Document Outline

• Front Cover
• About this Manual
• Safety Precautions
• Warranty
• Harmonized Standards
• Contents
• 1 Outline
  • 1.1 Sigma-V Large-Capacity SERVOPACKs and Converters
  • 1.2 SERVOPACK Part Names
  • 1.3 Converter Part Names
  • 1.4 Ratings and Specifications
    • 1.4.1 Ratings
    • 1.4.2 Basic Specifications
    • 1.4.3 Speed/Position/Torque Control
  • 1.5 SERVOPACK and Converter Internal Block Diagrams
    • 1.5.1 Three-phase 200 V
    • 1.5.2 Three-phase 400 V
  • 1.6 Examples of Servo System Configurations
  • 1.7 SERVOPACK Model Designation
  • 1.8 Converter Model Designation
  • 1.9 Combinations of Servomotors, SERVOPACKs, and Converters
  • 1.10 Inspection and Maintenance
• 2 Panel Operator
  • 2.1 Overview
    • 2.1.1 Names and Functions
    • 2.1.2 Display Selection
    • 2.1.3 Status Display
  • 2.2 Utility Functions (Fn***)
  • 2.3 Parameters (Pn***)
    • 2.3.1 Parameter Classification
    • 2.3.2 Notation for Parameters
    • 2.3.3 Setting Parameters
  • 2.4 Monitor Displays (Un***)
• 3 Wiring and Connection
  • 3.1 Main Circuit Wiring
    • 3.1.1 Main Circuit Terminals
    • 3.1.2 Main Circuit Wire
    • 3.1.3 Typical Main Circuit Wiring Examples
    • 3.1.4 General Precautions for Wiring
    • 3.1.5 Discharging Time of the Main Circuit’s Capacitor
  • 3.2 Connecting the Converter to the SERVOPACK
    • 3.2.1 Connecting the Connectors
    • 3.2.2 Interconnecting Terminals
  • 3.3 I/O Signal Connections
    • 3.3.1 I/O Signal (CN1) Names and Functions
    • 3.3.2 Safety Function Signal (CN8) Names and Functions
    • 3.3.3 Example of I/O Signal Connections in Speed Control
    • 3.3.4 Example of I/O Signal Connections in Position Control
    • 3.3.5 Example of I/O Signal Connections in Torque Control
  • 3.4 I/O Signal Allocations
    • 3.4.1 Input Signal Allocations
    • 3.4.2 Output Signal Allocations
  • 3.5 Examples of Connection to Host Controller
    • 3.5.1 Reference Input Circuit
    • 3.5.2 Sequence Input Circuit
    • 3.5.3 Sequence Output Circuit
  • 3.6 Encoder Connection
    • 3.6.1 Encoder Signal (CN2) Names and Functions
    • 3.6.2 Encoder Connection Examples
  • 3.7 Selecting and Connecting a Regenerative Resistor Unit
    • 3.7.1 Selecting a Regenerative Resistor Unit
    • 3.7.2 Connecting a Regenerative Resistor Unit
    • 3.7.3 Setting Regenerative Resistor Capacity
    • 3.7.4 Installation Standards
  • 3.8 Selecting and Connecting a Dynamic Brake Unit
    • 3.8.1 Selection
    • 3.8.2 Selecting the Cable for the Dynamic Brake Unit
    • 3.8.3 Setting the Dynamic Brake Unit
    • 3.8.4 Setting the Dynamic Brake Answer Function
    • 3.8.5 Installation Standards
    • 3.8.6 Connections
  • 3.9 Noise Control and Measures for Harmonic Suppression
    • 3.9.1 Wiring for Noise Control
    • 3.9.2 Precautions on Connecting Noise Filter
    • 3.9.3 Connecting a Reactor for Harmonic Suppression
• 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
    • 4.3.3 Trial Operation under Position Control from the Host Controller with the SERVOPACK Used for Speed Control
    • 4.3.4 Trial Operation in Position Control
  • 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 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 Instantaneous Power Interruption Settings
    • 5.2.7 SEMI F47 Function (Torque Limit Function for Low DC Power Supply Voltage for Main Circuit)
    • 5.2.8 Setting Motor Overload Detection Level
  • 5.3 Speed Control
    • 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
    • 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
    • 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 = 7, 8 or 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 and Reinitialization
    • 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) and Alarm Code Output Signals (ALO1, ALO2, and ALO3)
    • 5.10.2 Warning Output Signal (/WARN)
