B&K Reference 125.5 Series II Specifications

YASKAWA
AC SERVO DRIVES
JUNMA SERIES
SJME SERVOMOTOR
SJDE SERVOPACK
AC SERVO DRIVES
JUNMA SERIES
C O N T E N T S
With Yaskawa’s world-leading servo drive technology, we are proud to
introduce the Junma series for a wide range of applications.
Following our policy to make user-friendly products, the Junma series
is different from conventional models, because no more parameter
settings and no more servo adjustments are required; therefore, the
setup and test runs are greatly reduced. Also, the Junma series has
the standard servo characteristics such as high response, high speed,
high torque, and high accuracy.
Try Yaskawa’s Junma series to improve your system so that it better
suits your needs.
System Configuration
4
Selection of Devices
5
Servomotors
8
SERVOPACKs
10
Connection Diagram
14
Installation
20
Cables / Peripheral Devices
24
Selection of Servomotor Size
35
Connection to Host Controller
42
Product Standard Life
43
Terminology
44
FAQs
45
Revision History
46
Fast & Easy Setup
Settings are easy to make, so setup time is reduced.
1
Unpacking
Remove the SERVOPACK
from the box.
2
Installation and wiring
Connect the cables for the
power supply, signal lines,
and a motor.
3
Reference pulse setting
Select the reference pulse switch
for your of the controller.
No parameter settings and gain
adjustments are needed.
4
Setup completion
The motor is ready to run with
the reference from the controller.
The required torque is possible
even at a highspeed rotation of
4500 min-1.
Attached
Screwdriver
2
3
Selection
Selection of
of Devices
Devices
Connection to Peripheral Devices
Cables and Connectors
Servomotor main
circuit cables with
connectors at both
ends (for relay)*1
Molded-case circuit breaker
To protect the equipment and wiring,
always connect a molded-case circuit
breaker (earth leakage breaker).
Surge protector
To protect the system
from lightening surge.
CAUTION
SJDE
SERVOPACKs
Magnetic contactor
Used to turn off the servo
power supply when using a
regenerative unit or in case
of emergency.
CD
AB
I/O signal cable
F 01
23
45
89
Connectors for
servomotor main
circuit cables*2
Motor end
SERVOPACK
end (for CNB)
REF
E
CD
AB
67
Never open the protective cover for
the connector.
Do not use the connector since the
connector is reserved for adjustment
by the manufacturer.
If the connector is used, a
SERVOPACK failure may result.
23
67
F 01
89
E
Used for a
servomotor
with a brake.*
Type/Model
JZSP-CHM000-05
No brake
JZSP-CHM000-10
JZSP-CHM030-05
With brakes
JZSP-CHM030-10
Host controller
45
24-VDC
power
supply*
Tool to remove wires*2
Connectors for
battery case/
regenerative unit*2
Relay
AC reactor
Used to control power
supply harmonics.
Encoder cable (for relay)
Varistor
For CNA
WARNING
Motor end
Correctly connect the connectors
CNA and CNB. Incorrect wiring
may result in electric shock,
injury, or damage to the
equipment. After wiring correctly,
install the connectors as shown
here.
Motor main circuit cable
(for relay)
Connectors for motor
main circuit cable (CNB)
Connectors for
encoder cables*2
SERVOPACK
end (for CN2)
Connectors for power
supply/regenerative unit (CNA)
Used for a
regenerative unit.
SJME
Servomotors
Regenerative unit
Used if regenerative
energy is high.
Cables for I/O signals
Connectors for I/O signals
(for CN1)*2
To the control
circuits of
magnetic contactor
SERVOPACKs and Applicable Peripheral Devices
SERVOPACK
SJME-01AMA41 SJME-01AMA4C SJDE-01APA
SJME-02AMA41 SJME-02AMA4C SJDE-02APA
SJME-04AMA41 SJME-04AMA4C SJDE-04APA
SJME-08AMA41 SJME-08AMA4C SJDE-08APA
Yaskawa Electric Corporation
Manufacturer
100W
200W
400W
750W
*3
Contact
YASKAWA ELECTRIC
(SHANGHAI)CO.,LTD
Power Supply Capacity Current Capacity
Molded-case Current Capacity and Inrush
per SERVOPACK for
Circuit Breakers Model of External Fuse Current
A0-P
kVA
Arms*1,*2
0.40
0.75
1.2
2.2
8
16
−
−
−
4
−
Fujix
Co., Ltd
KUNSHAN FUJIX
IMPORT AND
EXPORT TRADE
CO.,LTD.

