YASKAWA E-S Series Manual de usuario

SGPSS SERVOPACK

SGMSL Servomotor

DC Power Supply Input and Contact Commands

-S Series

AC Servo Drives

PRODUCT MANUAL

MANUAL NO. SIEP S800001 13C

Basic Information

Selection

Installation

Wiring and Connections

Setup

Trial Operation

Operation and Functions

Tuning

Monitoring

Maintenance

Parameter List

retrieval system, or transmitted, in any form, or by any means, mechanical, elec-

tronic, photocopying, recording, or otherwise, without the prior written permission

of Yaskawa. No patent liability is assumed with respect to the use of the informa-

tion contained herein. Moreover, because Yaskawa is constantly striving to

improve its high-quality products, the information contained in this manual is sub-

ject 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 provides information required to select Σ-S-Series AC Servo Drives (DC power supply

input and contact commands), and to design, perform trial operation of, tune, operate, and main-

tain the Servo Drives.

Read and understand this manual to ensure correct usage of the Σ-S-Series AC Servo Drives.

Keep this manual in a safe place so that it can be referred to whenever necessary.

Outline of Manual

The contents of the chapters of this manual are described in the following table.

Refer to these chapters as required.

Chapter Chapter Title Contents

1 Basic Information Provides information required to select Servo Drives, such as information

on Servomotors and SERVOPACKs.

2 Selection

Provides information required to select SERVOPACKs, Servomotors,

cables, and peripheral devices, such as specifications, dimensional draw-

ings, and connection examples.

3Installation Provides information on installing SERVOPACKs and Servomotors in the

required locations.

4 Wiring and Connections Provides information on wiring and connecting SERVOPACKs to power

supplies and peripheral devices.

5Setup Describes the functions that must be set before you start operation. It also

describes the setting methods.

6 Trial Operation Provides information on the flow and procedures for trial operation and

convenient functions to use during trial operation.

7 Operation and Functions Provides detailed information on program table operation, homing, jog

operation, and ZONE outputs.

8Tuning Provides information on the flow of tuning, details on tuning functions, and

related operating procedures.

9 Monitoring Provides information on monitoring SERVOPACK product information and

SERVOPACK status.

10 Maintenance Provides information on the meaning of, causes of, and corrections for

alarms and warnings.

11 Parameter Lists Provides information on the parameters.

Related Documents

The relationships between the documents that are related to the Servo Drives are shown in the following

figure. The numbers in the figure correspond to the numbers in the table on the following pages. Refer

to these documents as required.

SERVOPACKsand Servomotors

Servo Drives



Σ-SServo Drive

(DC Power Supply

Input and Pulse

Train References)

Product Manual



Σ-S

SERVOPACK

Safety Precautions



Σ-S

Servomotor

Safety Precautions

Σ-SServo Drive

(DC Power Supply

Input and Contact

Commands)

Product Manual

(thismanual)



Engineering Tool

SigmaWin+

Online Manual



Σ-S-Series

Catalog

Servo Drives

ManualsCatalogs

Classification Document Name Document Number Description



Σ-S-Series

Catalog

Σ-S Series

AC Servo Drives KAEP S800001 40

Provides information on Σ-S-Series

AC Servo Drives, including features

and specifications.



Σ-S Servo Drive

(Contact Commands)

Product Manual

AC Servo Drive

Σ-S-Series

Product Manual

DC Power Supply Input and Con-

tact Commands

This manual

(SIEP S800001 13)

Provides detailed information on

selecting, designing, connecting,

setting, performing trial operation

for, tuning, and monitoring the Σ-S-

Series Servo Drives.



Σ-S Servo Drive

(Pulse Train Refer-

ences)

Product Manual

AC Servo Drive

Σ-S-Series

Product Manual

DC Power Supply Input and Pulse

Train References

SIEP S800001 49



Engineering Tool

Operating Manual

AC Servo Drives Engineering Tool

SigmaWin+

Online Manual

Σ-S Component

SIEP S800001 06

Provides detailed operating proce-

dures for the SigmaWin+ Engineer-

ing Tool for a Σ-S-Series Servo

System.



Σ-S SERVOPACK

Safety Precautions

AC SERVOPACK

Σ-S-Series

Safety Precautions

DC Power Input

TOBP C710827 00

Describes installation, wire sizes,

and inspections for Σ-S-Series

SERVOPACKs.



Σ-S Servomotor

Safety Precautions

AC Servo Drive

Rotary Servomotor

Safety Precautions

TOBP C230260 00

Describes Servomotor installation,

handling precautions, and inspec-

tions.

Using This Manual

Technical Terms Used in This Manual

The following terms are used in this manual.

Te rm Meaning

Servomotor A Σ-S-Series Rotary Servomotor.

SERVOPACK A Σ-S-Series SERVOPACK.

Servo Drive The combination of a Servomotor and SERVOPACK.

Servo System A servo control system that includes the combination of a Servo Drive with a host con-

troller and peripheral devices.

SERVO ON Supplying power to the motor.

SERVO OFF Not supplying power to the motor.

SigmaWin+ The Engineering Tool for setting up and tuning Servo Drives or a computer in which the

Engineering Tool is installed.

vii

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 abbreviation.

Notation Example

BUSY is written as /BUSY.

