Contents - Table Of Contents
- Table Of Contents
- Table Of Contents
- Table Of Contents
- Table Of Contents
- Table Of Contents
- Σ-V Series SERVOPACKs
- SERVOPACK Ratings and Specifications
- Basic Specifications
- Speed/Position/Force Control Modes
- SERVOPACK Internal Block Diagrams
- Three-phase 200 V, SGDV-R70A05A, -R90A05A, -1R6A05A Models
- Three-phase 200 V, SGDV-3R8A05A, -5R5A05A, -7R6A05A Models
- Three-phase 200 V, SGDV-180A05A, -200A05A Models
- Three-phase 200 V, SGDV-470A05A, -550A05A Models
- Three-phase 400 V, SGDV-1R9D05A, -3R5D05A, -5R4D05A Models
- Three-phase 400 V, SGDV-170D05A Model
- Three-phase 400 V SGDV-280D05A, -370D05A Models
- Examples of Servo System Configurations
- SERVOPACK Model Designation
- Inspection and Maintenance
- Chapter 2 Panel Operator
- Panel Operator
- Status Display Mode
- Utility Function Mode (Fn )
- How to Read a Parameter Explanation
- Explanation Method for Tuning Parameters
- Parameter Setting Mode (Pn )
- Parameter Setting Mode for Function Selection Type
- Monitor Mode (Un )
- Wiring and Connection
- Main Circuit Wiring
- Names and Functions of Main Circuit Terminals
- SERVOPACK Main Circuit Wire Size
- Typical Main Circuit Wiring Examples
- General Precautions for Wiring
- Precautions When Using the SERVOPACK with a DC Power Input
- Precautions When Using the SERVOPACK with Single-phase, 200 V Power Input
- Precautions When Using More Than One SERVOPACK
- Designing a Power ON Sequence
- I/O Signal Connections
- I/O Signal Connector (CN1) Terminal Layout
- Safety Function Signal (CN8) Names and Functions
- Example of I/O Signal Connections in Speed Control
- Example of I/O Signal Connections in Position Control
- Example of I/O Signal Connections in Force Control
- I/O Signal Allocations
- Output Signal Allocations
- Examples of Connection to Host Controller
- Connection Examples of Sequence Input Circuits to SERVOPACK
- Connection Examples of Output Circuits to SERVOPACK
- Examples of Linear Scale Connection
- CN2 Linear Scale Connector Terminal Layout
- Connecting Regenerative Resistors
- Setting Regenerative Resistor Capacity
- Noise Control and Measures for Harmonic Suppression
- Precautions on Connecting Noise Filter
- Connecting DC Reactor for Harmonic Suppression
- Trial Operation
- Operation
- Trial Operation with the Linear Servomotor Connected to the Machine
- Adjustments
- Test Without Motor Function
- Operating Procedure
- Related Parameters
- Chapter 5 Operation
- Control Selection
- Setting Common Basic Functions
- Servomotor Movement Direction
- Overtravel
- Stopping Servomotors after /S_ON Turned OFF or Alarm Occurrence
- Power Loss Settings
- Setting Motor Overload Detection Level
- Operating Using Speed Control with Analog Voltage Reference
- Reference Offset Adjustment
- Soft Start
- Speed Reference Filter
- Zero Clamp Function
- Encoder Pulse Output
- Encoder Pulse Output Setting
- Speed Coincidence Signal Setting
- Operating Using Position Control with Pulse Train Reference
- Clear Signal
- Electronic Gear
- Smoothing
- Positioning Completed Output Signal
- Positioning Near Signal
- Reference Pulse Inhibit Function
- Operating Using Force Control with Analog Voltage Reference
- Adjustment of Reference Offset
- Speed Limit in Force Control
- Operating Using Speed Control with an Internally Set Speed
- Example of Operating with Internally Set Speed
- Limiting Force
- External Force Limit
- Force Limiting Using an Analog Voltage Reference
- Force Limiting Using an External Force Limit and Analog Voltage Reference
- Checking Output Force Limiting during Operation
- Setting Absolute Linear Scale
- Setting the SEN Signal
- Origin Setting (Fn020)
- Absolute Encoder Reception Sequence
- Output Signals Used in All Control Modes
- Warning Output Signal (/WARN)
- Movement Detection Output Signal (/TGON)
- Safety Function
- External Device Monitor (EDM1)
- Application Example of Safety Functions
- Confirming Safety Functions
- Chapter 6 Adjustments
- Adjustments and Basic Adjustment Procedure
- Basic Adjustment Procedure
- Monitoring Analog Signals
- Safety Precautions on Adjustment of Servo Gains
- Troubleshooting
- Tuning-less Function
- Tuning-less Operating Procedure
- Advanced Autotuning (Fn201)
- Advanced Autotuning Procedure
- Advanced Autotuning by Reference (Fn202)
- Advanced Autotuning by Reference Procedure
- One-parameter Tuning (Fn203)
- One-parameter Tuning Procedure
- One-parameter Tuning Example
- Anti-Resonance Control Adjustment Function (Fn204)
- Anti-Resonance Control Adjustment Function Operating Procedure
- Vibration Suppression Function (Fn205)
- Vibration Suppression Function Operating Procedure
- Servo Gain Adjustment Application Function
- Feedforward Reference
- Force Feedforward
- Speed Feedforward
- Proportional Control Operation (Proportional Operation Reference)
- Using the Mode Switch (P/PI Switching)
- Switching Gain Settings
- Force Reference Filter
- Position Integral Time Constant
- Friction Compensation
- Current Control Mode Selection
- Current Gain Level Setting
- Chapter 7 Utility Functions (Fn )
- List of Utility Functions
- Alarm History Display (Fn000)
- JOG Operation (Fn002)
- Origin Search (Fn003)
- Program JOG Operation (Fn004)
- Initializing Parameter Settings (Fn005)
- Clearing Alarm History (Fn006)
- Manual Zero-adjustment of Analog Monitor Output (Fn00C)
- Manual Gain-adjustment of Analog Monitor Output (Fn00D)
- Manual Offset-Signal Adjustment of the Motor Current Detection (Fn00F)
- Write Prohibited Setting (Fn010)
- Servomotor Model Display (Fn011)
- Software Version Display (Fn012)
- Resetting Configuration Error of Option Module (Fn014)
- Vibration Detection Level Initialization (Fn01B)
