Document Outline

• About this Manual
• Related Manuals
• Safety Information
• Notes for Safe Operation
• CONTENTS
• 1 Outline
  • 1.1 Checking Products
    • 1.1.1 Check Items
    • 1.1.2 Servomotors
      • (1) External Appearance and Nameplate Example
      • (2) Type SGMCS
    • 1.1.3 Servo Amplifiers
  • 1.2 Product Part Names
    • 1.2.1 Servomotors
      • (1) The figure below shows part names for servomotors with or without brakes.
      • (2) Type SGMCS Direct-drive
  • 1.3 Model Numbers
    • 1.3.1 Standard Servomotors
    • 1.3.2 Servo Amplifiers
  • 1.4 Examples of Servo System Configurations
    • (1) Connecting to SGMAH and SGMPH Servomotors
      • 1. Remove the protective tape and cap from the servomotor connector.
      • 2. Mount the cable connector on the servomotor and fix it with screws as shown in the figure below.
    • (2) Connecting to SGMSH, SGMGH Servomotors
    • (3) Connecting to SGMCS Servomotor
  • 1.5 Applicable Standards
    • 1.5.1 North American Safety Standards (UL, CSA)
    • 1.5.2 CE Marking
• 2 System Selection
  • 2.1 Servomotor Model Designations
    • 2.1.1 Model SGMAH/SGMPH/SGMSH
      • (1) Without Gears
    • 2.1.2 Model SGMCS
  • 2.2 SERVOPACK Model Designations
  • 2.3 S III Series SERVOPACKs and Applicable Servomotors
  • 2.4 Selecting Cables
    • 2.4.1 Cables for SGMAH and SGMPH Servomotors
    • 2.4.2 Cables for SGMSH Servomotor
    • 2.4.3 Cables for SGMGH Servomotors
    • 2.4.4 Cables for SGMCS Servomotor
  • 2.5 Selecting Peripheral Devices
    • 2.5.1 Special Options
    • 2.5.2 Molded-case Circuit Breaker and Fuse Capacity
    • 2.5.3 Noise Filters, Magnetic Contactors, Surge Protectors and AC/DC Reactors
    • 2.5.4 Regenerative Resistors
• 3 SERVOPACK Specifications and Dimensional Drawings
  • 3.1 SERVOPACK Ratings and Specifications
  • 3.2 SERVOPACK Installation
  • 3.3 SERVOPACK Internal Block Diagrams
    • 3.3.1 Single-phase 100 V, 50 W to 400 W
    • 3.3.2 Single-phase 200 V, 50 W to 400 W
    • 3.3.3 Three-phase 200 V, 1.0 kW
    • 3.3.4 Single-phase 200 V 800 W
    • 3.3.5 Three-phase 200 V, 3.0~5.0kW
  • 3.4 SERVOPACK Power Supply Capacities and Power Losses
  • 3.5 SERVOPACK Overload Characteristics and Load Moment of Inertia
    • 3.5.1 Overload Characteristics
    • 3.5.2 Starting and Stopping Time
    • 3.5.3 Load Moment of Inertia
      • (1) Load Moment of Inertia and Motor Speed for SGMAH Servomotors
        • (a) 200V
      • (2) Load Moment of Inertia and Motor Speed for SGMPH Servomotors
        • (a) 200V
      • (3) Load Moment of Inertia and Motor Speed for SGMGH Servomotors
        • (a) 200V
      • (4) Load Moment of Inertia and Motor Speed for SGMSH Servomotors
        • (a) 200V
      • (5) Load Moment of Inertia and Motor Speed for SGMCS Servomotors
      • (6) Allowable Load Moment of Inertia at the Motor Shaft
  • 3.6 SERVOPACK Dimensional Drawings
    • (1) Base-mounted Type
  • 3.7 Dimensional Drawings of Base-mounted SERVOPACK Model SGDS-ooo12A / -ooo12A
    • 3.7.1 Single-phase 100 V/200 V, 50 W/100 W/200 W
    • 3.7.2 Single-phase 100 V, 400 W
    • 3.7.3 Single-phase 200 V, 400 W
    • 3.7.4 Single-phase 200 V, 800 W, Three-phase 200 V, 1.0 kW
• 4 Specifications and Dimensional Drawings of Cables and Peripheral Devices
  • 4.1 SERVOPACK Main Circuit Wire Size
    • (1) Cable Types
    • (2) Single-phase for 100 V
    • (3) Single-phase for 200 V
    • (4) Three-phase for 200 V
  • 4.2 Connectors for Main Circuit, Control Power Supply, and Servomotor Cable
    • 4.2.1 Spring Type (Standard)
      • (1) Connector Types
      • (2) External View and Dimensions
      • (3) Connection Lever
