Sigma-II Series System Configuration

Transcription

1 CHRGE POWER Sigma-II Series The Ideal servo family for motion control. Fast Response, High Speed, and High ccuracy. Online autotuning with 1 levels of rigidity Peak torque 3% of nominal utomatic motor recognition nalogue control for speed and torque Pulse train control for positioning Optional Units for system flexibility and network connectivity Smooth operation Oscilloscope available via SigmaWin tool Windows based Configuration and commissioning software Ratings 23VC Single-phase 3 W to 1.5kW (4.77 Nm) 4VC Three-phase 45 W to 15 kw (95.4 Nm) C Servo Systems System Configuration Sigma-II Series SERVODRIVE attery for bsolute Encoder nalog Monitor Cable Option Unit NS115 S W 1 R S W 2 C N 6 1- Mechatrolink-I/II 2- DeviceNet 3- Profibus 4- Motion Controller 5- Indexer SERVOPCK SGDH- 8E - S- OY Ver. 4V Digital Operator C N 6 C N 4 Power Cable MODE/SET L1 L L1C L2C 1 2 U V W CN3 CN1 DT/ I/O signal Personal computer Servo Relay Motion Control Unit Position Control Unit Encoder Cable CN2 General Purpose Cable Terminal lock Power Cable Encoder Cable Encoder Cable Serial convertr unit Linear scale Power Cable Linear servomotor wirh core SGMH / SGMPH SERVOMOTOR SGMGH / SGMSH / SGMUH SERVOMOTOR SGL LINER SERVOMOTOR Sigma-II Series 95

2 Servomotor / Servo Drive Combination SGMH (3 min -1 ) SGMPH (3 min -1 ) SGMGH (15 min -1 ) SGMSH (3 min -1 ) SGMUH (6 min -1 ) Servomotor Servo Drive Voltage Rated Torque Capacity 23 V (1-phase) 4 V (3-phase) 23 V.955 N.m 3 W SGDH-3E-OY N.m 5 W SGDH-5E-OY N.m 1 W SGDH-1E-OY N.m 2 W SGDH-2E-OY N.m 4 W SGDH-4E-OY N.m 75 W SGDH-8E-S-OY - 4 V.955 N.m 3 W - SGDH-5DE-OY 2.7 N.m 65 W - SGDH-1DE-OY 23 V.318 N.m 1 W SGDH-1E-OY N.m 2 W SGDH-2E-OY N.m 4 W SGDH-4E-OY N.m 75 W SGDH-8E-S-OY N.m 15 W SGDH-15E-S-OY - 4 V.637 N.m 2 W - SGDH-5DE-OY 1.27 N.m 4 W - SGDH-5DE-OY 2.39 N.m 75 W - SGDH-1DE-OY 4.77 N.m 15 W - SGDH-15DE-OY 4 V 2.84 N.m.45 kw - SGDH-5DE-OY 5.39 N.m.85 kw - SGDH-1ODE-OY 8.34 N.m 1.3 kw - SGDH-15DE-OY 11.5 N.m 1.8 kw - SGDH-2DE-OY 18.6 N.m 2.9 kw - SGDH-3DE-OY 28.4 N.m 4.4 kw - SGDH-5DE-OY 35. N.m 5.5 kw - SGDH-6DE-OY 48. N.m 7.5 kw - SGDH-75DE-OY 7. N.m 11 kw - SGDH-1DE-OY 95.4 N.m 15 kw - SGDH-1EDE-OY 4 V 3.18 N.m 1. kw - SGDH-1DE-OY 4.9 N.m 1.5 kw - SGDH-15DE-OY 6.36 N.m 2. kw - SGDH-2DE-OY 9.8 N.m 3. kw - SGDH-3DE-OY 12.6 N.m 4. kw - SGDH-5DE-OY 15.8 N.m 5. kw - SGDH-5DE-OY 4 V 1.59 N.m 1. kw - SGDH-1DE-OY 2.45 N.m 1.5 kw - SGDH-15DE-OY 4.9 N.m 3. kw - SGDH-3DE-OY 6.3 N.m 4. kw - SGDH-5DE-OY SGLGW Linear Motors 23 V Refer to the Linear Motors chapter for details SGLFW Linear Motors 23 V, 4 V Refer to the Linear Motors chapter for details SGLTW Linear Motors 4 V Refer to the Linear Motors chapter for details 96 C Servo Systems

3 Type Designation Servomotor SGMH S D - OY Sigma-II Servomotor Type SGMH: Super High Power Rate Type SGMPH: Cube Type SGMGH: High-speed Feed Type SGMSH: Super High Power Rate Type SGMUH: High Speed Type Capacity (kw) Code SGMH 3 min E Voltage : 23 V D: 4 V SGMPH 3 min SGMGH SGMSH SGMUH min -1 min -1 min Code Connector Specifications lank D 1 S C D E F G H Shaft End Specifications Code Encoder No option Hypertac Connector (SGMH,SGMPH) rake, Oil Seal Specifications Shaft End Straight, No key Straight, Key Straight, Key, Tapped Straight, Tapped Design Procedure: Serial Encoder Specifications 1 16-bit bsolute 2 17-bit bsolute 13-bit Incremental 16-bit Incremental C 17-bit Incremental No rake, No Oil/Dust Seal Oil Seal 9V rake 24V rake Oil Seal + 9VDC rake Oil Seal + 24VDC rake Dust Seal Dust Seal + 9VDC rake Dust Seal + 24VDC rake : Standard E: SGMPH (IP67) F: SGMH (prepared for oil seal mounting) Type SGMH SGMPH SGMGH SGMSH SGMUH : Standard : Option Type SGMH SGMPH SGMGH SGMSH SGMUH : Standard : Option C Servo Systems Servo Drive Sigma-II Servo Drive Capacity W 5 W 1 W 2 W 4 W 5 W 75 W 1. kw E 1.5 kw 2. kw 3. kw 5. kw 6. kw 7.5 kw 11 kw 15 kw SGDH - 4 E - S - OY Model lank S E: Speed, Torque, Position Source Voltage : 23V D: 4V Phase Three-phase (.5 to 15kW) Single-phase (3 to 4W) Single-phase (75W/1.5kW) Sigma-II Series 97

