YASKAWA SERVOPACK Sigma 7S Series Instructions and recipes

Copyright © 2014 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, elec-
tronic, photocopying, recording, or otherwise, without the prior written permission
of Yaskawa. No patent liability is assumed with respect to the use of the informa-
tion contained herein. Moreover, because Yaskawa is constantly striving to
improve its high-quality products, the information contained in this manual is sub-
ject to change without notice. Every precaution has been taken in the preparation
of this manual. Nevertheless, Yaskawa assumes no responsibility for errors or
omissions. Neither is any liability assumed for damages resulting from the use of
the information contained in this publication.

iii
About this Manual
This manual provides supplementary information for the following manuals.
•Σ-7-Series AC Servo Drive Σ-7S SERVOPACK with Analog Voltage/Pulse Train References Prod-
uct Manual
•Σ-7-Series AC Servo Drive Σ-7S SERVOPACK with MECHATROLINK-II Communications Refer-
ences Product Manual
•Σ-7-Series AC Servo Drive Σ-7S SERVOPACK with MECHATROLINK-III Communications Refer-
ences Product Manual
•Σ-7-Series AC Servo Drive Σ-7W SERVOPACK with MECHATROLINK-III Communications Refer-
ences Product Manual
Read and understand this manual and the above manual for your SERVOPACK to ensure correct
usage of the Σ-7-Series AC Servo Drives.
Outline of Manual
The contents of the chapters of this manual are described in the following table.
Refer to these chapters as required.
Item This
Manual
Σ-7S SERVOPACK Product Manual
Σ -7W
SERVOPACK
Product
Manual
SERVOPACK
with Analog
Voltage/
Pulse Train
References
SERVOPACK
with MECHA-
TROLINK-II
Communica-
tions
References
SERVOPACK
with MECHA-
TROLINK-III
Communica-
tions
References
SERVOPACK
with MECHA-
TROLINK-III
Communica-
tions
References
Application
Functions
I/O Signal
Allocations −−6.1 6.1 6.1 6.1
Operation for
Momentary
Power
Interruptions
−−6.2 6.2 6.2 6.2
SEMI F47
Function −−6.3 6.3 6.3 6.3
Motor Maximum
Speed Setting −−6.4 6.4 6.4 6.4
Speed Control
Basic Settings for
Speed Control 1.1.1 6.5.1 −−−
Soft Start Settings −6.5.2 −−−
Speed Reference
Filter −6.5.3 −−−
Zero Clamping −6.5.4 −−−
/V-CMP (Speed
Coincidence Detec-
tion Output) Signal
−6.5.5 −−−
Operation Examples
for Changing the
Motor Direction
1.1.2 −−−−
Position Control −−6.6 −−−
Continued on next page.

iv
Application
Functions
To r q u e C o n t ro l −−6.7 −−−
Encoder Divided
Pulse Output −−6.8 6.5 6.5 −
Software Limits −−−6.6 6.6 6.5
Internal Set
Speed Control −−6.9 −−−
Selecting
Combined
Control Methods
−−6.10 −−−
Selecting Torque
Limits −−6.11 6.7 6.7 6.6
Absolute Rotary
Encoders −−6.12 6.8 6.8 6.7
Absolute Linear
Encoder −−6.13 6.9 6.9 6.8
Software Reset −−6.14 6.10 6.10 6.9
Vibration
Detection Level
Initialization
−−6.15 6.11 6.11 6.10
Motor Current
Detection Signal
Offset
Adjustment
−−6.16 6.12 6.12 6.11
Forcing the
Motor to Stop
FSTP (Forced Stop
Input) Signal 1.2.1 −−−−
Setting the FSTP
(Forced Stop Input)
Signal
1.2.2 −−−−
Stopping Method
Selection for Forced
Stops
1.2.3 −−−−
Resetting Method
for Forced Stops 1.2.4 −−−−
Continued on next page.
Continued from previous page.
Item This
Manual
Σ-7S SERVOPACK Product Manual
Σ -7W
SERVOPACK
Product
Manual
SERVOPACK
with Analog
Voltage/
Pulse Train
References
SERVOPACK
with MECHA-
TROLINK-II
Communica-
tions
References
SERVOPACK
with MECHA-
TROLINK-III
Communica-
tions
References
SERVOPACK
with MECHA-
TROLINK-III
Communica-
tions
References