Shanghai
Molex Interconnect
(Shanghai)Co.,Ltd
Crimp type*3
Receptacle: 5557-06R-210
Terminal: 5556T(chained) or
5556TL(detached)
Molex Japan
Co., Ltd
−
Shenzhen
‚Molex
Hong Kong
China Ltd.,
Shenzhen Office
Spring type
Receptacle: 04JFAT-SAYGF-N
Shanghai
−
JST. Mfg.
Co., Ltd.
−
Spring type
Receptacle: 04JFAT-SBXGF-N
5m
JZSP-CHP800-10
10m
Crimp type*3
Receptacle: 5557-12R-210
Terminal: 5556T2(chained) or
5556T2L(detached)
Crimp type(gray)*3
Plug and cable cover set: 54599-1005
Plug housing: 51209-1001
Crimp terminal: 59351-8087(chained) or
59351-8187(detached)
Soldered type (gray)
Plug and cable cover set: 54599-1005
Plug connector: 54593-1011
Soldered type (black)
Shell kit: 36310-3200-008
Receptacle: 36210-0100JL
J.S.T(SHANGHAI)
CO.,LTD.
‚Hong Kong
J.S.T(H.K.)CO.,LTD.
−
JZSP-CHP800-05
JZSP-CHI003-01
JZSP-CHI003-02
JZSP-CHI003-03
Soldered type
Shell kit: 10314-52A0-008
Plug: 10114-3000VE
Contact*4
Manufacturer
Sun-Wa
Technos
Corporation
−
SHANGHAI SUN-WA
TECHNOS CO.,LTD
Shanghai
Molex
Interconnect
(Shanghai)Co.,Ltd
‚
Molex Japan Shenzhen
Molex Hong Kong
Co., Ltd
−
China Ltd.,
Shenzhen Office
−
−
Sumitomo
3M Ltd.
1m
2m
3m
Sun-Wa
Technos
Corporation
−
Sumitomo
3M Ltd.
SHANGHAI SUN-WA
TECHNOS CO.,LTD
your Yaskawa representative for the servomotor main circuit or the encoder cables of 3m, 15m, and 20m.
*12:: Contact
for CNA, CNB, CN1, and CN2 are sold separately.
* Connectors
Connectors at the motor end are also sold separately. The customer must provide these connectors.
to page 27 for a list of models of crimping tools.
*34:: Refer
* Refer to the list on page 34 for contact information.
*: Prepare a 24-VDC power supply for the brake separate from the sequence power supply.
Servomotor
Rated
output Without brake With brake
Specifications
5m
10m
5m
10m
J-FAT-OT
Encoder cables with connectors
at both ends (for relay)*1
Fuse
To protect the equipment,
always install fuses.
Length
Selection of Devices
Name
3M
Power supply
Single-phase 200 VAC
L1 L2
Noise filter
Used to suppress noise from
power lines for CE marking
requirements.
System Configuration
System
System Configuration
Configuration
Magnetic
Contactor
Noise Filter
FN2070-6/07
0KLK015.T(15Arms)
30
HI-11J
0KLK030.T(30Arms)
60
−
HI-15J
Yaskawa Controls Co., Ltd.
FN2070-10/07
FN2070-16/07
Schaffner Electronic
−
YASKAWA ELECTRIC
(SHANGHAI)CO.,LTD
Schaffner EMC
Ltd.Shanghai
Littelfuse Inc.
KUNSHAN FUJIX IMPORT AND
EXPORT TRADE CO.,LTD.
Surge
Protector
AC Reactor
Regenerative
Unit
X5052
X5053
R・C・M-601BQZ-4
JUSP-RG08D
X5054
X5056
Okaya Electric Industries Co., Ltd. Yaskawa Controls Co., Ltd. Yaskawa Electric Corporation
OKAYA HONG KONG
TRADING LIMITED.
YASKAWA ELECTRIC
(SHANGHAI)CO.,LTD
value at the rated load. The specified derating is required to select the appropriate capacity of molded-case circuit breaker.
