YASKAWA CACP-JU series User Manual Download

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UAK

J-

Spindle motor

SGMGV-

Servomotor

CACP-JU

Power regeneration converter

CACR-JU

SERVOPACK

Rotational Motor

EtherCAT (CoE) Communications Reference

-SD Series

AC Servo Drives

USER’S MANUAL

Design and Maintenance

MANUAL NO. SIEP S800000 94A

Outline

Compatible Devices

Specifications and External

Dimensions for Motors

Installation

Wiring

Operation

Adjustments

Standards Compliance

Appendix

Peripheral Devices

Specifications and External

Dimensions for

-V-SD Drivers

Inspection, Maintenance,

and Troubleshooting

Summary of Contents for CACP-JU series

Page 1: ... Servo Drives USER S MANUAL Design and Maintenance MANUAL NO SIEP S800000 94A 1 2 3 4 5 6 7 8 9 10 11 12 Outline Compatible Devices Specifications and External Dimensions for Motors Installation Wiring Operation Adjustments Standards Compliance Appendix Peripheral Devices Specifications and External Dimensions for 6 V SD Drivers Inspection Maintenance and Troubleshooting ...

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 manual is subject to change without notice Every precaution has been taken in the preparation of this manual Nevertheless Yaskawa assumes no responsibility for errors or omissions Neither is any lia...

Page 3: ...or One Axis A SERVOPACK that can control one motor SERVOPACK for Two Axes A SERVOPACK that can control two motors Σ V SD Driver A power regeneration converter and a SERVOPACK Servo Drive A set including a servomotor or a spindle motor and a Σ V SD driver Servo System A complete system that consists of a servo drive a host controller and peripheral devices Servo ON The power to the motor ON Servo O...

Page 4: ... number for axis 1 2040h Add 400 hex to calculate the index number for axis 2 Index number for axis 2 2440h Pn406 20A2h Emergency Stop Torque Setting Range 0 to 800 1 800 After change Setting Unit Factory Setting When Enabled Classification Setup Parameter Index Number Meaning When Enabled Classification Pn002 2002h After restart n 0 Factory setting n 1 Uses the absolute encoder as an incremental ...

Page 5: ...le Rotational Motor EtherCAT CoE Communications Reference SIEP S800000 95 9 9 9 Σ V SD Series Safety Precautions TOBP C710829 04 9 9 9 AC SERVOMOTOR Safety Precautions TOBP C2300200 00 9 9 Σ V SD Series Safety Precautions Base Mounting Unit TOMP C710829 08 9 9 Indicates precautions that if not heeded could possibly result in loss of life or serious injury Indicates precautions that if not heeded c...

Page 6: ... the trial operation as noted in the applicable manual for that product Malfunctions that occur after the motor is connected to the equipment not only damage the equipment but may also cause an accident resulting in death or injury The output range of multiturn data for Σ V SD driver absolute detection system differs from that for conventional systems 15 bit encoder and 12 bit encoder Especially w...

Page 7: ... temperature condi tions Locations subject to humidity outside the range specified in the storage installation humidity conditions Locations subject to condensation as the result of extreme changes in temperature Locations subject to corrosive or flammable gases Locations subject to dust salts or iron dust Locations subject to exposure to water oil or chemicals Locations subject to shock or vibrat...

Page 8: ...nting bed base stand or other structure The weight of the motor and the dynamic load during operation are placed on the installation structure and may cause vibration if the structure is not sturdy enough CAUTION Be sure to wire correctly and securely Failure to observe this caution may result in motor overrun injury or malfunction Install the I O signal cables and encoder cable at least 30 cm awa...

Page 9: ...nsu lation against primary Make sure that the output holding time is 100 ms or more Do not reverse the polarity of the battery when connecting it Failure to observe this caution may damage the battery power regeneration converter SERVOPACK and motor or cause it to explode Install the battery at the power regeneration converter It is dangerous to install batteries at encoder cable because that sets...

Page 10: ...troller while running SigmaWin for Σ V SD MT because an alarm or warning might be issued If an alarm or warning is issued any process currently being executed might be aborted and the system might also be stopped Only when using the following functions communications with the host controller is allowed while running SigmaWin for Σ V SD MT functions for use with SigmaWin for Σ V SD MT that require ...

Page 11: ...are sometimes 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 manual are typical examples and may not match the product you received If the manual must be ordered due to loss or damage inform your nearest Yaskawa representative or one of the offices l...

Page 12: ...d product in a manner in which it was not originally intended 5 Causes that were not foreseeable with the scientific and technological understanding at the time of ship ment from Yaskawa 6 Events for which Yaskawa is not responsible such as natural or human made disasters 2 Limitations of Liability 1 Yaskawa shall in no event be responsible for any damage or loss of opportunity to the customer tha...

Page 13: ... property Systems that require a high degree of reliability such as systems that supply gas water or electricity or systems that operate continuously 24 hours a day Other systems that require a similar high degree of safety 4 Never use the product for an application involving serious risk to life or property without first ensuring that the system is designed to secure the required level of safety ...

Page 14: ...gnetic Contactor for Winding Selection 2 22 2 3 6 Noise Filter 2 23 3 Specifications and External Dimensions for Motors 3 1 3 1 Spindle Motor 3 2 3 1 1 Configuration 3 2 3 1 2 Ratings and Specifications 3 3 3 1 3 Output and Torque Characteristics 3 5 3 1 4 Tolerance Radial Loads 3 11 3 1 5 Motor Total Indicator Readings 3 11 3 1 6 Rotation Direction 3 12 3 1 7 Vibration Resistance 3 12 3 1 8 Exter...

Page 15: ...mensions 5 13 5 5 Base Mounting Units 5 16 5 5 1 Specifications 5 16 5 5 2 Power Regeneration Converter and SERVOPACK Combinations 5 16 5 5 3 External Dimensions 5 18 5 5 4 Wiring 5 22 5 5 5 Mounting Method 5 23 6 Installation 6 1 6 1 Motors 6 2 6 1 1 Installation Environment 6 2 6 1 2 Enclosure 6 3 6 1 3 Installation Orientation 6 3 6 1 4 Coupling Motor and Machinery 6 4 6 2 Σ V SD Driver 6 6 6 2...

Page 16: ... 29 8 7 5 Multiturn Limit Setting 8 32 8 7 6 Multiturn Limit Disagreement Alarm A CC0 8 33 8 7 7 Absolute Encoder Home Offset 8 36 8 8 Hard Wire Base Block HWBB Function 8 37 8 8 1 Precautions for the Hard Wire Base Block HWBB State 8 37 8 8 2 Operation Example for the Hard Wire Base Block 8 38 8 8 3 HWBB Status Monitor 8 38 8 8 4 Restoring Operation from a HWBB State 8 38 8 8 5 Error Detection in...

Page 17: ...aintenance and Troubleshooting 11 1 11 1 Inspection and Maintenance 11 2 11 1 1 Motor 11 2 11 1 2 Σ V SD Driver 11 3 11 2 Alarm Displays 11 4 11 2 1 List of Servo Drive Alarms 11 5 11 2 2 List of Alarms for EtherCAT CoE Communications 11 10 11 2 3 Troubleshooting of the Servo Drive Alarms 11 11 11 2 4 Troubleshooting of the EtherCAT CoE Communications 11 33 11 3 Warning Displays 11 35 11 3 1 List ...

Page 18: ...1 1 Outline 1 1 Outline 1 1 System Configurations 1 2 1 2 Model Designation 1 3 1 2 1 Spindle Motor 1 3 1 2 2 Servomotor 1 4 1 2 3 Σ V SD Series Driver 1 5 ...

Page 19: ... case circuit breaker or Ground fault detector Noise filter Magnetic contactor Host controller AC reactor Sensors 1 and 2 Sensors 1 and 2 Magnetic contactor for emergency stop SVM Control power supply 24 VDC Power regeneration converter Battery Main circuit power supply Local bus Local bus 24 VDC PN bus bar 24 VDC PN bus bar Magnetic contactor for winding selection Spindle motor SERVOPACK for one ...

Page 20: ... Specifications Specifications Code Specifications Code Specifications Code Specifications Code Specifications Code Specifications 4th digit Winding System Single winding Winding selection AC Spindle Motor 5th digit Series Σ V SD Series K Code Specifications 3th digit Cooling Method External fan cooled 7th 8th digits 50 ED Rating S3 Specifications kW 9th digit Design Revision Order Standard 10th d...

Page 21: ...eal 1st 2nd 3rd 4th 5th digits Series Specifications Specifications Σ V Series Servomotor SGMGV medium inertia 7th 8th digits Rated Output Code Code Specifications kW 9th digit Power Supply Voltage Three phase 200 VAC Three phase 400 VAC 10th digit Serial Encoder Specifications Code Specifications Code Specifications Code Specifications Code 20 bit absolute encoder with capacitor for backup 11th d...

Page 22: ...ating Specifications kW 10th digit Input Voltage Three phase 200 VAC Three phase 400 VAC 11th digit Regeneration Method 120 degree conduction 13th digit Mounting Blank Blank Duct ventilated 14th 15th 16th 17th 18th digits Custom made 2 C A C R J U 1 0 2 A C A CACR JU 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 028 036 065 084 102 125 196 014 018 033 042 051 28 36 65 84 102 125 196 14 18 32 5 42 ...

Page 23: ...h 7th digits Series Code Specifications Code Code Code Specifications Σ V SD Series SERVOPACK 8th 9th digits Number of Axes Two axes 10th digit Output Current Input Voltage 270 VDC Specifications Arms Specifications Arms Input Voltage 540 VDC Standard A D 13th digit Design Revision Order A㧘B㧘C C EtherCAT CoE 270 VDC 540 VDC Code Specifications Code Specifications Code Specifications Code Specifica...

Page 24: ...RVOPACK and Motor 2 3 2 2 Selecting Cables 2 4 2 2 1 Spindle Motor 2 4 2 2 2 Servomotor 2 7 2 2 3 Σ V SD Driver 2 17 2 3 Peripheral Devices 2 20 2 3 1 Molded case Circuit Breakers Ground Fault Detectors and Magnetic Contactors 2 20 2 3 2 Surge Absorbers 2 21 2 3 3 Absolute Encoder Battery 2 21 2 3 4 AC Reactor 2 22 2 3 5 Magnetic Contactor for Winding Selection 2 22 2 3 6 Noise Filter 2 23 ...

Page 25: ...A 7 5 5 5 5 0 CACR JU065ACA 11 15 11 15 55A 44A 15 11 11 7 5 6 0 CACR JU084ACA 19 19 75A 18 5 15 7 5 CACR JU102ACA 22 22 55A 75A 22 18 5 CACR JU125ACA 30 30 30 22 CACR JU196ACA 37 45 45 37 CACR JU014DCA 540 VDC 04 06 06 09D 13D 20D 30D 09D 13D 5 5 3 7 3 0 CACR JU018DCA 08 08 30D 44D 20D 30D 7 5 5 5 5 0 CACR JU033DCA 11 15 11 15 55D 44D 15 11 11 7 5 6 0 CACR JU042DCA 19 19 75D 55D 18 5 15 7 5 CACR ...

Page 26: ...allowable charge constant for individual models of power regeneration converters are shown in this table 2 The continuous rated capacity and charge constant for individual models of SERVOPACKs is shown in this table These are not product specifications Use this information to calculate to determine whether or not the selected com bination of devices complies with the recommended operating conditio...

Page 27: ... 1 Wire Sizes and Tightening Torques Cables A 600 V heat resistant vinyl cable is recommended Select an appropriate size of cable for the motor and the SERVOPACK used For details refer to 7 1 2 1 Main Circuit Cable Wiring and 7 2 1 1 Wire Sizes and Tightening Torques Pulse Encoder Cable Spindle Motor Main Circuit Cable SERVOPACK for One Axis Spindle Motor Serial Encoder Cable Spindle Motor Main Ci...

Page 28: ...m JZSP CJP00 02 E 3 m JZSP CJP00 03 E 5 m JZSP CJP00 05 E 10 m JZSP CJP00 10 E 15 m JZSP CJP00 15 E 20 m JZSP CJP00 20 E To SERVOPACK To spindle motor Name Model Manufacturer Connector Plug 54331 0201 Molex Japan Co Ltd Electrical Contact 54306 2019 Name Model Manufacturer Connector ELP 12V J T S Mfg Co Ltd Electrical Contact Other pins LLF 01T P1 3E No 10 pin LLF 41T P1 3E Items Standard Type Ord...

Page 29: ...e Serial Encoder Cable for Spindle Motor 3 m JZSP CJP01 03 E 5 m JZSP CJP01 05 E 10 m JZSP CJP01 10 E 15 m JZSP CJP01 15 E 20 m JZSP CJP01 20 E Heat shrinkable tube Shield wire To SERVOPACK To spindle motor Name Model Manufacturer Connector 36210 0100PL Sumitomo 3M Ltd Shell 36310 3200 008 Name Model Manufacturer Connector JEC 9P J T S Mfg Co Ltd Electrical Contact J SP1140 Items Standard Type Ord...

Page 30: ...160 3 TMH5B crimping tool is required Contact Japan Aviation Electronics Industry Ltd for more infor mation Encoder Cable Servomotor Main Circuit Cable SERVOPACK for One Axis or Two Axes Servomotor Items Specifications External Dimensions mm Order No JZSP CVM9 1 E Cables are not included Applicable Servomotors SGMGV 05 Manufacturer Japan Aviation Electronics Industry Ltd Instruction Manual JAHL 50...

Page 31: ... Standard connectors Protective structure IP67 and European safety standards compliant connector Standard connectors Connector configuration Two kinds of cable end connectors to the servomotor are required one connects to the main circuit and the other connects to the brake power supply The following diagram shows relation between the connectors cables and devices 1 When using servomotors without ...

Page 32: ... Servomotor s Receptacle for Main Circuit Cable end Connectors to Servomotors Not included Straight Plug L shaped Plug Cable Clamp 0 85 1 3 1 8 CE05 2A18 10PD D MS3102A18 10P MS3106B18 10S MS3108B18 10S MS3057 10A 2 9 4 4 CE05 2A22 22PD D MS3102A22 22P MS3106B22 22S MS3108B22 22S MS3057 12A 5 5 7 5 CE05 2A32 17PD D MS3102A32 17P MS3106B32 17S MS3108B32 17S MS3057 20A Unit mm Shell Size Joint Screw...

Page 33: ... 1 3 16 18UNEF 9 53 32 2 18UNS 18 26 95 25 56 33 32 8 44 4 1 3 4 18UNS 11 13 Unit mm Cable Clamp Type Applicable Connector Shell Size Overall Length A 0 7 Effective Screw Length C E Diameter G 0 7 H J Diameter Set Screw V Outer Diameter Q 0 7 Dia Attached Bushing MS3057 10A 18 23 8 10 3 15 9 31 7 3 2 14 3 1 20UNEF 30 1 AN3420 10 MS3057 12A 22 23 8 10 3 19 37 3 4 15 9 1 3 16 18UNEF 35 0 AN3420 12 M...

Page 34: ...1 6 mm dia L shaped Plug Straight Plug Items Specifications Connector Model CM10 P2S D Cables are not included Protective Structure IP67 Manufacturer DDK Ltd Instruction Manuals L shaped plug CM10 AP2S D TC 573 Straight plug CM10 SP2S D TC 583 Electrical Contact Order No Electrical contact 100 pcs in one bag Crimped type CM10 22SC C3 100 Wire size AWG16 to 20 Outer diameter of sheath 1 87 mm to 2 ...

Page 35: ...connectors cables and devices 1 When using servomotors without holding brakes the cable end connector for the brake power supply is not required 2 For information on cable end connectors to encoders refer to 2 2 2 3 Encoder Cable Plug Conduit Waterproof Cable Clamp Cable Not included Cable Not included Waterproof Straight Plug Cable end Connectors to Servomotor Not included Cable Not included Stra...

Page 36: ...05 2A22 22PD D CE05 6A22 22SD D BSS CE05 8A22 22SD D BAS CE3057 12A 1 D 12 5 to 16 0 CE3057 12A 2 D 9 5 to 13 0 CE3057 12A 3 D 6 8 to 10 0 CE3057 12A 7 D 14 5 to 17 0 5 5 7 5 CE05 2A32 17PD D CE05 6A32 17SD D BSS CE05 8A32 17SD D BAS CE3057 20A 1 D 22 to 23 8 CE3057 20A 2 D 24 to 26 6 CE3057 20A 3 D 22 to 22 5 Straight Plug L shaped Plug Capacity kW Servomotor s Receptacle for Brake Power Supply C...

Page 37: ...7 2 1 1 Wire Sizes and Tightening Torques SERVOPACK Model Connector Housing Model Electrical Contact Model Wire Size Manufacturer CACR JU028ACA 1 917807 2 1318697 6 AWG10 Tyco Electronics Japan G K CACR JU036ACA DK 5200S 04R DK 5RECLLP1 D3 AWG8 DDK Ltd CACR JU014DCA 1 917807 2 316041 6 AWG14 Tyco Electronics Japan G K CACR JU018DCA DK 5200S 04R DK 5RECMLP1 100 AWG10 DDK Ltd SERVOPACK Model Connect...

Page 38: ... cable end connectors to encoder DDK Ltd L shaped Plugs IP67 rated Used as cable end connectors to encoder DDK Ltd Cables 3 m JZSP CMP09 03 E JZSP CSP39 03 E 5 m JZSP CMP09 05 E JZSP CSP39 05 E 10 m JZSP CMP09 10 E JZSP CSP39 10 E 15 m JZSP CMP09 15 E JZSP CSP39 15 E 20 m JZSP CMP09 20 E JZSP CSP39 20 E Crimping type connector Sumitomo 3M Ltd CM10 SP10S D DDK Ltd SERVOPACK side Encoder side L Crim...

Page 39: ...ter diameter of insulating sheath 1 15 mm dia AWG24 0 20 mm2 Outer diameter of insulating sheath 1 09 mm dia UL20276 Rated temperature 80 C AWG22 2C AWG24 2P AWG22 0 33 mm2 Outer diameter of insulating sheath 1 35 mm dia AWG24 0 20 mm2 Outer diameter of insulating sheath 1 21 mm dia Finished Dimensions 6 5 mm dia 6 8 mm dia Internal Configuration and Lead Color Available Cable Length Yaskawa Stand...

