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Servodrives Dimensional Drawings

A

Phase U

B Phase V

C Phase W

D Ground terminal

Model

SGMG-

L

LL

LM

LR

LT

KB1

KB2

KL1

KL2

03A2BAB

234 (9.21)

176 (6.93)

129 (5.08)

58 (2.28)

47 (1.85)

56 (2.20)

155 (6.10)

120 (4.72)

88 (3.46)

06A2BAB

257 (10.12)

199 (7.83)

152 (5.98)

58 (2.28)

47 (1.85)

79 (3.11)

178 (7.01)

120 (4.72)

88 (3.46)

09A2BAB

281 (11.06)

223 (8.78)

176 (6.93)

58 (2.28)

47 (1.85)

103 (4.06)

202 (7.95)

120 (4.72)

88 (3.46)

12A2BAB

296 (11.65)

217 (8.54)

170 (6.69)

79 (3.11)

47 (1.85)

79 (3.11)

196 (7.72)

146 (5.75)

88 (3.46)

20A2BAB

322 (12.68)

243 (9.57)

196 (7.72)

79 (3.11)

47 (1.85)

105 (4.13)

222 (8.74)

146 (5.75)

88 (3.46)

30A2BAB

356 (14.02)

277 (10.91)

230 (9.06)

79 (3.11)

47 (1.85)

139 (54.72)

256 (10.08)

146 (5.75)

88 (3.46)

9.1.2  S G M G - M A D B  Servomotors

Connector Wiring on Servomotor End

MI Servomotors with 8192 P/R Incremental Encoders and Brakes

0.3 to 3.0 kW Servomotors

L

Shaft Extension
(SGMG-03A2BAB to 09A2BAB)

LR

I LE

L F 1 1 -

(0.0008)

Shaft Extension
(SGMG-12A2BAB to 30A2BAB)

LR

[mm (in)]

9 -18

Summary of Contents for S Series

Page 1: ...service in house repair center WE BUY USED EQUIPMENT Sell your excess underutilized and idle used equipment We also offer credit for buy backs and trade ins www artisantg com WeBuyEquipment REMOTE IN...

Page 2: ...1W ArAgmFl 5F4 T7 7 Ace2 S 4K1447n M g a s V A t E Series SGM SGDB USER S MANUAL AC Servodrives SGMG SGMS SGMD SGMP Servomotors SGDB N SERVOPACK YASKAWA M A N U A L NO SIE S800 26 4B...

Page 3: ......

Page 4: ...eserved No part of this publication may be reproduced stored in a retrieval system or transmitted in any form or by any means mechanical electronic photocopying recording or otherwise without the prio...

Page 5: ......

Page 6: ...eristics 3 1 Overload Characteristics 3 2 3 2 Starting and Stopping Time 3 3 3 3 Allowable Repeatability 3 4 3 4 Large amplitude Frequency Characteristics 3 6 3 5 Mechanical Characteristics 3 7 4 Conf...

Page 7: ...User Constant Changes 7 22 7 5 Procedure for Transferring User Constants 7 23 8 Installation and Wiring 8 1 Checking on Delivery 8 2 8 2 Installation 8 3 8 3 Wiring Specifications 8 7 9 Servodrives D...

Page 8: ...teristics 3 2 3 2 Starting and Stopping Time 3 3 3 3 Allowable Repeatability 3 4 3 3 1 Allowable Repeatability as Limited by the Servomotor 3 4 TABLE OF CONTENTS 2 3 SGMS Servomotor Ratings and Specif...

Page 9: ...1CN Connector for I O Signals 4 7 4 3 2 2CN Connector for Encoder 4 7 4 3 3 4CN Connector for MECHATROLINK Communication 4 8 4 4 Connecting an Incremental Encoder 4 9 4 4 1 Typical Example 4 9 4 4 2 1...

Page 10: ...ing Protection Circuit Operation 5 9 5 4 5 Servo Alarm Reset 5 9 5 5 Indications 5 9 5 6 Precautions 5 10 5 6 1 Overhanging Load 5 10 5 6 2 Load Inertia JL 5 10 5 6 3 Regenerative Resistor Unit 5 10 5...

Page 11: ...pported Commands 6 14 7 1 Setting User Constants 7 2 7 1 1 Basic User Constants 7 2 7 1 2 Gain related Constants 7 2 7 1 3 Torque related Constants 7 3 7 1 4 Sequence related Constants 7 4 7 1 5 Motio...

Page 12: ...RVOPACKS 9 59 9 2 8 SGDB 50AND P SERVOPACK 9 60 9 2 9 SGDB 60AND to 75AND P SERVOPACKS 9 61 9 2 10 SGDB 1AAN P 1 EAN P SERVOPACKS 9 62 9 3 Cables 9 64 9 3 1 Encoder Cables 9 64 9 3 2 Servomotor Cables...

Page 13: ...tings 11 1 Characteristics when Shipped 11 2 11 2 Resetting 1 11 2 11 3 Adjusting Servo Performance 11 2 11 3 1 Setting User Constants 11 2 11 3 2 Setting Optimum Position and Speed Loop Gain 11 3 12...

Page 14: ...ut also provide such features as easy application flexibility and easy main tain The new Yaskawa AC Servos can be used in various servo fields including machining tools and robots Features The base mo...

Page 15: ...in or near environments exposed to moisture corrosive gases flammable gases or other flammable materials Electric shock or fire may result Wiring L WARNING Be sure to ground the SERVOPACK ground term...

Page 16: ...ion with the Servomotor connected to the equipment Injury may result if an emergency stop is not readily available Do not touch the heat sink area during operation Severe burns due to high temperature...

Page 17: ...edition The edition number appears on the front and back covers I f the manual must be ordered due to loss or damage inform your nearest Yaskawa representa tive or one of the offices listed on the ba...

Page 18: ...iguration 1 2 1 2 Model Numbers 1 2 1 2 1 Servomotor Model Numbers 1 2 1 2 2 SERVOPACK Model Numbers 1 4 Configuration and Models This chapter describes the configuration and model numbers for Servo d...

Page 19: ...SGMP Servomotors SGMP 15 A 3 1 2 E Series SGMP SGMP Servomotor Servomotor Capacity 04 400 W 08 750 W 15 1 5 kW Supply Voltage A 200 V I Options B With brake D With brake and shaft seal P Drip proof S...

Page 20: ...96 P R incremental encoder W 12 bit absolute encoder S 15 bit absolute encoder Lead Specification Blank Standard connector Options Blank Standard 1 Standard with a lead specification S With shaft seal...

Page 21: ...OPACK Model Numbers SGDB 1 0 A N E Series SGDB SERVOPACK Rated Output 05 0 5 kW 10 1 0 kW 15 1 5 kW 20 2 0 kW 30 3 0 kW 50 5 0 kW 60 6 0 kW 75 7 5 kW 1A 11 0 kW 1E 15 0 kW Supply Voltage A 200 V TOpti...

Page 22: ...g Brake 2 13 2 4 1 Ratings and Specifications 2 13 2 5 SGMP Servomotor 1 5 kW Ratings and Specifications 2 15 2 5 1 Ratings and Specifications 2 15 2 6 SERVOPACK Ratings and Specifications 2 17 2 6 1...

Page 23: ...7 3 7 3 7 4 6 5 7 3 8 0 7 8 8 2 11 11 7 Moment of Inertia JM kg m2 x 10 4 7 24 13 9 20 5 31 7 46 0 67 5 89 0 125 281 315 lb in s2 X10 3 6 41 12 3 18 2 28 1 40 7 59 8 78 8 111 249 279 Rated Power Rate...

Page 24: ...11937 16242 Torque 1 These items and torque motorspeedcharacteristics are in combination with an SGDB SERVOPACK andat an armature winding temperature of 20 C 2 These characteristics are for a Servomo...

Page 25: ...eed i000 r min Al B 0 40 6 0 Torque lb in 10 2 0 Torque N m 100 1 5 0 2 0 0 Torque lb in 0 1 0 2 0 3 0 Torque N m 0 1 0 0 200 3 0 0 Torque lb in Continuous Duty Zone Intermittent Duty Zone 40 80 30 I...

Page 26: ...CIA 3000 2000 Motor speed woo r min 0 A B 1 80 100 I J 800 O 5 0 1 0 0 1 5 0 Torque N m 200 500 1 0 0 0 1 5 0 0 Torque lb in Continuous Duty Zone Intermittent Duty Zone SGMG 75ACIA 3000 2000 Motor spe...

Page 27: ...90 Inertia Time Constant ms 5 1 3 8 2 8 2 0 1 7 1 4 1 3 1 1 Inductive Time Constant ms 5 1 4 7 5 7 13 5 13 9 15 5 14 6 16 5 2 2 1 Ratings and Specifications 2 2 Ratings and Specifications of SGMG Serv...

Page 28: ...ent Brake of oz in s2X 10 3 26 2 110 110 90 VDC Inertia Static N m oz in 4 41 12 7 43 1 72 6 Friction 624 1798 6103 10280 Toque I M P O R TA N T The ratings and specifications shown on the previous pa...

Page 29: ...0 SGMG 20A0B Motor speed r min A B 2000 1500 1000 500 0 0 50 1 0 0 Torque Ib in 20 4 0 Torque N m 150 60 0 200 4 0 0 Torque 113 in Continuous Duty Zone Intermittent Duty Zone SGMG 06ADB 2000 1500 Mot...

Page 30: ...1000 r min SGMG 44ADB Motor speed r min A 2000 1500 1000 500 0 0 50 1 0 0 Torque N m 150 0 500 1 0 0 0 Torque lb in Continuous Duty Zone Intermittent Duty Zone SGMG 60A111B Motor speed r min 2000 1500...

Page 31: ...87 0 71 0 58 0 74 0 60 0 57 Inductive Time Constant ms 7 1 7 7 8 3 13 13 14 1 14 7 2 3 1 Ratings and Specifications 2 3 SGMS Servomotor Ratings and Specifications 2 3 1 Ratings and Specifications Tim...

