YASKAWA SGDA series User Manual
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YASKAWA SGDA series User Manual

Ac servomotors and drivers
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Table of Contents

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USER'S MANUAL
AC Servomotors and Drivers
SGM/SGMP Servomotors
SGDA Servopack
YASKAWA
YASKAWA
MANUAL NO. TSE-S800-15C

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Summary of Contents for YASKAWA SGDA series

  • Page 1 YASKAWA USER'S MANUAL AC Servomotors and Drivers SGM/SGMP Servomotors SGDA Servopack YASKAWA MANUAL NO. TSE-S800-15C...
  • Page 2 Such modification is made as a revision by renewing the manual No. S To order a copy of this manual, if your copy has been damaged or lost, contact your YASKAWA representative listed on the last page stating the manual No. on the front cover.
  • Page 3 NOTES FOR SAFE OPERATION Read this manual thoroughly before installation, operation, maintenance or inspection of the AC Servo Drives. In this manual, the NOTES FOR SAFE OPERATION are classified as “WARNING” or “CAUTION”. WARNING Indicates a potentially hazardous situation which, if not avoided, could result in death or serious personal inju- CAUTION Indicates a potentially hazardous situation which, if not avoided, may result in minor or moderate personal injury and/or damage to the equipment.
  • Page 4 WARNING (WIRING) S Grounding must be in accordance with the national code and consistent with sound local practices. Failure to observe this warning may lead to electric shock or fire. (OPERATION) S Never touch any rotating motor parts during operation. Failure to observe this warning may result in personal injury.
  • Page 5 CAUTION (OPERATION) S To avoid inadvertent accidents, run the SERVOMOTOR only in test run (without load). Failure to observe this caution may result in personal injury. S Before starting operation with a load connected, set up user constants suitable for the machine. Starting operation without setting up user constants may lead to overrun failure.

  • Page 6: Chapter 1 For First-Time Users Of Ac Servos

    Manual Contents This manual provides Σ-Series users with information on the following: • An overview of servo systems for first-time users. • Checking the product on delivery and basic applications of the servo. • Servo applications. • Selecting an appropriate servo for your needs and placing an order. •...
  • Page 7 Unless otherwise specified, the following definitions are used: Servomotor: Σ-Series SGM/SGMP Servomotor Servopack: An amplifier (Trademark of Yaskawa servo amplifier “SGDA Servopack”) Servodrive: A SGM/SGMP Servomotor and an amplifier (SGDA Servopack) Servo system: A complete servo control system consisting of servodrive, host controller,...
  • Page 8 Yas- kawa. No patent liability is assumed with respect to the use of the information contained herein. Moreover, because Yaskawa is constantly striving to improve its high-quality products, the information contained in this manual is subject to change without notice.

  • Page 9: Table Of Contents

    CONTENTS CHAPTER 1 FOR FIRST-TIME USERS OF AC SERVOS ....Basic Understanding of AC Servos ......... . 1.1.1 Servo Mechanisms .

  • Page 10: Table Of Contents

    CONTENTS Setting Stop Mode ............3.4.1 Adjusting Offset .

  • Page 11: Table Of Contents

    CONTENTS Using the Functions ............4.2.1 Operation in Alarm Trace-back Mode .

  • Page 12: Table Of Contents

    CONTENTS 5.6.15 Variable Resistor for Speed Setting ........5.6.16 Encoder Signal Converter Unit .

  • Page 13: Basic Understanding Of Ac Servos

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

  • Page 14: Servo Configuration

    FOR FIRST−TIME USERS OF AC SERVOS 1.1.1 Servo Mechanisms Basic Understanding of AC Servos This section describes the basic configuration of a servo mechanism and technical terms relating to servos and also explains the features of Σ-Series AC Servos. 1.1.1 Servo Mechanisms .
  • Page 15 1.1 Basic Understanding of AC Servos Servo system could be defined in more detail as a mechanism that: • Moves at a specified speed and • Locates an object in a specified position To develop such a servo system, an automatic control system involving feedback control must be designed.
  • Page 16 General servomotors or Yaskawa SGM/SGMP Servomotors. In some cases, a position detector (encoder) is included in a servomotor. Servopack Trademark of Yaskawa servo amplifier “SGDA Servopack.” Servopack is divided into two types: SGDA-jjjS (for speed/torque control) and SGDA-jjjP (for position control).
  • Page 17 1.1 Basic Understanding of AC Servos 1.1.2 Servo Configuration 1) Configuration of Servo System The following diagram illustrates a servo system in detail: Host controller Position or speed reference Servo amplifier Comparator Power amplifier (Output) Position Motor drive (Input) circuit Speed Movable Gear...
  • Page 18 FOR FIRST−TIME USERS OF AC SERVOS cont. 1.1.2 Servo Configuration Servo components (1) to (5) are outlined below: (1) Controlled system In the previous figure, the controlled system is a movable table for which the position or speed is controlled. The movable table is driven by a ball screw and is connected to the servomotor via gears.
  • Page 19 The following figure illustrates the structure of a synchronous type servomotor: Light-receiving Rotary disc element Armature Housing Front cap wire Light-emitting Stator core element Ball bearing Shaft Rotor core Magnet Position detector Lead wire (encoder) Yaskawa SGM and SGMP Servomotors are of the synchronous type.
  • Page 20 FOR FIRST−TIME USERS OF AC SERVOS cont. 1.1.2 Servo Configuration (c) Performance of Servomotor A servomotor must have “instantaneous power” so that it can start as soon as a start reference is received. The term “power rating (kW/s)” is used to represent instantaneous power. It refers to the electric power (kW) that a servomotor generates per second.
  • Page 21 1.1 Basic Understanding of AC Servos (4) Servo amplifier A servo amplifier is required to operate an AC servomotor. The following figure illustrates the configuration of a servo amplifier: Servo amplifier Motor driving AC power Power amplifier Comparator Reference input Feedback Servomotor Commercial AC power...
  • Page 22 A host controller controls a servo amplifier by specifying a position or speed as a set point. For speed reference, a position control loop may be formed in the host controller when a position feedback signal is received. Yaskawa PROGIC-8 is a typical host controller. PROGIC-8 TERMS A programmable machine controller.

  • Page 23: Features Of Σ-Series Servos

    1.1 Basic Understanding of AC Servos 1.1.3 Features of Σ-Series Servos 1) Σ-Series SGM/SGMP Servomotors are synchronous type servomotors and have the fol- lowing features: • Size and weight reduced to one-third those of our conventional models. Compact Servomotor for saving installation space.
  • Page 24 In this way, the host controller can freely perform the control required for the servo mech- anism. The Servopack undertakes the speed control loop and subsequent control processing. Yaskawa programmable machine controller PROGIC-8 is available as a typical host con- troller.
  • Page 25 1.1 Basic Understanding of AC Servos 4) Servopack for speed/torque control can also provide torque control as shown below. • Using Servopack for Speed/Torque Control (Torque Control) Host controller Position monitoring Position Servopack for Torque information speed/torque reference control Speed Power reference (Analog voltage)
  • Page 26 FOR FIRST−TIME USERS OF AC SERVOS 1.1.3 Features of Σ-Series Servos cont. 5) Servopack for position control can be used as below. • Using Servopack for Position Control Host controller Position monitoring Position reference Servopack for position control Position information Power amplifier Servomotor...

  • Page 27: Chapter 2 Basic Uses Of Σ-Series Products

    BASIC USES OF Σ-SERIES PRODUCTS This chapter describes the first things to do when Σ-Series products are deliv- ered. It also explains the most fundamental ways of connecting and operating Σ-Series products. Both first-time and experienced servo users must read this chapter.
  • Page 28 BASIC USES OF Σ-SERIES PRODUCTS 2.1.1 Notes on Use Precautions This section provides notes on using Σ-Series products. 2.1.1 Notes on Use ........... 2.1.1 Notes on Use NOTE Always note the following to ensure safe use.

  • Page 29: Installation

    2.1 Precautions Always follow the specified installation method. Provide sufficient clearance The Servopack generates heat. Install the Servo- 10 mm pack so that it can radiate heat freely. Note also that the Servopack must be in an environment free from condensation, vibration and shock. Ambient temperature: 0 to 55°C...

  • Page 30: Checking On Delivery

    BASIC USES OF Σ-SERIES PRODUCTS 2.2.1 Checking on Delivery Installation This section describes how to check Σ-Series products on delivery and how to install them. 2.2.1 Checking on Delivery ..........2.2.2 Installing the Servomotor .
  • Page 31 2.2 Installation Appearance Nameplate Type Servopack type Σ-Series SGDA Servopack Rated Ouoput A3:0.04HP A5:0.07HP Servo- 01:0.13HP 02:0.27HP 03:0.40HP 04:0.53HP pack 08:1.01HP Power Supply Type Serial number S: For speed/torque control P: For position control Output power voltage Σ-Series SGDA Applicable motor Applicable power supply Blank: SGM Servomotor Servopack...
  • Page 32 BASIC USES OF Σ-SERIES PRODUCTS 2.2.2 Installing the Servomotor cont. SWell-ventilated and free from dust and moisture SAmbient temperature of 0 to 40°C SRelative humidity of 20% to 80% (non-condensing) SInspection and cleaning can be performed easily If the Servomotor is used in a location subject to water or oil mist, install a shield cover over the Servomotor.
  • Page 33 2.2 Installation • Servomotor with incremental encoder Allowable Allowable Motor Type Radial Load Thrust Load Reference Drawing Fr [N(lb)] Fs [N(lb)] (in.) SGM-A3 68 (15) 54 (12) 20 (0.82) SGM-A5 68 (15) 54 (12) 20 (0.82) SGM-01 78 (17) 54 (12) 20 (0.82) SGM-02 245 (55)

  • Page 34: Installing The Servopack

    BASIC USES OF Σ-SERIES PRODUCTS 2.2.3 Installing the Servopack 2.2.3 Installing the Servopack Σ-Series SGDA Servopack is a book-shaped compact servo controller. Incorrect installation will cause problems. Always ob- serve the installation instructions described in the next page. Storage: When the Servopack is to be stored with the pow- SGDA Servopack er cable disconnected, store it in the following temperature range:...
  • Page 35 2.2 Installation Installation method: When installing multiple Servopacks side by side in a control panel, observe the following installation method: 50 mm or more 50 mm or more 30 mm or more 10 mm or more a) Install Servopack perpendicular to the wall so that the front panel (containing connec- tors) faces outward.
  • Page 36 BASIC USES OF Σ-SERIES PRODUCTS 2.2.3 Installing the Servopack cont. c) When installing Servopacks side by side, provide at least 10 mm space between them and at least 50 mm space above and below them as shown in the figure above. Install cooling fans above the Servopacks to prevent the temperature around each Servo- pack from increasing excessively and also to maintain the temperature inside the control panel evenly.

  • Page 37: Connection And Wiring

    2.3 Connection and Wiring Connection and Wiring This section describes how to connect Σ-Series products to peripheral devices and explains a typical example of wiring the main circuit. It also describes an example of connecting to main host controllers. 2.3.1 Connecting to Peripheral Devices .
  • Page 38 BASIC USES OF Σ-SERIES PRODUCTS Standard connection method for Σ-Series AC Servo Drives: Digital Allows the user to set user constants or Molded-case circuit breaker (MCCB) operation references and display operation status or alarm status. The following two types are available in addition to personal Used to protect power computers: supply line.
  • Page 39 2.3 Connection and Wiring Operator Personal computer Host controller Servopack is compatible with most P.L.C. motion controllers and indexers. References are input as analog signals or pulse trains. Exclusive-use cable between personal computer and Servopack (for NEC PC) is available. Hand-held type Type: DE9405258 (2m, 6.6ft.) (JUSP-OP02A-1)
  • Page 40 BASIC USES OF Σ-SERIES PRODUCTS 2.3.2 Main Circuit Wiring and Power ON Sequence 2.3.2 Main Circuit Wiring and Power ON Sequence 1) The following diagram shows a typical example of wiring the main circuit for Σ-Series products: For 100 V Type + 10 Single-phase 200 to 230 VAC 50/60 Hz...
  • Page 41 2.3 Connection and Wiring 3) Form a power ON sequence as follows: a) Form a power ON sequence so that the power is turned OFF when a servo alarm sig- nal is output. (See the circuit diagram shown on the previous page.) b) Hold down the power ON push-button for at least two seconds.

  • Page 42: Examples Of Connecting I/O Signal Terminals

    2) Example of Connecting to PROGIC-8 Servopack for Speed/Torque Control SGDA-jjj S Servopack Speed/Torque Yaskawa MC unit Not used (Reserved) FG (connector frame) *1 These pin numbers are also applicable to SV2 to SV4.
  • Page 43 3) Example of Connecting to GL-Series Positioning Module B2833 Servopack for Speed/Torque Control SGDA-jjj S SERVOPACK Speed/Torque (MADE BY YASKAWA) SERVO NORMAL DECEL LS D/A OUTPUT * These signals are output for approximately two seconds when the power is turned ON.
  • Page 44 2.3.3 Examples of Connecting I/O Signal Terminals cont. 4) Example of Connecting to GL-Series Positioning Module B2813 Servopack for Position Control SGDA-jjj P Servopack Positions (MADE BY YASKAWA) SERVO NORMAL DECELERA- TION LS ALARM *1 These signals are output for approximately two seconds when the power is turned ON.
  • Page 45 *1 These signals are output for approximately two seconds when the power is turned ON. Take this into consideration when designing a power ON sequence. Relay 1Ry is used to stop main circuit power supply to Servopack. Note The signals shown here are applicable only to OMRON Sequencer C500-NC222 and Yaskawa Servopack SGDA-VVVS.
  • Page 46 Servopack. *2 Change the Cn-02 setting as follows: Bit No. 3 = 1 Bit No. 4 = 0 Bit No. 5 = 0 Note The signals shown here are applicable only to OMRON Sequencer C500-NC112 and Yaskawa Servopack SGDA-VVVP.
  • Page 47 2.3 Connection and Wiring 7) Example of Connecting to MITSUBISHI Positioning Unit AD72 Servopack for Speed/Torque Control SGDA-jjj S SERVOPACK Speed/Torque I/O POWER SUPPLY AD72 (MADE BY MITSUBISHI) (ON when position- ing is stopped) (ON when proximity is detected) SPEED REF- ERENCE *1 These signals are output for approximately two seconds when the power is turned ON.
  • Page 48 ON sequence. Relay 1Ry is used to stop main circuit power supply to Servopack. *2 Manufactured by Yaskawa Controls Co., Ltd. Note The signals shown here are applicable only to MITSUBISHI Sequencer AD71 (B Type)

  • Page 49: Conducting A Test Run

    2.4 Conducting a Test Run 2.4Conducting a Test Run This section describes how to conduct a full test run. The test run is divided into two steps. Complete a test run in step 1 first, then proceed to step 2. 2.4.1 Test Run in Two Steps .
  • Page 50 BASIC USES OF Σ-SERIES PRODUCTS 2.4.1 Test Run in Two Steps cont. Step 1: Conducting a test run for the motor without load . . . Check that the motor is wired correctly. Conduct a test run with the motor shaft disconnected Operate the mo- from the machine.

  • Page 51: Step 1: Conducting A Test Run For Motor Without Load

    2.4 Conducting a Test Run 2.4.2 Step 1: Conducting a Test Run for Motor without Load Check that the motor is wired correctly. If the motor fails to rotate properly during a servo drive test run, the cause most frequently lies in incorrect wiring.
  • Page 52 BASIC USES OF Σ-SERIES PRODUCTS 2.4.2 Step 1: Conducting a Test Run for Motor without Load cont. (4) Turn the power ON. Normal display Turn the Servopack power ON. If the Servo- pack is turned ON normally, the LED on the Alternately displayed Digital Operator lights up as shown in the fig- Example of alarm display...
  • Page 53 2.4 Conducting a Test Run (6) Connect signal lines. After turning the power OFF, re- move the short circuit. Connect connector 1CN as follows: (1) Turn the power OFF. (2) Retrun the alarm signal circuit shorted in the above step (3) to its original state. Connect connector 1CN.
  • Page 54 BASIC USES OF Σ-SERIES PRODUCTS 2.4.2 Step 1: Conducting a Test Run for Motor without Load cont. (2) Turn the servo ON signal ON. Display when servo is turned ON Set S-ON (1CN-14) to 0 V. If normal, the motor is turned ON and the Digital Operator displays the data as shown in the figure.
  • Page 55 2.4 Conducting a Test Run (4) To change motor speed or the direction of rotation, reset the user constants shown below. Cn-03 Speed reference gain (see page 68) Cn-02 bit 0 Reverse rotation mode (see page 54) Servopack for Position Control SGDA-jjjP (1) Set user constant Cn-02 so that the reference pulse form matches the host controller output form.

  • Page 56: Step 2: Conducting A Test Run With The Motor Connected To The Machine

    BASIC USES OF Σ-SERIES PRODUCTS 2.4.3 Step 2: Conducting a Test Run with the Motor Connected to the Machine (4) To change motor speed or the direction of rotation, reset the user constants shown below. Cn-24,Cn-25 Electronic gear ratio (see page 81) Cn-02 bit 0 Reverse rotation mode (see page 54) If an alarm occurs or the motor fails to rotate during the above operation, connec-...
  • Page 57 2.4 Conducting a Test Run (1) Check that power is OFF. Power Servopack supply Turn the Servopack power OFF. Power OFF (2) Connect the servomotor to the machine. Install servomotor on machine. Refer to 2.2.2 Installing the Servomotor. Servomotor (3) Perform autotuning. Tune the Servopack according to the machine Autotuning: characteristics.

  • Page 58: Supplementary Information On Test Run

    BASIC USES OF Σ-SERIES PRODUCTS 2.4.4 Supplementary Information on Test Run 2.4.4 Supplementary Information on Test Run In the following cases, always refer to the information described below before starting a test run: • When using a servomotor with a brake •...
  • Page 59 2.4 Conducting a Test Run 2) When performing position control from the host controller Check motor operation first and then conduct a test run as described in the table below. For speed control Type: Speed reference Host controller Test run for motor Speed without...

  • Page 60: Minimum User Constants Required And Input Signals

    BASIC USES OF Σ-SERIES PRODUCTS 2.4.5 Minimum User Constants Required and Input Signals 2.4.5 Minimum User Constants Required and Input Signals 1) This section describes the minimum user constants that must be set to conduct a test run. For details on how to set each user constant, refer to 4.1.5 Operation in User Constant Setting Mode.
  • Page 61 2.4 Conducting a Test Run Signal Name Function Number Switching between motor ON and OFF status.The S-ON (servo ON) 1CN-14 memory switch can be used to eliminate the need for external short-circuit wiring (see page 129). (forward P-OT rotation 1CN-16 Overtravel limit switch prohibited) The memory switch can be used to eliminate the...

  • Page 62: Chapter 3 Applications Of Σ-Series Products

    APPLICATIONS OF Σ-SERIES PRODUCTS This chapter is prepared for readers who wish to learn more about the applica- tions of Σ-series products after fully understanding Chapter 2 Basic Uses of Σ-series Products. It explains how to set user constants for each purpose and how to use each function.
  • Page 63 Chapter Table of Contents, Continued 3.5 Running the Motor Smoothly ....3.5.1 Using the Soft Start Function ......3.5.2 Using the Smoothing Function .
  • Page 64 Before Reading this Chapter 1) This chapter describes how to use each 1CN connector I/O signal for the SGDA Servo- pack and how to set the corresponding user constant. 2) For a list of I/O signals of 1CN connecor, refer to Appendix C List of I/O Signals. For terminal arrangement for I/O signals of 1CN connecor, refer to 3.8.8 Connector Ter- minal Layouts.

