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LEGEND Digital Torque Amplifier
SGDG User’s Manual

Upon receipt of the product and prior to initial operation, read these instructions
thoroughly, and retain for future reference.

Summary of Contents for Legend 01

Page 1: ...LEGEND Digital Torque Amplifier SGDG User s Manual Upon receipt of the product and prior to initial operation read these instructions thoroughly and retain for future reference...

Page 2: ...or end user YASKAWA accepts no responsibility for the way its products are incorporated into the final system design Under no circumstances should any YASKAWA product be incorporated into any product...

Page 3: ...d In addition this can be a minor item which does not reach the level of damage to the machine such as the generation of an alarm display This shows programming operation examples etc This shows suppl...

Page 4: ...que amplifier Methods for mounting and wiring servomotor and amplifiers How to use the various functions Ratings and specifications for standard device types Maintenance and Inspection For additional...

Page 5: ...next to flammable items Doing so may result in electric shock or fire Be sure to connect the ground terminal of the digital torque amplifier to a grounding electrode 100 or less Failure to do so may r...

Page 6: ...on with a machine Operating without making these settings may result in machine runaway and damage After mounting on the machine prior to the start of operation make sure the emergency stop can be app...

Page 7: ...s in the product or to improve the ease of use of the manual itself In the event of such changes the document number of the manual will be updated and issued as a revision To order additional copies o...

Page 8: ...1 3 Core less Type 2 Motor Coil 2 1 4 T Type Iron Core 3 Motor Coil 3 1 5 F Type Iron Core 4 Motor Coil 4 1 6 Digital Torque Amplifier 5 1 7 Serial Converter Unit 6 Chapter 2 Wiring 9 2 1 Main Circui...

Page 9: ...g 29 Storage Temperature 30 Mounting Location 30 Alignment 31 Mounting Direction 31 Shaft Tolerance Ranges 31 Oil and Water Countermeasures 32 Cable Stress 32 Vibration Resistance 33 3 3 Digital Torqu...

Page 10: ...Maintenance Inspection 53 5 1 Motor Inspection 53 5 2 Digital Torque Amplifier Inspection 54 Component Replacement Timeline 54 Use Conditions 54 5 3 Alarms 55 7 Segment LED 55 Alarm List 55 Appendix...

Page 11: ......

Page 12: ...3 0 03 A5 0 05 01 0 1 0 1 02 0 2 0 2 03 04 0 4 0 4 05 0 45 06 08 0 75 0 75 09 0 85 10 1 0 12 13 1 3 15 1 5 1 5 No SGMAH SGMPH SGMGH SGMSH A 13 bit Incremental C 17 bit Incremental Standard Option Moto...

Page 13: ...73 140 125 83 0 47 60A253A P 440 147 252 5 237 5 83 0 80 60A365A P 660 220 365 350 83 1 13 SGL G W 40 A 140 A W Linear Series Motor Type W Motor Coil Height of Magnets Option Specifications P w Hall s...

Page 14: ...kg L W H 20A170A P 380 130 170 100 51 2 6 20A320A P 760 250 315 100 51 4 8 20A460A P 1140 380 460 100 51 35A170A P 660 220 170 100 66 3 7 35A320A P 1320 440 315 100 66 6 8 35A460A P 2000 670 460 100...

Page 15: ...sions mm Mass kg L W H 20A090A P 86 25 91 40 34 0 7 20A120A P 125 40 127 40 34 0 9 35A120A P 220 80 127 55 34 1 3 35A230A P 440 160 235 55 34 2 3 50A200A P 600 200 215 71 5 43 3 7 50A380A P 1200 400 3...

Page 16: ...rated output Since LEGEND servo drives are applicable to a wider range motor and driver combinations the output power of the drive will dictate the available maximum motor power even if the maximum ou...

Page 17: ...l Model Usage Scale Hall Sensor Y N JZDP A003 By Haidenhain N JZDP A004 Note US Market dedicated By Renishaw Y JZDP A005 By Renishaw N JZDP A006 By Haidenhain Y JZDP A008 By Renishaw Y JZDP Conversion...

Page 18: ...53A P 014 SGLTW 35A170A P 003 SGLGW 40A365A P 015 SGLTW 35A320A P 004 SGLGW 60A140A P 016 SGLTW 35A460A P 005 SGLGW 60A253A P 017 SGLFW 20A090A P 006 SGLGW 60A365A P 018 SGLFW 20A120A P 007 SGLTW 40A4...

Page 19: ...Notes 8...

Page 20: ...le for use on a circuit capable of delivering not more than 5000 Arms symmetrical power OFF Perform inspection work after checking that the CHARGE lamp has gone out Do not turn the power ON OFF freque...

