YASKAWA SR01AB1ER Bulletin Download

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Summary of Contents for SR01AB1ER

Page 1: ...l service in house repair center WE BUY USED EQUIPMENT Sell your excess underutilized and idle used equipment We also offer credit for buy backs and trade ins www artisantg com WeBuyEquipment REMOTE INSPECTION Remotely inspect equipment before purchasing with our interactive website at www instraview com LOOKING FOR MORE INFORMATION Visit us on the web at www artisantg com for more information on ...

Page 2: ...AC SERVO DRIVES RSERIES FOR SPEED CONTROL SERVOMOTOR TYPE USAREM With Optical Encoder SERVOPACK TYPE CACR SR ft Rack Mounted Type FT YASKAWA ...

Page 3: ......

Page 4: ...users The R series achieves l o w e r cost and smaller size i n spite o f high speed opera tion and high reliability Originally designed for point to point positioning i t has been found i n s u c h applications a s assembly robots c h i p mounters s m a l l type X Y tables coil winding machines etc FEATURES High speed operation possible High accuracy and quick responce for speed control even unde...

Page 5: ...CODER PG CONNECTION 1 9 6 OPERATION 2 1 6 1 POWER ON AND OFF 2 1 6 2 SPEED REFERENCE 2 2 6 3 EXTERNAL CURRENT LIMIT REFERENCE CIRCUIT P CL N CL 2 3 6 4 CONFIGURATION OF I O CIRCUIT 2 4 6 5 PROTECTIVE CIRCUIT 2 6 6 6 LED INDICATION 2 7 6 7 PRECAUTIONS FOR APPLICATION 2 7 6 8 PRECAUTIONS OF OPERATION 2 7 6 9 APPLICATION 2 9 7 INSTALLATION AND WIRING 3 0 7 1 RECEIVING 3 0 7 2 INSTALLATION 3 0 7 3 WIR...

Page 6: ...for Defective Wiring or Parts 1 2 1 2 2 24 9 Examples of Troubleshooting for Incomplete Adjustment 1 2 1 2 2 34 9 EXTERNALCURRENT LIMIT REFERENCE CIRCUIT P CL N CL 6 6 3 2 3 H Handling of Speed Reference Input Terminal 6 6 2 32 2 High Voltage Line 6 6 7 3 2 7 I Impact Resistance 4 4 6 5 1 2 Input Circuit 6 6 4 1 2 4 INSPECTION AND MAINTENANCE 1 1 4 6 Inspection during Test Run 9 9 2 3 3 9 INSTALLA...

Page 7: ... 1 SERVOPACK Installation 7 7 2 2 3 1 SERVOPACK Test run SERVOPACK Inspection and maintenance SERVOPACK Troubleshooting guide SERVOPACK Connector 2CN Terminal Layout and Connection SERVOPACK DIMENSIONS Set Voltage and Current Limit Values SETTINGS AT THE TIME OF DELIVERY Specifications of Applicable Receptacles Specifications of Applicable Receptacles and Cables Table 5 6 Speed and Torque Measurem...

Page 8: ...34 4 0 271 38 5 0 319 45 3 0 457 60 4 Inertia kg m2 X10 6 J oz In s2 X10 3 7 64 1 08 12 5 1 78 50 7 7 18 76 6 10 9 272 38 6 372 52 8 Power Rating k W s 3 30 8 09 8 01 11 9 9 26 13 3 Inertia Time Constant m s 5 0 3 7 3 6 3 1 3 6 3 4 Inductive Time Constant m s 12 15 3 8 4 2 8 7 9 9 Ambient H u m i d i t y 20 t o 80 n o n condensing Vibration 1 5 pm o r b e l o w Finish i n Munsell N o t a t i o n N...

