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FOR FIRST-TIME USERS OF AC SERVOS

1.1.1

 

Servo Mechanisms

 

cont.

4

3) Servo control system

Servo control system is almost synonymous with servo mechanism but places the focus on
system control. In this manual, the term “servo system” is also used as a synonym of servo
control system.

Related Terms

Meaning

Servomotor

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 “DR2 Servopack.”

Servo drive

A Servomotor and amplifier pair. Also called “servo.”

Servo system

A closed control system consisting of a host controller,

servo drive and controlled system to form a servo

mechanism.

Host controller

Reference

Amplifier

(Servopack)

Servomotor

Operate

Controlled

system

Servo drive

Servo system

1

Summary of Contents for DR2

Page 1: ...YASKAWA Series SGM SGMP DR2 USER S MANUAL YASKAWA MANUAL NO TSE S800 17D AC Servomotors and Driver SGM SGMP Servomotors DR2 Servopack ...

Page 2: ... about and how to design install operate and maintain a servo system Keep this manual in a convenient location and refer to it whenever necessary in operating and maintaining the servo system YASKAWA ELECTRIC CORPORATION General Precautions S Some drawingsin thismanual are shown withthe protectivecover or shields removed in orderto describe the detail with more clarity Make sure all covers and shi...

Page 3: ...G or CAUTION WARNING Indicatesapotentiallyhazardoussituationwhich ifnot avoided couldresult in deathor serious personalinju ry CAUTION Indicates a potentially hazardous situation which if not avoided may result in minor or moderate personal injury and or damage to the equipment In some instances items described in CAUTION may also result in a serious accident In either case follow these important ...

Page 4: ...shock may result S After turning OFF power wait at least five minutes before servicing the product Otherwise residual electric charges may result in electric shock CAUTION RECEIVING S Use the specified combination of SERVOMOTOR and SERVOPACK Failure to observe this caution may lead to fire or failure INSTALLATION S Never use the equipment where it may be exposed to splashes of water corrosive or f...

Page 5: ...run failure S Before starting operation with a load connected make sure emergency stop procedures are in place Failure to observe this caution may result in personal injury S During operation do not touch the heat sink Failure to observe this caution may result in burns INSPECTION AND MAINTENANCE S Do not disassemble the SERVOMOTOR Failure to observe this caution may result in electric shock or pe...

Page 6: ...apters explaining maintenance For users who are going to maintain and troubleshoot Σ Series products Chapter Title Page Area CHAPTER 1 For First time Users of AC Servos 1 A B Provides an overview of servos and the Σ Series CHAPTER 2 Basic Uses of Σ series Products 15 B Describes steps to take when product is received plus basic wiring and application methods CHAPTER 3 Applications of Σ series Prod...

Page 7: ...s 423 A B C B Servo Adjustment 429 B C C List of I O Signals 445 A B C D List of User Constants 465 B C E List of Alarm Displays 477 B C F Relationship between Reference Forms and User Constants 481 B C G Reviewing the Full closed Loop Specifications 489 B C INDEX 497 A B C ...

Page 8: ... that need to be explained to users who are not very familiar with servo systems or electronic devices and technical terms specific to Σ Series Ser vos that need to be explained in descriptions of functions The text indicated by this icon is applicable only to Servopack in speed torque con trol mode The text indicated by this icon is applicable only to Servopack in position control mode The text i...

Page 9: ...medwithrespecttotheuseoftheinformationcontainedherein Moreover becauseYaskawa is constantly striving to improve its high quality products the information contained in this manual is subject to change without notice Every precaution has been taken in the preparation of this manual Nevertheless Yaskawa assumes no re sponsibility for errors or omissions Neither is any liability assumed for damages re...

Page 10: ... Constants Required and Input Signals 47 CHAPTER 3 APPLICATIONS OF Σ SERIES PRODUCTS 49 3 1 Setting User Constants According to Machine Characteristics 52 3 1 1 Changing the Direction of Motor Rotation 52 3 1 2 Setting the Overtravel Limit Function 54 3 1 3 Restricting Torque 57 3 2 Setting User Constants According to Host Controller 64 3 2 1 Inputting Speed Reference 64 3 2 2 Inputting Position R...

Page 11: ...t and Alarm Code Output 128 3 7 2 Using Servo ON Input Signal 132 3 7 3 Using Positioning Complete Signal 133 3 7 4 Using Speed Coincidence Output Signal 134 3 7 5 Using Running Output Signal 136 3 7 6 Using Servo Ready Output Signal 138 3 8 Special Wiring 140 3 8 1 Wiring Instructions 140 3 8 2 Wiring for Noise Control 142 3 8 3 Using More Than One Servo Drive 147 3 8 4 Using Regenerative Units 1...

Page 12: ... Overload Characteristics 239 5 3 4 Starting Time and Stopping Time 240 5 3 5 Load Inertia 241 5 3 6 Overhanging Loads 246 5 4 Σ Series Dimensional Drawings 247 5 4 1 Servomotor Dimensional Drawings 247 5 4 2 Servomotor Dimensional Drawings TÜV approved conforming to the machine instructions 289 5 4 3 Servopack Dimensional Drawings 329 5 4 4 Digital Operator Dimensional Drawing 334 5 5 Selecting P...

Page 13: ...y EU 417 7 2 Measures to Satisfy the Requirements of EMC Directive 418 7 2 1 Applicable Servomotor 418 7 2 2 Applicable Noise Filter 418 7 2 3 Motor Cables 419 7 2 4 Encoder Cables 419 7 2 5 Control I O 420 7 2 6 Digital Operator and Monitoring by Personal Computer 420 7 2 7 The Core on the Cable 421 7 2 8 Wiring 421 APPENDIXES A Differences Between DR2 and DR1 SGDA and SGD Servopacks 423 B Servo ...

Page 14: ...CONTENTS xv E List of Alarm Displays 477 F Relationship between Reference Forms and User Constants 481 G Reviewing the Full closed Loop Specifications 489 INDEX 497 ...

Page 15: ...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 1 1 Basic Understanding of AC Servos 2 1 1 1 Servo Mechanisms 2 1 1 2 Servo Configuration 5 1 1 3 Features of Σ Series Servos 11 1 ...

Page 16: ...ontrol mechanism that monitors physical quantities such as specified positions In short a servo mechanism is like a servant who does tasks faithfully and quickly according to his master s instructions In fact servo originally derives from the word servant TERMS Servo mechanism According to Japanese Industrial Standard JIS terminology a servo mechanism is de fined as a mechanism that uses the posit...

Page 17: ...m is a system to control the output data to match the specified input data If for example the specified position changes the servo system will reflect the changes In the above example input data is defined as a position but input data can be any physical quantities such as orientation angle water pressure or voltage Position speed force torque electric current and so on are typical controlled valu...

Page 18: ...ng Servomotor 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 DR2 Servopack Servo drive A Servomotor and amplifier pair Also called servo Servo system A closed control system consisting of a host controller servo drive and controlled system to form a servo mechanism Host control...

Page 19: ...d This includes a drive system that transmits torque from a servo motor 2 Servomotor A main actuator that moves a controlled system Two types are available AC servomotor and DC servomotor 3 Detector A position or speed detector Normally an encoder mounted on a motor is used as a position detector 4 Servo amplifier An amplifier that processes an error signal to correct the differ ence between a ref...

Page 20: ...his drive system is widely used for ma chining tools Timing Belt Trapezoidal Screw Thread A timing belt is a coupling device that allows the power transmission ratio to be set freely and that has no play A trapezoidal screw thread does not provide excellent positioning accuracy so can be treated as a minor coupling device To develop an excellent servo system it is important to select a rigid drive...

Page 21: ...tive maintenance inspect and replace parts at regular intervals For details refer to Chapter 6 Inspection Maintenance and Troubleshooting b AC Servomotor AC servomotors are divided into two types synchronous type and induction type The synchronous type is more commonly used For a synchronous type servomotor motor speed is controlled by changing the frequency of alternating current A synchronous ty...

Page 22: ...d as a certain length e g 0 001 mm it can be used as a position detector However this encoder does not detect an absolute position and merely outputs a pulse train Hence zero return operation must be performed before positioning The following figure illustrates the operation principle of a pulse generator Opti cal method Phase A pulse train Phase B pulse train Slit Center of revolution Fixed slit ...

Page 23: ... generates a differential signal The control function amplifies and transforms the differential signal In other words it performs proportional P control or proportional integral PI control It is not important if you do not understand these control terms completely at this point b Power Amplifier A power amplifier runs the servomotor at a speed or torque proportional to the output of the comparator...

Page 24: ...eference 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 TERMS PROGIC 8 A programmable machine controller If combined with a servo amplifier for speed control maximum eight axis control the PROGIC 8 can provide position control The PROGIC 8 also provides programmable controller functions 1 ...

Page 25: ...00 W 750 W 0 04 HP 0 07 HP 0 13 HP 0 27 HP 0 53 HP 1 01 HP 2 DR2 Servopacks can perform speed torque or position control Select the control mode by set ting of the user constant Cn 02 memory switch Speed Torque Control Mode User constant Cn 02 memory switch Bit B 0 This mode uses speed or torque reference in put Reference input is by analog voltage Position Control Mode User constant Cn 02 memory ...

Page 26: ...otor Position feedback Encoder Position control loop Position feedback Speed As shown in the figure above a position control loop is formed in the host controller The host controller compares a position reference with a position feedback signal and sends processing results to the Servopack as a speed reference In this way the host controller can freely perform the control required for the servo me...

Page 27: ...vert Torque current feedback Pulse train Servomotor Position feedback Encoder Analog voltage Set the user constants for Servopack to switch between the following torque control modes 1 Controlling servomotor torque by torque reference Torque control I 2 Operating servomotor by switching between torque reference and speed reference Torque control II The host controller outputs a torque reference or...

Page 28: ...form positioning or interpolation This type of Servopack contains a position control loop User constants can be used to select either of the following pulse trains 1 Code and pulse train 2 Two phase pulse train with 90 phase difference 3 Forward and reverse pulse trains The host controller receives a pulse train position information from the Servopack and uses it to monitor the position 6 A Digita...

Page 29: ...18 2 2 2 Installing the Servomotor 19 2 2 3 Installing the Servopack 22 2 3 Connection and Wiring 25 2 3 1 Connecting to Peripheral Devices 25 2 3 2 Main Circuit Wiring and Power ON Sequence 28 2 3 3 Examples of Connecting I O Signal Terminals 30 2 4 Conducting a Test Run 37 2 4 1 Test Run in Two Steps 37 2 4 2 Step 1 Conducting a Test Run for Motor without Load 39 2 4 3 Step 2 Conducting a Test R...

Page 30: ...connection to the commercial power supply will damage the Servomotor Do not change wiring when power is ON Always turn the power OFF before connecting or disconnecting a connector Except for Digital Operator Type JUSP OP02A 1 Note that residual voltage still remains in the Servopack even after the power is turned OFF Even after the power is turned OFF residual volt age still remains in the capacit...

Page 31: ...als securely Use a fast response type ground fault detector For a ground fault detector always use a fast re sponse type or one designed for PWM inverters Do not use a time delay type Do not perform continuous operation under overhanging load Continuous operation cannot be performed by ro tating the motor from the load and applying regen erative braking Regenerative braking by the Ser vopack can b...

Page 32: ...rall appearance and check for damage or scratches resulting from transportation Check screws for looseness Check for looseness by using a screwdriver as necessary If any of the above items are faulty or incorrect contact the dealer from which you pur chased the products or your nearest local sales representative Appearance Nameplate Type Servo motor S Series SGM Servomotor S Series SGMP Servomotor...

Page 33: ...pes can be installed either horizontally or vertically However if the Servomotor is installed incorrectly or in an inappropriate location the service life will be shortened or unexpected problems will occur To prevent this always observe the installation instructions described below Before installation Anticorrosive paint is coated on the edge of the motor shaft Clean off the anticorrosive paint t...

Page 34: ...hown below Measure this distance at four different positions in the circumference The difference between the maximum and minimum measurements must be 0 03 mm or less Turn together with couplings Measure this distance at four different positions in the circumference The difference between the maximum and minimum measurements must be 0 03 mm or less Turn together with couplings NOTE If the shafts ar...

Page 35: ... 392 88 147 33 35 1 43 Servomotor with absolute encoder Motor Type Allowable Radial Load Fr N lb Allowable Thrust Load Fs N lb LR mm in Reference Drawing SGM A3 49 11 19 4 20 0 82 SGM A5 68 15 19 4 20 0 82 SGM 01 68 15 19 4 20 0 82 SGM 02 196 44 49 11 25 1 02 LR SGM 03 196 44 49 11 25 1 02 SGM 04 196 44 68 15 25 1 02 SGM 08 343 77 98 22 35 1 43 SGMP 01 78 17 49 11 20 0 82 SGMP 02 245 55 68 15 25 1...

Page 36: ...eat from the heating unit and a temperature rise caused by convection so that the temperature around the periphery of the Servopack does not exceed 55 C When installed near a source of vibration Install a vibration isolator underneath the Servopack to prevent it from receiving vibration When installed in a place receiving corrosive gases Corrosive gases do not immediately affect the Servopack but ...

Page 37: ... panel observe the following installation method Fan 50 mm or more Fin 30 mm or more 10 mm or more Fan 50 mm or more a Install Servopack perpendicularly so that the front panel containing connectors faces outward b Provide sufficient space around each Servopack to allow cooling by natural convection 2 ...

Page 38: ...tall cooling fans above the Servopacks to prevent the temperature around each Servopack from increasing excessively and also to maintain the temperature inside the control panel evenly d Maintain the following conditions inside the control panel Ambient temperature for Servopack 0 to 55 C Humidity 90 RH or less Vibration 0 5G 4 9 m s2 Condensation and freezing None Ambient temperature to ensure lo...

Page 39: ...standard example of connecting Σ Series products to peripheral de vices and briefly explains how to connect to each peripheral device NOTE Read the following notes before wiring Connect only one cable to one terminal Never connect two cables to one terminal Do not solder the cable Peel back the cable shield by about 10mm 0 39in min Then insert the cable into the terminal securely and tighten the s...

Page 40: ...Operator Allows the user to set user constants or operation references and display operation status or alarm status Power supply Single phase 200 or 100 V Connector kits for pulse generator PG and for motor are not required if the following parts are ordered S Cable with terminal connectors S Cable with connector and amplifier terminal L This wiring is required only for a Servomotor with brake Bra...

Page 41: ... is compatible with most P L C motion controllers and indexers References are input as analog signals or pulse trains 1CN connector kit Type DP9420010 On Servomotor side On Servopack side This connector kit is required for cables without connectors Formovingparts acable forrobot must be orderedseparately Cable for motor This is a power cable for connecting a Servomotor to a Servopack For a Servomo...

Page 42: ...ws the name and description of each main circuit terminal Terminal Symbol Name Description L1 L2 Main circuit AC input Single phase 200 to 230 VAC 50 60Hz 1 10 15 L N Control power supply input Single phase 200 to 230 VAC 50 60Hz 1 10 15 U V W Motor connection Connects terminal U to motor terminal red V to white and W to blue 2 Ground terminal Connects to ground and motor terminal for ground and m...

Page 43: ...ower is turned ON This operation is required to initialize the Servopack Servo alarm ALM output signal Power supply NOTE D After turning the power OFF do not touch the power terminals for 5 minutes High voltage may remain in the Servopack D Avoid frequently turning the power ON and OFF Since the Servopack has a capacitor in the power supply a high charging current flows for 0 2 second when the pow...

Page 44: ... by referring to technical documentation for the host controller NOTE This sub section describes signals related to the DR2 Servopack only For other signals refer to the relevant technical documentation 2 Example of Connecting to PROGIC 8 Servopack for Speed Control MADE BY YASKAWA FG connector frame 1 These pin numbers are also applicable to SV2 to SV4 2 Do not change the standard settings of use...

Page 45: ...peed Control MADE BY YASKAWA SERVO NORMAL DECEL LS ALARM SERVOPACK 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 the Servopack 1 D A OUTPUT 35 2 Speed ...

Page 46: ...ervopack DECEL LS 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 2 Change the Cn 02 setting as follows Bit No 3 0 Bit No 4 0 Bit No 5 0 Bit No B 1 3 Pull up the CLR signal with 1 kΩ resistance Change the Cn 02 setting as follows Bit ...

Page 47: ...ower 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 DR2 VVVV C500 NC222 MADE BY OMRON I O POWER SUPPLY X AXIS Y AXIS ON when positioning is stopped ON when proximity is detected Servopack 2 Speed ...

Page 48: ...Y 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 2 Change the Cn 02 setting as follows Bit No 3 1 Bit No 4 0 Bit No 5 0 3 Manufactured by Yaskawa Controls Co Ltd Note The signals shown here are applicable only to OMRON Sequencer C500...

Page 49: ...EF ERENCE 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 2 These pin numbers are the same for both X and Y axes Note The signals shownhere are applicable only to MITSUBISHISequencerAD72 andYas kawa Servopack DR2 VVVV AD72 MADE BY MIT...

Page 50: ...detected ON when positioning is stopped EXTERNAL POWER SUPPLY 24V 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 2 Manufactured by Yaskawa Controls Co Ltd Note The signals shown here are applicable only to MITSUBISHI Sequencer AD71 B...

Page 51: ...onstants Required and Input Signals 47 2 4 1 Test Run in Two Steps Conduct the test run when wiring is complete Generally conducting a test run for servo drives can be difficult However by following the two steps described below the test run can be performed safely and correctly NOTE To prevent accidents initially conduct a test run only for a servomotor under no load i e with all couplings and be...

Page 52: ...I O signals Step 2 Conducting a test run with the motor and machine connected Adjust Servopack according to machine characteristics Speed adjustment by autotuning Connect to the machine Connect to the machine and conduct a test run Purpose To perform autotuning to adjust the mo tor according to machine characteris tics To match the speed and direction of rotationwiththemachinespecifications To che...

Page 53: ...s to prevent it from moving during operation Alter natively install the servomotor on the machine and disconnect couplings and belts 2 Disconnect connector 1CN then check the motor wiring in the power supply circuit When incremental encoder is used I O signals 1CN are not to be used so leave connector 1CN disconnected When absolute encoder is used Connect the battery to the battery terminals 1CN 2...

Page 54: ...s 1 Turn the power OFF 2 Return the alarm signal circuit shorted in the above step 3 to its original state 3 Connect connector 1CN 4 Turn the power ON again 7 Check input signals Check the input signal wiring in monitor mode For the checking method refer to 4 1 6 Opera tion in Monitor Mode Checking method Turn each connected signal line ON and OFF to check that the monitor bit display changes acco...

Page 55: ...rmal the motor is turned ON and the Digital Operator displays the data as shown in the figure If an alarm dis play appears take appropriate action as de scribed in Appendix E List of Alarm Displays 9 Operate by reference input The operating procedure differs according to the Servopack control mode used Speed Torque Control Mode This section describes the standard speed con trol setting 1 Gradually...

Page 56: ...rence offset value as described in Section 4 2 4 Reference Offset Automatic Adjustment 4 To change motor speed or the direction of rotation reset the user constants shown below Cn 03 Speed reference gain Refer to 3 2 7 Cn 02 bit 0 Reverse rotation mode Refer to 3 1 1 Position Control Mode 1 Set user constant Cn 02 so that the reference pulse form matches the host controller output form Refer to 4 ...

Page 57: ...e host con troller specifications In this case check the wiring and review the user constant settings then repeat step 1 Refer to Appendix E List of Alarm Displays and Appendix D List of User Constants This is all that is required to complete step 1 conducting a test run for motor without load Whenever possible perform tuning associated with the host controller and other neces sary adjustments in ...

Page 58: ...or 3 Perform autotuning Tune the Servopack according to the machine characteristics Refer to 4 2 3 Autotuning 4 Operate by reference input As in step 1 conducting a test run for motor without load perform 9 Operate by refer ence input on page 41 Perform tuning associated with the host controller 5 Set user constants and record the settings Set user constants as necessary Record all the user consta...

Page 59: ...lding brake operation for a servomotor with brake Vertical axis Axis to which external force is applied Servomotor Holding brake Prevents the motor from rotating due to gravity External force Servomotor Holding brake NOTE To prevent faulty operation caused by gravity or external force first check that the motor and holding brake operate normally with the motor disconnected from the machine Then co...

Page 60: ...rom host controller Motor speed Check the motor speed as follows D Use the speed monitor Un 00 of the digital operator D Run the motor at low speed For example input a speed reference of 60 r min and check that the motor makes one revolution per one second Check whether the speed reference gain value user constant Cn 03 is correct Simple positioning Number of motor revolutions D Input a reference ...

Page 61: ... direction of rotation differs from the actual direction of rotation the wiring may be incorrect In this case recheck the wiring and correct it accordingly Then if the direction of rotation is to be reversed set the following user constant Cn 02 bit 0 Reverse rotation mode After changing the Cn 02 setting always turn the power OFF then ON This makes the new setting valid 3 The following table list...

Page 62: ...stants According to Host Controller 64 3 2 1 Inputting Speed Reference 64 3 2 2 Inputting Position Reference 69 3 2 3 Using Encoder Output 76 3 2 4 Using Contact I O Signals 80 3 2 5 Using Electronic Gear 82 3 2 6 Using Contact Input Speed Control 86 3 2 7 Using Torque Control 91 3 2 8 Using Torque Feed forward Function 97 3 2 9 Using Torque Restriction by Analog Voltage Reference 98 3 2 10 Using ...

Page 63: ...tional Control 120 3 6 5 Setting Speed Bias 121 3 6 6 Using Mode Switch 122 3 7 Forming a Protective Sequence 128 3 7 1 Using Servo Alarm Output and Alarm Code Output 128 3 7 2 Using Servo ON Input Signal 132 3 7 3 Using Positioning Complete Signal 133 3 7 4 Using Speed Coincidence Output Signal 134 3 7 5 Using Running Output Signal 136 3 7 6 Using Servo Ready Output Signal 138 3 8 Special Wiring ...

Page 64: ... 8 Connector Ter minal Layouts I O signals Host controller external circuit 3 For a list of user constants refer to Appendix D List of User Constants 4 User constants are divided into the following two types 1 Memory switch Cn 01 and Cn 02 Set each bit to ON or OFF to select a function 2 Constant setting Cn 03 and later Set a numerical value such as a torque limit value or speed loop gain User con...

Page 65: ...des a reverse rotation mode in which the direction of rotation can be reversed without altering the servomotor wiring With the standard setting forward rotation is defined as counterclockwise CCW rotation when viewed from the drive end 2 If reverse rotation mode is used the direction of motor rotation can be reversed without other items being changed The direction of axial motion is reversed Stand...

Page 66: ...n of rotation Setting Meaning 0 Forward rotation is defined as counterclockwise rotation when viewed from the drive end Standard setting 1 Forward rotation is defined as clockwise rotation when viewed from the drive end Reverse rotation mode b Method 2 Shorting the Wiring in the 2CN Connector Reverse rotation mode can be set for the 2CN connector for the encoder This method is used to standardize ...

Page 67: ...Input N OT 1CN 43 Reverse Rotation Prohibited Reverse Overtravel For Speed Torque Control and Position Control Inputs terminals for overtravel limit switch For linear motion connect a limit switch to prevent damage to the machine P OT ON 1CN 42 is at low level Forward rotation allowed Normal operation status OFF 1CN 42 is at high level Forward rotation prohibited reverse rotation allowed N OT ON 1...

Page 68: ...shorting 1CN 42 to 0 V Bit 3 0 Uses the N OT input signal for prohibiting reverse rotation Reverse rotation is prohibited when 1CN 17 is open Reverse rotation is allowed when 1CN 43 is at 0 V Bit 3 1 Does not use the N OT input signal for prohibiting reverse rotation Reverse rotation is always allowed This has the same effect as shorting 1CN 43 to 0 V 4 If the P OT and N OT input signals are used ...

Page 69: ...en the input signal for prohibiting forward or reverse rotation is to be used Specifies a torque value in terms of a percentage of the rated torque Cn 01 Bit 6 How to Stop Motor at Servo OFF Factory Setting 0 For Speed Torque Control and Position Control Cn 01 Bit 7 Operation to Be Performed when Motor Stops after Servo OFF Factory Setting 1 For Speed Torque Control and Position Control The Servop...

Page 70: ...que after the motor moves the machine to a specified position D Torque control Level 3 To always control output torque not speed Level 4 To alternately use speed control and torque control This section describes how to use levels 1 and 2 of the torque restriction function 2 How to Set Level 1 Internal Torque Limit The maximum torque is restricted to the values set in the following user constants C...

Page 71: ...a torque limit val ue will result in torque shortage at ac celeration or deceleration Using CLT CLT Signals This section describes how to use contact output signals CLT CLT as a torque limit output signal Photocoupler Output Per output Maximum operation voltage 30 VDC Maximum output current 50 mA DC Servopack I O power supply 24V 1CN 25 1CN 26 CLT CLT Output CLT 1CN 25 Torque Limit Output Running ...

Page 72: ...ut signals CLT 1CN 25 and CLT 1CN 26 Setting Meaning 0 Uses CLT CLT output signals as a torque limit output signal Compares the DR2 Servopack internal torque current reference with the preset value Preset Value Cn 08 TLMTF Cn 09 TLMTR Cn 18 CLMIF P CL input only Cn 19 CLMIR N CL input only 0 Internal torque current reference preset value Opens the circuit between 1CN 25 and 1CN 26 Internal torque ...

Page 73: ...vel Torque restriction does not apply during forward rotation N CL ON 1CN 46 is at low level Torque restriction applies during reverse rotation Limit value Cn 19 N CL OFF 1CN 46 is at high level Torque restriction does not apply during reverse rotation Output Signal for Torque Restriction Function This torque restriction function outputs the signal shown on the right CLT 1CN 25 CLT 1CN 26 Status i...

Page 74: ...orque restriction by analog voltage reference refer to 3 2 9 Using Torque Restriction by Analog Voltage Reference Using P CL and N CL Signals This section describes how to use input signals P CL and N CL as torque limit input sig nals I O power supply Servopack Photocoupler Host controller 24VIN P CL N CL 1CN 47 45 46 4 7kΩ 5mA Input P CL 1CN 45 Forward External Torque Limit Input Speed Selection ...

Page 75: ...t Speed Control Selection Factory Setting 0 For Speed Torque Control and Position Control Prohibits the contact input speed control function If the contact input speed control function is used the contents of the input signals shown below will change After this memory switch is reset the meanings of the following signals will also change Monitor mode Un 05 bit 7 and bit 8 Setting Meaning Input Sig...

Page 76: ...3 1 Setting User Constants According to Machine Characteristics 63 Handling of the CLT CLT signals are the same as for level 1 internal torque limit Refer to Using CLT CLT Signals on page 58 3 ...

Page 77: ...Speed Reference 1 Using the following memory switch select the speed torque control Cn 02 Bit B Selection of Speed Torque Control or Position Control Factory Setting 0 For Speed Torque Control and Position Control Select the control mode speed torque control or position control by bit B of memory switch Cn 02 Setting Meaning 0 Selects speed or torque control Select the control form by bits A and B...

Page 78: ...ircuit See the figure on the right For noise control always use twisted pair cables Recommended Variable Resistor for Speed Setting Type 25HP 10B manufactured by Sakae Tsushin Kogyo Co Ltd When position control is performed by a host con troller such as a programmable controller Connect V REF and SG V to speed reference output terminals on the host controller In this case adjust Cn 03 according to...

