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

More documents

Recommendations

Info

9.2 Online Autotuning9.2 Online Autotuning9.2.1 Online AutotuningOnline autotuning calculates the load moment of inertia during operation of the SERVOPACK and sets parametersso that the servo gains consistent with the Machine Rigidity (Fn001) are achieved.Online autotuning may not be effective in the following cases.• The load moment of inertia varies in less than 200 ms.• The motor speed is lower than 100 min -1 or the acceleration reference is very even.• Load rigidity is low and mechanical vibration occurs easily or friction is high.• The speed reference is a stepwise reference.If the condition meets one of the above cases or the desired operation cannot be achieved by the onlineautotuning, calculate the load moment of inertia on the basis of the machine specifications or using the momentof inertia detection function of Yaskawa’s servodrive supporting tool “<strong>Sigma</strong>Win200”. Set the value in Pn103and perform the adjustment manually.The following utility function is also available for the online autotuning.Fn007: Writes the load moment of inertia calculated by the online autotuning in Pn103 and uses as the defaultvalue for the next calculation.99-5
9 Adjustments9.2.2 Online Autotuning Procedure9.2.2 Online Autotuning ProcedureWARNING• Do not perform extreme adjustment or setting changes causing unstable servo operation.Failure to observe this warning may result in injury and damages to the machine.• Adjust the gains slowly while confirming motor operation.StartOperate with factory setting.(Set Pn110.0 = 0.)Operation OK?YesNoNoLoad moment ofinertia varies?YesContinuous online autotuning.(Set Pn110.0 = 1.)Operation OK?YesNoAjust the machine rigidity setting.(Set at Fn001.)Operation OK?YesNoAdjust the friction compensation.(Set Pn110.2.)Operation OK?YesNoDo not perform online autotuning.(Set Pn110.0 = 2.)Write the result of autotuningin the parameter.The result will be used as thedefault vaue for next autotuning.(Utility function Fn007)End9-6
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 22 and 23:
8.7.1 Setting Parameters - - - - -
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
Page 48 and 49:
2 Selections2.2.1 Support Tool for
Page 50 and 51:
2 Selections2.2.2 Servomotor Capaci
Page 52 and 53:
2 Selections2.5.1 Cables for SGMAH
Page 54 and 55:
2 Selections2.5.1 Cables for SGMAH
Page 56 and 57:
2 Selections2.5.2 Cables for SGMGH/
Page 58 and 59:
2 Selections2.5.2 Cables for SGMGH/
Page 60 and 61:
MODE/SETCHARGEDATA/POWER67534675346
Page 62 and 63:
2 Selections2.6.1 Special OptionsNa
Page 64 and 65:
2 Selections2.6.3 Noise Filters, Ma
Page 66 and 67:
2 Selections2.6.4 Regenerative Resi
Page 68 and 69:
Page 70 and 71:
Page 72 and 73:
Page 74 and 75:
Page 76 and 77:
Page 78 and 79:
Page 80 and 81:
Page 82 and 83:
Page 84 and 85:
Page 86 and 87:
Page 88 and 89:
Page 90 and 91:
Page 92 and 93:
Page 94 and 95:
Page 96 and 97:
Page 98 and 99:
Page 100 and 101:
Page 102 and 103:
Page 104 and 105:
Page 106 and 107:
Page 108 and 109:
Page 110 and 111:
Page 112 and 113:
Page 114 and 115:
Page 116 and 117:
φLBh7φSh6119.5(0.37)W3 Specificat
Page 118 and 119:
φLBh7φSh617(0.67)9.5 (0.37)W3 Spe
Page 120 and 121:
11 (0.43)W3 Specifications and Dime
Page 122 and 123:
W3 Specifications and Dimensional D
Page 124 and 125:
Page 126 and 127:
Page 128 and 129:
Page 130 and 131:
Page 132 and 133:
Page 134 and 135:
Page 136 and 137:
Page 138 and 139:
Page 140 and 141:
Page 142 and 143:
Page 144 and 145:
Page 146 and 147:
Page 148 and 149:
Page 150 and 151:
Page 152 and 153:
Page 154 and 155:
Page 156 and 157:
Page 158 and 159:
Page 160 and 161:
Page 162 and 163:
Page 164 and 165:
Page 166 and 167:
Page 168 and 169:
Page 170 and 171:
Page 172 and 173:
Page 174 and 175:
Page 176 and 177:
Page 178 and 179:
Page 180 and 181:
Page 182 and 183:
Page 184 and 185:
Page 186 and 187:
Page 188 and 189:
Page 190 and 191:
Page 192 and 193:
Page 194 and 195:
Page 196 and 197:
Page 198 and 199:
Page 200 and 201:
Page 202 and 203:
Page 204 and 205:
Page 206 and 207:
Page 208 and 209:
Page 210 and 211:
Page 212 and 213:
Page 214 and 215:
Page 216 and 217:
Page 218 and 219:
Page 220 and 221:
Page 222 and 223:
Page 224 and 225:
Page 226 and 227:
4 SERVOPACK Specifications and Dime
Page 228 and 229:
Page 230 and 231:
Page 232 and 233:
Page 234 and 235:
Page 236 and 237:
Page 238 and 239:
Page 240 and 241:
Page 242 and 243:
Page 244 and 245:
Page 246 and 247:
Page 248 and 249:
MODE/SETCHARGEDATA/POWER4 SERVOPACK
Page 250 and 251:
160 (6.30)(5) (0.20)149.5±0.5 (5.8
Page 252 and 253:
YASKAWAMODE/SETCHARGEYASKAWA SERVOP
Page 254 and 255:
Page 256 and 257:
POWERMODE/SETDATA/4 SERVOPACK Speci
Page 258 and 259:
MODE/SETDATA/4 SERVOPACK Specificat
Page 260 and 261:
Page 262 and 263:
Page 264 and 265:
MODE/SETCHANGEDATA/POWER4 SERVOPACK
Page 266 and 267:
POWERMODE/SETDATA/4 SERVOPACK Speci
Page 268 and 269:
POWERMODE/SET DATA/ BATTERY4 SERVOP
Page 270 and 271:
Page 272 and 273:
Page 274 and 275:
Page 276 and 277:
Page 278 and 279:
Page 280 and 281:
Page 282 and 283:
Page 284 and 285:
Page 286 and 287:
Page 288 and 289:
Page 290 and 291:
Page 292 and 293:
Page 294 and 295:
Page 296 and 297:
Page 298 and 299:
Page 300 and 301:
Page 302 and 303:
Page 304 and 305:
Page 306 and 307:
Page 308 and 309:
Page 310 and 311:
Page 312 and 313:
Page 314 and 315:
Page 316 and 317:
Page 318 and 319:
Page 320 and 321:
Page 322 and 323:
Page 324 and 325:
Page 326 and 327:
Page 328 and 329:
Page 330 and 331:
Page 332 and 333:
Page 334 and 335:
Page 336 and 337:
Page 338 and 339:
Page 340 and 341:
Page 342 and 343:
Page 344 and 345:
Page 346 and 347:
Page 348 and 349:
Page 350 and 351:
Page 352 and 353:
Page 354 and 355:
Page 356 and 357:
Page 358 and 359:
Page 360 and 361:
6754675346754381 2890 1 281 29090X1
Page 362 and 363:
Page 364 and 365:
Page 366 and 367:
6 Wiring6.1.1 Names and Functions o
Page 368 and 369:
6 Wiring6.1.2 Wiring Main Circuit P
Page 370 and 371:
6 Wiring6.1.3 Typical Main Circuit
Page 372 and 373:
6 Wiring6.2.1 Connecting an Encoder
Page 374 and 375:
6 Wiring6.3.1 Speed Control Mode6.3
Page 376 and 377:
6 Wiring6.3.3 Torque Control Mode6.
Page 378 and 379:
6 Wiring6.3.5 I/O Signal (CN1) Name
Page 380 and 381:
6 Wiring6.3.6 Interface Circuit6.3.
Page 382 and 383:
6 Wiring6.3.6 Interface Circuit(b)
Page 384 and 385:
6 Wiring6.4.2 Wiring for Noise Cont
Page 386 and 387:
6 Wiring6.4.2 Wiring for Noise Cont
Page 388 and 389:
6 Wiring6.4.3 Installation Conditio
Page 390 and 391:
6 Wiring6.4.4 Installation Conditio
Page 392 and 393:
6 Wiring6.4.6 Extending Encoder Cab
Page 394 and 395:
6 Wiring6.4.7 Operating Conditions
Page 396 and 397:
6 Wiring6.4.8 DC Reactor for Harmon
Page 398 and 399:
6 Wiring6.5.2 Connecting External R
Page 400 and 401:
MODE/SETCHARGEYASKAWA SERVOPACKDATA
Page 402 and 403:
7Digital Operator/Panel Operator7.1
Page 404 and 405:
7.1 Functions on Digital Operator/P
Page 406 and 407:
Page 408 and 409:
Page 410 and 411:
7.2 Operation in Utility Function M
Page 412 and 413:
Page 414 and 415:
Page 416 and 417:
Page 418 and 419:
Page 420 and 421:
7.3 Operation in Parameter Setting