v
Tuning
Overview and
Flow of Tuning −−8.1 8.1 8.1 8.1
Monitoring
Methods −−8.2 8.2 8.2 8.2
Precautions to
Ensure Safe
Tuning
−−8.3 8.3 8.3 8.3
Tuning-less
Function −−8.4 8.4 8.4 8.4
Moment of
Inertia Estimation −−8.5 8.5 8.5 8.5
Autotuning
without
Host Reference
−−8.6 8.6 8.6 8.6
Autotuning with
a Host Reference −−8.7 8.7 8.7 8.7
Custom Tuning −−8.8 8.8 8.8 8.8
Anti-resonance
Control
Adjustment
Outline 2.1.1 8.9.1 8.9.1 8.9.1 8.9.1
Preparations 2.1.2 8.9.2 8.9.2 8.9.2 8.9.2
Applicable Tools 2.1.3 8.9.3 8.9.3 8.9.3 8.9.3
Operating Procedure 2.1.4 8.9.4 8.9.4 8.9.4 8.9.4
Related Parameters 2.1.5 8.9.5 8.9.5 8.9.5 8.9.5
Suppressing Differ-
ent Vibration Fre-
quencies with Anti-
resonance Control
2.1.6 −−−−
Vibration
Suppression −−8.10 8.10 8.10 8.10
Speed Ripple
Compensation
Outline 2.2.1 −−−−
Setting Up Speed
Ripple Compensa-
tion
2.2.2 −−−−
Setting Parameters 2.2.3 −−−−
Additional
Adjustment
Functions
−−8.11 8.11 8.11 8.11
Manual Tuning −−8.12 8.12 8.12 8.12
Diagnostic Tools −−8.13 8.13 8.13 8.13
Continued on next page.
Continued from previous page.
Item This
Manual
Σ-7S SERVOPACK Product Manual
Σ -7W
SERVOPACK
Product
Manual
SERVOPACK
with Analog
Voltage/
Pulse Train
References
SERVOPACK
with MECHA-
TROLINK-II
Communica-
tions
References
SERVOPACK
with MECHA-
TROLINK-III
Communica-
tions
References
SERVOPACK
with MECHA-
TROLINK-III
Communica-
tions
References

vi
Monitoring
Monitoring
Product
Information
−−9.1 9.1 9.1 9.1
Monitoring
SERVOPACK
Status
−−9.2 9.2 9.2 9.2
Monitoring
Machine
Operation
Status and
Signal
Waveforms
−−9.3 9.3 9.3 9.3
Monitoring
Product Life
Items That You Can
Monitor 3.1.1 9.4.1 9.4.1 9.4.1 9.4.1
Operating Procedure 3.1.2 9.4.2 9.4.2 9.4.2 9.4.2
Preventative Mainte-
nance 3.1.3 −−−−
Mainte-
nance
Inspections and
Part
Replacement
−−12.1 12.1 12.1 12.1
Alarm Displays
List of Alarms 4.1.1 12.2.1 12.2.1 12.2.1 10.2.1
Troubleshooting
Alarms 4.1.2 12.2.2 12.2.2 12.2.2 10.2.2
Alarm Reset −12.2.3 12.2.3 12.2.3 10.2.3
Displaying Alarm
History −12.2.4 12.2.4 12.2.4 10.2.4
Clearing the Alarm
History −12.2.5 12.2.5 12.2.5 10.2.5
Resetting Alarms
Detected in Option
Module
−12.2.6 12.2.6 12.2.6 10.2.6
Resetting Motor
Typ e Al ar ms 4.1.3 −−−−
Warning Displays
List of Warnings 4.2.1 12.3.1 12.3.1 12.3.1 10.3.1
Troubleshooting
Warnings 4.2.2 12.3.2 12.3.2 12.3.2 10.3.2
Monitoring
Communica-
tions Data during
Alarms or
Warnings
−−12.4 12.4 12.4 10.4
Troubleshooting
Based on the
Operation and
Conditions of the
Servomotor
−−12.5 12.5 12.5 10.5
Continued from previous page.
Item This
Manual
Σ-7S SERVOPACK Product Manual
Σ -7W
SERVOPACK
Product
Manual
SERVOPACK
with Analog
Voltage/
Pulse Train
References
SERVOPACK
with MECHA-
TROLINK-II
Communica-
tions
References
SERVOPACK
with MECHA-
TROLINK-III
Communica-
tions
References
SERVOPACK
with MECHA-
TROLINK-III
Communica-
tions
References

