Document Outline

• Front Cover
• About this Manual
• Safety Precautions
• Warranty
• Harmonized Standards
• Contents
• 1 Outline
  • 1.1 DC Power Input Sigma-V Series SERVOPACKs
  • 1.2 Part Names
  • 1.3 SERVOPACK Ratings and Specifications
    • 1.3.1 Ratings
    • 1.3.2 Basic Specifications
    • 1.3.3 Control Specifications for Different Reference Type
  • 1.4 SERVOPACK Internal Block Diagrams
    • 1.4.1 Analog Voltage Reference (Model: SGDV-***ES1A)
    • 1.4.2 Pulse Train Reference (Model: SGDV-***EP1A)
  • 1.5 Examples of Servo System Configurations
  • 1.6 SERVOPACK Model Designation
  • 1.7 Inspection and Maintenance
• 2 Digital Operator
  • 2.1 Digital Operator
  • 2.2 Digital Operator Connection
  • 2.3 Operation of Digital Operator
  • 2.4 Utility Functions (Fn***)
  • 2.5 Parameters (Pn***)
    • 2.5.1 Parameter Classification
    • 2.5.2 Notation for Parameters
    • 2.5.3 Setting Parameters
  • 2.6 Monitor Displays (Un***)
• 3 Wiring and Connection
  • 3.1 Main Circuit Wiring
    • 3.1.1 Main Circuit Terminals (CN3, CN4)
    • 3.1.2 Main Circuit Wires
    • 3.1.3 Typical Main Circuit Wiring Examples
    • 3.1.4 Power Supply Capacities and Power Losses
    • 3.1.5 Input Power Supply, Molded-case Circuit Breaker, and Fuse
    • 3.1.6 Using More Than One SERVOPACK
    • 3.1.7 General Precautions for Wiring
  • 3.2 I/O Signal Connections
    • 3.2.1 I/O Signal (CN1) Names and Functions
    • 3.2.2 Example of I/O Signal Connections in Speed Control (Analog Voltage Reference)
    • 3.2.3 Example of I/O Signal Connections in Position Control (Pulse Train Reference)
    • 3.2.4 Example of I/O Signal Connections in Torque Control (Analog Voltage Reference)
  • 3.3 I/O Signal Allocations
    • 3.3.1 Input Signal Allocations
    • 3.3.2 Output Signal Allocations
  • 3.4 Examples of Connection to Host Controller
    • 3.4.1 Reference Input Circuit
    • 3.4.2 Sequence Input Circuit
    • 3.4.3 Sequence Output Circuit
  • 3.5 Encoder Connection
    • 3.5.1 Encoder Signal (CN2) Names and Functions
    • 3.5.2 Encoder Connection Examples
  • 3.6 Noise Control and Measures for Harmonic Suppression
    • 3.6.1 Wiring for Noise Control
    • 3.6.2 Precautions on Connecting Noise Filter
• 4 Trial Operation
  • 4.1 Inspection and Checking before Trial Operation
  • 4.2 Trial Operation for Servomotor without Load
  • 4.3 Trial Operation for Servomotor without Load from Host Reference
    • 4.3.1 Inspecting Connection and Status of Input Signals
    • 4.3.2 Trial Operation in Speed Control (Analog Voltage Reference)
    • 4.3.3 Trial Operation under Position Control (Analog Voltage Reference) from the Host Controller with the SERVOPACK Used for Speed Control
    • 4.3.4 Trial Operation in Position Control (Pulse Train Reference)
  • 4.4 Trial Operation with the Servomotor Connected to the Machine
  • 4.5 Trial Operation of Servomotor with Brakes
  • 4.6 Test Without Motor Function
    • 4.6.1 Motor Information
    • 4.6.2 Motor Position and Speed Responses
    • 4.6.3 Limitations
    • 4.6.4 Digital Operator Displays during Testing without Motor
• 5 Operation
  • 5.1 Control Method Selection
  • 5.2 Basic Functions Settings
    • 5.2.1 Servo ON Signal
    • 5.2.2 Servomotor Rotation Direction
