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YASKAWA SGLFW, User Manual

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10.2.4  Machine Rigidity Setting for Online Autotuning  - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-8
10.2.5  Method for Changing the Machine Rigidity Setting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-9
10.2.6  Saving the Results of Online Autotuning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-10
10.2.7  Procedure for Saving the Results of Online Autotuning- - - - - - - - - - - - - - - - - - - - - - - - - - 10-11

10.3  Manual Tuning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -  10-12

10.3.1  Explanation of Servo Gain - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-12
10.3.2  Servo Gain Manual Tuning  - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-13
10.3.3  Position Loop Gain - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-13
10.3.4  Speed Loop Gain  - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-14
10.3.5  Speed Loop Integral Time Constant  - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-14

10.4  Servo Gain Adjustment Functions  - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -  10-15

10.4.1  Feed-forward Reference - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-15
10.4.2  Force Feed-forward  - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-16
10.4.3  Speed Feed-forward - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-17
10.4.4  Proportional Control Operation (Proportional Operation Reference)- - - - - - - - - - - - - - - - - 10-18
10.4.5  Using the Mode Switch (P/PI Switching) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-19
10.4.6  Setting the Speed Bias  - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-22
10.4.7  Speed Feedback Filter  - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-22
10.4.8  Speed Feedback Compensation- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-23
10.4.9  Switching Gain Settings- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-25
10.4.10  Force Reference Filter- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-26

10.5  Analog Monitor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -  10-29

11 Inspection, Maintenance, and Troubleshooting

11.1  Troubleshooting  - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -  11-2

11.1.1  Alarm Display Table- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-2
11.1.2  Warning Display - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-4
11.1.3  Alarm Display Table when the Application Module is Used  - - - - - - - - - - - - - - - - - - - - - - - - 11-5
11.1.4  Warning Display Table when the Application Module is Used  - - - - - - - - - - - - - - - - - - - - - - 11-6
11.1.5  Troubleshooting of Alarm and Warning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-7
11.1.6  Troubleshooting for Malfunction without Alarm Display - - - - - - - - - - - - - - - - - - - - - - - - - - 11-17

11.2  Inspection and Maintenance  - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -  11-22

11.2.1  Linear Servomotor Inspection- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-22
11.2.2  SERVOPACK Inspection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-22
11.2.3  Parts Replacement Schedule - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-23

12 Appendix

12.1  Linear Servomotor Capacity Selection Examples - - - - - - - - - - - - - - - - - - - - - 12-2

12.2  Calculating the Required Capacity of Regenerative Resistors - - - - - - - - - - - - 12-4

12.2.1  Simple Calculation  - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-4
12.2.2  Calculating the Regenerative Energy  - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-7

Summary of Contents for SGLFW

Page 1: ...YASKAWA YASKAWA YASKAWA MANUAL NO SIEP S800000 19C USER S MANUAL SGLGW SGLFW SGLTW Linear Servomotors SGDH SERVOPACK Linear Series SGL SGDH...

Page 2: ...liability is assumed with respect to the use of the information contained herein Moreover because Yaskawa is con stantly striving to improve its high quality products the information contained in this...

Page 3: ...servodrives Description of Technical Terms The terms in this manual are defined as follows Servomotor or motor Linear Series SGLGW SGLFW and SGLTW linear servomotor SERVOPACK II Series SGDH amplifier...

Page 4: ...ACK s Linear Servomotors and Peripheral Devices Ratings and Characteristics System Design Panel Configuration and Wiring Trial Operation and Servo Adjustment Inspection and Maintenance Chapter 1 Outli...

Page 5: ...computer into the monitor equipment for the II Series servomotor II Series SGDH MECHATROLINK Interface Unit User s Manual Model JUSP NS100 SIE C718 4 Provides detailed information on MECHATROLINK com...

Page 6: ...operation In some situations the precautions indicated could have serious consequences if not heeded Indicates prohibited actions that must not be performed For example this symbol would be used as f...

Page 7: ...ng may result in electric shock Do not touch terminals for five minutes after the power is turned OFF Residual voltage may cause electric shock Do not touch terminals for five minutes after voltage re...

Page 8: ...his caution may result in fire or malfunction Be sure to store the magnetic way of the linear servomotor in the same way as it was originally packaged Do not store or install the product in the follow...

Page 9: ...the shape of the cover may become dis torted Install SERVOPACKs linear servomotors and regenerative resistors on nonflammable objects Mounting directly onto or near flammable objects may result in fi...

Page 10: ...he power terminals for five minutes after turning power OFF because high voltage may still remain in the SERVOPACK Make sure the charge indicator is turned OFF first before starting an inspection Avoi...

Page 11: ...on without matching the proper settings may cause the machine to run out of control or malfunction Forward run prohibited P OT and reverse run prohibited N OT signals are not effective during zero poi...

Page 12: ...mes shown without covers or protective guards Always replace the cover or protective guard as specified first and then operate the products in accordance with the manual The drawings presented in this...

Page 13: ...hree phase 400 V Main Circuit 1 10 1 4 Applicable Standards 1 11 1 4 1 North American Safety Standards UL CSA 1 11 1 4 2 CE Marking 1 11 2 Selections 2 1 Linear Servomotor Model Designation 2 2 2 1 1...

Page 14: ...Servomotors 3 38 3 8 Dimensional Drawings of SGLTW SGLTM Linear Servomotors 3 41 3 8 1 SGLT 20 Linear Servomotors 3 41 3 8 2 SGLT 35 A Linear Servomotors 3 44 3 8 3 SGLT 35 H Linear Servomotors 3 47 3...

Page 15: ...4 24 4 8 1 Single phase 200 V 50 W 100 W 200 W A5AE R 01AE R 02AE R 4 24 4 8 2 Single phase 200 V 400 W 04AE R 4 25 4 8 3 Three phase 200 V 500 W 750 W 1 0 kW 05AE R 08AE R 10AE R 4 26 4 8 4 Three ph...

Page 16: ...rs 6 19 6 8 2 Digital Operator 6 19 6 8 3 Cables for Analog Monitor 6 20 6 8 4 Connector Terminal Block Converter Unit 6 21 6 8 5 External Regenerative Resistor 6 22 6 8 6 Regenerative Resistor 6 25 6...

Page 17: ...armonic Suppression 7 37 7 6 Connecting Regenerative Resistors 7 38 7 6 1 Regenerative Power and Regenerative Resistance 7 38 7 6 2 Connecting External Regenerative Resistors 7 38 8 Digital Operator P...

Page 18: ...rocedure Using Linear Servomotors without Hall Sensors 9 12 9 3 Trial Operation for Linear Servomotor without Load from Host Reference 9 22 9 3 1 Servo ON Command from the Host 9 22 9 3 2 Operating Pr...

Page 19: ...Force 9 68 9 11 1 Internal Force Limit Limiting Maximum Output Force 9 68 9 11 2 External Force Limit Output Force Limiting by Input Signals 9 69 9 11 3 Force Limiting Using an Analog Voltage Referenc...

Page 20: ...d Bias 10 22 10 4 7 Speed Feedback Filter 10 22 10 4 8 Speed Feedback Compensation 10 23 10 4 9 Switching Gain Settings 10 25 10 4 10 Force Reference Filter 10 26 10 5 Analog Monitor 10 29 11 Inspecti...

Page 21: ...in Speed Control Mode 12 19 12 3 5 Example of Connection to OMRON s Position Control Unit C500 NC112 SERVOPACK in Position Control Mode 12 20 12 3 6 Example of Connection to Mitsubishi s AD72 Positio...

Page 22: ...2 Product Part Names 1 5 1 2 1 Linear Servomotors 1 5 1 2 2 SERVOPACKs 1 6 1 3 Examples of Servo System Configurations 1 8 1 3 1 Single phase 200 V Main Circuit 1 8 1 3 2 Three phase 200 V Main Circui...

Page 23: ...ssembly and the magnetic way 1 Coreless SGLGW and SGLGM Linear Servomotors Check Items Comments Are the delivered products the ones that were ordered Check the model numbers marked on the nameplates o...

Page 24: ...CTRIC MADE IN JAPAN DATE SGLFW 35A120A Servomotor model Ratings Serial No Nameplate Nameplate Order No Servomotor model Serial No Order No Coil assembly Magnetic way SGLFW and SGLFM SGLTW and SGLTM YA...

Page 25: ...tline 1 1 4 Serial Converter Units 1 4 1 1 4 Serial Converter Units Nameplate SERIAL CONVERTER MODEL JZDP D006 156 YASKAWA ELECTRIC CORPORATION JAPAN For O N S N Serial No Order No Serial converter mo...

Page 26: ...LTM With T type Iron Core Magnetic way Coil assembly Hall sensor unit Main circuit cable for linear servomotor Hall sensor cable Magnetic way Coil assembly Hall sensor unit Main circuit cable for line...

Page 27: ...to connect external regenerative resistors Refer to 7 6 Connecting Regenerative Resistors Regenerative resistor connecting terminals Refer to 7 2 Wiring Main Circuit Ground terminal Be sure to connec...

Page 28: ...7 8 Three phase 400 V 7 5 kW 75DE and 4 9 2 Three phase 400 V 7 5 kW 75DE P L1 L2 L3 U B2 B1 V W WARNING MODE SET Ver POWER CHARGE SGDH SERVOPACK 200V YASKAWA Power indicator Panel operator Charge ind...

Page 29: ...5 DC Reactor for Harmonic Suppression SGDH AE SERVOPACK Power supply Single phase 200 VAC Protects the power supply line by shutting the circuit OFF when an overcurrent is detected Eliminates externa...

Page 30: ...personal computer Refer to 2 6 1 Linear servomotor with core Linear scale To be provided by users Encoder cable Main circuit cable for linear servomotor Serial converter unit Connection cable for ser...

Page 31: ...to 2 6 1 Refer to 2 6 4 Refer to 2 6 3 Refer to 2 6 3 Refer to 2 6 2 Connection cable for digital operator Connection cable for personal computer L1 L2 L3 U V W 24V 0V B1 B2 B3 1 2 C N 3 C N 1 C N 2 M...

Page 32: ...e For installation conditions refer to 7 5 2 Wiring for Noise Control Because SERVOPACKs and linear servomotors are built in type reconfirmation is required after being installed in the final product...

Page 33: ...PACKs and Applicable Linear Servomotors 2 4 2 4 Serial Converter Units Models 2 6 2 5 Selecting Cables 2 7 2 6 Selecting Peripheral Devices 2 9 2 6 1 Special Options 2 9 2 6 2 Molded case Circuit Brea...

Page 34: ...de D Specifications Applicable Model MS connector or connector made by Tyco Electronics AMP K K Standard Connector made by Interconnectron All motor models SGLGW 30A 40A 60A SGLFW 35D 50D 1ZD SGLTW 35...

Page 35: ...75 Code 10 15 20 30 50 75 Rated Output 1 0 1 5 2 0 3 0 5 0 7 5 Model Fixed Code E Remarks For force speed and position control Applicable for various application modules Power Supply Voltage Code A D...

Page 36: ...5AE 30A080C 01AE 40A140C 01AE 40A253C 02AE 40A365C 04AE 60A140C 02AE 60A253C 04AE 60A365C 08AE 90A200C 15AE 90A370C 20AE 90A535C 30AE When a High force Magnetic Way is used 40A140C 02AE 40A253C 04AE 4...

Page 37: ...and select a model with a margin of approximately 20 An allowance can be made for up to 1 3 of the combined capacity of the linear servomotor and SERVOPACK in the table SGLTW With T type iron core 22...

Page 38: ...20A 35A460A SGLFW Iron core F type 250 251 252 253 254 258 259 260 264 265 266 017 018 019 020 181 182 183 184 211 212 189 190 191 192 011 012 013 014 015 016 35A170H 35A320H 50A170H 50A320H 40A400B 4...

Page 39: ...or Model Cable Length Cable Type Specifications Refer ence c Linear Servo motor Main Circuit Cables Between SERVO PACK and linear servomotor SGLGW 30 40 and 60 SGLFW 20 SGLFW 35 1 m JZSP CLN11 01 6 1...

Page 40: ...0 m JZSP CLN15 20 d Encoder Cables Between serial convert er unit and linear scale All models 1 m JZSP CLL00 01 6 3 3 m JZSP CLL00 03 5 m JZSP CLL00 05 10 m JZSP CLL00 10 15 m JZSP CLL00 15 e Connecti...

Page 41: ...CN1 CN5 CN8 Analog monitor cable YASKAWA SERVOPACK SGDH 200V L1 L2 L3 U V W L1C L2 B1 B2 B3 1 2 C N 3 C N 1 C N 2 MODE SET DATA CHARGE POWER NS100 S W 1 S W 2 A R C N 6 A C N 6 B C N 4 5 4 0 9 6 1 2 7...

Page 42: ...e Connection Cable for Digital Operator 1 m JZSP CMS00 1 Only required when using series Digital Operator JUSP OP02A 1 1 5 m JZSP CMS00 2 2 m JZSP CMS00 3 f Connection Cable for Personal Computer 2 m...

Page 43: ...is turned ON The SGDH SERVOPACK does not include a protective grounding circuit Install a ground fault protector to protect the system against overload and short circuit or protective grounding combi...

Page 44: ...phase 250 VAC 10 A X5069 Three phase 200 V 0 45 05AE FN258L 7 07 Three phase 480 VAC 7 A HI 11J 20 A X5061 0 75 08AE FN258L 16 07 Three phase 480 VAC 16 A HI 15J 35 A 1 0 10AE 1 5 15AE X5060 2 0 20AE...

Page 45: ...ch device Main Circuit Power Supply SERVOPACK Model Regenerative Resistor Refer to 6 8 5 6 8 6 and 7 6 Capacity kW SGDH Built in Externally connected Resistance Capacity W Single phase 200 V 0 05 A5AE...

