YASKAWA CACR-SR BB1 Series, Bulletin

Page 1: ...epair services USA 1 888 932 9183 Canada 1 905 829 2505 Emergency After hours 1 416 624 0386 Servicing USA and Canada Scroll down to view your document Over 100 years cumulative experience 24 hour rush turnaround technical support service Established in 1993 The leading independent repairer of servo motors and drives in North America ...

Page 2: ...AC SERVO DRIVE M F S D SERIES I1 BULLETIN WITH INCREMENTAL ENCODER FOR SPEED CONTROL SERVOMOTOR TYPES USAME _D USAFED USASEM USADED SERVOPACK TYPES CACR SRE _BB1 r __ YASKAWA TSE S800 2 1 J ...

Page 3: ...le protective functions rating for achieving quick response Selectable drive to meet users require Custom LSI and hybrid ICs builtin ments SERVOPACK reduce the unit size and q simplify wiring The additional feature of a highly accurate pluse resolution offers non stop pulse flow General Precautions Some drawings in this manual are shown with the protective cover or shields removed in order to desc...

Page 4: ...ON WARNING Indicates a potentially hazardous situation which if not avoided could D result in death or serious personal injury CAUTION 1 Indicates a potentially hazardous situation which if not avoided may D result in minor or moderate personal injury and or damage to the equipment In some instances items described in k CAUTION may also result in a serious accident In either case follow these impo...

Page 5: ...result After turning OFF power wait at least five minutes before servicing the product Otherwise residual electric charges may result in electric shock CAUTION RECEIVING Use the specified combination of SERVOMOTOR and SERVOPACK Failure to observe this caution may lead to fire or failure INSTALLATION Never use the equipment where it may be exposed to splashes of water corrosive or flammable gases o...

Page 6: ...rve this caution may result in personal injury D During operation do not touch the heat sink Failure to observe this caution may result in burns INSPECTION AND MAINTENANCE Do not disassemble the SERVOMOTOR Failure to observe this caution may result in electric shock or personal injury Never change wiring while power is ON Failure to observe this caution may result in electric shock or personal inj...

Page 7: ... 2 STARTING AND STOPPING TIME 24 8 6 PERIPHERAL EQUIPMENT 61 4 3 ALLOWABLE FREQUENCY OF OPERATION 24 9 TEST RUN 63 4 4 SERVOMOTOR FREQUENCY 25 9 1 CHECK ITEMES BEFORE TEST RUN 63 4 5 MOTOR SPEED REFERENCE 9 2 TEST RUN PROCEDURES 63 INPUT CHARACTERISTICS 25 4 6 MOTOR MECHANICAL 10 ADJUSTMENT 64 dB CHARACTERISTICS 25 10 1 SEI IINGS AT THE TIME I 5 CONFIGURATION 28 OF DELIVERY 64 10 2 CHARACTERISTICS...

Page 8: ...or Incomplete Adjustment 2 12 2 3 78 EXTERNAL CURRENT LIMIT REFERENCE CIRCUIT _ 6 6 3 _ 38 EXTERNAL TERMINALS 5 5 3 3 H Handling of Speed Reference Input Terminal 6 6 2 3 37 High Voltage Line 6 6 7 3 43 Impact Resistance 4 4 6 5 27 Input Circuit 6 6 4 39 INSPECTION AND MAINTENANCE 11 74 Inspection during Test Run 9 9 2 3 63 NSTALLATION 7 7 2 47 D NSTALLATION AND WIRING 7 47 NTERNAL BLOCK DIAGRAM 5...

Page 9: ...RVOMOTOR DIMENSIONS M SERIES 8 8 1 50 SERVOMOTOR DIMENSIONS S SERIES 8 8 3 55 SERVOMOTOR FREQUENCY 4 4 4 25 SERVOPACK 1 11 2 75 SERVOPACK Connector 2CN Terminal Layout and Connection 5 5 5 2 34 SERVOPACK DIMENSIONS 8 8 5 60 Set Voltage and Current Limit Values 6 6 3 2 38 SETTINGS AT THE TIME OF DELIVERY 0 0 1 64 Specifications of Applicable Receptacles 5 5 4 1 31 Specifications of Applicable Recep...

Page 10: ...que Ib in 26 I 52 78 104 191 286 408 I 557 N m 7 17 14 1 19 3 28 0 44 0 63 7 91 1 106 D Instantaneous Peak Torque Ib in 63 125 171 248 390 564 807 938 Rated Current A 3 0 I 5 8 7 6 11 7 18 8 26 33 45 Rated Speed r rain 1000 Instantaneous Max Speed r rain 2000 1500 N m A 1 01 1 04 1 21 1 02 1 07 1 16 1 33 1 33 Torque Constant Ib in A 8 9 9 2 10 7 9 0 9 5 10 2 11 8 11 8 Moment of Inertia JM GD2 4 kg...

Page 11: ...RQUE N m RMS TORQUE Ib in RMS TORQUE N m RMS TORQUE Ib in 4 TYPEUSAMED 09B TYPEUSAMED 44B _ _o r_ _ _ _ I __ooo_ _1800 r _ _ 1500F _ _l _ 15001 _ _ _ 1500_ i I I I l 11 9 m ooo 11oooi _ _ _ 1ooo 0 4 8 12 16 0 50 100 150 0 20 40 60 80 0 200 400 600 8001000 RMS TORQUE N m RMS TORQUE Ib in RMS TORQUE N m RMS TORQUE Ib in 4 i TYPEUSAMED 12B TYPEUSAMKD 60B 2800 1 2_ t _2_ 2800_ _2000_ _2000 r _ _ 2 I _...