    • 4.2.2 Crimp Type (Option)
      • (1) Connector Types
      • (2) External View and Dimensions
      • (3) Plugs (Chained/Detached)
  • 4.3 CN1 Cables for I/O Signals
    • 4.3.1 Connector Type and Cable Size
      • (1) Dimensional Drawings of Case
      • (2) Cable Size
  • 4.4 Peripheral Devices
    • 4.4.1 Digital Operator
      • (1) Model JUSP-OP05A with a 1m-connection Cable
      • (2) Dimensional Drawings
    • 4.4.2 Cables for Analog Monitor
      • (1) Cable Type: DE9404559
      • (2) Dimensional Drawings
      • (3) Specifications
    • 4.4.3 External Regenerative Resistor
      • (1) References for External Regenerative Resistor
      • (2) Model Designation
      • (3) Specifications
      • (4) Dimensional Drawings
    • 4.4.4 Absolute Encoder Battery
      • (1) Battery
      • (2) Battery Installed on the Host Controller End
      • (3) Specification
    • 4.4.5 Molded-case Circuit braker (MCCB)
      • (1) Model: MN50-CP
      • (2) External View
      • (3) Specifications
    • 4.4.6 Noise Filter
      • (1) Single-phase, 100/200 V
      • (2) Three-phase, 200 V
    • 4.4.7 Magnetic Contactor
      • (1) Model: HI-oJ
      • (2) For Single-phase 100/200V and Three-phase 200 V SERVOPACKs
        • (a) Model: HI-11J and HI-14J
        • (b) Model: HI-15, HI-18J, and HI-20J
    • 4.4.8 Surge Protector
      • (1) Model: RûCûM-601BQZ-4 and RûCûM-601BUZ-4
      • (2) Dimensional Drawings
        • (a) RûCûM-601BQZ-4
        • (b) RûCûM-601BUZ-4
    • 4.4.9 AC/DC Reactors for Power Supplied Designed for Minimum Harmonics
      • (1) Specifications
      • (2) Dimensional Drawings
    • 4.4.10 MECHATROLINK/MECHATROLINK II Communication Cable
      • (1) Model: JEPMC-W6003-oo
      • (2) Dimensional Drawings
      • (3) Wiring Specifications
    • 4.4.11 MECHATROLINK/MECHATROLINK II Terminator
      • (1) Model: JEPMC-W6022
      • (2) Dimensional Drawings
      • (3) Wiring Specifications
    • 4.4.12 Cable with Connectors at both ends for Fully-closed Control
      • (1) Model: JZSP-CLP20-03: (3 m) JZSP-CLP20-05: (5 m) JZSP-CLP20-10: (10 m) JZSP-CLP20-15: (15 m) JZSP-CLP20-20: (20 m)
      • (2) Dimensional Drawings
    • 4.4.13 Serial Converter Unit for Fully-closed Control
      • (1) Model: JZDP-A003-000 : for the Encoder by Heidenhain Corp. JZDP-A005-000 : for the Encoder by Renishaw Inc.
      • (2) Dimensional Drawings
        • (a) JZDP-A003-000 (for the encoder by Heidenhain Corp.)
        • (b) JZDP-A005-000 (for the encoder by Renishaw Inc.)
• 5 Wiring
  • 5.1 Wiring Main Circuit
    • 5.1.1 Names and Descriptions of Main Circuit Terminals
    • 5.1.2 Wiring Main Circuit Terminal Block (Spring Type)
      • (1) Wire Size
      • (2) Connection Procedure
        • 1. Strip the end of the wire.
        • 2. Open the wire terminal on the terminal block housing (plug) with the tool using the procedure shown in Fig. A or B.
        • 3. Insert the wire core into the opening and then close the opening by releasing the lever or removing the screwdriver.
    • 5.1.3 Typical Main Circuit Wiring Examples
      • (1) Single-phase, 100/200 V
      • (2) Three-phase, 200 V
      • (3) 800 W, Single-phase 200V
      • (4) DC Power Supply Input
        • (a) Main Circuit and Control Power Supply Input
          • 1. Servomotor returns the regenerative energy to the power supply when regenerating. SERVOPACK does not regenerate with DC power supply input specifications, so regenerate the energy on the power supply side.
          • 2. Take appropriate measures to ensure that a high charging current stays inside the SERVOPACK when power is OFF.
