YASKAWA E-V Series User Manual
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YASKAWA E-V Series User Manual

YASKAWA E-V Series User Manual

Ac servo drives
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AC Servo Drives
V
Series
-
USER'S MANUAL
For Use with Large-Capacity Models
Setup
Rotational Motor
SGDV SERVOPACK
SGMVV Servomotor
MANUAL NO. SIEP S800000 89G
Overview of Setup
Installation
Wiring and Connection
Safety Function
Trial Operation
(Checking Servomotor Operation)
1
2
3
4
5

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Summary of Contents for YASKAWA E-V Series

  • Page 1 AC Servo Drives  Series USER’S MANUAL For Use with Large-Capacity Models Setup Rotational Motor SGDV SERVOPACK SGMVV Servomotor Overview of Setup Installation Wiring and Connection Safety Function Trial Operation (Checking Servomotor Operation) MANUAL NO. SIEP S800000 89G...
  • Page 2 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, photo- copying, 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: About This Manual

    About this Manual This manual describes procedures required for installation, wiring, and connecting Σ-V Series servo drives, including a JOG operation for servomotors not connected to machinery. Be sure to refer to this manual and perform setup operations correctly. Keep this manual in a location where it can be accessed for reference whenever required.

  • Page 4: Notation Used In This Manual

     IMPORTANT Explanations The following icon is displayed for explanations requiring special attention. • Indicates important information that should be memorized, as well as precautions, such as alarm displays, that do not involve potential damage to equipment.  Notation Used in this Manual 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: Example...
  • Page 5 (cont’d) Selecting Trial Ratings Models Panels Operation Maintenance System Trial Name Specifi- Design Operation Peripheral Wiring Servo Inspection cations Devices Adjustment Σ-V Series/DC Power Input Σ-V Series/Σ-V Series for Large Capacity Models    User’s Manual MECHATROLINK-II Command (SIEP S800000 54) Σ-V Series User’s Manual For Use with Large-...
  • Page 6 (cont’d) Selecting Trial Ratings Models Panels Operation Maintenance System Trial Name Specifi- Design Operation Peripheral Wiring Servo Inspection cations Devices Adjustment Σ-V Series User’s Manual      For DeviceNet Module (SIEP C720829 07) AC Servomotor Safety Precautions ...

  • Page 7: Safety Information

     Safety Information The following conventions are used to indicate precautions in this manual. Failure to heed precautions provided in this manual can result in serious or possibly even fatal injury or damage to the products or to related equipment and systems. Indicates precautions that, if not heeded, could WARNING possibly result in loss of life or serious injury.

  • Page 8: Safety Precautions

    Safety Precautions These safety precautions are very important. Read them before performing any pro- cedures such as checking products on delivery, storage and transportation, installa- tion, wiring, operation and inspection, or disposal. Be sure to always observe these precautions thoroughly. WARNING •...
  • Page 9 WARNING • Do not modify the product. Failure to observe this warning may result in injury, fire, or damage to the product. • Provide an appropriate braking device on the machine side to ensure safety. The holding brake on a servomotor with a brake is not a braking device for ensuring safety.

  • Page 10: Storage And Transportation

     Storage and Transportation CAUTION • Do not store or install the product in the following locations. Failure to observe this caution may result in fire, electric shock, or damage to the product. • Locations subject to direct sunlight • Locations subject to temperatures outside the range specified in the storage/ installation temperature conditions •...

  • Page 11: Installation

     Installation CAUTION • Never use the product in an environment subject to water, corrosive gases, inflammable gases, or combustibles. Failure to observe this caution may result in electric shock or fire. • Do not step on or place a heavy object on the product. Failure to observe this caution may result in injury or malfunction.
  • Page 12  Wiring (cont’d) CAUTION • Be sure to observe the following precautions when wiring the main circuit’s terminals and connectors on a SERVOPACK or converter. • Do not turn ON the power to a SERVOPACK or converter until all wiring, including the wiring to the main circuit terminals, has been completed.

  • Page 13: Operation

     Operation CAUTION • Always use the servomotor, the SERVOPACK, and the converter in one of the specified combinations. Failure to observe this caution may result in fire or malfunction. • Conduct trial operations on the servomotor alone, with the motor shaft dis- connected from the machine to avoid accidents.

  • Page 14: Maintenance And Inspection

    • The drawings presented in this manual are typical examples and may not match the product you received. • If the manual must be ordered due to loss or damage, inform your nearest Yaskawa representative or one of the offices listed on the back of this manual.

  • Page 15: Warranty

    Limitations of Liability 1. Yaskawa shall in no event be responsible for any damage or loss of opportunity to the customer that arises due to failure of the delivered product. 2. Yaskawa shall not be responsible for any programs (including parameter settings) or the results of program execution of the programs provided by the user or by a third party for use with programmable Yaskawa products.

  • Page 16: Suitability For Use

    Yaskawa product is used in combination with any other products. 2. The customer must confirm that the Yaskawa product is suitable for the systems, machines, and equipment used by the customer. 3. Consult with Yaskawa to determine whether use in the following applications is acceptable.

