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YASKAWA

DC Power Input

 

Σ

-

II

  Series SGM

□

J/SGDJ

USER'S MANUAL

YASKAWA

MANUAL NO. SIE-S800-38C

AC Servodrives

SGMMJ/SGMAJ Servomotor
SGDJ SERVOPACK

Содержание SGMJ Series

Страница 1: ...YASKAWA DC Power Input II Series SGM J SGDJ USER S MANUAL YASKAWA MANUAL NO SIE S800 38C AC Servodrives SGMMJ SGMAJ Servomotor SGDJ SERVOPACK...

Страница 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...

Страница 3: ...rives Description of Technical Terms The terms in this manual are defined as follows Servomotor or motor DC power input II Series SGMMJ and SGMAJ servomotor SERVOPACK DC power input II Series SGDJ amp...

Страница 4: ...ot been previously explained in this man ual Chapter SERVOPACKs Servomotors and Peripheral Devices Ratings and Character istics System Design Panel Configura tion and Wiring TrialOperation and Servo A...

Страница 5: ...800 34 Provides detailed information on the operating method of JUSP OP02A 2 type Digital Operator option device II Series SERVOPACKs Personal Computer Monitoring Software Operation Manual SIE S800 35...

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

Страница 7: ...cuted 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 incorrect positions will be detected resultin...

Страница 8: ...les or motor shaft while transporting it Failure to observe this caution may result in injury or malfunction Do not place any load exceeding the limit specified on the packing box Failure to observe t...

Страница 9: ...Insert only one wire per terminal on the terminal block Make sure that the core wire is not electrically shorted to adjacent core wires Install the battery at either the host controller or the SERVOPA...

Страница 10: ...o Setting to an incorrect moment of inertia ratio may cause vibration Do not touch the SERVOPACK heatsinks or servomotor while power is ON or soon after the power is turned OFF Failure to observe this...

Страница 11: ...you received This manual is subject to change due to product improvement specification modification and manual improvement When this manual is revised the manual code is updated and the new manual is...

Страница 12: ...1 Servomotor Model Designations 2 2 2 1 1 Model SGMMJ 2 2 2 1 2 Model SGMAJ 2 4 2 2 SERVOPACK Model Designations 2 6 2 3 SGDJ SERVOPACKs and Applicable Servomotors 2 7 2 4 Selecting Cables 2 8 2 5 Se...

Страница 13: ...in 1 3 25 3 6 1 SGMAJ Servomotors 3000 min 1 Without Gears 3 25 3 6 2 SGMAJ Servomotors 3000 min 1 Without Gears and With Brakes 3 28 3 6 3 SGMAJ Servomotors 3000 min 1 With Standard Backlash Gears an...

Страница 14: ...5 3 1 Encoder Cable With Connectors 5 10 5 3 2 Encoder Cable With a SERVOPACK Connector and Encoder Loose Leads 5 10 5 4 Connectors and Cables for Encoder Signals 5 11 5 4 1 Connectors and Cables 5 1...

Страница 15: ...Digital Operator 7 2 7 1 2 Key Names and Functions 7 3 7 1 3 Basic Mode Selection and Operation 7 4 7 1 4 Status Display 7 5 7 2 Operation in Utility Function Mode Fn 7 7 7 2 1 List of Utility Functi...

Страница 16: ...8 28 8 4 2 Selecting an Absolute Encoder 8 29 8 4 3 Handling Batteries 8 29 8 4 4 Replacing Batteries 8 29 8 4 5 Absolute Encoder Setup Fn008 8 30 8 4 6 Absolute Encoder Reception Sequence 8 31 8 4 7...

Страница 17: ...on 8 74 8 10 1 Setting Parameters 8 74 8 10 2 Switching the Control Mode 8 74 8 11 Other Output Signals 8 76 8 11 1 Servo Alarm Output ALM and Alarm Code Output ALO1 ALO2 ALO3 8 76 8 11 2 Warning Outp...

Страница 18: ...ement Schedule 10 19 10 3 Connection to Host Controller 10 20 10 3 1 Example of Connection to MP920 4 axes Analog Module SVA 01 10 20 10 3 2 Example of Connection to CP 9200SH Servo Controller Module...

Страница 19: ...xix INDEX Revision History...

Страница 20: ...omotors 1 2 1 1 3 SERVOPACKs 1 3 1 2 Product Part Names 1 4 1 2 1 Servomotors Without Gears and Brakes 1 4 1 2 2 SERVOPACKs 1 5 1 3 Examples of Servo System Configurations 1 6 1 4 Applicable Standards...

Страница 21: ...er to the descriptions of model numbers in the following section Does the servomotor shaft rotate smoothly The servomotor shaft is normal if it can be turned smoothly by hand Servomotors with brakes h...

Страница 22: ...al number Order number Applicable power supply Applicable motor capacity SERVOPACK model YASKAWA ELECTRIC MADE IN JAPAN SERVOPACK MODEL DC INPUT 24V 4 0A 3PH 0 24V 2 9A 0 05W AC OUTPUT SGDJ A5CP O N S...

Страница 23: ...and Brakes 1 SGMMJ 2 SGMAJ Output shaft Nameplate Back side Encoder connector Servomotor connector Servomotor main circuit cable Encoder cable Encoder Detecting section Nameplate Back side Servomotor...

Страница 24: ...operated when alarms occurs CN5 Analog monitor connector Used to monitor motor speed torque reference and other values through a special cable Refer to 5 6 3 Cables for Analog Monitor or 9 5 Analog M...

Страница 25: ...5 7 1 Servomotor SGM J SGDJ C SGDJ E SERVOPACK Power supply Single phase 100 200 VAC Magnetic contactor Turns the servo power supply ON or OFF Install a surge protector Encoder cable Refer to 5 3 5 4...

Страница 26: ...ise Control Because 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 SE...

Страница 27: ...SGDJ SERVOPACKs and Applicable Servomotors 2 7 2 4 Selecting Cables 2 8 2 5 Selecting Peripheral Devices 2 12 2 5 1 Special Options 2 12 2 5 2 Molded case Circuit Breaker and Fuse Capacity 2 13 2 5 3...

Страница 28: ...Code A 2 Remarks Standard Standard Specifications 13 bit incremental encoder 1 17 bit absolute encoder 2 1 The number of encoder pulses 2048 P Rev 2 The number of encoder pulses 32768 P Rev 5th digit...

Страница 29: ...ations 13 bit incremental encoder 1 17 bit absolute encoder 2 1 The number of encoder pulses 2048 P Rev 2 The number of encoder pulses 32768 P Rev 5th digit Design Revision Order Code A Specifications...

Страница 30: ...encoder with super capacitor 13 bit incremental encoder 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 digits Design...

Страница 31: ...tal encoder 1 The number of encoder pulses 16384 P Rev The number of encoder pulses 2048 P Rev Option 1 2 Specifications Fixed Code A 5th digit Design Revision Order 6th digit Gear Type 8th digit Shaf...

Страница 32: ...t 2nd digits Rated Output of Applicable Servomotor W 4 digit Control Mode Code S P Remarks For speed and torque control For position control 3 digit Voltage Code E C Voltage 48 VDC 24 VDC DC power sup...

Страница 33: ...s 2 7 2 2 3 SGDJ SERVOPACKs and Applicable Servomotors Servomotor SGDJ SERVOPACK 24 VDC 48 VDC 24 VDC SGMMJ A1C A1C Y32 A2C A5C A3C A8C SGMAJ A5C A5C A8C A8C 48 VDC SGMMJ A1E A1E Y32 A2E A2E Y32 A3E A...

Страница 34: ...2 Selections 2 8 2 4 Selecting Cables CN4 c d e FG...

Страница 35: ...P CMP03 03 5 3 2 5 m 16 4 ft JZSP CMP03 05 10 m 32 8 ft JZSP CMP03 10 15 m 49 2 ft JZSP CMP03 15 20 m 65 6 ft JZSP CMP03 20 SERVOPACK end connector kit JZSP CMP9 1 Soldered 5 4 1 Encoder end connector...

Страница 36: ...0 SGMAJ Without brakes 3 m 9 84 ft JZSP CJM00 03 5 1 1 5 m 16 4 ft JZSP CJM00 05 10 m 32 8 ft JZSP CJM00 10 15 m 49 2 ft JZSP CJM00 15 20 m 65 6 ft JZSP CJM00 20 SGMAJ With brakes 3 m 9 84 ft JZSP CJM...

Страница 37: ...PACK power sup ply input connector kit JZSP CJG9 2 The following connectors sets are available for purchase For the control power supply CN7 For the main circuit power sup ply CN9 5 2 2 SERVOPACK powe...

Страница 38: ...unit JUSP TA36P Terminal block and 0 5 m 1 64 ft connection cable 5 6 4 Cable with loose wires at one end 1 m 3 28 ft JZSP VAI01 1 Loose wires at host controller end 5 5 1 2 m 6 56 ft JZSP VAI01 2 3 m...

Страница 39: ...56 ft JZSP CMS03 Half pitch 14 pin For PC 98 g Analog Monitor Cable 1 m 3 28 ft JZSP CA01 or DE9404559 5 6 3 h Battery for Absolute Encoder ER6VC3 To connect to a host controller pro vided by a custom...

