background image

Servodrives Dimensional Drawings

9.1.

2

 SGM

P

 Servomotors

9 -26

Model

SGMP-

L

LL

LM

S

QK

U

W

T

Screw

dimen-

sions

Output

W

(HP)

Approx.

Mass

kg(lb)

Allow-

able

Radial

Load

N (lbf)

Allow-

able

Thrust

Load

N (lbf)

01AW12

122.5

97.5

42.5

(

)

8

(

)

No key

100

(

)

0.95

(

)

78 (17)

49 (11)

01BW12

(1.67) (0.31)

y

(0.13)

(2.094)

( )

( )

01AW14

14

(

)

1.8

(

)

3

(

)

3

(

)

01BW14

(0.55) (0.07) (0.12) (0.12)

01AW16

M3,

depth 6

01BW16

depth 6

(0.24)

Note 1.

The encoder is a 12-bit absolute encoder 1024 P/R.

2.

“A” in the model number indicates 200 V specifications, and “B” indicates 100 V-specifications.

3.

The quoted allowable radial load is the value at a position 20 mm (0.79 in.) from the motor mounting surface.

4.

Conforms to IP55 protective structure (except connector and output shaft faces).

200 W (0.27 HP), 300 W (0.40 HP) (100 V only), 400 W (0.53HP) (200 V only)

4-R8.2

φ

90 (

φ

3.54)

80 x 80 (3.15 x 3.15)

Encoder Lead UL20276

Motor Lead
UL2464

Encoder Plug

Motor Plug

Screw

Cross-section Y-Y

Sealant

Hex. Nut 14 (0.55)

4-

φ

7 (4-

φ

0.28) MTG Holes

Absolute Encoder

1024P/R

φ

0.04

Shaft end screw hole

(SGMP-

jj

A(B)W16,

with key type only)

φ

70h7

φ

14h6

300

±

30 (11.81

±

1.18)

(0.0008)

(

φ

0.0016)

(0.0016)

300

±

30 (11.81

±

1.18)

(35) (1.38)

(35) (1.38)

30 (1.18)

38.4 (1.51)

12 (0.47)

8.25

(0.32)

14 (0.55)

21 (0.83)

18

(0.71)

max.

φ

14

h

6 :

φ

14

0

0.011

0.56

0

0.0004

φ

70

h

7 :

φ

70

0

0.030

2.78

0

0.0012

9

Summary of Contents for SGM series

Page 1: ...YASKAWA YASKAWA MANUAL NO SIE S800 26 3B...

Page 2: ...rights reserved No part of this publication may be reproduced stored in a retrieval system or transmitted in any form or by any means mechanical electronic photocopying recording or otherwise without...

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

Page 4: ...g User Constants 7 21 8 Installation and Wiring 8 1 Checking on Delivery 8 2 8 2 Installation 8 2 8 3 Wiring Specifications 8 6 9 Servodrives Dimensional Drawings 9 1 Servomotor Dimensional Drawings 9...

Page 5: ...Ratings Specifications for 100 VAC SGM Servomotors 2 5 2 2 1 Ratings and Specifications 2 5 2 3 Ratings Specifications for 200 VAC SGMP Servomotors 2 8 2 3 1 Ratings and Specifications 2 8 2 4 Rating...

Page 6: ...n 4 4 4 4 Connecting an Incremental Encoder 4 5 4 4 1 Typical Example 4 5 4 4 2 1CN I O Connector Terminals 4 6 4 5 Connecting an Absolute Encoder 4 9 4 5 1 Typical Example 4 9 4 5 2 1CN I O Connector...

Page 7: ...5 9 5 6 2 Load Moment of Inertia JL 5 9 5 6 3 Regenerative Unit 5 11 5 6 4 High Voltage Lines 5 13 5 7 Application Precautions 5 14 5 7 1 Noise Control 5 14 5 7 2 Power Supply Line Protection 5 17 5 8...

Page 8: ...6 6 List of Alarm and Warning Codes 6 19 7 User Constants 7 1 Setting User Constants 7 2 7 1 1 Gain related Constants 7 2 7 1 2 Torque related Constants 7 3 7 1 3 Sequence related Constants 7 3 7 1 4...

Page 9: ...le Specifications 9 38 9 4 1 Cables from Yaskawa 9 38 9 4 2 Cables without SERVOPACK Connectors PG Cables Only 9 40 9 4 3 Cables Only 9 42 9 5 Connector Kits 9 44 9 5 1 Encoder Cable Connectors 9 44 9...

Page 10: ...tants 11 3 11 3 2 Setting Optimum Position and Speed Loop Gain 11 3 12 Maintenance and Inspection 12 1 Servodrive Maintenance and Inspection of Servodrives 12 2 12 1 1 Servomotor 12 2 12 1 2 SERVOPACK...

Page 11: ...are approximately 1 4 in volume D Thebook shapeSERVOPACKScanbeusedwitheitherincrementalencodersorabsoluteencoders D Positioning is performed using the MECHATROLINK High speed Field Network D Electron...

Page 12: ...roducts inor nearenvironmentsexposedto moisture corrosive gases flammable gases or other flammable materials Electric shock or fire may result J Wiring WARNING D Be sure to ground the SERVOPACK ground...

Page 13: ...tion with the Servomotor connected to the equipment Injury may result if an emergency stop is not readily available D Do not touch the heat sink area during operation Severe burns due to high temperat...

Page 14: ...ation modification and manual improvement When this manual is revised the manual code is updated and the new manual is published as a next edition The edition number appears on the front and back cove...

Page 15: ...guration and Model Numbers This chapter describes the configuration and model numbers for Servo drives 1 1 Configuration 1 2 1 2 Models 1 3 1 2 1 Servomotor Model Numbers 1 3 1 2 2 SERVOPACK Model Num...

Page 16: ...Configuration and Model Numbers 1 2 1 1 Configuration Servodrives are configured using a SERVOPACK Controller and Servomotors SGD jjAN SERVOPACK SERVOPACK Servomotors 1...

Page 17: ...haft seal E With brake 24 V and shaft seal P Drip proof S With shaft seal Shaft Specifications 2 Straight without key 4 Straight with key 6 Straight with key and tap Design Revision Order Encoder Spec...

Page 18: ...2 2 1 1 Ratings and Specifications 2 2 2 2 Ratings Specifications for 100 VAC SGM Servomotors 2 5 2 2 1 Ratings and Specifications 2 5 2 3 Ratings Specifications for 200 VAC SGMP Servomotors 2 8 2 3 1...

Page 19: ...87 2 0 2 6 4 4 Instantaneous Max Current 1 A rms 1 3 1 9 2 8 6 0 8 0 13 9 Rated Speed 1 min 1 3000 Instantaneous Max Speed 1 min 1 4500 Torque C 1 N m A rms 0 255 0 286 0 408 0 355 0 533 0 590 q Const...