Page 9: ...00 1000 0 B A 02 0 4 0 6 RMSTORQUE N rn B 08 1 6 RMSTORQUE N m 24 I f 200 VAC or below t h e o u t p u t characteristics may b e d e c r e a s e d e v e n i f t h e d a t a i s w i t h i n allowable v a r i a t i o n Type USAREM 01A 5000 4000 SPEED 3000 r min 2000 1000 0 Type USAREM 03A 5000 4000 3000 SPEED Om 2000 1000 0 Type USAREM 05A T y p e USAREM 07A 5000 4000 3000 SPEED r m 2000 1000 0 B 2 ...

Page 10: ...0 SPEED r min 2000 1000 0 B Type USAREM 05A 5000 4000 SPEED 3000 r min 2000 1000 0 100 2 0 0 3 0 0 RMSTORQUE oz in 250 5 0 0 7 5 0 RMSTORQUE oz in 0 5000 4000 3000 SPEED r enn 2000 1000 0 Type USAREM 07A 5000 4000 SPEED 3000 r men 2000 IA1 1000 0 14 B 50 1 0 0 1 5 0 RMSTORQUE oz in eq B 150 3 0 0 4 5 0 RMSTORQUE oz en 250 5 0 0 7 5 0 1 0 0 0 RMSTORQUE oz Continuous Duty Zone 1111 Intermittent Duty...

Page 11: ...Isolation Vo l t a g e 1 0 0 0 V A C o n e m i n u t e Ambient H u m i d i t y 20 t o 80 n o n condensing Vibration 1 5 um o r below Finish i n Munsell N o t a t i o n N 1 5 Insulation Resistance 5 0 0 V D C 1 0 MS1 o r more E x a l t a t i o n P e r m a n e n t magnet Enclosure T o t a l l y enclosed s e l f cooled M o u n t i n g F l a n g e m o u n t e d Drive Method D i r e c t d r i v e Table...

Page 12: ...00 r mn 2000 1000 0 Type USAREM 02B 5 0 0 0 4000 SPEED 3000 limn 2000 1000 0 02 0 4 0 6 RMSTORQUE N m A Type USAREM 03B 5 0 0 0 4000 3000 SPEED r mon 2000 10 04 0 8 RMSTORQUE N m 12 A 08 1 6 RMSTORQUE N m 24 12 2 4 RMSTORQUE N m 6 111r min oz in Type USAREM A5B 5000 4000 SPEED 3000 r mm 2000 1000 0 Type USAREM 0113 5 0 0 0 4000 SPEED 3000 r mrn 2000 1000 0 Type USAREM 028 5 0 0 0 Type USAREM 03B 4...

Page 13: ...O Line driver and open collector Frequency Dividing Ratio 1 1 1 2 1 3 1 4 1 5 1 6 1 10 1 12 1 15 1 20 1 30 2 3 2 5 Sequence Input Servo ON P dnve F run inhibit P OT R run inhibit N OT alarm reset Sequence Output Servo alarm current limit TG ON servo ready alarm code 3 bit External Current Limit 20 to max current in each of P and N 3V 100 current Buld in Functions Dynamic Brake Operated at main pow...

Page 14: ...ided contaming regenerative resistor Up to 10 times motor inertia DB stop at P OT N OT Overvoltage OV overcurrent OC overload OL overspeed OS MCCB tnp MCCB PGtrouble PG voltagedrop UV CPUerror CPU AID Power supply MCCB LED alarm 7 segment LEDs Speed 2V 5 at 1000r min torque 3 V 5 at 100 Reverse run connection possible Reverse at plus reference AC SERVOMOTOR US ARE M 0 5 A E 2 Ej jj AC I SERVOM OTO...

Page 15: ...tector Holding Brake Receptacle Type L type Plug Cable Clamp Receptacle Type 1 type Plug Cable Clamp Receptacle Type L type Plug Cable Clamp 200V SRA5AB1ER A5AE2KB MS3101A 14S 2P MS3106B 14S 2S MS3057 6A MS3101A 20 29A M531068 20 29S MS3057 12A MS3101A 14S 6P MS3106B 14S 6S MS3057 6A SRA5AB1FR A5AF2KB SR01AB1ER 01AE2KB SR01AB1FR 01AF2KB SRO2AB1ER 02AE2KB MS3102A 18 10P MS3108B 18S 10S MS3057 10A M...