*12:: Typical
characteristics (25˚C): 200% two seconds min. and 700% 0.01 seconds min.
*3: Operating
* Refer to the list on page 34 for contact information.
Note: The ground protection circuit is designed for ground fault inside the motor windings while the motor is running.
Therefore, it may not protect the system under the following conditions.
• A low-resistance ground fault occurs between the main circuit cable and connector for the servomotor.
• The power supply is turned ON during a ground fault.
To configure a safer system, install an earth leakage breaker to protect against both overloads and shortcircuits, or install an earth
leakage breaker for ground protection and a molded-case circuit breaker.
4
5
Selection
Selection of
of Devices
Devices
Precautions when Selecting Peripheral Devices
Regenerative Units
The rotational energy of driven machines, including servomotor, is returned to the
SERVOPACK as electric power. This is called regenerative power. The power is
absorbed by the smoothing capacitor. When the capacitor has reached its limit in
power absorption, the excess is then consumed by the regenerative unit.
The servomotor is driven in the regeneration state in the following circumstances:
• While decelerating to a stop during acceleration and deceleration operation.
• During continuous operation on the vertical axis.
• During continuous operation with the servomotor rotated from the load side (negative load).
<Allowable Load Inertia Moment and Allowable Regenerative Frequency with Regenerative Unit >
The graphs below show the capacity absorbed regenerative energy and allowable
regenerative frequency of the SERVOPACKs with regenerative units connected.
The graphs show values for horizontal axis. For the vertical axis, refer to the JunmaSize+: AC
Servomotor Selection Software.
SJDE-01(100W)
SJDE-01(100W)
Regenerative unit
not required.
ž
0.6
0.5
0.4
0.3
0.2
0.1
0
0
Power Supply Voltage: 230 V
Load moment of inertia
( × 10 -4 kg m2)
ž
Load moment of inertia
( × 10 -4 kg m2)
Power Supply Voltage: 200 V
3000 4500
0.3
0.2
0.1
0
0
SJDE-02(200W)
30 rotations/min
2.4
60 rotations /min
ž
2
1.5
1
1.3
Regenerative unit
not required.
0.5
0
0
3000 4500
SJDE-02(200W)
3
2.5
0.5
0
0
2.8
2
1.8
30 rotations/min
60 rotations /min
Regenerative unit
not required.
1
ž
3
12 rotations/min
Load moment of inertia
( × 10 -4 kg m2)
3.9
ž
Load moment of inertia
( × 10 -4 kg m2)
4
3000 4500
12 rotations/min
30 rotations/min
3
3.0
2
1.9
1
1.1
0
0
3000 4500
10
30 rotations/min
60 rotations /min
Regenerative unit
not required.
6 rotations/min
8
6.9
6
Regenerative unit
not required.
3.6
2
2.1
0
0
Note: An overvoltage alarm will occur without a required regenerative unit.
12 rotations/min
30 rotations/min
4
Speed (min-1)
6
12 rotations/min
4
ž
3.7
3000 4500
Load moment of inertia
( × 10 -4 kg m2)
ž
Load moment of inertia
( × 10 -4 kg m2)
6 rotations/min
5.3
2
0
0
3000 4500
Speed (min-1)
SJDE-08(750W)
8.5
4
Regenerative unit
not required.
Speed (min-1)
SJDE-08(750W)
6
60 rotations /min
0.8
5
Speed (min-1)
8
1.8
SJDE-04(400W)
SJDE-04(400W)
5
10
30 rotations/min
2
1.5
1
Speed (min-1)
0
0
3000 4500
Speed (min-1)
Load moment of inertia
( × 10 -4 kg m2)
ž
Load moment of inertia
( × 10 -4 kg m2)
Speed (min-1)
3
2.5
Regenerative unit
not required.
0.6
0.5
0.4
3000 4500
Speed (min-1)
Regenerative unit
not required.
Molded-case Circuit Breaker (MCCB)
If selecting a molded-case circuit breaker, observe the following precautions.
<Maximum Input Current >
• The instantaneous maximum output of SERVOPACK is approximately 3 times the rated output. The output
can last up to 3 seconds. Accordingly, select a molded-case circuit breaker whose breaking time is 5
seconds or more at 300% of SERVOPACK rated current. The general-purpose low-speed acting moldedcase circuit breakers are applicable.