Page 32: ...Inertia 90 VDC oz in s2 X 10 3 3 05 26 2 Static N m oz in 7 84 20 Friction 1110 2832 Torque I M P O R TA N T The ratings and specifications shown on the previous page are for standard Servomotors For...

Page 33: ...speed r min 5000 4000 3000 2000 1000 0 10 I I 80 Motor speed r min 4000 3000 2000 1000 0 SGMS 30ADA Motor speed r min Torque lb in SGMS 40ACIA 5000 Motor speed r min A B 10 2 0 3 0 Torque N m O 1 0 0...

Page 34: ...vomotor Ratings and Specifications with Holding Brake 2 4 1 Ratings and Specifications Time Rating Continuous Enclosure Totally enclosed self cooled IP67 except shaft through section Excitation Perman...

Page 35: ...r speed w o o r min 0 0 10 2 0 3 0 Torque N m 40 0 100 2 0 0 Torque lb in SGMD 40AIIIAAB 3000 2000 Motor speed i000 r min IAl IBI 0 0 20 4 0 Torque N so 300 so 0 2 0 0 4 0 0 Torque lb in Continuous Du...

Page 36: ...d self cooled Excitation Permanent magnet Insulation Class Class B Drive Method Direct drive Vibration Class 15 i_tm or below Table 2 5 SGMP Servomotor 1 5 kW Ratings and Specifications Ambient Temper...

Page 37: ...875 oz in s2X 10 3 12 4 Static Friction Torque N m oz in 7 45 1055 2 5 1 Ratings and Specifications SGMP Servomotor 1 5 kW Torque Motor Speed Characteristics SGMP 15A Motor speed r min 4000 3000 2000...

Page 38: ...Ib 4 8 82 5 11 0 8 15 33 1 23 50 7 17 6 Refer Operation Specifications Positioning by serial commands ence Reference Input MECHATROLINK communication 4 Mbps 2 ms cycle Method Serial Commands O p e r a...

Page 39: ...Dynamic Brake DB Incorporating DB that is activated for maim power OFF Servo alarms and overtra vel Regenerative Processing Built in For 60 to lA models an external regenerative resistor must be moun...

Page 40: ...20AN 30AN 50AN 60AN 75AN 1AAN 1EAN Appli cable Servo motor Model SGMG 05A0 A 09A0 A 13A0 A 20AD A 30AD A 44AD A 55AO A 75A0 A lAAO A lEAD A Motor Capacity kW 0 45 0 85 1 3 1 8 2 9 4 4 5 5 7 5 11 15 Ra...

Page 41: ...r Speed 2000 3000 r min Applicable Encoder Standard Absolute encoder at 1024 P R Allowable Load Inertia JI_ kg m2x10 4 oz in s2 x10 3 255 3611 343 4857 431 6103 Continuous Output Current A rms 15 7 20...

Page 42: ...16 0 227 35 0 496 48 0 680 62 0 878 Continuous Output Current A rms 5 7 9 5 12 4 18 8 24 3 28 2 Maximum Output Current A rms 17 28 42 56 77 84 SERVOPACK Model SGDB 15AN Appli cable Servo motor Model S...

Page 43: ...35 A SGMG 20ADB SGMS 20ADA SGDB 30AN SGMG 30ADA 5 0 18 LF 330 30 A SGMG 30ADB SGMS 30ADA SGMD 22ADA SGDB 50AN SGMD 32ADA 7 0 24 LF 340 40 A SGMG 44ADA SGMG 44ADB SGMS 40ADA SGMD 40ADA 7 5 28 HI 25E 50...

Page 44: ...arge amplitude Frequency Characteristics 3 6 3 5 Mechanical Characteristics 3 7 3 5 1 Mechanical Strength 3 7 3 5 2 Allowable Radial and Thrust Load 3 7 3 5 3 Mechanical Tolerances 3 8 3 5 4 Direction...

Page 45: ...e SERVOPACK is therefore limited by the overload protective function as shown in Fig 3 1 The overload detection level quoted under hot start conditions at a motor ambient temperature of 40 C cannot be...

Page 46: ...x ms Kt IR a 13 NR JM JL Rated motor speed r min Motor moment of inertia kg m2 GD2m 4 Load converted to shaft moment of inertia kg m2 GD21 4 Tpm Maximum instantaneous motor torque obtained in combinat...

Page 47: ...he range for T will satisfy the following equation T I p 2 tr e t s s R2 IR Motor rated current A a Ip R Acceleration deceleration current coefficient Ip Acceleration deceleration current acceleration...

Page 48: ...and Deceleration without Stopping The timing chart for motor armature current and motor speed is shown in Fig 3 5 If we assume that allowable repeatability is n times per minute then n can be found u...

Page 49: ...SERVOPACK and Motor combination the motor speed amplitude is limited by the peak current through the SERVOPACK The relationship between motor speed N and frequency f is expressed using the equation gi...

Page 50: ...90 110 44AD B 1764 397 588 132 113 44 49 60AD B 1764 397 588 132 SGMS 10A 686 154 196 44 45 1 77 15A 686 154 196 44 20A 686 154 196 44 30A 980 221 392 88 63 2 48 44A 1176 265 392 88 50A 1176 265 392 8...

Page 51: ...nces Tolerances for AC Servomotor output shaft and installation are shown in Table 3 2 Table 3 2 Mechanical Tolerances Note T I R Total Indicator Reading 3 5 4 Direction of Motor Rotation AC Servomoto...

Page 52: ...2 5 G in the vertical trans verse and longitudinal directions See Fig 3 9 when the axis of the Servomotor is mounted hor izontally Longitudinal Vertical Transverse Horizontal shaft Figure 3 9 Vibratio...

Page 53: ......

Page 54: ...4CN Connector for MECHATROLINK Communication 4 8 4 4 Connecting an Incremental Encoder 4 9 4 4 1 Typical Example 4 9 4 4 2 1CN I O Connector Terminals 4 10 4 5 Connecting an Absolute Encoder 4 14 4 5...

Page 55: ...r Connector Terminals 4 22 4 8 1 2CN Terminal Layout 4 22 4 8 2 Applicable Cables 4 23 4 8 3 2CN Connection Method 4 24 4 9 4CN Connectors for MECHATROLINK Communications 4 26 4 9 1 4CN Terminal Layou...

Page 56: ...M C L 1MC Surge r 1 s u p p r e s s o r L I Open circuit with 5Ry Servo alarm Relay drive Volt ge date non Isola or p B r a o s i e e c d tiroivneirsaLdti s o l a t o rereurrent 4PWB SGDB CDAA 1 Opti...

Page 57: ...i r c u i twith Servo alarm Relay drive THS1 FA N 1 FAN2 I a i T hT CT1 U CT2 V 12 U 2 0 kW with out FAN2 Servomotor V Volta e detection isolat Basedriverand overcurrent protectionisolator D B 2 10 co...

Page 58: ...Voltage detection inc later Relay CT1 U V C T 2 f Volt ge clet aloe isol for Base driver and overcurrent protection isolator 12 V U 1 D B 2 ci 2 TC1 Servomotor 1MC Surge r s u p p r e s s o r 0 L Ope...

Page 59: ...C5 C9 S T Ry1 FU1 1 3 1 1 Regenerative resistor optional 1 3 1 t B 0 THS1 F A N 1 PM1 PM2 PM3I CHARGE TR1 1 C Voltage detection isolator L 1 T Power Power Supply Supply O F F LI 1MC 1MC serge r 1 supp...

Page 60: ...pplicable Receptacle Model Solder Case Manufacturer 10226 52A2JL Product of SUMITOMO 3M Co Ltd 26 pin right angle 10126 3000VE 10326 52A0 008 SUMITOMO 3M Co Ltd Specifications for SERVOPACK Connector...

Page 61: ...tacle Model Solder Case Manufacturer MR 8RMD2 Product of Honda Tsushin Industry Co Ltd 8 pin right angle MR 8F MR 8L Honda Tsushin Industry Co Ltd 4 3 3 4CN Connector for MECHATROLINK Communication 4...

Page 62: ...200 1Ry turns OFF with Servo alarm 2Ry turns OFF with Servo ready N LS N O T 1cm 1 P 24V 1 R y A L M 3 30 VDC 50 mA max OV 2Ry B K BK SG Output capacity Note 1 Maximum operating voltage 30 VDC Maximum...

Page 63: ...4 2 1CN I O Connector Terminals 4 4 2 1CN I O Connector Terminals III Terminal Layout Table 4 5 1 C N Terminal Layout 2 4 6 8 10 12 SG BK SG ALM 24 V IN N OT EXT Signal ground for brake out Signal gro...

Page 64: ...S 0 ON when above LS D E C L S 9 External latch LS signal E X T 0 0 ON when latched EXT LS 1 0 24V A L M A L M Alarm output OFF with alarm OV Brake interlock output ON with servo ready E 7 r 1 r14 A L...

Page 65: ...I O Connector Terminals II Input Signals and Their Application Table 4 6 Input Signals I Input Circuits There are four types of input signals Forward reverse drive overtravel prohibited zero point ret...

Page 66: ...gh the motor moves from the first phase C pulse position to the position set by Cn 0028 final travel distance at zero point return approach speed 2 Cn 0023 Then the motor stops Refer to the MECHATROLI...

Page 67: ...B 000N SERVOPACK 6 0 kW min 4CN 0V CN1 6 V DEC 09 z 3 F j p 0 0 N s Terminal resistor 1200 30 VDC 50 mA max 24V l R y A L M 3 O V T 4 4 7 1 S e r v o alarm t o Brake interlock B K S BAT o 1 4 Output c...

Page 68: ...Frame ground 4 5 2 1CN I O Connector Terminals Terminal Layout Table 4 8 1 C N Terminal Layout 2 4 6 8 10 12 BK SG ALM SG 24 V IN N OT EXT Signalground S i g n a l g ound forbrake out f o r servo ala...

