YASKAWA SGMAS, User Manual

Page 1: ...YASKAWA YASKAWA YASKAWA MANUAL NO SIEP S800000 25A USER S MANUAL SGMAS SGMPS SGMSS SGMCS Servomotors SGDS 7 A SERVOPACK Series SGM S SGDS For SynqNet Communications...

Page 2: ...of Yaskawa No patent 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 informa...

Page 3: ...the names of reverse signals ones that are valid when low are written with a forward slash before the signal name as shown in the following example S ON S ON P CON P CON Outline of the Contents Chapte...

Page 4: ...efinitions of difficult terms or terms that have not been previously explained in this man ual Related Manuals Refer to the following manuals as required IMPORTANT INFO EXAMPLE TERMS Manual Name Manua...

Page 5: ...ation 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 to indica...

Page 6: ...m that for conventional systems 15 bit encoder and 12 bit encoder Especially when Infinite length positioning system of conventional type is to be configured with series be sure to make the system mod...

Page 7: ...ure to observe this caution may result in fire electric shock or damage to the product Locations subject to direct sunlight Locations subject to temperatures outside the range specified in the storage...

Page 8: ...ent any foreign objects from entering the product Failure to observe this caution may cause internal elements to deteriorate resulting in malfunction or fire Be sure to install the product in the corr...

Page 9: ...ain power devices like capacitors and fuses to deteriorate resulting in unexpected problems Observe the following precautions when wiring main circuit terminal blocks Remove the terminal block from th...

Page 10: ...e to run out of control or malfunction When using the servomotor for a vertical axis install the safety devices to prevent workpieces to fall off due to occurrence of alarm or overtravel Set the servo...

Page 11: ...wn without covers or protective guards Always replace the cover or protective guard as specified first and then operate the products in accordance with the manual The drawings presented in this manual...

Page 12: ...GMSS 2 2 2 1 2 Model SGMCS 2 4 2 2 SERVOPACK Model Designations 2 5 2 3 III Series SERVOPACKs and Applicable Servomotors 2 6 2 4 Selecting Cables 2 7 2 4 1 Cables for SGMAS and SGMPS Servomotor 2 7 2...

Page 13: ...kW 3 19 3 6 7 Three phase 200 V 2 0 kW 3 0 kW 3 20 4 Specifications and Dimensional Drawings of Cables and Peripheral Devices 4 1 SERVOPACK Main Circuit Wire Size 4 2 4 2 Connectors for Main Circuit...

Page 14: ...or for Harmonic Suppression 5 19 5 5 Connecting Regenerative Resistors 5 20 5 5 1 Regenerative Power and Regenerative Resistance 5 20 5 5 2 Connecting External Regenerative Resistors 5 20 5 6 Flexible...

Page 15: ...Troubleshooting of Alarm and Warning 9 5 9 1 4 Troubleshooting for Malfunction without Alarm Display 9 17 9 2 Inspection and Maintenance 9 21 9 2 1 Servomotor Inspection 9 21 9 2 2 SERVOPACK Inspecti...

Page 16: ...omotors 1 2 1 1 3 SERVOPACKs 1 3 1 2 Product Part Names 1 4 1 2 1 Servomotors 1 4 1 2 2 SERVOPACKs 1 5 1 3 Examples of Servo System Configurations 1 6 1 4 Applicable Standards 1 11 1 4 1 North America...

Page 17: ...escriptions 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 cann...

Page 18: ...Nameplate 1 Serial number Order number Servomotor model Ratings AC SERVO MOTOR TYPE 707 W 5 8 A 45 N m 200 V 150 min CONT ins F O N 252909 101 S N 842000045 YASKAWA ELECTRIC MADE IN JAPAN DATE 0306 S...

Page 19: ...e Output shaft Nameplate Encoder connector Encoder Detecting section Servomotor connector Encoder connector Servomotor connector Servomotor main circuit cable Flange Encoder cable Nameplate Encoder De...

Page 20: ...nalog Monitor Refer to 6 3 2 SynqNet Port LED Indicators Used to communicate with SynqNet controller Refer to 5 3 4 SynqNet Connectors CN6A and CN6B Used for reference input signals and sequence Light...

Page 21: ...1 Outline 1 6 1 3 Examples of Servo System Configurations This section describes examples of basic servo system configuration SIEPS80000025 book 6...

Page 22: ...rotector Refer to 4 4 10 Magnetic Contactor Brake power supply Magnetic contactor Regenerative resistor Connect an external regenerative resistor to terminals B1 and B2 if the regenerative capacity is...

Page 23: ...wn in the figure below Note Do not remove the rubber packing on the servomotor end cable connector Mount the con nector so that the rubber packing is seated properly If the rubber packing is not seate...

Page 24: ...ne Refer to 4 4 9 Connect an external regenerative resistor to terminals B1 and B2 if the regenerative capacity is insufficient Refer to 4 4 6 External Regenerative Resistor Used for a servomotor with...

Page 25: ...terminals B1 and B2 if the regenerative capacity is insufficient Refer to 4 4 6 External Regenerative Resistor Turns the servo ON and OFF Install a surge protector Refer to 4 4 10 Magnetic Contactor S...

Page 26: ...n is required after being installed in the final product 2 Certification is pending for the following SERVOPACKs y SGDS SERVOPACKs 50 W to 3 kW y SGMPS 15 SERVOPACKs y SGMSS 15 to 30 SERVOPACKs y SGMC...

