Document Outline

• Front Cover
• PREFACE
• NOTES FOR SAFE OPERATION
• Manual Contents
• Manual Structure
• Basic Terms
• Visual Aids
• CONTENTS
• 1 FOR FIRST-TIME USERS OF AC SERVOS
  • 1.1 Basic Understanding of AC Servos
    • 1.1.1 Servo Mechanisms
    • 1.1.2 Servo Configuration
    • 1.1.3 Features of Sigma-Series Servos
• 2 BASIC USES OF Sigma-SERIES PRODUCTS
  • 2.1 Precautions
    • 2.1.1 Notes on Use
  • 2.2 Installation
    • 2.2.1 Checking on Delivery
    • 2.2.2 Installing the Servomotor
    • 2.2.3 Installing the Servopack
  • 2.3 Connection and Wiring
    • 2.3.1 Connecting to Peripheral Devices
    • 2.3.2 Main Circuit Wiring and Power ON Sequence
    • 2.3.3 Examples of Connecting I/O Signal Terminals
  • 2.4 Conducting a Test Run
    • 2.4.1 Test Run in Two Steps
    • 2.4.2 Step 1: Conducting a Test Run for Motor without Load
    • 2.4.3 Step 2: Conducting a Test Run with the Motor Connected to the Machine
    • 2.4.4 Supplementary Information on Test Run
    • 2.4.5 Minimum User Constants Required and Input Signals
• 3 APPLICATIONS OF Sigma-SERIES PRODUCTS
  • Before Reading this Chapter
  • 3.1 Setting User Constants According to Machine Characteristics
    • 3.1.1 Changing the Direction of Motor Rotation
    • 3.1.2 Setting the Overtravel Limit Function
    • 3.1.3 Restricting Torque
  • 3.2 Setting User Constants According to Host Controller
    • 3.2.1 Inputting Speed Reference
    • 3.2.2 Inputting Position Reference
    • 3.2.3 Using Encoder Output
    • 3.2.4 Using Contact I/O Signals
    • 3.2.5 Using Electronic Gear
    • 3.2.6 Using Contact Input Speed Control
    • 3.2.7 Using Torque Control
    • 3.2.8 Using Torque Feed-forward Function
    • 3.2.9 Using Torque Restriction by Analog Voltage Reference
    • 3.2.10 Using the Reference Pulse Inhibit Function (INHIBIT)
    • 3.2.11 Using the Reference Pulse Input Filter Selection Function
    • 3.2.12 Using the Analog Monitor
  • 3.3 Setting Up the Sigma-Servopack
    • 3.3.1 Setting User Constants
    • 3.3.2 Setting the Jog Speed
    • 3.3.3 Setting the Number of Encoder Pulses
    • 3.3.4 Setting the Motor Type
  • 3.4 Setting Stop Mode
    • 3.4.1 Adjusting Offset
    • 3.4.2 Using Dynamic Brake
    • 3.4.3 Using Zero-Clamp
    • 3.4.4 Using Holding Brake
  • 3.5 Running the Motor Smoothly
    • 3.5.1 Using the Soft Start Function
    • 3.5.2 Using the Smoothing Function
    • 3.5.3 Adjusting Gain
    • 3.5.4 Adjusting Offset
    • 3.5.5 Setting the Torque Reference Filter Time Constant
  • 3.6 Minimizing Positioning Time
    • 3.6.1 Using Autotuning Function
    • 3.6.2 Setting Servo Gain
    • 3.6.3 Using Feed-forward Control
    • 3.6.4 Using Proportional Control
    • 3.6.5 Setting Speed Bias
    • 3.6.6 Using Mode Switch
  • 3.7 Forming a Protective Sequence
    • 3.7.1 Using Servo Alarm Output and Alarm Code Output
    • 3.7.2 Using Servo ON Input Signal
    • 3.7.3 Using Positioning Complete Signal
    • 3.7.4 Using Speed Coincidence Output Signal
    • 3.7.5 Using Running Output Signal
    • 3.7.6 Using Servo Ready Output
  • 3.8 Special Wiring
    • 3.8.1 Wiring Instructions
    • 3.8.2 Wiring for Noise Control
    • 3.8.3 Using More Than One Servo Drive
    • 3.8.4 Using Regenerative Units
    • 3.8.5 Using an Absolute Encoder
    • 3.8.6 Extending an Encoder Cable
    • 3.8.7 Using DR2 Servopack with High Voltage Line
    • 3.8.8 Connector Terminal Layouts
• 4 USING THE DIGITAL OPERATOR
  • 4.1 Basic Operations
    • 4.1.1 Connecting the Digital Operator
    • 4.1.2 Resetting Servo Alarms
    • 4.1.3 Basic Functions and Mode Selection
    • 4.1.4 Operation in Status Display Mode
    • 4.1.5 Operation in User Constant Setting Mode
    • 4.1.6 Operation in Monitor Mode
  • 4.2 Using the Functions
    • 4.2.1 Operation in Alarm Trace-back Mode
