YASKAWA SGDV, User Manual

Page 1: ...on Wiring and Connection Safety Function Trial Operation Checking Servomotor Operation SGDV SERVOPACK SGMJV SGMAV SGMPS SGMGV SGMSV SGMCS Servomotors Rotational Motor V Series AC Servo Drives USER S M...

Page 2: ...liability is assumed with respect to the use of the information contained herein Moreover because Yaskawa is constantly striving to improve its high quality products the information contained in this...

Page 3: ...signal name as shown in the following example Example S ON S ON Term Meaning Servomotor V Series SGMJV SGMAV SGMPS SGMGV SGMSV or SGMCS Direct Drive servomotor SERVOPACK V Series SGDV SERVOPACK Servo...

Page 4: ...User s Manual Design and Maintenance Rotational Motor Analog Voltage and Pulse Train Reference SIEP S800000 45 9 9 9 9 9 V Series User s Manual Design and Maintenance Rotational Motor MECHATROLINK II...

Page 5: ...AT CoE Network Module SIEP C720829 04 9 9 9 9 9 AC SERVOMOTOR Safety Precautions TOBP C230200 00 9 9 V Series AC SERVOPACK SGDV Safety Precautions TOBP C710800 10 9 9 9 V Series Option Module Safety P...

Page 6: ...oubleshooting of problems which may occur during setup Troubleshooting which is common for command option modules is described in V Series User s Manual Design and Maintenance Rotational Motor Command...

Page 7: ...injury Indicates precautions that if not heeded could result in relatively serious or minor injury damage to the product or faulty operation In some situations the precautions indicated could have se...

Page 8: ...to equipment but also in personal injury The multi turn output range for the V Series absolute position detecting system is different from that of earlier systems 15 bit and 12 bit encoders In particu...

Page 9: ...safety stan dards and full understanding of the instructions in V Series User s Man ual Design and Maintenance SIEP S800000 45 46 60 64 Failure to observe this warning may result in injury or damage...

Page 10: ...ine or iodine can contribute to the erosion of the capaci tors CAUTION Never use the product in an environment subject to water corrosive gases inflammable gases or combustibles Failure to observe thi...

Page 11: ...it terminals Remove detachable main circuit terminals from the SERVOPACK prior to wir ing Insert only one main circuit cable per opening in the main circuit terminals Make sure that no part of the cor...

Page 12: ...brake from working which may dam age the machine or cause an accident resulting in death or injury Inverting the polarity of the brake signal BK i e positive logic will pre vent the holding brake fro...

Page 13: ...not make any extreme adjustments or setting changes of parameters Failure to observe this caution may result in injury or damage to the product due to unstable operation When an alarm occurs remove t...

Page 14: ...uttons and switches inside the front cover Failure to observe this caution may result in damage to the product CAUTION When disposing of the products treat them as ordinary industrial waste Observe th...

Page 15: ...product in a manner in which it was not originally intended 5 Causes that were not foreseeable with the scientific and technological under standing at the time of shipment from Yaskawa 6 Events for w...

Page 16: ...perty Systems that require a high degree of reliability such as systems that supply gas water or electricity or systems that operate continuously 24 hours a day Other systems that require a similar hi...

Page 17: ...Model UL Standards UL File No SERVOPACK SGDV UL508C E147823 Servomotor SGMJV SGMAV SGMPS SGMGV SGMSV UL1004 E165827 Model Low Voltage Directive EMC Directive Safety Standards EMI EMS SERVOPACK SGDV E...

Page 18: ...s 2 13 2 4 1 SGDV 01 Analog Pulse Model 2 13 2 4 2 SGDV 11 M II Model 2 21 2 4 3 SGDV 21 M III Model 2 29 2 4 4 SGDV E1A Command Option Attachable Type 2 37 2 4 5 Other Precautions 2 37 3 Wiring and C...

Page 19: ...s When Not Using the Safety Function 4 4 4 5 Connecting a Safety Function Device 4 5 5 Trial Operation Checking Servomotor Operation 5 1 5 1 Outline 5 2 5 2 Inspection and Checking before Trial Operat...

Page 20: ...1 1 1 Overview of Setup 1 Overview of Setup This chapter describes how to set up the V series of servo drives...

