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YASKAWA SGMJ Series, User Manual


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Index

Index-2

load regulation  - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-3
lost motion - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -  3-17

M

machine rigidity setting  - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-8
main circuit wiring examples- - - - - - - - - - - - - - - - - - - - - - - - - - 6-4
manual adjustment of the torque reference offset  - - - - - - - - - - -  8-62
manual gain adjustment of analog monitor output (Fn00D)  - - - -  9-30
manual offset-adjustment of the motor current detection signal 
(Fn00F) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -  7-13
manual tuning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -  9-11
manual zero adjustment of analog monitor output (Fn00C)- - - - -  9-29
mating concentricity of the flange  - - - - - - - - - - - - - - - - - 3-14

, 

3-15

max. allowable input motor speed  - - - - - - - - - - - - - - - - - - - - -  3-17
mechanical characteristics of SGMAJ servomotors - - - - - - - - - -  3-15
mechanical characteristics of SGMMJ servomotors- - - - - - - - - -  3-14
mode switch (P/PI switching)  - - - - - - - - - - - - - - - - - - - - - - - -  9-17
molded-case circuit breaker (MCCB)  - - - - - - - - - - - - - - - - - - -  2-13
molded-case circuit breaker and fuse capacity  - - - - - - - - - - - - -  2-13
monitor display

feedback pulse counter - - - - - - - - - - - - - - - - - - - - - - - - - -  7-29
reference pulse counter- - - - - - - - - - - - - - - - - - - - - - - - - -  7-29

monitor mode - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -  7-26
motor models display (Fn011) - - - - - - - - - - - - - - - - - - - - - - - -  7-15
multiturn limit setting- - - - - - - - - - - - - - - - - - - - - - - - - - - - - -  8-35

N

names and functions of main circuit terminals  - - - - - - - - - - - - - - 6-2
N-CL - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -  6-12
NEAR - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -  6-13
noise data - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -  3-17
noise filter  - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -  5-21
noise interference  - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -  6-17
north american safety standards - - - - - - - - - - - - - - - - - - - - - - - - 1-7
N-OT- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -  6-12
notch filter  - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -  9-24

O

online autotuning- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-5

machine rigidity setting  - - - - - - - - - - - - - - - - - - - - - - - - - - 9-8
saving the results - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -  9-10

operating using position control - - - - - - - - - - - - - - - - - - - - - - -  8-47
operating using speed control with an internally set speed  - - - - -  8-65
operating using speed control with analog reference  - - - - - - - - -  8-37
operating using torque control - - - - - - - - - - - - - - - - - - - - - - - -  8-60
operation in monitor mode  - - - - - - - - - - - - - - - - - - - - - - - - - -  7-28
output circuit interface - - - - - - - - - - - - - - - - - - - - - - - - - - - - -  6-15

line driver output circuit - - - - - - - - - - - - - - - - - - - - - - - - -  6-15
open-collector output circuit  - - - - - - - - - - - - - - - - - - - - - -  6-16
photocoupler output circuit - - - - - - - - - - - - - - - - - - - - - - -  6-16

output circuit signal allocation - - - - - - - - - - - - - - - - - - - - - - - -  7-24
output signal monitor display- - - - - - - - - - - - - - - - - - - - - - - - -  7-28
overshooting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -  9-17
overtravel stop  - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 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 supply  - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -  2-15

perpendicularity between the flange face and output shaft -  3-14

, 

3-15

PG divider - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -  8-45
position control by host controller  - - - - - - - - - - - - - - - - - - - - -  8-16
position loop gain - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -  9-12
positioning completed output signal - - - - - - - - - - - - - - - - - - - -  8-57
positioning completed width setting - - - - - - - - - - - - - - - - - - - - -  4-3
positioning near signal - - - - - - - - - - - - - - - - - - - - - - - - - - - - -  8-58
positioning time reduction functions- - - - - - - - - - - - - - - - - - - - -  9-3
P-OT- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -  6-12
proportional control operation (proportional operation reference)  9-16
protection- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -  4-4
PSO  - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -  6-13
PULS  - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -  6-12
pulse dividing ratio setting  - - - - - - - - - - - - - - - - - - - - - - - - - -  8-45