Page 69: ...tput OFF with alarm Brake interlock output ON with Servo ready N OT N LS 8 o o DEC LS 0 O EXT LS 24V A L M DEC 4 I 9 EXT Forward drive prohibited Reverse drive prohibited Zero point return deceleratio...

Page 70: ...rsed with user constant CN 0014 bit 12 In this case the signal will be OPEN on the LS EXT 10 External latch input This signal is the latch signal input for external signal External signal will be latc...

Page 71: ...r these signals are as follows Applied Voltage V max 3 0 V Conduction Current p 5 0 mA Output circuits require 24 V power supply by the user We recommend the same 24 V power supply asthat used for the...

Page 72: ...Unit for 1CN 4 7 1 Application SGDB GOLIN SERVOPACK Ls Connector Terminal Block Converter Unit JUSP TA26P Connects to 1CN Note T h e r e is no connector terminal block converter unit for the 2CN We pr...

Page 73: ...Terminal Pin No No Al 1 B1 2 A2 3 B2 4 A3 5 B3 6 A4 7 B4 8 A5 9 B5 10 A6 11 B6 12 A7 13 B7 14 A8 15 B8 16 A9 17 B9 18 A10 19 B10 20 All 21 B11 22 Al2 23 B12 24 A13 25 B13 26 A14 27 B14 28 A15 29 B15 3...

Page 74: ...Block Converter Unit for 1CN 4 7 3 Cable Specifications Accessory for Connector Terminal Block Converter Unit SERVOPACK side 26 pin connector 10126 6000EL Terminal Block Converter Unit side 40 pin con...

Page 75: ...put 17 PA phase A PG input 19 PB phase B 4 8 1 2CN Terminal Layout 4 8 2CN Encoder Connector Terminals 4 8 1 2CN Terminal Layout Table 4 11 Terminal Layout 2CN Battery for abso lute encod er only PG i...

Page 76: ...d A2 B l a c k A3 G r e e n yellow B1 B l u e W h i t e blue T w i s t e d pair B2 Y e l l o w W h i t e yellow Tw i s t e d pair 133 G r e e n W h i t e green T w i s t e d pair B 4 Orange White ora...

Page 77: ...7 1 2 3 4 5 Blue White blue 7 Yellow White yellow t Green 6 Z White green 8 Red 2CN SERVOPACK 2 16 2 17 P I P PB 2 19 PB i P C 2 18 2 14 I 2 15 PC PA PA 2 4 Black 0 3 mm2 0 0005 in2 Green Yellow X02 1...

Page 78: ...2 15 11 White purple 8Fled 7 Black 0 3 mm2 0 0005 in2 13 White gre 2 8 2 9 2 4 2 1 2 5 2 18 P B 2 19 P B PA 2 14 PC PC PS PS 2 2 2 6 2 3 15 Orange 14 White ora 2 10 2 12 2 13 PG5V PGOV 1 14 Cr BAT 1 1...

Page 79: ...onnection Method IN Host Controller and SERVOPACK Connection Pulse transformer MECHATROLINK I F Host controller Note T P represents twisted pair wires and _ represents a shield Multiple Axis Connectio...

Page 80: ...1 No 1 SERVOPACK First axis S S S Pulse transformer 4 2 R S 1200 SH 3 5 SH FG MECHATROLINK I F No 2 SERVOPACK Second axis P 7 S 1 S Pulse transformer 4 2 8 1200 S SH 3 SH 5 FG MECHATROLINK I F SERVOPA...

Page 81: ......

Page 82: ...c Brake Function 5 8 5 4 2 Error Detection Function 5 8 5 4 3 Servo Alarm Output ALM ALM SG 5 9 5 4 4 Handling Protection Circuit Operation 5 9 5 4 5 Servo Alarm Reset 5 9 5 5 Indications 5 9 5 6 Prec...

Page 83: ...ons 5 8 1 Holding Brake Interlock Signal 5 18 5 18 5 9 Adjustments 5 19 5 9 1 Servo System Adjustments 5 19 5 9 2 User Constants 5 20 5 9 3 Functions that Improve Response 5 23 5 9 4 Guidelines for Se...

Page 84: ...ing the power ON and OFF sequence shown in Figure 5 1 it takes up to approx two seconds until the normal signal is valid once power is turned ON assuming that the CONNECT command has been re ceived 3...

Page 85: ...it The electronic gear ratio represents the number of encoder pulses per reference unit The reference unit is the minimum unit of position data for moving the load e g 0 01 mm 0 1 or 0 01 inches Examp...

Page 86: ...low Motor shaft speed m revolutions Load shaft speed 1 revolutions Fig 5 2 shows a block diagram of the electronic gear function MECHATROLINK POSING Command Cn 001F to 0021 Differ entiatlon Cn 001D Fe...

Page 87: ...etup to clear the cumulative rotation number to zero to set up the motor or when the absolute encoder hasbeen left disconnected from a battery for more than two days Setup Procedure Follow thesetuppro...

Page 88: ...ess To measure the voltage between the terminals use a tester with input impedance 1 M S2or more 3 Restore the normal wiring 4 Turn ON power The setup is complete if there are no errors after the SERV...

Page 89: ...alarm Absolute encoder alarm 9 ON Warning A user constant or command error DO OFF Position error overflow The number of pulses accumuated in the error counter exceeded the preset value ED OFF Communic...

Page 90: ...alarm signal output indicates some kind of error Determine the cause take appropriate ac tion and then resume operation Error Troubleshooting Check the error data for past occurrences using the error...

Page 91: ...ad Inertia JL The allowable load inertia calculated for the motor shaft is limited to less than five times of the motor inertia Jm If the load inertia exceeds this value an overvoltage alarm may occur...

Page 92: ...system It is therefore important to cool the unit use heat resistant inflammable wire and ensure that wiring does not come in contact with the unit The following are resistor specifications for the r...

Page 93: ...p e e d 0 2 s 25 s 0 2 0 2 s Torque atServomotordeceleration Maximum torque Loadinertia Fivetimesthemotormomentof inertia Aslongastherearenolosses in themechanical system The power supply voltage of t...

Page 94: ...ise control Grounding 200 VAC P Noise filter 1 2LF O R S G D B O S SERVOPACK 3 5 mm2 0 005 in2 min C a s i n g Operation relay sequence __ Signal generator circuit provided by user OT U O r 2 C N 0 t...

Page 95: ...or ground terminal FG to the SERVOPACK ground terminal t o pre vent adverse effects from switching noise Be sure to ground the ground terminal SERVOPACK SG 0 V If the reference input line is subjected...

Page 96: ...ndle them together Noise filter BOX Incorrect Separate circuits Correct Figure 5 5 Separate ground wires from noise filter output lines Do not run ground wires output lines and other signal lines in t...

Page 97: ...ground plate of the unit first and then ground these wires Figure 5 8 5 7 2 Power Supply Line Protection The SERVOPACK is connected directly to a commercial power supply 200 V To protect the power su...

Page 98: ...5AN 1 1 5 SGDB 1 OAN 2 0 8 SGDB 1 5AN 2 5 10 SGDB 20AN 4 0 12 SGDB 30AN 5 0 18 SGDB 50AN 7 5 28 SGDB 60AN 12 5 32 SGDB 75AN 15 0 41 SGDB 1 AAN 19 0 60 SGDB 1 EAN 30 0 80 Table 5 4 MCCB or Fuse for the...

Page 99: ...upply Timing Motor Stopped Servo ON Command Timing Main Circuit Power Supply Timing SVON SV_OFF command BK signal Drive ON 0 to 35 ms Servo ON Servo OFF Brake OFF OFF I O N Brake ON tg P tB Brake Time...

Page 100: ...tem Block Diagram Basic Rules for Gain Adjustment The servo system is equipped with the following feedback systems Motor SM 1 1 Encoder Position loop Speed loop Current loop The inner loops require be...

Page 101: ...r inertia rate motor inertia 100 Cn 0004 Speed Loop Gain The Speed Loop Gain sets the speed loop response The response is improved by setting this user constant to the maximum value in a range that do...

Page 102: ...speed reference e Pulse S t e a d y error The number of pulses in the error counter at constant speed Adjustment Follow the procedure below to make adjustment 1 Calculate and set the motor axis conve...

Page 103: ...NT Thecable is only loosely attachedtotheSGDBSERVOPACKconnector andanexternal force applied to it maycause it to disconnect Do not connectmeters or otherdevices to the cable in applications Connecting...

Page 104: ...he SERVOPACK from PI proportional integral to P proportional control above a certain setting Feed forward Control Feed forward control generally shortens positioning time but has no effect on systems...

Page 105: ...ue will vary with the gain and the positioning complete width Set Cn 001C to 0 if bias control will not be used Speed S p e e d reference Positioning complete PSET Motorspeedwithoutbias control Motors...

Page 106: ...machines driven by ball screws through reduction gears or machines driven directly by long ball screws Examples General Machine Tools Orthogonal Robots Conveyors Note As the inertia ratio increases se...

Page 107: ......

Page 108: ...6 10 6 4 6 ALM_CLR Specifications 6 11 6 4 7 CONNECT Specifications 6 11 6 4 8 INTERPOLATE Specifications 6 12 6 4 9 LATCH Interpolation Feed with Position Detection Specifications 6 12 6 4 10 POSING...

Page 109: ...ter are based on the MECHATROLINK application layer For more details refer to the following manuals MECHATROLINK System User s Manual SIE S800 26 1 MECHATROLINK Servo Command User s Manual SIE S800 26...

Page 110: ...AH B 4BH C 4CH D 4DH E 4EH F 4FH 6 2 1SW Rotary Switch for MECHATROLINK Station Address Settings 1SW sets the MECHATROLINK station address and is used to select one of the following S G D B O M N addr...

Page 111: ...nization Classifications N Network command A Asynchronous command D Data communication command S Synchronous command C Control command M Motion command X Compound command The following abbreviations a...