Page 40: ... 01 E 2 2 3 2 2 m JZSP CNG00 02 E 3 m JZSP CNG00 03 E Cable for 24 volt control power supply With connectors on both ends Connects two Σ V SD drivers 0 2 m JZSP CNG01 A2 E 2 2 3 3 0 3 m JZSP CNG01 A3 E Cables for local bus com munications 0 5 m JUPIT W6004 A5 2 2 3 4 Terminating resister for local bus JUPIT W6024 2 2 3 5 Cable for converter I O 1 m JZSP CJI01 01 E 2 2 3 6 2 m JZSP CJI01 02 E 3 m J...

Page 41: ...n of the order number Example JZSP CJI01 01 E 1 m Items Specifications Order No JZSP CNG00 E Cable Length 1 m 2 m 3 m Cable and Connector Cable UL1015 AWG14 Cable end connector to driver 175362 1 PIN 353717 2 Items Specifications Order No 1 JZSP CNG01 A E Cable Length 2 0 2 m or 0 3 m Cable and Connector Cable UL1015 AWG14 Connector 175362 1 PIN 353717 2 Connector manufacturer Tyco Electronics Jap...

Page 42: ... JZSP CSI01 3 E Cable and connector Cable SSRFPVV SB AWG 28 25P UL20276 VW 1SC Shell 10350 52A0 008 Sumitomo 3M Ltd Connector 10150 6000EL Crimping type Sumitomo 3M Ltd Remarks Used for input signals such as P OT and N OT Items Specifications Cable Length 100 m max Cable and connector Cable CAT5 STP 4pairs Connector RJ 45 Remarks If you make your own cable make sure that there is electrical contin...

Page 43: ... L1 S L2 and T L3 Recommended ground fault detector A ground fault detector with harmonic countermeasures and a rated sensed current of 30 mA or higher for each power regeneration con verter A ground fault detector with harmonic countermeasures removes leakage current for harmonics and detects only leakage current in the frequency range that presents a hazard to humans If you use a ground fault br...

Page 44: ...tinuous Ratings Arms Inrush Current Main Circuit A0 P 200 V 15 11 CACP JU15A3 73 54 83 18 5 15 CACP JU19A3 90 73 83 22 18 5 CACP JU22A3 107 90 83 30 22 CACP JU30A3 145 107 178 45 37 CACP JU45A3B 218 179 178 400 V 15 11 CACP JU15D3 36 27 173 18 5 15 CACP JU19D3 45 36 173 22 18 5 CACP JU22D3 53 45 173 Select a surge absorber with a capacity that is sufficient for the coil in the inductive load Alway...

Page 45: ...tative 2 3 5 Magnetic Contactor for Winding Selection A magnetic contactor for winding selection is needed only if a winding selection motor is used as the spindle motor Select a magnetic contactor for winding selection based on the following table For details refer to 5 3 Mag netic Contactor for Winding Selection Power Regeneration Converter AC Reactor Model Input Voltage Model Three phase 200 VA...

Page 46: ... Also use the following compact AC power supply block type capacitor X capacitor Compact AC power supply block type capacitor X capacitor model LDA106M AA from Soshin Electric Co Ltd Power Regeneration Converter Noise Filter Model Input Voltage Model Three phase 200 VAC CACP JU15A3 HF3060C SZC 47EDD CACP JU19A3 HF3080C SZC 47EDD CACP JU22A3 HF3100C SZC 47EDD CACP JU30A3 HF3150C SZC 47EDD CACP JU45...

Page 47: ...Vibration Resistance 3 12 3 1 8 External Dimensions 3 13 3 2 Servomotors 3 17 3 2 1 Ratings and Specifications 3 17 3 2 2 Torque Motor Speed Characteristics 3 20 3 2 3 Overload Characteristics 3 21 3 2 4 Holding Brake Electrical Specifications 3 21 3 2 5 Allowable Load Moment of Inertia at the Motor Shaft 3 22 3 2 6 Allowable Radial and Thrust Loads 3 22 3 2 7 Motor Total Indicator Readings 3 23 3...

Page 48: ... Number Name c Output shaft h Stator winding d Bearings i Terminal box e Rotor j Cable socket f Rotor short circuit ring k Cooling fan g Stator l Encoder Number Terminal Number Terminal 1 DC 5 V 7 PC 2 0 V 8 PC 3 PA 9 FG Frame Ground 4 PA 10 SS Shield 5 PB 11 TS 6 PB 12 Model ELR 12V Manufacturer J S T Mfg Co Ltd Note A crimp tool is required Encoder board Encoder connector Cable connector Cable c...

Page 49: ...otor Equipped with thermostat automatic reset 200 V class Three phase 200 V 50 60 Hz 220 V 50 60 Hz 230 V 60 Hz 400 V class Three phase 400 V 50 60 Hz 440 V 50 60 Hz 460 V 60 Hz Encoder Magnetic Pulse encoder 1024 p r standard Serial encoder 17 bit Overheating Protection NTC thermistor Installation Flange type IM B5 IM V1 output shaft from horizontal to vertically down Foot mounted type IM B3 inst...

Page 50: ...ng Fan Motor Equipped with thermostat automatic reset 200 V class Three phase 200 V 50 60 Hz 220 V 50 60 Hz 230 V 60 Hz 400 V class Three phase 400 V 50 60 Hz 440 V 50 60 Hz 460 V 60 Hz Encoder Magnetic Pulse encoder 1024 p r standard Serial encoder 17 bit Overheating Protection NTC thermistor Installation Flange type IM B5 IM V1 output shaft from horizontal to vertically down Foot mounted type IM...

Page 51: ...ontinuous rating Motor speed min 1 1500 6000 10000 47 1 35 0 23 6 10 second rating Continuous rating 5000 50㧑ED rating Torque N m Motor speed min 1 10 10 second rating 7 5 50㧑ED rating 5 5 Continuous rating 1500 7000 10000 4 4 6 0 7 0 8000 Output kW Motor speed min 1 1500 8000 10000 63 7 47 8 35 0 7000 10 second rating Continuous rating 50㧑ED rating Torque N m Motor speed min 1 15 10 second rating...

Page 52: ...000 236 140 118 4000 Continuous rating 10 second rating 50㧑ED rating Torque N m Motor speed min 1 44 10 second rating 30 1150 3700 6000 27 1 22 5 16 5 4500 50㧑ED rating Output kW 22 Continuous rating Motor speed min 1 1150 3700 6000 365 10 second rating 249 183 4500 Continuous rating 50㧑ED rating Torque N m 30 Continuous rating 54 10 second rating 37 1150 3700 6000 33 3 27 7 22 5 4500 Motor speed ...

Page 53: ... 47 1 ޓ 10 second rating Continuous rating 50㧑ED rating Motor speed min 1 Output kW 3 7 ޓ Continuous rating 1500 500 6 6 ޓ 10 second rating 5 5 ޓ 50㧑ED rating Motor speed min 1 Torque N m 500 1500 105 126 ޓ 10 second rating 50㧑ED rating 70 7 Continuous rating Motor speed min 1 Output kW 11 ޓ 10 second rating 7000 1500 4700 4 7 6 4 7 3 6000 7 5 ޓ 50㧑ED rating 5 5 ޓ Continuous rating Motor speed min...

Page 54: ... 8 95 5 ޓ 10 second rating Continuous rating 50㧑ED rating Motor speed min 1 Output kW 7 5 ޓ Continuous rating 1500 500 13 2 ޓ 10 second rating 11 ޓ 50㧑ED rating Motor speed min 1 Torque N m 500 1500 210 252 ޓ 10 second rating 50㧑ED rating 143 ޓ Continuous rating Motor speed min 1 Output kW 22 ޓ 10 second rating 6000 1000 3800 8 8 12 0 13 9 4800 15 ޓ 50㧑ED rating 11 ޓ Continuous rating Motor speed ...

Page 55: ...cond rating 50㧑ED rating Continuous rating Motor speed min 1 Output kW 15 ޓ Continuous rating 1500 575 22 2 ޓ 10 second rating 18 5 ޓ 50㧑ED rating Motor speed min 1 Torque N m 575 1500 307 369 ޓ 10 second rating 50㧑ED rating 249 ޓ Continuous rating Motor speed min 1 Output kW 37 ޓ 10 second rating 6000 1500 3500 14 8 17 6 21 5 4800 22 ޓ 50㧑ED rating 18 5 ޓ Continuous rating Motor speed min 1 Torqu...

Page 56: ...s Motor speed min 1 Output kW 40 ޓ 10 second rating 5000 1500 4000 19 2 28 8 32 0 4800 30 ޓ 50㧑ED rating 20 ޓ Continuous rating Motor speed min 1 Torque N m 1500 4000 4800 5000 191 255 ޓ 10 second rating 50㧑ED rating 127 Continuous rating Motor speed min 1 Output kW 20 ޓ Continuous rating 1500 575 36 ޓ 10 second rating 30 ޓ 50㧑ED rating Motor speed min 1 Torque N m 575 1500 498 598 ޓ 10 second rat...

Page 57: ...1180 2940 08 7 5 5 5 1470 2940 11 11 7 5 1470 3530 15 15 11 2940 4410 19 18 5 15 2940 4410 22 22 18 5 3530 4900 30 1 30 22 2 4410 5200 37 1 37 30 4900 45 1 45 37 5200 Item Model Accuracy Single winding Motor UAKAJ Winding Selection Motor UAKBJ Right Angle to the Flange Output Shaft 04 to 22 06 to 11 0 04 mm 30 37 15 0 06 mm 45 19 to 30 0 072 mm Coaxiality of Flange External Diameter to the Output ...

Page 58: ...tions Vertical side to side and front to back Counterclockwise Spindle Motor Vibration Acceleration at Flange Vibration Frequency Winding System Model Constant Amplitude Constant Acceleration Single winding UAKAJ 04 to 22 24 5 m s2 10 to 60 Hz 6 to 2500 Hz UAKAJ 30 37 19 6 m s2 UAKAJ 45 4 9 m s2 Winding Selection UAKBJ 08 11 24 5 m s2 UAKBJ 15 to 22 19 6 m s2 UAKBJ 30 4 9 m s2 The amount of vibrat...

Page 59: ...4 16 250 416 80 15 204 270 42 5 158 207 11 556 215 180 204 16 250 446 110 15 204 270 42 5 158 207 15 568 265 230 250 20 300 458 110 15 260 343 42 5 181 250 19 568 265 230 250 20 300 458 110 15 260 343 42 5 181 250 22 632 265 230 250 20 300 522 110 15 260 343 42 5 181 250 30 769 350 300 320 20 385 629 140 19 320 440 61 227 320 37 809 350 300 320 20 385 669 140 19 320 440 61 227 320 45 797 400 350 3...

Page 60: ...0 127 105 16 341 55 42 5 630 290 255 323 30 381 246 180 320 139 5 127 16 407 55 61 769 320 298 388 37 421 246 180 320 139 5 127 16 407 55 61 809 320 298 388 45 377 273 225 380 178 127 21 540 75 61 793 420 370 416 Model UAKAJ XB Z KI Shaft End Dimensions Approx Mass kg Q QK QR S T U W d m 04 45 12 174 60 45 1 28 7 4 8 16 M6 30 06 45 12 174 60 45 1 28 7 4 8 22 M4 49 08 70 12 207 80 70 2 32 8 5 10 22...

Page 61: ... 265 230 250 20 300 522 110 15 260 343 42 5 181 250 15 769 350 300 320 20 385 629 140 19 320 440 61 227 320 19 769 350 300 320 20 385 629 140 19 320 440 61 227 320 22 809 350 300 320 20 385 669 140 19 320 440 61 227 320 30 797 400 350 370 22 450 657 140 24 380 504 61 315 388 Model UAKBJ Shaft End Dimensions Approx Mass kg Q QK QR S T U W d m 06 110 90 1 48 9 5 5 14 40 M5 94 08 110 90 1 48 9 5 5 14...

Page 62: ...381 246 180 320 139 5 127 16 407 55 61 769 320 298 388 19 381 246 180 320 139 5 127 16 407 55 61 769 320 298 388 22 421 246 180 320 139 5 127 16 407 55 61 809 320 298 388 30 376 5 273 225 380 178 127 21 540 75 61 792 5 420 370 416 Model UAKBJ XB Z KI Shaft End Dimensions Approx Mass kg Q QK QR S T U W d m 06 108 15 250 110 90 1 48 9 5 5 14 40 M5 110 08 108 15 250 110 90 1 48 9 5 5 14 40 M5 110 11 ...

Page 63: ... class 1800 VAC for one minute Three phase 400 V class Enclosure Totally enclosed self cooled IP67 except for shaft opening Ambient Humidity 20 to 80 no condensation Drive Method Direct drive Rotation Direction Counterclockwise CCW with forward run reference when viewed from the load side Servomotor Model SGMGV A8A 05 09 13 20 30 44 55 75 Rated Output kW 0 45 0 85 1 3 1 8 2 9 4 4 5 5 7 5 Rated Tor...

Page 64: ... 86 5 39 8 34 11 5 18 6 28 4 35 0 48 0 Instantaneous Peak Torque Nxm 9 20 30 46 60 92 107 130 Rated Current Arms 5 2 6 9 10 7 16 7 23 8 32 8 42 1 54 7 Instantaneous Max Current Arms 17 28 40 75 81 110 136 140 Rated Speed min 1 1500 Max Speed min 1 5000 4000 Torque Constant Nxm Arms 0 55 0 859 0 891 0 748 0 822 0 934 0 851 0 957 Rotor Moment of Inertia 10 4 kgxm2 3 33 3 58 13 9 16 19 9 22 26 28 1 4...

Page 65: ... mm iron Servomotor Model SGMGV D8M 05 09 13 20 30 44 55 75 Rated Output kW 0 45 0 85 1 3 1 8 2 9 4 4 5 5 7 5 Rated Torque Nxm 2 86 5 39 8 34 11 5 18 6 28 4 35 0 48 0 Instantaneous Peak Torque Nxm 9 20 30 46 60 92 107 130 Rated Current Arms 2 6 3 5 5 4 8 4 11 9 16 5 20 8 25 7 Instantaneous Max Current Arms 8 5 14 20 37 6 40 5 55 65 70 Rated Speed min 1 1500 Max Speed min 1 5000 4000 Torque Constan...

Page 66: ... 500 0 3500 3000 2500 2000 1500 1000 500 0 3500 3000 Motor speed 2500 2000 1500 1000 500 0 3500 3000 2500 2000 1500 1000 500 0 3500 3000 2500 2000 1500 1000 500 0 A B A B A B A B A B A B 㧔min 1 㧕 Torque N m Torque N m Torque N m Torque N m Torque N m Torque N m SGMGV 75A A 75D A SGMGV 55A A 55D A 0 50 100 150 0 20 40 60 80 100 3000 2000 1000 0 3000 2000 1000 0 A B A B Torque N m Torque N m A Conti...

Page 67: ...1 For information on the holding brake power supply and connecting methods refer to 8 4 3 1 Wiring Example 2 The holding brake open time and holding brake operation time vary depending on which discharge circuit is used Make sure holding brake open time and holding brake operation time are correct for your servomotor Rated torque Max torque 2 Max torque Max current Rated torque Rated current Appro...

Page 68: ...e load moment of inertia exceeds the allowable load moment of inertia Take one of the following steps if an overvoltage alarm occurs Reduce the torque limit Reduce the deceleration rate Reduce the maximum speed 3 2 6 Allowable Radial and Thrust Loads Design the mechanical system so thrust and radial loads applied to the servomotor shaft end during operation fall within the ranges shown in the tabl...

Page 69: ...ce The servomotor will withstand the following vibration acceleration in three directions Vertical side to side and front to back 3 2 11 Vibration Class The vibration class for the servomotors at rated motor speed is V15 A vibration class of V15 indicates a total vibration amplitude of 15 µm maximum on the servomotor during rated rotation A A 0 02 0 04 A 0 04 Dia Perpendicularity between the flang...

Page 70: ... 12 3 Shaft End Specifications Unit mm Note Models with oil seals are of the same configuration R 1 S dia Q 18 dia 5 LR Shaft Extension Unit mm 35 dia غ 90 50 17 38 L LL LM 36 LR 5 10 KB1 KB2 70 A 0 04 A A 0 02 4 6 6 dia mounting holes 100 dia 80 0 0 030 S dia dia 120 dia 0 04 dia 79 dia Model SGMGV L LL LM LR KB1 KB2 Shaft End Dimensions Approx Mass kg S Q 05 8 21 179 139 103 40 88 127 16 30 3 2 ...

Page 71: ...M LR KB1 KB2 IE KL1 Flange Face Dimensions Shaft End Dimensions Approx Mass kg LA LB LC LE LG LH LZ S Q 09 8 21 195 137 101 58 83 125 104 145 110 130 6 12 165 9 19 40 5 5 13 8 21 211 153 117 58 99 141 104 145 110 130 6 12 165 9 22 40 7 1 20 8 21 229 171 135 58 117 159 104 145 110 130 6 12 165 9 24 40 8 6 30 8 21 239 160 124 79 108 148 134 200 114 3 180 3 2 18 230 13 5 35 76 13 5 44 8 21 263 184 14...

Page 72: ...d Specifications Unit mm Note Models with oil seals are of the same configuration R 1 S dia Q 18 dia 5 LR غ 90 KB1 KB2 10 5 LM LL L LR 36 70 50 17 38 A 0 04 A A 0 02 4 6 6 dia mounting holes 100 dia 120 dia 0 04 dia 80 0 0 030 S dia dia 79 dia Shaft Extension 35 dia Unit mm Model SGMGV L LL LM LR KB1 KB2 Shaft End Dimensions Approx Mass kg S Q 05 8 2 212 172 136 40 88 160 16 30 4 2 0 0 011 ...

Page 73: ...L1 KL3 Flange Face Dimensions Shaft End Dimensions Approx Mass kg LA LB LC LE LG LH LZ S Q 09 8 2 231 173 137 58 83 161 115 104 80 145 110 130 6 12 165 9 19 40 7 5 13 8 2 247 189 153 58 99 177 131 104 80 145 110 130 6 12 165 9 22 40 9 0 20 8 2 265 207 171 58 117 195 149 104 80 145 110 130 6 12 165 9 24 40 11 0 30 8 2 287 208 172 79 108 196 148 134 110 200 114 3 180 3 2 18 230 13 5 35 76 19 5 44 8 ...