R

rated input motor speed  - - - - - - - - - - - - - - - - - - - - - - - - - - - -  3-17
rated torque  - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -  3-17
reference pulse

form - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -  4-3
frequency- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -  4-3
type  - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -  4-3

reference pulse inhibit function (INHIBIT) - - - - - - - - - - - - - - -  8-59
reference unit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -  8-49
reference voltage- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -  4-3
replacing batteries - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -  8-29
replacing oil seal - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -10-18
RESET key  - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -  7-3
reverse rotation prohibited  - - - - - - - - - - - - - - - - - - - - - - - - - -  8-20
RIGHT key  - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -  7-3
running output signal - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -  8-77
run-out at the end of the shaft  - - - - - - - - - - - - - - - - - - - -  3-14

, 

3-15

S

selecting a position reference filter- - - - - - - - - - - - - - - - - - - - -  8-56
selecting an absolute encoder  - - - - - - - - - - - - - - - - - - - - - - - -  8-29
selecting cables- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -  2-8
selecting the speed loop control method (PI Control or IP Control)9-13
selecting the stopping method after servo OFF- - - - - - - - - - - - -  8-25
SEN  - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -  6-12
SEN signal connection - - - - - - - - - - - - - - - - - - - - - - - - - - - - -  8-28
sequence I/O signal monitor display - - - - - - - - - - - - - - - - - - - -  7-27
sequence input  - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -  4-4
sequence input circuit interface - - - - - - - - - - - - - - - - - - - - - - -  6-15
sequence output  - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -  4-4
servo alarm output- - - - - - - - - - - - - - - - - - - - - - - - - - - -  8-76

, 

10-2

servo gain

adjustment methods- - - - - - - - - - - - - - - - - - - - - - - - - - - - -  9-2
explanation  - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -  9-11

servo ready output - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -  8-78
servo system configurations  - - - - - - - - - - - - - - - - - - - - - - - - - -  1-6
servomotor connection connector kit  - - - - - - - - - - - - - - - - - - -  2-11

Summary of Contents for SGMJ Series

Page 1: ...YASKAWA DC Power Input 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...

Page 3: ...rives Description of Technical Terms The terms in this manual are defined as follows Servomotor or motor DC power input II Series SGMMJ and SGMAJ servomotor SERVOPACK DC power input II Series SGDJ amp...

Page 4: ...ot 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 A...

Page 5: ...800 34 Provides detailed information on the operating method of JUSP OP02A 2 type Digital Operator option device II Series SERVOPACKs Personal Computer Monitoring Software Operation Manual SIE S800 35...

Page 6: ...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 f...

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 resultin...

Page 8: ...les 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 t...

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 SERVOPA...

Page 10: ...o 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...

Page 11: ...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...

Page 12: ...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 Se...

Page 13: ...in 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 an...

Page 14: ...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 1...

Page 15: ...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 Functi...

Page 16: ...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...

Page 17: ...on 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 Outp...

Page 18: ...ement 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...

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

Page 20: ...omotors 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...

Page 21: ...er 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 h...

Page 22: ...al 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...

Page 23: ...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...

Page 24: ...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 M...

Page 25: ...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...

Page 26: ...ise 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 SE...

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...

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...

Page 29: ...ations 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...

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...

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 Shaf...

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 sup...

Page 33: ...s 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 A...

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

Page 35: ...P 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...

Page 36: ...0 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 CJM...

Page 37: ...PACK 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 powe...

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...

Page 39: ...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 custom...

Page 40: ...he 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...

Page 41: ...elect 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 custom...

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 S...

Page 43: ...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...