Page 20: ...table for a motor attatched with a holding brake and or a 12 bit absolute encoder Other specifications will also change Type SGM yp Item A3A A5A 01A 02A 04A 08A Holding brake 10 4 kg m2 0 0085 0 058 0...

Page 21: ...00 3000 2000 1000 0 0 0 15 0 3 0 45 0 6 0 20 40 60 80 100 4000 3000 2000 1000 0 0 0 25 0 5 0 75 1 0 50 100 150 4000 3000 2000 1000 0 0 0 5 1 1 5 2 0 100 200 300 4000 3000 2000 1000 0 0 1 2 3 4 0 200 4...

Page 22: ...tion Speed 1 min 1 4500 Torque Constant 1 N m A rms 0 168 0 194 0 156 0 255 0 279 q kgf cm A rms 3 1 72 1 98 1 59 2 60 2 85 Moment of Inertia JM Incremental encoder no 10 4 kg m2 0 021 0 026 0 040 0 1...

Page 23: ...Ratings and Specifications 2 6 Type SGM yp Item A3B A5B 01B 02B 03B Holding brake 10 4 kg m2 0 0085 0 058 g 10 4 oz in s2 0 12 0 821 12 bit absolute d 10 4 kg m2 0 025 encoder 10 4 oz in s2 0 354 The...

Page 24: ...4000 3000 2000 1000 0 0 0 1 0 2 0 3 0 4 0 20 40 60 4000 3000 2000 1000 0 0 0 15 0 3 0 45 0 6 0 20 40 60 80 100 4000 3000 2000 1000 0 0 0 25 0 5 0 75 1 0 50 100 150 4000 3000 2000 1000 0 0 0 5 1 1 5 2...

Page 25: ...35 0 641 q kgf cm A rms 3 4 00 3 56 5 46 6 55 Moment of Inertia Incremental encoder without 10 4 kg m2 0 065 0 209 0 347 2 11 Inertia encoder without holding brake 10 3 oz in s2 3 0 917 2 96 4 92 29 9...

Page 26: ...08A Reduction Rating 90 90 95 95 J 200 VAC SGMP Servomotor Torque Motor Speed Characteristics SGMP 01A SGMP 02A SGMP 04A SGMP 08A A Continuous Duty Zone B Intermittent Duty Zone 4000 3000 2000 1000 0...

Page 27: ...1 3000 Max Rotation Speed 1 min 1 4500 Torque Constant 1 N m A rms 0 160 0 258 0 246 q kgf cm A rms 3 1 64 2 63 2 51 Moment of Inertia Incremental encoder i h h ldi b k 10 4 kg m2 0 065 0 209 0 347 w...

Page 28: ...re the characteristics change slightly SGMP 01B 02B 03B Reduction Rating 90 90 95 J 100 VAC SGMP Servomotor Torque Motor Speed Characteristics SGMP 01B SGMP 02B SGMP 03B A Continuous Duty Zone B Inter...

Page 29: ...P R Allowable Load Inertia 1 JL 10 4 kg m2 oz in s2 10 3 0 63 8 80 0 78 11 0 1 20 17 0 3 69 52 2 3 82 54 1 13 4 189 0 63 8 80 0 78 11 0 1 20 17 0 3 69 52 2 3 82 54 1 Continuous Output Current A rms 0...

Page 30: ...LM Dynamic Brake DB Operated automatically with power OFF a servo alarm or overtravel External Regenerative Unit Required when exceeding the allowable load moment of inertia 1 Overtravel OT Decelerati...

Page 31: ...01Aj Applica ble 200 W SGD 02AN SGM 02Aj 0 75 ble LF 205A Single phase 200 VAC class SGMP 02Aj 200 VAC class 5 A 400 W SGD 04AN SGM 04Aj 1 2 9 LF 210 Single phase 200 VAC class Yaskawa HI 15J 35 A SG...

Page 32: ...3 4 3 3 1 Allowable Repeatability as Limited by the Servomotor 3 4 3 4 Large amplitude Frequency Characteristics 3 6 3 5 Mechanical Characteristics 3 7 3 5 1 Mechanical Strength 3 7 3 5 2 Allowable Ra...

Page 33: ...OPACK and Ser vomotor from overload Allowable power for the SERVOPACK is therefore limited by the overload protective function as shown below The overload detection level quoted under hot start condit...

Page 34: ...otor speed min 1 JM Motor moment of inertia kg m2 GD2 M 4 JL Load converted to shaft moment of inertia kg m2 GD2 L 4 Kt Motor torque constant N m A IR Rated motor current A IP IR Acceleration decelera...

Page 35: ...topped The most common example is the operating cycle shown in Fig 3 3 where rms frequency for motor armature current is lower than the rated motor current If we assume that T is the operating cycle t...

Page 36: ...Idling and Deceleration without Stopping The timing chart for motor armature current and motor speed is shown in Fig 3 5 If we assume that allowable repeatability is n times per minute then n can be...

Page 37: ...stics with a SERVOPACK and Motor combination the motor speed amplitude is limited by the peak current through the SERVOPACK The relationship between motor speed N and frequency is expressed using the...

Page 38: ...15 54 12 19 2 SGM 02 245 55 196 44 74 16 49 11 0 20 SGM 03 245 55 196 44 74 16 68 15 5 0 20 F SGM 04 245 55 196 44 74 16 68 15 Fr SGM 08 392 88 343 77 147 33 98 10 Fs SGMP 01 78 17 78 17 49 11 49 11...

Page 39: ...range 1 2 3 4 1 2 3 4 5 6 7 8 9 Channel Z C output 5V power supply 0V power supply Motor Side Standard Encoder Side Incremental Encoder Channel Z C output Phase U Red Phase V White Phase W Blue FG fra...

Page 40: ...damage the encoder Vertical Horizontal shaft Figure 3 8 Impact Measurement 3 5 6 Vibration Resistance The Servomotor will withstand a vibration acceleration of 24 5 m s2 in the vertical transverse an...

Page 41: ...3 3 3CN Connector for MECHATROLINK Communication 4 4 4 4 Connecting an Incremental Encoder 4 5 4 4 1 Typical Example 4 5 4 4 2 1CN I O Connector Terminals 4 6 4 5 Connecting an Absolute Encoder 4 9 4...

Page 42: ...coder Connector Terminals 4 16 4 8 1 2CN Terminal Layout 4 16 4 8 2 Applicable Cables 4 17 4 8 3 2CN Connection Method 4 18 4 9 3CN Connector for MECHATROLINK Communication 4 20 4 9 1 3CN Terminal Lay...

Page 43: ...ower Supply OFF Power Supply ON Surge suppressor Isolator Current controller Current reference Current control Position control Speed calculation Speed control Relay DB circuit Current detection Curre...

