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YASKAWA SGDJ Series, User Manual

The YASKAWA SGDJ Series user manual is a comprehensive guide for operating and troubleshooting this high-performance product. Download this manual for free at 88.208.23.73:8080, gaining access to valuable information on configuring, maintaining, and maximizing the potential of the SGDJ Series.

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9-1

9

9

Adjustments

9.1 Autotuning   - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-2

9.1.1 Servo Gain Adjustment Methods  - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-2
9.1.2 List of Servo Adjustment Functions  - - - - - - - - - - - - - - - - - - - - - - - - - 9-3

9.2 Online Autotuning  - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-5

9.2.1 Online Autotuning   - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-5
9.2.2 Online Autotuning Procedure   - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-6
9.2.3 Selecting the Online Autotuning Execution Method  - - - - - - - - - - - - - - 9-7
9.2.4 Machine Rigidity Setting for Online Autotuning  - - - - - - - - - - - - - - - - - 9-8
9.2.5 Method for Changing the Machine Rigidity Setting   - - - - - - - - - - - - - - 9-9
9.2.6 Saving the Results of Online Autotuning   - - - - - - - - - - - - - - - - - - - -  9-10
9.2.7 Procedure for Saving the Results of Online Autotuning  - - - - - - - - - -  9-10

9.3 Manual Tuning   - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-11

9.3.1 Explanation of Servo Gain   - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -  9-11
9.3.2 Servo Gain Manual Tuning  - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -  9-12
9.3.3 Position Loop Gain   - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -  9-12
9.3.4 Speed Loop Gain - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -  9-13
9.3.5 Speed Loop Integral Time Constant - - - - - - - - - - - - - - - - - - - - - - - -  9-13

9.4 Servo Gain Adjustment Functions - - - - - - - - - - - - - - - - - - - 9-14

9.4.1 Feed-forward Reference - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -  9-14
9.4.2 Torque Feed-forward  - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -  9-15
9.4.3 Proportional Control Operation (Proportional Operation Reference)  -  9-16
9.4.4 Using the Mode Switch (P/PI Switching)   - - - - - - - - - - - - - - - - - - - -  9-17
9.4.5 Setting the Speed Bias  - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -  9-20
9.4.6 Speed Feedback Filter  - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -  9-20
9.4.7 Speed Feedback Compensation  - - - - - - - - - - - - - - - - - - - - - - - - - -  9-21
9.4.8 Switching Gain Settings  - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -  9-23
9.4.9 Torque Reference Filter   - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -  9-24

9.5 Analog Monitor  - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-26

9.5.1 Related Parameters  - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -  9-27
9.5.2 Manual Zero Adjustment and Gain Adjustment of Analog Monitor Output 

(Fn00C, Fn00D)  - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -  9-28

Summary of Contents for SGDJ Series

Page 1: ...YASKAWA DC Power InputΣ II Series SGM J SGDJ USER S MANUAL YASKAWA MANUAL NO SIE S800 38C AC Servodrives SGMMJ SGMAJ Servomotor SGDJ SERVOPACK ...

Page 2: ... liability is assumed with respect to the use of the information contained herein Moreover because Yaskawa is con stantly 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 Nevertheless Yaskawa assumes no responsibility for errors or omissions Neither is any lia...

Page 3: ...servodrives Description of Technical Terms The terms in this manual are defined as follows Servomotor or motor DC power input Σ II Series SGMMJ and SGMAJ servomotor SERVOPACK DC power input Σ II Series SGDJ amplifier Servodrive A set including a servomotor and servo amplifier Servo System A servo control system that includes the combination of a servodrive with a host computer and peripheral devic...

Page 4: ...not been previously explained in this man ual Chapter SERVOPACKs Servomotors and Peripheral Devices Ratings and Character istics System Design Panel Configura tion and Wiring TrialOperation and Servo Adjustment Inspection and Maintenance Chapter 1 Outline 9 Chapter 2 Selections 9 Chapter 3 Specifications and Dimensional Drawings 9 9 9 9 Chapter 4 SERVOPACK Specifications and Dimensional Drawings 9...

Page 5: ...800 34 Provides detailed information on the operating method of JUSP OP02A 2 type Digital Operator option device Σ II Series SERVOPACKs Personal Computer Monitoring Software Operation Manual SIE S800 35 Describes the using and the operating methods on soft ware that changes the local personal computer into the monitor equipment for the Σ II Series servomotor ...

Page 6: ...y operation In some situations the precautions indicated could have serious consequences if not heeded Indicates prohibited actions that must not be performed For example this symbol would be used as follows to indicate that fire is prohibited Indicates compulsory actions that must be performed For example this symbol would be used as follows to indicate that grounding is compulsory The warning sy...

Page 7: ...cuted when an incorrect value is set in Pn205 an incorrect value will be set in the encoder The alarm will disappear even if an incorrect value is set but incorrect positions will be detected resulting in a dangerous situation where the machine will move to unexpected positions Do not remove the cables and connector items while the power is ON Failure to observe this warning may result in electric...

Page 8: ...bles or motor shaft while transporting it Failure to observe this caution may result in injury or malfunction Do not place any load exceeding the limit specified on the packing box Failure to observe this caution may result in injury or malfunction Never use the products in an environment subject to water corrosive gases inflammable gases or combustibles Failure to observe this caution may result ...

Page 9: ... Insert only one wire per terminal on the terminal block Make sure that the core wire is not electrically shorted to adjacent core wires Install the battery at either the host controller or the SERVOPACK of the encoder It is dangerous to install batteries at both simultaneously because that sets up a loop circuit between the batteries Be sure to wire correctly and securely Failure to observe this ...

Page 10: ...io Setting to an incorrect moment of inertia ratio may cause vibration Do not touch the SERVOPACK heatsinks or servomotor while power is ON or soon after the power is turned OFF Failure to observe this caution may result in burns due to high temperatures Do not make any extreme adjustments or setting changes of parameters Failure to observe this caution may result in injury due to unstable operati...

Page 11: ...t you received 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 Yaskawa representative or one of the offices listed on the back of this manual Yaskawa will not ta...

Page 12: ...2 1 Servomotor Model Designations 2 2 2 1 1 Model SGMMJ 2 2 2 1 2 Model SGMAJ 2 4 2 2 SERVOPACK Model Designations 2 6 2 3 SGDJ SERVOPACKs and Applicable Servomotors 2 7 2 4 Selecting Cables 2 8 2 5 Selecting Peripheral Devices 2 12 2 5 1 Special Options 2 12 2 5 2 Molded case Circuit Breaker and Fuse Capacity 2 13 2 5 3 AC DC Power Supply and Power Supply Input Capacitor 2 14 2 5 4 Noise Filters ...

Page 13: ...min 1 3 25 3 6 1 SGMAJ Servomotors 3000 min 1 Without Gears 3 25 3 6 2 SGMAJ Servomotors 3000 min 1 Without Gears and With Brakes 3 28 3 6 3 SGMAJ Servomotors 3000 min 1 With Standard Backlash Gears and Without Brakes 3 30 3 6 4 SGMAJ Servomotors 3000 min 1 With Standard Backlash Gears and Brakes 3 35 3 6 5 SGMAJ Servomotors 3000 min 1 With Low backlash Gears and Without Brakes 3 39 3 7 Dimensiona...

Page 14: ...0 5 3 1 Encoder Cable With Connectors 5 10 5 3 2 Encoder Cable With a SERVOPACK Connector and Encoder Loose Leads 5 10 5 4 Connectors and Cables for Encoder Signals 5 11 5 4 1 Connectors and Cables 5 11 5 5 I O Signal Cables for CN1 Connector 5 13 5 5 1 Standard Cables 5 13 5 5 2 Connector Type and Cable Size 5 13 5 5 3 Connection Diagram 5 15 5 6 Peripheral Devices 5 16 5 6 1 Cables for Connectin...

Page 15: ...e Digital Operator 7 2 7 1 2 Key Names and Functions 7 3 7 1 3 Basic Mode Selection and Operation 7 4 7 1 4 Status Display 7 5 7 2 Operation in Utility Function Mode Fn 7 7 7 2 1 List of Utility Function Modes 7 7 7 2 2 Alarm Traceback Data Display Fn000 7 8 7 2 3 Zero point Search Mode Fn003 7 9 7 2 4 Parameter Settings Initialization Fn005 7 10 7 2 5 Alarm Traceback Data Clear Fn006 7 11 7 2 6 A...

Page 16: ...s 8 28 8 4 2 Selecting an Absolute Encoder 8 29 8 4 3 Handling Batteries 8 29 8 4 4 Replacing Batteries 8 29 8 4 5 Absolute Encoder Setup Fn008 8 30 8 4 6 Absolute Encoder Reception Sequence 8 31 8 4 7 Multiturn Limit Setting 8 35 8 4 8 Multiturn Limit Setting When Multiturn Limit Disagreement A CC Occurred 8 36 8 5 Operating Using Speed Control with Analog Reference 8 37 8 5 1 Setting Parameters ...

Page 17: ...ion 8 74 8 10 1 Setting Parameters 8 74 8 10 2 Switching the Control Mode 8 74 8 11 Other Output Signals 8 76 8 11 1 Servo Alarm Output ALM and Alarm Code Output ALO1 ALO2 ALO3 8 76 8 11 2 Warning Output WARN 8 77 8 11 3 Running Output Signal TGON 8 77 8 11 4 Servo Ready S RDY Output 8 78 9 Adjustments 9 1 Autotuning 9 2 9 1 1 Servo Gain Adjustment Methods 9 2 9 1 2 List of Servo Adjustment Functi...

Page 18: ...cement Schedule 10 19 10 3 Connection to Host Controller 10 20 10 3 1 Example of Connection to MP920 4 axes Analog Module SVA 01 10 20 10 3 2 Example of Connection to CP 9200SH Servo Controller Module SVA SERVOPACK in Speed Control Mode 10 21 10 3 3 Example of Connection to MEMOCON GL120 130 Series Motion Module MC20 10 22 10 3 4 Example of Connection to MEMOCON GL60 70 Series Positioning Module B...

Page 19: ...xix INDEX Revision History ...

Page 20: ...vomotors 1 2 1 1 3 SERVOPACKs 1 3 1 2 Product Part Names 1 4 1 2 1 Servomotors Without Gears and Brakes 1 4 1 2 2 SERVOPACKs 1 5 1 3 Examples of Servo System Configurations 1 6 1 4 Applicable Standards 1 7 1 4 1 North American Safety Standards UL CSA 1 7 1 4 2 CE Marking 1 7 ...

Page 21: ...CK Refer to the descriptions of model numbers in the following section Does the servomotor shaft rotate smoothly The servomotor shaft is normal if it can be turned smoothly by hand Servomotors with brakes however cannot be turned manually Is there any damage Check the overall appearance and check for damage or scratches that may have occurred during shipping AC SERVO MOTOR 10W 3 0 0 0 m i n 1 3795...

Page 22: ...ial number Order number Applicable power supply Applicable motor capacity SERVOPACK model YASKAWA ELECTRIC MADE IN JAPAN SERVOPACK MODEL DC INPUT 24V 4 0A 3PH 0 24V 2 9A 0 05W AC OUTPUT SGDJ A5CP O N S N 60A 194 341 7 D001Y3265990007 UL C R US LISTED ...

Page 23: ...s and Brakes 1 SGMMJ 2 SGMAJ Output shaft Nameplate Back side Encoder connector Servomotor connector Servomotor main circuit cable Encoder cable Encoder Detecting section Nameplate Back side Servomotor main circuit cable Encoder connector Encoder cable Encoder Detecting section Servomotor connector Output shaft ...

Page 24: ...e operated when alarms occurs CN5 Analog monitor connector Used to monitor motor speed torque reference and other values through a special cable Refer to 5 6 3 Cables for Analog Monitor or 9 5 Analog Monitor Refer to 5 6 1 Cables for Connecting Personal Computer and 5 6 2 Digital Operator CN3 Connector for personal computer monitoring and digital operator Used to communicate with a personal comput...

Page 25: ...o 5 7 1 Servomotor SGM J SGDJ C SGDJ E SERVOPACK Power supply Single phase 100 200 VAC Magnetic contactor Turns the servo power supply ON or OFF Install a surge protector Encoder cable Refer to 5 3 5 4 Host controller Refer to 5 6 I O signal cable Personal computer Connection cable for digital operator Connection cable for personal computer Digital operator Refer to 5 7 2 Refer to 5 7 2 Note 24 VD...

Page 26: ...Noise Control Because SERVOPACKs and servomotors are built in type reconfirmation is required after being installed in the final product Model UL 1 Standards UL File No CSA 2 Standards Certifications SERVOPACK SGDJ UL508C E147823 CSA C22 2 No 14 UL Servomotor SGMMJ SGMAJ UL1004 E165827 CSA C22 2 No 100 UL C R US LISTED C R US Model Low Voltage Directive EMC Directive Certifications EMI EMS SERVOPA...

Page 27: ... SGDJ SERVOPACKs and Applicable Servomotors 2 7 2 4 Selecting Cables 2 8 2 5 Selecting Peripheral Devices 2 12 2 5 1 Special Options 2 12 2 5 2 Molded case Circuit Breaker and Fuse Capacity 2 13 2 5 3 AC DC Power Supply and Power Supply Input Capacitor 2 14 2 5 4 Noise Filters Surge Suppressors Magnetic Conductors and Brake Power Supply 2 15 ...

Page 28: ...Code A 2 Remarks Standard Standard Specifications 13 bit incremental encoder 1 17 bit absolute encoder 2 1 The number of encoder pulses 2048 P Rev 2 The number of encoder pulses 32768 P Rev 5th digit Design Revision Order Code A Specifications Fixed 6th digit Shaft End Code 2 A Remarks Standard Option Specifications Straight without flat Straight with flat 1st 2nd digits 3rd digits 4th digits 5th ...

Page 29: ...ications 13 bit incremental encoder 1 17 bit absolute encoder 2 1 The number of encoder pulses 2048 P Rev 2 The number of encoder pulses 32768 P Rev 5th digit Design Revision Order Code A Specifications Fixed 1st 2nd digits Rated Output W Code A1 A2 A3 Rated Output 10 20 30 3rd digit Power Supply Voltage Code C E Voltage 24V 48V 9th digit Brake and Oil Seal Code 1 C Specifications Without brakes 2...

Page 30: ... encoder with super capacitor 13 bit incremental encoder 16 bit incremental encoder The number of encoder pulses 16384 P Rev The number of encoder pulses 2048 P Rev Option 1 1 1 2 1 2 5th digits Design Revision Order 6th digit Shaft End Code 2 4 6 Remarks Standard Option Specifications Straight without key Straight with key Straight with key and tap 7th digit Brake and Oil Seal Code 1 S C E Specif...

Page 31: ...tal encoder 1 The number of encoder pulses 16384 P Rev The number of encoder pulses 2048 P Rev Option 1 2 Specifications Fixed Code A 5th digit Design Revision Order 6th digit Gear Type 8th digit Shaft End Code Code G H J Specifications HDS planetary low backlash gear HDS planetary low backlash gear Standard backlash gear 0 2 6 8 2 6 Code Specifi cations 8th digit Shaft End 9th digit Brake Code 1 ...

Page 32: ...t 2nd digits Rated Output of Applicable Servomotor W 4 digit Control Mode Code S P Remarks For speed and torque control For position control 3 digit Voltage Code E C Voltage 48 VDC 24 VDC DC power supply Σ II series SGDJ SERVOPACK 5th and 7the digits Conformed to SGMMJ Servomotors SERVOPACK for SGMAJ and SGMMJ A2C A3C is blank Code A1 A2 A3 A5 A8 01 02 03 Rated Output 10 20 30 50 80 100 200 300 ...

Page 33: ...rs 2 7 2 2 3 SGDJ SERVOPACKs and Applicable Servomotors Servomotor SGDJ SERVOPACK 24 VDC 48 VDC 24 VDC SGMMJ A1C A1C Y32 A2C A5C A3C A8C SGMAJ A5C A5C A8C A8C 48 VDC SGMMJ A1E A1E Y32 A2E A2E Y32 A3E A3E Y32 SGMAJ A5E A5E 01E 01E 02E 02E 03E 03E ...

Page 34: ...2 Selections 2 8 2 4 Selecting Cables CN4 c d e FG ...

Page 35: ...SP CMP03 03 5 3 2 5 m 16 4 ft JZSP CMP03 05 10 m 32 8 ft JZSP CMP03 10 15 m 49 2 ft JZSP CMP03 15 20 m 65 6 ft JZSP CMP03 20 SERVOPACK end connector kit JZSP CMP9 1 Soldered 5 4 1 Encoder end connector kit JZSP CMP9 2 Soldered Cables 5 m 16 4 ft JZSP CMP09 05 10 m 32 8 ft JZSP CMP09 10 15 m 49 2 ft JZSP CMP09 15 20 m 65 6 ft JZSP CMP09 20 30 m 98 4 ft JZSP CMP19 30 40 m 131 2 ft JZSP CMP19 40 50 m...

Page 36: ...20 SGMAJ Without brakes 3 m 9 84 ft JZSP CJM00 03 5 1 1 5 m 16 4 ft JZSP CJM00 05 10 m 32 8 ft JZSP CJM00 10 15 m 49 2 ft JZSP CJM00 15 20 m 65 6 ft JZSP CJM00 20 SGMAJ With brakes 3 m 9 84 ft JZSP CJM10 03 5 1 2 5 m 16 4 ft JZSP CJM10 05 10 m 32 8 ft JZSP CJM10 10 15 m 49 2 ft JZSP CJM10 15 20 m 65 6 ft JZSP CJM10 20 SGMMJ connector kit without brakes JZSP CFM9 2 5 2 2 SGMMJ connector kit with br...

Page 37: ...OPACK power sup ply input connector kit JZSP CJG9 2 The following connectors sets are available for purchase For the control power supply CN7 For the main circuit power sup ply CN9 5 2 2 SERVOPACK power supply input servomotor ca bles connection connector kit JZSP CJG9 3 The following connectors sets are available for purchase For the control power supply CN7 For the servomotor main circuit CN8 Fo...

Page 38: ... unit JUSP TA36P Terminal block and 0 5 m 1 64 ft connection cable 5 6 4 Cable with loose wires at one end 1 m 3 28 ft JZSP VAI01 1 Loose wires at host controller end 5 5 1 2 m 6 56 ft JZSP VAI01 2 3 m 9 84 ft JZSP VAI01 3 Connector kit JZSP VAI09 5 5 2 Personal computer Digital operator g Host controller I O signal cable c Connection cable for digital operator Analog monitor cable Connection cabl...

Page 39: ...6 56 ft JZSP CMS03 Half pitch 14 pin For PC 98 g Analog Monitor Cable 1 m 3 28 ft JZSP CA01 or DE9404559 5 6 3 h Battery for Absolute Encoder ER6VC3 To connect to a host controller pro vided by a customer 3 6 V 2000 mAh manufactured by Toshiba Battery Co Ltd 5 6 8 cont d Name Length Type Specifications Refer ence CN3 Operator end SERVOPACK end CN3 Personal computer end SERVOPACK end Personal compu...