  • Page 17: Compliance With Ul Standards, Eu Directives, Uk Regulations And Other Safety Standards

    Compliance with UL Standards, EU Directives, UK Regulations and Other Safety Standards  North American Safety Standards (UL) North American Name (Model) Safety Standards Mark (UL File No.) SERVOPACK (SGDV-H, -J), UL508C (E147823) Converter (SGDV-COA) UL1004-1 UL1004-6 Servomotor (SGMVV) (E165827) CSA C22.2 No.100 xvii...
  • Page 18  EU Directives Name (Model) EU Directives Harmonized Standards Machinery Direc- tive EN ISO 13849-1: 2015 2006/42/EC EN 55011 Group 1, Class A EMC Directive EN 61000-6-2 SERVOPACK 2014/30/EU EN 61000-6-4 (SGDV-H, EN 61800-3 (Category C2, Second environment) -J), Converter Low Voltage (SGDV-COA) Directive...
  • Page 19  UK Conformity Assessed (UKCA) Name (Model) UK Regulations Designated Standards Supply of Machinery (Safety) Regulations EN ISO 13849-1: 2015 S.I. 2008/1597 EN 55011 Group 1, Class A Electromagnetic Compat- EN 61000-6-2 ibility Regulations EN 61000-6-4 S.I. 2016/1091 EN 61800-3 (Category C2, Second envi- SERVOPACK ronment) (SGDV-H,...

  • Page 20: Safety Standards

     Safety Standards Name (Model) Safety Standards Standards EN ISO 13849-1: 2015 Safety of Machinery EN 60204-1 SERVOPACK EN 61508 series (SGDV-H, -J) Functional Safety EN 61800-5-2 Functional Safety EMC EN 61326-3-1 • Safety Performance Items Standards Performance Level Safety Integrity Level EN 61508 SIL2 Probability of Dangerous Failure per...

  • Page 21: Table Of Contents

    Contents About this Manual ..........iii Safety Precautions .
  • Page 22 3.5 Selecting and Connecting a Regenerative Resistor Unit ..... . 3-38 3.5.1 Selecting a Regenerative Resistor Unit ......3-38 3.5.2 Connecting a Regenerative Resistor Unit .

  • Page 23: Overview Of Setup

    Overview of Setup This chapter describes how to set up the servo drives.
  • Page 24 1 Overview of Setup This chapter describes the flow of the setup procedure from installation until a JOG operation. A panel operator, a digital operator, and SigmaWin+, (which is an engi- neering tool that can be used with a PC) are available to set up a servo drive. The panel operator is included with the SERVOPACK of analog pulse models, and the digital operator and SigmaWin+ are sold separately.

  • Page 25: Installation

    Installation This chapter describes how to install the servomotor, the SERVOPACK, and the converter. 2.1 Installation Environment and Applicable Standards ..2-2 2.1.1 Servomotor Installation Environment ..... . 2-2 2.1.2 SERVOPACK and Converter Installation Environment .

  • Page 26: Installation Environment And Applicable Standards

    2 Installation 2.1.1 Servomotor Installation Environment Installation Environment and Applicable Standards The installation environment and the applicable standards for servomotors and SERVOPACKs and converters are described in this section. 2.1.1 Servomotor Installation Environment  Ambient temperature: 0 to 40°C  Ambient humidity: 20 to 80% RH (with no condensation) ...

  • Page 27: Servopack And Converter Installation Environment

    2.1 Installation Environment and Applicable Standards  Installation site: An environment that satisfies the following conditions • Indoors and free of corrosive or explosive gases • Well-ventilated and free of dust and moisture • Facilitates inspection and cleaning • Free of high magnetic field 2.1.2 SERVOPACK and Converter Installation Environment ...

  • Page 28: Installation Conditions For Applicable Standards

    2 Installation 2.1.3 Installation Conditions for Applicable Standards • Other Locations Do not mount the SERVOPACK and the converter in locations subject to high tem- peratures, high humidity, dripping water, cutting oil, dust, iron filings, or radiation. <Note> When storing the SERVOPACK and the converter with the power OFF, store it in an environment with the following temperature and humidity: •...

  • Page 29: Servomotor Installation

    2.2 Servomotor Installation Servomotor Installation 2.2.1 Orientation The mounting orientation depends on the method that is used to install the servomo- tor. The allowable mounting orientations are given in the follow table. Mounting Method Holding Brake Allowable Mounting Orientations Horizontal or vertical Flange-mounted Horizontal Foot-mounted...

  • Page 30: Connecting Servomotor To Machine

    2 Installation 2.2.3 Connecting Servomotor to Machine 2.2.3 Connecting Servomotor to Machine The end of the motor shaft is coated with anticorrosive paint. Thoroughly remove the paint before installation. Align the shaft of the servomotor with the shaft of the machine, and then couple the shafts.

  • Page 31: Other Precautions

    2.2 Servomotor Installation 2.2.5 Other Precautions  Handling Oil and Water If the servomotor is used in a location that is subject to water or oil mist, use a servo- motor with an oil seal to seal the through shaft section. Precautions on using a servo- motor with an oil seal are described below.
  • Page 32 2 Installation 2.2.5 Other Precautions  Wiring the Motor Terminal Box • Connect the servomotor power lines (U, V, and W) to the servomotor terminal block (M10) in the servomotor terminal box. Connect the ground wire to the ground bolt (M10) in the terminal box. •...

