YASKAWA SGLFW User Manual
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YASKAWA SGLFW User Manual

YASKAWA SGLFW User Manual

Linear σ series servomotors
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YASKAWA
YASKAWA
Linear
Series SGL
/SGDH
□□
USER'S MANUAL
SGLGW/SGLFW/SGLTW Linear Servomotors
SGDH SERVOPACK
YASKAWA
 MANUAL NO. SIEP S800000 19C

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  • Page 1 YASKAWA YASKAWA Linear Series SGL /SGDH □□ USER'S MANUAL SGLGW/SGLFW/SGLTW Linear Servomotors SGDH SERVOPACK YASKAWA  MANUAL NO. SIEP S800000 19C...
  • Page 2 Copyright 2003 YASKAWA ELECTRIC CORPORATION All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or transmitted, in any form, or by any means, mechanical, electronic, photocopying, recording, or otherwise, without the prior written permission of Yaskawa. No patent liability is assumed with respect to the use of the information contained herein.
  • Page 3 • Parameter number = Numbers that the user inputs toward the SERVOPACK. 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: •...
  • Page 4 • Indicates important information that should be memorized, including precautions such as alarm dis- IMPORTANT plays to avoid damaging the devices. • Indicates supplemental information. INFO • Indicates application examples. EXAMPLE • Indicates definitions of difficult terms or terms that have not been previously explained in this man- TERMS ual.
  • Page 5 Digital Operator Operation Manual of the JUSP-OP02A-2 digital operator (option). Σ-II Series SERVOPACKs SIE-S800-35 Describes the using and the operating methods on soft- Personal Computer Monitoring Software ware that changes the local personal computer into the monitor equipment for the Σ-II Series servomotor.
  • Page 6 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.
  • Page 7 AC servodrive. WARNING • If you have a pacemaker or any other electronic medical device, do not go near the magnetic way of the linear servomotor. Failure to observe this warning may result in the malfunction of the medical device.
  • Page 8 Storage and Transportation CAUTION • Be sure to store the magnetic way of the linear servomotor in the same way as it was originally packaged. • Do not store or install the product in the following places. • Locations subject to direct sunlight.
  • Page 9 If the linear servomotor is not mounted securely, it may loosen during operation. • Do not carry the magnetic way by its antimagnetic cover. Failure to observe this caution may result in injury by the cover’s edge or the shape of the cover may become dis- torted.
  • Page 10 • Securely connect the power supply terminals and motor output terminals. Failure to observe this caution may result in fire. • Do not bundle or run power and signal lines together in the same duct. Keep power and signal lines separated by at least 30 cm (11.81 in).
  • Page 11 Fn003. • If using the linear servomotor on a vertical axis, install a safety device such as a counterbalance so that the workpiece does not fall if an alarm or overtravel occurs. Set the linear servomotor so that it will stop in the zero clamp state at occurrence of overtravel.
  • Page 12 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 13: Table Of Contents

    2.1.2 Magnetic Way - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2 2.2 SERVOPACK Model Designation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-3 2.3 Σ-II Series SERVOPACKs and Applicable Linear Servomotors - - - - - - - - - - - - 2-4...
  • Page 14 3.8.2 SGLT -35 Linear Servomotors- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-44 3.8.3 SGLT -35...
  • Page 15 5.3.4 Linear Scale with Cable for Hall Sensor by Renishaw - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-8...
  • Page 16 6.8.12...
  • Page 17 7.6.2 Connecting External Regenerative Resistors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-38...
  • Page 18 9.6.4...
  • Page 19 9.9 Operating Using Force Control- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-60...
  • Page 20 10.2.4 Machine Rigidity Setting for Online Autotuning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-8...
  • Page 21 12.5 Parameter Recording Table - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-41...

  • Page 22: Outline

    1.4...

  • Page 23: 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 Linear Servomotors The location of the nameplate varies depending on the model of the linear servomotor.

  • Page 24: Servopacks

     Magnetic way Nameplate YASKAWA TYPE: SGLFM-20756A Servomotor model Order No. Serial No. MADE IN JAPAN DATE Note: The location of the nameplate varies depending on the model and capacity of the linear servomotor. 1.1.3 SERVOPACKs  SGDH for 50 W to 5.0 kW  SGDH for 7.5 kW SERVOPACK SERVOPACK MODEL SGDH-30AE model AC-INPUT AC-OUTPUT VOLTS...

  • Page 25: Serial Converter Units

    1 Outline 1.1.4 Serial Converter Units 1.1.4 Serial Converter Units Nameplate SERIAL  CONVERTER Serial  converter MODEL   JZDP-D006-156 model For : - Order No. Serial No. YASKAWA  ELECTRIC  CORPORATION JAPAN...

  • Page 26: Product Part Names

    1.2 Product Part Names 1.2.1 Linear Servomotors (1) Coreless SGLGW and SGLGM Magnetic way Coil assembly Hall sensor cable Hall sensor unit Main circuit cable for linear servomotor (2) SGLFW and SGLFM With F-type Iron Core Coil assembly Hall sensor cable Hall sensor unit Magnetic way Main circuit cable for linear servomotor (3) SGLTW and SGLTM With T-type Iron Core Coil assembly...

  • Page 27: Servopacks

    Control power supply terminals Used for reference input signals and Used for control power supply input. sequence I/O signals. Refer to 7.2 Wiring Main Circuit. Refer to 7.4 Examples of I/O Signal Connections. Regenerative resistor connecting terminals Nameplate (side view) Used to connect external regenerative resistors. Indicates the SERVOPACK model and ratings. Refer to 7.6 Connecting Regenerative Resistors. Refer to 1.1.3 SERVOPACKs. Servomotor terminals Connects to the servomotor power line. Refer to 7.2 Wiring Main Circuit. CN2 Encoder connector Connects to the serial converter unit. Refer to 7.3 Wiring Encoders. Ground terminal Be sure to connect to protect against electrical shock. Refer to 7.2 Wiring Main Circuit. Connecting terminal of DC Reactor INFO For connecting a reactor, refer to 7.5.5 DC Reactor for Harmonic Suppression.
  • Page 28 Regenerative resistor  ∗ connecting terminals: B1, B2 * Control circuit terminal and regenerative resistor connecting terminals differ the position of the termi- nal block by the SERVOPACK model. Refer to Chapter 4 SERVOPACK Specifications and Dimensional Drawings for details. SERVOPACK model SGDH-75AE: Refer to 4.7.7 Three-phase 200 V: 7.5 kW (75AE) and 4.9.1 Three-phase 200 V: 7.5 kW (75AE-P).

  • Page 29: Examples Of Servo System Configurations

    1 Outline 1.3.1 Single-phase, 200 V Main Circuit 1.3 Examples of Servo System Configurations This section describes examples of basic servo system configuration. 1.3.1 Single-phase, 200 V Main Circuit Power supply Single-phase 200 VAC R     T Molded-case Note : To connect a DC reactor, refer to  circuit breaker           7.5.5 DC Reactor for Harmonic                (MCCB)           Suppression. Protects the power supply line by shutting the circuit OFF when an overcurrent...

  • Page 30: Three-Phase, 200 V Main Circuit

    1.3 Examples of Servo System Configurations 1.3.2 Three-phase, 200 V Main Circuit Power supply Three-phase 200 VAC R  S  T *1: The positive terminal       for the main circuit is only available for use       in the three-phase (200 VAC, 7.5 kW) SERVOPACKs. Molded-case       Do not use the positive terminals 1 or 2. circuit breaker (MCCB)    *2: Before connecting an external regenerative resistor to Protects the power supply line by shutting         the SERVOPACK, be sure to disconnect the lead between terminals  the circuit OFF when         B2 and B3. an overcurrent is  detected. (Refer to 2.6.2.)   *3: To connect a DC reactor, refer to 7.5.5 DC Reactor for Harmonic        Suppression. Noise filter Eliminates external noise  from the power line. (Refer to 2.6.3.) Digital SGDH- Magnetic operator...

  • Page 31: Three-Phase, 400 V Main Circuit

    1 Outline 1.3.3 Three-phase, 400 V Main Circuit 1.3.3 Three-phase, 400 V Main Circuit Power supply Three-phase 400 VAC R  S  T *1: Use a 24 VDC power supply (To be provided by users). Molded-case  circuit breaker (MCCB)    *2: Before connecting an external regenerative resistor to          the SERVOPACK, be sure to disconnect the lead between terminals  Protects the power supply line by shutting          B2 and B3. the circuit OFF when an overcurrent is detected.   *3: To connect a DC reactor, refer to 7.5.5 DC Reactor for Harmonic  (Refer to 2.6.2.)        Suppression. Noise filter Eliminates external  noise from the power  line. (Refer to 2.6.3.) Digital operator SGDH- Magnetic (Refer to 2.6.1.)

  • Page 32: Applicable Standards

    A group 1 EN61000-6-2 * TÜV Product Services GmbH Note: For installation conditions, refer to 7.5.2 Wiring for Noise Control. Because SERVOPACKs and linear servomotors are built-in type, reconfirmation is required after being installed in the final product. 1-11...

  • Page 33: Selections

    2.3 Σ-II Series SERVOPACKs and Applicable Linear Servomotors - - - - - - - - - 2-4 2.4 Serial Converter Units Models - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-6 2.5 Selecting Cables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-7...

  • Page 34: Linear Servomotor Model Designation

    2 Selections 2.1.1 Coil Assembly 2.1 Linear Servomotor Model Designation This section describes how to check the model and ratings of the linear servomotor. The alphanumeric codes after SGL - indicate the specifications. 2.1.1 Coil Assembly SGL G W   40 A 140 A P D Cable Connector for Main Circuit Cable Applicable Model...

  • Page 35: Servopack Model Designation

    2.2 SERVOPACK Model Designation 2.2 SERVOPACK Model Designation Select the SERVOPACK according to the applied linear servomotor. SGDH - Σ-II Series SGDH  SERVOPACK Rated Output of Applicable Servomotor (kW) Mounting Method Code Code Rated Output Rated Output Rated Output of  Code Specifications Applicable Servomotor (kW) 0.05 0.05 to 7.5 Base-mounted 0.10 Duct-ventilated 0.20 0.05 to 5.0 Rack-mounted 0.40 0.45 0.75...

  • Page 36: Σ-Ii Series Servopacks And Applicable Linear Servomotors

    2 Selections 2.3 Σ-II Series SERVOPACKs and Applicable Linear Servomotors Σ-II Series SGDH SERVOPACK Linear Σ Series Linear Servomotor Single-phase Three-phase Three-phase 200 VAC 200 VAC 400 VAC − − A5AE 30A050C − − 01AE 30A080C − − 01AE 40A140C −...
  • Page 37 To suppress rises in temperature, larger linear servomotors are used in some cases. If so, the SERVOPACK capacity can be lowered if using a motor at a lower force than the rated force. Calculate the required current and select a model with a margin of approximately 20%.

  • Page 38: Serial Converter Units Models

    80D400B 50A200B 80D600B SGLFW- 50A380B (Iron core,  1ZA200B F-type) 1ZA380B 35D120A 35D230A 50D200B 50D380B 1ZD200B 1ZD380B Note: When using a 400-V winding linear servomotor with a 200-V SERVOPACK, the parameters in the serial converter should be changed. Contact your Yaskawa representatives.

  • Page 39: Selecting Cables

    2.5 Selecting Cables 2.5 Selecting Cables SERVOPACK YASKAWA 200V SERVOPACK SGDH- MODE/SET DATA/ CHARGE POWER Note: The following two main circuit cables Serial converter           are available for the linear servomotor. unit              MS connector or connector made by             Tyco Electronics AMP K.K.              Connector made by Interconnectron Linear scale (To be provided by users.) Hall sensor  unit Linear servomotor Applicable Cable Refer- Name Connection Linear Servo- Cable Type...
  • Page 40 JZSP-CLL10-15 * The main circuit’s cable connector is made by Interconnectron. Note: A connector is not provided on the linear servomotor end of the main circuit cable, type JZSP- CLN39- . The user must provide the connector on the linear servomotor end. For details on the...
  • Page 41 2.6 Selecting Peripheral Devices 2.6 Selecting Peripheral Devices 2.6.1 Special Options Digital operator Connection cable  Personal for digital operator computer YASKAWA 200V SERVOPACK Connection cable SGDH- for personal computer MODE/SET DATA/ CHARGE POWER Host controller I/O signal cable Analog monitor cable CN10 NS500 NS600 NS100 NS115 NS300 CN11 CN11 YASKAWA 200V SERVOPACK...
  • Page 42 MECHATROLINK-I I/F Unit (NS100) JUSP-NS100 6.8.14 MECHATROLINK-II I/F Unit (NS115) JUSP-NS115 6.8.15 Application Module ∗ DeviceNet I/F Unit (NS300) JUSP-NS300 6.8.16 PROFIBUS-DP I/F Unit (NS500) JUSP-NS500 6.8.17 INDEXER Module (NS600) JUSP-NS600 * For details, refer to the manuals of each application module. 2-10...

  • Page 43: Molded-Case Circuit Breaker And Fuse Capacity

    * 2. Cutoff characteristics (25 C): 300% five seconds min. and inrush current of 20ms. * 3. A preventive circuit for inrush current is not built in the 24 VDC control power supply. The protective circuit must be designed by the customer.
  • Page 44 480 VAC, 35 A 75DE − HI-35JCU (65 A) Note: 1. If some SERVOPACKs are wired at the same time, select the proper magnetic contactors accord- ing to the total capacity. 2. The following table shows the manufacturers of each device. Peripheral Device...

  • Page 45: Regenerative Resistors

    * 1. For the optional JUSP-RA05 Regenerative Resistor Unit. * 2. For the optional JUSP-RA18 Regenerative Resistor Unit. Note: 1. If the SERVOPACK cannot process the regenerative power, an external regenerative resistor is required. Refer to 6.8.5 External Regenerative Resistor, 6.8.6 Regenerative Resistor, and 7.6 Connecting Regenerative Resistors.

  • Page 46: Linear Scales

    If so, adjust the setting so that the zero-point is output only in one direction by using BID/DIR signal. 3. This list does not cover all the applicable types of linear scales. And, the linear scales listed in the table may not be applicable or available if their specifications have been modified or their production has been stopped.

  • Page 47: Specifications And Dimensional Drawings

    3.6.1...

  • Page 48: Ratings And Specifications Of Sglgw/Sglgm

    • Excitation: Permanent magnet (Insulation class B) (a) With Standard-force Magnetic Ways The following table shows the ratings and specifications when the standard-force magnetic ways are used. Linear Servomotor Model SGLGW- 050C 080C 140C 253C 365C 140C 253C 365C 200C 370C 535C...
  • Page 49 Magnetic Attraction Note: 1. The items marked with an * and “Force and Speed Characteristics” are the values at a motor winding tem- perature of 100 °C (212°F) during operation in combination with a SERVOPACK. The others are at 20 °C (68°F).
  • Page 50 3 Specifications and Dimensional Drawings (2) Force and Speed Characteristics (a) With Standard-force Magnetic Ways A Continuous duty zone B Intermittent duty zone SGLGW-30A050C SGLGW-30A080C Motor Motor speed speed Force (N) Force (N) SGLGW-40A140C SGLGW-40A253C SGLGW-40A365C Motor Motor Motor speed...
  • Page 51 3.1 Ratings and Specifications of SGLGW/SGLGM (b) With High-force Magnetic Ways A Continuous duty zone B Intermittent duty zone SGLGW-40A140C SGLGW-40A253C SGLGW-40A365C Motor Motor Motor speed speed speed Force N Force N Force N SGLGW-60A365C SGLGW-60A140C SGLGW-60A253C Motor Motor Motor...

  • Page 52: Ratings And Specifications Of Sglfw/Sglfm

    1590 1650 3260 3300 6520 Note: 1. The items marked with an * and “Force and Speed Characteristics” are the values at a motor winding tem- perature of 100 °C (212°F) during operation in combination with a SERVOPACK. The others are at 20 °C (68°F).
  • Page 53 3.2 Ratings and Specifications of SGLFW/SGLFM (2) Force and Speed Characteristics (a) 200-V Class A: Continuous duty zone B: Intermittent duty zone SGLFW-20A090A SGLFW-20A120A Motor Motor speed speed 120 140 Force (N) Force (N) SGLFW-35A120A SGLFW-35A230A Motor Motor speed speed...
  • Page 54 Force (N) Force (N) Note: The dotted line indicates characteristics when the linear servomotor for 400 VAC is used with an input power supply for 200 VAC. In this case, the serial converter should be changed. Contact your Yaskawa representa-...

