Real-Time Tracing Report for Emotec S.A

marzo 18, 2022
Carlos Genovez
Emotec S.A.
SUBJECT
:
Dear:
Sincerely
Carlos Genovez
Page 1 / 17
Real-Time Tracing Printing Date : marzo 18, 2022
SGD7S-2R8AM0A000F50/SGMAH-04AAN21 File Name : Grafica 2.rtd
Real-Time Tracing Graph

Feedback Speed[min-1] Torque Reference[%]
2500 100
2000 80
1500 60
1000 40
500 20
0 0
-500 -20
-1000 -40
/S-ON
-1500 -60
/P-CON
-2000 -80
-2500 -100
00:00:17 00:00:20 00:00:23 00:00:26
Time
Feedback Speed /S-ON

Torque Reference /P-CON
Tracing Info
Items Value
Starting Date 2022/03/18 08:29:34
Sampling Cycle 10[ms]
Displayed Data 0001 Days 01 Hours
Page 2 / 17
Parameters List
No. Name Setting Value Unit Default Setting

Pn000 Basic Function Selections 0 0000H - 0000H
digit 0 Direction Selection

0 Use CCW as the forward direction.
digit 1 Reserved parameter (Do not change.)
0 Reserved parameter (Do not change.)
digit 3 Rotary/Linear Startup Selection When Encoder Is Not Connected
0 Start as a rotary encoder.
1
Pn001 Application Function Selections 1 0010H - 0000H
digit 0 Servo OFF or Alarm Group 1 Stopping Method

0 Stop the motor by applying the dynamic brake.
digit 1 Overtravel Stopping Method
Decelerate the motor to a stop using the torque set in Pn406 as the maximum torque and
1
then servo-lock the motor.
digit 2 Main Circuit Power Supply AC/DC Input Selection
Input AC power as the main circuit power supply using the L1, L2, and L3 terminals (do not
0
use shared converter).
1
digit 0 Torque Limit Reference Selection for Command Option Module

1 Enables the torque limit reference from the command option module.
digit 1 Speed Limit Reference Selection for Command Option Module
1 The velocity limit from Command-Option module is available.
digit 2 Absolute Encoder Usage
1 Use the absolute encoder as an incremental encoder.
digit 3 External Encoder Usage
0 Do not use an external encoder.
1
digit 0, 1 Analog Monitor 1 Signal Selection

02 Torque reference (1 V/100% rated torque)
1
Page 3 / 17

digit 0, 1 Analog Monitor 2 Signal Selection

00 Motor speed (1 V/1,000 min-1)
1
digit 0 Low Battery Voltage Alarm/Warning Selection

0 Output alarm (A.830) for low battery voltage.
digit 1 Function Selection for Undervoltage
0 Do not detect undervoltage.
digit 2 Warning Detection Selection
0 Detect warnings.
1

digit 1 Current Control Mode Selection
SERVOPACK Models SGD7S-R70A, -R90A, -1R6A, -2R8A, -
3R8A, -5R5A, and -7R6A: Use current control mode 1.
1
SERVOPACK Models SGD7S-120A, -180A, -200A, -330A, -
470A, -550A, -590A, and -780A: Use current control mode 2.
digit 2 Speed Detection Method Selection
0 Use speed detection 1.
1
Pn00A Application Function Selections A 0001H - 0001H
digit 0 Motor Stopping Method for Group 2 Alarms

Decelerate the motor to a stop using the torque set in Pn406 as the maximum torque and
1
then apply the dynamic brake.
digit 1 Stopping Method for Forced Stops
Apply the dynamic brake or coast the motor to a stop (use the stopping method set in Pn001
0
= n.oooX).
1
Page 4 / 17

Pn00B Application Function Selections B 0100H - 0000H
digit 0 Operator Parameter Display Selection

0 Display only setup parameters.
digit 1 Motor Stopping Method for Group 2 Alarms
0 Stops the motor by setting the speed reference to "0".
digit 2 Power Input Selection for Three-phase SERVOPACK
1 Use a three-phase power supply input and as a single-phase power supply input.
1
Pn00C Application Function Selections C 0000H - 0000H
digit 0 Function Selection for Test without a Motor

