Yaskawa ∑ - II Servo Drive Debugging Guide

The control power supply DC24V needs to be provided by the user (SELV, double insulation) and connected to DC24P/DC24N.

The motor power line (U/V/W) must be routed separately from the encoder cable (with a spacing of ≥ 30cm), using shielded twisted pair cables.

Grounding: 400V level grounding resistance ≤ 10 Ω, must be dedicated to grounding, and cannot share grounding electrodes with high current equipment such as welding machines.

3.3 Control circuit I/O signal (CN1 50 pin)

The key signals are as follows:

Input signal (optocoupler isolation, requires external 24V power supply)

/S-ON (CN1-40): Servo ON (low level effective)

/P-CON (CN1-41): Proportional Control Reference/Control Mode Switching/Zero Position Clamping

P-OT (CN1-42): Forward overtravel prohibited (high-level prohibits forward operation)

N-OT (CN1-43): Reverse overtravel prohibited

/ALM-RST (CN1-44): Alarm reset

/P-CL (CN1-45): Positive torque limit/internal speed selection

/N-CL (CN1-46): Reverse torque limit/internal speed selection

+24VIN (CN1-47): External 24V input

Output signal (optocoupler/open collector)

ALM+/ALM - (31/32): Servo alarm (open circuit when alarm)

/TGON+/TGON - (27/28): Rotation detection (conducts when the motor speed exceeds the set value)

/S-RDY+/S-RDY - (29/30): Servo ready

PAO/PBO/PCO: Encoder divided output (A/B/C phase, line driven)

ALO1/2/3 (37/38/39): Alarm code output (open collector)

/V-CMP (25/26): Consistent speed/positioning completed

3.4 Precautions for Interface Circuit

Analog input (V-REF speed reference, T-REF torque reference): Input impedance of approximately 14k Ω, maximum ± 12V. Use shielded twisted pair cables.

Pulse input (PULS, SIGN): Supports line drive (5V) or open collector (5V/12V), with a maximum frequency of 500kpps (line drive). When using the built-in 12V pull-up power supply, the input resistor should limit the current to 7-15mA.

Encoder interface (CN2): Use a dedicated cable (up to 20m in length, up to 50m in special specifications), with a shielding layer grounded at one end.

Chapter 4: Trial Operation - Two Step Verification without Load and with Load

4.1 Safety Notice

The first trial run must disconnect the coupling between the motor and the machinery, and only test the motor without load.

Confirm that all wiring is correct, especially that the main power supply is not mistakenly connected to U/V/W.

Confirm that the P-OT/N-OT signal is valid (low level allows operation, high level prohibits), otherwise the motor may not start.

4.2 Steps for no-load trial operation

Power on: Connect the control power supply (DC24V) and the main power supply (three-phase 400V). The SERVOPACK panel LED displays "-" (standby). If an alarm code (such as A.10, A.30, etc.) is displayed, there may be a wiring or hardware malfunction.

Using the digital manipulator (JUSP-OP02A-2):

Connect the operator to CN3 (electrically pluggable).

Press the DSPL/SET key to enter the auxiliary function mode (Fn002).

Press DATA/ENTER, then press SVON to enable the servo (the panel displays "run").

Press the UP or DOWN key, and the motor rotates at a jog speed (Pn304 defaults to 500 min ⁻¹).

Check rotation direction: The default forward direction is counterclockwise (CCW) when viewed from the load side. If reversed, the parameter Pn000.0 can be changed (set to 1 reverse direction), or the motor U/V/W phases can be exchanged.

Run with external reference (speed control):

Set parameter Pn000.1=0 (speed control).

CN1-5 (V-REF) input 0~± 10V, the motor speed should be proportional to the input voltage (default 6V corresponds to rated speed of 1500 min ⁻¹).

View the actual speed through monitoring mode (Un000) and adjust Pn300 (speed reference input gain) to ensure the correct voltage speed relationship.

4.3 Load Test Run

After passing the no-load test, connect the mechanical load and perform self-tuning. Use the auxiliary function Fn001 to set the mechanical rigidity level (1-10). The higher the level, the faster the response, but it may cause vibration. Usually starting from 4, gradually increasing until vibration occurs and then decreasing by one level. Enable online self-tuning (Pn110.0=1), SERVOPACK will automatically calculate the load inertia ratio (Pn103) and optimize the speed loop gain (Pn100) and position loop gain (Pn102).

Chapter 5: Detailed Explanation of Parameters and Application Functions

5.1 Classification of Basic Parameters

Main functions of category parameter range

Function selection: Pn000~Pn003 control mode, rotation direction, stop mode, alarm code output, etc

Gain related Pn100~Pn123 speed loop gain, integration time, position loop gain, inertia ratio, feedforward, etc

Position control Pn200~Pn208 pulse input form, electronic gear, filter

Speed control Pn300~Pn308 speed reference gain, internal speed 1-3, soft start time, jog speed

Torque control Pn400~Pn409 torque reference gain, torque limit, notch filter

Sequence related Pn500~Pn512 positioning completion width, zero speed clamp level, brake output timing, I/O allocation

5.2 Examples of Key Parameter Settings

Control mode selection (Pn000.1)

Set value control mode

0 speed control (simulation reference)

Position control (pulse reference)