  • Page 55: Ratings And Specifications Of Sgltw/Sgltm

    • Ambient Temperature: 0 to 40 °C (32 to 104°F) • Allowable Winding Temperature: 130 °C (266°F) • Excitation: Permanent magnet (Insulation class B) Ratings and Specifications of SGLTW Linear Servomotors with T-type Iron Core Voltage 200V Linear Servomotor Model SGLTW-...
  • Page 56 ∗2 Attraction * 1. The unbalanced magnetic gap resulted from the coil assembly installation condition causes a magnetic attrac- tion on the coil assembly. * 2. The value indicates the magnetic attraction generated on one side of the magnetic way.
  • Page 57 3.3 Ratings and Specifications of SGLTW/SGLTM Note: 1. The items marked with an * and “Force and Speed Characteristics” are the values at a motor winding tem- perature of 100 °C (212°F) during operation in combination with a SERVOPACK. The others are at 20 °C (68°F).
  • Page 58 3 Specifications and Dimensional Drawings (2) Force and Speed Characteristics (a) 200-V Class A: Continuous duty zone B: Intermittent duty zone SGLTW-20A460A SGLTW-20A170A SGLTW-20A320A Motor Motor Motor speed speed speed 0 200 800 1000 1200 Force (N) Force (N) Force (N)
  • Page 59 3.3 Ratings and Specifications of SGLTW/SGLTM A: Continuous duty zone B: Intermittent duty zone SGLTW-40A400B SGLTW-40A600B Motor Motor speed speed 1000 2000 3000 2000 4000 Force (N) Force (N) SGLTW-80A400B SGLTW-80A600B Motor Motor speed speed 2000 4000 6000 2000 4000...
  • Page 60 Force (N) Force (N) Note: The dotted line indicates characteristics when the linear servomotor for 400 VAC is used with an input power supply for 200 VAC. In this case, the serial converter should be changed. Contact your Yaskawa representa- tives.

  • Page 61: Mechanical Specifications Of Linear Servomotors

    (1) Impact Resistance • Impact acceleration: 196 m/s • Impact occurrences: twice (2) Vibration Resistance The linear servomotors will withstand the following vibration acceleration in three directions: Vertical, side to side, and front to back • Vibration acceleration: 49 m/s 3-15...

  • Page 62: Quick Guide To Linear Servomotor Dimensional Drawings

    3 Specifications and Dimensional Drawings 3.5 Quick Guide to Linear Servomotor Dimensional Drawings Linear Servomotor Model Reference 3.6.1 SGLGW-30/SGLGM-30 3.6.2 SGLGW-40/SGLGM-40 SGLGW / SGLGM (Coreless type) 3.6.3 SGLGW-60/SGLGM-60 3.6.4 SGLGW-90/SGLGM-90 3.7.1 SGLFW-20/SGLFM-20 3.7.2 SGLFW-35/SGLFM-35 SGLFW / SGLFM (With F-type iron core) 3.7.3...

  • Page 63: Dimensional Drawings Of Sglgw/Sglgm Linear Servomotors

    (1) Coil Assembly: SGLGW-30A With a connector made by Tyco Electronics AMP K.K. The following table and figures show the specifications when a main circuit’s cable connector made by Tyco Electronics is used for the coil assembly. 4×M4 mounting screw, depth 5 (0.20)
  • Page 64 3.6.1 SGLG -30 Linear Servomotors (2) Coil Assembly: SGLGW-30A With a connector made by Interconnectron The following table and figures show the specifications when a main circuit’s cable connector made by Intercon- nectron is used for the coil assembly. 4×M4 mounting screw, depth 5 (0.20)
  • Page 65 3.6 Dimensional Drawings of SGLGW/SGLGM Linear Servomotors (3) Magnetic Way: SGLGM-30 7.6 (0.23) Nameplate Warning label May cause injury. Keep magnetic materials WARNING away. N×4.5 holes 24 (0.94) 8×counter boring 5 (0.20) L 36 (1.42) Pitch 54 (2.13) (0.71)* 1 unit) * Reference length N×M4 Mounting holes, depth 6 (0.24)

  • Page 66: Sglg -40 Linear Servomotors

    #4-40 UNC N2×M4 tapped, depth 6 (0.24) Ins. YASKAWA ELECTRIC CORPORATION JAPAN 25.4 (1.0) The coil assembly moves in the direction indicated by the arrow in the order of phase U, V, and W. φ5.3 (φ0.21)* 6.5 (0.26) (0.63) φ...
  • Page 67 Mounting holes #4-40 UNC N2×M4 tapped, depth 6 (0.24) Ins. YASKAWA ELECTRIC CORPORATION JAPAN The coil assembly moves in the direction indicated by the arrow in the order of phase U, V, and W. 25.4 (1.0) φ5.3 6.5 (0.26) (φ0.21)* (0.63)
  • Page 68 (0.89) (0.89)* N×φ5.5 (φ0.22) mounting hole (per unit) 22.5 22.5 (0.89) (0.89)* Pitch 45 (1.77) N×M5 mounting screws, depth 13 (0.51) (per unit) (0.21) (0.21) ( Only for SGLGM- CT.) * Reference length Units: mm (in) Approx. Standard-force Magnetic Way...
  • Page 69 3.6 Dimensional Drawings of SGLGW/SGLGM Linear Servomotors (4) High-force Magnetic Way: SGLGM-40 C-M / SGLGM-40 CT-M SGLGM- SGLGM- CT-M -0.1 (1 unit) 31.8 31.8 -0.3 ±0.2 ±0.2 (0.29 (0.29 (1.25) (1.25) 12.2 ±0.01 12.2 ±0.01 ±0.2 ±0.2 (0.48 Nameplate Warning label (0.48...

  • Page 70: Sglg -60 Linear Servomotors

    3.6.3 SGLG -60 Linear Servomotors (1) Coil Assembly: SGLGW-60A With a connector made by Tyco Electronics AMP K.K. The following table and figures show the specifications when a main circuit’s cable connector made by Tyco Electronics is used for the coil assembly. 2×screw 45 (1.77)
  • Page 71 Mounting holes #4-40 UNC N2×M4 tapped, depth 6 (0.24) Ins. 25.4 (1.0) The coil assembly moves in the direction indicated by the arrow in the order of phase U, V, and W. 6.5 (0.26) φ5.3 (φ0.21)* (0.63) (0.28) 4.8 (0.19) φ7 (φ0.28)*...
  • Page 72 (0.50) (0.89) (0.89)* N×φ5.5 (φ0.22) mounting holes (per unit) 22.5 (0.89) 22.5 (0.89)* Pitch 45 (1.77) N×M5 mounting screws, depth 13 (0.51) (per unit) ( Only for SGLGM- CT.) (0.21) (0.21) * Reference length Units: mm (in) Approx. Standard-force Magnetic Way...
  • Page 73 (0.89)* N×φ5.5 (φ0.22) mounting holes (per unit) 22.5 (0.89) 22.5 Pitch 45 (1.77) (0.89)* (0.21) (0.21) N×M5 mounting screws, depth 13 (0.51) (per unit) ( Only for SGLGM- CT-M.) * Reference length Units: mm (in) Approx. High-force Magnetic Way Mass...

  • Page 74: Sglg -90 Linear Servomotors

    (2.36) (3.74) (0.12) (0.16) (4.85) 90A370C (14.45) (14.06) (10.24) (1.57) (2.17) (11.22) (0.20) (0.31) (8.16) 90A535C (21.06) (20.67) (17.91) (1.57) (2.36) (14.96) (3.15) (0.39) (11.02) * The value indicates the mass of coil assembly with a hall sensor unit. 3-28...
  • Page 75 3.6 Dimensional Drawings of SGLGW/SGLGM Linear Servomotors (2) Magnetic Way: SGLGM-90 (1 unit) 13.8 (0.54) 18.5 (0.73) Warning label Nameplate CORELESS LINEAR SERVO MOTOR Ins. May cause injury. Keep magnetic materials WARNING away. YASKAWA ELECTRIC CORPORATION JAPAN Pitch 63 (2.48) 50.8 (2.0)

  • Page 76: Dimensional Drawings Of Sglfw/Sglfm Linear Servomotors

    30 min. 12 (0.47) (1.77± 0.004 Nameplate Note: The coil assembly moves in the direction indicated by the arrow, when current flows in the order of phase U, V, and W. SGLFW-20A090A SGLFW-20A120A 2×M4 tapped holes, depth 5.5 (0.22) 3×M4 tapped holes, depth 5.5 (0.22) * Reference length 36 (1.42)
  • Page 77 A magnetic ways can be connected. Connect magnetic ways so that the refer- ence marks match one on the other in the same direction as shown in the figure. 2. The magnet way may affect pacemakers. Keep a minimum distance of 200 mm from the magnetic way. Approx.
  • Page 78 3.7.2 SGLF -35 Linear Servomotors (1) Coil Assembly: SGLFW-35 With a connector made by Tyco Electronics AMP K.K. The following table and figures show the specifications when a main circuit’s cable connector made by Tyco Electronics is used for the coil assembly. 50 min.
  • Page 79 3.7 Dimensional Drawings of SGLFW/SGLFM Linear Servomotors (2) Coil Assembly: SGLFW-35D With a connector made by Interconnectron The following table and figures show the specifications when a main circuit’s cable connector made by Intercon- nectron is used for the coil assembly. 50 min.

  • Page 80: Sglf -35 Linear Servomotors

    A magnetic ways can be connected. Connect magnetic ways so that the refer- ence marks match one on the other in the same direction as shown in the figure. 2. The magnetic way may affect pacemakers. Keep a minimum distance of 200 mm from the magnetic way. Approx.
  • Page 81 3.7.3 SGLF -50 Linear Servomotors (1) Coil Assembly: SGLFW-50 With a connector made by Tyco Electronics AMP K.K. The following table and figures show the specifications when a main circuit’s cable connector made by Tyco Electronics is used for the coil assembly. 50 min.

  • Page 82: Sglf -50 Linear Servomotors

    3.7.3 SGLF -50 Linear Servomotors (2) Coil Assembly: SGLFW-50D With a connector made by Interconnectron The following table and figures show the specifications when a main circuit’s cable connector made by Intercon- nectron is used for the coil assembly. 50 min.
  • Page 83 A magnetic ways can be connected. Connect magnetic ways so that the refer- ence marks match one on the other in the same direction as shown in the figure. 2. The magnetic way may affect pacemakers. Keep a minimum distance of 200 mm from the magnetic way. Approx.

  • Page 84: Sglf -1Z Linear Servomotors

    3.7.4 SGLF -1Z Linear Servomotors (1) Coil Assembly: SGLFW-1Z With a connector made by Tyco Electronics AMP K.K. The following table and figures show the specifications when a main circuit’s cable connector made by Tyco Electronics is used for the coil assembly. 50 min.
  • Page 85 3.7 Dimensional Drawings of SGLFW/SGLFM Linear Servomotors (2) Coil Assembly: SGLFW-1ZD With a connector made by Interconnectron The following table and figures show the specifications when a main circuit’s cable connector made by Intercon- nectron is used for the coil assembly. 50 min.
  • Page 86 A magnetic ways can be connected. Connect magnetic ways so that the refer- ence marks match one on the other in the same direction. 2. The magnetic way may affect pacemakers. Keep a minimum distance of 200 mm from the magnetic way. Approx.

  • Page 87: Dimensional Drawings Of Sgltw / Sgltm Linear Servomotors

    48 (1.89) (0.47) 1 (0.04) 2×screws 4-40 UNC The coil assembly moves in the direction indicated by the arrow when current Hall sensor flows in the order of phase U, V, and W. 500±50 (19.69±1.97) 4.2 ( 0.17)* φ φ φ7.4 63 min.

  • Page 88: Sglt -20 Linear Servomotors

    Units: mm (in) Assembly Dimensions Note: 1. Two magnetic ways for both ends of coil assembly make one set. Spacers are mounted on magnetic ways for safety during transportation. Do not remove the spacers until the coil assembly is mounted on a machine.
  • Page 89 2 × N1 - M6 bolts, depth 16 (0.63) -0.3 Units: mm (in) Note: 1. The magnetic way may affect pacemakers. Keep a minimum distance of 200 mm (7.87 in) from the magnetic way. 2. Two magnetic ways in a set can be connected to each other.

  • Page 90: Sglt -35 A

    2-screws #4×40 UNC The coil assembly moves in the direction indicated by the arrow when current flows Hall sensor 500±50 in the order of phase U, V, and W. (19.69±1.97) φ4.2 (φ0.17) * Reference length φ8.4 63 min. Units: mm (in) (φ0.33)
  • Page 91 Units: mm (in) Assembly Dimensions Note: 1. Two magnetic ways for both ends of coil assembly make one set. Spacers are mounted on magnetic ways for safety during transportation. Do not remove the spacers until the coil assembly is mounted on a machine.

  • Page 92: Sglt -35

    * Reference length -0.3 Units: mm (in) Note: 1. The magnetic way may affect pacemakers. Keep a minimum distance of 200 mm (7.87 in) from the magnetic way. 2. Two magnetic ways in a set can be connected to each other.

  • Page 93: H Linear Servomotors

    (1) Coil Assembly: SGLTW-35 With a connector made by Tyco Electronics AMP K.K. The following table and figures show the specifications when a main circuit’s cable connector made by Tyco Electronics is used for the coil assembly. 0.15 (0.01) X N×M6 tapped holes, depth 12 (0.47)
  • Page 94 Linear Servomotors (2) Coil Assembly: SGLTW-35D With a connector made by Interconnectron The following table and figures show the specifications when a main circuit’s cable connector made by Intercon- nectron is used for the coil assembly. 0.15 (0.01) X N×M6 tapped holes, depth 12 (0.47) 70 (2.76)*...
  • Page 95 Assembly Dimensions Note: 1. Two magnetic ways for both ends of coil assembly make one set. Spacers are mounted on magnetic ways for safety during transportation. Do not remove the spacers until the coil assembly is mounted on a machine.

  • Page 96: Sglt -40 Linear Servomotors

    (L3) Magnetic way 60 (2.36) (0.63) (1.57) 1 (0.04) 2×screws The coil assembly moves in the direction indicated by the arrow when #4-40 UNC current flows in the order of phase U, V, and W. 64 min. ±50 (19.69 ±1.97...
  • Page 97 (2) Magnetic Way: SGLTM-40 Note: 1. Two magnetic ways for both ends of coil assembly make one set. Spacers are mounted on magnetic ways for safety during transportation. Do not remove the spacers until the coil assembly is mounted on a machine.
  • Page 98 * Reference value -0.3 Units: mm (in) Note: 1. The magnetic way may affect pacemakers. Keep a minimum distance of 200 mm (7.87 in) from the magnetic way. 2. Two magnetic ways in a set can be connected to each other.

  • Page 99: Sglt -50 Linear Servomotors

    (1) Coil Assembly: SGLTW-50 With a connector made by Tyco Electronics AMP K.K. The following table and figures show the specifications when a main circuit’s cable connector made by Tyco Electronics is used for the coil assembly. N×M6 tapped holes, depth 12 (0.47) 85 (3.35)*...
  • Page 100 (2) Coil Assembly: SGLTW-50D With a connector made by Interconnectron The following table and figures show the specifications when a main circuit’s cable connector made by Intercon- nectron is used for the coil assembly. N×M6 tapped holes, depth 12 (0.47) 85 (3.35)*...
  • Page 101 ±0.01 Assembly Dimensions Note: 1. Two magnetic ways for both ends of coil assembly make one set. Spacers are mounted on magnetic ways for safety during transportation. Do not remove the spacers until the coil assembly is mounted on a machine.
  • Page 102 75 (2.95) 20 (0.79) Coil assembly 60 (2.36) (0.63) (1.57) 1 (0.04) The coil assembly moves in the direction indicated by the arrow when 64 min. current flows in the order of phase U, V, and W. ±50 (19.69 ±1.97 2×screws...
  • Page 103 (2) Magnetic Way: SGLTM-80 Note: 1. Two magnetic ways for both ends of coil assembly make one set. Spacers are mounted on magnetic ways for safety during transportation. Do not remove the spacers until the coil assembly is mounted on a machine.

  • Page 104: Sglt -80 Linear Servomotors

    * Reference value -0.3 Units: mm (in) Note: 1. The magnetic way may affect pacemakers. Keep a minimum distance of 200 mm (7.87 in) from the magnetic way. 2. Two magnetic ways in a set can be connected to each other.

  • Page 105: Servopack Specifications And Dimensional Drawings

    4.3.3 Three-phase 200 V, 2.0 kW to 5.0 kW Models - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-9...
  • Page 106 4.8.6 Three-phase 200V: 5.0kW (50AE-R) Three-phase 400V: 5.0kW (50DE-R) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-29 4.9 Dimensional Drawings of Duct-ventilated SERVOPACK Model - - - - - - - - 4-30...

