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YASKAWA Sigma-II Series, User Manual


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SGMAH/SGMPH/SGMGH/SGMSH/SGMDH/SGMCS Servomotors

SGDM SERVOPACK

Σ

-

II

 Series

AC Servo Drives

USER'S MANUAL 

Outline

Selections

Servomotor Specifications and

Dimensional Drawings

SERVOPACK Specifications and

Dimensional Drawings

Specifications and Dimensional Drawings of

Cables and Peripheral Devices

Wiring

Digital Operator/Panel Operator

Operation

Adjustments

Upgraded Versions

Inspection, Maintenance,

and Troubleshooting

Appendix

MANUAL NO.  SIEP S800000 15D

1
2
3
4
5
6
7
8
9

10

11

12

C

N

3

C

N

1

L1C

L2C

B1
B2

U

V

W

L1

L2

+ 1

MODE/SET

DATA/

CHARGE

POWER

C

N

SGDM-

SERVOPACK

200V

YASKAWA

+ 2

-

モーションコントロール事業部（A4）（英文）

SGM



/SGDM

Summary of Contents for Sigma-II Series

Page 1: ...s and Dimensional Drawings Specifications and Dimensional Drawings of Cables and Peripheral Devices Wiring Digital Operator Panel Operator Operation Adjustments Upgraded Versions Inspection Maintenanc...

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

Page 3: ...servo drives Description of Technical Terms The terms in this manual are defined as follows Servomotor or motor II Series SGMAH SGMPH SGMGH SGMSH SGMDH SGMCS servomo tor SERVOPACK II Series SGDM ampli...

Page 4: ...al Chapter SERVOPACKs Servomotors and Peripheral Devices Ratings and Character istics System Design Panel Configura tion and Wiring TrialOperation and Servo Adjustment Inspection and Maintenance Chapt...

Page 5: ...34 Provides detailed information on the operating method of JUSP OP02A 2 type Digital Operator option device Series II Series SERVOPACKs Personal Computer Monitoring Software Operation Manual SIE S800...

Page 6: ...injury Indicates precautions that if not heeded could result in relatively serious or minor injury damage to the product or faulty operation In some situations the precautions indicated could have ser...

Page 7: ...to be sure that it is correct If Fn013 is executed when an incorrect value is set in Pn205 an incorrect value will be set in the encoder The alarm will disappear even if an incorrect value is set but...

Page 8: ...or damage to the product Do not hold the product by the cables or motor shaft while transporting it Failure to observe this caution may result in injury or malfunction Do not place any load exceeding...

Page 9: ...nectors Do not bundle or run power and signal lines together in the same duct Keep power and signal lines separated by at least 30 cm Failure to observe this caution may result in malfunction Use twis...

Page 10: ...product Connect the brake power supply properly keeping in mind the difference of 90 V and 24 V power supplies Install external breakers or other safety devices against short circuiting in external wi...

Page 11: ...inertia ratio may cause vibration Do not touch the SERVOPACK heatsinks regenerative resistor or servomotor while power is ON or soon after the power is turned OFF Failure to observe this caution may r...

Page 12: ...amples and may not match the product you received This manual is subject to change due to product improvement specification modification and manual improvement When this manual is revised the manual c...

Page 13: ...2 CE Marking 1 11 1 5 II Series SGDM SERVOPACK Upgraded Functions 1 12 2 Selections 2 1 Servomotor Model Designations 2 2 2 1 1 Model SGMAH 3000 min 1 2 2 2 1 2 Model SGMPH 3000 min 1 2 4 2 1 3 Model...

Page 14: ...atings and Specifications of SGMGH 1000 min 1 3 22 3 4 1 SGMGH Servomotors 1000 min 1 Without Gears 3 22 3 4 2 SGMGH servomotors 1000 min 1 With Standard Backlash Gears 3 24 3 4 3 SGMGH Servomotors 10...

Page 15: ...backlash Gears 3 76 3 14 Dimensional Drawing of Output Shafts With Oil Seals for SGMAH and SGMPH Servomotors 3 79 3 14 1 SGMAH Servomotors 3 79 3 14 2 SGMPH Servomotors 3 79 3 15 Dimensional Drawings...

Page 16: ...nd Dimensional Drawings 4 1 SERVOPACK Ratings and Specifications 4 3 4 1 1 Single phase 100 V 4 3 4 1 2 Single phase Three phase 200 V 4 3 4 1 3 SERVOPACK Ratings and Specifications 4 4 4 2 SERVOPACK...

Page 17: ...rcuit Cable 5 3 5 1 1 Cables for SGMAH and SGMPH Servomotors Without Brakes 5 3 5 1 2 Cables for SGMAH and SGMPH Servomotors With Brakes 5 3 5 1 3 Flexible Cables for SGMAH and SGMPH Servomotors Witho...

Page 18: ...48 5 5 Connectors and Cables for Encoder Signals 5 50 5 5 1 Connectors and Cables for SGMAH and SGMPH Servomotors 5 50 5 5 2 Connectors and Cables for SGMGH SGMSH and SGMDH Servomotors 5 52 5 5 3 Con...

Page 19: ...nditions on 400 V Power Supply Voltage 6 28 6 4 8 DC Reactor for Harmonic Suppression 6 29 6 5 Connecting Regenerative Resistors 6 30 6 5 1 Regenerative Power and Regenerative Resistance 6 30 6 5 2 Co...

Page 20: ...ction 8 19 8 3 3 Setting the Overtravel Limit Function 8 20 8 3 4 Setting for Holding Brakes 8 22 8 3 5 Selecting the Stopping Method After Servo OFF 8 27 8 3 6 Instantaneous Power Loss Settings 8 28...

Page 21: ...que Limit and Analog Voltage Reference 8 72 8 9 5 Checking Output Torque Limiting during Operation 8 73 8 10 Control Mode Selection 8 74 8 10 1 Setting Parameters 8 74 8 10 2 Switching the Control Mod...

Page 22: ...drive Motor Supporting Function 10 4 10 3 2 Improvement of Dividing Output Resolution 10 7 10 3 3 Reference Pulse Input Multiplication Switching Function 10 9 10 3 4 Second Stage Notch Filter and Chan...

Page 23: ...MC20 12 17 12 2 4 Example of Connection to MEMOCON GL60 70 Series Positioning Module B2813 SERVOPACK in Position Control Mode 12 18 12 2 5 Example of Connection to OMRON s Motion Control Unit 12 19 12...

Page 24: ...4 1 2 2 SERVOPACKs 1 6 1 3 Examples of Servo System Configurations 1 8 1 3 1 Single phase 100 V and 200 V Main Circuit 1 8 1 3 2 Three phase 200 V Main Circuit 1 9 1 3 3 Connecting to SGMCS Servomoto...

Page 25: ...Servomotors with brakes however cannot be turned manually Is there any damage Check the overall appearance and check for damage or scratches that may have occurred during shipping AC SERVO MOTOR YASKA...

Page 26: ...Servomotor model Ratings Serial number Nameplate 1 Order number SGMCS Middle capacity series Serial number S N YASKAWA ELECTRIC MADE IN JAPAN 412808 15 1 SERVOPACK MODEL AC INPUT AC OUTPUT VOLTS Hz PH...

Page 27: ...capacity series Flange Output shaft Nameplate Encoder connector Servomotor connector Servomotor main circuit cable Encoder cable Encoder Detecting section Flange Nameplate Encoder connector Encoder D...

Page 28: ...1 2 Product Part Names 1 5 1 Outline 4 SGMCS Direct drive Middle capacity series Rotating axis Mounting flange Frame Motor connector Encoder connector Nameplate...

Page 29: ...ect external regenerative resistors Refer to 6 5 Connecting Regenerative Resistors Regenerative resistor connecting terminals Refer to 6 1 Wiring Main Circuit Ground terminal Be sure to connect to pro...

Page 30: ...ASKAWA Panel display Power indicator Panel operator Charge indicator L1C CN1 CN2 L2C Main circuit power supply terminals L1 L2 L3 Servomotor terminals U V W Regenerative resistor connecting terminals...

Page 31: ...SET DATA CHARGE POWER C N SGDM SERVOPACK 200V YASKAWA 2 Regenerative resistor Magnetic contactor Connect an external regenerative resistor to terminals B1 and B2 if the regenerative capacity is insuff...

Page 32: ...nerative resistor to terminals B1 and B2 if the regenerative capacity is insufficient Refer to 5 8 6 Used for a servomotor with a brake Refer to 5 8 5 Turns the brake power supply ON and OFF Install a...

Page 33: ...iminate external noise from the power line Refer to 5 8 10 Magnetic contactor Turns the servo ON and OFF Install a surge absorber Refer to 5 8 11 Regenerative resistor Connect an external regenerative...

Page 34: ...SERVOPACKs and servomotors are built in type reconfirmation is required after being installed in the final product Model UL 1 Standards UL File No CSA 2 Standards Certifications SERVOPACK SGDM UL508C...

Page 35: ...en using an absolute encoder N A Applicable 8 4 7 Multiturn limit disagreement alarm detection To detect the alarm A CC when the multiturn limit value set in the encoder does not agree with that in th...

Page 36: ...auto matically carried out according to the conditions of position refer ence and position error N A Applicable 10 3 5 Increase momentof inertia ratio range The setting range 0 to 10 000 of moment of...

Page 37: ...Applicable Servomotors 2 15 2 3 1 SGDM SERVOPACKs and SGM H Servomotors 2 15 2 3 2 SGDM SERVOPACKs and SGMCS Servomotors 2 16 2 4 Selecting Cables 2 17 2 4 1 Cables for SGMAH and SGMPH Servomotors 2...

Page 38: ...ated Output 0 03 0 05 0 1 0 2 0 4 0 75 A B 3rd digit Voltage A 200V B 100V Code 1 4 A B Remarks Standard Standard Option Specifications 16 bit absolute encoder 16 bit absolute encoder with super capac...

Page 39: ...he number of encoder pulses 2048 P Rev Available 1st 2nd digits 3rd digit 4th digit 5th digit 6th digit 7th digit 8th digit 9th digit 1 2 D 10th digit Connector Code Blank D Specifications Standard Wa...

Page 40: ...oder 16 bit incremental encoder The number of encoder pulses 16384 P Rev The number of encoder pulses 2048 P Rev Option 1 1 1 2 1 2 5th digit Design Revision Order 6th digit Shaft End Code 2 4 6 8 Rem...

Page 41: ...ke Code 1 B C Specifications Without brake With 90 VDC brake With 24 VDC brake 1st 2nd digits 3rd digit 4th digit 5th digit 6th digit 7th digit 8th digit 9th digit Available 1 D 10th digit Connector C...

Page 42: ...10 with woodruff key Straight with key and tap 4th digit Serial Encoder Code 2 C Remarks Specifications 17 bit absolute encoder 17 bit incremental encoder Code A C Specifications Standard For high pe...

Page 43: ...l Low backlash The number of encoder pulses 32768 P Rev Applicable only for models SGMGH 05 to 44 With standard backlash gears P 5th digit Design Revision Order 9th digit Brake Code 1 B C Specificatio...

Page 44: ...6 0 9 1 2 2 0 3 0 4 0 5 5 A 5th digit Design Revision Order Code B D Specifications Standard For high performance machine tool SGMGH 12 A C B 2 1 7th digit Brake and Oil Seal Code 1 B C D E S Specifi...

Page 45: ...ithout brake With 90 VDC brake With 24 VDC brake A B C 7 1 6 1 11 1 21 1 29 03P 06P 09P 12P 20P 30P 40P 55P 03P 06P 09P 12P 20P 30P 40P 55P A B C 7 1 6 1 11 1 21 1 29 Standard 1st 2nd digits 3rd digit...

Page 46: ...ode 1 B C D E S Specifications Without options With 90 VDC brake With 24 VDC brake With oil seal and 90 VDC brake With oil seal and 24 VDC brake With oil seal Code 10 15 20 30 40 50 Rated Output 1 0 1...

Page 47: ...Specifications Standard L 9th digit Brake Code 1 B C Specifications Without brake With 90 VDC brake With 24 VDC brake 1st 2nd digits 3rd digit 4th digit 5th digit 6th digit 7th digit 8th digit 9th di...

Page 48: ...l seal and 24 VDC brake With oil seal Code A Specifications Standard 6th digit Shaft End Code 2 6 Remarks Standard Option Specifications Straight without key Straight with key and tap Code 22 32 40 Ra...

Page 49: ...mental encoder 7th digit Brake Code 1 Specifications Without brake 1st 2nd digits Rated Torque N m 3rd digit Servomotor Outer Diameter mm Code Specifi cations Remarks Standard Option 5th digit Design...

Page 50: ...Voltage 6th digit Option Code P R Specificatioins Base mounted Duct ventilated Rack mounted Rated Output of Applicable Servomotor kW 0 03 to 15 0kW 6 0 to 15 0kW 0 03 to 5 0kW 10 SGDM D Single Three...

Page 51: ...08AD 08ADA SGMPH Flat Type 3000 min 1 5 models 01 100 W 01BD 01BDA 01AD 01ADA 02 200 W 02BD 02BDA 02AD 02ADA 04A 400 W 04AD 04ADA 08A 750 W 08AD 08ADA 15A 1 5 kW 15AD 15ADA SGMGH High Speed Feed 1500...

Page 52: ...ervomotor can t be used with the SGDM D and SGDM SERVOPACK with software version 31 or earlier II Series SGMCS Servomotor II Series SGDM SERVOPACK Single phase 200 VAC Three phase 200 VAC SGMCS Direct...

Page 53: ...2 Selections 2 4 Selecting Cables 2 4 1 Cables for SGMAH and SGMPH Servomotors Contact Yaskawa Controls Co Ltd YASKAWA SERVOPACK SGDM 200V L1 L2 L3 U V W L1C L2 B1 B2 B3 3 1 2 C N 3 C N 1 C N 2 2 MODE...

Page 54: ...5 20 m JZSP CMP10 20 Flexible type cable with loose wire at encoder end 3 m JZSP CMP13 03 5 m JZSP CMP13 05 10 m JZSP CMP13 10 15 m JZSP CMP13 15 20 m JZSP CMP13 20 Cable with a water proof connector...

Page 55: ...0 V 100 W to 750 W 100 V 100 W and 200 W 3 m JZSP CMM01 03 5 1 3 5 m JZSP CMM01 05 10 m JZSP CMM01 10 15 m JZSP CMM01 15 20 m JZSP CMM01 20 With brakes SGMAH 200 V 30 W to 750 W 100 V 30 W to 200 W SG...

Page 56: ...9328645 2 10 m DP9328645 3 15 m DP9328645 4 20 m DP9328645 5 SGMPH 15 1 5 kW 3 m DP9328646 1 5 m DP9328646 2 10 m DP9328646 3 15 m DP9328646 4 20 m DP9328646 5 For standard environment connector kit w...

Page 57: ...CMP02 20 For standard environment encoder end connector MS3106B20 29S Straight plug 5 4 4 5 5 2 MS3108B20 29S L shaped plug MS3057 12A Cable clamp For IP67 specification encoder end connector JA06A 2...

Page 58: ...m JZSP CMP11 15 20 m JZSP CMP11 20 3m JZSP CMP12 03 With an L shaped plug 5 m JZSP CMP12 05 10 m JZSP CMP12 10 15 m JZSP CMP12 15 20 m JZSP CMP12 20 Flexible type cable with loose wire at encoder end...

Page 59: ...Encoder cable SGMCS Servomotor C N 3 C N 1 L1C L2C B1 B2 U V W L1 L2 1 MODE SET DATA CHARGE POWER C N SGDM SERVOP ACK 200V Y ASKAW A 2 A Relay encoder cable Encoder end C N 3 C N 1 L1C L2C B1 B2 U V...

Page 60: ...Cables 5 m JZSP CMP09 05 JZSP CSP39 05 20 m max 10 m JZSP CMP09 10 JZSP CSP39 10 15 m JZSP CMP09 15 JZSP CSP39 15 20 m JZSP CMP09 20 JZSP CSP39 20 d Servomo tor main circuit cables and connectors With...

Page 61: ...td 3 For applicable flanges refer to 2 1 7 Model SGMCS f Wires and Connectors for Relay Encoder Cable Extensions Wires and connectors for relay encoder cable exten sions are available for as sembly by...

Page 62: ...ital Operator 1 m JZSP CMS00 1 1 5 m JZSP CMS00 2 2 m JZSP CMS00 3 Order your cable from Yaskawa Controls Co Ltd in the following cases When you need a longer cable than the one supplied with the digi...

Page 63: ...4559 5 8 3 h Battery for Absolute Encoder JZSP BA01 To mount in the SERVOPACK 30 W to 5 0 kW 5 8 8 JZSP BA01 1 To mount in the SERVOPACK 6 0 kW to 15 0 kW ER6VC3 To connect to a host controller pro vi...

Page 64: ...protector to protect the system against overload and short circuit or protective grounding combined with the molded case circuit breaker Main Circuit Power Supply SERVOPACK Model Power Supply Capacit...

Page 65: ...e phase 250 VAC 6 A HI 11J 20 A TU 25C240 RxCxM 601BQZ 4 0 05 A5AD A5ADA 0 10 01AD 01ADA X5071 0 20 02AD 02ADA X5070 0 40 04AD 04ADA FN2070 10 07 Single phase 250 VAC 10 A X5069 Three phase 200 V 0 45...

Page 66: ...e shows the manufacturers of each device Main Circuit Power Supply SERVOPACK Model Regenerative Resistor Refer to 5 8 6 5 8 7 and 6 5 Brake Power Supply Unit Refer to 5 8 5 Capacity kW SGDM Built in E...

Page 67: ...and Specifications of SGMGH 1000 min 1 3 22 3 4 1 SGMGH Servomotors 1000 min 1 Without Gears 3 22 3 4 2 SGMGH servomotors 1000 min 1 With Standard Backlash Gears 3 24 3 4 3 SGMGH Servomotors 1000 min...

Page 68: ...tors 3000 min 1 With Standard Backlash Gears and Brakes 3 73 3 13 5 SGMPH Servomotors 3000 min 1 With Low backlash Gears 3 76 3 14 Dimensional Drawing of Output Shafts With Oil Seals for SGMAH and SGM...

Page 69: ...ensional Drawings of SGMDH Servomotors 2000 min 1 3 124 3 18 1 SGMDH Servomotors 2000 min 1 Without Gears and With Without Brakes 3 124 3 19 Dimensional Drawings of SGMCS Servomotors 3 126 3 19 1 SGMC...

Page 70: ...losure Totally enclosed self cooled IP55 except for shaft opening Ambient Humidity 20 to 80 no condensation Drive Method Direct drive Voltage 100 V 200 V Servomotor Model SGMAH A3B A5B 01B 02B A3A A5A...

