Omron JUNMA SJDE-**APA-OY, User Manual

Page 1: ...JUNMA SERIES SERVO DRIVE Manual No TOEP C71080601 01 OY Model SJDE APA OY USER S MANUAL C M Y M MY Y MY K ...

Page 2: ... liability is assumed with respect to the use of the information contained herein Moreover because Yaskawa is constantly striving to improve its high quality products the information contained in this manual is subject to change without notice Every precaution has been taken in the preparation of this manual Nev ertheless Yaskawa assumes no responsibility for errors or omissions Neither is any lia...

Page 3: ...elated equipment and systems Manual Name Manual Number JUNMA series AC SERVOMOTOR INSTRUCTIONS TOEPC23026101 Indicates precautions that if not heeded could possibly result in loss of life or serious injury Indicates precautions that if not heeded could result in relatively serious or minor injury damage to the product or faulty operation In some situations the precautions indicated could have seri...

Page 4: ...al is OFF and an emergency stop occurs at the same time Failure to observe this warning may result in injury Never touch the inside of the SERVOPACKs Failure to observe this warning may result in electric shock Do not touch terminals for five minutes after the power is turned OFF Residual voltage may cause electric shock Follow the procedures and instructions for trial operation precisely as descr...

Page 5: ...e or install the product in the following places Failure to observe this caution may result in damage to the product Locations subject to direct sunlight Locations subject to temperatures outside the range specified in the storage or installa tion temperature conditions Locations subject to humidity outside the range specified in the storage or installation humidity conditions Locations subject to...

Page 6: ...his caution may result in injury or fire Securely connect the power supply terminals regenerative unit connection terminal and motor main circuit cable terminals Failure to observe this caution may result in fire Do not bundle or run power and signal lines together in the same duct Keep power and signal lines separated by at least 30 cm 11 81 in Failure to observe this caution may result in malfun...

Page 7: ...within the specified voltage fluctuation range Be particularly careful in places where the power sup ply is unstable An incorrect power supply may result in damage to the product Install external breakers or other safety devices against short circuiting in external wiring Failure to observe this caution may result in fire Take appropriate and sufficient countermeasures for each when installing sys...

Page 8: ...burns due to high temperatures When an alarm occurs remove the cause turn OFF the power and ON again after confirm ing safety and then resume operation Failure to observe this caution may result in injury Do not use the holding brake of the servomotor for ordinary braking Failure to observe this caution may result in malfunction Do not open the SERVOPACK case for 5 minutes after the power supply l...

Page 9: ... This manual is subject to change due to product improvement specification modification and manual improvement When this manual is revised the manual code is updated and the new manual is published as a next edition If the manual must be ordered due to loss or damage inform your nearest representative of OMRON YASKAWA Motion Control B V OYMC or one of the offices listed on the back of this manual ...

Page 10: ...Conditions 15 2 2 Installation Method 16 Installation Method and Direction 16 Space between SERVOPACK Units 16 3 WIRING 17 3 1 Precautions on Wiring 17 Protection for Power Supply Line 17 Caution for Grounding 17 Caution for Cable 17 Other Precautions 18 Power Loss 18 Molded Case Circuit Breaker MCCB or Fuse Capacity Relation to Power Supply Capacity 19 Noise Prevention 20 3 2 System Configuration...

Page 11: ... for Standard Encoder Cable 35 3 11 Wiring I O Connectors 36 Connection Diagram for Standard I O Cable supplied by Yaskawa Electric Company 36 Connection Diagram and Description for the General purpose control cables R7A CPZ S supplied by OMRON Company 37 3 12 Connection Examples of Input Signal 39 Line Driver Output 39 Open collector Output 39 3 13 Connection Example of Output Signal 40 3 14 EMG ...

Page 12: ...d any irregularities such as incorrect SERVOPACK model damages and missing parts or items contact your OYMC representative or the dealer from whom you purchased the products SERVOPACK s Warning Label SERVOPACK model Nameplate Serial number Applicable power supply Applicable motor capacity Order number SJDE SERVOPACK REF C 0 8 9 AB D E F 4 5 32 6 7 1 C 0 8 9 AB D E F 4 5 32 6 7 1 One screwdriver fo...

