YASKAWA SGD Series Manual Download

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Summary of Contents for SGD 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: ...CSERIES SGM SGD BULLETIN FOR SPEED TORQUE CONTROL SERVOMOTOR TYPE SGM SERVOPACK TYPE SGD YASKAWA Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Page 3: ...ombmation of our AC SERVOMOTOR and SERVOPACK achieves stable control operation with h gh accuracy quick response control under any environmentalcondition and easy maintenance by display protechve func...

Page 4: ...REQUENCY OF OPERATION 13 4 4 SERVOMOTORFREQUENCY 15 4 5 MOTOR SPEED REFERENCEINPUTCHARACTERISTICS Onlyats edcon rolmode 15 4 6 MOTOR MECHANICALCHARACTERISTICS o 16 4 6 1 MechanlcalStrength m 16 4 6 2...

Page 5: ...uit 51 6 4 3 Absolute Data Receive 51 6 4 4 Senal Data Specificationfor 12 bitAbsolute Encoder Phase A PAO 52 6 4 5 Senal Data Specificationfor Phase S PSO No of Rotations 53 6 4 6 Incrementalpulse 54...

Page 6: ...8A47 CheckofMotorParameters 96 8A48 AutoTunlng 98 8A49 CheckofSoftwareVe lon 102 8A5 MONITORMODE 104 8A6 FAULTTRACEBACKMODE 106 8B DIGITAL OPERATOR TYPE JUSP OP03A OPERATION METHOD 108 8B1 SWITCHOPER...

Page 7: ...NPROCEDURES 176 1121 reparatlonforOperatlon 176 12 ADJUSTMENT 178 12 1 CHARACTERISTICSPRESET AT THE FACTORY PRIOR TO SHIPMENT 178 122 RESET 179 13 1 SGM SERVOMOTOR 180 132 SGDSERVOPACK 180 133 PRECAUT...

Page 8: ...tes 1 Items marked with and the torque speed characteristic are measured when the armature winding combined with the SGD SERVOPACK is 100 C Other figures are measured when the temperature is 20 C All...

Page 9: ...haractenshcsmay vary accordingly Wlth Hold ng kg m 2 Brake O Z n s 2 W t h 12 b t kg m 2 Absolute Encoder oz n s2 SGM 0 025 x lo 0 352 x 10 3 A3A I A5A I 01A 0 0085 x lo 0 120 x lo4 02A I 04A 0 058 x...

Page 10: ...TORQUE N r n TORQUE oz n 0 1 2 3 4 TORQUE N m 1 1 I I 0 200 400 600 TORQUE oz in TORQUE N m TORQUE oz in TYPE SGM 02A 0 100 200 300 TORQUE oz w TYPE SGM 08A TORQUE oz n CONTINUOUSDUTY ZONE INTERMITTEN...

Page 11: ...0 9 N m A rms Torque constant OZ in A rms Rated Angular Acceierat on Moment of Inertla kg m2x J M G D M z n s X l O Power Ratlnn kW s 0 96 135 2 2 0 168 23 8 Notes 1 Items marked with and the torque...

Page 12: ...x 1 2 2 Torque Speed Characteristics TYPE SGM A3B TYPE SGM A5B TORQUE N m 0 20 40 60 TORQUE 02 n TYPE SGM 01B I TORQUE N m 0 50 100 150 TORQUE oz n TORQUE N m 0 20 40 60 80 1 0 0 TORQUE oz in TYPE SG...

Page 13: ...I Shock Res stance Structure Approx Mass k9 Ib Speed Control Range I Load 0 to 100 0 01 or less at rated r min 0XI 25 25 C f0 1 or less at rated r min 150 Hz at JL JM Freauencv Character st cs Torque...

Page 14: ...inertia is 30 times the motor rotor inertia for 30W to 200W classes 20 times for 400W and 750W classes If a load Inertia over the specified allowable value is to be applied use a regenerative unit or...

Page 15: ...OUTPUT A3 30 W 0 04 HP A5 50 W 0 07 HP 01 lOOW 013HP 02 200W 027HP 04 400W 053HP 08 750W 1 01 HP POWER SUPPLY A 200 V B lOOV B With brake S With shaft seal D With brake shaft seal P Dripproof provisio...

Page 16: ...8 750 W 101 HP POWER SUPPLY A 200V B lOOV 3 DIGITAL OPERATOR J U S P O P O I MODEL S Speed Control TorqueControl P PositlonmgControl O R SERVOPACK J T ONLY FOR 02 TYPE VERSION DIGITAL ORERATOR A B 1 A...

Page 17: ...HP Good 3 Poor 200 W 027 HP 200 VAC Single phase 200 VAC Class 10 A 400 W 0 53 HP Contactor 30 A or above Single phase 200 VAC Class 20 A 750 W 101 HP 30 W 0 04 HP Single phase 200 VAC Class 5 A 50 W...

Page 18: ...nduct on hme of SGD SERVOPACK See Rg 4 1 The overload detect on level IS set prec sely by the hot start conditions at an ambient temperature of 55 C and cannot be changed looa 1oc OPERATING TIME s 1C...

Page 19: ...m2 lb0m s2 Kt Torque constant of motor N0m A Ibemn A IR Motor rated current A a IP IR Accel decel current constant IP Accel decel current Accel decel current a times the motor rated current A 8 IL IR...

Page 20: ...e shown below See Par 4 2 STARTING AND STOPPINGTIME for symbols When the motor repeats rated speed operatron and berngat standstrll Frg 4 3 Cycle time T should be determined so that RMS value of motor...

Page 21: ...standstdl between cycles of accel decel without contrnuous rated speed runnmg When the motor accelerates runs at constant speed and decelerates in a cont numg cycle w thout bemg at standstdl Fig 4 5 T...

Page 22: ...S Only at speed control mode Rg 4 7 shows motor speed and Input voltage curve when speed reference Input termmals ICN and are used Reference Input voltage for rated rotatlon speed 3000 r mm can be set...