Page 79: ...put signal P CON to specify one of the four modes shown below Cn 01 Bit A Control Mode Selection Factory Setting 0 For Speed Torque Control Only Cn 01 Bit B Control Mode Selection Factory Setting 0 For Speed Torque Control Only The Servopack for speed torque control provides four different control modes 3 ...

Page 80: ... This speed control allows the zero clamp function to be set when the motor stops D Speed reference is input from V REF 1CN 5 D P CON 1CN 41 signal is used to turn the zero clamp function ON or OFF Zero clamp Zero clamp is performed when the following two conditions are met Condition 1 P CON is turned ON Condition 2 Motor speed drops below the preset value Preset value Cn 29 ZCLVL DR2 Servopack Sp...

Page 81: ...itching between torque control and speed control Torque control II 1 Changing the direction of rotation during contact input speed control 4 Adjust the speed reference gain using the following user constant Cn 03 VREFGN Speed Reference Gain Unit r min V Setting Range 10 to 2162 Factory Setting 500 For Speed Torque Control Only This user constant is for speed torque control only Sets the voltage ra...

Page 82: ...after changing the setting This makes the new setting valid 2 Input a position reference by using the following input signal reference pulse input Since there are several specifications for input signal select reference input for the sys tem to be created Inputs a move reference by pulse input Position reference can correspond to the following three types of out put form Line driver output 12V Ope...

Page 83: ... The signal logic for open collector output is as follows When Tr1 is ON Equivalent to high level input When Tr1 is OFF Equivalent to low level input Output PL1 1CN 3 Power for Open Collector Reference For Position Control Only Output PL2 1CN 13 Reference Control Only Output PL3 1CN 18 For details refer to the Connection Example 3 When Power for Open Collector Refer ence is Used shown below 3 Host...

Page 84: ... Control Only Input SIGN 1CN 11 Reference Sign Input For Position Control Only Input SIGN 1CN 12 Reference Sign Input For Position Control Only The motor only rotates at an angle proportional to the input pulse Cn 02 Bit 3 Reference Pulse Form Selection Factory Setting 0 For Position Control Only Cn 02 Bit 4 Reference Pulse Form Selection Factory Setting 0 For Position Control Only Cn 02 Bit 5 Ref...

Page 85: ...ce 1CN 7 1CN 11 1CN 7 1CN 11 0 0 1 CW 1 pulse CCW pulse 1CN 7 1CN 11 1CN 7 1CN 11 0 0 0 Sign pulse train 1CN 7 1CN 11 1CN 7 1CN 11 1 Nega 0 1 0 1 Two phase pulse train with 1CN 7 1CN 11 1CN 7 1CN 11 Nega tive logic setting 0 1 1 2 with 90 phase differ 1CN 7 CN setting 1 0 0 4 differ ence 1CN 7 1CN 11 1CN 7 1CN 11 0 0 1 CW 2 pulse CCW pulse 1CN 7 1CN 11 1CN 7 1CN 11 1 When CW pulse CCW pulse and po...

Page 86: ...al Generation Timing Servo ON Base block Sign pulse train Release t1 30 ms t2 6 ms When user constant Cn 12 is set to 0 t3 40 ms PG pulse t4 t5 t6 2 ms t7 20 μs Note The interval from the time the servo ON signal is turned ON until a reference pulse is input must be at least 40 ms Otherwise the reference pulse may not be input The error counter clear CLR signal must be ON for at least 20 μs Otherw...

Page 87: ...0 behind phase B User constant Cn 02 bits 3 4 and 5 is used to switch the input pulse multiplier mode CCW pulse CW pulse Maximum reference frequency 450 kpps CCW pulse CW pulse reference reference 4 The following describes how to clear the error counter Input CLR 1CN 15 Error Counter Clear Input For Position Control Only Input CLR 1CN 14 Error Counter Clear Input For Position Control Only Setting ...

Page 88: ...l is set at high level Error pulses do not accumulate while the signal remains at high level Cleared state 1CN 15 1 Clears the error counter only once when the rising edge of the CLR signal rises Cleared only once at this point 1CN 15 Cn 01 Bit A Error Counter Processing at Servo OFF Factory Setting 0 For Position Control Only Select the error counter processing at Servo OFF Setting Meaning 0 Erro...

Page 89: ...line according to the fol lowing circuit diagram Servopack Host controller Line receiver Choke coil Smoothing capacitor Line receiver used SN75175 manufactured by Texas Instruments Inc or MC3486 or equivalent R termination resistor 220 to 470 Ω C decoupling capacitor 0 1 μF P Represents twisted pair cables Phase A Phase B Phase C Phase A Phase B Phase C 1CN 33 1CN 34 1CN 35 1CN 36 1CN 19 1CN 20 1C...

Page 90: ...sition Control Output PCO 1CN 20 Encoder Output Phase C For Speed Torque Control and Position Control Divided encoder signals are output Always connect these signal terminals when a position loop is formed in the host control ler to perform position control Set a dividing ratio in the following user constant Dividing ratio setting Cn 0A PGRAT The dividing ratio setting is not relevant to the gear ...

Page 91: ...or absolute encoders For details refer to 3 8 5 Using an Absolute Encoder Output SG 1CN 1 Signal Ground for Encoder Output For Speed Torque Control and Position Control Output FG 1CN 50 Frame Ground For Speed Torque Control and Position Control SG Connect to 0 V on the host controller FG Connect to the cable shielded wire 3 Use the following memory switch to specify the type of the encoder to be u...

Page 92: ...t in this user constant Set this value ac cording to the reference unit of the machine or controller to be used The setting range varies according to the encoder used Motor Type Number of Encoder Pulses Per Revolution Setting Range SGM jjj31j SGMP jjj31j Incremental encoder 2048 pulses per revolution 16 to 2048 SGM jjjW1j SGMP jjjW1j Absolute encoder 1024 pulses per revolution 16 to 1024 For the u...

Page 93: ...supply separately There are no power terminals to which the DR2 Servopack outputs signals exter nally 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 Input 24VIN 1CN 47 I O Power Supply For Speed Torque Control and Position Control This external power supply input terminal is com mon to the following contact...

Page 94: ...put current 20 mA DC Photocoupler Host controller I O power supply Note Provide an external I O power supply separately There are no power terminals to which the DR2 Servopack outputs signals exter nally Yaskawa recommends that this external power supply be the same type as for the input circuit Output SG 1CN 2 Signal Ground for Alarm Code Output Signal For Speed Torque Control and Position Contro...

Page 95: ...3653 pulses A total of 13653 pulses must be input as a reference the host controller needs to make this calculation Machine conditions and reference unit must be defined for the electronic gear function beforehand To move a workpiece 10 mm Reference unit is 1 μm so 10 mm 1 μm 10000 pulses Number of encoder pulses 2048 Ball screw pitch 6 mm Workpiece 2 Setting the Electronic Gear Calculate the elec...

Page 96: ...nit is 0 001 mm 5 0 001 5 000 reference units Ball Screw Disc Table Belt Pulley Load shaft 1 revolution P Pitch Reference unit P 1 revolution Reference unit 360 Load shaft D Pulley diameter Load shaft 1 revolution Reference unit π D e Determine the electronic gear ratio B A If the load shaft makes n revolutions when the motor shaft makes m revolutions the gear ratio of motor shaft and load shaft i...

Page 97: ...tio Numerator Unit None Setting Range 1 to 65535 Factory Setting 4 For Position Control Only Cn 25 RATA Electronic Gear Ratio Denominator Unit None Setting Range 1 to 65535 Factory Setting 1 For Position Control Only These user constants are for position control only Set the electronic gear ratio according to machine specifications Electronic gear ratio B A Cn 24 Cn 25 B Number of encoder pulses x...

Page 98: ...n of load shaft Preset values 24576 3600 Cn 24 Cn 25 0 1 360 3600 Electronic gear ratio B A 2048 4 3 3600 1 Cn 24 Cn 25 Belt Pulley Pulley diameter 100 mm Absolute encoder 1024 pulses per revolution Cn 24 Cn 25 Load shaft Reference unit 0 0254 mm Gear ratio 2 4 1 Travel distance per revolution of load shaft 3 14 x 100mm 0 0254mm 12362 Electronic gear ratio B A 1024 4 2 4 12362 1 Cn 24 Cn 25 49152 ...

Page 99: ...g device or pulse generator is required The motor is operated at the speed set in the user constant P CON 1CN 41 P CL N CL 1CN 45 1CN 46 2 To use the contact input speed control function perform Steps a to c a Set the following memory switch to 1 Cn 02 Bit 2 Contact Input Speed Control Selection Factory Setting 0 For Speed Torque Control and Position Control Enables the contact input speed control...

Page 100: ...For Speed Torque Control and Position Control Cn 20 SPEED2 2nd Speed Contact Input Speed Control Unit r min Setting Range 0 to Maximum Speed Factory Setting 200 For Speed Torque Control and Position Control Cn 21 SPEED3 3rd Speed Contact Input Speed Control Unit r min Setting Range 0 to Maximum Speed Factory Setting 300 For Speed Torque Control and Position Control Use these user constants to set ...

Page 101: ... operation The following input signals are used to start and stop the motor Input P CL 1CN 45 Speed Selection 1 Forward External Torque Limit Input For Speed Torque Control and Position Control Input N CL 1CN 46 Speed Selection 2 Reverse External Torque Limit Input For Speed Torque Control and Position Control a Contact Input Speed Control when Cn 02 bit 2 1 For Speed Torque Control 0 OFF 1 ON Con...

Page 102: ...que limit input Input signal P CON is used to specify the direction of motor rotation Input P CON 1CN 41 Proportional Control etc For Speed Torque Control and Position Control a Contact Input Speed Control when Cn 02 bit 2 1 Use input signal P CON to specify the direction of motor rotation P CON Meaning 1 Reverse rotation 0 Forward rotation 0 OFF high level 1 ON low level b Standard Setting when C...

Page 103: ...art function is not available when pulse reference input is used For the position control type if contact input speed control mode is switched to pulse reference input mode when the motor is running at the 1st 2nd or 3rd speed the Servopack does not receive a pulse reference until positioning com plete signal COIN is output Always start outputting a pulse reference from the host controller after a...

Page 104: ...lect level 3 torque control I or level 4 torque con trol II Cn 01 Bit A Control Mode Selection Factory Setting 0 For Speed Torque Control Only Cn 01 Bit B Control Mode Selection Factory Setting 0 For Speed Torque Control Only This is dedicated torque control A motor torque reference value is externally input into the Servopack to control torque Examples of Use Tension control Pressure control Cn 0...

Page 105: ...ce Switching between speed and torque reference 1CN 5 1CN 9 1CN 41 When 1CN 41 is open Torque control When 1CN 41 is at 0 V Speed control For Torque Control when P CON is OFF 1 1 D T REF reference controls torque D V REF can be used to limit motor speed D V REF voltage limits motor speed during forward or reverse rotation Principle of Speed Restriction When the speed exceeds the speed limit negati...

Page 106: ... t il f d t l 1 Speed reference Torque feed forward For details of speed control with torque feed forward refer to 3 2 8 Using Torque Feed forward Function 0 1 Speed control with torque limit by analog voltage reference For details of speed control with torque limit by analog voltage reference refer to 3 2 9 Using Torque 0 1 Speed reference Torque limit value 3 2 9 Using Torque Restriction by Anal...

Page 107: ...isted pair cables Example of Variable Resistor for Speed Setting Type 25HP 10B manufactured by Sakae Tsushin Kogyo Co Ltd Input V REF 1CN 5 Speed Reference Input or Speed Limit Input For Speed Torque Control Only Input SG V 1CN 6 Signal Ground for Speed Reference Input For Speed Torque Control Only These signals are used when speed control is se lected bits A and B of memory switch Cn 01 For norma...

Page 108: ... switch Cn 01 to 1 Input P CON 1CN 41 Proportional Control etc For Speed Torque Control and Position Control The function of this input signal varies according to the memory switch setting Cn 02 Bit 2 Cn 01 Bit B Cn 01 Bit A Function of P CON 0 0 0 Proportional control Standard setting 0 0 1 Speed control with zero clamp function Switching between zero clamp enabled prohibited mode 0 1 0 Torque co...

Page 109: ... 14 TCRLMT Speed Limit for Torque Control I Unit r min Setting Range 0 to Maximum Speed Factory Setting Maximum Speed For Speed Torque Control Only Sets a motor speed limit value in this constant when torque control I is selected This user constant is used to prevent machine overspeed during torque control For torque control I set bits A and B of memory switch Cn 01 Cn 03 VREFGN Speed Reference Ga...

Page 110: ...6 and T REF 1CN 9 1CN 10 respectively Host controller Servopack Diffe renti ation Position reference Current loop Servomotor Speed calculation Frequency dividing Encoder KP Position loop gain KFF Feed forward gain Schematic Block Diagram for Torque Feed forward Control Integration 2 How to Use Torque Feed forward Function To use the torque feed forward function set the following memory switch to 1...

Page 111: ...tricted to 100 rated torque Cn 13 TCRFGN Torque Reference Gain Unit 0 1 V Rated Torque Setting Range 10 to 100 Factory Setting 30 For Speed Torque Control Only 3 2 9 Using Torque Restriction by Analog Voltage Reference For speed control only 1 Outline This function restricts torque by assigning the T REF terminal 1CN 9 1CN 10 a torque limit value in terms of analog voltage Since torque reference i...

Page 112: ...reverse rotation The same setting applies to both forward and reverse rotation Setting Meaning 0 Uses the T REF terminal as a torque reference or torque feed forward reference input terminal 1 Uses the T REF terminal as a torque limit value input terminal This function cannot be used with the torque feed forward function described in 3 2 8 Using Torque Feed forward Function For user constants and ...

Page 113: ...control for speed loop PI con trol is always used Servopack Reference pulse Cn 01 bit F Error counter Feedback pulse Schematic Block Diagram for INHIBIT Function P CON 2 How to Use Reference Pulse Inhibit Function INHIBIT To use the INHIBIT function set the following memory switch to 1 Cn 01 Bit F Reference Pulse Inhibit Function INHIBIT Factory Setting 0 For Position Control Only Enables the INHI...

Page 114: ...erence pulse input filter inside the Servopack according to the output form of reference pulses from the host controller 2 How to Use Reference Pulse Input Filter Set the following memory switch according to the output form of reference pulses from the host controller Cn 02 Bit F Reference Pulse Input Filter Selection Function Factory Setting 0 For Position Control Only Sets the memory switch acco...

Page 115: ...t 3V 100 torque VTG M Speed monitor output 3V 1000 r min As for the check terminals of the front panel TMON is the same signal as TRQ M VTG is the same signal as VTG M Signal ground for TMON and VTG is SG0V of check terminals The following memory switch is used to modify the signal specifications Cn 02 Bit 6 TRQ M Specifications Factory Setting 0 For Speed Torque Control Setting Meaning 0 Uses TRQ...

Page 116: ...m fine adjustment User constants Servopack Digital Operator is used to set user constants 2 User constants are divided into the following two types 1 Memory switch Cn 01 Cn 02 Each bit of this switch is turned ON or OFF to specify a function 2 User constant setting Cn 03 and later A numerical value such as a torque limit value or speed loop gain is set in this constant For Speed Torque Control Use...

Page 117: ...nts for speed torque control and position control have different mean ings Refer to a list of user constants for each type 4 For details of how to set user constants refer to 4 1 5 Operation in User Constant Setting Mode 3 3 2 Setting the Jog Speed 1 Use the following user constant to set or modify a motor speed when operating the Σ series Servo from a Digital Operator Cn 10 JOGSPD Jog Speed Unit ...

Page 118: ...ype Preset Value SGM jjj31j SGMP jjj31j Incremental encoder 0 SGM jjjW1j SGMP jjjW1j Absolute encoder 1 Cn 11 PULSNO Number of Encoder Pulses Unit Pulses Per Revolution Setting Range Number of Encoder Pulses Factory Setting 2048 For Speed Torque Control and Position Control Set the number of encoder pulses according to the servomotor type to be used If this user constant is set incorrectly system ...

Page 119: ...r to be used in the following user constant Cn 02 Bit 8 Motor Selection Factory Setting DR2 jjjj 0 DR2 jjjjP 1 For Speed Torque Control and Position Control Set this memory switch according to the servomotor type to be used SGM or SGMP After changing the memory switch setting turn the power OFF then ON This makes the new setting valid Motor Type Preset Value SGM jjjjjj 0 SGMP jjjjjj 1 3 ...

Page 120: ...mV units If this offset is adjusted to 0 V the motor will stop When reference voltage from the host controller or external circuit has an offset Offset Offset adjustment Offset is corrected by the Servopack Reference voltage Reference speed or reference torque Reference voltage Reference speed or reference torque 2 The following two methods can be used to adjust the reference offset to 0 V 1 Autom...

Page 121: ...vopack enters servo OFF status when Servo ON input signal S ON 1CN 40 is turned OFF Servo alarm arises Main power is turned OFF Specify how to stop the motor when one of the above events occurs during operation Setting Meaning 0 Stops the motor by dynamic brake Cn 01 bit 6 1 Causes the motor to coast to a stop The motor power is OFF and stops due to machine friction If dynamic brake stop mode is s...

Page 122: ...to enable or disable the zero clamp function Cn 01Bit A Control Mode Selection Factory Setting 0 For Speed Torque Control Only Cn 01Bit B Control Mode Selection Factory Setting 0 For Speed Torque Control Only Input P CON 1CN 41 Proportional Control etc For Speed Torque Control and Position Control Cn 01 Setting Control Mode Bit B Bit A Control Mode Zero clamp Speed Control This speed control allow...

Page 123: ...41 is turned ON 0 V c Motor speed drops below the preset value Speed V REF speed reference Preset value for zero clamp P CON input Zero clamp being performed Open OFF Closed ON Time 3 4 4 Using Holding Brake 1 Outline Holding brake is useful when a servo drive is used to control a vertical axis A servomotor with brake prevents the movable part from dropping due to gravitation when the system power...

Page 124: ...interlock output Setting Meaning 0 Uses the TGON TGON signals as the running output 1 Uses the TGON TGON signals as the brake interlock output Output TGON 1CN 27 Brake Interlock Output etc For Speed Torque Control and Output TGON 1CN 28 Control and Position Control This output signal controls the brake when a motor with brake is used This signal termi nal need not be connected when a motor without...

Page 125: ...peed Torque Control and Position Control This user constant is used to set output timing of brake control signals TGON 1CN 27 TGON 1CN 28 and servo OFF operation motor output stop when SGM SGMP Servomotor with brake is used This user constant is not available for alarm oc currence and main power OFF With the standard setting the servo is turned OFF when TGON signal brake operation is output The ma...

Page 126: ...tion Since brakes for SGM SGMP Servomotors are designed as holding brakes if brake is applied at motor running brake generates excessive fric tion Therefore brake ON timing when the motor stops must be appropriate Adjust the user constant settings while observing machine opera tion Conditions for TGON signal 1CN 27 output during motor operation The circuit between 1CN 27 and 1CN 28 is opened in ei...

Page 127: ...on Unit ms Setting Range 0 to 10000 Factory Setting 0 For Speed Torque Control Only Cn 23 SFSDEC Soft Start Time Deceleration Unit ms Setting Range 0 to 10000 Factory Setting 0 For Speed Torque Control Only In the Servopack a speed reference is multiplied by the acceleration or deceleration value set in Cn 07 or Cn 23 to provide speed control Smooth speed control can be achieved when pro gressive ...

Page 128: ...peeds in the following cases When the host controller which outputs refer ences cannot perform acceleration decelera tion processing When reference pulse frequency is too low When reference electronic gear ratio is too high more than 10 times This function does not change the travel distance number of pulses 3 5 3 Adjusting Gain 1 If speed loop gain or position loop gain exceeds the allowable limi...

Page 129: ...djustment in 1 Always use manual adjustment in 2 3 For detailed adjustment procedures refer to the following sections Adjustment Method 1 Automatic adjustment of reference offset 4 2 4 Reference Offset Automatic Adjustment 2 Manual adjustment of reference offset 4 2 5 Speed Reference Offset Manual AdjustmentMode 3 5 5 Setting the Torque Reference Filter Time Constant 1 If the machine causes vibrat...

Page 130: ...Set the following memory switch to select the torque reference filter degree Cn 02 Bit C Torque Reference Filter Degree Factory Setting 0 For Speed Torque Control and Position Control Setting Meaning 0 Primary filter 1 Secondary filter 3 ...

Page 131: ...ction that automatically measures machine characteristics and sets the necessary servo gain values With this function even first time servo users can easily perform tuning for servo gain Servo gain values are set in user constants 3 The following user constants can be automatically set by the autotuning function User Constant Meaning Cn 04 Speed loop gain Cn 05 Speed loop integration time constant...

Page 132: ...on loop as necessary Cn 1A POSGN Position Loop Gain Kp Unit 1 s Setting Range 1 to 500 Factory Setting 40 For Position Control Only This user constant is a position loop gain for the Servopack Increasing the position loop gain value provides position control with higher response and less error However there is a certain limit depending on machine characteristics This user constant is automatically...

Page 133: ...se this user constant to shorten positioning time Too high a value may cause the machine to vibrate For ordinary machines set 80 or less in this constant 3 6 4 Using Proportional Control 1 If both bits A and B of memory switch Cn 01 are set to 0 as shown below input signal P CON serves as a PI P control changeover switch for speed control loop PI Control Proportional Integral control P Control Pro...

Page 134: ... 6 6 Using Mode Switch b In the speed control mode if PI control mode is used when the speed reference has a reference offset the motor may rotate at a very slow speed and fail to stop even if 0 is specified as a speed reference In this case use P control mode to stop the motor 3 6 5 Setting Speed Bias The settling time for positioning can be reduced by assigning bias to the speed reference out pu...

Page 135: ...he mode switch is used to fully utilize performance of a servo drive to achieve very high speed positioning The speed response waveform must be observed to adjust the mode switch For normal use the speed loop gain and position loop gain set by autotuning provide suf ficient speed position control Even if overshoot or undershoot occurs they can be suppressed by setting the accelera tion deceleratio...

Page 136: ...reference in side the Servo pack 10 r min s 1 1 0 Uses error pulse as a detection point Cn 0F Reference unit When Torque Reference Is Used as a Detection Point of Mode Switch Standard Setting If a torque reference exceeds the torque value set in user constant Cn 0C the speed loop switches to P control The DR2 Servopack is factory set to this standard mode Cn 0C 200 Example of Use If a mode switch ...

Page 137: ...h Motor speed Settling time Suppress the occurrence of overshoot and undershoot When Acceleration Is Used as a Detection Point of Mode Switch If motor acceleration exceeds the value set in user constant Cn 0E the speed loop switches to P control Example of Use If a mode switch is not used and PI control is always performed torque may enter a saturation state during acceleration or deceleration cau...

Page 138: ...mode switch Settling time 4 The user constants required to set each mode switch are summarized as follows Cn 01Bit B Mode Switch ON OFF Factory Setting 0 For Position Control Only For position control only This user constant is used to enable or disable the mode switch function Setting Meaning 0 Uses the mode switch function 1 Does not use the mode switch function The Servopack allows use of four ...

Page 139: ... Switch Cn 01 Mode Switch Type User Constant for Setting Detection Bit D Bit C Detection Point 0 0 Uses torque reference as a detection point Cn 0C 0 1 Uses speed reference as a detection point Cn 0D 1 0 Uses acceleration reference as a detection point Cn 0E 1 1 For speed torque con trol Does not use mode switch For position control Uses error pulse as a detection point Cn 0F Mode switch is used t...

Page 140: ... time and suppress undershoot when the motor stops It switches PI control to P control when certain conditions are met The Servopack allows use of four different types of mode switch To select a modeswitch set bits B C and D of memory switch Cn 01 Memory Switch Cn 01 Mode Switch Setting User Constant Unit Bit D Bit C Bit B Setting User Constant Unit 1 Does not use mode switch 0 0 0 Uses torque ref...

Page 141: ...t Signal 134 3 7 5 Using Running Output Signal 136 3 7 6 Using Servo Ready Output Signal 138 3 7 1 Using Servo Alarm Output and Alarm Code Output 1 Basic Wiring for Alarm Output Signals Photocoupler Output Per output Maximum operation voltage 30 VDC Maximum output current 50 mADC Open Collector Output Per output Maximum operation voltage 30 VDC Maximum output current 20 mADC Servopack Photocoupler...

Page 142: ... 1CN 32 is open 1CN 31 is at high level Alarm state Alarm codes ALO1 ALO2 and ALO3 are output to indicate each alarm type 3 Contact Output Signals ALO1 ALO2 and ALO3 Output ALO1 1CN 37 Alarm Code Output For Speed Torque Control and Position Control Output ALO2 1CN 38 Alarm Code Output For Speed Torque Control and Position Control Output ALO3 1CN 39 Alarm Code Output For Speed Torque Control and Po...

Page 143: ...ra tive error Failure of regenerative circuit Position error pulse overflow The number of pulses in error counter has exceeded the preset value Overvoltage or undervol tage Main circuit DC voltage is overvoltage or undervoltage Overspeed Motor speed has exceeded the 110 of the maximum al lowable speed Overload Motor and Servopack are overloaded Absolute encoder er ror Absolute encoder is faulty Re...

Page 144: ...etails refer to Appendix E List of Alarm Displays 5 When the servo alarm ALM is output eliminate the cause of the alarm and set the fol lowing ALMRST input signal at low level 0V to reset the alarm state Input ALMRST 1CN 44 Alarm Reset For Speed Torque Control and Position Control This signal is used to reset the servo alarm state Alarm state can be reset using the Digital Operator Also alarm stat...

Page 145: ...ing motor operation the motor is decel erated to a stop by applying dynamic brake standard setting This function can be selected by setting bits 6 and 7 of memory switch Cn 01 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 Cn 01 Bit 0 Use of Servo ON Inp...

Page 146: ... control only This output signal indicates that motor operation is complete during position control The host con troller uses this signal as an interlock to confirm that positioning is complete ON status Circuit between 1CN 25 and 1CN 26 is closed 1CN 25 is at low level Positioning is complete position error is below the preset value OFF status Circuit between 1CN 25 and 1CN 26 is open 1CN 25 is a...

Page 147: ...ectronic gear function If too large a value is set in this user constant error may become too small when the mo tor runs at a low speed causing COIN to be output continuously COINLV does not affect the final positioning accuracy 3 7 4 Using Speed Coincidence Output Signal 1 This section describes how to wire and use contact output signal speed coincidence out puts LCT CLT This signal is output to ...

Page 148: ... than the preset value Preset value Cn 22 speed coincidence signal output width 2 Set the following user constant to specify the output conditions for speed coincidence signal V CMP Cn 22 VCMPLV Speed Coincidence Signal Output Width Unit r min Setting Range 0 to Max Speed Factory Setting 10 For Speed Torque Control Only For speed torque control only Set the output conditions for speed coincidence ...

Page 149: ...tion Speed coincide When CLT CLT output signals are changed the following bit data are also changed Status indication mode bit data Monitor mode Un 05 bit 4 CLT CLT 1CN 25 1CN 26 3 7 5 Using Running Output Signal 1 This section describes how to wire and use contact output signals TGON TGON as a running output signal This signal indicates that a servomotor is currently running Photocoupler Output P...

Page 150: ... Bit E TGON TGON Output Signals Selection Factory Setting 0 For Speed Torque Control and Position Control This memory switch is used to set output condi tions for output signals TGON TGON 1CN 27 When TGON TGON signals are changed the following bit data are also changed Status indication mode bit data Monitor mode Un 05 bit 4 Setting Meaning Uses TGON TGON as a running output signals TGON TGON comp...