4 Servomotor Specifications Type SGMH, 23V/4V Ratings and Specifications pplied Voltage 23 V 4 V Servomotor Model 3@ 5@ 1@ 2@ 4@ 8@ 3D@ 7D@ Rated Output W Rated Torque N m Instantaneous Peak Torque N m Rated Current (rms) Instantaneous Max. Current (rms) Rated Speed min -1 3 Max. Speed min -1 5 Torque Constant N m/ (rms) Rotor Moment of Inertia (JM) kg m 2 x lowable Load Moment of Inertia (JL) Multiple of (JM) 3 2 Rated Power Rate kw/s Rated ngular cceleration rad/s plicable Encoder Standard Incremental Encoder (13 bits: 248P/R) Option Incremental/bsolute Encoder (16 bits: 16384P/R) Holding rake Moment of Inertia J kg m 2 x Time Rating Continuous Insulation Class Class mbient Temperature to +4 C mbient Humidity 2 to 8% (non-condensing) Vibration Class 15µm or below Enclosure Totally-enclosed, self-cooled, IP55 (excluding shaft opening) Vibration Resistance Vibration acceleration 49m/s2 Mounting Flange-mounted asic Specifications Torque-Speed Charecteristics ( : Continuous Duty Zone : Intermittent Duty Zone) 5 SGMH-3 SGMH-5 SGMH SGMH-2 SGMH-4 SGMH SGMH-3D 5 SGMH-7D C Servo Systems

5 Type SGMPH, 23V/4V Ratings and Specifications pplied Voltage 23 V 4 V Servomotor Model 1@ 2@ 4@ 8@ 15@ 2D@ 4D@ 8D@ 15D@ Rated Output W Rated Torque N m Instantaneous Peak Torque N m Rated Current (rms) Instantaneous Max. Current (rms) Rated Speed min -1 3 Max. Speed min -1 5 Torque Constant N m/ (rms) Rotor Moment of Inertia (JM) kg m 2 x lowable Load Moment of Inertia (JL) Multiple of (JM) Rated Power Rate kw/s Rated ngular cceleration rad/s plicable Encoder Standard Incremental Encoder (13 bits: 248P/R) Option Incremental/bsolute Encoder (16 bits: 16384P/R) Holding rake Moment of Inertia J kg m 2 x Time Rating Continuous Insulation Class Class mbient Temperature to +4 C mbient Humidity 2 to 8% (non-condensing) Vibration Class 15µm or below Enclosure Totally-enclosed, self-cooled, IP55 (excluding shaft opening) Vibration Resistance Vibration acceleration 49m/s2 Mounting Flange-mounted asic Specifications C Servo Systems Torque-Speed Charecteristics ( : Continuous Duty Zone : Intermittent Duty Zone) SGMPH-1 SGMPH-2 SGMPH SGMPH-8 5 SGMPH-15 5 SGMPH-2D SGMPH-4D 5 SGMPH-8D 5 SGMPH-15D Sigma-II Series 99

6 Type SGMGH, 4V Ratings and Specifications pplied Voltage 4 V Servomotor Model 5D@ 9D@ 13D@ 2D@ 3D@ 44D@ 55D@ 75D@ 1D@ 1ED@ Rated Output kw Rated Torque N m Instantaneous Peak Torque N m Rated Current (rms) Instantaneous Max. Current (rms) Rated Speed min Max. Speed min Torque Constant N m/ (rms) Rotor Moment of Inertia (JM) kg m 2 x lowable Load Moment of Inertia (JL) Multiple of (JM) 5 Rated Power Rate kw/s Rated ngular cceleration rad/s plicable Encoder Standard Incremental Encoder (17 bits: 16384P/R) Option bsolute Encoder (17 bits: 16384P/R) Holding rake Moment of Inertia J kg m 2 x Time Rating Continuous Insulation Class Class F mbient Temperature to +4 C mbient Humidity 2 to 8% (non-condensing) Vibration Class 15µm or below Enclosure Totally-enclosed, self-cooled, IP67 (excluding shaft opening) Vibration Resistance Vibration acceleration 24.5m/s2 Mounting Flange-mounted asic Specifications Torque-Speed Charecteristics ( : Continuous Duty Zone : Intermittent Duty Zone) SGMGH-5D 3 SGMGH-9D 3 SGMGH-13D SGMGH-2D 3 SGMGH-3D 3 SGMGH-44D SGMGH-55D 3 SGMGH-75D 3 SGMGH-1D 2 SGMGH-1ED C Servo Systems

7 Type SGMSH, 4V Ratings and Specifications pplied Voltage 4 V Servomotor Model 1D@ 15D@ 2D@ 3D@ 4D@ 5D@ Rated Output kw Rated Torque N m Instantaneous Peak Torque N m Rated Current (rms) Instantaneous Max. Current (rms) Rated Speed min -1 3 Max. Speed min -1 5 Torque Constant N m/ (rms) Rotor Moment of Inertia (JM) kg m 2 x lowable Load Moment of Inertia (JL) Multiple of (JM) 5 Rated Power Rate kw/s Rated ngular cceleration rad/s plicable Encoder Standard Incremental Encoder (17 bits: 16384P/R) Option bsolute Encoder (17 bits: 16384P/R) Holding rake Moment of Inertia J kg m 2 x Time Rating Continuous Insulation Class Class F mbient Temperature to +4 C mbient Humidity 2 to 8% (non-condensing) Vibration Class 15µm or below Enclosure Totally-enclosed, self-cooled, IP67 (excluding shaft opening) Vibration Resistance Vibration acceleration 24.5m/s2 Mounting Flange-mounted asic Specifications C Servo Systems Torque-Speed Charecteristics ( : Continuous Duty Zone : Intermittent Duty Zone) 5 SGMSH-1D 5 SGMSH-15D 5 SGMSH-2D SGMSH-3D 5 SGMSH-4D 5 SGMSH-5D TORQUE (N m) TORQUE (N m) Sigma-II Series 11

8 Type SGMUH, 4V Ratings and Specifications pplied Voltage 4 V Servomotor Model 1D@ 15D@ 3D@ 4D@ Rated Output kw Rated Torque N m Instantaneous Peak Torque N m Rated Current (rms) Instantaneous Max. Current (rms) Rated Speed min -1 6 Max. Speed min -1 6 Torque Constant N m/ (rms) Rotor Moment of Inertia (JM) kg m 2 x lowable Load Moment of Inertia (JL) Multiple of (JM) 5 Rated Power Rate kw/s Rated ngular cceleration rad/s plicable Encoder Standard Incremental Encoder (17 bits: 16384P/R) Option - Holding rake Moment of Inertia J kg m 2 x Time Rating Continuous Insulation Class Class F mbient Temperature to +4 C mbient Humidity 2 to 8% (non-condensing) Vibration Class 15µm or below Enclosure Totally-enclosed, self-cooled, IP67 (excluding shaft opening) Vibration Resistance Vibration acceleration 24.5m/s2 Mounting Flange-mounted asic Specifications Torque-Speed Charecteristics ( : Continuous Duty Zone : Intermittent Duty Zone) 6 5 SGMUH-1D 6 5 SGMUH-15D SGMUH-3D 6 5 SGMUH-4D C Servo Systems