Page 13: ... SJDE 01APA OY 200W SJME 02AMB41 OY SJME 02AMB4C OY SJDE 02APA OY 400W SJME 04AMB41 OY SJME 04AMB4C OY SJDE 04APA OY 750W SJME 08AMB41 OY SJME 08AMB4C OY SJDE 08APA OY Applicable servomotor capacity 01 02 04 08 SJDE 02 A P A OY JUNMA series SERVOPACK SJDE Power supply voltage Interface specification Code A 200 VAC Design revision order A P Pulse train reference Output W 100 200 400 750 ...

Page 14: ... AL1 to AL3 Reference indicator REF Input voltage This connector is for factory use only Do not use 0 1 2 3 4 5 6 7 8 9 A B C D E F C 0 8 9 A B D E F 4 5 32 6 7 1 Set Value Reference Pulse Connection Method Reference Pulse Type Reference Pulse Resolution P REV Open collector or line driver Line driver Open collector or line driver Line driver Open collector or line driver Line driver Open collecto...

Page 15: ...nks green ON Input Indicators Meaning of Alarm Indicators Meaning of Alarm Normal Overcurrent Speed error SERVOPACK s built in fan stop Overload System error Encoder error Rotary switch for reference pulse setting PULSE changed Voltage error FIL C 0 8 9 A B D E F 4 5 32 6 7 1 Description Approx Time between Completing Reference and Completing Positioning Settling Time 3 Acceleration Deceleration T...

Page 16: ... Protection class IP10 EN50178 Installation Site Installation in a control panel Design the control panel size unit layout and cooling method so the temperature around the SERVOPACK does not exceed 55 C Installation near a heating unit Minimize the heat radiating from the heating unit as well as any temperature rise caused by natural convection so the temperature around the SERVOPACK does not exce...

Page 17: ...pace between SERVOPACK Units Be sure to keep a space between adjacent SERVOPACK units if they are mounted inside the control panel so that the units can be cooled Do not cover the inlet or outlet parts and prevent any foreign objects such as metalic fragment or combustibles from entering the product Failure to observe this caution may cause internal elements to deteriorate resulting in malfunction...

Page 18: ... Cable For wiring use the specified cables Use cables that are as short as possible Do not bend or apply tension to cables The conductor of a signal cable is very thin 0 08 to 0 12 mm2 so handle the cables carefully Be sure to correctly ground the SERVOPACK and the servomotor Wiring must be performed by an authorized person qualified in electrical work WARNING 200V OMRON SJDE 04 APA OY CTL AL1 AL2...

Page 19: ...he electricity is served or not to the motor do not use the motor being rotated from the out side When restarting the power supply soon after turning OFF alarm may occur to the SERVOPACK Refer to the power supply holding time in the following table to restart the power supply correctly Power Loss Note Valued obtained with the servomotor with the rated output SERVOPACK Min Waiting Time before Resta...

Page 20: ...y is turned ON during a ground fault To configure a safer system install an earth leakage breaker for protection against overloads and short circuiting or install an earth leakage breaker combined with a wiring circuit breaker for ground protection MCCB or Fuse Capacity Relation to Power Supply Capacity Main Circuit Power Supply SERVOPACK Applicable Ser vomotor Model Power Supply Capacity kVA MCCB...

Page 21: ...n the SERVOPACK Be sure to ground the grounding terminal of the SERVOPACK If the wires of the servomotor s main circuit are laid in a metal conduit ground the conduit and the grounding box One point grounding must be used M FG U W V L2 L1 CN2 CN1 SERVOPACK SJDE Servomotor Operation relay sequence P P P 1LF AVR Grounding 2 Casing Casing Casing 1 1 Casing Grounding plate Groudning Ground to one poin...

Page 22: ...ble lists the recommended noise filters Recommended Noise Filters Power Supply Voltage SERVOPACK Model Recommended Noise Filters Model Specifications Manufacturer Single phase 200 V SJDE 01APA to 04APA OY R7A FIZP105 BE Single phase 250 VAC 5A Block Transformatoren Elektronik GmbH Co KG SJDE 08APA OY R7A FIZP109 BE Single phase 250 VAC 9A ...

