doing so may cause fie ot malfunction installation A, CAUTION ‘© Never use the products n an environment subject to water, corrosive gases, inflammable gases, ‘or combustibles Doing so may result n electri shock o sWirng 4 WARNING ‘© Connect the ground terminal to a class-3 ground (100 2 or less) [L_lmproper arounding may result tein shoe or re '* Do not connect a three-phase power supply tothe U, V, or W outpul terminals | Domgso wey snmp are «sone anmn ine paar sip wert ero rd eter uel lmaoOperation ! 2 WARNING ‘© Never touch any rotating motor pants while the motor 1s running Doing so may result m muy 4 CAUTION ‘© Conduct tra operation on the Servomotor alone with the motor shaft eieconnected from machin: to avoid any unexpected acaxdents Not doing so may result sn snyury © Botore starting operation with a machine connected. change the s | Constants ofthe machine Starting operation without matching the proper setangs may cause the machine to un ext of contol oF mal- tunetion Ings to match the user's ‘© Before starting operation with a machine connected, make sure that an emergency slop can be applied at any time Not doing so may’ result sn snyury '* Do not touch the heat sinks dunng operation Doing so may result burns due to high temperatures Maintenance and Inspection A, WARNING ‘# Never touch the inside of the Servopacks. Doing so may result 1m eletrc shou ‘© Do not remove the panel cover while the powers ON Doing so mav result in electric shock '* Do not touch terminals for five minutes after the power ts turned OFF Resdual vote ‘may cavse electric shook & CAUTION '* Do not disassemble the Servomotor Doing so may resulc mt elecine shock or myuty '* Do not attempt to change wining while the power 1s ON Doing so may result n elaine shock or nursGeneral Precautions Note the following to ensure safe application | The drawings presented in this manual are someumes shown without covers or protective guards Always replace the covel or protective guard as specified first. and then operate the ! products sn accordance with the manual ' “The drawings presented in this manual are typical evamples and may not match the product you received i ‘+ This manual 1s subyect to change due to product improvement. specificauon modification, and | manual improvement When this manual is revised. the manual code is updated and the new | manuals publshed as anextedtton The edition number appets onthe front an back covers ‘If the manual must be ordered due to loss or damage. form your nearest Yaskawa representa- uve or one of the offices listed on the back of this manual + Yaskawa will not take responsibilty tor the results of unauthorized modifications of this prod | uot Yaskawa shall not be hable for any damages or troubles resulung from unauthorized modifi cationayyChecking Products and Part Names ‘Ths chapter describes the procedure for checking products upon delivery as well as names for product parts 11 Checking 5-I! Senes Products on Delivery 1 - 114 Servomotors 112 Servopacks 12 Product Part Names it 1- 121 Servomotors 1.22 ServopacksChecking Products and Part Names 111 Servomotors 1.1 Checking 5-II Series Products on Delivery ‘The following procedure 1s used to check E-II Sentes products upon delivery Check the following tems when E-If Senes products are delivered ‘Check items Comments ‘Are the delivered products the ones | Check the model numbers marked on the nameplates | that were ordered? ofthe Servomotor and Servopack (Refer tothe de- scriptions of model numbers on fellowing pages) Does the Servomotor shaft rotate | The Servomotor shaft 1s normal if can be turned ‘smoothly? | smoothly by hand Servomotors wath brakes, however, cannot be turned manually a ils there any damage? | Cheek the overall appearance, and check for damage Jor scraiches tha may have occurred during shipping /Are there any loose screws? [Check screws for looseness using a screwdnver any of the above temsare faulty or incorrect, contact your Yaskawasalesrepresentative orthe deal er from whom you purchased the products, 1.1.1 Servomotors External Appearance and Nameplate Examples -—— Rated output ‘Servomotor med! ‘AC SERVO MOTOR ‘TYPE SGISH-DACATL Nem al Series Servomotor@ Model Numbers Standard Servomotors 1) Servomotor Capacity (See Table 1 1) 2) Supply Voltage * Theonly 100-V Servomotorsan the 2 kW oress [SGM AH and SGMPH Servomoies ' 43) Senal Encoder Speattcations (See Table 12) Table 11 Servomotor Capacity (kW) 3 End Speatteaton (Gee 30013 4) Deeg 9 Revision Order sous Set nscormen Seven Sees BE Be hnpeeuncees —— 8) Brake and 01 Seal Specitcatons vet vos oate Eee ‘Symbol | SGMAH SGNPH SGHGH | SGNSH] SGMDH | Symbol "SGMAH | SGMPH’ SGMGH | SGMSH [SGMDH= | 7” 3000 T3000] 1500 7 1000 | 3000, 7000 ‘3000 ‘3000 100" 1000 | 3000 2000 simi |_eimie | cima | mn | cn imi | tn cin nin | in| we ae os os BB [ oes = a te 0 ao ao for - fp. fe 22 oz o2 oz | - |= = = 30, = [= 29 730 30 = A | =e fae == aa [05 == a= 5 af = 06 06 = = Cae = = = so | - 08 == ss 08 ot tr (10 peor poe eee ee Pe eee eee eee Seta erect ae eee [ee ererieetin aera oa == rie - Toble 12 Senel Encoders Spesification ‘SGMPH [SGMGH [SGMSH SGMOH [Tost absolute encoder ‘Sandaat —— = = 2 [17-0 absolute encoder = = Standard | Sandan | Standard A__| 13-bit incremental encoder ‘Standard | Standard | = Ee | BB; 16-bit incremental encoder ‘Optional | Opuonal | — = = = emenal encoder Sandan Table 13 Axis End Specifications (Straight) Code | Specification ‘SOMAH [SGMPH |SGGH |SGMSH ~SGMDH 2 [Scag without key ‘Standard | Standard * Sandard_; Standard | Standard | 3 Taper 1/10, wah parallel Key ‘Opuional Optional | Optional 4, Suan with Key | Oniienat| Optional 5 | Taper 1710, wa wood Key ‘puonai_ | Opuonat : [Sra wit key and ap ‘Opienat | Opueral | Optional —Opona| Opmonal [Swag wath ap ‘Opuonal | Options : j ¥Checking Products and Part Names 111 Servomators Servomotors with Gears SGMPH-OTAAAG 1 2B | Sense Senomoer tone —! 8) Brake Specifications ‘Sour 8 Wena Seucn 8 Winzt voc tne Sous 7) Shaft End Speciicabons (seoTabi 18) 1) Servomotor Capacity (Seo Table 1 4) Ley ooar rato 60 Tone 17) 2) Sey Say oe ey * The only 100-V Servomotors are the 0 2 kW ar ese SMP Serene 0) era caer peceanre So Tob 15) 5) Gear Type (Soe Table 16) 44) Design Revision Orde i sous SEM 500 me) 8 SEK tr wanepootspeceaen) Table 1.4 Servomotor Capacity (kW) 7 Svmboi | Seman T sawen [sana | Sewsi_[Symbot “sawan_ | soweH [—sawon —T sawsi ‘3000 | 3000 1500 1000 3000 1 3000 ; 3000 1500 | 1000 ; 3000 min amin | rin rimin | rin {fin | rimin | rfmin | rfmin | fin as | 00 | - SF PEeSrer Perris retest eerste erie reece erst PASTE [Eto ost Eee te eee eet etc pene [erm eee = pie [20 720 apo fo |-)-]- ~)2 7 -. - )-][-—- 2 | 02 = P- p= [se [= = 2s [30 [30 | - See epee poe be [vac eee eee 04 oO Le P-L - 4] 05 = eas fe ara eo | - = =| 06 = 50 = = = -_, 50 Tos ow os [- - - s f s oo |= = [oso de 10 - Se 10 75 = = 7s) = =| 12 = = = 12 = : ep} - prt -] - : f Table 1 5. Senal Encoders Code ‘Specification ‘SGMAH | SGMPH | SGMGH | SGMSH | 1 [6bir abso encoder Standard] Standard [_— = 2 [T-b absolut encoder Standard Suandard A incremental encoder ‘Standard | - | B_Iebu wncremenual encoder Opuonad "= 7 c ‘meremental encoder = =| Standard | Standard111 Checking El St Table16 Gear Type Code Speciheation ‘SamaH | SGMPH | SGWGH | SGMSH ~@_|ADS planerylow-baash ear Sandal Sanda | td I |Sansard backlash ge Standard Standard! 8 _| wih toot T [Range Standard L_[IMt planetary Tow backlash gear Standard | Sindard Table 17 Gear Ratio (Varies with Gear Type) Code Specification ‘SGWAH SGMPH SGMGH SGMGH aie : Ls B_ [iors 6 yf 6 [| st [iat @i_[ or [st + fus iar | ~ 2 | c EEE LI ! 3 [i0er 10? d J | 8 [10 c c 7 [129 or Gi Gt Ls.™ Et fis Le | * Notall applicable models avarlable Table 1.8 Shaft End Specification (Varies with Gear Type ) Specification ‘SGHAHSGMPH | SGNGH | SGMSH Rosia Gi as | 2_[Sirsugnv wihou key Gi 671 [a |Stemgit wth key Gc) Gs T [76 | Straight wu Key and tap GJ GI aChecking Products and Part Names 112 Servapacks: 1.1.2 Servopacks External Appearance and Nameplate Examples = ‘Servopack model 7 ToT Fars go0-zs0}vars ¢-290 HOLS 207e|bease & Phage 978° IRAE 2s 9 BES tro [ete Sote0) 37 42808-1681 YASKAWA ELECTRIC MAGE TN JAPA SenalrunBer poorcobio capacty lSenes S6DM Applicable Senopace ower spb Model Numbers Ell Sones 'SGOM Servopack Maximum Applicable Servomotor Capacty —— (See Table 19) Supply Votage A 200V B 100v" * The only 100-V Servometors are the 02 KW or Jess SGMAH and SGMPH Servomoios 1 For torque, speed, and postion contol ‘Design Rewsion Order Blank, A.B. ote Optons. [R Rack mounted (5 kW or less) Duct ventiated (6 KW 0°75 KW only)11 Checking «Table 19 Maxmum Applicable | Capacity (kW) | Maximum Applicable | Capacity (nw) | Servomotor Capacity Servomotor Capecty Symbol ‘Symbol t a ae a He i AS 005 20 20 ot 10 3 30 02 T 020 50 30 04 040 60 60 i 35 090 7 ios f 08 O75 2 : i 70 TO = =‘Checking Products and Part Names 121 Sewomoors 1.2 Product Part Names ‘This section describes product part names 1.2.1 Servomotors Encoder Frame Flange Output shatt12 Product Part Names 1.2.2 Servopacks The figure below shows the part names for Servopacks Battery Holder Used to cus the backup batery for an ab- schie encoder ‘CNS Analog Monitor Connector i/o Used to montor motor speed, torque rer ‘once, and other values through a specal cable CNB Battery Connector ¥ Used to connect to the backup battary foran absolute encoder Panel Display ‘dg, 7-sagment LED uted to ceplay servo Sats, alarm sas, and other values wen User constants are mput Panel Keys Usod to set user constants Power ON Indicator LUghts when the control power supply 1s ON Charge Indicator Lghts when the main crcat power supply 5 ON and stays itas long as the mann crcut power ‘supply eapactor remans charged Therelore i do nol touch the Servopack even after the pow: ‘er supply is turned OFF ifthe ncheator es lt [| ons connector or Personal Computer Montonng i Used to communicate with a personal computer orto con- ‘ isa CNT VO Signal Connector Used for reference input signals and sequence VO L signals Nameplate Indicates the Sorvopack model and ratings [eres CN2 Encoder Connector ‘Connects tothe encoder nthe Servomator Ground Terminal ‘Must be connacted to protect against electncal shock Main Circut Power Supply Terminal Used for man exeut power supply put Control Power Supply Terminal ‘Connects to the control power supply and externally ‘meuntod regeneratve resstor ‘Servomotor Terminal ‘Conneets tothe Servomotor power ineInstallation ‘Ths chapter describes precautions for E-II Series Servomotor and Servo- pack installation 21 Servomotors .... Raed et He a 211 Storage Temperature 2-2 212 Instalaton Site 2-3 21 Algnment 2-3 21.4 Onentabon 2-3 215 Allowable Shaft Loads 2-4 2.16 Handling Oil and Water 2-6 217 Cable Stross, 2-6 22 Servopacks 2-7 221 Storage Conditions a7 222 Installation Ste 2-7 223 Onentation 2-8 224 Installation 2-8Instatlation 2.1 Servomotors SGMCIH Servomotors can be installed enther horizontally or vertically The service life of the Servomotor will be shortened or unexpected problems will occur ifthe Servo- ‘motor is installed incorrectly or in an inappropriate location Always observe the following installa- tuon instructions 4 CAUTION © Donot connect the Servomotor directly toa commer- ‘ial powerline This will damage the Servomotor ‘The Servomotor cannot operate without the proper Servo: pack IMPORTANT Proc fo Installation ‘The end of the motor shafts coated with antcorrosive pasnt Thoroughly remove the p ‘ened wath thinner prior to installation Avoid getung thinner on other parts ofthe Servomotor when cleaning the shaft 2.1.1 Storage Temperature ‘Store the Servomotor within the following temperature range if sts stored wath the power cable disconnected -20 10 60°C21 Senomotors —_—— 2.1.2 Installation Site SGM(H Servomotors are designed for indoor use Install the Servomotor in environments that ‘satisfy the following conditions ‘© Free of corrosive or explosive gases (© Well-venulated and free of dust and morsture (© Ambient temperature of 0 10 40°C © Relative humudity of 20 to 80% with no condensation ‘© Facilitates inspection and cleaning E 2.1.3 Alignment ‘Alig the shaft of the Servomotor with the shaft of the equipment, and then couple the shafts Install the Servomotor so that slignment accuracy falls within the following range Measure ths distance at four dforent positons on the crcumfarence The ciference between the ‘maximum and rnimum measurements must be 0 G3 mm (0.0012 in) or ess (Turn together with ouping ) =r Measure this distance at four dflerent posttons on the crcumiorence The ference between the maxamum and marumum measurements Must be (003 mm (20012 in) ores (Turn together with couping ) FIMPORTANT] * Vibration that wall damage the Bearings will occur the shafts are not property aligned + Do not allow direct mpact to be applied to the shafts when installing the coupling Otherwise the en- ‘coder mounted on the opposite end ol the shaft may be damaged 2.1.4 Orientation SGMUIH Servomotors can be installed either horizontally or verticallyInstallation 215 Allowable Shaft Loads 2.1.5 Allowable Shaft Loads Design the mechanical system so thrust and radial loads applied to the Servomotor shaftend dur- ang operation falls within the ranges shown in the Table 2 1 ‘The allowable radial load inthe table 1s the maximum load allowed on the end of the output shaft Table 21 Allowable Radial and Thrust Loads for the Servomotor j Servomotor Model ' Allowable Radial | Allowable Thrust LR | Reference Losd* | Load mm | Diagram Fr IN (bm) FeIN (bq)! (inch) SGMAR- AB Bis, ui) | 2 AS 52) | Sa) | 0) i of 78075) $42 14) : 2 245 551) 741668) | 3 04 245 (55.1) 74.06.63) (098) 2D 147 30) 3 | ! (138) [SaMPH- OF 77S waiG 20 ' on “ j a Cr ae rrr cy 245 55) 681529) | 098) | Li n' 08 392 (881) 4730 | S| se 15 #2001) | 4730) | (138) | SGMGH- O5ACIA | 490.110) 98 (220) se 1S U OsACA | s80cii0) 98220) | 2281 : SAGA | 686 (154) MAT) : BOALIA | 11762643) 490.110) 3 goaca | uname [soul 0m | MATA 14706308) 29010) | T5ASA 17643965) se (132) | 445) i Thrust and radial loads fr ‘Thrust load (Fs) Shaft-end load applied parallel to the centerline of the shaft + Rahal load (Fr Shaf-end load applied pempendiculartothecenesine oftheshat | seryemotor Fe Shalt endServomotor Mode! | Allowable Radiel Allowable Thrust | LA | Reference load"; Lond mm | Diagram | FrIN(by] =| FSIN(bt) | (inch) | "SGNGH- GADB_| ~~ woUIi0) G20) 3s ; ‘ 6a | «90 (110) 980220) | 228) : wean | so cis | 3,071) | ¥2a0I8 | 11762643) 280 (110) | 78 moans | 1470G304) | 490110) en | 30 1470,6304) O10) | crs 1764 3965) | see 32) | 13 wo “GOA=B 1764 6965) see 032) | 45) mi SGN ok wos 1 wows! | —fh 1 158 686 (154) 196 (44 I) (77) | ~ Fs : 208 686 (154) 196 (441) {) | : 30. 980 (220) en | 8 U | 40a 1176 (2643) 392 (88 1) (248) 50A. 1176 2643) 392 63) SGMDH: 72a 1176 58 3) 0110) | 32k 1176 (264 3) 490 (110) 17) 404 1176 2683) 450110) | 65 a6) 28Installation ee 217 Cable Stress 2.1.6 Handling Oil and Water Install a protective cover over the Servomotor if 118 used in a location that is subject to water or oil mist Also use @ Servomotor with an oil seal to seal the through shaft secon Install the Servomotor with the connector facing down ‘Through shaft section 2.1.7 Cable Stress Make sure there are no bends or tenston on the power lines Be especially careful to wire signal line cables so that they are not subyect to stress because the core wares are very thin at only 0 2 10.0 3 mm (0 0079 to.0 012m) 4 Through sectons ofthe shat ‘Ths refers tothe gap where the daft proudes fom the end of the motor 2622 Servopacks 2.2 Servopacks “The SGDM Servopacksare base-mounted servoamps Incorrect mstallation will cause problems Al- ways observe the mstallation instructions below 2.2.1 Storage Conditions ‘Store the Servopack within the following temperature range 1f 1s stored with the power cable disconnected ce EF ll Sones SGDM Servopack 2.2.2 Installation Site ‘Take the following precautions at the installation site Situation Installation Precaution 1 [EEE ES SEER See ree See Installation in a Control | Design the control panel size, unt layout, and cooling method so the Panel ‘temperature around the Servopack does not exceed 55°C Installation Near a ‘Manumize heat radiated from the heating urut as well as any tempera- Heating Unit ture se caused by natural convection so the temperature around the ‘Servopack does not exceed 55°C ! Installation Near a Install a vibration ssolator beneath the Servopack to avoid subjecting. | ‘Source of Vibration —_ st to vibraton Installation at a Site | Corrosive gas does not have an immedhate effect on the Servopack, Exposed to Corrosive but will eventually cause electronic components and contactor related Gas devices to malfunction Take appropriate action to avoid corrosive ats [other Situations: | Do not install the Servopack in hot and humid Locations os locations subyect to excessive dust or ron powder inthe ait 27Installation 224 instalation 2.2.3 Orientation Install the Servopack perpendicular to the wall 2s shown in the figure The Servopack must be oriented this way because st 1s designed to be cooled by natural convecuon or cooling fan ‘Secure the Servopack using? to 4 mounting holes The number of holes depends on the capacity 2.2.4 Installat Follow the procedure below to install multiple Scrvopacks side by side in a control panel UPN ARMAS | sonmesromn oS co ae) 50 men (1 87 9) min 30 mmf (1 181m) mn _ 10 mm (0:39 in) mn Servopack Orient: Install the Servopack perpendicular tothe wall so the front panel containing connectors faces ‘outward @ Cooling ‘As shown inthe figure above, allow sufficient space around each Servopack for cooling by cool- ing fans oF natural convection Side-by-side Installation ‘When installing Servopacks side by side as shown 1n the figure above, allow at least 10 mm (0.39 in) between and a leat 50mm (1 97 1n) above and below each Servopack Install cooling fans above the Servopacks toavoid excessive temperature rise and to maintain even temperature snside the control panel 23822 Servopacks Environmental Conditions in the Control Panel © Ambient Temperature Oto SS°C © Humidity 90% RH or less © Vibration. 05G (49 mis?) © Condensation and Freezing None © Ambient Temperature for Long-term Reliability 45°C max 29Wiring ‘This chapter describes the procedure used to connect E-II Senies products to peripheral devices and gives typical examples of main curewit winng as, well as VO signal connections 31 32 33 3.4 35 3.6 Connecting to Peripheral Devices 3111 Single-phase (100 V oF 200 V) Main Crcut ‘Spectications 312 Threo-phase (200 V) Mam Circut Specticatons Servopack Intemal Block Diagrams 3.21 30 to 400 W 200-V and 30 to 200 W 100-V Models 322 OSKWto 1 SKW 200-V Models 323 2OKW 1050 KW 200-V Models 324 GOKW and7 5 KW 200-V Models Main Circuit Winng ....... 