YASKAWA SGM Series User Manual
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YASKAWA SGM Series User Manual

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YASKAWA
YASKAWA
MANUAL NO. SIE-S800-26.3B

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Summary of Contents for YASKAWA SGM Series

  • Page 1 YASKAWA YASKAWA MANUAL NO. SIE-S800-26.3B...

  • Page 2: Safety Information

    Yaskawa. No patent liability is assumed with respect to the use of the information contained herein. Moreover, because Yaskawa is constantly striving to improve its high-quality products, the information contained in this manual is subject to change without notice.
  • Page 3 OVERVIEW OVERVIEW Safety Information ......... . TABLE OF CONTENTS .
  • Page 4 5.8 Appropriate Applications ....... . . 5 -19 5.9 Adjustments .

  • Page 5: Table Of Contents

    TABLE OF CONTENTS TABLE OF CONTENTS Safety Information ..........TABLE OF CONTENTS .
  • Page 6 3.5 Mechanical Characteristics ....... . . 3 −7 3.5.1 Mechanical Strength .
  • Page 7 TABLE OF CONTENTS 5.2 Position Control ..........5 −4 5.2.1 Electronic Gear Function .
  • Page 8 6.4 Special Descriptions ........6 −7 6.4.1 Option Field Specifications .
  • Page 9 9 −38 9.4.1 Cables from Yaskawa ..........
  • Page 10 Settings 11.1 Characteristics at the Factory ......11 −2 11.2 Resetting .

  • Page 11: Preface

    Based on Yaskawa servo manufacturing technology and servo application technology accumulated over the last half a century, Yaskawa has launched the AC Servo Series that, together with its rich line of products, meets the needs of the modern needs of FA and FMS in their application to machining tools and robots.

  • Page 12: Safety Precautions

    Safety Precautions The following precautions are for checking products upon delivery, installation, wiring, operation, maintenance and inspections. J Checking Products on Delivery CAUTION D Be sure to use the specified Servomotor and SERVOPACK combination. Fire or damage may result if the wrong combination is used.. J Installation CAUTION D Do not use the products in or near environments exposed to moisture, corrosive gases, flammable...
  • Page 13 Safety Precautions J Operation WARNING D Do not touch rotating parts of the Servomotor during operation. Injury may result. CAUTION D In order to avoid accidents, do not connect the Servomotor shaft to the controlled equipment dur- ing the trial operation. Injury may result.
  • Page 14 The edition number appears on the front and back covers. S 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 15: Configuration And Model Numbers

    Configuration and Model Numbers This chapter describes the configuration and model numbers for Servo- drives. 1.1 Configuration ......1 -2 1.2 Models .

  • Page 16: Configuration

    Configuration and Model Numbers 1.1 Configuration Servodrives are configured using a SERVOPACK (Controller) and Servomotors. SGD-jjAN SERVOPACK SERVOPACK Servomotors 1 -2...

  • Page 17: Models

    1.2 Models 1.2 Models 1.2.1 Servomotor Model Numbers SGM - 01 A 3 1 2 j Options Σ-Series Servomotor B: With brake (90 V) SGM: SGM Servomotor C: With brake (24 V) SGMP: SGMP Servomotor D: With brake (90 V) and shaft seal (cube type) E: With brake (24 V) and shaft seal P: Drip-proof...

  • Page 18: Ratings And Characteristics

    Ratings and Characteristics This chapter provides Servomotor ratings, specifications, and torque- speed characteristics, as well as SERVOPACK ratings and specifications. 2.1 Ratings/Specifications for 200-VAC SGM Servomotors ......2 -2 2.1.1 Ratings and Specifications .

  • Page 19: Ratings/Specifications For 200-Vac Sgm Servomotors

    Ratings and Characteristics 2.1.1 Ratings and Specifications 2.1 Ratings/Specifications for 200-VAC SGM Servomotors 2.1.1 Ratings and Specifications S Time Rating: Continuous S Vibration Class: 15 µm or below S Enclosure: Totally enclosed, self cooled S Ambient Humidity: 20% to 80% (with no con- densation) S Excitation: Permanent magnet S Mounting: Flange method...
  • Page 20 2.1 Ratings/Specifications for 200-VAC SGM Servomotors Add the numerical values given below to the moment of inertia values in the table for a motor attatched with a holding brake and/or a 12-bit absolute encoder. Other specifications will also change. SGM- Type Item −4...
  • Page 21 Ratings and Characteristics 2.1.1 Ratings and Specifications J 200-VAC SGM Servomotor Torque-Motor Speed Characteristics SGM-A3A SGM-A5A 4000 4000 3000 3000 Motor Motor Speed Speed −1 −1 (min (min 2000 2000 1000 1000 0.15 0.45 Torque (N¡m) Torque (N¡m) Torque (oz ¡ in) Torque (oz ¡...

  • Page 22: Ratings/Specifications For 100-Vac Sgm Servomotors

    2.2 Ratings/Specifications for 100-VAC SGM Servomotors 2.2 Ratings/Specifications for 100-VAC SGM Servomotors 2.2.1 Ratings and Specifications S Time Rating: Continuous S Vibration Class: 15 µm or below S Enclosure: Totally enclosed, self cooled S Ambient Humidity: 20% to 80% (with no con- densation) S Excitation: Permanent magnet S Mounting: Flange method...
  • Page 23 Ratings and Characteristics 2.2.1 Ratings and Specifications Type SGM- Item −4 Holding brake kg¡m 0.0085 0.058 ×10 −4 oz¡in¡s 0.12 0.821 ×10 −4 12-bit absolute kg¡m 0.025 ×10 encoder −4 oz¡in¡s 0.354 ×10 These values are reference values. 2 -6...
  • Page 24 2.2 Ratings/Specifications for 100-VAC SGM Servomotors J 100-VAC SGM Servomotor Torque-Motor Speed Characteristics SGM-A3B SGM-A5B 4000 4000 3000 3000 Motor Motor Speed Speed −1 −1 (min (min 2000 2000 1000 1000 0.15 0.3 0.45 Torque (N¡m) Torque (N¡m) Torque (oz ¡ in) Torque (oz ¡...

  • Page 25: Ratings/Specifications For 200-Vac Sgmp Servomotors

    Ratings and Characteristics 2.3.1 Ratings and Specifications 2.3 Ratings/Specifications for 200-VAC SGMP Servomotors 2.3.1 Ratings and Specifications S Time Rating: Continuous S Vibration Class: 15 µm or below S Enclosure: Totally enclosed, self cooled S Ambient Humidity: 20% to 80% (with no con- densation) S Excitation: Permanent magnet S Mounting: Flange method...
  • Page 26 2.3 Ratings/Specifications for 200-VAC SGMP Servomotors Note 1. When a motor is fitted with a shaft seal, use the following reduction ratings because of the higher friction tor- que. 2. Holding brakes or 12-bit absolute encoders have larger moments of inertia than incremental encoders. Therefore, the characteristics change slightly.

  • Page 27: Ratings/Specifications For 100-Vac Sgmp Servomotors

    Ratings and Characteristics 2.4.1 Ratings and Specifications 2.4 Ratings/Specifications for 100-VAC SGMP Servomotors 2.4.1 Ratings and Specifications S Time Rating: Continuous S Vibration Class: 15 µm or below S Enclosure: Totally enclosed, self cooled S Ambient Humidity: 20% to 80% (with no con- densation) S Excitation: Permanent magnet S Mounting: Flange method...
  • Page 28 2.4 Ratings/Specifications for 100-VAC SGMP Servomotors Note 1. When a motor is fitted with a shaft seal, use the following reduction ratings because of the higher friction tor- que. 2. Holding brakes or 12-bit absolute encoders have larger moments of inertia than incremental encoders. Therefore, the characteristics change slightly.

  • Page 29: Servopack Ratings And Specifications

    Configuration and Model Numbers 2.5 SERVOPACK Ratings and Specifications The ratings and specifications for the SGD SERVOPACK are shown below. Refer to them as re- quired when selecting a SERVOPACK. Refer to the specifications listed in the table for combina- tion with the appropriate type of Servomotor.
  • Page 30 2.5 SERVOPACK Ratings and Specifications Voltage 200 VAC 100 VAC Position Control Functions D Online switching for speed and loop gain: By changing the parameters D Setting for acceleration/deceleration method (linear one−step, linear two-step, exponential, s- curve): By specifying the commands D Conversion between position reference unit and feedback pulse D Setting for feed−forward compensation and bias: By changing user constants D Positioning output and positioning completion output: Read by commands...

  • Page 31: Standard Peripheral Device Combinations

    20 A Note 1. Values for the rated load 2. Shut off characteristics (at 25°C): 200%: 2 s min., 700%: 0.01 s min. 3. A Tokin Corp. noise filter, which is available from Yaskawa Control Co., Ltd., is recommended. 2 -14...

  • Page 32: Servodrive Characteristics

    Servodrive Characteristics This chapter provides characteristics of SERVOPACKS and Servomotors. 3.1 Overload Characteristics ....3 -2 3.2 Starting and Stopping Time ....3 -3 3.3 Allowable Repeatability .