Page 44: ...Servomotor Capacity W Holding Brake Specifications Capacity W Holding Torque Nxm ozxin Coil Resistance 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 2...

Page 45: ...ation 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 o...

Page 46: ...w Withstand Voltage 1000 VAC for one minute Insulation Resistance 500 VDC 10 M min Enclosure Totally enclosed self cooled IP55 except for shaft opening Ambient Temperature 0 to 40 C 32 to 104 F Ambien...

Page 47: ...MAJ 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 sp...

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 at 20 C Rated Current A at 20 C 24 V...

Page 49: ...m 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 2...

Page 50: ...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...

Page 51: ...in 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 60...

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...

Page 53: ...torage 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 sa...

Page 54: ...e 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...

Page 55: ...ite 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 wil...

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 Vibr...

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 moto...

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 dif...

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...

Page 60: ...7 71 14 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 28 1 10 4 5 4 0 16 16 0...

Page 61: ...16 0 63 L 28 1 10 4 5 Shaft End 5h6 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 1...

Page 62: ...2 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 0 05 0 0020 2 M3 Tap Depth 4 M3 Tap Depth 6 4 0 16 16 0 63 25 0 98 8h6 8 0 0 315 0 0 009 0 0004 20h7 20 0 0 79...

Page 63: ...e tube 5 0 20 Black Encoder cable UL20276 Motor cable AWG24 UL10095 or UL3266 3 0 12 40 1 57 4 3 4 0 13 through hole 4 R3 47 1 85 300 11 81 30 1 18 Nameplate Warning label 0 06 0 0024 3 0 12 7 2 0 28...

Page 64: ...rning label 7 5 0 30 18 0 71 3 0 12 0 05 0 0020 0 06 0 0024 M3 Tap Depth 6 3 0 12 3 0 12 6 2 0 24 28 1 10 Holding brake de energization operation Voltage 24VDC Brake holding torque Rated motor torque...

Page 65: ...ective tube 6 0 24 Black Encoder cable UL20276 Motor cable AWG24 UL10095 or UL3266 47 1 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...

Page 66: ...e 6 0 24 W U Sh6 30h7 A A A 0 02 0 0008 Shaft End 18 0 71 6 0 24 14 0 55 300 11 81 30 1 18 35 1 38 Motor cable 7 0 28 Motor plug Encoder plug 300 11 81 30 1 18 0 04 0 0016 0 04 0 0016 9 6 0 38 22 0 87...

Page 67: ...U W L LM LL LR LE LG QK Y Y 7 0 28 7 0 28 17 0 67 LBh7 Sh6 UL20276 A 0 04 0 0016 A 0 04 0 0016 A 300 11 81 30 1 18 Encoder cable 6 0 24 Encoder plug 300 11 81 30 21 18 35 1 38 Motor cable 7 0 28 Motor...

Page 68: ...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...

Page 69: ...lbf A5 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...

Page 70: ...5 35 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 LBh7 QK Y Y Sh6 A 0 02 0 0008 A 0 04 0 001...

Page 71: ...dial Load 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...

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 1...

Page 73: ...pth 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...

Page 74: ...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...

Page 75: ...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 Loa...

Page 76: ...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...

Page 77: ...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...

Page 78: ...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...

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...

Page 80: ...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...

Page 81: ...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 3...

Page 82: ...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 6...

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 A...

Page 84: ...ors 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...

Page 85: ...d 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 Inert...

Page 86: ...plied 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...

Page 87: ...put 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...

Page 88: ...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 Applic...

Page 89: ...ture 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...

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 fa...

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 Cu...

Page 92: ...1 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 sen...

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...

Page 94: ...om 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 servomoto...

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 dri...

Page 96: ...eding 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 rege...

Page 97: ...g 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...

Page 98: ...ables 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...

Page 99: ...J 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 Termin...

Page 100: ...nal 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 JZ...

Page 101: ...tput 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 Connecti...

Page 102: ...nufacturer 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 connect...

