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YASKAWA SGDB-15VN User Manual

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Summary of Contents for YASKAWA SGDB-15VN

  • Page 1 (217) 352-9330 | Click HERE Find the Yaskawa SGDB-15VN at our website:...
  • Page 2 °",.1W-ArAgmFl°5F4'. -T7-7-Ace2-S,-4K1447n ? M g a s - V A t E Series SGM /SGDB USER'S MANUAL AC Servodrives SGMG/SGMS/SGMD/SGMP Servomotors SGDB-N SERVOPACK YASKAWA NO. SIE-S800-26.4B...
  • Page 4 Yaskawa. No patent 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 manual is subject to change without notice.
  • Page 6 OVERVIEW OVERVIEW Overview Safety Precautions Safety Precautions 1 Configuration and Models 1.1 Configuration 1.2 Model Numbers 2 Ratings and Characteristics 2.1 Ratings and Specifications of SGMG Servomotors for Rated Speed 1500 r/min 2.2 Ratings and Specifications of SGMG Servomotors for Rated Speed 1000 r/min 2.3 SGMS Servomotor Ratings and Specifications 2.4 SGMD Servomotor Ratings and Specifications (with Holding Brake)
  • Page 7 5.8 Appropriate Applications 5.9 Adjustments 6 MECHATROLINK Communication 6.1 Specifications and Configuration 6.2 1SW Rotary Switch for MECHATROLINK Station Address Settings 6.3 MECHATROLINK Command List 6.4 Special Descriptions 6.5 Power ON Sequence (Communications Sequence) 6.6 List of Alarm and Warning Codes 7 User Constants 7.1 Setting User Constants 7.2 List of User Constants...
  • Page 8 TABLE O F CONTENTS TABLE OF CONTENTS Overview Safety Precautions Configuration and Models 1.1 Configuration 1.2 Model Numbers 1.2.1 Servomotor Model Numbers 1 -2 1.2.2 SERVOPACK Model Numbers 1 -4 Ratings and Characteristics 2.1 Ratings and Specifications of SGMG Servomotors for Rated Speed 1500 r/min 2 -2 2.1.1 Ratings and Specifications...
  • Page 9 3.4 Large-amplitude Frequency Characteristics 3.5 Mechanical Characteristics 3.5.1 Mechanical Strength 3.5.2 Allowable Radial and Thrust Load 3.5.3 Mechanical Tolerances 3.5.4 Direction of Motor Rotation 3.5.5 Impact Resistance 3.5.6 Vibration Resistance 3.5.7 Vibration Class 4 Configuration and Connections 4.1 Internal Connection Diagram 4.1.1 0.5 kW to 1.5 kW Servodrives 4.1.2 2.0 kW to 3.0 kW Servodrives 4.1.3 5.0 kW Servodrive...
  • Page 10 TABLE OF CONTENTS 5 Application 5.1 Turning Power ON/OFF 5 -3 5.2 Position Control 5 -4 5.2.1 Electronic Gear Function 5 -4 5.2.2 Feed-forward Control Function 5 -5 5.3 Setting Up a 12-bit Absolute Encoder 5 -6 5.3.1 Battery 5 -6 5.3.2 Absolute Encoder Setup Procedure 5 -6 5.4 Protection Functions...

  • Page 11: Table Of Contents

    6.4 Special Descriptions 6 -7 6.4.1 Option Field Specifications 6 -7 6.4.2 I/O Monitor Specifications 6 -8 6.4.3 Monitor 1/2 Type Field Specifications 6 -9 6.4.4 CONFIG Specifications 6 -10 6.4.5 ALM_RD Specifications 6 -10 6.4.6 ALM_CLR Specifications 6 -11 6.4.7 CONNECT Specifications 6 -11 6.4.8 INTERPOLATE Specifications...
  • Page 12 TABLE O F CONTENTS 8.3 Wiring Specifications 8 -7 8.3.1 Rated Current and Cable Specifications 8 -7 8.3.2 Wiring Instructions 8 -9 8.3.3 Power Loss 8 -11 9 Servodrives Dimensional Drawings 9.1 A C Servomotors 9 -3 9.1.1 SGMG-DDADA Servomotors 9 -3 9.1.2 SGMG-DDADB Servomotors 9 -16...
  • Page 13 10 Trial Operation 10 -2 10.1 Check Items before Trial Operation 10.1.1 Servomotors 10 -2 10 -2 10.1.2 SERVOPACKS 10.2 Trial Operation Procedure 10 -3 10.2.1 Preparations for Trial 'Operation 10 -3 10 -4 10.2.2 Operating the Servodrive 10 -4 10.2.3 Trial Operation Inspection 11 Settings 11 -2...
  • Page 14 Based on Yaskawa servo manufacturing technology and servo application technology accumulated over the last half a century, Yaskawa has launched the AC Servo Series that, together with its rich line of products, meets the needs of the modern needs of FA and FMS in their application to machin- ing tools and robots.
  • Page 15 Safety Precautions The following precautions are for checking products upon delivery, installation, wiring, operation, maintenance and inspections. ■ Checking Products on Delivery L CAUTION • Be sure to use the specified Servomotor and SERVOPACK combination. Fire or damage may result if the wrong combination is used.. ■...
  • Page 16 Safety Precautions ■ Operation L. WARNING • Do not touch rotating parts of the Servomotor during operation. Injury may result. • CAUTION • In order to avoid accidents, do not connect the Servomotor shaft to the controlled equipment dur- ing the trial operation. Injury may result.
  • Page 17 The edition number appears on the front and back covers. • I f the manual must be ordered due to loss or damage, inform your nearest Yaskawa representa- tive or one of the offices listed on the back of this manual.
  • Page 18 Configuration and Models This chapter describes the configuration and model numbers for Servo- drives. 1.1 Configuration 1 - 2 1.2 Model Numbers 1 - 2 1.2.1 Servomotor Model Numbers 1 - 2 1.2.2 SERVOPACK Model Numbers 1 - 4...
  • Page 19 Configuration and Models 1.2.1 Servomotor Model Numbers 1.1 Configuration Servodrives are configured using a SERVOPACK (Controller) and Servomotors. • S G D B - D O A N SERVOPACK • A C Servomotor 1.2 Model Numbers 1.2.1 Servomotor Model Numbers ■...
  • Page 20 1.2 Model Numbers ■ SGMG/SGMS/SGMD Servomotors - 0 3 A 2 A A Lead Specification I -Series Blank: Standard connector SGMG: SGMG Servomotor SGMS: SGMS Servomotor Options SGMD: SGMD Servomotor Blank:Standard 1: Standard Servomotor Capacity (with a lead specification) 03: 0.3 kW, 05: 0.45 kW, 06: 0.6 kW S: With shaft seal 09: 0.85 kW/0.9 kW, 10: 1.0 kW B: With 90 VDC brake...
  • Page 21 Configuration and Models 1.2.2 SERVOPACK Model Numbers 1.2.2 SERVOPACK Model Numbers SGDB 1 0 A N - E-Series Options SGDB SERVOPACK P: Duct ventilation Rated Output 05: 0.5 kW, 10: 1.0 kW, 15:1.5 kW Command Interface Type 20: 2.0 kW, 30: 3.0 kW, 50: 5.0 kW N: MECHATROLINK 60: 6.0 kW, 75:7.5 kW, 1A: 11.0 kW 1E: 15.0 kW...
  • Page 22 Ratings and Characteristics This chapter provides Servodrive ratings, specifications, and torque-speed characteristics. For SGM Servomotors (400 W, 750 W) and SGMP Servomotors (400 W, 750 W), refer to "E Series SGM/SGMP/SGD-ON USER'S MANUAL" (SIE-S 800-26.3). 2.1 Ratings and Specifications of SGMG Servomotors for Rated Speed 1500 r/min 2 -2 2.1.1 Ratings and Specifications...
  • Page 23 Ratings and Characteristics 2.1.1 Ratings and Specifications 2.1 Ratings and Specifications of SGMG Servomotors for Rated Speed 1500 r/min 2.1.1 Ratings and Specifications • Time Rating: Continuous • Ambient Temperature: 0 to 40°C • Enclosure: Totally enclosed, self cooled, • Mounting: Flange method IP67 (except shaft-through section) •...
  • Page 24 2.1 Ratings and Specifications of SGMG Servomotors for Rated Speed 1500 r/min Servomotor Model: 05AHA 09ADA 13ADA 20ADA 30ADA 44ADA 55AILIA 75ADA 1AADA 1EADA SGMG- Inertia Time 0.98 Constant Inductive 12.5 12.5 15.7 16.4 18.4 22.6 27.2 Time Constant * 1. These items and torque-motor speed characteristics are in combination with an SGDB SERVOPACK and at an armature winding temperature of 20°C.
  • Page 25 Ratings and Characteristics 2.1.1 Ratings and Specifications 1 1 1 1 S G M G Servomotor (Rated Motor Speed of 1500 r/min) Torque-Motor Speed Characteristics SGMG-05ADA SGMG-09AEA 3000 3000 2000 2000 Motor Motor speed speed (r/min) 1000 (r/min) 1000 Torque (N • m) Torque (N.m) 1 0 0 Torque (lb•...
  • Page 26 2.1 Ratings and Specifications of SGMG Servomotors for Rated Speed 1500 r/min SGMG-55ADA SGMG-75ACIA 3000 3000 2000 2000 Motor Motor speed 1000 speed 1000 (r/min) (r/min) Torque (N •m) Torque (N • m) 4 0 0 6 0 0 Torque (Ib•in) Torque (lb •in) SGMG-1AACIA SGMG-1EACIA...
  • Page 27 Ratings and Characteristics 2.2.1 Ratings and Specifications 2.2 Ratings and Specifications of SGMG Servomotors for Rated Speed 1000 r/min 2.2.1 Ratings and Specifications • T i m e Rating: Continuous • A m b i e n t Temperature: 0 to 40°C •...
  • Page 28 2.2 Ratings and Specifications of SGMG Servomotors for Rated Speed 1000 r/min The ratings and specifications shown on the previous page are for standard Servomotors. I M P O R TA N T For Servomotors with holding brakes, add the values in the following table to the moment of inertia values in the above table.
  • Page 29 Ratings and Characteristics 2.2.1 Ratings and Specifications SGMG Servomotor (Rated Motor Speed of 1000 r/min) Torque-Motor Speed Characteristics SGMG-03ADB SGMG-06ADB 2000 1500 1000 Motor Motor speed speed (r/min) 5 0 0 (r/min) Torque (N •m) Torque (N •m) 1 0 0 Torque (lb•...
  • Page 30 2.2 Ratings and Specifications of SGMG Servomotors for Rated Speed 1000 r/min SGMG-44ADB SGMG-60A111B 2000 2000 1500 1500 Motor 1000 Motor 1000 speed speed (r/min) (r/min) Torque (N • m) Torque (N • m) 1 0 0 0 Torque (lb• in) Torque (lb •in) : Continuous Duty Zone : Intermittent Duty Zone...
  • Page 31 Ratings and Characteristics 2.3.1 Ratings and Specifications 2.3 SGMS Servomotor Ratings and Specifications 2.3.1 Ratings and Specifications • Time Rating: Continuous • Ambient Temperature: 0 to 40°C • Enclosure: Totally enclosed, self cooled, • Mounting: Flange method IP67 (except shaft-through section) •...
  • Page 32 2.3 SGMS Servomotor Ratings and Specifications The ratings and specifications shown on the previous page are for standard Servomotors. I M P O R TA N T For Servomotors with holding brakes, add the values in the following table to the moment of inertia values in the above table.
  • Page 33 Ratings and Characteristics 2.3.1 Ratings and Specifications SGMS Servomotor Torque Motor Speed Characteristics SGMS-10ADA 5000 • 4000 4000 III 111111\111 El Mill 3000 3000 Motor Motor 2000 2000 speed speed (r/min) (r/min) 1000 1000 Torque (N • m) Torque (N • m) 1 0 0 Torque (lb •in) Torque (lb•...
  • Page 34 2.4 SGMD Servomotor Ratings and Specifications (with Holding Brake) 2.4 SGMD Servomotor Ratings and Specifications (with Holding Brake) 2.4.1 Ratings and Specifications • Time Rating: Continuous • Ambient Temperature: 0 to 40°C • Enclosure: Totally enclosed, self cooled, • Mounting: Flange method IP67 (except shaft-through section) •...
  • Page 35 Ratings and Characteristics 2.4.1 Ratings and Specifications ■ S G M D Servomotor Torque Motor Speed Characteristics SGMD-32A0AAB SGMD-22ADAAB 3000 3000 2000 2000 Motor Motor speed speed w o o 1000 (r/min) (r/min) Torque (N•m) Torque (N•m 4 0 0 2 0 0 Torque (lb•...
  • Page 36 2.5 SGMP Servomotor (1.5 kW) Ratings and Specifications 2.5 SGMP Servomotor (1.5 kW) Ratings and Specifications 2.5.1 Ratings and Specifications • Time Rating: Continuous • Ambient Temperature: 0 to 40°C • Enclosure: Totally enclosed, self cooled • Mounting: Flange method •...
  • Page 37 Ratings and Characteristics 2.5.1 Ratings and Specifications Servomotor Model: SGMG 0.875 With Added kg • m2 x 10-4 Holding Moment oz• in • s2 X 10-3 12.4 Brake, of Inertia 90 VDC Static 7.45 N • m (1055) Friction (oz• in) Torque ■...
  • Page 38 2.6 SERVOPACK Ratings and Specifications 2.6 SERVOPACK Ratings and Specifications 2.6.1 Ratings and Specifications The ratings and specifications for the SGDB SERVOPACK are shown below. Refer to them as re- quired when selecting a SERVOPACK. Refer to the specifications listed in the table for combination with the appropriate model of Servomotor.
  • Page 39 Ratings and Characteristics 2.6.1 Ratings and Specifications SERVOPACK SGDB- 05 1 0 Monitoring Using the monitor command, monitoring of various positions, speeds, position error torque, SERVOPACK status, and alarm contents is possible. I/O Sig- Sequence Inputs Forward overtravel prohibit (P-OT), reverse overtravel prohibit (N-OT), external nals latch (EXT), and zero point return deceleration limit switch (DEC) Break interlock (BK) and Servo alarm (ALM)
  • Page 40 2.7 Combined Specifications 2.7 Combined Specifications The following specifications for combinations of SGDB SERVOPACKS and SGMG, SGMS, SGMD and SGMP Servomotors. 2.7.1 Standard Combinations Table 2.7 SERVOPACK and Servomotor Combination Specifications. SGMG SERVOPACK Model 05AN 10AN 15AN 20AN 30AN 50AN 60AN SGDB- Series...
  • Page 41 Ratings and Characteristics 2.7.1 Standard Combinations SGMD SERVOPACK Model 30AN 50AN SGDB- Series Appli- Model SGMD- 2 2 A 0 A 32ADA 4 0 A D A cable Motor Servo- Capacity (kW) motor Rated/Max. 2000/3000 r/min Motor Speed Applicable Standard: Absolute encoder at 1024 P/R Encoder Allowable Load Inertia*...
  • Page 42 2.7 Combined Specifications SERVOPACK Model SGDB- 1 OAN 15AN 20AN 30AN 50AN Appli- Model SGMS- 10ADA 15ADA 20ADA 30ADA 40ACIA 5 0 A D A cable Motor Capacity Servo- (kW) motor Rated/Max. Motor 3000/4500 r/min Speed Applicable Encoder Standard: Incremental encoder at 4096 P/R Allowable Load 12.4 (176) 16.0 (227)
  • Page 43 * 2. Shut off characteristics (at 25°C): 200%: 2 s min., 700%: 0.01 s min. * 3. A Tokin Corp. noise filter or a SCHAFFNER noise filter (FN258-100) is recommended. Tokin Corp. noise fil- ters are available from Yaskawa Control Co,. 2 -22...
  • Page 44 Servodrive Characteristics This chapter provides information on the characteristics of SERVOPACKS and Servomotors. 3.1 Overload Characteristics 3.2 Starting and Stopping Time 3.3 Allowable Repeatability 3.3.1 Allowable Repeatability as Limited by the Servomotor 3 -4 3.4 Large-amplitude Frequency Characteristics 3 -6 3.5 Mechanical Characteristics 3 -7 3.5.1 Mechanical Strength...

