YASKAWA E-II Series User Manual
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YASKAWA E-II Series User Manual

Ac servo drives
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Summary of Contents for YASKAWA E-II Series

  • Page 1 (217) 352-9330 | Click HERE Find the OMRON / Yaskawa SGDH-30DE-OY at our website:...
  • Page 2 AC Servo Drives Σ Series SGMVH/SGDM/SGDH USER'S MANUAL SGMVH Servomotor SGDM/SGDH SERVOPACKs Outline Selections Servomotor Specifications and Dimensional Drawings SERVOPACK Specifications and Dimensional Drawings Specifications and Dimensional Drawings of Cables and Peripheral Devices POWER MOD / DATA/ Wiring SERVOPAC Digital Operator/Panel Operator ＊＊＊＊...
  • Page 3 Yaskawa. No patent liability is assumed with respect to the use of the information contained herein. Moreover, because Yaskawa is con- stantly striving to improve its high-quality products, the information contained in this manual is subject to change without notice.
  • Page 4 About this Manual Intended Audience This manual is intended for the following users. • Those selecting Σ-II Series servo drives or peripheral devices for Σ-II Series servo drives. • Those wanting to know about the ratings and characteristics of Σ-II Series servo drives. •...
  • Page 5 Quick access to your required information Read the chapters marked with to get the information required for your purpose. SERVOPACKs, Ratings and Panel Trial Operation Servomotors, System Inspection and Chapter Character- Configura-tion and Servo and Peripheral Design Maintenance istics and Wiring Adjustment Devices Chapter 1...
  • Page 6 ■ Indication of Reverse Signals In this manual, the names of reverse signals (ones that are valid when low) are written with a forward slash (/) before the signal name, as shown in the following example: • S-ON　=　/S-ON • P-CON　=　/P-CON ■...
  • Page 7 Safety Information The following conventions are used to indicate precautions in this manual. Failure to heed precautions provided in this manual can result in serious or possibly even fatal injury or damage to the products or to related equipment and systems. Indicates precautions that, if not heeded, could possibly result in loss of life or serious WARNING injury.
  • Page 8 Notes for Safe Operation Read this manual thoroughly before checking products on delivery, storage and transportation, installation, wiring, operation and inspection, and disposal of the AC servo drive. WARNING • Never touch any rotating motor parts while the motor is running. Failure to observe this warning may result in injury.
  • Page 9 Checking on Delivery CAUTION • Always use the servomotor and SERVOPACK in one of the specified combinations. Failure to observe this caution may result in fire or malfunction. Storage and Transportation CAUTION • Do not store or install the product in the following places. •...
  • Page 10 Installation（cont’d） CAUTION • Provide the specified clearances between the SERVOPACK and the control panel or with other devices. Failure to observe this caution may result in fire or malfunction. • Do not apply any strong impact. Failure to observe this caution may result in malfunction. Wiring WARNING •...
  • Page 11 CAUTION • Do not connect a three-phase power supply to the U, V, or W output terminals. Failure to observe this caution may result in injury or fire. • Securely connect the power supply terminals and motor output terminals. Failure to observe this caution may result in fire. •...
  • Page 12 Operation CAUTION • Conduct trial operation on the servomotor alone with the motor shaft disconnected from machine to avoid any unexpected accidents. Failure to observe this caution may result in injury. • Before starting operation with a machine connected, change the settings to match the parameters of the machine.
  • Page 13 When this manual is revised, the manual code is updated and the new manual is published as a next edition. • If the manual must be ordered due to loss or damage, inform your nearest Yaskawa representative or one of the offices listed on the back of this manual.

  • Page 14: Table Of Contents

    CONTENTS About this Manual - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -iii Safety Information - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - vi Notes for Safe Operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - vii 1 Outline...
  • Page 15 3.3.7 Vibration Class - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-15 3.4 Dimensional Drawings of SGMVH Servomotors (1500 min ) - - - - - - - - - - - - - 3-16 3.5 Dimensional Drawings of SGMVH Servomotors (800 min...
  • Page 16 5.4 I/O Signal Cables for CN1 Connector - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-10 5.4.1 Standard Cables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-10 5.4.2 Connector Type and Cable Size - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-10 5.4.3 Connection Diagram - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-12 5.5 Peripheral Devices - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-13...
  • Page 17 7 Digital Operator/Panel Operator 7.1 Functions on Digital Operator/Panel Operator - - - - - - - - - - - - - - - - - - - - - - - - - 7-2 7.1.1 Connecting the Digital Operator - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -7-2 7.1.2 Key Names and Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -7-3 7.1.3 Basic Mode Selection and Operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -7-4 7.1.4 Status Display - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -7-5...
  • Page 18 8.4.4 Replacing Batteries - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-31 8.4.5 Absolute Encoder Setup (Fn008) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-32 8.4.6 Absolute Encoder Reception Sequence- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-33 8.4.7 Multiturn Limit Setting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-36...
  • Page 19 8.11 Other Output Signals- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-77 8.11.1 Servo Alarm Output (ALM) and Alarm Code Output (ALO1, ALO2, ALO3) - - - - - - - - - - - - - 8-77 8.11.2 Warning Output (/WARN)- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-78 8.11.3 Servomotor running Output Signal (/TGON) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-78...
  • Page 20 11 Appendix 11.1 Servomotor Capacity Selection Examples - - - - - - - - - - - - - - - - - - - - - - - - - - 11-2 11.1.1 Selection Example for Speed Control- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-2 11.1.2 Selection Example for Position Control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-4 11.2 Connection to Host Controller - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-7 11.2.1 Example of Connection to MP2200/MP2300 Motion Module SVA-01 - - - - - - - - - - - - - - - - 11-7...

  • Page 21: Outline

    Outline 1.1 Checking Products - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2 1.1.1 Check Items - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2 1.1.2 Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2 1.1.3 SERVOPACKs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2 1.2 Examples of Servo System Configurations - - - - - - - - - - - - - 1-3...

  • Page 22: Checking Products

    Check the overall appearance, and check for damage or scratches that may have occurred during shipping. If any of the above items are faulty or incorrect, contact your Yaskawa representative or the dealer from whom you purchased the products. 1.1.2 Servomotors...

  • Page 23: Examples Of Servo System Configurations

    This section describes examples of basic servo system configuration. 1.2.1 Three-phase, 200 V Series Connect the SGDM/SGDH SERVOPACK Molded-case circuit Host controller to a Yaskawa or an other manufacturer’s breaker (MCCB) host controller. Used to protect power Power supply supply line.

  • Page 24: Three-Phase, 400 V Series

    1 Outline 1.2.2 Three-phase, 400 V Series 1.2.2 Three-phase, 400 V Series Host controller Connect the SGDH SERVOPACK to a Yaskawa or an other manufacturer’s Molded-case circuit host controller. breaker (MCCB) Power supply Used to protect power Three-phase 400 VAC supply line.

  • Page 25: Applicable Standards

    1.3 Applicable Standards 1.3 Applicable Standards 1.3.1 North American Safety Standards (UL) ∗3 Standards ∗1 ∗2 Model Voltage Capacity (UL File No.) 400 V 22 kW to 55 kW UL508C(E147823) SERVOPACK SGDH 400 V 22 kW to 55 kW UL1004(E165827) Servomotor SGMVH * 1.

  • Page 26: Selections

    Selections 2.1 Servomotor Model Designations - - - - - - - - - - - - - - - - - - - - - 2-2 2.2 SERVOPACK Model Designations - - - - - - - - - - - - - - - - - - - 2-3 2.3 Σ-II Series SERVOPACKs and Applicable Servomotor - - - - - 2-4 2.4 Selecting Cables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-5 2.4.1 Cables for SGMVH Servomotor - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-5...

  • Page 27: Servomotor Model Designations

    2 Selections 2.1 Servomotor Model Designations 1st + digits digit digit digit digit digit SGMVH − 2B A 2 B 2 N 7th digit: Brake and Oil Seal Code Specifications Standard (without options) 1st + 2nd digits: 3rd digit: With dust seal Rated Output Voltage (kW)

  • Page 28: Servopack Model Designations

    2.2 SERVOPACK Model Designations 2.2 SERVOPACK Model Designations Select the SERVOPACK according to the applied servomotor. 1st + digit digit digit digits SGDM - 1st + 2nd digits (kW) 5th digit: Applicable Servomotor Model Code Rated Output Code Specificatioins SGMVH Servomotor 4th digit: Model Code...

  • Page 29: Σ-Ii Series Servopacks And Applicable Servomotor

    2 Selections 2.3 Σ-II Series SERVOPACKs and Applicable Servomotor SERVOPACK Servomotor SGDM- SGDH- SGMVH- 200 V 200 V 400 V 2BADB 2BAEB 2BDEB 3ZADB 3ZAEB 3ZDEB 3GADB 3GAEB 3GDEB 1500 min – – 4EDEB – – 5EDEB – – 9ZDEB 2BADB 2BAEB 2BDEB...

  • Page 30: Selecting Cables

    2.4 Selecting Cables 2.4 Selecting Cables 2.4.1 Cables for SGMVH Servomotor WARNING May cause electric shock. Disconnect all power and wait 5 min. before servicing. Use proper grounding techniques. Refer- Name Length Type Specifications ence JZSP-CMP23-03 SERVOPACK Encoder JZSP-CMP23-05 Cable with loose 5.2.2 wire at encoder 10 m...

  • Page 31: Selecting Peripheral Devices

    2 Selections 2.5.1 Special Options 2.5 Selecting Peripheral Devices 2.5.1 Special Options Digital operator Connection cable Personal for digital operator computer Connection cable for personal computer Host controller I/O signal cable WARNING May cause electric shock. Disconnect all power and wait 5 min. before servicing.
  • Page 32 2.5 Selecting Peripheral Devices Refer- Name Length Type Specifications ence Terminal block and 0.5 m connection cable Connector terminal block 5.5.4 JUSP-TA50PG converter unit I/O Signal Cables JZSP-CKI01-1 Loose wires at host controller end Cable with 5.4.1 loose wires at JZSP-CKI01-2 one end JZSP-CKI01-3...

  • Page 33: Molded-Case Circuit Breaker And Fuse Capacity

    2 Selections 2.5.2 Molded-case Circuit Breaker and Fuse Capacity 2.5.2 Molded-case Circuit Breaker and Fuse Capacity Select a input fuse or molded-case circuit breaker that comply with UL standard. Power Supply Inrush Current (A) Current Capacity of the Capacity per Molded-case Circuit Breaker SERVOPACK Model Main Circuit...

  • Page 34: Noise Filters, Magnetic Contactors, And Brake Power Supply Units

    2. The following table shows the manufacturers of each device. Peripheral Device Manufacturer Noise Filter Schaffner Electronic Magnetic Contactor Fuji Electric Co., Ltd. Brake Power Supply Yaskawa Controls Co., Ltd. Unit 2.5.4 Regenerative Resistor Units SGDM- 2BADB 3ZADB 3GADB − SERVOPACK Model...

  • Page 35: Dynamic Brake (Db) Units

    9ZDEB Unit Use the dynamic brake unit under the following conditions. Contact your Yaskawa representative before using the unit under conditions more severe than those specified below. • Allowable load moment of inertia: 5 times the load moment of inertia •...

  • Page 36: Thermal Relays

    2.5 Selecting Peripheral Devices 2.5.6 Thermal Relays Dynamic Brake Thermal Relay Thermal Relay Thermal Relay Manufacturer (DB) Unit and Model Current Range Current Regenerative Resistor Unit Model JUSP-DB01 TR-N3H/3 9 A 9 to 13 A 10 A JUSP-DB02 JUSP-DB03 JUSP-DB04 TR-N3H/3 7 A 7 to 11 A JUSP-DB05...

  • Page 37: Servomotor Specifications And Dimensional Drawings

    Servomotor Specifications and Dimensional Drawings 3.1 Ratings and Specifications of SGMVH (1500 min ) - - - - - - - 3-2 3.2 Ratings and Specifications of SGMVH (800 min ) - - - - - - - - 3-6 3.3 Mechanical Specifications of Servomotors - - - - - - - - - - - - - - 3-9 3.3.1 Precautions on Servomotor Installation - - - - - - - - - - - - - - - - - - - - - - 3-9 3.3.2 Allowable Radial and Thrust Loads - - - - - - - - - - - - - - - - - - - - - - - - 3-13...

  • Page 38: Ratings And Specifications Of Sgmvh (1500 Min -1 )

    3 Servomotor Specifications and Dimensional Drawings 3.1 Ratings and Specifications of SGMVH (1500 min (1) Ratings and Specifications • Time Rating: Continuous • Thermal Class: F • Vibration Class: V15 • Withstand Voltage: 200 V Servomotors: 1500 VAC for one minute •...
  • Page 39 3.1 Ratings and Specifications of SGMVH (1500 min (b) 400 V Class Voltage Class 400 V Servomotor Model SGMVH- 2BD B 3ZD B 3GD B 4ED B 5ED B 7ED B Rated ∗ Output Rated N·m ∗ Torque Stall N·m ∗...
  • Page 40 3 Servomotor Specifications and Dimensional Drawings (2) Torque-Motor Speed Characteristics (200 V class) SGMVH-2BA B SGMVH-3ZA B 2000 2000 1500 1500 Motor Motor speed speed (min -1 ) (min -1 ) 1000 1000 Torque (N m) Torque (N m) SGMVH-3GA B 2000 1500 Motor...
  • Page 41 3.1 Ratings and Specifications of SGMVH (1500 min (3) Torque-Motor Speed Characteristics (400 V class) SGMVH-2BD B SGMVH-3ZD B 2000 2000 1500 1500 Motor Motor speed speed (min -1 ) (min -1 ) 1000 1000 Torque (N m) Torque (N m) SGMVH-3GD B SGMVH-4ED B 2000...
  • Page 42 3 Servomotor Specifications and Dimensional Drawings 3.2 Ratings and Specifications of SGMVH (800 min (1) Ratings and Specifications • Time Rating: Continuous • Thermal Class: F • Vibration Class: V15 • Withstand Voltage: 200 V Servomotors: 1500 VAC for one minute •...

  • Page 43: Ratings And Specifications Of Sgmvh (800 Min -1 )

    3.2 Ratings and Specifications of SGMVH (800 min (b) 400 V Class Voltage Class 400 V Servomotor Model 2BD D 3ZD D 3GD D 4ED D SGMVH- ∗ Rated Output ∗ N·m Rated Torque ∗ N·m Stall Torque ∗ 1182 N·m Instantaneous Peak Torque ∗...
  • Page 44 3 Servomotor Specifications and Dimensional Drawings (2) Torque-Motor Speed Characteristics (200 V class) SGMVH-3ZA D SGMVH-2BA D 1500 1500 1000 1000 Motor Motor speed speed (min (min Torque (N m) Torque (N m) SGMVH-3GA D 1500 Motor 1000 speed (min : Continuous Duty Zone : Intermittent Duty Zone 1200...

  • Page 45: Mechanical Specifications Of Servomotors

    3.3 Mechanical Specifications of Servomotors 3.3 Mechanical Specifications of Servomotors 3.3.1 Precautions on Servomotor Installation Servomotors can be installed either horizontally or vertically. The service life of the servomotor will be shortened or unexpected problems will occur if the servomotor is installed incorrectly or in an inappropriate location.
  • Page 46 3 Servomotor Specifications and Dimensional Drawings 3.3.1 Precautions on Servomotor Installation Handling Oil If the servomotor is used in a location that is subject to and Water water drops, make sure of the servomotor protective specifications (except for through shaft section). Flange If the servomotor is used in a location that is subject to water or oil mist, use a servomotor with an oil seal to...
  • Page 47 3.3 Mechanical Specifications of Servomotors Wring the Motor • Connect the servomotor power lines (U, V, and W) to the servomotor terminal block (M10) in the ser- Terminal Box vomotor terminal box. Connect the ground wire to the ground bolt (M10) in the terminal box. •...
  • Page 48 3 Servomotor Specifications and Dimensional Drawings 3.3.1 Precautions on Servomotor Installation Encoder-end Absolute Encoder Connector Specifications T N P Receptacle: 97F3102E20-29P Applicable plug purchased by a customer. Plug: JA06A-20-29S-J1-EB Cable clamp: JL04-2022CKE DATA+ DATA- BATT- +5VDC BATT+ FG Frame ground Incremental Encoder Receptacle: 97F3102E20-29P Applicable plug purchased by a customer.