    • 5.2.3 Overtravel
    • 5.2.4 Holding Brakes
    • 5.2.5 Stopping Servomotors after /S-ON Turned OFF or Alarm Occurrence
    • 5.2.6 Setting Motor Overload Detection Level
  • 5.3 Speed Control (Analog Voltage Reference)
    • 5.3.1 Basic Settings for Speed Control
    • 5.3.2 Reference Offset Adjustment
    • 5.3.3 Soft Start
    • 5.3.4 Speed Reference Filter
    • 5.3.5 Zero Clamp Function
    • 5.3.6 Encoder Output Pulses
    • 5.3.7 Setting Encoder Output Pulse
    • 5.3.8 Setting Speed Coincidence Signal
  • 5.4 Position Control (Pulse Train Reference)
    • 5.4.1 Basic Settings for Position Control
    • 5.4.2 Clear Signal Setting
    • 5.4.3 Reference Pulse Input Multiplication Switching Function
    • 5.4.4 Electronic Gear
    • 5.4.5 Smoothing
    • 5.4.6 Positioning Completed Signal
    • 5.4.7 Positioning Near Signal
    • 5.4.8 Reference Pulse Inhibit Function
  • 5.5 Torque Control (Analog Voltage Reference)
    • 5.5.1 Basic Settings for Torque Control
    • 5.5.2 Reference Offset Adjustment
    • 5.5.3 Torque Reference Filter
    • 5.5.4 Speed Limit in Torque Control
  • 5.6 Internal Set Speed Control
    • 5.6.1 Basic Settings for Speed Control with an Internal Set Speed
    • 5.6.2 Example of Operating with Internal Set Speeds
  • 5.7 Combination of Control Methods
    • 5.7.1 Switching Internal Set Speed Control (Pn000.1 = 4, 5, or 6)
    • 5.7.2 Switching Other Than Internal Set Speed Control (Pn000.1 = 9)
    • 5.7.3 Switching Other Than Internal Set Speed Control (Pn000.1 = A or B)
  • 5.8 Limiting Torque
    • 5.8.1 Internal Torque Limit
    • 5.8.2 External Torque Limit
    • 5.8.3 Torque Limiting Using an Analog Voltage Reference
    • 5.8.4 Torque Limiting Using an External Torque Limit and Analog Voltage Reference
    • 5.8.5 Checking Output Torque Limiting during Operation
  • 5.9 Absolute Encoders
    • 5.9.1 Connecting the Absolute Encoder
    • 5.9.2 Absolute Data Request Signal (/SEN)
    • 5.9.3 Battery Replacement
    • 5.9.4 Absolute Encoder Setup
    • 5.9.5 Absolute Data Reception Sequence
    • 5.9.6 Multiturn Limit Setting
    • 5.9.7 Multiturn Limit Disagreement Alarm (A.CC0)
  • 5.10 Other Output Signals
    • 5.10.1 Servo Alarm Output Signal (ALM)
    • 5.10.2 Warning Output Signal (/WARN)
    • 5.10.3 Rotation Detection Output Signal (/TGON)
    • 5.10.4 Servo Ready Output Signal (/S-RDY)
• 6 Adjustments
  • 6.1 Type of Adjustments and Basic Adjustment Procedure
    • 6.1.1 Adjustments
    • 6.1.2 Basic Adjustment Procedure
    • 6.1.3 Monitoring Operation during Adjustment
    • 6.1.4 Safety Precautions on Adjustment of Servo Gains
  • 6.2 Tuning-less Function
    • 6.2.1 Tuning-less Function
    • 6.2.2 Tuning-less Levels Setting (Fn200) Procedure
    • 6.2.3 Related Parameters
  • 6.3 Advanced Autotuning (Fn201)
    • 6.3.1 Advanced Autotuning
    • 6.3.2 Advanced Autotuning Procedure
    • 6.3.3 Related Parameters
  • 6.4 Advanced Autotuning by Reference (Fn202) (Pulse Train Reference)
    • 6.4.1 Advanced Autotuning by Reference
    • 6.4.2 Advanced Autotuning by Reference Procedure
    • 6.4.3 Related Parameters
  • 6.5 One-parameter Tuning (Fn203)
    • 6.5.1 One-parameter Tuning
