YASKAWA SGDV Analog User manual

MANUAL NO. SIEP S800000 88H

Outline

Panel Operator

Wiring and Connection

Trial Operation

Operation

Adjustments

Utility Functions (Fn)

Monitor Displays (Un)

Fully-closed Loop Control

Troubleshooting

Appendix

1

2

3

4

5

6

7

8

9

10

11

SGDV-H, -J SERVOPACK

SGDV-COA Converter

SGMVV Servomotor

Rotational Motor

Analog Voltage and Pulse Train Reference

-V Series

AC Servo Drives

USER’S MANUAL

For Use with Large-Capacity Models

Design and Maintenance

or transmitted, in any form, or by any means, mechanical, electronic, photocopying, recording,

or otherwise, without the prior written permission of Yaskawa. No patent liability is assumed

with respect to the use of the information contained herein. Moreover, because Yaskawa is con-

stantly striving to improve its high-quality products, the information contained in this manual is

subject to change without notice. Every precaution has been taken in the preparation of this

manual. Nevertheless, Yaskawa assumes no responsibility for errors or omissions. Neither is

any liability assumed for damages resulting from the use of the information contained in this

publication.

iii

About this Manual

This manual describes information required for designing, testing, adjusting, and maintaining large-capacity

models of servo systems in the Σ-V series.

Keep this manual in a location where it can be accessed for reference whenever required. Manuals outlined on

the following page must also be used as required by the application.

Description of Technical Terms

The following table shows the meanings of terms used in this manual.

IMPORTANT Explanations

The following icon is displayed for explanations requiring special attention.

Notation Used in this Manual

• Notation for Reverse Signals

The names of reverse signals (i.e., ones that are valid when low) are written with a forward slash (/) before the

signal name.

Notation Example

BK = /BK

• Notation for Parameters

The notation depends on whether the parameter requires a value setting (parameter for numeric settings) or

requires the selection of a function (parameter for selecting functions).

Term Meaning

Cursor Input position indicated by Digital Operator

Servomotor Σ-V large-capacity SGMVV servomotor

SERVOPACK Σ-V large-capacity SGDV-H, -J servo amplifier

Converter Σ-V large-capacity SGDV-COA converter

Servo Drive A set that includes a servomotor, a SERVOPACK, and a converter

Servo System A servo control system that includes the combination of a servo drive

with a host controller and peripheral devices

Servo ON Power to motor ON

Servo OFF Power to motor OFF

Base Block (BB) Power supply to motor is turned OFF by shutting off the base current

to the power transistor in the SERVOPACK.

Servo Lock A state in which the motor is stopped and is in position loop with a

position reference of 0.

Main Circuit Cable

Cables which connect to the main circuit terminals, including main

circuit power supply cables, control power supply cables, servomotor

main circuit cables, and others.

• Indicates important information that should be memorized, as well as precautions, such as

alarm displays, that do not involve potential damage to equipment.

iv

• Parameters for Numeric Settings

Notation Example

Pn311

Vibration Detection Sensitivity

Setting Range

50 to 500 1% 100 Immediately

Setting Unit Factory Setting When Enabled

Classification

Tuning

Parameter Meaning When Enabled Classification

Pn002 After restart

n.0

[Factory setting]

n.1 Uses the absolute encoder as an

incremental encoder.

Uses the absolute encoder as an

absolute encoder. Setup

Parameter

number

Parameter

number

Position Torqu e

Control methods for which the parameter applies.

Speed : Speed control : Position control : Torque control

Indicates the

parameter setting

before shipment.

Indicates when a

change to the

parameter will be

effective.

Indicates the

parameter

classification.

Indicates the

minimum setting unit

for the parameter.

Tor qu e

PositionSpeed

Indicates the setting

range for the parameter.

The notation “n.” indicates a parameter

for selecting functions. Each  corresponds to

the setting value of that digit. The notation shown

here means that the third digit is 1.

This section explains the

selections for the function.

• Parameters for Selecting Functions

1st digit

2nd digit

3rd digit

4th digit

Panel Operator Display (Display Example for Pn002)

Digit Notation Setting Notation

Meaning Notation Meaning

Pn002.0

Pn002.1

Pn002.2

Pn002.3

Indicates the value for the

1st digit of parameter Pn002.

Indicates the value for the

2nd digit of parameter Pn002.

Indicates the value for the

3rd digit of parameter Pn002.

Indicates the value for the

4th digit of parameter Pn002.

Pn002.0 = x

or n.x

Pn002.1 = x

or n.x

Indicates that the value for the

1st digit of parameter Pn002 is x.

Indicates that the value for the

2nd digit of parameter Pn002 is x.

