Document Outline

• Front Cover
• About this Manual
• Safety Precautions
• Warranty
• Harmonized Standards
• Contents
• 1 Outline
  • 1.1 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 MECHATROLINK-III Function Specifications
  • 1.4 SERVOPACK Internal Block Diagrams
    • 1.4.1 Single-phase 100 V, SGDV-R70F21A, -R90F21A, -2R1F21A Models
    • 1.4.2 Single-phase 100 V, SGDV-2R8F21A Model
    • 1.4.3 Single-phase 200 V, SGDV-120A21A008000 Model
    • 1.4.4 Three-phase 200 V, SGDV-R70A21*, -R90A21*, -1R6A21* Models
    • 1.4.5 Three-phase 200 V, SGDV-2R8A21* Model
    • 1.4.6 Three-phase 200 V, SGDV-3R8A21A, -5R5A21A, -7R6A21A Models
    • 1.4.7 Three-phase 200 V, SGDV-120A21A Model
    • 1.4.8 Three-phase 200 V, SGDV-180A21A, -200A21A Models
    • 1.4.9 Three-phase 200 V, SGDV-330A21A Model
    • 1.4.10 Three-phase 200 V, SGDV-470A21A, -550A21A Models
    • 1.4.11 Three-phase 200 V SGDV-590A21A, -780A21A Models
    • 1.4.12 Three-phase 400 V, SGDV-1R9D21A, -3R5D21A, -5R4D21A Models
    • 1.4.13 Three-phase 400 V, SGDV-8R4D21A, -120D21A Models
    • 1.4.14 Three-phase 400 V, SGDV-170D21A Model
    • 1.4.15 Three-phase 400 V, SGDV-210D21A, -260D21A Models
    • 1.4.16 Three-phase 400 V, SGDV-280D21A, -370D21A Models
  • 1.5 Examples of Servo System Configurations
    • 1.5.1 Connecting to SGDV-***F21A SERVOPACK
    • 1.5.2 Connecting to SGDV-***A21* SERVOPACK
    • 1.5.3 Connecting to SGDV-***D21A SERVOPACK
  • 1.6 SERVOPACK Model Designation
  • 1.7 Inspection and Maintenance
• 2 Panel Display and Operation of Digital Operator
  • 2.1 Panel Display
    • 2.1.1 Status Display
    • 2.1.2 Alarm and Warning Display
    • 2.1.3 Hard Wire Base Block Display
    • 2.1.4 Overtravel Display
  • 2.2 Operation of Digital Operator
  • 2.3 Utility Functions (Fn***)
  • 2.4 Parameters (Pn***)
    • 2.4.1 Parameter Classification
    • 2.4.2 Notation for Parameters
    • 2.4.3 Setting Parameters
  • 2.5 Monitor Displays (Un***)
• 3 Wiring and Connection
  • 3.1 Main Circuit Wiring
    • 3.1.1 Main Circuit Terminals
    • 3.1.2 Using a Standard Power Supply (Single-phase 100 V, Three-phase 200 V, or Three-phase 400 V)
    • 3.1.3 Using the SERVOPACK with Single-phase, 200 V Power Input
    • 3.1.4 Using the SERVOPACK with a DC Power Input
    • 3.1.5 Using More Than One SERVOPACK
    • 3.1.6 General Precautions for Wiring
  • 3.2 I/O Signal Connections
    • 3.2.1 I/O Signal (CN1) Names and Functions
    • 3.2.2 Safety Function Signal (CN8) Names and Functions
    • 3.2.3 Example of I/O Signal Connections
  • 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 Sequence Input Circuit
    • 3.4.2 Sequence Output Circuit
  • 3.5 Wiring MECHATROLINK-III Communications
  • 3.6 Encoder Connection
    • 3.6.1 Encoder Signal (CN2) Names and Functions
    • 3.6.2 Encoder Connection Examples
  • 3.7 Connecting Regenerative Resistors
    • 3.7.1 Connecting Regenerative Resistors
    • 3.7.2 Setting Regenerative Resistor Capacity
  • 3.8 Noise Control and Measures for Harmonic Suppression
    • 3.8.1 Wiring for Noise Control
    • 3.8.2 Precautions on Connecting Noise Filter
    • 3.8.3 Connecting a Reactor for Harmonic Suppression
• 4 Operation
  • 4.1 MECHATROLINK-III Communications Settings
    • 4.1.1 Setting Switches S1, S2, and S3
  • 4.2 MECHATROLINK-III Commands
  • 4.3 Basic Functions Settings
    • 4.3.1 Servomotor Rotation Direction
    • 4.3.2 Overtravel