Page 23: ...rque plus load applied to the shaft extension never exceed the values mentloned above SERVoMoToR Type Table 4 2 Mechan cal Speclflcat onsIn m m inches Accuracy T I R I Reference Dlagram Allowable Radl...

Page 24: ...output Channel output Channel B output Channel output Channel C output Channel C output 1 4 1 FG Frame ground I Green I Red White Blue Blue Black Yellow Yellou Black Green GreenIBlack 0 V Power suppl...

Page 25: ...ct the shaft from Impacts that could damage the detector Fig 4 10 lmpact Reslstance 4 6 6 Vibration Resistance When mounted horizontally the motor can withstantd vlbrabon vertical lateral axial of 25G...

Page 26: ...5 CONFIGURATION 5 1 CONNECTIONDIAGRAM Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Page 27: ...5 2 Spec f cat ons of Appl cable Receptacles for SGD SERVOPACK 1 0 S gnals 10236 52A2JL R g h t Angle 36P Connector Type used n SGD 5 3 2 2CN Connectorfor Encoder Table 5 3 Spec f cat ons of Appl cabl...

Page 28: ...RWARDRUNNINGPROHIBIT AT P LSOPEN ALARM RESETAT 3Ry ON CURRENTLIMITAT REVER RUNNINGON AT 6Ry ON 5Ry OFFAT SERVOALARM 4Ry OFFAT EXTERNAL MOTORBRAKEREADY 8Ry ON AT SPEED COINCIDENCE 9Ry ON AT TGON LINEDR...

Page 29: ...Phase B Brake Intez lock Signal Output TGON Signa1 Output P G Output Phase C BK TGON Speed Coincidence Signal Output Common 01 to BK L CblP and TGON SG COM Forward CUIrent Llmit ON Input P CL Output R...

Page 30: ...The user must prov de the 24 V power supply BRAKE INTERLOCKOUTPUT OFFAT BRAKE READY SPEEDCOINCIDENCEOUTPUT ONWHEN SPEED ISOBTAINED TGON OUTPUT ONAT EXCEEDINGTHE LEVEL ALARM OUTPUT OFF AT ALARM 1OTOCO...

Page 31: ...ibe etc connect limit switch signal according to the run direction This is a normally closed contact This signal can be disabled by setting blt 2 or 3 of user constant Cn 01 Maintains the N OT at norm...

Page 32: ...everal percent of fr ct on load the motor stops completely Zero clamp operation After the motor stops it may be locked electr cally Th s functlon is appl cable vertical loads Contmuous operation torqu...

Page 33: ...ic brake This slgnal is automatically input by setting blt 0 of user constant Cn 01 P CL N CL These input signals function as any of the following two signals depending on bit 2 of user constant Cn 02...

Page 34: ...rlock output Ouput timing signal for external brake signal Turns ON when the difference of motor rotation speed and reference spked absolute value is lower than the value set by user constant Cn 22 Sp...

Page 35: ...NINGPROHIBIT AT N LSOPEN FORWARD RUNNINGPROHIBIT AT P LSOPEN ALARM RELEASEDAT 3Ry ON CURRENTLIMIT AT REVERSE RUNNINGON AT 6Ry ON CURRENT LIMIT AT FORWARD RUNNINGON AT 7Ry ON 5Ry OFF AT SERVO ALARM 4Ry...

Page 36: ...put For absolute encoder only OSEN BK TGON Speed Coincidence Signal Output V CMP SG COM N CL PSO TGON Signa1 Output PSO IS phase or absolute Iencoder onlv Forward Current Limit ON Input Battery BAT0 F...

Page 37: ...otes 1 Cable for 1CN is not prov ded 2 The user must prov de the 24 V power supply BRAKE INTERLOCK OUTPUT OFF AT BRAKE READY SPEED COINCIDENCE OUTPUT ONWHEN SPEED IS OBTAINED TGON OUTPUT ONAT EXCEEDIN...

Page 38: ...effective by settin bit 2 or 3 of user constant Cn 01 Maintains the h at normal run and m T at normal run status N OT P OT 24 VIN V REF External power supply to 1CN 11 12 14 15 16 17 and 18 Prepare a...

Page 39: ...ON when the difference of motor rotation speed and reference speed absolute value is lower than the value set by user constant Cn 22 V CMP Speed agreed output PG pulse after frequency division is out...

Page 40: ...lector output It is recommended to use the same 24 V power supply used for the input circuit Fig 5 7 OUTPUT 24V 7 VMax TGON CURRENTLIMITDETECTION BRAKE INTERLOCK SERVOALARM SPEEDCOINCIDENCE FLYWHEEL D...

Page 41: ...xampleof Output Clrcult and Recelver Clrcult 3 Output Phase Frequency dividing ratio 111 a In case the incremental encoder 1s applied FOR FORWARDRUNNING FOR REVERSERUNNING H90 PHASE Br n PHASE C n PHA...

Page 42: ...erminal conversion unit for 2CN is not provided Cable for absoluteEncrementa1encoder is avadable For details refer to Par 10 5 CABLES 2 Connectmg Cable Accessones for conversion unit IUSP TA36 113 CON...

Page 43: ...12 BAT Batter For absolute encoder o n l P G Input C phase BAT Y P C PG Input C phase I PG Rower 0 v Rotating Input PG Input A phase P G Input A phase I PG Input S phase For absolute encdder onh PG I...

Page 44: ...White F2 1yellow B Blue White blue Twisted pair wires Twisted pair Pale green White pale green Orange White orange YellowlWhite Twisted pair wires Twisted pair wires Twisted pair wires Green White B3...

Page 45: ...N Output Processmg When IncrementalEncoder Connect on usmg Connect on Cable DP9320089 1 Fig 5 11 Connector 2CN for Absolute Encoder Connect on and 1CN Output Processmg When usmg Connect on Cable DP932...

Page 46: ...or power ON OFF SINGLE PHASE 200 TO 230 VAC 50160 Hz ITSGD SERVOPACK rp 1 1SUP Surge suppressor 1D Flywheel diode to prevent 5Ry spike Fig 6 1 Connect on Examplefor Power ONIOFF 200 VAC Artisan Techno...