Page 112: ...ields areused in the SGDB 11111ION for speed loop P PI control switching and acceleration deceleration filter selection Appropriate commands for options Followings are appropriate commands for option...

Page 113: ...canonly beswitchedwhenDEN acceleration deceleration filter output complete is set to 1 Never switch acceleration decelerationtypeswhen DEN is set to 0 YaskawacannotguaranteehowtheSERVOPACK will act if...

Page 114: ...units s TRO B Torque reference Reference units C D E F 6 4 3 Monitor 1 2 Type Field Specifications 1 Command 2 3 4 Option 5 6 7 8 9 10 11 12 13 14 15 16 WDT The monitor 1 2 type the thirteenth byte o...

Page 115: ...setup command for 6 4 5 ALM_RD Specifications The ALM_RD_MODE at the fifth byte of ALM_RD read alarm warning status is the field used to select objects that will be read and it can be specified for e...

Page 116: ...eld used to select objects that will be cleared and it can be specified for each product The following are ALM_CLR_MODE specifications for the SGDB OCION Note It takes approx 100 ms to clear Do not cl...

Page 117: ...ytes to 0 6 4 9 LATCH Interpolation Feed with Position Detection Specifications 1 LATCH 2 Latch signal select 3 4 Option 5 6 7 8 9 10 11 12 13 Interpolation position Monitor type 1 2 14 15 16 WDT The...

Page 118: ...per revolution I f the number of reference units per revolution is 13653 or less the resolution will be 15625 reference units s2 If it exceeds 13653 the resolution will be 250000 reference units s2 T...

Page 119: ...3F SVCTRL General purpose servo control 6 4 13 Unsupported Commands Note 00 to 08 are ASCII code 09 is OOH and the software version is binary data 6 4 13 Unsupported Commands Do not use the following...

Page 120: ...sensor power ON SENS_ON command When the powerhasbeenturned ON confirm the following status COMRDY 1 6 Turn ON the main power supply Confirm the following status PON 1 when power ON is completed It t...

Page 121: ...ction CONNECT command 3 Check device ID etc 4 Write required non volatile parameters by PPRM_WR command When writing has been completed ready for next writing confirm the following status COMRDY 1 5 C...

Page 122: ...N SV_ON command When the main circuit has been turned ON confirm the following status SVON 1 7 Operation starts 8 Main circuit OFF SV_OFF command and turn OFF the main power supply 9 Communication dis...

Page 123: ...r Servo alarm 83 Absolute encoder battery error Servo alarm 84 Absolute encoder data error Servo alarm 85 Absolute encoder overspeed Servo alarm B1 Gate array 1 error Servo alarm B2 Gate array 2 error...

Page 124: ...7 3 7 1 4 Sequence related Constants 7 4 7 1 5 Motion related Constants 7 5 7 1 6 Other Constants 7 8 7 1 7 Memory Switches 7 9 7 2 List of User Constants 7 13 7 3 Memory Switch Bit Details 7 16 7 3...

Page 125: ...s turned ON do not change the setting during motor running Cn 0003 Load Inertia Sets the load inertia for the moment of inertia ratio on the motor shaft The allowable setting range is 0 to 65535 but r...

Page 126: ...nstant Cn 0001 bit 8 set to 1 for overtravel Allowable setting range 0 to maximum torque Cn 0008 Forward Torque Limit Sets the motor torque limit for forward rotation for reverse rotation with reverse...

Page 127: ...ive OFF Cn 0012 Cn 0015 Brake Timing During Motor Running Motor Speed for Brake ON Reference Sets the motorspeedat which a brakereference is turned ON during servo OFF I f the motor speed is faster th...

Page 128: ...rvomotormoves5 mm 0 20 in abovethe5 mm 0 20 in pitch ball screw and thisdistanceexpressedasmicrometers is 5000 gm Therefore set Cn 0024 to 32768 and Cn 0025 to 5000 Make sure that the electronic gear...

Page 129: ...eration Bias Sets biastochangelinear acceleration decelerationtoexponential acceleration deceleration Allowable settingrange 0 to 32767 x 500 reference units s Cn 002E Exponential Acceleration Deceler...

Page 130: ...3647 reference units Cn 002B Final Travel Distance for External Positioning Sets the distance from the external signal input during external positioning Allowable setting range 2147483648 to 214748364...

Page 131: ...Allowable setting range 0 to maximum motor torque Cn 000E Acceleration Mode Switch Level Sets the acceleration mode switch level This constant is valid only when acceleration mode switch is selected...

Page 132: ...0 SV_ON Command Mask The SV_ON command is disabled when this bit is set to 1 main circuit operating status Cn 0001 Bit 1 SENS_ON Command Mask The SENS_ON command is disabled when this bit is set to 1...

Page 133: ...rtravel OT Cn 0001 Bit 10 Servo OFF Position Error The position error is held when Cn 0001 bit 10 is set to 1 Cn 0001 Bit 11 Mode Switch Function Sets whether the mode switch function will be used The...

Page 134: ...k is enabled when Cn 0002 bit 6 is set to 1 Cn 0013 Bit 10 MECHATROLINK Communication Check Mask Cn 0013 bit 10 is used to cancel the communication check for debugging Normally set Cn 0013 bit 10 to c...

Page 135: ...rohib ited when the P OT signal is turned OFF Signal is CLOSED Cn 0014 Bit 11 N OT Signal Logic The N OT signal logic is reversed when Cn 0014 bit 11 is set to 1 Reverse drive is prohib ited when the...

Page 136: ...es mode switch level 2 Pulse 0 to 10000 0 Cn 0010 Reserved for system 2 0000H Cn 0011 Number of encoder pulses 2 P R 513 to 32767 Capacity Cn 0012 Time delay from brake ref erence to Servo OFF 2 10 ms...

Page 137: ...e units s 0 to 65535 0 Cn 0022 Zero point return approach speed 1 2 100 reference units s 0 to 65535 50 Cn 0023 Zero point return approach speed 2 2 100 reference units s 0 to 65535 5 Cn 0024 Electron...

Page 138: ...tions will occur using the factory setting with a small load inertia always set the load inertia to around 0 prior to operation 3 Be sure to use an electronic gear ratio Cn 0024 and 0025 within a rang...

Page 139: ...ake D13 stop 1 C o a s t i n g to a stop 0 b7 Operation after dynamic brake stop 0 R e l e a s e dynamic brake 1 D o not release dynamic brake 1 7 3 1 Cn 0001 Memory Switches 1 7 3 Memory Switch Bit D...

Page 140: ...Position clamping 1 bA 0 bB Mode switch function 0 U s e the mode switch function depending on bits 12 and 13 1 D i s a b l e the mode switch function _ 0 bC 00 M o d e switch selection use internal...

Page 141: ...encoder 1 D o not detect zero point errors 0 b2 0 b3 0 b4 0 b5 0 b6 Software limit check by a reference position 0 D o not check 1 C h e c k 0 b7 0 b8 0 b9 0 bA 0 bB 0 bC 0 bD 0 bE 0 bF 0 7 3 2 Cn 000...

Page 142: ...check 1 Communication check masked 0 bB WDT Check Mask for Debugging 0 Check WDT 1 Mask WDT 0 bC 0 bD 0 bE 0 bF 0 7 3 3 Cn 0013 Memory Switches 3 The following table shows details of Cn 0013 Memory sw...

Page 143: ...ftware limit 1 M a s k always disable forward software limit 0 b3 N SOT mask 0 Enable reversesoftware limit 1 M a s k always disable reversesoftware limit 0 b4 0 b5 0 b6 0 b7 0 7 3 4 Cn 0014 Memory Sw...

Page 144: ...B N OT signal 0 P o s i t i v e logic 1 N e g a t i v e logic 0 bC DEC signal 0 P o s i t i v e logic 1 N e g a t i v e logic 0 bD 0 bE 0 bF 0 B i t b8 to bF The following table shows details of bits...

Page 145: ...017 Torque reference filter time constant Cn 0018 Torque reference filter time constant secondary Cn 001A Position loop gain Cn 001C Bias Cn 001 D Feedforward compensation 7 4 Limits to User Constant...

Page 146: ...MS 40ADA A7H SGMD 32ADA 9CH SGMS 50ADA A8H SGMD 40ADA 9DH 7 5 Procedure for Transferring User Constants The procedure for changing transferring user constants parameters after power is turned ON is to...

Page 147: ...7 Setting 60 SGDB 60AN SGMG 55ADA 94H SGMG 60ADB B2H 75 SGDB 75AN SGMG 75ADA 95H 1A SGDB 1AAN SGMG 1AADA 8CH 1E SGDB 1EAN SGMG 1EADA 96H Note The setting at user constant Cn 0037 can be changed as lon...

Page 148: ...8 3 Wiring Specifications 8 7 8 3 1 Rated Current and Cable Specifications 8 7 8 3 2 Wiring Instructions 8 9 8 3 3 Power Loss 8 11 Installation and Wiring This chapter describes procedures for checki...

Page 149: ...the motor shaft can be smoothly turned by hand it is normal If the motor has a brake however it cannot be turned manually Check loose screws Check for looseness by using a screwdriver as necessary 8...

Page 150: ...ng storage Before installation clean off the anticorrosive paint thoroughly using a cloth moistened with thinner Avoid getting thinner on other parts of the Servomotor when cleaning the shaft Anticorr...

Page 151: ...ositions on the circumference The difference between the maximum and minimum measurements must be 0 03 mm 0 0012 in or less Turn together with couplings Figure 8 2 Alignment Allowable Bearing Load Do...

Page 152: ...K but will eventuallycausemagneticcontactors or relays in the reference circuits or main circuits to malfunction Take appropriate action to prevent corrosive gases Other locations Avoidinstallationinh...

Page 153: ...to the wall sothat the front panel faces outward ME CHATROLINK communication connector mounting surface Provide sufficient space around each SERVOPACK to allow for cooling by fan or natu ral convecti...

