Yaskawa SGDH Linear Sigma Series Bedienungsanleitung Seite 299
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9.8 Operating Using Position Control
9-55
9
When the external power supply is used, the circuit will be isolated by a photocoupler. When the SERVO-
PACK internal power supply is used, the circuit will not be isolated.
* : Represents twisted-pair wires.
When the open-collector output is used, input signal noise margin lowers. Set the parameter Pn200.3 to 1.
(4) Position Control Block Diagram
A block diagram for position control is shown below.
9.8.4 Smoothing
A filter can be applied in the SERVOPACK to a constant-frequency reference pulse.
(1) Selecting a Position Reference Filter
* After resetting the parameter, turn OFF the power once and turn it ON again.
CN1
7
3
8
1
14
15
12
11
13
18
/PULS
SIGN
/SIGN
CLR
/CLR
PULS
PL1
PL2
PL3
150Ω
1kΩ
+12V
∗
Tr1
1.5 V max. at ON
SERVOPACKHost controller
Photocoupler
IMPORTANT
Kp
M
PG
Pn281
Pn204
Pn202
Pn203
+
-
Pn102
Pn203
Pn202
Pn10A
Pn180
Pn109
Pn200.0
Pn108
B
A
B
A
+
++
Differ-
ential
Smoothing
Error
counter
Feed-
forward
gain
Feed-
forward
filter time
constant
Bias
Speed
loop
Current
loop
Dividing
Linear servomotor
Reference
pulse
PG signal
output
SERVOPACK (in position control)
Bias width
addition
× 4
× 256
× 2
× 1
Linear scale
Serial
converter unit
Parameter Description
Pn207 n.
0 Acceleration/deceleration filter
n.
1 Average movement filter
- Linear Sigma Series 1
- About this Manual 3
- Related Manuals 5
- Safety Information 6
- Notes for Safe Operation 7
- Checking on Delivery 8
- Storage and Transportation 8
- Installation 9
- Operation 11
- CONTENTS 13
- Wiring 16
- Operation 18
- Adjustments 19
- Revision History 21
- 1.1 Checking Products 24
- 1.1.3 SERVOPACKs 25
- SERIAL CONVERTER 26
- 1.2 Product Part Names 27
- (2) SGDH for 7.5 kW 29
- SGDH-AE 31
- SGDH-DE 32
- 1.4 Applicable Standards 33
- 1 Outline 34
- 1.4.2 CE Marking 34
- Selections 35
- SGL G W 㧙 40 A 140 A P 36
- SGL 40 225 A C 36
- 10SGDH - A E 37
- 2 Selections 38
- D008JZDP 001 40
- 2.5 Selecting Cables 41
- 2.6.1 Special Options 43
- 2.6.4 Regenerative Resistors 47
- 2.6.5 Linear Scales 48
- (a) 200-V Class 55
- (b) 400-V Class 56
- SGLTW-40A400B SGLTW-40A600B 61
- SGLTW-80A400B SGLTW-80A600B 61
- SGLTW-35D170H SGLTW-35D320H 62
- SGLTW-50D170H SGLTW-50D320H 62
- SGLTW-40D400B SGLTW-40D600B 62
- SGLTW-80D400B SGLTW-80D600B 62
- (1) Impact Resistance 63
- (2) Vibration Resistance 63
- * Reference length 65
- Units: mm (in) 65
- SGLFW-20A090A 75
- SGLFW-20A120A 75
- -0.3 76
- 35 (1.38) 77
- 18 (0.71) 77
- 43 (1.69)* 80
- SGLFW-1Zغ200Bغ 81
- SGLFW-1Zغ380Bغ 81
- 54 (2.13) 85
- A Linear Servomotors 86
- YASK AWA 90
- 3.8.5 SGLT 94
- Linear Servomotors 94
- 1 (0.04) 96
- 33.75 (1.33) 98
- 67.5 (2.66) 98
- 25 (0.98) 98
- Drawings 99
- 4.1.2 Three-phase 400 V 100
- Speed reguration 102
- Rated motor speed 102
- 4.2 SERVOPACK Installation 103
- Ventilation 104
- Single-phase 105
- 200 to 230V 105