Page 16: ...EED 200 3 0 0 MOTORRATEDCURRENT Fig 4 1 Overload Characteristics 4 2 STARTING AND STOPPING TIME The s t a r t i n g time a n d s t o p p i n g time o f SERVO MOTOR u n d e r a constant load i s shown b y t h e formula below V i s c o u s o r f r i c t i o n t o r q u e o f the motor is d i s r e g a r d e d Starting Ti m e tr 1 0 4 7 x NR h i Stopping Ti m e Kt h t a 3 NR JM tf 104 7 x m s Kt IR a...

Page 17: ... l u e o f m o t o r a r m a t u r e c u r r e n t i s l o w e r than t h e m o t o r r a t e d c u r r e n t T 1p2 t r t f I f t s s R 2 Where c y c l e t i m e T i s d e t e r m i n e d v a l u e s Ip t r t f s a t i s f y i n g t h e f o r m u l a a b o v e s h o u l d be s p e c i f i e d MOTOR ARMATURE CURRENT MOTOR I SPEED Fig 4 3 Timing Chart of Motor Armature Current and Speed Restricted b...

Page 18: ...t i n g potentiometer a s l o n g a s i n p u t v o l t a g e i s w i t h i n 2 V t o 1 0 V S e e F i g 14 8 The f o r w a r d motor rotation means c o u n terclockwise CCW r o t a t i o n w h e n v i e w e d f r o m the d r i v e end RATED SPEED 1 I 1 i I ti I 0 2 4 6 1 0 8 6 i INPUT t VOLTAGE V RATED SPEED RATED SPEED I Fig 4 7 Speed Input Voltage Characteristics I IN B ADJUSTABLE WITH IN B 2 4 ...

Page 19: ...P D E Brake t e r m i n a l F Frame Ground b D e t e c t o r receptacle 4 6 5 Impact Resistance When mounted horizontally a n d exposed t o vertical shock impulses t h e m o t o r can withstand u p t o t w o impacts w i t h inpact acceleration o f 5 0 G 490 m s2 Fig 4 10 NOTE A precision detector is mounted on the oppsosite dnve end of the AC SERVOMOTOR C a r e should be taken to protect the shaft...

Page 20: ... lines indicate power lines excluding the grounding line POWER POWER O N 5Ry OFF 1MC 1MC LEAD LENGTH 3 METERS OR LESS 3Ry 5 m A 4Ry 5 m A 4A 4113 48 4 12V 49 46 12V 47 5Ry 0 Q SERVO TROUBLE INDICATION SERVOPACK TYPE CACR SR MAIN CIRCUIT TERMINALS 41 38 SERVO ALARM 39 1MC 1SUP Y4 EXAMPLES OF INDICATION MAGNETIC CONTACTOR FORPOWER ON OFF See Table 3 1 Be sure to fit a surge suppressing device to bot...

Page 21: ... ISOLATOR PROTECTIVE DETECTION PARAMETER SETTING ALARM DISPLAY DB CIRCUIT RELAY PWM GENERATED CIRCIUT CURRENT CONTROL La CURRENT R E F E R E N C E _ c T O R Q U ELIMIT SPEED CONTROL CURRENT DETECTION ICUR Fig 5 2 Internal Block Diagram of SERVOPACK Type CACR SR AB R For 200V 50 to 100W 0 07 to 0 13HP For 100V 50W 0 07HP CURRENT DETEC TOR SPEED FEEDBACK FRE CUENCY DIVIDER AC SERVOMOTOR 1CN PGOUTPUT...