  • Page 107: Servopack Ratings And Specifications

    • 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 108: Servopack Ratings And Specifications

    Specifi- driven) cations Feedback 1/256 data of serial converter unit sine wave pitch (incremental) 0 to +55 °C (32 to 131 °F)/-20 to +85 °C (-4 to 185 °F) Condi- ∗1 Ambient/Storage Temperature tions Ambient/Storage Humidity 90% RH or less (with no condensation) Vibration/Shock Resistance 4.9 m/s...
  • Page 109 * 3. The forward direction indicates the direction in which the linear scale counts up (Phase-A advance). * 4. The built-in open collector power supply is not electrically insulated from the control circuit in the SERVOPACK.

  • Page 110: Servopack Installation

    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” on the following page.) Failure to observe this warning may result in electric shock.
  • Page 111 Side-by-side Installation When installing SERVOPACKs side by side as shown in the figure above, allow at least 10 mm (0.39 in) between and at least 50 mm (1.97 in) above and below each SERVOPACK. Install cooling fans above the SERVOPACKs to avoid excessive temperature rise and to maintain even temperature inside the control panel.

  • Page 112: Servopack Internal Block Diagrams

    4 SERVOPACK Specifications and Dimensional Drawings 4.3.1 Single-phase 200 V, 50 W to 400 W Models 4.3 SERVOPACK Internal Block Diagrams The following diagrams show the SERVOPACK internal blocks. 4.3.1 Single-phase 200 V, 50 W to 400 W Models Single-phase...

  • Page 113: Three-Phase 200 V, 500 W To 1.5 Kw Models

    4.3 SERVOPACK Internal Block Diagrams 4.3.2 Three-phase 200 V, 500 W to 1.5 kW Models Three-phase +10% 200 to 230V -15% (50/60 Hz) B1 B2 B3 FAN1 ±12V D2 D3 D4 Noise Linear servomotor filter CHARGE Hall THS1 sensor Gate drive over-...

  • Page 114: Three-Phase 200 V, 7.5 Kw Models

    CN10 Connector for Analog monitor Digital operator or application output for personal computer module supervision 4.3.5 Three-phase 400 V, 500 W to 3.0 kW Models Three-phase +10% 380 to 480V -15% (50/60 Hz) B1 B2 B3 FAN1 Noise Linear servomotor filter ±12 V...

  • Page 115: Three-Phase 400 V, 5.0 Kw Model

    4.3 SERVOPACK Internal Block Diagrams 4.3.6 Three-phase 400 V, 5.0 kW Model Three-phase +10% 380 to 480V -15% (50/60 Hz) B1 B2 B3 FAN1 Noise Linear servomotor filter ±12 V CHARGE Gate drive over- Hall current protector sensor RLY2 Voltage...

  • Page 116: Servopack's Power Supply Capacities And Power Losses

    ∗3 − * 1. SERVOPACKs with a capacity of 50 to 400W do not have built-in regenerative resistors. If the regenerative energy exceeds the specified value, connect an external regenerative resistor. Refer to 11.1.3 Alarm Display Table when the Application Module is Used.

  • Page 117: Servopack Overload Characteristics And Allowable Load Mass

    Operating time (s) Rated force Maximum force Rated force Approx. Maximum force Motor force Hot Start TERMS A hot start indicates that both the SERVOPACK and the servomotor have run long enough at the rated load to be thermally saturated. 4-13...

  • Page 118: Starting Time And Stopping Time

    4.5.2 Starting Time and Stopping Time 4.5.2 Starting Time and Stopping Time The starting time tr and the stopping time tf of linear servomotor under constant load conditions can be calcu- lated using the following formulas. Starting time tr =...

  • Page 119: Servopack Dimensional Drawings

    4.6 SERVOPACK Dimensional Drawings 4.6 SERVOPACK Dimensional Drawings SERVOPACK dimensional drawings are grouped according to the mounting method and the capacity. (1) Base-mounted Type SERVOPACK Supply Voltage Reference Capacity Model SGDH- 4.7.1 Single-phase 200 V 50 W, 100 W, 200 W A5A, 01A, 02A 4.7.2...

  • Page 120: Dimensional Drawings Of Base-Mounted Servopack Model

    4 SERVOPACK Specifications and Dimensional Drawings 4.7.1 Single-phase 200 V: 50 W/100 W/200 W (A5AE/01AE/02AE) 4.7 Dimensional Drawings of Base-mounted SERVOPACK Model 4.7.1 Single-phase 200 V: 50 W/100 W/200 W (A5AE/01AE/02AE) CN10 YASKAWA SERVOPACK SGDH- YASKAWA Terminal MODE/SET DATA/ CHARGE...

  • Page 121: Single-Phase 200 V: 400 W (04Ae)

    4.7 Dimensional Drawings of Base-mounted SERVOPACK Model 4.7.2 Single-phase 200 V: 400 W (04AE) 2×φ5 (φ0.20) holes CN10 YASKAWA SERVOPACK SGDH- YASKAWA Terminal MODE/SET DATA/ block CHARGE POWER 6 (0.24) 10 (0.39) Nameplate 12 (0.47) 5 (0.20) 75 (2.95) 75 (2.95)* 130 (5.12)

  • Page 122: Three-Phase 200 V: 500 W/750 W/1.0 Kw (05Ae/08Ae/10Ae)

    4 SERVOPACK Specifications and Dimensional Drawings 4.7.3 Three-phase 200 V: 500 W/750 W/1.0 kW (05AE/08AE/10AE) 4.7.3 Three-phase 200 V: 500 W/750 W/1.0 kW (05AE/08AE/10AE) 96.2 (3.79) φ5 (φ0.20) hole CN10 YASKAWA SERVOPACK200V SGDH- Terminal YASKAWA block MODE/SET DATA/ CHARGE POWER...

  • Page 123: Three-Phase 200 V: 1.5 Kw (15Ae) Three-Phase 400 V: 500 W/750 W/1.0 Kw/1.5 Kw (05De/08De/10De/15De)

    4.7 Dimensional Drawings of Base-mounted SERVOPACK Model 4.7.4 Three-phase 200 V: 1.5 kW (15AE) Three-phase 400 V: 500 W/750 W/1.0 kW/1.5 kW (05DE/08DE/10DE/15DE) 2×φ5 (φ0.20) holes Heat sink CN10 YASKAWA SERVOPACK SGDH- YASKAWA MODE/SET DATA/ CHARGE POWER Terminal 100±0.5 Ground...

  • Page 124: Three-Phase 200 V: 2.0 Kw/3.0 Kw (20Ae/30Ae) Three-Phase 400 V: 2.0 Kw/3.0 Kw (20De/30De)

    4 SERVOPACK Specifications and Dimensional Drawings 4.7.5 Three-phase 200 V: 2.0 kW/3.0 kW (20AE/30AE) Three-phase 400 V: 2.0 kW/3.0 kW (20DE/30DE) 4.7.5 Three-phase 200 V: 2.0 kW/3.0 kW (20AE/30AE) Three-phase 400 V: 2.0 kW/3.0 kW (20DE/30DE) φ 2×φ6 holes 0.24)

  • Page 125: Three-Phase 200 V: 5.0 Kw (50Ae) Three-Phase 400 V: 5.0 Kw (50De)

    4.7 Dimensional Drawings of Base-mounted SERVOPACK Model 4.7.6 Three-phase 200 V: 5.0 kW (50AE) Three-phase 400 V: 5.0 kW (50DE) Heat sink 6-pin terminal M5 screw 8 (0.31) 4-pin terminal YASKAWA SERVOPACK M4 screw SGDH-50AE CN10 Ver. MODE/SET DATA/ CHARGE POWER 125±0.5...

  • Page 126: Three-Phase 200 V: 7.5 Kw (75Ae)

    4 SERVOPACK Specifications and Dimensional Drawings 4.7.7 Three-phase 200 V: 7.5 kW (75AE) 4.7.7 Three-phase 200 V: 7.5 kW (75AE) Cooling fan 10 (0.39) SERVOPARK 200V SGDH- Ver. CN10 (0.31) YASKAWA POWER BATTERY MODE/SET DATA/ 110 (4.33) Control circuit terminal 21 (0.83)

  • Page 127: Three-Phase 400 V: 7.5 Kw (75De)

    4.7 Dimensional Drawings of Base-mounted SERVOPACK Model 4.7.8 Three-phase 400 V: 7.5 kW (75DE) Cooling fan 10 (0.39) SERVOPACK 200V SGDH- 1AAE POWER CHARGE Ver. CN10 YASKAWA MODE/SET DATA/ BATTERY 110 (4.33) Main circuit/ CN1 CN2 Control circuit Nameplate terminal Main circuit 130 (5.12)

  • Page 128: Dimensional Drawings Of Rack-Mounted Servopack Model

    4 SERVOPACK Specifications and Dimensional Drawings 4.8.1 Single-phase 200 V: 50 W/100 W/200 W (A5AE-R/01AE-R/ 02AE-R) 4.8 Dimensional Drawings of Rack-mounted SERVOPACK Model 4.8.1 Single-phase 200 V: 50 W/100 W/200 W (A5AE-R/01AE-R/ 02AE-R) 22.5 (0.89)* 24.5 (0.96) 1.5 (0.06) 42 (1.65) 32.5 (1.28)*...

  • Page 129: Single-Phase 200 V: 400 W (04Ae-R)

    4.8 Dimensional Drawings of Rack-mounted SERVOPACK Model 4.8.2 Single-phase 200 V: 400 W (04AE-R) 21.5 (0.85) 42 (1.65) 22.5 (0.89)* 24.5 (0.96) 42.5 32.5 (1.28)* (1.67) (0.08) φ5 (φ0.20) hole CN10 YASKAWA SERVOPACK SGDH- YASKAWA Terminal MODE/SET DATA/ block CHANGE POWER 8 (0.31)

  • Page 130: Three-Phase 200 V: 500 W/750 W/1.0 Kw (05Ae-R/08Ae-R/10Ae-R)

    4 SERVOPACK Specifications and Dimensional Drawings 4.8.3 Three-phase 200 V: 500 W/750 W/1.0 kW (05AE-R/08AE-R/10AE-R) 4.8.3 Three-phase 200 V: 500 W/750 W/1.0 kW (05AE-R/08AE-R/10AE-R) 42 (1.65) 25.5 22.5 (0.89)* 24.5 (0.96) (1.00) φ5 (φ0.20) hole 43.5 (1.71) 46.5 96.2 (3.79) (1.83)

  • Page 131: Three-Phase 200 V: 1.5 Kw (15Ae-R) Three-Phase 400 V: 500 W/750 W/1.0 Kw/1.5 Kw (05De-R/08De-R/10De-R/15De-R)

    4.8 Dimensional Drawings of Rack-mounted SERVOPACK Model 4.8.4 Three-phase 200 V: 1.5 kW (15AE-R) Three-phase 400 V: 500 W/750 W/1.0 kW/1.5 kW (05DE-R/08DE-R/10DE-R/ 15DE-R) Heat sink 2 × φ5 (φ0.20) 4×M4 screw Flange CN10 YASKAWA SERVOPACK SGDH- YASKAWA Terminal Nameplate block 5 (0.20)

  • Page 132: Three-Phase 200 V: 2.0 Kw/3.0 Kw (20Ae-R/30Ae-R) Three-Phase 400 V: 2.0 Kw/3.0 Kw (20De-R/30De-R)

    4 SERVOPACK Specifications and Dimensional Drawings 4.8.5 Three-phase 200 V: 2.0 kW/3.0 kW (20AE-R/30AE-R) Three-phase 400 V: 2.0 kW/3.0 kW (20DE-R/30DE-R) 4.8.5 Three-phase 200 V: 2.0 kW/3.0 kW (20AE-R/30AE-R) Three-phase 400 V: 2.0 kW/3.0 kW (20DE-R/30DE-R) Heat sink Flange YASKAWA...

  • Page 133: Three-Phase 200 V: 5.0 Kw (50Ae-R) Three-Phase 400 V: 5.0 Kw (50De-R)

    4.8 Dimensional Drawings of Rack-mounted SERVOPACK Model 4.8.6 Three-phase 200 V: 5.0 kW (50AE-R) Three-phase 400 V: 5.0 kW (50DE-R) Flange Heat sink 6-pin terminal M5 screw 8 (0.31) CN10 YASKAWA SERVOPACK 200V SGDH-50AE MODE/SET DATA/ CHANGE POWER 5-pin terminal...

  • Page 134: Dimensional Drawings Of Duct-Ventilated Servopack Model

    4 SERVOPACK Specifications and Dimensional Drawings 4.9.1 Three-phase 200 V: 7.5 kW (75AE-P) 4.9 Dimensional Drawings of Duct-ventilated SERVOPACK Model 4.9.1 Three-phase 200 V: 7.5 kW (75AE-P) Cooling fan (1.34) 82 (3.23) 7 (0.28) 10 (0.39) SERVOPACK 200V SGDH- Ver.

  • Page 135: Three-Phase 400 V: 7.5 Kw (75De-P)

    4.9 Dimensional Drawings of Duct-ventilated SERVOPACK Model 4.9.2 Three-phase 400 V: 7.5 kW (75DE-P) Cooling fan Externals SERVOPACK 400V SGDH- POWER CHARGE Ver. YASKAWA CN10 DATA/ BATTERY MODE/SET 110 (4.33) 8 (0.31) Punched hole Main circuit/ Control circuit CN1 CN2...
  • Page 136 5.2 Analog Signal Input Timing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-3...

  • Page 137: Specifications And Dimensional Drawings Of Serial Converter Unit

    20 % to 90 %RH (without condensation) * 1. The current consumption of the linear scale and hall sensor is not included in this value. The current consumption of linear scale and hall sensor must be taken into consideration for the cur- rent capacity of host controller that supplies the power.

  • Page 138: Analog Signal Input Timing

    /cos, sin, and /sin signals are identical except for the phase. Input the signals Ref and /Ref so that they shall cross each other as shown in the figure because they are input into the converter. When they are crossed, the output data will be counted up.

  • Page 139: Dimensional Drawings Of Serial Converter Unit

    5 Specifications and Dimensional Drawings of Serial Converter Unit 5.3.1 Linear Scale without Cable for Hall Sensor by Heidenhain 5.3 Dimensional Drawings of Serial Converter Unit 5.3.1 Linear Scale without Cable for Hall Sensor by Heidenhain (1) Serial Converter Unit Model: JZDP-D003-...

  • Page 140: Linear Scale Without Cable For Hall Sensor By Renishaw

    2. The linear scale (analog 1Vp-p output, D-sub 15-pin, male) by Renishaw Inc. can be directly connected. However, the BID and DIR signals are not connected. 3. Use the linear scale end connector to change the zero point specifications of the linear scale.

  • Page 141: Linear Scale With Cable For Hall Sensor By Heidenhain

    5 Specifications and Dimensional Drawings of Serial Converter Unit 5.3.3 Linear Scale with Cable for Hall Sensor by Heidenhain 5.3.3 Linear Scale with Cable for Hall Sensor by Heidenhain (1) Serial Converter Model: JZDP-D006- (2) Connection Example Serial converter unit...
  • Page 142 Ref input (R+) Empty Case Shield Note: 1. Do not use empty pins. 2. The linear scale (analog 1V output, D-sub 15-pin, male) by Heidenhain Corp. can be directly connected. 3. U-phase, V-phase, and W-phase input are internally pulled up at 10kΩ..

  • Page 143: Linear Scale With Cable For Hall Sensor By Renishaw

    5 Specifications and Dimensional Drawings of Serial Converter Unit 5.3.4 Linear Scale with Cable for Hall Sensor by Renishaw 5.3.4 Linear Scale with Cable for Hall Sensor by Renishaw (1) Serial Converter Unit: JZDP-D008- (2) Connection Example Serial converter unit...
  • Page 144 Note: 1. Do not use empty pins. 2. The linear scale (analog 1V output, D-sub 15-pin, male) by Renishaw Inc. can be directly connected. However, the BID and DIR signals are not connected. 3. U-phase, V-phase, and W-phase input are internally pulled up at 10kΩ..
  • Page 145 6.8.7 Molded-case Circuit Breaker (MCCB) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-26...