Page 21: ...currently being executed may be aborted and the system may stop Be sure to read 5 2 Inspection and Checking before Trial Operation Operation Reference in this manual Install the servomotor and SERVOP...

Page 22: ...ndards 2 4 2 2 Servomotor Installation 2 5 2 2 1 Orientation 2 5 2 2 2 Installation Standards 2 5 2 2 3 Connecting Servomotor to Machine 2 6 2 2 4 Protective Structure 2 7 2 2 5 Other Precautions 2 8...

Page 23: ...allation site An environment that satisfies the following conditions Indoors and free of corrosive or explosive gases Well ventilated and free of dust and moisture Facilitates inspection and cleaning...

Page 24: ...K from exceeding 55 C suppress radiant heat from the heating unit and temperature rise due to convection Mounting Near a Vibration Source To prevent vibration from being transmitted to the SERVOPACK i...

Page 25: ...4 1 IEC61508 1 to 4 Operating Conditions Overvoltage Category III Pollution degree 2 Protection class IP10 Installation Conditions UL Standard and Low Voltage Directive Satisfy the conditions outlined...

Page 26: ...y rise consid erably because of the limited heat radiating abilities of the surface To restrict the temperature rise you should either mount a heat sink or limit the electrical thermal and mechanical...

Page 27: ...ervomotor so that alignment accuracy falls within the following range Vibration will damage the bearings or encoders if the shafts are not properly aligned Do not allow direct impact to be applied to...

Page 28: ...ied cable When the through shaft section is subject to oil exposure refer to 2 2 5 Other Pre cautions Model Without Gears With Gears SGMJV SGMAV IP65 IP55 SGMPS IP55 IP67 Optional IP55 SGMGV IP67 SGMS...

Page 29: ...ps in the connector before connecting When the connectors are connected to the motor be sure to connect the end of motor main circuit cables before connecting the encoder cable s end If the encoder ca...

Page 30: ...e mount the SERVO PACK with a vertical orientation Firmly secure the SERVOPACK to the mounting surface using either two or four mounting holes depending on the SERVOPACK capacity Note For SERVOPACKs o...

Page 31: ...2 Installation 2 3 1 Orientation 2 10 Duct ventilated Air Flow Duct...

Page 32: ...out Cooling Refer to the following diagram and leave sufficient space for cooling by fans and nat ural convection Mounting SERVOPACKs Side by Side in a Control Panel Leave sufficient space on each sid...

Page 33: ...this monitor should be equal to or less than 100 for optimum operating conditions If this value is over 100 one of the following measures must be taken to ensure safe operation and a long product lif...

Page 34: ...owever because this product is built in check that the following conditions are still met after being installed in the user s product The applicable standards are EN55011 group 1 class A EN61800 3 and...

Page 35: ...d Safety signal cable Shield cable e Motor main circuit cable Shield cable f Encoder cable Shield cable g Main circuit cable Shield cable Power supply Three phase 200 VAC U V W L1 L2 L3 L1C L2C CN2 CN...

Page 36: ...e e Motor main circuit cable Shield cable f Encoder cable Shield cable g Main circuit cable Shield cable Power supply Three phase 200 VAC U V W L1 L2 L3 L1C L2C CN2 CN1 Shield box SERVOPACK PE PE 1 3...

Page 37: ...e Motor main circuit cable Shield cable f Encoder cable Shield cable g Main circuit cable Shield cable 1 3 4 5 2 Power supply Three phase 200 VAC Shield box SERVOPACK Clamp Noise filter Brake Power Su...

Page 38: ...cable e Motor main circuit cable Shield cable f Encoder cable Shield cable g Main circuit cable Shield cable U V W L1 L2 L3 L1C L2C CN2 CN1 PE PE 1 3 4 5 CN8 2 Power supply Three phase 200 VAC Shield...

Page 39: ...coder cable Shield cable g Main circuit cable Shield cable h Regenerative resistor unit cable Non shield cable i Cooling fan cable Shield cable Power supply Three phase 200 VAC Shield box SERVOPACK No...