Page 12: ...8 104 200 I 330 i Instantaneous Peak Torque N m 2 91 I 5 83 8 92 15 2 24 7 34 0 h4 1 I 76 2 Ib in 26 I 52 79 135 21 9 301 47_ I 675 i D Rated Current A 3 0 I 3 0 3 8 6 2 9 7 1 5 20 I 30 Rated Speed r min 1500 Instantaneous Max Speed r rain 2500 Torque Constant N m A 0 36 0 72 0 80 0 92 0 92 0 82 0 98 1 02 Ib in A 3 2 6 3 7 1 8 2 8 2 7 3 8 7 9 0 kg m2X10 1 30 2 06 13 5 24 3 36 7 66 8 110 143 Moment...

Page 13: ...0 2 4 20 40 60 0 0 20 30 0 100 200 300 RMS TORQUE N m RMS TORQUE Ib in RMS TORQUE N m RMS TORQUE Ib in dl TYPE USAFED 05 TYPE USAFED 30C E1500 _1500 i 500 il fl oooL A i _ 8 ooor __ I _ II 0 2 4 6 8 0 20 40 60 80 0 20 40 60 0 100 200 300 400 500 RMS TORQUE N m RMS TORQUE Ib in RMS TORQUE N m RMS TORQUE Ib in I TYPEUSAFED 09r_ TYPEUSAFED 44C 2500_ _ J 2500 _ _ _11 i2500 _i_ I 2500 _ _ 1 o Ooi i 150...

Page 14: ...Peak Torque Ib in 13 26 36 65 122 257 D Rated Current A 2 1 3 0 4 2 5 3 10 4 19 9 Rated Speed r min 3000 Instantaneous Max Speed r min 4000 Torque Constant N m A 0 25 0 35 0 37 0 51 0 50 0 53 Ib in A 2 19 3 10 3 28 4 49 4 43 4 64 kg m2X10 4 0 13 0 51 0 75 2 85 3 25 5 74 Moment of Inertia t JM GD2 4 ib in s2 10_3 0 11 0 45 0 67 2 53 2 88 5 09 D Power Rate kW s 18 5 18 9 28 9 21 74 167 Inertia Time ...

Page 15: ... _ r t _ I _oool _ L J _3 F _i_ i ooo I i II ooo ooo _ _ i I t 0 1 2 3 4 0 10 20 30 0 5 10 15 20 0 50 100 150 RMS TORQUE N m RMS TORQUE Ib in RMS TORQUE N m RMS TORQUE Ib in TYPE USASEM 05A TYPE USASEM 30A t _ _ 3000I _ _ 2000_ A i B I 2oooF I _1 I _ 2000rA _ B l Ii 8 _ 1000 _ 1000 i_ O1000 _ i _ _ I _ I _I _ i_I M L _ _ iI _Ii 0 1 2 3 4 5 0 10 20 30 40 0 10 20 30 0 100 200 300 RMS TORQUE N m RMS ...

Page 16: ...6 16 6 23 3 Rated Speed r min 2000 Instantaneous Peak Speed r min 2500 Torque Constant N m A 0 83 0 69 0 64 0 71 0 82 lb in A 7 38 6 07 5 64 6 25 7 29 kg m2X10 21 13 32 24t 62 59t 83 80t 148 145 M ment f Inertia JM GD_ 4 Ib in s2X10 3 18 6 11 5t 28 3 21 2 54 9 52 2t 73 51 70 8t 131 128 3 t 2 7 7 3 8 2 13 21 Power Rate kW s 4 4t 9 7 8 6t 14t 22t 18 7 8 7 1 6 2 4 3 Inertia Time Constant ms 11_ 5 9t ...

Page 17: ... A _ BY_ 2000 _il 20oo _ 1 _ A B i SPEED i_ii SPEED r minl 1000 r rain 1000 _ I 0 60 120 180 240 0 8 36 24 32 RMSTORQUE Ib in RMSTORQUE N m USADED 22E USADED 22E 2500 _ _ 2500 _ 2ooc 2000 I B SPEED A _i _ B i SPEED _ r mini 1000 r mini 100C I 100 200 300 400 10 20 30 40 RMSTORQUE Ib in RMSTORQUE N m USADED 37E USADED 37E 2500 _ _ 2500 _ _ 2000 _ i_ 2000 SPEED A B SPEED A B r m 000 r o 000 0 150 30...

Page 18: ...R SRO3BB1AFSRO5BB1AF SRIOBBIAF SR158BlAF SR2OgB1AFSR3OBB1AFSR44BBlAF O0 D u_ Continuous OutpUtArms Current 3 0 3 0 3 8 6 2 9 7 15 0 20 0 30 0 _ Max Output Current Arms 8 5 8 5 11 0 17 0 27 6 42 0 56 5 77 0 _ Allowable Load kg rn2 x 10 4 6 5 10 67 5 121 5 183 5 334 550 715 InertiaJL Ib in s2xlO 3 5 75 9 60 107 5 162 5 296 486 633 5 ApplicableOptical Encoder C 2500pulses rev E 1500pulses rev F lO00p...

Page 19: ...e Power Supply 12 VDC 5 3OmA Input Signal Servo ON P drive F overtravel R overtravel external current limit 1 Output Signal Servo ready TG ON current limit servo alarm overload MCCB trip PositioningSignalOutput 1 N time N 1 to 64 of PG pulses or 2 N time N 2 to 64 Protective Overvoltage overload overcurrent overspeed overrun open phase detection MCCB trip Function heatsink overheat undervoltage AD...