vii
Using This Manual
Technical Terms Used in This Manual
The following terms are used in this manual.
Differences in Terms for Rotary Servomotors and Linear Servomotors
There are differences in the terms that are used for Rotary Servomotors and Linear Servomotors.
This manual primarily describes Rotary Servomotors. If you are using a Linear Servomotor, you
need to interpret the terms as given in the following table.
Ter m Meaning
Servomotor A Σ-7-Series Rotary Servomotor, Direct Drive Servomotor, or Linear Servomotor.
Rotary Servomotor
A generic term used for a Σ-7-Series Rotary Servomotor (SGM7A, SGM7J, or SGM7G) or a
Direct Drive Servomotor (SGMCS or SGMCV).
The descriptions will specify when Direct Drive Servomotors are excluded.
Linear Servomotor A Σ-7-Series Linear Servomotor (SGLG, SGLF, SGLT, or SGLC).
SERVOPACK
A Σ-7-Series Σ-7S Servo Amplifier with Analog Voltage/Pulse Train References, Σ-7S Servo
Amplifier with MECHATROLINK-II Communications References, Σ-7S Servo Amplifier with
MECHATROLINK-III Communications References, or Σ-7W Servo Amplifier with MECHA-
TROLINK-III Communications References.
Servo Drive The combination of a Servomotor and SERVOPACK.
Servo System A servo control system that includes the combination of a Servo Drive with a host controller
and peripheral devices.
servo ON Supplying power to the motor.
servo OFF Not supplying power to the motor.
base block (BB) Shutting OFF the power supply to the motor by shutting OFF the base current to the power
transistor in the SERVOPACK.
servo lock A state in which the motor is stopped and is in a position loop with a position reference of 0.
Main Circuit Cable One of the cables that connect to the main circuit terminals, including the Main Circuit Power
Supply Cable, Control Power Supply Cable, and Servomotor Main Circuit Cable.
SigmaWin+ The Engineering Tool for setting up and tuning Servo Drives or a computer in which the Engi-
neering Tool is installed.
Rotary Servomotors Linear Servomotors
torque force
moment of inertia mass
rotation movement
forward rotation and reverse rotation forward movement and reverse movement
CW and CCW pulse trains forward and reverse pulse trains
rotary encoder linear encoder
absolute rotary encoder absolute linear encoder
incremental rotary encoder incremental linear encoder
unit: min-1 unit: mm/s
unit: N·m unit: N

