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YASKAWA E-II SGM H Series, User Manual

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Inspection, Maintenance, and Troubleshooting

9.1.3 Replacing Battery for Absolute Encoder

9 -4

9.1.3 Replacing Battery for Absolute Encoder

If the voltage of the battery for an absolute encoder drops to approx. 2.7 V or less, an Absolute
Encoder Battery Alarm (A. 83) will occur in the Servopack. This alarm occurs when the Servo-
pack receives a signal from the absolute encoder when the power to the Servopack is turned ON.
Therefore, the Servopack will not give an alarm when the battery voltage drops below the mini-
mum voltage level while the power is being supplied to the Servopack.

Refer to

5.7.3 Handling Batteries

for the battery type recommended for absolute encoders.

Replace the battery using the following procedure if the battery voltage drops below the mini-
mum required battery voltage.

J

J

Battery Replacement Procedure

1.

Replace the battery while the control power to the Servopack is ON.

2.

After replacement, turn OFF the power to the Servopack in order to clear the Absolute En-
coder Battery Alarm (A. 83).

3.

Turn ONthe power to the Servopack again and confirm that it operatesproperly to complete
battery replacement.

The absolute encoder data will be lost when the control power to the Servopack is turned OFF and when the
encoder cable is disconnected from the battery. If the data is lost, refer to

5.7.4 Initializing the Absolute Encoder

and initialize the absolute encoder.

9

IMPORTANT

AUDIN - 7 bis rue de Tinqueux - 51100 Reims - France - Tel : 03.26.04.20.21 - Fax : 03.26.04.28.20 - Web : http: www.audin.fr - Email : [email protected]

Summary of Contents for E-II SGM H Series

Page 1: ...AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03 26 04 20 21 Fax 03 26 04 28 20 Web http www audin fr Email info audin fr ...

Page 2: ...AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03 26 04 20 21 Fax 03 26 04 28 20 Web http www audin fr Email info audin fr ...

Page 3: ...licationmaybe reproduced storedin a retrieval system or transmitted in anyform or by any means mechanical electronic photocopying recording or otherwise without the prior written permission of Yaskawa No patent liability is assumed with respect to the use of the information contained herein Moreover because Yaskawa is constantly striving to improve its high quality products the information contain...

Page 4: ...important information that should be memorized including precautions such as alarm displays to avoid damaging the devices Indicates definitions of difficult terms or terms that have not been previously explained in this manual TERMS AEXAMPLE INFO IMPORTANT AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03 26 04 20 21 Fax 03 26 04 28 20 Web http www audin fr Email info audin fr ...

Page 5: ...s 2 7 2 2 1 Storage Conditions 2 7 2 2 2 Operating Conditions 2 7 2 2 3 Installation Site 2 8 2 2 4 Orientation 2 8 2 2 5 Installation 2 9 2 2 6 Voltage Resistance Test 2 10 3 Wiring 3 1 Connecting to Peripheral Devices 3 3 3 1 1 Single phase 100 V or 200 V Main Circuit Specifications 3 4 3 1 2 Three phase 200 V Main Circuit Specifications 3 5 3 1 3 Three phase 400 V Main Circuit Specifications 3 ...

Page 6: ... Specifications 200 V 3 31 3 6 3 Three phase Power Supply Specifications 400 V 3 33 3 6 4 Position Control Mode 3 35 3 6 5 Speed Control Mode 3 37 3 6 6 Torque Control Mode 3 39 4 Trial Operation 4 1 Two step Trial Operation 4 2 4 1 1 Step 1 Trial Operation for Servomotor without Load 4 3 4 1 2 Step 2 Trial Operation with the Servomotor Connected to the Machine 4 9 4 2 Supplementary Information on...

Page 7: ... 62 5 4 4 Using the Holding Brake 5 64 5 5 Forming a Protective Sequence 5 68 5 5 1 Using Servo Alarm and Alarm Code Outputs 5 68 5 5 2 Using the Servo ON Input Signal 5 70 5 5 3 Using the Positioning Completed Output Signal 5 71 5 5 4 Speed Coincidence Output 5 72 5 5 5 Using the Running Output Signal 5 74 5 5 6 Using the Servo Ready Output Signal 5 75 5 5 7 Using the Warning Output Signal 5 76 5...

Page 8: ...tion 6 13 6 3 Autotuning 6 16 6 3 1 Online Autotuning 6 16 6 3 2 Machine Rigidity Settings for Online Autotuning 6 19 6 3 3 Saving Results of Online Autotuning 6 21 6 3 4 User Constants Related to Online Autotuning 6 23 6 4 Servo Gain Adjustments 6 25 6 4 1 Servo Gain User Constants 6 25 6 4 2 Basic Rules of Gain Adjustment 6 25 6 4 3 Making Manual Adjustments 6 27 6 4 4 Gain Setting Reference Val...

Page 9: ...Clearing Option Unit Detection Results 7 52 8 Ratings and Characteristics 8 1 Servomotors 8 2 8 1 1 Ratings Specifications and Dimensional Drawings 8 2 8 2 Servopacks 8 28 8 2 1 Combined Specifications 8 28 8 2 2 Ratings and Specifications 8 33 8 2 3 Dimensional Drawings 8 40 9 Inspection Maintenance and Troubleshooting 9 1 Servodrive Inspection and Maintenance 9 2 9 1 1 Servomotor Inspection 9 2 ...

Page 10: ...ting OMRON s C500 NC112 Position Control Unit A 6 A 6 Connecting MITSUBISHI s AD72 Positioning Unit A 7 A 7 Connecting MITSUBISHI s AD75 Positioning Unit A 8 B List of User Constants B 1 User Constants B 2 B 2 Switches B 6 B 3 Input Signal Selections B 11 B 4 Output Signal Selections B 13 B 5 Auxiliary Functions B 15 B 6 Monitor Modes B 16 INDEX Index 1 AUDIN 7 bis rue de Tinqueux 51100 Reims Fran...

Page 11: ...ervodrives Also keep this manual in a safe place so that it can be referred to whenever necessary Manual Name Manual Number Contents S II Series SGMjH SGDH User s Manual Servo Selection and Data Sheets SIE S800 32 1 Describes the procedure used to select S II Series Servodrives and capacities S II Series Servopack Personal Computer Monitoring Software Operation Manual SIE S800 35 Describes the app...

Page 12: ...or S II Series SGMAH SGMPH SGMGH SGMSH SGMDH or SGMUH Servo motor D Servopack S II Series SGDH Servopack D Servodrive A set including a Servomotor and Servo Amplifier D Servo System A servo control system that includes the combination of a Servodrive with a host computer and peripheral devices J J Indication of Reverse Signals In this manual the names of reverse signals ones that are valid when lo...

Page 13: ... corrosive gases inflammable gases or combustibles Doing so may result in electric shock or fire J J Wiring WARNING D Connect the ground terminal to electrical codes ground resistance 100 W or less Improper grounding may result in electric shock or fire CAUTION D Do not connect a three phase power supply to the U V or W output terminals Doing so may result in injury or fire D Securely fasten the p...

Page 14: ...op can be applied at any time Not doing so may result in injury D Do not touch the heat sinks during operation Doing so may result in burns due to high temperatures J J Maintenance and Inspection WARNING D Never touch the inside of the Servopacks Doing so may result in electric shock D Do not remove the panel cover while the power is ON Doing so may result in electric shock D Do not touch terminal...

Page 15: ...manual is published as a next edition The edition number appears on the front and back covers S If the manual must be ordered due to loss or damage inform your nearest Yaskawa representa tive or one of the offices listed on the back of this manual S Yaskawa will not take responsibility for the results of unauthorized modifications of this prod uct Yaskawa shall not be liable for anydamages ortroub...

Page 16: ...AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03 26 04 20 21 Fax 03 26 04 28 20 Web http www audin fr Email info audin fr ...

Page 17: ...l as names for product parts 1 1 Checking S II Series Products on Delivery 1 2 1 1 1 Servomotors 1 2 1 1 2 Servopacks 1 6 1 2 Product Part Names 1 8 1 2 1 Servomotors 1 8 1 2 2 Servopacks 1 9 1 AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03 26 04 20 21 Fax 03 26 04 28 20 Web http www audin fr Email info audin fr ...

Page 18: ...Is there any damage Check the overall appearance and check for damage or scratches that may have occurred during shipping Are there any loose screws Check screws for looseness using a screwdriver If any of the above items are faulty or incorrect contact your Yaskawa sales representative or the dealer from whom you purchased the products 1 1 1 Servomotors J J External Appearance and Nameplate Examp...

Page 19: ... min 1500 r min 1000 r min 3000 r min 2000 r min 6000 r min A3 0 03 15 1 5 1 5 1 5 A5 0 05 20 1 8 2 0 2 0 01 0 1 0 1 22 2 2 02 0 2 0 2 30 2 9 3 0 3 0 3 0 03 0 3 32 3 2 04 0 4 0 4 40 4 0 4 0 4 0 4 0 05 0 45 44 4 4 06 0 6 50 5 0 08 0 75 0 75 55 5 5 5 5 09 0 85 0 9 75 7 5 10 1 0 1 0 1A 11 12 1 2 1E 15 13 1 3 Table 1 2 Serial Encoders Code Specification SGMAH SGMPH SGMGH SGMSH SGMDH SGMUH 1 16 bit abs...

Page 20: ... 1 4 Servomotor Capacity kW Symbol SGMAH SGMPH SGMGH SGMSH Symbol SGMAH SGMPH SGMGH SGMSH Symbol 3000 r min 3000 r min 1500 r min 1000 r min 3000 r min Symbol 3000 r min 3000 r min 1500 r min 1000 r min 3000 r min A3 0 03 15 1 5 1 5 A5 0 05 20 1 8 2 0 2 0 01 0 1 0 1 22 02 0 2 0 2 30 2 9 3 0 3 0 03 0 3 32 04 0 4 0 4 40 4 0 4 0 05 0 45 44 4 4 06 0 6 50 5 0 08 0 75 0 75 55 5 5 5 5 09 0 85 0 9 75 7 5 ...

Page 21: ...GMPH SGMGH SGMSH A 1 6 S T B 1 11 or 1 11 13 G G S T C 1 21 G J G J S T 1 1 5 G J G J L L 2 1 9 G L L 3 1 10 or 1 10 3 J J 5 1 20 L L 7 1 29 or 1 33 G J G J L S T L 8 1 45 L L Not all applicable models available Table 1 8 Shaft End Specification Varies with Gear Type Code Specification SGMAH SGMPH SGMGH SGMSH 0 No shaft G G 2 Straight without key G J G J 4 Straight with key G G L L 6 Straight with...

Page 22: ...Base mounted R Rack mounted 5 kW or less P Duct ventilated 6 kW to 15 kW only S For only 0 75 kW 1 5 kW SGMAH and SGMPH Servomotor with single phase 200 V power supply 1 The only types SGMAH and SGMPH Servomotor less than 0 2 kW 2 For only 0 5 to 15 kW Servomotor SGDH 10 A E j S II Series SGDH Servopack Maximum Applicable Servomotor Capacity See Table 1 9 Supply Voltage A 200 V D 400 V 2 B 100 V 1...

Page 23: ...city kW Maximum Applicable Servomotor Capacity Symbol Capacity kW A3 0 03 15 1 5 A5 0 05 20 2 0 01 0 10 30 3 0 02 0 20 50 5 0 04 0 40 60 6 0 05 0 45 75 7 5 08 0 75 1A 11 10 1 0 1E 15 1 AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03 26 04 20 21 Fax 03 26 04 28 20 Web http www audin fr Email info audin fr ...

Page 24: ...tion describes product part names 1 2 1 Servomotors The figure below shows part names for Servomotors with or without brakes Encoder Frame Flange Output shaft 1 AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03 26 04 20 21 Fax 03 26 04 28 20 Web http www audin fr Email info audin fr ...

Page 25: ...efore do not touch the Servopack even after the power supply is turned OFF if the indicator is lit CN3 Connector for Personal Computer Monitoring Used to communicate with a personal computer or to con nect to a Digital Operator CN1 I O Signal Connector Used for reference input signals and sequence I O signals Nameplate Indicates the Servopack model and ratings CN2 Encoder Connector Connects to the...

Page 26: ...ientation 2 3 2 1 5 Allowable Shaft Loads 2 4 2 1 6 Handling Oil and Water 2 6 2 1 7 Cable Stress 2 6 2 2 Servopacks 2 7 2 2 1 Storage Conditions 2 7 2 2 2 Operating Conditions 2 7 2 2 3 Installation Site 2 8 2 2 4 Orientation 2 8 2 2 5 Installation 2 9 2 2 6 Voltage Resistance Test 2 10 2 AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03 26 04 20 21 Fax 03 26 04 28 20 Web http www audin fr Em...

Page 27: ...the Servomotor The Servomotor cannot operate without the proper Servo pack Prior to Installation The end of the motor shaft is coated with anticorrosive paint Thoroughly remove the paint using a cloth mois tened with thinner prior to installation Avoid getting thinner on other parts of the Servomotor when cleaning the shaft Anticorrosive paint 2 1 1 Storage Temperature Store the Servomotorwithinth...

Page 28: ...n the circumference The difference between the maximum and minimum measurements must be 0 03 mm 0 0012 in or less Turn together with coupling Measure this distance at four different positions on the circumference The difference between the maximum and minimum measurements must be 0 03 mm 0 0012 in or less Turn together with coupling S Vibration that will damage the bearings will occur if the shaft...

Page 29: ...7 54 54 12 14 02 245 55 1 74 16 63 25 04 245 55 1 74 16 63 25 0 98 08 392 88 1 147 33 0 35 1 38 SGMPH 01 78 17 54 49 11 02 20 0 79 02 245 55 1 68 15 29 25 04 245 55 1 68 15 29 25 0 98 08 392 88 1 147 33 0 35 15 490 110 147 33 0 35 1 38 SGMGH 05AjA 05D A 490 110 98 22 0 58 2 28 LR Fr 09AjA 09D A 490 110 98 22 0 2 28 Fr Fs 13AjA 13D A 686 154 343 77 1 Fs 20AjA 20D A 1176 264 3 490 110 79 3 11 30AjA ...

Page 30: ...6 44 1 Fr Fs 30A 30D 980 220 392 88 1 63 Fs 40A 40D 1176 264 3 392 88 1 63 2 48 50A 50D 1176 264 3 392 88 1 SGMDH 22A 1176 264 3 490 110 55 SGMDH 32A 1176 264 3 490 110 55 2 17 40A 1176 264 3 490 110 65 2 56 SGMUH 10D 490 110 98 22 45 SGMUH 15D 490 110 98 22 45 1 77 30D 686 154 196 44 1 60 40D 686 154 196 44 1 60 2 36 TERMS z Thrust and radial loads Thrust load Fs Shaft end load applied parallel t...

Page 31: ...hrough shaft section 2 1 7 Cable Stress Make sure there are no bends or tension on the power lines Be especially careful to wire signal line cables so that they are not subject to stress because the core wires are very thin at only 0 2 to 0 3 mm 0 0079 to 0 012 in TERMS z Through sections of the shaft This refers to the gap where the shaft protrudes from the end of the motor 2 AUDIN 7 bis rue de T...

Page 32: ...L3 U V W L1C L2C B1 B2 B3 1 2 C N 3 C N 1 C N 2 YASKAWA SERVOPACK MODE SET DATA CHARGE POWER SGDH 200V S II Series SGDH Servopack 2 2 2 Operating Conditions Use the Servopack under the following conditions D Installation category Overvoltage category II D Pollution degree 2 D Protection class 1X D Altitude 1000 m max Conforming to the following standards EN55011 group 1 class A EN50082 2 2 AUDIN 7...

Page 33: ...bration Installation at a Site Exposed to Corrosive Gas Corrosive gas does not have an immediate effect on the Servopack but will eventually cause electronic components and contactor related devices to malfunction Take appropriate action to avoid corrosive gas Other Situations Do not install the Servopack in hot and humid locations or locations subject to excessive dust or iron powder in the air 2...

Page 34: ...vection J J Side by side Installation When installing Servopacks side by side as shown in the figure above allow at least 10 mm 0 39 in betweenandat least 50mm 1 97 in above andbelow eachServopack Install cooling fansabovetheServopackstoavoidexcessivetemperatureriseandtomaintaineventemperature inside the control panel J J Environmental Conditions in the Control Panel D Ambient Temperature 0 to 55 ...

Page 35: ...nditions D Voltage 1500 V rms AC for one minute D Braking current 30 mA or more D Frequency 50 or 60 Hz D Voltage applied points For SGDH AE Servopacks Between the frame ground and the point where the terminals L1 L2 L3 L1C L2C U V and W connect For SGDH DE Servopacks Betweenthe neutral groundterminal andthe point where the terminals L1 L2 L3 U V and W connect 2 AUDIN 7 bis rue de Tinqueux 51100 R...

Page 36: ...100 V Models 3 7 3 2 2 0 5 kW to 1 5 kW 200 V Models 3 8 3 2 3 2 0 kW to 5 0 kW 200 V Models 3 8 3 2 4 6 0 kW to 15 0 kW 200 V Models 3 9 3 2 5 0 5 kW to 3 0 kW 400 V Models 3 9 3 2 6 5 0 kW 400 V Models 3 10 3 2 7 6 0 kW and 7 5 kW 400 V Models 3 10 3 2 8 11 0 kW and 15 0 kW 400 V Models 3 11 3 3 Main Circuit Wiring 3 12 3 3 1 Names and Descriptions of Main Circuit Terminals 3 13 3 3 2 Typical Ma...

Page 37: ...3 5 2 CN2 Encoder Connector Terminal Layout and Types 3 28 3 6 Examples of Standard Connections 3 29 3 6 1 Single phase Power Supply Specifications 3 29 3 6 2 Three phase Power Supply Specifications 200 V 3 31 3 6 3 Three phase Power Supply Specifications 400 V 3 33 3 6 4 Position Control Mode 3 35 3 6 5 Speed Control Mode 3 37 3 6 6 Torque Control Mode 3 39 3 AUDIN 7 bis rue de Tinqueux 51100 Rei...

Page 38: ... section provides examples of standard S II Series product connections to peripheral devices It also briefly explains how to connect each peripheral device 3 AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03 26 04 20 21 Fax 03 26 04 28 20 Web http www audin fr Email info audin fr ...

Page 39: ...Single phase 200 VAC Power supply ground line Host Controller Connect the SGDH Servopack to a Yas kawa host controller or one made by another company L1 L2 L1C L2C B1 B2 Regenerative resistor option Brake Power Supply Used for a Servomotor with a brake JUSP OP02A 2 Allows the user to set user constants or op eration references and to display operation or alarm status Communication is also possible...

Page 40: ... company Digital Operator Personal Computer Cable model JZSP CMS01 to 03 Molded case Circuit Breaker QF Protects the power line by shutting the circuit OFF when over current is de tected Noise Filter Used to eliminate external noise from the power line Magnetic Contactor Molded case circuit breaker Noise filter Regenerative Resistor Regenerative resistor optional Brake Power Supply Used for a Serv...

Page 41: ...brake Encoder Cable Encoder Connector Brake power supply Magnetic contactor Magnetic contactor Power supply ground line HI Series Turns the servo ON and OFF Install a surge suppressor on the magnetic contac tor JUSP OP02A 2 Allows the user to set user constants or op eration references and to display operation or alarm status Communication is also possible with a per sonal computer Power supply fo...

Page 42: ...r personal computer Current Sensor PG output Reference pulse input Speed torque reference input Sequence I O A D I O 1KM L1 L2 XX1 FU1 L1C L2C 1KM R T P1 N1 TR1 C1 5V 0V CN5 CN3 15V B1 B2 P2 N2 U V W CPU CN1 CN2 D2 D3 D4 THS1 PG R7 R8 5V 5V 12V For battery connection CN8 Monitor display 1 PM1 1 D1 RY1 PM1 2 Voltage Sensor 2 Voltage Sensor U V W The power supply voltage is 100 to 115 V 50 60 Hz for...

Page 43: ...r option unit PWM control etc position speed calculation etc 1KM 1KM 1KM 3 2 3 2 0 kW to 5 0 kW 200 V Models DB 1 2 1KM L1 L3 L2 XX1 XX2 XX3 R T P N S L1C L2C 1KM FU1 C1 RY1 POWER 5V 0V CN5 CN3 15V 5V 5V 12V CHARGE B1 B2 B3 P N U V W FAN1 12V U V W A D I O CN1 CN2 PG CN8 ASIC CPU Single phase 200 to 230 V 50 60Hz 10 15 Noise filter Power OFF Power ON Surge suppressor Voltage Sensor DC DC con verte...

Page 44: ...control etc position speed calculation etc 1KM 1KM 1RY 3 2 5 0 5 kW to 3 0 kW 400 V Models XX1 XX3 1KM Relay drive R2 Three phase 380 to 480 V 50 60Hz 10 15 CHARGE Noise filter Voltage Sensor Gate drive Gate drive overcur rent protector Interface DC DC con verter Voltage Sensor AC Servomotor For battery con nection PG output Reference pulse input Speed and torque refer ence input Sequence I O Digi...

Page 45: ...h speed diode For battery connection 1KM 3 2 7 6 0 kW and 7 5 kW 400 V Models 1KM XX3 10 15 FU1 P N R S T L1 L2 L3 XX1 1 2 XX2 CHARGE B1 B2 C1 P N U V W RY1 FAN1 12V AC Servomotor I O A D PG ASIC CPU L1C FU2 DB RLY2 CN2 CN8 CN1 U V W POWER CN10 CN5 CN3 12V 5 V 15 V 7 5 V 5 V 0 V 4 circuits 2RY 1KM 2RY CT1 CT2 Three phase 380 to 480 V 50 60Hz Noise filter DC DC con verter Control power 24 VDC not p...

