Yaskawa SGMSV Sigma-5 User's Manual

AC Servo Drives



-

V

Series

USER’S MANUAL

Setup

Rotational Motor

SGDV SERVOPACK

SGMMV/SGMJV/SGMAV/SGMPS/SGMGV/SGMSV/SGMCS Servomotors

MANUAL NO. SIEP S800000 43I

Overview of Setup

Installation

Wiring and Connection

Safety Function

Trial Operation

(Checking Servomotor Operation)

3

4

1

2

5

Copyright © 2007 YASKAWA ELECTRIC CORPORATION

All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or transmitted, in any form, or by any means, mechanical, electronic, photocopying, recording, or otherwise, without the prior written permission of Yaskawa. No patent liability is assumed with respect to the use of the information contained herein.

Moreover, because Yaskawa is constantly striving to improve its high-quality products, the information contained in this manual is subject to change without notice. Every precaution has been taken in the preparation of this manual. Nevertheless, Yaskawa assumes no responsibility for errors or omissions. Neither is any liability assumed for damages resulting from the use of the information contained in this publication.

About this Manual

This manual describes procedures required for installation, wiring, and connecting

Σ -V Series servo drives, including a JOG operation for servomotors not connected to machinery.

Be sure to refer to this manual and perform setup operations correctly.

Keep this manual in a location where it can be accessed for reference whenever required.

 Description of Technical Terms

The following table shows the meanings of terms used in this manual.

Term

Servomotor

SERVOPACK

Servo Drive

Servo System

Analog pulse model

M-

M-

II model

III model

Command option attachable type

Meaning

Σ -V Series SGMMV, SGMJV, SGMAV, SGMPS, SGMGV,

SGMSV, or SGMCS (Direct Drive) servomotor

Σ -V Series SGDV SERVOPACK

A set including a servomotor and SERVOPACK (i.e., a servo amplifier)

A servo control system that includes the combination of a servo drive with a host controller and peripheral devices

Analog voltage and pulse-train reference used for SERVOPACK interface.

MECHATROLINK-II communications reference used for

SERVOPACK interface.

MECHATROLINK-III communications reference used for

SERVOPACK interface.

SERVOPACK for which a command option module can be installed.

 IMPORTANT Explanations

The following icon is displayed for explanations requiring special attention.

• Indicates important information that should be memorized, as well as precautions, such as alarm displays, that do not involve potential damage to equipment.

 Notation Used in this Manual

In this manual, the names of reverse signals (ones that are valid when low) are written with a forward slash (/) before the signal name, as shown in the following example:

Example

S-ON = /S-ON iii

iv

 Manuals Related to the Σ -V Series

Refer to the following manuals as required.

Name

Σ -V Series

Product Catalog

(KAEP S800000 42)

Σ -V Series

User’s Manual

Design and

Maintenance

Rotational Motor/

Analog Voltage and

Pulse Train

Reference

(SIEP S800000 45)

Σ -V Series

User’s Manual

Design and

Maintenance

Rotational Motor/

MECHATROLINKII

Communications

Reference

(SIEP S800000 46)

Σ -V Series

User’s Manual

MECHATROLINKII

Command

(SIEP S800000 54)

Σ -V Series

User’s Manual

Operation of Digital

Operator

(SIEP S800000 55)

Σ -V Series

User’s Manual

Design and

Maintenance

Rotational Motor/

Command Option

Attachable Type

(SIEP S800000 60)

Selecting

Models and

Peripheral

Devices

Ratings and

Specifications

System

Design

Panels and

Wiring

Trial

Operation

Trial

Operation and

Servo

Adjustment

Maintenance and

Inspection

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*

*

Name

Σ -V Series

User’s Manual

MECHATROLINKIII

Command

(SIEP S800000 63)

Σ -V Series

User’s Manual

Design and

Maintenance

Rotational Motor/

MECHATROLINKIII

Communications

Reference

(SIEP S800000 64)

Σ -V Series

User’s Manual

Indexer Module

(SIEP C720829 02)

Σ -V Series

User’s Manual

EtherCAT (CoE)

Network Module

(SIEP C720829 04)

AC SERVOMOTOR

Safety Precautions

(TOBP C230200 00)

Σ -V Series

AC SERVOPACK

SGDV Safety

Precautions

(TOBP C710800 10)

Σ -V Series

Option Module

Safety Precautions

(TOBP C720829 00)

Σ -V Series

Command Option

Module

Installation Guide

(TOBP C720829 01)

Selecting

Models and

Peripheral

Devices

Ratings and

Specifications

System

Design

Panels and

Wiring

Trial

Operation

(cont’d)

Trial

Operation and

Servo

Adjustment

Maintenance and

Inspection

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*

*

* v

vi

Name

Selecting

Models and

Peripheral

Devices

Ratings and

Specifications

System

Design

Panels and

Wiring

Trial

Operation

(cont’d)

Trial

Operation and

Servo

Adjustment

Maintenance and

Inspection

Σ -V Series

Indexer Module

Installation Guide

(TOBP C720829 02)

Σ -V Series

Feedback Option

Module

Installation Guide

(TOBP C720829 03)

Σ Series

Digital Operator

Safety Precautions

(TOBP C730800 00)

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∗ Refer to these manuals for troubleshooting of problems which may occur during setup.

(Troubleshooting which is common for command option modules is described in Σ -V Series

User's Manual Design and Maintenance Rotational Motor/Command Option Attachable

Type (No.: SIEP S800000 60).

 Safety Information

The following conventions are used to indicate precautions in this manual. Failure to heed precautions provided in this manual can result in serious or possibly even fatal injury or damage to the products or to related equipment and systems.

WARNING

CAUTION

PROHIBITED

Indicates precautions that, if not heeded, could possibly result in loss of life or serious 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 serious consequences if not heeded.

Indicates prohibited actions that must not be performed. For example, this symbol would be used to indicate that fire is prohibited as follows:

MANDATORY

Indicates compulsory actions that must be performed.

For example, this symbol would be used as follows to indicate that grounding is compulsory: vii

viii

Safety Precautions

These safety precautions are very important. Read them before performing any procedures such as checking products on delivery, storage and transportation, installation, wiring, operation and inspection, or disposal. Be sure to always observe these precautions thoroughly.

WARNING

• Never touch any rotating motor parts while the motor is running.

Failure to observe this warning may result in injury.

• Before starting operation with a machine connected, make sure that an emergency stop can be applied at any time.

Failure to observe this warning may result in injury or damage to the product.

• Never touch the inside of the SERVOPACKs.

Failure to observe this warning may result in electric shock.

• Do not remove the cover of the power supply terminals while the power is

ON.


• After the power is turned OFF or after a voltage resistance test, do not touch terminals while the CHARGE lamp is ON.

Residual voltage may cause electric shock.

• Follow the procedures and instructions provided in this manual for trial operation.

Failure to do so may result not only in faulty operation and damage to equipment, but also in personal injury.

• The multi-turn output range for the Σ -V Series absolute position detecting system is different from that of earlier systems (15-bit and 12-bit encoders).

In particular, change the system to configure the Σ series infinite-length positioning system with the Σ -V Series.

• The multi-turn limit value need not be changed except for special applications.

Changing it inappropriately or unintentionally can be dangerous.

• If the Multi-turn Limit Disagreement alarm occurs, check the setting of parameter Pn205 in the SERVOPACK 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 incorrect positions will be detected, resulting in a dangerous situation where the machine will move to unexpected positions.

• Do not remove the front cover, cables, connectors, or optional items from the upper front of the SERVOPACK while the power is ON.


• Do not damage, press, exert excessive force on, or place heavy objects on the cables.

Failure to observe this warning may result in electric shock, stopping operation of the product, or fire.

• Do not modify the product.

Failure to observe this warning may result in injury, fire, or damage to the product.

WARNING

• Provide an appropriate braking device on the machine side to ensure safety. The holding brake on a servomotor with a brake is not a braking device for ensuring safety.


• Do not come close to the machine immediately after resetting a momentary power loss. The machine may restart unexpectedly. Take appropriate measures to ensure safety against an unexpected restart.


• Connect the ground terminal according to local electrical codes (100 Ω or less for a SERVOPACK with a 100, 200 V power supply. 10 Ω or less for a

SERVOPACK with a 400 V power supply.)

Improper grounding may result in electric shock or fire.

• Installation, disassembly, or repair must be performed only by authorized personnel.

Failure to observe this warning may result in electric shock or injury.

• The person who designs a system using the safety function (Hard Wire

Baseblock function) must have full knowledge of the related safety standards and full understanding of the instructions in Σ -V Series User’s Manual Design and Maintenance (No.: SIEP S800000 45/46/60/64).

Failure to observe this warning may result in injury or damage to the product.

 Storage and Transportation

CAUTION

• Do not store or install the product in the following locations.

Failure to observe this caution may result in fire, electric shock, or damage to the product.

• Locations subject to direct sunlight

• Locations subject to temperatures outside the range specified in the storage/ installation temperature conditions

• Locations subject to humidity outside the range specified in the storage/installation humidity conditions

• Locations subject to condensation as the result of extreme changes in temperature

• Locations subject to corrosive or flammable gases

• Locations subject to dust, salts, or iron dust

• Locations subject to exposure to water, oil, or chemicals

• Locations subject to shock or vibration

• Do not hold the product by the cables, motor shaft or detector 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 this caution may result in injury or malfunction.

ix

x

 Storage and Transportation (cont’d)

CAUTION

• If disinfectants or insecticides must be used to treat packing materials such as wooden frames, pallets, or plywood, the packing materials must be treated before the product is packaged, and methods other than fumigation must be used.

Example: Heat treatment, where materials are kiln-dried to a core

°

C for 30 minutes or more.

temperature of 56

If the electronic products, which include stand-alone products and products installed in machines, are packed with fumigated wooden materials, the electrical components may be greatly damaged by the gases or fumes resulting from the fumigation process. In particular, disinfectants containing halogen, which includes chlorine, fluorine, bromine, or iodine can contribute to the erosion of the capacitors.

 Installation

CAUTION

• Never use the product in an environment subject to water, corrosive gases, inflammable gases, or combustibles.

Failure to observe this caution may result in electric shock or fire.

• Do not step on or place a heavy object on the product.

Failure to observe this caution may result in injury.

• Do not cover the inlet or outlet ports and prevent any foreign objects from entering the product.

Failure to observe this caution may cause internal elements to deteriorate resulting in malfunction or fire.

• Be sure to install the product in the correct direction.

Failure to observe this caution may result in malfunction.

• Provide the specified clearances between the SERVOPACK and the control panel or with other devices.

Failure to observe this caution may result in fire or malfunction.

• Do not apply any strong impact.


 Wiring

CAUTION

• Be sure to wire correctly and securely.

Failure to observe this caution may result in motor overrun, injury, or malfunction.

• Do not connect a commercial power supply to the U, V, or W terminals for the servomotor connection.

Failure to observe this caution may result in injury or fire.

• Securely connect the main circuit power supply terminals and servomotor connection terminals.

Failure to observe this caution may result in fire.

• Do not bundle or run the main circuit cables together with the I/O signal cables or the encoder cables in the same duct. Keep them separated by at least 30 cm.

Failure to do so may result in malfunction.

• Use shielded twisted-pair wires or multi-core shielded twisted-pair wires for

I/O signal cables and the encoder cables.

• I/O signal cables must be no longer than 3 m, encoder cables must be no longer than 50 m, and control power supply (+24 V, 0 V) cables for a 400 V input SERVOPACK must be no longer than 10 m.

• Do not touch the power terminals while the CHARGE lamp is ON after turning power OFF because high voltage may still remain in the SERVOPACK.

Make sure the charge indicator is off first before starting an inspection.

• Observe the following precautions when wiring main circuit terminals.

• Remove detachable main circuit terminals from the SERVOPACK prior to wiring.

• Insert only one main circuit cable per opening in the main circuit terminals.

• Make sure that no part of the core wire comes into contact with (i.e., short-circuit) adjacent wires.

• Install a battery at either the host controller or the battery unit of the encoder, but not both.

It is dangerous to install batteries at both ends simultaneously, because that sets up a loop circuit between the batteries.

• When connecting an External Regenerative Resistor to the SGDV-3R8A,

-5R5A, -7R6A, -120A, -180A, -200A, -330A, -1R9D, -3R5D, -5R4D, -8R4D,

-120D, or -170D, first remove the lead wire between the B2 and B3 terminals on the SERVOPACK, and then connect the External Regenerative

Resistor.

There is a risk of SERVOPACK failure.

• Always use the specified power supply voltage.

An incorrect voltage may result in fire or malfunction.

• Take appropriate measures to ensure that the input power supply is supplied within the specified voltage fluctuation range. Be particularly careful in places where the power supply is unstable.

An incorrect power supply may result in damage to the product.

• Install external breakers or other safety devices against short-circuiting in external wiring.

Failure to observe this caution may result in fire.

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xii

 Wiring (cont’d)

CAUTION

• Take appropriate and sufficient countermeasures for each form of potential interference when installing systems in the following locations.

• Locations subject to static electricity or other forms of noise

• Locations subject to strong electromagnetic fields and magnetic fields

• Locations subject to possible exposure to radioactivity

• Locations close to power supplies

Failure to observe this caution may result in damage to the product.

• Do not reverse the polarity of the battery when connecting it.

Failure to observe this caution may result in damage to the battery, the SERVO-

PACK, or cause an explosion.

• Wiring or inspection must be performed by a technical expert.

• Use a 24 VDC power supply with double insulation or reinforced insulation.

• Failures caused by incorrect wiring or wrong voltage application in the brake circuit may damage the equipment or cause an accident resulting in death or injury. Follow the procedures and instructions for wiring and trial operation precisely as described in this manual.

• Leakage current may increase depending on the type of noise filter and the grounding conditions.

When using a detector or a breaker for leakage current, select the appropriate one by considering the type of noise filter and the grounding conditions. For details, contact the manufacturer of the noise filter.

• Incorrect wiring or incorrect voltage application to the output circuit may cause short-circuit.

The above failures will prevent the holding brake from working, which may damage the machine or cause an accident resulting in death or injury.

• Inverting the polarity of the brake signal (/BK), i.e. positive logic, will prevent the holding brake from working in case of its signal line disconnection.

If this setting is absolutely necessary, check the operation and confirm that there are no safety problems.

 Operation

CAUTION

• Conduct trial operations on the servomotor alone, with the motor shaft disconnected from the machine to avoid accidents.

Failure to observe this caution may result in injury.

• During trial operation, confirm that the holding brake works correctly. Furthermore, secure system safety against problems such as signal line disconnection.

• Before starting operation with a machine connected, change the settings to match the parameters of the machine.

Starting operation without matching the proper settings may cause the machine to run out of control or malfunction.

 Operation (cont’d)

CAUTION

• Do not frequently turn power ON and OFF.

• Frequently turning power ON and OFF causes elements inside the SERVOPACK to deteriorate. Do not use the servo drive with an application that requires frequently turning power ON and OFF.

• After the actual operation starts, the allowable interval for turning power ON and

OFF is one hour or longer.