Page 46: ...cale manufacturer to select a linear scale that meets the specifications described in 5 1 Serial Converter Unit Specifications 4 Select a linear scale so that the current consumption of the linear sca...

Page 47: ...2 SGLG 40 Linear Servomotors 3 20 3 6 3 SGLG 60 Linear Servomotors 3 24 3 6 4 SGLG 90 Linear Servomotors 3 28 3 7 Dimensional Drawings of SGLFW SGLFM Linear Servomotors 3 30 3 7 1 SGLF 20 Linear Serv...

Page 48: ...s 5 5 5 5 5 5 5 5 5 5 5 Rated Force N 12 5 25 47 93 140 70 140 210 325 550 750 Rated Current Arms 0 51 0 79 0 8 1 6 2 4 1 2 2 2 3 3 4 4 7 5 10 2 Instantaneous Peak Force N 40 80 140 280 420 220 440 6...

Page 49: ...253C 365C Rated Speed m s 1 5 1 5 1 5 1 5 1 5 1 5 Peak Speed m s 5 5 5 5 5 5 Rated Force N 57 114 171 85 170 255 Rated Current Arms 0 8 1 6 2 4 1 2 2 2 3 3 Instantaneous Peak Force N 230 460 690 360 7...

Page 50: ...450 600 Motor speed m s Force N A B SGLGW 60A140C 6 0 5 0 4 0 3 0 2 0 1 0 0 0 100 200 300 Motor speed m s Force N A B SGLGW 60A253C 6 0 5 0 4 0 3 0 2 0 1 0 0 0 200 400 600 Motor speed m s Force N A B...

Page 51: ...ce N SGLGW 60A140C Motor speed m s Force N SGLGW 60A253C Motor speed m s Force N SGLGW 60A365C Motor speed m s Force N A Continuous duty zone B Intermittent duty zone 5 4 3 2 1 0 0 50 150 100 200 250...

Page 52: ...1 5 1 5 1 5 1 5 1 5 Peak Speed m s 5 5 5 5 5 5 5 5 5 5 5 5 5 5 Rated Force N 25 40 80 160 280 560 560 1120 80 160 280 560 560 1120 Rated Current Arms 0 7 0 8 1 4 2 8 5 0 10 0 8 7 17 5 0 7 1 4 2 3 4 5...

Page 53: ...30A 6 5 4 3 2 1 0 0 50 100 150 200 250 Motor speed m s Force N A B 6 5 4 3 2 1 0 0 100 200 300 400 500 Motor speed m s Force N A B A Continuous duty zone B Intermittent duty zone 6 5 4 3 2 1 0 0 200 4...

Page 54: ...speed m s Force N Motor speed m s Force N A Continuous duty zone B Intermittent duty zone SGLFW 35D120A 5 6 4 3 2 1 0 5 6 4 3 2 1 0 0 150 50 100 200 250 B A SGLFW 35D230A 0 100 200 300 400 500 B A 6...

Page 55: ...220 440 670 670 1000 1300 2000 Rated Current Arms 2 3 4 4 6 7 3 5 7 10 7 7 3 10 9 11 1 17 1 Instantaneous Peak Force N 380 760 1140 660 1320 2000 2600 4000 5000 7500 Instantaneous Peak Current Arms 7...

Page 56: ...0 2600 4000 5000 7500 Instantaneous Peak Current Arms 11 9 23 9 11 5 22 9 7 5 15 1 7 3 14 6 20 7 30 6 37 6 56 4 Coil Assembly Mass kg 4 9 8 8 6 11 4 7 8 8 6 11 15 23 25 36 Force Constant N Arms 64 64...

Page 57: ...ition when a heat sink aluminium board listed in the following table is mounted on the coil assembly 3 The values of peak speed in the table indicate the maximum speed that can be controlled from SERV...

Page 58: ...m s Motor speed m s Force N A B SGLTW 35A170A SGLTW 35A320A SGLTW 35A460A 6 5 4 3 2 1 0 0 200 400 600 700 Force N A B Force N 6 5 4 3 2 1 0 0 400 800 1200 1400 Force N A B 6 5 4 3 2 1 0 0 500 2000 10...

Page 59: ...TW 40A400B SGLTW 40A600B Force N Force N Motor speed m s Motor speed m s SGLTW 80A400B SGLTW 80A600B Force N Force N A Continuous duty zone B Intermittent duty zone 2 4 3 1 0 0 2000 1000 3000 B A 2 4...

Page 60: ...s Force N Motor speed m s Motor speed m s Force N SGLTW 50D170H SGLTW 50D320H Force N Force N Motor speed m s Motor speed m s SGLTW 40D400B SGLTW 40D600B Force N Force N Motor speed m s Motor speed m...

Page 61: ...s of Linear Servomotors 1 Impact Resistance Impact acceleration 196 m s2 Impact occurrences twice 2 Vibration Resistance The linear servomotors will withstand the following vibration acceleration in t...

Page 62: ...GLGM 30 3 6 1 SGLGW 40 SGLGM 40 3 6 2 SGLGW 60 SGLGM 60 3 6 3 SGLGW 90 SGLGM 90 3 6 4 SGLFW SGLFM With F type iron core SGLFW 20 SGLFM 20 3 7 1 SGLFW 35 SGLFM 35 3 7 2 SGLFW 50 SGLFM 50 3 7 3 SGLFW 1Z...

Page 63: ...Not used Linear Servomotor Connector Specifications Plug type 350779 1 Pin type 350924 1 or 770672 1 made by Tyco Electronics AMP K K The mating connector Cap type 350780 1 Socket type 350925 1 or 77...

Page 64: ...or Plug type SPUC06KFSDN236 Socket type 020 030 1020 Hall Sensor Connector Specifications Pin connector type 17JE 23090 02 D8C made by DDK Ltd The mating connector Socket connector type 17JE 13090 02...

Page 65: ...1 32 30216A 216 8 50 162 6 38 4 0 16 1 1 2 43 30432A 432 17 01 378 14 88 8 0 31 2 3 5 07 WARNING away May cause injury Keep magnetic materials Nameplate Warning label L1 1 unit 0 1 0 3 L2 L2 4 5 0 18...

Page 66: ...8 9 Name 5V Power supply Phase U Phase V Phase W 0V Power supply Not used Not used Not used Not used Linear Servomotor Connector Specifications Hall Sensor Output Signals Electrical angle Vu Vv Vw Su...

Page 67: ...ower V Nameplate The coil assembly moves in the direction indicated by the arrow in the order of phase U V and W 4 40 UNC 2 screw Pin No 1 2 3 4 5 6 Name Phase U Phase V Phase W Not used Not used FG R...

Page 68: ...45 1 77 N M5 mounting screws depth 13 0 51 per unit Only for SGLGM CT 0 1 0 3 L1 1 unit 22 5 0 89 12 7 0 50 25 4 1 0 25 4 1 0 62 2 44 62 2 44 10 0 39 5 5 0 22 10 0 39 5 5 0 22 5 4 0 21 5 4 0 21 7 4 0...

Page 69: ...unit Only for SGLGM CT M Nameplate Warning label L1 1 unit 0 1 0 3 31 8 1 25 31 8 1 25 62 2 44 62 2 44 Reference length Units mm in 7 4 0 2 0 29 0 01 7 4 0 2 0 29 0 01 10 0 39 10 0 39 5 5 0 22 5 5 0 2...

Page 70: ...d Not used Not used Not used Linear Servomotor Connector Specifications Hall Sensor Output Signals Electrical angle Vu Vv Vw Su Sv Sw 0 180 360 540 When the coil assembly moves in the di rection indic...

Page 71: ...n No 1 2 3 4 5 6 7 8 9 Name 5V Power supply Phase U Phase V Phase W 0V Power supply Not used Not used Not used Not used Linear Servomotor Connector Specifications Electrical angle Inverse power V Refe...

Page 72: ...5 mounting screws depth 13 0 51 per unit Only for SGLGM CT Nameplate Warning label 1 unit L1 0 1 0 3 13 0 51 7 4 0 2 0 29 0 01 7 4 0 2 0 29 0 01 10 0 39 5 5 0 22 10 0 39 5 5 0 22 5 4 0 21 5 4 0 21 9 0...

Page 73: ...Only for SGLGM CT M Nameplate Warning label L1 1 unit 0 1 0 3 31 8 1 25 31 8 1 25 82 3 23 82 3 23 Reference length Units mm in 13 0 51 7 4 0 2 0 29 0 01 7 4 0 2 0 29 0 01 10 0 39 5 5 0 22 10 0 39 5 5...

Page 74: ...ase W FG Red White Blue Green Hall Sensor Output Signals Electrical angle Vu Vv Vw Su Sv Sw 0 180 360 540 When the coil assembly moves in the di rection indicated by the arrow in the fig ure the relat...

Page 75: ...41 WARNING away May cause injury Keep magnetic materials YASKAWA ELECTRIC CORPORATION JAPAN W A Ins CORELESS LINEAR SERVO MOTOR N X X X L2 L2 L1 N mounting holes per unit Nameplate 1 unit 0 1 0 3 X W...

Page 76: ...ot used Not used Not used Linear Servomotor Connector Specifications Hall Sensor Output Signals Electrical angle Vu Vv Vw Su Sv Sw 0 180 360 540 When the coil assembly moves in the di rection indicate...

Page 77: ...N Nameplate S N O N MADE IN JAPAN YASKAWA Coil assembly 9 9 4 0 16 30 8 0 2 0 L1 L2 L3 0 3 0 1 TYPE TYPE S N S N 6 0 24 10 0 39 Gap1 0 04 45 0 1 1 77 0 004 17 5 0 69 22 5 0 89 The height of screw head...

Page 78: ...angle Vu Vv Vw Su Sv Sw 0 180 360 540 When the coil assembly moves in the di rection indicated by the arrow in the fig ure the relationship between the hall sensor output signals Su Sv Sw and the inve...

Page 79: ...l angle When the coil assembly moves in the di rection indicated by the arrow in the fig ure the relationship between the hall sensor output signals Su Sv Sw and the inverse power of each motor phase...

Page 80: ...e engraved Reference mark MADE S N O N TYPE YASKAWA Nameplate S N O N TYPE MADE IN JAPAN DATE YASKAWA Coil assembly L3 9 9 32 2 0 2 0 0 3 0 1 6 0 24 4 0 16 34 1 34 45 0 1 1 77 0 004 The height of scre...

Page 81: ...t used Linear Servomotor Connector Specifications Hall Sensor Output Signals Electrical angle Vu Vv Vw Su Sv Sw 0 180 360 540 When the coil assembly moves in the di rection indicated by the arrow in t...

Page 82: ...s shown in the figure below Inverse power V Nameplate 2 screws 4 40 UNC Hall sensor Magnetic way 50 min The coil assembly moves in the direction indicated by the arrow when current flows in the order...

Page 83: ...PE YASKAWA 5 0 20 8 6 39 4 0 2 0 L1 L2 L3 0 3 0 1 S N O N MADE IN JAPAN DATE Reference mark 9 0 35 5 0 20 43 1 69 58 0 1 2 28 0 004 The height of screw head must be 5 2 0 20 max 33 75 1 33 37 75 1 49...

Page 84: ...r Specifications Hall Sensor Output Signals Electrical angle Vu Vv Vw Su Sv Sw 0 180 360 540 When the coil assembly moves in the di rection indicated by the arrow in the fig ure the relationship betwe...

Page 85: ...ctor Specifications Electrical angle Pin No 1 2 4 5 6 Name Phase U Phase V Phase W Not used Not used Ground Hall Sensor Output Signals When the coil assembly moves in the di rection indicated by the a...

Page 86: ...0 3 0 1 TYPE YASKAWA TYPE YASKAWA S N O N MADE IN JAPAN DATE 9 0 35 5 0 20 43 1 69 58 0 1 2 28 0 004 1 5 0 06 11 5 0 45 The height of screw head must be 6 7 0 26 max 6 5 0 26 125 4 92 112 4 41 57 5 2...

Page 87: ...tor Specifications Hall Sensor Output Signals Electrical angle Vu Vv Vw Su Sv Sw 0 180 360 540 When the coil assembly moves in the di rection indicated by the arrow in the fig ure the relationship bet...

Page 88: ...kg lb 20324A 324 12 76 270 10 63 54 2 13 5 0 20 6 0 24 3 4 7 50 20540A 540 21 26 486 19 13 54 2 13 9 0 35 10 0 39 5 7 12 57 20756A 756 29 76 702 27 64 54 2 13 13 0 51 14 0 55 7 9 17 42 Coil assembly N...

Page 89: ...0 3 2 76 0 01 0 3 0 1 L1 11 7 0 46 54 2 13 2 3 0 09 54 2 13 L2 9 9 74 2 91 14 0 55 162 6 38 74 2 91 54 2 13 11 7 0 46 L2 54 2 13 20 0 79 27 1 06 9 9 60 2 36 15 0 59 15 0 59 100 3 94 70 2 76 55 2 17 4...

Page 90: ...e U Phase V Phase W 0V Not used Not used Not used Not used Linear Servomotor Connector Specifications Hall Sensor Output Signals Electrical angle Vu Vv Vw Su Sv Sw 0 180 360 540 When the coil assembly...

Page 91: ...IN JAPAN DATE S N O N TYPE YASKAWA Assembly Dimensions C 1 C 1 Mount the magnetic way so that its corner surfaces are flush with the inner step Coil assembly 15 0 59 62 0 0 6 39 0 2 0 L2 L1 0 3 0 1 1...

Page 92: ...APAN DATE YASKAWA S N O N TYPE MADE IN JAPAN DATE YASKAWA 13 0 51 15 0 59 0 8 0 03 60 2 36 15 0 59 19 2 0 76 Including magnet cover of plate thickness 0 2 0 01 55 2 17 15 0 59 Coil assembly 100 3 94 1...