Page 21: ...d regen resistor If the capacity of the internal regen resistor is insufficient connect an external regen resistor provided by customer between B1 B2 with B2 B3 open wiring removed 1 2 High Frequency...

Page 22: ...IN POWER INDICATOR OPTION BOARD CONNECTOR STATUS INDICATOR ENCODER CONNECTOR CN2 CONTROL POWER TERMINAL MAIN POWER TERMINAL MOTOR CONNECTION TERMINAL GROUNDING TERMINAL I O SIGNAL CONNECTOR CN1 SYSTEM...

Page 23: ...g example is shown in the figure below Figure A Main Circuit Wiring Example Digital Torque Amplifier SGDG GT U V W ALM ALM SG L2C L1 L2 L3 L1C MC1 Noise Filter Power OFF Power ON MC1 Surge Supressor E...

Page 24: ...egen resistor is an option For details on regen resistors see 4 5 Regenerative Resistor Selection Main Circuit Terminal Block Wiring Method Observe the following cautionary items when wiring Servo amp...

Page 25: ...river insertion aperture with either a flathead screwdriver head width 3 0 3 5mm 118 138 in or a 210 120J type driver from Wago Inc The work can be done using either of the methods in Figure A or Figu...

Page 26: ...cuit Power Supply Model Power Supply Capacity Per Amplifier KVA MCCB or Fuse Capacity Arms Recommended Noise Filter Magnetic Contactor Capacity kW SGDG Model Specifi cations Single Phase 200V 0 1 01GT...

Page 27: ...N1 10 RUN CMD IN CN1 3 CN1 20 PAO GND CN1 4 CN1 21 PAO CN1 22 PBO CN1 23 PBO CN1 24 PCO CN1 25 PCO 3 3 MC1 DB OFF SV ON ALM RUN PA PA PA A D RY2 RY1 Motor PG CN 2 B1 B2 Noise Filter Power OFF Power ON...

Page 28: ...Divided Output B phase 5 23 PB0 Encoder Divided Output B phase 6 GND GND 24 PCO Encoder Divided Output C phase 7 RUN RUN Signal Output 25 PCO Encoder Divided Output C phase 8 26 S ON5 Servo ON Input...

Page 29: ...MD IN 3 Torque Force Reference Input 10 10VDC 10V Peak Motor Torque Output Signals Signal Name Pin No Function Common ALM 34 Servo Alarm Turns OFF due to error detection ALM 35 PAO 20 A phase Signal 2...

Page 30: ...2 2 Input Signals 19 Reserved 1 Open Terminal Note Do not use empty terminals for relays etc 5 8 9 11 12 16 17 18 30 31 32 36 Output Signals Continued Signal Name Pin No Function...

Page 31: ...maximum allowable voltage for the input signal is 12V 10V Peak Motor Torque Sequence Input Circuit and Interface This is connected by a relay or open collector transistor circuit Select a low current...

Page 32: ...CO are output by the line driver circuit The upper level device receives these through the line receiver circuit See 2 3 Wiring to the Encoder for an example of the connection circuit Connection with...

Page 33: ...ier CN1 0 33mm 2 Shield Wire Connector Shell ov SG 1 1 ov provided by customer Output Line Driver TI SN75ALS194 or equivalent Applied Line Receiver TI SN75175 or equivalent PAO PAO PBO PBO PCO PCO Con...

Page 34: ...MS3108B20 29S or Straight MS3106B20 29S Cable Clamp MS3057 12A Yaskawa provides a dedicated cable for the encoder For details see the following document Sigma II Servo System Product Catalog Suppleme...

Page 35: ...or shielded twisted pair wires Core wire at least 28 AWG 0 0002 0 12 tinned annealed copper twisted wires Finished cable dimensions maximum 0 63in 16mm for CN1 and 0 27in 6 8mm for CN2 PG signal conne...

Page 36: ...omposition PVC Standard polyvinyl chloride cable IV 600V PVC cable 60 HIV Temperature resistant vinyl cable 75 Connector Name Signal Description Specification Control I O Signal Connector CN1 Cable Us...

Page 37: ...15 CN1 10 RUN CMD IN CN1 3 CN1 20 PAO GND CN1 4 CN1 21 PAO CN1 22 PBO CN1 23 PBO CN1 24 PCO CN1 25 PCO 3 3 MC1 DB OFF SV ON ALM RUN PA PB PC A D RY2 RY1 Motor PG CN2 B1 B2 Noise Filter Power OFF Power...

Page 38: ...22 PBO CN1 23 PBO CN1 24 PCO CN1 25 PCO 3 3 MC1 DB OFF SV ON ALM run PA PB PC A D RY2 RY1 Motor PG CN2 B1 B2 B3 Noise Filter Power OFF Power ON MC1 Surge Supressor 3 3 24V 12V Torque Force Reference E...

