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YASKAWA SGD7S-***A20****F62 Series Product Manual

Sigma-7-series ac servo drive, sigma-7s servopack with ft/ex specification for transfer and alignment application
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-7-Series AC Servo Drive
-7S SERVOPACK with
FT/EX Specification for
Transfer and
Alignment Application
Product Manual
Model: SGD7S-A20F62
MANUAL NO. SIEP S800001 95A
Basic Information on SERVOPACKs
SERVOPACK Ratings and Specifications
Triggers at Preset Positions
Rotational Coordinate System
Maintenance
Parameter Lists
1
2
3
4
5
6
Table of Contents
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Summary of Contents for YASKAWA SGD7S-***A20****F62 Series

  • Page 1 -7-Series AC Servo Drive  -7S SERVOPACK with FT/EX Specification for Transfer and Alignment Application Product Manual Model: SGD7S-A20F62 Basic Information on SERVOPACKs SERVOPACK Ratings and Specifications Triggers at Preset Positions Rotational Coordinate System Maintenance Parameter Lists MANUAL NO. SIEP S800001 95A...
  • Page 2 Yaskawa. No patent liability is assumed with respect to the use of the informa- tion contained herein. Moreover, because Yaskawa is constantly striving to improve its high-quality products, the information contained in this manual is sub- ject to change without notice.

  • Page 3: About This Manual

    About this Manual This manual describes the transfer and alignment application option for Σ-7-Series AC Servo Drive Σ-7S SERVOPACKs. Read and understand this manual to ensure correct usage of the Σ-7-Series AC Servo Drives. Keep this manual in a safe place so that it can be referred to whenever necessary. Outline of Manual The contents of the chapters of this manual are described in the following table.
  • Page 4 Continued from previous page. Σ Σ -7-Series AC Servo Drive SERVOPACK Product Manual SERVOPACKs with MECHA- Item This Manual TROLINK-III Communications References (Manual No.: SIEP S800001 28) Outline – Triggers at Pre- Settings for Triggers at Preset Positions – set Positions Forced Stop Setting for Triggers at Preset Posi- –...

  • Page 5: Related Documents

    Related Documents The relationships between the documents that are related to the Servo Drives are shown in the fol- lowing figure. The numbers in the figure correspond to the numbers in the table on the following pages. Refer to these documents as required. System Components Machine Controllers...
  • Page 6 Classification Document Name Document No. Description Describes the features and applica-  Machine Controller and tion examples for combinations of Machine Controller and AC Servo Drive KAEP S800001 22 MP3000-Series Machine Control- Servo Drive lers and Σ-7-Series AC Servo Solutions Catalog General Catalog Drives.
  • Page 7 Continued from previous page. Classification Document Name Document No. Description Σ-7-Series AC Servo Drive Σ-7S SERVOPACK with MECHATROLINK-III SIEP S800001 28 Communications References Product Manual Σ-7-Series AC Servo Drive Σ-7S SERVOPACK with MECHATROLINK-II SIEP S800001 27 Communications References Product Manual Σ-7-Series AC Servo Drive Σ-7S SERVOPACK with Analog Voltage/Pulse Train...
  • Page 8 Continued from previous page. Classification Document Name Document No. Description Σ-7-Series AC Servo Drive Σ-7S SERVOPACK with FT/EX SIEP S800001 84 Specification for Indexing Application Product Manual Σ-7-Series AC Servo Drive Σ-7S SERVOPACK with FT/EX SIEP S800001 89 Specification for Tracking Application Product Manual Σ-7-Series AC Servo Drive Σ-7S SERVOPACK with FT/EX...
  • Page 9 Continued from previous page. Classification Document Name Document No. Description Σ-7-Series AC Servo Drive Σ-7-Series Describes the peripheral devices Peripheral Device SIEP S800001 32 for a Σ-7-Series Servo System. Peripheral Device Selection Manual Selection Manual Σ-7-Series AC Servo Drive Provides detailed information on MECHATROLINK-II the MECHATROLINK-II communi- SIEP S800001 30...

  • Page 10: Using This Manual

    Using This Manual  Technical Terms Used in This Manual The following terms are used in this manual. Term Meaning A Σ-7-Series Rotary Servomotor, Direct Drive Servomotor, or Linear Servomotor. Servomotor A generic term used for a Σ-7-Series Rotary Servomotor (SGMMV, SGM7J, SGM7A, SGM7P, Rotary Servomotor or SGM7G) or a Direct Drive Servomotor (SGM7F, SGMCV, or SGMCS).
  • Page 11  Notation Used in this Manual  Notation for Reverse Signals The names of reverse signals (i.e., ones that are valid when low) are written with a forward slash (/) before the signal abbreviation. Notation Example BK is written as /BK. ...
  • Page 12  Trademarks • QR code is a trademark of Denso Wave Inc. • MECHATROLINK is a trademark of the MECHATROLINK Members Association. • Other product names and company names are the trademarks or registered trademarks of the respective company. “TM” and the ® mark do not appear with product or company names in this manual.

  • Page 13: Safety Precautions

    Safety Precautions  Safety Information To prevent personal injury and equipment damage in advance, the following signal words are used to indicate safety precautions in this document. The signal words are used to classify the hazards and the degree of damage or injury that may occur if a product is used incorrectly. Information marked as shown below is important for safety.
  • Page 14  Safety Precautions That Must Always Be Observed  General Precautions DANGER  Read and understand this manual to ensure the safe usage of the product.  Keep this manual in a safe, convenient place so that it can be referred to whenever necessary. Make sure that it is delivered to the final user of the product.
  • Page 15 NOTICE  Do not attempt to use a SERVOPACK or Servomotor that is damaged or that has missing parts.  Install external emergency stop circuits that shut OFF the power supply and stops operation immediately when an error occurs.  In locations with poor power supply conditions, install the necessary protective devices (such as AC reactors) to ensure that the input power is supplied within the specified voltage range.
  • Page 16 NOTICE  Do not hold onto the front cover or connectors when you move a SERVOPACK. There is a risk of the SERVOPACK falling.  A SERVOPACK or Servomotor is a precision device. Do not drop it or subject it to strong shock. There is a risk of failure or damage.
  • Page 17 NOTICE  Do not install or store the product in any of the following locations. • Locations that are subject to direct sunlight • Locations that are subject to ambient temperatures that exceed product specifications • Locations that are subject to relative humidities that exceed product specifications •...
  • Page 18  Whenever possible, use the Cables specified by Yaskawa. If you use any other cables, confirm the rated current and application environment of your model and use the wiring materials specified by Yaskawa or equivalent materials.  Securely tighten cable connector screws and lock mechanisms.
  • Page 19  Operation Precautions WARNING  Before starting operation with a machine connected, change the settings of the switches and parameters to match the machine. Unexpected machine operation, failure, or personal injury may occur if operation is started before appropriate settings are made. ...
  • Page 20 NOTICE  When you adjust the gain during system commissioning, use a measuring instrument to monitor the torque waveform and speed waveform and confirm that there is no vibration. If a high gain causes vibration, the Servomotor will be damaged quickly. ...
  • Page 21  Troubleshooting Precautions DANGER  If the safety device (molded-case circuit breaker or fuse) installed in the power supply line oper- ates, remove the cause before you supply power to the SERVOPACK again. If necessary, repair or replace the SERVOPACK, check the wiring, and remove the factor that caused the safety device to operate.
  • Page 22 We will update the document number of the document and issue revisions when changes are made.  Any and all quality guarantees provided by Yaskawa are null and void if the customer modifies the product in any way. Yaskawa disavows any responsibility for damages or losses that are caused by modified products.

