Sigma-II Series SGM*H/SGDH USER'S MANUAL - Esco Drives ...

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8.7.1 Setting Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-618.7.2 Torque Reference Input - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-618.7.3 Adjusting the Reference Offset - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-628.7.4 Limiting Servomotor Speed during Torque Control- - - - - - - - - - - - - - 8-648.8 Operating Using Speed Control with an Internally Set Speed8-668.8.1 Setting Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-668.8.2 Input Signal Settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-678.8.3 Operating Using an Internally Set Speed - - - - - - - - - - - - - - - - - - - - 8-678.9 Limiting Torque - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-698.9.1 Internal Torque Limit (Limiting Maximum Output Torque) - - - - - - - - - 8-698.9.2 External Torque Limit (Output Torque Limiting by Input Signals) - - - - 8-708.9.3 Torque Limiting Using an Analog Voltage Reference - - - - - - - - - - - - 8-728.9.4 Torque Limiting Using an External Torque Limit and Analog VoltageReference - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-738.9.5 Checking Output Torque Limiting during Operation - - - - - - - - - - - - - 8-748.10 Control Mode Selection- - - - - - - - - - - - - - - - - - - - - - - - - 8-758.10.1 Setting Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-758.10.2 Switching the Control Mode - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-758.11 Other Output Signals - - - - - - - - - - - - - - - - - - - - - - - - - - 8-778.11.1 Servo Alarm Output (ALM) and Alarm Code Output(ALO1, ALO2, ALO3) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-778.11.2 Warning Output (/WARN) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-788.11.3 Running Output Signal (/TGON) - - - - - - - - - - - - - - - - - - - - - - - - - 8-788.11.4 Servo Ready (/S-RDY) Output- - - - - - - - - - - - - - - - - - - - - - - - - - - 8-799 Adjustments9.1 Autotuning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-29.1.1 Servo Gain Adjustment Methods - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-29.1.2 List of Servo Adjustment Functions - - - - - - - - - - - - - - - - - - - - - - - - - 9-39.2 Online Autotuning- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-59.2.1 Online Autotuning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-59.2.2 Online Autotuning Procedure - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-69.2.3 Selecting the Online Autotuning Execution Method - - - - - - - - - - - - - - 9-79.2.4 Machine Rigidity Setting for Online Autotuning - - - - - - - - - - - - - - - - - 9-89.2.5 Method for Changing the Machine Rigidity Setting - - - - - - - - - - - - - - 9-99.2.6 Saving the Results of Online Autotuning - - - - - - - - - - - - - - - - - - - - 9-109.2.7 Procedure for Saving the Results of Online Autotuning - - - - - - - - - - 9-119.3 Manual Tuning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-129.3.1 Explanation of Servo Gain - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-129.3.2 Servo Gain Manual Tuning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-139.3.3 Position Loop Gain- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-139.3.4 Speed Loop Gain- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-149.3.5 Speed Loop Integral Time Constant- - - - - - - - - - - - - - - - - - - - - - - - 9-149.4 Servo Gain Adjustment Functions - - - - - - - - - - - - - - - - - - 9-159.4.1 Feed-forward Reference- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-159.4.2 Torque Feed-forward - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-16xxii
9.4.3 Speed Feed-forward - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -9-179.4.4 Proportional Control Operation (Proportional Operation Reference)- -9-189.4.5 Using the Mode Switch (P/PI Switching) - - - - - - - - - - - - - - - - - - - - -9-199.4.6 Setting the Speed Bias - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -9-229.4.7 Speed Feedback Filter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -9-229.4.8 Speed Feedback Compensation - - - - - - - - - - - - - - - - - - - - - - - - - -9-239.4.9 Switching Gain Settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -9-259.4.10 Torque Reference Filter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -9-269.5 Analog Monitor- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-2810 Inspection, Maintenance, and Troubleshooting10.1 Troubleshooting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-210.1.1 Alarm Display Table - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -10-210.1.2 Warning Display - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-410.1.3 Alarm Display Table when the Application Module is Used - - - - - - -10-510.1.4 Warning Display Table when the Application Module is Used - - - - -10-610.1.5 Alarm Display Table when the Linear Motor is Used - - - - - - - - - - - -10-610.1.6 Troubleshooting of Alarm and Warning - - - - - - - - - - - - - - - - - - - - -10-710.1.7 Troubleshooting for Malfunction without Alarm Display - - - - - - - - - 10-1710.2 Inspection and Maintenance - - - - - - - - - - - - - - - - - - - - 10-2210.2.1 Servomotor Inspection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-2210.2.2 SERVOPACK Inspection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-2210.2.3 SERVOPACK’s Parts Replacement Schedule - - - - - - - - - - - - - - - 10-2311 Appendix11.1 Servomotor Capacity Selection Examples - - - - - - - - - - - - 11-211.1.1 Selection Example for Speed Control - - - - - - - - - - - - - - - - - - - - - - 11-211.1.2 Selection Example for Position Control - - - - - - - - - - - - - - - - - - - - - 11-411.1.3 Calculating the Required Capacity of Regenerative Resistors - - - - - 11-711.2 Connection to Host Controller - - - - - - - - - - - - - - - - - - - 11-1611.2.1 Example of Connection to MP920 4-axes Analog Module SVA-01 - 11-1611.2.2 Example of Connection to CP-9200SH Servo Controller ModuleSVA (SERVOPACK in Speed Control Mode) - - - - - - - - - - - - - - - - 11-1711.2.3 Example of Connection to MEMOCON GL120/130 <strong>Series</strong> MotionModule MC20- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-1811.2.4 Example of Connection to MEMOCON GL60/70 <strong>Series</strong> PositioningModule B2813 (SERVOPACK in Position Control Mode) - - - - - - - 11-1911.2.5 Example of Connection to OMRON’s Motion Control Unit - - - - - - - 11-2011.2.6 Example of Connection to OMRON’s Position Control Unit - - - - - - 11-2111.2.7 Example of Connection to OMRON’s Position Control UnitC500-NC221 (SERVOPACK in Speed Control Mode) - - - - - - - - - 11-2211.2.8 Example of Connection to OMRON’s Position Control UnitC500-NC112 (SERVOPACK in Position Control Mode) - - - - - - - - - 11-2311.2.9 Example of Connection to MITSUBISHI’s AD72 Positioning Unit(SERVOPACK in Speed Control Mode) - - - - - - - - - - - - - - - - - - - - 11-2411.2.10 Example of Connection to MITSUBISHI’s AD75 Positioning Unit(SERVOPACK in Position Control Mode) - - - - - - - - - - - - - - - - - 11-2511.3 List of Parameters- - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-26xxiii
Page 1 and 2: YASKAWASeries SGMH/SGDHUSER'S MANUA
Page 4 and 5: • Quick access to your required i
Page 8 and 9: WARNING• Installation, disassembl
Page 10 and 11: • WiringCAUTION• Do not connect
Page 12 and 13: • Maintenance and InspectionCAUTI
Page 14 and 15: 2.6.1 Special Options - - - - - - -
Page 16 and 17: 3.16 Dimensional Drawings of SGMSH
Page 18 and 19: 5 Specifications and Dimensional Dr
Page 20 and 21: 6.2.1 Connecting an Encoder (CN2) a
Page 24 and 25: 11.3.1 Utility Functions List - - -
Page 26 and 27: PURODUCT SERVICE1 Outline1.1.1 Chec
Page 28 and 29: 1 Outline1.2.1 Servomotors1.2 Produ
Page 30 and 31: 1 Outline1.2.2 SERVOPACKs(2) SGDH f
Page 32 and 33: 1 Outline1.3.2 Three-phase, 200 V M
Page 34 and 35: 1 Outline1.4.1 North American Safet
Page 36 and 37: 2 Selections2.1.1 Model SGMAH (3000
Page 38 and 39: 2 Selections2.1.2 Model SGMPH (3000
Page 40 and 41: 2 Selections2.1.3 Model SGMGH (1500
Page 42 and 43: 2 Selections2.1.4 Model SGMGH (1000
Page 44 and 45: 2 Selections2.1.5 Model SGMSH (3000
Page 46 and 47: 2 Selections2.1.6 Model SGMDH (2000
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3 Specifications and Dimensional Dr
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11 (0.43)W3 Specifications and Dime
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4 SERVOPACK Specifications and Dime
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MODE/SETCHARGEDATA/POWER4 SERVOPACK
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YASKAWAMODE/SETCHARGEYASKAWA SERVOP
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POWERMODE/SETDATA/4 SERVOPACK Speci
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MODE/SETDATA/4 SERVOPACK Specificat
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MODE/SETCHANGEDATA/POWER4 SERVOPACK
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POWERMODE/SETDATA/4 SERVOPACK Speci
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POWERMODE/SET DATA/ BATTERY4 SERVOP
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6754675346754381 2890 1 281 29090X1
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6 Wiring6.1.1 Names and Functions o
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6 Wiring6.1.2 Wiring Main Circuit P
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6 Wiring6.1.3 Typical Main Circuit
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6 Wiring6.2.1 Connecting an Encoder
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6 Wiring6.3.1 Speed Control Mode6.3
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6 Wiring6.3.3 Torque Control Mode6.