Page 27: ...Applicable Servomotors 2 6 2 4 Selecting Cables 2 7 2 4 1 Cables for SGMAS and SGMPS Servomotor 2 7 2 4 2 Cables for SGMSS Servomotor 2 15 2 4 3 Cables for SGMCS Servomotor 2 20 2 5 Selecting Peripher...

Page 28: ...te 17 bit incremental Design Revision Order Code A E Design Revision Order SGMAS SGMPS SGMSS SGMPS IP67 specification Shaft End Specifications Code 2 3 4 6 8 SGMAS Standard SGMPS Standard SGMSS Specif...

Page 29: ...0 2 4 6 8 SGMAS SGMPS SGMSS Flange type no shaft Straight without key Straight with key Straight with key and tap Straight with tap Options 1 Without brake With 90 VDC brake With 24 VDC brake B C Code...

Page 30: ...tal D Rated Torque N m Code 02 04 05 07 08 10 14 16 17 25 35 45 80 1A 1E 2Z 2 0 4 0 5 0 7 0 8 0 10 0 14 0 16 0 17 0 25 0 35 0 45 0 80 0 110 0 150 0 200 0 Motor Outer Diameter mm B 135 C 175 D 230 E 29...

Page 31: ...Rated Output 50 W 100 W 200 W 400 W 750 W 1 0 kW 1 5 kW 2 0 kW 3 0 kW Interface Specifications Code Specifications SynqNet IF Power Supply Voltage Code A F Voltage 02 SGDS A 72 A 200 V 100 V 100 V inp...

Page 32: ...W 02F 02A 02A 200 W 02F 02A 04A 400 W 04F 04A 06A 600 W 08A 08A 750 W 08A 12A 1 15 kW 15 SGMPS Flat Type 3000min 1 5 models 01A 100 W 01F 01A 02A 200 W 02F 02A 04A 400 W 04F 04A 08A 750 W 08A 15A 1 5...

Page 33: ...tandard Wiring Distance Encoder cable Servomotor main circuit cable SGMPS 08 15 Servomotor for 750 W 1 5 kW Servomotor main circuit cable for relay Encoder cable for relay Battery case when an absolut...

Page 34: ...SGMPS SERVOPACK Relay encoder cable extension SERVOPACK end Relay encoder cable extension Encoder end SGMAS or SGMPS 01 to 04 Servomotor for 100 W to 400 W To be assembled by the customer To be assem...

Page 35: ...ends For incremen tal encoder SGMPS for 750 W 1 5 kW 3 m 9 84 ft JZSP CMP00 03 JZSP CMP10 03 5 m 16 4 ft JZSP CMP00 05 JZSP CMP10 05 10 m 32 8 ft JZSP CMP00 10 JZSP CMP10 10 15 m 49 2 ft JZSP CMP00 1...

Page 36: ...20 m 65 5 ft JZSP CSP04 20 JZSP CSP24 20 SERVOPACK end connector kit SGMAS SGMPS JZSP CMP9 1 Soldered Encoder end connector kit SGMAS 50 to 1 15 kW SGMPS 100 to 400 W JZSP CSP9 2 Caulking Exclusive t...

Page 37: ...JZSP CSM02 20 JZSP CSM22 20 SGMAS 750 W 1 15 kW 3 m 9 84 ft JZSP CSM03 03 JZSP CSM23 03 5 m 16 4 ft JZSP CSM03 05 JZSP CSM23 05 10 m 32 8 ft JZSP CSM03 10 JZSP CSM23 10 15 m 49 2 ft JZSP CSM03 15 JZSP...

Page 38: ...AS 200 to 600 W SGMPS 200 to 400 W 3 m 9 84 ft JZSP CSM12 03 JZSP CSM32 03 5 m 16 4 ft JZSP CSM12 05 JZSP CSM32 05 10 m 32 8 ft JZSP CSM12 10 JZSP CSM32 10 15 m 49 2 ft JZSP CSM12 15 JZSP CSM32 15 20...

Page 39: ...ft JZSP CMM30 20 Servomotor end connector kit SGMAS 50 to 150 W SGMPS 100 W JZSP CSM9 1 Caulking Exclusive tool is required SGMAS 200 to 600 W SGMPS 200 to 400 W JZSP CSM9 2 SGMAS 750 W 1 15 kW JZSP...

Page 40: ...t JZSP CSM91 10 JZSP CSM81 10 15 m 49 2 ft JZSP CSM91 15 JZSP CSM81 15 20 m 65 5 ft JZSP CSM91 20 JZSP CSM81 20 e Relay Encoder Cables Encoder end Same for incre mental and abso lute encoders SGMAS 50...

Page 41: ...2 4 Selecting Cables 2 15 2 2 4 2 Cables for SGMSS Servomotor Cable Connection for Standard Wiring Distance SGDS 72A SERVOPACK SIEPS80000025 book 15...

Page 42: ...es for SGMSS Servomotor 2 16 Encoder Cable Extension from 20 m 65 5 ft up to 50 m 164 ft SGDS 72A SERVOPACK Servomotor SGMSS Relay encoder cable extension SERVOPACK end To be assembled by the customer...