9 Servo Drive Specifications Single-Phase, 23 V Servo Drive Type 3E-OY 5E-OY 1E-OY 2E-OY 4E-OY 8E-S-OY 15E-S-OY pplicable SGMH-@ 3@ 5@ 1@ 2@ 4@ 8@ - Servomotor SGMPH-@ - - 1@ 2@ 4@ 8@ 15@ Max. pplicable Motor capacity W Continuous Output Current rms Max. Output Current rms Input Power Main Circuit For single-phase, 2 to 23 VC + 1 to -15% 22 to 23 VC Supply Control Circuit For single-phase, 2 to 23 VC + 1 to -15% +1 to -15% (5/6Hz) Control Method Single phase full-wave rectification / IGT / PWM / sine-wave current drive method Feedback Serial encoder ( incremental/absolute value ) Usage /storage Temperature to +55 C / -2 to 85 C Usage /storage Humidit 9%RH or less (non-condensing) ltitude 1m or less above sea level Vibration/Shock Resistance 4.9m/s 2 / 19.6m/s 2 Configuration ase mounted pprox. Mass Kg asic Specifications Conditions C Servo Systems Three-Phase, 4 V Servo Drive Type SGDH-@ 5DE-OY 1DE-OY 15DE-OY 2DE-OY 3DE-OY 5DE-OY 6DE-OY 75DE-OY 1DE-OY 1EDE-OY pplicable SGMGH-@ 5D@ 9D@ 13D@ 2D@ 3D@ 44D@ 55D@ 75D@ 1D@ 1ED@ Servomotor SGMSH-@ - 1D@ 15D@ 2D@ 3D@ 4D@/5D@ SGMUH-@ - 1D@ 15D@ - 3D@ 4D@ Max. pplicable Motor capacity kw Continuous Output Current rms Max. Output Current rms Input Power Main Circuit For three-phase, 38 to 48 VC + 1 to -15% (5/6Hz) Supply Control Circuit 24VDC+ 15% Control Method Single phase full-wave rectification / IGT / PWM / sine-wave current drive method Feedback Serial encoder ( incremental/absolute value ) Usage /storage Temperature to +55 C / -2 to +85 C Usage /storage Humidit 9%RH or less (non-condensing) ltitude 1m or less above sea level Vibration/Shock Resistance 4.9m/s 2 / 19.6m/s 2 Configuration ase mounted pprox. Mass Kg asic Specifications Conditions General Specifications Speed/Torque Control Mode Input Signal Performance Position Control Mode Input Signal Performance Speed Control Range 1:5 Speed Load Variance During to 1% load ±.1% max. (at rated speed) Variance Voltage Variance Rated voltage ±1%:% (at rated speed) Temperature Variance 25 ±25 C: ±.1 % max (at rated speed) Frequency characteristics 4Hz (at J L = J M ) Torque Controll ccuracy (Reproducibility) ±2% Soft Start Time Setting to 1s (cceleration, deceleration can each be set.) Reference Voltage ±6VDC (forward motor rotation if positive reference) at rated speed: Set at delivery Speed Variable setting range: ±2 to ±1 VDC at rated speed/ max. input voltage: ±12V Reference Input Empedance pprox. 14 kω Input Circuit Time Constant - Torque Reference Voltage ±3 VDC (forward rotation if positive reference) at rated speed: Set at delivery Reference Variable setting range ±1 to ±1 VDC at rated torque reference Input Imput Impedance pprox. 14 KΩ Circuit Time Constant pprox. 47µ s ias Setting to 45 min -1 (setting resolution: 1 min -1 ) Feed Forward Compensation to 1 % (setting resolution: 1%) Position Completed Width Setting to 25 command units (Setting resolution: 1 command unit) Input pulse Type Command Pulse Input Pulse Form Input Pulse Frequency Control Signal Sign + pulse train, 9 phase displacement 2-phase pulse (-phase+ -phase) or CCW/CW pulse train Line driver (+5V level), open collector (+5V or +12 level) to 5 Kpps (2Kpps max. at open collector) Clear Signal (input pulse is same as reference pulse) I/O Signal Position Signal Output Sequence Input Signal Sequence Output Signal -phase,.phase, C-phase, (S-phase): Line driver output S-phase is for absolute encoder only. Servo ON, P control (or control mode switching, zero clamp, command pulse inhibit), forward/reverse run prohibit, alarm reset, forward/ reverse current limit (or internal speed switching) Servo alarm, alarm codes (3-bit output): CN1 output terminal is fixed It is possible to output three types of signals form among: positioning complete (speed agree), motor rotation, servo ready, current limit, speed limit, brake release, warning, NER, and zero point pulse signal Sigma-II Series 13

10 Integrated Functions Interface Digital operator (hand- held type), RS-422 port for PCs, etc. (RS-232C ports under some conditions) 1:N Communications N may equal up to 14 when an RS-422 port is used Communications xis ddress Setting Set by user setting Functions Status display, user constant setting monitor display, alarm traceback display, JOG run /autotuning operations, and graphing functions for speed/torque command signal, etc uto Tuning Function Position speed loop gain and integral time constant can be automatically set. Dynamic rake (D) Operates during main power OFF, servo alarm, servo OFF or overtravel Regenerative Processing Regenerative resistor externally mounted (option) Overtravel (OT) Prevention Function D stop, deceleration stop or coast to stop during P-OT, N-OT operation Encoder Divider Function Optional division possible Electronic Gearing,1< /<1 Internal Speed Setting Function 3 speeds may be set internally Protective Functions Overcurrent, overvoltage, insufficient voltage, overload, main circuit sensor error, heatsink overheat, power phase loss, overflow, overspeed, encoder error, runaway, CPU error, parameter error, etc. nalog Monitor Functions for Supervision Integrates analog monitor connectors for supervision of the speed and torque reference signals, etc. Display Functions CHRGE, POWER, 7-segments LEDx5 (Integrated digital operator function) Others Reverse connection, zero search, automatic motor discrimination function, and DC reactor connection terminal for high frequency power suppression function (except: 6 to 15kW) I/O Specifications I/O Signals (CN1) - Input signals Pin No. Signal Name Function 4 Common /S-ON Servo ON: Turns ON the servomotor when the gate block in the inverter is released. 41 /P-CON Function selected by parameter. Proportional control reference Switches the speed control loop from PI (proportional/ integral) to P (proportional) control when ON. Direction reference With the internal set speed selected: Switch the rotation direction. Control mode switching Position speed Position torque Enables control mode switching Torque speed P-OT N-OT /P-CL /N-CL Zero-clamp reference Reference pulse block Forward run prohibited Reverse run prohibited Function selected by parameter. Forward external torque limit ON Reverse external torque limit ON Speed control with zero-clamp function: Reference speed is zero when ON. Position control with reference pulse stop: Stops reference pulse input when ON. Overtravel prohibited: Stops servomotor when movable part travels beyond the allowable range of motion. Current limit function enabled when ON. Internal speed switching With the internal set speed selected: Switches the internal speed settings. 44 /LM-RST larm reset: Releases the servo alarm state VIN Control power supply input for sequence signals: Users must provide the +24 V power supply. llowable voltage fluctuation range: 11 to 25 V 4 (2) SEN Initial data request signal when using an absolute encoder T (+) T (-) Connecting pin for the absolute encoder backup battery. Do not connect when a battery is connected to the host controller. 5 (6) Speed V-REF Speed reference speed input: ±2 to ±1 V/rated motor speed (Input gain can be modified using a parameter.) 9 (1) Torque T-REF Torque reference input: ±1 to ±1 V/rated motor torque (Input gain can be modified using a parameter.) Position PULS /PULS SIGN /SIGN CLR /CLR PL1 PL2 PL3 Reference pulse input for only line driver Input mode is set from the following pulses. Sign + pulse string CCW/CW pulse Two-phase pulse (9 phase differential) Positional error pulse clear input: Clears the positional error pulse during position control. +12 V pull-up power is supplied when PULS, SIGN, and CLR reference signals are open-collector outputs (+12 V power supply is built into the SERVOPCK). Note: 1. Pin numbers in parentheses () indicate signal grounds. 2. The functions allocated to /S-ON, /P-CON. P-OT, N-OT, /LM-RST, /P-CL, and /N-CL input signals can be changed by using the parameters. 3. The voltage input range for speed and torque references is a maximum of ±12 V. 14 C Servo Systems