Page 40: ...the servomotor insert the power supply input capacitor as close as possible to the SERVOPACK so that it is parallel to the output side of the AC DC power supply Control Power Supply Voltage Applicable SERVOPACK Fuse or Molded case Circuit Breaker Specifications Rating Voltage V Rating Current Arms 24 VDC C 30 2 0 48 VDC E 60 1 0 IMPORTANT SERVOPACK Model Applicable SERVOPACK Recommended AC DC Powe...

Page 41: ...select the magnetic conductors according to the total capacity 2 Brake Power Supply The brakes of the SGMMJ and SGMAJ servomotors are 24 VDC The 24 VDC brake power supply must be provided by the customer Be careful when connecting the power supply for 24 VDC brake to the local power supply The local power supply cannot apply the overvoltage such as surge to the output side and the output side may ...

Page 42: ... Data for Servomotors With Gears 3 17 3 5 Dimensional Drawings of SGMMJ Servomotors 3000min 1 3 19 3 5 1 SGMMJ Servomotors 3000min 1 Standard and Without Brakes 3 19 3 5 2 SGMMJ Servomotors 3000min 1 Standard and With Brakes 3 20 3 5 3 SGMMJ Servomotor 3000min 1 With Gears and Without Brakes 3 21 3 5 4 SGMMJ Servomotors 3000min 1 With Gears and Brakes 3 23 3 6 Dimensional Drawings of SGMAJ Servomo...

Page 43: ...s 1800 VAC for one minute Ambient Humidity 20 to 80 no condensation Drive Method Direct drive Voltage For 24 VDC For 48 VDC Servomotor Model SGMMJ A1C A2C A3C A1E A2E A3E Rated Output 1 W 10 20 30 10 20 30 Rated Torque 1 2 N m 0 0318 0 0638 0 0955 0 0318 0 0638 0 0955 oz in 3 4 50 9 03 13 5 4 50 9 03 13 5 Instantaneous Peak Torque 1 N m 0 0955 0 191 0 287 0 0955 0 191 0 287 oz in 3 13 5 27 0 40 6 ...

Page 44: ... Servomotor Capacity W Holding Brake Specifications Capacity W Holding Torque Nxm ozxin Coil Resistance Ω at 20 C 68 F Rated Current A at 20 C 68 F 24 VDC SGMMJ A1 10 2 0 0 0318 4 50 320 0 08 SGMMJ A2 20 2 6 0 0638 9 03 222 0 11 SGMMJ A3 30 2 6 0 0955 13 5 220 0 11 SGMMJ A1C DC24V SGMMJ A2C DC24V 0 1000 2000 3000 4000 5000 1000 2000 3000 4000 5000 0 0 02 0 04 0 06 0 08 0 10 0 0 0 04 0 08 0 12 0 16...

Page 45: ...otation Direction Same direction as servomotor Thermal Class B Servomotor Model SGMMJ Servomotor Gear Output Moment of Inertia J 10 4 kg m2 x 10 3 oz in s2 Out put W Rated Speed min 1 Rated Torque Nxm ozxin Gear Ratio Rated Torque Effi ciency 2 N m oz in Instanta neous Peak Torque N m oz in Rated Speed min 1 Max Speed 1 min 1 Motor Gears Gears A1 AJA 10 3000 0 0318 4 50 1 5 0 127 80 18 0 80 0 43 6...

Page 46: ...ow Withstand Voltage 1000 VAC for one minute Insulation Resistance 500 VDC 10 MΩ min Enclosure Totally enclosed self cooled IP55 except for shaft opening Ambient Temperature 0 to 40 C 32 to 104 F Ambient Humidity 20 to 80 no condensation Excitation Permanent magnet Drive Method Direct drive Mounting Flange method Voltage For 24 VDC For 48 VDC Servomotor Model SGMAJ A5C A8C A5E 01E 02E 03E Rated Ou...

Page 47: ...GMAJ A5C A5E A8C 01E 02E 03E Derating Rate 70 80 90 95 SGMAJ A5C DC24V SGMAJ A8C DC24V 0 1000 2000 3000 4000 5000 0 0 1 0 2 0 3 0 4 0 1000 2000 3000 4000 5000 0 0 1 0 2 0 3 0 4 0 5 0 6 A B A B Motor speed min 1 Motor speed min 1 0 10 20 30 40 50 Torque ozxin Torque Nxm 10 0 20 30 40 50 60 70 80 Torque ozxin Torque Nxm A B A B SGMAJ A5E DC48V SGMAJ 01E DC48V 0 1000 2000 3000 4000 5000 0 0 1 0 2 0 3...

Page 48: ... the servomotor Holding Brake Rated Voltage Servomotor Model Servomotor Capacity W Holding Brake Specifications Capacity W Holding Torque N m oz in Coil Resistance Ω at 20 C Rated Current A at 20 C 24 VDC SGMAJ A5 50 6 0 159 22 5 96 0 25 SGMAJ A8 80 6 0 255 36 1 96 0 25 SGMAJ 01 100 6 0 318 45 0 96 0 25 SGMAJ 02 200 6 9 0 637 338 83 5 0 29 SGMAJ 03 300 6 9 0 955 90 2 83 5 0 29 ...

Page 49: ...Nxm ozxin Gear Ratio Rated Torque Effi ciency 2 N m oz in Instanta neous Peak Torque N m oz in Rated Speed min 1 Max Speed 1 min 1 Motor Gears Gears A5 AJ1 50 3000 0 159 22 5 1 5 0 557 70 78 9 70 1 92 272 600 800 0 050 0 708 0 028 0 396 A5 AJ3 3 31 1 15 70 163 70 3 95 559 290 387 0 040 0 566 0 018 0 255 A5 AJC 1 21 2 67 80 378 80 9 07 1284 143 190 0 036 0 510 0 014 0 198 A5 AJ7 1 33 4 20 80 595 80...

Page 50: ...E AJ7 1 33 16 8 80 2379 80 56 7 8029 91 121 0 181 2 56 0 075 1 06 03E AJ1 300 0 955 135 1 5 3 82 80 541 80 17 2 2436 600 800 0 366 5 18 0 193 2 73 03E AJ3 3 31 7 89 80 1117 80 35 5 5027 290 387 0 353 5 00 0 180 2 55 03E AJC 1 21 16 0 80 2266 80 72 2 10224 143 190 0 403 5 71 0 230 3 26 03E AJ7 1 33 25 2 80 3568 80 113 0 16001 91 121 0 338 4 79 0 165 2 34 cont d Servomotor Model SGMAJ Servomotor Gea...

Page 51: ...xin Gear Ratio Rated Torque Effi ciency 2 N m oz in Instanta neous Peak Torque N m oz in Rated Speed min 1 Max Speed 1 min 1 Motor Gears Gears A5 AH1 50 3000 0 159 22 5 1 5 0 557 70 78 9 70 1 92 272 600 800 0 058 0 821 0 036 0 510 A5 AH2 1 9 1 00 70 142 70 3 89 551 333 444 0 055 0 779 0 033 0 467 A5 AHC 1 21 2 67 80 378 80 9 12 1291 143 190 0 040 0 566 0 018 0 255 A5 AH7 1 33 4 2 80 595 80 14 3 20...

Page 52: ... 2733 273 363 0 191 2 70 0 085 1 20 02E AHC 1 21 11 4 85 1614 85 37 3 5282 143 190 0 216 3 06 0 110 1 56 02E AH7 1 33 17 9 85 2535 85 58 6 3 8298 91 121 0 171 2 42 0 065 0 920 03E AH1 300 0 955 135 1 5 4 06 85 575 85 17 2 2436 600 800 0 508 7 19 0 335 4 74 03E AHB 1 11 8 93 85 1264 85 35 3 4956 273 363 0 368 5 21 0 195 0 276 03E AHC 1 21 17 0 85 2407 85 72 2 10224 143 190 0 368 5 21 0 195 0 276 03...

Page 53: ...storage 20 to 60 C 4 to 140 F Ambient humidity during storage 80 RH or less with no condensation Installation Site Servomotors are designed for indoor use Install the servomotor in environments that satisfy the follow ing conditions Free of corrosive or explosive gases Well ventilated and free of dust and moisture Ambient temperature of 0 to 40 C 32 to 104 F Relative humidity of 20 to 80 with no c...

Page 54: ...re there are no bends or tension on the power lines Especially be careful to wire signal line cables so that they are not subject to stress because the core wires are very thin at only 0 2 to 0 3 mm 0 0079 to 0 012 in Connectors Observe the following precautions Make sure there is no foreign matters such as dust and metal chips in the connector before connect ing When the connectors are connected ...

Page 55: ...site the load do not apply shock to the shaft Failure to observe this caution may result in damage to the product 4 Vibration Resistance Mount the servomotor with the axis horizontal The servomotor will withstand the following vibration accelera tion in three directions Vertical side to side and front to back Vibration acceleration at flange 49 m s2 Tolerance T I R Total Indicator Reading Standard...

Page 56: ...sional drawing of the individual servomotor 2 Direction of Servomotor Rotation Positive rotation of the servomotor is counterclockwise when viewed from the load Same as for servomotors with gears Vibration Class A vibration class of 15 µm or below indicates a total vibration amplitude of 15 µm maximum on the servomotor during rated rotation TERMS Position for measuring vibration Tolerance T I R To...

Page 57: ...wing vibration accelera tion in three directions Vertical side to side and front to back Vibration accelerationat flange 49 m s2 5 Vibration Class The vibration class for the servomotors at rated motor speed is 15 µm or below 6 Protective Structure The standard protection class for the protective structure is IP55 except for shaft opening Vertical Impact applied to the servomotor Vertical Front to...

Page 58: ... Rated Torque Nxm The rated output torque of the motor is the gear input torque The rated torque is this value multiplied by the inverse of the gear ratio and efficiency Lost Motion arc min Angular difference in the screw with a 5 rated torque load Maximum value at any four positions during output 15 max 3 max Torsion Rigidity arc min Highest torsion angle value on one side with a rated torque loa...

Page 59: ... torque and motor speed produce the following trends in efficiency The values in the tables Ratings and Specifications of SGMMJ and SGMAJ Servomotors with Gears are at the rated motor torque and rated motor speed 3000 min 1 Output torque Motor speed Efficiency Efficiency ...

Page 60: ...4 7 3 30 A1 AA1 Applied A2 A21 87 3 43 71 2 80 36 5 1 44 Not applied 170 375 44 1 9 91 A2 AA1 Applied A3 A21 97 3 82 81 3 19 46 5 1 83 Not applied 210 463 A3 AA1 Applied φ28 φ1 10 4 5 4 0 16 16 0 63 2 M3 Tap Depth 5 Shaft End 25 0 98 4 5 0 18 0 5 0 02 L L1 16 0 63 0 04 0 0016 A 300 11 81 30 1 18 300 11 81 30 1 18 Protective tube φ5 φ0 20 Black Encoder cable UL20276 Motor cable AWG24 UL10095 or UL3...

Page 61: ...16 0 63 L φ28 φ1 10 4 5 Shaft End φ5h6 Holding brake de energization operation Voltage 24VDC Brake holding torque Rated motor torque Warning label 10 0 39 2 5 0 10 0 04 0 0016 4 5 0 18 0 5 0 02 4 0 16 16 0 63 25 0 98 2 M3 Tap Depth 5 φ5h6 φ5 0 φ0 20 0 0 008 0 0003 φ20h7 φ20 0 φ0 79 0 0 021 0 0008 Units mm in Model SGMMJ L L1 L2 Flat Approx Mass kg lb Allowable Radial Load N lbf Allowable Thrust Lo...

Page 62: ...12 3 0 12 6 2 0 24 300 11 81 30 1 18 300 11 81 30 1 18 Nameplate Warning label 0 06 0 0024 φ0 05 φ0 0020 2 M3 Tap Depth 4 M3 Tap Depth 6 4 0 16 16 0 63 25 0 98 φ8h6 φ8 0 φ0 315 0 0 009 0 0004 φ20h7 φ20 0 φ0 79 0 0 021 0 0008 Units mm in Model SGMMJ L L1 L2 Key Tap Depth Approx Mass kg lb Allowable Radial Load N lbf Allowable Thrust Load N lbf A1 AJA21 113 5 4 47 95 5 3 76 61 2 40 None No tap 240 5...

Page 63: ...be φ5 φ0 20 Black Encoder cable UL20276 Motor cable AWG24 UL10095 or UL3266 3 0 12 40 1 57 4 φ3 4 φ0 13 through hole 4 R3 φ47 φ1 85 300 11 81 30 1 18 Nameplate Warning label 0 06 0 0024 3 0 12 7 2 0 28 M3 Tap Depth 6 Shaft End View Y Y φ9h7 φ9 0 φ0 35 0 0 015 0 0006 φ28h7 φ 0 φ1 10 0 0 021 0 0008 Units mm in Model SGMMJ Key Tap Depth Approx Mass kg lb Allowable Radial Load N lbf Allowable Thrust L...

Page 64: ...ning label 7 5 0 30 18 0 71 3 0 12 φ0 05 φ0 0020 0 06 0 0024 M3 Tap Depth 6 3 0 12 3 0 12 6 2 0 24 φ28 φ1 10 Holding brake de energization operation Voltage 24VDC Brake holding torque Rated motor torque φ8h6 φ8 0 φ0 315 0 0 009 0 0004 φ20h7 φ20 0 φ0 79 0 0 021 0 0008 Units mm in Model SGMMJ L L1 L2 Key Tap Depth Approx Mass kg lb Allowable Radial Load N lbf Allowable Thrust Load N lbf A1 AJA2C 142...

Page 65: ...ive tube φ6 φ0 24 Black Encoder cable UL20276 Motor cable AWG24 UL10095 or UL3266 φ47 φ1 85 4 R3 300 11 81 30 1 18 300 11 81 30 1 18 Nameplate Warning label 0 06 0 0024 Shaft End View Y Y M3 Tap Depth 6 3 0 12 3 0 12 7 2 0 28 40 1 57 4 φ3 4 φ0 13 through hole Holding brake de energization operation Voltage 24VDC Brake holding torque Rated motor torque φ9h7 φ9 0 φ0 35 0 0 015 0 0006 φ28h7 φ28 0 φ1 ...

Page 66: ...φ0 24 W U φSh6 φ30h7 A A A 0 02 0 0008 Shaft End 18 0 71 6 0 24 φ14 φ0 55 300 11 81 30 1 18 35 1 38 Motor cable φ7 φ0 28 Motor plug Encoder plug 300 11 81 30 1 18 0 04 0 0016 φ0 04 φ0 0016 9 6 0 38 22 0 87 5 0 20 2 5 0 10 25 0 98 φ30 0 φ1 181 0 0 021 0 00083 2 φ4 3 φ0 17 Tap Depth See the following table Units mm in Model SGMAJ L LL LM Tap Depth U W T Approx Mass kg lb Allowable Radial Load N lbf ...

Page 67: ... W L LM LL LR LE LG QK Y Y 7 0 28 7 0 28 17 0 67 φLBh7 φSh6 UL20276 A 0 04 0 0016 A φ0 04 φ0 0016 A 300 11 81 30 1 18 Encoder cable φ6 φ0 24 Encoder plug 300 11 81 30 21 18 35 1 38 Motor cable φ7 φ0 28 Motor plug 9 5 0 37 26 5 1 04 13 0 51 Serial encoder 0 02 0 0008 Tap Depth See the following table 21 0 83 Units mm in Model SGMAJ L LL LM LR LE LG LA LC LZ 02E A21 126 5 4 98 96 5 3 80 63 2 48 30 1...

Page 68: ...d Dimensional Tolerances Units mm in Model SGMAJ Tap Depth QK U W T Approx Mass kg lb Allowable Radial Load N lbf Allowable Thrust Load N lbf 02E A21 No tap No key 1 1 2 4 245 55 74 17 02E A41 20 0 79 3 0 12 5 0 20 5 0 20 02E A61 M5 8L 03E A21 No tap No key 1 7 3 7 245 55 74 17 03E A41 20 0 79 3 0 12 5 0 20 5 0 20 03E A61 M5 8L INFO Units mm in Model SGMAJ Shaft end Dimensions Flange Face Dimensio...

Page 69: ... A2 133 5 5 26 108 5 4 27 44 0 1 73 No tap No key 0 7 1 54 68 15 54 12 A5 A4 1 2 0 047 2 0 079 2 0 079 A5 A6 M2 5 5L A8C A2 160 6 30 135 5 31 61 5 2 42 No tap No key 0 8 1 76 78 18 54 12 A8C A4 1 8 0 071 3 0 12 3 0 12 A8C A6 M3 6L 01E A2 160 0 6 30 135 0 5 31 61 5 2 42 No tap No key 0 8 1 76 78 18 54 12 01E A4 1 8 0 071 3 0 12 3 0 12 01E A6 M3 6L Shaft End U L LL LM 3 0 12 17 0 67 φ30h7 φSh6 φ45 φ...

Page 70: ...62 5 2 46 30 1 18 6 0 24 60 2 36 70 2 76 5 5 0 22 02E A4 02E A6 03E A2 194 7 64 164 6 46 90 5 3 56 30 1 18 6 0 24 60 2 36 70 2 76 5 5 0 22 03E A4 03E A6 φLBh7 QK Y Y φSh6 A 0 02 0 0008 A φ0 04 φ0 0016 A 0 04 0 0016 L LL LR LM LG 7 0 28 φLA 4 φLZ LC Shaft End T U W UL20276 17 0 67 φ14 φ0 55 Sealants 300 11 81 30 1 18 35 1 38 Encoder cable φ6 φ0 24 Motor cable φ7 φ0 28 Motor plug Encoder plug 300 11...

Page 71: ...oad N lbf Allowable Thrust Load N lbf 02E A2 No tap No key 1 6 3 53 245 55 74 17 02E A4 20 0 79 3 0 12 5 0 20 5 0 20 02E A6 M5 8L 03E A2 No tap No key 2 2 4 85 245 55 74 17 03E A4 20 0 79 3 0 12 5 0 20 5 0 20 03E A6 M5 8L INFO Units mm in Model SGMAJ Shaft end Dimensions Flange Face Dimensions S LB 02E A2 02E A4 02E A6 03E A2 03E A4 03E A6 14 0 0 011 0 5512 0 0 00043 50 0 0 025 1 9685 0 0 00098 14...

Page 72: ... 2 24 63 2 48 65 2 56 30 1 18 30 1 18 14 5 0 57 28 1 10 25 0 98 16 0 63 01E AJ3 1 3 31 191 5 7 54 131 5 5 18 98 5 3 88 60 2 36 9 0 35 57 2 24 63 2 48 65 2 56 30 1 18 30 1 18 14 5 0 57 28 1 10 25 0 98 16 0 63 01E AJC 1 1 21 227 8 94 153 6 02 120 4 72 74 2 91 10 0 39 69 2 72 83 3 27 85 3 35 36 1 42 38 1 50 19 5 0 77 36 1 42 32 1 26 20 0 79 01E AJ7 1 1 33 227 8 94 153 6 02 120 4 72 74 2 91 10 0 39 69...