  • Page 45: Overload Characteristics

    Servodrive Characteristics 3.1 Overload Characteristics The SERVOPACK has a built-in overload protective function to protect the SERVOPACK and Ser- vomotor from overload. Allowable power for the SERVOPACK is therefore limited by the overload protective function as shown in Fig. 3.1. The overload detection level quoted under hot start conditions at a motor ambient temperature of 40°C cannot be modified.

  • Page 46: Starting And Stopping Time

    3.2 Starting and Stopping Time 3.2 Starting and Stopping Time The motor starting (tr) and stopping time (tf) with a constant load are calculated using the following equations. Motor viscous torque and friction torque have been ignored. Starting time: tr = 104.7 x NR(JAI J L ) [ m s ] Kt •...

  • Page 47: Allowable Repeatability

    Servodrive Characteristics 3.3.1 Allowable Repeatability as Limited by the Servomotor 3.3 Allowable Repeatability Running and stopping repeatability are limited by the Servomotor. 3.3.1 Allowable Repeatability as Limited by the Servomotor Running and stopping repeatability vary with motor conditions, such as the load conditions and running time.
  • Page 48 3.3 Allowable Repeatability Motor current 0- Ti m e Motor speed Time Figure 3.4 M o t o r Current - Motor Speed Timing Chart • W i t h Motor Constantly Cycling through Acceleration, Idling, and Deceleration without Stopping The timing chart for motor armature current and motor speed is shown in Fig 3.5.

  • Page 49: Large-Amplitude Frequency Characteristics

    Servodrive Characteristics 3.4 Large-amplitude Frequency Characteristics When looking at frequency characteristics with a SERVOPACK and Motor combination, the motor speed amplitude is limited by the peak current through the SERVOPACK. The relationship between motor speed (N) and frequency (f) is expressed using the equation given below. a •...

  • Page 50: Mechanical Characteristics

    3.5 Mechanical Characteristics 3.5 Mechanical Characteristics 3.5.1 Mechanical Strength An A C Servomotor can withstand instantaneous peak torque on the output shaft of up to 300% of the motor rating. 3.5.2 Allowable Radial and Thrust Load The output shaft allowable loads of AC Servomotors are shown below. Use mechanical designs where thrust and radial loads do not exceed the values below during mo- tor operation.

  • Page 51: Mechanical Tolerances

    Servod rive Characteristics 3.5.5 Impact Resistance Note Radial and thrust load limit value are the sum of the loads generated by the motor torque and external loads applied to the shaft. 3.5.3 Mechanical Tolerances Tolerances for AC Servomotor output shaft and installation are shown in Table 3.2. Table 3.2 Mechanical Tolerances Tolerance (T.I.R.) Reference Diagram...

  • Page 52: Vibration Resistance

    3.5 Mechanical Characteristics • Number of Impacts: 2 Since a precision detector is attached to the shaft at the end opposite the load end, do not subject the shaft to direct impact as this may damage the encoder. Vertical — + — Horizontal shaft Figure 3.8 I m p a c t Measurement 3.5.6 Vibration Resistance...
  • Page 54 Configuration and Connections This chapter provides information on the configuration and connections of Servodrives. 4.1 Internal Connection Diagram 4 -3 4.1.1 0.5 kW to 1.5 kW Servodrives 4 -3 4.1.2 2.0 kW to 3.0 kW Servodrives 4 -4 4.1.3 5.0 kW Servodrive 4 -5 4.1.4 6.0 kW to 15.0 kW Servodrives 4 -6...
  • Page 55 Configuration and Connections 4 -22 4.8 2CN Encoder Connector Terminals 4 -22 4.8.1 2CN Terminal Layout 4.8.2 Applicable Cables 4 -23 4.8.3 2CN Connection Method 4 -24 4.9 4CN Connectors for MECHATROLINK Communications 4.9.1 4CN Terminal Layout 4.9.2 4CN Connection Method 4 -2...

  • Page 56: Internal Connection Diagram

    4 . 1 I n t e r n a l C o n n e c t i o n D i a g r a m 4.1 Internal Connection Diagram 4.1.1 0.5 kW to 1.5 kW Servodrives Three-phase 200 to 230 VAC*11°,,,.. (50/60 Hz) THS1 FAN1...

  • Page 57: Kw To 3.0 Kw Servodrives

    Configuration and Connections 4.1.2 2 . 0 kW to 3.0 kW Servodrives 4.1.2 2.0 kW to 3.0 kW Servodrives Three-phase 200 to 230 VAC+IT,. (50/60 Hz) THS1 F A N 1 FAN2 I a i 2.0 kW with- FFy1 T hT out FAN2 DB1Pi B P M 1...

  • Page 58: Kw Servodrive

    4 . 1 I n t e r n a l C o n n e c t i o n D i a g r a m 4.1.3 5 . 0 kW Servodrive Three-phase 200 to 230 VA C ' i r, (50/60 Hz) ITHS1 F A N 1 FA N 2 FANPc*.

  • Page 59: Kw To 15.0 Kw Servodrives

    Configuration and Connections 4.1.4 6.0 kW to 15.0 kW Servodrives 4.1.4 6.0 kW to 15.0 kW Servodrives Regenerative resistor (optional) Three-phase 200 to 230 VACI,T,, 1 3 1 —t (50/60 Hz) THS1 F A N 1 P M 1 / P M 2 / P M 3 I Servomotor 1 = 1 Line filter...

  • Page 60: Name And Description Of Main Circuit Terminals

    Manufacturer Connector 10220-52A2JL (Product of 10120-3000VE 10320-52A0-008 SUMITOMO 3M Co., See 9.3 "Cables". SUMITOMO 3M Co.,Ltd.), Ltd. 20 pin right angle Note This cable is available from Yaskawa. Refer to 9.3 "Cables" for more de ails on cables. 4 -7...

  • Page 61: 4Cn Connector For Mechatrolink Communication

    Configuration and Connections 4.3.3 4CN Connector for MECHATROLINK Communication 4.3.3 4CN Connector for MECHATROLINK Communication Table 4.4 Applicable Receptacle Specifications for Applicable Receptacle Model SERVOPACK Connector Manufacturer Solder Case MR-8RMD2 (Product of Honda MR-8F Honda Tsushin Industry Co., Ltd. MR-8L Tsushin Industry Co., Ltd.), 8-pin right angle 4 -8...

  • Page 62: Connecting An Incremental Encoder

    4.4 Connecting an Incremental Encoder 4.4 Connecting an Incremental Encoder 4.4.1 Typical Example Three-phase 200 to 230 VAC +1 % , 50/60 Hz 1MCCBFlS1-1 Noise filter eliminates external noise. Alarm processing Mai n cactia power supply OPEN/CLOSED . p o w e r a surge suppressor to the 1 MC Ry S U P m a g n e t i c contactor and relays.

