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 Servo Mechanisms
  • 1.2 Servo Configuration
  • 1.3 Features of Sigma-Series Servos
    • 1.3.1 Servomotor Type
    • 1.3.2 Control Type of SERVOPACKs
    • 1.3.3 How to Use the SGDB SERVOPACKs
• 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 Servomotors
    • 2.2.3 SERVOPACKs
    • 2.2.4 Installing the Servomotor
    • 2.2.5 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 Connection to Host Controller
  • 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 Parameters Required and Input Signals
• 3 APPLICATIONS OF Sigma-SERIES PRODUCTS
  • 3.1 Setting Parameters 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 Parameters According to Host Controller
    • 3.2.1 Inputting Speed Reference
    • 3.2.2 Inputting Position Reference
    • 3.2.3 Using Encoder Outputs
    • 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 Parameters
    • 3.3.2 Setting the Jog Speed
    • 3.3.3 Setting the Number of Encoder Pulses
    • 3.3.4 Setting the Motor Type
    • 3.3.5 Adjusting the Encoder Supply Voltage
  • 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 OL Warning and Alarm Output Signals
    • 3.7.7 Using Servo Ready Output Signal
    • 3.7.8 Handling of Power Loss
  • 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 Resistor Units
    • 3.8.5 Using an Absolute Encoder
    • 3.8.6 Extending an Encoder Cable
    • 3.8.7 Using SGDB 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 Digital Operator Functions
    • 4.1.3 Resetting Servo Alarms
    • 4.1.4 Basic Functions and Mode Selection
    • 4.1.5 Operation in Status Display Mode
    • 4.1.6 Operation in Parameter Setting Mode
    • 4.1.7 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 Reference Offset Manual Adjustment Mode
    • 4.2.6 Clearing Alarm Trace-back Data
    • 4.2.7 Checking Motor Specifications
    • 4.2.8 Checking Software Version
    • 4.2.9 Current Detection Offset Manual Adjustment Mode
• 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 Selecting a Digital Operator
  • 5.2 SGM Servomotor
    • 5.2.1 Ratings and Specifications
    • 5.2.2 Mechanical Characteristics
    • 5.2.3 Option Specifications
  • 5.3 SERVOPACK Ratings and Specifications
    • 5.3.1 Combined Specifications
    • 5.3.2 Ratings and Specifications
    • 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 SERVOPACK Dimensional Drawings
    • 5.4.3 Digital Operator Dimensional Drawings
  • 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
    • 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 Connector Terminal Block Converter Unit
    • 5.6.9 Cable With 1CN Connector and One End Without Connector
    • 5.6.10 Circuit Breaker
    • 5.6.11 Noise Filter
    • 5.6.12 Magnetic Contactor
    • 5.6.13 Surge Suppressor
    • 5.6.14 Regenerative Resistor Unit
    • 5.6.15 Variable Resistor for Speed Setting
    • 5.6.16 Encoder Signal Converter Unit
    • 5.6.17 Cables for Connecting PC and SERVOPACK
• 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
• Appendix A Servo Adjustment
  • A.1 Sigma-Series AC SERVOPACK Gain Adjustment
    • A.1.1 Sigma-Series AC SERVOPACKs and Gain Adjustment Methods
    • A.1.2 Basic Rules for Gain Adjustment
  • A.2 Adjusting a Speed-control SERVOPACK
    • A.2.1 Adjusting Using Auto-tuning
    • A.2.2 Manual Adjustment
  • A.3 Adjusting a Position-control SERVOPACK
    • A.3.1 Adjusting Using Auto-tuning
    • A.3.2 Manual Adjustment
  • A.4 Gain Setting References
    • A.4.1 Guidelines for Gain Settings According to Load Inertia Ratio
• Appendix B List of I/O Signals
• Appendix C List of Parameters
• Appendix D List of Alarm Displays
• 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