  • Page 65: Setting User Constants According To Machine Characteristics

    APPLICATIONS OF Σ-SERIES PRODUCTS 3.1.1 Changing the Direction of Motor Rotation Setting User Constants According to Machine Characteristics This section describes how to set user constants according to the dimensions and performance of the machine to be used. 3.1.1 Changing the Direction of Motor Rotation .
  • Page 66 3.1 Setting User Constants According to Machine Characteristics 3) Setting Reverse Rotation Mode: Reverse rotation mode can be set in either of the following two ways. Normally, method 1 is easier to use. a) Method 1: Setting Memory Switch Set bit 0 of memory switch Cn-02 to select reverse rotation mode. Cn-02 Bit 0 Rotation Direction Factory...

  • Page 67: Setting The Overtravel Limit Function

    APPLICATIONS OF Σ-SERIES PRODUCTS 3.1.2 Setting the Overtravel Limit Function 3.1.2 Setting the Overtravel Limit Function 1) The overtravel limit function forces the moving part of the machine to stop when it ex- ceeds the movable range. 2) To use the overtravel limit function, connect the following input signal terminals correctly. Forward Rotation Prohibited For Speed/Torque →...
  • Page 68 3.1 Setting User Constants According to Machine Characteristics 3) Use the following user constants (memory switch) to specify whether input signals for overtravel are to be used. Use of P-OT Input Signal Factory For Speed/Torque Control Cn-01 Bit 2 Setting: 0 and Position Control Use of N-OT Input Signal Factory...
  • Page 69 APPLICATIONS OF Σ-SERIES PRODUCTS 3.1.2 Setting the Overtravel Limit Function cont. Setting Meaning Stops the motor in the same way as when the servo is turned OFF. The motor is stopped by dynamic brake or coasts to a stop. Either of Cn-01 these stop modes can be selected by setting bit 6 of Cn-01.

  • Page 70: Restricting Torque

    3.1 Setting User Constants According to Machine Characteristics Setting Meaning Stops the motor by dynamic brake. C 01 Cn-01 Causes the motor to coast to a stop. bit 6 The motor power is OFF and stops due to machine friction. If dynamic brake stop mode is selected, specify the operation to be performed when the motor stops.
  • Page 71 APPLICATIONS OF Σ-SERIES PRODUCTS 3.1.3 Restricting Torque cont. Sets the maximum torque values for forward rotation and reverse rotation, Output Signal for Torque Restric- respectively. tion Function Sets these user constants when torque must be restricted according to ma- D TGON (1CN-9) chine conditions.
  • Page 72 3.1 Setting User Constants According to Machine Characteristics Preset Value: Cn-08 (TLMTF) Cn-09 (TLMTR) Cn-18 (CLMIF) : P-CL input only Cn-19 (CLMIR) : N-CL input only Note This function is changed to another function depending on the setting of bit 4 of memory switch Cn-01.
  • Page 73 APPLICATIONS OF Σ-SERIES PRODUCTS 3.1.3 Restricting Torque cont. 3) How to Set Level 2: External Torque Limit First, use a contact input signal to make the torque Servopack (current) limit value set in the user constant valid. Without Torque limit can be set separately for forward and Forward torque limit rotation...
  • Page 74 3.1 Setting User Constants According to Machine Characteristics CLMIF Unit: Setting Factory For Speed/Torque Forward External Range: 0 to Setting: Control and Position Cn-18 Torque Limit Maximum Control Torque CLMIR Unit: Setting Factory For Speed/Torque Reverse External Range: 0 to Setting: Control and Position Cn-19...
  • Page 75 APPLICATIONS OF Σ-SERIES PRODUCTS 3.1.3 Restricting Torque cont. ON: 1CN-11 is at Torque restriction applies during forward rotation. Limit value: low level. Cn-18 P CL P-CL OFF: 1CN-11 is at Torque restriction does not apply during forward high level. rotation. Normal operation status. ON: 1CN-12 is at Torque restriction applies during reverse rotation.

  • Page 76: Setting User Constants According To Host Controller

    3.2 Setting User Constants According to Host Controller Setting User Constants According to Host Controller This section describes how to connect a Σ-series Servo to a host controller and how to set user constants. 3.2.1 Inputting Speed Reference ........3.2.2 Inputting Position Reference .
  • Page 77 APPLICATIONS OF Σ-SERIES PRODUCTS 3.2.1 Inputting Speed Reference cont. • Standard Setting: Cn-03 = 500: This setting means that 6 V is equivalent to rated speed (3,000 r/min) Examples: +6 V input → 3,000 r/min in forward direction +1 V input → 500 r/min in forward direction −3 V input →...
  • Page 78 3.2 Setting User Constants According to Host Controller Cn-01 Setting Control Mode Control Mode Bit B Bit A Speed Control SGDA Servopack This is normal speed control. Speed reference D Speed reference is input from V-REF P/PI changeover (1CN-3). D P-CON (1CN-15) signal is used to switch between P control and PI control.
  • Page 79 APPLICATIONS OF Σ-SERIES PRODUCTS 3.2.1 Inputting Speed Reference cont. • Using P-CON Signal: Proportional Control, etc. For Speed/Torque → Input P-CON 1CN-15 Control and Position Control The function of input signal P-CON changes with the memory switch setting. Servopack Switching between P control and PI control Switching between zero-clamp enabled mode and zero-clamp prohibited mode Switching between torque control and speed control...

  • Page 80: Inputting Position Reference

    3.2 Setting User Constants According to Host Controller 3.2.2 Inputting Position Reference 1) Input a position reference by using the following input signal “reference pulse input.” SGDA- Since there are several specifications for input signal, select reference input for the sys- tem to be created.
  • Page 81 APPLICATIONS OF Σ-SERIES PRODUCTS 3.2.2 Inputting Position Reference cont. 2) Use the following memory switch to select the reference pulse form to be used: → Input PULS 1CN-1 Reference Pulse Input For Position Control Only Reference Pulse Input For Position Control Only →...
  • Page 82 3.2 Setting User Constants According to Host Controller Input Input Refer- Refer- Cn-02 Motor Forward Run Motor Forward Run Motor Reverse Run Motor Reverse Run Pulse Pulse ence ence Reference Reference Reference Reference Multipli- Multipli- Pulse Pulse Bit D Form Form Sign + pulse...
  • Page 83 APPLICATIONS OF Σ-SERIES PRODUCTS 3.2.2 Inputting Position Reference cont. Allowable Voltage Level and Timing for Reference Pulse Input Reference Pulse Form Electrical Specifications Remarks Sign + pulse train input The signs for each (SIGN + PULS signal) reference pulse are as follows: Maximum reference ¨: High level...

  • Page 84: Using Encoder Output

    3.2 Setting User Constants According to Host Controller For position control (SGDA-jjjP) only. Selects the pulse form of error counter clear signal CLR (1CN-5). Setting Meaning Clears the error counter when the CLR signal is set at high level. Error pulses do not accumulate while the signal Cleared state remains at high level.
  • Page 85 APPLICATIONS OF Σ-SERIES PRODUCTS 3.2.3 Using Encoder Output cont. The output circuit is for line driver output. Connect each signal line according to the fol- lowing circuit diagram. Host controller Servopack Line receiver Phase A Phase A Phase B Phase B Phase C Phase C Choke...
  • Page 86 3.2 Setting User Constants According to Host Controller Output Phase Form Incremental Encoder Forward rotation Reverse rotation Phase A Phase A Phase B Phase B Phase C Phase C Absolute Encoder Forward rotation Reverse rotation Phase A Phase A Phase B Phase B Phase C Phase C...
  • Page 87 APPLICATIONS OF Σ-SERIES PRODUCTS 3.2.3 Using Encoder Output cont. 4) Set the pulse dividing ratio in the following user constant. PGRAT Unit: Setting Factory For Speed/Torque Dividing Ratio Setting Range: 16 Setting: Control and Position Cn-0A to No. of 2048 Control Encoder Pulses...

  • Page 88: Using Contact I/O Signals

    There are no power terminals to which the SGDA Servopack outputs signals externally. External Power Supply: 24 1 VDC 50 mA or more Yaskawa recommends that this external power supply be the same type as for the output circuit. I/O Power Supply For Speed/Torque →...
  • Page 89 Note Provide an external I/O power supply separately. There are no power terminals to which the SGDA Servopack outputs signals ex- ternally. Yaskawa recommends that this external power supply be the same type as for the input circuit. Output Signal Ground For Speed/Torque Output →...

  • Page 90: Using Electronic Gear

    3.2 Setting User Constants According to Host Controller 3.2.5 Using Electronic Gear For position control (SGDA-jjjP) only. 1) Outline SGDA- The electronic gear function enables the motor travel distance per input reference pulse Positions to be set to any value. It allows the host controller to perform control without having to consider the machine gear ratio and the number of encoder pulses.
  • Page 91 APPLICATIONS OF Σ-SERIES PRODUCTS 3.2.5 Using Electronic Gear cont. c) Determine the reference unit to be used. Reference unit is the minimum unit of posi- To move a table in 0.001 mm units Reference unit: 0.001 mm tion data used for moving the load. (Minimum unit of reference from host con- troller) Examples:...
  • Page 92 3.2 Setting User Constants According to Host Controller f) Set the electronic gear ratio in the user constants below.   Reduce the electronic gear ratio to their lowest terms so that both A and B are an integer smaller than 65535, then set A and B in the following user constants. ...
  • Page 93 APPLICATIONS OF Σ-SERIES PRODUCTS 3.2.5 Using Electronic Gearc ont. 3) Examples of Setting an Electronic Gear Ratio for Different Load Mechanisms Ball Screw Reference unit: 0.001 mm Travel distance per = 6000 revolution of load shaft 0.001mm   = 2048 × 4 × 1 = Cn-24 Load shaft Electronic gear ratio...

  • Page 94: Using Contact Input Speed Control

    3.2 Setting User Constants According to Host Controller 3.2.6 Using Contact Input Speed Control 1) The contact input speed control function provides easy-to-use speed control. It allows the user to initially set three different motor speeds in user constants, select one of the speeds externally by contact input and run the motor.
  • Page 95 APPLICATIONS OF Σ-SERIES PRODUCTS 3.2.6 Using Contact Input Speed Control cont. Setting Meaning Input Signal P-CON(1CN-15) Used to switch between P control and PI Does not use the control. contact input contact input P-CL(1CN-11) Used for forward external current limit input speed control speed control function.
  • Page 96 3.2 Setting User Constants According to Host Controller Speed In the Servopack, a speed reference is multi- reference plied by the preset acceleration or decelera- Soft start tion value to provide speed control. Servopack Internal speed When a progressive speed reference is input reference or contact input speed control is used, smooth speed control can be performed.
  • Page 97 APPLICATIONS OF Σ-SERIES PRODUCTS 3.2.6 Using Contact Input Speed Control cont. • For Position Control: 0: OFF, 1: ON Contact Signal User Constant Cn-0 Cn-01 Selected Speed P-CON P CON P-CL P CL N-CL N CL Bit 2 Bit F Stop −−−−...
  • Page 98 3.2 Setting User Constants According to Host Controller 4) The figure below illustrates an example of operation in contact input speed control mode. Using the soft start function reduces physical shock at speed changeover. When Contact Input Speed Control is Used Motor speed 3rd speed Set acceleration and...

  • Page 99: Using Torque Control

    APPLICATIONS OF Σ-SERIES PRODUCTS 3.2.7 Using Torque Control 3.2.7 Using Torque Control 1) The Servopack can provide the following torque control: SGDA- D Torque restriction Level 1: To restrict the maximum output torque to protect Speed/Torque the machine or workpiece Level 2: To restrict torque after the motor moves the machine to a specified position D Torque control...
  • Page 100 3.2 Setting User Constants According to Host Controller Cn-01 Setting Control Mode Control Mode Bit B Bit A Torque Control II Torque control and speed control can be switched. Servopack Speed reference D A speed reference or speed limit value is input from V-REF (1CN-3).
  • Page 101 APPLICATIONS OF Σ-SERIES PRODUCTS 3.2.7 Using Torque Control cont. Cn-01 Setting Control Mode Control Mode Bit B Bit A For Speed Control when P-CON is ON: Values set in bit F of user constant Cn-01 and bit F of Cn-02 determine the following: User Speed...
  • Page 102 3.2 Setting User Constants According to Host Controller Torque Reference Input For Speed/Torque → Input T-REF 1CN-1 Control Only Signal Ground for Torque For Speed/Torque → Input SG-T 1CN-2 Reference Input Control Only These signals are used when torque control is se- lected (bits A and B of memory switch Cn-01).
  • Page 103 APPLICATIONS OF Σ-SERIES PRODUCTS 3.2.7 Using Torque Control cont. User constant Cn-03 can be used to change the voltage input range. (This is also applica- ble to speed restriction.) Example of Input Circuit: Servopack 1/2 W or more See the figure on the right. •...
  • Page 104 3.2 Setting User Constants According to Host Controller 4) Set the following user constants for torque control according to the servo system used. TCRFGN Unit: Setting Factory For Speed/Torque Cn-13 Torque Reference 0.1 V/Rated Range: Setting: Control Only Gain Torque 10 to 100 This user constant is for speed/torque control Reference torque...

  • Page 105: Using Torque Feed-Forward Function

    APPLICATIONS OF Σ-SERIES PRODUCTS 3.2.8 Using Torque Feed-forward Function 3.2.8 Using Torque Feed-forward Function For speed/torque control (SGDA-jjjS) only. SGDA- 1) Outline Speed/Torque The torque feed-forward function reduces positioning time. It differentiates a speed refer- ence at the host controller (prepared by the customer) to generate a torque feed-forward reference, then sends this torque feed-forward reference and the speed reference to the Servopack.

  • Page 106: Using Torque Restriction By Analog Voltage Reference

    3.2 Setting User Constants According to Host Controller • This function cannot be used with the function for torque restriction by analog voltage reference, described in 3.2.9 Using Torque Restriction by Analog Voltage Reference. • For user constants and control modes, refer to Appendix D List of User Constants. 3) Setting a Torque Feed-forward Value in User Constant Cn-13 The factory setting is Cn-13 = 30.
  • Page 107 APPLICATIONS OF Σ-SERIES PRODUCTS 3.2.9 Using Torque Restriction by Analog Voltage Reference cont. To use this function, input a speed reference to the V-REF terminal and a torque limit val- ue to the T-REF terminal. This function cannot be used for torque control. Torque restriction cannot be set separately for forward and reverse rotation.

  • Page 108: Using The Reference Pulse Inhibit Function (Inhibit)

    3.2 Setting User Constants According to Host Controller 3.2.10Using the Reference Pulse Inhibit Function (INHIBIT) For position control (SGDA-jjjP) only. SGDA- 1) Outline Positions This function inhibits a Servopack for position control from counting input reference pulses. While this function is being used, the motor remains in servo locked (clamped) status. The P-CON signal is used to enable or prohibit this function.
  • Page 109 APPLICATIONS OF Σ-SERIES PRODUCTS 3.2.10 Using the Reference Pulse Inhibit Function (INHIBIT) cont. • Always set bit 2 of memory switch Cn-02 to 0. If bit 2 is set to 1, the contact input speed control function is selected, and the INHIBIT function cannot be used.

  • Page 110: Using The Reference Pulse Input Filter Selection Function

    3.2 Setting User Constants According to Host Controller 3.2.11 Using the Reference Pulse Input Filter Selection Function For position control (SGDA-jjjP) only. SGDA- 1) Outline Positions This function selects a reference pulse input filter inside the Servopack according to the output form of reference pulses from the host controller.

  • Page 111: Setting Up The Σ Servopack

    APPLICATIONS OF Σ-SERIES PRODUCTS 3.3.1 Setting User Constants Setting Up the Σ Servopack This section describes how to set user constants to operate the SGDA Servopack. 3.3.1 Setting User Constants ......... . . 3.3.2 Setting the Jog Speed .

  • Page 112: Setting The Jog Speed

    3.3 Setting Up the S Servopack • For Position Control: User Name and Code Remarks Constant Cn-01 Memory switch Each bit number has a Each bit number has a switch (ON/OFF). Cn-02 Memory switch Cn-04 LOOPHZ Speed loop gain Cn-.. User constant setting User constant setting Cn-..

  • Page 113: Setting The Number Of Encoder Pulses

    APPLICATIONS OF Σ-SERIES PRODUCTS 3.3.3 Setting the Number of Encoder Pulses 3.3.3 Setting the Number of Encoder Pulses 1) To ensure that the Σ-series Servo System operates properly, set the type of the encoder to be used and the number of encoder pulses per revolution in the following user constants: Encoder Type Selection Factory...

  • Page 114: Setting The Motor Type

    3.3 Setting Up the S Servopack 3.3.4 Setting the Motor Type 1) To ensure that the Σ-series Servo System operates properly, set the type of the servomo- tor to be used in the following user constant. Motor Selection Factory Setting: For Speed/Torque Control Cn-02 Bit 8 SGDA-jjj: 0...

  • Page 115: Setting Stop Mode

    APPLICATIONS OF Σ-SERIES PRODUCTS 3.4.1 Adjusting Offset Setting Stop Mode This section describes how to stop the motor properly. 3.4.1 Adjusting Offset ..........3.4.2 Using Dynamic Brake .

  • Page 116: Using Dynamic Brake

    3.4 Setting Stop Mode 3) For detailed adjustment procedures, refer to the following sections. Adjustment Method 1) Automatic adjustment of 4.2.4 Reference Offset Automatic Adjustment reference offset 2) Manual adjustment of reference 4.2.5 Speed Reference Offset Manual offset AdjustmentMode 3.4.2 Using Dynamic Brake 1) To stop the servomotor by applying dynamic brake (DB), set desired values in the fol- lowing memory switch.

  • Page 117: Using Zero-Clamp

    APPLICATIONS OF Σ-SERIES PRODUCTS 3.4.3 Using Zero-Clamp 3.4.3 Using Zero-Clamp 1) The zero-clamp function is used for a system in which the host controller does not form a SGDA- position loop by speed reference input. Speed/Torque In other words, this function is used to cause the motor to stop and enter a servo locked status when the input voltage of speed reference V-REF is not 0 V.

  • Page 118: Using Holding Brake

    3.4 Setting Stop Mode 3) Set in the following user constant the motor speed level at which zero-clamp is to be per- formed: ZCLVL Zero-Clamp Unit: Setting Range: Factory For Speed/Torque Cn-0F Level r/min 0 to Maximum Setting: Control Only Speed If zero-clamp speed control is selected, set the motor speed level at which zero-clamp is to be performed.
  • Page 119 APPLICATIONS OF Σ-SERIES PRODUCTS 3.4.4 Using Holding Brake cont. 2) Use Servopack contact output-signal BK and brake power supply to form a brake ON/OFF circuit. An example of standard wiring is shown below. Servopack Servomotor with brake Power supply Motor plug Blue or yellow White...
  • Page 120 3.4 Setting Stop Mode Output Signal Ground For Speed/Torque Output → SG-COM 1CN-10 Common Control and Position Control This is a signal ground for the output signals shown below. Connect this signal terminal to 0 V on the external power supply. Contact Output Signals: BK (1CN-7) V-CMP (1CN-8) (for speed/torque control only) COIN (1CN-8) (for position control only)
  • Page 121 APPLICATIONS OF Σ-SERIES PRODUCTS 3.4.4 Using Holding Brake cont. 4) Set the following user constants to adjust brake ON timing so that holding brake is applied when the motor stops. Speed Level at which Unit: Setting Factory Brake Signal Is Output r/min Range: Setting:...