  • 5.2 Wiring Encoders
    • 5.2.1 Connecting an Encoder
      • (1) Incremental Encoders
      • (2) Absolute Encoders
    • 5.2.2 CN2 Encoder Connector Terminal Layout
  • 5.3 I/O Signal Connections
    • 5.3.1 Connection Example of I/O Signal
    • 5.3.2 I/O Signal Connector (CN1) Terminal Layout
    • 5.3.3 I/O Signal (CN1) Names and Functions
      • (1) Input Signals
      • (2) Output Signals
    • 5.3.4 Interface Circuit
      • (1) Sequence Input Circuit Interface
      • (2) Output Circuit Interface
        • (a) Line Driver Output Circuit
        • (b) Photocoupler Output Circuit
  • 5.4 Wiring MECHATROLINK II Communications
    • 5.4.1 Wiring Example MECHATROLINK II Communications
    • 5.4.2 MECHATROLINK II Communications Connectors (CN6A, CN6B)
      • (1) CN6A and CN6B Connectors Terminal Layout
      • (2) CN6A and CN6B Specifications
    • 5.4.3 Precautions for Wiring MECHATROLINK II Cables
      • (1) Number of Stations
      • (2) Cables
      • (3) Cable Length
      • (4) Cable Length between Stations
      • (5) Terminal Processing
  • 5.5 Fully-closed Encoder Connections
    • 5.5.1 Connection Example of Linear Scale by Heidenhain
      • (1) Serial Converter Unit Model: JZDP-A003-000
      • (2) Connection Example
      • (3) Pin Assignments
    • 5.5.2 Connection Example of Linear Scale by Renishaw
      • (1) Serial Converter Unit Model: JZDP-A005-000
      • (2) Connection Example
      • (3) Pin Assignments
  • 5.6 Others
    • 5.6.1 Wiring Precautions
      • 1. For wiring for reference inputs and encoders, use the specified cables. Refer to 4 Specifications and Dimensional Drawings of Cables and Peripheral Devices for details. Use cables that are as short as possible.
      • 2. For a ground wire, use as thick a cable as possible (2.0 mm2 (0.079 in2) or thicker).
      • 3. Do not bend or apply tension to cables.
      • 4. Use a noise filter to prevent noise interference. (For details, refer to 5.6.2 Wiring for Noise Control.)
      • 5. To prevent malfunction due to noise, take the following actions:
      • 6. Use a molded-case circuit braker (QF) or fuse to protect the power supply line from high voltage.
      • 7. The SERVOPACKs do not have built-in ground protection circuits. To configure a safer system, install an earth leakage braker ...
    • 5.6.2 Wiring for Noise Control
      • (1) Wiring Example
      • (2) Correct Grounding
      • (3) Using Noise Filters
        • 1. Do not put the input and output lines in the same duct or bundle them together.
        • 2. Separate the noise filter ground wire from the output lines. Do not accommodate the noise filter ground wire, output lines and other signal lines in the same duct or bundle them together.
        • 3. Connect the noise filter ground wire directly to the ground plate. Do not connect the noise filter ground wire to other ground wires.
        • 4. When grounding a noise filter inside a unit: If a noise filter is located inside a unit, connect the noise filter ground wire and the ground wires from other devices inside the unit to the ground plate for the unit first, then ground these wires.
    • 5.6.3 Using More Than One SERVOPACK
    • 5.6.4 400 V Power Supply Voltage
    • 5.6.5 AC/DC Reactor for Harmonic Suppression
      • (1) Reactor Types
      • (2) Connecting a Reactor
  • 5.7 Connecting Regenerative Resistors
    • 5.7.1 Regenerative Power and Regenerative Resistance
    • 5.7.2 Connecting Externally Regenerative Resistors
      • (1) Necessity of External Regenerative Resistors
      • (2) Specifications of Built-in Regenerative Resistor
      • (3) Precautions on Selecting External Regenerative Resistors
      • (4) Parameter Setting
        • 1. When resistors for power are used at the rated load ratio, the resistor temperature increases to between 200 °C and 300 °C. T...
        • 2. For safety’s sake, use the resistors with thermoswitches.
      • (5) Connecting Regenerative Resistors
        • (a) SERVOPACKs with Capacities of 400 W or Less
        • (b) SERVOPACKs with Capacities Larger than 400W
• 6 MECHATROLINK II Communications
  • 6.1 Specifications and Configuration
    • 6.1.1 Specifications
    • 6.1.2 System Configuration
  • 6.2 Switches for MECHATROLINK II Communications Settings
    • 6.2.1 Communications Settings
      • 1. When connecting to a MECHATROLINK network, set bits 1 and 2 to OFF.
      • 2. Baud rate: 4 Mbps, transmission bytes: 30 (bit 1 = OFF, bit 2 = ON) cannot be used.