Pn002.2 = x

or n.x

Pn002.3 = x

or n.x

Indicates that the value for the

3rd digit of parameter Pn002 is x.

Indicates that the value for the

4th digit of parameter Pn002 is x.

Notation

v

Manuals Related to the Σ-V Large-Capacity Models

Refer to the following manuals as required.

Name

Selecting

Models and

Peripheral

Devices

Ratings and

Specifications

System

Design

Panels and

Wiring

Trial

Operation

Trial

Operation

and Servo

Adjustment

Maintenance

and

Inspection

Large-Capacity Σ-V Series

Catalog

(No.: KAEP S800000 86)



Σ-V Series

User’s Manual

For Use with Large-Capacity

Models

Setup Rotational Motor

(No.: SIEP S800000 89)



Σ-V Series

User’s Manual

For Use with Large-Capacity

Models

Design and Maintenance

Rotational Motor

Analog Voltage and Pulse

Train Reference

(This Manual)

 

Σ-V Series

User’s Manual

Operation of Digital Operator

(No.: SIEP S800000 55)



AC Servomotor

Safety Precautions

(No.: TOBP C230200 00)



AC SERVOPACK and

Converter Σ-V Series

Safety Precautions

For Use with Large-Capacity

Models

(No.: TOBP C710829 07)

 

Σ Series

Safety Precautions

Digital Operator

(No.: TOBP C730800 00)



vi

Safety Information

The following conventions are used to indicate precautions in this manual. Failure to heed precautions pro-

vided in this manual can result in serious or possibly even fatal injury or damage to the products or to related

equipment and systems.

Indicates precautions that, if not heeded, could possibly result in loss of

life or serious injury.

Indicates precautions that, if not heeded, could result in relatively serious

or minor injury, damage to the product, or faulty operation.

In some situations, the precautions indicated could have serious

consequences if not heeded.

Indicates prohibited actions that must not be performed. For example,

this symbol would be used to indicate that fire is prohibited as follows:

Indicates compulsory actions that must be performed. For example, this

symbol would be used to indicate that grounding is compulsory as

follows:

WARNING

CAUTION

PROHIBITED

MANDATORY

vii

Safety Precautions

These safety precautions are very important. Read them before performing any procedures such as checking

products on delivery, storage and transportation, installation, wiring, operation and inspection, or disposal. Be

sure to always observe these precautions thoroughly.

WARNING

• Never touch any rotating motor parts while the motor is running.

Failure to observe this warning may result in injury.

• Before starting operation with a machine connected, make sure that an emergency stop can be

applied at any time.

Failure to observe this warning may result in injury or damage to the product.

• Never touch the inside of the SERVOPACKs and the converters.

Failure to observe this warning may result in electric shock.

• Do not remove the front cover of the power supply terminals while the power is ON.

Failure to observe this warning may result in electric shock.

• Do not touch the power terminals while discharging the main circuit’s capacitor, because high volt-

age may still remain in the SERVOPACK and the converter. For details on the charging time of the

main circuit’s capacitor, refer to 3.1.5 Discharging Time of the Main Circuit’s Capacitor.

Before starting to do wiring or inspections, confirm that the power has been completely discharged (charge

indicator: OFF) by using a tester to measure the voltage between the P and N terminals for DC power.

Residual voltage may cause electric shock.

• Follow the procedures and instructions provided in this manual for trial operation.

Failure to do so may result not only in faulty operation and damage to equipment, but also in personal injury.

• The output range of the rotational serial data for the absolute position detecting system used for Σ-V large-

capacity servo drives is different from that of earlier systems for 12-bit and 15-bit encoders. As a result, the

infinite-length positioning system of the Σ servo drives must be changed for use with Σ-V large-capacity servo

drives. Be sure to make the system modifications.

• The multi-turn limit value need not be changed except for special applications.

Changing it inappropriately or unintentionally can be dangerous.

• If the Multi-turn Limit Disagreement alarm occurs, check the setting of parameter Pn205 in the SERVOPACK to

be sure that it is correct.

If Fn013 is executed when an incorrect value is set in Pn205, an incorrect value will be set in the encoder. The

alarm will disappear even if an incorrect value is set, but incorrect positions will be detected, resulting in a

dangerous situation where the machine will move to unexpected positions.

• Do not remove the front cover, cables, connectors, or optional items from the front of the SERVO-

PACK and the converter while the power is ON.

Failure to observe this warning may result in electric shock or damage to the product.

• Do not damage, press, exert excessive force on, or place heavy objects on the cables.

Failure to observe this warning may result in electric shock, stopping operation of the product, or fire.

• Do not modify the product.

Failure to observe this warning may result in injury, fire, or damage to the product.

• Provide an appropriate braking device on the machine side to ensure safety. The holding brake on

a servomotor with a brake is not a braking device for ensuring safety.