• The consumption of other controllers must be considered when selecting a molded-case circuit breaker.
• The power-supply capacity per SERVOPACK when using a servomotor is described in SERVOPACKs
and Applicable Peripheral Devices on page 4. If using several SERVOPACKs, select a molded-case circuit
breaker with a capacity larger than the effective load current, which is calculated from the total power
supply capacity.
n
< Inrush Current >
• The allowable inrush current for a low-speed acting molded-case circuit breaker is approximately 10 times
the rated current for 0.02 seconds.
• If several SERVOPACKs are being used at the same time, select a molded-case circuit breaker with an
allowable current (20 ms) greater than the total inrush current of the SERVOPACK.
• Refer to SERVOPACKs and Applicable Peripheral Devices on page 4 for more information on the
SERVOPACK's inrush current.
n
Earth Leakage Breaker
• It is recommended to use a general-purpose circuit breaker of the rated current 200 mA or more, or a circuit
breaker for inverters (for high-frequency).
• High-frequency current may leak through the armature of a servomotor when switching in the SERVOPACKs.
Magnetic Contactor
A magnetic contactor is required to make the AC power to SERVOPACK ON/OFF sequence externally. Be
sure to attach a spark killer to the excitation coil of the magnetic contactor.
Noise Filter
• Install a noise filter on the power supply line for peripheral equipment as necessary.
• Use a noise filter to prevent noise interference. If the equipment is to be used near private houses or may
receive noise interference, install a noise filter on the input side of the power supply line. Because the SJDE
SERVOPACK is designed as an industrial device, it provides no mechanism to prevent noise interference.
• Install the input reference device and noise filter as close to the SERVOPACK as possible.
7
Selection of Devices
<Caution>
• Do not touch the regenerative units as they reach high temperatures. Use heat-resistant, nonflammable wiring and make sure that the wiring does not touch the units. For connecting wire size when
connecting a unit, refer to P16.
• The regenerative unit has three error detection functions: regenerative resistor burnout, regenerative
transistor failure, and overvoltage detection. When these functions are tripped, the built-in alarm relay will
operate and the C1 and C2 output terminals of the regenerative unit will be opened.
• Construct a sequence so that the power supply (through L1 and L2) to the SERVOPACK will be always
shut OFF when the alarm relay operates. Two to three seconds are required to reset the alarm relay once
the alarm relay operates. The alarm state will return to normal when the main capacitor in the SERVOPACK
finishes discharging.
Servomotors
Servomotors
Ratings and Specifications
Voltage
Servomotor Model: SJMEA
Applicable SERVOPACK SJDEA
Rated Output*1
W
Rated Torque*1,*2 Nžm
Instantaneous Peak Torque*1 Nžm
Rated Current*1 Arms
Instantaneous Max. Current*1 Arms
Rated Speed*1
min-1
Max. Speed*1
min-1
Torque Constant Nžm/Arms
Rotor Moment of Inertia kgžm2 × 10-4
Rated Power Rate*1 kw/s
Rated Angular
rad/s2
Acceleration*1
200 VAC
02
04
04
02
400
200
1.27
0.637
3.82
1.91
2.0
1.1
6.0
3.3
3000
4500
0.682
0.645
0.603
0.330
26.7
12.3
01
01
100
0.318
0.955
0.84
2.5
Description
08
08
750
2.39
7.16
3.7
11.1
–
Motor output at the rated operating point
Torque at the rated operating point
Maximum instantaneous torque of the motor
Current flowing to the motor at the rated operating point
Maximum instantaneous current that is allowed to flow to the motor
Speed at the rated operating point
Highest possible speed
Generated torque ratio for current flowing to the motor
0.699
0.413
Inertia moment at the rotor shaft
1.50
0.0634
Motor output per unit time
38.1
16.0
The theoretical angular acceleration(also called torque-to15900
21100
19300
50200
inertia ratio) at the rated torque
"Continuous rating" means that the temperature of the servomotor in continuous operation
Time Rating
Continuous
under specified conditions will not exceed a specified temperature or other limitation.
