YASKAWA CACR-SR BE Series User manual

YASKAWA
AC SERVOPACK MONITOR PANEL
OPERATION MANUAL
SERVOPACK TYPES CACR-SR!_]BEK], BY[-_], BD[;]
Beforeinitial operation, read theseinstructions thoroughly, and ietain for future reference.
z
YAS KAWA TOE-S800-11.3D

CONTENTS
1. SWITCH OPERATION /1
2. FUNCTIONS OF MONITOR PANEL /2
3.STATUS INDICATION MODE /3
4. SETTING MODE /5
4.1 USER CONSTANT (DATA) SETUP AND MONITOR /5
4.2 USER CONSTANT (MEMORY SWITCH) SETUP AND MONITOR /7
4.3 MONITOR PANEL JOG OPERATION MODE
SELECTION AND OPERATING PROCEDURE /10
4.4 SPEED REFERENCE OFFSET ADJUSTMENT /12
4,5 CLEARING FAULT TRACEBACK DATA /13
4,6 SPEED REFERENCE OFFSET MANUAL ADJUSTMENT/14
4,7 CURRENT DETECTION OFFSET MANUAL ADJUSTMENT/16
4,8 CHECK OF MOTOR PARAMETERS /18
5, MONITOR MODE /20
6. FAULT TRACEBACK MODE /22

1 SWITCH .OPERATION
Fig. 1.1shows the monitor panel. The monitor panel has various functions as
listed by modes in Par. 2. "Monitor Panel Functions" (P. 2). The functions al-
lotted to SW1 through SW4 vary with monitor panel mode. A description of
switch functions according to modes, such as in Fig. 1.2is provided, and f. 1
through f.7 in the description show switch functions in the setup mode.
Notes:
1. The monitor panel's constant setup data are retained even after the power is turned off.
2. Even if the power is turned off after fault occurrence, the fault data is retained in memory.
Therefore, itis possible tocheck the fault data after the power" is turned back on.
3. The monitor mode carl be changed even during operations.
.................................................. 1
MONITOR PANEL
,,
LD1 LD2 LD3 LD4 LD5 . [
[CODE INDICATOR
i
*
i
SW1 'SW2SW3sw 4 i
i
i
O T O.S ,TOH
.................................................. i
Fig. 1.1 Monitor Panel
SWI SWl $ SW2
_-_ • _o, _ ..._,,, _,
SW2 SW I SW 3
_..._ _... _,, _
SW 3SW 1SW 4
_ ..._, F:_ ...D_,,_
SW 4
_ ..._,,
• : Indicatesthat SW2is pressedas SW1is pressed.
Fig. 1.2 Description of Switch Function

2 FUNCTIONS OF MONITOR PANEL
Table 2.1shows the monitor panel functions. The status display is the default
when control power is turned ON. To change the mode, use switch SW4 as
shown in Fig. 2.1.
Table 2,1 Monitor Panel Functions
Mode Function
Various States Indication
° BaseBlock
State Indication o On Operation (See Par, 3.)
Mode eFault
For details, refer to Table 1.2
Refer to "User Constant Setting." (See Par. 4.2.)
Setting Mode ., Operation (JOG) from Monitor Panel (See Par. 4,3,)
• Speed Reference Offset Adjustment (See Par. 4.4.)
Various Monitoring
• Speed
• Speed Reference
Monitor Mode ° TorqueReference
• Number of Pulses from Origin (Phase-U) (For test by YASKAWA)
• Electrical Equipment (For test by YASKAWA)
• Interior Status Bit (For test by YASKAWA) (See Par, 5.)
Alarm Traceback Fault History (See Par.6,)
Indication Mode
IControlPower I
Supply ON
PANELINDICATION
SW4
SW4
I J E]EE] D
Fig. 2.1 Mode Changeover

3. STATUS INDICATION MODE
Whenthis mode is selected, the condition of Servopack is indicated withbit and
code as shown in Fig..3.1. Table 3.1 shows the bits and the conditions. Fig.
4.1 shows the function allocations of switches.
_ST--]: Becomes alarm reset switch. Alarm R. ,u'n(overcurrent) cannot
be reset.
: Changes status indication mode into setting mode.
Panel Display
*TGON
*When brake reference functions is ON (bit Eof Cn-01 is set), brake reference ON/OFF
signal is displayed.
SW1 SW2 SW3
SW4
Fig. 3.1 Status Indication
3

