Document Outline

• Front Cover
• About this Manual
• Related Manuals
• Safety Information
• Safety Precautions
• SGDH SERVOPACK Standards and Certification
• CONTENTS
• 1 For First-time Users of AC Servos
  • 1.1 Basic Understanding of AC Servos
    • 1.1.1 Servo Mechanisms
    • 1.1.2 Technical Terms
  • 1.2 Configuration of Servo System
  • 1.3 Features of Sigma-II Series Servos
    • 1.3.1 Outline
    • 1.3.2 Using the SGDH SERVOPACK
• 2 Basic Operation
  • 2.1 Precautions
  • 2.2 Installation
    • 2.2.1 Checking on Delivery
    • 2.2.2 Installing the Servomotor
    • 2.2.3 Allowable Radial and Thrust Loads
    • 2.2.4 Installing the SERVOPACK
    • 2.2.5 Power Loss
  • 2.3 Connection and Wiring
    • 2.3.1 Connecting to Peripheral Devices
    • 2.3.2 Main Circuit Wiring and Power ON Sequence
  • 2.4 I/O Signals
    • 2.4.1 Examples of I/O Signal Connections
    • 2.4.2 List of CN1 Terminals
    • 2.4.3 I/O Signal Names and Functions
    • 2.4.4 Interface Circuits
  • 2.5 Wiring Encoders
    • 2.5.1 Connecting an Encoder (CN2) and Output Signals from the SERVOPACK (CN1)
    • 2.5.2 Terminal Layout and Types of CN2 Encoder Connector
    • 2.5.3 Examples of Connecting I/O Signal Terminals
• 3 Trial Operation
  • 3.1 Two-step Trial Operation
    • 3.1.1 Step 1: Trial Operation for Servomotor without Load
    • 3.1.2 Step 2: Trial Operation with the Servomotor Connected to the Machine
  • 3.2 Supplementary Information on Trial Operation
    • 3.2.1 Servomotors with Brakes
    • 3.2.2 Position Control by Host Controller
  • 3.3 Minimum Parameters and Input Signals
    • 3.3.1 Parameters
    • 3.3.2 Input Signals
• 4 Parameter Settings and Functions
  • 4.1 Settings According to Device Characteristics
    • 4.1.1 Switching Servomotor Rotation Direction
    • 4.1.2 Setting the Overtravel Limit Function
    • 4.1.3 Limiting Torques
  • 4.2 Settings According to Host Controller
    • 4.2.1 Speed Reference
    • 4.2.2 Position Reference
    • 4.2.3 Using the Encoder Signal Output
    • 4.2.4 Sequence I/O Signals
    • 4.2.5 Using the Electronic Gear Function
    • 4.2.6 Contact Input Speed Control
    • 4.2.7 Using Torque Control
    • 4.2.8 Torque Feed-forward Function
    • 4.2.9 Speed Feed-forward Function
    • 4.2.10 Torque Limiting by Analog Voltage Reference, Function 1
    • 4.2.11 Torque Limiting by Analog Voltage Reference, Function 2
    • 4.2.12 Reference Pulse Inhibit Function (INHIBIT)
  • 4.3 Setting Up the SERVOPACK
    • 4.3.1 Parameters
    • 4.3.2 JOG Speed
    • 4.3.3 Input Circuit Signal Allocation
    • 4.3.4 Output Circuit Signal Allocation
    • 4.3.5 Control Mode Selection
  • 4.4 Setting Stop Functions
    • 4.4.1 Adjusting Offset
    • 4.4.2 Using the Dynamic Brake
    • 4.4.3 Using the Zero Clamp Function
    • 4.4.4 Using the Holding Brake
  • 4.5 Forming a Protective Sequence
    • 4.5.1 Using Servo Alarm and Alarm Code Outputs
    • 4.5.2 Using the Servo ON Input Signal
    • 4.5.3 Using the Positioning Completed Output Signal
    • 4.5.4 Speed Coincidence Output
    • 4.5.5 Using the Running Output Signal
    • 4.5.6 Using the Servo Ready Output Signal
    • 4.5.7 Using the Warning Output Signal
    • 4.5.8 Using the Near Output Signal
    • 4.5.9 Handling Power Loss
  • 4.6 External Regenerative Resistors
  • 4.7 Absolute Encoders
    • 4.7.1 Interface Circuit
    • 4.7.2 Selecting an Absolute Encoder
    • 4.7.3 Handling Batteries
    • 4.7.4 Absolute Encoder Setup
    • 4.7.5 Absolute Encoder Reception Sequence
    • 4.7.6 Multiturn Limit Setting
  • 4.8 Special Wiring
    • 4.8.1 Wiring Precautions
    • 4.8.2 Wiring for Noise Control
    • 4.8.3 Using More Than One Servodrive
    • 4.8.4 Extending Encoder Cables
• 5 Servo Adjustment
  • 5.1 Smooth Operation
    • 5.1.1 Using the Soft Start Function
    • 5.1.2 Smoothing
    • 5.1.3 Adjusting Gain
    • 5.1.4 Adjusting Offset
    • 5.1.5 Setting the Torque Reference Filter Time Constant
    • 5.1.6 Notch Filter