B
Thermal Class
Highest allowable temperature for armature winding: 130˚C
The maximum vibration amplitude of the motor expressed in units of
micrometers on the condition that the vibration is measured with a vibrometer
15µm or below
Vibration Class
parallel to the shaft and in two directions perpendicular to the shaft.
–
1500 VAC for one minute
Withstand Voltage
–
500 VDC, 10 MΩ min.
Insulation Resistance
Enclosure
Totally enclosed, self-cooled, IP55 (excluding shaft opening and connectors) Level of protection from dust and water drops
Impact acceleration: 490 m/s2 in three directions — vertical, Impact resistance of the motor in three directions (up and
down, left and right, and back and forth) with the motor
side to side, and front to back.
Impact Resistance
shaft mounted horizontally
Impact occurrences: 2
2 in three directions
Vibration resistance of the motor in three directions (up and down, left
Vibration
acceleration:
49
m/s
Vibration Resistance
and right, and back and forth) with the motor shaft mounted horizontally
— vertical, side to side, and front to back.
items and speed/ torque characteristics quoted in combination with an SJDE SERVOPACK are at an
*1: These
armature winding temperature of 100˚C. Other values quoted at 20˚C.
rated torques listed here are the values for the continuous allowable torque at 40˚C with an aluminum heatsink
*2: The
(250 mm × 250 mm × 6 mm) attached.
Holding Brake Specifications
01
02
04
08
Servomotor Model:SJMEA
Description
24 VDC ±10%
Rated Voltage
–
0.064
0.171
Holding Brake Moment of Inertia* kgžm2 × 10-4 0.0075
–
W
6
6.9
7.7
–
Capacity
0.318
1.27
2.39 Torque against an external force to hold the shaft
Min. Holding Torque (Static Friction Torque) Nžm
Ω(at 20˚C)
96
83
75
Resistance of the built-in coil in the brake
Coil Resistance
A(at 20˚C)
0.25
0.29
0.32 Current that flows when the brake is released
Rated Current
ms
80 max.
Time from when the power for the holding brake is turned on until the brake is released.
Brake Release Time
100 max.
Time from when the power for the holding brake is turned off until the brake reaches the set torque.
Rise Time for Holding Torque ms
obtain the motor moment of inertia with a brake, add the holding brake moment of inertia to the rotor moment of inertia. The rated power
*: To
rate and angular acceleration of the motor will change according to the motor moment of inertia.
Notes: 1 The holding brake is only used to hold the load and cannot be used to stop the servomotor.
2 Do not use the holding brake when the servo is on. Failure to observe this caution may result in an overload in the SERVOPACK or a
decrease in the brake life.
Speed / Torque Characteristics
How to Read a Gragh of Speed and Torque Characteristics
Speed (min-1)
The output torque will decrease if the speed exceeds the rated speed.
SJME-04A
5000
Rated operating point
4000
Rated torque
The same torque is output at any rotation speed.
3000
2000
A. Continuous operating range
Safe range allowing the continuous operation
of the servomotor.
The effective torque must be within this range.
0
0
B. Repetitive operating range
Range where the motor can be operated for a short time,
provided that the effective torque of the motor is within
the continuous operating range.
B
A
1000
1
2
3
4
Torque(Nžm)
2000
A
B
8
3000
2000
B
1000
1000
0
4000
A
0
0.25 0.50 0.75 1.00
Torque(Nžm)
0
SJME-04A
5000
4000
3000
2000
A
B
0.5
1.0
1.5
Torque(Nžm)
2.0
0
4000
3000
2000
A
B
1000
1000
0
SJME-08A
5000
Speed (min-1)
3000
Speed (min-1)
Speed (min-1)
4000
SJME-02A
5000
Speed (min-1)
SJME-01A
5000
0
1
2
3
Torque(Nžm)
4
0
0
2
4
6
Torque(Nžm)
Note: Solid lines show the torque/speed characteristics of the servomotor at 200 VAC, and the broken lines show them at 230 VAC.
8
Dimensions Units: mm
100W
300±30
Motor Connector Specifications
Encoder connector
Servomotor main circuit cable
Motor connector
1.8
0.03
25
0
30 -0.033
dia.
A
A
Holding brake (de-energization operation)
Power supply: 24 VDC
0.06 dia. A
46
dia
.
2-4.3 dia.