Страница 40: ...he servomotor insert the power supply input capacitor as close as possible to the SERVOPACK so that it is parallel to the output side of the AC DC power supply Control Power Supply Voltage Applicable...

Страница 41: ...elect the magnetic conductors according to the total capacity 2 Brake Power Supply The brakes of the SGMMJ and SGMAJ servomotors are 24 VDC The 24 VDC brake power supply must be provided by the custom...

Страница 42: ...Data for Servomotors With Gears 3 17 3 5 Dimensional Drawings of SGMMJ Servomotors 3000min 1 3 19 3 5 1 SGMMJ Servomotors 3000min 1 Standard and Without Brakes 3 19 3 5 2 SGMMJ Servomotors 3000min 1 S...

Страница 43: ...1800 VAC for one minute Ambient Humidity 20 to 80 no condensation Drive Method Direct drive Voltage For 24 VDC For 48 VDC Servomotor Model SGMMJ A1C A2C A3C A1E A2E A3E Rated Output 1 W 10 20 30 10 20...

Страница 44: ...Servomotor Capacity W Holding Brake Specifications Capacity W Holding Torque Nxm ozxin Coil Resistance at 20 C 68 F Rated Current A at 20 C 68 F 24 VDC SGMMJ A1 10 2 0 0 0318 4 50 320 0 08 SGMMJ A2 2...

Страница 45: ...ation Direction Same direction as servomotor Thermal Class B Servomotor Model SGMMJ Servomotor Gear Output Moment of Inertia J 10 4 kg m2 x 10 3 oz in s2 Out put W Rated Speed min 1 Rated Torque Nxm o...

Страница 46: ...w Withstand Voltage 1000 VAC for one minute Insulation Resistance 500 VDC 10 M min Enclosure Totally enclosed self cooled IP55 except for shaft opening Ambient Temperature 0 to 40 C 32 to 104 F Ambien...

Страница 47: ...MAJ A5C A5E A8C 01E 02E 03E Derating Rate 70 80 90 95 SGMAJ A5C DC24V SGMAJ A8C DC24V 0 1000 2000 3000 4000 5000 0 0 1 0 2 0 3 0 4 0 1000 2000 3000 4000 5000 0 0 1 0 2 0 3 0 4 0 5 0 6 A B A B Motor sp...

Страница 48: ...the servomotor Holding Brake Rated Voltage Servomotor Model Servomotor Capacity W Holding Brake Specifications Capacity W Holding Torque N m oz in Coil Resistance at 20 C Rated Current A at 20 C 24 V...

Страница 49: ...m ozxin Gear Ratio Rated Torque Effi ciency 2 N m oz in Instanta neous Peak Torque N m oz in Rated Speed min 1 Max Speed 1 min 1 Motor Gears Gears A5 AJ1 50 3000 0 159 22 5 1 5 0 557 70 78 9 70 1 92 2...

Страница 50: ...AJ7 1 33 16 8 80 2379 80 56 7 8029 91 121 0 181 2 56 0 075 1 06 03E AJ1 300 0 955 135 1 5 3 82 80 541 80 17 2 2436 600 800 0 366 5 18 0 193 2 73 03E AJ3 3 31 7 89 80 1117 80 35 5 5027 290 387 0 353 5...

Страница 51: ...in Gear Ratio Rated Torque Effi ciency 2 N m oz in Instanta neous Peak Torque N m oz in Rated Speed min 1 Max Speed 1 min 1 Motor Gears Gears A5 AH1 50 3000 0 159 22 5 1 5 0 557 70 78 9 70 1 92 272 60...

Страница 52: ...2733 273 363 0 191 2 70 0 085 1 20 02E AHC 1 21 11 4 85 1614 85 37 3 5282 143 190 0 216 3 06 0 110 1 56 02E AH7 1 33 17 9 85 2535 85 58 6 3 8298 91 121 0 171 2 42 0 065 0 920 03E AH1 300 0 955 135 1 5...

Страница 53: ...torage 20 to 60 C 4 to 140 F Ambient humidity during storage 80 RH or less with no condensation Installation Site Servomotors are designed for indoor use Install the servomotor in environments that sa...

Страница 54: ...e there are no bends or tension on the 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 0...

Страница 55: ...ite the load do not apply shock to the shaft Failure to observe this caution may result in damage to the product 4 Vibration Resistance Mount the servomotor with the axis horizontal The servomotor wil...

Страница 56: ...sional drawing of the individual servomotor 2 Direction of Servomotor Rotation Positive rotation of the servomotor is counterclockwise when viewed from the load Same as for servomotors with gears Vibr...

Страница 57: ...wing vibration accelera tion in three directions Vertical side to side and front to back Vibration accelerationat flange 49 m s2 5 Vibration Class The vibration class for the servomotors at rated moto...

Страница 58: ...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 Angular dif...

Страница 59: ...torque and motor speed produce the following trends in efficiency The values in the tables Ratings and Specifications of SGMMJ and SGMAJ Servomotors with Gears are at the rated motor torque and rated...

Страница 60: ...7 71 14 7 3 30 A1 AA1 Applied A2 A21 87 3 43 71 2 80 36 5 1 44 Not applied 170 375 44 1 9 91 A2 AA1 Applied A3 A21 97 3 82 81 3 19 46 5 1 83 Not applied 210 463 A3 AA1 Applied 28 1 10 4 5 4 0 16 16 0...

Страница 61: ...16 0 63 L 28 1 10 4 5 Shaft End 5h6 Holding brake de energization operation Voltage 24VDC Brake holding torque Rated motor torque Warning label 10 0 39 2 5 0 10 0 04 0 0016 4 5 0 18 0 5 0 02 4 0 16 1...

Страница 62: ...2 3 0 12 6 2 0 24 300 11 81 30 1 18 300 11 81 30 1 18 Nameplate Warning label 0 06 0 0024 0 05 0 0020 2 M3 Tap Depth 4 M3 Tap Depth 6 4 0 16 16 0 63 25 0 98 8h6 8 0 0 315 0 0 009 0 0004 20h7 20 0 0 79...

Страница 63: ...e tube 5 0 20 Black Encoder cable UL20276 Motor cable AWG24 UL10095 or UL3266 3 0 12 40 1 57 4 3 4 0 13 through hole 4 R3 47 1 85 300 11 81 30 1 18 Nameplate Warning label 0 06 0 0024 3 0 12 7 2 0 28...

Страница 64: ...rning label 7 5 0 30 18 0 71 3 0 12 0 05 0 0020 0 06 0 0024 M3 Tap Depth 6 3 0 12 3 0 12 6 2 0 24 28 1 10 Holding brake de energization operation Voltage 24VDC Brake holding torque Rated motor torque...

Страница 65: ...ective tube 6 0 24 Black Encoder cable UL20276 Motor cable AWG24 UL10095 or UL3266 47 1 85 4 R3 300 11 81 30 1 18 300 11 81 30 1 18 Nameplate Warning label 0 06 0 0024 Shaft End View Y Y M3 Tap Depth...

Страница 66: ...e 6 0 24 W U Sh6 30h7 A A A 0 02 0 0008 Shaft End 18 0 71 6 0 24 14 0 55 300 11 81 30 1 18 35 1 38 Motor cable 7 0 28 Motor plug Encoder plug 300 11 81 30 1 18 0 04 0 0016 0 04 0 0016 9 6 0 38 22 0 87...

Страница 67: ...U W L LM LL LR LE LG QK Y Y 7 0 28 7 0 28 17 0 67 LBh7 Sh6 UL20276 A 0 04 0 0016 A 0 04 0 0016 A 300 11 81 30 1 18 Encoder cable 6 0 24 Encoder plug 300 11 81 30 21 18 35 1 38 Motor cable 7 0 28 Motor...

Страница 68: ...Dimensional Tolerances Units mm in Model SGMAJ Tap Depth QK U W T Approx Mass kg lb Allowable Radial Load N lbf Allowable Thrust Load N lbf 02E A21 No tap No key 1 1 2 4 245 55 74 17 02E A41 20 0 79...

Страница 69: ...lbf A5 A2 133 5 5 26 108 5 4 27 44 0 1 73 No tap No key 0 7 1 54 68 15 54 12 A5 A4 1 2 0 047 2 0 079 2 0 079 A5 A6 M2 5 5L A8C A2 160 6 30 135 5 31 61 5 2 42 No tap No key 0 8 1 76 78 18 54 12 A8C A4...

Страница 70: ...5 35 62 5 2 46 30 1 18 6 0 24 60 2 36 70 2 76 5 5 0 22 02E A4 02E A6 03E A2 194 7 64 164 6 46 90 5 3 56 30 1 18 6 0 24 60 2 36 70 2 76 5 5 0 22 03E A4 03E A6 LBh7 QK Y Y Sh6 A 0 02 0 0008 A 0 04 0 001...

Страница 71: ...dial Load N lbf Allowable Thrust Load N lbf 02E A2 No tap No key 1 6 3 53 245 55 74 17 02E A4 20 0 79 3 0 12 5 0 20 5 0 20 02E A6 M5 8L 03E A2 No tap No key 2 2 4 85 245 55 74 17 03E A4 20 0 79 3 0 12...