  • Page 122: Running The Motor Smoothly

    3.5 Running the Motor Smoothly Running the Motor Smoothly This section explains how to run the servomotor smoothly. 3.5.1 Using the Soft Start Function ........3.5.2 Using the Smoothing Function .

  • Page 123: Using The Smoothing Function

    APPLICATIONS OF Σ-SERIES PRODUCTS 3.5.3 Adjusting Gain 3.5.2 Using the Smoothing Function 1) The smoothing function adjusts constant-frequency reference input inside the Servo- SGDA- pack so that acceleration and deceleration can be as constant as possible. To use this function, set the following user constant. Positions ACCTME Position Reference...

  • Page 124: Adjusting Offset

    3.5 Running the Motor Smoothly 3.5.4 Adjusting Offset 1) If reference voltage from the host controller or external circuit has an offset in the vicinity SGDA- of 0 V, smooth operation cannot be expected. Adjust the reference offset to 0 V. Speed/Torque When Reference Voltage from Host Controller or External Circuit has an Offset Offset...

  • Page 125: Minimizing Positioning Time

    APPLICATIONS OF Σ-SERIES PRODUCTS 3.6.2 Setting Servo Gain Minimizing Positioning Time This section describes how to minimize positioning time. 3.6.1 Using Autotuning Function ........3.6.2 Setting Servo Gain .
  • Page 126 3.6 Minimizing Positioning Time 2) Set the following user constants related to speed loop as necessary. Setting Factory For Speed/Torque LOOPHZ Unit: Cn-04 Range: 1 Setting: Control and Position Speed Loop Gain (Kv) to 2000 Control PITIME Setting Factory For Speed/Torque Unit: Cn-05 Speed Loop Integration...

  • Page 127: Using Feed-Forward Control

    APPLICATIONS OF Σ-SERIES PRODUCTS 3.6.4 Using Proportional Control 3.6.3 Using Feed-forward Control Feed-forward control shortens positioning time. To use feed-forward control, set the follow- SGDA- ing user constant. Positions FFGN Unit: Setting Factory For Position Control Cn-1D Feed-forward Gain Range: 0 Setting: 0 Only to 100...

  • Page 128: Setting Speed Bias

    3.6 Minimizing Positioning Time For speed/torque control (SGDA-jjjS) only. Cn-01 Setting Control Mode Control Mode Bit B Bit A Speed Control This is normal speed control. SGDA D Speed reference is input from V-REF Speed Servopack reference (1CN-3). D Signal P-CON (1CN-15) is used to switch P/PI between P control and PI control.

  • Page 129: Using Mode Switch

    APPLICATIONS OF Σ-SERIES PRODUCTS 3.6.6 Using Mode Switch 3.6.6 Using Mode Switch 1) Use the mode switch for the following purposes: a) To prevent overshoot during acceleration or deceleration (for speed control). b) To prevent undershoot during positioning in order to reduce settling time (for position control).
  • Page 130 3.6 Minimizing Positioning Time 3)Servopacks can use four types of mode switches (1 to 4). To select a mode switch, use the following memory switch. Note that the mode switch setting methods for speed/ torque control and position control are slightly different. For Speed/ For Position Torque...
  • Page 131 APPLICATIONS OF Σ-SERIES PRODUCTS 3.6.6 Using Mode Switch cont. When Speed Reference Is Used as a Detection Point of Mode Switch If a speed reference exceeds the value set in user Speed reference Motor speed constant Cn-0D, the speed loop switches to P Speed control.
  • Page 132 3.6 Minimizing Positioning Time When Error Pulse Is Used as a Detection Point of Mode Switch For position control (SGDA-jjjP) only. Motor Speed reference SGDA- speed Speed Error If an error pulse exceeds the value set in user Positions pulse constant Cn-0F, the speed loop switches to P con- trol.
  • Page 133 APPLICATIONS OF Σ-SERIES PRODUCTS 3.6.6 Using Mode Switch cont. Mode Switch Selection Factory For Speed/Torque Control Cn-01 Bit C Setting: 0 and Position Control Mode Switch Selection Factory For Speed/Torque Control Cn-01 Bit D Setting: 0 and Position Control Use the following user constants to set the mode switch to be used. Memory User Constant Switch...
  • Page 134 3.6 Minimizing Positioning Time TRQMSW Mode Switch Unit: % Setting Factory (Torque Range: 0 Setting: Speed/Torque Reference) Control and Cn-0C Maximum Position Control Torque REFMSW Mode Switch Unit: Setting Factory (Speed r/min Range: 0 Setting: 0 Speed/Torque Cn-0D Reference) Control and Maximum Position Control Speed...

  • Page 135: Using Speed Loop Compensation Function

    APPLICATIONS OF Σ-SERIES PRODUCTS 3.6.7 Using Speed Loop Compensation Function 3.6.7 Using Speed Loop Compensation Function 1) This function compensates for the phase−delay generated by the digital control speed SGDA- detection. For this function, use the following constant. Speed/Torque NDBCC Unit: Setting Factory...

  • Page 136: Forming A Protective Sequence

    3.7 Forming a Protective Sequence Forming a Protective Sequence This section describes how to use I/O signals from the Servopack to form a protective sequence for safety purposes. 3.7.1 Using Servo Alarm Output and Alarm Code Output ....3.7.2 Using Servo ON Input Signal .
  • Page 137 APPLICATIONS OF Σ-SERIES PRODUCTS 3.7.1 Using Servo Alarm Output and Alarm Code Output cont. 2) Contact Output Signal ALM Servo Alarm Output For Speed Torque Output → ALM 1CN-34 Control and Position Control Signal Ground for Servo For Speed Torque Output →...
  • Page 138 3.7 Forming a Protective Sequence 4) Relationship between Alarm Display and Alarm Code Output Alarm Display and Alarm Code Output: Servo Alarm Code Output Alarm Alarm Alarm (ALM) (ALM) Alarm Type Alarm Type Alarm Description Alarm Description Display Out- ALO1 ALO2 ALO3 User An absolute encoder error oc- constant...
  • Page 139 APPLICATIONS OF Σ-SERIES PRODUCTS 3.7.2 Using Servo ON Input Signal 5) When the servo alarm (ALM) is output, eliminate the cause of the alarm and set the fol- lowing ALMRST input signal at high level (+24 V) to reset the alarm state. Alarm Reset For Speed/Torque →...

  • Page 140: Using Positioning Complete Signal

    3.7 Forming a Protective Sequence NOTE Do not use the S-ON signal to start or stop the motor. Always use an input reference to start and stop the motor. 2) If the S-ON signal is not to be used, set the following memory switch to 1: Use of Servo ON Input Signal Factory For Speed/Torque Control...
  • Page 141 APPLICATIONS OF Σ-SERIES PRODUCTS 3.7.3 Using Positioning Complete Signal cont. Positioning Complete Output For Position Output → COIN 1CN-8 Control Only Reference Motor For position control (SGDA-jjjP) only. Speed This output signal indicates that motor operation Error is complete during position control. The host con- pulse troller uses this signal as an interlock to confirm that positioning is complete.

  • Page 142: Using Speed Coincidence Output Signal

    3.7 Forming a Protective Sequence 3.7.4 Using Speed Coincidence Output Signal 1) This section describes how to wire and use contact output signal “speed coincidence out- SGDA- put (V-CMP).” This signal is output to indicate that actual motor speed matches a refer- ence speed.

  • Page 143: Using Running Output Signal

    APPLICATIONS OF Σ-SERIES PRODUCTS 3.7.5 Using Running Output Signal Example: When preset value is 100 and reference speed is 2000 r/min. V-CMP is ON (circuit between 1CN-8 and 1CN-10 is closed) when the speed is between 1,900 and 2,100 r/min. 3.7.5 Using Running Output Signal 1) This section describes how to wire and use contact output signal TGON as a running out- put signal.
  • Page 144 3.7 Forming a Protective Sequence 2) To use TGON as a running output signal, set the following memory switch to “0.” TGON Output Signal Factory For Speed/Torque Control Cn-01 Bit 4 Selection Setting: 0 and Position Control This memory switch is used to set output condi- Memory switch Cn-01 bit 4 tions for output signal TGON (1CN-9)

  • Page 145: Handling Of Power Loss

    APPLICATIONS OF Σ-SERIES PRODUCTS 3.7.6 Handling of Power Loss D TGON (1CN-9) Motor speed D Status indication mode bit data D Monitor mode Un-05 bit 4 User Constant Setting: Memory switch Cn-01 bit 4 = 0 3.7.6 Handling of Power Loss 1) Use the following memory switch to specify whether to clear or hold a servo alarm that occurred at power loss.
  • Page 146 3.7 Forming a Protective Sequence Note Setting Bit 5 of Cn-01 to Clear Servo Alarm: To change a user constant that is made valid by turning the Servopack OFF and then ON, always wait for at least the “power holding time” after the Servopack is turned OFF, then turn the Servopack ON.

  • Page 147: Special Wiring

    3.8.1 Wiring Instructions To ensure safe and stable operation, always refer to the following wiring instructions. Always use the following cables for reference input and encoder wiring. NOTE Maximum Cable Type Yaskawa Drawing No. Allowable Length For reference Twisted-pair DE9404859 3 m (9.8 ft.)
  • Page 148 3.8 Special Wiring NOTE Use a noise filter to prevent noise interference. Noise filter (For details, refer to the following Caution.) • If the servo is to be used near private houses or may receive noise interference, install a noise filter on the input side of the power supply line.

  • Page 149: Wiring For Noise Control

    APPLICATIONS OF Σ-SERIES PRODUCTS 3.8.2 Wiring for Noise Control MCCB or Fuse for Each Power Capacity Power Capacity Per Power Capacity Per Power Servopack Type Servopack (kVA) MCCB or Fuse (A) Voltage (see note 1) (see note 2) SGDA-A3Aj 0.25 SGDA-A5Aj SGDA-01Aj 200 V...
  • Page 150 3.8 Special Wiring c) The following is an example of wiring for noise control. Noise filter Servomotor (Red) (White) 100 or SGDA 200 VAC Servopack (Blue) (Green) (Casing) • Operation relay se- 3.5 mm quence or more • Signal generation cir- cuit (provided by cus- tomer) 3.5 mm...
  • Page 151 SGDA-02Bj (0.27 HP) 200 VAC, 10 A 300 W LF-220 Single-phase SGDA-03Bj (0.39 HP) 200 VAC, 20 A Note These noise filters are manufactured by Tokin Corp. and available from Yaskawa. For noise filters, contact your nearest Yaskawa sales representatives.
  • Page 152 3.8 Special Wiring b) Always observe the following installation and wiring instructions. Incorrect use of a noise filter halves its benefits. • Separate input lines from output lines. Do not put the input and output lines in the same duct or bundle them together.
  • Page 153 APPLICATIONS OF Σ-SERIES PRODUCTS 3.8.2 Wiring for Noise Control cont. • Connect the noise filter ground wire directly to the ground plate. Do not connect the noise filter ground wire to other ground wires. Noise Noise filter filter Shielded ground wire Thick short...

  • Page 154: Using More Than One Servo Drive

    3.8 Special Wiring 3.8.3 Using More Than One Servo Drive Example of Wiring More than One Servo Drive Power supply Power Power Noise filter Servomotor Servopack Servomotor Servopack Servomotor Servopack 1) Connect the alarm output (ALM) terminals for the three Servopacks in series to enable alarm detection relay 1RY to operate.

  • Page 155: Using Regenerative Units

    APPLICATIONS OF Σ-SERIES PRODUCTS 3.8.4 Using Regenerative Units 3) When connecting P and N terminals in parallel, be sure to turn all the Servopack power ON simultaneously. Do not turn any Servopack power ON when connecting P and N ter- minals in parallel.
  • Page 156 3.8 Special Wiring c) When load inertia exceeds the allowable load inertia on the motor side. d) When the motor rotates at a speed higher than the rated speed (3000 r/min). b) When motor accelerates and a) When motor controls a vertical axis. decelerates frequently.
  • Page 157 APPLICATIONS OF Σ-SERIES PRODUCTS 3.8.4 Using Regenerative Units cont. 4) Connecting a Regenerative Unit (JUSP−RG08 type) The standard connection diagram for a regenerative unit (JUSP−RG08) is shown below. Servopack Servomotor Single-phase 200-230 VAC or 100-115 VAC Alarm Alarm Regenerative unit (JUSP−RG08) a) A regenerative unit has the following fault detection functions: •...
  • Page 158 3.8 Special Wiring 5) Connecting a Regenerative Unit (JUSP−RG08C type) Servopack Servomotor Single-phase 200-230 VAC or Alarm 100-115 VAC Servo alarm Servo alarm External resistor Regenerative unit Regenerative unit (JUSP−RG08C) (JUSP−RG08C) Shorting jumper (Remove when external resistor is used.) Alarm Regenerative unit (JUSP−RG08C) a) A regenerative unit has the following fault detection functions:...

  • Page 159: Using An Absolute Encoder

    APPLICATIONS OF Σ-SERIES PRODUCTS 3.8.5 Using an Absolute Encoder 3.8.5 Using an Absolute Encoder 1) Outline An absolute value detection system detects an absolute position of the machine even when the servo system is OFF. If such a system is to be formed in the host controller, use an SGM or SGMP Servomotor with absolute encoder.
  • Page 160 3.8 Special Wiring SEN signal Electrical Specifications • The SEN signal must be set at high level af- Host controller Servopack ter at least three seconds after the power is turned ON. At high level 7406 or Approx. 1mA • When the SEN signal is changed from low equivalent level to high level, +5 V is applied to the ab- •...
  • Page 161 APPLICATIONS OF Σ-SERIES PRODUCTS 3.8.5 Using an Absolute Encoder cont. Use the following user constant to set the number of pulses for the absolute en- coder to be used: PULSNO Unit: Setting Factory For Speed/Torque Number of Encoder Range: Setting: Control and Position Cn-11 Pulses...
  • Page 162 3.8 Special Wiring b) The setup procedure is as follows: Turning SGDA Servopack ON Resetting Data • Wire the SGDA Servopack, motor and encoder in the normal way. • Turn the SGDA Servopack OFF, then disconnect • Connect the battery and turn the SGDA Servopack the encoder connector.
  • Page 163 APPLICATIONS OF Σ-SERIES PRODUCTS 3.8.5 Using an Absolute Encoder cont. b) Contents of Absolute Data Serial Data: Indicates how many turns the motor shaft has made from the reference position (position specified at setup). Initial Incremental Pulse: Outputs pulses at the same pulse rate as when the motor shaft rotates from the home position to the current posi- tion at the maximum speed of 4,900 r/min.
  • Page 164 3.8 Special Wiring For position control (SGDA-jjjP). SGDA- A 12-bit absolute encoder outputs PAO, PBO, PCO and PSO as shown below. Positions Servopack Serial data Frequency dividing circuit Absolute data is read from phase S (PSO) as serial data. It is first output from PAO as serial data when the Servopack is turned ON.
  • Page 165 APPLICATIONS OF Σ-SERIES PRODUCTS 3.8.5 Using an Absolute Encoder cont. d) Detailed Specifications of Each Signal • Specifications of PAO Serial Data: “CR” “P” or “A” “+” or “-” ”0” to “9”” The number of revolutions is output in five dig- its.
  • Page 166 3.8 Special Wiring • Use the following user constant to set the pulse dividing ratio. PGRAT Unit: P/R Setting Range: Factory For Speed/Torque Dividing Ratio 16 to Number Setting: Control and Cn-0A Setting of Encoder 2048 Position Control Pulses Set the number of output pulses for PG output Output terminals: PAO (1CN-20) Servopack...
  • Page 167 APPLICATIONS OF Σ-SERIES PRODUCTS 3.8.5 Using an Absolute Encoder cont. 8) Alarm Display When a 12-bit absolute encoder is used, the following alarms are detected and dis- played. List of Alarms Digital PAO Serial PSO Serial Alarm Type Meaning Operator Data Data Display...

  • Page 168: Extending An Encoder Cable

    3.8 Special Wiring 9) Absolute Encoder Home Position Error Detection Absolute Encoder Home Factory For Speed/Torque Control Cn-02 Bit 1 Position Error Detection Setting: 0 and Position Control This memory switch is used to specify whether to use home position error detection (alarm A.80) when an absolute encoder is used.
  • Page 169 APPLICATIONS OF Σ-SERIES PRODUCTS 3.8.6 Extending an Encoder Cable cont. b) 50-meter (164 ft.) Extension Cable: • For both incremental and absolute encoders: DP8409179 Cut this cable 30 cm (0.98 ft.) or less from each end. Be sure to connect each wire correctly (see the following table).

  • Page 170: Using Sgda Servopack With High Voltage Line

    3.8 Special Wiring 2) Connect cables of the same color to each other as shown in the table below. Note that wiring for incremental and absolute encoders is different. Color and Wire Size of Color and Wire Size of Signal Cable with Connectors 50-meter Extension Name...
  • Page 171 APPLICATIONS OF Σ-SERIES PRODUCTS 3.8.7 Using SGDA Servopack with High Voltage Line cont. 2) Select appropriate power transformer capacity according to the following table. Power Supply Capacity Per Supply Servopack Type SGDA Servopack (kVA) Voltage (see note) SGDA-A3Aj 0.25 SGDA-A5Aj SGDA-01Aj 200 V 200 V...

  • Page 172: Connector Terminal Layouts

    3.8 Special Wiring 3.8.8 Connector Terminal Layouts This section describes connector terminal layouts for Servopacks, Servomotors and Digital Operators. 1) Servopack Connectors for Speed/Torque Control SGDA- 1CN Terminal Layout Speed/Torque Torque refer- Torque refer PG output sig- PG output sig T-REF T-REF ence input...
  • Page 173 APPLICATIONS OF Σ-SERIES PRODUCTS 3.8.8 Connector Terminal Layouts cont. 2) Servopack Connectors for Position Control SGDA- Positions 1CN Terminal Layout Reference Reference PG output sig- PG output sig PULS PULS pulse input nal 0 V l 0 V Reference Reference PG output PG output PULS...
  • Page 174 3.8 Special Wiring 3) Connectors for Incremental Encoder Channel A output Blue Channel A output Blue/Black Channel B output Yellow Channel B output Yellow/Black Channel C output Green Channel C output Green/Black 0 V (power supply) Gray +5 V (power supply) Frame ground (FG) Orange Items to be Prepared by Customer...
  • Page 175 APPLICATIONS OF Σ-SERIES PRODUCTS 3.8.8 Connector Terminal Layouts cont. 4) Connectors for Absolute Encoder Channel A output Blue Channel A output White/Blue Channel B output Yellow Channel B output White/Yellow Channel Z output Green Channel Z output White/Green 0 V (power supply) Black Do not use this termi- nal.
  • Page 176 Items to be Prepared by Customer Round crimp terminal R1.25-4TOR (manufactured by AMP.) (DC side) AC input Black Brake power supply (manufactured by Yaskawa Controls Co., Ltd.) • 100 VAC input: 90 VDC (LPDE-1H01) • 200 VAC input: 90 VDC (LPSE-2H01)
  • Page 177 APPLICATIONS OF Σ-SERIES PRODUCTS 3.8.8 Connector Terminal Layouts cont. 7) Connectors for Digital Operator • JUSP-OP02A-1 (Hand-held Type) • JUSP-OP03A (Mount Type) Fits directly into “OPERATOR” on the Servopack. 17JE-23090-02 Flat cable (manufactured by Daiichi (accessory) Denshi Kogyo K.K.) Pin Signal Signal Circuit Name Signal No.