Failure to observe this warning may result in injury.

• Do not come close to the machine immediately after resetting a momentary power loss. The

machine may restart unexpectedly. Take appropriate measures to ensure safety against an unex-

pected restart.

Failure to observe this warning may result in injury.

• Do not wire the regenerative resistor unit incorrectly. Never short-circuit the B1 and B2 terminals.

Failure to observe this warning may result in fire or damage to the product.

• Connect the ground terminal according to local electrical codes (100 Ω or less for a SERVOPACK

and a converter with a 200 V power supply. 10 Ω or less for a SERVOPACK and a converter with

400 V power supply).

Improper grounding may result in electric shock or fire.

• Be sure to connect the servomotor’s built-in thermostat to the host controller or to the main circuit

magnetic contactor’s operation circuit.

Failure to observe this warning may result in injury, fire, or damage to the product.

viii

• Usage Example 1:

In this example, the output signal from the thermostat is received by the host controller if the thermostat is

activated and the host controller turns OFF the servo.

• Usage Example 2:

In this example, the main circuit magnetic contactor’s operation circuit is activated or the output signal

from the thermostat is received by the host controller if the thermostat is activated and the main circuit

magnetic contactor is turned OFF.

• Installation, disassembly, or repair must be performed only by authorized personnel.

Failure to observe this warning may result in electric shock or injury.

• The person who designs a system using the safety function (Hard Wire Baseblock function) must

have full knowledge of the related safety standards and full understanding of the instructions in this

manual.

Failure to observe this warning may result in injury or damage to the product.

WARNING

Host controller

Servo OFF

ENC

MThermostat

Main circuit

magnetic

contactor

Main circuit

power supply SERVOPACK

and

converter

M

Main circuit

magnetic

contactor

Main circuit

power supply

Main circuit

magnetic contactor

Host controller or main circuit

magnetic contactor’s operation circuit

SERVOPACK

and

converter

Thermostat

ENC

ix

Storage and Transportation

Installation

CAUTION

• Do not store or install the product in the following locations.

Failure to observe this caution may result in fire, electric shock, or damage to the product.

• Locations subject to direct sunlight

• Locations subject to temperatures outside the range specified in the storage/installation temperature con-

ditions

• Locations subject to humidity outside the range specified in the storage/installation humidity conditions

• Locations subject to condensation as the result of extreme changes in temperature

• Locations subject to corrosive or flammable gases

• Locations subject to dust, salts, or iron dust

• Locations subject to exposure to water, oil, or chemicals

• Locations subject to shock or vibration

• Do not hold the product by the cables, motor shaft, or terminal box while transporting it.

Failure to observe this caution may result in injury or malfunction.

• Do not place any load exceeding the limit specified on the packing box.

Failure to observe this caution may result in injury or malfunction.

• If disinfectants or insecticides must be used to treat packing materials such as wooden frames, pal-

lets, or plywood, the packing materials must be treated before the product is packaged, and meth-

ods other than fumigation must be used.

Example: Heat treatment, where materials are kiln-dried to a core

temperature of 56°C for 30 minutes or more.

If the electronic products, which include stand-alone products and products installed in machines, are packed

with fumigated wooden materials, the electrical components may be greatly damaged by the gases or fumes

resulting from the fumigation process. In particular, disinfectants containing halogen, which includes chlo-

rine, fluorine, bromine, or iodine can contribute to the erosion of the capacitors.

CAUTION

• Never use the product in an environment subject to water, corrosive gases, inflammable gases, or

combustibles.

Failure to observe this caution may result in electric shock or fire.

• Do not step on or place a heavy object on the product.

Failure to observe this caution may result in injury or malfunction.

• Do not cover the inlet or outlet ports and prevent any foreign objects from entering the product.

Failure to observe this caution may cause internal elements to deteriorate resulting in malfunction or fire.

• Be sure to install the product in the correct direction.

Failure to observe this caution may result in malfunction.

• Provide the specified clearances between the SERVOPACK and the converter and the control

panel or with other devices.

Failure to observe this caution may result in fire or malfunction.

• Do not apply any strong impact.

Failure to observe this caution may result in malfunction.

x

Wiring

CAUTION

• Be sure to wire correctly and securely.

Failure to observe this caution may result in motor overrun, injury, or malfunction.

• Do not connect a commercial power supply to the U, V, or W terminals for the servomotor connec-

tion.

Failure to observe this caution may result in injury or fire.

• Securely connect the main circuit terminals.

Failure to observe this caution may result in fire.

• Do not bundle or run the main circuit cables together with the I/O signal cables or the encoder

cables in the same duct. Keep them separated by at least 30 cm.

Failure to do so may result in malfunction.