Page 23: ...3 1 Precautions on Wiring 22 Filter dimensions for model R7A FIZP105 BE Filter dimensions for model R7A FIZP109 BE ...

Page 24: ...c contactor Used to turn OFF the servo power supply when using a regenerative unit or in case of emergency Power supply Single phase 200 VAC Regenerative unit Used if regenerative energy is high AC reactor Used for a power supply harmonic suppression Fuse To protect the equipment always install fuses Surge protector To protect the system from lightening surge Never open the protective cover for th...

Page 25: ...V W U V W U Z B A PG0V PG5V CW PULS CW PULS CCW SIGN CCW SIGN CLR CLR PCO SG PCO 24VIN S ON ALM BK COIN SG COM 2 3 4 1 2 3 4 5 6 7 8 9 10 12 1 2 3 4 1 2 3 4 8 9 5 6 7 Shell Shell Shield Shield Flywheel diode 10 11 12 13 14 1 L1 L2 2 3 1 2 3 4 5 6 7 8 9 10 1 6 5 Varistor 200 V to 230 VAC 24V 0V Molded case circuit breaker SERVOPACK Controller Regenerative unit JUSP RG08D Servomotor Encoder Surge pr...

Page 26: ...t occurs between the main circuit cable and connector for the servomotor The power supply is turned ON during a ground fault To configure a safer system install an earth leakage breaker for protection against overloads and short circuiting or install an earth leakage breaker combined with a wiring circuit breaker for ground protection Prepare a 24 VDC power supply for sequence separately from the ...

Page 27: ... cable shield using a piece of conductive metal Example of Cable Clamp Shield Box A shield box which is a closed metallic enclosure should be used for shielding magnetic interference The structure of the box should allow the main body door and cooling unit to be attached to the ground The box opening should be as small as possible Cable two turns Ferrite core Cable clamp Shield cable sheath stripp...

Page 28: ...ction 2 It is recommended to use a general purpose circuit breaker of the rated current 200 mA or more or a circuit breaker for inverters for high frequency 3 6 Main Circuit Wiring SJDE SERVOPACKs are suitable where the power supply is less than 5000 Arms 230 V max SERVOPACKs must be used with UL listed fuses or circuit breakers in accordance with the National Electrical Code NEC Use 75 C heat res...

Page 29: ...ote The values in the table are only for reference Power Supply Input Terminals L1 L2 Motor Connection Terminals U V W and Regenerative Unit Connection Terminals Note Connectors are used for all wiring Ground Terminal Symbol Name Allowable Conductor Temperature PVC Normal vinyl cable IV 600 V vinyl cable 60 C HIV Temperature resistant vinyl cable 75 C AWG Size Nominal Cross Section Diameter mm2 Co...

Page 30: ...ble length 20 m Applicable wires AWG22 0 33 mm2 and AWG26 0 12 mm2 Used AWG22 for the encoder power supply and AWG26 for signal lines Finished cable outer diameter φ9 mm max Item Specifications Cable Use twisted pair wires or shielded twisted pair wires Maximum cable length 3 m Applicable wires AWG24 0 2 mm2 AWG26 0 12 mm2 AWG28 0 08 mm2 Finished cable outer diameter φ8 mm max ...

Page 31: ...t be purchased by the customer Use a standard flat blade screwdriver blade width of 2 5 to 3 0 mm 0 09 to 0 12 in Put the blade into the slot as shown in Fig B and press down firmly to open the wire terminal Either the procedure shown in Fig A or B can be used to open the wire insert opening 4 Insert the wire core into the opening and then close the opening by releasing the tool hook or remov ing ...

Page 32: ...ting sheaths of the wires are caught in the springs Connector for Power Supply Regenerative Unit CNA Pin No Symbol Signal Name 1 L1 Power supply input terminals 2 L2 3 Regenerative unit connection ter minals 4 Power supply Regenerative Unit connector JZSP CHG9 1 This connector is supplied with the servopac Power supply Single phase 200 VAC Molded case circuit breaker Noise filter Magnetic contacto...