Page 20: ...0 6HP 0 5kW 0 7HP 06 0 6kW 0 8H P 08 0 77kW 1 1HP 09 0 9kW 1 2HP 0 85kW 1 2HP 10 1 0kW 1 3H P 12 1 2kW 1 6HP 13 1 3kW 1 7H P 15 1 54kW 2 0HP 1 5kW 2 0HP 20 2 0kW 2 7HP 1 8kW 2 4HP 22 2 2kW 2 9H P 30 3 0kW 4 0HP 2 9kW 3 9HP 3 08kW 4 0HP 37 3 7kW 5 0H P 44 4 4kW 5 9HP 4 4kW 5 9HP 60 6 0kW 8 0H P Table 2 2 Motor Output M Series F Series S Series D Series 02 0 15kW 0 2HP 0 15kW 0 2HP 03 0 3kW 0 4H P 0...

Page 21: ... 44BB 1 Table 2 4 USAFED 02DB APPLICABLE MOTOR 5000 to 09DB SERIES F 13CB M M Series F FSeries to S SSeries 440B D DSeries USADED 05EB D to 37EB USAMED 03CD 06CD M 09BD to 44BD USAFED 02DD 4000 to 09DD F 13CD to 44CD USADED 05ED D to I 37ED USASEM 02AC 2500 to 30AC USASEM 02AE 1500 S to 30AE USASEM 02AF i000 to 30AF Table 2 4 Standard Optional Remarks Models pulses rev pulses rev M Series A 6000 B...

Page 22: ...A above Good SR15BBl _ F USAFED 13cr 2 3 1 10 LF 315 3 phase 200VAC class 15A SR20BBI F USAFED 2OCr_ 2 4 1 12 _ LF 320 3 phase 200 VAC class 20 A SR3OBB1 IF USAFED 3OC r 2 6 0 18 t t _ LF 330 3 phase 200 VAC class 30 A Contactor 35A or Poor above SR44BBf F USAFED 44C 2 8 0 24 LF 340 3 phase 200VAC chass 40A S SERIES D SR03BBI _ S Y41 USASEM 02A _ 2 0 65 5 LF 305 3 phase 200VAC class 5A SR03BB1 i i...

Page 23: ...MS3108B MS3106B MS3057 USAFED 09 18 10S 18 10S 18 10S 10A MS3102A MS3108B MS3106B MS3057 USAFED 13C 20 29P 20 29S 20 29S 12A USAFED 20C MS3102A MS3108B MS3106B MS3057 USAFE D 30C 22 22P 22 22S 22 22S 12A USAFED 44C USASEM 02A MS3102A MS3108B MS3106B MS3057 USASEM O3A t8 10P 18 10S 18 10S 10A I USASEM 05A MS3102A MS3108B MS3106B MS3057 USASEM 08A 20 29P 20 29S 20 29S 12A MS3102A MS3108B MS3106B MS3...

Page 24: ...02A14S 7P MS3108B14S 7S t MS3106B14S 7S t MS3057 6A t 4 4kW USAM E D 60Bi FAN MS3102A14S 6F MS3i08B14S 6S M 3106B14S 6S M 3057 6A Motorside Brake side F SERIES USAFED 02 iiq MS3102A 14S 6P VlS3108BA 14S 6S MS3106B 14S 6S MS 3057 6A U SA F E D 03L JL i U S A F E D 05 USAFED 09iiFI MS3102A 20 15P MS3108B 2045S MS3106B 20 15S MS3057 12A USA F E D 13C I USA FE D 20C i USAFED 30C MS3102A 24 10P MS3108B...

Page 25: ...OTOR and SERVOPACK and both the conditions must be considered for satisfactory opera 100 tion k Allowable frequency of operation restricted by the SERVOPACK The allowable frequency of operation is restricted by the heat generated in the regenerative resistor in the SERVOPACK and varies depending on the motor 0 __ values types capacity JL acceleration deceleration currentand motor speed If the freq...

Page 26: ... _ iI i _ _ when speed reference input terminals 1CN and are CURRENT _ _ _ _ i _ _ _1 I I I N_ used With auxiliary input terminals 1CN andr _ I I I motor speed can be set to the rating by adjusting iN B _ i _ i potentiometer as long as input voltage is within 2V MOTOR TIME to 10V See Fig 4 8 SPEED I The forward motor rotation 4 means counter Fig 4 4 Timing Chart of clockwise CCW rotation when view...

Page 27: ...lowable Allowable Radial Load Thrust Load Color of Lead Applicable USASEM N Ib N Ib O2AE 2 78 4 18 39 2 9 Red Phase U 03A 2 245 55 98 22 White Phase V 05A _ 2 245 55 98 22 Blue Phase W 08A 1 392 88 147 33 15AE I 490 110 147 33 30A 1 686 154 196 44 Table 4 4 D Series Allowable Radial Load Types USASEM 03A to 30A and Thrust Load _ A PhaseU Motor Type Allowable Allowable Radial Load Thrust Load B Pha...

Page 28: ... be taken to protect the shaft from impacts that Brake could damage the detector White Phase V Black Blue PhaseW Green Frame Ground IVERTICAL USASEM 03A 05A USASEM 08A to 30A _ IIIIL_ ZONTAL t O O Fig 4 11 Impact Resistance L I IUJ V 4 6 6 Vibration Resistance A PhaseU A PhaseU When mounted horizontally the motor can withstand B Phase V B Phase V vibration vertical lateral axial of 24 5m s 2 2 5G ...