• Use shielded twisted-pair wires or multi-core shielded twisted-pair wires for I/O signal cables and

encoder cables.

• Use the bus bars that are included with the converter, and connect the P and N terminals on the

SERVOPACK and converter securely.

• The maximum cable length is 3 m for I/O signal cables, 50 m for connection cables for servomotor

main circuit or encoder cables, and 10 m for control power supply cables to 400-V converters (+24

V, 0 V).

• Be sure to observe the following precautions when wiring the main circuit’s terminals and connec-

tors on a SERVOPACK or converter.

• Do not turn ON the power to a SERVOPACK or converter until all wiring, including the wiring to the

main circuit terminals, has been completed.

• Remove detachable main circuit terminals from the SERVOPACK and the converter prior to wiring.

• Insert only one power line per opening in the main circuit terminals.

• Make sure that no part of the core wire comes into contact with (i.e., short-circuits) adjacent wires.

• Install a battery at either the host controller or the battery unit of the encoder, but not both.

It is dangerous to install batteries at both ends simultaneously, because that sets up a loop circuit between the

batteries.

• Always use the specified power supply voltage.

An incorrect voltage may result in fire or malfunction.

• Make sure that the polarity is correct.

Incorrect polarity may cause ruptures or damage.

• Take appropriate measures to ensure that the input power supply is supplied within the specified

voltage fluctuation range. Be particularly careful in places where the power supply is unstable.

An incorrect power supply may result in damage to the product.

• Install external breakers or other safety devices against short-circuiting in external wiring.

Failure to observe this caution may result in fire.

• Take appropriate and sufficient countermeasures for each form of potential interference when

installing systems in the following locations.

• Locations subject to static electricity or other forms of noise

• Locations subject to strong electromagnetic fields and magnetic fields

• Locations subject to possible exposure to radioactivity

• Locations close to power supplies

Failure to observe this caution may result in damage to the product.

• Do not reverse the polarity of the battery when connecting it.

Failure to observe this caution may damage the battery, the SERVOPACK, or servomotor, or cause an explo-

sion.

• Wiring or inspection must be performed by a technical expert.

• Use a 24-VDC power supply for the control power of 400-V converter with double insulation or rein-

forced insulation.

xi

Operation

Maintenance and Inspection

CAUTION

• Always use the servomotor, the SERVOPACK, and the converter in one of the specified combina-

tions.

Failure to observe this caution may result in fire or malfunction.

• Conduct trial operations on the servomotor alone, with the motor shaft disconnected from the

machine to avoid accidents.

Failure to observe this caution may result in injury.

• During trial operation, confirm that the holding brake works correctly. Furthermore, secure system

safety against problems such as signal line disconnection.

Failure to observe this caution may result in injury or damage to the product.

• Before starting operation with a machine connected, change the settings to match the parameters

of the machine.

Starting operation without matching the proper settings may cause the machine to run out of control or mal-

function.

• Do not frequently turn power ON and OFF.

• Frequently turning power ON and OFF causes elements inside the SERVOPACK and the converter to

deteriorate. Do not use the servo drive with an application that requires frequently turning power ON and

OFF.

• After the actual operation starts, the allowable interval for turning power ON and OFF is one hour or lon-

ger.

• When using JOG operations (Fn002) origin search operations (Fn003), or EasyFFT operations

(Fn206), the dynamic brake function does not work for reverse overtravel or forward overtravel.

Take necessary precautions.

Failure to observe this caution may result in damage to the product.

• When using the servomotor for a vertical axis, install safety devices to prevent workpieces from fall-

ing due to alarms or overtravels. Set the servomotor so that it will stop in the zero clamp state when

overtravel occurs.

Failure to observe this caution may cause workpieces to fall due to overtravel.

• When not using tuning-less function, set to the correct moment of inertia ratio (Pn103).

Setting to an incorrect moment of inertia ratio may cause vibration.

• Do not touch the SERVOPACK and the converter heatsinks, regenerative resistor, or servomotor

while power is ON or soon after the power is turned OFF.

Failure to observe this caution may result in burns due to high temperatures.

• Do not make any extreme adjustments or setting changes of parameters.

Failure to observe this caution may result in injury or damage to the product due to unstable operation.

• When an alarm occurs, remove the cause, reset the alarm after confirming safety, and then resume

operation.

Failure to observe this caution may result in damage to the product, fire, or injury.

• Do not use the holding brake of the servomotor for braking.

Failure to observe this caution may result in malfunction.

• An alarm or warning may occur if communications are performed with the host controller while the

SigmaWin+ or Digital Operator is operating.

If an alarm or warning occurs, it may stop the current process and stop the system.

CAUTION

• Do not disassemble the SERVOPACK and the converter.