Page 73: ...epth LC LA LZ U W T Approx Mass kg lb Allowable Radial Load N lbf Allowable Thrust Load N lbf INFO Units mm in Model SGMAJ Flange Face Dimensions Shaft end Dimensions LB S A5 AJ1 1 A5 AJ3 1 A5 AJC 1 A5 AJ7 1 A8C AJ1 1 A8C AJ3 1 A8C AJC 1 A8C AJ7 1 01 AJ1 1 01 AJ3 1 01 AJC 1 01 AJ7 1 56 0 0 030 2 20 0 0 0012 14 0 0 018 0 55 0 0 0007 65 0 0 030 2 56 0 0 0012 16 0 0 018 0 63 0 0 0007 65 0 0 030 2 56 ...

Page 74: ...1 73 23 0 91 42 1 65 36 1 42 25 0 98 03E AJ1 1 1 5 240 9 45 166 6 54 133 5 24 74 2 91 4 0 16 10 0 39 69 2 72 83 3 27 85 3 35 36 1 42 38 1 50 19 5 0 77 36 1 42 32 1 26 20 0 79 03E AJ3 1 3 31 256 5 10 10 172 5 6 79 139 5 47 84 3 31 4 0 16 12 0 47 82 3 23 98 3 86 100 3 94 40 1 57 44 1 73 23 0 91 42 1 65 36 1 42 25 0 98 03E AJC 1 1 21 305 5 12 03 200 5 7 89 167 6 57 105 4 13 5 0 20 13 0 51 93 3 66 112...

Page 75: ...4 72 135 5 31 11 0 43 M8 16L 5 0 20 10 0 39 8 0 31 6 4 14 1 755 171 Units mm in cont d Model SGMAJ Gear Ratio LC LA LZ Tap Depth U W T Approx Mass kg lb Allowable Radial Load N lbf Allowable Thrust Load N lbf INFO Units mm in Model SGMAJ Flange Face Dimensions Shaft end Dimensions LB S 02E AJ1 1 02E AJ3 1 02E AJC 1 02E AJ7 1 03E AJ1 1 03E AJ3 1 03E AJC 1 03E AJ7 1 85 0 0 035 3 35 0 0 0014 20 0 0 0...

Page 76: ... 1 18 30 1 18 14 5 0 57 28 1 10 25 0 98 16 0 63 A5 AJ7 1 33 223 8 78 163 6 42 94 0 3 70 60 2 36 9 0 35 57 2 24 63 2 48 65 2 56 30 1 18 30 1 18 14 5 0 57 28 1 10 25 0 98 16 0 63 A8C AJ1 1 1 5 232 9 13 172 6 77 98 5 3 88 60 2 36 9 0 35 25 0 98 63 2 48 65 2 56 30 1 18 30 1 18 14 5 0 57 28 1 10 25 0 98 16 0 63 A8C AJ3 1 3 31 232 9 13 172 6 77 98 5 3 88 60 2 36 9 0 35 25 0 98 63 2 48 65 2 56 30 1 18 30...

Page 77: ...5 6 6 0 26 M4 8L 3 0 12 5 0 20 5 0 20 1 6 3 5 175 40 145 33 A8C AJ3 1 3 31 70 2 76 80 3 15 6 6 0 26 M4 8L 3 0 12 5 0 20 5 0 20 1 6 3 5 215 49 A8C AJC 1 1 21 90 3 54 105 4 13 9 0 35 M5 10L 3 5 0 14 6 0 24 6 0 24 2 7 6 0 455 103 235 53 A8C AJ7 1 1 33 90 3 54 105 4 13 9 0 35 M5 10L 3 5 0 14 6 0 24 6 0 24 2 7 6 0 480 109 01E AJ1 1 5 70 2 76 80 3 15 6 6 0 26 M4 8L 3 0 12 5 0 20 5 0 20 1 6 3 5 175 40 14...

Page 78: ... LG B LD LB L1 L2 L3 Q QK S 02E AJ1 1 5 251 5 9 90 177 5 6 99 104 5 4 11 74 2 91 4 0 16 10 0 39 69 2 72 83 3 27 85 3 35 36 1 42 38 1 50 19 5 0 77 36 1 42 32 1 26 20 0 79 02E AJ3 3 31 251 5 9 90 177 5 6 99 104 5 4 11 74 2 91 4 0 16 10 0 39 69 2 72 83 3 27 85 3 35 36 1 42 36 1 42 19 5 0 77 36 1 42 32 1 26 20 0 79 02E AJC 1 21 289 11 38 205 8 07 132 5 20 84 3 31 4 0 16 12 0 47 82 3 23 98 3 86 100 3 9...

Page 79: ... 0 28 4 7 10 4 585 132 290 66 02E AJ7 1 33 105 4 13 120 4 72 9 0 35 M6 12L 4 0 16 8 0 31 7 0 28 4 7 10 4 635 133 03E AJ1 1 5 90 3 54 105 4 13 9 0 35 M5 10L 3 5 0 14 6 0 24 6 0 24 3 9 8 6 275 62 235 53 03E AJ3 3 31 105 4 13 120 4 72 9 0 35 M6 12L 4 0 16 8 0 31 7 0 28 4 8 10 6 460 104 290 66 03E AJC 1 21 120 4 72 135 5 31 11 0 43 M8 16L 5 0 20 10 0 39 8 0 31 6 9 15 2 655 149 310 70 03E AJ7 1 33 120 ...

Page 80: ... 84 90 0 3 54 60 2 36 8 0 31 9 0 35 40 1 57 64 5 2 54 65 2 56 30 1 18 30 1 18 22 0 87 28 1 10 25 0 98 16 0 63 A8C AH1 1 1 5 183 5 7 22 123 5 4 86 90 5 3 56 60 2 36 8 0 31 9 0 35 40 1 57 64 5 2 54 65 2 56 30 1 18 30 1 18 21 0 83 28 1 10 25 0 98 16 0 63 A8C AHB 1 1 11 200 5 7 89 140 5 5 53 107 5 4 23 60 2 36 8 0 31 9 0 35 40 1 57 64 5 2 54 65 2 56 30 1 18 30 1 18 21 0 83 28 1 10 25 0 98 16 0 63 A8C ...

Page 81: ...1 1 1 5 70 2 76 80 3 15 6 6 0 26 M4 8L 3 0 12 5 0 20 5 0 20 1 2 2 7 167 38 147 33 A8C AHB 1 1 11 70 2 76 80 3 15 6 6 0 26 M4 8L 3 0 12 5 0 20 5 0 20 1 4 3 1 216 49 A8C AHC 1 1 21 90 3 54 105 4 13 9 0 35 M5 10L 3 5 0 14 6 0 24 6 0 24 2 7 6 0 392 89 235 53 A8C AH7 1 1 33 90 3 54 105 4 13 9 0 35 M5 10L 3 5 0 14 6 0 24 6 0 24 2 7 6 0 431 98 01E AH1 1 1 5 70 2 76 80 3 15 6 6 0 26 M4 8L 3 0 12 5 0 20 5 ...

Page 82: ...LD LB L1 L2 L3 Q QK S 02E AH1 1 1 5 208 5 8 21 134 5 5 30 101 3 98 74 2 91 7 5 0 30 10 0 39 59 2 32 84 3 31 85 3 35 36 1 42 38 1 50 26 1 02 36 1 42 32 1 26 20 0 79 02E AHB 1 1 11 225 5 8 88 151 5 5 97 118 4 65 74 2 91 7 5 0 30 10 0 39 59 2 32 84 3 31 85 3 35 36 1 42 38 1 50 26 1 02 36 1 42 32 1 26 20 0 79 02E AHC 1 1 21 243 5 9 59 159 5 6 28 126 4 96 84 3 31 12 0 47 12 0 47 59 2 32 96 3 78 100 3 9...

Page 83: ... 7 8 2 549 124 294 67 02E AH7 1 1 33 105 4 13 120 4 72 9 0 35 M6 12L 4 0 16 8 0 31 7 0 28 3 8 8 4 608 138 03E AH1 1 1 5 90 3 54 105 4 13 9 0 35 M5 10L 3 5 0 14 6 0 24 6 0 24 3 6 7 9 245 56 235 53 03E AHB 1 1 11 105 4 13 120 4 72 9 0 35 M6 12L 4 0 16 8 0 31 7 0 28 4 3 9 5 441 100 294 67 03E AHC 1 1 21 120 4 72 135 5 31 11 0 43 M8 16L 5 0 20 10 0 39 8 0 31 4 7 10 4 568 129 314 71 03E AH7 1 1 33 120 ...

Page 84: ... with oil seals the external dimensions of output shafts differ as shown below Model SGMAJ A5 A8 01 SGMAJ 02 03 Capacity 50 W to 100 W 200 to 300 W Dimen sions of Output Shaft mm in LO 7 5 0 30 10 0 39 DO φ28 φ1 10 φ48 φ1 89 QK 14 0 55 14 0 55 LB Dimensional Drawing φ30 φ1 181 0 0 021 0 0 00083 φ50 φ1 9685 0 0 025 0 0 00098 LO Oil Seal QK DO LB ...

Page 85: ...ed and Torque Control SGDJ S 4 7 4 3 2 Position Control SGDJ P 4 8 4 4 SERVOPACK s Power Supply Capacities and Power Losses 4 9 4 5 SERVOPACK Overload Characteristics and Allowable Load Moment of Inertia 4 10 4 5 1 Overload Characteristics 4 10 4 5 2 Starting and Stopping Time 4 11 4 5 3 Load Moment of Inertia 4 11 4 5 4 Overhanging Loads 4 12 4 6 Dimensional Drawings 4 13 4 6 1 24 VDC 10 50 W A1C...

Page 86: ...pplied within the specified voltage range An incorrect input power supply may result in damage to the SERVOPACK Be sure to set the voltage within the specified range CAUTION Power Supply Voltage 24 VDC 48 VDC SERVOPACK Model SGDJ A5CS A8CS A5ES 01ES 02ES 03ES A5CP A8CP A5EP 01EP 02EP 03EP Input Power Supply Main Circuit 24 VDC 15 48 VDC 15 Control Circuit 24 VDC 15 48 VDC 15 Input Current Arms 4 0...

Page 87: ...ut Signals Speed Reference Input Reference Voltage 3 6 VDC Variable setting range 2 to 10 VDC at rated torque servomotor forward rotation with positive reference input voltage maximum 12 V Applicable N A Input Impedance About 14 kΩ Applicable N A Circuit Time Constant About 47 µs Applicable N A Torque Reference Input Reference Voltage 3 3 VDC Variable setting range 1 to 10 VDC at rated torque posi...

Page 88: ...g speed limiting brake released warning selecting three of the NEAR signals Applicable Applicable Internal Func tions Dynamic Brake Operated at main power OFF servo alarm servo OFF or overtravel Applicable Applicable Overtravel Stop Dynamic brake stop at P OT or N OT deceleration to a stop or coast to a stop Applicable Applicable Electronic Gear 0 01 B A 100 N A Applicable Protection Overcurrent o...

Page 89: ...ature around the SERVOPACK does not exceed 40 C 104 F Installation Near a Heating Unit Minimize the heat radiating from the heating unit as well as any temperature rise caused by natural convec tion so the temperature around the SERVOPACK does not exceed 40 C 104 F Installation Near a Source of Vibration Install a vibration isolator on the SERVOPACK to avoid subjecting it to vibration Installation...

Page 90: ... side Installation When installing SERVOPACKs side by side as shown in the figure above allow at least 10 mm 0 39 in between and at least 50 mm 1 97 in above and below each SERVOPACK Install cooling fans above the SERVOPACKs to avoid excessive temperature rise and to maintain even temperature inside the control panel Environmental Conditions in the Control Panel Ambient Temperature 0 to 40 C 32 to...

Page 91: ... CN1 CN4 PG M K1 5 V 5 V 5 V CN8 FET1 6 U V W AC DC converter CHARGE FU2 Speed torque reference input Sequence I O Noise filter Voltage sensor Relay drive Gate drive over current protector Interface Current sensor Servomotor Analog voltage converter Analog monitor output for supervision Digital operator or personal computer CPU Speed calculation etc ASIC PWM control etc PG output DC DC converter ...

Page 92: ...N1 CN4 PG M K1 5 V 5 V 5 V CN8 FET1 6 U V W CHARGE FU2 AC DC converter Sequence I O Reference pulse input Noise filter Voltage sensor Relay drive Gate drive over current protector Interface Current sensor Servomotor Analog voltage converter Analog monitor output for supervision Digital operator or personal computer CPU Position calculation etc ASIC PWM control etc PG output DC DC converter ...

Page 93: ... losses at the rated output SERVOPACK Model SGDJ Input Output Power Loss Voltage Current Continuous Current Arms Max Current Arms Rated Output kW Main Circuit Loss W Control Circuit Loss W Total Power Loss W A5C 24 VDC 4 0 3 2 6 6 0 05 7 9 16 A8C 6 0 6 5 13 3 0 08 10 9 19 A5E 48 VDC 1 9 2 1 4 5 0 55 6 8 14 01E 3 5 2 8 5 7 0 1 10 8 18 02E 6 7 6 4 12 6 0 2 20 8 28 03E 9 7 8 6 16 8 0 3 30 8 38 ...

Page 94: ...rom overload Allowable power for the SERVOPACKs is limited by the overload protective function as shown in the figure below The overload detection level is set under hot start conditions at a servomotor ambient temperature of 40 C 104 F Hot Start A hot start indicates that both the SERVOPACK and the servomotor have run long enough at the rated load to be thermally saturated TERMS Operating time s ...

Page 95: ... depends on motor capacity and is limited to within 30 times the moment of inertia of each servomotor JM This value is provided strictly as a guideline and results may vary depending on servomotor drive conditions An overvoltage alarm is likely to occur during deceleration if the load moment of inertia exceeds the allowable load moment of inertia Take one of the following steps if this occurs Redu...

Page 96: ...eeding Motor Drive Fig 4 1 Examples of Overhanging Loads Never operate servomotors with an overhanging load Doing so will cause the SERVOPACKs regenerative brake to be applied continuously and the regenerative energy of the load may exceed the allowable range causing damage to the SERVOPACK The regenerative brake capacity of the SGDM SERVOPACKs is rated for short term operation approximately equiv...

Page 97: ...ng diagrams Note The terminal block connector is not attached to the SGDJ SERVOPACK The terminal block connector must be provided by customer Mounting Hole Diagram 160 6 30 160 6 30 35 1 38 35 1 38 20 0 79 7 0 28 5 0 20 5 0 20 CN5 CN8 CN9 CN4 CN7 CN3 CN1 3 M4 tap Mounting Pitch 150 0 5 5 91 0 02 YASKAWA ELECTRIC MADE IN JAPAN 3 M4 tap Depth 10mm 0 39 max 82 3 23 20 0 79 140 5 51 9 0 35 11 0 43 120...

Page 98: ...Cables for CN4 Connector 5 10 5 3 1 Encoder Cable With Connectors 5 10 5 3 2 Encoder Cable With a SERVOPACK Connector and Encoder Loose Leads 5 10 5 4 Connectors and Cables for Encoder Signals 5 11 5 4 1 Connectors and Cables 5 11 5 5 I O Signal Cables for CN1 Connector 5 13 5 5 1 Standard Cables 5 13 5 5 2 Connector Type and Cable Size 5 13 5 5 3 Connection Diagram 5 15 5 6 Peripheral Devices 5 1...

Page 99: ...MJ 2 SGMAJ Units m ft Cable Type Cable Length L JZSP CDM00 03 3 9 84 JZSP CDM00 05 5 16 40 JZSP CDM00 10 10 32 81 JZSP CDM00 15 15 49 21 JZSP CDM00 20 20 65 62 Heat shrinkable tube Plug 5559 04P Terminal 5558T L 35 1 38 50 1 97 Servomotor end Units mm in SERVOPACK end Housing 721 105 026 000 Manufactured by WAGO Company of Japan Ltd Units m ft Cable Type Cable Length L JZSP CJM00 03 3 9 84 JZSP CJ...

Page 100: ...inal Wire markers Heat shrinkable tube 35 1 38 50 1 97 Servomotor end Units mm in SERVOPACK end Housing 721 105 026 000 Manufactured by WAGO Company of Japan Ltd Units m ft Cable Type Cable Length L JZSP CJM10 03 3 9 84 JZSP CJM10 05 5 16 40 JZSP CJM10 10 10 32 81 JZSP CJM10 15 15 49 21 JZSP CJM10 20 20 65 62 L Cap 350781 1 6 pin Socket 350536 6 Chained Manufactured by Tyco Electronics AMP K K Wir...

Page 101: ...utput shaft Encoder connector Servomotor connector Servomotor cable Encoder cable Nameplate Back side Encoder Detecting section SERVOPACK Model SGDJ Main Circuit Power Input Terminal CN9 Motor Connection Terminal CN8 Control Power Input Terminal CN7 A5C AWG16 HIV1 25 or more AWG16 HIV1 25 or more AWG16 HIV1 25 or more A8C A5E 01E 02E AWG14 HIV2 0 or more AWG14 HIV2 0 or more 03E ...

Page 102: ...anufacturer Cap 5559 04P Molex Japan Co Ltd Socket 5558TL Pin No Signal Lead Color 1 Phase U Red 2 Phase V White 3 Phase W Blue 4 FG Green Yellow Connector on servomotor Servomotor main circuit connector Units mm in 2 1 3 4 Type Manufacturer Cap 5559 06P Molex Japan Co Ltd Socket 5558TL Pin No Signal Lead Color Remarks 1 Phase U Red 2 Phase V White 3 Phase W Blue 4 FG Green Yellow 5 Brake terminal...

Page 103: ...onics AMP K K Socket 350570 3 or 350689 3 Soldered type 14 7 0 58 27 4 1 08 7 6 0 30 4 1 27 7 1 09 Connector on servomotor Servomotor main circuit connector Units mm in Pin No Signal Lead Color 1 Phase U Red 2 Phase V White 3 Phase W Blue 4 FG Green Yellow Type Manufacturer Cap 350781 1 Tyco Electronics AMP K K Socket 350570 3 or 350689 3 Soldered type Pin No Signal Lead Color Remarks 1 Phase U Re...

Page 104: ...7 Control power input connector 721 102 026 000 WAGO Company of Japan Ltd CN9 Main circuit power input connector 721 203 026 000 Pin No Signal Terminal Name Item 1 C1 Control power input 24 48 VDC terminal 2 C2 Control power input DC ground terminal Pin No Signal Terminal Name Item 1 C1 Control power input 24 48 VDC terminal 2 C2 Control power input DC ground terminal 3 FG G Ground terminal Motor ...

Page 105: ... 102 026 000 WAGO Company of Japan Ltd CN8 Motor connection connector 721 105 026 000 CN9 Main circuit power input connector 721 203 026 000 Pin No Signal Terminal Name Item 1 C1 Control power input 24 48 VDC terminal 2 C2 Control power input DC ground terminal Pin No Signal Terminal Name Item 1 FG G Ground terminal Motor ground terminal 2 Empty Do not connect 3 U Motor phase U connection terminal...