Page 46: ...or Gate drive Interface Gate drive Gate drive over current protector Voltage Sensor PWM control etc position speed calculation etc Power OFF Power ON Open during Servo alarm 1RY Surge suppressor AC power supply 100 200 V Analog monitor output for su pervision Digital Operator personal computer Connector for option unit High speed diode Monitor display Analog voltage converter PG output Reference p...

Page 47: ... and is 20 m 787 40 in for PG feedback lines D Do not touch the power terminals for 5 minutes after turning power OFF because high voltage may still remain in the Servopack Make sure the charge indicator is out first before starting an inspection D Avoid frequently turning power ON and OFF Do not turn power ON or OFF more than once per minute Since the Servopack has a capacitor in the power supply...

Page 48: ...tween B2 and B3 and connect 400 0 5 to 5 0 Remove the wire between B2 and B3 and connect an external regenerative resistor provided by cus tomer between B1 and B2 if the capacity of the internal regenerative resistor is insufficient B1 B2 200 6 0 to 15 0 Connect an external regenerative resistor provided by customer between terminals B1 and B2 Refer to 400 6 0 to 15 0 by customer between terminals...

Page 49: ...eel diode J J Designing a Power ON Sequence Note the following points when designing the power ON sequence D Design the power ON sequence so that power is turned OFF when a servo alarm signal is output See the circuit figure above D Holdthe powerONbuttonforat least two seconds The Servopackwill output a servoalarm signal fortwosecondsorlesswhenpoweristurnedON Thisisrequired inorder toinitialize th...

Page 50: ...SGDH 04AE 2 8 20 33 0 75 SGDH 08AE S 4 4 47 12 2 15 74 1 50 SGDH 15AE S 7 5 60 14 2 15 89 Three phase 0 45 SGDH 05AE 3 8 27 54 phase 200V 0 75 SGDH 08AE 5 7 41 12 2 68 200V 1 0 SGDH 10AE 7 6 55 82 1 5 SGDH 15AE 11 6 92 14 2 15 121 2 0 SGDH 20AE 18 5 120 28 2 163 3 0 SGDH 30AE 24 8 155 28 2 198 5 0 SGDH 50AE 32 9 240 56 2 311 6 0 SGDH 60AE 46 9 290 27 317 7 5 SGDH 75AE 54 7 330 3 27 357 11 0 SGDH 1...

Page 51: ...3 3 5 Wiring Main Circuit Terminal Blocks Observe the following precautions when wiring main circuit terminal blocks CAUTION D Remove the terminal block from the Servopack prior to wiring D Insert only one wire per terminal on the terminal block D Make sure that the core wire is not electrically shorted to adjacent core wires D Reconnect any wires that were accidentally pulled out Servopackswithac...

Page 52: ...5 to Ø1 6 mm D Braided wire AWG28 to AWG12 The terminal block for Servopack SGDH DE for 400 V 50 W to 1 5 kW has an indication 300 V 15 A This is a rating recognition of UL authorization which means that the terminal blocks are authorized for lim ited rating for industrial use and applicable up to 600 V Accordingly these terminal blocks are applicable for Servopack for 400V 3 INFO AUDIN 7 bis rue ...

Page 53: ...rcuit Terminal Blocks 3 18 3 4 I O Signals This section describes I O signals for the SGDH Servopack 3 AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03 26 04 20 21 Fax 03 26 04 28 20 Web http www audin fr Email info audin fr ...

Page 54: ... current 20 mA DC PAO PBO PCO PAO PBO PCO PG dividing ratio output Applicable line receiver SN75175 or MC3486 manufactured by T I or the equivalent PSO PSO Amount of S phase rotation 4 Serial data output Applicable line receiver SN75175 or MC3486 manufactured by T I or the equivalent SG V CMP COIN V CMP COIN TGON TGON S RDY S RDY ALM ALM Speed coincidence detection ON when speed coincides Position...

Page 55: ...input 13 PL2 Open collec tor reference output 38 ALO2 Alarm code output 14 CLR Clear input tor reference power supply 39 ALO3 open collec tor output output 15 CLR Clear input tor output 40 S ON Servo ON in put 16 15 CLR Clear input 41 P CON P operation input 40 S ON Servo ON in put 17 input 42 P OT Forward over travel input 18 PL3 Open collec tor reference 43 N OT Reverse over travel input travel ...

Page 56: ...rence speed is zero when ON 4 4 3 Reference pulse block Position control with reference pulse stop Stops refer ence pulse input when ON 4 2 12 P OT N OT 42 43 Forward Run prohibited Reverse Run prohibited Overtravel prohibited Stops Servomotor when mov able part travels beyond the allowable range of motion 4 1 2 P CL N CL 45 Function selected via user constant P CL N CL 45 46 Forward current limit...

Page 57: ...J Output Signals Signal Name Pin No Function Refer ence Common ALM ALM 31 32 Servo alarm Turns OFF when an error is detected 4 5 1 TGON TGON 27 28 Detection during Servomotor rotation Detects whether the Servomotor is rotating at a speed higher than the motor speed setting Motor speed detection can be set via user constant 4 5 5 S RDY S RDY 29 30 Servo ready ON if there is no servo alarm when the ...

Page 58: ...The setting is the number of error pulses set in reference units input pulse units defined by the electronic gear 4 5 3 Not used 16 17 23 24 50 These terminals are not used Do not connect relays to these terminals Note 1 Pin numbers in parenthesis indicate signal grounds 2 The functions allocated to TGON S RDY and V CMP COIN can be changed via user constants CLT VCT BK WARN and NEAR signals can al...

Page 59: ...nce pulse and error counter clear signal at the host controller can be either line driver or open collector outputs These are shown below by type D Line driver Output 2 8 V H level L level 3 7 V 150 W 4 7 kW Applicable line driver SN75174 manufactured by T I or the equivalent Servopack end Host controller end D Open collector Output Example 1 Power Supply Provided by User VF 1 5 to 1 8 V Vcc Tr1 V...

Page 60: ...tc 3 3 kW J J Output Circuit Interfaces Anyofthe followingthree typesof Servopackoutput circuitscan be used Form an input circuit at the host controller that matches one of these types D Connecting to a Line driver Output Circuit Encoder serial data converted to two phase A and B phase pulse output signals PAO PAO PBO PBO origin pulse signals PCO PCO and S phase rotation signals PCO PCO are output...

Page 61: ...0 mA DC max Servopack end Servopack end 5 to 24 VDC Servopack end 5 to 12 VDC D Connecting to a Photocoupler Output Circuit Photocoupler output circuits are used for servo alarm servo ready andother sequence out put signal circuits Connect a photocoupler output circuit through a relay or line receiver circuit 0 V P 0 V Note The maximum allowable voltage and currentcapacities for photocoupler outpu...

Page 62: ...6 1 19 1 20 P PG D 6 H 1 G 2 Shell CN1 J P P P 0 33 mm2 0 001 in2 Connector shell B phase C phase Note J J Absolute Encoders PCO PG o v Absolute encoder PSO PSO Orange White orange 2 3 2 4 1 48 1 49 1 4 1 2 SG SEN 5 V 1 21 1 22 BAT BAT Battery P P Note P represents twisted pair wires C 5 D 6 H 1 G 2 T 3 S 4 J 2 1 2 2 2 5 2 6 CN2 1 33 1 34 1 35 1 36 1 19 1 20 CN1 ov SG 1 1 PG5V PG0V PAO PAO PBO PBO...

Page 63: ...ufacturer 53460 0611 55100 0600 54280 0600 Molex Japan Co Ltd Note 1 FA1394 is the product number for the Servopack end plug and the Servomo tor end socket set from Molex Japan Co Ltd 2 The Servomotor end relay socket connects to the encoder connector for the SGMAH and SGMPH Servomotor 3 The following encoder connectors are for the SGMGH SGMSH and SGMDH Servo motor L shaped plug MS3108B20 29S or S...

Page 64: ...15 Noise filter 1KM Servomotor Be sure to ground Be sure to prepare the end of the shielded wire properly 2 LPF Servo ON with 1Ry ON P control with 2Ry ON Reverse run prohibited with N LS OPEN Forward run prohibited with P LS OPEN Alarm reset with 3Ry ON Reverse current limit ON with 6Ry ON Forward current limit ON with 7Ry ON S RDY Reference speed 2 to 10 V rated motor speed Torque reference 1 to...

Page 65: ...o 15 50 60 Hz If a power supply of 187 V 15 of 220 V or less is used alarm A41 indicating voltage shortage may occur when accelerating to max speed with max torque of Servomotor 2 Short circuit B2 B3 terminals using the internal regenerative resistor If the capacity of the regenerative resistor is insufficient remove the lead between B2 and B3 terminals and connect external regenerative resistor u...

Page 66: ... P control with 2Ry ON Reverse run prohibited with N LS OPEN Forward run prohibited with P LS OPEN Alarm reset with 3Ry ON Reverse current limit ON with 6Ry ON Forward current limit ON with 7Ry ON S RDY Reference speed 2 to 10 V rated motor speed Torque reference 1 to 10 V rated motor torque Backup battery 2 8 to 4 5V 3 SEN signal input 3 Open collector reference power supply Position reference Al...

Page 67: ...erminals B1 and B2 for Servopacks with a capacity of 6 0 kW or higher There is no terminal B3 on these Servopacks 6 These circuits are hazardous and therefore are separated by protecting separator 7 These circuits are SELV circuits and are separated from all other circuits by double and reinforced insulation 8 Use a double insulated 24 VDC power supply 3 AUDIN 7 bis rue de Tinqueux 51100 Reims Fra...

Page 68: ...ibited with N LS OPEN Forward run prohibited with P LS OPEN Alarm reset with 3Ry ON Reverse current limit ON with 6Ry ON Forward current limit ON with 7Ry ON S RDY Reference speed 2 to 10 V rated motor speed Torque reference 1 to 10 V rated motor torque Backup battery 2 8 to 4 5V 3 SEN signal input 3 Open collector reference power supply Position reference Alarm code output Maximum operating volta...

Page 69: ...erminals B1 and B2 for Servopacks with a capacity of 6 0 kW or higher There is no terminal B3 on these Servopacks 6 These circuits are hazardous and therefore are separated by protecting separator 7 These circuits are SELV circuits and are separated from all other circuits by double and reinforced insulation 8 Use a double insulated 24 VDC power supply 3 AUDIN 7 bis rue de Tinqueux 51100 Reims Fra...

Page 70: ...y ON P control with 2Ry ON Reverse run prohibited with N LS OPEN Forward run prohibited with P LS OPEN Alarm reset with 3Ry ON Reverse current limit ON with 6Ry ON Forward current limit ON with 7Ry ON S RDY External torque control torque feed forward 6 1 to 10 V rated motor torque Backup battery 2 8 to 4 5V 3 SEN signal input 2 Open collector reference power supply Position reference Alarm code ou...

Page 71: ...ervopacks with a capacity of 6 0 kW or higher There is no terminal B3 on these Servopacks 6 Set via user constant 7 These circuits are hazardous and therefore are separated by protecting separator 8 These circuits are SELV circuits and are separated from all other circuits by double and reinforced insulation 9 Use a double insulated 24 VDC power supply 3 AUDIN 7 bis rue de Tinqueux 51100 Reims Fra...

Page 72: ...hibited with N LS OPEN Forward run prohibited with P LS OPEN Alarm reset with 3Ry ON Reverse current limit ON with 6Ry ON Forward current limit ON with 7Ry ON S RDY Reference speed 2 to 10 V rated motor speed External torque control torque feed forward 5 1 to 10 V rated motor torque Backup battery 2 8 to 4 5V 3 SEN signal input 3 Alarm code output Maximum operating voltage 30 VDC Maximum operating...

Page 73: ...minals B1 and B2 for Servopacks with a capacity of 6 0 kW or higher There is no terminal B3 on these Servopacks 7 These circuits are hazardous and therefore are separated by protecting separator 8 These circuits are SELV circuits and are separated from all other circuits by double and reinforced insulation 9 Use a double insulated 24 VDC power supply 3 AUDIN 7 bis rue de Tinqueux 51100 Reims Franc...

Page 74: ...everse run prohibited with N LS OPEN Forward run prohibited with P LS OPEN Alarm reset with 3Ry ON Reverse current limit ON with 6Ry ON Forward current limit ON with 7Ry ON S RDY Reference speed 5 2 to 10 V rated motor speed Torque reference 1 to 10 V rated motor torque Backup battery 2 8 to 4 5V 3 SEN signal input 3 Alarm code output Maximum operating voltage 30 VDC Maximum operating current 20 m...

Page 75: ... between terminals B1 and B2 for Servopacks with a capacity of 6 0 kW or higher There is no terminal B3 on these Servopacks 8 These circuits are hazardous and therefore are separated by protecting separator 9 These circuits are SELV circuits and are separated from all other circuits by double and reinforced insulation 10 Use a double insulated 24 VDC power supply 3 AUDIN 7 bis rue de Tinqueux 5110...

Page 76: ...rial Operation with the Servomotor Connected to the Machine 4 9 4 2 Supplementary Information on Trial Operation 4 10 4 2 1 Servomotors with Brakes 4 10 4 2 2 Position Control by Host Controller 4 11 4 3 Minimum User Constants and Input Signals 4 12 4 3 1 User Constants 4 12 4 3 2 Input Signals 4 13 4 AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03 26 04 20 21 Fax 03 26 04 28 20 Web http www...

Page 77: ...C N 1 L1C L2C B1 B2 U V W L1 L2 1 2 C N 2 SGDH MODE SET DATA CHARGE POWER SERVOPACK 200V YASKAWA Do not connect to the equipment Adjust the Servomotor according to equipment characteristics connect the Servomotor to the equipment and perform the trial operation SGDH Servopack SGMjH Servomotor Connect to the equipment Adjust speed by autotuning Step 1 Trial Operation for Servomotor without Load Ste...

Page 78: ... D Check main power supply circuit wiring D Check Servomotor wiring D Check CN1 I O signal wiring Make sure the host controller and other adjustments are completed as much as possible in step 1 prior to connecting the Servomotor to equipment C N 3 C N 1 L1C L2C B1 B2 U V W L1 L2 1 2 C N 2 SGDH MODE SET DATA CHARGE POWER SERVOPACK 200V YASKAWA Check wiring Do not connect to the equipment Check the ...

Page 79: ...I O signals are not used so leave the connector disconnected 3 Turn ON power Normal display Alternate display Example of Alarm Display Turn ON Servopack power If the Servopack has turned ON normally the LED display on the front panel of the Servopack will appear as shown above Power is not supplied to the Servomotor because the servo is OFF If an alarm display appears on the LED indicatoras showna...

Page 80: ...POWER SGDH 200V Use the following procedure to connect the CN1 connector a Turn OFF power b Connect the CN1 connector c Turn ON power again 6 Check the input signals Check input signal wiring in Monitor Mode using the Panel Operator See 6 1 7 Operation in Monitor Mode for more details on the procedure TurnONandOFFeachsignalline tosee ifthe LEDmonitorbitdisplayonthe panelchanges as shown below Inpu...

Page 81: ...trol power supply terminal for sequence signals IF an absolute encoder is being used the servo will not turn ON when the servo ONsignal S ON is input unless the SEN signal is also ON When the SEN signal is checked in monitor mode the top of the LED will light because the SEN signal is high when ON 7 Turn ON the servo Servopack Servomotor Turns ON the servo 0V S ON CN1 40 Turn ON the servo using th...

Page 82: ...e 6 1 7 Operation in Monitor Mode Un000 Actual motor speed Un001 Reference speed Has the reference speed been input Is the motor speed as designed Does the reference speed coincide the actual motor speed Does the Servomotor stop when the speed reference is 0 3 If the Servomotor rotates at extremely slow speed with 0 Vspecified forthe reference volt age correct the reference offset value as describ...

Page 83: ...e motor speed as designed Does the reference speed coincide with the actual motor speed Does the Servomotor stop when the speed reference is 0 4 Reset the user constants shown below to change the motor speed or direction of rotation Pn202 Pn203 Electronic gear ratio See 5 2 5 Using the Electronic Gear Function Pn000 0 Selects the direction of rotation See 5 1 1 Switching Servomotor Rotation Di rec...

Page 84: ...cations D Check the final control form SGDH Servopack Servomotor Connect to the machine Follow the procedures below to perform the trial operation 1 Make sure power is OFF 2 Connect the Servomotor to the equipment See 2 1 Servomotors for more details on connecting the Servomotor 3 Use autotuning to match the Servopack to equipment characteristics See LEERER MERKER Autotuning 4 Operate the Servomot...

Page 85: ...r from rotating due to gravity D Shaft with External Force Applied External force Servomotor Servomotor To prevent faulty operation due to gravity or external force make sure that the Servomotor and holding brake operate normally with the Servomotor disconnected from the equipment When both of them operate normally connect the servomotor to the equipment to start trial operation The following figu...

Page 86: ...or S Run the Servomotor at low speed Input a reference speed of 60 r min for ex ample to check to see if the Servomotor makes one revolution per second Check the user constant set ting at Pn300 to see if refer ence speed gain is correct Simple Positioning No of motor rotations Input a reference equivalent to one Servomotor rotation and visually check to see if the shaft makes one revolu tion Check...

Page 87: ...on See 5 3 5 Speed Control Pn300 Speed Reference Input Gain See 5 2 1 Pn201 PG Divider See 5 2 3 Position Control Pn200 0 Reference Pulse Form See 5 2 2 Pn202 Electronic Gear Ratio Numerator See 5 2 5 Pn203 Electronic Gear Ratio Denominator See 5 2 5 Changing Servomotor Rotation Direction Thewiringmaybeincorrectifthespecifieddirectionofrotationdiffersfromtheactualdirection of rotation Recheck the ...

Page 88: ...eedforexter nal short circuits Signal Name Pin Number Description S ON Servo ON CN1 40 See 5 5 2 for more details on turning ON and OFF the Servomotor P OT Forward run prohibited CN1 42 See 5 1 2 for more details on the overtravel limit switch N OT Reverse run prohibited CN1 43 4 AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03 26 04 20 21 Fax 03 26 04 28 20 Web http www audin fr Email info a...

Page 89: ... Using the Electronic Gear Function 5 27 5 2 6 Contact Input Speed Control 5 31 5 2 7 Using Torque Control 5 36 5 2 8 Torque Feed forward Function 5 42 5 2 9 Speed Feed forward Function 5 43 5 2 10 Torque Limiting by Analog Voltage Reference Function 1 5 44 5 2 11 Torque Limiting by Analog Voltage Reference Function 2 5 45 5 2 12 Reference Pulse Inhibit Function INHIBIT 5 47 5 3 Setting Up the Ser...

Page 90: ...t Signal 5 77 5 5 9 Handling Power Loss 5 79 5 6 Selecting a Regenerative Resistor 5 80 5 6 1 External Regenerative Resistors 5 81 5 6 2 Calculating the Required Capacity of Regenerative Resistors 5 84 5 7 Absolute Encoders 5 92 5 7 1 Interface Circuit 5 93 5 7 2 Selecting an Absolute Encoder 5 94 5 7 3 Handling Batteries 5 94 5 7 4 Absolute Encoder Setup 5 95 5 7 5 Absolute Encoder Reception Sequ...

Page 91: ... mode used when an alarm occurs Servo Gain and Other Constants Pn100 to Pn123 Set numerical values such as speed and position loop gains Position Control Constants Pn200 to Pn208 Set position control parameters such as the refer ence pulse input form and gear ratio Speed Control Constants Pn300 to Pn308 Set speed control parameters such as speed refer ence input gain and soft start deceleration ti...

Page 92: ...rsed Standard Setting Reverse Rotation Mode Forward Reference PAO phase A PBO phase B Encoder output from Servopack Encoder output from Servopack PAO phase A PBO phase B Reverse Reference Encoder output from Servopack PAO phase A PBO phase B Encoder output from Servopack PAO phase A PBO phase B J J Setting Reverse Rotation Mode Use user constant Pn000 0 Pn000 0 Direction Selection Factory Setting ...

Page 93: ... Torque Control Position Control Connect limit switches as shown below to prevent damage to the devices during linear motion Forward rotation end Reverse rotation end Limit switch Servomotor Servopack CN1 42 CN1 43 N OT P OT Limit switch Drive status with an input signal ON or OFF is shown in the following table P OT CN1 42 at low level when ON Forward rotation allowed Normal operation status CN1 ...

Page 94: ...en CN1 42 is at 0 V 8 Does not use the P OT input signal for prohibiting forward rotation Forward rotation is always allowed and has the same effect as shorting CN1 42 to 0 V Pn50B 0 3 Factory setting Uses the N OT input signal for prohibiting reverse rotation Reverse rotation is prohibited when CN1 43 is open and is allowed when CN1 43 is at 0 V 8 Does not use the N OT input signal for prohibitin...

Page 95: ...the preset torque and then locks the Servomotor in Zero Clamp Mode Torque setting Pn406 emergency stop torque 2 Decelerates the Servomotor to a stop at the preset torque and puts the Servomotor in coast status Torque setting Pn406 emergency stop torque Pn406 specifies the stop torque applied for overtravel when the input signal for prohibitingfor ward or reverse rotation is used The torque limit i...

Page 96: ... Stop by dynamic brake Coast to a stop Coast status Coast status User Constant Setting Item Pn001 0 0 Factory setting Uses the dynamic brake to stop the Servomotor and maintains dynamic brake status after stopping 1 Uses the dynamic brake to stop the Servomotor and cancels dynamic brake status after stopping to go into coast status 2 Coasts the Servomotor to a stop The Servomotor is turned OFF and...

Page 97: ...ing 800 Speed Torque Control Position Control This user constant sets the maximum torque limits for forward and reverse rotation Use this user constant when torque must be limited due to equipment conditions The torque limit function always monitors torque and outputs the signals below when the limit is reached The following signals are output by the torque limit function S CLT S Monitor Mode Un00...