Page 71: ...02B 04A 08A Derating Rate 70 80 90 95 SGMAH A3B SGMAH A5B SGMAH 01B SGMAH 02B A B A B A B A B 0 1000 2000 3000 4000 5000 0 0 1 0 2 0 3 0 4 0 1000 2000 3000 4000 5000 0 0 15 0 3 0 45 0 6 0 1000 2000 30...

Page 72: ...7 4 0 637 1095 0 082 SGMAH 04 400 7 4 1 27 1095 0 082 SGMAH 08 750 9 2 39 900 0 1 24 VDC SGMAH A3 30 6 0 0955 96 0 25 SGMAH A5 50 6 0 159 96 0 25 SGMAH 01 100 6 0 318 96 0 25 SGMAH 02 200 6 5 0 637 8...

Page 73: ...put W Rated Speed min 1 Rated Torque Nxm Gear Ratio Rated Torque Effi ciency 2 N m Instanta neous Peak Torque N m Rated Speed min 1 Max Speed 1 min 1 Motor Gears Gears A3 AJ1 30 3000 0 0955 1 5 0 238...

Page 74: ...g m2 Out put W Rated Speed min 1 Rated Torque Nxm Gear Ratio Rated Torque Effi ciency 2 N m Instanta neous Peak Torque N m Rated Speed min 1 Max Speed 1 min 1 Motor Gears Gears A3 AH1 30 3000 0 0955 1...

Page 75: ...not by a faulty gear The speed control range of SERVOPACKs in the II series is 1 5000 When using servomotors at extremely low speeds for example 0 02 min 1 max at the gear output shaft or when using...

Page 76: ...esistance 500 VDC 10 M min Enclosure Totally enclosed self cooled IP55 except for shaft opening Surrounding Air Temperature 0 to 40 C Ambient Humidity 20 to 80 no condensation Excitation Permanent mag...

Page 77: ...A 02B 04A 08A 15A Holding Brake Moment of Inertia J 10 4 kgxm2 0 029 0 109 0 875 Servomotor Model SGMPH 01A 01B 02A 02B 04A 08A 15A Derating Rate 90 95 SGMPH 01B SGMPH 02B A B A B 0 1000 2000 3000 400...

Page 78: ...or Model Servomotor Capacity W Holding Brake Specifications Capacity W Holding Torque N m Coil Resistance at 20 C Rated Current A at 20 C 90 VDC SGMPH 01 100 8 1 0 318 1000 0 09 SGMPH 02 200 7 6 0 637...

Page 79: ...osed self cooled IP55 except for shaft opening Surrounding Air Temperature 0 to 40 C Ambient Humidity 20 to 80 no condensation Excitation Permanent magnet Drive Method Direct drive Mounting Flange mou...

Page 80: ...Surrounding Air Temperature 0 to 40 C Excitation Permanent magnet Mounting Flange mounted Gear Mechanism Planetary gear mechanism Thermal Class B Withstand Voltage 100V 200V Servomotors 1500 VAC for o...

Page 81: ...F Withstand Voltage 200 V Servomotors 1500 VAC for one minute Enclosure Totally enclosed IP67 self cooled except for shaft opening Ambient Humidity 20 to 80 no condensation Drive Method Direct drive V...

Page 82: ...SGMGH 13A A 0 1000 2000 3000 0 10 20 30 A B SGMGH 55A A 0 1000 2000 3000 0 20 40 60 80 100 A B Torque N m Torque N m min 1 min 1 min 1 min 1 Torque N m Torque N m Torque N m Torque N m Torque N m Tor...

Page 83: ...04 0 11 SGMGH 09 850 10 1 12 7 804 0 11 SGMGH 13 1300 10 1 12 7 804 0 11 SGMGH 20 1800 18 5 43 1 438 0 21 SGMGH 30 2900 18 5 43 1 438 0 21 SGMGH 44 4400 18 5 43 1 438 0 21 SGMGH 55 5500 23 5 72 6 327...

Page 84: ...se Type 6130 to 6190 Oil Servomotor Model SGMGH Servomotor Gear Output Moment of Inertia J 10 4 kg m2 Out put kW Rated Speed min 1 Rated Torque Nxm Gear Ratio Rated Torque Efficiency N m Instanta neou...

Page 85: ...by a faulty gear 55P A A6 5 5 1500 35 0 1 6 179 85 447 85 250 500 103 13 7 55P A B6 1 11 327 85 819 85 136 272 98 8 9 78 55P A C6 1 21 625 85 1560 85 71 142 157 68 0 55P A 76 1 29 863 85 2160 85 51 1...

Page 86: ...Speed min 1 Motor Gears Gears 05A AL14 0 45 1500 2 84 1 5 11 4 80 35 7 80 300 600 8 50 1 26 05A AL24 1 9 20 4 80 64 2 80 167 334 8 18 0 94 05A AL54 1 20 45 4 80 143 80 75 150 11 9 4 66 05A AL74 1 29 6...

Page 87: ...ed motor speed Note 1 For the shaft center allowable radial load refer to the servomotor dimensional drawing 2 The no load torque for a servomotor with gears is high immediately after the servomotor s...

Page 88: ...urrounding Air Temperature 0 to 40 C Excitation Permanent magnet Mounting Flange mounted Thermal Class F Withstand Voltage 1500 VAC for one minute Enclosure Totally enclosed IP67 self cooled except fo...

Page 89: ...que N m Torque N m Torque N m Torque N m Torque N m Torque N m A B Continuous Duty Zone Intermittent Duty Zone Torque N m Motor speed Motor speed Motor speed Motor speed Motor speed Motor speed Motor...

Page 90: ...Type 6130 to 6190 Oil Servomotor Model SGMGH Servomotor Gear Output Moment of Inertia J 10 4 kg m2 Out put kW Rated Speed min 1 Rated Torque Nxm Gear Ratio Rated Torque Efficiency N m Instanta neous...

Page 91: ...omes stable a few minutes later This is a common phenomenon caused by grease being circulated in the gear and not by a faulty gear 40P B A6 4 0 1000 38 2 1 6 195 85 546 85 166 333 103 13 7 40P B B6 1...

Page 92: ...put kW Rated Speed min 1 Rated Torque Nxm Gear Ratio Rated Torque Efficiency N m Instanta neous Peak Torque Effective N m Rated Speed min 1 Max Speed min 1 Motor Gears Gears 03A BL14 0 3 1000 2 84 1 5...

Page 93: ...15 m or below Insulation Resistance 500 VDC 10 M min Surrounding Air Temperature 0 to 40 C Excitation Permanent magnet Mounting Flange mounted Thermal Class F Withstand Voltage 200 V Servomotors 1500...

Page 94: ...min 1 min 1 Torque N m Torque N m Torque N m Torque N m Torque N m A B Continuous Duty Zone Intermittent Duty Zone Motor speed Motor speed Motor speed Motor speed Motor speed Motor speed 3000 2000 100...

Page 95: ...2 7 80 38 2 80 600 800 5 18 3 44 10A AL24 1 9 22 9 80 68 7 80 333 444 4 85 3 11 10A AL54 1 20 50 9 80 153 80 150 200 8 53 6 79 10A AL74 1 29 73 8 80 221 80 103 138 6 62 4 88 10A AL84 1 45 114 80 343 8...

Page 96: ...Values in the table are at the rated motor speed Note 1 For the shaft center allowable radial load refer to the servomotor dimensional drawing 2 The no load torque for a servomotor with gears is high...

Page 97: ...sistance 500 VDC 10 M min Enclosure Totally enclosed IP67 self cooled except for the shaft opening Surrounding Air Temperature 0 to 40 C Ambient Humidity 20 to 80 no condensation Excitation Permanent...

Page 98: ...3000 0 20 40 60 80 A B SGMDH 32A A B 0 0 20 40 60 A B Torque N m A B Continuous Duty Zone Intermittent Duty Zone min 1 min 1 min 1 Torque N m Torque N m Motor speed Motor speed Motor speed Holding Br...

Page 99: ...rque 1 Nxm 6 0 15 0 21 0 12 0 30 0 42 0 Stall torque 1 Nxm 2 05 5 15 7 32 4 09 10 1 14 2 Rated Current 1 Arms 1 8 1 7 1 4 2 2 2 2 2 8 Instantaneous Max Current 1 Arms 5 4 5 1 4 1 7 0 7 0 8 3 Rated Spe...

Page 100: ...2 Torque motor Speed Characteristics Servomotor Model SGMCS B C D E Heat Sink Units mm 350 350 12 450 450 12 550 550 12 650 650 12 Motor speed min 1 Torque N m SGMCS 02B C A 0 0 100 1 5 3 0 4 5 6 0 7...

Page 101: ...r speed min 1 Torque N m SGMCS 17D C 0 12 24 36 48 60 Motor speed min 1 Torque N m SGMCS 25D C Motor speed min 1 Torque N m SGMCS 16E B Motor speed min 1 Torque N m SGMCS 35E B A Continuous Duty Zone...

Page 102: ...Voltage 1500 VAC for one minute Enclosure Totally enclosed IP44 self cooled except for shaft opening Ambient Humidity 20 to 80 no condensation Drive Method Direct drive Ratings and Specifications for...

Page 103: ...M SGMCS 80M A 0 100 200 300 400 0 100 200 300 B A 0 100 200 300 0 100 200 300 B SGMCS 1AM SGMCS 80N A 0 100 200 300 400 500 0 100 200 300 B A 0 200 400 600 800 0 100 200 300 B SGMCS 1EN SGMCS 2ZN Moto...

Page 104: ...shaft of the servomotor with the shaft of the equip ment and then couple the shafts Install the servomotor so that alignment accuracy falls within the range described on the left Vibration may occur...

Page 105: ...power lines Especially be careful to wire signal line cables so that they are not subject to stress because the core wires are very thin at only 0 2 to 0 3 mm Connectors Observe the following precaut...

Page 106: ...ide and front to back The amount of vibration the servomotor endures will vary depending on the application Check the vibration acceleration being applied to your servomotor for each application 3 8 6...

Page 107: ...0 zero F Where F is external force Thrust load Fa F Load mass Moment load M F L F L Where F is external force Thrust load Fa F Load mass Moment load M 0 F L Where F is external force Thrust load Fa L...

Page 108: ...2 0 02 0 02 dRun out at the end of the shaft 0 04 0 04 0 04 0 04 ePerpendicularity between the flange face and output shaft 0 07 0 07 0 08 0 08 fCoaxiality of output axis and mounting socket joint 0 0...

Page 109: ...r speed is as follows Vibration Class 15 m or below 3 9 7 Enclosure Excluding the shaft opening 3 9 8 Heating Conditions Note that when the flange face is smaller the continuous allowable torque is re...

Page 110: ...0 4000 Rated Torque Nxm The rated output torque of the motor is the gear input torque The rated torque is this value multiplied by the inverse of the gear ratio and efficiency Lost Motion arc min Angu...

Page 111: ...sional Drawings 3 Efficiency The output torque and motor speed produce the following trends in efficiency The values in the tables Ratings and Specifications of SGM H Servomotors with Gears are at the...

Page 112: ...ash gears and brakes 3 13 4 With low backlash gears 3 13 5 SGMGH 1500 min 1 200 VAC 0 45 0 85 1 3 1 8 2 9 4 4 5 5 7 5 11 0 15 0 kW Without gears and brakes 3 15 1 With brakes 3 15 2 Foot mounted type...

Page 113: ...motor radial load is at the position of minus 5 mm from the shaft end UL20276 T 46 Tap Depth See the following table 21 5 40 2 4 3 Serial encoder 9 6 22 15 2 5 2 5 25 L LL LM 14 300 30 300 30 35 Motor...

Page 114: ...1 A61 6 0 0 008 6 0 0 008 8 0 0 009 LA Tap Depth See the following table 4 LZ 21 5 T U W Serial encoder L LM LL LR LE LG QK 9 5 20 50h7 14h6 50 0 0 025 14 0 0 011 300 30 300 30 35 Motor cable 7 Encode...

Page 115: ...rking point of the SGMAH servomotor radial load is at the position of minus 5 mm from the shaft end Units mm Model SGMAH Tap Depth QK U W T Approx Mass kg Allowable Radial Load N Allowable Thrust Load...

Page 116: ...mm from the shaft end Units mm Model SGMAH L LL LM S Tap Depth U W T Approx Mass kg Allowable Radial Load N Allowable Thrust Load N A3 A2 126 0 101 0 36 5 6 No tap No key 0 6 68 54 A3 A4 1 2 2 2 A3 A6...

Page 117: ...0 0 009 Units mm Model SGMAH L LL LM LR LG LC LA LZ 02 A2 166 136 62 5 30 6 60 70 5 5 02 A4 02 A6 04A A2 194 164 90 5 30 6 60 70 5 5 04A A4 04A A6 27 300 30 35 Serial encoder Power supply 90 VDC or 2...

Page 118: ...or radial load is at the position of minus 5 mm from the shaft end Units mm Model SGMAH Tap Depth QK U W T Approx Mass kg Allowable Radial Load N Allowable Thrust Load N 02 A2 No tap No key 1 6 245 74...

Page 119: ...3 31 174 114 77 0 60 9 57 63 65 30 30 14 5 28 25 16 A5 AJC 1 1 21 191 131 94 0 60 9 57 63 65 30 30 14 5 28 25 16 A5 AJ7 1 1 33 191 131 94 0 60 9 57 63 65 30 30 14 5 28 25 16 01 AJ1 1 1 5 191 5 131 5 9...

Page 120: ...omotor radial load is at the position of minus 5 mm from the shaft end Dimensional Tolerances INFO Units mm Model SGMAH Flange Face Dimensions Shaft end Dimensions LB S A3 AJ1 1 A3 AJ3 1 A3 AJC 1 A3 A...

Page 121: ...40 44 23 42 36 25 04 AJ1 1 1 5 240 166 133 74 4 10 69 83 85 36 38 19 5 36 32 20 04 AJ3 1 3 31 256 5 172 5 139 84 4 12 82 98 100 40 44 23 42 36 25 04 AJC 1 1 21 305 5 200 5 167 105 5 13 93 112 115 45 6...

Page 122: ...d Dimensions LB S 02 AJ1 1 02 AJ3 1 02 AJC 1 02 AJ7 1 04 AJ1 1 04 AJ3 1 04 AJC 1 04 AJ7 1 08 AJ1 1 08 AJ3 1 08 AJC 1 08 AJ7 1 85 0 0 035 20 0 0 021 85 0 0 035 20 0 0 021 100 0 0 035 25 0 0 021 100 0 0...

Page 123: ...5 196 141 76 0 55 8 47 55 5 56 28 27 17 25 20 14 A5 AJ3 3 31 206 146 77 0 60 9 57 63 65 30 30 14 5 28 25 16 A5 AJC 1 21 223 163 94 0 60 9 57 63 65 30 30 14 5 28 25 16 A5 AJ7 1 33 223 163 94 0 60 9 57...

Page 124: ...of the SGMAH servomotor radial load is at the position of minus 5 mm from the shaft end Dimensional Tolerances INFO Units mm Model SGMAH Flange Face Dimensions Shaft end Dimensions LB S A3 AJ1 A3 AJ3...

Page 125: ...177 5 104 5 74 4 10 69 83 85 36 38 19 5 36 32 20 02 AJ3 3 31 251 5 177 5 104 5 74 4 10 69 83 85 36 36 19 5 36 32 20 02 AJC 1 21 289 205 132 84 4 12 82 98 100 40 44 19 5 42 36 25 02 AJ7 1 33 289 205 1...

Page 126: ...del SGMAH Gear Ratio LC LA LZ Tap Depth U W T Approx Mass kg Allowable Radial Load N Allowable Thrust Load N 02 AJ1 1 5 90 105 9 M5 10L 3 5 6 6 3 3 275 235 02 AJ3 3 31 90 105 9 M5 10L 3 5 6 6 3 3 360...

Page 127: ...Shaft end Dimensions LB S 02 AJ1 02 AJ3 02 AJC 02 AJ7 04 AJ1 04 AJ3 04 AJC 04 AJ7 08 AJ1 08 AJ3 08 AJC 08 AJ7 85 0 0 035 20 0 0 021 85 0 0 035 20 0 0 021 100 0 0 035 25 0 0 021 100 0 0 035 25 0 0 021...

Page 128: ...55 5 56 28 27 20 25 20 14 A5 AH2 1 1 9 166 106 73 0 60 8 9 50 64 5 65 30 30 22 28 25 16 A5 AHC 1 1 21 183 123 90 0 60 8 9 40 64 5 65 30 30 22 28 25 16 A5 AH7 1 1 33 183 123 90 0 60 8 9 40 64 5 65 30...

Page 129: ...105 9 M5 10L 3 5 6 6 2 7 392 235 01 AH7 1 1 33 90 105 9 M5 10L 3 5 6 6 2 7 431 Units mm Model SGMAH Gear Ratio LC LA LZ Tap Depth U W T Approx Mass kg Allowable Radial Load N Allowable Thrust Load N I...

Page 130: ...32 20 02 AHB 1 1 11 225 5 151 5 118 74 7 5 10 59 84 85 36 38 26 36 32 20 02 AHC 1 1 21 243 5 159 5 126 84 12 12 59 96 100 40 44 29 42 36 25 02 AH7 1 1 33 243 5 159 5 126 84 12 12 59 96 100 40 44 29 42...

Page 131: ...L 4 8 7 3 7 549 294 02 AH7 1 1 33 105 120 9 M6 12L 4 8 7 3 8 608 04 AH1 1 1 5 90 105 9 M5 10L 3 5 6 6 3 6 245 235 04 AHB 1 1 11 105 120 9 M6 12L 4 8 7 4 3 441 294 04 AHC 1 1 21 120 135 11 M8 16L 5 10...

Page 132: ...m from the shaft end Encoder plug Motor plug 300 30 300 30 35 Motor cable 7 Encoder cable 5 UL20276 Sh6 LBh7 A 0 02 QK L LL LM LG LF LR LE 9 5 A 0 04 Serial encoder LH Shaft End U T W LC 21 18 Dimensi...

Page 133: ...1 02 21 80 90 7 No key 1 4 245 68 02 41 16 3 5 5 02 61 04 21 80 90 7 No key 2 1 245 68 04 41 16 3 5 5 04 61 08 21 120 145 10 No key 4 2 392 147 08 41 22 3 5 5 08 61 15 21 120 145 10 No key 6 6 490 147...

Page 134: ...SGMPH L LL LM LR LE LG LF S LB LH Tap Depth 01 2 116 91 42 5 25 3 6 12 5 8 50 10 55 No tap 01 4 01 6 M3 6L 02 2 128 5 98 5 48 1 30 3 8 11 9 14 70 8 25 No tap 02 4 02 6 M5 8L 04 2 148 5 118 5 68 1 30 3...