Page 106: ...h cage 721 203 026 000 WAGO Company of Japan Ltd Pin No Signal Terminal Name Item 1 C1 Control power input 24 48 VDC terminal 2 C2 Control power input DC ground terminal 3 FG G Ground terminal Ground terminal 7 5 0 30 7 5 0 30 1 5 0 06 5 0 20 21 5 0 85 Units mm in 1 pin Latch Coding finger 8 5 0 33 18 0 71 26 5 1 04 14 5 0 57 ...

Page 107: ...d connector Molex Japan Co Ltd Encoder end Finished dimension φ6 5 mm φ0 26 in SERVOPACK end L Soldered socket connector Molex Japan Co Ltd Cable Type Cable Length L Dimensional Drawing JZSP CMP03 03 3 m 9 84 ft JZSP CMP03 05 5 m 16 40 ft JZSP CMP03 10 10 m 32 81 ft JZSP CMP03 15 15 m 49 21 ft JZSP CMP03 20 20 m 65 62 ft Encoder end SERVOPACK end Crimped connector Molex Japan Co Ltd L 60 mm 2 36 i...

Page 108: ...m 164 04 ft Wiring Distance Cable Type Cable Length Cable Type Cable Length JZSP CMP09 05 5 m 16 40 ft JZSP CMP19 30 30 m 98 43 ft JZSP CMP09 10 10 m 32 81 ft JZSP CMP19 40 40 m 131 23 ft JZSP CMP09 15 15 m 49 21 ft JZSP CMP19 50 50 m 164 04 ft JZSP CMP09 20 20 m 65 62 ft Units mm in Model Manufacturer Dimensional Drawing JZSP CMP9 1 Molex Japan Co Ltd Plug connector Soldered 18 4 0 72 11 0 43 33 ...

Page 109: ...on and Lead Colors Yaskawa Standard Specifications Standard Length 5 m 16 40 ft 10 m 32 81 ft 15 m 49 21 ft 20 m 65 62 ft 30 m 98 43 ft 40 m 131 23 ft 50 m 164 04 ft Light blue Light blue White Orange Orange White Red Black Red Orange White Orange Light blue White Light blue Black 16 bit or 17 bit Serial Absolute Encoder Connection Specifications 13 bit Serial Incremental Encoder Connection Specif...

Page 110: ...onnector Manufactured by Sumitomo 3M Ltd 1 Dimensional Drawing of Case Cable Type Cable Length L JZSP VAI01 1 1 m 3 28 ft JZSP VAI01 2 2 m 6 56 ft JZSP VAI01 3 3 m 9 84 ft 100 3 94 10 0 Cable black Units mm in UL20276 VW 1SC SERVOPACK end Connector 10136 3000VE 36P Shell 10336 52S0 00S 0 39 0 Terminal number seal Finished dimension φ6 8 mm φ0 27in L 1 2 36 SSRFPVV SB AWG 28 18P Connector Type Case...

Page 111: ...nector 3 Cable Size 2 54 0 10 Units mm in 1 27 0 05 Pin No 19 Pin No 1 27 8 1 09 21 59 0 85 15 1 27 0 05 32 2 1 27 5 1 0 20 6 6 0 26 19 3 0 76 2 9 0 11 2 3 0 09 12 7 0 50 9 1 0 36 7 5 0 30 Pin No 2 Item Specifications Cable Use twisted pair or twisted pair shielded wire Applicable Wires AWG24 26 28 30 Finished Dimension φ16 mm φ0 63 in or less ...

Page 112: ...33 34 35 36 1 2 3 4 5 6 7 8 9 10 11 12 T REF SG V REF SG SEN SG S RDY V CMP TGON SG P CL N CL 24V IN S ON P CON P OT N OT ALM RST SG PAO PAO PBO PBO PCO PCO PSO PSO BAT BAT ALO1 ALO2 ALO3 SG ALM SG PULS PULS SIGN SIGN CLR CLR S RDY COIN TGON SG P CL N CL 24V IN S ON P CON P OT N OT ALM RST SG PAO PAO PBO PBO PCO PCO PSO PSO BAT BAT ALO1 ALO2 ALO3 SG ALM SG SEN 13 14 15 16 17 18 19 20 21 22 23 24 2...

Page 113: ...25 pin 17JE 23250 02 D8A Daiich Denshi Kogyo Co Ltd 1 7 8 14 Personal computer end Units mm in SERVOPACK end Cable type AWG26 3C UL2464 1 14 25 13 47 1 85 Personal computer end Signal Pin No Case SERVOPACK end Signal Pin No 14 0 V RXD TXD 0 V RTS CTS FG 3 2 7 4 5 1 TXD RXD FG 2 4 Shield wire 38 1 50 39 1 54 6 1 9 5 8 1 14 7 2 M2 6 screws 2 M2 6 screws 2000 50 78 74 1 97 Half pitch connector Plug 1...

Page 114: ...0 008 Sumitomo 3M Ltd Half pitch connector Plug 10114 3000VE Shell 10314 52F0 008 Sumitomo 3M Ltd 39 1 54 29 5 1 16 Personal computer end SERVOPACK end Cable AWG26 3C UL2464 2000 50 78 74 1 97 29 5 1 16 Units mm in Personal computer end Signal Pin No Case SERVOPACK end Signal Pin No 14 GND RXD TXD RTS CTS GND FG FG 1 9 10 4 14 12 Case TXD RXD FG 2 4 Shield wire Connect to CN3 SERVOPACK Digital Ope...

Page 115: ...ured by Hirose Electric Corporation 3 Specifications Note The above monitoring items are the factory settings The monitoring items can be changed by setting the parameter Pn003 Refer to 9 5 Analog Monitor Cable Type Cable Length L JZSP CMS00 1 1 m 3 28 ft JZSP CMS00 2 1 5 m 4 92 ft JZSP CMS00 3 2 m 6 56 ft L 2 10 1 9 8 11 1 7 Digital Operator end Units mm in SERVOPACK end 17 3 0 68 29 5 1 16 20 2 ...

Page 116: ...al Block Converter Unit 1 Model JUSP TA36P The connection between the connector terminal block converter and the SERVOPACK is shown below SERVOPACK 1 2 39 40 CN1 Cable length 0 5 mm 0 02 in Terminal block 40P M3 5 screws Connector plug 40P FCN 364P040 AU ...

Page 117: ...erminal Block No 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 1 2 3 4 5 6 7 8 9 10 11 12 T REF SG V REF SG SEN SG BK V CMP TGON SG P CL N CL 24V IN S ON P CON P OT N OT ALM RST SG PAO PAO PBO PBO PCO PCO PSO PSO BAT BAT ALO1 ALO2 ALO3 SG ALM SG FG PULS PULS SIGN SIGN CLR CLR BK COIN TGON SG P CL N CL 24V IN S ON P CON P OT N OT ALM ...

Page 118: ...ing brake install a surge suppressor near the brake coil a Model CR50500BL b Specifications 5 6 7 Variable Resistor for Speed and Torque Setting 1 Model 25HP 10B The multiturn type winding variable resistors with dial MD10 30B4 are manufactured by Sakae Tsushin Kogyo Co Ltd Contact Yaskawa Controls Co Ltd 2 Dimensional Drawings 3 Example of Connection to an External Power Supply Power supply 250 V...

Page 119: ...t Signals Balanced line driver input RS 422 Output Signals Voltage pulse out put Open collector output Voltage pulse out put Open collector output Input Signal Level Differential voltage 0 3 V built in terminator 100 Ω Output Signal Level H 10 V min 1 mA L 0 5 V max 30 mA L 0 5 V max 30 mA Withstand volt age 50 V H 3 V min 1 mA L 0 5 V max 30 mA L 0 5 V max 30 mA Withstand volt age 50 V Ambient Te...

Page 120: ...N2 Terminal Layout 6 6 6 3 Examples of I O Signal Connections 6 7 6 3 1 SGDJ S for Speed Control Mode 6 7 6 3 2 SGDJ P for Position Control Mode 6 8 6 3 3 SGDJ S for Torque Control Mode 6 9 6 3 4 I O Signal Connector CN1 Terminal Layout 6 10 6 3 5 I O Signal CN1 Names and Functions 6 12 6 3 6 Interface Circuit 6 14 6 4 Others 6 17 6 4 1 Wiring Precautions 6 17 6 4 2 Wiring for Noise Control 6 18 6...

Page 121: ...ter turning power OFF Make sure the charge indicator is turned OFF first before starting an inspection Avoid frequently turning power ON and OFF Do not turn the power ON or OFF more than once per minute Since the SERVOPACK has a capacitor in the power supply a high charging current flows for 0 2 seconds when the power is turned ON Frequently turning the power ON and OFF causes main power devices s...

Page 122: ... Insert the connection hook end of the tool into the slot as shown in Fig A Use a standard flat blade screwdriver blade width of 3 0 to 3 5 mm 0 12 to 0 14 in or type 54932 0000 manufactured by Molex Japan Co Ltd 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 3 Insert...

Page 123: ... This is required in order to initialize the SERVOPACK Select the power supply specifications for the parts in accordance with the input power supply OFF ON Main circuit power supply Main circuit power supply 1QF FIL 1KM Molded case circuit breaker Noise filter Magnetic contactor 1CAP 2CAP Capacitor for the control power supply input Capacitor for the main circuit power supply input Indicator lamp...

Page 124: ...5 6 CN4 20 21 23 24 25 PG CN1 0 33 mm 0 001 in 2 Light blue PG 5 V PG 0 V PS PS White Light blue Incremental encoder Red Black Shield wire Shell Connector shell Connector shell Output line driver SN75ALS194 manufactured by Texas Instruments or the equivalent Phase A Phase A Phase B Phase B Phase C Phase C SERVOPACK Line receiver Host controller Choke coil Smoothing capacitor CN1 11 5 3 2 1 R R R 6...

Page 125: ...R R 5 6 1 2 PG5V PG0V PS PS BAT BAT 5 6 1 2 3 4 Shield wire Orange White Orange Shell Connector shell Connector shell Applicable line receiver SN75175 manufactured by Texas Instruments or the equivalent corresponding to MC3486 R terminator 220 to 470 Ω C Decoupling Capacitor 0 1 µF Battery Phase A Phase B Phase C Phase A Phase B Phase C Phase S Choke coil Smoothing capacitor 0 001in2 J Light blue ...

Page 126: ...G 1 2 LPF 6 5 V 0 V SEN SG 5 ALO1 ALO2 ALO3 30 31 32 Amount of phase S rotation Serial data output Applicable line receiver SN75175 manufactured by Texas Instruments or the equivalent corresponding to MC3486 6 Backup battery 2 8 to 4 5 V 3 Servo ON Servo ON when ON Reverse run prohibited Prohibited when OFF Forward run prohibited Prohibited when OFF Alarm reset Reset when ON Reverse current limit ...

Page 127: ...S CLR PULS SIGN SIGN CLR CLR PULS 1 150 Ω 150 Ω 4 Servo ON Servo ON when ON Reverse run prohibited Prohibited when OFF Forward run prohibited Prohibited when OFF Alarm reset Reset when ON Reverse current limit Limit when ON Forward current limit Limit when ON SEN signal input Backup battery 2 8 to 4 5 V 2 2 P control P control when ON SIGN Position reference CW Phase A CCW Phase B Connect shield t...

Page 128: ...F 6 5 V 0 V SEN SG 5 ALO1 ALO2 ALO3 30 31 32 7 Backup battery 2 8 to 4 5 V 3 Servo ON Servo ON when ON Reverse run prohibited Prohibited when OFF Forward run prohibited Prohibited when OFF Alarm reset Reset when ON Reverse current limit Limit when ON Forward current limit Limit when ON P control P control when ON Torque reference 1 to 10 V rated torque SEN signal input 3 4 External speed limit 2 t...

Page 129: ... ence 20 PAO PG dividing pulse output phase A 3 V REF Speed refer ence input 21 PAO PG dividing pulse output phase A 4 SG Signal ground for speed refer ence input 22 PBO PG dividing pulse output phase B 5 SEN SEN signal for absolute encoder 23 PBO PG dividing pulse output phase B 6 SG SEN Signal ground for SEN signal 24 PCO PG dividing pulse output phase C 7 S RDY Servo ready signal output 25 PCO ...

Page 130: ...e output phase A 4 SIGN Reference sign input 22 PBO PG dividing pulse output phase B 5 CLR Error counter clear input 23 PBO PG dividing pulse output phase B 6 CLR Error counter clear input 24 PCO PG dividing pulse output phase C 7 S RDY Servo ready sig nal output 25 PCO PG dividing pulse output phase C 8 COIN Positioning complete signal output 26 PSO Absolute encoder output phase S 9 TGON TGON sig...

Page 131: ...ternal torque limit ON Current limit function enabled when ON 8 9 2 Internal speed switching With the internal set speed selected Switches the internal speed settings 8 8 ALM RST 18 18 Alarm reset Releases the servo alarm state 8 11 1 24VIN 13 13 Control power supply input for sequence signals Users must provide the 24 V power supply Allowable voltage fluctuation range 11 to 25 V 6 3 6 SEN 5 6 36 ...

Page 132: ...ut signal and zero point pulse phase C signal RS 422 or the equivalent Proper line receiver is SN75175 manufactured by Texas Instruments or the equivalent corresponding to MC3486 6 2 6 3 1 8 4 6 8 5 7 PBO PBO 23 24 23 24 Phase B signal PCO PCO 25 26 25 26 Phase C signal PSO PSO 27 28 27 28 Phase S signal With an absolute encoder Outputs serial data corresponding to the number of revolutions RS 422...

Page 133: ...cuit for the reference pulse and position error pulse clear signal at the host controller can be either line driver or open collector outputs The following shows by type Analog Voltage Input Circuit Analog Voltage Input Circuit D A 1 8 kΩ 1 2 W min 25HP 10B 2 kΩ 3 2 12 V 1 0 V SG About 14 kΩ SERVOPACK V REF or T REF 0 V SG Host controller About 14 kΩ SERVOPACK V REF or T REF D A Line driver Output...

Page 134: ...t Interface There are three types of SERVOPACK output circuits a Line Driver Output Circuit CN1 connector terminals 20 21 phase A signal 22 23 phase B signal and 24 25 phase C signal are explained below Encoder serial data converted to two phase phases A and B pulse output signals PAO PAO PBO PBO zero point pulse signals PCO PCO and the amount of phase S rotation signal PSO PSO are output via line...

Page 135: ...A DC c Photocoupler Output Circuit Photocoupler output circuits are used for servo alarm ALM servo ready S RDY and other sequence out put signal circuits Connect a photocoupler output circuit through a relay circuit or line receiver circuit Note The maximum allowable voltage and current capacities for photocoupler output circuits are as follows Voltage 30 VDC Current 50 mA DC Photocoupler Circuit ...

Page 136: ...echanism to prevent noise interference 5 To prevent malfunction due to noise take the following actions Position the input reference device and noise filter as close to the SERVOPACK as possible Always install a surge suppressor in the relay solenoid and magnetic contactor coils The distance between a power line such as a power supply line or servomotor cable and a signal line must be at least 300...

Page 137: ...ding is required to prevent the adverse effects of switching noise b Noise on the Reference Input Line If the reference input line receives noise ground the 0 V line SG of the reference input line If the main cir cuit wiring for the motor is accommodated in a metal conduit ground the conduit and its junction box For all grounding ground at one point only For ground wires connected to the casing us...

Page 138: ...ter Always observe the following installation and wiring instructions Incorrect use of a noise filter halves its benefits 1 Do not put the input and output lines in the same duct or bundle them together 2 Separate the noise filter ground wire from the output lines Do not accommodate the noise filter ground wire output lines and other signal lines in the same duct or bundle them together IMPORTANT ...

Page 139: ...er inside a unit If a noise filter is located inside a unit connect the noise filter ground wire and the ground wires from other devices inside the unit to the ground plate for the unit first then ground these wires Shielded ground wire Thick and short Box Box SERVOPACK Incorrect Correct Noise filter Noise filter SERVOPACK SERVOPACK SERVOPACK AC DC converter Noise filter Unit Ground Box SERVOPACK ...

Page 140: ...ns satisfied in test conditions prepared by Yaskawa The actual EMC level may differ depending on the actual system s configuration wiring and other conditions CN4 CN1 1 2 3 4 5 U V W 24V 48V GND SERVOPACK SGDJ FG Servo motor Encoder Ground Plate Shield Box Clamp Core Core Core Core Clamp Host controller Clamp Approx 2 m 6 56 ft Approx 20 m 65 6 ft Power Supply Single phase 100 VAC or 200 VAC Noise...

Page 141: ...ed 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 Name Mounting Position of the Core Motor cable Near the SERVOPACK and the servomotor Encoder cable Near the SERVOPACK and the servomotor Cable Ferrite core Cable Name Ferrite Core Model Manufacturer I O si...

Page 142: ...ed case circuit breaker QF or noise filter Always select a QF or noise filter that has enough capacity for the total power capacity load conditions of those servos For details refer to 2 5 2 Molded case Circuit Breaker and Fuse Capacity Power supply Power ON Power OFF SERVOPACK Servomotor Servomotor Servomotor SERVOPACK SERVOPACK R T QF 1KM 1KM 1RY SUP 1KM 1RY 24V L1 L2 C1 CN1 34 ALM 35 ALM 0V C2 ...

Page 143: ...P19 30 3 m 98 4 ft Application Fixed Type Cable type JZSP CMP19 Cable length 50 m 164 0 ft max Basic Specifications UL20276 Max operating temperature 80 C 176 F AWG16 2C AWG26 2P AWG16 1 31 mm2 0 00203 in2 Insulation covered dimensions φ 2 0 0 08 in AWG26 0 13 mm2 0 000201 in2 Insulation covered dimensions φ 0 91 mm 0 04 in Finished Dimensions φ 6 8 mm 0 27 in Internal Configuration and Lead Color...

Page 144: ...kits for User modified Encoder Cables Name Type Specifications Reference SERVOPACK end connector kit JZSP CMP9 1 5 4 1 Servomotor end connector kit JZSP CMP9 2 5 2 3 5 3 2 5 4 1 Cables JZSP CMP19 50 m 164 0 ft max 5 4 1 Maximum length 50 m 1 97 in ...

Page 145: ...ialization Fn005 7 10 7 2 5 Alarm Traceback Data Clear Fn006 7 11 7 2 6 Automatic Offset adjustment of Motor Current Detection Signal Fn00E 7 12 7 2 7 Manual Offset adjustment of Motor Current Detection Signal Fn00F 7 13 7 2 8 Password Setting Protects Parameters from Being Changed Fn010 7 14 7 2 9 Motor Models Display Fn011 7 15 7 2 10 Software Version Display Fn012 7 16 7 3 Operation in Paramete...

Page 146: ... digital operator Model JUSP OP02A 2 refer to Σ II Series SGM H SGDM Dig ital Operator Operation Manual TOE S800 34 7 1 1 Connecting the Digital Operator There is no need to turn OFF the SERVOPACK to connect this hand held operator to the SERVOPACK Refer to the following illustrations to connect the digital operator to the SERVOPACK Digital Operator Hand held JUSP OP02A 2 A dedicated cable is used...

Page 147: ...nction mode parameter setting mode or monitor mode Can be also used to set the data To display parameter setting and set value Press the UP Key to increase the set value For JOG operation this key is used as Forward Run Start Key Press the DOWN Key to decrease the set value For JOG operation this key is used as Reserve Run Start Key Press the RIGHT Key to shift to the next digit on the right Press...