    • 6.2.2 Setting the Transmission Cycle
    • 6.2.3 Setting the Station Address
  • 6.3 Main Commands
    • 6.3.1 No Operation (NOP: 00H)
    • 6.3.2 Read Parameter (PRM_RD: 01H)
    • 6.3.3 Write Parameter (PRM_WR: 02H)
    • 6.3.4 Read ID (ID_RD: 03H)
    • 6.3.5 Set Up Device (CONFIG: 04H)
    • 6.3.6 Read Alarm or Warning (ALM_RD: 05H)
    • 6.3.7 Clear Alarm or Warning (ALM_CLR: 06H)
    • 6.3.8 Start Synchronous Communications (SYNC_SET: 0DH)
    • 6.3.9 MECHATROLINK II Connection (CONNECT: 0EH)
    • 6.3.10 Disconnection (DISCONNECT: 0FH)
    • 6.3.11 Read Non-volatile Parameter (PPRM_RD: 1BH)
    • 6.3.12 Write Non-volatile Parameter (PPRM_WR: 1CH)
    • 6.3.13 Set Coordinates (POS_SET: 20H)
    • 6.3.14 Apply Brake (BRK_ON: 21H)
    • 6.3.15 Release Brake (BRK_OFF: 22H)
    • 6.3.16 Turn Sensor ON (SENS_ON: 23H)
    • 6.3.17 Turn Sensor OFF (SENS_OFF: 24H)
    • 6.3.18 Stop Motion (HOLD: 25H)
    • 6.3.19 Request Latch Mode (LTMOD_ON: 28H)
    • 6.3.20 Release Latch Mode (LTMOD_OFF: 29H)
    • 6.3.21 Status Monitoring (SMON: 30H)
    • 6.3.22 Servo ON (SV_ON: 31H)
    • 6.3.23 Servo OFF (SV_OFF: 32H)
    • 6.3.24 Interpolation Feed (INTERPOLATE: 34H)
    • 6.3.25 Positioning (POSING: 35H)
    • 6.3.26 Constant Speed Feed (FEED: 36H)
    • 6.3.27 Interpolation Feeding with Position Detection (LATCH: 38H)
    • 6.3.28 External Input Positioning (EX_POSING: 39H)
    • 6.3.29 Homing (ZRET: 3AH)
    • 6.3.30 Velocity Control (VELCTRL: 3CH)
    • 6.3.31 Torque Control (TRQCTRL: 3DH)
    • 6.3.32 Adjusting (ADJ: 3EH)
    • 6.3.33 General-purpose Servo Control (SVCTRL: 3FH)
    • 6.3.34 MECHATROLINK Connection (CONNECT: 0EH)
  • 6.4 Subcommands
    • 6.4.1 No Operation (NOP: 00H)
    • 6.4.2 Read Parameter (PRM_RD: 01H)
    • 6.4.3 Write Parameter (PRM_WR: 02H)
    • 6.4.4 Read Alarm or Warning (ALM_RD: 05H)
    • 6.4.5 Read Non-volatile Parameter (PPRM_RD: 1CH)
    • 6.4.6 Write Non-volatile Parameter (PPRM_WR: 1CH)
    • 6.4.7 Request Latch Mode (LTMOD_ON: 28H)
    • 6.4.8 Release Latch Mode (LTMOD_OFF: 29H)
    • 6.4.9 Status Monitoring (SMON: 30H)
  • 6.5 Command Data Field
    • 6.5.1 Latch Signal Field Specifications: LT_SGN
    • 6.5.2 Option Field Specifications: OPTION
    • 6.5.3 Status Field Specifications: STATUS
    • 6.5.4 Monitor Selection and Monitor Information Field Specifications: SEL_MON1/2/3/4, MONITOR1/2/3/4
    • 6.5.5 IO Monitor Field Specifications: IO_MON
    • 6.5.6 Substatus Field Specifications: SUBSTATUS
  • 6.6 Command and Response Timing
    • 6.6.1 Command Data Execution Timing
    • 6.6.2 Monitor Data Input Timing
  • 6.7 Operation Sequence
    • 6.7.1 Operation Sequence for Managing Parameters Using a Controller
    • 6.7.2 Operation Sequence for Managing Parameters Using SERVOPACK
    • 6.7.3 Operation Sequence When Being Servo ON
    • 6.7.4 Operation Sequence When OT (Overtravel Limit Switch) Signal Is Input
      • (1) Processing When the OT Signal Is Input
        • 1. Monitor the OT signal or send a stop command if the OT signal will be input. Use either of the following stop commands.
        • 2. Use the output complete flag (DEN = 1) to confirm the completion of SERVOPACK OT processing. By also confirming that PSET = 1...
      • (2) OT Cancellation (Retraction)
    • 6.7.5 Operation Sequence At Emergency Stop (Main Circuit OFF)
• 7 Operation
  • 7.1 Outline
    • 7.1.1 Before Reading This Chapter
    • 7.1.2 Parameter Configurations
    • 7.1.3 Digits with Allocated Functions in Parameter
  • 7.2 Trial Operation
    • 7.2.1 Check Items before Trial Operation
      • (1) Servomotors
      • (2) SERVOPACKs
    • 7.2.2 Trial Operation for MECHATROLINK II Communications
      • (1) Preparations for Trial Operation
        • 1. Check that wiring has been performed correctly and then connect the signals (CN1 connector).