Page 135: ...1 8 3 3 01 6 02 2 80 90 7 No key 1 9 245 68 02 4 16 3 5 5 02 6 04 2 80 90 7 No key 2 6 245 68 04 4 16 3 5 5 04 6 08 2 120 145 10 No key 5 7 392 147 08 4 22 3 5 5 08 6 15 2 120 145 10 No key 8 1 490 1...

Page 136: ...16 01 AJC 1 1 21 196 122 102 74 4 10 69 83 85 36 38 19 5 36 32 20 01 AJ7 1 1 33 196 122 102 74 4 10 69 83 85 36 38 19 5 36 32 20 02 AJ1 1 1 5 200 5 126 5 107 6 74 4 10 69 83 85 36 38 19 5 36 32 20 02...

Page 137: ...9 8 25 M6 12L 4 8 7 4 7 585 290 02 AJ7 1 1 33 105 120 11 9 9 8 25 M6 12L 4 8 7 4 7 635 04 AJ1 1 1 5 90 105 11 9 9 8 25 M5 10L 3 5 6 6 4 1 275 235 04 AJ3 1 3 31 105 120 11 9 9 8 25 M6 12L 4 8 7 5 1 46...

Page 138: ...04 AJ7 1 08 AJ1 1 08 AJ3 1 08 AJC 1 08 AJ7 1 15 AJ1 1 15 AJ3 1 15 AJC 1 15 AJ7 1 65 0 0 030 16 0 0 011 65 0 0 030 16 0 0 011 85 0 0 035 20 0 0 013 85 0 0 035 20 0 0 013 85 0 0 035 20 0 0 013 85 0 0 03...

Page 139: ...146 92 5 60 4 9 57 63 65 30 30 14 5 28 25 16 01 AJC 1 21 224 5 150 5 102 74 4 10 69 83 85 36 38 19 5 36 32 20 01 AJ7 1 33 224 5 150 5 102 74 4 10 69 83 85 36 38 19 5 36 32 20 02 AJ1 1 5 232 158 107 6...

Page 140: ...21 105 120 11 9 9 8 25 M6 12L 4 8 7 5 2 585 290 02 AJ7 1 33 105 120 11 9 9 8 25 M6 12L 4 8 7 5 2 635 04 AJ1 1 5 90 105 11 9 9 8 25 M5 10L 3 5 6 6 4 6 275 235 04 AJ3 3 31 105 120 11 9 9 8 25 M6 12L 4 8...

Page 141: ...8 AJ3 08 AJC 08 AJ7 15 AJ1 15 AJ3 15 AJC 15 AJ7 65 0 0 030 16 0 0 018 65 0 0 030 16 0 0 018 85 0 0 035 20 0 0 021 85 0 0 035 20 0 0 021 85 0 0 035 20 0 0 021 85 0 0 035 20 0 0 021 100 0 0 035 25 0 0 0...

Page 142: ...117 97 5 74 7 5 10 59 84 85 36 38 26 36 32 20 01 AH7 1 1 33 191 117 97 5 74 7 5 10 59 84 85 36 38 26 36 32 20 02 AH1 1 1 5 197 123 104 1 74 7 5 10 59 84 85 36 38 26 36 32 20 02 AHB 1 1 11 197 123 104...

Page 143: ...11 9 8 5 M6 12L 4 8 7 4 1 549 294 02 AH7 1 1 33 105 120 9 11 9 8 5 M6 12L 4 8 7 4 1 608 04 AH1 1 1 5 90 105 9 11 9 8 5 M5 10L 3 5 6 6 4 2 245 235 04 AHB 1 1 11 105 120 9 11 9 8 5 M6 12L 4 8 7 4 8 441...

Page 144: ...AH1 1 08 AHB 1 08 AHC 1 08 AH7 1 15 AH1 1 15 AHB 1 15 AGC 1 15 AG7 1 65 0 0 030 16 0 0 018 65 0 0 030 16 0 0 018 85 0 0 035 20 0 0 021 85 0 0 035 20 0 0 021 85 0 0 035 20 0 0 021 85 0 0 035 20 0 0 021...

Page 145: ...wn below 3 14 1 SGMAH Servomotors 3 14 2 SGMPH Servomotors Model SGMAH A3 A5 01 SGMAH 02 04 SGMAH 08 Capacity 30 W 50 W 100 W 200 400 W 750 W Dimen sions of Output Shaft mm LO 7 5 10 11 DO 28 48 66 QK...

Page 146: ...N Allowable Thrust Load N S S1 Q 05A A21 196 138 92 58 46 65 117 109 30 40 5 5 490 98 09A A21 219 161 115 58 46 88 140 109 30 40 7 6 490 98 13A A21 243 185 139 58 46 112 164 109 30 40 9 6 686 343 20A...

Page 147: ...LB LC LE LF1 LF2 LG LH LJ1 LJ2 LZ 114 3 0 0 025 114 3 0 0 025 114 3 0 0 025 114 3 0 0 025 200 0 0 046 200 0 0 046 A M L K J H G F E D C B N P R T S A A Phase U Phase V Phase W Frame ground FG B C D D...

Page 148: ...inal Brake terminal F G D B G C A F E Units mm Model SGMGH L LL LM LR LT KB 1 KB 2 KL1 Shaft end Dimensions Approx Mass kg Allowable Radial Load N Allowable Thrust Load N S S1 Q 05A A2 234 176 130 58...

Page 149: ...rake terminal Brake terminal B C C B Cable Specifications for Brake Connectors Units mm Model SGMGH L LL LM LR LT KB1 KB2 KB3 IE KL1 KL3 Shaft end Dimensions Approx Mass kg S S1 55A A2 424 311 263 113...

Page 150: ...P AEC6 CNHX 6100 1 21 394 138 94 44 73 21 109 256 209 152 100 5400 05P AE76 CNHX 6100 1 29 394 138 94 44 73 21 109 256 209 152 100 5400 09P AEA6 CNHX 6100 1 6 417 161 117 44 73 21 109 256 209 152 100...

Page 151: ...5 45 60 11 35 32 28 7 4 8 M8 20 24 6 09P AEC6 1 21 95 115 15 55 230 155 62 82 14 55 50 38 8 5 10 M8 20 34 6 09P AE76 1 29 95 115 15 55 230 155 62 82 14 55 50 38 8 5 10 M8 20 34 6 13P AEA6 1 6 75 90 12...

Page 152: ...6 CHHJ 6160 1 29 687 192 147 45 77 22 140 495 367 318 160 17900 44P AEA6 CHHX 6130 1 6 596 226 181 45 77 22 140 370 300 246 150 6030 44P AEB6 CHHX 6135 1 11 596 226 181 45 77 22 140 370 300 246 150 76...

Page 153: ...5 22 90 80 70 12 7 5 20 M12 24 176 55P AEA6 1 6 145 145 22 65 330 195 75 100 18 70 56 50 9 5 5 14 M10 18 88 55P AEB6 1 11 145 145 22 65 330 195 95 120 18 90 80 50 9 5 5 14 M10 18 89 55P AEC6 1 21 190...

Page 154: ...to the following table The following shows approximate oil amount to be supplied 75P AEC6 75P AE76 1AP AEB6 1AP AEC6 1AP AE76 Units mm Cont d Model SGMGH Shaft end Dimensions S 70 0 0 019 80 0 0 019...

Page 155: ...1 473 185 141 44 73 21 109 288 8190 20P AFA6 CNVX 6120 1 6 477 166 121 45 77 22 140 311 5220 20P AFB6 CNVX 6125 1 11 477 166 121 45 77 22 140 311 6620 30P AFA6 CNVX 6120 1 6 503 192 147 45 77 22 140 3...

Page 156: ...Dimensions Shaft end Dimensions LB S 05P AFA6 05P AFB6 05P AFC6 05P AF76 09P AFA6 09P AFB6 09P AFC6 09P AF76 13P AFA6 13P AFB6 13P AFC6 20P AFA6 20P AFB6 30P AFA6 30P AFB6 110 0 036 0 090 28 0 0 013...

Page 157: ...4P AFB6 CHVX 6135 1 11 596 226 181 45 77 22 140 370 7660 55P AFA6 CHVX 6135 1 6 664 260 215 45 86 22 150 404 5990 55P AFB6 CHVX 6140 1 11 684 260 215 45 86 22 150 424 11500 Model SGMGH Gear Ratio Flan...

Page 158: ...gear oil of SP system JIS K 2219 industrial use gear oil or equivalent Refer to the following table The following shows approximate oil amount to be supplied Surrounding Air Temperature Manufacturer C...

Page 159: ...50 643 258 26600 1AP AFB6 CHVJ 6170 1 11 934 338 293 87 22 168 596 243 14700 1AP AFC6 CHVJ 6185 1 21 984 338 293 87 22 168 646 258 24300 1AP AF76 CHVJ 6190 1 29 1077 338 293 87 22 168 739 285 37100 Mo...

Page 160: ...s LB S 30P AF76 44P AFC6 44P AF76 55P AFC6 55P AF76 75P AFB6 75P AFC6 75P AF76 1AP AFB6 1AP AFC6 1AP AF76 270 0 056 0 137 60 0 0 019 270 0 056 0 137 60 0 0 019 316 0 062 0 151 70 0 0 019 316 0 062 0 1...

Page 161: ...FJ L30 ANFJ L40 35 50 60 55 75 90 Frame No Dia S Length Q d L mm Units mm 44 132 126 35h6 45 91 94 130h7 140 A 17 12 3 Motor Motor Motor 2 20 20 55 1 5 1 9 1 20 1 29 1 45 Gear Ratio A 132 R3 11 38 42...

Page 162: ...L74 1 29 491 138 92 140 46 73 21 109 353 2940 05A AL84 1 45 501 138 92 140 46 73 21 109 363 3430 09A AL54 1 20 514 161 115 140 46 73 21 109 353 2650 09A AL74 1 29 514 161 115 140 46 73 21 109 353 2940...

Page 163: ...50 9 5 5 14 33 09A AL84 1 45 280 240 310 18 14 90 78 60 11 7 18 53 13A AL14 1 5 220 190 245 15 12 75 65 50 9 5 5 14 28 13A AL24 1 9 220 190 245 15 12 75 65 50 9 5 5 14 35 13A AL54 1 20 220 190 245 15...

Page 164: ...88 140 109 30 40 7 6 09A B21 243 185 139 58 46 112 164 109 30 40 9 6 12A B21 245 166 119 79 47 89 144 140 45 76 14 20A B21 271 192 145 79 47 115 170 140 45 76 18 30A B21 305 226 179 79 47 149 204 140...

Page 165: ...e Specifications for Detector Connectors 17 bit Encoder With an Absolute Encoder With an Incremental Encoder Cable Specifications for Servomotor Connectors Receptacle MS3102A20 29P Applicable plug Pur...

Page 166: ...d Dimensions Approx Mass kg S S1 Q 03A B2 234 176 130 58 46 56 154 120 30 40 7 5 06A B2 257 199 153 58 46 79 177 120 30 40 9 6 09A B2 281 223 177 58 46 103 201 120 30 40 12 12A B2 296 217 169 79 48 79...

Page 167: ...le Specifications for Detector Connectors 17 bit Encoder With an Absolute Encoder With an Incremental Encoder Cable Specifications for Servomotor Connectors Receptacle MS3102A20 29P Applicable plug Pu...

Page 168: ...0 5 3 2 3 Note For the specifications of the other shaft ends refer to 3 20 Shaft End Specifications for SGMGH SGMSH and SGMDH Servomotors 3 2 0 0 016 A M L K J H G F E D C B N P R T S A A Phase U Ph...

Page 169: ...BE76 CNHX 6100 1 29 394 138 94 44 73 21 109 256 209 152 100 5400 06P BEA6 CNHX 6100 1 6 417 161 117 44 73 21 109 256 209 152 100 4120 06P BEB6 CNHX 6100 1 11 417 161 117 44 73 21 109 256 209 152 100...

Page 170: ...45 60 11 35 32 28 7 4 8 M8 20 24 6 06P BEB6 1 11 75 90 12 40 180 135 45 60 11 35 32 28 7 4 8 M 8 20 24 6 06P BEC6 1 21 95 115 15 55 230 155 62 82 14 55 50 38 8 5 10 M8 20 34 6 06P BE76 1 29 95 115 15...

Page 171: ...rs can be used without replenishing grease Units mm Model SGMGH Shaft end Dimensions S 03P BEA6 03P BEB6 03P BEC6 03P BE76 06P BEA6 06P BEB6 06P BEC6 06P BE76 09P BEA6 09P BEB6 09P BEC6 09P BE76 12P B...

Page 172: ...215 86 150 593 429 363 200 23000 55P BEB6 CHHJ 6160 1 11 863 334 289 86 150 529 367 318 160 15000 55P BEC6 CHHJ 6175 1 21 927 334 289 86 150 593 429 363 200 20900 55P BE76 CHHJ 6185 1 29 977 334 289 8...

Page 173: ...t end Dimensions S 12P BEC6 12P BE76 20P BEC6 20P BE76 30P BEA6 30P BEB6 30P BEC6 30P BE76 40P BEA6 40P BEB6 40P BEC6 40P BE76 55P BEB6 55P BEC6 55P BE76 50 0 0 016 50 0 0 016 50 0 0 016 60 0 0 019 50...

Page 174: ...CNVX 6100 1 6 441 185 141 44 73 21 109 256 4110 09P BFB6 CNVX 6105 1 11 441 185 141 44 73 21 109 256 7600 09P BFC6 CNVX 6125 1 21 473 185 141 44 73 21 109 288 10900 09P BF76 CNVX 6125 1 29 473 185 141...

Page 175: ...e Face Dimensions mm Shaft end Dimensions mm Approx Mass kg LA LB LC LE LG LR N Q QK S T U W Tap Depth Units mm Model SGMGH Flange Face Dimensions Shaft end Dimensions LB S 03P BFA6 03P BFB6 03P BFC6...

Page 176: ...1 KL1 R Shaft Cen ter Allow able Radial Load N Flange Face Dimen sions Shaft end Dimensions Approx Mass kg LR Q QK Tap Depth 12P BFC6 CHVX 6130 1 21 536 166 121 77 140 370 10900 76 70 56 M10 18 66 12P...

Page 177: ...1000 40P BF76 CHVJ 6175 1 29 853 260 215 86 150 593 243 23000 55P BFB6 CHVJ 6160 1 11 863 334 289 86 150 529 228 15000 55P BFC6 CHVJ 6175 1 21 927 334 289 86 150 593 243 20900 55P BF76 CHVJ 6185 1 29...

Page 178: ...Model SGMGH Flange Face Dimensions Shaft end Dimensions LB S 20P BF76 30P BFC6 30P BF76 40P BFC6 40P BF76 55P BFB6 55P BFC6 55P BF76 270 0 056 0 137 60 0 0 019 270 0 056 0 137 60 0 0 019 316 0 062 0 1...

Page 179: ...o A 1 5 1 9 1 20 1 29 1 45 Gear Ratio A 132 R3 11 38 42 52 1 5 1 9 1 20 1 29 1 45 Gear Ratio A 52 23 15 33 25 75 50h6 190 184 70 130 135 190h7 A 5 2 190 245 R 3 60 27 38 25 90 60h6 240 234 90 182 186...

Page 180: ...ishing grease 2 Large Grease Lubricating Type Units mm Model SGMGH Gear Type Gear Ratio L LL LM R Approx Mass kg Shaft Center Allowable Radial Load N 03A BL14 ANFJ L20 1 5 394 138 92 256 14 833 03A BL...

Page 181: ...140 47 77 22 140 343 1670 20A BL24 1 9 562 192 145 140 47 77 22 140 370 1960 20A BL54 ANFJ L40 1 20 607 192 145 160 47 77 22 140 415 6080 30A BL14 1 5 609 226 179 160 47 77 22 140 383 3820 30A BL24 1...

Page 182: ...MSH L LL LM LR KB1 KB2 KL1 Shaft end Dimensions Approx Mass kg S Q 10A A21 194 149 103 45 76 128 96 40 4 6 15A A21 220 175 129 45 102 154 96 40 5 8 20A A21 243 198 152 45 125 177 96 40 7 0 30A A21 262...

Page 183: ...le Specifications for Detector Connectors 17 bit Encoder With an Absolute Encoder With an Incremental Encoder Cable Specifications for Servomotor Connectors Receptacle MS3102A20 29P Applicable plug Pu...

Page 184: ...LR KB1 KB2 KL1 Shaft end Dimensions Approx Mass kg S Q 10A A2B 238 193 147 45 67 171 102 40 6 0 15A A2B 264 219 173 45 93 197 102 40 7 5 20A A2B 287 242 196 45 116 220 102 40 8 5 30A A2B 300 237 191 6...

Page 185: ...ble Specifications for Detector Connectors 17 bit Encoder With an Absolute Encoder With an Incremental Encoder Cable Specifications for Servomotor Connectors Receptacle MS3102A20 29P Applicable plug P...

Page 186: ...nd Tap Detailed Dimensions of IMT Gears M12 24 M10 20 M8 16 ANFJ L20 ANFJ L30 ANFJ L40 35 50 60 55 75 90 Frame No Dia S d L mm Length Q 44 132 126 35h6 45 91 94 130h7 140 A 12 17 3 Motor Motor Motor 2...

Page 187: ...een filled prior to shipment the servomotors can be used without replenishing grease Units mm Model SGMSH Gear Model Gear Ratio L LL LM R Shaft Center Allowable Radial Load N Approx Mass kg 10A AL14 A...

Page 188: ...73 21 96 343 1960 20A AL54 1 20 545 198 152 140 73 21 96 347 2650 20A AL74 ANFJ L40 1 29 586 198 152 160 73 21 96 388 6860 20A AL84 1 45 596 198 152 160 73 21 96 398 8040 30A AL14 ANFJ L30 1 5 540 19...

Page 189: ...45 280 240 310 18 14 90 78 60 11 7 18 51 20A AL24 1 9 220 190 245 15 12 75 65 50 9 5 5 14 32 20A AL54 1 20 220 190 245 15 12 75 65 50 9 5 5 14 32 20A AL74 1 29 280 240 310 18 14 90 78 60 11 7 18 52 20...

Page 190: ...B is appended to the end of each model name 235 270 220 4 13 5 Mounting holes S 45 62 LR Q 4 4 R 1 Shaft End Note For the specifications of the other shaft ends refer to 3 20 Shaft End Specifications...