  • Page 178: Chapter 4 Using The Digital Operator

    USING THE DIGITAL OPERATOR This chapter describes the basic operation of the digital operator and the con- venient features it offers. All constant settings and motor operations are possible by simple, conve- nient, operation. Operate the digital operator as you read through this chapter. 4.1 Basic Operations .

  • Page 179: Basic Operations

    USING THE DIGITAL OPERATOR 4.1.1 Connecting the Digital Operator Basic Operations This section describes the basic operations using the Digital Operator. 4.1.1 Connecting the Digital Operator ........4.1.2 Resetting Servo Alarms .

  • Page 180: Resetting Servo Alarms

    4.1 Basic Operations 4.1.2 Resetting Servo Alarms Servo alarms can be reset using the Digital Operator. (Servo alarms can also be reset by the 1CN-18, ALMRST input signal. Refer to 3.7.1 for details.) Type: JUSP-OP03A Type: JUSP-OP02A-1 Press Alarm Reset Press simultaneously Alarm Reset...

  • Page 181: Basic Functions And Mode Selection

    USING THE DIGITAL OPERATOR 4.1.3 Basic Functions and Mode Selection 4.1.3 Basic Functions and Mode Selection Digital Operator operation allows status display, user constant setting, operating reference, and auto-tuning operations. Basic Mode Selection The four basic modes are listed below. Each time the mode key is pressed, the next mode in the sequence is selected.

  • Page 182: Operation In Status Display Mode

    4.1 Basic Operations 4.1.4 Operation in Status Display Mode The status display mode displays the Servopack status as bit data and codes. • Selecting Status Display Mode Press to select the status display mode. The status display mode is selected when the Status Display power supply is turned ON.
  • Page 183 USING THE DIGITAL OPERATOR 4.1.4 Operation in Status Display Mode cont. Bit Data Description Power ON Lit when Servopack power ON. Not lit when Servopack power OFF. Base Block Lit for base block. Not lit at servo ON. Speed Coincidence Lit if motor speed reaches speed reference.
  • Page 184 4.1 Basic Operations For Position Control (SGDA -jjjP) SGDA-jjjP Bit Data Code Positions Positioning Complete Base Block Power ON see next page TGON or Torque Limit Detected Reference Pulse Input see below Code Status Base block Servo OFF Servo ON Forward Rotation Prohibited 1CN-16 (P-OT) OFF.

  • Page 185: Operation In User Constant Setting Mode

    USING THE DIGITAL OPERATOR 4.1.5 Operation in User Constant Setting Mode Bit Data Description Power ON Lit when Servopack power ON. Not lit when Servopack power OFF. Base Block Lit for base block. Not lit at servo ON. Positioning Complete Lit if error between position reference and actual motor position is below preset value.
  • Page 186 4.1 Basic Operations 2) Using the Setting Mode for Constant Settings (Cn-03 to Cn-23) The constant settings (Cn-03 to Cn-23) allow setting of a constant. Check the permitted range of the constant in Appendix D List of User Constant Settings, before changing the data.
  • Page 187 USING THE DIGITAL OPERATOR 4.1.5 Operation in User Constant Setting Mode cont. For JUSP-OP03A MODE/SET 1) Press to select the user constant MODE/SET JUSP-OP03A Setting setting mode. Mode DOWN 2) Press the keys to select the user constant number to set. DATA 3) Press to display the current data for...
  • Page 188 4.1 Basic Operations 3) Using the Setting Mode for Memory Switches (Cn-01, Cn-02) Turn the bits of the memory switches ON and OFF to select the functions required. The example below shows how to turn ON Bit 4 of memory switch Cn-01. For JUSP-OP02A-1 DSPL 1) Press...
  • Page 189 USING THE DIGITAL OPERATOR 4.1.5 Operation in User Constant Setting Mode cont. DATA Memory 8) Press once more to display the user User Constant ENTER Switch Data Number constant number again. • Refer to Appendix D List of User Constant Settings. For JUSP-OP03A MODE/SET 1) Press...

  • Page 190: Operation In Monitor Mode

    4.1 Basic Operations 4.1.6 Operation in Monitor Mode 1) The monitor mode allows the reference values input into the Servopack, I/O signal status, and Servopack internal status to be monitored. The monitor mode can be set during motor operation. 2) Using the Monitor Mode The example below shows how to display 1500, the contents of monitor number Un-00.
  • Page 191 USING THE DIGITAL OPERATOR 4.1.6 Operation in Monitor Mode cont. 3) Keys to Monitor Mode Display are shown below. Note that the display differs between the speed/torque control (SGDA -jjjS) and position control (SGDA -jjjP) types. For Speed/Torque Control (SGDA -jjjS) SGDA-jjjS Monitor Monitor Display...
  • Page 192 4.1 Basic Operations For Position Control (SGDA -jjjP) SGDA-jjjP Monitor Monitor Display Positions Number Actual motor speed Units:r/min. Internal torque reference Units: % (with respect to rated torque) Number of pulses from motor U-phase edge Units: pulses Electrical angle Units: deg Internal Status Bit Display Internal status bit display...
  • Page 193 USING THE DIGITAL OPERATOR 4.1.6 Operation in Monitor Mode cont. Monitor Bit # Description Related I/O Signal, User Constant Un-06 Input reference pulse 1CN-1 (PLUS), 1CN-2( PULS) £ Input pulse sign 1CN-3(SIGN), 1CN-4 ( SIGN) £ Error counter clear input 1CN-5 (CLR), 1CN-6( CLR) £...

  • Page 194: Using The Functions

    4.2 Using the Functions Using the Functions This section describes how to use the basic operations described in section 1 to operate and adjust the motor. 4.2.1 Operation in Alarm Trace-back Mode ....... 4.2.2 Operation Using the Digital Operator .
  • Page 195 USING THE DIGITAL OPERATOR 4.2.1 Operation in Alarm Trace-back Mode cont. 2) Using the Alarm Trace-back Mode Follow the procedure below to determine which alarms occurred previously. For JUSP-OP02A-1 1) Press DSPL to select the alarm trace- back mode. JUSP-OP02A-1 Alarm Trace-back Mode 2) Press the keys to scroll the...
  • Page 196 4.2 Using the Functions 3) The table below lists the alarms displayed in the alarm trace-back mode. Displayed Alarm Description Code Absolute data error User constant breakdown User constant setting error Overcurrent Position error pulse overflow (for position control only) Overvoltage Overspeed Overload...

  • Page 197: Operation Using The Digital Operator

    USING THE DIGITAL OPERATOR 4.2.2 Operation Using the Digital Operator The following are operator-related alarms which are not recorded by alarm trace-back. Digital Operator transmission error 1 Digital Operator transmission error 2 • Refer to the troubleshooting procedures when an alarm occurs, described in section 6.2.
  • Page 198 4.2 Using the Functions DATA 3) Press to display the current data for ENTER User Constant Number Data the user constant Cn-00. 4) Press the keys to change the Set to 00-00. data to 00. (This user constant is set to 00 when the Press the power is turned ON.) keys to change the...
  • Page 199 USING THE DIGITAL OPERATOR 4.2.2 Operation Using the Digital Operator cont. For JUSP-OP03A MODE/SET 1) Press to select the user constant JUSP-OP03A setting mode. Setting Mode DOWN 2) Press the keys to select the Select Cn-00. user constant number Cn-00. (User constant Cn-00 is selected when the power is turned ON.) DATA...

  • Page 200: Autotuning

    4.2 Using the Functions DATA 9) Press to return to the setting mode display. This disables operation under Dig- ital Operator control. Setting Mode Display 2) Changing Motor Speed The motor speed for operation under Digital Operator control can be changed with a fol- lowing user constant.
  • Page 201 USING THE DIGITAL OPERATOR 4.2.3 Autotuning cont. Once autotuning has been completed, the autotuning procedure can be omitted for sub- sequent machines, providing the machine specifications remain unchanged. It is sufficient to directly set the user constants for subsequent machines. The machine rigidity can be selected from one of seven levels.
  • Page 202 4.2 Using the Functions 2) Using Autotuning Follow the procedure below to run autotuning. For JUSP-OP02A-1 1) Press DSPL to select the user constant setting mode. JUSP-OP02A-1 Setting Mode 2) Select the user constant number Cn-00. Select Cn-00. (User constant Cn-00 is selected when the power is turned ON.) The selected digit blinks.
  • Page 203 USING THE DIGITAL OPERATOR 4.2.3 Autotuning cont. 8) Press to set the servo ON status. Press SVON Servo ON - motor ON Servo OFF Select Servo ON/Servo OFF to change. - base block 9) Press the keys to operate the Motor runs Motor forward while...
  • Page 204 4.2 Using the Functions DOWN 4) Press the keys to change the Set to 00-05 data to 05. Value changes rapidly when key held down. MODE/SET 5) Press to display the machine rigid- ity. Machine Rigidity Display DOWN 6) Press the keys to select the High Rigidity machine rigidity.
  • Page 205 USING THE DIGITAL OPERATOR 4.2.3 Autotuning cont. DOWN 11) Release the keys to revert to display. DATA 12) Press to return to the setting mode DATA display. This ends autotuning operation. • Refer to the following sub-section 3) for the Setting Mode Display precautions relating to autotuning.
  • Page 206 4.2 Using the Functions • If Autotuning Does Not End Failure of autotuning to end , is caused by an inappropriate machine rigid- ity setting. Follow the procedure below to correct the machine rigidity setting, and run autotuning once more. MODE/SET (1) Press the DSPL...

  • Page 207: Reference Offset Automatic Adjustment

    USING THE DIGITAL OPERATOR 4.2.4 Reference Offset Automatic Adjustment • If the mode switch is used, take one of the steps below before running autotuning. (1) Cancel the mode switch. (2) Set the mode switch operating level to a high level. Refer to page 118 for details about setting the mode switch.
  • Page 208 4.2 Using the Functions 3) Using the Reference Offset Automatic Adjustment Mode Follow the procedure below to automatically adjust the reference offset. For JUSP-OP02A-1 1) Follow the procedure below to set the mo- Motor 0 V Speed Reference tor into operating mode. Host or Torque Controller...
  • Page 209 USING THE DIGITAL OPERATOR 4.2.4 Reference Offset Automatic Adjustment cont. For JUSP-OP03A 1) Follow the procedure below to set the mo- Motor 0 V Speed Reference tor into operating mode. Host or Torque Controller JUSP-OP03A Reference Servo ON Slow Rotation (1) Input the (intended) 0V reference voltage from the host controller or external circuit.
  • Page 210 4.2 Using the Functions 4) The reference offset automatic adjustment mode cannot be used where a position loop is formed with the host controller and the error pulses are zeroed when servo lock is stopped. In this case, use the speed reference offset manual adjustment mode. Refer to sub-sec- tion 4.2.5 for details.
  • Page 211 USING THE DIGITAL OPERATOR 4.2.5 Speed Reference Offset Manual Adjustment Mode cont. 2) Follow the procedure below to manually adjust the reference voltage. For JUSP-OP02A-1 1) Press DSPL to select the user constant setting mode. Setting Mode JUSP-OP02A-1 2) Select the user constant number Cn-00. Select Cn-00.
  • Page 212 4.2 Using the Functions For JUSP-OP03A MODE/SET 1) Press to select the user constant JUSP-OP03A setting mode. Setting Mode DOWN Select Cn-00. 2) Press the keys to select the user constant number Cn-00. (User constant Cn-00 is selected when the power is turned ON.) DATA 3) Press...

  • Page 213: Clearing Alarm Trace-Back Data

    USING THE DIGITAL OPERATOR 4.2.6 Clearing Alarm Trace-back Data 4.2.6 Clearing Alarm Trace-back Data 1) This procedure clears the alarm history, which stores the alarms occurring in the Servo- pack. Each alarm in the alarm history is set to A99, which is not an alarm code. Refer to 4.2.1 Operation in Alarm Trace-back Mode for details.

  • Page 214: Checking Motor Type

    4.2 Using the Functions DOWN Select Cn-00. 2) Press the keys to select the user constant number Cn-00. (User constant Cn-00 is selected when the power is turned ON.) DATA 3) Press to display the current data for User Constant Number Data the user constant Cn-00.

  • Page 215: Checking Software Version

    USING THE DIGITAL OPERATOR 4.2.8 Checking Software Version 4.2.8 Checking Software Version 1) Set Cn-00 to 00-06 to select the software-version check mode. This mode is used for maintenance and is not normally used by the customer. Operation Software Version Display Set Cn-00 to 00-06 Software Version...

  • Page 216: Chapter 5 Servo Selection And Data Sheets

    SERVO SELECTION AND DATA SHEETS This chapter describes how to select Σ-Series servo drives and peripheral de- vices. The section also presents the specifications and dimensional drawings re- quired for selection and design. Choose and carefully read the relevant sections of this chapter. 5.1 Selecting a Σ-Series Servo .
  • Page 217 Chapter Table of Contents, Continued 5.6 Specifications and Dimensional Drawings of Peripheral Devices ..... . 5.6.1 Cable Specifications and Peripheral Devices .

  • Page 218: Selecting A Σ-Series Servo

    5.1 Selecting a Σ -Series Servo Selecting a Σ-Series Servo This section describes how to select the Σ-Series Servomotor, Servopack, and Digital Operator. 5.1.1 Selecting a Servomotor ......... . . 5.1.2 Selecting a Servopack .
  • Page 219 SERVO SELECTION AND DATA SHEETS 5.1.1 Selecting a Servomotor cont. SGM- 01 A 3 1 2 j Σ-Series SGM: SGM Servomotor SGMP: SGMP Servomotor (cube type) 1) Rated output (motor capacity) (Type SGM only) A3: 30W (0.04HP) A5: 50W (0.07HP) (Types SGM and SGMP) 01: 100W (0.13HP) 02: 200W (0.27HP) 03: 300W (0.40HP) 04: 400W (0.53HP)
  • Page 220 5.1 Selecting a Σ -Series Servo Flowchart for Servomotor Selection Start Servomotor selection If necessary, refer to the data sheets in 5.2.1 1) Select motor capacity D D D Ratings and Specifications. Refer to 3) Machine Data Table on page 211. Fill in Machine Data Table D D D Select capacity using...
  • Page 221 Under gravitational load SGM-jjjjjjB With shaft seal Oil used at end of shaft SGM-jjjjjjS With brake and shaft seal Gravitational load+oil SGM-jjjjjjD Drip-proofed Subject to water droplets SGM-jjjjjjP End Servomotor selection Note Consult Yaskawa sales representative for sizing or sizing software.
  • Page 222 5.1 Selecting a Σ -Series Servo 3) Machine Data Table Fill out the machine data table below as an aid to selecting the drive system. When the machine data table is complete, use the servomotor sizing software to select the motor capacity.
  • Page 223 SERVO SELECTION AND DATA SHEETS 5.1.1 Selecting a Servomotor cont. 5) Roll Feeder Press force Load GD kg¡cm (lb¡in ℓ Tension kg (lb) Press force kg (lb) Roller Roller diameter mm (in.) Coefficient of friction µ Motor Motor Overall efficiency η...

  • Page 224: Selecting A Servopack

    5.1 Selecting a Σ -Series Servo 5.1.2 Selecting a Servopack 1) The selection of an SGDA Servopack matched to the servo system in which it is used is based on the Servopack type, that is, the four alphanumeric characters after “SGDA-”, described below.
  • Page 225 SERVO SELECTION AND DATA SHEETS 5.1.2 Selecting a Servopack cont. Flowchart for Servopack Selection Start Servopack selection Check specifications in 5.3.1 Ratings 1) Enter rated output D D D and Specifications. Enter code as characters 1 and 2: D Enter a rated output equal 30W (0.04HP) = A3, 50W (0.07HP) = A5, to the motor capacity.

  • Page 226: Selecting A Digital Operator

    5.1 Selecting a Σ -Series Servo from previous page (A) 4) Determine applicable motor . . . see Note below Type SGM Type SGM / SGDA-jjjj Type SGMP Type SGMP SGDA-jjjjP End Servopack selection Note The applicable motor type (SGM/SGMP) can be changed by setting the user constants. 5.1.3 Selecting a Digital Operator 1) The following two types of Digital Operator are available.
  • Page 227 SERVO SELECTION AND DATA SHEETS 5.1.3 Selecting a Digital Operator cont. 2) The Digital Operator is selected according to the flowchart below. Flowchart for Digital Operator Selection Start Digital Operator selection 1) Is the Servopack front face easily accessible for operation? 2) Is compactness a priority? Select Mount...