Страница 72: ...2 24 63 2 48 65 2 56 30 1 18 30 1 18 14 5 0 57 28 1 10 25 0 98 16 0 63 01E AJ3 1 3 31 191 5 7 54 131 5 5 18 98 5 3 88 60 2 36 9 0 35 57 2 24 63 2 48 65 2 56 30 1 18 30 1 18 14 5 0 57 28 1 10 25 0 98 1...

Страница 73: ...pth LC LA LZ U W T Approx Mass kg lb Allowable Radial Load N lbf Allowable Thrust Load N lbf INFO Units mm in Model SGMAJ Flange Face Dimensions Shaft end Dimensions LB S A5 AJ1 1 A5 AJ3 1 A5 AJC 1 A5...

Страница 74: ...0 91 42 1 65 36 1 42 25 0 98 03E AJ1 1 1 5 240 9 45 166 6 54 133 5 24 74 2 91 4 0 16 10 0 39 69 2 72 83 3 27 85 3 35 36 1 42 38 1 50 19 5 0 77 36 1 42 32 1 26 20 0 79 03E AJ3 1 3 31 256 5 10 10 172 5...

Страница 75: ...72 135 5 31 11 0 43 M8 16L 5 0 20 10 0 39 8 0 31 6 4 14 1 755 171 Units mm in cont d Model SGMAJ Gear Ratio LC LA LZ Tap Depth U W T Approx Mass kg lb Allowable Radial Load N lbf Allowable Thrust Loa...

Страница 76: ...1 18 14 5 0 57 28 1 10 25 0 98 16 0 63 A5 AJ7 1 33 223 8 78 163 6 42 94 0 3 70 60 2 36 9 0 35 57 2 24 63 2 48 65 2 56 30 1 18 30 1 18 14 5 0 57 28 1 10 25 0 98 16 0 63 A8C AJ1 1 1 5 232 9 13 172 6 77...

Страница 77: ...6 6 0 26 M4 8L 3 0 12 5 0 20 5 0 20 1 6 3 5 175 40 145 33 A8C AJ3 1 3 31 70 2 76 80 3 15 6 6 0 26 M4 8L 3 0 12 5 0 20 5 0 20 1 6 3 5 215 49 A8C AJC 1 1 21 90 3 54 105 4 13 9 0 35 M5 10L 3 5 0 14 6 0...

Страница 78: ...LB L1 L2 L3 Q QK S 02E AJ1 1 5 251 5 9 90 177 5 6 99 104 5 4 11 74 2 91 4 0 16 10 0 39 69 2 72 83 3 27 85 3 35 36 1 42 38 1 50 19 5 0 77 36 1 42 32 1 26 20 0 79 02E AJ3 3 31 251 5 9 90 177 5 6 99 104...

Страница 79: ...0 28 4 7 10 4 585 132 290 66 02E AJ7 1 33 105 4 13 120 4 72 9 0 35 M6 12L 4 0 16 8 0 31 7 0 28 4 7 10 4 635 133 03E AJ1 1 5 90 3 54 105 4 13 9 0 35 M5 10L 3 5 0 14 6 0 24 6 0 24 3 9 8 6 275 62 235 53...

Страница 80: ...3 54 60 2 36 8 0 31 9 0 35 40 1 57 64 5 2 54 65 2 56 30 1 18 30 1 18 22 0 87 28 1 10 25 0 98 16 0 63 A8C AH1 1 1 5 183 5 7 22 123 5 4 86 90 5 3 56 60 2 36 8 0 31 9 0 35 40 1 57 64 5 2 54 65 2 56 30 1...

Страница 81: ...1 1 5 70 2 76 80 3 15 6 6 0 26 M4 8L 3 0 12 5 0 20 5 0 20 1 2 2 7 167 38 147 33 A8C AHB 1 1 11 70 2 76 80 3 15 6 6 0 26 M4 8L 3 0 12 5 0 20 5 0 20 1 4 3 1 216 49 A8C AHC 1 1 21 90 3 54 105 4 13 9 0 3...

Страница 82: ...L2 L3 Q QK S 02E AH1 1 1 5 208 5 8 21 134 5 5 30 101 3 98 74 2 91 7 5 0 30 10 0 39 59 2 32 84 3 31 85 3 35 36 1 42 38 1 50 26 1 02 36 1 42 32 1 26 20 0 79 02E AHB 1 1 11 225 5 8 88 151 5 5 97 118 4 6...

Страница 83: ...7 8 2 549 124 294 67 02E AH7 1 1 33 105 4 13 120 4 72 9 0 35 M6 12L 4 0 16 8 0 31 7 0 28 3 8 8 4 608 138 03E AH1 1 1 5 90 3 54 105 4 13 9 0 35 M5 10L 3 5 0 14 6 0 24 6 0 24 3 6 7 9 245 56 235 53 03E A...

Страница 84: ...ors with oil seals the external dimensions of output shafts differ as shown below Model SGMAJ A5 A8 01 SGMAJ 02 03 Capacity 50 W to 100 W 200 to 300 W Dimen sions of Output Shaft mm in LO 7 5 0 30 10...

Страница 85: ...d and Torque Control SGDJ S 4 7 4 3 2 Position Control SGDJ P 4 8 4 4 SERVOPACK s Power Supply Capacities and Power Losses 4 9 4 5 SERVOPACK Overload Characteristics and Allowable Load Moment of Inert...

Страница 86: ...plied within the specified voltage range An incorrect input power supply may result in damage to the SERVOPACK Be sure to set the voltage within the specified range CAUTION Power Supply Voltage 24 VDC...

Страница 87: ...put Signals Speed Reference Input Reference Voltage 3 6 VDC Variable setting range 2 to 10 VDC at rated torque servomotor forward rotation with positive reference input voltage maximum 12 V Applicable...

Страница 88: ...speed limiting brake released warning selecting three of the NEAR signals Applicable Applicable Internal Func tions Dynamic Brake Operated at main power OFF servo alarm servo OFF or overtravel Applic...

Страница 89: ...ture around the SERVOPACK does not exceed 40 C 104 F Installation Near a Heating Unit Minimize the heat radiating from the heating unit as well as any temperature rise caused by natural convec tion so...

Страница 90: ...side Installation When installing SERVOPACKs side by side as shown in the figure above allow at least 10 mm 0 39 in between and at least 50 mm 1 97 in above and below each SERVOPACK Install cooling fa...

Страница 91: ...CN1 CN4 PG M K1 5 V 5 V 5 V CN8 FET1 6 U V W AC DC converter CHARGE FU2 Speed torque reference input Sequence I O Noise filter Voltage sensor Relay drive Gate drive over current protector Interface Cu...

Страница 92: ...1 CN4 PG M K1 5 V 5 V 5 V CN8 FET1 6 U V W CHARGE FU2 AC DC converter Sequence I O Reference pulse input Noise filter Voltage sensor Relay drive Gate drive over current protector Interface Current sen...

Страница 93: ...losses at the rated output SERVOPACK Model SGDJ Input Output Power Loss Voltage Current Continuous Current Arms Max Current Arms Rated Output kW Main Circuit Loss W Control Circuit Loss W Total Power...

Страница 94: ...om overload Allowable power for the SERVOPACKs is limited by the overload protective function as shown in the figure below The overload detection level is set under hot start conditions at a servomoto...

Страница 95: ...depends on motor capacity and is limited to within 30 times the moment of inertia of each servomotor JM This value is provided strictly as a guideline and results may vary depending on servomotor dri...

Страница 96: ...eding Motor Drive Fig 4 1 Examples of Overhanging Loads Never operate servomotors with an overhanging load Doing so will cause the SERVOPACKs regenerative brake to be applied continuously and the rege...

Страница 97: ...g diagrams Note The terminal block connector is not attached to the SGDJ SERVOPACK The terminal block connector must be provided by customer Mounting Hole Diagram 160 6 30 160 6 30 35 1 38 35 1 38 20...

Страница 98: ...ables for CN4 Connector 5 10 5 3 1 Encoder Cable With Connectors 5 10 5 3 2 Encoder Cable With a SERVOPACK Connector and Encoder Loose Leads 5 10 5 4 Connectors and Cables for Encoder Signals 5 11 5 4...

Страница 99: ...J 2 SGMAJ Units m ft Cable Type Cable Length L JZSP CDM00 03 3 9 84 JZSP CDM00 05 5 16 40 JZSP CDM00 10 10 32 81 JZSP CDM00 15 15 49 21 JZSP CDM00 20 20 65 62 Heat shrinkable tube Plug 5559 04P Termin...

Страница 100: ...nal Wire markers Heat shrinkable tube 35 1 38 50 1 97 Servomotor end Units mm in SERVOPACK end Housing 721 105 026 000 Manufactured by WAGO Company of Japan Ltd Units m ft Cable Type Cable Length L JZ...

Страница 101: ...tput shaft Encoder connector Servomotor connector Servomotor cable Encoder cable Nameplate Back side Encoder Detecting section SERVOPACK Model SGDJ Main Circuit Power Input Terminal CN9 Motor Connecti...