Failure to observe this caution may result in electric shock or injury.

• Do not attempt to change wiring while the power is ON.

Failure to observe this caution may result in electric shock or injury.

• When replacing the SERVOPACK, resume operation only after copying the previous SERVOPACK

parameters to the new SERVOPACK.

Failure to observe this caution may result in damage to the product.

• Be sure to eliminate static electricity before operating buttons and switches inside the plastic cover.

Failure to observe this caution may result in damage to the product.

xii

Disposal Precautions

General Precautions

CAUTION

• Correctly discard the product as stipulated by regional, local, and municipal laws and reg-

ulations. Be sure to include these contents in all labelling and warning notifications on the

final product as necessary.

Observe the following general precautions

to ensure safe application.

• The products shown in illustrations in this manual are sometimes shown without covers or protective guards.

Always replace the cover or protective guard as specified first, and then operate the products in accordance with

the manual.

• The drawings presented in this manual are typical examples and may not match the product you received.

• If the manual must be ordered due to loss or damage, inform your nearest Yaskawa representative or one of the

offices listed on the back of this manual.

xiii

Warranty

(1) Details of Warranty

Warranty Period

The warranty period for a product that was purchased (hereinafter called “delivered product”) is one year from

the time of delivery to the location specified by the customer or 18 months from the time of shipment from the

Yaskawa factory, whichever is sooner.

Warranty Scope

Yaskawa shall replace or repair a defective product free of charge if a defect attributable to Yaskawa occurs

during the warranty period above. This warranty does not cover defects caused by the delivered product reach-

ing the end of its service life and replacement of parts that require replacement or that have a limited service

life.

This warranty does not cover failures that result from any of the following causes.

1. Improper handling, abuse, or use in unsuitable conditions or in environments not described in product cata-

logs or manuals, or in any separately agreed-upon specifications

2. Causes not attributable to the delivered product itself

3. Modifications or repairs not performed by Yaskawa

4. Abuse of the delivered product in a manner in which it was not originally intended

5. Causes that were not foreseeable with the scientific and technological understanding at the time of ship-

ment from Yaskawa

6. Events for which Yaskawa is not responsible, such as natural or human-made disasters

(2) Limitations of Liability

1. Yaskawa shall in no event be responsible for any damage or loss of opportunity to the customer that arises

due to failure of the delivered product.

2. Yaskawa shall not be responsible for any programs (including parameter settings) or the results of program

execution of the programs provided by the user or by a third party for use with programmable Yaskawa

products.

3. The information described in product catalogs or manuals is provided for the purpose of the customer pur-

chasing the appropriate product for the intended application. The use thereof does not guarantee that there

are no infringements of intellectual property rights or other proprietary rights of Yaskawa or third parties,

nor does it construe a license.

4. Yaskawa shall not be responsible for any damage arising from infringements of intellectual property rights

or other proprietary rights of third parties as a result of using the information described in catalogs or man-

uals.

xiv

(3) Suitability for Use

1. It is the customer’s responsibility to confirm conformity with any standards, codes, or regulations that

apply if the Yaskawa product is used in combination with any other products.

2. The customer must confirm that the Yaskawa product is suitable for the systems, machines, and equipment

used by the customer.

3. Consult with Yaskawa to determine whether use in the following applications is acceptable. If use in the

application is acceptable, use the product with extra allowance in ratings and specifications, and provide

safety measures to minimize hazards in the event of failure.

• Outdoor use, use involving potential chemical contamination or electrical interference, or use in condi-

tions or environments not described in product catalogs or manuals

• Nuclear energy control systems, combustion systems, railroad systems, aviation systems, vehicle sys-

tems, medical equipment, amusement machines, and installations subject to separate industry or gov-

ernment regulations

• Systems, machines, and equipment that may present a risk to life or property

• Systems that require a high degree of reliability, such as systems that supply gas, water, or electricity, or

systems that operate continuously 24 hours a day

• Other systems that require a similar high degree of safety

4. Never use the product for an application involving serious risk to life or property without first ensuring that

the system is designed to secure the required level of safety with risk warnings and redundancy, and that the

Yaskawa product is properly rated and installed.

5. The circuit examples and other application examples described in product catalogs and manuals are for ref-

erence. Check the functionality and safety of the actual devices and equipment to be used before using the

product.

6. Read and understand all use prohibitions and precautions, and operate the Yaskawa product correctly to

prevent accidental harm to third parties.