Page 43: ...4 ft JZSP CSP04 05 JZSP CSP24 05 10 m 32 8 ft JZSP CSP04 10 JZSP CSP24 10 15 m 49 2 ft JZSP CSP04 15 JZSP CSP24 15 20 m 65 5 ft JZSP CSP04 20 JZSP CSP24 20 Cable with con nectors at both ends For inc...

Page 44: ...05 JZSP CSP27 05 10 m 32 8 ft JZSP CSP07 10 JZSP CSP27 10 15 m 49 2 ft JZSP CSP07 15 JZSP CSP27 15 20 m 65 5 ft JZSP CSP07 20 JZSP CSP27 20 SERVOPACK end connec tor kit JZSP CMP9 1 Soldered For stand...

Page 45: ...t max 10 m 32 8 ft JZSP CMP09 10 15 m 49 2 ft JZSP CMP09 15 20 m 65 5 ft JZSP CMP09 20 Servomotor Main Circuit Ca ble Connectors Cables and connectors Cables with connectors are not available Refer to...

Page 46: ...tor 2 20 2 4 3 Cables for SGMCS Servomotor Cable Connection for Standard Wiring Distance Servomotor main circuit cable SGMCS Servomotor Encoder cable Encoder cable Servomotor main circuit cable A View...

Page 47: ...er Cable Extension from 20m 65 5 ft up to 50m 164 ft A View A SGDS SERVOPACK Servomotor main circuit cable Encoder cable Servomotor SGMCS To be assembled by the customer Relay encoder cable extension...

Page 48: ...05 JZSP CMP13 05 10 m 32 8 ft JZSP CMP03 10 JZSP CMP13 10 15 m 49 2 ft JZSP CMP03 15 JZSP CMP13 15 20 m 65 5 ft JZSP CMP03 20 JZSP CMP13 20 SERVOPACK end connector kit JZSP CMP9 1 Soldered Connectors...

Page 49: ...d Cables For SGMCS B C D E 5 m 16 4 ft JZSP CSM90 05 JZSP CSM80 05 20 m 65 6 ft max 10 m 32 8 ft JZSP CSM90 10 JZSP CSM80 10 15 m 49 2 ft JZSP CSM90 15 JZSP CSM80 15 20 m 65 5 ft JZSP CSM90 20 JZSP CS...

Page 50: ...le Name Length Type Specifications c I O Signal Cables Connector terminal block converter unit JUSP TA26P Terminal block and 0 5 m to 2 m 1 640 ft to 6 562 ft connection cable Cable with loose wires a...

Page 51: ...round fault protector dedicated for protective grounding combined with the molded case circuit breaker Name Type Specifications fBattery for Absolute Encoder Note No battery is mounted in the battery...

Page 52: ...Capacity kW SGDS Type Specifications Single phase 100 V 0 05 A5F FN2070 6 07 Single phase 250 VAC 6 A 0 10 01F 0 20 02F FN2070 10 07 Single phase 250 VAC 10 A 0 40 04F FN2070 16 07 Single phase 250 V...

Page 53: ...red by Iwaki Wireless Research Institute Noise Filter Brake Power Supply Use the following noise filter at the brake power input for 400 W or less servomotors with holding brakes MODEL FN2070 6 07 Man...

Page 54: ...odels 3 10 3 4 SERVOPACK Power Losses 3 11 3 5 SERVOPACK Overload Characteristics and Load Moment of Inertia 3 12 3 5 1 Overload Characteristics 3 12 3 5 2 Starting and Stopping Time 3 13 3 5 3 Load M...

Page 55: ...C 20 to 85 C Ambient Storage Humidity 90 RH or less with no condensation Vibration Shock Resistance 4 9 m s2 19 6 m s2 Configuration Base mounted Rack mounting available as an option Performance Spee...

Page 56: ...set by the host controller Address Setting Select the address of 0 to 255 with using the rotary switch Reference Method Operating Specifications Torque control with using SynqNet communication Refere...

Page 57: ...orming to the following standards Certification is pending for the following standards UL508C CSA C22 2 No 14 EN50178 EN55011 group 1 class A EN61000 6 2 Installation Site Installation in a Control Pa...

Page 58: ...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 temperatu...

Page 59: ...IC PWM control etc CPU Position speed calculation etc CN51 1KM L1 B1 B2 L2 L1C L2C U V W 15V 5V 12V 5V Digital Operator 1KM 1KM Surge protector Power OFF Power ON Open during Servo alarm 1Ry CN2 Servo...

Page 60: ...ervomotor Analog voltage converter Voltage sensor Gate drive over current protector Gate drive Current sensor Dynamic brake circuit Noise filter Varistor Varistor Voltage sensor Relay drive Temperatur...

Page 61: ...ic brake circuit Surge protector Power OFF Power ON Open during Servo alarm CN51 1KM L1 B1 B2 B3 L2 L3 1 2 L1C L2C U V W 15V 5V 12V 5V 1KM 1KM 1Ry CN2 PG CHARGE CN5 M Voltage sensor Relay drive Gate d...

Page 62: ...0 15 Noise filter Varistor Current sensor Gate drive Voltage sensor Voltage sensor Gate drive over current protection Temperature sensor Relay drive Dinamic brake circuit ASIC PWM control etc CPU Posi...

Page 63: ...1 5 kW to 3 0 kW Model SGDS A A 15 to30 Three phase 200 to 230 V 50 60 Hz Noise filter Control power supply Panel operator Digital Operator Personal computer Current sensor Surge protector Power OFF...