  • Page 49: Allowable Radial And Thrust Loads

    3.3 Mechanical Specifications of Servomotors 3.3.2 Allowable Radial and Thrust Loads The following table shows the allowable loads applied to the SGMVH servomotor shaft end. Design the mechanical system so radial and thrust loads applied to the servomotor shaft end during operation falls within the ranges shown in the following table.

  • Page 50: Mechanical Tolerance

    3 Servomotor Specifications and Dimensional Drawings 3.3.3 Mechanical Tolerance 3.3.3 Mechanical Tolerance The following table shows tolerances for the servomotor’s output shaft and installation area. For more details on tolerances, refer to the dimensional drawing of the individual servomotor. Tolerance T. I. R. (Total Indicator Reading) Reference Diagram Perpendicularity between the flange face and output shaft : 0.05...

  • Page 51: Vibration Class

    3.3 Mechanical Specifications of Servomotors 3.3.7 Vibration Class The vibration class for the servomotors at rated motor speed is as follows. • Vibration class: V15 Position for measuring vibration Vibration Class TERMS A vibration class of V15 indicates a total vibration amplitude of 15 μm maximum on the servomotor during rated rotation. 3-15 Artisan Technology Group - Quality Instrumentation ...
  • Page 52 3 Servomotor Specifications and Dimensional Drawings 3.4 Dimensional Drawings of SGMVH Servomotors (1500 min (1) 22 kW (-2BA B, -2BD B) Opening for motor lead when terminal box plate is replaced. (Flange) 45 45 Encoder 0.05 connector φ 0.05 Fan connector Cooling air Hanging bolt 0.03...
  • Page 53 3.4 Dimensional Drawings of SGMVH Servomotors (1500 min (2) 30 kW (-3ZA B, -3ZD B) Opening for motor lead when terminal box plate is replaced. (Flange) 45 45 Encoder 0.05 connector φ 0.05 Fan connector Cooling air Hanging bolt 0.03 (Encoder, fan) Motor lead exit available...
  • Page 54 3 Servomotor Specifications and Dimensional Drawings (3) 37 kW (-3GA B, -3GD B) Opening for motor lead when terminal box plate is replaced. (Flange) 45 45 Encoder 0.05 A connector φ 0.05 Fan connector Cooling air Hanging bolt 0.03 (Encoder, fan) available Motor lead exit φ...
  • Page 55 3.4 Dimensional Drawings of SGMVH Servomotors (1500 min (4) 45 kW (-4ED B) (Flange) Opening for motor lead when terminal box plate Fan connector 0.05 is replaced. φ 0.05 Encoder connector Cooling air 0.03 (Encoder, fan) Motor lead exit Hanging bolt φ...
  • Page 56 3 Servomotor Specifications and Dimensional Drawings (5) 55 kW (-5ED B) (Flange) Opening for motor lead when terminal box plate Fan connector 0.05 A is replaced. φ 0.05 Encoder connector Cooling air 0.03 (Encoder, fan) Hanging bolt Motor lead exit φ...
  • Page 57 3.4 Dimensional Drawings of SGMVH Servomotors (1500 min (6) 75 kW (-7ED B) (Flange) Opening for motor lead 0.05 A Fan connector when terminal box plate is replaced. φ Encoder 0.05 A connector Cooling air 0.03 Hanging bolt (Encoder, fan) Motor lead exit φ...

  • Page 58: Dimensional Drawings Of Sgmvh Servomotors (1500 Min -1 )

    3 Servomotor Specifications and Dimensional Drawings 3.5 Dimensional Drawings of SGMVH Servomotors (800 min (1) 22 kW (-2BA D, -2BD D) Opening for motor lead when terminal box plate is replaced. (Flange) 45 45 Encoder 0.05 A connector φ 0.05 A Fan connector Cooling air Hanging bolt...
  • Page 59 3.5 Dimensional Drawings of SGMVH Servomotors (800 min (2) 30 kW (-3ZA D, -3ZD D) (Flange) Opening for motor lead when terminal box plate Fan connector 0.05 A is replaced. Encoder φ 0.05 A connector Cooling air 0.03 (Encoder, fan) Hanging bolt Motor lead exit φ...
  • Page 60 3 Servomotor Specifications and Dimensional Drawings (3) 37 kW (-3GA D, -3GD D) (Flange) Opening for motor lead when terminal box plate is replaced. Fan connector 0.05 Encoder φ 0.05 connector Cooling air 0.03 (Encoder, fan) Motor lead exit Hanging bolt φ...

  • Page 61: Dimensional Drawings Of Sgmvh Servomotors (800 Min -1 )

    3.5 Dimensional Drawings of SGMVH Servomotors (800 min (4) 45 kW (-4ED D) Opening for motor lead (Flange) 0.05 A when terminal box plate Fan connector is replaced. φ 0.05 A Encoder connector Cooling air Motor lead exit 0.03 φ Hanging bolt (Encoder, fan) available...

  • Page 62: Servopack Specifications And Dimensional Drawings

    SERVOPACK Specifications and Dimensional Drawings 4.1 SERVOPACK Ratings and Specifications - - - - - - - - - - - - - - 4-2 4.1.1 Three-phase 200 V - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-2 4.1.2 Three-phase 400 V - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-2 4.1.3 SERVOPACK Ratings and Specifications - - - - - - - - - - - - - - - - - - - - - 4-3 4.2 SERVOPACK Installation - - - - - - - - - - - - - - - - - - - - - - - - - - 4-5...

  • Page 63: Servopack Ratings And Specifications

    4 SERVOPACK Specifications and Dimensional Drawings 4.1.1 Three-phase 200 V 4.1 SERVOPACK Ratings and Specifications CAUTION • Take appropriate measures to ensure that the input power supply is supplied within the specified voltage range. An incorrect input power supply may result in damage to the SERVOPACK. If the voltage exceeds these values, use a step-down transformer so that the voltage will be within the specified range.

  • Page 64: Servopack Ratings And Specifications

    4.1 SERVOPACK Ratings and Specifications 4.1.3 SERVOPACK Ratings and Specifications Basic Control Method Three-phase full-wave rectification IGBT-PWM (sine-wave driven) Specifi- Feedback Serial encoder: 17-bit (incremental/absolute) cations Condi- ∗1 0 to +55°C/-20 to +85°C Ambient/Storage Temperature tions Ambient/Storage Humidity 90% RH or less (with no condensation) Vibration/Shock Resistance 4.9 m/s /19.6 m/s...
  • Page 65 4 SERVOPACK Specifications and Dimensional Drawings 4.1.3 SERVOPACK Ratings and Specifications Internal Dynamic Brake Operated at main power OFF, servo alarm, servo OFF or overtravel. Func- Overtravel Stop Dynamic brake stop at P-OT or N-OT, deceleration to a stop, or coast to a tions stop 0.01 ≤...

  • Page 66: Servopack Installation

    4.2 SERVOPACK Installation 4.2 SERVOPACK Installation The SGDM/SGDH SERVOPACKs can be mounted on a base. Incorrect installation will cause problems. Always observe the following installation instructions. WARNING • After voltage resistance test, wait at least five minutes before servicing the product. (Refer to “Voltage Resis- tance Test”...
  • Page 67 4 SERVOPACK Specifications and Dimensional Drawings Installation Follow the procedure below to install multiple SERVOPACKs side by side in a control panel. 120 mm min. WARNING WARNING WARNING WARNING May cause electric shock. May cause May cause electric shock. May cause electric shock.

  • Page 68: Servopack Internal Block Diagrams

    4.3 SERVOPACK Internal Block Diagrams 4.3 SERVOPACK Internal Block Diagrams 4.3.1 Three-phase 200 V, 22 kW, 30 kW Models Regenerative resistor (option) DB resistor (option) Three-phase 200 to 230 VAC (50/60 Hz) TRM1 R S T From TRM6 detection U V W circuit TRM7 C1 to...

  • Page 69: Three-Phase 200 V, 37 Kw Model

    4 SERVOPACK Specifications and Dimensional Drawings 4.3.2 Three-phase 200 V, 37 kW Model 4.3.2 Three-phase 200 V, 37 kW Model DB unit Regenerative resistor (option) (option) DB resistor (option) Three-phase 200 to 230 VAC (50/60 Hz) TRM1 R S T TRM6 U V W TRM7...

  • Page 70: Three-Phase 400 V, 22 Kw, 30 Kw Models

    4.3 SERVOPACK Internal Block Diagrams 4.3.3 Three-phase 400 V, 22 kW, 30 kW Models Regenerative resistor Dynamic Regenerative resistor brake DC reactor unit connection terminals unit connection connection terminals terminals TRM1 to TRM6 DM1 to DM3 SA1 to SA3 L1/R C1 to C4 DBON DB24...

  • Page 71: Three-Phase 400 V, 45 Kw, 55 Kw Models

    4 SERVOPACK Specifications and Dimensional Drawings 4.3.5 Three-phase 400 V, 45 kW, 55 kW Models 4.3.5 Three-phase 400 V, 45 kW, 55 kW Models Regenerative resistor Regenerative resistor DC reactor unit connection terminals connection terminals TRM1 to TRM6 DM1 to DM3 SA1 to SA3 L1/R C1 to C4...

  • Page 72: Servopack's Power Supply Capacities And Power Losses

    4.4 SERVOPACK’s Power Supply Capacities and Power Losses 4.4 SERVOPACK’s Power Supply Capacities and Power Losses The following table shows SERVOPACK’s power supply capacities and power losses at the rated output. Output Control Total Current Main Circuit Circuit Main Circuit Power SERVOPACK Power (Effective...

  • Page 73: Servopack Overload Characteristics And Allowable Load Moment Of Inertia

    4 SERVOPACK Specifications and Dimensional Drawings 4.5.1 Overload Characteristics 4.5 SERVOPACK Overload Characteristics and Allowable Load Moment of Inertia 4.5.1 Overload Characteristics SERVOPACKs have a built-in overload protective function that protects the SERVOPACKs and servomotors from overload. Allowable power for the SERVOPACKs is limited by the overload protective function as shown in the figure below.

  • Page 74: Starting And Stopping Time

    4.5 SERVOPACK Overload Characteristics and Allowable Load Moment of Inertia 4.5.2 Starting and Stopping Time The motor starting time (tr) and stopping time (tf) under a constant load are calculated using the following for- mulas. Motor viscous torque and friction torque are ignored. Starting time: tr = Stopping time:...

  • Page 75: Load Moment Of Inertia

    • Reduce the deceleration rate. • Reduce the maximum motor speed. If the alarm cannot be cleared, contact your Yaskawa Application Engineering Department. (1) Allowable Load Moment of Inertia at the Motor Shaft The rotor moment of inertia ratio is the value for a servomotor without a gear and a brake.
  • Page 76 4.5 SERVOPACK Overload Characteristics and Allowable Load Moment of Inertia (2) Overhanging Loads A servomotor may not be operated with an overhanging load, which tends to continuously rotate the motor. Fig. 4.1 shows a typical example of such a load. •...

  • Page 77: Servopack Dimensional Drawings

    4 SERVOPACK Specifications and Dimensional Drawings 4.6.1 Three-phase 200 V, 22 kW, 30 kW Models 4.6 SERVOPACK Dimensional Drawings 4.6.1 Three-phase 200 V, 22 kW, 30 kW Models (1) SGDM-2BADB, -3ZADB Ventilation 24.5 14.5×2=29 CN1 CN2 L1C/r L3C/t L1/R L2/S L3/T 45×8=360 Units: mm...

  • Page 78: Three-Phase 200 V, 37 Kw Model

    4.6 SERVOPACK Dimensional Drawings 4.6.2 Three-phase 200 V, 37 kW Model (1) SGDM-3GADB Ventilation 24.5 14.5×2=29 DU DV DW L1C/r L3C/t 45×8=360 Units: mm Approx.mass: (2) SGDH-3GAEB Ventilation 24.5 14.5×2=29 CN6A CN6B L1/R L2/S L3/T 20 40 45 8=360 Units: mm Approx.mass: 4-17 Artisan Technology Group - Quality Instrumentation ...

  • Page 79: Three-Phase 400 V, 22 Kw Model

    4 SERVOPACK Specifications and Dimensional Drawings 4.6.3 Three-phase 400 V, 22 kW Model 4.6.3 Three-phase 400 V, 22 kW Model (1) SGDH-2BDEB Ventilation NS100 CN6A CN6B 12×4=48 46.5 5×8=40 CN1 CN2 L1/R L2/S L3/T 24.5×8=196 Units: mm Approx.mass: 4-18 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 80: Three-Phase 400 V, 30 Kw Model

    4.6 SERVOPACK Dimensional Drawings 4.6.4 Three-phase 400 V, 30 kW Model (1) SGDH-3ZDEB Ventilation NS100 CN6A 14.5 12 × 2 = 24 CN6B 46.5 57 8 × 5 = 40 − L1/R L2/S L3/T 27 × 8 = 216 ( 25 ) Units: mm Approx.mass: 4-19...

  • Page 81: Three-Phase 400 V, 37 Kw Model

    4 SERVOPACK Specifications and Dimensional Drawings 4.6.5 Three-phase 400 V, 37 kW Model 4.6.5 Three-phase 400 V, 37 kW Model (1) SGDH-3GDEB Ventilation NS100 14.5 CN6A 12×2=24 CN6B 46.5 8×5=40 CN1 CN2 40 25 B1 B2 L1/R L2/S L3/T 45×8=360 Units: mm Approx.mass: 4.6.6 Three-phase 400 V, 45 kW, 55 kW Models...

  • Page 82: Three-Phase 400 V, 90 Kw Model

    4.6 SERVOPACK Dimensional Drawings 4.6.7 Three-phase 400 V, 90 kW Model (1) SGDH-9ZDEB 4×M12 mounting holes Units: mm Approx.mass: 4-21 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 83: Specifications And Dimensional Drawings Of Cables And Peripheral Devices

    Specifications and Dimensional Drawings of Cables and Peripheral Devices 5.1 SERVOPACK Main Circuit Wire Size - - - - - - - - - - - - - - - - - 5-2 5.1.1 Wiring Cables to Main Circuit Terminals - - - - - - - - - - - - - - - - - - - - - - 5-2 5.1.2 Three-phase 200 V - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-3 5.1.3 Three-phase 400 V - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-4 5.2 Encoder Cables for CN2 Connector - - - - - - - - - - - - - - - - - - 5-6...

  • Page 84: Servopack Main Circuit Wire Size

    Use the following UL-certified copper cables (rated 75°C, 600 V) and round crimped terminals (UL standard compliant) when connecting cables to main circuit terminals. Crimp the terminal with the recommended crimp- ing tool. Yaskawa recommends the crimped terminals manufactured by J.S.T. Mfg. Co., Ltd. Cable Size...

  • Page 85: Three-Phase 200

    5.1 SERVOPACK Main Circuit Wire Size 5.1.2 Three-phase 200 V Applicable Cable Recommended SERVOPACK Range Cable Size Model Terminal Tightening Torque Terminal Symbol SGDM- Screw Size SGDH- (AWG) (AWG) L1/R, L2/S, L3/T 30 to 80 17.5 to 20.5 -, +1, +2 (3 to 3/0) 30 to 60 U, V, W...