  • Page 146: Specifications And Dimensional Drawings Of Cables And Peripheral Devices

    6 Specifications and Dimensional Drawings of Cables and Peripheral Devices 6.1 Linear Servomotor Main Circuit Cables (1) JZSP-CLN11 Cables SERVOPACK end Linear servomotor end 8.5 (0.33) 50 (1.97) 35 (1.38) Heat-shrinkable tube Finished outer dia. φ6.8 (φ0.27) M4 crimped Cable (UL2464) 7.6 (0.30)
  • Page 147 6.1 Linear Servomotor Main Circuit Cables (2) JZSP-CLN21 Cables SERVOPACK end Linear servomotor end 8.5 (0.33) 35 (1.38) 50 (1.97) Hear-shrinkable tube Finished outer dia. φ11.9 (φ0.47) M4 crimpted Cable (UL2570) 7.6 (0.30) terminal AWG14/4C 14.7 Wire markers (0.58) Cap: 350780-1 (4-pin) Socket: 350537-3 (Chained) made by Tyco Electronics AMP.
  • Page 148 6 Specifications and Dimensional Drawings of Cables and Peripheral Devices (3) JZSP-CLN39 Cables The linear servomotor end of the JZSP-CLN39 cable is not provided with a connector (loose wired). The connector must be provided by the customer. SERVOPACK end Linear servomotor end 35 (1.38)
  • Page 149 Plus Applicable Linear Attached Cable Clamp Servomotor Models Connector Straight L-shaped SGLTW-40 and -80 MS3102A22-22P MS3106B22-22S MS3108B22-22S MS3057-12A (a) MS3106B Straight Plug with front-shell and back-shell separated Units: mm (in) 　　　　　　　　　　　　　　　 Shell Joint Screw Joint Max. Outer Cable Clamp Min.
  • Page 150 6 Specifications and Dimensional Drawings of Cables and Peripheral Devices (d) MS3057A-12A Cable Clamp With Rubber Bushing φJ (Bushing inner diameter) 1.6 (0.06) φE (Cable clamp inner diameter) H (Movable range on one side) Units: mm (in) Applicable shell Overall...
  • Page 151 6.1 Linear Servomotor Main Circuit Cables (6) JZSP-CLN15 Cables SERVOPACK end Linear servomotor end 8.5 (0.33) 50 (1.97) 61 (2.40) φ27.2 (φ1.07) 3.4 (0.13) Heat-shrinkable tube Finishied outer dia. φ6.8 (φ0.27) M4 crimpted terminal Cable (UL2464) Connector front view Connector by Interconnectron...

  • Page 152: Cables For Connecting Serial Converter Units

    6 Specifications and Dimensional Drawings of Cables and Peripheral Devices 6.2 Cables for Connecting Serial Converter Units (1) Cable Type Type Length (L) 1 m (3.28 ft) JZSP-CLP70-01 3 m (9.84 ft) JZSP-CLP70-03 5 m (16.40 ft) JZSP-CLP70-05 10 m (32.81 ft) JZSP-CLP70-10 15 m (49.21 ft)

  • Page 153: Cables For Connecting Linear Scales

    6.3 Cables for Connecting Linear Scales 6.3 Cables for Connecting Linear Scales (1) Cable Type Type Length (L) 1 m (3.28 ft) JZSP-CLL00-01 3 m (9.84 ft) JZSP-CLL00-03 5 m (16.40 ft) JZSP-CLL00-05 10 m (32.81 ft) JZSP-CLL00-10 15 m (49.21 ft)

  • Page 154: Cables For Connecting Hall Sensors

    6 Specifications and Dimensional Drawings of Cables and Peripheral Devices 6.4 Cables for Connecting Hall Sensors (1) Cable Type Type Length (L) 1 m (3.28 ft) JZSP-CLL10-01 3 m (9.84 ft) JZSP-CLL10-03 5 m (16.40 ft) JZSP-CLL10-05 10 m (32.81 ft) JZSP-CLL10-10 15 m (49.21 ft)

  • Page 155: Flexible Cables

    1. Repeat moving one end of the cable forward and backward for 320 mm (12.60 in) with using the test equipment shown in the following. 2. Connect the lead wires in parallel, and count the number of cable return motion times until a lead wire is disconnected. Note that one reciprocating is counted as one test.
  • Page 156 (c) Cable length If the cable length is too long, it may cause the cable’s sagging. Besides the cable length is too short, it may cause the excessive tension on the fixed points that will cause the early disconnection. Use a flexible cable with the optimum length.

  • Page 157: Servopack Main Circuit Wire Size

    6.6 SERVOPACK Main Circuit Wire Size 6.6 SERVOPACK Main Circuit Wire Size 1. Wire sizes were selected for three cables per bundle at 40 °C (104 °F) ambient temperature with the rated IMPORTANT current. 2. Use cable with a minimum withstand voltage of 600 V for main circuits.
  • Page 158 6 Specifications and Dimensional Drawings of Cables and Peripheral Devices 6.6.2 Single-phase 200 V 6.6.2 Single-phase 200 V SERVOPACK Model SGDH- Terminal External Terminal Name Symbol A5AE 01AE 02AE 04AE HIV1.25 HIV2.0 Main circuit power supply input terminals L1, L2 HIV1.25...
  • Page 159 6.6 SERVOPACK Main Circuit Wire Size 6.6.4 Three-phase 400 V SERVOPACK Model SGDH- Terminal External Terminal Name Symbol 05DE 10DE 15DE 20DE 30DE L1, L2, L3 HIV1.25 HIV2.0 Main circuit power supply input terminals (Three-phase) HIV1.25 HIV2.0 Servomotor connection terminals U, V, W HIV1.25...

  • Page 160: I/O Signal Cables For Cn1 Connector

    (3.94 Units: mm (in) * Manufactured by Sumitomo 3M Ltd. 6.7.2 Connector Type and Cable Size Use the following connector and wire when assembling the cable. The CN1 connector includes a set of case and a connector. Connector Type Case...
  • Page 161 Pin No. 26 * Reference length 30.48 (1.20) Units: mm (in) 36.7 (1.44) (3) Cable Size Item Specifications Cable Use twisted-pair or twisted-pair shielded wire. Applicable wires AWG24, 26, 28, 30 Cable Finished Diameter φ16 (φ0.63 in) mm max. 6-17...

  • Page 162: Connection Diagram

    6 Specifications and Dimensional Drawings of Cables and Peripheral Devices 6.7.3 Connection Diagram 6.7.3 Connection Diagram Host controller end SERVOPACK end Marking Lead Lead Pin No. Signal Marker No. Color Color Dots Orange Orange Black − Gray Gray Black V-REF...

  • Page 163: Peripheral Devices

    AWG26 3C UL2464 Shield wire × × M2.6 screws M2.6 screws Units: mm (in) 6.8.2 Digital Operator (1) Model JUSP-OP02A-2 with a 1m (3.28 ft)-connection Cable YASKAWA SERVOPACK Digital Operator Connect to CN3 (2) Dimensional Drawing 63 (19.20) 18.5 (5.64) 50 (15.24)

  • Page 164: Cables For Analog Monitor

    2 m (9.84 ft) JZSP-CMS00-3 6.8.3 Cables for Analog Monitor (1) Cable Type: JZSP-CA01 Connect the specified cables to CN5 connector for monitoring the analog monitor signals. For details, refer to 10.5 Analog Monitor. With the front cover open Cable for Analog Monitor...

  • Page 165: Connector Terminal Block Converter Unit

    6.8 Peripheral Devices 6.8.4 Connector Terminal Block Converter Unit (1) Model: JUSP-TA50P The connection between the connector terminal block converter and the SERVOPACK is shown below. YASKAWA SERVOPACK +1.97 Attached cable length: 500 mm (19.69 Connector terminal block converter unit...

  • Page 166: External Regenerative Resistor

    SERVOPACK if regenerative energy exceeds the capacity of the SERVOPACK. If a regenerative resistor is to be mounted externally, the jumper between B2 and B3 for the internal regenerative resistor must be removed. Refer to 7.6 Connecting Regenerative Resistors for the selection.
  • Page 167 6.8 Peripheral Devices The external regenerative resistor must be purchased by customers. Refer to the table below for selecting an external regenerative resistor. Refer to 7.6 Connecting Regenerative Resistors for the connection. (1) References for External Regenerative Resistor Regenerative Specifications...

  • Page 168: External Regenerative Resistor

    6 Specifications and Dimensional Drawings of Cables and Peripheral Devices 6.8.5 External Regenerative Resistor (4) Dimensional Drawings RH120/150/220 RH220B 138 (5.43) Units: mm (in) 170 (6.69) 154 (6.06) φ4.5 (0.18) 4 × φ4.5 (0.18) Lead wire length L: 300 (11.81) Lead wire length L: 500 (19.69)

  • Page 169: Regenerative Resistor

    6.8 Peripheral Devices 6.8.6 Regenerative Resistor (1) Models The SERVOPACKs with a capacity of 7.5 kW do not have a built-in regenerative resistor. The following regenerative resistor is required according to the SERVOPACK model. SERVOPACK Model Regenerative Resistor Specifications Allowable...

  • Page 170: Molded-Case Circuit Breaker (Mccb)

    (2) Inrush Current • Refer to 2.6.2 Molded-case Circuit Breaker and Fuse Capacity for SERVOPACK inrush current. • The allowable inrush current for a low-speed acting circuit breaker is approximately 10 times of the rated current for 0.02 seconds. • When turning ON multiple SERVOPACKs simultaneously, select a molded-case circuit breaker with the allowable current for 20 ms larger than the total inrush current shown in 2.6.2 Molded-case Circuit...

  • Page 171: Noise Filter

    The noise filters model FN and FS manufactured by Schaffner Electronic and FMAC manufacture by SCHURTER (formely TIMONTA) AG are recommended. Contact Yaskawa Controls Co., Ltd. Select one of the following noise filters according to SERVOPACK capacity. For more details, refer to 2.6.3 Noise Filters, Magnetic Contactors, Surge Suppressors and DC Reactors.
  • Page 172 6.8.8 Noise Filter (2) Three-phase, 200/400 V Select one of the following noise filters according to SERVOPACK capacity. For more details, refer to 2.6.3 Noise Filters, Magnetic Contactors, Surge Suppressors and DC Reactors. Refer to 7.2.3 Typical Main Circuit Wiring Examples for the connection method.
  • Page 173 (in) 66 (2.60) 66 (2.60) 121 (4.76) 121 (4.76) (10) (0.39) (13) (0.51) (41) (1.61) (45) (1.77) (17) (0.67) (34) (1.34) 440 VAC, 50 A 440 VAC, 64 A Specifications Applicable Three- 50AE 75AE SERVOPACK phase SGDH- 200 V...
  • Page 174 6 Specifications and Dimensional Drawings of Cables and Peripheral Devices 6.8.8 Noise Filter (c) FS Series Model FS5559-35-33 Dimensional Drawings SCHAFFNER Symbol Dimensions 330 (12.99) 85 (3.35) 370 (14.57) 348 (13.70) 110 (4.33) External 80 (3.15) Dimensions in mm (in) 30 (1.18)

  • Page 175: Magnetic Contactor

    A magnetic contactor is required to make the AC power supply to SERVOPACK ON/OFF sequence externally. Be sure to attach a surge suppressor to the excitation coil of the magnetic contactor. Refer to 6.8.10 Surge Sup- pressor for details of the surge suppressor.
  • Page 176 6 Specifications and Dimensional Drawings of Cables and Peripheral Devices 6.8.9 Magnetic Contactor (c) Model: HI-25J and HI-35J Dimensions in mm (in) Mounting Hole Terminal Symbols Dimensions in mm (in) Approx. mass: 0.68 kg (1.50 lb) 58 (2.28) 111 (4.37) (0.16)
  • Page 177 Maintain the power supply voltage within the specified range. The voltage below the allowable range causes malfunction, resulting in the magnetic contacts seizing or the coil burning out. If a voltage above 24 V is applied, the unit will be damaged. Confirm the voltage at the trial operation after installation.
  • Page 178 6 Specifications and Dimensional Drawings of Cables and Peripheral Devices 6.8.9 Magnetic Contactor (c) Model: HI-15JCU and HI-20JCU Dimensions in mm (in) Mounting Hole Dimensions in mm (in) Approx. mass: 0.45 kg (0.99 lb) M3.5 External 91 (3.58) connection terminals 49 (1.93)

  • Page 179: Surge Suppressor

    Applicable Voltage Range for Operation Applicable Absorption Insula- Magnetic Coil Magnetic Method tion Volt- Contactor AC 50/60Hz 50 V 110 V 127 V 240 V 380 V 440 V TU-25C120 150 VAC HI-11J TU-25C240 300 VAC HI-15J HI-20J Varistor TU-25V440 500 VAC...
  • Page 180 6 Specifications and Dimensional Drawings of Cables and Peripheral Devices 6.8.10 Surge Suppressor (c) Dimensional Drawings • Model TU-25 Units: mm (in) Approx. mass: 0.02 kg (0.04 lb) Internal Connection Diagram M3.5 Connection terminals (0.24) Operation indicator (LED) Varistor 26 (1.02) 22 (0.87)

  • Page 181: Dc Reactor For Harmonic Suppression

    DC reactor for harmonic suppression is handled by Yaskawa Controls Co., Ltd. If necessary for harmonic suppression, connect a DC reactor to the SERVOPACK. Note that no terminal for con- necting a DC reactor is provided to the 7.5 kW SERVOPACKs.

  • Page 182: Dc Reactor For Harmonic Suppression

    6 Specifications and Dimensional Drawings of Cables and Peripheral Devices 6.8.11 DC Reactor for Harmonic Suppression (2) Dimensional Drawings Units: mm φI 4×φH Notch DC Reactor Dimensions in mm (in) Approx. Model Mass φH φI in kg (lb) X5059 (1.97) (2.91)

  • Page 183: Variable Resistor For Speed And Force Setting

    6.8.12 Variable Resistor for Speed and Force 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 Units: mm (in) Panel 11.5±1 (0.45±0.04)

  • Page 184: Encoder Signal Converter Unit

    6.8.13 Encoder Signal Converter Unit 6.8.13 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.

  • Page 185: Mechatrolink I/F Unit

    Input Signals External latch signals 1, 2, 3 Possible Forward/reverse force control Position Data Latch Position data latching is possible using phase C, and external signals 1, 2, 3 Function Parameters damage, Parameter setting errors, Communications errors, WDT Protection errors...

  • Page 186: Devicenet I/F Unit

    Basic Specifications Power Consumption 1.3 W Baud Rate Setting Select from 125 kbps, 250 kbps, or 500 kbps using a rotary switch. DeviceNet Communications Node Address Setting Select the address from 0 to 63 using the rotary switches. Operation Specifications Positioning using DeviceNet communications.

  • Page 187: Profibus-Dp I/F Unit

    Parameters damage, Parameter setting errors, Communications Protection Internal Functions errors, etc. ERR: Module Error LED Indicators COMM: Communications Status * The allocation of the output signals for brake interlock, servo ready, or positioning completion can be changed using parameter settings. 6-43...
  • Page 188 6 Specifications and Dimensional Drawings of Cables and Peripheral Devices 6.8.16 PROFIBUS-DP I/F Unit (3) Dimensional Drawings Units: mm (in) Approx. mass: 0.2 kg (0.44 lb) (24) (0.94) FG terminal Connector to SERVOPACK CN11 NS500 Nameplate 133 (5.24) (0.79) 6-44...

  • Page 189: Indexer Module

    Supplied from the SERVOPACK control power supply Basic Specifications Power Consumption 2.6 W Program table positioning by designating the starting step by the contact input Program Table (Maximum 128 steps) Serial commands in ASCII codes Communications specifications: RS422 / RS485 (Maximum 50 m)
  • Page 190 6 Specifications and Dimensional Drawings of Cables and Peripheral Devices 6.8.17 INDEXER Module (3) Dimensional Drawings Units: mm (in) Approx. mass: 0.2 kg (0.44 lb) (24) (0.94) FG terminal Connector To SERVOPACK NS600 Nameplate 128 (5.04) 20 (0.79) 6-46...

  • Page 191: Wiring

    7.5.5 DC Reactor for Harmonic Suppression - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-37...

  • Page 192: Linear Servomotor Installation

    Install the linear servomotor according to the following precautions. WARNING • If you have a pacemaker or any other electronic medical devices, do not approach the magnetic way of the linear servomotor. Failure to observe this warning may malfunction of the medical device.

  • Page 193: Sglgw And Sglgm Linear Servomotors (Coreless Types)

    7.1 Linear Servomotor Installation CAUTION • When using linear servomotors with hall sensors, make sure that the hall sensor does not protrude from the servomotor's magnetic way. Otherwise, the linear servomotor may not operate properly. The hall sensor is built into the coil assembly in SGLGW- 30 and SGLGW-90 linear servomotor.
  • Page 194 The coil assembly of SGLGW linear servomotor is constructed of an aluminum base and a resin-coated coil winding section. Handle the coil assembly with care and do not subject the coil winding section to shock. Doing so may cause injury or damage to the coil assembly.
  • Page 195 (0.08 ± 0.01) 2. Move the coil assembly back and forth several times over the magnetic way from end to end, making sure that the coil assembly and magnetic way are not touching each other and that no foreign objects such as...

