Document Outline

• Front Cover
• About this Manual
• Safety Information
• Notes for Safe Operation
• CONTENTS
• 1 Outline
  • 1.1 Checking Products
    • 1.1.1 Check Items
    • 1.1.2 Servomotors
    • 1.1.3 SERVOPACKs
  • 1.2 Examples of Servo System Configurations
    • 1.2.1 Three-phase, 200 V Series
    • 1.2.2 Three-phase, 400 V Series
  • 1.3 Applicable Standards
    • 1.3.1 North American Safety Standards (UL)
    • 1.3.2 CE Marking
• 2 Selections
  • 2.1 Servomotor Model Designations
  • 2.2 SERVOPACK Model Designations
  • 2.3 Sigma-II Series SERVOPACKs and Applicable Servomotor
  • 2.4 Selecting Cables
    • 2.4.1 Cables for SGMVH Servomotor
  • 2.5 Selecting Peripheral Devices
    • 2.5.1 Special Options
    • 2.5.2 Molded-case Circuit Breaker and Fuse Capacity
    • 2.5.3 Noise Filters, Magnetic Contactors, and Brake Power Supply Units
    • 2.5.4 Regenerative Resistor Units
    • 2.5.5 Dynamic Brake (DB) Units
    • 2.5.6 Thermal Relays
• 3 Servomotor Specifications and Dimensional Drawings
  • 3.1 Ratings and Specifications of SGMVH (1500 min-1)
  • 3.2 Ratings and Specifications of SGMVH (800 min-1)
  • 3.3 Mechanical Specifications of Servomotors
    • 3.3.1 Precautions on Servomotor Installation
    • 3.3.2 Allowable Radial and Thrust Loads
    • 3.3.3 Mechanical Tolerance
    • 3.3.4 Direction of Servomotor Rotation
    • 3.3.5 Impact Resistance
    • 3.3.6 Vibration Resistance
    • 3.3.7 Vibration Class
  • 3.4 Dimensional Drawings of SGMVH Servomotors (1500 min-1)
  • 3.5 Dimensional Drawings of SGMVH Servomotors (800 min-1)
• 4 SERVOPACK Specifications and Dimensional Drawings
  • 4.1 SERVOPACK Ratings and Specifications
    • 4.1.1 Three-phase 200 V
    • 4.1.2 Three-phase 400 V
    • 4.1.3 SERVOPACK Ratings and Specifications
  • 4.2 SERVOPACK Installation
  • 4.3 SERVOPACK Internal Block Diagrams
    • 4.3.1 Three-phase 200 V, 22 kW, 30 kW Models
    • 4.3.2 Three-phase 200 V, 37 kW Model
    • 4.3.3 Three-phase 400 V, 22 kW, 30 kW Models
    • 4.3.4 Three-phase 400 V, 37 kW Model
    • 4.3.5 Three-phase 400 V, 45 kW, 55 kW Models
    • 4.3.6 Three-phase 400 V, 90 kW Model
  • 4.4 SERVOPACK’s Power Supply Capacities and Power Losses
  • 4.5 SERVOPACK Overload Characteristics and Allowable Load Moment of Inertia
    • 4.5.1 Overload Characteristics
    • 4.5.2 Starting and Stopping Time
    • 4.5.3 Load Moment of Inertia
  • 4.6 SERVOPACK Dimensional Drawings
    • 4.6.1 Three-phase 200 V, 22 kW, 30 kW Models
    • 4.6.2 Three-phase 200 V, 37 kW Model
    • 4.6.3 Three-phase 400 V, 22 kW Model
    • 4.6.4 Three-phase 400 V, 30 kW Model
    • 4.6.5 Three-phase 400 V, 37 kW Model
    • 4.6.6 Three-phase 400 V, 45 kW, 55 kW Models
    • 4.6.7 Three-phase 400 V, 90 kW Model
• 5 Specifications and Dimensional Drawings of Cables and Peripheral Devices
  • 5.1 SERVOPACK Main Circuit Wire Size
    • 5.1.1 Wiring Cables to Main Circuit Terminals
    • 5.1.2 Three-phase 200 V
    • 5.1.3 Three-phase 400 V
  • 5.2 Encoder Cables for CN2 Connector
    • 5.2.1 Encoder Cable with Connectors on Both Ends
    • 5.2.2 Cable with Loose Wire at Encoder End
  • 5.3 Connectors and Cables for Encoder Signals
  • 5.4 I/O Signal Cables for CN1 Connector
    • 5.4.1 Standard Cables
    • 5.4.2 Connector Type and Cable Size
    • 5.4.3 Connection Diagram
  • 5.5 Peripheral Devices
    • 5.5.1 Cables for Connecting Personal Computers
    • 5.5.2 Digital Operator
    • 5.5.3 Cables for Analog Monitor
    • 5.5.4 Connector Terminal Block Converter Unit
    • 5.5.5 Brake Power Supply Unit
    • 5.5.6 Absolute Encoder Battery
    • 5.5.7 Molded-case Circuit Breaker (MCCB)
    • 5.5.8 Noise Filter
    • 5.5.9 Surge Absorber
    • 5.5.10 Regenerative Resistor Unit