        • 2. Turn ON the power.
        • 3. Send the CONNECT (start connection) command first.
        • 4. Confirm the product model number using the ID_RD (Read ID) command.
        • 5. Write the parameters necessary for trial operation using the PRM_WR (Write Parameter) command.
        • 6. Execute the SV_ON (Servo ON) command. The power circuit in the SERVOPACK will be activated and the servomotor will be ready to operate. At this point, SVON = 1 (base block currently being released) in STATUS will be returned.
      • (2) Operating the Servomotor
    • 7.2.3 Trial Operation Inspection
    • 7.2.4 Supplementary Information on Trial Operation
      • (1) Minimum Parameters and Input Signals
        • (a) Parameters
        • (b) Input Signals
      • (2) Servomotors with Brakes
  • 7.3 Settings According to Machine Characteristics
    • 7.3.1 Switching Servomotor Rotation Direction
    • 7.3.2 Setting the Overtravel Limit Function
      • (1) Display of Overtravel
      • (2) Using the Overtravel Function
      • (3) Enabling/Disabling Input Signals
      • (4) Servomotor Stop Mode for P-OT and N-OT Input Signals
      • (5) Servo OFF Stop Mode Selection
    • 7.3.3 Software Limit Settings
      • (1) Software Limit Function
      • (2) Software Limit Check using References
      • (3) Software Limit Setting
  • 7.4 Settings According to Host Controller
    • 7.4.1 Sequence I/O Signals
      • (1) Input Signal Connections
      • (2) Output Signal Connections
    • 7.4.2 Using the Electronic Gear Function
      • (1) Setting the Electronic Gear
        • 1. Check machine specifications.
        • 2. Check the number of encoder pulses for the servomotor.
        • 3. Determine the reference unit used.
        • 4. Determine the load travel distance per load shaft revolution in reference units.
        • 5. Electronic gear ratio is given as .
        • 6. Set the parameters.
      • (2) Electronic Gear Setting Examples
        • (a) Ball Screws
        • (b) Circular Tables
        • (c) Belts and Pulleys
      • (3) Control Block Diagram
    • 7.4.3 Acceleration/Deceleration Function
      • (1) First-step Linear Acceleration Parameter
      • (2) Second-step Linear Acceleration Parameter
      • (3) Acceleration Switching Speed
      • (4) First-step Linear Deceleration Parameter
      • (5) Second-step Linear Deceleration Parameter
      • (6) Deceleration Parameter Switching Speed
      • (7) Exponential Position Reference Filter Bias
      • (8) Exponential Position Reference Filter Time Constant
      • (9) Movement Average Position Reference Filter Movement Average Time
    • 7.4.4 Motion Settings
      • (1) Positioning Completed Width
      • (2) NEAR Signal Width
      • (3) Home Position Width
      • (4) Final Travel Distance for External Positioning
      • (5) Homing Direction
      • (6) Homing Approach Speed 1
      • (7) Homing Approach Speed 2
      • (8) Final Travel Distance for homing
  • 7.5 Setting Up the SERVOPACK
    • 7.5.1 Parameters
    • 7.5.2 Input Circuit Signal Allocation
      • (1) Input Signal Allocation
      • (2) Examples of Input Signal Allocation
      • (3) Allocating Other Input Signals
    • 7.5.3 Output Circuit Signal Allocation
    • 7.5.4 Debug Function
    • 7.5.5 Monitoring
      • (1) Option Monitor
      • (2) Analog Monitor
  • 7.6 Setting Stop Functions
    • 7.6.1 Using the Dynamic Brake
    • 7.6.2 Using the Holding Brake
      • (1) Wiring Example
      • (2) Servo OFF Timing When Breaking
      • (3) Holding Brake Setting
  • 7.7 Absolute Encoders
    • 7.7.1 Selecting an Absolute Encoder
    • 7.7.2 Absolute Encoder Setup
    • 7.7.3 Multi-turn Limit Setting
      • 1. Change the multi-turn limit setting (Pn205), and then turn OFF the SERVOPACK control power and turn it ON again. The alarm A....
      • 2. The multi-turn limit value for the encoder must be set to the same value as that for the SERVOPACK. Change the multi-turn limit value for the encoder using the following procedure.
