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Manuals and User Guides for YASKAWA SGDM Series. We have
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YASKAWA SGDM Series manual available for free PDF download: User Manual
YASKAWA
SGM H Series
User Manual
YASKAWA SGDM Series User Manual (615 pages)
Servomotors
Brand:
YASKAWA
| Category:
Servo Drives
| Size: 10.5 MB
Table of Contents
Table of Contents
14
1 Outline
27
Checking Products
27
Check Items
27
Servomotors
27
Servopacks
28
Product Part Names
29
Servomotors
29
Servopacks
30
Examples of Servo System Configurations
32
Single-Phase, 100 V and 200 V Main Circuit
32
Three-Phase, 200 V Main Circuit
33
Connecting to SGMCS Servomotor
34
Applicable Standards
35
North American Safety Standards (UL, CSA)
35
CE Marking
35
Σ-II Series SGDM SERVOPACK Upgraded Functions
36
2 Selections
38
Servomotor Model Designations
39
Model SGMAH (3000 Min -1 )
39
Model SGMPH (3000 Min -1 )
41
Model SGMGH (1500 Min -1 )
43
Model SGMGH (1000 Min -1 )
45
Model SGMSH (3000 Min -1 )
47
Model SGMDH (2000 Min -1 )
49
Model SGMCS
50
Selecting Servomotors
51
Support Tool for the Capacity Selection of the AC Servomotors
51
Servomotor Capacity Selection Examples
51
SERVOPACK Model Designations
52
Σ-II Series Servopacks and Applicable Servomotors
53
SGDM Servopacks and SGM H Servomotors
53
SGDM Servopacks and SGMCS Servomotors
54
Selecting Cables
55
Cables for SGMAH and SGMPH Servomotors
55
Cables for SGMGH/SGMSH/SGMDH Servomotors
60
Cables for SGMCS Servomotors
64
Selecting Peripheral Devices
67
Special Options
67
Molded-Case Circuit Breaker and Fuse Capacity
69
Noise Filters, Magnetic Conductors, Surge Suppressors and DC Reactors
70
Regenerative Resistors and Brake Power Supply Units
71
3 Specifications and Dimensional Drawings
72
Ratings and Specifications of SGMAH
75
SGMAH Servomotors Without Gears
75
SGMAH Servomotors Without Gears
77
SGMAH Servomotors with Standard Backlash Gears
78
SGMAH Servomotors with Low-Backlash Gears
80
SGMAH Servomotors with Low-Backlash Gears
81
Ratings and Specifications of SGMPH
82
SGMPH Servomotors Without Gears
82
SGMPH Servomotors with Standard Backlash Gears
84
Ratings and Specifications of SGMPH
84
SGMPH Servomotors with Low-Backlash Gears
86
Ratings and Specifications of SGMGH
88
SGMGH Servomotors
89
Ratings and Specifications of SGMSH
103
Ratings and Specifications of SGMDH
108
Ratings and Specifications of SGMCS Servomotors
110
Small-Capacity Series SGMCS Servomotors
110
Middle-Capacity Series SGMCS Servomotors
114
Mechanical Specifications of SGMAH, SGMPH, SGMGH, SGMSH, and SGMDH Servomotors
116
Precautions on Servomotor Installation
116
Mechanical Tolerance
117
Direction of Servomotor Rotation
118
Impact Resistance
118
Vibration Resistance
118
Vibration Class
118
Mechanical Specifications of SGMCS Servomotors
119
Allowable Loads
119
Mechanical Tolerance
120
Direction of Servomotor Rotation
121
Impact Resistance
121
Vibration Resistance
121
Vibration Class
121
Protective Specification
121
Terms and Data for Servomotors with Gears
122
Servomotor Dimensional Drawings
124
SGMAH Servomotors
125
Without Gears and with Brakes
128
Dimensional Drawings of SGMAH Servomotors
128
SGMAH Servomotors
128
SGMAH Servomotors
129
With Standard Backlash Gears
131
With Standard Backlash Gears and Brakes
137
With Low-Backlash Gears
142