Page 98: ...ircuit between CN1 1 and 2 is closed CN1 1 is at low level Servomotor output torque is not being limited Internal torque reference is less than the limit setting Settings Pn402 Forward Torque Limit Pn403 Reverse Torque Limit Pn404 Forward External Torque Limit P CL input only Pn405 Reverse External Torque Limit N CL input only Whenthe CLTsignalisused thefollowinguserconstantmustbeusedtoselecttheou...

Page 99: ... Rotation speed Torque Torque Torque Rotation speed Rotation speed Rotation speed N CL CN1 46 Input P CL CN1 45 Forward External Torque Limit Input Speed Torque Control Position Control Output N CL CN1 46 Reverse External Torque Limit Input Speed Torque Control Position Control This is the external torque current limit input for forward and reverse rotation Checkinputsignalallocationstatuswhenusin...

Page 100: ...ing 100 Speed Torque Control Position Control Pn405 Reverse External Torque Limit Unit Setting Range 0 to 800 Factory Setting 100 Speed Torque Control Position Control Set the torque limits when the torque is limited by an external contact input P CL CN1 45 Input Pn404 torque limit applied N CL CN1 46 Input Pn405 torque limit applied See 5 2 10 Using Torque Limiting by Analog Voltage Reference Usi...

Page 101: ... SG CN1 6 Signal Ground Speed Control The above inputs are used for speed control analog reference Pn000 1 0 4 7 9 or A Always wire for normal speed control The motor speed is controlled in proportion to the input voltage between V REF and SG Input voltage V 4 8 12 4 8 12 Factory setting Rated motor speed Rated motor speed The slope is set in Pn300 J J Setting Examples Pn300 600 This setting means...

Page 102: ... P P P Indicates twisted pair wires Adjust Pn300 according to output voltage specifications Adjust the speed reference input gain at the following user constant Pn300 Speed Reference Input Gain Unit 0 01V rated motor speed Setting Range 150 to 3000 Speed Control Set the voltage range forthe speedreference input V REF at CN1 5 accordingto host controller and external circuit output form Reference s...

Page 103: ...m reference input forthe system created J J Reference by Pulse Input Positioning is controlled by inputting a move reference pulse Reference code input Clear input Reference pulse input PULS PULS CN1 7 CN1 8 P SIGN SIGN CN1 11 CN1 12 P CLR CLR CN1 15 CN1 14 P Servopack Photocoupler P Indicates twisted pair wires Any of the following forms can be used for the position reference D Line driver output...

Page 104: ...1 is ON Equivalent to high level input When Tr1 is OFF Equivalent to low level input This circuit uses the 12 V power supply built into the Servopack Input is not insulated CN1 11 CLR SIGN PULS CN1 15 CN1 18 Servopack 12 V Photocoupler 1 k W 150 W CN1 7 CN1 3 CN1 8 PULS PL1 Approx 9 mA Tr1 ON 1 5 V max CN1 13 CN1 12 SIGN PL2 CN1 14 CLR PL3 CN1 1 P Indicates twisted pair wires Host controller P P P...

Page 105: ...cifications User Constant Pn200 0 Reference Pulse Form Input Pulse Multiplier Logic Forward Rotation Reference Reverse Rotation Reference 0 Sign pulse train Positive logic High PULS CN1 7 SIGN CN1 11 Low PULS CN1 7 SIGN CN1 11 1 CW pulse CCW pulse Low PULS CN1 7 SIGN CN1 11 Low PULS CN1 7 SIGN CN1 11 2 Two phase pulse train with 90 1 90 PULS CN1 7 90 PULS CN1 7 3 train with 90 phase differential 2...

Page 106: ...ulses Example of I O Signal Generation Timing Servo ON Baseblock Sign pulse train Release t1 30ms t2 6ms when user constant Pn506 is set to 0 t3 40ms PG pulse t4 t5 t6 2ms t7 20ms Note 1 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 2 The error counter clear signal must be ON for at...

Page 107: ...by 90_ B phase lags A phase by 90_ B phase A phase t2 t T t1 Reverse reference Forward reference t1 t2 0 1 ms t 1 0 ms t T 100 50 User constant Pn200 0 is used to switch the input pulse multiplier mode J J Error Counter Clear Input The procedure for clearing the error counter is described below Input CLR CN1 15 Clear Input Position Control Input CLR CN1 14 Clear Input Position Control The followin...

Page 108: ...y once on the rising edge of the CLR signal Cleared only once at this point CLR CN1 15 High 2 Clears the error counter when the CLR signal goes low Error pulses do not accumulate as long as the signal remains low Low CLR CN1 15 Cleared state 3 Clears the error counter on the falling edge of the CLR signal Clears the error counter only once on the falling edge of the CLR signal CLR CN1 15 Low Clear...

Page 109: ...R P 2 CN1 33 Phase A 3 1 CN1 34 PBO PBO R P 6 CN1 35 Phase B 5 7 CN1 36 PCO PCO R P 10 CN1 19 Phase C 11 9 CN1 20 Choke coil 8 C OV 16 5V Smoothing capacitor 0V 5V CN1 1 Contactor shell OV Shield P Indicates twisted pair wires Applicable line receiver SN75175 manufactured by Texas Instruments Inc MC3486 or the equivalent R terminator 220 to 470 W C decoupling capacitor 0 1 mF Phase B Phase A Phase...

Page 110: ...ontrol Position Control Output PCO CN1 20 Encoder Output Phase C Speed Torque Control Position Control Divided encoder signals are output Always connect these signal terminals when a position loop is formed in the host controller for position control Set a dividing ratio at the following user constant PG Dividing Ratio Pn201 Thedividingratiosettingisnotrelatedtothegearratiosetting Pn202and203 fort...

Page 111: ...turn operation If the configuration of the mechanical system prevents turning the Servomotor before the origin return operation then perform the origin return operation at a Servo motor speed of 600 r min or below The phase C pulse signal may not be correctly output if the Servomotor is turned faster than 600 r min J J Pulse Divider Setting Set the pulse dividing ratio in the following user consta...

Page 112: ...e and turn ON again after changing the user constant 2 A 13 bit encoder will run at 2048 P R even if the setting at Pn201 is set higher than 2049 5 2 4 Sequence I O Signals Sequence I O signals are used to control Servopack operation Connect these signal terminals as required J J Sink Circuit and Source Circuit The SERVOPACK s I O circuit uses a bidirectional photocoupler Select eitherthe sinkcirc...

Page 113: ...ve an internal 24 V power supply S External power supply specifications 24 1 VDC 50 mA min Yaskawa recommends using the same external power supply as that used for output circuits The allowable voltage range for the 24 V sequence input circuit power supply is 11 to 25 V Although a 12 V power supply can be used contact faults can easily occur for relays and other mechanical contacts under low curre...

Page 114: ...t per output Maximum operating voltage 30 VDC Maximum output current 50 mA DC Sequence output signals are used to indicate Servopack operating status Servopack Photocoupler 50 mA max 31 CN1 32 25 26 27 28 29 30 ALM ALM V CMP V CMP TGON TGON S RDY S RDY 50 mA max 20 mA max 37 38 39 1 ALO1 ALO2 ALO3 SG CN1 Open collector output per output Maximum operating voltage 30 VDC Maximum output current 20 mA...

Page 115: ...1 6666 revolutions 2048 4 pulses is 1 revolution Therefore 1 6666 2048 4 13653 pulses 13563 pulses are input as references The equation must be calculated at the host controller No of encoder pulses 2048 10 mm 1 10000 pulses Workpiece Ball screw pitch 6 mm 0 24 in J J Setting the Electronic Gear Calculatetheelectronicgearratio B A usingthefollowingprocedure andsetthevaluesinuser constants Pn202 an...

Page 116: ...on reference unit Travel distance per load shaft revolution Reference unit When the ball screw pitch is 5 mm 0 20 in and the reference unit is 0 001 mm 5 0 001 5000 reference figure unit Ball Screw Disc Table Belt and Pulley Load shaft P Pitch P 1 figure revolution P reference figure unit Load shaft 1 figure revolution 360 D Pulley D pD Load shaft 1 revolution D reference unit 5 Electronic gear ra...

Page 117: ...ctronic gear ratio according to equipment specifications M Reference input pulse SGDH Servopack SGMjH Servomotor Electronic gear B A Electronic gear ratio B A Pn202 Pn203 B Number of encoder pulses 4 motor speed A Reference units travel distance perloadshaft revolution load shaft revolution speed J J Electronic Gear Setting Examples The following examples show electronic gear settings for differen...

Page 118: ...m 0 0008 in Pulley diameter f100mm Set a PG dividing ratio equivalent to 16 bit for the absolute encoder 131072 15700 32768 3925 Preset Val ues Pn202 32768 ues Pn203 3925 J J Control Block Diagram The following diagram illustrates a control block for position control Differentiation Smoothing X1 X2 X4 Error counter Kp Feed forward gain Primary lag filter Bias Speed loop Current loop M Frequency di...

Page 119: ... the contact input speed control function 1 Set contact input speed control as shown below Pn000 1 Control Mode Selection Factory Setting 0 Speed Torque Control Position Control The speed can be controlled via contact inputs Servopack SPEED 1 SPEED 2 SPEED 3 Servomotor Contact input Servo operates at the internally set speed M Meanings for the following signals change when the contact input speed ...

Page 120: ...ct Input Speed Control Unit r min Setting Range 0 to 10000 Factory Setting 100 Speed Control Pn302 Speed 2 SPEED 2 Contact Input Speed Control Unit r min Setting Range 0 to 10000 Factory Setting 200 Speed Control Pn303 Speed 3 SPEED 3 Contact Input Speed Control Unit r min Setting Range 0 to 10000 Factory Setting 300 Speed Control Theseuserconstantsareusedtosetmotorspeedswhenthecontact inputspeedc...

Page 121: ...speed control Set each constant to 0 for normal speed control Set each user constant to the following time intervals Pn305 Time interval from when the Servomotor startsuntil it reaches maximum speed of Servomotor Pn306 Time interval from when the Servomotor maximum speed until it stops J J Operation by Contact Input Speed Control The following describes operation by contact input speed control Sta...

Page 122: ...ontrol is not used input signals are used as external torque limit inputs The contact input speed control function is used only when signals are allocated to SPD D SPD A and SPD B Direction of Rotation Selection The input signal P CON SPD D is used to specify the direction of Servomotor rotation Input P CON CN1 41 Proportional Control Reference etc Speed Torque Control Position Control D When cont...

Page 123: ...t Speed Control Mode is switched to Pulse Reference Input Mode while the Servomotor is operating at speed 1 speed 2 or speed 3 the Servopack will not receive a reference pulse until the positioning completed signal COIN is output Always start pulse refer ence output from the host controller after a positioning completed signal is output from the Servopack N CL SPD B P CL SPD A ON Speed 1 Selected ...

Page 124: ...han speed output D Level 4 Switches between speed and torque control The following describes uses for levels 3 and 4 in the torque control function J J Torque Control Selection Set in the following user constants to select level 3 or 4 torque control Pn000 1 Control Method Selection Factory Setting 0 Speed Torque Control Position Control A torque reference is input from the host controller to the ...

Page 125: ...inputs a speed reference or speed limit S T REF CN1 9 inputs a torque reference torque feed for ward reference or torque limit depending on the control mode S P CON C SEL CN1 41 is used to switch between torque and speed control Servopack CN1 5 CN1 9 CN1 41 V REF T REF P CON C SEL Speed and torque reference switching Torque reference Speed reference CN1 41 is open Torque control CN1 41 is 0 V Spee...

Page 126: ...constant Pn002 0 as shown below User Constant Pn002 0 Torque Reference Input T REF CN1 9 10 Contents Remarks 0 Normal position control 1 Torque limit input Torque limit position control by analog volt age reference See 5 2 10 for more de tails on torque limit position control by ana log voltage reference 2 Torque feed forward in put Position control with torque feed forward See 5 2 8 for more de t...

Page 127: ...t voltagebetweenT REFand SG 300 200 100 300 200 100 0 4 8 12 4 8 12 Reference torque Input voltage V The slope is set to Pn400 Factory setting D Factory Settings Pn400 30 This setting means that 3 V is equivalent to the rated torque 3 V input Rated torque in the forward direction 9 V input 300 of rated torque in the forward direction 0 3 V input 10 of rated torque in the reverse direction User con...

Page 128: ...tation in Contact Input Speed Control Mode 7 8 9 Switches the control mode A Turns ON OFF zero clamp B Turns inhibit ON OFF The P CON signal function switches automatically when Pn50A 0 is set to 0 J J User Constant The following user constant is used for torque control Set the user constant according to the servo system used Pn400 Torque Reference Input Gain Unit 0 1 V rated torque Setting Range ...

Page 129: ...xcessive equipment speed during torque control Since the speedlimit detectionsignal VLT functionsthe same intorque control asthe CLTsig nal see 5 1 3 Limiting Torque where the CLT signal is described Motor speed Torque Control Range Speed limit Torque control range Torque The maximum speed of the Servomotor will be used if Pn407 is set to a value higher than the maximum speed of the Servomotor Ext...

Page 130: ...r undershooting To prevent this set the optimum value while observing system response Connect a speed reference signal line to V REF CN1 5 and 6 and a torque feed forwardrefer ence signal line to T REF CN1 9 and 10 V REF Position reference Kp Pn100 Current loop M PG Differ ential KFF Speed calculation Integration Pn101 T REF Servomotor Encoder Host controller SGDH Servopack Kp Position loop gain K...

Page 131: ...eispro vided to the Servopack with the position reference Overshooting and undershooting can result if too much feed forward is used Set the optimum settings based on the actual response The position reference from the host controller is connected to PULS and SIGN CN1 7 8 11 and 12 and the speed feed forward reference is connected to V REF CN1 5 and 6 Pn100 M PG KFF V REF Kp Pn102 Position referen...

Page 132: ... Integration Pn101 Speed loop gain Pn100 Speed feedback Pn400 Torque limit value Speed reference T REF V REF Torque reference Pn403 Torque limit Pn404 P CL ON Pn402 Pn405 N CL ON J J Using Torque Limiting by Analog Voltage Reference To use this function set the following user constant to 1 Pn002 0 Speed Control Option T REF Terminal Allocation Factory Setting 0 Speed Control Position Control This ...

Page 133: ...CN1 45 is ON a forward torque limit is applied and if the N CL signal CN1 46 is ON a reverse torque limit is applied Pn300 Pn400 T REF V REF Pn404 P CL ON Pn402 Pn405 N CL ON N CL P CL Integration Pn101 Speed loop gain Pn100 Speed feedback Torque limit value Speed reference Torque reference Pn403 Torque limit J J Using Torque Limiting by Analog Voltage Reference To use this function set the follow...

Page 134: ...user constant Pn400 The factorysettingat Pn400is30 If forexample the torque limit is 3V thentorque islimited to 100 of the rated torque A torque value higher than 100 torque is clamped at 100 A 100 torque will also be used as the limit if the input torque limit value is 3 V Pn400 Torque Reference Input Gain Unit 0 1V Rated Torque Setting Range 10 to 100 Factory Setting 30 Speed Torque Control Posi...

Page 135: ...ble the inhibit function Pn000 1 Setting Description 1 Enables the inhibit function Always counts reference pulses B Enables the inhibit function The P CON INHIBIT signal is used to en able or disable the inhibit function P CON INHIBIT Description OFF Counts reference pulses ON Prohibits the Servopack from counting reference pulses The Servomotor remains locked Note Parentheses around an INHIBIT s...

Page 136: ...onstants User constants are divided into the following three groups User Constant Function Pn000 to Pn601 Specify Servopack functions set servo gains etc Fn000 to Fn013 Execute auxiliary functions such as JOG Mode operations and origin searches Un000 to Un00D Enable monitoring the motor speed and torque reference on the panel display Appendix B shows a list of user constants provided for reference...

Page 137: ... Circuit Signal Allocation The functions allocated to sequence input signal circuits can be changed CN1 connector input signals are allocated with the factory settings as shown in the following table CN1 Connector Terminal Numbers Input Terminal Name Factory Setting Terminal Numbers Name Symbol Name 40 SI0 S ON Servo ON 41 SI1 P CON Proportional control ref erence 42 SI2 P OT Forward run prohibit ...

Page 138: ...rvopack CN1 S ON Determines terminal allocation for input signals CN1 40 is factory set for the S ON input signal Any terminal from CN1 40 to 46 can be allocated to the S ON signal through the Pn50A 1 setting The following table shows the user constant factory settings for input signal selections 1 to 4 Pn50A Input Signal Selections 1 Factory Setting 2100 Speed Torque Control Position Control Pn50...

Page 139: ... S ON signal from the SI3 CN1 43 input terminal D Inputs the S ON signal from the SI4 CN1 44 input terminal E Inputs the S ON signal from the SI5 CN1 45 input terminal F Inputs the S ON signal from the SI6 CN1 46 input terminal Note Settings 9 through F can be used to reverse signal polarity If reverse polarity is set for the Servo ON Forward Run Prohibit or Reverse Run Prohibit signals safe opera...

Page 140: ...uirethissignal butunnecessarywiringcanbeeliminatedbysetting Pn50A 1 to 8 Signals are input with OR logic when multiple signals are allocated to the same input circuit 5 INFO AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03 26 04 20 21 Fax 03 26 04 28 20 Web http www audin fr Email info audin fr ...

Page 141: ...rom SI1 CN1 41 B Inputs the reverse of the signal on the left from SI2 CN1 42 C Inputs the reverse of the signal on the left from SI3 CN1 43 D Inputs the reverse of the signal on the left from SI4 CN1 44 E Inputs the reverse of the signal on the left from SI5 CN1 45 F Inputs the reverse of the signal on the left from SI6 CN1 46 Forward Run Prohibit P OT OFF high level Pn50A 3 0 to F Same as above ...

Page 142: ... G SEL ON low level Pn50D 2 0 to F Same as above Same as above indicates that the user constant can be set to from 0 to F to allocate input signals to the following terminals as shown in the example for the Proportional Control Reference P CON 1 Allocation to input terminals SI0 to SI6 2 Setting to always valid or always invalid 3 Allocation to input terminals SI0 to SI6 and receiving the signals ...

Page 143: ...ection 28 SG TGON 29 SO3 S RDY Servo ready 30 SG S RDY The output signal selection user constants and their factory settings are shown below Pn50E Output Signal Selections 1 Factory Setting 3211 Speed Torque Control Position Control Pn50F Output Signal Selections 2 Factory Setting 0000 Speed Torque Control Position Control Pn510 Output Signal Selections 3 Factory Setting 0000 Speed Torque Control ...

Page 144: ...o 3 Same as above Brake Interlock BK Pn50F 2 0 to 3 Same as above Warning WARN Pn50F 3 0 to 3 Same as above Near NEAR Pn510 0 0 to 3 Same as above Not used Note Same as above means output signals are disabled or allocated to output terminals SO1 to SO3 through user constant settings 0 to 3 Signals are output with OR logic when multiple signals are allocated to the same output circuit Signals that ...

Page 145: ...reversed 1 Output signal reversed SO2 CN1 27 28 Pn512 1 0 Output signal not reversed 1 Output signal reversed SO3 CN1 29 30 Pn512 2 0 Output signal not reversed 1 Output signal reversed Not used Pn512 3 5 AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03 26 04 20 21 Fax 03 26 04 28 20 Web http www audin fr Email info audin fr ...

Page 146: ... Control Analog Refer ence 8 Position Control Pulse Train Reference Torque Control Analog Ref erence 9 Torque Control Analog Reference Speed Control Analog Reference A Speed Control Analog Reference Zero Clamp Control B Position Control Pulse Train Reference Position Control Inhibit J J Description of Control Modes The control modes are described below Speed Control Analog Reference This mode cont...

Page 147: ...CL SPD A and N CL SPD B input signals are OFF highlevel See 5 2 6 Contact Input SpeedControl Position Control Pulse Train Reference Speed Control Analog Reference This mode switches between position and speed control through the P CON C SEL signal Position Control Pulse Train Reference Torque Control Analog Reference This mode switches between position and torque control through the P CON C SEL si...

Page 148: ...e speed or torque J J Reference Offset Adjustment The following methods can be used to adjust the reference offset to 0 V Automatic Adjustment of Reference Offset The reference offset is automatically adjusted to 0 V Manual Adjustment of Reference Offset The reference offset can be set to a specified value Use manual rather than automatic adjustment if a position control loop is formed in the host...

Page 149: ...e after the Servomotor stops and the servomotor coasts to a stop 2 Coasts the Servomotor to a stop 2 The Servomotor is turned OFF and motion stops due to equipment friction 1 If the Servomotor is stopped or moving at extremely low speed it will coast to a stop 2 When the main power supply is turned OFF the dynamic brakes of the following types of Servopack are used 30 W to 200 W for 100 V SGDH A3B...

Page 150: ... zero clamp function is turned ON Even if the Servomotor is forcibly rotated by external force it will still return to the zero clamp position Host controller Speed reference A speed reference below the Pn501 setting is ignored Stops precisely P CON ZCLAMP V REF J J User Constant Setting Set the following user constant so that the input signal P CON ZCLAMP can be used to en able or disable the zer...

Page 151: ...constant to set the motor speed level at which zero clamp is performed Pn501 Zero Clamp Level Unit r min Setting Range 0 to 10000 Factory Setting 10 Speed Control Set the motor speed at which zero clamp is performed if zero clamp speed control is selected Evenifthisvalue is set higher thanthe maximum speed ofthe Servomotor the maximum speed will be used Zero Clamp Conditions Zero clamp is performe...

Page 152: ...to hold and cannot be used for braking Use the holding brake only to hold a stopped motor Brake torque is at least 120 of the rated motor torque J J Wiring Example Use the Servopack contact output signal BK and the brake power supply to form a brake ON OFF circuit The following diagram shows a standard wiring example M BK PG Servomotor with brake A 1 B 2 C 3 D 4 E 5 F 6 U V W CN2 Red Black Blue or...