• When using JOG operations (Fn002) origin search operations (Fn003), or

EasyFFT operations (Fn206), the dynamic brake function does not work for reverse overtravel or forward overtravel. Take necessary precautions.


• When using the servomotor for a vertical axis, install safety devices to prevent workpieces from falling due to alarms or overtravels. Set the servomotor so that it will stop in the zero clamp state when overtravel occurs.

Failure to observe this caution may cause workpieces to fall due to overtravel.

• When not using turning-less function, set to the correct moment of inertia ratio (Pn103).

Setting to an incorrect moment of 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 result in burns due to high temperatures.

• Do not make any extreme adjustments or setting changes of parameters.

Failure to observe this caution may result in injury or damage to the product due to unstable operation.

• When an alarm occurs, remove the cause, reset the alarm after confirming safety, and then resume operation.

Failure to observe this caution may result in damage to the product, fire, or injury.

• Do not use the holding brake of the servomotor for braking.


• Always use the servomotor and SERVOPACK in one of the specified combinations.

Failure to observe this caution may result in fire or malfunction.

• The servomotor stopping method of turning the main-circuit or control-circuit power OFF without turning the servo OFF during operation can not be set in Parameter Pn001. Use the following method to stop the servomotor.

• When turning the main-circuit power OFF without turning the servo OFF:

The servomotor will be stopped by dynamic braking (DB).

• When turning the control-circuit power OFF without turning the servo OFF:

The stopping method will vary depending on the SERVOPACK model.

Refer to the Σ -V Series User's Manual Design and Maintenance for details.

xiii

xiv

 Maintenance and Inspection

CAUTION

• Do not disassemble the SERVOPACK.

Failure to observe this caution may result in electric shock or injury.

• Do not attempt to change wiring while the power is ON.

Failure to observe this caution may result in electric shock or injury.

• When replacing the SERVOPACK, resume operation only after copying the previous SERVOPACK parameters to the new SERVOPACK.


• Be sure to eliminate static electricity before operating buttons and switches inside the front cover.


 Disposal Precautions

CAUTION

• Correctly discard the product as stipulated by regional, local, and municipal laws and regulations. Be sure to include these contents in all labelling and warning notifications on the final product as necessary.

 General Precautions

Observe the following general precautions to ensure safe application.

• The products shown in illustrations in this manual are sometimes shown without covers or protective guards. Always replace the cover or protective guard as specified first, and then operate the products in accordance with the manual.

• The drawings presented in this manual are typical examples and may not match the product you received.

• If the manual must be ordered due to loss or damage, inform your nearest Yaskawa representative or one of the offices listed on the back of this manual.

Warranty

(1) Details of Warranty

 Warranty Period

The warranty period for a product that was purchased (hereinafter called “delivered product”) is one year from the time of delivery to the location specified by the customer or 18 months from the time of shipment from the Yaskawa factory, whichever is sooner.

 Warranty Scope

Yaskawa shall replace or repair a defective product free of charge if a defect attributable to Yaskawa occurs during the warranty period above. This warranty does not cover defects caused by the delivered product reaching the end of its service life and replacement of parts that require replacement or that have a limited service life.

This warranty does not cover failures that result from any of the following causes.

1. Improper handling, abuse, or use in unsuitable conditions or in environments not described in product catalogs or manuals, or in any separately agreed-upon specifications

2. Causes not attributable to the delivered product itself

3. Modifications or repairs not performed by Yaskawa

4. Abuse of the delivered product in a manner in which it was not originally intended

5. Causes that were not foreseeable with the scientific and technological understanding at the time of shipment from Yaskawa

6. Events for which Yaskawa is not responsible, such as natural or human-made disasters

(2) Limitations of Liability

1. Yaskawa shall in no event be responsible for any damage or loss of opportunity to the customer that arises due to failure of the delivered product.

2. Yaskawa shall not be responsible for any programs (including parameter settings) or the results of program execution of the programs provided by the user or by a third party for use with programmable Yaskawa products.

3. The information described in product catalogs or manuals is provided for the purpose of the customer purchasing the appropriate product for the intended application. The use thereof does not guarantee that there are no infringements of intellectual property rights or other proprietary rights of Yaskawa or third parties, nor does it construe a license.

4. Yaskawa shall not be responsible for any damage arising from infringements of intellectual property rights or other proprietary rights of third parties as a result of using the information described in catalogs or manuals.

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xvi

(3) Suitability for Use

1. It is the customer’s responsibility to confirm conformity with any standards, codes, or regulations that apply if the Yaskawa product is used in combination with any other products.

2. The customer must confirm that the Yaskawa product is suitable for the systems, machines, and equipment used by the customer.

3. Consult with Yaskawa to determine whether use in the following applications is acceptable. If use in the application is acceptable, use the product with extra allowance in ratings and specifications, and provide safety measures to minimize hazards in the event of failure.

• Outdoor use, use involving potential chemical contamination or electrical interference, or use in conditions or environments not described in product catalogs or manuals

• Nuclear energy control systems, combustion systems, railroad systems, aviation systems, vehicle systems, medical equipment, amusement machines, and installations subject to separate industry or government regulations

• Systems, machines, and equipment that may present a risk to life or property

• Systems that require a high degree of reliability, such as systems that supply gas, water, or electricity, or systems that operate continuously 24 hours a day

• Other systems that require a similar high degree of safety

4. Never use the product for an application involving serious risk to life or property without first ensuring that the system is designed to secure the required level of safety with risk warnings and redundancy, and that the Yaskawa product is properly rated and installed.

5. The circuit examples and other application examples described in product catalogs and manuals are for reference. Check the functionality and safety of the actual devices and equipment to be used before using the product.

6. Read and understand all use prohibitions and precautions, and operate the

Yaskawa product correctly to prevent accidental harm to third parties.

(4) Specifications Change

The names, specifications, appearance, and accessories of products in product catalogs and manuals may be changed at any time based on improvements and other reasons. The next editions of the revised catalogs or manuals will be published with updated code numbers. Consult with your Yaskawa representative to confirm the actual specifications before purchasing a product.

Harmonized Standards

 North American Safety Standards (UL)

SERVOPACK

Servomotor

Model

SGDV

• SGMMV

• SGMJV

• SGMAV

• SGMPS

• SGMGV

• SGMSV

 EU Directives

UL Standards

(UL File No.)

UL508C (E147823)

UL1004 (E165827)

SERVOPACK

Model

SGDV

EU Directives

Machinery Directive

2006/42/EC


EN ISO13849-1: 2015

EMC Directive

2014/30/EU

Low Voltage Directive

2014/35/EU

RoHS Directive

2011/65/EU

EN 55011 group1 classA

EN 61000-6-2

EN 61000-6-4

EN 61800-3 (Category C2, Second

Environment)

EN 50178

EN 61800-5-1

EN 50581 xvii

Servomotor

Model EU Directives

• SGMJV

• SGMAV

• SGMGV

• SGMSV

EMC Directive

2014/30/EU


2014/35/EU

RoHS Directive

2011/65/EU

(cont’d)



EN 61000-6-2


Environment)

EN 60034-1

EN 60034-5

EN 50581

• SGMMV

• SGMPS

EMC Directive

2004/108/EC


2006/95/EC

RoHS Directive

2011/65/EU


EN 61000-6-2


Environment)

EN 60034-1

EN 60034-5

EN 50581

 Safety Standards xviii

SERVOPACK

Model Safety Standards

Safety of Machinery

SGDV

Functional Safety

EMC

Standards

EN ISO13849-1: 2015

IEC 60204-1

IEC 61508 series

IEC 62061

IEC 61800-5-2

IEC 61326-3-1

• Safety Performance

Items

Safety Integrity Level

Probability of Dangerous

Failure per Hour

Performance Level

Mean Time to Dangerous

Failure of Each Channel

Standards

IEC 61508

IEC 62061

IEC 61508

IEC 62061

EN ISO 13849-1

EN ISO 13849-1

Performance Level

SIL2

SILCL2

PFH = 1.7

× 10 -9 [1/h]

(0.17% of SIL2)

PL d (Category 3)

MTTFd: High

Items Standards

Average Diagnostic Coverage EN ISO 13849-1

Stop Category IEC 60204-1

Safety Function

Proof test Interval

IEC 61800-5-2

IEC 61508

(cont’d)

Performance Level

DCavg: Low

Stop category 0

STO

10 years xix

xx

Contents

About this Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . iii

Safety Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . viii

Warranty . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xv

Harmonized Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xvii

1 Overview of Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1

2 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1

2.1 Installation Environment and Applicable Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2

2.1.1 Servomotor Installation Environment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2

2.1.2 SERVOPACK Installation Environment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3

2.1.3 Installation Conditions for Applicable Standards . . . . . . . . . . . . . . . . . . . . . . . . . 2-4

2.2 Servomotor Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5

2.2.1 Orientation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5

2.2.2 Installation Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5

2.2.3 Connecting Servomotor to Machine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-6

2.2.4 Protective Structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-7

2.2.5 Other Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-8

2.3 SERVOPACK Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-9

2.3.1 Orientation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-9

2.3.2 Installation Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-11

2.4 EMC Installation Conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-13

2.4.1 SGDV 01  (Analog Pulse Model) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-13

2.4.2 SGDV 11  (MII Model) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-21

2.4.3 SGDV 21  (MIII Model) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-29

2.4.4 SGDV E1A (Command Option Attachable Type) . . . . . . . . . . . . . . . . . 2-37

2.4.5 Other Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-37

3 Wiring and Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1

3.1 Precautions for Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2

3.2 System Configuration Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3

3.2.1 Connecting to SGDV 01  SERVOPACK (Analog Pulse Model) . . . . . . 3-3

3.2.2 Connecting to SGDV 11  SERVOPACK (MII Model) . . . . . . . . . . . . . 3-7

3.2.3 Connecting to SGDV 21  SERVOPACK (MIII Model) . . . . . . . . . . . . 3-11

3.2.4 Connecting to SGDV E1A SERVOPACK

(Command Option Attachable Type) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-15

3.3 Main Circuit Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-19

3.3.1 Names and Functions of Main Circuit Terminals . . . . . . . . . . . . . . . . . . . . . . . . 3-19

3.3.2 SERVOPACK Main Circuit Wire Size . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-20

3.3.3 Typical Main Circuit Wiring Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-24

3.3.4 Wiring the Main Circuit Terminal Connector (Spring Type) . . . . . . . . . . . . . . . . 3-30

3.4 Connecting Regenerative Resistors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-33

3.4.1 Connecting Regenerative Resistor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-33

4 Safety Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1

4.1 Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2

4.2 Hard Wire Base Block (HWBB) Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-3

4.3 Safety Function Signal (CN8) Names and Functions . . . . . . . . . . . . . . . . . . . . . . . . . 4-4

4.4 Precautions When Not Using the Safety Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-4

4.5 Connecting a Safety Function Device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-5

5 Trial Operation (Checking Servomotor Operation) . . . . . . . . . . . . . . . 5-1

5.1 Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-2

5.2 Inspection and Checking before Trial Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-2

5.3 JOG Operation Using a Panel Operator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-5

5.4 JOG Operation Using a Digital Operator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-7

5.5 JOG Operation Using SigmaWin+ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-10

Revision History xxi

1

Overview of Setup

This chapter describes how to set up the Σ -V series of servo drives.

1-1

1

1-2

1 Overview of Setup

This chapter describes the flow of the setup procedure from installation until a JOG operation. A panel operator, a digital operator, and SigmaWin+, (which is an engineering tool that can be used with a PC) are available to set up a servo drive.

The panel operator is included with the SERVOPACK of analog pulse models, and the digital operator and SigmaWin+ are sold separately.

CAUTION

• An alarm or warning may be generated if communications are executed with the host controller during operation using SigmaWin+ or the digital operator.

If an alarm or warning is generated, the process currently being executed may be aborted and the system may stop.

Be sure to read 5.2 Inspection and Checking before Trial Operation .

Operation

Install the servomotor and

SERVOPACK.

↓

Perform the required wiring and connections for a JOG operation.

↓

Perform a JOG operation for the servomotor using

• the panel operator

• the digital operator, or

• SigmaWin+

Reference (in this manual)

Chapter 2 Installation

Chapter 3 Wiring and Connection

Chapter 5 Trial Operation (Checking

Servomotor Operation)

 Trial Operation Using the Panel

Operator *

→ 5.3 JOG Operation Using a Panel

Operator

 Trial Operation Using the Digital

Operator

→ 5.4 JOG Operation Using a Digital

Operator

 Trial Operation Using SigmaWin+.

→ 5.5 JOG Operation Using

SigmaWin+

∗ Trial operation using the panel operator is available with analog pulse models only.

2

Installation

This chapter describes how to install the servomotor and the SERVOPACK.

2.1 Installation Environment and Applicable Standards . . . . . . . . . 2-2

2.1.1 Servomotor Installation Environment . . . . . . . . . . . . . . . . . . . . . . 2-2

2.1.2 SERVOPACK Installation Environment . . . . . . . . . . . . . . . . . . . . 2-3

2.1.3 Installation Conditions for Applicable Standards . . . . . . . . . . . . . . 2-4

2.2 Servomotor Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5

2.2.1 Orientation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5

2.2.2 Installation Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5

2.2.3 Connecting Servomotor to Machine . . . . . . . . . . . . . . . . . . . . . . . 2-6

2.2.4 Protective Structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-7

2.2.5 Other Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-8

2.3 SERVOPACK Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-9

2.3.1 Orientation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-9

2.3.2 Installation Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-11

2.4 EMC Installation Conditions . . . . . . . . . . . . . . . . . . . . . . . . . . 2-13

2.4.1 SGDV 01  (Analog Pulse Model) . . . . . . . . . . . . . . . . . 2-13

2.4.2 SGDV 11  (MII Model) . . . . . . . . . . . . . . . . . . . . . . . . 2-21

2.4.3 SGDV 21  (MIII Model) . . . . . . . . . . . . . . . . . . . . . . . . 2-29

2.4.4 SGDV E1A (Command Option Attachable Type) . . . . . . 2-37

2.4.5 Other Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-37

2

2-1

2-2

2 Installation

2.1.1 Servomotor Installation Environment

2.1

Installation Environment and Applicable Standards

The installation environment and the applicable standards for servomotors and

SERVOPACKs are described in this section.

2.1.1

Servomotor Installation Environment

 Ambient temperature: 0 to 40 ° C

 Ambient humidity: 20% to 80% RH (with no condensation)

 Altitude: 1, 000 m or less

 Vibration resistance

Side to Side

Front to

Back

Vertical

Impact Applied to the

Servomotor

Horizontal

The servomotor will withstand the following vibration acceleration in three directions: vertical, side to side, and front to back.

