User manual OMRON SGDH

[. . . ] YASKAWA Series SGM H/SGDH USER'S MANUAL SGMAH/SGMPH/SGMGH/SGMSH/SGMDH/SGMUH Servomotors SGDH SERVOPACK YASKAWA MANUAL NO. SIEPS80000005C Copyright © 2003 YASKAWA ELECTRIC CORPORATION All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, 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. [. . . ] xxx Zero Clamp Pn50D. 0 = n. xxx Reference Pulse Inhibit Pn50D. 1 = n. xx x Gain Changeover Pn50D. 2 = n. x xx Validity Level L H L H H L H L L H L H L H L H L H L H L H L H L H L H CN1 Input Pin Allocation Connection Not Required (SERVOPACK judges the connection) Always Always ON OFF 7 7 8 8 Input Signal 40 /S-ON S-ON /P-CON P-CON P-OT /P-OT N-OT /N-OT /ARM-RST ARM-RST /P-CL P-CL /N-CL N-CL /SPD-D SPD-D /SPD-A SPD-A /SPD-B SPD-B /C-SEL C-SEL /ZCLAMP ZCLAMP /INHIBIT INHIBIT /G-SEL G-SEL 0 9 0 9 0 9 0 9 0 9 0 9 0 9 0 9 0 9 0 9 0 9 0 9 0 9 0 9 41 1 A 1 A 1 A 1 A 1 A 1 A 1 A 1 A 1 A 1 A 1 A 1 A 1 A 1 A 42 2 B 2 B 2 B 2 B 2 B 2 B 2 B 2 B 2 B 2 B 2 B 2 B 2 B 2 B 43 3 C 3 C 3 C 3 C 3 C 3 C 3 C 3 C 3 C 3 C 3 C 3 C 3 C 3 C 44 4 D 4 D 4 D 4 D 4 D 4 D 4 D 4 D 4 D 4 D 4 D 4 D 4 D 4 D 45 5 E 5 E 5 E 5 E 5 E 5 E 5 E 5 E 5 E 5 E 5 E 5 E 5 E 5 E 46 6 F 6 F 6 F 6 F 6 F 6 F 6 F 6 F 6 F 6 F 6 F 6 F 6 F 6 F 7 8 7 - 7 8 8 8 7 8 7 8 7 8 7 8 7 7 7 7 8 8 8 8 IMPORTANT 1. When using Servo ON, Forward Run Prohibited, and Reverse Run Prohibited signals with the setting "Polarity Reversal, " the machine may not move to the specified safe direction at occurrence of failure such as signal line disconnection. If such setting is absolutely necessary, confirm the operation and observe safety precautions. When two or more signals are allocated to the same input circuit, the input signal level will be applied to all the allocated signal. 7-24 7. 3 Operation in Parameter Setting Mode (Pn ) (3) Allocating Input Signals EXAMPLE The procedure to replace Servo ON (/S-ON) signal allocated to CN1-40 and Forward External Torque Limit (/P-CL) allocated to CN1-45 is shown below. Before Pn50A: Pn50B: Step 1 Display after Operation After Digital Operator DSPL SET Panel Operator Description Press the DSPL/SET or MODE/SET Key to select the "value setting parameter" mode. If a parameter other than Pn50A is displayed, press the UP or DOWN Key to set Pn50A. Press the DATA/ENTER Key once, or DATA/SHIFT Key for more than one second to display the current data of Pn50A. (/S-ON is allocated to CN1-40. ) Press the UP Key to set to "1. " (Sequence input signals can be freely set. ) Press the LEFT or RIGHT Key or DATA/SHIFT Key to select the second digit from the right. Press the UP key to set to "5. " (Changes the allocation of /S-ON from CN1-40 to CN145. ) Press the DATA/ENTER Key once, or DATA/SHIFT Key for more than one second. Press the DATA/ENTER Key once, or DATA/SHIFT Key for more than one second to return to the display Pn50A. Note: The enabled digit blinks. (DSPL/SET Key) MODE/SET (MODE/SET Key) 2 DATA ENTER (DATA/ENTER Key) DATA (DATA/SHIFT Key) (Press at least 1 s. ) 3 (UP Key) DATA/ (DATA/SHIFT Key) 4 DATA/ (DATA/SHIFT Key) 5 DATA ENTER (DATA/ENTER Key) DATA (DATA/SHIFT Key) (Press at least 1 s. ) 6 DATA ENTER (DATA/ENTER Key) DATA (DATA/SHIFT Key) (Press at least 1 s. ) 7 7 (UP Key) (UP Key) 8 DATA ENTER (DATA/ENTER Key) DATA (DATA/SHIFT Key) (Press at least 1 s. ) 9 DATA/ (DATA/SHIFT Key) 10 DATA ENTER (DATA/ENTER Key) DATA (DATA/SHIFT Key) (Press at least 1 s. ) Press the DATA/ENTER Key once, or DATA/SHIFT Key for more than one second to display the current data of Pn50B. (/P-CL is allocated to CN1-45. ) Press the LEFT or RIGHT Key or DATA/SHIFT Key to select the third digit from the right. Press the DOWN Key to set to "0. " (Changes the allocation of /P-CL from CN1-45 to CN140. ) Press the DATA/ENTER Key once, or DATA/SHIFT Key for more than one second. The value blinks and is saved. 