  • Page 33: Overload Characteristics

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

  • Page 34: Starting And Stopping Time

    3.2 Starting and Stopping Time 3.2 Starting and Stopping Time The motor starting (tr) and stopping time (tf) with a constant load are calculated using the following equations. Motor viscous torque and friction torque have been ignored. Starting time: tr = 104.7 × [ms] Kt ⋅...

  • Page 35: Allowable Repeatability

    Servodrive Characteristics 3.3.1 Allowable Repeatability as Limited by the Servomotor 3.3 Allowable Repeatability The running and stopping frequency is limited by the Servomotor. It is important to ensure that the Servomotor is not started and stopped too frequently. 3.3.1 Allowable Repeatability as Limited by the Servomotor Running and stopping repeatability vary with motor conditions, such as the load conditions and running time.
  • Page 36 3.3 Allowable Repeatability Time Motor current Motor speed Time Figure 3.4 Motor Current − Motor Speed Timing Chart J With Motor Constantly Cycling through Acceleration, Idling, and Deceleration without Stopping The timing chart for motor armature current and motor speed is shown in Fig. 3.5. If we assume that allowable repeatability is n (times per minute), then n can be found using the equation given below.

  • Page 37: Large-Amplitude Frequency Characteristics

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

  • Page 38: Mechanical Characteristics

    3.5 Mechanical Characteristics 3.5 Mechanical Characteristics 3.5.1 Mechanical Strength A Servomotor can withstand instantaneous peak torque on the output shaft of up to 300% of the motor rating. 3.5.2 Allowable Radial Load and Allowable Thrust Load The output shaft allowable loads for SGM and SGMP Servomotors are shown below. Table 3.1 Allowable Radial Load and Allowable Thrust Load Allowable Radial Load...

  • Page 39: Direction Of Motor Rotation

    Servodrive Characteristics 3.5.4 Direction of Motor Rotation 3.5.4 Direction of Motor Rotation AC Servomotor rotation when a positive direction instruction (and direction instruction) is input is counterclockwise as viewed from the load end of the shaft. Figure 3.7 Direction of Rotation for Positive Direction Instruction Input J Connector Wiring Specifications Motor Side (Standard) Motor Side (with Brake)

  • Page 40: Impact Resistance

    3.5 Mechanical Characteristics 3.5.5 Impact Resistance The Servomotor will withstand two vertical impacts at an impact acceleration of 98 m/s (See Fig. 3.8.) when the axis of the Servomotor is mounted horizontally. Since a precision detector is attached to the shaft at the end opposite the load end, do not subject the shaft to direct impact as this may damage the encoder.

  • Page 41: Configuration And Connections

    Configuration and Connections This chapter provides information on the Servodrives configuration and connections. 4.1 Internal Connection Diagram ....4 -3 4.2 Main Circuit Terminals ..... 4 -4 4.3 Applicable Receptacles .
  • Page 42 Configuration and Connections 4.8 2CN Encoder Connector Terminals ..4 -16 4.8.1 2CN Terminal Layout ......4 -16 4.8.2 Applicable Cables .

  • Page 43: Internal Connection Diagram

    4.1 Internal Connection Diagram 4.1 Internal Connection Diagram Figure 4.1 Internal Connection Diagram for the SERVOPACK 4 -3...

  • Page 44: Main Circuit Terminals

    See chapter 9.4 “Cable SUMITOMO 3M, Ltd.), Specifications”. 20-pin right angle Note This cable is available from Yaskawa. Refer to chapter 9.4 “Cable Specifications” for more details on cables. 4.3.3 3CN Connector for MECHATROLINK Communication Table 4.4 Applicable Receptacle Specifications for...

  • Page 45: Connecting An Incremental Encoder

    4.4 Connecting an Incremental Encoder 4.4 Connecting an Incremental Encoder 4.4.1 Typical Example Single phase 100 to 115 VAC Single phase 200 to 230 VAC 1MCCB 50/60 Hz 50/60 Hz Noise filter eliminates external noise. Noise filter Servo alarm display For power supply OPEN/CLOSED Power supply Attach a surge suppressor to the...

  • Page 46: 1Cn I/O Connector Terminals

    Configuration and Connections 4.4.2 1CN I/O Connector Terminals 4.4.2 1CN I/O Connector Terminals J Terminal Layout Table 4.5 1CN Terminal Layout − BK-SG ALM-SG +24 V IN N-OT /EXT Reverse drive Signal ground Signal ground I/O power External latch − for brake out for servo alarm signal input...
  • Page 47 4.4 Connecting an Incremental Encoder J Input Signals and Their Application Table 4.6 Input Signals Signal 1CN Pin No. Description Name N-OT Reverse drive prohibited Connect to the appropriate forward or reverse limit switch signal (Reverse overtravel) for linear or other types of drive. The signals are CLOSED during P-OT normal operation and are OPEN when the limit switch is operated.
  • Page 48 Configuration and Connections 4.4.2 1CN I/O Connector Terminals Zero Point Return Deceleration LS (/DEC) The motor decelerates from the zero point return feed speed to zero point return approach speed 1 (Cn−0022) when this signal level changes from high to low during the zero point return opera- tion.

  • Page 49: Connecting An Absolute Encoder

    4.5 Connecting an Absolute Encoder 4.5 Connecting an Absolute Encoder 4.5.1 Typical Example Single phase 200 to 230 VAC Single phase 100 to 115 VAC 1MCCB 50/60 Hz 50/60 Hz Noise filter eliminates external noise. Noise filter Servo alarm display For power supply OPEN/CLOSED Power supply Attach a surge suppressor to the...

  • Page 50: 1Cn I/O Connector Terminals

    Configuration and Connections 4.5.2 1CN I/O Connector Terminals 4.5.2 1CN I/O Connector Terminals J Terminal Layout Table 4.8 1CN Terminal Layout BK-SG ALM-SG +24 V IN N-OT /EXT − Reverse drive Signal ground Signal ground External latch I/O power − for brake out for servo alarm signal input...
  • Page 51 4.5 Connecting an Absolute Encoder J I/O Signal Connections and External Signal Processing SERVOPACK (SGD-jjjN) 3.3 k +24V P−OT Forward drive prohibited Forward drive prohibited (Forward overtravel Approx. 7 mA OFF at overtravel) P−LS Reverse drive prohibited N−OT Reverse drive prohibited (Reverse overtravel N−LS OFF at overtravel)
  • Page 52 Configuration and Connections 4.5.2 1CN I/O Connector Terminals J Input Signals and Their Application Table 4.9 Input Signals Signal 1CN Pin No. Description Name N-OT Reverse drive prohibited Connect to the appropriate forward or reverse limit switch signal (Reverse overtravel) for linear or other types of drive.

  • Page 53: Output Circuits

    4.6 Output Circuits 4.6 Output Circuits There are two output signals: Brake interlock and servo alarm. They use non-contract transistor cir- cuits. The voltage and current specifications for these signals are as follows: Applied Voltage (V max.) ≦ 30 V Conduction Current (Ip) ≦...

  • Page 54: Connection Specifications

    Configuration and Connections 4.7.2 Connection Specifications 4.7.2 Connection Specifications SGD-jjjN SERVOPACK Terminal Block Converter Unit Con- Terminal nector Signal Name Pin No. BK-SG ALM-SG +24 VIN P-OT N-OT /DEC /EXT (BAT) (BAT0) Cable: Provided with the terminal block. : Twisted-pair wires Note Do not use vacant pins.

  • Page 55: Cable Specifications (Accessory For Connector Terminal Block Converter Unit)

    4.7 Connector Terminal Block Converter Unit for 1CN 4.7.3 Cable Specifications (Accessory for Connector Terminal Block Converter Unit) SERVOPACK Side Terminal Block Converter Unit Side 26-pin connector 40-pin connector for the Connector 10126-6000EL FCN-367J040-AU 4 -15...

  • Page 56: 2Cn Encoder Connector Terminals

    Configuration and Connections 4.8.1 2CN Terminal Layout 4.8 2CN Encoder Connector Terminals 4.8.1 2CN Terminal Layout Table 4.11 Terminal Layout (2CN) PG0V Battery (+) PG pow- PG power (for abso- PG0V er supply BAT+ lute encod- supply 0 V Battery (−) er only) (for abso- PG0V...

  • Page 57: Applicable Cables

    4.8 2CN Encoder Connector Terminals 4.8.2 Applicable Cables Yaskawa provides cables with the following specifications. Cables are not provided with the SERVOPACK or servomotor. Order cables in the standard specifications (lengths) as required. Table 4.12 Applicable Cables Cable Speci- Incremental Encoder...