  • Page 63: 1Cn I/O Connector Terminals

    Configuration and Connections 4.4.2 1CN I/O Connector Terminals 4.4.2 1CN I/O Connector Terminals III Terminal Layout Table 4.5 1 C N Terminal Layout SG-BK SG-ALM +24 V IN N-OT I/O power Reverse drive External latch Signal ground Signal ground prohibited input for brake out for servo alarm supply input...
  • Page 64 4.4 Connecting an Incremental Encoder • I / O Signal Connections and External Signal Processing SERVOPACK (SGDB-1=11=11=1N) +24V 3 . 3 k S2 Forward drive prohibited — I. Forward drive prohibited — P Forward overtravel OFF at overtravel. OV P - L S 7 mA R e v e r s e drive prohibited Reverse drive prohibited...
  • Page 65 Configuration and Connections 4.4.2 1CN I/O Connector Terminals II I n p u t Signals and Their Application Table 4.6 I n p u t Signals Description Signal 1CN Pin No. Name Reverse drive prohibited Connect to the appropriate forward or reverse limit switch signal N-OT for linear or other types of drive.
  • Page 66 4.4 Connecting an Incremental Encoder Zero Point Return Deceleration LS (DEC) The motor decelerates from the zero point return feed speed to zero point return approach speed 1 (Cn-0022) when the signal level changes from high to low during the zero point return opera- tion.
  • Page 67 Configuration a n d Connections 4.5.1 T y p i c a l E x a m p l e 4.5 Connecting an Absolute Encoder 4.5.1 Typical Example T h r e e - p h a s e 2 0 0 t o 2 3 0 VA C - 1 5 o/c, 5 0 / 6 0 H z 1MCCB R 0 Noise filter eliminates external noise.
  • Page 68 4.5 Connecting an Absolute Encoder 4.5.2 1CN I/O Connector Terminals ■ Terminal Layout Table 4.8 1 C N Terminal Layout N-OT BK-SG ALM-SG +24 V IN I/O power Reverse drive External latch Signal ground S i g n a l g ound for brake out f o r servo alarm supply input prohibited input...
  • Page 69 Configuration and Connections 4.5.2 1CN I/O Connector Terminals II I / O Signal Connections and External Signal Processing SERVOPACK (SGDB-1:01:N) +24V 3 . 3 I<4 Forward drive prohibited Forward drive prohibited (Forward overtravel — O T OFF at overtravel) P— LS 7 mA Reverse drive prohibited N—OT...
  • Page 70 4.5 Connecting an Absolute Encoder • I n p u t Signals and Their Application Table 4.9 I n p u t Signals 1CN Pin No. Signal Description Name N-OT Reverse drive prohibited Connect to the appropriate forward or reverse limit switch signal (Reverse overtravel) for linear or other types of drive.
  • Page 71 Configuration and Connections 4.6 Output Circuits There are two output signals: Brake interlock and servo alarm. They use non-contract transistor cir- cuits. The voltage and current specifications for these signals are as follows: Applied Voltage (V max.) 3 0 V Conduction Current (/p) 5 0 mA Output circuits require 24 V power supply by the user.
  • Page 72 4.7 Connector Terminal Block Converter Unit for 1CN 4.7 Connector Terminal Block Converter Unit for 1CN 4.7.1 Application SGDB-GOLIN SERVOPACK Ls). Connector Terminal Block Converter Unit JUSP-TA26P Connects to 1CN Note T h e r e is no connector terminal block converter unit for the 2CN. We provide encoder cables for the 2CN connector.
  • Page 73 Configuration and Connections 4.7.2 Connection Specifications 4.7.2 Connection Specifications SGDB-13=10N SERVOPACK Terminal Block Converter Unit Terminal Connectoi Signal Name Pin No. BK-SG ALM-SG +24 VIN P-OT N-OT (BAT) (BATO) A l l A17_ Cable: Provided with the terminal block. : Twisted-pair wires Note not use vacant pins.
  • Page 74 4.7 Connector Terminal Block Converter Unit for 1CN 4.7.3 Cable Specifications Accessory (for Connector Terminal Block Converter Unit) Terminal Block Converter Unit side SERVOPACK side 40-pin connector 26-pin connector FCN-367J040-AU 10126-6000EL...
  • Page 75 Configuration and Connections 4.8.1 2CN Terminal Layout 4.8 2CN Encoder Connector Terminals 4.8.1 2CN Terminal Layout Table 4.11 Terminal Layout (2CN) PGOV Battery (+) PG power (for abso- BAT+ PGOV supply lute encod- power Battery (—) er only) supply (for abso- BAT—...
  • Page 76 4.8 2CN Encoder Connector Terminals 4.8.2 Applicable Cables Yaskawa provides cables with the following specifications. Cables are not provided with the SERVOPACK or Servomotor. Order cables in the standard specifications (lengths) as required. Table 4.12 Applicable Cables Cable I n c r e m e n t a l...
  • Page 77 Configuration and Connections 4.8.3 2CN Connection Method 4.8.3 2CN Connection Method ■ Incremental Encoder 0.12 mm2 (0.0002 in2) Incremental encoder 2CN S E R V O PA C K Blue ' 2-16 White, blue 7 2-17 Yellow 2-18 White, yellow t 2-19 *PB Green 2 - 1 4...
  • Page 78 4.8 2 C N Encoder Connector Terminals • Absolute Encoder 0.12 mm2 (0.0002 in2) Absolute encoder SERVOPACK 1 Blue 2-16 2-17 White. blu * PA 3 Yellow • 2-18 4 White, yellc 2-19 * P B 5 Green 2-14 2-15 While, gre 'to Purple 11 White purple...
  • Page 79 Configuration and Connections 4.9.2 4CN Connection Method 4.9 4CN Connectors for MECHATROLINK Communications 4.9.1 4 C N Terminal Layout Table 4.13 4CN Terminal Layout Serial data Shield Frame Termination resistor ground Shield Serial data 4.9.2 4CN Connection Method IN H o s t Controller and SERVOPACK Connection Pulse transformer MECHATROLINK Host controller...
  • Page 80 4.9 4CN Connectors for MECHATROLINK Communications SH 3 SH 8 FG 5 Pulse transformer Pulse transormer *S 6 f—MECHATROLINK I/F 1200 R MECHATROLIN 1200 21. S Host controller No.1 SERVOPACK (First axis) • Pulse transformer MECHATROLINK 1200 No.2 SERVOPACK (Second axis) Pulse transformer MECHATROLINK 1200...
  • Page 82 Application This chapter describes how to use the Servodrives. 5.1 Turning Power ON/OFF 5 -3 5.2 Position Control 5 -4 5.2.1 Electronic Gear Function 5 -4 5.2.2 Feed-forward Control Function 5 -5 5.3 Setting Up a 12-bit Absolute Encoder 5 -6 5.3.1 Battery 5 -6 5.3.2 Absolute Encoder Setup Procedure...
  • Page 83 Application 5.8 Appropriate Applications 5 -18 5.8.1 Holding Brake Interlock Signal 5 -18 5.9 Adjustments 5 -19 5.9.1 Servo System Adjustments 5 -19 5.9.2 User Constants 5 -20 5.9.3 Functions that Improve Response 5 -23 5.9.4 Guidelines for Setting the Load Inertia Ratio 5 -24 5 -2...
  • Page 84 5.1 Turning Power ON/OFF 5.1 Turning Power ON/OFF The figure below shows a typical example of the power ON/OFF sequence. Three-phase 200 to 230 VAC +10 %, 50/60 Hz SERVOPACK S'1), 1MCCB ) b) b) SGDB-DDAN F G e ° 1 MC II- 0 (For servo alarm display)
  • Page 85 Application 5.2.1 Electronic Gear Function 5.2 Position Control 5.2.1 Electronic Gear Function The electronic gear function enables the distance the motor travels for one reference unit to be set to any value. More specifically, the value is set based on the number of encoder pulses, refer- ence unit (minimum unit Qf position data for moving the load), and machine gear ratio.
  • Page 86 5.2 Position Control Load travel distance per load shaft revolution = 12/0.01 = 1200 (reference units) Determining the Electronic Gear Ratio (B/A) B = [(Cn-0011) x 4] x (motor shaft revolution speed) A = [Load travel distance per load shaft revolution (reference units)] x (load shaft speed) Reduce the electronic gear ratio (B/A) to the lowest terms so that both A and B are less than 32768, and then set A and B in Cn-0025 and Cn-0024.
  • Page 87 Application 5.3.2 Absolute Encoder Setup Procedure 5.3 Setting Up a 12-bit Absolute Encoder 5.3.1 Battery An absolute encoder requires a battery in order to save position data in the event of a power inter- ruptions. • We recommend the following battery. One lithium battery: ER6VC 3.6 V battery made by Toshiba Battery Co., Ltd.
  • Page 88 5.3 Setting Up a 12-bit Absolute Encoder Key position Verify that the 15-bit absolute encoder has been reset correctly as follows. • The voltage between the terminal R and S is 0.4 V or less. (To measure the voltage between the terminals, use a tester with input impedance 1 M S2 or more.) 3.
  • Page 89 Application 5.4.2 Error Detection Function 5.4 Protection Functions The SERVOPACK is equipped with various functions to protect the driver and motor from damage. 5.4.1 Dynamic Brake Function The SERVOPACK is equipped with a dynamic brake for emergency stops. The brake is operated for any of the following conditions.
  • Page 90 5.5 Indications 5.4.3 Servo Alarm Output (ALM, ALM-SG) The power drive circuit in the SERVOPACK will turn OFF and the alarm status will be displayed i f any error detection function shown in Table 5.2 operates. Details of the alarm will be sent by a MECHATROLINK response message, the red indicator on the SERVOPACK will light, and the alarm output (ALM, ALM-SG) will turn OFF.
  • Page 91 Do not use the motor for lowering objects without a counterweight. Rated specifications for the regenerative braking capacity of the SERVOPACK is only for brief periods while the motor is stopped. Contact your Yaskawa representative about applications with negative load.
  • Page 92 5.6 Precautions III Connecting a Regenerative Resistor Unit The connections of the regenerative resistor unit are shown below. SG DB-DOAN SERVOPACK Three-phase AC 200 to 230 V 0 ® (PHC) 1CN- +24V r Servo alarm Regenerative Resistor Unit Figure 5.3 Regenerative Resistor Unit Connection Diagram II Applicable Regenerative Resistor Units Applicable Regenerative SERVOPACK Model...
  • Page 93 Application 5.6.4 High Voltage Lines Example of Allowable Servomotor Drive Duty Conditions 4--- Maximum motor \ s p e e d 0.2 s 0.2 s 0.2 s 25 s • Torque at Servomotor deceleration: Maximum torque • Load inertia: Five times the motor moment of inertia As long as there are no losses in the mechanical system.
  • Page 94 5.7 Application Precautions 5.7 Application Precautions 5.7.1 Noise Control III Example of Wiring for Noise. Control This SERVOPACK uses high-speed switching elements in the main circuit. It may be subjected to switching noise from these high-speed switching elements if wiring or grounding around the SERVOPACK is not appropriate.
  • Page 95 FN258-100 These noise filters other than model FN258-100 are made by Tokin Corp. Tokin Corp. noise filters are available from Yaskawa. Contact your nearest Yaskawa sales representative for those noise filters. A noise filter type FN258-100 is made by SCHAFFNER.
  • Page 96 5.7 Application Precautions • Separate input lines from output lines. Do not run input and output lines in the same duct or bundle them together. Noise filter Separate circuits. Incorrect Correct Figure 5.5 • Separate ground wires from noise filter output lines. Do not run ground wires, output lines, and other signal lines in the same duct or bundle them together.
  • Page 97 Application 5.7.2 Power Supply Line Protection • Connect the noise filter ground wire directly to the junction box or the ground plate. Noise Noise filter fil er Thick Shielded and short ground wire Ek3x Incorrect Correct Figure 5.7 • When grounding a noise filter inside a unit, connect the noise filter ground wire and the ground wires for other devices inside the unit to the ground plate of the unit first, and then ground these wires.
  • Page 98 5.7 Application Precautions Table 5.4 M C C B or Fuse for the Power Capacity Power Capacity per SERVO- Current Capacity per MCCB SERVOPACK Model PACK (kVA)*1 or Fuse (A)*2 SGDB-05AN SGDB-1 OAN SGDB-1 5AN SGDB-20AN SGDB-30AN SGDB-50AN SGDB-60AN 12.5 SGDB-75AN 15.0 SGDB-1 AAN...
  • Page 99 Application • 5.8.1 Holding Brake Interlock Signal 5.8 Appropriate Applications 5.8.1 Holding Brake Interlock Signal This output signal can be output for interlocking motor circuit power status and motor rotation speed. ■ Setup Procedure The brake signal is output from 1CN-1(2). Delay time tB ( X 10 ms) from the brake turns ON until the Servomotor drives OFF can be set in user constant Cn-0012.
  • Page 100 5.9 Adjustments 5.9 Adjustments 5.9.1 Servo System Adjustments Once the load inertia constant (Cn-0003) has been specified, the following user constants (pa- rameters) are used to adjust the servo system. • Cn-0004: S p e e d Loop Gain • Cn-0005: S p e e d Loop Integration Time Constant •...
  • Page 101 Application 5.9.2 User Constants The mechanical system will start to vibrate at the upper limits for the position and speed loop gain. Do not exceed these limits. Generally position loop gain cannot be increased beyond the characteristic frequency of the mechanical system. Example: Articulated Robots Using harmonic gears produces a mechanism with extremely low rigidity.
  • Page 102 5.9 Adjustments constant. The filter, however, will produce a delay in the servo system, just like the integration time constant, and its value should not be increased any more than necessary. If the secondary torque reference filter time constant (Cn-0018) is set to 0, the torque reference filter will be switched to the primary filter.
  • Page 103 Application 5.9.2 User Constants If monitoring cannot be made at the host controller, use the analog monitor. The analog monitor can observe load torque or speed overshoot, but is not for monitoring vibration. Therefore, we recommend that monitoring should be made at the host controller. Analog Monitoring Motor speed and torque can be monitored via an analog signal while adjusting the gain.
  • Page 104 5.9 Adjustments • Cable Colors and Monitor Signals Cable Color Signal Name Description VTG-M Speed monitor SGMG, SGMD 2 V/±1000 r/min SGMS, SGM, SGMP 1 V/±1000 r/min White TRQ-M Torque monitor :2V/±100% torque Black (2 wires) 5.9.3 Functions that Improve Response The following functions are provided to improve response.
  • Page 105 Application 5.9.4 Guidelines for Setting the Load Inertia Ratio II B i a s Control When the number of pulses in the error counter exceeds the positioning complete width (Cn-001B), bias (Cn-001C) is added to the error counter output (speed reference) until the speed reference falls within the positioning complete width.
  • Page 106 5.9 Adjustments II Machines with Medium Rigidity Machines with medium rigidity include machines driven by ball screws through reduction gears. or machines driven directly by long ball screws. Examples: General Machine Tools, Orthogonal Robots, Conveyors Load Inertia Ratio Position Loop Speed Loop Gain Speed Loop Integration (GD2L/GD2M)
  • Page 108 MECHATROLINK Communication This chapter describes MECHATROLINK communication specifications, commands and communication sequence and provides a list of alarms/ warnings. 6.1 Specifications and Configuration 6 -2 6 -2 6.1.1 Specifications 6 -2 6.1.2 Control Structure 6.2 1SW Rotary Switch for MECHATROLINK Station Address Settings 6 -3 6.3 MECHATROLINK Command List...
  • Page 109 MECHATROLINK Communication 6.1.2 Control Structure 6.1 Specifications and Configuration 6.1.1 Specifications Items that are not described in this chapter are based on the MECHATROLINK application layer. For more details refer to the following manuals. MECHATROLINK System User's Manual (SIE-S800-26.1) MECHATROLINK Servo Command User's Manual (SIE-S800-26.2) 6.1.2 Control Structure The following illustration shows control structure.
  • Page 110 6.2 1SW Rotary Switch for MECHATROLINK Station Address Settings 6.2 1SW Rotary Switch for MECHATROLINK Station Address Settings 1SW sets the MECHATROLINK station address, and is used to select one of the following S G D B - O M N addresses. Station Address Not used (Do not set.) 41H (Factory setting)
  • Page 111 MECHATROLINK Communications The following abbreviations are used for processing and synchronization classifications. Processing Classifications Synchronization Classifications A Asynchronous command N Network command S Synchronous command D Data communication command C Control command M Motion command Compound command 6 -6...

  • Page 112: Special Descriptions

    6.4 Special Descriptions 6.4 Special Descriptions The following describes specific items unique to the SGDB-11100N. 6.4.1 Option Field Specifications The third and fourth bytes of the reference data field for motion com- Command mands are reserved for options used to add motion command functions for each product.

