YASKAWA Sigma-III SGMAS Manuals

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YASKAWA Sigma-III SGMAS User Manual

YASKAWA Sigma-III SGMAS User Manual (688 pages)

AC Servo Drives

Brand: YASKAWA | Category: Servo Drives | Size: 11 MB

Table of Contents

About this Manual
3
Intended Audience
3
Related Manuals
5
Safety Information
5
Notes for Safe Operation
6
Checking on Delivery
7
Storage and Transportation
7
Installation
8
Operation
10
Maintenance and Inspection
11
General Precautions
11
Table of Contents
12
Outline
24
Checking Products
25
Check Items
25
Servomotors
25
Servopacks
26
Checking Products
26
Product Part Names
27
Servomotors
27
Servopacks
29
Connecting Terminal
29
Examples of Servo System Configurations
30
Applicable Standards
35
North American Safety Standards (UL, CSA)
35
CE Marking
35
Selections
36
Servomotor Model Designations
37
Model SGMMJ
37
Model SGMAS/SGMPS/SGMSS
39
Model SGMGH (1500 Min )
41
Model SGMGH (1000 Min -1 )
43
Model SGMCS
45
SERVOPACK Model Designations
46
Σ-III Series Servopacks and Applicable Servomotors
47
Selecting Cables
49
Cables for SGMMJ Servomotor
49
Cables for SGMAS and SGMPS Servomotors
51
Cables for SGMSS and SGMGH Servomotors
56
Cables for SGMCS Servomotor
59
Selecting Peripheral Devices
62
Special Options
62
Molded-Case Circuit Breaker and Fuse Capacity
63
Noise Filters, Magnetic Contactors, Surge Absorbers and AC/DC Reactors
64
Regenerative Resistors and Brake Power Supply Units
65
Servomotor Specifications and Dimensional Drawings
66
Ratings and Specifications of SGMMJ Servomotors
69
SGMMJ Servomotors Without Gears
69
Holding Brake Electrical Specifications
70
Torque-Motor Speed Characteristics
71
SGMMJ Servomotors with Standard Backlash Gears
72
Ratings and Specifications of SGMAS Servomotors
74
SGMAS Servomotors Without Gears
75
Ratings and Specifications of SGMAS Servomotors
76
SGMAS Servomotors with Standard Backlash Gears
77
SGMAS Servomotors with Low-Backlash Gears
79
SGMAS Flange-Type Servomotors with Low-Backlash Gears
81
Ratings and Specifications of SGMPS Servomotors
83
SGMPS Servomotors Without Gears
83
SGMPS Servomotors with Standard Backlash Gears
86
SGMPS Servomotors with Low-Backlash Gears
88
SGMPS Flange-Type Servomotors with Low-Backlash Gears
90
Ratings and Specifications of SGMSS Servomotors
92
SGMSS Servomotors Without Gears
92
SGMSS Servomotors with Low-Backlash Gears
95
Ratings and Specifications of SGMGH
97
SGMGH Servomotors
97
SGMGH Servomotors
101
SGMGH Servomotors
103
SGMGH Servomotors
104
SGMGH Servomotors
105
SGMGH Servomotors
107
SGMGH Servomotors
109
Ratings and Specifications of SGMCS Servomotors
111
Small-Capacity Series SGMCS Servomotors
111
Small-Capacity Series SGMCS Servomotors
113
Middle-Capacity Series SGMCS Servomotors
115
Without Gears
115
Mechanical Specifications of SGMMJ, SGMAS, SGMPS, SGMSS, and SGMGH Servomotors
117
Precautions on Servomotor Installation
117
Allowable Radial and Thrust Loads
119
With Standard Backlash Gears
122
With Low-Backlash Gears
123
With Standard Backlash Gears
124
With Low-Backlash Gears
125
Mechanical Tolerance
129
Direction of Servomotor Rotation
129
Impact Resistance
129
Vibration Resistance
129
Vibration Class