    • 5.5.11 Dynamic Brake (DB) Unit
    • 5.5.12 Thermal Relays
    • 5.5.13 Variable Resistor for Speed and Torque Setting
    • 5.5.14 Encoder Signal Converter Unit
    • 5.5.15 MECHATROLINK Application Module
    • 5.5.16 DeviceNet Application Module
    • 5.5.17 PROFIBUS-DP Application Module
    • 5.5.18 Fully-closed Application Module
• 6 Wiring
  • 6.1 Wiring Main Circuit
    • 6.1.1 Names and Functions of Main Circuit Terminals
    • 6.1.2 Typical Main Circuit Wiring Examples
  • 6.2 Wiring Encoders
    • 6.2.1 Connecting an Encoder (CN2) and Output Signals from the SERVOPACK (CN1)
    • 6.2.2 Encoder Connector (CN2) Terminal Layout
  • 6.3 I/O Signal Connections
    • 6.3.1 Example of I/O Signal Connection
    • 6.3.2 I/O Signal Connector (CN1) Terminal Layout
    • 6.3.3 I/O Signal (CN1) Names and Functions
    • 6.3.4 Interface Circuit
  • 6.4 Others
    • 6.4.1 Wiring Precautions
    • 6.4.2 Wiring for Noise Control
    • 6.4.3 Using More Than One SERVOPACK
    • 6.4.4 Extending Encoder Cables
• 7 Digital Operator/Panel Operator
  • 7.1 Functions on Digital Operator/Panel Operator
    • 7.1.1 Connecting the Digital Operator
    • 7.1.2 Key Names and Functions
    • 7.1.3 Basic Mode Selection and Operation
    • 7.1.4 Status Display
  • 7.2 Operation in Utility Function Mode (Fn***)
    • 7.2.1 List of Utility Function Modes
    • 7.2.2 Alarm Traceback Data Display (Fn000)
    • 7.2.3 Zero-point Search Mode (Fn003)
    • 7.2.4 Parameter Settings Initialization (Fn005)
    • 7.2.5 Alarm Traceback Data Clear (Fn006)
    • 7.2.6 Manual Zero Adjustment and Gain Adjustment of Analog Monitor Output (Fn00C, Fn00D)
    • 7.2.7 Offset Adjustment of Motor Current Detection Signal (Fn00E, Fn00F)
    • 7.2.8 Password Setting (Protects Parameters from Being Changed) (Fn010)
    • 7.2.9 Motor Models Display (Fn011)
    • 7.2.10 Software Version Display (Fn012)
    • 7.2.11 Application Module Detection Results Clear (Fn014)
  • 7.3 Operation in Parameter Setting Mode (Pn***)
    • 7.3.1 Setting Parameters
    • 7.3.2 Input Circuit Signal Allocation
    • 7.3.3 Output Circuit Signal Allocation
  • 7.4 Operation in Monitor Mode (Un***)
    • 7.4.1 List of Monitor Modes
• 8 Operation
  • 8.1 Trial Operation
    • 8.1.1 Trial Operation for Servomotor without Load
    • 8.1.2 Trial Operation for Servomotor without Load from Host Reference
    • 8.1.3 Trial Operation with the Servomotor Connected to the Machine
    • 8.1.4 Servomotor with Brakes
    • 8.1.5 Position Control by Host Controller
  • 8.2 Control Mode Selection
  • 8.3 Setting Common Basic Functions
    • 8.3.1 Setting the Servo ON Signal
    • 8.3.2 Switching the Servomotor Rotation Direction
    • 8.3.3 Setting the Overtravel Limit Function
    • 8.3.4 Setting for Holding Brakes
    • 8.3.5 Selecting the Stopping Method After Servo OFF
    • 8.3.6 Instantaneous Power Loss Settings
  • 8.4 Absolute Encoders
    • 8.4.1 Interface Circuits
    • 8.4.2 Selecting an Absolute Encoder
    • 8.4.3 Handling Batteries
    • 8.4.4 Replacing Batteries
    • 8.4.5 Absolute Encoder Setup (Fn008)
    • 8.4.6 Absolute Encoder Reception Sequence
    • 8.4.7 Multiturn Limit Setting
    • 8.4.8 Multiturn Limit Setting When Multiturn Limit Disagreement (A.CC) Occurred
  • 8.5 Operating Using Speed Control with Analog Reference
    • 8.5.1 Setting Parameters
    • 8.5.2 Setting Input Signals
    • 8.5.3 Adjusting Offset
    • 8.5.4 Soft Start
    • 8.5.5 Speed Reference Filter
    • 8.5.6 Using the Zero Clamp Function
    • 8.5.7 Encoder Signal Output
    • 8.5.8 Speed Coincidence Output
  • 8.6 Operating Using Position Control
    • 8.6.1 Setting Parameters
    • 8.6.2 Setting the Electronic Gear
    • 8.6.3 Position Reference
