Yaskawa sgdm инструкция на русском

Brand: YASKAWA
|
Category: Servo Drives
|
Size: 10.5 MB

• Table of Contents

  14

• 1 Outline

  27

  • Checking Products

    27

    • Check Items

      27

    • Servomotors

      27

    • Servopacks

      28

  • Product Part Names

    29

    • Servomotors

      29

    • Servopacks

      30

  • Examples of Servo System Configurations

    32

    • Single-Phase, 100 V and 200 V Main Circuit

      32

    • Three-Phase, 200 V Main Circuit

      33

    • Connecting to SGMCS Servomotor

      34

  • Applicable Standards

    35

    • North American Safety Standards (UL, CSA)

      35

    • CE Marking

      35

  • Σ-II Series SGDM SERVOPACK Upgraded Functions

    36

• 2 Selections

  38

  • Servomotor Model Designations

    39

    • Model SGMAH (3000 Min -1 )

      39

    • Model SGMPH (3000 Min -1 )

      41

    • Model SGMGH (1500 Min -1 )

      43

    • Model SGMGH (1000 Min -1 )

      45

    • Model SGMSH (3000 Min -1 )

      47

    • Model SGMDH (2000 Min -1 )

      49

    • Model SGMCS

      50

  • Selecting Servomotors

    51

    • Support Tool for the Capacity Selection of the AC Servomotors

      51

    • Servomotor Capacity Selection Examples

      51

  • SERVOPACK Model Designations

    52

  • Σ-II Series Servopacks and Applicable Servomotors

    53

    • SGDM Servopacks and SGM H Servomotors

      53

    • SGDM Servopacks and SGMCS Servomotors

      54

  • Selecting Cables

    55

    • Cables for SGMAH and SGMPH Servomotors

      55

    • Cables for SGMGH/SGMSH/SGMDH Servomotors

      60

    • Cables for SGMCS Servomotors

      64

  • Selecting Peripheral Devices

    67

    • Special Options

      67

    • Molded-Case Circuit Breaker and Fuse Capacity

      69

    • Noise Filters, Magnetic Conductors, Surge Suppressors and DC Reactors

      70

    • Regenerative Resistors and Brake Power Supply Units

      71

• 3 Specifications and Dimensional Drawings

  72

  • Ratings and Specifications of SGMAH

    75

    • SGMAH Servomotors Without Gears

      75

    • SGMAH Servomotors Without Gears

      77

    • SGMAH Servomotors with Standard Backlash Gears

      78

    • SGMAH Servomotors with Low-Backlash Gears

      80

    • SGMAH Servomotors with Low-Backlash Gears

      81

  • Ratings and Specifications of SGMPH

    82

    • SGMPH Servomotors Without Gears

      82

    • SGMPH Servomotors with Standard Backlash Gears

      84

    • Ratings and Specifications of SGMPH

      84

    • SGMPH Servomotors with Low-Backlash Gears

      86

  • Ratings and Specifications of SGMGH

    88

  • SGMGH Servomotors

    89

  • Ratings and Specifications of SGMSH

    103

  • Ratings and Specifications of SGMDH

    108

  • Ratings and Specifications of SGMCS Servomotors

    110

  • Small-Capacity Series SGMCS Servomotors

    110

  • Middle-Capacity Series SGMCS Servomotors

    114

• Mechanical Specifications of SGMAH, SGMPH, SGMGH, SGMSH, and SGMDH Servomotors

  116

  • Precautions on Servomotor Installation

    116

  • Mechanical Tolerance

    117

  • Direction of Servomotor Rotation

    118

  • Impact Resistance

    118

  • Vibration Resistance

    118

  • Vibration Class

    118

• Mechanical Specifications of SGMCS Servomotors

  119

  • Allowable Loads

    119

  • Mechanical Tolerance

    120

  • Direction of Servomotor Rotation

    121

  • Impact Resistance

    121

  • Vibration Resistance

    121

  • Vibration Class

    121

  • Protective Specification

    121

• Terms and Data for Servomotors with Gears

  122

• Servomotor Dimensional Drawings

  124

  • SGMAH Servomotors

    125

  • Without Gears and with Brakes

    128

    • Dimensional Drawings of SGMAH Servomotors

      128

    • SGMAH Servomotors

      128

    • SGMAH Servomotors

      129

  • With Standard Backlash Gears

    131

  • With Standard Backlash Gears and Brakes

    137

  • With Low-Backlash Gears

    142

    • Model SGMAH (3000 Min -1 )

      145

  • Without Gears and Brakes

    148

    • Dimensional Drawings of SGMPH Servomotors

      148

    • SGMPH Servomotors

      148

  • With Brakes

    150

    • Model SGMPH (3000 Min -1 )

      151

    • And Without Brakes

      152

  • With Standard Backlash Gears and Without Brakes

    153

  • With Standard Backlash Gears and Brakes

    155

  • With Low-Backlash Gears

    159

    • Dimensional Drawing of Output Shafts with Oil Seals for SGMAH and SGMPH Servomotors

      163

    • SGMAH Servomotors

      163

    • SGMPH Servomotors

      163

    • Dimensional Drawings of SGMGH Servomotors

      164

    • SGMGH Servomotors (1000 Min (Flange-Mounted Type)

      166

    • SGMGH Servomotors

      166

    • SGMGH Servomotors

      170

    • Dimensional Drawings of SGMGH Servomotors

      189

    • SGMGH Servomotors

      189

    • SGMGH Servomotors (1000 Min -1 (Flange-Mounted Type)

      189

    • SGMGH Servomotors (1000 Min -1 (Flange-Mounted Type)

      191

• Dimensional Drawings of SGMSH Servomotors

  211

  • SGMSH Servomotors

    211

  • SGMSH Servomotors (3000 Min (Flange-Mounted Type)

    211

  • SGMSH Servomotors (3000 Min -1 (Flange-Mounted Type)