Page 151: ...ceeds the preset value Signals are output when motor speed exceeds the preset value D TGON 1CN 27 D Status indication mode bit data D Monitor mode Un 05 bit 4 User Constant Setting Memory switch Cn 01 bit E 0 3 7 6 Using Servo Ready Output 1 This section describes how to wire and use photocoupler output signal S RDY servo ready Servo ready means that the Servopack is not in servo alarm state when ...

Page 152: ...r Speed Torque Control and Position Control This signal indicates that the Servopack is ready to receive servo ON signals ON status Circuit is closed or signal is at low level servo ready state OFF status Circuit is open or signal is at high level Not in servo ready state 3 ...

Page 153: ...safe and stable operation always refer to the following wiring instructions NOTE Always use the following cables for reference input and encoder wiring Cable Type Yaskawa Drawing No Maximum Allowable Length For reference input Twisted pair cables 3 m 9 8 ft For encoder Multiconductor shielded twisted pair cable B9400064 for incremental encoder DP8409123 for absolute encoder 20 m 65 6 ft Trim off t...

Page 154: ...0 cm 12 in Do not put the power and signal lines in the same duct or bundle them together Do not share the power supply with an electric welder or electrical discharge machine When the Servopack is placed near a high frequency oscillator install a noise filter on the input side of the power supply line Note a Since Servopack uses high speed switching elements signal lines may re ceive noise To pre...

Page 155: ...for 5ms or less flows at control power ON 3 A fast operating fuse cannot be used because the Servopack power supply is a capaci tor input type A fast operating fuse may blow out when the power is turned ON 3 8 2 Wiring for Noise Control This noise control do not conform to the EMC instructions To adapt DR2 Servopack to EMC instructions refer to 7 Measures to Satisfy the Requirements of EMC Instruc...

Page 156: ...red Note 1 For a ground wire to be connected to the casing use a thick wire with a thick ness of at least 3 5 mm2 preferably plain stitch cooper wire However be aware that max connectable size of ground terminal of Servopack is 2 5mm2 2 For wires indicated by P use twisted pair cables whenever possible 2 Correct Grounding Always ground the motor ground terminal Always connect servomotor ground ter...

Page 157: ...r Types Power Servopack Type Noise Filter Recommended Noise Filter Power Voltage Servopack Type Noise Filter Connection Type Specifications 30 W 0 04 HP DR2 A3Aj LF 205A Single phase 200 VAC 5 A 50 W 0 07 HP DR2 A5Aj 00 C 5 200 V 100 W 0 13 HP DR2 01Aj 200 V 200 W 0 27 HP DR2 02Aj Correct 400 W 0 53 HP DR2 04Aj LF 210 Single phase 200 VAC 10 A 750 W 1 01 HP DR2 08Aj LF 220 Single phase 200 VAC 20 ...

Page 158: ... input and output lines in the same duct or bundle them together Noise filter Noise filter Noise filter Noise filter Separate these circuits Separate the noise filter ground wire from the output lines Do not accommodate the noise filter ground wire output lines and other signal lines in the same duct or bundle them together Noise filter The ground wire can be close to input lines Noise filter 3 ...

Page 159: ...ter ground wire to other ground wires Shielded ground wire Thick and short Noise filter Noise filter When grounding a noise filter inside a Unit If a noise filter is located inside a Unit connect the noise filter ground wire and the ground wires from other devices inside the Unit to the ground plate for the Unit first then ground these wires Unit Ground Noise filter 3 ...

Page 160: ...f Wiring More than One Servo Drive Note Make sure to connect only one cable to power input terminals L1 L2 L N Never connect more than one cables to one terminal Power supply Noise filter Power OFF Power ON Servopack Servomotor Servomotor Servomotor Servopack Servopack 3 ...

Page 161: ...ays select a MCCB or noise filter that has enough capacity for the total power capacity load conditions of those ser vos For details refer to page 142 MCCB Noise filter 3 8 4 Using Regenerative Units Note Regenerative unit can be applied only to 200V 30W to 200W types DR2 A3A A5A 01A 02A For 200V 400W 750W and all types of 100V regenerative unit cannot be used 1 What is a Regenerative Unit A regen...

Page 162: ...l axis Servomotor Moves vertically b When motor accelerates and decelerates frequently Speed Speed reference d When motor rotates at a speed higher than 3000 r min Operating speed Speed reference Rated speed 3000 r min Time c When load inertia is too high Load inertia Load inertia Allowable load inertia for servomotor Servomotor 3 How can we Determine Whether a Regenerative Unit is Required or Not...

Page 163: ... Detecting broken wiring in a regenerative resistor Detecting faults in a regenerative transistor Detecting overvoltage b When one of these fault detection functions operates the internal alarm relay is actu ated Then the circuit between output terminals C1 and C2 is opened c Form a sequence so that the Servopack main power is turned OFF when the alarm relay is actuated d Once the alarm relay is a...

Page 164: ... position Zero return operation 12 bit absolute encoder 2 Standard Connection Diagram for a 12 bit Absolute Encoder Mounted on a Servo motor Interface Circuit Host controller Battery Line receiver Serial interface circuit Clear Up down counter De coder Servopack Servomotor 12 bitabsoluteencoder Represents twisted pair wires Serial interface circuit SG BAT BAT FG 1CN 50 1CN 1 1CN 49 1CN 48 1CN 20 1...

Page 165: ...ing Meaning 0 Uses SEN signal 1 Does not use SEN signal NOTE If the SEN signal is to be turned OFF then ON again it must remain at high level for at least 1 3 seconds before being turned OFF SEN signal OFF ON High level ON 1 3 seconds or more 15 ms or more OFF 4 Memory Switch to 1 to Select Absolute Encoder Cn 02 Bit 9 Encoder Type Selection Factory Setting 0 For Speed Torque Control and Position ...

Page 166: ... store position information even when the power is turned OFF Load the battery in the host controller and connect it to Servopack input terminals BAT and BAT0 Recommended battery D Connect the battery securely to prevent contact faults Recommended battery Connect the battery securely to prevent contact faults resulting from environmental changes or aging Lithium battery Toshiba Battery ER6V C3 Typ...

Page 167: ...red the setup procedure is complete NOTE Setting up the encoder sets the revolution count inside the encoder to 0 After setting up the encoder always reset the machine home position Operating the ma chine without the home position being reset does not only damage the machine but may also cause an accident resulting in injury or death 7 Absolute Data Exchange Sequence The Servopack sends absolute d...

Page 168: ...s Normally this is a negative value PS Number of initial incremental pulses read at setup PM Current value required for the customer system R Number of pulses per encoder revolution pulse count after dividing value of Cn 0A c Absolute Data Transmitting Sequence 1 Set the SEN signal at high level 2 After 100 ms set the system to serial data reception waiting state Clear the incremental pulse up dow...

Page 169: ...format 13 characters As shown on the right Incremental Pulse and Home Position Pulse Initial incremental pulses which pro vide absolute data are first divided by the frequency divider inside the Servo pack and then output in the same way as normal incremental pulses 3 P or A or Data Start bit Even parity Data is P 00000 CR or P 00000 CR when the number of revolu tions is zero The maximum number of...

Page 170: ...f output pulses per revolution is set in this user constant Set this value accord ing to the reference unit of the machine or con troller to be used The setting range varies according to the en coder used Motor Type Number of Encoder Pulses Per Revolution Setting Range SGM jjj31j SGMP jjj31j Incremental encoder 2048 pulses per revolution 16 to 2048 SGM jjjW1j SGMP jjjW1j Absolute encoder 1024 puls...

Page 171: ...ALM82 CR ALARMOB CHEC Overspeed Indicates that the motor was running at a speed exceeding 400 r min when the encoder was turned ON CR ALM85 CR ALARMOP OVER Absolute Error Indicates that an error was detected in sensor check inside the encoder CR ALM84 CR ALARMOH ABSO Backup Battery Combination Alarm CR ALM81 CR ALARMOE BACK BATT The SEN signal can be used to output alarm information from PAO and P...

Page 172: ...Encoder Cable 1 Both incremental and absolute encoders have a standard encoder cable maximum 20 meters 65 6 ft If a longer cable is required prepare an extension cable as described below The maximum allowable cable length is 50 meters 164 ft a 3 meter 19 8 ft Cable with Connectors For incremental encoder DP9320082 1 For absolute encoder DP9320084 1 TERMS Home position error detection This function...

Page 173: ...g an Encoder Cable cont 160 b 50 meter 164 ft Extension Cable Cut this cable 30 cm 0 98 ft or less from each end Be sure to connect each wire correctly see the following table For both incremental and absolute encoders DP8409179 Maximum 50 m 164 ft 3 ...

Page 174: ...AWG26 White Yellow AWG26 PC Green AWG26 Green AWG26 PC White Green AWG26 White Green AWG26 PS Violet AWG26 Purple AWG26 PS White Green AWG26 White Green AWG26 RESET White Gray AWG26 White Gray AWG26 BAT Orange AWG26 Orange AWG26 BAT0 White Orange AWG26 White Orange AWG26 3 8 7 Using DR2 Servopack with High Voltage Line 1 DR2 Servopacks are divided into single phase 200 V and single phase 100 V typ...

Page 175: ...wer Supply Capacity Per DR2 Servopack kVA see note DR2 A3Aj 0 25 DR2 A5Aj 0 3 200 V DR2 01Aj 0 5 200 V DR2 02Aj 0 75 DR2 04Aj 1 2 DR2 08Aj 2 2 DR2 A3Bj 0 25 DR2 A5Bj 0 3 100 V DR2 01Bj 0 5 100 V DR2 02Bj 0 75 DR2 03Bj 1 4 Note At rated load 3 When 400V class supply voltage is used Three phase 400 or 440 VAC Power transformer 200 or 100 VAC Magnetic contactor for power ON OFF Servopack 1MC 1MC L1 L...

Page 176: ...ro hibit Input 27 TGON 11 SIGN 42 P OT Forward Running Pro CLT COIN 10 SG GND 42 P OT Forward Running Pro hibit Input 26 COIN Current Limit Detection 10 SG GND 41 P CON P Control Input CLT Current Limit Detection Output 9 T REF Torque Reference Input 41 P CON P Control Input 25 CLT COIN 9 T REF Torque Reference Input 40 S ON Servo ON Input 8 PULS 40 S ON Servo ON Input 24 15V Speed Torque Refer 8 ...

Page 177: ...PG0V 14 PC 8 PS 1 PG0V 15 PC 8 PS 2 PG0V 15 PC 9 PS 2 PG0V 16 PA 9 PS 3 PG0V 16 PA 10 RESET 3 PG0V 17 PA 10 RESET 4 PG5V 17 PA 11 4 PG5V 18 PB 11 5 PG5V 18 PB 12 BAT 5 PG5V 19 PB 12 BAT 6 PG5V 19 PB 13 BAT0 6 PG5V FG 13 BAT0 DIR 20 FG 7 DIR D Servopack Side Connector type MR 20RMA4 manufactured by Honda Tsushin Kogyo Co Ltd D Cable Side Connector type MR 20F Soldering type manufactured by Honda Ts...

Page 178: ...ng type MR 20F Caulking type MRP 20F01 manufactured by Honda Tsushin Kogyo Co Ltd Items to be Prepared by Customer Manufactured by AMP Cap 172161 1 Socket 170361 1 chain type or 170365 1 loose type 1 Channel A output Blue 2 Channel A output Blue Black 3 Channel B output Yellow 4 Channel B output Yellow Black 5 Channel C output Green 6 Channel C output Green Black 7 0 V power supply Gray 8 5 V powe...

Page 179: ...sushin Kogyo Co Ltd Connector soldering type MR 20F Caulking type MRP 20F01 manufactured by Honda Tsushin Kogyo Co Ltd 1 Channel A output Blue 2 Channel A output White Blue 3 Channel B output Yellow 4 Channel B output White Yellow 5 Channel Z output Green 6 Channel Z output White Green 7 0 V power supply Black 8 5 V power supply Red 9 Frame ground FG Green Yellow 10 Channel S output Purple 11 Chan...

Page 180: ...en Manufactured by AMP 5 Connectors and Terminals for Motor with Brake DC side Red Black AC input Brake power supply manufactured by Yaskawa Controls Co Ltd 100 VAC input 90 VDC LPDE 1H01 200 VAC input 90 VDC LPSE 2H01 1 Phase U Red 2 Phase V White 3 Phase W Blue 4 Frame ground FG Green 5 Brake terminal Black 6 Brake terminal Black Cap 172160 1 Socket 170362 1 or 170366 1 Manufactured by AMP 3 ...

Page 181: ...by Daiichi Denshi Kogyo K K Pin Signal Signal Circuit Name Signal No Name Direction 1 TXD Transmit data non inversion side P z S 2 TXD Transmit data inversion side P z S 3 RXD Receive data non inversion side P S 4 RXD Receive data inversion side P S 5 OPH 6 RXD Shorting pins 6 and 7 produces a terminal 7 RT resistance of 220 Ω between RXD and RXD 8 5VPP 9 GND Signal ground 0 V 3 ...

Page 182: ... 1 2 Resetting Servo Alarms 171 4 1 3 Basic Functions and Mode Selection 172 4 1 4 Operation in Status Display Mode 173 4 1 5 Operation in User Constant Setting Mode 176 4 1 6 Operation in Monitor Mode 179 4 2 Using the Functions 183 4 2 1 Operation in Alarm Trace back Mode 183 4 2 2 Operation Using the Digital Operator 186 4 2 3 Autotuning 188 4 2 4 Reference Offset Automatic Adjustment 195 4 2 5...

Page 183: ...lay Mode 173 4 1 5 Operation in User Constant Setting Mode 176 4 1 6 Operation in Monitor Mode 179 4 1 1 Connecting the Digital Operator The applicable Digital Operator type is JUSP OP02A 1 Hand held Type Hand held type is connected to the Servopack as shown below JUSP OP02A 1 Hand held Type Connect using the 1 m cable supplied Servopack The Digital Operator connector can be connected or disconnec...

Page 184: ...e Digital Operator Servo alarms can also be reset by the 1CN 44 ALMRST input signal Refer to 3 7 1 for details Press Alarm Reset NOTE After an alarm occurs remove the cause of the alarm before resetting it Refer to Section 6 2 Troubleshooting to determine and remedy the cause of an alarm 4 ...

Page 185: ...de Sub section 4 1 5 Sets the user constants to select and set all Servopack functions Monitor Mode Sub section 4 1 6 Displays the speed references to the Servopack the actual speed and internal status Alarm Trace back Mode Sub section 4 2 1 Displays a log of previous alarms Special Modes These modes are selected by setting a value for user constant Setting Mode Software version check mode Sub sec...

Page 186: ...n the speed torque control and position control For Speed Torque Control Bit Data Torque Limit Detection or Speed Coincide Base Block Control Power ON Speed Reference Input Torque Reference Input TGON or Brake Interlock Signal Code see next page see below Main Power ON Code Status Base block Servo OFF motor power OFF Run Servo ON motor power ON Forward Rotation Prohibited P OT 1CN 42 P OT OFF See ...

Page 187: ... standard setting for Cn 18 Cn 19 Not lit during torque control Lit if motor speed reaches speed reference Otherwise not lit TGON or Brake Interlock Signal selected by Cn 01 Bit E Lit if motor speed exceeds preset value Not lit if motor speed is below preset value Preset value Set in Cn 0B 20 r min is factory setting When brake interlock is ON between 1CN 27 and 28 is closed and 1CN 27 is Low leve...

Page 188: ... Brake Interlock Signal see next page see below Main Power ON CLR Input Code Status Base block Servo OFF Run Servo ON Forward Rotation Prohibited 1CN 42 P OT OFF See Cn 01 Bit 2 page 55 Reverse Rotation Prohibited 1CN 43 N OT OFF See Cn 01 Bit 3 page 55 Alarm Status Displays the alarm number See the table of alarms on page 185 4 Positions ...

Page 189: ...t in Cn 0B 20 r min is standard setting When brake interlock is ON between 1CN 27 and 28 is closed and 1CN 27 is Low level lit when brake is releaded When brake interlock is OFF between 1CN 27 and 28 is open and 1CN 27 is High level not lit when brake operates Reference Pulse Input Lit if reference pulse is input Not lit if no reference pulse is input CLR Input Lit when clear signal is input Not l...

Page 190: ...ber to set Press the and keys to select the digit Press the and keys to change the value 3 Press DATA ENTER to display the current data for the user constant selected at step 2 4 Set the required data Press the and keys to select the digit Press the and keys to change the value 5 Press DATA ENTER to store the data 6 Press DATA ENTER once more to display the user constant number again 7 Repeat step...

Page 191: ... display the current data for the memory switch selected at step 2 4 Press the and keys to select the bit number to set 5 Press the and keys to set the memory switch data ON or OFF for the bit number 6 Repeat steps 4 and 5 as often as required 7 Press DATA ENTER to store the data TERMS Turning Bits ON and OFF Memory switches use bits not numbers to select functions Sixteen bits are available 1 to ...

Page 192: ...tored 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 1 Press DSPL SET to select the monitor mode 2 Press the and keys to select the monitor number to display 3 Press DATA ENTER to display the data for the mon itor number selected at step 2 4 Press DATA ENTER once more to display the moni t...

Page 193: ... motor rotation or brake interlock signal 1CN 27 TG ON status display mode 5 Torque limit or speed coincide 1CN 25 V CMP status display mode 6 Mode switch ON 7 During forward torque limit Or contact input speed control 1CN 45 P CL 8 During reverse torque limit speed co o 1CN 46 N CL 9 Motor power ON 10 A phase 2CN 33 PA 2CN 34 PA 11 B phase 2CN 35 PB 2CN 36 PB 12 C phase 2CN 19 PC 2CN 20 PC 13 U p...

Page 194: ...e Cn 02 Bit 0 2CN 7 DIR 4 During motor rotation or brake interlock signal 1CN 27 TG ON status display mode 5 Positioning complete 1CN 25 COIN status display mode 6 Mode switch ON 7 During forward torque limit Or contact input speed control 1CN 45 P CL 8 During reverse torque limit speed co o 1CN 46 N CL 9 Motor power ON 10 A phase 2CN 33 PA 2CN 34 PA 11 B phase 2CN 35 PB 2CN 36 PB 12 C phase 2CN 1...

Page 195: ...cription Bit Un 06 1 Input reference pulse 1CN 1 PLUS 1CN 2 PULS 2 Input pulse sign 1CN 3 SIGN 1CN 4 SIGN 3 Error counter clear input 1CN 5 CLR 1CN 6 CLR 4 to 12 Not used 13 Full closed Phase A 4CN 2 FA 4CN 3 FA 14 Full closed Phase B 4CN 4 FB 4CN 5 FB 15 Full closed Phase C 4CN 6 FC 4CN 7 FC 16 to 20 Not used 4 ...

Page 196: ...r Type 201 4 2 8 Checking Software Version 201 4 2 1 Operation in Alarm Trace back Mode 1 The alarm trace back mode displays up to ten alarms which occurred previously By al lowing confirmation of what alarm occurred when it is a useful aid to speed up trouble shooting Alarm Sequence Number Alarm Code The higher the number the older the alarm data See the table of alarms on page 185 NOTE The alarm...

Page 197: ... below to determine which alarms occurred previously 1 Press DSPL SET to select the alarm trace back mode 2 Press the and keys to scroll the alarm sequence numbers up and down and display information on previous alarms The higher the left hand digit alarm sequence number the older the alarm data 4 Alarm Trace back Mode Older Newer ...

Page 198: ...verload Absolute encoder error Absolute encoder back up error Absolute encoder checksum error Absolute encoder battery error Absolute encoder data error Absolute encoder overspeed Reference input read error Servo overrun detected This function prevents or minimizes overrun Encoder output phase error Incremental encoder initial pulse error Encoder A B phase disconnection Encoder C phase disconnecti...

Page 199: ...Operation from the Digital Operator allows the Servopack to run the motor This allows rapid checking of basic operations during machine set up and testing without the trouble of con necting a host controller Used during machine set up and testing Forward reverse speed settings possible Power No need to connect to host controller or external circuits Motor can be run just from the Digital Operator ...

Page 200: ... motor power turned ON Select Servo ON Servo OFF 7 Press the and keys to operate the motor Motor Forward Reverse Rotation 8 Press DSPL SET to revert to This sets the servo OFF status motor power turned OFF Alternatively press JOG SVON to set the servo OFF status 9 Press DATA ENTER to return to the setting mode display This disables operation under Dig ital Operator control 4 Select Cn 00 The selec...

Page 201: ...o 4 1 5 Operation in User Constant Set ting Mode and Appendix D List of User Constants 4 2 3 Autotuning No experience required to achieve optimum settings The Servopack contains a built in autotuning function to automatically measure the machine characteristics and set the user constants Servo drives normally require tuning to match the machine configuration and rigidity This tuning requires a gre...

Page 202: ...ng autotun ing Before conducting autotuning make sure that setting of user constant Cn 10 is 500 factory setting Make sure that the speed control mode is set to PI control before starting autotuning If the mode switch is used PI control automatically switches to P control above a set operating level PI control to P control switching level even if the P CON signal is OFF If the mode switch is used ...

Page 203: ...nce Cn 0C to maximum torque Speed reference Cn 0D to a preset value exceeding Cn 10 Acceleration Cn 0E to the maximum value 3000 Error pulse Cn 0F to the maximum value 10000 Select the operating level using Bit C and Bit D of Cn 01 Refer to 3 6 6 using mode switch for details of the mode switch function 4 ...

Page 204: ...ress DATA ENTER to display the current data for the user constant Cn 00 4 Press the and keys to change the data to 05 5 Press DSPL SET to display the machine rigid ity 6 Press the and keys to select the machine rigidity If the actual rigidity is un known select medium rigidity 7 Press DSPL SET to select autotuning mode 4 Setting Mode Select Cn 00 The selected digit blinks User Constant Number Data...

Page 205: ...for the precautions relating to autotuning 5 Precautions Relating to Autotuning a Speed Setting During Autotuning The motor speed during autotuning is set by user constant Cn 10 Set to 500 r min which is the factory setting Autotuning may be unsuccessful if this value is set too low The motor runs intermittently while the or key is held down The motor does not rotate continuously b Machine Rigidit...

Page 206: ...PL SET key once more to enter the machine rigidity setting mode Re duce the setting by one 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 1 Press the DSPL SET key to cancel autotuning 2 Press the DSPL SET key once more to enter the machine...

Page 207: ...g is not possible during overtravel P OT or N OT signal OFF Conduct autotuning when no overtra vel has occurred both P OT and N OT signal ON Set the P CON signal OFF during autotuning 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 122 for details about setting the mode swi...

Page 208: ...set and adjusts the reference voltage It adjusts both speed and torque references The following diagram illustrates automatic adjustment of an offset in the reference voltage from the host controller or external circuit Reference Voltage Reference Speed or Reference Torque Offset Automatic Adjustment of Offset Reference Voltage Offset Automatically Adjusted in Servopack Reference Speed or Referenc...

Page 209: ...onstant Cn 00 is selected when the power is turned ON Press the and keys to select the digit Press the and keys to change the value 4 Press DATA ENTER to display the current data for the user constant Cn 00 5 Press the and keys to change the data to 01 6 Press DSPL SET to automatically adjust the reference offset The motor rotation stops 7 Press DATA ENTER to return to the setting mode display Thi...

Page 210: ...ference Offset Manual Adjustment Mode 1 Speed reference offset manual adjustment is available for the speed torque control It is very convenient in the following situations If a position loop is formed with the host controller and the error pulses are zeroed when servo lock is stopped To deliberately set the offset to some value This mode can also be used to check the data set in the reference off...

Page 211: ... min 0 076 mV For Cn 03 500 factory setting Reference Torque 0 0025 0 076mV For Cn 13 30 factory setting 2 Follow the procedure below to manually adjust the reference voltage 1 Press DSPL SET to select the user constant setting mode 2 Select the user constant number Cn 00 User constant Cn 00 is selected when the power is turned ON Press the and keys to select the digit Press and keys to change the...

Page 212: ...nces 7 Press DSPL SET to enter the torque refer ence offset manual adjustment mode The amount of torque reference offset is displayed 8 Press the and keys to adjust the amount of offset Adjust the torque references 9 Press DSPL SET to return to the user constant data display 10 Press DATA ENTER to return to the setting mode display This ends the reference offset manual adjustment 4 Set to 00 03 ke...

Page 213: ...e user constant setting mode 2 Select the user constant number Cn 00 User constant Cn 00 is selected when the power is turned ON Press the and keys to select the digit Press the and keys to change the value 3 Press DATA ENTER to display the current data for the user constant Cn 00 4 Press the and keys to change the data to 02 5 Press DSPL SET to clear the alarmtrace back data 6 Press DATA ENTER to...

Page 214: ...lay Motor Type Motor Capacity Modification Index Modification No Display Hexadecimal Display Modification index Modification No 0 SGM 200V 1 SGM 100V 2 SGMP 200V 3 SGMP 100V 9E 30W b2 50W 01 100W 02 200W 03 300W 04 400W 08 750W 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 Op...

Page 215: ...nd Specifications 217 5 2 2 Mechanical Characteristics 230 5 3 Servopack Ratings and Specifications 233 5 3 1 Ratings and Specifications 233 5 3 2 Power Consumption 238 5 3 3 Overload Characteristics 239 5 3 4 Starting Time and Stopping Time 240 5 3 5 Load Inertia 241 5 3 6 Overhanging Loads 246 5 4 Σ Series Dimensional Drawings 247 5 4 1 Servomotor Dimensional Drawings 247 5 4 2 Servomotor Dimens...

Page 216: ...6 4 Brake Power Supply 363 5 6 5 Encoder Cables 365 5 6 6 Battery for Absolute Encoder 371 5 6 7 1CN Connector 371 5 6 8 Circuit Breaker 373 5 6 9 Noise Filter 374 5 6 10 Magnetic Contactor 375 5 6 11 Surge Suppressor 376 5 6 12 Regenerative Unit 376 5 6 13 Variable Resistor for Speed Setting 379 5 6 14 Encoder Signal Converter Unit 379 5 6 15 Cables for Connecting PC and Servopack 381 5 6 16 4CN ...

Page 217: ...electing a Servopack 212 5 1 3 Digital Operator 216 5 1 1 Selecting a Servomotor 1 The selection of an SGM or SGMP Servomotor matched to the servo system in which it is used is based on the servomotor type that is the seven alphanumeric characters after SGM or SGMP described below The numbers 1 to 6 below correspond to the numbers in the flowchart for Servomotor selection on the following pages 5 ...

Page 218: ...andard application U 200V L 100V U and L are UL Standard application 3 Encoder specification 3 2048 P R incremental encoder W 12 bit absolute encoder Available upon special request S 15 bit absolute encoder 4 2000 P R incremental encoder 4 Design revision order 5 Shaft specification 2 Straight without key 4 Straight with key 6 Options B with brake S with shaft seal D with brake and shaft seal P dr...

Page 219: ...GMP Servomotor is conducted according to the flowchart in the next page If an SGMP Servomotor is selected replace SGM with SGMP SGMP Servomotors are available from 100W 0 13HP to 750W 1 01HP A 1500W 2 01HP type also exists but the DR2 Servopack can handle up to 750W 1 01HP 5 ...

Page 220: ... page 210 D Select capacity using Servomotor sizing software See note on the next page Determine motor capacity Enter rated output 2 Determine supply voltage 100V 200V 200 V power supply 100 V power supply D D D D D D D D D Enter code as characters 1 and 2 30W 0 04HP A3 50W 0 07HP A5 100W 0 13HP 01 200W 0 27HP 02 300W 0 40HP 03 400W 0 53HP 04 750W 1 01HP 80 Flowchart for Servomotor Selection To ne...

