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Applicable line driver: SN75174 or MC3487 (Manufactured by Texas Instruments or equivalent)

Set the R1 through R3 current limit resistors so that input current (i) will fall within the following range.
Input current (i) = 7 mA to 15 mA

: Twisted-pair wires

Examples:

•

When Vcc is +24 V: R1 through R3 = 2.2 k

Ω

•

When Vcc is +12 V: R1 through R3 = 1 k

Ω

•

When Vcc is +5 V: R1 through R3 = 180

Ω

Note: The following signal logic applies for

an open-collector output.

Tr1 to Tr 3 ON

Equivalent to high level input
Equivalent to low level input

Tr1 to Tr 3 OFF

Connection Diagram

Connection Examples of Input Signal

Set the load so that the output current (i) will fall within 50 mA or less.

Photocoupler output (per output signal)

•

Max. voltage: 30 VDC

•

Max. current: 50 mADC

Connection Example of Output Signal

Line Driver Output

Open-collector Output

: Twisted-pair wires

SERVOPACK

24-V Power supply

Photocoupler

Load

50mA max.

+24V

SG-PCO

ALM

/COIN

SG-COM

PCO

CN1

SERVOPACK

Photocoupler

Host controller

/PULS

SIGN

/SIGN

CLR

/CLR

PULS

Ω

7mA

＊

CN1

Ω

3.4k

Ω

/S-ON

+24VIN

24-V Power supply

+24V

Photocoupler

/PULS

SIGN

/SIGN

CLR

/CLR

PULS

＊

Vcc

Tr1

Tr2

Tr3

Ω

SERVOPACK

Photocoupler

Host controller

7mA

CN1

3.4k

Ω

/S-ON

+24VIN

24-V Power supply

+24V

Summary of Contents for JUNMA SERIES

Page 1: ...YASKAWA AC SERVO DRIVES JUNMASERIES SJME SERVOMOTOR SJDE SERVOPACK YASKAWA ...

Page 2: ...y Setup Settings are easy to make so setup time is reduced With Yaskawa s world leading servo drive technology we are proud to introduce the Junma series for a wide range of applications Following our policy to make user friendly products the Junma series is different from conventional models because no more parameter settings and no more servo adjustments are required therefore the setup and test...

Page 3: ...erative Unit JUSP RG08D Yaskawa Electric Corporation YASKAWA ELECTRIC SHANGHAI CO LTD KUNSHAN FUJIX IMPORT AND EXPORT TRADE CO LTD SHANGHAI SUN WA TECHNOS CO LTD YASKAWA ELECTRIC SHANGHAI CO LTD YASKAWA ELECTRIC SHANGHAI CO LTD 1 Typical value at the rated load The specified derating is required to select the appropriate capacity of molded case circuit breaker 2 Operating characteristics 25 C 200 ...

Page 4: ...ns min 12 rotations min 60 rotations min 12 rotations min 6 rotations min 30 rotations min 12 rotations min 6 rotations min 30 rotations min 30 rotations min 12 rotations min 60 rotations min 0 4500 0 8 1 8 3000 0 3 2 5 2 1 5 1 0 5 0 3 2 5 2 1 5 1 0 5 Regenerative unit not required SJDE 02 200W Note An overvoltage alarm will occur without a required regenerative unit The graphs below show the capa...

Page 5: ...electing a molded case circuit breaker The power supply capacity per SERVOPACK when using a servomotor is described in nSERVOPACKs and Applicable Peripheral Devices on page 4 If using several SERVOPACKs select a molded case circuit breaker with a capacity larger than the effective load current which is calculated from the total power supply capacity The allowable inrush current for a low speed act...

Page 6: ...o called torque to inertia ratio at the rated torque Continuous rating means that the temperature of the servomotor in continuous operation under specified conditions will not exceed a specified temperature or other limitation Highest allowable temperature for armature winding 130 C The maximum vibration amplitude of the motor expressed in units of micrometers on the condition that the vibration i...