Plug:
5559-06P-210
Terminal (No.1 to 3, 5, 6):
5558T(chained) or 5558TL(detached)
Grounding Pin (No.4):
30490-2002(chained) or
30490-2012 (detached)
(Manufacture: Molex Japan Co., Ltd)
Encoder Connector Specifications
Plug:
12 11 10 9 8 7
5559-12P-210
6 5 4 3 2 1
Terminal:
5558T2(chained) or
5558T2L(detached)
(Manufacture: Molex Japan Co., Ltd)
Note: Only for servomotors with brakes
Holding brake torque = Motor rated torque
Type
SJME01AMA41
01AMA4C
1
No brake
With brake
Red
Phase U
Red
1 Phase U
White
Phase V
White
2 Phase V
Blue
Phase W
Blue
3 Phase W
FG
Green/Yellow
FG
Green/Yellow
4
–
–
Brake
Red
5
–
–
Brake
Black
6
40
A
2.5
14
0
8 -0.009
dia.
5
4
2
3
Cross Section A-A
0.08 A
L
LL
5
3
300±30
6
3
L
LL
Approx. Mass
kg
119
164
94
139
0.5
0.8
Servomotors
Encoder cable
PG5V
Red
1
Black
2 PG0V(GND)
Blue
3 Phase A+
Blue/White
4 Phase A–
Yellow
5 Phase B+
6 Phase B– Yellow/White
Phase /Z
Purple
7
Phase U
Gray
8
Phase V
Green
9
Orange
10 Phase W
–
–
11
FG
Shield
12
200W to 750W
300±30
Encoder cable
Encoder connector
3
Servomotor main circuit cable
5
Motor connector
5
300±30
Cross Section A-A
0.08 A
L
LL
LR
LG
LC
LE
0.03
LF dia.
A
LB dia.
A
S dia.
A
QK
LD
LA
dia
.
Holding brake (de-energization operation)
Power supply: 24 VDC
4-LZ dia.
0.06 dia. A
Note: Only for servomotors with brakes
Holding brake torque = Motor rated torque
Type
SJME02AMA41
02AMA4C
04AMA41
04AMA4C
08AMA41
08AMA4C
L
LL
125.5
165.5
148.5
188.5
173
216
95.5
135.5
118.5
158.5
133
176
LR LG LE
30
40
6
8
3
3
S
LB
LC LD LF LA LZ QK
–
–
–
–
35
20
0
0
50 -0.039
14 -0.011
60
0
0
16 -0.011
70 -0.046
80
70 5.5 20
90
7
30
Approx. Mass
kg
0.9
1.5
1.3
1.9
2.6
3.5
9
SERVOPACKs
SERVOPACKs
Ratings and Specifications
SERVOPACK model SJDEMax. applicable servomotor
capacity [kW]
Continuous output current
[Arms]
Instantaneous max.
output current [Arms]
Voltage
Input power supply Frequency
(for main circuit
and control circuit) Capacity at rated
output [kVA]
Power loss at rated output [W]
01APA
02APA
04APA
08APA
0.1
0.2
0.4
0.75
Motor capacity that the SERVOPACK can drive.
0.84
1.1
2.0
3.7
Current that the SERVOPACK can output continuously.
2.5
3.3
6.0
11.1
0.40
0.75
1.2
2.2
Maximum current that the SERVOPACK can output
instantaneously.
–
–
Power supply capacity required to operate a motor at
the rated output.
14
16
24
35
Electric power emitted as heat from the SERVOPACK while
operating the motor at the rated torque and rated speed.
Single-phase 200 V to 230 VAC, +10% to –15%
50/60Hz ±5%
Output control method
Capacitor-input type, single-phase full-wave
rectification with resistance to prevent inrush
currents.
PWM control, sine wave power driven system
Feedback
Analog output encoder
Input control method
Allowable load inertia [kgm2]*1
Input signal
for reference
I/O Signals
Designated
pulse type
and pulse
resolution
with PULSE
switch.