Page 64: ...ve resistors are optional Refer to 5 5 Connecting Regenerative Resistors and 4 4 6 External Regenerative Resistor for details SERVOPACK Power Losses at Rated Output Main Circuit Power Supply Maximum A...

Page 65: ...servomotor ambient temperature of 40 C 104 F Note The overload protection characteristics of A and B in the figure are applicable when the SERVOPACK is combined with one of the following servomotors...

Page 66: ...ps if this occurs Reduce the torque limit Reduce the deceleration rate Reduce the maximum motor speed Install an externally mounted regenerative resistor if the alarm cannot be cleared Contact your Ya...

Page 67: ...2 Load moment of inertia Motor speed min 1 10 4 kg m 2 SGMAS 01 100W 6000 3000 0 0 1 140 SGMAS C2 150W 5500 6000 3000 min 1 4000min 1 3500min 1 4000min 1 0 0 1 544 1 593 SGMAS A5 50W 6000 3000 0 0 0...

Page 68: ...in 1 200 min 1 100 min 1 100 min 1 SGMCS 16E 335W 300 400 100 200 0 0 3240 100 min 1 200 min 1 SGMCS 35E 550W 300 400 100 200 0 0 4470 100 min 1 Motor speed Load moment of inertia 10 4 kg m 2 min 1 Mo...

Page 69: ...ge Allowable Load Moment of Inertia Rotor Moment of Inertia Ratio SGMAS 200 V 50 W to 200 W 30 400 W to 750 W 20 1 2 kW 10 SGMPS 200 V 100 W 25 200 W 15 400 W 7 750 W 5 1 5 kW 5 SGMSS 200 V 1 0 kW 5 1...

Page 70: ...400 W 70 1463 3 6 3 Single phase 200 V 50 W 55 1073 3 6 2 100 W 200 W 400 W 75 1463 3 6 3 750 W 70 180 1890 3 6 4 Three phase 200 V 1 0 kW Units mm in Approx mass 1 0 kg 2 20 lb CN5 CN6A CN6B CN3 CN1...

Page 71: ...m C N 2 C N 1 C V L N K L N K P T R C N 5 C N 3 OUT CN6A POWER IN CN6B ALM SGDS SW1 SW 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 18 0 71 Nameplate 130 5 12 100 3 94 4 5 1 78 YASKAWA ELECTRIC MADE IN JAP...

Page 72: ...95 18 0 71 5 0 20 Nameplate Cooling fan Units mm in Approx mass 1 4 kg 3 09 lb Ground terminal 2 M4 screws 0 1 2 3456 7 8 9 A B C D E F 0 1 2 3456 7 8 9 A B C D E F 180 7 09 18 0 71 4 0 16 75 2 95 5 0...

Page 73: ...20 180 7 09 170 0 5 6 69 0 02 5 5 0 22 5 0 20 Mounting pitch Mounting pitch 100 3 94 90 0 5 3 54 0 02 4 M4 screws Mounting Hole Diagram 100 3 94 180 7 09 CN3 CN5 CN6A CN6B CN1 CN2 13 terminals with M4...

Page 74: ...tor Type and Cable Size 4 6 4 4 Peripheral Devices 4 8 4 4 1 Cables for Connecting Personal Computers 4 8 4 4 2 Digital Operator 4 8 4 4 3 Cables for Analog Monitor 4 8 4 4 4 Connector Terminal Block...

Page 75: ...K Model SGDS A5F 01F 02F 04F Main circuit power input terminals L1 L2 HIV1 25 HIV2 0 Servomotor connection terminals U V W HIV1 25 Control power input terminals L1C L2C HIV1 25 External regenerative r...

Page 76: ...bol Name PVC Normal vinyl cable IV 600 V vinyl cable 60 HIV Temperature resistant vinyl cable 75 AWG size Nominal Cross Section Diameter mm2 Configuration number of wires mm2 Conductive Resistance km...

Page 77: ...cuit cable connector at SERVOPACK end 51446 0301 Molex Japan Co Ltd 7 pole For 50 to 400 W SERVOPACKs 51446 0701 10 pole For 750 W to 1 5 kW SERVOPACKs 51446 1001 Connection lever 54932 0000 3 pole 7...

Page 78: ...n Co Ltd 7 pole For 50 to 400 W SERVOPACKs 51241 0711 10 pole For 750 kW to 1 5 kW SERVOPACKs 51241 1011 Plug chained 56125 0018 Plug detached 56125 0118 Crimping tool 57349 5300 Pull tool 57349 6000...

Page 79: ...nector CN1 includes a set of case and a connector Manufactured by Sumitomo 3M Ltd Cable Types Length L JZSP VJI01 1 1 m 3 28ft JZSP VJI01 2 2 m 6 56ft JZSP VJI01 3 3 m 9 84ft L 100 Sleeve F2 black Uni...

Page 80: ...hielded wire Applicable wires AWG24 26 28 30 Cable Finished Diameter 16 mm 0 63 in max 37 2 1 46 12 7 0 50 25 8 1 02 31 3 1 23 12 0 0 47 14 0 0 55 Unit mm in 39 0 1 54 23 8 0 94 5 7 0 22 10 0 0 39 2 5...