130
Protective Specifications
130
Heating Conditions
130
Mechanical Specifications of SGMCS Servomotors
131
Allowable Loads
131
Mechanical Tolerance
132
Direction of Servomotor Rotation
133
Impact Resistance
133
Vibration Resistance
133
Vibration Class
133
Protective Specification
133
Heating Conditions
133
Terms for Servomotors with Gears
134
Noise Data
134
Servomotor Dimensional Drawings
136
Dimensional Drawings of SGMMJ Servomotors
137
SGMMJ Servomotors Without Gears
137
SGMMJ Servomotors with Brakes
138
SGMMJ Servomotor with Standard Backlash Gears and Without Brakes
139
SGMMJ Servomotors with Standard Backlash Gears and Brakes
141
Dimensional Drawings of SGMAS Servomotors
143
SGMAS Servomotors Without Gears
143
SGMAS Servomotors with Brakes
146
SGMAS Servomotors with Standard Backlash Gears
149
SGMAS Servomotors with Standard Backlash Gears and Brakes
154
SGMAS Servomotors with Low-Backlash Gears
159
SGMAS Servomotors with Low-Backlash Gears and Brakes
164
SGMAS Flange-Type Servomotors with Low-Backlash Gears
169
SGMAS Flange-Type Servomotors with Low-Backlash Gears and Brakes
174
Dimensional Drawings of SGMPS Servomotors
179
SGMPS Servomotors Without Gears
179
SGMPS Servomotors with Brakes
181
SGMPS Servomotors with Standard Backlash Gears
183
SGMPS Servomotors with Standard Backlash Gears and Brakes
187
SGMPS Servomotors with Low-Backlash Gears
191
SGMPS Servomotors with Low-Backlash Gears and Brakes
195
SGMPS Flange-Type Servomotors with Low-Backlash Gears
199
SGMPS Flange-Type Servomotors with Low-Backlash Gears and Brakes
203
Output Shaft of SGMAS and SGMPS Servomotors with Oil Seal
207
SGMAS Servomotors
207
SGMPS Servomotors
208
Dimensional Drawings of SGMSS Servomotors
209
Kw to 5.0-Kw SGMSS Servomotors Without Gears
209
Kw SGMSS Servomotors Without Gears
210
Dimensional Drawings of SGMSS Servomotors
210
SGMSS Servomotors Without Gears and with Brakes
211
SGMSS Servomotors with Low-Backlash Gears and Flange-Mounted Type
212
Shaft End Specifications for SGMSS Servomotors
216
SGMGH Servomotors
217
Dimensional Drawings of SGMGH Servomotors
218
SGMGH Servomotors (1500 Min (Flange-Mounted Type)
219
SGMGH Servomotors
219
SGMGH Servomotors (1000 Min (Flange-Mounted Type)
219
SGMGH Servomotors
235
SGMGH Servomotors
240
SGMGH Servomotors
257
SGMGH Servomotors
259
Shaft End Specifications for SGMGH Servomotor
261
Dimensional Drawings of SGMCS Servomotors
263
SGMCS Servomotors Φ135 Mode
263
SGMCS Servomotors Φ175 Model
264
SGMCS Servomotors Φ230 Model
265
SGMCS Servomotors Φ290 Mode
266
SGMCS Servomotors Φ280 Model
267
SGMCS Servomotors Φ360 Model
268
SERVOPACK Specifications and Dimensional Drawings
272
SERVOPACK Ratings and Specifications
274
SERVOPACK Installation
277
SERVOPACK Internal Block Diagrams
279
Single-Phase 100 V, 50 W to 400 W Models
279
Single-Phase 200V, 50 W to 400 W Models
279
Three-Phase 200 V, 500 W to 1.0 Kw Models
280
Single-Phase 200 V, 750 W Model
280
Three-Phase 200 V, 1.5 Kw to 3.0 Kw Models
281
Three-Phase 200 V, 5.0 Kw Model
281
Three-Phase 200 V, 6.0 Kw, 7.5 Kw Models
282
Servopack's Power Supply Capacities and Power Losses
283
SERVOPACK Overload Characteristics and Load Moment of Inertia
284
Overload Characteristics
