Contents - Table Of 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/Torque Control Modes
- SERVOPACK Internal Block Diagrams
- Three-phase 200 V, SGDV-R70A01A, -R90A01A, -1R6A01A Models
- Three-phase 200 V, SGDV-3R8A01A, -5R5A01A, -7R6A01A Models
- Three-phase 200 V, SGDV-180A01A, -200A01A Models
- Three-phase 200 V, SGDV-470A01A, -550A01A Models
- Three-phase 400 V, SGDV-1R9D01A, -3R5D01A, -5R4D01A Models
- Three-phase 400 V, SGDV-170D01A Model
- Three-phase 400 V SGDV-280D01A, -370D01A 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 )
- Chapter 3 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
- 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 Torque Control
- I/O Signal Allocations
- Output Signal Allocations
- Examples of Connection to Host Controller
- Sequence Input Circuit
- Sequence Output Circuit
- Examples of Encoder Connection
- CN2 Encoder Connector Terminal Layout
- Connecting Regenerative Resistors
- Setting Regenerative Resistor Capacity
- Noise Control and Measures for Harmonic Suppression
- Precautions on Connecting Noise Filter
- Connecting AC/DC Reactor for Harmonic Suppression
- Chapter 4 Trial Operation
- Inspection and Checking before Trial Operation
- Trial Operation for Servomotor without Load from Host Reference
- Inspecting Connection and Status of Input Signal Circuits
- Trial Operation in Speed Control
- Control
- Trial Operation in Position Control
- Trial Operation with the Servomotor Connected to the Machine
- Trial Operation of Servomotor with Brakes
- Test Without Motor Function
- Operating Procedure
- Operator Display during Testing without Motor
- Chapter 5 Operation
- Control Selection
- Setting Common Basic Functions
- Servomotor Rotation Direction
- Overtravel
- Holding Brakes
- Stopping Servomotors after /S_ON Turned OFF or Alarm Occurrence
- Instantaneous Power Interruption 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 Output Pulses
- Encoder Output Pulse 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 Torque Control with Analog Voltage Reference
- Torque Reference Filter
- Operating Using Speed Control with an Internal Set Speed
- Example of Operating with Internal Set Speed
- Combination of Control Modes
- Switching Internal Set Speed Control (Pn000.1 = 4, 5, or 6)
- Switching Other Than Internal Set Speed Control (Pn000.1 = 7, 8 or 9)
- Limiting Torque
- External Torque Limit
- Torque Limiting Using an Analog Voltage Reference
- Torque Limiting Using an External Torque Limit and Analog Voltage Reference
- Checking Output Torque Limiting during Operation
- Absolute Encoders
- Absolute Encoder Data Backup
- Battery Replacement
- Absolute Encoder Setup
- Absolute Encoder Reception Sequence
- Multiturn Limit Setting
- Multiturn Limit Disagreement Alarm (A.CC0)
- Other Output Signals
- Warning Output Signal (/WARN)
- Rotation Detection Output Signal (/TGON)
- Safety Function
- External Device Monitor (EDM1)
- Application Example of Safety Functions
- Confirming Safety Functions
- Precautions for 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 Levels Setting (Fn200) Procedure
- Advanced Autotuning (Fn201)
- Advanced Autotuning Procedure
- Related Parameters
- 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
- Additional Adjustment Function
- Friction Compensation
- Current Control Mode Selection
- Compatible Adjustment Function
- Torque Feedforward
- Speed Feedforward
- Proportional Control Operation (Proportional Operation Reference)
- Using the Mode Switch (P/PI Switching)
- Position Integral Time Constant
- 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)
- Offset Adjustment of Analog Monitor Output (Fn00C)
- 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)
- Display of Servomotor ID in Feedback Option Module (Fn01F)
- Origin Setting (Fn020)
- Software Reset (Fn030)
- EasyFFT (Fn206)
- Online Vibration Monitor (Fn207)
- Chapter 8 Monitor Modes (Un )
- List of Monitor Modes
- Operation in Monitor Mode
- Reading 32-bit Decimal Displays
- Monitoring Input Signals
- Input Signal Display Example
- Monitoring Safety Input Signals
- Monitoring Output Signals
- Monitor Display at Power ON
- Chapter 9 Fully-closed Loop Control
- Fully-closed Loop Control
- Internal Configuration of Fully-closed Loop Control
- Serial Converter Unit
- Connection Example of External Encoder by Heidenhain
- Connection Example of External Encoder by Mitutoyo