Page 191: ...MS3108B20 29S Cale clamp MS3057 12A A DATA DATA 0V 5VDC FG Frame ground FG Frame ground Phase U Phase V Phase W B C D E F G H J K BATT BATT L M N P R S T A DATA DATA 0V 5VDC FG Frame ground B C D E F...

Page 192: ...ng Rotating section Non rotating section Encoder end connector Servomotor end connector Nameplate Nameplate 120h7 120 0 035 0 100h7 100 0 035 0 Units mm Model SGMCS L LL Approx Mass kg 02B C11 59 51 4...

Page 193: ...vomotor end connector Nameplate Nameplate Units mm shown with hatching Rotating section 2 M5 tapped depth 8 Only for use by Yaskawa Model SGMCS L LL Approx Mass kg 04C C11 69 59 7 2 10C C11 90 80 10 2...

Page 194: ...into six equal sections of sixty degree 0 5 Bolt section 2 M6 tapped depth 10 Only for use by Yaskawa Model SGMCS L LL Approx Mass kg 08D C11 74 64 14 0 17D C11 110 100 22 0 25D C11 160 150 29 7 30 5...

Page 195: ...rvomotor end connector 9 1 4 Divided into six equal sections of sixty degrees Divided into six equal sections of sixty degrees R80MAX Connector area 2 M8 tapped depth 14 Only for use by Yaskawa 300 50...

Page 196: ...shown with hatching Rotating Section shown with hatching 12 M6 screw depth 18 Units mm 75H6 75 0 019 0 280h7 280 0 052 0 110h7 110 0 0 035 0 04 0 08 Divided into equal sections Divided into equal sect...

Page 197: ...ith hatching Rotating Section shown with hatching 12 M8 screw depth 20 12 M8 screw depth 15 Units mm 118H6 118 0 022 0 360h7 360 160h7 160 0 0 040 0 0 057 Divided into equal sections Divided into equa...

Page 198: ...tions Encoder end Connector Cable Specifications Model JN1AS04MK2 Manufacturer Japan Aviation Electronics Industry Ltd Applicable plug JN1DS04FK1 Provided by the customer 1 2 3 4 Phase U Phase V Phase...

Page 199: ...U Phase V Phase W FG Frame ground Red White Blue Green yellow 1 2 3 4 Model Plug 350779 1 Pin 350561 3 or 350690 3 No 1 to 3 Ground pin 350654 1 or 350669 1 No 4 Manufacturer Tyco Electronics AMP K K...

Page 200: ...nector Cable Specifications A B C D Phase U Phase V Phase W FG Frame ground B A C D Model CE05 2A18 10PD Manufacturer DDK Ltd Applicable plug and cable Plug CE05 6A18 10SD B BSS Cable clamp CE3057 10A...

Page 201: ...ks Standard Semi standard Semi standard Semi standard 2 3 5 6 Straight without key Taper 1 10 with parallel key Key slot is JISB1301 1976 high precision SGMGH series is interchangeable with USAGED ser...

Page 202: ...QA 12 22 28 QK 25 50 70 X 10 3 19 2 23 26 S 16 19 32 42 55 V 21 37 44 60 P M10 P1 25 M20 P1 5 M24 P2 0 M36 P3 0 W 5 7 10 14 T 5 7 8 9 U 4 3 5 8 10 55 13 95 19 95 5 Taper 1 10 wood ruff key LR 58 LW 18...

Page 203: ...s Model SGMSH 10 15 20 30 40 50 2 Straight LR 45 63 Q 40 55 S 3 Taper 1 10 parallel key LR 70 80 LW 20 Q 36 42 QA 14 18 QK 32 36 X 12 5 16 S 24 28 V 24 30 P M12 P1 25 M16 P1 5 W 8 T 7 U 7 1 8 95 5 Tap...

Page 204: ...ifications Model SGMDH 22 32 40 2 Straight LR 55 65 Q 50 60 S 3 Taper 1 10 parallel key LR LW Q QA QK X S V P W T U 5 Taper 1 10 wood ruff key LR LW Q QA QK X S V P W T U 6 Straight with key and tap L...

Page 205: ...Overload Characteristics and Allowable Load Moment of Inertia 4 11 4 5 1 Overload Characteristics 4 11 4 5 2 Starting and Stopping Time 4 12 4 5 3 Load Moment of Inertia 4 12 4 6 SERVOPACK Dimensional...

Page 206: ...02BD R 02BDA R Single phase 200 V 400 W 04AD R 04ADA R 4 25 4 8 3 Three phase 200 V 500 W 750 W 1 0 kW 05AD R to 10AD R 05ADA R to 10ADA R 4 26 4 8 4 Three phase 200 V 1 5 kW 15AD R 15ADA R 4 27 4 8...

Page 207: ...7 2 9 0 Input Power Supply Main Circuit Single phase 100 to115 VAC 10 to 15 50 60 Hz Control Circuit Single phase 100 to115 VAC 10 to 15 50 60 Hz Configuration Base mounted Rack mounting available as...

Page 208: ...t voltage maximum 12 V Input Impedance About 14 k Circuit Time Constant About 47 s Contact Speed Reference Rotation Direction Selection With P control signal Speed Selection With forward reverse curre...

Page 209: ...amic brake stop at P OT or N OT deceleration to a stop or coast to a stop Electronic Gear 0 01 B A 100 Protection Overcurrent overvoltage low voltage overload regeneration error main circuit detection...

Page 210: ...ss with no condensation Operating Conditions Installation category Overvoltage category Pollution degree 2 Protection class 10 Altitude Maximum 1000 m Installation Site Installation in a Control Panel...

Page 211: ...as shown in the figure above allow at least 10 mm between and at least 50 mm above and below each SERVOPACK Install cooling fans above the SERVOPACKs to avoid excessive temperature rise and to mainta...

Page 212: ...ctor Interface Current sensor Servomotor Analog voltage converter Panel operator Analog monitor output for supervision Digital operator or personal computer CPU Position speed calculation etc ASIC PWM...

Page 213: ...tal operator or personal computer CPU Position speed calculation etc ASIC PWM control etc Power OFF Power ON Open during servo alarm 1RY Surge absorber DC DC converter CHARGE BA1 12 V D1 U V W 5 V PG5...

Page 214: ...e loss 180W For the SGDM 75ADA to 1EADA JUSP RA05 allowable loss 350W Note Refer to 6 5 Connecting Regenerative Resistors 5 8 6 External Regenerative Resistor and 5 8 7 Regenerative Resistor Unit for...

Page 215: ...ection level is set under hot start1 conditions at a servomotor surrounding air temperature of 40 C Note The overload protection characteristics of A and B in the figure are applicable when the SERVOP...

Page 216: ...istor may generate a regeneration overload alarm Take one of the following steps if this occurs Reduce the torque limit Reduce the deceleration rate Reduce the maximum motor speed Install an externall...

Page 217: ...d min 1 Load moment of inertia 10 4 kg m2 Motor speed min 1 Load moment of inertia 10 4 kg m2 Motor speed min 1 Load moment of inertia 10 4 kg m 2 Motor speed min 1 Motor speed min 1 Load moment of in...

Page 218: ...load Doing so will cause the SERVOPACKs regenerative brake to be applied continuously and the regenerative energy of the load may exceed the allowable range causing damage to the SERVOPACK The regene...

Page 219: ...hree phase 200 V 500 W 800 W 1 0 kW 05A 08A 10A 4 7 3 200 V 1 5 kW 15A 4 7 4 200 V 2 0 kW 3 0 kW 20A 30A 4 7 5 200 V 5 0 kW 50A 4 7 6 200 V 6 0 kW 7 5 kW 60A 75A 4 7 8 200 V 11 0 kW 15 0 kW 1AA 1EA 4...

Page 220: ...rminal Connector SERVOPACK Connector Connector Symbol SERVOPACK Connector Model Manufacturer CN1 10250 52A2JL Sumitomo 3M Co Ltd CN2 53460 0611 Molex Japan Co Ltd CN3 10214 52A2JL Sumitomo 3M Co Ltd 2...

Page 221: ...A2JL Sumitomo 3M Co Ltd CN2 53460 0611 Molex Japan Co Ltd CN3 10214 52A2JL Sumitomo 3M Co Ltd 2 5 holes Ground terminal 2 M4 screws Terminal block 2 M4 screw holes Mounting Hole Diagram 149 5 0 5 12 7...

Page 222: ...OPACK200V SGDM MODE SET CHARGE POWER DATA YASKAWA 94 4 5 160 15 Cooling fan 5 hole Terminal block 35 90 75 8 Ground terminal 2 M4 screws Nameplate 17 Units mm Approx mass 1 7 kg 180 External Terminal...

Page 223: ...lock 5 180 4 Nameplate 75 160 5 100 0 5 110 149 5 0 5 Mounting pitch Mounting pitch 4 M4 screw holes Mounting Hole Diagram 5 Cooling fan Units mm Approx mass 2 8 kg External Terminal Connector SERVOPA...

Page 224: ...Molex Japan Co Ltd CN3 10214 52A2JL Sumitomo 3M Co Ltd Cooling fan Heat sink 2 6 holes CN1 CN2 CN3 CN1 CN2 100 CN3 6 YASKAWA SERVOPACK SGDM 14 pin terminal M4 mounting screw 250 238 5 6 100 110 75 180...

Page 225: ...B3 U V W L1C L3 1 2 250 238 5 0 5 125 0 5 5 5 5 5 6 MODE SET CHARGE POWER DATA Nameplate Mounting pitch Mounting pitch 4 M5 screw taps Mounting Hole Diagram Units mm Approx mass 5 5 kg Ground termina...

Page 226: ...U B2 B1 V W WARNING MODE SET DATA Ver POWER BATTERY CHARGE CN2 CN1 CN3 110 CN5 CN8 SGDM 90 145 SERVOPARK 200V YASKAWA 335 7 5 7 5 180 25 25 Ground terminal M8 Nameplate Mounting Hole Diagram 4 M6 scre...

Page 227: ...Main circuit terminal M8 Ground terminal M8 7 5 435 450 34 17 126 125 285 Main circuit terminal M8 Ground terminal M8 Nameplate 10 435 7 5 Cooling fan Mounting Hole Diagram 4 M6 screw holes 7 5 200 30...

Page 228: ...7 5 7 5 17 5 55 10 5 42 1 5 22 5 160 130 55 22 5 7 5 180 0 5 10 2 17 7 5 11 5 32 5 5 hole 24 5 75 7 5 10 32 5 Min 166 YASKAWA CHANGE L1 C N 3 L2 L2C B1 B2 U V W L1C POWER 1 2 C N 1 C N 2 MODE SET DATA...

Page 229: ...Min 166 32 5 CHANGE MODE SET DATA L1 C N 3 L2 L2C B1 B2 U V W L1C POWER 1 2 C N 1 C N 2 130 Nameplate 2 17 24 5 75 Ground terminal 2 M4 screws Mounting Hole Diagram 2 M4 screw holes Mounting pitch Uni...

Page 230: ...SKAWA SERVOPACK200V SGDM 5 hole 180 0 5 Min 168 2 M4 screw holes 43 5 10 22 5 CHANGE MODE SET DATA POWER L1 C N 3 L2 L3 L2C B1 B2 B3 U V W L1C 1 2 C N 1 C N 2 Ground terminal 2 M4 screws Terminal bloc...

Page 231: ...12 48 24 5 6 6 Heat sink Flange Flange Mounting Hole Diagram Ground terminal 2 M4 screws 4 M4 screw Nameplate Mounting pitch Mounting pitch Units mm Approx mass 3 0 kg External Terminal Connector SERV...

Page 232: ...7 5 110 75 40 30 30 270 0 5 50 0 5 7 5 7 5 14 pin terminal M4 mounting screw CHANGE MODE SET DATA POWER Mounting Hole Diagram 4 M5 tap Mounting pitch Mounting pitch Ground terminal 2 M4 screws Units...

Page 233: ...B2 B3 U V W 1 2 Mounting Hole Diagram 4 M5 tap Mounting pitch Mounting pitch Units mm Approx mass 5 7 kg 100 Heat sink Flange 6 pin terminal M5 screw Ground terminal M5 screw 5 pin terminal M4 screw 3...

Page 234: ...Max 235 205 219 7 7 82 34 316 335 7 5 2 5 7 5 11 5 7 5 2 6 holes Punched hole 145 217 3 4 8 110 YASKAWA SERVOPACK 200V Control circuit terminal M4 Main circuit terminal M6 M8 Ground terminal Ground te...

Page 235: ...5 7 5 450 435 Regenerative Resistor terminal M6 26 5 320 POWER MODE SET DATA BATTERY Externals Punched hole Mounting Hole Diagram 4 M6 screw holes Cooling fan Ground terminal M8 Ground terminal Namepl...

Page 236: ...and SGMDH Servomotor Connector Configurations 5 12 5 2 4 SGMGH Servomotor 1500 min 1 Connectors for Standard Environments 5 13 5 2 5 SGMGH Servomotor 1000 min 1 Connectors for Standard Environments 5...

Page 237: ...r SGMAH and SGMPH Servomotors 5 50 5 5 2 Connectors and Cables for SGMGH SGMSH and SGMDH Servomotors 5 52 5 5 3 Connectors and Cables for SGMCS Servomotors 5 54 5 6 Flexible Cables 5 55 5 7 I O Signal...

Page 238: ...SGMPH 200 V 100 to 750 W 100 V 100 W and 200 W JZSP CMM00 03 3 SGMPH 200 V 1 5 kW JZSP CMM20 03 3 JZSP CMM00 05 5 JZSP CMM20 05 5 JZSP CMM00 10 10 JZSP CMM20 10 10 JZSP CMM00 15 15 JZSP CMM20 15 15 JZ...

Page 239: ...JZSP CMM01 05 5 JZSP CMM01 10 10 JZSP CMM01 15 15 JZSP CMM01 20 20 L 35 50 8 5 10 Cap 350780 1 4 pin Socket 350536 6 Chained Wire markers Heat shrinkable tube Servomotor end SERVOPACK end M4 crimped...

Page 240: ...brake leads for use 7 8 9 L 50 8 5 SERVOPACK end Finished dimension 6 5 Heat shrinkable tube M4 crimped terminals Wire markers Servomotor end Units mm Units m Applicable Servomotor Models Cable Type...

Page 241: ...L Dimensional Drawing JZSP CMM60 03 JZSP CSM60 03 3 m JZSP CMM60 05 JZSP CSM60 05 5 m JZSP CMM60 10 JZSP CSM60 10 10 m JZSP CMM60 15 JZSP CSM60 15 15 m JZSP CMM60 20 JZSP CSM60 20 20 m M4 crimped ter...

Page 242: ...motor main circuit cable UVW YASKAWA SERVOPACK SGDM 200V L1 L2 L3 U V W L1C L2 B1 B2 B3 3 1 2 C N 3 C N 1 C N 2 2 MODE SET DATA CHARGE POWER Encoder cable Servomotor main circuit cable Rated Output 30...

Page 243: ...2 2 kW 3 2 kW 4 0 kW Three phase 200 V HIV5 5 HIV8 Servomotor model 02B 05B 07B 04C 10C 14C 08D 17D 25D 16E 35E Rated output 42 W 105 W 147 W 84 W 209 W 293 W 168 W 356 W 393 W 335 W 550 W Wire size...

Page 244: ...W SGMAH and 100 to 750 W SGMPH Servomotors With Brakes a Connector Type JZSP CMM9 2 Applicable Servomotor Models Type 100 V 30 to 200 W 200 V 30 to 750 W Without brakes JZSP CMM9 1 With brakes JZSP C...

Page 245: ...Yellow 5 Brake terminal Black No polarity 6 Brake terminal Black Type Cap 350780 1 Socket 350536 6 or 350550 6 No 1 to 4 Soldered type Pin No Signal Lead Color 1 Phase U Red 2 Phase V White 3 Phase W...

Page 246: ...below b Connector Pin Arrangement Applicable Servomotor Models Type SGMAH 30 W to 750 W SGMPH 100 W to 750 W Plug SPUC06KFSDN236 Socket 020 030 1020 Soldered type Manufacturer Interconnectron Gmbh SGM...

Page 247: ...tact Yaskawa Controls Co Ltd Non waterproof cable clamp Cable Standard straight plug Standard L shaped plug SGM H servomotor 1 Configurations of Standard Environment Connectors 2 Configurations of Con...

Page 248: ...ake power supply connector a Servomotor end Connectors Capacity kW Connector on Servomotor Plug Cable Clamp Straight L shaped 0 45 0 85 1 3 MS3102A18 10P MS3106B18 10S MS3108B18 10S MS3057 10A 1 8 2 9...

Page 249: ...protective structure IP67 European safety standard MS3057 4A 0 45 to 15 0 kW Servomotor end connector Servomotor Connector Pin Arrangement A B C D Phase U Phase V Phase W FG Frame Ground D B C A Pin...

Page 250: ...n Servomotor Plug Cable Clamp Straight L shaped 0 3 0 6 0 9 MS3102A18 10P MS3106B18 10S MS3108B18 10S MS3057 10A 1 2 2 0 3 0 MS3102A22 22P MS3106B22 22S MS3108B22 22S MS3057 12A 4 0 5 5 MS3102A32 17P...

Page 251: ...FG Frame Ground D B C A Pin No Signal Servomotor end connector 1 0 3 to 3 0 kW 2 4 0 kW and 5 5 kW Servomotor end connector Servomotor end connector Brake end connector Brake Connector Pin Arrangement...

Page 252: ...ing Brakes a Servomotor end Connectors Capacity kW Connector on Servomotor Plug Cable Clamp Straight L shaped 1 0 1 5 2 0 MS3102A18 10P MS3106B18 10S MS3108B18 10S MS3057 10A 3 0 4 0 5 0 MS3102A22 22P...

Page 253: ...gement a Without Holding Brakes b With Holding Brakes 1 0 to 5 0 kW Servomotor end connector Servomotor Connector Pin Arrangement A B C D Phase U Phase V Phase W FG Frame Ground Pin No Signal D B C A...

Page 254: ...vomotor Main Circuit Connector Pin Arrangement Capacity kW Connector on Servomotor Plug Cable Clamp Straight L shaped 2 2 3 2 4 0 MS3102A24 10P MS3106B24 10S MS3108B24 10S MS3057 16A Servomotor end co...

Page 255: ...onnector on Servomotor Plug Cable Clamp Applicable Cable Range in mm For reference Straight L shaped 0 45 0 85 1 3 CE05 2A18 10PD B CE05 6A18 10SD B BSS CE05 8A18 10SD B BAS CE3057 10A 1 10 5 to 14 1...