  • Page 23: Warranty

    • Events for which Yaskawa is not responsible, such as natural or human-made disasters  Limitations of Liability • Yaskawa shall in no event be responsible for any damage or loss of opportunity to the customer that arises due to failure of the delivered product.
  • Page 24 • It is the customer’s responsibility to confirm conformity with any standards, codes, or regulations that apply if the Yaskawa product is used in combination with any other products. • The customer must confirm that the Yaskawa product is suitable for the systems, machines, and equipment used by the customer.

  • Page 25: Compliance With Ul Standards, Eu Directives, And Other Safety Standards

    Compliance with UL Standards, EU Directives, and Other Safety Standards Certification marks for the standards for which the product has been certified by certification bod- ies are shown on nameplate. Products that do not have the marks are not certified for the stan- dards.
  • Page 26  European Directives Product Model European Directive Harmonized Standards Machinery Directive EN ISO13849-1: 2008/AC: 2009 2006/42/EC EN 55011 group 1, class A EMC Directive EN 61000-6-2 SERVOPACKs SGD7S 2004/108/EC EN 61000-6-4 EN 61800-3 Low Voltage Directive EN 50178 2006/95/EC EN 61800-5-1 EN 55011 group 1, class A EMC Directive EN 61000-6-2...
  • Page 27  Safety Parameters Item Standards Performance Level IEC 61508 SIL3 Safety Integrity Level IEC 62061 SILCL3 IEC 61508 PFH = 4.04×10 [1/h] Probability of Dangerous Failure per Hour IEC 62061 (4.04% of SIL3) Performance Level EN ISO 13849-1 PLe (Category 3) Mean Time to Dangerous Failure of Each Channel EN ISO 13849-1 MTTFd: High Average Diagnostic Coverage...

  • Page 28: Table Of Contents

    Contents About this Manual ..........iii Outline of Manual .
  • Page 29 Rotational Coordinate System Outline ..........4-2 Setup Procedure .
  • Page 30 Basic Information on SERVOPACKs This chapter provides information required to select SERVOPACKs, such as the SERVOPACK models. Product Introduction ....1-2 Model Designations ....1-3 1.2.1 Interpreting SERVOPACK Model Numbers .

  • Page 31: Product Introduction

    1.1 Product Introduction Product Introduction The SERVOPACKs described in this manual provide the following two functions. Function Description Triggers at Preset Triggers at preset positions are signals that are output when a moving part of a Positions machine passes a preset reference position. You can set the range of the rotational coordinate system for position data (command Rotational Coordi- position (CPOS) and feedback position (APOS)) from the host controller in SERVO-...

  • Page 32: Model Designations

    1.2 Model Designations 1.2.1 Interpreting SERVOPACK Model Numbers Model Designations 1.2.1 Interpreting SERVOPACK Model Numbers SGD7S - R70 A 20 A 14th 1st+2nd+3rd 5th+6th 8th+9th+10th 11th+12th+13th Σ-7-Series digit digit digit digits digits digits digits Σ-7S SERVOPACKs Hardware Options Maximum Applicable 1st+2nd+3rd digits 4th digit 8th+9th+10th digits...

  • Page 33: Combinations Of Servopacks And Servomotors

    1.3 Combinations of SERVOPACKs and Servomotors Combinations of SERVOPACKs and Servomotors Refer to the following manuals for information on combinations with Σ-7-Series Servomotors. Σ-7-Series Rotary Servomotor Product Manual (Manual No.: SIEP S800001 36) Σ-7-Series Linear Servomotor Product Manual (Manual No.: SIEP S800001 37) Σ-7-Series Direct Drive Servomotor Product Manual (Manual No.: SIEP S800001 38)

  • Page 34: Functions

    1.4 Functions 1.4.1 SERVOPACK Functions Functions This section lists the functions provided by SERVOPACKs. Refer to the following manual for details on the functions. Σ Σ -7-Series -7S SERVOPACK with MECHATROLINK-III Communications References Product Manual (Manual No.: SIEP S800001 28) Refer to the following section for details on restrictions to these functions.

  • Page 35: 1.4.1 Servopack Functions

    1.4 Functions 1.4.1 SERVOPACK Functions • Functions Related to the Host Controller Function Electronic Gear Settings I/O Signal Allocations Servo Alarm (ALM) Signal Warning Output (/WARN) Signal Rotation Detection (/TGON) Signal /S-RDY (Servo Ready) Signal Speed Coincidence Detection (/V-CMP) Signal Positioning Completion (/COIN) Signal Near (/NEAR) Signal Speed Limit during Torque Control...

  • Page 36: Functional Restrictions

    1.4 Functions 1.4.2 Functional Restrictions • Functions for Inspection and Maintenance Function Write Prohibition Setting for Parameters Initializing Parameter Settings Automatic Detection of Connected Motor Monitoring Product Information Monitoring Product Life Alarm History Display 1.4.2 Functional Restrictions The following functional restrictions apply to the SERVOPACKs described in this manual. Function Restriction Encoder Divided Pulse Outputs...

  • Page 37: Sigmawin

    To use the SigmaWin+, a model information file for the SERVOPACK must be added to Sig- maWin+ version 7.14 or higher. The model information files can be downloaded from the Yaskawa’s e-mechatronics product and technical information website (http://www.e-mecha- tronics.com/). Add the model information file for the FT62 specification to SigmaWin+ version 7.14 or higher...

  • Page 38: Servopack Ratings And Specifications

    SERVOPACK Ratings and Specifications This chapter provides information required to select SERVOPACKs, such as specifications. Ratings ......2-2 SERVOPACK Overload Protection Characteristics .

  • Page 39: Ratings

    2.1 Ratings Ratings This section gives the ratings of SERVOPACKs. Three-Phase, 200 VAC Model SGD7S- R70A R90A 1R6A 2R8A 3R8A 5R5A 7R6A 120A 180A 200A 330A Maximum Applicable Motor Capac- 0.05 0.75 ity [kW] Continuous Output Current [Arms] 0.66 0.91 11.6 18.5 19.6...
  • Page 40 2.1 Ratings Model SGD7S- 470A 550A 590A 780A Maximum Applicable Motor Capacity [kW] Continuous Output Current [Arms] 46.9 54.7 58.6 78.0 Instantaneous Maximum Output Current [Arms] Power Supply 200 VAC to 240 VAC, -15% to +10%, 50 Hz/60 Hz Main Circuit Input Current [Arms] Power Supply 200 VAC to 240 VAC, -15% to +10%, 50 Hz/60 Hz...
  • Page 41 2.1 Ratings 270 VDC Model SGD7S- R70A R90A 1R6A 2R8A 3R8A 5R5A 7R6A 120A Maximum Applicable Motor Capacity [kW] 0.05 0.75 Continuous Output Current [Arms] 0.66 0.91 11.6 Instantaneous Maximum Output Current [Arms] 11.0 16.9 17.0 28.0 Power Supply 270 VDC to 324 VDC, -15% to +10% Main Circuit Input Current [Arms]* Power Supply...