  • Page 58: 2Cn Connection Method

    Configuration and Connections 4.8.3 2CN Connection Method 4.8.3 2CN Connection Method J Incremental Encoder 0.12 mm (0.0002 in Incremental encoder SERVOPACK Blue White/blue Yellow White/yellow Green White/green Black 0.3 mm (0.0005 in Green/ yellow B9400064 cable represents twisted-pair wires. Figure 4.8 2CN Connection Method for an Incremental Encoder (Using a B9400064 Cable for an Incremental Encoder) 4 -18...
  • Page 59 4.8 2CN Encoder Connector Terminals J Absolute Encoder 0.12 mm (0.0002 in Absolute encoder SERVOPACK Blue White/blue Yellow White/yellow Green White/green Purple White/purple Black 0.3 mm (0.0005 in White/grey Orange 1−14 Battery White/orange 1−15 Green/yellow DP8409123 cable 0.3 mm (0.0005 in represents twisted-pair wires.

  • Page 60: 3Cn Connector For Mechatrolink Communication

    Configuration and Connections 4.9.2 3CN Connection Method 4.9 3CN Connector for MECHATROLINK Communication 4.9.1 3CN Terminal Layout Table 4.13 3CN Terminal Layout Serial data Shield Frame Termination resister ground Shield Serial data 4.9.2 3CN Connection Method J Host Controller and SERVOPACK Connection Pulse Pulse transformer transformer...
  • Page 61 4.9 3CN Connector for MECHATROLINK Communication J Multiple Axis Connections Short 3CN pins 1 and 4, and insert a termination resister at the SERVOPACK for the last axis on the cable. Then, short 3CN pins 3 and 5, and ground the shield to the frame ground. Also, insert a terminal resister (120 Ω) and ground the shield to the frame ground on the host controller.

  • Page 62: Application

    Application This chapter describes how to use the Servodrives. 5.1 Turning Power ON/OFF ....5 -3 5.2 Position Control ......5 -4 5.2.1 Electronic Gear Function .
  • Page 63 Application 5.9 Adjustments ......5 -20 5.9.1 Servo System Adjustments ....5 -20 5.9.2 User Constants .

  • Page 64: Turning Power On/Off

    5.1 Turning Power ON/OFF 5.1 Turning Power ON/OFF The figure below shows a typical example of the power ON/OFF sequence. Power supply ON Power supply OFF Single phase 200 to 230 VAC or 100 to 115 VAC (50/60 Hz) +10% SERVOPACK −15% 1 −...

  • Page 65: Position Control

    Application 5.2.1 Electronic Gear Function 5.2 Position Control 5.2.1 Electronic Gear Function The electronic gear function enables the motor travel distance per input reference unit to be set to any value. More specifically, the value is set based on the number of encoder pulses, ref- erence unit (minimum unit of position data for moving the load), and machine gear ratio.

  • Page 66: Feed-Forward Control Function

    5.2 Position Control Example: Load Travel Distance per Load Shaft Revolution= 12 mm (0.47 in), Reference Unit = 0.01 mm (0.0004 in) Load travel distance per load shaft revolution = 12/0.01 = 1200 (reference units) Determining the Electronic Gear Ratio (B/A) B = [(Cn-0011) ×...

  • Page 67: Setting Up An Absolute Encoder

    Application 5.3.2 Setup Procedure 5.3 Setting Up an Absolute Encoder 5.3.1 Battery An absolute encoder requires a battery in order to save position data in the event of a power interruptions. D We recommend the following battery. One lithium battery: ER6VC 3.6 V battery made by Toshiba Battery Co., Ltd. D Make sure the battery is installed securely so that environmental changes or changes over time will not cause a loss of contact.

  • Page 68: Protection Functions

    5.4 Protection Functions 5.4 Protection Functions The SERVOPACK is equipped with various functions to protect the driver and motor from damage. 5.4.1 Dynamic Brake Function The SERVOPACK is equipped with a dynamic brake for emergency stops. The brake is oper- ated for any of the following conditions.

  • Page 69: Servo Alarm Output (Alm, Alm-Sg)

    Application 5.4.5 Servo Alarm Reset 5.4.3 Servo Alarm Output (ALM, ALM-SG) The power drive circuit in the SERVOPACK will turn OFF and the alarm status will be dis- played if any error detection function shown in Table 5.2 operates. Details of the alarm will be sent by a MECHATROLINK response message, the red indicator on the SERVOPACK will light, and the alarm output (ALM, ALM-SG) will turn OFF.

  • Page 70: Precautions

    Do not use the motor for lowering objects without a counterweight. Rated specifications for the regenerative braking capacity of the SERVOPACK is only for brief periods while the motor is stopped. Contact your Yaskawa representative about applications with overhanging load.
  • Page 71 Application 5.6.2 Load Moment of Inertia J J Load Moment of Inertia for SGM 200 VAC Servomotor with Incremental Encoder Load moment of inertia Load moment of inertia −4 −4 kg¡m kg¡m ×10 ×10 Load moment of inertia −3 −3 (oz¡in¡s (oz¡in¡s ×10...

  • Page 72: Regenerative Unit

    5.6 Precautions J Load Moment of Inertia for SGMP 200 VAC Servomotor with Incremental Encoder Load moment of inertia Load moment of inertia −4 −4 kg¡m kg¡m ×10 ×10 Load moment of inertia −3 −3 (oz¡in¡s (oz¡in¡s −4 ×10 ×10 kg¡m ×10 −3...
  • Page 73 Application 5.6.3 Regenerative Unit J Connecting a Regenerative Unit The connections of the regenerative unit are shown below. SERVOPACK Single-phase 200 to 230 VAC or 100 to 115 VAC Servo alarm External resistor Shorting jumper (Remove when external resistor is used.) ←Alarm Regenerative Unit (JUSP-RG08C)

  • Page 74: High Voltage Lines

    5.6 Precautions 5.6.4 High Voltage Lines A transformer that will step down three-phase 400/440 V to single-phase 200 V or single-phase 100 V is required when using a 400 V class (400 V, 440 V) power supply. Select an appropriate power transformer using Table 5.5 MCCB or Fuse for the Power Capacity.

  • Page 75: Application Precautions

    Application 5.7.1 Noise Control 5.7 Application Precautions 5.7.1 Noise Control J Example of Wiring for Noise Control The SERVOPACK uses high-speed switching elements in the main circuit. “Switching noise” may be generated by these high-speed switching elements if wiring or grounding around the SERVOPACK is not appropriate.
  • Page 76 Single-phase 200 VAC, 10 A SGD-02BN (0.27 HP) 300 W LF-220 Single-phase 200 VAC, 20 A SGD-03BN (0.39 HP) These noise filters made by Tokin Corp. are available from Yaskawa. Contact your nearest Yaskawa sales representative for noise filters. 5 -15...
  • Page 77 Application 5.7.1 Noise Control D Separate input lines from output lines. Do not run input and output lines in the same duct or bundle them together. Noise Noise filter filter Noise Noise filter filter Separate circuits. Incorrect Correct Figure 5.6 D Separate ground wires from noise filter output lines.

  • Page 78: Power Supply Line Protection

    5.7 Application Precautions D Connect the ground wire directly to the junction box or the ground plate. Noise Noise filter filter Thick Shielded and short ground wire Incorrect Correct Figure 5.8 D When grounding a noise filter inside a unit, connect the noise filter ground wire and the ground wires for other devices inside the unit to the ground plate of the unit first, and then ground these wires.
  • Page 79 Application 5.7.2 Power Supply Line Protection Table 5.5 MCCB or Fuse for the Power Capacity Supply Voltage Supply Voltage SERVOPACK Model SERVOPACK Model Power Capacity per Power Capacity per Power Capacity per MCCB Power Capacity per MCCB SERVOPACK (kVA) * or Fuse (A) * 200 V SGD-A3AN...

  • Page 80: Appropriate Applications

    5.8 Appropriate Applications 5.8 Appropriate Applications 5.8.1 Holding Brake Interlock Signal This output signal can be output for interlocking motor circuit power status and motor rotation speed. J Setup Procedure The brake signal is output from 1CN-1(2). Delay time t (×...

  • Page 81: Adjustments

    Application 5.9.1 Servo System Adjustments 5.9 Adjustments 5.9.1 Servo System Adjustments Once the load moment of inertia constant (Cn−0003) has been specified, the following user constants (parameters) are used to adjust the servo system. D Cn-0004: Speed Loop Gain D Cn-0005: Speed Loop Integration Time Constant D Cn-0017: Torque Reference Filter Time Constant...

  • Page 82: User Constants

    5.9 Adjustments The mechanical system will start to vibrate at the upper limits for the position and speed loop gain. Do not exceed these limits. Generally position loop gain cannot be increased beyond the characteristic frequency of the mechanical system. Example: Articulated Robots Using harmonic gears produces a mechanism with extremely low rigidity.
  • Page 83 Application 5.9.2 User Constants time constant. The filter, however, will produce a delay in the servo system, just like the in- tegration time constant, and its value should not be increased any more than necessary. If the secondary torque reference filter time constant (Cn−0018) is set to 0, the torque reference filter switch to the primary filter.
  • Page 84 5.9 Adjustments ments. If monitoring cannot be made at the host controller, use the analog monitor. The analog monitor can observe load torque or speed overshoot, but is not for monitoring vibration. Therefore, we recommend that monitoring should be made at the host controller. J Analog Monitoring Motor speed and torque can be monitored via an analog signal while adjusting the gain.

