YASKAWA ∑ - II Series SGMBH/SGDH AC Servo System

Manual gain adjustment steps:

Firstly, set the load inertia ratio (Pn103) correctly. This is a prerequisite for accurately setting the speed loop gain.

Gradually increase the speed loop gain (Pn100) until the mechanical system begins to produce slight vibrations or noise, and then slightly decrease. Set the integration time constant of the speed loop (Pn101), and the empirical formula is Pn101 ≈ 4/(2 π× Pn100).

Gradually increase the position loop gain (Pn102) and observe the positioning time until the positioning response is satisfactory and there is no overshoot or oscillation.

If there is mechanical resonance, the torque reference filter time constant (Pn401) can be adjusted or notch filters (Pn408, Pn409) can be enabled to eliminate vibrations at specific frequencies.

Auxiliary optimization function:

Feedforward control: By setting position loop feedforward (Pn109) or velocity feedforward (Pn207.1), tracking error can be reduced and positioning time can be shortened. However, excessively high feedforward values may lead to overshoot.

Mode Switch: By setting Pn10B, the speed loop can be switched from PI control to P control during acceleration or deceleration when torque, speed, or acceleration exceeds a threshold, in order to suppress overshoot and oscillation and shorten the setting time.

Speed bias: Set through Pn107 and Pn108, when the error pulse accumulates to a certain degree during position control, an automatic speed bias is added to quickly eliminate errors and shorten positioning time.

Operation and monitoring

SGDH drivers provide multiple ways to operate and monitor, facilitating on-site debugging and maintenance.

Digital Operator:

Built in panel operator: located on the front panel of the driver, it can perform basic operations such as status display, parameter setting, monitoring, alarm reset, etc. through buttons and 7-segment LED digital tubes.

Handheld digital operator (JUSP-OP02A-2): Connected through the CN3 interface, it provides richer functions and a more user-friendly interface. In addition to basic functions, it can also perform JOG operation, zero point search, alarm tracking, parameter initialization, and other operations.

Main modes: status display mode (Un000, etc.), parameter setting mode (Pn000, etc.), monitoring mode (displaying speed, torque, input/output signal status), auxiliary function mode (Fn000, etc., used for JOG, automatic tuning, alarm tracking, absolute encoder settings, etc.).

Monitoring function:

Real time monitoring: The monitoring mode (Un000-Un00D) can display key parameters such as the actual motor speed, input speed reference, internal torque reference, input/output signal status, and error pulse number in real time.

Alarm Traceback: The driver can record the last 10 alarms (Fn000) that have occurred, facilitating troubleshooting.

Analog Monitor: Through the CN5 interface, two analog signals (such as speed, torque, and position error) can be output for connecting oscilloscopes and other instruments for waveform analysis, facilitating advanced debugging.

Maintenance and fault diagnosis

Regular maintenance and effective fault diagnosis are key to ensuring the long-term stable operation of the system.

Regular maintenance and inspection:

Servo motor: Daily inspection for vibration, noise, and appearance. Regularly (at least once a year) check the insulation resistance (should be greater than 10M Ω). For motors with oil seals, it is recommended to replace the oil seal every 5000 hours of operation.

Servo drive: Regularly (at least once a year) check for dust and loose screws inside. According to the operating environment, replace vulnerable parts at predetermined intervals (such as 4-5 years for cooling fans and 7-8 years for electrolytic capacitors).

Fault diagnosis:

Alarm code: When the system malfunctions, the front panel of the drive will display an alarm code in the format of "A.xx". The manual provides a detailed list of the meanings, possible causes, and countermeasures for all alarm codes (such as A.10 overcurrent, A.30 regeneration error, A.51 overspeed, A.71/A.72 overload, A.81 encoder backup error, etc.).

No alarm display fault: If the motor does not rotate, vibrates abnormally, or has unstable speed but no alarm display, it is necessary to check the power supply, wiring, input signal status, parameter settings, etc. The manual provides a detailed troubleshooting table, indexed by symptoms, causes, and solutions.

Technical data summary

Project SGMBH servo motor SGDH servo driver

Rated output 22 kW -55 kW 22 kW -55 kW (matched with motor)

Rated speed 1500 min ⁻¹-

Maximum speed 2000 min ⁻¹-

Rated torque 140-350 N · m-

Main circuit of power supply voltage: three-phase 380-480VAC, ± 10% Main circuit: three-phase 380-480VAC, ± 10%

Control power supply -24 VDC ± 15%

Feedback method: 17 bit incremental/absolute encoder (optional 20 bit) supports incremental/absolute encoder

Control modes - speed/position/torque control and multiple composite modes

Environmental temperature 0~40 ° C 0~55 ° C

Protection level IP44 (fully enclosed, self cooling) base installation, IP20