    211

• Dimensional Drawings of SGMDH Servomotors

  220

  • SGMDH Servomotors

    220

• Dimensional Drawings of SGMCS Servomotors

  222

  • SGMCS Servomotors Φ135 Model

    222

  • SGMCS Servomotors Φ175 Model

    222

  • SGMCS Servomotors Φ230 Model

    223

  • SGMCS Servomotors Φ290 Model

    223

  • SGMCS Servomotors Φ280 Model

    224

  • SGMCS Servomotors Φ360 Model

    225

  • Servomotor Connector for All Small-Capacity Series Servomotors

    226

  • Servomotor Connector for All Middle-Capacity Series Servomotors

    227

  • Shaft End Specifications for SGMGH, SGMSH and SGMDH Servomotors

    228

• 4 SERVOPACK Specifications and Dimensional Drawings

  231

  • SERVOPACK Ratings and Specifications

    233

    • SERVOPACK Ratings and Specifications

      234

  • SERVOPACK Installation

    236

  • SERVOPACK Internal Block Diagrams

    238

    • Single-Phase 200 V, 30 W to 400 W, and 100 V, 30 W to 200 W Models

      238

    • Three-Phase 200 V, 500 W to 1.5 Kw Models

      239

    • Three-Phase 200 V, 2.0 Kw to 5.0 Kw Models

      239

    • Three-Phase 200 V, 6.0 Kw to 15 Kw Models

      240

  • Servopack’s Power Supply Capacities and Power Losses

    241

  • SERVOPACK Overload Characteristics and Allowable Load Moment of Inertia

    242

    • Overload Characteristics

      242

    • Starting and Stopping Time

      243

    • Load Moment of Inertia

      243

  • SERVOPACK Dimensional Drawings

    246

  • Dimensional Drawings of Base-Mounted SERVOPACK Model

    247

    • Single-Phase 100 V: 30 W to 100 W (A3BD to 01BD, A3BDA to 01BDA) Single-Phase 200 V: 30 W to 200 W (A3AD to 02AD, A3ADA to 02ADA)

      247

    • Single-Phase 100 V: 200 W (02BD, 02BDA) Single-Phase 200 V: 400 W (04AD, 04ADA)

      248

    • Three-Phase 200 V: 500 W/750 W/1.0 Kw (05AD to 10AD, 05ADA to 10ADA)

      249

    • Three-Phase 200 V: 1.5 Kw (15AD, 15ADA)

      250

    • Three-Phase 200 V: 2.0 Kw/3.0 Kw (20AD to 30AD, 20ADA to 30ADA)

      251

    • Three-Phase 200 V: 5.0 Kw (50ADA)

      252

    • Three-Phase 200 V: 6.0 Kw/7.5 Kw (60ADA to 75ADA)

      253

    • Three-Phase 200 V: 11.0 Kw/15.0 Kw (1AADA to 1EADA)

      254

  • Dimensional Drawings of Rack-Mounted SERVOPACK Model

    255

    • Single-Phase 100 V: 30 W/50 W/100 W (A3BD-R to 01BD-R, A3BDA-R to 01BDA-R)

      255

      • Single-Phase 200 V: 30 W/50 W/100 W/200 W

        255

      • (A3AD-R to 02AD-R, A3ADA-R to 02ADA-R)

        255

    • Single-Phase 100 V: 200 W (02BD-R, 02BDA-R)

      256

      • Single-Phase 200 V: 400 W (04AD-R, 04ADA-R)

        256

    • Three-Phase 200 V: 500 W/750 W/1.0 Kw (05AD-R to 10AD-R, 05ADA-R to 10ADA-R)

      257

    • Three-Phase 200 V: 1.5 Kw (15AD-R, 15ADA-R)

      258

    • Three-Phase 200 V: 2.0 Kw/3.0 Kw (20AD-R to 30AD-R, 20ADA-R to 30ADA-R)

      259

    • Three-Phase 200 V: 5.0 Kw (50ADA-R)

      260

  • Dimensional Drawings of Duct-Ventilated SERVOPACK Model

    261

    • Three-Phase 200 V: 6.0 Kw/7.5 Kw (60ADA-P to 75ADA-P)

      261

    • Three-Phase 200 V: 11.0 Kw/15.0 Kw (1AADA-P/1EADA-P)

      262

• 5 Specifications and Dimensional Drawings of Cables and Peripheral Devices

  263

  • Specifications and Dimensional Drawings of Servomotor Main Circuit Cable

    265

    • Cables for SGMAH and SGMPH Servomotors Without Brakes

      265

    • Cables for SGMAH and SGMPH Servomotors with Brakes

      265

    • Flexible Cables for SGMAH and SGMPH Servomotors Without Brakes

      266

    • Flexible Cables for SGMAH and SGMPH Servomotors with Brakes

      267

    • Cables for SGMCS Servomotors

      268

  • Servomotor Main Circuit Wire Size and Connectors

    270

    • Wire Size

      270

    • SGMAH and SGMPH Servomotor Connectors for Standard Environments

      271

    • SGMGH, SGMSH, and SGMDH Servomotor Connector Configurations

      274

    • SGMGH Servomotor

      275

    • SGMSH Servomotor

      279

    • SGMDH Servomotor

      280

    • Without Gears and With/Without Brakes

      280

    • SGMGH Servomotor

      281

      • European Safety Standards

        281

    • SGMGH Servomotor

      284

      • European Safety Standards

        284

    • SGMSH Servomotors

      287

      • European Safety Standards

        287

    • SGMDH Servomotors

      290

      • European Safety Standards

        290

    • Connectors for SGMCS Servomotors

      291

    • Connector Dimensional Drawings

      293

  • SERVOPACK Main Circuit Wire Size

    300

  • Encoder Cables for CN2 Connector

    302

    • Encoder Cable with Connectors for SGMAH and SGMPH Servomotors

      302

    • Encoder Cable with Connectors for SGMGH, SGMSH, and SGMDH Servomotors

      302

    • Encoder Cable with a SERVOPACK Connector and Encoder Loose Leads for SGMAH and SGMPH Servomotors

      303

    • Encoder Cable with a SERVOPACK Connector and Encoder Loose Leads for SGMGH, SGMSH, and SGMDH Servomotors

      304

    • Encoder Flexible Cables for SGMAH and SGMPH Servomotors

      306

  • Connectors and Cables for Encoder Signals

    310

    • Connectors and Cables for SGMAH and SGMPH Servomotors

      310

    • Connectors and Cables for SGMGH, SGMSH, and SGMDH Servomotors

      312

    • Connectors and Cables for SGMCS Servomotors

      314

  • Flexible Cables

    315

  • I/O Signal Cables for CN1 Connector

    316

    • Standard Cables

      316

    • Connector Type and Cable Size

      316

    • Connection Diagram

      318

  • Peripheral Devices

    319

    • Cables for Connecting Personal Computers

      319

    • Digital Operator

      320

    • Cables for Analog Monitor

      321

    • Connector Terminal Block Converter Unit

      322

    • Brake Power Supply Unit

      323

    • External Regenerative Resistor

      325

    • Regenerative Resistor Unit

      327

    • Absolute Encoder Battery

      328

    • Molded-Case Circuit Breaker (MCCB)

      330

    • Noise Filter

      331

    • Magnetic Contactor

      336

    • Surge Suppressor

      338

    • DC Reactor for Harmonic Suppression

      340

    • Variable Resistor for Speed and Torque Setting

      342

    • Encoder Signal Converter Unit

      343

• 6 Wiring

  344

  • Wiring Main Circuit

    345

    • Names and Functions of Main Circuit Terminals

      345

    • Wiring Main Circuit Power Supply Connector (Spring Type)