Page 93: ...nector 17JE 23090 02 D8C made by DDK Ltd The mating connector Socket connector type 17JE 13090 02 D8C Stud type 17L 002C or 17L 002C1 Pin No 1 2 3 4 5 6 7 8 9 Name 5VDC Phase U Phase V Phase W 0V Not...

Page 94: ...002C or 17L 002C1 Pin No 1 2 3 4 5 6 7 8 9 Name 5VDC Phase U Phase V Phase W 0V Not used Not used Not used Not used Hall Sensor Output Signals Electrical angle When the coil assembly moves in the di r...

Page 95: ...N S N MADE IN JAPAN DATE YASKAWA TYPE R6 L2 L2 15 L1 33 0 0 2 0 0 2 0 1 0 3 Assembly Dimensions 2 N M6 tapped holes depth 8 0 31 R0 5 max R 1 m a x Mount the magnetic way so that its corner surfaces a...

Page 96: ...K Ltd The mating connector L shaped plug type MS3108B22 22S Straight plug type MS3106B22 22S Cable clamp type MS3057 12A Hall Sensor Connector Specifications 9 6 1 5 Pin connector type 17JE 23090 02 D...

Page 97: ...onnected to each other 4 The dimensions marked with an are the dimensions between the magnetic ways Be sure to follow exactly the dimensions specified in the figure above Mount magnetic ways as shown...

Page 98: ...2 0 05 90 3 54 19 1 0 75 19 1 0 75 25 3 1 00 111 8 0 3 4 40 0 01 1 2 0 3 0 05 0 01 5 6 39 1 54 12 5 0 49 25 0 98 67 5 2 66 67 5 2 66 L2 63 2 48 20 0 79 150 5 91 S N O N MADE IN JAPAN DATE TYPE YASKAW...

Page 99: ...se U Phase V Phase W Color U V W 2mm2 2mm2 Hall Sensor Output Signals Electrical angle When the coil assembly moves in the di rection indicated by the arrow in the fig ure the relationship between the...

Page 100: ...002C or 17L 002C1 Pin No 1 2 3 4 5 6 7 8 9 Name 5VDC Phase U Phase V Phase W 0V Not used Not used Not used Not used Pin No 1 2 4 5 6 Name Phase U Phase V Phase W Not used Not used Ground Linear Servom...

Page 101: ...N MADE IN JAPAN DATE 45 L2 L1 0 0 2 0 0 2 0 0 2 0 1 0 3 L1 0 1 0 3 L2 9 27 L2 Assembly Dimensions Coil assembly R0 5 max R 1 m a x Mount the magnetic way so that its corner surfaces are flush with th...

Page 102: ...Ltd The mating connector Socket connector type 17JE 13090 02 D8C Stud type 17L 002C or 17L 002C1 Pin No 1 2 3 4 5 6 7 8 9 Name 5VDC Phase U Phase V Phase W 0V Not used Not used Not used Not used Name...

Page 103: ...dimensions between the magnetic ways Be sure to follow exactly the dimensions specified in the figure above Mount magnetic ways as shown in Assembly Dimensions The values with an are the dimensions at...

Page 104: ...YASKAWA S N O N MADE IN JAPAN DATE TYPE YASKAWA Including magnet cover of plate thickness 0 2 0 01 19 1 0 75 25 3 1 00 19 1 0 75 Base 20 0 79 150 5 91 Coil assembly 90 3 54 1 2 0 05 25 0 98 67 5 2 66...

Page 105: ...7 Three phase 400 V 7 5 kW Models 4 11 4 4 SERVOPACK s Power Supply Capacities and Power Losses 4 12 4 5 SERVOPACK Overload Characteristics and Allowable Load Mass 4 13 4 5 1 Overload Characteristics...

Page 106: ...4 8 3 Three phase 200 V 500 W 750 W 1 0 kW 05AE R 08AE R 10AE R 4 26 4 8 4 Three phase 200 V 1 5 kW 15AE R Three phase 400 V 500 W 750 W 1 0 kW 1 5 kW 05DE R 08DE R 10DE R 15DE R 4 27 4 8 5 Three pha...

Page 107: ...1 2 8 3 8 5 7 7 6 11 6 18 5 24 8 32 9 54 7 Max Output Cur rent Arms 2 0 2 8 6 5 8 5 11 0 13 9 17 28 42 56 84 130 Input Power Supply Main Circuit Single phase Three phase 200 to 230 VAC 10 to 15 50 60...

Page 108: ...nput Reference Voltage 3 6 VDC Variable setting range 2 to 10 VDC at rated speed servo motor forward movement with positive reference input voltage maxi mum 12 V Input Impedance About 14 k Circuit Tim...

Page 109: ...Positioning completed speed coincidence during servomotor move ment servo ready during current limiting during speed limiting brake released warning selecting three of the NEAR signals Internal Func t...

Page 110: ...dity 90 RH or less with no condensation Operating Con ditions Installation category Overvoltage category Pollution degree 2 Protection class 1X Altitude Maximum 1000 m Installation Site Installation i...

Page 111: ...st 10 mm 0 39 in between and at least 50 mm 1 97 in above and below each SERVOPACK Install cooling fans above the SERVOPACKs to avoid excessive temperature rise and to maintain even temperature inside...

Page 112: ...V W CN10 1KM 1RY Single phase 200 to 230V 50 60 Hz 10 15 Noise filter Voltage sensor Gate drive Relay drive Voltage sensor Gate drive over current protector Interface DC DC converter Analog voltage co...

Page 113: ...sonal computer Connector for application module Analog voltage converter Panel operator converter OFF ON Surge suppressor Open during servo alarm 1RY Power supply Power supply DB 1 2 1KM L1 L3 L2 XX1...

Page 114: ...verter Panel operator Analog monitor output for supervision Digital operator or personal computer Connector for application module Power supply OFF Power supply ON Open during servo alarm 1RY XX1 XX3...

Page 115: ...ressor High speed diode Power supply OFF Power supply ON Open during servo alarm 1RY AC power supply converter Control power 24 VDC not provided 1KM XX3 FU1 P N R S T L1 L2 L3 XX1 1 2 XX2 CHARGE B1 B2...

Page 116: ...ded for this purpose For the SGDH 75DE JUSP RA18 allowable loss 180W For the SGDH 75AE JUSP RA05 allowable loss 350W Note Refer to 7 6 Connecting Regenerative Resistors 6 8 5 External Regenerative Res...

Page 117: ...wable power for the SERVOPACKs is limited by the overload protective function as shown in the figure below The overload detection level is set under hot start1 conditions at a servomotor ambient tempe...

Page 118: ...ulas Calculate the motor force from the motor current Motor force Motor force constant Motor effective current The following figure shows the motor force and motor speed timing chart VM Motor movement...

Page 119: ...W 750 W 1 0 kW 1 5 kW 05D 08D 10D 15D 200 V 2 0 kW 3 0 kW 20A 30A 4 7 5 400 V 2 0 kW 3 0 kW 20D 30D 200 V 5 0 kW 50A 4 7 6 400 V 5 0 kW 50D 200 V 7 5 kW 75A 4 7 7 400 V 7 5 kW 75D 4 7 8 Supply Voltage...

Page 120: ...1 Molex Japan Co Ltd CN3 10214 52A2JL Sumitomo 3M Co Ltd Ground terminal 2 M4 screws Mounting pitch 160 6 30 5 0 20 5 5 0 22 149 5 0 5 5 89 0 02 CN3 CN2 CN1 55 2 17 160 6 30 6 0 24 6 0 24 130 5 12 75...

Page 121: ...rminal 2 M4 screws Terminal block Nameplate 2 M4 screw holes Mounting Hole Diagram Mounting pitch Reference length Units mm in Approx mass 1 1 kg 2 43 lb 160 6 30 5 5 0 22 5 0 20 6 0 24 10 0 39 130 5...

Page 122: ...8 141 5 5 57 MODE SET CHARGE POWER DATA YASKAWA 2 M4 screw holes Mounting pitch Mounting Hole Diagram Terminal block Ground terminal 2 M4 screws Reference length Units mm in Approx mass 1 7 kg 3 75 lb...

Page 123: ...ting pitch 4 M4 screw holes Mounting Hole Diagram Reference length Units mm in Approx mass 2 8 kg 6 17 lb 160 6 30 39 1 54 106 4 17 75 2 95 149 5 0 5 5 89 0 02 5 0 20 160 6 30 5 0 20 7 0 28 110 4 33 E...

Page 124: ...CK SGDH 196 7 72 CN10 14 pin terminal M4 mounting screw 250 9 84 238 5 9 39 6 0 24 40 1 57 250 9 84 238 5 0 5 9 39 0 02 5 0 20 5 0 20 6 0 24 MODE SET CHARGE POWER DATA YASKAWA Ground terminal 2 M4 scr...

Page 125: ...g Hole Diagram Ground terminal M5 screw Reference length Units mm in Approx mass 2 8 kg 12 13 lb 250 9 84 238 5 9 39 5 0 20 5 5 0 22 6 0 24 125 4 92 8 0 31 75 2 95 7 0 28 5 5 0 22 5 0 20 125 0 5 4 92...

Page 126: ...ARGE CN2 CN1 CN3 CN5 CN8 SGDH CN10 39 1 54 211 1 8 31 90 3 54 145 5 71 SERVOPARK 200V YASKAWA 335 13 19 7 5 0 30 7 5 0 30 Ground terminal M8 Nameplate Mounting Hole Diagram 4 M6 screw holes Ground ter...

Page 127: ...19 7 5 0 30 7 5 0 30 180 7 09 Main circuit terminal M5 Main circuit terminal M5 Control circuit terminal M4 Ground terminal M5 Nameplate Ground terminal Mounting Hole Diagram 4 M6 screw holes A View...

Page 128: ...AWA CHANGE L1 C N 3 L2 L2C B1 B2 U V W L1C POWER 1 2 C N 1 C N 2 MODE SET DATA Ground terminal 2 M4 screws Nameplate Mounting Hole Diagram 2 M4 screw holes Mounting pitch Terminal block 6 0 24 55 2 17...

Page 129: ...ole Diagram 2 M4 screw holes Mounting pitch Reference length Units mm in Approx mass 1 3 kg 2 87 lb 180 7 09 160 6 30 195 7 68 42 1 65 22 5 0 89 17 5 0 69 7 5 0 30 17 5 0 69 7 5 0 30 5 0 20 6 0 24 106...

Page 130: ...HANGE MODE SET DATA POWER L1 C N 3 L2 L3 L2C B1 B2 B3 U V W L1C 1 2 C N 1 C N 2 Ground terminal 2 M4 screws Terminal block Nameplate Mounting pitch 17 5 0 69 7 5 0 30 42 1 65 22 5 0 89 43 5 1 71 24 5...

Page 131: ...ameplate Mounting pitch Mounting pitch Reference length Units mm in Approx mass 3 0 kg 6 61 lb 17 5 0 69 17 5 0 69 195 7 68 5 0 20 8 0 31 24 5 0 96 7 5 0 30 6 0 24 7 5 0 30 180 0 5 7 09 0 02 141 5 5 5...

Page 132: ...w CHANGE MODE SET DATA POWER Mounting Hole Diagram 4 M5 tap Mounting pitch Mounting pitch Ground terminal 2 M4 screws Reference length Units mm in Approx mass 4 0 kg 8 82 lb 17 5 0 69 17 5 0 69 7 5 0...

Page 133: ...02 6 0 24 270 0 5 10 63 0 02 7 0 28 Heat sink Flange 6 pin terminal M5 screw Ground terminal M5 screw 3 pin terminal M5 screw 5 pin terminal M4 screw Reference length Units mm in Approx mass 5 7 kg 12...

Page 134: ...uit terminal Control circuit terminal A View A Mounting Hole Diagram 4 M6 taps Name plate Reference length Units mm in Approx mass 14 kg 30 86 lb 9 0 35 282 6 11 13 30 5 1 20 12 5 0 49 25 0 98 100 5 3...

Page 135: ...50 9 84 48 1 89 CN10 Ground terminal M5 27 5 1 08 2 Cooling fan Mounting Hole Diagram 4 M6 screw holes Nameplate Main circuit Control circuit terminal Main circuit terminal M5 Main circuit terminal M5...

Page 136: ...nal Input Timing 5 3 5 3 Dimensional Drawings of Serial Converter Unit 5 4 5 3 1 Linear Scale without Cable for Hall Sensor by Heidenhain 5 4 5 3 2 Linear Scale without Cable for Hall Sensor by Renish...

Page 137: ...0V 5 ripple content 5 max Current Consumption 1 120 mA Typ 350 mA Max Signal Resolution Input 2 phase sine wave 1 256 pitch Max Response Frequency 250 kHz Analog Input Signals 2 cos sin Ref Differenti...

Page 138: ...tputs an alarm Precautions 1 Never perform insulation resistance and withstand voltage tests 2 When analog signals are input to the serial converter unit noise influence on the analog signals affects...

Page 139: ...0 98 0 01 2 4 40 UNC tapped holes SERVOPACK end Serial data output connector CN1 2 4 40 UNC tapped holes 4 4 2 0 17 holes 2 4 2 0 17 holes 4 M5 tapped holes depth 10 0 39 Nameplate Linear scale end An...

Page 140: ...ameplate Linear scale end Analog signal input connector CN2 24 99 0 4 0 98 0 02 14 35 0 4 0 56 0 02 300 30 11 81 1 18 4 4 2 0 17 holes 2 4 2 0 17 holes 4 M5 tapped holes depth 10 0 39 Units mm in 1 5...

Page 141: ...y Heidenhain Corp Hall sensor CN2 CN2 CN1 D sub 15 pin connector CN3 D sub 9 pin connector SERVOPACK Nameplate Linear scale end Hall sensor signal input connector CN3 SERVOPACK end Serial data output...

Page 142: ...al 1 5V S phase output Empty Empty 0V S phase output Empty Empty Empty Shield 2 3 4 5 6 7 8 9 Case Pin No Signal 1 cos input A 2 3 sin input B Ref input R Ref input R 0V 0V sensor 5V sensor 4 5V 5 6 7...

