Sgdm 10ada ошибки

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