0 Disable tests without a motor.
digit 1 Encoder Resolution for Tests without a Motor
0 Use 13 bits.
digit 2 Encoder Type Selection for Tests without a Motor
0 Use an incremental encoder.
1
Pn00D Application Function Selections D 0000H - 0000H
digit 0 Stand-alone Mode (Test Operation) Selection

0 Enables connection with the command option module.
digit 3 Overtravel Warning Detection Selection
0 Do not detect overtravel warnings.
1
Pn00E Application Function Selections E 0000H - 0000H

1
Page 5 / 17

Pn00F Application Function Selections F 0000H - 0000H
digit 0 Preventative Maintenance Warning Selection

0 Do not detect preventative maintenance warnings.
1 Axis Address Selection for UART/USB
Pn010 0001H - 0001H
Communications
Pn021 Reserved parameter (Do not change.) 0000H - 0000H

1

1
digit 0 Polarity Sensor Selection

0 Use polarity sensor.
1
Page 6 / 17

digit 0 Phase-C Pulse Output Selection

0 Output phase-C pulses only in the forward direction.
1
Pn100 Speed Loop Gain 40.0 Hz 40.0
Pn101 Speed Loop Integral Time Constant 20.00 ms 20.00
Pn102 Position Loop Gain 40.0 /s 40.0
Pn103 Moment of Inertia Ratio 100 % 100
Pn104 Second Speed Loop Gain 40.0 Hz 40.0
Pn105 Second Speed Loop Integral Time Constant 20.00 ms 20.00
Pn106 Second Position Loop Gain 40.0 /s 40.0
Pn109 Feedforward 0 % 0
Pn10A Feedforward Filter Time Constant 0.00 ms 0.00
Pn10B Gain Application Selection 0000H - 0000H
digit 0 Mode Switching Selection

0 Use the internal torque reference as the condition (level setting: Pn10C).
digit 1 Speed Loop Control Method
0 PI control
1
Pn10C Mode Switching Level for Torque Reference 200 % 200
Pn10D Mode Switching Level for Speed Reference 0 min-1 0
Pn10E Mode Switching Level for Acceleration 0 min-1/s 0
Pn10F Mode Switching Level for Position Deviation 0 reference units 0
Pn11F Position Integral Time Constant 0.0 ms 0.0
Pn121 Friction Compensation Gain 100 % 100
Pn122 Second Friction Compensation Gain 100 % 100
Pn123 Friction Compensation Coefficient 0 % 0
Pn124 Friction Compensation Frequency Correction 0.0 Hz 0.0
Pn125 Friction Compensation Gain Correction 100 % 100
Pn131 Gain Switching Time 1 0 ms 0
Pn132 Gain Switching Time 2 0 ms 0
Pn135 Gain Switching Waiting Time 1 0 ms 0
Pn136 Gain Switching Waiting Time 2 0 ms 0
Page 7 / 17

Pn139 Automatic Gain Switching Selections 1 0000H - 0000H
digit 0 Gain Switching Selection

Manual gain switching. Switches between 1st gain and 2nd gain using the gain switching
0
reference from the command option module.
digit 1 Gain Switching Condition A
0 /COIN (Positioning Completion Output) signal turns ON.
1
Pn13D Current Gain Level 2000 % 2000
Pn140 Model Following Control Related Selections 0100H - 0100H
digit 0 Model Following Control Selection

0 Do not use model following control.
digit 1 Vibration Suppression Selection
0 Do not perform vibration suppression.
digit 2 Vibration Suppression Adjustment Selection
Adjust vibration suppression automatically during execution of autotuning without a host
1
reference, autotuning with a host reference, and custom tuning.
digit 3 Speed Feedforward (VFF)/Torque Feedforward (TFF) Selection
0 Do not use model following control and speed/torque feedforward together.
1
Pn141 Model Following Control Gain 50.0 /s 50.0
Pn142 Model Following Control Correction 100.0 % 100.0
Model Following Control Bias in the Forward
Pn143 100.0 % 100.0
Direction
Model Following Control Bias in the Reverse
Pn144 100.0 % 100.0
Direction
Pn145 Vibration Suppression 1 Frequency A 50.0 Hz 50.0
Pn146 Vibration Suppression 1 Frequency B 70.0 Hz 70.0
Model Following Control Speed Feedforward
Pn147 100.0 % 100.0
Compensation
Pn148 Second Model Following Control Gain 50.0 /s 50.0
Pn149 Second Model Following Control Correction 100.0 % 100.0
Pn14A Vibration Suppression 2 Frequency 80.0 Hz 80.0
Pn14B Vibration Suppression 2 Correction 100 % 100
Page 8 / 17

