Yaskawa ∑ - V Servo Drive Debugging Guide

2.6 Regeneration treatment

Low power driver with built-in regenerative resistor; High power drivers require an external regenerative resistor unit. Fault in the regeneration transistor or broken resistor can cause an A.30 alarm.

Chapter 3: Digital Operators and Panel Display

3.1 Panel LED Display

The front panel of SGDV has a 7-segment LED digital tube (1 digit), paired with status indicator lights:

Rotation detection (TGON): lights up when the motor speed exceeds the set value of Pn502

Base blockade (BB): The base blockade state lights up

Reference input: Illuminates when there is a reference command input

Command option module communication status: Illuminates when communication with option module is normal

3.2 Alarm and Warning Display

When an alarm occurs, the digital display will cyclically show "A." followed by the alarm number (such as A.E60). The warning display is similar but will not cause the servo to stop. When the hard wire base is blocked (HWBB), it displays "Hbb". Display "P-OT" or "N-OT" during overtravel.

3.3 Digital Operator Operation Mode

The digital manipulator (JUSP-OP05A-1-E) supports three main modes:

Practical Function Mode (Fn □□□): Perform auxiliary functions such as origin search, JOG operation, parameter initialization, alarm history clearing, etc.

Parameter setting mode (Pn □□□□): Read and modify servo parameters.

Monitoring mode (Un □□□□): Real time monitoring of motor speed, torque, I/O status, position deviation, etc.

3.4 Example of Parameter Setting Method

Taking the modification of Pn304 (JOG speed) to 1000 min ⁻¹ as an example:

Press the MODE/SET key to enter parameter/monitoring mode.

Use the arrow keys to change 'Un' to 'Pn'.

Move to the right of the cursor and use the up and down keys to call up "Pn304".

Move the cursor to the hundredth position and press the up key to change it to "1000".

Press the DATA key to write.

The modification method for selecting parameters (such as Pn001) is similar, by modifying the digits to achieve function selection (such as changing the stop mode from using DB to not using DB).

3.5 Practical Function Example - Origin Search (Fn003)

Perform origin search through a digital manipulator without the need for instructions from the upper computer. Operation steps:

Enter the main menu of practical functions and select Fn003.

Press the DATA key to enter the execution screen (if "NO-OP" is displayed, check the write protection setting or ensure the servo is OFF).

Press the SVON key to enable the servo (display "RUN").

Press the UP key to rotate forward and the DOWN key to rotate backward, and the motor will search for the origin position (the origin search parameters need to be pre-set).

After completion, press the MODE/SET key to exit.

3.6 Monitoring Mode (Un □□□□)

The parameters that can be monitored include:

Actual speed and commanded speed of the motor

Internal torque command

Input/output signal status

encoder position

Cumulative load rate, regenerative load rate, etc

Chapter 4: Interpretation of Key Parameters

4.1 Basic Parameters

Parameter Name Description

Pn000 Function Selection Basic Switch Rotation Direction Selection and Control Mode (Position/Speed/Torque)

Pn001 function selection application switch 1 servo OFF or alarm stop mode (dynamic braking/free running), overtravel stop mode

Pn002 function selection application switch 2 absolute value encoder usage mode (absolute/incremental), etc

When the Pn00B parameter display selection is set to 1, the tuning parameters are displayed (usually users do not need to set them)

4.2 Gain and tuning parameters

Pn100: Speed loop gain

Pn101: Integral time constant of velocity loop

Pn102: Position loop gain

Pn103: Inertia ratio (load inertia/motor rotor inertia x 100%)

Pn401: Time constant of torque reference filter

4.3 Speed/Position Related Parameters

Pn300: Speed reference input gain

Pn302: Speed 1 (for internal speed control)

Pn304: JOG speed

Pn305: Soft start acceleration time

Pn306: Soft start deceleration time

Pn502: Rotation detection output level (TGON)

4.4 Input/output allocation parameters

Pn50A~Pn50D: Input signal allocation (SI0~SI6)

Pn50E~Pn510: Output signal allocation (SO1~SO3)

Can set signal terminal mapping and logic (positive/negative logic)

4.5 Origin search related parameters

Pn500~Pn508: Origin search method, speed, acceleration and deceleration time, proximity signal logic, etc

Before using Fn003 to perform origin search, these parameters need to be configured correctly

Chapter 5: Fault Diagnosis and Alarm Handling

5.1 Common Alarm Codes

Display alarm name, possible reasons, and handling measures

A. 10. Check U/V/W insulation for overcurrent or overheating of radiator motor wires, grounding, excessive load, and fan faults; Reduce load; Clean the heat sink

A. 30 regeneration abnormal regeneration transistor fault, regeneration resistor disconnection inspection external regeneration resistor; Replace SERVOPACK

A. 32 regeneration overload regeneration energy exceeds the capacity of the resistor, external larger power regeneration resistor is connected

A. Check the input voltage for overvoltage, high power supply voltage, and rapid deceleration in the 40 main circuit; Extend deceleration time; Install regenerative resistor