  • Page 86: Three-Phase 400

    5 Specifications and Dimensional Drawings of Cables and Peripheral Devices 5.1.3 Three-phase 400 V 5.1.3 Three-phase 400 V Applicable Cable Recommended SERVOPACK Range Cable Size Terminal Tightening Torque Model Terminal Symbol Screw Size SGDH- (AWG) (AWG) L1/R, L2/S, L3/T 14 to 38 9.0 to 11.0 -, +1, +2 (6 to 2)
  • Page 87 5.1 SERVOPACK Main Circuit Wire Size Applicable Cable Recommended SERVOPACK Range Cable Size Terminal Tightening Torque Model Terminal Symbol Screw Size SGDH- (AWG) (AWG) L1/R, L2/S, L3/T 30 to 80 17.5 to 20.5 -, +1, +2 (3 to 3/0) 30 to 80 U, V, W 17.5 to 20.5 (3 to 3/0)

  • Page 88: Encoder Cables For Cn2 Connector

    5 Specifications and Dimensional Drawings of Cables and Peripheral Devices 5.2.1 Encoder Cable with Connectors on Both Ends 5.2 Encoder Cables for CN2 Connector When assembling the encoder cable, refer to 5.3 Connectors and Cables for Encoder Signals. 5.2.1 Encoder Cable with Connectors on Both Ends (1) Cable With a SERVOPACK Connector and Encoder Straight Plug Cable Length Cable Type...

  • Page 89: Cable With Loose Wire At Encoder End

    10 m JZSP-CMP23-10 15 m JZSP-CMP23-15 Crimped connector (Molex Japan Co., Ltd.) 20 m JZSP-CMP23-20 Wire markers (2) Encoder-end Connector Contact Yaskawa Controls Co., Ltd. Plug Cable Clamp Connector on (Manufactured by DDK Ltd.) (Manufactured by Servomotor DDK Ltd.) Type Model...

  • Page 90: Connectors And Cables For Encoder Signals

    5 Specifications and Dimensional Drawings of Cables and Peripheral Devices 5.3 Connectors and Cables for Encoder Signals (1) Cable Type Cable Type Cable Length JZSP-CMP29-05 10 m JZSP-CMP29-10 15 m JZSP-CMP29-15 20 m JZSP-CMP29-20 30 m JZSP-CMP29-30 40 m JZSP-CMP29-40 50 m JZSP-CMP29-50 (2) SERVOPACK-end Connector for CN2...
  • Page 91 Lead Colors Blue Orange Orange/ Blue/ white white Yaskawa Standard 5 m, 10 m, 15 m, 20 m, 30 m, 40 m, 50 m Specifications (Standard Length) (5) Encoder Plug Connector Pin Arrangement H G F Absolute Encoder Connection Specifications Incremental Encoder Connection Specifications Pin No.

  • Page 92: I/O Signal Cables For Cn1 Connector

    5 Specifications and Dimensional Drawings of Cables and Peripheral Devices 5.4.1 Standard Cables 5.4 I/O Signal Cables for CN1 Connector 5.4.1 Standard Cables For the connection diagram, refer to 5.4.3 Connection Diagram. (1) Cable Types Cable Type Cable Length (L) JZSP-CKI01-1 JZSP-CKI01-2 JZSP-CKI01-3...
  • Page 93 5.4 I/O Signal Cables for CN1 Connector (2) Dimensional Drawing of Connector 2.54 1.27 41.1 Pin No. 1 1.27 Pin No. 26 30.48 Units: mm 36.7 (3) Cable Size Item Specifications Cable Use twisted-pair or twisted-pair shielded wire. Applicable Wires AWG24, 26, 28, 30 φ16 mm or less Finished Dimension...

  • Page 94: Connection Diagram

    5 Specifications and Dimensional Drawings of Cables and Peripheral Devices 5.4.3 Connection Diagram 5.4.3 Connection Diagram Host controller end SERVOPACK end Marking Lead Lead Pin No. Signal Color Color Marker No. Dots Orange Gray Orange Black Gray Black White V-REF White Black Yellow...

  • Page 95: Peripheral Devices

    5.5 Peripheral Devices 5.5 Peripheral Devices 5.5.1 Cables for Connecting Personal Computers (1) For 25-pin Connector Cable for NEC PC-98 Series PC (a) Cable Type: JZSP-CMS01 (b) Dimensional Drawing Personal computer end SERVOPACK end Half-pitch connector D-sub connector (25-pin) Plug: 10114-3000VE Personal computer end SERVOPACK end 17JE-23250-02 D8A...

  • Page 96: Digital Operator

    Units: mm (3) Other Types of the Applicable Connection Cables: JZSP-CMS00- * Order your cable from Yaskawa Controls Co., Ltd. in the following cases. • When you need a longer cable than the cable supplied with the digital operator. • When you need additional cables.

  • Page 97: Cables For Analog Monitor

    5.5 Peripheral Devices 5.5.3 Cables for Analog Monitor (1) Cable Type: JZSP-CA01 (DE9404559) Connect the specified cables to CN5 connector for monitoring the analog monitor signals. For details, refer to 9.5 Analog Monitor. Cable for Analog Monitor WARNING May cause electric shock.

  • Page 98: Connector Terminal Block Converter Unit

    5 Specifications and Dimensional Drawings of Cables and Peripheral Devices 5.5.4 Connector Terminal Block Converter Unit 5.5.4 Connector Terminal Block Converter Unit (1) Model: JUSP-TA50PG The connection between the connector terminal block converter and the SERVOPACK is shown below. SERVOPACK Attached cable length: 500 WARNING May cause...

  • Page 99: Brake Power Supply Unit

    5.5 Peripheral Devices 5.5.5 Brake Power Supply Unit LPSE-2H01, LPDE-1H01 (1) Model: Contact Yaskawa Controls Co., Ltd. • 200 V input: LPSE-2H01 • 100 V input: LPDE-1H01 (2) Specifications • Rated output voltage: 90 VDC • Maximum output current: 1.0 ADC •...

  • Page 100: Absolute Encoder Battery

    Brake Power Supply Unit for the 24 VDC The brake power supply unit for the 24 VDC is not provided by Yaskawa. When using the servomotor with a 24-VDC brake, the brake power supply unit is to be provided by the customer.

  • Page 101: Molded-Case Circuit Breaker (Mccb)

    5.5 Peripheral Devices 5.5.7 Molded-case Circuit Breaker (MCCB) If selecting a molded-case circuit breaker, observe the following precautions. Circuit Breakers IMPORTANT • Select a breaker for inverters. • High-frequency current leaks from the servomotor armature because of switching operations inside the SERVOPACK.

  • Page 102: Noise Filter

    5 Specifications and Dimensional Drawings of Cables and Peripheral Devices 5.5.8 Noise Filter 5.5.8 Noise Filter The noise filters model FN manufactured by Schaffner Electronic are recommended. Contact Yaskawa Controls Co., Ltd. Select one of the following noise filters according to SERVOPACK capacity. For more details, refer to 2.5.3 Noise Filters, Magnetic Contactors, and Brake Power Supply Units.
  • Page 103 5.5 Peripheral Devices (2) Model: FN258L-180-07 Dimensional Drawings 438±1.5 110±0.8 400±1.2 External Dimensions (mm) 50 (mm 480 VAC, 180 A Specifications Three- SGDM-3ZADB phase SGDH-3ZAEB 200 V Applicable SGDH-2BDEB SERVOPACK Three- SGDH-3ZDEB phase 400 V SGDH-3GDEB 5-21 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 104: Surge Absorber

    5 Specifications and Dimensional Drawings of Cables and Peripheral Devices 5.5.9 Surge Absorber (3) Model: FN359P-250-99, FN359P-300-99 ± 45 5 ± 516 1.5 ± External Dimensions 564 1.5 27 ± 0.2 100 ± 0.5 8 × M5 (mm) mounting holes 3 ±...

  • Page 105: Regenerative Resistor Unit

    5.5 Peripheral Devices 5.5.10 Regenerative Resistor Unit (1) Model Refer to the following table to install the regenerative resistor unit according to the SERVOPACK model require- ments. Regenerative Resistor Unit Allowable SERVOPACK Model Power Loss Model Resistance Resistance （W） Capacity（W） （Ω）...
  • Page 106 5 Specifications and Dimensional Drawings of Cables and Peripheral Devices 5.5.10 Regenerative Resistor Unit (3) Dimensional Drawings (a) JUSP-RA08 Regenerative Resistor Unit 4 × φ7 mounting holes Power line insertion hole (φ17, with rubber bushing) Units: mm Approx. mass: 14.0 kg (b) JUSP-RA09 Regenerative Resistor Unit 4 ×...
  • Page 107 5.5 Peripheral Devices (c) JUSP-RA11 Regenerative Resistor Unit 4 × M5 mounting holes B1 B2 Power line insertion hole (φ33, with rubber bushing) M8 main circuit terminals Units: mm Approx. mass: 20.5 kg (d) JUSP-RA12 Regenerative Resistor Unit 4 × M5 mounting holes 24 38 B1B2 Power line insertion hole...
  • Page 108 5 Specifications and Dimensional Drawings of Cables and Peripheral Devices 5.5.10 Regenerative Resistor Unit (e) JUSP-RA13 Regenerative Resistor Unit 4 × M5 mounting holes 29 34 B1 B2 Power line insertion hole (φ33, with rubber bushing) M5 main circuit terminals Units: mm Approx.
  • Page 109 5.5 Peripheral Devices (g) JUSP-RA15 Regenerative Resistor Unit 4 × M5 mounting holes 35.5 B1 B2 Power line insertion hole (φ33, with rubber bushing) M6 main circuit terminals Units: mm Approx. mass: 21.5 kg (h) JUSP-RA16 Regenerative Resistor Unit 4 × M5 mounting holes 35.5 Power line insertion hole (φ33, with rubber bushing)
  • Page 110 5 Specifications and Dimensional Drawings of Cables and Peripheral Devices 5.5.10 Regenerative Resistor Unit (i) JUSP-RA25 Regenerative Resistor Unit 6 × M5 mounting holes 27x2=54 1081 Power line insertion hole (φ33, with rubber bushing) Units: mm M8 main circuit terminals Approx.

  • Page 111: Dynamic Brake (Db) Unit

    5.5 Peripheral Devices 5.5.11 Dynamic Brake (DB) Unit Externally attach a dynamic brake resistor to the SERVOPACK to dissipate regenerative energy when using the dynamic brake function. The dynamic brake resistor does not need to be installed if the dynamic brake function is not required.
  • Page 112 5 Specifications and Dimensional Drawings of Cables and Peripheral Devices 5.5.11 Dynamic Brake (DB) Unit (3) Dimensional Drawings (a) JUSP-DB01 Dynamic Brake Unit 4 × φ7 mounting holes Power line insertion hole (φ17, with rubber bushing) Units: mm Approx. mass: 5.0 kg (b) JUSP-DB02 Dynamic Brake Unit 4 ×...
  • Page 113 5.5 Peripheral Devices (c) JUSP-DB03 Dynamic Brake Unit 4 × M5 mounting holes DUDV M4 main circuit terminals Power line insertion hole (φ33, with rubber bushing) Units: mm Approx. mass: 5.0 kg (d) JUSP-DB04 Dynamic Brake Unit 4 × M5 mounting holes M3.5 control circuit terminals DU DVDW...
  • Page 114 5 Specifications and Dimensional Drawings of Cables and Peripheral Devices 5.5.11 Dynamic Brake (DB) Unit (e) JUSP-DB05 Dynamic Brake Unit 4 × M5 mounting holes M3.5 control circuit terminals M4 main circuit terminals Power line insertion hole (φ33, with rubber bushing) Units: mm Approx.
  • Page 115 Units: mm (φ33, with rubber bushing) Approx. mass: 16 kg (4) Connections (a) Using a Yaskawa Dynamic Brake Unit • SGDM-2BADB, -3ZADB SERVOPACKs SGDH-2BAEB, -3ZAEB SERVOPACKs SGDH-2BDEB, -3ZDEB SERVOPACKs The dynamic brake contactor and surge absorption unit are built into the SERVOPACK. Connect the DU,...
  • Page 116 5 Specifications and Dimensional Drawings of Cables and Peripheral Devices 5.5.11 Dynamic Brake (DB) Unit • SGDM-3GADB SERVOPACK SGDH-3GAEB, SERVOPACK SGDH-3GDEB, -4EDEB , -5EDEB , -9ZDEB SERVOPACKs The dynamic brake contactor and surge absorption unit are not built into the SERVOPACK. The dynamic brake contactor and surge absorption unit are built into the dynamic brake unit.
  • Page 117 5.5 Peripheral Devices • SGDM-3GADB SERVOPACK SGDH-3GAEB SERVOPACK SGDH-3GDEB, -4EDEB, -5EDEB, -9ZDEB SERVOPACKs Connect a dynamic brake contactor and surge absorption unit, as shown in the following diagram. SERVOPACK Dynamic brake Dynamic brake contactor resistors DBON DB24 Main circuit surge absorption unit Coil surge absorption unit Note: Connect dynamic brake resistors with the following resistance specifications.

  • Page 118: Thermal Relays

    5 Specifications and Dimensional Drawings of Cables and Peripheral Devices 5.5.12 Thermal Relays 5.5.12 Thermal Relays Connect a thermal relay to the SERVOPACK to protect the regenerative resistor and dynamic brake resistor from heat damage when operating under extreme conditions. (1) Models Select the appropriate thermal relay from the following list according to regenerative resistor unit and dynamic brake unit model.
  • Page 119 5.5 Peripheral Devices (3) Internal Connection Diagram The following connection diagram is for a TR-3N thermal relay. (NO) (NC) (NO) (NC) (4) Connections Connect the thermal relay as shown in the following diagram. When the thermal relay operates, the auxiliary contact turns OFF or ON. Therefore, configure a sequence so that the main power supply or the servomotor turns OFF when the auxiliary contact turns OFF or ON.
  • Page 120 5 Specifications and Dimensional Drawings of Cables and Peripheral Devices 5.5.12 Thermal Relays (5) Selecting a Thermal Relay When preparing the dynamic brake resistor and regenerative resistor separately, select a thermal relay by calcu- lating the setting current of the thermal relay according to the value and capacity of the resistor being used, as shown in the following equation.

  • Page 121: Variable Resistor For Speed And Torque Setting

    5.5.13 Variable Resistor for Speed and Torque Setting : 25HP-10B (1) Model The multiturn type winding variable resistors with dial MD10-30B4 are manufactured by Sakae Tsushin Kogyo Co., Ltd. Contact Yaskawa Controls Co., Ltd. (2) Dimensional Drawings Panel 11.5±1 Panel driling diagram 25 HP Helicolumn φ7.5 hole...

  • Page 122: Encoder Signal Converter Unit

    The encoder signal converter unit (the trade name “Receiver Unit”) converts encoder signal output from the line driver to open-collector or voltage-pulse output. A socket model 11PFA is required to use a Receiver Unit. (1) Model: LRX-01 / A Contact Yaskawa Controls Co., Ltd. (2) Specifications Specifications Receiver Unit...

  • Page 123: Mechatrolink Application Module

    5.5 Peripheral Devices 5.5.15 MECHATROLINK Application Module (1) Model : JUSP-NS100 (for MECHATROLINK-I communications) : JUSP-NS115 (for MECHATROLINK-I/II communications) (2) Specifications Details Item JUSP-NS100 JUSP-NS115 SGDH- EB models Applicable SERVOPACK All SGDH- EB models (except for 90 kW model) Installation Method Mounted on the SGDH SERVOPACK side: CN10.

