Yaskawa Sigma II Series Servo System User Manual
Yaskawa Equipment
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Table of contents
Document Outline
- Table of Contents
- 1 Checking Product and Part Names
- 1.1 Checking the Sigma II Series Products on Delivery
- 1.1.1 Servomotors
- 1.1.2 Direct-drive Motor Supporting Function
- 1.1.3 Servo Amplifiers
- 1.2 Product Part Names
- 1.2.1 Servomotors
- 1.2.2 Servo Amplifiers
- 2 Installation
- 2.1 Servomotors
- 2.1.1 Storage Temperature
- 2.1.2 Installation Site
- 2.1.3 Alignment
- 2.1.4 Orientation
- 2.1.5 Allowable Shaft Loads
- 2.1.6 Vibration Resistance
- 2.1.7 Vibration Class
- 2.1.8 Handling Oil and Water
- 2.1.9 Cable Stress
- 2.2 Servo Amplifiers
- 2.2.1 Storage Conditions
- 2.2.2 Installation Site
- 2.2.3 Orientation
- 2.2.4 Installation
- 3 Wiring
- 3.1 Connecting to Peripheral Devices
- 3.1.1 Single-Phase (100V or 200V) Main Circuit Specifications
- 3.1.2 Three-Phase (200V) Main Circuit Specifications
- 3.1.3 Three-Phase (400V) Main Circuit Specifications
- 3.2 Servo Amplifier Internal Block Diagrams
- 3.2.1 30W to 400W (200V) and 30W to 200W (100V) Models
- 3.2.2 0.5kW to 1.5kW (200V) Models
- 3.2.3 2.0 kW to 5.0kW (200V) Models
- 3.2.4 6.0kW to 15.0kW (200V) Models
- 3.2.5 0.5kW to 3.0kW, 400V Models
- 3.2.6 5.0kW (400V) Models
- 3.2.7 6.0kW to 7.5kW, 400V Models
- 3.2.8 11.0kW to 15.0kW (400V) Models
- 3.2.9 22.0kW to 55kW (400V) Models
- 3.3 Main Circuit Wiring
- 3.3.1 Names and Descriptions of Main Circuit Terminal
- 3.3.2 Typical Main Circuit Wiring Example
- 3.3.3 Cable Specifications and Peripheral Devices
- 3.3.4 Servo Amplifier Power Losses
- 3.3.5 Wiring Main Circuit Terminal Blocks
- 3.4 I/O Signals
- 3.4.1 Example of Typical I/O Signal Connections
- 3.4.2 List of CN1 Terminals
- 3.4.3 I/O Signal Names and Functions
- 3.4.4 Interface Circuits
- 3.5 Wiring Encoders (for SGMGH and SGMSH Motors Only)
- 3.5.1 Encoder Connections
- 3.5.2 CN2 Encoder Connector Terminal Layout and Types
- 3.6 Examples of Standard Connections
- 3.6.1 Single-Phase Power Supply Specifications
- 3.6.2 Three-Phase Power Supply Specifications (200V)
- 3.6.3 Three-Phase Power Supply Specifications (400V)
- 3.6.4 Position Control Mode
- 3.6.5 Speed Control Mode
- 3.6.6 Torque Control Mode
- 4 Trial Operation
- 4.1 Two-Step Trial Operation
- 4.1.1 Step 1: Trial Operation for Servomotor without Load
- 4.1.2 Step 2: Trial Operation with the Servomotor Connected to a Load
- 4.2 Additional Setup Procedures in Trial Operation
- 4.2.1 Servomotors with Brakes
- 4.2.2 Position Control by Host Controller
- 4.3 Minimum Parameters and Input Signals
- 4.3.1 Parameters
- 4.3.2 Input Signals
- 5 Parameter Settings and Functions
- 5.1 Settings According to Device Characteristics
- 5.1.1 Switching Servomotor Rotation Direction
- 5.1.2 Setting the Overtravel Limit Function
- 5.1.3 Limiting Torque
- 5.2 Settings According to Host Controller
- 5.2.1 Speed Reference
- 5.2.2 Position Reference
- 5.2.3 Using the Encoder Signal Output
- 5.2.4 Sequence I/O Signals
- 5.2.5 Using the Electronic Gear Function
- 5.2.6 Contact Input Speed Control
- 5.2.7 Using Torque Control
- 5.2.8 Torque Feed-Forward Function
- 5.2.9 Speed Feed-Forward Function