Page 22: ...ETER SETTING ALARM DISPLAY 1 TMON I CURRENT DETECTION f LOOP I e 7 1 1 7 1 1ZERO I Y4 ISOLATOR MODE SWfTCH SWITCHING DB CIRCUIT PWM GENERATED CIRCIUT i CURRENT CONTROL 1 0 CURRENT REFERENCE T O R Q U ELIMIT SPEED CONTROL Fig 5 3 Internal Block Diagram of SERVOPACK Type CACR SR AB 1 IR For 200V 200 to 500W 0 07 to 0 67HP For 100V 100 to 300W 0 13 to 0 4HP P PI I 1CT CURRENT DETEC TOR 1 VTG I SPEED ...

Page 23: ...32 PCO PCO AL02 T GON T GON PHC N OT S RDY S RDY N CL SG NCL 12V SG P CON Line Driver Ou put Phase C Output 2 TGON Ou put Signal PDrive Input Oen caep Output PhaseC Reversecioi Prohib nput it Servo Ready Output Reverse Current Limit Input 12V Output 33 34 35 36 37 38 39 40 41 42 43 4 4 45 46 47 48 49 50 PAO PAO PBO PBO AL03 ALM ALM PHB P OT PHA ALM i P CL SG PCL 12V SG 12V SG FG RST Line Driver Ou...

Page 24: ...P LS OFF ALARMRESETAT 9Ry ON 3RyON AT CURRENT LIMIT DETECTION 4RyON AT TG ON 5RyOFF AT SERVO ALARM 6RyON AT SERVO READY 9Ry 24VIN ALM RST Note 2 3Ry l i a 4 R y n a TTCGGIOTNN 1 1 1 M e i l l 45 SGOV 41 43 4 8k0 A P P R O X5mA 1 K 4 8k0 A P P R O X5mAi 4 8kil 1 A P P R O X5mAi L 48k0 r A P P R O X5mAi 4 Bk0 _ A P P R O X5mA 411104 6Ry S RDY TM34 SERVO ON PROPORTIONAL CONTROL P DRIVE REVERSERUNNING...

Page 25: ...Table 6 2 Fault Detection Function Turns ON when motor speed exceeds approx 45 r min or 450 r min 22 23 Motor run detection The motor speed can be changed by using SW1 3 45 r min Short circuit SW1 3 TGON 450 r min Open SW1 3 N CL or P CL used Tu r n ON when output torque reaches the level set by N CL or P CL CLT 5 6 Current limit detection N CL or P CL not used Tu r n s ON when output torque reach...

Page 26: ...onnectors 1 2 3 4 5 6 7 PGOV PGOV PGOV PG5V PG5V PG5V DIR 8 9 10 11 12 13 PU PU PV PV PW PW 14 15 16 17 18 19 20 PC PC PA PA PB PB FG 5 5 1 Specifications of Applicable Receptacles and Cables Table 5 6 Made by Honda Tsushin Co Ltd I Attached to each applicable receptacle soldered and caulking types I Attached to SERVOPACK when being shipped ItThe cables listed in Table 5 7 are available on request...

Page 27: ...s are as follows Connector Type MS3102A20 29P Receptacle Accessory not attached Type MS3108B20 29S Angle plug Type MS3057 12A Cable clamp Fig 5 5 Soldered Type Connector 2CN Connection and 1CN Output Processing When using Connection Cable DP8409123 OPTICAL ENCODER 02mm2 S E R V O P A C K P OUTPUT LINE DRIVER MC3487 t 41 CABLE T w i s t e d shielded cable LINE RECEIVER MC34B6t DE8400093 Note t Made...

Page 28: ...a s e r v o alarm s i g n a l If the c o n t r o l c i r c u i t is t u r n e d O F F t h e LED indicating t h e k i n d o f s e r v o alarm also g o e s OFF When p o w e r i s s u p p l i e d t o t h e p o w e r O N O F F sequence s h o w n i n F i g 6 1 t h e n o r m a l s i g n a l is s e t 5 R y i s t u r n e d ON i n t h e c o n t r o l c i r cuit a f t e r a maximum d e l a y o f 1 second Wh...