  • Page 33: Servomotor Installation

    2.2 Servomotor Installation  Protecting the Servomotor WARNING • Be sure to connect the servomotor’s built-in thermostat to the host control- ler or to the main circuit magnetic contactor’s operation circuit. Failure to observe this warning may result in injury, fire, or damage to the product. •...
  • Page 34 2 Installation 2.2.5 Other Precautions  Wiring the Servomotor Fan Wire the servomotor fan leads U(A), V(B), and W(C) so that the direction of air flows according to the following diagram. If the air flows in the opposite direction, change the wiring of any of the two phases U, V, and W. Servomotor Direction of cooling air...

  • Page 35: Servopack And Converter Installation

    2.3 SERVOPACK and Converter Installation SERVOPACK and Converter Installation 2.3.1 Orientation The SERVOPACK and the converter are available in models that are base-mounted, and models that are duct-ventilated. In any case, mount the SERVOPACK and the converter with a vertical orientation. Firmly secure the SERVOPACK and the converter to the mounting surface, using the four mounting holes on each.

  • Page 36: Installation Standards

    2 Installation 2.3.2 Installation Standards 2.3.2 Installation Standards Observe the standards for mounting SERVOPACKs and converters in control panels, including those for the mounting SERVOPACKs and converters side by side in one control panel as shown in the following illustration. •...

  • Page 37: Emc Installation Conditions

    SERVOPACK and converter. The EMC installation conditions that are described in this section were used when Yaskawa products passed the EMC conformance testing. The actual EMC level will depend on the actual device configuration, wiring, and other conditions. However, because this product is built-in, check that the conditions are still met after being installed in the user’s product.

  • Page 38: Sgdv-01A (Analog Pulse Model)

    2 Installation 2.4.1 SGDV-01A (Analog Pulse Model) 2.4.1 SGDV-01A (Analog Pulse Model)  Three-phase 200 V • SERVOPACK: SGDV-H01A ( = 121, 161, 201) • Converter: SGDV-COAAA ( = 2B, 3G) Shield box 次回用 Power supply: Noise Three-phase L1, L2, L3 filter 200 VAC Surge...

  • Page 39: Specification

    2.4 EMC Installation Conditions Symbol Cable Name Specification  Main circuit cable Shield cable  I/O signal cable Shield cable  Safety signal cable Shield cable  Dynamic brake unit signal cable Non-shield cable  Dynamic brake unit power cable Non-shield cable ...

  • Page 40: Installation

    2 Installation 2.4.1 SGDV-01A (Analog Pulse Model)  Three-phase 400 V • SERVOPACK: SGDV-J01A ( = 750, 101, 131) • Converter: SGDV-COADA ( = 3Z, 5E) Shield box Power supply: Noise L1, L2, L3 Three-phase filter 400 VAC Converter Surge absorber Control Power supply:...
  • Page 41 2.4 EMC Installation Conditions Symbol Cable Name Specification  Main circuit cable Shield cable  Control power cable Shield cable  I/O signal cable Shield cable  Safety signal cable Shield cable  Dynamic brake unit signal cable Non-shield cable ...

  • Page 42: Sgdv-11A (M-Ii Model)

    2 Installation 2.4.2 SGDV-11A (M-II Model) 2.4.2 SGDV-11A (M-II Model)  Three-phase 200 V • SERVOPACK: SGDV-H11A ( = 121, 161, 201) • Converter: SGDV-COAAA ( = 2B, 3G) 次 回 Shield box Power supply: Noise Three-phase L1, L2, L3 filter 200 VAC Surge...
  • Page 43 2.4 EMC Installation Conditions Symbol Cable Name Specification  Main circuit cable Shield cable MECHATROLINK-II communica-  Shield cable tion cable  I/O signal cable Shield cable  Safety signal cable Shield cable  Dynamic brake unit signal cable Non-shield cable ...
  • Page 44 2 Installation 2.4.2 SGDV-11A (M-II Model)  Three-phase 400 V • SERVOPACK: SGDV-J11A ( = 750, 101, 131) • Converter: SGDV-COADA ( = 3Z, 5E) Shield box Power supply: Noise L1, L2, L3 Three-phase filter 400 VAC Converter Surge absorber Control Power supply: Noise...
  • Page 45 2.4 EMC Installation Conditions Symbol Cable Name Specification  Main circuit cable Shield cable  Control power cable Shield cable MECHATROLINK-II communica-  Shield cable tion cable  I/O signal cable Shield cable  Safety signal cable Shield cable  Dynamic brake unit signal cable Non-shield cable ...

  • Page 46: Sgdv-21A (M-Iii Model)

    2 Installation 2.4.3 SGDV-21A (M-III Model) 2.4.3 SGDV-21A (M-III Model)  Three-phase 200 V • SERVOPACK: SGDV-H21A ( = 121, 161, 201) • Converter: SGDV-COAAA ( = 2B, 3G) 次 回 Shield box Power supply: Noise Three-phase L1, L2, L3 filter 200 VAC Surge...
  • Page 47 2.4 EMC Installation Conditions Symbol Cable Name Specification  Main circuit cable Shield cable MECHATROLINK-III communica-  Shield cable tion cable  I/O signal cable Shield cable  Safety signal cable Shield cable  Dynamic brake unit signal cable Non-shield cable ...
  • Page 48 2 Installation 2.4.3 SGDV-21A (M-III Model)  Three-phase 400 V • SERVOPACK: SGDV-J21A ( = 750, 101, 131) • Converter: SGDV-COADA ( = 3Z, 5E) Shield box 次回用 Power supply: Noise L1, L2, L3 Three-phase filter 400 VAC Converter Surge absorber Control Power supply:...
  • Page 49 2.4 EMC Installation Conditions Symbol Cable Name Specification  Main circuit cable Shield cable  Control power cable Shield cable MECHATROLINK-III communica-  Shield cable tion cable  I/O signal cable Shield cable  Safety signal cable Shield cable  Dynamic brake unit signal cable Non-shield cable ...