3831 Names and Desenptions of Main Circut Terminals 332 Typical Man Grout Winng Example 3.33 Cable Specitcations and Peripheral Devices 334 Servopack Power Losses 335 Winng Main Circutt Terminal Blocks VO Signals REECE ater 3.41 Examples of lO Signal Connections 342 List of CN1 Terminals 3.43 UO Signal Names and Funevons 3.44 interlace Creute Wiring Encoders ..... ; 351 Connecting an Encoder (CN2) and Output Signals {tom the Servopack (CN) 352 CN2 Encoder Connector Terminal Layout and Types Examples of Standard Connections 361 Single-phase Power Supply Specifications 362 Three-phase Power Supply Speciications 363 Posttion Control Mode 364 Speed Control Mode 365 Torque Control Mode But3.1 Connecting to Peripheral Devices ‘This secon provides examples of standard E-II Series product connections to penpheral devices I also briefly explains how to connect each peripheral device3.1 Connecong to Peripheral Dewees 3.1.1 Single-phase (100 V or 200 V) Main Circuit Specifications ioe Se SSthroter essen cad) MEWOCONLI20 GL120 trevantren Hoa Molded-case Circuit F (CCB) Nose Filter aso amen eerie Cana nae J2SP-CNSD 003 Magnetic Contactor seas Power Supply for Brak Regenerative Resistor ‘easortoiomrae Ohara e (Beregenerin copcty mlWinng ‘312 Trvee-phase (200 V) Man Crcull Specticatons 3.1.2 Three-phase (200 V) Main Circuit Specifications i “Gevae ha SGOM Serene 9a Hoot car ‘emsencrmen oon em Digtal Operator JUS onan Notse Fitter Cate ntl JSP SE 609 Magnetic Contactor isewe Suan Regenerative Resistor tng apap afte tna age ests Inatcar nexe awe bean Beans nt aetna32 Servopack internal Block Diagrams 3.2 Servopack Internal Block Diagrams ‘The following sections show internal block diagrams of the Servopacks 3.2.1 30 to 400 W 200-V and 30 to 200 W 100-V Models + The power supply voltage 1 100 118 VEE ($0160 He) forthe 30 10 200 W 100-V modelsWiring "323 2OKWIO5 OKW 200 Models 3.2.2 0.5 kW to 1.5 kW 200-V Models:32 Sorvopack intemal Block Diagrams 3.2.4 6.0 kW and 7.5 kW 200-V Models arene rcaWinng 3.3 Main Circuit Wiring This section shows typical examples of main circust wiring for E-I1 Senes servo products. functions ‘of main circuit terminals, and the power ON sequence Observe the following precautions when wiring. 4) CAUTION \ ‘© Donotbundie orrun power and signatlines ogetherinthe same duct Keep power and signallines separated by atleast 30 em (11 81 n) © Use twsted-pair wires or mult-core shielded-paur wires for signal and encoder (PG) feedback ines © Donottouch the power terminals for S minutes after tuming power OFF because high voltage may Stil remain in the Servopack Make sue the charge indicator 1s out frst before starting an inspection ‘© Avoid frequently turning power ON and OFF Do not turn power ON or OFF more than once per minute nce the Servopack has a capacrior inthe power supply. a high charging current flows for 02 seconds | ‘when power sturned ON Frequently turning power ON and OFF causes main power devices ike capact- | (ors and fuses to deterorate, resulting in unexpected problems I 383.3.1 Names and Descriptions of Main 33 Man Oircut Winng cuit Terminals Table 3 1 gives the names and a description of main carcutt terminals Table 3.1. Main Circurt Names and Description. Terminal Name Description Symbol i 1H, t20r [Mancrout ACmpu |30W10200W [Single-phase 1000 115 V 710%, -I5€ (50/60 Hz) | 14, £2, U8 terminal 30W 19 400W _Simgle;phase 2000 230 V #10, -15% (50/60 12) jos KW t07SKW —Three-phase 200 to 230 V #0, -13% (50/60 Hz) ; 1UV,W_[Servomotor connection | Connects tothe Servomotor ' exmunal Jive, t2e [Conor power mputier |30W1200W | Single-phase 10010 115 V +108, 9% (50/60 112) ronal 30Ww75KW [Single-phase 200 0 230 v +1, 15% (50/60 Hz) : © Ground terminal ‘Connects o the power supply ground ermunals and movor ground wera 1 \2places) 1 [51,62 [extemal regenerauvere- “30W 10 00W | Normally not connected 1 or stor tera Bibel ee [Connect an extemal generate resistor (proved by custom ia : 2 erween BI and B21 the regenerauve eapeciy 1s insu ren, j j ote No B3 temminal JOS kW to 50KW Normally shor 82 and B3 Foran internal regenerative res5- to) ' Remove the wire between B2 and B3 and connect an extemal regeneranve rensor (provided by customer between BI and ! ! 2 sf the capac ofthe internal regenerate wessiorisnsafi- | i creat B1,B2 extemal regeneraure se- [60KW,75KW | Connect an extemal regenerative rettor (provided by custom jor stor terminal ceoybetween terminals BI and B2 Refer to 5 6 Selecting a Re- BI, Ba, 83 generative Resistor for details : Note No B3 termunal @1,@2 __DCreactorerminalcon- | Normally shor i and @2 eo fo power ery couemesse sgn POET Sup ON wave need connect DC aemonie wave cOUET: | east berween I and @2 | measure | Note ‘These terminals do not eis on Servopacks wih a caput of 6 KW o: higher le am eeu plus term | Normally not connected | | ie | Nate Ths terminals on Seropzcks wha capac of KW argh ony i 3 ‘Mian eeu manus te | Normally wot connected : rnal ” 38Wiring 333 peciications and Pensheral Devices: uit Wiring Example 3.3.2 Typical Main ‘The following figure shows a typical example of main circuxt wiring 2 woos os my Fotmesemecen || nw pea Rage | | wmofe tt we Get IE | IMCCB: Molded-case circurt breaker (for the inverter) 1Ry Relay 1PL: Indicator lamp 1SUP Surge suppressor 1D: Flywheel diode FIL, Noise filter MC Magnetic Contactor 1H Designing a Power ON Sequence [Note the foliowing points when designing the power ON sequence 1 Design the power ON sequence so that power 1s turned OFF when a servo alarm signal 1 output (See the eircut figure above ) (© Hold the power ON button for atleast wo seconds ‘The Servopack will outputa servo alarm signal for two seconds or less when power is turned ON This required in order to autalize the Servopack Powersupply ——— 20 smax ‘Servo alarm (ALM) output signal 3.3.3 Cable Specifications and Peripheral Devices Refer to the SGM—H/SGDM User's Manual Servo Selection and Dara Sheers (Manual No SIE-$800-31 1)33 Main Greut Wing 3.3.4 Servopack Power Losses Table 3 2 shows Servopack power losses atthe rated output, Table 3.2 Servopack Power Losses at Rated Output ‘Main | Maximum | Servopack Model | Output ‘Main ‘Regenerative | Control | Total Applicable ‘Current Circurt Resistor Circurt Power ‘Servomotor (Effective | Power PowerLoss | Power Loss: Supply | Capacity Value) | Loss tw | Loss m ew) oy ™ i) | Fe BEE CeeE eee LEP CEE ‘Single- 003 ous 31 3 161 phase — 200, 005 /sGDM-AsaD,-asapa| 06s 46 6 010 [sGDs-o1aD.-o1aDA | 091 67 | 197 (020 jsGbM02aD, 02aba | 21 BS 23 | | 040 |sGDv-o4AD,-osapa | 28 20 33 Three- 050 [SGDvL0saD..osapa | 38 2 we 5 st phase — 200v 075 [SGDv-o8aD. gaDA | 57 a oe 10 SGDM-10AD. -10ADA 76 7 5S 82, SADA | 6 | 123 we 182 SGDM-20aD,-204DA | 185 | 120 2a 3) 30 [SGDV-30AD.-304DA | 248 155 198 50 |scps-soaDa_ 329 240 567 3 1 60 |SGDM-60ADA_ 469 | 200 as 27 317 75 |saps-7saba 347 330 357 | ‘Single- 003 |scDw-asBp,-asBDa| 066 | 35 er PEeE Hera eeee tes phase | pe foov 003 [SGDM-ASBD,-ASBDA | 095 32 182 oi |scovorp.oppa | 28 | 12 | i 25 {02 |scp-omp.-ompa [30 | 16a a +1. Servopacks witha capactty of 3010-400 W do not have builtin regenerative resistors IFe regeneraive energy exceeds the spectfied value, connect an external regenerative resistor Refer to $6 2 Calculating the Required Capacity of Regenerauve Resistors * 2. Regenerative resistor power losses are allowable losses Take the following actin af this value 1s exceeded Remove the lead from the internal regenerative resistor inthe Servopack Install an external regenerauve resistor * 3. Anexternal regenerauive resistor must be connected to Servopacks with a capacity of 6 ORW or higher The fol- Towing Regenerative Resistor Unis are provided for this purpose For the SGDM-GOADA_IUSP-RAO4 (allowable loss. 180 W) For the SGDM-7SADA_JUSP.RAOS (allowable loss 350W) ‘Note Extemal Regenerauve Resistor Unts are optional Refer to 5.6 Selectg a Regeneratwe Resistor for details onWinng "33.5 Winng Man Orcut Terminal Blocks 3.3.5 Wiring Main Circuit Terminal Blocks ‘Observe the following precautions when wiring main circuit terminal blocks 4 CAUTION '@ Remove the terminal block from the Servopack por to winng i '# Ingo only one ware per terminal on the terminal block '* Make sure that the core wire 1s not electrically shorted to adjacent core wires { '* Reconnect any wits that were accidentally pulled out Servopacks with acapacity below 1 5 kW will have connector-type terminal blocks for matn e1r= ‘cuit terminals Follow the procedure below when connecting to the terminal block @ Connection Procedure 1. Strip the end of the ware ae 1 1 — 89mm 03119035) 2 Open the wire terminal on the terminal block housing (plug) with the tool using the proce- dure shown in Fig Aor B «Insert the hook end of the provided tool into the slot as shown mn Fig A Press on the lever end to open the wire terminal Use a standard flatblade serewdniver (blade width of 3 0 to 3 5 mm (0 12t00 141n)) Put the blade into the slot. as shown in Fig_B. and press down firmly to open the ware terminal Enther the procedure shown in Fig A or B can be used to open the wire insert penung Fg A = Fig B 3. Insert the ware core into the opening and then close the opening by releasing the lever or re- moving the screwdnver Preparing the End of the Wire ‘Wire can be used simply by stripping back the outer coating The following are applicable wire © Single wire 20510 16mm © Braided wre AWG2B10 AWGI2 a234 VO Signals 3.4 VO Signals ‘Thus section describes VO signals for the SGDM ServopackWinng ‘341 Examples 10 Signal Connections 3.4.1 Examples of I/O Signal Connections ‘The following diagram shows a typical example of VO signal connections. ‘SGOM Servopack ar patrnca peed me meee 42 to410 Virated = stage 20VDC Torque reference Cadet dala! abt PULS Pus|y te (3) 2) Rep SIGN MW 7 ‘cow Freda = sro] q (=) Ree} seas Position POOL Applicable line recerver roerence rool si7s175 or M3486 Seon co} sauvalent Open-collector FLT Peo) rhornce powerscppyy 2 co TRIBE reo Area setae ton re PSO Senal data output axes Aypcable ie recover Powis” ie FT snrsi7s ormcases a tranche by Toho caunaler SEN sara opt? Seno on Sono ON wren ON) P cont (cont when OW) MCwP. Speed canedence detection UCONN) (ON when speed concdes) Reverse run prohibited eon) Pe a (Prohbied when OFF) N-CMP- Positoning completes (ON 7 > WCOIN-} when positioning ts completed) Forward un prohibited (Prohibited when OFF) (TGON+ TGON output (ON atlevale above he sting) ‘laren reset ‘TGON- (esol when ON) {SADY* Servo ready output s ro {ON whon ready) everse current i ISAO Servo alarm output {Lt when ON) ‘Aue (OEE ora sate Forward curent mt ‘Aue Photocoupier output mt when Maxamum oparatng voltage eee ony 30VDC_ F6 connect shold 1 oun oparatngcurent connector shat 1. ge represents sted: pr wires * 3. connect when wing a absolute encoder * 2. The ume constant forthe primary filers 47 ys * A. Used only wath an absolute encoder 33.4 VO Signals 3.4.2 List of CN1 Terminals The following diagram shows the layout and specifications of CNI terminals ™@ CN1 Terminal Layout 1 Ise GND 26 WV-CMP- [Speed comer | JACOIN) | dence dees Te Ten ; STH AGONS [TCOW anal ‘von ouput | | | Op joupa De TARGON -TGON signal { i tor reference - name i output @|SEN | SEN sgnat power supply [29 /SRDY+ [Servo realy | input output 3 |VREF —]Reteence i 30 JERDY | Seve weady 6 [SG {GND speed input [37 TALM+ | Servo alarm jowput 7 |PULS: Reference cee 32 ALM. Servo alarm: 8 [PULS Reference [pulse mput 53] PAO PG vnded ‘output [pulse input output { ! 9 PREF [Torque veer aha [34 PAO" PC araded lence input output ‘ [tose joo TRO |PGawided “phe | ' cut t i TT 1SIGN [Reference Biphae 36 FBO | PG ated ‘ ' laigninpue | output 12 |/SIGN | Reference i 1 37) ALOL Alarm code 1 B-phase I symbol mput 173 “pL2“Open-collee- es [38 [AL02 [Alarm code tor ference i ouput ia [(CLR | Clear snpar toners [AEN oie 15 ICLR : f 40 |/S-ON | Servo ON ie - i | aT [POON | Popeaion put | i lneaeeHese EES put i] ROT | Foard over 18 PLS ‘Open-collec- | a3 [NOT | Reverse over Uwavel input i joe reference teavel pur |_| | power supply [19 [PCO [PG anndea Ge 7ALN [Alarm ese t output jest | mpa | 20'PCO | PG divided | C-phase [45 | /P-CL ‘Forward cur- i |outpa ! "ren imat ON | i | cophase 21 BATCH) |Batery : put fa |IN-CL [Reverse eure | cet : rent mit ON Banery a7 sa Ever pa input By = _[Pewer net "Save wa ca =a [35 [0es0 | S-phase nat output : [25 |V-CMIPs | Speed comer. output sof = conse | ence dete: ‘ton output i Note 1. Do not use unused termunals for relays 2, Connect the shield ofthe VO signal cable tothe connector shell ‘Conneetto the FG (frame ground) at the Servopackend connector ausWinng EE ‘345 VO Signal Names and Functions | CN1 Specifications |” Specifications for ‘Applicable Receptactes, | Servopack — Bae [___ Connectors Solder Type Case Manufacturer | y0250-52a2uL or 10150-3000VE. 10350-52A0-008 Manufactured by Su- Equivalent 50-p stoma 3M Co Right Angle Plug i ! 3.4.3 VO Signal Names and Functions ‘The following secuon descnbes Servopack VO signal names and functions @ Input Signals [7 SignalName —) Pino | Function Refer- | i ! I | ence {Common [/S-ON | a0 | Servo ON Tuas ON ie senomotor wi de gue Deskin ieinvencrinre | S52 teased TP-CON | a1 Funcuonsleciod wa wer constant 371 Saat ‘Proporional operauion | Switches the speed cantcol loop from PI (proportonal/ | 521 i reernce ra) 10 Ppropomonl) conta whe ON | Drection teense [With eral eeence sped selected Swishesthe | 526 ! rection of raion i i “Conralmods wnchng | Posen spend a7 Consol + orque | Enables contol mode swchng i Torque € speed | I | Zero-clamp reference | Speed control with zero-clamp function Reference 343 i | speed 1s zero when ON i : ference pales Hock [Poston consol wah ference pulse tp Sipe eis | S212 cae pulse pat when ON BTA ]Forward Ron poked ]Overtavel probed SiopsServemuror when mov.” | 312 NOT 1 3 [avrscRonpotbney [SHERI aNeI beyond the alow ange of mon [Poe 45. [* Function selected vra user constant = NCL 46 | Forward current limit ON | Current limi funetion used when ON 513 Reverse cuenta ON intemal ped swichng | Wa imal welecace qed eecied Swichesthe | 326 ane sera seed setmgs 7AM [Alarm reset Releases the servo alarm state gst ‘RST : 24VIN | 47 Conta power supply put for sequence agnals Users mast pode waa! SS power supply | Allowable voltage fluctuation range 11 to 25 V | SEN | 412) |Inua da reqes signal when using an abyolute encoder fi | BAT (+) a Connecting pin for the absolute encoder backup battery 1523 1 BAT(-) | 22 Speed |V-AEF | 56) Speadveteence speed npat 2210210 Whated sear sped Unput gan can be | SPT modified using @user constant ) 3634 VO Signals ‘Signal Name |PinNo | Function Retor- | ence Torque T-REF 9 (10) | Torque reference input +1 to +10 W/rated motor torque (Input gain can be modi- $27 is fied using a parameter) i Position | PULS 7 | Corresponds to reference pulse input [input mode 322 (Reference |/PULS 8 | ie, + Code + pulse sinng | : i ypen-< tor + Two-phase pulse (90° phase dif- ! ferent | im | 15 Bor couner dear Caste ero courier dung postion coma 33 cur | ia | Pui 3 [HRV palrap power supply when POLS, SIGN and CLR ference nga we 1322 i pL2 | 13 lepemcullectoroupus (#12 power suply bu nto the Servopack) i ps | j Note 1. The functions allocated to /S-ON. /P-CON P-OT, N-OT./ALM-RST, /P-CL, and /N-CL input signals can bbe changed via user constants (See 533 Input Cicuut Signal Allocation ) 2. Pin auribersm parenthesis (nate signa grounds 3 The voltage mp ange for speed and torge references maximum of 12 V Output Signals Signal Name | Pin No | Funetion Refer- i ence Common | ALM+ 31 Servoalarm Tums OFF when an error is detected 351 Vaum- | 32 MTGON+ | 27 | Detecnon dunng Servomotor rotaion Detects whether the Servomotor is rotating | $55 jATGON- 28 | ata speed higher than the motor speed setting Motor speed detection can be set e-npy | 29 |Servoready ONsf there no servo alarm when the conroVmain crcun power | 556 | i+ 30 | supply sstamed ON | is-RDY | | a | | [PAC | 33(1) |Aphase signal [Converted two-phase pulse (A and B phate) encoder ouput | $23 yPAQ | 34 B phase sugnal signal and ongin pulse (C phasc) signal RS-422 or the PBO 35 e 7 equivalent P80 | 36 |Cphase signal i pco | 19 i i eco | 20 | i J PSO; 48 [Sphasesignal With an absolute encoder Outputs seral data corresponding | 523 i jpso 8 tothe number of revolutions (RS-422 or equivalent) JaLot | 37 ‘Alarmcode upur Outputs bx alarm codes 351 |atoz 38 1 | Ato | ashy. Ope-olstor 30 V and 20 mA rang maximum | i i | FG Shell | Connected to Frame ground i the shcid wire ofthe VO signal cable is connected ! [othe conectr shellWinng '343 UO Signal Names and Functons [Signa name — Pin No. Function ] Reter- [Speed [7v-cMP | 25 | Speed coincidence (output in Speed Control Mode) Detects whether the motor | $54 26 | speeds within the setting range and if 1 matches the reference speed value 'v-cup Position |/COIN+ | 25 | Postuomng completed (ourput n Postion Control Made) Tums ON when the 553 /COIN- | 26 | number of error pulses reaches the value set The settings the number of error | pulses set m reference umts (input pulse units defined by the electronic gear) Not used 16 [ise omns weno ed > — ca 17 natant assess | x nr i [Note 1. Pin aursbers in parenthesis (indies signal rounds 22 The functions allocated to TGON, /S-RDY, and/V-CMP (COIN) canbe changed via wer constants CLT IVCT /BK. ‘ANARN, and (NEAR sigals can also be changed (See 5-4 Ouspur Circa Signal llocanon)3.4 VO Signals 3.4.4 Interface Circuits ‘This secon shows examples of Servopack VO signal connection to the host controller @ Interface for Reference Input Circuits Analog Input Circuit ‘Analog signals are either speed or torque reference signals at the impedance below «© Reference speed mput About 14 KO © Reference torque input. About 14 k&2 ‘The maximum allowable voltages for put signals 1s £12 V Servopack wey Reference Position Input Circuit An output circurt for the reference pulse and error counter clear signal atthe host controller can be enther line-driver or open-collector outputs These are shown below by type © Line-driver Output Host ‘Servopack end controler end, 1g00 A 7K Applicable line-daver '8N75174 manuiactured by Tior te oquvalont 28V S (Hlovel)- (Lieve) = 37V ‘© Open-collector Output, Example 1 Power Supply Provided by User Host contater end Servopack end goa 47K Ven15t018V Use the examples below to set pull-up resistor RI so the mput current, falls between 7 and ISmA ‘Application Examples. i a2ata wha Vecot [I= 1MadaVecafiaV [R= DA wba VecoISV aise Ie BeWing ‘346 Intertace Grouts © Open-collector Output, Example 2 Using 12-V Power Supply Built nto Servopack ‘Thus cxrcurt uses the 12-V power supply built nto the Servopack The put is not insulated sn this ease Host ‘Servopack ond eee Lt. PL2, PLS temmnals, 42V 15Vmax when ON, Sequence Input Circuit Interface ‘The sequence mput circuit interface connects through a relay or open-collector transistor eireuit Select a low-current relay otherwise a faulty contact wall result ‘Servoamp Output Circuit Interfaces Any of the following three types of Servopack output erreusts can be used Form an inputenrcutt at the host controller that matches one of these types © Connectng to a Line-driver Output Circuit Encoder sermal data converted to two-phase (A and B phase) pulse output signals (PAO, /PAO, PBO, /PBO). origin pulse signals (PCO, /PCO) and S phase rotation signals (PCO, 7PCO) are output via line-driver output circuits that normally comprise the position control system at the host controller Connect the line-driver output circut through a line receiver cnrcutt atthe host eontrotler See 3 5 Wing 10 an Encoder for connection circurt examples,34 VO Signals © Connecting to an Open-collector Output Cireutt ‘Alarm code signals are output from open-collector transistor output cireuits Connect an open-collector output circus through a photocoupler, relay or line receiver cir cut stoz4voe eee — F allowable voltage and current cape hes for open-collevtoroutpet eeu area follows Voltage 30 VDC max Current 20 mA DC max © Connecting to a Photocoupler Output Circuit Photocoupler output circuits are used for servo alarm, servo ready, and other sequence out- put signal emrcunts Connect a photocoupler output circuit through a relay or line receiver errcutt a ste24Y00 pany — ste 1gv0e ‘Sorvopack: eae ‘Servopack end L__, mf mt r [Note The maximum allowable voltage and current capacines fr photocouple output acu ares allows ‘ollage 30 VDC max Current 301m DC max 321winng ‘35 1 Connecting an Encoder (CN2) and Output Signals from the Servopack (ONT) 3.5 Wiring Encoders The following sections describe the procedure for wiring a Servopack to the encoder 3.5.1 Connecting an Encoder (CN2) and Output Signals from the Servopack (CN1) ‘The following diagrams show wiring for incremental and absolute encoders Incremental Encoders Ouiput ine-daver 7 Appicable line, SMPSAL Stor mandated He ee by ore eau | 1) Sites | 1 | inantocuea tt peace A | at .Corvacter shel we Conner i Af svat T marr oa) ™@ Absolute Encoders Absolute encoder 1 Quoutne-civer 1 SN7SALSiO4 manulatros ps 1 by Thora cavalo i 21 ne 1 pee Fy 1 | Shere gi tel pa ty Sen sv ates Di [1 786 1 csnenf She Lf er (Costonerendy Prepresets twisted pan wires a235 Winng Encoders 3.5.2 CN2 Encoder Connector Terminal Layout and Types ‘The following tables describe CN2 connector ‘ermanal layout and types @ CN2 Connector Terminal Layout Tr Joasv Jc power supply 2]PGOV [PG poner supply ! asv ov SS Tear [emery a }aare [ame lee | Foran absolue encoder) (Foran absolure encoder) SPS PG sonal agnal input © |S [Po senal signal put @ CN2 Connector Models Servopack ‘Applicable Plug (or Socket) Connectors | ___ 1 Soldered Relay —-‘Soldered Relay Manufacturer Plug i Plug | (Servopack (Servomotor Connector) | Connector) 53460-0611 53100-0600 54280-0600 Molex Japan Co , Lid Note I. FA1394sthe product number forthe Servopack-end plug andthe Servorno- torend socket set from Molex Japan Co, Lid 2 The Servomotor-end relay socket connects tothe encoder connector forthe SGMAHL and SGMPH Servomotor 3 Thefollowing encoder connectors are forthe SGMGH, SGMSHand SGMDH Servo- Leshoped plug M83108820.298 oF Siruga—M53106820298 (Cable clamp 53057-1241 Encoder cables are available trom Yaskawa Sec the datasheets below for move detals on the cables «+ Refer to EI Series SGMOH/SGDM User's Manual Servo Selection and Data Sheets (Manual No SIE-S800.31 1)Wining ‘36 1 Singlesphase Power Supply Specticatons 3.6 Examples of Standard Connections The following diagrams show examples of standard Servopack connections by specifications and type of control 3.6.1 Single-phase Power Supply Specifications Sagieghuse 0016 209VAC LSP a Sagas 001015 VAE =a oer ‘Boker Be suotostachs cage appreciate oieiton (a nae coraceranaeliy ‘SGDM Servopack Retr ones 2b =I0Viaes mot eet Tornoe 2 zi eee sre 10Vieeamotrose NManmum cperaig suet owe ‘ P79) pang ae cet sh yo] Armia oe mer Bh pas] shs75 orcas mar tse Nebo tormeenan Poo, 19) rey feast nen 72) pemetonnc so) Shs wach Pomonmtence | Cun cap taney 20104002 sen serainpu? ry-yre See cone dace dvcion ‘S40 ON wth FY ON * treuel itangn sone core Pom we 28y0N ee Srenmeers TOON sceneupst FTCON- (oN atowl above seta) FRO sane rnsy oso aces 3/08 2} sA0- SOnyewn aah ene aan nt OW wInGy ON re cs Js Ferwaacvventinw Owen 70 4S Proce ouput (ezine tary * LP eepesens ested par wes 3. Connect when usingan absolte encoder (S0@A00 * 2. Theme constant forthe prmary filters 47 us * 4, Used only with an absolute encoder a43.6 Examples of Standard Connactons 3.6.2 Three-phase Power Supply Specifications Tysongse 20010 290VAC = Bae Retrerce ped Sonivinawme EF fo Sensor rot? canon y08 nt wey ON epeggg teams ven ‘rm nn 6708 Fe ate neh ON anwar cor int ON wh 7 ON © 1. P represents twisted-par wires 2 The ame constant for he pamary her 47 1s * 3 Connect when usng an absolute encoder Comat wi ono et * 4, Used only wut an absolute encoder Besaretoatacna se npn tone ection ‘alo bemageec concer aay Becwe 9 ara Feeney Ee Peavtng arouse Doped rs ener SRISITS or MOHD manta Weaoy There oan Salsa aoe ote ra oe smeaaied iy Tete a soxacirenacton ‘ugves (Shaneraentenese es, Tree {(orcmrntenn eosin tov ose (ata vf sate ‘pov Seo ey ost {omen eny) Aue Sane am ott (orrervanatm Praca ct ==> * 5, Connectan extemal egeneratve resistor between ermt- als BI and B2 -Servopacks wit capacity of60kW orhugher (Theretsnotermnal B3 on these Servopacks )ad ‘winng "363 Posivon Control Mode 3.6.3 Position Control Mode acco) Bb ‘eon inane’ ‘oles we pose t= sews Pestunmieene | | ope sates er eke sensgraeru? Serr ON wes #60 sre ee Petes we US oat Sh ” TP ea aewescnetimoine yor RES EE remevareincon verso LEB BCL wet aE acter seems tommee 77" AO) ro oweng abo cupy re0| Merleslle ceva ‘SSS area manne Seedy Terie saa ene ‘sq | APzAC ab Ine “acer” 86) curss75 or mC2450 one Screen TSO TGOM sat Toe (ON nat above esata) * LBP represents tsed-par wes * 2. connect when using an absolute encoder 3. Used only wah an absolue encoder * 8, Set wa wer constant 3.26 * 4, Connectaneweral regeneraveresistorbe- ‘ween temnals BI and B2 for Servopacks thacapacny of 6 ORW oc higher (Theres ‘0 terminal B3 on these Servopacks ) (OFF Winans =— et) |3.6.4 Speed Control Mode oooh wee 5 Poteence pone B00 Vind metre ‘orem tesan Sev oa nee? ‘sev ON mE 1 ON corral ath 2Fy ON Pier ease nn pone-asart WS eee ‘a tw Ay ON eveten cut imtON wi SFY ON Fear curt et ON why ON 1 tPrepresents wised-par wires ** 2. The ume constant for ihe pray fer 47 us * 3. Connect when wing an absolute encoder * 4, Used only with an absoluce encoder ‘S@DM Servopack 36 Examples of Standard Connections Manerum coaegcurene Brave 78 crore feces See sari! concen 0 snow al Setsse ten Sereda out pete raat 8a Surserscemcoees inane by Torte 210uPs Sosesconadre doaton ov cwe- (ON wen specs cones) GON ON atv above me sng) SOY Sen rey oat .80%- (Overton * 5. Serva. user constant * 6 Connect an exenal regeneranve reastor be- ‘ween ermnals Band B2 for Servopacks with capacity of 6 0 kW or higher (Theres nots ‘anal B3 on these Servopacks ) a7 Ae Sexgalom oss Aue (OFF nar oan) | Protooule eps savor somnoe =nWing 365 Torque Control mode 3.6.5 Torque Control Mode Sa ‘wees Ser spod conet ® Tere rence asap ater 2800 ra sacha spe specs totha wetcen orci suger analy ‘he Sree se Mawrarapestogvotaze) le [els ee | Peon ton ag, Apcibe ioc! PEO eN7stS or CARE ante tes ae su sq) Aro t 8 pase rtton SO} Sava oo oxi Su7stre once Spuncsoustoapa's (GVaie4 specs ren se0o8 Seno ON win 17 ON P crete Prpanratcora BR Peel Toons Farad ponerse wr Pieoren Fania rn nd wets um nw 38 08 eve a nt OW wth iy ON Fara int ON 9 7808 /RGON- (OWallee stove me Seg) a] SOV Sev hey ont /efoy. (ONvwnenseay) Seno as ont 91 te represens twisted wires 2. The ume constant forthe pemary fiers 47 ps * 3, Connect when using an absolute encoder 4, Used only wah an absolute encoder Ih (OFF enansam) oot ees Pract ovpat L__£) cwnsooon J acum pastg toe 6 move eee este Maxum cpaeg cine 5. set auser constant tonne * 6, Set wa user constant * 7. Conectan extemal regenerate resistor bexween term nals BI and B2 or Servopacks wih acapacty of 6 KW orhugher (Theres notermunal B3 on these Servopacks )Trial Operation ‘This chapter describes atwo-step tna operation Be sure to complete step 1 before proceeding to step 2 41 Two-step Thal Operation ........... 4-2 411 Step 1 Thal Operation for Servomotor without Load 43 412 Step 2 Thal Operation with the Servomotor Connected to the Machine 4-9 4.2. Supplementary Information on Tal Operation eens 4-10 421 Servomotors with Brakes 4-10 4.22 Position Control by Hast Controllor an 4.3 Minimum User Constants and Input Signals 4 - 12 431 User Constants 4-12 492 Input Signals 4-13‘Tnal Operation ——eE 4.1 Two-step Trial Operation Make sure that all wiring 1s completed prior to starting tral operation Perform the tral operatzon inthe order given below (step 1 and 2) for your safety Seo J and 1 2 for more detauls on the inal operation Step 1: Trial Operation for Servomotor without Load Make sure the Servomotor is wired properly and then turn the shaft prior to connecting the Servomotor to the equipment Do not connect to the equipment Step 2: Trial Operation with the Equipment and Servomotor Connected Adjust the Servomotor according to equipment charactenstics, connect the Servomotor to the equipment, and perform the trial operation ‘Adjust speed by auttuning SGMOH * 7 peat Servomctor Servopack Ly : Connect tothe equipment4.1 Two>step Thal Operation 4.1.1 Step 1: Trial Operation for Servomotor without Load : 4 CAUTION ‘© Do not operate the Servomotor while is connected to the equipment ‘To prevent aceidents, rally perform step 1 where the tral operation 1s conducted under no-load cond tuons (with all couplings and belts disconnected) Tn step 1, make sure thatthe Servomotor 1s wired properly as shown below Incorrect wing 1s ‘generally the reason why Servomotors fall to operate properly during inal operation © Check main power supply circuit wining, © Check Servomotor wiring © Check CNJ VO signal wiring. “Make sure the host controller and other adjustments are completed as much as possible in step | (prior to connecting the Servomotor to equipment) r Donot connect the equipment IMPORTANT] Check the tems on the following pages in the order given during the Servomotor tn operation See 42 I Servomotors wth Brakes if you are using a Servomotor wath brakes‘Tnal Operation “$11 Step Tnal Operaton for Servomotor wihout Load A. Secure the Servomotor Secure the mounting plate ofthe Sorvomotor tothe equipment Do not connect anythng tothe shatt (90-08 conattons) ‘Secure the Servomotor mounting plate to the equipment in order to prevent the Servomotor from moving during operation 2. Check the wiring Disconnect the CNT ‘connector Disconnect the CNI connector and check Servomotor wiring in the power supply circuit NI VO signals are not used, so leave the connector disconnected 3. Turn ON power Ale) Erle) Seite =] AFL “Turn ON Servopack power If the Servopack has turned ON normally, the LED display on the front panel of the Servopack will appear as shown above Power 1s not supplied to the ‘Servomotor because the servo 1s OFF Iran alarm display appears on the LED indicator as shown above. the power supply circurt, ‘Servomotor wiring. oF encoder wiring 1s incorrect In this case. turn OFF power and take appropriate action See 9 2 Troubleshoonng an absolute encoder is used. must be set up Refer to 5 74 Absolute Encoder Serup 444.1 Twostep Thal Operation 4. Operate with Panel Operator Panel Operator Operate the Servomotor using the Panel Operator Check to see ifthe Servomotor runs nor- mally See 7 2.2 Operation Using the Digual Operator for more details on the procedure 5. Connect the signal lines Nt connector Use the following procedure to connect the CNI connector a) Turn OFF power 1b) Connect the CN1 connector © Tum ON power again 6 Check the mmput signals ‘Check mput signal wiring in Monitor Mode using the Panel Operator See 7 1 7 Operation 1m Momuor Mode for more details on the procedure ‘Tum ON and OFF cach signal line to sec ifthe LED monitor bit display on the panel changes as shown below Input exgnal LED ctsplay 7 Top ights when OFF (hgh evel) 4 Bottom ughts whon ON (ow leva) aunts rece mot SENTral Operation ‘411 Step 1 Toal Operation for Servomotor without Load Input Signal Status LED Display | OFF (high level) Top LED indicators ight (ON dow ievel) Botom LED indicators ight | IMPORTANT] The Servomotor wall not operate properly the following signal hnes are not wared correctly Shor the signal lunes they will net be used The input signal selecwons (user constants PaSOA fo Pn5OD) can be used toelum- nate the need for external short cxreuting. en Eee ignal Symbol | Connector Pin No. Desenption Por eN-42 -The Servomotor can rotate am the forward direction when Uns signal ne 1s low (0 V) | NOT NIB The Servomotor can rotate 1m the reverse direction when + chs signal Ine 1s tow (OV) N10 The Servomotar is tured ON when this signal Ine 1s low (0 V) Leave the Servornotor OFF cNIAT Control power supply terminal for sequence signals. GREED an escite enoser bmg usd the servo wl noun ON when be sere Osea (0%) pa ness the SEN signal also ON When the SEN signals checked in momtor mode, the top ofthe LED wal ight becaus the SEN signa high when ON 7. Turn ON the servo Servopack * ‘Servomotor #2 lowe FO tne : Turns ON the servo Turn ON the servo using the following procedure 1. Make sure there are no reference signals mput ‘+ Set V-REF (CNIS) and T-REF (CN1-9) to 0 V for speed and torque control ‘+ Set PULS (CNI-7) and SIGN (CNI-11) to low for position control 2. Turn ON the servo ON signal Display wth the servo ON Set /$-ON (CN1-40) 10.0 V If normal, the Servomotor wall turn ON and the LED indicator ‘on the front panel wall display as shown above Ifan alarm display appears, ake appropriate action as descnbed in 9 2 Troubleshooting 4641. Two-step Thal Operation ————$—<< ee EE e——e——e—eem theres norse m the reference voltage for speed control the ~" onthe left of the 7-segment LED may Mash IMPORTANT] MI Operating Using Reference Input “The operating procedure here depends on the user constant setungs (control mode selection at ‘memory suiteh Pn00O 1) Use the following procedure for operations with speed and position control Operating Procedure in Speed Control Mode: Set Pn000.1 to 0 ‘Standard speed control seiting 1s described here ‘Servopack Servometor VBE yyy CO (ont ‘ : ‘Servomotor rotates at @ speed proportonal tothereterence wotage = v 1, Gradually increase the reference speed mput (V-REF, CN1-5) voltage The Servomotor will rotate 2. Check the following stems in Monitor Mode See 7 J 7 Operation im Momtor Mode ‘un000 | Actual motor speed ‘Un0o1 ference speed ee eee © Has the reference speed been input? ‘+ Is the motor speed as designed? ‘* Does the reference speed coincide the actual motor speed? ‘© Does the Servomotor stop when the speed reference 1s 0” 3. Ifthe Servomotor rotates at extremely slow speed wnh 0 V specified forthe reference volt age, correct the reference offset value as described in 7 2 3 Automatic Adjustment of Speed cand Torque Reference Offset ot 7 24 Manual Adjustment of Speed and Torque Reference Offset 4, Reset the user constants showa below (o change the motor speed or direction of rotation [rose Sets the reference spe=d input gain | See 52 1 Speed Reference Pno00 0 " Selects the rotation ditection [See 5 1 1 Swutching Servomotor Rotation I Direction‘Tnal Operation — ‘411 Stop 1 Thal Operaton for Servomotor without Load Operating Procedure in Position Control Mode: Set Pn000.1 to 1 1. Set the user constant Pn200 0 so the reference pulse form 1s the same as the host controller ‘output form Selecting the reference pulse form See 5 2 2 Position Reference 2. Input a slow speed pulse from the host controller and execute low-speed operation iene | PuLs| nis Fase? ‘Senvomotor 3, Check the following stems in Monitor Mode See 7 J 7 Operation in Monttor Mode ‘unooo ‘Actual motor speed unoo7 Reference pulse speed display unoo8 Position offset ‘+ Has the reference pulse been input? ‘© Isthe motor speed as designed? '* Does the reference speed con de with the actual motor speed? ‘* Does the Servomotor stop when the speed reference 18 0? 