Page 47: ...e in rush current flows when the man circult power is turned ON recharging nme 02 s If the power is turned ON and OFF frequently the in rush current limit resistor may be degraded and a malfunctionmay...

Page 48: ...When Multiple rotatton Type W re Wound Var ableReststor IS used RV30YN type Carbon film vanable resistor made by Tokyo Cosmos Electnc Low and high speed relays Reed relays 1kR 112W OR OVER 1 8kR 112 W...

Page 49: ...pared wlth Fig 6 2 6 2 2 Stop Reference Circuit When glving a stop reference do not open the speed reference clrcult cN but set to 0V 1 8kn 112 W OR OVER a a When Mult ple rotat on Type W re Wound Var...

Page 50: ...of user constant Cn 01 In this mode after motor rotatron speed falls below the set value of user constant Cn OF speed reference is disregarded and the motor speed is reduced to zero While the motor is...

Page 51: ...nal settmg speed control mode can be selected by setting b t 2 of user constant Cn 02 In thls mode lnput value 1st to 3rd speeds specified for user constants Cn IF to Cn 21 can be used To selectthe sp...

Page 52: ...e are preset at the factory pnor to shipment They can be changed by user constant Cn 13 Examples of givlng torque reference voltage are shown m the followmg 1 For accurate nchmg torque settmg In Figs...

Page 53: ...e Res stor e used Rg 6 5 Methodof G m g Torque ReferenceVoltage foraccuratetorque settmg 2 For relat vely rough torque settmg 1 8kn 112OR OVER SCiD SEVOPACX Note When acarbonresistor is used great res...

Page 54: ...d reverse sides speed limit at positive voltage across terminals3 and 4 of input 1CN 3 Vlrated torque are preset at the factory prior to shipment Examples of giving torque reference voltage and speed...

Page 55: ...1 b When carbonvarlable reslstor IS used Flg 6 7 Methodfor Gwng Torque Referencdspeed Llmlt Voltage for accuratetorque or speed limit setting 2 For relatwely roughtorque or speed hm t settmg 1 8kS2 1...

Page 56: ...first output from PA0 as send data then as initla1incremental pulses PAC and PBO Zphase pulse with 90 degree phase difference After this output operation same as normal incremental encoder 2 phase pul...

Page 57: ...der circuit setting is R P R the current position P E can be found by the expression REFERENCE POSITION SETUP CURRENT POSITION PE COORDINATE 2 1 1 2 VALUES I I I I I I I I I I 1 1 2 I I I VALUESOF M j...

Page 58: ...NOOF ROTATIONS bf SERIAL DATA 11 Fig 6 12 Rece ve Processmgof Absolute Data Make the SEN slgnal hlgh level After 100ms set senal data receptlon wa hng status Clear the up down counter to count increm...

Page 59: ...CR 0 0 0 0 0 1 0 l o START DATA EVEN BIT PARITY Fig 6 13 Ser al Datafor Phase A During normal operaQon send data of the number of cumulatwe rotations 5 d gits from the reference pomt set at setup time...

Page 60: ...r 7 n p X p J p J p J PS y y I I I Data Format EVEN 13 characters P A 0 to 9 x 5 diglts 0 to 9 X 4 digits CR Fig 6 14 Ser al Datafor Phase S During normal operation send data of the number of cumulati...

Page 61: ...mg refer to Par 7 8 PGDivision Ratio Setting Fig 6 16 ForwardIReverseOutput Phase PC0 reference pulse synchronnes wlth PAO but the pulse width becomes narrow because PC0 is not d v ded If the div dmg...

Page 62: ...ent is prolonged Even if servo ON slgnal is entered when the SEN slgnal IS low the motor cannot be energized Base block IS set Even if servo ON slgnal IS entered the motor is not energlzed untd the SE...

Page 63: ...connect thebattery so as to prevent an environmental change or a change with the passage of time from causing contact failure Batteryvoltage is not monitored in the SERVOPACK Prevent the voltage from...

Page 64: ...ncoderproperly Connectthe battery and turn ON power to the SGD SERVOPACK Set the SEN signal 1CN 4 to high When the SEN signal is hgh 5 V power is supplied to the encoder Keep tlus condibon for three m...

Page 65: ...igital operator to I I IA 1 81 1 Turnthe SEN signal to low agam or turn OFF the 5 V power to the encoder The SGD SERVOPACK outputs the SGD SERVOPACK alarm code afterjudgment ALM8 x from the PA0 output...

Page 66: ...ALARMO H1gh Encoder power ON Phase A Serial Data 1 Not Specified Low Encoder 3ower OFF SGD SERVOPACK Alarm Code Perform an alarm reset F n the reset method refer to Par 8 3 Encoder Low H1gh I error IS...

Page 67: ...OPACK Alarm Code ALM 85 El I ALARMOP OVER F ABSO CR ALARMOH I ALM 84 I ALARMOH I BACK F or BATT ALARMOE Notes 1 Digital operator display and SGD SERVOPACK alarm codes are also output for alarms that o...

Page 68: ...d Continuous overload Encoder Error Encoder Backup Alarm t ALM 81 CK x ALM 82 CK x ALM 83 CR x ALM 84 CR x ALM 85 CR x ALM b l CR x Encoder Checksum Error Encoder Battery Alarm Encoder Absolute Error...

Page 69: ...data are re Note When any SEN signals other than in servo alarm status are changed from low level to high level absolutedataare transferred 2 Alarm senal data specifications Alarm serial data CODE n...

Page 70: ...RVOPACK incorporates a dynamic brake for emergency stop This brake operates when Alarm fault detecbon occurs ServoON input is opened Powersupply is turned OFF Overtravel P N OT occurs Coasting to a st...

Page 71: ...tion speed Speed reference voltage exceeding the max rotation speed is input Overspeed An overload to the motor and the SGD SERVOPACK is detected Overload Reference input read error Trouble with the c...