Page 7: ...ay Green Orange Shield LA dia 4 LZ dia Cross Section A A 3 5 5 Type SJME Approx Mass kg L LL LR 02AMA41 02AMA4C 04AMA41 04AMA4C 08AMA41 08AMA4C 125 5 165 5 95 5 135 5 30 40 LG 6 8 LE 3 3 S 14 16 LB 50 70 LC 60 80 LD 35 LF 20 LA 70 90 LZ 5 5 7 QK 20 30 148 5 188 5 118 5 158 5 173 216 133 176 0 9 1 5 1 3 1 9 2 6 3 5 Servomotors 0 0 011 0 0 011 0 0 039 0 0 046 Dimensions Units mm 100W 200W to 750W 40...

Page 8: ...r power is off Free of corrosive gases Free of dust and iron powder Clean and dry 1000 m or below 4 9m s2 19 6m s2 Designated pulse type and pulse resolution with PULSE switch Motor capacity that the SERVOPACK can drive Continuous output current Arms 0 84 1 1 2 0 3 7 Current that the SERVOPACK can output continuously Instantaneous max output current Arms 2 5 3 3 6 0 11 1 Maximum current that the S...

Page 9: ...TRIC MADE IN CHINA 35 44 17 130 0 5 130 120 4 5 12 5 15 10 5 10 5 7 19 40 140 Ground terminal with 2 M4 screws 4 5 dia holes CN1 CN2 CNA CNB 200V YASKAWA SJDE 04 APA PULSE FIL REF AL1 AL2 AL3 C 0 8 9 A B D E F 4 5 32 6 7 1 C 0 8 9 A B D E F 4 5 32 6 7 1 C N 1 C N 2 PWR CNA CNB L1 L2 U V W 130 120 12 5 15 4 5 10 5 10 5 140 7 19 35 Ground terminal with 2 M4 screws CN1 CN2 4 5 dia holes CNB 200V YASK...

Page 10: ...Ks SERVOPACKs 1 If the machine vibrates when starting or stopping the machine set a larger value 2 The factory setting is 0 Not necessary to change this value unless machine vibrates 3 The value changes depending on conditions such as the level of command acceleration and deceleration the rigidity of the motor drive of the machine and the motor resolution 4 Select the appropriate servomotor capaci...

Page 11: ... 7 8 9 10 B Z U V W Pin No I O I O Symbol Signal Name 1 2 3 4 5 6 7 CW PULS CW PULS CCW SIGN CCW SIGN 24VIN S ON SG COM External input power supply Servo ON Output signal ground Reverse rotation pulse reference pulse Forward rotation pulse reference sign Input Input Input Input Input Input Output Input Input Output Output Output Output Output Pin No Symbol Signal Name 8 9 10 11 12 13 14 Shell CLR ...

Page 12: ...Connection Diagram Example Spark killer Flywheel diode Relay for brake Varistor Okaya Electric Industries Co Ltd Toshiba Corp Omron Corp Nippon Chemi Con Corp CRE 50500 1NH42 MY series TNR7V121K Power supply Single phase 200 V to 230 VAC 50 60Hz AVR1 24 V power supply Brake V W FG U V W U V W U Z B B A A PG0V PG5V CW PULS CW PULS CCW SIGN CCW SIGN CLR CLR PCO SG PCO 24VIN S ON ALM BK COIN SG COM 2...

Page 13: ...ce SJDE SERVOPACKs are suitable where the power supply is less than 5000 Arms 230 V rms max SERVOPACKs must be used with UL listed fuses or circuit breakers in accordance with the National Electrical Code NEC Use 75 C heat resistant copper wires or an equivalent Wire sizes are selected for three cables per bundle at 40 C ambient temperature with the rated current Use cables with a minimum withstan...