Servomotor Model

Vibration Acceleration at Flange

SGMMV, SGMJV, SGMAV,

SGMPS, SGMCS-02 to -35

49 m/s

2

SGMGV-03 to -44,

SGMSV-10 to -50

49 m/s

2

(Front to back direction:

24.5m/s

2

)

SGMGV-55 to -1E,

SGMCS-45 to -2Z

SGMSV-70

24.5 m/s

14.7 m/s

2

2

 Shock resistance: 490 m/s 2 at servomotor flange

 Installation site: An environment that satisfies the following conditions

• Indoors and free of corrosive or explosive gases

• Well-ventilated and free of dust and moisture

• Facilitates inspection and cleaning

• Free of high magnetic field

2.1 Installation Environment and Applicable Standards

2.1.2

SERVOPACK Installation Environment

 Surrounding air temperature: 0 to 55 ° C

 Ambient humidity: 90% RH or less (with no condensation)

 Altitude: 1,000 m or less

 Vibration resistance: 4.9 m/s

2

 Shock resistance: 19.6 m/s

2

 Installation Precautions

• Mounting in a Control Panel

To prevent the temperature around the SERVOPACK from exceeding 55 ° C, take into account the size of the control panel, the layout of the SERVOPACK, and the cooling method. For details, refer to 2.3 SERVOPACK Installation .

• Mounting Near a Heating Unit

To prevent the temperature around the SERVOPACK from exceeding 55 ° C, suppress radiant heat from the heating unit and temperature rise due to convection.

• Mounting Near a Vibration Source

To prevent vibration from being transmitted to the SERVOPACK, install a vibration isolator underneath the SERVOPACK.

• Mounting to a Location Exposed to Corrosive Gas

Take measures to prevent exposure to corrosive gas. Corrosive gases will not immediately affect the SERVOPACK, but will eventually cause electronic components and contactor-related devices to malfunction.

• Other Locations

Do not mount the SERVOPACK in locations subject to high temperatures, high humidity, dripping water, cutting oil, dust, iron filings, or radiation.

<Note>

When storing the SERVOPACK with the power OFF, store it in an environment with the following temperature and humidity:

• -20 to +85 ° C, 90% RH or less. (with no condensation)

2

2-3

2-4

2 Installation

2.1.3 Installation Conditions for Applicable Standards

2.1.3

Installation Conditions for Applicable Standards

Applicable

Standards

Refer to Harmonized Standards in the preface for details.

Operating

Conditions

Installation

Conditions

Overvoltage Category: III

Pollution degree: 2

Protection class: IP10

UL Standard and Low Voltage Directive:

Satisfy the conditions outlined in Σ -V Series AC SERVOPACK SGDV Safety

Precautions (No.: TOBP C710800 10)

EMC Directive:

Certification is required after installation in the user’s machine under the conditions outlined in 2.4 EMC Installation Conditions of this manual.

2.2 Servomotor Installation

2.2

Servomotor Installation

2.2.1

Orientation

Servomotors can be installed either horizontally or vertically.

Servomotors with gears can be installed only horizontally, depending on gear lubrication conditions. Refer to details.

Σ -V Series Product Catalog (No.: KAEP S800000 42) for

2.2.2

Installation Standards

The motor rated specifications (rated output, rated torque, and rated speed) are the continuous allowable values at an ambient temperature of 40 ° C when servomotors are installed with heat sinks.

For more information on heat sinks, refer to

S800000 42).

Σ -V Series Product Catalog (No.: KAEP

When a motor is mounted on a small surface, the motor temperature may rise considerably because of the limited heat radiating abilities of the surface. To restrict the temperature rise, you should either mount a heat sink or limit the electrical, thermal, and mechanical stress on the motor (derating). Refer to Σ -V Series Product Catalog

(No.: KAEP S800000 42) for the relation between heat sink size and derating. The data in the catalog is given only for reference, as the actual temperature rise depends on how the heat sink (motor mounting section) is fixed on the installation surface and what material is used for the motor mounting section. Always check the actual motor temperature.

If the servomotor is covered, or if a heating element is installed near the servomotor, the motor temperature may rise considerably. In this case, take following countermeasures.

• Reduce the load ratio.

• Reconsider the motor heating conditions.

• Install a cooling fan to forcedly cool the motor.

2-5

2

2-6

2 Installation

2.2.3 Connecting Servomotor to Machine

2.2.3

Connecting Servomotor to Machine

The end of the motor shaft is coated with anticorrosive paint. Thoroughly remove the paint prior to installation.

Align the shaft of the servomotor with the shaft of the machine, and then couple the shafts. Install the servomotor so that alignment accuracy falls within the following range. Vibration will damage the bearings or encoders if the shafts are not properly aligned.

Do not allow direct impact to be applied to the shafts when installing the coupling as the encoder mounted on the opposite end of the shaft may be damaged.

Alignment Accuracy

Measure this distance at four different positions on the circumference. The difference between the maximum and minimum measurements must be

0.03 mm or less.

(Turn together with coupling.)

2.2 Servomotor Installation

2.2.4

Protective Structure

The servomotor protective structure

*

is described below.

Model

SGMMV

SGMJV, SGMAV

SGMPS

SGMGV

SGMSV

SGMCS-02 to -35

SGMCS-45 to -2Z

Without Gears

IP55

IP65

IP55

IP67 (Optional)

IP67

IP67

(SGMSV-70 servomotor only:

IP22)

IP42

(expect for gaps on the rotating section of the shaft)

IP44

With Gears

−

IP55

IP55

−

−

−

−

∗ Except through shaft section. The protective structure specifications can be satisfied only when using a specified cable.

When the through shaft section is subject to oil exposure, refer to 2.2.5 Other Precautions .

Flange

Through shaft section

This refers to the gap where the shaft protrudes from the end of the motor.

Shaft

2-7

2

2-8

2 Installation

2.2.5 Other Precautions

2.2.5

Other Precautions

 Handling Oil and Water

If the servomotor is used in a location that is subject to water or oil mist, use a servomotor with an oil seal to seal the through shaft section. Precautions on using a servomotor with an oil seal are described below.

• Put the oil surface under the oil seal lip.

• Use an oil seal in favorably lubricated condition.

• When using a servomotor with its shaft upward direction, be sure that oil will not stay in the oil seal lips.

 Cable Stress

Make sure there are no bends or tension on the motor main circuit cables and encoder cables.

Be especially careful to wire encoder cables so that they are not subject to stress because the core wires are very thin at only 0.2 or 0.3 mm

2

.

 Connectors

Observe the following precautions:

• Make sure there is no foreign matters such as dust and metal chips in the connector before connecting.

• When the connectors are connected to the motor, be sure to connect the end of motor main circuit cables before connecting the encoder cable’s end.

If the encoder cable’s end is connected, the encoder may break because of the voltage differences between FG.

• Make sure of the pin arrangement.

• Do not apply shock to resin connectors. Otherwise, they may be damaged.

• When handling a servomotor with its cables connected, hold the servomotor or the connectors and cables will be damaged.

• Fix the connector to SGMJV, SGMAV, SGMPS-01/-02/-04 or SGMGV-03/-05 servomotors with screws. Make sure that the connector is securely fixed with screws.

If not, the protective construction specifications may not be satisfied.

• Be sure not to apply stress on the connector. The connector may be damaged by stress.

 Radial and Thrust loads

Design the mechanical system so thrust and radial loads applied to the servomotor shaft end during operation fall within the allowable ranges of each motor. Refer to

Σ -V Series Product Catalog (No.: KAEP S800000 42) for the allowable ranges.

2.3 SERVOPACK Installation

2.3

SERVOPACK Installation

2.3.1

Orientation

The SERVOPACK is available in models that are base-mounted, models that are rack-mounted, and models that are duct-ventilated. In any case, mount the SERVO-

PACK with a vertical orientation.

Firmly secure the SERVOPACK to the mounting surface, using either two or four mounting holes depending on the SERVOPACK capacity.

Note: For SERVOPACKs of command option attachable type, installation conditions may differ depending on the attached option module. For details, refer to the user’s manual for each option module.

• Base-mounted

Base

• Rack-mounted

Air Flow

Rack

Air Flow

2-9

2

2-10

2 Installation

2.3.1 Orientation

• Duct-ventilated

Air Flow

Duct

2.3 SERVOPACK Installation

2.3.2

Installation Standards

Observe the standards for mounting SERVOPACKs in control panels, including those for the mounting SERVOPACKs side by side in one control panel as shown in the following illustration.

Note: For SERVOPACKs of command option attachable type, installation conditions may differ depending on the attached option module. For details, refer to the user’s manual for each option module.

• SERVOPACK Mounting Orientation

Mount the SERVOPACK vertically to the wall, with the front panel (the side with the panel operator display) facing out.

• Cooling

Refer to the following diagram and leave sufficient space for cooling by fans and natural convection.

• Mounting SERVOPACKs Side by Side in a Control Panel

Fan Fan

40 mm or more

30 mm or more

Width varies with

SERVOPACK model

40 mm or more

Leave sufficient space on each side and at the top and the bottom of each SERVO-

PACK. The width on each side varies in accordance with the models of the SERVO-

PACKS used.

SERVOPACK Model

SGDV-

Side

Top and bottom

Left Right

R70F, R90F, 2R1F,

R70A, R90A, 1R6A, 2R8A

2R8F, 3R8A, 5R5A, 7R6A

120A, 180A, 200A, 330A,

470A, 550A, 590A, 780A,

1R9D, 3R5D, 5R4D, 8R4D,

120D, 170D, 210D, 260D,

280D, 370D

1 mm or more

1 mm or more 10 mm or more

10 mm or more

40 mm or more

Also install cooling fans above the SERVOPACKs to disperse local pockets of warmer air around the SERVOPACKs.

2-11

2

2-12

2 Installation

2.3.2 Installation Standards

• Inside the Control Panel

The conditions inside the control panel should be the same as the environmental conditions of the SERVOPACK. Refer to 2.1.2 SERVOPACK Installation Environment .

The SGDV B SERVOPACKs have an Installation Environment monitor

(Un022). With this monitor, operation conditions in the installation environment can be observed and measured.

The value shown on this monitor should be equal to or less than 100% for optimum operating conditions.

If this value is over 100%, one of the following measures must be taken to ensure safe operation and a long product life.

Improve air circulation around SERVOPACKs.

Minimum Air Circulation Rate

Top (10 mm): 0.5 m/s

Bottom (10 mm): 0.2 m/s

To improve the air circulation to meet these minimum standards and to lower the percentage shown on the monitor, widen the space between the SERVOPACKs or lower the temperature of the surrounding air.

<Note>

For every increase of 10 ° C, the percentage shown on the monitor will also increase by approximately ten.

2.4 EMC Installation Conditions

2.4

EMC Installation Conditions

This section describes the recommended installation conditions that satisfy EMC guidelines for each model of the SGDV SERVOPACK. The conditions required for the standard type (base-mounted) of SERVOPACK are described. Refer to this section for other SERVOPACK models such as the rack-mounted types as well.

This 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 conditions. However, because this product is built-in, check that the following conditions are still met after being installed in the user’s product.

The applicable standards are EN 55011 group1 classA, EN 61000-6-2, EN 61000-6-4, and EN 61800-3 (Category C2, Second Environment).

2.4.1

SGDV-



01



(Analog Pulse Model)

 Single-phase 100 V

• SGDV F01A (  = R70, R90, 2R1, 2R8)

Power supply:

Single-phase

100 VAC

PE

5

Shield box

Brake Power

Supply

Surge absorber

Noise filter

One turn

SERVOPACK

U, V, W

L1, L2

One turn

3

L1C, L2C

Two turn

CN1

CN2

CN8

Two turn

Host

Core

1

Core

Clamp

2

Safety unit

Two turn controller

4

Brake

Servomotor

Encoder

PE

Symbol











Cable Name

I/O signal cable

Safety signal cable

Motor main circuit cable

Encoder cable

Main circuit cable

Specification

Shield cable

Shield cable

Shield cable

Shield cable

Shield cable

2

2-13

2-14

2 Installation

2.4.1 SGDV 01  (Analog Pulse Model)

 Three-phase 200 V

• SGDV A01B (  = R70, R90, 1R6, 2R8)

Shield box

Power supply:

Three-phase

200 VAC 5

Noise filter

Brake Power

Supply

SERVOPACK

U, V, W

L1, L2, L3

Surge absorber

L1C, L2C

CN1

CN2

CN8

PE

3

4

Symbol











Host controller

1 2

Safety unit

Cable Name

I/O signal cable

Safety signal cable


Encoder cable

Main circuit cable

Specification

Shield cable

Shield cable

Shield cable

Shield cable

Shield cable

Brake

Servomotor

Encoder

PE



• SGDV A01A (  = R70, R90, 1R6, 2R8, 3R8, 5R5, 7R6)

Shield box

Power supply:

Three-phase

200 VAC

PE

5

Brake Power

Supply

Surge absorber

Noise filter

SERVOPACK

U, V, W

L1, L2, L3

L1C, L2C

One turn

One turn

CN1

CN2

CN8

Two turn

Host

Core

1

Core

Clamp

2

Safety unit

Two turn controller

3

4

Brake

Servomotor

Encoder

PE

Symbol











Cable Name

I/O signal cable

Safety signal cable


Encoder cable

Main circuit cable

Specification

Shield cable

Shield cable

Shield cable

Shield cable

Shield cable

2-15

2

2-16

2 Installation



• SGDV A01A (  = 120)

Power supply:

Three-phase

200 VAC

PE

5

Surge absorber

Noise filter

Shield box

Brake Power

Supply

SERVOPACK

U, V, W

L1, L2, L3

One turn

3

L1C, L2C

CN1

CN2

CN8

Core Core

Two turn

Host controller

1

Clamp

2

Safety unit

Two turn

4

Symbol











Cable Name

I/O signal cable

Safety signal cable


Encoder cable

Main circuit cable

Specification

Shield cable

Shield cable

Shield cable

Shield cable

Shield cable

Brake

Servomotor

Encoder

PE



• SGDV A01A (  = 180, 200, 330)

Power supply:

Three-phase

200 VAC

PE

5

Surge absorber

Noise filter

Shield box

Brake Power

Supply

SERVOPACK

U, V, W

L1, L2, L3

One turn

3

L1C, L2C

CN1

CN2

CN8

Two turn

Host

Core

1

Core

Clamp

2

Safety unit

Two turn controller

4

Symbol











Cable Name

I/O signal cable

Safety signal cable


Encoder cable

Main circuit cable

Specification

Shield cable

Shield cable

Shield cable

Shield cable

Shield cable

Brake

Servomotor

Encoder

PE

2-17

2

2-18

2 Installation



• SGDV A01A (  = 470, 550, 590, 780)

Shield box

7

Power supply:

Three-phase

200 VAC 5

PE

Brake Power

Supply

SERVOPACK

U, V, W

L1, L2, L3

Surge absorber

Noise filter

Regenerative resistor unit 6

L1C, L2C

CN2

B1, B2

CN1 CN8

Clamp Clamp

Host controller

1 2

Safety unit

Symbol















Cable Name

I/O signal cable

Safety signal cable


Encoder cable

Main circuit cable

Regenerative resistor unit cable

Cooling fan cable

3

4

Specification

Shield cable

Shield cable

Shield cable

Shield cable

Shield cable

Non-shield cable

Shield cable

Cooling fan

Brake

Servomotor

Encoder

PE



• SGDV D01A (  = 1R9, 3R5, 5R4, 8R4, 120, 170)

Shield box

Power supply:

Single-phase

200 VAC

5 Noise filter* 2

Brake Power

Supply

Surge absorber Control power supply

24 VDC* 1

SERVOPACK

24 V, 0 V

U, V, W

3

One turn Power supply:

Three-phase

400 VAC

6

Noise filter* 3

L1, L2, L3

CN2

Surge absorber

One turn

4

PE

Two turn

CN1

Core

Clamp

CN8

Core

Clamp

Host controller

1 2

Safety unit

Two turn

Brake

Servomotor

Encoder

One turn

PE

Symbol













Cable Name

I/O signal cable

Safety signal cable


Encoder cable

Control power cable

Main circuit cable

Specification

Shield cable

Shield cable

Shield cable

Shield cable

Shield cable

Shield cable

∗1.