Page 74: ...09 13 20 A 20 M 30 44 55 75 Code 2 Straight without key LR 40 58 58 58 58 79 113 Q 30 40 40 40 40 76 110 S 16 19 22 24 24 35 42 Code 6 Straight with key and tap LR 40 58 58 58 58 79 113 Q 30 40 40 40 40 76 110 QK 20 25 25 32 32 60 90 S 16 19 22 24 24 35 42 W 5 5 6 8 8 10 12 T 5 5 6 7 7 8 8 U 3 3 3 5 4 4 5 5 P M5 screw depth 12 M12 screw depth 25 M16 screw depth 32 LR Q R1 φS 0 0 011 0 0 013 0 0 01...

Page 75: ...or Σ V SD Drivers 4 4 Specifications and External Dimensions for Σ V SD Drivers 4 1 Power Regeneration Converter 4 2 4 1 1 Specifications 4 2 4 1 2 External Dimensions 4 4 4 2 SERVOPACK 4 6 4 2 1 Specifications 4 6 4 2 2 External Dimensions 4 13 ...

Page 76: ...VDC 10 to 15 CACP JU D3 520 to 650 VDC 10 to 15 Control Power Output 24 VDC 15 connector pass current 10 A I O Signals Sequence I O Signals Input signal Emergency stop input signal Output signal Main circuit contactor ON output signal Connections between Axes Local bus and absolute encoder battery Maximum Number of Connectable SERVOPACKs Differs in accordance with combinations of a power generatio...

Page 77: ...erter works normally Not lit when CPU of power regeneration converter not working Power Regeneration Converter Panel Display Voltage Capacity 50 ED kW Capacity Continuous Ratings kW Model Input Current 50 ED Arms Input Current Continuous Ratings Arms Output Current 50 ED Arms Output Current Continuous Ratings Arms Inrush Current Main Circuit A0 P 200 V 15 11 CACP JU15A3 73 54 69 51 83 18 5 15 CACP...

Page 78: ... Dia Ground Terminal 2 M5 Screws 145 300 200 Cooling Fan 4 M5 Screw Holes Power Regeneration Converter Rear View Through Hole 338 365 0 5 80 Mounting Pitch 380 10 5 90 100 Mounting Hole Diagram Mounting Pitch 7 5 365 15 5 7 5 5 100 23 86 7 7 334 23 Air Flow Air Flow 1 1 5 Unit mm Approx Mass 8 3 kg 145 300 200 Cooling Fan Heat Sink 5 100 23 334 23 Air Flow Air Flow 1 1 5 136 7 7 Unit mm Approx Mas...

Page 79: ...able only for three phase 200 VAC models 145 296 200 10 96 23 334 23 1 1 5 213 18 5 18 5 380 7 5 25 200 250 25 7 5 365 338 365 0 5 200 0 5 25 10 230 250 15 5 7 5 Cooling Fan Heat Sink Air Flow Air Flow Unit mm Approx Mass 20 0 kg Model Number Input Voltage 4 7 Dia Ground Terminal 2 M6 Screws Nameplate Power Regeneration Converter Rear View 4 M6 Screw Holes Mounting Pitch 380 Through Hole Mounting ...

Page 80: ...coder error CPU error PG disconnection detected parameter error etc Compensation Functions Quadrant projection compensation and predictive control Control Position Loop Proportional control Speed loop Integral proportional control and torque control Fully closed Loop Control Standard feature A motor encoder external encoder branch con version unit is required Analog Monitor Built in 2 Number of Ch...

Page 81: ...icable Voltage 30 V Delay Depends on brake or relay circuit HWBB Signal External Input Power Input Power Voltage 24 VDC 5 Current Required per Channel 3 mA Input Signals Number of Channels 2 for each axis isolated Output Signal Number of Channels 1 for each axis isolated Maximum Output Current 50 mA Maximum Applicable Voltage 30 V When an HWBB signal is input Output ON when inputs of two channels ...

Page 82: ...CR JU028A 036A 014D 018D If you use any other model do not use the external output signal Functions cont d Dynamic Brake DB External Output 3 Number of Channels 1ch Output Voltage 24 V Allowable Output Current 50 mA Answerback Function Supported Speed Control Range 40 min 1 to motor maximum speed 1 5000 cont d Item Specifications For Spindle Motor For Servomotor ...

Page 83: ... Commands are not supported Process Data Configurations can be changed with PDO mapping Mailbox CoE Emergency Message SDO Request SDO Response SDO information Note TxPDO RxPDO and Remote TxPDO RxPDO are not supported Distributed Clocks Free run DC mode Can be selected Supported DC cycle 250 µs to 4 ms every 250 µs cycle Slave Information IF 256 bytes For reading only LED Indicator EtherCAT Link Ac...

Page 84: ...atus of EtherCAT CoE communications errors For details refer to ERR Link Activity1 Green Indicates whether a communications cable is connected to the CN9A connector and whether communications are active For details refer to Link Activity Link Activity2 Indicates whether a communications cable is connected to the CN9B connector and whether communications are active For details refer to Link Activit...

Page 85: ...er is impossible due to register or object set tings Single flash Synchronization Error the EtherCAT CoE communication enters Safe Operational state automatically Double flash An application Sync Manager watch dog timeout has occurred On Continuously ON A PDI Watchdog timeout has occurred 50 ms On Off 200 ms 200 ms On Off 200 ms 1000 ms On Off 200 ms 200 ms 200 ms 1000 ms On Off LED Indicator Desc...

Page 86: ...JU065ACA 69 51 82 65 18 5 15 CACR JU084ACA 85 69 100 84 22 18 5 CACR JU102ACA 102 85 116 102 30 22 CACR JU125ACA 138 102 160 125 45 37 CACR JU196ACA 207 170 240 196 540 VDC 5 5 3 7 CACR JU014DCA 13 9 17 14 7 5 5 5 CACR JU018DCA 18 13 23 18 15 11 CACR JU033DCA 36 27 41 32 5 18 5 15 CACR JU042DCA 45 36 50 42 22 18 5 CACR JU051DCA 53 45 58 51 Voltage Max Allowable Motor Capacity Model Input Current C...

Page 87: ...00 200 5 100 23 334 23 10 5 40 5 1 1 5 1 3 5 4 M5 Screw Holes SERVOPACK Rear View Through Hole 365 0 5 Mounting Pitch Mounting Hole Diagram Mounting Pitch Model Number Input Voltage Nameplate 4 6 Dia Ground Terminal M4 Screws Heat Sink Air Flow Air Flow Unit mm Approx Mass 4 3 kg Cooling Fan 338 30 0 5 380 10 4 42 50 15 5 7 5 380 7 5 10 30 50 10 7 5 365 145 300 CN8 200 5 100 23 334 23 17 5 40 5 1 ...

Page 88: ... 5 300 200 5 100 23 334 5 63 7 4 M5 Screw Holes Through Hole SERVOPACK Rear View 365 0 5 Mounting Pitch Mounting Hole Diagram Mounting Pitch 4 6 Dia Ground Terminal M4 Screws Model Number Input Voltage Nameplate Cooling Fan Heat Sink Air Flow Air Flow Unit mm Approx Mass 6 4 kg 338 365 0 5 130 0 5 10 5 140 150 15 5 7 5 380 7 5 10 130 150 10 7 5 365 145 300 200 5 100 23 334 136 7 23 7 1 1 5 1 3 5 4...

Page 89: ...5 1 3 5 200V 4 M5 Screw Holes SERVOPACK Rear View Through Hole Mounting Hole Diagram Mounting Pitch Model Number Input Voltage Nameplate 4 6 Dia Ground Terminal 2 M5 Screws Cooling Fan Heat Sink Air Flow Air Flow Unit mm Approx Mass 12 0 kg Mounting Pitch 380 338 365 0 5 200 0 5 25 230 250 15 5 7 5 380 7 5 25 200 250 25 7 5 365 216 5 15 18 5 140 296 200 10 96 23 334 23 1 1 5 1 3 5 4 M6 Screw Holes...

Page 90: ...ole Diagram Mounting Pitch Model Number Input Voltage 4 6 Dia Ground Terminal M4 Screws Nameplate Cooling Fan Air Flow Air Flow Heat Sink Unit mm 338 B 0 5 380 10 C D A 15 5 7 5 380 7 5 10 B A 10 7 5 365 145 300 CN18 CN28 200 5 100 23 15 E 5 F 334 23 1 1 5 1 3 5 Model A B C D E F Approx Mass kg CACR JUM23ACA 50 30 4 42 40 5 4 5 CACR JUM24ACA 50 30 4 42 40 5 4 5 CACR JUM25ACA 75 55 5 65 63 7 5 7 CA...

Page 91: ... for Winding Selection 5 9 5 3 1 Specifications 5 9 5 3 2 External Dimensions 5 9 5 3 3 Terminal Descriptions 5 10 5 3 4 Installation Orientation 5 11 5 4 Noise Filter 5 12 5 4 1 Specifications 5 12 5 4 2 External Dimensions 5 13 5 5 Base Mounting Units 5 16 5 5 1 Specifications 5 16 5 5 2 Power Regeneration Converter and SERVOPACK Combinations 5 16 5 5 3 External Dimensions 5 18 5 5 4 Wiring 5 22...

Page 92: ...model ER6V Connector Model Housing DF3 2S 2C2C Hirose Electric Co Ltd Contact DF3 2428SCFC Hirose Electric Co Ltd or DF3 2428SCC Hirose Electric Co Ltd CAUTION Purchase a battery for the absolute encoder separately and mount it on the power regeneration converter A lithium battery is used for the absolute encoder Confirm the most current IATA dangerous goods regula tions before transporting the ba...

Page 93: ...vices 5 5 1 2 Setup Procedure 1 Make sure that the power supply to the Σ V SD driver is OFF 2 Connect a battery to CN8 of the power regeneration converter For the battery replacement refer to 8 7 3 Battery Replacement Battery Connector Battery CN8 ...

Page 94: ...er ature Storage Temper ature Ap prox Mass kg CACP JU15A3 X008017 230 50 60 56 0 21 H 55 10 to 55 C 20 to 85 C 8 CACP JU19A3 X008018 230 50 60 73 0 17 H 70 10 to 55 C 20 to 85 C 8 CACP JU22A3 X008019 230 50 60 90 0 14 H 80 10 to 55 C 20 to 85 C 12 CACP JU30A3 X008020 230 50 60 107 0 1 H 85 10 to 55 C 20 to 85 C 12 CACP JU45A3B X008022 230 50 60 179 0 07 H 130 10 to 55 C 20 to 85 C 25 CACP JU15D3 X...

Page 95: ...del X008017 2 Model X008018 180 180 max 6 terminals for M6 screws Nameplate 75 2 3 150 5 40 80 100 25 80 max 50 4 mounting holes for M6 bolts Unit mm 180 180 max 75 2 3 150 5 45 80 100 25 80 max 50 6 terminals for M6 screws 4 mounting holes for M6 bolts Nameplate Unit mm ...

Page 96: ...8019 4 Model X008020 205 210 max Nameplate 75 3 2 170 5 45 80 102 25 90 max 51 6 terminals for M6 screws 4 mounting holes for M6 bolts Unit mm 205 210 max 75 3 2 170 5 47 80 102 25 95 max 51 6 terminals for M8 screws 4 mounting holes for M6 bolts Nameplate Unit mm ...

Page 97: ...r Yaskawa representative The dimensional diagrams for AC reactors that comply with UL standards are different from the above diagrams 135 max 3 2 240 150 63 126 110 25 6 terminals for M10 screws 4 mounting holes for M8 bolts Nameplate Unit mm U V W X Y Z 205 5 U X V Y W Z 125 5 150 5 75 160 7 75 13 5 70 70 25 89 65 max 45 2 3 6 terminals for M4 screws 4 mounting holes for M6 bolts Nameplate Unit m...

Page 98: ...el X008012 U X V Y W Z 125 5 75 160 160 max 7 75 13 5 85 85 25 105 90 max 52 2 3 Nameplate 6 terminals for M6 screws 4 mounting holes for M6 bolts Unit mm 㨆㨃㨂㨅㨄㨁 6 terminals for M6 bolts 4 mounting holes for M6 bolts Unit mm Nameplate 150 5 75 180 25 105 max 57 114 95 ...

Page 99: ...3NO 3NC auxiliary contact 1NC Rated Insulation Voltage 600 V Rated Applying Current Continuous 75 A 150 A 30 minutes 2 87 A 175 A Breaking Current Capacity 220 V 200 A 400 A 440 V 150 A 300 A Open Close Frequency 600 times hour Mechanical Duration of Life 5 million times Control Magnetic Coil Rating 200 V 50 60 Hz 220 V 50 60 Hz 230 V 60 Hz Mass 2 5 kg 5 0 kg Ambient Temperature 10 to 55 C Storage...

Page 100: ...erminals M5 Control circuit terminals M4 4 M6 mounting holes Unit mm 34 34 1 7 2 8 3 9 4 5 11 6 12 22 170 22 22 168 148 192 34 34 34 34 34 34 34 64 64 108 10 Control circuit terminals M4 4 M6 mounting holes Main circuit terminals M8 Unit mm Terminal Name Operation Status 13 14 Selection signal 24 V Low speed winding 0 V High speed winding 1 2 3 4 5 6 Main contact 3NC Open Closed 7 8 9 10 11 12 Mai...

Page 101: ... magnetic contactor for winding selection Mounting Model HV 75AP4 HV 75AP4 UL Model HV 150AP4 HV 150AP4 UL Possible Not possible Terminal Cover T e r m i n a l C o v e r Terminal Cover Terminal Cover Terminal Cover Terminal Cover T e r m i n a l C o v e r Terminal Cover Terminal Cover Terminal Cover Terminal Cover T e r m i n a l C o v e r ...

Page 102: ...ise Filter Input Voltage Model Model Rated Current A Classification Rated Voltage Leakage Current mA Manufacturer Three phase 200 VAC CACP JU15A3 HF3060C SZC 47EDD 60 Three phase three wire 480 VAC 7 for 200 VAC 60 Hz SOSHIN ELECTRIC CO LTD CACP JU19A3 HF3080C SZC 47EDD 80 CACP JU22A3 HF3100C SZC 47EDD 100 CACP JU30A3 HF3150C SZC 47EDD 150 CACP JU45A3B HF3200C SZC 49EDE 200 25 for 200 VAC 60 Hz Th...

Page 103: ...E 5 6 LOAD Lot No Rated frequency Rated voltage and current Model name Example of Nameplate HF3030C SZC SOSHIN EL CO PBT B 2 A 4 D 2 C 4 E 4 K L L F G 1 2 3 4 5 5 Unit mm 1 Input terminal Case Output terminal Earth terminal Nameplate 2 4 5 3 Unit mm Noise Filter Model A B C D E F G H J K L HF3030C SZC 47DDD 220 210 66 55 78 R2 25 6 4 5 dia M4 M4 10 5 12 5 HF3040C SZC 47EDD 270 260 80 70 84 R2 75 7...

Page 104: ...5 20 5 20 5 6 5 172 5 196 210 5 1 5 2 3 5 4 1 2 4 5 3 Example of Nameplate HF3080C SZC Unit mm Input terminal M6 Case Output terminal M6 Earth terminal M6 Nameplate EMI FILTER 4 LOAD SOSHIN ELECTRIC CO LTD SOSHIN 5 6 3 2 LINE 1 LOT No TYPE RATING HF3150C SZC 500 VAC 150 A 50 60 Hz Model name Rated voltage and current Rated frequency Lot No TUV 25 85 21 50 C US Nameplate 375 2 395 5 32 80 2 110 5 3...

Page 105: ...ate 1 4 5 2 3 5 EMI FILTER 4 LOAD SOSHIN ELECTRIC CO LTD SOSHIN 5 6 3 2 LINE 1 LOT No TYPE RATING HF3200C SZC 500 VAC 200 A 50 60 Hz TUV 25 85 21 50 C US 1 Input terminal M10 2 Case 4 Output terminal M10 5 Earth terminal M8 3 Nameplate Unit mm Rated voltage and current Example of Nameplate HF3200C SZC Model name Rated frequency Lot No C3 C2 C1 T S R 40 100 21 S T R C1 C2 C3 10μF 20 LDA106M AA 250V...

Page 106: ...e Nxm JUSP JUBM050AA 50 24 0 42 M3 5 24 to 12 0 8 to 1 2 Nxm 7 1 to 10 6 lbfxin JUSP JUBM075AA 75 0 94 JUSP JUBM100AA 100 0 94 JUSP JUBM150AA 150 1 88 Power Regeneration Converter Base Mounting Unit Input Voltage Model Model Three phase 200 VAC CACP JU15A3 JUSP JUBM100AA CACP JU19A3 CACP JU22A3 CACP JU30A3 JUSP JUBM150AA Three phase 400 VAC CACP JU15D3 JUSP JUBM100AA CACP JU19D3 CACP JU22D3 SERVOP...

Page 107: ...eral Devices 5 SERVOPACK for Two Axes SERVOPACK Base Mounting Unit Input Voltage Model Model 270 VDC CACR JUM23ACA JUSP JUBM050AA CACR JUM24ACA CACR JUM25ACA JUSP JUBM075AA 540 VDC CACR JUM23DCA JUSP JUBM075AA CACR JUM24DCA CACR JUM25DCA ...

Page 108: ...SP JUBM050AA 2 6 Dia 12 20 460 440 425 8 15 6 4 6 105 23 15 10 10 30 50 Cooling Fan Air Flow Nameplate Air Flow Approx Mass 2 7 kg Unit mm 4 M5 Screw Holes Base Mounting Unit Rear View Mounting Hole Diagram Unit Mounted Diagram 12 460 10 305 50 440 0 5 Mounting Pitch Mounting Pitch 30 0 5 ...

Page 109: ...12 460 440 8 6 10 10 55 75 20 425 15 4 105 23 15 2 6 Dia Cooling Fan Air Flow Nameplate Air Flow Approx Mass 2 7 kg Unit mm 305 12 460 10 75 55 0 5 4 M5 Screw Holes Base Mounting Unit Rear View 440 0 5 Mounting Pitch Mounting Pitch Mounting Hole Diagram Unit Mounted Diagram ...

Page 110: ...12 460 440 8 6 10 10 80 100 20 15 425 15 4 105 23 2 6 Dia Cooling Fan Air Flow Nameplate Air Flow Unit mm Approx Mass 2 8 kg 305 12 460 10 100 80 0 5 4 M5 Screw Holes Base Mounting Unit Rear View 440 0 5 Mounting Pitch Mounting Pitch Mounting Hole Diagram Unit Mounted Diagram ...