Page 14: ...PACK CN2 CN1 Connection Diagram Connection Diagram Power Supply Input Terminals L1 L2 Motor Connection Terminals U V W and Regenerative Unit Connection Terminals Ground Terminal Note Connectors are used for all wiring Use twisted pair wires or shielded twisted pair wires 3m AWG24 0 2 mm2 AWG26 0 12 mm2 AWG28 0 08 mm2 8 mm dia max Use the cables specified by Yaskawa or use shielded twisted pair wir...

Page 15: ...shortcircuits or install an earth leakage breaker for ground protection and a molded case circuit breaker The distance between a power line such as a power supply line or servomotor cable and a signal line must be at least 30 cm Do not put the power and signal lines in the same duct and do not bundle them together The longer a pulse line is the lower the maximum frequency of the line is Customers ...

Page 16: ...0 ms Use a relay for brakes with an operating time of 30 ms or less Notes 1 The maximum lag time from the moment that an error or fault was detected until the alarm signal turns ON is 2ms 2 If using the phase C output signal use an edge when the signal changes from OFF to ON at the beginning so that the changes in the waveform from ON to OFF are round edged Reference Pulse Signal Form Electrical S...

Page 17: ... Examples of Input Signal Set the load so that the output current i will fall within 50 mA or less Photocoupler output per output signal Max voltage 30 VDC Max current 50 mADC Connection Example of Output Signal Line Driver Output Open collector Output Twisted pair wires SERVOPACK 24 V Power supply Photocoupler Load Load Load Load 10 50mA max 24V 0V 11 7 13 14 12 SG PCO ALM COIN BK SG COM PCO CN1 ...

Page 18: ...re of the servomotors is designed with an IP55 rating The servomotor can be used in a location that is subject to water drops except for the connector and the section where the shaft passes through Do not use the servomotor in a location that is subject to oil mist Counterclockwise Through shaft section Shaft Flange This refers to the gap where the shaft protrudes from the end of the motor Positiv...

Page 19: ...asures so that oil does not splash on the motor from other parts of the machine such as the gearbox Do not bend or pull excessively any cables the lead openings and the junctions of the cables The cores in the encoder cable and the brake signal line in the main circuit cable are only 0 2 mm2 or 0 3 mm2 Be sure to protect them from stress The end of the motor shaft is coated with an anticorrosive c...

Page 20: ...ange shown in the table below The following diagram shows tolerances for the servomotor s output shaft and installation area 0 03 mm 0 08 mm 0 06 dia mm Coupling to the Machine Allowable Loads Mechanical Tolerance TIR Total Indicator Reading Observe the following precautions when coupling the servomotor with the drive axis of the machine Align the shaft of the servomotor with the shaft of the equi...

Page 21: ...VOPACK Installation Installation Conditions Installation Method Space between SERVOPACK Units Install the SERVOPACK perpendicular to the wall The SERVOPACK contains a built in fan for cooling and must be mounted in the specified direction Connect the mounting holes securely to the mounting surface with M4 screws two mounting holes Install a vibration isolator beneath the SERVOPACK to avoid subject...

Page 22: ...Motor end M4 crimped terminals Connect the FG pin to the grounding terminal of the SERVOPACK Wire Color Signal Pin No Red White Blue Green Yellow Black Black Phase U Phase V Phase W F G 1 Brake 2 Brake 2 Wire Color Signal Red White Blue Green Yellow Black Black Phase U Phase V Phase W F G Brake Brake Pin No 1 2 3 4 5 6 1 2 3 4 Crimped terminals Crimped terminals Crimped terminals SERVOPACK end Con...

Page 23: ...rts Type For battery case regenerative unit For servomotor main circuit cables Tool to remove wires Spring type CNA connector CNB connector 4 A JST NY 3 2 1 4 3 2 1 5 08 15 24 20 44 29 04 34 24 6 7 6 7 13 2 13 2 29 7 20 3 A 4 3 2 1 N 4 A JST RX 3 2 1 4 3 2 1 5 08 15 24 20 44 29 04 34 24 29 A 4 3 2 1 N 1 2 3 4 5 6 11 6 10 7 19 6 13 8 Cables Peripheral Devices Specifications Dimensions Units mm Dime...