Page 40: ...Name Specification c I O signal cable Shield cable d Safety signal cable Shield cable e Motor main circuit cable Shield cable f Encoder cable Shield cable g Control power cable Shield cable h Main ci...

Page 41: ...ification c I O signal cable Shield cable d Safety signal cable Shield cable e Motor main circuit cable Shield cable f Encoder cable Shield cable g Control power cable Shield cable h Main circuit cabl...

Page 42: ...ncoder cable Shield cable g Main circuit cable Shield cable h MECHATROLINK II communication cable Shield cable U V W L1 L2 L1C L2C CN2 CN1 Shield box PE PE 1 3 4 5 Clamp Clamp Clamp CN8 2 One turn Cor...

Page 43: ...uit cable Shield cable f Encoder cable Shield cable g Main circuit cable Shield cable h MECHATROLINK II communication cable Shield cable Shield box Clamp Clamp MECHATROLINK II controller Clamp Power s...

Page 44: ...der cable Shield cable g Main circuit cable Shield cable h MECHATROLINK II communication cable Shield cable Shield box Clamp Clamp Clamp One turn Core Core Two turn Two turn Clamp MECHATROLINK II cont...

Page 45: ...ble Shield cable g Main circuit cable Shield cable h MECHATROLINK II communication cable Shield cable U V W L1 L2 L3 L1C L2C CN2 CN1 CN6A CN6B PE PE 2 1 3 4 5 6 CN8 Shield box Clamp Clamp Clamp One tu...

Page 46: ...Encoder cable Shield cable g Main circuit cable Shield cable h MECHATROLINK II communication cable Shield cable U V W L1 L2 L3 L1C L2C CN2 CN1 PE PE 1 3 4 5 CN8 2 CN6A CN6B 6 Shield box Clamp Clamp Cl...

Page 47: ...cable h Regenerative resistor unit cable Non shield cable i Cooling fan cable Shield cable j MECHATROLINK II communication cable Shield cable U V W L1 L2 L3 L1C L2C B1 B2 CN2 CN1 PE PE 1 3 4 5 CN8 2...

Page 48: ...ble d Safety signal cable Shield cable e Motor main circuit cable Shield cable f Encoder cable Shield cable g Control power cable Shield cable h Main circuit cable Shield cable i MECHATROLINK II commu...

Page 49: ...y signal cable Shield cable e Motor main circuit cable Shield cable f Encoder cable Shield cable g Control power cable Shield cable h Main circuit cable Shield cable i Regenerative resistor unit cable...

Page 50: ...ncoder cable Shield cable g Main circuit cable Shield cable h MECHATROLINK III communication cable Shield cable Power supply Single phase 100 VAC U V W L1 L2 L1C L2C CN2 CN1 Shield box SERVOPACK PE PE...

Page 51: ...uit cable Shield cable f Encoder cable Shield cable g Main circuit cable Shield cable h MECHATROLINK III communication cable Shield cable Shield box Clamp Clamp MECHATROLINK III controller Clamp Power...

Page 52: ...er cable Shield cable g Main circuit cable Shield cable h MECHATROLINK III communication cable Shield cable MECHATROLINK III controller U V W L1 L2 L3 L1C L2C CN2 CN1 CN6A CN6B Shield box SERVOPACK PE...

Page 53: ...le Shield cable g Main circuit cable Shield cable h MECHATROLINK III communication cable Shield cable MECHATROLINK III controller U V W L1 L2 L3 L1C L2C CN2 CN1 CN6A CN6B SERVOPACK PE PE Encoder Servo...

Page 54: ...ncoder cable Shield cable g Main circuit cable Shield cable h MECHATROLINK III communication cable Shield cable Power supply Three phase 200 VAC U V W L1 L2 L3 L1C L2C CN2 CN1 SERVOPACK PE PE Encoder...

Page 55: ...cable h Regenerative resistor unit cable Non shield cable i Cooling fan cable Shield cable j MECHATROLINK III communication cable Shield cable U V W L1 L2 L3 L1C L2C B1 B2 CN2 CN1 SERVOPACK PE PE Enc...

Page 56: ...Shield cable d Safety signal cable Shield cable e Motor main circuit cable Shield cable f Encoder cable Shield cable g Control power cable Shield cable h Main circuit cable Shield cable i MECHATROLINK...