Page 44: ...SERVOPACK C Applicable Receptacle Model p SERVOPACK Connector Solder Case Manufacturer 10226 52A2JL Product of SUMI TOMO 3M Ltd 26 pin right angle 10126 3000VE 10326 52A0 008 SUMITOMO 3M Ltd 4 3 2 2C...

Page 45: ...MECHATROLINK station SGD jjjN SERVOPACK End of last station External latch signal Zero point return deceleration LS Reverse drive prohibited Forward drive prohibited Zero point return External latch s...

Page 46: ...r purposes J I O Signal Connections and External Signal Processing 0V P LS 6 P OT 7 3 3 k N LS N OT 8 DEC LS DEC 9 EXT LS EXT 10 24V 0V ALM ALM ALM SG 3 3 4 BRK BK BK SG 1 2 24V Forward drive prohibit...

Page 47: ...xternal signal External signal must be latched when this signal is CLOSED J Input Circuits There are four types of input signals Forward reverse drive overtravel prohibited zero point return decelerat...

Page 48: ...least 4 ms If the interval is too short reduce the feed speed 4 ms min DEC High Low External Latch Signal EXT The external latch signal is used as a latch input signal for latch command or external p...

Page 49: ...ation LS Reverse drive prohibited when N LS is open Forward drive prohibited when P LS is open Must be grounded less than 100 Absolute encoder Correctly terminate the end of the shielded cable Externa...

Page 50: ...N OT EXT 15 17 19 21 23 25 Signal ground for brake out Signal ground for servo alarm External latch signal input Brake interlock signal output Servo alarm output Forward drive prohibited input Zero po...

Page 51: ...nt return deceleration LS ON when on LS External latch LS ON when latched Servo alarm output OFF with alarm Brake interlock output ON with servo ready Approx 7 mA 3 3 to 4 5 V Backup battery Origin re...

Page 52: ...e zero point The signal is CLOSED on the limit switch The polarity can be reversed with a user constant CN 0014 bit 12 If it is reversed the signal will be OPEN on the LS EXT 10 External latch input T...

Page 53: ...ply as that used for the input circuits Output relay Flywheel diode Make sure the diode is facing the right direction Transistor Optocoupler Brake interlock Servo alarm SERVOPACK Figure 4 7 Output Cir...

Page 54: ...28 29 30 31 32 33 34 35 36 37 38 39 40 A1 B1 A2 B2 A3 B3 A4 B4 A5 B5 A6 B6 A7 B7 A8 B8 A9 B9 A10 B10 A11 B11 A12 B12 A13 B13 A14 B14 A15 B15 A16 B16 A17 B17 A18 B18 A19 B19 A20 B20 BK N OT BAT BAT0 P...

Page 55: ...ter Unit for 1CN 4 15 4 7 3 Cable Specifications Accessory for Connector Terminal Block Converter Unit SERVOPACK Side 26 pin connector 10126 6000EL Terminal Block Converter Unit Side 40 pin connector...

Page 56: ...PA PB FG 12 14 16 18 20 BAT PC PA PB 11 13 15 17 19 Direction PG pow er supply 0 V PG power supply 5 V PG input phase S for abso lute encod er only PG input phase S for absolute encoder only PG power...

Page 57: ...ad Colors DP8409123 standard A1 Red A2 Black A3 Green yellow F1 Blue White blue Twisted pair F2 Yellow White yellow Twisted pair F3 Green White green Twisted pair F4 Orange White orange Twisted pair A...

Page 58: ...mental encoder B9400064 cable White blue Blue Yellow White yellow White green Green Green yellow Red Black 0 12 mm2 0 0002 in2 0 3 mm2 0 0005 in2 SERVOPACK PA PB PC PA PB PC P represents twisted pair...

Page 59: ...en Purple Red Black White purple White grey Orange White orange Green yellow Battery 1 14 1 15 0 12 mm2 0 0002 in2 0 3 mm2 0 0005 in2 0 3 mm2 0 0005 in2 SERVOPACK PA PB PC PA PB PC PS PS P represents...

Page 60: ...6 7 8 S S SH Serial data Shield Termination resister Frame ground Serial data Shield 4 9 2 3CN Connection Method J Host Controller and SERVOPACK Connection 3 8 5 SH SH FG S S S R S MECHATROLINK I F S...

Page 61: ...hield to the frame ground on the host controller 3 8 5 SH SH FG S No 1 SERVOPACK First axis 120 120 6 7 1 4 S S S R S SH SH FG Pulse transformer Pulse transformer I F MECHATROLINK 120 6 7 1 4 S S S R...

Page 62: ...Dynamic Brake Function 5 7 5 4 2 Error Detection Function 5 7 5 4 3 Servo Alarm Output ALM ALM SG 5 8 5 4 4 Handling Protection Circuit Operation 5 8 5 4 5 Servo Alarm Reset 5 8 5 5 Indications 5 8 5...

Page 63: ...Application 5 2 5 9 Adjustments 5 20 5 9 1 Servo System Adjustments 5 20 5 9 2 User Constants 5 21 5 9 3 Functions that Improve Response 5 24 5 9 4 Guidelines for Setting the Load Inertia Ratio 5 25 5...

Page 64: ...time to initialize the SERVOPACK 3 It takes up to approx two seconds to turn ON the power supply to the control circuit because the SERVOPACK is initialized The servo alarm signal is output ON until...

Page 65: ...data for moving the load e g 0 01 mm 0 1 or 0 01 inches A 1 pulse input moves the load by 1 reference unit Example Reference Unit 0 1 m If a reference of 50000 pulses is input the load moves 5 mm 5000...

Page 66: ...r the motor shaft and the load shaft is m as shown below Motor shaft speed m revolutions Load shaft speed revolutions Figure 5 2 shows a block diagram of the electronic gear function MECHATROLINK POSI...

Page 67: ...from a battery for more than two days Internal circuit elements may not function properly if the capacitor in the encoder is not fully charged Use the setup procedure described below in the following...

Page 68: ...constant error 10 OFF Overcurrent detection Overcurrent flowed through the main circuit The SERVOPACK heat sink overheated 40 OFF Overvoltage detection The main circuit DC voltage exceeded 420 V 51 O...

Page 69: ...ction Circuit Operation An alarm signal output indicates some kind of error Determine the cause take appropriate ac tion and then resume operation Check the error data for past occurrences using the a...

Page 70: ...epresentative about applications with overhanging load 5 6 2 Load Moment of Inertia JL Make sure the allowable load moment of inertia JL calculated for the motor shaft falls within the range given in...

Page 71: ...d Motor speed Motor speed Motor speed 51 2 30 0 52 7 26 4 186 65 3 8 75 10 8 16 7 0 04 HP 0 07 HP 0 13 HP 0 53 HP 1 01 HP 0 27 HP Load moment of inertia kg m2 10 4 oz in s2 10 3 Load moment of inertia...