4, Reset the user constants shown below to change the motor speed or direction of rotation Pn202, Pn203. | Plectronie gear rao Direction See 5 25 Using the Electronte Gear Function P00 0 Selects the direction of rotation PEE ' See 5 11 Swutching Servomoior Rotation fan alarm occurs or the Servomotor fails o operate during the above operation, CN! connector ‘wining s incorrect oruser constantsettingsdo natmatch the host controller speeifications Check the wiring and review the user constant setungs, then repeat step 1 Ce eee + Listof Alarms See 92 3 Alarm Display Table + Listot User Constants See Appendix B Last of User Constants4.1.2. Step 2: Trial Operation with the Servomotor Connected to the Macl 4 WARNING ‘* Follow the procedure below for step-2 operation precisely as gwen Malfunctons that occur alter the Servomotor 1s connected tothe equipment not only damage the cquip- ‘ment, but may also cause an acewent resulting death or myury Before proceeding to step 2, repeat step 1 (Servomotor tral operation without a load) until you are fully sausfied that all tems including user constants and wiring have been tested completely After step 1 has been completed, proceed to step 2 for tnal operation with the Servomotor con- nected tothe equipment The purpose of step 21s toadjust the Servopack according toequipment charactenisties (© Use autotuning to match the Servopack to equipment characteristics © Check the final control form ‘sGoM Servomotor Servopack Lt Conrectto the machine Follow the procedures below to perform the trial operation 1, Make sure power ts OFF 2. Connect the Servomotor to the equipment See 2 J Servomotors for more details on connecting the Servomotor 3. Use autotuning to match the Servopack. to equipment characterisucs See 6 3 Autotuning 4. Operate the Servomotor by reference input Asin step | (Servomotor tral operation with no-load), execute operation by reference input asdesenbed in ¢ 1 Step Servomotor Tral Operation Tune to match the host controller at this ume as well 5. Set and record user settings ‘Set user constants as required and record all setungs for use later in maintenance (GEE Me Severn arte woken completely dunn het petaion Thertre tte system or a sulin! amount of adévonl time ensure tat propery broken in 49‘Tnal Operation 421 Servomotors wih Br 4.2 Supplementary Information on Trial Operation Always refer to this information before starting tral operation mn the following instances © 421 Servomotor with Brakes © 422 Position Contal by Host Controller 4.2.1 Servomotors with Brakes Use Servomotors with brakes for vertical shaft applications or when external force s applied to the shaft to prevent the shaft from rotating due to gravity or external force when power 1s lost ‘The Servopack uses the brake interlock output (/BK) signal to control holding brake operation, when using Servomotors with brakes 1 Venza Sha 1 Shaft with Extemal Force Applied Servomotor S Holding brake Extemal ‘Servomotor_ Prevents the ibued 1] See ea rotating 00 to gravy IMPORTANT] 70 prevent faulty operanon due to gravily or external force, make sure thatthe Servomotor and holding brake ‘operate normally with the Servornotor disconnected from the equipment When both of them operate normally, connect the servomotor to the equipment to stat ral operation ‘The following figure shows wiring for a Servomotor with brakes See 5-4 4 Using the Holding Brake for details on wiring Power supply Trree-phase 200 ae L123 Magnee Contactor Single-phase + ot a (sovoc) Brake contol lay Brake power supply LPDE-1HOI (100-V mput) LPSE-2H01 (200-V input) $10‘42 Supplementary information on Taal Operation If position control from the host controller has not been confirmed, disconnect the Servomotor from the equipment and perform a tra operation, otherwise the Servomotor may run out of con- {rol Check Servomotor operation as described inthe following table Reterence —e28, [scom Host Sonopack nO) cone “nal operation for “Speod conta Savomotor wihout load Positon contro! “Reference trom | Check item / Check Method | Review Items | the Host j ' : Controller JOG Operation |Moior speed [Check motor speed as fol- | Check the user constant set~ lows tung at Pn300 to see frefer- (Constant Reference + Usethe speed monor [20°F SPeed Baim is conrect ‘Speed Input (Un000) on the Pane! from Host Operator : sontroller) Run the Servomotor at low | . speed Input a reference speed of 60 ¢/min for ex ample to check to see if the Servomotor makes one | revolution per second simple No of motor [Input a reference equivalent [Check the user constant se Positioning | otatons to one Servomotor rotation ting st Pn201 to see ifthe {and visually check to see f number of dividing pulses [ie sare makes one revoli- cores TOvertravel —|Whetherthe | Check (o see the Servomo. | Review P-OT and NOT wir- H Servomotor _torstops when P-OT and fing ifthe Servomotor does H{P-OT and NOT Used) [98 olaung_—|-OTsrgnals are nput during "no stopTnal Operation Tat User Constants 4.3 Minimum User Constants and Input Signals ‘This secuion describes the minimum user constants and input signals required for tral operation 4.3.1 User Constants See 7 1 6 Operation in User Constant Sertng Mode for more details on setting user constants, ‘Turn OFF power once after changing any user constant except Pn300 ‘The change will be valid when power 1s turned ON agaun Basic Parameters Pn0001 [Function Selection Basic Switches Control Method Selection See 53.5 Speed Control [Pns0oo Speed Reference Input Gain See S21 i Pn201 | PG Divider See 523 Position Control Pn2000 Reference Pulse Form See522 jE . Pn203- | Electrome Gear Rauo (Denominator) See 525 Changing Servomotor Rotation Direction “The wiring may be incorrect the specified direction of rotation differs from the actual direction ‘of rotation Recheck the wiring and correct if necessary. Use the following user constant to re- verse the direction of rotation Pn0000 —/Funcuon Selecuon Baste Swiiches. Direction Selection Sees IT4.3.2. Input Signals Refer to the relevant page for details on cach input signal Input signal sctection settings through user constants can be used to climate the nced for exter- nal short circunts Signal Name Pin Deserption Number | 1S-ON Servo ON (eN1-40 | See 552 for more details on turing ON end OFF the | ‘Servomotor POT — Forward run —[CN1-42 | See 5 / 2 for more details on the overtavel mut switch j prohibited ‘ NOT Reverse run |CNI-43 | prohibited |User Constant Settings and Functions This chaprer descstbes the procedure for setting and applying userconstants 51 Settings According to Device Characteristics. 5-4 5.11 Switching Servomotor Rotation Direction 54 5 12 Setting the Overtravel Limit Function 55 513 Limiting Torques 5-9 514 Limiting Speed 5.13 5 2 Settings According to Host Controller 5-15 521 Speed Reference 5418 522 Poston Reference 847 523 Using the Encoder Signal Output 5-23 524 Sequence VO Signals 5-26 525 Using the Electronic Gear Function 5-28 526 Contact Input Speed Control 5-32 527 Using Torque Controt 5-38 528 Torque Feed-forward Function 5-48 529 Speed Feec-torward Function 5-45 52 10 Torque Limiting by Analog Voltage Reference. Function 1 5-48 5211 Torque Limting by Analog Voltage Reference, Function 2 5-47 52 12 Relerence Pulse Inhibit Function (INHIBIT) 5-49 53 Setting Up the Servopack . §-50 531 User Constants 5-50 592 JOG Speed 5-51 533 Input Circut Signal Allocation 5-51User Constant Settings and Functions ee 5.8.4 Output Cxcut Signal Allocation 5-57 5.85 Contol Mode Selection 5-0 5.96 DC Power Input 5-62 54 Setting Stop Functions 5-63 5.41 Adusting Offset 6 5.42 Using the Dynamme Brake 64 5.49 Usng the Zero Clamp Function 65 5.44 Usng the Holding Breke or 55 Forming a Protective Sequence . 5-71 5511 Using Servo Alarm and Alarm Code Outputs 571 55.2 Using the Servo ON Input Signal 573 55 Using the Positioning Completed Output Signal 5-74 554 Speed Comeidence Output 5-75 5.5 Using the Running Output Signal 57 56 Using the Servo Ready Output Signal 5-78 5.57 Using the Warning Output Signal 3-79 5.58 Using the Near Output Signal 5-80 559 Handing Power Loss 5-02 56 Selecting a Regenerative Resistor 5-83 561 External Regenerative Resistors 5-84 5.62 Calculating the Requred Capacty of Regenerative Resistors 5-85 57 Absolute Encoders 5-92 571 Interface Cucut 5.93 572 Selecting an Absolute Encodor 5.94 573 Handling Battenes 5-94 574 Absolute Encoder Setup 5-95 1575 Absolute Encoder Reception Sequence 5.97 57.6 Multturn Lint Setting 5-101 58 Special Wiring 5-105 5.81 Winng Precautions 5-105 58.2 Wirng for Noise Control 5-109 589 Using More Than Ono Senvodnve 5.413 5.84 Extending Encoder Cables sad 5.85 400.V Power Supply Voltage 5-116 5 86 DC Reactor for Harmonie Suppression S.i7I Before Reading t! Chapter ‘This chapter describes the use of each CN1 connector 1/0 signals in the SGDM Servopack as well as the procedure for setting the related user constants for the mtended purposes ‘The following sections can be used as references for ths chapter © List of CNI /O signals See 34 3 1/0 Signal Names and Functions © CNI WO signal terminal layout See 342 List of CNI Terminals © List of user constants Appendix Appendix B List of User Constants © User constant setting procedure 7 1 6 Operation in User Constant Setting Mode ‘The CNI connector 1s used to exchange signals with the host controller and external eircurts User Constant Configurations User constants are comprised ofthe types shown m the following table See Appendix B List of User Constants Type User Constant No. Description | Function Selection |Pn000 to Pn003 | Selee baste and apliation funcuons suchas the Constants {iype of conto rte stop rode used when an {alarm occurs [ServoGainand —"Pn100to PmIt8 Set numencal values such as speed and positon Other Constants loop gains Position Control Pr200toPn205 Set postion contol parameters such asthe refer ‘Constants ! ence plse nput form and pear rato ‘Speed Control |Pn300t0 Pr308 | Set speed conirol parameters such as speed refer. | Constants ence input gain and soft start deceleration ume Torque Control | Pn400to R407 | Se vorque contol parameters such asthe vorgue Constants reference input gain and forward/reverse trae | Jamas Sequence Tpns00t0 Pns10 | Set ouput conduons for all sequence signals and Constants changes VO signal selecuons and allocauons Others | Pn600 to Pné01 | Specity the capocny for an extemal egeneratve resistor and reserved constants | ‘Auniliary Function |Fr000to Fn012 | Execute sary functions suchas JOG Mode | Execution operation i Monitor Modes Un000t0 UNOOD Enable speed and torque reference monmtonng, as ‘wel a momoning to check whether WO signals are ON or OFFUser Constant Settings and Functions ee 51 1 Swiching Servemoter Rotation Dwecton 5.1 Settings According to Device Characteristics ‘This section describes the procedure for setung user constants according to the dimensions and per~ formance of the equipment used 5.1.1 Switching Servomotor Rotation Direction “The Servopack has a Reverse Rotation Mode that reverses the direction of Servomotor rotation ‘without rewiring Forward rotation mn the standard setting 1s defined as counterclockwise as ‘viewed from the load ‘With the Reverse Rotation Mode. the direction of Servomotor rotation can be reversed without changing other items The direction (+, —-) of shaft motuon 1s reversed Standard Setting Reverse Rotation Mode Forward cen FneOder Output j ew Encoder output i Reference St womBerepcx [ator seropace AO {phase A) PAO (phase A) g_ RR | (q— “anne ' " PB0 iphase 8) PRO {phase B) Reverse | ex Ennoder output Encoder output Reference | |X tom seropack 5 onserpek PAO (phase A) PAO (phase A) | g— nant fg nnn BO (phase 8) BO (phase 8) Il Setting Reverse Rotation Mode Use user constant Pn000 0 'Pn000.0 [Direction Selection Factory | Speed/Torque Setting: | Control, Position Control I ° i Use the following settings to select the direction of Servomotor rotation Deseniption Forward rotation 1s defined as counterclockwise | (Standard sextng) (CCW) rotation as viewed from the load 1 Forward rotation is defined as clockwise (CW) | (Reverse Rotation ‘| rotation as viewed from the load Mode) fe cS) [C3]5.1 Settings According to Deuce Charactonstcs 5.1.2 Setting the Overtravel Limit Function ‘The overttavel limit tunction forces movable equipment parts to stop if they exceed the allow= able range ol mowon Using the Overtravel Function ‘Touse the overiavelfuncion connect the overttavel lm switch mapa signal terminals shown below to the correct pins of the Servopack CN connector Bras ed Forward Run Prohibited 'Speed/Torque (Forward Overtravo!) eonmek i Position Control rrr) Reverse Run Prohibited [Speed/Torque | Control, eee rere Position Control , ‘Connect limit switches as shorn below to prevent damage to the devices during linear motion Hi Se une = Dave status with an input signal ON o: OFF 1s shown in the following table Por CAPEalowlee! Fora oman loved Normal opvon sus [nen O8 CAFS2argh lee) [Fowaiun phd soene oan alone shen OFF wer CRiaiarowlocl” Revs aan alowed Norn enon sans 1 Shenk ; [eXi8ahghimer Rescue pc odin sone Ves OF CIMPORTANT, Lag pulses are maintained a the overvavel tnuon stops the motor at position contrel_A clear signals re= IMPORTANT, (quired to clear lag pulsesUser Constant Settings and Functions 512 Seting the Overvavel Lint Funcion @ Enabling/Disabling Input Signals Set the following uscr constants to specify whether input signals are used for overtravel or not ‘The factory setting is “used” Tocg0a)Tpoy Snel Nano FON Pns0a3 |P-OT Signal Mapping (Forward Run [Specdrtorque i | Prohibit input Signal) Setting: | Control, | 7 Position Control Pn§0BO |N-OT Signal Mapping (Reverse Run | Factory Speed/Torque Prohibit Input Signal) Setting Control, 7 Position Control Sorvopack conte (eon) ‘The short-ereut wing shown in the figure can be ‘omited wnen P-OT and N-OT are nt sed ones won) ov [User Constant Ht PneOAS 2 ‘Uses the P-OT input signal for probrbitng forward (actory setng) {rotation (Forward rotation 1s prohibited when CNI-42 5 open and is ollowed when CNI-42 15 a0 | yy 3 Does not use the P-OT input signal for probibrang {forward rotation (Forward rotation 1s always allowed | sn has the same effect as shorting CX}-82100V) | Pns0B 0 Uses the K-OT mput signal for prohibiang reverse (Factory stung) jrotaion (Reverse rotation s prohibrted when CNI-43 | | sopen ands allowed when CNI-43isQ0V) + 8 "Does not use the R-OT mpat signal for prohibaing reverse rotauon (Reverse rotation is always allowed [and has the same effect as shornng CNI-43 100 V) § Servomotor Stop Mode for P-OT and N-OT Input Signals Set the following user constants to specify the Servomotor Slop Mode when P-OT and N-OT ‘input signals are used Specify the Servomotor Stop Mode when ether ofthe following signals is mpput during Servo- motor operation © Forward run prohibited input (P-OT,CN1-42) ‘© Reverse run prohibited input (N-OT.CNI-43) 36| Pn0ot 1 ‘Overtravel Stop Mode 51 Settings According to Device Charactenstics ‘Aterstoppng —Pn001 + seting Poot 10 Coast ]_y g status Zero clamp] —> 1 [coast statu] —» 2 FFor torque control, the servomotor willbe placed in coast status after ether decelerating or coasting toa stop (according to the stop mode set 1n PrOD1 0), regardless of the setting of PnOO! 1 User Constant Setting ten Pn001t 0 Stops the Servomotor the same wa | servo OFF (according to Pn001 0) y as turning the I Decco e Sevommorio 3 rorgeon ten lk te Sem Nise “Torque setting Prd0s emergency 1p atthe preset otor in Zero Clamp | stop torque Tocque seiting Pr§06 emergency Decelerates the Servomotor toa stop atthe preset torque, and puts the Servomotor m coast status stop torque ward or reverse rotation 1s used Pn406 specifies the stop torque applied for overtravel when the input signal for prohibiting for- ‘The torque limit is specified as a percentage of rated torque Pndo6 Emergency Stop Torque Unit | Setting Factory a | Range | Setting otoMax. | 800 Torque Valid when Pn001.t 191 or 2 Forward ran prohibit input P-OT (CNI-42) Z ‘Stop by dynamic brake otf Goasttoa sop, prohibit input N-OT (CNT-49) LJ _{Dessierte oa atop Max torque soting for an ‘emergency stop ProsUser Constant Settings and Functions ———E—EE '51 2 Seting the Overtravel Lint Function @ Servo OFF Stop Mode Selection ‘The SGDM Servopack tums OFF under the following conditions «Servo ON input signal (/S-ON, CN1-40) 1s turned OFF ‘© Servo alarm occurs «¢ Powers tumed OFF Specify the Stop Mode af any of these occurs during operation, Pn06i 0 [Serve OFF or Alarm Siop Mode Factory = | Setting: | ! o = Stop ase Merson 10-0 0 [TaETT] The marc brake olecrcaly apples a 2 secon] Brak by vain ares fo consume a Sovomsor ator energy _- [eam] S404 20000 me rae ae briov0-2 caatonmas }- [conan User Constant | __Setting tem Pnooi 9 ° Uses the dynamic brake to sop te Servomotoe. and ' (Factory seting) | manuins dynamic brake sas afer topping, 1 Uses the dynamic brake to stop the Servomotor, and | cancels dynamic brake stats afer stopping 1 g0 0 coast tats j 2 "Coass ite Servomotar toa sop The Servomotrs turned OFF and stops due to equipment fiction Note Ifthe Servomotor is stopped or rotating at extremely low speed when the tems above are set at 0 (dynamic brake statu after stopping with the dynam brake), then braking power 1s not generated and the Servomotor will stop the same as sn coast status se5.1.3 Limiting Torques > ‘The SGDM Servopack limits torques as follows 51 Settings According to Douce Charactenstics ——— © Level | Limits maximum output torque to protect the equipment or workpiece © Level2 Limits torque after the Servomotor moves the equipment to a specified posttion (in- ternal torque lumst) © Level 3 Always lamas output torque rather than spoed © Level 4 Switches between speed and torque mit Application of levels 1 and 2 1n the torque limit function are described below Setting Level 1: Internal Torque Limits ‘Maximum torque 1s limited co the values set in the following user constants ['Praoa [Forward Torque Limit | Unit Setting | Factory SpeedTorque 1 % Rang | Setting: ‘Control, | { otosoo | exo [Potion contol | Pra03 [Reverse Torque Limit | Unt | Setting Factory |Speed/Torque x | Range: . Setting: |Control, : oro800 | soo | Petition Controt lumut is reached + cL $03 + Monitor Mode (Uin006) Condon that outputs a CLT signal 'PnSOFO allocates an output terminal from SO! to SEE EEE The torque lumuts are specified as a percentage of the rated torque ‘The following signals are output by the torque limit function ‘This user constant sets the maximum torque lumuts for forward and reverse rotation Use this user constant when torque must be limited due to equipment conditions ‘The torque Inmut function always monitors torque and outputs the signals below when the [torque mats set ugher than the maximum torque ofthe Servomotor, the maximum torque ofthe Servomotor Application Example Equipment Protection Motor speed Terque it 39 “Too small a torque lit val esultin a imsufcient torque dunng acceleration and. ‘decelerationUser Constant Settings and Functions 313 Liming Torques Using /CLT Signal eet pau = Photocoupler output ~ een ae feo ee aed (ise ei ‘per output 50 mA DC r ‘Speed/Torque Control, Position Controt [Torque Limit Output ‘This signal indicates whether Servomotor output torque (current) 1s being hited ON Status The circunt between Servomotor output torque 1s being lamated CNI-*1 and #21 closed eee ea es amema torque references greater than the int et [sno OFF Status The circutt between ‘Servomotor output torque 1s not being limited (N1-*1 and *2 1s closed Cel ato egal | toternal torque references es than the lt sing} Settings Pn402 (Forward Torque Limit) Pn403 (Reverse Torque Limit) Pnd0d (Forward External Torque Lirmt) /P-CL input only Pn405 (Reverse External Torque Limit) /N-CL input only ‘When the CLT signal s used. the following user constant must be used to selectthe output signal PnS0F | Output Signal Selections 2 Factory | Speed/Torque Settings | Control, Position Control ns0FO | Outputtornnat 10 Cee GNT-25, 26 (S01) Torque lant 21 cns-27, 28 (802) ‘detection 3} ont-28, 30 (803) Use the following table to select whuch terminal will output the CLE signal “User Constant Setting ‘Output Terminal (CNT-) i a T 2 PROFS ° = I = i 35 26 2 a 2 3 B 30 1 3.105 1 Settings According lo Device Charactonstics Note Muluple signals allocated to the same output circu are output using OR logre Set other output signals to a value other than that allocated tothe /CLT signal 1m order 10 use just the (CLT output signal See 53.4 Ouspur Circus Signal Al- location @ Setting Level 2: External Torque Limit Acontactinput signal used toenable the torque (current) lamuts previously set m