      347

    • Typical Main Circuit Wiring Examples

      348

  • Wiring Encoders

    350

    • Connecting an Encoder (CN2) and Output Signals from the SERVOPACK (CN1)

      350

    • Encoder Connector (CN2) Terminal Layout

      351

  • Examples of I/O Signal Connections

    352

    • Speed Control Mode

      352

    • Position Control Mode

      353

    • Torque Control Mode

      354

    • I/O Signal Connector (CN1) Terminal Layout

      355

    • I/O Signal (CN1) Names and Functions

      356

    • Interface Circuit

      358

  • Others

    361

    • Wiring Precautions

      361

    • Wiring for Noise Control

      362

    • Installation Conditions of EMC Directives

      365

    • Installation Conditions of UL Standards

      367

    • Using more than One SERVOPACK

      368

    • Extending Encoder Cables

      369

    • Operating Conditions on 400-V Power Supply Voltage

      371

    • DC Reactor for Harmonic Suppression

      372

  • Connecting Regenerative Resistors

    374

    • Regenerative Power and Regenerative Resistance

      374

    • Connecting External Regenerative Resistors

      374

• 7 Digital Operator/Panel Operator

  379

  • Functions on Digital Operator/Panel Operator

    380

    • Connecting the Digital Operator

      380

    • Key Names and Functions

      381

    • Basic Mode Selection and Operation

      382

    • Status Display

      384

  • Operation in Utility Function Mode (Fn )

    386

    • List of Utility Function Modes

      386

    • Alarm Traceback Data Display (Fn000)

      387

    • Zero-Point Search Mode (Fn003)

      388

    • Parameter Settings Initialization (Fn005)

      389

    • Alarm Traceback Data Clear (Fn006)

      390

    • Automatic Offset-Adjustment of Motor Current Detection Signal (Fn00E)

      391

    • Manual Offset-Adjustment of Motor Current Detection Signal (Fn00F)

      392

    • Password Setting (Protects Parameters from Being Changed) (Fn010)

      393

    • Motor Models Display (Fn011)

      394

    • Software Version Display (Fn012)

      395

  • Operation in Parameter Setting Mode (Pn )

    396

    • Setting Parameters

      396

    • Input Circuit Signal Allocation

      400

    • Output Circuit Signal Allocation

      403

  • Operation in Monitor Mode (un )

    405

    • List of Monitor Modes

      405

• 8 Operation

  409

  • Trial Operation

    411

    • Trial Operation for Servomotor Without Load

      413

    • Trial Operation for Servomotor Without Load from Host Reference

      416

    • Trial Operation with the Servomotor Connected to the Machine

      422

    • Servomotor with Brakes

      423

    • Position Control by Host Controller

      423

  • Control Mode Selection

    424

  • Setting Common Basic Functions

    425

    • Setting the Servo on Signal

      425

    • Switching the Servomotor Rotation Direction

      426

    • Setting the Overtravel Limit Function

      427

    • Setting for Holding Brakes

      429

    • Selecting the Stopping Method after Servo off

      432

    • Instantaneous Power Loss Settings

      433

  • Absolute Encoders

    434

    • Interface Circuits

      435

    • Selecting an Absolute Encoder

      436

    • Handling Batteries

      436

    • Replacing Batteries

      437

    • Absolute Encoder Setup (Fn008)

      437

    • Absolute Encoder Reception Sequence

      439

    • Multiturn Limit Setting

      443

    • Multiturn Limit Setting When Multiturn Limit Disagreement (A.CC) Occurred

      444

  • Operating Using Speed Control with Analog Reference

    445

    • Setting Parameters

      445

    • Setting Input Signals

      446

    • Adjusting Offset

      447

    • Soft Start

      450

    • Speed Reference Filter

      450

    • Using the Zero Clamp Function

      450

    • Encoder Signal Output

      452

    • Speed Coincidence Output

      454

  • Operating Using Position Control

    455

    • Setting Parameters

      455

    • Setting the Electronic Gear

      457

    • Position Reference

      460

    • Smoothing

      464

    • Positioning Completed Output Signal

      465

    • Positioning Near Signal

      466

    • Reference Pulse Inhibit Function (INHIBIT)

      467

  • Operating Using Torque Control

    468

    • Setting Parameters

      468

    • Torque Reference Input

      468

    • Adjusting the Reference Offset

      469

    • Limiting Servomotor Speed During Torque Control

      471

  • Operating Using Speed Control with an Internally Set Speed

    473

    • Setting Parameters

      473

    • Input Signal Settings

      474

    • Operating Using an Internally Set Speed

      474

  • Limiting Torque

    476

    • Internal Torque Limit (Limiting Maximum Output Torque)

      476

    • External Torque Limit (Output Torque Limiting by Input Signals)

      477

    • Torque Limiting Using an Analog Voltage Reference

      479

    • Torque Limiting Using an External Torque Limit and Analog Voltage Reference

      480

    • Checking Output Torque Limiting During Operation

      481

  • Control Mode Selection

    482

    • Setting Parameters

      482

    • Switching the Control Mode

      482

  • Other Output Signals

    484

    • Servo Alarm Output (ALM) and Alarm Code Output (ALO1, ALO2, ALO3)

      484

    • Warning Output (/WARN)

      485

    • Running Output Signal (/TGON)

      485

    • Servo Ready (/S-RDY) Output

      486

• 9 Adjustments

  487

  • Autotuning

    488

    • Servo Gain Adjustment Methods

      488

    • List of Servo Adjustment Functions

      489

  • Online Autotuning

    491

    • Online Autotuning Procedure

      492

    • Selecting the Online Autotuning Execution Method

      493

    • Machine Rigidity Setting for Online Autotuning

      494

    • Method for Changing the Machine Rigidity Setting

      495

    • Saving the Results of Online Autotuning

      496

    • Procedure for Saving the Results of Online Autotuning

      497

  • Manual Tuning

    498

    • Explanation of Servo Gain

      498

    • Servo Gain Manual Tuning

      499

    • Position Loop Gain

      499

    • Speed Loop Gain

      500

    • Speed Loop Integral Time Constant

      500

  • Servo Gain Adjustment Functions

    501

    • Feed-Forward Reference

      501

    • Torque Feed-Forward

      502

    • Speed Feed-Forward

      503

    • Proportional Control Operation (Proportional Operation Reference)

      504

    • Using the Mode Switch (P/PI Switching)