Page 111: ... 460 440 8 6 10 10 130 150 20 15 425 15 4 105 23 2 6 Dia Cooling Fan Air Flow Nameplate Air Flow Unit mm Approx Mass 3 5 kg 305 12 460 10 150 130 0 5 4 M5 Screw Holes Base Mounting Unit Rear View 440 0 5 Mounting Pitch Mounting Pitch Mounting Hole Diagram Unit Mounted Diagram ...

Page 112: ...wer supply for the power regeneration converter and SERVOPACK and separate from the power supply for the sequence signals 2 The output current that is required from the power supply when one power supply is connected to more than one base mounting unit is the total input current for all of the connected units Use a suitable wire size for the required current and do not exceed the wire size range o...

Page 113: ...nk on the power regeneration converter or SERVOPACK into the base mounting unit and secure it with the enclosed screws four The side of the base mounting unit with the terminal block is the bottom of the unit For instructions on installation in a control panel refer to 6 2 Σ V SD Driver Model Size of Enclosed Screws Tightening Torque JUSP JUBM050AA M5 2 6 to 3 2 Nxm 23 0 to 28 3 lbfxin JUSP JUBM07...

Page 114: ...6 3 6 1 3 Installation Orientation 6 3 6 1 4 Coupling Motor and Machinery 6 4 6 2 Σ V SD Driver 6 6 6 2 1 Installation Requirements 6 6 6 2 2 Thermal Design of Control Panel 6 7 6 2 3 Control Panel Dust proof Design 6 10 6 2 4 Installation Precautions 6 11 6 2 5 Installation Orientation and Space 6 12 ...

Page 115: ...and the ventilation outlet of the motor If ventilation is not proper the motor temperature fault protective function will work regardless of whether or not the load is at the rated value or not Install the motor in a clean location free from oil mist and water drops If the motor is likely to come in con tact with water or oil protect the motor with a cover The intrusion of water or dirty oil into ...

Page 116: ... up excessive force will be imposed on the motor shaft As a result the service life of the motor will be adversely affected Use the motor UAKAJ 45 or UAKBJ 30 outer diameter 380 with the terminal box facing upward and the motor shaft facing horizontal If the terminal box is in the horizontal or downward direction dust may intrude from the ventilation mouth on the bottom of the load side bracket As...

Page 117: ...g range Vibration that will damage the bearings and encoders if the shafts are not properly aligned Do not allow any direct impact to the shafts when installing the couplings Do not hit the area near encoders with a hammer etc as impacts may damage the encoders Before installation thoroughly remove the anticorrosive paint from the end of the motor shaft Only after removing the paint can motors be ...

Page 118: ...ip Belt Installation 3 Gear Coupling Check that the motor shaft is parallel to the machinery shaft and that the centers of the gears are engaged prop erly Refer to 3 1 5 Motor Total Indicator Readings for the precision of the peripheral parts connecting to the motor shaft The gears may grate if they do not engage properly Be sure that no axial load is imposed on the motor shaft 4 Mounting a Pulley...

Page 119: ...dity 90 RH or less with no freezing or condensation Vibration Resistance 4 9 m s2 Shock Resistance 19 6 m s2 Protection Class IP10 An environment that satisfies the following conditions Free of corrosive or flammable gases Free of exposure to water oil or chemicals Free of dust salts or iron dust Pollution Degree 2 Altitude 1000 m or less Others Free of static electricity strong electromagnetic fi...

Page 120: ... JU19D3 90 5 13 1 77 4 7 7 69 7 CACP JU22D3 104 8 13 1 91 7 9 1 82 6 Model Calorific Value at Continuous Rated Operation Total W Loss of Control Block W Loss of Power Block W Total Inside Duct CACR JU028ACA 151 4 16 3 135 1 27 0 108 1 CACR JU036ACA 178 3 16 3 162 0 32 4 129 6 CACR JU065ACA 321 5 16 2 305 3 30 5 274 8 CACR JU084ACA 421 9 18 9 403 0 40 3 362 7 CACR JU102ACA 476 1 18 9 457 2 45 7 411...

Page 121: ...c value in the control panel W qe Heat flow through ratio of the control panel W C k Heat pass through ratio of a metal plate W m2 C With a stirring fan 6 W m2 C Without a stirring fan 4 W m2 C A Effective radiation area of the control panel m2 Radiation available area of the control panel surface area Exclude the surface which contacts other object Example Allowable Watt Data Loss for a Control P...

Page 122: ...ough ratio of a metal plate W m2 C With a stirring fan 6 W m2 C Without a stirring fan 4 W m2 C A Effective radiation area of the control panel m2 B Installation area of the cooling system m2 Radiation available area of the control panel surface area Exclude the surface which contacts other object An installation example is given below Install the cooling system so that internal air is taken into ...

Page 123: ...s use a sealed structure for the control panel Block cable openings with packing Refer to the figure labeled Cable Openings given below Install packing on the door and external cover to seal them Refer to the figure labeled Door Packing given below Block all gaps Oil may collect on the top surface and may enter the control panel through screw holes Take special coun termeasures such as using oil p...

Page 124: ...nction due to noise Separate the primary and secondary sides of transformer and noise filters 2 Installation Precautions Precautions for installing the Σ V SD driver are given below Always secure the Σ V SD driver on a vertical surface using screws or bolts Provide the specified space on the left right top and bottom of the driver to enable maintenance and venti lation For details refer to 6 2 5 I...

Page 125: ...nal Dimensions Make sure that the ambient air temperature of the Σ V SD driver is 0 to 55 C near the heat sink and inside the control panel at a 70 load and 0 to 40 C inside the control panel at a 100 load To prevent oil penetration seal the mounting screw sections of the power regeneration converter and the SERVOPACK Always install the Σ V SD driver with the fan at the top to ensure efficient coo...

Page 126: ...7 2 7 1 2 Spindle Motors 7 4 7 1 3 Servomotors 7 12 7 2 Σ V SD Driver 7 19 7 2 1 Main Circuit 7 19 7 2 2 Control Circuit Power Supply 7 25 7 2 3 DC bus 7 26 7 2 4 Local Bus 7 27 7 2 5 I O Signals 7 28 7 2 6 EtherCAT CoE Communications 7 31 7 3 Winding Selection 7 32 ...

Page 127: ... cable length is too short excessive ten sion on the fixed points will cause the early disconnection Use a flexible cable with the optimum length Interference between cables Avoid interference between cables Interference limits the motion of flexible cable which causes early disconnection Keep enough distance between cables or provide a partition when wiring 2 Cable Stress Make sure there is no be...

Page 128: ... before connecting Do not apply shock to resin connectors Otherwise they may be damaged Make sure of the pin arrangement When handling a motor with its cables connected hold the motor or the connectors and cables will be dam aged Observe the following precautions also when using servomotors Make sure that the connector is securely fixed with screws If the cable connector is not secure the require ...

Page 129: ...14 22 U V W FG M8 6 0 to 9 0 AWG1 Z1 Z2 Z3 M4 1 2 to 1 8 AWG14 30 U V W FG M10 10 0 to 15 0 AWG2 0 Z1 Z2 Z3 M4 1 2 to 1 8 AWG14 37 U V W FG M10 10 0 to 15 0 AWG4 0 Z1 Z2 Z3 M4 1 2 to 1 8 AWG14 45 U V W FG M10 10 0 to 15 0 AWG4 0 Z1 Z2 Z3 M4 1 2 to 1 8 AWG14 UAKBJ CZ Winding Selection 06 U1 V1 W1 U2 V2 W2 FG M6 2 5 to 3 75 AWG8 Z1 Z2 Z3 M4 1 2 to 1 8 AWG14 08 U1 V1 W1 U2 V2 W2 FG M6 2 5 to 3 75 AWG...

Page 130: ...4 1 2 to 1 8 AWG14 19 U V W FG M8 6 0 to 9 0 AWG6 Z1 Z2 Z3 M4 1 2 to 1 8 AWG14 22 U V W FG M8 6 0 to 9 0 AWG6 Z1 Z2 Z3 M4 1 2 to 1 8 AWG14 UAKBJ CZ Winding Selection 06 U1 V1 W1 U2 V2 W2 FG M6 2 5 to 3 75 AWG12 Z1 Z2 Z3 M4 1 2 to 1 8 AWG14 08 U1 V1 W1 U2 V2 W2 FG M6 2 5 to 3 75 AWG10 Z1 Z2 Z3 M4 1 2 to 1 8 AWG14 11 U1 V1 W1 U2 V2 W2 FG M6 2 5 to 3 75 AWG10 Z1 Z2 Z3 M4 1 2 to 1 8 AWG14 15 U1 V1 W1 ...

Page 131: ...5ACA JU084ACA JU102ACA JU125ACA JU196ACA JU033DCA JU042DCA JU051DCA SERVOPACK End CN8 Motor End Pin No Signal Name Terminal Name A1 U U B1 V V B2 W W A2 SERVOPACK End CN8 Motor End Pin No Signal Name Terminal Name 1 U U 2 V V 3 W W 4 SERVOPACK End Motor End Terminal Name Terminal Name U U V V W W ...

Page 132: ...lection 2 PG0V Power supply for encoder 0 V 12 CA1 I Winding selection status signal 3 PG0V Power supply for encoder 0 V 13 CA2 I 4 PG5V O Power supply for encoder 5 V 14 PC I Encoder phase C signal input 5 PG5V O Power supply for encoder 5 V 15 PC I 6 PG5V O Power supply for encoder 5 V 16 PA I Encoder phase A signal input 7 1 NC 17 PA I 8 2 THM1 I Motor winding tempera ture detection 18 PB I Enc...

Page 133: ...for One Axis Spindle Motor R S T M U V W E THM1 THM1 FG E CN3 8 CN3 9 TS PG5 V PG0 V PG5 V CN3 4 CN3 1 CN3 5 CN3 2 CN3 6 CN3 3 PG0 V PG5 V PG0 V PA PA PB CN3 16 CN3 17 CN3 18 CN3 19 CN3 14 CN3 15 PB PC PC Case PG Shielded twisted pair cable 0 2 mm2 FG 11 12 1 2 3 4 5 6 7 8 10 Three phase 200 VAC or Three phase 400 VAC ...

Page 134: ...O Battery for encoder 5 PS I O Encoder serial signal 6 PS I O Encoder serial signal 7 NC 8 NC 9 NC 10 NC SERVOPACK End CN2 Motor End Pin No Signal Name Pin No Signal Name 6 PS 6 PS 5 PS 2 PS 4 PGBAT PGBAT 3 PGBAT PGBAT 2 GND 5 GND 1 PG5V 1 PG5V Shell FG Shell FG U V W Z1 Z2 Z3 Three phase 200 VAC or Three phase 400 VAC SERVOPACK for One Axis R S T M U V W E THM1 THM1 E CN3 8 CN3 9 TS PG5 V GND CN2...

Page 135: ... so that the they do not come into contact with the serial converter unit or analog signal input section shield plate The encoder may operate incorrectly if the connections are not appropriate The following figure is a wiring example for a 320 spindle motor Fan cable Motor main circuit cable Serial converter unit Analog signal input section shield plate ...

Page 136: ...plied to the connection areas of the cables and plug housings when cables are secured using Insulock binders 3 Make sure that the signal lines and shield wires do not become stuck in the protective cover 4 The depth for M4 screws is 7 mm max M4 ground screw Shield wires 2 M4 socket head cap screws Protective cover 2 No 4 40 UNC screws Cable serial data output side M4 screw Insulock with head Plug ...

Page 137: ...dle them together Placing these cables too close to each other may result in malfunction When the encoder cable length exceeds 20 m be sure to use a relay encoder cable When the main circuit cable length exceeds 20 m the intermittent duty zone will shrink due to the voltage drop CAUTION When you connect the cables do not touch with your bare hands the motor connector pins or the encoder connector ...

Page 138: ...MGV 05 4 M3 pan head screws Tightening torque 0 44 N m Encoder cable All models U V W G Lead on Non load Side Lead on Load Side O ring molex First connect the servomotor to the servomotor main circuit cable end Do not remove the O ring Mount the connector so that the O ring is seated properly If the O ring is not seated properly the requirements for the protective structure specifications may not ...

Page 139: ...nics Industry Ltd Wiring Specifications CACR JUM23ACA JUM23DCA Note No polarity for connection to the brake terminals PE FG Frame ground 5 4 3 Phase U 2 Phase V 1 Phase W 1 2 3 4 5 PE SERVOPACK End CN18 CN28 Motor End Pin No Signal Name Pin No Signal Name A1 U 3 U B1 V 2 V B2 W 1 W A2 FG PE FG PE FG Frame ground 5 Brake terminal 4 Brake terminal 3 Phase U 2 Phase V 1 Phase W 1 2 3 4 5 PE SERVOPACK...

Page 140: ...5ACA JU084ACA JU102ACA JU033DCA JU042DCA JU051DCA CACR JU028ACA JUM23 CA JUM24 CA JUM25 CA JU014DCA A Phase U B Phase V C Phase W D FG Frame ground A B C D SERVOPACK End CN8 Motor End Pin No Signal Name Pin No Signal Name 1 U A U 2 V B V 3 W C W 4 D SERVOPACK End Motor End Terminal Name Pin No Signal Name U A U V B V W C W D SERVOPACK End CN8 CN18 CN28 Motor End Pin No Signal Name Pin No Signal Na...

Page 141: ...he brake terminals Wiring Specifications CACR JU036ACA JU018DCA Note No polarity for connection to the brake terminals CACR JU065ACA JU084ACA JU102ACA JU033DCA JU042DCA JU051DCA Note No polarity for connection to the brake terminals A Phase U B Phase V C Phase W D FG Frame ground A B C D 1 Brake terminal 2 Brake terminal 1 2 SERVOPACK End CN18 Motor End Pin No Signal Name Pin No Signal Name 1 U A ...

Page 142: ...A JUM24 CA JUM25 CA JU014DCA Note No polarity for connection to the brake terminals SERVOPACK End CN8 CN18 CN28 Motor End Pin No Signal Name Pin No Signal Name A1 U A U B1 V B V B2 W C W A2 D Motor End Pin No Signal Name Brake 1 Brake Brake 2 Brake ...

Page 143: ... axis name 1 or 2 will be displayed in Pin No Signal Name I O Function Pin No Signal Name I O Function 1 PG5V O Power supply for encoder 5 V 2 GND 0 V 3 PGBAT O Encoder for battery 4 PGBAT O Encoder for battery 5 PS I O Encoder serial signal 6 PS I O Encoder serial signal 7 FCPG5V O Power supply for external encoder 5 V 8 GND Power supply for external encoder 0 V 9 FCPS I O External encoder serial...

Page 144: ... sure the charge indicator is turned OFF and that the DC bus symbol P and N voltage value is correct by using a tester or other device before wiring or starting an inspection Input Voltage SERVOPACK Model Discharge Time Needed for Main Circuit Capacitor min Three phase 200 VAC For one axis CACR JU028ACA 15 CACR JU036ACA 20 CACR JU065ACA 20 CACR JU084ACA 20 CACR JU102ACA 25 CACR JU125ACA 25 CACR JU...

Page 145: ...B2 M5 2 0 to 2 4 AWG14 M5 2 0 to 2 4 AWG4 22A3 L1 L2 L3 M6 2 5 to 3 0 AWG3 B1 B2 M5 2 0 to 2 4 AWG14 M5 2 0 to 2 4 AWG4 30A3 L1 L2 L3 M6 2 5 to 3 0 AWG2 B1 B2 M5 2 0 to 2 4 AWG14 M6 2 5 to 3 0 AWG4 45A3B L1 L2 L3 M10 30 AWG3 0 B1 B2 M5 2 0 to 2 4 AWG14 M6 2 5 to 3 0 AWG1 0 Three phase 400 VAC 15D3 L1 L2 L3 M6 2 5 to 3 0 AWG8 B1 B2 M5 2 0 to 2 4 AWG14 M5 2 0 to 2 4 AWG7 19D3 L1 L2 L3 M6 2 5 to 3 0 ...

Page 146: ...V W M6 2 5 to 3 0 AWG2 AWG4 motor M6 2 5 to 3 0 AWG2 AWG4 M5 2 0 to 2 4 AWG4 AWG4 102ACA U V W M6 2 5 to 3 0 AWG1 AWG4 motor M6 2 5 to 3 0 AWG1 AWG4 M5 2 0 to 2 4 AWG4 AWG4 125ACA U V W M8 2 5 to 3 0 AWG2 0 motor M8 2 5 to 3 0 AWG2 0 M6 2 5 to 3 0 AWG2 196ACA U V W M10 30 AWG4 0 motor M10 30 AWG4 0 M6 2 5 to 3 0 AWG1 0 Three phase 400 VAC 014DCA U V W connector AWG12 AWG14 motor connector AWG12 AW...

Page 147: ...lling a Surge Absorber Always install surge absorbers or diodes on all inductive loads that are connected near the Σ V SD servo driver Inductive loads include magnetic contactors magnetic relays magnetic valves solenoids and mag netic brakes Input Voltage Model CACR JUM2 Terminal Symbols Terminal Screw Tightening Torque Nxm Wire Sizes Three phase 200 VAC 3ACA U V W connector AWG14 motor connector ...

Page 148: ... is shown below A host controller is not provided by Yaskawa WARNING Do not touch the power terminals before the main circuit capacitor has had time to discharge because high voltage may still remain in the converter and SERVOPACK Refer to this section for the details of dis charge time of main circuit capacitor After the charge indicator goes out check the voltage on the DC bus line i e between t...

Page 149: ...round wire Leakage current flows through the Σ V SD driver Therefore if the distance between the ground terminal and the ground terminal is too long the potential on the ground terminal of the Σ V SD driver will become unstable Always ground Σ V SD driver and motors using a ground terminal even when equipment is grounded through sill channel or steel plate Ground each Σ V SD driver directly to the...

Page 150: ...or the control power supply is 10 A Perform wiring so that the total current when combined with the Σ V SD driver is 10 A or less Refer to 2 1 3 Power Regeneration Converter SERVOPACK and Motor for the max imum number of connected drives Pin No Signal Name I O Function Pin No Signal Name I O Function A 24 VDC I O 24 VDC B 0 V I O 0 V CN7A B CN7A B Pin No Signal Name Pin No Signal Name A 24 VDC A 2...