    • 4.2.2 Operation Using the Digital Operator
    • 4.2.3 Autotuning
    • 4.2.4 Reference Offset Automatic Adjustment
    • 4.2.5 Speed Reference Offset Manual Adjustment Mode
    • 4.2.6 Clearing Alarm Trace-back Data
    • 4.2.7 Checking Motor Type
    • 4.2.8 Checking Software Version
• 5 SERVO SELECTION AND DATA SHEETS
  • 5.1 Selecting a Sigma-Series Servo
    • 5.1.1 Selecting a Servomotor
    • 5.1.2 Selecting a Servopack
    • 5.1.3 Digital Operator
  • 5.2 SGM Servomotor
    • 5.2.1 Ratings and Specifications
    • 5.2.2 Mechanical Characteristics
  • 5.3 Servopack Ratings and Specifications
    • 5.3.1 Ratings and Specifications
    • 5.3.2 Power Consumption
    • 5.3.3 Overload Characteristics
    • 5.3.4 Starting Time and Stopping Time
    • 5.3.5 Load Inertia
    • 5.3.6 Overhanging Loads
  • 5.4 Sigma-Series Dimensional Drawings
    • 5.4.1 Servomotor Dimensional Drawings
    • 5.4.2 Servomotor Dimensional Drawings (TUV approved, conforming to the machine instructions)
    • 5.4.3 Servopack Dimensional Drawings
    • 5.4.4 Digital Operator Dimensional Drawing
  • 5.5 Selecting Peripheral Devices
    • 5.5.1 Selecting Peripheral Devices
    • 5.5.2 Order List
  • 5.6 Specifications and Dimensional Drawings of Peripheral Devices
    • 5.6.1 Cable Specifications and Peripheral Devices
    • 5.6.2 Motor Cables
    • 5.6.3 Connector Kits
    • 5.6.4 Brake Power Supply
    • 5.6.5 Encoder Cables
    • 5.6.6 Battery for Absolute Encoder
    • 5.6.7 1CN Connector
    • 5.6.8 Circuit Breaker
    • 5.6.9 Noise Filter
    • 5.6.10 Magnetic Contactor
    • 5.6.11 Surge Suppressor
    • 5.6.12 Regenerative Unit
    • 5.6.13 Variable Resistor for Speed Setting
    • 5.6.14 Encoder Signal Converter Unit
    • 5.6.15 Cables for Connecting PC and Servopack
    • 5.6.16 4CN Connector
• 6 INSPECTION, MAINTENANCE, AND TROUBLESHOOTING
  • 6.1 Inspection and Maintenance
    • 6.1.1 Servomotor
    • 6.1.2 Servopack
    • 6.1.3 Replacing Battery for Absolute Encoder
  • 6.2 Troubleshooting
    • 6.2.1 Troubleshooting Problems with Alarm Display
    • 6.2.2 Troubleshooting Problems with No Alarm Display
    • 6.2.3 Internal Connection Diagram and Instrument Connection Examples
• 7 MEASURES TO SATISFY THE REQUIREMENTS OF EMC DIRECTIVE
  • 7.1 What is European Safe Standard?
    • 7.1.1 What is EN Standard?
    • 7.1.2 What is CE Marking?
    • 7.1.3 EMC Directive
    • 7.1.4 Certif ication Body TUV Authorized by EU
  • 7.2 Measures to Satisfy the Requirements of EMC Directive
    • 7.2.1 Applicable Servomotor
    • 7.2.2 Applicable Noise Filter
    • 7.2.3 Motor Cables
    • 7.2.4 Encoder Cables
    • 7.2.5 Control I/O
    • 7.2.6 Digital Operator and Monitoring by Personal Computer
    • 7.2.7 The Core on the Cable
    • 7.2.8 Wiring
• Appendix A Differences Between DR2 and DR1, SGDA and SGD Servopacks
• Appendix B Servo Adjustment
  • B.1 Sigma-Series AC Servopack Gain Adjustment
    • B.1.1 Sigma-Series AC Servopacks and Gain Adjustment Methods
    • B.1.2 Basic Rules for Gain Adjustment
  • B.2 Adjusting a Servopack for Speed Control
    • B.2.1 Adjusting Using Auto-tuning
    • B.2.2 Manual Adjustment
  • B.3 Adjusting a Servopack for Position Control
    • B.3.1 Adjusting Using Auto-tuning
    • B.3.2 Manual Adjustment
  • B.4 Gain Setting References
    • B.4.1 Guidelines for Gain Settings According to Load Inertia Ratio
• Appendix C List of I/O Signals
• Appendix D List of User Constants
• Appendix E List of Alarm Displays
• Appendix F Relationship between Reference Forms and User Constants
• Appendix G Reviewing the Full-closed Loop Specifications
• INDEX
  • Numbers
  • A
  • B
  • C
  • D
  • E
  • F
  • G
  • H
  • I
  • J
  • L
  • M
  • N
  • O
  • P
  • R
  • S
  • T
  • U
  • V
  • W
  • Z
• Back Cover