Page 221: ...ithout key Straight with key Under gravitational load Oil used at end of shaft Gravitational load oil Subject to water droplets With brake With shaft seal With brake and shaft seal Drip proofed End Servomotor selection 5 Select shaft specification 6 Selection option specification From the previous page A Absolute incremental Incremental encoder 2048 P R Absolute encoder 12 bit Note Consult Yaskawa...

Page 222: ... Vertical Axis Load mass W1 kg lb Counterweight W2 kg lb Coefficient of friction µ Motor Overall efficiency η Gear coupling Gear ratio R Nm Nl Gear coupling GD2g Gear coupling GD2g kg cm2 lb in2 Ball screw pitch P mm in Ball screw diameter D mm in B ll Ball screw length L mm in Ball screw 3 Timing Belt Load mass W kg lb Pulley Thrust F kg lb Coefficient of friction µ Overall efficiency η Gear coup...

Page 223: ... in2 Load torque Tℓ kg cm2 lb in2 T ℓ Overall efficiency η Motor Gear ratio R Nm Nl Gear coupling GD2 ℓ Gear coupling GD2g kg cm2 lb in2 Gear coupling GD2g GD2 ℓ 7 Others Load GD2 GD2ℓ kg cm2 lb in2 Load torque Tℓ kg cm2 lb in2 Motor speed Nm r min DUTY td s Positioning time ts s Accel decel time ta s D Duty cycle DUTY td s Positioning distance Ls mm in Moving member speed Vℓ m min Positioning tim...

Page 224: ... selection of a DR2 Servopack matched to the servo system in which it is used is based on the Servopack type that is the four to six alphanumeric characters after DR2 described below The numbers 1 to 5 below correspond to the numbers in the flowchart for Servopack selection on the following pages 5 ...

Page 225: ...osition control 4 Factory setting of applicable motor type Blank SGM Servomotor P SGMP Servomotor Flowchart for Servopack selection Selected Servopack type D D D D D D Example Axis 1 Axis 2 D D D The applicable motor type SGM SGMP can be changed by setting the user constants 5 Option Blank Semi closed loop specifications standard F Full closed loop specifications Axis 3 Axis 4 Axis 5 DR2 DR2 jjjjj...

Page 226: ...al to the motor capacity Enter rated output Enter code as characters 1 and 2 30W 0 04HP A3 50W 0 07HP A5 100W 0 13HP 01 200W 0 27HP 02 300W 0 40HP 03 400W 0 53HP 04 750W 1 01HP 08 2 Determine supply voltage 200 V power supply 100 V power supply 3 Select model D D D 100 V 200 V Flowchart for Servopack Selection Always enter C DR2 jjjC DR2 jjjj DR2 jjjjP 4 Determine applicable motor The applicable m...

Page 227: ...g a Σ Series Servo 215 End Servopack selection DR2 jjjjj DR2 jjjjj F 5 Determine option specifications Semi closed specifications standard Full closed specifications Semi closed Full closed From the previous page 5 ...

Page 228: ...eld in the hand while connected with the 1 m cable supplied Note Mount type digital operator JUSP OP03A cannot be used for DR2 Servopack Instead of digital operator also personal computer IBM PC can be used to monitor or set the user constants For details refer to the manual Operation Manual for Personal Computer Monitoring Software Manual No SIE S800 15 5 5 JUSP OP03A Mount Type ...

Page 229: ...f SGM and SGMP Servomotors are shown below Refer to them as required when selecting a Servomotor 2 Ratings and Specifications of 200 VAC SGM Servomotors Time rating continuous Heat resistance class Class B Class A for UL spec type SGM jU 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...

Page 230: ...celeration 1 rad s2 45200 61200 79500 51800 666000 35600 Inertia Time Constant ms 1 5 0 9 0 5 0 4 0 3 0 3 Inductive Time Constant ms 1 5 1 8 1 9 5 4 6 4 13 1 These items and torque motor speed characteristics quoted in combination with a DR2 Servopack at an armature winding temperature of 100 C Other values quoted at 20 C All values typical at power voltage 200V 2 Rated torques are continuous allo...

Page 231: ...cm Coil Resistance Ω at 20 C Rated Current A at 20 C SGM A3jjjj 30 6 2 0 1350 0 067 SGM A5jjjj 50 6 2 0 1350 0 067 SGM 01jjjj 100 6 3 5 1350 0 067 SGM 02jjjj 200 6 5 15 1246 0 072 SGM 04jjjj 400 6 5 15 1246 0 072 SGM 08jjjj 750 6 25 1350 0 067 b SGM Type Rated Voltage 24 VDC Semi standard Motor Model Motor Capacity W Holding Brake Specifications Capacity W Holding Torque kg cm Coil Resistance Ω at...

Page 232: ...n Motor Speed r min Motor Speed r min Motor Speed r min Motor Speed r min 4000 3000 2000 1000 0 0 0 1 0 2 0 3 0 4 0 20 40 60 4000 3000 2000 1000 0 0 0 15 0 3 0 45 0 6 0 20 40 60 80 100 4000 3000 2000 1000 0 0 0 25 0 5 0 75 1 0 50 100 150 4000 3000 2000 1000 0 0 0 5 1 1 5 2 0 100 200 300 4000 3000 2000 1000 0 0 1 2 3 4 0 200 400 600 4000 3000 2000 1000 0 0 2 4 6 8 0 400 800 1200 A Continuous Duty Z...

Page 233: ... Max Rotation Speed 1 r min 4500 Torque Constant 1 N m A rms 0 392 0 349 0 535 0 641 q oz in A rms 55 5 49 4 75 8 91 0 Moment of Inertia Incremental encoder no h ldi b k GD2 M 4 kg m2 10 4 0 065 0 209 0 347 2 11 holding brake oz in s2 10 3 0 917 2 96 4 92 29 9 Incremental encoder with h ldi b k GD2 M 4 kg m2 10 4 0 103 0 307 0 445 2 52 holding brake oz in s2 10 3 1 46 4 35 6 31 35 7 Absolute encod...

Page 234: ...r Model Motor Capacity W Holding Brake Specifications Capacity W Holding Torque kg cm Coil Resistance Ω at 20 C Rated Current A at 20 C SGMP 01jjjj 100 6 5 0 1555 0 062 SGMP 02jjjj 200 5 10 1573 0 056 SGMP 04jjjj 400 7 6 20 1062 0 085 SGMP 08jjjj 750 7 5 37 1083 0 083 b SGMP Type Rated Voltage 24 VDC Semi standard Motor Model Motor Capacity W Holding Brake Specifications Capacity W Holding Torque ...

Page 235: ... 08A V Motor Speed r min Motor Speed r min Motor Speed r min Motor Speed r min 4000 3000 2000 1000 0 0 0 2 0 4 0 6 0 8 0 40 80 120 4000 3000 2000 1000 0 0 0 5 1 1 5 2 0 100 200 300 4000 3000 2000 1000 0 0 1 2 3 4 0 200 400 600 4000 3000 2000 1000 0 0 2 4 6 8 0 400 800 1200 A Continuous Duty Zone B Intermittent Duty Zone 5 ...

Page 236: ... 72 q oz in 40 5 67 7 135 270 527 7 Rated Current 1 A rms 0 63 0 9 2 2 2 7 3 7 Instantaneous Peak Current 1 A rms 2 0 2 9 7 1 8 4 14 8 Rated Rotation Speed 1 r min 3000 Max Rotation Speed 1 r min 4500 Torque Constant 1 N m A rms 0 168 0 194 0 156 0 255 0 279 q oz in A rms 23 8 27 5 22 1 36 1 39 6 Moment of Inertia GD 2 M 4 kg m2 10 4 0 021 0 026 0 040 0 123 0 191 oz in s2 10 3 0 288 0 368 0 576 1 ...

Page 237: ... Holding Brake a SGM Type Rated Voltage 90 VDC Standard Motor Model Motor Capacity W Holding Brake Specifications Capacity W Holding Torque kg cm Coil Resistance Ω at 20 C Rated Current A at 20 C SGM A3jjjj 30 6 2 0 1350 0 067 SGM A5jjjj 50 6 2 0 1350 0 067 SGM 01jjjj 100 6 3 5 1350 0 067 SGM 02jjjj 200 6 5 15 1246 0 072 SGM 03jjjj 400 6 5 15 1246 0 072 b SGM Type Rated Voltage 24 VDC Semi standar...

Page 238: ...03B W Motor Speed r min Motor Speed r min Motor Speed r min Motor Speed r min TORQUE N m 4000 3000 2000 1000 0 0 0 1 0 2 0 3 0 4 0 20 40 60 4000 3000 2000 1000 0 0 0 15 0 3 0 45 0 6 0 20 40 60 80 100 4000 3000 2000 1000 0 0 0 25 0 5 0 75 1 0 50 100 150 4000 3000 2000 1000 0 0 0 5 1 1 5 2 0 100 200 300 4000 3000 2000 1000 0 0 1 2 3 4 0 200 400 600 A Continuous Duty Zone B Intermittent Duty Zone 5 ...

Page 239: ...e Constant 1 N m A rms 0 160 0 258 0 246 q oz in A rms 22 8 36 5 34 9 Moment of Inertia Incremental encoder no holding brake GD 2 M 4 kg m2 10 4 0 065 0 209 0 347 g oz in s2 10 3 0 917 2 96 4 92 Incremental encoder with holding brake GD 2 M 4 kg m2 10 4 0 103 0 307 0 445 g oz in s2 10 3 1 46 4 35 6 31 Absolute encoder no holding brake GD 2 M 4 kg m2 10 4 0 090 0 234 0 372 g oz in s2 10 3 1 27 3 31...

Page 240: ...GMP 01jjjj 100 6 5 0 1555 0 062 SGMP 02jjjj 200 5 10 1573 0 056 SGMP 04jjjj 400 7 6 20 1062 0 085 SGMP 08jjjj 750 7 5 37 1083 0 083 SGMP 15jjjj 1500 10 73 832 0 11 b SGMP Type Rated Voltage 24 VDC Semi standard Motor Model Motor Capacity W Holding Brake Specifications Capacity W Holding Torque kg cm Coil Resistance Ω at 20 C Rated Current A at 20 C SGMP 01jjjj 100 6 5 0 114 0 23 SGMP 02jjjj 200 5 ...

Page 241: ...s SGMP 01B W SGMP 02B W SGMP 03B W Motor Speed r min Motor Speed r min Motor Speed r min 4000 3000 2000 1000 0 0 0 2 0 4 0 6 0 8 0 50 100 4000 3000 2000 1000 0 0 0 5 1 1 5 2 0 100 200 300 4000 3000 2000 1000 0 0 1 2 3 4 0 200 400 600 A Continuous Duty Zone B Intermittent Duty Zone 5 ...

Page 242: ...al Load Fr N lb Allowable Thrust Load Fs N lb LR mm in Reference Diagram 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 74 16 25 1 02 LR SGM 03 245 55 74 16 25 1 02 SGM 04 245 55 74 16 25 1 02 SGM 08 392 88 147 33 35 1 43 SGMP 01 78 17 49 11 20 0 82 SGMP 02 245 55 68 15 25 1 02 SGMP 03 245 55 68 15 25 1 02 SGMP 04 245 55 68 15 25 1 02 SGMP 08 392 88 ...

Page 243: ...he load 4 Impact Resistance Mount the servomotor with the axis horizontal The servomotor must withstand the following ver tical impacts Impact Acceleration 98 m s2 10 G Number of Impacts 2 NOTE In SGM and SGMP Servomotors an accurate detector is attached to the shaft at the opposite end from the load Avoid applying impacts directly to the shaft as these may damage the detector 5 Vibration Resistan...

Page 244: ...GM and SGMP Servomotors meet the following vibration class at rated speed Vibration Class 15µm or below TERMS Vibration Class Vibration class 15µm or below indicates that the total amplitude of vibration of the motor alone running at rated speed does not exceed 15µm 5 Vibration Measurement Position ...

Page 245: ...C A3BC A5BC 01BC 02BC 03BC Max Applicable Motor Capacity W HP 30 0 04 50 0 07 100 0 13 200 0 27 400 0 53 750 1 01 30 0 04 50 0 07 100 0 13 200 0 27 300 0 40 Combined S ifi Motor Type A3Aj A5Aj 01Aj 02Aj 04Aj 08Aj A3Bj A5Bj 01Bj 02Bj 03Bj Specifica tions Motor Capacity W HP 30 0 04 50 0 07 100 0 13 200 0 27 400 0 53 750 1 01 30 0 04 50 0 07 100 0 13 200 0 27 300 0 40 Rated Max Motor Speed 3000 4500...

Page 246: ...r ence Voltage 6 VDC positive motor rotation with positive reference at rated speed factory setting Variable setting range 2 to 10 VDC at rated torque ence Input Impedance Approx 30kΩ Circuit Time Constant Approx 330µs Torque Refer ence Rated Refer ence Voltage 3 VDC positive motor rotation with positive reference at rated speed factory setting Variable setting range 1 to 10 VDC at rated torque en...

Page 247: ...3 5 Load Inertia 2 Supply voltage should not exceed 230 V 10 253 V or 115 V 10 127 V A step down transformer is required if the voltage should exceed these values 3 Use within the ambient temperature range When enclosed in a box the internal tem peratures must not exceed the ambient temperature range 4 The lowest speed of the speed control range is the speed at which the motor does not stop under ...

Page 248: ...Single phase full wave rectification IGBT PWM sine wave driven Feedback Incremental encoder 2048 P R absolute encoder 1024 P R Loca i Ambient Temp 0 to 55 C 3 tion Storage Temp 20 C to 85 C Ambient Stor age Humidity 90 or less with no condensation Vibration Shock Resistance 0 5 2G Structure Rack mounted 5 Approx Mass kg lb 2 5 5 51 3 7 8 16 2 5 5 51 3 7 8 16 Perfor Bias Setting 0 to 450 r min Sett...

Page 249: ... applicable to 100V 200W 300W or 200V 400W 750W Values are when motor speed is 3000r min max If load inertias exceed these ranges restrict the operation or use a regenerative unit appli cable to 200V 30W to 200W or external regenerative resistor applicable to 100V 200W 300W or 200V 400W 750W For details refer to 5 3 5 Load Inertia 2 Supply voltage should not exceed 230 V 10 253 V or 115 V 10 127 V...

Page 250: ...Aj 200W 0 27HP 2 0 14 5 27 5 04Aj 400W 0 53HP 2 6 22 2 6 41 2 08Aj 750W 1 01HP 4 4 36 1 6 13 55 1 Supply Voltage 100V A3Bj 30W 0 04HP 0 63 2 9 15 9 A5Bj 50W 0 07HP 0 90 4 4 17 4 01Bj 100W 0 13HP 2 2 12 0 25 0 02Bj 200W 0 27HP 2 7 16 2 6 35 2 03Bj 300W 0 40HP 3 7 20 1 6 39 1 Note Power loss of regenerative resistor shows the allowable loss If this value is exceeded re move the built in regenerative...

Page 251: ...herefore 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 Operating Time s Motor Rated Current Overload Characteristics TERMS Hot Start Indicates that both Servopack and Servomotor have run long enough at rated load to be thermally saturated 5 ...

Page 252: ...JM JL Kt IR α β ms ms NR Motor rated speed r min JM Motor moment of inertia kg m2 lb in s2 GD2 M 4 JL Load converted to shaft moment of inertia kg m2 GD2 L 4 Kt Motor torque constant N m A lb in A IR Motor rated current A α IP IR Accel decel current coefficient where IP is accel decel current accel decel current is α times the motor rated current A β IL IR Load current coefficient IL Load torque e...

Page 253: ...the load inertia becomes the worse the movement response of the load The size of the load inertia JL allowable when using a Servomotor depends on the motor capacity as shown in the diagrams below Small Load Inertia Motor Load Load Motor Large Load Inertia Motor Load Motor Load 5 ...

Page 254: ... 3 kg m2 10 4 oz in s2 10 3 kg m2 10 4 oz in s2 10 3 kg m2 10 4 oz in s2 10 3 0 63 8 92 40 1 11 0 5 73 81 1 17 0 63 7 51 2 284 6 2 83 4 50 20 1 400W 0 53HP 3000 4500 r min 0 Note 1 The above diagrams represent deceleration under maximum torque Applying an accel eration deceleration curve to the reference allows operation outside the range of the dia grams That is characteristics change according t...

Page 255: ...oz in s2 10 3 kg m2 10 4 oz in s2 10 3 kg m2 10 4 oz in s2 10 3 0 63 8 21 11 0 17 0 3 69 52 3 0 0 0 0 5 73 81 1 3000 3000 4500 4500 Note 1 The above diagrams represent deceleration under maximum torque Applying an accele ration deceleration curve to the reference allows operation outside the range of the dia grams That is characteristics change according to pattern of operation and load condi tion...

Page 256: ...3 kg m2 10 4 oz in s2 10 3 27 6 10 41 147 4 6 27 88 8 2 65 37 5 18 5 262 0 2 95 41 8 1 95 0 0 3000 4500 0 0 3000 4500 0 0 3000 4500 Note 1 Diagrams above represent deceleration under maximum torque Applying an acceleration deceleration curve to the reference allows operation outside the range of the diagrams That is the characteristics change according to pattern of operation and load conditions 2...

Page 257: ...in s2 10 3 27 6 6 27 88 8 1 95 10 41 147 4 0 0 3000 4500 0 0 3000 4500 Note 1 Diagrams above represent deceleration under maximum torque Applying an acceleration deceleration curve to the reference allows operation outside the range of the diagrams That is the characteristics change according to pattern of operation and load conditions 2 As for 200W and 300W types make sure not to perform frequent...

Page 258: ...ng 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 The regenerative brake capacity of the DR2 Serv...

Page 259: ...ng four categories a Incremental encoder no brake from page 248 b Incremental encoder with brake from page 253 c Absolute encoder no brake from page 258 d Absolute encoder with brake from page 264 Motor capacities are available as 30 W 0 04 HP 50 W 0 07 HP 100 W 0 13 HP 200 W 0 27 HP 300 W 0 40 HP 400 W 0 53 HP 750 W 1 01 HP These are grouped into three categories as follows 30W 0 04 HP 50W 0 07 H...

Page 260: ...46 φ1 81 40 1 57 U W T Screw Type SGM L LL LM S QK U W T Screw dimen sions Out put W HP Approx mass kg lb Allow able radial load N lb Allow able thrust load N lb A3A312 94 5 3 2 69 5 2 36 5 1 6 0 2 No key 30 0 0 0 3 0 66 68 1 3 54 12 1 A3B312 3 72 2 74 1 44 0 24 y 0 04 0 66 15 3 12 1 A3A314 14 0 1 2 0 0 2 0 08 2 0 08 A3B314 0 55 0 05 0 08 0 08 A3A316 M2 5 depth 5 A3B316 depth 5 0 20 A5A312 102 0 0...

Page 261: ...es with JIS B 1301 1976 precision A straight key is supplied 4 The quoted allowable radial load is the value at a position 20 mm 0 79 in from the mo tor mounting surface 200 W 0 27 HP 300 W 0 40 HP 400 W 0 53 HP 60 2 36 4 R5 3 φ70 φ2 76 U W T Protective Tube Black Encoder Lead Encoder Plug Motor Plug Incremental Encoder 2048 P R Cross section Y Y Motor Lead Teflon wire AWG22 UL1828 or UL3534 Screw...

Page 262: ...00 0 0 1 7 3 03B314 6 08 4 90 3 56 20 0 9 3 0 12 5 0 20 5 0 20 0 40 3 75 03B316 0 79 0 12 0 20 0 20 M5 depth 8 0 31 04A312 154 5 6 08 124 5 90 90 5 3 6 No key 400 0 3 1 7 3 04A314 6 08 4 90 3 56 20 0 9 3 0 12 5 0 20 5 0 20 0 53 3 75 04A316 0 79 0 12 0 20 0 20 M5 depth 8 0 31 Note 1 The detector uses an incremental encoder 2048 P R 2 Type A indicates 200 V specification and type B indicates 100 V s...

Page 263: ...dimen sions Output W HP Approx mass kg lb Allowable radial load N lb Allowable thrust load N lb 08A312 No key 750 1 01 3 4 0 392 88 1 147 33 0 08A314 30 1 18 3 0 12 5 0 20 5 0 20 1 01 7 50 08A316 1 18 0 12 0 20 0 20 M5 depth 8 0 31 Note 1 The detector uses an incremental encoder 2048 P R 2 Type A indicates 200 V specification 3 08A314 and 08A316 have a keyed shaft The keyway complies with JIS B 13...

Page 264: ...ug 172169 1 Made by AMP Pin 170359 1 or 170363 1 Plug 172167 1 AMP Connected to Cap 172161 1 Socket 170361 1 or 170365 1 Motor Plug Encoder Plug Socket 170362 1 or 170366 1 Cap 172159 1 Connected to C channel output U phase Red V phase White W phase Blue FG Green A channel output Blue A channel output Blue Black B channel output Yellow B channel output Yellow Black Green Green Black Gray Red FG Fr...

Page 265: ... 0016 0 04 A A Screw U W T Type SGM L LL LM LB S QK U W T Screw dimen sions Out put W HP Approx mass kg lb Allow able radial load N lb Allow able thrust load N lb A3A312B 126 0 4 96 101 0 3 98 36 5 1 44 31 5 1 24 6 0 24 No key 30 0 04 0 6 1 32 68 15 3 54 12 1 A3B312B 4 96 3 98 1 44 1 24 0 24 y 0 04 15 3 12 1 A3A314B 14 0 55 1 2 0 05 2 0 08 2 0 08 A3B314B 0 55 0 05 0 08 0 08 A3A316B M2 5 depth 5 A3...

Page 266: ...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 200 W 0 53 HP 300 W 0 40 HP 400 W 0 27 HP Encoder Lead Encoder Plug Motor Plug Protective Tube Black Incremental Encoder 2048 P R Cross section Y Y Holding Brake Deenergisation Operation Voltage 90 VDC Dissipated current Reference ...

Page 267: ... 20 5 0 20 0 40 4 85 03B316B 0 79 0 12 0 20 0 20 M5 depth 8 0 31 04A312B No key 400 0 3 04A314B 20 0 9 3 0 12 5 0 20 5 0 20 0 53 04A316B 0 79 0 12 0 20 0 20 M5 depth 8 0 31 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 314B 02A B 316B 03B314B 03B316B 04A314B and 04A316B have a keyed shaft The keyway ...

Page 268: ...nly 80 3 15 4 R8 2 φ90 φ3 54 Type SGM QK U W T Screw dimen sions Output W HP Approx mass kg lb Allowable radial load N lb Allowable thrust load N lb 08A312B No key 750 4 3 392 88 1 147 33 0 08A314B 30 3 5 5 1 01 9 48 08A316B 1 18 0 12 0 20 0 20 M5 depth 8 0 31 Note 1 The detector uses an incremental encoder 2048 P R 2 Type A indicates 200 V specification 3 08A314B and 08A316B have a keyed shaft Th...

Page 269: ... 172160 1 Encoder Plug Incremental Encoder Wiring Specifications A channel output Blue A channel output Blue Black B channel output Yellow B channel output Yellow Black Green Green Black Gray Red FG Frame Ground Orange Plug 172169 1 AMP Pin 170359 1 or 170363 1 Plug 172168 1 AMP Connected to Connected to Cap 172161 1 Socket 170361 1 or 170365 1 1 2 3 4 1 2 3 4 5 6 7 8 9 C channel output 5V power s...

Page 270: ...20 9 5 0 37 4 R3 7 Y Y QK U T W Screw Type SGM L LL LM S QK U W T Screw dimen sions Out put W HP Approx mass kg lb Allow able radial load N lb Allow able thrust load N lb A3AW12 117 5 63 92 5 3 6 36 5 1 6 0 2 No key 30 0 0 0 45 0 99 68 1 3 54 12 1 A3BW12 4 63 3 64 1 44 0 24 y 0 04 0 99 15 3 12 1 A3AW14 14 0 1 2 0 0 2 0 08 2 0 08 A3BW14 0 55 0 05 0 08 0 08 A3AW16 M2 5 depth 5 A3BW16 depth 5 0 20 A5...

Page 271: ...ecification 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 have a keyed shaft The keyway complies with JIS B 1301 1976 preci sion A straight key is supplied 4 The quoted allowable radial load is the value at a position 20 mm 0 79 in from the mo tor mounting surface 5 ...

Page 272: ...008 0 02 7 5 0 30 3 0 12 30 1 18 4 R5 3 50 0 0 025 1 97 0 0010 0 φ φ QK Y Y φ70 φ2 76 U T W Screw Type SGM L LL LM QK U W T Screw dimen sions Out put W HP Approx mass kg lb Allow able radial load N lb Allow able thrust load N lb 02AW12 147 5 81 117 5 63 62 5 2 6 No key 200 0 2 1 2 2 6 245 1 74 16 6 02BW12 5 81 4 63 2 46 y 0 27 2 65 55 1 16 6 02AW14 20 0 9 3 0 12 5 0 20 5 0 20 02BW14 0 79 0 12 0 20...

Page 273: ...0 V specification and type B indicates 100 V specification 3 02A B W14 02A B W16 03BW14 03BW16 04AW14 and 04AW16 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 5 ...

Page 274: ...0 φ φ QK Y Y φ90 φ3 54 φ 0 79 70 0 0 030 φ 2 76 0 0012 0 φ 35 1 38 206 8 10 166 6 54 111 4 35 40 1 57 U T W Screw Type SGM QK U W T Screw dimen sions Output W HP Approx mass kg lb Allowable radial load N lb Allowable thrust load N lb 08AW12 No key 750 3 5 392 88 1 147 33 0 08AW14 30 3 5 5 1 01 7 72 08AW16 1 18 0 12 0 20 0 20 M5 depth 8 0 31 Note 1 The detector uses a 12 bit absolute encoder 1024 P...

Page 275: ...ted to Connected to Cap 172163 1 Socket 170361 1 or 170365 1 Terminal to discharge capacitor for product dispatch Do not use A channel output Blue A channel output White Blue B channel output Yellow B channel output White Yellow Green White Green Gray Red FG Frame Ground Orange Z channel output Z channel output 0 V power supply 5 V power supply 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 S channel output ...

Page 276: ... 04 A A 0 0008 0 02 4 0 16 5 0 20 9 5 0 37 4 R3 7 Y Y QK 4 0 16 25 0 98 2 5 0 10 LB U T W Screw Type SGM L LL LM LB S QK U W T Screw dimen sions Out put W HP Approx mass kg lb Allow able radial load N lb Allow able thrust load N lb A3AW12B 149 0 8 124 0 88 36 5 1 31 5 1 2 6 0 2 No key 30 0 0 0 75 1 6 68 1 3 54 12 1 A3BW12B 5 87 4 88 1 44 1 24 0 24 y 0 04 1 65 15 3 12 1 A3AW14B 14 0 1 2 0 0 2 0 08 ...

Page 277: ...ion and cannot be used to stop the motor 200 W 0 27 HP 300 W 0 40 HP 400 W 0 53 HP Absolute encoder 1024 P R Motor Lead Teflon wire AWG22 UL1828 or UL3534 Protective Tube Black Cross section Y Y Motor Plug Holding Brake Deenergisation Operation Voltage 90 VDC Dissipated current Reference 0 1 A Brake Holding Torque Motor Rated Torque Encoder Plug Encoder Lead UL20276 300 30 11 81 1 18 0 55 0 0004 0...