  • Page 50: Sgdv-E1A (Command Option Attachable Type)

    2 Installation 2.4.4 SGDV-E1A (Command Option Attachable Type) 2.4.4 SGDV-E1A (Command Option Attachable Type) For SERVOPACKs and converters of command option attachable type, EMC instal- lation conditions may differ depending on the attached option module. For details, refer to the user’s manual for each option module. 2.4.5 Other Precautions ...

  • Page 51: Shield Box

    2.4 EMC Installation Conditions  Fixing the Cable Fix and ground the cable shield using a piece of conductive metal. • Example of Cable Clamp Cable Shield (cable sheath stripped) Host controller side Fix and ground the cable shield using a piece of conductive metal. Cable Ground plate clamp...
  • Page 52 2 Installation 2.4.5 Other Precautions 2-28...

  • Page 53: Wiring And Connection

    Wiring and Connection This chapter describes how to set up the wiring and connections required for trial operation. For details, refer to the user’s manual for your SERVOPACK. 3.1 Precautions for Wiring ....... . 3-2 3.2 Discharging Time of the Main Circuit’s Capacitor .

  • Page 54: Precautions For Wiring

    3 Wiring and Connection Precautions for Wiring CAUTION • Be sure to wire correctly and securely. Failure to observe this caution may result in motor overrun, injury, or malfunction. • Do not connect a commercial power supply to the U, V, or W terminals for the ser- vomotor connection.
  • Page 55 3.1 Precautions for Wiring CAUTION • Take appropriate and sufficient countermeasures for each form of potential inter- ference when installing systems in the following locations. • Locations subject to static electricity or other forms of noise • Locations subject to strong electromagnetic fields and magnetic fields •...

  • Page 56: Discharging Time Of The Main Circuit's Capacitor

    3 Wiring and Connection Discharging Time of the Main Circuit’s Capacitor The following table shows the discharging time of the main circuit’s capacitor. Combinations Discharging Time Input Voltage SERVOPACK Model: Converter Model: (min.) SGDV- SGDV-COA 121H 2BAA Three-phase, 161H 3GAA 200 VAC 201H 3GAA...

  • Page 57: System Configuration Diagram

    3.3 System Configuration Diagram System Configuration Diagram 3.3.1 SGDV-01A SERVOPACK (Analog Pulse Model)  Three-phase, 200 V • SERVOPACK: SGDV-H01A ( = 121, 161, 201) • Converter: SGDV-COAAA ( = 2B, 3G) Digital operator Power supply Three-phase, 200 VAC R S T Personal Converter SERVOPACK...

  • Page 58: Wiring And Connection

    3 Wiring and Connection 3.3.1 SGDV-01A SERVOPACK (Analog Pulse Model)  Three-phase, 400 V • SERVOPACK : SGDV-J01A ( = 750, 101, 131) • Converter : SGDV-COADA ( = 3Z, 5E) Power supply Three-phase, 400 VAC Digital R S T operator Molded-case circuit breaker...
  • Page 59 3.3 System Configuration Diagram 3.3.2  SGDV- 11A SERVOPACK (M-II Model)  Three-phase, 200 V • SERVOPACK: SGDV-H11A ( = 121, 161, 201) • Converter: SGDV-COAAA ( = 2B, 3G) Connection cable Digital for digital operator operator Power supply Personal Connection cable Three-phase, 200 VAC computer...

  • Page 60: Sgdv-11A Servopack (M-Ii Model)

    3 Wiring and Connection 3.3.2 SGDV-11A SERVOPACK (M-II Model)  Three-phase, 400 V • SERVOPACK : SGDV-J11A ( = 750, 101, 131) • Converter : SGDV-COADA ( = 3Z, 5E) Connection cable Power supply Digital for digital operator operator Three-phase, 400 VAC R S T Molded-case Personal...
  • Page 61 3.3 System Configuration Diagram 3.3.3  SGDV- 21A SERVOPACK (M-III Model)  Three-phase, 200 V • SERVOPACK : SGDV-H21A ( = 121, 161, 201) • Converter : SGDV-COAAA ( = 2B, 3G) Connection cable Digital for digital operator operator Power supply Personal Three-phase, 200 VAC Connection cable...

  • Page 62: Sgdv-21A Servopack (M-Iii Model)

    3 Wiring and Connection 3.3.3 SGDV-21A SERVOPACK (M-III Model)  Three-phase, 400 V • SERVOPACK : SGDV-J21A ( = 750, 101, 131) • Converter : SGDV-COADA ( =3Z, 5E) Connection cable Power supply Digital for digital operator operator Three-phase, 400 VAC R S T Molded-case Personal...
  • Page 63 3.3 System Configuration Diagram 3.3.4  SGDV- E1A SERVOPACK (Command Option Attachable Type)  Three-phase, 200 V • SERVOPACK: SGDV-HE1A ( = 121, 161, 201) • Converter: SGDV-COAAA ( = 2B, 3G) Digital Connection cable operator Power supply for digital operator Three-phase, 200 VAC R S T Personal...