- Display of SERVOPACK and Servomotor ID (Fn01E)
- EasyFFT (Fn206)
- Online Vibration Monitor (Fn207)
- Software Reset (Fn030)
- Chapter 8 Monitor Modes (Un )
- List of Monitor Modes
- Operation in Monitor Mode
- Counter (Un00D)
- Allowable Maximum Motor Speed and Encoder Output Resolution Monitor
- Hall Sensor Signal Monitor
- Monitoring Input Signals
- Input Signal Display Example
- Monitoring Output Signals
- Monitor Display at Power ON
- Troubleshooting of Alarms
- Warning Displays
- motor
- Chapter 10 Appendix
- Connection to Host Controller
- Example of Connection to MP920 4-axes Analog Module SVA-01
- Example of Connection to OMRON's Motion Control Unit
- Example of Connection to OMRON's Position Control Unit
- List of Parameters
- Parameters
- Monitor Modes
- Parameter Recording Table
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xivChapter 3 Wiring and Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-13.1 Main Circuit Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-23.1.1 Names and Functions of Main Circuit Terminals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-33.1.2 SERVOPACK Main Circuit Wire Size. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-43.1.3 Typical Main Circuit Wiring Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-63.1.4 General Precautions for Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-93.1.5 Precautions When Using the SERVOPACK with a DC Power Input . . . . . . . . . . . . . . . . 3-103.1.6 Precautions When Using the SERVOPACK with Single-phase, 200 V Power Input . . . . 3-123.1.7 Precautions When Using More Than One SERVOPACK . . . . . . . . . . . . . . . . . . . . . . . . 3-153.1.8 Designing a Power ON Sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-163.2 I/O Signal Connections. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-173.2.1 I/O Signal (CN1) Names and Functions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-173.2.2 I/O Signal Connector (CN1) Terminal Layout. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-193.2.3 Safety Function Signal (CN8) Names and Functions. . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-203.2.4 Safety Function Signal (CN8) Terminal Layout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-203.2.5 Example of I/O Signal Connections in Speed Control . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-213.2.6 Example of I/O Signal Connections in Position Control . . . . . . . . . . . . . . . . . . . . . . . . . . 3-223.2.7 Example of I/O Signal Connections in Force Control. . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-233.3 I/O Signal Allocations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-243.3.1 Input Signal Allocations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-243.3.2 Output Signal Allocations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-283.4 Examples of Connection to Host Controller . . . . . . . . . . . . . . . . . . . . . . . . . 3-323.4.1 Connection Examples of Reference Input Circuits to SERVOPACK . . . . . . . . . . . . . . . . 3-323.4.2 Connection Examples of Sequence Input Circuits to SERVOPACK . . . . . . . . . . . . . . . . 3-343.4.3 Connection Examples of Output Circuits to SERVOPACK . . . . . . . . . . . . . . . . . . . . . . . 3-353.5 Examples of Linear Scale Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-383.5.1 Connection Example of a Linear Scale . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-383.5.2 CN2 Linear Scale Connector Terminal Layout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-393.6 Connecting Regenerative Resistors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-403.6.1 Connecting Regenerative Resistors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-403.6.2 Setting Regenerative Resistor Capacity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-423.7 Noise Control and Measures for Harmonic Suppression . . . . . . . . . . . . . . . 3-433.7.1 Wiring for Noise Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-433.7.2 Precautions on Connecting Noise Filter. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-453.7.3 Connecting DC Reactor for Harmonic Suppression. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-47Chapter 4 Trial Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-14.1 Inspection and Checking before Trial Operation . . . . . . . . . . . . . . . . . . . . . . 4-24.2 Trial Operation for Linear Servomotor without Load. . . . . . . . . . . . . . . . . . . . 4-24.3 Trial Operation for Linear Servomotor without Load from Host Reference . . 4-24.4 Trial Operation with the Linear Servomotor Connected to the Machine. . . . . 4-34.5 Test Without Motor Function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-54.5.1 Limitations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-54.5.2 Operating Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-64.5.3 Related Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-74.5.4 Operator Display during Testing without Motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-7Chapter 5 Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-15.1 Control Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-35.2 Setting Common Basic Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-45.2.1 Servo ON Signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-45.2.2 Servomotor Movement Direction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-55.2.3 Overtravel. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-65.2.4 Stopping Servomotors after /S_ON Turned OFF or Alarm Occurrence . . . . . . . . . . . . . . . 5-95.2.5 Power Loss Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-11
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