  • Page 85: Functions That Improve Response

    Application 5.9.3 Functions that Improve Response D Cable Colors and Monitor Signals Cable Color Signal Name Description −1 VTG-M Speed monitor (0.5 V, 1,000 min White TRQ-M Torque monitor (0.5 V, 100% torque) Black (2 wires) 5.9.3 Functions that Improve Response The following functions are provided to improve response.

  • Page 86: Guidelines For Setting The Load Inertia Ratio

    5.9 Adjustments speed reference falls within the positioning complete width. This shortens the positioning time by reducing the number of pulses in the error counter. Motor operation will become unstable if the bias is set too high. Adjust the bias while monitor- ing the response because the optimum value will vary with the gain and the positioning com- plete width.
  • Page 87 Application 5.9.4 Guidelines for Setting the Load Inertia Ratio J Machines with Medium Rigidity Machines with medium rigidity include machines driven by ball screws through reduction gears. or machines driven directly by long ball screws. Examples: General Machine Tools, Orthogonal Robots, Conveyors Load Inertia Ratio Position Loop Gain Speed Loop Gain...

  • Page 88: Mechatrolink Communication

    MECHATROLINK Communication This chapter describes MECHATROLINK communication specifications, commands and communication sequence and provides a list of alarms/ warning. 6.1 Specifications and Configuration ... . 6 -2 6.1.1 Specifications ....... 6 -2 6.1.2 Control Structure .

  • Page 89: Specifications And Configuration

    MECHATROLINK Communication 6.1.2 Control Structure 6.1 Specifications and Configuration 6.1.1 Specifications Items that are not described in this chapter conform to the MECHATROLINK application layer. For more details refer to the following manuals. MECHATROLINK System User’s Manual (SIE-S800-26.1) MECHATROLINK Servo Command User’s Manual (SIE-S800-26.2) 6.1.2 Control Structure The following illustration shows the control structure.

  • Page 90: 1Sw Rotary Switch For Mechatrolink Station Address Settings

    6.2 1SW Rotary Switch for MECHATROLINK Station Address Settings 6.2 1SW Rotary Switch for MECHATROLINK Station Address Settings 1SW sets the MECHATROLINK station address, and is used to select one of the following SGD-jjjN slave node addresses. Station Address Not used (Do not set.) 41H (Factory setting) Note This switch setting is read only when power is turned ON.

  • Page 91: Mechatrolink Command List

    MECHATROLINK Communication 6.3 MECHATROLINK Command List MECHATROLINK common commands, motion common commands, and servo standard com- mands are shown in the following tables. Table 6.1 MECHATROLINK Common Command Group Code Command Function Processing Synchronization Remarks Classification Classification No Operation PRM_RD Read parameter PRM_WR Write parameter...
  • Page 92 6.3 MECHATROLINK Command List Table 6.2 MECHATROLINK Common Motion Command Group Code Command Function Processing Synchronization Remarks Classification Classification POS_SET Set coordinates BRK_ON Apply brake BRK_OFF Release brake SENS_ON Turn ON sensor SENS_OFF Turn OFF sensor HOLD Stop motion SMON Status monitoring SV_ON Servo ON...
  • Page 93 MECHATROLINK Communication The following abbreviations are used for processing and synchronization classifications. Processing Classifications Synchronization Classifications N Network command A Asynchronous command D Data communication command S Synchronous command C Control command M Motion command X Compound command 6 -6...

  • Page 94: Special Descriptions

    6.4 Special Descriptions 6.4 Special Descriptions The following sections describes specific items unique to the SGD-jjjN. 6.4.1 Option Field Specifications The third and fourth bytes of the reference data field for motion com- Command mands are reserved for options used to add motion command func- tions for each products.
  • Page 95 2. Acceleration/deceleration types can only be switched when DEN (acceleration/deceleration filter output complete) is set to 1. Never switch acceleration/deceleration types when DEN is set to 0. Yaskawa cannot guarantee how the SERVOPACK will act if the two items above are not followed exactly.

  • Page 96: I/O Monitor Specifications

    P control This function suppresses undershooting and shortens positioning complete time when the Servo- motor is stopped. All bits except D4 must be set to 0, otherwise Yaskawa cannot guarantee how the SERVOPACK will act. IMPORTANT 6.4.2 I/O Monitor Specifications...

  • Page 97: Monitor 1/2 Type Field Specifications

    MECHATROLINK Communication 6.4.3 Monitor 1/2 Type Field Specifications 6.4.3 Monitor 1/2 Type Field Specifications The monitor 1/2 type, the thirteenth byte of the reference data field Command of commands, is reserved to select monitor data that will be returned. Option The following types of monitoring are available with the SGD-jjjN.

  • Page 98: Config Specifications

    6.4 Special Descriptions 6.4.4 CONFIG Specifications The following user constants can be reset in CONFIG (equipment setup) command for SGD-jjjN. Cn-0001 Memory switch 1 Cn-0002 Memory switch 2 Cn-0011 No. of encoder pulses 6.4.5 ALM_RD Specifications Byte Command Response The ALM_RD_MODE at the fifth byte of ALM_RD ALM RD ALM RD (read alarm/warning status) is the field used to select...

  • Page 99: Alm_Clr Specifications

    MECHATROLINK Communication 6.4.7 CONNECT Specifications 6.4.6 ALM_CLR Specifications ALM CLR The ALM_CLR_MODE at the fifth byte of ALM_CLR (clear alarm/warn- ing status) is the field used to select objects that will be cleared, and it can be specified for each products. The following are ALM_CLR_MODE specifications for the ALM CLR MODE SGD-jjjN.

  • Page 100: Interpolate Specifications

    6.4 Special Descriptions 6.4.8 INTERPOLATE Specifications INTERPOLATE The speed feed forward function is not supported in INTERPOLATE (in- terpolation feed) with the SGD-jjjN. Option Always set the speed feed forward field between the ninth and twelfth bytes to 0. Interpolation position Speed feed forward...

  • Page 101: Posing Command Specifications

    MECHATROLINK Communication 6.4.12 ID_RD Specifications 6.4.10 POSING Command Specifications There is a limit to the resolution of the acceleration/deceleration constants and feed speed when posi- tioning with commands like the POSING command. These resolutions are given below. The INTER- POLATE command can be used when higher resolution is required. D Acceleration/deceleration constants (CN-001F and Cn-0020): 15625 reference units/s (factory setting)

  • Page 102: Unsupported Commands

    6.4 Special Descriptions The following IDs can be read. DEVICE_ ID Description CODE CODE − Undefined Software Undefined version Note 00 to 07 are ASCII, 08 is 00H, and the software version is binary data. 6.4.13 Unsupported Commands Do not use the following commands because they are not supported by the SGD-jjjN. Code Name Function...

  • Page 103: Power On Sequence (Communication Sequence)

    MECHATROLINK Communication 6.5 Power ON Sequence (Communication Sequence) The following is a typical power ON sequence (communication sequence). 1. Turn ON the control power supply. 2. Make communication connection (CONNECT command). When communication connection has been completed, confirm the following: COMRDY=1 and SVALM=0.
  • Page 104 6.5 Power ON Sequence (Communication Sequence) The controller always has the required parameters and ensures proper controller operation by transferring the parameters at power ON. We recommend using this method at all times because the controller can then manage the parameters even if the SERVOPACK or motor is replaced.
  • Page 105 MECHATROLINK Communication 5. Main circuits ON (SV_ON command). When the main circuit has been turned ON, confirm the following status: SVON=1. ↓ 6. Operation starts. 7. Main circuit OFF and turn OFF the main power supply. ↓ 8. Communication disconnected (DISCONNECT command) ↓...

  • Page 106: List Of Alarm And Warning Codes

    6.6 List of Alarm and Warning Codes 6.6 List of Alarm and Warning Codes Code Name Alarm type Normal − User constant setting warning Warning MECHATROLINK command warning Warning MECHATROLINK communication warning Warning Absolute encoder data error Servo alarm Broken user constant Servo alarm Overcurrent Servo alarm...

  • Page 107: User Constants

    User Constants This chapter describes the contents and settings of user constants (parame- ters) and memory switches. 7.1 Setting User Constants ....7 -2 7.1.1 Gain-related Constants .

  • Page 108: Setting User Constants

    User Constants 7.1.1 Gain-related Constants 7.1 Setting User Constants The SERVOPACK has the following user constants (parameters) that can be set or modified to fit the system. It is important to understand what the constants mean before using them. User constants are set and modified through MECHATROLINK communication. 7.1.1 Gain-related Constants The following gain-related user constants are available.