Page 72: ...arm signal indicates some trouble Check the cause and fix the problem and restart the operabon Procedure for troubleshootmg and correctwe acbon Using the error traceback mode function of the digital o...

Page 73: ...achieve continuousrunning Example Dnving a motor to lower objects without counterweight Since SGD SERVOPACK has short time regeneratme brake capability corresponding to the motor stopping t me for app...

Page 74: ...O 4 oz rn 2 x 1 0 3 0 3000 4500 SPEED r m n SPEED r m n LOAD INERTIA kg 1 2 x 1 0 4 LOAD INERTIA kg rn2X10 4 oz n 2 x 1 0 3 12 5 1 00 75 50 2 5 0 oz n 2 x 1 0 3 60 3000 4500 SPEED r m n 0 3000 4500 SP...

Page 75: ...clficatlons of Regenerat ve Unlt Applicable SGD SERVOPACK Regenerative Operation Voltage Regenerative Current Alarm Detection Functlon Alarm Output Slze In mm In inches 380 VDC I JUSP RG08 Remarks 2 R...

Page 76: ...ERVOPACK IS turned OFF whenever the alarm relay is actlvated It takes two or three seconds after the alarm relay is activated until it recovers to normal status The relay recovers when the man capacnt...

Page 77: ...olse interference To reduce switchmg noise as much as possible the recommended method of wlnng and groundmg is shown in R g 6 22 1 Groundmg Method OPERATING RELAY SEQUENCE USER SIGNAL GENERATINGCIRCUI...

Page 78: ...from the power line the block type must be used The recommended noise filters are shown in Table 6 9 The power supply to penpherals also needs nolse filters NOTE If the noise filter connection 1s wro...

Page 79: ...the same duct FILTER h FILTER H BOX Box I POOR FILTER P BOX POOR Fig 6 24 FILTER BOX SEPARATE CIRCUITS GOOD L BOX FILTER GOOD c Connect the ground lead singly to the box or the ground panel FILTER 0...

Page 80: ...system from a fire circuit breakers MCCB or fuses must be installed according to the number of SGD SERVOPACKSused Table 6 10 A fast blow fuse cannot be used because of the in rush current Table 6 10 P...

Page 81: ...it 0 of user constant Cn 02 to 1 or short circuit across terminals 1 and 7 on the PG connector 2CN In this case other change of motor and PG connection is not requlred 4 C N 1 0V OF PG SHoRTED 2CN 7 D...

Page 82: ...Servo ON S gnal SERVOOFF SV ON 1 SERVOON I BK SIGNAL I I MOTOR POWERON POWEROFF I POWER ON T m l n g w t h Power Supply MIAINPOWER 1 OFF SUPPLY 156 TO 75 rns tB Braking time Set by Cn 12 0 to 500 ms...

Page 83: ...rated torque Setting range is from 0 to the maximum torque 100 rated torque I t is possible to decelerate the motor at the set torque value if the overtravel inputs PIN OT are tnggered 1CN 16 17 set b...

Page 84: ...for lmprovlng transient character sbc of accelerabon decelera on and output saturation of the speed controller Different levels can be set for three types of detechon points for the mode switch Torque...

Page 85: ...ts ReferenceS gnal Error Stop Methods Control Modes and Mode Sw tches Use user constant Cn 01 memory switches for the above selections For the assignment and explanationof the memory switches see Tabl...

Page 86: ...tspeed Cn IF SPEEDI 2nd speed Cn 20 SPEED2 3rd speed Cn 21 SPEED3 Settlng range of each constant IS from 0 r mln to the maxlmum speed Factory setting is 100 r min for the first speed 200 r min for the...

Page 87: ...Reverse External Current Lirnit Cn 07 SFSACC 1Soft Start Tlme Acceleration Cn 23 ISFSDEC ISoft Start Time Deceleration Cn OB TGONLV IZero speed Level Max r mln 1 1Speed Cn OF 1 ZCLVL I Zero clamp Leve...

Page 88: ...ED1 1st Speed Speed 100 Max r min 100 SPEED2 2nd Speed r min Speed 200 Max I SPEED3 3rd Speed Max r rnin Speed 300 Note 100 rated torque O Factory setting of Cn 04 speed loop gain is determined by the...

Page 89: ...motor is stopped Fault Stop Select on 0 The overtravel status stop method coincides with bit 6 Overtravel zero speed stop 1 In the overtravel status the motor is stopped at the torque setting 0 define...

Page 90: ...entered from outside V REF The V REF voltage limits both the forward and reverse running speeds I MOTOR SPEED I Speed control mode The speed reference is entered from the V REF The T REF cannot be use...

Page 91: ...inputs P CL and N CL are used as power supply limit ON OFF reference inputs Contact input P CON is used as a signal specified in bit A or B of user constant Cn 01 Contact inputs P CL and N CL are use...

Page 92: ...operator 1sretamed in SERVOPACK even after the power IS turned OFF 2 Even if the power is turned OFF after fault occurrence the fault data is retamed in memory Therefore it is possible to check the fa...

Page 93: ...al operator See Par 8A 4 3 Speed Reference Torque Reference Offset Adjustment See Par 8A 4 4 Clearing Fault Traceback Data See Par 8A 4 5 Check of Motor Parameters See P a r 8A 4 7 Auto Tuning See Par...

Page 94: ...ith servo ON Base Block On Operation Forward Running Prohibited Speed COInc dence Light goes ON when motor rotating speed reaches Internal speed reference Reverse Running Prohibited Light goes ON with...

Page 95: ...The chosen dlg t starts bl nk ng to indicate that its numencal value can be changed W th the or V key increase or decrease the nurnencal value untd the des red 00 value IS obtaned W th the j s R key d...

Page 96: ...t the far right end of the panel With the A key set the memory sw tch to ON or OFF e ther or V can 0 0 0 be used The panel indication comes on when the sw tch is ON and goes off when the switch IS OFF...

Page 97: ...MODE DISPLAY Fig 8A 6 D g tal Operator Jog Operat on Mode Selectthe item number 00 with the DATA With the jKRJkey display the data related to the selected ltem number With the x G I or T key select th...