  • Page 196: Sglfw And Sglfm Linear Servomotor (F-Shaped With Core)

    The steel plate is a dummy plate used to reduce the influence of magnetic force on the surrounding environment. When removing the plate, make sure that fingers are kept clear and that the magnet and magnet protection cover are not damaged.
  • Page 197 The magnetic way's magnets exert strong magnetic attraction. Make sure that any steel bolts or wrenches being used are INFO kept away from the magnets. Always use bolts with a head height according to the dimensions shown in the following table.
  • Page 198 (2) Coil Assembly Installation The SGLFW coil assembly is constructed of an aluminum or steel base and iron core, with a resin-coated coil winding section. Make sure that the coil winding section is not subjected to shock during installation. Shock may cause injury or damage to the coil assembly.
  • Page 199 7.1 Linear Servomotor Installation When two or more magnetic ways are used, first secure one of the magnetic ways only, and then install the IMPORTANT coil assembly in the available space. If using one magnetic way only with insufficient space to extend the linear guide up to the position of the coil assembly, temporarily mount a dummy linear guide in line with the magnetic way's.

  • Page 200: Sgltw And Sgltm Linear Servomotor (T Type With Iron Core)

    Use the following procedure to install the SGLTM magnetic way. 1. With the mounting spacers attached, place the magnetic way on both positioning steps. Make sure that the machine and magnetic way are not scratched or dented when positioning the magnetic way. Set the dimensions of these positioning steps to match the W2 dimensions in the following table.
  • Page 201 4. Fully remove the spacer used for transport. If the bolt holes used for mounting the magnetic way are in the position where the mounting spacer was mounted, tighten the bolts at these locations.
  • Page 202 7 Wiring 7.1.4 SGLTW and SGLTM Linear Servomotor (T Type with Iron Core) Magnetic attraction For safety, install the coil assembly before installing the second or subsequent magnetic way. Refer to (2) Coil Assembly INFO Installation for details. (2) Coil Assembly Installation The SGLTW coil assembly is constructed of an aluminum or steel base and iron core, with a resin-coated coil winding section.
  • Page 203 (0.75 ± 0.004) * The value in parentheses is the dimension when the magnet protection cover is used. When two or more magnetic way are used, first secure one of the magnetic way only, and then install the IMPORTANT coil assembly in the available space. If using one magnetic way only with insufficient space to extend the linear guide up to the position of the coil assembly, temporarily mount a dummy linear guide in line with the magnetic way's.
  • Page 204 7 Wiring 7.1.4 SGLTW and SGLTM Linear Servomotor (T Type with Iron Core) Make sure that hands or tools are not jammed or caught due to the attraction of the magnetic way when the coil assembly INFO approaches the end of the magnetic way. When the air gap between the coil assembly and the magnetic way is fixed, the nonmagnetic sheet is not required.

  • Page 205: Wiring Main Circuit

    The maximum length is 3 m (118.11 in) for reference input lines and is 20 m (787.40 in) for PG feedback lines. • Do not touch the power terminals for five minutes after turning power OFF because high voltage may still remain in the SERVOPACK.
  • Page 206 DC reactor between terminal These terminals do not exist. Main circuit plus ter- Normally not connected. minal Note: This terminal is on the SERVOPACK with a capacity of 7.5 kW only. Main circuit minus Normally not connected. − −...

  • Page 207: Wiring Main Circuit Power Supply Connector (Spring Type)

    3. Insert the wire core into the opening and then close the opening by releasing the lever connection or removing the screwdriver. The terminal block for SERVOPACK SGDH- DE for 400 V 500 W to 1.5 kW, has an indication “300 V, 15 A”. This is a INFO rating recognition of UL authorization, which means that the terminal blocks are authorized for “limited rating for indus-...

  • Page 208: Typical Main Circuit Wiring Examples

    7.2.3 Typical Main Circuit Wiring Examples (1) Single-phase, 200 V SERVOPACK SGDH- Linear servomotor Linear scale Serial converter unit Properly treat the end of shielded wire. +24V (For servo alarm display) ALM+ 31 Main circuit Main circuit power supply power supply ALM−...
  • Page 209 • When designing the power ON sequence, note that the SERVOPACK will output (1Ry is OFF) a servo alarm signal for two seconds or less when the control power is turned ON. And, use this relay to turn OFF the main power supply to the SERVOPACK.
  • Page 210 • SGDH SERVOPACK is applicable for both AC and DC power supply input. However, if the DC power supply input supplies a voltage without setting ‘1’ (for DC power supply input) in the parameter Pn001.2, the SERVOPACK’s internal elements will burn and may cause fire or malfunction.

  • Page 211: Wiring Encoders

    7.3 Wiring Encoders 7.3 Wiring Encoders 7.3.1 Connecting an Encoder (CN2) and Output Signals from the SERVOPACK (1) Connecting a Linear Scale Made by Heidenhain Linear scale Serial converter unit made by Heidenhain SERVOPACK Host controller (User's) ∗ Line receiver ∗...

  • Page 212: Examples Of I/O Signal Connections

    * 4. Customers must purchase a 24 VDC power supply with double-shielded enclosure. Note: The functions allocated to the input signals SI0 to SI6 and the output signals SO1 to SO3 can be changed by using the parameters. Refer to 8.3.2 Input Circuit Signal Allocation and 8.3.3 Output Circuit Signal Allocation.

  • Page 213: Position Control Mode

    * 2. Customers must purchase a 24 VDC power supply with double-shielded enclosure. Note: The functions allocated to the input signals SI0 to SI6 and the output signals SO1 to SO3 can be changed by using the parameters. Refer to 8.3.2 Input Circuit Signal Allocation and 8.3.3 Output Circuit Signal Allocation.

  • Page 214: Force Control Mode

    * 5. Customers must purchase a 24 VDC power supply with double-shielded enclosure. Note: The functions allocated to the input signals SI0 to SI6 and the output signals SO1 to SO3 can be changed by using the parameters. Refer to 8.3.2 Input Circuit Signal Allocation and 8.3.3 Output Circuit Signal Allocation.

  • Page 215: I/O Signal Connector (Cn1) Terminal Layout

    Connect to the FG (frame ground) at the SERVOPACK-end connector. 3. The functions allocated to the following input and output signals can be changed by using the parameters. Refer to 8.3.2 Input Circuit Signal Allocation and 8.3.3 Output Circuit Signal Allo- cation.

  • Page 216: I/O Signal (Cn1) Names And Functions

    2. The functions allocated to /S-ON, /P-CON. P-OT, N-OT, /ALM-RST, /P-CL, and /N-CL input signals can be changed by using the parameters. Refer to 8.3.2 Input Circuit Signal Allocation. 3. The voltage input range for speed and force references is a maximum of ±12 V. 7-26...
  • Page 217 9.13.3 /TGON+ Detection during linear servomotor movement: Detects when the linear servomotor is /TGON- moving at a speed higher than the motor speed setting. Detection speed can be set by using the parameters. 9.13.4 /S-RDY+ Servo ready: ON if there is no servo alarm when the control/main circuit power /S-RDY- supply is turned ON.

  • Page 218: Interface Circuit

    CN1 connector terminals, 7-8: Reference pulse input, 11-12: Reference code input and 15-14: Clear input are explained below. An output circuit for the reference pulse and position error pulse clear signal at the host controller can be either line-driver or open-collector outputs. The following shows by type.
  • Page 219 Note: The 24 VDC external power supply capacity must be 50 mA minimum. (3) Sink Circuit and Source Circuit The SERVOPACK’s I/O circuit uses a bidirectional photocoupler. Select either the sink circuit or the source cir- cuit according to the specifications required for each machine.
  • Page 220 • Current: 20 mA DC (c) Photocoupler Output Circuit Photocoupler output circuits are used for servo alarm (ALM), servo ready (/S-RDY), and other sequence out- put signal circuits. Connect a photocoupler output circuit through a relay circuit or line receiver circuit.

  • Page 221: Others

    • If the servomotor is insulated from the machine, ground the servomotor directly. 3. Do not bend or apply tension to cables. The conductor of a signal cable is very thin (0.2 to 0.3 mm (0.0047 to 0.012 in)), so handle the cables care- fully.

  • Page 222: Wiring For Noise Control

    (b) Noise on the Reference Input Line If the reference input line receives noise, ground the 0 V line (SG) of the reference input line. If the main cir- cuit wiring for the linear servomotor is accommodated in a metal conduit, ground the conduit and its junction box.
  • Page 223 7.5 Others (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.
  • Page 224 4. When grounding a noise filter inside a unit: If a noise filter is located inside a unit, connect the noise filter ground wire and the ground wires from other devices inside the unit to the ground plate for the unit first, then ground these wires.

  • Page 225: Using More Than One Servopack

    When the alarm occurs, the ALM output signal transistor is turned OFF. Multiple servos can share a single molded-case circuit breaker (QF) or noise filter. Always select a QF or noise filter that has enough capacity for the total power capacity (load conditions) of those servos. For details, refer to 2.6.2 Molded-case Circuit Breaker and Fuse Capacity.

  • Page 226: Operating Conditions On 400-V Power Supply Voltage

    • Control the AC power supply ON and OFF sequence at the primary side of voltage conversion transfer. Voltage conversion transfer inductance will cause a surge voltage if the power is turned ON and OFF at the secondary, damaging the SERVOPACK.

  • Page 227: Dc Reactor For Harmonic Suppression

    The SERVOPACK has the DC reactor connection terminals for power supply harmonic suppression. However, SERVOPACKs with capacity of 7.5 kW do not have these terminals. The type of DC reactor to be connected dif- fers depending on the SERVOPACK capacity. Refer to the following table.

  • Page 228: Connecting Regenerative Resistors

    • During continuous operation with the servomotor moved from the load side (negative load). The SERVOPACKs with a capacity of the single-phase 200 V with 50 to 400 W do not have built-in regenerative resistors. If the value calculated in 12.2 Calculating the Required Capacity of Regenerative Resistors needs an external regenerative resistor, connect an external regenerative resistor.
  • Page 229 (18) (880) (180) * 1. The average regenerative power that can be handled is 20% of the rated capacity of the regenerative resistor built into the SERVOPACK. * 2. The values in parentheses are for the optional JUSP-RA05 Regenerative Resistor.
  • Page 230 • For forced air cooling method: Set the value maximum 50 % of the actually installed regenerative resistor capacity (W). For example, set 20 W (100 W × 20% ) for the 100 W external regenerative resistor with natural cooling method: Pn600 = 2 (units: 10 W) 1.
  • Page 231 Do not touch the regenerative resistors because they reach high temperatures. Use heat-resistant, non-flam- IMPORTANT mable wiring and make sure that the wiring does not touch the resistors. Refer to 6.6 SERVOPACK Main Circuit Wire Size for connecting wire size when connecting an external regenerative resistor.
  • Page 232 7 Wiring 7.6.2 Connecting External Regenerative Resistors (c) SERVOPACK’s with Capacity of 7.5 kW No built-in regenerative resistor is provided, so the external regenerative resistor is required. The special regenerative resistors are as follow: Main Circuit Applicable Applicable Resis- Specifications...

  • Page 233: Digital Operator/Panel Operator

    8.4.1 List of Monitor Modes - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-30...

  • Page 234: Functions On Digital Operator/Panel Operator

    Two types of digital operators are available. One is a built-in operator that has a panel indicator and switches located on the front panel of the SERVOPACK. This type of digital operator is also called a panel operator. The other one is a hand-held operator (JUSP-OP02A-2 digital operator), which can be connected to the SERVOPACK with connector CN3 of the SERVOPACK.

  • Page 235: Key Names And Functions

    Press the SVON or MODE/SET Key to perform servo ON/OFF in the JOG operation with the operator. SVON MODE/SET (SVON Key) (MODE/SET Key) When an alarm occurs, remove the cause, and then reset the alarm. Refer to 11.1 Troubleshooting. IMPORTANT...

  • Page 236: Basic Mode Selection And Operation

    8.1.3 Basic Mode Selection and Operation 8.1.3 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.
  • Page 237 Press MODE/SET Key and UP or DOWN Key to select the desired parameter number. Then, press DATA/SHIFT Key for more than one second to display the contents of selected parameter number in the selected mode. (Refer to each operation instruction described later.)

  • Page 238: Status Display

    Lit when SERVOPACK control power sup- Power ON Power ON ply is ON. Baseblock Lit for baseblock. Not lit when servo is ON. Baseblock Lit for baseblock. Not lit when servo is ON. Speed Lit when the difference between the motor Positioning...
  • Page 239 8.1 Functions on Digital Operator/Panel Operator (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 240: Operation In Utility Function Mode

    8.2 Operation in Utility Function Mode (Fn 8.2.1 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.

  • Page 241: Operation In Utility Function Mode (Fn )

    Fn000, which is stocked in the alarm traceback data. The data can be cleared using an utility function mode “Alarm Traceback Data Clear.” For details, refer to 8.2.6 Alarm Traceback Data Clear (Fn006). The alarm traceback data is not cleared on alarm reset or when the SERVOPACK power is turned OFF. This does not adversely affect operation.

  • Page 242: Jog Mode Operation (Fn002)

    SERVOPACK is in servo ON state. • The servo ON (/S-ON) input signal must be OFF. • If the parameter Pn50A.1 (/S-ON Signal Mapping) is set to “7 (Sets signal ON),” change the setting to “8 (Sets signal OFF).” (2) Related Parameter...

  • Page 243: Zero-Point Search Mode (Fn003)

    The following conditions must be met to perform the zero-point search operation. • If the Servo-ON input signal (/S-ON) is ON, turn it OFF. • Release the Servo-ON signal mask if the parameter Pn 50A.1 is set to 7, and the servo has been set to always be ON.

  • Page 244: 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. After initialization, turn OFF the power supply and then turn ON again.

  • Page 245: Alarm Traceback Data Clear (Fn006)

    8.2 Operation in Utility Function Mode (Fn 8.2.6 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.

  • Page 246: Automatic Offset-Adjustment Of Motor Current Detection Signal (Fn00E)

    Perform this adjustment only if highly accurate adjustment is required for reducing force ripple caused by current offset. Automatic adjustment is possible only with power supplied to the main circuit power supply and with the servo OFF.

  • Page 247: Manual Offset-Adjustment Of Motor Current Detection Signal (Fn00F)

    If this function, particularly manual adjustment, is executed carelessly, it may worsen the characteristics. IMPORTANT When performing manual adjustments, run the motor at a speed of approximately 100 mm/s, and adjust the operator until the force monitor ripple is minimized. (Refer to 10.5 Analog Monitor.) Adjust the phase-U and phase-V offsets alternately several times until these offsets are well balanced.

  • Page 248: Password Setting (Protects Parameters From Being Changed) (Fn010)

    8.2.9 Password Setting (Protects Parameters from Being Changed) (Fn010) 8.2.9 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 8.2.1 List of Utility Function Modes for details.

  • Page 249: Motor Models Display (Fn011)

    8.2 Operation in Utility Function Mode (Fn 8.2.10 Motor Models Display (Fn011) This mode is used for motor maintenance, set the parameter Fn011 to select the motor model check mode. If the SERVOPACK has been custom-made, you can also check the specification codes of SERVOPACKs.

  • Page 250: Software Version Display (Fn012)

    8 Digital Operator/Panel Operator 8.2.11 Software Version Display (Fn012) 8.2.11 Software Version Display (Fn012) Set the Fn012 to select the software-version check mode to check the SERVOPACK and encoder software ver- sion numbers. Display after Step Digital Operator Panel Operator...

  • Page 251: Application Module Detection Results Clear (Fn014)

    8.2.12 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 252: Operation In Parameter Setting Mode (Pn )

    These two types use different setting methods. With value setting, a parameter is set to a value within the specified range of the parameter. With function selec- tion, the functions allocated to each digit of the seven-segment LED panel indicator (five digits) can be selected.
  • Page 253 8.3 Operation in Parameter Setting Mode (Pn (c) Parameter Indications In this manual, the parameter is explained with using the following format. Applicable control mode for the parameter : Speed control, internal set speed control Speed : Position control Positoin...
  • Page 254 ON again to validate new setting. • Pn10B.1 and Pn110.0 require the power to be reset as mentioned above. • Pn10B.0, Pn110.1, and Pn110.2 are enabled with the off-line, so the power does not have to be reset. Parameter...
  • Page 255 (Press at least 1 s.) trol. To enable the change in the setting of function selection basic switches (Pn000), turn OFF the power and ON again. (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.

  • Page 256: Input Circuit Signal Allocation

    (JUSP-OP02A-2). 8.3.2 Input Circuit Signal Allocation Each input signal is allocated to a pin of the input connector CN1 by setting the parameter. The following table shows detailed allocation. (1) Factory Setting (Pn50A.0 = 0) The factory setting for the input signal allocation is as follows.
  • Page 257 (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.
  • Page 258 If such setting is absolutely necessary, confirm the operation and observe safety precautions. 2. When two or more signals are allocated to the same input circuit, the input signal level will be applied to all the allocated signal.
  • Page 259 Key for more than one second to return to the display DATA ENTER DATA/ Pn50B. /S-ON is allocation to CN1-45, and /P-CL is (DATA/ENTER K ey) (DATA/SHIFT Key) allocated to CN1-40. Turn the power OFF and ON again to enable the change of input signal selections (Pn50A and Pn50B). 8-27...