  • Page 109: Torque-Related Constants

    7.1 Setting User Constants 7.1.2 Torque-related Constants The following torque-related user constants are available. J Cn-0006: Emergency Stop Torque D Sets the stopping torque (deceleration by emergency stop torque with deceleration constant Cn-0001 bit 8 set to 1) for overtravel. D Allowable setting range: 0 to maximum torque [%] J Cn-0008: Forward Torque Limit D Sets the motor torque limit for forward rotation (for reverse rotation with reverse rotation...
  • Page 110 User Constants 7.1.3 Sequence-related Constants Servo OFF Servo ON Brake Release Brake Hold Drive ON Drive OFF Cn-0012 J Cn-0015: Brake Timing During Motor Running (Motor Speed for Brake ON Reference) D Sets the motor speed at which a brake reference is turned ON during Servo OFF. D If the motor speed is faster than this setting speed, the brake will release.

  • Page 111: Motion-Related Constants

    7.1 Setting User Constants 7.1.4 Motion-related Constants The following motion-related user constants are available. J Cn-001F: First-step Linear Acceleration/Deceleration Constant D Sets the first-step acceleration/deceleration when two-step acceleration/deceleration is used. D When two-step acceleration/deceleration is not used, set this constant and the acceleration/ deceleration constant switching speed (Cn-0021) to 0.
  • Page 112 User Constants 7.1.4 Motion-related Constants J Cn-002E: Exponential Acceleration/Deceleration Time Constant D Sets the time constant to change linear acceleration/deceleration to exponential acceleration/ deceleration. D Allowable setting range: 0 to 5100 [× 100 µs] D Exponential acceleration/deceleration is not valid when “0” is set. J Cn-0022: Zero point Return Approach Speed 1 D Sets the approach speed for returning to the zero point after the deceleration limit switch sig- nal turns ON.

  • Page 113: Pulse-Related Constants

    7.1 Setting User Constants D Allowable setting range: −2147483648 to +2147483647 [reference units] D The positive software limit must be set in combination with the reverse software limit to spec- ify the range of motion. Make sure that the forward software limit is greater than the reverse software limit.

  • Page 114: Other Constants

    User Constants 7.1.6 Other Constants For example, consider a system where the reference unit is micrometers in equipment that drives a ball screw with a 5-mm (0.20-in) pitch using a Servomotor with an incremental en- coder (8192 pulses). Since 8192 encoder pulses are generated 4 times (unconditionally 4 times) in one motor revolution, the number of pulses generated is 2048 ¢...

  • Page 115: Memory Switches

    7.1 Setting User Constants D When using this function, set Cn-0035 within a range that does not cause vibration in the ser- vo system or abnormal noise in the mechanical system. D The speed loop compensation function may not be effective in some cases and vibration may increase as a result.
  • Page 116 User Constants 7.1.7 Memory Switches D Zero clamping (by position control) after the motor stops when this bit is set to 1. Normally set this to 1. Stopping Method After Stopping DB Stopping Bit 6 DB Release Overtravel Coasting to a stop Bit 8 Servo OFF...
  • Page 117 7.1 Setting User Constants D Cn-0002 bit 1 is used to check whether the number of PG pulses (A and B phase) between origin pulses (C phase) match the number of pulses per revolution when an absolute encoder is used. D This check is disabled when Cn-0002 bit 1 is set to 1.
  • Page 118 User Constants 7.1.7 Memory Switches D The brake reference is operated by the SERVOPACK user constant when Cn-0014 bit 9 is set to 1. J Cn-0014 Bit 10: P-OT Signal Logic D The P-OT signal logic is reversed when Cn-0014 bit 10 is set to 1. Forward drive is prohibited when the P-OT signal is turned OFF (Signal is CLOSED).

  • Page 119: List Of User Constants

    7.2 List of User Constants 7.2 List of User Constants The following is a list of user constants. IMPORTANT Of the user constants listed below, those that are reserved for the system are used internally by the SER- VOPACK and cannot as a rule be accessed by the user. SERVOPACK behavior cannot be guaranteed if initial values for user constants reserved for the sys- tem are changed.
  • Page 120 User Constants Constant No. Name Size Units Upper and Factory Setting Lower LImits Cn-0016 Time delay from Servo 10 ms 10 to 100 OFF to brake ON during motor running Cn-0017 Torque reference filter time 0 to 25000 µs constant Cn-0018 Torque reference filter time 0 to 25000...
  • Page 121 7.2 List of User Constants Constant No. Name Size Units Upper and Factory Setting Lower LImits Cn-0035 Speed loop compensation 0 to 100 constant Cn-0036 Reserved for system − − 0000H Cn-0037 Reserved for system − − 0000H Cn-0038 Reserved for system −...

  • Page 122: Memory Switch Bit Details

    User Constants 7.3.1 Cn-0001: Memory Switches 1 7.3 Memory Switch Bit Details The following describes each bit of memory switch (bit-type user constant). 7.3.1 Cn-0001: Memory Switches 1 J Bits b0 to b7 Bits b0 to b7 are described in the following table. Description Factory Setting...
  • Page 123 7.3 Memory Switch Bit Details Cn-0001 J Bits b8 to bF Bits b8 to bF are described in the following table. Description Factory Setting Overtravel stop method Stopping procedure depends on the setting of bit 6. Decelerate to a stop using emergency stop torque. Operation after deceleration to stop at overtravel Servo turns OFF after deceleration to a stop.

  • Page 124: Cn-0002: Memory Switches 2

    User Constants 7.3.2 Cn-0002: Memory Switches 2 7.3.2 Cn-0002: Memory Switches 2 Cn-0002, memory switch 2, details are described in the following table. Description Factory Setting Motor rotation direction The forward direction is counterclockwise derection. The forward direction is clockwise derection (reverse rotation mode).

  • Page 125: Cn-0013: Memory Switches 3

    7.3 Memory Switch Bit Details 7.3.3 Cn-0013: Memory Switches 3 Cn-0013, memory switches 3, details are described in the following table. Description Factory Setting − − − − − − − − − − MECHATROLINK communication check mask (for debugging) 0: Communication check 1: Communication check masked WDT check mask (for debugging)

  • Page 126: Cn-0014: Memory Switches 4

    User Constants 7.3.4 Cn-0014: Memory Switches 4 7.3.4 Cn-0014: Memory Switches 4 Cn-0014, memory switch 4, details are described in the following table. Description Factory Setting − Zero point return direction Forward direction Reverse direction P-SOT mask Enable forward software limit. Mask (always disable) forward software limit.

  • Page 127: Limits To User Constant Changes

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

  • Page 128: Installation And Wiring

    Installation and Wiring This chapter describes procedures for checking to be performed when the Servomotors and SERVOPACKS are delivered as well as installation and wiring specifications. 8.1 Checking on Delivery ..... . 8 -2 8.2 Installation .

  • Page 129: Checking On Delivery

    Installation and Wiring 8.2.1 Installing Servomotors 8.1 Checking on Delivery When Σ-Series products are delivered, check the following items: Check Items Remarks Check if the delivered products are Check the model numbers marked on the nameplates of the ones you ordered. Servomotor and SERVOPACK.
  • Page 130 8.2 Installation D Free from corrosive or explosive gases D Well-ventilated and free from dust and moisture D Ambient temperature of 0 to 40°C D Sufficient access for each inspection and cleaning If the Servomotor is used in a location subject to water or oil mist, install a shield or cover over the Servomotor.

  • Page 131: Installing Servopacks

    Installation and Wiring 8.2.2 Installing SERVOPACKS 8.2.2 Installing SERVOPACKS The SGD-jjjN SERVOPACK is a book-shaped compact servo controller. Install the SER- VOPACK according to the following instructions, since faulty installation may cause malfunc- tion. J Installation Site Situation Precautions When installed in a control panel Depending on the size of the panel, the temperature inside the control panel may become higher than the ambient temperature due to heat generated by internal devices.
  • Page 132 8.2 Installation D Install the SERVOPACK perpendicular to the wall so that the front panel faces outward. D Provide sufficient space around each SERVOPACK to allow cooling by natural convection. D When installing SERVOPACKS side by side, install cooling fans above the SERVOPACKS to prevent the temperature around each SERVOPACK from increasing excessively and also to maintain an even temperature inside the control panel.

  • Page 133: Wiring Specifications

    Cable Rated Cable Specifications Current Specifications Current A (rms) A (rms) 200 V HIV 1.25 min. Use Yaskawa cable. See 9.4 Cable 30 W A3AN 0.42 (0.04HP) Specifications for details. 50 W A5AN When using non-Yaskawa cables, (0.07HP) check the cable current rating and...

  • Page 134: Wiring Instructions

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

  • Page 135: Power Loss

    Installation and Wiring 8.3.3 Power Loss If the motor is insulated from the machine, ground the motor directly. D To prevent malfunction due to noise, take the following actions: • Position the input reference device and noise filter as close to the SERVOPACK as pos- sible.

  • Page 136: Leakage Current

    8.3 Wiring Specifications 8.3.4 Leakage Current Since AC Servomotors are driven under high−frequency PWM control, a high−frequency leak- age current flows through the grounding stray capacitance of the motor winding, power cable, SERVOPACK, and other devices. This current may cause a malfunction of the ground fault interrupter or the ground fault protec- tion relay installed in the power supply curcuit.