Страница 102: ...nufacturer Cap 5559 04P Molex Japan Co Ltd Socket 5558TL Pin No Signal Lead Color 1 Phase U Red 2 Phase V White 3 Phase W Blue 4 FG Green Yellow Connector on servomotor Servomotor main circuit connect...

Страница 103: ...nics AMP K K Socket 350570 3 or 350689 3 Soldered type 14 7 0 58 27 4 1 08 7 6 0 30 4 1 27 7 1 09 Connector on servomotor Servomotor main circuit connector Units mm in Pin No Signal Lead Color 1 Phase...

Страница 104: ...Control power input connector 721 102 026 000 WAGO Company of Japan Ltd CN9 Main circuit power input connector 721 203 026 000 Pin No Signal Terminal Name Item 1 C1 Control power input 24 48 VDC term...

Страница 105: ...102 026 000 WAGO Company of Japan Ltd CN8 Motor connection connector 721 105 026 000 CN9 Main circuit power input connector 721 203 026 000 Pin No Signal Terminal Name Item 1 C1 Control power input 24...

Страница 106: ...cage 721 203 026 000 WAGO Company of Japan Ltd Pin No Signal Terminal Name Item 1 C1 Control power input 24 48 VDC terminal 2 C2 Control power input DC ground terminal 3 FG G Ground terminal Ground t...

Страница 107: ...ed connector Molex Japan Co Ltd Encoder end Finished dimension 6 5 mm 0 26 in SERVOPACK end L Soldered socket connector Molex Japan Co Ltd Cable Type Cable Length L Dimensional Drawing JZSP CMP03 03 3...

Страница 108: ...164 04 ft Wiring Distance Cable Type Cable Length Cable Type Cable Length JZSP CMP09 05 5 m 16 40 ft JZSP CMP19 30 30 m 98 43 ft JZSP CMP09 10 10 m 32 81 ft JZSP CMP19 40 40 m 131 23 ft JZSP CMP09 15...

Страница 109: ...and Lead Colors Yaskawa Standard Specifications Standard Length 5 m 16 40 ft 10 m 32 81 ft 15 m 49 21 ft 20 m 65 62 ft 30 m 98 43 ft 40 m 131 23 ft 50 m 164 04 ft Light blue Light blue White Orange Or...

Страница 110: ...onnector Manufactured by Sumitomo 3M Ltd 1 Dimensional Drawing of Case Cable Type Cable Length L JZSP VAI01 1 1 m 3 28 ft JZSP VAI01 2 2 m 6 56 ft JZSP VAI01 3 3 m 9 84 ft 100 3 94 10 0 Cable black Un...

Страница 111: ...nector 3 Cable Size 2 54 0 10 Units mm in 1 27 0 05 Pin No 19 Pin No 1 27 8 1 09 21 59 0 85 15 1 27 0 05 32 2 1 27 5 1 0 20 6 6 0 26 19 3 0 76 2 9 0 11 2 3 0 09 12 7 0 50 9 1 0 36 7 5 0 30 Pin No 2 It...

Страница 112: ...3 34 35 36 1 2 3 4 5 6 7 8 9 10 11 12 T REF SG V REF SG SEN SG S RDY V CMP TGON SG P CL N CL 24V IN S ON P CON P OT N OT ALM RST SG PAO PAO PBO PBO PCO PCO PSO PSO BAT BAT ALO1 ALO2 ALO3 SG ALM SG PUL...

Страница 113: ...5 pin 17JE 23250 02 D8A Daiich Denshi Kogyo Co Ltd 1 7 8 14 Personal computer end Units mm in SERVOPACK end Cable type AWG26 3C UL2464 1 14 25 13 47 1 85 Personal computer end Signal Pin No Case SERVO...

Страница 114: ...0 008 Sumitomo 3M Ltd Half pitch connector Plug 10114 3000VE Shell 10314 52F0 008 Sumitomo 3M Ltd 39 1 54 29 5 1 16 Personal computer end SERVOPACK end Cable AWG26 3C UL2464 2000 50 78 74 1 97 29 5 1...

Страница 115: ...red 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 Pn003 Refer to 9 5 Analog Moni...

Страница 116: ...l Block Converter Unit 1 Model JUSP TA36P The connection between the connector terminal block converter and the SERVOPACK is shown below SERVOPACK 1 2 39 40 CN1 Cable length 0 5 mm 0 02 in Terminal bl...

Страница 117: ...rminal Block No 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 1 2 3 4 5 6 7 8 9 10 11 12 T REF SG V REF SG SEN SG BK V CMP TGON SG P CL...

Страница 118: ...holding brake install a surge suppressor near the brake coil a Model CR50500BL b Specifications 5 6 7 Variable Resistor for Speed and Torque Setting 1 Model 25HP 10B The multiturn type winding variab...

Страница 119: ...ut Signals Balanced line driver input RS 422 Output Signals Voltage pulse out put Open collector output Voltage pulse out put Open collector output Input Signal Level Differential voltage 0 3 V built...

Страница 120: ...2 Terminal Layout 6 6 6 3 Examples of I O Signal Connections 6 7 6 3 1 SGDJ S for Speed Control Mode 6 7 6 3 2 SGDJ P for Position Control Mode 6 8 6 3 3 SGDJ S for Torque Control Mode 6 9 6 3 4 I O S...

Страница 121: ...er turning power OFF Make sure the charge indicator is turned OFF first before starting an inspection Avoid frequently turning power ON and OFF Do not turn the power ON or OFF more than once per minut...

Страница 122: ...sert the connection hook end of the tool into the slot as shown in Fig A Use a standard flat blade screwdriver blade width of 3 0 to 3 5 mm 0 12 to 0 14 in or type 54932 0000 manufactured by Molex Jap...

Страница 123: ...This is required in order to initialize the SERVOPACK Select the power supply specifications for the parts in accordance with the input power supply OFF ON Main circuit power supply Main circuit power...

Страница 124: ...5 6 CN4 20 21 23 24 25 PG CN1 0 33 mm 0 001 in 2 Light blue PG 5 V PG 0 V PS PS White Light blue Incremental encoder Red Black Shield wire Shell Connector shell Connector shell Output line driver SN7...

Страница 125: ...R R 5 6 1 2 PG5V PG0V PS PS BAT BAT 5 6 1 2 3 4 Shield wire Orange White Orange Shell Connector shell Connector shell Applicable line receiver SN75175 manufactured by Texas Instruments or the equival...

Страница 126: ...1 2 LPF 6 5 V 0 V SEN SG 5 ALO1 ALO2 ALO3 30 31 32 Amount of phase S rotation Serial data output Applicable line receiver SN75175 manufactured by Texas Instruments or the equivalent corresponding to M...

Страница 127: ...CLR PULS SIGN SIGN CLR CLR PULS 1 150 150 4 Servo ON Servo ON when ON Reverse run prohibited Prohibited when OFF Forward run prohibited Prohibited when OFF Alarm reset Reset when ON Reverse current l...

Страница 128: ...6 5 V 0 V SEN SG 5 ALO1 ALO2 ALO3 30 31 32 7 Backup battery 2 8 to 4 5 V 3 Servo ON Servo ON when ON Reverse run prohibited Prohibited when OFF Forward run prohibited Prohibited when OFF Alarm reset R...

Страница 129: ...ence 20 PAO PG dividing pulse output phase A 3 V REF Speed refer ence input 21 PAO PG dividing pulse output phase A 4 SG Signal ground for speed refer ence input 22 PBO PG dividing pulse output phase...

Страница 130: ...output phase A 4 SIGN Reference sign input 22 PBO PG dividing pulse output phase B 5 CLR Error counter clear input 23 PBO PG dividing pulse output phase B 6 CLR Error counter clear input 24 PCO PG di...

Страница 131: ...ernal torque limit ON Current limit function enabled when ON 8 9 2 Internal speed switching With the internal set speed selected Switches the internal speed settings 8 8 ALM RST 18 18 Alarm reset Rele...

Страница 132: ...t signal and zero point pulse phase C signal RS 422 or the equivalent Proper line receiver is SN75175 manufactured by Texas Instruments or the equivalent corresponding to MC3486 6 2 6 3 1 8 4 6 8 5 7...

Страница 133: ...t circuit for the reference pulse and position error pulse clear signal at the host controller can be either line driver or open collector outputs The following shows by type Analog Voltage Input Circ...

Страница 134: ...t Interface There are three types of SERVOPACK output circuits a Line Driver Output Circuit CN1 connector terminals 20 21 phase A signal 22 23 phase B signal and 24 25 phase C signal are explained bel...

Страница 135: ...DC c Photocoupler Output Circuit Photocoupler output circuits are used for servo alarm ALM servo ready S RDY and other sequence out put signal circuits Connect a photocoupler output circuit through a...

Страница 136: ...hanism 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 Always...

Страница 137: ...ding 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 the 0 V line SG of the reference input line If...

Страница 138: ...er Always observe the following installation and wiring instructions Incorrect use of a noise filter halves its benefits 1 Do not put the input and output lines in the same duct or bundle them togethe...