284
Starting and Stopping Time
285
Load Moment of Inertia
285
SERVOPACK Dimensional Drawings
289
Dimensional Drawings of Base-Mounted SERVOPACK Model SGDS- 01A/-
290
Single-Phase 100 VAC, 30 W Single-Phase 100 V/200 V, 50 W/100 W/200 W
290
Single-Phase 100 V, 400 W
290
Single-Phase 200 V, 400 W
291
Single-Phase 200 V, 750 W Three-Phase 200 V, 500 W / 1.0 Kw
291
Three-Phase 200 V, 1.5 Kw
292
Three-Phase 200 V, 2.0 Kw / 3.0 Kw
292
Three-Phase 200 V, 5.0 Kw
293
Three-Phase 200 V, 6.0 Kw, 7.5 Kw
294
Dimensional Drawings of Rack-Mounted SERVOPACK Model
295
Sgds- 01Ar/- 02Ar
295
Single-Phase 100 V / 200 V, 50 W / 100 W / 200 W
295
Single-Phase 100 V, 400 W
295
Single-Phase 200 V, 400 W
296
Single-Phase 200 V, 750 W Three-Phase 200 V, 500 W / 1.0 Kw
296
Single-Phase 200
296
Three-Phase 200
296
Three-Phase 200 V, 1.5 Kw
297
Three-Phase 200 V, 2.0 Kw, 3.0 Kw
297
Three-Phase 200 V, 5.0 Kw
298
Dimensional Drawings of Duct-Ventilated SERVOPACK Model SGDS
299
Sgds-60A Ap/-75A Ap
299
Three-Phase 200 V 6.0 Kw / 7.5 Kw
299
Three-Phase 200
299
Ap/-75A Ap
299
Specifications and Dimensional Drawings of Cables and Peripheral Devices
300
Servomotor Main Circuit Cables
302
Main Circuit Cables for 10 W to 30 W SGMMJ Servomotors
302
Main Circuit Cables for 50 to 150 W SGMAS and 100 W SGMPS Servomotors
303
Main Circuit Cables for 200 to 600 W SGMAS and 200 to 400 W SGMPS Servomotors
304
Main Circuit Cables for 750 W and 1.15 Kw SGMAS Servomotors
305
Main Circuit Cables for 750 W SGMPS Servomotors
306
Main Circuit Cables for 1.5 Kw SGMPS Servomotors
307
Main Circuit Cables for SGMCS- B, C, D, and E Servomotors
308
Servomotor Main Circuit Cables and Connectors
309
Connectors for 10 W to 30 W SGMMJ Servomotors
309
Connectors for 50 to 150 W SGMAS and 100 W SGMPS Servomotors
309
Connectors for 200 to 600 W SGMAS and 200 to 400 W SGMPS Servomotors
310
Connectors for 750 W and 1.15 Kw SGMAS Servomotors
310
Connectors for 750 W SGMPS Servomotors
311
Connectors for 1.5 Kw SGMPS Servomotors
311
Cables for 50 to 600 W SGMMJ, SGMAS, and 100 to 400 W SGMPS Servomotor
312
Cables for 750 W and 1.15 Kw SGMAS and 750 W SGMPS Servomotors
312
Connectors for SGMCS- B, C, D, and E Servomotors
313
Cables for SGMCS
313
Connectors for SGMCS
314
Cables and Connectors for SGMSS and SGMGH Servomotors
315
Connector Pin Arrangement
315
Connector Configurations
315
Dimensional Drawings of Connectors for SGMSS Servomotors (Standard Environment Type)
316
Dimensional Drawings of Connectors for SGMSS Servomotors
316
Dimensional Drawings
317
(Protective Structure Ip67/European Safety Standards Conformed Type)
318
SGMGH Servomotor
319
European Safety Standards
321
SGMGH Servomotor
321
SGMGH Servomotor
324
Without Holding Brakes
324
Connectors Manufactured by DDK Ltd
329
Connector Configuration
329
Products List
329
Connectors Manufactured by Japan Aviation Electronics Industry, Ltd
332
SERVOPACK Main Circuit Wire Size
335
Cable Types
335
Encoder Cables
337
Encoder Cables for 50 to 1.15 Kw SGMAS and 100 to 400 W SGMPS Servomotors
337
Encoder Cables for 750W and 1.5 Kw SGMMJ and SGMPS Servomotors
339
Encoder Cables for SGMCS Servomotors
343
Standard Type
344
Encoder Cables for SGMSS and SGMGH Servomotors