Page 256: ...PE B JL04V 6A20 15SE EB JL04V 8A20 15SE EB JL04 2022CK 09 6 5 to 9 5 JL04 2022CK 12 9 5 to 13 0 JL04 2022CK 14 12 9 to 15 9 1 8 2 9 4 4 JL04V 2E24 10PE B JL04V 6A24 10SE EB or JA06A 24 10S J1 EB JL04V...

Page 257: ...rangement A B C D Phase U Phase V Phase W FG Frame Ground D B C A Pin No Signal 1 0 45 to 4 4 kW 2 5 5 to 15 0 kW Servomotor end connector Servomotor end connector Brake end connector Brake Connector...

Page 258: ...omotor Plug Cable Clamp Applicable Cable Range in mm For reference Straight L shaped 0 3 0 6 0 9 CE05 2A18 10PD B CE05 6A18 10SD B BSS CE05 8A18 10SD B BAS CE3057 10A 1 10 5 to 14 1 CE3057 10A 2 8 5 t...

Page 259: ...haped 0 3 0 6 0 9 JL04V 2E20 15PE B JL04V 6A20 15SE EB JL04V 8A20 15SE EB JL04 2022CK 09 6 5 to 9 5 JL04 2022CK 12 9 5 to 13 0 JL04 2022CK 14 12 9 to 15 9 1 2 2 0 3 0 JL04V 2E24 10PE B JL04V 6A24 10SE...

Page 260: ...me Ground D B C A Pin No Signal Servomotor end connector 1 0 3 to 3 0 kW 2 4 0 kW and 5 5 kW Servomotor end connector Servomotor end connector Brake end connector Brake Connector Pin Arrangement B C A...

Page 261: ...y INFO Capacity kW Connector on Servomotor Plug Cable Clamp Applicable Cable Range in mm For reference Straight L shaped 1 0 1 5 2 0 CE05 2A18 10PD B CE05 6A18 10SD B BSS CE05 8A18 10SD B BAS CE3057 1...

Page 262: ...ithout Brakes b With Brakes 1 0 to 5 0 kW Servomotor end connector Servomotor Connector Pin Arrangement A B C D Phase U Phase V Phase W FG Frame Ground Pin No Signal D B C A 1 0 to 5 0 kW Servomotor e...

Page 263: ...onstruction Standard only 2 SGMDH 2000 min 1 Servomotor Main Circuit Connector Pin Arrangement INFO Capacity kW Connector on Servomotor Plug Cable Clamp Applicable Cable Range in mm For reference Stra...

Page 264: ...7 3 mm Dimensional Drawings in mm 51 5 max Ground 19 15 5 18 8 No 3 No 1 No 2 Pin No Signal Signal Lead Color 1 2 3 4 Servomotor end FG Phase W Phase V Phase U FG Phase W Phase V Phase U Green yellow...

Page 265: ...l Length L max Outer Diameter of Joint Nut Q 0 0 38 Cable ClampSet Screw V Effective Screw Length W min Maxi mum Width Y max MS3106B 18 1 1 8 18UNEF 18 26 52 37 34 13 1 20UNEF 9 53 42 J W A V Y Q L G...

Page 266: ...nserted only Conduit Note Possible to connect with an MS connector Nippon Flex Co Ltd Manufacturers DAIWA DENGYO CO Ltd NEOFLEX Co Ltd SANKEI Manufacturing Co Ltd Cable Cable Receptacle Plug Waterproo...

Page 267: ...nits mm Model Joint Screw A Outer Diameter of Nut Q Max Overall Length L Cable Clamp Mounting Screw V R 0 7 U 0 7 S 1 Effective Screw Length W CE05 8A10SL 3SC B BAS 5 8 24UNEF 2B 22 22 47 8 5 8 24UNEF...

Page 268: ...Q F V screw Units mm Model Applicable Shell Size Overall Length A 0 7 Outer Diameter Q 0 7 Effective Screw Length C D E F G 0 7 H CE3057 4A 1 D265 10SL 20 6 20 6 10 3 41 3 7 9 5 6 22 2 1 6 CE3057 10A...

Page 269: ...onduit Nippon Flex Co Ltd Manufacturers DAIWA DENGYO Co Ltd NEOFLEX Co Ltd SANKEI Manufacturing Co Ltd Receptacle Plug Waterproof Cable Clamp Reference Type Model JL04V 2E20 15PE B Plug JL04V 6A20 15S...

Page 270: ...Q 0 8 B 0 2 L 0 8 F 0 5 G 0 5 Cable Clamp Mounting Screw V JL04V 6A20 15SE EB 37 3 29 72 58 5 33 17 1 3 16 18UNEF 2A JL04V 6A22 22SE EB 40 5 30 05 67 63 35 17 1 3 16 18UNEF 2A Units mm Model Outer Di...

Page 271: ...duit Mounting Screw V JL04V 6A20 15SE 37 3 27 0 31 5 8 1 1 8 18UNEF 2A JL04V 6A22 22SE 40 5 29 7 31 2 8 1 1 4 18UNEF 2A JL04V 6A32 17SE 56 3 45 4 35 8 10 1 7 8 16UN 2A V screw L E B Q B B Conduit moun...

Page 272: ...Vinyl Cables HIV Note The values in the table are only for reference 5 3 2 Single phase 100 V IMPORTANT Cable Types Allowable Conductor Temperature C Symbol Name PVC Normal vinyl cable IV 600 V vinyl...

Page 273: ...mbol SERVOPACK Model SGDM A5AD A5ADA 08AD A8ADA 10AD 10ADA 15AD 15ADA 20AD 20ADA 30AD 30ADA Main circuit power supply input terminals L1 L2 L3 HIV2 0 HIV3 5 Servomotor connection terminals U V W HIV2...

Page 274: ...Cable Type Cable Length L Dimensional Drawing JZSP CMP00 03 3 m JZSP CMP00 05 5 m JZSP CMP00 10 10 m JZSP CMP00 15 15 m JZSP CMP00 20 20 m Crimped connector Molex Japan Co Ltd Encoder end Finished dim...

Page 275: ...CMP03 10 10 m JZSP CMP03 15 15 m JZSP CMP03 20 20 m Encoder end SERVOPACK end Crimped connector Molex Japan Co Ltd L 60 mm 1 2 3 4 5 6 Wire markers Finished dimension 6 5 mm Type Manufacturer JZSP CM...

Page 276: ...a Controls Co Ltd Cable Type Cable Length L Dimensional Drawing JZSP CMP03 03 3 m JZSP CMP03 05 5 m JZSP CMP03 10 10 m JZSP CMP03 15 15 m JZSP CMP03 20 20 m Encoder end SERVOPACK end Crimped connector...

Page 277: ...olute Encoder Connection Specifications 17 bit Incremental Encoder Connection Specifications Pin No Signal Wire Marker Lead Color Pin No Signal Wire Marker Lead Color A A B B C PS 5 Light blue C PS 5...

Page 278: ...P CMP10 03 3 m JZSP CMP10 05 5 m JZSP CMP10 10 10 m JZSP CMP10 15 15 m JZSP CMP10 20 20 m Crimped connector Molex Japan Co Ltd Encoder end Finished dimension 6 8 mm SERVOPACK end L Soldered socket con...

Page 279: ...bit Serial Absolute Encoder Connection Specifications 13 bit Serial Incremental Encoder Connection Specifications Pin No Signal Wire Marker Lead Color Pin No Signal Wire Marker Lead Color 1 PG5V 1 Ora...

Page 280: ...SP CMP12 05 5 m JZSP CMP12 10 10 m JZSP CMP12 15 15 m JZSP CMP12 20 20 m MS3106B20 29S DDK Ltd MS3057 12A Cable clamp SERVOPACK end Encoder end Crimped connector Molex Japan Co Ltd Finished dimension...

Page 281: ...Connection Specifications 17 bit Incremental Encoder Connection Specifications Pin No Signal Wire Marker Lead Color Pin No Signal Wire Marker Lead Color A A B B C PS 5 Red light blue C PS 5 Red light...

Page 282: ...ngth L Dimensional Drawing DP9325256 1 3 m DP9325256 2 5 m DP9325256 3 10 m DP9325256 4 15 m DP9325256 5 20 m L Finished dimension 6 5 mm Soldered connector Molex Japan Co Ltd Crimped connector Interc...

Page 283: ...Encoder end Plug connector crimped Molex Japan Co Straight plug caulking Japan Aviation Electronics Industry Ltd Standard Type Flexible Type SERVOPACK end Signal Pin No Lead Color Pin No 5 6 Shell FG...

Page 284: ...SP CMP03 05 JZSP CMP13 05 5 m JZSP CMP03 10 JZSP CMP13 10 10 m JZSP CMP03 15 JZSP CMP13 15 15 m JZSP CMP03 20 JZSP CMP13 20 20 m L 1 2 3 4 5 6 60mm Plug connector crimped Molex Japan Co Wire markers S...

Page 285: ...le Type 2 SERVOPACK end Connector for CN2 3 Encoder end Connector Cables for Maximum 20 m Wiring Distance Cables for Maximum 50 m Wiring Distance Cable Type Cable Length Cable Type Cable Length JZSP C...

Page 286: ...Lead Colors Yaskawa Standard Specifications Standard Length 5 m 10 m 15 m 20 m 30 m 40 m 50 m Light blue Light blue White Orange Orange White Red Black Red Orange White Orange Light blue White Light b...

Page 287: ...imum 50 m Wiring Distance Cable Type Cable Length Cable Type Cable Length JZSP CMP09 05 5 m JZSP CMP19 30 30 m JZSP CMP09 10 10 m JZSP CMP19 40 40 m JZSP CMP09 15 15 m JZSP CMP19 50 50 m JZSP CMP09 20...

Page 288: ...d Length 5 m 10 m 15 m 20 m 30 m 40 m 50 m Light blue Light blue White Orange Orange White Red Black Red Orange White Orange Light blue White Light blue Black A N T S R P M K J H G F L B C E D 17 bit...

Page 289: ...G21 to 25 Outer diameter of insulating sheath 0 8 to 1 5 mm Caulking tool Hand Tool model CT150 2 JN Appearance Arranged Model JZSP CMP9 1 Order them from Japan Aviation Electronics Industry Ltd 10 36...

Page 290: ...f cable sheathing are caused Disconnecting the shield wire is not taken into account 2 Wiring Precautions Even if the recommended bending radius R is respected in the mechanical design incorrect wirin...

Page 291: ...nector and wire when assembling the cable The CN1 connector includes a set of case and a connector Manufactured by Sumitomo 3M Ltd 1 Dimensional Drawing of Case Cable Type Cable Length L JZSP CKI01 1...

Page 292: ...heral Devices 2 Dimensional Drawing of Connector 3 Cable Size 2 54 Units mm 1 27 Pin No 26 Pin No 1 36 7 30 48 15q 1 27 41 1 5 1 6 6 19 3 2 9 2 3 12 7 9 1 7 5 Pin No 2 Item Specifications Cable Use tw...

Page 293: ...ink Pink Orange Orange Gray White White Gray Yellow Yellow Pink Pink Orange Orange Gray Gray White White Red Red Black Black Red Black Red Black Red Black Red Black Red Red Black Black Red Black Red B...

Page 294: ...end Signal Pin No Case SERVOPACK end Signal Pin No 14 0 V RXD TXD 0 V RTS CTS FG 3 2 7 4 5 1 TXD RXD FG 2 4 Shield wire 38 39 6 1 9 5 8 1 14 7 2 M2 6 screws 2 M2 6 screws 2000 50 Half pitch connector...

Page 295: ...o Ltd in the following cases When you need a longer cable than the one supplied with the digital operator When you need additional cables When you use the digital operator for the I series model JUSP...

Page 296: ...ensional Drawing Manufactured by Hirose Electric Corporation 3 Specifications Note The above monitoring items are the factory settings The monitoring items can be changed by setting the parameter Pn00...

Page 297: ...ock converter unit model JUSP TA50P CN1 Attached cable length 500 mm 50 0 YASKAWA 1 19 33 16 32 50 1 1 2 49 50 Terminal block 50P M3 5 screw Connector plug 50P MR 50RMD2 7 7 15 5 45 15 5 45 3 5 3 5 29...

Page 298: ...is tance on DC side is too long the brake circuit may not operate normally due to the influence of switching noises When switching the circuit on AC side install a surge absorber model CR50500BL for t...

Page 299: ...1H01 Noise Filter for Brake Power Supply Use the following noise filter at the brake power input for 400 W or less servomotors with holding brakes Model FN2070 6 07 Manufactured by Schaffner Electron...

Page 300: ...t in regenerative resistor is provided to 6 kW or more SERVOPACKs Be sure to prepare the externally mounted regenerative resistor The following table shows examples of regenerative resistors 1 The val...

Page 301: ...search Institute RH150 90 W 1 to 100 RH220 120 W 1 to 100 RH300C 200 W 1 to 10 k RH500 300 W 1 to 30 RH120 10 J Model Resistance Tolerance Resistance Code K J H 10 5 3 Specifications Resistance Tolera...

Page 302: ...02 16 44 24 30 RH220 230 200 220 15 60 24 20 RH120 70 W 1 to 100 RH150 90 W 1 to 100 RH220 120 W 1 to 100 Rated Power Model Dimensions Units mm Resistance 138 170 4 5 4 154 30 60 54 40 3 0 Lead wire l...

Page 303: ...esistor unit is required according to the SERVOPACK model 2 Dimensional Drawings SERVOPACK Model Regenerative Resistor Unit Model Specifications Allowable Power Loss SGDM 60ADA JUSP RA04 6 25 880 W 18...

Page 304: ...ttery to the host controller select the battery in accordance with the specifications of the host controller Use the battery ER6 VC3 or the equivalent 3 6 V 2000 mAh manufactured by Toshiba Battery Co...

Page 305: ...se circuit breakers are applicable The power supply capacity per SERVOPACK when using a servomotor is described in 2 6 2 Molded case Circuit Breaker and Fuse Capacity Select a circuit breaker with the...

Page 306: ...FN2070 6 07 FN2070 10 07 FN2070 16 07 FN350 30 33 Dimensional Drawings External Dimensions in mm Symbol Dimensions Dimensions A 113 5 1 156 1 119 0 5 A 105 0 5 B 57 5 1 85 5 1 B 99 5 0 5 C 45 4 1 2 5...

Page 307: ...r the connection method a FN Series Model FN258L 7 07 FN258L 16 07 FN258L 30 07 Dimensional Drawings External Dimensions in mm Symbol Dimensions A 255 1 305 1 335 1 B 126 0 8 142 0 8 150 1 C 50 0 6 55...

Page 308: ...ensional Drawings External Dimensions in mm Symbol Dimensions A 251 308 B 201 231 C 151 151 D E 6 5 0 3 6 5 0 3 F 115 0 3 115 0 3 G M6 M6 H 66 66 I 121 121 J 10 13 K 41 45 L 17 34 Specifications 440 V...

Page 309: ...gs External Dimensions in mm Symbol Dimensions A 330 420 440 B 85 95 150 C 370 460 480 D 348 438 458 E 110 180 200 F 80 140 170 G 30 50 50 H 25 25 35 I 1 5 1 5 1 5 J 6 5 6 5 6 5 K 25 25 25 L M6 M8 M10...

Page 310: ...2 For Single phase 100 200 V and Three phase 200 V SERVOPACKs a Model HI 11J b Model HI 15J and HI 20J Dimensions in mm Mounting Hole Dimensions in mm Terminal Symbols Approx mass 0 25 kg 9 35 76 61 3...

Page 311: ...rminal M3 5 Auxiliary contact terminal U V W R S T 111 79 45 4 5 35 94 72 9 7 5 8 6 2 M4 Mounting holes 70 75 10 5 50 4 Auxiliary contact Structure 1NO1NC Dimensions in mm Mounting Hole Dimensions in...

Page 312: ...Volt age Applicable Voltage Range for Operation Magnetic Coil Applicable Magnetic Contactor TU 25C120 CR 150 VAC HI 11J HI 15J HI 20J TU 25C240 CR 300 VAC TU 25V440 Varistor 500 VAC TU 65C120 CR 150...

Page 313: ...Brake Power Supply When using a servomotor with holding brake install a surge absorber near the brake coil to prevent the power supply noises The surge absorber handled by Okaya Electric Industries Co...

Page 314: ...rbs lightning surge and prevents faulty operation in or damage to electronic circuits Recommended surge absorbers are listed below 2 Dimensional Drawings a RxCxM 601BQZ 4 b RxCxM 601BUZ 4 Dimensional...

Page 315: ...Reactor Specifications Inductance mH Rated Current A Single phase 100 V A3BD A3BDA A5BD A5BDA 01BD 01BDA X5063 10 0 1 8 02BD 02BDA X5062 4 7 3 5 Single phase 200 V A3AD A3ADA A5AD A5ADA 01AD 01ADA X5...

Page 316: ...ble resistors with dial MD10 30B4 are manufactured by Sakae Tsushin Kogyo Co Ltd Contact Yaskawa Controls Co Ltd 2 Dimensional Drawings 3 Example of Connection to an External Power Supply MD multi dia...

Page 317: ...4 Power Supply 12 VDC 10 100 mA 5 VDC 5 100 mA Input Signals Balanced line driver input RS 422 Output Signals Voltage pulse output Open collector output Voltage pulse output Open collector output Inpu...

Page 318: ...Torque Control Mode 6 11 6 3 4 I O Signal Connector CN1 Terminal Layout 6 12 6 3 5 I O Signal CN1 Names and Functions 6 13 6 3 6 Interface Circuit 6 15 6 4 Others 6 18 6 4 1 Wiring Precautions 6 18 6...

Page 319: ...an inspection Avoid frequently turning power ON and OFF Do not turn the power ON or OFF more than once per minute Since the SERVOPACK has a capacitor in the power supply a high charging current flows...

Page 320: ...tive resistor provided by customer between B1 and B2 if the capacity of the internal regenerative resistor is insufficient B1 B2 200 6 0 to 15 0 Connect an external regenerative resistor provided by c...

Page 321: ...ool using the procedure shown in Fig A or B Insert the connection hook end of the provided tool into the slot as shown in Fig A Use a standard flat blade screwdriver blade width of 3 0 to 3 5 mm or ty...

Page 322: ...C CN1 1QF R T 1PL FIL 24V 2 1QF FIL 1KM Molded case circuit breaker Noise filter Magnetic contactor Indicator lamp Surge absorber Flywheel diode 1PL 1SA 1D 1Ry Relay OFF ON For servo alarm display Ind...

Page 323: ...nerate with DC power supply input specifications so regenerate the energy on the power supply side 2 Take appropriate measures to ensure that a high charging current stays inside the SERVOPACK when po...

Page 324: ...rmi nal When changing the parameters turn the power ON again for the necessity of the effective setting 35 0 V SG 1 0 V 0 V 5 V 5 V PAO PAO PBO PBO PCO PCO PG5V PG0V 1 2 5 6 CN2 33 34 36 19 20 PG CN1...