Page 81: ...3 Cables for Analog Monitor 1 Cable Type JZSP CA01 Connect the specified cables to CN5 connector for monitoring the analog monitor signals Connect to CN3 SERVOPACK Digital Operator Plug 10114 3000VE...

Page 82: ...mm in 0 20 0 0 79 White Red Black Black Cable Color Signal Name Explanation White Analog Monitor 1 Torque reference 1 V 100 rated torque Red Analog Monitor 2 Motor speed 1 V 1000 min 1 Black 2 cables...

Page 83: ...F Lead wires Color coded Refer to the following table 3 Dimensional Drawings Model Cable length L Approx mass JUSP TA26P 500 mm 19 69 in 100g 0 22 lb JUSP TA26P 1 1000 mm 39 37 in 200g 0 44 lb JUSP T...

Page 84: ...erative resistor must be purchased separately by customers Refer to the table below for selecting the regenerative resistor Refer to 5 5 Connecting Regenerative Resistors for the connection 1 Referenc...

Page 85: ...RH500 A B G F E 3 5 0 14 4 5 0 18 D D C 4 5 0 18 Lead wire length L 300 11 81 A B C D E F G RH120 182 150 172 16 42 22 20 7 17 5 91 6 77 0 63 1 65 0 87 0 79 8 35 7 09 7 95 0 63 1 73 0 94 1 18 9 06 7 8...

Page 86: ...C 32 F to 131 F 2 Battery Mounted in the Battery Case Model JZSP BA01 lithium battery Battery ER3V battery made by Toshiba Battery Co Ltd 3 6 V 1000 mAh 3 Battery Installed on the Host Controller End...

Page 87: ...ers are applicable The power supply capacity per SERVOPACK when using a servomotor is described in 2 5 2 Molded case Circuit Breaker and Fuse Capacity Select a molded case circuit breaker with the cap...

Page 88: ...lters according to SERVOPACK capacity For more details on selecting the current capacity for a noise filter refer to 2 5 Selecting Peripheral Devices 1 Single phase 100 200 V Model FN2070 6 07 FN2070...

Page 89: ...06 0 012 143 0 3 5 63 0 012 109 0 3 4 29 0 012 J 25 0 2 0 98 0 0079 40 0 2 1 57 0 0079 K 8 4 0 5 0 33 0 020 8 6 0 5 0 33 0 020 L 32 4 0 5 1 28 0 020 M 4 4 0 1 0 17 0 004 5 3 0 1 0 21 0 004 4 4 0 1 0...

Page 90: ...ons Symbol Dimensions in mm in A 305 1 12 01 0 039 335 1 13 19 0 039 B 142 0 8 5 59 0 031 150 1 5 91 0 039 C 55 0 6 2 17 0 024 60 0 6 2 36 0 024 D 275 0 8 10 83 0 031 305 1 12 01 0 039 E 290 0 5 11 41...

Page 91: ...Approx mass 0 25 kg 0 551 lb Dimensions in mm in Mounting Hole Dimensions in mm in Terminal Symbols Approx mass 0 38 kg 0 838 lb 9 0 35 35 1 38 76 2 99 61 2 40 34 5 1 36 4 5 0 18 a b 2 U 1 R S T 44 1...

Page 92: ...uxiliary contact terminal U V W R S T 111 4 37 79 3 11 45 1 77 4 5 0 18 35 1 38 94 3 70 72 2 83 9 0 35 2 M4 Mounting holes 70 2 76 75 2 95 10 5 0 41 50 1 97 4 0 16 Auxiliary contact Structure 1NO1NC 7...

Page 93: ...tches Recommended surge protectors for HI J series magnetic contactors are listed below 2 Dimensional Drawings a RxCxM 601BQZ 4 b RxCxM 601BUZ 4 Dimensional Drawings Internal Connection Diagram Dimens...

Page 94: ...he three phase input Select a reactor that matches the ratings of the SERVOPACK For wiring refer to 5 4 5 AC DC Reactor for Harmonic Suppres sion Applicable SERVOPACK Model SGDS AC DC Reactor Model Re...

Page 95: ...38 45 1 77 50 1 97 4 0 16 4 3 0 17 0 6 1 32 X5054 35 1 38 52 2 05 80 3 15 95 3 74 30 1 18 40 1 57 45 1 77 4 0 16 4 5 0 18 0 4 0 88 X5056 35 1 38 52 2 05 80 3 15 95 3 74 30 1 18 40 1 57 45 1 77 4 0 16...

Page 96: ...1 Terminal Layout 5 9 5 3 3 I O Signal CN1 Names and Functions 5 10 5 3 4 SynqNet Connectors CN6A and CN6B 5 11 5 4 Special Wiring 5 12 5 4 1 Wiring Precautions 5 12 5 4 2 Wiring for Noise Control 5 1...

Page 97: ...on L1 L2 or L1 L2 L3 Main circuit input terminal 50 W to 400 W Single phase 100 to 115 V 10 15 50 60 Hz 50 W to 400 W Single phase 200 to 230 V 10 15 50 60 Hz 750W Single phase 200 to 230 V 10 15 50 6...

Page 98: ...an 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 th...

Page 99: ...filter Magnetic contactor Relay L1 L1C PG SGDS 72A U V W M ALM SG 0 V 24 1Ry ALM 13 14 1D OFF 1KM 1Ry ON 1KM 1PRT 1Ry 1KM L2 L2C CN1 1QF R T 1PL FIL 24V SERVOPACK For servo alarm display Main power s...