Page 29: ... e n a carbon resistor is used a great residual resistance remains and so the speed control range becomes about 500 1 Fig 6 4 Method for Giving Speed Reference Voltage for relatively Rough Speed Setting as compared with Fig 6 3 6 2 2 Stop Reference Circuit When commanding a s t o p d o not open t h e speed reference c i r c u i t 1 C N o r 1 C N b u t s e t to 0 V 18 MI O R OVER I T Y P E ESHP 1 0...

Page 30: ...st use an internal resistance less than 2k G T h e i n p u t resistance a t SERVOPACK side must be greater than 5 k n When external c u r rent i s n o t restricted contacts between t e r m i nals 1CN 3 a n d 0 a n d between 1CN and Q a r e opened 6 3 2 Set Voltage and Current Limit Values The relationship between s e t voltages o f 0 t o 9 0 V a n d c u r r e n t limit values a r e shown i n Fig 6...

Page 31: ... e r c l o c k w i s e r o t a t i o n v i e w e d f r o m the l o a d c o u p l i n g s i d e a n d i n r e v e r s e r o t a t i o n B y i n p u t t i n g t h e P O T o r N O T s i g n a l t h e c i r c u i t s t o p s d r i v e o f t h e r o t a t i n g m o t o r a n d energizes t h e b u i l t i n d y n a m i c b r a k e t o s t o p t h e motor A f t e r s t o p p i n g t h e m o t o r c a n b...

Page 32: ...PHASE B PHASE C LINE RECEIVER MC3486t TERMINATING RESISTANCE R OV 2 2 0 TO 4700 CHOKE COIL b8 5 V smo 0T1 0 mG I c I CAPAMOR I____ O V RECEIVER CIRCUIT SUPPLIED BY CUSTOMER tr1 T w i s t e d cable tiMade by Texas Instruments Inc Fig 6 10 Output Circuit and Receiver Circuit 5 V OV 3 Output phase PHASE F O R W A R D RUNNING A A PHASE 1_ B PHASE C PHASE R E V E R S E RUNNING 90 1 1 9 0 PHASE B I P H ...

Page 33: ... 0 7100 200 3 0 0 MOTORRATEDCURRENT 16 Fig 6 13 Overloard Characteristics 4 S e r v o alarm o u t p u t A L M A L M I f a n y t r o u b l e d e t e c t i o n c i r c u i t s i n Ta b l e 6 2 functions t h e p o w e r d r i v e c i r c u i t i n t h e SERVOPACK goes o f f 7 segment L E D s i n d i c a t e the operation c o n d i t i o n a n d a s e r v o a l a r m s i g n a l is o u t p u t The a l...

Page 34: ...ease t h e maximum s p e e d For details c o n t a c t y o u r YA S K AWA r e p r e s e n tative 6 7 3 H i g h Voltage Line I f t h e s u p p l y v o l t a g e i s 400 440 V t h e v o l t a g e must b e d r o p p e d t h r e e p h a s e 4 0 0 4 4 0 V t o single phase 200 V o r 100 V b y u s i n g a p o w e r t r a n s f o r m e r T a b l e 6 6 s h o w s t h e t r a n s f o r m e r selection C o n ...

Page 35: ... 3 5 mm 2 or more for grounding to the case preferably flat woven copper wire 2 Connect line filters observing the precautions as shown in 2 Noise filter installation 2 N o i s e f i l t e r i n s t a l l a t i o n When noise f i l t e r s a r e i n s t a l l e d t o p r e v e n t n o i s e from t h e p o w e r l i n e t h e b l o c k t y p e m u s t b e used T h e recommended n o i s e f i l t e ...

Page 36: ...input power supply a n d t h e charging c u r r e n t m i g h t melt such a fuse Table 6 6 P o w e r Supply Capacity and MCCB or Fuse Capacity Values at ra ed load t Interruptioncharactenstics at 25t 200 2s or more 700 0 01s or more Note For short circuit breaker specity the high speed type Thetime delay type is not applied 6 9 APPLICATION 6 9 1 Connection for Reverse Motor Running If t h e machin...