Page 154: ...line Termi nals Control I O Signal Connector 1CN 100 mA DC max PG Signal Connector 2CN 100 mA DC max 500 mA for the power line Ground Terminal e 8 3 Wiring Specifications 8 3 1 Rated Current and Cable...

Page 155: ...a max for 2CN PG Signal Connector 2CN Ground Terminal e HIV 2 0 0 003 min Cable Type Conductor Allowable Temperature C Symbol Name PVC Normal vinyl cable IV 600 V vinyl cable 60 HIV Temperature resist...

Page 156: ...length is as follows 50 m 164 04 ft for I 0 lines at 24 V power supply 20 m 65 62ft for PG feedback lines and 50 m 164 04 ft for MECHATRO LINK communication line Cut off the excess portion of the cab...

Page 157: ...are provided against radio frequency interference Use a noise filter in the power input line when using the SER VOPACKS near residential areas or where they are prone to radio frequency interference...

Page 158: ...istors is the permissible power loss If the permissible power loss is exceeded remove the built in Regenerative Resistor from the SERVOPACK and reinstall an external resis tor A SERVOPACK with an exte...

Page 159: ......

Page 160: ...KS 0 5 to 1 5 kW 9 53 9 2 2 SGDB 20AND to 30AND SERVOPACKS 2 0 to 3 0 kW 9 54 9 2 3 SGDB 50AND SERVOPACKS 5 0 kW 9 55 9 2 4 SGDB 60AND to 75AND SERVOPACKS 6 0 to 7 5 kW 9 56 9 2 5 SGDB 1AAN lEAN SERVO...

Page 161: ...ns 9 87 9 4 3 SGMP 15A Servomotor Connectors 9 89 9 4 4 SERVOPACK Encoder Connectors 9 90 9 4 5 1CN 2CN Connector for SERVOPACK 9 92 9 4 6 4CN Connector for SERVOPACK 9 93 9 5 Noise Filters 9 94 9 5 1...

Page 162: ...s with 8192 P R Incremental Encoders O 0 0 L LT LL LM LR 0 0016 LG L E 0 Cf KB1 KB2 Shaft Extensin SGMG 05A2A to 13A2A 1AA2A LR LE r LF1 J_ 0 04 i A 0 0 04 o 0 0006 0 02 1 004 A 4 0 LZ MTG holes LC 0...

Page 163: ...5 51 30A2A 271 192 145 79 3 11 47 1 85 115 171 140 88 3 46 10 67 7 56 5 71 4 53 6 73 5 51 44A2A 305 226 179 79 3 11 47 1 85 149 205 140 88 3 46 12 01 8 90 7 05 5 87 8 07 5 51 55A2A 373 260 213 113 47...

Page 164: ...0 020 18 0 71 230 9 06 76 2 99 62 2 44 13 5 0 53 35 00 01 0 0004 1 38 0 45 1 77 76 2 99 18 39 7 44A2A 200 7 87 A 0 1 I T J 0 0 0 2 5 4 50 loom 180 7 09 3 2 0 13 3 0 12 0 5 0 020 18 0 71 230 9 06 76 2...

Page 165: ...r End Receptacle MS3102A20 29 Plug To be prepared by customer L type MS3108B20 29S or Straight type MS3106B20 295 Cable Clamp To be prepared by customer MS3057 12A Note 1 Terminals K to T are not used...

Page 166: ...0 11Li 0 035 1 4 33 0 0014 130 5 12 6 0 24 6 0 24 12 0 47 165 6 50 45 1 77 9 0 35 i n 0 17 0 013 0 75 O 0005 30 1 18 40 1 57 9 6 21 2 13A2AAB 145 5 71 0 110 _ 0 035 0 4 33 00014 130 5 12 6 0 24 6 0 2...

Page 167: ...LJ1 LJ2 LZ S 51 0 55A2AAB 200 7 87 i i n 0 I F 1 _ 3 0 025 4 50 0 0010 180 7 09 3 2 0 13 3 0 12 0 5 0 020 18 0 71 230 9 06 76 2 99 62 2 44 13 5 0 53 42 _ 00 16 o 1 65 0 0006 45 1 77 110 4 33 35 1 38 7...

Page 168: ...ring on Brake and Servomotor End A Brake terminal B Brake terminal C Servomotors with 15 bit and 8192 P R Absolute Encoders a of 0 0 0 L LL L R LT LM 0 0016 LG LE 1 0 KB1 KB2 Shaft Extension SGMG 05AS...

Page 169: ...51 30ASA 285 206 145 79 3 11 61 2 40 115 185 140 88 3 46 11 22 8 11 5 71 4 53 7 28 5 51 44ASA 319 240 179 79 3 11 61 2 40 149 219 140 88 3 46 12 56 9 45 7 05 5 87 8 62 5 51 55ASA 387 274 213 113 61 2...

Page 170: ...71 230 9 06 76 2 99 62 2 44 13 5 0 53 0 01 35 0 0 0 0 0 4 1 38 o 45 1 77 76 2 99 18 5 40 8 44ASA 200 7 87 n 0 1 1 1 _ 0 0 2 5 0 4 50 ammo 180 7 09 3 2 0 13 3 0 12 0 5 0 020 18 0 71 230 9 06 76 2 99 6...

Page 171: ...U B Phase V C Phase W D Ground terminal 9 1 1 SGMG LOADA Servomotors Connector Wiring on Encoder End Receptacle MS3102A20 29 Plug To be prepared by customer L type MS3108B20 29S or Straight type MS31...

Page 172: ...4 72 88 3 46 20ASAAB 310 12 20 231 9 09 170 6 69 79 3 11 61 2 40 79 3 11 210 8 27 146 5 75 88 3 46 30ASAAB 336 13 23 257 10 12 196 7 72 79 3 11 61 2 40 105 4 13 236 9 29 146 5 75 88 3 46 44ASAAB 370 1...

Page 173: ...00 7 87 0 114 3 0 025 4 50 Lom 180 7 09 3 2 0 13 3 0 12 0 5 0 020 18 0 71 230 9 06 76 2 99 62 2 44 13 5 0 53 0 01 35 0 0 0004 1 38 0 45 1 77 76 2 99 19 5 43 0 30ASAAB 200 7 87 i A 0 114 3 0 025 0 4 50...

Page 174: ...0 4 50 00010 180 7 09 3 2 0 13 3 0 12 0 5 0 020 18 031 230 9 06 76 2 99 62 2 44 13 5 0 53 42 _ 016 0 1 65 0 0006 45 1 77 110 4 33 36 79 4 75ASAAB 200 7 87 0 114 3 _ 0 025 450 0 0010 c 180 7 09 3 2 0...

Page 175: ...8 3 46 10 67 7 56 5 71 4 53 6 73 5 51 30A2B 305 226 179 79 3 11 47 1 85 149 205 140 88 3 46 12 01 8 90 7 05 5 87 8 07 5 51 44A2B 373 260 213 113 47 1 85 174 239 125 150 88 3 46 14 69 10 24 8 39 4 45 6...

Page 176: ...W 180 7 09 3 2 0 13 3 0 12 0 5 0 020 18 0 71 230 9 06 76 2 99 62 2 44 133 0 53 4 0 01 35 o 0 0004 1 38 0 45 1 77 76 2 99 23 50 7 44A2B 200 7 87 0 114 3 _ 0 025 0 4 50 o 00lo 180 7 09 3 2 0 13 3 0 12 0...

Page 177: ...02 7 95 120 4 72 88 3 46 12A2BAB 296 11 65 217 8 54 170 6 69 79 3 11 47 1 85 79 3 11 196 7 72 146 5 75 88 3 46 20A2BAB 322 12 68 243 9 57 196 7 72 79 3 11 47 1 85 105 4 13 222 8 74 146 5 75 88 3 46 30...

Page 178: ...1 18 40 1 57 12 26 5 12A2BAB 200 7 87 1 1 A 1 0 1 1 1 0 2 5 4 50 O 00lo 180 7 09 3 2 0 13 3 0 12 0 5 0 020 18 0 71 230 9 06 76 2 99 62 2 44 13 5 0 53 3 5 0 01 0 0 0004 1 38 45 1 77 76 2 99 19 41 9 20A...

Page 179: ...LH LJ1 LJ2 LZ S S1 0 44A2BAB 200 7 87 11A 2 0 1 1 1 3 _ 0 0 2 5 4 50 0 0010 180 7 09 3 2 0 13 3 0 12 0 5 0 020 18 0 71 230 9 06 76 2 99 62 2 44 13 5 0 53 A l _ 00 016 1 65 0 0006 45 1 77 110 4 33 35 7...

Page 180: ...5 206 145 79 3 11 61 2 40 115 185 140 88 3 46 11 22 8 11 5 71 4 53 7 28 5 51 30ASB 319 240 179 79 3 11 61 2 40 149 219 140 88 3 46 12 56 9 45 7 05 5 87 8 62 5 51 44ASB 387 274 213 113 61 2 40 174 253...

Page 181: ...00 4 50 0 001o 180 7 09 3 2 0 13 3 0 12 0 5 0 020 18 0 71 230 9 06 76 2 99 62 2 44 13 5 0 53 0 01 35 0 0 0004 1 38 0 45 1 77 76 2 99 18 5 40 8 30ASB 200 7 87 1A 2 0 1i KJ 0 025 0 4 50_ 0 0010 180 7 0...

Page 182: ...se V C Phase W D Ground terminal Note 1 Terminals K to P are not used 2 Receptacle plug and cable clamp are common regardless of motor capacity Connector Wiring on Servomotor End Servomotors with 15 b...

Page 183: ...57 7 9 17 4 06ASBAB 145 5 71 0 110 _ 0 035 0 4 33 0 0014 130 5 12 6 0 24 6 0 24 12 0 47 165 6 50 45 1 77 9 0 35 0 19 _ 0 013 0 75 0 0005 30 1 18 40 1 57 10 22 0 09ASBAB 145 5 71 r 0 1 v _ 0 035 4 33 0...