(4) Specifications Change

The names, specifications, appearance, and accessories of products in product catalogs and manuals may be

changed at any time based on improvements and other reasons. The next editions of the revised catalogs or

manuals will be published with updated code numbers. Consult with your Yaskawa representative to confirm

the actual specifications before purchasing a product.

xv

Harmonized Standards

North American Safety Standards (UL)

EU Directives

Name (Model) UL Standards

(UL File No.) Mark

SERVOPACK (SGDV-H, -J),

Converter (SGDV-COA) UL508C (E147823)

Servomotor (SGMVV) UL1004 (E165827)

Name (Model) EU Directives Harmonized Standards

SERVOPACK

(SGDV-H, -J),

Converter (SGDV-COA)

Machinery Directive

2006/42/EC EN ISO13849-1: 2015

EMC Directive

2014/30/EU

EN 55011 group 1 class A

EN 61000-6-2

EN 61000-6-4

EN 61800-3 (Category C2, Second Environment)

Low Voltage Directive

2014/35/EU

EN 50178

EN 61800-5-1

RoHS Directive

2011/65/EU EN 50581

Servomotor (SGMVV)

EMC Directive

2014/30/EU

EN 55011 group 1 class A

EN 61000-6-2

EN 61000-6-4

EN 61800-3 (Category C2, Second Environment)

Low Voltage Directive

2014/35/EU

EN 60034-1

EN 60034-5

RoHS Directive

2011/65/EU EN 50581

xvi

Safety Standards

• Safety Performance

Name (Model) Safety Standards Standards

SERVOPACK

(SGDV-H, -J)

Safety of Machinery EN ISO13849-1: 2015

IEC 60204-1

Functional Safety

IEC 61508 series

IEC 62061

IEC 61800-5-2

EMC IEC 61326-3-1

Items Standards Performance Level

Safety Integrity Level IEC 61508 SIL2

IEC 62061 SILCL2

Probability of Dangerous Failure per Hour IEC 61508,

IEC 62061

PFH≤1.7×10-9 [1/h]

(0.17% of SIL2)

Performance Level EN ISO 13849-1 PL d (Category 3)

Mean Time to Dangerous Failure of Each

Channel EN ISO 13849-1 MTTFd: High

Average Diagnostic Coverage EN ISO 13849-1 DCavg: Low

Stop Category IEC 60204-1 Stop category 0

Safety Function IEC 61800-5-2 STO

Proof test Interval IEC 61508 10 years

xvii

Contents

About this Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . iii

Safety Precautions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . vii

Warranty. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xiii

Harmonized Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xv

Chapter 1 Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-1

1.1 Σ-V Large-Capacity SERVOPACKs and Converters . . . . . . . . . . . . . . . . . . . 1-2