3.STATUS INDICATION MODE (Cont'd)
Table 3.1Bit Data Contents
BitData Contents
Control ONLight turns ON with control power ON.
B8 Light turns ON with base block, and turns OFF with Servo ON.
TGON Light turns ON with motor rotating speed equat to or higher than
TGON level (standrad : 20 r/Tin),
tN-A Input Light turns ON with IN-A input equal to or higher than TGON level.
IN-B Input Light turnsON with IN-B input equal to or higher than TGON level.
Power Ready Light turns ON with mainpower ON.
Table 3.2 Codes and Status
CodeStatus
b b Base Block
J- (.._i_ On Operation
p,
I._C Forward Running Prohibited
O_ Reverse Running Prohibited
R,t_n UU
Alarm Contents
R. _j_ _ Refer to Table 6.1.
t

4. SETTING MODE
In this mode, the following operations call be performed.
• User constant setup and monitor
• Jog operations from the monitor panel
•Speed reference offset adjustment
• Fault traceback data clearing
4.1 USER CONSTANT (DATA) SETUP AND MONITOR
The switch functions are indicated in Fig. 4.1.
Panel Display [] [] ,,_,NK
"_T/.
SETTING MODE ITEM No. _/_ DATA
II
SWl sw2
SW4 SWI SW4
Fig. 4.1 SwitchFunctionsfor UserConstantSetting
[] Set up the item number with the [-A--] , IV-I, [_-], or _ key.
•With the _ or _ key, choose a setup digit. The chosen digit then
starts blinking to indicate that its numerical value can be changed.
• With the _ or _ key, increase or decrease the numerical value until
the desired value is obtained.
[] With the _ key,display the data related to the selected item number.
[] With the [_, [_, [-_, or _ key, set up the data. (The same oper-
ation as stated in [] .)
[] Store the data with the _ key.
[] With the [.)3ATA Ikey, return to the item No. display state..
[] Repeat steps [] through [] as needed.
[] Using the _ key, switch from the setting mode to the monitor mode.
5

4.1 USER CONSTANT (DATA) SETUP AND MONITOR (Cont'd)
Table 4.1 shows user constants (constant setting).
Table 4.1 UserConstantsCn-03throughCn-12(ConstantSetting)List
User Symbol Name Unit Lower Upper SettingPrior
Constant Limit Limit toShipping Remarks
Speed Reference (r/min)N 0 3000 Rating/t0V SRK006
Cn-03 INBGN Adjustment Gain 10 SRK008or later
_ 20 500 40 SRK006
;_ _ Cn-04" LOOPHZ Speed Loop Gain Hz 1 SRK008 of later
o
"o Speed Loop integration 2 512 SRK006
Cn-05* PITIME ms 20
Time Constant 1 10000 SRK008or later
Cn-06 EMGTRQ Emergency Stop Torque % 0 Max.Torque Max.Torque OT Mode
Cm08 TLMTF Forward Running Torque % 0 Max.Torque Max.Torque
Limit
E ReverseRunning Torque
Cn-09 TLMTR % 0 Max Torque Max.Torque
Limit
8 1
Cn-13 TCRFGN Torque Reference Gain _/Rating 10 100 30
l;r
a
_- 0n-14 TCRLMT Speed Limit witl_ Torque r/min 0 Max.Speed Max.Speed
Control 1
Cn-17 TRQFIL Torque Reference Filter
Time Constant 100/_s 0 250 4
Cn-07 SFSACC SoftStartTime ms 0 10000 0
_" Cn-0B TGONLV Zero-speed Level r/rain 10Max.Speed 20r/min
E
"_ Cn-0F ZCLVL Zero-clamp Level r/min 0 t00 10
Delay Time from Braking 10 ms 0 50 20
O Cn-12 BRKTIM Command to SVOFF
Cn-15 BRKSPD Brake Timing at Motor r/min 0 Max.Speed 100
Rotation
co
Cn-16 BRKWAI Brake Timing at Motor 10 ms 10 100 50
Rotation
_ E_e_Numbe_En_e_N_
Cn-0A_ PGRAT PG Division Ratio pulses/rev 1 d R_ises of_ses
,_ Cn-11 PULSNO Number of Encoder Pulses Er_c0de(Numbez E_0defNumSer
d Pulses 0lPdses
Mode Switch
Cn-0C TRQMSW (Torque Reference) % O Max.Torque 200
Cn-0D REFMSW Mode Switch r/min 0 Max.Speed 0
(SpeedReference)
Mode Switch (Motor 10 (r/rain)Is 0 3000 0
Cn-0E ACCMSW
--_ Acceleration Detection)
O
Cn-10 JOGSPD JOG Speed (r/min) 0 Max.Speed 100
*In Cn-04 and Cn-05, upper/lower limit values differ according to software version number.(SRK006 and SRK008 are
software version numbers).
t In Cm0A, turn thecontrol power ON again after setting.
6