Page 98: ...1 0 see Table 7 3 With the switch effect SVON SVOFF changeover 77 The motor runs m the forward directionwhle the key is held down I J The motor runs in the reverse direction while the key is held dow...

Page 99: ...he data related to the selected item number Wlth the x r or T key select the number 01 Apply the des red zero speed reference voltage with speed reference input Apply the desired zero torque reference...

Page 100: ...e G I or I key W th the IEFR key display the data related to the selected item number W th the x G r or T key electthe number 02 With the key clear fault traceback data and data display status rejturn...

Page 101: ...STMENTMODE Fig 8A 9 Speed Reference Offset ManualAdjustment Mode Set up item number 00 w th the x v r or y key W t h the E E R key display the data related to the selected item number With the r or 1k...

Page 102: ...side 0 Whrle the V key is held down the offset IS added to the reverese runnmg side 0 Us ng the z key store offset data then enter the mon tor mode Offset adjustment is performed so that the LED indsa...

Page 103: ...Sw tch Funct ons In Motor ParameterCheck Set up item number 00 with the x 9 v 9 r Or TIkey W t h the key display the data related to the selected Item number I With the x I or y key select the number...

Page 104: ...ty Motor Type 0 2 Siries 200 V 1 Z Smes 100V Modlficabon Index Mod f cation No Hexadecimaldisplay Nos Corresponding to Alphabets A 10 b l l C 12 d 13 E 14 F 15 Artisan Technology Group Quality Instrum...

Page 105: ...NE RIGIDITYSELECTION MODE TUNING MODE I Depressthe E L key to stop 1 M t Depressthe key or turn ON the S s gnal Depressthe X I or v key Depressthe x L key to stop I LEI TUNING Cf MPLETION 1Depressthe...

Page 106: ...I or key select the number 05 DSPL Wlth the SET key swtch to the machine regldity selection mode or tuning mode DATA With the K R key return to the item No dlsplay status DSPL Using the J key swttch...

Page 107: ...fined select the middle speed response Machme v bratlon When entenng the servo ON status w th the s v o sw tch or machme wbrates 8 DSPL suddenly at depressing the x or G key depress the L key and stop...

Page 108: ...s gnals In the auto tunmg mode OT signal is effectwe Make sure to input OT s gnal When absoluteencoder IS used SEN signal IS also effectweand should be Input When these s gnals are not used set the b...

Page 109: ...Check M o d e Set up tem number 00 wrth the x V r or 5 key With the A key display the data related to the selected Item number ENTER I With the x G r or key select the number 06 With the E key d spla...

Page 110: ...2 Software Vers on D splay I TYpe A Speedcontrol d Positioning control Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Page 111: ...edback Speed r min Speed Reference r rnin 05 1 Internal Status Bit Displaj 1 Refer to Table 8A 5 MONITORMODE MONITORNO INDICATION 1 MONITORDATA F l g 8A 13 Sw tch Functions In Mon tor Mode 4 With the...

Page 112: ...nt limit Motor under Current Conduction Turns OFF when input signal is at high level Incremental encoder only Phase W Incremental encoder only Incremental encoder only Turns ON at SVON signal is ON P...

Page 113: ...elationship between traceback data and fault descnptions refer to Table 8A 6 u I FAULT TRACEBACKDATA OCCURRENCENO Fig 8A 14 FaultTraceback Mode With the x or p key increae or decrease the fault occurr...

Page 114: ...12 bit absolute encoder is used Encoder Battery Alarm Only when 12 bit absolute encoder is used Only when 12 bit absolute encoder is used Encoder Absolute Error Only when 12 bit absolute encoder is u...

Page 115: ...retained in SERVOPACK even after the power is turned OFF 2 Even if the power is turned OFF after fault occurrence the fault data is retained in memory Therefore it is possible to check the fault data...

Page 116: ...OG from digital operator See Par 8B 4 3 Speed Reference Torque Reference Offset Adjustment See Par 8B 4 4 Clearing Fault Traceback Data See Par 8B 4 5 Check of Motor Parameters See Par 8B 4 7 Auto Tun...

Page 117: ...s Contents I Remarks Code I Status Light goes ON with power supply ON Base Block L r I Light goes ON with base block and goes OFF with servo ON Light goes ON when motor rotating speed reaches internal...

Page 118: ...Set up the Item number with the Whlle the key 1s held down the numencal value Increases or decreases successively by one DATA With the 1 key dlsplay the data related to the selectedItem number DOWN W...

Page 119: ...tatus u Repeat steps through rn as needed MODEISET Using the U key sw tch from the settlng mode to the monltor mode For detiuls see Table 7 3 UserConstants Cn 03 through Cn 23 ConstantSett ng L st Art...

Page 120: ...the setup memory sw tch W at the far r ght end of the panel MODEISET W th the key set the memory sw tch to ON or OFF The panel mndlcatmn comes on when the sw tch 1sON and goes off when the switch is...

Page 121: ...PLAY Fig 88 6 D g tal Operator Jog Operation Mode DOWN Select the item number 00 with the DATA Wlth the 1 key d splay the data related to the selected Itern number DOWN W th the 7 1 or fl key select t...

Page 122: ...see Table 7 3 DATA W th the 1 key effect SVON SVOFF changeover The motor runs in the forward direction while the The motor runs in the reverse direction while the 7 key 1s held down 1 Ikey is held do...

Page 123: ...ted item number DOWN With the 7 or 7 key select the number 01 u u Apply the desired zero speed reference voltage with speed reference Input Apply the des red zero torque reference voltage with torque...

Page 124: ...00 with the DATA or okey W th the I key dlsplay the datarelated to the selected Itern number DOWN With the T or T key selectthenumber 02 MODUSET With the key clear fault traceback data and return to...

Page 125: ...03 the system enters the speed reference offset manual adjustmentmode Panel Display DATA nmnplm I m m n m m SETTING MODE ITEM NO I I DATA B SPEEDREFERENCEINPUTOFFSET ADJUSTMENT MODE MODVSET I Fig 8B 9...