Page 422 and 423:
Page 424 and 425:
Page 426 and 427:
Page 428 and 429:
Page 430 and 431:
7.4 Operation in Monitor Mode (Un)(
Page 432 and 433:
7.4 Operation in Monitor Mode (Un)S
Page 434 and 435:
8 Operation8.6 Operating Using Posi
Page 436 and 437:
YASKAWAMODE/SETCHARGEYASKAWAMODE/SE
Page 438 and 439:
MODE/SETYASKAWASERVOPACKSGDH-CHARGE
Page 440 and 441:
8 Operation8.1.1 Trial Operation fo
Page 442 and 443:
YASKAWASERVOPACKSGDH-MODE/SETCHARGE
Page 444 and 445:
Page 446 and 447:
Page 448 and 449:
8 Operation8.1.4 Servomotor with Br
Page 450 and 451:
8 Operation8.3.1 Setting the Servo
Page 452 and 453:
8 Operation8.3.3 Setting the Overtr
Page 454 and 455:
8 Operation8.3.4 Setting for Holdin
Page 456 and 457:
8 Operation8.3.4 Setting for Holdin
Page 458 and 459:
8 Operation8.3.6 Instantaneous Powe
Page 460 and 461:
8 Operation8.4.1 Interface Circuits
Page 462 and 463:
8 Operation8.4.4 Replacing Batterie
Page 464 and 465:
8 Operation8.4.6 Absolute Encoder R
Page 466 and 467: 8 Operation8.4.6 Absolute Encoder R
Page 468 and 469: 8 Operation8.4.7 Multiturn Limit Se
Page 470 and 471: 8 Operation8.5.1 Setting Parameters
Page 472 and 473: 8 Operation8.5.3 Adjusting Offset8.
Page 474 and 475: 8 Operation8.5.3 Adjusting Offset(2
Page 476 and 477: 8 Operation8.5.6 Using the Zero Cla
Page 478 and 479: 8 Operation8.5.7 Encoder Signal Out
Page 482 and 483: 8 Operation8.6.2 Setting the Electr
Page 484 and 485: 8 Operation8.6.2 Setting the Electr
Page 486 and 487: 8 Operation8.6.3 Position Reference
Page 488 and 489: 8 Operation8.6.3 Position Reference
Page 490 and 491: 8 Operation8.6.5 Positioning Comple
Page 492 and 493: 8 Operation8.6.7 Reference Pulse In
Page 494 and 495: 8 Operation8.7.3 Adjusting the Refe
Page 496 and 497: 8 Operation8.7.4 Limiting Servomoto
Page 500 and 501: 8 Operation8.8.3 Operating Using an
Page 502 and 503: 8 Operation8.9.2 External Torque Li
Page 504 and 505: 8 Operation8.9.3 Torque Limiting Us
Page 506 and 507: 8 Operation8.9.5 Checking Output To
Page 508 and 509: 8 Operation8.10.2 Switching the Con
Page 510 and 511: 8 Operation8.11.2 Warning Output (/
Page 512 and 513: 9Adjustments9.1 Autotuning - - - -
Page 514 and 515: 9.1 Autotuning9.1.2 List of Servo A
Page 518 and 519: 9.2 Online Autotuning9.2.3 Selectin
Page 520 and 521: 9.2 Online Autotuning9.2.5 Method f
Page 522 and 523: 9.2 Online Autotuning9.2.7 Procedur
Page 524 and 525: 9.3 Manual Tuning9.3.2 Servo Gain M
Page 526 and 527: 9.4 Servo Gain Adjustment Functions
Page 540 and 541: 9.5 Analog Monitor• Related Param
Page 542 and 543: 10 Inspection, Maintenance, and Tro
Page 564 and 565: 11Appendix11.1 Servomotor Capacity
Page 566 and 567:
11.1 Servomotor Capacity Selection
Page 568 and 569:
Page 570 and 571:
Page 572 and 573:
Page 574 and 575:
Page 576 and 577:
Page 578 and 579:
Page 580 and 581:
11.2 Connection to Host Controller1
Page 582 and 583:
Page 584 and 585:
Page 586 and 587:
Page 588 and 589:
Page 590 and 591:
11.3 List of Parameters11.3.2 List
Page 592 and 593:
11.3 List of ParametersParameterNo.
Page 594 and 595:
Page 596 and 597:
Page 598 and 599:
Page 600 and 601:
Page 602 and 603:
Page 604 and 605:
Page 606 and 607:
11.3 List of Parameters11.3.3 Monit
Page 608 and 609:
11.4 Parameter Recording TableParam
Page 610 and 611:
IndexINDEXAabsolute encoder battery
Page 612 and 613:
IndexRrack-mounted type - - - - - -
Page 614 and 615:
IndexWWARN- - - - - - - - - - - - -
Page 616:
Series SGMH/SGDHUSER'S MANUALIRUMA
show all

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

Create successful ePaper yourself

Delete template?

Save as template?