Page 39: ...Notes 28...

Page 40: ...ycled 3 2 Rotary Motor Mounting The SGM H servomotor can be mounted in both the horizontal or vertical direction However mistaking the mounting direction or mounting in an inappropriate location may s...

Page 41: ...servomotor within the temperature range below when storing without electrical feed 20 60 C Temperature Range Mounting Location The SGM H servomotor is intended for use indoors Use in an environment m...

Page 42: ...ounted in either the horizontal or vertical directions Shaft Tolerance Ranges Design machine systems so that the thrust loads and radial loads1 applied to the servomotor shaft during operation fall wi...

Page 43: ...s because its core is very thin 0 2 0 3mm Table 3 1 Allowable Radial Load Allowable Thrust Load for Servomotors Motor Model Allowable Radial Load Fr N kgf Allowable Thrust Load Fs N kgf LR mm Referenc...

Page 44: ...vibration on all three axes front to back X vertical Y and side to side Z SGMAH SGMPH 49m s2 5G SGMSH SGMGH SGMDH and SGMUH 24 5m s2 2 5G 3 2 1 Vibration Class The vibration class for SGM H servomoto...

Page 45: ...ard to the mounting location Installation Conditions Cautions on Mounting Mounted in a Control Panel Design the control panel size digital torque amplifier installation and cooling method so that the...

Page 46: ...the mounting surface by using the mounting holes at 2 4 locations the number of holes will differ depending on capacity Cooling Mount the amplifier with sufficient peripheral space around the digital...

Page 47: ...lel platform Mount the digital torque amplifier so that the front side faces the operator Side by side Installation When installing digital torque amplifier side by side as shown in the figure above a...

Page 48: ...put Compatible AC Power Input Compatible ON 4 Linear Scale Polarity Reversal B phase progression U V W direction A phase progression U V W direction ON enabled only when linear motor is used 5 Regen O...

Page 49: ...tting PG Divider Setting Setting PG Divider Setting 0 65 536 P R 8 30000 P R 1 64 000 P R 9 24000 P R 2 60 000 P R A 16000 P R 3 50 000 P R B 131 072 P R 4 40 000 P R C 120 000 P R 5 36 000 P R D 100...

Page 50: ...SGMAH A3B SGMAH A5B SGMAH A3A SGMAH A5A SGMAH 01A SGDG 04GT SGMAH 01B SGMAH 02B SGMAH 02A SGMAH 04A SGDG 10GT SGMAH 08A SGMPH Digital Torque Amplifier Model Compatible Motor Models SGDG 01GT SGMPH 01A...

Page 51: ...SGLGW 60A365A SGLTW 20A170A SGDG 15GT SGLFW 50A380A SGLFW 1ZA200A Serial Conversion Unit Model JZDP A00 Applicable Motors Serial Conversion Unit Model JZDP A00 Applicable Motors 001 SGLGW 40A140A P 01...

Page 52: ...ing alarm related output signals is shown below Prepare an external 24V usage power source No 24V power source is integrated in the digital torque amplifier The photocoupler output signal is handled a...

Page 53: ...State CN1 34 35 is closed CN1 34 is level Low Normal State OFF State CN1 34 35 is open CN1 34 is level High Alarm State Input S ON CN1 14 Servo ON When ON CN1 14 is L level Sends power to the motor Th...

Page 54: ...eleased and power is being applied to the motor Input DB OFF CN1 15 DB OFF When ONCN1 15 is L level DB stop at Servo OFF DB ON DB Stop State DB stop at Servo OFF When OFFCN1 15 is H level Releases the...

Page 55: ...the motor The unit here is No of Pulses Rotation PG Digital Torque Amplifier CN2 CN1 Encoder Upper Level Device A Phase B Phase C Phase Serial Data Division Circuit Digital Torque Amplifier Line Rece...

Page 56: ...20 Encoder Output A phase Output PAO CN1 21 Encoder Output A phase Output PBO CN1 22 Encoder Output B phase Output PBO CN1 23 Encoder Output B phase Output PCO CN1 24 Encoder Output C phase Output PC...

Page 57: ...s it The setting value is the number of output pulses per motor rotation Set this to match the command unit of the machine controller The setting range differs according to the encoder used SW3 PG Div...

Page 58: ...ation to stop period Operation is not possible with an overhauling load Install an external regen resistor if the regen power exceeds the processing capability of the digital torque amplifier The spec...

Page 59: ...01GT The SGDG 01GT does not have the regen transistor built in even though there are terminals for connecting an external regen resistor Therefore for external regen requirement the JUSP RG08D externa...

Page 60: ...Use SGDG 04GTY22P for external regen application only If the user knows that the application requires extra regen capacity the Y mod unit must be ordered With Y22P mod two 2 external regen resistors...