11 I/O Signals (CN1) - Output signals Pin No. Signal Name Function 31 Common LM+ Servo alarm: Turns OFF when an error is detected. 32 LM /TGON+ /TGON- Detection during servomotor rotation: Detects when the servomotor is rotating at a speed higher than the motor speed setting. Detection speed can be set by using the parameters /S-RDY+ /S-RDY- Servo ready: ON if there is no servo alarm when the control/main circuit power supply is turned ON. 33 (1) PO /PO PO Phase- signal Phase- signal Converted two-phase pulse (phases and ) encoder output signal and zero-point pulse (phase C) signal: RS-422 or the equivalent /PO PCO Phase-C signal (Proper line receiver is SN75175 manufactured by Texas Instruments or the equivalent corresponding to MC3486.) 2 /PCO PSO /PSO Phase-S signal With an absolute encoder: Outputs serial data corresponding to the number of revolutions (RS-422 or the equivalent) LO1 LO2 larm code output: Outputs 3-bit alarm codes. Open-collector: 3 V and 2 m rating maximum 39 (1) LO3 Shell FG Connected to frame ground if the shield wire of the I/O signal cable is connected to the connector shell Speed /V-CMP+ /V-CMP- Speed coincidence (output in Speed Control Mode): Detects whether the motor speed is within the setting range and if it matches the reference speed value Position /COIN+ /COIN- - Reserved /CLT /VLT /K /WRN /NER Positioning completed (output in Position Control Mode): Turns ON when the number of positional error pulses reaches the value set. The setting is the number of positional error pulses set in reference units (input pulse units defined by the electronic gear). Reserved terminals The functions allocated to /TGON, /S-RDY, and /V-CMP (/COIN) can be changed by using the parameters. /CLT, /VLT, /K, /WRN, and /NER signals can also be changed. - Terminals not used Do not connect relays to these terminals. C Servo Systems Note: 1. Pin numbers in parentheses () indicate signal grounds. 2. The functions allocated to /TGON, /S-RDY, and /V-CMP (/COIN) can be changed by using the parameters. /CLT, /VLT, /K, /WRN, and /NER signals can also be changed. Terminal Specifications Symbol Name Function L1, L2 or L1, L2, L3 Main circuit C input terminal C power input terminals for the main circuit U Servomotor connection terminal Red Terminals for outputs to the Servomotor. V White W lue L1C, L2C Control power input terminal C power input terminals for the control circuit. Frame ground Ground terminal. Ground to a maximum of 1Ω. (class 3) 1, 2 or 1, 2, 3 Main circuit DC output terminal 5 kw or less: Connect an external regenerative resistor if regenerative energy is high. 5.5 kw: There is no internal regenerative resistor. e sure to connect an external Regenerative Resistor Unit. 1, 2 DC reactor connection terminal for suppressing Normally, short 1 and 2. power supply harmonic waves If a countermeasure against power supply harmonic waves is needed, connect a DC reactor between 1 and 2. Main circuit DC output terminal (positive) Normally, not connected. This terminal exists on the Servo Drives with a capacity opf 6. kw or higher only. Main circuit DC output terminal (negative) Normally, not connected. Encoder Connector (CN2) Pin No. Signal Name Function 1 E5V Encoder power supply + 5V 2 EV Encoder power supply ground 3 T+ attery + (used only with absolute encoder) 4 T attery (used only with absolute encoder) 5 S+ Encoder serial signal input 6 S Encoder serial signal input Sigma-II Series 15

12 Operation Operating Functions Parameter Unit R88-PR2W Servodrive Unit Keys R88-PR2W Function Resets an alarm. Changing Modes To change modes, press the MODE/SET Key. Display Panel Displays motor speed, speed commands, torque command motor values, user parameter settings, and Servodriver status. Switches between status display mode, system check mode, setting mode, and monitor mode. Used as a data setting key while in setting mode. Turns ON or OFF the Servo while jog operations are being performed. Switches between parameter display and data display, and records data. Increments parameter settings. Used as a forward rotation start key during jog operation. Decrements parameter settings. Used as a reverse rotation start key during jog operation. Selects the digit whose setting is to be changed. When selected, the digit flashes. Power ON (Display example) Status display mode aseblock Mode Details System check mode Power ON larm history display mode Setting mode Monitor mode Status Display Mode Control-circuit power supply ON aseblock Speed conformity (during speed control) Positioning complete 1 (during position control) Function selection switch Speed feedback Motor rotation detection Speed command being input (during speed control) Command pulses being input (during position control) Torque command being input (during torque control) Error counter reset signal being input (during position control) Main-circuit power supply ON Status display mode System check mode Setting mode it Display Main-circuit power supply ON, control-circuit power supply ON, baseblock (motor OFF), speed conformity, positioning complete 1, torque command being input, error counter reset signal being input, speed command being input, command pulses being input, motor rotation detection Symbol Display aseblock, operating, forward rotation prohibited, reverse rotation prohibited, alarm display larm history display, robustness setting during online auto-tuning, jog operations, motor origin search, user parameter initialization, alarm history data clear, online autotuning results saving, command offset automatic adjustment, command offset manual adjustment, password setting User Parameters Pn to Pn6 it display Symbol display Symbol Status bb aseblock (motor OFF) run Operating p%t Forward rotation prohibited (forward overtravel) n%t Reverse rotation prohibited (reverse overtravel) a.2 larm display Monitor mode Speed feedback, speed commands, torque commands, number of pulses from origin, electrical angle, input signal monitoring, output signal monitoring, command pulse speed display, position error, input pulse counter/feedback pulse counter 16 C Servo Systems