Page 103: ...nics 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...

Page 104: ...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 term...

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...

Page 106: ...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 t...

Page 107: ...ed connector Molex Japan Co Ltd Encoder end Finished dimension 6 5 mm 0 26 in SERVOPACK end L Soldered socket connector Molex Japan Co Ltd Cable Type Cable Length L Dimensional Drawing JZSP CMP03 03 3...

Page 108: ...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...

Page 109: ...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 Or...

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 Un...

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 It...

Page 112: ...3 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 PUL...

Page 113: ...5 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 SERVO...

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...

Page 115: ...red 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 Moni...

Page 116: ...l 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 bl...

Page 117: ...rminal 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...

Page 118: ...holding 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 variab...

Page 119: ...ut 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...

Page 120: ...2 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 S...

Page 121: ...er 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 minut...

Page 122: ...sert 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 Jap...

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...

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 SN7...

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 equival...

Page 126: ...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 M...

Page 127: ...CLR PULS SIGN SIGN CLR CLR PULS 1 150 150 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 l...

Page 128: ...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 R...

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...

Page 130: ...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 di...

Page 131: ...ernal 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 Rele...

Page 132: ...t 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...

Page 133: ...t circuit 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 Circ...

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 bel...

Page 135: ...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...

Page 136: ...hanism 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...

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...

Page 138: ...er 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 togethe...

Page 139: ...r 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 grou...

Page 140: ...s 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 SERVOP...

Page 141: ...d 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 M...

Page 142: ...d 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 cas...

Page 143: ...CMP19 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 00...

Page 144: ...its 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...

Page 145: ...alization 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 Detectio...

Page 146: ...digital operator Model JUSP OP02A 2 refer to 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 co...

Page 147: ...ction 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 u...

Page 148: ...e 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 DO...

Page 149: ...tor 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 li...

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...

Page 151: ...g 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 enco...

Page 152: ...lay 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...

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 K...

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...

Page 155: ...on 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 tra...

Page 156: ...c 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 mod...

Page 157: ...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 L...

Page 158: ...on 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...

Page 159: ...ation 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...

Page 160: ...ption 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...

Page 161: ...e 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 Displa...

Page 162: ...arameter 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 s...

Page 163: ...ction 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 A...

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...

Page 165: ...etting 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 o...

Page 166: ...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...

Page 167: ...A 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 No...

Page 168: ...g 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...

Page 169: ...et 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...

Page 170: ...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 co...

Page 171: ...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 si...

Page 172: ...y 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...

Page 173: ...m 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 p...

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...

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...

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

Page 177: ...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 Che...

Page 178: ...n 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 operati...

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...

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...

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 Allocat...

Page 182: ...K 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 inp...

Page 183: ...e 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...

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 a...

Page 185: ...1 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 t...

Page 186: ...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 Un00...

Page 187: ...ation 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...

Page 188: ...ontrol 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 servo...

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 M...

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 o...

Page 191: ...rvomotor 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...

Page 192: ...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...

Page 193: ...tation 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 cl...

Page 194: ...er 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 paramete...

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 O...

Page 196: ...en 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 th...

Page 197: ...507 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 maxim...

Page 198: ...der 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 serv...

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 l...

Page 200: ...nd 12 bit encoder When an infinite length positioning system of the con ventional type is to be configured with the II series be sure to make the following system modification WARNING Absolute positio...

Page 201: ...the 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 O...

Page 202: ...VOPACK 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...

Page 203: ...der 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 t...

Page 204: ...ade 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...

Page 205: ...er 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 increme...

Page 206: ...ormal 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 Signa...

Page 207: ...der 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 det...

Page 208: ...ill 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 absolut...

Page 209: ...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...

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...

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...

Page 212: ...djustment 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 ho...

Page 213: ...he 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 t...

Page 214: ...unction 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 fo...

Page 215: ...lidation 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...

Page 216: ...ation 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 spee...