Notation for Parameters

The notation depends on whether the parameter requires a numeric setting (parameter for numeric

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

•Parameters for Numeric Settings

Notation Example

Pn100

Speed Loop Gain

Setting Range

10 to 20,000 0.1 Hz 400 Immediately

Setting Unit Default Setting When Enabled Classication

Tuning

Parameter Meaning When Enabled Classication

Pn140

n.0

(default setting) Do not perform vibration suppression.

Immediately Tuning

n.1Perform vibration suppression for a specic frequency.

n.2Reserved setting (Do not use.)

Thisisthe setting range

for the parameter.

Parameter

number Thisisthe

parameter setting

before shipment.

Thisiswhen any

change made to the

parameter will

become effective.

Thisisthe parameter

classication.

Thisisthe minimum

unit (setting increment)

that you can set for

the parameter.

Thiscolumn explainsthe

selectionsfor the function.

The notation “n.” indicatesa parameter for

selecting functions.

Each indicatesthe setting for one digit.

The notation shown here meansthat the third digit

from the right isset to 2.

Parameter

number

•Parameters for Selecting Functions

Notation Examplesfor Pn008

Pn008 =

n.X

Indicatesthe rst digit from

the right in Pn008.

Pn008 =

n.1

Indicatesthat the rst digit from

the right in Pn008 isset to 1.

Pn008 =

n.X

Indicatesthe second digit

from the right in Pn008.

Pn008 =

n.1

Indicatesthat the second digit from

the right in Pn008 isset to 1.

Pn008 =

n.X

Indicatesthe third digit from

the right in Pn008.

Pn008 =

n.1

Indicatesthat the third digit from

the right in Pn008 isset to 1.

Pn008 =

n.X

Indicatesthe fourth digit from

the right in Pn008.

Pn008 =

n.1

Indicatesthat the fourth digit from

the right in Pn008 isset to 1.

n.0 0 0 0 Notation

Digit Notation Numeric Value Notation

Meaning Notation Meaning

viii

Engineering Tools Used in This Manual

This manual uses the interfaces of the SigmaWin+ for descriptions.

Trademarks

Other product names and company names are the trademarks or registered trademarks of the

respective company. “TM” and the ®mark do not appear with product or company names in this

manual.

Visual Aids

The following aids are used to indicate certain types of information for easier reference.

Indicates precautions or restrictions that must be observed.

Also indicates alarm displays and other precautions that will not result in machine damage.

Indicates definitions of difficult terms or terms that have not been previously explained in this

manual.

Indicates operating or setting examples.

Indicates supplemental information to deepen understanding or useful information.

Important

Term

Example

Information

Safety Precautions

Safety Information

To prevent personal injury and equipment damage in advance, the following signal words are used

to indicate safety precautions in this document. The signal words are used to classify the hazards

and the degree of damage or injury that may occur if a product is used incorrectly. Information

marked as shown below is important for safety. Always read this information and heed the precau-

tions that are provided.

DANGER

Indicates precautions that, if not heeded, are likely to result in loss of life, serious injury, or fire.

WARNING

Indicates precautions that, if not heeded, could result in loss of life, serious injury, or fire.

CAUTION

Indicates precautions that, if not heeded, could result in relatively serious or minor injury, or in

fire.

NOTICE

Indicates precautions that, if not heeded, could result in property damage.

Safety Precautions That Must Always Be Observed

General Precautions

DANGER

Read and understand this manual to ensure the safe usage of the product.

Keep this manual in a safe, convenient place so that it can be referred to whenever necessary.

Make sure that it is delivered to the final user of the product.

Do not remove cables or connectors while power is being supplied to the SERVOPACK.

There is a risk of electric shock, operational failure of the product, or burning.

WARNING

Always use the correct power supply specifications for the product.

There is a risk of burning, electric shock, or fire.

Connect the ground terminal on the SERVOPACK to a ground pole with a resistance of 100 Ωor

less.

There is a risk of electric shock or fire.

Do not attempt to disassemble, repair, or modify the product.

There is a risk of fire or failure.

The warranty is void for the product if you disassemble, repair, or modify it.

CAUTION

SERVOPACKs and Servomotors may be very hot while power is ON or soon after the power is

turned OFF. Implement safety measures, such as installing covers, so that hands and parts

such as cables do not come into contact with hot components.

There is a risk of burn injury.

For a 24-VDC power supply, use a power supply device with double insulation or reinforced

insulation.

Do not damage, pull on, apply excessive force to, place heavy objects on, or pinch cables.

There is a risk of failure, damage, or electric shock.

Do not use the product in an environment that is subject to water, corrosive gases, or flamma-

ble gases, or near flammable materials.

There is a risk of electric shock or fire.

NOTICE

Do not attempt to use a SERVOPACK or Servomotor that is damaged or that has missing parts.

Install external emergency stop circuits that shut OFF the power supply and stops operation

immediately when an error occurs.

Use a Noise Filter to minimize the effects of electromagnetic interference.

Electronic devices used near the SERVOPACK may be affected by electromagnetic interference.

Always use a Servomotor and SERVOPACK in one of the specified combinations.

Do not touch a SERVOPACK or Servomotor with wet hands.

There is a risk of product failure or electric shock.

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