Page 57: ...signal cable Shield cable e Motor main circuit cable Shield cable f Encoder cable Shield cable g Control power cable Shield cable h Main circuit cable Shield cable i Regenerative resistor unit cable...

Page 58: ...l Example of Cable Clamp Shield Box A shield box which is a closed metallic enclosure is effective as reinforced shielding against electromagnetic interference EMI from SERVOPACKs The structure of the...

Page 59: ...00 60 V Series User s Manual Design and Maintenance Rotational Motor MECHATROLINK III Communications Reference SIEP S800000 64 3 1 Precautions for Wiring 3 2 3 2 System Configuration Diagram 3 3 3 2 1...

Page 60: ...after turning power OFF because high voltage may still remain in the SERVOPACK Make sure the charge indicator is off first before starting an inspection Leakage current may increase depending on the t...

Page 61: ...ted Used to eliminate external noise from the power line Magnetic contactor Turns the servo ON and OFF Install a surge absorber Brake power supply 1 Magnetic contactor Regenerative resistor 2 Used for...

Page 62: ...rnal noise from the power line Magnetic contactor Turns the servo ON and OFF Install a surge absorber Brake power supply 1 Regenerative resistor 2 Used for a servomotor with a brake Turns the brake po...

Page 63: ...olded case circuit breaker MCCB Protects the power supply line by shutting the circuit OFF when overcurrent is detected Used to eliminate external noise from the power line Magnetic contactor Turns th...

Page 64: ...otects the power supply line by shutting the circuit OFF when overcurrent is detected Used to eliminate external noise from the power line Magnetic contactor Turns the servo ON and OFF Install a surge...

Page 65: ...xternal noise from the power line Magnetic contactor Turns the servo ON and OFF Install a surge absorber Brake power supply 1 Magnetic contactor Regenerative resistor 2 Used for a servomotor with a br...

Page 66: ...iminate external noise from the power line Magnetic contactor Turns the servo ON and OFF Install a surge absorber Brake power supply 1 Magnetic contactor Regenerative resistor 2 Used for a servomotor...

Page 67: ...Noise filter Molded case circuit breaker MCCB Protects the power supply line by shutting the circuit OFF when overcurrent is detected Used to eliminate external noise from the power line Magnetic con...

Page 68: ...power supply line by shutting the circuit OFF when overcurrent is detected Used to eliminate external noise from the power line Magnetic contactor Turns the servo ON and OFF Install a surge absorber B...

Page 69: ...s the power supply line by shutting the circuit OFF when overcurrent is detected Used to eliminate external noise from the power line Used for a servomotor with a brake Turns the servo ON and OFF Inst...

Page 70: ...s the power supply line by shutting the circuit OFF when overcurrent is detected Used to eliminate external noise from the power line Used for a servomotor with a brake Turns the servo ON and OFF Inst...

Page 71: ...breaker MCCB Magnetic contactor I O signal cable SGDV A21 SERVOPACK SGMJV SGMAV SGMPS SGMGV SGMSV Servomotor Power supply Single phase 200 VAC Protcts the power supply line by shutting the circuit OF...

Page 72: ...cable Power supply Three phase 400 VAC R S T Protects the power supply line by shutting the circuit OFF when overcurrent is detected Used to eliminate external noise from the power line Used for a se...

Page 73: ...e external noise from the power line Magnetic contactor Turns the servo ON and OFF Install a surge absorber Brake power supply 1 Magnetic contactor Regenerative resistor 2 Used for a servomotor with a...

Page 74: ...ng the circuit OFF when overcurrent is detected Used to eliminate external noise from the power line Magnetic contactor Turns the servo ON and OFF Install a surge absorber Brake power supply 1 Magneti...

Page 75: ...MJV SGMAV SGMPS SGMCS Servomotor Power supply Single phase 200 VAC 200 VAC Noise filter Molded case circuit breaker MCCB Protects the power supply line by shutting the circuit OFF when overcurrent is...

Page 76: ...ects the power supply line by shutting the circuit OFF when overcurrent is detected Used to eliminate external noise from the power line Turns the servo ON and OFF Install a surge absorber Connection...