  • Page 64: Sgdv-E1A Servopack (Command Option Attachable Type)

    3 Wiring and Connection 3.3.4 SGDV-E1A SERVOPACK (Command Option Attachable Type) ∗4. For details on the dynamic brake unit, refer to 3.6 Selecting and Connecting a Dynamic Brake Unit. ∗5. For connection to the option module, refer to the user’s manual of the corresponding option module.
  • Page 65 3.3 System Configuration Diagram  Three-phase, 400 V • SERVOPACK : SGDV-JE1A ( = 750, 101, 131) • Converter : SGDV-COADA ( = 3Z, 5E) Power supply Three-phase, 400 VAC Digital Connection cable R S T operator for digital operator Molded-case circuit breaker Personal...
  • Page 66 3 Wiring and Connection 3.3.4 SGDV-E1A SERVOPACK (Command Option Attachable Type) ∗6. For connection to the option module, refer to the user’s manual of the corresponding option module. 3-14...

  • Page 67: Main Circuit Wiring

    3.4 Main Circuit Wiring Main Circuit Wiring The names, specifications, and functions of the main circuit terminals required for trial operation are given below. 3.4.1 Names and Functions of Main Circuit Terminals  SERVOPACK The following figure shows the appearance of the analog pulse-type SERVOPACK. Note: For the purpose of this description, the SERVOPACK is shown with the front cover removed.
  • Page 68 3 Wiring and Connection 3.4.1 Names and Functions of Main Circuit Terminals (cont’d) Terminals Name Specifications +, - Do not connect these terminals. Connect this terminal to the power supply ground termi- Ground terminal nal and the Servomotor ground terminal, and then ground it.
  • Page 69 3.4 Main Circuit Wiring SGDV-COA3GAA or -COA5EDA Converter CN101 CN103, CN104 P, N B1, B2 L1, L2, L3 Terminals Name Specifications SGDV-COAAA: Three-phase, 200 to 230 VAC, Main circuit power input +10% to -15%, 50/60 Hz L1, L2, L3 terminals SGDV-COADA: Three-phase, 380 to 480 VAC, +10% to -15%, 50/60 Hz SGDV-COAAA: Single-phase, 200 to 230 VAC,...

  • Page 70: Connecting The Connectors

    3 Wiring and Connection 3.4.2 Connecting the Connectors (cont’d) Terminals Name Specifications CN103 and CN104 output 24 VDC to the SERVO- PACK. CN103, Control power output For a 400-V system, the 24-VDC (±15%) input is output CN104 connectors unaltered from CN103. CN104 provides the same out- put, but it is normally not necessary to connect it.

  • Page 71: Interconnecting Terminals

    3.4 Main Circuit Wiring 3.4.3 Interconnecting Terminals Use the bus bars that are provided with the converter to connect the P and N terminals between the SERVOPACK and the converter. The bus bars are different for different converter models. SGDV-COA2BAA or -COA3ZDA Converter Attach the bus bars as shown in the following figure.
  • Page 72 3 Wiring and Connection 3.4.3 Interconnecting Terminals SGDV-COA3GAA or -COA5EDA Converter The bus bars can be connected in any direction. 3-20...

  • Page 73: Main Circuit Wires

    3.4 Main Circuit Wiring 3.4.4 Main Circuit Wires This section describes details about the main circuit wire for the SERVOPACK and the converter. 1. Wire sizes are selected for three cables per bundle at 40°C sur- rounding air temperature with the rated current. 2.