13 Parameters Parameter Name Setting Range Units Factory Setting Setting Validation No. Pn Function Selection asic Switches - - fter restart Digit Function name Setting Explanation Direction Selection Sets CCW as forward direction 1 Sets CW as forward dirextion (Reserve Rotation Mode) 2 and 3 Reserved ( Do not change.) 1 Control Method Selection Speed control (analog reference) 1 Position control (pulse train reference) 2 Torque control (analog reference) 3 Internal set speed control (contact reference) 4 Internal set speed control (contact reference)<>speed control (analog reference) 5 Internal set speed control reference<>position control (pulse train reference) 6 Internal set speed control (contact reference)<>torque control (analog reference) 7 Position control (pulse train reference)<>speed control (analog reference) 8 Position control (pulse train reference)<>torque control (analog reference) 9 Torque control (analog reference)<>speed control (analog reference) Speed control (analog reference)<>zero clamp Position control (pulse train reference)<>position control (Inhibit) 2 xis ddress to F Sets ServoDrive axis address (Function supported by PC software SigmaWin 1/ 2). 3 Rotation Type/Linear Type Startup Selection Starts up as rotation type. 1 Starts up as linear type. Pn1 Function Selection pplication Switches fter restart Digit Function name Setting Explanation Servo OFF or larm Stop Mode Stops the motor by applying dynamic brake (D) 1 Stops the motor by applying dynamic brake (D) and then realeases D 2 Makes the motor coast to a stop state without using the dynamic brake (D) 1 Overtravel (OT) Stop Mode Same setting as Pn1. (Stops the motor by applying D or by coasting) 1 Sets the torque of Pn46 to the maximum value, decelerate the motor to a stop, and then set it to servolock state 2 Sets the torque of Pn46 to the maximum value. decelerates the motor to a stop, and then sets it to coasting state 2 C/DC Power Input Selection Not applicable to DC power input: Input C power supply through L1, L2 (,and L3) terminals 1 pplicable to DC power input: Input DC power supply between (+1) and ( - ) 3 Warning Code Output Selection LO1, LO2, and LO3 output only alarm codes. 1 LO1, LO2, and LO3 output both alarms codes and warning codes. While warning codes are output, LM signal output remains ON (normal state). Pn2 Function Selection pplication Switches fter restart Digit Function name Setting Explanation Speed Control Option N/ 1 Uses T-REF as an extended 2 Uses T-REF as an external torque limit input when P-CL and N-CL are ON. 1 Torque Control Option N/ 1 Uses V-REF as an external speed limit input. 2 bsolute Encoder Usage Uses absolute encoder as an absolute encoder 1 Uses absolute encoder as an incremental encoder 3 Reserved (Do not change) Pn3 Function Selection pplication Switches fter restart Digit Function name Setting Explanation nalog Monitor 1 Torque Reference Monitor Motor speed: 1V/1 min -1 1 Speed reference: 1V/1 min -1 2 Torque reference: 1 V/1% 3 Position error:,5 V/1 reference unit 4 Position error:,5 V/1 reference units 5 Reference pulse frequency (converted to min -1 : 1V/1 min -1 6 Motor Speed x 4: 1V/25 min -1 7 Motor Speed x 8: 1V/25 min -1 8 to F Reserved (Do not change) 1 nalog Monitor 2 Speed Reference Monitor to F Same as nalog Monitor 1 Torque Reference Monitor 2 Reserved (Do not change) 3 Reserved (Do not change) Pn4 Reserved (Do not change) - - Immediately Pn5 Reserved (Do not change) - - Immediately Pn1 Speed Loop Gain 1 to 2 Hz 1 Hz 4 Hz Immediately Pn11 Speed Loop Integral Time Constant.15 to 512. ms.1 ms 2. ms Immediately Pn12 Position Loop Gain 1 to 2/s 1/s 4/s Immediately Pn13 Moment of Inertia Ratio to 2% 1% % Immediately Pn14 2nd Speed Loop Gain 1 to 2 Hz 1 Hz 4 Hz Immediately Pn15 2nd Speed Loop Integral Time Constant.15 to 512. ms.1 ms 2. ms Immediately Pn16 2nd Position Loop Gain 1 to 2/s 1/s 4/s Immediately Pn17 ias to 45 min -1 1 min -1 min -1 Immediately C Servo Systems Sigma-II Series 17

14 Parameter No. Name Setting Range Units Factory Setting Setting Validation Pn18 ias Width ddition to 25 reference units Reference unit 7 reference units Immediately Pn19 Feed-forward to 1% 1% % Immediately Pn1 Feed-forward Filter Time Constant. to 64. ms.1 ms. ms Immediately Pn1 Gain-related pplication Switches Digit Function name Setting Explanation Setting Validation Mode Switch Selection Uses internal torque reference as the condition (Level setting: Immediately Pn1C) 1 Uses speed reference as the condition (Level setting: Pn1D) 2 Uses acceleration as the condition (Level setting: Pn1E) 3 Uses position error pulse as the condition (Level sentting: P1F) 4 No mode switch function available 1 Speed Loop Control Method PI control fter restart 1 IP control 2 and 3 Reserved (Do not change) 2 utomatic Gain Switching Selection utomatic Gain Switching Disabled fter restart 1 Position Reference 2 Position error 3 Position Reference and Position Error 3 Reserved (Do not change) Pn1C Mode Switch Torque Reference to 8% 1% 2% Immediately Pn1D Mode Switch Speed Reference to 1 min -1 1 min -1 min -1 Immediately Pn1E Mode Switch cceleration to 3 min -1 / s 1 min -1 / s min -1 / s Immediately Pn1F Mode Switch Error Pulse to 1 reference units 1 reference unit reference unit Immediately Pn11 Online utotuning Switches Digit Function name Setting Explanation Setting Validation Online utotuning Method Tunes only at the beginning operation fter restart 1 lways tunes. 2 Does not perform autotuning. 1 Speed feedback Compensation Selection pplicable Immediately 1 N/ 2 Friction Compensation Selection Friction compensation: Disabled Immediately 1 Friction compensation: Small 2 Friction compensation: Large 3 Reserved (Do not change) Pn111 Speed Feedback Compensation 2 1 to 5% 1% 1% Immediately Pn112 Reserved (Do not change) - - 1% - Pn113 1 Pn114 2 Pn Pn Pn117 1% Pn118 1% Pn119 5 /s Pn11 1% Pn11 5 Hz Pn11C 7 Hz Pn11D 1% Pn11E 1% Pn11F ms Pn12 ms Pn121 5 Hz Pn122 Hz Pn123 % Pn124 utomatic Gain Switching Timer 1 to 1 ms 1 ms 1 ms Immediately Pn125 utomatic Gain Switching Width 1 to 25 reference units 1 reference 7 reference units Immediately 18 C Servo Systems