viii
Contents
About this Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . iii
Outline of Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . iii
Using This Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . vii
Application Functions
1
1.1 Speed Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2
1.1.1 Basic Settings for Speed Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-2
1.1.2 Operation Examples for Changing the Motor Direction. . . . . . . . . . . . . . . . .1-8
1.2 Forcing the Motor to Stop . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-10
1.2.1 FSTP (Forced Stop Input) Signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-10
1.2.2 Setting the FSTP (Forced Stop Input) Signal . . . . . . . . . . . . . . . . . . . . . . .1-11
1.2.3 Stopping Method Selection for Forced Stops. . . . . . . . . . . . . . . . . . . . . . .1-14
1.2.4 Resetting Method for Forced Stops . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-15
Tuning
2
2.1 Anti-Resonance Control Adjustment . . . . . . . . . . . . . . . . . . . . . 2-2
2.1.1 Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-2
2.1.2 Preparations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-3
2.1.3 Applicable Tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-3
2.1.4 Operating Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-3
2.1.5 Related Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-5
2.1.6 Suppressing Different Vibration Frequencies with Anti-resonance Control . .2-5
2.2 Speed Ripple Compensation . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-7
2.2.1 Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-7
2.2.2 Setting Up Speed Ripple Compensation . . . . . . . . . . . . . . . . . . . . . . . . . . .2-7
2.2.3 Setting Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-11
Monitoring
3
3.1 Monitoring Product Life . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2
3.1.1 Items That You Can Monitor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-2
3.1.2 Operating Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-2
3.1.3 Preventative Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-3
Maintenance
4
4.1 Alarm Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2
4.1.1 List of Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-2
4.1.2 Troubleshooting Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-3
4.1.3 Resetting Motor Type Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-3

ix
4.2 Warning Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-5
4.2.1 List of Warnings. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-5
4.2.2 Troubleshooting Warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-5
Revision History

This chapter describes the application functions that you
can set before you start servo system operation. It also
describes the setting methods.
1.1 Speed Control . . . . . . . . . . . . . . . . . . . . . . . 1-2
1.1.1 Basic Settings for Speed Control . . . . . . . . . . . . 1-2
1.1.2 Operation Examples for Changing the Motor
Direction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-8
1.2 Forcing the Motor to Stop . . . . . . . . . . . . . 1-10
1.2.1 FSTP (Forced Stop Input) Signal . . . . . . . . . . . . 1-10
1.2.2 Setting the FSTP (Forced Stop Input) Signal . . . 1-11
1.2.3 Stopping Method Selection for Forced Stops . . 1-14
1.2.4 Resetting Method for Forced Stops . . . . . . . . . 1-15
Application
Functions
1

1.1 Speed Control
1.1.1 Basic Settings for Speed Control
1-2
1.1 Speed Control
There are two types of speed control: speed control with an analog voltage reference and
speed control with internal set speeds. This section describes speed control with an analog
voltage reference.
This manual provides the following supplemental information in addition to the information pro-
vided in the
Σ -7-Series AC Servo Drive Σ -7S SERVOPACK with Analog Voltage/Pulse Train Ref-
erences Product Manual: /SPD-D (Motor Direction Input) Signal on page 1-2, Relation between
the /SPD-D (Motor Direction Input) Signal and V-REF (Speed Reference Input) Signal on page
1-3, and 1.1.2 Operation Examples for Changing the Motor Direction on page 1-8.
You input a speed reference into the SERVOPACK with an analog voltage to operate the Servo-
motor at the reference speed.
•If you create a position loop in the host controller, you use the SERVOPACK for speed con-
trol.
•If you need to control only the speed of the Servomotor, you use the SERVOPACK for speed
control.
You set the control method in Pn000 = n.X(Control Method Selection).
Set Pn000 to n.0to set the control method to speed control.
1.1.1 Basic Settings for Speed Control
This section describes the use of the V-REF (Speed Reference Input) Signal, /SPD-D (Motor
Direction Input) Signal, speed reference input gain, and speed reference offset adjustment in
speed control with analog voltages.
V-REF (Speed Reference Input) Signal
Input the V-REF (Speed Reference Input) signal to the SERVOPACK to operate the Servomotor
at a speed that is proportional to the input voltage.
Maximum input voltage: ±12 VDC
If you will use a host controller, such as a programmable controller, for position control, connect
the above output pins to the speed reference output terminals on the host controller.
Note: Always use twisted-pair cables to control noise.
/SPD-D (Motor Direction Input) Signal
You can turn the /SPD-D signal ON and OFF to change the direction of the Servomotor.
Note: For information on allocating signals, refer to the product manual for your SERVOPACK.
Parameter Meaning When Enabled Classification
Pn000 n.0
(default setting) Speed control with analog references After restart Setup
Type Signal Connector Pin No. Meaning
Input V-REF CN1-5 Speed reference input signal
SG CN1-6 Signal ground for speed reference input signal
Classification Signal Connector Pin No. Description
Input /SPD-D Must be allocated. Changes the Servomotor direction.
SG
CN1
6
V-REF 5
D/A
0 V
Host controller
Approx. 14 k
SERVOPACK