Page 29: ...securely SPEED LEAD LENGTH grounded REFERENCE 3 METERS OR LESS _ 2Ch I I i mPim _ LEAD LENGTH 20 METERS OR LESS P t CONNECTING CABLE _ YASKAWA DRAWING I No DP8409123 OR No DE8400093 1CN Be sure to perform terminal trearment of shielded cable 1 Ry 5mA RESISTOR UNIT Use relays highly reliable in contact YASKAWA Bestact O TYPEJUSP RA03 relays or equivalent or arrange 2 R _ yy 5mA intwocontact paralle...

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Page 32: ...nal layout of the SERVOPACK inputJoutput signal connectors 1CN is shown in Table 5 3 The external connection and external signal processing D are shown in Fig 5 4 on page 32 Table 5 3 Connector tCN Layout of SERVOPACK 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 0 V 0 V 0 V PHA CLT CLT 24V IN S ON TRQ M VTG M SG IN A SG A IN B SG B 12V SG FG 0 V for PG Output SignaIPG Output Current Limit Ext Serv...

Page 33: ..._i FORWARD FORWARD RUNNING _ _ PROHIBITAT P LS OFF P LS P OT RUNNING s _ _ LT _ __ J PROHIBIT 3Ry ON AT 24V 3Ry CLT IN I _ _ r 1 CURRENT f _ _ 5 CURRENT LIMIT c IP DETECTION 0fVl _ _ 6 I i 4Ry ON AT 4Ry TGON _ I TGON IP IT_ 22 I F _ TG ON AT 1 OR MORE TGON _ _ OF MAX SPEED 5Ry OFF AT ALM _ SERVO ALARM I 38 1 I ALM P SERVO ALARM 39 I 6RyONAT 6Ry S RDY S ROY P _ SERVO READY 27 I RyONAT I RYMOOR P I ...

Page 34: ...5 detection Turns OFF when overload is detected SeePar 4 1 OVERLOAE CHARACTERISTICS MCB 1CN 43 42 MCCB trip Turns ON when MCCB trips Turns OFF when fault is detected ALM lCN 38 39 Servo alarm For details refer to Table 6 2 Fault Detecting Functions Turns ON when motor speed exceeds fol lowing speed Motor run M Series Approx 20r min D Series Approx 25r rain TGON lCN 22 23 detection F Series Approx ...

Page 35: ...ikura Cable Co available on order YASKAWA drawing No I Double KQVV SW DP8409179 KQVV SB If wiring distance is 20m or longer contact Approx AWG 22X3C AWG 26X10P Specifications AWG 26X6P your YASKAWA representative 3 Cables must be assembled by authorized ven Finishing _8 0mm 0 31in _10 0mm _0 39in dor with appropriate tooling Dimensions For Soldered Type For Caulking Type _ 5 5 2 SERVOPACK Connecto...

Page 36: ... 12A Cable clamp t Fig 5 5 Soldered Type Connector 2CN Connection and 1CN Output Processing when using Connection Cable DP8409123 OPTICAL ENCODER _ _ 0 2 mm2 __ SERVOPACK _ PHASE A PA PA I P PHASE B I l I PB i I I PB I P I PHASE C I PC PC t OUTPUT I PU LINEDRIVER MC3487 t LINE _j I RECEIVER I _ __ 1o _v SN75175 t N_ _ PV _ PW t t 1 _ 4 PG5V _ _ I t PGOV I P I _ _ I I I 2 I P I _ OV I t i I _ s _ _...

Page 37: ..._ I I _ _ erence and turn it OFF when the motor stops Do not 2MC f_ _ _ turn the power ON or OFF _ q_ _m 5RY_v_____ 38 _1 Before power ON or OFF turn OFF the Servo ON q I _ _ _Y_t o SERVO ALARM j 24VDC_ _ I_ ___ _ switch to avoid transient troubles Fig 6 1 Connection Example for Simultaneous Control Power ON OFF POWER OFF POWER ON 5Ry 1 MC _D ____O O _1 Up t 1MCCB 1MC 1MC 200 TO230 VAC _o L I _S _...

Page 38: ... Resistor is used w OR OVER STOP OFF _ r_EC3_o o_1 _ SERVOPACK 12V LTYPE RV30YN1_3 l_ 1 T OR EQUIVALENT_ 12 1 14 l 2k_ Y_ 2 i_ w OR OVER 1 W OR OVER I _ rt132 FOR Low sPEED SERVOPACK TYPE RV3OYN TYPE RV3OYN _J_OR EQRuVv30YI ALENNJ TYPEEQRU_30_IUIvA OR EQUIVALENTL_ O _ b When Carbon Variable Resistor is used 12v 13 _ ill FOR HIGH I T Ollk II SPEEd D l 2k_I L_ 2 _ 12 1 14 _ Parenthesesare for auxili...

Page 39: ... 1CN and 0 APPROX_3 6 9 0 6V The relation between the rated current of the motor SETVOLTAGE V and applicable motor The power supply must use an internal resistance less than 2k12 The input resistance b Current Limit at Reverse Side at SERVOPACKside must be greater than 5kl2 When external current is not restricted contacts between ter Note If setting value exceedsmax output current value of minals ...