Page 217: ...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 rever...

Page 218: ...ge 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 fr...

Page 219: ...etails 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 th...

Page 220: ...rence 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 t...

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...

Page 222: ...called 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 Wh...

Page 223: ...ic 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 Electron...

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 m 1 Reference unit 0 01 1 Reference unit 0 02 mm 20 m 4 Calculate the travel distance per load sh...

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 othe...

Page 226: ...00 kpps For open collector output 200 kpps t1 t2 0 1 ms t3 3 s 1 0 s T 100 50 Two phase pulse train with 90 phase differential phase A and phase B Maximum reference frequency 1 input pulse multiplier...

Page 227: ...wires 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...

Page 228: ...ow 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 Curr...

Page 229: ...etting 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 operat...

Page 230: ...y 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 outp...

Page 231: ...h 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 C...

Page 232: ...nector 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...

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...

Page 234: ...igital 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 automat...

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...

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 Th...

Page 237: ...nd 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 Con...

Page 238: ...g 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 S...

Page 239: ...ed 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 i...

Page 240: ...ays 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 St...

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...

Page 242: ...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...

Page 243: ...n402 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 Extern...

Page 244: ...alue 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 valu...

Page 245: ...chever 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 tor...

Page 246: ...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...

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 co...

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...

Page 249: ...upply 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 r...

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 par...

Page 251: ...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 absolut...

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 Adjustm...

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...

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...

Page 255: ...nables 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 fi...

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...

Page 257: ...ation 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...

Page 258: ...ine 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 e...

Page 259: ...ways 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 va...

Page 260: ...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 selec...

Page 261: ...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 on...

Page 262: ...st 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...

Page 263: ...s 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 u...

Page 264: ...at 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 Pn...

Page 265: ...ant 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 p...

Page 266: ...orque 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...

Page 267: ...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 op...

Page 268: ...VOPACK 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 follo...

Page 269: ...ng 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 spe...

Page 270: ...tor 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 va...

Page 271: ...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...

Page 272: ...d 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 Sett...

Page 273: ...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...

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...

Page 275: ...ation 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...

Page 276: ...peed 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 S...

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...

Page 278: ...or 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...

Page 279: ...tored 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...

Page 280: ...layed 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 R...

Page 281: ...he 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 mon...

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...

Page 283: ...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 th...

Page 284: ...ER 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...

Page 285: ...s 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...

Page 286: ...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 faul...

Page 287: ...er 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 regener...

Page 288: ...ing 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 i...

Page 289: ...ontrol 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 be...

Page 290: ...he 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 S...

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...

Page 292: ...ut 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 th...

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 Rec...

Page 294: ...ter 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 incorrec...

Page 295: ...ence 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...

Page 296: ...nt 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 wit...

Page 297: ...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 sheat...

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 Tabl...

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 SERVO...

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...

Page 301: ...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 P...

Page 302: ...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 TGO...

Page 303: ...sted 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...

Page 304: ...nnector 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 3...

Page 305: ...he 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...

Page 306: ...N2 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...

Page 307: ...resents 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 C...

Page 308: ...le 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 8...

Page 309: ...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...

Page 310: ...e 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...

Page 311: ...k 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 analo...

Page 312: ...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 digi...

Page 313: ...nce 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 c...

Page 314: ...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...

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 R...

Page 316: ...oop 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 Fee...

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...

Page 318: ...0 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 perfo...

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 P...

Page 320: ...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 Filt...

Page 321: ...on 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 u...

Page 322: ...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 s...

Page 323: ...erse 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 CN...

Page 324: ...s 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 d...

Page 325: ...ignal 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...

Page 326: ...utput 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 digi...

Page 327: ...er 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...

Page 328: ...eg 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 o...

Page 329: ...ection 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...

Page 330: ...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 set...

Page 331: ...onments 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 s...

Page 332: ...ders 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 4...

Page 333: ...ears 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...

Page 334: ...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 K...

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