- 5.2.10 Torque Limiting by Analog Voltage Reference
- 5.2.11 Reference Pulse Inhibit Function (/INHIBIT)
- 5.3 Setting Up the Servo Amplifier
- 5.3.1 Parameters
- 5.3.2 JOG Speed
- 5.3.3 Input Circuit Signal Allocation
- 5.3.4 Output Circuit Signal Allocation
- 5.3.5 Control Mode Selection
- 5.4 Setting Stop Functions
- 5.4.1 Adjusting Offset
- 5.4.2 Servo OFF Stop Mode Selection
- 5.4.3 Using the Zero Clamp Function
- 5.4.4 Using the Holding Brake
- 5.5 Forming a Protective Sequence
- 5.5.1 Using Servo Alarm and Alarm Code Outputs
- 5.5.2 Using the Servo ON Input Signal (/S-ON)
- 5.5.3 Using the Positioning Completed Output Signal (/COIN)
- 5.5.4 Speed Coincidence Output (/V-CMP)
- 5.5.5 Using the Running Output Signal (/TGON)
- 5.5.6 Using the Servo Ready Output Signal (/S-RDY)
- 5.5.7 Using the Warning Output Signal (/WARN)
- 5.5.8 Using the Near Output Signal (/NEAR)
- 5.5.9 Handling Power Loss
- 5.6 Selecting a Regenerative Resistor
- 5.6.1 External Regenerative Resistor
- 5.6.2 Calculating the Regenerative Power Capacity
- 5.7 Absolute Encoders
- 5.7.1 Interface Circuit
- 5.7.2 Configuring an Absolute Encoder
- 5.7.3 Handling Batteries
- 5.7.4 Absolute Encoder Setup
- 5.7.5 Absolute Encoder Reception Sequence
- 5.8 Special Wiring
- 5.8.1 Wiring Precautions
- 5.8.2 Wiring for Noise Control
- 5.8.3 Using More Than One Servodrive
- 5.8.4 Extending Encoder Cables
- 5.8.5 400V Power Supply Voltage
- 5.8.6 Reactor for Harmonic Suppression
- 5.8.7 DB Unit
- 5.9 Reserved Parameters
- 5.10 List of Upgraded Functions (Applicable only to SGDH amplifiers of version number 33ooo or higher.)
- 5.10.1 Additional Functions
- 5.10.2 Improved Functions
- 5.10.3 Improvement of Dividing Output Resolution
- 5.10.4 Reference Pulse Input Multiplication Range Switching Function
- 5 Improved Functions
- 5.11 Improved Functions (Applicable only to SGDH amplifiers of version #33ooo or higher.)
- 5.11.1 Moment of Inertia Ratio Setting Range
- 5.11.2 Adaptation to Single-turn Data Absolute Encoder
- 5.11.3 Improvement of Linear Motor Related Specifications
- 5.11.4 Supporting Function for Linear Motor with Hall Sensor
- 6 Servo Adjustment
- 6.1 Smooth Operation
- 6.1.1 Using the Soft Start Function
- 6.1.2 Smoothing
- 6.1.3 Adjusting Gain
- 6.1.4 Adjusting Offset
- 6.1.5 Setting the Torque Reference Filter Time Constant
- 6.1.6 Notch Filter
- 6.2 High-Speed Positioning
- 6.2.1 Setting Servo Gain
- 6.2.2 Using Feed-Forward Control
- 6.2.3 Using Proportional Control
- 6.2.4 Setting Speed Bias
- 6.2.5 Using Mode Switch
- 6.2.6 Automatic Gain Switching Function (Applicable Only to SGDH amplifiers with version # 33ooo or higher)
- 6.2.7 Speed Feedback Compensation
- 6.3 Auto-Tuning
- 6.3.1 Online Auto-Tuning
- 6.3.2 Mechanical Rigidity Settings for Online Auto-Tuning
- 6.3.3 Saving Results of Online Auto-Tuning
- 6.3.4 Parameters Related to Online Auto-Tuning
- 6.4 Servo Gain Adjustments
- 6.4.1 Servo Gain Parameters
- 6.4.2 Basic Rules of Gain Adjustment
- 6.4.3 Making Manual Adjustments
- 6.4.4 Gain Setting Reference Values
- 6.5 Analog Monitor
- 7 Using the Digital Operator
- 7.1 Basic Operation
- 7.1.1 Connecting the Digital Operator
- 7.1.2 Functions
- 7.1.3 Resetting Servo Alarms
- 7.1.4 Basic Mode Selection