Page 33: ...cable is 300 mm or more Do not bundle or run the servomotor main circuit cable in the same duct with other cables Be sure that the maximum wiring length of the servomotor main circuit cable is 20 m Servomotors without Brakes Note Pin numbers are given on the connector as well Confirm all pin numbers Separate by 300 mm or more Power Supply Controller IMPORTANT Servomotor main circuit cable for rela...

Page 34: ...10 Terminal 5556T Chain or 5556TL Loose wires Molex Motor end Connector crimp type Receptacle F32FSS 04V KY Rececontact SF3F 01GF P2 0 or SF3F 41GF P2 0 JST Mfg Co Ltd 50mm 1 4 SERVOPACK Connector Viewed from soldered side 1 2 3 4 5 6 Servomotor Connector Viewed from cable insertion side Lead Color Signal Name Pin No Red White Blue Green Yellow Phase U Phase V Phase W FG 1 2 3 4 Crimped terminal L...

Page 35: ... type Receptacle 5557 06R 210 Terminal 5556T Chain or 5556TL Loose wires Molex SERVOPACK end L 50mm Motor end Connector crimp type Receptacle F32FSS 04V KY Rececontact SF3F 01GF P2 0 or SF3F 41GF P2 0 JST Mfg Co Ltd M4 crimped terminal 1 4 SERVOPACK Connector Viewed from soldered side Lead Color Signal Name Pin No Red White Blue Green Yellow Black Black Phase U Phase V Phase W FG 1 Brake 2 Brake 2...

Page 36: ...te by 300 mm or more Power Supply NOTE Pin No Signal Name 1 2 3 4 5 6 7 8 9 10 Shell PG5V PG0V GND Phase A Phase A Phase B Phase B Phase Z Phase U Phase V Phase W Lead Color Red Black Blue Blue White Yellow Yellow White Purple Gray Green Orange Shield Red Black Blue Blue White Yellow Yellow White Purple Gray Green Orange Shield Lead Color Pin No Signal Name 1 2 3 4 5 6 7 8 9 10 11 12 PG5V PG0V GND...

Page 37: ...tor as well Pin No I O Code Signal Name Lead Color Dot Mark Number Color 1 Input CW PULS Reverse pulse Reference pulse Orange 1 Black 2 Input CW PULS Red 3 Input CCW SIGN Forward pulse Reference sign Light gray Black 4 Input CCW SIGN Red 5 Input 24VIN External input power supply White Black 6 Input S ON Servo ON Red 7 Output SG COM Output signal ground Yellow Black 8 Input CLR Position deviation P...

Page 38: ...ble Models Connection Configuration and Dimensions Wiring Connector plug 10114 3000VE Sumitomo 3M Connector case 10314 52A0 008 Sumitomo 3M Wires with the same wire color and the same number of marks are twisted pairs Model Length L Outer Diameter of the cable Weight R7A CPZ001S 1 m 5 6 mm Approx 0 1 kg R7A CPZ002S 2m 5 6 mm Approx 0 2 kg No Wire Color Mark Color Signal Name 1 Orange Red CW PULS 2...

Page 39: ...3 11 Wiring I O Connectors 38 Connector Pin Arrangement 1 3 5 7 2 4 6 9 11 13 8 10 12 14 ...

Page 40: ...GN SIGN CLR CLR PULS 75Ω 7mA Twisted pair wires CN1 75Ω 75Ω 75Ω 75Ω 75Ω 6 5 3 4kΩ S ON 24VIN 0V 24VDC Power Supply 24V Photocoupler 1 2 9 8 4 3 PULS SIGN SIGN CLR CLR PULS Vcc R1 i R2 Tr1 Tr2 Tr3 R3 i i 75Ω 75Ω 75Ω 75Ω 75Ω 75Ω SERVOPACK Photocoupler 7mA CN1 6 5 3 4kΩ S ON 24VIN 0V 24V Examples When Vcc is 12V R1 through R3 1 kΩ When Vcc is 24V R1 through R3 2 2 kΩ When Vcc is 5V R1 through R3 180 ...