  • Page 113: I/O Monitor Specifications

    P control This function suppresses undershooting and shortens positioning complete time when the Servomotor is stopped. All bits except D4 must be set to 0, otherwise Yaskawa cannot guarantee how the SERVOPACK will act. IMPORTANT 6.4.2 I/O Monitor Specifications N-OT and P-OT are output monitoring as a logic OR with the software limits (N-SOT, P-SOT).

  • Page 114: Monitor 1/2 Type Field Specifications

    6.4 Special Descriptions 6.4.3 Monitor 1/2 Type Field Specifications The monitor 1/2 type, the thirteenth byte of the reference data field Command o f commands, is reserved to select monitor data that w i l l be re- turned. Option The f o l l o w i n g types o f m o n i t o r i n g are a v a i l a b l e w i t h t h e SGDB-1110 ON.

  • Page 115: Config Specifications

    MECHATROLINK Communications 6.4.5 ALM_RD Specifications 6.4.4 CONFIG Specifications The following user constants can be reset in CONFIG (equipment setup) command for Memory switch 1 Cn-0001 Cn-0002 Memory switch 2 No. of encoder pulses Cn-0011 6.4.5 ALM_RD Specifications Byte Command Response ALMRD ALMRD The ALM_RD_MODE at the fifth byte of ALM_RD...

  • Page 116: Alm_Clr Specifications

    6.4 Special Descriptions 6.4.6 ALM_CLR Specifications ALM CLR The ALM_CLR_MODE at the fifth byte of ALM_CLR (clear alarm/warning status) is the field used to select objects that will be cleared, and it can be specified for each product. The following are ALM_CLR_MODE specifications for the ALM CLR MODE SGDB-OCION.

  • Page 117: Interpolate Specifications

    MECHATROLINK Communications 6.4.9 LATCH (Interpolation Feed with Position Detection) Specifications 6.4.8 INTERPOLATE Specifications INTERPOLATE The speed feed forward function is not supported in IN 1.ERPO- LATE (interpolation feed) with the S G D B - = N . Option Always set the speed feed forward field between the ninth and twelfth bytes to 0.

  • Page 118: Posing Command Specifications

    6.4 Special Descriptions 6.4.10 POSING Command Specifications There is a limit to the resolution of the acceleration/deceleration constants and feed speed when posi- tioning with commands like the POSING command. These resolutions are given below. The INTER- POLATE command can be used when higher resolution is required. •...

  • Page 119: Unsupported Commands

    MECHATROLINK Communications 6.4.13 Unsupported Commands Note 00 to 08 are ASCII code, 09 is OOH, and the software version is binary data. 6.4.13 Unsupported Commands Do not use the following commands because they are not supported in the SGDB-0111GIN. Code Name Function Adjustment...

  • Page 120: Power On Sequence (Communications Sequence)

    6.5 Power ON Sequence (Communication Sequence) 6.5 Power ON Sequence (Communication Sequence) The following is a typical power ON sequence (communication sequence). 1. Turn ON the control power supply. 2. Make communication connection (CONNECT command). When communication connection has been completed, confirm the following: COMRDY=1 and SVALM=0.
  • Page 121 MECHATROLINK Communications The controller always has the required parameters and ensures proper controller operation by transferring the parameters at power ON. We recommend using this method at all times because the controller can then manage the parameters even if the SERVOPACK or motor is replaced.
  • Page 122 6.5 Power ON Sequence (Communication Sequence) 6. M a i n circuits ON (SV_ON command). When the main circuit has been turned ON, confirm the following status: SVON=1. 7. Operation starts. 8. Main circuit OFF (SV_OFF command) and turn OFF the main power supply. 9.

  • Page 123: List Of Alarm And Warning Codes

    MECHATROLINK Communications 6.6 List of Alarm and Warning Codes Code Name Alarm type Normal — User constant setting warning Warning MECHATROLINK command warning Warning Warning MECHATROLINK communication warning Absolute encoder data error Servo alarm Broken user constant Servo alarm Servo alarm Overcurrent Servo alarm Ground...
  • Page 124 User Constants This chapter describes the contents and settings of user constants (parame- ters) and memory switches. 7.1 Setting User Constants 7.1.1 Basic User Constants 7.1.2 Gain-related Constants 7.1.3 Torque-related Constants 7.1.4 Sequence-related Constants 7.1.5 Motion-related Constants 7.1.6 Other Constants 7.1.7 Memory Switches 7.2 List of User Constants 7.3 Memory Switch Bit Details...

  • Page 125: Setting User Constants

    User Constants 7.1.2 Gain-related Constants 7.1 Setting User Constants The following user constants (parameters) are available with the SERVOPACK. Set or change the user constants to fit your system. 7.1.1 Basic User Constants The following basic user constants are available. ■...

  • Page 126: Torque-Related Constants

    7.1 Setting User Constants ■ Cn-001C: Bias • Sets the position control bias. This constant is used depending on load conditions to shorten positioning time. • Allowable setting range: 0 to maximum motor speed [ x 100 reference units/s] ■ Cn-001D: Feed Forward Compensation •...

  • Page 127: Sequence-Related Constants

    User Constants 7.1.4 Sequence-related Constants • Specifying a value other than 0 applies a secondary lag filter. • Allowable setting range: 0 to 25000 U.i.s1 7.1.4 Sequence-related Constants The following sequence-related user constants are available. ■ Cn-0012: Time Delay from Brake Reference to Servo OFF •...

  • Page 128: Motion-Related Constants

    7.1 Setting User Constants Servo OFF Servo ON DB Stop or Free-run Stop Motor Speed (r/min) Cn-0015 Brake Release Brake Hold Cn-0016 7.1.5 Motion-related Constants The following motion-related user constants are available. ■ Cn-0024 (B) and Cn-0025 (A): Electronic Gear Ratio B (Cn-0024 •...
  • Page 129 User Constants 7.1.5 Motion-related Constants Time ■ Cn-0021: Acceleration/Deceleration Constant Switching Speed • Sets the speed for switching front the first—step to the second—step acceleration/deceleration in two-step acceleration/deceleration. • Allowable setting range: 0 to 65535 [ x 100 reference units/s] ■...
  • Page 130 7.1 Setting User Constants • Allowable setting range: 0 to 65535 [ x 100 reference units/s] ■ Cn-0028: Final Travel Distance To Return To Zero Point • Sets the distance from the encoder zero point pulse (phase-C pulse) to the zero point when returning to the zero point.

  • Page 131: Other Constants

    User Constants 7.1.6 Other Constants • When the motor position moves within this range for the target position, NEAR is set to 1 regardless of whether command distribution is completed. • Allowable setting range: 0 to 10000 [reference units] ■ Cn-001E: Position Error Overflow Range •...

  • Page 132: Memory Switches

    7.1 Setting User Constants • Allowable setting range: 0 to 100 (0: no compensation) ■ Cn-0038: Changing PG Power Supply Voltage • The encoder power supply voltage must be 4.75 to 5.25 V at the encoder input section. Change the power supply voltage based on factors like the length of the encoder cable and use the following values as guidelines for standard cables.
  • Page 133 User Constants 7.1.7 Memory Switches • The motor decelerats to a stop with the torque specified in the emergency stop torque constant (Cn-0006) when Cn-0001 bit 8 is set to 1. ■ Cn-0001 Bit 9: Holding Method After An Emergency Torque Deceleration Stop at Overtravel •...
  • Page 134 7.1 Setting User Constants ■ Cn-0002 Bit 0: Motor Rotation Direction • Sets the motor rotation direction. • Determines whenever Cn-0002 bit 0 or 2CN-7 is the reverse rotation with a reverse rotation setting. • The forward direction is clockwise when Cn-0002 bit 0 is set to 1. (Reverse Rotation Mode). ■...
  • Page 135 User Constants 7.1.7 Memory Switches ■ Cn-0014 Bit 9: Brake Operation • Selects the SERVOPACK user constant or the BRK_ON/BRK_OFF command to operate the brake reference. • The brake reference is operated by the SERVOPACK user constant when Cn-0014 bit 9 is set to 1.

  • Page 136: List Of User Constants

    7.2 List of User Constants 7.2 List of User Constants The following table shows the numbers, names, factory settings, and other information for the user constants. • O f the user constants listed below, those that are reserved for the system are used internally by the SER- I M P O R TA N T VOPACK and cannot as a rule be accessed by the user.
  • Page 137 User Constants Constant No. Name Size Units Range Factory Settings Cn-0016 Time delay from Servo 10 ms 10 to 100 OFF to brake ON during motor running Cn-0017 Torque reference filter time 0 to 25000 constant Cn-0018 Torque reference filter time 0 to 25000 constant (secondary) Cn-0019...
  • Page 138 7.2 List of User Constants Constant No. Name Size Units Range Factory Settings Cn-0035 — Speed loop compensation 0 to 100 constant Cn-0036 Reserved for system — — 0000H Cn-0037 Servomotor selection — 0 to 255 Capacity Cn-0038 Changing PG power sup- 0.1 mV 52000 to 58000 52500...

  • Page 139: Memory Switch Bit Details

    User Constants 7.3.1 Cn-0001: Memory Switches 1 7.3 Memory Switch Bit Details The following describes each bit of memory switch (bit-type user constant). 7.3.1 Cn-0001: Memory Switches 1 • Bits b0 to b7 The following table shows details of bits b0 to b7. Factory Setting Description SV_ON command mask...
  • Page 140 7.3 Memory Switch Bit Details ■ B i t s b8 to bF The following table shows details of bits b8 to bF. Description Factory Setting Overtravel stop method 0: S t o p p i n g procedure depends on the setting of bit 6. 1: D e c e l e r a t e to a stop using emergency stop torque.

  • Page 141: Cn-0002: Memory Switches

    User Constants 7.3.2 Cn-0002: Memory Switches 2 7.3.2 Cn-0002: Memory Switches 2 The following table shows details of Cn-0002: Memory switch 2 bits. Factory Description Setting Motor rotation direction 0: T h e forward direction is counterclockwise direction. I: T h e forward direction is clockwise direction (reverse rotation mode).

  • Page 142: Cn-0013: Memory Switches

    7.3 Memory Switch Bit Details 7.3.3 Cn-0013: Memory Switches 3 The following table shows details of Cn-0013: Memory switches 3 bits. Description Factory Setting Reserved — — — WDT check mask Communication check mask — — — — — MECHATROLINK Communication Check Mask (for Debugging) 0: Perform communication check 1: Communication check masked Reserved -...

  • Page 143: Cn-0014: Memory Switches

    User Constants 7.3.4 Cn-0014: Memory Switches 4 7.3.4 Cn-0014: Memory Switches 4 ■ B i t b0 to b7 The following table shows details of bits b0 to b7. Factory Description Setting — Zero point return direction 0: F o r w a r d direction 1: R e v e r s e direction P-SOT mask 0: E n a b l e forward software limit.
  • Page 144 7.3 Memory Switch Bit Details • B i t b8 to bF The following table shows details of bits b8 to bF. Description Factory Setting — Brake operation 0: O p e r a t e with the BRK_ON/BRK_OFF command. 1: O p e r a t e from the SERVOPACK (BRK_ON/BRK_OFF command disabled) P-OT signal...

  • Page 145: Limits To User Constant Changes

    User Constants 7.4 Limits to User Constant Changes The only user constants that can be changed during motor running are those listed below. Never change the other user constants during motor running. Number Name Cn-0004 Speed loop gain Cn-0005 Speed loop integration time constant Cn-0008 Positive torque limit Cn-0009...

  • Page 146: Procedure For Transferring User Constants

    7.5 Procedure for Transferring User Constants 7.5 Procedure for Transferring User Constants The procedure for changing (transferring) user constants (parameters) after power is turned ON is to transfer Servomotor selection, encoder selection (encoder type and number of pulses), electronic gear ratio, and other user constants in this order only. Randomly transferring user constants will cause a user constant setting alarm and parameters may not be received.
  • Page 147 User Constants Servomotor No. Group SERVOPACK Servomotor (Cn-0037 Setting) SGDB-60AN SGMG-55ADA SGMG-60ADB SGDB-75AN SGMG-75ADA SGDB-1AAN SGMG-1AADA SGDB-1EAN SGMG-1EADA Note The setting at user constant Cn-0037 can be changed as long as the applicable Servomotor is within the same group. 7 -24...

  • Page 148: Installation And Wiring

    Installation and Wiring This chapter describes procedures for checking to be performed when the Servomotors and SERVOPACKs are delivered as well as installation and wiring specifications. 8.1 Checking on Delivery 8 -2 8.2 Installation 8 -3 8.2.1 Installing the Servomotor 8 -3 8.2.2 Installing the SERVOPACK 8 -4...

  • Page 149: Checking On Delivery

    Installation and Wiring 8.1 Checking on Delivery When 1-Series products are delivered, check the following items: Check Items Remarks Check if the delivered products are Check the model numbers marked on the nameplates of the ones you ordered. Servomotor and SERVOPACK. Check for damage.

  • Page 150: Installation

    8.2 Installation 8.2 Installation 8.2.1 Installing the Servomotor The Servomotor can be installed either horizontally or vertically. If the Servomotor is installed incorrectly or in an inappropriate location, the service life will be shortened or unexpected prob- lems will occur. To prevent this, always observe the installation instructions provided below. ( \ CAUTION D o not connect the Servomotor directly to a commercial power supply.