Page 143: ...Renishaw Inc Hall sensor CN2 CN2 CN1 D sub 15 pin connector CN3 D sub 9 pin connector SERVOPACK Nameplate Linear scale end Hall sensor signal input connector CN3 SERVOPACK end Serial data output conn...

Page 144: ...n No Signal 1 cos input V1 2 3 sin input V2 Ref input V0 0V 0Vs 4 5V 5Vs 5 6 7 8 cos input V1 sin input V2 9 10 Ref input V0 11 12 13 14 15 Empty Empty Empty Empty Inner Shield Case Pin No Signal 1 5V...

Page 145: ...tor Type and Cable Size 6 16 6 7 3 Connection Diagram 6 18 6 8 Peripheral Devices 6 19 6 8 1 Cables for Connecting Personal Computers 6 19 6 8 2 Digital Operator 6 19 6 8 3 Cables for Analog Monitor 6...

Page 146: ...ics AMP K K Cable UL2464 AWG18 4C 8 5 0 33 SERVOPACK end Linear servomotor end 14 7 0 58 1 4 7 6 0 30 27 7 1 09 Units mm in Applicable Linear Servomotors Cable Type Cable Length L SGLGW 30 40 and 60 S...

Page 147: ...33 SERVOPACK end Linear servomotor end 14 7 0 58 1 4 7 6 0 30 27 7 1 09 Units mm in Applicable Linear Servomotors Cable Type Cable Length L SGLGW 90 SGLFW 50 and 1Z SGLTW 20 and 35 JZSP CLN21 01 1 m...

Page 148: ...impted terminal 8 5 0 33 U V W G 50 1 97 Finished out dia 15 8 0 62 Wire markers SERVOPACK end Linear servomotor end Units mm in Applicable Linear Servomotor Models Cable Type Cable Length L SGLTW 40...

Page 149: ...0 0 38 Cable Clamp Mounting Screw V Min Effective Screw Length W Max Width Y 22 1 3 8 18UNEF 18 26 0 72 55 57 2 19 40 48 1 59 1 3 16 18UNEF 9 53 0 38 50 1 97 Units mm in Shell Size Joint Screw A Joint...

Page 150: ...Finishied outer dia 6 8 0 27 L Heat shrinkable tube M4 crimpted terminal Wire markers Cable UL2464 AWG18 4C Connector by Interconnectron SPUC06KFSDN236 8 5 0 33 SERVOPACK end SERVOPACK end Units mm i...

Page 151: ...otor end Connector front view Applicable Linear Servomotors Cable Type Cable Length L SGLFW 35D D 50D D 1ZD D SGLTW 35D H D 50D H D With a connector by Interconnectron for 400 V servomotor JZSP CLN15...

Page 152: ...70 20 20 m 65 62 ft SERVOPACK end Serial converter unit end Finished diameter 6 8 0 27 Connector type 55100 0600 6 pin soldered made by Molex Japan Co Ltd Connector type 17JE 23090 02 D8C 9 pin solder...

Page 153: ...9 15 1 8 9 15 Connector type 17JE 23150 02 D8C 15 pin soldered made by DDK Ltd Connector type 17JE 13150 02 D8C With stad 15 pin soldered made by DDK Ltd Finished diameter 9 5 0 37 Cable AWG22 3 AWG25...

Page 154: ...0 15 15 m 49 21 ft Serial converter unit end Hall sensor end 1 5 6 9 1 5 6 9 Connector type 17JE 23090 02 D8C 9 pin soldered made by DDK Ltd Connector type 17JE 13090 02 D8C With stad 9 pin soldered m...

Page 155: ...of bending times in which lead wires are electrically conducted and by which no cracks and damages that affects the performance of cable sheathing are caused Disconnecting the shield wire is not taken...

Page 156: ...ngth If the cable length is too long it may cause the cable s sagging Besides the cable length is too short it may cause the excessive tension on the fixed points that will cause the early disconnecti...

Page 157: ...nd allowable current for three cables Use a cable whose specifications meet or are less than the values in the table 600 V Heat resistant Vinyl Cables HIV Note The values in the table are only for ref...

Page 158: ...minal Name Terminal Symbol SERVOPACK Model SGDH 05AE 08AE 10AE 15AE 20AE 30AE Main circuit power supply input terminals L1 L2 L3 HIV2 0 HIV3 5 Servomotor connection terminals U V W HIV2 0 HIV3 5 HIV5...

Page 159: ...ower supply input terminals 24V 0V HIV1 25 External regenerative resistor connection terminals B1 B2 HIV1 25 Ground terminal HIV2 0 or more External Terminal Name Terminal Symbol SERVOPACK Model SGDH...

Page 160: ...includes a set of case and a connector Manufactured by Sumitomo 3M Ltd 1 Dimensional Drawing of Case Cable Type Cable Length L JZSP CKI01 1 1 m 3 28 ft JZSP CKI01 2 2 m 6 56 ft JZSP CKI01 3 3 m 9 84...

Page 161: ...Pin No 26 Pin No 1 36 7 1 44 30 48 1 20 15 1 27 0 05 41 1 1 62 5 1 0 20 6 6 0 26 19 3 0 76 2 9 0 11 2 3 0 09 12 7 0 50 3M 9 1 0 36 7 5 0 30 Reference length Units mm in Item Specifications Cable Use t...

Page 162: ...e Orange Gray Gray White White Yellow Yellow Pink Pink Orange Orange Gray Gray White White Red Black Red Black Red Black Red Black Red Black Red Black Red Black Red Black Red Black Red Black Red Black...

Page 163: ...4 3000VE Shell 10314 52A0 008 Sumitomo 3M Ltd D sub connector 9 pin 17JE 13090 02 D8A Daiichi Denshi Kogyo Co Ltd 32 0 13 29 5 1 16 Personal computer end SERVOPACK end Cable type AWG26 3C UL2464 Units...

Page 164: ...items are the factory settings The monitoring items can be changed by set ting the parameter Pn003 Refer to 10 5 Analog Monitor Cable Type Cable Length L JZSP CMS00 1 1 m 3 28 ft JZSP CMS00 2 1 5 m 6...

Page 165: ...4 3 5 0 14 2 M3 tapped holes 247 5 9 74 1 19 33 16 32 50 1 1 2 49 50 Terminal block 50P M3 5 screw Connector plug 50P MR 50RMD2 7 0 28 7 0 25 15 5 0 61 45 1 77 3 5 0 14 3 5 0 14 29 5 1 16 2 3 5 0 14 2...

Page 166: ...No built in regenerative resistor is provided to 7 5 kW SERVOPACKs Be sure to prepare the externally mounted regenerative resistor The following table shows examples of regenerative resistors 1 The v...

Page 167: ...H300C 200 W 1 to 10 k RH500 300 W 1 to 30 RH120 N 10 J Model N Noninductive winding Resistance Tolerance Resistance Code K J H 10 5 3 Specifications Resistance Tolerance K 10 J 5 H 3 Temperature Resis...

Page 168: ...RH220 230 200 220 15 60 24 20 RH120 70W 1 to 100 RH150 90W 1 to 100 RH220 120W 1 to 100 Rated Power Model Dimensions Units mm in Resistance 138 5 43 170 6 69 4 4 5 0 18 154 6 06 30 1 18 60 2 36 54 2 1...

Page 169: ...CK Model Regenerative Resistor Model Specifications Allowable Power Loss SGDH 75AE JUSP RA05 3 13 1760 W 350 W SGDH 75DE JUSP RA18 18 880 W 180 W Units mm in Model W H D M1 M2 Approx Mass kg lb JUSP R...

Page 170: ...se circuit breakers are applicable The power supply capacity per SERVOPACK when using a servomotor is described in 2 6 2 Molded case Circuit Breaker and Fuse Capacity Select a circuit breaker with the...

Page 171: ...gle phase 200 V Model FN2070 6 07 FN2070 10 07 Dimensional Drawings External Dimensions in mm in Symbol Dimensions A 113 5 1 4 47 0 039 156 1 6 14 0 039 B 57 5 1 2 26 0 039 C 45 4 1 2 1 79 0 047 D 94...

Page 172: ...0 039 305 1 12 01 0 039 335 1 13 19 0 039 B 126 0 8 4 96 0 031 142 0 8 5 59 0 031 150 1 5 91 0 039 C 50 0 6 1 97 0 024 55 0 6 2 17 0 024 60 0 6 2 36 0 024 D 225 0 8 8 86 0 031 275 0 8 10 83 0 031 305...

Page 173: ...94 151 5 94 D E 6 5 0 3 0 26 0 01 6 5 0 3 0 26 0 01 F 115 0 3 4 53 0 01 115 0 3 4 53 0 01 G M6 M6 H 66 2 60 66 2 60 I 121 4 76 121 4 76 J 10 0 39 13 0 51 K 41 1 61 45 1 77 L 17 0 67 34 1 34 Specificat...

Page 174: ...ional Drawings External Dimensions in mm in Symbol Dimensions A 330 12 99 B 85 3 35 C 370 14 57 D 348 13 70 E 110 4 33 F 80 3 15 G 30 1 18 H 25 0 98 I 1 5 0 06 J 6 5 0 26 K 25 0 98 L M6 Specifications...

Page 175: ...ls Approx mass 0 25 kg 0 55 lb Dimensions in mm in Mounting Hole Dimensions in mm in Terminal Symbols Approx mass 0 38 kg 0 83 lb 9 0 35 35 1 38 76 2 99 61 2 40 34 5 1 36 4 5 0 18 a b 2 U 1 R S T 44 1...

Page 176: ...al Symbols Approx mass 0 68 kg 1 50 lb a b 12 2 0 48 8 2 0 32 14 8 0 58 13 1 0 52 29 1 14 50 1 97 92 3 62 58 4 2 30 8 2 0 32 23 4 0 92 58 2 28 M3 5 Coil terminal M5 Main contact terminal M3 5 Auxiliar...

Page 177: ...Section Rated Voltage 24 VDC Allowable Voltage Fluc tuation 70 to 130 of the rated voltage Current Range 7 3 to 9 3 mA Operating Voltage Maximum 70 of the rated voltage at 23 C 73 40 F Open Voltage M...

Page 178: ...17 91 3 58 57 1 2 25 49 1 1 93 65 2 56 4 5 0 18 75 2 95 76 2 99 54 2 13 9 0 35 35 1 38 29 1 14 50 1 97 10 8 0 43 8 2 0 32 70 2 76 75 2 95 46 5 1 83 2 M4 Mounting holes 7 0 28 35 1 38 Dimensions in mm...

Page 179: ...cable voltage range Model Surge Absorption Method Rated Insula tion Volt age Applicable Voltage Range for Operation Magnetic Coil Applicable Magnetic Contactor TU 25C120 CR 150 VAC HI 11J HI 15J HI 20...

Page 180: ...in Approx mass 0 02 kg 0 04 lb 6 2 0 24 Operation indicator LED M3 5 Connection terminals 4 7 0 19 34 1 34 22 0 87 26 1 02 22 0 87 CR Internal Connection Diagram Varistor Units mm in Approx mass 0 035...

Page 181: ...w for selecting a DC reactor according to the SERVOPACK capacity For the connection method refer to 6 8 11 DC Reactor for Harmonic Suppression Applicable SERVOPACK Model SGDH DC Reactor Model DC React...

Page 182: ...92 155 6 1 53 2 09 66 2 6 75 2 95 5 0 20 6 4 0 25 1 9 4 19 X5069 40 1 57 59 2 32 105 4 13 125 4 92 45 1 77 60 2 36 65 2 56 4 0 16 4 3 0 17 1 0 2 20 X5070 40 1 57 59 2 32 100 3 94 120 4 72 35 1 38 45 1...

Page 183: ...Contact Yaskawa Controls Co Ltd 2 Dimensional Drawings 3 Example of Connection to an External Power Supply MD multi dial 25 HP Helicolumn Panel driling diagram Panel 11 5 1 0 45 0 04 37 5 1 1 48 0 04...

Page 184: ...t RS 422 Output Signals Voltage pulse out put Open collector output Voltage pulse out put Open collector output Input Signal Level Differential voltage 0 3 V built in terminator 100 Output Signal Leve...

Page 185: ...nds posi tion speed Interpola tion commands Parameter read write Monitor output MECHATROLINK I II communica tions Commands Motion commands posi tion speed Interpolation commands Parameter read write M...

Page 186: ...Reference Input DeviceNet communications Commands Motion commands position speed and Parameter read write Position Control Functions Acceleration Deceleration Method Linear first second step asymmetr...

Page 187: ...ns Positioning using PROFIBUS DP communications Reference Input PROFIBUS DP communications Commands Motion commands position speed Parameter read write Position Control Functions Acceleration Decelera...

Page 188: ...ices 6 8 16 PROFIBUS DP I F Unit 6 44 3 Dimensional Drawings 24 0 94 CN11 CN6 20 0 79 100 3 94 5 4 0 9 6 1 2 7 8 3 NS500 5 4 0 9 6 1 2 7 8 3 X 10 X 1 D R C N 11 CN4 142 5 59 M4 133 5 24 Nameplate Unit...

Page 189: ...ommand Table Positioning by designating the command table by the contact input Maximum 128 points Zero Point Return 3 types Other Functions External positioning JOG speed table operation Maximum 16 sp...

Page 190: ...s of Cables and Peripheral Devices 6 8 17 INDEXER Module 6 46 3 Dimensional Drawings NS600 142 5 59 100 3 94 2 0 08 20 0 79 24 0 94 CN7 Units mm in Approx mass 0 2 kg 0 44 lb 128 5 04 Nameplate CN4 CN...

Page 191: ...t Signals from the SERVOPACK 7 21 7 3 2 Encoder Connector CN2 Terminal Layout 7 21 7 4 Examples of I O Signal Connections 7 22 7 4 1 Speed Control Mode 7 22 7 4 2 Position Control Mode 7 23 7 4 3 Forc...