11 12 Press the DATA/ENTER Key once, or DATA/SHIFT Key for more than one second to return to the display DATA/ Pn50B. /S-ON is allocation to CN1-45, and /P-CL is (DATA/SHIFT Key) (DATA/ENTER Key) allocated to CN1-40. Turn the power OFF and ON again to enable the change of input signal selections (Pn50A and Pn50B). DATA ENTER 7-25 7 Digital Operator/Panel Operator 7. 3. 3 Output Circuit Signal Allocation 7. 3. 3 Output Circuit Signal Allocation Functions can be allocated to the following sequence output signals. After having changed the parameter, turn OFF the power and ON again to enable the parameters. Parameter Setting Allocation Positioning Completion (/COIN) Pn50E. 0 = n. xxx Speed Coincidence Detection (/V-CMP) Pn50E. 1 = n. xx x Rotation Detection (/TGON) Pn50E. 2 = n. x xx Servo Ready (/S-RDY) Pn50E. 3 = n. xxx Torque Limit Detection (/CLT) Pn50F. 0 = n. xxx Speed Limit Detection (/VLT) Pn50F. 1 = n. xx x Brake (/BK) Pn50F. 2 = n. x xx Warning (/WARN) Pn50F. 3 = n. xxx Near (/NEAR) Pn510. 0 = n. xxx 0 1 2 3 0 1 2 3 0 1 2 3 0 1 2 3 0 1 2 3 0 1 2 3 0 1 2 3 0 1 2 3 0 1 2 3 25/(26) Pn512=n. xxx 0 Invalid L 1 H L Invalid L H L H L Invalid L H L H L Invalid L H L H L Invalid L H L H L Invalid L H L H L Invalid L H L H L Invalid L H L H L Invalid L H L H L H L H H H H H H H H Factory Setting H 27/(28) Pn512=n. xx x 0 1 29/(30) Pn512=n. x xx 0 1 L: Valid output signal: Low level H: Valid output signal: High level Invalid: Do not use the output signal. Remark Pn50E: Pn50F: Pn510: Pn512: Note: The output signals for Positioning Completion Signal and Speed Coincidence Detection Signal differ depending on the control method. IMPORTANT 1. When two or more signals are allocated to the same output circuit, a signal is output with OR logic. The signals not detected are considered as "Invalid. " For example, Positioning Completion (/COIN) Signal in speed control mode is "Invalid. " 7-26 7. 3 Operation in Parameter Setting Mode (Pn ) · Allocating Output Signals EXAMPLE The procedure to replace Rotation Detection (/TGON) signal allocated to CN1-27 (28) with factory setting to "Invalid" and allocate Brake Interlock (/BK) signal to CN1-27 (28) is shown below. Before Pn50E: Step 1 Display after Operation Digital Operator DSPL SET After Panel Operator Description Press the DSPL/SET or MODE/SET Key to select the "value setting parameter" mode. [. . . ] Normally set to "0. " When using an external regenerative resistor, set the allowable power loss (W) of the regenerative resistor. The upper limit is the maximum output capacity (W) of the SERVOPACK. 11-42 11. 3 List of Parameters 11. 3. 3 Monitor Modes The following list shows monitor modes available. Parameter No. Un000 Un001 Un002 Un003 Un004 Un005 Un006 Un007 Un008 Un009 Un00A Un00B Content of Display Actual motor speed Input speed reference Internal torque reference (Value for rated torque) Rotation angle 1 (Number of pulses from the zero point:16-bit decimal code) Rotation angle 2 (Angle from the zero point (electrical angle)) Input signal monitor Output signal monitor Input reference pulse speed (displayed only in position control mode) Error counter value (amount of position error) (displayed only in position control mode) Accumulated load rate (Value for the rated torque as 100%: Displays effective torque in 10 s cycle. ) Regenerative load rate (Value for the processable regenerative power as 100%: Displays regenerative power consumption in 10 s cycle. ) Power consumed by DB resistance (Value for the processable power when dynamic brake is applied as 100%: Displays DB power consumption in 10 s cycle. ) Input reference pulse counter (hexadecimal code) (displayed only in position control mode) Feedback pulse counter (hexadecimal code) Unit min-1 min-1 % pulse deg - - min-1 reference unit % % % Un00C Un00D - 11 11-43 11 Appendix 11. 4 Parameter Recording Table Use the following table for recording parameters. Note: Setting validation ("immediately" or "after restart") for Pn10B and Pn110 differs depending on the digit. The digits validated after restart are underlined in "Factory Setting" column. [. . . ]