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

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8 Operation8.6.3 Position ReferenceWhen the external power supply is used, the circuit will be isolated by a photocoupler. When the SERVO-PACK internal power supply is used, the circuit will not be isolated.Host controllerSERVOPACKTr1∗PL1PULS/PULSCN13 1kΩ7150Ω8+12VPhotocouplerPL2131.5 V max. at ONSIGN/SIGN1112PL318CLR/CLR15141* : Represents twisted-pair wires.IMPORTANTWhen the open-collector output is used, input signal noise margin lowers. Set the parameter Pn200.3 to 1.(3) Position Control Block DiagramA block diagram for position control is shown below.SERVOPACK (in position control)ReferencepulsePn200.0× 1× 2× 4Pn204SmoothingPn202BAPn203+-ErrorcounterDifferentialPn109FeedforwardPn202 Pn10APn107BFeed-forwardfiltertime ABiasPn203 constantPn102Kp+ ++SpeedloopPn108Bias addingwidthCurrentloopServomotorMPG signaloutputPn201Dividing× 4PGEncoder8-56
8.6 Operating Using Position Control8.6.4 SmoothingA filter can be applied in the SERVOPACK to a constant-frequency reference pulse.(1) Selecting a Position Reference FilterParameterPn207 n.0 Acceleration/deceleration filtern.1 Average movement filterDescription* After resetting the parameter, turn OFF the power once and turn it ON again.(2) Filter-related ParametersPn204Position Reference Acceleration/Deceleration Time ConstantPositionPn208Setting Range Setting Unit Factory Setting Setting Validation0 to 6400 0.01 ms 0 ImmediatelyAverage Movement Time of Position ReferencePositionSetting Range Setting Unit Factory Setting Setting Validation0 to 6400 0.01 ms 0 Immediately• IMPORTANTWhen the position reference acceleration/deceleration time constant (Pn204) is changed, a value with no reference pulseinput and a position error of 0 will be enabled. To ensure that the setting value is correctly reflected, stop the reference pulsefrom the host controller and input the clear signal (/CLR), or turn the servo OFF to clear the error.This function provides smooth motor operating in the following cases. The function does not affect the travel distance (i.e.,the number of pulses).• When the host controller that outputs a reference cannot perform acceleration/deceleration processing.• When the reference pulse frequency is too low.• When the reference electronic gear ratio is too high (i.e., 10× or more).The difference between the position reference acceleration/deceleration time constant (Pn204) and the position referencemovement averaging time (Pn208) is shown below.Acceleration/Deceleration FilterAverage Movement Time FilterPn207=n.0Pn207=n.1100%Before filter appliedAfter filter applied8100%63.2%Before filter appliedAfter filter applied36.8%tPn208Pn208Response waveform for stepwise inputPn204Pn204tPn208Before filter appliedAfter filter appliedResponse waveform for stepwise inputPn208tResponse waveform for ramp reference input8-57
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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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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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Page 512 and 513: 9Adjustments9.1 Autotuning - - - -
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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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Sigma-II Series SGM*H/SGDH USER'S MANUAL - Esco Drives ...

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