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6 Wiring6.3.5 I/O Signal (CN1) Name
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6 Wiring6.3.6 Interface Circuit6.3.
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6 Wiring6.3.6 Interface Circuit(b)
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6 Wiring6.4.2 Wiring for Noise Cont
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6 Wiring6.4.2 Wiring for Noise Cont
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6 Wiring6.4.3 Installation Conditio
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6 Wiring6.4.4 Installation Conditio
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6 Wiring6.4.6 Extending Encoder Cab
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6 Wiring6.4.7 Operating Conditions
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6 Wiring6.4.8 DC Reactor for Harmon
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6 Wiring6.5.2 Connecting External R
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MODE/SETCHARGEYASKAWA SERVOPACKDATA
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7Digital Operator/Panel Operator7.1
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7.1 Functions on Digital Operator/P
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7.2 Operation in Utility Function M
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7.3 Operation in Parameter Setting
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7.4 Operation in Monitor Mode (Un)(
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7.4 Operation in Monitor Mode (Un)S
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8 Operation8.6 Operating Using Posi
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YASKAWAMODE/SETCHARGEYASKAWAMODE/SE
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MODE/SETYASKAWASERVOPACKSGDH-CHARGE
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8 Operation8.1.1 Trial Operation fo
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YASKAWASERVOPACKSGDH-MODE/SETCHARGE
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8 Operation8.1.4 Servomotor with Br
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8 Operation8.3.1 Setting the Servo
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8 Operation8.3.3 Setting the Overtr
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8 Operation8.3.4 Setting for Holdin
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8 Operation8.3.4 Setting for Holdin
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8 Operation8.3.6 Instantaneous Powe
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8 Operation8.4.1 Interface Circuits
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8 Operation8.4.4 Replacing Batterie
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8 Operation8.4.6 Absolute Encoder R
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8 Operation8.4.6 Absolute Encoder R
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8 Operation8.4.7 Multiturn Limit Se
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8 Operation8.5.1 Setting Parameters
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8 Operation8.5.3 Adjusting Offset8.
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8 Operation8.5.3 Adjusting Offset(2
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8 Operation8.5.6 Using the Zero Cla
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8 Operation8.5.7 Encoder Signal Out
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8 Operation8.6.2 Setting the Electr
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8 Operation8.6.2 Setting the Electr
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8 Operation8.6.3 Position Reference
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8 Operation8.6.3 Position Reference
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8 Operation8.6.5 Positioning Comple
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8 Operation8.6.7 Reference Pulse In
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8 Operation8.7.3 Adjusting the Refe
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8 Operation8.7.4 Limiting Servomoto
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8 Operation8.8.3 Operating Using an
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8 Operation8.9.2 External Torque Li
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8 Operation8.9.3 Torque Limiting Us
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8 Operation8.9.5 Checking Output To
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8 Operation8.10.2 Switching the Con
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8 Operation8.11.2 Warning Output (/
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9Adjustments9.1 Autotuning - - - -
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9.1 Autotuning9.1.2 List of Servo A
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9.2 Online Autotuning9.2 Online Aut
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9.2 Online Autotuning9.2.3 Selectin
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9.2 Online Autotuning9.2.5 Method f
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9.2 Online Autotuning9.2.7 Procedur
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9.3 Manual Tuning9.3.2 Servo Gain M
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9.4 Servo Gain Adjustment Functions
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9.5 Analog Monitor• Related Param
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10 Inspection, Maintenance, and Tro
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11Appendix11.1 Servomotor Capacity
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11.1 Servomotor Capacity Selection
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11.2 Connection to Host Controller1
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11.3 List of Parameters11.3.2 List
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11.3 List of ParametersParameterNo.
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11.3 List of Parameters11.3.3 Monit
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11.4 Parameter Recording TableParam
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IndexINDEXAabsolute encoder battery
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IndexRrack-mounted type - - - - - -
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IndexWWARN- - - - - - - - - - - - -
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Series SGMH/SGDHUSER'S MANUALIRUMA
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