  • Page 151: Installing The Servopack

    Installation and Wiring 8.2.2 Installing the SERVOPACK II Alignment Align the shaft of the Servomotor with that of the equipment to be controlled. When connecting couplings, be careful not to apply any impact to the shaft or excessive force on bearings. Install the Servomotor so that alignment accuracy falls within the range shown below.
  • Page 152 8.2 Installation • Installation Site Site Precautions When installed in a control panel Depending on the size of the panel, the temperature inside the control panel may become higher than the ambient temperature due to heat generated by internal devices. Design the control panel size, unit layout, and cooling method so that the temperature around the SERVOPACK does not exceed 55°C.
  • Page 153 Installation and Wiring 8.2.2 Installing the SERVOPACK Environmental Conditions • Ambient temperature for SERVOPACKS: 0 to 55°C • Humidity: 90% RH or less • Vibration: 0.5G (4.9 m/s2) (16.08 ft/s2) • Condensation and freezing: None • Ambient temperature (or in-panel temperature) to ensure long-term reliability: 45°C or less Installation Method •...

  • Page 154: Wiring Specifications

    8.3 Wiring Specifications 8.3 Wiring Specifications 8.3.1 Rated Current and Cable Specifications The rated current of the SERVOPACK external terminals and cable size are listed in Tables 8.1 and 8.2. The cable specifications and sizes must be selected according to the operating environ- ment and current capacity.
  • Page 155 Installation and Wiring 8.3.1 Rated Current and Cable Specifications Table 8.2 W i r e Size Examples Cable Size [mm2 (in2)] External Terminal Name Model SGDB SGDB SGDB SGDB SGDB SGDB SGDB SGDB SGDB SGDB Code -75AN -1AAN -1EAN -05AN -10AN -15AN -20AN...

  • Page 156: Wiring Instructions

    • For signal lines and PG feedback lines, use twisted-pair wires and multicore shielded twisted- pair wires (Yaskawa Drawing No. B9400064 or DE8400093). The maximum allowable wiring length is as follows: 50 m (164.04 ft) for I/0 lines (at 24 V power supply), 20 m (65.62ft) for PG feedback lines, and 50 m (164.04 ft) for MECHATRO-...

  • Page 157: Wiring Instructions

    Installation and Wiring 8.3.2 Wiring Instructions • Prevention of Radio Frequency Interference (RFI) Since the SERVOPACKS are designed for industrial use, no measures are provided against radio frequency interference. Use a noise filter in the power input line when using the SER- VOPACKS near residential areas or where they are prone to radio frequency interference.

  • Page 158: Power Loss

    2. For the SGDB-60AN to SGDB-1AAN models, the Regenerative Resistors are installed separately. The re- generative resistor unit made available by Yaskawa is shown in 5.6.3 "Regenerative Resistor Unit". The permissible power loss of the regenerative resistor (JUSP-RA04) for SGDB-60AN is 180 W, and that of the Regenerative Resistor (JUSP-RA05) for SGDB-75AN and SGDB-1AAN is 350 W.

  • Page 160: Servodrives Dimensional Drawings

    Servodrives Dimensional Drawings This chapter shows dimensional drawings of the Servomotors, SERVO- PACKS, and peripheral devices. 9.1 A C Servomotors 9 -3 9.1.1 SGMG-ODADA Servomotors 9 -3 9.1.2 SGMG-DDADB Servomotors 9 -16 9.1.3 SGMS-DDA Servomotors 9 -26 9.1.4 SGMD-DDA Servomotors 9 -34 9.1.5 SGMP-15A Servomotor 9 -38...
  • Page 161 Servodrives Dimensional Drawings 9.3 Cables 9 -64 9 -64 9.3.1 Encoder Cables 9.3.2 Servomotor Cables 9 -73 9.3.3 I/O Signal Cables (1CN) 9 -74 9.3.4 MECHATROLINK Communication Cables (4CN) 9 -74 9.4 Connectors 9 -75 9,4.1 SGMG, SGMS and SGMD Servomotors Connections 9 -75 9.4.2 SGM and SGMP Servomotors Connections...

  • Page 162: A C Servomotors

    9.1 A C Servomotors 9.1 A C Servomotors 9.1.1 S G M G - M A E A Servomotors ■ Servomotors with 8192-P/R Incremental Encoders (0.0016) J_ 0.04 i A LG L E #0.04 0 Cf 0.02 4- 0 LZ (0.0006) MTG holes / 1 0 0 4...
  • Page 163 Servodrives Dimensional Drawings 9.1.1 SGMG-DOADA Servomotors [mm (in)] Model SGMG- 05A2A 92 (3.62) 58 (2.28) 46 (1.81) 65 (2.56) 88 (3.46) (7.72) (5.43) (4.61) (4.29) 09A2A 58 (2.28) 46 (1.81) 88 (3.46) 88 (3.46) (8.62) (6.34) (4.53) (5.51) (4.29) 13A2A 58 (2.28) 46 (1.81) 88 (3.46)
  • Page 164 9.1 A C Servomotors Model Flange Dimensions [mm (in)] Approx. Shaft End Dimensions SGMG- [mm in)] Mass [kg (Ib)] LJ 2 0 5A2A i n - 0 IL , v , . . , - 0. 0 035 1 7 0 . 0 1 3 (5.71) (5.12) (0.24)
  • Page 165 Servodrives Dimensional Drawings 9.1.1 SGMG-0111ADA Servomotors Connector Wiring on Encoder End Receptacle: MS3102A20-29 Plug (To be prepared by customer) (L type): MS3108B20-29S or (Straight type) MS3106B20-295 Cable Clamp: (To be prepared by customer) MS3057-12A A Channel Output A Channel Output —...
  • Page 166 9.1 A C Servomotors Shaft Extension Shaft Extension (SGMG-05A2AAB to 13A2AAB) (SGMG-20A2AAB to 44A2AAB) [min (01)1 Model SGMG- 05A2AAB 234 (9.21) 176 (6.93) 129 (5.08) 58 (2.28) 47 (1.85) 56 (2.20) 155 (6.10) 120 (4.72) 88 (3.46) 09A2AAB 257 (10.12) 199 (7.83) 152 (5.98) 58 (2.28)
  • Page 167 Servodrives Dimensional Drawings 9.1.1 SGMG-1110ADA Servomotors 5.5 to 11 kW Servomotors Shaft Extension Shaft Extension (SGMG-55A2AAB and 75A2AAB) (SGMG-1AA2AAB) mm (in)] Model SGMG- 55A2AAB (4.45) (1.85) (6.85) (11.42) (9.09) (4.92) (5.91) (3.46) (4.84) (16.69) (12.24) (10.39) 75A2AAB (19.61) (15.16) (13.31) (4.45) (1.85) (9.76)
  • Page 168 9.1 A C Servomotors Connector Wiring on Brake and Servomotor End A Brake terminal B Brake terminal A Phase U B Phase V C Phase W D FG (Frame Ground) ■ Servomotors with 15-bit and 8192 P/R Absolute Encoders (0.0016) J_ 0.04 1/ -0 0.02...
  • Page 169 Servodrives Dimensional Drawings 9.1.1 SGMG-0111AIIIA Servomotors [mm (in)] Model SGMG- 05ASA 92 (3.62) 58 (2.28) 60 (2.36) 65 (2.56) 88 (3.46) (8.27) (5.98) (5.16) (4.29) 09ASA 58 (2.28) 60 (2.36) 88 (3.46) 88 (3.46) (9.17) (6.89) (4.53) (4.29) (6.06) 13ASA 58 (2.28) 60 (2.36) 88 (3.46)
  • Page 170 9.1 A C Servomotors Model Flange Dimensions [mm (in)] Shaft End Dimensions Approx. SGMG- [mm (in)] Mass [kg (Ib)] 05ASA 11 0 ., 0 _ a035 . , - 0013 (5.71) (5.12) (0.24) (0.24) (0.47) (6.50) (1.77) (0.35) (1.18) (1.57) (13.0) ( 0 .
  • Page 171 Servodrives Dimensional Drawings 9.1.1 SGMG-LOADA Servomotors Connector Wiring on Encoder End Receptacle: MS3102A20-29 Plug ( To be prepared b y customer) ( L type): MS3108B20-29S o r (Straight type) MS3106B 20-29S Cable Clamp: (To be prepared by customer) MS3057-12A A A Channel Output K —...
  • Page 172 9.1 A C Servomotors ■ Servomotors with 15-bit (8192 P/R) Absolute Encoders and Brakes 0.5 to 4.4 kW Servomotors 4-412 MTG holes (0.0008) Shaft Extension Shaft Extension (SGMG-05SAAB to 13ASAAB) (SGMG-20ASAAB to 44ASAAB) LF11 [mm (in)] Model SGMG- 169 (6.65) 120 (4.72) 88 (3.46) 05ASAAB...
  • Page 173 Servodrives Dimensional Drawings 9.1.1 SGMG-0111ACIA Servomotors Model Flange Dimensions [mm (in)] Shaft End Dimensions Approx. SGMG- [mm (in)] Mass [kg (in)] , ,...„ 0 05ASAAB 1 1 ,.., 0 . 0 3 5 19 - 0.013 (5.71) (5.12) (0.24) (0.24) (0.47) (6.50) (1.77)
  • Page 174 9.1 A C Servomotors Shaft Extension Shaft Extension (SGMG-55ASAAB and 75ASAAB) (SGMG-1AASAAB) [mm (in)] Model SGMG- 55ASAAB (17.24) (12.80) (10.39) (4.45) (2.40) (6.85) (11.97) (9.09) (4.92) (5.91) (3.46) (4.84) 75ASAAB (20.16) (15.71) (13.31) (4.45) (2.40) (9.76) (14.88) (12.01) (4.92) (5.91) (3.46) (4.84) 1AASAAB...
  • Page 175 Servodrives Dimensional Drawings 9.1.2 SGMG-ODADB Servomotors 9.1.2 SGMG-DIDAIIIB Servomotors • Servomotors with 8192 P/R Incremental Encoders (0.0016) 0.04 I A #0.04 A ( 0 0.0016) 4-02 - 1 , 0 1 0.02 (0.0008) M T G holes 0.04 (0.0016) (44A2B, 60A2B only) Shaft Extension Shaft Extension (SGMG-03A2B to 09A2B)
  • Page 176 9.1 A C Servomotors Model Flange Dimensions [mm (in)] Approx. Shaft End Dimensions SGMG- Mass [mm (in)] [kg (Ib)] . LE , r, o 03A2B , r, 0 l. i ti _ a035 . 1 7 - 0.013 (5.71) (5.12) (0.24) (0.47) (6.50)
  • Page 177 Servodrives Dimensional Drawings 9.1.2 S G M G - M A D B Servomotors Connector Wiring on Servomotor End A Phase U B Phase V C Phase W D Ground terminal MI Servomotors with 8192 P/R Incremental Encoders and Brakes 0.3 to 3.0 kW Servomotors (0.0008) Shaft Extension...
  • Page 178 9.1 A C Servomotors Model Flange Dimensions [mm (in)] Shaft End Dimensions Approx. SGMG- Mass [mm (in)] [kg (lb)] LJ 1 i n a 03A2BAB , A 0 1 i u - (1.035 17 - 0.013 (5.71) (5.12) (0.24) (0.24) (0.47) (6.50) (1.77)
  • Page 179 Servodrives Dimensional Drawings 9.1.2 SGMG-1111DADS Servomotors Shaft Extension [mm (in)] Model SGMG- 44A2BAB (12.24) (10.39) (4.45) (1.85) (6.85) (11.42) (9.09) (4.92) (5.91) (3.46) (4.84) (16.69) 60A2BAB (3.46) (4.84) (4.45) (1.85) (9.76) (14.33) (12.01) (4.92) (5.91) (19.61) (15.16) (13.31) Approx. Shaft End Dimensions Model Flange Dimensions [mm (in)] [mm (in)]...
  • Page 180 9.1 A C Servomotors ■ Servomotors with 15-bit (8192 P/R) Absolute Encoders (0.0016) 0.04 # 0.04 A (00.0016 0.02 (0.0008) M T G holes Shaft Extension Shaft Extension (SGMG-03ASB to 09ASB) (SGMG-12ASB to 60ASB) [mm (in)] Model SGMG- 03ASB 92 (3,62) 58 (2.28) 60 (2.36) 65 (2.56)
  • Page 181 Servodrives Dimensional Drawings 9.1.2 SGMG-00A0B Servomotors Model Flange Dimensions [mm (in)] Shaft End Dimensions A p p r o x . SGMG- [mm (in)] Mass [kg (Ib)] L,11 , i n . 0 03ASB 10 0 • 165 . 1 . i v _ 0.,95 - 0.013 (5.71) (5.12)
  • Page 182 9.1 A C Servomotors A A Channel Output K — B A Channel Output — C B Channel Output M — N — D B Channel Output E Z Channel Output P — F Z Channel Output R Reset G 0 V S 0 V (battery) 3.6 V (battery) H +5 VDC...
  • Page 183 Servodrives Dimensional Drawings 9.1.2 SGMG-IIIDA11113 Servomotors [mm (in)] Model SGMG- 169 (6.65) 120 (4.72) 88 (3.46) 58 (2.28) 61 (2.40) 56 (2.20) 190 (7.48) 129 (5.08) 03ASBAB 248 (9.76) 120 (4.72) 88 (3.46) 61 (2.40) 79 (3.11) 192 (7.56) 152 (5.98) 58 (2.28) 271 (10.67) 213 (8.39)
  • Page 184 9.1 A C Servomotors 4.4 to 6.0 kW Servomotors 4-0 LZ MTG holes (0.0008) Shaft Extension [mm (in)] Model SGMG- 44ASBAB (17.24) (12.80) (10.39) (4.45) (2.40) (6.85) (11.97) (9,09) (4.92) (5.91) (3.46) (4.84) 60ASBAB (20.16) (15.71) (13.31) (4.45) (2.40) (9.76) (14.88) (12.01) (4.92)