Page 24: ...en Orange Shield 1 2 3 4 5 6 7 8 9 10 11 12 PG5V PG0V GND Phase A Phase A Phase B Phase B Phase Z Phase U Phase V Phase W FG SERVOPACK end Plug and cable cover set 54599 1005 Plug housing 51209 1001 Crimped terminals 59351 8087 chained or 59351 8187 detached Molex Japan Co Ltd L Motor end Receptacle 5557 12R 210 Terminal 5556T2 chained or 5556T2L detached Molex Japan Co Ltd 1 2 3 4 5 6 7 8 9 11 12...

Page 25: ...pe gray Crimp type Soldered type gray Soldered type black Model 54599 1005 51209 1001 54599 1005 57401 5300 54593 1011 36210 0100FD 36310 3200 008 59351 8087 chained or 59351 8187 detached 26 4 1 2 3 4 5 6 7 8 9 11 12 10 1 2 9 11 40 15 22 7 10 Cables Peripheral Devices Specifications Motor End SERVOPACK End Motor End SERVOPACK End Dimensions Units mm Molex Interconnect Shanghai Co Ltd Molex Hong K...

Page 26: ...Code Signal Name Signal Name Marking Dots Dots Color Pin No Orange Light gray White Yellow Black Red Black Red Black Red Black 1 2 3 4 5 6 7 1 Lead Color Marking Color Pin No Yellow Pink Orange Light gray Red Black Red Black Red Black Red 8 9 10 11 12 13 14 Shell 1 2 CW PULS CW PULS CCW SIGN CCW SIGN 24VIN S ON SG COM External input power supply Servo ON Reverse rotation pulse reference pulse Forw...

Page 27: ...5 NO NC Auxiliary Contact Structure Dimensions Mounting Hole Dimensions Terminal Symbols 91 35 65 4 5 76 54 9 39 R S U W V T a b 45 5 15 3 51 8 2 9 6 3 Main contact terminal M4 Coil terminal M3 5 Auxiliary contact terminal M3 5 11 3 10 8 9 6 85 50 29 1 2 4 8 2 5 2 35 5 75 70 2 M4 mounting holes NONC Auxiliary Contact Structure Magnetic Contactor NO R U A1 1 2 NC A2 S V 3 4 T W 5 6 1 2 13 14 NO A1 ...

Page 28: ...using Time Rated Current Littelfuse Inc Within 2 s at 200 KUNSHAN FUJIX IMPORT AND EXPORT TARDE CO LTD KUNSHAN FUJIX IMPORT AND EXPORT TARDE CO LTD 0KLK015 T 30Arms SJDE 08 0KLK030 T Model Type Screw terminal 2 poles L60030M2SQ Copper box lug 2 poles L60030M2C 38 1 10 31 36 49 76 2 31 75 Manufacturer Contact Littelfuse Inc Fuse Dimensions Units mm Fuse Fuse Block Fuse Block ...

Page 29: ...070 16 07 Model A FN2070 6 07 FN2070 10 07 113 5 1 156 1 B 103 0 3 143 0 3 C 94 1 130 5 1 D 4 4 0 1 5 3 0 1 Side view Top view D 57 5 1 6 0 1 45 4 1 2 38 0 5 32 4 0 5 8 4 0 5 0 9 0 1 25 0 2 A C B Contact terminal Side view Top view Contact terminal P N E 140 5 0 57 6 1 1 2 0 1 8 6 0 5 40 0 2 7 4 0 1 51 0 2 66 0 3 85 5 1 4 4 0 1 119 0 5 109 0 3 98 5 1 Noise Filter P N E 140 5 0 Dimensions Units mm ...