- (50/60 Hz) 105
- Control power 107
- (not provided) 107
- + Maximum force 110
- (1) Base-mounted Type 112
- SERVOPACK 113
- (Mounting pitch) 115
- Mounting Hole Diagram 115
- 149.5±0.5 (5.89±0.02) 115
- 160 (6.30) 115
- Terminal 116
- 4×M5 tap 117
- 4×M5 screw taps 118
- 4×M6 screw holes 119
- (1) Model: JZDP-D00- 122
- IMPORTANT 123
- (2) Connection Example 124
- Dimensional Drawing 124
- Drawings of Cables and 129
- Peripheral Devices 129
- (1) JZSP-CLN11 Cables 130
- (2) JZSP-CLN21 Cables 131
- (3) JZSP-CLN39 Cables 132
- (1) Cable Type 135
- (2) Dimensional Drawing 135
- (3) Specifications 135
- 6.5 Flexible Cables 138
- (b) Fixing method 139
- (c) Cable length 139
- 6.6.1 Cable Types 140
- 6.6.2 Single-phase 200 V 141
- 6.6.3 Three-phase 200 V 141
- 6.6.4 Three-phase 400 V 142
- 6.7.1 Standard Cables 143
- (3) Cable Size 144
- 6.7.3 Connection Diagram 145
- 6.8 Peripheral Devices 146
- 29.5 (1.16) 146
- 39 (11.89) 146
- MODE/SET DATA/ 147
- (1) Model: JUSP-TA50P 148
- 6.8.6 Regenerative Resistor 150
- (1) Maximum Input Current 151
- (2) Inrush Current 151
- 6.8.8 Noise Filter 152
- (2) Three-phase, 200/400 V 153
- (b) FMAC Series 154
- SCHAFFNER 155
- (1) Specifications 156
- (2) Dimensional Drawings 157
- (2) Specifications 158
- (1) Model: JUSP-NS300 159
- (3) Dimensional Drawings 159
- (1) Model: JUSP-NS500 160
- (1) Model: JUSP-NS600 162
- Nameplate 163
- 7.1.1 Introduction 166
- First magnetic way 167
- Second magnetic way 167
- Align the angle 167
- Rotate the magnetic way 167
- (1) Magnetic Way Installation 168
- 7 Wiring 170
- Magnetic attraction 172
- Magnetic way 174
- Movable table 174
- Coil assembly 174
- Air gap G 175
- Magnetic 175
- Positioning steps 176
- Spacer for transport 176
- Installation for details 177
- (3) Magnetic Attraction 179
- 7.2 Wiring Main Circuit 180
- 8 to 9 mm 182
- (0.31 to 0.35 inches) 182
- (1) Single-phase, 200 V 183
- (2) Three-phase, 200 V 183
- (For servo 184
- alarm display) 184
- (4) DC Power Supply Input 185
- 7.4.1 Speed Control Mode 187
- 7.4.2 Position Control Mode 188
- 7.4.3 Force Control Mode 189
- (/COIN+) 190
- (1) Input Signals 191
- (2) Output Signals 192
- 7.4.6 Interface Circuit 193
- (4) Output Circuit Interface 194
- 7.5 Others 196
- 7.5.1 Wiring Precautions 196
- (Grounding) 197
- (3) Using Noise Filters 198
- Incorrect 199
- DC reactor 202
- Three-phase input 202
- Position 205
- L1 L2 L3 207
- Turn ON the power 213
- 8.1.4 Status Display 214
- Bit data 214
- (2) Codes and Meanings 215
- Blinks for 216
- (DATA/ENTER Key) 217
- (1) Precautions 218
- (2) Related Parameter 218
- (3) Operation Procedure 218
- Code for custom orders 225
- 8.3.1 Setting Parameters 228
- (c) Parameter Indications 229
- 1st digit 231
- 2nd digit 231
- 3rd digit 231
- 4th digit 231
- means factory setting 232
- (3) Allocating Input Signals 235
- 8.4.1 List of Monitor Modes 238
- 76543218 239
- The top segment of 240
- The upper 16-bit data 241
- The lower 16-bit data 241