  • Page 42: Servopack Overload Protection Characteristics

    Note: The above overload protection characteristics do not mean that you can perform continuous duty operation with an output of 100% or higher. For a Yaskawa-specified combination of SERVOPACK and Servomotor, maintain the effective torque within the continuous duty zone of the torque-motor speed characteristic of the Servomotor.

  • Page 43: Specifications

    2.3 Specifications Specifications This section gives the specifications of the SERVOPACKs. Item Specification Drive Method IGBT-based PWM control, sine wave current drive Serial encoder:17 bits (absolute encoder) With Rotary 20 bits or 24 bits Servomotor (incremental encoder/absolute encoder) 22 bits (absolute encoder) Feedback •...
  • Page 44 2.3 Specifications Continued from previous page. Item Specification 1:5000 (At the rated torque, the lower limit of the speed control range Speed Control Range must not cause the Servomotor to stop.) ±0.01% of rated speed max. (for a load fluctuation of 0% to 100%) 0% of rated speed max.
  • Page 45 2.3 Specifications Continued from previous page. Item Specification CHARGE, PWR, CN, L1, and L2 indicators, and one-digit seven-seg- Displays/Indicators ment display Communications Pro- MECHATROLINK-III tocol Station Address 03 to EF hex (maximum number of slaves: 62) MECHA- Settings The rotary switches (S1 and S2) are used to set the station address. TROLINK-III Transmission Speed 100 Mbps...

  • Page 46: Triggers At Preset Positions

    Triggers at Preset Positions This chapter describes triggers at preset positions. Outline ......3-2 3.1.1 Line-Driver Output Specifications .
  • Page 47 3.1 Outline Outline Triggers at preset positions are signals that are output when a moving part of a machine passes preset reference positions. You can use this function to set signal outputs for up to 32 positions. The following image shows the operation of triggers at preset positions. Output position for Output position for Speed...

  • Page 48: 3.1 Outline

    3.1 Outline 3.1.1 Line-Driver Output Specifications 3.1.1 Line-Driver Output Specifications Compared with a photocoupler, a line driver is capable of more precise output, and it is suitable for applications with no margin for output signal delays or variations. Item Specification Number of Output Position Settings 32 positions Range of Output Position Settings...

  • Page 49: I/O Signal Connector (Cn1) Pin Arrangement

    3.1 Outline 3.1.3 I/O Signal Connector (CN1) Pin Arrangement 3.1.3 I/O Signal Connector (CN1) Pin Arrangement The following figure gives the pin arrangement of the of the I/O signal connector (CN1) for the default settings. When you use line-driver high-speed outputs, wire the outputs to CN1-17 and CN1-18 and to CN1-21 and CN1-22.

  • Page 50: Settings For Triggers At Preset Positions

    3.2 Settings for Triggers at Preset Positions 3.2.1 Setting Table Details Settings for Triggers at Preset Positions You can output triggers at preset positions with the SigmaWin+ or with MEM_WR commands based on the following setting table. There are two types of setting tables: one for high-speed outputs from line drivers and one for normal outputs from photocouplers.
  • Page 51 3.2 Settings for Triggers at Preset Positions 3.2.1 Setting Table Details Continued from previous page. Digit Name Setting Description Disable. (The signal is not output.) Output the signal from the CN1-17 and CN1-18 output terminals. Output the signal from the CN1-21 and CN1-22 output terminals. Output Terminals and Signal Logic Output the reverse signal from the CN1-17 and CN1-18 output...

  • Page 52: Setting Triggers At Preset Positions

    3.2 Settings for Triggers at Preset Positions 3.2.2 Setting Triggers at Preset Positions  Output Position Compensation Set the compensation distance in reference units from the reference position set in the out- put position setting. Size Setting Range Setting Unit Default Setting When Enabled Classification -2,147,483,648 to...
  • Page 53 3.2 Settings for Triggers at Preset Positions 3.2.2 Setting Triggers at Preset Positions Normal Output Setting Method This section describes the procedure to execute normal outputs with the MEM_WR command. Step Operation Set the following output signal selections 1 to 4. •...

  • Page 54: Setting Trigger Outputs At Preset Positions With The Sigmawin

    3.2 Settings for Triggers at Preset Positions 3.2.3 Setting Trigger Outputs at Preset Positions with the SigmaWin+ 3.2.3 Setting Trigger Outputs at Preset Positions with the SigmaWin+ This section provides the setting procedure to execute triggers at preset positions from the Sig- maWin+.
  • Page 55 3.2 Settings for Triggers at Preset Positions 3.2.3 Setting Trigger Outputs at Preset Positions with the SigmaWin+ Click the High-Speed Output Settings Tab. If the Normal Output Settings Tab is clicked, the following dialog box will be displayed. Information Set the items for the Output Setting 1 to 32 to use. Refer to the following section for details on the settings of the items.

  • Page 56: Making Settings With The Mem_Wr Command

    3.2 Settings for Triggers at Preset Positions 3.2.4 Making Settings with the MEM_WR Command 3.2.4 Making Settings with the MEM_WR Command High-Speed Output Settings When you set the high-speed outputs with the MEM_WR command, set the parameters based on the following table. Output Output Output...
  • Page 57 3.2 Settings for Triggers at Preset Positions 3.2.4 Making Settings with the MEM_WR Command Normal Output Settings When you set the normal outputs with the MEM_WR command, set the parameters based on the following table. Output Output Output Output Output Position Name Reserved...
  • Page 58 3.2 Settings for Triggers at Preset Positions 3.2.4 Making Settings with the MEM_WR Command Setting Details for the Write Memory (MEM_WR: 1E Hex) Command  Data Format Phases in which the Command Common Asynchronous 2, 3 command command Command can be Executed Classification Σ-7-Series MECHATROLINK-III...
  • Page 59 3.2 Settings for Triggers at Preset Positions 3.2.4 Making Settings with the MEM_WR Command  Command Parameters The details of MODE/DATA_TYPE are described below. bit7 bit6 bit5 bit4 bit3 bit2 bit1 bit0 MODE DATA_TYPE MODE = 1: Volatile memory, 2: Non-volatile memory (Non-volatile memory can be selected only for common parameters) DATA_TYPE = 1: Byte, 2: Short, 3: Long, 4: Not supported SIZE:...
  • Page 60 3.2 Settings for Triggers at Preset Positions 3.2.4 Making Settings with the MEM_WR Command Continued from previous page. Step Description Setting Example ADDRESS = 0x80004002 Execute preparation process 3 for writing MODE/DATA_TYPE = 0x22 to non-volatile memory. SIZE = 0x0001 DATA = 0x0002 ADDRESS = 0x80004002 MODE/DATA_TYPE = 0x22...