user constants ‘Torque lnmts can be set separately for forward and reverse rotation ellie ante a nu a are | ts ea| 2 | ae ai SL aim a ba panoraieaniae rey Lt ie TL paso | speed] | (mnted by whichever is LL)| semen we TSpocdrTorque | ‘Speed/Torque Forward External Torque Limit Input Control, Position Control | Reverse External Torque Limit | Speed/Torque Input Control, Position Control ‘This 1s the external torque (current) Imut mput for forward and reverse rotation Check inputsignal allocation status when using this function (See 3 3 Inpur Circutt Signal Allocauon ) Factory setungs are given in the following table [7P-CL CRI-45 alow level Use forward torque lt when ON [CR1-45 athigh level Domnot use forward torque limit = when OFF Yoxmal operation \ INCL |ENT-AGatlow level | Use reverse toque imi Lamm ; when ON Pts | JCRI-A6 athigh evel [Donot use revere torque mit Nommal operon | — when OFFUser Constant Settings and Functions ————eee——— 313 Liming Torques ‘The following ouput signals and monitor methods are used when torque 1s being limited cur + Monitor Mode 1 | + Un00s Nos 6 and 7 (With factory semmngs) (Re~ ferto 71 7 Operation wx Monttor Mode } “+ Un006 Depending on output signal allocation condiuons ‘Condiisom that outputs @ /CLT signal | pnsoF 1s allocated to an output terminal from SOL [10 sos {L.KasSRRISRDPASSRSSRnnaSSSSunnnnanene] Application Examples © Forced stop ‘© Robot holding a workpiece Png04 | Forward External Unit | Setting | Factory 'SpeedTorque | Torque Limit % | Range: — Setting: :Control, peeeees too Pesition Control | Pnd40S Reverse External Unit: Setting | Factory ‘Speed/Torque | Torque Limit am | Range. | Setting. /Controi, i Position Control I 010800 | 100 | ‘Set the torque limits when the torque 1s limited by an external contact input —— {(P-CL (CN1-45) Input {nso torque Int applied {INCL (CN1-46) Input dO torque Inn applied See 52 10 Using Torque Linuting by Anatog Voltage Reference Using /P-CL and /N-CL Signals “The procedure for usiag /P-CL and JN-CL. as torque limat mput signals 1s illustrated below Servopack, Vo power supply 3.28:1 Settngs According 1o Device Character 5.1.4 Limiting Speed ‘The SGDM Servopack lumuts speed when perlorming a torque control Using /VLT Signal ‘The folowing section deste the use othe contact output signal/VLTas a speed mit output signal 10 power supply Sencpack cae Photocoupier output +t Maximum operatng votage per output 50 VOC /Maxumum operating current per output 50m DC = J This s ON Status OFF Status nal Setungs Pnd07 (Speed Limst) al indicates whether Serwomoto: speed 1s being Inited “The eeu beeen Servomotor speed 1s berg limited CRIT and *2 15 loved cn *1 1s at ow iavel The cucu berween ‘Servomoror speed is not being Inmited CNI-1 and "28 ulosed cs ‘When the /VLT signal is used the following user constant must be used to select the output sig- z a eee Pns0F [Output Signal Selections 2 Factory Torque Controt Setting 0000 ‘Output terminal cy Torque it elecnen | Aap nat anicon 221 ont-27 28 (802) e-8 + ont29, 99:803) Use the following table to select which termunal will output the /VLT signal User Gonetant Satin ‘Output Terminal (ONT) 4 2 PnsoF 1 0 = - 1 T 8 Fg ; 2 7 Ey | 5 2 FD EUser Constant Settings and Functions 514 Liming Speed Note Mule signay allocated tothe same output circum are output using OR loge Set other output signals to a value ther than that allocated to the /VLT signal sm order to use pst the F¥LT ouput segnal See $34 Ourrut Circa Signal l- locaton5.2 Sottngs According to Host Contioler 5.2 Settings According to Host Controller ‘This section desc sbes the procedure for Connectung a¥-II Series Servo toa host controller. mcluding, the procedure tor settn lated user Constants 5.2.1 Speed Reference Input he speedieterence using the following input signal speed reference input Since this signal has various uses set the optimum reference input for the system created Sevovack Torque reference mput LACE OS roeque {analog votage input) reterence Speed rterarce input ‘Speed (analog votage input) relerence ‘Speed Control ‘Speed Control ‘The above inpuis are used for speed control analog reference) (Pn000 1 = 0, 4.7. 9. oF A) Always wire for normal speed contol ‘The moter speed 1s controlled 19 proportion to the input voltage between V-REF and SG reeamccrroes f The slope is setin P00 i Setting Examples Pn300= 600 This setting means that 6 V 1s equivalent to the rated motor speed AMPLE “Speed Reference | Rolain” Motor Speed SGMAN Servomotor Input Direction | | 46 Forward rotation Rated motor speed 1 3000 r/min EV [Forward motor speed 300 ime [TTS [Reverso [Cr ted moorspeed 150i ‘User constant Pn300 can be used 10 change the voltage mput rangeUser Constant Settings and Functions 521 Speed nelerence Input Circuit Example ATOQ.12Wmn — SETvOpECK 212v+ onal YEE ig _ sous ‘¢ Always use twisted-pau cable for nose control Recommended variable resistor gyo Co. Lid Model 2SHP-10B manufactured by Sakae Tsushun Ko~ ‘Connect V-REF and $G to the speed teterence output terminals.on the host contioller when using: ‘ahost contioller such as a programmable controller, Jor posttion control Host controler Servopack Spee ouput temnas. Feesback pace mput ferminals $F inacates twstedpar wre Adjust Pn300 24 ordun (0 output voltage specifications Adjust the speed retetence input gain atthe following user constant Paa0d [speed Reference Input | Gain Unit Setting | Speed Control O01Virated motor, RA"9® | speed 150 to 3000 Setthe voltage :ange for the specd ieterence input V-REF at CNI-S a.cording to host controller and evternal curcutt output tou, Reteronce soeed irmin: Set ts sone Re‘erence rrage:v “The factory setting is adjusted se that applicable Sei vomotery 4 6-V input iy equivalent to the sated motor speed of all h speed relerance snput (between CN -S and 6) 1 12 VDC52 Settings Accorting to Host Contrallar au SSS5Qo0QOuauaa“ Using the /P-CON Signal haw” Control Reference Speed Control, | ‘The /P-CON input signal switches the Speed Control Mode from Pl (proporuonal-integral) to P (proportional control in ordet 10 reduce Se1vomotor rotation and minute vibrations due to speedreterence input druit The uve o! this signal will vary with apphicatwons because Servomotor rigidity (holding force) drops when the Sei vormotor 1s stopped 5.2.2 Position Reference The reference pulse reletence code. and clear mputs are used for the position reterence Since this signal can be used in dierent ways. set the opumum reference input for the system created I Reference by Pulse Input Positioning 1s controlled by inputting a move releience pulse Seropack or rus loz re senves, (gus é] ews Aelroce oases Carnet {1 inacatststdpar wes Any of the following forms can be used for the postion reference © Linedver output © +12.V opem collector output © 45.V ope Hector output Connection Example 1: Line-driver Output Applicable line driver. SN’ lent 174 manufactured by Texas Instruments Inc , MC3487 or equiva- Host contraler Servopack Photocoupier Lear purslowsg 00" : eussaua | f 1GNJONt, Bsicy cet hy,a User Constant Settings and Functions eee 522 Postion Reference 4EXAMPLED IMPORTANT, Connection Example 2: Open-collector Output Set limiting resistor RI so that input curtent, 1 falls within the following range Host convoller Servopack vee PPhotocoupte| ps8 1” wT lor Te siosfouset be K ar ont. am [He cia fort hy 4 P Indicates wires parwres Input eursent s 716 1S mA © Wiha Voc of #12V RI= 1K © When Veo #5.V RI = 1802 Note The following table shows the ign I tor an open-colleetor output When Trt 1s ON Equivalent to high-level input | When Tr 1s OFF Buna olow-leel mpot | ‘This eireust uses the 12-V power supply built into the Servopack Input is not ase when the Servopack 18 0°V Host contollen Servopack 10 N25 V max IP inccates tasted: pair wires "The nosse margin ofthe put signal will decrease othe relerence pulses given using an open- 34) Le Reese teen (200-kpps open-collector oe 1 utp) cut 100 $50 jew pulse and CCW pulse — WO Be Olus - !Maxamum reference B33 frequency 500 kpps cow, oe ow (200-kpps open-collector output) “Two:phase pulse train with 90° phase ditferential (A | Phase + B phase) ‘Maximum reference frequency x 1 500 kpps (200-kpps open-collector output) 2 400 kpps x4 200 kpps u aeons tous Error Counter Clear Input ‘The procedure for clearing the e111 counter 1s dascribed below Clear Input Clear Input | Cie constant 52000 rs used 10 switch the input pulse | mulupher mode Position Control | Position Control ‘The following occur when the CLR signal 1s set to high level Sorvopack © The error counter mside the Se1vopack 15 set 10 0 © Position loop control 1s prohibited Use ‘operation through user constant Pn200 1 signal to Clear the e110 counter from the host controller or select the following clear P2001 Error Counter Clear Signal Form Position Control | 0 IUser Constant Settings and Functions —oo 522 Postion Reterence j Pn2001 Description Clear Timing | Setting | 0 Clearsthe enor outer when the CLR i sional goes hg 8 ton I Sieared tate | | Eerar pulses do net accuonutate as long asthe signal remains 1 Clears the err counter on the sing oun high Jedge of the CLR signal (Nas, Clears the err counter only once on (Cleared only once at this point the nsing edge ot the CLR signal ‘Clears the eor counter when the CLR. | signal goes ow cu —|_Low ert [ont-15) Cloned sate Error pulbes do not asumuae as lng |, Comes sta asthe signal 2 Gears the enor counter onthe tilling CLR —]_ tow fens) edge ol the CLR wigral52 Setings Accorcing 1o Host Controter 5.2.3 Using the Encoder Signal Output Encoder output signals divided inside the Servopack can be output externally These signals can bbe used to form a position contiol loop in the host controller [These outputs plained here Servopack Host controlar (Borvemetor} Encoder ‘The output exrcuntis tor hne-diiver ouput Connect each signal line according to the following coreurt diagram Servopack Host contolar Line ecaver a Appcable ine receiver SN75175 manufactured by Toxas JP Inccates wstd-par wae itrmanss ne M3498 ra aqvalet (lommmnater: 220 t0 470.0 © (Becouping capacton 0 yF + Dwang Dvn soaring sn mata rmcencde nounedon fe enone acer the ee pulse density and curpuing the conserad pulse: The uns ae pulses per eevoluuonUser Constant Settings and Functions 328 Using the Eneost B10 Signals UO signals ae described below 4 Ty aE Encoder Output Phase A Speed/Torque Control. Position Control former leer) Encoder Output Phase /A ‘Speed/Torque Control, Position Controt TOT Encoder Output Phase 8 Speed/Torque | |Control, 7 Position Controt | fom eee Coe TCT) Encoder Output Phase /B ‘Speed/Torque Control, Position Control) Tes cool TET Encoder Output Phase C ‘Speed/Torque Control, Position Control rrereetiaeek Encoder Output Phase /C ‘Speed/Torque Control, | Position Control Divided encoder signals are output Always connect these signal terminals when @ position loop 1s formed sn the host controller for position contiol Set a dividing ratio at the following user const [Fedmang Rate [e201 cat ratio setting (Pn202 and 203) for the Servopack electron gear funtion dung pain wont ‘The dividing ratio setting isnotielatedtothe Output Phase Form bid aH 90° eee He 90° prased LI LI prason — LJ LT mea LE LIL omen S LIL Prose ——F 1 Prase ¢IMPORTANT 5.2 Sottngs According to Host Controter Sore ‘SEN Signal Input Speod/Torque Control SM ESeR oN ‘Signal Ground |Speed/Torque [Control Encoder Output Phase S |Speed/Torque Control, Position Control SOON TET) Encoder Output Phase /S ‘Speed/Torque Control, Position Control Battery (+) Speed/Torque Control, Position Control Battery (-) ‘Speed/Torque Control, Position Control Use SEN to BAT (-) signals for absolute encoders See 5 7 Absolute Encoder for more details Single Ground [Speed/Torque Control, Position Control SG Connect 0 0'V on the host conttoller When using the Servopuck phase C pulse signal to retuen tothe machine origin alvays tum the Servomotor atleast twice belote tarung the origin retain operon It the Configuration of the mechanal system prevents turning the Servernotorbetore the ory ‘motor speed of 600 ximin or Below The phase € pulse signal nav not be correctly ot sstuimed faster than 600 e/mn etn opetaton then perTorm the origin retara operation a @ Servo IF the Servomotor ™ Pulse Divider Setting Set the pulse dividing 1ato in the tollowing user constant Pn201 PG Divider unit ' Setting | Factory |Speed/Torque pm Range: Setting | Control, 461016384 16304 | Position Controt Set the number of pulses tot PG vutput signals (PAO. /PAO. PBO. /PBO) externally output Output ermnals PRO r108 = |Servornotor | — ‘Error Ko 9] Speed | Current] ee | . 5.2.6 Contact Input Speed Control ‘The contact input speed contiol function provides easy-to-use speed control It allows the user {to amrally setthiee different motor speech with uset constants, select one ot the speeds externally by contact input and operate the Sei vomoter ‘Servopack Contact con Jonas c 1 | Sewomo'er ‘specdselecton | External spond “Tre Servomotor operates at setting dewoes ave the speed cot m tha user pulse generators Userconstants | constant Ate nol “squire52 Settings Accorsing 1o Host Controter ™@ Using Contact Input Speed Control Follow steps | 10 3 below to use the contact input speed control funcuon 1, Set contact mput speed control as shown below [Prooo1 /ontrot Mode Selection Factory Speed/Torque | Setting Control, 7 7 Position Controt The speed can be contolled via contact inputs Sorvopack Eso Servomnotor pt | (ee ‘Meanings tor the following signals change when the contact input speed control function. ws used Pn0001 | Description Input Signal | Setting 8,152,758, Contac input |/P-CON CVI Used to swatch between Pand AB speed conto | Plconteot fonction pot | _______t ht P-CLICNIAS) Used o swuch Between for ward extemal torque hit ON and OFF A-CLICNI-A6) (Used 10 suntch between re- verse external torque limit ON i and OFF 34.5.6 omact mot | ®-CON Peck INCL | Speed stung speed conuol | /SPD:D) + uSPD-) | USPD-B) runcuon used - ' 1 Dnestom ot o> | 0 Josterenee rotation fete OForwand 9 1 =] | 1 Reverse ' Pn301) I | 1 1 SPEED 2 i | | Pn302) 1 o [SPEED 3 ! (Pn303) Note 1 0 OFF thigh levels | ON cow levely 2 IP-CON /P-CL and IN-CL tunciions ditfer tom those mn the table above when PnOOO Tiscet io 3 4 S oF 6 The function switched automatically when PrSOA 03s set 100 3. The/SPD-D /SPD-A and/SPD-B signalscan be sed ony when signals are allocated to the mput Cucuts See 53 3 Input Coreut Signal Allocawon suUser Constant Settings and Functions ————_—$_$_ 152.6 Contact put Speed Contra! 2. Set the motor speeds with the following user constants [Pasor Speed 1(SPEED 1) Unit! Setting Factory Speed Control (Contact input Speed |, Range | Setting | Controt) on Oto 10000 | 100 Setting Factory, Speed Control Range ; Setting to 10000 | 200! Unt Seting | Factory — Speed Contrl Range. | Setung | 010 10000 300 ‘Pna02 lon 2 (SPEED 2) | (Contact Input Speed Control) '"png03 | Speed 3 (SPEED 3) (Contact Input Speed Control) aaa ‘These use Lonstants are used ta set motor speeds when the contact mput speed control func tuon is selected If the setting 1S higher than the maxsmum motor speed of the Servomotor. then the Servomotor will rotate at 11s mavimum speed Contact Input Speed Control Servomoto: Speed selection mput signals /P-CL(SPD-A)ICN1-£5) and /N-CLUSPD-B\(CN 1-46) and the rotation ditection selection signal /P-CON (/SPD-D)(CK I-41) enable the Servomotor to run at the preset speeds 3. Set the soft start ume Pn305 Soft Stat Acceleranon [Uni | Seting Factory Speed Control fie er | ange) Seng | ato 0000 | 0 naos [Son Star Deceleration | Unt Seting Factory Speed Control Hime range Setting 1010000 | 9 ‘The Servopack internal speed reterence controls speed by applying this acceleration setting LY sorser aManmum speed Servopack, ¢ internal speed : reference + Pn305 Sels ths tme terval Maximum speed}. n306 Sets ts Ume terval5.2 Settings Accoraing to Host Controller ‘Smooth speed contiol can be penformed by inputting a progressive speed reference or using contact input speed contiol Set each constant to 0 for normal speed conttol Set each user constant tothe following time mtervals ‘+ Pn305 Tune interval irom when the Servomotor starts until it reaches maximum speed 4 Pn306 Time interval trom when the Servomotor maximum speed until t stops Operation by Contact Input Speed Control ‘The following descuibes operation by contact input speed contrat Start and Stop ‘The following input signals are used to stast and stop the Servomoxor ers ‘Speed Selection 1 (Forward External Torque Limit Input) ‘Speed Selection 2 (Reverse External Torque Limit Input) Speed/Torque Control, Position Controt Speed/Torque Control, {Position Controt erry rome) © Use the following table when contact mpput speed contro is used Contact Signal User Selected Speed Constant IP-CONUSPD-D)| (PCL | INCL Pn000 1 (SPD-A) —_'SPD-B) : 0 ° 3 | Stopped by an mtemal speed ference of 0 : 4 | Analog speed relerence (V-REF) np | 5 Pulsereterence mput ‘position controlh | 6 Analog torque reference input (onque control) He I ection of 0 1 3456 — |SPEED I ePn30n rotation | ‘Common 1 7 2 P3021 paneer 1 ‘SPEED 2 (Pn302 1 Reverse 1 ° | SPEED 3 Pas | Note 1. 