Page 278: ... 56 20 0 79 3 0 12 5 0 20 5 0 20 0 40 5 07 03BW16B 0 79 0 12 0 20 0 20 5 0 20 M5 depth 8 0 31 04AW12B No key 400 0 3 04AW14B 20 0 9 3 0 12 5 0 20 5 0 20 0 53 04AW16B 0 79 0 12 0 20 0 20 M5 depth 8 0 31 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 04AW16...

Page 279: ...0 0012 0 φ 35 1 38 A A 3 0 12 40 1 57 16 0 0 011 φ 44 5 1 75 2 8 0 11 Brake Lead 250 5 9 86 210 5 8 29 111 4 35 U T W Screw Type SGM QK U W T Screw dimen sions lb Output W HP Approx mass kg lb Allow able radial load lb Allow able thrust load N lb 08AW12B No key 750 4 5 392 147 08AW14B 30 1 18 3 0 12 5 0 20 5 0 20 1 01 9 92 88 1 33 0 08AW16B M5 depth 8 0 31 Note 1 The detector uses a 12 bit absolut...

Page 280: ...pecifications Incremental Encoder Wiring Specifications Terminal to discharge capacitor for product dispatch Do not use A channel output Blue A channel output White Blue B channel output Yellow B channel output White Yellow Green White Green Black Red FG Frame Ground Green Yellow Z channel output Z channel output 0 V power supply 5 V power supply 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 S channel outpu...

Page 281: ... with brake from page 284 Motor capacities are available as 100 W 0 13 HP 200 W 0 27 HP 300 W 0 40 HP 400 W 0 53 HP 750 W 1 01 HP These are grouped into three categories as follows 100W 0 13 HP 200W 0 27 HP 300W 0 40 HP 400W 0 53 HP 750W 1 01 HP As for the dimensional drawings of SGM servomotors see from page 247 on As for the dimensional drawings of TÜV approved SGM servomotors see from the page ...

Page 282: ...ealant Hex Nut 14 0 55 4 5 5 4 0 22 MTG Holes Shaft end screw hole SGMP 01A B 316 with key type only Type SGMP L LL LM S QK U W T Screw dimen sions Out put W HP Approx mass kg lb Al low able radial load N lb Al low able thrust load N lb 01A312 82 3 23 57 2 2 42 5 1 6 8 0 31 No key 100 0 13 0 7 1 54 78 1 49 11 0 01B312 3 23 2 24 1 67 0 31 y 0 13 17 5 11 0 01A314 14 0 1 8 0 0 3 0 12 3 0 12 01B314 0 ...

Page 283: ...aight key is supplied 4 The quoted allowable radial load is the value at a position 20 mm 0 79 in from the mo tor mounting surface 5 Conforms to IP55 protective structure except connector and output shaft faces 200 W 0 27 HP 300 W 0 40 HP 400 W 0 53 HP Encoder Plug Motor Plug Cross section Y Y Screw Encoder Lead UL2854 Incremental Encoder Sealant Hex Nut 14 0 55 Motor Lead 14 0 0 011 0 0 0004 0 55...

Page 284: ...1 3 23 2 68 16 0 63 3 0 12 5 0 20 5 0 20 0 40 4 63 03B316 0 63 0 12 0 20 0 20 M5 depth 8 0 31 04A312 No key 400 0 3 04A314 16 0 63 3 0 12 5 0 20 5 0 20 0 53 04A316 0 63 0 12 0 20 0 20 M5 depth 8 0 31 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 04A314 04A316 03B314 and 03B316 have a ke...

Page 285: ...ble thrust load N lb 08A312 No key 750 4 2 392 88 1 147 33 0 08A314 22 3 5 5 1 01 9 26 08A316 0 87 0 12 0 20 0 20 M5 depth 8 0 31 Note 1 The detector uses an incremental encoder 2048 P R 2 Type A indicates 200 V specification 3 08A314 and 08A316 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 posi...

Page 286: ...Specifications Encoder Plug Incremental Encoder Wiring Specifications Blue Blue Black Yellow Yellow Black Green Green Black Gray Red Orange Plug 172169 1 AMP Pin 170359 1 or 170363 1 Plug 172167 1 AMP Connected to Connected to Cap 172161 1 Socket 170361 1 or 170365 1 A channel output A channel output B channel output B channel output FG Frame Ground C channel output C channel output 0 V power supp...

Page 287: ...LM LB S QK U W T Screw dimen sions Out put W HP Approx mass kg lb Al low able radial load N lb Al low able thrus t load N lb 01A312B 111 4 37 86 3 39 42 5 1 67 29 1 14 8 0 31 No key 100 0 13 0 9 1 98 78 17 5 49 11 0 01B312B 4 37 3 39 1 67 1 14 0 31 y 0 13 1 98 17 5 11 0 01A314B 14 0 55 1 8 0 07 3 0 12 3 0 12 01B314B 0 55 0 07 0 12 0 12 01A316B M3 depth 6 01B316B depth 6 0 24 Note 1 The detector us...

Page 288: ...nd cannot be used to stop the motor 6 Conforms to IP55 protective structure except connector and output shaft faces 200 W 0 27HP 300W 0 40 HP 400 W 0 53HP Encoder Lead Encoder Plug Motor Plug Sealant Incremental Encoder 2048 P R Holding Brake deenergization operation Voltage 90 VDC Brake holding torque motor rated torque Cross section Y Y Hex nut 14 0 55 Motor Lead 4 0 7 4 0 28 MTG Holes Screw Sha...

Page 289: ... 12 0 20 0 20 M5 depth 8 0 31 04A312B No key 400 0 3 04A314B 16 0 63 3 0 12 5 0 20 5 0 20 0 53 04A316B 0 63 0 12 0 20 0 20 M5 depth 8 0 31 Note 1 The detector uses an incremental encoder 2048 P R 2 Type A indicates 200 V specification and type B indicates 100V specification 3 02A B 314B 02A B 316B 03B314B 03B316B 04A314B and 04A316B have a keyed shaft The keyway complies with JIS B 1301 1976 preci...

Page 290: ...ew Shaft end screw hole SGMP 08A316B with key type only Type SGMP QK U W T Screw dimen sions Output W HP Approx mass kg lb Allowable radial load N lb Allowable thrust load N lb 08A312B No key 750 1 01 6 1 13 392 88 1 147 33 0 08A314B 22 0 8 3 0 12 5 0 20 5 0 20 1 01 13 45 08A316B 0 87 M5 depth 8 0 31 Note 1 The detector uses an incremental encoder 2048 P R 2 Type A indicates 200 V specification 3 ...

Page 291: ... or 170366 1 Pin 170360 1 or 170364 1 Cap 172160 1 Motor Wiring Specifications Incremental Encoder Wiring Specifications Plug 172169 1 AMP Pin 170359 1 or 170366 1 Plug 172168 1 AMP Connected to Connected to Cap 172161 1 Socket 170361 1 or 170365 1 Motor Plug Encoder Plug Blue Blue Black Yellow Yellow Black Green Green Black Gray Red Orange A channel output A channel output B channel output B chan...

Page 292: ...d N lb 01AW12 122 5 82 97 5 3 8 42 5 1 6 8 0 31 No key 100 0 13 0 9 1 98 78 1 49 11 0 01BW12 4 82 3 84 1 67 0 31 y 0 13 1 98 17 5 11 0 01AW14 14 0 1 8 0 0 3 0 12 3 0 12 01BW14 0 55 0 07 0 12 0 12 01AW16 M3 depth 6 01BW16 depth 6 0 24 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 01A B W14 and 01A B W16 ...

Page 293: ... 116 5 9 86 5 3 1 48 1 1 89 No key 200 0 2 1 6 3 3 245 55 1 68 15 3 02BW12 4 59 3 41 1 89 y 0 27 3 53 02AW14 16 0 63 3 0 12 5 0 20 5 0 20 02BW14 0 63 0 12 0 20 0 20 02AW16 M5 depth 8 02BW16 depth 8 0 31 03BW12 136 5 3 106 5 19 68 1 2 68 No key 300 0 0 2 3 0 03BW14 5 37 4 19 2 68 16 0 63 3 0 12 5 0 20 5 0 20 0 40 5 07 03BW16 0 63 0 12 0 20 0 20 M5 depth 8 0 31 04AW12 No key 400 0 3 04AW14 16 0 63 3...

Page 294: ...ug Cross section Y Y Hex nut 17 0 67 Motor Lead UL2464 Sealant φ0 04 4 φ10 4 φ0 39 MTG Hoses UL20276 35 1 38 300 30 12 0 47 10 5 0 41 146 5 75 106 4 17 66 7 2 63 10 0 39 3 5 0 14 40 1 57 0 02 0 0008 0 0016 0 04 A A U W T 1024 P R 19 0 75 Y QK Y A φ16 0 0 011 φ110 0 0 035 4 R6 Shaft end screw hole SGMP 08AW16 with key type only j120 4 72 38 1 50 28 1 10 MAX φ145 φ5 71 Screw 11 81 1 18 φ0 0016 35 1 ...

Page 295: ...0364 1 Cap 172159 1 Motor Wiring Specifications Absolute Encoder Wiring Specifications Plug 172171 1 AMP Pin 170359 1 or 170363 1 Plug 172167 1 AMP Connected to Connected to Cap 172163 1 Socket 170361 1 or 170365 1 Terminal to discharge capacitor for product dispatch Do not use Motor Plug Encoder Plug A channel output Blue A channel output White Blue B channel output Yellow B channel output White ...

Page 296: ...rque Screw Cross section Y Y Hex nut 14 0 55 4 5 5 4 0 22 MTG Holes 55 2 17 Shaft end screw hole SGMP 01A B W16B with key type only Type SGMP L LL LM LB S QK U W T Screw dimen sions Out put W HP Approx mass kg lb Allow able radial load N lb Allow able thrust load N lb 01AW12B 151 5 5 96 126 5 4 98 42 5 1 67 29 1 14 8 0 31 No key 100 0 13 1 2 2 65 78 17 5 49 11 0 01BW12B 5 96 4 98 1 67 1 14 0 31 y ...

Page 297: ...A B W16B 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 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 6 Conforms to IP55 protective structure except connector and output shaft faces 5 ...

Page 298: ... W16B with key type only j80 3 15 21 0 83 18 0 71 MAX U W T φ90 φ3 54 Sealant 35 1 38 300 30 11 81 1 18 0 0 0004 φ0 55 φ 2 76 0 0 0012 Type SGMP L LL LM QK U W T Screw dimen sions Output W HP Approx mass kg lb Allow able ra dial load N lb Allow able thrust load N lb 02AW12B 148 118 48 1 No key 200 2 3 245 55 1 68 15 3 02BW12B 5 83 4 65 1 89 y 0 27 5 07 02AW14B 16 3 5 5 02BW14B 0 63 0 12 0 20 0 20 ...

Page 299: ...r 1024P R Holding Brake deenergization operation Voltage 90 VDC Brake holding torque motor rated torque Cross section Y Y Hex nut 17 0 67 12 0 47 10 5 0 41 j 120 4 72 38 1 50 28 1 10 MAX U W T 4 φ10 4 φ0 39 MTG Holes 4 R6 Y QK Y φ16 0 0 011 φ110 0 0 035 A A A 180 7 09 140 5 51 66 7 2 63 10 0 39 3 5 0 14 40 1 57 φ145 φ5 71 19 0 75 Screw Sealant 300 30 11 81 1 18 0 0016 0 04 0 02 0 0008 φ0 04 φ0 001...

Page 300: ...output White Blue B channel output Yellow B channel output White Yellow Green White Green Black Red FG Frame Ground Green Yellow Z channel output Z channel output 0 V power supply 5 V power supply 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 S channel output S channel output Purple White Purple Capacitor reset Gray Reset White Gray 0V battery 3 6V battery White Orange Orange Socket 170362 1 or 170366 1 U p...

Page 301: ...e as 30 W 0 04 HP 50 W 0 07 HP 100 W 0 13 HP 200 W 0 27 HP 300 W 0 40 HP 400 W 0 53 HP 750 W 1 01 HP These are grouped into three categories as follows 30W 0 04 HP 50W 0 07 HP 100W 0 13 HP 200W 0 27 HP 300W 0 40 HP 400W 0 53 HP 750W 1 01 HP As for the dimensional drawings of SGM servomotors see from the page 247 on As for the dimensional drawings of SGMP servomotors see from the page 269 on As for...

Page 302: ... 16 Screw Type SGM L LL LM S QK U W T Screw dimen sions Out put W HP Approx mass kg lb Allow able radial load N lb Allow able thrust load N lb A3V312 94 5 3 2 69 5 2 36 5 1 6 0 2 No key 30 0 0 0 3 0 66 68 1 3 54 12 1 A3W312 3 72 2 74 1 44 0 24 y 0 04 0 66 15 3 12 1 A3V314 14 0 1 2 0 0 2 0 08 2 0 08 A3W314 0 55 0 05 0 08 0 08 A3V316 M2 5 depth 5 A3W316 depth 5 0 20 A5V312 102 0 02 77 0 3 03 44 0 1 ...

Page 303: ... 1 34 0 83 11 81 1 18 1 38 0 12 1 18 11 81 1 18 φ50 0 0 025 1 97 0 0010 0 φ 0 28 0 24 φ2 76 2 36 φ0 55 0 47 Shaft end screw hole SGM jjV W 316 with key type only Marked Wire Sealant φ14 0 0 011 0 55 0 0004 0 φ φ0 0016 Screw Type SGM L LL LM QK U W T Screw dimensions Out put W HP Approx mass kg lb Allow able radial load N lb Allow able thrust load N lb 02V312 126 5 98 96 5 3 80 62 5 2 6 No key 200 ...

Page 304: ...54 Incremental Encoder 2048 P R Cross section Y Y 1 34 4 φ7 φ0 28 MTG Holes Motor Lead φ7 φ0 29 Sealant 0 0016 0 0008 7 28 1 38 11 81 1 18 1 38 0 12 1 57 11 81 1 18 φ16 0 0 011 0 63 0 0004 0 φ 0 31 0 31 3 15 φ0 55 0 20 Marked Wire Sealant φ0 0016 Sealant φ70 0 0 030 2 76 0 0012 0 φ 5 71 4 37 0 59 0 83 Shaft end screw hole SGM 08V316 with key type only Screw Type SGM QK U W T Screw dimen sions Outp...

Page 305: ...30 50 or 100 W only Motor Wiring Specifications Incremental Encoder Wiring Specifications Blue Blue Black Yellow Yellow Black Green Green Black Gray Red Orange Plug 172169 1 Made by AMP Pin 170359 1 or 170363 1 Plug 172167 1 AMP Connected to Cap 172161 1 Socket 170361 1 or 170365 1 Motor Plug Encoder Plug Socket 170362 1 or 170366 1 Cap 172159 1 Connected to A channel output A channel output B cha...

Page 306: ...8 0 0 37 0 67 Sealant Screw 2 Screw Type SGM L LL LM LB S QK U W T Screw dimen sions Out put W HP Approx mass kg lb Allow able radial load N lb Allow able thrust load N lb A3V312B 126 0 4 96 101 0 3 98 36 5 1 44 31 5 1 24 6 0 24 No key 30 0 04 0 6 1 32 68 15 3 54 12 1 A3W312B 4 96 3 98 1 44 1 24 0 24 y 0 04 15 3 12 1 A3V314B 14 0 55 1 2 0 05 2 0 08 2 0 08 A3W314B 0 55 0 05 0 08 0 08 A3V316B M2 5 d...

Page 307: ...e electromagnetic brake is only to hold the load in position and cannot be used to stop the motor 200 W 0 53 HP 300 W 0 40 HP 400 W 0 27 HP Encoder Lead UL2854 Incremental Encoder 2048 P R Cross section Y Y 0 20 4 φ5 5 φ0 22 MTG Holes Motor Lead φ7 φ0 29 Sealant 0 0016 φ0 0008 1 34 0 83 11 81 1 18 1 38 0 12 1 18 11 81 1 18 φ50 0 0 025 1 97 0 0010 0 φ 0 28 0 24 φ2 76 2 36 φ0 55 1 56 Shaft end screw...

Page 308: ...56 20 0 9 3 0 12 5 0 20 5 0 20 0 40 4 85 03W316B 0 79 0 12 0 20 0 20 M5 depth 8 0 31 04V312B No key 400 0 3 04V314B 20 0 9 3 0 12 5 0 20 5 0 20 0 53 04V316B 0 79 0 12 0 20 0 20 M5 depth 8 0 31 Note 1 The detector uses an incremental encoder 2048 P R 2 Type V indicates 200 V specification and type W indicates 100 V specification 3 02V W 314B 02V W 316B 03W314B 03W316B 04V314B and 04V316B have a key...

Page 309: ...d screw hole SGM 08V316B with key type only Screw Type SGM QK U W T Screw dimen sions Output W HP Approx mass kg lb Allowable radial load N lb Allowable thrust load N lb 08V312B No key 750 1 01 4 3 9 8 392 88 1 147 33 0 08V314B 30 1 18 3 0 12 5 0 20 5 0 20 1 01 9 48 08V316B 1 18 0 12 0 20 0 20 M5 depth 8 0 31 Note 1 The detector uses an incremental encoder 2048 P R 2 Type V indicates 200 V specifi...

Page 310: ...cifications Blue Blue Black Yellow Yellow Black Green Green Black Gray Red Orange Plug 172169 1 AMP Pin 170359 1 or 170363 1 Plug 172168 1 AMP Connected to Connected to Cap 172161 1 Socket 170361 1 or 170365 1 Motor Wiring Specifications U phase Red V phase White W phase Blue FG Green Yellow 1 2 3 4 Brake terminal Red 5 Brake terminal Black 6 A channel output A channel output B channel output B ch...

Page 311: ...Out put W HP Approx mass kg lb Allow able radial load N lb Allow able thrust load N lb A3VW12 117 5 4 63 92 5 3 64 36 5 1 44 6 0 24 No key 30 0 04 0 45 0 99 68 15 3 54 12 1 A3WW12 117 5 4 63 92 5 3 64 36 5 1 44 6 0 24 No key 30 0 04 0 45 0 99 68 15 3 54 12 1 A3VW14 14 0 55 1 2 0 05 2 0 08 2 0 08 A3WW14 14 0 55 1 2 0 05 2 0 08 2 0 08 A3VW16 M2 5 depth 5 A3WW16 depth 5 0 20 A5VW12 125 0 4 92 100 0 3...

Page 312: ...able radial load is the value at a position 20 mm 0 79 in from the mo tor mounting surface 200 W 0 27 HP 300W 0 40 HP 400 W 0 53 HP Encoder Lead UL20276 Cross section Y Y 7 0 28 Motor Lead f7 f0 29 55 2 17 21 0 83 30 1 18 f50 0 0 025 1 97 0 0010 0 f 3 0 12 f70 f2 76 60 2 36 f14 f0 55 Shaft end screw hole SGM jjV W W16 with key type only Marked Wire f14 0 0 011 0 55 0 0004 0 f 4 f5 5 f0 22 MTG Hole...

Page 313: ... 300 0 0 1 8 3 9 03WW14 6 91 5 73 3 56 20 0 9 3 0 12 5 0 20 5 0 20 0 40 3 97 03WW16 0 79 0 12 0 20 0 20 M5 depth 8 0 31 04VW12 No key 400 1 04VW14 20 0 9 3 0 12 5 0 20 5 0 20 15 7 04VW16 0 79 0 12 0 20 0 20 M5 depth 8 0 31 Note 1 The detector uses a 12 bit absolute encoder 1024 P R 2 Type V indicates 200 V specification and type W indicates 100 V specification 3 02V W W14 02V W W16 03WW14 03WW16 0...

Page 314: ...1 81 1 18 4 R8 2 QK Y Y A A f0 04 A Screw Shaft end screw hole SGM 08VW16 with key type only Type SGM QK U W T Screw dimen sions Output W HP Approx mass kg lb Allowable radial load N lb Allowable thrust load N lb 08VW12 No key 750 1 01 3 5 7 72 392 88 1 147 33 0 08VW14 30 1 18 3 0 12 5 0 20 5 0 20 750 1 01 3 5 7 72 392 88 1 147 33 0 08VW16 30 1 18 3 0 12 5 0 20 5 0 20 M5 depth 8 0 31 Note 1 The de...

Page 315: ...ge Plug 172171 1 AMP Pin 170359 1 or 170363 1 Plug 172167 1 AMP Connected to Connected to Cap 172163 1 Socket 170361 1 or 170365 1 Purple Gray White Gray White Orange Orange White Purple Terminal to discharge capacitor for product dispatch Do not use A channel output A channel output B channel output B channel output FG Frame Ground Z channel output Z channel output 0 V power supply 5 V power supp...

Page 316: ...Type SGM L LL LM LB S QK U W T Screw dimen sions Out put W HP Appr ox mass kg lb Al low able radial load N lb Al low able thrust load N lb A3VW12B 149 0 5 87 124 0 4 88 36 5 1 44 31 5 1 24 6 0 24 No key 30 0 04 0 75 1 65 68 15 3 54 12 1 A3WW12B 149 0 5 87 124 0 4 88 36 5 1 44 31 5 1 24 6 0 24 No key 30 0 04 0 75 1 65 68 15 3 54 12 1 A3VW14B 14 0 55 1 2 0 05 2 0 08 2 0 08 A3WW14B 14 0 55 1 2 0 05 2...

Page 317: ...n position and cannot be used to stop the motor 200 W 0 27 HP 300 W 0 40 HP 400 W 0 53 HP Encoder Lead UL20276 Absolute Encoder 1024 P R Cross section Y Y 4 f5 5 f0 22 MTG Holes Motor Lead f7 f0 29 Sealant 0 0016 0 04 0 02 0 0008 21 0 83 3 0 12 f50 0 0 025 1 97 0 0010 0 f 6 0 24 60 2 36 14 0 55 39 5 1 56 Marked Wire f14 0 011 f0 55 0 0004 0 f0 0016 f0 04 Brake Lead 8 5 0 33 Holding Brake Deenergis...

Page 318: ...8 3 56 20 0 9 3 0 12 5 0 20 5 0 20 0 40 5 07 03WW16B 0 79 0 12 0 20 0 20 M5 depth 8 0 31 04VW12B No key 400 0 3 04VW14B 20 0 9 3 0 12 5 0 20 5 0 20 0 53 04VW16B 0 79 0 12 0 20 0 20 M5 depth 8 0 31 Note 1 The detector uses a 12 bit absolute encoder 1024 P R 2 Type V indicates 200 V specification and type W indicates 100 V specification 3 02V W W14B 02V W W16B 03WW14B 03WW16B 04VW14B and 04VW16B hav...

Page 319: ...P 300 30 11 81 1 18 35 1 38 U W T A A A 300 30 11 81 1 18 Y Y 35 1 38 QK Screw 4 R8 2 Type SGM QK U W T Screw dimen sions lb Output W HP Approx mass kg lb Allowable radial load N lb Allowable thrust load N lb 08VW12B No key 750 1 01 4 5 9 92 392 88 1 147 33 0 08VW14B 30 1 18 3 0 12 5 0 20 5 0 20 750 1 01 4 5 9 92 392 88 1 147 33 0 08VW16B 30 1 18 3 0 12 5 0 20 5 0 20 M5 depth 8 0 31 Note 1 The det...

Page 320: ...pecifications Incremental Encoder Wiring Specifications Terminal to discharge capacitor for product dispatch Do not use Blue White Blue Yellow White Yellow Green White Green Black Red Green Yellow Purple Gray White Gray White Orange Orange White Purple A channel output A channel output B channel output B channel output FG Frame Ground Z channel output Z channel output 0 V power supply 5 V power su...

Page 321: ...200 W 0 27 HP 300 W 0 40 HP 400 W 0 53 HP 750 W 1 01 HP These are grouped into three categories as follows 100W 0 13 HP 200W 0 27 HP 300W 0 40 HP 400W 0 53 HP 750W 1 01 HP As for the dimensional drawings of SGM servomotors see from the page 247 on As for the dimensional drawings of SGMP servomotors see from the page 269 on As for the dimensional drawings of TÜV approved SGM servomotors see from th...

Page 322: ...screw hole SGMP 01V W 316 with key type only Type SGMP QK U W T Screw dimensions Output W HP Approx mass kg lb Allowable radial load N lb Allowable thrust load N lb 01V312 No key 100 0 13 0 7 1 54 78 17 5 49 11 0 01W312 y 01V314 14 0 55 1 8 0 07 3 0 12 3 0 12 01W314 0 55 0 07 0 12 0 12 01V316 M3 depth 6 0 24 01W316 p 0 24 Note 1 The detector uses an incremental encoder 2048 P R 2 Type V indicates ...

Page 323: ...with key type only Type SGMP L ML1 ML2 QK U W T Screw dimen sions Output W HP Approx mass kg lb Allowable radial load N lb Allowable thrust load N lb 02V312 92 62 48 1 No key 200 1 4 245 55 1 68 15 3 02W312 3 62 2 44 1 89 y 0 27 3 09 02V314 16 3 5 5 02W314 0 63 0 12 0 20 0 20 02V316 M5 depth 8 02W316 depth 8 0 31 03W312 112 82 68 1 No key 300 2 1 03W314 4 41 3 23 2 68 16 3 5 5 0 40 4 63 03W316 0 6...

Page 324: ...ameplate φ16 0 0 011 0 63 0 0004 0 φ φ0 0016 Encoder Lead UL2854φ6 φ0 24 1 38 1 57 1 50 0 41 Screw Hex Nut 14 0 55 φ5 71 2 63 0 75 4 78 φ Shaft end screw hole SGMP 08V316 with key type only Type SGMP QK U W T Screw dimensions Output W HP Approx mass kg lb Allowable radial load N lb Allowable thrust load N lb 08V312 No key 750 1 01 4 6 10 1 392 80 1 147 33 0 08V314 22 0 8 3 0 12 5 0 20 5 0 20 1 01 ...

Page 325: ...iring Specifications Plug 172169 1 AMP Pin 170359 1 or 170363 1 Plug 172167 1 AMP Connected to Connected to Cap 172161 1 Socket 170361 1 or 170365 1 Blue Blue Black Yellow Yellow Black Green Green Black Gray Red Orange A channel output A channel output B channel output B channel output FG Frame Ground C channel output C channel output 0 V power supply 5 V power supply 1 2 3 4 5 6 7 8 9 U phase Red...

Page 326: ...B 90VDC C 24VDC Brake Holding Torque Motor Rated Torque 4 37 3 39 φ8 0 009 0 31 0 0004 0 φ 0 0 55 φ Shaft end screw hole SGMP 01V W 316B C with key type only Type SGMP QK U W T Screw dimensions Output W HP Approx mass kg lb Allowable radial load N lb Allowable thrust load N lb 01V312B C No key 100 0 13 0 9 1 98 78 17 5 49 11 0 01V314B C 14 0 55 1 8 0 07 3 0 12 3 0 12 0 13 1 98 01V316B C 0 55 0 07 ...

Page 327: ... W 0 53HP Motor Lead UL2464 φ7 φ0 29 Encoder Lead UL2854φ6 φ0 24 Incremental Encoder 2048 P R Cross section Y Y Marked Wire 1 18 4 φ7 φ0 28 MTG Holes Sealant 0 0016 0 0008 1 24 11 81 1 18 1 38 0 83 11 81 1 18 φ70 0 030 2 76 0 0012 0 φ 0 71 3 15 0 32 Hex Nut 14 0 55 φ0 0016 0 0 12 0 31 Screw Holding Brake Deenergisation Operation Voltage depends on the last symbol of motor type B 90VDC C 24VDC Brak...