Products that have received CE marking are recommended for the 24 VDC power supply.

∗2.

Install the following noise filter on the power line between the single-phase 200 V power supply and the 24 VDC power supply.

Model number: FN2070-6-07 (SCHAFFNER)

∗3.

For more information on this filter, refer to

S800000 42)

Σ -V Series Product Catalog . (No.: KAEP

2

2-19

2-20

2 Installation



• SGDV D01A (  = 210, 260, 280, 370)

Shield box

Power supply:

Single-phase

200 VAC

5

Power supply:

Three-phase

400 VAC

6

Surge absorber

Noise filter* 2

Control power supply

24 VDC* 1

Noise filter* 3

Surge absorber

PE

Brake Power

Supply

SERVOPACK

24 V, 0 V

L1, L2, L3

U, V, W

CN2


7

B1, B2

CN1 CN8

Clamp Clamp

Host controller

1 2

Safety unit

3

4

Brake

Servomotor

Encoder

PE

Symbol















Cable Name

I/O signal cable

Safety signal cable


Encoder cable

Control power cable

Main circuit cable


Specification

Shield cable

Shield cable

Shield cable

Shield cable

Shield cable

Shield cable

Non-shield cable

∗1.


∗2.



∗3.


S800000 42)



2.4.2

SGDV-



11



(MII Model)


• SGDV F11A (  = R70, R90, 2R1, 2R8)

Shield box

Power supply:

Single-phase

100 VAC

5

Surge absorber

Noise filter

Two turn

Brake Power

Supply

One turn

SERVOPACK

U, V, W

L1, L2

L1C, L2C

CN2

One turn

3

4

Brake

Servomotor

Encoder

PE

MECHATROLINKII controller

6

Symbol













Two turn

CN6A,CN6B

CN1 CN8

Core Core

Host controller

1

Clamp

2

Safety unit

Two turn

I/O signal cable

Cable Name

Safety signal cable


Specification

Shield cable

Shield cable

Shield cable

Encoder cable

Main circuit cable

Shield cable

Shield cable

MECHATROLINK-II communication cable Shield cable

PE

2

2-21

2-22

2 Installation

2.4.2 SGDV 11  (MII Model)


• SGDV A11B (  = R70, R90, 1R6, 2R8)

Power supply:

Three-phase

200 VAC 5

Surge absorber

Noise filter

Brake Power

Supply

SERVOPACK

U, V, W

L1, L2, L3

L1C, L2C

CN2

Shield box

3

Brake

Servomotor

Encoder

4

PE


6

CN6A, CN6B

CN1 CN8

PE

Symbol













Host controller

1

2

Safety unit

I/O signal cable

Cable Name

Safety signal cable


Specification

Shield cable

Shield cable

Shield cable

Encoder cable

Main circuit cable

Shield cable

Shield cable




• SGDV A11A (  = R70, R90, 1R6, 2R8, 3R8, 5R5, 7R6)

Shield box

Brake Power

Supply

Power supply:

Three-phase

200 VAC 5

Surge absorber

Noise filter

One turn

SERVOPACK

U, V, W

L1, L2, L3

L1C, L2C

One turn

3

CN2

4

Brake

Servomotor

Encoder

PE


6

PE

CN6A, CN6B

CN1 CN8

Core Core

Two turn

Host controller

1

Clamp

2

Safety unit

Two turn

Symbol













I/O signal cable

Cable Name

Safety signal cable


Specification

Shield cable

Shield cable

Shield cable

Encoder cable

Main circuit cable

Shield cable

Shield cable


2-23

2

2-24

2 Installation

2.4.2 SGDV 11  (MII Model)


• SGDV A11A (  = 120)

Shield box

Power supply:

Three-phase

200 VAC 5

Surge absorber

Noise filter

Brake Power

Supply

SERVOPACK

U, V, W

L1, L2, L3

L1C, L2C

CN2

One turn

3

Brake

Servomotor

Encoder

4

PE


6

Symbol













Two turn

CN6A, CN6B

CN1 CN8

Core Core

Host controller

1

Clamp

2

Safety unit

Two turn

I/O signal cable

Cable Name

Safety signal cable


Encoder cable

Main circuit cable

Specification

Shield cable

Shield cable

Shield cable

Shield cable

Shield cable


PE



• SGDV A11A (  = 180, 200, 330)

Power supply:

Three-phase

200 VAC 5

Surge absorber

Noise filter

Shield box

Brake Power

Supply

SERVOPACK

U, V, W

L1, L2, L3

L1C, L2C

CN2

One turn

3

Brake

Servomotor

Encoder

4

PE

MECHATROLINKII controller 6

Symbol













Two turn

CN6A, CN6B

CN1 CN8

Core Core

Host controller

1

Clamp

2

Safety unit

Two turn

I/O signal cable

Cable Name

Safety signal cable


Specification

Shield cable

Shield cable

Shield cable

Encoder cable

Main circuit cable

Shield cable

Shield cable


PE

2

2-25

2-26

2 Installation

2.4.2 SGDV 11  (MII Model)


• SGDV A11A (  = 470, 550, 590, 780)

Power supply:

Three-phase

200 VAC 5

PE


8

Surge absorber

Noise filter

Brake Power

Supply

SERVOPACK

U, V, W

L1, L2, L3

L1C, L2C

CN2

Regenerative resistor unit

6

B1, B2

CN6A, CN6B

CN1 CN8

Clamp Clamp

1 2

Host controller

Safety unit

Shield box

7

3

4

Cooling fan

Brake

Servomotor

Encoder

PE

Symbol

















I/O signal cable

Cable Name

Safety signal cable


Specification

Shield cable

Shield cable

Shield cable

Encoder cable

Main circuit cable


Cooling fan cable

Shield cable

Shield cable

Non-shield cable

Shield cable




• SGDV D11A (  = 1R9, 3R5, 5R4, 8R4, 120, 170)

Shield box

Power supply:

Single-phase

200 VAC

5 Noise filter* 2

Brake Power

Supply

Surge absorber Control power supply

24 VDC* 1

SERVOPACK

24 V, 0 V

U, V, W

3

Power supply:

Three-phase

400 VAC

6

Noise filter* 3

L1, L2, L3

CN2

One turn

4

Surge absorber

One turn

Brake

Servomotor

Encoder

One turn

PE


7

Two turn

CN6A, CN6B

CN1 CN8

Core

Clamp

Core

Clamp

Host controller

1 2

Safety unit

Two turn

PE

Symbol















I/O signal cable

Cable Name

Safety signal cable


Specification

Shield cable

Shield cable

Shield cable

Encoder cable

Control power cable

Shield cable

Shield cable

Main circuit cable Shield cable


∗1.


∗2.



∗3.


S800000 42)


2

2-27

2-28

2 Installation

2.4.2 SGDV 11  (MII Model)


• SGDV D11A (  = 210, 260, 280, 370)

Power supply:

Single-phase

200 VAC

5

Surge absorber

Noise filter* 2


24 VDC* 1

Brake Power

Supply

SERVOPACK

24 V, 0 V

U, V, W

Shield box

3

Power supply:

Three-phase

400 VAC

6

Noise filter* 3

L1, L2, L3

CN2

Surge absorber

4

PE


8

Regenerative resistor cable

7

B1, B2

CN6A, CN6B

CN1 CN8

Brake

Servomotor

Encoder

PE

Clamp Clamp

Host controller

1 2

Safety unit

Symbol

















I/O signal cable

Cable Name

Safety signal cable


Specification

Shield cable

Shield cable

Shield cable

Encoder cable

Control power cable

Main circuit cable


Shield cable

Shield cable

Shield cable

Non-shield cable


∗1.


∗2.



∗3.


S800000 42)



2.4.3

SGDV-



21



(MIII Model)


• SGDV F21A (  = R70, R90, 2R1, 2R8)

Shield box

Power supply:

Single-phase 100 VAC 5

Surge absorber

Noise filter

Two turn

Brake Power

Supply

One turn

SERVOPACK

U, V, W

L1, L2

L1C, L2C

CN2

One turn

3

4

Brake

Servomotor

Encoder

PE

MECHATROLINKIII controller

6

Symbol













Two turn

CN6A, CN6B

CN1 CN8

Core Core

1

Clamp

2

Host controller

Safety unit

Two turn

Cable Name Specification

I/O signal cable

Safety signal cable


Encoder cable

Shield cable

Shield cable

Shield cable

Shield cable


MECHATROLINK-III communication cable Shield cable

PE

2

2-29

2-30

2 Installation

2.4.3 SGDV 21  (MIII Model)


• SGDV A21B (  = R70, R90, 1R6, 2R8)

Power supply:

Three-phase

200 VAC 5

Surge absorber

Noise filter

Brake Power

Supply

SERVOPACK

U, V, W

L1, L2, L3

L1C, L2C

CN2

Shield box

3

Brake

Servomotor

Encoder

4

PE


6

CN6A, CN6B

CN1 CN8

PE

Symbol













Host controller

1

2

Safety unit

I/O signal cable

Cable Name

Safety signal cable


Specification

Shield cable

Shield cable

Shield cable

Encoder cable

Main circuit cable

Shield cable

Shield cable




• SGDV A21A (  =R70, R90, 1R6, 2R8, 3R8, 5R5, 7R6)

Shield box

Brake Power

Supply

Power supply:

Three-phase 200 VAC 5

Noise filter

Surge absorber

One turn

SERVOPACK

U, V, W

L1, L2, L3

L1C, L2C

CN2

One turn

3

4

Brake

Servomotor

Encoder

PE


6

CN6A, CN6B

CN1 CN8

Core Core

Two turn

Host controller

1

Clamp

2

Safety unit

Two turn

PE

Symbol













I/O signal cable

Cable Name

Safety signal cable


Encoder cable

Main circuit cable

Specification

Shield cable

Shield cable

Shield cable

Shield cable

Shield cable


2-31

2

2-32

2 Installation



• SGDV A21A (  = 120)

Shield box

Power supply:

Three-phase 200 VAC

5

Surge absorber

Noise filter

Brake Power

Supply

SERVOPACK

U, V, W

L1, L2, L3

L1C, L2C

CN2

One turn

3

Brake

Servomotor

Encoder

4

PE


6

Symbol













Two turn

CN6A, CN6B

CN1 CN8

Core Core

1

Clamp

2

Host controller

Safety unit

Two turn

I/O signal cable

Cable Name

Safety signal cable


Encoder cable

Main circuit cable

Specification

Shield cable

Shield cable

Shield cable

Shield cable

Shield cable


PE



• SGDV A21A (  = 180, 200, 330)

Power supply:


Surge absorber

Noise filter

Shield box

Brake Power

Supply

SERVOPACK

U, V, W

L1, L2, L3

L1C, L2C

CN2

One turn

3

4

Brake

Servomotor

Encoder

PE


6

Symbol













Two turn

CN6A, CN6B

CN1 CN8

Core Core

1

Clamp

2

Host controller

Safety unit

Two turn

I/O signal cable

Cable Name

Safety signal cable


Encoder cable

Main circuit cable

Specification

Shield cable

Shield cable

Shield cable

Shield cable

Shield cable


PE

2

2-33

2-34

2 Installation



• SGDV A21A (  = 470, 550, 590, 780)

Shield box

7

Symbol

















Power supply:


PE


8

Surge absorber

Noise filter

Brake Power

Supply

SERVOPACK

U, V, W

L1, L2, L3

L1C, L2C

CN2


6

B1, B2

CN6A, CN6B

CN1 CN8

Clamp

1

Host controller

Clamp

2

Safety unit

3

4

Cooling fan

I/O signal cable

Cable Name

Safety signal cable


Encoder cable

Main circuit cable


Cooling fan cable

Specification

Shield cable

Shield cable

Shield cable

Shield cable

Shield cable

Non-shield cable

Shield cable


Brake

Servomotor

Encoder

PE



• SGDV D21A (  = 1R9, 3R5, 5R4, 8R4, 120, 170)

Shield box

Power supply:

Single-phase

200 VAC

5 Brake Power

Supply

Surge absorber

Noise filter* 2


24 VDC* 1

SERVOPACK

24 V,

0 V

U, V, W 3

One turn

Power supply:

Three-phase

400 VAC

6

Noise filter* 3

L1, L2, L3

CN2

4

Surge absorber

One turn

Brake

Servomotor

Encoder

One turn

PE


7

PE

Two turn

CN6A, CN6B

CN1 CN8

Core

Clamp

Core

Clamp

Host controller

1 2

Safety unit

Two turn

Symbol















I/O signal cable

Cable Name

Safety signal cable


Specification

Shield cable

Shield cable

Shield cable

Encoder cable

Control power cable

Shield cable

Shield cable



∗1.


∗2.



∗3.


S800000 42).


2

2-35

2-36

2 Installation



• SGDV D21A (  = 210, 260, 280, 370)

Power supply:

Single-phase

200 VAC

5

Power supply:

Three-phase

400 VAC

6

Surge absorber

Noise filter* 2


24 VDC* 1

Surge absorber

Brake Power

Supply

SERVOPACK

24 V,

0 V

U, V, W

Surge absorber

Noise filter* 3

L1, L2, L3

CN2

Shield box

3

4

PE


8


7

B1, B2

CN6A, CN6B

CN1 CN8

Brake

Servomotor

Encoder

PE

Clamp Clamp

Host controller

1 2

Safety unit

Symbol

















I/O signal cable

Cable Name

Safety signal cable


Specification

Shield cable

Shield cable

Shield cable

Encoder cable

Control power cable

Main circuit cable


Shield cable

Shield cable

Shield cable

Non-shield cable


∗1.


∗2.



∗3.


S800000 42).



2.4.4

SGDV-



E1A (Command Option Attachable Type)

For SERVOPACKs of command option attachable type, EMC installation conditions may differ depending on the attached option module. For details, refer to the user’s manual for each option module.

2.4.5

Other Precautions

 Attachment Methods of Ferrite Cores

One turn Two turn

Cable

Cable

Ferrite core

Ferrite core

 Recommended Ferrite Core

Cable Name


Ferrite Core Model

ESD-SR-250

Manufacturer

NEC TOKIN Corp.

 Recommended Noise Filter and Surge Absorber

For more information on recommended noise filters and surge absorbers, refer to

Series Product Catalog (No.: KAEP S800000 42).

Σ -V

 Fixing the Cable

Fix and ground the cable shield using a piece of conductive metal.

• Example of Cable Clamp

Cable

Shield (cable sheath stripped)

Host controller side

Ground plate

Cable clamp

Fix and ground the cable shield using a piece of conductive metal.