  • Page 124: Devicenet Application Module

    5 Specifications and Dimensional Drawings of Cables and Peripheral Devices 5.5.16 DeviceNet Application Module 5.5.16 DeviceNet Application Module (1) Model: JUSP-NS300 (2) Specifications Item Details Applicable SERVOPACK All SGDH- EB models Installation Method Mounted on the SGDH SERVOPACK side: CN10. Power Supply Method Supplied from the SERVOPACK control power supply.

  • Page 125: Profibus-Dp Application Module

    5.5 Peripheral Devices 5.5.17 PROFIBUS-DP Application Module (1) Model: JUSP-NS500 (2) Specifications Item Details Applicable SERVOPACk All SGDH- EB models Installation Method Mounted on the SGDH SERVOPACK side: CN10. Power Supply Method Supplied from the SERVOPACK control power supply. Basic Specifications Power Consumption 1.3 W...

  • Page 126: Fully-Closed Application Module

    5 Specifications and Dimensional Drawings of Cables and Peripheral Devices 5.5.18 Fully-closed Application Module 5.5.18 Fully-closed Application Module (1) Model: JUSP-FC100 (2) Specifications Item Details Applicable SERVOPACK All SGDH- EB models Installation Method Mounted on the SGDH SERVOPACK side: CN10. Power Supply Method Supplied from the SERVOPACK control power supply.

  • Page 127: Wiring

    Wiring 6.1 Wiring Main Circuit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-2 6.1.1 Names and Functions of Main Circuit Terminals - - - - - - - - - - - - - - - - 6-2 6.1.2 Typical Main Circuit Wiring Examples - - - - - - - - - - - - - - - - - - - - - - - 6-4 6.2 Wiring Encoders - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-8 6.2.1 Connecting an Encoder (CN2) and...

  • Page 128: Wiring Main Circuit

    6 Wiring 6.1.1 Names and Functions of Main Circuit Terminals 6.1 Wiring Main Circuit This section describes typical examples of main circuit wiring, functions of main circuit terminals, and the power ON sequence. CAUTION • Do not bundle or run power and signal lines together in the same duct. Keep power and signal lines sepa- rated by at least 300 mm.
  • Page 129 6.1 Wiring Main Circuit (2) Servomotor terminal names and description Main External Terminal Circuit Terminal Symbol Functions Name Voltage − U, V, W SERVOPACK Connects to the U, V and W terminals of the connection terminal SERVOPACK. U (A), +10%, -15% Three-phase 200 to 230 VAC (50/60 Hz) V (B),...

  • Page 130: Typical Main Circuit Wiring Examples

    6 Wiring 6.1.2 Typical Main Circuit Wiring Examples 6.1.2 Typical Main Circuit Wiring Examples (1) Three-phase 200 V, 22 kW and 30 kW SERVOPACKs Three-phase W(C) 200 to 230 VAC (50/60 Hz) V(B) U(A) Regen- SERVOPACK erative SGDM- DB Unit SGDH- Resistor Thermal...
  • Page 131 6.1 Wiring Main Circuit (2) Three-phase 200 V, 37 kW SERVOPACK Three-phase W(C) 200 to 230 VAC (50/60 Hz) V(B) U(A) SERVOPACK Regen- erative SGDM- DB Unit SGDH- Resistor Thermal DB24 protector DBON L1C/r L3C/t L1/R L2/S L3/T (Alarm lamp) +24V ALM+ Main circuit...
  • Page 132 6 Wiring 6.1.2 Typical Main Circuit Wiring Examples (3) Three-phase 400 V, 22 kW and 30 kW SERVOPACKs W(C) Three-phase 380 to 480 VAC (50/60 Hz) V(B) U(A) Regen- SERVOPACK erative SGDH- DB Unit Resistor Prepared by customer Control power supply 24 VDC −...
  • Page 133 6.1 Wiring Main Circuit (4) Three-phase 400 V, 37 kW to 90 kW SERVOPACKs W(C) Three-phase 380 to 480 VAC V(B) U(A) SERVOPACK SGDH- DB Unit Prepared by customer Control power supply 24 VDC − DB24 Thermal DBON protector DC24P DC24N L1/R L2/S...

  • Page 134: Wiring Encoders

    6 Wiring 6.2.1 Connecting an Encoder (CN2) and Output Signals from the SERVOPACK (CN1) 6.2 Wiring Encoders The connection cables between encoder and SERVOPACK and wiring pin numbers differ depending on servo- motor model. Refer to 5 Specifications and Dimensional Drawings of Cables and Peripheral Devices for details. 6.2.1 Connecting an Encoder (CN2) and Output Signals from the SERVOPACK (CN1) (1) Incremental Encoders...

  • Page 135: Encoder Connector (Cn2) Terminal Layout

    6.2 Wiring Encoders (2) Absolute Encoders SERVOPACK 1-33 ∗2 1-34 Absolute encoder /PAO 1-35 ∗1 1-36 /PBO Blue 1-19 1-20 /PCO White/blue 1-48 1-49 /PSO Orange 1-21 BAT(+) Battery White/orange 1-22 BAT(–) – +5 V PG5 V PG0 V Inner shield Connector Connector...

  • Page 136: I/O Signal Connections

    6 Wiring 6.3.1 Example of I/O Signal Connection 6.3 I/O Signal Connections 6.3.1 Example of I/O Signal Connection SGDM/SGDH SERVOPACK Speed reference ∗ 2 ∗ 1 ± ± V -REF 2V to ALO1 Alarm code output /rated motor Max. operating voltage: speed ALO2 30 VDC...

  • Page 137: I/O Signal Connector (Cn1) Terminal Layout

    6.3 I/O Signal Connections 6.3.2 I/O Signal Connector (CN1) Terminal Layout The following diagram shows the terminal layout and the signals that are preset before shipping. Signal Num- Function Name Speed coinci- /V-CMP- dence detec- (/COIN-) tion output Running sig- 27 /TGON+ nal output Open-collec-...

  • Page 138: I/O Signal (Cn1) Names And Functions

    6 Wiring 6.3.3 I/O Signal (CN1) Names and Functions 6.3.3 I/O Signal (CN1) Names and Functions (1) Input Signals Refer- Signal Name Pin No. Function ence 8.3.1 /S-ON Servo ON: Turns ON the servomotor when the gate block in the inverter is released. −...
  • Page 139 6.3 I/O Signal Connections (2) Output Signals Signal Name Pin No. Function Reference ALM+ 8.11.1 Servo alarm: Turns OFF when an error is detected. ALM- Detection during servomotor rotation: Detects when the servomotor is rotating /TGON+ 8.11.3 at a speed higher than the motor speed setting. Detection speed can be set by using /TGON- the parameters.

  • Page 140: Interface Circuit

    6 Wiring 6.3.4 Interface Circuit 6.3.4 Interface Circuit This section shows examples of SERVOPACK I/O signal connection to the host controller. (1) Interface for Reference Input Circuits (a) Analog Input Circuit CN1 connector terminals, 5-6: Speed reference input and 9-10: Torque reference input are explained below. Analog signals are either speed or torque reference signals at the impedance below.
  • Page 141 6.3 I/O Signal Connections (2) Sequence Input Circuit Interface CN1 connector terminals 40 to 47 is explained below. The sequence input circuit interface connects through a relay or open-collector transistor circuit. Select a low- current relay otherwise a faulty contact will result. Relay Circuit Example Open-collector Circuit Example SERVOPACK...
  • Page 142 6 Wiring 6.3.4 Interface Circuit (b) Open-collector Output Circuit CN1 connector terminals 37 to 39: Alarm code output are explained below. Alarm code signals (ALO1, ALO2, ALO3) are output from open-collector transistor output circuits. Con- nect an open-collector output circuit through a photocoupler, relay circuit, or line receiver circuit. Photocoupler Circuit Example Relay Circuit Example 5 to 12 VDC...

  • Page 143: Others

    6.4 Others 6.4 Others 6.4.1 Wiring Precautions To ensure safe and stable operation, always observe the following wiring precautions. 1. For wiring for reference inputs and encoders, use the specified cables. Refer to 5 Specifications and IMPORTANT Dimensional Drawings of Cables and Peripheral Devices for details. Use cables as short as possible.

  • Page 144: Wiring For Noise Control

    6 Wiring 6.4.2 Wiring for Noise Control 6.4.2 Wiring for Noise Control (1) Wiring Example The SERVOPACK uses high-speed switching elements in the main circuit. It may receive “switching noise” from these high-speed switching elements if the processing of wiring or grounding around the SERVOPACK is not appropriate.
  • Page 145 6.4 Others SGDH Servomotor SERVOPACK Noise filter L1/R L2/S (FG) 380 to 480 L3/T DC24P 3.5 mm 24 VDC DC24N ∗1 min. 380 to 480 V (Casing) 2.0 mm Operation relay min. sequence Signal generation circuit (provided by customer) ∗ 2 3.5 mm (Ground) min.
  • Page 146 6 Wiring 6.4.2 Wiring for Noise Control (3) Using Noise Filters Use an inhibit type noise filter to prevent noise from the power supply line. The following table lists recom- mended noise filters for each SERVOPACK model. Install a noise filter on the power supply line for peripheral equipment as necessary. Recommended Noise Filters Voltage SERVOPACK Model...
  • Page 147 6.4 Others 2. Separate the noise filter ground wire from the output lines. Do not accommodate the noise filter ground wire, output lines, and other signal lines in the same duct or bundle them together. Incorrect Correct Noise Noise filter filter The ground wire can be close to...

  • Page 148: Using More Than One Servopack

    6 Wiring 6.4.3 Using More Than One SERVOPACK 6.4.3 Using More Than One SERVOPACK The following diagram is an example of the wiring when more than one SERVOPACK is used. Connect the alarm output (ALM) terminals for the three SERVOPACKs in series to enable alarm detection relay 1Ry to operate.
  • Page 149 6.4 Others (2) Three-phase 400 VAC: SGDH- Power supply R S T Three-phase 380 to 480 VAC Power Power SERVOPACK L1/R Servomotor L2/S L3/T DC24P DC24N DC24 V +24 V 31 ALM+ 32 ALM - SERVOPACK L1/R Servomotor L2/S L3/T DC24P DC24N 31 ALM+...
  • Page 150 6 Wiring 6.4.4 Extending Encoder Cables 6.4.4 Extending Encoder Cables Standard encoder cables have a maximum length of 20 m. If a longer cable is required, prepare an extension cable as described below. The maximum allowable cable length is 50 m. For the encoder cable specifications, refer to 5.3 Connectors and Cables for Encoder Signals.
  • Page 151 Digital Operator/Panel Operator 7.1 Functions on Digital Operator/Panel Operator - - - - - - - - - - - 7-2 7.1.1 Connecting the Digital Operator - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-2 7.1.2 Key Names and Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-3 7.1.3 Basic Mode Selection and Operation - - - - - - - - - - - - - - - - - - - - - - - - 7-4 7.1.4 Status Display - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-5...

  • Page 152: Digital Operator/Panel Operator

    ..DIGITAL SERVOPACK OPERATOR JUSP-OP02A ALARM DSPL RESET DATA SVON ENTER YASKAWA WARNING May cause electric shock. Disconnect all power and wait 5 min. before servicing. Use proper grounding techniques. A dedicated cable is used to connect the digital operator to the SERVOPACK.

  • Page 153: Key Names And Functions

    ENTER To display parameter setting and set value. DATA ENTER DATA/ YASKAWA (DATA/ENTER K ey) (DATA/SHIFT Key) Press the UP Key to increase the set value. For JOG operation, this key is used as Forward Run Start Key. (UP Key) (UP Key) Press the DOWN Key to decrease the set value.

  • Page 154: Basic Mode Selection And Operation

    7 Digital Operator/Panel Operator 7.1.3 Basic Mode Selection and Operation 7.1.3 Basic Mode Selection and Operation The basic modes include: Status display mode, Utility Function Mode, Parameter Setting Mode, and Monitor Mode. Select a basic mode to display the operation status, set parameters and operation references. The basic mode is selected in the following order.

  • Page 155: Status Display

    7.1 Functions on Digital Operator/Panel Operator 7.1.4 Status Display Bit data Code (1) Bit Data and Meanings Speed or Torque Control Mode Position Control Mode Item Bit Data Meaning Bit Data Meaning Control Lit when SERVOPACK control power is Control Lit when SERVOPACK control power sup- Power ON Power ON...
  • Page 156 7 Digital Operator/Panel Operator 7.1.4 Status Display (2) Codes and Meanings Code Meaning Baseblock Servo OFF (motor power OFF) Servo ON (motor power ON) Forward Run Prohibited CN1-42 (P-OT) is OFF. Reverse Run Prohibited CN1-43 (N-OT) is OFF. Alarm Status Displays the alarm number.

  • Page 157: Operation In Utility Function Mode (Fn )

    7.2 Operation in Utility Function Mode (Fn 7.2 Operation in Utility Function Mode (Fn 7.2.1 List of Utility Function Modes This section describes how to apply the basic operations using the panel operator to run and adjust the motor. The following table shows the parameters in the utility function mode. Parameter Function Remarks...

  • Page 158: Alarm Traceback Data Display (Fn000)

    7 Digital Operator/Panel Operator 7.2.2 Alarm Traceback Data Display (Fn000) 7.2.2 Alarm Traceback Data Display (Fn000) The alarm traceback display can display up to 10 previously occurred alarms. The alarm data is displayed on Fn000, which is stocked in the alarm traceback data. The data can be cleared using an utility function mode “Alarm Traceback Data Clear.”...

  • Page 159: Zero-Point Search Mode (Fn003)

    7.2 Operation in Utility Function Mode (Fn 7.2.3 Zero-point Search Mode (Fn003) CAUTION • Forward run prohibited (P-OT) and reverse run prohibited (N-OT) signals are disabled during zero-point search mode operations using Fn003. The zero-point search mode is designed to perform positioning to the zero-point pulse (phase-C) position of the encoder and to clamp at the position.

  • Page 160: Parameter Settings Initialization (Fn005)

    7 Digital Operator/Panel Operator 7.2.4 Parameter Settings Initialization (Fn005) Forward run prohibited (P-OT) and reverse run prohibited (N-OT) signals cannot be input during the zero-point search INFO operation. 7.2.4 Parameter Settings Initialization (Fn005) This function is used when returning to the factory settings after changing parameter settings. Pressing the DSPL/SET or MODE/SET Key during servo ON does not initialize the parameter settings.

  • Page 161: Alarm Traceback Data Clear (Fn006)

    7.2 Operation in Utility Function Mode (Fn 7.2.5 Alarm Traceback Data Clear (Fn006) This function clears the alarm traceback data, which stores the alarms generated in the SERVOPACK. After having cleared data, “A.--” (No alarm) is set to all the alarm traceback data. Display after Step Digital Operator Panel Operator...

  • Page 162: Manual Zero Adjustment And Gain Adjustment Of Analog Monitor Output (Fn00C, Fn00D)

    7 Digital Operator/Panel Operator 7.2.6 Manual Zero Adjustment and Gain Adjustment of Analog Monitor Output (Fn00C, Fn00D) 7.2.6 Manual Zero Adjustment and Gain Adjustment of Analog Monitor Output (Fn00C, Fn00D) Motor speed, torque reference, and position error can be monitored through the analog monitor output. Refer to 9.5 Analog Monitor.
  • Page 163 7.2 Operation in Utility Function Mode (Fn (1) Manual Zero adjustment of Analog Monitor Output (Fn00C) Display after Step Digital Operator Panel Operator Description Operation DSPL Press the DSPL/SET or MODE/SET Key to select the utility function mode. (DSPL/SET Key) MODE/SET (MODE/SET Key) Press the UP or DOWN Key to select Fn00C.
  • Page 164 7 Digital Operator/Panel Operator 7.2.6 Manual Zero Adjustment and Gain Adjustment of Analog Monitor Output (Fn00C, Fn00D) (2) Manual Gain adjustment of Analog Monitor Output (Fn00D) Display after Step Digital Operator Panel Operator Description Operation DSPL Press the DSPL/SET or MODE/SET Key to select the utility function mode.