Page 328: ...3 3 0 12 5 0 20 5 0 20 0 40 03W316B C 0 63 0 12 0 20 0 20 M5 depth 8 04V312B C No key 400 0 3 04V314B C 16 0 63 3 0 12 5 0 20 5 0 20 0 53 04V316B C 0 63 0 12 0 20 0 20 M5 depth 8 Note 1 The detector uses an incremental encoder 2048 P R 2 Type V indicates 200 V specification and W indicates 100V specification 3 02V314B C 02V316B C 02W314B C 02W316B C 03W314B C 03W316B C 04V314B C and 04V316B C have...

Page 329: ...V316B C with key type only Type SGMP QK U W T Screw dimens ions Output W HP Approx mass kg lb Allowable radial load N lb Allowable thrust load N lb 08V312B C No key 750 1 01 5 7 12 57 392 88 1 147 33 0 08V314B C 22 0 87 3 0 12 5 0 20 5 0 20 M5 D h 1 01 12 57 08V316B C Depth 8 Note 1 The detector uses an incremental encoder 2048 P R 2 Type V indicates 200 V specification 3 08V314B C and 08V316B C h...

Page 330: ...ecifications Plug 172169 1 AMP Pin 170359 1 or 170363 1 Plug 172168 1 AMP Connected to Connected to Cap 172161 1 Socket 170361 1 or 170365 1 Motor Wiring Specifications A channel output Blue A channel output Blue Black B channel output Yellow B channel output Yellow Black Green Green Black Gray Red FG Frame Ground Orange 1 2 3 4 5 6 7 8 C channel output C channel output 0V power supply 5 V power s...

Page 331: ... SGMP 01V W W16 with key type only Type SGMP QK U W T Screw dimensions Out put W HP Approx mass kg lb Allowable radial load N lb Allowable thrust load N lb 01VW12 No key 100 0 13 0 95 2 09 78 17 5 49 11 0 01WW12 y 0 13 2 09 01VW14 14 0 1 8 0 0 3 0 12 3 0 12 01WW14 0 55 0 07 0 12 0 12 01VW16 M3 depth 6 01WW16 depth 6 0 24 Note 1 The detector uses a 12 bit absolute encoder 1024 P R 2 Type V indicate...

Page 332: ... Type SGMP L LL LM QK U W T Screw dimen sions Out put W HP Approx mass kg lb Allowable radial load N lb Allowable thrust load N lb 02VW12 116 5 9 86 5 3 1 48 1 1 89 No key 200 0 2 1 6 3 3 245 55 1 68 15 3 02WW12 4 59 3 41 1 89 y 0 27 3 53 02VW14 16 0 63 3 0 12 5 0 20 5 0 20 02WW14 0 63 0 12 0 20 0 20 02VW16 M5 depth 8 02WW16 depth 8 0 31 03WW12 136 5 3 106 5 19 68 1 2 68 No key 300 0 0 2 3 0 03WW1...

Page 333: ...16 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 5 Conforms to IP55 protective structure except connector and output shaft faces 5 ...

Page 334: ...le SGMP 08VW16 with key type only Type SGMP QK U W T Screw dimen sions Output W HP Approx mass kg lb Allowable radial load N lb Allowable thrust load N lb 08VW12 No key 750 4 7 392 88 1 147 33 0 08VW14 22 3 5 5 1 01 10 36 08VW16 0 87 0 12 0 20 0 20 M5 depth 8 0 31 Note 1 The detector uses a 12 bit absolute encoder 1024 P R 2 Type V indicates 200 V specification 3 08VW14 and 08VW16 have a keyed sha...

Page 335: ... Green Black Red FG Frame Ground Green Yellow Plug 172171 1 AMP Pin 170359 1 or 170363 1 Plug 172167 1 AMP Connected to Connected to Cap 172163 1 Socket 170361 1 or 170365 1 1 2 3 4 5 6 7 8 13 14 15 S channel output S channel output Purple White Purple Capacitor reset Gray Reset White Gray 0V battery 3 6V battery White Orange Orange Terminal to discharge capacitor for product dispatch Do not use Z...

Page 336: ... last symbol of motor type B 90VDC C 24VDC Brake Holding Torque Motor Rated Torque 126 5 4 98 151 5 5 96 φ8 0 009 0 31 0 0004 0 φ 0 0 55 Sealant 1 67 Nameplate φ Shaft end screw hole SGMP 01V W W16B C with key type only Type SGMP QK U W T Screw dimensions Output W HP Approx mass kg lb Allowable radial load N lb Allowable thrust load N lb 01VW12B C No key 100 0 13 1 2 2 6 78 17 5 49 11 0 01WW12B C ...

Page 337: ...ial 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 6 Conforms to IP55 protective structure except connector and output shaft faces 5 ...

Page 338: ...que Motor Rated Torque φ14 0 011 0 55 0 0004 0 φ 0 0 55 φ3 54 Nameplate Shaft end screw holeSGMP jjV W W16B C with key type only Type SGMP L LL LM QK U W T Screw dimen sions Out put W HP Approx mass kg lb Allow able radial load N lb Allow able thrust load N lb 02VW12B C 148 118 48 1 No key 200 2 3 245 68 02WW12B C 5 83 4 65 1 89 y 0 27 5 07 55 1 15 3 02VW14B C 16 3 5 5 02WW14B C 0 63 0 12 0 20 0 2...

Page 339: ... P R Cross section Y Y 4 φ10 φ0 39 MTG Holes Motor Lead UL2464 φ7 φ0 29 Sealant 0 0016 0 0008 11 81 1 18 1 38 0 14 11 81 1 18 110 0 0 035 4 33 0 0014 0 φ 4 72 0 39 Marked Wire Name plate φ16 0 0 011 0 63 0 0004 0 φ φ0 0016 Encoder Lead UL20276φ8 φ0 31 1 38 1 57 1 50 0 41 Screw Hex Nut 17 0 67 φ5 71 66 7 2 63 0 75 Holding Brake Deenergisation Operation Voltage depends on the last symbol of motor ty...

Page 340: ...l output White Blue B channel output Yellow B channel output White Yellow Green White Green Black Red FG Frame Ground Green Yellow Z channel output Z channel output 0 V power supply 5 V power supply 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 S channel output S channel output Purple White Purple Capacitor reset Gray Reset White Gray 0V battery 3 6V battery White Orange Orange Socket 170362 1 or 170366 1 U...

Page 341: ...0 27HP Types DR2 A3Aj to 02Aj 100V 30W 0 04 HP to 100 W 0 13HP Types DR2 A3Bj to 01Bj b Semi closed loop standard 200V 400W 0 53 HP 750W 1 01 HP Types DR2 04Aj 08Aj 100V 200W 0 27 HP 300W 0 40 HP Types DR2 02Bj 03Bj c Full closed loop option 200V 30W 0 04 HP to 200W 0 27 HP Types DR2 A3Aj F to 02Aj F 100V 30W 0 04 HP to 100W 0 13 HP Types DR2 A3Bj F to 01Bj F d Full closed loop option 200V 400W 0 ...

Page 342: ...W 0 04 HP to 200 W 0 27HP DR2 A3Bj to 01Bj 100V 30W 0 04 HP to 100 W 0 13HP Approx Mass 2 5 kg 5 51 lb 9 25 Heat Sink 1 18 1 18 0 30 9 84 0 30 0 59 0 59 0 59 0 59 0 59 8 66 0 59 7 91 0 09 1 30 0 24 1 18 2 36 External Terminals 11P FRONT2 5H SA5 PHOENIX CONTACT VOLTAGE INDICATION 8 86 9 25 0 20 0 20 1 97 OPENING 3 M4 TAPPED HOLES 5 ...

Page 343: ...HP 750W 1 01 HP DR2 02Bj 03Bj 100V 200W 0 27 HP 300W 0 40 HP Approx Mass 3 7 kg 8 16 lb 9 25 Heat Sink 0 30 9 84 External Terminals 11P FRONT2 5H SA5 PHOENIX CONTACT VOLTAGE INDICATION 9 25 0 30 0 30 0 59 8 66 0 59 9 80 0 09 1 30 0 24 2 95 8 86 0 20 1 97 0 49 0 49 1 97 OPENING 3 M4 TAPPED HOLES 5 ...

Page 344: ...pes DR2 A3Aj F to 02Aj F 100V 30W 0 04 HP to 100W 0 13 HP Types DR2 A3Bj F to 01Bj F Approx Mass 2 5 kg 5 51 lb 9 25 Heat Sink 1 18 1 18 0 30 9 84 0 30 0 59 0 59 0 59 0 59 0 59 8 66 0 59 7 91 0 09 1 30 0 24 1 18 2 36 External Terminals 11P FRONT2 5H SA5 PHOENIX CONTACT VOLTAGE INDICATION 8 86 9 25 0 20 0 20 1 97 OPENING 3 M4 TAPPED HOLES 5 ...

Page 345: ...Aj F to 08Aj F 100V 200W 0 27 HP to 300W 0 40 HP Types DR2 02Bj F to 03Bj F Approx Mass 3 7 kg 8 16 lb 9 25 Heat Sink 0 30 9 84 External Terminals 11P FRONT2 5H SA5 PHOENIX CONTACT VOLTAGE INDICATION 9 25 0 30 0 30 0 59 8 66 0 59 9 80 0 09 1 30 0 24 2 95 8 86 0 20 1 97 0 49 0 49 1 97 OPENING 3 M4 TAPPED HOLES 5 ...

Page 346: ...igital Operator Dimensional Drawing a JUSP OP02A 1 Hand held type TYPE 17JE 23090 02 Made by DAIICHI DENSHI KOGYO K K Approx Mass 0 18 kg 0 40 lb 2 φ0 18 MTG HOLES 4 92 2 48 1 97 5 31 0 31 39 37 0 73 0 28 Note Mount type digital operator type JUSP OP03A cannot be used for DR2 Servopack 5 ...

Page 347: ...re also included 5 5 1 Selecting Peripheral Devices 335 5 5 2 Order List 341 5 5 1 Selecting Peripheral Devices Select the peripheral devices using the flowcharts on the subsequent pages The items below are not included in the flowcharts Refer to 5 6 Specifications and Dimen sional Drawings of Peripheral Devices Variable resistors for speed setting Encoder signal converter units Cables for connect...

Page 348: ...solute encoder Incremental Absolute Incremental Absolute Select connector kit Select connector kit Select connector kit Select connector kit DP9420009 3 DP9420009 2 DP9420009 4 1 Select brake power supply to a DP9320659 1 DP9320659 2 DP9320659 3 3m 5m 10m DP9320659 4 DP9320659 5 15m 20m DP8409359 1 DP8409359 2 DP8409359 3 DP8409359 4 DP8409359 5 DP9320660 1 DP9320660 2 DP9320660 3 DP9320660 4 DP93...

Page 349: ... previously selected at step 1 Yes No Select connector kit to b Connector both ends Servopack end without connector Cable only DP9320082 2 DP9320082 3 DP9320082 4 DP9320082 5 DP9320086 1 DP9320086 2 DP9320086 3 DP9320086 4 DP9320086 5 DP9400064 1 DP9400064 2 DP9400064 3 DP9400064 4 DP9400064 5 DP9420009 1 DP9420009 2 A 3m 5m 10m 15m 20m 9 8ft 16 4ft 32 8ft 49 2ft 65 6ft 3m 5m 10m 15m 20m 9 8ft 16 ...

Page 350: ...ly selected at step 1 Yes No Select connector kit 2 Select battery for absolute encoder ER6VC3 3 6V to c Connector both ends Servopack end without connector Cable only DP9320084 1 DP9320084 2 DP9320084 3 DP9320084 4 DP9320084 5 DP9320085 1 DP9320085 2 DP9320085 3 DP9320085 4 DP9320085 5 DP8409123 1 DP8409123 2 DP8409123 3 DP8409123 4 DP8409123 5 DP94020006 3 DP94020006 4 A 3m 5m 10m 15m 20m 9 8ft ...

Page 351: ...acity Noise filter Noise filter Noise filter Noise filter from c Servopack power supply 200 V 100 V 200 V 100 V Servopack capacity Servopack capacity 30 to 200W 400W 750W 30 to 100W 200W 300W Noise filter LF 205A LF 220 LF 205A LF 210 LF 220 4 Select circuit breaker MCCB and noise filter Noise filter LF 210 0 04 to 0 27HP 0 53HP 1 01HP 0 04 to 0 13HP 0 27HP 0 40HP 5 Select magnetic contactor and s...

Page 352: ...pheral device selection Application I to IV Investigate regenerative unit capacity using AC Servomotor sizing software Result of investigation into regenerative unit Applicable No regenerative unit required Add regenerative unit or external regenerative resistor Regenerative unit JUSP RG08 Type of application I II III IV I to IV D This is the surge suppressor for HI 15E5 shown in the previous page...

Page 353: ...peripheral devices SGM Servomotor Servomotor Type Qty SGM jjjjjjj SGM jjjjjjj SGM jjjjjjj SGM jjjjjjj SGM jjjjjjj SGM jjjjjjj DR2 Servopack excluding cables and connectors Servopack Type Qty DR2 jjjj j DR2 jjjj j DR2 jjjj j DR2 jjjj j DR2 jjjj j DR2 jjjj j SGMP Servomotor Servomotor Type Qty SGMP jjjjjjj SGMP jjjjjjj SGMP jjjjjjj SGMP jjjjjjj SGMP jjjjjjj SGMP jjjjjjj Digital Operator Purchase Sep...

Page 354: ...Servomotor without Brake Cable Only 1 Purchase Separately Cable Type Qty DP8409359 1 3 m 9 8 ft DP8409359 2 5 m 16 4 ft DP8409359 3 10 m 32 8 ft DP8409359 4 15 m 49 2 ft DP8409359 5 20 m 65 6 ft 1 Customer to attach connector and amplifier terminals Requires K1 connector kit M3 Cables for Servomotor with Brake with connector and amplifier terminals Purchase Separately Cable Type Qty DP9320660 1 3 ...

Page 355: ...ake DP9420009 2 Incremental encoder with brake DP9420009 3 Absolute encoder no brake DP9420009 4 Absolute encoder with brake The three products in the diagrams below are supplied as a set 1 Encoder Connector for Motor End of Cable one connector for incremental or absolute encoder 2 Motor Connector for Motor End of Cable one connector for Servomotor with or without brake 3 Encoder Connector for Ser...

Page 356: ... Separately Cable Type Qty DP9320082 1 3m 9 8 ft DP9320082 2 5m 16 4 ft DP9320082 3 10m 32 8 ft DP9320082 4 15m 49 2 ft DP9320082 5 20m 65 6 ft E2 Cables for Incremental Encoder Servopack end without connectors 2 Purchase Separately Cable Type Qty 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 S...

Page 357: ... 4 ft B9400064 3 10m 32 8 ft B9400064 4 15m 49 2 ft B9400064 5 20m 65 6 ft 3 Customer to attach connector to both ends of cable Requires K1 connector kit E4 Cables for Absolute Encoder Connector Both Ends Purchase Separately Cable Type Qty DP9320084 1 3m 9 8 ft DP9320084 2 5m 16 4 ft DP9320084 3 10m 32 8 ft DP9320084 4 15m 49 2 ft DP9320084 5 20m 65 6 ft 5 ...

Page 358: ...20085 5 20m 65 6 ft 2 Customer to attach connector to Servopack end of cable Requires K1 connector kit E6 Cables for Absolute Encoder Cable Only 3 Purchase Separately Cable Type Qty 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 K1 connector kit Battery for Absolute E...

Page 359: ...parately Noise Filter Type Qty LF 205A 5A LF 210 10A LF 220 20A Magnetic Contactor Purchase Separately Magnetic Contactor Type Qty HI 15E5 30A Surge Suppressor Purchase Separately Surge Suppressor Type Qty CR50500BL Regenerative Unit 4 Purchase Separately Regenerative Unit Type Qty JUSP RG08 4 Applicable only to 200V 30W to 200W specification 5 ...

Page 360: ...r for Speed Setting Purchase Separately Variable Resistor Type Qty 25HP 10B Cables for Connecting PC and Servopack Purchase Separately Cable Type Qty DE9405258 2m 6 6 ft Encoder Signal Converter Unit Purchase Separately Unit Type Qty LRX 01 A1 LRX 01 A2 LRX 01 A3 LRX 01 A4 5 ...

Page 361: ...tor Cables 355 5 6 3 Connector Kits 358 5 6 4 Brake Power Supply 363 5 6 5 Encoder Cables 365 5 6 6 Battery for Absolute Encoder 371 5 6 7 1CN Connector 371 5 6 8 Circuit Breaker 373 5 6 9 Noise Filter 374 5 6 10 Magnetic Contactor 375 5 6 11 Surge Suppressor 376 5 6 12 Regenerative Unit 376 5 6 13 Variable Resistor for Speed Setting 379 5 6 14 Encoder Signal Converter Unit 379 5 6 15 Cables for C...

Page 362: ...A5A j SGM A5V j 0 3 Class 5 A above 100 W 0 13HP 01AC SGM 01A j SGM 01V j 0 5 01ACP SGMP 01A j SGMP 01V j 200 W 0 27HP 02AC SGM 02A j SGM 02V j 0 75 02ACP SGMP 02A j SGMP 02V j 400 W 0 53HP 04AC SGM 04A j SGM 04V j 1 2 9 LF 210 Single phase 200 VAC Class 10 A 04ACP SGMP 04A j SGMP 04V j Class 10 A 750 W 1 01HP 08AC SGM 08A j SGM 08V j 2 2 16 Not applicable LF 220 Single phase 200 VAC Class 20 A 08...

Page 363: ...B j SGMP 02W j Class 10 A 300 W 0 40HP 03BC SGM 03B j SGM 03W j 1 4 15 LF 220 Single phase 200 VAC Class 20 A 03BCP SGMP 03B j SGMP 03W j Class 20 A Note For power ON OFF switch use contactor 30A or above 1 Value at rated load 2 Braking characteristics at 25_C 200 for 2s min 700 for 0 01s min 3 Yaskawa recommends noise filters manufactured by Tokin Corp Yaskawa Controls Co Ltd can supply these noi...

Page 364: ...ls are used use the same size cable as those of L1 L2 Tightening torque is the same as those of L1 L2 0 5N m 2 The cable specifications were selected under conditions of three cables per bundle at 40_C ambient temperature with the rated current flowing Max connectable cable size is 2 5mm2 Cable Specifications for Control Circuit Power Input Terminals Applied Voltage Servopack Type DR2 Control Circ...

Page 365: ...e applied only when SGMP motor is used Cable Specifications When motor conforms to Japanese Standard When Yaskawa cables are used contact your Yaskawa representative for details When selecting non Yaskawa cables check the cable current rating and consider the operating environment In this case use cable sizes AWG 22 to AWG 18 0 3 to 0 89mm2 since motor side connector has some restriction As for co...

Page 366: ... Use twisted pair cable or twisted pair shielded cable Max wiring length is 3m 9 8ft Finished Cable Dimensions φ16 0 mm φ 0 63 in MAX PG Signal Connector 2CN Cable Use Yaskawa cable Use twisted pair shielded cable if Yaskawa cable is not used If using cable other than Yaskawa s If using cable other than Yaskawa s use AWG22 for encoder power supply and FG line Use AWG26 for other signals These conn...

Page 367: ...nector for Motor End of Cable Cap 172159 1 4 pin Socket 170362 1 or 170366 1 Heat Shrink Tube Finished Dimension 7 5mm Max Cable AWG20 x 4 core Heat Shrink Tube 1 38 1 97 Spare Solder 35 L 50 9 0 35 b Cables For Motor With Brake with connector and AMP terminals Type L in mm feet DP9320660 1 3000 100 0 10 0 33 0 DP9320660 2 5000 100 0 16 7 0 33 0 DP9320660 3 10000 500 0 33 3 1 67 0 DP9320660 4 1500...

Page 368: ...re Type L in mm feet DP8409359 1 3000 100 0 10 0 33 0 DP8409359 2 5000 100 0 16 7 0 33 0 DP8409359 3 10000 500 0 33 3 1 67 0 DP8409359 4 15000 500 0 50 1 67 0 DP8409359 5 20000 500 0 66 7 1 67 0 AMP Connector Cap 172159 1 Socket 170362 1 or 170366 1 Manufactured by AMP Pin Red White Blue Green U phase V phase W phase FG 5 ...

Page 369: ...8409360 3 10000 500 0 33 3 1 67 0 DP8409360 4 15000 500 0 50 1 67 0 DP8409360 5 20000 500 0 66 7 1 67 0 AMP Connector Cap 172160 1 Socket 170362 1 or 170366 1 Manufactured by AMP Pin Red White Blue Green Black Black U phase V phase W phase FG Frame Ground Br Brake Terminal Br Brake Terminal If cable only is ordered purchase the AMP connector separately Refer to 5 6 3 Con nector Kits for details ab...

Page 370: ...ur types of connector kit are available according to the following information Is the encoder incremental or absolute Is the motor with or without a brake A connector kit is required in the following cases a If motor cable only is purchased whether or not motor has a brake b If the encoder cable with a motor connector only and Servopack end without connec tor or encoder cable only is purchased for...

Page 371: ...170365 1 0 17 0 88 0 93 14 0 0 55 4 2 0 17 16 0 63 3 Select one of the following two types of motor cable connector a Motor Without Brake Cap 172159 1 Socket 170362 1 or 170366 1 0 39 0 16 0 93 4 14 0 16 9 8 0 39 11 8 0 46 b Motor With Brake Cap 172160 1 Socket 170362 1 or 170366 1 0 17 0 55 0 93 4 2 0 17 9 8 0 39 11 8 0 46 5 ...

Page 372: ...ately and use MRP Fjtype contact Connector Soldering type D A B 11 0 43 2 φ2 8 0 11 0 51 13 0 78 19 9 C F E G H Units mm inches Connector Type A B C D E F G H MR 20F 32 8 1 29 27 8 1 09 10 0 39 22 3 0 88 3 0 12 2 4 0 09 8 4 0 33 10 9 0 43 Connector Caulking type D A B 11 0 43 2 φ2 8 0 11 0 51 13 18 5 C F E G 0 73 Units mm inches Connector Type A B C D E F G MRP 20F01 32 8 1 29 27 8 1 09 10 0 39 22...

Page 373: ... M Male F Female Terminal Status Type Processing Applicable Female Insulation Chain MRP F102 Silver plated Chain MRP F103 Gold plated MRP 8F01 to Loose MRP F112 Silver plated to MRP 50F01 Loose MRP F113 Gold plated MRP 50F01 Tool Type Designation MRP MF Contact pulling tool Connector series Case A C φD B E B Units mm inches Case Type A B C φD E MR 20L 39 3 1 55 18 0 71 39 8 1 57 11 0 43 47 9 1 89 ...

Page 374: ...able Encoder End Servopack End Encoder Type Motor Brake Cap Socket Connector Case Cap Socket Type Brake With Without Type Q ty Type Qt y Type Q ty Type Q ty Type Q ty Type Qt y DP9420009 1 Incremental Without 1 172161 1 1 1 170365 1 3 10 2 MR 20F 1 2 MR 20L 1 1 172159 1 1 1 170366 1 3 5 DP9420009 2 Incremental With 1 172160 1 1 3 7 DP9420009 3 Absolute Without 1 172163 1 1 3 16 1 172159 1 1 3 5 DP...

Page 375: ... LPSE 2H01 100 VAC Input LPDE 1H01 Use for Servomotor with brake Dimensional Drawings Manufactured by Yaskawa Controls Co Ltd Name Plate Lead Wires 1 97 1 18 0 98 0 79 2 3 2 0 12 MTG HOLES SPOT FACING 5 5 0 22 4 0 16 LONG Lead Wire Length 500 mm each 19 69 in Max Ambient Temperature 60_C Lead Wires Color Coded AC Input Brake 100V 200V Blue White Yellow White Red Black 5 ...

Page 376: ...e 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 Internal Circuit for 200 VAC Input LPSE 2H01 Yellow AC Side White Surge Sup pressor Diode Red DC Brake Side Black Internal Circuit for 100 VAC Input LPDE 1H01 Blue AC Side White Diode Bridge Surge Sup pres sor Surge Killer Red...

Page 377: ...opack End of Cable Case MR 20L Connector MR 20F L Type L in mm feet DP9320082 1 3000 100 0 10 0 33 0 DP9320082 2 5000 100 0 16 7 0 33 0 DP9320082 3 10000 500 0 33 3 1 67 0 DP9320082 4 15000 500 0 50 1 67 0 DP9320082 5 20000 500 0 66 7 1 67 0 b Cables for Absolute Encoder Connector Both Ends Connector for Encoder End of Cable Cap 172163 1 15 pin Socket 170365 1 Heat Shrink Tube Cable DP8409123 35 1...

Page 378: ... feet DP9320086 1 3000 100 0 10 0 33 0 DP9320086 2 5000 100 0 16 7 0 33 0 DP9320086 3 10000 500 0 33 3 1 67 0 DP9320086 4 15000 500 0 50 1 67 0 DP9320086 5 20000 500 0 66 7 1 67 0 Case MR 20L Manufactured by Honda Tsushin Kogyo Co Ltd Connector MR 20F Manufactured by Honda Tsushin Kogyo Co Ltd Cap 172161 1 Socket 170365 1 Encoder End Blue White Blue Yellow White Yellow Green Green Yellow Black Red...

Page 379: ...5 2 5000 100 0 16 7 0 33 0 DP9320085 3 10000 500 0 33 3 1 67 0 DP9320085 4 15000 500 0 50 1 67 0 DP9320085 5 20000 500 0 66 7 1 67 0 Cap 172163 1 Socket 170365 1 Case MR 20L Manufactured by Honda Tsushin Kogyo Co Ltd Connector MR 20F Manufactured by Honda Tsushin Kogyo Co Ltd Encoder End Blue White Blue Yellow White Yellow Green White Green Purple White Purple Red Black White Grey Orange White Ora...

Page 380: ...67 0 B9400064 5 20000 500 0 66 7 1 67 0 Cap 172161 1 Manufactured by AMP Socket 170365 1 Manufactured by AMP Case MR 20L Manufactured by Honda Tsushin Kogyo Co Ltd Connector MR 20F Manufactured by Honda Tsushin Kogyo Co Ltd Encoder End Blue White Blue Yellow White Yellow Green White Green Red Black Green Yellow Connector Servopack End P twisted pair shielded cables 7 8 0 2mm2 0 5mm2 Purchase caps ...

Page 381: ...000 500 0 50 1 67 0 DP8409123 5 20000 500 0 66 7 1 67 0 Cap 172163 1 Socket 170365 1 Case MR 20L Manufactured by Honda Tsushin Kogyo Co Ltd Connector MR 20F Manufactured by Honda Tsushin Kogyo Co Ltd Green Yellow White Orange Orange White Grey Blue White Blue Yellow White Yellow Green White Green Purple White Purple Red Black P twisted pair shielded cables 0 2mm2 0 5mm2 0 5mm2 Purchase caps socket...

Page 382: ... Blue White Twisted pair 2 Yellow White Twisted pair 3 Greem White Twisted pair 4 Red White Twisted pair 5 Purple White Twisted Pair 6 Blue Brown Twisted Pair 7 Yellow Brown Twisted Pair 8 Green Brown Twisted pair 9 Red Brown Twisted pair 10 Purple Brown Twisted pair 1 10 3 4 5 6 2 7 8 9 A1 Red A2 Black A3 Green Yellow B1 Blue White Blue Twisted pair B2 Yellow White Yellow Twisted Pair B3 Green Wh...