Page 40: ...MCCB trip and OL The user must provide the 24V power supply alarm 24VDC lV 20mA or more approx 5mA circuit These output circuits are non contact employing transistors Voltage and current specifications are Applied Voltage Vmax 30V 24V l PHOTOCOUPLER D t I r _ _ Conduction Current Ip __ iOOma __1 NOTE m 5rnA 0v The output circuit requires a separate power sup ply It is recommended to use the same 2...

Page 41: ...nd open collector output SN74LS07N the divider in the SERVOPACK The phase relation is Jm Fig 6 10 shows example of line driver output an the same as in 3 above Set the pulse frequency di viding ratio according to Table 6 l The dividing ratio must be able to divide the pulses of the optical encoder For example in an optical en coder of 5000 pulses rev 1 3 i 6 or I 7 cannot be PHASE A used Fig 6 12 ...

Page 42: ...1 12 500 125 Oi 0 0 0 0 1 15 400 100 I 0 0 0 0 1 16 375 250 0 0 00 0 1 20 300 250 200 125 75 50 0 0 0 0 1 24 250 Oi 0 0 0 0 0 1 25 240 200 160 100 60 40 0 0 0 0 1 30 200 50 0 0 0 0 1 40 150 125 100 25 0 0 0 1 48 125 0 0 0 0 0 1 50 120 100 80 50 30 20 0 0 0 1 60 100 25 0 0 0 0 0 0 2 2 6000 5000 4000 2500 1500 1000 I 0 0 0 0 0 0 2 3 4000 1000 0 0 0 0 0 2 4 3000 2500 2000 1250 750 500 2 5 2400 2000 1...

Page 43: ... OFF this also turns OFF the LED in stop the motor normally the SERVOPACK indicating the cause of the alarm sig 2 Troubledetecting functions nal I Table 6 2 Fault Detecting Functions CAUTION When an alarm signal cuts off only the main cir Trouble Detection cuit set the speed reference to 0V before supply Overcurrent flow in the main circuit ing power to the main circuit to resume the Overcurrent a...

Page 44: ...erspeed functions circuit When these transistors are switched the effect di dv power drive of _ or _ switching noise may sometimes occur de r _ Voltage drop circuit is Servo pending on the wiring or grounding method base blocked alarm _ Overload This block The SERVOPACK incorporates a CPU This re r _ Heat sink overheat status is output quires wiring and provision to prevent noise interfer released...

Page 45: ... in Table 6 5 The power supply to peripherals also needs noise filters NOTE If the noise filter connection is wrong the effect a Separate the input and output leads Do not bun decreases greatly Observing the precautions dle or run them in the same duct carefully connect them as shown in Figs 6 14 to 6 17 _ ___ I Table 6 5 Recommended Noise Filter SERVOPACK Applicable Recommended Noise Filter I_ Ty...

Page 46: ...to the box or the SR03BB 0 65 kVA 5 A ground panel SR05BB 1 1kVA 5 A SR10BB 2 1 kVA 8 A I _ SR1 5BB 3 1 kVA 10 A SR30BB 6 0kVA 18A SR44BB 8 0 kVA 24 A THICK SR60BB 11 kVA 32 A SHIELDED AND I J GROUND SHORT I Values at rated load BOX WRONG BOX CORRECT Equipment Fig 6 16 6 9 APPLICATION d If the control panel contains the filter connect the 6 9 1 Connection for Reverse Motor Running filter ground an...

Page 47: ... Example When an M Series motor rated speed supply is OFF 1000r min is used and speeds are to be 3 More than 200ms must be considered from I measured up to the maximum speed when the brake power supply is ON till when speed reference is input 2000r min in both directions use SV both swing DO voltmeter 4 to shows motor stopping time and is calculated as follows JM JL NM mS t 0 1047 Tp TL 6 9 3 Appl...

Page 48: ...lexible couplings for direct drives The align data ment should be made in accordance with Fig 7 2 7 2 INSTALLATION SE VO OZO AC SERVOMOTOR can be installed either horizontally or vertically 1 Before mounting Wash out anticorrosive paint on shaft extension and flange surface with thinner before connecting the motor D to the driven machine See Fig 7 1 ANTICORROSIVE PAINT _ Measure the gap between a ...

Page 49: ...midity excessive dust cables can carry the rated current at an ambient tem or metallic particles perature of 40 C Table 7 3 lists the type of cables EXHAUSTED AIR Table 7 1 Rated Current y T_ RatedCurrent A Effective Current I External CACR _ _ Terminal SR SR SR SR SR SR SR SR SR 038B 0EBB 07BB 10BB 15B8 20BB 3OBB 44BB 60BB 55 C OR BELOW_ PANEL Main Circuit R S T 2 5 6 8 10 12 18 24 32 Power Input...

Page 50: ...e shielded twisted pair cables 10 YASKAWA Drawing No DP8409123 or DE8400093 SR05BB 4 2 4O 110 Cable length is a maximum of 3m for reference input SR07BB 5 8 60 140 lines and a maximum of 20m for PC feedback lines SR10BB 7 6 70 20 150 Use the shortest possible length SR15BB 11 7 80 60 160 2 For ground line cable should be as heavy as possi SR20BB 18 8 100 40 200 ble to provide class 3 ground ground...

Page 51: ..._ 4 5 _o 7o8_ o _g6 o1o9 9 o55 o531 USAM E D 44BL 2 2 688 578 524 4_3 z_oa_ zz _s_ zest _ 110 476 550 49 USAMKD 6OB 2 3 775 605 I 4zal __ a _ _ _ sa_ AC SERVOMOTOR Dwg Shaft Extension Approx Motor Connector Types Optical Encoder Connector Types Mass Type No S I Q kg I b Receptacle L type Plug Straight Plug Cable Clamp I Receptacle L type Plug i Straight Plug I Cable Clam USAMED 03 E 1 See Drawing ...