- Phase-V Phase-W 243
- 9 Operation 246
- 9.1 Trial Operation 248
- SERVOPACK Setup Procedure 250
- HEIDENHAIN 251
- Linear scale pitch (Pn280) = 252
- Linear servomotor cable 253
- (7) Setting Force Limit 255
- (6) Selecting No Hall Sensor 258
- (9) Setting the mass ratio 261
- (11) Setting Force Limit 261
- • Simple Confirmation 262
- • Detailed Confirmation 262
- (c) Detection Waveforms 263
- • Normal Detection 263
- • Detection Error 263
- Reference 266
- MODE/SET 267
- CHARGE POWER 267
- , and use 268
- , and use the ref 269
- 9.5 Control Mode Selection 273
- (1) Servo ON signal (/S-ON) 274
- SERVOPACK Servomotor 278
- 9.7.1 Setting Parameters 280
- 9.7.2 Setting Input Signals 281
- 9.7.3 Adjusting Offset 282
- 1 = 0.05 mV 284
- 9.7.4 Soft Start 285
- 9.7.5 Speed Reference Filter 285
- (1) Zero Clamp Function 285
- (2) Parameter Setting 286
- (3) Input Signal Setting 286
- 9.7.7 Encoder Signal Output 287
- Motor speed 290
- Reference speed 290
- /V-CMP is output in 290
- 9.8.1 Setting Parameters 291
- (4) Clear Operation Selection 292
- (1) Scale Feedback Resolution 293
- (2) Electronic Gear 293
- (3) Related Parameters 294
- Servo ON 296
- Baseblock 296
- Sign + pulse train 296
- Encoder pulses 296
- (3) Connection Example 298
- 9.8.4 Smoothing 299
- (2) Filter-related Parameters 300
- ≤ 0.5 ms 303
- Reference voltage (V) 304
- Reference force 304
- Rated force 304
- 128 to +127 306
- 1 = 14.7 mV 306
- 9.10.1 Setting Parameters 309
- 9.10.2 Input Signal Settings 310
- 9.11 Limiting Force 312
- (1) Related Parameters 313
- (2) Input Signals 313
- 9.12 Control Mode Selection 318
- 9.12.1 Setting Parameters 318
- 9.13 Other Output Signals 320
- Adjustments 323
- 10.1 Autotuning 324
- (1) Autotuning Functions 325
- 10 Adjustments 326
- 10.2 Online Autotuning 327
- 10.2.1 Online Autotuning 327
- • Speed Loop PI Control 330
- 10.3 Manual Tuning 334
- 10.3.3 Position Loop Gain 335
- 10.3.4 Speed Loop Gain 336
- Kp: Position loop gain 338
- : Feed-forward gain 338
- (1) PI/P Control 340
- (3) Related Parameter 340
- 10.4.7 Speed Feedback Filter 344
- (1) Adjustment Procedure 346
- (1) Force Reference Filter 348
- (2) Notch Filter 349
- 10.5 Analog Monitor 351
- • Related Parameters 352
- Inspection, Maintenance, and 353
- Troubleshooting 353
- 11.1 Troubleshooting 354
- 11.1.1 Alarm Display Table 354
- 11.1.2 Warning Display 356
- ALO1 ALO2 ALO3 357
- ±10 degrees 369
- Servomotor 373
- Overheated 373
- 11.2.2 SERVOPACK Inspection 374
- Appendix 377
- SGDH-04AE SERVOPACK 378
- (6) Result 379
- 12.2.1 Simple Calculation 380
- 12 Appendix 382
- (1) Calculation Procedure 383
- (a) SGLGW Linear Servomotors 385
- Model : SGLGW 386
- Model SGLFW 388
- Model SGLTW 389
- 10DE,15DE 391
- 20DE,30DE 391
- Control power supply 393
- Main circuit power supply 393
- 12.4 List of Parameters 399
- 12.4.2 List of Parameters 400
- Input signal polarities 410
- 12.4.3 Monitor Modes 416
- Setting 417
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