Page 383: ... 5 6 7 1CN Connector 1 This connector is required to connect the host controller to 1CN on the Servopack As for the connector conforming to the EMC instructions refer to 7 2 5 As for the caulking type contact tool see 5 6 3 Connector Kits for details and use MRP Mjtype contact Connector Soldering type D A B 2 φ2 8 0 11 0 51 13 0 71 18 1 C F E G H 11 0 43 Units mm inches Connector Type A B C D E F ...

Page 384: ...0 0 39 50 9 2 00 2 4 0 09 3 0 12 16 9 0 5 0 67 0 020 0 024 0 6 Male Contact Type Designation MRP M 102 Terminal status See the Table below Terminal type Connector series M Male F Female 1 5 0 2 0 06 0 008 Terminal Status Type Processing Applicable Male Insulation Chain MRP M102 Silver plated Chain MRP M103 Gold plated MRP 8M01 to Loose MRP M112 Silver plated to MRP 50M01 Loose MRP M113 Gold plated...

Page 385: ...onnector Case Type Qty Type Qty DP9420010 I O connector for 1CN Soldering type MR 50M 1 MR 50L 1 I O connector for 1CN Caulking type MRP 50M01 1 MR 50L 1 Manufactured by Honda Tsushin Kogyo Co Ltd 5 6 8 Circuit Breaker 1 The customer should purchase a circuit breaker MCCB of appropriate capacity Use to protect the power lines Recommended Product Ground fault detector for motor protection manufactu...

Page 386: ...nate 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 LF 210 300W 0 40HP 100V 750W 1 01HP LF 220 Dimensional Diagrams LF 205A Single phase 200 VAC Class 5 A IN Rating Plate 1 57 1 18 0 94 2 48 2 83 3 19 0 53 0 53 6 Φ0 14 0 59 1 30 LF 210 Single phase 200 VAC Class 10 A IN Rating Plate 8 Φ0 1...

Page 387: ...7 1 18 2 36 5 6 10 Magnetic Contactor 1 Use one 30 A magnetic contactor of the type shown below for a single Σ Series regard less of capacity For multiple servo systems select the magnetic contactor according to the total capacity Type HI 15E5 30 A Turns servo ON and OFF Note Attach an appropriate surge suppressor to the magnetic contactor Internal Connection Diagram 5 ...

Page 388: ... 1 00 0 21 1 34 0 33 2 70 0 35 0 38 1 50 2 48 2 44 1 89 5 6 11 Surge Suppressor 1 Attach a surge suppressor to the magnetic contactor to prevent power supply noise and protect contacts Recommended Product Spark Killer manufactured by Okaya Electric Industries Co Ltd Type CR50500 250 VAC Static Electricity Capacity 0 5 μF 20 Resistance 50 Ω 1 2 W 30 5 6 12 Regenerative Unit 1 Dimensional drawings o...

Page 389: ...Type JUSP RG08 Comments Applicable Servopack Only for 200V 30 to 200W specifications Regenerative Working Voltage 380Vdc Regenerative Process Current 8Adc Built in regenerative resistance 50 Ω 60 W Error Detection Functions Regenerative resistance failure regenerative transistor failure overvoltage Alarm Output Normally closed contact open when protective function operates 200 V operation OK Dimen...

Page 390: ...gs M4 External Terminal Screws Approx Mass 1 kg 2 20 lb Hole 6 dia Φ0 24 1 97 0 98 0 73 5 12 6 30 5 12 5 87 0 20 0 59 0 24 0 24 0 98 0 59 Nameplate Regenerative Unit Specifications Type JUSP RG08C Remarks Applicable Servopack Only for 200 V 30 to 200 W specifications Regenerative Working Voltage 380Vdc Regenerative Processing Current 8Adc Regenerative Resistance 50 Ω 60 W Error Detection Function ...

Page 391: ...vopack Type 25HP 10B 2 kΩ Type 25HP 10B Multi wrap variable resistor with MD10 30B4 dial manufactured by Sakae Tsushin Kogyo K K φ25 1 φ0 98 0 04 0 83 1 48 0 04 0 94 0 04 0 18 0 57 0 04 0 45 0 04 φ 2 5 φ 0 10 HOLE φ7 5 φ0 30 HOLE 0 39 φ31 1 φ1 22 0 04 5 6 14 Encoder Signal Converter Unit 1 Unit to convert the encoder signal output from the line driver to an open collector output or voltage pulse o...

Page 392: ...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 output Open collector output Voltage pulse output Open collector output Input Signal Level Voltage differential 0 3 V internal termination resistance 100 Ω Output Signal Level H 10 V min 1 mA L 0 5 V max 30 mA L 0 5 V max 30 mA Withstand voltag...

Page 393: ...e 2 m 6 56 ft or less D Sub 25 pin Male or D sub 9 pin Male D Sub 9 pin Male 17JE 23090 02 D8B Made by DDK Dimensional Drawings for Type DE9405258 for NEC PC D Sub connector 25 pin Male 17JE 23250 02 D8A M2 6 screw Cable Black UL2921 Two M3 screws x 10 length 0 5 pitch Pin Connector 17JE 23090 02 D1 6 56 0 164 Note Fold back the cable shielding at each end of the cable and secure it with clamps 9 ...

Page 394: ...nsmission Distance 30 m 98 4 ft max Transmission System RS 422A Servopack End 3CN RS 422A Port Personal Computer End Shield Case Terminal Arrangement at Servopack End Pin Signal Name Signal Circuit Name Signal Direction 1 TXD Transmit data not inverted P S 2 TXD Transmit data inverted P S 3 RXD Receive data not inverted P S 4 RXD Receive data inverted P S 5 OPH 6 RXD Shorting pins 6 and 7 inserts ...

Page 395: ...1 Note Fold back the cable shielding at each end of the cable and secure it with clamp Connection Personal Computer End D sub 9 pin Servopack End D sub 9 pin Clamp with Hood Clamp with Hood 5 Cable for connecting Servopack and NEC PC 98 half pitch connector Use Yaskawa DE9408564 type cable Dimensional Drawings Type DE9408564 2 M3 Screw Pitch 0 5 Pin Connector 17JE 23090 02 D1 Note Fold back the ca...

Page 396: ...SERVO SELECTION AND DATA SHEETS 5 6 15 Cables for Connecting PC and Servopack cont 384 Connection Personal Computer End Servopack End 3CN Clamp with Hood Clamp with Hood 5 ...

Page 397: ... 5 6 3 Connector Kits Use MRP Fjtype contact Connector Soldering type D A B 2 φ2 8 0 11 0 51 13 0 78 19 9 C F E G H 11 0 43 Units mm inches Connector Type A B C D E F G H MR 8F 22 4 0 88 17 4 0 69 10 0 39 11 9 0 47 3 4 0 13 2 8 0 11 8 0 31 10 5 0 41 Connector Caulking type D A B 11 0 43 2 φ2 8 0 11 0 51 13 18 5 C F E G 0 73 Units mm inches Connector Type A B C D E F MRP 8F01 22 4 0 88 17 4 0 69 5 ...

Page 398: ...SERVO SELECTION AND DATA SHEETS 5 6 16 4CN Connector cont 386 Case A C φD B E B Units mm inches Case Type A B C φD E MR 8L 31 1 22 19 0 75 39 8 1 57 11 0 43 36 6 1 44 Maximum dimensions 5 ...

Page 399: ...hich cause an alarm display and for problems which result in no alarm display 6 1 Inspection and Maintenance 388 6 1 1 Servomotor 388 6 1 2 Servopack 389 6 1 3 Replacing Battery for Absolute Encoder 390 6 2 Troubleshooting 391 6 2 1 Troubleshooting Problems with Alarm Display 391 6 2 2 Troubleshooting Problems With No Alarm Display 409 6 2 3 Internal Connection Diagram and Instrument Connection Ex...

Page 400: ...and noise Daily Touch and listen Levels higher than normal Appearance According to degree of contamination Clean with cloth or compressed air Insulation resistance measurement Yearly Disconnect Servopack and test insulation resistance at 500 V Must exceed 10 MΩ See note below Contact your Yaskawa representative if the insulation resistance is below 10 MΩ Replace oil seal Every 5 000 hours Remove s...

Page 401: ...onnector screws Tighten any loose screws Defective parts in unit or on circuit boards Yearly Check for discoloration damage or discontinuities due to heating Contact your Yaskawa 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 Part Standard Replacement Period Repla...

Page 402: ...tery 1CN 4 1CN 2 1CN 21 1CN22 1CN 33 1CN 34 1CN 35 1CN 36 1CN 19 1CN 20 1CN 48 1CN 49 1CN 1 RESET The battery voltage is not internally monitored in the Servopack Therefore detect low battery voltage at the host controller Minimum required battery voltage is 2 8 V Replace the battery according to the following procedure if the battery voltage drops to the minimum required battery voltage The batte...

Page 403: ...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 D Display and Outputs Digital Operator Di l d Alarm Output g p Display and Alarm Name Alarm Code Output Alarm Output Alarm N...

Page 404: ...1 Bit E to 0 E Absolute encoder defective Replace servomotor F Circuit board 1PWB defective Replace Servopack NOTE Resetting SEN Signal When resetting the SEN signal i e turning it OFF and then back ON for any reason keep the SEN signal at the high level for more than 1 3 s before turning it OFF SEN signal OFF ON High Level 1 3 s min OFF ON 15 ms min D Display and Outputs Digital Operator Di l d A...

Page 405: ...d Reset all user constants in range Otherwise re load correct user constants B Circuit board 1PWB defective Replace Servopack D Display and Outputs Digital Operator Di l d Alarm Output g p Display and Alarm Name Alarm Code Output Alarm Output Alarm Name ALO1 ALO2 ALO3 p A 10 Overcurrent ON OFF OFF OFF OFF Output transistor is OFF ON Output transistor is ON Note Alarm A10 is reset when the power is...

Page 406: ...d defective Replace Servopack D Display and Outputs Digital Operator Di l d Alarm Output g p Display and Alarm Name Alarm Code Output Alarm Output Alarm Name ALO1 ALO2 ALO3 p A 20 Fuse blown OFF ON OFF OFF OFF Output transistor is OFF ON Output transistor is ON Status When Alarm Occurred A At control power ON At main circuit power ON B C Cause Remedy A Circuit board 1PWB defective Replace Servopac...

Page 407: ...nd or position loop gain Cn 1A D Servomotor overloaded Reduce load torque and inertia Otherwise replace with larger capacity servomotor E Position reference pulse frequency too high Decrease reference pulse frequency Use smoothing function Change electronic gear ratio F Circuit board 1PWB defective Replace Servopack D Display and Outputs Digital Operator Di l d Alarm Output g p Display and Alarm N...

Page 408: ...larm Output Alarm Name ALO1 ALO2 ALO3 p A 51 Overspeed ON OFF ON OFF OFF Output transistor is OFF ON Output transistor is ON Status When Alarm Occurred A B C D E When servo ON S ON signal turned ON During high speed servomotor rotation after reference in put Alarm detected at 110 max speed At control power ON E A B C D E Cause Remedy A Servomotor wiring incorrect Encoder wiring incorrect disconnec...

Page 409: ...nnected Check wiring and connectors at servomotor B Encoder wiring incorrect or disconnected Check wiring and connectors at encoder C Load greatly exceeds rated torque Reduce load torque and inertia Otherwise replace with larger capacity servomotor D Incremental encoder power not supplied from Servopack Use the Servopack power supply for the encoder E Circuit board 1PWB defective Replace Servopack...

Page 410: ... 1 0 turn SEN signal OFF and back ON if servomotor is rotating first turn servo OFF Another encoder alarm displayed when SEN signal or power supply turned back ON D When Cn 01 Bit 1 1 turn Servopack control power OFF and back ON E Servopack miscounted pulses positional displacement or malfunctioned due to noise Separate encoder wiring from main wiring circuits When Cn 01 Bit 1 0 turn SEN signal OF...

Page 411: ...d Outputs Digital Operator Di l d Alarm Output g p Display and Alarm Name Alarm Code Output Alarm Output Alarm Name ALO1 ALO2 ALO3 p A 82 Absolute encoder sum check error only if absolute encoder is used OFF OFF OFF OFF OFF Output transistor is OFF ON Output transistor is ON Status When Alarm Occurred B At control power ON Cn 01 Bit 1 0 Cn 01 Bit 1 1 When SEN signal turned ON Cn 01 Bit 1 0 A B A D...

Page 412: ...nly if absolute encoder is used OFF OFF OFF OFF OFF Output transistor is OFF ON Output transistor is ON Status When Alarm Occurred C At control power ON Cn 01 Bit 1 0 Cn 01 Bit 1 1 When SEN signal turned ON Cn 01 Bit 1 0 A B A B During operation see note A B Cause Remedy A Battery not connected Battery connection defective Check and correct battery connection B Battery voltage below specified valu...

Page 413: ...gnal turned ON Cn 01 Bit 1 0 A A During operation see note A Cause Remedy A Absolute encoder malfunctioned When Cn 01 Bit 1 0 turn SEN signal OFF and back ON When Cn 01 Bit 1 1 turn Servopack con trol power OFF and back ON Replace servomotor if error occurs fre quently B Circuit board 1PWB defective Replace Servopack Note No alarm occurs at the Servopack when a data error A 84 is generated The dat...

Page 414: ...ntrol power ON Cn 01 Bit 1 0 Cn 01 Bit 1 1 When SEN signal turned ON Cn 01 Bit 1 0 A A Position control A Cause Remedy A Absolute encoder turned ON at a speed exceeding 400 r min Turn ON encoder power supply or SEN signal or Servopack control power supply at a speed not exceeding 400 r min B Circuit board 1PWB defective Replace Servopack D Display and Outputs Digital Operator Di l d Alarm Output g...

Page 415: ... Servo overrun ON OFF ON OFF OFF Output transistor is OFF ON Output transistor is ON Status When Alarm Occurred E At control power ON User constant Cn 01 Bit 0 0 When servo ON S ON signal turned ON A B C D E On speed reference input A B C D E A B C D E Occurred 1 to 3 se conds after power ON User constant Cn 01 Bit 0 1 Cause Remedy A Servomotor wiring incorrect or disconnected Check wiring and con...

Page 416: ... B C At control power ON During servomotor operation Occurred 1 to 3 seconds after control power ON D E F G H E F G H Cause Remedy A Noise in encoder wiring Separate encoder wiring from main wiring circuits B Encoder wiring incorrect or poor connection Check wiring and connectors at encoder C Encoder defective Replace servomotor D Noise in encoder wiring Separate encoder wiring from main wiring ci...

Page 417: ...F ON Output transistor is ON Status When Alarm Occurred D At control power ON User constant Cn 01 Bit 0 0 When servo ON S ON signal turned ON A B C D During servomotor operation A B C D A B C Occurred 1 to 3 seconds after control power ON User constant Cn 01 Bit 0 1 Cause Remedy A Encoder wiring incorrect or poor connection Check wiring and connectors at encoder B Noise in encoder wiring Separate ...

Page 418: ...OFF OFF Output transistor is OFF ON Output transistor is ON Status When Alarm Occurred C At main circuit power ON User constant Cn 01 Bit 0 0 When servo ON S ON signal turned ON A B C D During servomotor operation A B C D A B C D Occurred 1 to 3 seconds after main circuit power ON User constant Cn 01 Bit 0 1 Cause Remedy A Encoder wiring incorrect or poor connection Check wiring and connectors at ...

Page 419: ...B Malfunction due to external noise Separate digital operator and cable from noise source C Digital operator defective Replace digital operator D Servopack defective Replace Servopack D Display and Outputs Digital Operator Di l d Alarm Output g p Display and Alarm Name Alarm Code Output Alarm Output Alarm Name ALO1 ALO2 ALO3 p CPF01 Digital operator transmission error 2 Not specified Note This ala...

Page 420: ...nt 408 D Display and Outputs Digital Operator Di l d Alarm Output g p Display and Alarm Name Alarm Code Output Alarm Output Alarm Name ALO1 ALO2 ALO3 p A 99 OFF OFF OFF ON OFF Output transistor is OFF ON Output transistor is ON Status When Alarm Occurred Indicates normal operation Not an alarm 6 ...

Page 421: ...ng incorrect Refer to Subsection 3 2 1 Refer to Subsection 3 2 1 and set user constants to match application Reference pulse mode selection incorrect Refer to Subsection 3 2 2 Select correct user constants Cn 02 Bits 3 4 5 Encoder type differs from user constant setting Incremental or absolute encoder Set user constants Cn 01 Bit E to the encoder type used P OT and N OT inputs are turned OFF If Cn...

Page 422: ...reset value Servomotor overheated Ambient temperature too high Measure servomotor ambient temperature Reduce ambient temperature to 40 C max Servomotor surface dirty Visual check Clean dust and oil from motor surface Overloaded Run under no load Reduce load or replace with larger capacity servomotor Abnormal noise Mechanical mounting incorrect Servomotor mounting screws loose Tighten mounting scre...

Page 423: ...O 115V 50 60Hz 10 15 10 15 NOISE FILTER POWER OFF POWER ON 1MC SURGE SUPPRESSOR 1MC 1RY OPEN AT SERVO ALARM FG DC DC CON VERTER ALARM INDICATION PRO TECTIVE DETECTION IN RUSH CURRENT PREVENTIVE CIRCUIT REGENERATIVE PROCESSING ISO LATOR PWM REGENERATIVE CIRCUIT CURRENT CONTROL CIRCUIT CURRENT REFERENCE CURRENT CONTROL SPEED CONTROL POSITION CONTROL SPEED CALCU LATION RELAY CURRENT DETECTION DB CIRC...

Page 424: ...OPEN AT SERVO ALARM FG DC DC CON VERTER ALARM INDICATION PRO TECTIVE DETECTION IN RUSH CURRENT PREVENTIVE CIRCUIT REGENERATIVE PROCESSING ISO LATOR PWM REGENERATIVE CIRCUIT CURRENT CONTROL CIRCUIT CURRENT REFERENCE CURRENT CONTROL SPEED CONTROL POSITION CONTROL SPEED CALCU LATION RELAY CURRENT DETECTION DB CIRCUIT CURRENT DETECTOR CHARGE 1MC L1 L2 L N 5V 5V PG5V CPU PM1 DB1 U V W RED WHITE BLUE GR...

Page 425: ... Reverse Torque Limit ON at 4Ry ON Forward Torque Limit ON at 5Ry ON 6Ry ON for Torque Limit Detection 7Ry ON for TGON 8Ry ON for Servo Ready 9Ry OFF for Servo Alarm PG Output Line Driver Alarm Code Output DR2 Servopack Servo ON P Control Reverse Drive Disabled Forward Drive Disabled Alarm Reset Reverse Torque Limit ON Forward Torque Limit ON Torque Limit Detection TGON ON when the motor zero spee...

Page 426: ...imit ON at 5Ry ON 6Ry ON for Positioning Completed 7Ry ON for TGON 8Ry ON for Servo Ready 9Ry ON for Servo Alarm PG Output Line Driver Alarm Code Output DR2 Servopack Servo ON P Control Reverse Drive Disabled Forward Drive Disabled Alarm Reset Reverse Torque Limit ON Forward Torque Limit ON Positioning Completed TGON ON when the motor zero speed level set in the user constant is exceeded Servo Rea...

Page 427: ... Standard 416 7 1 1 What is EN Standard 416 7 1 2 What is CE Marking 416 7 1 3 EMC Directive 417 7 1 4 Certification Body TÜV Authorized by EU 417 7 2 Measures to Satisfy the Requirements of EMC Directive 418 7 2 1 Applicable Servomotor 418 7 2 2 Applicable Noise Filter 418 7 2 3 Motor Cables 419 7 2 4 Encoder Cables 419 7 2 5 Control I O 420 7 2 6 Digital Operator and Monitoring by Personal Compu...

Page 428: ...sfy EC directive is EN standard European standard At the present time they have instructions for 12 items such as machine directive low voltage directive etc in addition to EMC directive specified for each of dozens of stan dards 7 1 2 What is CE Marking 1 CE marking is a mark to indicate that a product is a safe product conforming to the protection level specified by EC directive Attaching this m...

Page 429: ...nd provided with proper measures the prod uct can be said to coexist with electro magnetic environment which means that the product satisfies EMC requirements 2 EMC is an abbreviation of Electro Magnetic Compatibility indicating electro magnetic compatibility of a product The following diagram outlines the contents explained in 1 EMI Measures EMI Measures To Coexist EMC Measures In the above diagr...

Page 430: ...ndard For details refer to 5 4 2 Servomotor Dimensional Drawings TÜV approved Servomotor Type Example SGM 01V312 200VAC 100W SGM 01W312 100VAC 100W 7 2 2 Applicable Noise Filter 1 Use the following noise filter Make sure to ground the noise filter securely Applied Voltage Servopack Type DR2 Servopack Rated Input Current A rms Noise Filter Type and Specifications Input Line Noise Filter Type and Sp...

Page 431: ...een PG cable shield and connector case Encoder Type Incremental Absolute Cable only B9400064 1 DP8409123 1 Connector on Servopack Side Case MR 20L4 2 Servopack Side Connector MR 20F 2 Connector on Motor Side 17JE13090 02D8A 3 17JE13150 02D8A 3 Stud for Connector on Motor Side 17L 002A 3 1 Contact your Yaskawa representative for details 2 Made by Honda Tsushin Kogyo Co Ltd 3 Made by DDK Ltd Connect...

Page 432: ...w Green Red Black Green Blue 0 2mm2 0 2mm2 Purple White Purple White Grey Orange White Orange 7 2 5 Control I O 1 For control I O 1CN connector use the following connector Connector case shown below is plated For 1CN cable use the shielded cable and make sure to ground between cable shield and connector case Also perform shield processing on host controller side securely Connector MR 50M Connector...

Page 433: ...e host controller and Servopack 7 2 8 Wiring 1 The following diagram shows the wiring example for motor with brake The noise filter and the core are shown in the same figure When eatrth plate is not used polish the mounted noise filter part with sand paper to expose the metal Then ground the noise filter securely on the panel EARTH PLATE NOISE FILTER POWER SUPPLY FOR BRAKE NOISE FILTER MOTOR WITH ...

Page 434: ...Appendix A 423 Differences Between DR2 and DR1 SGDA and SGD Servopacks The functions and performance of Servopacks DR2 DR1 SGDA and SGD are listed and compared in the Tables A ...

Page 435: ...ter Selection See note 3 Yes Select according to output form of the customer s controller line driver or open collector Yes External Reference Receive During Contact Input Speed Control Selectable Software version 0003 or later See Par 4 2 8 Always receivable Reference Pulse Inhibit Yes Switch the P CON signal with the user constant settings No Reference Pulse Value Display See note 3 Possible Mon...

Page 436: ...types as those of SGD SGDA 3 5 10 15 20m are available The same types as those of SGD SGDA Encoder Cable 3 5 10 15 20m are available Not the same types as those of SGD SGDA Conformable Overseas Standard TÜV approved Conforming to EN61010 No Control Type Speed torque and position are controlled by the same Servopack User Constant Cn 05 Setting Unit 0 01ms 1ms A ...

Page 437: ... 100V 200W Base mount type Option No Motor Terminals External terminals in conformance with Standard PHOENIX CONTACT External terminal M4 screw Encoder Connector 2CN MR 20RMA MR 20RMA Common with DR2 and DR1 Different from SGD type Connector 4CN for Full closed Type MR 8RMA External I O Signals Used Connector MR 50RFA MR 50RFA Common with DR2 and DR1 S g a s 1CN 3 pin PL1 PULS pull up SG Signal gr...

Page 438: ...d See note 2 Yes Torque feed forward and torque restriction with analog references cannot be used i lt l No Torque Restriction with Analog References See note 2 Yes g simultaneously Settings identical for forward and reverse No Reference Pulse Input Unit Filter Selection See note 3 Yes Select according to output form of the customer s controller line driver or open collector None External Referenc...

Page 439: ... 5 10 15 20m are available Conformable Overseas Standard No Control Type Speed torque and position are controlled by the different type Servopack User Constant Cn 05 Setting Unit 1ms Note 1 Material is being prepared on speed loop servo gain compensation 2 Speed control type only 3 Position control type only A ...

Page 440: ...30 B 1 1 Σ Series AC Servopacks and Gain Adjustment Methods 430 B 1 2 Basic Rules for Gain Adjustment 431 B 2 Adjusting a Servopack for Speed Control 432 B 2 1 Adjusting Using Auto tuning 432 B 2 2 Manual Adjustment 433 B 3 Adjusting a Servopack for Position Control 436 B 3 1 Adjusting Using Auto tuning 436 B 3 2 Manual Adjustment 437 B 4 Gain Setting References 441 B 4 1 Guidelines for Gain Setti...

Page 441: ...Torque Reference Filter Time Constant Cn 1A Position Loop Gain In a speed control Servopack where speed references are applied as analog voltages the position loop is controlled by the host controller so the position loop gain is normally adjusted at the host controller If adjustment is not possible at the host controller the same adjustment can be achieved using Cn 03 Speed Reference Gain but the...

Page 442: ...used in an articulated robot form a structure with ex tremely poor rigidity and a characteristic frequency of approximately 10 to 20 Hz This type of machine allows a position loop gain of only 10 to 20 1 sec Conversely the characteristic frequency of a precision machine tool such as a chip mounter or IC bonder exceeds 70 Hz allowing a position loop gain exceeding 70 1 sec for some machines Therefo...

Page 443: ...ox imately 500 r min Set the speed with the user constant Cn 10 Jog speed b Selecting Machine Rigidity If the machine rigidity is unknown select the rigidity according to the following stan dards Drive Method Machine Rigidity DR2 SGDA SGDB SGD Ball screw direct 3 C 003 to 7 C 007 High medium response Ball screw with reduction gears 2 C 002 to 3 C 003 Medium response Timing belt 1 C 001 to 3 C 003 ...

Page 444: ...t in positioning times In particular the target position may not be reached if low response is selected because the machine does not move in response to the final minute references An excessively high setting of the integration time constant Cn 05 during auto tuning is one cause of this problem If response is slow after auto tuning the speed loop gain cannot be manually increased very much before ...

Page 445: ...duce a delay in the servo system just like the integration time constant and its value should not be increased more than necessary d Speed Reference Gain Cn 03 Changing the speed reference gain Cn 03 changes the position loop gain an equiv alent amount That is reducing the speed reference gain is equivalent to reducing the position loop gain and increasing it is equivalent to increasing the positi...

Page 446: ... 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 d It is not necessary to change the torque reference filter time ...

Page 447: ... approx imately 500 r min Set the speed with the user constant Cn 10 Jog speed b Selecting Machine Rigidity If the machine rigidity is unknown select the rigidity according to the following stan dards Drive Method Machine Rigidity DR2 SGDA SGDB SGD Ball screw direct 3 C 003 to 7 C 007 High medium response Ball screw with reduction gears 2 C 002 to 3 C 003 Medium response Timing belt 1 C 001 to 3 C...

Page 448: ...rget position may not be reached if low response is selected because the machine does not move in response to the final minute references An excessively high setting of the integration time constant Cn 05 during auto tuning is one cause of this problem If response is slow after auto tuning the speed loop gain cannot be manually increased very much before vibration starts In this case manually redu...

Page 449: ...ition loop gain increase the machine rigidity and raise the machine characteristic frequency Increasing the position loop gain only to improve the response can result in oscillating response of the overall servo system that is the speed references output from the position loop oscillate Therefore also increase the speed loop gain while observing the response 2 Adjustment Procedure a Set the positi...

Page 450: ...tput early At this point ensure that the positioning complete COIN signal breaks up alternate ly turns ON OFF and that the speed does not overshoot These problems can arise if the feed forward is set too high For all types of Servopack except DR1 a primary delay filter can be applied to feed forward This filter can be used to correct breakup alternatingly turning ON OFF of the positioning complete...