15 Parameter No. Name Setting Range Units Factory Setting Setting Validation Pn2 Position Control References Selection Switches - - fter restart Digit Function Name Setting Explanation Reference Pulse Form Sign + Pulse, positive logic 1 CW + CCW, positive logic 2 Phase + Phase (x 1), positive logic 3 Phase + Phase (x 2), positive logic 4 Phase + Phase (x 4), positive logic 5 Sign + Pulse, negative logic 6 CW + CWW, negative logic 7 Phase + Phase (x 1), negative logic 8 Phase + Phase (x 2), negative logic 9 Phase + Phase (x 4), negative logic 1 Error Counter Clear Clears error counter when the signal is at H level 1 Clears error counter at the rising edge of the signal 2 Clears error counter when the signal is at L level. 3 Clears error counter at the falling edge of the signal 2 Clear Operation Clear error counter at the baseblock 1 Does not clear error counter (Only possible to clear error counter with CLR signal) 2 Clears error counter when an alarm occurs. 3 Filter Selection Reference input filter for line driver signals 1 Reference input filter for open collector signals Pn21 PG Dividing Pulse (16bit or less) 16 to P/rev 1 P/rev P/rev fter restart Pn22 Electronic Gear Ratio (Numerator) 1 to fter restart Pn23 Electronic Gear Ratio (Denominator) 1 to fter restart Pn24 Position Reference ccel/decel Time Constant. to 64. ms.1 ms. ms Immediately Pn25 Multiturn Limit Setting * to rev rev rev fter restart Pn26 Reserved (Do not change) P/rev - Pn27 Position Control Function Switches fter restart Digit Function Name Setting Explanation Position Reference Filter selection cceleration/deceleration filter 1 verage movement filter 1 Position Control Option N/ 1 Uses V-REF as a speed feed-forward input 2 Dividing Pulse Parameter Selection Use Pn21 (16-bit or less) 1 Use Pn212 (17-bit or more) 3 Reserved (Do not change) Pn28 Position Reference Movement veraging Time. to 64. ms.1 ms. ms fter restart Pn212 PG Dividing Pulse (17 bit or more)* 16 to P/rev 1 P/rev 248P/rev fter restart Pn217 Reference Pulse Input Multiplication 1 to Immediately Pn218 Reference Pulse Multiplication Function Selection - - fter restart Digit Function Name Setting Explanation Reference Pulse Multiplication Function Selection Disabled 1 Enabled 1 Reserved (Do not change) 2 Reserved (Do not change) 3 Reserved (Do not change) Pn3 Speed Reference Input Gain 1.5 to 3. V/ rated.1v/ rated 6. V/ rated Immediately speed speed speed Pn31 Speed 1 to 1 min -1 1 min -1 1 min -1 Immediately Pn32 Speed 2 to 1 min -1 1 min -1 2 min -1 Immediately Pn33 Speed 3 to 1 min -1 1 min -1 3 min -1 Immediately Pn34 JOG Speed to 1 min -1 1 min -1 5 min -1 Immediately Pn35 Soft Start cceleration Time to 1 ms 1 ms ms Immediately Pn36 Soft Start Deceleration Time to 1 ms 1 ms ms Immediately Pn37 Speed Reference Filter Time Constant. to ms.1 ms.4 ms Immediately Pn38 Speed Feedback Filter Time Constant. to ms.1 ms. ms Immediately Pn39 Reserved (Do not change) - 5 min -1 1 min -1 6 min -1 Immediately Pn4 Torque Reference Input Gain 1. to1. V/rated torque.1 V/rated 3. V/ rated Immediately torque torque Pn41 Torque Reference Filter Time Constant. to ms.1 ms 1. ms Immediately Pn42 Forward Torque Limit to 8% 1% 8% Immediately Pn43 Reverse Torque Limit to 8% 1% 8% Immediately Pn44 Forward External Torque Limit to 8% 1% 1% Immediately Pn45 Reverse External Torque Limit to 8% 1% 1% Immediately Pn46 Emergency Stop Torque to 8% 1% 8% Immediately Pn47 Speed Limit during Torque Control to 1 min -1 1 min -1 1 min -1 Immediately Pn48 Torque Function Switches - - Immediately Digit Function Name Setting Explanation Notch Filter Selection N/ 1 Uses a notch filter for torque reference 1 Reserved (Do not Change) 2 2nd Notch Filter Selection Disabled 1 Enabled 3 Reserved (Do not Change) C Servo Systems Sigma-II Series 19

16 Parameter Name Setting Range Units Factory Setting Setting Validation No. Pn49 Notch Filter Frequency 5 to 2 Hz 1 Hz 2 Hz Immediately Pn4 Notch Filter Q Value 5 to 4(.5 to 4.).1 7(.7) Immediately Pn4 2nd Notch Filter Frequency 5 to 2 Hz 1 Hz 2 Hz Immediately Pn4C 2nd Notch Filter Q Value 5 to 4.1 7(.7) Immediately (.5 to 4.) Pn5 Positioning Completed Width to 25 reference units 1 reference unit 7 reference units Immediately Pn51 Zero Clamp Level to 1 min -1 1 min -1 1 min -1 Immediately Pn52 Rotation Detection Level 1 to 1 min -1 1 min -1 2 min -1 Immediately Pn53 Speed Coincidence Signal Output Width to 1 min -1 1 min -1 1 min -1 Immediately Pn54 NER Signal Width 1 to 25 reference units 1 reference unit 7 reference units Immediately Pn55 Overflow Level 1 to 32767reference units 256 reference 124 reference Immediately unit units Pn56 rake Reference - Servo OFF Delay Time 1 to 5 (1 to 5 ms) 1 ms 1 ms Immediately Pn57 rake Reference Output Speed Level to 1 min -1 1 min -1 1 min -1 Immediately Pn58 Timing for rake Reference Output during Motor Operation 1 to 1 1 ms 5 ms Immediately (1 to 1 ms) Pn59 Momentary Hold time 2 to 1 ms 1 ms 2 ms Immediately Pn5 Input Signal Selections fter restart Digit Function Name Setting Explanation Input Signal llocation Mode Uses the sequence input signal terminals with standard allocation 1 Changes the sequence input signal allocation for each signal 1 /S-ON Signal Mapping Signal Polarity:Normal:Servo ON when ON Signal Polarity:Reverse: Servo ON when OFF 2 /P-CON Signal Mapping (P control when ON(L-level) 3 /P-OT Signal Mapping(Overtravel when OFF(H-level) ON when CN1-4 input signals is ON (L-level). 1 ON when CN1-41 input signals is ON (L-level) 2 ON when CN1-42 input signals is ON (L-level) 3 ON when CN1-43 input signals is ON (L-level) 4 ON when CN1-44 input signals is ON (L-level) 5 ON when CN1-45 input signals is ON (L-level) 6 ON when CN1-46 input signals is ON (L-level) 7 Sets signal ON 8 Sets signal OFF 9 OFF when CN1-4 input signals is OFF (H-level) OFF when CN1-41 input signals is OFF (H-level) OFF when CN1-42 input signals is OFF (H-level) C OFF when CN1-43 input signals is OFF (H-level) D OFF when CN1-44 input signals is OFF (H-level) E OFF when CN1-45 input signals is OFF (H-level) F OFF when CN1-46 input signals is OFF (H-level) to F Same as /S-ON Forward run allowed when CN1-4 input signal is ON (L-level) 1 Forward run allowed when CN1-41 input signal is ON (L-level) 2 Forward run allowed when CN1-42 input signal is ON (L-level) 3 Forward run allowed when CN1-43 input signal is ON (L-level) 4 Forward run allowed when CN1-44 input signal is ON (L-level) 5 Forward run allowed when CN1-45 input signal is ON (L-level) 6 Forward run allowed when CN1-46 input signal is ON (L-level) 7 Forward run prohibited. 8 Forward run allowed. 9 Forward run allowed when CN1-4 input signals is OFF (H-level) Forward run allowed when CN1-41 input signals is OFF (H-level Forward run allowed when CN1-42 input signals is OFF (H-level C Forward run allowed when CN1-43 input signals is OFF (H-level D Forward run allowed when CN1-44 input signals is OFF (H-level E Forward run allowed when CN1-45 input signals is OFF (H-level F Forward run allowed when CN1-46 input signals is OFF (H-level 11 C Servo Systems