  • Page 260: Output Circuit Signal Allocation

    8 Digital Operator/Panel Operator 8.3.3 Output Circuit Signal Allocation 8.3.3 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.
  • Page 261 8.3 Operation in Parameter Setting Mode (Pn 1. When two or more signals are allocated to the same output circuit, a signal is output with OR logic. IMPORTANT 2. The signals not detected are considered as “Invalid.” For example, Positioning Completion (/COIN) Sig- nal in speed control mode is “Invalid.”...

  • Page 262: Operation In Monitor Mode (Un )

    8 Digital Operator/Panel Operator 8.4.1 List of Monitor Modes 8.4 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.

  • Page 263: Sequence I/O Signal Monitor Display

    ON (short-circuited) status, the bottom segment (LED) is lit. Top: OFF (H level) Bottom: ON (L level) Number 7 6 5 4 3 2 1 Refer to 8.3.2 Input Circuit Signal Allocation for the relation between input terminals and signals. Display LED Input Terminal Name Factory Setting Number...

  • Page 264: Operation In Monitor Mode

    AL02 CN1-39 AL03 Seven segments in the top and bottom rows of an LED turn ON and OFF in different combinations to indi- cate various output signals. These segments ON for L level and OFF for H level. • When ALM signal operates (alarm at H level.)

  • Page 265: Monitor Display Of Reference Pulse Counter And Feedback Pulse Counter

    (DATA/ENTER K ey) (Press at least 1 s.) When the control power supply is turned ON, reference pulse and feedback pulse will be “0.” The pulse numbers will increase when the servomotor moves in the counting-up direction of the linear scale (phase-A progression) and decrease when the servomotor moves in the counting-down direction of the linear scale (phase-B progression).

  • Page 266: Allowable Maximum Motor Speed For Dividing Ratio Monitor (For The Software Version 32 Or Later)

    This section describes the monitor display for determining the maximum speed (Pn384) for the PG Divider (Pn281). Adjust the setting of Pn080.3 to select the location to be monitored. This function is available for Ser- vopack Software version 32 or later.

  • Page 267: Hall Sensor Signal Monitor (For The Software Version 32 Or Later)

    8.4 Operation in Monitor Mode (Un 8.4.6 Hall Sensor Signal Monitor (For the software version 32 or later) This section describes the monitor display for the signal patterns of the hall sensor. This function is available for Servopack Software version 32 or later.
  • Page 268 9.4 Trial Operation with the Linear Servomotor Connected to the Machine - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-28 9.5 Control Mode Selection - - - - - - - - - - - - - - - - - - - - - - - - - - 9-29...
  • Page 269 9.8.1 Setting Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-47...

  • Page 271: Operation

    Perform a trial operation after wiring is completed. Use the following procedure to perform a trial operation. The procedures for Speed Control Mode (standard set- ting) and Position Control Mode are described in this chapter. When a specific explanation is not provided, use the default parameters.
  • Page 272 Host Set necessary Run the linear servomotor from the host controller in the same way as in step 10, and reference parameters. set the required parameters so that the machine movement direction, movement dis- tance, and movement speed are the same as the references.

  • Page 273: Trial Operation Using Servopack Internal References

    When using linear Σ-series servomotors, the motor forward direction (coil assembly’s movement direction when current flows through phases U, V, and W, in that order) is toward the side from which the motor cable is extended.
  • Page 274 INFO If the motor forward direction and linear scale count direction are opposite due to wiring or other factors, set the parameter Pn080.1=1 (B-phase progression, U, V, W-phase in order : Available only for the software version 32 or later).
  • Page 275 When using a SERVOPACK right after factory shipment, the alarm A.08 (Linear Scale Pitch Setting Error) will be dis- played but does not indicate an error. This alarm is generated to remind the user to set Pn280. After setting the correct value and setting validation, the alarm A.08 is cleared.
  • Page 276 EXAMPLE Using a linear scale with a scale pitch of 20 µm, if the linear servomotor is moved only 1 cm by hand in the linear scale’s count direction, the number of feedback pulses will be as follows: 1 cm/ (20 µm/256) = 12,800 pulses...
  • Page 277 When the Value of the Un00D is counted down INFO When the value of the Un00D is a counted down, set the parameter Pn080.1 = 1 (B-phase progression, U, V, W-phase in order). Enable the setting by setting validation. With this setting, the SERVOPACK performs current control by treating the linear scale countup direction as the motor forward direction.
  • Page 278 • The alarm A.C2 (phase error detection) occurs when the linear servomotor moves. The count direction of the linear scale signal is not correct, or the count may not be normal. Perform (5) Checking the Feedback Signal again.

  • Page 279: Setup Procedure Using Linear Servomotors Without Hall Sensors

    When using linear Σ-series servomotors, the motor forward direction (coil assembly’s direction of progression when current flows in phase order U, V, and W) is toward the side from which the cable is extended. The analog 1-V p-p voltage input from the linear scale to the serial converter unit is counted up during phase A (cos signal) progression.
  • Page 280 When Motor Forward Direction and Linear Scale Count Direction Do Not Match INFO When the motor forward direction and linear scale count direction are reversed due to wiring or other factors, set so that parameter Pn080.1 = 1 (B-phase progression, U, V, W-phase in order).
  • Page 281 When using a SERVOPACK right after factory shipment, the alarm A.08 (Linear Scale Pitch Setting Error) will be dis- played but does not indicate an error. This alarm is generated to remind the user to set Pn280. After setting the correct value and setting validation, the alarm A.08 is cleared.
  • Page 282 EXAMPLE Using a linear scale with a scale pitch of 20 µm, if the linear servomotor is moved only 1 cm by hand in the linear scale’s count direction, the number of feedback pulses will be as follows: 1 cm/ (20 µm/256) = 12,800 pulses...
  • Page 283 When the Value of the Un00D is counted down INFO When the value of the Un00D is a counted down, set the parameter Pn080.1 = 1 (B-phase progression, U, V, W-phase in order). Enable the setting by setting validation. With this setting, the SERVOPACK performs current control by treating the linear scale countup direction as the motor forward direction.
  • Page 284 If the force limit is set after (5) Setting the Linear Scale Pitch and (7) Checking the Feedback Signal, overrun will not occur. Increase the value in the parameters up to the required force. Set the value to the maximum value if no particular restricting conditions apply.
  • Page 285 Based on the user-set position, measure the electrical angles using monitor mode parameter Un004 (electrical angle 2: Phase U, angle from 0) when polarity detection is performed at 30 points each 1.5 mm apart. If the electrical angles are in the relationship 12° ±10, the measurement results indicate the normal polarity detec- tion.
  • Page 286 (mm/s) (mm/s) Enlarged Speed Speed feedback (mm/s) feedback (mm/s) Time (ms) Time (ms) The detection waveform is not always the same, so the waveform may be different from those shown above even though INFO the detection has completed normally. 9-19...
  • Page 287 If Pn103 is set correctly, increase the value set for polarity detection speed loop gain (Pn481). If the load is heavy and the mechanical friction is very large, a large gain will cause an alarm. The gain cannot be increased under this condition, so reduce the mechanical friction.
  • Page 288 2. Operate the panel operator or digital operator and move the linear servomotor using jog operation. For details on jog operation, refer to 8.2.3 JOG Mode Operation (Fn002). When turning ON the servo for the first time after installation and wiring, stand away from the linear servo- IMPORTANT motor as overrun may occur.

  • Page 289: Trial Operation For Linear Servomotor Without Load From Host Reference

    9.3 Trial Operation for Linear Servomotor without Load from Host Reference Check that the linear servomotor move reference or I/O signals are correctly set from the host controller to the SERVOPACK. Also check that the wiring and polarity between the host controller and SERVOPACK, and the SERVOPACK operation settings are correct.
  • Page 290 Turn ON the power and make sure that the panel operator The input signal setting is not correct if the display is not the same display is as shown below. as on the left. Check the input signal using the Un005 (input signal monitor) from the panel operator.

  • Page 291: Operating Procedure In Speed Control Mode (Pn000 = N. 0 )

    9 Operation 9.3.2 Operating Procedure in Speed Control Mode (Pn000 = n. 9.3.2 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 −...
  • Page 292 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 9.3.2 Operating Procedure in Speed Control Mode (Pn000 = n. 0 ) on the previous page.

  • Page 293: Operating Procedure In Position Control Mode (Pn000 = N. 1 )

    Refer to 8.1.3 Basic Mode Selection and Operation for SERVOPACK using the Un007 (input reference how it is displayed. pulse speed) [mm/s]. Un007 (input reference pulse speed) [mm/s] The number of input reference pulses (Un00C) can be obtained from the following equation. Pn202 Pn280 × ×...
  • Page 294 9.3 Trial Operation for Linear Servomotor without Load from Host Reference (cont’d) Step Description Check Method and Remarks Check the motor speed using the Un000 (motor Refer to 8.1.3 Basic Mode Selection and Operation for speed) [mm/s]. how it is displayed.

  • Page 295: Trial Operation With The Linear Servomotor Connected To The Machine

    WARNING • Follow the procedure below for trial operation precisely as given. Malfunctions that occur after the linear servomotor is connected to the machine not only damage the machine, but may also cause an accident resulting death or injury. Follow the procedures below to perform the trial operation.

  • Page 296: Control Mode Selection

    Uses the three input signals /P-CON (/SPD-D), /P-CL (/SPD-A), and /N-CL (/ SPD-B) to control the speed as set in advance in the SERVOPACK. Three oper- ating speeds can be set in the SERVOPACK. (In this case, an analog reference is not necessary.) 9.12...

  • Page 297: Setting Common Basic Functions

    Always input the servo ON signal before inputting the input reference to start or stop the linear servomotor. Do not input the input reference first and then use the /S-ON signal to start or stop. Doing so will degrade internal elements and lead to mal- function.

  • Page 298: Switching The Linear Servomotor Movement Direction

    The movement direction of the linear servomotor can be switched without changing the reference pulse to the SERVOPACK 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 299: Setting The Overtravel Limit Function

    (CLR) input is required to clear the error pulses. (2) Enabling/Disabling the Overtravel Signal A parameter can be set to disable the overtravel signal. If the parameter is set, there is no need to wire the overtravel input signal. Parameter...
  • Page 300 • Zero Clamp Mode: A mode forms a position loop by using the position reference zero. * For details on stopping methods when the servo turns OFF or when an alarm occurs, refer to 9.6.4 Selecting the Stopping Method After Servo OFF.

  • Page 301: Selecting The Stopping Method After Servo Off

    Similar to the Coast Mode, the n. 0 setting (which stops the servomotor by dynamic braking and then holds it in Dynamic Brake Mode) does not generate any braking force when the servomotor stops or when it runs at very low speed. TERMS •...

  • Page 302: Instantaneous Power Loss Settings

    (5.0 m/s) • If a value lower than the rated speed is set for Pn384, the rated speed becomes the same value as the setting of Pn384. • The detection level for the overspeed alarm A.51 is “the set value of Pn384 × 1.1.”...

  • Page 303: Operating Using Speed Control With Analog Reference

    Setting Validation 1.50 to 30.00 V/Rated 0.01 V/Rated 6.00 V/Rated speed Immediately speed) speed Sets the analog voltage level for the speed reference (V-REF) necessary to operate the Reference linear servomotor at the rated speed. Speed Set this (mm/s) slope.

  • Page 304: Setting Input Signals

    Input reference: At 0 V, the servomotor rotation due to drift will be reduced, but servomotor rigidity (holding force) drops when the servomotor is stopped. Note: A parameter can be used to reallocate the input connector number for the /P-CON signal. Refer to 8.3.2 Input Circuit Signal Allocation.

  • Page 305: Adjusting Offset

    When using the speed control, the servomotor may run slowly even if 0 V is specified as the analog voltage ref- erence. This happens if the host controller or external circuit has a slight offset (in the units of mV) in the refer- ence voltage.
  • Page 306 Use the speed reference offset manual adjustment (Fn00A) described in the next section for a position loop. The zero-clamp speed control function can be used to force the motor to stop while the zero speed reference is given. Refer to 9.7.6 Using the Zero Clamp Function.
  • Page 307 (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 308: Soft Start

    (1) Zero Clamp Function The zero clamp function is used for systems where the host controller does not form a position loop for the speed reference input. When the zero clamp signal (/ZCLAMP) is ON, a position loop is formed inside the SERVOPACK as soon as the input voltage of the speed reference (V-REF) drops below the motor speed level in the zero clamp level (Pn580).
  • Page 309 Sets the motor speed at which the zero clamp is performed if zero clamp speed control (Pn000 = n. A ) is selected. Even if this value is set higher than the maximum speed of the servomotor, the maximum speed will be used. (3) Input Signal Setting...

  • Page 310: Encoder Signal Output

    * Even in reverse movement mode (Pn000.0 = 1), the dividing output phase form is the same as that for the standard setting (Pn000.0 = 0). Output Phase Form Forward movement (phase B leads by 90°) Reverse movement (phase A leads by 90°)
  • Page 311 IMPORTANT SERVOPACK For some models of the Renishaw linear scales, the position at which the zero-point signal (Ref) is output varies in accordance with the direction of movement. If combining the SERVOPACK with one of those models, phase C pulses are output from the SERVOPACK in two places.
  • Page 312 1 to 127 1 to 255 Note: 1. When the scale pitch is 4 µm, the motor maximum speed is limited to 1 m/s because of the maximum response frequency of serial converter unit. 2. The SERVOPACK with the software version 32 or higher outputs the alarm “Dividing Pulse Output Setting Error (A.09)”...

  • Page 313: Speed Coincidence Output

    /V-CMP is a speed control output signal. When the factory setting is used and the output terminal allocation is not per- formed with the Pn50E, this signal is automatically used as the positioning completed signal /COIN for position control, and it is always OFF (high level) for torque control.

  • Page 314: Operating Using Position Control

    CN1-8 Reference Pulse Input SIGN CN1-11 Reference Code Input /SIGN CN1-12 Reference Code Input Set the input form for the SERVOPACK using parameter Pn200.0 according to the host controller specifications. Parameter Reference Pulse Input Forward Movement Reverse Movement Form Pulse...
  • Page 315 • The SERVOPACK error counter is set to 0. • Position loop operation is disabled. → Holding the clear status may cause the servo clamp to stop functioning and the servomotor to rotate slowly due to drift in the speed loop.

  • Page 316: Setting The Electronic Gear

    The electronic gear enables the workpiece travel distance per input reference pulse from the host controller to be set to any value. One reference pulse from the host controller, i.e., the minimum position data unit, is called a ref- erence unit.
  • Page 317 Electronic gear ratio setting range: 0.01 Electronic gear ratio (B/A) If the electronic gear ratio is outside this range, the SERVOPACK will not operate properly. In this case, modify the load configuration or reference unit. (4) Procedure for Setting the Electronic Gear Ratio Use the following procedure to set the electronic gear ratio.
  • Page 318 9.8 Operating Using Position Control (5) Electronic Gear Ratio Setting Example An example of electronic gear ratio setting is given below. Step Operation Load Configuration Check the scale pitch. 0.02 mm (20 µm) 1 reference unit: 0.001 mm (1 µm) Determine the reference unit.

  • Page 319: Position Reference

    ≥ 20 µs /COIN Note: 1. The interval from the time the servo ON signal is turned ON until a reference pulse is input must be at least 40 ms, otherwise the reference pulse may not be received by the SERVOPACK.
  • Page 320 9.8 Operating Using Position Control (2) Reference Pulse Input Signal Timing The reference pulse input signal timing is shown below. Table 9.1 Reference Pulse Input Signal Timing Reference Pulse Signal Form Electrical Specifications Remarks Sign and pulse train input ≤...
  • Page 321 150Ω /SIGN 150Ω /CLR : Represents twisted-pair wires. (b) Connection Example for Open-collector Output Select the limit resistance R1 value so that the input current i will be within 7 to 15 mA. Host controller SERVOPACK Example ∗ Photocoupler When Vcc is +24V: R1=2.2 kΩ...

  • Page 322: Smoothing

    9.8 Operating Using Position Control When the external power supply is used, the circuit will be isolated by a photocoupler. When the SERVOPACK internal power supply is used, the circuit will not be isolated. Host controller SERVOPACK +12V 1kΩ Photocoupler PULS 150Ω...
  • Page 323 When the position reference acceleration/deceleration time constant (Pn204) is changed, a value with no reference pulse input and a position error of 0 will be enabled. To ensure that the setting value is correctly reflected, stop the reference pulse from the host controller and input the clear signal (/CLR), or turn the servo OFF to clear the error.

  • Page 324: Positioning Completed Output Signal

    /COIN is a position control signal. When the factory setting is used and the output terminal allocation is not performed with the Pn50E, this signal is used for the speed coincidence output /V-CMP for speed control, and it is always OFF (high level) for force control.