  • Page 228: Sgm Servomotor

    5.2 SGM Servomotor SGM Servomotor This section presents tables of ratings and specifications for SGM and SGMP Servomotors. Refer to these tables when selecting a Servomotor. 5.2.1 Ratings and Specifications ........5.2.2 Mechanical Characteristics .
  • Page 229 SERVO SELECTION AND DATA SHEETS 5.2.1 Ratings and Specifications cont. These items and torque-motor speed characteristics quoted in combination with an SGDA Servopack at an armature winding temperature of 100°C. Other values quoted at 20°C. All values typical. Rated torques are continuous allowable torque values at 40°C with a 250 x 250 x 6 (mm) (9.84 x 9.84 x 0.24 (in.)) heat sink attached.
  • Page 230 5.2 SGM Servomotor Electrical Specifications of the Holding Brake a) SGM Type (Rated Voltage: 90 VDC) Standard Motor Model Motor Holding Brake Specifications Capacity Capacity Holding Coil Rated Torque Resistance Current (kg-cm) Ω (at 20°C) A ( at 20°C) SGM-A3jjjj 1350 0.067 SGM-A5jjjj...
  • Page 231 SERVO SELECTION AND DATA SHEETS 5.2.1 Ratings and Specifications cont. J 200-VAC SGM Servomotor Torque-Motor Speed Characteristics • SGM-A3A • SGM-A5A 4000 4000 3000 3000 Motor Motor Speed Speed (r/min) 2000 (r/min) 2000 1000 1000 0.15 0.45 • SGM-01A • SGM-02A 4000 4000 3000...
  • Page 232 5.2 SGM Servomotor 2) Ratings and Specifications of 200-VAC SGMP Servomotors Time rating: continuous Heat resistance class: Class B Vibration class: 15µm or below Withstand voltage: 1500 VAC Insulation resistance: 500 VDC 10MΩ min. Enclosure: totally enclosed, self-cooled Ambient temperature: 0 to 40°C Ambient humidity: 20% to 80% (non-condensing)
  • Page 233 SERVO SELECTION AND DATA SHEETS 5.2.1 Ratings and Specifications cont. Heat sink dimensions 01A, 02A, 04A 250¢250¢6(mm), (9.84¢9.84¢0.24 (in.)) ..300¢300¢12(mm),(11.81¢11.81¢0.47(in.)) NOTE The ratings and specifications above refer to a standard Servomotor. Add the numerical values below to the moment of inertia values in the table for a motor fitted with a holding brake and/or a 12-bit absolute encoder.
  • Page 234 5.2 SGM Servomotor Electrical Specifications of the Holding Brake a) SGMP Type (Rated Voltage: 90 VDC) Standard Motor Model Motor Holding Brake Specifications Capacity Capacity Holding Coil Rated Torque Resistance Current (kg-cm) Ω (at 20°C) A ( at 20°C) SGMP-01jjjj 1555 0.062 SGMP-02jjjj...
  • Page 235 SERVO SELECTION AND DATA SHEETS 5.2.1 Ratings and Specifications cont. J 200-VAC SGMP Servomotor Torque-Motor Speed Characteristics • SGMP-01A • SGMP-02A 4000 4000 3000 3000 Motor Motor Speed Speed (r/min) (r/min) 2000 2000 1000 1000 • SGMP-04A • SGMP-08A 4000 4000 3000 3000...
  • Page 236 5.2 SGM Servomotor 3) Ratings and Specifications of 100-VAC SGM Servomotors Time rating: continuous Heat resistance class: Class B Vibration class: 15µm or below Withstand voltage: 1500 VAC Insulation resistance: 500 VDC 10MΩ min. Enclosure: totally enclosed, self-cooled Ambient temperature: 0 to 40°C Ambient humidity: 20% to 80% (non-condensing)
  • Page 237 SERVO SELECTION AND DATA SHEETS 5.2.1 Ratings and Specifications cont. NOTE The ratings and specifications above refer to a standard Servomotor. Add the numerical values below to the moment of inertia values in the table for a motor fitted with a holding brake and/or a 12-bit absolute encoder. Other specifications will also change slightly.
  • Page 238 5.2 SGM Servomotor J 100-VAC SGM Servomotor Torque-Motor Speed Characteristics • SGM-A3B • SGM-A5B 4000 4000 3000 3000 Motor Motor Speed Speed 2000 2000 (r/min) (r/min) 1000 1000 0.15 0.3 0.45 • SGM-01B • SGM-02B 4000 4000 3000 3000 Motor Motor Speed Speed...
  • Page 239 SERVO SELECTION AND DATA SHEETS 5.2.1 Ratings and Specification scont . 4) Ratings and Specifications of 100-VAC SGMP Servomotors Time rating: continuous Heat resistance class: Class B Vibration class: 15µm or below Withstand voltage: 1500 VAC Insulation resistance: 500 VDC 10MΩ min. Enclosure: totally enclosed, self-cooled Ambient temperature:...
  • Page 240 5.2 SGM Servomotor NOTE The ratings and specifications above refer to a standard Servomotor. Add the numerical values below to the moment of inertia values in the table for a motor fitted with a holding brake and/or a 12-bit absolute encoder. Other specifications will also change slightly.
  • Page 241 SERVO SELECTION AND DATA SHEETS 5.2.1 Ratings and Specifications cont. Electrical Specifications of the Holding Brake a) SGMP Type (Rated Voltage: 90 VDC) Standard Motor Model Motor Holding Brake Specifications Capacity Capacity Holding Coil Rated Torque Resistance Current (kg-cm) Ω (at 20°C) A (at 20°C) SGMP-01jjjj 1555...
  • Page 242 5.2 SGM Servomotor J 100-VAC SGMP Servomotor Torque-Motor Speed Characteristics • SGMP-01B • SGMP-02B 4000 4000 3000 3000 Motor Motor Speed Speed 2000 (r/min) (r/min) 2000 1000 1000 • SGMP-03B 4000 3000 Motor Speed 2000 (r/min) 1000 A: Continuous Duty Zone B: Intermittent Duty Zone...

  • Page 243: Mechanical Characteristics

    SERVO SELECTION AND DATA SHEETS 5.2.2 Mechanical Characteristics 5.2.2 Mechanical Characteristics 1) Allowable Radial Load, Allowable Thrust Load The output shaft allowable loads for SGM and SGMP Servomotor are shown below. Conduct mechanical design such that the thrust loads and radial loads do not exceed the values stated below.
  • Page 244 5.2 SGM Servomotor 2) Mechanical Tolerance The tolerances of the SGM and SGMP Servomotor output shaft and installation are shown in the table below. Tolerance (T.I.R.) Reference Diagram Perpendicularity between flange 0.04mm face and output shaft (0.0016in.) Mating concentricity of flange O.D. 0.04mm (0.0016in.) Run-out at end of shaft...
  • Page 245 SERVO SELECTION AND DATA SHEETS 5.2.2 Mechanical Characteristics cont. 6) Vibration Class Vibration Measurement Position The SGM Servomotor meets the following vibra- tion class at rated speed. • Vibration Class: 15µm or below Vibration Class TERMS Vibration class 15µm or below indicates that the total amplitude of vibration of the motor alone, running at rated speed, does not exceed 15µm.

  • Page 246: Servopack Ratings And Specifications

    5.3 Servopack Rating and Specifications Servopack Ratings and Specifications This section presents tables of SGDA Servopack ratings and specifications separately for speed/torque control and for position control. 5.3.1 Ratings and Specifications ........5.3.2 Overload Characteristics .
  • Page 247 SERVO SELECTION AND DATA SHEETS cont. 5.3.1Ratings and Specifications Voltage 200 VAC 100 VAC SGDA Servopack A3AS A5AS 01AS 02AS 04AS 08AS A3BS A5BS 01BS 02BS 03BS Max. Applicable Motor Capacity (0.04) (0.07) (0.13) (0.27) (0.53) (1.01) (0.04) (0.07) (0.13) (0.27) (0.40) W (HP)
  • Page 248 5.3 Servopack Rating and Specifications Voltage 200 VAC 100 VAC Position Output A-, B-, C-phase line driver Output Form Signals Signals Frequency (16 to N) /N N=2048, 1024* Dividing Ratio Sequence Input Servo ON, P drive (or motor forward/reverse by torque control, zero-clamp drive reference, or internal setting speed), forward run stop (P-OT), reverse run stop (N-OT), current limit + selection (or internal speed selection), current limit −...
  • Page 249 SERVO SELECTION AND DATA SHEETS cont. 5.3.1Ratings and Specifications 3) Ratings and Specifications of SGDA Servopack for Position Control Voltage 200 VAC 100 VAC SGDA Servopack A3AP A5AP 01AP 02AP 04AP 08AP A3BP A5BP 01BP 02BP 03BP Max. Applicable Motor Capacity W (HP) (0.04) (0.07)
  • Page 250 5.3 Servopack Rating and Specifications Voltage 200 VAC 100 VAC Input Signal Refer- Type SIGN + PULSE train, 90° phase difference 2-phase pulse, (A-phase+B-phase), CCW pulse+CW ence pulse Pulse Pulse Line driver (+5 V level), open collector (+5 V or +12 V level) Form Pulse Fre- 0 to 450 kpps...

  • Page 251: Overload Characteristics

    SERVO SELECTION AND DATA SHEETS 5.3.2Overload Characteristics 5.3.2 Overload Characteristics The Servopack has a built-in overload protective function to protect the Servopack and Ser- vomotor from overload. Therefore, the Servopack allowable power is limited by the overload protective function, as shown below. The overload detection level is quoted under hot start conditions at a motor ambient temper- ature of 40°C.

  • Page 252: Starting Time And Stopping Time

    5.3 Servopack Rating and Specifications 5.3.3 Starting Time and Stopping Time 1) The motor starting time (tr) and stopping time (tf) under constant load are calculated by the following formulas. The motor viscous torque and friction torque are ignored. Starting Time: tf = 104.7 ×...
  • Page 253 SERVO SELECTION AND DATA SHEETS cont. 5.3.4Load Inertia • Large Load Inertia Load Motor Motor Load a) SGM Servomotors 200-VAC Servomotors with incremental encoder Load Inertia Load Inertia −4 −4 kg¡m kg¡m ¢10 ¢10 −3 −3 (oz¡in¡s (oz¡in¡s ¢10 ¢10 (0.27HP) (0.04HP) (51.2)
  • Page 254 5.3 Servopack Rating and Specifications b) SGMP Servomotors 200-VAC Servomotors with incremental encoder Load Inertia Load Inertia −4 −4 kg¡m kg¡m ¢10 ¢10 −3 −3 (oz¡in¡s (oz¡in¡s ¢10 ¢10 (0.27HP) (0.13HP) (52.2) (22.6) (20.3) Motor Speed Motor Speed Load Inertia Load Inertia −4 −4...

  • Page 255: Overhanging Loads

    SERVO SELECTION AND DATA SHEETS 5.3.5Overhanging Loads 5.3.5 Overhanging Loads 1) A Servomotor may not be operated under an overhanging load, that is a load which tends to continually rotate the motor. Under an overhanging load (e.g. when the direction of the torque applied by the motor is opposite from the direction of shaft rotation), the Servopack regenerative brake is applied continuously and the regenerative energy of the load may exceed the allowable range and damage the Servopack.

  • Page 256: In-Rush Current And Power Loss

    5.3 Servopack Rating and Specifications 5.3.6 In-rush Current and Power Loss Servopack SGDA- In-rush Current (Peak Output Current Power Loss Value) A Value) A (Effective Value) (Effective Value) Supply Voltage 200V A3 (30W-0.04HP) 0.42 A5 (50W-0.07HP) 01 (100W-0.13HP) 0.87 02 (200W-0.27HP) 04 (400W-0.53HP) 08 (750W-1.01HP) Supply Voltage 100V...

  • Page 257: Σ-Series Dimensional Drawings

    SERVO SELECTION AND DATA SHEETS 5.4.1 Servomotor Dimensional Drawings Σ-Series Dimensional Drawings This section presents dimensional drawings of the Σ-Series Servomotor, Servopack, and Digital Operator. 5.4.1 Servomotor Dimensional Drawings ....... . . 5.4.2 Servopack Dimensional Drawings .
  • Page 258 5.4 Σ -Series Dimensional Drawings (1) SGM Servomotor Incremental encoder, no brake (Type SGM-jjj31j) • 30W (0.04 HP), 50W (0.07 HP),100W (0.13 HP) 300±30 (11.81±1.18) 35 (1.38) Encoder Plug Encoder Lead UL2854 Motor Lead (Teflon wire) Protective Tube AWG24,UL1828 or UL3534 5(φ0.20)(Black) Motor Plug 300±30...
  • Page 259 SERVO SELECTION AND DATA SHEETS cont. 5.4.1 Servomotor Dimensional Drawings Note 1) The detector uses an incremental encoder 2048 P/R. 2) Type “A” indicates 200 V specification, and type “B” indicates 100 V specification. 3) “A3A(B)314”, “A3A(B)316”,“A5A(B)314”, “A5A(B)316”, “01A(B)314” and “01A(B)316” have a keyed shaft.
  • Page 260 5.4 Σ -Series Dimensional Drawings Type Screw Out- Approx. Allow- Allow- SGM- Dimensions mass able able radial thrust (HP) (lb) load load N (lb) N (lb) 02A312 126.5 96.5 62.5 No key 74 (17)  02B312 (4.98) (3.80) (2.46) ( 98) (3 80) (2 6) (0 2 )
  • Page 261 SERVO SELECTION AND DATA SHEETS cont. 5.4.1 Servomotor Dimensional Drawings • 750 W (1.01 HP) Encoder Lead Encoder Plug Screw Motor Lead (Teflon wire) AWG20 UL1828 or UL3534 Motor Plug Protective Tube (Black) Cross-section Y-Y 80 (3.15) φ90 (φ3.54) 4-φ7 (φ0.28) 4−R8.2 MTG Holes Shaft end screw hole...
  • Page 262 5.4 S-Series Dimensional Drawings · Details of Motor and Encoder Plugs (Common for 30 W (0.04 HP) to 750 W (1.01 HP) Motor Plug Motor Wiring Specifications Plug : 172167-1 (AMP) U phase Pin: 170360-1 or 170364-1 V phase White (170359-1 or 170363-1: 30, 50, or W phase Blue...
  • Page 263 SERVO SELECTION AND DATA SHEETS cont. 5.4.1 Servomotor Dimensional Drawings (2) SGM Servomotor Incremental encoder, with brake (Type SGM-jjj31jB) • 30W (0.04 HP), 50W (0.07 HP), 100W (0.13 HP) 300±30 (11.81±1.18) Encoder Lead Encoder Plug UL2854 35 (1.38) Motor Lead (Teflon wire) AWG24, UL1828 or UL3534 Motor Plug Protective Tube...
  • Page 264 5.4 Σ -Series Dimensional Drawings Note 1) The detector uses an incremental encoder 2048 P/R. 2) Type “A” indicates 200 V specification, and type “B” indicates 100 V specification. 3) “A3A(B)314B”, “A3A(B)316B”, “A5A(B)314B”, “A5A(B)316B”, “01A(B)314B” and “01A(B)316B” have a keyed shaft. The keyway complies with JIS B 1301-1976 (preci- sion).
  • Page 265 SERVO SELECTION AND DATA SHEETS cont. 5.4.1 Servomotor Dimensional Drawings • 200 W (0.53 HP), 300 W (0.40 HP), 400 W (0.27 HP) Encoder Lead Encoder Plug Screw Motor Lead (Teflon wire) AWG22 Motor Plug UL1828 or UL3534 Protective Tube (Black) Cross-section Y-Y 34 (1.34)
  • Page 266 5.4Σ-Series Dimensional Drawings 3) “02A(B)314B”, “02A(B)316B”, “03B314B”, “03B316B”,“04A314B” and “04A316B” have a keyed shaft. The keyway complies with JIS B 1301-1976 (precision). A straight key is supplied. 4) The quoted allowable radial load is the value at a position 25 mm (0.98 in.) from the mo- tor mounting surface.
  • Page 267 SERVO SELECTION AND DATA SHEETS 5.4.1Servomotor Dimensional Drawings 4) The quoted allowable radial load is the value at a position 35 mm (1.38 in.) from the mo- tor mounting surface. 5) The electromagnetic brake is only to hold the load in position and cannot be used to stop the motor.
  • Page 268 5.4 Σ -Series Dimensional Drawings (3) SGM Servomotor Absolute encoder, no brake (Type SGM-jjjW1j) • 30 W (0.04 HP), 50 W (0.07 HP), 100 W (0.13 HP) 300±30 (11.81±1.18) Encoder Lead UL20276 Encoder Plug 35 (1.38) Motor Lead (Teflon wire) AWG24 Screw UL1828 or UL3534 Motor Plug...
  • Page 269 SERVO SELECTION AND DATA SHEETS cont. 5.4.1 Servomotor Dimensional Drawings Note 1) The detector uses a 12-bit absolute encoder 1024 P/R. 2) Type “A” indicates 200 V specification, and type “B” indicates 100 V specification. 3) “A3A(B)W14”, “A3A(B)W16”, “A5A(B)W14”, “A5A(B)W16”, “01A(B)W14” and “01A(B)W16”...
  • Page 270 5.4 Σ -Series Dimensional Drawings Type Screw Out- Approx. Allow- Allow- SGM- Dimen- mass able able sions radial thrust load load (HP) (lb) N (lb) N (lb) 147.5 117.5 62.5 No key 02AW12  ( 81) (5.81) (4.63) (2.46) ( 63) (2 6) (0 2 ) (0.27)
  • Page 271 SERVO SELECTION AND DATA SHEETS cont. 5.4.1 Servomotor Dimensional Drawings • 750 W (1.01 HP) Encoder Lead 300±30 (11.81±1.18) UL20276 Screw 35 (1.38) Encoder Plug Motor Lead (Teflon wire AWG20, UL1828 or UL3534 Protective Tube (Black) Motor Plug 0.24) φ φ...
  • Page 272 5.4 S-Series Dimensional Drawings · Details of Motor and Encoder Plugs (Common for 30 W (0.04 HP) to 750 W (1.01 HP) Motor Plug Motor Wiring Specifications Plug : 172167-1 (AMP) U phase Pin: 170360-1 or 170364-1 V phase White (17359-1 or 170363-1: 30, 50, or W phase Blue...
  • Page 273 SERVO SELECTION AND DATA SHEETS cont. 5.4.1 Servomotor Dimensional Drawings (4) SGM Servomotor Absolute encoder, with brake (Type SGM-jjjW1jB) • 30 W (0.04 HP), 50 W (0.07 HP), 100 W (0.13 HP) Encoder Lead 300±30 (11.81±1.18) UL20276 35 (1.38) Encoder Plug Screw Motor Lead (Teflon wire) AWG24 UL1828 or UL3534...
  • Page 274 5.4 Σ -Series Dimensional Drawings Type Screw Out- App- Allow- Allow- SGM- Dimen- rox. able able sions radial thrust Mass (HP) load load N (lb) N (lb) (lb) 149.0 124.0 36.5 31.5 No key 0.75 A3AW12B  ( 8 ) (5.87) (4.88) (1.44) (1.24) (0.24) ( 88) (1 2 )
  • Page 275 SERVO SELECTION AND DATA SHEETS cont. 5.4.1 Servomotor Dimensional Drawings • 200 W (0.27 HP), 300 W (0.40 HP), 400 W (0.53 HP) Encoder Lead 300±30 (11.81±1.18) UL20276 Encoder Plug 35 (1.38) Motor Lead (Teflon wire) AWG22 UL1828 or UL3534 Motor Plug Protective (0.0016)
  • Page 276 5.4 Σ -Series Dimensional Drawings Note 1) The detector uses a 12-bit absolute encoder 1024 P/R. 2) Type “A” indicates 200 V specification, and type “B” indicates 100 V specification. 3) “02A(B)W14B”, “02A(B)W16B”, “03BW14B”, “03BW16B” “04AW14B” and “04AW16B” have a keyed shaft. The keyway complies with JIS B 1301-1976 (precision). A straight key is supplied.
  • Page 277 SERVO SELECTION AND DATA SHEETS cont. 5.4.1 Servomotor Dimensional Drawings • 750 W (1.01 HP) 300±30 (11.81±1.18) 35 (1.38) Encoder Plug Screw Motor Lead (Teflon wire) AWG20, UL1828 or UL3534 Protective Tube (Black) 0.24) φ φ Motor Plug Encoder Lead 300±30 (11.81±1.18) UL20276 Cross-section Y-Y...
  • Page 278 5.4 S-Series Dimensional Drawings · Details of Motor and Encoder Plugs (Common for 30 W (0.04 HP) to 750 W (1.01 HP) Motor Wiring Specifications Motor Plug U phase Plug : 172168-1 (AMP) V phase White Pin: 170360-1 or 170364-1 W phase Blue (17359-1 or 170363-1: 30, 50, or...
  • Page 279 SERVO SELECTION AND DATA SHEETS cont. 5.4.1 Servomotor Dimensional Drawings 2) The dimensional drawings of the SGMP Servomotors are broadly grouped into the fol- lowing four categories. a) Incremental encoder, no brake (from page 269) b) Incremental encoder, with brake (from page 274) c) Absolute encoder, no brake (from page 279) d) Absolute encoder, with brake (from page 283) Motor capacities are available as 100 W (0.13 HP), 200 W (0.27 HP), 300 W (0.40 HP) ,...
  • Page 280 5.4 Σ -Series Dimensional Drawings (1) SGMP Servomotor Incremental encoder, no brake (Type SGMP-jjj31j) • 100 W (0.13 HP) Encoder Lead Encoder Plug UL2854 Screw Motor Lead Motor Plug Screw Cross-section Y-Y Hex. Nut 14 (0.55) Sealant Incremental Encoder Shaft end screw hole 4-∅5.5 (SGMP-01A(B)316, (4-∅0.22)
  • Page 281 SERVO SELECTION AND DATA SHEETS cont. 5.4.1 Servomotor Dimensional Drawings • 200 W (0.27 HP), 300 W (0.40 HP), 400 W (0.53 HP) Encoder Lead Encoder Plug UL2854 Screw Motor Plug Motor Lead Cross-section Y-Y Hex. Nut 14 (0.55) Sealant Incremental Encoder Shaft end screw hole 4-∅7...
  • Page 282 5.4 Σ -Series Dimensional Drawings Note 1) The detector uses an incremental encoder 2048 P/R. 2) Type “A” indicates 200 V specification, and type “B” indicates 100 V specification. 3) “02A(B)314”, “02A(B)316”, “03B314”,“03B316”,“04A314” and“04A316”, have a keyed shaft. The keyway complies with JIS B 1301-1976 (precision). A straight key is supplied. 4) The quoted allowable radial load is the value at a position 25 mm (0.98 in.) from the mo- tor mounting surface.
  • Page 283 SERVO SELECTION AND DATA SHEETS cont. 5.4.1 Servomotor Dimensional Drawings • 750 W (1.01 HP) Encoder Lead Encoder Plug Motor Lead Motor Plug Screw Cross-section Y-Y Hex.nut 17 (0.67) Sealant MTG Holes Shaft end screw hole Incremental Encoder (SGMP-08A316, with key type only) Type Screw Output...
  • Page 284 5.4 Σ -Series Dimensional Drawings • Details of Motor and Encoder Plugs (Common for 100 W (0.13HP) to 750 W (1.01HP)) Motor Wiring Specifications Motor Plug U phase Plug : 172167-1 (AMP) Pin: 170360-1 or 170364-1 V phase White W phase Blue Connected to Cap 172159-1...
  • Page 285 SERVO SELECTION AND DATA SHEETS cont. 5.4.1 Servomotor Dimensional Drawings (2) SGMP Servomotor Incremental encoder, with brake (Type SGMP-jjj31jB) • 100 W (0.13HP) Screw Encoder Lead Encoder Plug Motor Plug Cross-section Y-Y Motor Lead Hex. nut 14 (0.55) 21(0.83) Sealant Shaft end screw hole Incremental Encoder Holding Brake (deenergization...
  • Page 286 5.4 Σ -Series Dimensional Drawings 4) The quoted allowable radial load is the value at a position 20 mm (0.79in.) from the motor mounting surface. 5) The electromagnetic brake is only to hold the load in position and cannot be used to stop the motor.
  • Page 287 SERVO SELECTION AND DATA SHEETS cont. 5.4.1 Servomotor Dimensional Drawings Type Screw Out- Approx. Allow- Allow- SGMP- dimen- mass able able sions radial thrust load load (lb) (HP) N (lb) N (lb) 02A312B 123.5 93.5 48.1 No key 02B312B (4.86) ( 86) (3 68) (3.68)
  • Page 288 5.4 Σ -Series Dimensional Drawings • 750 W (1.01HP) Encoder Lead Encoder Plug Screw Motor Lead Motor Plug Cross-section Y-Y Hex. nut 17 (0.67) Sealant MTG Holes Holding Brake (deenergization operation) Shaft end screw hole (Φ0.0016) Incremental Encoder (SGMP-08A316B, with key type only) Voltage: 90 VDC Brake holding torque = motor rated torque...
  • Page 289 SERVO SELECTION AND DATA SHEETS cont. 5.4.1 Servomotor Dimensional Drawings 4) The quoted allowable radial load is the value at a position 35 mm (1.38 in.) from the mo- tor mounting surface. 5) The electromagnetic brake is only to hold the load in position and cannot be used to stop the motor.
  • Page 290 5.4 Σ -Series Dimensional Drawings (3) SGMP Servomotor Absolute encoder, no brake (Type SGMP-jjjW1j) • 100 W (0.13HP) Encoder Plug Encoder Lead Motor Plug Screw Motor lead Cross-section Y-Y Hex. nut 14 (0.55) 55 (2.17) 21 (0.83) sealant 4-∅5.5 Absolute encoder (4-∅0.22) MTG Holes Shaft end screw hole...
  • Page 291 SERVO SELECTION AND DATA SHEETS cont. 5.4.1 Servomotor Dimensional Drawings • 200 W (0.27 HP), 300 W (0.40 HP) (100 V only), 400 W (0.53HP) (200 V only) Encoder Plug Encoder Lead Screw Motor Plug Screw Cross-section Y-Y Hex. nut 14 (0.55) 4-∅7 Shaft end screw hole...
  • Page 292 5.4 Σ -Series Dimensional Drawings 4) The quoted allowable radial load is the value at a position 25 mm (0.98 in.) from the mo- tor mounting surface. 5) Conforms to IP55 protective structure (except connector and output shaft faces). • 750 W (1.01HP) Encoder Lead UL20276 300¦30 (11.81¦1.18)
  • Page 293 SERVO SELECTION AND DATA SHEETS cont. 5.4.1 Servomotor Dimensional Drawings 3) “08AW14” and “08AW16” have a keyed shaft. The keyway complies with JIS B 1301-1976 (precision). A straight key is supplied. 4) The quoted allowable radial load is the value at a position 35 mm (1.38 in.) from the mo- tor mounting surface.
  • Page 294 5.4 Σ -Series Dimensional Drawings (4) SGMP Servomotor Absolute encoder, with brake (Type SGMP-jjjW1jB) • 100 W (0.13 HP) Encoder Plug Encoder Lead Screw Motor Lead Motor Plug Cross-section Y-Y Hex. nut 14 (0.55) 55 (2.17) Sealant Sealant Holding Brake (deenergization operation) Absolute Encoder 4-∅5.5 Shaft end screw hole...
  • Page 295 SERVO SELECTION AND DATA SHEETS cont. 5.4.1 Servomotor Dimensional Drawings 4) The quoted allowable radial load is the value at a position 20 mm (0.79 in.) from the mo- tor mounting surface. 5) The electromagnetic brake is only to hold the load in position and cannot be used to stop the motor.
  • Page 296 5.4 Σ -Series Dimensional Drawings • 200 W (0.27 HP), 300 W (0.40 HP), 400 W (0.53 HP) Encoder Lead UL20276 300¦30 (11.81¦1.18) (35) (1.38) Encoder Plug Screw Motor Lead UL20276 Motor Plug Cross-section Y-Y (35) (1.38) 300¦30 (11.81¦1.18) Sealant Hex.hut 14 (0.55) j80(3.15)
  • Page 297 SERVO SELECTION AND DATA SHEETS cont. 5.4.1 Servomotor Dimensional Drawings 3) “02A(B)W14B”, “02A(B)W16B”, “03BW14B”, “03BW16B”, 04AW14B”, and “04AW16B” have a keyed shaft. The keyway complies with JIS B 1301-1976 (precision). A straight key is supplied. 4) The quoted allowable radial load is the value at a position 25 mm (0.98 in.) from the mo- tor mounting surface.
  • Page 298 5.4 Σ -Series Dimensional Drawings • 750 W (1.01 HP) Encoder Lead UL20276 300¦30 (11.81¦1.18) (35) (1.38) Encoder Plug Motor Lead UL2464 Screw Motor Plug (35) (1.38) 300¦30 (11.81¦1.18) Cross-section Y-Y Hex. nut 17 180(7.09) (0.67) j120(4.72) 140(5.51) 40(1.57) (0.0016) 66.7(2.63) 38(1.50) 12 (0.47)
  • Page 299 SERVO SELECTION AND DATA SHEETS cont. 5.4.1 Servomotor Dimensional Drawings 6) Conforms to IP55 protective structure (except connector and output shaft faces). • Details of Motor and Encoder Plugs (Common for 100W (0.13 HP) to 750 W (1.01 HP)) Motor Wiring Specifications Motor Plug Plug : 172168-1 (AMP) Pin 170360-1 or 170364-1(1 to 4pin)