Page 192: ...age to these items by the magnetic force Do not hold the cover when carrying a magnetic way with an antimagnetic cover Failure to observe this caution may result in injury by the cover edge or the cov...

Page 193: ...sure that hands are kept clear 2 Press the magnetic way down closely onto the reference surface of the machine and secure it with bolts Note Use hexagonal socket head bolts tensile strength Class 10...

Page 194: ...tion The coil assembly of SGLGW linear servomotor is constructed of an aluminum base and a resin coated coil winding section Handle the coil assembly with care and do not subject the coil winding sect...

Page 195: ...ly back and forth several times over the magnetic way from end to end making sure that the coil assembly and magnetic way are not touching each other and that no foreign objects such as magnetic parti...

Page 196: ...install the SGLFM magnetic way 1 Remove the dummy plate used to reduce magnetic force and the cardboard sheet from the magnetic way s front panel 2 Align the side of the magnetic way with standard ma...

Page 197: ...fer to the diagrams in step 2 Next while holding the magnetic ways down so that they are not raised push the second magnetic way against the first magnetic way and secure with bolts Keep fingers clear...

Page 198: ...c way Make sure that the air gap between the coil assembly and magnetic way magnets is the specified distance Maintain the following air gaps when installing Make sure that the coil assembly and magne...

Page 199: ...ke sure that hands or tools are not jammed due to the magnetic attraction from the magnetic way when the coil assembly approaches the end of the magnetic way When the air gap between the coil assembly...

Page 200: ...way is packaged with two magnetic way yokes secured with aluminum mounting spacers Do not remove the installation spacers until the magnetic way is temporarily fixed to the device Use the following p...

Page 201: ...g spacer was mounted tighten the bolts at these locations 5 When joining magnetic ways together place the second magnetic way temporarily in line with and at least 30 mm apart from the first magnetic...

Page 202: ...oil winding section is not subjected to shock during installation Shock may damage the coil assembly Use the following procedure to install the SGLTW coil assembly 1 Install the coil assembly on the m...

Page 203: ...ick in the air gap between the coil assembly and magnetic way and move the coil assembly slowly toward the magnetic way Coil Assem bly Model SGLTW Dimensions in mm in H A Air gaps G1 G2 20A A 55 0 3 2...

Page 204: ...tic ways is even However achieving an even air gap is difficult due to the accuracy of the linear servomotor itself and the device and error in the assembly of the linear servomotor at installation Co...

Page 205: ...power is turned ON Frequently turning the power ON and OFF causes main power devices such as capacitors and fuses to deteriorate resulting in unexpected problems Terminal Symbol Name Main Circuit Volt...

Page 206: ...suppression terminal 200 0 05 to 5 0 Normally short 1 and 2 If a countermeasure against power supply harmonic waves is needed connect a DC reactor between 1 and 2 400 0 5 to 7 5 200 7 5 These termina...

Page 207: ...in or type 54932 0000 manufactured by Molex Japan Co Ltd Put the blade into the slot as shown in Fig B and press down firmly to open the wire terminal Either the procedure shown in Fig A or B can be u...

Page 208: ...ed case circuit breaker Noise filter Magnetic contactor Relay 2 U V W Linear scale Linear servomotor Properly treat the end of shielded wire M PG Serial converter unit L1 L1C SGDH AE 0 V 24 1Ry ALM AL...

Page 209: ...ce with the input power supply Harmonic Suppression If another device requires for harmonic suppression connect the DC reactor to the DC main circuit side on the SERVOPACK For connecting examples refe...

Page 210: ...plies a voltage without setting 1 for DC power supply input in the parameter Pn001 2 the SERVOPACK s internal elements will burn and may cause fire or malfunction When using the SERVOPACK with DC powe...

Page 211: ...oller User s Choke coil Smoothing capacitor 11 5 3 2 1 R R R 6 7 10 9 8 16 C represented shielded twisted pair wires Serial converter unit Linear scale made by Renishaw 9 1 10 11 4 12 2 3 9 1 10 11 4...

Page 212: ...L 46 40 S RDY 4 V REF SG A D 5 6 2 1 LPF T REF SG 1 SG 9 2 LPF ALO1 ALO2 ALO3 37 38 39 Servo ON Servo ON when ON Reverse run prohibited Prohibited when OFF Forward run prohibited Prohibited when OFF A...

Page 213: ...Max output current 20 mA DC PG dividing ratio output Applicable line receiver SN75175 manufactured by Texas Instruments or the equivalent corresponding to MS3486 Servo ON Servo ON when ON Reverse run...

Page 214: ...45 P CL 46 40 S RDY V REF SG A D 5 6 2 1 LPF T REF SG 9 2 5 LPF ALO1 ALO2 ALO3 37 38 39 1 SG Servo ON Servo ON when ON Reverse run prohibited Prohibited when OFF Forward run prohibited Prohibited when...

Page 215: ...g signal output 4 29 S RDY Servo ready output 5 V REF Speed refer ence input 30 S RDY Servo ready output 6 SG GND 31 ALM Servo alarm output 7 PULS Reference pulse input 32 ALM Servo alarm output 8 PUL...

Page 216: ...Forward run prohibited Reverse run prohibited Overtravel prohibited Stops linear servomotor when mov able part travels beyond the allowable range of motion 9 6 3 P CL N CL 45 46 Function selected by p...

Page 217: ...roper line receiver is SN75175 manufactured by Texas Instruments or the equivalent corresponding to MC3486 7 3 7 4 1 9 7 7 PBO PBO 35 36 Phase B signal PCO PCO 19 20 Phase C signal ALO1 ALO2 ALO3 37 3...

Page 218: ...can be either line driver or open collector outputs The following shows by type Analog Voltage Input Circuit Analog Voltage Input Circuit D A 1 8 k 1 2 W min 25HP 10B 2 k 3 2 12 V 1 0 V SG About 14 k...

Page 219: ...three types of SERVOPACK output circuits a Line driver Output Circuit CN1 connector terminals 33 34 phase A signal 35 36 phase B signal and 19 20 phase C signal are explained below Encoder serial dat...

Page 220: ...DC c Photocoupler Output Circuit Photocoupler output circuits are used for servo alarm ALM servo ready S RDY and other sequence out put signal circuits Connect a photocoupler output circuit through a...

Page 221: ...m to prevent noise interference 5 To prevent malfunction due to noise take the following actions The wiring distance between the linear scale and serial converter unit must be as short as possible Alw...

Page 222: ...unit through the linear servomotor stray capacitance The above grounding is required to prevent the adverse effects of switching noise b Noise on the Reference Input Line If the reference input line...

Page 223: ...ers Model Specifications Manufacturer Single phase 200 V SGDH A5AE to 02AE FN2070 6 07 Single phase 250 VAC 6A SCHAFFNER SGDH 04AE FN2070 10 07 Single phase 250 VAC 10A Three phase 200 V SGDH 05AE FN2...

Page 224: ...e to other ground wires 4 When grounding a noise filter inside a unit If a noise filter is located inside a unit connect the noise filter ground wire and the ground wires from other devices inside the...

Page 225: ...it breaker QF or noise filter Always select a QF or noise filter that has enough capacity for the total power capacity load conditions of those servos For details refer to 2 6 2 Molded case Circuit Br...

Page 226: ...not connect the SERVOPACK for 200 V directly to a voltage of 400 V The SERVOPACK will be destroyed Control the AC power supply ON and OFF sequence at the primary side of voltage conversion transfer V...

Page 227: ...nnect a DC reactor as shown in the following diagram The DC reactor is connected in series to the rectifier circuit s output side Note 1 The SERVOPACK 1 and 2 terminals for the DC reactor are short ci...

Page 228: ...rative resistors If the value calculated in 12 2 Calculating the Required Capacity of Regenerative Resistors needs an external regenerative resistor connect an external regenerative resistor 7 6 2 Con...

Page 229: ...the regenerative resistor built into the SERVOPACK 2 The values in parentheses are for the optional JUSP RA05 Regenerative Resistor 3 The values in parentheses are for the optional JUSP RA18 Regenera...

Page 230: ...load characteristics Use the regenerative resistors at no more than 20 of the rated load ratio with natural convection cooling and no more than 50 of the rated load ratio with forced air cooling 2 Fo...

Page 231: ...b SERVOPACKs with Capacities of 0 5 to 5 0 kW IMPORTANT Connect an external regenerative resistor between B1 and B2 terminals Note The user must provide the regenerative resis tor Disconnect the wiri...

Page 232: ...rative resis tor Note Connect a regenerative resistor between B1 and B2 terminals The regenerative resistor is provided by the customer Main Circuit Power Supply Applicable SERVOPACK Model SGDH Applic...

Page 233: ...ment of Motor Current Detection Signal Fn00F 8 15 8 2 9 Password Setting Protects Parameters from Being Changed Fn010 8 16 8 2 10 Motor Models Display Fn011 8 17 8 2 11 Software Version Display Fn012...

Page 234: ...tor that has a panel indicator and switches located on the front panel of the SERVOPACK This type of digital operator is also called a panel operator The other one is a hand held operator JUSP OP02A 2...

Page 235: ...also used to set the data To display parameter setting and set value Press the UP Key to increase the set value For JOG operation this key is used as Forward Run Start Key Press the DOWN Key to decrea...

Page 236: ...al Operator Turn ON the power Fn Utility Function Mode Refer to 8 2 Pn Monitor Mode Refer to 8 4 Press DSPL SET Key A basic mode is selected in the following order Repeat DATA ENTER DSPL SET Press DSP...

Page 237: ...n one second to display the contents of selected parameter number in the selected mode Refer to each operation instruction described later Status Display Mode Refer to 8 1 4 Press Fn Utility Function...

Page 238: ...etection TGON Lit if motor speed exceeds preset value Not lit if motor speed is below preset value Preset value Set in Pn581 Factory setting is 20 mm s Movement Detection TGON Lit if motor speed excee...

Page 239: ...l Operator 8 7 8 2 Codes and Meanings Code Meaning Baseblock Servo OFF motor power OFF Run Servo ON motor power ON Forward Run Prohibited CN1 42 P OT is OFF Reverse Run Prohibited CN1 43 N OT is OFF A...

Page 240: ...ro point search mode 8 2 4 Fn005 Parameter setting initialization 8 2 5 Fn006 Alarm traceback data clear 8 2 6 Fn007 Writing to EEPROM mass ratio data obtained from online autotuning 10 2 7 Fn008 Fixe...

Page 241: ...or transmission error 1 Digital operator transmission error 2 Alarm Code See the alarm table Alarm Sequence Number The higher the number the older the alarm data is INFO Step Display after Operation D...

Page 242: ...tely Sets the motor speed reference value of the utility function Fn002 JOG Mode Operation Speed Position Force Step Display after Operation Digital Operator Panel Operator Description 1 Press the DSP...

Page 243: ...ring zero point search mode operations using Fn003 CAUTION Step Display after Operation Digital Operator Panel Operator Description 1 Press the DSPL SET or MODE SET Key to select the utility function...

Page 244: ...he enabled digit blinks 3 Press the DATA ENTER Key once or DATA SHIFT Key for more than one second and the display will be as shown on the left 4 Press the DSPL SET or MODE SET Key Then the parameters...

Page 245: ...TA ENTER Key once or DATA SHIFT Key for more than one second and the display will be as shown on the left 4 Press the DSPL SET or MODE SET Key to clear the alarm traceback data The display shown on th...

Page 246: ...ation Digital Operator Panel Operator Description 1 Press the DSPL SET or MODE SET Key to select the utility function mode 2 Press the UP or DOWN Key to select Fn00E Note The enabled digit blinks 3 Pr...

Page 247: ...e LEFT or RIGHT or DATA SHIFT Key for less than one second to display the phase U offset amount 5 Press the UP or DOWN Key to adjust the offset Care fully adjust the offset while monitoring the force...

Page 248: ...Key to select Fn010 Note The enabled digit blinks 3 Press the DATA ENTER Key once or DATA SHIFT Key for more than one second and the display will be as shown on the left 4 Press the UP or DOWN Key to...

Page 249: ...the linear scale type and resolution code will be displayed 6 Press the DSPL SET or MODE SET Key to display the SERVOPACK s code for custom orders Note The display y 0000 means standard model 7 Press...

Page 250: ...WN Key to select Fn012 Note The enabled digit blinks 3 Press the DATA ENTER Key once or DATA SHIFT Key for more than one second to display the SERVOPACK software version number 4 Press the DSPL SET or...

Page 251: ...alue Fn005 of utility function mode as required IMPORTANT Step Display after Operation Digital Operator Panel Operator Description 1 Press the DSPL SET or MODE SET Key to select the utility function m...

Page 252: ...from 40 to 100 EXAMPLE Step Display after Operation Digital Operator Panel Operator Description 1 Press the DSPL SET or MODE SET Key to select the parameter setting mode If a parameter other than Pn10...

Page 253: ...parameter The name of the parameter Position Positoin Speed Force Force Applicable control mode for the parameter Speed Speed control internal set speed control Position control Force control This sec...

Page 254: ...Servo Gain Related Parameter Pn10B Gain Application Switches 0000 After restart Immediately Pn110 Online Autotuning Switches 0010 After restart Immediately Position Control Related Parameter Pn200 Po...

Page 255: ...of current data 4 Press the UP Key once to change to n 0010 Set the control method to position control 5 Press the DATA ENTER Key once or DATA SHIFT Key for more than one second The value blinks and i...

Page 256: ...Setting Pn50A 0 0 The factory setting for the input signal allocation is as follows means factory setting Pn50A n 2 n 8 The number of the parameter Parameter Meaning This section explains the details...