    • 5.10.3 Rotation Detection Output Signal (/TGON)
    • 5.10.4 Servo Ready Output Signal (/S-RDY)
  • 5.11 Safety Function
    • 5.11.1 Hard Wire Base Block (HWBB) Function
    • 5.11.2 External Device Monitor (EDM1)
    • 5.11.3 Application Example of Safety Functions
    • 5.11.4 Confirming Safety Functions
    • 5.11.5 Precautions for Safety Functions
• 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)
    • 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
    • 6.8.6 Position Integral
  • 6.9 Compatible Adjustment Function
    • 6.9.1 Feedforward Reference
    • 6.9.2 Torque Feedforward
    • 6.9.3 Speed Feedforward
    • 6.9.4 Proportional Control
    • 6.9.5 Mode Switch (P/PI Switching)
    • 6.9.6 Torque Reference Filter
• 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 Resetting Configuration Errors in Option Modules (Fn014)
  • 7.16 Vibration Detection Level Initialization (Fn01B)
  • 7.17 Display of SERVOPACK and Servomotor ID (Fn01E)
  • 7.18 Display of Servomotor ID in Feedback Option Module (Fn01F)
  • 7.19 Origin Setting (Fn020)
  • 7.20 Software Reset (Fn030)
  • 7.21 EasyFFT (Fn206)
  • 7.22 Online Vibration Monitor (Fn207)
• 8 Monitor Displays (Un***)
  • 8.1 List of Monitor Displays
  • 8.2 Viewing Monitor Displays
  • 8.3 Reading 32-bit Data in Decimal Displays
  • 8.4 Monitoring Input Signals
    • 8.4.1 Displaying Input Signal Status
    • 8.4.2 Interpreting Input Signal Display Status
    • 8.4.3 Input Signal Display Example
  • 8.5 Monitoring Output Signals
    • 8.5.1 Displaying Output Signal Status
    • 8.5.2 Interpreting Output Signal Display Status
    • 8.5.3 Output Signal Display Example
  • 8.6 Monitoring Safety Input Signals
    • 8.6.1 Displaying Safety Input Signals
    • 8.6.2 Interpreting Safety Input Signal Display Status
    • 8.6.3 Safety Input Signal Display Example
  • 8.7 Monitor Display at Power ON
• 9 Fully-closed Loop Control
  • 9.1 System Configuration and Connection Example for SERVOPACK with Fully-closed Loop Control
    • 9.1.1 System Configuration
    • 9.1.2 Internal Block Diagram of Fully-closed Loop Control
    • 9.1.3 Serial Converter Unit
    • 9.1.4 Example of Connections to External Encoders
    • 9.1.5 Encoder Output Pulse Signals from SERVOPACK with an External Encoder by Renishaw plc
    • 9.1.6 Precautions When Using an External Incremental Encoder by Magnescale
  • 9.2 SERVOPACK and Converter Startup Procedure
  • 9.3 Parameter Settings for Fully-closed Loop Control
    • 9.3.1 Motor Rotation Direction
    • 9.3.2 Sine Wave Pitch (Frequency) for an External Encoder
    • 9.3.3 Setting Encoder Output Pulses (PAO, PBO, and PCO)
    • 9.3.4 External Absolute Encoder Data Reception Sequence
    • 9.3.5 Electronic Gear
    • 9.3.6 Alarm Detection
    • 9.3.7 Analog Monitor Signal
    • 9.3.8 Speed Feedback Method during Fully-closed Loop Control
• 10 Troubleshooting
  • 10.1 Alarm Displays
    • 10.1.1 List of Alarms
    • 10.1.2 Troubleshooting of Alarms
  • 10.2 Warning Displays
    • 10.2.1 List of Warnings
    • 10.2.2 Troubleshooting of Warnings
  • 10.3 Troubleshooting Malfunction Based on Operation and Conditions of the Servomotor
• 11 Appendix
  • 11.1 Connection to Host Controller
    • 11.1.1 Connection to MP2200/MP2300 Motion Module SVA-01
    • 11.1.2 Connection to MP920 Servo Module SVA-01A
    • 11.1.3 Connection to OMRON’s Motion Control Unit
    • 11.1.4 Connection to OMRON’s Position Control Unit
    • 11.1.5 Connection to MITSUBISHI’s AD72 Positioning Module (SERVOPACK in Speed Control)
    • 11.1.6 Connection to MITSUBISHI’s AD75 Positioning Module (SERVOPACK in Position Control)
    • 11.1.7 Connection to MITSUBISHI’s QD75Do Positioning Module (SERVOPACK in Position Control)
  • 11.2 List of Parameters
    • 11.2.1 Utility Functions
    • 11.2.2 Parameters
  • 11.3 List of Monitor Displays
  • 11.4 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