0 OFF rhigh levels ON iow level 2 Input signals mice by the hotrzonta hae (~1 ae optional © When contact mput speed control 1y not used. put signals ae used as external torque himit inputsUser Constant Settings and Functions ———_—S_eemR[EVM————_ <<< —q— 152.6 Contact input Speed Control als are allocated to SPD-D /SPD-A and /SPD- “The contact mpat speed corizol function s Used one when og B Direction of Rotation Selection “The input signal /P-CONUSPD-D) 1s used to specify the direction of Servomotor rotation Proportional Control Reference, ete ‘Speed/Torque Control, Position Controt ‘© When contact nput speed contiot 1s used, the input signal /P-CON (/SPD-D) specifies the direction of Servomotor rotation PP-CON('SPD-D) | Meaning a Forwtd potion 1 Teer roan | Note 0 OFF (high level) | ON dlow level! (© When contact input speed contiol is not used the /P-CON signal isused fot proportional con- trol, zero clamping. and torque/speed control switchingIMPORTANT 52 Settings Accoraing 1 Host Controller Example of Contact Input Speed Control Operation ‘The following example shows operation by contact input speedcontrol Using the soft start fune- tuon reduces physical shock when the speed 1s changed ‘Contact input Speed Control (deceleration at Pro0S and [Pra06 (soft start mas) seco -srecoe x Tar The soft start function 1s avatlable only when contact mput speed conteol used with Pn000 1 set to 5 and 1s ‘ot available when a pulse reterence input » used I Contact Input Speed Consol Mode 1s switched to Pulse Relerence Input Mode while the Seivomotos 1s operating at speed 1 speed 2. oF speed 3 the Servopack wl ot receive a relerence pulse unl the positionnng completed sygal ‘COIN is output Always star pase refer tence output trom the host controller ater « positioning completed signal 1s output trom the Servopack ‘Signal Generation Timmng for Postion Control Motor Speed Otiown ron Pulse Relerence . . t PoLyseD-A)| OFF 1 ON | ON + OFF 1 _OFF cu useos) [ON {on {orf OFF Ton Selected Speed | Speed | Speed? | Speeds | Pulse reference T Speed t 11> me Note 1. Theabove tigure llusirates signal generation tung when the sol start fune- tion i used 2 The value oF 111s not allevted bv the use ofthe solt start function A maut- ‘mum 2-ms delay occurs ten the /PC-Li/SPD-A) or /NsCLUSPD-B) signal as readUser Constant Settings and Functions — 527 Using Torque Contror 5.2.7 Using Torque Control The SGDM Servopack Inmuts torque as shown betow © Level 1 Lamuts maximum output torque to protect the equipment or workpiece © Level 2 Limuts torque after the Seivomotor moves the equipment 10a specified position in- 0 ternal toigue I © Level 3 Always control torque sather than speed ouput © Level 4 Switches between ypeed and toique control ‘The following desuibes uses for levels 3 and 4 1n the torque control Lunction Torque Control Selection Set in the following uses constants to select level 3 oF 4 torque control Pa0001 Control Method Selection Factory |Speed/Torque | stung contrat, a Postion Control A torque reference is put from the host controller to the Servopack 1n order to control torque5.2 Settings According to Host Contoter Application Examples ‘© Tension control © Pressuie control P0001 Control Mode Torque Control "Truss. a dedicated Torque Control Mode + A tongue reference 1s input trom TEREF (CN1-91 + Speed reference input V-REF (CNI-S) cannot be used tor speed control if Pa002 1 4s et 101 + User constant P07 can be used for masionuin speed con uot Applcavon Example SEM erccsal Tension cont! 9 ‘Torque Control <-> Speed Control (Analog Reference) Senvopack Suches between tongue an speed contol Speed nce fo + V-REP (CNI-S) inputs a speed efeence or speed mt Pee + EREF (CN1-9) puts tongue recience torque tei-tor- reference ow | _ Yatdeferene or ngue me depending onthe crnot Speederd cod mote toraue eee nat referer + PP.CON (IC-SELNCN 41) 1s used 1o sich berween iorque — Swtehing and speed control ar ‘Speed cont Torque Control When /P-CON (/C-SEL) 1s OFF 1 #The FREF retecence controls 1 + V-REF can be used fo limit Servomotos speed when Pn002 1 is set o 1 V-REF voliage (+ lt Servomotor speed during + forward and reverse rotation on + User constant P07 can be used to Iimat the maximum Ser vomotor speedUser Constant Settings and Functions oo 327 Usng Torque Conticr [-Prooot | Control Method ‘Speed Control When /P-CON (/C-SEL) 1s ON Se she user constant Pn002 0 as shown belo User Constant Speed Reference Torque Reference Remarks Pno02 0 Input Input . i (V-REF) (CN1-5,6) | (T-REF)(CN1-9.10)_ _ t 0 Speed contol | Speed relewence TGannot be used T Torgue hant speed control by analog vollage ref- See 5210 for more de- ereme tails on torque hrme ' —— speed contol by analog | Speed veteence “ore It age tesco 2 Speed control wah onyue Tea-forward See $76 for more d= es talls on torque feed-for Speed reterence orqueFeefOrWaPD ant gneve e Position Control ~» Torque Control [Can be used to swuch berweer speed (contact seterence! and torgue control 4+ P.CON (IC-SELNCNI-A1) 16. use to sre conto [Xtatis open "Postion vonuol [Qiansov “Torque contol Position Control When /P-con (/C-SEL) 1s ON Sette user constant P02 0 os shorn below User Constant “Torque Reference input Remarks Pnoo2 0 (EREF) (CN1-9,10) | 0 “Poston contvel ; Cannot be used 1 "Torque mn postion central by analog vohage [See 52 10 Tor more de- reference tas on torque tnt positon control by ana- L __ Forge bmn Jog voltage reference | 2 Potion contol wath ongue feed-forward ‘See 528 for more de "Fagus ealionagh fis ore fed or “6 “Speed Control (Contact Reference) — Torque Controt Can be used to swich benween speed (contact reference and vorgue contol + /P-CON UC-SELVCN1-45) and (N-CL(SPD-B WCN1-46) are use to suateh control “IP-CL(SPD-A) | IN-CL(/SPO-B) | = Jo OFF (cn as CN1-46 ae I 0 0 “Torque control i ° 1 [Speed control eco relerence’ 1 @ | Eesaue! ote Tnpar signal /C-SEL cam be wsed only when 8 signals allocated tothe put creat See 533 Inpr Circat Sienal Allocatonings According to Host Controller Input Signals Torque Reference Inputs The following input signals are used fo1 torque control sears { a 3 Signal Ground forthe Torque Speed/Torque | Reference Input Controt | als ate used when torque control 1s selected Servomotor torque i controlled se that sts proportional tothe input voltage between T-REF and SG Pane ones Facey sot, tr | age The slope s sotto Pnaog © Factory Setun: Pn400 = 30 ‘This setting means that 3 V 1s equivalent to the rated torque +3 V input Rated torque m the forward dection +9.V input 300% of rated torque in the forward direction 03 V input 10% of rated torque mn the reverse direction User constant Pr400 can be used co change the voltage input range © Example of an Input Cireun ‘© Always use twisted-paut cables for noise control + Recommended yanable reuntor Modet 2SHP-10B manufactured by Sakae Tsushin Ko- gyoCe LidUser Constant Settings and Functions —_———— 327 Using Torque Contr Speed Reference Inputs Reler 10521 Using the /P-CON Signal Proportional Control, ete |SpeedrTorque Control, Position Control ‘The function of the mput signal /P-CON vanes with the setung at PrOOO 1 Servopack, P and Pl contr switching Zio came ONOFF swichy 1P-CON v1 a Tao OWOFT omin ¢ \{oonarnose satchng Direction of retaton stoning (pngoo Pn000 1 Setting 1P-CON Function | " Switches berween P «proportonal) and Pl proportion: z Nor wed P3456 Swutelies the dec tov ot rouanon i Contact Input Speed Control Mode TAY Swatees the conto’ mele a Turns ONOFF 210 clamp : B Turns rent: ON/OFF “The P-CON signal tuncuon swatches automat lv when PRSOA O18 set 10 0 User Constant ‘The following wer constants used for Corque control Set the user constant according tothe ser vo system used Pn400_ | Torque Unit ‘Setting Factory | Speed/Torque Reference put 9 vjaieg Range Setting Control | ' ii torque | 10 to 100 ao | ‘The user constant ses the Voltage tange for torque reference input T-REF (CN1-9) according 10 the ouput form of the hest conuolier or eternal carcutt The factory setting 1s 30, so the sated torque output is 3 V (300 1)52 Setungs According to Host Conta Reference trove Rated torque Reference votage (Ws ‘Ths relerence voltage s set ‘Two speed lumut functions during torque control are available by the user constant setting as shown below Pn002 1 setting Description Uses VEREF (CNI-S and 6) as external speed lnmut input and sets speed Imi by voltage which input to V-REF and Pa300 ‘external speed him uncon i | cckkiciconioekal | | ° ‘Uses speed lim set by P07 (untenal speed tit function) Internal speed limit function Pn407 Speed Limit during | Unit | Setting | Factory “Speed/Torque | Torque Control Range | Setting. {Control to 10000 10000 The user Constant sets a motor speed limit when torque control is selected Ts used (o prevent excessive equnpment speed during torque control ‘Since the speed mut detection signal /VLT functions the same in torque control as the (CLT sig. nal. see 5 3 Limunng Torque where the (CLT signal is described rimin, Torque Contra! Range “Torque ‘The maximum speed of the Se1vemoior will be used if Pn407 1s set t0 a value higher than the ‘maximum speed of the Servometor External speed limit function ‘Thus 1s funcuon uses V-REF (CN1-5) as external speed limit input and sets input voltage range by Pn300. Set the range accordmng to host computer and the oulput state of external curcurt Pn300 | Speed "unit Setting | Factory _Speed/Torque |Reterenceinput givmates | Range | Seting: Control Speed |150t03000 600 “The factory setting 1s 19% ofthe rated motor speed or 6 VUser Constant Settings and Functions 528 Torque Fees-oward Function Gp> Prsociple of Speed Contol “Torque reversely proportional to the diterense between the speed Insc and the speed is fed back to return the system to suthin the control speed ranze when the vontol speed range 1s exceeded The actual motor speed Tuo wl thus be mecreased By negauve foals Motor speed ‘Speed ust ‘ange REF 5.2.8 Torque Feed-forward Function “The torque feed-forward function 1 used only in control mode except tor torque control This Hunction shortens positioning une ditfere lesa speed reference at the host controller 10 generate atorque leed-lorwardreletence and mnpuls this reference togethet with the speed reler~ cence tothe Servopack “Too high a torque teed-Lor ward value will esult in overshooting or undershootung To prevent ths, set the optinum value whale observing system response Connect a speed reterense signal fine to V-REF (CN I+ cence signal line to TREF (CN1-9 and [01 and 6) and a torque feed-forward reter: = = Prous bSoehferren wel) m,° =| Kp Postion oo gan Ker Feedforward gan Using the Torque Feed-Forward Function Toase the engu eedforvardrun.ion see following user onsan02 “Pa00z0” Speed Corival Option ~*~ actory”~—*«iSpeedContrah | TEREE Termine! Aeoton) Eating, [rene cnet 0 ‘This setung enables the torque teed-tor ward tunction Pn002 0 Setting Deseription52 Setings According to Host Control ‘The torque feed-forward function cannot be used with torque limiting by analog voltage refer- cence described in 52 10 Using Torque Lumuing by Analog Voltage Reference @ Setting “Torque feed-on ward is et using user constant PaO ‘The tactory setting at P0015 30 It for example, the torque feed-forward value 1s $3 V, then torque is lumited to +100% of the rated torque [Paaoo [forse] unt” Seumg Factory [Speeaconval | reterenceinput | oymated ReMGe. | SetINg. ‘prety ey Gain Torque toto 100 | 30 Ee ee ee cece eee 5.2.9 Speed Feed-forward Function “The speed feed-1orwaed tunetion descabed inthis section s supported only by the nev: version ofthe SGDM Servopacks (SGDM-DA) The speed feed-forward function uses analog voltages and 1s eflectuve only for position control ‘The feed-forward function can be used to shorten positioning tume The host controller creates afeed-forwad reterence based on the dillerential ofthe position reference This reference s pro- vided to the Servopack with the position refetente (Overshooting and undershootng an result if too much leed-forward 1s used Set the optimum sein based on the actual response ‘The position reterence from the host contioller 1s connected 10 PULS and SIGN (CNI-1, 8, 1). and 12) and the speed teed-torwaud reterence 1s connected to V-REF (CN1-5 and 6) ‘Kp Positon loop gan ze Feedlorward gain Il Using the Speed Feed-forward Function Ser the following user constant o Ito use the analog voltage speed feed-forward funcuon Pn2071 | Speed Control Option Factory | Position Control Setting 0 HH ‘Thus setung wall enable the speed feed-lonwaid functionUser Constant Settings and Functions ———$—$————$——————_ 15210 Torque Liming by Analog Vonage Reference, Function 1 Pn207 4 Setting Deseription| 0 No tead-lor ware tunctian 1 REF terminal used a speed feed-forward input 7 & Setting ‘The speed teed-torward value 1s set sn user constant Pn300 ‘The factory setting of Pn300 1s 600. for which speed feed-forward value of $6 V will produce the rated speed Pra00 [Speed Unt | Setting Factory | SpeedTorque Reference Input | Range Settng |ControvPosition send oorwmated i ce Speed —160t0 3000) 600 5.2.10 Torque Limiting by Analog Voltage Reference, Function 1 Torque limiting by analog voltage reterence limuts torque by assigning a torque limit in an analog voltage to the T-REF terminal (CN1-9 and 10) It cannot be used tor torque control because the torque reference input terminal T-REF 1s used s an input terminal REF “Torque int value Pr00] Praoz Torque lat ener [oo 7 erg | reference Tyegaten ‘Prion “Torgue mt’ Paaos Speed reference Speed feedback M_ Using Torque Limiting by Analog Voltage Reference ‘To use this function, set the following wet Constant to 1 ese eacnenieae coe : “This parametet can be used to enable torque luting by analog voltage reterence Torque hmiting cannot be set epatatels tor forwaud and reverse rotation Pn002 0 Setting Description i i ° [sone 1 "PREF terial uyee for eternal torque lit put 2 TFREF terminal used for torque feed-forward input ae52 Settings According to Host Cont “This function cannotbe used with the torque lecd-forward function described m5 2 8 Using the Torque Feedforward Funston ™@ Setting “The torque lnm mput gain y seta user constant Pna0O “The factory setting at P00 1530 It, tor example. the torque hit 3 V.then torque is Lmuted t0 100% of the rated torque (A torque value higher than 100% torque 1s clamped at 100% ) “pnd Torque Unit ‘Setting Reference Input Range Eats o1mated Torque 10 to 100 5.2.11 Torque Limiting by Analog Voltage Reference, Function 2 Factory Speed/Torque Setting: Control 30 | Position Control “The torque lnmiong union described inthis sections supported only by the new version ofthe SGDM Servo- packs SGDV-ODA) ‘Torque lating by analog voltage reference lumits torque by assigning a torque limit in an analog voltage to the T-REF terminals (CN1-9 and 10) This function cannot be used for torque control nal (CN1-45) 1s ON. a forward torque limit is applied. and f the AN-CL signal (CN1-46) is ON, peo Ince ‘Torque emt value —*Y Pro Torgue int Speed or (PCL ON) Speed retaronce —epUBEE [ra09] an in Invegrator a (enon) Torque im PACS Speed feedback (/N-CL_ ON) I Using Torque Limiting by Analog Voltage Reference To use this tunction, set the following user constant to 3 | Pn0G2 0 Speed Gontro! Option 7 “Factory Speed Conta, (CREF Terminal Allocation) Setting "Position Control I ote ‘This setting will enable torque hmauing by analog voltage reference. function 2User Constant Settings and Functions i "52 11 Torque Limiting by Analog Voltage Reference. Functon 2 Pn002 0 Setting Description 0 None J r ‘PREF terminal used for external torque limat input “PREF terminal used for torque feed-forward input TTEREF cerminal used for eviemal torque liming ippat when P-CL or N-CL. SON This torque linnting function cannot be used at the same time as the torque feed-forward func- won Confirm the allocation of input signals when using this function (Reter to 5 3 3 Input Cerewt Signal Allocanon ) The factory settings are shown an the following table FP-CL OenI CSAS slow Ferma aque mt applied Lime PodO4 on EREF | put whichever i smaller jRowandianuetnwnoiaps 1 {plied + sormal operation | GARMIN RERUARAEARESEOAAREDD idbbf rice ccekci UMSAREAIAAEESI RGIS | TEL ON ond NIA stow [Reve worue im aphed [Lim Pads on TREE i [pat wher ater OFF and CN1-85 as hig OFF and CN1-4615 hugh Reverse vorque limit not 9p- = hed 12 normal operation ™@ Setting ‘The torque Innit pat gai ws set at user Constant PrsOO “The factory setting at Pn4001 30 I. tor example. the torque limit is 43 V then torque ts limited {0 100% ofthe rated torque Pna09 JTorque Unit Setting | Factory |SpeediTorque | Reference input gsypateg | Range | Setting "ControvPosition Gain a0 (control | Torque | 10to100 The settings ofthe following uset Constants ave also valhd The torque lnmit wall be cuher the torque limit value 11 the analog voltage reterence or the setting of Pn04/Pn405, whichever is smaller “praoa’ [Forward ~~ SCS tng’ *Factory | SpecarToraue | External Torque Range Seting |ContrPostion | mt cee ap. ontl peat Eo See ere ee oe eee ee EEE eee Pna0s Reverse Unit Setting | Factory Speed/Torque External Torque Range | Setting Control/Position um otosoo | 100 control so5.2. Setings Accoraing to Host Controter 5.2.12 Reference Pulse Inhibit Function (INHIBIT) “Thus function inlubuts the Ser vopack fom counting input reference pulses during position con- ‘ol The Servomotor remains locked (clamped) whule the function 1s n use The /P-CON(/IN- HIBIT) signal 1s used to enable or disable the function ‘Seropacke Pra I Patarnco —ed a a mse ® cutter [-— recon __) e-con anes e INHIBIT) 9 = ™@ Using Reference Pulse Inhibit Function (INHIBIT) To use the inhibit function. set the user constant as shown below Feedback pulse Pn0001 | Control Method Selection Factory Position Control Setting ! ° The following settings enable the mnbubit function P0001 Setting r Tables the bit function Description Always counts relerence pulses Eubles he nib tncion The P-CON VINFIBIT signal is used to en. le or wish the hb union j | TP-CON (INHIBIT) | Description OFF Counts reference pulses iy ON Prohibits the Servopack from counung reference pulses [Note Parentheses © around an ANHIBIT signal indicate that a signal has been allo- cated to the input arcu See 5 #3 Inpwy Creat Signal Allocation tor more de- tails Relationship between Inhibit Signal and Ref nsteit sqral_ON_-———3=#—,_ ow. W-con) lita eee ee So GareeC pase “The Servomotor remains locked nce Pulses en ee aside a 11.2 2 05me input reference pulses sare not courted ‘uring ts periodUser Constant Settings and Functions ——$—_—_———— 591 User Consents 5.3 Setting Up the Servopack This section describes the procedure for setuing user constants to operate the SGDM Servopack 5.3.1 User Constants ‘The Z-II Series Servopack providesmany tunctions and has parameters called user constantsthat allow the user fo specify functions and pertorm fine adjustments Servoack User Constants iv aa —~ 8} 4 } A Pano! Operator oF Digtal Operators Used to sat user constants User constants are divided into the following three groups — User Constant Funetion | P00 to Pn601 ‘Speeity Servopack functions set servo gains ete F000 to F012 Execute avuary functions such as JOG Mode operations and gin searches ‘Und00 to Und0D Enable monstoning the motor speed and torque reference on the wine splay Appendix B shows a ist of uset constants provided for reference See 7 1.6 Operation in User Constant Setting Mode tor mote details on the procedure for setting user constants5.9 Setung Up the Servopack 5.3.2 JOG Speed Use the Following user constant to set or modily motor speed when operating the Servomotor from a Pane! or Digital Operator Pri ]log Speed Unt | Seing Factory SpecdTorque ven Range | Setieg feonton owroieo | aaa [Poston con Use t onstant to set the motot speed when operating the Servopack from a Panel or Digital Operator If the sewing ishigher than the macamum motor speed o! the Servomotor, then the Ser- vomotor will rotate ats mavsinum speed ital Operator Pano! Operator 5.3.3 Input Circuit Signal Allocation ‘The functions allocated 1o sequence input signal circuits can be changed CN connector input signals are allocated