Page 148: ...he power Fn Utility Function Mode Refer to 7 2 Pn Monitor Mode Refer to 7 4 Press DSPL SET Key A basic mode is selected in the following order Repeat DATA ENTER DSPL SET Press DSPL SET Key and UP or DOWN Key to select the desired parameter number Then press DATA ENTER Key to display the contents of selected parameter number in the selected mode Refer to each operation instruction described later S...

Page 149: ...otor speed exceeds preset value Not lit if motor speed is below preset value Preset value Set in Pn502 Factory setting is 20 min 1 Rotation Detection TGON Lit if motor speed exceeds preset value Not lit if motor speed is below preset value Preset value Set in Pn502 Factory setting is 20 min 1 g Speed Reference Input Lit if input speed reference exceeds preset value Not lit if input speed reference...

Page 150: ... Display 7 6 2 Codes and Meanings Code Meaning Baseblock Servo OFF motor power OFF Run Servo ON motor power ON Forward Run Prohibited CN1 16 P OT is OFF Reverse Run Prohibited CN1 17 N OT is OFF Alarm Status Displays the alarm number ...

Page 151: ...ng initialization 7 2 4 Fn006 Alarm traceback data clear 7 2 5 Fn007 Writing to EEPROM moment of inertia ratio data obtained from online autotuning 9 2 7 Fn008 Absolute encoder multiturn reset and encoder alarm reset 8 4 5 Fn009 Automatic tuning of analog speed torque reference offset 8 5 3 8 7 3 Fn00A Manual adjustment of speed reference offset 8 5 3 Fn00B Manual adjustment of torque reference of...

Page 152: ...play A means no alarm occurs Follow the procedure below to confirm alarms which have been generated Display Description Digital operator transmission error 1 Digital operator transmission error 2 Step Display after Operation Key Description 1 Press the DSPL SET Key to select Alarm Traceback Data Dis play Fn000 If a number other than Fn000 is displayed press UP Key or DOWN Key to set Fn000 Note The...

Page 153: ... disabled during zero point search mode operations using Fn003 CAUTION Step Display after Operation Key Description 1 Press the DSPL SET Key to select the utility function mode 2 Press the UP or DOWN Key to select the Fn003 Note The enabled digit blinks 3 Press the DATA ENTER Key and the display will be as shown on the left 4 Press the SVON Key The servo turns ON 5 When the parameter is set to Pn0...

Page 154: ... utility function mode 2 Press the UP or DOWN Key to select Fn005 Note The enabled digit blinks 3 Press the DATA ENTER Key and the display will be as shown on the left 4 Press the DSPL SET Key Then the parameters will be initial ized During initialization the display shown on the left blinks 5 End of initializa tion When the initialization of parameter setting completes the display shown on the le...

Page 155: ...ion mode 2 Press the UP or DOWN Key to select Fn006 Note The enabled digit blinks 3 Press the DATA ENTER Key and the display will be as shown on the left 4 Press the DSPL SET Key to clear the alarm traceback data The display shown on the left blinks for about one second when the data is cleared 5 After about one second The display changes from donE to the display shown on the left 6 Press the DATA...

Page 156: ...ic offset adjustment if the torque ripple is too big when compared with that of other SERVOPACKs Step Display after Operation Key Description 1 Press the DSPL SET Key to select the utility function mode 2 Press the UP or DOWN Key to select Fn00E Note The enabled digit blinks 3 Press the DATA ENTER Key and the display will be as shown on the left 4 Press the DSPL SET Key The offset will be automati...

Page 157: ...o select the utility function mode 2 Press the UP or DOWN Key to select Fn00F Note The enabled digit blinks 3 Press the DATA ENTER Key and the display will be as shown on the left phase U 4 Press the LEFT or RIGHT Key to display the phase U offset amount 5 Press the UP or DOWN Key to adjust the offset Carefully adjust the offset while monitoring the torque reference monitor signal 6 Press the LEFT...

Page 158: ...ion 1 Press the DSPL SET Key to select the utility function mode 2 Press the UP or DOWN Key to select Fn010 Note The enabled digit blinks 3 Press the DATA ENTER Key and the display will be as shown on the left 4 Press the UP or DOWN Key to set a value 0000 Write permitted 0001 Write prohibited 5 Press the DSPL SET Key to register the value When the value is registered the display shown on the left...

Page 159: ...ration 4 Press the DSPL SET Key to display the servomotor capacity 5 Press the DSPL SET Key and the encoder type and resolution code will be displayed 6 Press the DSPL SET Key to display the SERVOPACK s code for custom orders Note The display y 0000 means standard model 7 Press the DATA ENTER Key to return to the utility function mode display Fn011 DSPL SET DSPL SET Key DATA ENTER DATA ENTER Key M...

Page 160: ...iption 1 Press the DSPL SET Key to select the utility function mode 2 Press the UP or DOWN Key to select Fn012 Note The enabled digit blinks 3 Press the DATA ENTER Key to display the SERVOPACK software version number 4 Press the DSPL SET Key to display the encoder software ver sion number 5 Press the DATA ENTER Key to return to the utility function mode Fn012 DSPL SET DSPL SET Key DATA ENTER DATA ...

Page 161: ...be used for changing parameter data Before changing the data check the permit ted range of the parameter The example below shows how to change parameter Pn100 speed loop gain from 40 to 100 Step Display after Operation Key Description 1 Press the DSPL SET Key to select the parameter setting mode If a parameter other than Pn100 is displayed press the UP or DOWN Key to select Pn100 Note The enabled ...

Page 162: ...parameter The name of the parameter Position Positoin Speed Torque Torque Applicable control mode for the parameter Speed Speed control internal set speed control Position control Torque control This section shows the range of the parameter settings The maximum value can be set even if the parameter is combined with the other sepecified motor This section shows the minimum setting unit the setting...

Page 163: ...nction Selection Application Switches 0002 0002 Immediately Servo Gain Related Parameter Pn10B Gain Application Switches 0000 0000 After restart Immediately Pn110 Online Autotuning Switches 0010 0010 After restart Immediately Position Control Related Parameter Pn200 Position Control References Selection Switches 0000 0000 After restart Pn207 Position Control Function Switches 0000 0000 After resta...

Page 164: ... Pn000 is displayed 3 Press the LEFT or RIGHT Key to select the first digit of current data 4 Press the UP Key once to change to n 0010 Set the control method to position control 5 Press the DATA ENTER Key The value blinks and is saved 6 Press the DATA ENTER Key to return to the display Pn000 The control method is changed to position control 7 To enable the change in the setting of function select...

Page 165: ...Setting Pn50A 0 0 The factory setting for the input signal allocation is as follows means factory setting Pn50A n 2 n 8 The number of the parameter Parameter Meaning This section explains the details of the function selection This blank shows the setting value of the function selection as well as the state condition on the digital operator JUSP OP02A 2 Input the forward run prohibited signal P OT ...

Page 166: ...n xx x L S ON 0 1 2 3 4 5 6 7 8 H S ON 9 A B C D E F Proportional Operation Reference Pn50A 2 n x xx L P CON 0 1 2 3 4 5 6 7 8 H P CON 9 A B C D E F Forward Run Prohibited Pn50A 3 n xxx H P OT 0 1 2 3 4 5 6 7 8 L P OT 9 A B C D E F Reverse Run Prohibited Pn50B 0 n xxx H N OT 0 1 2 3 4 5 6 7 8 L N OT 9 A B C D E F Alarm Reset Pn50B 1 n xx x L ARM RST 0 1 2 3 4 5 6 8 H ARM RST 9 A B C D E F Forward ...

Page 167: ...TA ENTER Key The value blinks and is saved At the moment the CN1 11 operates with OR logic for S ON and P CL 6 Press the DATA ENTER Key to return to the display Pn50A 7 Press the UP Key to set Pn50B Note The enabled digit blinks 8 Press the DATA ENTER Key to display the current data of Pn50B P CL is allocated to CN1 11 9 Press the LEFT or RIGHT Key to select the third digit from the right Press th...

Page 168: ...ng Completion COIN Pn50E 0 n xxx 0 Invalid L Valid output signal Low level H Valid output signal High level Invalid Do not use the output signal Factory Setting Note The output signals for Positioning Completion Signal and Speed Coinci dence Detection Signal differ depend ing on the control method 1 L H 2 L H 3 L H Speed Coinci dence Detection V CMP Pn50E 1 n xx x 0 Invalid 1 L H 2 L H 3 L H Rotat...

Page 169: ...set 0 Sets TGON Invalid 4 Press the DATA ENTER Key The value blinks and is saved 5 Press the DATA ENTER Key to return to the display Pn50E 6 Press the UP Key to set Pn50F Note The enabled digit blinks 7 Press the DATA ENTER Key to display the current data of Pn50F BK is set to Invalid 8 Press the LEFT or RIHGT Key to select the third digit from the right Press the UP Key to set 2 Allocates BK to C...

Page 170: ...e zero point Un004 Rotation angle 2 Angle from the zero point electrical angle deg Un005 Input signal monitor 1 Un006 Output signal monitor 1 Un007 Input reference pulse speed valid only in position control mode min 1 Un008 Error counter value amount of position error valid only in position control mode reference unit Un009 Accumulated load rate value for the rated torque as 100 Displays effective...

Page 171: ...r the relation between input terminals and signals When using SGDJ P SERVOPACK for the position control mode the SEN signal is assigned Pin No 36 When S ON signal is ON Servo ON at L level When S ON signal is OFF When P OT signal operates Operates at H level 7 6 5 4 3 2 1 Top OFF H level Bottom ON L level Number 8 Display LED Number Input Terminal Name Factory Setting 1 CN1 14 S ON 2 CN1 15 P CON ...

Page 172: ...ay the contents of monitor number Un000 when the servomotor rotates at 1500 min 1 Display LED Number Output Terminal Name Factory Setting 1 CN1 34 35 ALM 2 CN1 8 10 COIN or V CMP 3 CN1 9 10 TGON 4 CN1 7 10 S RDY 5 CN1 30 AL01 6 CN1 31 AL02 7 CN1 32 AL03 4 3 2 1 Top OFF H level Bottom ON L level Number 7 6 5 EXAMPLE The top segment of number 1 is lit 4 3 2 1 7 6 5 Step Display after Operation Key D...

Page 173: ...om this pulse number The feedback pulse will be 8192 pulse rev when using the 13 bit encoder The feedback pulse will be 65536 pulse rev when using the 16 bit encoder The feedback pulse will be 131071 pulse rev when using the 17 bit encoder Step Display after Operation Key Description 1 Press the DSPL SET Key to select the monitor mode 2 Press the UP or DOWN Key to select Un00C or Un00D 3 Press the...

Page 174: ... 5 Selecting the Stopping Method After Servo OFF 8 25 8 3 6 Instantaneous Power Loss Settings 8 26 8 4 Absolute Encoders 8 27 8 4 1 Interface Circuits 8 28 8 4 2 Selecting an Absolute Encoder 8 29 8 4 3 Handling Batteries 8 29 8 4 4 Replacing Batteries 8 29 8 4 5 Absolute Encoder Setup Fn008 8 30 8 4 6 Absolute Encoder Reception Sequence 8 31 8 4 7 Multiturn Limit Setting 8 35 8 4 8 Multiturn Limi...

Page 175: ... Setting Parameters 8 65 8 8 2 Input Signal Settings 8 66 8 8 3 Operating Using an Internally Set Speed 8 66 8 9 Limiting Torque 8 68 8 9 1 Internal Torque Limit Limiting Maximum Output Torque 8 68 8 9 2 External Torque Limit Output Torque Limiting by Input Signals 8 69 8 9 3 Torque Limiting Using an Analog Voltage Reference 8 71 8 9 4 Torque Limiting Using an External Torque Limit and Analog Volt...

Page 176: ...8 3 8 ...

Page 177: ...o the machine in order to confirm that the following wiring is correct I O signal wiring between the SERVOPACK and the host controller Motor s rotation direction motor speed and number of rotations Check the operation of the brake overtravel and other pro tective functions 3 Trial Operation for the Servomotor and Machine Combined Refer to 8 1 3 Purpose The servomotor is connected to the machine an...

Page 178: ...on 6 Check input signals Use the internal monitor function to check the input signals Turn ON the power and check the emergency stop brake overtravel and other pro tective functions for correct operation 7 Input the ser vo ON signal Input the servo ON signal and turn ON the servomotor Host Reference 8 Input reference Input the reference for the control mode being used and check the servomotor for ...

Page 179: ... machine in order to prevent the servomotor from moving during operation Do not connect the servomotor shaft to the machine The servomo tor may tip over during rotation 2 Check the power supply circuit servomotor and encoder wiring With the CN1 connector not connected check the power supply circuit and servomotor wiring Do not use the CN1 I O signals here Refer to 6 1 Wiring Main Circuit for wirin...

Page 180: ... JOG Speed The factory setting for jog speed is 500 min 1 Step Display after Operation Key Description 1 Press the DSPL SET Key to select the utility function mode 2 Press the UP or DOWN Key to select Fn002 Note The digit that can be set will blink 3 Press the DATA ENTER Key The display shown at the right will appear and the servomotor will enter JOG operation mode The servomotor can be operated w...

Page 181: ... ON input signal is OFF H level Refer to 8 3 1 Setting the Servo ON Signal 2 Pn50A is not set to n 7 Sets signal ON with the external input signal allocation Refer to 7 3 2 Input Circuit Signal Allocation Pay attention that the Forward Run Prohibited P OT and Reverse Run Prohibited N OT signals are invalid during jog mode operation For the jog mode operation procedures refer to the previous page I...

Page 182: ...CK and the SERVOPACK operation settings are correct This is final check before connecting the servomotor to the machine 1 Servo ON Command from the Host The following circuits are required External input signal circuit or equivalent Change the SEN signal SGDJ S CN1 5 SGDJ P CN1 36 to the H level when an absolute encoder is used SGDJ S Speed Control Pn000 n 0 SGDJ P Position Control Pn000 n 1 13 CN...

Page 183: ...re that the digital operator display is as shown below The input signal setting is not correct if the display is not the same as on the left Check the input signal using the Un005 input signal monitor from the digital operator Check input signal wiring in monitor mode using the digital opera tor or panel operator Refer to 7 4 1 List of Monitor Modes Turn ON and OFF each signal line to see if the L...

Page 184: ... and Operation for how it is displayed 5 Check the Un000 motor speed min 1 Refer to 7 1 3 Basic Mode Selection and Operation for how it is displayed 6 Check that the Un001 and Un000 values in steps 4 and 5 are equal Change the speed reference input voltage and check that Un001 and Un000 values are equal for multiple speed references 7 Check the speed reference input gain and motor rotation directi...

Page 185: ...11 Send the command for the number of motor rotation easy to check for example one motor revolution from the host controller in advance and check the sent number of rotation and actual number of rota tion by visual inspection and the Un003 rotation angle1 pulse Refer to 7 1 3 Basic Mode Selection and Operation for how it is displayed Un003 rotation angle 1 pulse The number of pulses from the zero ...

Page 186: ...s input to the SERVOPACK by the changed amount before and after the Un00C input reference pulse counter pulse was executed Refer to 7 1 3 Basic Mode Selection and Operation for how it is displayed Un00C input reference pulse counter pulse 6 Check the actual number of motor rotation pulse by the changed amount before and after the Un003 rotation angle 1 pulse was executed Refer to 7 1 3 Basic Mode ...

Page 187: ...ration for how it is displayed Un000 motor speed min 1 12 Check that the Un007 and Un000 values in steps 9 and 10 are equal 13 Check the motor rotation direction To change the motor rotation direction without chang ing input reference pulse form refer to 8 3 2 Switching the Servomotor Rotation Direction Perform the operation from step 9 again after the motor rotation direction is changed 14 When t...

Page 188: ...control mode used Refer to 8 5 Operating Using Speed Control with Ana log Reference 8 6 Operating Using Position Control and 8 7 Operating Using Torque Control for control mode used 3 Connect the servomotor to the machine with cou pling etc while the power is turned OFF Refer to 3 3 1 Precautions on Servomotor Installation 4 Check that the SERVOPACK is servo OFF status and then turn ON the power t...

Page 189: ... is properly broken in 8 Write the parameters set for maintenance in 10 4 List of Parameters Then the trial operation with the servomotor con nected to the machine is completed Step Description Check Method and Remarks SGDJ S SpeedxTorque Trial operation for servomotor without load M Host controller Position control Speed control SERVOPACK Analog speed reference Reference from the Host Controller ...

Page 190: ... A 8 5 n 1 P Factory setting Position Control Pulse train position reference Controls the position of the servomotor by means of a pulse train position reference Controls the position with the number of input pulses and controls the speed with the input pulse frequency Use when positioning is required N A Applica ble 8 6 n 2 Torque Control Analog voltage speed reference Controls the servomotor s o...

Page 191: ...ervomotor cannot be operated IMPORTANT Always input the servo ON signal before inputting the input reference to start or stop the servomotor Do not input the input reference first and then use the S ON signal to start or stop Doing so will degrade internal elements and lead to malfunc tion Note A parameter can be used to re allocate the input connector number for the S ON signal Refer to 7 3 2 Inp...

Page 192: ...d from the drive end Parameter Name Reference Forward Reference Reverse Reference Pn000 n 0 Standard setting CCW For ward Factory setting n 1 Reverse Rotation Mode CW Reverse The direction of P OT and N OT change For Pn000 n 0 standard setting counterclockwise is P OT For Pn000 n 1 Reverse Rotation Mode clockwise is P OT Analog monitor Forward CCW Rotation speed torque reference Phase B advanced E...

Page 193: ...otation is possible during forward overtravel IMPORTANT When the servomotor stops due to overtravel during position control the position error pulses are held A clear signal CLR input is required to clear the error pulses Limit switch Servomotor SERVOPACK 16 CN1 17 N OT P OT Limit switch Motor forward rotation direction When using the servomotor on a vertical axis the workpiece may fall in the ove...

Page 194: ...wer OFF Mode During torque control these settings affect only the servomotor stopping method After it is stopped the servomotor enters Coast Mode regardless of the setting After changing these parameters turn OFF the main circuit and control power supplies and then turn them ON again to enable the new settings During n 02 Coast Mode SERVOPACK can be resumed using the servo ON signal TERMS Stop by ...

Page 195: ... mechanical brake while the servomotor is stopped because the servomotor enters servolock status 1 Wiring Example Use the SERVOPACK contact output signal BK and the brake power supply to form a brake ON OFF circuit The following diagram shows a standard wiring example Servomotor zVertical Shaft Holding brake Prevents the servomotor from shifting when the power is OFF zShaft with External Force App...

Page 196: ...hen set to the factory setting the brake signal is invalid When multiple signals are allocated to the same output termi nal the signals are output with OR logic To output the BK signal alone disable the other output signals or set them to output terminals other than the one allocated to the BK signal For the allocation of SERVOPACK output signals other than BK signal refer to 7 3 3 Output Circuit ...