Page 37: ... n t o n s h a f t e x t e n s i o n and f l a n g e s u r f a c e w i t h t h i n n e r b e f o r e c o n n e c t ing t h e m o t o r t o t h e d r i v e n m a c h i n e S e e F i g 7 1 ANTICORROSIVE PAINT Fig 7 1 Anticorrosive Paint to be Removed 2 L o c a t i o n Use t h e m o t o r u n d e r t h e f o l l o w i n g c o n d i t i o n s Indoors Free f r o m c o r r o s i v e a n d o r e x p l o ...

Page 38: ...gases e x i s t since i t may cause extensive damage o v e r long use E s p e c i a l l y vulnerable a r e switching opera tion o f contactors a n d r e l a y s U n f a v o r a b l e atmospheric c o n d i t i o n s Select a l o c a t i o n w i t h m i n i m u m e x p o s u r e t o oil w a t e r h o t a i r h i g h h u m i d i t y e x c e s s i v e dust o r metallic p a r t i c l e s 3 M o u n t i ...

Page 39: ...r e c a u t i o n s Place noise f i l t e r s S E RV O PA C K a n d I O r e f erence as n e a r as possible t o each o t h e r Make s u r e to mount a s u r g e s u p p r e s s i n g c i r cuit i n t o t h e r e l a y electromagnetic contact and solenoid coils Make s u r e t o m o u n t a s u r g e a b s o r b i n g c i r c u i t into t h e r e l a y e l e c t r o m a g n e t i c c o n t a c t a n...

Page 40: ...ke w i t h key T h e s h a f t e n d dimensions t h a t a r e non standard a r e s h o w n f o r a p p l i e d models The SERVOMOTOR proper is the same as shown in each diagram TYPES USAREM A5E1E12K 01 12K SCALE 1 2 8 0 31 DIA CAUTION PLATE ENCODERLEAD LENGTH 350 13 78 AWG22 x 3 CORE AWG26 x 6 TWISTED L LL 39 154 L M r 1 1 0 435 19 0 75 TYPES USAREM 02 1E 12K 03E 2K 6 0 24 NAME RATE 1 Standard wit...

Page 41: ...ese I n d u s t r i a l S t a n d a r d B1031 S u n k keys and their corresponding keyways Parallel key has been attached TYPES USAREM A5 ii2KB 01E rj2KB SCALE 1 2 08 031 CAUTION PLATE 2 44 CO 2095 3 25 169 5 6 67 40 157 39 115 045 119 4 67 33 5 1 32 195 0 77 co a rn 0 3 012 10 040 25 098 3 0 118 5 0197 232 5 915 1925 7 58 0541115 045 142 5591 4 0 1 5 7 5 ENCODER LEAD LENGTH 3 5 0 1 3 78 AWG 22 X ...

Page 42: ...Approx Mass kg lb Type Inertia kg m2 02 on s2X10 3 Static Friction Torque N m oz in Voltage V D C 07A 2KB M S B 90 30Y N 0 4823X10 4 683 2 94 417 90 81 178 CAUTION PLATE 0 TYPE USAREM 05A 12KB 195 0 77 0 3 a f a V Cr m V t r CO 195 nsa C 1 z BUILT IN HOLDING MAGNETIC BRAKE 90VDC POWER SUPPLY 118 012 14 0 55 4 6 0 24 DIA 3 0 118 5 0197 247 5 9 74 207 5 8 17 39 1 5 0 45 157 618 154 7 1 5 2 81 0 77 C...

Page 43: ...n 06299 _L343 1 1 0_gem 43312002314 SB16307 07K 1 2S 07A 2SB 3 Shaft Externsion o f Straight Shaft TYPE USAREM A5 _112 to 05 1 2 without brake TYPE USAREM A5E ri2B to 05A 712B with brake SERVOMOTOR proper is the same dimensions as standard SERVOMOTOR S e e Pars 8 1 1 and 2 Details of shaft extension are shown below LL L R LM 3 0 118 47 4 Shaft Extension of Straight Shaft with Shaft Seal TYPE USARE...