    • 8.6.4 Smoothing
    • 8.6.5 Positioning Completed Output Signal
    • 8.6.6 Positioning Near Signal
    • 8.6.7 Reference Pulse Inhibit Function (INHIBIT)
    • 8.6.8 Reference Pulse Input Multiplication Switching Function
  • 8.7 Operating Using Torque Control
    • 8.7.1 Setting Parameters
    • 8.7.2 Torque Reference Input
    • 8.7.3 Adjusting the Reference Offset
    • 8.7.4 Limiting Servomotor Speed during Torque Control
  • 8.8 Operating Using Speed Control with an Internally Set Speed
    • 8.8.1 Setting Parameters
    • 8.8.2 Input Signal Settings
    • 8.8.3 Operating Using an Internally Set Speed
  • 8.9 Limiting Torque
    • 8.9.1 Internal Torque Limit (Limiting Maximum Output Torque)
    • 8.9.2 External Torque Limit (Output Torque Limiting by Input Signals)
    • 8.9.3 Torque Limiting Using an Analog Voltage Reference
    • 8.9.4 Torque Limiting Using an External Torque Limit and Analog Voltage Reference
    • 8.9.5 Checking Output Torque Limiting during Operation
  • 8.10 Control Mode Selection
    • 8.10.1 Setting Parameters
    • 8.10.2 Switching the Control Mode
  • 8.11 Other Output Signals
    • 8.11.1 Servo Alarm Output (ALM) and Alarm Code Output (ALO1, ALO2, ALO3)
    • 8.11.2 Warning Output (/WARN)
    • 8.11.3 Servomotor running Output Signal (/TGON)
    • 8.11.4 Servo Ready (/S-RDY) Output
• 9 Adjustments
  • 9.1 Autotuning
    • 9.1.1 Servo Gain Adjustment Methods
    • 9.1.2 List of Servo Adjustment Functions
  • 9.2 Online Autotuning
  • 9.3 Manual Tuning
    • 9.3.1 Explanation of Servo Gain
    • 9.3.2 Servo Gain Manual Tuning
    • 9.3.3 Position Loop Gain
    • 9.3.4 Speed Loop Gain
    • 9.3.5 Speed Loop Integral Time Constant
  • 9.4 Servo Gain Adjustment Functions
    • 9.4.1 Feed-forward Reference
    • 9.4.2 Torque Feed-forward
    • 9.4.3 Speed Feed-forward
    • 9.4.4 Proportional Control Operation (Proportional Operation Reference)
    • 9.4.5 Using the Mode Switch (P/PI Switching)
    • 9.4.6 Setting the Speed Bias
    • 9.4.7 Speed Feedback Filter
    • 9.4.8 Speed Feedback Compensation
    • 9.4.9 Switching Gain Settings
    • 9.4.10 Torque Reference Filter
  • 9.5 Analog Monitor
• 10 Inspection, Maintenance, and Troubleshooting
  • 10.1 Troubleshooting
    • 10.1.1 Alarm Display Table
    • 10.1.2 Warning Display
    • 10.1.3 Alarm Display Table when the Application Module is Used
    • 10.1.4 Warning Display Table when the Application Module is Used
    • 10.1.5 Troubleshooting of Alarm and Warning
    • 10.1.6 Troubleshooting for Malfunction without Alarm Display
  • 10.2 Inspection and Maintenance
    • 10.2.1 Servomotor Inspection
    • 10.2.2 SERVOPACK Inspection
    • 10.2.3 SERVOPACK’s Parts Replacement Schedule
• 11 Appendix
  • 11.1 Servomotor Capacity Selection Examples
    • 11.1.1 Selection Example for Speed Control
    • 11.1.2 Selection Example for Position Control
  • 11.2 Connection to Host Controller
    • 11.2.1 Example of Connection to MP2200/MP2300 Motion Module SVA-01
    • 11.2.2 Example of Connection to MP920 4-axes Analog Module SVA-01
    • 11.2.3 Example of Connection to OMRON’s Motion Control Unit
    • 11.2.4 Example of Connection to OMRON’s Position Control Unit
    • 11.2.5 Example of Connection to MITSUBISHI’s AD72 Positioning Unit (SERVOPACK in Speed Control Mode)
    • 11.2.6 Example of Connection to MITSUBISHI’s AD75 Positioning Unit (SERVOPACK in Position Control Mode)
  • 11.3 List of Parameters
    • 11.3.1 Utility Functions List
    • 11.3.2 List of Parameters
  • 11.4 Parameter Recording Table
• INDEX
  • A
  • B
  • C
  • D
  • E
  • F
  • G
  • H
  • I
  • J
  • L
  • M
  • N
  • O
  • P
  • Q
  • R
  • S
  • T
  • U
  • V
  • W
  • Z
• Revision History
• Back Cover