  • Page 165: Offset Adjustment Of Motor Current Detection Signal (Fn00E, Fn00F)

    7.2 Operation in Utility Function Mode (Fn 7.2.7 Offset Adjustment of Motor Current Detection Signal (Fn00E, Fn00F) Motor current detection offset adjustment has performed at Yaskawa before shipping. Basically, the user need not perform this adjustment. Perform this adjustment only if highly accurate adjustment is required for reducing torque ripple caused by cur- rent offset.
  • Page 166 7 Digital Operator/Panel Operator 7.2.7 Offset Adjustment of Motor Current Detection Signal (Fn00E, Fn00F) (2) Manual Offset Adjustment of Motor Current Detection Signal (Fn00F) The adjusting range of the motor current detection offset is -512 to +511. To adjust the offset, perform the automatic adjustment (Fn00E) first. And if the torque ripple is still big after the automatic adjustment, perform the manual adjustment.

  • Page 167: Password Setting (Protects Parameters From Being Changed) (Fn010)

    7.2 Operation in Utility Function Mode (Fn 7.2.8 Password Setting (Protects Parameters from Being Changed) (Fn010) The write prohibited setting is used for preventing accidental changes of the parameter. All the parameters and some of Fn become write prohibited by setting values. Refer to 7.2.1 List of Utility Function Modes for details.

  • Page 168: Motor Models Display (Fn011)

    7 Digital Operator/Panel Operator 7.2.9 Motor Models Display (Fn011) 7.2.9 Motor Models Display (Fn011) This mode is used for motor maintenance such as checking the connected servomotor model, voltage, capacity, encoder type, or encoder resolution. Set the parameter Fn011 to select the motor model check mode. If the SER- VOPACK has been custom-made, you can also check the specification codes of SERVOPACKs.

  • Page 169: Software Version Display (Fn012)

    7.2 Operation in Utility Function Mode (Fn 7.2.10 Software Version Display (Fn012) Set the Fn012 to select the software-version check mode to check the SERVOPACK and encoder software ver- sion. Display after Step Digital Operator Panel Operator Description Operation Press the DSPL/SET or MODE/SET Key to select the DSPL utility function mode.

  • Page 170: Application Module Detection Results Clear (Fn014)

    7 Digital Operator/Panel Operator 7.2.11 Application Module Detection Results Clear (Fn014) 7.2.11 Application Module Detection Results Clear (Fn014) The alarm A.E7 (application module detection error) occurs when turning ON the power for the first time when the SERVOPACK is used without application module after the SERVOPACK has been used with application module.

  • Page 171: Operation In Parameter Setting Mode (Pn )

    7.3 Operation in Parameter Setting Mode (Pn 7.3 Operation in Parameter Setting Mode (Pn Functions can be selected or adjusted by setting parameters. There are two types of parameters. One type requires value setting and the other requires function selection. These two types use different setting methods. With value setting, a parameter is set to a value within the specified range of the parameter.
  • Page 172 7 Digital Operator/Panel Operator 7.3.1 Setting Parameters (c) Parameter Indications In this manual, the parameter is explained with using the following format. Applicable control mode for the parameter : Speed control, internally set speed control Speed : Position control Positoin : Torque control Torque The name of the...
  • Page 173 7.3 Operation in Parameter Setting Mode (Pn (b) Example of Changing Function Selection The procedure to change the setting of control method selection (Pn000.1) of the function selection basic switches (Pn000) from speed control to position control is shown below. Display after Digital Step...

  • Page 174: Input Circuit Signal Allocation

    7 Digital Operator/Panel Operator 7.3.2 Input Circuit Signal Allocation (c) Parameter Indications Each digit of the function selection parameters is defined as the hexadecimal display. The parameter display example shows how parameters are displayed in digits for set values. 1st digit 2nd digit 3rd digit 4th digit...
  • Page 175 7.3 Operation in Parameter Setting Mode (Pn (2) Changing the Allocation (Pn50A.0 = 1) Set the parameter in accordance with the relation between the signal to be used and the input connector pin. After having changed the parameter, turn OFF the power and ON again to enable the parameters. means factory setting.
  • Page 176 7 Digital Operator/Panel Operator 7.3.2 Input Circuit Signal Allocation (3) Allocating Input Signals The procedure to replace Servo ON (/S-ON) signal allocated to CN1-40 and Forward External Torque Limit EXAMPLE (/P-CL) allocated to CN1-45 is shown below. Before After Pn50A: Pn50B: Display after Digital...

  • Page 177: Output Circuit Signal Allocation

    7.3 Operation in Parameter Setting Mode (Pn 7.3.3 Output Circuit Signal Allocation Functions can be allocated to the following sequence output signals. After having changed the parameter, turn OFF the power and ON again to enable the parameters. means factory setting. CN1 Pin No.
  • Page 178 7 Digital Operator/Panel Operator 7.3.3 Output Circuit Signal Allocation • Allocating Output Signals The procedure to replace Servomotor Rotation Detection (/TGON) signal allocated to CN1-27 (28) with EXAMPLE factory setting to “Invalid” and allocate Brake Interlock (/BK) signal to CN1-27 (28) is shown below. Before After Pn50E:...

  • Page 179: Operation In Monitor Mode (Un )

    7.4 Operation in Monitor Mode (Un 7.4 Operation in Monitor Mode (Un The monitor mode can be used for monitoring the reference values, I/O signal status, and SERVOPACK internal status. The monitor mode can be selected during motor operation. 7.4.1 List of Monitor Modes (1) Contents of Monitor Mode Display Parameter Content of Display...
  • Page 180 7 Digital Operator/Panel Operator 7.4.1 List of Monitor Modes (2) Sequence I/O Signal Monitor Display The following section describes the monitor display for sequence I/O signals. (a) Input Signal Monitor Display The status of input signal allocated to each input terminal is displayed: When the input is in OFF (open) status, the top segment (LED) is lit.
  • Page 181 7.4 Operation in Monitor Mode (Un (b) Output Signal Monitor Display The status of output signal allocated to each output terminal is displayed: When the output is in OFF (open) status, the top segment (LED) is lit. When the output is in ON (short-circuited) status, the bottom segment is lit. Top: OFF (H level) Bottom: ON (L level) 7 6 5...
  • Page 182 7 Digital Operator/Panel Operator 7.4.1 List of Monitor Modes (4) Monitor Display of Reference Pulse Counter and Feedback Pulse Counter The monitor display of reference pulse counter and feedback pulse counter is expressed in 32-bit hexadecimal. Display after Digital Panel Step Description Operation...

  • Page 183: Operation

    Operation 8.1 Trial Operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-4 8.1.1 Trial Operation for Servomotor without Load - - - - - - - - - - - - - - - - - - 8-6 8.1.2 Trial Operation for Servomotor without Load from Host Reference - - - 8-9 8.1.3 Trial Operation with the Servomotor Connected to the Machine - - - - 8-15 8.1.4 Servomotor with Brakes - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-16...
  • Page 184 8 Operation 8.6 Operating Using Position Control - - - - - - - - - - - - - - - - - - - 8-49 8.6.1 Setting Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-49 8.6.2 Setting the Electronic Gear - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-51 8.6.3 Position Reference - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-54 8.6.4 Smoothing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-57...
  • Page 185 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 186: Trial Operation

    8 Operation 8.1 Trial Operation Make sure that all wiring has been completed prior to trial operation. Perform the following three types of trial operation in order. Instructions are given for speed control mode (stan- dard setting) and position control mode. Unless otherwise specified, the standard parameters for speed control mode (factory setting) are used.
  • Page 187 8.1 Trial Operation Step Item Description Reference Install the servomotor and SERVOPACK according to the installation conditions. Installation − (Do not connect the servomotor to the machine because the servomotor will be oper- and mounting ated first under a no-load condition for checking.) Connect the power supply circuit (refer to 6.1.2), servomotor wiring (U, V, W), I/O signal wiring (CN1), and encoder wiring (CN2).

  • Page 188: Trial Operation For Servomotor Without Load

    8 Operation 8.1.1 Trial Operation for Servomotor without Load 8.1.1 Trial Operation for Servomotor without Load CAUTION • Release the coupling between the servomotor and the machine, and secure only the servomotor without a load. To prevent accidents, initially perform the trial operation for servomotor under no-load conditions (with all couplings and belts disconnected).
  • Page 189 8.1 Trial Operation Step Description Check Method and Remarks Operate with the panel operator. SERVOPACK Panel Operator Use the panel operator to operate the servomotor with utility func- tion Fn002 (Jog Mode Operation). Check that the servomotor rotates in the forward direction by UP key, and reverse direction by DOWN key.
  • Page 190 8 Operation 8.1.1 Trial Operation for Servomotor without Load The servomotor’s rotation direction depends on the setting of parameter Pn000.0 (Direction Selection). The example on INFO the previous page describes operation with Pn000.0 in the factory setting. Pn304 JOG Speed Speed Setting Range Setting Unit...
  • Page 191 8.1 Trial Operation 8.1.2 Trial Operation for Servomotor without Load from Host Reference Check that the servomotor move reference or I/O signals are correctly set from the host controller to the SERVO- PACK. Also check that the wiring and polarity between the host controller and SERVOPACK, and the SERVO- PACK operation settings are correct.
  • Page 192 8 Operation 8.1.2 Trial Operation for Servomotor without Load from Host Reference Step Description Check Method and Remarks Configure an input signal circuit necessary for servo ON. Satisfy the following conditions: Connect the I/O signal connectors (CN1) in the circuit on 1.
  • Page 193 8.1 Trial Operation (2) Operating Procedure in Speed Control Mode (Pn000 = n. The following circuit is required: External input signal circuit or equivalent. SERVOPACK +24V /S-ON P-OT N-OT V-REF : Max. voltage (12 V) Step Description Check Method and Remarks Check the power and input signal circuits again, and check that the speed reference input (voltage Refer to the above figure for input signal circuit.
  • Page 194 8 Operation 8.1.2 Trial Operation for Servomotor without Load from Host Reference When Position Control is configured at the Host INFO Analog speed reference Host SERVOPACK Trial operation for servomotor without load Position control Speed control When the SERVOPACK conducts speed control and position control is conducted at the host controller, perform the oper- ations below, following the operations in (2) Operating Procedure in Speed Control Mode (Pn000 = n.
  • Page 195 8.1 Trial Operation (3) Operating Procedure in Position Control Mode (Pn000 = n. The following circuit is required: External input signal circuit or equivalent. SERVOPACK +24V /S-ON P-OT N-OT CLR ∗ PULS /PULS Reference pulse SIGN according to parameter /SIGN Pn200.0 setting ∗...
  • Page 196 8 Operation 8.1.2 Trial Operation for Servomotor without Load from Host Reference Step Description Check Method and Remarks Check that the Un007 and Un000 values in steps 9 − and 10 are equal. To change the motor rotation direction without chang- ing input reference pulse form, refer to 8.3.2 Switching the Servomotor Rotation Direction.

  • Page 197: Trial Operation For Servomotor Without Load From Host Reference

    8.1 Trial Operation 8.1.3 Trial Operation with the Servomotor Connected to the Machine WARNING • Follow the procedure below for trial operation precisely as given. Malfunctions that occur after the servomotor is connected to the machine not only damage the machine, but may also cause an accident resulting death or injury.

  • Page 198: Servomotor With Brakes

    8 Operation 8.1.4 Servomotor with Brakes 8.1.4 Servomotor with Brakes Holding brake operation of the servomotor with brake can be controlled with the brake interlock output (/BK) signal of the SERVOPACK. When checking the brake operation, take advance measures to prevent vibration due to gravity acting on the machine or external forces.

  • Page 199: Control Mode Selection

    8.2 Control Mode Selection 8.2 Control Mode Selection The control modes supported by the SGDM/SGDH SERVOPACKs are described below. Reference Parameter Control Mode Section Pn000 Speed Control (Analog voltage speed reference) (Factory Controls servomotor speed by means of an analog voltage speed reference. Use in the following instances.

  • Page 200: Setting Common Basic Functions

    8 Operation 8.3.1 Setting the Servo ON Signal 8.3 Setting Common Basic Functions 8.3.1 Setting the Servo ON Signal This sets the servo ON signal (/S-ON) that determines whether the servomotor power is ON or OFF. (1) Servo ON signal (/S-ON) Connector Pin Type Name...

  • Page 201: Switching The Servomotor Rotation Direction

    8.3 Setting Common Basic Functions 8.3.2 Switching the Servomotor Rotation Direction The rotation direction of the servomotor can be switched without changing the reference pulse to the SERVO- PACK or the reference voltage polarity. This causes the travel direction (+, -) of the shaft reverse. The output signal polarity such as encoder pulse output and analog monitor signal from the SERVOPACK does not change.

  • Page 202: Setting The Overtravel Limit Function

    8 Operation 8.3.3 Setting the Overtravel Limit Function 8.3.3 Setting the Overtravel Limit Function The overtravel limit function forces movable machine parts to stop if they exceed the allowable range of motion and turn ON a limit switch. (1) Connecting the Overtravel Signal To use the overtravel function, connect the following overtravel limit switch input signal terminals.
  • Page 203 8.3 Setting Common Basic Functions (3) Selecting the Motor Stop Method When Overtravel is Used This is used to set the stop method when an overtravel (P-OT, N-OT) signal is input while the motor is operating. Mode After Parameter Stop Mode Meaning Stopping Pn001...

  • Page 204: Setting For Holding Brakes

    8 Operation 8.3.4 Setting for Holding Brakes 8.3.4 Setting for Holding Brakes The holding brake is used when a SERVOPACK controls a vertical axis. In other words, a servomotor with brake prevents the movable part from shifting due to gravity when the SERVOPACK power goes OFF. (Refer to 8.1.4 Servomotor with Brakes.) Vertical Shaft Shaft with External Force Applied...
  • Page 205 8.3 Setting Common Basic Functions Table 8.2 Calculation Method for Servomotor Stop Time Using SI Units Conventional Method ) × N 2π ) × N + GD (sec) × (sec) 375 × (T : Rotor moment of inertia (kg m : Motor GD (kgf m : Load moment of inertia (kg m...
  • Page 206 8 Operation 8.3.4 Setting for Holding Brakes (2) Brake Interlock Output (/BK) Connector Pin Type Name Setting Meaning Number ON (low level) Releases the brake. Output Must be allocated OFF (high level) Applies the brake. This output signal controls the brake and is used only for a servomotor with a brake. This output signal is not used with the factory settings.
  • Page 207 8.3 Setting Common Basic Functions (5) Setting the Brake ON Timing When Servomotor Running The following parameters can be used to change the /BK signal output conditions when a stop reference is output during servomotor operation due to the servo OFF or an alarm occurring. Pn507 Brake Reference Output Speed Level Speed...

  • Page 208: Selecting The Stopping Method After Servo Off

    8 Operation 8.3.5 Selecting the Stopping Method After Servo OFF 8.3.5 Selecting the Stopping Method After Servo OFF The stopping method when the power to the SERVOPACK turns OFF can be selected. Mode After Parameter Stop Mode Meaning Stopping Pn001 Stops the servomotor by dynamic braking (DB), Dynamic Brake then holds it in Dynamic Brake Mode.

  • Page 209: Instantaneous Power Loss Settings

    8.3 Setting Common Basic Functions 8.3.6 Instantaneous Power Loss Settings Determines whether to continue operation or turn the servo OFF when the power supply voltage to the SERVO- PACK main circuit is instantaneously interrupted. Pn509 Instantaneous Power Cut Hold Time Speed Position Torque...