    • 7.7.4 Absolute Encoder Home Position Offset
• 8 Adjustments
  • 8.1 Autotuning
    • 8.1.1 Servo Gain Adjustment Methods
    • 8.1.2 List of Servo Adjustment Functions
      • (1) Autotuning Functions
      • (2) Positioning Time Reduction Functions
      • (3) Vibration Reduction Functions
  • 8.2 Normal Autotuning
    • 8.2.1 Normal Autotuning
    • 8.2.2 Normal Autotuning Procedure
    • 8.2.3 Selecting the Normal Autotuning Execution Method
    • 8.2.4 Machine Rigidity Setting for Normal Autotuning
      • (1) Speed Loop PI Control
      • (2) Speed Loop I-P Control
    • 8.2.5 Method for Changing the Machine Rigidity Setting
    • 8.2.6 Saving the Results of Normal Autotuning
    • 8.2.7 Procedure for Saving the Results of Normal Autotuning
  • 8.3 Advanced Autotuning
    • 8.3.1 Advanced Autotuning
      • 1. Advanced autotuning performs automatic operation accompanied by vibration. Ensure that an emergency stop is possible while ad...
      • 2. This function can select “Not estimates moment of inertia ratio (MODE:1),” but in this case, set the correct moment of inertia ratio in Pn103 before using this function.
      • 3. Advanced autotuning sets the servo gain according to the Positioning Completed Width (Pn522). Set the Positioning Completed Width to the value that will be used in normal operation.
      • 4. Make sure that the following are properly set before starting the advanced autotuning.
    • 8.3.2 Advanced Autotuning Procedure
  • 8.4 One-parameter Autotuning
    • 8.4.1 One-parameter Autotuning
    • 8.4.2 One-parameter Autotuning Procedure
  • 8.5 Manual Tuning
    • 8.5.1 Explanation of Servo Gain
    • 8.5.2 Servo Gain Manual Tuning
    • 8.5.3 Position Loop Gain
    • 8.5.4 Speed Loop Gain
    • 8.5.5 Speed Loop Integral Time Constant
      • (1) PI Control (Pn10B.1=0)
      • (2) IP Control (Pn10B.1=1)
  • 8.6 Servo Gain Adjustment Functions
    • 8.6.1 Feed Forward Reference
    • 8.6.2 Using the Mode Switch (P/PI Switching)
      • 1. The mode switch function is used in very high-speed positioning when it is necessary to use the servodrive near the limits of its capabilities. The speed response waveform must be observed to adjust the mode switch.
      • 2. For normal use, the speed loop gain and position loop gain set by autotuning provide sufficient speed/ position control. Even...
      • (1) Selecting the Mode Switch Setting
    • 8.6.3 Setting the Speed Bias
    • 8.6.4 Speed Feedback Filter Time Constant
    • 8.6.5 Speed Feedback Compensation
      • (1) Adjustment Procedure
        • 1. Set parameter Pn110 to “0002” so that speed feedback compensation will be enabled and the normal autotuning function will be disabled.
        • 2. Make normal servo gain adjustments with no feedback compensation. With PI control, gradually increase the Speed Loop Gain in ...
        • 3. Repeat step 2 to increase the speed loop gain while monitoring the settling time with the analog monitor’s position error and...
        • 4. Gradually increase only the position loop gain. When it has been increased about as far as possible, then decrease the Speed Feedback Compensation in Pn111 from 100% to 90%. Then repeat steps 2 and 3.
        • 5. Decrease the speed feedback compensation to a value lower than 90%. Then repeat steps 2 through 4 to shorten the settling time. If the speed feedback compensation is too low, however, the response waveform will oscillate.
        • 6. Find the parameter settings that yield the shortest settling time without causing vibration or instability in the position error or torque reference waveform being observed with the analog monitor.
        • 7. The servo gain adjustment procedure is complete when the positioning time cannot be reduced any more.
    • 8.6.6 Switching Gain Settings
      • (1) Manual Gain Switching Setting
      • (2) Switchable Gain Combinations
      • (3) Automatic Gain Switching Pattern
      • (4) Automatic Gain Switch Settings
      • (5) Switching Operation
      • (6) Switchable Gain Combinations for Less Deviation Control
      • (7) Related Parameters
      • (8) Automatic Gain Related Parameters
      • (9) Less Deviation Control Related Parameters
    • 8.6.7 Predictive Control
      • 1. Predictive Control for Positioning This control method is used to reduce the settling time.
      • 2. Predictive Control for Locus Tracking This control method is used to reduce the locus tracking error.
      • (1) Related Parameters
      • (2) Predictive Control Method (Pn150=n.oooX)
        • (a) Predictive Control for Locus Tracking (Pn150=n.ooo0)
        • (b) Predictive Control for Positioning (Pn150=n.ooo1)
      • (3) Adjustment Procedure
        • 1. Adjustment by normal control Use the functions such as autotunings and one-parameter autotuning.