Pn14F Reserved parameter (Do not change.) 0021H - 0021H

1
Pn160 Anti-Resonance Control Related Selections 0010H - 0010H
digit 0 Anti-Resonance Control Selection

0 Do not use anti-resonance control.
digit 1 Anti-Resonance Control Adjustment Selection
Adjust anti-resonance control automatically during execution of autotuning without a host
1
1
Pn161 Anti-Resonance Frequency 100.0 Hz 100.0
Pn162 Anti-Resonance Gain Correction 100 % 100
Pn163 Anti-Resonance Damping Gain 0 % 0
Anti-Resonance Filter Time Constant 1
Pn164 0.00 ms 0.00
Correction
Anti-Resonance Filter Time Constant 2
Pn165 0.00 ms 0.00
Correction
Pn166 Anti-Resonance Damping Gain 2 0 % 0
Pn170 Tuning-less Function Related Selections 1401H - 1401H
digit 0 Tuning-less Selection

1 Enable tuning-less function.
digit 1 Speed Control Method
0 Use for speed control.
digit 2 Rigidity Level
4 Tuning-less Level 4
digit 3 Tuning-less Load Level
1 Tuning-less Load Level 1
1
Page 9 / 17


1
Pn205 Multiturn Limit 65535 Rev 65535
Pn207 Position Control Function Selections 0010H - 0010H

digit 3 /COIN (Positioning Completion Output) Signal Output Timing
Output when the absolute value of the position deviation is the same or less than the setting
0
of Pn522 (Positioning Completed Width).
1
Pn20A Number of External Encoder Pitches 32768 Scale Pitch/Rev 32768
Pn20E Electronic Gear Ratio (Numerator) 1 - 64
Pn210 Electronic Gear Ratio (Denominator) 1 - 1
Pn212 Number of Encoder Output Pulses 2048 P/rev 2048
Pn216 Reserved parameter (Do not change.) 0 - 0
Pn22A Fully-closed Control Selections 0000H - 0000H

digit 3 Fully-closed Control Speed Feedback Selection
0 Use motor encoder speed.
1
Page 10 / 17

Pn230 Position Control Expansion Function Selections 0000H - 0000H
digit 0 Backlash Compensation Direction

0 Compensate forward references.
1
Pn231 Backlash Compensation 0.0 reference units 0.0
Pn233 Backlash Compensation Time Constant 0.00 ms 0.00
Pn281 Encoder Output Resolution 20 Edge/pitch 20
Pn284 Reserved parameter (Do not change.) 0 P/Rev 0
Pn304 Jogging Speed 500 min-1 500
Pn305 Jogging Speed Soft Start Acceleration Time 0 ms 0
Pn306 Soft Start Deceleration Time 0 ms 0
Pn308 Speed Feedback Filter Time Constant 0.00 ms 0.00
Deceleration Time for Servo OFF and Forced
Pn30A 0 ms 0
Stops
Pn30C Speed Feedforward Average Movement Time 0.0 ms 0.0
Pn310 Vibration Detection Selections 0000H - 0000H
digit 0 Vibration Detection Selection

0 Do not detect vibration.
1
Pn311 Vibration Detection Sensitivity 100 % 100
Pn312 Vibration Detection Level 50 min-1 50
Pn316 Maximum Motor Speed 10000 min-1 10000
Pn324 Moment of Inertia Calculation Starting Level 300 % 300
First Stage First Torque Reference Filter Time
Pn401 0.85 ms 1.00
Constant
Pn402 Forward Torque Limit 800 % 800
Page 11 / 17

Pn403 Reverse Torque Limit 800 % 800
Pn404 Forward External Torque Limit 100 % 100
Pn405 Reverse External Torque Limit 100 % 100
Pn406 Emergency Stop Torque 800 % 800
Pn407 Speed Limit during Torque Control 10000 min-1 10000
Pn408 Torque-Related Function Selections 0100H - 0000H
digit 0 Notch Filter Selection 1