4.2 USER CONSTANT (MEMORY SWITCH) SETUP
(On-01 .to Cn-02) AND MONITOR
User constants Cn-01 and Cn-02 can be set up or checked as memory switch bits.
The procedures for item number setup and data display are the same as indicat-
ed in Par. 4.1 [] and I_1.
The, switch functions provided after bit data display are indicated in
Fig. 4.2.
When changing constants Cn-01 and Cn-02, functions become available
by turning ON control power supply again.
Panel Display
....................................
•
Sw4SWl SW3
5] SETTING BiT NO. swt Sw4
Fig. 4.2 SwitchFunctionsProvidedafterBitDataDisplay
[] With the _ or [-_ key, enter the setup memory switch number at the
far right end of the panel.
[] With the [--6_ key, set the memory switch to ON or OFF (either switch SW2
or SW3 can be used). The panel indication comes on when the switch is
ON, and goes off when the switch is OFF.
[] Repeat steps [] and [] as needed.
[] With the _ key, return to the item No. display staCe.
[] Using the _ key, switch from the setting mode to the monitor mode.
Table 4,2shows memory switches of user constant Cn-01, and Table 4.3
those of user constant Cn-02.
7 \

4.2 USER CONSTANT (MEMORY SWITCH) SETUP
(Cn-01 to On-02) AND MONITOR (Cont'd)
Table 4.2 User Constant Cn-01 (Memory Switch)
Selection Bit No. Setting Conditions Standard
0 Servo ON/OFF by external input (SV-ON).
0 0
1 The servo is ON at all times.
0 The external input (SEN) is used.
1
Sequence (SP,SBY0nf_) 1 Regardless of the SEN signal presence,the Servopack automatically 0
Input concludes that the "H" level prevails.
Selection 0 The P-OT signal prohibits forward running.
2 0
1 Forward running is permitted at all times.
3 0 The N-OT signal permits reverse running.
0
I Reverse running is permitted at all times.
0 The IN-A input is used.
4 Regardless of the IN-A input presence, the Servopack concludes that 0
Input1 the IN-A input is 0.
Signal
Selection0 The IN-B input is used.
5 Regardless of the IN-B input presence, theServopaek concludes that 0
I the IN.B input is 0.
<DB stop>
0 The dynamic brake stops the motor.
6 0
<Coasting to stop>
1 Themotor is freed and brought to a stop.
<DB OFF after DB stop>
0 Thedynamic brake is turned OFF after themotor is stopped.
Abnormal 7 <DB continuously ON after O8 stop> 0
Stop 1 The dynamic brake remains activated after the motor is stopped.
Selection
0 The overtravel state stop method agrees with bit 6.
8"o_T <Over[ravelzerospeedstop> 0
1 In the overtravel state, the motor is stopped at thetorque setting defined by
user constant Cn-06.
_" _ 0 In the overtravel state, base blocking (BB) is implemented after the motor stops.
9 0
t In the overtravel state, zero clamping is effected after zero speed stop.
<Torque reference>
Mode 0.0 Based on the torque reference level defined by user constant Cn-0C.
Switch <Speed Reference>
Selection _o_e3 0. t
D.C Based on the speed reference level defined by user constantCn-OD. 00
(for Speed
< Acceleration >
Control t .0
only) Based on the acceleration level defined by user constant Cn-0E.
1.1 < None > Themode switch functionis not provided.
Presence0 The braking command function is not provided.
ofExternal E 0
Brake 1 The braking command function is provided.
Overload 0 Theoverload alarm function is not provided.
Alarm F 0
Selection 1 The overload alarm function is provided.
Notes: 1. The abnormal stop method in the torque control mode complies with bit 6.
2. Selects the status based on thestop method selected for the overtravel state (bit 8),
3.Selects amode switch operating condition.When the modeswitch operates, the speed control mode changes
to P Control.However, this is effective for speed control only.
8