Page 325: ...BO PBO PCO PSO PSO 0 33 mm2 CN1 CN1 2 3 2 1 0 V 0 V 5 V 5 V 5 V 11 5 3 2 1 R 6 7 10 9 8 16 C R R 5 6 1 2 PG5V PG0V PS PS BAT BAT C 5 D 6 H 1 G 2 T 3 S 4 Shield wire Orange White Orange Shell Connector...

Page 326: ...5 PSO PSO 48 49 V REF SG A D 5 6 2 1 LPF T REF SG 1 SG 9 2 LPF 2 5 V 0 V SEN SG 4 ALO1 ALO2 ALO3 37 38 39 Amount of phase S rotation Serial data output Applicable line receiver SN75175 manufactured b...

Page 327: ...9 150 PULS CLR PULS SIGN SIGN CLR CLR PL1 PL2 PL3 PULS 1 150 150 1 SG 4 12 V Open collector reference power supply 1 k 3 13 18 Servo ON Servo ON when ON Reverse run prohibited Prohibited when OFF Forw...

Page 328: ...48 49 V REF SG A D 5 6 2 1 LPF T REF SG 9 2 5 LPF 2 5 V 0 V SEN SG 4 ALO1 ALO2 ALO3 37 38 39 1 SG 6 Backup battery 2 8 to 4 5 V 3 Servo ON Servo ON when ON Reverse run prohibited Prohibited when OFF F...

Page 329: ...S RDY Servo ready output 5 V REF Speed refer ence input 30 S RDY Servo ready output 6 SG GND 31 ALM Servo alarm output 7 PULS Reference pulse input 32 ALM Servo alarm output 8 PULS Reference pulse inp...

Page 330: ...y parameter Forward external torque limit ON Reverse external torque limit ON Current limit function enabled when ON 8 9 2 Internal speed switching With the internally set speed selection Switches the...

Page 331: ...6 2 6 3 1 8 4 6 8 5 7 PBO PBO 35 36 Phase B signal PCO PCO 19 20 Phase C signal PSO PSO 48 49 Phase S signal With an absolute encoder Outputs serial data corresponding to the number of revolutions RS...

Page 332: ...an be either line driver or open collector outputs The following shows by type Analog Voltage Input Circuit Analog Voltage Input Circuit D A 1 8 k 1 2 W min 25HP 10B 2 k 3 2 12 V 1 0 V SG About 14 k S...

Page 333: ...t Interface There are three types of SERVOPACK output circuits a Line Driver Output Circuit CN1 connector terminals 33 34 phase A signal 35 36 phase B signal and 19 20 phase C signal are explained bel...

Page 334: ...t 20 mA DC c Photocoupler Output Circuit Photocoupler output circuits are used for servo alarm ALM servo ready S RDY and other sequence out put signal circuits Connect a photocoupler output circuit th...

Page 335: ...o mechanism to prevent noise interference 5 To prevent malfunction due to noise take the following actions Position the input reference device and noise filter as close to the SERVOPACK as possible Al...

Page 336: ...gh servomotor stray capacitance The above grounding is required to prevent the adverse effects of switching noise b Noise on the Reference Input Line If the reference input line receives noise ground...

Page 337: ...ame duct or bundle them together Voltage SERVOPACK Model SGDM Recommended Noise Filters Model Specifications Manufacturer Single phase 100 V A3BD to 01BD A3BDA to 01BDA FN2070 6 07 VAC Single phase 25...

Page 338: ...ground wires 4 When grounding a noise filter inside a unit If a noise filter is located inside a unit connect the noise filter ground wire and the ground wires from other devices inside the unit to t...

Page 339: ...section describes the EMC installation conditions satisfied in test conditions prepared by Yaskawa The actual EMC level may differ depending on the actual system s configuration wiring and other cond...

Page 340: ...Line cable Shield cable U V W L1 L2 L3 L1C L2C CN2 CN1 PE PE Ground Plate Shield Box Core Approx 5 m Core Core Core SERVOPACK Brake power supply Core Core Host controller Noise filter Clamp Approx 2 m...

Page 341: ...d in the table below Main Circuit Wiring 1 SGDM SERVOPACKs are suitable under the following conditions With 200 V class Less than 5000 Arms 240 V maximum With 400 V class Less than 5000 Arms 480 V max...

Page 342: ...lded case circuit breaker QF or noise filter Always select a QF or noise filter that has enough capacity for the total power capacity load conditions of those servos For details refer to 2 5 2 Molded...

Page 343: ...gth in of cable type designation Example JZSP CMP19 30 30 m Application Fixed Type Cable type JZSP CMP19 Cable length 50 m max Basic Specifications UL20276 Max surrounding air temperature 80 C AWG16 2...

Page 344: ...PH JZSP CMP9 2 5 4 3 5 4 5 5 5 1 SGMGH SGMSH SGMDH For standard environment MS3108B20 29S 1 L shaped plug 5 4 4 5 5 2 MS3106B20 29S 1 Straight plug 5 4 4 5 5 2 MS3057 12A 1 Cable clamp 5 4 4 5 5 2 For...

Page 345: ...he AC power supply ON and OFF sequence at the primary side of voltage conversion transfer Voltage conversion transfer inductance will cause a surge voltage if the power is turned ON and OFF at the sec...

Page 346: ...shown in the following diagram The DC reactor is connected in series to the rectifier circuit s output side Note 1 The SERVOPACK 1 and 2 terminals for the DC reactor are short circuited before shipmen...

Page 347: ...regenerative power average values that it can process 1 The average regenerative power that can be handled is 20 of the rated capacity of the regenerative resistor built into the SERVOPACK 2 The valu...

Page 348: ...teristics Use the regenerative resistors at no more than 20 of the rated load ratio with natural convection cooling and no more than 50 of the rated load ratio with forced air cooling 2 For safety s s...

Page 349: ...W or Less b SERVOPACKs with Capacities of 0 5 to 5 0 kW IMPORTANT Connect an external regenerative resistor between B1 and B2 terminals Note The user must provide the regenerative resis tor Enlarged V...

Page 350: ...e resis tor unit Note Connect a regenerative resistor unit between B1 and B2 terminals The regenerative resistor unit is provided by the customer Main Circuit Power Supply Applicable SERVOPACK Model S...

Page 351: ...aceback Data Clear Fn006 7 11 7 2 6 Manual Zero adjustment of Analog Monitor Output Fn00C 7 12 7 2 7 Manual Gain adjustment of Analog Monitor Output Fn00D 7 13 7 2 8 Automatic Offset adjustment of Mot...

Page 352: ...7 1 1 Connecting the Digital Operator Two types of digital operators are available One is a built in operator that has a panel indicator and switches located on the front panel of the SERVOPACK This t...

Page 353: ...tor mode Can be also used to set the data To display parameter setting and set value Press the UP Key to increase the set value For JOG operation this key is used as Forward Run Start Key Press the DO...

Page 354: ...meter number in the selected mode Refer to each operation instruction described later Status Display Mode Refer to 7 1 4 Press Press DSPL SET Press DATA ENTER Press Pn Parameter Setting Mode Refer to...

Page 355: ...f Rotation Detection TGON Lit if motor speed exceeds preset value Not lit if motor speed is below preset value Preset value Set in Pn502 Factory setting is 20 min 1 Rotation Detection TGON Lit if moto...

Page 356: ...Status Display 7 6 2 Codes and Meanings Code Meaning Baseblock Servo OFF motor power OFF Run Servo ON motor power ON Forward Run Prohibited CN1 42 P OT is OFF Reverse Run Prohibited CN1 43 N OT is OFF...

Page 357: ...rameter setting initialization 7 2 4 Fn006 Alarm traceback data clear 7 2 5 Fn007 Writing to EEPROM moment of inertia ratio data obtained from online auto tuning 9 2 7 Fn008 Absolute encoder multiturn...

Page 358: ...n Digital operator transmission error 1 Digital operator transmission error 2 Alarm Code See the alarm table Alarm Sequence Number The higher the number the older the alarm data is INFO Step Display a...

Page 359: ...3 CAUTION For aligning the motor shaft with the machine Step Display after Operation Digital Operator Panel Operator Description 1 Press the DSPL SET or MODE SET Key to select the utility function mod...

Page 360: ...he enabled digit blinks 3 Press the DATA ENTER Key once or DATA SHIFT Key for more than one second and the display will be as shown on the left 4 Press the DSPL SET or MODE SET Key Then the parameters...

Page 361: ...s 3 Press the DATA ENTER Key once or DATA SHIFT Key for more than one second and the display will be as shown on the left 4 Press the DSPL SET or MODE SET Key to clear the alarm traceback data The dis...

Page 362: ...n the left appears 7 Press the DSPL SET or MODE SET Key The display shown on the left appears 8 Press the LEFT or RIGHT or DATA SHIFT Key for less than one second to display the output data of analog...

Page 363: ...than one second The display shown on the left appears 7 Press the DSPL SET or MODE SET Key The display shown on the left appears 8 Press the LEFT or RIGHT or DATA SHIFT Key for less than one second t...

Page 364: ...supply and with the servo is OFF IMPORTANT Step Display after Operation Digital Operator Panel Operator Description 1 Press the DSPL SET or MODE SET Key to select the utility function mode 2 Press th...

Page 365: ...e U 4 Press the LEFT or RIGHT or DATA SHIFT Key for less than one second to display the phase U offset amount 5 Press the UP or DOWN Key to adjust the offset Care fully adjust the offset while monitor...

Page 366: ...Key to select Fn010 Note The enabled digit blinks 3 Press the DATA ENTER Key once or DATA SHIFT Key for more than one second and the display will be as shown on the left 4 Press the UP or DOWN Key to...

Page 367: ...the encoder type and resolution code will be displayed 6 Press the DSPL SET or MODE SET Key to display the SERVOPACK s code for custom orders Note The display y 0000 means standard model 7 Press the D...

Page 368: ...DOWN Key to select Fn012 Note The enabled digit blinks 3 Press the DATA ENTER Key once or DATA SHIFT Key for more than one second to display the SERVO PACK software version 4 Press the DSPL SET or MOD...

Page 369: ...oop gain from 40 to 100 EXAMPLE Step Display after Operation Digital Operator Panel Operator Description 1 Press the DSPL SET or MODE SET Key to select the parameter setting mode If a parameter other...

Page 370: ...parameter Position Positoin Speed Torque Torque Applicable control mode for the parameter Speed Speed control internally set speed control Position control Torque control This section shows the range...

Page 371: ...lection Application Switches 0000 After restart Pn003 Function Selection Application Switches 0002 Immediately Servo Gain Related Parameter Pn10B Gain Application Switches 0000 After restart Immediate...

Page 372: ...of Pn000 is displayed 3 Press the LEFT or RIGHT or DATA SHIFT Key to select the first digit of current data 4 Press the UP Key once to change to n 0010 Set the control method to position control 5 Pre...

Page 373: ...s means factory setting Pn000 0 or n xxx Indicates the value for the 1st digit of parameter Pn000 Pn000 1 or n xx x Indicates the value for the 2nd digit of parameter Pn000 Pn000 2 or n x xx Indicates...

Page 374: ...A 1 n xx x L S ON 0 1 2 3 4 5 6 7 8 H S ON 9 A B C D E F Proportional Operation Reference Pn50A 2 n x xx L P CON 0 1 2 3 4 5 6 7 8 H P CON 9 A B C D E F Forward Run Prohibited Pn50A 3 n xxx H P OT 0 1...

Page 375: ...once or DATA SHIFT Key for more than one second to return to the display Pn50A 7 Press the UP Key to set Pn50B Note The enabled digit blinks 8 Press the DATA ENTER Key once or DATA SHIFT Key for more...

Page 376: ...verse Positioning Completion COIN Pn50E 0 n xxx 0 Invalid L Valid output signal Low level H Valid output signal High level Invalid Do not use the output signal Factory Setting Note The output signals...

Page 377: ...e second to return to the display Pn50E 6 Press the UP Key to set Pn50F Note The enabled digit blinks 7 Press the DATA ENTER Key once or DATA SHIFT Key for more than one second to display the current...

Page 378: ...n004 Rotation angle 2 Angle from the zero point electrical angle deg Un005 Input signal monitor 1 Un006 Output signal monitor 1 Un007 Input reference pulse speed valid only in position control mode mi...

Page 379: ...ent LED is lit Refer to 7 3 2 Input Circuit Signal Allocation for the relation between input terminals and signals When S ON signal is ON Servo ON at L level When S ON signal is OFF When P OT signal o...

Page 380: ...al Name Factory Setting 1 CN1 31 32 ALM 2 CN1 25 26 COIN or V CMP 3 CN1 27 28 TGON 4 CN1 29 30 S RDY 5 CN1 37 AL01 6 CN1 38 AL02 7 CN1 39 AL03 4 3 2 1 Top OFF H level Bottom ON L level Number 7 6 5 EX...

Page 381: ...e 16 bit encoder The feedback pulse will be 131071 pulse rev when using the 17 bit encoder Step Display after Operation Digital Operator Panel Operator Description 1 Press the DSPL SET or MODE SET Key...

Page 382: ...8 3 5 Selecting the Stopping Method After Servo OFF 8 27 8 3 6 Instantaneous Power Loss Settings 8 28 8 4 Absolute Encoders 8 29 8 4 1 Interface Circuits 8 30 8 4 2 Selecting an Absolute Encoder 8 31...

Page 383: ...Setting Parameters 8 66 8 8 2 Input Signal Settings 8 66 8 8 3 Operating Using an Internally Set Speed 8 67 8 9 Limiting Torque 8 69 8 9 1 Internal Torque Limit Limiting Maximum Output Torque 8 69 8 9...

Page 384: ...8 3 8 Operation...

Page 385: ...rotation direction motor speed and number of rotations Check the operation of the brake overtravel and other pro tective functions 3 Trial Operation for the Servomotor and Machine Combined Refer to 8...

Page 386: ...rial operation 6 Check input signals Use the internal monitor function to check the input signals Turn ON the power and check the emergency stop brake overtravel and other pro tective functions for co...

Page 387: ...supply circuit and servomotor wiring Do not use the CN1 I O signals here Refer to 6 1 Wiring Main Circuit for wiring example of main cir cuit Refer to 2 4 Selecting Cables for motor and encoder cables...

Page 388: ...he display shown at the left will appear and the servomotor will enter JOG operation mode The servomotor can be operated with the panel operator in this condition 4 Press the SVON or MODE SET Key This...

Page 389: ...vo on S ON input signal is OFF H level Refer to 8 3 1 Setting the Servo ON Signal 2 Pn50A is not set to n 7 Sets signal ON with the external input signal allocation Refer to 7 3 2 Input Circuit Signal...

Page 390: ...r and SERVOPACK and the SERVO PACK operation settings are correct This is final check before connecting the servomotor to the machine 1 Servo ON Command from the Host The following circuits are requir...

Page 391: ...own below The input signal setting is not correct if the display is not the same as on the left Check the input signal using the Un005 input signal monitor from the panel operator Check input signal w...

Page 392: ...ode Selection and Operation for how it is displayed 5 Check the Un000 motor speed min 1 Refer to 7 1 3 Basic Mode Selection and Operation for how it is displayed 6 Check that the Un001 and Un000 value...

Page 393: ...1 Send the command for the number of motor rotation easy to check for example one motor revolution from the host controller in advance and check the sent number of rotation and actual number of rota t...

Page 394: ...angle 1 pulse was executed Refer to 7 1 3 Basic Mode Selection and Operation for how it is displayed Un003 rotation angle 1 pulse 7 Check that steps 5 and 6 satisfy the following equa tion Un003 Un00C...

Page 395: ...rection without chang ing input reference pulse form refer to 8 3 2 Switching the Servomotor Rotation Direction Perform the operation from step 9 again after the motor rotation direction is changed 14...

Page 396: ...r to 3 8 1 Precautions on Servomotor Installation 4 Check that the SERVOPACK is servo OFF status and then turn ON the power to the machine host controller Check again that the protective function in s...

Page 397: ...ervomotor without load M Host controller Position control Speed control SERVOPACK Analog speed reference Reference from the Host Controller Check Item Check Method Review Items Reference Section JOG O...

Page 398: ...fer ence Controls the position with the number of input pulses and controls the speed with the input pulse frequency Use when positioning is required 8 6 n 2 Torque Control Analog voltage reference Co...

Page 399: ...Servomotor cannot be operated IMPORTANT Always input the servo ON signal before inputting the input reference to start or stop the servomotor Do not input the input reference first and then use the S...

Page 400: ...viewed from the drive end Parameter Name Reference Forward Reference Reverse Reference Pn000 n 0 Standard setting CCW Forward Factory setting n 1 Reverse Rotation Mode CW Forward The direction of P OT...

Page 401: ...rotation is possible during forward over travel IMPORTANT When the servomotor stops due to overtravel during position control the position error pulses are held A clear signal CLR input is required to...

Page 402: ...by Pn001 0 is not effective The servomotor stops by dynamic breaking DB or coasts to a stop After it is stopped the servomotor enters Coast Mode After changing these parameters turn OFF the main circ...

Page 403: ...of 200 ms before the speed reference is input after the brake power supply is turned ON 4 The servomotor stop time is shown by t0 Refer to Table 8 2 Calculation Method for Servomotor Stop Time for th...

Page 404: ...in 1 90 V 100 80 24 V SGMGH 09 1500 min 1 SGMGH 06 1000 min 1 90 V 100 80 24 V SGMGH 13 1500 min 1 SGMGH 09 1000 min 1 90 V 100 80 24 V SGMGH 20 1500 min 1 SGMGH 12 1000 min 1 90 V 170 80 24 V 100 SGM...

Page 405: ...applied 3 When forming a position loop do not use a mechanical brake while the servomotor is stopped because the servomotor enters servolock status SGMSH 50 90 V 100 80 24 V SGMDH 22 90 V 170 80 24 V...

Page 406: ...s the brake This output signal controls the brake and is used only for a servomotor with a brake This output signal is not used with the factory settings The output signal must be allocated with Pn50F...

Page 407: ...or Brake released Servo ON Power to motor Brake held Servo OFF No power to motor Pn506 Pn507 Brake Reference Output Speed Level Setting Range Setting Unit Factory Setting Setting Validation 0 to 10000...

Page 408: ...pending on the model are stopped by dynamic braking DB Refer to the following section labelled IMPORTANT Similar to the Coast Mode the n 0 setting which stops the servomotor by dynamic braking and the...

Page 409: ...parameter Pn509 In the following instances however the parameter setting will be invalid If an insufficient voltage alarm A 41 occurs during a power loss with a large servomotor load When control is...