      505

    • Setting the Speed Bias

      508

    • Speed Feedback Filter

      508

    • Speed Feedback Compensation

      509

    • Switching Gain Settings

      511

    • Torque Reference Filter

      512

  • Analog Monitor

    514

• 10 Upgraded Versions

  516

  • Upgraded Versions for SGDM SERVOPACK

    517

  • Upgraded Functions

    518

    • Additional Functions

      518

    • Improved Functions

      518

  • Additional Functions

    519

    • SGMCS Direct-Drive Motor Supporting Function

      519

    • Improvement of Dividing Output Resolution

      524

    • Reference Pulse Input Multiplication Switching Function

      525

    • Second Stage Notch Filter and Changeable Q Value

      527

    • Automatic Gain Switching Function

      529

  • Improved Functions

    531

    • Moment of Inertia Ratio Setting Range

      531

    • Adaptation to Single-Turn Data Absolute Encoder

      531

    • Serial Number and Manufactured Data Reading Function

      533

  • Additional and Improved Parameters

    534

    • Parameters

      534

    • Switches

      535

    • Input Signal Selection

      535

    • Output Signal Selection

      536

    • Utility Functions

      536

    • Troubleshooting

      537

    • Alarm Display Table

      537

    • Warning Display

      543

    • Troubleshooting of Alarm and Warning

      544

    • Troubleshooting for Malfunction Without Alarm Display

      555

• 11 Inspection, Maintenance, and Troubleshooting

  537

  • Inspection and Maintenance

    559

    • Servomotor Inspection

      559

    • SERVOPACK Inspection

      559

    • Servopack’s Parts Replacement Schedule

      560

• 12 Appendix

  561

  • Servomotor Capacity Selection Examples

    562

    • Selection Example for Speed Control

      562

    • Selection Example for Position Control

      564

    • Calculating the Required Capacity of Regenerative Resistors

      567

  • Connection to Host Controller

    574

    • Example of Connection to MP920 4-Axes Analog Module SVA-01

      574

    • Example of Connection to CP-9200SH Servo Controller Module SVA (SERVOPACK in Speed Control Mode)

      575

    • Example of Connection to MEMOCON GL120/130 Series Motion Module MC20

      576

    • Example of Connection to MEMOCON GL60/70 Series Positioning Module B2813 (SERVOPACK in Position Control Mode)

      577

    • Example of Connection to Omron’s Motion Control Unit

      578

    • Example of Connection to Omron’s Position Control Unit

      579

    • Example of Connection to Omron’s Position Control Unit C500-NC221 (SERVOPACK in Speed Control Mode)

      580

    • Example of Connection to Omron’s Position Control Unit

      580

      • (SERVOPACK in Position Control Mode)

        581

    • Example of Connection to Mitsubishi’s AD72 Positioning Unit (SERVOPACK in Speed Control Mode)

      582

    • Example of Connection to Mitsubishi’s AD75 Positioning Unit (SERVOPACK in Position Control Mode)

      583

  • List of Parameters

    584

    • Utility Functions List

      584

    • List of Parameters

      585

    • Monitor Modes

      603

  • Parameter Recording Table

    604

• Revision History

  612

Brand: YASKAWA
|
Category: Engine
|
Size: 7.73 MB

• Safety Information

  6

• Notes for Safe Operation

  7

• Table of Contents

  13

• Outline

  25

• Checking Products

  26

  • Check Items

    26

  • Servomotors

    26

• 1 Outline

  26

  • Servopacks

    27

  • Product Part Names

    28

    • Servomotors

      28

      • SGMAH and SGMPH Without Gears and Brakes

        28

      • SGMGH/SGMSH/SGMDH/SGMUH Without Gears and Brakes

        28

    • Servopacks

      29

      • SGDH for 30 W to 5.0 Kw

        29

      • SGDH for 6.0 Kw to 15.0 Kw

        30

  • Examples of Servo System Configurations

    31

    • Single-Phase, 100 V, 200 V and 220 V Main Circuit

      31

    • Three-Phase, 200 V Main Circuit

      32

    • Three-Phase, 400 V Main Circuit

      33

  • Applicable Standards

    34

    • North American Safety Standards (UL, CSA)

      34

    • CE Marking

      34

• 2 Selections

  35

  • Servomotor Model Designations

    36

    • Model SGMAH (3000 Min -1 )

      36

      • Without Gears

        36

      • With Gears

        37

    • Model SGMPH (3000 Min -1 )

      38

    • Model SGMGH (1500 Min -1 )

      40

    • Model SGMGH (1000 Min -1 )

      42

    • Model SGMSH (3000 Min -1 )

      44

    • Model SGMDH (2000 Min -1 )

      46

    • Model SGMUH (6000 Min -1)

      47

  • Selecting Servomotors

    48

    • Support Tool for the Capacity Selection of the AC Servomotors

      48

    • Servomotor Capacity Selection Examples

      48

  • SERVOPACK Model Designations

    49

  • Σ-II Series Servopacks and Applicable Servomotors

    50

  • Selecting Cables

    51

    • Cables for SGMAH and SGMPH Servomotors

      51

    • Cables for SGMGH/SGMSH/SGMDH/SGMUH Servomotors

      56

  • Selecting Peripheral Devices

    60

    • Special Options

      60

    • Molded-Case Circuit Breaker and Fuse Capacity

      63

    • Noise Filters, Magnetic Contactors, Surge Suppressors and DC Reactors

      64

    • Regenerative Resistors and Brake Power Supply Units

      65

    • Specifications and Dimensional Drawings

      67

• 3 Specifications and Dimensional Drawings

  68

  • Ratings and Specifications of SGMAH (3000 Min -1)

    70

  • SGMAH Servomotors Without Gears

    70

  • SGMAH Servomotors with Standard Backlash Gears

    72

  • SGMAH Servomotors with Low-Backlash Gears

    74

  • Ratings and Specifications of SGMPH (3000 Min -1)

    77

  • SGMPH Servomotors Without Gears

    77

  • SGMPH Servomotors with Standard Backlash Gears

    79

  • SGMPH Servomotors with Low-Backlash Gears

    81

    • Ratings and Specifications of SGMGH (1500 Min -1)

      83

    • SGMGH Servomotors (1500Min -1) Without Gears

      83

    • 3.3.1 SGMGH Servomotors (1500Min

      84

    • 3.3 Ratings and Specifications of SGMGH (1500Min

      85

    • 3.3.1 SGMGH Servomotors (1500Min

      86

    • 3.3 Ratings and Specifications of SGMGH (1500Min

      87

  • 3.3.2 SGMGH Servomotors (1500Min

    87

    • SGMGH Servomotors (1500Min -1) with Standard Backlash Gears

      87

    • 3.3.2 SGMGH Servomotors (1500Min

      88

    • 3.3 Ratings and Specifications of SGMGH (1500Min

      89

  • SGMGH Servomotors

    89

    • SGMGH Servomotors (1500Min -1) with Low-Backlash Gears

      90

    • 3.3 Ratings and Specifications of SGMGH (1500Min

      91

    • 3.4.1 SGMGH Servomotors (1000Min

      92

    • Ratings and Specifications of SGMGH (1000Min -1)