Page 197: ...n507 after the servo OFF When the time set in Pn508 is exceeded after the servo OFF IMPORTANT The servomotor will be limited to its maximum speed even if the value set in Pn507 is higher than the maximum speed Allocate the running output signal TGON and the brake signal BK to different terminals If the brake signal BK and running output signal TGON are allocated to the same output terminal the TGO...

Page 198: ...nder the following conditions When the S ON input signal is OFF Servo OFF When an alarm occurs When main circuit power supply L1 L2 is OFF Similar to the Coast Mode the n 0 setting which stops the servomotor by dynamic braking and then holds it in Dynamic Brake Mode does not generate any braking force when the servomotor stops or when it rotates at very low speed TERMS Stop by dynamic brake Stops ...

Page 199: ... parameter Pn509 In the following instances however the parameter setting will be invalid If an insufficient voltage alarm A 41 occurs during a power loss with a large servomotor load When control is lost equivalent to normal power OFF operation with loss of the control power supply IMPORTANT The maximum setting for the hold time during a power loss is 1 000 ms but the hold time for the SERVOPACK ...

Page 200: ... 12 bit encoder When an infinite length positioning system of the con ventional type is to be configured with the Σ II series be sure to make the following system modification WARNING Absolute position detected continuously zero point return operation Absolute encoder Absolute Encoder Type Resolution OutputRange of Multiturn Data Action when Limit Is Exceeded Σ Series SGD SGDA SGDB 12 bit 15 bit 9...

Page 201: ...he pin number for SGDJ P position control type 3 1 1 2 Serial interface circuit Type Name Connector Pin Number Setting Meaning Input SEN S CN1 5 OFF low level Input when power is turned ON P CN1 36 ON high level Input at absolute data request This input signal is required to output absolute data from the SERVOPACK Let at least three seconds elapse after turning ON the power before changing the SEN...

Page 202: ...RVOPACK power to cancel the absolute encoder battery alarm A 83 3 Turn ON the SERVOPACK power back again If it operates without any problems the battery replace ment has been completed If the SERVOPACK control power supply is turned OFF and the battery is disconnected which includes disconnecting the encoder cable the absolute encoder data will be deleted The absolute encoder must be setup again R...

Page 203: ...oder should be canceled by turning OFF the power Step Display after Operation Key Description 1 Alarm generated 2 Press the DSPL SET Key to select the utility function mode 3 Press the UP or DOWN Key to select parameter Fn008 Note The digit that can be set will blink 4 Press the DATA ENTER Key The display will be as shown at the left 5 Continue pressing the UP Key until PGCL5 is displayed Note If ...

Page 204: ...made from the reference position position spec ified at setup Initial incremental pulse Outputs pulses at the same pulse rate as when the motor shaft rotates from the origin to the current position at about 2500 min 1 for 16 bits when the dividing pulse is at the factory set ting Signal Name Status Meaning PAO At initial status Serial data Initial incremental pulse At normal status Incremental pul...

Page 205: ...der PE M R PO PM PE PS M Multiturn data rotation count data PO Number of initial incremental pulses Use the following for reverse rotation mode Pn000 0 1 PE M R PO PM PE PS PS Number of initial incremental pulses read at setup This is saved and controlled by the host controller PM Current value required for the user s system R Number of pulses per encoder revolution pulse count after dividing valu...

Page 206: ...normal incremental pulses initial incremental pulses which provide absolute data are first divided by the frequency divider inside the SERVOPACK and then output For details refer to 8 5 7 Encoder Signal Output Data Transfer Method Start stop Synchronization ASYNC Baud rate 9600 bps Start bits 1 bit Stop bits 1 bit Parity Even Character code ASCII 7 bit code Data format 13 characters as shown below...

Page 207: ...oder is used SEN signals can be utilized to transfer the alarm detection contents from PAO outputs to the host controller as serial data For alarm list refer to 10 1 1 Alarm Display Table L H Error detection Overspeed or Incremental pulse ALM81 CR Serial Data SEN Signal Digital Operator Display PAO Serial Data ...

Page 208: ...will occur WARNING Pn205 Multiturn Limit Setting Setting Range Setting Unit Factory Setting Setting Validation 0 to 65535 Rev 65535 After restart This parameter is valid when Pn002 n 0 when the absolute encoder is used The range of the multiturn data will vary when this parameter is set to anything other than the factory setting Factory Setting 65535 Without Factory Setting 65535 When Set to Anyth...

Page 209: ...r the UP or DOWN Key to set the parameter Fn013 The digit that can be set will blink 3 Press the DATA ENTER Key The display on the left will appear 4 Press the DSPL SET Key The multiturn limit setting in the absolute encoder will be changed When the setting is completed donE will blink for about one second 5 About one second later After donE is displayed PGSEt will be displayed again 6 Press the D...

Page 210: ... Setting Setting Validation 1 50 to 3000 150 to 30 00 V Rated speed 0 01 V Rated speed 600 Immediately Sets the analog voltage level for the speed reference V REF necessary to operate the servomotor at the rated speed EXAMPLE Pn300 600 6 V input is equivalent to the rated speed of the servomotor factory setting Pn300 1000 10 V input is equivalent to the rated speed of the servomotor Pn300 200 2 V ...

Page 211: ...oller such as a program mable controller for position control Type Signal Name Connector Pin Number Setting Description Input P CON CN1 15 ON low level Operates the SERVOPACK with proportional control OFF high level Operates the SERVOPACK with proportional integral control P CON signal selects either the PI proportional integral or P proportional Speed Control Mode Switching to P control reduces s...

Page 212: ...adjustment of the analog speed torque reference offset Fn009 automatically measures the amount of the offset and adjusts the reference voltage The SERVOPACK automatically adjusts the offset when the host controller or external circuit has the offset in the reference voltage After completion of the automatic adjustment the amount of offset is stored in the SERVOPACK The amount of offset can be chec...

Page 213: ...the following procedure Step Display after Operation Key Description 1 Turn OFF the SERVOPACK and input the 0 V reference voltage from the host controller or external circuit 2 Press the DSPL SET Key to select the utility function mode 3 Press the LEFT RIGHT or UP DOWN Key or UP or DOWN Key to select parameter Fn009 The digit that can be set will blink 4 Press the DATA ENTER Key rEF_o will be disp...

Page 214: ...function mode 2 Press the UP or DOWN Key to select parameter Fn00A The digit that can be set will blink 3 Press the DATA ENTER Key The display will be as shown at the left The manual adjustment mode for the speed reference offset will be entered 4 Servo ON Turn ON the servo ON S ON signal The display will be as shown at the left 5 Press the LEFT or RIGHT Key to display the speed reference offset a...

Page 215: ...alidation 0 to 10000 ms 0 Immediately Pn306 Soft Start Deceleration Time Setting Range Setting Unit Factory Setting Setting Validation 0 to 10000 ms 0 Immediately The soft start function enables smooth speed control when inputting a stepwise speed reference or when selecting internally set speeds Set both Pn305 and Pn306 to 0 for normal speed control Set these parameters as follows Pn305 The time ...

Page 216: ...dation 0 to 10000 min 1 10 Immediately Sets the motor speed at which the zero clamp is performed if zero clamp speed control Pn000 n A is selected Even if this value is set higher than the maximum speed of the servomotor the maximum speed will be used Speed Type Signal Name Connector Pin Number Setting Meaning Input P CON CN1 15 ON low level Zero clamp function ON enabled OFF high level Zero clamp...

Page 217: ...e A Output PBO CN1 22 Encoder output phase B PBO CN1 23 Encoder output phase B Output PCO CN1 24 Encoder output phase C zero point pulse PCO CN1 25 Encoder output phase C zero point pulse Even in reverse rotation mode Pn000 0 1 the dividing output phase form is the same as that for the standard setting Pn000 0 0 Output Phase Form PG SERVOPACK CN2 CN1 Servomotor Encoder Host controller These output...

Page 218: ...nge Setting Unit Factory Setting Setting Validation 16 to 16384 P Rev 16384 After restart Set the number of pulses for PG output signals PAO PAO PBO PBO externally from the SERVOPACK Feedback pulses from the encoder per revolution are divided inside the SERVOPACK by the number set in Pn201 before being output Set according to the system specifications of the machine or host controller The setting ...

Page 219: ...details Pn503 Speed Coincidence Signal Output Width Setting Range Setting Unit Factory Setting Setting Validation 0 to 100 min 1 10 Immediately The V CMP signal is output when the difference between the speed reference and actual motor speed is the same as the pn503 setting or less EXAMPLE The V CMP signal turns ON at 1900 to 2100 min 1 if the Pn503 param eter is set to 100 and the reference speed...

Page 220: ...erence Pn200 n 0 Sign pulse train Positive logic Factory setting n 1 CW pulse CCW pulse Positive logic n 2 Two phase pulse train with 90 phase differential Positive logic 1 n 3 2 n 4 4 n 5 Sign pulse train Negative logic n 6 CW pulse CCW pulse Negative logic n 7 Two phase pulse train with 90 phase differential Negative logic 1 n 8 2 n 9 4 The input pulse multiplier can be set for the 2 phase pulse...

Page 221: ... error counter is set to 0 Position loop operation is disabled Holding the clear status may cause the servo clamp to stop functioning and the servomotor to rotate slowly due to drift in the speed loop When the clear signal CLR is not wired the signal is always at low level does not clear When the clear signal CLR is not used and CN1 5 6 are not wired the CLR input terminals CN1 5 6 are always at h...

Page 222: ...alled a ref erence unit SGMAJ Servomotor serial number Encoder Type Incremental encoder 13 bits A 1 16 bits 2048 16384 Absolute encoder No of Encoder Pulses Motor Model Encoder Specifications INFO When the Electronic Gear Is Not Used When the Electronic Gear Is Used Ball screw pitch 6 mm 0 24 in Workpiece No of encoder pulses 2048 Reference unit 1 µm To move a workpiece 10 mm 0 39 in 10 6 1 6666 r...

Page 223: ...nic gear ratio B A 100 If the electronic gear ratio is outside this range the SERVOPACK will not operate properly In this case modify the load configuration or reference unit Position Position Electronic gear ratio A B Pn203 Pn202 n m No of encoder pulses 4 Travel distance per load shaft revolution reference units Step Operation Description 1 Check machine specifications Check the deceleration rat...

Page 224: ... P R 13 bit 2048 P R 16 bit 16384 P R 3 Determine the ref erence unit used 1 Reference unit 0 001 mm 1 µm 1 Reference unit 0 01 1 Reference unit 0 02 mm 20 µm 4 Calculate the travel distance per load shaft revolution 6 mm 0 001 mm 6000 360 0 1 3600 314 mm 0 02 mm 15700 5 Calculate the elec tronic gear ratio 6 Set parameters Pn202 8192 Pn202 24576 Pn202 131072 Pn203 6000 Pn203 3600 Pn203 15700 Ball...

Page 225: ...ers Change the parameter as follows 1 Input Output Signal Timing Example Note 1 The interval from the time the servo ON signal is turned ON until a reference pulse is input must be at least 40 ms otherwise the reference pulse may not be received by the SERVOPACK 2 The error counter clear signal must be ON for at least 20 µs Parameter Description Pn200 n 1 Reference input filter for open collector ...

Page 226: ...pps For open collector output 200 kpps t1 t2 0 1 ms t3 3 µs τ 1 0 µs τ T 100 50 Two phase pulse train with 90 phase differential phase A and phase B Maximum reference frequency 1 input pulse multiplier 500 kpps 2 input pulse multiplier 400 kpps 4 input pulse multiplier 200 kpps t1 t2 0 1 ms τ 1 0 µs τ T 100 50 Switching of the input pulse multiplier mode is done with parameter Pn200 0 set ting For...

Page 227: ...es When the open collector output is used input signal noise margin lowers Set the parameter Pn200 3 to 1 Line driver SERVOPACK Host controller Photocoupler CN1 1 2 6 5 4 3 PULS SIGN SIGN CLR CLR PULS 150Ω 150Ω 150Ω CN1 1 2 6 5 4 3 PULS SIGN SIGN CLR CLR PULS 150Ω 150Ω 150Ω Example x When Vcc is 12V R1 1 kΩ x When Vcc is 24V R1 2 2 kΩ x When Vcc is 5V R1 180 Ω Note When the open collector output i...

Page 228: ...low Kp M Pn201 Pn204 Pn202 Pn203 Pn102 Pn203 Pn202 Pn10A Pn107 Pn109 PG Pn200 0 Pn108 B A B A Differ ential Smoothing Error counter Feed forward Feed for ward fil ter time constant Bias Speed loop Current loop Dividing Servomotor Reference pulse PG signal output SERVOPACK in position control Encoder Bias adding width 4 4 2 1 ...

Page 229: ...setting value is correctly reflected stop the reference pulse from the host controller and input the clear signal CLR or turn the servo OFF to clear the error This function provides smooth motor operating in the following cases The function does not affect the travel distance i e the number of pulses When the host controller that outputs a reference cannot perform acceleration deceleration process...

Page 230: ...ry Setting Setting Validation 0 to 250 Reference units 7 Immediately The positioning completed COIN signal is output when the difference position error pulse between the number of reference pulses output by the host controller and the travel distance of the servomotor is less than the value set in this parameter Set the number of error pulses in reference units the number of input pulses defined u...

Page 231: ...gh level The servomotor has not reached a point near to posi tioning completed The output terminal must be allocated with parameter Pn510 in order to use positioning near signal Refer to 7 3 3 Output Circuit Signal Allocation for details Pn504 NEAR Signal Width Setting Range Setting Unit Factory Setting Setting Validation 1 to 250 Reference units 7 Immediately The positioning near NEAR signal is o...

Page 232: ...nnector Pin Number Setting Meaning Input P CON CN1 15 Factory setting ON low level Turns the INHIBIT function ON Inhibits the SERVOPACK from counting refer ence pulses OFF high level Turns the INHIBIT function OFF Counts reference pulses Input INHIBIT Must be allocated CN1 ON low level Turns the INHIBIT function ON Inhibits the SERVOPACK from counting refer ence pulses OFF high level Turns the INH...

Page 233: ...d torque with 10 V input Pn400 200 The servomotor operates at the rated torque with 2 V input Speed Position Torque Reference voltage V Reference torque This reference voltage is set Rated torque Type Signal Name Connector Pin Number Name Input T REF CN1 1 Torque Reference Input SG CN1 2 Signal Ground for Torque Reference Input Used during torque control analog voltage reference Pn000 1 2 6 9 The ...

Page 234: ...digital oper ator The automatic adjustment of analog speed torque reference offset Fn009 automatically measures the offset and adjusts the reference voltage The SERVOPACK performs the following automatic adjustment when the host controller or external circuit has an offset in the reference voltage After completion of the automatic adjustment the amount of offset is stored in the SERVOPACK The amou...

Page 235: ... and input the 0 V reference voltage from the host controller or external circuit 2 Press the DSPL SET Key to select the utility function mode 3 Press the LEFT RIGHT or UP DOWN Key or UP or DOWN Key to select parameter Fn009 The digit that can be set will blink 4 Press the DATA ENTER Key rEF_o will be displayed 5 Press the DSPL SET Key The reference offset will be automatically adjusted When compl...

Page 236: ... will blink 3 Press the DATA ENTER Key The display will be as shown at the left The manual adjustment mode for the torque reference offset will be entered 4 Servo ON Turn ON the servo ON S ON signal The display will be as shown at the left 5 Press the LEFT or RIGHT Key to display the torque reference offset amount 6 Press the UP or DOWN Key to adjust the amount of offset 7 Press the LEFT or RIGHT ...

Page 237: ...und Inputs an analog voltage reference as the servomotor speed limit value during torque control The smaller value is enabled the speed limit input from V REF or the Pn407 Speed Limit during Torque Control when Pn002 n 1 The setting in Pn300 determines the voltage level to be input as the limit value Polarity has no effect Torque Pn300 Speed Reference Input Gain Setting Range Setting Unit Factory ...

Page 238: ...ng the SGDJ P SERVOPACK Note The maximum speed of servomotor is used whenever a speed settings for the Pn301 to Pn303 exceed the maximum speed SGDJ S SpeedxTorque SERVOPACK 5 11 12 Pn301 SPEED1 Pn302 SPEED2 Pn303 SPEED3 Internally set speed parameters Speed reference Servomotor M Contact inputs P CON SPD D P CL SPD A N CL SPD B CN1 Parameter Meaning Pn000 n 3 Control mode selection Internally set ...

Page 239: ...med using the internally set speeds Operation with the P CON P CL and N CL input signals pins allocated in factory setting Operation with the SPD D SPD A and SPD B input signals SPD D SPD A and SPD B input signals must be allocated with parameter Pn50C Refer to 7 3 2 Input Circuit Signal Allocation Input Signal Motor Rotation Direction Speed P CON SPD D P CL SPD A N CL SPD B OFF high OFF high OFF ...

Page 240: ...ways begin the output of the pulse reference from the host controller after the positioning completed COIN signal is output from the SERVOPACK Example Operation with an Internally Set Speed and Soft Start Position Control Pulse Train Reference Note 1 The soft start function is used in the above figure 2 The t1 value is not affected by whether the soft start function is used A maximum delay of 2 ms...

Page 241: ... analog voltage reference Applicable N A 8 9 4 Pn402 Forward Torque Limit Setting Range Setting Unit Factory Setting Setting Validation 0 to 800 800 Immediately Pn403 Reverse Torque Limit Setting Range Setting Unit Factory Setting Setting Validation 0 to 800 800 Immediately The settings in these parameters are constantly enabled The setting unit is a percentage of rated torque If the torque limit ...

Page 242: ...y Setting Setting Validation 0 to 800 100 Immediately Speed Position Torque Speed Position Torque Type Signal Name Connector Pin Number Setting Meaning Limit Value Input P CL CN1 11 Factory Setting ON low level Forward external torque limit ON The value set in Pn402 or Pn404 whichever is smaller OFF high level Forward external torque limit OFF Pn402 Input N CL CN1 12 Factory Setting ON low level R...

Page 243: ...Pn402 Pn403 set to 800 Note In this example the servomotor rotation direction is Pn000 n 0 standard setting CCW forward P CL Forward External Torque Limit Input High level Low level N CL Reverse External Torque Limit Input High level Low level Pn403 Pn402 0 Torque Speed Pn403 0 Pn404 Pn402 Torque Speed 0 Pn403 Pn405 Pn402 Torque Speed 0 Pn403 Pn405 Pn404 Pn402 Torque Speed ...

Page 244: ...value is applied in the forward or reverse direction 1 Related Parameters 2 Input Signals Pn300 Pn400 T REF V REF Forward torque limit value Pn402 Speed loop gain Pn100 Speed feedback Torque limit value Speed reference Torque reference Reverse torque limit value Pn403 Speed loop integral time constant Pn101 SERVOPACK INFO Parameter Meaning Pn002 n 1 Speed control option Uses the T REF terminal to ...

Page 245: ...ichever is smaller 1 Related Parameters The setting unit is a percentage of rated torque i e the rated torque is 100 Torque limit value Speed reference Pn300 Pn400 T REF V REF Pn404 P CL ON Forward torque limit value Pn402 Pn405 N CL ON Pn100 Speed loop integral time constant Pn101 Speed loop gain Speed feedback Torque reference Reverse torque limit value Pn403 N CL P CL SERVOPACK Parameter Meanin...