Page 257: ...7 8 L N OT 9 A B C D E F Alarm Reset Pn50B 1 n xx x L ARM RST 0 1 2 3 4 5 6 8 H ARM RST 9 A B C D E F Forward External Force Limit Pn50B 2 n x xx L P CL 0 1 2 3 4 5 6 7 8 H P CL 9 A B C D E F Reserve...

Page 258: ...g Polarity Reversal the machine may not move to the specified safe direction at occurrence of failure such as signal line disconnection If such setting is absolutely necessary confirm the operation an...

Page 259: ...SHIFT Key for more than one second to return to the display Pn50A 7 Press the UP Key to set Pn50B Note The enabled digit blinks 8 Press the DATA ENTER Key once or DATA SHIFT Key for more than one seco...

Page 260: ...use the output signal Factory Setting Note The output signals for Positioning Completion Signal and Speed Coinci dence Detection Signal differ depend ing on the control method 1 L H 2 L H 3 L H Speed...

Page 261: ...e value blinks and is saved 5 Press the DATA ENTER Key once or DATA SHIFT Key for more than one second to return to the display Pn50E 6 Press the UP Key to set Pn50F Note The enabled digit blinks 7 Pr...

Page 262: ...1 Input signal monitor Un006 1 Output signal monitor Un007 Input reference pulse speed valid only in position control mode mm s Un008 Error counter value amount of position error valid only in positio...

Page 263: ...is lit Refer to 8 3 2 Input Circuit Signal Allocation for the relation between input terminals and signals When S ON signal is ON Servo ON at L level When S ON signal is OFF When P OT signal operates...

Page 264: ...omotor runs at 1500 mm s 4 3 2 1 Top OFF H level Bottom ON L level Number 7 6 5 Display LED Number Output Terminal Name Factory Setting 1 CN1 31 32 ALM 2 CN1 25 26 COIN or V CMP 3 CN1 27 28 TGON 4 CN1...

Page 265: ...display 0 and increase from this pulse number When using the 8 bit serial converter unit the feedback pulse will be 256 pulses scale pitch Step Display after Operation Digital Operator Panel Operator...

Page 266: ...ation Digital Operator Panel Operator Description 1 Press the DSPL SET or MODE SET Key to select the mon itor mode 2 Press the UP or DOWN Key to select Un010 3 Press the DATA ENTER Key once or DATA SH...

Page 267: ...Un011 3 Press the DATA ENTER Key once or DATA SHIFT Key for more than one second to display the hall sensor signal pattern 4 Press the DATA ENTER Key once or DATA SHIFT Key for more than one second to...

Page 268: ...Linear Servomotor Connected to the Machine 9 28 9 5 Control Mode Selection 9 29 9 6 Setting Common Basic Functions 9 30 9 6 1 Setting the Servo ON Signal 9 30 9 6 2 Switching the Linear Servomotor Mo...

Page 269: ...10 1 Setting Parameters 9 65 9 10 2 Input Signal Settings 9 66 9 10 3 Operating Using an Internally Set Speed 9 66 9 11 Limiting Force 9 68 9 11 1 Internal Force Limit Limiting Maximum Output Force 9...

Page 270: ...9 3 9...

Page 271: ...setting Scale signal count direction and count quantity Motor movement direction and movement speed Force limit parameter setting Polarity detection operation only if polarity detection is used 2 Tria...

Page 272: ...ion After setting the mass ratio Pn103 perform jog operation Jog operation 7 Connect input signals Connect I O signals CN1 necessary for the trial operation to the SERVOPACK 8 Check input signals Chec...

Page 273: ...h phases U V and W in that order is toward the side from which the motor cable is extended The analog 1 V p p voltage input from the linear scale to the serial converter unit is counted during phase A...

Page 274: ...of the scales When the linear scale is a sealed type adjustment is not required But the dimensional tolerances for installation must be maintained 3 Connecting the Cables Check the power supply circui...

Page 275: ...ubleshooting Normal status Example of alarm display Pn280 Linear Scale Pitch Setting Range Setting Unit Factory Setting Setting Validation 0 to 65535 1 m 0 m After restart If the linear scale pitch Pn...

Page 276: ...the linear servomotor is moved only 1 cm by hand in the linear scale s count direction the number of feedback pulses will be as follows 1 cm 20 m 256 12 800 pulses Note The actual monitor display will...

Page 277: ...hen the calculated mass ratio exceeds 20000 set 20000 in the parameter and adjust loop gains This setting range is applicable for software version 32 or later The range for software earlier than ver s...

Page 278: ...rection of the linear scale signal is not correct or the count may not be normal Perform 5 Checking the Feedback Signal again If the count is normal the malfunction may be caused by noise Check the wi...

Page 279: ...used 2 Installation and Wiring the Linear Servomotor and Linear Scale Install the coil assembly and linear scale so that the motor forward direction and linear scale count direction are the same If th...

Page 280: ...he linear scale is a sealed type adjustment is not required But the dimensional tolerances for installation must be maintained 4 Connecting the Cables Check the power supply circuit linear servomotor...

Page 281: ...nable the set tings Normal status Example of alarm display Pn280 Linear Scale Pitch Setting Range Setting Unit Factory Setting Setting Validation 0 to 65535 1 m 0 m After restart If the linear scale p...

Page 282: ...inear servomotor is moved only 1 cm by hand in the linear scale s count direction the number of feedback pulses will be as follows 1 cm 20 m 256 12 800 pulses Note The actual monitor display will devi...

Page 283: ...sig nals or to perform polarity detection using different timing from the servo ON signal the polarity detection start signal P DET must be assigned to a user set input After setting the parameter Pn5...

Page 284: ...alue in the parameters up to the required force Set the value to the maximum value if no particular restricting conditions apply If the force limit is set too high polarity detection may not operate n...

Page 285: ...2 Phase U angle from 0 After confirmation remove the linear servomotor from the stroke end 10 mm min Then execute the setting validation and restart polarity detection Repeat this procedure three tim...

Page 286: ...the reference speed is in same direction The feedback speed range is 2 mm s up to the maximum reference speed Detection Error The detection result is an error if the speed feedback for speed referenc...

Page 287: ...ction move the linear servomotor to a position where the OT signal is not detected 2 Polarity detection error alarm A C5 has occurred Parameter settings are incorrect The settings for scale pitch Pn28...

Page 288: ...nditions Check the conditions and take appropriate measures The force reference is saturated because the load is too heavy or the jog speed is too fast Lower the jog speed or lighten the load The line...

Page 289: ...wiring and polarity between the host controller and SERVOPACK and the SERVOPACK operation settings are correct This is final check before connecting the linear servomotor to the machine 9 3 1 Servo O...

Page 290: ...The input signal setting is not correct if the display is not the same as on the left Check the input signal using the Un005 input signal monitor from the panel operator Check input signal wiring in m...

Page 291: ...m s Refer to 8 1 3 Basic Mode Selection and Operation for how it is displayed 5 Check the Un000 motor speed mm s Refer to 8 1 3 Basic Mode Selection and Operation for how it is displayed 6 Check that...

Page 292: ...ltage offset to keep the servomotor from moving 11 Send the command for the movement amount easy to check for example 1 cm from the host control ler in advance and check the sent movement amount and a...

Page 293: ...e actual motor movement amount pulse by the change in Un00D feedback pulse counter pulse before and after executing the sent pulse ref erence Refer to 8 1 3 Basic Mode Selection and Operation for how...

Page 294: ...3 Check the motor movement direction To change the motor movement direction without changing input reference pulse form refer to 9 6 2 Switching the Linear Servomotor Movement Direction Perform the op...

Page 295: ...rence 9 8 Operating Using Position Control and 9 9 Operating Using Force Control for control mode used 3 Check that the SERVOPACK is servo OFF status and then turn ON the power to the machine host con...

Page 296: ...nce Controls the position with the number of input pulses and controls the speed with the input pulse frequency Use when positioning is required 9 8 n 2 Force Control Analog voltage speed reference Co...

Page 297: ...Linear servomotor cannot be operated IMPORTANT Always input the servo ON signal before inputting the input reference to start or stop the linear servomotor Do not input the input reference first and...

Page 298: ...ce Forward Reference Reverse Reference Pn000 n 0 Standard setting CCW For ward Factory setting n 1 Reverse Direction Mode CW Reverse The direction of P OT and N OT change For Pn000 n 0 standard settin...

Page 299: ...ent damage to the devices dur ing linear motion Movement in the opposite direction is possible during overtravel For example reverse run is possible during forward overtravel IMPORTANT When the linear...

Page 300: ...ergency stop force Pn406 then places it into Coast power OFF Mode During force control the linear servomotor enters DB Stop Mode or Coast Mode regardless of the setting of Pn001 1 After changing these...

Page 301: ...er supply L1 L2 L3 is OFF Some linear servomotor models are forcibly stopped by dynamic braking Similar to the Coast Mode the n 0 setting which stops the servomotor by dynamic braking and then holds i...

Page 302: ...ter Pn509 In the following instances however the parameter setting will be invalid If an insufficient voltage alarm A 41 occurs during a power loss with a large servomotor load When control is lost eq...

Page 303: ...n 1 50 to 30 00 V Rated speed 0 01 V Rated speed 6 00 V Rated speed Immediately Sets the analog voltage level for the speed reference V REF necessary to operate the linear servomotor at the rated spee...

Page 304: ...st controller such as a program mable controller for position control Type Signal Name Connector Pin Number Setting Description Input P CON CN1 41 ON low level Operates the SERVOPACK with proportional...

Page 305: ...ction Mode Fn The automatic adjustment of the analog speed force reference offset Fn009 automatically measures the amount of the offset and adjusts the reference voltage The SERVOPACK automatically ad...

Page 306: ...from the host controller or external circuit 2 Press the DSPL SET or MODE SET Key to select the utility function mode 3 Press the LEFT RIGHT or UP DOWN Key or UP or DOWN Key to select parameter Fn009...

Page 307: ...the utility function mode 2 Press the UP or DOWN Key to select parameter Fn00A The digit that can be set will blink 3 Press the DATA ENTER Key once or DATA SHIFT Key for more than one second The disp...

Page 308: ...00 ms 0 Immediately Pn306 Soft Start Deceleration Time Setting Range Setting Unit Factory Setting Setting Validation 0 to 10000 ms 0 Immediately The soft start function enables smooth speed control wh...

Page 309: ...0 to 10000 1 mm s 10 Immediately Sets the motor speed at which the zero clamp is performed if zero clamp speed control Pn000 n A is selected Even if this value is set higher than the maximum speed of...

Page 310: ...and outputs it The setting unit is the number of edges scale pitch Type Signal Name Connector Pin Number Name Output PAO CN1 33 Encoder output phase A PAO CN1 34 Encoder output phase A Output PBO CN1...

Page 311: ...forward after the power supply is turned ON When passing the first zero point signal Ref in reverse after the power supply is turned ON IMPORTANT Machine position Forward Power ON Zero point signal R...

Page 312: ...he SERVOPACK with the software version 32 or higher outputs the alarm Dividing Pulse Output Setting Error A 09 if the set value does not satisfy the above setting range or the set ting conditions The...

Page 313: ...for details Pn582 Speed Coincidence Signal Output Width Setting Range Setting Unit Factory Setting Setting Validation 0 to 100 1 mm s 10 Immediately The V CMP signal is output when the difference bet...

Page 314: ...Reference Pn200 n 0 Sign pulse train Positive logic Factory setting n 1 CW pulse CCW pulse Positive logic n 2 Two phase pulse train with 90 phase differential Positive logic 1 n 3 2 n 4 4 n 5 Sign pul...

Page 315: ...el Position error pulses do not accumulate while the signal is at low level n 3 Clears at the falling edge The following are executed when the clear operation is enabled The SERVOPACK error counter is...

Page 316: ...osition data unit is called a ref erence unit Scale Pitch Pulse Resolution 40 m 0 156 m 20 m 0 078 m 4 m 0 016 m When the Electronic Gear is Not Used When the Electronic Gear is Used To move a workpie...

Page 317: ...egers within the range Be careful not to change the electronic gear ratio B A IMPORTANT Electronic gear ratio setting range 0 01 Electronic gear ratio B A 100 If the electronic gear ratio is outside t...

Page 318: ...02 mm 20 m 2 Determine the reference unit 1 reference unit 0 001 mm 1 m 3 Calculate the electronic gear ratio 4 Set parameters Pn202 256 Pn203 20 A 20 m B 1 m 256 A B 256 Movement distance L mm Ps L...

Page 319: ...ers Change the parameter as follows 1 Input Output Signal Timing Example Note 1 The interval from the time the servo ON signal is turned ON until a reference pulse is input must be at least 40 ms othe...

Page 320: ...ulse and CCW pulse Maximum reference frequency 500 kpps For open collector output 200 kpps t1 t2 0 1 s t3 3 s 1 0 s T 100 50 Two phase pulse train with 90 phase differential phase A and phase B Maximu...

Page 321: ...ent i will be within 7 to 15 mA Represents twisted pair wires Line driver SERVOPACK Host controller Photocoupler CN1 7 8 14 15 12 11 PULS SIGN SIGN CLR CLR PULS 150 150 150 CN1 7 8 14 15 12 11 PULS SI...

Page 322: ...se 1 Selecting a Position Reference Filter After resetting the parameter turn OFF the power once and turn it ON again CN1 7 3 8 1 14 15 12 11 13 18 PULS SIGN SIGN CLR CLR PULS PL1 PL2 PL3 150 1k 12V T...

Page 323: ...the error This function provides smooth motor operating in the following cases The function does not affect the travel distance i e the number of pulses When the host controller that outputs a refere...

Page 324: ...ween the number of reference pulses output by the host controller and the travel distance of the servomotor is less than the value set in this parameter Set the number of error pulses in reference uni...

Page 325: ...high level The servomotor has not reached a point near to posi tioning completed The output terminal must be allocated with parameter Pn510 in order to use positioning near signal Refer to 8 3 3 Outpu...