Page 61: ...nctions operates the internal alarm relay is actuated Then the circuit between output terminals C1 and C2 is opened c When an external resistor is used remove the shorting jumper between Y4 and Y5 The...

Page 62: ...wires do not come into contact with the regen resistor When an external resistor is connected turn OFF 5 of SW1 Be sure the energy capacity of the resistor is adequate to dissipate the regen energy of...

Page 63: ...Notes 52...

Page 64: ...Contact your Yaskawa representative or sales office if the servomotor is to be disassembled Table 5 1 Servomotor Inspection Inspection Item Inspection Period Inspection Work Content Notes Check for vi...

Page 65: ...day Table 5 2 Digital Torque Amplifier Inspection Inspection Item Inspection Period Inspection Content Measures Taken at Error Unit Board Cleaning Once per year minimum There should be no grime dust...

Page 66: ...ercurrent Overcurrent flowed to IGBT Regen Circuit Error Regen resistor disconnection Regen transistor short The regen energy exceeds the capacity of the regen resistor Overvoltage The main circuit vo...

Page 67: ...EEPROM within encoder Error in communication data between encoder and digital torque amplifier Main Circuit Power Error DC input with AC input settings for main circuit power or AC input with DC inpu...

Page 68: ...Galil IMC 1900 2900 SGDG CN1 3 CMD IN 4 GND 20 PAO 21 PAO 22 PBO 23 PBO 24 PCO 25 PCO 26 SV ON5 IMC 1900 2900 MOCMDn GND P AMPENn MAn MAn MBn MBn INn CASE P P P INn 33 GND GND P P Twisted Pair n Axis...

Page 69: ...P Twisted Pair n Axis Designation 1 or 2 when n 1 x 5 and y 2 when n 2 x 7 and y 3 LEGEND Delta Tau PMAC2 Minimum Servo Interface Note Jumper pin 1 to 2 on E1 to power ACC 8E digital 5V circuitry from...

Page 70: ...10V Analog Out n AGND n P Amp Enable Out n Encoder A n Encoder A n Encoder B n Encoder B n Enc Index n CASE P P P Enc Index n 33 GND GND n P P Twisted Pair n Axis Designation 0 1 2 LEGEND MEI PCX DSP...

Page 71: ...utput number y Digital output number LEGEND Acroloop ACR 8010 Minimum Servo Interface Encoder type is Differential Line Driver 5 Volt Outputs so Pullups should be removed Encoders 0 3 are on P1A conne...

Page 72: ...ue amplifier to EMC directives EN55011 2 and EN61000 6 2 EMC Installation Conditions This section describes the installation conditions that satisfy EMC guidelines for each model of the SGDG digital t...

Page 73: ...p Motor Encoder Power supply AC200V Single phase Symbol Name Specification Controller cable Shield cable 2m Motor cable Shield cable 5m Encoder cable Shield cable 5m AC Line cable Shield cable 2m Eart...

Page 74: ...amp Core Core Core Clamp Motor Encoder CN2 CN1 PE Power supply AC200V 3 phase U V W L1C L2C Symbol Name Specification Shield cable 2m Motor cable Shield cable 5m Encoder cable Shield cable 5m AC Line...

Page 75: ...Cable Model ESD SR 25 Note The diagram shows two turns of the cable Quantity 1 Turn 2 Manufacturer Tokin Corp Cable Name Mounting Position of the Core Controller Cable Near the controller and digital...

Page 76: ...ble between the digital torque amplifier and the servomotor Controller cable between the digital torque amplifier and the controller Recommended Ferrite Cores Shielded Box A shielded box a closed meta...

Page 77: ...Notes 66...

Page 78: ...Array 17 Control Panel Environment 35 Cooling Fan Replacement 54 Core less Type Magnet Track 2 D Delta Tau PMAC2 58 Digital Torque Amplifier Amplifier Fault 56 Component Replacement 54 Cooling 35 Ins...

Page 79: ...Overcurrent 55 Overload 55 Overspeed 55 Overvoltage 55 P Peripherals 24 Power Line Size 13 Stripping 14 Terminal Processing 14 Power ON Sequence 13 Protection Sequence Design 41 R Regen Circuit Error...

Page 80: ...r Replacement 54 Specifications 65 Storage Temperature 30 Switch Setting Function Selection 37 Linear Scale Pitch 37 PG Divider 13 bit Rotary 38 17 bit Rotary 38 Linear Motor 38 PG Divider Setting 38...

Page 81: ...nghai 200437 China Phone 86 21 6553 6600 Fax 86 21 6531 4242 SHANGHAI YASKAWA TONJI M E CO LTD 27 Hui He Road Shanghai 200437 China Phone 86 21 6533 2828 Fax 86 21 6553 6677 BEIJING YASKAWA BEIKE AUTO...

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