Page 44: ...shon Co L t d MR 20F Case Type MR 50L MR 20L TYPES CACR SRO2AB1b R TO SRO5AB1 RY 3 2 0 0 V TYPES CACR SRO1AB2E1 R TO SRO3AB2 R 100 V 10 M4 SCREW TERMINALS 4 6 0 24 DIA C N MR 5ORMA MTG HOLES R i g h t angle 50P 4 1 Arr in N U 0 N 2 O co co N 75 295 CN 100 3 94 MR 2ORMA angle 20P Detail of Mounting Part C S I ter U 0 LT N 1 7 5 2 9 5 1 N o 4 TAPPED HOLES FOR M4 SCREWS HEAT SINK moommormanoomom 0000...

Page 45: ... p e L P S E 2 H 0 1 2310118101A MTGHOLES 255 1 0217101AFACING N01571 DEEP Lead length 5 0 0 m m 19 69 each Lead color AC input Side 100V Blue White 200V Yellow White Brake Side Red Black Max ambient temperature 6 0 C For 100 VAC LPDE 1H01 BLUE ACS DE WHITE For 200 VAC LPSE 2H01 YELLOW AC SIDE WHI FE DIODE BRIDGE RED DC SIDE BRAKE SIDE BLACK RED 1 DC SIDE BRAKE SIDE BLACK Note C l o s e or open th...

Page 46: ...ary to start with the d r i v e n machine connected t o t h e motor confirm that the driven system has been ready for emergency stop at any time Power ON After checking itmes in Par 9 1 turn O N the power supply When the power ON sequence is correct according to Par 6 1 the power is turned ON by depressing the POWER pushbutton for approximately 1 second When the power is correctly supplied 7 segme...

Page 47: ...VOPACK SW1 16P Setting Switch HgxadecimalSW2 e Diital Switch SEL1 SEL2 SEL3 3P Setting Switch Class Rated Output W HP Type CACR Optical Encoder Pulse Setting Dividing Ratio Setting fN Filter Time Constant Setting Mode Switch MS Level Setting MS P PI Selection Standard 200V 50 0 07 100 0 13 200 0 27 300 0 40 500 0 67 700 0 93 SRA5AB1ER SR01AB1ER SRO2AB1ER SRO3AB1ER SRO5AB1ER SRO5AB1ERY3 1500 pulses...

Page 48: ... P61 1 2 shows approximate scale of potentio indicates 7 10 scale 10 2 CHARACTERISTICS AT THE TIME OF DELIVERY The SERVOPACK h a s been f a c t o r y adjusted as follows 1 S p e e d r e f e r e n c e i n p u t servomotor s p e e d r a t i o no l o a d F i g 1 0 1 SPEED r min RATED SPEED 6V RATED SPEED SPEED INPUT ACROSS 1 c N g 6V a n d i t Fig 1 0 1 S p e e d Reference Input SERVOMOTOR Speed Rati...

Page 49: ...to o b t a i n optimum c h a r a c t e r i s t i c s a n d r e a d j u s t ment i s r o r m a l l y u n n e c e s s a r y I f a d j u s t m e n t i s required d e p e n d i n g o n t h e u s e r e a d j u s t t h e SERVOPACK r e f e r r i n g t o Ta b l e 1 0 5 D o not t a m p e r w i t h potentiometers 10 4 ADJUSTMENT PROCEDURES Fig 1 0 4 s h o w s t h e a r r a n g e m e n t o f p o t e n t i om...

Page 50: ...D FORWARD RATING too high overshoot or undershoot increases R O T A T I O N 6V INPUT If the proportional gain is Characteristics A 6V too low rise or fall time is unstable unstable e REFERENCE INPUT RATING REVERE ROTATION CLOCKWISE CWi CW COUNTERCLOCKWISE CCM CCW Adjustment 0 A 0 A Potentiometer VR21 V R 6LOOP1 VR8 IP PII Functions Speed loop gain adjustment P PI Selection adjustment PG 5V voltage...