Model SGMAH (3000 Min -1 )
145
Without Gears and Brakes
148
Dimensional Drawings of SGMPH Servomotors
148
SGMPH Servomotors
148
With Brakes
150
Model SGMPH (3000 Min -1 )
151
And Without Brakes
152
With Standard Backlash Gears and Without Brakes
153
With Standard Backlash Gears and Brakes
155
With Low-Backlash Gears
159
Dimensional Drawing of Output Shafts with Oil Seals for SGMAH and SGMPH Servomotors
163
SGMAH Servomotors
163
SGMPH Servomotors
163
Dimensional Drawings of SGMGH Servomotors
164
SGMGH Servomotors (1000 Min (Flange-Mounted Type)
166
SGMGH Servomotors
166
SGMGH Servomotors
170
Dimensional Drawings of SGMGH Servomotors
189
SGMGH Servomotors
189
SGMGH Servomotors (1000 Min -1 (Flange-Mounted Type)
189
SGMGH Servomotors (1000 Min -1 (Flange-Mounted Type)
191
Dimensional Drawings of SGMSH Servomotors
211
SGMSH Servomotors
211
SGMSH Servomotors (3000 Min (Flange-Mounted Type)
211
SGMSH Servomotors (3000 Min -1 (Flange-Mounted Type)
211
Dimensional Drawings of SGMDH Servomotors
220
SGMDH Servomotors
220
Dimensional Drawings of SGMCS Servomotors
222
SGMCS Servomotors Φ135 Model
222
SGMCS Servomotors Φ175 Model
222
SGMCS Servomotors Φ230 Model
223
SGMCS Servomotors Φ290 Model
223
SGMCS Servomotors Φ280 Model
224
SGMCS Servomotors Φ360 Model
225
Servomotor Connector for All Small-Capacity Series Servomotors
226
Servomotor Connector for All Middle-Capacity Series Servomotors
227
Shaft End Specifications for SGMGH, SGMSH and SGMDH Servomotors
228
4 SERVOPACK Specifications and Dimensional Drawings
231
SERVOPACK Ratings and Specifications
233
SERVOPACK Ratings and Specifications
234
SERVOPACK Installation
236
SERVOPACK Internal Block Diagrams
238
Single-Phase 200 V, 30 W to 400 W, and 100 V, 30 W to 200 W Models
238
Three-Phase 200 V, 500 W to 1.5 Kw Models
239
Three-Phase 200 V, 2.0 Kw to 5.0 Kw Models
239
Three-Phase 200 V, 6.0 Kw to 15 Kw Models
240
Servopack's Power Supply Capacities and Power Losses
241
SERVOPACK Overload Characteristics and Allowable Load Moment of Inertia
242
Overload Characteristics
242
Starting and Stopping Time
243
Load Moment of Inertia
243
SERVOPACK Dimensional Drawings
246
Dimensional Drawings of Base-Mounted SERVOPACK Model
247
Single-Phase 100 V: 30 W to 100 W (A3BD to 01BD, A3BDA to 01BDA) Single-Phase 200 V: 30 W to 200 W (A3AD to 02AD, A3ADA to 02ADA)
247
Single-Phase 100 V: 200 W (02BD, 02BDA) Single-Phase 200 V: 400 W (04AD, 04ADA)
248
Three-Phase 200 V: 500 W/750 W/1.0 Kw (05AD to 10AD, 05ADA to 10ADA)
249
Three-Phase 200 V: 1.5 Kw (15AD, 15ADA)
250
Three-Phase 200 V: 2.0 Kw/3.0 Kw (20AD to 30AD, 20ADA to 30ADA)
251
Three-Phase 200 V: 5.0 Kw (50ADA)
252
Three-Phase 200 V: 6.0 Kw/7.5 Kw (60ADA to 75ADA)
253
Three-Phase 200 V: 11.0 Kw/15.0 Kw (1AADA to 1EADA)
254
Dimensional Drawings of Rack-Mounted SERVOPACK Model
255
Single-Phase 100 V: 30 W/50 W/100 W (A3BD-R to 01BD-R, A3BDA-R to 01BDA-R)
255
Single-Phase 200 V: 30 W/50 W/100 W/200 W
255
(A3AD-R to 02AD-R, A3ADA-R to 02ADA-R)
255
Single-Phase 100 V: 200 W (02BD-R, 02BDA-R)
256
Single-Phase 200 V: 400 W (04AD-R, 04ADA-R)
256
Three-Phase 200 V: 500 W/750 W/1.0 Kw (05AD-R to 10AD-R, 05ADA-R to 10ADA-R)
257
Three-Phase 200 V: 1.5 Kw (15AD-R, 15ADA-R)
258
Three-Phase 200 V: 2.0 Kw/3.0 Kw (20AD-R to 30AD-R, 20ADA-R to 30ADA-R)
259
Three-Phase 200 V: 5.0 Kw (50ADA-R)
260
Dimensional Drawings of Duct-Ventilated SERVOPACK Model