Page 77: ...se Models M II Models M III Models Command Option Attachable Types SGDV 1R6AE1A Name Terminal Symbols Model SGDV Description Main circuit input terminals L1 L2 F Single phase 100 to 115 V 10 to 15 50...

Page 78: ...ls for power supply harmonic suppression 1 2 A D Normally short 1 and 2 If a countermeasure against power supply harmonic waves is needed connect a DC reactor between 1 and 2 Main circuit plus termina...

Page 79: ...nductor Temperature C Symbol Name IV 600 V polyvinyl chloride insulated wire 60 HIV 600 V grade heat resistant polyvinyl chloride insulated wire 75 AWG Size Nominal Cross Section Diameter mm2 Configur...

Page 80: ...nnection terminals B1 B2 HIV1 25 Ground terminal HIV2 0 or higher External Terminal Name Terminal Symbols SERVOPACK Model SGDV R70 R90 1R6 2R8 3R8 5R5 7R6 120 180 200 330 470 550 590 780 Main circuit...

Page 81: ...280 370 Main circuit power input terminals L1 L2 L3 HIV1 25 HIV2 0 HIV3 5 HIV 5 5 HIV 8 0 HIV 14 0 Control power input terminals 24V 0V HIV1 25 Servomotor connection terminals U V W HIV1 25 HIV2 0 HIV...

Page 82: ...l a ground fault detector against overloads and short circuiting or install a ground fault detector combined with a molded case circuit breaker Do not frequently turn power ON and OFF Frequently turni...

Page 83: ...ACK SGDV A U V W M 0 V 1Ry ALM ALM 31 32 1D B2 B3 L2 CN1 1KM L1C L3 L2C 1QF R S T 1FIL 24 V 1 2 3SA B1 1Ry 1PL 1KM 2KM 1SA 1Ry 1KM 2SA 1KM For servo alarm display supply ON Servo power supply OFF Serv...

Page 84: ...2 B1 1Ry 1PL 1KM 2KM 1SA 1Ry 1KM 2SA L1 2KM L2 L3 24 V DC power supply 24 V 1KM 0 V 1KM For servo alarm display supply ON Servo power supply OFF Servo power SERVOPACK ENC SGDV D U V W M 0 V 1Ry ALM AL...

Page 85: ...L1C L2C SERVOPACK Servomotor Servomotor M Servomotor M M Relay terminal Relay terminal Relay terminal 1QF 1FIL 1KM Magnetic contactor for control power supply 2KM for main power supply 1Ry 1PL 1SA 2S...

Page 86: ...al Connector Spring Type Two types of main circuit terminals are available a connector type and a terminal screw type SERVOPACKs with terminal screws SGDV 180A 200A 330A 470A 550A 590A 780A 8R4D 120D...

Page 87: ...an be used to open the wire terminal Using a spring opener Use the spring opener provided with the SERVOPACK to open the wire terminal as shown in the diagram Note The spring opener 1981045 1 made by...

Page 88: ...iver with a blade width of 3 0 to 3 5 mm Insert the screwdriver into the slot and press down firmly to open the wire termi nal 4 Insert the wire core into the opening and then secure the wire into pos...

Page 89: ...000 42 For more information on how to set the capacity of regenerative resistors refer to V Series User s Manual Design and Maintenance SIEP S800000 45 46 60 64 3 4 1 Connecting Regenerative Resistor...

Page 90: ...180A 200A 330A 1R9D 3R5D 5R4D 8R4D 120D 170D Disconnect the wiring between the SERVOPACK s B2 and B3 terminals and connect an external regenerative resistor between the B1 and B2 terminals or between...

Page 91: ...g a regenerative resistor unit set Pn600 to 0 W factory setting Main Circuit Power Supply Applicable SERVOPACK Model SGDV Applicable Regenerative Resistor Unit Resistance Specifications Three phase 20...

Page 92: ...pter describes the safety functions 4 1 Outline 4 2 4 2 Hard Wire Base Block HWBB Function 4 3 4 3 Safety Function Signal CN8 Names and Functions 4 4 4 4 Precautions When Not Using the Safety Function...

Page 93: ...rd Wire Baseblock function must have full knowledge of the related safety standards and full under standing of the following manuals V Series User s Manual Design and Maintenance Rotational Motor Anal...