0 Disable first stage notch filter.
digit 1 Speed Limit Selection
Use the smaller of the maximum motor speed and the setting of Pn407 or Pn480 as the
0
speed limit.
1 Enable second stage notch filter.
digit 3 Friction Compensation Function Selection
0 Disable friction compensation.
1
Pn409 First Stage Notch Filter Frequency 5000 Hz 5000
Pn40A First Stage Notch Filter Q Value 0.70 - 0.70
Pn40B First Stage Notch Filter Depth 0.000 - 0.000
Pn40C Second Stage Notch Filter Frequency 2100 Hz 5000
Pn40D Second Stage Notch Filter Q Value 0.70 - 0.70
Pn40E Second Stage Notch Filter Depth 0.000 - 0.000
Second Stage Second Torque Reference Filter
Pn40F 5000 Hz 5000
Frequency
Pn410 Second Stage Second Notch Filter Q Value 0.50 - 0.50
First Stage Second Torque Reference Filter
Pn412 1.00 ms 1.00
Time Constant
Pn416 Torque-Related Function Selections 2 0000H - 0000H

0 Disable third stage notch filter.
0 Disable fourth stage notch filter.
0 Disable fifth stage notch filter.
1
Pn417 Third Stage Notch Filter Frequency 5000 Hz 5000
Pn418 Third Stage Notch Filter Q Value 0.70 - 0.70
Pn419 Third Stage Notch Filter Depth 0.000 - 0.000
Pn41A Fourth Stage Notch Filter Frequency 5000 Hz 5000
Pn41B Fourth Stage Notch Filter Q Value 0.70 - 0.70
Pn41C Fourth Stage Notch Filter Depth 0.000 - 0.000
Pn41D Fifth Stage Notch Filter Frequency 5000 Hz 5000
Pn41E Fifth Stage Notch Filter Q Value 0.70 - 0.70
Page 12 / 17

Pn41F Fifth Stage Notch Filter Depth 0.000 - 0.000
Torque Compensation Related Function
Pn423 0000H - 0000H
Selections
digit 0 Torque Ripple Compensation Function Selection

0 Disable torque ripple compensation.
digit 1 Ripple Compensation Information Disagreement Warning Detection Selection
0 Detect A.942 alarms.
digit 2 Speed Ripple Compensation Enable Condition Selection
0 Speed reference
1
Pn424 Torque Limit at Main Circuit Voltage Drop 50 % 50
Release Time for Torque Limit at Main Circuit
Pn425 100 ms 100
Voltage Drop
Pn426 Torque Feedforward Average Movement Time 0.0 ms 0.0
Pn427 Ripple Compensation Effective Speed 0 min-1 0
Pn456 Sweep Torque Reference Amplitude 15 % 15
Pn460 Notch Filter Adjustment Selections 1 0101H - 0101H
digit 0 Notch Filter Adjustment Selection 1

Adjust the first stage notch filter automatically during execution of autotuning without a host
1
digit 2 Notch Filter Adjustment Selection 2
Adjust the second stage notch filter automatically during execution of autotuning without a
1
host reference, autotuning with a host reference, and custom tuning.
1
Pn475 Gravity Compensation Related Selections 0000H - 0000H
digit 0 Gravity Compensation Selection

0 Disable gravity compensation.
1
Pn476 Gravity Compensation Torque 0.0 % 0.0
Pn481 Polarity Detection Speed Loop Gain 40.0 Hz 40.0
Polarity Detection Speed Loop Integral Time
Pn482 30.00 ms 30.00
Constant
Polarity Detection Reference
Pn486 25 ms 25
Acceleration/Deceleration Time
Pn487 Polarity Detection Constant Speed Time 0 ms 0
Page 13 / 17

Pn488 Polarity Detection Reference Waiting Time 100 ms 100
Pn490 Polarity Detection Load Level 100 % 100
Pn493 Polarity Detection Reference Speed 50 min-1 50
Pn494 Polarity Detection Range 0.250 rev 0.250
Polarity Detection Confirmation Torque
Pn495 100 % 100
Reference
Pn498 Polarity Detection Allowable Error Range 10 deg 10
Pn502 Rotation Detection Level 20 min-1 20
Speed Coincidence Detection Signal Output
Pn503 10 min-1 10
Width
Pn506 Brake Reference-Servo OFF Delay Time 0 ms 0
Pn507 Brake Reference Output Speed Level 100 min-1 100
Pn508 Servo OFF-Brake Command Waiting Time 500 ms 500
Pn509 Momentary Power Interruption Hold Time 20 ms 20
Pn50A Input Signal Selections 1 8881H - 1881H

digit 3 P-OT (Forward Drive Prohibit) Signal Allocation
8 Set the signal to always enable forward drive.
1
Pn50B Input Signal Selections 2 8888H - 8882H
digit 0 N-OT (Reverse Drive Prohibit) Signal Allocation