Page 72: ...10 4 oz in s2 10 3 Load moment of inertia kg m2 10 4 oz in s2 10 3 Load moment of inertia kg m2 10 4 oz in s2 10 3 min 1 min 1 min 1 min 1 Figure 5 3 Allowable Load Moment of Inertias 5 6 3 Regenerati...

Page 73: ...cting a damaged transistor in the regenerative unit Detecting overvoltage D When one of these fault detection functions operates the internal alarm relay is actuated and the circuit between output ter...

Page 74: ...nsformer that will step down three phase 400 440 V to single phase 200 V or single phase 100 V is required when using a 400 V class 400 V 440 V power supply Select an appropriate power transformer usi...

Page 75: ...diagram below shows an example of wiring for noise control J Grounding 100 or 200 VAC Noise filter Casing Operation relay sequence Signal generator circuit provided by user Servomotor Ground 3 5 mm2...

Page 76: ...noise filter on the power supply line for peripheral equipment if needed Always observe the installation and wiring instructions shown in Figures 5 6 to 5 9 Incorrect use of a noise filter reduces it...

Page 77: ...er Noise filter Noise filter Noise filter Separate circuits Incorrect Correct Figure 5 6 D Separate ground wires from noise filter output lines Do not run ground wires noise filter output lines and ot...

Page 78: ...ate of the unit first and then ground these wires Noise filter Ground Figure 5 9 5 7 2 Power Supply Line Protection The SERVOPACK is connected directly to a commercial power supply 200 or 100 V There...

Page 79: ...Voltage SERVOPACK Model Power Capacity per SERVOPACK kVA 1 Power Capacity per MCCB or Fuse A 2 200 V SGD A3AN 0 25 5 SGD A5AN 0 3 SGD 01AN 0 5 SGD 02AN 0 75 SGD 04AN 1 2 9 SGD 08AN 2 2 16 100 V SGD A...

Page 80: ...ON Command and Power Supply Timing Motor S d Servo ON Command Timing Power Supply Timing Stopped 0 to 35 ms Servo ON Servo OFF BK signal Drive ON OFF ON SV_ON SV_OFF command Brake OFF Brake ON tB 55 t...

Page 81: ...re 5 10 Servo System Block Diagram J Basic Rules for Gain Adjustment The servo system is equipped with the following feedback systems D Position loop D Speed loop D Current loop The inner loops requir...

Page 82: ...entage of the motor s rotor moment of inertia mo tor moment of inertia 100 J Cn 0004 Speed Loop Gain The Speed Loop Gain sets the speed loop response The response is improved by setting this user cons...

Page 83: ...loop gain VS PPS Steady speed reference Pulse Steady error The number of pulses in the error counter at constant speed J Adjustment 1 Calculate and set the motor axis converted load moment of inertia...

Page 84: ...ble is only loosely attached to the SGDSERVOPACK connector and an external force applied toit may cause it to disconnect Do not connect meters or other devices to the cable in applications D Connectin...

Page 85: ...ol above a certain setting J Feed forward Control Feed forward control generally shortens positioning time but has no effect on systems where the position loop gain is at its maximum Adjust the amount...

Page 86: ...en ranges Monitor the response waveform to optimize the adjust ment Higher gain is possible with highly rigid machines J Machines with High Rigidity Machines with high rigidity include ball screws and...

Page 87: ...Asthe inertia ratio increases setthe position loop gain and speedloop gain to thelowerlimitoftherangeofvaluesspecified andincreasethespeedloopin tegration time constant J Machines with Low Rigidity M...

Page 88: ...ptions 6 7 6 4 1 Option Field Specifications 6 7 6 4 2 I O Monitor Specifications 6 9 6 4 3 Monitor 1 2 Type Field Specifications 6 10 6 4 4 CONFIG Specifications 6 11 6 4 5 ALM_RD Specifications 6 11...

Page 89: ...orm to the MECHATROLINK application layer For more details refer to the following manuals MECHATROLINK System User s Manual SIE S800 26 1 MECHATROLINK Servo Command User s Manual SIE S800 26 2 6 1 2 C...

Page 90: ...station address and is used to select one of the following SGD jjjN slave node addresses 1SW Station Address 0 Not used Do not set 1 41H Factory setting 2 42H 3 43H 4 44H 5 45H 6 46H 7 47H 8 48H 9 49...

Page 91: ...peration N A 01 PRM_RD Read parameter D A 02 PRM_WR Write parameter D A 03 ID_RD Read ID D A See note 1 04 CONFIG Set up devices C A See note 1 05 ALM_RD Read alarm or warning D A See note 1 06 ALM_CL...

Page 92: ...2D 2E 2F 30 SMON Status monitoring D A 31 SV_ON Servo ON C A 32 SV_OFF Servo OFF C A 33 34 INTERPOLATE Interpolation feed M S See note 1 35 POSING Positioning M A See note 1 36 FEED Manual feed M A S...

Page 93: ...used for processing and synchronization classifications Processing Classifications Synchronization Classifications N Network command A Asynchronous command D Data communication command S Synchronous c...

Page 94: ...for speed loop P PI con trol switching and acceleration deceleration filter selection D Appropriate commands for options Followings are appropriate commands for option fields SV_ON INTERPOLATE POSING...

Page 95: ...Deceleration Filter Type Related Parameters 0 Linear acceleration deceleration no filter 1 Exponential acceleration deceleration Cn 002D 002E 2 S curve acceleration deceleration running average Cn 002...

Page 96: ...trol ThisfunctionsuppressesundershootingandshortenspositioningcompletetimewhentheServo motor is stopped All bits except D4 must be set to 0 otherwise Yaskawa cannot guarantee how the SERVOPACK will ac...

Page 97: ...2 type Name Code Description Units POS 0 Position in the reference coordinate system Reference units MPOS 1 Position in the mechanical coordinate system Reference units PERR 2 Position error Reference...

Page 98: ...objects that will be read and it can be specified for each products The following table shows the ALM_RD_MODE specifications for the SGD jjjN ALM RD ALARM STATUS ALM DATA WDT 1 2 3 4 5 6 7 8 9 10 11...

Page 99: ...12 13 14 15 16 ALM CLR MODE ALM_CLR_MODE Description 0 Clear current alarm warning status 1 Clear alarm warning status history Note It takes approx 100 ms to clear Do not clear alarm warning status hi...

Page 100: ...4 9 LATCH Specifications The speed feed forward function is not supported in LATCH interpola tion feed with position detection with the SGD jjjN Always set the speed feed forward field between the ni...