Page 326: ...nector Pin Number Setting Meaning Input P CON CN1 41 Factory setting ON low level Turns the INHIBIT function ON Inhibits the SERVOPACK from counting refer ence pulses OFF high level Turns the INHIBIT...

Page 327: ...d force with 10 V input Pn400 20 The linear servomotor operates at the rated force with 2 V input Speed Position Force Reference voltage V Reference force This reference voltage is set Rated force Typ...

Page 328: ...digital operator The automatic adjustment of analog speed force reference offset Fn009 automatically measures the offset and adjusts the reference voltage The SERVOPACK performs the following automati...

Page 329: ...SET or MODE SET Key to select the utility function mode 3 Press the LEFT RIGHT or UP DOWN Key or UP or DOWN Key to select parameter Fn009 The digit that can be set will blink 4 Press the DATA ENTER K...

Page 330: ...stment mode for the force reference offset will be entered 4 Servo ON Turn ON the servo ON S ON signal The display will be as shown at the left 5 Press the LEFT or RIGHT Key or DATA SHIFT Key for less...

Page 331: ...nd Inputs an analog voltage reference as the linear servomotor speed limit value during force control The smaller value is enabled the speed limit input from V REF or the Pn480 Speed Limit during Forc...

Page 332: ...r a speed settings for the Pn380 to Pn382 exceed the maximum speed SERVOPACK 41 45 46 Pn380 SPEED1 Pn381 SPEED2 Pn382 SPEED3 Internally set speed parameters Speed reference Linear Servomotor M Contact...

Page 333: ...rformed using the internally set speeds Operation with the P CON P CL and N CL input signals pins allocated in factory setting Operation with the SPD D SPD A and SPD B input signals SPD D SPD A and SP...

Page 334: ...e output of the pulse reference from the host controller after the positioning completed COIN signal is output from the SERVOPACK Example Operation with an Internally Set Speed and Soft Start Position...

Page 335: ...ce limit 9 11 2 3 Force limiting by analog voltage reference 9 11 3 4 External force limit Force limiting by analog voltage reference 9 11 4 Pn483 Forward Force Limit Setting Range Setting Unit Factor...

Page 336: ...Setting Setting Validation 0 to 800 100 Immediately Speed Position Force Speed Position Force Type Signal Name Connector Pin Number Setting Meaning Limit Value Input P CL CN1 45 Factory Setting ON lo...

Page 337: ...Pn484 set to 800 Note In this example the linear servomotor movement direction is Pn000 n 0 standard setting CCW forward P CL Forward External Force Limit Input High level Low level N CL Reverse Exte...

Page 338: ...he forward or reverse direction 1 Related Parameters 2 Input Signals Pn300 Pn400 T REF V REF Forward force limit value Pn483 Speed loop gain Pn100 Speed feedback Force limit value Speed reference Forc...

Page 339: ...elated Parameters The setting unit is a percentage of rated force i e the rated force is 100 Force limit value Speed reference Pn300 Pn400 T REF V REF Pn404 P CL ON Forward torque limit value Pn483 Pn...

Page 340: ...el Forward external force limit OFF Pn483 Input N CL CN1 46 Factory setting ON low level Reverse external force limit ON The analog voltage reference limit or the value set in Pn484 or Pn405 whichever...

Page 341: ...ol analog voltage reference n 7 Position control pulse train reference Speed control analog voltage reference n 8 Position control pulse train reference Force control analog voltage reference n 9 Forc...

Page 342: ...alog voltage reference for speed control and a position reference pulse train reference for position control Type Signal Name Connector Pin Number Setting Pn000 Setting n 7 n 8 n 9 n A n B Input P CON...

Page 343: ...upply to the SERVOPACK Type Signal Name Connector Pin Number Name Input ALM RST CN1 44 Alarm Reset When a servo alarm ALM has occurred and the cause of the alarm has been eliminated the alarm can be r...

Page 344: ...ombinations of ALO1 ALO2 and ALO3 when a warning code is out put Type Signal Name Connector Pin Number Setting Meaning Output TGON CN1 27 28 Factory setting ON low level Linear servomotor is operating...

Page 345: ...o ON signal and completed all preparations It is output when there are no servo alarms and the main circuit power supply is turned ON If no hall sensor is set the polarity detection must be completed...

Page 346: ...ne Autotuning 10 11 10 3 Manual Tuning 10 12 10 3 1 Explanation of Servo Gain 10 12 10 3 2 Servo Gain Manual Tuning 10 13 10 3 3 Position Loop Gain 10 13 10 3 4 Speed Loop Gain 10 14 10 3 5 Speed Loop...

Page 347: ...s intent using 10 1 2 List of Servo Adjustment Functions If the desired responsiveness cannot be achieved adjusting according to the servo gain adjustment methods con sider the following possible caus...

Page 348: ...Pn109 Pn10A Feed forward compensation for the posi tion reference is added to the speed refer ence Adjustment is easy The system will be unstable if a large value is set possibly resulting in over sh...

Page 349: ...ovement averaging filter for the posi tion reference input Enables smooth operation The reference time increases by the filter delay time even after the reference input has been completed Position 9 8...

Page 350: ...gidity is low and mechanical vibration occurs easily or friction is high The speed reference is a stepwise reference If the condition meets one of the above cases or the desired operation cannot be ac...

Page 351: ...otor operation WARNING Start Operate with factory setting Set Pn110 0 0 Operation OK Load mass varies Operation OK Continuous online autotuning Set Pn110 0 1 Ajust the machine rigidity setting Set at...

Page 352: ...In this case differences in machine status and operation references at the beginning of operation may cause minor differences in the cal culation results of the load mass causing differences in the s...

Page 353: ...lways set the machine rigidity setting When setting the machine rigidity after having changed the position loop gain Pn102 the value closest to the set position loop gain is displayed as the initial v...

Page 354: ...or one second or more The display shown at the left will appear and the rigidity for online autotuning can be set 4 Press the Up or Down Cursor Key to select the machine rigidity setting 5 Press the D...

Page 355: ...e default value the next time the power supply is turned ON the utility func tion mode parameter Fn007 Writing to EEPROM mass ratio data obtained from online autotuning can be used to save the most re...

Page 356: ...wn Cursor Key to select parameter Fn007 The digit that can be set will blink 3 Press the DATA ENTER or DATA SHIFT Key for one second or more The display at the left will appear for a mass ratio of 200...

Page 357: ...innermost loop must have the highest response and the middle loop must have higher response than the outermost If this principle is not followed it will result in vibration or responsiveness decreases...

Page 358: ...rease the values in the following parameter to suppress detection of the overflow alarm Step Explanation 1 Set correctly the mass ratio Pn103 The utility function Fn007 can be used after the online au...

Page 359: ...n is set as high as possible within the range that does not cause vibration in the mechanical system The value of speed loop gain is the same as the set value of Pn100 if the moment of inertia ratio i...

Page 360: ...onstant Setting Range Setting Unit Factory Setting Setting Validation 0 to 6 400 0 00 to 64 00 ms 0 01ms 0 Immediately Applies feed forward compensation in position control inside the SERVOPACK Use th...

Page 361: ...ward value will result in overshooting or undershooting To prevent such troubles set the opti mum value while observing the system responsiveness Connect a speed reference signal line to V REF CN1 5 a...

Page 362: ...ce together with the position reference to the SERVOPACK Too high a speed feed forward value will result in overshooting or undershooting To prevent such troubles set the opti mum value while observin...

Page 363: ...e P CON signal and switching the control mode for particular operating conditions If PI control mode is being used and the speed reference has a reference offset the linear servomotor may move very sl...

Page 364: ...SERVOPACK s Soft Start Acceleration Deceler ation Time Pn305 Pn306 or Position Reference Acceleration Deceleration Time Constant Pn204 1 Selecting the Mode Switch Setting The SERVOPACK provides the f...

Page 365: ...eed Using the Speed Reference Level to Switch Modes With this setting the speed loop is switched to P control when the value of speed reference input exceeds the speed set in parameter Pn181 Operating...

Page 366: ...This setting is effective with position control only With this setting the speed loop is switched to P control when the error pulse exceeds the value set in parameter Pn10F Operating Example In this e...

Page 367: ...rs based on the machine s characteristics The Bias Width Addition Pn108 specifies when the Bias Pn180 is added and the width is expressed in error pulse units The bias input will be added when the err...

Page 368: ...orrectly Pn110 Online Autotuning Switches Setting Range Setting Unit Factory Setting Setting Validation 0010 After restart Speed Position Pn111 Speed Feedback Compensation Setting Range Setting Unit F...

Page 369: ...its 1 s 3 Repeat step 2 to increase the speed loop gain while monitoring the settling time with the analog monitor s position error and checking whether vibration occurs in the force reference If ther...

Page 370: ...in Pn102 Pn106 Parameter Function Pn50A n 1 Enables the input signal allocation for the sequence Set to allocate the gain switching signal G SEL to an input terminal Pn100 Speed Loop Gain Setting Rang...

Page 371: ...spect that machine vibration is being caused by the servodrive try adjusting the force reference filter time constant This may stop the vibration The lower the value the better the speed control respo...

Page 372: ...filter Gain db Frequency Hz 300 200 100 0 100 2 10 10 3 104 2 10 10 3 104 Phase Frequency Hz 400 300 200 100 0 deg Notch filter Gain db Frequency Hz Notch filter Frequency Hz 300 200 100 0 100 2 10 1...

Page 373: ...e response frequency may cause vibration and damage the machine The speed loop response frequency is the value of the Speed Loop Gain Pn100 when the Mass Ratio Pn103 is set to the correct value 2 Chan...

Page 374: ...n be selected by setting parameters Pn003 0 and Pn003 1 Pin Number Line Color Signal Name Monitoring Item with Factory Setting 1 Red Analog monitor 2 Motor speed 1 V 1000 mm s 2 White Analog monitor 1...

Page 375: ...nitor Signal Observation Gain Remarks Pn003 n 0 n 0 Motor speed 1 V 1000 mm s Factory setting for Monitor 2 n 1 n 1 Speed reference 1 V 1000 mm s n 2 n 2 Internal force reference 1 V 100 rated force F...

Page 376: ...e Application Module is Used 11 5 11 1 4 Warning Display Table when the Application Module is Used 11 6 11 1 5 Troubleshooting of Alarm and Warning 11 7 11 1 6 Troubleshooting for Malfunction without...

Page 377: ...t match each other The linear servomotor and SERVOPACK voltage specifica tions do not correspond to each other Available A 08 Linear Scale Pitch Setting Error The initial value 0 m is set for the line...

Page 378: ...Error The checksum results of encoder memory is abnormal N A H H H H A 84 Encoder Data Error Data in the encoder is abnormal N A A b1 Reference Speed Input Read Error The A D converter for reference s...

Page 379: ...onnection 1 The power is not supplied to the linear servomotor while the SERVOPACK received a servo ON command Available CPF00 Digital Operator Transmission Error Digital operator JUSP OP02A 2 fails t...

Page 380: ..._RD PRM_WR PPRM_WR CONFIG ALM_RD ALM_CLR SENS_ON ADJ ID_RD Table 11 3 Alarm Displays and Outputs when the SERVOPACK and an Application Module Is Used Together Alarm Display Application Module which De...

Page 381: ...nnected or the communications are being sent or from SigmaWin and another device a personal computer the following commands can not be carried out uncondi tionally command warning A 95 and the MECHATR...

Page 382: ...value was rejected as an error at the digital operator Set Fn005 to initialize the parameter Pn080 0 1 was set though a hall sensor was con nected Check and correct the hall sensor wiring Correct the...

Page 383: ...ve power exceeds the regenerative resistor s capacity Reconsider the load and operation conditions The direction or the distance of the SERVOPACK to other devices is incorrect Heat radiation of the pa...

Page 384: ...circuit power supply was turned ON In the DC power input mode AC power is supplied through L1 and L2 or L1 L2 and L3 For AC power input Pn001 2 0 For DC power input Pn001 2 1 In the AC power input mod...

Page 385: ...sup ply was turned ON A SERVOPACK board fault occurred Replace the SERVOPACK Occurred when servo was ON The order of phases U V and W in the servomotor wiring is incorrect Correct the servomotor wiri...

Page 386: ...ce the SERVOPACK Occurred when the servomotor was running in servo OFF status The kinetic energy at a DB stop exceeds the DB resistance capacity cReduce the motor speed dReduce the load mass or eReduc...

Page 387: ...ion of the speed reference input Clear and reset the alarm and restart the operation A SERVOPACK board fault occurred Replace the SERVOPACK A b2 Reference Force Input Read Error Detected when the serv...

Page 388: ...sup ply was turned ON or during operation The serial converter unit wiring and the contact are incorrect Correct the serial converter unit wiring Noise interference occurred due to incorrect serial co...

Page 389: ...U V and W wirings is faulty Correct the servomotor wiring Correct the encoder wiring A SERVOPACK board fault occurred Replace the SERVOPACK The servomotor did not run with posi tion reference input W...

Page 390: ...then correct the linear servomotor power line wiring or replace the SERVOPACK CPF00 Digital Operator Transmission Error 1 1 Occurred when the power supply was turned ON with dig ital operator con nect...

Page 391: ...rect and the contact is faulty Correct the encoder wiring The starting force exceeds the maximum force Reconsider the load and operation condi tions Or check the servomotor capacity The polarity detec...

Page 392: ...re agreed Correct the control mode selection parameter or the input Force control Force reference input is incorrect Check T REF and SG to confirm if the con trol method and the input are agreed Corre...

Page 393: ...to incorrect input signal wire specifications The specifications of input signal wires must be Twisted pair or twisted pair shielded wire with core 0 12 mm2 0 0002 in2 min and tinned annealed copper t...

Page 394: ...00 too low Factory setting Kv 40 0 Hz Refer to the gain adjustment in User s Man ual Reduce the speed loop gain Pn100 preset value Position loop gain value Pn102 too high Factory setting Kp 40 0 s Ref...