1.1 Speed Control
1.1.1 Basic Settings for Speed Control
1-3
1
Application Functions
Relation between the /SPD-D (Motor Direction Input) Signal
and V-REF (Speed Reference Input) Signal
The following graphs show the relationship between the V-REF (Speed Reference Input) signal
and the speed reference depending on whether the /SPD-D signal is ON or OFF.
/SPD-D (Motor Direction Input) Signal: OFF /SPD-D (Motor Direction Input) Signal: ON
Speed Reference Input Example
If Pn300 is set to 600, the motor would operate at the rated speed for 6.00 V.
0+12-12
Motor speed [min-1]
Speed reference
voltage [V]
0+12-12
Motor speed [min-1]
Speed reference
voltage [V]
Example
•For Rotary Servomotors
Speed Ref-
erence Input
/SPD-D
Signal
Rotation
Direction
Motor
Speed For SGM7A Servomotor
+6 V
ON Reverse Rated
motor
speed
-3000 min-1
OFF Forward 3000 min-1
-3 V
ON Forward 1/2 of rated
motor
speed
1500 min-1
OFF Reverse -1500 min-1
+1 V
ON Reverse 1/6 of rated
motor
speed
-500 min-1
OFF Forward 500 min-1
Speed Ref-
erence Input
/SPD-D
Signal
Rotation
Direction
Movement
Speed
For SGLGW-30A Linear
Servomotor
+6 V
ON Reverse Rated
motor
speed
-1500 mm/s
OFF Forward 1500 mm/s
-3 V
ON Forward 1/2 of rated
motor
speed
750 mm/s
OFF Reverse -750 mm/s
+1 V
ON Reverse 1/6 of rated
motor
speed
-250 mm/s
OFF Forward 250 mm/s

1.1 Speed Control
1.1.1 Basic Settings for Speed Control
1-4
Setting the Speed Reference Input Gain (Pn300)
The reference voltage for the rated motor speed is set for the speed reference input gain
(Pn300) to define the relationship between the position reference voltage and the motor speed.
Adjusting the Speed Reference Offset
With speed control, the Servomotor may sometimes rotate at a very low speed for a speed ref-
erence of 0 V (with a reference speed of 0 or when the speed reference is stopped). This
occurs because the internal reference in the SERVOPACK has a slight offset.
If the Servomotor moves at a very low speed, the offset needs to be eliminated by adjusting the
offset.
You can adjust the speed reference offset either automatically or manually.
Automatically Adjusting the Speed Reference Offset
To automatically adjust the speed reference offset, the amount of offset is measured and the
speed reference voltage is adjusted automatically.
The measured offset is saved in the SERVOPACK.
Pn300
Speed Reference Input Gain
Setting Range Setting Unit Default Setting When Enabled Classification
150 to 3,000 0.01 V 600 (rated speed
for 6.00 V) Immediately Setup
The offset does not use a parameter, so it will not change even if the parameter settings are
initialized.
Speed
Position
Tor qu e
-6
61.5 12 30
-12-30
Input range (0 to ±12 V)
Setting range (1.50 to 30.00 V)
Speed reference
voltage (V)
Minimum input voltage (−12 V)
Rated motor speed
Maximum input voltage (+12 V)Default setting
Motor speed (min−1or mm/s)
Offset setting unit: 8
(speed reference: 0.47 mV)
±15,000 (speed reference: ±879 mV)
Offset adjustment range:
The offset isadjusted in the
SERVOPACK.
Speed
reference
voltage
Motor speed
Offset
adjustment
Speed
reference
voltage
Offset
Motor speed
Information