Remove paint on mounting surface.

 Shield Box

A shield box, which is a closed metallic enclosure, is effective as reinforced shielding against electromagnetic interference (EMI) from SERVOPACKs. The structure of the box should allow the main body, door, and cooling unit to be attached to the ground.

The box opening should be as small as possible.

<Note>

Do not connect the digital operator and the analog monitor cable to the SERVOPACK during operations. Connect them only when the machinery is stopped during maintenance.

2-37

2

3

Wiring and Connection

This chapter describes how to set up the wiring and connections required for trial operation.

For more information on the wiring and connection, refer to the following manuals.

• Σ -V Series User’s Manual Design and Maintenance Rotational Motor/

Analog Voltage and Pulse Train Reference (No.: SIEP S800000 45)


MECHATROLINK-II Communications Reference (No.: SIEP S800000 46)


Command Option Attachable Type (No.: SIEP S800000 60)


MECHATROLINK-III Communications Reference (No.: SIEP S800000 64)

3.1 Precautions for Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2

3.2 System Configuration Diagram . . . . . . . . . . . . . . . . . . . . . . . . . 3-3

3.2.1 Connecting to SGDV 01  SERVOPACK

(Analog Pulse Model) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3


(M-

II

Model) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-7


(M-

III

Model) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-11

3.2.4 Connecting to SGDV E1A SERVOPACK

(Command Option Attachable Type) . . . . . . . . . . . . . . . 3-15

3.3 Main Circuit Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-19

3.3.1 Names and Functions of Main Circuit Terminals . . . . . . 3-19

3.3.2 SERVOPACK Main Circuit Wire Size . . . . . . . . . . . . . . . 3-20

3.3.3 Typical Main Circuit Wiring Examples . . . . . . . . . . . . . . 3-24

3.3.4 Wiring the Main Circuit Terminal Connector

(Spring Type) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-30

3.4 Connecting Regenerative Resistors . . . . . . . . . . . . . . . . . . . . 3-33

3.4.1 Connecting Regenerative Resistor . . . . . . . . . . . . . . . . 3-33

3-1

3

3-2

3 Wiring and Connection

3.1

Precautions for Wiring

CAUTION

• Be sure to wire correctly and securely.

Failure to observe this caution may result in motor overrun, injury, or malfunction.

• Do not bundle or run the main circuit cables together with the I/O signal cables or the encoder cables in the same duct. Keep them separated by at least 30 cm.

Failure to do so may result in malfunction.

• Use shielded twisted-pair wires or multi-core shielded twisted-pair wires for I/O signal cables and the encoder cables.

• I/O signal cables must be no longer than 3 m, encoder cables must be no longer than 50 m, and control power supply (+24 V, 0 V) cables for a 400 V input SER-

VOPACK must be no longer than 10 m.

• Do not touch the power terminals while the CHARGE lamp is ON after turning power OFF because high voltage may still remain in the SERVOPACK.

Make sure the charge indicator is off first before starting an inspection.

• Leakage current may increase depending on the type of noise filter and the grounding conditions.

When using a detector or a breaker for leakage current, select the appropriate one by considering the type of noise filter and the grounding conditions.

For details, contact the manufacturer of the noise filter.

• Incorrect wiring or incorrect voltage application to the output circuit may cause short-circuit.

The above failures will prevent the holding brake from working, which may damage the machine or cause an accident resulting in death or injury.

• Inverting the polarity of the brake signal (/BK), i.e. positive logic, will prevent the holding brake from working in case of its signal line disconnection.

If this setting is absolutely necessary, check the operation and confirm that there are no safety problems.

3.2 System Configuration Diagram

3.2

System Configuration Diagram

3.2.1

Connecting to SGDV-



01



SERVOPACK (Analog

Pulse Model)

 SGDV F01A

Power supply

Single-phase 100 VAC

R T

Molded-case circuit breaker

(MCCB)

Protects the power supply line by shutting the circuit OFF when overcurrent is detected.

Noise filter

Used to eliminate external noise from the power line.

SGDVF01A

SERVOPACK

Digital operator

Magnetic contactor

Turns the servo

ON and OFF.

Install a surge absorber.

100V

Connection cable for digital operator

Personal computer

SGDV-2R1F01A

Connection cable for personal computer

I/O signal cable

Host controller

Regenerative resistor *

1

100 VAC

Brake power supply *

2

Used for a servomotor with a brake.

Brake relay

Turns the brake power supply

ON and OFF.

Battery case

(when an absolute

encoder is used.)

When not using the safety function, use the SERVOPACK with the safety function jumper connector (provided as an accessory) inserted.

When using the safety function, insert a connection cable specifically for the safety function.

Safety function devices

Encoder cable


SGMMV/SGMJV/SGMAV/SGMPS/SGMCS

Servomotor

∗1.

Before connecting an external regenerative resistor to the SERVOPACK, refer to 3.4 Connecting Regenerative Resistors .

∗2.

Use a 24-VDC power supply. (Not included.)

If using a 90-VDC power supply for a brake, however, use one of the following power supplies.

• For 200-V input voltage: LPSE-2H01-E

• For 100-V input voltage: LPDE-1H01-E

For details, refer to Σ -V Series Product Catalog (No.: KAEP S800000 42).

3-3

3


3.2.1 Connecting to SGDV 01  SERVOPACK (Analog Pulse Model)

 SGDV A01 

• Using a Three-phase, 200-V Power Supply

Power supply

Three-phase 200 VAC

R S T


(MCCB)


Noise filter


Magnetic contactor

Turns the servo

ON and OFF.


SGDVA01

SERVOPACK


Digital operator

Personal computer


I/O signal cable

Host controller

3-4


1

200 VAC


2


Brake relay


ON and OFF.

Battery case

(when an absolute

encoder is used.)




Encoder cable


SGMMV/SGMJV/SGMAV/SGMPS/

SGMGV/SGMSV/SGMCS

Servomotor

∗1.


∗2.







• Using a Single-phase, 200-V Power Supply

The Σ -V Series SERVOPACK for a 200-V power supply input has input specifications for a three-phase power supply, but some models can also be used with a singlephase 200-V power supply. For details, refer to

SIEP S800000 45).

Σ -V Series User's Manual Design and

Maintenance Rotational Motor/Analog Voltage and Pulse Train Reference (No.:


(MCCB)


Power supply


R T

Noise filter


SGDVA01

SERVOPACK

Digital operator

Magnetic contactor

Turns the servo

ON and OFF.



Personal computer


I/O signal cable

Host controller

Regenerative resistor

*

1

200 VAC


2


Brake relay


ON and OFF.

Battery case

(when an absolute

encoder is used.)



Servomotor




Encoder cable

∗1.


∗2.






3-5

3


3.2.1 Connecting to SGDV 01  SERVOPACK (Analog Pulse Model)

 SGDV D01A

Power supply

Three-phase 400 VAC

R S T


(MCCB)


Noise filter


Magnetic contactor

Turns the servo

ON and OFF.


SGDVD01A

SERVOPACK

Personal computer


Digital operator

100/200 VAC


I/O signal cable

Host controller

DC power supply (24 V) *1



2


3

Used for a servomotor with a 90 V brake.

Brake relay


ON and OFF.

Battery case

(when an absolute

encoder is used.)



Encoder cable


SGMGV/SGMSV

Servomotor

3-6

∗1.

Use a 24-VDC power supply with double insulation or reinforced insulation. (The power supply is not included.)

∗2.


∗3.

Use a 24-VDC power supply for a brake. (Not included.)




For details, refer to Σ -V series Product Catalog (No.: KAEP S800000 42).


3.2.2

Connecting to SGDV-



11



SERVOPACK (MII Model)


Power supply


R T


(MCCB)


Noise filter


Magnetic contactor

Turns the servo

ON and OFF.


SGDVF11A

SERVOPACK

Digital operator

Connect to the

MECHATROLINKII


Personal computer

Regenerative resistor* 1

100 VAC

Brake power supply* 2


Brake relay


ON and OFF.


I/O signal cable

Battery case

(when an absolute

encoder is used.)

Host controller



Encoder cable




Servomotor

∗1.


∗2.






3-7

3

3-8


3.2.2 Connecting to SGDV 11  SERVOPACK (MII Model)

 SGDV A11 


Power supply

Three-phase 200 VAC

R S T


(MCCB)


Noise filter


SGDVA11

SERVOPACK

Magnetic contactor

Turns the servo

ON and OFF.


Connect to the

MECHATROLINKII



I/O signal cable


200 VAC



Brake relay


ON and OFF.

Battery case

(when an absolute

encoder is used.)

Digital operator

Personal computer

Host controller




Encoder cable



SGMGV/SGMSV/SGMCS

Servomotor

∗1.


∗2.









(No.: SIEP S800000 46).


Maintenance Rotational Motor/MECHATROLINK-II Communications Reference

Power supply


R T


(MCCB)


Noise filter


SGDVA11

SERVOPACK

Magnetic contactor

Turns the servo

ON and OFF.


Connect to the

MECHATROLINKII

Digital operator


Personal computer


200 VAC



Brake relay


ON and OFF.


I/O signal cable

Battery case

(when an absolute

encoder is used.)

Host controller




Encoder cable



Servomotor

∗1.


∗2.






3-9

3


3.2.2 Connecting to SGDV 11  SERVOPACK (MII Model)


Power supply

Three-phase 400 VAC

R S T


(MCCB)


Noise filter


SGDVD11A

SERVOPACK

Connect to the

MECHATROLINKII

Digital operator

Personal computer

Magnetic contactor

Turns the servo

ON and OFF.


100/200 VAC



I/O signal cable

Host controller

DC power supply (24 V)* 1


Regenerative resistor *2



Brake relay


ON and OFF.

Battery case

(when an absolute

encoder is used.)



Encoder cable

SGMGV/SGMSV

Servomotor


3-10

∗1.


∗2.


∗3.







3.2.3

Connecting to SGDV-



21



SERVOPACK (MIII

Model)


Power supply


R T


(MCCB)

Protects the power supply line by shutting the circuit

OFF when overcurrent is detected.

Noise filter


Magnetic contacator

Turns the servo

ON and OFF.


SGDVF21A

SERVOPACK

100V

Connect to the

MECHATROLINK-

III

.


Digital operator

Personal computer


I/O signal cable

Host controller


*1

100 VAC

Brake power supply *2


Brake relay


ON and OFF.

Battery case

(when an absolute

encoder is used.)


When using the safety function, insert a connection cable specially for the safety function.


Encoder cable



Servomotor

∗1.


∗2.






3-11

3

3-12


3.2.3 Connecting to SGDV 21  SERVOPACK (MIII Model)

 SGDV A21 


Power supply

Three-phase 200 VAC

R S T


(MCCB)

Protcts the power supply line by shutting the circuit OFF when overcurrent is detected.

Noise filter


SGDV-

SERVOPACK

A21

Connect to the

MECHATROLINK-

III.

Magnetic contactor

Turns the servo

ON and OFF.



Digital operator

Personal computer


I/O signal cable

Host controller

200 VAC


∗ 1

Brake power supply

∗ 2


Brake relay


ON and OFF.

Battery case

(when an absolute

encoder is used.)




Encoder cable



SGMGV/SGMSV/SGMCS

Servomotor

∗1.


∗2.









(No.: SIEP S800000 64).


Maintenance Rotational Motor/MECHATROLINK-III Communications Reference


(MCCB)

Protcts the power supply line by shutting the circuit OFF when overcurrent is detected.

Power supply


R T

Noise filter


SGDV-

SERVOPACK

A21

Connect to the

MECHATROLINKIII.

Digital operator

Magnetic contactor

Turns the servo

ON and OFF.



Personal computer


I/O signal cable

Host controller


1

200 VAC

Brake power supply

∗

2


Brake relay


ON and OFF.

Battery case

(when an absolute

encoder is used.)




Encoder cable



Servomotor

∗1.


∗2.






3-13

3


3.2.3 Connecting to SGDV 21  SERVOPACK (MIII Model)


Power supply

Three-phase 400 VAC

R S T


MCCB)


Noise filter


SGDV-

SERVOPACK

D21A

Connect to the

MECHATROLINK-

III.

Magnetic contactor

Turns the servo

ON and OFF.


100/200 VAC



I/O signal cable

Digital operator

Personal computer

Host controller

DC power supply (24 V) *1


Regenerative resistor *2

Brake power supply

*3


Brake relay

Turns the brake power supply ON and OFF.

Battery case

(when an absolute

encoder is used.)



Encoder cable

SGMGV/SGMSV

Servomotor


3-14

∗1.


∗2.


∗3.







3.2.4

Connecting to SGDV-



E1A SERVOPACK (Command

Option Attachable Type)

 SGDV FE1A

Power supply


R T


(MCCB)


Noise filter


SGDVFE1A

SERVOPACK

Digital operator

Option module * 1

Magnetic contactor

Turns the servo

ON and OFF.



Personal computer


100 VAC



Brake relay


ON and OFF.


I/O signal cable

External LED indicator, external device, etc.


Battery case

(when an absolute

encoder is used.)


Encoder cable




Servomotor

∗1.

For connection to the command option module, refer to the user’s manual of the corresponding option module.

∗2.


∗3.






3-15

3

3-16


3.2.4 Connecting to SGDV E1A SERVOPACK (Command Option Attachable Type)

 SGDV AE1A


Power supply

Three-phase 200 VAC

R S T


(MCCB)


Noise filter


SGDVAE1A

SERVOPACK

Digital operator

Option module * 1

Magnetic contactor

Turns the servo

ON and OFF.



Personal computer


200 VAC



Brake relay


ON and OFF.


I/O signal cable



Battery case

(when an absolute

encoder is used.)




Encoder cable


SGMGV/SGMSV/SGMCS

Servomotor

∗1.


∗2.


∗3.









S800000 60).

Σ -V Series User’s Manual Design and

Maintenance Rotational Motor/Command Option Attachable Type (No.: SIEP

Power supply


R T


(MCCB)


Digital operator Noise filter


SGDVAE1A

SERVOPACK

Option module * 1

Personal computer

Magnetic contactor

Turns the servo

ON and OFF.




200 VAC




I/O signal cable



Brake relay


ON and OFF.

Battery case

(when an absolute

encoder is used.)


Encoder cable




Servomotor

∗1.


∗2.


∗3.






3-17

3


3.2.4 Connecting to SGDV E1A SERVOPACK (Command Option Attachable Type)

 SGDV DE1A

Power supply

Three-phase 400 VAC

R S T


(MCCB)


Noise filter


SGDV-

SERVOPACK

DE1A

Option module * 1

Digital operator

Magnetic contactor

Turns the servo

ON and OFF.


100/200 VAC

DC power supply (24 V)

* 2

Regenerative resistor * 3



Brake relay


ON and OFF.

Personal computer



I/O signal cable



Battery case

(when an absolute

encoder is used.)



Encoder cable

SGMGV/SGMSV

Servomotor


3-18

∗1.


∗2.


∗3.


∗4.






3.3 Main Circuit Wiring

3.3

Main Circuit Wiring

The names, specifications, and functions of the main circuit terminals required for trial operation are given below.