Страница 139: ...r 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 the ground plate for the unit first then grou...

Страница 140: ...s satisfied in test conditions prepared by Yaskawa The actual EMC level may differ depending on the actual system s configuration wiring and other conditions CN4 CN1 1 2 3 4 5 U V W 24V 48V GND SERVOP...

Страница 141: ...d for shielding magnetic interference The structure of the box should allow the main body door and cooling unit to be attached to the ground The box opening should be as small as possible Cable Name M...

Страница 142: ...d 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 cas...

Страница 143: ...CMP19 30 3 m 98 4 ft Application Fixed Type Cable type JZSP CMP19 Cable length 50 m 164 0 ft max Basic Specifications UL20276 Max operating temperature 80 C 176 F AWG16 2C AWG26 2P AWG16 1 31 mm2 0 00...

Страница 144: ...its for User modified Encoder Cables Name Type Specifications Reference SERVOPACK end connector kit JZSP CMP9 1 5 4 1 Servomotor end connector kit JZSP CMP9 2 5 2 3 5 3 2 5 4 1 Cables JZSP CMP19 50 m...

Страница 145: ...alization Fn005 7 10 7 2 5 Alarm Traceback Data Clear Fn006 7 11 7 2 6 Automatic Offset adjustment of Motor Current Detection Signal Fn00E 7 12 7 2 7 Manual Offset adjustment of Motor Current Detectio...

Страница 146: ...digital operator Model JUSP OP02A 2 refer to II Series SGM H SGDM Dig ital Operator Operation Manual TOE S800 34 7 1 1 Connecting the Digital Operator There is no need to turn OFF the SERVOPACK to co...

Страница 147: ...ction mode parameter setting mode or monitor 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 u...

Страница 148: ...e power Fn Utility Function Mode Refer to 7 2 Pn Monitor Mode Refer to 7 4 Press DSPL SET Key A basic mode is selected in the following order Repeat DATA ENTER DSPL SET Press DSPL SET Key and UP or DO...

Страница 149: ...tor 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 motor speed exceeds preset value Not li...

Страница 150: ...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 16 P OT is OFF Reverse Run Prohibited CN1 17 N OT is OFF Alarm...

Страница 151: ...g initialization 7 2 4 Fn006 Alarm traceback data clear 7 2 5 Fn007 Writing to EEPROM moment of inertia ratio data obtained from online autotuning 9 2 7 Fn008 Absolute encoder multiturn reset and enco...

Страница 152: ...lay A means no alarm occurs Follow the procedure below to confirm alarms which have been generated Display Description Digital operator transmission error 1 Digital operator transmission error 2 Step...

Страница 153: ...disabled during zero point search mode operations using Fn003 CAUTION Step Display after Operation Key Description 1 Press the DSPL SET Key to select the utility function mode 2 Press the UP or DOWN K...

Страница 154: ...utility function mode 2 Press the UP or DOWN Key to select Fn005 Note The enabled digit blinks 3 Press the DATA ENTER Key and the display will be as shown on the left 4 Press the DSPL SET Key Then the...

Страница 155: ...on mode 2 Press the UP or DOWN Key to select Fn006 Note The enabled digit blinks 3 Press the DATA ENTER Key and the display will be as shown on the left 4 Press the DSPL SET Key to clear the alarm tra...

Страница 156: ...c offset adjustment if the torque ripple is too big when compared with that of other SERVOPACKs Step Display after Operation Key Description 1 Press the DSPL SET Key to select the utility function mod...

Страница 157: ...select the utility function mode 2 Press the UP or DOWN Key to select Fn00F Note The enabled digit blinks 3 Press the DATA ENTER Key and the display will be as shown on the left phase U 4 Press the L...

Страница 158: ...on 1 Press the DSPL SET Key to select the utility function mode 2 Press the UP or DOWN Key to select Fn010 Note The enabled digit blinks 3 Press the DATA ENTER Key and the display will be as shown on...

Страница 159: ...ation 4 Press the DSPL SET Key to display the servomotor capacity 5 Press the DSPL SET Key and the encoder type and resolution code will be displayed 6 Press the DSPL SET Key to display the SERVOPACK...

Страница 160: ...ption 1 Press the DSPL SET Key to select the utility function mode 2 Press the UP or DOWN Key to select Fn012 Note The enabled digit blinks 3 Press the DATA ENTER Key to display the SERVOPACK software...

Страница 161: ...e used for changing parameter data Before changing the data check the permit ted range of the parameter The example below shows how to change parameter Pn100 speed loop gain from 40 to 100 Step Displa...

Страница 162: ...arameter The name of the parameter Position Positoin Speed Torque Torque Applicable control mode for the parameter Speed Speed control internal set speed control Position control Torque control This s...

Страница 163: ...ction Selection Application Switches 0002 0002 Immediately Servo Gain Related Parameter Pn10B Gain Application Switches 0000 0000 After restart Immediately Pn110 Online Autotuning Switches 0010 0010 A...

Страница 164: ...Pn000 is displayed 3 Press the LEFT or RIGHT 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 Press the DATA ENTER...

Страница 165: ...etting Pn50A 0 0 The factory setting for the input signal allocation is as follows means factory setting Pn50A n 2 n 8 The number of the parameter Parameter Meaning This section explains the details o...

Страница 166: ...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 2 3...

Страница 167: ...A ENTER Key The value blinks and is saved At the moment the CN1 11 operates with OR logic for S ON and P CL 6 Press the DATA ENTER Key to return to the display Pn50A 7 Press the UP Key to set Pn50B No...

Страница 168: ...g 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 for Positioning...

Страница 169: ...et 0 Sets TGON Invalid 4 Press the DATA ENTER Key The value blinks and is saved 5 Press the DATA ENTER Key to return to the display Pn50E 6 Press the UP Key to set Pn50F Note The enabled digit blinks...

Страница 170: ...zero point Un004 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 co...

Страница 171: ...the relation between input terminals and signals When using SGDJ P SERVOPACK for the position control mode the SEN signal is assigned Pin No 36 When S ON signal is ON Servo ON at L level When S ON si...

Страница 172: ...y the contents of monitor number Un000 when the servomotor rotates at 1500 min 1 Display LED Number Output Terminal Name Factory Setting 1 CN1 34 35 ALM 2 CN1 8 10 COIN or V CMP 3 CN1 9 10 TGON 4 CN1...

Страница 173: ...m this pulse number The feedback pulse will be 8192 pulse rev when using the 13 bit encoder The feedback pulse will be 65536 pulse rev when using the 16 bit encoder The feedback pulse will be 131071 p...

Страница 174: ...5 Selecting the Stopping Method After Servo OFF 8 25 8 3 6 Instantaneous Power Loss Settings 8 26 8 4 Absolute Encoders 8 27 8 4 1 Interface Circuits 8 28 8 4 2 Selecting an Absolute Encoder 8 29 8 4...

Страница 175: ...Setting Parameters 8 65 8 8 2 Input Signal Settings 8 66 8 8 3 Operating Using an Internally Set Speed 8 66 8 9 Limiting Torque 8 68 8 9 1 Internal Torque Limit Limiting Maximum Output Torque 8 68 8 9...

Страница 176: ...8 3 8...

Страница 177: ...the machine in order to confirm that the following wiring is correct I O signal wiring between the SERVOPACK and the host controller Motor s rotation direction motor speed and number of rotations Che...

Страница 178: ...n 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 correct operati...

Страница 179: ...machine in order to prevent the servomotor from moving during operation Do not connect the servomotor shaft to the machine The servomo tor may tip over during rotation 2 Check the power supply circuit...

Страница 180: ...JOG Speed The factory setting for jog speed is 500 min 1 Step Display after Operation Key Description 1 Press the DSPL SET Key to select the utility function mode 2 Press the UP or DOWN Key to select...

Страница 181: ...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 Allocat...

Страница 182: ...K and the SERVOPACK 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 required External inp...

Страница 183: ...e that the digital operator display is as shown 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...

Страница 184: ...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 values in steps 4 a...

Страница 185: ...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...

Страница 186: ...input to the SERVOPACK by the changed amount before and after the Un00C input reference pulse counter pulse was executed Refer to 7 1 3 Basic Mode Selection and Operation for how it is displayed Un00...

Страница 187: ...ation for how it is displayed Un000 motor speed min 1 12 Check that the Un007 and Un000 values in steps 9 and 10 are equal 13 Check the motor rotation direction To change the motor rotation direction...

Страница 188: ...ontrol mode used Refer to 8 5 Operating Using Speed Control with Ana log Reference 8 6 Operating Using Position Control and 8 7 Operating Using Torque Control for control mode used 3 Connect the servo...

Страница 189: ...is properly broken in 8 Write the parameters set for maintenance in 10 4 List of Parameters Then the trial operation with the servomotor con nected to the machine is completed Step Description Check M...

Страница 190: ...A 8 5 n 1 P Factory setting Position Control Pulse train position reference Controls the position of the servomotor by means of a pulse train position reference Controls the position with the number o...

Страница 191: ...rvomotor 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 ON...