Page 30: ...50 160 15 130 15 6 5 25 149 130 15 5 Nameplate 6 dia hole M4 screw for ground terminal Y4 Y5 YASKAWA C1 C2 Y3 AL 0V AL RE RE ON POWER REGENERATIVE UNIT JUSP RG08D Regenerative Unit Dimensions Internal Connection Diagram 4 2 dia 0 5 Case Connection cables 11 1 28 5 1 0 28 1 200 30 0 5 5 1 0 4 5 0 5 41 1 1 2 1 2 Model Manufacturer Contact Okaya Electric Industries Co Ltd OKAYA HONG KONG TRADING LIMI...

Page 31: ...0 G 45 50 45 45 H 4 4 4 4 I 4 3 4 3 4 5 4 3 Approx Mass kg 0 4 0 6 0 4 0 4 X5052 X5053 X5054 X5056 4 H dia Notch Nameplate A E F D G I dia C B AC Reactor Model Applicable SERVOPACKs JZSP CHF08 1 JZSP CHF08 2 SJDE 01 to 04 SJDE 08 Sun Wa Technos Corporation Manufacturer Contact Replacement Cooling Fan Specifications Specifications Dimensions Units mm External Views JZSP CHF08 1 JZSP CHF08 2 Contact...

Page 32: ... Electric Industries Co Ltd Yaskawa Controls Co Ltd Littelfuse Inc Shanghai Kunshan Fujix Import and Export Trade Co Ltd Okaya Hong Kong Trading Limited Okaya Hong Kong Trading Limited Okaya Hong Kong Trading Limited Kunshan Fujix Import and Export Trade Co Ltd Yaskawa Electroc Shanghai Co Ltd Shanghai Sun Wa Technos Co Ltd Shanghai Shanghai Hong Kong Shenzhen Shenzhen Hong Kong Representative in ...

Page 33: ...servomotors in the Junma series The latest product information A wizard system with conversational mode to select optimal servomotors References and reuses previously input and stored data Cables Peripheral Devices Selection of Servomotor Size AC Servomotor Selection Software JunmaSize Features Servomotor Selection Screen ...

Page 34: ... gear input side Solid cylinder 7 87 103 kg m3 2 70 103 kg m3 8 1 L m At gear output side V V Tp TL TS ta tc tm te td V MC NR N N NM N R V PB 2 ta 2tc td Where ta td PB Ball screw lead m M Mass of linear motion unit kg MC Mass of counterbalance kg M µ M 1 R 1 R 1 R 60 V N V PB JL3 JL3 JL2 JL1 JL1 JL1 JL3 JL2 JL2 T TL TL JL JL1 JL2 JL3 JL1 M MC JL1 M 2πR 9 8 M MC PB TL 2 PB 2πR JK MK D2 or JK L D4 ...

Page 35: ... td Trms t D m 1 R W 1 R dp Zp dp Zp W Lp Lp Selection of Servomotor Size Motions Mechanical Configuration Speed Diagram Travel Distance m Min Starting Time S Min Braking Time S Running Power W Acceleration Power W Load axis speed min 1 Motor Speed min 1 Effective Load Torque at Motor Shaft N m Required Starting Torque N m Required Braking Torque N m Effective Torque N m Effective Load Inertia at ...

Page 36: ...ombined efficiency 30m min 4kg 0 064m 0 02m 2690kg m3 0 03m 0 02m 0 02m 0 1m 0 02m 7870kg m3 5 40 times min 0 5m 1 2 S max 0 2 0 05N m 0 9 90 V M DP LP MC DC DA LA DB LB A B R n tm µ T η t 1 5 s ta td tm ts 1 2 0 1 0 1 s tc tm ts ta td 1 2 0 1 0 1 0 1 0 9 s 60 V N 149 min 1 PB πd π 0 064 0 201 JL JL1 JL2 JL3 1 639 0 687 0 362 10 4 2 69 10 4 kg m2 PB V TL 0 0669 N m 32 π Ji 52 1 8 1 Linear motion L...