Page 184: ...113 61 248 378 305 125 150 88 123 20 16 15 71 13 31 4 45 2 40 9 76 14 88 12 01 4 92 5 91 3 46 4 84 Model SGMG Flange Dimensions mm in Shaft End Dimensions mm in Approx Mass kg Ib LA LB LC LE LF1 LF2 L...

Page 185: ...nal B Brake terminal C A Phase U B Phase V C Phase W D FG Frame Ground 9 1 3 SGMS EDA Servomotors Connector Wiring on Brake and Servomotor End 9 1 3 SGMS DEIA Servomotors Servomotors with 4096 P R Inc...

Page 186: ...1 15A6A 115 4 53 0 95 0 035 3 74 o coi4 100 3 94 3 0 12 3 0 12 10 0 39 130 5 12 45 1 77 7 0 28 0 24 _ 0o 013 0 94 0 0005 30 1 18 40 1 57 5 8 12 8 20A6A 115 4 53 0 95 0 035 o 3 74 00014 100 3 94 3 0 1...

Page 187: ...C Phase W D Ground terminal 9 1 3 SGMS DEIA Servomotors Note 1 Terminals K to T are not used Do not connect anything 2 Receptacle plug and cable clamp are common regardless of motor capacity Connecto...

Page 188: ...0 2 8 1 1 8 0 24 0 013 0 0 94 0 0005 30 40 1 57 6 0 13 2 15A6AAB 115 4 53 0 95 0 035 0 3 74 00014 100 3 94 3 0 12 3 0 12 10 0 39 130 5 12 45 1 77 7 0 28 0 24 0 013 0 0 94 0 0005 30 1 18 40 1 57 7 5 1...

Page 189: ...212 8 35 152 5 98 45 1 77 60 2 36 125 4 92 191 7 52 96 3 78 87 3 43 30ASA 276 10 87 213 8 39 153 6 02 63 2 48 60 2 36 122 4 80 192 7 56 114 4 49 87 3 43 40ASA 313 12 32 250 9 84 190 7 48 63 2 48 60 2...

Page 190: ...1 18 55 2 17 11 5 25 4 40ASA 145 5 71 110 0 _ 0 035 4 33 Lo14 130 5 12 6 0 24 6 0 24 12 0 47 165 6 50 45 1 77 9 0 35 0 28 _ 0 1 10 0 0005 30 1 18 55 2 17 1 4 5 0 1 3 32 0 50ASA 145 5 71 110 0 0 4 33 0...

Page 191: ...72 45 1 77 60 2 36 116 4 57 235 9 25 100 3 94 87 3 43 30ASAAB 314 12 36 251 9 88 191 7 52 63 2 48 60 2 36 113 4 45 230 9 06 119 4 69 87 3 43 40ASAAB 350 13 78 288 11 34 228 8 98 63 2 48 60 2 36 150 5...

Page 192: ...45 1 77 7 0 28 0 24 0 013 o 0 94 0 0005 30 1 18 40 1 57 9 0 19 8 30ASAAB 145 5 71 i 0 11 v _ 0 035 4 33 0 0014 130 5 12 6 0 24 6 0 24 12 0 47 165 6 50 45 1 77 9 0 35 nn 0 L 14 0 013 0 1 10 0 0005 30 1...

Page 193: ...01 165 6 50 88 3 46 40A6A 274 10 79 209 8 23 166 6 54 65 2 56 43 1 69 92 3 62 188 7 40 165 6 50 88 3 46 9 1 4 SGMD OLIA Servomotors 9 1 4 SGMD 111EA Servomotors II Servomotors with 4096 P R Increment...

Page 194: ...45 1 77 60 2 36 21 46 297 26 57 3 A A Channel Output K B A Channel Output L C B Channel Output M D B Channel Output N E C Channel Output P F C Channel Output R G 0 V S H 5 VDC T J FG Frame Ground A Ph...

Page 195: ...82 3 23 192 7 56 165 6 50 88 3 46 40AWA 288 11 34 223 8 78 166 6 54 65 2 56 57 2 24 92 3 62 202 7 95 165 6 50 88 3 46 9 1 4 SGMD EIDA Servomotors Servomotors with 12 bit 1024 P R Absolute Encoders and...

Page 196: ...26 5 58 4 A A Channel Output K SChannel Output B A Channel Output L SChannel Output C B Channel Output M D B Channel Output N E Z Channel Output P F Z Channel Output R Reset G 0 V S 0 V battery H 5 VD...

Page 197: ...UL2464 09 5 00 37 p 1 38 109 5 4 31 94 7 3 73 149 5 5 89 3 0 11 81 1 18 40 1 57j 10 5 1 0 3 5 0 41 0 3 9 0 14 Name plate 19 0 75 1 0 04 A 0 0016 0 02 A 0 0008 OK fo Incremental encoder 2048 P R 0 0 04...

Page 198: ...t Green Black 7 0 V power supply Gray 8 5 V power supply Red 9 FG Frame Ground Orange Servomotor and Encoder Plug Motor Plug Plug 350779 1 AMP Pin 350218 6 or 350547 6 7 6 0 30 U 7 6 0 30 Encoder Plug...

Page 199: ...0 39 0 14 Name plate 19 0 75 1 0 04 A 0 0016 0 02 Screw Cross section Y Y Hexagonal nut 17 0 67 0120 04 72 A 0 0008 4 010 MTG holes OK 0 11 Incremental encoder 2048 P R Holding brake De energization...

Page 200: ...output Green Black 7 0 V power supply Gray 8 5 V power supply Red 9 FG Frame Ground Orange Servomotor and Encoder Plug Motor Plug Encoder Plug 14 0 55 10 1 fffl Plug 350715 1 AMP Pin 350218 6 or 3505...

Page 201: ...09 5 00 37 35 1 8 174 6 85 3 0 0 3 0 11 81 1 18 134 5 28 94 7 3 73 40 1 571 10 10 5 0 41 0 39 3 5 011 Name plate 19 0 75 1 0 04 A 0 0016 0 02 OK C 0 rn Absolute encoder 1024 P R 00 04 A 0 0 0016 Scre...

Page 202: ...11 Schannel output White Purple 12 Capacitor reset Gray 13 Reset White Gray 14 0 V battery White Orange 15 3 6V battery Orange Servomotor and Encoder Plug Motor Plug 0 7 6 0 30 U 7 6 0 30 Encoder Plug...

Page 203: ...7 3 73 10 3 5 10 5 0 41 0 39 0 1 4 Name plate 19 0 75 1 0 04 A 0 0016 0 02 A 0 0 0 0 8 O K 0 0 8 Absolute encoder Holding brake 2048 P R D e e n e r g i z a t i o n operation Voltage B 90 VDC C 24 VDC...

Page 204: ...put Purple 11 Schannel output White Purple 12 Capacitor reset Gray 13 Reset White Gray 14 0 V battery White Orange 15 3 6 V battery Orange Servomotor and Encoder Plug Motor Plug Encoder Plug 22 4 0 88...

Page 205: ...5ADA 1AANIA 1EANA MS3102A32 17P MS3108B32 17S MS3106B32 17S MS3057 20A SGMG 0 3 A B 06AMB 09AMB MS3102A18 10P MS3108B18 10S MS3106B18 10S MS3057 10A 12A11113 20A U B 30AIIIB MS3102A22 22P MS3108B22 22...

Page 206: ...40AMA 50AMA SGMG 0 5 A MA MS3102A20 29P MS3108B20 29S MS3106B20 29S _ MS3057 12A 09A MA 13AMA 20AMA 30AMA 44AMA 55AMA 75ADA 1AAMA 1EAMA SGMG 0 3 A D B MS3102A20 29P MS3108B20 29S MS3106B20 29S MS3057...

Page 207: ...3S MS3106B32 17S MS3106A10SL 3S MS3057 20A MS3057 4A SGMG 0 3 A E B 06AEB 09A E B MS3102A20 15P MS3108B20 15S MS3106B20 15S MS3057 12A 12AEB 20AEB 30AEB MS3102A24 10P MS3108B24 10S MS3106B24 10S MS30...

Page 208: ...MA 40A MA 50A MA SGMG 05A IA MS3102A20 29P MS3108B20 29S MS3106B20 29S _ MS3057 12A 09A NA 13AMA 20ACIA 30AllA 44ANA 55ADA 75A MA 1AAMA 1EA IA SGMG 03AM B MS3102A20 29P MS3108B20 29S MS3106B20 29S MS3...

Page 209: ...05 2A18 10PD MS3106A18 1 OS D190 CE 18BA S CE02 18BS S CE3057 10A Daiichi Denshi Kogyo Co Ltd 1 2 A B 2 0 A B 3 0 A B JLO4HV 2E22 22P E B JL04 6A22 22S JL04 22EBL JL04 22EB JL04 2022CK 14 Japan Aviati...

Page 210: ...18 1 OS D190 CE 18BA S CE02 18BS S CE3057 10A Daiichi Denshi Kogyo Co Ltd 12A 13 20A B 30A B JLO4HV 2E22 22P E B JL04 6A22 22S JL04 22EBL JL04 22EB JL04 2022CK 14 Japan Aviation Electronics Indus try...

Page 211: ...r models 2 Do not modify the receptacle and plug kits in order to conform to IP67 specifications 3 End Bell is the name of a product manufactured by Japan Aviation Electronics Industry Ltd and Back Sh...

Page 212: ...1 5 kW Two 5 5 0 22 dia mounting holes 3 C N 110 4 33 92 3 62 4CN SERVOPACK S O D S YASKAWA 1CN External terminals M4 screws Ground terminal M4 screw 2CN 1CN 01W 5 0 22 A 0 to ri oi oi Regenerative r...