    • 6.5.2 One-parameter Tuning Procedure
    • 6.5.3 One-parameter Tuning Example
    • 6.5.4 Related Parameters
  • 6.6 Anti-Resonance Control Adjustment Function (Fn204)
    • 6.6.1 Anti-Resonance Control Adjustment Function
    • 6.6.2 Anti-Resonance Control Adjustment Function Operating Procedure
    • 6.6.3 Related Parameters
  • 6.7 Vibration Suppression Function (Fn205)
    • 6.7.1 Vibration Suppression Function
    • 6.7.2 Vibration Suppression Function Operating Procedure
    • 6.7.3 Related Parameters
  • 6.8 Additional Adjustment Function
    • 6.8.1 Switching Gain Settings
    • 6.8.2 Manual Adjustment of Friction Compensation
    • 6.8.3 Current Control Mode Selection Function
    • 6.8.4 Current Gain Level Setting
    • 6.8.5 Speed Detection Method Selection
  • 6.9 Compatible Adjustment Function
    • 6.9.1 Feedforward Reference (Pulse Train Reference)
    • 6.9.2 Torque Feedforward (Analog Voltage Reference)
    • 6.9.3 Proportional Control
    • 6.9.4 Mode Switch (P/PI Switching)
    • 6.9.5 Torque Reference Filter
    • 6.9.6 Position Integral
• 7 Utility Functions (Fn***)
  • 7.1 List of Utility Functions
  • 7.2 Alarm History Display (Fn000)
  • 7.3 JOG Operation (Fn002)
  • 7.4 Origin Search (Fn003)
  • 7.5 Program JOG Operation (Fn004)
  • 7.6 Initializing Parameter Settings (Fn005)
  • 7.7 Clearing Alarm History (Fn006)
  • 7.8 Offset Adjustment of Analog Monitor Output (Fn00C)
  • 7.9 Gain Adjustment of Analog Monitor Output (Fn00D)
  • 7.10 Automatic Offset-Signal Adjustment of the Motor Current Detection Signal (Fn00E)
  • 7.11 Manual Offset-Signal Adjustment of the Motor Current Detection Signal (Fn00F)
  • 7.12 Write Prohibited Setting (Fn010)
  • 7.13 Servomotor Model Display (Fn011)
  • 7.14 Software Version Display (Fn012)
  • 7.15 Vibration Detection Level Initialization (Fn01B)
  • 7.16 Display of SERVOPACK and Servomotor ID (Fn01E)
  • 7.17 Software Reset (Fn030)
  • 7.18 EasyFFT (Fn206)
  • 7.19 Online Vibration Monitor (Fn207)
• 8 Monitor Displays (Un***)
  • 8.1 List of Monitor Displays
  • 8.2 Viewing Monitor Displays
  • 8.3 Monitoring Input Signals
    • 8.3.1 Interpreting Input Signal Display Status
    • 8.3.2 Input Signal Display Example
  • 8.4 Monitoring Output Signals
    • 8.4.1 Interpreting Output Signal Display Status
    • 8.4.2 Output Signal Display Example
• 9 Troubleshooting
  • 9.1 Alarm Displays
    • 9.1.1 List of Alarms
    • 9.1.2 Troubleshooting of Alarms
  • 9.2 Warning Displays
    • 9.2.1 List of Warnings
    • 9.2.2 Troubleshooting of Warnings
  • 9.3 Troubleshooting Malfunction Based on Operation and Conditions of the Servomotor
• 10 Appendix
  • 10.1 Connection to Host Controller
    • 10.1.1 Connection to MP2200/MP2300 Motion Module SVA-01
    • 10.1.2 Connection to OMRON’s Position Control Unit
    • 10.1.3 Connection to MITSUBISHI's QD75D* Positioning Module (SERVOPACK in Position Control)
  • 10.2 List of Parameters
    • 10.2.1 Utility Functions
    • 10.2.2 Parameters
  • 10.3 List of Monitor Displays
  • 10.4 Parameter Recording Table
• Index
  • Symbols
  • A
  • B
  • C
  • D
  • E
  • F
  • G
  • H
  • I
  • J
  • L
  • M
  • N
  • O
  • P
  • R
  • S
  • T
  • U
  • V
  • W
  • Z
• Revision History
• Back Cover