Page 37: ...17 2 69 10 4 60 0 1 2π 745 0 417 2 69 10 4 Required Braking Torque Effective Torque Therefore the recommended selection of servomotors and SERVOPACKs has sufficient capacity and can be used TL 0 0669 0 175 N m 0 297 2 0 1 0 0669 2 0 9 0 177 2 0 1 1 5 Ratings Rated output Rated speed Maximum speed Rated torque Instantaneous peak torque Rotor moment of inertia Allowable load inertia of SERVOPACK 200...

Page 38: ...es min 0 25m 1 2 S max 0 2 0 9 90 V M LB DB PB MC DC n tm µ η v 60 60 2π 3000 0 139 N 3000 min 1 PB V TL 0 139 N m 2 2 32 8 1 8 1 Linear motion Ball screw Coupling JL JL1 JB JC 1 25 10 4 kg m2 JL1 M 80 0 507 10 4 kg m2 2πR PB 2 1 0 005 π JB ρ LB DB 4 7 87 103 0 8 0 016 4 0 405 10 4 kg m2 JC MC DC 2 0 3 0 03 2 0 338 10 4 kg m2 2πNM TL Po 43 7 W n 60 60 40 60 0 5 30 Where acceleration time ta decele...

Page 39: ...Therefore the servomotor can be used Ratings 60ta 2πNM JM JL Selection of Servomotor Size Load Acceleration Power Recommended Servomotor Selections Servomotor Check Conditions From these conditions the following selections are recommended Servomotor SJME 02AMA4 SERVOPACK SJDE 02APA 0 139 0 662 N m 0 139 0 384 N m 60 2π 60 2π 2 2 0 1 1 25 10 4 123 4 W 3000 NM Pa JL ta Pa Po 1 to 2 Motor rated outpu...

Page 40: ...4V 024 24V V I O power supply Servomotor Notes 1 Omron Omron Corporation 2 Only signals between Yaskawa s SJDE SERVOPACK and Omron s CS1W NC133 233 433 positioning unit are shown in the diagram Wiring to Mitsubishi s QD75Do Positioning Unit Wiring to Omron s CS1W NC133 233 433 Positioning Unit CN1 READY CLEAR 2 2kΩ 10 9 8 4 2 1 7 12 11 6 5 S ON 24VIN 10 11 6 7 8 1 12 14 18 17 15 13 16 CW PULS CLR ...

Page 41: ...ERVOPACKs Servomotors Note The following cooling fans are available for replacement manufactured by Sun Wa Technos Corporation SJDE 01 to 04 JZSP CHF08 1 SJDE 08 JZSP CHF08 2 Servodrive parts are subject to deterioration caused by mechanical friction and aging The following standard service life is for reference only The service life varies with environmental conditions and application methods Ref...

Page 42: ...nd FG Connected to the shield wire of the cable lSignal ground The signal ground SG is a signal level of 0 V lForward rotation and reverse rotation With Yaskawa s AC servomotors forward rotation is the CCW direction and reverse rotation is the CW direction as seen from the load side of the motor lMotor with brake The brake is used while the motor is not rotating Do not use the brake to stop the mo...

Page 43: ...nd the number of indicators that light For details refer to Alarm page 13 Q Why does the REF green indicator blink while the motor is in operation A The REF blinks to indicate that a reference pulse is being input i e the motor is rotating Do not touch the machine or motor shaft while the REF is blinking no matter how slowly the motor is turning For details refer to Part Names and Functions page 1...

Page 44: ...g Precautions P18 Explanation of I O Signals P19 Connection Example of Input Signal P19 Connection Example of Output Signal P30 External Fuse P34 Contact Information Second edition Based on the Japanese version of the JUNMA Series catalog printed in February 2005 Catalog No KAJP S800000 23B Revision Exterior of SERVOPACK and servomotor Addition Contact information in China Cables and peripheral de...

Page 45: ...47 MEMO Revision History ...

Page 46: ...JUNMASERIES Printed in Japan July 2005 04 7 LITERATURE NO KAEP S800000 23B 0 1 2004 2005 ...

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