        • 2. Predictive control selection switch setting Set the predictive control selection switch to enable the predictive control. Turn OFF and ON the power to validate the setting.
        • 3. Adjustment of predictive control adjusting parameters If necessary, adjust the predictive control related parameters, confirming the response.
      • (4) Application Restriction
    • 8.6.8 Less Deviation Control
      • (1) Related Parameters
      • (2) Adjustment Procedure for Less Deviation Control
      • (3) One-parameter Autotuning Procedure for Less Deviation Control
      • (4) Gain Switching during Less Deviation Control
      • (5) Function Limitations during Less Deviation Control
        • (a) Utility Functions
        • (b) Control Methods usable in Normal Position Control
    • 8.6.9 Torque Reference Filter
      • (1) Torque Reference Filter
      • (2) Notch Filter
        • 1. Sufficient precautions must be taken when setting the notch frequencies. Do not set the notch frequencies (Pn409 or Pn40C) th...
        • 2. Change the Notch Filter Frequency (Pn409 or Pn40B) only when the motor is stopped. Vibration may occur if the notch filter frequency is changed when the motor is rotating.
    • 8.6.10 Vibration Suppression on Stopping
    • 8.6.11 Backlash Compensation
      • (1) Pn207=o1oo
      • (2) Pn207=o2oo
    • 8.6.12 Position Integral
  • 8.7 Analog Monitor
    • (1) Related Parameters
      • (a) Pn006 and Pn007: Function Selections
• 9 Fully-closed Control
  • 9.1 System Configuration for SERVOPACK with Fully-closed Control
  • 9.2 Serial Converter Unit
    • 9.2.1 Specifications
      • (1) Model: JZDP-A00o-ooo
      • (2) Characteristics and Specifications
    • 9.2.2 Analog Signal Input Timing
      • 1. Never perform insulation resistance and withstand voltage tests.
      • 2. When analog signals are input to the serial converter unit, noise influence on the analog signals affects the unit’s ability to output correct position information. The analog cable must be as short as possible and shielded.
      • 3. Do not connect or disconnect the unit while power is being supplied, or the unit may be damaged.
      • 4. When using multiple axes, use a shield cable for each axis. Do not use a shield cable for multiple axes.
    • 9.2.3 Connection Example of Linear Scale by Heidenhain
      • (1) Serial Converter Unit Model: JZDP-A003-000
      • (2) Connection Example
      • (3) Dimensional Drawing
    • 9.2.4 Connection Example of Linear Scale by Renishaw
      • (1) Serial Converter Unit Model: JZDP-A005-000
      • (2) Connection Example
      • (3) Dimensional Drawing
    • 9.2.5 Connection Cable between SERVOPACK and Serial Converter Unit
      • (1) Recommended Cables
      • (2) Dimensional Drawing
  • 9.3 Internal Configuration of Fully-closed Control
  • 9.4 Related Parameters
    • (1) Parameters
    • (2) Switches
• 10 Inspection, Maintenance, and Troubleshooting
  • 10.1 Troubleshooting
    • 10.1.1 Status Display on Panel Operator
      • (1) Bit Data Display
      • (2) Alarm and Warning Display
    • 10.1.2 Alarm Display Table
    • 10.1.3 Warning Displays
    • 10.1.4 Troubleshooting of Alarm and Warning
      • (1) Alarm Display and Troubleshooting
      • (2) Warning Display and Troubleshooting
    • 10.1.5 Troubleshooting for Malfunction without Alarm Display
  • 10.2 Inspection and Maintenance
    • 10.2.1 Servomotor Inspection
    • 10.2.2 SERVOPACK Inspection
    • 10.2.3 SERVOPACK’s Parts Replacement Schedule
• 11 Appendix
  • 11.1 Servomotor Capacity Selection Examples
    • 11.1.1 Selection Example for Speed Control
      • (1) Speed Diagram
      • (2) Rotation Speed
      • (3) Load torque
      • (4) Load Moment of Inertia
      • (5) Load Moving Power
      • (6) Load Acceleration Power
      • (7) Servomotor Provisional Selection
        • (a) Selecting Conditions
        • (b) Specifications of the Provisionally Selected Servomotor and SERVOPACK
      • (8) Verification on the Provisionally Selected Servomotor
      • (9) Result
    • 11.1.2 Selection Example for Position Control
      • (1) Speed Diagram
      • (2) Rotation Speed
      • (3) Load Torque
      • (4) Load Moment of Inertia
      • (5) Load Moving Power
      • (6) Load Acceleration Power
      • (7) Provisionally Servomotor Selection
        • (a) Selecting Conditions
        • (b) Specifications of Servomotor and SERVOPACK
      • (8) Verification on Provisionally Selected Servomotor
      • (9) PG Feedback Pulse Dividing Ratio: Setting of Electronic Gear Ratio
      • (10) Reference Pulse Frequency
      • (11) Error Counter Pulses
      • (12) Electrical Stop Accuracy
    • 11.1.3 Calculating the Required Capacity of Regenerative Resistors
      • (1) Simple Calculation
        • (a) SERVOPACKs with Capacities of 400 W or Less
        • (b) SERVOPACKs with Capacities of 0.5 to 1.0 kW
      • (2) Calculating the Regenerative Energy
        • (a) Calculation Procedure
        • (b) Servomotor Winding Resistance Loss
      • (3) SERVOPACK’s Absorbable Energy
  • 11.2 List of Parameters
    • 11.2.1 Utility Functions List
    • 11.2.2 List of Parameters
    • 11.2.3 Monitor Modes
  • 11.3 Using the Adjusting Command (ADJ: 3EH)
    • 11.3.1 Autotuning
      • (1) Normal Autotuning
      • (2) Machine Rigidity Settings for Normal Autotuning
        • 1. By setting byte 1 of the MECHATROLINK II command field to ADJ (3EH) and byte 2 to 00H, the following command field can be set.