  • Page 300: Servopack Dimensional Drawings

    5.4 Σ -Series Dimensional Drawings 5.4.2 Servopack Dimensional Drawings 1) The dimension drawings of the SGDA Servopack are broadly grouped according to ca- pacity into the following three categories. a) 200V, 30W (0.04 HP) to 200 W (0.27HP) (Type: SGDA-A3Aj to 02Aj) 100V, 30W (0.04 HP) to 100 W (0.13HP) (Type: SGDA-A3Bj to 01Bj) b) 200V, 400W (0.53 HP) (Type: SGDA-04Aj)
  • Page 301 SERVO SELECTION AND DATA SHEETS 5.4.2Servopack Dimensional Drawings cont. (2) SGDA-04Aj (200V, 400W (0.53 HP)) SGDA-02Bj (100V, 200W (0.27 HP)) (0.20) (2.36) (0.20) (2-Φ0.24) HOLES (5.12) (2.96) (2.56) (0.24) Approx. Mass: 1.2 kg (2.65 lb)

  • Page 302: Digital Operator Dimensional Drawings

    5.4 Σ -Series Dimensional Drawings (3) SGDA-08Aj (200V, 750W (1.01 HP)) SGDA-03Bj (100V, 300W (0.40 HP)) (3.54) (0.28) (0.31) (2-Φ0.24) MTG HOLES (5.12) (4.13) (0.24) (0.24) Approx. Mass: 1.5 kg (3.31 lb) 5.4.3 Digital Operator Dimensional Drawings 1) The following two types of Digital Operator are available. a) JUSP-OP02A-1 Hand-held Type b) JUSP-OP03A Mount Type...
  • Page 303 SERVO SELECTION AND DATA SHEETS 5.4.3 Dgital Operator Dimensional Drawings cont. a) JUSP-OP02A-1 (2.48) (0.73) (1.97) (2- 0.18) MTG HOLES (0.28) TYPE:17JE-23090-02 Made by DAIICHI DENSHI KOGYO K.K. Approx. Mass: 0.18 kg (0.40 lb) b) JUSP-OP03A (2.13) (0.59) Approx. Mass: 0.02 kg (0.041lb)

  • Page 304: Selecting Peripheral Devices

    5.5 Selecting Peripheral Devices Selecting Peripheral Devices This section shows how to select peripheral devices using flowcharts. Order lists for Servomotors, Servopacks, digital operators, and peripheral devices are also included. 5.5.1 Selecting Peripheral Devices ........5.5.2 Order List .
  • Page 305 SERVO SELECTION AND DATA SHEETS 5.5.1 Selecting Peripheral Devices cont. <Flowchart for peripheral device selection> Start peripheral device selection Select motor cables No brake/With brake? No brake With brake With connector and With connector and AMP terminal/Cable AMP terminal/Cable only? only? Cable only With connector and...
  • Page 306 5.5 Selecting Peripheral Devices from (a) Select encoder cable Absolute Incremental encoder/Absolute encoder Incremental Servopack Connector Cable end without both ends only connector Connector both Servopack end Cable only ends without connector Select one of the following Select one of the following Select one of the following according to cable length.
  • Page 307 SERVO SELECTION AND DATA SHEETS 5.5.1 Selecting Peripheral Devices cont. Absolute Servopack Connector Cable end without both ends only connector Connector both Servopack end Cable only without connector ends Select one of the following Select one of the following Select one of the following according to cable length.
  • Page 308 5.5 Selecting Peripheral Devices from (b) Select 1CN connector for reference input. Connector only / Terminal block unit / One cable end without connector Connector only Connector-to-terminal One cable end conversion unit without connector Cable with 1CN 1CN connector Connector-to-terminal connector and one conversion unit end without connector...
  • Page 309 SERVO SELECTION AND DATA SHEETS 5.5.1 Selecting Peripheral Devices cont. from (c) Select magnetic contactor and surge suppressor. D Use one 30 A magnetic contactor for a single Magnetic Σ Series, regardless of capacity. contactor For multiple servo systems, select the HI−15E5 magnetic contactor according to the total capacity.

  • Page 310: Order List

    5.5 Selecting Peripheral Devices 5.5.2 Order List 1) Order lists are given below for the Servomotors, Servopacks, digital operators, and pe- ripheral devices which comprise the AC Servo Σ−Series. These order lists are a conve- nient aid to selecting peripheral devices. SGM Servomotor Servomotor Type jjjjjjj...
  • Page 311 SERVO SELECTION AND DATA SHEETS 5.5.2 Order List cont. Cables for Servomotor without Brake (with connector and amplifier terminals) (Purchase Separately) Cable Type DP9320081-1 3 m (9.8 ft) DP9320081-2 5 m (16.4 ft) DP9320081-3 10 m (32.8 ft) DP9320081-4 15 m (49.2 ft) DP9320081-5 20 m (65.6 ft) Cables for Servomotor without Brake...
  • Page 312 5.5 Selecting Peripheral Devices Cables for Servomotor with Brake (Cable Only) (Purchase Separately) Cable Type DP8409360-1 3 m (9.8 ft) DP8409360-2 5 m (16.4 ft) DP8409360-3 10 m (32.8 ft) DP8409360-4 15 m (49.2 ft) DP8409360-5 20 m (65.6 ft) *1 Customer to attach connector and amplifier terminals.
  • Page 313 SERVO SELECTION AND DATA SHEETS 5.5.2 Order List cont. • The three products in the diagrams below are supplied as a set. 1) Motor Connector for Motor End of Cable ... one connector for Servomotor with or without brake 2) Encoder Connector for Motor End of Cable ... one connector for incremental or absolute encoder 3) Encoder Connector for Servopack End of Cable ...
  • Page 314 5.5 Selecting Peripheral Devices Cables for Incremental Encoder (Servopack end without connectors) (Purchase Separately) Cable Type DP9320086−1 3m (9.8 ft) DP9320086−2 5m (16.4 ft) DP9320086−3 10m (32.8 ft) DP9320086−4 15m (49.2 ft) DP9320086−5 20m (65.6 ft) *2 Customer to attach connector to Servopack end of cable. Requires connector kit.
  • Page 315 SERVO SELECTION AND DATA SHEETS 5.5.2 Order List cont. Cables for Absolute Encoder (Connector Both Ends) (Purchase Separately) Cable Type DP9320088−1 3m (9.8 ft) DP9320088−2 5m (16.4 ft) DP9320088−3 10m (32.8 ft) DP9320088−4 15m (49.2 ft) DP9320088−5 20m (65.6 ft) Cables for Absolute Encoder (Servopack end without connectors) (Purchase Separately)
  • Page 316 5.5 Selecting Peripheral Devices Cables for Absolute Encoder (Cable Only) (Purchase Separately) Cable Type DP8409123−1 3m (9.8 ft) DP8409123−2 5m (16.4 ft) DP8409123−3 10m (32.8 ft) DP8409123−4 15m (49.2 ft) DP8409123−5 20m (65.6 ft) *3 Customer to attach connector to both ends of cable. Requires connector kit.
  • Page 317 SERVO SELECTION AND DATA SHEETS 5.5.2 Order List cont. Connector Terminal Block Converter Unit (Purchase Separately) Converter Unit Type JUSP−TA36P 1CN Connector Cable (0.5m) Cable with 1CN Connector and One End Loose Wires (Purchase Separately) Cable Type DE9404859−1 1m (3.3 ft) DE9404859−2 2m (6.6 ft) DE9404859−3...
  • Page 318 5.5 Selecting Peripheral Devices Surge Suppressor (Purchase Separately) Surge Suppressor Type CR50500BL Regenerative Unit (Purchase Separately) Regenerative Unit Type JUSP−RG08 Variable Resistor for Speed Setting (Purchase Separately) Variable Resistor Type 25HP−10B Cables for Connecting PC and Servopack (Purchase Separately) Cable Type DE9405258 2m (6.6 ft) Encoder Signal Converter Unit...

  • Page 319: Specifications And Dimensional Drawings Of Peripheral Devices

    SERVO SELECTION AND DATA SHEETS 5.6.1 Cable Specifications and Peripheral Devices Specifications and Dimensional Drawings of Peripheral Devices This section shows the specifications and dimensional drawings of the peripheral devices required for the Σ-Series servo system. The sequence of peripheral devices is given by the Flowchart for Peripheral Device Selection in 5.5 Selecting Peripheral Devices.
  • Page 320 20 A *1 Value at rated load. *2 Braking characteristics (at 25_C): 200% for 2 s min., 700% for 0.01 s min. *3 Yaskawa recommends noise filters manufactured by Tokin Corp. Yaskawa Controls Co., Ltd. can supply these noise filters.
  • Page 321 Dimensions PG Signal Connector Cable Use Yaskawa cable. Use twisted-pair shielded cable if Yaskawa cable is not used. Applicable Cable Applicable cable types: AWG24, 26, 28, 30. However, use AWG22 for encoder power supply and FG line. Use AWG26 for other signals. These connections permit wiring distances up to 20 m (65.6 ft).

  • Page 322: Motor Cables

    5.6 Specifications and Dimensional Drawings of Peripheral Devices 5.6.2 Motor Cables 1) The dimensions and appearance of the motor cables are shown below. Specify the cable type when ordering. a) Cables For Motor Without Brake (with connector and AMP terminals) Type L in mm (feet) DP9320081-1...
  • Page 323 SERVO SELECTION AND DATA SHEETS 5.6.2 Motor Cables cont. c) Cables For Motor Without Brake (Cable Only) Cable AWG20 x 4 core Type L in mm (feet) DP8409359-1 +100 +0.33 3000 DP8409359-2 +100 +0.33 5000 (16.7 DP8409359-3 +500 +1.67 10000 (33.3 DP8409359-4 +500...
  • Page 324 5.6 Specifications and Dimensional Drawings of Peripheral Devices d) Cables For Motor With Brake (Cable Only) Cable AWG20 x 6 core Type L in mm (feet) DP8409360-1 +100 +0.33 3000 DP8409360-2 +100 +0.33 5000 (16.7 DP8409360-3 +500 +1.67 10000 (33.3 DP8409360-4 +500 +1.67...

  • Page 325: Connector Kits

    SERVO SELECTION AND DATA SHEETS 5.6.3 Connector Kits 5.6.3 Connector Kits 1) A connector kit comprises three connectors as shown in the diagram below: one encoder connector at both the motor and Servopack ends of the cable and a motor connector for the motor end of the cable.
  • Page 326 5.6 Specifications and Dimensional Drawings of Peripheral Devices b) For Absolute Encoder (0.88) (0.93) (0.17) Cap: 172163-1 Socket: 170361-1 or 170365-1 3) Select one of the following two types of motor cable connector. a) Motor Without Brake (0.39) (0.93) (0.16) Cap: 172159-1 Socket: 170362-1 or 170366-1 b) Motor With Brake...
  • Page 327 SERVO SELECTION AND DATA SHEETS 5.6.3 Connector Kits cont. 4) Only one type of encoder connector is available for the Servopack end of the cable. • Connector (0.10) (0.05) Pin #1 (0.05) Pin # 11 Units: mm (inches) Connector Type 10120-3000VE 11.43(0.45) 17.6(0.69)
  • Page 328 5.6 Specifications and Dimensional Drawings of Peripheral Devices • Case (0.5) For -52A0 Diagram of Assembled Connector (for reference) Units: mm (inches) Connector Case 10120-3000VE 10320-52A0-008 22.0 18.0 14.0 12.0 10.0 27.4 (0.87) (0.71) (0.55) (0.47) (0.39) (1.08) 5) The types of connector kit are shown below. Select the type of connector kit according to the connectors selected in (2), (3), and (4) above.