  • Page 137: Servodrives Dimensional Drawings

    ..... . . 9 -38 9.4.1 Cables from Yaskawa ......

  • Page 138: Servomotor Dimensional Drawings

    Servodrives Dimensional Drawings 9.1.1 SGM Servomotors 9.1 Servomotor Dimensional Drawings 9.1.1 SGM Servomotors J SGM Servomotors with Incremental Encoders, No Brakes 30 W (0.04 HP), 50 W (0.07 HP), 100 W (0.13 HP) 300±30 (11.81±1.18) Encoder Lead 35 (1.38) Encoder Plug UL2854 Motor Lead (Teflon wire) Protective Tube...
  • Page 139 9.1 Servomotor Dimensional Drawings Model Screw Output Approx. Allowable Allowable SGM- Dimen- W (HP) Mass Radial Thrust sions kg (lb) Load Load N (lbf) N (lbf) 94.5 69.5 36.5 No key − 0.3 (0.66) 68 (15) 54 (12) A3Aj12 (3 2) (3.72) (2 4) (2.74)
  • Page 140 Servodrives Dimensional Drawings 9.1.1 SGM Servomotors Model Screw Output Approx. Allowable Allowable SGM- Dimen- W (HP) Mass Radial Thrust sions kg (lb) Load Load N (lbf) N (lbf) 126.5 96.5 62.5 No key − 1.1 (2.43) 245 (55) 74 (16) 02Aj12 (4 98) (4.98)
  • Page 141 9.1 Servomotor Dimensional Drawings Model Screw Output Approx. Allowable Allowable SGM- Dimen- W (HP) Mass Radial Thrust sions kg (lb) Load Load N (lbf) N (lbf) − 750 (1.01) 3.4 (7.50) 392 (88) 147 (33) 08Aj12 No key 08Aj14 (1 18) (1.18) (0 12) (0.12)
  • Page 142 Servodrives Dimensional Drawings 9.1.1 SGM Servomotors J SGM Servomotors with Incremental Encoders and Brakes 30 W (0.04 HP), 50 W (0.07 HP), 100 W (0.13 HP) 300±30 (11.81±1.18) 35 (1.38) Encoder Plug Motor Lead (Teflon wire) Encoder Lead AWG22 UL1828 or UL3534 UL2854 Motor Plug Protective Tube...
  • Page 143 9.1 Servomotor Dimensional Drawings Dimensional Tolerances Shaft-end Dimensions [mm (in)] Model SGM-       A3Aj12B 0 24 0.24 − 0.008 − 0.0003 A3Bj12B A3Aj14B A3Bj14B       A5Aj12B 0 24 0.24 − 0.008 −...
  • Page 144 Servodrives Dimensional Drawings 9.1.1 SGM Servomotors Model Screw Output Approx. Allowable Allowable SGM- Dimen- W (HP) Mass Radial Thrust sions kg (lb) Load Load N (lbf) N (lbf) 166.0 136.0 62.5 No key − 245 (55) 74 (16) 02Aj12B (6 54) (6.54) (5 35) (5.35)
  • Page 145 9.1 Servomotor Dimensional Drawings Model Screw Di- Output W Approx. Allowable Ra- Allowable SGM- mensions (HP) Mass kg (lb) dial Load Thrust Load N (lbf) N (lbf) − 750 (1.01) 4.3 (9.48) 392 (88) 147 (33) 08Aj12B No key 30 (1.18) 3 (0.12) 5 (0.20) 5 (0.20)
  • Page 146 Servodrives Dimensional Drawings 9.1.1 SGM Servomotors J SGM Servomotors with Absolute Encoders, No Brakes 30 W (0.04 HP), 50 W (0.07 HP), 100 W (0.13 HP) 300±30 (11.81±1.18) Encoder Plug 35 (1.38) Motor Plug Motor Lead (Teflon wire) AWG24 UL1828 or UL3534 Encoder Lead (0.0016) Screw...
  • Page 147 9.1 Servomotor Dimensional Drawings Dimensional Tolerances Model SGM- Shaft-end Dimensions [mm (in)]     A3AW12 0 24 0.24 − 0.008 0 008 − 0.0003 0 0003 A3BW12 A3AW14 A3BW14     A5AW12 0 24 0.24 − 0.008 0 008 −...
  • Page 148 Servodrives Dimensional Drawings 9.1.1 SGM Servomotors Model Screw Output Approx. Allowable Allowable SGM- Dimen- W (HP) Mass Radial Thrust sions kg (lb) Load Load N (lbf) N (lbf) 147.5 117.5 62.5 No key − 1.2 (2.65) 245 (55.1) 74 (17) 02AW12 (5 81) (5.81)
  • Page 149 9.1 Servomotor Dimensional Drawings Model Screw Output Approx. Allowable Allowable SGM- Dimen- W (HP) Mass Radial Thrust sions kg (lb) Load Load N (lbf) N (lbf) − 392 (88) 147 (33) 08AW12 No key (1 01) (1.01) (7.72) 08AW14 (1 18) (1.18) (0 12) (0.12)
  • Page 150 Servodrives Dimensional Drawings 9.1.1 SGM Servomotors J SGM Servomotors with Absolute Encoders and Brakes 30 W (0.04 HP), 50 W (0.07 HP), 100 W (0.13 HP) 300±30 (11.81±1.18) Encoder Plug 35 (1.38) Motor Plug Motor Lead (Teflon wire) AWG24 UL1828 or UL3534 Protective Tube (Black) Encoder Lead Screw...
  • Page 151 9.1 Servomotor Dimensional Drawings Dimensional Tolerances Model SGM- Shaft-end Dimensions [mm (in)]     A3AW12B 0 24 0.24 − 0.008 0 008 − 0.0003 0 0003 A3BW12B A3AW14B A3BW14B     A5AW12B 0 24 0.24 − 0.008 0 008 −...
  • Page 152 Servodrives Dimensional Drawings 9.1.1 SGM Servomotors Model Screw Output Approx. Allow- Allow- SGM- Dimen- W (HP) Mass able able sions kg (lb) Radial Thrust Load Load N (lbf) N (lbf) 02AW12B 187.0 157.0 62.5 No key − 1.7 (3.75) 74 (17) ( 36) (7.36) (6 18)
  • Page 153 9.1 Servomotor Dimensional Drawings Model Screw Output Approx. Allow- Allow- SGM- Dimen- W (HP) Mass able able sions kg (lb) Radial Thrust Load Load N (lbf) N (lbf) 08AW12B No key − 392 (88) 147 (33) (1 01) (1.01) (9 92) (9.92) 08AW14B 30 (1.18)

