Yaskawa DR2 Sigma Servo - Manual (Page 435)

DIFFERENCES BETWEEN DR2 AND DR1, SGDA AND SGD SERVOPACKS
424
Comparison of the DR2 Servopack with the DR1 Servopack (1)
Item DR2 Servopack DR1 Servopack
Speed Loop Frequency
Characteristics
250 Hz 100 Hz
Servo Gain Compensation
(See note 1)
Yes No
Auto Tuning 7-stage settings No
Serial Communications
Features
User constant setting/editing
Reference to all monitored values
Auto-tuning
Alarm trace-back confirmation
No
Multi-axis Communications Yes (However, use rotary switch when axis is set.) No
100 V, 300 W Version Yes (External dimensions identical to 200 V,
750 W version)
No
Applicable Servomotors Both SGM and SGMP servomotors
Either servomotor type can be used by changing
user constant (memory switch) setting.
No Servopack change required.
SGM servomotors.
Not applicable to SGMP
Servomotors.
Torque Feed Forward
(See note 2)
Yes Torque feed forward and torque restriction
with analog references cannot be used
i lt l
No
Torque Restriction with Analog
References (See note 2)
Yes
g
simultaneously.
Settings identical for forward and reverse.
No
Reference Pulse Input Unit
Filter Selection (See note 3)
Yes Select according to output form of the
customer’s controller (line driver or open
collector).
Yes
External Reference Receive
During Contact Input Speed
Control
Selectable
(Software version: 0003 or later. See Par. 4.2.8.)
Always receivable
Reference Pulse Inhibit Yes Switch the P-CON signal with the user
constant settings.
No
Reference Pulse Value
Display (See note 3)
Possible (Monitor mode Un-09) Not possible
Analog Speed Monitor 2V/1000r/min 0.5V/1000r/min
Analog Torque Monitor 3V/100% 0.5V/100%
PG Dividing Open Collector
Output
Can be available as an option Available only to Phase-C
Full-closed Loop Possible Not possible
Electronic Gear Function Yes No
Soft Stop Function Yes The same as that of soft start
Smoothing Function Yes No
Regenerative Processing
Circuit
None
However, only 200V, 30W to 200W can be
connectable to regenerative unit.
(200V, 30W to 200W
100V, 30W to 100W)
None
Regenerative unit cannot be
connected.
(200V, 30W to 100W
100V, 30W and 50W)
Incorporated
(200V, 400W and 750W
100V, 200W and 300W)
Incorporated
(200V, 200W to 750W
100V, 100W and 200W)
Power Supply Main circuit and control circuit are separated.
Note 1) Material is being prepared on speed loop servo gain compensation.
2) Speed control type only.
3) Position control type only.
A