Page 213: ...ing holes 3CN 135 5 31 117 4 61 SCN 4CN 3CN 4CN SERVOPACK SGDB 1 1 3 1 m 012113 YASKAWA ICN 1 0117A11 1 0 1SW 5CN a i 1SW 2CN CHARGE 2CN 1CN cri 0 External terminals 5 5 0 22r M4 screws Ground termina...

Page 214: ...2 72 4 s 4 s 0 0 0 0 I s e a n 0 C I c i C 0 1 4 0 N 0 4 1 1 0 I _ 11 0 V I 4 J t t r t 0 11 fair 4 4 i s 0 n _ 5 4 0 21 5 4 0 21 OO 0 O 0 0 0 0 O 0 O 0 0 0 0 0 0 0 0 0 0 0 9 2 3 SGDB 50AND SERVOPACK...

Page 215: ...A R l a r i l r t 1 r _ 1 1 1 1 7 1 M M I I I I I I M E M M O I e 8 I 7 5 0 30 25 0 98 View A 180 7 09 25 0 9 MAX 230 9 06 9 2 4 SGDB 60AND to 75AND SERVOPACKS 6 0 to 7 5 kW 9 2 4 SGDB 60ANE to 75AND...

Page 216: ...ol circuit terminals 260 10 24 181 7 lall 11 31 O E i r i R M wimorimakmaww 34 1 3 Re 152 5 6 90 N 2 C N enerative M a i n circuit 27 1 6 co 5 54 Ground CCn r resistor terminals terminals t e r m i n...

Page 217: ...ws N Ground terminal M4 screw Inside the cover 10 0 39 9 2 3 62 Four 05 0 80 Mounting Holes 3 5 0 14 co 10 0 39 N N N 0 0 105 0 5 3 5 0 14 4 13 0 020 112 4 41 View of the Mounting Surface a csi E O Re...

Page 218: ...17 4 61 Hollow 10 0 39 6 6 5J6 N d cs O o r L 1 2 0 47 82 3 23 LI C W N 0 Lc 0 co 117 4 61 130 0 5 5 12 0 020 0 N 3 5 0 14 0 z 87 2 O 0 View of the Mounting Surface rc 0 Heat sink Regenerative resisto...

Page 219: ...21 _ 219 4 8 64 Name plate Heat sink 11 11 L J Iliillll 11 11 Regenerative resistor 6 co 0 Air fl w 35 1 38 1 2 2 4 80 Detailed View of External Terminals M4 screws O OOOOOOOO OO OOOO 7 OO OO 7 aRSTr...

Page 220: ...9 0 75 9x19 171 0 49 205 8 07 12 5 0 d AX 230 9 0 9 2 9 SGDB 60ANEI to 75ANIMP SERVOPACKS Air flow Control circuit terminals M4 screws 7 0 28 Mounting holes C i CO SD cr Lc 30 7 12 4CN 5 C N 3CN 7 9 I...

Page 221: ...AAN P 1EAN P SERVOPACKS 9 2 10 SGDB 1 AAN P 1 EAN P SERVOPACKS Mounting holes M 4 control circuit terminals 260 10 24 Regenerative resistor terminals M6 screws 9CN1 Main circuit terminals M8 screws Gr...

Page 222: ...tor Comments 1CN 10226 52A2JL Manufactured by Sumitomo 3M Co Ltd 2CN 10220 52A2JL 4CN MR 8RMD2 G Manufactured by Honda Tsushin Kogyo Co Ltd 5CN DF11 4DP 2DSA Manufactured by Hirose Electric Co Ltd Com...

Page 223: ...Encoder Cables The following shows the dimensions and external appearance of encoder cables Be sure to specify the type of cable when ordering III F o r SGMG SGMS and SGMD Servomotors Incremental Enco...

Page 224: ...0 008 manufactured by SUMITOMO 3M Ltd Plug 10120 3000VE 1 0 100 0 0 3 9 3 94 0 Encoder end Wire markers Connector Straight plug MS3106B20 29S Cable clamp MS3057 12A Encoder end Case 10320 62A0 008 man...

Page 225: ...les with L shaped Plug ULshielded wire compound KQVV SW DP8409123 AWG22 x 3C AWG26 x 6P Shell 10320 52A0 008 M S 3 1 0 8 B 2 0 2 9 5 Manufactured by manufactured by SUMITOMO 3M Ltd Daiichi Denshi Kogy...

Page 226: ...5 20000 5 00 787 40 O 69 Incremental Encoder Cables Cable Only k Cable AWG22 x 3C AWG26 x 4P L Connector Straight plug MS31061320 29S Cable clamp MS3057 12A Encoder end L Case 10320 52A0 008 mjnufactu...

Page 227: ...10120 3000VE manufactured by SUMITOMO 3M Ltd 0 12 mm2 0 0002 in2 Blue 0 3 mm2 0 0005 in2 White Gray 1 FREVERVITIAIIINI orrnimmummem 16 17 18 19 14 15 9 4 1 5 2 6 3 10 12 13 20 P Shielded twisted pair...

Page 228: ...70361 1 Connected Shrink tube Encoder end SERVOPACK end of cable Wire markers Cable 89400064 W i r e s AWG 22 x 3C AWG 26 x 4P Shrink tube Cap 172161 1 Socket 170361 1 Encoder end SERVOPACK end Case 1...

Page 229: ...ables with Servomotor end Connector Encoder end of cable Cap 172163 1 15 pin Socket 170361 1 connected Shrink tube Encoder end S S 35 Cable DP8409123 AWG22 x 3C AWG26 x 6P Shrink tube L SERVOPACK end...

Page 230: ...or 170365 1 Manufactured by Japan AMP Co Ltd Encoder end 0 3 m 0 0005 in2 Case 10320 52A0 008 Manufactured by SUMITOMO 3M Ltd Connector 10120 3000VE Manufactured by SUMITOMO 3M Ltd 0 12 mm2 0 0002 in...

Page 231: ...r wires B3Green White Green Twisted pair wires B B4Orange White Orange Twisted pair wires B5Purple White Purple Twisted pair wires B6Gray White Gray Tw i s t e d pair wires Yaskawa Standard Specificat...

Page 232: ...Users must select and purchase the cables separately according to their specifications Users using the SGMP Servomotor 1 5 kW must purchase the cables below Cables for Servomotors without Brakes with...

Page 233: ...28 DE9411358 5 100 01 328 08 0 28 DE9411358 6 200 01 656 17 028 DE9411358 7 300 01 984 25 0328 DE9411358 8 500 01 1640 42 0128 DE9411358 9 1000 01 0 69 3280 84 9 3 4 MECHATROLINK Communication Cables...

Page 234: ...e SERVOPACKendof the cable Servomotorconnector for the Servomotorendof the cable Theusermustprovidecrimpedterminals for connectingtheServomotoron the SERVOPACK end The type of connector varies accordi...

Page 235: ...Connector Combination MS D190 waterproof plug CE02 XXBS S waterproof straight Back Shell 4 I Flexible conduit M a o 1_1 9 Waterproof cable clamp CE3057 CE XXBA S waterproof angled Back Shell Servomoto...

Page 236: ...ADA 30ACIA 44AD A MS3102A22 22P MS3108B22 22S MS3106B22 22S MS3057 12A 55A0A 75ADA 1AADA lEADA MS3102A32 17P MS3108B32 17S MS3106B32 17S MS3057 20A SGMG 03AD B 06ADB 09AD B MS3102A18 10P MS3108B18 10S...

Page 237: ...222 1314 18UNS 11 13 0 4382 66 2 60 Shell Size Joint Screw A Length of Joint Por tion J 0 12 0 0047 Overall Length L max Outside Diameter of Jont Nut 4f 1 00 38 0 015 R 0 5 0 020 U 0 5 0 020 Cable Cl...

Page 238: ...Mounting Screw V Attached Bushing MS3057 10A 18 23 8 30 1 10 3 15 9 14 3 3 2 31 7 1 20UNEF AN3420 10 0 937 1 19 0 406 0 626 0 563 0 13 1 25 MS3057 12A 20 22 23 8 35 0 10 3 19 0 15 9 4 0 37 3 13116 18...

Page 239: ...S3106B32 17S MS3106A1OSL 3S MS3057 20A MS3057 4A SGMG 0 3 A D B 06AD B 09AD B MS3102A20 15P MS3108B20 15S MS3106B20 15S MS3057 12A 12A 0 B 20A0 B 30AD B MS3102A24 10P MS3108B24 10S MS3106B24 10S MS305...

Page 240: ...i Denshi Kogyo Co Ltd 12AD B 20AD B 30AD B JLO4HV 2E22 22PE B JL04 6A22 22S JL04 22EBL JL04 22EB JL04 2022CK 14 Japan Aviation Electronics Industry Ltd 44A El B 60AD B JLO4V 2E32 17PE B JLO4V 6A32 1 7...

Page 241: ...15PE JLO4V 6A20 1 5SE JL04 20EBL JL04 20EB JL04 2022CK 14 Japan Aviation Electronics Industry Ltd Daiichi Denshi Kogyo Co Ltd 12ADB 20AD B 30AD B 1 1 04V 2E24 10 PE B JLO4V 6A24 10S JL04 24EBL JL04 24...

Page 242: ...0 10 5 0 413 16 3 0 642 26 7 1 05 1 20UNEF 2B 1 20UNEF 2A 20 CE02 20BS S 35 1 38 35 1 38 10 9 0 429 17 8 0 700 31 6 1 24 1118 18UNEF 2B 1 3 11 6 1 8 U N E F 2 A Note 1 D o not modify the receptacle an...

Page 243: ...0 CE 18BA S 18 1 20UNEF 2B 44 6 34 32 4 13 2 30 2 43 4 1 20UNEF 2A 7 5 1 76 1 34 1 28 0 520 1 19 1 71 0 30 CE 20BA S 20 11 18UNEF 2B 50 5 39 6 36 15 33 3 48 3 13 16 18UNEF 2A 7 5 1 99 1 56 1 42 0 591...