Страница 192: ...from the drive end Parameter Name Reference Forward Reference Reverse Reference Pn000 n 0 Standard setting CCW For ward Factory setting n 1 Reverse Rotation Mode CW Reverse The direction of P OT and...

Страница 193: ...tation is possible during forward overtravel 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 cl...

Страница 194: ...er OFF Mode During torque control these settings affect only the servomotor stopping method After it is stopped the servomotor enters Coast Mode regardless of the setting After changing these paramete...

Страница 195: ...mechanical brake while the servomotor is stopped because the servomotor enters servolock status 1 Wiring Example Use the SERVOPACK contact output signal BK and the brake power supply to form a brake O...

Страница 196: ...en set to the factory setting the brake signal is invalid When multiple signals are allocated to the same output termi nal the signals are output with OR logic To output the BK signal alone disable th...

Страница 197: ...507 after the servo OFF When the time set in Pn508 is exceeded after the servo OFF IMPORTANT The servomotor will be limited to its maximum speed even if the value set in Pn507 is higher than the maxim...

Страница 198: ...der the following conditions When the S ON input signal is OFF Servo OFF When an alarm occurs When main circuit power supply L1 L2 is OFF Similar to the Coast Mode the n 0 setting which stops the serv...

Страница 199: ...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 l...

Страница 200: ...nd 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 positio...

Страница 201: ...the pin number for SGDJ P position control type 3 1 1 2 Serial interface circuit Type Name Connector Pin Number Setting Meaning Input SEN S CN1 5 OFF low level Input when power is turned ON P CN1 36 O...

Страница 202: ...VOPACK power to cancel the absolute encoder battery alarm A 83 3 Turn ON the SERVOPACK power back again If it operates without any problems the battery replace ment has been completed If the SERVOPACK...

Страница 203: ...der should be canceled by turning OFF the power Step Display after Operation Key Description 1 Alarm generated 2 Press the DSPL SET Key to select the utility function mode 3 Press the UP or DOWN Key t...

Страница 204: ...ade 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 current position at...

Страница 205: ...er PE M R PO PM PE PS M Multiturn data rotation 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 Number of initial increme...

Страница 206: ...ormal incremental pulses initial incremental pulses which provide absolute data are first divided by the frequency divider inside the SERVOPACK and then output For details refer to 8 5 7 Encoder Signa...

Страница 207: ...der is used SEN signals can be utilized to transfer the alarm detection contents from PAO outputs to the host controller as serial data For alarm list refer to 10 1 1 Alarm Display Table L H Error det...

Страница 208: ...ill occur WARNING Pn205 Multiturn Limit Setting Setting Range Setting Unit Factory Setting Setting Validation 0 to 65535 Rev 65535 After restart This parameter is valid when Pn002 n 0 when the absolut...

Страница 209: ...the UP or DOWN Key to set the parameter Fn013 The digit that can be set will blink 3 Press the DATA ENTER Key The display on the left will appear 4 Press the DSPL SET Key The multiturn limit setting...

Страница 210: ...Setting Setting Validation 1 50 to 3000 150 to 30 00 V Rated speed 0 01 V Rated speed 600 Immediately Sets the analog voltage level for the speed reference V REF necessary to operate the servomotor at...

Страница 211: ...oller such as a program mable controller for position control Type Signal Name Connector Pin Number Setting Description Input P CON CN1 15 ON low level Operates the SERVOPACK with proportional control...

Страница 212: ...djustment 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 offset when the ho...

Страница 213: ...he following procedure Step Display after Operation Key Description 1 Turn OFF the SERVOPACK and input the 0 V reference voltage from the host controller or external circuit 2 Press the DSPL SET Key t...

Страница 214: ...unction 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 The display will be as shown at the left The manual adjustment mode fo...

Страница 215: ...lidation 0 to 10000 ms 0 Immediately Pn306 Soft Start Deceleration Time Setting Range Setting Unit Factory Setting Setting Validation 0 to 10000 ms 0 Immediately The soft start function enables smooth...

Страница 216: ...ation 0 to 10000 min 1 10 Immediately Sets the motor speed at which the zero clamp is performed if zero clamp speed control Pn000 n A is selected Even if this value is set higher than the maximum spee...

Страница 217: ...A Output PBO CN1 22 Encoder output phase B PBO CN1 23 Encoder output phase B Output PCO CN1 24 Encoder output phase C zero point pulse PCO CN1 25 Encoder output phase C zero point pulse Even in rever...

Страница 218: ...ge Setting Unit Factory Setting Setting Validation 16 to 16384 P Rev 16384 After restart Set the number of pulses for PG output signals PAO PAO PBO PBO externally from the SERVOPACK Feedback pulses fr...

Страница 219: ...etails Pn503 Speed Coincidence Signal Output Width Setting Range Setting Unit Factory Setting Setting Validation 0 to 100 min 1 10 Immediately The V CMP signal is output when the difference between th...

Страница 220: ...rence Pn200 n 0 Sign pulse train Positive logic Factory setting n 1 CW pulse CCW pulse Positive logic n 2 Two phase pulse train with 90 phase differential Positive logic 1 n 3 2 n 4 4 n 5 Sign pulse t...

Страница 221: ...error counter is set to 0 Position loop operation is disabled Holding the clear status may cause the servo clamp to stop functioning and the servomotor to rotate slowly due to drift in the speed loop...

Страница 222: ...called a ref erence unit SGMAJ Servomotor serial number Encoder Type Incremental encoder 13 bits A 1 16 bits 2048 16384 Absolute encoder No of Encoder Pulses Motor Model Encoder Specifications INFO Wh...

Страница 223: ...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...

Страница 224: ...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 01 1 Reference unit 0 02 mm 20 m 4 Calculate the travel distance per load sh...

Страница 225: ...ers Change the parameter as follows 1 Input Output Signal Timing Example Note 1 The interval from the time the servo ON signal is turned ON until a reference pulse is input must be at least 40 ms othe...

Страница 226: ...00 kpps For open collector output 200 kpps t1 t2 0 1 ms t3 3 s 1 0 s T 100 50 Two phase pulse train with 90 phase differential phase A and phase B Maximum reference frequency 1 input pulse multiplier...

Страница 227: ...wires When the open collector output is used input signal noise margin lowers Set the parameter Pn200 3 to 1 Line driver SERVOPACK Host controller Photocoupler CN1 1 2 6 5 4 3 PULS SIGN SIGN CLR CLR...

Страница 228: ...ow Kp M Pn201 Pn204 Pn202 Pn203 Pn102 Pn203 Pn202 Pn10A Pn107 Pn109 PG Pn200 0 Pn108 B A B A Differ ential Smoothing Error counter Feed forward Feed for ward fil ter time constant Bias Speed loop Curr...

Страница 229: ...etting 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 provides smooth motor operat...

Страница 230: ...y Setting Setting Validation 0 to 250 Reference units 7 Immediately The positioning completed COIN signal is output when the difference position error pulse between the number of reference pulses outp...

Страница 231: ...h 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 Output C...

Страница 232: ...nector Pin Number Setting Meaning Input P CON CN1 15 Factory setting ON low level Turns the INHIBIT function ON Inhibits the SERVOPACK from counting refer ence pulses OFF high level Turns the INHIBIT...

Страница 233: ...d torque with 10 V input Pn400 200 The servomotor operates at the rated torque with 2 V input Speed Position Torque Reference voltage V Reference torque This reference voltage is set Rated torque Type...

Страница 234: ...igital oper ator The automatic adjustment of analog speed torque reference offset Fn009 automatically measures the offset and adjusts the reference voltage The SERVOPACK performs the following automat...

Страница 235: ...and input the 0 V reference voltage from the host controller or external circuit 2 Press the DSPL SET Key to select the utility function mode 3 Press the LEFT RIGHT or UP DOWN Key or UP or DOWN Key to...

Страница 236: ...will blink 3 Press the DATA ENTER Key The display will be as shown at the left The manual adjustment mode for the torque reference offset will be entered 4 Servo ON Turn ON the servo ON S ON signal Th...

Страница 237: ...nd Inputs an analog voltage reference as the servomotor speed limit value during torque control The smaller value is enabled the speed limit input from V REF or the Pn407 Speed Limit during Torque Con...

Страница 238: ...g the SGDJ P SERVOPACK Note The maximum speed of servomotor is used whenever a speed settings for the Pn301 to Pn303 exceed the maximum speed SGDJ S SpeedxTorque SERVOPACK 5 11 12 Pn301 SPEED1 Pn302 S...

Страница 239: ...ed using the internally set speeds Operation with the P CON P CL and N CL input signals pins allocated in factory setting Operation with the SPD D SPD A and SPD B input signals SPD D SPD A and SPD B i...

Страница 240: ...ays 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 Speed and Soft St...

Страница 241: ...analog voltage reference Applicable N A 8 9 4 Pn402 Forward Torque Limit Setting Range Setting Unit Factory Setting Setting Validation 0 to 800 800 Immediately Pn403 Reverse Torque Limit Setting Range...

Страница 242: ...Setting Setting Validation 0 to 800 100 Immediately Speed Position Torque Speed Position Torque Type Signal Name Connector Pin Number Setting Meaning Limit Value Input P CL CN1 11 Factory Setting ON...