Page 101: ...5625 reference units s2 If it exceeds 13653 the resolution will be 250000 reference units s2 The acceleration deceleration time is 8 19s maximum and it is 1 s maximum with a FEED com mand D Feed speed...

Page 102: ...0C 0D 0E 0F 00H S G D N 00 Undefined 02H Software version Undefined Note 00 to 07 are ASCII 08 is 00H and the software version is binary data 6 4 13 Unsupported Commands Do not use the following comm...

Page 103: ...required parameters by PRM_WR command Set up the equipment CONFIG com mand 5 Turn encoder sensor power ON SENS_ON command When the power has been turned ON confirm the following status COMRDY 1 6 Main...

Page 104: ...First write parameters to the SERVOPACK offline 1 Turn control power ON 2 Communication connection CONNECT command 3 Check device ID etc 4 Write required non volatile parameters by PPRM_WR command Whe...

Page 105: ...ON SV_ON command When the main circuit has been turned ON confirm the following status SVON 1 6 Operation starts 7 Main circuit OFF and turn OFF the main power supply 8 Communication disconnected DISC...

Page 106: ...te encoder checksum error Servo alarm 83 Absolute encoder battery error Servo alarm 84 Absolute encoder data error Servo alarm 85 Absolute encoder overspeed Servo alarm B1 Gate array 1 error Servo ala...

Page 107: ...onstants 7 3 7 1 4 Motion related Constants 7 5 7 1 5 Pulse related Constants 7 7 7 1 6 Other Constants 7 8 7 1 7 Memory Switches 7 9 7 2 List of User Constants 7 13 7 3 Memory Switch Bit Details 7 16...

Page 108: ...ed Loop Integration Time Constant D Sets the integration time constant for the speed controller D Allowable setting range 100 to 65535 0 01 ms J Cn 001A Position Loop Gain D Sets the proportional gain...

Page 109: ...limit during reverse rotation D Allowable setting range 0 to maximum torque J Cn 0017 Torque Reference Filter Time Constant D Sets a primary lag filter to add to the reference torque for speed error...

Page 110: ...e D Allowable setting range 0 to maximum motor speed min 1 J Cn 0016 Time Delay from Servo OFF to Brake ON During Motor Running D Sets the time delay from Servo OFF until the brake holds D The mechani...

Page 111: ...setting range 0 to 65535 10000 reference units s2 Cn 0020 Cn 001F Cn 0021 Speed Time 0 J Cn 0021 Acceleration Deceleration Constant Switching Speed D Sets the speed for switching from the first step...

Page 112: ...g to the zero point D Allowable setting range 2147483648 to 2147483647 reference units D If the setting distance is reverse direction or a short travel distance the motor will decelerate to a stop and...

Page 113: ...nd distribution is completed D Allowable setting range 0 to 10000 reference units J Cn 001E Position Error Overflow Range D Sets the overflow detection level of the position error counter D Allowable...

Page 114: ...a ratio on the motor shaft D Allowable setting range 0 to 65535 D If the load moment of inertia exceeds the allowable range regenerative brakes and other fac tors must be reviewed See Section 6 6 2 J...

Page 115: ...T signal is disabled when this bit is set to 1 N OT input OFF status J Cn 0001 Bit 5 Power Loss Mask D Power loss alarm is not detected when this bit is set to 1 No servo alarm at power loss J Cn 0001...

Page 116: ...ch Bits 13 and 12 0 0 Torque Bits 13 and 12 0 1 Nothing Do not use this setting Bits 13 and 12 1 0 Acceleration Bits 13 and 12 1 1 Error pulse D The mode switch switching level can be set by Cn 000C t...

Page 117: ...e communication check for debugging D Normally set Cn 0013 bit 10 to communication check enabled D The communication check is canceled when Cn 0013 bit 10 is set to 1 J Cn 0013 Bit 11 WDT Check Mask D...

Page 118: ...Cn 0014 Bit 11 N OT Signal Logic D The N OT signal logicisreversedwhenCn 0014bit11issetto1 Reversedriveisprohibited when the N OT signal is turned OFF Signal is CLOSED J Cn 0014 Bit 12 DEC Signal Log...

Page 119: ...5535 100 Cn 0004 Speed loop gain 2 0 1 Hz 1 to 20000 400 Cn 0005 Speed loop integration time constant 2 0 01 ms 100 to 65535 2000 Cn 0006 Emergency stop torque 2 0 to MAX MAX Cn 0007 Positioning near...

Page 120: ...2 100 reference units s 0 to 65535 0 Cn 0022 Zero point return approach speed 1 2 100 reference units s 0 to 65535 50 Cn 0023 Zero point return approach speed 2 2 100 reference units s 0 to 65535 5 C...

Page 121: ...occur using the factory setting with a smallload momentof inertia always setthe load moment of inertia to around 0 prior to operation 3 Be sure to use an electronic gear ratio Cn 0024 and 0025 within...

Page 122: ...nable SENS_ON SENS_OFF command 1 Always send SENS_ON command Encoder power ON 0 b2 P OT mask 0 Enable the P OT signal 1 Mask always disable P OT signal 0 b3 N OT mask 0 Enable N OT signal 1 Mask alway...

Page 123: ...the setting of bit 6 1 Decelerate to a stop using emergency stop torque 1 b9 Operation after deceleration to stop at overtravel 0 Servo turns OFF after deceleration to a stop 1 Zero clamping after dec...

Page 124: ...se rotation mode 0 b1 Origin error detection mask 0 Detect origin error only with an absolute encoder 1 Do not detect zero point errors 0 b2 0 b3 0 b4 0 b5 0 b6 Software limit check by a reference pos...

Page 125: ...b0 0 b1 0 b2 0 b3 0 b4 0 b5 0 b6 0 b7 0 b8 0 b9 0 bA MECHATROLINK communication check mask for debugging 0 Communication check 1 Communication check masked 0 bB WDT check mask for debugging 0 Check WD...

Page 126: ...e software limit 1 Mask always disable reverse software limit 0 b4 0 b5 0 b6 0 b7 0 b8 0 b9 Brake operation 0 Operate with the BRK_ON BRK_OFF command 1 Operate from the SERVOPACK BRK_ON BRK_OFF comman...

Page 127: ...01A Position loop gain Cn 001C Bias Cn 001D Feed forward compensation 7 5 Procedure for Transferring User Constants The procedure for changing transferring user constants parameters after power is tur...

Page 128: ...delivered as well as installation and wiring specifications 8 1 Checking on Delivery 8 2 8 2 Installation 8 2 8 2 1 Installing Servomotors 8 2 8 2 2 Installing SERVOPACKS 8 4 8 3 Wiring Specifications...

Page 129: ...crews break age in lead wires or damage in insulation 8 2 Installation 8 2 1 Installing Servomotors The Servomotor can be installed either horizontally or vertically If the Servomotor is installed inc...