  • Page 185: Sgms-Dda Servomotors

    Servodrives Dimensional Drawings 9.1.3 SGMS-EDA Servomotors Connector Wiring on Brake and Servomotor End A Brake terminal B Brake terminal C — A Phase U U100 (03.94) B Phase V C Phase W D FG (Frame Ground) 9.1.3 SGMS-DEIA Servomotors ■ Servomotors with 4096 P/R Incremental Encoders Shaft Extension...
  • Page 186 9.1 A C Servomotors [mm (in)] Model SGMS- 10A6A 194 (7.64) 149 (5.87) 103 (4.06) 45 (1.77) 46 (1.81) 76 (2.99) 128 (5.04) 96 (3.78) 87 (3.43) 15A6A 220 (8.66) 175 (6.89) 129 (5.08) 45 (1.77) 46 (1.81) 102 (4.02) 154 (6.06) 96 (3.78) 87 (3.43)
  • Page 187 Servodrives Dimensional Drawings 9.1.3 SGMS-DEIA Servomotors A A Channel Output K — B A Channel Output — C B Channel Output M — D B Channel Output N — E C Channel Output P — 11100 (113.94) F C Channel Output G 0 V —...
  • Page 188 9.1 A C Servomotors [mm (in)] Model SGMS- 100 (3.94) 87 (3.43) 1 0A6AAB 238 (9.37) 193 (7.60) 147 (5.79) 45 (1.77) 46 (1.81) 67 (2.64) 172 (6.77) 219 (8.62) 173 (6.81) 45 (1.77) 46 (1.81) 93 (3.66) 198 (7.80) 100 (3.94) 87 (3.43) 15A6AAB...
  • Page 189 Servodrives Dimensional Drawings 9.1.3 SGMS-111111A Servomotors III Servomotors with 15-bit (8192 P/R) Absolute Encoders 4-011 MTG holes Shaft Extension [mm (in)] Model SGMS- 60 (2.36) 76 (2.99) 142 (5.59) 96 (3.78) 87 (3.43) 10ASA 208 (8.19) 163 (6.42) 103 (4.06) 45 (1.77) 87 (3.43) 45 (1.77)
  • Page 190 9.1 A C Servomotors Model Flange Dimensions [mm (in)] Shaft End Dimensions [mm (in)] Approx. SGMS Mass [kg (Ib)] 10ASA 95 - 0.035 0.12) 24 - 0.013 (4.53) (3.94) (0.12) (0.391 (5.12) (1.77) (0.28) (1.18) (1.57) (11.0) (3.74 - 0.0014) (0.94 - 0.0005) 15ASA 24 _ 0.013...
  • Page 191 Servodrives Dimensional Drawings 9.1.3 SGMS-111111A Servomotors Connector Wiring on Servomotor End A Phase U B Phase V C Phase W D Ground terminal ■ Servomotors with 15-bit (8192 P/R) Absolute Encoders and Brakes (0.0016) 0.04 #0.04 IA Shaft Extension [mm (in)] Model SGMS- 100 (3.94)
  • Page 192 9.1 A C Servomotors Model Flange Dimensions [mm (in)] Shaft End Dimensions [mm (in)] Approx. SGMS Mass [kg (lb)] 10ASAAB 9 5 - 0.035 2 4 - 0.013 (4.53) (3.94) (0.12) (0.12) (0.39) (5.12) (1.77) (0.28) (1.18) (1.57) (14.3) (3.74 - 0°0014) (0.94 - 0.0005) n c 0 15ASAAB...
  • Page 193 Servodrives Dimensional Drawings 9.1.4 SGMD-OLIA Servomotors 9.1.4 SGMD-111EA Servomotors I I Servomotors with 4096 P/R Incremental Encoders and Brakes The external views are the same, only the approximate mass is different. L T I M 0 . 0 4 IA LG LE (0.0016) 0.
  • Page 194 9.1 A C S e r v o m o t o r s Model Flange Dimensions [mm (in)] Shaft End Dimensions Approx. Mass SGMD- [mm (in)] [kg (Ib)] L.,1 Without With Brake Brake 22A6A 13.5 15.5 20.5 2 0 0 a 0 4 6 2 8 - 0.013 (8.66) (0.16)
  • Page 195 Servodrives Dimensional Drawings 9.1.4 SGMD-EIDA Servomotors Servomotors with 12-bit (1024 P/R) Absolute Encoders and Brakes The external views are the same, only the approximate mass is different. 0.04 (0.0016) #0.04 A ( 0 . 0 0 1 6 ) 4- L Z - V I 0.02 I (0.0008)
  • Page 196 9.1 A C Servomotors Model Flange Dimensions [mm (in)] Shaft End Dimensions Approx. Mass SGMD- [mm (in)] [kg (Ib)] Without With Brake Brake , n 0 13.5 15.5 20.5 22AWA 2k.A., _ 0.046 28 - o.o13 (0.53) (9.25) (8.66) (0.16) (0.16) (0.71) (10.63)

  • Page 197: Sgmp-15A Servomotor

    Servodrives Dimensional Drawings 9.1.5 SGMP-15A Servomotor 9.1.5 SGMP-15A Servomotor • S G M P Servomotor Servomotors with Incremental Encoders, without Brakes (SGMP-15A31 0) • 1 . 5 k W Encoder lead 300±30 (11.81± 1.18) UL2854, 06 (00.24) (35) (1.38 Motor Lead p(1.38., UL2464, 09.5 (00.37) Cross-section Y-Y...
  • Page 198 9.1 A C Servomotors Servomotor and Encoder Plug Motor Plug Motor Wiring Specifications Phase U Phase V White Plug: 350779-1 (AMP) ,,,,...- Phase W Blue , , , Pin: 350218-6 or 350547-6 Green, Yellow Connected to Cap: 350780-1 Socket: 350536-6 or 350550-6 7.6 (0.30) U (0.30) Incremental Encoder Wiring Specifications...
  • Page 199 Servodrives Dimensional Drawings 9.1.5 SGMP-15A Servomotor SGMP Servomotors Servomotors with Incremental Encoders and Brakes (SGMP-15A3111IB, C) • 1 . 5 k W Encoder lead UL2854, 300±30 (11.81± 1.18) 0 6 (0 0.24) (35) (1.38;1 Screw ( r . ----Motor Lead UL2464, 09.5 (00.37) 35) (1.39 300±30 (11.81±...
  • Page 200 9.1 A C Servomotors Servomotor and Encoder Plug Motor Plug Motor Wiring Specifications Phase U Phase V White Plug: 350715-1 (AMP) Phase W Blue Pin: 350218-6 or 350547-6 (1 to 4 pins) 350561-1 or 350690-1 (5, 6 pins) Green, Yellow Connected to Brake terminal Black...
  • Page 201 Servodrives Dimensional Drawings 9.1.5 SGMP-15A Servomotor ■ S G M P Servomotors Servomotors with Absolute Encoders, without Brakes (SGMP-15AWEID) S 1.5 k W Encoder lead UL20276, 4 8 ( 0 0.31) 3 0 0 + 3 0 (11.81± 1.18) (35 (1.38) Screw ( ( M o t o r lead 0L2464, 09.5 (00.37)
  • Page 202 9.1 A C Servomotors Servomotor and Encoder Plug Motor Plug Motor Wiring Specifications Plug: 350779-1 (AMP) Phase U Pin: 350218-6 or 350547-6 Phase V White Phase W Blue Connected to Cap: 350780-1 Green, Yellow Socket: 350536-6 or 350550-6 7.6 (0.30) U 7 .
  • Page 203 Servodrives Dimensional Drawings 9.1.5 SGMP-15A Servomotor III S G M P Servomotors SGMP-15AWODB, C Servomotors with Absolute Encoders and Brakes • 1 . 5 k W Encoder lead UL20276, 0 8 ( 0 0 . 3 1 ) 300±-30 ( 11 . 8 1 ± 1.18) Motor lead UL2464, 0 9.5 ( 0 0.37) (35) (1.38) 3 0 0 ±...
  • Page 204 9.1 A C Servomotors Servomotor and Encoder Plug Motor Plug Motor Wiring Specifications Plug: 350715-1 (AMP) 1 Phase U Pin: 350218-6 or 350547-6 (1 to 4 pins) 2 Phase V White 350561-1 or 350690-1 (5, 6 pins) 3 Phase W Blue Connected to 4 FG...

  • Page 205: List Of Encoder And Servomotor End Connectors

    Servodrives Dimensional Drawings 9.1.6 List of Encoder and Servomotor End Connectors 9.1.6 List of Encoder and Servomotor End Connectors ■ Standard Connectors (Not IP67 Compatible) List of SGM[1] Servomotor Connectors (Standard: Without Holding Brake) Servomotor Servomotor End Connector Model Receptacle L-shaped Plug Straight Plug Cable Clamp...
  • Page 206 9.1 A C Servomotors Servomotor Encoder End Connector Model Receptacle L-shaped Plug Straight Plug Cable Clamp SGMS- 1 0 A M A MS3102A20-29P MS3108B20-29S MS3106B20-29S MS3057-12A 15AMA 20AMA 30AMA 40AMA 50AMA SGMG- 0 5 A MA MS3102A20-29P MS3108B20-29S MS3106B20-29S MS3057-12A 09A MA 13AMA 20AMA...
  • Page 207 Servodrives Dimensional Drawings 9.1.6 List of Encoder and Servomotor End Connectors List of SGMIII Servomotor Connectors (with Holding Brake) Servomotor Servomotor End Connector Model Cable Clamp Receptacle L-shaped Plug Straight Plug SGMS- 1 0 A E A MS3102A20-15P MS3108B20-15S MS3106B20-15S MS3057-12A 15A MA 20A EA...
  • Page 208 9.1 AC Servomotors Servomotor Servomotor End Connector Model Receptacle L-shaped Plug Straight Plug Cable Clamp MS3102A20-29P MS3108B20-29S MS3106B20-29S MS3057-12A SGMS- 1 0 A II A 15ANA 20A MA 30A MA 40A MA 50A MA SGMG- 0 5 A I A MS3102A20-29P MS3108B20-29S MS3106B20-29S MS3057-12A 09A NA...
  • Page 209 Servodrives Dimensional Drawings 9.1.6 L i s t of Encoder and Servomotor End Connectors IP67-compatible Connectors List of SGMD Servomotor Connectors (without Holding Brake, IP67-compatible) Servomotor Receptacle Plug End Bell: Japan Aviation Model Electronics Industry, Ltd. Back Shell: Daiichi Denshi Cable Clamp Manufacturer Kogyo Co., Ltd.
  • Page 210 9.1 A C Servomotors 3. End Bell is the name of a product manufactured by Japan Aviation Electronics Industry, Ltd., and Back Shell is the name of a product manufactured by Daiichi Denshi Kogyo Co., Ltd. 4. Select cable clamps marked with an asterisk ( * ) based on wire diameter. List of SGIVIE] Servomotor Connectors (with Holding Brake, IP67-compatible) Servomotor...
  • Page 211 Servodrives Dimensional Drawings 9.1.6 List of Encoder and Servomotor End Connectors Note 1. Encoder connectors are the same for all Servomotor models. 2. Do not modify the receptacle and plug kits in order to conform to IP67 specifications. 3. End Bell is the name of a product manufactured by Japan Aviation Electronics Industry, Ltd., and Back Shell is the name of a product manufactured by Daiichi Denshi Kogyo Co., Ltd.

  • Page 212: Servopacks

    110 (4.33) Heat sink * A i r 92 (3.62) flow SERVOPACK S O D S - Name Plate YASKAWA .5 (0.22) A External terminals Cover A i r ■ M4 screws) flow Ground terminal (M4 screw) 35 (1.38) 125 (4.92) 65 (2.56)
  • Page 213 117 (4.61) flow • I I I I I SERVOPACK SGDB — 1 : 1 3 1 Name plate m,...'012113 1:,0117A11:1 YASKAWA CHARGE() N I P + A i r External terminals (0.22r ( Cover flow (M4 screws) SGDB-20 x 1...