Page 126: ...voltage that will obtam zero torque reference to the torque reference input Normally 0V UP While the T Ikey is held down the offset is added to the forward runmng side DOWN While the i key is held do...

Page 127: ...MODE ITEM NO 1 DATA El MOTOR PARAMETER DISPLAY MODIFICATION NUMBER DISPLAY Fig 8B 10 Sw tch Functions In Motor ParameterCheck DOWN Set up item number 00 with the DATA With the 1 key display the datar...

Page 128: ...e 1 key switch from the settmg mode to the monitor mode 2 Parameter D splay Motor Parameter T Motor Capacdy Motor Type 0 Z Senes 200 V 1 Z Senes 100 V Modifica on Index Nos Correspondmg to Alphabets A...

Page 129: ...MODE TUNING MODE Depressthe I rETkeYto stop DATA Depressthe key or turn ON the S slgnal UP P DOWN 1 Depressthe or key MODUSET Depressthe 0 key to stop MODEISET Depressthe 0 key to stop TUNING COMPLETI...

Page 130: ...the or T key select the number 05 With the key switch to the machine ng dity selecbon mode or tuning mode DATA With the 1 key return to the item No display status MODEEET Using the 1 1 key switch from...

Page 131: ...ned select the middle speed response Machme v brauon When entering the servo ON status with the 0switch or machine vibrates UP DOWN MODUSET suddenly at depressing the T or T key depress the key and st...

Page 132: ...he auto tunlng mode OT s gnal IS effectlve Make sure to lnput OT signal When absoluteencoder IS used SEN slgnal IS also effective and should be lnput When these s gnals are not used set the b ts of 1...

Page 133: ...ode DOWN Setup item number 00 with the DATA aor key Wlth the 1 key display the data related to the selected item number DOWN With the 7 or a key selectthe number 06 MODEISET W th the 1 key display the...

Page 134: ...2 SoftwareVers on D splay I 1 Software Vers on No A Speed control d Positioningcontrol Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Page 135: ...eed Reference I min 02 03 04 MONITOR MODE MONITOR NO INDICATION l Torque Reference No of Pulses from Phase U edge Electrical Angle deg MONITOR DATA Fig 8A 13 Sw tch Funct ons In Mon tor Mode UP DOWN W...

Page 136: ...r Current Conduction I N CL B ON Turn OFF when input signal is at high level Incremental encoder only Phase V I I I Incremental encoder only IIncremental encoder only Turns ON at SVON signal is ON I P...

Page 137: ...ationship between traceback data and fault descnptions refer to Table 8B 6 u FAULT TRACEBACKDATA OCCURRENCE NO Fig 8B 14 FaultTraceback Mode DOWN With the y or T key increase or decrease the fault occ...

Page 138: ...12 bit absolute encoder is used Only when 12 bit absolute encoder is ucYed Encoder Battery Alarm Only when 12 bit absolute encoder is usyed Encoder Absolute Error Only when 12 bit absolute encoder is...

Page 139: ...or zontally or vertically 1 Before Mountlng Wash off anticorrosive pamt on shaft extension ANTICORROSIVE and flange surface w t hth nnerbefore PAINT connectmg the motor to the driven machine Do not su...

Page 140: ...unting gear box coupling or pulley 50 G or less If unavoidable don t exceed thrust and radial loads specified in Table4 1 9 2 2 SGD SERVOPACK 1 lnstallat on r 1 r 1 r 1 SGD SERVOPACK type SGD 1 L LA i...

Page 141: ...the unit vertically on a wall using the mountmg holes on the base plate with main terminals at the bottom 2 Make sure to mount the unit keeping enough surroundingspacesince cooling method of SERVOPAC...

Page 142: ...C Table 9 3 lists the type of cables Table 9 1 Rated Current I Rated Current A rrns Effect ve Current I Control I O S gnaI I I Lmel PG S gnal Connector 2CN I 100 mA DC max 500 mA for power line only E...

Page 143: ...sed use a two core twisted shielded cable Cable Off LI ne AWG 24 26 28 30 For power supply for encoder and FG line apply AWG 22 0 32 mm2 For other signals apply AWG 26 0 12 mm2 By connecting above cab...

Page 144: ...ppressing circuit into the relay electromagnehc contact and solenoid coils Run the power line and signal line keeping the distance to 30 cm or more do not run them in the same duct or in a bundle When...

Page 145: ...534 3 SECTION Y Y 2 4 3 2 90 17 4 R3 MTG HOLES Allowable Thrust Load N Ib 19 4 Allowable R a d a l load N Ib 49 11 Type L SGM Mass 9 Ib Without key Without key Notes Without key 1 Detector uses increm...

Page 146: ...PLUG TYPE 172169 1 PIN TYPE 170359 1 OR 170363 1 CAP TYPE 172161 1 SOCKET TYPE 170361 1OR 170365 1 Motor connecbon Red Whlte Incrementalencoderconnection ground 4 1 Chsnnel B output I Yellow Black Bl...

Page 147: ...ncremental encoder 2048 P R 4 6022 MTG HOLES Mass 9 Ib Allowable R a d a l Load N Ib Allowable Thrust Load N Ib 2 As for type designation A shows that SERVOMOTOR applies 200 VAC power and B shows that...

Page 148: ...170359 1OR 170363 1 SOCKET TYPE 170361 1OR 170365 1 2 1 Phase V I White Incremental encoder connection ground 1 I Channel A o u t u t 1 Blue Blue Green 2 1 Channel A o u t u t I Blue Black 3 1 Channel...

Page 149: ...esignation A shows that SERVOPACK applies 200 VAC power OK U Without key 1 0 1 30 1 18 W 3400 7 5 0 3 0 12 T 343 77 5 0 20 Output W H P 98 22 5 0 20 Mass g Ib Allowable Load N I b Allowable Thrust Loa...

Page 150: ...363 1 MATINGTYPES CAP TYPE 172161 1 SOCKET TYPE 170361 1 OR 170365 1 Motor connecQon Incrementalencoderconnectton 4 IChamnel B output I Yellow Black 5 Cha nnelC output 6 Channel C o u t u t 9 1 FG Fra...