- Connection Example of External Encoder by Renishaw
- Renishaw
- Settings for Fully-closed Loop Control
- Motor Rotation Direction
- Sine Wave Pitch (Frequency) for an External Encoder
- Absolute External Encoder Reception Sequence
- Analog Monitor Signal
- Speed Feedback Method during Fully-closed Loop Control
- Chapter 10 Troubleshooting
- Troubleshooting of Alarms
- Warning Displays
- Troubleshooting of Warnings
- Servomotor
- Chapter 11 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
- Index
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xviiChapter 9 Fully-closed Loop Control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-19.1 System Configuration and Connection Example for SERVOPACK withFully-closed Loop Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-29.1.1 System Configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-29.1.2 Internal Configuration of Fully-closed Loop Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-39.1.3 Serial Converter Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-49.1.4 Connection Example of External Encoder by Heidenhain . . . . . . . . . . . . . . . . . . . . . . . . . 9-69.1.5 Connection Example of External Encoder by Mitutoyo . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-79.1.6 Connection Example of External Encoder by Renishaw . . . . . . . . . . . . . . . . . . . . . . . . . . 9-89.1.7 Encoder Output Pulse Signals from SERVOPACK with a External Encoder byRenishaw . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-99.2 Settings for Fully-closed Loop Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-109.2.1 Setting Order . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-109.2.2 Motor Rotation Direction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-119.2.3 Sine Wave Pitch (Frequency) for an External Encoder . . . . . . . . . . . . . . . . . . . . . . . . . . 9-139.2.4 Number of Encoder Output Pulses (PAO, PBO, and PCO) from the SERVOPACK . . . . 9-139.2.5 Absolute External Encoder Reception Sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-149.2.6 Electronic Gear . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-179.2.7 Alarm Detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-179.2.8 Analog Monitor Signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-189.2.9 Speed Feedback Method during Fully-closed Loop Control . . . . . . . . . . . . . . . . . . . . . . 9-19Chapter 10 Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-110.1 Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-210.1.1 List of Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-210.1.2 Troubleshooting of Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-610.2 Warning Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-2010.2.1 List of Warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-2010.2.2 Troubleshooting of Warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-2110.3 Troubleshooting Malfunction Based on Operation and Conditions of theServomotor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-24Chapter 11 Appendix. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-111.1 Connection to Host Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-211.1.1 Example of Connection to MP2200/MP2300 Motion Module SVA-01 . . . . . . . . . . . . . . 11-211.1.2 Example of Connection to MP920 4-axes Analog Module SVA-01 . . . . . . . . . . . . . . . . 11-311.1.3 Example of Connection to OMRON’s Motion Control Unit . . . . . . . . . . . . . . . . . . . . . . . 11-411.1.4 Example of Connection to OMRON’s Position Control Unit . . . . . . . . . . . . . . . . . . . . . . 11-511.1.5 Connection to MITSUBISHI’s AD72 Positioning Unit(SERVOPACK in Speed Control Mode) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-611.1.6 Connection to MITSUBISHI’s AD75 Positioning Unit(SERVOPACK in Position Control Mode) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-711.2 List of Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-811.2.1 Utility Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-811.2.2 Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-911.3 Monitor Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-2911.4 Parameter Recording Table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-30Index. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Index-1Revision History
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