  • Page 214: Sgdb-50And Servopacks (5.0 Kw)

    9.2 SERVOPACKS 137 (5.39) 9.2.3 SGDB-50AND SERVOPACKS (5.0 kW) Regenerative resistor Two, 0 6 (0.24) mounting holes Heat sink 1 4CN a-.1. 1:,71. 69 (2.72) SEFKRACK Name M B - L I M N plate WAFINING P A M M I C * I SW CHARGE...
  • Page 215 Servodrives Dimensional Drawings 9.2.4 SGDB-60AND to 75AND SERVOPACKS (6.0 to 7.5 kW) 9.2.4 SGDB-60ANE to 75AND SERVOPACKS (6.0 to 7.5 kW) M4 control circuit terminals flow Mounting Holes Cooling fan Top cover ' 6 1 1-...1 3 C N — 6 - 0 1 3 - C E d = Upper cover cosw...

  • Page 216: Sgdb-1Aan, 1Ean Servopacks (11, 15 Kw)

    9.2 SERVOPACKS 9.2.5 SGDB-1AAN, -1EAN SERVOPACKS (11, 15 kW) M4 control circuit terminals Name plate Mounting Holes Air flow 260 (10.24) Cooling fan .181 r r i r _ — _ — _ — _ - - — -------------- r - - - • — . - - - - - , , , 1 % - —...
  • Page 217 Servodrives Dimensional Drawings 9.2.6 SGDB-05ANIII-P to 15ANLI-P SERVOPACKS 9.2.6 SGDB-05AN to 15ANE-P SERVOPACKS Four, cri 6 (0.24) mounting holes Regenerative resistor 110 4.33 Heat sink 92 (3 1 4 1 , l o l W I M P . - - . 265 (10.43) 1111111111 11 ' ' ' ' "...

  • Page 218: Sgdb-20And-P To 30And-P Servopacks

    9.2 SERVOPACKS 9.2.7 SGDB-20ANEI-P to 30ANO-P SERVOPACKS Four, 0 6 (0.24) dia. mounting holes Regenerative resistor Heat sink I - 1 Name ® plate :.-, -..-_-, =g - 1 S W i'jr- Fan N I SGSB-20 X 1 V S G S B - 3 0 X2 Cover I Air flow External terminals...

  • Page 219: Sgdb-50And-P Servopack

    Servodrives Dimensional Drawings 9.2.8 SGDB-50AND-P SERVOPACK 9.2.8 SGDB-50ANO-P SERVOPACK Regenerative resistor 6) co Two, 556 (0.24) mounting holes Heat sink Air fl w 11 11 POWER Name ALARM plate Iliillll 35 (1.38) (4.80) (2.68) (1.18 210 (8.27) Detailed View of External Terminals (M4 screws) 219.4(8.64) Packing O O O O OO O O O O O...
  • Page 220 9.2 SERVOPACKS 9.2.9 SGDB-60ANEI to 75ANIMP SERVOPACKS Air flow Control circuit terminals (M4 screws) 7 (0.28) Mounting Cooling fan holes 4CN 5 C N 3CN Top cover AK.) © ® (42.1 S E R AW. C ( . . . c m = .J1.66)) W W A M Upper cover...

  • Page 221: Sgdb-1Aan-P, 1 Ean-P Servopacks

    Servodrives Dimensional Drawings 9.2.10 SGDB-1AAN-P, 1EAN-P SERVOPACKS 9.2.10 SGDB-1 AAN-P, 1 EAN-P SERVOPACKS Name plate Mounting holes M 4 control circuit terminals Cooling fan 260 (10.24) Air flow d e l l 1 1 1 0 D I t i E t i l IMMIMIEL.A._ -9UCIII 14.0 mumains.;...
  • Page 222 9.2 SERVOPACKS ■ Common for SGDB-05 to lEAND-P SERVOPACKS Code SERVOPACK End Connector Comments 10226-52A2JL Manufactured by Sumitomo 3M Co., Ltd. 10220-52A2JL MR-8RMD2(G) Manufactured by Honda Tsushin Kogyo Co., Ltd. DF11-4DP-2DSA Manufactured by Hirose Electric Co., Ltd.

  • Page 223: Cables

    S e r v o d r i v e s D i m e n s i o n a l D r a w i n g s 9.3.1 Encoder Cables 9.3 Cables 9.3.1 Encoder Cables The following shows the dimensions and external appearance of encoder cables. Be sure to specify the type of cable when ordering.
  • Page 224 9.3 Cables Incremental Encoder Cables (Encoder-end Split Leads) + 1 0 Model L mm (in) 100 0 + 0 . 3 9 ) DE9406971-1 3.94 0 3000+100 0(1 18.1 + 0 3 9 4 ) DE9406971-2 + 3 . 9 4 5000 + r °...
  • Page 225 Servodrives Dimensional Drawings 9.3.1 Encoder Cables Absolute Encoder Cables (with L-shaped Plug) Model L mm (in) DE9407237-1 3.94 3 0 0 0 + r ° (118.1 DE9407237-2 5000+ 800 196.85 + 03.91 DE9407237-3 + 19.69 UL shielded wire compound 1 0 0 0 0 + r (393.70 KQVV-SW DP8409123 (AWG22 x 3C, AWG26 x 6P) DE9407237-4...
  • Page 226 9.3 Cables Incremental Encoder Cables (Cable Only) Cable AWG22 x 3C, AWG26 x 4P Model L mm (in) B9400064-1 03.94) 3000+0a) (1181± B9400064-2 5000+0100 (196.85 + 0394) B9400064-3 10000 + (r) (393.70 + 109 69) B9400064-4 15000 ++(r°(590.55 + 109.69) B9400064-5 2 0 0 0 0 + c r (787.40 + 109'69) Connector...
  • Page 227 Servodrives Dimensional Drawings 9.3.1 Encoder Cables L C o n n e c t o r 1..., Case: 10320-52A0-008 (manufactured by SUMITOMO 3M, Ltd.) Straight plug: MS31061320-29S Connector: 10120-3000VE (manufactured by SUMITOMO 3M, Ltd.) Cable clamp: MS3057-12A ..---- 0.12 mm2 (0.0002 in2) Blue Encoder e n d 2CN SERVOPACK end...
  • Page 228 9.3 Cables Incremental Encoder Cables (with Servomotor-end Connector) SERVOPACK end of cable Model L mm (in) Wire markers Encoder end of cable Cable: 89400064 DP9320086-1 3000+ (r) Cap: 172161-1 (9-pin) (AWG 22 x 3C, AWG 26 x 4P) 3.94) Socket: 170361-1 (Connected) 118.1 0 Shrink tube Shrink tube...
  • Page 229 Servodrives Dimensional Drawings 9.3.1 Encoder Cables Absolute Encoder Cables (with Servomotor-end Connector) SERVOPACK end of cable Model L mm (in) Wire markers Encoder end of cable DP9320085-1 Cable: DP8409123 3000 + 100 Wires Cap: 172163-1 (15-pin) +.94 (AWG22 x 3C, AWG26 x 6P) (1 18.1 O ) Socket: 170361-1 (connected) Shrink tube...
  • Page 230 9.3 Cables Cap: 172161-1 Case: 10320-52A0-008 (Manufactured by Japan AMP Co., Ltd.) (Manufactured by SUMITOMO 3M, Ltd.) Socket: 170361-1 or 170365-1 Connector: 10120-3000VE \ (Manufactured by Japan AMP Co., Ltd.) (Manufactured by SUMITOMO 3M, Ltd.) / 0.12 mm2 (0.0002 in2) SERVOPACK end Encoder end (2CN)
  • Page 231 Encoder cable details are summarized in the following table. These cables are not SERVOPACK or Servomotor accessories and must be purchased separately in standard specified lengths as required. Absolute Encoder Cable Specifica- Incremental Encoder tion (Yaskawa Drawing #B9400064) (Yaskawa Drawing #DP8409123) Compound KQVV-SW Compound KQVV-SW Basic Specifications...
  • Page 232 9.3 Cables 9.3.2 Servomotor Cables See 8.3.1 Rated Current and cable Specifications for more details on Servomotor cables. Users must select and purchase the cables separately according to their specifications. Users using the SGMP Servomotor (1.5 kW) must purchase the cables below. •...

  • Page 233: I/O Signal Cables (1Cn)

    Servodrives Dimensional Drawings 9.3.4 MECHATROLINK Communication Cables (4CN) 9.3.3 I/O Signal Cables (1CN) SERVOPACK end of cable Model L mm (in) Case: 10326-52A0-005 Marker tube DE9411355-1 ( 0 2.8 mm 1.18 ) Connector: 10126-3000VE Cable (black) 0+ 30 1 0 0 0 39.37 00.11 in)) SSRFPVV-SB 28x18P...

  • Page 234: Connectors

    9.4 Connectors 9.4 Connectors 9.4.1 SGMG, SGMS and SGMD Servomotors Connections Connectors are divided into the three types shown in the figure: encoder connector for the Servo- motor and SERVOPACK ends of the cable and a Servomotor connector for the Servomotor end of the cable.
  • Page 235 Servodrives Dimensional Drawings 9.4.1 SGMG, SGMS and SGMD Servomotors Connections Connector Combination The following illustration shows combination of connectors manufactured by Daiichi Den- shi Kogyo Co., Ltd. • Standard Environment Connector Combination MS3106A straight plug Non waterproof cable clamp MS3106B straight plug MS3057 MS3108B angled plug •...
  • Page 236 9.4 Connectors Servomotor Servomotor End Connector Model L-shaped Plug Straight Plug Receptacle Cable Clamp SGMS- 1 0 A D A MS3102A18-10P MS3108B18-10S MS3106B18-10S MS3057-10A 1 5ADA 20ADA MS3108B22-22S MS3102A22-22P MS3106B22-22S 30ADA MS3057-12A 40ADA 50AIDA SGMG- O5ADA MS3102A18-10P MS3108B18-10S MS3106B18-10S MS3057-10A 09ADA 13A0A 20ADA...
  • Page 237 Servodrives Dimensional Drawings 9.4.1 SGMG, SGMS and SGMD Servomotors Connections [mm (in)] Shell Joint Screw Length of Overall Outside Diameter of Cable Clamp Effective Maxi- Size Joint Portion Length Joint Nut Mounting Screw Screw Length Width L max. J ± 0 . 1 2 0 Q 1-0°.38 (0.015) (0.0047) W min.
  • Page 238 9.4 Connectors MS3106A Straight Plug Solid Shell [mm (in)] Joint Length of Joint Overall Outside Diameter of Outer Cable Clamp Effec- Shell Screw Portion Length Joint Nut Diameter Mounting tive Size , ,.., + o 0 N±0.5 Screw Screw J ± 0 . 1 2 L max.
  • Page 239 Servodrives Dimensional Drawings 9.4.1 SGMG, SGMS and SGMD Servomotors Connections The following table shows connectors for Servomotors with brake. Servomotor Servomotor End Connector Model Receptacle L-shaped Plug Straight Plug Cable Clamp SGMS- 1 OAD A MS3102A20-15P MS3108B20-15S MS3106B20-15S MS3057-12A 15ADA 20A 0 A MS3102A24-10P 30A 0 A...
  • Page 240 9.4 Connectors • Connectors for IP67-compatible Environment The following table shows connectors for Servomotors (without brake). Servomotor Model Receptacle Plug End Bell: Japan Aviation Cable Clamp Manufacturer Electronics Industry, Ltd. Back Shell: Daiichi Denshi K o g y o Co., Ltd. Angle Straight (L-shaped)
  • Page 241 S e r v o d r i v e s D i m e n s i o n a l D r a w i n g s 9.4.1 S G M G , SGMS and SGMD Servomotors Connections T h e f o l l o w i n g table shows connectors f o r S e r v o m o t o r s ( w i t h brake).
  • Page 242 9.4 Connectors Note 1 D o not modify the receptacle and plug conbination in order to conform to IP67 specifications. 2 Select plug only with a flexible conduit. MS (D190) Series: MS3106A20-29S (D190) Plug for Conduits [mm (in)] J+0.12 + 0.05 (0.0020) Shell C±0.5 E±0.3...
  • Page 243 Servodrives Dimensional D r a w i n g s 9.4.1 SGMG, SGMS and SGMD Servomotors Connections CE-XXBA-S ( X X X ) Angled Back Shell for the MS (D190) L1 max. mm (in)] Overall ,Outside Cable Clamp Part Number Shell Joint Screw Overall...
  • Page 244 9.4 Connectors [mm (in)] Part Shell Mounting Added Applica- Overall Outer Effective Num ber Size Screw Bushing Length Dlame- Screw ble Cable Length Range (For Ref- erence) 03.6 CE3057-4A- 10SL 20.6 20.6 10.3 41.3 22.2 5/8-24UNEF- CE3420-4-1 ( 0 0.14)10 (0.811) (0.811) (0.406)
  • Page 245 Servodrives Dimensional Drawings 9.4.1 SGMG, SGMS and SGMD Servomotors Connections [mm (in)] w i l a N_Fo.2 J o i n t S c r e w LI-0.4 S h e l l No. of P a r t N a m e 0±0.8 V S c r e w S i z e...

  • Page 246: Sgm And Sgmp Servomotors Connections

    9.4 Connectors L-shaped End Bell: JL04-0111EBL Plug End bell V screw [mm (in)] Shell V Screw 9 5 A Size 32 ±0.8 10±0.5 1 3/16-18UNEF-2A 37.3 ±0.8 60.5 ±0.8 74.2±0.8 (1.47 ± 0.0315) (2.38 ± 0.0315) (2.92 ± 0.0315) (1.26 ± 0.0315) (0.39 ±...
  • Page 247 Servodrives Dimensional Drawings 9.4.2 SGM and SGMP Servomotors Connections Encoder connector for the Encoder connector for the Main Circuit (Power Line) Servomotor end of the cable SERVOPACK end of the connector on servomotor end cable The connectors are classified into four types according to the following: •...