Page 410: ...ncoder and 12 bit encoder When an infinite length positioning system of the con ventional type is to be configured with the II series be sure to make the following system modification WARNING Absolute...

Page 411: ...g Meaning Input SEN CN1 4 OFF low level Input when power is turned ON ON high level Input at absolute data request This input signal is required to output absolute data from the SERVOPACK When the SER...

Page 412: ...bsolute encoder as an incremental encoder The SEN signal and back up battery are not required when using the absolute encoder as an incremental encoder After changing these parameters turn OFF the mai...

Page 413: ...te Encoder Setup Fn008 Setting up initializing the absolute encoder is necessary in the following cases When starting the machine for the first time When an encoder backup error alarm A 81 is generate...

Page 414: ...one second The panel operator or digital operator will return to the utility function mode 6 Press the DSPL SET or MODE SET Key This will clear the mul titurn data of the absolute encoder When comple...

Page 415: ...otor shaft has made from the reference position position spec ified at setup Initial incremental pulse Outputs pulses at the same pulse rate as when the motor shaft rotates from the origin to the curr...

Page 416: ...count data PO Number of initial incremental pulses Use the following for reverse rotation mode Pn000 0 1 PE M R PO PM PE PS PS Absolute data read at setup This is saved and controlled by the host con...

Page 417: ...5 7 Encoder Signal Output 4 Transferring Alarm Contents When an absolute encoder is used SEN signals can be utilized to transfer the alarm detection contents from PAO outputs to the host controller a...

Page 418: ...sitions and machine break and personal accident will occur WARNING Pn205 Multiturn Limit Setting Setting Range Setting Unit Factory Setting Setting Validation 0 to 65535 1 Rev 65535 After restart This...

Page 419: ...Press the DATA ENTER Key once or DATA SHIFT Key for more than one second The display on the left will appear 4 Press the DSPL SET or MODE SET Key The multiturn limit set ting in the absolute encoder...

Page 420: ...ng Validation 1 50 to 3000 150 to 30 00 V Rated speed 0 01 V Rated speed 600 6 V Rated speed Immediately Sets the analog voltage level for the speed reference V REF necessary to operate the servomotor...

Page 421: ...roller such as a program mable controller for position control Type Signal Name Connector Pin Number Setting Description Input P CON CN1 41 ON low level Operates the SERVOPACK with proportional contro...

Page 422: ...he automatic adjustment of the analog speed torque reference offset Fn009 automatically measures the amount of the offset and adjusts the reference voltage The SERVOPACK automatically adjusts the offs...

Page 423: ...input the 0 V reference voltage from the host controller or external circuit 2 Press the DSPL SET or MODE SET Key to select the utility function mode 3 Press the LEFT RIGHT or UP DOWN Key or UP or DOW...

Page 424: ...to select the utility function mode 2 Press the UP or DOWN Key to select parameter Fn00A The digit that can be set will blink 3 Press the DATA ENTER Key once or DATA SHIFT Key for more than one secon...

Page 425: ...ediately Pn306 Soft Start Deceleration Time Setting Range Setting Unit Factory Setting Setting Validation 0 to 10000 1 ms 0 Immediately The soft start function enables smooth speed control when inputt...

Page 426: ...y Sets the motor speed at which the zero clamp is performed if zero clamp speed control Pn000 n A is selected Even if this value is set higher than the maximum speed of the servomotor the maximum spee...

Page 427: ...onnector Pin Number Name Output PAO CN1 33 Encoder output phase A PAO CN1 34 Encoder output phase A Output PBO CN1 35 Encoder output phase B PBO CN1 36 Encoder output phase B Output PCO CN1 19 Encoder...

Page 428: ...d inside the SERVOPACK by the number set in Pn201 before being output Set according to the system specifications of the machine or host controller The setting range varies with the number of encoder p...

Page 429: ...tails Pn503 Speed Coincidence Signal Output Width Setting Range Setting Unit Factory Setting Setting Validation 0 to 100 1 min 1 10 Immediately The V CMP signal is output when the difference between t...

Page 430: ...ation Reference Pn200 n 0 Sign pulse train Positive logic Factory setting n 1 CW pulse CCW pulse Positive logic n 2 Two phase pulse train with 90 phase differential Positive logic 1 n 3 2 n 4 4 n 5 Si...

Page 431: ...ulses do not accumulate while the signal is at low level n 3 Clears at the falling edge The following are executed when the clear operation is enabled The SERVOPACK error counter is set to 0 Position...

Page 432: ...led a ref erence unit SGM H Servomotor model Encoder Type Incremental encoder 13 bits A B C 1 2 16 bits 17 bits 16 bits 17 bits 16384 2048 32768 16384 32768 Absolute encoder No of Encoder Pulses Motor...

Page 433: ...ic gear ratio B A 100 If the electronic gear ratio is outside this range the SERVOPACK will not operate properly In this case modify the load configuration or reference unit Position Position Electron...

Page 434: ...it 2048 P R 13 bit 2048 P R 16 bit 16384 P R 3 Determine the ref erence unit used 1 Reference unit 0 001 mm 1 m 1 Reference unit 0 1 1 Reference unit 0 02 mm 4 Calculate the travel distance per load s...

Page 435: ...n parameter Pn506 is set to 0 t3 40 ms Encoder pulses t4 t5 t6 2 ms t7 20 s t6 CN1 11 CN1 7 PAO L L L H H H H ON ON ON CLR PBO t7 t5 t4 t3 t2 t1 COIN Table 8 3 Reference Pulse Input Signal Timing Refe...

Page 436: ...current i will be within 7 to 15 mA Represents twisted pair wires Line driver SERVOPACK Host controller Photocoupler CN1 7 8 14 15 12 11 PULS SIGN SIGN CLR CLR PULS 150 150 150 CN1 7 8 14 15 12 11 PUL...

Page 437: ...eter Pn200 3 to 1 3 Position Control Block Diagram A block diagram for position control is shown below CN1 7 3 8 1 14 15 12 11 13 18 PULS SIGN SIGN CLR CLR PULS PL1 PL2 PL3 150 1k 12V Tr1 1 5 V max at...

Page 438: ...To ensure that the setting value is correctly reflected stop the reference pulse from the host controller and input the clear signal CLR or turn the servo OFF to clear the error This function provide...

Page 439: ...eference unit 7 Immediately The positioning completed COIN signal is output when the difference position error pulse between the number of reference pulses output by the host controller and the travel...

Page 440: ...F high level The servomotor has not reached a point near to posi tioning completed The output terminal must be allocated with parameter Pn510 in order to use positioning near signal Refer to 7 3 3 Out...

Page 441: ...l Name Connector Pin Number Setting Meaning Input P CON CN1 41 Factory setting ON low level Turns the INHIBIT function ON Inhibits the SERVOPACK from counting refer ence pulses OFF high level Turns th...

Page 442: ...r at the rated torque EXAMPLE Pn400 30 The servomotor operates at the rated torque with 3 V input factory setting Pn400 100 The servomotor operates at the rated torque with 10 V input Pn400 20 The ser...

Page 443: ...ence offset must be automatically adjusted with the servo OFF Use the following procedure for automatic adjustment of the torque reference offset Offset Torque reference Reference voltage Reference vo...

Page 444: ...rator Panel Operator Description 1 Press the DSPL SET or MODE SET Key to select the utility function mode 2 Press the LEFT RIGHT or UP DOWN Key or UP or DOWN Key to select parameter Fn00B The digit th...

Page 445: ...V REF and the setting in Pn300 external speed limit function Pn407 Speed Limit During Torque Control Setting Range Setting Unit Factory Setting Setting Validation 0 to 10000 min 1 10000 Immediately S...

Page 446: ...ocated CN1 ON low level Servomotor speed limit being applied OFF high level Servomotor speed limit not being applied This signal is output when the servomotor speed reaches the speed limit value set i...

Page 447: ...ion Internally set speed control contact reference Pn301 Internal Set Speed 1 Setting Range Setting Unit Factory Setting Setting Validation 0 to 10000 1 min 1 100 Immediately Pn302 Internal Set Speed...

Page 448: ...igh OFF high Forward Stop at 0 of the internally set speed OFF high ON low Pn301 Internally Set Speed 1 SPEED1 ON low ON low Pn302 Internally Set Speed 2 SPEED2 ON low OFF high Pn303 Internally Set Sp...

Page 449: ...al is output Always begin the output of the pulse reference from the host controller after the positioning completed COIN signal is output from the SERVOPACK Example Operation with an Internally Set S...

Page 450: ...Setting Range Setting Unit Factory Setting Setting Validation 0 to 800 1 800 Immediately Pn403 Reverse Torque Limit Setting Range Setting Unit Factory Setting Setting Validation 0 to 800 1 800 Immedia...

Page 451: ...actory Setting Setting Validation 0 to 800 1 100 Immediately Speed Position Torque Speed Position Torque Type Signal Name Connector Pin Number Setting Meaning Limit Value Input P CL CN1 45 Factory Set...

Page 452: ...se direction 1 Related Parameters 2 Input Signals Speed refer ence input gain Pn300 Torque reference input gain Pn400 T REF V REF Forward torque value Pn402 Speed loop gain Pn100 Speed feedback Torque...

Page 453: ...tting unit is a percentage of rated torque i e the rated torque is 100 Torque limit value Speed reference T REF V REF Pn404 P CL ON Forward torque value Pn402 Pn405 N CL ON Pn100 Speed loop integral t...

Page 454: ...level Forward external torque limit OFF Pn402 Input N CL CN1 46 Factory setting ON low level Reverse external torque limit ON The analog voltage reference limit or the value set in Pn403 or Pn405 whi...

Page 455: ...oltage reference n 7 Position control pulse train reference Speed control analog voltage reference n 8 Position control pulse train reference Torque control analog voltage reference n 9 Torque control...

Page 456: ...CK Type Signal Name Connector Pin Number Name Input ALM RST CN1 44 Alarm Reset When a servo alarm ALM has occurred and the cause of the alarm has been eliminated the alarm can be reset by turning this...

Page 457: ...ed is above the set ting in Pn502 OFF high level Servomotor is not operating Motor speed is below the setting in Pn502 This signal is output to indicate that the servomotor is currently operating abov...

Page 458: ...is output when there are no servo alarms and the main circuit power supply is turned ON An added condition with absolute encoder specifications is that when the SEN signal is at high level absolute d...

Page 459: ...ults of Online Autotuning 9 9 9 3 Manual Tuning 9 10 9 3 1 Explanation of Servo Gain 9 10 9 3 2 Servo Gain Manual Tuning 9 11 9 3 3 Position Loop Gain 9 11 9 3 4 Speed Loop Gain 9 12 9 3 5 Speed Loop...

Page 460: ...intent using 9 1 2 List of Servo Adjustment Functions If the desired responsiveness cannot be achieved adjusting according to the servo gain adjustment methods con sider the following possible causes...

Page 461: ...ection Feed forward Pn109 Pn10A Feed forward compensation for the posi tion reference is added to the speed refer ence Adjustment is easy The system will be unstable if a large value is set possibly r...

Page 462: ...ables smooth operation The reference time increases by the filter delay time even after the reference input has been completed Position 8 6 4 Speed Feedback Filter Pn308 A standard 1st order delay fil...

Page 463: ...pwise reference If the condition meets one of the above cases or the desired operation cannot be achieved by the online autotun ing calculate the load moment of inertia on the basis of the machine spe...

Page 464: ...ration WARNING Start Operate with factory setting Set Pn110 0 0 Operation OK Load moment of inertia varies Operation OK Continuous online autotuning Set Pn110 0 1 Ajust the machine rigidity setting Se...

Page 465: ...power is turned ON Factory Setting n 1 Online autotuning moment of inertia calculations is performed continuously n 2 Online autotuning is not performed The factory setting is n 0 This setting is reco...

Page 466: ...TER or DATA SHIFT Key for more than one second The display shown at the left will appear and the rigidity for online autotuning can be set 4 Press the Up or Down Cursor Key to select the machine rigid...

Page 467: ...ia Ratio Pn103 will be used to start online autotuning Always set the correct moment of inertia ratio when online autotuning is not used If the moment of inertia ratio is set incorrectly vibration may...

Page 468: ...nnermost loop must have the highest response and the middle loop must have higher response than the outermost If this principle is not followed it will result in vibration or responsiveness decreases...

Page 469: ...maWin SigmaWin is a Windows compatible software tool used to set up and tune Yaskawa servo drives SigmaWin can be downloaded from the e mechatronics site http www e mechatronics com en Step Explanatio...

Page 470: ...range that does not cause vibration in the mechanical system The value of speed loop gain is the same as the set value of Pn100 if the moment of inertia ratio in Pn103 has been set correctly Speed Pos...

Page 471: ...rward function is valid only in speed control analog reference The torque feed forward function shortens positioning time differentiates a speed reference at the host controller to gener ate a torque...

Page 472: ...rence together with the position reference to the SERVOPACK Too high a speed feed forward value will result in overshooting or undershooting To prevent such troubles set the opti mum value while obser...

Page 473: ...l PI control CN1 41 is ON L level P control When sending references from the host controller to the SERVOPACK P control mode can be selected from the host controller for particular operating condition...

Page 474: ...nt the SERVOPACK s Soft Start Acceleration Deceleration Time Pn305 Pn306 or Position Reference Acceleration Deceleration Time Constant Pn204 1 Selecting the Mode Switch Setting The SERVOPACK provides...

Page 475: ...or undershooting of the motor speed Using the Speed Reference Level to Switch Modes With this setting the speed loop is switched to P control when the value of speed reference input exceeds the speed...

Page 476: ...of the motor speed Using the Error Pulse Level to Switch Modes This setting is effective with position control only With this setting the speed loop is switched to P control when the error pulse exce...

Page 477: ...he positioning time set these parameters based on the machine s characteristics The Bias Width Addition Pn108 specifies when the Bias Pn107 is added and the width is expressed in error pulse units The...

Page 478: ...1 s 3 Repeat step 2 to increase the speed loop gain while monitoring the settling time with the analog monitor s position error and checking whether vibration occurs in the torque reference If there i...

Page 479: ...101 Pn105 Position loop gain Pn102 Pn106 Parameter Function Pn50A n 1 Enables the input signal allocation for the sequence Set to allocate the gain switching signal G SEL to an input terminal Pn100 Sp...

Page 480: ...tion Set the machine s vibration frequency in the parameter of a notch filter to be used The factory setting is 1500 for the models with 5 kW or more Torque reference after filtering Torque reference...

Page 481: ...the speed loop s response frequency Setting the notch filter frequency too close to the response frequency may cause vibration and damage the machine The speed loop response frequency is the value of...

Page 482: ...ed by setting parameters Pn003 0 and Pn003 1 Pin Number Line Color Signal Name Monitoring Item with Factory Setting 1 Red Analog monitor 2 Motor speed 1 V 1000 min 1 2 White Analog monitor 1 Torque re...

Page 483: ...itor 1 Monitor 2 Monitor Signal Observation Gain Remarks Pn003 n 0 n 0 Motor speed 1 V 1000 min 1 Factory setting for Monitor 2 n 1 n 1 Speed reference 1 V 1000 min 1 n 2 n 2 Internal torque reference...

Page 484: ...ion Switching Function 10 9 10 3 4 Second Stage Notch Filter and Changeable Q Value 10 11 10 3 5 Automatic Gain Switching Function 10 13 10 4 Improved Functions 10 15 10 4 1 Moment of Inertia Ratio Se...

Page 485: ...functions in the upgraded software versions 32 or later for SGDM DA SERVOPACKs Version Numbers Check the 5 digit version number indicated on the front side of the SERVOPACK The lower two digits indi...

Page 486: ...setting cannot be changed during operation 10 3 3 Second stage notch filter Changeable Q value Second stage notch filter is added so that two notch filters first stage and second stage notch filters...

Page 487: ...rator or the panel operator For information on model designations and ratings and specifications of SGMCS servomotors refer to 2 1 7 Model SGMCS and 3 7 Ratings and Specifications of SGMCS Servomotors...

Page 488: ...Setting Setting Validation Direct drive motors or others with a maximum speed of 500 min 1 or less All other motors 0 to 10000 min 1 0 1 min 1 1 min 1 100 min 1 Immediately Pn302 Internal Set Speed 2...

Page 489: ...Parameter Description Monitor 1 Monitor 2 Monitor Signal Measurement Gain Remarks Pn003 n 0 n 0 Motor speed 1 V 100 min 1 Monitor 2 Factory setting n 1 n 1 Speed reference 1 V 100 min 1 n 2 n 2 Intern...

Page 490: ...used The upper limit of dividing output frequency is 1 4 Mpps because of the restrictions on the hardware Therefore setting a high number of pulses limits the motor speed The following table shows th...

Page 491: ...4 Press Left or Right Cursor Key once or DATA SHIFT Key for more than one second to select the digit The enable digit blinks Press Up or Down Cursor Key to change the value Pressing Left or Right Cur...

Page 492: ...ulse multiplication the position reference pulse must be set to 0 Otherwise the opera tion cannot be guaranteed 1 Related Parameters 2 Timing Chart for Reference Pulse Input Multiplication Switching P...

Page 493: ...erminal n 3 Inputs from the SI3 CN1 43 input terminal n 4 Inputs from the SI4 CN1 44 input terminal n 5 Inputs from the SI5 CN1 45 input terminal n 6 Inputs from the SI6 CN1 46 input terminal n 7 Sets...

Page 494: ...identical The filtering is executed in the following order 1 Notch Filter Function The notch filter function decreases the response to the set frequency and effective when there are machine vibra tion...

Page 495: ...7 Frequency Characteristics When Q is set to 2 0 s c 2 s2 c 2 c 2 s2 Q c 2 fc After torque reference filtering Before torque reference filtering fc fc Torque reference Torque reference Parameter Meani...

Page 496: ...ing 1 is used When the automatic gain switching is enabled by setting 1 to 3 of Pn10B 2 the gain switching function by G SEL signal is disabled The following flowchart shows the automatic gain switchi...

Page 497: ...itches the gain according to the position error condition only n 3 Switches the gain according to the position reference and position error condition only Pn124 Automatic Gain Switching Timer Setting...

Page 498: ...ng system the load end absolute value can be obtained by measuring only the angle of motor shaft In this case the encoder multi turn data is not required and no backup battery is required With a singl...

Page 499: ...O serial data The transmission format is the same as that of multi turn absolute data However the data section is always set to 0 as follow P 00000 CR PSO serial data The transmission format is the sa...

Page 500: ...rial number and manufactured data of SERVOPACK and servomotor can be read with the SERVOPACK engineering tool SigmaWin 1 1 SigmaWin SigmaWin is a Windows compatible software tool used to set up and tu...

