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YASKAWA SGDV-MD SERVOPACK User Manual

YASKAWA SGDV-MD SERVOPACK User Manual (321 pages)

AC, Rotational Motor, MECHATROLINK-III Communications References, Servomotor

Brand: YASKAWA | Category: Servo Drives | Size: 7.77 MB

Table of Contents

About this Manual
3
Safety Precautions
6
Warranty
11
Complying with European Directives
13
Table of Contents
14
Chapter 1 Outline

20
- Σ-V-MD-Series Type A01/A02 Servopacks
  20
- Examples of Servo System Configurations
  20
  - Type A01 Configurations
    20
  - Type A02 Configurations
    21
  - Part Names
    22
    
    Servomotor
    22
    
    Servopack
    22
Chapter 2 Selecting Products

27
- Model Designations
  27
  - Servomotors
    27
  - Servopacks
    27
- Selecting Servomotors
  29
  - Sigmajunmasize
    29
  - Selection Calculations
    30
- Combinations
  32
- Selecting Cables
  33
  - Power Supply Cables
    33
  - Servomotor/Encoder Relay Cables
    33
  - I/O Signal Cables
    33
  - MECHATROLINK Communications Cables
    33
  - Ethernet Cables
    33
- Selecting Peripheral Devices
  34
Chapter 3 Specifications and Dimensional Drawings

36
- Servomotors
  36
  - Ratings and Specifications
    36
  - Dimensional Drawings
    40
  - Mechanical Specifications
    43
  - Heat Dissipation Conditions
    44
  - Holding Brake Delay Time
    44
- Servopacks
  45
  - Ratings
    45
  - Basic Specifications
    45
  - MECHATROLINK-III Function Specifications
    49
  - Dimensional Drawings
    52
Chapter 4 Installation

57
- Servomotor Installation
  57
  - Servomotor Installation Environment
    57
  - Orientation
    57
  - Installation Standards
    57
  - Connecting Servomotor to Machine
    58
  - Protective Structure
    58
  - Other Precautions
    59
- SERVOPACK Installation
  61
- EMC Installation Conditions
  64
  - Sgdv-Mda01EM3A
    64
  - Sgdv-Mda02E8M3A
    65
  - Other Precautions
    65
Chapter 5 Wiring and Connections

67
Chapter 6 Sigmawin+

92
- Sigmawin
  92
- Preparing Sigmawin
  93
- Connecting a PC with Sigmawin
  93
- Starting and Operating the Sigmawin
  96
- Parameters (Pn)
  98
  - Parameter Classification
    98
  - Notation for Parameters
    98
  - Setting Parameters
    99
- Monitor Operations
  103
Chapter 7 Operation

105
- MECHATROLINK-III Communications Settings
  105
- MECHATROLINK-III Commands
  107
- Basic Functions Settings
  107
  - Servomotor Rotation Direction
    107
  - Overtravel
    108
  - Software Limit Settings
    112
  - Holding Brakes
    113
  - Stopping Servomotors after SV_OFF Command or Alarm Occurrence
    117
  - Setting Motor Overload Detection Level
    118
- Trial Operation
  120
- Limiting Torque
  125
  - Internal Torque Limit
    125
  - Checking the Torque Limit
    125
- Absolute Encoder Setting
  126
  - Absolute Encoder Setup
    126
  - Multiturn Limit Setting
    129
  - Multiturn Limit Disagreement Alarm (A.CC0)
    131
  - Absolute Encoder Origin Offset
    133
Chapter 8 Adjustments

136
- Type of Adjustments and Basic Adjustment Procedure
  136
  - Adjustments
    136
  - Basic Adjustment Procedure
    137
  - Monitoring Operation During Adjustment
    138
  - Safety Precautions on Adjustment of Servo Gains
    145
- Tuning-Less Function
  147
  - Tuning-Less Levels Setting Procedure
    149
  - Related Parameters
    152
- Advanced Autotuning
  153
  - Advanced Autotuning Procedure
    155
  - Related Parameters
    169
- Advanced Autotuning by Reference
  170
  - Advanced Autotuning by Reference Procedure
    172
  - Related Parameters
    178
- One-Parameter Tuning
  179
  - One-Parameter Tuning Procedure
    179
  - One-Parameter Tuning Example
    192
  - Related Parameters
    193
- Anti-Resonance Control Adjustment Function
  194
  - Anti-Resonance Control Adjustment Function Operating Procedure
    195
  - Related Parameters
    202
- Vibration Suppression Function
  203
  - Vibration Suppression Function Operating Procedure
    204
  - Related Parameters
    209
- Additional Adjustment Function
  210
  - Switching Gain Settings
    210
  - Manual Adjustment of Friction Compensation
    214
  - Current Gain Level Setting
    216
  - Speed Detection Method Selection
    216
- Compatible Adjustment Function
  217
  - Feedforward Reference
    217
  - Mode Switch (P/PI Switching)
    218
  - Torque Reference Filter
    220
Chapter 9 Utility Functions

224
- List of Utility Functions
  224
- Alarm History Display
  225
- JOG Operation
  226
  - JOG Operation
    227
- Origin Search
  228
- Program JOG Operation
  231
- Initializing Parameter Settings
  238
- Clearing Alarm History
  241
- Automatic Offset-Signal Adjustment of the Motor Current Detection Signal
  242
  - Automatic Offset-Signal Adjustment of the Motor Current
    242
  - Write Prohibited Setting
    244
- Write Prohibited Setting
  245
- Vibration Detection Level Initialization
  246
- Confirmation of SERVOPACK and Servomotor Model Information
  249
- Software Reset
  250
  - Software Reset
    251
- Easyfft
  252
- Online Vibration Monitor
  256
Chapter 10 Maintenance, Inspections, and Troubleshooting

262
- Maintenance and Inspections
  262
- Alarm Displays
  263
  - List of Alarms
    263
  - Troubleshooting of Alarms
    266
- Warning Displays
  275
  - List of Warnings
    275
  - Troubleshooting of Warnings
    276
- Troubleshooting Malfunction Based on Operation and Conditions of the Servomotor
  279
Chapter 11 Appendix

285
- Parameter Configuration
  285
  - Unit Parameters
    285
  - Axis Parameters
    285
- List of Parameters
  286
  - MECHATROLINK-III Common Parameters
    303
- Parameter Recording Table
  311
- Index
  317
- Revision History
  320

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