1.1 Speed Control
1.1.1 Basic Settings for Speed Control
1-5
1
Application Functions
Conditions for Automatically Adjusting the Speed Reference Offset
The following conditions must be met to automatically adjust the reference offset.
•The parameters must not be write prohibited.
•The servo must be OFF.
•There must not be a position loop in the host controller.
Applicable Tools
The following table lists the tools that you can use to automatically adjust the speed reference
offset and the applicable tool functions.
Operating Procedure
Use the following procedure to automatically adjust the speed reference offset.
1. Confirm that the servo is OFF in the SERVOPACK.
2. Input a 0-V reference voltage from the host controller or an external circuit.
3. Select Setup - Adjust Offset - Adjust the Speed and Torque Reference Offset from the
menu bar of the Main Window of the SigmaWin+.
4. Click the Automatic Adjustment Tab.
5. Click the Adjust Button.
Tool Function Operating Procedure Reference
Panel Operator Fn009
Σ
-7-Series
Σ
-7S SERVOPACK with Analog Voltage/Pulse
Train References Product Manual (Manual No.: SIEP
S800001 26)
Digital Operator Fn013 Σ-7-Series Digital Operator Operating Manual (Manual
No.: SIEP S800001 33)
SigmaWin+ Setup - Speed/Torque Ref-
erence Offset Adjustment
 Operating Procedure on page 1-5
Slight rotation
(when servo isON)
Servomotor
SERVOPACK
Servo OFF
0-V speed reference or
0-V torque reference
Host controller

1.1 Speed Control
1.1.1 Basic Settings for Speed Control
1-6
The value that results from automatic adjustment will be displayed in the New Box.
Manually Adjusting the Speed Reference Offset
You can directly input a speed reference offset to adjust the speed reference. The offset is
adjusted manually in the following cases.
•When a position loop is created with the host computer and the position deviation when the
Servomotor is stopped by a servo lock is to be set to 0
•To intentionally set the offset to a desired value
•To check an offset that was set automatically
Conditions for Manually Adjusting the Speed Reference Offset
The following conditions must be met to manually adjust the reference offset.
•The parameters must not be write prohibited.
•The servo must be in ready status.
Applicable Tools
The following table lists the tools that you can use to manually adjust the speed reference offset
and the applicable tool functions.
The offset does not use a parameter, so it will not change even if the parameter settings are
initialized.
Tool Function Operating Procedure Reference
Panel Operator Fn00A
Σ
-7-Series
Σ
-7S SERVOPACK with Analog Voltage/Pulse
Train References Product Manual (Manual No.: SIEP
S800001 26)
Digital Operator Fn00A Σ-7-Series Digital Operator Operating Manual (Manual
No.: SIEP S800001 33)
SigmaWin+ Setup - Speed/Torque Ref-
erence Offset Adjustment
 Operating Procedure on page 1-7
Information

1.1 Speed Control
1.1.1 Basic Settings for Speed Control
1-7
1
Application Functions
Operating Procedure
Use the following SigmaWin+ procedure to manually adjust the reference offset.
1. Input a 0-V reference voltage from the host controller or an external circuit.
2. Select Setup - Adjust Offset - Adjust the Speed and Torque Reference Offset from the
menu bar of the Main Window of the SigmaWin+.
3. Click the Speed Reference Ta b.
4. Use the +1 and -1 Buttons to adjust the value in the Speed Reference Box to 0.
Slight rotation
(when servo isON)
Servomotor
SERVOPACK
Servo OFF
0-V speed reference or
0-V torque reference
Host controller