Page 246: ...l Forward external torque limit OFF Pn402 Input N CL CN1 12 Factory setting ON low level Reverse external torque limit ON The analog voltage reference limit or the value set in Pn403 or Pn405 whichever is smaller OFF high level Reverse external torque limit OFF Pn403 When using the torque limiting with the external torque limit and analog voltage reference make sure that there are no other signals...

Page 247: ... n 6 Internally set speed control contact reference Torque control analog voltage reference Applicable N A n 7 Reserved N A N A n 8 Reserved N A N A n 9 Torque control analog voltage reference Speed control ana log voltage reference Applicable N A n A Speed control analog voltage reference Zero clamp Applicable N A n B Position control pulse train reference Position control inhibit N A Applicable ...

Page 248: ... case input a speed reference analog voltage reference for speed control and a position reference pulse train reference for position control Type Signal Name Connector Pin Number Setting Pn000 Setting n 9 n A n B Input P CON CN1 15 Factory setting ON low level Speed Zero clamp Inhibit OFF high level Torque Speed Position Input C SEL Must be allocated ON low level Speed Zero clamp Inhibit OFF high ...

Page 249: ...supply to the SERVOPACK Type Signal Name Connector Pin Number Name Input ALM RST CN1 18 Alarm Reset When a servo alarm ALM has occurred and the cause of the alarm has been eliminated the alarm can be reset by turning this signal ALM RST from OFF high level to ON low level This signal can be allocated to other pin numbers with Pn50B For details on the procedure refer to 7 3 2 Input Circuit Signal A...

Page 250: ... ting in Pn502 OFF high level Servomotor is not operating Motor speed is below the setting in Pn502 This signal is output to indicate that the servomotor is currently operating above the setting in parameter Pn502 The TGON signal can be allocated to another output terminal with parameter Pn50E For details refer to 7 3 3 Output Cir cuit Signal Allocation IMPORTANT If the brake signal BK and running...

Page 251: ...s It is output when there are no servo alarms and the main circuit power supply is turned ON An added condition with absolute encoder specifications is that when the SEN signal is at high level absolute data was out put to the host controller The servo ready signal condition can also be checked on the digital operator For details refer to 7 1 4 Status Display and 7 4 1 List of Monitor Modes The S ...

Page 252: ... 11 9 3 1 Explanation of Servo Gain 9 11 9 3 2 Servo Gain Manual Tuning 9 12 9 3 3 Position Loop Gain 9 12 9 3 4 Speed Loop Gain 9 13 9 3 5 Speed Loop Integral Time Constant 9 13 9 4 Servo Gain Adjustment Functions 9 14 9 4 1 Feed forward Reference 9 14 9 4 2 Torque Feed forward 9 15 9 4 3 Proportional Control Operation Proportional Operation Reference 9 16 9 4 4 Using the Mode Switch P PI Switchi...

Page 253: ... intent using 9 1 2 List of Servo Adjustment Functions If the desired responsiveness cannot be achieved adjusting according to the servo gain adjustment methods con sider the following possible causes Autotuning does not suit the operating conditions Adjust the servo gains manually Refer to 9 3 Manual Tuning The selection of settings for the positioning time reduction functions or vibration reduct...

Page 254: ... Name and Related Parameters Description Features Valid Control Modes Refer ence Section Feed forward Pn109 Pn10A Feed forward compensation for the posi tion reference is added to the speed refer ence Adjustment is easy The system will be unstable if a large value is set possibly resulting in over shooting or vibration Position 9 4 1 Torque feed forward Pn002 Pn400 Inputs torque feed forward to th...

Page 255: ...Enables smooth operation The reference time increases by the filter delay time even after the reference input has been completed Position 8 6 4 Speed Feedback Filter Pn308 A standard 1st order delay filter for the speed feedback The feedback speed is smoother The response is delayed if a large value is set Position Speed 9 4 6 Speed Reference Filter Pn307 A 1st order delay filter for the speed ref...

Page 256: ... is low and mechanical vibration occurs easily or friction is high The speed reference is a stepwise reference If the condition meets one of the above cases or the desired operation cannot be achieved by the online autotun ing calculate the load moment of inertia on the basis of the machine specifications or using the moment of inertia detection function of Yaskawa s servodrive supporting tool Sig...

Page 257: ...ration WARNING Start Operate with factory setting Set Pn110 0 0 Operation OK Load moment of inertia varies Operation OK Continuous online autotuning Set Pn110 0 1 Ajust the machine rigidity setting Set at Fn001 Operation OK Operation OK Do not perform online autotuning Set Pn110 0 2 Adjust the friction compensation Set Pn110 2 Yes Yes Yes Yes Yes No No No No No End Write the result of autotuning i...

Page 258: ...hine status and operation references at the beginning of operation may cause minor differences in the calculation results of the load moment of inertia causing differences in the servo responsiveness each time the power supply is turned ON If this occurs overwrite the moment of inertia ratio in Pn103 using the utility function Fn007 Writing to EEPROM moment of inertia ratio data obtained from onli...

Page 259: ...lways set the machine rigidity setting When setting the machine rigidity after having changed the position loop gain Pn102 the value closest to the set position loop gain is displayed as the initial value of machine rigidity Speed Loop PI Control If the machine rigidity setting is greater the servo gain will increase and positioning time will decrease If the setting is too large however vibration ...

Page 260: ...e set will blink 3 Press the DATA ENTER Key for one second or more The display shown at the left will appear and the rigidity for online autotuning can be set 4 Press the Up or Down Cursor Key to select the machine rigidity set ting 5 Press the DSPL SET Key The rigidity setting will be changed and donE will blink on the display for about one second 6 About one second later After donE is displayed ...

Page 261: ...e default value for the moment of inertia ratio for online autotuning The next time the power supply is turned ON the value that was saved for the Moment of Inertia Ratio Pn103 will be used to start online autotuning Always set the correct moment of inertia ratio when online autotuning is not used If the moment of inertia ratio is set incorrectly vibration may occur CAUTION Pn103 Moment of Inertia...

Page 262: ...ust have the highest response and the middle loop must have higher response than the outermost If this principle is not followed it will result in vibration or responsiveness decreases The SERVOPACK is designed to ensure that the current loop has good response performance The user need to adjust only position loop gain and speed loop gain Encoder Position control loop SGDJ P Speed control loop SGD...

Page 263: ...is case increase the values in the following parameter to suppress detection of the overflow alarm Step Explanation 1 Set correctly the moment of inertia ratio Pn103 The utility function Fn007 can be used after the online autotuning 2 Increase the speed loop gain Pn100 to within the range so that the machine does not vibrate At the same time decrease the speed loop integral time constant Pn101 3 A...

Page 264: ...hat does not cause vibration in the mechanical system The value of speed loop gain is the same as the set value of Pn100 if the moment of inertia ratio in Pn103 has been set correctly Speed Position Pn103 Moment of Inertia Ratio Setting Range Setting Unit Factory Setting Setting Validation 0 to 10 000 0 Immediately The factory setting is Pn103 0 Before adjusting the servo determine the moment of i...

Page 265: ...tant Setting Range Setting Unit Factory Setting Setting Validation 0 to 6 400 0 00 to 64 00 ms 0 01ms 0 Immediately Applies feed forward compensation in position control inside the SERVOPACK Use this parameter to shorten positioning time Too high value may cause the machine to vibrate For ordinary machines set 80 or less in this parameter Position Position Position reference pulse Encoder feedback...

Page 266: ...torque feed forward value will result in overshooting or undershooting To prevent such troubles set the opti mum value while observing the system responsiveness Connect a speed reference signal line to V REF CN1 3 and 4 and a torque forward feed reference to T REF CN1 1 and 2 from the host controller Torque feed forward is set using the parameter Pn400 The factory setting is Pn400 30 If for exampl...

Page 267: ...1 15 is OFF H level PI control CN1 15 is ON L level P control When sending references from the host controller to the SERVOPACK P control mode can be selected from the host controller for particular operating conditions This mode switching method can be used to suppress overshooting and shorten the settling time Refer to 9 4 4 Using the Mode Switch P PI Switching for more details on inputting the ...

Page 268: ...RVOPACK s Soft Start Acceleration Deceler ation Time Pn305 Pn306 or Position Reference Acceleration Deceleration Time Constant Pn204 1 Selecting the Mode Switch Setting The SERVOPACK provides the following four mode switch settings 0 to 3 Select the appropriate mode switch setting with parameter Pn10B 0 From PI control to P control PI control means proportional integral control and P control means...

Page 269: ...ing or undershooting of the motor speed Using the Speed Reference Level to Switch Modes With this setting the speed loop is switched to P control when the value of speed reference input exceeds the speed set in parameter Pn10D Operating Example In this example the mode switch is used to reduce the settling time It is necessary to increase the speed loop gain to reduce the settling time Using the m...

Page 270: ...otor speed Using the Error Pulse Level to Switch Modes This setting is effective with position control only With this setting the speed loop is switched to P control when the error pulse exceeds the value set in parameter Pn10F Operating Example In this example the mode switch is used to reduce the settling time It is necessary to increase the speed loop gain to reduce the settling time Using the ...

Page 271: ...d on the machine s characteristics The Bias Width Addition Pn108 specifies when the Bias Pn107 is added and the width is expressed in error pulse units The bias input will be added when the error pulse value exceeds the width set in Pn108 Bias width addition Bias set Bias Pn107 Bias Pn107 No bias Pn108 Bias width addition Pn108 Pn108 Error pulse Speed reference Pn308 Speed Feedback Filter Time Con...

Page 272: ...ed When this function is used it is assumed that the moment of inertia ratio set in Pn103 is correct Verify that the moment of inertia ratio has been set correctly Pn110 Online Autotuning Switches Setting Range Setting Unit Factory Setting Setting Validation 0010 After restart Speed Position Pn111 Speed Feedback Compensation Setting Range Setting Unit Factory Setting Setting Validation 1 to 500 10...

Page 273: ...s 1 s 3 Repeat step 2 to increase the speed loop gain while monitoring the settling time with the analog monitor s position error and checking whether vibration occurs in the torque reference If there is any vibrating noise or noticeable vibration gradually increase the Torque Reference Filter Time Constant in Pn401 4 Gradually increase only the position loop gain When it has been increased about ...

Page 274: ... Pn105 Position loop gain Pn102 Pn106 Parameter Function Pn50A n 1 Enables the input signal allocation for the sequence Set to allocate the gain switching signal G SEL to an input terminal Pn100 Speed Loop Gain Setting Range Setting Unit Factory Setting Setting Validation 1 to 2 000 Hz 40 Immediately Pn101 Speed Loop Integral Time Constant Setting Range Setting Unit Factory Setting Setting Validat...

Page 275: ...ration frequency such as resonances of ball screw can eliminate the frequency components to stop the vibration Set the machine s vibration frequency in the parameter of a notch filter to be used Torque reference after filtering Torque reference before filtering Notch filter frequency Pn409 Torque reference filter time constant Pn401 Torque function switches Pn408 Notch filter 1st order delay filte...

Page 276: ...speed loop s response frequency Setting the notch filter frequency too close to the response frequency may cause vibration and damage the machine The speed loop response frequency is the value of the Speed Loop Gain Pn100 when the Moment of Inertia Ratio Pn103 is set to the correct value 2 Change the Notch Filter Frequency Pn409 only when the servomotor is stopped Vibration may occur if the notch ...

Page 277: ... to the connector CN5 The analog monitor signals can be selected by setting parameters Pn003 0 and Pn003 1 Pin Number Line Color Signal Name Monitoring Item with Factory Setting 1 Red Analog monitor 2 Motor speed 1 V 1000 min 1 2 White Analog monitor 1 Torque reference 1 V 100 rated torque 3 4 Black 2 lines GND 0 V Cable Type JZSP CA01 or DE9404559 Black Black Red White CN5 ...

Page 278: ...tor 1 Monitor 2 Monitor Signal Observation Gain Remarks Pn003 n 0 n 0 Motor speed 1 V 1000 min 1 Factory setting for Monitor 2 n 1 n 1 Speed reference 1 V 1000 min 1 n 2 n 2 Internal torque reference 1 V 100 rated torque Factory setting for Monitor 1 n 3 n 3 Position error 0 05 V 1 reference unit n 4 n 4 Position error 0 05 V 100 reference units n 5 n 5 Position reference speed converted to motor ...

Page 279: ...itored through the analog monitor output Refer to 9 5 Analog Monitor Use the manual zero adjustment function to compensate for the output voltage drift or the zero point drift caused by noise entering the monitor system The gain adjustment function can be changed to match the sensitivity of the measuring system Gain adjustment Zero adjustment Monitor output voltage Setting unit Zero setting range ...

Page 280: ...played 4 Press the DSPL SET Key and the monitor output for the two channels will be displayed alternately 5 Press the LEFT or RIGHT Key to display the analog monitor out put data Pressing the LEFT or RIGHT Key again will return to Ch1_o or Ch2_o 6 Press the UP or DOWN Key to perform zero adjustment confirm ing the output waveform of the analog monitor with the measur ing device 7 Press the DATA EN...

Page 281: ...the DATA ENTER Key and Ch1_G will be displayed 4 Press the DSPL SET Key and the monitor output for the two channels will be displayed alternately 5 Press the LEFT or RIGHT Key to display the analog monitor gain constant Pressing the LEFT or RIGHT Key again will return to Ch1_G and Ch2_G 6 Press the UP or DOWN Key to adjust the gain confirming the output waveform of the analog monitor output with t...

Page 282: ... MEMOCON GL120 130 Series Motion Module MC20 10 22 10 3 4 Example of Connection to MEMOCON GL60 70 Series Positioning Module B2813 SERVOPACK in Position Control Mode 10 23 10 3 5 Example of Connection to OMRON s Motion Control Unit 10 24 10 3 6 Example of Connection to OMRON s Position Control Unit 10 25 10 3 7 Example of Connection to OMRON s Position Control Unit C500 NC221 SERVOPACK in Speed Co...

Page 283: ...e the allowable setting range N A A 05 Combination Error SERVOPACK and servomotor capaci ties do not match each other Available A 10 Overcurrent or Heat Sink Overheated An overcurrent flowed through the IGBT Heat sink of SERVOPACK was over heated N A L H H H A 40 Overvoltage Main circuit DC voltage is excessively high Available H H L H A 51 Overspeed The motor speed is excessively high Available L...

Page 284: ...SER VOPACK N A A C1 Servo Overrun Detected The servomotor ran out of control Available L H L H A C8 Absolute Encoder Clear Error and Multiturn Limit Setting Error The multiturn for the absolute encoder was not properly cleared or set N A A C9 Encoder Communications Error Communications between SERVO PACK and encoder is not possible N A A CA Encoder Parameter Error Encoder parameters are faulty N A...

Page 285: ...es Table 10 2 Warning Displays and Outputs Warning Display Warning Name Meaning Warning Code Output ALO1 ALO2 ALO3 A 91 Overload This warning occurs before the overload alarms A 71 or A 72 occur If the warning is ignored and operation con tinues an overload alarm may occur L H H A 93 Absolute Encoder Battery Voltage Lowered This warning occurs when the absolute encoder battery voltage is lowered I...

Page 286: ...d the limit For example the parameter was changed every scan through the host controller Replace the SERVOPACK Recheck the parameter writing method The SERVOPACK EEPROM and the related circuit are faulty Replace the SERVOPACK A 03 Main Circuit Encoder Error Occurred when the control power sup ply was turned ON or during operation The control power supply voltage is low Correct the power supply Rep...

Page 287: ...wer too many times Change the method to reset the alarm The excessive change was given to the position speed reference Recheck the reference value The overload or regenerative power exceeds the regenerative resistor s capacity Reconsider the load and operation conditions The direction or the distance of the SERVOPACK to other devices is incorrect Heat radiation of the panel or heat around the pane...

Page 288: ...ring The encoder wiring is incorrect or the connection is faulty Correct the encoder wiring A SERVOPACK fault occurred Replace the SERVOPACK Occurred when the servomotor did not run by the refer ence input The servomotor wiring is incorrect or the connection is faulty Correct the servomotor wiring The encoder wiring is incorrect or the connection is faulty Correct the encoder wiring The starting t...

Page 289: ...control power sup ply was turned ON using an absolute encoder Setting Pn002 2 0 Alarm occurred when the power to the absolute encoder was initially turned ON Set up the encoder The encoder cable had been disconnected once First confirm the connection and set up the encoder The power from both the PG power supply 5 V and the battery power supply from the SERVO PACK is not being supplied Replace the...

Page 290: ...The servomotor load is greater than the rated load The servomotor load must be within the specified range An encoder fault occurred Replace the servomotor A SERVOPACK board fault occurred Replace the SERVOPACK A b1 Reference Speed Input Read Error Detected when the Servo is ON Occurred when the control power sup ply was turned ON A SERVOPACK board fault occurred Replace the SERVOPACK Occurred duri...

Page 291: ... A CA Encoder Parameter Error Occurred when the control power sup ply was turned ON An encoder fault occurred Replace the servomotor A SERVOPACK board fault occurred Replace the SERVOPACK A Cb Encoder Echoback Error Occurred when the control power sup ply was turned ON or during operation The encoder wiring and contact are incorrect Correct the encoder wiring Noise interference occurred due to inc...

Page 292: ...put The SERVOPACK gain adjustment is improper Increase the speed loop gain Pn100 and position loop gain Pn102 The V REF input voltage and the Pn300 setting are incorrect Lower the reference speed to the speed limit value The position reference pulse frequency is too high Adjust slowly the position reference pulse fre quency Apply the smoothing function Correct the electronic gear ratio Setting of ...

Page 293: ... the load and operation condi tions Or check the servomotor capacity A SERVOPACK fault occurred Replace the SERVOPACK Occurred during nor mal operation The effective torque exceeds the rated torque Reconsider the load and operation condi tions Or check the servomotor capacity Temperature in the SERVOPACK panel is high Reduce the in panel temperature to 55 C or less A SERVOPACK fault occurred Repla...

Page 294: ...eter Pn001 1 Set parameters to match the application SEN input is turned OFF Check the SEN signal input when absolute encoder is used Turn SEN input signal ON Reference pulse mode selection is incorrect Check the parameter setting for the refer ence pulse mode Correct setting of parameter Pn200 0 Speed control Speed reference input is incorrect Check V REF and SG to confirm if the con trol method ...

Page 295: ...rence due to incorrect input signal wire specifications The specifications of input signal wires must be Twisted pair or twisted pair shielded wire with core 0 12 mm2 0 0002 in2 min and tinned annealed copper twisted wire Use the specified input signal wires Noise interference due to long dis tance of input signal line The wiring distance must be 3 m 9 84 ft max and the impedance a few hundreds oh...

Page 296: ...ent from the position when the power turned ON Noise interference due to improper encoder cable specifications The specifications of encoder cable must be Twisted pair or twisted pair shielded wire with core 0 12 mm2 0 0002 in2 min and tinned annealed copper twisted wire Use encoder cable with the specified specifications Noise interference because the encoder cable distance is too long The wiring...