Page 100: ...ation when designing the power ON sequence The ALM signal actuates the alarm detection relay 1Ry to stop main circuit power supply to the SERVOPACK Select the power supply specifications for the parts...

Page 101: ...b Parameter Setting Do not use a DC power supply for the 100V SERVOPACK SGDS F A DC power will destroy the SERVOPACK and may cause a fatal accident or fire Do not change the factory setting for Pn001...

Page 102: ...n numbers for wiring depend on the servomotor model CN2 Encoder Connector Terminal Layout 1 PG5V PG power supply 5 V 2 PG 0 V PG power supply 0 V 3 BAT Battery For an absolute encoder 4 BAT Battery Fo...

Page 103: ...ER CN1 10 MS_G 5 V CN1 15 MS_R CN1 16 NS_G CN1 18 MS_COM CN1 17 NS_COM CN1 20 CN1 7 3 3 k 3 k 120 330 USER0 CN1 8 USER1 CN1 4 HOME CN1 3 CW OT CN1 2 CCW OT CN1 5 EXSTOP CN1 6 EXSTOP CN1 21 ENC_A CN1 2...

Page 104: ...nal 16 MS_R Module status output red 4 HOME Home signal input 17 MS COM Module status common 5 EXSTOP External stop signal input 18 NS_G Network status output green 6 EXSTOP External stop signal input...

Page 105: ...sition mode only Reports the home position of machine to the SERVOPACK EXSTOP EXSTOP 5 6 External stop input Stops the servomotor immediately and the servo is turned OFF USER0 USER1 7 8 User input sig...

Page 106: ...acturer Unit end Commercial Ulti mate Micro D connector 83611 9006 Molex Cable end Commercial Ulti mate Micro D cable receptacle 83421 9014 Molex Pin Terminal name I O Pin Terminal name I O 1 CONN_RD1...

Page 107: ...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 Alway...

Page 108: ...iring for noise control For ground wires connected to the casing use a thick wire with a thickness of at least 3 5 mm 0 005 in preferably plain stitch cooper wire 2 should be twisted pair wires When u...

Page 109: ...commodated in a metal conduit ground the conduit and its junction box For all grounding ground at one point only All grounds must be made to only one point in the system 3 Using Noise Filters Use an i...

Page 110: ...ndle them together 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 toget...

Page 111: ...nding a noise filter 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 u...

Page 112: ...se 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 Ci...

Page 113: ...of the voltage conversion trans former Voltage conversion transformer inductance will cause a surge voltage if the power is turned ON and OFF at the second ary damaging the SERVOPACK CAUTION Primary V...

Page 114: ...ssion 2 Connecting a Reactor Connect a reactor as shown in the following diagram Note 1 The DC reactor s 1 and 2 terminals are short circuited before shipment Remove the lead wire between these two te...

Page 115: ...rative Resistor If the amount of regenerative energy exceeds the processing capacity of the SERVOPACK then install an exter nal regenerative resistor The following table shows the specifications of th...

Page 116: ...ad characteristics Use resistors at no more than 20 of the rated load ratio with natural convection cooling and no more than 50 of the rated load ratio with forced air cooling 2 For safety s sake use...

Page 117: ...o 4 1 SERVOPACK Main Cir cuit Wire Size for wire size for connecting an external regenerative resistor Connect an external regenerative resistor between B1 and B2 terminals Note The user must provide...

Page 118: ...necting the shield wire is not taken into account 2 Wiring Precautions Even if the recommended bending radius R is followed in the mechanical design incorrect wiring may cause the early disconnection...

Page 119: ...2 2 SynqNet Communications Connection Example 6 4 6 2 3 Precautions for Wiring SynqNet Cables 6 5 6 2 4 Grounding 6 7 6 3 Settings 6 8 6 3 1 Switch ID Setting 6 8 6 3 2 SynqNet Port LED Indicators 6 8...

Page 120: ...le The communications buffer is checked by the drive every drive cycle An integral num ber of drive cycles must make up one controller cycle In other servo networks the data packet size and node time...

Page 121: ...6 1 Introduction 6 3 6 The following figure illustrates the relationship between the SynqNet data interchange over the wire and the drive message buffer updates SIEPS80000025 book 3...

Page 122: ...ble or node fails the network will redirect packet data around the break and notify the application with an event The location of the break can be determined by the application String topology opened...

Page 123: ...ode waits for the node to repeat the packet back and measures the elapsed time In ring topologies the last cable requires the packet to travel around the net work and return to the controller The cont...

Page 124: ...error will be returned To recover use a control reset to clear the previous minimum and maximum cable values re initialize the network and set the new min max val ues 2 Micro D Connections SGDS SynqNe...

Page 125: ...earth ground The cable shields are also tied to isolated plane sec tions one for each port on the node PCB to minimize EMI 6 2 4 Grounding SynqNet provides grounding of its communication lines through...

Page 126: ...wo LEDs The LEDs specifically relate to the FPGA and network states They function independently from the drive processors or other devices attached to the node The normal state of the LEDs dur ing nor...

Page 127: ...ng on the power sup ply The following displays are alternately lit at P_OT and N_OT status When an alarm is generated the alarm code digits are alternately lit as the status For example A 123 On Servo...

Page 128: ...e Valid when the Drive Ready response appears 3 Amp Powered Shows that motor voltage is available to drive the servo Valid when the Drive Ready response appears 4 Servo ON Shows that servo is enabled...