1.1 Speed Control
1.1.2 Operation Examples for Changing the Motor Direction
1-8
1.1.2 Operation Examples for Changing the Motor Direction
This section describes examples of using the /SPD-D (Motor Direction Input) signal in combina-
tion with zero clamping and internal set speed control.
This functionality is provided only in the Σ-7-Series SERVOPACKs with Analog Voltage/Pulse
Train References.
Operation Example for Changing the Motor Direction and
Zero Clamping
This section provides an example of changing the motor direction without changing the polarity
of the speed reference voltage by using the /SPD-D (Motor Direction Input) signal.
*Pn501 (Zero Clamping Level): Used with a Rotary Servomotor.
Pn580 (Zero Clamping Level): Used with a Linear Servomotor.
Note: The soft start function is used for the acceleration/deceleration time of the speed reference.
/ZCLAMP /SPD-D
Polarity of Analog Speed Reference Voltage
Positive
Zero Clamping Level
or Lower ((Pn501
(Pn580))*
Negative
Rotation Direction Operating Status Rotation Direction
OFF OFF CCW Speed Control CW
OFF ON CW Speed Control CCW
ON OFF CCW Servo lock
(clamped to zero) CW
ON ON CW Servo lock
(clamped to zero) CCW
Released
OFF
Applied Applied
ON
Applied
OFF ON OFF ON
Pn501
(Pn580)
Released Released
Zero clamping
/ZCLAMP input signal
/SPD-D input signal
Speed reference
input voltage
Reference voltage
Motor speed
SERVOPACK internal
speed reference
Pn501
(Pn580)

1.1 Speed Control
1.1.2 Operation Examples for Changing the Motor Direction
1-9
1
Application Functions
Operation Example for Changing the Motor Direction and
Internal Set Speed Control
Even with a speed reference with the same polarity, you can change the motor direction and
stop the Servomotor by changing the control mode to internal set speed control and combining
the /SPD-D (Motor Direction Input) signal and /C-CEL (Control Selection Input) signal.
The following operation example combines internal set speed control, the /SPD-D signal, and
the /C-CEL signal. For this example, the internal set speeds must be set to 0.
Parameter Settings
You must make the following parameter settings to combine internal set speed control, the
/SPD-D signal, and the /C-CEL signal.
•Set Pn000 = n.X(Control Method Selection) to 4 (Switching between internal set speed
control and speed control).
•Set Pn305 (Soft Start Acceleration Time) to the required acceleration time.
•Set Pn306 (Soft Start Deceleration Time) to the required deceleration time.
•Set Pn50A = n.X (Input Signal Allocation Mode) to 1 (Change the sequence input signal
allocations).
•Set Pn50C = n.X (/SPD-D (Motor Direction) Signal Allocation) to any setting other than
7 (the signal is always active) or 8 (the signal is always inactive).
•Set Pn50C = n.X(/SPD-A (Internal Set Speed Selection Input) Signal Allocation) to 8
(the signal is always inactive).
•Set Pn50C = n.X (/SPD-B (Internal Set Speed Selection Input) Signal Allocation) to 8
(the signal is always inactive).
•Set Pn50C = n.X (/C-SEL (Control Selection Input) Signal Allocation) to any setting
other than 7 (the signal is always active) or 8 (the signal is always inactive).
0
Speed reference
pattern
0
Analog speed
reference
(input reference
voltage)
/SPD-D signal
/C-SEL signal
OFF: CCW
ON: CW
OFF: Internal set speed control
OFFOFFOFFOFF ON
ON
ON
OFF
ON
ON
ON
OFF
ON: Speed control