  • Page 248: Sgmp-15A Servomotor Connectors

    9.4 Connectors • For Servomotors without Brake 9.8 (0.39) 23.7 (0.93) Cap: 172159-1 Socket: 170362-1 or 70366-1 • For Servomotors with Brake 14 (0.55) 23.7 (0.93) r a r e 4.2 (0.17) Cap: 172160-1 Socket: 170362-1 or 170366-1 9.4.3 SGMP-15A Servomotor Connectors Different connectors are used for Servomotors depending on whether Servomotors are with brake or without brake.

  • Page 249: Servopack Encoder Connectors

    Servodrives Dimensional Drawings 9.4.4 SERVOPACK-end Encoder Connectors 9.4.4 SERVOPACK-end Encoder Connectors Only one type of encoder connector is available for the SERVOPACK-end encoder common to SGMG, SGMS, SGMD, SGM, and SGMP Servomotors. ■ Connector vi t ti l lir A J •...
  • Page 250 9.4 Connectors Il Cases 12.7 (0.50 Assembled Connector Diagram (Reference) [mm (in)] Connector Case Model Model Model 10320-52A0-008 22.0 18.0 14.0 12.0 10.0 27.4 DE9406973 10120-3000VE (0.87) (0.71) (0.55) (0.47) (0.39) (1.08) Manufactured by SUMITOMO 3M, Ltd. III Combination of Connectors •...

  • Page 251: 1Cn, 2Cn Connector For Servopack

    Servodrives Dimensional Drawings 9.4.5 1CN, 2CN Connector for SERVOPACK • F o r S G M P - 1 5 A S e r v o m o t o r Connector Kit Part List Connector Application Kit Model For Motor Cable Encoder/Motor For Encoder Cable Number...

  • Page 252: 4Cn Connector For Servopack

    9.4 Connectors 9.4.6 4CN Connector for SERVOPACK 31 (1.22) 1 1 (0.43) 36.6 (1.44) 19 (0.75) MR-8L HONDA Connector Application Connector Kit Part List Kit Model Connector Case Model Model DE9411354 1CN connector for I/O 10126-3000VE*2 10326-52A0-008*2 1 set DE9411357 4CN MECHATROLINK commu- MR-8F*4 MR-8L*4...

  • Page 253: Noise Filters

    Servodrives Dimensional Drawings 9.5.1 Dimensional Diagram 9.5 Noise Filters Select a noise filter based on SERVOPACK capacity. A list of filters is provided in Table 2.8 (page 2 -22). 9.5.1 Dimensional Diagram • LF-300 Series (Three-phase 200 VAC Class) 2 4 . 5 (00.18) (LF-310 to 330) 2-,1 2 1 6 6.5 ( 4)0.26) (LF-340 to 360)
  • Page 254 9.5 Noise Filters [mm (in)] Parts Name LF-310 4.5 X 7 (7.09) (6.69) (2.36) (0.98) (4.72) (5.31) (5.91) (1.38) (2.56) (0.18 X 0.28) LF-315 4.5 X 7 (7.09) (6.69) (2.36) (0.98) (4.72) (5.31) (5.91) (1.38) (2.56) (0.18 X 0.28) LF-320 4.5 X 7 (7.09) (6.69)

  • Page 255: Dimensional Diagram

    • 200 VAC input: LPSE-2H01 100 VAC input: LPDE-1H01 ■ Dimensional Diagram 50 (1.97) 30 (1.18) Manufactured by Yaskawa Controls Co., Ltd. 2- 03 ( 0 0.12) MTG holes (Spot facing 0 5.5 (0 0.22), 4 long) Lead wires 9 -96...
  • Page 256 9.6 Peripheral Devices ■ Specifications • Lead Wire Length: 500 mm (19.69 in) each • Max. Ambient Temperature: 60°C • Lead Wires: Color coded AC Input Brake 100 V 200 V Yellow, White Red, Black Blue, White The following diagrams show the internal circuits. While it is possible to switch either the AC or DC side of the brake power supply, it is normally safer to switch the AC side.

  • Page 257: Molded-Case Circuit Breaker

    Servodrives Dimensional Drawings 9.6.4 Magnetic Contactor 9.6.3 Molded-case Circuit Breaker The user must provide a molded-case circuit breaker (MCCB) based on an appropriate capacity to protect the power supply line. • Recommended product Ground fault encoder for Servomotor protection manufactured by Mitsubishi Electric Co., Ltd. Model: MIN50-CF 9.6.4 Magnetic Contactor Magnetic contactors are used to turn the servo power supply ON and OFF.
  • Page 258 9.6 Peripheral Devices Model Mounting Hole External Dimensions [mm (in)] Terminal Symbols Dimensions [mm (in)] HI-11J 4411.73) • " 10.1 (0.40) 61 (2.40 HI-14J c o i l terminal (0.32) M l l M3.5 34.5 1.36 Auxiliary NO contact • P 4.5 (0.18 a i r 5 (0.20) 3 4 (1 34)

  • Page 259: Surge Suppressor

    Main contact terminal M5 Approx. mass: 0.68 kg (1.499 Ib) * T h e magnetic contactor is manufactured by Yaskawa Controls. 9.6.5 Surge Suppressor Attach a surge suppressor to the magnetic contactor to prevent power supply noise and to protect con- tacts.

  • Page 260: Analog Monitor Cable

    9.6 Peripheral Devices • Dimensional Diagram 4.06(¢0.24) Protective cover Mounting holes ' 1'111'1 1 1 Ilk 1 101 Terminal Numbers Il 11 1 1 I Ground seat (M4 screw) External terminals (M5 screw) Cement resistor 220 W 25 52 (4 or 8 connected in parallel) 30 (1 18) [mm (in)] Model...

  • Page 262: Trial Operation

    Trial Operation This chapter describes items to be inspected and checked prior to trial op- eration and also the procedure for trial operation. 10.1 Check Items before Trial Operation 10 -2 10.1.1 Servomotors 10 -2 10.1.2 SERVOPACKS 10 -2 10.2 Trial Operation Procedure 10 -3 10.2.1 Preparations for Trial Operation 10 -3...

  • Page 263: Check Items Before Trial Operation

    Trial Operation 10.1.2 SERVOPACKS 10.1 Check Items before Trial Operation Inspect and check the following items when performing trial operation, and be sure to conduct trial operation safely. 10.1.1 Servomotors Inspect the following items before conducting trial operation. Also conduct the inspections ac- cording to Chapter 12 "...

  • Page 264: Trial Operation Procedure

    10.2 Trial Operation Procedure 10.2 Trial Operation Procedure 10.2.1 Preparations for Trial Operation To prevent accidents, initially conduct trial operation with no load connected to the Servomotor. If the trial op- IMPORTANT eration must be conducted while connected to equipment, be sure to set up the system so that an emergency stop is available if needed.

  • Page 265: Operating The Servodrive

    Trial Operation 10.2.3 Trial Operation Inspection 10.2.2 Operating the Servodrive Driving a Servomotor is possible only when the main circuit is in active base driving. Run the Servomotor at low speed. ■ C o m m a n d Transmission Example POSING (rapid traverse positioning) command Option = 0 Positioning setting = 10000 (current position +10000 with absolute encoders)

  • Page 266: Settings

    Settings This chapter describes default characteristics and servo performance ad- justments. 11.1 Characteristics when Shipped 11 -2 11 -2 11.2 Resetting 11 -2 11.3 Adjusting Servo Performance 11 -2 11.3.1 Setting User Constants 11.3.2 Setting Optimum Position and Speed Loop Gain 11 -3...

  • Page 267: Characteristics When Shipped

    Settings 11.3.1 Setting User Constants 11.1 Characteristics when Shipped The speed reference (feed speed) characteristics when shipped are as outlined below. Speed Reference Motor Speed Characteristics Conditions: No load Rotation speed (r/min.) +1500 —204800 Feed speed 204800 (reference units/s) —1500 11.2 Resetting If settings must be reset because of application or usage conditions, reset them in according to Chapter 6"...

  • Page 268: Setting Optimum Position And Speed Loop Gain

    11.3 Adjusting Servo Performance ■ Speed Loop Gain (Cn-0004) The setting (Hz) of Cn-0004 expresses the speed loop gain characteristics, and is the cutoff frequency "fc" for the response characteristics of a system with balanced inertia. The value fc may vary even with the same speed loop gain setting due to fluctuations in load inertia. Gain Frequency f [Hz] fc: Cut-off frequency [1-1z]*...

  • Page 270: Maintenance And Inspection

    Maintenance and Inspection This chapter describes maintenance, inspection, and troubleshooting. 12.1 Maintenance and Inspection of Servodrives 12 -2 12.1.1 Servomotor Inspection 12 -2 12.1.2 SERVOPACK Inspection 12 -3 12.1.3 Replacing the Battery for Absolute Encoders 12 -4 12.2 Troubleshooting 12 -5 12.2.1 Servomotors 12 -5 12.2.2 SERVOPACKS...

  • Page 271: Maintenance And Inspection Of Servodrives

    The inspection and maintenance frequencies given in the following table are only guide- lines, and may be increased or decreased to suit driving conditions and environment. Do not disassemble the Servomotor during inspection and maintenance, but rather contact your Yaskawa repre- IMPORTANT sentative if the Servomotor must be disassembled.

  • Page 272: Servopack Inspection

    Note Operating conditions Ambient temperature: Annual average of 30°C Load factor: 80% max. Operation rate: 20 hours/day max. Be sure to check user settings prior to operation because Yaskawa resets user constants to facto- ry settings when shipping overhauled SERVOPACKS.

  • Page 273: Replacing The Battery For Absolute Encoders

    Maintenance and Inspection 12.1.3 Replacing the Battery for Absolute Encoders 12.1.3 Replacing the Battery for Absolute Encoders Replace the absolute encoder battery (purchased by the user) as outlined below. With an ER 6-V C-type lithium battery manufactured by Toshiba Battery Co., Ltd. the service life is about 10 years. 1.

  • Page 274: Troubleshooting

    See Table 12.5 for the appropriate action when a problem occurs during operation, and be sure to turn OFF the servo system power supply before commencing the procedures that are shaded. Con- tact your Yaskawa representative immediately i f the problem cannot be resolved using the de- scribed procedures.

  • Page 275: Servopacks

    Maintenance and Inspection 12.2.2 SERVOPACKS 12.2.2 SERVOPACKS ■ Troubleshooting Using MECHATROLINK Communication Data Table 12.6 shows examples o f troubleshooting problems w i t h M E C H AT R O L I N K commu- nication data (alarm code). Table 12.6 Troubleshooting with MECHATROLINK Communication Data Remedy Alarm Code...
  • Page 276 12.2 Troubleshooting Alarm Code Status When Lit Cause Remedy (Alarm/warning History) "DO" No feedback pulse after mov- Servomotor wiring incorrect. • Check and correct Servo- reference input motor wiring. Encoder wiring incorrect. O v e r f l o w i n g •...
  • Page 277 Maintenance and Inspection 12.2.2 SERVOPACKS Alarm Code Status When Lit Cause Remedy (Alarm/warning History) At the SENS_ON command "81" The following power supplied to the Follow the absolute encoder transfer absolute encoder all failed: set—up procedure. Absolute encoder backup • +5 V power supply error (only if a 12—bit •...
  • Page 278 12.2 Troubleshooting Alarm Code Status When Lit Cause Remedy (Alarm/warning History) "C5" At the SENS-ON or CONFIG Incorrect encoder type setting Reset the encoder type command transfer Faulty encoder Replace the encoder. Initial pulse error Faulty control board (1PWB) Replace the SERVOPACK. "00"...
  • Page 279 Maintenance and Inspection 12.2.2 SERVOPACKS Alarm Code Status When Lit Cause Remedy (Alarm/warning History) At main circuit power supply One phase (R, S, or T) of the main Check the power supply. "Fl" turn ON circuit power is not connected to the Check main circuit power sup- Power supply line not power supply.
  • Page 280 12.2 Troubleshooting ■ Troubleshooting: No Alarm and Warning Displayed but Motor Does Not Run Table 12.9 Troubleshooting with no Alarm Displays Symptom Cause Conditions Remedy Servomotor does not run Main power supply not turn ON Check voltage across Correct the power supply circuit. the power supply ter- minals.
  • Page 281 Check whether the Balance the coupling. coupling is unbal- anced. Bearing defective Check noise and vibra- Contact your Yaskawa representative. tion near the bearing. Equipment causing vibrations Check the movable Consult with the equipment manufac- parts for foreign mat- turer.
  • Page 283 TAIPEI OFFICE Shen Hsiang Tang Sung Chiang Building 1OF 146 Sung Chiang Road, Taipei, Taiwan Phone 886-2-2563-0010 Fax 886-2-2567-4677 SHANGHAI YASKAWA-TONGJI M & E CO., LTD. 27 Hui He Road Shanghai China 200437 Phone 86-21-6531-4242 Fax 86-21-6553-6060 BEIJING YA S K AWA BEIKE AUTOMATION ENGINEERING CO., LTD.

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