3.3.1

Names and Functions of Main Circuit Terminals

SGDV-1R6AE1A

Name

Analog Pulse Models

Main circuit input terminals

Control power input terminals

MII Models MIII Models Command Option

Attachable Types

Terminal

Symbols

L1, L2

L1, L2, L3

L1C, L2C

24V, 0V

Model SGDV

 F

 A

 D

 F

 A

 D

Description

Single-phase 100 to 115 V,

+10% to -15% (50/60 Hz)

Three-phase 200 to 230 V,

+10% to -15% (50/60 Hz)

Three-phase 380 to 480 V,

+10% to -15% (50/60 Hz)


+10% to -15% (50/60 Hz)


+10% to -15% (50/60 Hz)

24 VDC,

±

15%

3-19

3

3-20


3.3.2 SERVOPACK Main Circuit Wire Size

Name

External regenerative resistor terminals

DC reactor connection terminals for power supply harmonic suppression

Main circuit plus terminals

Main circuit minus terminals

Servomotor connection terminals

Ground terminals

( × 2)

Terminal

Symbols

B1/

B1/ or

, B2,

B1, B2

1, 2

or B1

2 or

U, V, W

(cont’d)

Model SGDV Description

R70F, R90F, 2R1F, 2R8F,

R70A, R90A, 1R6A,

2R8A

If the regenerative capacity is insufficient, connect an external regenerative resistor (option) between B1/

and B2.

3R8A, 5R5A, 7R6A,

120A, 180A, 200A,

330A, 1R9D, 3R5D,

5R4D, 8R4D, 120D,

170D

470A, 550A, 590A,

780A, 210D, 260D,

280D, 370D

If the internal regenerative resistor is insufficient, remove the wire between B2 and B3 and connect an external regenerative resistor

(option) between B1/ and B2, or

B1 and B2.

Connect a regenerative resistor unit

(option) between B1/ and B2, or

B1 and B2.





A

D

Normally short 1 and 2.

If a countermeasure against power supply harmonic waves is needed, connect a DC reactor between 1 and 2.

 A

 D

 A

 D

Use when DC power supply input is used.

Use for connecting to the servomotor.

Use for connecting the power supply ground terminal and servomotor ground terminal.

3.3.2

SERVOPACK Main Circuit Wire Size

This section describes the SERVOPACK Main Circuit Wire Size.

1. Wire sizes are selected for three cables per bundle at 40 ° C surrounding air temperature with the rated current.

2. Use a wire with a minimum withstand voltage of 600 V for the main circuit.

3. If cables are bundled in PVC or metal ducts, take into account the reduction of the allowable current.

4. Use a heat-resistant wire under high surrounding air or panel temperatures, where polyvinyl chloride insulated wires will rapidly deteriorate.


 Wire Types

Use the following type of wire for main circuit.

Symbol

IV

HIV

Cable Type

Name

600 V polyvinyl chloride insulated wire

600 V grade heat-resistant polyvinyl chloride insulated wire

Allowable Conductor

Temperature ° C

60

75

The following table shows the wire sizes and allowable currents for three wires. Use wires with specifications equal to or less than those shown in the table.

• 600 V grade heat-resistant polyvinyl chloride insulated wire (HIV)

AWG

Size

14

12

10

8

6

4

20

19

18

16

Nominal

Cross

Section

Diameter

(mm

2 )

0.5

0.75

0.9

1.25

2.0

3.5

5.5

8.0

14.0

22.0

Configuration

(Number of

Wires/mm)

19/0.18

30/0.18

37/0.18

50/0.18

7/0.6

7/0.8

7/1.0

7/1.2

7/1.6

7/2.0

Conductive

Resistance

( Ω /km)

9.53

5.41

3.47

2.41

39.5

26.0

24.4

15.6

1.35

0.85

Note: The values in the table are for reference only.

Allowable Current at

Surrounding Air Temperature

(A)

30 ° C

23

33

43

55

6.6

8.8

9.0

12.0

79

91

40 °

20

29

38

49

C

5.6

7.0

7.7

11.0

70

81

50 ° C

16

24

31

40

4.5

5.5

6.0

8.5

57

66

3-21

3

3-22


3.3.2 SERVOPACK Main Circuit Wire Size

 Single-phase, 100 V

External Terminal Name

Main circuit power input terminals

L1, L2

Control power input terminals L1C, L2C


External regenerative resistor connection terminals

U, V, W

B1/ , B2

Ground terminal

Terminal

Symbols

SERVOPACK Model SGDV-

R70 R90 2R1 2R8

HIV1.25

HIV2.0

HIV1.25

HIV1.25

HIV1.25

HIV2.0 or higher



Three-phase, 200 V

External

Terminal

Name




Terminal

Symbols


R70 R90 1R6 2R8 3R8 5R5 7R6 120 180 200 330 470 550 590 780

L1, L2,

L3

L1C,

L2C

U, V, W


B1/ ,

B2

HIV1.25

HIV1.25

HIV1.25

HIV2.0

HIV2.0

HIV1.25

HIV3.5

HIV5.5

HIV

5.5

HIV

8.0

HIV

14.0 HIV22.0

HIV

8.0

HIV

2.0

HIV

3.5

HIV

5.5

HIV14.0

HIV22.0

HIV8.0

HIV22.0

Ground terminal

HIV2.0 or higher




Three-phase, 400 V

External

Terminal Name

Terminal

Symbols


1R9 3R5 5R4 8R4 120 170 210 260 280 370





Ground terminal

L1, L2, L3

24V, 0V

U, V, W

B1/ , B2

(B1, B2)

HIV1.25

HIV1.25

HIV1.25

HIV2.0

HIV3.5

HIV1.25

HIV2.0

HIV

3.5

HIV

2.0

HIV2.0 or higher

HIV

5.5

HIV5.5

HIV3.5

HIV

8.0

HIV

8.0

HIV

5.5

HIV

14.0

HIV

14.0

HIV

8.0

3-23

3

3-24


3.3.3 Typical Main Circuit Wiring Examples

3.3.3

Typical Main Circuit Wiring Examples

• Use a molded-case circuit breaker (1QF) or fuse to protect the main circuit.

The SERVOPACK connects directly to a commercial power supply; it is not isolated through a transformer or other device.

Always use a molded-case circuit breaker (1QF) or fuse to protect the servo system from accidents involving different power system voltages or other accidents.

• Install a ground fault detector.

The SERVOPACK does not have a built-in protective circuit for grounding.

To configure a safer system, install a ground fault detector against overloads and short-circuiting, or install a ground fault detector combined with a molded-case circuit breaker.

• Do not frequently turn power ON and OFF.

• Frequently turning power ON and OFF causes elements inside the SERVOPACK to deteriorate. Do not use the servo drive with an application that requires frequently turning power

ON and OFF.

• After the actual operation starts, the allowable interval for turning power ON and OFF is one hour or longer.

The following wiring examples show the pulse model).

Σ -V Series SGDV SERVOPACK (Analog

 Single-phase 100 V, SGDV F (SGDV-R70F, R90F, 2R1F, 2R8F)

R T

SERVOPACK

SGDVF

1QF

3SA

1FIL

2KM

U

V

W

M

L1

L2

1KM

ENC

L1C

L2C

+24 V

1Ry

(For servo alarm display)

B1/

B2

ALM+

CN1

31

1Ry

1PL

Servo power supply ON

Servo power supply OFF

1KM

ALM −

32

1D 0 V

1KM

1KM 1Ry

1SA

2KM

2SA

1QF: Molded-case circuit breaker

1FIL: Noise filter

1KM: Magnetic contactor (for control power supply)

2KM: Magnetic contactor (for main power supply)

1Ry: Relay

1PL: Indicator lamp

1SA: Surge absorber

2SA: Surge absorber

3SA: Surge absorber

1D: Flywheel diode

Note: For M-II model, M-III model, and command option attachable type SERVOPACKs, the pin number of ALM+ terminal is CN1-3, and that of ALM- terminal is CN1-4.


 Three-phase 200 V, SGDV A

• SGDV-R70A, R90A, 1R6A, 2R8A, 3R8A, 5R5A, 7R6A, 120A, 180A, 200A,

330A

R S T SERVOPACK

SGDVA

1QF

3SA

1FIL

2KM

U

V

W

M

L1

L2

L3

1KM

L1C

L2C

ENC

1Ry

+24 V

1Ry




1PL

1KM

∗

B1/

B2

B3

1

2

ALM+

ALM −

CN1

31

32

1D 0 V

1KM

1KM 1Ry

1SA

2KM

2SA


1FIL: Noise filter



1Ry: Relay

1PL: Indicator lamp

1SA: Surge absorber

2SA: Surge absorber

3SA: Surge absorber

1D: Flywheel diode

∗ For the SGDV-R70A, -R90A, -1R6A, -2R8A, terminals B2 and B3 are not short-circuited.

Do not short-circuit these terminals.


3-25

3

3-26



• SGDV-470A, 550A, 590A, 780A

R S T

3SA

1QF

1FIL

2KM

1KM

SERVOPACK

SGDVA

U

V

W

M

L1

L2

L3

L1C

L2C

ENC

B1/

B2 ALM+

CN1

31

ALM −

32

1Ry

+24 V

1D 0 V


1Ry

1PL



1KM

1KM

1KM 1Ry

1SA

2KM


2SA


1FIL: Noise filter



1Ry: Relay

1PL: Indicator lamp

1SA: Surge absorber

2SA: Surge absorber

3SA: Surge absorber

1D: Flywheel diode



 Three-phase 400 V, SGDV D

• SGDV-1R9D, 3R5D, 5R4D, 8R4D, 120D, 170D

R S T

1QF

SERVOPACK

SGDVD

3SA

1FIL

2KM

U

V

W

L1

L2

L3

1KM

DC power supply

24 V

+

−

24 V

0 V



1Ry

1PL


1KM

B1/

B2

B3

1

2

ALM+

ALM −

CN1

31

32

1D

M

ENC

1Ry

+24 V

0 V

1KM

1KM 1Ry

1SA

2KM

2SA


1FIL: Noise filter



1Ry: Relay

1PL: Indicator lamp

1SA: Surge absorber

2SA: Surge absorber

3SA: Surge absorber

1D: Flywheel diode


3-27

3

3-28



• SGDV-210D, 260D, 280D, 370D

R S T

3SA

1QF

1FIL

2KM

1KM

DC power supply

(24 V)

+

−


1Ry

1PL



1KM

1KM

1KM 1Ry

1SA

2KM

SERVOPACK

SGDVD

U

V

W

M

L1

L2

L3

24 V

0 V

ENC

B1/

B2 ALM+

CN1

31

1

2

ALM − 32

1Ry

+24 V

1D 0 V


2SA


1FIL: Noise filter



1Ry: Relay

1PL: Indicator lamp

1SA: Surge absorber

2SA: Surge absorber

3SA: Surge absorber

1D: Flywheel diode



 Precautions When Using More Than One SERVOPACK

This section shows an example of the wiring when more than one SERVOPACK is used and the precautions.

• Wiring Example (Analog pulse model)

Connect the alarm output (ALM) terminals for the three SERVOPACKs in series to enable alarm detection relay 1Ry to operate.

When the alarm occurs, the ALM output signal transistor is turned OFF.

Power supply

R S T

1QF

3SA

1FIL

1KM

2KM

Relay terminal

1Ry


1PL



1KM

Relay terminal

L1

L2

L3

SERVOPACK

L1C

L2C

ALM+

ALM -

CN1

31

1Ry

+24 V

32

ID

Servomotor

M

1KM

1SA

2KM

L1

L2

L3

SERVOPACK

Servomotor

1KM 1Ry

2SA

Relay terminal

Relay terminal M

L1C

L2C

ALM+

CN1

31


ALM 32

1KM: Magnetic contactor

(for control power supply)

2KM: Magnetic contactor

(for main power supply)

1Ry:

1PL:

Relay

Indicator lamp

1SA:

2SA:

Surge absorber

Surge absorber

3SA: Surge absorber

1D: Flywheel diode

L1

L2

L3

L1C

L2C

SERVOPACK

ALM+

CN1

31

Servomotor

M

ALM 32

0 V


3

3-29

3-30


3.3.4 Wiring the Main Circuit Terminal Connector (Spring Type)

• Precautions

When using more than one SERVOPACK with a DC power supply, refer to these manuals here for the appropriate wiring, connections, and required settings.

• Σ -V Series User's Manual

Design and Maintenance Rotational Motor/Analog Voltage and Pulse Train Reference (No.: SIEP S800000 45)


Design and Maintenance Rotational Motor/MECHATROLINK-II Communications Reference (No.: SIEP S800000 46)


Design and Maintenance Rotational Motor/Command Option Attachable Type

(No.: SIEP S800000 60)


Design and Maintenance Rotational Motor/MECHATROLINK-III Communications Reference (No.: SIEP S800000 64)

3.3.4

Wiring the Main Circuit Terminal Connector (Spring Type)

Two types of main circuit terminals are available: a connector type and a terminal screw type.

• SERVOPACKs with terminal screws:

SGDV-180A, 200A, 330A, 470A, 550A, 590A, 780A, 8R4D, 120D, 170D, 210D, 260D,

280D, 370D

• SERVOPACKs with connectors:

SGDV-R70F, R90F, 2R1F, 2R8F, R70A, R90A, 1R6A, 2R8A, 3R8A, 5R5A, 7R6A, 120A,

1R9D, 3R5D, 5R4D

A spring connector is used for SERVOPACKs with connectors. The following section describes how to wire the main circuit terminal using a connector.

CAUTION

• Observe the following precautions when wiring main circuit terminal connectors.

• Do not turn ON the power to the SERVOPACK until all wiring has been completed, including the main circuit terminal connectors.

• Remove detachable main circuit terminal connectors from the SERVOPACK prior to wiring.

• Insert only one main circuit cable per opening in the main circuit terminal connector.

• Make sure that no part of the core wire comes into contact with (i.e., short-circuit) adjacent wires.


 Wiring Procedure

1.

Remove the main circuit terminal connector from the SERVOPACK.

Enlarged View

Lock

1 㧚 Press

the lock.

2. Remove the main circuit terminal connector while pressing the lock.

Main circuit terminal connector

2.

Strip the end of the wires.

Applicable wire sizes:

Refer to 3.3.2 SERVOPACK

Main Circuit Wire Size .

8 to 9 mm

3.

Open the wire terminal on the terminal connector housing with a tool, using the following methods. Either method can be used to open the wire terminal.

 Using a spring opener

Use the spring opener provided with the SERVOPACK to open the wire terminal as shown in the diagram.

Note: The spring opener (1981045-1) made by Tyco Electronics AMP K.K. can also be used.

Spring opener

Wire

3

3-31

3-32


3.3.4 Wiring the Main Circuit Terminal Connector (Spring Type)

 Using a screwdriver

Use a commercially available flat-blade screwdriver with a blade width of 3.0 to 3.5 mm. Insert the screwdriver into the slot and press down firmly to open the wire terminal.

4.

Insert the wire core into the opening, and then secure the wire into position by removing the opener or screwdriver to close the opening.

5.