Page 151: ...er and a SERVOPACK or two SERVOPACKs The bus bar connection procedure is given below 1 Remove the barriers between the devices to connect 2 Rotate the bus bar of the device on the right 180 clockwise and then hook it on the terminals of the device on the left Barrier of SERVOPACK Barrier of power regeneration converter ...

Page 152: ...e resistor on the SERVOPACK on the right If you connect two or more SERVOPACKs to one power regeneration converter do not set the same value for the rightmost digit of the SERVOPACK address in Pn010 5C00h For details refer to 8 4 8 Setting Local Bus Addresses Local bus communication cable Power regeneration converter Local bus terminating resistor SERVOPACK CN5 CN5A B ...

Page 153: ...C 12 ESP I Emergency stop input 6 NC 13 NC 7 NC 14 NC Pin No Signal Name I O Function Pin No Signal Name I O Function 1 COM24V I 24V external power supply input 14 1 NC 2 Probe1 I Probe 1 latch signal input 15 1 NC 3 Probe2 I Probe 2 latch signal input 16 1 NC 4 Home I Home switch input 17 HWBB1 I Baseblock input 1 5 1 NC 18 HWBB1 I Baseblock input 1 6 P OT1 I Forward overtravel 19 HWBB2 I Baseblo...

Page 154: ...se overtravel for 1st axis 34 HWBB21 I Baseblock input 1 for 2nd axis 10 P OT2 I Forward overtravel for 2nd axis 35 HWBB22 I Baseblock input 2 for 2nd axis 11 N OT2 I Reverse overtravel for 2nd axis 36 HWBB22 I Baseblock input 2 for 2nd axis 12 NC 37 NC 13 NC 38 NC 14 NC 39 NC 15 NC 40 NC 16 NC 41 EDM1 O Baseblock monitoring signal for 1st axis 17 BK1 O Brake for 1st axis 42 EDM1 O Baseblock monit...

Page 155: ... 2 3 GND 5 V CN1 COM24V Probe1 Probe2 Home1 Home2 4 5 P OT1 P OT2 8 10 9 11 29 33 HWBB11 HWBB21 ߪゲ ภ 30 34 31 35 32 36 42 44 41 43 23 24 17 19 18 20 24 V 0 V 0 V 24 V 㩅㨺㩚㩇㩊 3Ry 24 V 26 25 DBON DB24V 23 24 DBA1 DBA2 3Ry I O Connections for SERVOPACKs for One Axis I O Connections for SERVOPACKs for Two Axes N OT1 N OT2 HWBB11 HWBB21 HWBB12 HWBB22 HWBB12 HWBB22 EDM1 EDM2 24 V 0 V 24 V 0 V EDM1 EDM2 T...

Page 156: ...100 m Connector Specifications Connector Pin Arrangement Pins denoted as N C do not connect to any signal Power regeneration converter EtherCAT controller Host controller EtherCAT CoE signal input connector CN9A EtherCAT CoE signal input connector CN9A EtherCAT CoE communications cable EtherCAT CoE signal output connector CN9B EtherCAT CoE communications cable SERVOPACKs Connector Description CN9A...

Page 157: ...lection Winding selection for an AC spindle motor is an effective way to extend the constant output control range of a servo spindle drive Contact your Yaskawa representative for details on changing the winding from the SERVOPACK ...

Page 158: ...nstantaneous Power Interruption Settings 8 19 8 4 6 Setting Motor Overload Detection Level 8 20 8 4 7 Spindle Motor Settings 8 22 8 4 8 Setting Local Bus Addresses 8 23 8 5 Trial Operation 8 24 8 5 1 Inspection and Checking before Trial Operation 8 24 8 5 2 Trial Operation via EtherCAT CoE Communication 8 24 8 6 Limiting Torque 8 25 8 7 Absolute Encoders 8 27 8 7 1 Encoder Resolution 8 27 8 7 2 Ba...

Page 159: ... 8 38 8 8 4 Restoring Operation from a HWBB State 8 38 8 8 5 Error Detection in HWBB Signal 8 38 8 8 6 Connection Example and Specifications of Input Signals HWBB Signals 8 39 8 8 7 Operation with SigmaWin for Σ V SD MT 8 40 8 8 8 Brake Signal BK1 BK2 8 40 8 8 9 Dynamic Brake 8 40 8 8 10 External Device Monitor EDM 8 41 8 8 11 Application Example of HWBB Function 8 43 8 8 12 Confirming HWBB Functi...

Page 160: ...y the EtherCAT configuration tool before So the order of the slaves in the network has to be the same as in the master s configuration To allow a different network topology a Station Alias is defined 3 Example Scenario With a machining center there might be two identical drives to work in X and Y direction It might happen that the cabling order is mixed up after a device replacement To avoid that ...

Page 161: ...er requests Pre Operational state Master sets AL Control register Slave checks whether the mailbox was initialized correctly PREOP Mailbox communication is possible No process data communication is possible PREOP SAFEOP Master configures SyncManager channels and FMMU channels for process data Master configures PDO mapping and the sync manager PDO assignment parameters via SDO Master requests Safe ...

Page 162: ...cally transits to the Switch on Disabled state at the following cases The main power supply was turned off HWBB signal was inputted Note 1 shows state 2 STW means the Statusword of Object 6041h 3 ______ underline means the control command of Controlword Object 6040h Not ready to Switch on STW xxxx xxxx x0xx 0000 Switch on Disabled STW xxxx xxxx x1xx 0000 Ready to Switch on STW xxxx xxxx x01x 0001 ...

Page 163: ...r s Manual For Command Profile EtherCAT CoE Communications Reference manual no SIEP S800000 95 1 Switched on 2 Operation enabled 3 Fault 4 Voltage enabled 5 Quick stop 6 Switch on disabled 7 Warning 8 Reserved 9 Remote 10 Target reached 11 Internal limit active 12 Operation mode specific 13 14 Torque limit active 15 HWBB active Index Sub Name Access PDO Mapping Units Type 6040h Controlword RW Yes ...

Page 164: ... 2 3 Unit Settings Position Σ V SD series User s Manual For Command Profile EtherCAT CoE Communications Reference manual no SIEP S800000 95 PnB02 2301h 1 PnB04 2301h 2 Velocity PnB06 2302h 1 PnB08 2302h 2 Accelera tion PnB0A 2303h 1 PnB0C 2303h 2 4 Holding Brakes 8 4 3 Holding Brakes Pn506 2112h 1 Pn507 2112h 2 Pn508 2112h 4 5 Stopping Servomotor after Servo OFF Command or Alarm Occurrence 8 4 4 S...

Page 165: ...n the above table Parameter Index Number Forward Reverse Reference Direction of Motor Rotation Applicable Overtravel OT Pn000 2000h n 0 The encoder counts up by a forward reference Factory setting Forward Reference P OT Reverse Reference N OT n 1 The encoder counts up by a reverse reference Forward Reference P OT Reverse Reference N OT Forward CCW Time Rotation speed Torque reference Rotation spee...

Page 166: ...ravel may cause a workpiece to fall because the BK signal is on that is when the brake is released Set the parameter Pn001 1 1 to bring the servomotor to zero clamp state after stopping to prevent a workpiece from falling Other axes to which external force is applied Overtravel will bring about a baseblock state after the servomotor stops which may cause the servomotor to be pushed back by the loa...

Page 167: ...f Pn001 0 After the servomotor stops the servomotor will enter a coast state For details on servomotor stopping methods after the SV_OFF command is received or an alarm occurs refer to 8 4 4 Stopping Servomotor after SV_OFF Command or Alarm Occurrence Note A coasting to a stop is always performed regardless of the set values of Pn001 if a spindle motor is used When Servomotor Stopping Method is Se...

Page 168: ...ing will not be detected again until the overtravel status has been cleared The overtravel warning will be detected when the software limit is in effect Related Parameter Overtravel input signal 㧔P OT N OT signals㧕 Overtravel warning 㧔A 9A0㧕 Servomotor power Warning not detected OFF ON Enabled Disabled Enabled Disabled Disabled Warning status Normal operation Normal operation Fault reset Controlwo...

Page 169: ...olding brake release time and holding brake operating time depend on the discharge circuit that is used Always confirm the operation delay time on the actual equipment before actual operation The brake built into the servomotor with brakes is a de energization brake which is used only to hold and cannot be used for braking Use the holding brake only to hold a stopped motor The servomotor power sho...

Page 170: ...Converter CACP JU 3 P N SERVOPACK CACR JU CA P N CN7B CN7A 24 V 0 V AC reactor X U Y V Z W Control power supply 24 VDC U V W CN2 BK RY 24 V BK1 BK2 BK1 BK2 CN1 1D 0 V Surge absorber BK RY Brake control relay A 24 VDC power supply is not included The user is responsible for providing the power supply Brake power supply for 90 V Input voltage 200 V models LPSE 2H01 E Input voltage 100 V models LPDE ...

Page 171: ... circuit to apply the holding brake by the emergency stop The holding break stops operating if the signal line is disconnected when positive logic is the reverse of the polarity of the break signals BK1 and BK2 If it is neces sary to use this type of setting be sure to check operation and confirm that there are no safety problems A short circuit fault may occur in the output circuit due to a wirin...

Page 172: ...is slight shift set parameter so that the power to the servomotor turns OFF after the brake is applied This parameter changes the brake ON timing while the servomotor is stopped Pn506 2112h 1 Brake Reference Servo OFF Delay Time Classification Setting Range Setting Unit Factory Setting When Enabled 0 to 50 10 ms 0 Immediately Setup The servomotor will turn OFF immediately when an alarm occurs rega...

Page 173: ...following condi tions is satisfied When the motor speed falls below the level set in Pn507 after the power to the servomotor is turned OFF When the time set in Pn508 is exceeded after the power to the servomotor is turned OFF Pn507 2112h 2 Brake Reference Output Speed Level Classification Setting Range Setting Unit Factory Setting When Enabled 0 to 10000 1 min 1 100 Immediately Setup Pn508 2112h 4...

Page 174: ...ing OFF the servo The alarm stopping method is used For details refer to 11 2 1 List of Servo Drive Alarms Turning OFF the control power supply without turning OFF the servo Refer to the following table If the servomotor must be stopped by coasting rather than by dynamic braking when the main circuit power supply or the control power supply is turned OFF but the SV_OFF command has not been receive...

Page 175: ...motor by setting the speed reference to 0 The motor under torque control will always use the Gr 1 method to stop By setting Pn00B 1 to 1 the motor stops using the same method as Gr 1 When coordinating a number of motors use this alarm stop method to prevent machine damage that may result due to differences in the stop method Refer to 11 2 1 List of Servo Drive Alarms to determine if the alarm that...

Page 176: ...e holding time of the control power supply 24 VDC depends on the capability of the power supply provision of power supply user s responsibility Check the power supply before using the application If the load on the servomotor during the power interruption is large an undervoltage alarm A 410 or a converter DC undervoltage alarm A 41A may occur Instantaneous power interruption 50 ms OFF time t Inst...

Page 177: ...oad warning can be changed by changing the setting of the overload warning level Pn52B This protective function enables the warning out put signal WARN to serve as a protective function and to be output at the best timing for your system The following graph shows an example of the detection of an overload warning when the overload warning level Pn52B is changed from 20 to 50 An overload warning is...

Page 178: ...tors starts at 50 of the motor base current and then an overload alarm will be detected earlier Changing the setting of Pn52C will change the detection timing of the overload alarm so the time required to detect the overload warning will also be changed As a guideline of motor heating conditions the relationship between the heat sink sizes and deratings of base current is shown in a graph in Servo...

Page 179: ... supply OFF and then ON again check to be sure that the system mon itor in SigmaWin for Σ V SD MT shows Power OFF BB and then confirm operation by jogging When doing so pay careful attention to safety if the machinery is connected 4 Motor Rotation Direction Setting Set the motor rotation direction using Pn000 0 For setting details refer to 8 4 1 Servomotor Rotation Direction Make the correct setti...

Page 180: ... to 007F hex Set the rightmost digit to a unique value for each SERVOPACK If the same value is set for more than one SERVOPACK an alarm will occur The settings are valid after the power supply is turned OFF and ON again The following setting example is for two SERVOPACKs Correct Settings Incorrect Settings SERVOPACK 1 Pn010 002Ah SERVOPACK 2 Pn010 003Ah Power regeneration converter SERVOPACK 1 Pn0...

Page 181: ...PDO for objects that are PDO mapped The values will not be changed even if SDO is changed Step Operation 1 Make sure that the wires are connected correctly and then connect the I O connector CN1 and the Ether CAT CoE communications connectors CN9A and CN9B 2 Turn ON the power supply to the Σ V SD Driver When the control power is supplied the SERVOPACK RDY indicator will light When the main circuit...

Page 182: ... of the servomotor 2 The maximum torque of the servomotor is used whenever the value exceeds the maximum torque Limiting Method Parameters Index Numbers Torque limited by parameter setting only Pn402 20A0h 1 Pn403 20A0h 2 Torque limit set by parameter enabled by command from controller PnB11 6040h Pn404 20A3h 1 Pn405 20A3h 2 Torque limit controlled from controller PnB38 6072h PnB80 60E0h PnB82 60E...

Page 183: ...low the torque may be insufficient for acceleration or deceleration of the motor 2 The maximum torque of the motor is used whenever the value exceeds the maximum torque Pn430 20AAh 1 Torque Limit Powering Classification Setting Range Setting Unit Factory Setting When Enabled 0 to 800 1 150 Immediately Setup Pn431 20AAh 2 Torque Limit Regeneration Classification Setting Range Setting Unit Factory S...

Page 184: ...an incremental encoder by setting the Pn002 A battery is not required when using the absolute encoder as an incremental encoder 8 7 2 Backup of the Settings A battery is required to save position data in the absolute encoder Install a battery to the power regeneration converter For the battery refer to 2 3 3 Absolute Encoder Battery Servomotor Model Encoder Resolution SGMGV 20 bit Parameter Index ...

Page 185: ...l power is turned ON No battery related alarm will be displayed even if the battery voltage drops below the specified value after these 4 seconds If Pn008 0 is set to 1 alarm detection will be always enabled after the ALM signal outputs max 5 seconds when the control power supply is turned ON Parameter Index Number Meaning When Enabled Classification Pn008 2008h n 0 Factory setting Outputs the ala...

Page 186: ...ata of the absolute encoder Set up the absolute encoder using SigmaWin for Σ V SD MT Setup Initialization can be performed using EtherCAT CoE command Object 2310h 1 For EtherCAT CoE command refer to Σ V SD series User s Manual For Command Profile EtherCAT CoE Communications Reference manual no SIEP S800000 95 Before removing the battery or the encoder cable turn ON the control power supply of the ...

Page 187: ...ge appears confirming if you want to continue the processing Click Cancel to return to the main window without resetting the absolute encoder 3 Click Continue and the Absolute encoder Setup box appears The Alarm Name box displays the code and name of the alarm that is occurring now 4 Click Execute setting and a verification message appears confirming if you want to continue although the coordinate...

Page 188: ...et conditions error occurs and the processing is aborted Click OK to return to the main window If Setup Completes Normally If the encoder is set up successfully a warning message will appear reminding you that the coordinate system has changed and must also be reset 6 Click OK to return to the main window 7 Restart the servo and perform an origin search ...

Page 189: ...n which the relationship between the turntable revolutions and motor revolutions is m 100 and n 3 is shown in the following graph Pn205 is set to 99 Pn205 100 1 99 Note This parameter is valid when the absolute encoder is used The range of the data will vary when this parameter is set to anything other than the factory setting 1 When the motor rotates in the reverse direction with the rotational d...

Page 190: ...munications Reference manual no SIEP S800000 95 Follow the steps below to set the multiturn limit to the Σ V SD driver and the servomotor 1 In the SigmaWin for Σ V SD MT component main window click Setup print to Set Absolute Encoder and click Multi Turn Limit Setting A verification message appears confirming if you want to continue although the position data will change Click Cancel to return to ...

Page 191: ...ttings click Writing into the Servopack and a warning message appears 5 Click OK and the settings are changed to the new ones 6 After turning off the power restart the Σ V SD driver Because only the settings for the Σ V SD driver were made the settings for the motor are still incomplete and Multiturn Limit Disagreement alarm A CC0 occurs ...

Page 192: ...p and then click Multi Turn Limit Setting again A verification message appears confirming if you want to continue although the position data will change 8 Click Continue and the Multi Turn Limit Setting box appears To change the settings click Re Change 9 To save the settings click Writing into the Motor and a warning message appears 10 Click OK ...

Page 193: ...ion Actual Value index 6064h is set in reference units When the power supply is turned OFF and ON again or when parameters are enabled with index 2300h the offset is added to the Position Actual Value at 6064h For details refer to Σ V SD series User s Manual For Command Profile EtherCAT CoE Communications Reference manual no SIEP S800000 95 Index Sub Index Name Data Type Access Setting Range Defau...

Page 194: ... signal line OFF The state in which the relay contacts are open or the transistor is OFF and no current flows into the signal line 8 8 1 Precautions for the Hard Wire Base Block HWBB State Observe the following precautions in the HWBB state The motor will rotate in an application where external force is applied to the motor for example gravity on the vertical axis Take measures to secure the motor...

Page 195: ... must be OFF If the SigmaWin for Σ V SD MT is connected the Servo ON command from the SigmaWin for Σ V SD MT must not be active 2 Procedure to Return to Normal Operation 1 Specify a Shutdown command in the Controlword Object 6040h bits 0 to 3 to reset the drive state 2 Specify a Switch on Enable operation command in the Controlword Object 6040h bits 0 to 3 Power will be supplied to the motor 8 8 5...

Page 196: ... HWBB1 CN1 18 CN1 17 ON Does not use the HWBB function normal operation OFF Uses the HWBB function motor current shut off request HWBB2 CN1 20 CN1 19 ON Does not use the HWBB function normal operation OFF Uses the HWBB function motor current shut off request For two axes 1st axis HWBB11 CN1 30 CN1 29 ON Does not use the HWBB function normal operation OFF Uses the HWBB function motor current shut o...

Page 197: ...til the actual brake becomes effective after the brake signal BK1 BK2 turns OFF 8 8 9 Dynamic Brake If the dynamic brake is enabled in Pn001 0 stopping method after SV_OFF command the motor will come to a stop under the control of the dynamic brake when the HWBB function works while the HWBB1 or HWBB2 signal is OFF HWBB1 HWBB2 Normal operation SERVOPACK State HWBB state ON normal operation OFF mot...