      92

    • SGMGH Servomotors (1000Min -1) Without Gears

      92

    • 3.4 Ratings and Specifications of SGMGH (1000Min

      93

    • 3.4 Ratings and Specifications of SGMGH (1000Min

      95

    • SGMGH Servomotors (1000Min -1) with Standard Backlash Gears

      95

    • 3.4.2 SGMGH Servomotors (1000Min

      96

    • 3.4.3 SGMGH Servomotors (1000 Min

      97

    • SGMGH Servomotors (1000 Min -1) with Low-Backlash Gears

      97

    • Ratings and Specifications of SGMSH (3000Min -1)

      99

    • SGMSH Servomotors (3000Min -1) Without Gears

      99

    • 3.5 Ratings and Specifications of SGMSH (3000Min

      101

    • 3.5 Ratings and Specifications of SGMSH (3000Min

      103

    • Ratings and Specifications of SGMDH (2000Min -1)

      105

    • SGMDH Servomotors (2000Min -1) with Holding Brakes

      105

    • Ratings and Specifications of SGMUH (6000Min -1)

      107

    • SGMUH Servomotors (6000Min -1) Without Holding Brakes

      107

  • Mechanical Specifications of Servomotors

    109

    • Precautions on Servomotor Installation

      109

    • Mechanical Tolerance

      110

    • Direction of Servomotor Rotation

      111

    • Impact Resistance

      111

    • Vibration Resistance

      111

    • Vibration Class

      111

  • Terms and Data for Servomotors with Gears

    112

  • Servomotor Dimensional Drawings

    114

  • With Standard Backlash Gears

    114

    • With Low-Backlash Gears

      114

      • Dimensional Drawings of SGMAH Servomotors (3000 Min -1)

        115

      • SGMAH Servomotors (3000 Min -1) Without Gears

        115

  • Without Gears

    114

  • Without Gears

    116

• Dimensional Drawings of SGMAH Servomotors

  117

  • Model SGMAH (3000 Min -1 )

    117

    • SGMAH Servomotors (3000 Min -1) with Brakes

      119

    • SGMAH Servomotors (3000 Min -1) with Standard Backlash Gears

      123

    • SGMAH Servomotors (3000 Min -1) with Standard Backlash Gears and Brakes

      130

    • SGMAH Servomotors (3000 Min -1) with Low-Backlash Gears

      137

    • Dimensional Drawings of SGMPH Servomotors (3000 Min -1)

      145

    • SGMPH Servomotors (3000 Min -1) Without Gears and Brake

      145

    • Model SGMPH (3000 Min )

      146

      • SGMPH Servomotors (3000 Min -1) with Brakes

        147

      • SGMPH Servomotors (3000 Min -1) with Standard Backlash Gears

        149

      • SGMPH Servomotors (3000 Min -1) with Standard Backlash Gears and Brakes

        152

      • SGMPH Servomotors (3000 Min -1) with Low-Backlash Gears

        155

      • Dimensional Drawing of Output Shafts with Oil Seals for SGMAH and SGMPH Servomotors

        159

    • SGMAH Servomotors

      159

    • SGMPH Servomotors

      159

      • Dimensional Drawings of SGMGH Servomotors (1500 Min -1)

        160

      • SGMGH Servomotors (1500 Min -1) Without Gears and Brakes

        160

    • Model SGMGH (1500 Min )

      164

    • Model SGMGH (1000 Min -1 )

      165

      • SGMGH Servomotors (1500Min -1) with Standard Backlash Gears and With-Out Brakes (Foot-Mounted Type)

        168

      • SGMGH Servomotors (1500Min -1) with Low-Backlash Gears and Withoutbrakes (Flange-Mounted Type)

        182

      • Dimensional Drawings of SGMGH Servomotors (1000 Min -1)

        186

      • SGMGH Servomotors (1000 Min -1) Without Gears and Brakes

        186

      • SGMGH Servomotors (1000 Min -1) Without Gears and with Brakes

        188

      • SGMGH Servomotors (1000 Min -1) with Standard Backlash Gears and With-Out Brakes (Foot-Mounted Type)

        191

      • SGMGH Servomotors (1000 Min -1) with Low-Backlash Gears and Withoutbrakes (Flange-Mounted Type)

        203

      • Dimensional Drawings of SGMSH Servomotors (3000Min -1)

        207

      • SGMSH Servomotors (3000Min -1) Without Gears and Without Brakes

        207

      • SGMSH Servomotors (3000 Min -1) 200-V Specifications Without Gears Withbrakes

        209

      • SGMSH Servomotors (3000 Min -1) 400-V Specifications Without Gears Withbrakes

        211

      • SGMSH Servomotors (3000 Min -1) with Low-Backlash Gears and Withoutbrakes (Flange-Mounted Type)

        213

      • Model SGMSH (3000 Min -1 )

        216

      • SGMSH Servomotors (3000 Min Without Brakes (Flange-Mounted Type)

        216

      • SGMDH Servomotors (2000Min -1) Without Gears and With/Without Brakes

        217

    • Servomotors SGMGH (1500 Min -1) 400-V Specifications Without Gears and with Brakes

      165

    • Dimensional Drawings of SGMDH Servomotors (2000Min -1 )

      217

      • With/Without Brakes

        217

      • SGMUH Servomotors (6000Min -1) Without Gears and Without Brakes

        219

    • Dimensional Drawings of SGMUH Servomotors (6000Min -1 )

      219

      • Without Gears and Without Brakes

        219

      • SGMUH Servomotors (6000Min -1) Without Gears and with Brakes

        220

    • Shaft End Specifications for SGMGH, SGMSH and SGMDH Servomotors

      222

• 4 SERVOPACK Specifications and Dimensional Drawings

  225

  • SERVOPACK Ratings and Specifications

    225

    • Single-Phase 100 V

      225

    • Three-Phase 400 V

      225

      • SERVOPACK Ratings and Specifications

        227

      • Single-Phase 100 V

        227

      • Single-Phase/Three-Phase 200 V

        227

      • Single-Phase 220 V (Option)

        228

      • Three-Phase 400 V

        228

    • SERVOPACK Ratings and Specifications

      229

  • SERVOPACK Installation

    231

  • SERVOPACK Internal Block Diagrams

    233

    • Single-Phase 200 V, 30 W to 400 W, and 100 V, 30 W to 200 W Models

      233

    • Three-Phase 200 V, 500 W to 1.5 Kw, and Single-Phase 220 V, 800 W, 1.5 Kw Models