Page 94: ...urce output This is opposite to other signals described in this manual To avoid confusion the ON and OFF status of signals for safety functions are defined as fol lows ON The state in which the relay...

Page 95: ...SERVOPACK is used without the jumper connector inserted into CN8 no current will flow to the motor and no torque will be output When Hbb is displayed on the panel operator and digital operator the mo...

Page 96: ...ach the safety function device Connect a safety function device using the following procedure 1 Remove the servomotor connection terminal connector while pressing the lock Applicable SERVOPACKs SGDV R...

Page 97: ...OPACK with the safety function s jumper connector JZSP CVH05 E provided as an accessory inserted in CN8 If the SERVOPACK is used without the jumper connector inserted into CN8 no cur rent will flow to...

Page 98: ...g Servomotor Operation This chapter describes how to perform trial operation 5 1 Outline 5 2 5 2 Inspection and Checking before Trial Operation 5 2 5 3 JOG Operation Using a Panel Operator 5 5 5 4 JOG...

Page 99: ...Maintenance Rotational Motor MECHA TROLINK III Communications Reference SIEP S800000 64 5 2 Inspection and Checking before Trial Operation To ensure safe and correct trial operation inspect and check...

Page 100: ...er supply voltage being supplied to the SERVOPACK Configure the relay circuit to apply the holding brake by the emer gency stop Servomotor with brake SERVOPACK Power supply A 24 VDC power supply is no...

Page 101: ...hecking the Main Circuit Power Supply Servomotor and Encoder Wiring Once again check the main circuit power supply servomotor and encoder wiring that was described in Chapter 3 Wiring and Connection P...

Page 102: ...Operation 1 Turn ON the power to the SERVOPACK The forward run prohibited P OT or reverse run prohibited N OT message is displayed When the JOG operation is executed P OT and N OT are automatically d...

Page 103: ...ints in particular If a problem is found correct it Is there any unusual vibration Is there any unusual sound Is the temperature rising unusually high 7 Press the MODE SET Key The servo motor power wi...

Page 104: ...es JUSP OP05A Digital Operator V series JUSP OP05A 1 E Digital Operator Digital operator conversion conneotor Model JZSP CVS05 A3 E Insert securely into SERVOPACK CN3 connector Step Display after oper...

Page 105: ...ure rising unusually high 6 After confirming that the servomotor is running correctly press the Key BB is displayed as the status and the servomotor power turns OFF 7 Press the Key to return to the ma...

Page 106: ...d apply the appropriate measures Error Display The following messages will be displayed if a communications error occurs between the SERVOPACK and the digital operator due to a connection problem such...

Page 107: ...SigmaWin Step Operation Display 1 Connect a computer Use a connection cable to connect a SERVO PACK to a computer which has SigmaWin installed 2 Start SigmaWin and open the main win dow 1 Turn ON the...

Page 108: ...nd click A dialog box will open first to tell you a search has started and then the search result will be shown in the connection window Note If the message Servopack not found is displayed refer to 2...

Page 109: ...first and then select Jog J from the menu on the main window Main Window 2 Warnings for the JOG operation window will be displayed Read them and click Warnings for the JOG Operation Window 3 The JOG o...

Page 110: ...al Operation Checking Servomotor Operation 4 Set the JOG speed The motor speed is set to 500 min 1 Click if you need to change it 5 Servo ON Click The display changes from Servo OFF to Servo ON and is...

Page 111: ...will rotate in the forward direction When you click it will rotate in reverse Confirm that the servomotor operation is cor rect At the same time carefully inspect the servomotor s condition and check...

Page 112: ...RVOPACK with MECHATROLINK III communications 21A 21 4 5 Addition Description of safety function s jumper connector Back cover Revision Address August 2011 6 Preface Revision Warranty June 2011 5 Prefa...

Page 113: ...Phone 66 2693 2200 Fax 66 2693 4200 http www yaskawa co th YASKAWA ELECTRIC CHINA CO LTD 22F One Corporate Avenue No 222 Hubin Road Shanghai 200021 China Phone 86 21 5385 2200 Fax 86 21 5385 3299 http...