345
Encoder Cables and Connectors
349
Encoder Cables and Connectors for SGMAS and 100 to 400 W SGMPS Servomotors
349
Encoder Cables and Connectors for 750 W and 1.5 Kw SGMMJ and SGMPS Servomotors
350
Encoder Cables and Connectors for SGMSS and SGMGH Servomotors
351
Encoder Cables and Connectors for SGMCS Servomotors
353
Encoder Cable Specifications
353
Flexible Cables
354
Encoder Cable Extension
355
Connectors for Main Circuit, Control Power Supply, and Servomotor Cable
360
Spring Type (Standard)
360
Crimp Type (Option)
361
CN1 Cables for I/O Signals
362
Standard Cables
362
Connector Type and Cable Size
362
Cable Size
363
Connection Diagram for Standard I/O Cable JZSP-CSI01
364
Peripheral Devices
365
Cables for Connecting Personal Computers
365
Digital Operator
366
Cables for Analog Monitor
367
Specifications
367
Connector Terminal Block Converter Unit
367
Brake Power Supply Unit
369
Internal Circuits
370
External Regenerative Resistor
370
Model Designation
370
Regenerative Resistor Unit
372
Absolute Encoder Battery
373
Molded-Case Circuit Breaker (MCCB)
374
Maximum Input Current
374
Inrush Current
374
Noise Filter
375
Three-Phase
376
Magnetic Contactor
378
Surge Absorber (for Switching Surge)
380
Surge Absorber (for Lightning Surge)
382
AC/DC Reactors for Power Supply Harmonic Suppression
383
Variable Resistor for Speed and Torque Setting
384
Wiring
385
Wiring Main Circuit
386
Names and Descriptions of Main Circuit Terminals
387
Wiring Main Circuit Terminal Block (Spring Type)
388
Connection Procedure
388
Typical Main Circuit Wiring Examples
389
Wiring Encoders
392
Connecting an Encoder (CN2) and Output Signals from the SERVOPACK (CN1)
392
Incremental Encoders
392
Absolute Encoders
393
CN2 Encoder Connector Terminal Layout
393
Examples of I/O Signal Connections
394
Speed Control Mode
394
Position Control Mode
395
Torque Control Mode
396
I/O Signal Connector (CN1) Terminal Layout
397
I/O Signal (CN1) Names and Functions
398
Output Signals
399
Interface Circuit
400
Others
404
Wiring Precautions
404
Wiring for Noise Control
405
Using more than One SERVOPACK
409
400-V Power Supply Voltage
410
AC/DC Reactor for Harmonic Suppression
411
Installation Conditions of UL Standards
412
Connecting Regenerative Resistors
413
Regenerative Power and Regenerative Resistance
413
Connecting Externally Regenerative Resistors
413
Parameter Setting
415
Resistance (Ω)
416
Panel Operator
417
Functions on Panel Operator
418
Key Names and Functions
418
Basic Mode Selection
419
Status Display
420
Operation in Utility Function Mode (Fn )
422
List of Utility Function Modes
422
Alarm Traceback Data Display (Fn000)
423
Origin Search Mode (Fn003)
425
Program JOG Operation (Fn004)
426
Initialize Parameter Settings (Fn005)
431
Clear Alarm Traceback Data (Fn006)
432
Automatic Offset-Signal Adjustment of the Motor Current Detection (Fn00E)
433
Manual Offset-Signal Adjustment of the Motor Current Detection (Fn00F)
434
Write Prohibited Setting (Fn010)
435
Servomotor Model Display (Fn011)
436
Software Version Display (Fn012)
437
Online Vibration Monitor (Fn018) and Easyfft (Fn019)
437
Online Vibration Monitor (Fn018)
438
Easyfft (Fn019)
439
