YASKAWA SMG Series User Manual
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YASKAWA SMG Series User Manual

YASKAWA SMG Series User Manual

Ac servomotors and driver
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YASKAWA
AC Servomotors and Driver
SGMG/SGMS/SGMD/SGM/SGMP Servomotors
SGDB Servopack
YASKAWA
MANUAL NO. TSE-S800-16E

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Summary of Contents for YASKAWA SMG Series

  • Page 1 YASKAWA AC Servomotors and Driver SGMG/SGMS/SGMD/SGM/SGMP Servomotors SGDB Servopack YASKAWA MANUAL NO. TSE-S800-16E...
  • Page 2 Such modification is made as a revision by renewing the manual No. S To order a copy of this manual, if your copy has been damaged or lost, contact your YASKAWA representative listed on the last page stating the manual No. on the front cover.
  • Page 3 NOTES FOR SAFE OPERATION Read this manual thoroughly before installation, operation, maintenance or inspection of the AC Servo Drives. In this manual, the NOTES FOR SAFE OPERATION are classified as “WARNING” or “CAUTION”. WARNING Indicates a potentially hazardous situation which, if not avoided, could result in death or serious personal inju- CAUTION Indicates a potentially hazardous situation which, if not avoided, may result in minor or moderate personal injury and/or damage to the equipment.
  • Page 4 WARNING (WIRING) S Grounding must be in accordance with the national code and consistent with sound local practices. Failure to observe this warning may lead to electric shock or fire. (OPERATION) S Never touch any rotating motor parts during operation. Failure to observe this warning may result in personal injury.
  • Page 5 CAUTION (OPERATION) S To avoid inadvertent accidents, run the servomotor only in test run (with- out load). Failure to observe this caution may result in personal injury. S Before starting operation with a load connected, set up parameters suit- able for the machine. Starting operation without setting up parameters may lead to overrun failure.
  • Page 6 Basic Terms Unless otherwise specified, the following definitions are used: Servomotor: Σ-Series SGMG/SGMD/SGMS/SGM/SGMP servomotor SERVOPACK: An amplifier (Trademark of Yaskawa servo amplifier “Σ-Series SGDB-jAD SERVOPACK”) Servodrive: A servomotor and an amplifier (SGDB SERVOPACK) Servo system: A complete servo control system consisting of servodrive, host controller,...
  • Page 7 Yas- kawa. 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 8: Table Of Contents

    FOR FIRST-TIME USERS OF AC SERVOS This chapter is intended for first-time users of AC servos. It describes the ba- sic configuration of a servo mechanism and basic technical terms relating to servos. Users who already have experience in using a servo should also take a look at this chapter to understand the features of Σ-Series AC Servos.

  • Page 9: Servo Mechanisms

    FOR FIRST-TIME USERS OF AC SERVOS Servo Mechanisms You may be familiar with the following terms: • Servo • Servo mechanism • Servo control system In fact, these terms are synonymous. They have the following meaning: A control mechanism that monitors physical quantities such as specified positions. In short, a servo mechanism is like a servant who does tasks faithfully and quickly according to his master’s instructions.
  • Page 10 1 . 1 Servo Mechanisms Servo system could be defined in more detail as a mechanism that: • Moves at a specified speed and • Locates an object in a specified position To develop such a servo system, an automatic control system involving feedback control must be designed.
  • Page 11 In this manual, the term “servo system” is also used as a synonym of servo control system. Related Terms Meaning Servomotor General servomotors or Yaskawa SGMj servomotors. In some cases, a position detector (encoder) is included in a servomotor. SERVOPACK Trademark of Yaskawa servo amplifier “SGDB SERVOPACK.”...