8 Set the signal to always enable reverse drive.
digit 2 /P-CL (Forward External Torque Limit Input) Signal Allocation
8 The signal is always inactive.
digit 3 /N-CL (Reverse External Torque Limit Input) Signal Allocation
8 The signal is always inactive.
1
Pn50E Output Signal Selections 1 0000H - 0000H
digit 0 /COIN (Positioning Completion Output) Signal Allocation

0 Disabled (the above signal output is not used).
digit 1 /V-CMP (Speed Coincidence Detection Output) Signal Allocation
digit 2 /TGON (Rotation Detection Output) Signal Allocation
digit 3 /S-RDY (Servo Ready) Signal Allocation
1
Page 14 / 17

Pn50F Output Signal Selections 2 0000H - 0100H
digit 0 /CLT (Torque Limit Detection Output) Signal Allocation

digit 1 /VLT (Speed Limit Detection) Signal Allocation
digit 2 /BK (Brake Output) Signal Allocation
digit 3 /WARN (Warning Output) Signal Allocation
1
Pn510 Output Signal Selections 3 0000H - 0000H
digit 0 /NEAR (Near Output) Signal Allocation

1
Pn511 Input Signal Selections 5 6543H - 6543H

digit 1 Input Signal 4 Mapping for Command Option Module /Probe1 (/SI4)
4 Inputs the signal from CN1-10 input terminal.
digit 2 Input Signal 5 Mapping for Command Option Module /Probe2 (/SI5)
digit 3 Input Signal 6 Mapping for Command Option Module /Home (/SI6)
1
Pn512 Output Signal Inverse Settings 0000H - 0000H
digit 0 Output Signal Inversion for CN1-1 and CN1-2 Terminals

0 The signal is not inverted.
1
Page 15 / 17


1
Pn514 Output Signal Selections 4 0000H - 0000H

digit 2 PM (Preventative Maintenance Output) Signal Allocation
1
Pn516 Input Signal Selections 7 8888H - 8888H
digit 0 FSTP (Forced Stop Input) Signal Allocation

8 Set the signal to always enable drive (always disable forcing the motor to stop).
1
Motor-Load Position Deviation Overflow
Pn51B 1000 reference units 1000
Detection Level
Pn51E Position Deviation Overflow Warning Level 100 % 100
Pn520 Position Deviation Overflow Alarm Level 5242880 reference units 5242880
Pn522 Positioning Completed Width 7 reference units 7
Pn524 Near Signal Width 1073741824 reference units 1073741824
Position Deviation Overflow Alarm Level at
Pn526 5242880 reference units 5242880
Servo ON
Position Deviation Overflow Warning Level at
Pn528 100 % 100
Servo ON
Pn529 Speed Limit Level at Servo ON 10000 min-1 10000
Pn52A Multiplier per Fully-closed Rotation 20 % 20
Pn52B Overload Warning Level 20 % 20
Base Current Derating at Motor Overload
Pn52C 100 % 100
Detection
Page 16 / 17

Pn52F Reserved parameter (Do not change.) 0FFFH - 0FFFH
Pn530 Program Jogging-Related Selections 0000H - 0000H
digit 0 Program Jogging Operation Pattern