with the factory settings as shown in the following table GNI Connector | Input Terminal Factory Setting i | Terminal Numbers Name SH ‘symbol Name 40 si0 15.08 "Servo ON’ \ 41 si CON ‘Proporsonal contol ref- | erence) * : si por Forward un probibit (88 Nor Reverse run prebib—| sti "TALMERST ‘Alasm reset 45 sis PCL {Foneard curent td = i 6 Sie isc. “Reverse current hima) = | The funcivons ofthese spat ignas are automatically switched according to the setung a user constant P2000 1 4s Jong as PnSOA (1s set 10 0User Constant Settings and Functions ————————— 5a Input Oreurt Signal Allocation ‘The following user constant 1s uyed 10 enable mput signal allocation (Leet eee eee eee [PrsOAO [input Signal Allocation Mode | ‘Factory —-SpeedTorque Setting Control, 9. Postion Control T pnsoa 0 Setting Description 0 " Factory setting lor sequence input signal allocation I i ‘This serung 1s the same ot Yaskawa SGDB-CIADE Servopacks Inthe factory setting PnSO 0 5 se¢ 100 Functions in this manual are generally described forthe factory set- ings Input Signal Allocation “The folowing signal canbe ai ated when PnSOA 0 1s st to | Servopact ont 401810) gL GN1-4015 factory set for ans the 'S-ON put agnal ISON Ratemnes p---99 42,802) Sosaton F774 2368) ‘ny terminal rom CN-40 19 formpat’ F-44814 48 can be allocated 1 the Sanais boned 45815 ‘SON signal trough the 4805161 Pnsoa tsertag The following table shows the use! Constant factory settings for mput signal selections 1 10.4 TSpeed/Torque | Paso input Signal Selections 1 Factory [Speedorque Setting’ Control, ' | | zio0 Position Controt 7508 Input Signal Selecions 2 | Factory SpeedTorque Setting Control, | | tery [Poston Control Fensoe ‘Input Signal Selections 3 Factory 'peedTorque | Setting Control, waeg__ (Poston Control [Pro “lepa Sea nonee Factory |Speed/Torque Setting: Control | “fenn | Postion Control Select the input terminal on the CN connector that will be used for each mput signal5.3 Setting Up the Servopack © Examples of Input Signal Allocation ‘The procedure used to allocate sequence input signals 1s described using the /S-ON signal as atypical example Pns0A 1 Description Remarks Setting | [0 Sirputs the SON signal trom the S10 (CX1-40) mput terminal [Signal Polarty Normal ae a | J Inputs the /S-ON signal trom the SH ¥CNI-4}+ nput minal Example Servo-ON signal /S-ON) is vata when Poe love ON) 2 Unpots the /5-ON signal trom the S12 ¢CN-42) mputtenmunal Inout he #S-ON signal from the S13 (CN 1-42) put ts 4 Inputs the /S-ON signal from the S13 (CR 4) put terminal inputs the ‘SON signal from the SIS (CN T-85) input tern \ 6 Input the SON signal trom the $16 (CNT -460 mp terminal 7 SeryS-ON signal so that is always valid Set the Serv0-ON signal (S-ON) so thats 18 a> ‘ ways valid or always snvald 8 Seis S-ON signal so that 1s always nvalid i 9 [tnpats me /S-ON signal fom ce SIO(CNI-30vaerut enmnal | Signal Polarity Reversed Toa “Inputs the /S-ON signal trom the SH (CN1-31) input terminal Example Servo-ON signal (/S-ON) 1s valid when "high ‘OFF ' [8 jlnpurs the SON signal fom the S12 C82) apt ermal © Inputs ihe ON signal from the S13 1CNIL Inputs the /S-ON signal trom the Sd (CNT pur tannal Inputs the -ON signal from the SIS ¢CNT-88) put ternanal F toputsthe/S-ON signal from the S16(CNE-46) put ternal ; Note Setings 9 through Fan be used wseverse gna poly Ths fonction ssup- ported only by the new version ofthe SGDM Servopacks (SGDV-OD§) PIMPORTANT: lt feverse polunty 1s set tor the Serve-ON Fors ard Run Prolubat or Reverse Run Prohibit signals sate opera= won may not eccur when roubles such as broken signal lines coeur You must Lonturm operational safety 1f seu reverse pola necessary for one ur more ofthese signals Ay shown im the table above the /S-ON signal can be allocated to any input terminal trom. Sl0t0 S16 /S-ON salway' input when PaSOA Lsset (07. andan external signal hne would, theretore not be needed because the Servopack wall determune whether the servo 1s ON or OFF ‘The /S-ON signal 1s not used when PnSOA 1 1s set to 8 This setting 1s meaningful only in the following instances © When tte factory set input al are to be replaced by another input signal ‘© The signal must be lett ON (low level) during normal operatyon to make the signal valid when OFF (high level when forward run prohibit (P-OT) and reverse run probibitUser Constant Settings and Functions ———$_—$_ 533 Input veut Signa! Alocaton ¢N-OTyare input The mput erminal signal lime must be left ON even in system configu- rations that do notrequure this signal. but unnecessary wiring can be eliminated by setung Pns0A 1108,© Allocating Other. Input Signals 5 Settng Up the Servopack Input signal allocation can be changed as shown below ; Tnpun Signal Teer Constant Deserption Name Applicable Logie Number | Setting Proportional Gontiol ON vow mvc)“ PaSDAD 0 —Inpasihe gat on ele om STOCN-AD) Reference : |(P-CON) fps the signal on tele om S12 1CNT32) 3 us te anal on eter rom S13 CNT83) Inputs he sgnal onthe efron Sa CTR) ] "Taps the signal onthe ie from SS (CNTR) “Tn tie signal on the Te rom S16 CNTY] 7 [Sete signal on the le to always enabled Ses de gna on he let always dated 1 Inputs the reverse of the signal on the left from S10:€NI-40) FT iipusate reverse of he sgaal one eh om, sient Taps he revere of the val onthe Kl om sia Cni-s2) ' C= Inputs the reverse of the signal on the lett fom i j {SB (CNI-3) j ! Inpusite reese ofthe wena onthe eh from /SI4(CN1-44), | [Inputs ie reverse of he wena one et Wont | ; SIS(CNI-85) Inputs the reverse of the signal on the left from i Sie reNT-6) Forward Run Prohibit OFF (high level Pns0A 3 | Oto? [Same as above “I le-on) i Reverse Run Prohibit OFF (ingh level) PnSOBO | O10 F? |Same as above won TAlarm Reset ON (low level) PusOB 1 Oto F"= Same as above *! (ARW-RST) i Forward Current Limit ON tlow level) /PnSOB 2 | O10 F? [Same as above *! UP-CL) Reverse Current Limit ON (low level) PnS0B 3 O10 F*?_- Same as above “! 7 (cl) : Contact Input Speed - Pn30C 0 | Gio F? [Same as above *! “Control Selection | {USPO-0) |Contact Input Speed = Pns0C 1 | Oto F? | Same as above“) [Control Selection |(SPD-A) L “Contact Input Speed = Pas0C 2; OWF? Control Selection, (’sPD-B)User Constant Settings and Functions ee 53. Inout Grout Signa! Alocavon input Signal User Constant Description Name ‘Applicable Logie [Number Setting Control Mode Selection ON (os kxely | PIC? OWE? |Sameas above UC-SEL) Zero Clamp JoXtorinh —SIDG | OWE SmewaboeT |vZcLAMP) Fieference Pulse inhubt OW dowievelr PrSO0D1 | OwF? |Saneasabove™ inary Gain Switening O¥tow wen Psap2 | OwF? | UG-SEL) i © Same as above andicates that the user constant can be ser to Leon Oto F to allocate put signals to the following terms, as shown inthe example forthe Proportional Control Reterente (/P-CON1 1 Allocation 10 snpur terminals $10 to S16 2. Seung to always valid or always unvald Allocation wo wpa terminals SIO o SI6 and ecesving the sgvals athe Servopack withthe reverse logx of the nput signal 2 Setnmys9 and 8 to F tor the user constants Lan be used only fot the new. version of the SGDM Servopacks ‘SGDV-ODAY5.9 Setting Up the Servopack 5.3.4 Output Circuit Signal Allocation ‘Output signal functions can be allocated to the sequence signal output circus shown below ent Output Factory Setting Comments | Connector Terminal Name Terminal Fee age cereeeeree sym Na Numbers on su so} v-CMP. Speed comeidence | The signal ouput j uCOIN® aetection poston- | wll vary depend angeompletes) fing on the control 26186) NMP mode COIN) peo eee eee ee eee eee be eee eee 2 soz [Gos Rotation detection 2815Gi Nico 2» 803 SRDY+ Servo ready 30.86) SRDY l EERE SEEE EE ‘The output signal selection usei constants and thear factory settings are shown below Pn50E “Output Signal Selections 1 Factory |Speed/Torque Setting | Control, gar [Position Controt Pn50F | Output Signal Selections 2 ~ Factory |Speed/Torque Setting. | Control, | ‘0000 [Position Controt PnS10 _- Output Signal Selections 3 Factory “‘Speed/Torque | Setting Control, 0000 [Position Controt | Select the CNI Connector terminals that will output the signals Pnsce 0 Prstoc> 801 (ON1-25, 26) Output 7 eyes 802 (0N1-27, 28), '803 (CN1-29, 30)User Constant Settings and Functions ——— 1534 Output Cueut Signal Alecabon ‘Output Signal | User Constant — | Description pe Number Setting Positioning | PnsoE 0 0 Disabled (Not used for the output signal on the left Completed ee ee ee Compl Topas ts sgn onthe arm ie $01 COST25 nd 76) pu eral 2 Output the wgnl othe let fom the $02 (CNI-27 and 28) output vernal I | 3 Outputs the signal on the lett trom the SO3 (CN1-29 and 30) output terminal " spe id ‘PnSOE 1 D103 Same as above Coincidence Detection 7 i v-cme) i : j Rotation PoSOE 2 Same as dove Detection | : HOTGON) ‘Servo Ready — | PnSOE3 013 Same as abore (S-RDY) j j FTorque tint | Pasoro 61?! Same as abore : Detection ' yet) i : Speed Limit | PrsvFi O13 [Sane as above Detection mun [Brake Interlock |PnsoF2 | 0103 | Sameay above BK) ! | Warning | POSOFS Ow} Sameusabwe (WARN) | Near Posi00 ows [Siamese tore IUNEAR) Not used z z r Note Same as above means output signals are disabled or all sted to outout terminals S01 (0 $03 through user constant sarang 9 Signals are output with OR logic when muluple sgn ls se allocated tothe same output circunt Signals that “te not detected are sovalid Forexemple the povmoning completed signal /COIN r nsalid n Speed Control Mee “The following user constant can be used! to reverse the signals output on output terminals SOT 10 $03 | Pnst2 —— Toutput Signal Reversal Settings Factory Speed/Torque Setting | Control, i ! ‘9000 _|Pesition Contra! The settings specity which of the connector CN1 output signals are to be reversed.5 Setting Up the Servopack —_—— eee. Output Terminals User Constant Meaning ; Number | Setting : [sor cvs 26 TPasi20 Pou signa nt reverse “Ouput signal reversed so2icvi-27.28) | Posi2 1 Output signal not reversed Oupot signal reversed ‘803 (CN1-29 Posi22 ‘Output signal not reversed [Output signal reversed Not used prsi23 - (SGDM-CDAY ‘The Output Signal Reversal Setungs !PnS12) are supported only by the new version of the SGDM ServopacksUser Constant Settings and Functions ———_—_——— 535 Convol Mode Selector 5.3.5 Control Mode Selection ‘The SGDM Servopack offets speed contol position control. torque control, and the other con- {tol modes shown in the following table The following uset constant 1s uyed to set the control mode Pn000 1: Control Mode Selection Factory | Speed/Torque Setting? | Control, [Position Control eo | PEE ESSE 'Pn000 4 Setting Control Mode a_i Conrar anatog Rateencen TPostien Cor ‘ol Puhe Tran Reverence) 7 eee He Testes Com eat ein Reteeeel tee eee [ 2 “Torque Conol (Analog Relereni®) i Cont Top Spd Comal Selecuon (Cents ReleTee) (Contact Input Spaud Coniral Selection «Contact Reterence) © Speed Con ol (Analog Retcieme' 5 ‘Contact Foput Speed Coril Selectvon (Contact Reterence! = Pe Contra! Pave Tea Reterenvet ' Coauce Inpoe S| <1 Conol Setecvon Contact Reterenei > Torque | Releseniet t Pulse Tam Reterence) > Speed Comal | Analog Ree Position Conial Pulse Tram Reterence? ey Torque Conto! (Analog Ret | erence 7 9 Torque Coninol ‘Analog Reierence) © Speed Conol | Analog Reterene? x T Speed Control Analog Reterence) © Zero Clamp Con 5 Postion Conical Pulse Train Reference) € Posvon Contra ™@ Description of Control Modes The contrat modes are described below Speed Control (Analog Reference) “This mode contiols speed Using an analog Vollage mput reference See 5 2 J Speed Reference Position Control (Pulse Train Reference) This mode conttols positioning using & pulse tain mputreference See 5 22 Position Reference Torque Control (Analog Reference) ‘This mode contiols torque using an analog voltage ynput reference See 52 7 Using Torque Con- ol Contact Input Speed Control Selection (Contact Reference) ‘This made uses the /P-CON U/SPD-D3 /P-CL USPD-A). and /N-CL (/SPD-B) input signals 10 control speed as it westches among the three preset operating speeds inthe Servopack See 5 26 Consact Input Speed Comrot53 Setting Up the Sorvopack Contact Input Speed Control Selection (Contact Reference) Speed Control (Analog Reference) ‘This mode controls speed by switching between contact reference and analog voltage reference speedcontio! Analog voltage eterenve speed contro senabled when both/P-CL USPD-A and INCL (USPD-B) mput signals are OFF thigh level) See 5.26 Contact pu Speed Controt Contact Input Speed Control Selection (Contact Reference) <> Position Control (Pulse Train Reference) ‘This mode switches between contact eterence speed control and pulse tain relerence position control Pulse tain reference povition contiol is enabled when both /P-CL (/SPD-A) and /N-CL USPD-B) input signals wie OFF (high level) See 5 2.6 Contact Input Speed Control Contact Input Speed Control Selection (Contact Reference) «> Torque Control (Analog Reference) ‘This mode switches between contact teleience speed control and analog voltage celerence torque conuol ‘Torque contiol using an analog voltage reterence 1s enabled when hath /P-CL. USPD-A)and /N-CLUSPD-B) mput signals are OFF (ugh level) See 5 2 6 Contact Input Speed Connot Position Control (Pulse Train Reference) «» Speed Control (Analog Reference) This mode switches between postion and speed control through the /P-CON (/C-SEL) signal Position Control (Pulse Train Reference) <> Torque Control (Analog Reference) This mode switches between position and torque Control through the /P-CON (/C-SEL) signal Torque Control (Analog Reference) «> Speed Control (Analog Reference) Ths mode switches between torque and speed control through the /P-CON (/C-SEL) signal See 527 Vang Torque Connol Speed Control (Analog Reference) «> Zero Clamp ‘This speed control mode 15 used sett Zero clamp operates when the /P-CON (FZCLAMPY signal 1s ON (low level) See 5 4 3 Using the Zero Clamp Funcnon zero clamp function when the Servopack 1s stopped Position Control (Pulse Train Reference) <> Position Control (Inhibit) This mode contiols posittonmy by infubiting reterence pulse input though the /P-CON (/IN- HIBIT) signal See $2 12 Usorg Reference Pulse Inhubtt Function ‘INHIBIT) 5aUser Constant Settings and Functions —_——— 536 DC Power input 5.3.6 DC Power Input ‘The following describes how to operate the SGDM Servopack wath DC power @ Setting 1 Connect the main power as follows +L terminal +280.V +140 V (For 100 V input SGDM-COBD (A) type -terminal OV. 2 Enter the control power to the LIC and the L2C as follows (No polarity) 280 VDC 140 VDC (For 100 V mput SGDM-OBD (A) type 3 Set user constant PnUOL 2 to | Factory Speed/Torque. Setting Control, Position Control Eee ee ee eee eee ee 4 Turn ON the control power again Observe the following precautions Pn0o1 2 AC/DC Power Selection © Input voltage must have the following specifications 27010320 VDC SGDM-COAD IA) to ISSVDC SGDM-QEBD (a © The motor conveitsthe regenctated eneigy to power when regenerating. The Servopack with DC powerinput -pecificationsdoes nolregeneiate Process regenet ated energy on the power side © Rapid discharging ts not powvible aa DC power mput specifications attet the mai power istumed OFF High voltage remains in the Servopack even afier the power 1s turned OFF54 Setung Stop Functions 5.4 Setting Stop Functions ‘Thus section describes the procedure used to stop the Servopack stably 5.4.1 Adjusting Offset @ When the Servomotor Will Not Stop “The Servomotor may rotate at very low speed and not stop even when 0 V rsspecatiedas the refer- ‘ence voltage for Servopack ypeed and torque Control analog reference) This happens when the reference voltage trom the host controller or external carcuttsshighily ofiset (in mV units) The Servomotor will stop f this olfsets properly adjusted t0 0° [Roterence voltage Oftset Roterencel ass fat ——> i Offset corrected by the Servopack Reference speed or torque “Rutomatc Adjustment of “Therslcnce oft w atonal used V | Reference Offset Ofset aqustment ™@ Reference Offset Adjustment ‘The fotlowing methods can be used to adjust the reterence offset 10 0V ‘Manual Adjustment of “The reterence otlset can be set 10 a spevitied value i Reference Offset : IMPORTANT, U8 Manual rather than automatic Jujustinent fa position control Joop 1s formed in the host controler See the following sections in Chapter 7 Using the Digital Operator tor more details on adjust- ‘ment procedures ‘Automatic Adjustment of Aweomatte dpustnent ofthe Speed and Tongue Refer Reference Offset ce Offs, | Manual Adjustment of 24 Mounual Adjusonent ofthe Speed and Torque Reference [Reference Ottset OfferUser Constant Settings and Functions 542 Using the Dynamic Brake 5.4.2 Using the Dynamic Brake ‘To stop the Servomotor by apply ng the dynamuc brake (DB), set the desired mode in the follow ing user constant The Servornotor wll stop due to equipment fiction if the dynamic brake 1s not applied Pn001 0 j Servo OFF or Alarm Stop Mode Factory Speed/Torque | Setting Control, Position Control ; ° ‘The SGDM Servopack twins OFF under the following conditions © The Servo ON input signal (/S-ON CN1-4011s ined OFF © A Servo slam ogous © Power 1s uined OFF no Stop mods ter stoppin: OFF Stop mode Alter stopping Pret sae Hod dynam brake Dynems, brake stop] ‘Coast status ares Specify the Stop Mode i any of these occurs during operation Pn001 0 Setting Description 0 | Uses eis dynam brake ( stop the Servemoror -Maintaris Usman Brake ater the Servomotor swps [Relsnesdem on bra ates the Seevomxor tops and ihe servemotor | | Coagts Fie Serseonnto 10a top “2 ‘Tre Sersomoion 1 turned OFF and movin stops Ue to equipment Inction| 1 Ifthe Servomotoe's sopred or newenig ¢ extremely lows speed H wil oto a stop 2 §.dymam broke 1Susea the coMro! pow Started ONand mam poers tuned OFF ‘© Dynamic brake (DB) ERMS, “Thedy namic bres sonmnuny ayo" saddens copnng aSevomar Bumoute Seryptch she drsanue 9h say 0963) by elecially cheting weIMPORTANT, 54 Setting Stop Functons ‘The dynamic brake 1s an emergency sop tunciton Do not repeatedly start and siop the Servomotorwsing the ‘servo ON signal (/S-ON) or by repeatedly turmng power ON and OFF ung conta! power is tue OFF the state ot the dynane brake changes as tolows OW to SKW Dyname brake OW 20 kW or more Dynamic brake OFF 5.4.3 Using the Zero Clamp Function Zero Clamp Function ‘The zero clamp function 1 used for systems where the host controller does not form a position loop forthe speed reference input Inothet words. ths function isused o stopand lock the Servo- mernal position loop ‘moto! even when the input voltage of speed teterence V-REF is not OV An 1s temporarily formed to clamp the Setvomotor within one pulse when the zero clamp function 1s turned ON Even 1! the Servomotor is