Page 198: ...al is shown below Signal Name Logic HWBB1 ON ON OFF OFF HWBB2 ON OFF ON OFF EDM OFF OFF OFF ON For HWBB function signal connections the input signal is the 0 V common and the output signal is the source output This is opposite to other signals described in this manual To avoid confusion the ON and OFF status of signals for HWBB function are defined as follows ON The state in which the relay contac...

Page 199: ... CN1 41 ON Both the HWBB1 and the HWBB2 signals are working normally EDM1 OFF The HWBB1 signal the HWBB2 signal or both are not working normally 2nd axis EDM2 CN1 44 CN1 43 ON Both the HWBB1 and the HWBB2 signals are working normally EDM2 OFF The HWBB1 signal the HWBB2 signal or both are not working normally Items Characteristics Remarks Maximum Allowable Voltage 30 VDC Maximum Current 50 mADC Max...

Page 200: ...rrent flows from EDM1 to EDM1 or EDM2 to EDM2 2 Failure Detection Method In case of a failure such as the HWBB1 or the HWBB2 signal remains ON the device is not reset when the guard closes because the EDM signal keeps OFF Therefore starting is impossible then the failure is detected In this case an error in the external device disconnection or short circuiting of the external wiring or a failure i...

Page 201: ...est on the HWBB function after wiring 1 2 3 4 6 The host controller sends servo ON command SV_ON Request to open the guard Open the guard and enter The HWBB1 and HWBB2 signals are OFF and HWBB function operates The operation in the guard is available 5 After completing the operation leave and close the guard When the moter is operating the host controller stops the motor and sends servo OFF comman...

Page 202: ...Autotuning 9 9 9 2 1 Advanced Autotuning 9 9 9 2 2 Related Parameters 9 19 9 3 Advanced Autotuning by Reference 9 20 9 3 1 Advanced Autotuning by Reference 9 20 9 3 2 Related Parameters 9 26 9 4 One parameter Tuning 9 27 9 4 1 One parameter Tuning 9 27 9 4 2 Related Parameters 9 34 9 5 Anti Resonance Control Adjustment Function 9 35 9 5 1 Anti Resonance Control Adjustment Function 9 35 9 5 2 Relat...

Page 203: ...ameters related to adjustment above will be adjusted automatically and the need to adjust them indi vidually will be eliminated This section describes the following utility adjustment functions These functions are adjusted with SigmaWin for Σ V SD MT Utility Function for Adjustment Outline Applicable Control Method Advanced Autotuning The following parameters are automatically adjusted using inter...

Page 204: ...s with internal references in the SERVOPACK Adjust using Advanced Autotuning by Reference Adjust automatically gains and filters with user reference inputs Adjust using One parameter Tuning Adjust manually gains and filters Position loop gain speed loop gain and filters are available Continuous vibration occurs Reduce the vibration using Anti resonance Control Adjustment Function Residual vibratio...

Page 205: ... Setting White Analog monitor 1 Torque reference 1 V 100 rated torque Applicable motor servomotor Red Analog monitor 2 Motor speed 1 V 1000 min 1 Black 2 lines GND Analog monitor GND 0 V JZSP CA01 E CN62 2nd axis CN61 1st axis Black White Red Black Probe GND Measuring Instrument White Red Black Black Connect it when monitoring the 2nd axis Measuring Probe Probe GND Measuring Probe Panel display Me...

Page 206: ...tion error 0 05 V 1 reference unit 0 V at speed torque control n 04 Position amplifier error 0 05 V 1 encoder pulse unit n 05 Position reference speed 1 V 1000 min 1 n 06 Reserved n 07 Motor external encoder posi tion error 0 01 V 1 reference unit n 08 Positioning completed Completed 5 V Not completed 0 V Completion indicated by out put voltage n 09 Speed feedforward 1 V 1000 min 1 n 0A Torque fee...

Page 207: ...age V When multiplier is set to 1 When multiplier is set to 10 Motor speed min 1 Motor speed min 1 Note Linear effective range within 8 V Output resolution 16 bit Pn550 2116h 1 Analog Monitor 1 Offset Voltage Classification Setting Range Setting Unit Factory Setting When Enabled 10000 to 10000 0 1 V 0 Immediately Setup Pn551 2116h 2 Analog Monitor 2 Offset Voltage Classification Setting Range Sett...

Page 208: ...the follow ing equation Excessive Position Error Alarm Level Pn520 1 reference unit 1 The 10th digit of the model number of the servomotor provides information about the encoder resolution 2 To check the Pn102 setting change the parameter display setting to display all parameters Pn00B 0 1 3 This coefficient is used to add a margin that prevents a position error overflow alarm A d00 from occurring...

Page 209: ... 60 1048576 40 Pn520 2102h 2 Excessive Position Error Alarm Level Classification Setting Range Setting Unit Factory Setting When Enabled 1 to 1073741823 1 reference unit 5242880 Immediately Setup Alarm Display Alarm Name Meaning A d00 Position Error Overflow Position errors exceeded parameter Pn520 Position Pn526 2103h 1 Excessive Position Error Alarm Level at Servo ON Classification Setting Range...

Page 210: ...tuning starts adjustments based on the set speed loop gain Pn100 Therefore precise adjustments cannot be made if there is vibration when starting adjustments In this case make adjustments after lowering the speed loop gain Pn100 until vibration is eliminated If the operating conditions such as the machine load or drive system are changed after advanced autotuning then change the following related ...

Page 211: ...w and vibration occurs when positioning is performed The position integration function is used P control operation proportional control is used Note If a setting is made for calculating the moment of inertia an error will result when P control operation is selected using V_PPI of OPTION field while the moment of inertia is being calculated The mode switch is used Note If a setting is made for calc...

Page 212: ... shut OFF the power supply during implementation The motor will move in both directions within the movement range Check the movement range and direction and provide overtravel prevention means and other safety measures as required CAUTION Two methods are available to stop autotuning without reference input while the motor is running and the motor will stop according to the method selected Make sur...

Page 213: ...this setting does not have to be changed If this speed loop gain is too high and is causing excitation in the machine lower the setting dIdentification Start Level Set the moment of inertia mass identification start level With a heavy load or low rigidity machine torque limit may be applied and the moment of inertia iden tification may fail In this case double the identification start level and ex...

Page 214: ...hanging the conditions If the moment of inertia mass ratio cannot be measured accurately If the torque force is limited the moment of inertia mass ratio identification cannot be made correctly Adjust the set ting of the limit or decrease the acceleration in Reference Selection so that the torque force will not be limited 4 Click Next The following window appears cStart Click to Start to transfer t...

Page 215: ... if the data is transferred successfully If an error occurs or if the transmis sion is interrupted it is unavailable and cannot be selected Click Next to view the Operation Measurement box gCancel Click Cancel to stop processing and return to the main window 5 Click Start to transfer the reference conditions to the SERVOPACK 6 Click Next The following window appears 7 Click Servo On 8 Click Forwar...

Page 216: ...ssfully completed click Servo ON to turn to the servo OFF status 12 Click Next The following window appears cIdentified Moment of Inertia Mass Ratio Displays the moment of inertia mass ratio calculated in the operation measurement dWriting Results Click Writing Results to assign the value displayed in the identified moment of inertia mass ratio to SERVOPACK parameter Pn103 ePn103 Moment of Inertia...

Page 217: ... the value displayed in the Pn103 Moment of Inertia Ratio are the same click Finish The following window appears 15 Click OK The following window appears 16 Click Execute to save the change of Pn103 Moment of Inertia Mass Ratio to SERVOPACK After the saving is finished the tuning main window appears 17 Select the No reference input option under Reference input from host controller in the Tuning ma...

Page 218: ...de from the Mode selection box the mechanism from the Mechanism selection box and enter the moving distance Then click Next When the Start tuning using the default settings check box is selected in the Autotuning Setting Con ditions box tuning will be executed using the tuning parameters set to the default values 19 Click Servo ON The following window appears 20 Click Start tuning The following bo...

Page 219: ...Vibration generated during tuning is automatically detected and the optimum setting for the detected vibration will be made When the setting is complete the LED indicator lamps bottom left of the box of the functions used for the setting will light up 22 When tuning is completed click Finish to return to the main window The results of tuning will be written in the parameters ...

Page 220: ...in No Yes Pn103 Moment of Inertia Ratio No No Pn104 2nd Speed Loop Gain No Yes Pn105 2nd Speed Loop Integral Time Constant No Yes Pn106 2nd Position Loop Gain No Yes Pn12B 3rd Speed Loop Gain No Yes Pn12C 3rd Speed Loop Integral Time Constant No Yes Pn12D 3rd Position Loop Gain No Yes Pn12E 4th Speed Loop Gain No Yes Pn12F 4th Speed Loop Integral Time Constant No Yes Pn130 4th Position Loop Gain N...

Page 221: ...ilter Anti resonance control Refer to 9 3 2 Related Parameters for parameters used for adjustments Advanced autotuning by reference starts adjustments based on the set speed loop gain Pn100 Therefore precise adjustments cannot be made if there is vibration when start ing adjustments In this case make adjustments after lowering the speed loop gain Pn100 until vibration is eliminated CAUTION Because...

Page 222: ...he set positioning com pleted width Pn522 The motor speed in response to references from the host controller is smaller than the set rotation detection level Pn502 The stopped time is 10 ms or less The stop time is the time that bit 10 target reached of the Statusword 6041h is 1 The rigidity of the load is low and vibration occurs when positioning is performed The position integration function is ...

Page 223: ...he SigmaWin for Σ V SD MT The operating procedure from the SigmaWin for Σ V SD MT is described here 1 Confirm that the correct moment of inertia ratio in Pn103 is set by using the advanced autotuning 2 In the SigmaWin Σ V SD MT component main window click Tuning and then click Tuning Click Cancel to return to the SigmaWin Σ V SD MT component main window without executing tun ing 3 Click Execute Th...

Page 224: ...s 9 4 After confirming that there is no problem click OK The following window appears 5 Select the Position reference input option under Reference input from host controller in the Tuning main window and then click Autotuning The following window appears ...

Page 225: ...tion combo box and then click Next When the Start tuning using the default settings check box is selected in the Autotuning Setting Conditions box tuning will be executed using tuning parameters set to the default value 7 Click Yes The following box appears 8 Enter the correct moment of inertia ratio and then click Next The following window appears ...

Page 226: ...The motor will start rotating and tuning will start Vibration generated during tuning is automatically detected and the optimum setting for the detected vibration will be made When the setting is complete the LED indicator lamps bottom left of the box of the functions used for the setting will light up 11 When tuning is completed click Finish to return to the main window The results of tuning will...

Page 227: ...omatic Changes Pn100 Speed Loop Gain No Yes Pn101 Speed Loop Integral Time Constant No Yes Pn102 Position Loop Gain No Yes Pn103 Moment of Inertia Ratio No No Pn104 2nd Speed Loop Gain No Yes Pn105 2nd Speed Loop Integral Time Constant No Yes Pn106 2nd Position Loop Gain No Yes Pn12B 3rd Speed Loop Gain No Yes Pn12C 3rd Speed Loop Integral Time Constant No Yes Pn12D 3rd Position Loop Gain No Yes P...

Page 228: ...NO OP indicating that the settings are not appropriate will be displayed if the following con dition is not met The write prohibited setting must not be set to write protect parameters 2 Tuning Mode There are two one parameter tuning modes Tuning Mode 0 Emphasizes stability Tuning Mode 1 Emphasizes response Adjustments are made for applications other than positioning Operations in one tuning level...

Page 229: ... V SD MT Operation Manual before executing this function Special care must be taken for the following Before executing this function make sure that the emergency stop power off can be activated when needed When tuning is initiated by this function some parameters will be overwritten with the recommended values As a result the response speeds may change considerably Before executing this function m...

Page 230: ...The following window appears 5 Click Advanced adjustment The following box appears 6 Click Custom tuning The following box appears 7 Select the tuning mode and the mechanism The tuning modes that can be selected will vary according to the SERVOPACK setting ...

Page 231: ...9 Adjustments 9 4 1 One parameter Tuning 9 30 8 Click Next The following box appears 9 Enter the correct moment of inertia ratio and then click Next The following window appears ...

Page 232: ...sitioning completion signal is output after bit 10 target reached of the Statusword 6041h is changed to 1 The notch filter anti resonance control auto setting function the anti resonance control adjustment func tion or autotuning with reference input can be used as required For details refer to Functions To Suppress Vibration To reset to the original settings and status click Back 12 When tuning i...

Page 233: ...ically Set c Cancel If the automatically set notch filter frequency or anti resonance control frequency does not effectively suppress vibration click Cancel to reset to the preceding frequency When the frequency is reset vibration detection will restart d Vib Detect vibration detection When automatically setting the notch filters and anti resonance control is enabled vibration detection is perform...

Page 234: ...er does not detect Usually set this function to Auto Setting The anti resonance control is factory set to Auto Setting When this function is set to Auto Setting vibration will be automatically detected during one parameter tun ing and anti resonance control will be automatically adjusted and set Parameter Index Number Function When Enabled Classification Pn460 20A9h 7 n 0 Does not set the 1st notc...

Page 235: ...omatic Changes Pn100 Speed Loop Gain No Yes Pn101 Speed Loop Integral Time Constant No Yes Pn102 Position Loop Gain No Yes Pn103 Moment of Inertia Ratio No No Pn104 2nd Speed Loop Gain No Yes Pn105 2nd Speed Loop Integral Time Constant No Yes Pn106 2nd Position Loop Gain No Yes Pn12B 3rd Speed Loop Gain No Yes Pn12C 3rd Speed Loop Integral Time Constant No Yes Pn12D 3rd Position Loop Gain No Yes P...

Page 236: ...operation reference is sent and the function is executed while vibration is occurring Anti resonance control adjustment function is performed from the SigmaWin for Σ V SD MT The following methods can be used for the anti resonance control adjustment function With Undetermined Vibration Frequency With Determined Vibration Frequency The operating procedure from the SigmaWin for Σ V SD MT is describe...

Page 237: ...is function make sure that the emergency stop power off can be activated when needed The moment of inertia mass must be correctly set to execute this function If it is not correctly set satisfactory anti resonance control cannot be achieved This function is generally only used to adjust the servo gain as you should avoid considerable change in the frequency If the frequency is changed while the an...

Page 238: ...9 With Undetermined Vibration Frequency 1 In the SigmaWin Σ V SD MT component main window click Tuning and then click Tuning Click Cancel to return to the SigmaWin Σ V SD MT component main window without executing tun ing 2 Click Execute The following window appears ...

Page 239: ...onance Control Adjustment Function 9 38 3 Click Advanced adjustment The following box appears 4 Click Custom tuning The following box appears 5 Select the tuning mode and the mechanism and then click Next The following box appears ...

Page 240: ...ti Resonance Control Adjustment Function 9 39 Adjustments 9 6 Enter the correct moment of inertia ratio and then click Next The following window appears 7 Click Anti res Ctrl Adj The following window appears ...

Page 241: ...d click Start adjustment The following window appears 9 Adjust the damping gain by clicking the setting arrows Click Reset to reset the settings to their original values during adjustment 10 When the adjustment is complete click Finish to return to the main window The set values will be written in the SERVOPACK ...

Page 242: ... 9 With Determined Vibration Frequency 1 In the SigmaWin Σ V SD MT component main window click Tuning and then click Tuning Click Cancel to return to the SigmaWin Σ V SD MT component main window without executing tun ing 2 Click Execute The following window appears ...

Page 243: ...onance Control Adjustment Function 9 42 3 Click Advanced adjustment The following box appears 4 Click Custom tuning The following box appears 5 Select the tuning mode and the mechanism and then click Next The following box appears ...

Page 244: ...ti Resonance Control Adjustment Function 9 43 Adjustments 9 6 Enter the correct moment of inertia ratio and then click Next The following window appears 7 Click Anti res Ctrl Adj The following window appears ...

Page 245: ... the frequency by clicking the setting arrows Click Reset to reset the settings to their original values during adjustment 10 Adjust the damping gain by clicking the setting arrows Click Reset to reset the settings to their original values during adjustment 11 When the adjustment is complete click Finish to return to step 6 The set values will be written in the SERVOPACK ...

Page 246: ...nction is being exe cuted No Parameters cannot be changed using SigmaWin for Σ V SD MT while this function is being exe cuted Automatic changes after execution of this function Yes Parameter set values are automatically set or adjusted after execution of this function No Parameter set values are not automatically set or adjusted after execution of this function Parameter Name Mid execution Changes...

Page 247: ...vibration sup pression Internal speed feedforward control and model following control Spindle axis operation Changing the gain Gain selection Operation Mode Machine Tool Function Control Function Remark Bit5 Bit4 Bit1 Bit0 Pn070 0 Pn070 1 Pn071 0 Operation Mode Gain Selection Predictive Control Quadrant Projection Compensation Internal speed feedforward control and model following control Cutting ...

Page 248: ...ameters for Gain Bank 0 to 3 Parameter Gain Bank 0 1 2 3 Speed Loop Gain Pn100 Pn104 Pn12B Pn12E Speed Loop Integral Time Constant Pn101 Pn105 Pn12C Pn12F Position Loop Gain Pn102 Pn106 Pn12D Pn130 Torque Reference Filter Time Constant Pn401 Pn412 Pn413 Pn414 ...

Page 249: ...ls in Compliance with Standards 10 2 10 2 Precautions for Complying with European Standards 10 3 10 2 1 EMC Installation Conditions 10 3 10 2 2 Precautions 10 4 10 2 3 Compliance with Low Voltage Directive 10 5 10 3 Precautions for Complying with UL Standards 10 6 ...

Page 250: ...A3A CACP JU30A3A CACP JU15D3A CACP JU19D3A CACP JU22D3A CACP JU15A3B Certified Certified CACP JU19A3B CACP JU22A3B CACP JU30A3B CACP JU45A3B Pending Pending CACP JU15D3B Certified CACP JU19D3B CACP JU22D3B SERVOPACK for One Axis CACR JU028ACA Certified Certified CACR JU036ACA CACR JU065ACA CACR JU084ACA CACR JU102ACA CACR JU125ACA CACR JU196ACA Pending Pending CACR JU014DCA Certified CACR JU018DCA...

Page 251: ... Specification c Main circuit cable Shield cable d Control power cable Non shield cable e 1 e 2 EtherCAT CoE communication cable Shield cable f 1 f 2 Input output signal cable Shield cable g Spindle motor fan cable Shield cable h 1 h 2 Local bus cable Shield cable L1 L2 L3 2T 2T Power regeneration converter CACP JU A3 CN7A B 24 V 0 V 6 CN5 5 4 2 3 1 2T CN7A B 24 V 0 V CN1 CN9A CN9B CN7A B 24 V 0 V...