Page 501: ...ewly added Pn217 Reference Pulse Input Multi plication 1 to 99 1 1 Newly added Pn218 Reference Pulse Multiplica tion Range Switching Func tion 1 0000 to 0001 0000 Newly added Speed Related Parameters...

Page 502: ...on error condition only n 3 Switches the gain according to the position reference and position error condition only Pn207 n 0 Uses the parameter Pn201 For 16 bit or less as the dividing ratio Factory...

Page 503: ...output terminal For the factory settings the pins CN1 25 to CN1 30 are allocated for other output signals If multiple signals are allocated to the same output terminal signals are output with OR logic...

Page 504: ...otor was operat ing Avail able A F5 A F6 Servomotor Disconnection Alarm The power is not supplied to the servomotor through the SERVOPACK received the Servo ON command Avail able L Warning Display War...

Page 505: ...sive PositionError Warning Warning for the alarm A d0 In servo ON status the position error pulses exceed the excessive position error warning level set in the parameter Pn51E Occurred at the servomot...

Page 506: ...Alarm Display Table 11 2 11 1 2 Warning Display 11 4 11 1 3 Troubleshooting of Alarm and Warning 11 5 11 1 4 Troubleshooting for Malfunction without Alarm Display 11 14 11 2 Inspection and Maintenanc...

Page 507: ...not sup ported by II series SERVOPACK N A A 10 Overcurrent or Heat Sink Overheated An overcurrent flowed through the IGBT Heat sink of SERVOPACK was over heated N A L H H H A 30 Regeneration Error Det...

Page 508: ...System Alarm A system error occurred in the SER VOPACK N A A C1 Servo Overrun Detected The servomotor ran out of control Available L H L H A C8 Absolute Encoder Clear Error and Multiturn Limit Setting...

Page 509: ...90 Excessive Position Error Warning The position errors exceed the setting in Pn51E L H H A 91 Overload This warning occurs before the overload alarms A 71 or A 72 occur If the warning is ignored and...

Page 510: ...sup ply was turned ON or during operation The control power supply ranged from 30 VAC to 60 VAC Correct the power supply A SERVOPACK fault occurred Replace the SERVOPACK A 04 Parameter Setting Error...

Page 511: ...r exceeds the regenerative resistor s capacity Reconsider the load and operation conditions The direction or the distance of the SERVOPACK to other devices is incorrect Heat radiation of the panel or...

Page 512: ...urned ON The AC power voltage is too high The AC power voltage must be within the speci fied range A SERVOPACK fault occurred Replace the SERVOPACK Occurred during normal operation Check the AC power...

Page 513: ...e servomotor wiring The encoder wiring is incorrect or the connection is faulty Correct the encoder wiring The starting torque exceeds the maximum torque Reconsider the load and operation conditions o...

Page 514: ...A fault occurred in the encoder and was detected by encoder self diagnosis Set up the encoder If this alarm occurs fre quently replace the servomotor A 83 Absolute Encoder Battery Error Detected when...

Page 515: ...nt sensor is faulty Replace the SERVOPACK Occurred when the servo was ON The current sensor is faulty Replace the SERVOPACK The Servo ON command was input while the servomotor was operating Check to b...

Page 516: ...back Error Occurred when the control power sup ply was turned ON or during operation The encoder wiring and contact are incorrect Correct the encoder wiring Noise interference occurred due to incorre...

Page 517: ...Line Open Phase In the main power supply ON status the volt age stays low for 1 second or more at one of the phases R S and T Detected when the main circuit power supply turns ON Occurred when the con...

Page 518: ...2 20 of the over load detection level of A72 Occurs when the servo was ON Wiring is incorrect and the contact in servomotor wiring is faulty Correct the servomotor wiring Wiring is incorrect and the...

Page 519: ...onnect the wiring Overloaded Run under no load Reduce load or replace with larger capacity servomotor Speed position references not input Check reference input pins Input speed position references cor...

Page 520: ...y problems contact your Yaskawa representative Vibration source on the driven machine Any foreign matter damages or deforma tion on the machine movable section Contact the machine manufacturer Noise i...

Page 521: ...er when the power turned OFF is differ ent from the position when the power turned ON Noise interference due to improper encoder cable specifications The specifications of encoder cable must be Twiste...

Page 522: ...sheath is damaged Correct the encoder cable layout Excessive noise interference to encoder cable Check if the encoder cable is bundled with a high current line or near high current line Change the en...

Page 523: ...routine inspections are not required Table 11 6 Servomotor Inspections Item Frequency Procedure Comments Vibration and Noise Daily Touch and listen Levels higher than normal Exterior According to degr...

Page 524: ...tion of the part in question we will determine whether the parts should be replaced or not The parameters of any SERVOPACKs overhauled by Yaskawa are reset to the factory settings before ship ping Be...

Page 525: ...es Positioning Module B2813 SERVOPACK in Position Control Mode 12 18 12 2 5 Example of Connection to OMRON s Motion Control Unit 12 19 12 2 6 Example of Connection to OMRON s Position Control Unit 12...

Page 526: ...m Ball screw length LB 1 4 m Feeding time tm 1 2 s max Ball screw diameter DB 0 04 m Friction coefficient 0 2 Ball screw lead PB 0 01 m Mechanical efficiency 0 9 90 Coupling mass MC 1 kg Coupling oute...

Page 527: ...ertia 13 9 10 4 kg m2 SERVOPACK allowable load moment of inertia 69 58 10 4 kg m2 8 Verification on the Provisionally Selected Servomotor Required starting torque Required braking torque Torque effici...

Page 528: ...all screw diameter DB 0 016 m Electrical stop accuracy 0 01 mm Ball screw lead PB 0 005 m Friction coefficient 0 2 Coupling mass MC 0 3 kg Mechanical efficiency 0 9 90 Coupling outer diameter DC 0 03...

Page 529: ...ted Servomotor Required starting torque Required braking torque Effective torque The above confirms that the provisionally selected servomotor and SERVOPACK capacities are sufficient In the next step...

Page 530: ...ter Pulses Position loop gain Kp 30 1 S 12 Electrical Stop Accuracy The above results confirm that the selected SERVOPACK and servomotor are applicable for the position control 833 pulse 25 000 30 vs...

Page 531: ...llowing table If the rotational energy in the servomotor exceeds these values then connect an external regenerative resistor Calculate the rotational energy Es in the servomotor from the following equ...

Page 532: ...Fig 12 1 Operating Conditions for Allowable Regenerative Frequency Calculation Use the following equation to calculate the allowable frequency for regeneration mode operation n JL JM JM Servomotor rot...

Page 533: ...equation of the allowable regenerative frequencies to the rotation speed and actual load moment of inertia are the same as the b SERVOPACKs with Capacities of 500 W to 5 0 kW 2 Calculating the Regene...

Page 534: ...rform the calculation using EL 0 When the operation period in regeneration mode is continuous add the following items to the above calcula tion procedure in order to find the required capacity W for t...

Page 535: ...rvomotors 200 V Servomotors SGMAH Servomotors SGMPH Servomotors Model SGMAH W Loss Torque 100 200 300 0 0 20 100 200 180 160 140 120 40 60 80 01B 02B A5B A3B Model SGMPH Torque 100 200 300 0 0 20 100...

Page 536: ...0 1600 2000 2400 2200 2600 Model SGMGH Torque 30A A 13A A 20A A 09A A 05A A 44A A 75A A 55A A 1EA A 1AA A W Loss 1800 2000 100 300 0 0 600 800 1200 1400 400 200 1000 1600 200 Model SGMGH Torque 55A B...

Page 537: ...tor 0 0 100 200 300 200 600 400 800 1000 35E 16E 25D 17D 08D Torque Loss W Model SGMCS 0 0 100 200 300 1000 500 1500 2000 2500 3000 2ZN 1EN 80N 45M 1AM 80M Torque Loss W Model SGMCS 0 0 100 200 300 10...

Page 538: ...t Power Supply Voltage Vrms 0 6 8 12 18 14 4 2 10 16 100 110 120 90 A5BD to 02BD A5BDA to 02BDA A3BD A3BDA Absorbable Energy J Model SGDM 0 20 100 120 40 60 80 200 220 240 180 260 20AD 20ADA 15AD 15AD...

Page 539: ...3 12 30 34 29 11 19 14 1 20 28 32 FG 21 22 18 35 10 17 31 2 23 24 20 6 43 42 41 47 4 27 32 30 10 29 31 5 2 33 34 35 36 19 44 21 22 40 NREF SG PA PAL PB PBL PC PCL SG 24V OUT SVON ALMRST PCON OTR OTF D...

Page 540: ...MPG PA TLIMP 0V IN A PG0V PCL PC PBL PB PAL 17 22 47 23 48 24 19 43 18 44 45 26 1 9 15 14 13 12 11 10 8 7 4 3 47 40 41 43 42 44 27 28 25 26 29 30 31 32 21 22 2 4 19 36 35 34 33 10 9 6 5 20 1 24V IN S...

Page 541: ...PAO 1 33 PAO 2 34 PB PBO 3 35 PBO 4 36 PC PCO 5 19 PCO 6 20 VREF V REF 7 5 SG SG 8 6 BAT BAT 9 21 BAT0 BAT 10 22 24V 24VIN 19 47 SVON S ON 13 40 PCON P CON 14 41 SEN SEN 11 12 0SEN SG ALM RST 15 44 AL...

Page 542: ...e SERVOPACK 2 Set parameter Pn200 0 to 1 3 Connect the shield wire to the connector shell 4 represents twisted pair wires 1Ry 024V 24V 12V 5V 0 V ERROR FG PA PB 0V PC MEMOCON GL60 70 Series B2813 manu...

Page 543: ...The normally closed N C input terminals not to be used at the motion control unit I O connector section must be short circuited at the connector 7 Make the setting so that the servo can be turned ON O...

Page 544: ...in the diagram CN2 CN1 A3 A5 A6 A7 A4 8 20 25 L1C L3 L2 L1 L2C 19 12 7 14 15 W V A 1 B 2 C 3 D 4 U Position control unit Servomotor SGDM SERVOPACK CS1W NC133 233 433 manufactured by OMRON A16 A11 A14...

Page 545: ...ignals applicable to OMRON s C500 NC221 position control unit and Yaskawa s SGDM SERVO PACK are shown in the diagram 42 43 3Ry 1Ry 4Ry 3Ry 19 36 35 20 1 34 33 CCWLX STPX ORGX EMGX DC GND DC GND CWLX X...

Page 546: ...3 Manufactured by Yaskawa Controls Co Ltd Note Only signals applicable to OMRON s C500 NC112 position control unit and Yaskawa s SGDM SERVO PACK are shown in the diagram 4Ry 3Ry 47 43 42 40 8 7 9 20 1...

Page 547: ...ll 4 represents twisted pair wires Note Only signals applicable to Mitsubishi s AD72 Positioning Unit and Yaskawa s SGDM SERVOPACK are shown in the diagram 43 42 1Ry 24V I O power supply 0 24 V 24V CO...

Page 548: ...n cir cuit power supply to the SERVOPACK Note Only signals applicable to Mitsubishi s AD75 Positioning Unit and Yaskawa s SGDM SERVOPACK are shown in the diagram 24V 024V 1Ry CN1 CN1 STOP DOG READY PG...

Page 549: ...ng to EEPROM inertia ratio data obtained from online autotuning 9 2 7 Fn008 Absolute encoder multiturn reset and encoder alarm reset 8 4 5 Fn009 Automatic tuning of analog speed torque reference offse...

Page 550: ...he function selection parameters is defined as shown below The following explains the purpose of each digit of a parameter Pn000 0 or n Indicates the value for the 1st digit of parameter Pn000 Pn000 1...

Page 551: ...control analog reference Internally set speed control contact reference Position control pulse train reference Internally set speed control contact reference Torque control analog reference Position c...

Page 552: ...ply through L1 L2 and L3 terminals AC DC Power Input Selection Refer to 6 1 3 Typical Main Circuit Wirning Examples 0 1 ALO1 ALO2 and ALO3 output only alarm codes Warning Code Output Selection Refer t...

Page 553: ...Integral Time Constant 15 to 51200 0 01 ms 2000 Immedi ately 9 4 9 Pn106 2nd Position Loop Gain 1 to 2000 1 s 40 Immedi ately 9 4 9 Pn107 Bias 0 to 450 1 min 1 0 Immedi ately 9 4 6 Pn108 Bias Width A...

Page 554: ...ation as the condition Level setting Pn10E Uses position error pulse as the condition Level setting Pn10F No mode switch function available PI control IP control Reserved Do not change Immediately Imm...

Page 555: ...0 Pn120 0 Pn121 50 Pn122 0 Pn123 0 Pn124 Automatic Gain Switching Timer 2 1 to 10000 1 ms 100 Immedi ately 10 3 5 Pn125 Automatic Gain Switching Width 2 1 to 250 1 reference unit 7 Immedi ately 10 3 5...

Page 556: ...d Do not change 16384 0 1 2 3 4 5 6 7 8 9 Sign Pulse positive logic CW CCW positive logic Phase A Phase B 1 positive logic Phase A Phase B 2 positive logic Phase A Phase B 4 positive logic Sign Pulse...

Page 557: ...eed 600 Immedi ately 8 5 1 8 7 4 9 4 3 Pn301 Internal Set Speed 1 0 to 10000 1 min 1 2 100 Immedi ately 8 8 1 Pn302 Internal Set Speed 2 0 to 10000 1 min 1 2 200 Immedi ately 8 8 1 Pn303 Internal Set...

Page 558: ...3 8 9 4 9 4 2 Pn401 Torque Reference Filter Time Constant 0 to 65535 0 01 ms 100 Immedi ately 9 4 10 Pn402 Forward Torque Limit 0 to 800 1 800 Immedi ately 8 9 1 Pn403 Reverse Torque Limit 0 to 800 1...

Page 559: ...7 Immedi ately 8 6 5 Pn501 Zero Clamp Level 0 to 10000 1 min 1 10 Immedi ately 8 5 6 Pn502 Rotation Detection Level 1 to 10000 1 min 1 20 Immedi ately 8 11 3 Pn503 Speed Coincidence Signal Output Wid...

Page 560: ...al Mapping P control when ON L level Refer to 9 4 4 Proportional Control Operation Proportional Operation Reference 4th digit 3rd digit 2nd digit 1st digit n C D E F Uses the sequence input signal ter...

Page 561: ...N1 42 input signal is OFF H level 0 to F Same as N OT 0 to F Same as S OT the setting of 2nd digit of Pn50A 4th digit 3rd digit 2nd digit 1st digit n Reverse run allowed when CN1 43 input signal is OF...

Page 562: ...is OFF H level ON when CN1 41 input signal is OFF H level ON when CN1 42 input signal is OFF H level ON when CN1 43 input signal is OFF H level 0 to F Same as SPD D 0 to F Same as SPD D 4th digit 3rd...

Page 563: ...evel ZCLAMP Signal Mapping Zero clamp when ON L level Refer to 8 5 6 Using the Zero Clamp Function INHIBIT Signal Mapping Reference pulse inhibit when ON L level Refer to 8 6 7 Reference Pulse Inhibit...

Page 564: ...ng Output Torque Limiting during Operation Speed Limit Detection Signal Mapping VLT Refer to 8 7 4 Limiting Servomotor Speed during Torque Control Brake Interlock Signal Mapping BK Refer to 8 3 4 Sett...

Page 565: ...9 or 30 Terminals Reserved Do not change 0 1 2 3 ON when CN1 40 input signal is ON L level ON when CN1 41 input signal is ON L level ON when CN1 42 input signal is ON L level ON when CN1 43 input sign...

Page 566: ...etting Validation Reference Section Pn51A Position Error Level Between Motor and Load 1 0 to 32767 1 reference unit 0 Immedi ately 10 5 1 Pn51B Reserved Do not change 1 1 to 32767 256 refer ence units...

Page 567: ...ence pulse speed displayed only in position control mode min 1 Un008 Error counter value amount of position error displayed only in position control mode reference unit Un009 Accumulated load rate Val...

Page 568: ...as Width Addition Immediately Pn109 0 Feed forward Immediately Pn10A 0 00 ms Feed forward Filter Time Constant Immediately Pn10B 0000 Gain related Application Switches After restart Pn10C 200 Mode Swi...

Page 569: ...2 Immediately Pn303 300 min 1 Internal Set Speed 3 Immediately Pn304 500 min 1 JOG Speed Immediately Pn305 0 ms Soft Start Acceleration Time Immediately Pn306 0 ms Soft Start Deceleration Time Immedi...

Page 570: ...Selections 2 After restart Pn50C 8888 Input Signal Selections 3 After restart Pn50D 8888 Input Signal Selections 4 After restart Pn50E 3211 Output Signal Selections 1 After restart Pn50F 0000 Output...

Page 571: ...itor 5 61 cables for connecting personal computers 5 59 calculating the required capacity of regenerative resistors 12 7 CE marking 1 11 checking products 1 2 clear signal form selection 8 50 CLR 6 13...

Page 572: ...13 7 15 manual tuning 9 10 mating concentricity of the flange 3 39 max allowable input motor speed 3 44 max output current 4 3 mechanical tolerance 3 39 middle capacity series SGMCS servomotors 3 36...

Page 573: ...lter and changeable Q value 1 12 10 11 second stage notch filter Changeable Q value 10 3 second stage notch filter frequency 10 12 10 18 second stage notch filter Q value 10 12 10 18 selecting a posit...

Page 574: ...arrangement 5 22 torque motor speed characteristics 3 16 with low backlash gears 3 20 with standard backlash gears 3 18 without gears 3 15 SGMGH SGMSH and SGMDH servomotor connector configurations 5...

Page 575: ...1 11 UL standards 1 11 installation conditions 6 24 undershooting 9 16 UP key 7 3 upgraded versions 10 2 using more than one SERVOPACK 6 25 V variable resistor for speed and torque setting 5 81 V CMP...

Page 576: ...allowable thrust load 8 1 2 3 Revision Signal circuit March 2006 0 Based on Japanese user s manual SIJP S800000 15C 9 0 printed in February 2006 December 2005 0 Back cover Revision Address April 2005...

Page 577: ...omotors 1000 min 1 with standard back lash gears and without brakes foot mounted type grease lubricating type 3 16 4 1 Revision Dimensional drawing of SGMGH servomotors 1000 min 1 with standard back l...

Page 578: ...ad 17F Harbour Ring Plaza Shanghai 200001 China Phone 86 21 5385 2200 Fax 86 21 5385 3299 YASKAWA ELECTRIC SHANGHAI CO LTD BEIJING OFFICE Room 1011 Tower W3 Oriental Plaza No 1 East Chang An Ave Dong...

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