Page 153: ...n the following user constant must be selected when the BK signal is used Pn50F Output Signal Selections 2 Setting Range 0000 Speed Torque Control Position Control BK Brake interlock output Pn50F 2 1 2 3 CN1 25 26 SO1 CN1 27 28 SO2 CN1 29 30 SO3 Input terminals Select the BK output terminal User Constant Setting Output Terminal CN1 1 2 Pn50F 2 0 1 25 26 2 27 28 3 29 30 Note Signals are output with...

Page 154: ...otor ON OFF status Release brake Servo ON Servomotor ON Hold with brake Servo OFF Servomotor OFF Servo OFF time delay With the standard setting the servo is turned OFF when the BK signal brake operation isout put Theequipmentmaymoveslightlyduetogravitydependingonequipmentconfigurationand brake characteristics If this happens use this user constant to delay servo OFF timing This setting sets the br...

Page 155: ...N CN1 40 in put or alarm oc currence Motor speed r min Pn 507 BK output Stop by dynamic brake or coast to a stop Pn001 0 Pn508 Release brake Servo ON Hold with brake Servo OFF Brake ON timing when the Servomotor stops must be adjusted properly because Servomotor brakes are designed as holding brakes Adjust the user constant settings while observingequip ment operation BK Signal Output Conditions D...

Page 156: ... Maximum output current 50 mA DC A suitable external I O power supply must be provided by the user separately because there is no internal 24 V power supply in the Servopack The use of the photocoupler output signals is described below Output ALM CN1 31 Servo Alarm Output Speed Torque Control Position Control Output ALM CN1 32 Signal Ground for Servo Alarm Output Speed Torque Control Position Cont...

Page 157: ... output WhenaServoalarm ALM occurs eliminatethecauseofthealarmandsetthefollowing ALM RST input signal to high level ON to reset the alarm Input ALM RST CN1 44 Alarm Reset Speed Torque Control Position Control The alarm reset signal is used to reset a Servo alarm Form anexternal circuit sothe ServopackturnsOFFwhenanalarm occurs Alarmsare reset au tomatically when the control power supply is turned ...

Page 158: ... turn the Servomotor OFF while it is oper ating except in an emergency Servo OFF Servomotor is OFF Servomotor can not oper ate Do not use the Servo ON S ON signal but rather always use an input reference signal to start or stop the Servomotor Set the following user constant to 7 if the S ON signal will not be used Pn50A 1 S ON Signal Mapping Factory Setting 0 Speed Torque Control Position Control ...

Page 159: ...CN1 25 Pn500 Error pulse Un008 ON Circuit between CN1 25 and 26 is closed and CN1 25 is at low level Positioning is completed Position error is below the setting OFF Circuit between CN1 25 and 26 is open and CN1 25 is at high level Positioning is not completed Position error is above the setting Setting Pn500 positioning completed width The following user constant setting is used to change the CN1...

Page 160: ...is always ON for torque control 5 5 4 Speed Coincidence Output The basic use and wiring procedures for the speed coincidence V CMP output signal used to indicateamatchwiththespeedreference photocoupleroutputsignal aredescribedbelow The host controller uses the signal as an interlock CN1 25 CN1 26 V CMP V CMP 24 V 0 V Photocoupler output per output Maximum operating voltage 30 VDC Maximum output cu...

Page 161: ... Coincidence Signal Output Width Unit r min Setting Range 0 to 100 Factory Setting 10 Speed Control This user constant is used to set conditions for speed coincidence signal V CMP output The V CMPsignal isoutput whenthe difference between the speed reference and actual motor speed is below this setting The V CMPsignal turnsONat 1900to2100r minifthe userconstant issetto100andtherefer ence speed is ...

Page 162: ...Motor speed is below the setting Preset value Pn502 Running Output Level Motor speed Un000 TGON Pn502 The following user constant setting is used to change the CN1 connector terminal that outputs the TGON signal Pn50E Output Signal Selections 1 Factory Setting 3211 Speed Torque Control Position Control Theuserconstantisfactorysetsothe V CMPsignalisoutputbetweenCN1 27and28 See5 3 4 Output Circuit S...

Page 163: ...ting voltage 30 VDC Maximum output current 50 mA DC Servopack I O power supply Output S RDY CN1 29 Servo Ready Output Signal Speed Torque Control Position Control This signal indicates the Servopack received the Servo ON signal and completed all prepara tions ON Closed or low level Servo is ready OFF Open or high level Servo is not ready The following user constant setting is used to change the CN...

Page 164: ...es an overload or regenerative overload warning OFF Open or high level Normal operation ON Closed or low level Error warning status The following user constant setting is used to change the CN1 connector terminal that outputs the WARN signal Pn50F Output Signal Selections 2 Factory Setting 0000 Speed Torque Control Position Control Pn50F 3 is used to allocate the WARN output signals above User Con...

Page 165: ...al high level Regenerative overload 5 5 8 Using the Near Output Signal The basic use and wiring procedures for the near NEAR output signal photocoupler output signal aredescribedbelow Thesignalisasequencesignalthatisgenerallyoutput togetherwith the positioning completed signal COIN and it is used to indicate the Servomotor is close to completing operation CN1 1 CN1 2 NEAR NEAR 24 V 0 V Photocouple...

Page 166: ...erminal CN1 1 2 Pn510 0 0 1 25 26 2 27 28 3 29 30 Note Multiple signals allocated to the same output circuit are output using OR logic Set other output signals to a value other than that allocated to the NEAR signal in order to use the NEAR output signal alone See 5 3 4 Output Circuit Signal Allocation The following user constant is used to set the timing for NEAR signal output Pn504 NEAR Signal W...

Page 167: ...ontrol is lost equivalent to normal power OFF operation regardless of the user constant setting D Whenaninsufficientvoltagealarm A 41 occursduringpowerlosswitha largeServomotor load D When control is lost equivalent to normal power OFF operation with loss of the control power supply In power loss detection the status of the main circuit power supply is detected and OFF status is ignored so Servomo...

Page 168: ...ty of the Servopack then install anexternal regenerativeresistor ThefollowingtableshowsthespecificationsoftheServopack sbuilt inresistor and the amount of regenerative power average values that it can process Applicable Servopacks Specifications of Built in Resistor Regenerative Power Processed by Minimum Allowable Applicable Servopacks Resistance W Capacity W Processed by Built in Resistor 1 W Al...

Page 169: ...constant setting must be changed as shown below Pn600 Regenerative Resistor Capacity Unit 10 W Setting Range 0 to Servopack capacity Factory Setting 0 Speed Torque Control Position Control The factory setting of 0 in the above table is the set value used when the Servopack s built in resistor is used or when a Servopack without a built in resistor is used When installing an external regenerative r...

Page 170: ... take out the lead wire between the B2 and B3 terminals B3 The user must provide the regenerative resistor Servopacks with Capacities of 6 0 kW or More Servopacks with capacities of 6 0 kW or more do not have regenerative resistors built in A re generativeresistormustbeconnectedexternally ThefollowingRegenerativeResistorUnitsare available for this purpose Servopack Applicable Regenerative Resistor...

Page 171: ...it is sold as an option Regenerative Resistor Unit Regenerative resistors reach high temperatures so be careful to cool them Also use heat resistant non flam mable wiring and make sure that the wiring does not come into contact with the resistors 5 IMPORTANT AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03 26 04 20 21 Fax 03 26 04 28 20 Web http www audin fr Email info audin fr ...

Page 172: ...oltage is SGDH A5BE to 02BE 15 7 cuit input voltage is 100 VAC 200 V SGDH A3AE A5AE 18 5 Value when main cir cuit input voltage is SGDH 01AE to 04AE 37 1 cuit input voltage is 200 VAC Calculate the rotational energy in the servo system from the following equation ES J NM 2 182 joules D J JM JL D JM Servomotor rotor inertia kg m2 oz in s2 D JL Motor axis conversion load inertia kg m2 oz in s2 D NM ...

Page 173: ... SGMGH 11 SGMSH 29 22 SGMUH 19 Speed reference Servomotor rotation speed Servomotor generated torque Load inertia 0 motor only Regeneration mode T Operating cycle Allowable frequency 1 T r min Maximum rotation speed Maximum cycle 0 Maximum cycle 0 0 t t t Figure 5 1 Operating Conditions for Allowable Regenerative Frequency Calcula tion Use the following equation to calculate the allowable frequenc...

Page 174: ...ing the Regenerative Energy This section shows the procedure for calculating the regenerative resistorcapacity whenaccel eration and deceleration operation is as shown in the following diagram Rotation speed Motor torque TL Load torque tD 0 0 Regenerative torque NM Motor rotation speed T Calculation Procedure The procedure for calculating the capacity is as follows Step Item Symbol Equation 1 Find...

Page 175: ...ng EL 0 When the operation period in regeneration mode is continuous add the following items to the abovecalculationprocedureinordertofindtherequiredcapacity W forthe regenerativeresis tor D Energy for continuous regeneration mode operation period EG joules D Energy consumed by regenerative resistor EK ES EL EM EC EG D Required capacity of regenerative resistor WK EK 0 2 T Here EG 2p 60 NMGTGtG D ...

Page 176: ...s 100 200 300 0 1800 2800 0 600 800 1200 1400 400 200 1000 1600 2000 2400 2200 2600 30A A SGMGH 13A A 20A A 09A A 05A A 44A A 75A A 55A A 1EA A 1AA A 1800 2000 100 300 0 0 600 800 1200 1400 400 200 1000 1600 200 W Torque Loss 20A B 09A B 06A B 12A B 03A B 30A B SGMGH 40A B 55A B S S SGMSH Servomotor 200 V S S SGMDH Servomotor 200 V 10A 20A 15A 30A SGMSH 1400 40A 50A 100 200 300 0 0 600 800 1200 40...

Page 177: ...D A 13D A 20D A 30D A SGMGH 44D A 1AD A 55D A 75D A 1ED A W Loss Torque 100 200 300 0 200 400 600 800 1200 1000 0 10D 15D 20D 30D SGMSH 1400 40D 50D S S SGMUH Servomotor 400 V Torque W Loss 100 200 300 0 100 200 300 400 600 500 0 30D 400 15D 10D SGMUH 800 700 40D 5 AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03 26 04 20 21 Fax 03 26 04 28 20 Web http www audin fr Email info audin fr ...

Page 178: ... Servopack for 200 V Continued Servopack SGDH 20AD 15AD 01AD to 04AD 05AD to 10AD A3AD A5AD 30AD 0 20 100 120 40 60 80 200 220 240 180 260 J AC input power supply voltage Vrms Absorbable energy J AC input power supply voltage Vrms Absorbable energy 300 400 600 200 100 500 SGDH 60AE 75AE 50AE 700 0 200 220 240 180 260 1AAE 1EAE Servopack S S Servopack for 400 V J Absorbable energy AC input power su...

Page 179: ... Absorbable energy AC input power supply voltage Vrms Servopack 200 300 500 600 100 0 400 320 50DE 60DE 75DE 1ADE 1EDE SGDH 360 400 440 480 520 700 800 5 AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03 26 04 20 21 Fax 03 26 04 28 20 Web http www audin fr Email info audin fr ...

Page 180: ...bit encoder and 12 bit encoder Specially when Infinite length posi tioning system of conventional type is to be configured with series be sure to make the following system modification Absolute Encoder Type Output Range of Multiturn Data Motion When Exceeds the Limit Conventional Types 12 bit and 15 bit 99999 to 99999 S When exceeds the upper limit 99999 in the positive direction the multiturn dat...

Page 181: ...ller Servopack CN1 2 5V Approx 1 mA at high level 0V 7406 or equivalent 100W 0V 1mF PNP is recommended for transistors Signal Levels High level 4 0 V min Low level 0 8 V max D Let at least three seconds elapse after turning on the power before raising the SEN signal to high level D When the SEN signal is changed from low level to high level the multi turn data and initial incremental pulses are ou...

Page 182: ...tion goes into effect when the power is turned OFF after the change has been made 5 7 3 Handling Batteries In order for the absolute encoder to retain position data when the power is turned OFF the data must be backed up by a battery J J Installing the Battery at the Host Device Lithium battery by Toshiba ER6VC3 3 6 V 2000 mAh J J Battery Provided for Servopack Lithium battery JZSP BA01 includes b...

Page 183: ...n be performed by using the Hand held Digital Operator or the Servo pack s Panel Operator or else personal computer monitor software can be employed The setup operation procedure shown here uses the Digital Operator For more details refer to Chapter 6 Using the Digital Operator The absolute encoder setup operation is only possible when the servo is OFF After the setup processing is fin ished turn ...

Page 184: ...n mode This completes the absolute encoder s setup operation Turn the power OFF and then back ON again J J Setup Using the Built in Panel Operator 1 Press the DSPL SET Key to select the auxiliary function mode 2 Press the Up or Down Cursor Key to select the user constant Fn008 3 Press the DATA SHIFT Key for at least one second The following display will appear 4 Pressing the Up Cursor Key will cha...

Page 185: ...must be cleared by turning OFF the power 5 7 5 Absolute Encoder Reception Sequence The sequence inwhich the Servopack receivesoutputs from the absolute encoder andtransmits them to the host device is shown below Be sure you understand this section when designing the host device J J Outline of Absolute Signals The absolute encoder s outputs are PAO PBO PCO and PSO signals as shown below PG Servopac...

Page 186: ...umber of initial incremental pulses read at setup This is saved and controlled by the host control ler E O PM PE RS PM Current value required for the user s system R Number of pulses per encoder revolution pulse count after dividing value of Pn201 J J Absolute Encoder Transmission Sequence 1 Set the SEN signal at high level 2 After 100 ms set the system to serial data reception waiting state Clear...

Page 187: ...hen this range is exceeded the data changes from 32767 to 32768 or from 32768 to 32767 When changing multiturn limit the range changes For details see 5 7 6 Multiturn Limit Setting 1 Stop bit PSO Serial Data Specifications The number of revolutions and the absolute position within one revolution are always output in five and 7 digits respectively The data output cycle is approximately 40 ms Data T...

Page 188: ...etting the Pulse Dividing Ratio Use the following user constant to set the pulse dividing ratio Pn201 PG Divider Unit P R Setting Range 16 to 16384 Factory Setting 16384 Speed Torque Control Position Control This user constant sets the number of output pulses for PG output signals PAO PAO PBO PBO sent externally Pulses from the motor encoder PG are divided by the number of pulses set here before b...

Page 189: ... encoder to 0 every m turns The Multiturn Limit Setting allows the value m to be set for the encoder The use of an absolute encoder can be specified by setting the following user constant Pn002 2 Absolute Encoder Usage Factory Setting 0 Speed Torque Control Position Control 0 in the following table must be set in order to enable the absolute encoder Pn002 2 Setting Contents 0 Use the absolute enco...

Page 190: ...n Pn205 the multiturn data will change to 0 Set Pn205 to m 1 Turn the power OFF and then back ON after changing the setting of user constant Pn002 2 or Pn205 The multiturn limit value in the Encoder is factory set to 65535 the same as the Servopack If the multiturnlimit value inthe Servopackischangedwith Pn205and thenthe Servopackpower is turned OFF and ON the following alarm will occur Alarm Name...

Page 191: ...ar 4 Press the DSPL SET Key The following displaywill appearand the multiturn limit setting in the absolute encoder will be changed Flashes for one second 5 Press the DATA ENTER Key to return to the auxiliary function mode Thiscompletesthe procedure tochange the multiturnlimit settinginthe absolute encoder Turn the power supply OFF and then back ON J J Changing the Setting with the Built in Panel ...

Page 192: ...st be changed only for special applications Changingit inappropriately or unintentionally can be dangerous WARNING If theMultiturnLimit Disagreement alarmoccurs checkthe settingof userconstant Pn205 in the Servopack to be sure that it is correct If Fn013 is executed when an incorrect value is set in Pn205 an incorrect value will be set in the Encoder The alarm will disappear even if an incorrect v...

Page 193: ...he cable length 2 For a ground wire use as thick a cable as possible 2 0 mm2 or thicker S At least class 3 ground 100 W max is recommended S Ground to one point only S If the motor is insulated from the machine ground the motor directly 3 Do not bend or apply tension to cables The conductor of a signal cable is very thin 0 2 to 0 3 mm 0 0079 to 0 012 in so handle the cables with care 4 Use a noise...

Page 194: ...gh frequency oscillator install a noise filter on the input side of the power supply line Note 1 Since the Servopack uses high speed switching elements signal lines may receive noise To prevent this always take the above actions 2 For details on grounding and noise filters refer to 5 8 2 Wiring for Noise Control 6 Use a molded case circuit breaker QF or fuse to protect the power supply line from h...

Page 195: ...GMAH 02A 0 75 0 20 02AE SGMPH 02A 0 75 0 40 04AE SGMAH 04A 1 2 8 0 40 04AE SGMPH 04A 1 2 8 0 75 08AE S SGMAH 08A 2 1 11 0 75 08AE S SGMPH 08A 2 1 11 1 50 15AE S SGMPH 15A 4 0 19 Three phase 200 V 0 45 05AE SGMGH 05A A 1 4 4 Three phase 200 V 0 45 05AE SGMGH 03A B 1 4 4 0 75 08AE SGMAH 08A 0 75 08AE SGMPH 08A 1 9 SGMGH 06A B 1 9 7 1 0 10AE SGMGH 09AjA 7 1 0 10AE SGMGH 09AjB 2 3 SGMSH 10A 2 3 1 5 15...

Page 196: ...0DjA 10 3 14 9 SGMSH 50DjA 10 3 14 9 SGMUH 40DjA 6 0 60DE SGMGH 55DjA 12 4 17 8 7 5 75DE SGMGH 75DjA 15 4 22 3 11 0 1ADE SGMGH 1ADjA 22 6 32 7 15 0 1EDE SGMGH 1EDjA 30 9 44 6 1 This is the net value at the rated load When actually selecting fuses determine the capacity using the prescribed derating 2 Operating characteristics at 25 C 2 seconds or more for 200 0 01 second or more for 700 Note A fas...

Page 197: ...wire with a thickness of at least 3 5 mm2 0 005 in2 preferably plain stitch cooper wire 2 For wires indicated by P use twisted pair wires whenever possible 3 When using a noise filter follow the precautions in J Using Noise Filters M FG U W V L2 L1 L3 L2C L1C CN2 CN1 Servomotor D Operation relay sequence D Signal generation circuit provided by user P P P 1L F AVR Ground 2 Casing Casing Casing Wire...

Page 198: ...be made to only one point in the system J J Using Noise Filters Use an inhibit type noise filter to prevent noise from the power supply line The followingtable lists recommended noise filters for each Servopack model Install a noise filter on the power supply line for peripheral equipment as necessary Table 5 2 Noise Filters Voltage Servopack Model Recommended Noise Filter Voltage Servopack Model ...

Page 199: ...lowinginstallationandwiringinstructions Incorrect use ofa noise filter halves its benefits D Separate input lines from output lines Do not put the input and output lines in the same duct or bundle them together Filter Filter Filter Filter Separate these circuits D Separate the noise filter ground wire from the output lines Do not accommodate the noise filter ground wire output lines and other sign...

Page 200: ...ire Thick and short BOX Filter Filter D 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 Filter Unit Ground 5 AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03 26 04 20 21 Fax 03 26 04 28 20 Web http ww...

Page 201: ...the system so that the power supply s S phase is the ground Power OFF Power ON 1KM 1RY Connect the alarm output ALM terminals for the three Servopacks in series to enable alarm detection relay 1RY to operate The output transistor is turned OFF when the ALM output signal invokes the alarm state Multiple servos can share a single QF or noise filter Always select a QF or noise filter that has enoughc...

Page 202: ...SP CMP19 40 50 m 1968 50 in JZSP CMP19 50 Whenspecifyingthe cable length just specifythe model number JZSP CMP19 j Thej in the model number designates the length of the cable in meters For example to order 35 m cable specify JZSP CMP19 35 as the model number D Connectors or Connector Kits Type Model Servopack end Encoder connector CN2 socket JZSP CMP9 1 Servomotor end Encoder connector socket for ...

Page 203: ...e S Encoder Connector at Servomotor For SGMAH and SGMPH Ser vomotors For SGMGH SGMSH SGMDH and SGMUH Servo motors JZSP CMP9 1 JZSP CMP19 j Maximum length 50 m 1968 50 in 5 AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03 26 04 20 21 Fax 03 26 04 28 20 Web http www audin fr Email info audin fr ...

Page 204: ...VAC to 480 V 2 380 VAC to 480 V 200 VAC 100 VAC Refer to the capacities shown in the following table when selecting a voltage conversion trans former Voltage Servopack Model Voltage capacity per Servopack kVA Single phase 100 V SGDH A3BE 0 15 SGDH A5BE 0 25 SGDH 01BE 0 40 SGDH 02BE 0 60 Single phase 200 V SGDH A3AE 0 20 SGDH A5AE 0 25 SGDH 01AE 0 40 SGDH 02AE 0 75 SGDH 04AE 1 2 SGDH 08AE S 2 1 SGD...

Page 205: ...e Power Supply Connection Example 5 8 6 DC Reactor for Harmonic Suppression SGDH Servopacks have DC reactor connection terminals for power supply harmonic suppres sion Servopacks with capacities of 6 kW or more do not have these terminals J J Connecting a DC Reactor The DCreactorisconnectedinseriestothe rectifiercircuit soutputside Referto3 2Servopack Internal Block Diagrams 1 2 Servopack DC react...

Page 206: ... Single phase 200 V SGDH A3AE 200 V SGDH A5AE SGDH 01AE 40 0 85 X5071 SGDH 02AE 20 1 65 X5070 SGDH 04AE 10 3 3 X5069 SGDH 08AE S 4 5 3 X5079 SGDH 15AE S 2 5 10 5 X5078 Three phase 200 V SGDH 05AE 2 0 4 8 X5061 200 V SGDH 08AE SGDH 10AE SGDH 15AE 1 5 8 8 X5060 SGDH 20AE SGDH 30AE 1 0 14 0 X5059 SGDH 50AE 0 47 26 8 X5068 Three phase 400 V SGDH 05DE 4 7 1 5 X5074 400 V SGDH 10DE 3 3 4 5 X5075 SGDH 15...