Page 252: ...cable shield using a piece of conductive metal Example of Cable Clamp 4 Shield Box A shield box which is a closed metallic enclosure is effective as reinforced shielding against electromagnetic interference EMI from SERVOPACKs The structure of the box should allow the main body door and cool ing unit to be attached to the ground The box opening should be as small as possible Note Do not connect th...

Page 253: ...s 1 Installation Location Install the servo drive in a location with an overvoltage category of 3 and a pollution degree of 2 or lower according to IEC 664 specifications Install at an altitude of 1000 m max 2 Protection against Foreign Matter The degree of protection of the servo drives is IP10 3 Grounding Ground the neutral point of the 400 V power supply The leakage current may exceed 3 5 mA Th...

Page 254: ... This servo drive has undergone UL short circuit testing using a power supply with a current of 31 000 A max imum and a voltage of 480 V maximum 4 24 VDC Control Power Supply Use a 24 VDC control power supply with double insulation or reinforced insulation 5 AC Reactor Use an AC reactor for UL compliance according to 5 2 1 Specifications 6 Magnetic Contactor for Winding Selection Use a magnetic co...

Page 255: ...11 5 11 2 2 List of Alarms for EtherCAT CoE Communications 11 10 11 2 3 Troubleshooting of the Servo Drive Alarms 11 11 11 2 4 Troubleshooting of the EtherCAT CoE Communications 11 33 11 3 Warning Displays 11 35 11 3 1 List of Warnings 11 35 11 3 2 Troubleshooting of Warnings 11 37 11 4 Monitoring Communications Data When Alarms or Warnings Occur 11 41 11 5 Troubleshooting Malfunction Based on Ope...

Page 256: ...nts Vibration and Noise Daily Touch and listen There is no problem as long as vibration and the sound level do not increase over normal levels Exterior According to degree of contamination Clean with cloth or compressed air Insulation Resistance Measurement At least once a year Disconnect the SERVOPACK and test the insulation resistance with a 500 V resistance meter between each of the phases U V ...

Page 257: ... may be required sooner than the standard replacement period To extend the life of the parts reduce the ambient temperature Contact your Yaskawa representative if you require more detailed information Item Frequency Procedure Remedy Exterior At least once a year Check for dust dirt and oil on surfaces Clean with compressed air or cloth Loose screws Check for loose terminal block and con nector scr...

Page 258: ... to stop By setting Pn00B 1 to 1 the motor stops using the same method as Gr 1 When coordinating a number of motors use this alarm stop method to prevent machine damage that may result due to differences in the stop method Resetting Alarms Available Removing the cause of alarm and then executing the alarm reset can clear the alarm N A Executing the alarm reset cannot clear the alarm The alarm name...

Page 259: ...smatch The motor type Application selection setting Pn01E 0 does not match the motor parameter written inside the SERVO PACK Gr 1 N A A 053 Winding Selection Setting Mismatch The Winding Change Setting Pn01E 1 does not match the motor parameter written inside the SERVOPACK Gr 1 N A A 054 Unsupported Winding Selection Alarm The combination of the SERVOPACK and motor does not support winding selecti...

Page 260: ...op signal input Gr 1 Available A 710 Overload High Load The motor was operating for several seconds to several tens of seconds under a torque largely exceeding ratings Gr 2 Available A 720 Overload Low Load The motor was operating continuously under a torque largely exceeding ratings Gr 1 Available A 72A Converter Electric Operation Overload Continuous electrical operation was performed that excee...

Page 261: ...error occurred in the gate drive signal of power transistor of the power regeneration converter Gr 1 N A A BDA Converter CPU AD Conversion Circuit Error An error occurred in the A D conversion circuit inside the power regeneration converter Gr 1 Available A BDC Converter Reference Voltage Error 2 An error occurred in the reference voltage output inside the power regeneration converter Gr 1 Availab...

Page 262: ...nications Error Reception error Reception from the serial converter unit Gr 1 N A A CF2 2 Serial Converter Unit Communications Error Timer stop Timer for communications with the serial converter unit is faulty Gr 1 N A A D00 Position Error Pulse Overflow Position error pulses exceeded parameter Pn520 Gr 1 Available A D01 Position Error Pulse Overflow Alarm at Servo ON Position error pulses accumul...

Page 263: ... was turned ON Gr 1 Available A F2A Converter AC Power Supply Frequency Error The power supply frequency is faulty Gr 1 Available A F2B Converter AC Power Supply Frequency Detection Time Exceeded The detection of the AC power supply input frequency was not completed within the set time Gr 1 Available A F30 External DB Error There is an error in the connection to the external dynamic brake Gr 1 N A...

Page 264: ...curred in the SERVOPACK Gr 1 N A 0A10h EtherCAT DC Synchronization Error The Sync0 event and the SERVOPACK cannot be synchro nized Gr 1 Available 0A11h EtherCAT State Error The EtherCAT AL state became not Operational while the DS402 drive state is in Operation enabled Gr 1 Available 0A12h EtherCAT Outputs Data Synchronization Error The events receive process data and sync0 do not synchro nize Fai...

Page 265: ...larm still occurs there may be noise interfer ence Take countermeasures against noise Gas water drops or cutting oil entered the SERVOPACK and caused failure of the internal components Check the installation conditions The SERVOPACK may be faulty Replace the SERVOPACK SERVOPACK failure Turn the power supply ON and OFF several times If the alarm still occurs the SERVOPACK is faulty The SERVOPACK ma...

Page 266: ...e the SERVOPACK A 02C Converter Parameter Checksum Error The parameter data in the power regeneration converter is incorrect Power regeneration converter failure The power regeneration converter may be faulty Replace the power regeneration converter A 02D Converter Parameter Format Error The parameter format in the power regeneration converter is incorrect Power regeneration converter failure The ...

Page 267: ...occurred in writing the motor parameter file Check the model of the combined servomotor from the product infor mation monitor in SigmaWin for the Σ V SD MT Write the motor parameter file in the SERVOPACK according to the combined servomotor A 053 Winding Selection Setting Mismatch The Winding Change Setting Pn01E 1 does not match the motor parameter written inside the SERVOPACK The Motor Type Sett...

Page 268: ...s across the motor terminal phase U V and W or between the grounding and motor terminal U V or W The motor may be faulty Replace the motor Short circuit or ground fault inside the SERVOPACK Check for short circuits across the servomotor connection terminals U V and W on the SERVOPACK or between the grounding and terminal U V or W The SERVOPACK may be faulty Replace the SERVOPACK The dynamic brake ...

Page 269: ...be faulty Replace the AC reactor Power regeneration converter failure Turn the power supply OFF and then ON again If the alarm still occurs the power regeneration con verter may be faulty Replace the power regeneration converter A 11A Converter Ground Fault A ground fault occurred Ground fault of motor cable Check for short circuits between the cable phase U V and W and the grounding The cable may...

Page 270: ... alarm still occurs the SERVOPACK may be faulty Replace the SERVOPACK Acceleration deceleration was executed under the following conditions The AC power supply voltage of 200 VAC SERVOPACK was in the range between 230 V and 270 V The AC power supply voltage of 400 VAC SERVOPACK was in the range between 480 V and 560 V Check the power supply voltage and the speed and torque during opera tion Set AC...

Page 271: ... speed and torque during opera tion Set the AC power supply voltage within the specified range The moment of inertia exceeded the allowable value in the SER VOPACK connected to the power regeneration converter Make sure the moment of inertia ratio is within the allowable range Increase the deceleration time or reduce the load Power regeneration converter failure Turn OFF the control power and then...

Page 272: ...ower supply voltage within the specified range The power supply voltage dropped during operation Measure the power supply voltage Increase the power supply capacity Occurrence of instantaneous power interruption Measure the power supply voltage Improve the power supply condi tions SERVOPACK failure The SERVOPACK may be faulty Replace the SERVOPACK A 41A Converter DC Undervoltage The DC bus voltage...

Page 273: ...converter may be faulty Replace the power regeneration converter A 42C Converter Initial Charging Error Charging of the main circuit capacitor did not finish within the speci fied period of time The main circuit cable is either incorrectly wired or has a contact fault Make sure the wiring is correct Correct the wiring The wiring of the main circuit DC bus is incorrect Check the wiring Correct the ...

Page 274: ...ed winding The sequence of phase U V and W motor lines is incorrect Check the wiring of the motor and of the electromagnetic contactor for winding selection Correct the motor wiring The reference input value exceeds the maximum speed of the low speed winding Check the input reference Reduce the reference value or adjust the gain The low speed winding maxi mum rotation speed was exceeded during low...

Page 275: ...ad Continuous power regeneration exceeded the ratings of the power regeneration converter A mistake occurred when select ing the power regeneration con verter capacity Check the power regeneration con verter capacity and the total output capacity of the SERVOPACK Change the power regeneration con verter capacity The AC power supply voltage is low Measure the power supply voltage Set AC power suppl...

Page 276: ... the installation conditions of the SERVOPACK and reduce the operating ambient temperature The overload alarm has been reset by turning OFF the power too many times Check the alarm history to see if the overload alarm of the SERVO PACK was reported Change the method for resetting the alarm The installation orientation of the SERVOPACK is incorrect or the distance from other equipment is insufficie...

Page 277: ...ute encoder is connected Alarm occurred when the power to the absolute encoder was ini tially turned ON Check to see if the power was turned ON initially Set up the encoder The encoder cable disconnected and connected again Check to see if the power was turned ON initially Confirm the connection and set up the encoder The power from both the control power supply 5 V and the bat tery power supply f...

Page 278: ...an the rated load Check the accumulated load ratio monitor in SigmaWin for the Σ V SD MT to see the load Set the servomotor load within the specified range Encoder failure Turn the power supply OFF and then ON again If the alarm still occurs the servomotor may be faulty Replace the servomotor SERVOPACK failure Turn the power supply OFF and then ON again If the alarm still occurs the SERVOPACK may ...

Page 279: ...er may be faulty Replace the power regeneration converter A BDC Converter Reference Voltage Error 2 An error occurred in the reference voltage output inside the power regeneration converter Power regeneration converter failure The power regeneration converter may be faulty Replace the power regeneration converter A BDD Converter System Error 0 Power regeneration converter failure The power regener...

Page 280: ...d Check the signal wiring of the pulse encoder Correct the wiring of the pulse encoder A C3C Pulse Encoder Phase C Disconnection The signal line for phase C of the pulse encoder is disconnected Check the signal wiring of the pulse encoder Correct the wiring of the pulse encoder A C50 Phase C Not Detected A C50 Magnetic Pole Incorrect Detection The phase C signal of the pulse encoder is not wired c...

Page 281: ...ting Error Encoder failure Turn the power supply OFF and then ON again If the alarm still occurs the servomotor may be faulty Replace the servomotor SERVOPACK failure Turn the power supply OFF and then ON again If the alarm still occurs the SERVOPACK may be faulty Replace the SERVOPACK A C90 Encoder Communications Error Contact fault of encoder connec tor or incorrect encoder wiring Check the enco...

Page 282: ...PACK may be faulty Replace the SERVOPACK A CA0 Encoder Parameter Error Encoder failure Turn the power supply OFF and then ON again If the alarm still occurs the servomotor may be faulty Replace the servomotor SERVOPACK failure Turn the power supply OFF and then ON again If the alarm still occurs the SERVOPACK may be faulty Replace the SERVOPACK A CB0 Encoder Echoback Error The encoder wiring and c...

Page 283: ...r grounding Serial converter unit failure Replace the serial converter unit SERVOPACK failure Replace the SERVOPACK A D00 Position Error Pulse Overflow Position error exceeded the value set in the excessive position error alarm level Pn520 The contact in the servomotor U V and W wirings is faulty Check the motor main circuit cable connection Confirm that there is no contact fault in the motor wiri...

Page 284: ...changed Check the DIP switch settings Turn OFF all pins on the DIP switch S3 A E02 System Alarm 6 SERVOPACK failure The SERVOPACK may be faulty Replace the SERVOPACK A E03 System Alarm 7 A E61 System Alarm 8 A EB1 HWBB Function Signal Input Timing Error The lag between activations of the input signals HWBB1 and HWBB2 for the HWBB function is 10 second or more Measure the time lag between the HWBB1...

Page 285: ...eck to see if the alarm occurs again Install the local bus cable away from the peripheral equipment or replace it with a cable that has a fer rite core The local bus terminator is not installed Make sure the local bus terminator is installed at the terminal SERVO PACK Install the terminator Terminator circuit failure Turn the power supply OFF and then ON again If the alarm still occurs the power r...

Page 286: ...e power supply wiring is faulty Check the power supply wiring Make sure the power supply wiring is correct The three phase power supply is unbalanced Measure the voltage for each phase of the three phase power supply Balance the power supply by chang ing phases An error occurred in the fre quency of the three phase power supply Measure the frequency of the three phase power supply Make sure the po...

Page 287: ...ng Reset the alarm and then reestablish communica tion 0A12h EtherCAT Outputs Data Synchronization Error An EtherCAT communi cation error occurred due to noise Correct the EtherCAT wiring and apply counter measures for noise The controller did not update process data in the regular cycle interval Check the process data that the controller is out putting Correct the controller so that it updates th...

Page 288: ...of the parameter Reset the parameter and then turn ON the power supply again Fault occurred in the SERVOPACK Repair or replace the SERVOPACK 0A48h EEPROM Parameter Data Error The power supply was interrupted during param eter writing Check the timing of the power interruption Initialize the parameter set value object 1011h and then input the param eter again The number of parame ters written excee...

Page 289: ...cur Required A 91B Converter Power Supply Regenerative Overload This warning occurs before the converter power supply regenerative overload alarm A 72B occurs If the warning is ignored and operation continues a converter power supply regenerative overload alarm may occur Required A 921 Dynamic Brake Overload This warning occurs before dynamic brake overload alarm A 730 or A 731 occurs If the warni...

Page 290: ...ing occurs before the motor over heated alarm A 790 occurs If the warning is ignored and operation continues a motor overheated alarm may occur Required A 9A0 Overtravel Overtravel is detected while the servomotor power is ON Required Pn00D 3 cont d Warning Number Warning Name Meaning Reset Setting Parameter ...

Page 291: ...e SERVOPACK A 901 Position Error Overflow Alarm at Servo ON When the servomotor power turns ON the position error exceeded the parameter setting Pn526 Pn528 100 Correct the excessive position error warning level at servo ON Pn528 A 910 Overload Warning before alarm A 710 or A 720 occurs Incorrect wiring or con tact fault of servomotor and encoder Check the wiring Confirm that the servomotor and en...

Page 292: ...ltage within the specified range Power regeneration converter failure Turn the power supply OFF and then ON again If the warning still occurs the power regeneration converter may be faulty Replace the power regenera tion converter A 921 Dynamic Brake Overload Warning before the alarm A 731 occurs The servomotor rotates because of external force Check the operation status Take measures to ensure th...

Page 293: ...Measure the power supply voltage Improve the power supply conditions SERVOPACK failure The SERVOPACK may be faulty Replace the SERVOPACK A 97D Converter Heat Sink Overheated The operating ambient temperature is high Check the operating ambient tempera ture using a thermometer Improve the installation conditions of the power regeneration converter and reduce the operating ambient tempera ture The o...

Page 294: ...9A0 Overtravel Overtravel status is detected When the servomotor power is ON over travel status is detected Check the status of the overtravel sig nals using the host controller Refer to 11 5 Troubleshooting Mal function Based on Operation and Conditions of the Motor Even if over travel signals were not shown momentary overtravel may have been detected Do the following Do not specify movements tha...

Page 295: ...in the SERVOPACK by using emergency messages The Emergency Telegram consists of eight bytes with the data as shown in table below 1 Manufacturer specific error code FF00h is always used 2 For details on alarms and warnings of the SERVOPACK refer to 11 2 Alarm Displays and 11 3 Warning Displays Byte 0 1 2 3 4 5 6 7 Content Emergency Error Code FF00h 1 Error Register Object 1001h Reserved Manufactur...

Page 296: ...nable opera tion is not sent Check the command sent from the host controller Send the SV_ON command Enable operation The forward run prohibited P OT and reverse run prohibited N OT input signals are turned OFF Check P OT or N OT input signal Turn P OT or N OT input signal ON The safety input signal HWBB1 or HWBB2 remains OFF Check the HWBB1 and HWBB2 input signal Set the HWBB1 and HWBB2 input sign...

Page 297: ...ce the encoder cable and mod ify the encoder cable layout Excessive noise to the encoder cable Check if the encoder cable is bun dled with a high current line or near a high current line Correct the encoder cable layout so that no surge is applied The FG potential varies because of influence from machines on the ser vomotor side such as the welder Check if the machines are correctly grounded Prope...

Page 298: ...amaged encoder cable Check if the encoder cable is bent or if its sheath is damaged Replace the encoder cable and cor rect the encoder cable layout Excessive noise interference at the encoder cable Check if the encoder cable is bun dled with a high current line or near high current line Change the encoder cable layout so that no surge is applied FG potential varies because of influence of machines...

Page 299: ...ed cables or loose screws Correct the overtravel limit switch wiring Incorrect forward or reverse run prohibited signal P OT N OT allocation parameters Pn50A 3 Pn50B 0 Check if the P OT signal is allo cated in Pn50A 3 If another signal is allocated in Pn50A 3 allocate P OT Check if the N OT signal is allo cated in Pn50B 0 If another signal is allocated in Pn50B 0 allocate N OT Incorrect motor stop...

Page 300: ...ssive vibration and shock to the encoder Check if vibration from the machine occurred or motor installation is incorrect mounting surface accu racy fixing alignment etc Reduce the machine vibration or mount the motor securely Unsecured coupling between machine and motor Check if a position error occurs at the coupling between machine and motor Secure the coupling between the machine and motor Nois...

Page 301: ...12 1 Appendix 2 1 12 Appendix 12 1 SERVOPACK Parameters 12 2 12 2 Parameter Recording Table 12 26 12 3 Index Numbers and Corresponding Parameter Numbers 12 32 ...

Page 302: ...00 Index number for axis 1 2040h Add 400 hex to calculate the index number for axis 2 Index number for axis 2 2440h Parameter No Index No Size Name Setting Range Units Factory Setting When Enabled Classification Motor Type Reference Section Pn000 2000h 2 Basic Function Select Switch 0 0000 to 00B3 0000 After restart Setup spindle motor servo motor Direction Selection Reference Section 0 Forward re...