Pulse type
Pulse
resolution
Clear input signal
Servo ON input signal
Alarm output signal
Brake output signal
Positioning
completed output signal
Origin output signal
Built-in functions
Dynamic brake (DB)
Regenerative processing
Protection*2
Description
0.6 × 10-4
3 × 10-4
5 ×10-4
10 ×10-4
Select one of the following signals:
1. CCW + CW
2. Sign + pulse train
3. CCW + CW (logic reversal)
4. Sign + pulse train (logic reversal)
Select one of the following signals:
1. 1000 pulses/rev
(Open collector/line driver) 75 kpps max.
2. 2500 pulses/rev
(Open collector/line driver) 187.5 kpps max.
3. 5000 pulses/rev (Line driver) 375 kpps max.
4. 10000 pulses/rev (Line driver) 750 kpps max.
Clears the positioning error when turned ON.
Turns the servomotor on or off.
OFF if an alarm occurs.
–
–
Speed or position detector fixed on the motor shaft
opposite the load side.
Maximum allowable moment of inertia converted into
the moment of inertia at the motor shaft of the machine.
Type of pulse train signal to drive motor, input into the
SERVOPACK.
For CCW+CW, input both forward and reverse
rotation pulse trains.
Number of reference pulses required to rotate the
motor one turn
–
–
–
Note: OFF for 2s when power is turned ON.
External signal to control brakes.
Turn ON to release the brake.
ON if the current position is equal to the reference
position ± 10 pulses.
ON if the motor is at the origin. (Width: 1/500 rev)
Note: Use the pulse edge that changes the signal from OFF
to ON.
Operated at main power OFF, servo alarm, servo
OFF.
(OFF after motor stops; ON if the motor power is off.)
Optional
(If the regenerated energy is too large, install a
regenerative unit.)
Speed errors, overload, encoder errors, voltage
errors, overcurrents, disablement of the built-in
cooling fan, system errors.
–
–
Only one point of origin per rotation
Method that stops the motor by short-circuiting
the internal circuit of the SERVOPACK.
Function to consume rotational power generated when
the motor is rotated by external force. This function is
required for a high load moment of inertia.
–
Note: No built-in circuit for ground protection.
–
5 (PWR, REF, AL1, AL2, AL3)
–
Select one of eight levels with FIL switch.
–
Forced cooling (built-in fan)
–
0˚C to +55˚C
–
90% RH or less (with no condensation)
–20˚C to +70˚C
–
–
90% RH or less (with no condensation)
• Free of corrosive gases
• Free of dust and iron powder
–
Installation site
• Clean and dry
–
Altitude
1000 m or below
–
Vibration resistance
4.9m/s2
–
Shock resistance
19.6m/s2
Installation category (overvoltage category):
–
Operating conditions
Pollution degree: 2
Protection class: IP1X (EN50178)
sure to use the motor with in the allowable load inertia moment.
*1: Be
The operation of the motor will become unstable if the allowable load Inertia moment is exceeded.
ground protection circuit is designed for ground fault inside the motor windings while the motor is running.
*2: The
Therefore, it may not protect the system under the following conditions.
• A low-resistance ground fault occurs in the main circuit cable or in the connector of the cable for the servomotor.
• The power supply is turned ON during a ground fault.
To configure a safer system, install an earth leakage breaker to protect against both overloads and shortcircuits, or install an earth
10
leakage breaker for ground protection and a molded-case circuit breaker.