Page 51: ...ring of speed reference input connector 1CfN between al and 0 2 IN B For monitoring of speed reference aux input connector 1CN between 8 and is 3 VTG Motor speed monitoring 2 0 VDC 5 1000 r m n 4 T MON Motor torque monitoring 3 0 VDC 10 100 torque ITM3 5 lu Current monitoring Phase U 200 V 100 V 6 Iv Phase V Type A5 01 02 0 3 05 A5 01 02 03 7 lw Phase W synthesis of lu and Iv V A 0 8 0 4 0 2 0 8 0...

Page 52: ...2 IT MON MOTOR CURRENT PHASE U TM3 5 O V PHASE V TM3 6 OV 1_13 1_____1 6V APPROX 4 5 V MOTOR SPEED CH1 VTG F T SEL3 have t h e 2V x Nr min 1000 2 V x Nr min 1000 Table 1 0 7 S W 1 Setting and Functions Contents Motor setting 2 P h a s e compensation 3 T G ON level 4 O T mode 5 P W M phase shift 6 P G pulse 8 Test mode Standard factory adjusted switch setting swi j 1 2 3 4 5 6 7 8 With Short circui...

Page 53: ...rs Replacewithnewone Decidedafter inspection Circuit protector or relays Uponinspection decidedwhethertheyshouldbereplaced AluminumelectrolyticcapacitoronPCboard 5 years Replacewithnewone Decidedafter inspection Table 1 0 9 S E L Setting and Functions Standa d factory adjusted switch setting 11 INSPECTION AND MAINTENANCE 11 1 AC SERVOMOTOR The AC SERVOMOTOR has no wearing parts e g brush es so sim...

Page 54: ...oss motor terming s U V and W and PG oftrwomtmpT e0404 0 4 0 Motor overheats Excessive ambient temperature Reduce below 40 C Motor dirty Clean motor surface Overload Reduce load or use a larger motor Unusual noise Motor loosely mounted Tighten foundation bolts Motor misaligned Realign with driven machine Coupling out of balance Balance coupling Noisy bearings Check alignment loading of bearing lub...

Page 55: ...oximate 0 5 to 1 second after power is supplied to the main circuit Defective regenerative ransistor Replace the SERVOPACK Regenerative resistor disconnection Check and replace the regenerative resistor Replace the SERVOPACK Over voltage Goes ON when the motor starts or slows down Load inertia GD2 too large Check the inertia of the machine with the value converted to the motor shaft L i i Defectiv...

Page 56: ...ion frequency is too high approx 200 to 300 Hz When vibration frequency equals commercial frequency Speed loop gain too high Excessively long lead of SERVOPACK input circuit Noise interference due to bundling of signal line and power line Turn VR6 L O O P C W to increase the speed loop gain Decrease length of lead Separate input circuit line from power line or connect input circuit to low impedanc...

Page 57: ...ie 1 85391 Allershausen Germany Phone 08166 900 F a x 08166 9039 YASKAWA ELECTRIC UK LTD 3 Drum Mains Park Orchardton Woods Cumbernauld Scotland G68 9LD U K Phone 236 735000 F a x 236 458182 YASKAWA ELECTRIC KOREA CORPORATION 8th Floor Seoul Center Bldg 91 1 Sogong Dong Chung ku Seoul Korea 100 070 Phone 02 776 7844 F a x 02 753 2639 YASKAWA ELECTRIC SINGAPORE PTE LTD Head Office C P F Bldg 79 Rob...

Page 58: ...l service in house repair center WE BUY USED EQUIPMENT Sell your excess underutilized and idle used equipment We also offer credit for buy backs and trade ins www artisantg com WeBuyEquipment REMOTE INSPECTION Remotely inspect equipment before purchasing with our interactive website at www instraview com LOOKING FOR MORE INFORMATION Visit us on the web at www artisantg com for more information on ...

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YASKAWA SR01AB1ER, Bulletin

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