Vibration Detection Level Initialization (Fn01B)
441
Operation in Parameter Setting Mode (Pn )
443
Setting Parameters
443
Changing Settings
443
Input Circuit Signal Allocation
448
Output Circuit Signal Allocation
452
Operation in Monitor Mode (un )
454
List of Monitor Modes
454
Sequence I/O Signal Monitor Display
454
Operation in Monitor Mode
454
Monitor Display of Reference Pulse Counter, Feedback Pulse Counter, Fully-Closed Feedback Pulse Counter and Fully-Closed Feedback Speed
457
Monitor Display at Power on
458
Operation
459
Trial Operation
462
Trial Operation for Servomotor Without Load
464
Trial Operation for Servomotor Without Load from Host Reference
467
Trial Operation with the Servomotor Connected to the Machine
473
Servomotor with Brakes
474
Position Control by Host Controller
474
Control Mode Selection
475
Setting Common Basic Functions
476
Setting the Servo on Signal
476
Switching the Servomotor Rotation Direction
477
Reverse Rotation
477
Setting the Overtravel Limit Function
478
Setting for Holding Brakes
480
Selecting the Stopping Method after Servo off
485
Power Loss Settings
486
Absolute Encoders
487
Interface Circuits
488
Selecting an Absolute Encoder
489
Handling Batteries
489
Replacing Batteries
490
Absolute Encoder Setup (Fn008)
490
Absolute Encoder Reception Sequence
491
Multiturn Limit Setting
495
Multiturn Limit Setting When the Multiturn Limit Disagreement Alarm (A.CC0) Occurs
496
Operating Using Speed Control with Analog Reference
497
Setting Parameters
497
Setting Input Signals
498
Adjusting Offset
499
Automatic Adjustment of the Speed Reference Offset
499
Soft Start
502
Speed Reference Filter
502
Using the Zero Clamp Function
502
Input Signal Setting
503
Encoder Signal Output
504
Speed Coincidence Output
506
Operating Using Position Control
507
Setting Parameters
507
Setting the Electronic Gear
509
Related Parameters
510
Electronic Gear Ratio Setting Examples
511
Position Reference
512
Smoothing
514
Positioning Completed Output Signal
516
Positioning Near Signal
517
Reference Pulse Inhibit Function (INHIBIT)
518
Operating Using Torque Control
519
Setting Parameters
519
Torque Reference Input
519
Adjusting the Reference Offset
520
Speed Limit During Torque Control
522
Operating Using Speed Control with an Internally Set Speed
524
Setting Parameters
524
Input Signal Settings
525
Operating Using an Internally Set Speed
525
Limiting Torque
527
Internal Torque Limit (Limiting Maximum Output Torque)
527
External Torque Limit (Output Torque Limiting by Input Signals)
528
Related Parameters
528
Torque Limiting Using an Analog Voltage Reference
530
Torque Limiting Using an External Torque Limit and Analog Voltage Reference
531
Checking Output Torque Limiting During Operation
532
Control Mode Selection
533
Setting Parameters
533
Switching the Control Mode
533
Switching Other than Internally Set Speed Control (Pn000.1 = 7, 8, 9, A, or B)
534
Other Output Signals
535
Servo Alarm Output (ALM) and Alarm Code Output (ALO1, ALO2, ALO3)
535
Warning Output (/WARN)
536
Rotation Detection Output Signal (/TGON)
536
Servo Ready (/S-RDY) Output
537
Adjustments
538
Servo Tuning Methods
540
Servo Gain Adjustment Methods
540
List of Servo Adjustment Functions