  • Page 12: Servo Configuration

    1.2 Servo Configuration Servo Configuration The following diagram illustrates a servo system in detail: Host controller Position or speed reference Servo amplifier Comparator Power amplifier (Output) Position Motor drive (Input) circuit Speed Movable Gear table Position or speed feedback Ball screw Controlled system Detector servomotor...
  • Page 13 FOR FIRST-TIME USERS OF AC SERVOS Servo components (1) to (5) are outlined below: (1) Controlled system In the previous figure, the controlled system is a movable table for which the position or speed is controlled. The movable table is driven by a ball screw and is connected to the servomotor via gears.
  • Page 14 The following figure illustrates the structure of a synchronous type servomotor: Light-receiving Rotary disc element Armature Housing Front cap wire Light-emitting Stator core element Ball bearing Shaft Rotor core Magnet Position detector Lead wire (encoder) Yaskawa SGMj servomotors are of the synchronous type.
  • Page 15 FOR FIRST-TIME USERS OF AC SERVOS (c) Performance of servomotor A servomotor must have “instantaneous power” so that it can start as soon as a start reference is received. The term “power rating (kW/s)” is used to represent instantaneous power. It refers to the electric power (kW) that a servomotor generates per second.
  • Page 16 1.2 Servo Configuration (4) Servo amplifier A servo amplifier is required to operate an AC servomotor. The following figure illustrates the configuration of a servo amplifier: Servo amplifier Motor driving AC power Power amplifier Comparator Reference input Feedback Servomotor Commercial AC power A servo amplifier consists of the following two sections: (a) Comparator A comparator consists of a comparison function and a control function.
  • Page 17 A host controller controls a servo amplifier by specifying a position or speed as a set point. For speed reference, a position control loop may be formed in the host controller when a position feedback signal is received. Yaskawa MP920 is a typical host controller. MP920 TERMS A machine controller.

  • Page 18: Features Of Σ-Series Servos

    1.3 Features of Σ -Series Servos Features of Σ-Series Servos This section describes the features of Σ-Series servos. 1.3.1 Servomotor Type Σ-Series SGMj servomotors are synchronous type servomotors and have the following features: Rated rotation speed Rated output Maximum rotation speed SGMG 1500 r/min 0.45 to 15 kW...

  • Page 19: How To Use The Sgdb Servopacks

    In this way the host controller can be freed from performing the servo mechanism control. The SERVOPACK undertakes the speed control loop and subsequent control proces- sing. The Yaskawa programmable machine controller MP920 is used as a typical host control- ler.
  • Page 20 1.3 Features of Σ -Series Servos J Using SERVOPACK for Torque Control SERVOPACK for torque control can be used as shown below: Host controller Position monitoring Position SERVOPACK information Torque (torque control mode) reference Power amplifier Servomotor (Analog voltage) Torque (current) feedback Pulse train...
  • Page 21 FOR FIRST-TIME USERS OF AC SERVOS 1.3.3 How to Use the SGDB SERVOPACKs cont. The host controller can send a position reference (pulse train) to the SERVOPACK to per- form positioning or interpolation. This type of SERVOPACK contains a position control loop. Parameters can be used to select either of the following pulse trains: (1) Code and pulse train (2) Two-phase pulse train with 90°...
  • Page 22 BASIC USES OF Σ-SERIES PRODUCTS This chapter describes the first things to do when Σ-Series products are deliv- ered. It also explains the most fundamental ways of connecting and operating Σ-Series products. Both first-time and experienced servo users must read this chapter.

  • Page 23: Precautions

    BASIC USES OF Σ-SERIES PRODUCTS 2.1.1 Notes on Use Precautions This section provides notes on using Σ-Series products. 2.1.1 Notes on Use NOTE Always note the following to ensure safe use. Use 200VAC power supply Be sure to use the correct type. Do not plug the Direct connection servomotor directly into the power frequency sup-...
  • Page 24 2 . 1 Precautions Always follow the specified installation method. Provide sufficient clearance 10 mm The SERVOPACK generates heat. Install the 50 mm SERVOPACK so that it can radiate heat freely. more Note also that the SERVOPACK must be in an en- more vironment free from condensation, vibration and shock.