  • Page 210: Absolute Encoders

    8 Operation 8.4 Absolute Encoders WARNING • The output range of multiturn data for the Σ-II series absolute detection system differs from that for conven- tional systems (15-bit encoder and 12-bit encoder). When an infinite length positioning system of the con- ventional type is to be configured with the Σ-II series, be sure to make the following system modification.

  • Page 211: Interface Circuits

    8.4 Absolute Encoders 8.4.1 Interface Circuits The following diagram shows the standard connections for a an absolute encoder mounted to a servomotor. The connection cables and wiring pin numbers depend on the servomotor. For details, refer to chapter 5 Specifica- tions and Dimensional Drawings of Cables and Peripheral Devices.

  • Page 212: Selecting An Absolute Encoder

    3.6 V, 2000 mAh Lithium battery JZSP-BA01-1 SERVOPACK ER3V Toshiba Battery Co., Ltd. 3.6 V, 1000 mAh * For Yaskawa model, a connector is included with a battery. (1) Battery Provided for SERVOPACK Connector for battery (CN8) For mounting battery POWER BATTERY MODE/SET...

  • Page 213: Replacing Batteries

    8.4 Absolute Encoders 8.4.4 Replacing Batteries The SERVOPACK will generate an absolute encoder battery alarm (A.83) when the battery voltage drops below about 2.7 V. This alarm is output, however, only when the SERVOPACK power is turned ON. If the voltage drops while the SERVOPACK power is ON, the SERVOPACK will not generate the alarm.

  • Page 214: Absolute Encoder Setup (Fn008)

    8 Operation 8.4.5 Absolute Encoder Setup (Fn008) 8.4.5 Absolute Encoder Setup (Fn008) Setting up (initializing) the absolute encoder is necessary in the following cases. • When starting the machine for the first time • When an encoder backup error alarm (A.81) is generated •...

  • Page 215: Absolute Encoder Reception Sequence

    8.4 Absolute Encoders 8.4.6 Absolute Encoder Reception Sequence The sequence in which the SERVOPACK receives outputs from the absolute encoder and transmits them to host controller is shown below. (1) Outline of Absolute Signals The serial data, pulses, etc., of the absolute encoder that are output from the SERVOPACK are output from the PAO, PBO, PCO, and PSO signals as shown below.
  • Page 216 8 Operation 8.4.6 Absolute Encoder Reception Sequence Reference position (setup) Current position Coordinate value Value M M × R Final absolute data P is calculated by following formula. Current value read by encoder = M × R + P Multiturn data (rotation count data) Number of initial incremental pulses Absolute data read at setup (This is saved and controlled by the host Use the following for reverse rotation...
  • Page 217 8.4 Absolute Encoders (b) PSO Serial Data Specifications The number of revolutions is always output in five digits and seven digits (absolute position within one revo- lution). Data Transfer Method Start-stop Synchronization (ASYNC) Baud rate 9600 bps Start bits 1 bit Stop bits 1 bit Parity...

  • Page 218: Multiturn Limit Setting

    8 Operation 8.4.7 Multiturn Limit Setting 8.4.7 Multiturn Limit Setting WARNING • The multiturn limit value must be changed only for special applications. Changing it inappropriately or unin- tentionally can be dangerous. • If the Multiturn Limit Disagreement alarm (A.CC) occurs, check the setting of parameter Pn205 to be sure that it is correct.

  • Page 219: Multiturn Limit Setting When Multiturn Limit Disagreement (A.cc) Occurred

    8.4 Absolute Encoders 8.4.8 Multiturn Limit Setting When Multiturn Limit Disagreement (A.CC) Occurred Perform the following operation using the digital operator or panel operator. This operation can only be done when the A.CC alarm is generated. Display after Digital Panel Step Description Operation...

  • Page 220: Operating Using Speed Control With Analog Reference

    8 Operation 8.5.1 Setting Parameters 8.5 Operating Using Speed Control with Analog Reference 8.5.1 Setting Parameters Parameter Description Pn000 Control mode selection: Speed control (analog reference) (factory setting) Pn300 Speed Reference Input Gain Speed Position Torque Setting Range Setting Unit Factory Setting Setting Validation 1.50 to 3000...

  • Page 221: Setting Input Signals

    8.5 Operating Using Speed Control with Analog Reference 8.5.2 Setting Input Signals (1) Speed Reference Input Input the speed reference to the SERVOPACK using the analog voltage reference to control the servomotor speed in proportion to the input voltage. Signal Connector Pin Type Name...

  • Page 222: Adjusting Offset

    8 Operation 8.5.3 Adjusting Offset 8.5.3 Adjusting Offset When using the speed control, the servomotor may rotate slowly even if 0 V is specified as the analog voltage reference. This happens if the host controller or external circuit has a slight offset (in the units of mV) in the ref- erence voltage.
  • Page 223 8.5 Operating Using Speed Control with Analog Reference (1) Automatic Adjustment of the Speed Reference Offset The automatic adjustment of reference offset (Fn009) cannot be used when a position loop has been formed with a host controller and the error pulse is changed to zero at the servomotor stop due to servolock. Use the speed ref- erence offset manual adjustment (Fn00A) described in the next section for a position loop.
  • Page 224 8 Operation 8.5.3 Adjusting Offset (2) Manual Adjustment of the Speed Reference Offset Use the speed reference offset manual adjustment (Fn00A) in the following situations: • If a loop is formed with the host controller and the position error pulse is to be zero when servolock is stopped.

  • Page 225: Soft Start

    8.5 Operating Using Speed Control with Analog Reference 8.5.4 Soft Start The soft start function converts the stepwise speed reference inside the SERVOPACK to a consistent rate of acceleration and deceleration. Pn305 Soft Start Acceleration Time Speed Setting Range Setting Unit Factory Setting Setting Validation 0 to 10000...
  • Page 226 8 Operation 8.5.6 Using the Zero Clamp Function (2) Parameter Setting Parameter Meaning Pn000 ⇔ Control mode selection: Speed control (analog voltage reference) Zero clamp Zero Clamp Conditions Zero clamp is performed with Pn000 = n. when the following two conditions are satisfied: •...

  • Page 227: Encoder Signal Output

    8.5 Operating Using Speed Control with Analog Reference 8.5.7 Encoder Signal Output Encoder feedback pulses processed inside the SERVOPACK can be output externally. Signal Connector Type Name Name Pin Number CN1-33 Encoder output phase A Output /PAO CN1-34 Encoder output phase /A CN1-35 Encoder output phase B Output...
  • Page 228 8 Operation 8.5.7 Encoder Signal Output • Pulse Dividing Ratio Setting The upper limit of PG dividing ratio (Pn201) is 16384 [P/R] that is decided for 16-bit encoder. However, SGMVH servomotors are equipped with 17-bit encoder as standard and 20-bit encoder as an option. There- fore, the parameter Pn212 is added to adapt the dividing pulse setting for 20-bit encoder.
  • Page 229 8.5 Operating Using Speed Control with Analog Reference When Pn212 is set without connecting a servomotor to the SERVOPACK, the upper limit is automatically set to (=1073741824: the maximum output value of the SERVOPACK) since the encoder resolution of the servo- motor is unknown.

  • Page 230: Speed Coincidence Output

    8 Operation 8.5.8 Speed Coincidence Output 8.5.8 Speed Coincidence Output The speed coincidence (/V-CMP) output signal is output when the actual motor speed during speed control is the same as the speed reference input. The host controller uses the signal as an interlock. Signal Connector Type...

  • Page 231: Operating Using Position Control

    8.6 Operating Using Position Control 8.6 Operating Using Position Control 8.6.1 Setting Parameters Set the following parameters for position control using pulse trains. (1) Control Mode Selection Parameter Meaning Pn000 Control mode selection: Position control (pulse train reference) (2) Setting a Reference Pulse Form Signal Connector Type...
  • Page 232 8 Operation 8.6.1 Setting Parameters (3) Clear Signal Form Selection Signal Connector Type Name Name Pin Number CN1-15 Clear Input Input /CLR CN1-14 Clear Input The internal processing of the SERVOPACK for the clear signal can be set to either of four types by parameter Pn200.1.

  • Page 233: Setting The Electronic Gear

    8.6 Operating Using Position Control 8.6.2 Setting the Electronic Gear (1) Number of Encoder Pulses SGMVH- (Servomotor model) Motor Model No. of Encoder Pulses Encoder Type Encoder Specifications (P/Rev) Incremental 17 bits 32768 encoder 17 bits 32768 Absolute encoder 20 bits 262144 Note: For details on reading servomotor model numbers, refer to 2.1 Servomotor Model Designations.
  • Page 234 8 Operation 8.6.2 Setting the Electronic Gear (3) Related Parameters Pn202 Electronic Gear Ratio (Numerator) Position Setting Range Setting Unit Factory Setting Setting Validation 1 to 65535 − After restart Pn203 Electronic Gear Ratio (Denominator) Position Setting Range Setting Unit Factory Setting Setting Validation −...
  • Page 235 8.6 Operating Using Position Control (5) Electronic Gear Ratio Setting Examples The following examples show electronic gear ratio settings for different load configurations. Load Configuration Ball Screw Disc Table Belt and Pulley Reference Unit: 0.02 mm Reference unit: 0.001 mm Reference unit: 0.1°...

  • Page 236: Position Reference

    8 Operation 8.6.3 Position Reference 8.6.3 Position Reference The servomotor positioning is controlled by inputting a pulse train reference. The pulse train output form from the host controller corresponds to the following: • Line-driver Output • +24V Open-collector output • +12V Open-collector output •...
  • Page 237 8.6 Operating Using Position Control (2) Connection Example (a) Connection Example for Line-driver Output Applicable line driver: SN75174 manufactured by Texas Instruments Inc., or MC3487 or the equivalent Host controller SERVOPACK Line driver ∗ 150 Ω Photocoupler PULS /PULS 150 Ω SIGN /SIGN 150 Ω...
  • Page 238 8 Operation 8.6.3 Position Reference The SERVOPACK internal power supply can be used. In this case, the circuit will not be isolated. Host controller SERVOPACK +12 V 1 kΩ Photocoupler PULS 150 Ω ∗ /PULS 1.5 V max. SIGN at ON /SIGN /CLR : Represents twisted-pair wires.

  • Page 239: Smoothing

    8.6 Operating Using Position Control 8.6.4 Smoothing A filter can be applied in the SERVOPACK to a constant-frequency reference pulse. (1) Selecting a Position Reference Filter Parameter Description Pn207 Acceleration/deceleration filter Average movement filter * After resetting the parameter, turn OFF the power once and turn it ON again. (2) Filter-related Parameters Pn204 Position Reference Acceleration/Deceleration Time Constant...

  • Page 240: Positioning Completed Output Signal

    8 Operation 8.6.5 Positioning Completed Output Signal 8.6.5 Positioning Completed Output Signal This signal indicates that servomotor movement has been completed during position control. Use the signal as an interlock to confirm at the host controller that positioning has been completed. Signal Connector Type...

  • Page 241: Positioning Near Signal

    8.6 Operating Using Position Control 8.6.6 Positioning Near Signal This signal indicates that the positioning of the servomotor is near to completion, and is generally used in combi- nation with the positioning completed (/COIN) output signal. The host controller receives the positioning near signal prior to confirming the positioning-completed signal, and performs the following operating sequence after positioning has been completed to shorten the time required for operation.

  • Page 242: Reference Pulse Inhibit Function (Inhibit)

    8 Operation 8.6.7 Reference Pulse Inhibit Function (INHIBIT) 8.6.7 Reference Pulse Inhibit Function (INHIBIT) (1) Description This function inhibits the SERVOPACK from counting input pulses during position control. The servomotor remains locked (clamped) while pulse are inhibited. SERVOPACK Pn000.1 Pn000=n. Reference pulse Error Pn000=n.

  • Page 243: Reference Pulse Input Multiplication Switching Function

    8.6 Operating Using Position Control 8.6.8 Reference Pulse Input Multiplication Switching Function If the /PSEL signal for switching the multiplication of the position reference pulse input turns ON or OFF, the multiplication factor can be switched from 1 to n (n = 1 to 99). And the status of this signal indicates whether the position multiplication is switched to 1 or n.
  • Page 244 8 Operation 8.6.8 Reference Pulse Input Multiplication Switching Function Parameter Description Pn513 Input signal from CN1-40 is ON (high level): Enabled Input signal from CN1-41 is ON (high level): Enabled Input signal from CN1-42 is ON (high level): Enabled Input signal from CN1-43 is ON (high level): Enabled Input signal from CN1-44 is ON (high level): Enabled Input signal from CN1-45 is ON (high level): Enabled Input signal from CN1-46 is ON (high level): Enabled...

  • Page 245: Operating Using Torque Control

    8.7 Operating Using Torque Control 8.7 Operating Using Torque Control 8.7.1 Setting Parameters The following parameters must be set for torque control operation with analog voltage reference. Parameter Meaning Pn000 Control mode selection: Torque control (analog voltage reference) Pn400 Torque Reference Input Gain Speed Position Torque...

  • Page 246: Adjusting The Reference Offset

    8 Operation 8.7.3 Adjusting the Reference Offset 8.7.3 Adjusting the Reference Offset (1) Automatic Adjustment of the Torque Reference Offset When using torque control, the servomotor may rotate slowly even when 0 V is specified as the analog reference voltage. This occurs when the host controller or external circuit has a slight offset (measured in mV) in the refer- ence voltage.
  • Page 247 8.7 Operating Using Torque Control (2) Manual Adjustment of the Torque Reference Offset Manual adjustment of the torque reference offset (Fn00B) is used in the following cases. • If a position loop is formed with the host controller and the error is zeroed when servolock is stopped. •...

  • Page 248: Limiting Servomotor Speed During Torque Control

    8 Operation 8.7.4 Limiting Servomotor Speed during Torque Control 8.7.4 Limiting Servomotor Speed during Torque Control During torque control, the servomotor is controlled to output the specified torque, which means that the servomo- tor speed is not controlled. Accordingly, when an excessive reference torque is set for the mechanical load torque, it will prevail over the mechanical load torque and the servomotor speed will greatly increase.
  • Page 249 8.7 Operating Using Torque Control (4) Signals Output during Servomotor Speed Limit Signal Connector Type Setting Meaning Name Pin Number ON (low level) Servomotor speed limit being applied. Must be allocated Output /VLT CN1- OFF (high level) Servomotor speed limit not being applied. This signal is output when the servomotor speed reaches the speed limit value set in Pn407 or set by the analog voltage ref- erence.

  • Page 250: Operating Using Speed Control With An Internally Set Speed

    8 Operation 8.8.1 Setting Parameters 8.8 Operating Using Speed Control with an Internally Set Speed • Internally Set Speed Selection This function allows speed control operation by externally selecting an input signal from among three servo- motor speed settings made in advance with parameters in the SERVOPACK. The speed control operations within the three settings are valid.

  • Page 251: Input Signal Settings

    8.8 Operating Using Speed Control with an Internally Set Speed 8.8.2 Input Signal Settings The following input signals are used to switch the operating speed. Signal Connector Pin Type Meaning Name Number /P-CON CN1-41 Input Switches the servomotor rotation direction. (/SPD-D) Must be allocated /P-CL...
  • Page 252 8 Operation 8.8.3 Operating Using an Internally Set Speed • Example of Operating with Internally Set Speed Selection The shock that results when the speed is changed can be reduced by using the soft start function. For details on the soft start function, refer to 8.5.4 Soft Start. Example: Operation with an Internally Set Speed and Soft Start Servomotor speed 3rd speed...