    • 4.3.3 Software Limit Settings
    • 4.3.4 Holding Brakes
    • 4.3.5 Stopping Servomotors after SV_OFF Command or Alarm Occurrence
    • 4.3.6 Instantaneous Power Interruption Settings
    • 4.3.7 SEMI F47 Function (Torque Limit Function for Low DC Power Supply Voltage for Main Circuit)
    • 4.3.8 Setting Motor Overload Detection Level
  • 4.4 Trial Operation
    • 4.4.1 Inspection and Checking before Trial Operation
    • 4.4.2 Trial Operation via MECHATROLINK-III
    • 4.4.3 Electronic Gear
    • 4.4.4 Encoder Output Pulses
    • 4.4.5 Setting Encoder Output Pulse
  • 4.5 Test Without Motor Function
    • 4.5.1 Motor Information
    • 4.5.2 Motor Position and Speed Responses
    • 4.5.3 Limitations
    • 4.5.4 Digital Operator Displays during Testing without Motor
  • 4.6 Limiting Torque
    • 4.6.1 Internal Torque Limit
    • 4.6.2 External Torque Limit
    • 4.6.3 Checking Output Torque Limiting during Operation
  • 4.7 Absolute Encoders
    • 4.7.1 Connecting the Absolute Encoder
    • 4.7.2 Absolute Data Request (SENS ON Command)
    • 4.7.3 Battery Replacement
    • 4.7.4 Absolute Encoder Setup and Reinitialization
    • 4.7.5 Absolute Data Reception Sequence
    • 4.7.6 Multiturn Limit Setting
    • 4.7.7 Multiturn Limit Disagreement Alarm (A.CC0)
    • 4.7.8 Absolute Encoder Origin Offset
  • 4.8 Other Output Signals
    • 4.8.1 Servo Alarm Output Signal (ALM)
    • 4.8.2 Warning Output Signal (/WARN)
    • 4.8.3 Rotation Detection Output Signal (/TGON)
    • 4.8.4 Servo Ready Output Signal (/S-RDY)
    • 4.8.5 Speed Coincidence Output Signal (/V-CMP)
    • 4.8.6 Positioning Completed Output Signal (/COIN)
    • 4.8.7 Positioning Near Output Signal (/NEAR)
    • 4.8.8 Speed Limit Detection Signal (/VLT)
  • 4.9 Safety Function
    • 4.9.1 Hard Wire Base Block (HWBB) Function
    • 4.9.2 External Device Monitor (EDM1)
    • 4.9.3 Application Example of Safety Functions
    • 4.9.4 Confirming Safety Functions
    • 4.9.5 Connecting a Safety Function Device
    • 4.9.6 Precautions for Safety Functions
• 5 Adjustments
  • 5.1 Type of Adjustments and Basic Adjustment Procedure
    • 5.1.1 Adjustments
    • 5.1.2 Basic Adjustment Procedure
    • 5.1.3 Monitoring Operation during Adjustment
    • 5.1.4 Safety Precautions on Adjustment of Servo Gains
  • 5.2 Tuning-less Function
    • 5.2.1 Tuning-less Function
    • 5.2.2 Tuning-less Levels Setting (Fn200) Procedure
    • 5.2.3 Related Parameters
  • 5.3 Advanced Autotuning (Fn201)
    • 5.3.1 Advanced Autotuning
    • 5.3.2 Advanced Autotuning Procedure
    • 5.3.3 Related Parameters
  • 5.4 Advanced Autotuning by Reference (Fn202)
    • 5.4.1 Advanced Autotuning by Reference
    • 5.4.2 Advanced Autotuning by Reference Procedure
    • 5.4.3 Related Parameters
  • 5.5 One-parameter Tuning (Fn203)
    • 5.5.1 One-parameter Tuning
    • 5.5.2 One-parameter Tuning Procedure
    • 5.5.3 One-parameter Tuning Example
    • 5.5.4 Related Parameters
  • 5.6 Anti-Resonance Control Adjustment Function (Fn204)
    • 5.6.1 Anti-Resonance Control Adjustment Function
    • 5.6.2 Anti-Resonance Control Adjustment Function Operating Procedure
    • 5.6.3 Related Parameters
  • 5.7 Vibration Suppression Function (Fn205)
    • 5.7.1 Vibration Suppression Function
    • 5.7.2 Vibration Suppression Function Operating Procedure
    • 5.7.3 Related Parameters
  • 5.8 Additional Adjustment Function
    • 5.8.1 Switching Gain Settings