17 Parameter Name Setting Range Units Factory Setting Setting Validation No. Pn5 Input Signal Selections fter restart Digit Function Name Setting Explanation N-OT Signal Mapping (Overtravel when Reserve run allowed when CN1-4 input signals is ON (L-level). OFF (H-level) 1 Reserve run allowed when CN1-41 input signals is ON (L-level). 2 Reserve run allowed when CN1-42 input signals is ON (L-level) 3 Reserve run allowed when CN1-43 input signals is ON (L-level) 4 Reserve run allowed when CN1-44 input signals is ON (L-level) 5 Reserve run allowed when CN1-45 input signals is ON (L-level) 6 Reserve run allowed when CN1-46 input signals is ON (L-level) 7 Reserve run prohibited. 8 Reserve run allowed 9 Reserve run allowed when CN1-4 input signals is OFF (H-level) Reserve run allowed when CN1-41 input signals is OFF (H-level) Reserve run allowed when CN1-42 input signals is OFF (H-level) C Reserve run allowed when CN1-43 input signals is OFF (H-level) D Reserve run allowed when CN1-44 input signals is OFF (H-level) E Reserve run allowed when CN1-45 input signals is OFF (H-level) F Reserve run allowed when CN1-46 input signals is OFF (H-level) 1 /LM-RST Signal Mapping (larm Reset to F Same as N-OT when ON(L-level) 2 /P-CL Signal Mapping(Torque Limit when to F Same as S-ON, the setting of Pn5.1 ON(L-level) 3 /N-CL Signal Mapping(Torque Limit when ON(L-level) to F Same as S-ON, the setting of Pn5.1 Pn5C Input Signal Selections fter restart Digit Function Name Setting Explanation /SPD-D Signal Mapping ON when CN1-4 input signal is ON (L-level). 1 ON when CN1-41 input signal is ON (L-level). 2 ON when CN1-42 input signal is ON (L-level). 3 ON when CN1-43 input signal is ON (L-level). 4 ON when CN1-44 input signal is ON (L-level). 5 ON when CN1-45 input signal is ON (L-level). 6 ON when CN1-46 input signal is ON (L-level). 7 Set signal ON. 8 Set signal OFF. 9 ON when CN1-4 input signal is OFF (H-level). ON when CN1-41 input signal is OFF (H-level). ON when CN1-42 input signal is OFF (H-level). C ON when CN1-43 input signal is OFF (H-level). D ON when CN1-44 input signal is OFF (H-level). E ON when CN1-45 input signal is OFF (H-level). F ON when CN1-46 input signal is OFF (H-level). 1 /SPD- Signal Mapping to F Same as SPD-D 2 /SPD- Signal Mapping to F Same as SPD-D 3 /C-SEL Signal Mapping (Control mode change when ON (L-level)) to F Same as SPD-D Pn5D Input Signal Selections fter restart Digit Function Name Setting Explanation /ZCLMP Signal Mapping (Zero clamp when ON (L-level)) ON when CN1-4 input signal is ON (L-level). 1 ON when CN1-41 input signal is ON (L-level). 2 ON when CN1-42 input signal is ON (L-level). 3 ON when CN1-43 input signal is ON (L-level). 4 ON when CN1-44 input signal is ON (L-level). 5 ON when CN1-45 input signal is ON (L-level). 6 ON when CN1-46 input signal is ON (L-level). 7 Set signal ON. 8 Set signal OFF. 9 ON when CN1-4 input signal is OFF (H-level). ON when CN1-41 input signal is OFF (H-level). ON when CN1-42 input signal is OFF (H-level). C ON when CN1-43 input signal is OFF (H-level). D ON when CN1-44 input signal is OFF (H-level). E ON when CN1-45 input signal is OFF (H-level). F ON when CN1-46 input signal is OFF (H-level). to F Same as /Z CLMP 1 /INHIIT Signal Mapping (Reference pulse inhibit when ON (L-level)) 2 /G-SEL Signal Mapping (Gain change when to F Same as /Z CLMP ON (L-level)) 3 Reserved (Do not Change) C Servo Systems Sigma-II Series 111