Page 52: ...OE 1 _L5 zs 18 0 8SX 0 SZXl0 5 88 52 1 MS 3102 MS 3108 MS 3106 MS 3057 06 _E 10 E 1 _a 5 09B 2OE 1 z3 18 0 9Xl0 7 97x10 8 83 78 1 A20 ISP B20 15S B20 ISS 12A MS 3102 MS 3108 MS 3106 MS 3057 507 12BF_ 2OE 2 30 e_ MS 3102 MS 3108 MS 3106 MS 3057 A20 29P B20 295 B20 295 12A 2OB _ 2OE 2 37 31 625x10 553x10 35 3 312 5 Sl _ 49 A24 10P B24 10S B24 10S 16A 30B ZI2OE 2 _I Not provided with an eyebott N ore...

Page 53: ... _SaS 6 2B0 S 3S4 7 _I 05 IZI 1 2 263 205 150 127 177 lO 3s4 aoTl C5 9_ so C_ _eg o_i _i _ _2_ _L_o _09 _4s 10 _Oo o _30 p_ b_ _s _o 1 30E 2 2 389 331 276 253 303 92 344 265 211 172 237 200 2 3 _3 s43 I o43a soT _ _2a _ 33n 401 7_7 79212654 139 200 114 3 o ozs 180 3 _ 7og18 230 13 5 3OOE 2 3 12677 IO551 3 11 9016 US S 123 5472 7 814 4 S o 7087 o 126 o c9 o5s o53 486 1 134 407 353 314 379 4 _3 44CE...

Page 54: ...T BUILT IN LM _ _ LE _ LC 18 0 7091_i 12 0472 _ i _ __ 14IO551 103 IO406 HOLDING BRAKE LR 6 40236 6 0236 25 09841 0236 6102361 MIO P125 i _ 5 01971 _ _ _ TAPER1110 OPIICAL ENCODER Types 05 __L_l DE 09L_D1 DE Type 13CFq2OE CONNECTOR Detail of Shaft Extension Detail of Shaft Extension MOTOR D CONNECTOR 44C_ 2OE Types USAFED 20CQ2OE to _ Straight Shaft Drawing 3 L LL LR LT LM _ 2 MB SCREW FOR HANG BO...

Page 55: ...6x 0 0 98 8 67 MS 3102 MS 3108 MS 3106 MS 3057 ll 0 03JIll leE 1 7 12 0 1 3Xl0 l O0Xl0 1 96 17 3 A14S 6P B14S 6S B14S 6S 6A 15 41 I 05r_ Dl O E 2 11 5 254 18 0 85 10 7 52x10 5 88 52 1 MS 3102 MS 3108 MS 3106 MS 3057 09D_J OE 2 i5 33 _ A20 15P B20 15S B20 15S 12A MS 3102 MS 3108 MS 3106 MS 3057 13C 20E 2 23 18 o 9xlo 7 97x10 8 83 78 1 A20 29P B20 29S B20 29S 12A 50 7 20CQ2OE 3 30 66 11 MS 3102 MS 3...

Page 56: ...15 180 102 87 30 t20 3 i o1166 16 4 3 _ 11 157 7 874 5866 2008 58 4 52_ 7 087 4 m6 3 4ZS S tm II0 _ 4 7Z4 O nS 0 394 6 fez 9 18 28 25 12 10 063 21 MI0 0 169 _ 5 5 17 fi259 5203 5 2883 167 240 109 145 4 3314 3 130 12 I 165 o354 o7o9 l loz 09_ o472 03_ 19 08z7 PI 2 5 84 la _ o L97 15A l 12 5 217 012 56 6575 9449 4891 96 S 709 SAt8 6 0 478 496 0748 0 228 _0_ 366 296 240 z 2o5 70 206 276 134 3780 200 ...

Page 57: ...by output pulses PTR of 5 Power supply for brake is 90 VDC I optical encoder as follows Standard E 1500 PJR Optional C 2500 PJR F 1000 PTR Types USASEM 08A IIIIilOB 15AEIII IOB 30A IIII IOB Taper Shaft 9 AC SERVOMOTOR Approx Magnetic Brake L LL LM Mass Inertia StaticFrictionTorque Voltage Type USASEM kg Ib Type kg m X10_ Ib in s_ N m Ib in VDC 08A iiiiilOB 305 247 146 7 SCFB 90 30 0 5365 2 94 90 1...

Page 58: ... the same dimensions as standard SWEVOMOTOR in S series but dimensions L of type USASEM 08 A II 2K II or higher is the different dimensions See Par 8 3 1 Details of shaft extension are shown below Without brake Without brake Without brake With brake Types USASEM O3A 2K Types USASEM O3Ar_ 2KB Type USASEM 08A _ 2K Type USASEM O8Ar_ 2KB D OSA _2K OSA_ 2KB o2 o_ L 239 9 409 1 L 287 11 299 _ 3 0 118 3 ...

Page 59: ... 05A _ 2S 05Ar 2SB 05A 2T 05A _ 2TB OILSEAL _ _ _ OIL SEAL 4o _ 310118 7 Shaft Extension of Taper Shaft with Shaft Sea SERVOMOTOR proper is the same dimensions as stan dard SERVOMOTOR in S series See Par 8 3 1 I Details of shaft extension are shown below Without brake Without brake Without brake Type USASEM 08A IS Type USASEM 15A _ 1S Type USASEM 30Ar IS 28 18 0 71 _ 0 47 36 20 0 79 _4 0 55 18 0 7...