    • 5.8.2 Manual Adjustment of Friction Compensation
    • 5.8.3 Current Control Mode Selection Function
    • 5.8.4 Current Gain Level Setting
    • 5.8.5 Speed Detection Method Selection
    • 5.8.6 Backlash Compensation Function
  • 5.9 Compatible Adjustment Function
    • 5.9.1 Feedforward Reference
    • 5.9.2 Mode Switch (P/PI Switching)
    • 5.9.3 Torque Reference Filter
    • 5.9.4 Position Integral
• 6 Utility Functions (Fn***)
  • 6.1 List of Utility Functions
  • 6.2 Alarm History Display (Fn000)
  • 6.3 JOG Operation (Fn002)
  • 6.4 Origin Search (Fn003)
  • 6.5 Program JOG Operation (Fn004)
  • 6.6 Initializing Parameter Settings (Fn005)
  • 6.7 Clearing Alarm History (Fn006)
  • 6.8 Offset Adjustment of Analog Monitor Output (Fn00C)
  • 6.9 Gain Adjustment of Analog Monitor Output (Fn00D)
  • 6.10 Automatic Offset-Signal Adjustment of the Motor Current Detection Signal (Fn00E)
  • 6.11 Manual Offset-Signal Adjustment of the Motor Current Detection Signal (Fn00F)
  • 6.12 Write Prohibited Setting (Fn010)
  • 6.13 Servomotor Model Display (Fn011)
  • 6.14 Software Version Display (Fn012)
  • 6.15 Resetting Configuration Errors in Option Modules (Fn014)
  • 6.16 Vibration Detection Level Initialization (Fn01B)
  • 6.17 Display of SERVOPACK and Servomotor ID (Fn01E)
  • 6.18 Display of Servomotor ID in Feedback Option Module (Fn01F)
  • 6.19 Origin Setting (Fn020)
  • 6.20 Software Reset (Fn030)
  • 6.21 EasyFFT (Fn206)
  • 6.22 Online Vibration Monitor (Fn207)
• 7 Monitor Displays (Un***)
  • 7.1 List of Monitor Displays
  • 7.2 Viewing Monitor Displays
  • 7.3 Monitoring Input Signals
    • 7.3.1 Interpreting Input Signal Display Status
    • 7.3.2 Input Signal Display Example
  • 7.4 Monitoring Output Signals
    • 7.4.1 Interpreting Output Signal Display Status
    • 7.4.2 Output Signal Display Example
  • 7.5 Monitoring Safety Input Signals
    • 7.5.1 Interpreting Safety Input Signal Display Status
    • 7.5.2 Safety Input Signal Display Example
• 8 Fully-closed Loop Control
  • 8.1 System Configuration and Connection Example for SERVOPACK with Fully-closed Loop Control
    • 8.1.1 System Configuration
    • 8.1.2 Internal Block Diagram of Fully-closed Loop Control
    • 8.1.3 Serial Converter Unit
    • 8.1.4 Example of Connections to External Encoders
    • 8.1.5 Encoder Output Pulse Signals from SERVOPACK with an External Encoder by Renishaw plc
    • 8.1.6 Precautions When Using an External Incremental Encoder by Magnescale
  • 8.2 SERVOPACK Startup Procedure
  • 8.3 Parameter Settings for Fully-closed Loop Control
    • 8.3.1 Motor Rotation Direction
    • 8.3.2 Sine Wave Pitch (Frequency) for an External Encoder
    • 8.3.3 Setting Encoder Output Pulses (PAO, PBO, and PCO)
    • 8.3.4 External Absolute Encoder Data Reception Sequence
    • 8.3.5 Electronic Gear
    • 8.3.6 Alarm Detection
    • 8.3.7 Analog Monitor Signal
    • 8.3.8 Speed Feedback Method during Fully-closed Loop Control
• 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 Monitoring Communication Data on Occurrence of an Alarm or Warning
  • 9.4 Troubleshooting Malfunction Based on Operation and Conditions of the Servomotor
• 10 Appendix
  • 10.1 List of Parameters
    • 10.1.1 Utility Functions
    • 10.1.2 Parameters
    • 10.1.3 MECHATROLINK-III Common Parameters
  • 10.2 List of Monitor Displays
  • 10.3 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