  • Page 154: Sgmp Servomotors

    Servodrives Dimensional Drawings 9.1.2 SGMP Servomotors 9.1.2 SGMP Servomotors J SGMP Servomotors with Incremental Encoders, No Brakes 100 W (0.13 HP) 300±30 (11.81±1.18) Encoder Lead UL2854 Encoder Plug (35) (1.38) Motor Lead Motor Plug (35) (1.38) UL2464 Screw 300±30 (11.81±1.18) Cross-section Y-Y Hex.
  • Page 155 9.1 Servomotor Dimensional Drawings Dimensional Tolerances Shaft-end Dimensions [mm (in)] Model SGMP-     01A312 0 32 0.32 − 0.009 − 0.0004 01B312 01A314 01B314 01A316 01B316 200 W (0.27 HP), 300 W (0.40 HP) (100 V Only), 400 W (0.53 HP) (200 V Only) 300±30 (11.81±1.18) Encoder Lead UL2854 (35) (1.38)
  • Page 156 Servodrives Dimensional Drawings 9.1.2 SGMP Servomotors Model Screw Output Approx. Allowable Allowable SGMP- dimen- W (HP) Mass Radial Thrust sions kg (lb) Load Load N (lbf) N (lbf) 48.1 No key − 245 (55) 68 (15) 02A312 (3.62) (2.44) (1.89) (0.27) (3.09) 02B312...
  • Page 157 9.1 Servomotor Dimensional Drawings Model Screw Output Approx. Allowable Allowable SGMP- dimensions W (HP) Mass Radial Thrust kg(lb) Load Load N (lbf) N (lbf) No key − 392 (80) 147 (33) 08A312 (1.01) (10.14) 08A314 (0.87) (0.12) (0.20) (0.20) 08A316 M5, depth 8 (0.31) Note 1.
  • Page 158 Servodrives Dimensional Drawings 9.1.2 SGMP Servomotors J SGMP Servomotors with Incremental Encoders and Brakes 100 W (0.13HP) Encoder Lead UL2854 300±30 (11.81±1.18) (35) (1.38) Encoder Plug Screw Motor Lead UL2464 (35) (1.38) Motor Plug Cross-section Y-Y 10.55 (0.42) 300±30 (11.81±1.18) Hex.
  • Page 159 9.1 Servomotor Dimensional Drawings 200 W (0.27 HP), 300 W (0.40 HP) (100 V Only), 400 W (0.53 HP) (200 V Only) 300±30 (11.81±1.18) Encoder Lead UL2854 (35) (1.38) Encoder Plug (35) (1.38) Motor Plug Motor Lead Screw UL2464 Cross-section Y-Y Hex.
  • Page 160 Servodrives Dimensional Drawings 9.1.2 SGMP Servomotors 750 W (1.01HP) 300±30 (11.81±1.18) Encoder Lead UL2854 (35) (1.38) Encoder Plug Motor Lead (35) (1.38) Motor Plug UL2464 Screw 300±30 (11.81±1.18) Cross-section Y-Y 158 (6.22) max. 118 (4.65) max. 40 (1.57) Hex. Nut 17 (0.67) 9.6 (0.38) 66.7 (2.63) 120 x 120 (4.72 x 4.72)
  • Page 161 9.1 Servomotor Dimensional Drawings Servomotor and Encoder Plugs (For 100 W (0.13 HP) to 750 W (1.01 HP)) Motor Plug Motor Wiring Specifications Phase U 14 (0.55) Plug: 172168-1 (AMP) Phase V White Pin: 170360-1 or 170364-1 Phase W Blue Green, Yellow Connected to Cap: 172160-1...
  • Page 162 Servodrives Dimensional Drawings 9.1.2 SGMP Servomotors Model Screw Output Approx. Allow- Allow- SGMP- dimen- Mass able able sions (HP) kg(lb) Radial Thrust Load Load N (lbf) N (lbf) 01AW12 122.5 97.5 42.5 No key − 0.95 78 (17) 49 (11) (1.67) (0.31) (0.13)
  • Page 163 9.1 Servomotor Dimensional Drawings Model Screw Out- Approx. Allowable Allowable SGMP- dimen- Mass Radial Thrust sions kg (lb) Load N Load N (HP) (lbf) (lbf) 02AW12 116.5 86.5 48.1 No key − 245 (55) 68 (15) (4.59) (3.41) (1.89) (0.27) (3.53) 02BW12 02AW14...
  • Page 164 Servodrives Dimensional Drawings 9.1.2 SGMP Servomotors 750 W (1.01HP) 300±30 (11.81±1.18) (35) (1.38) Encoder Lead UL20276 Encoder Plug Motor Lead Screw Motor Plug (35) (1.38) UL2464 Cross-section Y-Y 300±30 (11.81±1.18) 146 (5.75) Sealant 106 (4.17) 40 (1.57) Hex. Nut 17 (0.67) 66.7 (2.63) 120 x 120 (4.72 x 4.72) 12 (0.47)
  • Page 165 9.1 Servomotor Dimensional Drawings Servomotor and Encoder Plugs (For 100 W (0.13 HP) to 750 W (1.01 HP)) Motor Plug Motor Wiring Specifications Phase U 9.8 (0.39) Plug: 172167-1 (AMP) Phase V White Pin: 170360-1 or 170364-1 Phase W Blue Connected to Green, Yellow Cap: 172159-1...
  • Page 166 Servodrives Dimensional Drawings 9.1.2 SGMP Servomotors Model Screw Out- Approx Allow- Allo- SGMP- dimen- . Mass able wable sions kg (lb) radial thrust (HP) load N load N (lbf) (lbf) 01AW12B 151.5 126.5 42.5 No key − 78 (17) 49 (11) (1 6 ) (1.67) (1 14)
  • Page 167 9.1 Servomotor Dimensional Drawings Model Screw Output Approx. Allow- Allow- SGMP- dimen- Mass kg able Ra- able sions (HP) (lb) dial Load Thrust N (lbf) Load N (lbf) 02AW12B 48.1 No key − 245 (55) 68 (15) (5.83) (4.65) (1.89) (0.27) (4.63) 02BW12B...
  • Page 168 Servodrives Dimensional Drawings 9.1.2 SGMP Servomotors 750 W (1.01 HP) 300±30 (11.81±1.18) Encoder Lead (35) (1.38) Encoder Plug UL20276 Motor Lead Motor Plug (35) (1.38) UL2464 Screw Cross-section Y-Y 300±30 (11.81±1.18) 180 (7.09) 140 (5.51) 40 (1.57) Hex. Nut 17 (0.67) 66.7 (2.63) Sealant 120 x 120 (4.72 x 4.72)
  • Page 169 9.1 Servomotor Dimensional Drawings Motor and Encoder Plugs (For 100 W (0.13 HP) to 750 W (1.01 HP)) Motor Wiring Specifications Motor Plug Phase U 14 (0.55) Plug: 172168-1 (AMP) Phase V White Pin: 170360-1 or 170364-1 (1 to 4 pins) Phase W Blue 170359-1 or 170363-1 (5, 6 pins)

  • Page 170: Servopack Dimensional Drawings

    Servodrives Dimensional Drawings 9.2.1 SGD-A3AN to 02AN, SGD-A3BN to 01BN 9.2 SERVOPACK Dimensional Drawings The dimension drawings of the SGD SERVOPACK are broadly grouped according to capacity into the following three categories. D 200 V, 30 W (0.04 HP) to 200 W (0.27 HP) (Model: SGD-A3AN to 02AN) 100 V, 30 W (0.04 HP) to 100 W (0.13 HP) (Model: SGD-A3BN to 01BN) D 200 V, 400 W (0.53 HP) (Model: SGD-04AN) 100 V, 200 W (0.27 HP) (Model: SGD-02BN)

  • Page 171: Sgd-04An, Sgd-02Bn

    9.2 SERVOPACK Dimensional Drawings 9.2.2 SGD-04AN, SGD-02BN 2−φ6 5 (0.20) 5 (0.20) 60 (2.36) POWER ALARM WARNING 6 (0.24) (0.20) 75 (2.96) 130 (5.12) 65 (2.56) (1.38) Approx. Mass: 1.2 kg (2.65 lb) 9 -35...

  • Page 172: Sgd-08An, Sgd-03Bn

    Servodrives Dimensional Drawings 9.2.3 SGD-08AN, SGD-03BN 9.2.3 SGD-08AN, SGD-03BN (3.54) (0.28) (0.31) (2-φ0.24) MTG HOLES 2-φ6 (5.12) 105 (4.13) 6 (0.24) 6 (0.24) Approx. Mass: 1.5 kg (3.31 lb) 9 -36...

  • Page 173: Regenerative Resistor Unit Dimensional Drawings

    9.3 Regenerative Resistor Unit Dimensional Drawings 9.3 Regenerative Resistor Unit Dimensional Drawings The dimensional drawings of the Regenerative Resistor Unit are as shown below. J Model JUSP-RG08C Nameplate Hole 6φ (φ0.24) (0.98) M4 External Terminal Screws Approx. Mass: 6 (0.24) 1 kg (2.20 lb) 25 (0.98) 18.5 (0.73)

  • Page 174: Cable Specifications

    Servodrives Dimensional Drawings 9.4.1 Cables from Yaskawa 9.4 Cable Specifications 9.4.1 Cables from Yaskawa J Encoder Cables For Incremental Encoders (Connectors at Both Ends) SERVOPACK end of cable Model L mm (feet) Encoder end of cable Case: 10320-52A0-008 Cap: 172161-1 (9-pin)
  • Page 175 9.4 Cable Specifications For Motors with Brakes (with Connector and AMP Terminals) Finished dimension: φ7.5 mm (φ0.30 in) max. Model L mm (feet) DP9320083-1 Moter end of cable +100 +0.33 3000 Cable: DP8409360 SERVOPACK end of Cap: 172160-1 (6-pin) AWG20 x 6 core cable AMP terminals Socket: 170362-1 DP9320083-2...

  • Page 176: Cables Without Servopack Connectors (Pg Cables Only)

    Servodrives Dimensional Drawings 9.4.2 Cables without SERVOPACK Connectors (PG Cables Only) 9.4.2 Cables without SERVOPACK Connectors (PG Cables Only) Cables for Incremental Encoders (with Connector on Motor End) Lead Specifications SERVOPACK Wire Lead Color end of cable Marker Wire Markers Encoder end of cable Black Wires...
  • Page 177 9.4 Cable Specifications Cables for Absolute Encoders (with Connector on Motor End) Lead Specifications SERVOPACK Wire Lead Color end of cable Marker Wire Markers Encoder end of cable Black Wires Cap: 172163-1 (15-pin) Cable: DP8409123 Socket: 170361-1 (connected) (AWG 22 x 3C, AWG 26 x 6P) Shrink tube Shrink tube Purple...

