Yaskawa Sigma II Series SGMVH User Manual
Series, User's manual, Ac servo drives
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SGMVH Servomotor
SGDM/SGDH SERVOPACKs
Σ
-
II
Series
AC Servo Drives
USER'S MANUAL
Outline
Selections
Servomotor Specifications and
Dimensional Drawings
SERVOPACK Specifications and
Dimensional Drawings
Specifications and Dimensional Drawings of
Cables and Peripheral Devices
Wiring
Digital Operator/Panel Operator
Operation
Adjustments
Inspection, Maintenance,
and Troubleshooting
Appendix
MANUAL NO. SIEP S800000 59A
1
2
3
4
5
6
7
8
9
10
11
モーションコントロール事業部（A4）（英文）
SGMVH/SGDM/SGDH
CN2
CN3
CN1
480
V
460
V
DU
400
V
0
V
440
V
DW
DV
B1
380
V
DC
24N
B2
DC
24P
CHARGE
S
-
H
D
G
＊＊＊＊
T
DATA/
SE
E
MOD /
K
SERVOPAC
A
YASKAW
R
O
P
E
R
A
T
O
CN3
8
CN
POWER
CN5
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Table of contents
Document Outline
- Front Cover
- About this Manual
- Safety Information
- Notes for Safe Operation
- CONTENTS
- 1 Outline
- 2 Selections
- 3 Servomotor Specifications and Dimensional Drawings
- 4 SERVOPACK Specifications and Dimensional Drawings
- 5 Specifications and Dimensional
Drawings of Cables and
Peripheral Devices
- 5.1 SERVOPACK Main Circuit Wire Size
- 5.2 Encoder Cables for CN2 Connector
- 5.3 Connectors and Cables for Encoder Signals
- 5.4 I/O Signal Cables for CN1 Connector
- 5.5 Peripheral Devices
- 5.5.1 Cables for Connecting Personal Computers
- 5.5.2 Digital Operator
- 5.5.3 Cables for Analog Monitor
- 5.5.4 Connector Terminal Block Converter Unit
- 5.5.5 Brake Power Supply Unit
- 5.5.6 Absolute Encoder Battery
- 5.5.7 Molded-case Circuit Breaker (MCCB)
- 5.5.8 Noise Filter
- 5.5.9 Surge Absorber
- 5.5.10 Regenerative Resistor Unit
- 5.5.11 Dynamic Brake (DB) Unit
- 5.5.12 Thermal Relays
- 5.5.13 Variable Resistor for Speed and Torque Setting
- 5.5.14 Encoder Signal Converter Unit
- 5.5.15 MECHATROLINK Application Module
- 5.5.16 DeviceNet Application Module
- 5.5.17 PROFIBUS-DP Application Module
- 5.5.18 Fully-closed Application Module
- 6 Wiring
- 7 Digital Operator/Panel Operator
- 7.1 Functions on Digital Operator/Panel Operator
- 7.2 Operation in Utility Function Mode (Fn***)
- 7.2.1 List of Utility Function Modes
- 7.2.2 Alarm Traceback Data Display (Fn000)
- 7.2.3 Zero-point Search Mode (Fn003)
- 7.2.4 Parameter Settings Initialization (Fn005)
- 7.2.5 Alarm Traceback Data Clear (Fn006)
- 7.2.6 Manual Zero Adjustment and Gain Adjustment of Analog Monitor Output (Fn00C, Fn00D)
- 7.2.7 Offset Adjustment of Motor Current Detection Signal (Fn00E, Fn00F)
- 7.2.8 Password Setting (Protects Parameters from Being Changed) (Fn010)
- 7.2.9 Motor Models Display (Fn011)
- 7.2.10 Software Version Display (Fn012)
- 7.2.11 Application Module Detection Results Clear (Fn014)
- 7.3 Operation in Parameter Setting Mode (Pn***)
- 7.4 Operation in Monitor Mode (Un***)
- 8 Operation
- 8.1 Trial Operation
- 8.2 Control Mode Selection
- 8.3 Setting Common Basic Functions
- 8.4 Absolute Encoders
- 8.4.1 Interface Circuits
- 8.4.2 Selecting an Absolute Encoder
- 8.4.3 Handling Batteries
- 8.4.4 Replacing Batteries
- 8.4.5 Absolute Encoder Setup (Fn008)
- 8.4.6 Absolute Encoder Reception Sequence
- 8.4.7 Multiturn Limit Setting
- 8.4.8 Multiturn Limit Setting When Multiturn Limit Disagreement (A.CC) Occurred
- 8.5 Operating Using Speed Control with Analog Reference
- 8.6 Operating Using Position Control
- 8.7 Operating Using Torque Control
- 8.8 Operating Using Speed Control with an Internally Set Speed
- 8.9 Limiting Torque
- 8.9.1 Internal Torque Limit (Limiting Maximum Output Torque)
- 8.9.2 External Torque Limit (Output Torque Limiting by Input Signals)
- 8.9.3 Torque Limiting Using an Analog Voltage Reference
- 8.9.4 Torque Limiting Using an External Torque Limit and Analog Voltage Reference
- 8.9.5 Checking Output Torque Limiting during Operation
- 8.10 Control Mode Selection
- 8.11 Other Output Signals
- 9 Adjustments
- 9.1 Autotuning
- 9.2 Online Autotuning
- 9.3 Manual Tuning
- 9.4 Servo Gain Adjustment Functions
- 9.4.1 Feed-forward Reference
- 9.4.2 Torque Feed-forward
- 9.4.3 Speed Feed-forward
- 9.4.4 Proportional Control Operation (Proportional Operation Reference)
- 9.4.5 Using the Mode Switch (P/PI Switching)
- 9.4.6 Setting the Speed Bias
- 9.4.7 Speed Feedback Filter
- 9.4.8 Speed Feedback Compensation
- 9.4.9 Switching Gain Settings
- 9.4.10 Torque Reference Filter
- 9.5 Analog Monitor
- 10 Inspection, Maintenance, and Troubleshooting
- 11 Appendix
- 11.1 Servomotor Capacity Selection Examples
- 11.2 Connection to Host Controller
- 11.2.1 Example of Connection to MP2200/MP2300 Motion Module SVA-01
- 11.2.2 Example of Connection to MP920 4-axes Analog Module SVA-01
- 11.2.3 Example of Connection to OMRON’s Motion Control Unit
- 11.2.4 Example of Connection to OMRON’s Position Control Unit
- 11.2.5 Example of Connection to MITSUBISHI’s AD72 Positioning Unit (SERVOPACK in Speed Control Mode)
- 11.2.6 Example of Connection to MITSUBISHI’s AD75 Positioning Unit (SERVOPACK in Position Control Mode)
- 11.3 List of Parameters
- 11.4 Parameter Recording Table
- INDEX
- Revision History
- Back Cover