1.2 SERVOPACK Part Names. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2

1.3 Converter Part Names . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4

1.4 Ratings and Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-6

1.4.1 Ratings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-6

1.4.2 Basic Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-7

1.4.3 Speed/Position/Torque Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-10

1.5 SERVOPACK and Converter Internal Block Diagrams . . . . . . . . . . . . . . . . 1-11

1.5.1 Three-phase 200 V. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-11

1.5.2 Three-phase 400 V. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-12

1.6 Examples of Servo System Configurations . . . . . . . . . . . . . . . . . . . . . . . . . 1-13

1.7 SERVOPACK Model Designation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-14

1.8 Converter Model Designation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-15

1.9 Combinations of Servomotors, SERVOPACKs, and Converters . . . . . . . . . 1-16

1.10 Inspection and Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-17

Chapter 2 Panel Operator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-1

2.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2

2.1.1 Names and Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2

2.1.2 Display Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2

2.1.3 Status Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3

2.2 Utility Functions (Fn) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4

2.3 Parameters (Pn). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5

2.3.1 Parameter Classification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5

2.3.2 Notation for Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5

2.3.3 Setting Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-6

2.4 Monitor Displays (Un). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-9

Chapter 3 Wiring and Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-1

3.1 Main Circuit Wiring. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3

3.1.1 Main Circuit Terminals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3

3.1.2 Main Circuit Wire . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-5

3.1.3 Typical Main Circuit Wiring Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-14

3.1.4 General Precautions for Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-18

3.1.5 Discharging Time of the Main Circuit’s Capacitor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-20

3.2 Connecting the Converter to the SERVOPACK . . . . . . . . . . . . . . . . . . . . . . 3-21

3.2.1 Connecting the Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-21

3.2.2 Interconnecting Terminals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-21

xviii

3.3 I/O Signal Connections. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-23

3.3.1 I/O Signal (CN1) Names and Functions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-23

3.3.2 Safety Function Signal (CN8) Names and Functions. . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-25

3.3.3 Example of I/O Signal Connections in Speed Control . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-26

3.3.4 Example of I/O Signal Connections in Position Control . . . . . . . . . . . . . . . . . . . . . . . . . . 3-27

3.3.5 Example of I/O Signal Connections in Torque Control . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-28

3.4 I/O Signal Allocations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-29

3.4.1 Input Signal Allocations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-29

3.4.2 Output Signal Allocations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-33

3.5 Examples of Connection to Host Controller . . . . . . . . . . . . . . . . . . . . . . . . . 3-37

3.5.1 Reference Input Circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-37

3.5.2 Sequence Input Circuit. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-38

3.5.3 Sequence Output Circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-40

3.6 Encoder Connection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-42

3.6.1 Encoder Signal (CN2) Names and Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-42

3.6.2 Encoder Connection Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-42

3.7 Selecting and Connecting a Regenerative Resistor Unit . . . . . . . . . . . . . . . 3-44

3.7.1 Selecting a Regenerative Resistor Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-44

3.7.2 Connecting a Regenerative Resistor Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-45

3.7.3 Setting Regenerative Resistor Capacity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-46

3.7.4 Installation Standards. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-47

3.8 Selecting and Connecting a Dynamic Brake Unit. . . . . . . . . . . . . . . . . . . . . 3-48

3.8.1 Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-48

3.8.2 Selecting the Cable for the Dynamic Brake Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-48

3.8.3 Setting the Dynamic Brake Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-49

3.8.4 Setting the Dynamic Brake Answer Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-50

3.8.5 Installation Standards. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-51

3.8.6 Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-51

3.9 Noise Control and Measures for Harmonic Suppression . . . . . . . . . . . . . . . 3-54

3.9.1 Wiring for Noise Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-54

3.9.2 Noise Filter Wiring and Connection Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-56

3.9.3 Connecting a Reactor for Harmonic Suppression . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-58

Chapter 4 Trial Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-1

4.1 Inspection and Checking before Trial Operation . . . . . . . . . . . . . . . . . . . . . . 4-2

4.2 Trial Operation for Servomotor without Load . . . . . . . . . . . . . . . . . . . . . . . . . 4-2

4.3 Trial Operation for Servomotor without Load from Host Reference . . . . . . . . 4-3

4.3.1 Inspecting Connection and Status of Input Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-5

4.3.2 Trial Operation in Speed Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-8

4.3.3 Trial Operation under Position Control from the Host Controller with

the SERVOPACK Used for Speed Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-9