Page 130: ...ls within the range shown below If the shafts are not aligned properly vibration will occur resulting in damage to bearings Measure this distance at four different positions on the circumference The d...

Page 131: ...PACK does not exceed 55 C When installed near a source of vibration Install a vibration isolator underneath the SERVOPACK to prevent it from receiving vibration When installed in a place subject to co...

Page 132: ...and also to maintain an even temperature inside the control panel D When installing multiple SERVOPACKS side by side in a control panel provide at least 10 mm 0 39 in space between them and at least 5...

Page 133: ...Supply voltage SERVOPACK Model SGD Main Circuit Power Input Terminal R T Motor Connection Terminals U V W Rated Current A rms Cable Specifications Rated Current A rms Cable Specifications 200 V 30 W 0...

Page 134: ...re with the rated current flowing Table 8 3 Cable Types Cable Type Conductor Allowable Temperature C Symbol Name p _C PVC Normal vinyl cable IV 600 V vinyl cable 60 HIV Temperature resistant vinyl cab...

Page 135: ...useshigh speedswitchingelements whichmaycause noise onsignal lines To prevent this always take the above actions D Prevention of Radio Frequency Interference RFI D Since the SERVOPACKS are designed fo...

Page 136: ...ponseground interrupter or one designed for PWM inverters so the high frequency current will not be detected The size of the leakage current varies depending on the factors such as the cable length am...

Page 137: ...SGD 08AN SGD 03BN 9 36 9 3 Regenerative Resistor Unit Dimensional Drawings 9 37 9 4 Cable Specifications 9 38 9 4 1 Cables from Yaskawa 9 38 9 4 2 Cables without SERVOPACK Connectors PG Cables Only 9...

Page 138: ...0 17 MTG Holes 46 1 81 Encoder Plug Motor Plug Screw Cross section Y Y Incremental Encoder Protective Tube Black 5 0 20 Motor Lead Teflon wire AWG24 UL1828 or UL3534 Encoder Lead UL2854 0 02 Shaft end...

Page 139: ...4 12 01Bj12 4 70 3 72 2 42 0 31 y 0 13 01Aj14 14 0 55 1 8 0 0 3 0 12 3 0 12 01Bj14 0 55 0 07 0 12 0 12 01Aj16 M3 depth 6 01Bj16 depth 6 0 24 Note 1 The encoder is an incremental encoder 2 A in the mod...

Page 140: ...6 08 4 90 3 56 20 0 79 3 0 12 5 0 20 5 0 20 0 53 04Aj16 M5 depth 8 0 31 Note 1 The encoder is an incremental encoder 2 A in the model number indicates 200 V specifications and B indicates 100 V specif...

Page 141: ...r and Encoder Plugs For 30 W 0 04 HP to 750 W 1 01 HP C channel output Phase U Red Phase V White Phase W Blue FG Green Motor Wiring Specifications Incremental Encoder Wiring Specifications A channel o...

Page 142: ...Ra dial Load N lbf Allow able Thrust Load N lbf A3Aj12B 126 0 4 96 101 0 3 98 36 5 1 44 31 5 1 24 6 0 24 No key 30 0 04 0 6 1 32 68 15 54 12 A3Bj12B 4 96 3 98 1 44 1 24 0 24 y 0 04 1 32 A3Aj14B 14 0...

Page 143: ...Screw Cross section Y Y Protective Tube Black 6 0 24 Encoder Lead UL2854 Motor Lead Teflon wire AWG22 UL1828 or UL3534 Brake Lead Incremental Encoder Holding Brake De energization Operation Voltage 90...

Page 144: ...0 20 M5 depth 8 0 31 Note 1 The encoder is an incremental encoder 2 A in the model number indicates 200 V specifications and B indicates 100 V specifications 3 The symbol j in the model number indicat...

Page 145: ...4 HP to 750 W 1 01 HP Z C channel output Phase U Red Phase V White Phase W Blue FG Green Incremental Encoder Wiring Specifications A channel output Blue A channel output Blue Black B channel output Ye...

Page 146: ...f Allowable Thrust Load N lbf A3AW12 117 5 4 63 92 5 3 64 36 5 1 44 6 0 24 No key 30 0 04 0 45 0 99 68 15 54 12 A3BW12 4 63 3 64 1 44 0 24 y 0 99 A3AW14 14 0 55 1 2 0 05 2 0 08 2 0 08 A3BW14 0 55 0 05...

Page 147: ...1AW14 01BW14 200 W 0 27 HP 300 W 0 40 HP 100 V Only 400 W 0 53 HP 200 V Only 4 R5 3 70 2 76 Screw Cross section Y Y Encoder Plug Motor Plug Encoder Lead UL20276 Motor Lead Teflon wire AWG24 UL1828 or...

Page 148: ...AW12 175 5 6 91 145 5 5 3 90 5 3 56 No key 400 0 53 1 8 3 97 245 55 1 74 17 04AW14 6 91 5 73 3 56 20 0 9 3 0 12 5 0 20 5 0 20 0 53 04AW16 0 79 0 12 0 20 0 20 M5 depth 8 0 31 Note 1 The encoder is a 12...

Page 149: ...bsolute Encoder Wiring Specifications A channel output Blue A channel output White Blue B channel output Yellow B channel output White Yellow Green White Green Black Red FG Frame Ground Green Yellow 1...

Page 150: ...ions Out put W HP Mass kg lb Allow able Radial Load N lbf Allow able Thrust Load N lbf A3AW12B 149 0 5 8 124 0 4 88 36 5 1 44 31 5 1 24 6 0 24 No key 30 0 04 0 75 1 65 68 15 54 12 A3BW12B 5 87 4 88 1...

Page 151: ...0 2 76 Encoder Lead UL20276 Motor Lead Teflon wire AWG22 UL1828 or UL3534 Protective Tube Black 6 0 24 Encoder Plug Motor Plug Screw Cross section Y Y 4 5 5 4 18 04 MTG Holes Absolute encoder Holding...

Page 152: ...0 M5 depth 8 0 53 55 1 04AW16B 0 79 0 12 0 20 0 20 depth 8 0 31 Note 1 The encoder is a 12 bit absolute encoder 1024 P R 2 A in the model number indicates 200 V specifications and B indicates 100 V sp...

Page 153: ...ut White Blue B channel output Yellow B channel output White Yellow Green White Green Black Red FG Frame Ground Green Yellow 1 2 3 4 5 6 7 8 9 Z C channel output 5 V power supply 0 V power supply S ch...

Page 154: ...20 14 0 55 21 0 83 18 0 71 max 50h7 50 0 0 025 1 98 0 0 0010 Model SGMP L LL LM S QK U W T Screw dimen sions Out put W HP Approx Mass kg lb Allow able Radial Load N lbf Allow able Thrust Load N lbf 01...