  • Page 329: Brake Power Supply

    1) Brake power supplies are available for 200 V and 100 V input. 200 VAC Input: LPSE-2H01 100 VAC Input: LPDE-1H01 Use for Servomotor with brake. • Dimensional Drawings (1.97) (1.18) Manufactured by Yaskawa Controls Co., Ltd. 2-∅3(2-∅0.12) MTG HOLES (SPOT FACING ∅5.5 (∅0.22), 4 (0.16) LONG) Name Plate Lead Wires (0.98)
  • Page 330 5.6 Specifications and Dimensional Drawings of Peripheral Devices 2) The internal circuits are shown below. While it is possible to switch either the AC or DC side of the brake power supply, it is normally safer to switch the AC side. If the DC side is to be switched, install a surge suppressor near the brake coil to prevent the surge volt- ages due to switching the DC side damaging the brake coil.

  • Page 331: Encoder Cables

    SERVO SELECTION AND DATA SHEETS 5.6.5 Encoder Cables 5.6.5 Encoder Cables 1) The dimensions and appearance of the encoder cables are shown below. Specify the cable type when ordering. a) Cables for Incremental Encoder (Connector Both Ends) Servopack End of Cable Connector for Encoder End of Cable Case: 10320-52A0-008 Cap: 172161-1 (9-pin)
  • Page 332 5.6 Specifications and Dimensional Drawings of Peripheral Devices c) Cables for Incremental Encoder (Servopack End without Connector) Wire Markers Cable B9400064 Cap: 172161-1 (9-pin) (AWG22 x 3C, AWG26 x 4P) Socket: 170361-1 Wires (connected) Shrink Tube Shrink Tube Servopack End Encoder End (1.38) (0.79)
  • Page 333 SERVO SELECTION AND DATA SHEETS 5.6.5 Encoder Cables cont. d) Cables for Absolute Encoder (Servopack End without Connector) Wire Markers Cap: 172163-1 (15-pin) Cable DP8409123 Wires (AWG22 x 3C, AWG26 x 6P) Socket: 170361-1 (connected) Shrink Tube Shrink Tube Servopack End Encoder End (1.38) (0.79)
  • Page 334 5.6 Specifications and Dimensional Drawings of Peripheral Devices Type L in mm (feet) B9400064-1 +100 +0.33 3000 B9400064-2 +100 +0.33 5000 (16.7 B9400064-3 +500 +1.67 10000 (33.3 B9400064-4 +500 +1.67 15000 B9400064-5 +500 +1.67 20000 (66.7 Cap: 172161-1 (Manufactured by AMP.) Case: 10320-52A0-008 (Manufactured by 3M.) Socket: 170361-1 or 170365-1 Connector: 10120-3000VE (Manufactured by 3M.)
  • Page 335 SERVO SELECTION AND DATA SHEETS 5.6.5 Encoder Cables cont. Type L in mm (feet) DP8409123-1 +100 +0.33 3000 DP8409123-2 +100 +0.33 5000 (16.7 DP8409123-3 +500 +1.67 10000 (33.3 DP8409123-4 +500 +1.67 15000 DP8409123-5 +500 +1.67 20000 (66.7 Case: 10320-52A0-008 (Manufactured by 3M.) Cap: 172163-1 Socket: 170361-1 or 170365-1 Connector: 10120-3000VE (Manufactured by 3M.)

  • Page 336: Battery For Absolute Encoder

    5.6 Specifications and Dimensional Drawings of Peripheral Devices Cable Incremental Encoder Absolute Encoder Specification (Yaskawa Drg. #B9400064) (Yaskawa Drg. #DP8409123) Basic Compound KQVV-SW Compound KQVV-SW Specifications AWG22 x 3C, AWG26 x 6P AWG22 x 3C, AWG26 x 4P Finished ∅7.5 mm (∅0.30 in.) ∅8.0 mm (∅0.31 in.)

  • Page 337: Cn Connector

    SERVO SELECTION AND DATA SHEETS 5.6.7 1CN Connector 5.6.7 1CN Connector 1) This connector is required to connect the host controller to 1CN on the Servopack. • Connector 2.54(0.10) 1.27(0.05) Pin #1 1.27 Pin # 19 (0.05) Units: mm (inches) Connector Type 10136-3000VE 21.59 (0.85)
  • Page 338 5.6 Specifications and Dimensional Drawings of Peripheral Devices • Case (0.5) For -52A0 Diagram of Assembled Connector (for reference) Units: mm (inches) Connect Case or Type Type 10136- 10336-52 32.2 43.5 18.0 17.0 14.0 37.6 3000VE A0-008 (1.27) (1.71) (0.71) (0.67) (0.55) (1.48)

  • Page 339: Connector Terminal Block Converter Unit

    SERVO SELECTION AND DATA SHEETS 5.6.8 Connector Terminal Block Converter Unit 5.6.8 Connector Terminal Block Converter Unit 1) A connector terminal block converter unit comprises a 1CN connector 0.5 m (1.64 ft) cable. The terminal block numbers match the Servopack 1CN connector numbers. •...
  • Page 340 5.6 Specifications and Dimensional Drawings of Peripheral Devices 2) The relationships between terminal block pin numbers and signal names are shown in the table below. SGDA Servopack JUSP-TA36P Terminal Block Unit Connector Terminal Signal Name Block # Pin # Speed Control Position Control T-REF PULS...

  • Page 341: Cable With 1Cn Connector And One End Without Connector

    SERVO SELECTION AND DATA SHEETS 5.6.10 Circuit Breaker 5.6.9 Cable With 1CN Connector and One End Without Connector 1) Use a cable with no connector at the host controller end. The loose wires are marked with labels with terminal numbers indicated. SGDA Servopack (3M36P connector) (3M) Connector at Servopack End (36 P)

  • Page 342: Noise Filter

    5.6 Specifications and Dimensional Drawings of Peripheral Devices 5.6.11 Noise Filter 1) Select the noise filter from the following three types according to the Servopack capacity. Install to eliminate external noise from the power lines. Servopack Capacity Noise Filter Type 30W(0.04 HP),50W(0.07HP),100W(0.13HP),200W(0.27HP) LF-205A 200W(0.27HP)(100V),400W(0.53HP)

  • Page 343: Magnetic Contactor

    SERVO SELECTION AND DATA SHEETS 5.6.12 Magnetic Contactor • LF-220 (Single-phase 200 VAC Class, 20 A) (4-∅0.02) IN Rating Plate (5.12) (1.18) (5.67) (6.30) (1.14) (1.14) (2.36) 5.6.12 Magnetic Contactor 1) Use one 30 A magnetic contactor of the type shown below for a single Σ Series, regard- less of capacity.

  • Page 344: Surge Suppressor

    5.6 Specifications and Dimensional Drawings of Peripheral Devices • Dimensional Diagram 2 x M4 Mounting Holes M4 Auxiliary Contact Terminals 90 (3.54) min. 2 x M4 Mounting Holes (2.70) (0.35) (0.38) (0.33) (1.34) (0.21) (1.00) (0.48) (2.05) (3.13) Approx. Mass: 0.33 kg (0.73 lb) (0.20) Main Contact Terminals M4 Coil Terminals...

  • Page 345: Regenerative Unit

    SERVO SELECTION AND DATA SHEETS 5.6.14 Regenerative Unit 5.6.14 Regenerative Unit 1) JUSP−RG08 type Dimensional drawings of the regenerative unit are shown below. • Dimensional Drawings Hole 6 dia. (0.78) (Φ0.24) M4 External Terminal Screws Approx. Mass: 1 kg (2.20 lb) (0.24) (0.98) (5.12)

  • Page 346: Variable Resistor For Speed Setting

    5.6 Specifications and Dimensional Drawings of Peripheral Devices • Regenerative Unit Specifications Type JUSP-RG08 Remarks JUSP−RG08C Applicable Servopack SGDA Servopack Regenerative Working 380Vdc Voltage Regenerative Processing 8Adc Regenerative Resistance: Current 50 Ω, 60 W Error Detection Function Regenerative resistance disconnection, regenerative transistor fault, overvoltage Alarm Output Normally closed contact...

  • Page 347: Encoder Signal Converter Unit

    SERVO SELECTION AND DATA SHEETS 5.6.16 Encoder Signal Converter Unit 5.6.16 Encoder Signal Converter Unit 1) Unit to convert the encoder signal output from the line driver to an open collector output or voltage pulse output. Line Receiver Unit • Terminal Numbers Input A Phase Output A Phase Input A Phase...
  • Page 348 5.6 Specifications and Dimensional Drawings of Peripheral Devices 2) The encoder signal converter unit specifications are as follows: Type Receiver Unit Spec. LRX-01/A1 LRX-01/A2 LRX-01/A3 LRX-01/A4 Power Supply 12 VDC 10%, 100 mA 5 VDC  10%, 100 mA Input Signals Balanced line driver input (RS-422) Output Signals Voltage pulse...

  • Page 349: Cables For Connecting Pc And Servopack

    1) Special cables for connecting a PC to a Servopack. Using these cables allows monitoring and setting of user constants with a PC. PC software is available for these communications. Ask your Yaskawa representative for details. Operate the software as described in the manual supplied.
  • Page 350 5.6 Specifications and Dimensional Drawings of Peripheral Devices • Communications Method: Semi-duplex Servopack End (3CN) RS-232C Port (Personal Computer End) Shield Case Note: Maximum cable length is 2 m (6.56 ft). 3) Connection is also possible to the RS-422A port. In this case, the connection circuit is as follows: •...
  • Page 351 SERVO SELECTION AND DATA SHEETS 5.6.17 Cables for Connecting PC and Servopack cont. 4) Cable for connecting Servopack and IBM PC (IBM compatible PC) Use Yaskawa DE9408565 type cable. • Dimensional Drawings D−sub Connector 17JE−13090−02(D8A) Cable (Black) 2−M3 Screw UL2921 Pitch 0.5...
  • Page 352 5.6 Specifications and Dimensional Drawings of Peripheral Devices • Connection Personal Computer End Servopack End (3CN) Clamp with Hood Clamp with Hood...
  • Page 353 INSPECTION, MAINTENANCE, AND TROUBLESHOOTING This chapter describes the basic inspections and maintenance to be carried out by the customer. In addition, troubleshooting procedures are described for problems which cause an alarm display and for problems which result in no alarm display. 6.1 Inspection and Maintenance .

  • Page 354: Chapter 6 Inspection, Maintenance, And Troubleshooting

    Note Measure across the servomotor FG (green/yellow) and the U-phase (red), V- phase (white), or W-phase (blue) power lead. During inspection and maintenance, do not disassemble the servomotor. If disassembly of the servomotor is required, contact your Yaskawa representative.

  • Page 355: Inspection And Maintenance

    Defective parts in unit Yearly Check for discoloration, damage Contact your Yaskawa or on circuit boards. or discontinuities due to heating. representative. Part Replacement Schedule The following parts are subject to mechanical wear or deterioration over time. To avoid failure, replace these parts at the frequency indicated.

  • Page 356: Servomotor

    INSPECTION, MAINTENANCE AND TROUBLESHOOTING 6.1.3 Replacing Battery for Absolute Encoder 6.1.3 Replacing Battery for Absolute Encoder Battery replacement is only required for servo systems using an absolute encoder. The battery type recommended below (purchased by the customer) is installed in the host controller to allow the absolute encoder to store position data when the power is turned OFF.
  • Page 357 Refer to the tables below to identify the cause of a problem which causes an alarm display and take the remedy described. Note that A.99 does not indicate an alarm. Contact your Yaskawa representative if the problem cannot be solved by the described pro- cedures. 1. Alarm Display and Troubleshooting Table...

  • Page 358: Troubleshooting

    INSPECTION, MAINTENANCE AND TROUBLESHOOTING 6.2.1 Troubleshooting Problems with Alarm Display cont. Cause Remedy Absolute encoder power not supplied from Use the Servopack power supply for the Servopack. absolute encoder. Incorrect absolute encoder wiring (PA, PB, Check and correct the absolute encoder RESET, SEN signal (for speed control), wiring.
  • Page 359 6.2 Troubleshooting Display and Outputs Digital Operator Alarm Output Display and Alarm Code Output Alarm Output Alarm Name Alarm Name ALO1 ALO2 ALO3 A.04 User constant setting error OFF: Output transistor is OFF ON: Output transistor is ON Status When Alarm Occurred At power ON Cause Remedy...
  • Page 360 INSPECTION, MAINTENANCE AND TROUBLESHOOTING 6.2.1 Troubleshooting Problems with Alarm Display cont. Cause Remedy Wiring grounded between Servopack and Check and correct wiring. servomotor. Servopack ambient temperature exceeds Bring Servopack ambient temperature to 55°C 55°C Note Alarm cannot be reset while power transistor module temperature ex- ceeds 90°C.
  • Page 361 6.2 Troubleshooting Cause Remedy Servomotor wiring incorrect. Check and correct wiring. (Check A-, B-, C-phase pulses correct at 2CN.) 2CN ) Encoder wiring incorrect (disconnection, shortcircuit, power supply, etc.) Servopack adjustment incorrect Increase speed loop gain (Cn-04) and/or position loop gain (Cn-1A). Servomotor overloaded Reduce load torque and inertia.
  • Page 362 INSPECTION, MAINTENANCE AND TROUBLESHOOTING 6.2.1 Troubleshooting Problems with Alarm Display cont. Display and Outputs Digital Operator Alarm Output Display and Alarm Code Output Alarm Output Alarm Name Alarm Name ALO1 ALO2 ALO3 A.51 Overspeed OFF: Output transistor is OFF ON: Output transistor is ON Status When Alarm Occurred When servo ON (S-ON) At power ON...
  • Page 363 6.2 Troubleshooting Display and Outputs Digital Operator Alarm Output Display and Alarm Code Output Alarm Output Alarm Name Alarm Name ALO1 ALO2 ALO3 A.70 Overload OFF: Output transistor is OFF ON: Output transistor is ON Status When Alarm Occurred When servo ON (S-ON) At power ON , B, D signal turned ON...
  • Page 364 INSPECTION, MAINTENANCE AND TROUBLESHOOTING 6.2.1 Troubleshooting Problems with Alarm Display cont. Display and Outputs Digital Operator Alarm Output Display and Alarm Output Alarm Code Output Alarm Name Alarm Name ALO1 ALO2 ALO3 A.80 Absolute encoder error (only if absolute encoder is used) OFF: Output transistor is OFF ON: Output transistor is ON...
  • Page 365 6.2 Troubleshooting Display and Outputs Digital Operator Alarm Output Display and Alarm Code Output Alarm Output Alarm Name Alarm Name ALO1 ALO2 ALO3 A.81 Absolute encoder back-up error (only if absolute encoder is used) OFF: Output transistor is OFF ON: Output transistor is ON Status When Alarm Occurred At power ON When SEN signal turned...
  • Page 366 INSPECTION, MAINTENANCE AND TROUBLESHOOTING 6.2.1 Troubleshooting Problems with Alarm Display cont. Display and Outputs Digital Operator Alarm Output Display and Alarm Code Output Alarm Output Alarm Name Alarm Name ALO1 ALO2 ALO3 A.82 Absolute encoder sum-check error (only if absolute encoder is used) OFF: Output transistor is OFF ON: Output transistor is ON...
  • Page 367 6.2 Troubleshooting Display and Outputs Digital Operator Alarm Output Display and Alarm Code Output Alarm Output Alarm Name Alarm Name ALO1 ALO2 ALO3 A.83 Absolute encoder sum-check error (only if absolute encoder is used) OFF: Output transistor is OFF ON: Output transistor is ON Status When Alarm Occurred At power ON When SEN signal turned...
  • Page 368 INSPECTION, MAINTENANCE AND TROUBLESHOOTING 6.2.1 Troubleshooting Problems with Alarm Display cont. Display and Outputs Digital Operator Alarm Output Display and Alarm Code Output Alarm Output Alarm Name Alarm Name ALO1 ALO2 ALO3 A.84 Absolute encoder data error (only if absolute encoder is used) OFF: Output transistor is OFF ON: Output transistor is ON...
  • Page 369 6.2 Troubleshooting Display and Outputs Digital Operator Alarm Output Display and Alarm Code Output Alarm Output Alarm Name Alarm Name ALO1 ALO2 ALO3 A.85 Absolute encoder overspeed (only if absolute encoder is used) OFF: Output transistor is OFF ON: Output transistor is ON Status When Alarm Occurred At power ON When SEN signal turned...
  • Page 370 INSPECTION, MAINTENANCE AND TROUBLESHOOTING 6.2.1 Troubleshooting Problems with Alarm Display cont. Display and Outputs Digital Operator Alarm Output Display and Alarm Code Output Alarm Output Alarm Name Alarm Name ALO1 ALO2 ALO3 A.b1 Reference input read error (for speed/torque control only) OFF: Output transistor is OFF ON: Output transistor is ON Status When Alarm Occurred...
  • Page 371 6.2 Troubleshooting Cause Remedy Servomotor wiring incorrect or Check wiring and connectors at disconnected servomotor. Encoder wiring incorrect or disconnected Check wiring and connectors at encoder. Incremental encoder power not supplied Use the Servopack power supply for the from Servopack. encoder.
  • Page 372 INSPECTION, MAINTENANCE AND TROUBLESHOOTING 6.2.1 Troubleshooting Problems with Alarm Display cont. Display and Outputs Digital Operator Alarm Output Display and Alarm Code Output Alarm Output Alarm Name Alarm Name ALO1 ALO2 ALO3 A.C3 Encoder A-, B-phase discontinuity OFF: Output transistor is OFF ON: Output transistor is ON Status When Alarm Occurred At power ON...
  • Page 373 6.2 Troubleshooting Display and Outputs Digital Operator Alarm Output Display and Alarm Code Output Alarm Output Alarm Name Alarm Name ALO1 ALO2 ALO3 A.C4 Encoder C-phase discontinuity OFF: Output transistor is OFF ON: Output transistor is ON Status When Alarm Occurred At power ON When servo ON (S-ON) , B, C, D...
  • Page 374 INSPECTION, MAINTENANCE AND TROUBLESHOOTING 6.2.1 Troubleshooting Problems with Alarm Display cont. Display and Outputs Digital Operator Alarm Output Display and Alarm Code Output Alarm Output Alarm Name Alarm Name ALO1 ALO2 ALO3 A.F3 Power loss error OFF: Output transistor is OFF ON: Output transistor is ON Status When Alarm Occurred At power ON...
  • Page 375 6.2 Troubleshooting Display and Outputs Digital Operator Alarm Output Display and Alarm Code Output Alarm Output Alarm Name Alarm Name ALO1 ALO2 ALO3 CPF01 Not specified Digital operator transmission error 2 Note This alarm is not stored in alarm trace-back function memory. Status When Alarm Occurred During operation Cause...
  • Page 376 Refer to the tables below to identify the cause of a problem which causes no alarm display and take the remedy described. Turn OFF the servo system power supply before commencing the shaded procedures. Contact your Yaskawa representative if the problem cannot be solved by the described pro- cedures. Troubleshooting Table No Alarm Display...
  • Page 377 Coupling not centered? Center coupling. Coupling unbalanced? Balance coupling. Bearing defective Check noise and vibration Consult your Yaskawa near bearing. representative if defective. Machine causing vibrations Foreign object intrusion, Consult with machine damage or deformation of manufacturer.