Page 129: ...eaning Read Alarm Read Reads an alarm code from the alarm history Alarm Count Read Reads the number of active alarms stored in alarm history buffer Clear Alarm Write Clears all alarms in the active al...

Page 130: ...on parameter settings and the Multiturn Limit setting when using the digital operator For more information on operat ing methods refer to the MEI SynqNet controller manuals 7 1 Trial Operation 7 2 7 1...

Page 131: ...r jog operation is 500 min 1 Check to see if the servomotor runs normally The operating procedure is given below The motor can be operated using only the digital operator This makes it possible to che...

Page 132: ...ey is pressed the motor moves in reverse at 500 min 1 Make sure that the motor operation is completed and then press the Key The status display changes to BB and the motor enters a servo OFF state Pre...

Page 133: ...the Key to change the digit value Press the Key Returns to the main menu of the auxiliary function mode Note 1 For more information on operating method refer to the III series SGM S SGDS Digital Oper...

Page 134: ...CL5 appears Press the Key to clear the multi turn data of the abso lute encoder DONE is displayed for one second after the setting have been made Turn OFF the power supply and then turn it ON again to...

Page 135: ...8 1 8 8 Adjustments 8 1 Torque Filters 8 2 8 2 Analog Monitor 8 5 SIEPS80000025 book 1...

Page 136: ...orque Reference Filter Frequency is set to it s factory setting of 2 000 Hz First Stage 1 Torque Reference Filter Pn401 Torque reference after filtering Torque reference before filtering First Stage N...

Page 137: ...0 100 2 10 10 3 104 2 10 10 3 104 Phase Frequency Hz 400 300 200 100 0 deg 300 200 100 0 100 2 10 10 3 10 4 2 10 10 3 10 4 400 300 200 100 0 Notch filter Gain db Frequency Hz Notch filter Phase deg F...

Page 138: ...d Vibration may occur if the notch filter frequency is changed when the motor is rotating Pn40A First Stage Notch Filter Q Value Setting Range Setting Unit Factory Setting Setting Validation 70 to 100...

Page 139: ...analog monitor 1 and 2 are set as shown below Line Color Signal Name Description White Analog monitor 1 Torque reference 1 V 100 Rated torque Red Analog monitor 2 Motor speed 1 V 1000 min 1 Black 2 li...

Page 140: ...ain Remarks Pn006 Pn007 n 00 Motor speed 1 V 1000 min 1 Pn007 Factory Setting n 01 Reserved n 02 Gravity Compensation Torque Pn422 subtract from Torque Reference 1 V 100 Rated torque Pn006 Factory Set...

Page 141: ...n550 Analog Monitor 1 Offset Voltage Setting Range Setting Unit Factory Setting Setting Validation 1000 0 to 1000 0 1000 0 to 1000 0 0 1 V 0 0 0 V Immediately Pn551 Analog Monitor 2 Offset Voltage Set...

Page 142: ...1 2 Warning Displays 9 4 9 1 3 Troubleshooting of Alarm and Warning 9 5 9 1 4 Troubleshooting for Malfunction without Alarm Display 9 17 9 2 Inspection and Maintenance 9 21 9 2 1 Servomotor Inspection...

Page 143: ...ent to turn the Servo ON after the Servo ON function was used with the Digital Operator or SigmaWin DB stop Available A 100 Overcurrent or Heat Sink Overheated An overcurrent flowed through the IGBT H...

Page 144: ...lute Encoder Clear Error and Multi turn Limit Setting Error The multi turn for the absolute encoder was not properly cleared or set DB stop N A A C90 Encoder Communications Error Communications betwee...

Page 145: ...larm may occur A 930 Absolute Encoder Battery Voltage Lowered This warning occurs when the absolute encoder battery voltage is low ered Continuing the operation in this status may cause an alarm A 940...

Page 146: ...in the software being used is old and is not compatible with current parameters Replace the SERVOPACK Change the parameter settings to be compati ble with the model number in the software being used...

Page 147: ...SERVOPACK board fault occurred Replace the SERVOPACK A 051 Unsupported Product Alarm Occurred when the control power sup ply was turned ON The serial converter unit unsupported was con nected Check a...

Page 148: ...ncy The overload alarm has been reset by turning OFF the power too many times Change the alarm resetting method Overload or regenerative power exceeds the regenerative resistor capacity Reconsider the...

Page 149: ...the SERVOPACK Occurred when the main circuit power supply was turned ON In DC power input mode AC power is supplied through L1 and L2 or L1 L2 and L3 For AC power input set Pn001 2 0 For DC power inpu...

Page 150: ...g A SERVOPACK fault occurred Replace the SERVOPACK Occurred when the servomotor started running or at high speed run Incorrect order of phases U V and W in the ser vomotor wiring Correct the servomoto...

Page 151: ...ircuit power supply ON OFF operation frequency to five times min or less A SERVOPACK fault occurred Replace the SERVOPACK A 7A0 Heat Sink Overheated Detected when the heat sink temperature exceeds 100...

Page 152: ...pply was turned ON Setting Pn002 2 1 A SERVOPACK board fault occurred when the absolute encoder is used as an incremental Replace the SERVOPACK When the control power supply was turned ON Setting Pn00...