Page 155: ...4 80 x 80 3 15 x 3 15 Encoder Lead UL2854 Motor Lead UL2464 Encoder Plug Motor Plug Screw Cross section Y Y Incremental Encoder 2048P R 4 7 4 0 28 MTG Holes Sealant Hex Nut 14 0 55 0 04 Shaft end scre...

Page 156: ...R 2 A in the model number indicates 200 V specifications and B indicates 100 V specifications 3 The quoted allowable radial load is the value at a position 25 mm 0 98in from the motor mounting surfac...

Page 157: ...r and output shaft faces Servomotor and Encoder Plugs For 100 W 0 13HP to 750 W 1 01HP C channel output Phase U Red Phase V White Phase W Blue FG Green Yellow Motor Wiring Specifications Incremental E...

Page 158: ...35 1 38 25 0 98 14 5 0 57 9 3 0 37 10 55 0 42 6 0 24 3 0 12 14 0 55 21 0 83 18 0 71 max 50h7 50 0 0 025 1 98 0 0 0010 Model SGMP L LL LM LB S QK U W T Screw Di men sions Out put W HP Approx Mass kg lb...

Page 159: ...ew Di men sions Output W HP Approx Mass kg lb Allowable Radial Load N lbf Allowable Thrust Load N lbf 02A312B 123 5 4 86 93 5 3 68 48 1 1 89 No key 200 0 2 1 9 4 19 245 55 68 15 02B312B 4 86 3 68 1 89...

Page 160: ...6 22 max 118 4 65 max 40 1 57 66 7 2 63 9 6 0 38 10 5 0 41 10 0 39 3 5 0 14 19 0 75 38 1 50 28 1 10 max 16h6 16 0 0 011 0 64 0 0 0004 110h7 110 0 0 035 4 37 0 0 0014 Model SGMP QK U W T Screw Dimen si...

Page 161: ...ug Pin 170360 1 or 170364 1 Cap 172160 1 Plug 172168 1 AMP Connected to Encoder Plug Plug 172169 1 AMP Pin 170359 1 or 170363 1 Connected to Cap 172161 1 Socket 170361 1 or 170365 1 14 0 55 9 8 0 39 1...

Page 162: ...3 The quoted allowable radial load is the value at a position 20 mm 0 79 in from the motor mounting surface 4 Conforms to IP55 protective structure except connector and output shaft faces 200 W 0 27 H...

Page 163: ...BW12 136 5 106 5 68 1 No key 300 2 3 03BW14 5 37 4 19 2 68 16 3 5 5 0 40 5 07 03BW16 0 63 0 12 0 20 0 20 M5 depth 8 0 31 04AW12 No key 400 04AW14 16 3 5 5 0 53 04AW16 0 63 0 12 0 20 0 20 M5 depth 8 0...

Page 164: ...0 39 3 5 0 14 19 0 75 38 1 50 28 1 10 max 110h7 110 0 0 035 4 37 0 0 0014 16h6 16 0 0 011 0 64 0 0 0004 Model SGMP QK U W T Screw Dimen sions Output W HP Approx Mass kg lb Allowable Radial Load N lbf...

Page 165: ...11 12 Socket 170362 1 or 170366 1 Motor Plug Pin 170360 1 or 170364 1 Cap 172159 1 Plug 172167 1 AMP Connected to Encoder Plug Plug 172171 1 AMP Pin 170359 1 or 170363 1 Connected to Cap 172163 1 Sock...

Page 166: ...4 Conforms to IP55 protective structure except connector and output shaft faces Dimensional Tolerances Model SGMP Shaft end Dimensions mm in S 01AW12B 8 0 0 32 0 01BW12B 8 0 009 0 32 0 0004 01AW14B 0...

Page 167: ...03BW12B 168 138 68 1 No key 300 2 8 03BW14B 6 61 5 43 2 68 16 3 5 5 0 40 6 17 03BW16B 0 63 0 12 0 20 0 20 M5 depth 8 0 31 04AW12B No key 400 04AW14B 16 3 5 5 0 53 04AW16B 0 63 0 12 0 20 0 20 M5 depth...

Page 168: ...9 140 5 51 40 1 57 66 7 2 63 3 5 0 14 10 5 0 41 10 0 39 12 0 47 19 0 75 38 1 50 28 1 10 max 16h6 16 0 0 011 0 64 0 0 0004 110h7 110 0 0 035 4 37 0 0 0014 Model SGMP QK U W T Screw Dimen sions Output W...

Page 169: ...Reset White Gray 0 V battery 3 6 V battery White Orange Orange Phase U Red Phase V White Phase W Blue FG Green Yellow Motor Wiring Specifications Absolute Encoder Wiring Specifications 1 2 3 4 5 6 Bra...

Page 170: ...200 W 0 27 HP Model SGD A3AN to 02AN 100 V 30 W 0 04 HP to 100 W 0 13 HP Model SGD A3BN to 01BN D 200 V 400 W 0 53 HP Model SGD 04AN 100 V 200 W 0 27 HP Model SGD 02BN D 200 V 750 W 1 01 HP Model SGD...

Page 171: ...onal Drawings 9 35 9 2 2 SGD 04AN SGD 02BN 6 0 24 149 5 97 160 6 30 75 2 96 130 5 12 5 65 2 56 60 2 36 5 0 20 2 6 35 3CN POWER ALARM 1CN 2CN 160 6 30 02 WARNING Approx Mass 1 2 kg 2 65 lb 5 0 20 6 0 2...

Page 172: ...rives Dimensional Drawings 9 2 3 SGD 08AN SGD 03BN 9 36 9 2 3 SGD 08AN SGD 03BN 160 105 4 13 Approx Mass 1 5 kg 3 31 lb 2 0 24 MTG HOLES 0 28 3 54 0 31 5 87 6 0 24 6 0 24 6 30 5 12 6 30 2 6 6 0 24 5 0...

Page 173: ...Unit Dimensional Drawings The dimensional drawings of the Regenerative Resistor Unit are as shown below J Model JUSP RG08C M4 External Terminal Screws Approx Mass 1 kg 2 20 lb Hole 6 0 24 50 1 97 25 0...

Page 174: ...33 0 DP9320089 2 5000 100 0 16 7 0 33 0 DP9320089 3 10000 500 0 33 3 1 67 0 DP9320089 4 15000 500 0 50 1 67 0 DP9320089 5 20000 500 0 66 7 1 67 0 For Absolute Encoders Connectors at Both Ends Model L...

Page 175: ...P9320083 4 15000 500 0 50 1 67 0 DP9320083 5 20000 500 0 66 7 1 67 0 J I O Signal Cables SERVOPACK end of cable Case 10326 52A0 008 Connector 10126 3000VE Cable Black SSRFPVV SB 28 18P Marker Tube 2 8...