  • Page 25: Installation

    BASIC USES OF Σ-SERIES PRODUCTS 2.2.2 Servomotors Installation This section describes how to check Σ-Series products on delivery and how to install them. 2.2.1 Checking on Delivery When Σ-Series products are delivered, check the following items: Check Items Remarks Check if the delivered products are Check the types marked on the nameplates of the ones you ordered.
  • Page 26 B: Straight with key, Standard shaft end tap (one place) C: Taper 1/10, with parallel key A: YASKAWA Standard D: Taper 1/10, with semicircle key (For G series 05, 09 type only) Rated rotation speed Encoder specifications −1...
  • Page 27 (See the following table.) Motor capacity (See the following table.) Gear ratio (See the following table.) Standard A: YASKAWA Standard Gear type (See the following table.) Encoder specifications (See the following table.) Rated rotation speed −1 A: SGMG 1500 min −1...
  • Page 28 2.2 Installation Gear Ratio (Varies with Gear Type.) Code Specification SGMG SGMS S, T* 1/11 S, T 1/21 S, T 1/20 1/29 or 1/33 L, S, T* 1/45 Not all applicable models available. Shaft Specifications (Varies with Gear Type.) Code Specification SGMG SGMS...

  • Page 29: Servopacks

    BASIC USES OF Σ-SERIES PRODUCTS 2.2.3 SERVOPACKs 2.2.3 SERVOPACKs J External Appearance and Nameplate Examples SERVOPACK model Serial number Output power Applicable power supply Σ-Series SGDB SERVOPACK J Model Numbers SGDB − 10 A D S −j Σ-Series SGDB SERVOPACK Motor capacity (See the following table.) Voltage...
  • Page 30 2.2 Installation Motor Capacity (kW) Maximum Applicable Capacity Maximum Applicable Capacity Servomotor Capacity Servomotor Capacity Symbol Symbol 0.50 − −...

  • Page 31: Installing The Servomotor

    BASIC USES OF Σ-SERIES PRODUCTS 2.2.4 Installing the Servomotor 2.2.4 Installing the Servomotor Servomotor SGMj type can be installed either horizontally or vertically. However, if the ser- vomotor is installed incorrectly or in an inappropriate location, the service life will be short- ened or unexpected problems will occur.
  • Page 32 0.03 mm or less. (Turn together with couplings) NOTE If the shafts are not aligned properly, vibration will occur, resulting in damage to the bearings. When using a pinion gear mounted directly to the motor output shaft, contact your YASKAWA representative. Shaft opening Shaft...
  • Page 33 BASIC USES OF Σ-SERIES PRODUCTS 2.2.4 Installing the Servomotor cont. A precision detector (encoder) is mounted on the opposite-drive end of the servomotor. To mount a coupling, always protect the shaft from impacts that could damage the detec- tor. Perform a mechanical design so that thrust load and radial load applied to the servo- motor shaft end falls within the range given in the following table.

  • Page 34: Installing The Servopack

    2.2 Installation 2.2.5 Installing the SERVOPACK Σ-Series SGDB SERVOPACK is a base-mount type servo controller. Incorrect installation will cause problems. Always ob- serve the installation instructions described below. Storage: When the SERVOPACK is to be stored with the SGDB SERVOPACK power cable disconnected, store it in the following temperature range: Between −20°C and 85°C...
  • Page 35 BASIC USES OF Σ-SERIES PRODUCTS 2.2.5 Installing the SERVOPACK cont. Installation method: When installing multiple SERVOPACKs side by side in a control panel, observe the fol- lowing installation method: 50 mm or more 50 mm or more 30 mm or more 10 mm or more a) Install SERVOPACK perpendicular to the wall so that the front panel (digital operator mounted face) faces outward.
  • Page 36 For SGDB-60AD to 1EADj models, the regenerative resistor is placed sepa- rately. The regenerative resistor unit provided from YASKAWA is described in Section 3.8.4 Using Regenerative Resistor Units. Its power loss for SGDB-60ADj is 180W (type: JUSP-RA04), and for SGDB-75ADj and...

This manual is also suitable for:

Sgmg seriesSgms seriesSgmd seriesSgmp seriesSgdb seriesSgm series

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