  • Page 74: Wire Sizes

    3 Wiring and Connection 3.4.4 Main Circuit Wires (cont’d) Nominal Allowable Current at Cross Surrounding Air Temperature Configuration Conductive Section (Number of Resistance Size Diameter Wires/mm) (Ω/km) 30°C 40°C 50°C (2/0) 19/2.0 0.30 (4/0) 19/2.6 0.18 Note: These are reference values for 600-V-grade, heat-resistant, PVC-insulated wire. Wire Sizes The following table shows the symbols for the power input terminals, screw sizes for terminals, tightening torque, wire sizes, and crimp terminals used for the SERVO-...
  • Page 75 (L1C, L2C) (Connector) B1, B2 12 to 20 14 (6) R14-10 9.0 to 11.0 100 (4/0) 100-8 ∗1. Use SERVOPACKs and converters in the specified combinations. ∗2. Use the crimp terminals that are recommended by Yaskawa or an equivalent. 3-23...
  • Page 76 3 Wiring and Connection 3.4.4 Main Circuit Wires  For Three-phase, 400V Crimp Terminal Combination of HIV Wire Screw Size Tightening Model Terminal SERVOPACK and Torque Size in mm (Made by J.S.T. Symbols Terminals (Nm) Converter (AWG) Mfg Co., Ltd.) Bus bar P, N 15.0...
  • Page 77 (24 V, 0 V) (Connector) B1, B2 12 to 20 14 (6) R14-10 9.0 to 11.0 60 (2/0) R60-8 ∗1. Use SERVOPACKs and converters in the specified combinations. ∗2. Use the crimp terminals that are recommended by Yaskawa or an equivalent. 3-25...
  • Page 78 3 Wiring and Connection 3.4.4 Main Circuit Wires  Tools for Crimp Terminals Tools (by J.S.T. Mfg Co., Ltd.) Model Body Head Dies 3.5-6 YHT-2210 – – R5.5-6 YHT-8S – – R8-8 R8-10 YPT-150-1 – TD-221, TD-211 R14-10 TD-222, TD-211 R22-8 TD-223, TD-212 R38-8...
  • Page 79 3.4 Main Circuit Wiring Wire Size (UL Standard) To comply with the UL standard, use the recommended wires. The following table shows the wire sizes (AWG) at a rating of 75 °C.  For Three-phase, 200V Combination of Screw Size Tightening Terminal Wire Size...
  • Page 80 3 Wiring and Connection 3.4.4 Main Circuit Wires (cont’d) Combination of Screw Size Tightening Terminal Wire Size SERVOPACK and Torque Symbols Terminals (Nm) Converter Bus bar P, N 12 to 20 attached to the converter U, V, W 30.0 SERVOPACK DU, DV, DW 9.0 to 11.0 SGDV-201H...
  • Page 81 3.4 Main Circuit Wiring  For Three-phase, 400V Combination of Screw Size Tightening Terminal Wire Size SERVOPACK and Torque Symbols Terminals (Nm) Converter Bus bar P, N 15.0 attached to the converter U, V, W SERVOPACK DU, DV, DW 9.0 to 11.0 SGDV-750J Bus bar P, N...
  • Page 82 3 Wiring and Connection 3.4.4 Main Circuit Wires (cont’d) Combination of Screw Size Tightening Terminal Wire Size SERVOPACK and Torque Symbols Terminals (Nm) Converter Bus bar P, N 12 to 20 attached to the converter U, V, W 30.0 SERVOPACK DU, DV, DW 9.0 to 11.0 SGDV-131J...
  • Page 83 3.4 Main Circuit Wiring  Crimp Terminal, Sleeve, Terminal Kit • For Three-phase, 200 V Crimp Sleeve Model Terminal Combination of (Made by Terminal Model (Made SERVOPACK and Terminal Kit Model Tokyo Dip Symbols by J.S.T. Mfg Converter Co., Ltd.) Co., Ltd.) U, V, W R60-8...
  • Page 84 3 Wiring and Connection 3.4.4 Main Circuit Wires • For Three-phase, 400 V Crimp Sleeve Model Terminal Combination of (Made by Terminal Model (Made SERVOPACK and Terminal Kit Model Tokyo Dip Symbols by J.S.T. Mfg Converter Co., Ltd.) Co., Ltd.) U, V, W R38-8 TP-038 (black)
  • Page 85 3.4 Main Circuit Wiring  Tools for Crimp Terminals Tools by J.S.T. Mfg Co., Ltd. Model Body Head Dies R5.5-6 YHT-2210 – – YHT-8S – – R8-8 YPT-150-1 – TD-221, TD-211 R14-8 TD-222, TD-211 R22-10 TD-223, TD-212 R38-8 TD-224, TD-212 R38-10 R60-8 TD-225, TD-213...

  • Page 86: Typical Main Circuit Wiring Examples

    3 Wiring and Connection 3.4.5 Typical Main Circuit Wiring Examples 3.4.5 Typical Main Circuit Wiring Examples CAUTION • Be sure to observe the following precautions when wiring the main circuit’s termi- nals and connectors on a SERVOPACK or converter. • Do not turn ON the power to a SERVOPACK or converter until all wiring, including the wiring to the main circuit terminal connectors, has been completed.

  • Page 87: Main Circuit Wiring

    3.4 Main Circuit Wiring The following diagrams show wiring examples of the SERVOPACK and converter. Single-axis Application  Three-phase 200 V Three-phase, 200 VAC R S T Dynamic Converter SERVOPACK brake unit C B A Regenerative resistor unit CN115 DB24 DBON Thermostat 1FLT...
  • Page 88 3 Wiring and Connection 3.4.5 Typical Main Circuit Wiring Examples  Three-phase 400 V Three-phase, 400 VAC R S T Dynamic Converter SERVOPACK brake unit C B A Regenerative resistor unit CN115 DB24 DBON Thermostat 1FLT CN103 CN103 CN101 DC power 24 V supply 100/200 VAC...
  • Page 89 3.4 Main Circuit Wiring Multi-axis Application Connect the alarm output (ALM) terminals for the three SERVOPACKs in series to enable alarm detection relay 1Ry to operate. When the alarm occurs, the ALM output signal transistor is turned OFF. The following diagram shows a wiring example for three-phase, 400-VAC SERVO- PACK with converter.

  • Page 90: Selecting And Connecting A Regenerative Resistor Unit

    Selecting a Regenerative Resistor Unit Using a Regenerative Resistor Unit Specified by Yaskawa The regenerative resistor units specified by Yaskawa are listed in the following table. You must acquire the regenerative resistor units separately. Use it only in one of the combinations that are given in the following table.