Page 395: ...too long The wiring distance must be 20 m 65 6 ft max The serial converter unit cable distance must be within the specified range Noise influence due to damaged serial converter unit cable Check if th...

Page 396: ...Servomotor surface dirty Check visually Clean dust and oil from servomotor surface Overloaded Run under no load Reconsider load and operation conditions or replace with larger capacity servomotor Tabl...

Page 397: ...si tion Levels higher than normal Exterior According to degree of contamination Clean with cloth or compressed air Use alcohol solvent Insulation Resistance Measurement At least once a year Disconnect...

Page 398: ...hat the parameters are properly set before starting operation Table 11 10 Periodical Part Replacement Part Standard Replacement Period Replacement Method Operating Conditions Cooling Fan 4 to 5 years...

Page 399: ...to OMRON s Position Control Unit 12 18 12 3 4 Example of Connection to OMRON s Position Control Unit C500 NC221 SERVOPACK in Speed Control Mode 12 19 12 3 5 Example of Connection to OMRON s Position...

Page 400: ...0 N Linear servomotor coil assembly mass WM 0 82 kg Load speed L 120 m min Workpiece mass WW 1 kg Table mass WT 2 kg Feeding times n 120 times min Feeding distance 0 76 m Feeding time tm 0 4 s max Acc...

Page 401: ...and SERVOPACK are confirmed to be applicable The force diagram is shown below FL 9 8 WW WT WM 9 8 0 2 1 2 0 82 7 5 N FP FL 7 5 L 60ta 60 0 02 WW WT WM 120 1 2 0 92 389 5 N Instantaneous peak force 0...

Page 402: ...ncies for just the servomotor in acceleration and deceleration operation during the motor speed cycle from 0 m s to the maximum speed to 0 are summarized in the following table Convert the data into t...

Page 403: ...2 35A460A 2 35A170H 3 35A320H 1 50A170H 4 50A320H 1 40A400B 1 Linear Servomotor Model Allowable Frequencies in Regenerative Mode times min Load Condition Including Coil Assembly Speed reference Servo...

Page 404: ...wing regenerative resistor is used together with an applicable SERVOPACK 200 V Class JUSP RA05 400 V Class JUSP RA18 The linear servomotor driven conditions and the conversion equation of the allowabl...

Page 405: ...during the deceleration period EL EL VMFLtD 2 3 Calculate the energy lost from linear servo motor winding resistance EM Value calculated from 2 Servo motor Winding Resistance Loss diagrams tD 4 Calcu...

Page 406: ...y load loss in step 2 above is unknown then perform the calculation using EL 0 When the operation period in regeneration mode is continuous add the following items to the above calcula tion procedure...

Page 407: ...s show the relationship for each servomotor between the servomotor s generated force and the winding resistance loss a SGLGW Linear Servomotors With Standard force Magnetic Ways 0 20 40 60 80 100 0 10...

Page 408: ...ng the Regenerative Energy 12 10 0 200 100 300 400 500 0 100 200 300 60A140C 60A253C 60A365C Model SGLGW Loss W Force 0 200 400 600 800 1000 1200 1400 1600 1800 0 100 200 300 400 90A200C 90A370C 90A53...

Page 409: ...egenerative Resistors 12 11 12 With High force Magnetic Ways 0 100 200 400 600 700 500 300 0 100 200 400 300 40A365C 40A253C 40A140C Model SGLGW Loss W Force 0 200 400 600 800 0 100 200 300 400 60A140...

Page 410: ...200 400 600 800 1000 1200 0 100 200 300 20A090A 20A120A 35A120A 35A230A Force Loss W 0 200 400 600 800 1000 1200 1400 1800 1600 0 100 50 200 150 250 Model SGLFW 50A200B 1ZA200B 50A380B 1ZA380B Force...

Page 411: ...W Loss W 300 0 500 1000 1500 2000 2500 3000 0 100 200 3500 4000 Model SGLTW 20A460A 35A170A 35A320A 35A460A 20A170A 20A320A Model SGLTW 0 200 400 600 800 1000 1200 0 100 50 150 240 200 Model SGLTW 0...

Page 412: ...nergy 12 14 Force Loss W Force Loss W Model SGLTW 0 200 400 600 800 1000 1200 0 100 150 50 200 240 35D170H 50D170H 35D320H 50D320H Model SGLTW 0 2000 4000 6000 8000 10000 14000 12000 0 100 200 300 400...

Page 413: ...0 240 180 260 20AE 15AE 01AE to 04AE 05AE to 10AE A5AE 30AE AC Input Power Supply Voltage Vrms Absorbable Energy J 300 400 600 200 100 500 Model SGDH 700 0 200 220 240 180 260 75AE 50AE AC Input Power...

Page 414: ...EXT DEC SG AI_1 TMON PB SG AO GND 0V for 24V DO_0 SV ON DI_4 N OT DI_1 SRDY 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 SG 2 V REF 5 PAO 33 PAO 34...

Page 415: ...at the connector 7 Make the setting so that the servo can be turned ON OFF by the S ON signal CN1 3 4 5 16 13 12 11 19 15 14 18 1 5 6 1 19 20 L1C L3 L2 L1 L2C 35 34 20 36 47 32 MC unit manufactured by...

Page 416: ...25 L1C L3 L2 L1 L2C 19 12 7 14 15 Position control unit SGDH SERVOPACK CS1W NC133 233 433 manufactured by OMRON A16 A11 A14 A1 A2 A8 A20 A22 A23 A21 A19 11 SIGN CLR CLR PCO PULS PULS SIGN PCO COIN CO...

Page 417: ...position control unit and Yaskawa s SGDH SERVOPACK are shown in the diagram 42 43 3Ry 1Ry 4Ry 3Ry 19 36 35 20 1 34 33 CCWLX STPX ORGX EMGX DC GND DC GND CWLX X AG X OUT OUT 1X 24V 0V X B X C X A 24V...

Page 418: ...Co Ltd Note Only signals applicable to OMRON s C500 NC112 position control unit and Yaskawa s SGDH SERVOPACK are shown in the diagram 4Ry 3Ry 47 43 42 40 8 7 9 20 10 19 4Ry 3Ry 1Ry 4B 12V 10B 10A 12V...

Page 419: ...Only signals applicable to Mitsubishi s AD72 Positioning Unit and Yaskawa s SGDH SERVO PACK are shown in the diagram 43 42 1Ry 24V I O power supply 0 24 V 24 V CONT SERVO CN1 ENCO CN1 STOP DOG SV ON R...

Page 420: ...PACK Note Only signals applicable to Mitsubishi s AD75 Positioning Unit and Yaskawa s SGDH SERVO PACK are shown in the diagram 24V 024V 1Ry CN1 CN1 STOP DOG READY PGO PULSE SIGN CLEAR 1Ry 2 2K 19 14 1...

Page 421: ...clear 8 2 6 Fn007 Writing to EEPROM mass ratio data obtained from online autotuning 10 2 7 Fn008 Fixed parameter Fn009 Automatic tuning of analog speed force reference offset 9 7 3 9 9 3 Fn00A Manual...

Page 422: ...ternal set speed control contact reference Force control analog reference Position control pulse train reference Speed control analog reference Position control pulse train reference Force control ana...

Page 423: ...AC DC Power Input Selection Refer to 7 2 3 Typical Main Circuit Examples 0 ALO1 ALO2 and ALO3 output only alarm codes Warning Code Output Selection Refer to 9 13 2 Warning Display 4th digit 3rd digit...

Page 424: ...error 0 05V 100 reference units Reference pulse frequency 1V 1000 mm s Motor speed 4 1V 250 mm s Motor speed 8 1V 125 mm s Analog Monitor 1 Analog Monitor 2 Signals Refer to 10 5 Analog Monitor 4th di...

Page 425: ...Immedi ately 10 4 1 Pn10A Feed forward Filter Time Constant 0 to 6400 0 01 ms 0 Immedi ately 10 4 1 Pn10B Gain related Application Switches 0000 After restart Immedi ately Pn10C Mode Switch Force Ref...

Page 426: ...ic Gain Switching Width 2 1 to 250 1 reference unit 7 Immedi ately Pn180 Bias 0 to 450 1 mm s 0 Immedi ately 10 4 6 Pn181 Mode Switch Speed Reference 0 to 5000 1 mm s 0 Immedi ately 10 4 5 Pn182 Mode...

Page 427: ...ign Pulse negative logic CW CCW negative logic Phase A Phase B 1 negative logic Phase A Phase B 2 negative logic Phase A Phase B 4 negative logic Reference Pulse Form 0 1 2 3 Clears position error cou...

Page 428: ...ection 4th digit 3rd digit 2nd digit 1st digit n 0 1 Acceleration deceleration filter Average movement filter Position Reference Filter Selection Refer to 9 8 4 Smoothing 0 1 N A Uses V REF as a speed...

Page 429: ...to 65535 0 01 ms 40 Immedi ately 9 7 5 Pn308 Speed Feedback Filter Time Constant 0 to 65535 0 01 ms 0 Immedi ately 10 4 7 Pn380 Internal Set Speed 1 0 to 5000 1 mm s 10 Immedi ately 9 10 1 Pn381 Inte...

Page 430: ...t during Force Control 0 to 5000 1 mm s 5000 Immedi ately 9 9 4 Pn481 Polarity Detection Speed Loop Gain 1 to 2000 1 Hz 40 Immedi ately 9 2 3 Pn482 Polarity Detection Speed Loop Integral Time Constant...

Page 431: ...45 input signal is OFF H level OFF when CN1 46 input signal is OFF H level C D E F 0 1 2 3 4 5 6 7 8 9 A B Forward run allowed when CN1 40 input signal is ON L level Forward run allowed when CN1 41 i...

Page 432: ...level 0 to 6 7 8 to F Same as S ON the setting of 2nd digit of Pn50 A Reserved Do not change Same as S ON the setting of 2nd digit of Pn50 A 0 to F 4th digit 3rd digit 2nd digit 1st digit n Reverse r...

Page 433: ...level ON when CN1 41 input signal is OFF H level ON when CN1 42 input signal is OFF H level 0 to F Same as SPD D 0 to F Same as SPD D 4th digit 3rd digit 2nd digit 1st digit n ON when CN1 43 input sig...

Page 434: ...input signal is OFF H level ON when CN1 42 input signal is OFF H level ON when CN1 43 input signal is OFF H level ON when CN1 44 input signal is OFF H level ON when CN1 45 input signal is OFF H level...

Page 435: ...Output Movement Detection Signal Mapping TGON Refer to 9 13 3 Servo Ready Signal Mapping S RDY Refer to 9 13 4 Servo Ready S RDY Output 4th digit 3rd digit 2nd digit 1st digit n 0 to 3 0 to 3 0 1 2 3...

Page 436: ...rminal Outputs the signal from CN1 29 30 terminal Near Signal Mapping NEAR 0 to 3 Same as NEAR Reference Pulse Input Switch Signal Mapping P SELA 4th digit 3rd digit 2nd digit 1st digit n Reserved Do...

Page 437: ...mm s 100 Immedi ately Pn584 Motor Self cooling Ratio 1 0 to 100 1 peak speed 0 Immedi ately Pn600 External Regenerative Resistor Capacity 2 Depending on model 3 10 W 0 Immedi ately 7 6 0 1 2 3 ON when...

Page 438: ...008 Error counter amount of position error displayed only in position control mode reference unit Un009 Accumulated load rate Value for the rated force as 100 Displays effective force in 10 s cycle Un...

Page 439: ...tely Pn102 40 s Position Loop Gain Imme diately Pn103 0 Mass Ratio Imme diately Pn104 40 Hz 2nd Speed Loop Gain Imme diately Pn105 20 00 ms 2nd Speed Loop Integral Time Constant Imme diately Pn106 40...

Page 440: ...Time Constant Imme diately Pn308 0 00 ms Speed Feedback Filter Time Constant Imme diately Pn380 10 mm s Internal Set Speed 1 Imme diately Pn381 20 mm s Internal Set Speed 2 Imme diately Pn382 30 mm s...

Page 441: ...ection 2 After restart Pn50C 8888 Input Signal Selection 3 After restart Pn50D 8888 Input Signal Selection 4 After restart Pn50E 3211 Output Signal Selection 1 After restart Pn50F 0000 Output Signal S...

Page 442: ...9 48 CLR 7 26 CLT 7 27 CN1 terminal layout 7 25 CN2 terminal layout 7 21 coil assembly model designations 2 2 COIN 7 27 connecting a reactor 7 37 connecting linear scales linear scale by Heidenhain 7...

Page 443: ...monitor mode 8 30 motor models display Fn011 8 17 mounting spacer 7 10 N names and functions of main circuit terminals 7 15 N CL 7 26 NEAR 7 27 noise filters 7 33 selection 2 12 noise interference 7 3...

Page 444: ...arts replacement schedule 11 23 power losses 4 12 power supply capacities 4 12 product part names 1 6 ratings and specifications 4 3 wire size 6 13 setting a reference pulse form 9 47 setting the elec...

Page 445: ...nce 4 4 VLT 7 27 voltage regulation 4 4 voltage resistance test 4 7 V REF 7 26 W WARN 7 27 warning code output 11 4 warning display 11 4 warning display and troubleshooting 11 16 warning display table...

Page 446: ...8 8 Revision Manufacturer of FMAC type noise filter TIMONTA to SCHURTER 3 1 3 6 12 2 2 Deletion Ratings and specifications of SGLGW SGLGM linear servomotors C type CT type coreless motor 3 2 12 2 2 D...

Page 447: ...Kong 6 Rd Wu Ku Industrial Park Taipei Taiwan Phone 886 2 2298 3676 Fax 886 2 2298 3677 YASKAWA ELECTRIC HK COMPANY LIMITED Rm 2909 10 Hong Kong Plaza 186 191 Connaught Road West Hong Kong Phone 852 2...

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