Yaskawa ∑ - II Servo Drive Debugging Guide

2 Torque Control (Simulation Reference)

3-contact input speed control (internal speed)

7-position control ↔  Speed control (via/P-CON switching)

9 Torque Control ↔  speed control

Electronic gear settings (Pn202/Pn203) - position control is required

Electronic gear ratio B/A=(number of encoder pulses x 4)/(reference unit per revolution of load shaft) x (motor speed/load shaft speed)

For example: 17 bit encoder (32768 pulses/rev), screw pitch 5mm, reference unit 0.001mm, direct connection (reduction ratio 1:1):

Reference unit per revolution of load axis=5/0.001=5000

Electronic gear ratio=(32768 × 4)/5000=131072/5000=26.2144 → rounded to approximately 262144/10000 (needs to be simplified to integer ≤ 65535). Actual setting: Pn202=262144/4? Careful calculation is required. The manual provides examples: Pn202=8192, Pn203=6000.

Speed reference input gain (Pn300) - speed control

The factory value is 600, which corresponds to the rated speed of 6V (1500 min ⁻¹). If 10V corresponds to 1500 min ⁻¹, then Pn300=1000 (10V/1500 min ⁻¹, every 0.01V corresponds to 1 min ⁻¹).

Torque reference input gain (Pn400) - torque control

The factory value is 30, which corresponds to a rated torque of 3V (100%). If 10V is required to correspond to the rated torque, Pn400=100.

5.3 Advanced Features

Full range automatic torque boost: No need to set, SERVOPACK automatically adjusts the output voltage according to the load.

Speed feedback compensation (Pn111): used to shorten the positioning and setting time, usually used in conjunction with self-tuning.

Mode Switch (Pn10B. 0): It can automatically switch PI/P control based on torque, speed, acceleration, or position error to suppress overshoot.

Notch filter (Pn408.0, Pn409): When resonance (sharp noise) occurs in the mechanical system, setting the frequency of the notch filter (50~2000Hz) can eliminate vibration.

Zero Clamp (Pn000.1=A): When the speed reference is lower than the set level (Pn501) and the/P-CON signal is ON, the servo automatically locks in the zero position.

Holding Brake Control: Vertical axis applications require the use of a brake motor. Set the brake output timing for parameters Pn506~Pn508 to prevent gravitational sliding.

Chapter 6: Deep Application of Digital Operator (JUSP-OP02A-2)

6.1 Basic Operations

Status display mode: default display after power on, can view I/O status (indicated by 8 LEDs).

Parameter setting mode: Press the DSPL/SET key to switch to the "Pn" display, select the parameter number, press DATA/ENTER to read, and after modification, press DATA/ENTER to save (the panel will flash). Function selection parameters (such as Pn000) need to be modified bit by bit.

Monitoring mode: Display Un000~Un00D, including actual speed, reference speed, torque, position error, I/O status, etc.

6.2 Auxiliary Functions (Fn000~Fn014)

Function code usage

Fn000 alarm traceability display (last 10 alarms)

Fn001 mechanical rigidity setting (for self-tuning)

Fn002 jog operation

Fn003 Zero Point Search

Fn005 parameter initialization (factory reset)

Fn006 Clears Alarm Traceability Data

Fn007 saves self-tuning results (inertia ratio written to EEPROM)

Fn008 absolute value encoder multi cycle reset

Fn009 automatic adjustment simulation reference zero drift

Fn00A/Fn00B manual adjustment speed/torque reference zero drift

Fn010 password setting (to prevent parameter errors)

Fn013 multi turn limit setting (absolute value encoder)

6.3 Zero drift adjustment

When the speed reference is 0V, the motor still rotates slowly and needs to adjust the zero drift. Prioritize using Fn009 automatic adjustment (input 0V reference in servo OFF state). If the position ring is formed on the host side, use manual adjustment (Fn00A, adjustment value range -9999~+9999).

Chapter 7: Fault Diagnosis and Alarm Handling

7.1 Common Alarm Codes and Countermeasures

Display alarm name, common causes, and handling measures

A. 02 Parameter damage: Power off when writing parameters, execute Fn005 initialization, and reset

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

A. 30. Abnormal regeneration transistor fault and broken regeneration resistor. Check the external regeneration resistor wiring; Replace SERVOPACK

A. 32 regeneration overload regeneration energy exceeds the capacity of the resistor, external larger power regeneration resistor is connected, set Pn600

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

A. 41. Check the power supply and wiring for undervoltage, phase loss, and fuse burnout in the main circuit; Replace SERVOPACK

A. Check the U/V/W wiring for phase sequence error and excessive reference input of the 51 overspeed motor line; Reduce reference value

A. 71/72 overload (high/low load) with excessive load and reduced load due to broken motor wires; Check the motor power line

A. 81 Absolute value encoder backup error battery voltage depletion, encoder+5V loss, battery replacement; Perform Fn008 initialization