  • Page 325: Positioning Near Signal

    OFF (high level) The servomotor has not reached a point near to posi- tioning completed. The output terminal must be allocated with parameter Pn510 in order to use positioning near signal. Refer to 8.3.3 Output Circuit Signal Allocation for details.

  • Page 326: Reference Pulse Inhibit Function (Inhibit)

    These input signals enable the inhibit function. Either the /P-CON or the /INHIBIT signal can be used to switch the inhibit signal. The input signal must be allocated in order to use the /INHIBIT signal. Refer to 8.3.2 Input Circuit Signal Allocation.

  • Page 327: Operating Using Force Control

    Pn400 = 20: The linear servomotor operates at the rated force with 2-V input. 9.9.2 Force Reference Input By applying a force reference determined by the analog voltage reference to the SERVOPACK, the linear servo- motor force can be controlled in proportion with the input voltage.

  • Page 328: Adjusting The Force Reference Offset

    9.9.3 Adjusting the Force Reference Offset When using force control, the linear servomotor may move slowly even when 0 V is specified as the analog ref- erence voltage. This occurs when the host controller or external circuit has a slight offset (measured in mV) in the reference voltage.
  • Page 329 • If a position loop is formed with the host controller and the error is zeroed when servolock is stopped. • To deliberately set the offset to some value. • Use this mode to check the offset data that was set in the automatic adjustment mode of the force reference offset.

  • Page 330: Limiting Linear Servomotor Speed During Force Control

    9.9.4 Limiting Linear Servomotor Speed during Force Control During force control, the linear servomotor is controlled to output the specified force, which means that the linear servomotor speed is not controlled. Accordingly, when an excessive reference force is set for the mechanical load force, it will prevail over the mechanical load force and the linear servomotor speed will greatly increase.
  • Page 331 Sets the voltage level for the speed that is to be externally limited during force control. With Pn300 = 600 (factory setting) and 6 V input from V-REF (CN1-5, 6), the actual motor speed is limited to the rated speed of the servomotor used.

  • Page 332: Operating Using Speed Control With An Internally Set Speed

    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. There is no need for an external speed or pulse generator. SERVOPACK...

  • Page 333: Input Signal Settings

    Note: Signal OFF = High level; Signal ON = Low level Control Mode Switching IMPORTANT When Pn000.1 = 4, 5, or 6, and either /P-CL (/SPD-A) or /N-CL (SPD-B) is OFF (high level), the control mode will switch. Example: ⇔...
  • Page 334 9.10 Operating Using Speed Control with 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 9.7.4 Soft Start.

  • Page 335: Limiting Force

    The settings in these parameters are constantly enabled. The setting unit is a percentage of rated force. If the force limit is set higher than the maximum force of the linear servomotor, the maximum force of the linear servomotor is used.

  • Page 336: External Force Limit (Output Force Limiting By Input Signals)

    Pn484 When using this function, make sure that there are no other signals allocated to the same terminals as /P-CL and /N-CL. When multiple signals are allocated to the same terminal, the signals are handled with OR logic, which affects the ON/OFF state of the other signals.
  • Page 337 Speed (Reverse Pn483 Pn483 External Force Limit Pn484 Pn484 level Input) Force Force Pn405 Pn405 Pn404 Speed Speed Pn483 Pn483 Note: In this example, the linear servomotor movement direction is Pn000 = n. 0 (standard setting, CCW = forward). 9-70...

  • Page 338: Force Limiting Using An Analog Voltage Reference

    (Pn484) Speed feedback There is no polarity in the input voltage of the analog voltage reference for force limiting. The absolute values of both + INFO and - voltages are input, and a force limit value corresponding to that absolute value is applied in the forward or reverse direction.

  • Page 339: Force Limiting Using An External Force Limit And Analog Voltage Reference

    Use /P-CL (CN1-45) or /N-CL (CN1-46) for force limiting by external input signal. When /P-CL (or /N-CL) is ON, either the force limit by analog voltage reference or the setting in Pn404 (or Pn405) will be applied as the force limit, whichever is smaller.

  • Page 340: Checking Output Force Limiting During Operation

    Pn484 When using the force limiting with the external force limit and analog voltage reference, make sure that there are no other signals allocated to the same terminals as /P-CL and /N-CL. When multiple signals are allocated to the same terminal, the signals are handled with OR logic, which affects the ON/OFF state of the other signals.

  • Page 341: Control Mode Selection

    • Switching with the /P-CL and /N-CL input signals (pins allocated in factory setting) • Switching with the /SPD-A and /SPD-B input signals When using /SPD-A and /SPD-B, they must be allocated with parameter Pn50C. Refer to 8.3.2 Input Circuit Signal Alloca- tion...
  • Page 342 9.12 Control Mode Selection (2) Switching Other Than Internally Set Speed Control (Pn000.1 = 7, 8, 9, A, or B) Use the following signals to switch control modes. The control modes switch as shown below for each of the sig- nal states indicated.

  • Page 343: Other Output Signals

    The /ALM-RST signal cannot be constantly enabled by the allocation of an external input signal. Reset the alarm by chang- ing the signal from high level to low level. The alarm can also be reset from the panel operator or digital operator. Refer to 8.1.2 Key Names and Functions for details.

  • Page 344: Warning Output (/Warn)

    Set the range in which the running output signal (/TGON) is output in this parameter. When the linear servomotor movement speed is above the value set in the Pn581, it is judged to be linear servomotor mov- ing and the running output signal (/TGON) is output. The movement detection signal can also be checked on the digital operator.

  • Page 345: Servo Ready (/S-Rdy) Output

    It is output when there are no servo alarms and the main circuit power supply is turned ON. If no hall sensor is set, the polarity detection must be completed. The servo ready signal condition can also be checked on the digital operator. For details, refer to 8.1.4 Status Display and 8.4.1 List of Monitor Modes.

  • Page 346: Adjustments

    10.3.4 Speed Loop Gain - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-14...

  • Page 347: Autotuning

    10.1.1 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 10.1.2 List of Servo Adjustment Functions.

  • Page 348: List Of Servo Adjustment Functions

    Speed Loop Gain Kv (Pn100), Speed Loop Integral Time Constant Ti (Pn101), Position Loop Gain Kp (Pn102), and Force Reference Filter Time Constant Tf (Pn401). Refer to the following table to select the appropriate autotuning function for your desired purpose and adjust the servo gains.
  • Page 349 Notch filters can be set for the force refer- Mainly effective for vibration between Position ence. 500 and 2,000 Hz. Pn409 Speed Instability will result if the setting is not Pn40B* Force correct. * Pn40B is valid for the software version 32 or later. 10-4...

  • Page 350: Online Autotuning

    • The speed reference is a stepwise reference. If the condition meets one of the above cases or the desired operation cannot be achieved by the online autotun- ing, calculate the load mass on the basis of the machine specifications or using the mass detection function of Yaskawa’s servodrive supporting tool “SigmaWin+.”...

  • Page 351: Online Autotuning Procedure

    10.2.2 Online Autotuning Procedure WARNING • Do not perform extreme adjustment or setting changes causing unstable servo operation. Failure to observe this warning may result in injury and damages to the machine. • Adjust the gains slowly while confirming motor operation. Start Operate with factory setting.

  • Page 352: Selecting The Online Autotuning Execution Method

    0. This setting is recommended for applications in which the load mass does not change much or if the load mass is not known. The mass calculated at the beginning of operation is used continuously. In this case, differences in machine status and operation references at the beginning of operation may cause minor differences in the cal- culation results of the load mass, causing differences in the servo responsiveness each time the power supply is turned ON.

  • Page 353: Machine Rigidity Setting For Online Autotuning

    PI or I-P control. When parameter Pn10B.1 is 0, PI control will be used and when Pn10B.1 is 1, I-P control will be used. To vali- date the setting, however, the power supply must be turned OFF and then back ON.

  • Page 354: Method For Changing The Machine Rigidity Setting

    10.2 Online Autotuning 10.2.5 Method for Changing the Machine Rigidity Setting The machine rigidity setting is changed in utility function mode using parameter Fn001. The procedure is given below. Step Display after Operation Digital Operator Panel Description Operator Press the DSPL/SET or MODE/SET Key to select the utility DSPL function mode.

  • Page 355: Saving The Results Of Online Autotuning

    ON. To use the calculated load mass as the default value the next time the power supply is turned ON, the utility func- tion mode parameter Fn007 (Writing to EEPROM mass ratio data obtained from online autotuning) can be used to save the most recent value in parameter Pn103 (Mass Ratio).

  • Page 356: Procedure For Saving The Results Of Online Autotuning

    This completes saving the default value for the mass ratio for online autotuning. The next time the power supply is turned ON, the value that was saved for the Mass Ratio (Pn103) will be used to start online autotuning. 10-11...

  • Page 357: Manual Tuning

    To adjust the servo gain manually, understand the configuration and characteristics of the SERVOPACK and adjust the servo gain parameters one by one. If one parameter is changed, it is almost always necessary to adjust the other parameters. It will also be necessary to make preparations such as setting up a measuring instrument to monitor the output waveform from the analog monitor.

  • Page 358: Servo Gain Manual Tuning

    The responsiveness of the position loop is determined by the position loop gain. The responsiveness increases and the posi- tioning time decreases when the position loop gain is set to a higher value. In general, the position loop gain cannot be set higher than natural vibrating frequency of the mechanical system, so the mechanical system must be made more rigid to increase its natural vibrating frequency and allow the position loop gain to be set to a high value.

  • Page 359: Speed Loop Gain

    The value of speed loop gain is the same as the set value of Pn100 if the moment of inertia ratio in Pn103 has been set correctly.

  • Page 360: Servo Gain Adjustment Functions

    . Use this parameter to shorten positioning Differ- Pn109 Pn10A ential Position time. Too high value may cause the machine to vibrate. For reference pulse ordinary machines, set 80% or less in this parameter. Position loop gain Kp Feedback pulse...

  • Page 361: Force Feed-Forward

    Too high a force feed-forward value will result in overshooting or undershooting. To prevent such troubles, set the opti- mum value while observing the system responsiveness. Connect a speed reference signal line to V-REF (CN1-5 and -6) and a force forward-feed reference to T-REF (CN1-9 and - 10) from the host controller.

  • Page 362: Speed Feed-Forward

    Too high a speed feed-forward value will result in overshooting or undershooting. To prevent such troubles, set the opti- mum value while observing the system responsiveness. Connect a position reference signal line to PULS and SIGN (CN1-7, -8, -11, and -12) and a speed feed-forward reference signal line to V-REF (CN1-5 and -6) from the host controller.

  • Page 363: Proportional Control Operation (Proportional Operation Reference)

    • If PI control mode is being used and the speed reference has a reference offset, the linear servomotor may move very slowly and fail to stop even if 0 is specified as the speed reference. In this case, use P control mode to stop the linear ser- vomotor.

  • Page 364: Using The Mode Switch (P/Pi Switching)

    The mode switch function automatically switches the speed control mode from PI control mode to P control mode based on a comparison between the servo’s internal value and a user-set detection level. 1. The mode switch function is used in very high-speed positioning when it is necessary to use the servo- IMPORTANT drive near the limits of its capabilities.
  • Page 365 Operating Example In this example, the mode switch is used to reduce the settling time. It is necessary to increase the speed loop gain to reduce the settling time. Using the mode switch suppresses overshooting and undershooting when speed loop gain is increased.
  • Page 366 Operating Example In this example, the mode switch is used to reduce the settling time. It is necessary to increase the speed loop gain to reduce the settling time. Using the mode switch suppresses overshooting and undershooting when speed loop gain is increased.

  • Page 367: Setting The Speed Bias

    10 Adjustments 10.4.6 Setting the Speed Bias 10.4.6 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. Pn180 Bias Position...

  • Page 368: Speed Feedback Compensation

    10.4.8 Speed Feedback Compensation The speed feedback compensation can be used to reduce vibration and allow a higher speed loop gain to be set. In the end, the speed feedback compensation allows the positioning settling time to be reduced because the position loop gain can also be increased if the speed loop gain can be increased.
  • Page 369 2. With PI control, gradually increase the Speed Loop Gain in Pn100 and reduce the Speed Loop Integral Time Constant Pn101, so that the setting the Position Loop Gain in Pn102 to the same value as that of the Speed Loop Gain in Pn100.

  • Page 370: Switching Gain Settings

    Gain switching by the external signal is possible with the SGDH SERVOPACK. For example, to use different gains while the servomotor is running or stopped, set two values in the gain settings 1 and 2 and switch the gains by the external signal.

  • Page 371: Force Reference Filter

    If you suspect that machine vibration is being caused by the servodrive, try adjusting the force reference filter time constant. This may stop the vibration. The lower the value, the better the speed control response, but there is a lower limit that depends on the machine conditions.
  • Page 372 The notch filter can eliminate specific frequency vibration generated by sources such as resonances of ball screw axes. The notch filter puts a notch in the gain curve at the specific vibration frequency. The frequency compo- nents near the notch frequency can be eliminated with this characteristics. A higher notch filter Q value produces a sharper notch and phase delay.
  • Page 373 The speed loop response frequency is the value of the Speed Loop Gain (Pn100) when the Mass Ratio (Pn103) is set to the correct value. 2. Change the Notch Filter Frequency (Pn409 or Pn40B) only when the linear servomotor is stopped.

  • Page 374: Analog Monitor

    10.5 Analog Monitor Signals for analog voltage references can be monitored. To monitor analog signals, connect the analog monitor cable (JZSP-CA01) to the connector CN5. The analog monitor signals can be selected by setting parameters Pn003.0 and Pn003.1. SERVOPARK 200V SGDH- Ver.
  • Page 375 * When using speed control or force control, the position error monitor signal is not specified. The analog monitor output voltage is ±8 V (maximum). The output will be limited to ±8 V even if this value is exceeded INFO in the above calculations.

  • Page 376: Inspection, Maintenance, And Troubleshooting

    11.1 Troubleshooting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-2 11.1.1 Alarm Display Table - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-2 11.1.2 Warning Display - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-4...

  • Page 377: Alarm Display Table

    If an alarm occurs, the servomotor can be stopped by doing either of the following operations. • DB STOP: Stops the servomotor immediately using the dynamic brake. • Coasting to a stop: Stops the servomotor naturally with friction when the motor is running and not brak- ing.
  • Page 378 When the dynamic brake was applied, kinetic energy exceeded the capacity (Not detected for the SERVOPACKs of dynamic brake resistor. with the capacity of 50 W to 1.0 kW.) Available A.74 Overload of Surge The main circuit power was frequently Current Limit Resistor turned ON and OFF.

  • Page 379: Warning Display

    A.40: Alarm detecting excessively high/low voltage in the main circuit A.41: Not used 11.1.2 Warning Display The relation between warning displays and warning code outputs is shown in table 11.2. Table 11.2 Warning Displays and Outputs Warning Warning Code Output...

  • Page 380: Alarm Display Table When The Application Module Is Used

    11.1.3 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 11.3.

  • Page 381: Warning Display Table When The Application Module Is Used

    11.1.4 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. The relation between warning displays and warning code outputs is shown in Table 11.4.

  • Page 382: Troubleshooting Of Alarm And Warning

    CPF or warning display such as appears on the panel operator. 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.
  • Page 383 7.5 kW. turned ON.) supply was turned Pn600 is set to a value other than 0 for a servomotor Connect an external regenerative resistor, or set of 400 W or less, and an external regenerative resis- Pn600 to 0 if an external regenerative resistor is tor is not connected.
  • Page 384 ON.) supply was turned In the AC power input mode, DC power is supplied through 1 and terminals. Pn600 is set to 0 if the regenerative resistance is dis- Set Pn600 to 0. connected. A.40 Overvoltage Occurred when the A SERVOPACK board fault occurred.
  • Page 385 (Detected when control power sup- the feedback ply was turned ON. speed is the maxi- Occurred when The order of phases U, V, and W in the servomotor Correct the servomotor wiring. mum motor servo was ON. wiring is incorrect. speed) The encoder wiring is incorrect.
  • Page 386 A SERVOPACK fault occurred. Replace the SERVOPACK. Occurred during The actual force exceeds the rated force or the start- Reconsider the load and operation conditions, or normal operation. ing force largely exceeds the rated force. reconsider the linear servomotor capacity.
  • Page 387 Replace the SERVOPACK. Detected control power sup- ply was turned ON. Occurred when the The order of phase U, V, and W in the servomotor Correct the servomotor wiring. servo was ON or a wiring is incorrect. reference was input.
  • Page 388 Cause Corrective Actions Display Occurrence A.C2 Phase Faulty Occurred when the When Pn080.0 = 0 is set though no hall sensor is Connect correctly the hall sensor cable to the Detection control power sup- mounted. serial converter unit. (Occurs when ply was turned ON.
  • Page 389 Replace the SERVOPACK. A.d0 Position Error Occurred when the The overflow level (Pn505) is incorrect. Make the value set in the Pn505 to other than 0. Pulse Overflow control power sup- A SERVOPACK board fault occurred. Replace the SERVOPACK. (In servo ON ply was turned ON.
  • Page 390 Error 2 was turned ON. * 1. This alarm occurs when the communications is still disabled five seconds after digital opera- tor power supply is ON, or when digital operator communications disabled status stays while an application module is connected.
  • Page 391 Situation at Warning Cause Corrective Actions Display Occurrence Excessive Potion Occurred during nor- The position error exceeded the setting of param- When the position error becomes within A.90 Error eter Pn51E. the setting of Pn51E, the SERVOPACK mal operation. will be automatically restored.