(Waiting time in Pn535 -> Forward by travel distance in Pn531) -> Number of movements in
0
Pn536
1
Pn531 Program Jogging Travel Distance 32768 reference units 32768
Pn533 Program Jogging Movement Speed 500 min-1 500
Program Jogging Acceleration/Deceleration
Pn534 100 ms 100
Time
Pn535 Program Jogging Waiting Time 100 ms 100
Pn536 Program Jogging Number of Movements 1 times 1
Pn550 Analog Monitor 1 Offset Voltage 0.0 V 0.0
Pn551 Analog Monitor 2 Offset Voltage 0.0 V 0.0
Pn552 Analog Monitor 1 Magnification 1.00 times 1.00
Pn553 Analog Monitor 2 Magnification 1.00 times 1.00
Pn55A Power Consumption Monitor Unit Time 1 min 1
Pn560 Residual Vibration Detection Width 40.0 % 40.0
Pn561 Overshoot Detection Level 100 % 100
Pn600 Regenerative Resistor Capacity 0 W 0
Dynamic Brake Resistor Allowable Energy
Pn601 0 J 0
Capacity
Pn603 Regenerative Resistor Capacity 0 m omega 0
Pn604 Dynamic Brake Resistance 0 m omega 0
Pn622 Reserved parameter (Do not change.) 10000 min-1/s 10000
Pn623 Reserved parameter (Do not change.) 10000 min-1/s 10000
Pn624 Reserved parameter (Do not change.) 10 min-1 10
Pn625 Reserved parameter (Do not change.) 1000 ms 1000
Pn626 Reserved parameter (Do not change.) 100 reference units 100
Pn628 Reserved parameter (Do not change.) 10 min-1 10
Comments
Page 17 / 17

Real-Time Tracing Report for Emotec S.A

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marzo 18, 2022

Real-Time Tracing Graph

Feedback Speed /S-ON

No. Name Setting Value Unit Default Setting

digit 0 Direction Selection

digit 0 Servo OFF or Alarm Group 1 Stopping Method

digit 0 Torque Limit Reference Selection for Command Option Module

digit 0, 1 Analog Monitor 1 Signal Selection

No. Name Setting Value Unit Default Setting

digit 0, 1 Analog Monitor 2 Signal Selection

digit 0 Low Battery Voltage Alarm/Warning Selection

digit 0 Reserved parameter (Do not change.)

digit 0 Motor Stopping Method for Group 2 Alarms

No. Name Setting Value Unit Default Setting

digit 0 Operator Parameter Display Selection

digit 0 Function Selection for Test without a Motor

digit 0 Stand-alone Mode (Test Operation) Selection

digit 0 Reserved parameter (Do not change.)

No. Name Setting Value Unit Default Setting

digit 0 Preventative Maintenance Warning Selection

digit 0 Reserved parameter (Do not change.)

digit 0 Reserved parameter (Do not change.)

digit 0 Polarity Sensor Selection

No. Name Setting Value Unit Default Setting

digit 0 Phase-C Pulse Output Selection

digit 0 Mode Switching Selection

No. Name Setting Value Unit Default Setting

digit 0 Gain Switching Selection

digit 0 Model Following Control Selection

No. Name Setting Value Unit Default Setting

digit 0 Reserved parameter (Do not change.)

digit 0 Anti-Resonance Control Selection

digit 0 Tuning-less Selection

No. Name Setting Value Unit Default Setting

digit 0 Reserved parameter (Do not change.)

digit 0 Reserved parameter (Do not change.)

digit 0 Reserved parameter (Do not change.)

No. Name Setting Value Unit Default Setting

digit 0 Backlash Compensation Direction

digit 0 Vibration Detection Selection

No. Name Setting Value Unit Default Setting

digit 0 Notch Filter Selection 1

digit 0 Notch Filter Selection 3

No. Name Setting Value Unit Default Setting

digit 0 Torque Ripple Compensation Function Selection

digit 0 Notch Filter Adjustment Selection 1

digit 0 Gravity Compensation Selection

No. Name Setting Value Unit Default Setting

digit 0 Reserved parameter (Do not change.)

digit 0 N-OT (Reverse Drive Prohibit) Signal Allocation

digit 0 /COIN (Positioning Completion Output) Signal Allocation

No. Name Setting Value Unit Default Setting

digit 0 /CLT (Torque Limit Detection Output) Signal Allocation

digit 0 /NEAR (Near Output) Signal Allocation

digit 0 Reserved parameter (Do not change.)

digit 0 Output Signal Inversion for CN1-1 and CN1-2 Terminals

No. Name Setting Value Unit Default Setting

digit 0 Reserved parameter (Do not change.)

digit 0 Reserved parameter (Do not change.)

digit 0 FSTP (Forced Stop Input) Signal Allocation

No. Name Setting Value Unit Default Setting

digit 0 Program Jogging Operation Pattern