Page 151: ...ncoder 2048 P R I 2 A s for type designation A shows that SERVOMOTOR applies 200 VAC power and B shows that SERVOMOTOR applies 100 VAC power Allowable Thrust Load N I b Mass 9 Ib W I T S Allowable R a...

Page 152: ...otor and brake connection a s e 1 Red 2 1 Phase V 1 White 3 1 Phase W I Blue 4 FC Frame ground 1 Green 5 Brske terminal I Black 6 1Brske terminal I Black Incremental encoderconnection 6 1 Channel outp...

Page 153: ...ey Notes 1 Detector uses incremental encoder 2048 P R 2 A s for type designation A shows that SERVOMOTOR applies 200 V A C power and B shows that SERVOMOTOR applies 100 VAC power Mass 9 Ib Allowable R...

Page 154: ...tion Tl Ta hase I Red 2IPhase V 1 3 Phase bV 4 Fq Frame ground Green 5 Brake terminal 6 Brake terminal i Black Incremental encoder connection 1 1 Channel A output 1 Blue Blue Black 2 1Channel output 1...

Page 155: ...Mass Type OK U W T W g Thrust SMG Load 1 Load H P Ib Ib 1 N I b I Notes 1 Detector uses incremental encoder 2048 P R 2 As for type designation A shows that SERVOMOTOR applies 200 VAC power Artisan Te...

Page 156: ...rake terminal Incremepal encoderconnection Green Black 1 IChAnnel A output 1 Blue PLUG TYPE 172169 1 PIN TYPE 170359 1OR 170363 1 MATINGTYPES CAP TYPE 172161 1 SOCKET TYPE 170361 1 OR 170365 1 5 1Chan...

Page 157: ...ut L M s I U w T H P w 1 Detector uses 12 bit absolute encoder 1048 P R 2 94 3 2 0 17 MTG HOLES Allowable Allowable M ss I Radial Thrust 2 As for type designation A shows that SERVOMOTOR applies 200 V...

Page 158: ...nectors Amp Motor connecuon Frame ground i Green Absolutc encoder connecnon 4 1 Channel B output I White Yellow 5 1 Channel Z output 1 Green 6 Channel Z output White Green 8 5V Power supply 9 FG Frame...

Page 159: ...5 5 15 7 3 97 0 79 0 12 0 20 0 20 Notes 1 Detector uses 12 bit absolute encoder 1048 P R Allowable R a d a l Load N Ib Allowable Thrust Load N I b 2 As for type designation A shows that SERVOMOTOR app...

Page 160: ...f connector Amp Absolute encoderconnecbon 3 1 Chsnnel B output 1 Yellow 1 Chsnnel A output 2 Chsnnel A output 4 IChsnnel B output I White Yellow Blue White Blue 9 1 FG Frame ground I Greedyellow 10 Ch...

Page 161: ...or type designation A shows that SERVOMOTOR applies 200 VAC power Allowable Load Ib 343 77 Type SGM 08AW12 OsAw14 Allowable Thrust Load N Ib 98 22 Output W H P 1 750 01 MOSS g Ib 7 3500 72 QK U Withou...

Page 162: ...Red 2 1 Phase V I White Absolute encoderconnechon m n n e l A output 1 Blue ground 6 1 Channel Z output I White Green Blue Green 7 1 O V Power supply 1 Black Manufacturerof connector Amp Purple White...

Page 163: ...1 030 04 i I 6 1 50 0 24 1 0 07 0 31 0 13 Type L SGM MassI Allowable I Allowable R a d a l Thrust Y Load Load Ib I N Ib I N Ib Wlthout key Without key Without key 0 1 1 4 B I Notes 1 Detector uses 12...

Page 164: ...ground 1 Green 5 1 Brake terminal Black 6 1 Brake terminal I Black Absolute encoderconnechon m n n e l A output 1 Blue 2 1 Channel A o u t u t I White Blue 3 Channel B output 4 Channel B output 5 1 Ch...

Page 165: ...ithout key 58 0 I 200 2 2 8 20 3 5 5 7 87 0 79 0 12 0 20 0 20 Without key 86 0 400 3 3 9 20 3 5 5 15 7 0 79 0 12 0 20 0 20 Notes 1 Detector uses 12 bit absolute encoder 1024 P R Y Y 2 A s for type des...

Page 166: ...cturerof connector Amp Motor and brake connection Red White Absolute encoderconnecbon 7 O V Power supply Epee p 8 5W Power supply 9 FG Frame ground Green Yellow 10 Channel S output 11 Channel output W...

Page 167: ...e encoder 1024 P R 2 As for type designation A shows that SERVOMOTOR applies 200 VAC power Type SGM 08AW12B Mass g Ib Allowable Load N b OK Without key Allowable Thrust Load N Ib W U 750 1 01 30 1 18...

Page 168: ...rame ground 1 Green Black Black Absolute encoderconnection 1 I Channel A output I Blue 2 1 Channel A output 1 White Blue 6 1 Channel Z output I White Green 3 4 5 11 IChannel output I White Purple 1211...

Page 169: ...100 V 30 0 04 HP to 100 W 0 13 HP 2 6 2 0 24 MTG HOLES Approx Mass 0 9 kg 1 98 1b Types SGD 04AI 7 200 V 400 W 0 53 HP SGD 02B I I00 V 200 W 0 27 HP 2 6 2 0 24 4 MTG HOLE5 Approx Mass 1 2 kg 2 65 lb A...

Page 170: ...O8A1 200V 750 W 1 01 HP 2 0 24 MTG HOLES EXTERNALTERMINAL M4 SCREW Approx Mass 1 5 kg 3 31 lb Approx Mass 1 kg 220 lb Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www arti...

Page 171: ...LES TYPE 17JE 23090 02 MADE BY DAllCHl DENSHI KOGYO K K Type JUSP OP03A Approx Mass 0 18 kg 0 40 1b Approx Mass 0 02 kg 0 04 1b Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURC...