  • Page 253: Limiting Torque

    8.9 Limiting Torque 8.9 Limiting Torque The SERVOPACK provides the following four methods for limiting output torque to protect the machine. Setting Limiting Method Reference Section Level 8.9.1 Internal torque limit 8.9.2 External torque limit 8.9.3 Torque limiting by analog voltage reference 8.9.4 External torque limit + Torque limiting by analog voltage reference 8.9.1 Internal Torque Limit (Limiting Maximum Output Torque)

  • Page 254: External Torque Limit (Output Torque Limiting By Input Signals)

    8 Operation 8.9.2 External Torque Limit (Output Torque Limiting by Input Signals) 8.9.2 External Torque Limit (Output Torque Limiting by Input Signals) This function allows the torque to be limited at specific times during machine operation, for example, during press stops and hold operations for robot workpieces. An input signal is used to enable the torque limits previously set in parameters.

  • Page 255: Torque Limiting Using An Analog Voltage Reference

    8.9 Limiting Torque 8.9.3 Torque Limiting Using an Analog Voltage Reference Torque limiting by analog voltage reference limits torque by assigning a torque limit in an analog voltage to the T-REF terminals (CN1-9 and 10). This function can be used only during speed or position control, not during torque control.

  • Page 256: Torque Limiting Using An External Torque Limit And Analog Voltage Reference

    8 Operation 8.9.4 Torque Limiting Using an External Torque Limit and Analog Voltage Reference 8.9.4 Torque Limiting Using an External Torque Limit and Analog Voltage Reference This function can be used to combine torque limiting by an external input signal and by analog voltage reference. Because the torque limit by analog voltage reference is input from T-REF (CN1-9, 10), this function cannot be used during torque control.

  • Page 257: Checking Output Torque Limiting During Operation

    8.9 Limiting Torque (2) Input Signals Signal Connector Pin Type Name Name Number T-REF CN1-9 Torque reference input Input CN1-10 Signal ground for torque reference input The torque limit input gain is set in parameter Pn400. Refer to 8.7.1 Setting Parameters. Input Specifications ±...

  • Page 258: Control Mode Selection

    8 Operation 8.10.1 Setting Parameters 8.10 Control Mode Selection The methods and conditions for switching SERVOPACK control modes are described below. 8.10.1 Setting Parameters The following combinations of control modes can be selected according to the application at hand. Parameter Control Method Pn000 ⇔...

  • Page 259: Servo Alarm Output (Alm) And Alarm Code Output (Alo1, Alo2, Alo3)

    8.11 Other Output Signals 8.11 Other Output Signals The following output signals, which have no direct connection with the control modes, are used for machine pro- tection. 8.11.1 Servo Alarm Output (ALM) and Alarm Code Output (ALO1, ALO2, ALO3) (1) Servo Alarm Output (ALM) This signal is output when an error is detected in the SERVOPACK.

  • Page 260: Warning Output (/Warn)

    8 Operation 8.11.2 Warning Output (/WARN) 8.11.2 Warning Output (/WARN) Signal Connector Type Setting Meaning Name Pin Number ON (high level) Normal state Output /WARN Must be allocated OFF (low level) Warning state This output signal displays warnings before an overload (A.71) or regenerative overload (A.32) alarm is output. For use, the /WARN signal must be allocated with parameter Pn50F.

  • Page 261: Servo Ready (/S-Rdy) Output

    8.11 Other Output Signals 8.11.4 Servo Ready (/S-RDY) Output Signal Connector Pin Type Setting Meaning Name Number ON (low level) Servo is ready. CN1-29, 30 Output /S-RDY (Factory setting) OFF (high level) Servo is not ready. This signal indicates that the SERVOPACK received the servo ON signal and completed all preparations. It is output when there are no servo alarms and the main circuit power supply is turned ON.
  • Page 262 Adjustments 9.1 Autotuning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-2 9.1.1 Servo Gain Adjustment Methods - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-2 9.1.2 List of Servo Adjustment Functions - - - - - - - - - - - - - - - - - - - - - - - - - 9-2 9.2 Online Autotuning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-4...

  • Page 263: Autotuning

    9 Adjustments 9.1.1 Servo Gain Adjustment Methods 9.1 Autotuning 9.1.1 Servo Gain Adjustment Methods The SERVOPACK has the servo gains to determine the servo response characteristics. The servo gains are set in the parameters. The parameters are designated for each function as shown in 9.1.2 List of Servo Adjustment Functions.
  • Page 264 9.1 Autotuning (3) Vibration Reduction Functions Function Name and Description Features Valid Refer- Related Parameters Control ence Modes Section 8.5.4 Soft Start Converts a stepwise speed reference to a A constant acceleration/deceleration is Speed constant acceleration or deceleration for achieved for smoother operation. The Pn305 the specified time interval.

  • Page 265: Online Autotuning

    9 Adjustments 9.3.1 Explanation of Servo Gain 9.2 Online Autotuning Online autotuning functions cannot be used for SERVOPACKs of 22 kW or more. 9.3 Manual Tuning 9.3.1 Explanation of Servo Gain The block diagram for position control is as follows: Position control loop Speed control loop Speed...

  • Page 266: Servo Gain Manual Tuning

    9.3 Manual Tuning 9.3.2 Servo Gain Manual Tuning The SERVOPACK has the following parameters for the servo gains. Setting the servo gains in the parameters can adjust the servo responsiveness. • Pn100: Speed loop gain (Kv) • Pn101: Speed loop integral time constant (Ti) •...

  • Page 267: Speed Loop Gain

    9 Adjustments 9.3.4 Speed Loop Gain 9.3.4 Speed Loop Gain Pn100 Speed Loop Gain (Kv) Speed Position Setting Range Setting Unit Factory Setting Setting Validation 1 to 2,000 1 Hz Immediately This parameter determines the responsiveness of the speed loop. If the speed loop’s responsiveness is too low, it will delay the outer position loop and cause overshooting and vibration of the speed reference.

  • Page 268: Servo Gain Adjustment Functions

    9.4 Servo Gain Adjustment Functions 9.4 Servo Gain Adjustment Functions 9.4.1 Feed-forward Reference Pn109 Feed-forward Position Setting Range Setting Unit Factory Setting Setting Validation 0 to 100 Immediately Pn10A Feed-forward Filter Time Constant Position Setting Range Setting Unit Factory Setting Setting Validation 0 to 6,400 0.01ms...

  • Page 269: Speed Feed-Forward

    9 Adjustments 9.4.3 Speed Feed-forward 9.4.3 Speed Feed-forward Parameter Meaning Pn207 Disabled Uses V-REF terminal for speed feed-forward input. Pn300 Speed Reference Input Gain Position Speed Torque Setting Range Setting Unit Factory Setting Setting Validation 150 to 3,000 0.01 V/rated speed Immediately (1.50 to 30.00 V/rated speed)

  • Page 270: Proportional Control Operation (Proportional Operation Reference)

    9.4 Servo Gain Adjustment Functions 9.4.4 Proportional Control Operation (Proportional Operation Reference) If parameter Pn000.1 is set to 0 or 1 as shown below, the /P-CON input signal serves as switch to change between PI control and P control. • PI control: Proportional/Integral control •...

  • Page 271: Using The Mode Switch (P/Pi Switching)

    9 Adjustments 9.4.5 Using the Mode Switch (P/PI Switching) 9.4.5 Using the Mode Switch (P/PI Switching) Use the mode switch (P/PI switching) function in the following cases: • To suppress overshooting during acceleration or deceleration (for speed control) • To suppress undershooting during positioning and reduce the settling time (for position control) Speed Overshoot Actual motor operation...
  • Page 272 9.4 Servo Gain Adjustment Functions Using the Torque Reference Level to Switch Modes (Factory Setting) With this setting, the speed loop is switched to P Reference speed otor speed Speed control when the value of torque reference input exceeds the torque set in parameter Pn10C. The fac- tory default setting for the torque reference detection point is 200% of the rated torque (Pn10C = 200).
  • Page 273 9 Adjustments 9.4.5 Using the Mode Switch (P/PI Switching) Using the Acceleration Level to Switch Modes With this setting, the speed loop is switched to P Reference speed otor speed Speed control when the motor’s acceleration rate exceeds the acceleration rate set in parameter Pn10E. otor acceleration +Pn10E Acceler-...

  • Page 274: Setting The Speed Bias

    9.4 Servo Gain Adjustment Functions 9.4.6 Setting the Speed Bias The settling time for positioning can be reduced by setting the following parameters to add bias in the speed ref- erence block in the SERVOPACK. Pn107 Bias Position Setting Range Setting Unit Factory Setting Setting Validation...

  • Page 275: Switching Gain Settings

    9 Adjustments 9.4.9 Switching Gain Settings 9.4.9 Switching Gain Settings Gain switching functions by the external signal, or by using automatic gain switching that is enabled only at posi- tion control, are built into the SGDM/SGDH SERVOPACK. For example, to use different gains while the servo- motor is running or stopped, set two values in the gain settings 1 and 2 and switch the gains.
  • Page 276 9.4 Servo Gain Adjustment Functions (2) Automatic Gain Switching Function The automatic gain switching function switches the gain setting between the gain setting 1 and 2 according to the condition: Whether position reference is specified or not, or Position error level, or AND logic of the above two determined conditions The position reference of the automatic gain switching condition indicates the reference pulses from CN1.

  • Page 277: Torque Reference Filter

    9 Adjustments 9.4.10 Torque Reference Filter (1) Related Parameters Parameter Meaning Pn10B n. 0 Automatic gain switching disabled (Factory setting) n. 1 Switches the gain according to the position reference condition only. n. 2 Switches the gain according to the position error condition only. n.
  • Page 278 9.4 Servo Gain Adjustment Functions (2) Notch Filter Using the notch filter in accordance with the components of specific vibration frequency such as resonances of ball screw can eliminate the frequency components to stop the vibration. The performances of first stage notch filter and second stage notch filter are identical. Use First Stage Notch Filter.
  • Page 279 9 Adjustments 9.4.10 Torque Reference Filter (a) Notch Filter The notch filter can decrease the set frequency responsiveness. The notch filter puts a notch in the gain curve at the specific vibration frequency. The frequency components near the notch frequency can be eliminated with this characteristic.
  • Page 280 9.4 Servo Gain Adjustment Functions 1. Sufficient precautions must be taken when setting the notch frequency. Do not set the notch filter fre- IMPORTANT quency (Pn409, Pn40B) that is close to the speed loop’s response frequency. Set the frequency at least four times higher than the speed loop’s response frequency.

  • Page 281: Analog Monitor

    9 Adjustments 9.5 Analog Monitor Signals for analog voltage references can be monitored. To monitor analog signals, connect the analog monitor cable (JZSP-CA01 or DE9404559) to the connector CN5. The analog monitor signals can be selected by setting parameters Pn003.0 and Pn003.1. Analog monitor cable model: JZSP-CA01 or DE9404559 Black...
  • Page 282 9.5 Analog Monitor (1) Related Parameters The following signals can be monitored. (a) Pn003: Function Selections Parameter Function Monitor 1 Monitor 2 Monitor Signal Observation Gain Remarks Pn003 Motor speed Factory setting for Monitor 1 1 V / 1000 min −...

  • Page 283: Inspection, Maintenance, And Troubleshooting

    Inspection, Maintenance, and Troubleshooting 10.1 Troubleshooting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-2 10.1.1 Alarm Display Table - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-2 10.1.2 Warning Display - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-4 10.1.3 Alarm Display Table when the Application Module is Used - - - - - - - 10-5 10.1.4 Warning Display Table when the Application Module is Used - - - - - 10-6...

  • Page 284: Alarm Display Table

    10 Inspection, Maintenance, and Troubleshooting 10.1.1 Alarm Display Table 10.1 Troubleshooting 10.1.1 Alarm Display Table The relation between alarm displays and alarm code outputs is shown in Table 10.1. If an alarm occurs, the servomotor can be stopped by doing either of the following operations. •...
  • Page 285 10.1 Troubleshooting Table 10.1 Alarm Displays and Outputs (cont’d) Alarm Alarm Code Output Servo Alarm Reset Alarm Alarm Name Meaning Display (ALM) ALO1 ALO2 ALO3 Output A.81 Encoder Backup Error All the power supplies for the absolute encoder have failed and position data was cleared.

  • Page 286: Warning Display

    10 Inspection, Maintenance, and Troubleshooting 10.1.2 Warning Display 10.1.2 Warning Display The relation between warning displays and warning code outputs is shown in table 10.2. Table 10.2 Warning Displays and Outputs Warning Warning Code Output Warning Name Meaning Display ALO1 ALO2 ALO3 A.90...

  • Page 287: Alarm Display Table When The Application Module Is Used

    10.1 Troubleshooting 10.1.3 Alarm Display Table when the Application Module is Used The following special alarms will occur when the SGDH SERVOPACK and an application module are used together. The relation between alarm displays and alarm code outputs is shown in Table 10.3. Table 10.3 Alarm Displays and Outputs when the SERVOPACK and an Application Module Are Used Together Alarm Application Module...

  • Page 288: Warning Display Table When The Application Module Is Used

    10 Inspection, Maintenance, and Troubleshooting 10.1.4 Warning Display Table when the Application Module is Used 10.1.4 Warning Display Table when the Application Module is Used The following special warnings will occur when the SGDH SERVOPACK and an application module are used together.

  • Page 289: Troubleshooting Of Alarm And Warning

    However, the display “A.--” is not an alarm. Refer to the following sec- tions to identify the cause of an alarm and the action to be taken. Contact your Yaskawa representative if the problem cannot be solved by the described corrective action. (1) Alarm Display and Troubleshooting Table 10.5 Alarm Display and Troubleshooting...
  • Page 290 10 Inspection, Maintenance, and Troubleshooting 10.1.5 Troubleshooting of Alarm and Warning Table 10.5 Alarm Display and Troubleshooting (cont’d) Alarm Situation at Alarm Alarm Name Cause Corrective Actions Display Occurrence A.10 Overcurrent Occurred when the A short circuit occurred between the grounding and Replace the servomotor.
  • Page 291 10.1 Troubleshooting Table 10.5 Alarm Display and Troubleshooting (cont’d) Alarm Situation at Alarm Alarm Name Cause Corrective Actions Display Occurrence A.40 Overvoltage Occurred when the A SERVOPACK fault occurred. Replace the SERVOPACK. control power sup- ply was turned ON. Occurred when the The AC power voltage is too high.
  • Page 292 10 Inspection, Maintenance, and Troubleshooting 10.1.5 Troubleshooting of Alarm and Warning Table 10.5 Alarm Display and Troubleshooting (cont’d) Alarm Situation at Alarm Alarm Name Cause Corrective Actions Display Occurrence A.71 Overload Occurred when the A SERVOPACK fault occurred. Replace the SERVOPACK. control power sup- A.71: A.72...
  • Page 293 10.1 Troubleshooting Table 10.5 Alarm Display and Troubleshooting (cont’d) Alarm Situation at Alarm Alarm Name Cause Corrective Actions Display Occurrence A.81 Encoder Occurred when the A SERVOPACK fault occurred. Replace the SERVOPACK. Backup Error control power sup- ply was turned ON. (Setting: Pn002.2=1) Occurred when the...
  • Page 294 10 Inspection, Maintenance, and Troubleshooting 10.1.5 Troubleshooting of Alarm and Warning Table 10.5 Alarm Display and Troubleshooting (cont’d) Alarm Situation at Alarm Alarm Name Cause Corrective Actions Display Occurrence A.b2 Reference Occurred when the A SERVOPACK fault occurred. Replace the SERVOPACK. Torque Input control power sup- A malfunction occurred in the reading section of the...
  • Page 295 10.1 Troubleshooting Table 10.5 Alarm Display and Troubleshooting (cont’d) Alarm Situation at Alarm Alarm Name Cause Corrective Actions Display Occurrence A.Cb Encoder Echo- Occurred when the The encoder wiring and contact are incorrect. Correct the encoder wiring. back Error control power sup- Encoder cable specifications is incorrect.
  • Page 296 10 Inspection, Maintenance, and Troubleshooting 10.1.5 Troubleshooting of Alarm and Warning Table 10.5 Alarm Display and Troubleshooting (cont’d) Alarm Situation at Alarm Alarm Name Cause Corrective Actions Display Occurrence A.F5 Servomotor Occurred when the A SERVOPACK fault occurred. Replace the SERVOPACK. Disconnection control power sup- ply was turned ON.
  • Page 297 10.1 Troubleshooting (2) Warning Display and Troubleshooting Table 10.6 Warning Display and Troubleshooting Warning Warning Name Situation at Warning Cause Corrective Actions Display Occurrence A.90 Excessive Posi- Occurred at the servo- The contact in the servomotor U, V, and W wir- Correct the servomotor wiring.