Page 451: ...igital 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 this case the adjustments are made using potentiometers instead of the user constants B ...

Page 452: ...le Chip mounter IC bonder precision machine tools Load Inertia Ratio GDL 2 GDM 2 Position Loop Gain Cn 1A 1 s Speed Loop Gain Cn 04 Hz Speed Loop Integration Time Constant Cn 05 0 01ms 1 x 50 to 70 50 to 70 500 to 2000 3 x 100 to 140 Slightly increase for 5 x 150 to 200 Slightly increase for inertia ratio of 20 x or greater 10 x 270 to 380 greater 15 x 400 to 560 20 x 500 to 730 30 x 700 to 1100 F...

Page 453: ...cified Conversely increase the speed loop in tegration time constant c Machines with Low Rigidity Machines driven by timing belts chains or wave reduction gears product name Har monic Drive Example Conveyors articulated robots Load Inertia Ratio GDL 2 GDM 2 Position Loop Gain Cn 1A 1 s Speed Loop Gain Cn 04 Hz Speed Loop Integration Time Constant Cn 05 0 01ms 1 x 10 to 20 10 to 20 5000 to 10000 3 ...

Page 454: ...e 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 The position loop gain is determined from the following relationship KP 1 s Position loop gain VS PPS Steady speed reference ε pulse Steady error The number of pulses in the error counter at steady speed Kp VS Á B ...

Page 455: ...signal 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 2 Refer to Chapter 3 for details of how to use I O signals 3 Note that the functions of I O signal terminals differ according to the memory switch Cn 01 Cn 02 settings C ...

Page 456: ...Bit A 0 Switch Setting Cn 02 BitB 0 Bit 9 1 Bit 4 1 Bit A 1 Bit B 0 Bit A 0 Bit B 1 1 SG GND 2 SG GND 3 Unused 4 Unused SEN Sensor ON 3 8 5 5 V REF Speed reference input 3 2 1 V REF Speed reference 3 2 8 Unused 3 2 7 6 SG GND SG GND 3 2 8 SG GND 3 2 7 7 Unused 8 Unused 9 T REF Torque reference input 3 2 7 T REF Torque feed forward reference 3 2 8 T REF Torque reference 3 2 7 10 SG GND SG GND 3 2 8...

Page 457: ...Cn 01 Bit A 1 Bit B 0 Cn 01 Bit 4 1 Cn 01 Bit 9 1 Standard Setting Cn 02 BitB 0 18 Unused 19 PCO PG signal output phase C 20 PCO phase C 3 2 3 21 Unused BAT Backup battery input 3 8 5 22 Unused BAT Backup battery input 3 8 5 23 15V Power for speed torque reference 24 15V reference 3 2 1 25 CLT Torque limit detection output 3 1 3 CLT Speed coincide output 3 7 4 26 CLT CLT Speed coincide output 3 7 ...

Page 458: ... Bit B 0 Cn 01 Bit 4 1 Cn 01 Bit 9 1 Standard Setting Cn 02 BitB 0 33 PAO PG signal output phase A 34 PAO phase A 3 2 3 35 PBO PG signal output phase B 36 PBO phase B 3 2 3 37 ALO1 Alarm code output Open collector 3 7 1 38 ALO2 Alarm code output Open collector 3 7 1 39 ALO3 Alarm code output Open collector 3 7 1 40 S ON Servo ON input 3 7 2 41 P CON P control input 3 6 4 P CON Zero clamp operation...

Page 459: ...Bit A 0 Bit B 1 Cn 01 Bit F 1 Cn 01 Bit A 1 Bit B 0 Cn 01 Bit 4 1 Cn 01 Bit 9 1 Standard Setting Cn 02 BitB 0 46 N CL Reverse torque limit ON input 3 1 3 47 24VIN I O power supply 3 2 4 48 Unused PSO Phase S signal output 3 8 5 49 Unused PSO Phase S signal output 3 8 5 50 FG Frame ground 3 2 3 Note Information described in the Standard Specifications column is also applicable to blank col umns Num...

Page 460: ... B 0 Cn 01 Bit E Cn 02 Bit 2 1 Cn 02 Bi F 1 y Switch Setting g Cn 02 bitB 0 Cn 01 Bit B 0 Cn 01 Bit B 1 Bit F 1 1 SG GND 2 SG GND 3 Unused 4 Unused 5 V REF Speed reference input 3 2 1 Unused 3 2 6 V REF Speed reference 3 2 6 V REF Speed reference 3 2 9 6 SG GND SG GND 3 2 6 SG GND 3 2 6 SG GND 3 2 9 7 Unused 8 Unused 9 T REF Torque reference input 3 2 7 T REF Torque limit input 3 2 9 10 SG GND SG ...

Page 461: ...ting Cn 02 bitB 0 16 TRQ M Torque monitor 3 2 12 17 VTG M Speed monitor 3 2 12 18 Unused 19 PCO PG signal output phase C 20 PCO phase C 3 2 3 21 Unused 22 Unused 23 15V Power for speed torque 24 15V torque reference 3 2 1 25 CLT Torque limit detection output 26 CLT output 3 1 3 27 TGON TGON output signal TGON Brake interlock signal 3 4 4 28 TGON 3 7 5 TGON Brake interlock signal 3 4 4 29 S RDY Ser...

Page 462: ...output phase B 3 2 3 37 ALO1 Alarm code output Open collector 3 7 1 38 ALO2 Alarm code output Open collector 3 7 1 39 ALO3 Alarm code output Open collector 3 7 1 40 S ON Servo on input 3 7 2 41 P CON P control input 3 6 4 42 P OT Forward rotation prohibited 3 1 2 43 N OT Reverse rotation prohibited 3 1 2 44 ALM RST Alarm reset input 3 7 1 45 P CL Forward torque limit ON input 3 1 3 P CL Contact in...

Page 463: ...t 2 1 Cn 01 Bit E Standard Setting Cn 02 bitB 0 Memory Switch Setting Cn 02 Bit F 1 Cn 01 Bit B 1 Cn 01 Bit B 0 Cn 01 Bit E Standard Setting Cn 02 bitB 0 50 FG Frame ground 3 2 3 Note Information described in the Standard Specifications column is also applicable to blank col umns Number x x x represents a section number corresponding to each signal name For exam ple 3 2 3 represents Section 3 2 3 ...

Page 464: ...SG GND 3 Unused 4 Unused 5 V REF Speed reference input 3 2 1 V REF Speed limit value 3 2 7 V REF Speed reference 3 2 7 V REF Speed reference 3 2 7 V REF Speed reference 3 2 7 6 SG GND SG GND 3 2 7 SG GND 3 2 7 SG GND 3 2 7 SG GND 3 2 7 7 Unused 8 Unused 9 T REF Torque reference input 3 2 7 T REF Torque reference 3 2 7 Unused 3 2 7 T REF Torque limit value 3 2 7 T REF Torque feed forward reference ...

Page 465: ...2 18 Unused 19 PCO PG signal output phase C 20 PCO phase C 3 2 3 21 Unused 22 Unused 23 15V Power for speed torque 24 15V torque reference 3 2 1 25 CLT Torque limit detection output 26 CLT output 3 1 3 27 TGON TGON output signal 28 TGON signal 3 7 5 29 S RDY Servo ready output 30 S RDY output 3 7 6 31 ALM Servo alarm output 32 ALM output 3 7 1 33 PAO PG signal output phase A 34 PAO phase A 3 2 3 3...

Page 466: ...speed control switch 3 2 7 P CON Torque speed control switch 3 2 7 P CON Torque speed control switch 3 2 7 P CON Torque speed control switch 3 2 7 42 P OT Forward rotation prohibited 3 1 2 43 N OT Reverse rotation prohibited 3 1 2 44 ALM RST Alarm reset input 3 7 1 45 P CL Forward torque limit ON input 3 1 3 46 N CL Reverse torque limit ON input 3 1 3 47 24VIN I O power supply 3 2 4 48 Unused 49 U...

Page 467: ...02 Bit 2 1 Cn 01 Bit F 1 Cn 02 Bit 2 1 1 SG GND 2 SG GND 3 PL1 Power for open collector reference 3 2 2 4 Unused SEN Sensor ON signal 3 8 5 5 Unused 6 SG GND 7 PULS Reference pulse input 3 2 2 Unused 3 2 6 PULS Reference pulse input 3 2 2 8 PULS 3 2 2 Unused 3 2 6 PULS Reference pulse input 3 2 2 9 Unused 10 SG GND 11 SIGN Reference sign input 3 2 2 Unused 3 2 6 PULS Reference pulse input 3 2 2 12...

Page 468: ...nput 3 2 2 Unused 3 2 6 CLR Clear input 3 2 2 15 CLR Unused 3 2 6 CLR Clear input 3 2 2 16 TRQ M Torque monitor 3 2 12 17 VTG M Speed monitor 3 2 12 18 PL3 Power for open collector reference 3 2 2 19 PCO PG signal output phase C 20 PCO phase C 3 2 3 21 Unused BAT Backup battery input 3 8 5 22 Unused BAT Backup battery input 3 8 5 23 Unused 24 Unused 25 COIN Positioning complete 26 COIN complete si...

Page 469: ... 34 PAO phase A 3 2 3 35 PBO PG signal output 36 PBO output phase B 3 2 3 37 ALO1 Alarm code output Open 38 ALO2 Open collector 3 7 1 39 ALO3 40 S ON Servo ON input 3 7 2 41 P CON P control input 3 6 4 P CON INHIBIT input 3 2 10 P CON Rotation direction reference at contact input speed control 3 2 6 P CON Rotation direction reference at contact input speed control 3 2 6 42 P OT Forward rotation pr...

Page 470: ...02 Bit B 1 46 N CL Reverse torque limit ON input 3 1 3 N CL Contact input speed control 2 3 2 6 N CL Contact input speed control 2 3 2 6 47 24VfIN I O power supply 3 2 4 48 Unused PSO Phase S signal output 3 8 5 49 Unused PSO Phase S signal output 3 8 5 50 FG Frame ground 3 2 3 Note Information described in the Standard Specifications column is also applicable to blank col umns Number x x x repres...

Page 471: ...ference 3 2 2 4 Unused 5 Unused 6 SG GND 7 PULS Reference pulse input PULS Forward reference pulse input CCW 3 2 2 PULS Phase A reference pulse input 3 2 2 8 PULS 3 2 2 PULS Forward reference pulse input CCW 3 2 2 PULS Phase A reference pulse input 3 2 2 9 Unused 10 SG GND 11 SIGN Reference sign input SIGN Reverse reference pulse input CW 3 2 2 SIGN Phase B reference pulse input 3 2 2 12 SIGN 3 2 ...

Page 472: ...r 3 2 12 18 PL3 Power for open collector reference 3 2 2 19 PCO PG signal output phase C 20 PCO 3 2 3 21 Unused 22 Unused 23 Unused 24 Unused 25 COIN Positioning complete signal 26 COIN 3 7 3 27 TGON TGON output signal 28 TGON 3 7 5 29 S RDY Servo ready output 30 S RDY 3 7 6 31 ALM Servo alarm output 32 ALM 3 7 1 33 PAO PG signal output phase A 34 PAO 3 2 3 35 PBO PG signal output phase B 36 PBO 3...

Page 473: ...ion prohibited 3 1 2 43 N OT Reverse rotation prohibited 3 1 2 44 ALM RST Alarm reset input 3 7 1 45 P CL Forward torque limit ON input 3 1 3 46 N CL Reverse torque limit ON input 3 1 3 47 24VIN I O power supply 3 2 4 48 Unused 49 Unused 50 FG Frame ground 3 2 3 Note Information described in the Standard Specifications column is also applicable to blank col umns Number x x x represents a section n...

Page 474: ...itch is turned ON or OFF to select a function 2 User constant setting Cn 03 and later A numerical value such as a torque limit value or speed loop gain is set in this constant User constants DR2 Servopack Note 1 Some user constants for speed torque control and position control are different Always refer to the correct list of user constants for the Servopack type 2 Refer to Chapter 3 for details o...

Page 475: ...ed torque 10 100 30 See 3 2 7 3 2 8 3 2 9 Cn 06 EMGTRQ Emergency stop torque 0 Max torque Max torque See 3 1 2 Cn 08 TLMTF Forward rotation torque limit 0 Max torque Max torque See 3 1 3 Cn 09 TLMTR Reverse rotation torque limit 0 Max torque Max torque See 3 1 3 Cn 14 TCRLMT Speed limit for torque control I r min 0 4500 4500 See 3 2 7 Cn 17 TRQFIL Torque reference filter time constant 100 µs 0 250...

Page 476: ...00 200 See 3 6 6 Co s a s Cn 0D REFMSW Mode switch speed reference r min 0 4500 0 See 3 6 6 Cn 0E ACCMSW Mode switch acceleration reference 10 r min s 0 3000 0 See 3 6 6 Cn 10 JOGSPD Jog speed r min 0 4500 500 See 3 3 2 Cn 1F SPEED1 1st speed contact input speed control r min 0 4500 100 See 3 2 6 Cn 20 SPEED2 2nd speed contact input speed control r min 0 4500 200 See 3 2 6 Cn 21 SPEED3 3rd speed c...

Page 477: ...oincide output 5 Not used Not used 0 Sequence l i 6 0 1 0 q selection at alarm condition Stops the motor by applying dynamic brake when an alarm arises Causes the motor to coast to a stop when an alarm arises 7 0 1 1 When an alarm arises stops the motor by applying dynamic brake and then releases dynamic brake When an alarm arises stops the motor by applying dynamic brake but does not release dyna...

Page 478: ... rotation reverse rotation mode Home position error 1 0 1 0 error processing selection Detects home position error when absolute encoder is used Does not detect home position error Contact input d l 2 0 1 0 p speed control Does not use contact input speed control Uses contact input speed control Reserved 3 4 5 Reserved not to be set 0 Reserved 6 0 1 0 Uses 1CN 16 pin as the torque reference monito...

Page 479: ...o be set 0 Torque f i F 0 1 0 q reference input selection Uses torque reference or torque feed forward reference Uses analog voltage reference as torque limit input NOTE For the Cn 01 and Cn 02 memory switches always turn the power OFF and then ON after changing the setting This makes the new setting valid D ...

Page 480: ...osition reference acceleration de celeration time constant 100 µs 0 640 0 See 3 5 2 Cn 27 FFFILT Feed forward reference filter 100 µs 0 640 0 See 3 6 3 Torque Related Cn 06 EMGTRQ Emergency stop torque 0 Max torque Max torque See 3 1 2 e a ed Constants Cn 08 TLMTF Forward rotation torque limit 0 Max torque Max torque See 3 1 3 Cn 09 TLMTR Reverse rotation torque limit 0 Max torque Max torque See 3...

Page 481: ...3 See 3 2 3 3 2 5 Cn 2A PULSNO2 External PG number of pulses P R 513 32768 2048 Other Constants Cn 0C TRQMSW Mode switch torque reference 0 Max torque 200 See 3 6 6 Cn 0D REFMSW Mode switch speed reference r min 0 4500 0 See 3 6 6 Cn 0E ACCMSW Mode switch acceleration reference 10 r min s 0 3000 0 See 3 6 6 Cn 0F ERPMSW Mode switch error pulse Reference unit 0 10000 0 See 3 6 6 Cn 10 JOGSPD Jog sp...

Page 482: ...en ON This makes the new setting valid 2 Automatically set by autotuning function 3 The following restriction applies to electronic gear ratio Cn 24 and Cn 25 0 01 B Cn 24 A Cn 25 100 4 For user constant Cn 1E when full closed loop specification factory setting is 1 D ...

Page 483: ... is always possible 4 Not used Not used 0 See note 3 5 Not used Not used 0 Sequence l i 6 0 1 0 q selection at alarm condition Stops the motor by applying dynamic brake when an alarm arises Causes the motor to coast to a stop when an alarm arises 7 0 1 1 When an alarm arises stops the motor by applying dynamic brake and then releases dynamic brake When an alarm arises stops the motor by applying d...

Page 484: ...ignals P CL and N CL are OFF Receives pulse reference when both contact signals P CL and N CL are OFF See note 1 INHIBIT f i 0 1 0 function Always receives pulse reference Enables INHIBIT function Rotation di i Cn 02 0 0 1 0 direction selection Defines counterclockwise CCW rotation as forward rotation Defines clockwise CW rotation as forward rotation reverse rotation mode Home position 1 0 1 0 pos...

Page 485: ... in x 1 reference units while in monitor mode Displays position error Un 08 in x 100 reference units while in monitor mode Reference l fil F 0 1 0 pulse filter Line driver Maximum reference pulse frequency 450 kpps Open collector Maximum reference pulse frequency 200 kpps User constants that must be always set Note 1 Internal speed selection is valid only when bit 2 of Cn 02 is set to 1 2 The fact...

Page 486: ...function Alarm number Alarm display This appendix provides the name and meaning of each alarm display For details of how to display an alarm refer to the following section 4 2 1 Operation in Alarm Trace back Mode For the cause of each alarm and the action to be taken refer to the following section 6 2 1 Troubleshooting Problems with Alarm Display E ...

Page 487: ... resistor disconnection ON ON OFF OFF Position error pulse overflow Position error pulse has exceeded the value set in user constant Cn 1E overflow For position control only OFF OFF ON OFF Overvoltage or undervoltage The main circuit voltage for motor operation has become too high or too low ON OFF ON OFF Overspeed Motor speed has exceeded 4950 r min ON ON ON OFF Overload Rated torque was exceeded...

Page 488: ...The motor was running at a speed exceeding 400 r min when the absolute encoder was turned ON For absolute encoder only OFF OFF OFF OFF Reference input read error Servopack CPU failed to detect reference input ON OFF ON OFF Servo overun detected The servomotor encoder ran out of control ON OFF ON OFF Encoder output phase error Incremental encoder initial pulse error Phases A B and C output by the e...

Page 489: ...Digital operator transmission error 1 Digital operator fails to communicate with Servopack even five seconds after power is turned ON These alarms are not stored in alarm traceback Undefined Digital operator transmission error 2 Transmission error has occurred five consecutive times memory OFF OFF OFF ON Not an error Normal operation status OFF Output transistor is OFF ON Output transistor is ON E...

Page 490: ...x F 481 Relationship between Reference Forms and User Constants This appendix lists the relationship between reference forms and user constants Remarks f Related to or possibly related to Not related at all F ...

Page 491: ...torque limit f f f f Cn 09 Reverse torque limit f f f f Cn 0A Encoder pulse dividing ratio f f f f Cn 0B Zero speed level f f f f Cn 0C Mode switch torque reference f f Cn 0D Mode switch speed reference f f Cn 0E Mode switch acceleration f f Cn 0F Mode switch error pulse Cn 10 JOG speed f f f f Cn 11 Number of encoder pulses f f f f Cn 12 Time delay from brake reference until servo OFF f f f f Cn ...

Page 492: ... Control Standard Cn 01 Bit A 0 Bit B 0 User Constant Name Cn 1F Contact input speed control 1st speed Cn 20 Contact input speed control 2nd speed Cn 21 Contact input speed control 3rd speed Cn 22 Speed coincide signal output range f f f Cn 23 Soft start time deceleration f f f Cn 24 Electronic gear numerator Cn 25 Electronic gear denominator Cn 26 Position reference accel decel time constant Cn 2...

Page 493: ...t start time acceleration f f f f Cn 08 Forward torque limit f f f f Cn 09 Reverse torque limit f f f f Cn 0A Encoder pulse dividing ratio f f f f Cn 0B Zero speed level f f f f Cn 0C Mode switch torque reference f f f f Cn 0D Mode switch speed reference f f f f Cn 0E Mode switch acceleration f f f f Cn 0F Mode switch error pulse Cn 10 JOG speed f f f f Cn 11 Number of encoder pulses f f f f Cn 12...

Page 494: ...ference is 0 Cn 01 Bit A 0 Bit B 0 User Constant Name Cn 1C Bias Cn 1D Feed forward Cn 1E Overflow Cn 1F Contact input speed control 1st speed f f f f Cn 20 Contact input speed control 2nd speed f f f f Cn 21 Contact input speed control 3rd speed f f f f Cn 22 Speed coincide signal output range f f f f Cn 23 Soft start time deceleration f f f f Cn 24 Electronic gear numerator Cn 25 Electronic gear...

Page 495: ...que limit f f f Cn 09 Reverse torque limit f f f Cn 0A Encoder pulse dividing ratio f f f Cn 0B Zero speed level f f f Cn 0C Mode switch torque reference f f f Cn 0D Mode switch speed reference f f f Cn 0E Mode switch acceleration f f f Cn 0F Mode switch error pulse f f Cn 10 JOG speed f f f Cn 11 Number of encoder pulses f f f Cn 12 Time delay from brake reference until servo OFF f f f Cn 13 Torq...

Page 496: ...ame Cn 1D Feed forward f f Cn 1E Overflow f f Cn 1F Contact input speed control 1st speed f f Cn 20 Contact input speed control 2nd speed f f Cn 21 Contact input speed control 3rd speed f f Cn 22 Speed coincide signal output range f f Cn 23 Soft start time deceleration f f Cn 24 Electronic gear numerator f f Cn 25 Electronic gear denominator f f Cn 26 Position reference accel decel time constant f...

Page 497: ...wing the Full closed Loop Specifications Thisappendixoutlines thechecking methodsforcombination ofmechanical specifications linearscale linearscale waveformshapingcircuit andSer vopack at full closed loop specifications G ...

Page 498: ... Pulse DR2 Servopack Servopack Gear Speed Movable Part Ball Screw Linear Scale Waveform Shaping Circuit M PG B A Error Counter Speed Loop Current Loop 4 1 2 Checking the Mechanical Specifications 1 Mechanical Specifications Load Speed V m min Load Weight W kg Ball Screw Spec Pitch P mm rev Gear Gear Ratio Detection Unit mm PULSE Duty Cycle G ...

Page 499: ... evaluation magnification 4 3 Applicable Linear Scale Manufacturer Type Scale Interval mm Waveform Shaping Circuit Type Detector EXE interpolation digital circuit unit Max operation speed m min Max input frequency kHz Output signal form Interpolation magnification Conditions under the Evaluation magnification combination with Measuring pitch µm linear scale Min edge interval µs Combination with Ma...

Page 500: ... 4CN EXE650B 2 2 Linear Scale Specifications and Application Review at Full closed System 1 Linear Scale Specifications Manufacturer HEIDENHAIN Type LS103 Scale Interval 10µm 0 01mm Detector Type EXE650B Max Input Frequency 60kHz Interpolation magnification 25 Interpolation Magnification 25 Evaluation Magnification 4 Output Signal 5V line driver output phase A leading Conforming to DIN66259 EIA st...

Page 501: ...ication Review a Linear Scale Input Frequency Operation Speed Scale Interval 1200 60 0 01 2000PPS EXE650B Max InputFrequency b Min Edge Interval and Pulse Width DR2 receivable max frequency 675kHz 106 675000 4 0 3704 μs Min Edge Interval With the above a and b switching S3 and S4 at 8MHz clock can be performed under both of the following conditions Max Input Frequency S3 S4 20kHz 10kHz c Feedback ...

Page 502: ...sed Pulses Cn 2A 4 0 01 10 25 6 4 25 6 0 01 10 6000P rev Memory switch Cn 02 Bit B 1 Conditions except above are the same as those of position control at full closedspeci fications Reviewing the above data full closed loop can be applicable under the above condi tions G ...

Page 503: ...evel Servo Ready Alarm Output OFF at alarm occurrence Phase A B C S Alarm Code Output DR2 Servopack For 100VAC Application Single phase 100 to 115VAC 50 60Hz 10 15 OFF at Alarm Pulse Reference Receivable DR2 jjjCj F Hand held Type Ball Screw 2mm rev Linear Scale LID311C Red White Blue Green I O Signals CW Phase A CCW Phase B Phase A Phase B Phase C Forward Overtravel at OFF Forward Current Limit a...

Page 504: ...nce pulse frequency 200kPPS 20mm s 0 1µm pulse Motor Speed 60s min 600r min 20mm s 2mm rev When incremental encoder is used DR2 Servopack Feed forward gain Primary lag filter Bias COIN signal Speed loop Current loop SGM Servomotor Encoder Error counter Smooth ing Differ entiation Reference pulse PG signal output Position Detector Amplifier Note Semi closed and full closed cannot be changed by inte...

Page 505: ...rake power supply 26 dimensional drawings 363 internal circuit 364 specifications 363 C Cable for motor 27 Cable for PG 27 cables 140 encoders dimensional drawings 365 specifications 365 for connecting PC and Servopack 381 motor connectors 359 dimensional drawings 355 specifications 355 specifications 349 tension 140 CE Marking 416 CLT 58 CLT 58 comparators 9 connections contact input signal termi...

Page 506: ...281 289 323 Servopacks 329 variable resistors 379 dividing 76 Dividing ratio setting 77 drive systems 6 dynamic brake 108 stop mode 57 E electronic gear function 82 setting 82 electronic gear ratio 82 for different load mechanisms 85 load travel distance per revolution of load shaft in reference units 83 machine specifications 82 number of encoder pulses for the SGM Servomotor 82 reference unit 83...

Page 507: ...terminals alarm reset 131 battery 78 error counter clear input 74 forward external torque limit input 61 forward rotation prohibited 54 I O power supply 80 motor rotation direction 89 proportional integral control 68 reference pulse input 71 reference sign input 71 reverse external torque limit input 61 reverse rotation prohibited 54 SEN signal input 78 servo ON 132 signal ground for speed referen...

Page 508: ...ons 374 wiring 142 O OMRON Position Control Unit C500 NC112 connec tion example 34 OMRON Position Control Unit C500 NC222 connec tion example 33 order lists 341 output phase form 77 absolute encoder 77 incremental encoder 77 output signal terminals alarm code output 129 brake interlock output 111 encoder output 77 78 frame ground 78 output signal ground common 81 positioning complete output 133 ru...

Page 509: ...se Input 71 reference pulse input filter selection function 101 regenerative unit 26 148 connection 150 dimensional drawings 376 specifications 376 residual voltage precautions 16 reverse rotation mode 52 53 2CN connector 53 user constant 53 Reverse Run Reference 52 rotation forward prohibiting 55 reverse prohibiting 55 running output signal 136 S SEN signal 152 Servo amplifier components 9 servo ...

Page 510: ...ng 4 gain adjustment 115 118 meaning 3 smoothing function 115 position reference acceleration deceleration time constant 115 soft start function 90 114 software version check 201 specifications 100VAC SGM Servomotors 224 100VAC SGMP Servomotors 227 1CN connector 371 200VAC SGM Servomotors 217 200VAC SGMP Servomotors 221 brake power supply 363 cables 349 encoders 365 connector kits 358 DR2 Servopac...

Page 511: ...ting alarm display 391 without alarm display 409 TRQ M Specifications 102 TÜV 417 type designation Servomotor 18 Servopack 19 U user constant setting mode 176 user constants 55 62 bias 121 brake signal output timing during motor operation 113 brake signal speed level output during motor opera tion 113 contact input speed control function 62 contact input speed control selection 86 control mode sel...

Page 512: ...ilter time constant 116 torque reference gain 96 98 99 torque restriction by analog voltage reference 99 zero clamp speed control 109 zero speed level 138 zero clamp level 110 V variable resistor dimensional drawings 379 vibration class 232 vibration resistance 231 voltage resistance test 17 W wiring 25 53 140 grounding 143 main circuit 28 more than one servo drive 147 noise control 142 peripheral...

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