18 Parameter Name Setting Range Units Factory Setting Setting Validation No. Pn5E Output Signal Selections fter restart Digit Function Name Setting Explanation Positioning Completion Signal Mapping Disabled (the above signal is not used) (/COIN) 1 Outputs the signal from CN1-25, 26 output terminal 2 Outputs the signal from CN1-27, 28 output terminal 3 Outputs the signal from CN1-29, 3 output terminal 1 Speed Coincidence Detection Signal Mapping to 3 Same as /COIN (/V-CMP) 2 Speed Coincidence Detection Signal Mapping to 3 Same as /COIN (/V-CMP) 3 Speed Coincidence Detection Signal Mapping (/V-CMP) to 3 Same as /COIN Pn5F Output Signal Selections fter restart Digit Function Name Setting Explanation Torque Limit Detection Signal Mapping (/CLT) Disabled (the above signal is not used) 1 Outputs the signal from CN1-25, 26 output terminal 2 Outputs the signal from CN1-27, 28 output terminal 3 Outputs the signal from CN1-29, 3 output terminal to 3 Same as /CLT 1 Speed Limit Detection Signal Mapping (/VLT) 2 rake Interlock Signal Mapping (/K) to 3 Same as /CLT 3 Warning Signal Mapping (/WRN) to 3 Same as /CLT Pn51 Output Signal Selections fter restart Digit Function Name Setting Explanation Near Signal Mapping (/NER) Disabled (the above signal is not used) 1 Outputs the signal from CN1-25 or -26 output terminal 2 Outputs the signal from CN1-27 or -28 output terminal 3 Outputs the signal from CN1-29 or -3 output terminal 1 Reserved (Do not Change) 2 Reference Pulse Input Multiplication Selection Signal Mapping (/PSEL) Disabled (the above signal is not used) 1 Outputs the signal from CN1-25 or -26 output terminal 2 Outputs the signal from CN1-27 or -28 output terminal 3 Outputs the signal from CN1-29 or -3 output terminal 3 Reserved (Do not Change) Pn511 Reserved (Do not change) Immediately Pn512 Output Signal Reversal Settings - - fter restart Digit Function Name Setting Explanation Output Signal Reversal for CN1-25 or -26 Output signal is not reversed Terminals 1 Output signal is reversed 1 Output Signal Reversal for CN1-27 or -28 Output signal is not reversed Terminals 1 Output signal is reversed 2 Output Signal Reversal for CN1-29 or -3 Terminals Output signal is not reversed 1 Output signal is reversed 3 Reserved (Do not Change) Pn513 Input Signal Selections fter restart Digit Function Name Setting Explanation /PSEL Signal Mapping (Reference pulse input multiplication when ON (L-level)) ON when CN1-4 input signal is ON (L-level). 1 ON when CN1-41 input signal is ON (L-level). 2 ON when CN1-42 input signal is ON (L-level). 3 ON when CN1-43 input signal is ON (L-level). 4 ON when CN1-44 input signal is ON (L-level). 5 ON when CN1-45 input signal is ON (L-level). 6 ON when CN1-46 input signal is ON (L-level). 7 Set signal ON. 8 Set signal OFF. 9 ON when CN1-4 input signal is OFF (H-level). ON when CN1-41 input signal is OFF (H-level). ON when CN1-42 input signal is OFF (H-level). C ON when CN1-43 input signal is OFF (H-level). D ON when CN1-44 input signal is OFF (H-level). E ON when CN1-45 input signal is OFF (H-level). F ON when CN1-46 input signal is OFF (H-level). 1 Reserved (Do not change) - 2 Reserved (Do not change) - 3 Reserved (Do not change) - Pn51 Positionb Error Level etween Motor and Load Reference Unit 1 Reference Unit Immediately Pn51 Reserved (Do not Change) Immediately Pn51C Reserved (Do not Change) - 1 min -1 1 min min -1 Immediately Pn51E Excessive Position Error Warning Level to 1% 1% % Immediately Pn6 Regenerative Resistor Capacity Depends on ServoDrive 1 W W Immediately Capacity Pn61 Reserved (Do not change) Depends on Servo Drive- Capacity - W Immediately 112 C Servo Systems

19 Monitor Mode Details Monitor No. Monitor item Unit Explanation Un Speed Feedback min -1 Displays the actual motor speed. Un1 Speed Command min -1 Displays the speed command value or internally set speed value during speed control. is displayed during pulse-train input control. Un2 Torque Command % Displays the command value for a current loop that is expressed by treating the rated torque as 1%. Un3 Number of Pulses from Z-Phase Pulses Displays the number of pulses from Z-Phase in encoder resolution units (times 4). Un4 Electrical ngle degrees Displays the motor electrical angle. Un5 Input Signal Monitor --- Displays driver I/O signal status by turning ON or OFF each signal bit. Un6 Output Signal Monitor --- Un7 Command Pulse Speed Display min -1 Displays command pulse frequency converted in r/min. Un8 Position Deviation (Error Counter) Reference units Displays the number of pulses accumulated in the error counter (Position Deviation) that are converted in reference units (input pulse references). Un9 Motor Load Rate % Displays effective torque at intervals of 1 s that is expressed by treating the rated torque as 1%. Un Regeneration Load Rate % Displays the amount of regeneration energy absorbed at intervals of 1 s that is expressed by treating the Pn6 setting (Regenerative Resistor Capacity) as 1%. Un Dynamic rake Resistance Load Rate % Displays the resistance load factor at intervals of 1 s that is expressed by treating the rated load factor as 1%. UnC Input Pulse Counter Reference Displays the number of counted input pulses in hexadecimal notation. units UnD Feedback Pulse Counter Pulses Displays the number of counted encoder feedback pulses in hexadecimal notation (multiplied by 4). C Servo Systems List of Function Modes Parameter No. Function Fn larm traceback data display Fn1 Rigidity setting during online autotuning Fn2 JOG mode operation Fn3 Zero-point search mode Fn4 Fixed parameter Fn5 Parameter setting initialization Fn6 larm traceback data clear Fn7 Writing to EEPROM moment of inertia ratio data obtained from online autotuning Fn8 bsolute encoder multiturn reset and encoder alarm reset Fn9 utomatic tuning of analog (speed, torque) reference offset Fn Manual adjustment of speed reference offset Fn Manual adjustment of torque reference offset FnC Manual zero-adjustment of analog monitor output FnD Manual gain-adjustment of analog monitor output FnE utomatic offset-adjustment of motor current detection signal FnF Manual offset-adjustment of motor current detection signal Fn1 Password setting (protects parameters from being changed) Fn11 Motor models display Fn12 Software version display Fn13 Multiturn limit setting change when a Multiturn Limit Disagreement larm (.CC) occurs Fn14 pplication module detection results clear Sigma-II Series 113

20 W φl φs W Dimensions Servomotors Type SGMH (23/4V) Dimensions (mm) Without rake With rake LR Flange surface Shaft end Model L LL L LL L L LC LE LG LZ S QK W T U Tap Depth SGMH-3@6@D-OY h h M2.5 x 5L SGMH-5@6@D-OY SGMH-1@6@D-OY h M3 x 6L SGMH-2@6@D-OY h h M5 x8l SGMH-3D@6@D-OY SGMH-4@6@D-OY SGMH-7D@6@D-OY h h6 3 SGMH-8@6@D-OY 3 ±3 3 ±3 Shaft End U 3 ±3 3 ±3 T L LL LR LG LE QK L LL LR LG LE QK φs 2-φLZ LC LC φl φl φl Holding brake Tap Depth 4-φLZ Tap Depth Models without rake Models with rake SGMH-3,-5,-1 SGMH-2 to -8 Type SGMPH (23/4V) Dimensions (mm) Without rake With rake LR Flange surface Shaft end Model L LL L LL L L LC LE LG LZ S QK W T U Tap Depth SGMPH-1@@@6@D-OY h h M3x6L SGMPH-2@@@6@D-OY h h M5x8L SGMPH-4@@@6@D-OY SGMPH-8@@@6@D-OY h h6 22 SGMPH-15@@@6@D-OY h M6x1L 3 ±3 Shaft End U 3±3 3±3 T L LL LR L LL LR LC LG LE LG LE QK φs QK φs φl φl φl Holding brake 4-φLZ Tap Depth Models without rake Models with rake 114 C Servo Systems