      234

    • Three-Phase 200 V, 2.0 Kw to 5.0 Kw Models

      235

    • Three-Phase 200 V, 6.0 Kw to 15 Kw Models

      236

    • Three-Phase 400 V, 500 W to 3.0 Kw Models

      237

    • Three-Phase 400 V, 5.0 Kw Model

      238

    • Three-Phase 400 V, 6.0 Kw, 7.5 Kw Models

      239

    • Three-Phase 400 V, 11.0 Kw, 15.0 Kw Models

      240

      • Servopack’s Power Supply Capacities and Power Losses

        241

      • SERVOPACK Overload Characteristics and Allowable Load Moment of Inertia

        243

  • Overload Characteristics

    243

  • Starting and Stopping Time

    244

  • Load Moment of Inertia

    244

• SERVOPACK Dimensional Drawings

  247

  • Model

    247

    • Dimensional Drawings of Base-Mounted SERVOPACK Model

      248

    • Single-Phase 100 V: 30 W/50 W/100 W (A3BE/A5BE/01BE)

      248

    • Single-Phase 200 V: 30 W/50 W/100 W/200 W (A3AE/A5AE/01AE/02AE)

      248

  • Single-Phase 100 V: 200 W (02BE) Single-Phase 200 V: 400 W (04AE)

    249

    • Three-Phase 200 V: 500 W/750 W/1.0 Kw (05AE/08AE/10AE)

      250

    • Single-Phase 220 V: 750 W (08AE-S)

      250

  • Three-Phase 200 V: 1.5 Kw (15AE)

    251

  • Three-Phase 400 V: 500 W/750 W/1.0 Kw/1.5 Kw (05DE/08DE/10DE/15DE)

    251

  • Single-Phase 220 V: 1.5 Kw (15AE-S) Three-Phase 200 V: 2.0 Kw/3.0 Kw (20AE/30AE) Three-Phase 400 V: 2.0 Kw/3.0 Kw (20DE/30DE)

    252

  • Three-Phase 200 V: 5.0 Kw (50AE) Three-Phase 400 V: 5.0 Kw (50DE)

    253

  • Three-Phase 200 V: 6.0 Kw/7.5 Kw (60AE/75AE)

    254

  • Three-Phase 400 V: 6.0 Kw/7.5 Kw (60DE/75DE)

    255

  • Three-Phase 200 V: 11.0 Kw/15.0 Kw (1AAE/1EAE)

    256

  • Three-Phase 400 V: 11.0 Kw/15.0 Kw (1ADE/1EDE)

    257

    • Dimensional Drawings of Rack-Mounted SERVOPACK Model

      258

    • Single-Phase 100 V: 30 W/50 W/100 W (A3BE-R/A5BE-R/01BE-R)

      258

    • Single-Phase 200 V: 30 W/50 W/100 W/200 W (A3AE-R/A5AE-R/01AE-R/02AE-R)

      258

  • Single-Phase 100 V: 200 W (02BE-R) Single-Phase 200 V: 400 W (04AE-R)

    259

    • Single-Phase 220 V: 750 W (08AE-S-R)

      260

    • Three-Phase 200 V: 500 W/750 W/1.0 Kw (05AE-R/08AE-R/10AE-R)

      260

    • Three-Phase 200 V: 1.5 Kw (15AE-R)

      261

    • Three-Phase 400 V: 500 W/750 W/1.0 Kw/1.5 Kw (05DE-R/08DE-R/10DE-R/15DE-R)

      261

  • Single-Phase 220 V: 1.5 Kw (15AE-S-R)

    262

    • Three-Phase 200 V: 2.0 Kw/3.0 Kw (20AE-R/30AE-R)

      263

    • Three-Phase 400 V: 2.0 Kw/3.0 Kw (20DE-R/30DE-R)

      263

  • Three-Phase 200 V: 5.0 Kw (50AE-R) Three-Phase 400 V: 5.0 Kw (50DE-R)

    264

  • Dimensional Drawings of Duct-Ventilated SERVOPACK Model

    265

    • Three-Phase 200 V: 6.0 Kw/7.5 Kw (60AE-P/75AE-P)

      265

    • Three-Phase 400 V: 6.0 Kw/7.5 Kw (60DE-P/75DE-P)

      266

    • Three-Phase 200 V: 11.0 Kw/15.0 Kw (1AAE-P/1EAE-P)

      267

    • Three-Phase 400 V: 11.0 Kw/15.0 Kw (1ADE-P/1EDE-P)

      268

• 5 Specifications and Dimensional Drawings of Cables and Peripheral Devices

  269

  • Main Circuit Cable

    269

  • Specifications and Dimensional Drawings of Servomotor Main Circuit Cable

    271

  • Cables for SGMAH and SGMPH Servomotors Without Brakes

    271

  • Cables for SGMAH and SGMPH Servomotors with Brakes

    271

  • Flexible Cables for SGMAH and SGMPH Servomotors Without Brakes

    272

  • Flexible Cables for SGMAH and SGMPH Servomotors with Brakes

    273

  • Cables for 400 V SGMAH and SGMPH Servomotors Without Brakes

    273

  • Cables for 400 V SGMAH and SGMPH Servomotors with Brakes

    274

  • Servomotor Main Circuit Wire Size and Connectors

    275

    • Wire Size

      275

    • SGMAH and SGMPH Servomotor Connectors for Standard Environments

      276

      • SGMGH, SGMSH, SGMDH, and SGMUH Servomotor Connector Configurations

        279

      • SGMGH Servomotor (1500 Min -1) Connectors for Standard Environments

        280

    • SGMGH Servomotor

      282

      • SGMGH Servomotor (1000 Min -1) Connectors for Standard Environments

        283

      • SGMSH Servomotor (3000 Min -1) Connectors for Standard Environments

        285

      • SGMDH Servomotor (2000 Min -1) Connectors for Standard Environments

        287

      • SGMUH Servomotor (6000 Min -1) Connectors for Standard Environments

        287

    • Without Brakes

      287

      • SGMGH Servomotor (1500 Min -1) Connectors Conforming to IP67 and Euro-Pean Safety Standards

        290

      • SGMGH Servomotor (1000 Min -1) Connectors Conforming to IP67 and Euro-Pean Safety Standards

        295

      • SGMSH Servomotors (3000 Min -1) Connectors Conforming to IP67 and Euro-Pean Safety Standards

        298

    • SGMSH Servomotors (3000 Min -1 Without Brakes (Flange-Mounted Type)

      298

    • SGMDH Servomotors (2000 Min -1) Connectors Conforming to IP67 and Euro-Pean Safety Standards

      302

    • Without Brakes

      302

    • With Brakes

      302

    • SGMUH Servomotors (6000 Min -1) Connectors Conforming to IP67 and Euro-Pean Safety Standards