  • Page 178: Cables Only

    Servodrives Dimensional Drawings 9.4.3 Cables Only 9.4.3 Cables Only J PG Cables Cables for Incremental Encoders To be provided by user Model L mm (feet) Cap: 172161-1 DP9400064-1 +100 Socket: 170361-1 (Connected) 3000 or 170365-1 (separated) 0.12 mm (0.0002 in +0.33 Blue White, Blue...
  • Page 179 9.4 Cable Specifications J Servomotor Cables Cables for Servomotors without Brakes To be provided by user Model L mm (feet) Cap: 172159-1 Socket: 170362-1 (connected) DP8409359-1 +100 3000 or 170366-1 (separated) SERVOPACK end +0.33 To be provided by user Pin # M4 AMP Terminals R1.25-4TOR Round Phase U...

  • Page 180: Connector Kits

    Servodrives Dimensional Drawings 9.5.3 SERVOPACK Connectors 9.5 Connector Kits 9.5.1 Encoder Cable Connectors For Incremental Encoders For Absolute Encoders 23.7 (0.93) 14 (0.55) 22.4 (0.88) 23.7 (0.93) 4.2 (0.17) 4.14 (0.16) Cap: 172163-1 Cap: 172161-1 Socket: 170361-1 or 170365-1 Socket: 170361-1 or 170365-1 9.5.2 Motor Cable Connectors Motors without Brakes Motors with Brakes...
  • Page 181 9.5 Connector Kits 3CN Connectors 31 (1.22) 11 (0.43) 36.6 (1.44) 19 (0.75) MR-8L HONDA [mm (in)] SERVOPACK Connector Case 10126-3000VE 10326-52A0-008 25.8 37.2 14.0 12.0 10.0 31.3 (1.02) (1.46) (0.55) (0.47) (0.39) (1.23) 10120-3000VE 10320-52A0-008 22.0 33.3 14.0 12.0 10.0 27.4 (0.87)
  • Page 182 Servodrives Dimensional Drawings 9.5.3 SERVOPACK Connectors Connector Application Connector Part List M d l Model Connector Case Model Model DP9411354 1CN connector for 10136-3000VE 10336-52A0-008 DE9411357 3CN for MECHA- MR-8F MR-8L TROLINK commu- nication connector * 1. Manufactured by AMP. * 2.

  • Page 183: Noise Filters

    9.6 Noise Filters 9.6 Noise Filters 9.6.1 Dimensional Diagram D LF-205A (Single-phase 200-VAC Class, 5 A) 6-φ3.5 (6-φ0.14) IN Rating Plate 4-M3 63 (2.48) 72 (2.83) 15 (0.59) 81 (3.19) 33 (1.30) 13.5 (0.53) 13.5 (0.53) D LF-210 (Single-phase 200-VAC Class, 10 A) 8-φ4.5 (8-φ0.18) IN Rat- 5-M4...

  • Page 184: Peripheral Devices

    D 200 VAC Input: 90 VDC (LPSE-2H01) D 100 VAC Input: 90 VDC (LPDE-1H01) (1.97) (1.18) Manufactured by Yaskawa Controls Co., Ltd. 2-φ3(2-φ0.12) MTG Holes (Spot Facing φ5.5 (φ0.22), 4 (0.16) Long) Name Plate 25 (0.98)

  • Page 185: Analog Monitor Cables

    9.7 Peripheral Devices While it is possible to switch either the AC or DC side of the brake power supply, it is normal- ly safer to switch the AC side. If the DC side is to be switched, install a surge suppressor near the brake coil to prevent the surge voltages due to switching the DC side from damaging the brake coil.

  • Page 186: Trial Operation

    Trial Operation This chapter describes how to conduct a full trial operation. 10.1 Check Items before Trial Operation ..10 -2 10.1.1 Servomotors ....... 10 -2 10.1.2 SERVOPACKS .

  • Page 187: Check Items Before Trial Operation

    Trial Operation 10.1.2 SERVOPACKS 10.1 Check Items before Trial Operation Inspect the following items before conducting trial operation. Also conduct the inspections accord- ing to Chapter 12 “Maintenance and Inspection” if conducting trial operation on Servomotors that have been stored for a long period of time. 10.1.1 Servomotors D Connection to machines or devices, wiring and grounding are correct.

  • Page 188: Trial Operation Procedure

    10.2 Trial Operation Procedure 10.2 Trial Operation Procedure 10.2.1 Preparation for Trial Operation To prevent accidents, initially conduct trial operation with no load connected to the Servomotor. If the trial op- IMPORTANT eration must be conducted while connected to equipment, confirm that the driven system is ready for an emer- gency stop at any time.

  • Page 189: Trial Operation Inspection

    Trial Operation 10.2.3 Trial Operation Inspection Figure 10.1 Servomotor Forward Running 10.2.3 Trial Operation Inspection Inspect for the following items during the trial operation. D Abnormal vibration D Abnormal noise D Abnormal temperature rise Take actions according to Chapter 12 “Maintenance and Inspection” if any abnormality is found.

  • Page 190: Settings

    Settings This chapter describes characteristics at the factory before shipping and Servo performance adjustment. 11.1 Characteristics at the Factory ....11 -2 11.2 Resetting ....... 11 -2 11.3 Adjusting Servo Performance .

  • Page 191: Characteristics At The Factory

    Settings 11.1 Characteristics at the Factory The speed reference (feed speed) characteristics at the factory are shown below. Speed Reference − Motor Speed Characteristics Conditions: No load −1 Rotation speed (min −102400 Feed speed 102400 (reference units/s) Figure 11.1 Speed Reference − Motor Speed Characteristics 11.2 Resetting If settings must be reset because of application or usage conditions, reset them according to Chap- ter 6 “MECHATROLINK Communication”.

  • Page 192: Adjusting Servo Performance

    11.3 Adjusting Servo Performance 11.3 Adjusting Servo Performance 11.3.1 Setting User Constants J Position Loop Gain (Cn-001A) Position loop gain is ideally determined by the specifications of the equipment, but initially set a level lower than the desired value. (The factory setting is 40 (l/s).) J Load Moment of Inertia (Cn-0003) Set the load moment of inertia for the moment of inertia ratio on the motor shaft.
  • Page 193 Settings 11.3.2 Setting Optimum Position and Speed Loop Gain J When Response Tracking Worsens D Incrementally increase the position loop gain (Cn-0001A). D If the position loop gain cannot be increased any higher because of vibration, incrementally increase the speed loop gain (Cn-0004). If increasing the speed loop gain causes vibration, then tracking performance including that for the mechanical system is at its limit.

  • Page 194: Maintenance And Inspection

    Maintenance and Inspection This chapter describes Servodrive maintenance, inspection, and trouble- shooting. 12.1 Servodrive Maintenance and Inspection of Servodrives ......12 -2 12.1.1 Servomotor .

  • Page 195: Servodrive Maintenance And Inspection Of Servodrives

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

  • Page 196: Servopack Inspection

    Ambient temperature: Annual average of 30°C Load factor: 80% max. Operation rate: 20 hours/day max. Be sure to check user settings prior to operation because Yaskawa resets user constants to factory settings when shipping overhauled SERVOPACKS. 12.1.3 Replacing Battery for Absolute Encoder Replace the absolute encoder battery (purchased by the customer) as outlined below.

  • Page 197: Troubleshooting

    Refer to the Table 12.5 for the appropriate action when a problem occurs during operation, and be sure to turn OFF the servo system power supply before commencing the procedures that are shaded. Contact your Yaskawa representative immediately if the problem cannot be resolved by using the described procedures.

  • Page 198: Servopack

    12.2 Troubleshooting 12.2.2 SERVOPACK J Troubleshooting Using MECHATROLINK Communication Data Table 12.6 shows examples of troubleshooting problems with MECHATROLINK commu- nications data (alarm code). Table 12.6 Troubleshooting with MECHATROLINK Communications Data Alarm Code Status When Lit Cause Remedy (Alarm/Warning History) “10”...
  • Page 199 Maintenance and Inspection 12.2.2 SERVOPACK Alarm Code Status When Lit Cause Remedy (Alarm/Warning History) “72” Lit during operation Load greatly exceeds the rated torque Review the load. (overload) from tens seconds to hundreds se- Continuous overload Operation resumes after turn- cond.
  • Page 200 12.2 Troubleshooting Alarm Code Status When Lit Cause Remedy (Alarm/Warning History) “F3” Lit at power ON Time between turning power OFF After turning power OFF, wait and back ON was shorter than the longer than the power holding Power loss error power holding time.
  • Page 201 Maintenance and Inspection 12.2.2 SERVOPACK J Problems due to Setting Errors Table 12.8 Problems due to Setting Errors Symptom Cause Remedy Poor servo tracking performance Position loop gain too low Increase the position loop gain (Cn-001A). Decrease the speed loop gain (Cn-0004) when increasing position loop gain causes hunting.
  • Page 202 TAIPEI OFFICE 9F, 16, Nanking E. Rd., Sec. 3, Taipei, Taiwan Phone 886-2-2502-5003 Fax 886-2-2505-1280 SHANGHAI YASKAWA-TONGJI M & E CO., LTD. 27 Hui He Road Shanghai China 200437 Phone 86-21-6553-6060 Fax 86-21-5588-1190 BEIJING YASKAWA BEIKE AUTOMATION ENGINEERING CO., LTD.

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