Страница 243: ...n402 Pn403 set to 800 Note In this example the servomotor rotation direction is Pn000 n 0 standard setting CCW forward P CL Forward External Torque Limit Input High level Low level N CL Reverse Extern...

Страница 244: ...alue is applied in the forward or reverse direction 1 Related Parameters 2 Input Signals Pn300 Pn400 T REF V REF Forward torque limit value Pn402 Speed loop gain Pn100 Speed feedback Torque limit valu...

Страница 245: ...chever is smaller 1 Related Parameters The setting unit is a percentage of rated torque i e the rated torque is 100 Torque limit value Speed reference Pn300 Pn400 T REF V REF Pn404 P CL ON Forward tor...

Страница 246: ...Forward external torque limit OFF Pn402 Input N CL CN1 12 Factory setting ON low level Reverse external torque limit ON The analog voltage reference limit or the value set in Pn403 or Pn405 whichever...

Страница 247: ...n 6 Internally set speed control contact reference Torque control analog voltage reference Applicable N A n 7 Reserved N A N A n 8 Reserved N A N A n 9 Torque control analog voltage reference Speed co...

Страница 248: ...case input a speed reference analog voltage reference for speed control and a position reference pulse train reference for position control Type Signal Name Connector Pin Number Setting Pn000 Setting...

Страница 249: ...upply to the SERVOPACK Type Signal Name Connector Pin Number Name Input ALM RST CN1 18 Alarm Reset When a servo alarm ALM has occurred and the cause of the alarm has been eliminated the alarm can be r...

Страница 250: ...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 above the setting in par...

Страница 251: ...It 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 absolut...

Страница 252: ...11 9 3 1 Explanation of Servo Gain 9 11 9 3 2 Servo Gain Manual Tuning 9 12 9 3 3 Position Loop Gain 9 12 9 3 4 Speed Loop Gain 9 13 9 3 5 Speed Loop Integral Time Constant 9 13 9 4 Servo Gain Adjustm...

Страница 253: ...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...

Страница 254: ...Name and Related Parameters Description Features Valid Control Modes Refer ence Section Feed forward Pn109 Pn10A Feed forward compensation for the posi tion reference is added to the speed refer ence...

Страница 255: ...nables 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 fi...

Страница 256: ...is low and mechanical vibration occurs easily or friction is high The speed reference is a stepwise reference If the condition meets one of the above cases or the desired operation cannot be achieved...

Страница 257: ...ation 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 Set...

Страница 258: ...ine status and operation references at the beginning of operation may cause minor differences in the calculation results of the load moment of inertia causing differences in the servo responsiveness e...

Страница 259: ...ways set the machine rigidity setting When setting the machine rigidity after having changed the position loop gain Pn102 the value closest to the set position loop gain is displayed as the initial va...

Страница 260: ...set will blink 3 Press the DATA ENTER Key for one second or more The display shown at the left will appear and the rigidity for online autotuning can be set 4 Press the Up or Down Cursor Key to selec...

Страница 261: ...default value for the moment of inertia ratio for online autotuning The next time the power supply is turned ON the value that was saved for the Moment of Inertia Ratio Pn103 will be used to start on...

Страница 262: ...st 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 The SERVOPACK is...

Страница 263: ...s case increase the values in the following parameter to suppress detection of the overflow alarm Step Explanation 1 Set correctly the moment of inertia ratio Pn103 The utility function Fn007 can be u...

Страница 264: ...at 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 Position Pn...

Страница 265: ...ant Setting Range Setting Unit Factory Setting Setting Validation 0 to 6 400 0 00 to 64 00 ms 0 01ms 0 Immediately Applies feed forward compensation in position control inside the SERVOPACK Use this p...

Страница 266: ...orque feed forward value will result in overshooting or undershooting To prevent such troubles set the opti mum value while observing the system responsiveness Connect a speed reference signal line to...

Страница 267: ...15 is OFF H level PI control CN1 15 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 op...

Страница 268: ...VOPACK s Soft Start Acceleration Deceler ation Time Pn305 Pn306 or Position Reference Acceleration Deceleration Time Constant Pn204 1 Selecting the Mode Switch Setting The SERVOPACK provides the follo...

Страница 269: ...ng 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 spe...

Страница 270: ...tor 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 exceeds the va...

Страница 271: ...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 bias input will be added when the error pulse...

Страница 272: ...d When this function is used it is assumed that the moment of inertia ratio set in Pn103 is correct Verify that the moment of inertia ratio has been set correctly Pn110 Online Autotuning Switches Sett...

Страница 273: ...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...

Страница 274: ...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 Speed...

Страница 275: ...ation frequency such as resonances of ball screw can eliminate the frequency components to stop the vibration Set the machine s vibration frequency in the parameter of a notch filter to be used Torque...

Страница 276: ...peed 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 the S...

Страница 277: ...to the connector CN5 The analog monitor signals can be selected by setting parameters Pn003 0 and Pn003 1 Pin Number Line Color Signal Name Monitoring Item with Factory Setting 1 Red Analog monitor 2...

Страница 278: ...or 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 1...

Страница 279: ...tored through the analog monitor output Refer to 9 5 Analog Monitor Use the manual zero adjustment function to compensate for the output voltage drift or the zero point drift caused by noise entering...

Страница 280: ...layed 4 Press the DSPL SET Key and the monitor output for the two channels will be displayed alternately 5 Press the LEFT or RIGHT Key to display the analog monitor out put data Pressing the LEFT or R...

Страница 281: ...he DATA ENTER Key and Ch1_G will be displayed 4 Press the DSPL SET Key and the monitor output for the two channels will be displayed alternately 5 Press the LEFT or RIGHT Key to display the analog mon...

Страница 282: ...MEMOCON GL120 130 Series Motion Module MC20 10 22 10 3 4 Example of Connection to MEMOCON GL60 70 Series Positioning Module B2813 SERVOPACK in Position Control Mode 10 23 10 3 5 Example of Connection...

Страница 283: ...the allowable setting range N A A 05 Combination Error SERVOPACK and servomotor capaci ties do not match each other Available A 10 Overcurrent or Heat Sink Overheated An overcurrent flowed through th...

Страница 284: ...ER 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 Error The multiturn for the absolute encoder...

Страница 285: ...s Table 10 2 Warning Displays and Outputs Warning Display Warning Name Meaning Warning Code Output ALO1 ALO2 ALO3 A 91 Overload This warning occurs before the overload alarms A 71 or A 72 occur If the...

Страница 286: ...the limit For example the parameter was changed every scan through the host controller Replace the SERVOPACK Recheck the parameter writing method The SERVOPACK EEPROM and the related circuit are faul...

Страница 287: ...er too many times Change the method to reset the alarm The excessive change was given to the position speed reference Recheck the reference value The overload or regenerative power exceeds the regener...

Страница 288: ...ing The encoder wiring is incorrect or the connection is faulty Correct the encoder wiring A SERVOPACK fault occurred Replace the SERVOPACK Occurred when the servomotor did not run by the refer ence i...

Страница 289: ...ontrol power sup ply was turned ON using an absolute encoder Setting Pn002 2 0 Alarm occurred when the power to the absolute encoder was initially turned ON Set up the encoder The encoder cable had be...

Страница 290: ...he servomotor load is greater than the rated load The servomotor load must be within the specified range An encoder fault occurred Replace the servomotor A SERVOPACK board fault occurred Replace the S...

Страница 291: ...A CA Encoder Parameter Error Occurred when the control power sup ply was turned ON An encoder fault occurred Replace the servomotor A SERVOPACK board fault occurred Replace the SERVOPACK A Cb Encoder...

Страница 292: ...ut The SERVOPACK gain adjustment is improper Increase the speed loop gain Pn100 and position loop gain Pn102 The V REF input voltage and the Pn300 setting are incorrect Lower the reference speed to th...

Страница 293: ...the load and operation condi tions Or check the servomotor capacity A SERVOPACK fault occurred Replace the SERVOPACK Occurred during nor mal operation The effective torque exceeds the rated torque Rec...

Страница 294: ...ter Pn001 1 Set parameters to match the application SEN input is turned OFF Check the SEN signal input when absolute encoder is used Turn SEN input signal ON Reference pulse mode selection is incorrec...

Страница 295: ...ence due to incorrect input signal wire specifications The specifications of input signal wires must be Twisted pair or twisted pair shielded wire with core 0 12 mm2 0 0002 in2 min and tinned annealed...

Страница 296: ...nt from the position when the power turned ON Noise interference due to improper encoder cable specifications The specifications of encoder cable must be Twisted pair or twisted pair shielded wire wit...

Страница 297: ...The wiring distance must be 20 m 65 6 ft max The encoder cable distance must be within the specified range Noise influence due to damaged encoder cable Check if the encoder cable is bent or its sheat...

Страница 298: ...Servomotor surface dirty Check visually Clean dust and oil from servomotor surface Overloaded Run under no load Reconsider load and operation conditions or replace with larger capacity servomotor Tabl...