  • Page 91: Connecting A Regenerative Resistor Unit

    3.5 Selecting and Connecting a Regenerative Resistor Unit Using a Non-Specified Regenerative Resistor Unit If you use non-specified regenerative resistor units, contact your Yaskawa representa- tive or the sales department for more details. If you use a non-specified regenerative resistor unit, we recommend that you use a regenerative resistor unit with a thermal switch for safety.

  • Page 92: Setting Regenerative Resistor Capacity

    3.5.3 Setting Regenerative Resistor Capacity Set the regenerative resistor capacity (Pn600) as follows: Using the regenerative resistor that is specified by Yaskawa: Use the default setting. Using any other regenerative resistor: Refer to the user’s manual for design and maintenance.

  • Page 93: Installation Standards

    Observe the following installation standards when you use a regenerative resistor unit specified by Yaskawa. Provide at least 70 mm on each side of the unit and at least 200 mm at both the top and bottom of the unit to enable fan and natural convection cool- ing.

  • Page 94: Selecting And Connecting A Dynamic Brake Unit

    180 W, 0.8 Ω 750J, 101J JUSP-DB04-E 300 W, 0.8 Ω 131J JUSP-DB06-E 3.6.2 Connections Using a Dynamic Brake Unit from Yaskawa When connecting a dynamic brake, refer to the following diagram. Dynamic brake unit SERVOPACK CN115 24 V DB24 DB24...
  • Page 95 3.6 Selecting and Connecting a Dynamic Brake Unit Using a Dynamic Brake Unit from Another Company • Using NO Contacts for the Dynamic Brake Contactor For I/O SERVOPACK power supply 24 V Dynamic brake contactor (Auxiliary contacts) Dynamic brake resistor CN115 24 V DB24...
  • Page 96 3 Wiring and Connection 3.6.2 Connections • Using NC Contacts for the Dynamic Brake Contactor For I/O SERVOPACK power supply 24 V Dynamic brake contactor (Auxiliary contacts) Dynamic brake resistor CN115 24 V DB24 DBON Main circuit surge absorption unit Coil surge absorption unit ∗...

  • Page 97: Installation Standards

    3.6.3 Installation Standards Observe the following installation standards when you use a Yaskawa dynamic brake unit. Provide at least 70 mm on each side of the unit and at least 200 mm at both the top and bottom of the unit to enable fan and natural convection cooling.
  • Page 98 3 Wiring and Connection 3.6.3 Installation Standards 3-46...

  • Page 99: Safety Function

    Safety Function This chapter describes the safety functions. 4.1 Outline ..........4-2 4.2 Hard Wire Base Block (HWBB) Function .

  • Page 100: Outline

    4 Safety Function Outline The safety function is incorporated in the SERVOPACK and the converter to reduce the risk associated with the machine by protecting workers from injury and by secur- ing safe machine operation. Especially when working in hazardous areas inside the safeguard, as for machine maintenance, it can be used to avoid adverse machine movement.

  • Page 101: Hard Wire Base Block (Hwbb) Function

    4.2 Hard Wire Base Block (HWBB) Function Hard Wire Base Block (HWBB) Function The Hard Wire Base Block function (hereinafter referred to as HWBB function) is a safety function designed to baseblock the motor (shut off the motor current) by using the hardwired circuits: Each circuit for two channel input signals blocks the run sig- nal to turn OFF the power module, and the motor current is shut off.

  • Page 102: Safety Function Signal (Cn8) Names And Functions

    4 Safety Function WARNING • When using the HWBB function, be sure to perform a risk assessment of the servo system in advance. Make sure that the safety level of the standards is met. For details about the standards, refer to Compliance with UL Standards, EU Directives, UK Regulations and Other Safety Standards at the front of this man- ual.

  • Page 103: Precautions When Not Using The Safety Function

    4.4 Precautions When Not Using the Safety Function Precautions When Not Using the Safety Function When not using the safety function or when performing a JOG operation, use the SERVOPACK and the converter with the safety function jumper connector (provided as an accessory) inserted.
  • Page 104 4 Safety Function Connect the safety function device to the safety connector (CN8). Note:If you do not connect a safety function device, leave the safety function’s jumper connector connected to the safety connector (CN8). If the SERVOPACK is used without the safety function’s jumper connector connected to CN8, no current will be supplied to the servomotor and no motor torque will be output.

  • Page 105: Trial Operation (Checking Servomotor Operation)

    Trial Operation (Checking Servomotor Operation) This chapter describes how to perform trial operation. 5.1 Outline ..........5-2 5.2 Inspection and Checking before Trial Operation .

  • Page 106: Outline

    5 Trial Operation (Checking Servomotor Operation) Outline The trial operation described here is a JOG operation for servomotors not connected to machinery (without a load). The purpose of this trial operation is to check whether the SERVOPACK and the converter and servomotor are properly connected and whether the servomotor is operating normally.

  • Page 107: Inspection And Checking Before Trial Operation

    5.2 Inspection and Checking before Trial Operation Inspection and Checking before Trial Operation To ensure safe and correct trial operation, inspect and check the following items before starting trial operation.  Servomotors Inspect and check the following items, and take appropriate measures before per- forming trial operation if any problem exists.
  • Page 108 5 Trial Operation (Checking Servomotor Operation)  SERVOPACKs and Converters Inspect and check the following items, and take appropriate measures before per- forming trial operation if any problem exists. • Are all installation, wiring and connections correct? • Is the correct power supply voltage being supplied to the SERVOPACK and the converter? ...
  • Page 109 5.2 Inspection and Checking before Trial Operation  Checking the Main Circuit Power Supply, Servomotor, and Encoder Wiring Once again, check the main circuit power supply, servomotor, and encoder wiring that was described in Chapter 3 Wiring and Connection. Perform a trial operation with the safety function jumper connector (provided as an accessory) inserted into the CN8 connector.