Page 207: ...8 6 2 3 Using Proportional Control 6 8 6 2 4 Setting Speed Bias 6 9 6 2 5 Using Mode Switch 6 10 6 2 6 Speed Feedback Compensation 6 13 6 3 Autotuning 6 16 6 3 1 Online Autotuning 6 16 6 3 2 Mechanical Rigidity Settings for Online Autotuning 6 19 6 3 3 Saving Results of Online Autotuning 6 21 6 3 4 User Constants Related to Online Autotuning 6 23 6 4 Servo Gain Adjustments 6 25 6 4 1 Servo Gain Us...

Page 208: ...erence is multiplied by the acceleration or deceleration value set in Pn305 or Pn306 to provide speed control The soft start function enables smooth speed control when inputting progressive speed refer encesorwhenselectinginternally setspeeds SetbothPn305andPn306to 0 fornormalspeed control Set these user constants as follows D Pn305 The time interval from the time the motor starts until the motorm...

Page 209: ...ition Control Averaging Time for Average Movement Filter Pn208 Position Reference Movement Averaging Time Unit 0 01ms Setting Range 0 to 6400 Factory Setting 0 Position Control After resetting the constant turn OFF the power once and turn ON it again This function provides smooth motor operating in the following cases D When the host device which outputs references cannot perform acceleration dece...

Page 210: ...ltage Reference voltage Reference speed or reference torque Make offset adjustment with the Servopack J J Reference Offset Adjustment The following two methods are available to set the reference offset value to 0 V Reference offset automatic adjustment The reference offset value is automatically set to 0 V Reference offset manual adjustment The reference offset value can be adjusted manually If a ...

Page 211: ...ain limit depending on machine conditions 6 1 6 Notch Filter Vibration in the machine can sometimes be eliminated by using a notch filter for the frequency at which the vibration is occurring Pn408 0 Notch Filter Selection Factory Setting 0 Speed Torque Control Position Control This user constant can be set to enable the notch filter Pn408 0 Setting Contents 0 None 1 Notch filter used for torque r...

Page 212: ...vopack sspeedloopgainandintegraltimeconstantrespectively The higher the speed loop gain or the smaller the speed loop integral time constant value the fasterthespeedcontrolresponsewillbe Thereis however acertainlimitdependingonmachine characteristics Speed reference Speed reference loop gain Speed feedback Kv 1 1 TiS Speed loop gain Kv is adjusted in 1 Hz increments provided that the following use...

Page 213: ...ing is also valid for zero clamp operation The above user constant is automatically set by the autotuning operation Pn505 Overflow level Unit 256 reference units Setting Range 1 to 32767 Factory Setting 1024 Position Control Set in this user constant the error pulse level at which a position error pulse overflow alarm A d0 is detected Normal control Error pulse Pn505 Alarm A d0 Alarm A d0 Ifthemac...

Page 214: ... control changeover switch D PI control Proportional integral control D P control Proportional control Pn000 1 Control Method Selection Factory Setting 0 Speed Control Position Control Pn000 1 setting Control Mode 0 Speed Control Usual speed control or position control is selected Input signal P CON CN1 41 is used to select PI control or P control Servopack 1 Position Control CN1 41 is open PI con...

Page 215: ... Setting Speed Bias The settling time for positioning can be reduced by assigning bias to the speed reference block in the Servopack To assign bias use the following constants Pn107 Bias Unit r min Setting Range 0 to 450 Factory Setting 0 Position Control Pn108 Bias Addition Width Unit Reference units Setting Range 0 to 250 Factory Setting 7 Position Control Set the constants to shorten the time r...

Page 216: ...adjust the mode switch 2 For normal use the speed loop gain and position loop gain set by autotuning provide sufficient speed posi tion control Even if overshooting or undershooting occur they can be suppressed by setting the accelera tion deceleration time constant for the host device the soft start time constants Pn305 Pn306 or position reference acceleration deceleration constant Pn204 for the ...

Page 217: ...de Pn10C 200 Motor speed Reference speed Speed Internal torque reference Pn10C Torque 0 Pn10C PI control PI control PI control P control P control Operating Example If the system is always in PI control without using the mode switch function the speed of the motor may overshoot or undershoot due to torque saturation at the time of the accelera tionordecelerationofthemotor Themodeswitchfunctionsupp...

Page 218: ... Used as Detection Point If motor acceleration exceeds the value set in user constant Pn10E the speed loop switches to P control Motor speed Reference speed Speed Motor acceleration Pn10E Acceleration 0 Pn10E PI control PI control PI control P control P control Operating Example If the system is always in PI control without using the mode switch function the speed of the motor may overshoot or und...

Page 219: ...eased Motor speed Speed reference Without mode switch Long setting time Increase speed loop gain Overshooting Without mode switch With mode switch function Setting time Motor speed Motor speed Motor speed Under shooting Time Suppress overshooting and undershooting 6 2 6 Speed Feedback Compensation Use this function for shortening the setting time of the system in positioning operation Error counte...

Page 220: ...tant in Pn101 Speed loop integral time constant 4 2 Speed loop gain sec Unit of speed loop gain Hz Check the unit when setting the speed loop integral time constant in Pn101 Pn101 can be set in 0 01 ms increments The unit of speed loop gain i e Hz and that of position loop gain i e 1 s are different to each other Set these gains to the same value however 3 Repeatstep2 toincreasethespeedloopgainwhi...

Page 221: ...The machinery may vibrate excessively if the compensation value greatly changes or Pn110 1 is set to 1 i e no speed feedback compensation enabled after increasing the speed loop gain or position loop gain 6 IMPORTANT AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03 26 04 20 21 Fax 03 26 04 28 20 Web http www audin fr Email info audin fr ...

Page 222: ...tants can be set automatically by using the online autotuning function User Constant Content Pn100 Speed loop gain Pn101 Speed loop integral time constant Pn102 Position loop gain Pn401 Torque reference filter time constant 6 3 1 Online Autotuning OnlineautotuningisacontrolfunctionwhichenablestheServoamptocheckchangesintheload inertia duringoperationinordertomaintainthe target value forspeedloopga...

Page 223: ...in the following cases S When driving using Torque Control Mode S When using IP control for the speed loop S When using the torque feed forward function S When switching gain using G SEL 6 IMPORTANT AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03 26 04 20 21 Fax 03 26 04 28 20 Web http www audin fr Email info audin fr ...

Page 224: ...s Load inertia changes Operation OK Adjust the friction compensation Set in Pn110 2 End Make servo gain adjustments manually No Yes No Yes No Yes No Yes No Save the results of autotuning to user constants From the next time execute autotuning using the calculated value as the initial value Set in Fn007 Before making servo gain adjustments manually refer to 6 4 Servo Gain Adjustments or 6 2 High sp...

Page 225: ...stem loopgain increasesand the time requiredfor positioningisshortened Ifthe rigidityisexcessivelyhigh however it maycause themachinery to vibrate In that case decrease the set value The rigidity value setting automatically changes the user constants in the above table If user constants Pn102 Pn100 Pn101 and Pn401 are set manually with the online autotuning function en abled tuning is performed wi...

Page 226: ...ess the MODE SET Key to select Fn007 in the auxiliary function mode 2 Press the DATA SHIFT Key for a minimum of 1 second The following data will be dis played 3 Press Up or Down Cursor Key to select the rigidity setting Up Cursor Key Down Cursor Key 4 Pressthe MODE SET Key The followingdisplaywill flashfor 1second andthen the rigid ity setting will be changed Flashes for 1 s 5 Press the DATA SHIFT...

Page 227: ...ate the load inertia at the time of online autotuning Pn103 Inertia Ratio Unit Setting Range 0 to 10000 Factory Setting 0 Speed Torque Control Position Control Inertia ratio Motor axis conversion load inertia JL Servomotor moment of inertia JM 100 The inertia ratio is factory set to 0 Before making servo gain adjustments manually be sure to set the inertia ratio in Pn103 If the inertia ratio is in...

Page 228: ... and select Fn007 in the auxiliary function mode 2 Press the DATA SHIFT Key for a minimum of 1 second If the inertia ratio is 200 forex ample the following data will be displayed 3 PresstheMODE SETKey Thefollowingdisplaywillflashfor1secondandthentheinertia ratio will be saved Flashes for 1 s 4 Press the DATA SHIFT Key for a minimum of 1 second to return to the auxiliary function mode This complete...

Page 229: ...ysfluctuates due to the load conditions Then the response characteristicscanbe keptstable bycontinuouslyrefreshingthe inertiacalculation data is refreshed continuously and reflecting them in the servo gain If the load inertia fluctuation results within 200 ms the inertia calculation data may not be re freshed properly If that happens set Pn110 0 to 0 or 2 Set Pn110 0 to 2 if autotuning is not avai...

Page 230: ... extent of friction in order to ensure highly precise load inertia calculation Pn110 2 Friction Compensation Selection Factory Setting 1 Speed Control Position Control Pn110 2 Setting Description 0 Friction compensation Disabled 1 Friction compensation Small 2 Friction compensation Large 1 Do not set friction compensation for loads with low friction 10 rated torque speed or less 2 Autotuning will ...

Page 231: ...position loop speed loop and current loop The innermost loop must have the highest response speed andthe middle loop must have higherresponse speedthanthe outermost If thisprinciple isnot followed it will result invibra tion or poor responsiveness The Servopack is designed to ensure that the current loop has good response performance The user need only adjust position loop and speed loop gain The ...

Page 232: ...the followinggraph Ifthishappens reducethe positionloop gain or increase the speed loop gain to prevent the speed reference from oscillating Speed reference Time Actual speed reference output from controller Speed reference as a result of calculation in controller Figure 6 2 Speed Reference with Position Loop Gain and Speed Loop Responsive ness Not Well balanced D The positionloop gainmust not exc...

Page 233: ...wing value Pn103 setvalue Motor axis conversion load inertia JL Servomotor rotor inertia JM 100 In the case of manual adjustments of user constants the user must set the value of user constant Pn103 The inertia ratio can be obtained if the servo gain constant is written with user constant Fn007 after autotuning has been performed For details regarding Fn007 refer to 6 3 Autotuning D Speed Loop Int...

Page 234: ...ition loop gain through the host or change the speed reference input gain in Pn300 in the Servopack The position loop gain remains the same if the setting in Pn102 is changed Adjustment Method 1 Set the positionloopgaintoa comparativelylowvalue inthehost device Thenincreasethe speedloopgainsetinPn100towithinarangewherethereisnonoiseoroscillationresulting Ifthepositionloopgaincannotbechangedthrough...

Page 235: ... has an integral element so that the speed loopcan respondto minute inputs This integral element delays the operation of the servo system so a longer positioning set ting time isrequired withslower response speed asthe value of the time constant increases If the load inertia is large or the mechanical system is likely to vibrate make sure that the speedloopintegral time constant is large enough ot...

Page 236: ...nt is toolarge the positioning setting time will be too long 4 Set the torque reference filter to a small value in Pn401 if the mechanical system has shaft torsion resonance If the mechanical system generates oscillation noise in a high pitched tone shaft torsion resonance may be resulting In that case set Pn401 to a larger value 5 Finally progressivelymakefineadjustmentstouserconstantssuchasthepo...

Page 237: ...the output is within the bias increment width As a result the number of accumulated pulses of the error counter decreases andthe time required forposi tioning can be shortened If the bias set value of Pn107 is too large the motor rotation will be unstable The optimum bias value varieswiththe load gain andbiasincrement width Make biasadjustmentswhileobserv ing the response When not using this funct...

Page 238: ...n101 ms 10 to 20 10 to 20 50 to 120 If the inertia ratio is a little larger than 10 start gain adjustments with the position and speed loop gains slightly below the above corresponding ranges and the speed loop integral constant slightly exceeding the above corre sponding range If the inertia ratio is much larger start the gain adjustments with the position and speed loop gains set to the smallest...

Page 239: ...trol The following monitor signals can be observed Settings in Pn003 0 and Pn003 1 Description Settings in Pn003 0 and Pn003 1 Monitor signal Observation gain 0 Motor r min 1 V 1000 r min 1 Speed reference 1 V 1000 r min 2 Torque reference 1 V 100 rated torque 3 Position error 0 05 V 1 reference unit 4 Position error 0 05 V 100 reference unit 5 Reference pulse frequency converted to r min 1 V 1000...

Page 240: ...AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03 26 04 20 21 Fax 03 26 04 28 20 Web http www audin fr Email info audin fr ...

Page 241: ...Alarm Traceback Mode 7 20 7 2 2 Controlling Operation Through the Digital Operator 7 22 7 2 3 Automatic Adjustment of the Speed and Torque Reference Offset 7 24 7 2 4 Manual Adjustment of the Speed and Torque Reference Offset 7 27 7 2 5 Clearing Alarm Traceback Data 7 31 7 2 6 Checking the Motor Model 7 33 7 2 7 Checking the Software Version 7 36 7 2 8 Origin Search Mode 7 37 7 2 9 Initializing Us...

Page 242: ...tor which can be connected to the Servopack through connector CN3 of the Servopack ThereisnoneedtoturnOFFtheServopacktoconnectthisHand heldOperatortotheServopack Refertothe followingillustrationstoconnect the Hand heldDigital Operatorto the Servopack Built in Panel Operator Hand held Digital Operator JUSP OP02 A CN3 A dedicated cable is used to connect the Digital Operator to the Servopack Servopa...

Page 243: ...y the set value of each user constant Value Change JOG Key Up Cursor Key Press this key to increase the set value This key is used as a forward start key in JOG op eration Down Cursor Key Press this key to decrease the set value This key is used as a reverse start key in JOG op eration Digit Select Key Right Cursor Key S Press this key to select the digit to be changed The selected digit flashes S...

Page 244: ...constant or display the set value of each user constant S This key is used for selecting the editing flashing digit or data setting 7 1 3 Resetting Servo Alarms Servo alarms can be reset using the Digital Operator J J Using the Hand held Digital Operator Press the RESET Key in status display mode J J Using the Built in Panel Operator Press the Up and Down Cursor Keys together in status display mod...

Page 245: ...User Constant Setting Mode Monitor mode Refer to 7 1 7 Operation in Monitor Mode Hand held Digital Operator Panel Operator Press the DSPL SET Key The basic mode changes Press the MODE SET Key The basic mode changes 7 1 5 Status Display Mode In status display mode bit data and codes are displayed to indicate the status of the Servopack J J Selecting Status Display Mode The Digital Operator goes int...

Page 246: ...n is factory setting Speed Reference Input Lit if input speed reference exceeds preset value Not lit if input speed reference is below preset value Specified value Set in Pn502 20 r min is factory setting Torque Reference Input Lit if input torque reference exceeds preset value Not lit if input torque reference is below preset value Preset value 10 rated torque is standard setting Power Ready Lit ...

Page 247: ... below preset value Preset value Set in Pn502 20 r min is standard setting Reference Pulse Input Lit if reference pulse is input Not lit if no reference pulse is input Error Counter Clear Input Lit when error counter clear signal is input Not lit when error counter clear signal is not input Power Ready Lit when main power supply circuit is normal Not lit when power is OFF Table 7 4 Codes and Meani...

Page 248: ...e user constant Pn507 from 100 to 85 Using the Hand held Digital Operator 1 Press DSPL SET Key to select the user constant setting mode 2 Select the user constant number to set Pn507 is selected in this example Press the Left or Right Cursor Key to select the digit The selected digit will flash Press the Up or Down Cursor Key to change the value 3 PresstheDATA ENTERKeytodisplaythecurrentdataforthe...

Page 249: ...ges faster 5 Pressthe DATA SHIFT Keyfora minimum ofone secondto save the data The displaywill flash 6 Press the DATA SHIFT Key once more for a minimum of one second to display the user constant number again This has changed the setting of the user constant Pn507 from 100 to 85 Repeat steps 2 to 6 as often as required Press the DATA SHIFT Key for a maximum of one second to shift to a higher left di...

Page 250: ...Online Autotuning Switches 0010 See 2 Position Control related Constant Pn200 Position Control Reference Selection Switches 0000 See 1 Sequence related Constants Pn50A Input Signal Selections 1 2100 See 1 Constants Pn50B Input Signal Selections 2 6543 See 1 Pn50C Input Signal Selections 3 8888 See 1 Pn50D Input Signal Selections 4 8888 See 1 Pn50E Output Signal Selections 1 3211 See 1 Pn50F Output...

Page 251: ...ique meaning For example the rightmost digit of user constant Pn000 is expressed as Pn000 0 Each digit of the function selection user constants is defined as shown below The user constant display exam ple shows how user constants are displayed in digits for set values 0 digit 1st digit 2nd digit 3rd digit How to Display User Contents Pn000 0 Indicates the value for the 0 digit of user constant Pn0...

Page 252: ...ay the current data of the user constant selected inthe above step 2 Digit to be set 4 Press the Left or Right Cursor Key to select the digit Digit to be set 5 Press the Up or Down Cursor Key to select the value defined as a function setting for the selected digit Digit to be set Repeat the above steps 4 and 5 for changing the data as required 6 Press the DATA ENTER Key to save the data The displa...

Page 253: ...ss the Up or Down Cursor Key to select the value defined as a function setting for the selected digit Digit to be set Repeat the above steps 4 and 5 for changing the data as required 6 Pressthe DATA SHIFT Keyfora minimum ofone secondto save the data The displaywill flash 7 Press the DATA SHIFT Key once more for a minimum of one second to return to the user constant number display This has changed ...

Page 254: ...or number selected in the above step 2 Data 4 Press the DATA ENTER Key once more to return to the monitor number display This is how to display 1500 the contents of monitor number Un000 With the Panel Operator 1 Press the MODE SET Key to select the monitor mode 2 Press the Up or Down Cursor Key to select the monitor number to be displayed 3 Press the DATA SHIFT Key for a minimum of one second to d...

Page 255: ...d load rate Value for the rated torque as 100 Displays effective torque in 10 cycle Un00A Regenerative load rate Value for the processable regenerative power as 100 Displays regenerative consumption power in 10 cycle Un00B Power consumed by DB resistance Value for the processable power when dy namic brake is applied as 100 Displays DB power consumption in 10 s cycle Un00C Input reference pulse cou...

Page 256: ...ls on input terminals Input signals are allocated as shown above and displayed on the panel display of the Servopack or the Digital Operator They are indicated by ON OFF display of seven segment LEDs in top andbottom rows These segmentsturnONdependingonthe input signals ONfor L leveland OFF for H level D When S ON signal is ON Servo ON at L signal The bottom segment of number 1 is lit 7 6 5 4 3 2 ...

Page 257: ...tion for details on output terminals Outputsignalsareallocatedasshownaboveanddisplayedonthepanel displayoftheServopack or the Digital Operator They are indicated by ON OFF display of seven segment LEDs in top and bottom rows These segments turn ON depending on the output signals ON for L level and OFF for H level D When ALM signal operates alarm at H The top segment of number 1 is lit 4 3 2 1 7 6 ...

Page 258: ...Keys simultaneously to clear the 32 bit counter data 6 Press the DATA ENTER Key once more to return to the monitor number display Using the Panel Operator 1 Press the MODE SET Key to select the monitor mode 2 Press the Up or Down Cursor Key to select Un00C or Un00D 3 PresstheDATA SHIFTKeyforaminimumofonesecondtodisplaythe dataforthemonitor number selected in the above step 4 Press the Up or Down C...

Page 259: ... encoder multi turn reset and encoder alarm reset See note Fn009 Automatic tuning of analog speed torque reference offset See note Fn00A Manual adjustment of speed reference offset See note Fn00B Manual adjustment of torque reference offset See note Fn00C Manual zero adjustment of analog monitor output See note Fn00D Manual gain adjustment of analog monitor output See note Fn00E Automatic offset a...

Page 260: ...Refer to Section 7 2 5 Clearing Alarm Traceback Data for details Alarm Code See the table of alarms Alarm Sequence Number The higher the number the older the alarm data J J Checking Alarms Follow the procedure below to determine which alarms have been generated Using the Hand held Digital Operator 1 Press the DSPL SET Key to select the Displaying alarm traceback data Fn000 in the auxiliary functio...

Page 261: ...t hand digit alarm sequence number the older the alarm data For descriptions of each alarm code refer to Section 8 2 Troubleshooting The following are Operator related alarms which are not recorded in the traceback data Digital Operator transmission error 1 Digital Operator transmission error 2 The display will be as shown below while no alarm is detected Alarm traceback data will not be updated w...

Page 262: ...er For motor speed setting procedure refer to 7 1 6 Operation in User Constant Setting Mode and 5 3 2 Setting JOG Speed C N 3 C N 1 L1C L2C B1 B2 U V W L1 L2 1 2 C N 2 SGDH MODE SET DATA CHARGE POWER SERVOPACK 200V YASKAWA Power Servopack Servomotor Panel Operator The following conditions must be satisfied to perform JOG mode operation S If the Servo ON input signal S ON is ON turn it OFF S Releas...

Page 263: ...torpower turnedOFF Alternatively press the SVON Keyto set to the servo OFF state This disables operation under Digital Operator control Using the Panel Operator 1 Press the MODE SET Key to select Fn002 in the auxiliary function mode 2 Press the DATA SHIFT Key for a minimum of one second to select the Panel Operator op eration mode Operation is now possible using the Panel Operator 3 Press the MODE...

Page 264: ... circuit has a small offset measured in mV in the reference voltage The reference offset automatic adjustment mode automatically measures the offset and adjusts the reference voltage It adjusts both the speed and torque references The following diagram illustrates automatic adjustment of an offset in the reference voltage by the Servopack Offset Reference voltage Reference voltage Offset automatic...

Page 265: ...ervo OFF 0V Speed or Torque Reference Host Controller 2 Press the DSPL SET Key to select the auxiliary function mode 3 Select the user constant Fn009 Press the Left or Right Cursor Key to select the digit Press the Up or Down Key to change the value 4 Press the DATA ENTER Key and the display will be as shown below 5 PresstheDSPL SETKey andthefollowingdisplaywillflashforonesecond Thereference offse...