Page 297: ...g The wiring distance must be 20 m 65 6 ft max The encoder cable distance must be within the specified range Noise influence due to damaged encoder cable Check if the encoder cable is bent or its sheath is damaged Correct the encoder cable layout Excessive noise interference to encoder cable Check if the encoder cable is bundled with a high current line or near high current line Change the encoder...

Page 298: ... Servomotor surface dirty Check visually Clean dust and oil from servomotor surface Overloaded Run under no load Reconsider load and operation conditions or replace with larger capacity servomotor Table 10 5 Troubleshooting for Malfunction without Alarm Display cont d Symptom Cause Inspection Corrective Actions Turn OFF the servo system before executing operations ...

Page 299: ...aily Touch and listen Levels higher than normal Exterior According to degree of contamination Clean with cloth or compressed air Insulation Resistance Measurement At least once a year Disconnect SERVOPACK and test insulation resistance at 500 V Must exceed 10 MΩ Contact your Yaskawa repre sentative if the insulation resistance is below 10 MΩ Replacing Oil Seal At least once every 5 000 hours Remov...

Page 300: ... reset to the factory settings before ship ping Be sure to confirm that the parameters are properly set before starting operation Table 10 8 Periodical Part Replacement Part Standard Replacement Period Replacement Method Operating Conditions Relays Test Replace if necessary Ambient Temperature Annual average of 30 C Load Factor 80 max Operation Rate 20 hours day max Fuses 10 years Replace with new...

Page 301: ...A 01 manufactured by Yaskawa 3 4 5 16 7 6 13 12 30 34 29 11 19 14 1 20 28 32 FG 21 22 18 35 10 17 31 2 23 24 25 19 17 16 15 13 5 9 35 10 6 7 34 3 4 20 21 22 23 24 18 28 29 14 NREF SG PA PAL PB PBL PC PCL SG 24V OUT SVON ALMRST PCON OTR OTF DOSEN 0V SEN SG 0V 0V SVALM 0V SVRDY BRK BAT 0BAT V REF SG SG PAO PAO PBO PBO PCO PCO 24V IN S ON ALM RST P CON N OT P OT SEN SG SG ALM ALM S RDY TGON BAT BAT t...

Page 302: ...N A PG0V PCL PC PBL PB PAL 17 22 47 23 48 24 19 43 18 44 45 26 1 9 15 14 13 12 11 10 8 7 4 3 13 14 15 17 16 18 9 8 7 34 35 28 29 6 5 24 23 22 21 20 2 1 4 3 25 19 24V IN S ON P CON N OT P OT ALM RST TGON V CMP S RDY ALM ALM BAT BAT SEN SG SG PCO PBO T REF SG V REF SG PAO PCO PBO PAO Connector shell CN CN1 CP 9200SH SVA manufactured by Yaskawa SGDJ S SERVOPACK CN2 C1 L2 L1 C2 W V 1 2 3 4 U Servomoto...

Page 303: ...isted pair wires PA PAO 1 20 PAO 2 21 PB PBO 3 22 PBO 4 23 PC PCO 5 24 PCO 6 25 VREF V REF 7 3 SG SG 8 4 BAT BAT 9 28 BAT0 BAT 10 29 24V 24VIN 19 13 SVON S ON 13 14 PCON P CON 14 15 SEN SEN 11 12 0SEN SG ALM RST 15 18 ALM ALM ALM0 ALM 17 35 34 16 ALM RST FG Connector frame PA PB PC 5 6 SGDJ S SERVOPACK MEMOCON GL120 130 Series MC20 manufactured by Yaskawa CN2 CN1 SV1 1 2 C1 L2 L1 C2 W V 1 2 3 4 U ...

Page 304: ...onnector shell 3 represents twisted pair wires 1Ry 024V 24V 12V 5V 0 V ERROR FG PA PB 0V PC MEMOCON GL60 70 Series B2813 manufactured by Yaskawa START STOP PAO SG PCO PBO 24VIN S ON P OT N OT ALM ALM 3Ry 4Ry 1 33 35 20 47 46 45 2 3 49 48 12 11 10 50 19 18 17 16 3 2 1 15 14 36 20 12V 24 23 22 25 19 21 20 17 16 14 13 35 34 PULSE 0V CLR SIGN PULSE SG CLR SIGN 24 6 5 38 21 22 23 10 6 5 4 3 2 1 2Ry PUL...

Page 305: ...the servo can be turned ON OFF by the S ON signal CN2 CN1 3 4 5 16 8 9 13 12 11 19 15 14 18 1 3 4 10 24 25 C1 L2 L1 C2 22 21 20 5 BAT 23 13 35 W V 1 2 3 4 U MC unit manufactured by OMRON DRV connector Servomotor SGDJ S SERVOPACK Battery CV500 MC221 MC421 CS1W MC221 MC421 C200H MC221 10 10 17 2 4 6 14 1 2 6 34 20 18 28 29 14 ALM S ON ALM RST SG SEN SG SG ALM FG PAO PAO PBO PBO PCO PCO V REF 24 IN 2...

Page 306: ...CN2 CN1 A3 A5 A6 A7 A4 2 25 8 C1 L2 L1 C2 24 4 1 6 5 W V 1 2 3 4 U Position control unit Servomotor SGDJ P SERVOPACK CS1W NC133 233 433 manufactured by OMRON A16 A11 A14 A1 A2 A8 A20 A22 A23 A21 A19 3 SIGN CLR CLR PCO PULS PULS SIGN PCO COIN SG 10 34 35 18 16 17 13 14 24V IN S ON P OT N OT ALM RST ALM ALM 1Ry 1 3 4 5 VDC 5V power supply for pulse output 5V GND for pulse output 24 V power supply fo...

Page 307: ...presents twisted pair wires Note Only signals applicable to OMRON s C500 NC221 position control unit and Yaskawa s SGDJ S SERVOPACK are shown in the diagram 16 17 3Ry 1Ry 4Ry 3Ry 24 23 22 25 10 21 20 CCWLX STPX ORGX EMGX DC GND DC GND CWLX X AG X OUT OUT 1X 24V 0V X B X C X A 24V EXT IN 24V M D ALM ALM V REF T REF SG P OT N OT 4Ry 3 13 4 14 5 15 6 16 1 11 2 12 9 8 6 22 1 17 15 13 16 14 4 20 5 21 7...

Page 308: ...ble to OMRON s C500 NC112 position control unit and Yaskawa s SGDJ P SERVOPACK are shown in the diagram 4Ry 3Ry 13 17 16 14 8 7 9 25 10 24 4Ry 3Ry 1Ry 4B 12V 10B 10A 12V 5V 1A 4A 3B 3A 2B 2A 1B 9B 9A 8B 8A 5B 5A 5 V 24V 12V 6 LRX 01 A2 Encoder signal conversion unit 3 012V 012V 24VIN P OT N OT S ON 34 35 5 4 3 2 1 6 24V 1Ry 0V PCO PCO ALM ALM PULSE CLR SIGN PULSE CLR SIGN Position control unit C50...

Page 309: ...d Y axis 3 Connect the connector wire to the connector shell 4 represents twisted pair wires Note Only signals applicable to Mitsubishi s AD72 Positioning Unit and Yaskawa s SGDJ S SERVOPACK are shown in the diagram 17 16 1Ry 24V I O power supply 0 24 V 24 V CONT SERVO CN1 ENCO CN1 STOP DOG SV ON READY PULSE A PULSE C PULSE B 0V 0V 0V 2 1 3 2 1 3 2 4 6 5 4 7 5 8 11 10 3 9 6 1 24V IN P OT N OT ALM ...

Page 310: ...he SERVOPACK Note Only signals applicable to Mitsubishi s AD75 Positioning Unit and Yaskawa s SGDJ P SERVOPACK are shown in the diagram 24V 024V 1Ry CN1 CN1 STOP DOG READY PGO PULSE SIGN CLEAR 1Ry 2 2K 24 6 5 4 2 1 35 34 25 16 17 14 13 S ON P OT N OT 25 24 14 7 26 23 5 22 4 21 3 24V 024V 24V PULS CLR SIGN PULS CLR SIGN ALM ALM PCO PCO Positioning unit AD75 manufactured by Mitsubishi I O power supp...

Page 311: ...ck data clear 7 2 5 Fn007 Writing to EEPROM inertia ratio data obtained from online autotuning 9 2 7 Fn008 Absolute encoder multiturn reset and encoder alarm reset 8 4 5 Fn009 Automatic tuning of analog speed torque reference offset 8 5 3 8 7 3 Fn00A Manual adjustment of speed reference offset 8 5 3 Fn00B Manual adjustment of torque reference offset 8 7 3 Fn00C Manual zero adjustment of analog mon...

Page 312: ...a parameter Pn000 0 or n Indicates the value for the 1st digit of parameter Pn000 Pn000 1 or n Indicates the value for the 2nd digit of parameter Pn000 Pn000 2 or n Indicates the value for the 3rd digit of parameter Pn000 Pn000 3 or n Indicates the value for the 4th digit of parameter Pn000 How to Display Parameters 2 After changing the parameters with After restart mentioned in Setting Validation...

Page 313: ...ence Position control pulse train reference Internal set speed control contact reference Torque control analog reference Position control pulse train reference Speed control analog reference Position control pulse train reference Torque control analog reference Torque control analog reference Speed control analog reference Speed control analog reference Zero clamp Position control pulse train refe...

Page 314: ...o a stop and then sets it to servolock state Sets the torque of Pn406 to the maximum value decelerates the motor to a stop and then sets it to coasting state Servo OFF or Alarm Stop Mode Refer to 8 3 5 Selecting the Stopping Method After Servo OFF Overtravel OT Stop Mode Refer to 8 3 3 Setting the Overtravel Limit Function 0 1 Reserved Do not change AC DC Power Input Selection 0 1 ALO1 ALO2 and AL...

Page 315: ... 9 4 2 Torque Feed forward Uses T REF as an external torque limit input when P CL and N CL are ON Refer to 8 9 4 Torque Limiting Using an External Torque Limit and Analog Voltage Reference N A Uses V REF as an external speed limit input Speed Control Option T REF Terminal Allocation Torque Control Option V REF Terminal Allocation Refer to 8 7 4 Limiting Servomotor Speed during Torque Control 0 1 U...

Page 316: ...Loop Gain 1 to 2000 s 1 s 40 Immedi ately 9 4 8 Pn107 Bias 0 to 450 min 1 1 min 1 0 Immedi ately 9 4 5 Pn108 Bias Width Addition 0 to 250 reference units Reference unit 0 7 Immedi ately 9 4 5 Pn109 Feed forward 0 to 100 1 0 Immedi ately 9 4 1 Param eter No Name Setting Range Units Factory Setting Setting Validation Reference Section S P 0 1 2 3 4 5 6 7 Motor speed 1 V 1000 min 1 Speed reference 1 ...

Page 317: ... the condition Level setting Pn10D Uses acceleration as the condition Level setting Pn10E Uses position error pulse as the condition Level setting Pn10F No mode switch function available PI control IP control Reserved Do not change Immediately Immediately Immediately Immediately Immediately After restart After restart After restart Mode Switch Selection Refer to 9 4 4 Using the Mode Switch P PI Sw...

Page 318: ...50 Pn11A 1000 1000 Pn11B 50 50 Pn11C 70 70 Pn11D 100 100 Pn11E 100 100 Pn11F 0 0 Pn120 0 0 Pn121 50 50 Pn122 0 0 Pn123 0 0 0 1 2 0 1 Tunes only at the beginning of operation Always tunes Does not perform autotuning Applicable N A Online Autotuning Method Refer to 9 2 3 Selecting the Online Autotuning Execution Method 0 1 2 Friction compensation Disabled Friction compensation Small Friction compens...

Page 319: ... to 65535 rev rev 65535 65535 After restart 8 4 7 Pn206 Reserved Do not change 16384 16384 0 1 2 3 4 5 6 7 8 9 Sign Pulse positive logic CW CCW positive logic Phase A Phase B 1 positive logic Phase A Phase B 2 positive logic Phase A Phase B 4 positive logic Sign Pulse negative logic CW CCW negative logic Phase A Phase B 1 negative logic Phase A Phase B 2 negative logic Phase A Phase B 4 negative l...

Page 320: ...y 8 5 4 Pn306 Soft Start Deceleration Time 0 to 10000 ms 1 ms 0 0 Immedi ately 8 5 4 Pn307 Speed Reference Filter Time Constant 0 00 to 655 35 ms 0 01 ms 40 Immedi ately 8 5 5 Pn308 Speed Feedback Filter Time Constant 0 00 to 655 35 ms 0 01 ms 0 0 Immedi ately 9 4 6 Pn400 Torque Reference Input Gain 1 0 to10 0 V rated torque 0 1 V rated torque 30 Immedi ately 8 7 1 8 9 3 8 9 4 9 4 2 Pn401 Torque R...

Page 321: ...ion Detection Level 1 to 10000 min 1 1 min 1 20 Immedi ately 8 11 3 Pn503 Speed Coincidence Signal Output Width 0 to 100 min 1 1 min 1 10 Immedi ately 8 5 8 Pn504 NEAR Signal Width 1 to 250 reference units 1 reference unit 7 Immedi ately 8 6 6 Pn505 Overflow Level 1 to 8388352 1 reference unit 1024 Immedi ately 9 3 3 Pn506 Brake Reference Servo OFF Delay Time 1 to 50 10 to 500 ms 10 ms 0 0 Immedi ...

Page 322: ...S ON P CON Signal Mapping P control when ON L level Refer to 9 4 4 Using the Mode Switch P PI Switching 4th digit 3rd digit 2nd digit 1st digit n C D E F Uses the sequence input signal terminals with standard allocation Changes the sequence input signal allocation for each signal Input Signal Allocation Mode Refer to 7 3 2 Input Circuit Signal Allocation P OT Signal Mapping Overtravel when OFF H l...

Page 323: ...verse run allowed when CN1 16 input signal is OFF H level 0 to F Same as N OT 0 to F Same as S OT the setting of 2nd digit of Pn50A 4th digit 3rd digit 2nd digit 1st digit n Reverse run allowed when CN1 17 input signal is OFF H level Reverse run allowed when CN1 18 input signal is OFF H level Reverse run allowed when CN1 11 input signal is OFF H level Reverse run allowed when CN1 12 input signal i...

Page 324: ...is OFF H level ON when CN1 15 input signal is OFF H level ON when CN1 16 input signal is OFF H level ON when CN1 17 input signal is OFF H level 0 to F Same as SPD D 0 to F Same as SPD D 4th digit 3rd digit 2nd digit 1st digit n ON when CN1 18 input signal is OFF H level ON when CN1 11 input signal is OFF H level ON when CN1 12 input signal is OFF H level C D E F 0 to F Same as SPD D SPD D Signal M...

Page 325: ...signal is OFF H level ON when CN1 15 input signal is OFF H level ON when CN1 16 input signal is OFF H level ON when CN1 17 input signal is OFF H level ON when CN1 18 input signal is OFF H level ON when CN1 11 input signal is OFF H level ON when CN1 12 input signal is OFF H level ON when CN1 12 input signal is ON L level ZCLAMP Signal Mapping Zero clamp when ON L level Refer to 8 5 6 Using the Zero...

Page 326: ...Output Rotation Detection Signal Mapping TGON Refer to 8 11 3 Running Output Signal TGON Servo Ready Signal Mapping S RDY Refer to 8 11 4 Servo Ready S RDY Output 4th digit 3rd digit 2nd digit 1st digit n 0 to 3 0 to 3 0 1 2 3 0 to 3 Disabled the above signal is not used Outputs the signal from CN1 8 10 output terminal Outputs the signal from CN1 9 10 output terminal Outputs the signal from CN1 7 ...

Page 327: ...ter No Name Setting Range Units Factory Setting Setting Validation Reference Section S P 0 1 2 3 Disabled the above signal is not used Outputs the signal from CN1 25 or 26 terminals Outputs the signal from CN1 27 or 28 terminals Outputs the signal from CN1 29 or 30 terminals Near Signal Mapping NEAR Refer to 8 6 6 Positioning Near Signal 4th digit 3rd digit 2nd digit 1st digit n Reserved Do not ch...

Page 328: ...deg Un005 Input signal monitor Un006 Output signal monitor Un007 Input reference pulse speed displayed only in position control mode min 1 Un008 Error counter value amount of position error displayed only in position control mode reference unit Un009 Accumulated load rate Value for the rated torque as 100 Displays effective torque in 10 s cycle Un00A Reserved Un00B Power consumed by DB resistance ...

Page 329: ...nection to host controller 10 20 connector terminal block converter unit 5 19 connectors and cables for encoder signals 5 11 control method 4 3 control mode selection 8 17 8 74 CSA standards 1 7 D DATA ENTER key 7 3 digital operator 2 13 5 17 key names and functions 7 3 status display 7 5 disc table 8 51 DOWN key 7 3 DSPL SET key 7 3 dynamic brake 4 4 E electronic gear 4 4 electronic gear ratio eq...

Page 330: ...4 4 P PAO 6 13 PAO serial data specifications 8 32 parameter setting mode 7 17 parameter settings initialization Fn005 7 10 parameters 7 18 7 20 example of changing function selection 7 20 password setting protects parameters from being changed Fn010 7 14 PBO 6 13 P CL 6 12 PCO 6 13 P CON 6 12 peripheral device selection 2 12 2 15 noise filters surge suppressors magnetic conductors and brake power...

Page 331: ...ronments 5 5 SGMMJ servomotors 3000 min 1 3 2 3 4 dimensional drawings 3 19 holding brake electrical specifications 3 3 holding brake moment of inertia 3 3 torque motor speed characteristics 3 3 with standard backlash gears 3 4 without gears 3 2 shield box 6 22 SIGN 6 12 soft start 8 42 soft start time setting 4 3 software version display Fn012 7 16 S ON 6 12 specifications and dimensional drawing...

Page 332: ...oders 6 6 incremental encoders 6 5 wiring encoders 6 5 wiring example 6 18 wiring for noise control 6 18 wiring main circuit power supply connector 6 3 wiring precautions 6 17 Z zero clamp function 8 42 zero point search mode Fn003 7 9 ...

Page 333: ...gears 3 3 2 Addition Mechanical characteristics of SGMMJ servomotors 3 5 Addition Dimensional drawings of SGMMJ servomotors 3000min 1 standard and with without brakes with gears and with without brakes 5 2 2 Addition SGMMJ servomotor connectors for standard environments 5 2 3 3 4 Revision Type of the SERVOPACK power supply input connector kit JZSP CFG9 2 to JZSP CJG9 2 JZSP CFG9 3 to JZSP CJG9 3 5...

Page 334: ...x 86 21 5385 3299 YATEC ENGINEERING CORPORATION 4F No 49 Wu Kong 6 Rd Wu Ku Industrial Park Taipei Taiwan Phone 886 2 2298 3676 Fax 886 2 2298 3677 YASKAWA ELECTRIC HK COMPANY LIMITED Rm 2909 10 Hong Kong Plaza 186 191 Connaught Road West Hong Kong Phone 852 2803 2385 Fax 852 2547 5773 BEIJING OFFICE Room No 301 Office Building of Beijing International Club 21 Jianguomenwai Avenue Beijing 100020 C...

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