261
Three-Phase 200 V: 6.0 Kw/7.5 Kw (60ADA-P to 75ADA-P)
261
Three-Phase 200 V: 11.0 Kw/15.0 Kw (1AADA-P/1EADA-P)
262
5 Specifications and Dimensional Drawings of Cables and Peripheral Devices
263
Specifications and Dimensional Drawings of Servomotor Main Circuit Cable
265
Cables for SGMAH and SGMPH Servomotors Without Brakes
265
Cables for SGMAH and SGMPH Servomotors with Brakes
265
Flexible Cables for SGMAH and SGMPH Servomotors Without Brakes
266
Flexible Cables for SGMAH and SGMPH Servomotors with Brakes
267
Cables for SGMCS Servomotors
268
Servomotor Main Circuit Wire Size and Connectors
270
Wire Size
270
SGMAH and SGMPH Servomotor Connectors for Standard Environments
271
SGMGH, SGMSH, and SGMDH Servomotor Connector Configurations
274
SGMGH Servomotor
275
SGMSH Servomotor
279
SGMDH Servomotor
280
Without Gears and With/Without Brakes
280
SGMGH Servomotor
281
European Safety Standards
281
SGMGH Servomotor
284
European Safety Standards
284
SGMSH Servomotors
287
European Safety Standards
287
SGMDH Servomotors
290
European Safety Standards
290
Connectors for SGMCS Servomotors
291
Connector Dimensional Drawings
293
SERVOPACK Main Circuit Wire Size
300
Encoder Cables for CN2 Connector
302
Encoder Cable with Connectors for SGMAH and SGMPH Servomotors
302
Encoder Cable with Connectors for SGMGH, SGMSH, and SGMDH Servomotors
302
Encoder Cable with a SERVOPACK Connector and Encoder Loose Leads for SGMAH and SGMPH Servomotors
303
Encoder Cable with a SERVOPACK Connector and Encoder Loose Leads for SGMGH, SGMSH, and SGMDH Servomotors
304
Encoder Flexible Cables for SGMAH and SGMPH Servomotors
306
Connectors and Cables for Encoder Signals
310
Connectors and Cables for SGMAH and SGMPH Servomotors
310
Connectors and Cables for SGMGH, SGMSH, and SGMDH Servomotors
312
Connectors and Cables for SGMCS Servomotors
314
Flexible Cables
315
I/O Signal Cables for CN1 Connector
316
Standard Cables
316
Connector Type and Cable Size
316
Connection Diagram
318
Peripheral Devices
319
Cables for Connecting Personal Computers
319
Digital Operator
320
Cables for Analog Monitor
321
Connector Terminal Block Converter Unit
322
Brake Power Supply Unit
323
External Regenerative Resistor
325
Regenerative Resistor Unit
327
Absolute Encoder Battery
328
Molded-Case Circuit Breaker (MCCB)
330
Noise Filter
331
Magnetic Contactor
336
Surge Suppressor
338
DC Reactor for Harmonic Suppression
340
Variable Resistor for Speed and Torque Setting
342
Encoder Signal Converter Unit
343
6 Wiring
344
Wiring Main Circuit
345
Names and Functions of Main Circuit Terminals
345
Wiring Main Circuit Power Supply Connector (Spring Type)
347
Typical Main Circuit Wiring Examples
348
Wiring Encoders
350
Connecting an Encoder (CN2) and Output Signals from the SERVOPACK (CN1)
350
Encoder Connector (CN2) Terminal Layout
351
Examples of I/O Signal Connections
352
Speed Control Mode
352
Position Control Mode
353
Torque Control Mode
354
I/O Signal Connector (CN1) Terminal Layout
355
I/O Signal (CN1) Names and Functions
356
Interface Circuit
358
Others
361
Wiring Precautions
361
Wiring for Noise Control
362
Installation Conditions of EMC Directives
365
Installation Conditions of UL Standards
367
Using more than One SERVOPACK
368
Extending Encoder Cables
369
Operating Conditions on 400-V Power Supply Voltage
371
DC Reactor for Harmonic Suppression
372