Page 266: ...ct the user constant Fn009 4 Pressthe DATA SHIFT Keyfora minimum ofone second and the display will be asshown below 5 Press the MODE SET Key and the following display will flash for one second The refer ence offset will be automatically adjusted Flashing for one second 6 Pressthe DATA SHIFT Keyfora minimumofonesecondtoreturntothe auxiliaryfunction mode display This completes the speed torque refer...

Page 267: ...re as follows Reference Speed or Reference Torque Offset Setting Range Offset Units Analog Input Voltage Offset Setting Range Offset Setting Range Speed Reference 9999 to 9999 Speed Reference 0 058 mV LSB Torque Reference 128 to 127 Torque Reference 14 7 mV LSB J J Speed Reference Offset Manual Adjustment Follow the procedure below to manually adjust the speed reference offset Using the Hand held ...

Page 268: ... to select the user constant Fn00A 3 Pressthe DATA SHIFT Keyfora minimum ofone second and the display will be asshown below The manual adjustment mode for the speed reference offset will be entered 4 Turn ON the Servo ON S ON signal The display will be as shown below 5 Press the DATA SHIFT Key for less than one second to display the speed reference offset amount 6 Press the Up or Down Cursor Key t...

Page 269: ...st ment mode for the torque reference offset will be entered 4 Turn ON the Servo ON S ON signal The display will be as shown below 5 Press the Left or Right Cursor Key to display the torque reference offset amount 6 Press the Up or Down Cursor Key to adjust the offset amount adjustment of torque refer ence offset 7 Press the Left or Right Cursor Key and the display will be as shown in the above st...

Page 270: ... The display will be as shown below 5 Press the DATA SHIFT Key for less than one second to display the torque reference offset amount 6 Press the Up or Down Cursor Key to adjust the offset amount Adjustment of torque refer ence offset 7 Press the DATA SHIFT Key for less than one second and the display will be as shown in the above step 4 8 Press the DATA SHIFT Key to return to the auxiliary functi...

Page 271: ...onstant Fn006 Press the Left or Right Cursor Key to select the digit Press the Up or Down Cursor Key to change the value 3 Press the DATA ENTER Key and the display will be as shown below 4 Pressthe DSPL SET Keytoclearthe alarmtracebackdata The followingdisplaywillflash for one second and after the alarm traceback data is cleared the display will return to the one in the above step 3 Flashing for o...

Page 272: ...ETKeytoclearthealarmtracebackdata Thefollowingdisplaywillflash for one second and after the alarm traceback data is cleared the display will return to the one in the above step 3 Flashing for one second 5 PresstheDATA SHIFTKeyforaminimum ofone secondtoreturntotheuserconstantcode display This completes the alarm traceback data clearing procedure 7 SGDH MODE SET DATA CHARGE POWER SERVOPACK 200V YASK...

Page 273: ...Right Cursor Key to select the digit Press the Up or Down Key to change the value 3 Press the DATA ENTER Key to display the Servomotor model and voltage code Servomotor Model Voltage Voltage Servomotor Model Code Voltage Code Servomotor Model 00 100 VAC or 140 VDC 00 SGMAH 01 200 VAC or 280 VDC 01 SGMPH 02 400 VAC or 560 VDC 02 SGMSH 03 SGMGH jA 1500 r min 04 SGMGH jB 1000 r min 05 SGMDH 06 SGMUH ...

Page 274: ... shows specification code Y10 Indicated in decimal 7 Press the DATA ENTER Key to return to the auxiliary function mode display Pressing the DATA ENTER Key after the above display 3 to 5 will alsoreturn tothe auxiliaryfunction mode display This ends checking motor type procedure Using the Panel Operator 1 Press the MODE SET Key to select the auxiliary function mode 2 Press the Up or Down Cursor Key...

Page 275: ...nd resolution code will be displayed Encoder Type Encoder Resolution Encoder Type Encoder Resolution Code Type Code Resolution 00 Incremental encoder 13 13 bits 01 Absolute encoder 16 16 bits 17 17 bits 20 Reserved 6 Press the MODE SET Key to display the Servopack s modification index Modification No This example shows modification index Y10 Indicated in decimal 7 Press the DATA SHIFT Key to retur...

Page 276: ... the encoder mounted on the motor will be displayed Software Version Display Software Version 4 Press the DATA ENTER Key to return to the user constant code display This completes the checking software version procedure Using the Panel Operator 1 Select the user constant Fn012 2 PresstheDATA SHIFTKeyforaminimumofonesecondtodisplaytheServopacksoftware version 3 Press the MODE SET Key to display the...

Page 277: ...rm the origin search operation S If the Servo ON input signal S ON is ON turn it OFF S Release the Servo ON signal mask if the user constant Pn 50A 1 is set to 7 and the Servo has been set to always be ON Follow the procedure below to execute the origin search Using the Hand held Digital Operator 1 Press the DSPL SET Key to select the auxiliary function mode 2 Select the user constant Fn003 Press ...

Page 278: ...3 Pressthe DATA SHIFT Keyfora minimum ofone second and the display will be asshown below 4 Press the MODE SET Key and the display will change asshown below Now it is readyfor executing the origin search mode 5 Hold down the Up or Down Cursor Key to execute the origin search WhentheuserconstantissettoPn000 0 0 default pressingtheUpCursorKeywillrotate the motor in the forward direction Pressing the ...

Page 279: ... constant Fn005 Press the Left or Right Cursor Key to select the digit Press the Up or Down Cursor Key to change the value 3 Press the DATA ENTER Key and the display will be as shown below 4 Press the DSPL SET Key and the display will be as shown below The user constants will be initialized Flashing for one second Flashing during initialization End 5 Press the DATA ENTER Key to return to the auxil...

Page 280: ...ser constants will be initialized Flashing for one second Flashing during initialization End 5 Pressthe DATA SHIFT Keyfora minimumofonesecondtoreturntothe auxiliaryfunction mode display This completes the initialization of user constant settings User constants will not be initialized by pressing the DSPL SET or MODE SET Key with the servo ON Turn the power OFF and then back ON after initialization...

Page 281: ...zero point drift caused by noise entering the monitor system The gain adjustment function can be changed to match the sensitivity of the measuring system Monitor Output Voltage Zero Adjustment Gain Adjustment Zero Setting Range 2V 17 mV LSB Gain Setting Range 50 to 150 0 4 LSB Setting Unit The output voltage of the analog monitor is 8 V The output voltage will be reversed if 8 V is exceeded 7 INFO...

Page 282: ...channels will be displayedal ternately as shown below DSPL SET Key Displayed alternately Data Display 5 Press the Left or Right Cursor Key to display the analog monitor output data Pressing the Left or Right Cursor Key again will return to the display shown in the above step LEERER MERKERor LEERER MERKER Displayed alternately Left Cursor Key Right Cursor Key Data Display 6 Pressthe UporDownCursor ...

Page 283: ...t will be displayed Pressingthe DATA SHIFT Keyagainfor lessthan one second will return to the display shown in the above step 3 or 4 Data Display DATA SHIFT Key Displayed Alternately 6 Pressthe UporDownCursor Keyto perform zero adjustment of the analog monitoroutput Data Setting Change 7 When zero adjustment has been completed for the two channels press the DATA SHIFT Key for a minimum of one seco...

Page 284: ...or output forthe twochannels will be displayedal ternately as shown below DSPL SET Key Displayed Alternately 5 Pressthe Left orRight CursorKeytodisplaythe analogmonitorgainconstant Pressingthe Left or Right Cursor Key again will return to the display shown in the above step 3 or 4 Left Cursor Key Right Cursor Key Data Display Displayed Alternately 6 Press the Up or Down Cursor Key to adjust the ga...

Page 285: ...r will be displayed Pressing the DATA SHIFT Key again for less than one second will return to the display shown in the above step 3 or 4 Data Display DATA SHIFT Key Displayed Alternately 6 Press the Up or Down Cursor Key to adjust the gain for the analog monitor output Data Setting Change 7 Whenthegainadjustmenthasbeencompletedforthetwochannels presstheDATA SHIFT Key for a minimum of one second to...

Page 286: ...adjustment of the current detection offset Automatic adjustment is possible only with power supplied to the main circuits and with the servo OFF Using the Hand held Digital Operator 1 Press the DSPL SET Key to select the auxiliary function mode 2 Select the user constant Fn00E Press the Left or Right Cursor Key to select the digit Press the Left or Right Cursor Key to change the value 3 Press the ...

Page 287: ... the MODE SET Key The display will change as shown below and the offset will be automatically adjusted Flashing for one second 5 Pressthe DATA SHIFT Keyfora minimumofonesecondtoreturntothe auxiliaryfunction mode display This completes the automatic adjustment of the motor current detection offset 7 SGDH MODE SET DATA CHARGE POWER SERVOPACK 200V YASKAWA AUDIN 7 bis rue de Tinqueux 51100 Reims Franc...

Page 288: ...Key and the display will be as shown below 4 PresstheDSPL SETKeytoswitchbetweenthe U phase Cu1_0 andV phase Cu2_0 cur rent detection offset adjustment mode DSPL SET Key Displayed Alternately 5 Press the Left or Right Cursor Key to display the current detection data Pressing the Left or Right Cursor Key again will return to the display shown in the above step 3 or 4 Data Display Left Cursor Key Rig...

Page 289: ...e DATA SHIFT Key again for less than one second and the display will return to one shown in the above step 3 or 4 Data Display DATA SHIFT Key Displayed Alternately 6 PresstheUporDownCursorKeytoadjusttheoffset Carefullyadjusttheoffset whilemoni toring the torque reference monitor signal Data Setting Change 7 When the current offset adjustment has been completed for the U phase Cu1_0 and V phase Cu2...

Page 290: ...r 1 Press the DSPL SET Key to select the auxiliary function mode 2 Select the user constant Fn010 Press the Left or Right Cursor Key to select the digit Press the Up or Down Cursor Key to change the value 3 Press the DATA ENTER Key and the display will be as shown below 4 Input the password 0001 and pressthe DSPL SET Key The display will change asshown below and the password will be registered Fla...

Page 291: ...e MODE SET Key The display will change to one shown below and the password will be registered Flashing for one second 5 Pressthe DATA SHIFT Keyfora minimumofonesecondtoreturntothe auxiliaryfunction mode display This completes the procedure for setting the password The newly set password will become valid from the next power ON 7 SGDH MODE SET DATA CHARGE POWER SERVOPACK 200V YASKAWA AUDIN 7 bis ru...

Page 292: ...the user constant value Fn005 of auxiliary function mode as required Using the Hand held Digital Operator 1 Press the DSPL SET Key to select the auxiliary function mode 2 Select the user constant Fn014 Press the Left or Right Cursor Key to select the digit Press the Up or Down Cursor Key to change the value 3 Press the DATA ENTER Key and the display will be as shown below 4 Pressthe DSPL SET Key a...

Page 293: ...esstheMODE SETKey andthedisplaywillbeasshownbelow Theoptionunitdetection results will be cleared Flashing for one second Flashing during initialization End 5 Press the DATA SHIFT Key to return to the auxiliary function mode display This completes the clear of the option unit detection results 7 SGDH MODE SET DATA CHARGE POWER SERVOPACK 200V YASKAWA AUDIN 7 bis rue de Tinqueux 51100 Reims France Te...

Page 294: ...AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03 26 04 20 21 Fax 03 26 04 28 20 Web http www audin fr Email info audin fr ...

Page 295: ...ies Servo Drives 8 1 Servomotors 8 2 8 1 1 Ratings Specifications and Dimensional Drawings 8 2 8 2 Servopacks 8 28 8 2 1 Combined Specifications 8 28 8 2 2 Ratings and Specifications 8 33 8 2 3 Dimensional Drawings 8 40 8 AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03 26 04 20 21 Fax 03 26 04 28 20 Web http www audin fr Email info audin fr ...

Page 296: ...cifications Voltage 200 V 100 V Servomotor Model SGMAH A3A A5A 01A 02A 04A 08A A3B A5B 01B 02B Rated Output 1 kW 0 03 0 05 0 1 0 2 0 4 0 75 0 03 0 05 0 1 0 2 Rated Torque 1 2 N m 0 0955 0 159 0 318 0 637 1 27 2 39 0 0955 0 159 0 318 0 637 oz in 13 52 22 5 45 1 90 2 180 338 13 52 22 5 45 1 90 2 Instantaneous Peak Torque 1 N m 0 286 0 477 0 955 1 91 3 82 7 16 0 286 0 477 0 955 1 91 Peak Torque 1 oz ...

Page 297: ...nstant ms 1 0 1 1 1 2 4 6 5 4 8 7 1 0 1 1 1 1 4 4 1 These items and torque motor speed characteristics quoted in combination with an SGDH Servopack are at an armature winding temperature of 100 C Other values quoted at 20 C All values are typical 2 Rated torques are continuous allowable torque values at 40 C with a 250 250 6 mm 10 10 0 25 in heat sink attached 8 AUDIN 7 bis rue de Tinqueux 51100 R...

Page 298: ...AH 01A 1 2 1 5 0 5 A B SGMAH 02A 2 4 3 1 A B SGMAH 04A 4 8 6 2 A B SGMAH 08A 5000 0 1000 2000 4000 3000 Motor speed r min 0 Torque N m Torque oz in 5000 0 1000 2000 4000 3000 Motor speed r min 0 Torque N m Torque oz in 5000 0 1000 2000 4000 3000 Motor speed r min 0 Torque N m Torque oz in 5000 0 1000 2000 4000 3000 Motor speed r min 0 Torque N m Torque oz in 5000 0 1000 2000 4000 3000 Motor speed ...

Page 299: ...or speed r min 0 Torque N m Torque oz in 5000 0 1000 2000 4000 3000 Motor speed r min 0 Torque N m Torque oz in 5000 0 1000 2000 4000 3000 Motor speed r min 0 Torque N m Torque oz in 5000 0 1000 2000 4000 3000 Motor speed r min 0 Torque N m Torque oz in 20 60 40 0 40 80 60 20 0 100 100 150 50 0 100 300 200 0 8 AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03 26 04 20 21 Fax 03 26 04 28 20 Web...

Page 300: ...5 0 098 6 0 0 008 0 24 0 0 0003 25 0 98 0 3 0 661 SGMAH A5A B 77 0 3 03 0 4 0 882 SGMAH 01A B 94 5 3 72 8 0 0 009 0 32 0 0 0004 0 5 1 10 SGMAH 02A B 96 5 3 80 60 2 36 70 2 76 5 5 0 22 6 0 24 50 0 0 025 1 98 0 0 0010 3 0 12 14 0 0 011 0 56 0 0 0004 30 1 18 1 1 2 43 SGMAH 04A 124 5 4 90 1 7 3 75 SGMAH 08A 145 5 71 80 3 15 90 3 54 7 0 28 8 0 31 70 0 0 030 2 78 0 0 0012 16 0 0 011 0 64 0 0 0004 40 1 5...

Page 301: ...2 6 4 1 7 5 2 2 2 7 Instantaneous Max Current 1 A rms 2 8 6 0 8 0 13 9 23 0 7 1 8 4 Rated Speed 1 r min 3000 Max Speed 1 r min 5000 Torque Constant N m A rms 0 392 0 349 0 535 0 641 0 687 0 160 0 258 oz in A rms 55 6 49 4 75 8 91 0 97 4 22 8 36 5 Moment of Inertia x10 4 kg m2 0 0491 0 193 0 331 2 10 4 02 0 0491 0 193 x10 3 oz in s2 0 695 2 73 4 69 29 7 56 9 0 695 2 73 Rated Power Rate 1 kW s 20 6 ...

Page 302: ... 0 25 SGMPH 01A 1 2 1 5 0 5 SGMPH 02A 2 4 3 1 SGMPH 04A 8 16 12 4 SGMPH 15A 4 8 6 2 SGMPH 08A 5000 0 1000 2000 4000 3000 0 Torque N m 5000 0 1000 2000 4000 3000 0 Torque N m Torque oz in 5000 0 1000 2000 4000 3000 0 Torque N m Torque oz in 5000 0 1000 2000 4000 3000 0 Torque N m Torque oz in 5000 0 1000 2000 4000 3000 Motor speed r min 0 Torque N m Torque oz in A B A B A B A B A B 100 50 0 150 200...

Page 303: ...t mm in Model LL LC LA LZ LG LB LE S LR Mass kg lb SGMPH 01A B 62 2 44 60 2 36 70 2 76 5 5 0 22 6 0 24 50 0 0 025 1 98 0 0 0010 3 0 12 8 0 0 009 0 32 0 0 0004 25 0 98 0 7 1 54 SGMPH 02A B 67 2 64 80 3 15 90 3 54 7 0 28 8 0 31 70 0 0 030 2 78 0 0 0012 14 0 0 011 0 56 0 0 0004 30 1 18 1 4 3 09 SGMPH 04A 87 3 43 2 1 4 63 SGMPH 08A 86 5 3 41 120 4 72 145 5 71 10 0 39 10 0 39 110 0 0 035 4 37 0 0 0014 ...

Page 304: ...Torque lb in 79 122 207 254 404 630 775 1050 1550 1984 Rated Current A rms 3 8 7 1 10 7 16 7 23 8 32 8 42 1 54 7 58 6 78 0 Instantaneous Max Current A rms 11 17 28 42 56 84 110 130 140 170 Rated Speed r min 1500 Max Speed r min 3000 2000 Torque Constant N m A rms 0 82 0 83 0 84 0 73 0 83 0 91 0 88 0 93 1 25 1 32 lb in A rms 7 26 7 35 7 43 6 46 7 35 8 05 7 79 8 23 11 1 11 7 Moment of Inertia x10 4 ...

Page 305: ... 12 3 18 2 28 40 7 59 8 78 8 111 250 355 Rated Power Rate kW s 11 2 20 9 33 8 41 5 75 3 120 137 184 174 289 Rated Angular Acceleration rad s2 3930 3880 4060 3620 4050 4210 3930 3850 2490 3030 Inertia Time Constant ms 5 6 3 1 2 9 2 4 2 0 1 4 1 4 1 1 1 1 1 0 Inductive Time Constant ms 4 5 5 3 6 1 11 1 12 3 15 2 14 4 17 6 22 9 26 2 These items and torque motor speed characteristics quoted in combinat...

Page 306: ...0AjA 20DjA 40 A B 0 1000 2000 3000 Motor speed r min 0 Torque N m Torque lb in A B 0 1000 2000 3000 Motor speed r min 0 Torque N m Torque lb in A B 0 1000 2000 3000 Motor speed r min 0 Torque N m Torque lb in A B 0 100 0 200 0 300 0 Motor speed r min 0 Torque N m Torque lb in A B 0 1000 2000 3000 Motor speed r min 0 Torque N m 200 100 0 300 Torque lb in 200 100 0 100 150 50 0 50 150 200 250 400 30...

Page 307: ...200 0 300 0 0 A Continuous Duty Zone B Intermittent Duty Zone SGMGH 1AAjA 1ADjA SGMGH 1EAjA 1EDjA 40 80 60 20 100 A B 0 100 0 200 0 300 0 0 Motor speed r min Torque lb in 400 800 600 200 0 Torque N m 100 50 150 A B 0 100 0 200 0 300 0 0 200 250 Motor speed r min Torque N m Torque lb in 1500 1000 0 500 2000 8 AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03 26 04 20 21 Fax 03 26 04 28 20 Web h...

Page 308: ...2 0 0 013 0 87 0 0 0005 9 6 21 2 SGMGH 20AjA 20DjA 166 6 54 180 7 09 200 7 87 13 5 0 53 18 0 71 114 3 0 0 025 4 50 0 0 0010 3 2 0 13 76 2 99 35 0 01 0 1 38 0 0004 0 79 3 11 14 30 9 SGMGH 30AjA 30DjA 192 7 56 18 39 7 SGMGH 44A A 44DjA 226 8 9 23 50 7 SGMGH 55A A 55DjA 260 10 2 110 4 33 42 0 0 016 1 65 0 0 0006 113 4 45 30 66 1 SGMGH 75A A 75DjA 334 13 1 40 88 2 SGMGH 1AA A 1ADjA 338 13 3 220 8 66 2...

Page 309: ...rent A rms 3 0 5 7 7 6 11 6 18 5 24 8 30 43 2 Instantaneous Max Current A rms 7 3 13 9 16 6 28 42 56 84 110 Rated Speed r min 1000 Max Speed r min 2000 Torque Constant N m A rms 1 03 1 06 1 21 1 03 1 07 1 19 1 34 1 26 lb in A rms 9 12 9 38 10 7 9 12 9 47 10 5 11 9 11 2 Moment of Inertia x10 4 kg m2 7 24 13 9 20 5 31 7 46 0 67 5 89 0 125 x10 3 lb in s2 6 41 12 3 18 2 28 1 40 7 59 8 78 8 111 Rated P...

Page 310: ...H 20AjB SGMGH 30AjB 40 60 20 80 A B 0 500 1000 2000 1500 Motor speed r min 0 Torque N m Torque lb in A B 0 500 1000 2000 1500 Motor speed r min 0 Torque N m Torque lb in A B 0 500 1000 2000 1500 Motor speed r min 0 Torque N m Torque lb in A B 0 500 1000 2000 1500 Motor speed r min 0 Torque N m Torque lb in Motor speed r min Torque N m Torque lb in A B 0 500 1000 2000 1500 Motor speed r min 0 Torqu...

Page 311: ...0 SGMGH 40AjB 150 0 50 0 100 0 200 0 150 0 0 100 50 1000 500 0 SGMGH 55AjB 150 1500 0 50 0 100 0 200 0 150 0 0 A Continuous Duty Zone B Intermittent Duty Zone 1000 500 0 1500 A B A B 8 AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03 26 04 20 21 Fax 03 26 04 28 20 Web http www audin fr Email info audin fr ...