      303

    • Connector Dimensional Drawings

      306

• SERVOPACK Main Circuit Wire Size

  313

  • Cable Types

    313

  • Encoder Cable for SGMGH, SGMSH, SGMDH, and SGMUH Servomotors

    316

    • Encoder Cable with Connectors for SGMAH and SGMPH Servomotors

      316

    • Encoder Cables for CN2 Connector

      316

  • Encoder Cable with a SERVOPACK Connector and Encoder Loose Leads for SGMAH and SGMPH Servomotors

    317

  • Encoder Cable with a SERVOPACK Connector and Encoder Loose Leads for SGMGH, SGMSH, SGMDH, and SGMUH Servomotors

    318

  • Encoder Flexible Cables for SGMAH and SGMPH Servomotors

    320

  • Encoder Flexible Cables for SGMGH, SGMSH, SGMDH, and SGMUH Servomotors

    321

• Connectors and Cables for Encoder Signals

  323

  • Connectors and Cables for SGMAH and SGMPH Servomotors

    323

  • Connectors and Cables for SGMGH, SGMSH, SGMDH, and SGMUH Servomotors

    325

• Flexible Cables

  327

• I/O Signal Cables for CN1 Connector

  328

  • Standard Cables

    328

  • Connector Type and Cable Size

    328

  • Connection Diagram

    330

• Peripheral Devices

  331

  • Cables for Connecting Personal Computers

    331

  • Digital Operator

    332

  • Cables for Analog Monitor

    333

  • Connector Terminal Block Converter Unit

    334

  • Brake Power Supply Unit

    335

  • External Regenerative Resistor

    337

  • Regenerative Resistor Unit

    339

  • Absolute Encoder Battery

    340

  • Molded-Case Circuit Breaker (MCCB)

    341

  • Noise Filter

    343

  • Magnetic Contactor

    348

  • Surge Suppressor

    352

  • DC Reactor for Harmonic Suppression

    354

  • Variable Resistor for Speed and Torque Setting

    356

  • Encoder Signal Converter Unit

    357

  • MECHATROLINK-I I/F Unit

    358

  • Devicenet I/F Unit

    359

  • PROFIBUS-DP I/F Unit

    360

  • INDEXER Module

    362

  • Setup Support Tool Sigmaindexer

    363

  • Fully-Closed I/F Unit

    364

• 6 Wiring

  365

  • Wiring Main Circuit

    366

    • Names and Functions of Main Circuit Terminals

      366

    • Wiring Main Circuit Power Supply Connector (Spring Type)

      368

    • Typical Main Circuit Wiring Examples

      369

  • Wiring Encoders

    372

    • Connecting an Encoder (CN2) and Output Signals from the SERVOPACK (CN1)

      372

    • Encoder Connector (CN2) Terminal Layout

      373

  • Examples of I/O Signal Connections

    374

    • Speed Control Mode

      374

    • Position Control Mode

      375

    • Torque Control Mode

      376

    • I/O Signal Connector (CN1) Terminal Layout

      377

    • I/O Signal (CN1) Names and Functions

      378

    • Interface Circuit

      380

  • Others

    383

    • Wiring Precautions

      383

    • Wiring for Noise Control

      384

    • Installation Conditions of EMC Directives

      387

    • Installation Conditions of UL Standards

      390

    • Using more than One SERVOPACK

      391

    • Extending Encoder Cables

      392

    • Operating Conditions on 400-V Power Supply Voltage

      394

    • DC Reactor for Harmonic Suppression

      395

    • Regenerative Power and Regenerative Resistance

      397

    • Connecting External Regenerative Resistors

      397

• 7 Digital Operator/Panel Operator

  402

  • Functions on Digital Operator/Panel Operator

    403

    • Connecting the Digital Operator

      403

    • Key Names and Functions

      404

    • Basic Mode Selection and Operation

      405

    • Status Display

      407

  • Operation in Utility Function Mode (Fn )

    409

    • List of Utility Function Modes

      409

    • Alarm Traceback Data Display (Fn000)

      410

    • Zero-Point Search Mode (Fn003)

      411

    • Parameter Settings Initialization (Fn005)

      412

    • Alarm Traceback Data Clear (Fn006)

      413

    • Automatic Offset-Adjustment of Motor Current Detection Signal

      414

    • Manual Offset-Adjustment of Motor Current Detection Signal (Fn00F)

      415

    • Password Setting (Protects Parameters from Being Changed) (Fn010)

      416

    • Motor Models Display (Fn011)

      417

    • Software Version Display (Fn012)

      418

    • Application Module Detection Results Clear (Fn014)

      419

  • Operation in Parameter Setting Mode (Pn )

    420

    • Setting Parameters

      420

    • Input Circuit Signal Allocation

      424

    • Output Circuit Signal Allocation

      427

  • Operation in Monitor Mode (un )

    429

    • List of Monitor Modes

      429

Brand: YASKAWA
|
Category: Servo Drives
|
Size: 6.7 MB

• Notes

  11

  • Table of Contents

    11

• Checking Product and Part Names

  19

  • Chapter 1 : Checking Product and Part Names

    20

    • Checking the Sigma II Series Products on Delivery

      20

      • Servomotors

        20

      • Direct-Drive Motor Supporting Function

        22

      • Servo Amplifiers

        24

    • Product Part Names

      26

      • Servomotors

        26

      • Servo Amplifiers

        27

• 2 Installation

  29

  • Chapter 2 : Installation

    30

    • Installation Site

      30

    • Storage Temperature

      30

    • Alignment

      31

    • Orientation

      31

    • Allowable Shaft Loads

      32

    • Vibration Resistance

      33

    • Cable Stress

      34

    • Handling Oil and Water

      34

    • Vibration Class

      34

    • Servo Amplifiers

      35

      • Installation Site

        35

      • Storage Conditions

        35

      • Orientation

        36

      • Installation

        37

  • Servomotors

    30

• 3 Wiring

  39

  • Connecting to Peripheral Devices

    41

  • Chapter 3 : Wiring

    42

    • Single-Phase (100V or 200V) Main Circuit Specifications

      42

    • Three-Phase (200V) Main Circuit Specifications

      43

    • Three-Phase (400V) Main Circuit Specifications

      44

    • Servo Amplifier Internal Block Diagrams

      45

      • To 400W (200V) and 30W to 200W (100V) Models

        45

      • Kw to 1.5Kw (200V) Models

        46

      • Kw to 5.0Kw (200V) Models

        46

      • Kw to 15.0Kw (200V) Models

        47

      • Kw to 3.0Kw, 400V Models

        47

      • Kw (400V) Models

        48

      • Kw to 7.5Kw, 400V Models

        48

      • Kw to 15.0Kw (400V) Models

        49

      • Kw to 55Kw (400V) Models

        49

    • Main Circuit Wiring

      50

      • Names and Descriptions of Main Circuit Terminal

        51

      • Cable Specifications and Peripheral Devices

        52

      • Typical Main Circuit Wiring Example

        52

      • Servo Amplifier Power Losses

        53

      • Wiring Main Circuit Terminal Blocks

        54

    • I/O Signals

      55

      • Example of Typical I/O Signal Connections

        55

      • List of CN1 Terminals

        56

      • I/O Signal Names and Functions

        57

      • Interface Circuits

        59

    • Wiring Encoders (for SGMGH and SGMSH Motors Only)