Connecting Regenerative Resistors
374
Regenerative Power and Regenerative Resistance
374
Connecting External Regenerative Resistors
374
7 Digital Operator/Panel Operator
379
Functions on Digital Operator/Panel Operator
380
Connecting the Digital Operator
380
Key Names and Functions
381
Basic Mode Selection and Operation
382
Status Display
384
Operation in Utility Function Mode (Fn )
386
List of Utility Function Modes
386
Alarm Traceback Data Display (Fn000)
387
Zero-Point Search Mode (Fn003)
388
Parameter Settings Initialization (Fn005)
389
Alarm Traceback Data Clear (Fn006)
390
Automatic Offset-Adjustment of Motor Current Detection Signal (Fn00E)
391
Manual Offset-Adjustment of Motor Current Detection Signal (Fn00F)
392
Password Setting (Protects Parameters from Being Changed) (Fn010)
393
Motor Models Display (Fn011)
394
Software Version Display (Fn012)
395
Operation in Parameter Setting Mode (Pn )
396
Setting Parameters
396
Input Circuit Signal Allocation
400
Output Circuit Signal Allocation
403
Operation in Monitor Mode (un )
405
List of Monitor Modes
405
8 Operation
409
Trial Operation
411
Trial Operation for Servomotor Without Load
413
Trial Operation for Servomotor Without Load from Host Reference
416
Trial Operation with the Servomotor Connected to the Machine
422
Servomotor with Brakes
423
Position Control by Host Controller
423
Control Mode Selection
424
Setting Common Basic Functions
425
Setting the Servo on Signal
425
Switching the Servomotor Rotation Direction
426
Setting the Overtravel Limit Function
427
Setting for Holding Brakes
429
Selecting the Stopping Method after Servo off
432
Instantaneous Power Loss Settings
433
Absolute Encoders
434
Interface Circuits
435
Selecting an Absolute Encoder
436
Handling Batteries
436
Replacing Batteries
437
Absolute Encoder Setup (Fn008)
437
Absolute Encoder Reception Sequence
439
Multiturn Limit Setting
443
Multiturn Limit Setting When Multiturn Limit Disagreement (A.CC) Occurred
444
Operating Using Speed Control with Analog Reference
445
Setting Parameters
445
Setting Input Signals
446
Adjusting Offset
447
Soft Start
450
Speed Reference Filter
450
Using the Zero Clamp Function
450
Encoder Signal Output
452
Speed Coincidence Output
454
Operating Using Position Control
455
Setting Parameters
455
Setting the Electronic Gear
457
Position Reference
460
Smoothing
464
Positioning Completed Output Signal
465
Positioning Near Signal
466
Reference Pulse Inhibit Function (INHIBIT)
467
Operating Using Torque Control
468
Setting Parameters
468
Torque Reference Input
468
Adjusting the Reference Offset
469
Limiting Servomotor Speed During Torque Control
471
Operating Using Speed Control with an Internally Set Speed
473
Setting Parameters
473
Input Signal Settings
474
Operating Using an Internally Set Speed
474
Limiting Torque
476
Internal Torque Limit (Limiting Maximum Output Torque)
476
External Torque Limit (Output Torque Limiting by Input Signals)
477
Torque Limiting Using an Analog Voltage Reference
479
Torque Limiting Using an External Torque Limit and Analog Voltage Reference
480
Checking Output Torque Limiting During Operation
481
Control Mode Selection
482
Setting Parameters
482
Switching the Control Mode
482
Other Output Signals
484
Servo Alarm Output (ALM) and Alarm Code Output (ALO1, ALO2, ALO3)
484
Warning Output (/WARN)
485
Running Output Signal (/TGON)
485