Страница 299: ...aily Touch and listen Levels higher than normal Exterior According to degree of contamination Clean with cloth or compressed air Insulation Resistance Measurement At least once a year Disconnect SERVO...

Страница 300: ...reset to the factory settings before ship ping Be sure to confirm that the parameters are properly set before starting operation Table 10 8 Periodical Part Replacement Part Standard Replacement Period...

Страница 301: ...01 manufactured by Yaskawa 3 4 5 16 7 6 13 12 30 34 29 11 19 14 1 20 28 32 FG 21 22 18 35 10 17 31 2 23 24 25 19 17 16 15 13 5 9 35 10 6 7 34 3 4 20 21 22 23 24 18 28 29 14 NREF SG PA PAL PB PBL PC P...

Страница 302: ...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 13 14 15 17 16 18 9 8 7 34 35 28 29 6 5 24 23 22 21 20 2 1 4 3 25 19 24V IN S ON P CON N OT P OT ALM RST TGO...

Страница 303: ...sted pair wires PA PAO 1 20 PAO 2 21 PB PBO 3 22 PBO 4 23 PC PCO 5 24 PCO 6 25 VREF V REF 7 3 SG SG 8 4 BAT BAT 9 28 BAT0 BAT 10 29 24V 24VIN 19 13 SVON S ON 13 14 PCON P CON 14 15 SEN SEN 11 12 0SEN...

Страница 304: ...nnector shell 3 represents twisted pair wires 1Ry 024V 24V 12V 5V 0 V ERROR FG PA PB 0V PC MEMOCON GL60 70 Series B2813 manufactured by Yaskawa START STOP PAO SG PCO PBO 24VIN S ON P OT N OT ALM ALM 3...

Страница 305: ...he servo can be turned ON OFF by the S ON signal CN2 CN1 3 4 5 16 8 9 13 12 11 19 15 14 18 1 3 4 10 24 25 C1 L2 L1 C2 22 21 20 5 BAT 23 13 35 W V 1 2 3 4 U MC unit manufactured by OMRON DRV connector...

Страница 306: ...N2 CN1 A3 A5 A6 A7 A4 2 25 8 C1 L2 L1 C2 24 4 1 6 5 W V 1 2 3 4 U Position control unit Servomotor SGDJ P SERVOPACK CS1W NC133 233 433 manufactured by OMRON A16 A11 A14 A1 A2 A8 A20 A22 A23 A21 A19 3...

Страница 307: ...resents twisted pair wires Note Only signals applicable to OMRON s C500 NC221 position control unit and Yaskawa s SGDJ S SERVOPACK are shown in the diagram 16 17 3Ry 1Ry 4Ry 3Ry 24 23 22 25 10 21 20 C...

Страница 308: ...le to OMRON s C500 NC112 position control unit and Yaskawa s SGDJ P SERVOPACK are shown in the diagram 4Ry 3Ry 13 17 16 14 8 7 9 25 10 24 4Ry 3Ry 1Ry 4B 12V 10B 10A 12V 5V 1A 4A 3B 3A 2B 2A 1B 9B 9A 8...

Страница 309: ...Y axis 3 Connect the connector wire to the connector shell 4 represents twisted pair wires Note Only signals applicable to Mitsubishi s AD72 Positioning Unit and Yaskawa s SGDJ S SERVOPACK are shown...

Страница 310: ...e SERVOPACK Note Only signals applicable to Mitsubishi s AD75 Positioning Unit and Yaskawa s SGDJ P SERVOPACK are shown in the diagram 24V 024V 1Ry CN1 CN1 STOP DOG READY PGO PULSE SIGN CLEAR 1Ry 2 2K...

Страница 311: ...k data clear 7 2 5 Fn007 Writing 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 analo...

Страница 312: ...parameter Pn000 0 or n Indicates the value for the 1st digit of parameter Pn000 Pn000 1 or n Indicates the value for the 2nd digit of parameter Pn000 Pn000 2 or n Indicates the value for the 3rd digi...

Страница 313: ...nce Position control pulse train reference Internal set speed control contact reference Torque control analog reference Position control pulse train reference Speed control analog reference Position c...

Страница 314: ...a stop and then sets it to servolock state Sets the torque of Pn406 to the maximum value decelerates the motor to a stop and then sets it to coasting state Servo OFF or Alarm Stop Mode Refer to 8 3 5...

Страница 315: ...9 4 2 Torque Feed forward Uses T REF as an external torque limit input when P CL and N CL are ON Refer to 8 9 4 Torque Limiting Using an External Torque Limit and Analog Voltage Reference N A Uses V R...

Страница 316: ...oop Gain 1 to 2000 s 1 s 40 Immedi ately 9 4 8 Pn107 Bias 0 to 450 min 1 1 min 1 0 Immedi ately 9 4 5 Pn108 Bias Width Addition 0 to 250 reference units Reference unit 0 7 Immedi ately 9 4 5 Pn109 Fee...

Страница 317: ...the condition Level setting Pn10D Uses acceleration as the condition Level setting Pn10E Uses position error pulse as the condition Level setting Pn10F No mode switch function available PI control IP...

Страница 318: ...0 Pn11A 1000 1000 Pn11B 50 50 Pn11C 70 70 Pn11D 100 100 Pn11E 100 100 Pn11F 0 0 Pn120 0 0 Pn121 50 50 Pn122 0 0 Pn123 0 0 0 1 2 0 1 Tunes only at the beginning of operation Always tunes Does not perfo...

Страница 319: ...to 65535 rev rev 65535 65535 After restart 8 4 7 Pn206 Reserved Do not change 16384 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 P...

Страница 320: ...8 5 4 Pn306 Soft Start Deceleration Time 0 to 10000 ms 1 ms 0 0 Immedi ately 8 5 4 Pn307 Speed Reference Filter Time Constant 0 00 to 655 35 ms 0 01 ms 40 Immedi ately 8 5 5 Pn308 Speed Feedback Filt...

Страница 321: ...on Detection Level 1 to 10000 min 1 1 min 1 20 Immedi ately 8 11 3 Pn503 Speed Coincidence Signal Output Width 0 to 100 min 1 1 min 1 10 Immedi ately 8 5 8 Pn504 NEAR Signal Width 1 to 250 reference u...

Страница 322: ...ON P CON Signal Mapping P control when ON L level Refer to 9 4 4 Using the Mode Switch P PI Switching 4th digit 3rd digit 2nd digit 1st digit n C D E F Uses the sequence input signal terminals with s...

Страница 323: ...erse run allowed when CN1 16 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 CN...

Страница 324: ...s OFF H level ON when CN1 15 input signal is OFF H level ON when CN1 16 input signal is OFF H level ON when CN1 17 input signal is OFF H level 0 to F Same as SPD D 0 to F Same as SPD D 4th digit 3rd d...

Страница 325: ...ignal is OFF H level ON when CN1 15 input signal is OFF H level ON when CN1 16 input signal is OFF H level ON when CN1 17 input signal is OFF H level ON when CN1 18 input signal is OFF H level ON when...

Страница 326: ...utput Rotation Detection Signal Mapping TGON Refer to 8 11 3 Running Output Signal TGON Servo Ready Signal Mapping S RDY Refer to 8 11 4 Servo Ready S RDY Output 4th digit 3rd digit 2nd digit 1st digi...

Страница 327: ...er No Name Setting Range Units Factory Setting Setting Validation Reference Section S P 0 1 2 3 Disabled the above signal is not used Outputs the signal from CN1 25 or 26 terminals Outputs the signal...

Страница 328: ...eg Un005 Input signal monitor Un006 Output signal monitor Un007 Input reference pulse speed displayed only in position control mode min 1 Un008 Error counter value amount of position error displayed o...

Страница 329: ...ection to host controller 10 20 connector terminal block converter unit 5 19 connectors and cables for encoder signals 5 11 control method 4 3 control mode selection 8 17 8 74 CSA standards 1 7 D DATA...

Страница 330: ...4 P PAO 6 13 PAO serial data specifications 8 32 parameter setting mode 7 17 parameter settings initialization Fn005 7 10 parameters 7 18 7 20 example of changing function selection 7 20 password set...

Страница 331: ...onments 5 5 SGMMJ servomotors 3000 min 1 3 2 3 4 dimensional drawings 3 19 holding brake electrical specifications 3 3 holding brake moment of inertia 3 3 torque motor speed characteristics 3 3 with s...

Страница 332: ...ders 6 6 incremental encoders 6 5 wiring encoders 6 5 wiring example 6 18 wiring for noise control 6 18 wiring main circuit power supply connector 6 3 wiring precautions 6 17 Z zero clamp function 8 4...

Страница 333: ...ears 3 3 2 Addition Mechanical characteristics of SGMMJ servomotors 3 5 Addition Dimensional drawings of SGMMJ servomotors 3000min 1 standard and with without brakes with gears and with without brakes...

Страница 334: ...86 21 5385 3299 YATEC ENGINEERING CORPORATION 4F No 49 Wu Kong 6 Rd Wu Ku Industrial Park Taipei Taiwan Phone 886 2 2298 3676 Fax 886 2 2298 3677 YASKAWA ELECTRIC HK COMPANY LIMITED Rm 2909 10 Hong K...

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