  • Page 392: Troubleshooting For Malfunction Without Alarm Display

    11.1.6 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 11.7 Troubleshooting for Malfunction without Alarm Display...
  • Page 393 Noise interference due to long dis- The wiring distance must be 3 m (9.84 ft) Shorten the wiring distance for input signal line to the tance of input signal line max. and the impedance a few hundreds specified value.
  • Page 394 11.1 Troubleshooting Table 11.7 Troubleshooting for Malfunction without Alarm Display (Cont’d) Inspection Corrective Actions Symptom Cause : Turn OFF the servo system before executing operations. Servomotor Speed loop gain value (Pn100) too Factory setting: Kv=40.0 Hz Reduce speed loop gain (Pn100) preset value.
  • Page 395 (P-OT or N-OT signal external power supply (+24 V) voltage. sometimes changes). Check if the overtravel limit switch (SW) Adjust the overtravel limit SW so that it operates cor- activate correctly. rectly. Check if the overtravel limit switch wiring Correct the overtravel limit SW wiring.
  • Page 396 11.1 Troubleshooting Table 11.7 Troubleshooting for Malfunction without Alarm Display (Cont’d) Inspection Corrective Actions Symptom Cause : Turn OFF the servo system before executing operations. Reduce ambient temperature to 40°C (104 °F) max. Servomotor Ambient temperature too high Measure servomotor ambient temperature.

  • Page 397: Inspection And Maintenance

    Failure to observe this caution may result in electric shock or injury. Simple, daily inspection is sufficient. The inspection and maintenance frequencies in Table 11.8 are only guide- lines. Increase or decrease the frequency to suit the operating conditions and environment.

  • Page 398: Parts Replacement Schedule

    11.2 Inspection and Maintenance 11.2.3 Parts Replacement Schedule The following electric or electronic parts are subject to mechanical wear or deterioration over time. To avoid failure, replace these parts at the frequency indicated. The parameters of any SERVOPACKs overhauled by Yaskawa are reset to the factory settings before ship- ping.

  • Page 399: Appendix

    Resistors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-4 12.2.1 Simple Calculation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-4 12.2.2 Calculating the Regenerative Energy - - - - - - - - - - - - - - - - - - - - - - 12-7...

  • Page 400: Linear Servomotor Capacity Selection Examples

    Speed where t   (m/min) Time (s) tc = 0.4 − (0.02 × 2) = 0.36 (s) (2) Force Under Constant Load ) = 9.8 × 0.2 × (1+2) = 5.88 (N) = 9.8 µ (W W  (3) Force at Load Acceleration = (1+2) ×...
  • Page 401 12.1 Linear Servomotor Capacity Selection Examples (5) Verification on the Provisionally Selected Linear Servomotor • Force under constant load = 9.8 µ (W ) = 9.8 × 0.2 × (1 + 2 + 0.82) = 7.5 (N) W  T  • Force at load acceleration 120 ×...

  • Page 402: Calculating The Required Capacity Of Regenerative Resistors

    SERVOPACKs with capacities of 400 W or less do not have built-in regenerative resistors. The energy that can be charged with capacitors is shown in the following table. If the kinetic energy in the linear servomotor exceeds these values, then connect an external regenerative resistor.
  • Page 403 Twice of coil 35A460A assembly mass 35A170H 35A320H 50A170H 50A320H 40A400B Note: The model with (-M) is the combination model with a standard-type coil assembly and a high-force-type magnetic way. Speed reference Maximum speed Servomotor speed Regene- ration mode Maximum force...
  • Page 404 • 400-V Class : JUSP-RA18 The linear servomotor driven conditions and the conversion equation of the allowable regenerative frequencies to the speed and load mass are the same as (2) SERVOPACKs with Capacities of 500 W to 5.0 Linear Servomotor...

  • Page 405: Calculating The Regenerative Energy

    12.2 Calculating the Required Capacity of Regenerative Resistors 12.2.2 Calculating the Regenerative Energy This section shows the procedure for calculating the regenerative resistor capacity when acceleration and decel- eration operation is as shown in the following diagram. : Motor speed...
  • Page 406 If the amount of regenerative power that can be processed by the built-in resistor is exceeded, then install an external regenerative resistor for the capacity obtained from the above calculation.
  • Page 407 12.2 Calculating the Required Capacity of Regenerative Resistors (2) Servomotor Winding Resistance Loss The following diagrams show the relationship, for each servomotor, between the servomotor’s generated force and the winding resistance loss. (a) SGLGW Linear Servomotors • With Standard - force Magnetic Ways...
  • Page 408 12 Appendix 12.2.2 Calculating the Regenerative Energy Model : SGLGW- 60A365C 60A253C 60A140C Loss 100% 200% 300% Force (%) Model : SGLGW- 1800 1600 90A535C 90A370C 1400 90A200C 1200 1000 Loss 100% 200% 300% 400% Force (%) 12-10...
  • Page 409 12.2 Calculating the Required Capacity of Regenerative Resistors • With High - force Magnetic Ways Model : SGLGW- 40A365C 40A253C 40A140C Loss 100% 200% 300% 400% Force (%) Model : SGLGW- 60A365C 60A253C 60A140C Loss 100% 200% 300% 400% Force (%)
  • Page 410 12 Appendix 12.2.2 Calculating the Regenerative Energy (b) SGLFW Linear Servomotors Model SGLFW- 1200 35A230A 1000 35A120A 20A120A 20A090A Loss 100% 200% 300% Force (%) Model SGLFW- 1800 1ZA380B 1600 50A380B 1ZA200B 1400 50A200B 1200 Loss 1000 100% 150% 200%...
  • Page 411 12.2 Calculating the Required Capacity of Regenerative Resistors (c) SGLTW Linear Servomotors Model SGLTW- 4000 35A460A 3500 35A320A 35A170A 3000 20A460A 20A320A 20A170A 2500 Loss 2000 1500 1000 100% 200% 300% Force (%) Model SGLTW- 1200 50A320H 1000 35A320H 50A170H...
  • Page 412 12 Appendix 12.2.2 Calculating the Regenerative Energy Model SGLTW- 1200 50D320H 35D320H 1000 50D170H 35D170H Loss 100% 150% 200% 240% Force (%) Model SGLTW- 14000 80D600B 12000 80D400B 40D600B 10000 40D400B Loss 8000 6000 4000 2000 540% 560% 100% 200%...
  • Page 413 12.2 Calculating the Required Capacity of Regenerative Resistors (3) SERVOPACK’s Absorbable Energy The following diagrams show the relationship between the SERVOPACK’s input power supply voltage and its absorbable energy. (a) 200-V SERVOPACKs Model: SGDH- Model: SGDH- 30AE 20AE 01AE to 04AE...

  • Page 414: Connection To Host Controller

    P-OT input Brake interlock output (-) N-OT input Note: Connection cables (model: JEPMC-W2040- ) to connect the SERVOPACK to the MP2200/ MP2300 are provided by Yaskawa. For details, refer to Machine Controller MP2200/MP2300 Motion Module Uesr’s Manual (manual no. SIEPC88070016). 12-16...

  • Page 415: Example Of Connection To Omron's Motion Control Unit

    5. The above connection diagram shows only X-axis connection. When using another axes, make connection to the SERVOPACK in the same way. 6. The normally closed (N.C.) input terminals not to be used at the motion control unit I/O connec- tor section must be short-circuited at the connector.

  • Page 416: Example Of Connection To Omron's Position Control Unit

    X-axis immediate stop input * 1. The ALM signal is output for about two seconds after the power is turned ON. Take this into consid- eration when designing the power ON sequence. The ALM signal actuates the alarm detection relay 1Ry to stop the main circuit power supply to the SERVOPACK.

  • Page 417: Example Of Connection To Omron's Position Control Unit

    ∗2 shell * 1. The ALM signal is output for approximately two seconds when the power is turned ON. Take this into consideration when designing the power ON sequence. The ALM signal actuates the alarm detection relay 1Ry to stop main circuit power supply to the SERVOPACK.

  • Page 418: Example Of Connection To Omron's Position Control Unit

    /SIGN /CLR * 1. The ALM signal is output for approximately two seconds when the power is turned ON. Take this into consideration when designing the power ON sequence. The ALM signal actuates the alarm detection relay 1Ry to stop main circuit power supply to the SERVOPACK.

  • Page 419: Example Of Connection To Mitsubishi's Ad72 Positioning Unit (Servopack In Speed Control Mode)

    ∗3 shell * 1. The ALM signal is output for about two seconds after the power is turned ON. Take this into consid- eration when designing the power ON sequence. The ALM signal actuates the alarm detection relay 1Ry to stop the main circuit power supply to the SERVOPACK.

  • Page 420: Example Of Connection To Mitsubishi's Ad75 Positioning Unit (Servopack In Position Control Mode)

    N-OT CLEAR * The ALM signal is output for about two seconds when the power is turned ON. Take this into consider- ation when designing the power ON sequence. The ALM signal actuates the alarm detection relay 1Ry to stop the main circuit power supply to the SERVOPACK.

  • Page 421: List Of Parameters

    Fixed parameter 8.2.12 Fn014 Application module detection results clear Note: When the parameters marked with “ ” in remarks column are set for Password Setting (Fn010), the indication shown below appears and such parameters cannot be changed. Blinks for one second...

  • Page 422: List Of Parameters

    Direction Selection (Refer to 9.6.2 Switching the Linear Servomotor Movement Direction.) Sets the counting-up direction of the linear scale (phase-A progression) as forward direction. Sets the counting-down direction of the linear scale (phase-B progression) as forward direction. (Movement direction reversal mode) Control Method Selection (Refer to 9.5, 9.12)
  • Page 423 AC/DC Power Input Selection (Refer to 7.2.3 Typical Main Circuit Examples.) Not applicable to DC power input: Input AC power supply through L1, L2 (, and L3) terminals. Applicable to DC power input: Input DC power supply between + 1 and –...
  • Page 424 Calculates the motor max. speed by fixing the encoder output resolution max. value and the monitor displays Un010. * 1. If the linear servomotor with a hall sensor is used, software version 32 or later can be used. If software version earlier than 32 is used, set to zero.
  • Page 425 Both position reference and position error Reserved (Do not change) 0 to 800 Immedi- 10.4.5 Pn10C Mode Switch Force Reference ately * 1. The setting range for the software version 32 or later * 2. Available only for the software version 32 or later 12-27...
  • Page 426 Pn181 Mode Switch Speed Reference ately 0 to 30000 Immedi- 10.4.5 Pn182 Mode Switch Acceleration 1 mm/s ately * 1. Pn111 will be effective when Pn110.1 is set “0.” * 2. Available for the software version 32 or later 12-28...
  • Page 427 Clears position error counter at the falling edge of the signal. Clear Operation Clear error counter at the baseblock. Does not clear error counter. (Possible to clear error counter only with CLR signal.) Clear error counter when an alarm occurs. Filter Selection...
  • Page 428 Dividing Ratio Parameter Selection Uses Pn201 (16-bit or less). Uses Pn212 (17-bit or more). Pulse Reference Input Terminal Selection Inputs pulse reference from CN1. Inputs pulse reference from CN8 when an application module JUSP-LD001A is mounted. 0 to 6400 0.01 ms After 9.8.4...
  • Page 429 Pn401 Force Reference Filter Time Constant ately 0 to 800 Immedi- 9.11.2 Pn404 Forward External Force Limit ately 9.11.4 0 to 800 Immedi- − Pn405 Reverse External Force Limit ately * Available for the software version 32 or later 12-31...
  • Page 430 * 1. Available for the software version 32 or later * 2. To reduce any danger while setting up the linear servomotor, the factory settings are set to low values (factory setting: 30%). After the servomotor has been set up, increase the settings of the parameters to the required force.
  • Page 431 P-OT Signal Mapping (Forward run prohibited when OFF (H-level)) Refer to 9.6.3 Setting the Overtravel Limit Function.) Forward run allowed when CN1-40 input signal is ON (L-level) Forward run allowed when CN1-41 input signal is ON (L-level) Forward run allowed when CN1-42 input signal is ON (L-level)
  • Page 432 Same as /S-ON, the setting of 2nd digit of Pn50.A /N-CL Signal Mapping (Force Limit when ON (L-level)) Refer to 9.10.2, 9.10.3, 9.11.2, and 9.11.4.) 0 to F Same as /S-ON, the setting of 2nd digit of Pn50.A Input signal polarities ■...
  • Page 433 (Refer to 9.10 Operating Using Speed Control with an Internally Set Speed.) 0 to F Same as /SPD-D /SPD-B Signal Mapping (Refer to 9.10 Operating Using Speed Conttol with an Internally Set Speed.) 0 to F Same as /SPD-D /C-SEL Signal Mapping (Control mode change when ON (L-level)) (Refer to 9.12.2 Switching the Control Mode.) 0 to F Same as /SPD-D 12-35...
  • Page 434 ON when CN1-44 input signal is OFF (H-level) ON when CN1-45 input signal is OFF (H-level) ON when CN1-46 input signal is OFF (H-level) /INHIBIT Signal Mapping (Reference pulse inhibit when ON (L-level)) (Refer to 9.8.7 Reference Pulse Inhibit function (INHIBIT).) 0 to F Same as /ZCLAMP /G-SEL1 Signal Mapping (Gain change when ON (L-level)) (Refer to 10.4.9 Switching Gain Settings.)
  • Page 435 Positioning Completion Signal Mapping (/COIN) (Refer to 9.8.5 Positioning Completed Output Signal.) Disabled (the above signal is not used.) Outputs the signal from CN1-25, -26 output terminal. Outputs the signal from CN1-27, -28 output terminal. Outputs the signal from CN1-29, -30 output terminal. Speed Coincidence Detection Signal Mapping (/V-CMP) (Refer to 9.7.8 Speed Coincidence Output.)
  • Page 436 Output signal is not reversed. Output signal is reversed. Output Signal Reverse for CN1-29 or -30 Terminals Output signal is not reversed. Output signal is reversed. Reserved (Do not change) * Available for the software version 32 or later 12-38...
  • Page 437 * 1. Available for the software version 32 or later * 2. Usually set to “0”. If an external regenerative resistor is mounted, set the capacity(W) of the resistor so that it is the same or lower than the rated value.

  • Page 438: Monitor Modes

    Displays regenerative power consumption in 10 s cycle.) Un00B Power consumed by DB resistance (Value for the processable power when dynamic brake is applied as 100%: Dis- plays DB power consumption in 10 s cycle.) Un00C Input reference pulse counter (32-bit decimal code) −...

  • Page 439: Parameter Recording Table

    12.5 Parameter Recording Table 12.5 Parameter Recording Table Use the following table for recording parameters. Note: Setting validation (“immediately” or “after restart”) for Pn10B and Pn110 differs depending on the digit. The digits validated after restart are underlined in “Factory Setting” column. Setting...
  • Page 440 Soft Start Acceleration Time Pn305 0 ms diately Imme- Soft Start Deceleration Time Pn306 0 ms diately Imme- Speed Reference Filter Time Constant Pn307 0.40 ms diately Imme- Speed Feedback Filter Time Constant Pn308 0.00 ms diately Imme- Internal Set Speed 1...
  • Page 441 Position Completion Width Pn500 diately Imme- Near Signal Width Pn504 diately Overflow Level Pn505 262144 Imme- Brake Reference - Servo OFF Delay Time Pn506 0 ms diately Imme- Servo OFF - Brake Reference Waiting Pn508 500 ms diately Time Imme-...
  • Page 442 DOWN key - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-3...
  • Page 443 (Fn010)- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-16...
  • Page 444 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-10...
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  • Page 446: Revision History

    Revision History The revision dates and numbers of the revised manuals are given on the bottom of the back cover. MANUAL NO. SIEPS80000019B Printed in Japan November 2003 03-10 Revision No. Date of Date of original printing publication Rev. Date of Printing...
  • Page 447 YASKAWA ELECTRIC CORPORATION YASKAWA In the event that the end user of this product is to be the military and said product is to be employed in any weapons systems or the manufacture thereof, the export will fall under the relevant regulations as stipulated in the Foreign Exchange and Foreign Trade Regulations.

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