  • Page 61: Forced Stop Setting For Triggers At Preset Positions

    3.3 Forced Stop Setting for Triggers at Preset Positions Forced Stop Setting for Triggers at Preset Positions You can force-stop triggers at preset positions by setting bit 30 in the SVCMD_IO output area to 1. This method can also be used to temporarily stop triggers at preset positions, such as during origin return operations.

  • Page 62: Rotational Coordinate System

    Rotational Coordinate System Outline ......4-2 Setup Procedure ..... 4-3 4.2.1 Setting the Rotational Coordinate System .

  • Page 63: Outline

    4.1 Outline Outline You can set the range of the rotational coordinate system for position data (command position (CPOS) and feedback position (APOS)) from the host controller in SERVOPACK parameters. The coordinates will be in the range that is set with Pn87C (First Rotational Coordinate) and Pn87A (Last Rotational Coordinate).

  • Page 64: Setup Procedure

    4.2 Setup Procedure 4.2.1 Setting the Rotational Coordinate System Setup Procedure The following table gives the procedure for making settings for the rotational coordinate sys- tem. Step Description Set the first rotational coordinate (Pn87C) and last rotational coordinate (Pn87A). Set the multiturn limit to match the machine rotational coordinate system. (This step is necessary only for an absolute encoder.) Turn the power supply OFF and ON again, or send the Setup Device command (CONFIG: 04 hex) from the host controller.

  • Page 65: Setting The Multiturn Limit

    4.2 Setup Procedure 4.2.2 Setting the Multiturn Limit 4.2.2 Setting the Multiturn Limit When you use an absolute encoder, set the multiturn limit to match the rotational coordinate system that is used by the system. When you use a rotational coordinate system, you must set the multiturn limit. Refer to the following manual for details on setting the multiturn limit.

  • Page 66: Setting The Moving Method Of The Rotational Coordinate System

    4.2 Setup Procedure 4.2.4 Setting the Moving Method of the Rotational Coordinate System • If the offset is greater than the setting of Pn87A (Last Rotational Coordinate): Pn808 = Offset − (Pn87A − Pn87C + 1) • If the offset is between Pn87C and Pn87A, inclusive: Pn808 = Offset If the settings of the parameters are not in the correct relationship (i.e., Pn87C ≤...
  • Page 67 4.2 Setup Procedure 4.2.4 Setting the Moving Method of the Rotational Coordinate System Example of Absolute Positioning Operation Positioning is performed by moving the axis from the current position to the target position. The following figure gives an example of a positioning operation in which the axis is moved for- ward from the current position to target position 1 and then moved in reverse to target position 2.

  • Page 68: Servo Commands To Use

    4.2 Setup Procedure 4.2.5 Servo Commands to Use 4.2.5 Servo Commands to Use The following table gives the servo command required to use the rotational coordinate system. Refer to the following manual for details on servo commands. Σ -7-Series MECHATROLINK-III Communications Standard Servo Profile Command Manual (Manual No.: SIEP S800001 31) Servo Operation...
  • Page 69 4.2 Setup Procedure 4.2.5 Servo Commands to Use Movement Direction after Changing to Position Control during Speed Control, Torque Control, or Constant-Speed Control When you change to position control (POSING or EX_POSING) during speed control (VELCTRL), torque control (TRQCTRL), or constant-speed control (FEED or EX_FEED), the ...
  • Page 70 4.2 Setup Procedure 4.2.5 Servo Commands to Use External Input Constant-Speed Feeding and External Input Positioning If you enable the rotational coordinate system and execute external input constant-speed feed- ing (EX_FEED) or external input positioning (EX_POSING), positioning is performed within the range of the rotational coordinate system to external input positioning position P3 after latching is performed for the external input positioning signal.
  • Page 71 4.2 Setup Procedure 4.2.5 Servo Commands to Use Calculation Example 1 for the External Input Positioning Position P3 in the Rotational Example Coordinate System The following conditions are used in this example. • First rotational coordinate (Pn87C): 0, Last rotational coordinate (Pn87A): 3,599 •...
  • Page 72 4.2 Setup Procedure 4.2.5 Servo Commands to Use  When External Positioning Final Travel Distance Is Positive For forward movement, positioning is performed with forward movement (in the same direction) after latching the position. For reverse movement, positioning is performed with forward movement (in the opposite direc- tion) after latching the position.

  • Page 73: Monitoring

    4.2 Setup Procedure 4.2.6 Monitoring 4.2.6 Monitoring Monitoring with Servo Commands The monitor data, which is output within the range of the rotational coordinate system (Pn87A to Pn87C), are listed below. Refer to the following manual for servo command details. Σ...
  • Page 74 4.2 Setup Procedure 4.2.6 Monitoring Monitoring with the Digital Operator Display the monitor data in Monitor Mode to monitor values on the Digital Operator. The monitor data, which is output within the range of the rotational coordinate system (Pn87A to Pn87C), are listed below. Un No.

  • Page 75: Maintenance

    Maintenance This chapter provides information on the meaning of, causes of, and corrections for alarms and warnings. Alarm Displays ..... . 5-2 List of Alarms .

  • Page 76: Alarm Displays

    5.1 Alarm Displays Alarm Displays If an error occurs in the SERVOPACK, an alarm number will be displayed on the panel display. If there is an alarm, the display will change in the following order. Example: Alarm A.E60 Status Not lit. Not lit.

  • Page 77: List Of Alarms

    5.2 List of Alarms List of Alarms The list of alarms gives the alarm name, alarm meaning, alarm stopping method, and alarm reset possibility in order of the alarm numbers. Servomotor Stopping Method for Alarms Refer to the following section for information on the stopping method for alarms. Σ...
  • Page 78 5.2 List of Alarms Continued from previous page. Servo- Alarm motor Alarm Reset Alarm Name Alarm Meaning Stop- Number Possi- ping ble? Method Motor Overcurrent The current to the motor exceeded the allowable A.101 Gr.1 current. Detected A.300 Regeneration Error There is an error related to regeneration.
  • Page 79 5.2 List of Alarms Continued from previous page. Servo- Alarm motor Alarm Reset Alarm Name Alarm Meaning Stop- Number Possi- ping ble? Method External Encoder Module A.8A1 An error occurred in the Serial Converter Unit. Gr.1 Error External Incremental A.8A2 An error occurred in the external encoder.
  • Page 80 5.2 List of Alarms Continued from previous page. Servo- Alarm motor Alarm Reset Alarm Name Alarm Meaning Stop- Number Possi- ping ble? Method Encoder Communications Communications between the encoder and SER- A.C90 Gr.1 VOPACK is not possible. Error Encoder Communications An error occurred in calculating the position data A.C91 Position Data Acceleration...
  • Page 81 5.2 List of Alarms Continued from previous page. Servo- Alarm motor Alarm Reset Alarm Name Alarm Meaning Stop- Number Possi- ping ble? Method Reception Error in Communications errors occurred continuously A.E60* MECHATROLINK Commu- Gr.2 during MECHATROLINK communications. nications Synchronization Interval An error occurred in the transmission cycle A.E61 Error in MECHATROLINK...