Page 312: ... 0 0 013 0 75 0 0 0005 58 2 28 5 5 12 1 SGMGH 06AjB 161 6 34 7 6 16 8 SGMGH 09AjB 185 7 28 22 0 0 013 0 87 0 0 0005 9 6 21 2 SGMGH 12AjB 166 6 54 180 7 09 200 7 87 13 5 0 53 18 0 71 114 3 0 0 025 4 50 0 0 0010 3 2 0 13 76 2 99 35 0 01 0 1 38 0 0004 0 79 3 11 14 30 9 SGMGH 20AjB 192 7 56 18 39 7 SGMGH 30AjB 226 8 90 23 50 7 SGMGH 40A B 260 10 2 110 4 33 42 0 0 016 1 65 0 0 0006 113 4 45 30 66 1 SGM...

Page 313: ...7 18 8 25 4 28 6 2 8 4 7 6 2 8 9 12 5 13 8 Instantaneous Max Current A rms 17 28 42 56 77 84 8 5 14 19 5 28 38 42 Rated Speed r min 3000 Max Speed r min 5000 Torque Constant N m A rms 0 636 0 561 0 544 0 573 0 53 0 60 1 27 1 15 1 12 1 19 1 07 1 24 lb in A rms 5 63 4 97 4 81 5 07 4 69 5 31 11 2 10 2 9 9 10 5 9 49 11 0 Moment of Inertia x10 4 kg m2 1 74 2 47 3 19 7 00 9 60 12 3 1 74 2 47 3 19 7 0 9 ...

Page 314: ... m Torque lb in A B 5000 0 1000 2000 4000 3000 Motor speed r min 0 Torque N m Torque lb in A B 5000 0 1000 2000 4000 3000 Motor speed r min 0 Torque N m Torque lb in A B 5000 0 1000 2000 4000 3000 Motor speed r min 0 Torque N m Torque lb in 50 150 0 100 200 0 100 20 30 10 200 300 100 0 SGMSH 40AjA 40D A 4 0 A B 500 0 0 100 0 200 0 400 0 300 0 0 20 30 10 200 300 100 0 SGMSH 50AjA 50D A 40 400 50 A ...

Page 315: ...0 12 40 1 57 24 0 0 013 0 94 0 0 0005 45 1 77 4 6 10 1 SGMSH 15AjA 15D A 175 6 89 5 8 12 8 SGMSH 20AjA 20D A 198 7 80 7 0 15 4 SGMSH 30AjA 30D A 199 7 83 130 5 12 145 5 71 9 0 35 12 0 47 110 0 0 035 4 33 0 0 0014 6 0 24 55 2 17 28 0 0 013 1 10 0 0 0005 63 2 48 11 24 3 SGMSH 40A A 40D A 236 9 29 14 30 9 SGMSH 50A A 50D A 276 10 9 17 37 5 8 AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03 26 04...

Page 316: ...Output kW 2 2 3 2 4 0 Rated Torque N m 10 5 15 3 19 1 lb in 93 135 169 Instantaneous Peak Torque N m 36 7 53 5 66 9 Peak Torque lb in 326 474 592 Rated Current A rms 15 7 20 9 23 2 Instantaneous Max Current A rms 54 73 77 Rated Speed r min 2000 Max Speed r min 3000 Torque Constant N m A rms 0 72 0 78 0 92 lb in A rms 6 4 6 9 8 1 Moment of Inertia x10 4 kg m2 56 6 74 2 91 8 x10 3 lb in s2 50 3 65 9...

Page 317: ...in Torque N m Torque lb in Motor speed r min Torque N m Torque lb in 20 30 10 200 300 100 0 SGMDH 22AjAjB 40 4 0 2 0 40 0 200 0 SGMDH 32AjAjB 6 0 A B 0 100 0 200 0 300 0 0 A B 0 100 0 200 0 300 0 0 40 60 20 400 600 200 0 SGMDH 40AjAjB 80 A B 0 100 0 200 0 300 0 0 Motor speed r min Torque N m Torque lb in 8 AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03 26 04 20 21 Fax 03 26 04 28 20 Web htt...

Page 318: ...Z LG LB LE Q S LR Mass kg lb W o Brake W Brake SGMDH 22A A 187 7 36 220 8 66 235 9 25 13 5 0 53 18 0 71 200 0 0 046 7 87 0 0 0018 4 0 16 50 1 97 28 0 0 013 1 10 0 0 0005 55 2 17 15 5 34 2 20 5 45 2 SGMDH 32A A 199 7 83 18 5 40 8 23 5 51 8 SGMDH 40A A 209 8 23 60 2 36 32 0 0 016 1 26 0 0 0006 65 2 56 21 0 46 3 26 0 57 3 8 AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03 26 04 20 21 Fax 03 26 0...

Page 319: ...eak Torque lb in 57 6 97 5 190 257 Rated Current A rms 2 7 4 1 8 1 9 6 Instantaneous Max Current A rms 8 5 14 28 38 5 Rated Speed r min 6000 Max Speed r min 6000 Torque Constant N m A rms 0 81 0 83 0 81 0 80 lb in A rms 7 2 7 4 7 2 7 1 Moment of Inertia x10 4 kg m2 1 74 2 47 7 0 9 6 x10 3 lb in s2 1 54 2 19 6 2 8 5 Rated Power Rate kW s 14 5 24 3 34 3 41 3 Rated Angular Acceleration rad s2 9130 99...

Page 320: ...peed r min 0 4000 6000 8 4 0 2000 A B 12 SGMUH 10DjA Torque N m Torque lb in 80 40 0 0 4000 6000 10 5 0 100 50 0 2000 A B 15 SGMUH 15DjA Torque N m Torque lb in Motor speed r min 0 4000 6000 20 10 0 200 100 0 2000 A B 30 Torque N m Torque lb in SGMUH 30DjA Motor speed r min SGMUH 40DjA 0 4000 6000 20 10 0 2000 A B 30 200 100 0 Torque N m Torque lb in 8 AUDIN 7 bis rue de Tinqueux 51100 Reims Franc...

Page 321: ...1 77 4 6 10 1 SGMUH 15D A 175 6 89 116 4 57 130 5 12 9 0 35 10 0 39 110 0 013 0 009 4 33 0 0005 0 0004 3 5 0 14 40 1 57 24 0 0 013 0 94 0 0 0005 45 1 77 5 8 12 8 SGMUH 30D A 199 7 83 155 6 10 165 6 50 11 0 43 12 0 47 130 0 014 0 011 5 11 0 0005 0 0004 3 5 0 14 55 2 17 28 0 0 013 1 10 0 0 0005 60 2 36 11 24 2 SGMUH 40D A 239 9 41 155 6 10 165 6 50 11 0 43 12 0 47 130 0 014 0 011 5 11 0 0005 0 0004 ...

Page 322: ... 2 motor Motor Speed r min Rated 3000 maximum 5000 Applicable Encoder Standard 13 bit incremental encoder Continuous Output Cur rent A rms 0 66 0 95 2 4 3 0 Max Output Current A rms 2 0 2 9 7 2 9 0 Allowable Regenerative Energy 1 Joules 7 8 15 7 SGMPH Series Appli cable Servo Model SGMPH 01B 02B Servo motor Capacity kW 0 1 0 2 motor Motor Speed r min Rated 3000 maximum 5000 Applicable Encoder Stan...

Page 323: ...erative Frequency 2 times min 89 SGMPH Series Appli cable Servo Model SGMPH 01A 02A 04A 08A 15A 08A 15A Servo motor Capacity kW 0 1 0 2 0 4 0 75 1 5 0 75 1 5 motor Motor Speed r min Rated 3000 maximum 5000 Applicable Encoder Standard 13 bit incremental encoder Continuous Output Current A rms 0 89 2 0 2 6 4 1 7 5 4 1 7 5 Max Output Cur rent A rms 2 8 6 0 8 0 13 9 23 0 13 9 23 0 Allowable Regenerati...

Page 324: ... 03AjB 06Aj B 09Aj B 12Aj B 20Aj B 30Aj B 40Aj B 55Aj B Servo motor Capacity kW 0 3 0 6 0 9 1 2 2 0 3 0 4 0 5 5 Motor Speed r min Rated 1000 maximum 2000 Applicable Encoder Standard 17 bit incremental encoder Continuous Output Current A rms 3 0 5 7 7 6 11 6 18 5 24 8 30 43 2 Max Output Cur rent A rms 7 3 13 9 16 6 28 42 56 84 110 Allowable Regenerative Frequency 1 times min 96 39 22 15 20 13 20 44...

Page 325: ... rms 17 28 42 56 77 84 Allowable Regenerative Frequency times min 39 31 48 20 29 22 SGMDH Series Applicable Servomo Model SGMDH 22A 32A 40A Series Servomo tor Capacity kW 2 2 3 2 4 0 Motor Speed r min Rated 2000 maximum 3000 Applicable Encoder Standard 17 bit incremental encoder Continuous Output Cur rent A rms 15 7 20 9 23 2 Max Output Current A rms 54 73 77 Allowable Regenerative Frequency times...

Page 326: ...50D Series Servomotor Capacity kW 1 0 1 5 2 0 3 0 4 0 5 0 Motor Speed r min Rated 3000 maximum 5000 Applicable Encoder Standard 17 bit incremental encoder Continuous Output Cur rent A rms 2 8 4 7 6 2 8 9 12 5 13 8 Max Output Current A rms 8 5 14 19 5 28 38 42 Allowable Regenerative Frequency times min 47 31 48 20 29 22 SGMUH Series Applicable Servomotor Model SGMUH 10D 15D 30D 40D Series Servomoto...

Page 327: ... 8 Max Output Current A rms 1 3 2 0 2 8 6 5 8 5 11 0 13 9 17 28 42 56 400V Continuous Output Current A rms 1 9 3 5 5 4 8 4 11 9 Max Output Current A rms 5 5 8 5 14 20 28 Input Power Main circuit 100 V Single phase 100 to 115 VAC 10 to 15 50 60 Hz Input Power Supply Main circuit 200 V Single Three phase 200 to 230 VAC 10 to 15 50 60 Hz 6 Supply 1 400 V Three phase 380 to 480 VAC 10 to 15 50 60 Hz 1...

Page 328: ...able setting range 1 to 10 VDC at rated torque positive torque reference with positive reference input voltage 12 V max ence In put Input Impedance About 14 kW Circuit Time Constant About 47 ms Contact Speed Refer Rotation Direction Selection With P control signal Speed Refer ence Speed Selection With forward reverse current limit signal speed 1 to 3 selection Servomotor stops or another control m...

Page 329: ...ed encoder error overrun CPU error parameter error etc LED Display Charge Power five 7 segment LEDs built in Digital Operator func tions CN5 Analog Monitoring Analog monitor connector built in for monitoring speed torque and other reference signals Speed 1 V 1000 r min Torque 1 V rated torque Pulses remaining 0 05 V 1 reference units or 0 05 V 100 reference units Communications Connected Devices D...

Page 330: ...otor Table 8 15 Servopack Ratings and Specifications 2 Servopack Model SGDH 50 60 75 1A 1E Appli cable Servo 200V SGMGH jAjA 1500r min 44 55 75 1A 1E cable Servo motor SGMGH jAjB 1000r min 40 55 SGMSH jA 40 50 SGMDH jA 40 400V SGMGH jD 44 55 75 1A 1E 400V SGMSH jD 40 50 SGMUH jD 40 Basic Specifi cations Max Applicable Servomotor Capacity kW 5 0 6 0 7 5 11 15 Specifi cations 200V Continuous Output ...

Page 331: ...stics 400 Hz at JL JM Torque Control Toler ance Repeatability 2 Soft Start Time Set ting 0 to 10 s Can be set individually for acceleration and deceleration Input Signals Speed Refer ence In Reference Voltage 4 6 VDC Variable setting range 2 to 10 VDC at rated torque positive torque reference with positive reference input voltage 12 V max Signals Refer ence In put Input Im pedance About 14 kW Circ...

Page 332: ...r Power Supply 5 12 V 1 kW resistor built in I O Sig nals Position Output Form A B C phase line driver S phase line driver only with an absolute encoder nals Frequency Dividing Ratio Any Sequence Input Signal al location can be modified Servo ON P control or Control Mode switching forward reverse motor rota tion by internal speed setting zero clamping reference pulse prohibited for ward run prohib...

Page 333: ...play JOG and auto tuning operations speed torque reference signal and other draw ing functions Others Reverse rotation connection origin search automatic Servomotor ID DC reac tor connection terminals for high power supply frequency control 6 1 Supply voltage must not exceed 230 V 10 253 V A step down transformer is required if the voltage ex ceeds these values 2 Use the Servopack within the ambie...

Page 334: ...lection and Data Sheets J J Base Mounting Models Unit mm in SGDH A3BE to 01BE Single phase 100 V 30 to 100W SGDH A3AE to 02AE Single phase 200 V 30 to 200 W 1 54 160 6 30 55 2 17 75 2 95 130 5 12 Approx mass 0 8 kg 1 76 lb 106 4 17 39 8 0 31 SGDH 02BE Single phase 100 V 200 W SGDH 04AE Single phase 200 V 400 W Approx mass 1 1 kg 2 43 lb 160 6 30 75 2 95 130 5 12 75 2 95 106 4 17 39 8 1 54 0 31 8 A...

Page 335: ...2 95 106 4 17 39 8 1 54 0 31 SGDH 15AE Three phase 200 V 1 5 kW SGDH 05DE to 15DE Three phase 400 V 0 5 to 1 5kW 110 4 33 Approx mass 2 8 kg 6 17 lb 180 7 09 160 6 30 75 2 95 106 4 17 39 8 1 54 0 31 8 AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03 26 04 20 21 Fax 03 26 04 28 20 Web http www audin fr Email info audin fr ...

Page 336: ...kW 3 0 kW 250 9 84 Approx mass 3 8 kg 8 38 lb 110 4 33 180 7 09 75 2 95 196 7 72 39 8 1 54 0 31 SGDH 50AE Three phase 200 V 5 0 kW 250 9 84 230 9 06 135 5 31 Ver 50ADA Approx mass 5 5 kg 12 1 lb 75 2 95 8 39 1 54 0 31 8 AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03 26 04 20 21 Fax 03 26 04 28 20 Web http www audin fr Email info audin fr ...

Page 337: ... B2 B3 U V W 8 0 31 Approx mass 5 5 kg 12 1 lb 1 54 SGDH 60AE 75AE Three phase 200 V 6 0 kW 7 5 kW L1 L2 L3 U V W B1 B2 230 9 06 235 9 25 350 13 8 L1C WARNING MODE SET DATA Ver POWER BATTERY CHARGE L2C CN2 CN1 CN3 CN5 CN8 8 39 Approx mass 14 3 kg 31 5 lb 0 31 1 54 8 AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03 26 04 20 21 Fax 03 26 04 28 20 Web http www audin fr Email info audin fr ...

Page 338: ...CN2 YASKAWA SERVOPACK 400V SGDH 60DE DATE POWER SGDH 1AAE 1EAE Three phase 200 V 11 0 kW 15 0 kW CN3 G 39 1 54 8 0 31 285 11 22 450 17 72 260 10 24 Approx mass 26 kg 57 3 lb CN8 CN5 BATTERY Ver CHARGE MODE SET YASKAWA SERVOPACK 200V SGDH 1AAE DATE POWER CN2 CN1 L1 L2 L3 1 L1C L2C B1 B2 U V W 8 AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03 26 04 20 21 Fax 03 26 04 28 20 Web http www audin f...

Page 339: ... 22 450 17 72 260 10 24 Approx mass 22 kg 48 5 lb CN8 BATTERY Ver CHARGE MODE SET YASKAWA SERVOPACK 400V SGDH DATE POWER CN2 CN1 L1 L2 L3 1 24V 0V B1 B2 U V W CN5 2 8 AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03 26 04 20 21 Fax 03 26 04 28 20 Web http www audin fr Email info audin fr ...

Page 340: ...AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03 26 04 20 21 Fax 03 26 04 28 20 Web http www audin fr Email info audin fr ...

Page 341: ...1 Servodrive Inspection and Maintenance 9 2 9 1 1 Servomotor Inspection 9 2 9 1 2 Servopack Inspection 9 3 9 1 3 Replacing Battery for Absolute Encoder 9 4 9 2 Troubleshooting 9 5 9 2 1 Troubleshooting Problems with Alarm Displays 9 5 9 2 2 Troubleshooting Problems with No Alarm Display 9 32 9 2 3 Alarm Display Table 9 34 9 2 4 Warning Displays 9 36 9 AUDIN 7 bis rue de Tinqueux 51100 Reims France...

Page 342: ...r Yaskawa representative Table 9 1 Servomotor Inspections Item Frequency Procedure Comments Vibration and Noise Daily Touch and listen Levels higher than normal Exterior According to de gree of contamina tion Clean with cloth or com pressed air Insulation Resistance Measurement At least once a year Disconnect Servopack and test insulation resistance at 500 V Must exceed 10 MW Contact your Yaskawa ...

Page 343: ...llowing parts are subject tomechanical wearor deteriorationover time To avoidfailure replace these parts at the frequency indicated The user constants of any Servopacks overhauled by Yaskawa are reset to the standard settings before shipping Besure toconfirm thatthe userconstantsareproperlysetbefore startingopera tion Table 9 3 Periodical Part Replacement Part Standard Replacement Period Replaceme...

Page 344: ...ncoders Replace the battery using the following procedure if the battery voltage drops below the mini mum required battery voltage J J Battery Replacement Procedure 1 Replace the battery while the control power to the Servopack is ON 2 After replacement turn OFF the power to the Servopack in order to clear the Absolute En coder Battery Alarm A 83 3 TurnONthepowertotheServopackagainandconfirm thati...

Page 345: ...epresentative if the problem cannot be solved by the described proce dures J J A 02 A 02 User Constants Breakdown Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Output OFF OFF OFF OFF Note OFF Output transistor is OFF alarm state Status and Remedy for Alarm A B At power ON Cause Remedy A Power turned OFF during parameter write Alarm occurred at next power ON S Initi...

Page 346: ... Replace Servopack J J A 04 A 04 User Constant Setting Error Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Output OFF OFF OFF OFF Note OFF Output transistor is OFF alarm state Status and Remedy for Alarm At power ON A B Cause Remedy A An out of range user constant was previously set or loaded S Reset all user constants in range S Otherwise re load correct user cons...

Page 347: ...e Status and Remedy for Alarm At power ON A B Cause Remedy A The range of Servomotor capacities that can be combined has been exceeded Replace the Servomotor so that a suitable combination is achieved B Encoder parameters have not been written properly Replace the Servomotor 9 AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03 26 04 20 21 Fax 03 26 04 28 20 Web http www audin fr Email info audi...

Page 348: ...e shorted Replace Servomotor C S Circuit board 1PWB defective S Power transistor defective Replace Servopack D Current feedback circuit power transistor DB circuit or circuit board defective Replace Servopack E The ambient temperature of the Servopack exceeded 55 C Alter conditions so that the ambient tempera ture goes below 55 C F The air flow around the heat sink is bad Follow the installation m...

Page 349: ... after the main circuit power ON A B C Occurred when the control power turned ON D Cause Remedy A Regenerative transistor is abnormal Replace Servopack B Disconnection of the regenerative resistor Replace Servopack or regenerative resistor C Regenerative Unit disconnected for an external regenerative resistor Check wiring of the external regenerative re sistor D Servopack defective Replace Servopa...

Page 350: ...or is ON Status and Remedy for Alarm During Servomotor operation A B Cause Remedy A Regenerative power exceeds the allowable value Use an external regenerative resistor that matches the regenerative power capacity B Alarm occurs although an external regenera tive resistor is used and the temperature rise of the regenerative resistor is small Correct user constant Pn600 9 AUDIN 7 bis rue de Tinqueu...

Page 351: ...ON E A B C D A D During Servomotor operation Occurred when main circuit power turned ON Cause Remedy A The power supply voltage is not within the range of specifications Check power supply B Load exceeds capacity of the Regenerative Unit Check specifications of load inertia and over hanging load C Regenerative transistor is abnormal Replace Servopack D Rectifying diode defective E Servopack defect...

Page 352: ...state ON Output transistor is ON Status and Remedy for Alarm Occurred when the control power turned ON D A B C A B C During Servomotor operation Occurred when main circuit power turned ON Cause Remedy A The power supply voltage is not within the range of specifications Check power supply voltage B Fuse blown Replace Servopack C Rectifying diode defective D Servopack defective 9 AUDIN 7 bis rue de ...

Page 353: ...vomotor rotation after reference input At power ON B C D A Cause Remedy A Servomotor wiring incorrect Check and correct wiring Check for U V and W phase wiring errors B Position or speed reference input is too large Lower the reference input values C Incorrect reference input gain settings Check and correct user constant settings D Circuit board 1PWB defective Replace Servopack 9 AUDIN 7 bis rue d...

Page 354: ...ON Output transistor is ON Status and Remedy for Alarm At power ON C A When servo ON S ON signal turned ON B When speed reference input No Servomotor rotation During normal operation B Cause Remedy A Servomotor wiring incorrect or disconnected Check wiring and connectors at Servomotor B Load greatly exceeds rated torque Reduce load torque and inertia Otherwise replace with larger capacity Servomot...

Page 355: ...onal speed S Lower the load inertia S Minimize the use of the dynamic brake B Circuit board 1PWB defective Replace Servopack J J A 74 A 74 Overload of Surge Current Limit Resistor Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Output ON ON ON OFF Note OFF Output transistor is OFF alarm state ON Output transistor is ON Status and Remedy for Alarm When main circuit po...

Page 356: ...on A B C D Cause Remedy A The ambient temperature of the Servopack exceeds 55 C Alter conditions so that the ambient tempera ture goes below 55 C B The air flow around the heat sink is bad Follow installation methods and provide suf ficient space as specified C Fan stopped Replace Servopack D Servopack is operating under overload Reduce load E Servopack defective Replace Servopack Note This alarm ...