Page 60: ...235 250 200 _ 220 4 16 270 13 5 M8 37 L j2OE 13 66 11 1 9 25 2 56 1 85 3 94 10 1e 5 59 6 38 3 62 6 46 5 12 9 25 9 84 7 874_0 _ 8 66 0 16 0 63 10 6 0 53 1 2598 _ a 3a ma 0 Not provided with an eyeball Notes 2 Plug and clamp are not attached for receptacle connection I in type designation is determined by output pulses P_R 3 Dimensions avove are applied for servomotor with incremental of optical enc...

Page 61: ...d SR30BB 4 Type CACR SR60BB __ 7 0 28 DIA 2 7 0 28 DIA VlTG HOLES 100 3 94 ITG HOLES _ WIND o125 4 921 _I WIND _ _ P_ DIRECTION e_ _ 1 I _ _ DIRECTION I _ I TYPENPI I f I_ i I I _ 8J i _ i o _ _ q _ i _ _o EXTERNAL _ i _ _ TERMINAL _ I 2CN BLOCK 6P I _ o _ _ 1CN _ _ 2CN lCN _ _ i _1I_ _ L _ II _ R T UVW I I I _ Y3Y4_ e O_1 I I I EXTERNAL m_l_r _ 1_ t ___L_ ___ LI I ___ _ TERMINAL N _q _ _ BLOCK 9P...

Page 62: ...ITE _ i 10 200 7 874 10 i i BLACK o_ 9_ 4 _ __ For 200 VAC PROTECTIVE a co _ YELLOW RED _ D _l _ oE OCS DE AC SIDE I SUPPRESSOR E BRAKE SIDE T I I IN I_L_ __1 _ _ F _ WHITE __ BLACK _ CEMENT RESISTOR EXTERNAL _ PP0W x 3Q TY 259 TERMINAL 6P 7 0 28 DIA WITH ACRYLIC MTG HOLES COVER D Note The brake power Circuitcan be turned ONand OFF on either 3 Power Supply for Brake the ACor DCside Normally switch...

Page 63: ...SWITCH 9 lOOV _ p ov B KE U 11 Y c l PROTECTIVE ELEMENT ELEMENT Notes 1 Donot short circuitbetween output terminal Nos 3 and 4 2 The open close value of the contact used for Nos 5 and 6 is 5 to 11 10 times the rated current of the brake used Direct current open close contacts must be used 3 Insert a fuse in the input side to protect the power unit Fuse Type MF60 NR2 Made by TOYO FUSE CO LTD Circui...

Page 64: ...ection and wiring leads are firml y connected to terminals or inserted into the connectors The power supply is turned OFF if servo alarm Occurs Voltage supplied to SERVOPACK is 200 to 230V_ D If a voltage line other than 200V is used the 386 5 voltage should be dropped to 200V through a power transformer Fig 9 1 Motor Forward Running The speed reference should be 0V 9 2 TEST RUN PROCEDURES 9 2 3 I...

Page 65: ...A2 6000 SR6OBBIBM USAMED 60BB2 5000 45 0 80 6 m I SR6OBBIDM USAMED 6OBD2 4000 Effective value Table 10 2 Field setting Switch Position SWl SW2 SW3 SW4 SERVOPACK Type CACR Motor Type Pulse Resolution Speed Loop Motor Characteristics PG Pulse Setting Setting Condition Setting SERV0PACK Function Setting SR03BB1AM 6000 1 Standard to 1 2345678 1 23456781 1 2345678 1 2345678 I 1 I 1 I I I I 9 SR60BBIAM ...

Page 66: ...3 SW4 SERVOPACK Type CACR Motor Type Pulse Resolution Speed Loop Motor characteristic PG Pulse Setting Setting Condition Setting SERVOPACK Function Setting SR03BB1AF 6000 x 1 Standard to 1 2345678 1 23456781 1 2345678 12345678 oo o o1 I 1 I o o 1 I o 1 SR44BBIAF o ooo o oooo oo oo O O000 gO0 O0 SR03BB1 BF 5000 to 1 2345678 ooo SR44BB1BF o o o _ o o o Optional SR03BB1 DF 4000 to 1 234 5678 SR44BB1D...

Page 67: ... Loop MotorCharacteristics PG Pulse Setting Setting Condition Setting SERVOPACKFunctionSetting SR10BB1CS 2500 xl SR101BB SR15BB to 1 2345678 1 23456781 1 2345678 1 2345678 I o o 1 I 1 I o o o 1 I o 1 SR30BB1CS _ _ o o ooo 00000 00 O 00 000 Standard SR03BB1ES 1500 to 1 2345678 SR03BB SR05BB SR05BBIES I_ _ o _ o o ool SR30BB SR03BB1FS 1000 1 2 3 4 5 6 7 8 Io o ooooi Optional to 1 2 3 4 5 6 7 8 o o o...

Page 68: ...s PG Pulse Setting Setting Condition Setting SERVOPACK FunctionSettinc SR05BB1AD 6000 x 1 to 1 2345678 1 2345678 t I 2345678 1 2345678 ooo o J 1 io o o 1 I o 1 SR44BB1AD ooeooo coo oo ooo oo eo oo Standard oo oo oo SR05BB1BD 5000 to 12345678 SR44BBIBD I o o ooe j SROSBB1DD 4000 Optional to 1 2 3 4 5 6 7 8 SR44BBIDD oo o o oo o 1 Spare short circuit pin Table 10 12 Potentiometer Field set Positions...