  • Page 82: Troubleshooting Alarms

    5.3 Troubleshooting Alarms Troubleshooting Alarms The causes of and corrections for the alarms are given in the following table. Contact your Yaskawa representative if you cannot solve a problem with the correction given in the table. Alarm Number: Refer- Possible Cause...
  • Page 83 5.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Refer- Possible Cause Confirmation Correction Alarm Name ence A.025: System Alarm The SERVOPACK may be A failure occurred in (An internal pro- – faulty. Replace the SER- – the SERVOPACK. gram error VOPACK.
  • Page 84 5.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Refer- Possible Cause Confirmation Correction Alarm Name ence Check the capacities to see if they satisfy the fol- The SERVOPACK and Select a proper combina- lowing condition: Servomotor capaci- tion of the SERVOPACK A.050: ties do not match and Servomotor capaci-...
  • Page 85 5.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Refer- Possible Cause Confirmation Correction Alarm Name ence Check for short-circuits across Servomotor There is a short-circuit The cable may be short- phases U, V, and W, or or ground fault in a circuited.
  • Page 86 5.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Refer- Possible Cause Confirmation Correction Alarm Name ence The Main Circuit Cable is not wired Check the wiring. Correct the wiring. correctly or there is faulty contact. Check for short-circuits There is a short-circuit across cable phases U, V, The cable may be short- or ground fault in a...
  • Page 87 5.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Refer- Possible Cause Confirmation Correction Alarm Name ence Pn600 (Regenerative Resistor Capacity) is not set to 0 and an Connect an External External Regenerative Regenerative Resistor, or Check it see if an External Resistor is not con- set Pn600 (Regenerative Regenerative Resistor is...
  • Page 88 5.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Refer- Possible Cause Confirmation Correction Alarm Name ence The power supply Set the power supply volt- Measure the power sup- voltage exceeded the age within the specified – ply voltage. specified range. range.
  • Page 89 5.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Refer- Possible Cause Confirmation Correction Alarm Name ence If you are using the regen- The regenerative erative resistor built into resistor was discon- Measure the resistance of the SERVOPACK, replace nected when the the regenerative resistor the SERVOPACK.
  • Page 90 5.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Refer- Possible Cause Confirmation Correction Alarm Name ence The power supply Set the AC/DC power Measure the power sup- voltage exceeded the supply voltage within the – ply voltage. specified range. specified range.
  • Page 91 5.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Refer- Possible Cause Confirmation Correction Alarm Name ence The order of phases U, V, and W in the Check the wiring of the Make sure that the Servo- – motor wiring is not Servomotor.
  • Page 92 5.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Refer- Possible Cause Confirmation Correction Alarm Name ence The wiring is not cor- Make sure that the Servo- rect or there is a faulty Check the wiring. motor and encoder are contact in the motor correctly wired.
  • Page 93 5.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Refer- Possible Cause Confirmation Correction Alarm Name ence Check the surrounding Decrease the surround- temperature using a ther- ing temperature by The surrounding tem- mostat. Or, check the improving the SERVO- perature is too high.
  • Page 94 5.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Refer- Possible Cause Confirmation Correction Alarm Name ence Remove foreign matter A.7Ab: from the SERVOPACK. If The fan inside the Check for foreign matter an alarm still occurs, the SERVOPACK SERVOPACK –...
  • Page 95 5.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Refer- Possible Cause Confirmation Correction Alarm Name ence Turn the power supply to the SERVOPACK OFF and ON again. If an alarm still The encoder malfunc- – occurs, the Servomotor or –...
  • Page 96 5.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Refer- Possible Cause Confirmation Correction Alarm Name ence The surrounding air Reduce the surrounding Measure the surrounding temperature around air temperature of the air temperature around – the Servomotor is too Servomotor to 40°C or A.860: the Servomotor.
  • Page 97 5.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Refer- Possible Cause Confirmation Correction Alarm Name ence A failure occurred in Replace the external – – the external encoder. encoder. A.8A1: External Encoder A failure occurred in Replace the Serial Con- Module Error the Serial Converter –...
  • Page 98 5.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Refer- Possible Cause Confirmation Correction Alarm Name ence Turn the power supply to the SERVOPACK OFF and A.bF2: A failure occurred in ON again. If an alarm still – – the SERVOPACK. occurs, the SERVOPACK System Alarm 2 may be faulty.
  • Page 99 5.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Refer- Possible Cause Confirmation Correction Alarm Name ence The order of phases U, V, and W in the Check the Servomotor Make sure that the Servo- – motor wiring is not wiring.
  • Page 100 5.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Refer- Possible Cause Confirmation Correction Alarm Name ence The settings of Pn282 (Linear Encoder Scale Pitch) and Pn080 = Check the linear encoder The parameter set- n.X (Motor Phase specifications and feed- tings are not correct.
  • Page 101 5.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Refer- Possible Cause Confirmation Correction Alarm Name ence Wire the overtravel sig- A.C51: nals. Execute polarity The overtravel signal Check the overtravel posi- detection at a position Overtravel was detected during tion.
  • Page 102 5.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Refer- Possible Cause Confirmation Correction Alarm Name ence There is a faulty con- tact in the connector Reconnect the encoder Check the condition of or the connector is connector and check the the encoder connector.
  • Page 103 5.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Refer- Possible Cause Confirmation Correction Alarm Name ence Noise entered on the Implement countermea- signal line from the – sures against noise for the encoder. encoder wiring. Reduce machine vibra- Excessive vibration or Check the operating con- tion.
  • Page 104 5.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Refer- Possible Cause Confirmation Correction Alarm Name ence The encoder is wired Make sure that the Check the wiring of the incorrectly or there is encoder is correctly encoder. faulty contact. wired.
  • Page 105 5.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Refer- Possible Cause Confirmation Correction Alarm Name ence The cable between the Serial Converter Correctly wire the cable Unit and SERVOPACK Check the wiring of the between the Serial Con- is not wired correctly external encoder.
  • Page 106 5.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Refer- Possible Cause Confirmation Correction Alarm Name ence The servo was turned ON after the position A.d01: deviation exceeded Optimize the setting of Check the position devia- Position Devia- the setting of Pn526 Pn526 (Position Deviation tion while the servo is tion Overflow...
  • Page 107 5.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Refer- Possible Cause Confirmation Correction Alarm Name ence Check the setting of the station address of the Check rotary switches S1 The station address is host controller, and reset and S2 to see if the sta- outside of the setting rotary switches S1 and S2 tion address is between...
  • Page 108 5.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Refer- Possible Cause Confirmation Correction Alarm Name ence Remove the cause of The MECHATROLINK Check the setting of the transmission cycle fluctu- transmission cycle MECHATROLINK trans- – ation at the host control- A.E61: fluctuated.
  • Page 109 5.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Refer- Possible Cause Confirmation Correction Alarm Name ence A failure occurred in Replace the Safety Option the Safety Option – – A.E74: Module. Module. Unsupported Safety Option An unsupported Refer to the catalog of the Connect a compatible Module Safety Option Module...
  • Page 110 5.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Refer- Possible Cause Confirmation Correction Alarm Name ence A.F50: The SERVOPACK may be A failure occurred in – faulty. Replace the SER- – Servomotor Main the SERVOPACK. VOPACK. Circuit Cable Dis- connection (The Servomotor did not operate or...
  • Page 111 5.3 Troubleshooting Alarms • Linear Servomotor If either of the following conditions is detected, an alarm will occur. Resolution of Serial Converter Unit Pn20E Pn585 [mm/s]   Pn210 Linear encoder pitch [m] Pn385 [100 mm/s] Resolution of Serial Converter Unit Pn20E ...