Page 303: ...motor coast to a stop state without using the DB Overtravel OT Stop Mode Reference Section 0 Same setting as Pn001 0 Stops the motor by applying DB or by coasting 8 4 2 1 Sets the torque of Pn406 to the maximum value decelerates the motor to a stop and then sets it to servolock state 2 Sets the torque of Pn406 to the maximum value decelerates the motor to a stop and then sets it to coasting state ...

Page 304: ...ion error 0 05 V 1 reference unit 04 Position amplifier error 0 05 V 1 encoder pulse unit 05 Position reference speed 1 V 1000 min 1 06 Reserved Do not change 07 Motor external encoder position error 0 01 V 1 reference unit 08 Positioning completion positioning completed 5 V positioning not completed 0 V 09 Speed feedforward 1 V 1000 min 1 0A Torque feedforward 1 V 100 0B Reserved Do not change 0C...

Page 305: ...ange 07 Motor external encoder position error 0 01 V 1 reference unit 08 Positioning completion positioning completed 5 V positioning not completed 0 V 09 Speed feedforward 1 V 1000 min 1 0A Torque feedforward 1 V 100 0B Reserved Do not change 0C Completion of position reference completed 5 V not completed 0 V 0D External encoder speed 1 V 1000 min 1 46 Load meter 6 V 100 47 Quadrant error compens...

Page 306: ...on Reserved Do not change Alarm Gr 2 Stop Method Selection Reference Section 0 Stops the motor by setting the speed reference to 0 8 4 4 1 Same setting as Pn001 0 Stops the motor by applying DB or by coasting Reserved Do not change Reserved Do not change 4th 3rd 2nd 1st digit digit digit digit n Reserved Do not change Reserved Do not change Fan Stop Error Detection Selection When Enabled 0 Issues ...

Page 307: ...rgency stop signal 1 Enables the emergency stop signal Contactor Control Function Selection 0 Disables MCON signal 1 Enables MCON signal Reserved Do not change Reserved Do not change 4th 3rd 2nd 1st digit digit digit digit n Load Ratio Output Level Selection 0 Outputs a load ratio of 120 for the 10 s rated output of the motor 1 Outputs a load ratio of 100 for the 10 s rated output of the motor 2 O...

Page 308: ...nce Section Motor Type 0 Servomotor 1 SPM type spindle motor under development 2 Induction type servomotor under development 3 Spindle motor 4 IPM type servomotor under development 5 IPM type spindle motor 6 IPM built in spindle motor Winding Selection 0 None 1 Mechanical winding selection 2 Reserved Do not change 3 Uses external DB by CN3 Reserved Do not change Reserved Do not change 4th 3rd 2nd ...

Page 309: ...ng 0 Disables predictive function 1 Enables predictive function Quadrant Projection Compensation at Cutting 0 Disables quadrant projection compensation function 1 Enables quadrant projection compensation function Reserved Do not change Reserved Do not change 4th 3rd 2nd 1st digit digit digit digit n Control Method 0 No function 1 Uses internal speed FF 2 Uses model following control Reserved Do no...

Page 310: ...s 2000 Immedi ately Tuning spindle motor servo motor Pn106 2041h 3 2 2nd Position Loop Gain 10 to 20000 0 1 s 400 Immedi ately Tuning spindle motor servo motor Pn109 2061h 2 Feedforward Gain 0 to 100 1 0 Immedi ately Tuning spindle motor servo motor Pn10A 2062h 2 Feedforward Filter Time Constant 0 to 6400 0 01 ms 0 Immedi ately Tuning spindle motor servo motor Pn10B 2065h 2 Application Function fo...

Page 311: ...n 10 to 20000 0 1 s 400 Immedi ately Tuning spindle motor servo motor Pn12E 2043h 1 2 4rd Speed Loop Gain 10 to 20000 0 1 Hz 400 Immedi ately Tuning spindle motor servo motor Pn12F 2043h 2 2 4rd Speed Loop Integral Time Constant 15 to 51200 0 01 ms 2000 Immedi ately Tuning spindle motor servo motor Pn130 2043h 3 2 4rd Position Loop Gain 10 to 20000 0 1 s 400 Immedi ately Tuning spindle motor servo...

Page 312: ...ion Select Switch 0000 to 0014 0012 After restart Setup spindle motor servo motor Pn151 208Ah 2 2 Predictive Control Acceleration Decelera tion Gain 0 to 300 1 100 Immedi ately Tuning spindle motor servo motor Pn152 208Ah 3 2 Predictive Control Ratio of Weight 0 to 300 1 100 Immedi ately Tuning spindle motor servo motor Pn153 208Ah 4 2 Predictive Control Equivalent Kp Ratio 10 to 300 1 100 Immedi ...

Page 313: ...ntrol Equivalent Kp Fine Adjustment Amount 10000 to 32767 0 1 s 0 Immedi ately Tuning spindle motor servo motor Pn160 206Bh 1 2 Anti Resonance Control Related Switch 0000 to 0011 0010 Immedi ately Tuning spindle motor servo motor 9 5 Pn161 206Bh 2 2 Anti Resonance Frequency 10 to 20000 0 1 Hz 1000 Immedi ately Tuning spindle motor servo motor Pn162 206Bh 3 2 Anti Resonance Gain Compensation 1 to 1...

Page 314: ...le motor servo motor Pn210 4 Reserved Do not change spindle motor servo motor Pn22A 2083h 2 Fully closed Control Selection Switch 0000 to 1003 0000 After restart Setup spindle motor servo motor Pn230 20D0h 1 4 Number of Encoder Pulse 100 to 1048576 Pitch Rev 1024 After restart Setup spindle motor Pn232 20D0h 2 2 C Phase Compensation Width 8 to 8 pulse 0 After restart Setup spindle motor Pn233 20D0...

Page 315: ...100 Immedi ately Tuning spindle motor servo motor Pn402 20A0h 1 2 Forward Torque Limit 0 to 800 1 800 Immedi ately Setup servo motor Pn403 20A0h 2 2 Reverse Torque Limit 0 to 800 1 800 Immedi ately Setup servo motor Pn404 20A3h 1 2 Forward External Torque Limit 0 to 800 1 100 Immedi ately Setup servo motor Pn405 20A3h 2 2 Reserve External Torque Limit 0 to 800 1 100 Immedi ately Setup servo motor ...

Page 316: ...r Pn412 2041h 4 2 1st Step 2nd Torque Reference Filter Time Constant 0 to 65535 0 01 ms 100 Immedi ately Tuning spindle motor servo motor Pn413 2042h 4 2 1st Step 3rd Torque Reference Filter Time Constant 0 to 65535 0 01 ms 100 Immedi ately Tuning spindle motor servo motor cont d Parameter No Index No Size Name Setting Range Units Factory Setting When Enabled Classification Motor Type Reference Se...

Page 317: ... Filter Q Value 50 to 1000 0 01 70 Immedi ately Tuning spindle motor servo motor Pn41C 20A9h 13 2 4rd Notch Filter Depth 0 to 1000 0 001 0 Immedi ately Tuning spindle motor servo motor Pn430 20AAh 1 2 Torque Limit Powering 0 to 800 1 150 Immedi ately Setup spindle motor Pn431 20AAh 2 2 Torque Limit Regeneration 0 to 800 1 150 Immedi ately Setup spindle motor Pn432 20ABh 1 2 Motor Flux Lower Level ...

Page 318: ...Integral Time 15 to 51200 0 01 ms 3000 Immedi ately Tuning spindle motor servo motor Pn486 20C8h 4 2 Magnetic Pole Detection Command Acceleration Deceleration Time 0 to 100 1 ms 25 Immedi ately Tuning spindle motor servo motor Pn487 20C8h 5 2 Magnetic Pole Detection Command Constant Speed Time 0 to 300 1 ms 0 Immedi ately Tuning spindle motor servo motor Pn488 20C8h 6 2 Magnetic Pole Detection Com...

Page 319: ...1st Positive Projection Compensation Gain 0 to 65535 100000 s3 10000 Immedi ately Setup spindle motor servo motor Pn4F1 20ADh 2 2 1st Positive Projection Compensation Limit Offset 0 to 30000 0 01 0 Immedi ately Setup spindle motor servo motor Pn4F2 20ADh 3 2 2nd Positive Projection Compensation Gain 0 to 65535 100000 s3 1000 Immedi ately Setup spindle motor servo motor Pn4F3 20ADh 4 2 2nd Positive...

Page 320: ...ction Compensa tion Timing Constant 350 to 32767 0 1 s 0 Immedi ately Setup spindle motor servo motor Pn501 2100h 1 2 Zero Clamp Level 0 to 10000 1 min 1 10 Immedi ately Setup spindle motor servo motor Pn502 2100h 2 2 Rotation Detection Level 1 to 10000 1 min 1 20 Immedi ately Setup servo motor Pn503 2100h 3 2 Speed Coincidence Signal Output Width 0 to 100 1 min 1 10 Immedi ately Setup servo motor...

Page 321: ...rd digit 2nd digit 1st digit n 0 to 7 8 9 to F Forward run allowed when P OT input signal is ON L level Forward run allowed Forward run allowed when P OT input signal is OFF H level P OT Signal Mapping Reference Section Reserved Do not change Reserved Do not change Reserved Do not change 7 2 5 N OT Signal Mapping Reference Section 0 to 7 Reverse run allowed when N OT input signal is ON L level 7 2...

Page 322: ...1 Pn522 2102h 3 4 Positioning Completed Width 0 to 1073741824 1 refer ence unit 7 Immedi ately Setup spindle motor servo motor cont d Parameter No Index No Size Name Setting Range Units Factory Setting When Enabled Classification Motor Type Reference Section Reserved Do not change Probe1 Input Signal Allocation 0 to 7 Input Probe1 signal from input terminal 8 to F Input reversed Probe1 signal from...

Page 323: ... 2142h 1 2 Program JOG Operation Related Switch 0000 to 0005 0000 Immedi ately Setup spindle motor servo motor Pn531 2142h 2 4 Program JOG Movement Distance 1 to 1073741824 1 refer ence unit 32768 Immedi ately Setup spindle motor servo motor cont d Parameter No Index No Size Name Setting Range Units Factory Setting When Enabled Classification Motor Type Reference Section Program JOG Operation Swit...

Page 324: ...ed Coincidence Detection Width 10 to 50 1 15 Immedi ately Setup spindle motor Pn543 2098h 3 2 Speed Detection Level 0 to 10000 0 01 1000 Immedi ately Setup spindle motor Pn544 2098h 4 2 Speed Detection Hysteresis 0 to 10000 0 01 100 Immedi ately Setup spindle motor Pn545 2098h 5 2 Speed Error Excessive Protection Select Switch 0000 to 0031 0000 Immedi ately Setup spindle motor cont d Parameter No ...

Page 325: ...10000 to 10000 0 01 100 Immedi ately Setup spindle motor servo motor Pn561 2148h 2 Overshoot Detection Level 0 to 100 1 50 Immedi ately Setup spindle motor servo motor 9 2 1 9 3 1 Pn601 2114h 2 DB Resistor Capacity 0 to 65535 10 W 0 After restart Setup spindle motor servo motor Pn630 2118h 1 2 Emergency Stop Execution Delay Time 0 to 10000 1 ms 0 Immedi ately Setup spindle motor servo motor Pn631 ...

Page 326: ...rt Pn01E 2030h 3 0000 Application Function Select Switch 1E After restart Pn01F 2030h 4 0000 Application Function Select Switch 1F After restart Pn030 0000 Reserved Do not change Pn070 2030h 5 0000 Function at Cutting Feed After restart Pn071 2030h 6 0000 Function at Fast forward After restart Pn07F 2030h 7 0000 Application Function Select Switch 7F After restart Pn100 2040h 1 400 Speed Loop Gain ...

Page 327: ...everse Direction Immediately Pn147 206Ah 8 1000 Model Following Control Speed Feedforward Compen sation Immediately Pn150 208Ah 1 0012 Predictive Control Function Select Switch After restart Pn151 208Ah 2 100 Predictive Control Accelera tion Deceleration Gain Immediately Pn152 208Ah 3 100 Predictive Control Ratio of Weight Immediately Pn153 208Ah 4 100 Predictive Control Equivalent Kp Ratio Immedi...

Page 328: ...h 300 Moment of Inertia Calculating Start Level Immediately Pn401 2040h 4 100 1st Step 1st Torque Reference Filter Time Constant Immediately Pn402 20A0h 1 800 Forward Torque Limit Immediately Pn403 20A0h 2 800 Reverse Torque Limit Immediately Pn404 20A3h 1 100 Forward External Torque Limit Immediately Pn405 20A3h 2 100 Reverse External Torque Limit Immediately Pn406 20A2h 800 Emergency Stop Torque...

Page 329: ...Ratio Meter Filter Time Constant Immediately Pn456 2146h 4 15 Sweep Torque Reference Amplitude Immediately Pn460 20A9h 7 0101 Notch Filter Adjustment Switch Immediately Pn481 20C8h 1 40 Magnetic Pole Detection Speed Loop Gain Immediately Pn482 20C8h 2 30 Magnetic Pole Detection Speed Integral Time Immediately Pn486 20C8h 4 25 Magnetic Pole Detection Command Acceleration Deceleration Time Immediate...

Page 330: ...ng Constant Immediately Pn501 2100h 1 10 Zero Clamp Level Immediately Pn502 2100h 2 20 Rotation Detection Level Immediately Pn503 2100h 3 10 Speed Coincidence Signal Output Width Immediately Pn506 2112h 1 0 Brake Reference Servo OFF Delay Time Immediately Pn507 2112h 2 100 Brake Reference Output Speed Level Immediately Pn508 2112h 4 50 Waiting Time for Brake Signal When Motor Running Immediately P...

Page 331: ...n536 2142h 6 1 Number of Times of Program JOG Movement Immediately Pn541 2098h 1 65535 Rated Speed Setting After restart Pn542 2098h 2 15 Speed Coincidence Detection Width Immediately Pn543 2098h 3 1000 Speed Detection Level Immediately Pn544 2098h 4 100 Speed Detection Hysteresis Immediately Pn545 2098h 5 0000 Speed Error Excessive Protec tion Select Switch Immediately Pn550 2116h 1 0 Analog Moni...

Page 332: ...D Application Function Select Switch D 2030h 1 Pn01B Application Function Select Switch 1B 2030h 2 Pn01C Application Function Select Switch 1C 2030h 3 Pn01E Application Function Select Switch 1E 2030h 4 Pn01F Application Function Select Switch 1F 2030h 5 Pn070 Function at Cutting Feed 2030h 6 Pn071 Function at Fast forward 2030h 7 Pn07F Application Function Select Switch 7F 2040h 1 Pn100 Speed Loo...

Page 333: ... Function Select Switch 208Ah 2 Pn151 Predictive Control Acceleration Deceleration Gain 208Ah 3 Pn152 Predictive Control Ratio of Weight 208Ah 4 Pn153 Predictive Control Equivalent Kp Ratio 208Ah 5 Pn154 Predictive Control Speed FF Gain 208Ah 6 Pn155 Predictive Control Torque FF Gain 208Ah 7 Pn156 Predictive Control Torque FF Filter Time Constant 208Ah 8 Pn157 Predictive Control Parameter Kph C 20...

Page 334: ...ojection Compensation Gain 20ADh 4 Pn4F3 2nd Positive Projection Compensation Limit Offset 20ADh 5 Pn4F4 Positive Projection Compensation Limit Change Value 20ADh 6 Pn4F5 Positive Projection Compensation Limit Clamp Value 20ADh 7 Pn4F6 1st Negative Projection Compensation Gain 20ADh 8 Pn4F7 1st Negative Projection Compensation Limit Offset 20ADh 9 Pn4F8 2nd Negative Projection Compensation Gain 20...

Page 335: ...oad Warning Level 2104h 2 Pn52C Derating of Base Current at Detecting Overload of Motor 2110h 1 Pn50A Input Signal Selection 1 2110h 2 Pn50B Input Signal Selection 2 2110h 3 Pn511 Probe1 Probe2 HOME Input Signal setting 2110h 4 Pn517 OT Function 2112h 1 Pn506 Brake Reference Servo OFF Delay Time 2112h 2 Pn507 Brake Reference Output Speed Level 2112h 4 Pn508 Waiting Time for Brake Signal When Motor...

Page 336: ...12 Appendix 12 36 5C00h Pn010 SERVOPACK Address for USB Local bus communication cont d Index Number Parameter Name ...

Page 337: ...5 D DC bus 7 26 DC bus voltage iii decelerate to a stop 8 10 device control 8 5 discharge time of main circuit capacitor 7 19 Distributed Clocks 4 9 drive profile 8 5 dynamic brake 8 10 E emergency stop torque 8 10 EtherCAT CoE communications 8 3 EtherCAT CoE commands 8 3 EtherCAT commands 4 9 EtherCAT communications 4 9 EtherCAT secondary address 8 3 EtherCAT state machine 8 4 F ferrite core 10 4...

Page 338: ...23 vibration resistance 3 23 SERVOPACK iii 4 6 external dimensions 4 13 specifications 4 6 single winding motors 3 3 3 5 3 13 Slave Information IF 4 9 spindle motor 3 2 application selection 8 22 configuration 3 2 coupling motor and machinery 6 4 enclosure 6 3 encoder type setting 8 22 encoder wiring 7 7 external dimensions 3 13 installation environment 6 2 installation orientation 6 3 main circui...

Page 339: ... the revised manuals are given on the bottom of the back cover Date of Publication Rev No Section Revised Content March 2013 First edition MANUAL NO ޓ SIEP S800000 94A Published in Japan March 2013 13 3 Date of publication Date of original publication ...

Page 340: ...hai 200003 China Phone 86 21 5385 2200 Fax 86 21 5385 3299 YASKAWA ELECTRIC CHINA CO LTD BEIJING OFFICE Room 1011 Tower W3 Oriental Plaza No 1 East Chang An Ave Dong Cheng District Beijing 100738 China Phone 86 10 8518 4086 Fax 86 10 8518 4082 YASKAWA ELECTRIC TAIWAN CORPORATION 9F 16 Nanking E Rd Sec 3 Taipei 104 Taiwan Phone 886 2 2502 5003 Fax 886 2 2505 1280 In the event that the end user of t...

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