Page 69: ...NR Table 10 14 Do not temper with potentiometers zfln X 100 ___0 015 NR din 10 4 ADJUSTMENT PROCEDURES I SPEED r rain NR RATED Fig 10 4 shows the arrangement of potentiometers __ _ i SPEED and terminals for checking waveforms Table 10 11 R N shows the specifications of the check pin CH and Table 10 15 lists check terminals and functions Adjust the potentiometers observing the specified check locat...

Page 70: ...tedOircuitBoardfor D 2CN ICN SERVOPACKType CACR SRCA _REV A D I i_ E_ RESET PUSHBUTTON _ TROUBLE LED INDICATION 7 SEGMENT VR9 O VR10 _ VR MR12 _ VR_3_ _ VR_ _ VR4 D 8 TO117__ VRe b Printed Circuit Board for I I SERVOPACK Type CACR SRCAr_ _REV B _1 2ON J_ _1 1CN Fig 10 4 Arrangement of Potentiometers VR Check Terminals and Switches SW 69 ...

Page 71: ...O i_ VR2 O vinoS _ 0 VR VR12 _ Vc _N 8 To I L_ C Printed Circuit Board for _ SERVOPACK Type CACR SRCAE REV C I SERVOPACK Type CACR SRCA _ REV D 20 J_r _ _ ON _ Note Do not adjust for _C4 to I_ Fig 10 4 Arrangement of Potentiometers VR CheckTerminalsand Switches SW _1 I 70 ...

Page 72: ...CW to Turning CW decreases If f V balance adjustment prevent hunting motor speed is not correct motor does Characteristics _ not run at the samespeed in both directions under the same absolute reference voltage Adjustment O x x x Potentiometer VR7 VR8 Functions Torque reference Max current adjustment adjustment Adjust to rated current Set max current depending How to Adjust at 3V on types and moto...

Page 73: ...0 r_ 5 T Ref Torque reference __2 0 to _ 3 0VDC 100 Monitors phase U sin Frequency varies depending on 6 U sin wavefom VOLTAGErx _ speed Amplitude varies depending on Monitorsphase V sin 0v torque 7 V sin waveform 1 8 SG Signal 0V for printed circuit board of REV D Not used for printed circuit board of REV C or later monitor Type CACR SR 03 05 07 10 15 120 30 144 160 1 IU Phase U current Monitor V...

Page 74: ...0 5 10 8 10 1 1 PG frequency dividing setting Possible See Table 6 1 t See thefigure below S__ setting Speed loop condition Possible ASwasapresetnOrmalatrUle the factory leave the setting as it The optimized motor torque characteristics and Motor characteristics and Never change this SERVOPACK functions have already been at the factory SERVQPACK function setting setting SW4 5 Selects a dynamic bra...

Page 75: ...compressed air Insulation Make sure that it is more than 10MQ by measuring with a 500V Resistance Annually megger after disconnecting the motor from the controller dl Shaft Seal Every 5 000 hours If grease is used for lubrication replace every 3000 hours I If worn or damaged replace after disconnecting the motor Every 20 000 hours Overhaul from the driven machine or 5 years Contact your YASKAWA re...

Page 76: ...t bumping etc Contact your YASKAWA representative D Cooling fan Check if the fan rotates normally Parts Replacement Schedule The following parts should be replaced periodically since they may become worn mechanically or deteriorared with age Table 11 4 Parts Replacement Schedule Part Name Interval Remarks Cooling fan 2 to 3 years Replace with new one Smoothing capacitor 7 to 8 years Replace with n...

Page 77: ... terminals U V and W Motor defective with a tester When correct replace motor Inspect and correct wprung across motor terminals U _ Unstable operation _ Wrong wiring V and W and PG _ _ _ _ _ Excessive ambient Reduce ambient temperature below 40 C temperature Motor overheats Motor surface is dirty Clean motor surface Overload Reduce load or use a larger motor Motor loosely mounted Tighten foundatio...

Page 78: ...e main trouble circuit Regenerative resistor disconnection Check and replace the regenerative No regenerative resistor resistor Replace the SERVOPACK connection SR60BB Goes ON when the motor accelerates Load inertia JL GD 2 is too large Check the inertia of the machine Over or decelerates with the value converted to the r__ motor Shaft voltage Defective regenerative circuit Replace the SERVOPACK D...

Page 79: ...g for Defective Wiring or Parts Trouble CheckItems Whatto do MCCB trips immediately after Power Main circuit wiring such as the ground Correct the wiring ON and Servo ON of motor The reference is input but the motor Voltage across and O Check the AC power supply circuit does not run LED and _ ON Trouble LED OFF o If LEDs are ON check the cause Speed reference voltage Adjust the speed setting LED _...

Page 80: ... NOTES 1 79 ...

Page 81: ...on Woods Cumbernauld Scotland G68 9LD U K Phone 44 1236 735000 Fax 44 1236 458182 YASKAWA ELECTRIC KOREA CORPORATION Paik Nam Bldg 901 188 3 1 Ga Euljiro Joong Gu Seoul Korea Phone 82 2 776 7844 Fax 82 2 753 2639 YASKAWA ELECTRIC SINGAPORE PTE LTD 151 Loron 9 Chuan 04 01 New Tech Park Singapore 556741 Singapore Phone 65 282 3003 Fax 65 289 3003 YATEC ENGINEERING CORPORATION Shen Hsiang Tang Sung C...