      62

      • Encoder Connections

        62

      • CN2 Encoder Connector Terminal Layout and Types

        64

    • Examples of Standard Connections

      65

      • Single-Phase Power Supply Specifications

        65

      • Three-Phase Power Supply Specifications (200V)

        66

      • Three-Phase Power Supply Specifications (400V)

        67

      • Position Control Mode

        70

      • Speed Control Mode

        71

      • Torque Control Mode

        72

• 4 Trial Operation

  73

  • Two-Step Trial Operation

    74

  • Chapter 4 : Trial Operation

    75

    • Step 1: Trial Operation for Servomotor Without Load

      75

    • Step 2: Trial Operation with the Servomotor Connected to a Load

      81

    • Additional Setup Procedures in Trial Operation

      82

      • Servomotors with Brakes

        82

      • Position Control by Host Controller

        83

    • Minimum Parameters and Input Signals

      84

      • Input Signals

        84

      • Parameters

        84

• Parameter Settings and Functions

  85

  • Parameters

    88

  • Chapter 5 : Parameter Settings and Functions

    89

    • Switching Servomotor Rotation Direction

      89

    • Setting the Overtravel Limit Function

      90

    • Limiting Torque

      93

    • Settings According to Host Controller

      98

      • Speed Reference

        98

      • Position Reference

        100

      • Using the Encoder Signal Output

        106

      • Sequence I/O Signals

        110

      • Using the Electronic Gear Function

        112

      • Contact Input Speed Control

        116

      • Using Torque Control

        121

      • Torque Feed-Forward Function

        128

      • Speed Feed-Forward Function

        129

      • Torque Limiting by Analog Voltage Reference

        131

      • Reference Pulse Inhibit Function (/INHIBIT)

        133

    • Setting up the Servo Amplifier

      135

      • Parameters

        135

      • JOG Speed

        136

      • Input Circuit Signal Allocation

        137

      • Output Circuit Signal Allocation

        141

      • Control Mode Selection

        143

    • Setting Stop Functions

      146

      • Adjusting Offset

        146

      • Servo off Stop Mode Selection

        147

      • Using the Zero Clamp Function

        148

      • Using the Holding Brake

        150

    • Forming a Protective Sequence

      154

      • Using Servo Alarm and Alarm Code Outputs

        154

      • Using the Servo on Input Signal (/S-ON)

        156

      • Using the Positioning Completed Output Signal (/COIN)

        157

      • Speed Coincidence Output (/V-CMP)

        159

      • Using the Running Output Signal (/TGON)

        160

      • Using the Servo Ready Output Signal (/S-RDY)

        162

      • Using the Warning Output Signal (/WARN)

        163

      • Using the Near Output Signal (/NEAR)

        165

      • Handling Power Loss

        166

    • Selecting a Regenerative Resistor

      167

      • External Regenerative Resistor

        168

      • Calculating the Regenerative Power Capacity

        170

    • Absolute Encoders

      180

      • Interface Circuit

        181

      • Configuring an Absolute Encoder

        182

      • Handling Batteries

        183

      • Absolute Encoder Setup

        184

      • Absolute Encoder Reception Sequence

        188

    • Special Wiring

      193

      • Wiring Precautions

        193

      • Wiring for Noise Control

        200

      • Using more than One Servodrive

        204

      • Extending Encoder Cables

        205

      • Power Supply Voltage

        207

      • Reactor for Harmonic Suppression

        209

      • DB Unit

        211

    • Reserved Parameters

      213

    • List of Upgraded Functions

      214

      • Additional Functions

        214

      • Improved Functions

        214

      • Or Higher.)

        214

      • Improvement of Dividing Output Resolution

        216

      • Reference Pulse Input Multiplication Range Switching Function

        220

    • Improved Functions

      223

      • Adaptation to Single-Turn Data Absolute Encoder

        223

      • Moment of Inertia Ratio Setting Range

        223

      • Improvement of Linear Motor Related Specifications

        225

      • Supporting Function for Linear Motor with Hall Sensor

        227

  • Settings According to Device Characteristics

    89

• Servo Adjustment

  229

  • Chapter 6 : Servo Adjustment

    230

    • Using the Soft Start Function

      230

    • Smoothing

      231

    • Adjusting Gain

      232

    • Adjusting Offset

      233

    • Setting the Torque Reference Filter Time Constant

      233

    • Notch Filter

      234

    • High-Speed Positioning

      238

      • Setting Servo Gain

        238

      • Using Feed-Forward Control

        240

      • Using Proportional Control

        241

      • Setting Speed Bias

        242

      • Using Mode Switch

        243

      • Automatic Gain Switching Function

        247

      • Or Higher)

        247

      • Speed Feedback Compensation

        250

    • Auto-Tuning

      252

      • Online Auto-Tuning

        253

      • Mechanical Rigidity Settings for Online Auto-Tuning

        255

      • Saving Results of Online Auto-Tuning

        257

      • Parameters Related to Online Auto-Tuning

        259

    • Servo Gain Adjustments

      261

      • Basic Rules of Gain Adjustment

        261

      • Servo Gain Parameters

        261

      • Making Manual Adjustments

        263

      • Gain Setting Reference Values

        268

    • Analog Monitor

      270

  • Smooth Operation

    230

• Using the Digital Operator

  271

  • Basic Operation

    272

  • Chapter 7 : Using the Digital Operator

    272

    • Connecting the Digital Operator

      272

    • Functions

      273

    • Resetting Servo Alarms

      274

    • Basic Mode Selection

      275

    • Status Display Mode

      275

    • Operation in Parameter Setting Mode

      278

    • Operation in Monitor Mode

      284

    • Applied Operation

      290

      • Operation in Alarm Traceback Mode

        291

      • JOG Operation Using the Digital Operator

        292

      • Automatic Adjustment of the Speed and Torque Reference Offset

        295

      • Manual Adjustment of the Speed and Torque Reference Offset

        297

      • Clearing Alarm Traceback Data

        303

      • Checking the Motor Model

        304

      • Checking the Software Version

        308

      • Origin Search Model

        309

      • Initializing Parameter Settings

        312

      • Analog Monitor Output

        314

      • Manual Zero Adjustment and Gain Adjustment of Analog Monitor Output7-44

        314

      • Adjusting the Motor Current Detection Offset

        319

      • Write Protected Setting

        323

      • Clearing the Option Unit Detection Alarm

        324