Page 41: ...gnal Set the load so that the output current i will fall within 50 mA or less Photocoupler output Per output signal Max voltage 30VDC Max current 50m ADC SERVOPACK Photocoupler 10 50mA max 24V 0V 11 7 13 14 12 SG PCO ALM COIN BK SG COM PCO CN1 Load Load Load Load 24VDC Power Supply ...

Page 42: ...rgency stop circuit to turn OFF the Servo ON signal as well as the main circuit power supply when the EMG emergency stop signal turns ON The residual voltage rotates the servomotor for a few seconds after the power supply has turned OFF which may result in injury or damage to the equipment WARNING IMPORTANT SERVOPACK Servo ON 1 2 CNA CN1 S ON 24VIN MC1 DC24V MC1 Noise filter MC1 MC1 SUP Power ON P...

Page 43: ... least 100 ms 2 The error counter clear signal must be ON for at least 20 μs If the reference pulse is stopped when the clear signal is turned ON the motor will stop at that position 3 The lag time for the brake is 100 ms Use a relay for brakes with an operating time of 30 ms or less Note 1 The maximum lag time from the time that the error or fault is detected until the time that the alarm signal ...

Page 44: ... 750 kpps 187 5 kpps for an open collector output Sign SIGN High Forward reference Low Reverse reference CW pulse CCW pulse Maximum reference frequency 750 kpps 187 5 kpps for an open collector output Forward reference Reverse reference t1 t2 t3 T SIGN PULS t1 t2 t3 3μs τ 0 65μs τ T 100 50 Forward reference Reverse reference t1 T CW CCW t1 3μs τ 0 65μs τ T 100 50 ...

Page 45: ...ator is lit orange or green If the indicator is orange turn ON the servo ON S ON input signal and check that the color of the REF indicator changes from orange to green If the REF indicator is not orange or green or the indicator of the AL1 AL2 or AL3 alarm is red refer to Section 5 Troubleshooting and clear the alarm 4 PULSE Reference Input 1 Input the reference pulse from the controller and then...

Page 46: ...he correct rate designed by the settings The machine may momentarily make a sound after the machine moves This is due to the setting of the automatic filter in the servo and is not an error 8 Filter Settings If the machine vibrates or if the positioning completed signal COIN repeatedly turns ON and OFF after the servomotor stops turn the FIL rotary switch from 0 to 1 and then to 0 again If the mac...

Page 47: ...urned ON Phases U V and W in the ser vomotor are wired to the wrong terminals Correct the servomotor wiring The encoder wiring is incorrect Malfunction occurred due to noise interference in the encoder wiring Take measures against noise for the encoder wiring A SERVOPACK fault occurred Replace the SERVOPACK Servomotor operation was started or was switched to high speed operation Phases U V and W i...

Page 48: ...reatly exceeds the rated torque Reconsider the load and opera tion conditions Reconsider the servomotor capacity and use a servomotor with a larger capacity Drop in power supply voltage Make sure that the power sup ply voltage is within the permis sible range The servomotor coil burned out Measure the coil resistance If the coil burned out replace the servomotor The servomotor was operated with th...

Page 49: ...range Make sure the AC power volt age is within the specified range The power supply was turned ON again before the power sup ply to the SERVOPACK was completely OFF Wait until the REF indicator is OFF and turn ON the power supply again A SERVOPACK fault occurred Replace the SERVOPACK Normal opera tion The AC power supply voltage exceeded the permissible range Make sure the AC power volt age is wi...

Page 50: ...tween phase U V or W of the servomotor Replace the servomotor The load is excessive or beyond the capacity of regeneration processing Reconsider and correct the load and operating conditions The installation conditions of the SERVOPACK are not suitable the SERVOPACK is influenced by the mounting direction mounting space or ambient heat Reconsider the installation con ditions so that the ambient te...