  • Page 110: Jog Operation Using A Panel Operator

    5 Trial Operation (Checking Servomotor Operation) JOG Operation Using a Panel Operator This section describes the procedure for executing a JOG operation using a panel operator. The operating section of the panel operator is behind the plastic plate at the top of the front of the SERVOPACK.
  • Page 111 5.3 JOG Operation Using a Panel Operator (cont’d) Step Display after operation Keys Operation Press the DATA/SHIFT Key for approxi- mately one second. The display shown on the left appears. MODE/SET DATA/ Press the MODE/SET Key to turn the servomotor power ON. MODE/SET DATA/ The servomotor will rotate at the speed...

  • Page 112: Jog Operation Using A Digital Operator

    5 Trial Operation (Checking Servomotor Operation) JOG Operation Using a Digital Operator This section describes the procedure for executing a JOG operation using a digital operator. Connect the digital operator to the SERVOPACK CN3 connector. Σ-V series Σ-III series JUSP-OP05A-1-E JUSP-OP05A Digital Operator Digital Operator...
  • Page 113 5.4 JOG Operation Using a Digital Operator Step Display after operation Keys Operation Turn ON the power to the SERVO- PACK and the converter. A message – saying that the file list is being loaded will appear and then the parameter/ monitor mode will appear.
  • Page 114 5 Trial Operation (Checking Servomotor Operation) (cont’d) Step Display after operation Keys Operation The servomotor will rotate at the present speed set in Pn304 while the Key (for forward rotation) or Key (for reverse rotation) is pressed (The factory setting is 500 Forward −...

  • Page 115: Alarm Display

    5.4 JOG Operation Using a Digital Operator  Alarm Display An alarm is automatically displayed if a problem occurs for some reason. Check the alarm using the user’s manual for the corresponding SERVOPACK and converter or Σ  command option module (refer to Manuals Related to the -V Series on page iv) and apply the appropriate measures.

  • Page 116: Jog Operation Using Sigmawin

    5 Trial Operation (Checking Servomotor Operation) JOG Operation Using SigmaWin+ This section describes the procedure for executing a JOG operation using Sig- maWin+. In the following example, procedures for trial operation are explained using the JOG operation window of Test Run on the main menu of SigmaWin+. The tuning-less function is by default set enabled.
  • Page 117 5.5 JOG Operation Using SigmaWin+ (cont’d) Step Operation Display • Start SigmaWin+ and open the main win- dow. (1) Turn ON the SERVOPACK and the con- verter. (2) Turn ON the computer. (3) Double click the YE_Applications folder on the desktop. YE_Applications (4) Double click the SigmaWin+ icon to dis- play the SigmaWin+ startup screen.
  • Page 118 5 Trial Operation (Checking Servomotor Operation) (cont’d) Step Operation Display (5) Once SigmaWin+ is started, the connec- tion window is displayed. Note: is used for operation with no SERVOPACK connected. Click to search for the con- nected SERVOPACK. Connection Window (6) Search Condition Setting window is open.
  • Page 119 5.5 JOG Operation Using SigmaWin+ (cont’d) Step Operation Display • Trial operation. Test Run (R) → Jog (J) (1) Select Test Run (R) first, and then select Jog (J) from the menu on the main win- dow. Main Window (2) Warnings for the JOG operation window will be displayed.
  • Page 120 5 Trial Operation (Checking Servomotor Operation) (cont’d) Step Operation Display • Set the JOG speed The motor speed is set to 500 [min ]. Click if you need to change it. • Servo ON Click . The display changes from Servo OFF to Servo ON and is lit in green.
  • Page 121 5.5 JOG Operation Using SigmaWin+ (cont’d) Step Operation Display • Start JOG operation. When you click the servomotor will rotate in the forward direction. When you click it will rotate in reverse. Confirm that the servomotor operation is cor- rect. At the same time, carefully inspect the servomotor’s condition and check the follow- ing points in particular.

  • Page 122: Revision History

    Revision History The revision dates and numbers of the revised manuals are given at the bottom of the back cover. MANUAL NO. SIEP S800000 89B <1>-0 Web revision number Revision number Published in Japan January 2013 Date of publication Date of Rev.
  • Page 123 Phone: +81-4-2962-5151 Fax: +81-4-2962-6138 www.yaskawa.co.jp YASKAWA AMERICA, INC. 2121, Norman Drive South, Waukegan, IL 60085, U.S.A. Phone: +1-800-YASKAWA (927-5292) or +1-847-887-7000 Fax: +1-847-887-7310 www.yaskawa.com YASKAWA ELÉTRICO DO BRASIL LTDA. 777, Avenida Piraporinha, Diadema, São Paulo, 09950-000, Brasil Phone: +55-11-3585-1100 Fax: +55-11-3585-1187 www.yaskawa.com.br...

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