  • 5.2 High-speed Positioning
    • 5.2.1 Setting Servo Gain
    • 5.2.2 Using Feed-forward Control
    • 5.2.3 Using Proportional Control
    • 5.2.4 Setting Speed Bias
    • 5.2.5 Using Mode Switch
    • 5.2.6 Speed Feedback Compensation
  • 5.3 Autotuning
    • 5.3.1 Online Autotuning
    • 5.3.2 Machine Rigidity Settings for Online Autotuning
    • 5.3.3 Saving Results of Online Autotuning
    • 5.3.4 Parameters Related to Online Autotuning
  • 5.4 Servo Gain Adjustments
    • 5.4.1 Servo Gain Parameters
    • 5.4.2 Basic Rules of Gain Adjustment
    • 5.4.3 Making Manual Adjustments
    • 5.4.4 Gain Setting Reference Values
  • 5.5 Analog Monitor
• 6 Using the Digital Operator
  • 6.1 Basic Operation
    • 6.1.1 Connecting the Digital Operator
    • 6.1.2 Functions
    • 6.1.3 Resetting Servo Alarms
    • 6.1.4 Basic Mode Selection
    • 6.1.5 Status Display Mode
    • 6.1.6 Operation in Parameter Setting Mode
    • 6.1.7 Operation in Monitor Mode
  • 6.2 Applied Operation
    • 6.2.1 Operation in Alarm Traceback Mode
    • 6.2.2 Controlling Operation Through the Digital Operator
    • 6.2.3 Automatic Adjustment of the Speed and Torque Reference Offset
    • 6.2.4 Manual Adjustment of the Speed and Torque Reference Offset
    • 6.2.5 Clearing Alarm Traceback Data
    • 6.2.6 Checking the Motor Model
    • 6.2.7 Checking the Software Version
    • 6.2.8 Zero-point Search Mode
    • 6.2.9 Initializing Parameter Settings
    • 6.2.10 Manual Zero Adjustment and Gain Adjustment of Analog Monitor Output
    • 6.2.11 Adjusting the Motor Current Detection Offset
    • 6.2.12 Password Setting (Write Prohibited Setting)
    • 6.2.13 Clearing Option Unit Detection Results
• 7 Servo Selection and Data Sheets
  • 7.1 Selecting a Sigma-II Series Servodrives
    • 7.1.1 Selecting Servomotors
    • 7.1.2 Selecting SERVOPACKs
  • 7.2 Servomotor Ratings and Specifications
    • 7.2.1 Ratings and Specifications
    • 7.2.2 Mechanical Characteristics
  • 7.3 SERVOPACK Ratings and Specifications
    • 7.3.1 Combined Specifications
    • 7.3.2 Ratings and Specifications
    • 7.3.3 Overload Characteristics
    • 7.3.4 Starting and Stopping Time
    • 7.3.5 Load Moment of Inertia
    • 7.3.6 Overhanging Load
  • 7.4 Servodrive Dimensional Drawings
    • 7.4.1 Servomotors
    • 7.4.2 SERVOPACKs
  • 7.5 Specifications and Dimensional Drawings for Peripheral Devices
    • 7.5.1 Cable Specifications and Peripheral Devices
    • 7.5.2 Digital Operator
    • 7.5.3 CN1 Connector
    • 7.5.4 Connector Terminal Block Converter Unit
    • 7.5.5 Cable With CN1 Connector and One End Without Connector
    • 7.5.6 CN2 Encoder Connector at SERVOPACK
    • 7.5.7 Encoder Cables
    • 7.5.8 Absolute Encoder Battery
    • 7.5.9 Brake Power Supplies
    • 7.5.10 Molded-case Circuit Breaker (MCCB)
    • 7.5.11 Noise Filter
    • 7.5.12 Surge Suppressor
    • 7.5.13 Regenerative Resistor Unit
    • 7.5.14 Dynamic Brake (DB) Unit
    • 7.5.15 Thermal Relays
    • 7.5.16 Variable Resistor for Speed Setting
    • 7.5.17 Encoder Signal Converter Unit
    • 7.5.18 Cables for Connecting PCs to a SERVOPACK
• 8 Inspection, Maintenance, and Troubleshooting
  • 8.1 Servodrive Inspection and Maintenance
    • 8.1.1 Servomotor Inspection
    • 8.1.2 SERVOPACK Inspection
    • 8.1.3 Replacing Battery for Absolute Encoder
  • 8.2 Troubleshooting
    • 8.2.1 Troubleshooting Problems with Alarm Displays
    • 8.2.2 Troubleshooting Problems with No Alarm Display
    • 8.2.3 Alarm Display Table
    • 8.2.4 Warning Displays
    • 8.2.5 Internal Connection Diagram and Instrument Connection Examples
• Appendix A List of Parameters
  • A.1 Parameters
  • A.2 Switches
  • A.3 Input Signal Selections
  • A.4 Output Signal Selections
  • A.5 Auxiliary Functions
  • A.6 Monitor Modes
• INDEX
  • Symbols
  • Numerics
  • A
  • B
  • C
  • D
  • E
  • F
  • G
  • H
  • I
  • J
  • L
  • M
  • N
  • O
  • P
  • R
  • S
  • T
  • U
  • V
  • W
  • Z
• Back Cover