Page 172: ...0064 CONNECTOR 170365 1 CONTRACTED ON SERVOPACK 10320 52AO 008 10120 3000VE T v e I L n mm feet For motor wlth absolute encoder Cable with double end connector CONNECTOR ON ENCODER SIDE CONNECTOR CAP...

Page 173: ...CK SlDE M4 CRIMP TYPE TERMINAL Type 1 L nmm feet For motor with brake With connector and amplifier terminal CONNECTORON MOTOR SlDE CAP TYPE 172160 1 6 PIN SOCKET TYPE 170362 1OR CABLE 170366 1 CONTRAC...

Page 174: ...E 69400064 AWG22X3C AWG26X CABLE WITHOUT CONNECTOR Cable Color Cod ng 14 l Green CAP SOCKET THE FOLLOWINGSHOULD BE PROVIDEDBY USER TYPE 172161 1 CASE 10320 52AO 008 TYPE 170361 1 0 12 rnm2 CONNECTOR 1...

Page 175: ...Cable Color Coding No 1 J 14 Green Color Black 4 8 White Blue Yellow Red P u r l e 1 Green Yellow THE FOLLOWINGSHOULD BE PROVIDED BY USER CASE 1032052AO008 MADEBY SUMlTOMO3M LTD CONNECTOR 10120 3000VE...

Page 176: ...te encoder CONNECTOR n 10320 52A0 008 MADEBY 3MLTD 10120 3000VE MADE BY 3M LTD TOR e I L in m m feet THE FOLLOWINGSHOULD BE PROVIDED THE FOLLOWIPIGSHOULD BE PROVIDED BY USER BY USER CAP TYPE 172163 1...

Page 177: ...P M4 CRIMP TYPE TERMINAL Note For demls of cam and sockets refer to Par For motor WIth brake AMP CONNECTOR CAP TYPE 172160 1 SOCKET TYPE 170362 1 OR Type DP8409360 1 170366 1 MADE BY AMP PIN N M4 CRIM...

Page 178: ...r Cable For absolute encoder 1 42 017 CAP TYPE 172163 1 SOCKET TYPE 170361 1OR 170365 1 2 6 Calp for Motor Cable For motorwith brake I CAP TYPE1721601 SOCKET TYPE 170362 1 OR 170366 1 in mm inches SER...

Page 179: ...10320 52A0 008 Q Y t lo 10336 52A0 008 Shell Type For 1CN SERVOPACK Type Brake I Type Qty I Type I 10136 3000VE Connector Type 22 0 0 87 Incremental Wlthout encoder Incremental encoder 170365 1 Withou...

Page 180: ...NOISE FILTER Type LF 205A 6 435 6 40 14 Type LF 21 0 4 405 4 4002 Type LF 220 8 445 8 6 0 18 Made by Tokin Corp Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg...

Page 181: ...s are d stinguished by color 1 Internal circuit for 200 VAC l 4 AC Input Side Note The brake power circuit can be turned ON and 0n Brake SIde OFF on either the AC or DC side Normally switching on the...

Page 182: ...3 Connector to Termmal Convers on Un t Type JUSP TA36P Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Page 183: ...s If a voltage lme other than 200 V 100 V IS used the voltage should be dropped to 200 V 100 V through a power transformer The speed reference should be 0V 11 2 TEST RUN PROCEDURES 11 2 1 Preparat on...

Page 184: ...setorque reference gradually from I I 0 V then the motor rotates at a torque I proportionalto the reference voltage I NOTE I I Since no speed control is applied motor I rotation speed cannot be contro...

Page 185: ...atlo Condition No load SPEED rlrnln SPEED SPEED SPEED INPUT ACROSS 1CN O AND h g 12 1 Speed Reference Input SERVOMOTOR Speed Ratlo 2 Start Stop Response Character st cs Condlhon IP Start current set v...

Page 186: ...nput Torque character st cs Conditions No load GENERATED TORQUE I RATED TORQUE 1 TORQUE INPUT ACROSS1CN AND F l g 12 4 Torque Reference Input Torque Character st cs 12 2 RESET If resetting of paramete...

Page 187: ...e than 10MQ by measuring Annually Every 5000 hours Every 20 000 hours or 5 years The life of the lithium battery type ER6VC made by Tosluba Corp is approximately 10 years The battery for absolute enco...

Page 188: ...a b q r p l c r w s r r w r Motor over heats Unusual noise a I V T F J W W d O r f g sa 15 YJ x JI vi d Inspect and correct wiring across motor term1n 5 v and g IXIf n d Pp wgx I C Yggg s r d Motor s...

Page 189: ...value at the motor output shaft Connect the regenerative unit Load lnertia JL is too large Goes ON when the motor accelerates or decelerates Overvoltage Defective regenerative circuit Replace the SER...

Page 190: ...input Absolute encoder backup voltage dropped Absolute encoder memory data check error Absolute encoder battery voltage droppcld Set up the absolute encoder Set up the absolute encoder Replace the bat...

Page 191: ...rcuit Defective control circuit board 1PWB Replace the SERVOPACK Malfunction of the internal circuit Resume after resetting operation Dlgltal operater Transmlsslon Error 2 Goes ON during operation Fai...

Page 192: ...cy of about 200 to 300 Hz The vlbratlon frequency matches commercial frequency Too much overshoot 1 s observed wlth the rotatlon speed at acceleration and decelerat on The motor turns even when speed...

Page 193: ...e of Cn 11 Connection of the motor and the encoder are wrong An alarm occurs while the alarm reset signal is ON Zero clamp operation is not canceled Cond t on Correct ve Act ons Only for motor with ab...

Page 194: ...1NOTES1 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Page 195: ...Scotland G68 9LD U K Phone 44 1236 735000 Fax 44 1236458182 YASKAWA ELECTRICKOREA CORPORATION Pa k Nam Bldg 901 188 3 1 Ga Eulj roJoong Gu Seoul Korea Phone 82 2 776 7844 Fax 82 2 753 2639 YASKAWA ELE...

Page 196: ...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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