Servo Ready (/S-RDY) Output
486
9 Adjustments
487
Autotuning
488
Servo Gain Adjustment Methods
488
List of Servo Adjustment Functions
489
Online Autotuning
491
Online Autotuning Procedure
492
Selecting the Online Autotuning Execution Method
493
Machine Rigidity Setting for Online Autotuning
494
Method for Changing the Machine Rigidity Setting
495
Saving the Results of Online Autotuning
496
Procedure for Saving the Results of Online Autotuning
497
Manual Tuning
498
Explanation of Servo Gain
498
Servo Gain Manual Tuning
499
Position Loop Gain
499
Speed Loop Gain
500
Speed Loop Integral Time Constant
500
Servo Gain Adjustment Functions
501
Feed-Forward Reference
501
Torque Feed-Forward
502
Speed Feed-Forward
503
Proportional Control Operation (Proportional Operation Reference)
504
Using the Mode Switch (P/PI Switching)
505
Setting the Speed Bias
508
Speed Feedback Filter
508
Speed Feedback Compensation
509
Switching Gain Settings
511
Torque Reference Filter
512
Analog Monitor
514
10 Upgraded Versions
516
Upgraded Versions for SGDM SERVOPACK
517
Upgraded Functions
518
Additional Functions
518
Improved Functions
518
Additional Functions
519
SGMCS Direct-Drive Motor Supporting Function
519
Improvement of Dividing Output Resolution
524
Reference Pulse Input Multiplication Switching Function
525
Second Stage Notch Filter and Changeable Q Value
527
Automatic Gain Switching Function
529
Improved Functions
531
Moment of Inertia Ratio Setting Range
531
Adaptation to Single-Turn Data Absolute Encoder
531
Serial Number and Manufactured Data Reading Function
533
Additional and Improved Parameters
534
Parameters
534
Switches
535
Input Signal Selection
535
Output Signal Selection
536
Utility Functions
536
Troubleshooting
537
Alarm Display Table
537
Warning Display
543
Troubleshooting of Alarm and Warning
544
Troubleshooting for Malfunction Without Alarm Display
555
11 Inspection, Maintenance, and Troubleshooting
537
Inspection and Maintenance
559
Servomotor Inspection
559
SERVOPACK Inspection
559
Servopack's Parts Replacement Schedule
560
12 Appendix
561
Servomotor Capacity Selection Examples
562
Selection Example for Speed Control
562
Selection Example for Position Control
564
Calculating the Required Capacity of Regenerative Resistors
567
Connection to Host Controller
574
Example of Connection to MP920 4-Axes Analog Module SVA-01
574
Example of Connection to CP-9200SH Servo Controller Module SVA (SERVOPACK in Speed Control Mode)
575
Example of Connection to MEMOCON GL120/130 Series Motion Module MC20
576
Example of Connection to MEMOCON GL60/70 Series Positioning Module B2813 (SERVOPACK in Position Control Mode)
577
Example of Connection to Omron's Motion Control Unit
578
Example of Connection to Omron's Position Control Unit
579
Example of Connection to Omron's Position Control Unit C500-NC221 (SERVOPACK in Speed Control Mode)
580
Example of Connection to Omron's Position Control Unit
580
(SERVOPACK in Position Control Mode)
581
Example of Connection to Mitsubishi's AD72 Positioning Unit (SERVOPACK in Speed Control Mode)
582
Example of Connection to Mitsubishi's AD75 Positioning Unit (SERVOPACK in Position Control Mode)
583
List of Parameters
584
Utility Functions List
584
List of Parameters
585
Monitor Modes
603
Parameter Recording Table
604
Revision History
612
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