Page 176: ...CK end 2CN To be provided by user 0 12 mm2 0 0002 in2 0 3 mm2 0 0005 in2 Encoder end Servodrives Dimensional Drawings 9 4 2 Cables without SERVOPACK Connectors PG Cables Only 9 40 9 4 2 Cables without...

Page 177: ...White Orange Green Blue SERVOPACK end 2CN To be provided by user White Purple 0 12 mm2 0 0002 in2 0 3 mm2 0 0005 in2 0 3 mm2 0 0005 in2 Encoder end 9 4 Cable Specifications 9 41 Cables for Absolute E...

Page 178: ...VE Manufactured by SUMITOMO 3M Ltd Cap 172163 1 Socket 170361 1 connected or 170365 1 separated To be provided by user SERVOPACK end 2CN To be provided by user 0 12 mm2 0 0002 in2 0 3 mm2 0 0005 in2 0...

Page 179: ...Nihon Crimp Terminal MFG Co Ltd SERVOPACK end M4 AMP terminals Motor end 9 4 Cable Specifications 9 43 J Servomotor Cables Cables for Servomotors without Brakes Model L mm feet DP8409359 1 3000 100 0...

Page 180: ...bsolute Encoders Cap 172163 1 Socket 170361 1 or 170365 1 22 4 0 88 14 0 55 4 2 0 17 4 2 0 17 23 7 0 93 16 0 63 9 5 2 Motor Cable Connectors Motors without Brakes Motors with Brakes Cap 172159 1 Socke...

Page 181: ...l Application Connector Kit Part List Kit Model Number Encoder Motor C bl For Encoder Cable For Motor Cable Number Cable Encoder End SERVOPACK End Encoder T Motor B k Cap Socket Connector Case Cap So...

Page 182: ...del pp Connector Case Model Qty Model Qty DP9411354 1CN connector for I O 10136 3000VE 2 1 10336 52A0 008 2 1 DE9411357 3CN for MECHA TROLINK commu nication connector MR 8F 4 1 MR 8L 4 1 1 Manufacture...

Page 183: ...81 3 19 13 5 0 53 33 1 30 15 0 59 D LF 210 Single phase 200 VAC Class 10 A IN Rat ing Plate 8 4 5 8 0 18 5 M4 57 2 24 45 1 77 36 1 42 18 0 71 16 0 63 95 3 74 105 4 13 115 4 53 25 0 98 50 1 97 16 0 63...

Page 184: ...69 9 7 2 Brake Power Supply Brake power supplies are available for 100 V and 200 V inputs Select an appropriate model de pending on the power supply voltage D 200 VAC Input 90 VDC LPSE 2H01 D 100 VAC...

Page 185: ...the brake coil to prevent the surge voltages due to switching the DC side from damaging the brake coil D Internal Circuit for 200 VAC Input LPDE 2H01 Yellow AC Side White Surge Suppressor Diode Red DC...

Page 186: ...t a full trial operation 10 1 Check Items before Trial Operation 10 2 10 1 1 Servomotors 10 2 10 1 2 SERVOPACKS 10 2 10 2 Trial Operation Procedure 10 3 10 2 1 Preparation for Trial Operation 10 3 10...

Page 187: ...or motors with oil seals the seals are not damaged and motor is properly lubricated 10 1 2 SERVOPACKS D User constants are properly set for the applicable Servomotor and specifications D Terminal conn...

Page 188: ...check the SERVOPACK type The SERVOPACK returns SGD N 4 Transfer the parameters required for trial operation such as motor selection encoder type and encoder pulses by PRM_WR write parameter command 5...

Page 189: ...ction Inspect for the following items during the trial operation D Abnormal vibration D Abnormal noise D Abnormal temperature rise Take actions according to Chapter 12 Maintenance and Inspection if an...

Page 190: ...t the factory before shipping and Servo performance adjustment 11 1 Characteristics at the Factory 11 2 11 2 Resetting 11 2 11 3 Adjusting Servo Performance 11 3 11 3 1 Setting User Constants 11 3 11...

Page 191: ...eed Reference Motor Speed Characteristics Conditions No load Rotation speed min 1 Feed speed reference units s 102400 102400 Figure 11 1 Speed Reference Motor Speed Characteristics 11 2 Resetting If s...

Page 192: ...ced inertia The value fc may vary even with the same speed loop gain setting due to fluctuations in load moment of inertia Gain Frequency f Hz The factory setting is 40 Hz fc cutoff frequency Hz Note...

Page 193: ...ly increase the position loop gain Cn 0001A D If the position loop gain cannot be increased any higher because of vibration incrementally increase the speed loop gain Cn 0004 If increasing the speed l...

Page 194: ...ce inspection and trouble shooting 12 1 Servodrive Maintenance and Inspection of Servodrives 12 2 12 1 1 Servomotor 12 2 12 1 2 SERVOPACK Inspection 12 3 12 1 3 Replacing Battery for Absolute Encoder...

Page 195: ...h a cloth or compressed air Insulation resistance measurement At least once a year Disconnect the SERVOPACK and test in sulation resistance at 500 V Must exceed 10 M Contact your Yaskawa representa ti...

Page 196: ...ethod Smoothing capacitor 7 to 8 years Test and replace with a new capaci tor if necessary Relays Test and replace if necessary Fuse 10 years Replace with a new fuse Note Operating conditions Ambient...

Page 197: ...g Unstable Servomotor rotation Faulty connection Check the Phase U V and W lead terminals as well as feedback pulse connection Reconnect the wiring Servomotor overheated Ambient temperature too high C...

Page 198: ...put Servomotor wiring incorrect Encoder wiring incorrect S Check and correct Servo motor wiring S Check to see if the Phase A B and C pulses are correct D0 Overflow No feedback pulse after mov ing re...

Page 199: ...if the error occurs frequently 85 Overspeed Lit several seconds after power ON Servomotor rotated at power ON Turn power ON with the Ser vomotor stopped C1 Servo overrun Lit soon after Servomotor sta...

Page 200: ...d Transfer the CONNECT or SENS_ON command Main power supply not turn ON Turn ON the main power sup ply Check the sequence At the synchronous command SYNC_SET transfer Communication phase 3 has not bee...

Page 201: ...rning Displayed but Motor Does Not Run Table 12 9 Troubleshooting with no Alarm or Warning Displays Symptom Cause Conditions Remedy Servomotor does not run SENS_ON command not transfer Bits 0 and 1 of...

Page 202: ...re Phone 65 6282 3003 Fax 65 6289 3003 YASKAWA ELECTRIC SHANGHAI CO LTD 4F No 18 Aona Road Waigaoqiao Free Trade Zone Pudong New Area Shanghai 200131 China Phone 86 21 5866 3470 Fax 86 21 5866 3869 YA...

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