forcibly rotated by external force, st will stl return to the zero clamp position ‘A speed reference below the aes ¥ Host contralee Speed reference CA At} sea, h User Constant Setting | Set the following user constant so that the input signal /P-CON (ZCLAMP) can be used to-en- able or disable the zero clamp tunction TPno001 [Control Method Selection : Factory —_, Speed Control Setung | ° Proportional Control, etc Speed/Torque | Control, Position Control | The ZCLAMP signal can be used when an pu circut signal is allocated See 5 3 3 Input Circe Signal Al- location for mote decals sosUser Constant Settings and Functions 54 Using the Zero Clamp Function Pn000 1 Setting Controt Mode a Zero Clamp Control Mode Irmemnearomieronany | | |Jtunchion to be sét when the Servos | rarer stops | + the specdeeren mp om VRER CTS) + P-CON (ZCLAMPWCNI-41) as L ‘used to tra the zero clamp func hon ON sind OFF | exits Pues he “Zeto clamp is performed when the fol open OFF: !e10 clamp lowang two conditions are sansfied | tanta |eagant .CON VACLAV [Le = | CRAIC [rn the Condition 2. Speed reference 1s below vows | zeie stamp the setung at PrSOL | | tunctian ON PEE EERE EERE Ee Ee EEE EEE EEE EEE SEE EEE EES lm Setting Use the following user constant to set the motor speed level at which zero clamp 1s performed setting | Factory Speed Control * rimn| Range Setting | i to 10009 | 10 Set the motor speed at which zeto clainp 1s performed 1f zero clamp speed control 1s selected possi lame cre aon | Ui Even af this value 1s set higher than the maximum speed of the Servomotor. the maximum speed wall be used Zero Clamp Conditions Ze.o clamp 1s performed when all the following conditions are satisfied {© Zero clamp speed contro selected (user Constant Pn000 11s 110 A) 1 /P-CON UZCLAMPYCN 1-411 5 ON OV 4 ‘Speed reference drops below the soting of PnSO1 \V-AEF speed reference Speed Prosot value for 2210 clamping {Gosed } Tm P-CON(ZCLAMP) mput_ —{ Open (oFF)L ON / lo <— Zero clamps performed 5 u5.4 Setting Stop Functions When the ZCLAMP signals allocated the 70 clamp operation will be used even fr speed control (Pa000 =o) 5.4.4 Using the Holding Brake ‘The holding brake is used when a Servoxinve controls vertical aus In other words. a Servomo- tor wath brake prevents the movable part trom shifung due to gravity when system power goes OFF Senomotor a ‘Holding brake shifting due to grawty when i a | Prevents the movab'e part from Systm poner goes OFF [IMPORTANT! —Thebrakebuit nto the Servomotor SGMH withbrakes isa de-energreation brake which isused only o hold SS and cannot be used tor brakang Use the holding brake only to hold a stopped motor Brake torque 1s atleast 120% of the rated motor torque Wiring Example ‘Use the Servopack contact output signal /BK and the brake power supply to form a brake ON/ sm shovis a standard wing example OFF cncuxt ‘The following di Poway a 7 @<< wrejac 0c Lees enero rer BK-RY Brake contol tay Bake power supplies are avadable in 2004 and 100:V models 1 and *2 are the output termmals allocated with P5100User Constant Settings and Functions Se "544 Using ne Holding Brake 'Speed/Torque Control, Position Control [Brake Interlock Output ‘This output signal controls the biake when using a Servomotor wath a brake and does not have to be connected when using a Servomnotor without a brake oF 71 JON Closed or low level [ Reteases the brake JOFF Open or igh Ie | arpnes the brake Related User Constants Pns06, Ture Deliv trom Biake Reterence unui Serve OFF | nso7 Speed Lev to Brake Reterence Output durnig Motor Operation [nsos “Trang Brake Reteence Output dung Motor Operation 1 ‘The output signal in the following user constant mus! be selected when the /BK signal is used "paloe ouput Signal Selections 2 "Senne [Seeoartoraue! Range onto, | Poattion Control 0000 Bator gees Select BK oupa ma User Constant | Sating Outpt Tema (6w aa i 2 Se Pno0F2 0 I - - ro — ' 28 > » | Note Signals arcoutput with OR loan when muluple signals are allocated tothe same ‘output circus Set other ourpul signals 184 value other than that allocated to the BK signal n oxder to ourpatthe BK signal alone See 5 3-4 Output Circut Sg nal Allocanon54 Settng Stop Functons IMPORTANT @ Brake ON Timing Ifthe equipment moves slightly due to gravity when the brake 1s applied. set the following user constant 10 adjust brake ON amin Setting | Factory ‘Speed/Torque Range | Setting Control, | otoso 9 _,Position Control ‘This user constant 1s used to set the output time from the brake control signal /BK until the servo OFF operation (Servomotor output stop) when a Servomotor with a brake 1s usec So. anon’ | Seo! fermorr Tpn506 “Brake Reference Servo _ Unit OFF Delay Time ety ‘Servo ON/OFF | Ox) _T senor OFF eperaton Bervomero: GNOFF stave) ‘With the standard setung. the setvo 1s tuined OFF when the /BK signal (brake operation) 1s out- put The equipment may move slightly dueto gravity depending on equipment configurauon and brake charactenstics If this happens. use this user constant to delay servo OFF tnung ‘This setting sets the brake ON umung when the Servomotoris stopped Use Pn$07 and $08 for brake ON uming duning ope ation ‘The Servomotor will urn OFF ymmedtately an alarm occurs The equipment may move due to gravity inthe lume a takes forthe brake o operate woUser Constant Settings and Functions 54 6 Using the Holding Brake I Holding Brake Setting Set the following user constants to adjust brake ON uming so the holding brake 1s applied when the Servomotor stops n507 | Brake Reference unit) Setting Output Speed Level | 4, | Range ‘Speed/Torque Controt, Position Control 0 to 10000 Pn08 Timing tor Brake ‘Unt | Setting | Factory _|Speed/Torque Reference Output "yon! Range | Setting | Control, Jduring Motor Operation so |Pesition Controt 10to 100 ‘Set the brake uming used when the servo 1s turned OFF by input signal /S-ON (CN1-40)or when aan alarm occurs during Servomoto: with brake operation Towne wages ‘Motor peed won n.507 BKoupt Jet mane ee Brake ON timing when the Servomotot stops must be adjusted properly because Servomotor brakes are designed as holding brakes. Adwust the user constant setings while observing equip- ment operation 1BK Signal Output Conditions During Servomotor Operation ‘The exreust open under either of the following conditions Ebest el SALLE [1 Wer iw cg Par OF The ume set at P08 has elapsed since servo OFF The actual setting will be the maximum speed even if PnSO7 1s set higher than the maximum, speed55 Formng a Protective Sequi —_—__—$———S$ —$—$—$— Ens sn —n—nr 5.5 Forming a Protective Sequence ‘This section describes the procedure tor using VO signals from the Servopack to form a protecuve safety sequence 5.5.1 Using Servo Alarm and Alarm Code Outputs ‘The basic procedure Jor connecting alarm output signals 1s described below seine Spe pe moagetae Proteoun.er css | ate Segecerco | TBR | rcenrine et ° in wa] 0 = “Alam TB srarereeese FT) eT ad nos i pone se Scie Host controler A suitable external /0 power supply must be provided by the user separately because there 1s ‘no internal 24-V power supply’ the Servopack ‘The use of the photocoupler output signals 1s desenbed below Servo Alarm Output ;Speed/Torque | Control, i “Position Control | TSpeedTorque | Icontrot, Position Control ' Cre [on ey Signal Ground for Servo Alarm Output ‘These alarms are output when a Servopack alarm 1s detected Senvopack, coy > ALMouout Tums power OFF Form an external circuit so ths alarm output (ALM) turns the Servopack OFF ON Creo beween C31 and 32 ms closed, | Normal sate and CXI-31 18 atlow level OFF Circuit Between CNI-31 and 32 1s open, and Alarm state i et CNL-BL sat high levelUser Constant Settings and Functions ycciecdisssaisnetseals cneieelbietadennneeeseeeeeee== ss 55 1 Using Serve Alarm and Alarm Gode Outputs ‘Alarm codes ALOI. ALO2 and ALO3 ale output to indicate each alarm type The uses of open-collector output signals ALO. ALO2 and ALO3 1s described below Siren ‘Alarm Code Output Speed/Torque Control, Position Control Contneee herd Alarm Code Output Speed/Torque Control, {Position Control; Cre mre eer Totic Alarm Code Output "Speed/Torque Control, Position Control Signal Ground for Alarm Code Speed/Torque Output |controt, Position Control ‘These signals output alarm codes 10 indicate the type of alarm detected by the Servopack Use these signals to display alarmcodes atthe host controller See 9 2 3Alarm Display Table for more fon the relawonship between alaim display and alarm code output Whena Servo alarm (ALM occurs. eliminate the cause ofthe alarm and setthe following/ALM- RST input signal to high level (ONp to reset the alarm Alarm Reset Speed/Torque [Controt, Position Control ‘The alarm reset \ignal is used to reset a Servo alarm Form an exieinal cicuit so the Scrvopack tuins OFF when an alarm occurs Alarms are reset au- tomatieally when the control power supply 1s turned OFF Alarms can also be reset using a Panel ot Digital Operator (MPORTANT] > Encoder alarms cannot asays be eset by imputenstheALMERST signa to that ease the conto poser supply OFF 1o reset the aban 2 When an alsem occuts always climnate the cause betore resetting the alarm Sez 92 J Troubleshooting5.5 Formng a Protectve Sequence 5.5.2 Using the Servo ON Input Signal The basic use and winng procedure for the Servo ON (/S-ON) mput signal ‘sequence input st nal) 1s deseribed below Use this signal to forcibly turn OFF the Servomotor from the host con- troller ‘sonra Senvopack 28 Host contoller wr ‘Serve ON Speed/Torque | ‘Control, Position Control ‘This signal 1s used to turn the Servomotor ON and OFF CNI-4015 | Tums the Seivomawi ON This isthe Serve ON Servomotoris ON JON (Low | normal state called the Servo ON state Sct ievehy ‘The Ser erates t according to signal pat ‘CNI-4018 The Servomotor is OFF and cannot oper [Servo OFF Servomotor is OFF LOPE (High ste (called the Servo OFF site) Do not tLevel) wm the Servomsror OFF while is oper= Servomotor can net oper- ‘ ating except n an emerge ate TINPORTANT] Po m0 vse the Servo ON W/S.ON) sign rather always use an mut eference signal 0 stat oF stop the AIPORTANT servomotor Set the tollowang wser constant 0 7 the /S-ON signal wall not be used "pn50A 1 [/S-ON Signal Mapping “Factory | Speed/Torque i Setting | Control, : i i Position Control owes ‘The externa shor-crcut winng shown Bou ine figure can be erate # the Servo a (ON (/S-ON) mput signa isnot used Pn50A 7 Setting Description 0 "Enables the Seivo ON 7S-ON1 input signal (The Servo is OFF when CNT-4O open and ts ON shen CN-40 5 at Vy 7 Disables the Serve ON U/S-ON) amput signal (The Servo is always ON and | has the suneetleet as shorung C140 t0.0V) Note See 534 ypu Circ Siva! Alan tor otber POA 1 seungsUser Constant Settings and Functions —_—— 55.3 Using ihe Postonng Complsted Output Signal 5.5.3 Using the Positioning Completed Output Signal ‘The basic use and wiring procedure for the positioning completed (/COIN) output signal (photo- ‘coupler output signal) described below The signal is output to indicate that Servomotor opera tuon 1s completed Tae ray Sorvopack P2434 tea cerns ee + R ard coins FLD ons.aq con Positioning Completed Output [Position Control Signal ‘This signal indicates that Servomotor movement has been completed during position control The host controller uses the sighal ay tn snterleck to confirm on the host controller that position- ang 1s completed Fatereres senomoter se Fea Bee ds) con} e125) ON Cru hetween CNI-25 an! 26ysclosed | Posivoning ws completed «Posiuon ecroris | and CN1-25 18 at low level [below te setung 1 OFF. Cicant Serween CNI-25 ane 2618 open and“ Postioning isnot completed «Position error 1 GN1-25 m avg level 1s abowe the se Setting Pa3O0 (positioning completed wth) The following user constant setting 1s used to change the CN connector terminal that outputs the /COIN signal “pns0E | Output Signal Selections 1 Factory Position Control Setting gant ‘The user constant 1s tactory set so the COIN signal s output between CN1-25 and 26 See S 3-4 Ouiput Corcuar Stenal Allocarron tox move details on user constant PnSOE, “The following user constant 1s used to et the number of error pulses and to adjust the output umt- ing of the positioning completed signal55 Formng a Pi ence Pn500 | Positioning Unit Setting | Factory [eam i, Range. | Satna | me otoz | 7 | ‘This user constantis used toset output trming tor the positioning completed signal COIN) when the position teterence pulse 1s input and Servomotor operation 1s completed Position Control ‘Set the number of error pulses in retercnce units (the number of mput pulses defined using the electronic geai function) ‘Too large a value set at ths user constant may output only a small error during low-speed opera- ‘von that will cause the /COIN ~ignal to be output continuously ‘The positioning completed width setting has no effect on final positioning accuracy (GEE CON poston contol sign ‘wat the factory setting. this signal 15 used tor the speed covnetdence output /V-CMP tor speed control, and it ss always ON for torque control 5.5.4 Speed Coincidence Output ‘The baste use and wiring pros edutes for the speed coincidence (/V-CMP) output signal used to Indicate a match with the speed reference (photocoupler output signal) are described below The host controlle: uses the signal as an interlock (Ope nae Sorvopack vay An peor ontod, Sead BEE cal ‘Speed Comeidence Output TSpeed Controt “Thus signal 1s output when the actual motor speed during speed conwiol is the same as the speed relerence input ON Cirwure borween CNI-25 and 26 sclosed. Speed cornesdes (Speed error 1s below the and CR1-25 1s at low level seming ) OFF Circuit berween CNI-25 and 26 1s open and Speed does not comcide {Speed error is | CNI-28 6 at high eve: above the seiung.) Pieset value Pa$03 (Speed Coincidence Signal Ouiput Width)User Constant Settings and Functions ————_——— 354 Speed Comedence Output pases Roterence speed N-CMP is carput inthis range ‘The following user constant setting 15 used 10 change the CN connector terminal that outputs, the /V-CMP signal Pn50E Output Signal Selections 1 ; Factory “Speed Controt | , | | sat The user constant s factory set sothe/V-CMP signal ssoutputbetween CN1-25and26 See5 34 Output Circuit Segnal Allocation tox more details on user constant PaSOE ‘The following user constant 1s used to set conditions for speed comeidence output nits Speed Comedence | Unt Setting | Factory Speed Controt i Signal Output Width | Range Setting oto 100 10 ‘Ths user constant 1s used to set Conditions for speed comendence signal /V-CMP output The (V-CMP signal is output when the dilerence between the speed reference and actual motor speed is below this setting 10 rmun f the user constants sett 100 and the refer AMPLED ‘The (V-CMP signal turns OR at 190010 cence speed 1s 2000 rnin V-CMP 5 a speed contol signa Wah the ratory seemmg tas itis always ON for torque contol5.5 Formng a Protectwe Sequence 5.5.5 Using the Running Output Signal ‘The basic use and wiring procedures for the running (/TGON) output signal (photocoupler out- put signal) aie descnbed below The signal 1s output to indicate thatthe Servomotoris currently operating oo Servopack ape Aw ere foes Bamnaeen gp ON ny kprencopasran 3 + FELT onstrcon, em : Running Output Signal ~ |Speed/torque Control, {Position Control | ‘This signal 1s output to indicate that the Sei vomotor ts currently operating [tis used as an exter- nal interlock ON Cloed or low level Servomotor 1s operaung ‘Motor speed ws above the setng i (OFF Open or high level Servomotor isnot operating. (Motor speed is oclow the setung ) E Preset value PnS02 (Running Ovtpat Level) dense acon ____J ‘The following user Constant setting is used to change the CN't connector terminal that outputs the /TGON signal “Prev [Output Signal Selections] Factory [Speed”Toraue | Setting: Control, " ae Position Control ‘The user constants factory set othe /V-CMP signals output betwsen CN 1-27 and 28 See 5 3-4 Ouaput Crrcutt Signal Allocation tox more details on user constant PaSOE “Thus usct constant 1s used to set output conditions for the operation detection output signal sTGON "pn802 ‘Rotation Detection Unit Leve! Setting Factory Speed/Torque umn} Range. Setting Control, : ; fff | rasaUser Constant Settings and Functions —_— ee "56 Using he Servo Ready Output Signat Signals output when Servomoter operauon is detected * ‘GON © Statuy Indication Mode © Monitor Mode Cn006 5.5.6 Using the Servo Ready Output Signal “The baste use and saring procedutes forthe Servo Ready (/S-RDY) output signal (photocoupler output signal) ate described below Servo Ready means there are no Setve alarins and the main carcutt power supply 1s tumied ON ‘An added condition with absolute encodes specifications 1s that the SEN signal is at high level and absolute data was output to the hest controlles paar Servopack ar a badawgs a ageng ONS or |e L( PR Fenal cane COSTES Servo Ready Output Signal [Speed/Torque | Control, | Position Control ‘This signal indicates the Servopack received the Servo ON signal and completed all prepars- uons ON Closed or low level Servo is ready levei # Servo 1s not ready OFF Opener The following user constant set the /S-RDY signal i used (0 change the CNL connector temnunal that outputs Pn50E [Output Signal Selections 1 Factory Speed/Torque Setting Control, | Position Control oH 3211 ‘The userconstant 1 tacfory sei su the/V-CMP signal is output between CN1-29 and 30 See 5 3.4 Output Circur Signal Alocarin tor more detals on user constant PRSOE55 Formng & Protective Sequence 5.5.7 Using the Warning Output Signal ‘The basic use and wiring procedure forthe warning (WARN) output signal (photocoupler output signal) are given below “The signal consists of the following wo output signals AVARN signaly Oveiload and regenerauve overload Tree as Servopack pa a — | ee ‘vero opus $2 Ane Note User convn: PaSO3F 1 used 1 allocate ouipt wrens for *1 and *2 Warning Output Signal TSpeed/Torque ‘Control, [octon Contre ‘This output signal indicates an overload or regenerauve overload warning OFF ‘Open or high level Normal operation on Closed or low level Error warming status ‘The following user constant setting 1s used to change the CN1 connector terminal that outputs. the WARN wal | Pra0F Output Signal Selestons 2 Faclowy ~~ SpecaTorque | | Serna Cont, mmm onion Contr | PnSOF 31s used to allocate the WARN output signals above User Constant Setting (Output Terminal (CN1-) ; 4 2 PasOr 3 o - - 1 cy 26 2 2 a [Note MMuluple signals allocated tothe same output arcu are output using OR logic Setotber ouyput signals ta salve other than that allocated 1o the WARN signal snorder to use the WARN output signal alone See $ 3-4 Ousput Cucuat Signal Allocarton so)