  • Page 112: Warning Displays

    5.4 Warning Displays Warning Displays If a warning occurs in the SERVOPACK, a warning number will be displayed on the panel dis- play. Warnings are displayed to warn you before an alarm occurs. 5-38...

  • Page 113: List Of Warnings

    5.5 List of Warnings List of Warnings The list of warnings gives the warning name and warning meaning in order of the warning num- bers. Warning Warning Name Meaning Resetting Number Position Deviation The position deviation exceeded the parameter settings A.900 Required.
  • Page 114 5.5 List of Warnings Continued from previous page. Warning Warning Name Meaning Resetting Number Command Warning 4 There was command interference, particularly latch Automatically A.95d (Command Interfer- command interference. reset.* ence) Command Warning 5 The subcommand and main command interfere with Automatically A.95E (Subcommand Not...

  • Page 115: Troubleshooting Warnings

    5.6 Troubleshooting Warnings Troubleshooting Warnings The causes of and corrections for the warnings are given in the following table. Contact your Yaskawa representative if you cannot solve a problem with the correction given in the table. Warning Number: Refer- Possible Cause...
  • Page 116 5.6 Troubleshooting Warnings Continued from previous page. Warning Number: Refer- Possible Cause Confirmation Correction Warning Name ence The wiring is not correct or there is Make sure that the Servo- a faulty contact in Check the wiring. motor and encoder are cor- –...
  • Page 117 5.6 Troubleshooting Warnings Continued from previous page. Warning Number: Refer- Possible Cause Confirmation Correction Warning Name ence Check the surrounding temperature using a Decrease the surrounding The surrounding thermostat. Or, check temperature by improving temperature is too the operating status with the SERVOPACK installa- high.
  • Page 118 5.6 Troubleshooting Warnings Continued from previous page. Warning Number: Refer- Possible Cause Confirmation Correction Warning Name ence The power supply Set the power supply volt- voltage exceeded Measure the power sup- age within the specified – the specified ply voltage. range.
  • Page 119 5.6 Troubleshooting Warnings Continued from previous page. Warning Number: Refer- Possible Cause Confirmation Correction Warning Name ence Reset the speed ripple – compensation value on the The speed ripple SigmaWin+. compensation Set Pn423 to n.1 (Do information stored not detect A.942 alarms). A.942: in the encoder –...
  • Page 120 5.6 Troubleshooting Warnings Continued from previous page. Warning Number: Refer- Possible Cause Confirmation Correction Warning Name ence A.95F: An undefined Check the command Do not send undefined Command Warning command was 6 (Undefined Com- that caused the warning. commands. sent. mand) The MECHA- TROLINK Com-...
  • Page 121 One of the con- A.9b0: Replace the part. Contact sumable parts has – your Yaskawa representa- Preventative Mainte- reached the end tive for replacement. nance Warning of its service life. Refer to the following manual for details.

  • Page 122: Troubleshooting Based On The Operation And Conditions Of The Servomotor

    5.7 Troubleshooting Based on the Operation and Conditions of the Servomotor Troubleshooting Based on the Operation and Conditions of the Servomotor This section provides troubleshooting based on the operation and conditions of the Servomo- tor, including causes and corrections. Turn OFF the Servo System before troubleshooting the items shown in bold lines in the table. Problem Possible Cause Confirmation...
  • Page 123 5.7 Troubleshooting Based on the Operation and Conditions of the Servomotor Continued from previous page. Problem Possible Cause Confirmation Correction Reference A failure occurred in the SER- Replace the SERVO- – – VOPACK. PACK. Check the setting of Correct the parameter Pn080 =n.X (Polar- setting.
  • Page 124 5.7 Troubleshooting Based on the Operation and Conditions of the Servomotor Continued from previous page. Problem Possible Cause Confirmation Correction Reference The setting of Pn001 = n.X (Motor Stopping Check the setting of Set Pn001 = n.X Method for Servo OFF and –...
  • Page 125 5.7 Troubleshooting Based on the Operation and Conditions of the Servomotor Continued from previous page. Problem Possible Cause Confirmation Correction Reference • Rotary Servomotors: The Encoder Cable length must be 50 m max. • Linear Servomotors: Noise interference occurred Make sure that the Check the length of the because the Encoder Cable Serial Converter Unit...
  • Page 126 5.7 Troubleshooting Based on the Operation and Conditions of the Servomotor Continued from previous page. Problem Possible Cause Confirmation Correction Reference Check to see if the servo Perform autotuning The servo gains are not bal- gains have been cor- without a host refer- anced.
  • Page 127 5.7 Troubleshooting Based on the Operation and Conditions of the Servomotor Continued from previous page. Problem Possible Cause Confirmation Correction Reference Check the Encoder Cable to see if it satisfies speci- fications. Use shielded Noise interference occurred twisted-pair cables or Use cables that satisfy because of incorrect Encoder –...
  • Page 128 5.7 Troubleshooting Based on the Operation and Conditions of the Servomotor Continued from previous page. Problem Possible Cause Confirmation Correction Reference Absolute Check the error detec- Correct the error detec- tion section of the host tion section of the host Encoder –...
  • Page 129 5.7 Troubleshooting Based on the Operation and Conditions of the Servomotor Continued from previous page. Problem Possible Cause Confirmation Correction Reference The limit switch position and Install the limit switch at Improper dog length are not appropri- – the appropriate posi- –...
  • Page 130 5.7 Troubleshooting Based on the Operation and Conditions of the Servomotor Continued from previous page. Problem Possible Cause Confirmation Correction Reference Check the I/O signal cables to see if they sat- isfy specifications. Use Noise interference occurred shielded twisted-pair Use cables that satisfy because of incorrect I/O sig- –...