        • 2. Send the following data in each command field.
        • 3. CMDRDY of STATUS is set to 1, and CADDRESS and CDATA of the response are confirmed to be the same as those of the command. It takes one second until CMDRDY is set to 1.
        • 4. Use the following data to check when settings have been completed.
        • 5. Confirm that the response is correct and that CMDRDY or STATUS is set to 1. Confirm that the value of the CDATA field in the response field is the machine rigidity you set.
      • (3) Saving Results of Normal Autotuning
        • 1. By setting byte 1 of the MECHATROLINK II command field to ADJ (3EH) and byte 2 to 00H, the following command field can be set.
        • 2. Send the following data in each command field.
        • 3. CMDRDY of STATUS is set to 1, and CADDRESS and CDATA of the response are confirmed to be the same as those of the command.
        • 4. Continue by using the following data.
        • 5. CMDRDY of STATUS is set to 1, and CADDRESS and CDATA of the response are confirmed to be the same as those of the command. It takes one second until CMDRDY is set to 1.
      • (4) Parameters Related to Normal Autotuning
    • 11.3.2 Absolute Encoder Setup (Initialization)
      • 1. By setting byte 1 of the MECHATROLINK II command field to ADJ (3EH) and byte 2 to 00H, the following command field can be set.
      • 2. Send the following data in each command field.
      • 3. CMDRDY of STATUS is set to 1, and CADDRESS and CDATA of the response are confirmed to be the same as those of the command.
      • 4. Continue by using the following data.
      • 5. CMDRDY of STATUS is set to 1, and CADDRESS and CDATA of the response are confirmed to be the same as those of the command.
      • 6. Send the following data.
      • 7. CMDRDY of STATUS is set to 1, and CADDRESS and CDATA of the response are confirmed to be the same as those of the command. It takes one second until CMDRDY is set to 1.
    • 11.3.3 Multi-turn Limit Setting
      • 1. By setting byte 1 of the MECHATROLINK II command field to ADJ (3EH) and byte 2 to 00H, the following command field can be set.
      • 2. Send the following data in each command field.
      • 3. CMDRDY of STATUS is set to 1, and CADDRESS and CDATA of the response are confirmed to be the same as those of the command.
      • 4. Continue by using the following data.
      • 5. CMDRDY of STATUS is set to 1, and CADDRESS and CDATA of the response are confirmed to be the same as those of the command.
      • 6. Send the following command.
      • 7. CMDRDY of STATUS is set to 1, and CADDRESS and CDATA of the response are confirmed to be the same as those of the command. It takes one second until CMDRDY is set to 1.
    • 11.3.4 Automatic Offset Adjustment of Motor Current Detection Signals
      • 1. By setting byte 1 of the MECHATROLINK II command field to ADJ (3EH) and byte 2 to 00H, the following command field can be set.
      • 2. Send the following data in each command field.
      • 3. CMDRDY of STATUS is set to 1, and CADDRESS and CDATA of the response are confirmed to be the same as those of the command.
      • 4. Continue by using the following data.
      • 5. CMDRDY of STATUS is set to 1, and CADDRESS and CDATA of the response are confirmed to be the same as those of the command. (It takes 1 second maximum until CMDRDY is set to 1.)
  • 11.4 Parameter Recording Table
• Index
  • Symbols
  • Numerics
  • A
  • B
  • C
  • D
  • E
  • F
  • G
  • H
  • I
  • L
  • M
  • N
  • O
  • P
  • Q
  • R
  • S
  • T
  • U
  • V
  • W
  • Z