Page 357: ...y for Alarm At power ON Pn002 2 0 or 2 Pn002 2 1 A B C C Cause Remedy A The following power supplies to the absolute encoder all failed S 5 V supply S Battery power Follow absolute encoder set up procedure B Absolute encoder malfunctioned Replace Servomotor C Circuit board 1PWB defective Replace Servopack 9 AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03 26 04 20 21 Fax 03 26 04 28 20 Web ht...

Page 358: ...transistor is OFF alarm state Status and Remedy for Alarm At power ON A B When SEN signal turned ON Pn002 2 0 or 2 A During operation A B Cause Remedy A Error during encoder memory check S Follow absolute encoder set up procedure S Replace Servomotor if error occurs fre quently B Circuit board 1PWB defective Replace Servopack 9 AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03 26 04 20 21 Fax ...

Page 359: ... not connected S Battery connection defective Check and correct battery connection B Battery voltage below specified value Specified value 2 7 V Install a new battery while the control power to Servopack is ON After replacement turn ON the power again C Circuit board 1PWB defective Replace Servopack Note No alarm will occur at the Servopack is the battery error occurs during opera tion 9 AUDIN 7 b...

Page 360: ...Remedy for Alarm At power ON A During operation B Cause Remedy A Faulty encoder Replace the Servomotor is the problem oc curs often B Operational error in encoder caused by exter nal noise Check and correct wiring around the encoder grounding of the Servomotor separation be tween the encoder cable and the servomotor power cable insertion of toroidal cores onto cables etc 9 AUDIN 7 bis rue de Tinqu...

Page 361: ...eated Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Output OFF OFF OFF OFF Note OFF Output transistor is OFF alarm state Status and Remedy for Alarm During Servomotor operation A B Occurred when the control power turned ON C D Cause Remedy A The ambient temperature of the Servomo tor is high Alter conditions so that the ambient temperature goes below 40 C B Servomo...

Page 362: ...A D Con verter etc Replace Servopack C Circuit board 1PWB defective Replace Servopack J J A b2 A b2 Reference Torque Input Read Error Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Output OFF OFF OFF OFF Note OFF Output transistor is OFF alarm state Status and Remedy for Alarm At power ON C During Servomotor operation A B Cause Remedy A Error in reference read in un...

Page 363: ...ower ON User constant Pn50A 1 Other than 7 A B C D On speed reference input A B C When servo ON S ON signal turned ON A B C D Cause Remedy A Servomotor wiring incorrect or disconnected Check wiring and connectors at Servomotor B Encoder wiring incorrect or disconnected Check wiring and connectors at encoder C Encoder defective Replace Servomotor D Circuit board 1PWB defective Replace Servopack 9 A...

Page 364: ... defective Replace Servomotor B Servopack defective Replace Servopack J J A C9 A C9 Encoder Communications Error Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Output ON OFF ON OFF Note OFF Output transistor is OFF alarm state ON Output transistor is ON Status and Remedy for Alarm At power ON A B C During Servomotor operation A B C Cause Remedy A Encoder wiring inco...

Page 365: ...ervopack J J A Cb A Cb Encoder Echoback Error Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Output ON OFF ON OFF Note OFF Output transistor is OFF alarm state ON Output transistor is ON Status and Remedy for Alarm At power ON A B Cause Remedy A Encoder wiring incorrect or disconnected Check wiring and connectors at encoder B Encoder defective Replace Servomotor C S...

Page 366: ...arm At power ON A B Cause Remedy A The setting of the Multiturn Limit Setting Pn205 user constant in the Servopack is in correct Change use constant Pn205 B The multiturn limit has not been set in the encoder Check to be sure the Multiturn Limit Setting Pn205 user constant in the Servopack is correct create a Multiturn Limit Disagree ment Alarm A CC and then execute the encoder multiturn limit set...

Page 367: ...erence is input B C D Cause Remedy A Servomotor wiring incorrect or poor connec tion Check wiring and connectors at encoder B Servopack was not correctly adjusted Increase speed loop gain Pn100 and posi tion loop gain Pn102 C Motor load was excessive Reduce load torque or inertia If problem not corrected replace with a motor with larger capacity D Position reference pulse frequency was too high S ...

Page 368: ...utput transistor is ON Status and Remedy for Alarm Occurred with option unit when the control power turned ON B C D Occurred without option unit when the control power turned ON A Cause Remedy A The SGDH is used without option unit after it has been used with option unit To continue using the SGDH without option unit execute Fn014 option unit detection result clear of the auxiliary function mode a...

Page 369: ...r supply ON A B Cause Remedy A One phase L1 L2 or L3 of the main circuit power supply is disconnected S Check power supply S Check wiring of the main circuit power supply S Check QF noise filter magnetic contactor B There is one phase where the line voltage is low Check power supply C Servopack defective Replace Servopack Note A and B tend to occur in a Servopack with a capacity of 500 W or higher...

Page 370: ...ted to Servopack while power turned ON A B C D At power ON Digital Operator connected before Servopack power turned ON A B C D Cause Remedy A Cable defective or poor contact between Digital Operator and Servopack S Check connector connections S Replace cable B Malfunction due to external noise Separate Digital Operator and cable from noise source C Digital Operator defective Replace Digital Operat...

Page 371: ... Check connector connections S Replace cable 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 J J A A Normal Operation This is not an alarm display Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Output OFF OFF OFF ON Note OFF Output ...

Page 372: ...ut Check reference input pins Correctly input speed position references S ON is turned OFF Check settings of user constants Pn50A 0 and Pn50A 1 Turn S ON input ON P CON input function setting incorrect Check user constant Pn000 1 Refer to section 5 3 5 and set user constants to match ap plication Reference pulse mode selec tion incorrect Refer to section 5 2 2 Correct setting of user constant Pn20...

Page 373: ...ease the value of user constant Pn100 speed loop gain Reduce the integration time constant Pn101 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...

Page 374: ...rative circuit is faulty S Regenerative resistor is faulty A 32 Regenerative Overload Regenerative energy exceeds regenerative resistor capacity A 40 OFF OFF ON OFF Overvoltage 4 Main circuit DC voltage is excessively high A 41 Undervoltage 4 Main circuit DC voltage is excessively low A 51 ON OFF ON OFF Overspeed Rotational speed of the motor is excessively high A 71 ON ON ON OFF Overload High Loa...

Page 375: ...he Servomotor ran out of control A C8 Absolute Encoder Clear Er ror and Multi turn Limit Setting Error 2 The multi turn for the absolute encoder was not properly cleared or set A C9 Encoder Communications Error 2 Communications between Servopack and encoder is not possible A CA Encoder Parameter Error 2 Encoder parameters are faulty A Cb Encoder Echoback Error 2 Contents of communications with enc...

Page 376: ...een warning displays and warning code outputs are shown in the following table Table 9 6 Warning Displays and Outputs Warning Display Warning Code Outputs Warning Name Meaning of Warning Display ALO1 ALO2 ALO3 Name A 91 ON OFF OFF Overload This warning occurs before the overload alarms A 71 or A 72 occur If the warning is ignored and operation con tinues an overload alarm may occur A 92 OFF ON OFF...

Page 377: ...cting the CP 9200SH Servo Controller Module SVA A 3 A 3 Connecting the GL series B2813 Positioning Module A 4 A 4 Connecting OMRON s C500 NC221 Position Control Unit A 5 A 5 Connecting OMRON s C500 NC112 Position Control Unit A 6 A 6 Connecting MITSUBISHI s AD72 Positioning Unit A 7 A 7 Connecting MITSUBISHI s AD75 Positioning Unit A 8 A AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03 26 04 ...

Page 378: ... 34 PB PBO 3 35 PBO 4 36 PC PCO 5 19 PCO 6 20 VREF V REF 7 5 SG SG 8 6 BAT BAT 9 21 BAT0 BAT 10 22 24V 24VIN 19 47 SVON S ON 13 40 PCON P CON 14 41 SEN SEN 11 12 0SEN SG ALM RST 15 44 ALM ALM ALM0 ALM 17 32 P P SV1 31 16 ALMRST 1 FG connector frame MC Unit P CN2 Servomotor A 1 B 2 C 3 D 4 PA PB PC 2 1 These pin numbers are the same for SV2 to SV4 2 P indicates twisted pair wires P P 4 2 A AUDIN 7 ...

Page 379: ... 42 DO4 ALM RST 24 44 DI2 TGON 19 27 TGON 28 DI1 V CMP 43 25 V CMP 26 DI0 S RDY 18 29 S RDT 30 DI3 ALM 44 31 024V ALM 45 32 21 BAT BAT 22 SENS SEN SENSG SG 26 2 CN 4 1 TLIMPG PA TLIMP 0V IN A PG0V PCL PC PBL PB PAL 9 15 14 13 12 11 10 8 7 4 3 SG PCO PBO T REF SG V REF SG PAO 19 36 35 34 33 10 9 6 5 20 1 Connector shell Yaskawa s CP 9200SH SVA M PG W V U CN2 Servomotor A 1 B 2 C 3 D 4 Servopack SGD...

Page 380: ... 20 34 33 43 42 40 47 32 31 P P P P P P CN1 CN2 PULSE 0V CLR SIGN PULSE SG CLR SIGN 24 6 5 38 21 22 23 2 14 15 12 11 8 7 1 2 2Ry L1C L3 L2 L1 L2C U SGDH 1Ry 3 Connector shell CN2 Servomotor 4 PULSE CLR SIGN PA PB PC 0V 0V PULSE CLR SIGN PAO PCO PBO 024 V 1 The ALM signal is output for approximately two seconds when the power is turned ON Take this into consid erationwhen designingthe powerON seque...

Page 381: ...en positioning is canceled ON when proximity is detected L1C L3 L2 L1 L2C S ON 24VIN 2 Connec tor shell CN1 Servomotor 3 11 12 X B X C X A 024 V 24 V PAO SG PCO PBO PAO PCO PBO 024 V M PG Servopack W V A 1 B 2 C 3 D 4 U SGDH 1 The ALM signal is output for approximately two seconds when the power is turned ON Take this into consider ation when designing the power ON sequence The ALM signal actuates...

Page 382: ... 7 14 24 V 1Ry CN1 0V EXTERNAL INTERRUPT Servopack SGDH L1C L3 L2 L1 L2C PC O PCO ALM ALM PULSE CLR SIGN PULSE CLR SIGN 012 V M PG W V U A 1 B 2 C 3 D 4 Servomotor 1 The ALMsignal is output for approximately two seconds when the power is turned ON Take this into consider ation when designing the power ON sequence The ALM signal actuates the alarm detection relay 1Ry to stop main circuit power supp...

Page 383: ...4VIN P OT N OT ALM ALM V REF T REF SG PAO SG PCO PCO PBO PBO PAO 47 32 31 40 1 20 19 34 33 36 35 5 9 6 10 S ON 1Ry CN2 4 024 V Servopack SGDH Servomotor 1 The ALMsignalis outputfor approximately two seconds when the power is turned ON Take this into consider ation when designing the power ON sequence The ALM signal actuates the alarm detection relay 1Ry to stop main circuit power supply to Servopa...

Page 384: ...sitioning is canceled CN2 I O Power Supply X axis Y axis L1C L3 L2 L1 L2C Servomotor M PG Servopack W V A 1 B 2 C 3 D 4 U SGDH 024 V 24 V PULSE CLR SIGN PULSE CLR SIGN ALM ALM PCO PCO The ALMsignalis outputfor approximately two seconds when the power is turned ON Take this into consider ation when designing the power ON sequence The ALM signal actuates the alarm detection relay 1Ry to stop main ci...

Page 385: ...unctions and monitor modes for SGDH Servopacks B 1 User Constants B 2 B 2 Switches B 6 B 3 Input Signal Selections B 11 B 4 Output Signal Selections B 13 B 5 Auxiliary Functions B 15 B 6 Monitor Modes B 16 B AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03 26 04 20 21 Fax 03 26 04 28 20 Web http www audin fr Email info audin fr ...

Page 386: ... s 1 to 2000 40 6 2 1 Pn103 Inertia Ratio 0 to 10000 0 6 2 1 6 3 3 Pn104 2nd Speed Loop Gain Hz 1 to 2000 40 Pn105 2nd Speed Loop Integral Time Constant 0 01 ms 15 to 51200 2000 Pn106 2nd Position Loop Gain 1 s 1 to 2000 40 Pn107 Bias r min 0 to 450 0 6 2 4 Pn108 Bias Width Addition reference units 0 to 250 7 6 2 4 Pn109 Feed forward 0 to 100 0 6 2 2 Pn10A Feed forward Filter Time Constant 0 01 ms...

Page 387: ...n Related Constants Pn200 Position Control Reference Selection Switches See note 3 0000 5 2 2 Constants Pn201 PG Divider See note 3 p r 16 to 16384 16384 5 2 3 Pn202 Electronic Gear Ratio Numerator See note 3 1 to 65535 4 5 2 5 Pn203 Electronic Gear Ratio Denominator See note 3 1 to 65535 1 5 2 5 Pn204 Position Reference Accel Decel Constant 0 01 ms 0 to 6400 0 6 1 2 Pn205 Multi turn Limit Setting...

Page 388: ...d forward Filter Time Constant 0 01 ms 0 to 65535 0 Torque related constants Pn400 Torque Reference Input Gain 0 1 V rated torque 10 to 100 30 5 2 7 constants Pn401 Torque Reference Filter Time Constant 0 01 ms 0 to 65535 100 6 1 5 Pn402 Forward Torque Limit 0 to 800 800 5 1 3 Pn403 Reverse Torque Limit 0 to 800 800 5 1 3 Pn404 Forward External Torque Limit 0 to 800 100 5 1 3 Pn405 Reverse Externa...

Page 389: ...ions 4 See note 3 8888 5 3 3 Pn50E Output Signal Selections 1 See note 3 3211 5 3 4 Pn50F Output Signal Selections 2 See note 3 0000 5 3 4 Pn510 Output Signal Selections 3 See note 3 0000 5 3 4 Pn511 Reserved constant Do not change 8888 Pn512 Output Signal Reversal Settings See note 3 0000 5 3 4 Other constants Pn600 Regenerative Resistor Capacity See note 4 10 W 0 to ca pacity 5 0 5 6 1 Pn601 Fix...

Page 390: ...t speed control contact refer ence Speed control analog reference 5 Internal set speed control contact refer ence Position control pulse train reference 6 Internal set speed control contact refer ence Torque control analog reference 7 Position control pulse train reference Speed control analog reference 8 Position control pulse train reference Torque control analog reference 9 Torque control analo...

Page 391: ...ower input Input DC power supply through 1 and terminals 3 Warning Code Out put Selection 0 ALO1 ALO2 and ALO3 output only alarm codes 0 put Selection 1 ALO1 ALO2 and ALO3 output both alarm codes and warning codes While warning codes are output ALM signal output remains ON normal state Pn002 Function Selection 0 Speed Position Con trol Option T REF 0 None 0 Function Selection Application Switches ...

Page 392: ...V 1000 r min 6 Motor speed 4 1 V 250 r min 7 Motor speed 8 1 V 125 r min 8 Fixed constant Do not change 9 A B C D E F 2 Not used 0 3 Not used 0 Pn10B Gain Application Switches 0 Mode Switch Selec tion 0 Uses internal torque reference as the condition Level setting Pn10C 0 Gain Application Switches tion 1 Uses speed reference as the condition Level setting Pn10D 2 Uses acceleration as the condition...

Page 393: ...egative logic 8 A phase B phase x2 negative logic 9 A phase B phase x4 negative logic 1 Error Counter Clear Signal Form 0 Clears error counter when the signal goes high 0 Signal Form 1 Clears error counter at the rising edge of the signal 2 Clears error counter when the signal goes low 3 Clears error counter at the falling edge of the signal 2 Clear Operation 0 Clears error counter at the basebloc...

Page 394: ...rque Function 0 Notch Filter Selec tion 0 Disabled 0 Torque Function Switches tion 1 Uses a notch filter for torque reference Switches 1 Not used 0 2 Not used 0 3 Not used 0 B AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03 26 04 20 21 Fax 03 26 04 28 20 Web http www audin fr Email info audin fr ...

Page 395: ...om the SI4 CN1 44 input terminal 5 Inputs from the SI5 CN1 45 input terminal 6 Inputs from the SI6 CN1 46 input terminal 7 Sets signal ON 8 Sets signal OFF 9 Inputs the reverse signal from the SI0 CN1 40 input termi nal A Inputs the reverse signal from the SI1 CN1 41 input termi nal B Inputs the reverse signal from the SI2 CN1 42 input termi nal C Inputs the reverse signal from the SI3 CN1 43 inpu...

Page 396: ...l Set Speed Selection 0 to F Same as above 8 OFF 2 SPD B Signal Mapping Inter nal Set Speed Selection 0 to F Same as above 8 OFF 3 C SEL Signal Mapping Con trol Mode Switching 0 to F Same as above 8 OFF Pn50D 0 ZCLAMP Sig nal Mapping Zero Clamping 0 to F Same as above 8 OFF 1 INHIBIT Signal Mapping Disab ling Reference Pulse 0 to F Same as above 8 OFF 2 G SEL Signal Mapping Gain Switching 0 to F S...

Page 397: ...ng 0 to 3 Same as above 2 BK Signal Map ping 0 to 3 Same as above 3 WARN Signal Mapping 0 to 3 Same as above Pn510 0 NEAR Signal Mapping 0 to 3 Same as above 1 Reserved 0 to 3 Same as above 2 Not used 0 0 3 Not used 0 0 Pn512 0 Output Signal Reversal for SO1 CN1 25 0 Output signal is not reversed 0 Not reversed Reversal for SO1 CN1 25 and 26 1 Output signal is reversed reversed 1 Output Signal Rev...

Page 398: ...c 2 Depending on the control mode undetected signals are treated as OFF For example in the speed control mode the COIN signal is treated as OFF 3 Types of WARN signals Overload and regenerative overload B AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03 26 04 20 21 Fax 03 26 04 28 20 Web http www audin fr Email info audin fr ...

Page 399: ...orque reference offset Fn00A Manual adjustment of speed reference offset Fn00B Manual adjustment of torque reference offset Fn00C Manual zero adjustment of analog monitor output Fn00D Manual gain adjustment of analog monitor output Fn00E Automatic offset adjustment of motor current detection signal Fn00F Manual offset adjustment of motor current detection signal Fn010 Password setting protects use...

Page 400: ...in Un008 Error counter value reference units Amount of position error Un009 Accumulated load rate Value for the rated torque as 100 Displays effective torque in 10 s cycle Un00A Regenerative load rate Value for the processable regenerative power as 100 Displays effective torque in 10 s cycle Un00B Power consumed by DB resistance Value for the processable power when dynamic brake is applied as 100 ...

Page 401: ...ent of speed and torque reference offset 7 25 autotuning 6 16 auxiliary functions B 15 B batteries 5 94 absolute encoder 9 4 bias function 6 31 brake ON timing 5 66 Built in Panel Operator 5 96 5 103 6 20 6 22 7 2 7 9 C cable stress 2 6 cables encoder 5 114 specifications 3 14 CN1 specifications 3 20 terminal layout 3 20 CN2 connector models 3 28 connector terminal layout 3 28 contact input speed ...

Page 402: ...ulse counter monitor display 7 19 forward rotation prohibited signal 7 23 7 38 friction compensation 6 24 functions selection 7 10 fuse capacity 5 107 G gain adjusting 6 4 7 42 7 45 GL series B2813 Positioning Module A 4 GL series MC20 Motion Module A 2 grounding 5 108 5 110 H Hand held Digital Operator 5 95 5 103 6 19 6 21 7 2 using the 7 8 harmonic suppression 5 117 high speed positioning 6 6 ho...

Page 403: ...filters 5 110 notch filter 6 5 O offset adjusting 5 60 6 4 automatic adjustment 7 25 manual adjustment 7 28 oil and water Servomotors 2 6 OMRON C500 NC112 Position Control Unit A 6 C500 NC221 Position Control Unit A 5 online autotuning 6 16 mechanical rigidity settings for 6 19 related user constants 6 23 saving results of 6 21 setting user constants for 6 18 open collector output circuit connecti...

Page 404: ...ative overload signal 5 76 regenerative resistors built in 5 80 calculating capacity 5 84 connecting 5 82 external 5 81 response characteristics 6 30 responsiveness 6 26 6 30 Reverse Rotation Mode 5 4 setting the 5 4 reverse rotation prohibited signal 7 23 7 38 rigidity 6 32 running output signal 5 74 S SEN signal 5 75 5 93 5 101 sequence I O signal monitor display 7 17 sequence I O signals 5 24 s...

Page 405: ...ations SGMAH Servomotors 8 2 SGMDH Servomotors 8 22 SGMGH Servomotors 8 10 8 15 SGMPH Servomotors 8 7 SGMSH Servomotors 8 19 speed bias 6 9 speed coincidence output 5 72 speed control 6 32 adjusting manually 6 27 principle of 5 42 speed control analog reference 5 58 5 59 Speed Control Mode 3 37 trial operation 4 7 speed feed forward function 5 43 speed feedback compensation 6 13 6 23 speed loop 6 ...

Page 406: ...ial operation 4 2 U undershooting 6 10 user constants 5 48 configuration 5 3 function selection 7 10 initializing settings 7 40 list of B 2 numbers 7 9 setting from host controller 5 13 W warning displays 9 36 warning output signal 5 76 winding resistance loss 5 87 wiring 5 105 Servopacks to encoders 3 27 wiring example 3 14 wiring precautions 3 12 5 105 Z zero clamp 5 59 5 62 conditions 5 63 AUDI...

Page 407: ...AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03 26 04 20 21 Fax 03 26 04 28 20 Web http www audin fr Email info audin fr ...

Page 408: ...AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03 26 04 20 21 Fax 03 26 04 28 20 Web http www audin fr Email info audin fr ...

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