  • Page 131: Parameter Lists

    Parameter Lists This chapter provides information on the parameters. Interpreting the Parameter Lists ..6-2 6.1.1 Interpreting the Servo Parameter List ..6-2 6.1.2 Interpreting the MECHATROLINK-III Common Parameter List .

  • Page 132: Interpreting The Parameter Lists

    6.1 Interpreting the Parameter Lists 6.1.1 Interpreting the Servo Parameter List Interpreting the Parameter Lists 6.1.1 Interpreting the Servo Parameter List The types of motors to which the parameter applies. All: The parameter is used for both Rotary Servomotors and Linear Servomotors. “After restart”...

  • Page 133: Interpreting The Mechatrolink-Iii Common Parameter List

    6.1 Interpreting the Parameter Lists 6.1.2 Interpreting the MECHATROLINK-III Common Parameter List 6.1.2 Interpreting the MECHATROLINK-III Common Parameter List Indicates when a change to the The types of motors to which the parameter applies. parameter will be effective. All: The parameter is used for both Rotary Servomotors and Linear Servomotors. “After restart”...

  • Page 134: List Of Servo Parameters

    6.2 List of Servo Parameters List of Servo Parameters The following table lists the parameters. Note: Do not change the following parameters from their default settings. • Reserved parameters • Parameters not given in this manual • Parameters that are not valid for the Servomotor that you are using, as given in the parameter table Parameter Setting Setting...
  • Page 135 6.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Application Function 0000 to After – 0000 Setup Selections 1 1142 restart Motor Stopping Method for Servo OFF and Group 1 Alarms Stop the motor by applying the dynamic brake.
  • Page 136 6.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Application Function 0000 to After – 0011 – Setup – Selections 2 4213 restart MECHATROLINK Command Position and Speed Control Applicable Reference Option...
  • Page 137 6.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Application Function 0000 to Immedi- – 0002 Setup Selections 6 105F ately Analog Monitor 1 Signal Selection Motor speed (1 V/1,000 min Motor speed (1 V/1,000 mm/s) Speed reference (1 V/1,000 min...
  • Page 138 6.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Application Function 0000 to Immedi- – 0000 Setup Selections 7 105F ately Analog Monitor 2 Signal Selection Motor speed (1 V/1,000 min Motor speed (1 V/1,000 mm/s) Speed reference (1 V/1,000 min...
  • Page 139 6.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Application Function 0000 to After – 4000 Rotary Setup Selections 8 7121 restart Low Battery Voltage Alarm/Warning Selection ...
  • Page 140 6.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Application Function 0000 to After – 0001 Setup Selections A 0044 restart Motor Stopping Method for Group 2 Alarms Apply the dynamic brake or coast the motor to a stop (use the stopping method set in Pn001 = n.X).
  • Page 141 6.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Application Function 0000 to After – 0000 – Setup Selections C 0131 restart Applicable Function Selection for Test without a Motor Motors ...
  • Page 142 6.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Application Function 0000 to After – 0000 Linear Setup Selections 80 1111 restart Polarity Sensor Selection ...
  • Page 143 6.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Gain Application Selec- 0000 to – 0000 – Setup tions 5334 When Mode Switching Selection Enabled Use the internal torque reference as the condition (level setting: Pn10C).
  • Page 144 6.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Automatic Gain Switch- 0000 to Immedi- – 0000 Tuning ing Selections 1 0052 ately Gain Switching Selection Use manual gain switching.
  • Page 145 6.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Model Following Con- Immedi- Pn143 trol Bias in the Forward 0 to 10,000 0.1% 1000 Tuning ately Direction...
  • Page 146 6.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Anti-Resonance Damp- Immedi- Pn163 0 to 300 Tuning ing Gain ately Anti-Resonance Filter -1,000 to Immedi- Pn164 Time Constant 1 Cor-...
  • Page 147 6.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Electronic Gear Ratio 1 to After Pn20E Setup (Numerator) 1,073,741,824 restart Electronic Gear Ratio 1 to After Pn210 Setup...
  • Page 148 6.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Vibration Detection 0000 to Immedi- − 0000 Setup Selections 0002 ately Vibration Detection Selection Do not detect vibration. ...
  • Page 149 6.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Torque-Related Func- 0000 to – 0000 – Setup tion Selections 1111 When Notch Filter Selection 1 Enabled ...
  • Page 150 6.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Torque-Related Func- 0000 to Immedi- – 0000 Setup tion Selections 2 1111 ately Notch Filter Selection 3 ...
  • Page 151 6.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Torque Feedforward Immedi- Pn426 Average Movement 0 to 5,100 0.1 ms Setup ately Time Speed Ripple Compen- Rotary Ser- Immedi- Pn427...
  • Page 152 6.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Speed Coincidence Immedi- Pn503 Detection Signal Output 0 to 100 Rotary Setup 1 min ately Width Brake Reference-Servo Immedi-...
  • Page 153 6.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Input Signal Selections 0000 to After − 8882 Setup FFFF restart N-OT (Reverse Drive Prohibit) Signal Allocation Enable reverse drive when CN1-13 input signal is ON (closed).
  • Page 154 6.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Output Signal Selec- 0000 to After – 0000 Setup tions 1 6666 restart /COIN (Positioning Completion Output) Signal Allocation Disabled (the above signal output is not used).
  • Page 155 6.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Output Signal Selec- 0000 to After – 0000 Setup tions 3 0666 restart /NEAR (Near Output) Signal Allocation Disabled (the above signal output is not used).
  • Page 156 6.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Input Signal Selections 0000 to After – 6543 Setup FFFF restart /DEC (Origin Return Deceleration Switch Input) Signal Allocation Active when CN1-13 input signal is ON (closed).
  • Page 157 6.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Output Signal Selec- 0000 to After – 0000 Setup tions 4 0666 restart  Reserved parameter (Do not change.) ...
  • Page 158 6.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence 1 refer- Positioning Completed 0 to Immedi- Pn522 ence Setup Width 1,073,741,824 ately unit 1 refer- 1 to 107374 Immedi-...
  • Page 159 6.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Program Jogging Wait- Immedi- Pn535 0 to 10,000 1 ms Setup ing Time ately Program Jogging Num- Immedi- Pn536 0 to 1,000...
  • Page 160 6.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Preset Position Output 0000 to After – 0010 Setup – Function Switch 0011 restart High-Speed Output Unit ...
  • Page 161 6.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Application Function 0000 to Immedi- Selections 6 (Software – 0003 Setup 0103 ately Limits) Software Limit Selection Enable both forward and reverse software limits.
  • Page 162 6.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Origin Return Mode Set- 0000 to Immedi- − 0000 Setup tings 0001 ately Origin Return Direction ...
  • Page 163 6.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Command Data Alloca- 0000 to After – 0010 Setup tions 1111 restart Option Field Allocation ...
  • Page 164 6.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Option Monitor 1 Selec- 0000 to Immedi- – 0000 – Setup tion FFFF ately Setting Monitor Applicable Motors High-Speed Monitor Region...
  • Page 165 6.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Setting Monitor Applicable Motors Communications Module Only Previous value of latched feedback position (LPOS1) [encoder 0080 hex pulses] Pn824...
  • Page 166 6.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Option Field Allocations 0000 to After – 1813 Setup 1E1E restart ACCFIL Allocation (Option) Allocate bits 0 and 1 to ACCFIL. Allocate bits 1 and 2 to ACCFIL.
  • Page 167 6.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Option Field Allocations 0000 to After – 1D1C Setup 1F1F restart V_PPI Allocation (Option) Allocate bit 0 to V_PPI. Allocate bit 1 to V_PPI.
  • Page 168 6.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Option Field Allocations 0000 to After – 0000 Setup 1F1C restart BANK_SEL1 Allocation (Option) Allocate bits 0 to 3 to BANK_SEL1. Allocate bits 1 to 4 to BANK_SEL1.
  • Page 169 6.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Option Field Allocations 0000 to After – 0000 Setup 1D1F restart  Reserved parameter (Do not change.) ...
  • Page 170 6.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence 10,000 refer- Immedi- Second Stage Linear 1 to Pn83C Setup ence Deceleration Constant 2 20,971,520 ately units/s 1 refer-...
  • Page 171 6.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Latch Sequence 5 to 8 0000 to Immedi- – 0000 Setup Settings 3333 ately Latch Sequence 5 Signal Selection Phase C ...
  • Page 172 6.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence SVCMD_IO Input Signal 0000 to Immedi- – 0000 Setup Monitor Allocations 2 1717 ately Input Signal Monitor Allocation for CN1-8 (SVCMD_IO) ...
  • Page 173 6.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence SVCMD_IO Output Sig- 0000 to Immedi- nal Monitor Allocations – 0000 Setup 1717 ately Output Signal Monitor Allocation for CN1-1 and CN1-2 (SVCMD_IO) Allocate bit 24 (IO_STS1) to CN1-1/CN1-2 output signal monitor.
  • Page 174 6.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Rotational Coordinate 0000 to Immedi- – 0000 Setup 4.2.4 Function Switch 0003 ately Movement Method for Rotational Coordinates Absolute positioning ...
  • Page 175 6.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Pn902 to Parameter Bank Mem- 0000 to After – Setup Pn910 ber Definition 08FF restart Parameter Bank Data Pn920 to 0000 to...