Make all the required connections in the same way.

6.

Attach the connector to the SERVOPACK.

3.4 Connecting Regenerative Resistors

3.4

Connecting Regenerative Resistors

If the built-in regenerative resistor is insufficient, connect an external regenerative resistor by one of the following methods and set the regenerative resistor capacity

(Pn600). As for precautions on selecting a regenerative resistor and its specifications, refer to Σ -V Series Product Catalog (No.: KAEP S800000 42).

WARNING

• Be sure to connect the regenerative resistor correctly. Do not short-circuit between B1/ and B2.

Doing so may result in fire or damage to the regenerative resistor or SERVOPACK.

3.4.1

Connecting Regenerative Resistor

 SERVOPACKs: Model SGDV-R70F, R90F, 2R1F, 2R8F, R70A, R90A,

1R6A, 2R8A

Connect an external regenerative resistor between the B1/ and B2 terminals on the

SERVOPACK. After connecting a resistor, select the capacity. For more information on how to set the capacity of regenerative resistors, refer to Σ

Design and Maintenance (No.: SIEP S800000 45/46/60/64).

-V Series User’s Manual

Enlarged View

3-33

3

3-34


3.4.1 Connecting Regenerative Resistor

 SERVOPACKs: Model SGDV-3R8A, 5R5A, 7R6A, 120A, 180A,

200A, 330A, 1R9D, 3R5D, 5R4D, 8R4D, 120D, 170D

Remove the lead wire between the B2 and B3 terminals of the SERVOPACK, and connect the External Regenerative Resistor to the B1/ and B2 terminals. After connecting the resistor, select the capacity. For more information on how to set the capacity of regenerative resistors, refer to Σ -V Series User’s Manual Design and

Maintenance (No.: SIEP S800000 45/46/60/64).

Enlarged View

CAUTION

• When connecting an External Regenerative Resistor to the SGDV-3R8A, -5R5A,

-7R6A, -120A, -180A, -200A, -330A, -1R9D, -3R5D, -5R4D, -8R4D, -120D, or

-170D, first remove the lead wire between the B2 and B3 terminals on the SER-

VOPACK, and then connect the External Regenerative Resistor.

There is a risk of SERVOPACK failure.

3.4 Connecting Regenerative Resistors

 SERVOPACKs: Model SGDV-470A, 550A, 590A, 780A, 210D, 260D,

280D, 370D

No built-in regenerative resistor is provided, so the external regenerative resistor is required. The regenerative resistor units are as follows:

Note: The regenerative resistor unit is constructed from a number of resistors.

Main

Circuit

Power

Supply

Applicable

SERVOPACK

Model SGDV

Applicable

Regenerative

Resistor Unit

Resistance

( Ω )

Specifications

Threephase

200 V

470A

550A, 590A,

780A

JUSP-RA04-E

JUSP-RA05-E

6.25

3.13

25 Ω (220 W); 4 resistors in parallel

25 Ω (220 W); 8 resistors in parallel

Threephase

400 V

210D, 260D

280D, 370D

JUSP-RA18-E

JUSP-RA19-E

18

14.25

18 Ω (220 W); 2 resistors in series with 2 in parallel.

28.5 Ω (220 W); 2 resistors in series with 4 in parallel.

Use Pn600 at the factory setting when you use a Yaskawa regenerative resistor unit.

Set Pn600 when using a non-YASKAWA external regenerative resistor.

3-35

3

3-36


3.4.1 Connecting Regenerative Resistor

Connect the R1 terminal on the Regenerative Resistor Unit to the B1/ terminal on the SERVOPACK, and connect the R2 terminal on the Regenerative Resistor Unit to the B2 terminal on the SERVOPACK.

SERVOPACK

Regenerative Resistor Unit

JUSP-RA -E

The location of the R1 and R2 terminals on the Regenerative Resistor Unit will depend on the model.

JUSP-RA04-E JUSP-RA05-E JUSP-RA18-E JUSP-RA19-E

4

Safety Function

This chapter describes the safety functions.

4.1 Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2

4.2 Hard Wire Base Block (HWBB) Function . . . . . . . . . . . . . . . . . 4-3

4.3 Safety Function Signal (CN8) Names and Functions . . . . . . . . 4-4

4.4 Precautions When Not Using the Safety Function . . . . . . . . . . 4-4

4.5 Connecting a Safety Function Device . . . . . . . . . . . . . . . . . . . . 4-5

4-1

4

4-2

4 Safety Function

4.1

Outline

The safety function is incorporated in the SERVOPACK to reduce the risk associated with the machine by protecting workers from injury and by securing safe machine operation. Especially when working in hazardous areas inside the safeguard, as for machine maintenance, it can be used to avoid adverse machine movement.

The person who designs a system using the safety function (Hard Wire Baseblock function) must have full knowledge of the related safety standards and full understanding of the following manuals.

• Σ -V Series User’s Manual

Design and Maintenance Rotational Motor/Analog Voltage and Pulse Train Reference (No.: SIEP S800000 45)


Design and Maintenance Rotational Motor/MECHATROLINK-II Communications Reference (No.: SIEP S800000 46)


Design and Maintenance Rotational Motor/Command Option Attachable Type

(No.: SIEP S800000 60)


Design and Maintenance Rotational Motor/MECHATROLINK-III Communications Reference (No.: SIEP S800000 64)

4.2 Hard Wire Base Block (HWBB) Function

4.2

Hard Wire Base Block (HWBB) Function

The Hard Wire Base Block function (hereinafter referred to as HWBB function) is a safety function designed to baseblock the motor (shut off the motor current) by using the hardwired circuits: Each circuit for two channel input signals blocks the run signal to turn off the power module that controls the motor current, and the motor current is shut off.

For the safety function signal connections, the input signal is the 0 V common and the output signal is the source output. This is opposite to other signals described in this manual. To avoid confusion, the ON and OFF status of signals for the safety functions are defined as follows:

ON: The state in which the relay contacts are closed or the transistor is ON and current flows into the signal line.

OFF: The state in which the relay contacts are open or the transistor is OFF and no current flows into the signal line.

The input signals are connected to the 0 V common. A connection example is provided in the following figure.

Power supply

24-V power supply

Switch

Fuse

0 V

/HWBB1+ 4

/HWBB1-

3

SERVOPACK

CN8

/HWBB2+

6

/HWBB2-

5

Control circuit

Run signal

Block

Block

Power module

Motor

WARNING

• When using the HWBB function, be sure to perform a risk assessment of the servo system in advance. Make sure that the safety level of the standards is met.

For details about the standards, refer to Harmonized Standards at the front of this manual.

To meet the performance level d (PLd) in EN ISO 13849-1, the EDM signal must be monitored by a host controller. If the EDM signal is not monitored by a host controller, the system only qualifies for the performance level c (PLc).

4-3

4

4-4

4 Safety Function

4.3

Safety Function Signal (CN8) Names and Functions

The following table shows the terminal layout of safety function signals (CN8).

Pin No.

1 *

5

6

7

2

*

3

4

8

Signal

Name

−

−

/HWBB1-

/HWBB1+

/HWBB2-

/HWBB2+

EDM1-

EDM1+

−

−

Hard wire baseblock input 1

Function

−

−

Hard wire baseblock input 2

Hard wire baseblock input

Baseblock (motor current off) when OFF

Monitored circuit status output 1

ON when the /HWBB1 and the

/HWBB2 signals are input and the SERVOPACK enters a baseblock state.

∗ Do not use unused terminals. (connected to the internal circuits)

4.4

Precautions When Not Using the Safety Function

When not using the safety function or when performing a JOG operation, use the

SERVOPACK with the safety function jumper connector (provided as an accessory) inserted. If the SERVOPACK is used without the jumper connector inserted into

CN8, no current will flow to the motor and no torque will be output.

When Hbb is displayed on the panel operator and digital operator, the motor is baseblocked by the safety function. Check to see if the jumper connector is correctly inserted into CN8.

4.5 Connecting a Safety Function Device

4.5

Connecting a Safety Function Device

There are two types of the safety function’s jumper connectors that are attached to

SERVOPACKs. You must remove a safety function’s jumper connector before connecting a safety function device. The connection method depends on the connector type that is used. Read the following procedures well before you attach a safety function device.

Connector Type A Connector Type B

Use the following procedures to attach safety function devices.

(1) Connector Type A

1.

SGDV-R70F, SGDV-R90F, SGDV-2R1F, SGDV-R70A, SGDV-R90A,

SGDV-1R6A, SGDV-2R8A, SGDV-1R9D, SGDV-3R5D, or SGDV-5R4D

SERVOPACK

Disconnect the servomotor terminal connector while pressing in the servomotor terminal connector lock.

Enlarged View

1 㧚 Press the lock.

2 㧚 Remove the servomotor

connection terminal connector

while pressing the lock.

Lock

Servomotor connection terminal connector

When Using Any Other SERVOPACK

It is not necessary to remove the servomotor connection terminals.

Proceed to step 2.

4

4-5

4 Safety Function

2.

Slide the lock injector on the safety function’s jumper connector toward the SERVOPACK to unlock it and remove the safety function’s jumper connector.

Enlarged View 1. Slide the lock injector

to the SERVOPACK

side.

4-6

Lock injector Safety function’s jumper connector

2. Remove the safety function’s jumper connector while the lock injector is slid to the SERVOPACK side.

Note:The safety function’s jumper connector may be damaged if removed while the lock is still on.

3.

Connect the safety function device to the safety connector (CN8).

Note:If you do not connect a safety function device, leave the safety function's jumper connector connected to the safety connector (CN8). If the SERVOPACK is used without the safety function’s jumper connector connected to CN8, no current will be supplied to the servomotor and no motor torque will be output. In this case, the

SERVOPACK will enter a hard wire base block state.

(2) Connector Type B

1.

Remove the safety function’s jumper connector from the safety connector (CN8).

Enlarged View

C

N

2

C

N

8

C

N

1

Safety function’s jumper connector

C

N

8

C

N

2

Hold the jumper connector with two fingers and pull it out.

4.5 Connecting a Safety Function Device

2.

Connect a safety function device to CN8.

Note:When not using the safety function, use the SERVOPACK with the safety function’s jumper connector (provided as an accessory) inserted in CN8. If the SERVOPACK is used without the jumper connector inserted into CN8, no current will flow to the servomotor and no torque will be output. In this case, the SERVOPACK will enter a hard wire base block state.

4-7

4

5

Trial Operation (Checking Servomotor Operation)

This chapter describes how to perform trial operation.

5.1 Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-2

5.2 Inspection and Checking before Trial Operation . . . . . . . . . . . . 5-2

5.3 JOG Operation Using a Panel Operator . . . . . . . . . . . . . . . . . . 5-5

5.4 JOG Operation Using a Digital Operator . . . . . . . . . . . . . . . . . . 5-7

5.5 JOG Operation Using SigmaWin+ . . . . . . . . . . . . . . . . . . . . . 5-10

5-1

5

5-2

5 Trial Operation (Checking Servomotor Operation)

5.1

Outline

The trial operation described here is a JOG operation for servomotors not connected to machinery (without a load). The purpose of this trial operation is to check whether the SERVOPACK and servomotor are properly connected and whether the servomotor is operating normally.

To conduct trial operation executed from the host controller for the servomotor without load, or for the servomotor connected to the machine, refer to the following manuals.

• Σ -V Series User's Manual Design and Maintenance Rotational Motor/Analog

Voltage and Pulse Train Reference (No.: SIEP S800000 45)

• Σ -V Series User's Manual Design and Maintenance Rotational Motor/MECHA-

TROLINK-II Communications Reference (No.: SIEP S800000 46)

• Σ -V Series User's Manual Design and Maintenance Rotational Motor/Command

Option Attachable Type (No.: SIEP S800000 60)

• Σ -V Series User's Manual Design and Maintenance Rotational Motor/MECHA-

TROLINK-III Communications Reference (No.: SIEP S800000 64)

CAUTION

• Conduct trial operation on the servomotor alone with the motor shaft disconnected from the machine to avoid any unexpected accidents. If it is unavoidable to perform trial operation while connected to a machine, then always make sure that an emergency stop can be immediately executed.

5.2

Inspection and Checking before Trial Operation

To ensure safe and correct trial operation, inspect and check the following items before starting trial operation.

 Servomotors

Inspect and check the following items, and take appropriate measures before performing trial operation if any problem exists.

• Are all wiring and connections correct?

• Are all nuts and bolts securely tightened?

• If the servomotor has an oil seal, is the seal undamaged and is the motor oiled?

• If the servomotor has a brake, is the brake released beforehand? To release the brake, apply the specified voltage (24 VDC or 90 VDC). The following diagram shows an example of the circuit wiring needed to release the holding brake before a trial operation.

5.2 Inspection and Checking before Trial Operation

An example of the circuit wiring

Power supply

L1

L2

L3

L1C

L2C

SERVOPACK

U

V

W

CN2

Servomotor with brake

M

ENC

BK

24 VDC power supply or

Brake power supply

AC DC 24 VDC or 90 VDC

࡮ A 24 VDC power supply is not included.

࡮ Brake power supply Input voltage of 200 V: LPSE-2H01-E

Input voltage of 100 V: LPDE-1H01-E

Configure the relay circuit to apply the holding brake by the emergency stop.

Relay Circuit Example

SERVOPACK

5 to 24 VDC

Emergency stop

Photocoupler

0 V

 SERVOPACKs

Inspect and check the following items, and take appropriate measures before performing trial operation if any problem exists.

• Are all installation, wiring and connections correct?

• Is the correct power supply voltage being supplied to the SERVOPACK?

5-3

5

5-4


 Installing the Servomotor and SERVOPACK

Install the servomotor and SERVOPACK according to the installation conditions.

Secure the mounting plate of the servomotor to the equipment.

Do not connect any load to the shaft.

<Note>

• Be sure to secure the servomotor to the equipment, or the servomotor may turn over when it starts rotating.

• Do not connect anything to the servomotor shaft.

 Checking the Main Circuit Power Supply, Servomotor, and Encoder

Wiring

Once again, check the main circuit power supply, servomotor, and encoder wiring that was described in Chapter 3 Wiring and Connection .

Perform a trial operation with the safety function jumper connector (provided as an accessory) inserted into the CN8 connector.

Power supply

Safety function jumper connector

Do not connect to CN1.

Encoder cable

5.3 JOG Operation Using a Panel Operator

5.3

JOG Operation Using a Panel Operator

This section describes the procedure for executing a JOG operation using a panel operator.

The panel operator is located under the front cover of the SERVOPACK (analog pulse models only).

View with front cover open

Panel operator

The tuning-less function is by default set enabled. When the tuningless function is enabled, the gain may be so increased to cause vibration during no-load operation. If vibration occurs, disable the tuning-less function by setting the parameter Pn170.0 to 0.

Step Display after operation Keys

1 Alternate display

Operation

Turn ON the power to the SERVOPACK.

The forward run prohibited (P-OT) or reverse run prohibited (N-OT) message is displayed.

When the JOG operation is executed, P-

OT and N-OT are automatically disabled.

2

3

MODE/SET

MODE/SET

Press the MODE/SET Key to select the utility function mode.