- 7.1.5 Status Display Mode
- 7.1.6 Operation in Parameter Setting Mode
- 7.1.7 Operation in Monitor Mode
- 7.2 Applied Operation
- 7.2.1 Operation in Alarm Traceback Mode
- 7.2.2 JOG Operation Using the Digital Operator
- 7.2.3 Automatic Adjustment of the Speed and Torque Reference Offset
- 7.2.4 Manual Adjustment of the Speed and Torque Reference Offset
- 7.2.5 Clearing Alarm Traceback Data
- 7.2.6 Checking the Motor Model
- 7.2.7 Checking the Software Version
- 7.2.8 Origin Search Model
- 7.2.9 Initializing Parameter Settings
- 7.2.10 Manual Zero Adjustment and Gain Adjustment of Analog Monitor Output
- 7.2.11 Adjusting the Motor Current Detection Offset
- 7.2.12 Write Protected Setting
- 7.2.13 Clearing the Option Unit Detection Alarm
- 8 Ratings and Characteristics
- 8.1 Servomotors: Ratings, Specifications, and Dimensional Drawings
- 8.1.1 SGMAH Servomotors
- 8.1.2 SGMPH Servomotors
- 8.1.3 SGMGH Servomotors
- 8.1.4 SGMSH Servomotors
- 8.1.5 SGMUH Servomotors
- 8.1.6 SGMBH Servomotors
- 8.1.7 SGMCS Direct Drive Motors
- 8.2 Specifications
- 8.2.1 Combined Specifications
- 8.2.2 Ratings and Specifications
- 8.2.3 Base-Mounted Servo Amplifier Dimensions in inches (mm)
- 9 Inspection, Maintenance, and Troubleshooting
- 9.1 Servodrive Inspection and Maintenance
- 9.1.1 Servomotor Inspection
- 9.1.2 Servo Amplifier Inspection
- 9.1.3 Replacing the Battery for the Absolute Encoder
- 9.2 Troubleshooting
- 9.2.1 Troubleshooting Problems with Alarm Displays
- 9.2.2 Troubleshooting Problems with No Alarm Display
- 9.2.3 Alarm Display Table
- 9.2.4 List of Additional or Modified Alarm and Warning Displays (Applicable only to SGDH amplifiers with version # 33ooo or higher)
- 9.2.5 Warning Displays
- 9.2.6 Additional Sigma II Alarms
- A Host Controller Connection Examples
- A.1 Connecting the GL-series MC20 Motion Module
- A.2 Connecting the CP-9200SH Servo Controller Module (SVA)
- A.3 Connecting the GL-series B2813 Positioning Module
- A.4 Connecting OMRON's C500-NC221 Position Control Unit
- A.5 Connecting OMRON's C500-NC112 Position Control Unit
- A.6 Connecting MITSUBISHI's AD72 Positioning Unit
- A.7 Connecting MITSUBISHI's AD75 Positioning Unit
- B List of Parameters
- B.1 Parameters
- B.1.1 List of Additional and Improved Parameters (Applicable only to SGDH amplifiers with version #33ooo or higher)
- B.2 Switches
- B.2.1 Additional Switches (Applicable only to SGDH amplifiers with version #33ooo or higher)
- B.3 Input Signal Selections
- B.4 Output Signal Selections
- B.4.1 Additional Output Signal Selection (Applicable only to SGDH amplfiers with version # 33ooo or higher)
- B.5 Auxiliary Functions
- B.5.1 Detail of Fn011 (Motor Model Display)
- B.6 Monitor Modes
- B.7 List of Added & Changed Parameters
- B.7.1 Parameter list
- B.7.2 Switch list
- B.7.3 Input Signal Selection List
- B.7.4 Output Signal Selection List
- B.7.5 Monitor List
- B.7.6 Auxiliary Function List
- B.7.7 Alarm and Warning List
- C Examples of Standard Connections
- C.1 Single-Phase Power Supply Specifications
- C.2 Three-Phase Power Supply Specifications (200V)
- C.3 Three-Phase Power Supply Specifications (400V)
- C.4 Position Control Mode
- C.5 Speed Control Mode
- C.6 Torque Control Mode