1.2 Forcing the Motor to Stop
1.2.1 FSTP (Forced Stop Input) Signal
1-10
1.2 Forcing the Motor to Stop
You can force the Servomotor to stop for a signal from the host controller or an external device.
To force the motor to stop, you must allocate the FSTP (Forced Stop Input) signal in Pn516 =
n.X. You can specify one of the following stopping methods: dynamic brake (DB), coast-
ing to a stop, or decelerating to a stop.
Note: Forcing the motor to stop is not designed to comply with any safety standard. In this respect, it is different
from the hard wire base block (HWBB).
This functionality is supported by the following SERVOPACKs.
•Σ-7S SERVOPACKs with Analog Voltage/Pulse Train References
•Σ-7S SERVOPACKs with MECHATROLINK-II Communications References
•Σ-7S SERVOPACKs with MECHATROLINK-III Communications References
•Σ-7W SERVOPACKs with MECHATROLINK-III Communications References
1.2.1 FSTP (Forced Stop Input) Signal
Note: Refer to the following section for details on allocations.
1.2.2 Setting the FSTP (Forced Stop Input) Signal on page 1-11
Panel Operator and Digital Operator Displays
For a SERVOPACK with Analog Voltage/Pulse Train References, the Panel Operator will dis-
play FST and the Digital Operator will display FSTP.
For a SERVOPACK with MECHATROLINK-II or MECHATROLINK-III References, the panel
and the Digital Operator will display FSTP.
CAUTION
To prevent accidents that may result from contact faults or disconnections, use a normally
closed switch for the Forced Stop Input signal.
Information
Classifica-
tion Signal Connector Pin No. Signal Status Description
Input FSTP Must be allocated. ON (closed) Drive is enabled (normal operation).
OFF (open) The motor is stopped.

1.2 Forcing the Motor to Stop
1.2.2 Setting the FSTP (Forced Stop Input) Signal
1-11
1
Application Functions
1.2.2 Setting the FSTP (Forced Stop Input) Signal
When you allocate the FSTP (Forced Stop Input) signal, the forced stop function will be
enabled. Use Pn516 = n.X (FSTP (Forced Stop Input) Signal Allocation) to allocate the
FSTP signal to a connector pin.
•Σ-7S SERVOPACKs with Analog Voltage/Pulse Train References
•Σ-7S SERVOPACKs with MECHATROLINK-II Communications References or Σ-7S SERVO-
PACKs with MECHATROLINK-III Communications References
Parameter Description When
Enabled
Classifi-
cation
Pn516
n.0 Enable drive when CN1-40 input signal is ON (closed).
After
restart Setup
n.1 Enable drive when CN1-41 input signal is ON (closed).
n.2 Enable drive when CN1-42 input signal is ON (closed).
n.3 Enable drive when CN1-43 input signal is ON (closed).
n.4 Enable drive when CN1-44 input signal is ON (closed).
n.5 Enable drive when CN1-45 input signal is ON (closed).
n.6 Enable drive when CN1-46 input signal is ON (closed).
n.7Set the signal to always prohibit drive (always force the
motor to stop).
n.8
(default set-
ting)
Set the signal to always enable drive (always disable forc-
ing the motor to stop).
n.9 Enable drive when CN1-40 input signal is OFF (open).
n.A Enable drive when CN1-41 input signal is OFF (open).
n.B Enable drive when CN1-42 input signal is OFF (open).
n.C Enable drive when CN1-43 input signal is OFF (open).
n.D Enable drive when CN1-44 input signal is OFF (open).
n.E Enable drive when CN1-45 input signal is OFF (open).
n.F Enable drive when CN1-46 input signal is OFF (open).
Parameter Description When
Enabled
Classifi-
cation
Pn516
n.0 Enable drive when CN1-13 input signal is ON (closed).
After
restart Setup
n.1 Enable drive when CN1-7 input signal is ON (closed).
n.2 Enable drive when CN1-8 input signal is ON (closed).
n.3 Enable drive when CN1-9 input signal is ON (closed).
n.4 Enable drive when CN1-10 input signal is ON (closed).
n.5 Enable drive when CN1-11 input signal is ON (closed).
n.6 Enable drive when CN1-12 input signal is ON (closed).
n.7Set the signal to always prohibit drive (always force the
motor to stop).
n.8
(default set-
ting)
Set the signal to always enable drive (always disable forc-
ing the motor to stop).
n.9 Enable drive when CN1-13 input signal is OFF (open).
n.A Enable drive when CN1-7 input signal is OFF (open).
n.B Enable drive when CN1-8 input signal is OFF (open).
n.C Enable drive when CN1-9 input signal is OFF (open).
n.D Enable drive when CN1-10 input signal is OFF (open).
n.E Enable drive when CN1-11 input signal is OFF (open).
n.F Enable drive when CN1-12 input signal is OFF (open).