Page 153: ...ternal pro gram processing error Occurred when the control power sup ply was turned ON A SERVOPACK board fault occurred Replace the SERVOPACK A bF1 System Alarm 1 Internal pro gram error A bF2 System...

Page 154: ...curred Replace the SERVOPACK A Cb0 Encoder Echoback Error Occurred when the control power sup ply was turned ON or during opera tion Encoder incorrect wiring and faulty contact Correct the encoder wir...

Page 155: ...as turned ON FPGA WDC malfunction Replace the SERVOPACK A E60 SynqNet Com munication Er ror Occurred when the control power sup ply was turned ON SynqNet and SERVOPACK are not able to com municate due...

Page 156: ...fault occurred Replace the SERVOPACK The servomotor did not run with a refer ence input Incorrect wiring and faulty contact in servo motor wiring Correct the servomotor wiring Incorrect wiring and fa...

Page 157: ...wer ON from OFF after Parame ter Change Occurred after param eter setting To validate new setting of this parameter turn OFF the power and ON again Turn OFF the power and ON again A 94A Parameter Regi...

Page 158: ...Encoder type differs from parame ter setting Check incremental or absolute encoder Set parameter Pn002 2 to the encoder type being used P OT or N OT input signal stays OFF Check the Overtravel Input s...

Page 159: ...amaged encoder cable Check if the encoder cable is not dam aged or bent Modify the encoder cable layout Excessive noise to the encoder cable Check if the encoder cable is bundled with high current lin...

Page 160: ...k if the grounding for the machine is properly made Ground encoder to FG do not share a ground with a machine SERVOPACK pulse counting error due to noise interference Check if the signal line from the...

Page 161: ...count error due to noise Check if the signal line from the encoder is influenced by noise Take a measure against noise for the encoder wiring Excessive vibration and shock to the encoder Vibration fro...

Page 162: ...6 Servomotor Inspections Item Frequency Procedure Comments Vibration and Noise Daily Touch and listen Levels higher than normal Exterior According to degree of contamination Clean with cloth or compre...

Page 163: ...of the part in question we will determine whether the parts should be replaced or not The parameters of any SERVOPACKs overhauled by Yaskawa are reset to the factory settings before ship ping Be sure...

Page 164: ...10 1 10 10 Appendix 10 1 Utility Functions 10 2 10 1 1 List of Parameters 10 3 10 2 Monitor Modes 10 10 SIEPS80000025 book 1...

Page 165: ...G mode operation Fn003 Origin search mode Fn004 Program JOG operation Fn005 Initialize parameter settings Fn006 Clear alarm traceback data Fn008 Absolute encoder multi turn reset and encoder alarm res...

Page 166: ...urpose of each digit of a parameter How to Display Parameters Pn000 0 Indicates the value for the 1st digit of parameter Pn000 Pn000 1 Indicates the value for the 2nd digit of parameter Pn000 Pn000 2...

Page 167: ...rake DB Overtravel Stop Mode 0 Same setting as Pn001 0 Stops motor by applying DB or by coasting AC DC Power Input Selection 0 Not applicable to DC power input Input AC power supply through L1 L2 and...

Page 168: ...03 Reserved 04 Reserved 05 Reserved 06 Reserved 08 Reserved 0B Reserved 0C Reserved 0D Reserved 0E Reserved 0F Reserved Analog Monitor 1 Signal Multiplication Selection 0 1 1 10 2 100 3 1 10 4 1 100 R...

Page 169: ...Reserved 0E Reserved 0F Reserved Analog Monitor 2 Signal Multiplication Selection 0 1 1 10 2 100 3 1 10 4 1 100 Reserved Do not change 3rd 2nd 1st 0 digit digit digit digit n F F F F Analog monitor 2...

Page 170: ...orque Related Function Switch 0000 After restart 8 1 The multiturn limit must be changed only for special applications Changing this limit inappropriately or unintentionally can be dangerous Parameter...

Page 171: ...y Pn530 Program JOG Operation Related Switch 0000 Immedi ately Pn531 Program JOG Movement Distance 1 to 1073741824 230 reference units 1 reference unit 32768 reference units Immedi ately Pn533 Program...

Page 172: ...Waiting Time 0 to 10000 ms 1 ms 100 ms Immedi ately Pn536 Number of Times of Program JOG Move ment 1 to 1000 times 1 time 1 time Immedi ately Pn550 Analog Monitor 1 Offset Voltage 1000 0 to 1000 0 V...

Page 173: ...Rotation angle 2 Angle to the zero point electrical angle deg Un005 Input signal monitor Un006 Output signal monitor Un009 Accumulated load ratio in percentage to the rated torque effective torque in...

Page 174: ...dards 1 11 cyclic commands 6 10 cyclic responses 6 10 D digital operator 2 24 4 8 E examples of I O signal connections 5 8 external regenerative resistor 4 11 external regenerative resistors 5 20 F fl...

Page 175: ...supported SynqNet features 6 10 surge protector 4 20 switch ID setting 6 8 SynqNet communications grounding 6 7 specifications and configurations 6 4 SynqNet communications connection example 6 4 Syn...

Page 176: ...d manuals are given on the bottom of the back cover Date of Printing Rev No Section Revised Contents November 2004 First edition MANUAL NO SIEP S800000 25A Printed in Japan November 2004 04 11 C Date...

Page 177: ...21 5385 2200 Fax 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 R...