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YASKAWA SGMAH User Manual
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YASKAWA SGMAH User Manual
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User manual
User manual
User manual
User manual
Table of content
Contents
Table Of Contents
Table Of Contents
Table Of Contents
Table Of Contents
Table Of Contents
Table Of Contents
Checking Product and Part Names
Checking the Sigma II Series Products on Delivery
Direct-drive Motor Supporting Function
Servo Amplifiers
Product Part Names
Installation
Servomotors
Alignment
Allowable Shaft Loads
Vibration Resistance
Vibration Class
Orientation
Wiring
Connecting to Peripheral Devices
Single-Phase (100V or 200V) Main Circuit Specifications
Three-Phase (200V) Main Circuit Specifications
Three-Phase (400V) Main Circuit Specifications
Servo Amplifier Internal Block Diagrams
kW to 1.5kW (200V) Models
kW to 15.0kW (200V) Models
kW (400V) Models
kW to 15.0kW (400V) Models
Main Circuit Wiring
Names and Descriptions of Main Circuit Terminal
Typical Main Circuit Wiring Example
Servo Amplifier Power Losses
Wiring Main Circuit Terminal Blocks
I/O Signals
List of CN1 Terminals
I/O Signal Names and Functions
Interface Circuits
Wiring Encoders (for SGMGH and SGMSH Motors Only)
CN2 Encoder Connector Terminal Layout and Types
Examples of Standard Connections
Three-Phase Power Supply Specifications (200V)
Three-Phase Power Supply Specifications (400V)
Position Control Mode
Speed Control Mode
Torque Control Mode
Trial Operation
Two-Step Trial Operation
Step 1: Trial Operation for Servomotor without Load
Step 2: Trial Operation with the Servomotor Connected to a Load
Additional Setup Procedures in Trial Operation
Position Control by Host Controller
Minimum Parameters and Input Signals
Parameter Settings and Functions
Settings According to Device Characteristics
Setting the Overtravel Limit Function
Limiting Torque
Settings According to Host Controller
Position Reference
Using the Encoder Signal Output
Sequence I/O Signals
Using the Electronic Gear Function
Contact Input Speed Control
Using Torque Control
Torque Feed-Forward Function
Speed Feed-Forward Function
Torque Limiting by Analog Voltage Reference
Reference Pulse Inhibit Function (/INHIBIT)
Setting Up the Servo Amplifier
JOG Speed
Input Circuit Signal Allocation
Output Circuit Signal Allocation
Control Mode Selection
Setting Stop Functions
Servo OFF Stop Mode Selection
Using the Zero Clamp Function
Using the Holding Brake
Forming a Protective Sequence
Using the Servo ON Input Signal (/S-ON)
Using the Positioning Completed Output Signal (/COIN)
Speed Coincidence Output (/V-CMP)
Using the Running Output Signal (/TGON)
Using the Servo Ready Output Signal (/S-RDY)
Using the Warning Output Signal (/WARN)
Using the Near Output Signal (/NEAR)
Handling Power Loss
Selecting a Regenerative Resistor
External Regenerative Resistor
Calculating the Regenerative Power Capacity
Absolute Encoders
Interface Circuit
Configuring an Absolute Encoder
Handling Batteries
Absolute Encoder Setup
Absolute Encoder Reception Sequence
Special Wiring
Wiring for Noise Control
Using More Than One Servodrive
Extending Encoder Cables
V Power Supply Voltage
Reactor for Harmonic Suppression
DB Unit
Reserved Parameters
Additional Functions
Improvement of Dividing Output Resolution
Reference Pulse Input Multiplication Range Switching Function
Moment of Inertia Ratio Setting Range
Improvement of Linear Motor Related Specifications
Supporting Function for Linear Motor with Hall Sensor
Servo Adjustment
Smooth Operation
Smoothing
Adjusting Gain
Adjusting Offset
Notch Filter
High-Speed Positioning
Using Feed-Forward Control
Using Proportional Control
Setting Speed Bias
Using Mode Switch
Speed Feedback Compensation
Auto-Tuning
Online Auto-Tuning
Mechanical Rigidity Settings for Online Auto-Tuning
Saving Results of Online Auto-Tuning
Parameters Related to Online Auto-Tuning
Servo Gain Adjustments
Making Manual Adjustments
Gain Setting Reference Values
Analog Monitor
Using the Digital Operator
Basic Operation
Functions
Resetting Servo Alarms
Basic Mode Selection
Operation in Parameter Setting Mode
Operation in Monitor Mode
Applied Operation
Operation in Alarm Traceback Mode
JOG Operation Using the Digital Operator
Automatic Adjustment of the Speed and Torque Reference Offset
Manual Adjustment of the Speed and Torque Reference Offset
Clearing Alarm Traceback Data
Checking the Motor Model
Checking the Software Version
Origin Search Model
Initializing Parameter Settings
Analog Monitor Output
Adjusting the Motor Current Detection Offset
Write Protected Setting
Clearing the Option Unit Detection Alarm
Ratings and Characteristics
Servomotors: Ratings, Specifications, and Dimensional Drawings
SGMPH Servomotors
SGMGH Servomotors
SGMSH Servomotors
SGMUH Servomotors
SGMBH Servomotors
SGMCS Direct Drive Motors
Specifications
Ratings and Specifications
Base-Mounted Servo Amplifier Dimensions in inches (mm)
Inspection, Maintenance, and Troubleshooting
Servodrive Inspection and Maintenance
Servo Amplifier Inspection
Replacing the Battery for the Absolute Encoder
Troubleshooting
Troubleshooting Problems with No Alarm Display
Alarm Display Table
Warning Displays
Additional Sigma II Alarms
A. Host Controller Connection Examples
A.1 Connecting the GL-series MC20 Motion Module
A.2 Connecting the CP-9200SH Servo Controller Module (SVA)
A.3 Connecting the GL-series B2813 Positioning Module
A.4 Connecting OMRON's C500-NC221 Position Control Unit
A.5 Connecting OMRON's C500-NC112 Position Control Unit
A.6 Connecting MITSUBISHI's AD72 Positioning Unit
A.7 Connecting MITSUBISHI's AD75 Positioning Unit
B. List of Parameters
B.1 Parameters
B.2 Switches
B.3 Input Signal Selections
B.4 Output Signal Selections
B.5 Auxiliary Functions
B.5.1 Detail of Fn011 (Motor Model Display)
B.6 Monitor Modes
B.7 List of Added & Changed Parameters
B.7.2 Switch list
B.7.3 Input Signal Selection List
B.7.4 Output Signal Selection List
B.7.7 Alarm and Warning List
C. Examples of Standard Connections
C.1 Single-Phase Power Supply Specifications
C.2 Three-Phase Power Supply Specifications (200V)
C.3 Three-Phase Power Supply Specifications (400V)
C.4 Position Control Mode
C.5 Speed Control Mode
Sigma II Series Servo System
User’s Manual
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This manual is suitable for:
SGMAH
SGMGH
SGMPH
SGMSH
SGMUH
SGMBH
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