541
Normal Autotuning
544
Normal Autotuning Procedure
545
Selecting the Normal Autotuning Execution Method
546
Machine Rigidity Setting for Normal Autotuning
547
Method for Changing the Machine Rigidity Setting
548
Saving the Results of Normal Autotuning
549
Procedure for Saving the Results of Normal Autotuning
549
Advanced Autotuning
550
Advanced Autotuning Procedure
551
One-Parameter Tuning
554
One-Parameter Tuning Procedure
554
Manual Servo Tuning
555
Explanation of Servo Gain
555
Servo Gain Manual Tuning
556
Position Loop Gain
557
Speed Loop Gain
557
Speed Loop Integral Time Constant
558
Guidelines for Manual Tuning of Servo Gains
558
Safety Precautions on Adjustment of Servo Gains
561
Torque Limit
561
Advanced Manual Servo Tuning Functions
563
Feed-Forward Reference
563
Torque Feed-Forward
564
Speed Feed-Forward
565
Proportional Control Operation (Proportional Operation Reference)
566
Using the Mode Switch (P/PI Switching)
566
Setting the Speed Bias
570
Speed Feedback Filter
570
Speed Feedback Compensation
570
Adjustment Procedure
571
Switching Gain Settings
572
Predictive Control
577
Less Deviation Control
582
Torque Reference Filter
587
Notch Filter
588
Vibration Suppression on Stopping
589
Backlash Compensation
590
Position Integral Time Constant
591
Analog Monitor
592
Fully-Closed Control
595
System Configuration for SERVOPACK with Fully-Closed Control
596
Serial Converter Unit
597
Characteristics and Specifications
597
Analog Signal Input Timing
598
Connection Example of Linear Scale by Heidenhain
599
Dimensional Drawing
599
Connection Example of Linear Scale by Renishaw
600
Connection Cable between SERVOPACK and Serial Converter Unit
601
Internal Configuration of Fully-Closed Control
602
Related Parameters
603
Related Alarms
605
Alarm List
605
Alarm Display and Troubleshooting
606
Encoder Output Signals from SERVOPACK with a Linear Scale
607
By Renishaw
607
Inspection, Maintenance, and Troubleshooting
608
Troubleshooting
609
Alarm Display Table
609
Warning Displays
612
Troubleshooting of Alarm and Warning
613
Warning Display and Troubleshooting
623
Troubleshooting for Malfunction Without Alarm Display
625
Inspection and Maintenance
629
Servomotor Inspection
629
SERVOPACK Inspection
629
Servopack's Parts Replacement Schedule
630
Appendix
631
Servomotor Capacity Selection Examples
632
Selection Example for Speed Control
632
Selection Example for Position Control
634
Calculating the Required Capacity of Regenerative Resistors
637
Calculating the Regenerative Energy
639
Connection to Host Controller
645
Example of Connection to MP920 4-Axes Analog Module SVA-01
645
Example of Connection to CP-9200SH Servo Controller Module SVA (SERVOPACK in Speed Control Mode)
646
Example of Connection to Omron's Motion Control Unit
647
Example of Connection to Omron's Position Control Unit
648
Connection to Mitsubishi's A72 Positioning Unit (SERVOPACK in Speed Control Mode)
649
Connection to Mitsubishi's A75 Positioning Unit (SERVOPACK in Position Control Mode)
650
List of Parameters
651
Utility Functions
651
Parameters
652
Monitor Modes
675
Parameter Recording Table
676
Revision History
685

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