4.3.4 Trial Operation in Position Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-10

4.4 Trial Operation with the Servomotor Connected to the Machine . . . . . . . . . 4-11

4.5 Trial Operation of Servomotor with Brakes. . . . . . . . . . . . . . . . . . . . . . . . . . 4-12

4.6 Test Without Motor Function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-13

4.6.1 Motor Information. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-13

4.6.2 Motor Position and Speed Responses. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-14

4.6.3 Limitations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-15

4.6.4 Operator Displays during Testing without Motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-16

Chapter 5 Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-1

5.1 Control Method Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-3

xix

5.2 Basic Functions Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-4

5.2.1 Servo ON Signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-4

5.2.2 Servomotor Rotation Direction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-4

5.2.3 Overtravel. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-6

5.2.4 Holding Brakes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-9

5.2.5 Stopping Servomotors after /S-ON Turned OFF or Alarm Occurrence . . . . . . . . . . . . . . 5-14

5.2.6 Instantaneous Power Interruption Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-16

5.2.7 SEMI F47 Function (Torque Limit Function for Low DC Power Supply Voltage

for Main Circuit) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-17

5.2.8 Setting Motor Overload Detection Level . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-20

5.3 Speed Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-22

5.3.1 Basic Settings for Speed Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-22

5.3.2 Reference Offset Adjustment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-23

5.3.3 Soft Start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-26

5.3.4 Speed Reference Filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-26

5.3.5 Zero Clamp Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-27

5.3.6 Encoder Output Pulses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-29

5.3.7 Setting Encoder Output Pulse . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-30

5.3.8 Setting Speed Coincidence Signal. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-31

5.4 Position Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-32

5.4.1 Basic Settings for Position Control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-33

5.4.2 Clear Signal Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-37

5.4.3 Reference Pulse Input Multiplication Switching Function. . . . . . . . . . . . . . . . . . . . . . . . .5-38

5.4.4 Electronic Gear . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-40

5.4.5 Smoothing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-43

5.4.6 Positioning Completed Signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-44

5.4.7 Positioning Near Signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-45

5.4.8 Reference Pulse Inhibit Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-46

5.5 Torque Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-47

5.5.1 Basic Settings for Torque Control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-47

5.5.2 Reference Offset Adjustment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-48

5.5.3 Torque Reference Filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-51

5.5.4 Speed Limit in Torque Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-51

5.6 Internal Set Speed Control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-53

5.6.1 Basic Settings for Speed Control with an Internal Set Speed . . . . . . . . . . . . . . . . . . . . . 5-53

5.6.2 Example of Operating with Internal Set Speeds . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-55

5.7 Combination of Control Methods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-56

5.7.1 Switching Internal Set Speed Control (Pn000.1 = 4, 5, or 6) . . . . . . . . . . . . . . . . . . . . . . 5-56

5.7.2 Switching Other Than Internal Set Speed Control (Pn000.1 = 7, 8 or 9) . . . . . . . . . . . . . 5-58

5.7.3 Switching Other Than Internal Set Speed Control (Pn000.1 = A or B). . . . . . . . . . . . . . . 5-58

5.8 Limiting Torque. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-59

5.8.1 Internal Torque Limit. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-59

5.8.2 External Torque Limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-60

5.8.3 Torque Limiting Using an Analog Voltage Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-61

5.8.4 Torque Limiting Using an External Torque Limit and Analog Voltage Reference . . . . . . . 5-63

5.8.5 Checking Output Torque Limiting during Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-64

5.9 Absolute Encoders. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-65

5.9.1 Connecting the Absolute Encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-66

5.9.2 Absolute Data Request Signal (SEN). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-68

5.9.3 Battery Replacement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-69

5.9.4 Absolute Encoder Setup and Reinitialization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-71

5.9.5 Absolute Data Reception Sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-73

5.9.6 Multiturn Limit Setting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-76

5.9.7 Multiturn Limit Disagreement Alarm (A.CC0) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-77

5.10 Other Output Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-78

5.10.1 Servo Alarm Output Signal (ALM) and Alarm Code Output Signals

(ALO1, ALO2, and ALO3) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-78

5.10.2 Warning Output Signal (/WARN) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-79

5.10.3 Rotation Detection Output Signal (/TGON) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-80

5.10.4 Servo Ready Output Signal (/S-RDY) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-80

xx

5.11 Safety Function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-81

5.11.1 Hard Wire Base Block (HWBB) Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-81

5.11.2 External Device Monitor (EDM1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-86

5.11.3 Application Example of Safety Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-88

5.11.4 Confirming Safety Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-89

5.11.5 Precautions for Safety Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-89

Chapter 6 Adjustments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-1

6.1 Type of Adjustments and Basic Adjustment Procedure . . . . . . . . . . . . . . . . . 6-3

6.1.1 Adjustments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-3

6.1.2 Basic Adjustment Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-5

6.1.3 Monitoring Operation during Adjustment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-6

6.1.4 Safety Precautions on Adjustment of Servo Gains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-9

6.2 Tuning-less Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-12

6.2.1 Tuning-less Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-12

6.2.2 Tuning-less Levels Setting (Fn200) Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-15

6.2.3 Related Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-18

6.3 Advanced Autotuning (Fn201) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-19

6.3.1 Advanced Autotuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-19

6.3.2 Advanced Autotuning Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-22

6.3.3 Related Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-28

6.4 Advanced Autotuning by Reference (Fn202) . . . . . . . . . . . . . . . . . . . . . . . . 6-29

6.4.1 Advanced Autotuning by Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-29

6.4.2 Advanced Autotuning by Reference Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-31

6.4.3 Related Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-35

6.5 One-parameter Tuning (Fn203) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-36

6.5.1 One-parameter Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-36

6.5.2 One-parameter Tuning Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-37

6.5.3 One-parameter Tuning Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-44

6.5.4 Related Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-45

6.6 Anti-Resonance Control Adjustment Function (Fn204) . . . . . . . . . . . . . . . . 6-46

6.6.1 Anti-Resonance Control Adjustment Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-46

6.6.2 Anti-Resonance Control Adjustment Function Operating Procedure . . . . . . . . . . . . . . . . 6-47

6.6.3 Related Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-52

6.7 Vibration Suppression Function (Fn205) . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-53

6.7.1 Vibration Suppression Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-53

6.7.2 Vibration Suppression Function Operating Procedure. . . . . . . . . . . . . . . . . . . . . . . . . . . 6-54

6.7.3 Related Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-57

6.8 Additional Adjustment Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-58

6.8.1 Switching Gain Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-58

6.8.2 Manual Adjustment of Friction Compensation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-62

6.8.3 Current Control Mode Selection Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-64

6.8.4 Current Gain Level Setting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-64

6.8.5 Speed Detection Method Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-64

6.8.6 Position Integral . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-65

6.9 Compatible Adjustment Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-66

6.9.1 Feedforward Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-66

6.9.2 Torque Feedforward . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-66

6.9.3 Speed Feedforward . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-68

6.9.4 Proportional Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-69

6.9.5 Mode Switch (P/PI Switching) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-70

6.9.6 Torque Reference Filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-72

Chapter 7 Utility Functions (Fn) . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-1

7.1 List of Utility Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-2

7.2 Alarm History Display (Fn000) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-3

7.3 JOG Operation (Fn002) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-4

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