  • Page 378: Internal Connection Diagram And Instrument Connection Examples

    INSPECTION, MAINTENANCE AND TROUBLESHOOTING 6.2.3 Internal Connection Diagram and Instrument Connection Examples 6.2.3 Internal Connection Diagram and Instrument Connection Examples The SGDA Servopack internal connection diagram and instrument connection examples are given below. Refer to these diagrams during inspection and maintenance. 1) Internal Connection Diagram (for speed/torque control and position control) + 10 Single-phase 200 to 230 VAC...
  • Page 379 6.2 Troubleshooting 2) Instrument Connection Examples − Speed/Torque Control SGDA-jjjS Speed/Torque + 10 Single-phase 200 to 230 VAC 50/60 Hz For 100 V Application –15 % + 10 Single-phase 100 to 115 VAC 50/60 Hz –15 % Noise Filter Noise filter eliminates external noise. Power Supply Servo Alarm Display...
  • Page 380 INSPECTION, MAINTENANCE AND TROUBLESHOOTING 6.2.3 Internal Connection Diagram and Instrument Connection Examples cont. 3) Instrument Connection Examples − Position Control SGDA-jjj P + 10 Single-phase 200 to 230 VAC 50/60 Hz For 100 V Application Positions –15 % + 10 Single-phase 100 to 115 VAC 50/60 Hz –15 %...
  • Page 381 Appendix Differences Between SGDA and SGD Servopacks The SGDA Servopack external dimensions, connectors, connector cables, and peripheral devices are all identical to the SGD Servopack. Therefore, the customer can replace an existing SGD Servopack to obtain the enhanced performance and functions of the SGDA Servopack, as described on the following pages, without changing wiring or installed dimensions.
  • Page 382 DIFFERENCES BETWEEN SGDA AND SGD SERVOPACKS Comparison of the SGDA Servopack with the SGD Servopack shows the following improvements in performance and functions. Item SGDA Servopack SGD Servopack Speed Loop Frequency 250 Hz 150 Hz Characteristics Servo Gain Compensation (See note 1) Auto Tuning 7-stage settings 3-stage settings...
  • Page 383 Appendix Servo Adjustment This appendix presents the basic rules for Σ-Series AC Servopack gain ad- justment, describes various adjustment techniques, and gives some preset values as guidelines. B.1 Σ-Series AC Servopack Gain Adjustment ..B.1.1 Σ-Series AC Servopacks and Gain Adjustment Methods .
  • Page 384 SERVO ADJUSTMENT B.1.1 Σ-Series AC Servopacks and Gain Adjustment Methods Σ-Series AC Servopack Gain Adjustment This section gives some basic information required to adjust the servo system. B.1.1 Σ-Series AC Servopacks and Gain Adjustment Methods ... B.1.2 Basic Rules for Gain Adjustment .

  • Page 385: B.1 Σ-Series Ac Servopack Gain Adjustment

    B.1 Σ-Series AC Servopack Gain Adjustment B.1.2 Basic Rules for Gain Adjustment 1) The servo system comprises three feedback systems: position loop, speed loop, and current loop. The response must increase from outer loop to inner loop (see Servo Sys- tem Block Diagram, above).
  • Page 386 SERVO ADJUSTMENT B.2.1 Adjusting Using Auto-tuning Adjusting a Speed-control Servopack This section gives examples of adjusting the gains of a speed-control Servopack manually and using auto-tuning. B.2.1 Adjusting Using Auto-tuning ........B.2.2 Manual Adjustment .

  • Page 387: B.2 Adjusting A Speed-Control Servopack

    B.2 Adjusting a Speed-control Servopack Auto-tuning may not end if high response is selected for a low-rigidity machine or low response is selected for a high-rigidity machine. If this occurs, halt the auto-tuning and change the machine rigidity selection. 2) If Auto-tuning is Unsuccessful Auto-tuning may be unsuccessful (the end of auto-tuning not displayed) for machines with large play or extremely low rigidity.

  • Page 388: B.2.2 Manual Adjustment

    SERVO ADJUSTMENT B.2.2 Manual Adjustmentcont. This integration element can produce a delay in the servo system, and the positioning setting time increases and response becomes slower as the time constant increases. However, the integration time constant must be increased to prevent machine vibra- tion if the load inertia is large or the mechanical system includes a element that is prone to vibration.
  • Page 389 B.2 Adjusting a Speed-control Servopack If adjustment of the position loop gain is not possible at the host controller, increase the speed reference gain (Cn-03). c) Determine the speed loop integration time constant (Cn-05), by observing the posi- tioning setting time and vibrations in the mechanical system. The positioning setting time may become excessive if the speed loop integration time constant (Cn-05) is too large.
  • Page 390 SERVO ADJUSTMENT B.3.1 Adjusting Using Auto-tuning Adjusting a Position-control Servopack This section gives examples of adjusting the gains of a position-control Servopack manually and using auto-tuning. B.3.1 Adjusting Using Auto-tuning ........B.3.2 Manual Adjustment .

  • Page 391: B.3 Adjusting A Position-Control Servopack

    B.3 Adjusting a Position-control Servopack Auto-tuning may not end if high response is selected for a low-rigidity machine or low response is selected for a high-rigidity machine. If this occurs, halt the auto-tuning and change the machine rigidity selection. 2) If Auto-tuning is Unsuccessful Auto-tuning may be unsuccessful (the end of auto-tuning not displayed) for machines with large play or extremely low rigidity.

  • Page 392: B.3.2 Manual Adjustment

    SERVO ADJUSTMENT B.3.2 Manual Adjustmentcont. This integration element can produce a delay in the servo system, and the positioning setting time increases and response becomes slower as the time constant increases. However, the integration time constant must be increased to prevent machine vibra- tion if the load inertia is large or the mechanical system includes a vibration elements.
  • Page 393 B.3 Adjusting a Position-control Servopack 3) Functions to Improve Response The mode switch, feed-forward, and bias functions improve response. However, they are not certain to improve response and may even worsen it in some cases. Follow the points outlined below and observe the actual response while making adjustments.
  • Page 394 SERVO ADJUSTMENT B.3.2 Manual Adjustmentcont. The adjustment procedures described above are common for all Yaskawa digital AC Servo- packs. However, not all functions are available on each Servopack. Consult the technical specifications of your Servopack for details. The adjustment procedures are also identical for conventional analog servos. However, in...

  • Page 395: B.4 Gain Setting References

    B.4 Gain Setting References Gain Setting References This section presents tables of load inertia values for reference when adjusting the gain. B.4.1 Guidelines for Gain Settings According to Load Inertia Ratio ..B.4.1 Guidelines for Gain Settings According to Load Inertia Ratio 1) Adjustment guidelines are given below according to the rigidity of the mechanical system and load inertia.

  • Page 396: B.4.1 Guidelines For Gain Settings According To Load Inertia Ratio

    SERVO ADJUSTMENT B.4.1 Guidelines for Gain Settings According to LoadInertia Ratio cont. Load/Inertia Ratio Position Loop Gain Speed Loop Gain Speed Loop (Cn-1A) [1/s] (Cn-04) [Hz] Integration Time Constant (Cn-05) [ms] 30 to 50 30 to 50 10 to 40 60 to 100 Slightly increase for Slightly increase for...
  • Page 397 B.4 Gain Setting References 2) When a speed-control Servopack is used, set the position loop gain at the host controller. If the position loop gain cannot be set at the host controller, adjust the Servopack speed reference gain (Cn-03). The position loop gain (Cn-1A) of a speed-control Servopack is valid in zero-clamp mode only.

  • Page 398: C List Of I/O Signals

    Appendix List of I/O Signals This appendix lists I/O signal terminals (connector 1CN) on Servopacks which connect to a host controller or external circuit. NOTE 1) The meanings of some signals for speed/torque control and position control are different. Always refer to the correct list for the Servopack type.
  • Page 399 LIST OF I/O SIGNALS SGDA-jjjS List of Input Signals for Speed/Torque Control (1) Speed/Torque Specifi- Standard Absolute Torque Zero- Contact Input Speed Speed Control cations Specifications Encoder Limit clamp Control with Torque Output Restriction by Analog Voltage Reference Memory Standard Setting Cn-01 Cn-01 Cn-01...
  • Page 400 Specifi- Standard Absolute Torque Zero- Contact Input Speed Speed Control cations Specifications Encoder Limit clamp Control with Torque Output Restriction by Analog Voltage Reference Memory Memory Standard Setting Standard Setting Cn-01 Cn-01 Cn-01 Cn-01 Cn-01 Cn-01 Cn-02 Bit 2 = 1 Cn-02 Cn-02 Switch...
  • Page 401 LIST OF I/O SIGNALS Specifi- Standard Absolute Torque Zero- Contact Input Speed Speed Control cations Specifications Encoder Limit clamp Control with Torque Output Restriction by Analog Voltage Reference Memory Standard Setting Cn-01 Cn-01 Cn-01 Cn-02 Bit 2 = 1 Cn-02 S i h Switch Bi E...
  • Page 402 List of Input Signals for Speed/Torque Control (2) SGDA-jjjS Speed/Torque Specifi- Standard Specifications Speed Torque Torque Control II cations Control Control I with Torque Feed- forward Memory Standard Setting Cn-01 Cn-01 Cn-01 Bit A = 1, B = 1 S it h Switch Bit F Bit F = 1...
  • Page 403 LIST OF I/O SIGNALS Specifi- Standard Specifications Speed Torque Torque Control II cations Control Control I with Torque Feed- forward Memory Standard Setting Cn-01 Cn-01 Cn-01 Bit A = 1, B = 1 Switch Bit F = 1 Bit A = 0, Setting B = 1 Memory...
  • Page 404 Specifi- Standard Speed Torque Torque Control II cations Specifications Control Control I with Torque Feed- forward Memory Standard Setting Cn-01 Cn-01 Cn-01 Bit A = 1, B = 1 S i h Switch Bi F Bit F = 1 Bi A Bit A = 0, P-CON = P-CON = ON...
  • Page 405 LIST OF I/O SIGNALS List of I/O Signals for Position Control SGDA-jjjP Positions Specifi- Standard Absolute Torque Contact Input Speed 90° Different cations Specifications Encoder Limit Control Pulse + Two-phase Output CW Pulse Pulse Refer- Reference ence Memory Standard Setting Cn-01 Bit Cn-01 Bit Cn-02 Bit...
  • Page 406 Specifi- Standard Absolute Torque Contact Input Speed 90° Different cations Specifications Encoder Limit Control Pulse + Two-phase Output CW Pulse Pulse Refer- Reference ence Memory Standard Setting Cn-01 Bit Cn-01 Bit Cn-02 Bit Cn-02 Bit Cn-02 Cn-02 Bits 5, 4, Switch E = 1 4 = 1...
  • Page 407 LIST OF I/O SIGNALS Specifi- Standard Absolute Torque Contact Input Speed 90° Different cations Specifications Encoder Limit Control Pulse + Two-phase Output CW Pulse Pulse Refer- Reference ence Memory Standard Setting Cn-01 Bit Cn-01 Bit Cn-02 Bit Cn-02 Bit Cn-02 Cn-02 Bits 5, 4, Switch E = 1...
  • Page 408 Specifi- Standard Absolute Torque Contact Input Speed 90° Different cations Specifications Encoder Limit Control Pulse + Two-phase Output CW Pulse Pulse Refer- Reference ence Memory Standard Setting Cn-01 Bit Cn-01 Bit Cn-02 Bit Cn-02 Bit Cn-02 Cn-02 Bits 5, 4, Switch E = 1 4 = 1...
  • Page 409 Appendix List of User Constants • Σ-Series Servopacks provide many functions, and have parameters called “user constants” to allow the user to select each function and perform fine ad- justment. This appendix lists these user constants. • User constants are divided into the following two types: 1)Memory switch Each bit of this switch is turned ON or OFF to select a function.
  • Page 410 LIST OF USER CONSTANTS For Speed/Torque Control (SGDA-jjjS) SGDA-jjjS Speed/Torque List of User Constants (User Constant Setting) Category User Code Name Unit Lower Upper Factory Remarks Constant Limit Limit Setting Cn-00 Not a user constant. (Cn-00 is used to select special mode for digital operator.) Cn-01 Memory switch (see on page 404.) See note 1...
  • Page 411 Category User Code Name Unit Lower Upper Factory Remarks Constant Limit Limit Setting Cn-22 VCMPLV Speed r/min coincidence signal output range Pulse Cn-0A PGRAT Dividing ratio 32768 2048 See note 1 Related e ated setting Constants Cn-11 PULSNO Number of 32768 2048 See note 1...
  • Page 412 LIST OF USER CONSTANTS List of User Constants (Memory Switch Setting) (1) User Setting Factory Constant Setting Input signal Cn-01 enable/disable bl /di bl Uses servo ON input (S-ON). Does not use servo ON input (S-ON). Servo is always ON. Uses SEN signal input (SEN) when Does not use SEN signal input absolute encoder is used.
  • Page 413 User Setting Factory Constant Setting Encoder Cn-01 selection Uses incremental encoder. Uses absolute encoder. Torque feed-forward Does not use torque feed-forward Uses torque feed-forward function. function function. Rotation Cn-02 direction Defines counterclockwise (CCW) Defines clockwise (CW) rotation as selection rotation as forward rotation. forward rotation (reverse rotation mode).
  • Page 414 LIST OF USER CONSTANTS For Position Control (SGDA-jjjP) SGDA-jjj P Positions List of User Constants (User Constant Setting) Category User Code Name Unit Lower Upper Factory Remarks Constant Limit Limit Setting Cn-00 Not a user constant. (Cn-00 is used to select special mode for digital operator.) Cn-01 Memory switch (see on page 408.) See note 1...
  • Page 415 Category User Code Name Unit Lower Upper Factory Remarks Constant Limit Limit Setting Sequence Cn-16 BRKWAI Output timing 10 ms Related of brake Constants reference during motor operation Cn-1B COINLV Positioning Reference complete range unit Pulse Cn-0A PGRAT Dividing ratio 32768 2048 See note 1...
  • Page 416 LIST OF USER CONSTANTS For Position Control (SGDA-jjjP) SGDA-jjj P List of User Constants (Memory Switch Setting) Positions User Setting Factory Constant Setting Input signal Cn-01 enable/ bl / Uses servo ON input (S-ON). Does not use servo ON disable input (S-ON).
  • Page 417 User Setting Factory Constant Setting Operation Cn-01 performed at Clears error pulse when servo is turned Does not clear error pulse servo OFF OFF. when servo is turned OFF. Mode switch selection Uses mode switch function as set in bits D Does not use mode switch and C of Cn-01.
  • Page 418 LIST OF USER CONSTANTS User Setting Factory Constant Setting Error counter Cn-02 clear signal Clears the error counter when an error Clears the error counter counter clear signal is at high level. when the leading edge of an error counter clear signal rises.
  • Page 419 Appendix List of Alarm Displays • SGDA Servopack allows up to 10 last alarms to be displayed at a digital oper- ator. This function is called a traceback function. Alarm number Alarm display • This appendix provides the name and meaning of each alarm display. •...
  • Page 420 LIST OF ALARM DISPLAYS Alarm Display Alarm Alarm Output Alarm Meaning Remarks Display Display Name Name Alarm Code Output Output Output Digital Digital ALO1 AL02 AL03 Operator A.00 Absolute Absolute data fails to be received, or data error received absolute data is abnormal. absolute encoder only...
  • Page 421 Alarm Alarm Output Alarm Name Meaning Remarks Display Display Alarm Code Output Output Output Digital Digital ALO1 AL02 AL03 Operator A.84 Absolute Received absolute data is abnormal. encoder data absolute error encoder only A.85 Absolute The motor was running at a speed encoder exceeding 400 r/min when the absolute absolute...

  • Page 422: Index

    INDEX Number internal circuit, 319 specifications, 318 1CN connector dimensional drawings, 326 specifications, 326 cables, 136 1CN connector kit, 27 encoders dimensional drawings, 320 specifications, 320 for connecting PC and Servopack, 338 motor absolute data connectors, 315 exchange sequence, 151 dimensional drawings, 311 transmitting sequence, 152 specifications, 311...
  • Page 423 detectors encoder pulses, number per revolution, 102 encoders, 8 Encoder Signal Converter Unit meaning, 5 dimensional drawings, 336 specifications, 336 Digital Operators, 14, 27 alarm traceback mode, 183 encoders autotuning, 189 absolute, 8, 148 connection, 168 battery, 325 dimensional drawings, 291 battery replacement, 346 mode selection, 170 home position error detection, 157...
  • Page 424 host controllers, 5, 10, 27 hot start, 240 limit switch, 56 overtravel limit function, 56 load inertia, 241 gain settings, 385 loads I/O signal terminals allowable radial load, 232 connections, 30 allowable thrust load, 232 list position control, 396 speed/torque control, 390 impact resistance, 233 machine data table, 211 In−rush Current, 245...
  • Page 425 wiring, 138 precautions, 16 pressure control, 88 proportional control, 116 proportional/integral control, 9, 116 signal, 68 order lists, 299 protective sequence, 125 output phase, form, 75 absolute encoder, 75 pulse dividing ratio, 76 incremental encoder, 75 output signal terminals alarm code output, 126 brake interlock output, 108 radial load, 20 encoder output, 74, 75...
  • Page 426 servo mechanisms selection, 213 illustration, 5 flowchart, 214 meaning, 2 specifications, 235 for position control, 238 servo OFF, 58 speed-control servo ON input signal, 128 autotuning, 376 manual adjustment, 377 Servomotors, 344 test run, 42 100-VAC SGM ratings, 225 100-VAC SGM specifications, 225 servos 100-VAC SGM torque-motor speed characteris- alarm output, 125...
  • Page 427 stop torque, 58 encoder type selection, 75, 102, 149 error counter clear signal selection, 72 stopping time, 241 feed-forward gain, 116 supply voltages, precautions, 16 forward external torque limit, 63 forward rotation torque limit, 59 surge suppressor, 333 jog speed, 101 list position control, 406 speed/torque control, 402...
  • Page 428 vibration resistance, 233 noise control, 138 peripheral devices, 25 voltage resistance test, 17 precautions, 16, 136 shorting, 2CN connector, 55 wiring, 25, 28, 55,136 grounding, 139 main circuit, 28 more than one servo drive, 143 zero-clamp function, 68, 106...
  • Page 429 TAIPEI OFFICE 9F, 16, Nanking E. Rd., Sec. 3, Taipei, Taiwan Phone 886-2-2502-5003 Fax 886-2-2505-1280 SHANGHAI YASKAWA-TONGJI M & E CO., LTD. 27 Hui He Road Shanghai China 200437 Phone 86-21-6553-6060 Fax 86-21-5588-1190 BEIJING YASKAWA BEIKE AUTOMATION ENGINEERING CO., LTD.

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