Page 51: ...n The air inlet of the cooling fan is blocked with dirt or other foreign matter Inspect the cooling fan System error Power was turned ON A SERVOPACK fault occurred Replace the SERVOPACK Contact your OYMC repre sentative Refer ence pulse set ting rotary switch PULSE changed Power was turned ON or during servo motor opera tion Turn ON the power again The operation of the servo motor can continue dur...

Page 52: ...erence pulse settings are incorrect Check to see if the REF indi cator is flashing Wire the servomotor correctly or set the pulse type of the SERVOPACK according to the reference pulse type of the controller if the REF indi cator is not lit Check the reference pulse types of the controller and the SERVOPACK Set the pulse type of the SERVOPACK according to the reference pulse type of the controller...

Page 53: ...or with no load i e disconnect the servomotor from the machine The load moment of inertia exceeds the permissible value of the SERVOPACK Operate the servomotor with no load i e disconnect the servomotor from the machine Reduce the load Replace the servomotor and SERVOPACK with ones with higher capacities The connection of the pulse signal wires is incorrect Check the wiring of the pulse signal wir...

Page 54: ...horten the wiring distance for input signal cable to 3 m or less Noise interference because the encoder cable specifica tions are incorrect Check to see if a shielded twisted pair cable with a core of at least 0 12 mm2 is being used Use a cable that meets the encoder cable specifications Noise interference because the encoder cable is longer than the applicable range Check the length of the encode...

Page 55: ... When the part has expired before the expected time further inspection will be required Note 1 The life expectancy listed in the table is a reference period that may be affected by the environ mental and operating conditions 2 The recommended models of the replacement cooling fans are Item Frequency Procedure Comments Exterior At least once a year Check for dust dirt and oil on the surfaces Clean ...

Page 56: ...rve this caution may cause burns due to heatsink s high temperature Be sure that the cooling fan is positioned in the correct direction when it is installed Failure to observe this caution may result in the malfunction of the SERVOPACK SERVOPACKs of 100 to 400 W 1 Open the case of the SERVOPACK Insert the tip of a straight edge screw driver into the three notches on the SERVOPACK one by one and pr...

Page 57: ...own in the diagram 6 Secure the new cooling fan on the SERVOPACK with mounting screws 7 Connect the cooling fan cable to the fan connector on the SERVOPACK CAUTION Make sure that the wiring layout of the cable matches that shown in the diagram 8 Reattach the case and cover to the SERVOPACK in their original positions Pick the cable up and then pull it out Cooling fan Mounting screw Arrow on the he...

Page 58: ... driver into the three notches on the case and the two on the cover on the SERVOPACK one by one and pry the case off 2 Pull the case and the cover off of the SERVOPACK 3 Disconnect the cable of the cooling fan from the fan connector on the SERVO PACK Case Front of SERVOPACK Pick the cable up and then pull it out Case Cover ...

Page 59: ...ugh the opening as shown in the dia gram A CAUTION Make sure that the arrow on the heatsink and the arrow on the fan face the same direction as shown in the diagram B 6 Secure the fan on the SERVOPACK with mounting screws Cooling fan Mounting screws C Diagram A Diagram B C Make sure the direction of the arrows on the fan is the same as this diagram ...

Page 60: ...onnect the cooling fan cable to the fan connector on the SERVOPACK CAUTION Make sure that the wiring layout of the cable matches that shown in the diagram 8 Reattach the case and cover to the SERVOPACK in their original positions Place the cooling fan cable as shown here ...

Page 61: ...th 20 m max I O Signals Input signal for reference Designated pulse type and pulse resolution with PULSE switch Pulse type Select one of the following signals 1 CCW CW 2 Sign pulse train 3 CCW CW logic reversal 4 Sign pulse train logic reversal Pulse resolu tion Select one of the following signals 1 1000 pulses rev Open collector line driver 75 kpps max 2 2500 pulses rev Open collector line driver...

Page 62: ...4 F Make sure to use the SERVOPACK in the recommended operating conditions The overload protection characteristics are shown below Note The servomotor torque is given as a percentage of the rated torque Built in functions Dynamic brake DB Operated at main power OFF servo alarm servo OFF OFF after motor stops ON if the motor power is off Regenerative processing Optional If the regenerated energy is...

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