DATA/

DATA/

Press the Up ( ) or Down ( ) Cursor

Key to select Fn002.

5-5

5

5-6


Step

4

5

Display after operation

MODE/SET

MODE/SET

Keys

(cont’d)

Operation

Press the DATA/SHIFT Key for approximately one second.

DATA/

DATA/

Press the MODE/SET Key.

The servomotor power will turn ON.

Press the Up Cursor Key to rotate the servomotor in the forward direction and press the Down Cursor Key to rotate it in reverse. The servomotor will operate while the key is being pressed. (The factory setting is 500 min -1 .)

Forward rotation

6

7

8

/ /

MODE/SET

MODE/SET

MODE/SET

DATA/

DATA/

Reverse rotation

Confirm that the servomotor operation is correct. At the same time, carefully inspect the servomotor’s condition and check the following points in particular.

If a problem is found, correct it.

• Is there any unusual vibration?

• Is there any unusual sound?

• Is the temperature rising unusually high?

Press the MODE/SET Key. The servomotor power will be OFF.

Note:

The servomotor can be turned OFF by pressing the DATA/SHIFT Key for approximately one second.

Press the DATA/SHIFT Key for approximately one second.

“Fn002” is displayed again.

DATA/

9

/

Alternate display

/

MODE/SET DATA/

Press the MODE/SET Key to return to the initial display (step 1).

5.4 JOG Operation Using a Digital Operator

5.4

JOG Operation Using a Digital Operator

This section describes the procedure for executing a JOG operation using a digital operator.

Connect the digital operator to the SERVOPACK CN3 connector.

Σ -V series

JUSP-OP05A-1-E

Digital Operator

Σ -III series

JUSP-OP05A

Digital Operator

SGDV

SERVOPACK

Digital operator conversion conneotor

Model: JZSP-CVS05-A3-E

Insert securely into

SERVOPACK CN3 connector.

The digital operator can be connected or removed while the SERVOPACK power is

ON.


Keys Step

1


㧮㧮ޓޓޓޓޓޓ㧙㧼㧾㧹㧛㧹㧻㧺㧙

㨁㨚㧜㧜㧜㧩㧜㧜㧜㧜㧜

㨁㨚㧜㧜㧞㧩㧜㧜㧜㧜㧜

㨁㨚㧜㧜㧤㧩㧜㧜㧜㧜㧜㧜㧜㧜㧜㧜

㨁㨚㧜㧜㧰㧩㧜㧜㧜㧜㧜㧜㧜㧜㧜㧜

Operation

Turn ON the power to the SERVO-

PACK. A message saying that the file list is being loaded will appear and then the parameter/monitor mode will appear.

5-7

5

5-8


Keys Step

2

3

4


B B − F U N C T I O N −

F n 0 0 0 : A l m H i s t o r y

F n 0 0 2 : J O G

F n 0 0 3 : Z − S e a r c h

F n 0 0 4 : P r o g r a m J O G

B B − J O G −

P n 3 0 4 = 0 0 5 0 0

U n 0 0 0 = 0 0 0 0 0 0

U n 0 0 2 = 0 0 0 0 0 0

U n 0 0 D = 0 0 0 0 0 0 0 0 0 0 0

R U N − J O G −

P n 3 0 4 = 0 0 5 0 0

U n 0 0 0 = 0 0 0 0 0 0

U n 0 0 2 = 0 0 0 0 0 0

U n 0 0 D = 0 0 0 0 0 0 0 0 0 0 0

(cont’d)

Operation

Press the Key to view the main menu of the Utility Function mode.

Press the select Fn002.

Key or Key to

Press the Key.

The display changes to the execution display of Fn002.

5

R U N − J O G −

P n 3 0 4 = 0 0 5 0 0

U n 0 0 0 = 0 0 0 0 0 0

U n 0 0 2 = 0 0 0 0 0 0

U n 0 0 D = 0 0 0 0 0 0 0 0 0 0 0

6

B B − J O G −

P n 3 0 4 = 0 0 5 0 0

U n 0 0 0 = 0 0 0 0 0 0

U n 0 0 2 = 0 0 0 0 0 0

U n 0 0 D = 0 0 0 0 0 0 0 0 0 0 0

Press the Key. "RUN" is displayed as the status, and the servomotor power turns ON.

Press the Key to rotate the servomotor in the forward direction and press the Key to rotate it in reverse. The servomotor will operate while the key is being pressed. (The factory setting is 500 min -1 .)

Forward rotation

Reverse rotation

Confirm that the servomotor operation is correct. At the same time, carefully inspect the servomotor’s condition and check the following points in particular. If a problem is found, correct it.


• Are there any unusual sound?


After confirming that the servomotor is running correctly, press the

Key.

"BB" is displayed as the status, and the servomotor power turns OFF.

5.4 JOG Operation Using a Digital Operator

(cont’d)

Step

7


B B − F U N C T I O N −

F n 0 0 0 : A l m H i s t o r y

F n 0 0 2 : J O G

F n 0 0 3 : Z

−

S e a r c h

F n 0 0 4 : P r o g r a m J O G

Keys Operation

Press the Key to return to the main menu of the Utility Function mode.

8

㧮㧮ޓޓޓޓޓޓ㧙㧼㧾㧹㧛㧹㧻㧺㧙

㨁㨚㧜㧜㧜㧩㧜㧜㧜㧜㧜

㨁㨚㧜㧜㧞㧩㧜㧜㧜㧜㧜

㨁㨚㧜㧜㧤㧩㧜㧜㧜㧜㧜㧜㧜㧜㧜㧜

㨁㨚㧜㧜㧰㧩㧜㧜㧜㧜㧜㧜㧜㧜㧜㧜

Press the Key twice to return to the initial display (step 1).

 Alarm Display

An alarm is automatically displayed if a problem occurs for some reason. Check the alarm using the user’s manual for the corresponding SERVOPACK or command option module (refer to  the appropriate measures.

Manuals Related to the Σ -V Series on page iv) and apply

㧭ޓ㧣㧝㧜ޓޓޓޓޓ㧙㧭㧸㧭㧾㧹㧙

㧭㧚㧣㧝㧜ޓ㧜㧜㧜㧜㧝㧞㧜㧣㧝㧥㧢

㧝㧦㧣㧞㧜ޓ㧜㧜㧜㧜㧜㧜㧟㧞㧢㧡㧝

㧞㧦㧡㧝㧝ޓ㧜㧜㧜㧜㧜㧜㧜㧥㧜㧠㧟

㧟㧦㧙㧙㧙

 Error Display

The following messages will be displayed if a communications error occurs between the SERVOPACK and the digital operator due to a connection problem such as poor connector contact. Check the connections and turn the power ON again. If the problem still persists, the digital operator or SERVOPACK must be replaced.

C P F 0 0

C O M − E R R ( O P & S V )

C P F 0 1

C O M − E R R ( O P & S V )

5-9

5

5-10


5.5

JOG Operation Using SigmaWin+

This section describes the procedure for executing a JOG operation using SigmaWin+.

In the following example, test-run procedures are explained using the JOG operation window of Test Run on the main menu of SigmaWin+.


Step Operation

• Connect a computer.

Use a connection cable to connect a SERVO-

PACK to a computer which has SigmaWin+ installed.

SERVOPACK

CN7

1 PC

Display

2


JZSP-CVS06-02-E

• Start SigmaWin+ and open the main window.

(1) Turn ON the SERVOPACK.

(2) Turn ON the computer.

(3) Double click the YE_Applications folder on the desktop.

YE_Applications

5.5 JOG Operation Using SigmaWin+

(cont’d)

Step Operation

(4) Double click the SigmaWin+ icon to display the SigmaWin+ startup screen.

ψ

SigmaWin+

English Edition

Display

Startup Screen

2

(cont’d)

(5) Once SigmaWin+ is started, the connection window is displayed.

Note: is used for operation with no SERVOPACK connected.

Click to search for the connected SERVOPACK.

(6) Search Condition Setting window is open.

Select Σ -V( ), and click

A dialog box will open first to tell you a

. search has started, and then the search result will be shown in the connection window.

Note: If the message, “Servopack not found” is displayed, refer to 2.2

Selecting a SERVOPACK of SigmaWin+ English Edition Online

Manual (YE_Applications -> Manual).

Connection Window

Select only Σ -V

Search Condition Setting Window

5-11

5


Step Operation

(7) Select the SERVOPACK to be connected.

Click . (Place the cursor over the SERVOPACK to be connected, and then click on it.)

2

(cont’d)

The main window of SigmaWin+ will then open.

• Run test operation.

(1) Select Test Run first, and then select Jog

(J) from the menu on the main window.

Display

Test Run (R) → Jog (J)

(cont’d)

5-12

3

(2) Warnings for the JOG operation window will be displayed. Read them and click

.

Main Window

Warnings for the JOG Operation Window

Step Operation

(3) The JOG operation window is open.

5.5 JOG Operation Using SigmaWin+

(cont’d)

Display

3

(cont’d)

4

• Set the JOG speed

The motor speed is set to 500 [min

-1

]. Click if you need to change it.

JOG Operation Window

5

• Servo ON

Click . The display changes from

Servo OFF to Servo ON and is lit in green.

5-13

5


Step Operation

• Start JOG operation.

When you click the servomotor will rotate in the forward direction. When

6 you click it will rotate in reverse.

Confirm that the servomotor operation is correct. At the same time, carefully inspect the servomotor’s condition and check the following points in particular. If a problem is found, correct it.


• Is there any unusual sound?


• Servo OFF

Click .

(Screen display will return to the display shown at step 4.)

7

Display

(cont’d)

5-14

8

• Terminate JOG operation.

Click to end JOG operation.

You will return to the main window.

Refer to the online manual for SigmaWin+ for details. Follow the steps below to view the online manual.

<How to view the online manual>

1.

Turn ON the computer.

2.

Open the YE_Applications folder.

3.

Open the Manual folder.

4.

Open SigmaWin+ English Edition Online Manual.

Revision History

The revision dates and numbers of the revised manuals are given at the bottom of the back cover.

MANUAL NO. SIEP S800000 43B <1>-0

Web revision number

Revision number

Published in Japan November 2008

Date of publication

Date of

Publication

January 2020

February 2019

February 2018

Rev.

No.

<14>

<13>

November 2016 <12>

May 2015

August 2013

January 2013

August 2012

June 2012

August 2011

June 2011

March 2011

<11>

<10>

<9>

<8>

<7>

<6>

<5>

<4>

0

0

0

Web

Rev.

No.

1

0

0

0

0

0

0

0

0

Section Revised Contents

Preface Revision:  Disposal precaution

Back cover Revision: Address

3.3.2

Revision: Servomotor connection terminal for SERVO-

PACK SGDV-180 (three-phase, 200 V)


All chapters Revision: Partly revised



Front cover Revision: Format

Back cover Revision: Address and format

Preface,

2.1.3

2.4

Revision: Description of Applicable Standards

EN55011/A2 changed to EN55011

Revision: Description of EMC Installation Conditions

EN55011/A2 changed to EN55011




All chapters Revision: Model of SERVOPACK with

MECHATROLINK-III communications

(21A → 21  )

4.5

Addition: Description of safety function’s jumper connector


Preface Revision: Warranty

Preface

3.2

2.3.2, 2.4.1,

2.4.2, 3.2.1,

3.2.2

Deletion: Description of “(will be available soon.)”

Revision: Illustration of CD

Addition: Description of SGDV-

SERVOPACKs

 B

Date of

Publication

February 2011

June 2009

November 2008

April 2007

Rev.

No.

<3>

<2>

<1>

–

Web

Rev.

No.

0

0

Section Revised Contents

Front cover Revision: Format

Back cover Revision: Address and format

– Based on Japanese user’s manual, SIJPS80000043F<5> published in May 2009.

0

–

All chapters Completely revised


All chapters Completely revised


– First edition

AC Servo Drives



-

V

Series

USER’S MANUAL

Setup

Rotational Motor

IRUMA BUSINESS CENTER (SOLUTION CENTER)

480, Kamifujisawa, Iruma, Saitama, 358-8555, Japan

Phone: +81-4-2962-5151 Fax: +81-4-2962-6138 www.yaskawa.co.jp

YASKAWA AMERICA, INC.

2121, Norman Drive South, Waukegan, IL 60085, U.S.A.

Phone: +1-800-YASKAWA (927-5292) or +1-847-887-7000 Fax: +1-847-887-7310 www.yaskawa.com

YASKAWA ELÉTRICO DO BRASIL LTDA.

777, Avenida Piraporinha, Diadema, São Paulo, 09950-000, Brasil

Phone: +55-11-3585-1100 Fax: +55-11-3585-1187 www.yaskawa.com.br

YASKAWA EUROPE GmbH

Hauptstra β e 185, 65760 Eschborn, Germany

Phone: +49-6196-569-300 Fax: +49-6196-569-398 www.yaskawa.eu.com E-mail: [email protected]

YASKAWA ELECTRIC KOREA CORPORATION

35F, Three IFC, 10 Gukjegeumyung-ro, Yeongdeungpo-gu, Seoul, 07326, Korea

Phone: +82-2-784-7844 Fax: +82-2-784-8495 www.yaskawa.co.kr

YASKAWA ASIA PACIFIC PTE. LTD.

30A, Kallang Place, #06-01, 339213, Singapore

Phone: +65-6282-3003 Fax: +65-6289-3003 www.yaskawa.com.sg

YASKAWA ELECTRIC (THAILAND) CO., LTD.

59, 1F-5F, Flourish Building, Soi Ratchadapisek 18, Ratchadapisek Road, Huaykwang, Bangkok, 10310, Thailand

Phone: +66-2-017-0099 Fax: +66-2-017-0799 www.yaskawa.co.th

YASKAWA ELECTRIC (CHINA) CO., LTD.

22F, Link Square 1, No.222, Hubin Road, Shanghai, 200021, China

Phone: +86-21-5385-2200 Fax: +86-21-5385-3299 www.yaskawa.com.cn

YASKAWA ELECTRIC (CHINA) CO., LTD. BEIJING OFFICE

Room 1011, Tower W3 Oriental Plaza, No.1, East Chang An Avenue,

Dong Cheng District, Beijing, 100738, China

Phone: +86-10-8518-4086 Fax: +86-10-8518-4082

YASKAWA ELECTRIC TAIWAN CORPORATION

12F, No. 207, Section 3, Beishin Road, Shindian District, New Taipei City 23143, Taiwan

Phone: +886-2-8913-1333 Fax: +886-2-8913-1513 or +886-2-8913-1519 www.yaskawa.com.tw

In the event that the end user of this product is to be the military and said product is to be employed in any weapons systems or the manufacture thereof, the export will fall under the relevant regulations as stipulated in the Foreign Exchange and Foreign

Trade Regulations. Therefore, be sure to follow all procedures and submit all relevant documentation according to any and all rules, regulations and laws that may apply.

Specifications are subject to change without notice for ongoing product modifications and improvements.

© 2007 YASKAWA ELECTRIC CORPORATION

MANUAL NO. SIEP S800000 43I <14>-1

Published in Japan January 2020

19-10-16

Original instructions

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