Page 244: ...0 2 08 5 0 0 33 to 2 0 457 4 11 00 43 CE3057 10A 8 7 CE3420 10 3 05 5 0 0 22 to 3 0 34 0 9 7 00 38 CE3057 12A 20 23 8 35 10 3 41 3 19 16 37 3 4 13 16 CE3420 12 1 012 5 1 22 0 937 1 38 0 406 1 63 0 748...

Page 245: ...72 1318 18UNEF 2A 10 0 39 Shell Size V S c r e w q 5A 16B L E G 20 1 1 8 18UNEF 2A 37 3 0 8 1 47 0 0315 27 0 2 1 06 0 0079 31 5 0 4 1 24 0 0157 8 max 0 31 max 32 17 8 16UN 2A 56 3 0 8 2 22 0 0315 45 4...

Page 246: ...8 D 0 031 ct E O 3 0E 0 011 F W screw Applicable Cable Diameter JL04 2022CK 14 37 3 34 9 24 3 53 8 15 9 4 0 16 13 16 18UNEF 2B 0 12 9 to 0 15 9 1 47 1 37 0 96 2 12 0 63 0 0 51 to 0 0 63 JL04 2428CK 1...

Page 247: ...es Servomotor cable only whether or not the Servomotor has a brake An encoder cable with a SERVOPACK end connector loose leads on the encoder end or an encoder cable only regardless of whether the enc...

Page 248: ...Cap 172160 1 Socket 170362 1 or 170366 1 9 4 3 SGMP 15A Servomotor Connectors Different connectors are used for Servomotors depending on whether Servomotors are with brake or without brake For a Servo...

Page 249: ...22 0 0 87 9 4 4 SERVOPACK end Encoder Connectors 9 4 4 SERVOPACK end Encoder Connectors Only one type of encoder connector is available for the SERVOPACK end encoder common to SGMG SGMS SGMD SGM and S...

Page 250: ...Qty Model Qty Model Qty Model Qty DP9420006 1 Incremental encoder Without 172161 1 1 1 170365 1 1 10 3 10120 3000VE 2 1 10320 52A0 008 2 1 172159 1 1 1 170366 1 1 5 3 DP9420006 2 Incremental encoder W...

Page 251: ...66 1 1 5 3 DP9420016 2 Incremental encoder With 350781 1 1 1 7 3 DP9420016 3 Absolute encoder Without 172163 1 1 1 16 3 350780 1 1 1 5 3 DP9420016 4 Absolute encoder With 350781 1 1 1 7 3 SERVOPACK Co...

Page 252: ...10126 3000VE 2 1 10326 52A0 008 2 1set DE9411357 4CN MECHATROLINK commu nication connector MR 8F 4 1 MR 8L 4 1set 9 4 6 4CN Connector for SERVOPACK 31 1 22 1 1 0 43 h 0 0 I 36 6 1 44 MR 8L HONDA 19 0...

Page 253: ...ct a noise filter based on SERVOPACK capacity A list of filters is provided in Table 2 8 page 2 22 9 5 1 Dimensional Diagram LF 300 Series Three phase 200 VAC Class 2 4 5 00 18 LF 310 to 330 2 1 2 1 6...

Page 254: ...65 4 5 X 7 7 09 6 69 2 36 1 14 4 72 5 31 J5 91 1 38 2 56 0 18 X 0 28 LF 340 180 160 50 30 200 220 240 40 80 6 5 X 9 7 09 6 30 1 97 1 18 7 87 8 66 9 45 1 57 3 15 0 26 x 0 35 LF 350 180 160 50 30 200 2...

Page 255: ...M3 5 screws F C N 3 6 4 P 0 4 0 A U 9 6 2 Brake Power Supply Brake power supplies are used for Servomotors with brake Brake power supplies are available for 200 V and 100 V inputs 200 VAC input LPSE...

Page 256: ...d The following diagrams show the internal circuits While it is possible to switch either the AC or DC side of the brake power supply it is normally safer to switch the AC side If the DC side is to be...

Page 257: ...omotor protection manufactured by Mitsubishi Electric Co Ltd Model MIN50 CF 9 6 4 Magnetic Contactor Magnetic contactors are used to turn the servo power supply ON and OFF Be sure to attach a surge su...

Page 258: ...0 nrYm 0 El b S E T I E 1 31E1 J_ _L 1 T T Z V WE 2 E 2 ti 14 01ermlnal 2 152 0 60 r 4 0 32 4 5 0 re E r r im_lElm1111IM I A u x i l i a r y I N N 7 ir f4 0 r 111 1 V 7 Awvi gz1 T M i t I l l v 1 I Ul...

Page 259: ...istor Unit Model 60AN JUSP RA04 75AN JUSP RA05 lAAN lEAN 9 6 6 Regenerative Resistor Unit T h e magnetic contactor is manufactured by Yaskawa Controls 9 6 5 Surge Suppressor Attach asurge suppressor t...

Page 260: ...15 432 lb Model L mm in DE9404559 1000 02 39 37 0 79 Dimensional Diagram 4 06 0 24 Mounting holes 1 1Ilk 1 1I 11 1 111 1 Il 11 1101 111 Protective cover Terminal Numbers x w nl Mt R1 D Ground seat M4...

Page 261: ......

Page 262: ...Trial Operation Procedure 10 3 10 2 1 Preparations for Trial Operation 10 3 10 2 2 Operating the Servodrive 10 4 10 2 3 Trial Operation Inspection 10 4 Trial Operation This chapter describes items to...

Page 263: ...olts and nuts securely tightened Is the oil seal undamaged and oiled Take appropriate action immediately if one of the items above is incorrect 10 1 2 SERVOPACKS Inspect the following items before con...

Page 264: ...command is transfered the red alarm indicator will go out Use the SMON status monitoring command to check SERVOPACK status The data returned from the SERVOPACK is alarm code 99 3 Use the IR_RD read I...

Page 265: ...absolute encoders Rapid traverse speed 400 Make sure the Servomotor is running in the proper direction according to the reference Figure 10 1 Servomotor Forward Running 10 2 3 Trial Operation Inspect...

Page 266: ...11 2 Resetting 11 2 11 3 Adjusting Servo Performance 11 2 11 3 1 Setting User Constants 11 2 11 3 2 Setting Optimum Position and Speed Loop Gain 11 3 Settings This chapter describes default character...

Page 267: ...because of application or usage conditions reset them in according to Chapter 6 MECHATROLINK Communication 11 3 Adjusting Servo Performance 11 3 1 Setting User Constants Position Loop Gain Cn 001A Pos...

Page 268: ...to 20 ms Factory setting 11 3 2 Setting Optimum Position and Speed Loop Gain Speed Overshooting and Vibration Incrementally decrease the position loop gain Cn 001A Incrementally increase the speed lo...

Page 269: ......

Page 270: ...Inspection 12 2 12 1 2 SERVOPACK Inspection 12 3 12 1 3 Replacing the Battery for Absolute Encoders 12 4 12 2 Troubleshooting 12 5 12 2 1 Servomotors 12 5 12 2 2 SERVOPACKS 12 6 Maintenance and Inspe...

Page 271: ...dard Replacement Period Replacement Method Bearings 20000 operating hours Disassemble the Servomotor and replace the bearings if necessary Oil Seal About 5000 hours Replace with a new oil seal 12 1 1...

Page 272: ...rolytic Capacitor on Circuit Board 5 years Test and replace with a new circuit board if necessary 12 1 2 SERVOPACK Inspection The SERVOPACK contains highly reliable parts and does not require daily in...

Page 273: ...ars 1 Turn ON the control power supply of SERVOPACK and wait at least 30 minutes after SENS ON command is transmitted until the capacitor inside the encoder is charged 2 Replace the battery The SERVOP...

Page 274: ...Reduce the load or replace with a larger capacity Servo motor Abnormal noise Mechanical mounting incor rect Loose Servomotor mounting screws Coupling not centered Coupling unbalanced Tighten mounting...

Page 275: ...fective Replace SERVOPACK 41 Insufficient Voltage During Servomotor driving Power supply voltage not within specifications Check the power supply Rectifier diode malfunctioned Fuse blown Rush current...

Page 276: ...ew the load overload or load inertia Feedspeedtoo large Decrease the feed speed 71 Instantaneous overload Lit during driving Operationresumes after turning power OFF and ON Load greatly exceeds the ra...

Page 277: ...corn mand and resend the SENS_ON command Control board 1PWB defective Replace SERVOPACK 85 Absolute encoder overspeed only if a 12 bit absolute encoder is used At the SENS_ON command transfer Absolute...

Page 278: ...urn ON the main power sup ply Check the sequence At the synchronous command SYNC_SET transfer Communicationphase3hasnot been reached Establish a sync by CON NECT command normal synchronum or the SYNC...

Page 279: ...Check the N OT and P OT signals Check SERVOPACK status using the status monitor command SMON Check the AC power supply circuit Look for a cause if an indicator is lit Symptom Cause Remedy Poor servo...

Page 280: ...rned OFF If Cn 0001 bits 2 and 3 are 0 Turn ON the P OT and N OT inputs Servomotor moves instan taneously then stops Number of encoder pulses differs from the user constant setting Set user constant C...

Page 281: ...Check whether cou piing is misaligned Align the coupling Check whether the coupling is unbal anced Balance the coupling Bearing defective Check noise and vibra tion near the bearing Contact your Yask...

Page 282: ..._...

Page 283: ...65 282 3003 Fax 65 289 3003 YASKAWA ELECTRIC SHANGHAI CO LTD 4F No 18 Aona Road Waigaogiao Free Trade Zone Pudong New Area Shanghai 200131 China Phone 86 21 5866 3470 Fax 88 21 5866 3869 YATEC ENGINEE...

Page 284: ...service in house repair center WE BUY USED EQUIPMENT Sell your excess underutilized and idle used equipment We also offer credit for buy backs and trade ins www artisantg com WeBuyEquipment REMOTE IN...

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