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

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8 Operation8.6.1 Setting Parameters8.6 Operating Using Position Control8.6.1 Setting ParametersSet the following parameters for position control using pulse trains.(1) Control Mode SelectionParameter(2) Setting a Reference Pulse FormMeaningPn000 n.1 Control mode selection: Position control (pulse train reference)TypeSignalNameConnectorPin NumberInput PULS CN1-7 Reference Pulse Input/PULS CN1-8 Reference Pulse InputSIGN CN1-11 Reference Code Input/SIGN CN1-12 Reference Code InputNameSet the input form for the SERVOPACK using parameter Pn200.0 according to the host controller specifications.ParameterReference PulseFormPn200 n.0 Sign + pulse train(Positive logic)(Factory setting)n.1CW pulse + CCWpulse(Positive logic)InputPulseMultiplier−n.2 Two-phase pulse ×1train with 90° phasen.3 ×2differentialn.4 (Positive logic) ×4n.5n.6Sign + pulse train(Negative logic)CW pulse + CCWpulse(Negative logic)n.7 Two-phase pulse ×1train with 90° phasen.8 ×2differentialn.9 (Negative logic) ×4The input pulse multiplier can be set for the2-phase pulse train with 90° phase differentialreference pulse form.−−−InternalprocessingPULS(CN1-7)SIGN(CN1-11)×1×2×4PULS(CN1-7)SIGN(CN1-11)Forward RotationReferencePULS(CN1-7)SIGN(CN1-11)PULS(CN1-7)SIGN(CN1-11)PULS(CN1-7)SIGN(CN1-11)PULS(CN1-7)SIGN(CN1-11)PULS(CN1-7)SIGN(CN1-11)HL90°LH90Forward rotationReverse RotationReferencePULS(CN1-7)SIGN(CN1-11)PULS(CN1-7)SIGN(CN1-11)PULS(CN1-7)SIGN(CN1-11)PULS(CN1-7)SIGN(CN1-11)PULS(CN1-7)SIGN(CN1-11)PULS(CN1-7)SIGN(CN1-11)LL90°HH90Reverse rotationMotor movementreference pulses8-48
8.6 Operating Using Position Control(3) Clear Signal Form SelectionTypeSignalNameConnectorPin NumberInput CLR CN1-15 Clear Input/CLR CN1-14 Clear InputNameThe internal processing of the SERVOPACK for the clear signal can be set to either of four types by parameterPn200.1. Select according to the specifications of the machine or host controller.Parameter Description TimingPn200 n.0 Clears at high level.Position error pulses do not accumulate while thesignal is at high level.(Factory setting)n.1 Clears at the rising edge.n.2Clears at low level.Position error pulses do not accumulate while thesignal is at low level.CLR(CN1-15)CLR(CN1-15)Clears athigh levelHighClears here just once.CLR(CN1-15)Clears at low leveln.3Clears at the falling edge.CLR(CN1-15)LowClears here just once.The following are executed when the clear operation is enabled.• The SERVOPACK error counter is set to 0.• Position loop operation is disabled.→ Holding the clear status may cause the servo clamp to stop functioning and the servomotor to rotate slowly due to driftin the speed loop.When the clear signal (CLR) is not wired, the signal is always at low level (does not clear).When the clear signal (CLR) is not used and CN1-14, 15 are not wired, the CLR input terminals (CN1-14, 15) are always athigh level. The SERVOPACK is Pn200.1 factory set to clear position error pulse at high level. Even if a pulse train referenceis input with the setting in this state, the pulses will be constantly cleared and the motor will not operate. Set theparameter to a value other than Pn200 = n.0, or short-circuit CN1-14, 15.(4) Clear Operation SelectionThis parameter determines when the error pulse should be cleared according to the condition of the SERVO-PACK, in addition to the clearing operation of the clear signal (/CLR). Either of three clearing modes can beselected with Pn200.28ParameterDescriptionPn200 n.0 Clear the error pulse at the /CLR signal input during the baseblock. (Factory setting)“During the baseblock” means when the SVON signal or the main circuit power supply isOFF, or an alarm occurs.n.1 Do not clear the error pulse. Clear only with the /CLR signal.n.2 Clear the error pulse when an alarm occurs or the /CLR signal is input.8-49
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YASKAWASeries SGMH/SGDHUSER'S MANUA
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• Quick access to your required i
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WARNING• Installation, disassembl
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• WiringCAUTION• Do not connect
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• Maintenance and InspectionCAUTI
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2.6.1 Special Options - - - - - - -
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3.16 Dimensional Drawings of SGMSH
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5 Specifications and Dimensional Dr
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6.2.1 Connecting an Encoder (CN2) a
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8.7.1 Setting Parameters - - - - -
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11.3.1 Utility Functions List - - -
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PURODUCT SERVICE1 Outline1.1.1 Chec
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1 Outline1.2.1 Servomotors1.2 Produ
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1 Outline1.2.2 SERVOPACKs(2) SGDH f
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1 Outline1.3.2 Three-phase, 200 V M
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1 Outline1.4.1 North American Safet
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2 Selections2.1.1 Model SGMAH (3000
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2 Selections2.1.2 Model SGMPH (3000
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2 Selections2.1.3 Model SGMGH (1500
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2 Selections2.1.4 Model SGMGH (1000
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2 Selections2.1.5 Model SGMSH (3000
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2 Selections2.1.6 Model SGMDH (2000
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2 Selections2.2.1 Support Tool for
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2 Selections2.2.2 Servomotor Capaci
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2 Selections2.5.1 Cables for SGMAH
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2 Selections2.5.1 Cables for SGMAH
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2 Selections2.5.2 Cables for SGMGH/
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2 Selections2.5.2 Cables for SGMGH/
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MODE/SETCHARGEDATA/POWER67534675346
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2 Selections2.6.1 Special OptionsNa
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2 Selections2.6.3 Noise Filters, Ma
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2 Selections2.6.4 Regenerative Resi
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φLBh7φSh6119.5(0.37)W3 Specificat
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φLBh7φSh617(0.67)9.5 (0.37)W3 Spe
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11 (0.43)W3 Specifications and Dime
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W3 Specifications and Dimensional D
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4 SERVOPACK Specifications and Dime
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MODE/SETCHARGEDATA/POWER4 SERVOPACK
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160 (6.30)(5) (0.20)149.5±0.5 (5.8
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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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Page 512 and 513: 9Adjustments9.1 Autotuning - - - -
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Page 524 and 525: 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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