  • Page 176: List Of Mechatrolink-Iii Common Parameters

    6.3 List of MECHATROLINK-III Common Parameters List of MECHATROLINK-III Common Parameters The following table lists the common MECHATROLINK-III parameters. These common parame- ters are used to make settings from the host controller via MECHATROLINK communications. Do not change the settings with the Digital Operator or any other device. Parameter Setting Unit Default...
  • Page 177 6.3 List of MECHATROLINK-III Common Parameters Continued from previous page. Parameter Setting Unit Default Applicable When Classi- Size Name Setting Range [Resolution] Setting Motors Enabled fication Electronic Gear Ratio 1 to After – (Numerator) 1,073,741,824 restart PnA42 Electronic Gear Ratio 1 to After –...
  • Page 178 6.3 List of MECHATROLINK-III Common Parameters Continued from previous page. Parameter Setting Unit Default Applicable When Classi- Size Name Setting Range [Resolution] Setting Motors Enabled fication Speed Base Unit *3, *4 Selection (Set the value of n After from the following -3 to 3 –...
  • Page 179 6.3 List of MECHATROLINK-III Common Parameters Continued from previous page. Parameter Setting Unit Default Applicable When Classi- Size Name Setting Range [Resolution] Setting Motors Enabled fication Supported Unit Sys- 0601011F – – – tems (read only) Speed Units Bit 0 Reference units/s (1: Enabled) Bit 1 Reference units/min (1: Enabled)
  • Page 180 6.3 List of MECHATROLINK-III Common Parameters Continued from previous page. Parameter Setting Unit Default Applicable When Classi- Size Name Setting Range [Resolution] Setting Motors Enabled fication × 500 ref- erence units/s Origin Return Creep 0 to 3FFFFFFF Immedi- con- Speed ately PnB0A verted to...
  • Page 181 6.3 List of MECHATROLINK-III Common Parameters Continued from previous page. Parameter Setting Unit Default Applicable When Classi- Size Name Setting Range [Resolution] Setting Motors Enabled fication SEL_MON (CMN1) Immedi- 0 to 9 – Monitor Selection 1 ately 0000 hex TPOS (target position in reference coordinate system) 0001 hex IPOS (reference position in reference coordinate system) 0002 hex...
  • Page 182 6.3 List of MECHATROLINK-III Common Parameters Continued from previous page. Parameter Setting Unit Default Applicable When Classi- Size Name Setting Range [Resolution] Setting Motors Enabled fication SEL_MON (CMN2) Immedi- 0 to 9 – Monitor Selection 2 ately 0000 to PnB14 0009 The settings are the same as those for SEL_MON Monitor Selection 1.
  • Page 183 6.3 List of MECHATROLINK-III Common Parameters Continued from previous page. Parameter Setting Unit Default Applicable When Classi- Size Name Setting Range [Resolution] Setting Motors Enabled fication Servo Status Field Enable/Disable 0FFF3F33 – – Selections (read only) Bit 0 CMD_PAUSE_CMP (1: Enabled) Bit 1 CMD_CANCEL_CMP (1: Enabled) Bit 2 and 3...
  • Page 184 6.3 List of MECHATROLINK-III Common Parameters Continued from previous page. Parameter Setting Unit Default Applicable When Classi- Size Name Setting Range [Resolution] Setting Motors Enabled fication Input Bit Enable/Dis- FF0FFEFE able Selections (read – – – only) Bit 0 Reserved (0: Disabled). Bit 1 DEC (1: Enabled) Bit 2...

  • Page 185: Index

    Index Index - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2 ratings - - - - - - - - - - - - - - - - - - - - - - - - x Rotary Servomotor - - - - - - - - - - - - - - - - - 4-2 rotational coordinate system...

  • Page 186: Revision History

    Revision History The date of publication, revision number, and Web revision number of the manual are given on the bottom right of the back cover. Refer to the following example. MANUAL NO. SIEP S800001 95A <0>-0 WEB revision number Revision number Published in Japan August 2016 Date of publication Date of...
  • Page 187 Phone 81-4-2962-5151 Fax 81-4-2962-6138 http://www.yaskawa.co.jp YASKAWA AMERICA, INC. 2121, Norman Drive South, Waukegan, IL 60085, U.S.A. Phone 1-800-YASKAWA (927-5292) or 1-847-887-7000 Fax 1-847-887-7310 http://www.yaskawa.com YASKAWA ELÉTRICO DO BRASIL LTDA. 777, Avenida Piraporinha, Diadema, São Paulo, 09950-000, Brasil Phone 55-11-3585-1100 Fax 55-11-3585-1187 http://www.yaskawa.com.br...

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