  • Page 298: Troubleshooting For Malfunction Without Alarm Display

    10.1.6 Troubleshooting for Malfunction without Alarm Display The troubleshooting for the malfunctions that causes no alarm display is listed below. Contact your Yaskawa representative if the problem cannot be solved by the described corrective actions. Table 10.7 Troubleshooting for Malfunction without Alarm Display...
  • Page 299 Check if there are unbalanced couplings. Balance the couplings. Defective bearings Check for noise and vibration around the If any problems, contact your Yaskawa representative. bearings. Vibration source on the driven Any foreign matter, damages, or deforma- Contact the machine manufacturer.
  • Page 300 10 Inspection, Maintenance, and Troubleshooting 10.1.6 Troubleshooting for Malfunction without Alarm Display Table 10.7 Troubleshooting for Malfunction without Alarm Display (cont’d) Inspection Corrective Actions Symptom Cause : Turn OFF the servo system before executing operations. Absolute Noise interference due to improper Check if the cable meets recommended Use encoder cable with the specified specifications.
  • Page 301 10.1 Troubleshooting Table 10.7 Troubleshooting for Malfunction without Alarm Display (cont’d) Inspection Corrective Actions Symptom Cause : Turn OFF the servo system before executing operations. Overtravel Excessive vibration and shock to the Machine vibration occurred or servomotor Reduce the machine vibration or mount the servomotor encoder mounting such as mounting surface preci- securely.

  • Page 302: Inspection And Maintenance

    Table 10.8 are only guidelines. Increase or decrease the frequency to suit the operating conditions and environment. During inspection and maintenance, do not disassemble the servomotor. If disassembly of the servomotor is IMPORTANT required, contact your Yaskawa representative. Table 10.8 Servomotor Inspections Item Frequency...

  • Page 303: Servopack's Parts Replacement Schedule

    The parameters of any SERVOPACKs overhauled by Yaskawa are reset to the factory settings before ship- ping. Be sure to confirm that the parameters are properly set before starting operation.

  • Page 304: Appendix

    Appendix 11.1 Servomotor Capacity Selection Examples - - - - - - - - - - - - 11-2 11.1.1 Selection Example for Speed Control - - - - - - - - - - - - - - - - - - - - - - 11-2 11.1.2 Selection Example for Position Control - - - - - - - - - - - - - - - - - - - - - 11-4 11.2 Connection to Host Controller - - - - - - - - - - - - - - - - - - - - - 11-7 11.2.1 Example of Connection to MP2200/MP2300 Motion Module SVA-01 11-7...

  • Page 305: Selection Example For Speed Control

    11 Appendix 11.1.1 Selection Example for Speed Control 11.1 Servomotor Capacity Selection Examples 11.1.1 Selection Example for Speed Control Mechanical Specifications Servomotor Linear motion Coupling all screw • Load speed: V = 15 m/min • Feeding times: n = 40 times/min •...
  • Page 306 11.1 Servomotor Capacity Selection Examples (5) Load Moving Power 2π × 1500 × 1.73 2πN = 272 (W) (6) Load Acceleration Power 44.9 × 10 2π 2π × 1500 = 1108 (W) (7) Servomotor Provisional Selection (a) Selecting Conditions ≤ Motor rated torque •...

  • Page 307: Selection Example For Position Control

    11 Appendix 11.1.2 Selection Example for Position Control (9) Result The provisionally selected servomotor and SERVOPACK are confirmed to be applicable. The torque diagram is shown below. (N m) Torque Speed 1.73 -7.5 11.1.2 Selection Example for Position Control Mechanical Specifications Servomotor Linear motion Coupling...
  • Page 308 11.1 Servomotor Capacity Selection Examples (4) Load Moment of Inertia • Liner motion section 0.005 = 80 × = 0.507 × 10 (kg m ) 2π × 1 2πR • Ball screw π π ρ L × 7.87 × 10 ×...
  • Page 309 11 Appendix 11.1.2 Selection Example for Position Control (8) Verification on Provisionally Selected Servomotor • Required starting torque π π −4 × 3000 × (0.209 + 1.25) × 10 N (J + J ) + T = + 0.139 60 × 0.1 60ta 0.597 (N m) <...

  • Page 310: Connection To Host Controller

    11.2 Connection to Host Controller 11.2 Connection to Host Controller 11.2.1 Example of Connection to MP2200/MP2300 Motion Module SVA-01 Cable for analog monitor (JZSP-CA01) SGDM / SGDH Analog input ground Black Black White Standard analog input Analog monitor 1 (torque reference monitor) Standard analog input Analog monitor 2 (speed reference monitor)

  • Page 311: Example Of Connection To Mp920 4-Axes Analog Module Sva-01

    11 Appendix 11.2.2 Example of Connection to MP920 4-axes Analog Module SVA-01 11.2.2 Example of Connection to MP920 4-axes Analog Module SVA-01 MP920 Series SVA-01 manufactured by Yaskawa SGDM/SGDH SERVOPACK ∗ NREF V-REF L1C/r Control power supply L2C/t L1/R /PAO...

  • Page 312: Example Of Connection To Omron's Motion Control Unit

    Battery installed in the SERVOPACK: JZSP-BA01-1 (3.6 V, 1000 mAh) * 2. represents twisted-pair wires. Note: 1. Only signals applicable to OMRON’s MC unit and Yaskawa’s SGDM/SGDH SERVOPACK are shown in the diagram. 2. The main circuit power supply is a three-phase 200 VAC SERVOPACK input in the example.

  • Page 313: Example Of Connection To Omron's Position Control Unit

    * 3. Connect the shield wire to the connector shell. * 4. represents twisted-pair wires. Note: Only signals applicable to OMRON’s MC unit (positioning unit) and Yaskawa’s SGDM/SGDH SERVOPACK are shown in the diagram. 11-10 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 314: Example Of Connection To Mitsubishi's Ad72 Positioning Unit

    * 3. Connect the connector wire to the connector shell. * 4. represents twisted-pair wires. Note: Only signals applicable to Mitsubishi’s AD72 Positioning Unit and Yaskawa’s SGDM/SGDH SERVOPACK are shown in the diagram. 11-11 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 315: Example Of Connection To Mitsubishi's Ad75 Positioning Unit (Servopack In Position Control Mode)

    ON sequence. The ALM signal actuates the alarm detection relay 1Ry to stop the main circuit power supply to the SERVOPACK. Note: Only signals applicable to Mitsubishi’s AD75 Positioning Unit and Yaskawa’s SGDM/SGDH SERVOPACK are shown in the diagram.

  • Page 316: List Of Parameters

    11.3 List of Parameters 11.3 List of Parameters 11.3.1 Utility Functions List The following list shows the available utility functions. Parameter Function Fn000 Alarm traceback data display Fn001 Not used for the SERVOPACKs of 22 kW or more. Fn002 JOG mode operation Fn003 Zero-point search mode Fn004...

  • Page 317: List Of Parameters

    11 Appendix 11.3.2 List of Parameters 11.3.2 List of Parameters (1) Parameter Display Parameter settings are displayed as shown below. Decimal display in five digit Since each digit in the function selection parameters has a significant meaning, the value can only be changed for each INFO individual digit.
  • Page 318 11.3 List of Parameters Parameter Factory Setting Name Setting Range Units Setting Validation − − 0000 After restart Pn000 Function Selection Basic Switches digit digit digit digit Direction Selection Sets CCW as forward direction. Sets CW as forward direction (Reverse Rotation Mode). Reserved (Do not change.) 2 and 3 Control Method Selection...
  • Page 319 11 Appendix 11.3.2 List of Parameters Parameter Factory Setting Name Setting Range Units Setting Validation − − 0000 After restart Pn001 Function Selection Application Switches 1 digit digit digit digit Servo OFF or Alarm Stop Mode Stops the motor by applying dynamic brake (DB). Stops the motor by applying dynamic brake (DB) and then releases DB.
  • Page 320 11.3 List of Parameters Parameter Factory Setting Name Setting Range Units Setting Validation − − 0002 After restart Pn003 Function Selection Application Switches 3 digit digit digit digit Analog Monitor 1 Torque Reference Monitor Motor speed: 1 V/1000 min Speed reference: 1 V/1000 min Internal torque reference: 1 V/100% Position error: 0.05 V/1 reference unit Position error: 0.05 V/100 reference units...
  • Page 321 11 Appendix 11.3.2 List of Parameters Parameter Factory Setting Name Setting Range Units Setting Validation 0 to 6400 0.01 ms Immediately Pn10A Feed-forward Filter Time Constant − 0000 to 2314 0000 After restart/ Pn10B Gain-related Application Switches Immediately digit digit digit digit Setting...
  • Page 322 11.3 List of Parameters Parameter Factory Setting Name Setting Range Units Setting Validation − − − 0012 Pn110 *1*2 Online Autotuning Switches 1 to 500 Immediately Pn111 ∗1*2 Speed Feedback Compensation Reserved (Do not change) − − − Pn112 1000 Pn113 Pn114 Pn115...
  • Page 323 11 Appendix 11.3.2 List of Parameters Parameter Factory Setting Name Setting Range Unit Setting Validation − − 0000 After restart Pn200 Position Control References Selection Switches digit digit digit digit Reference Pulse Form Sign + Pulse, positive logic CW + CCW, positive logic Phase A + Phase B ( ×1), positive logic Phase A + Phase B ( ×2), positive logic Phase A + Phase B ( ×4), positive logic...
  • Page 324 11.3 List of Parameters Parameter Factory Setting Name Setting Range Unit Setting Validation − 0000 to 1111 0000 After restart Pn207 Position Control Function Switches digit digit digit digit Position Reference Filter Selection Acceleration/deceleration filter Average movement filter Position Control Option Uses V-REF as a speed feed-forward input.
  • Page 325 11 Appendix 11.3.2 List of Parameters Parameter Factory Setting Name Setting Range Unit Setting Validation Pn304 JOG Speed 0 to 10000 Immediately 1 min Pn305 Soft Start Acceleration Time 0 to 10000 1 ms Immediately Pn306 Soft Start Deceleration Time 0 to 10000 1 ms Immediately...
  • Page 326 11.3 List of Parameters Parameter Factory Setting Name Setting Range Unit Setting Validation − − 2100 After restart Pn50A Input Signal Selections 1 digit digit digit digit Input Signal Allocation Mode Uses the sequence input signal terminals with standard allocation. ∗ Changes the sequence input signal allocation for each signal.
  • Page 327 11 Appendix 11.3.2 List of Parameters Parameter Factory Setting Name Setting Range Unit Setting Validation − − 6543 After restart Pn50B Input Signal Selections 2 digit digit digit digit N-OT Signal Mapping (Overtravel when OFF (H-level)) Reverse run allowed when CN1-40 input signal is ON (L-level). Reverse run allowed when CN1-41 input signal is ON (L-level).
  • Page 328 11.3 List of Parameters Parameter Factory Setting Name Setting Range Unit Setting Validation − − 8888 After restart Pn50C Input Signal Selections 3 digit digit digit digit /SPD-D Signal Mapping ON when CN1-40 input signal is ON (L-level). ON when CN1-41 input signal is ON (L-level). ON when CN1-42 input signal is ON (L-level).
  • Page 329 11 Appendix 11.3.2 List of Parameters Parameter Factory Setting Name Setting Range Unit Setting Validation − − 8888 After restart Pn50D Input Signal Selections 4 digit digit digit digit /ZCLAMP Signal Mapping (Zero clamp when ON (L-level)) ON when CN1-40 input signal is ON (L-level). ON when CN1-41 input signal is ON (L-level).
  • Page 330 11.3 List of Parameters Parameter Factory Setting Name Setting Range Unit Setting Validation − − 0000 After restart Pn50F Output Signal Selections 2 digit digit digit digit Torque Limit Detection Signal Mapping (/CLT) Disabled (the above signal is not used.) Outputs the signal from CN1-25, -26 output terminal.
  • Page 331 11 Appendix 11.3.2 List of Parameters Parameter Factory Setting Name Setting Range Unit Setting Validation − − 0088 After restart Pn513 Input Signal Selections 5 digit digit digit digit Reference Pulse Input Mulitiplication Change ON when CN1-40 input signal is ON (L-level). ON when CN1-41 input signal is ON (L-level).

  • Page 332: Parameter Recording Table

    11.4 Parameter Recording Table 11.4 Parameter Recording Table Use the following table for recording parameters. Note: Setting validation (“immediately” or “after restart”) for Pn10B differs depending on the digit. The digits vali- dated after restart are underlined in “Factory Setting” column. Parameter Factory Setting...
  • Page 333 11 Appendix Parameter Factory Setting Name Setting Validation Pn122 0 Hz Reserved (Do not change) Immediately Pn123 Reserved (Do not change) Immediately Pn124 100 ms Automatic Gain Switching Timer Immediately Pn125 7 reference Automatic Gain Switching Width Immediately units Pn200 0000 Position Control References Selection After restart...
  • Page 334 11.4 Parameter Recording Table Parameter Factory Setting Name Setting Validation Pn502 Rotation Detection Level Immediately 20 min Pn503 Speed Coincidence Signal Output Immediately 10 min Width Pn504 7 reference NEAR Signal Width Immediately units Pn505 1024 Overflow Level Immediately reference units Pn506 0 ms...

  • Page 335: Index

    Index INDEX CLR - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-12 CLT- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-13 CN1terminal layout - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-11 CN2 terminal layout- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-9...
  • Page 336 Index I/O signal cables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-7 5-10 second stage notch filter frequency - - - - - - - - - - - - - - - - - 9-18 I/O signal connections - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-10 second stage notch filter Q value - - - - - - - - - - - - - - - - - - - 9-18 impact acceleration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-14...
  • Page 337 Index power supply capacities - - - - - - - - - - - - - - - - - - - - - - - - - 4-11 precautions on installation- - - - - - - - - - - - - - - - - - - - - - - - - 4-5 Q value- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-18 ratings and specifications - - - - - - - - - - - - - - - - - - - - - - - - - 4-2 wire size- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-2...
  • Page 338 Index using more than one SERVOPACK - - - - - - - - - - - - - - - - - - - - 6-22 using noise filters- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-20 variable resistor for speed and torque setting - - - - - - - - - - - - - - 5-39 V-CMP - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-13 vibration class - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-15...

  • Page 339: Revision History

    Revision History The revision dates and numbers of the revised manuals are given on the bottom of the back cover. MANUAL NO. SIEP S800000 59A Published in Japan August 2008 08-8 Date of publication Date of original publication Date of Rev.
  • Page 340 No.18 Xizang Zhong Road. Room 1702-1707, Harbour Ring Plaza Shanghai 200001, China Phone 86-21-5385-2200 Fax 86-21-5385-3299 YASKAWA ELECTRIC (SHANGHAI) CO., LTD. BEIJING OFFICE Room 1011A, Tower W3 Oriental Plaza, No.1 East Chang An Ave., Dong Cheng District, Beijing 100738, China...

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