LED display
Reference filter
Cooling method
Operating temperature
Operating humidity
Storage temperature
Storage humidity
Dimensions Units: mm
10
Mounting Hole Diagram
4.5 dia.holes
2-M4 mounting holes
5
5
(17) (14)
(5)
SJDE-01, 02 (100W, 200W)
Airflow
YASKAWA 200V
SJDE- 02 APA
REF
BC D
AL1
AL2
AL3
78 9
23
6
F0 1
45
CN1
140
120
130
140
C
N
1
CN2
C
N
2
Cooling fan
PWR
U
L1
V
YASKAWA ELECTRIC
W
+
CNA
MADE IN CHINA
CNB
CNB
(10)
(5)
CNA
Nameplate
4.5
7
Ground terminal
with 2 × M4 screws
Airflow
(5)
12.5 15
L2
SERVOPACKs
45
E
BC D
130 ± 0.5
(Mounting pitch)
78 9
6
F0 1
A
FIL
23
A
E
PULSE
(4.5)
19
5
(75)
35
(28)
35
7
105
10
Mounting Hole Diagram
4.5 dia.holes
2-M4 mounting holes
5
5
(17) (14)
(5)
SJDE-04 (400W)
Airflow
Visible ovutline
YASKAWA
200V
SJDE- 04 APA
78 9
45
23
6
AL1
AL2
AL3
01
78 9
EF
BC D
45
CN1
140
120
CN2
C
N
2
PWR
12.5 15
Cooling fan
U
L1
L2
V
+
-
W
YASKAWA ELECTRIC
MADE IN CHINA
CNB
CNA CNB
(10)
(5)
Nameplate
4.5
7
Ground terminal
with 2 × M4 screws
Airflow
(4.5)
CNA
5
(75)
19
(5)
130
140
C
N
1
130 ± 0.5
(Mounting pitch)
23
6
01
A
FIL
REF
BC D
EF
A
PULSE
7
(33)
40
105
40
Mounting Hole Diagram
2-M4 mounting holes
5
4.5 dia.holes
10
5
(17)
(44)
(35)
SJDE-08 (750W)
Airflow
Visible outline
200V
YASKAWA
SJDE- 08 APA
REF
78 9
6
45
23
6
01
78 9
EF
BC D
AL1
AL2
AL3
45
140
130 ± 0.5
(Mounting pitch)
CN1
120
140
130
C
N
1
CN2
C
N
2
Cooling fan
L1
U
L2
V
+
-
MADE IN CHINA
CNB
Nameplate
14
CNA
30
Airflow
(4.5)
4.5
17
Ground terminal
with 2 × M4 screws
YASKAWA ELECTRIC
W
CNA CNB
(10)
(5)
12.5 15
PWR
(75)
5
145
(5)
BC D
23
A
A
01
FIL
EF
PULSE
17
14
(13)
30
70
70
11
SERVOPACKs
SERVOPACKs
Part Names and Functions
YASKAWA
200V
Input voltage
67
89 A
67
BCDE
F0 12
34 5
FIL
BCDE
34 5
PULSE
89 A
SJDE- 04 APA
F0 12
Type
Rotary switch for reference
pulse setting (PULSE)
REF
Reference indicator (REF)
AL1
AL2
AL3
Alarm indicators (AL1 to AL3)
Rotary switch for reference
filter setting (FIL)
I/O signal connector (CN1)
Power supply indicator
(PWR)
C
N
1
C
N
2
Encoder connector (CN2)
PWR
Ground terminal
L1
L2
U
+
W
V
Connector for motor main
circuit cable (CNB)
−
CNA CNB
Connectors for power supply /
regenerative unit (CNA)
78 9
6
23
45
Open collector
or line driver
Line driver
Open collector
or line driver
Line driver
Open collector
or line driver
Line driver
Open collector
or line driver
Line driver
CW + CCW
Positive logic
CW
CCW
CW + CCW
Negative logic
CW
CCW
Sign + pulse sequence,
Positive logic
Time between
Filter Acceleration/
Set Reference and
Setting Deceleration
Completed Positioning
Value*1 Time for Step4
(Settling Time)*3
Reference*
0*2
1
2
3
4
5
6
7
8 to F
45ms
100 to 200ms
50ms
110 to 220ms
60ms
130 to 260ms
65ms
150 to 300ms
70ms
170 to 340ms
80ms
200 to 400ms
85ms
250 to 500ms
170ms 500 to 1000ms
Do not set 8 through F.
Description
Small filter time
constant (short
positioning time)
Large filter time
constant
(little vibration
with a long
positioning time)
Sign + pulse sequence,
Negative logic
If the machine vibrates when starting or stopping the machine,
*1: set
a larger value.
The factory setting is 0. Not necessary to change this value
*2: unless
machine vibrates.
The value changes depending on conditions such as the level
*3: of
command acceleration and deceleration, the rigidity of the
PULS
SIGN
Select the appropriate servomotor capacity with these values if
*4: using
a step reference without any acceleration or deceleration
PULS
SIGN
Notes: 1 Make settings after turning OFF the power.
2 The factory setting is 0.
12
6
45
1000
2500
5000
10000
1000
2500
5000
10000
1000
2500
5000
10000
1000
2500
5000
10000
Reference
Pulse Type
01
01
Pulse Reference Reference Pulse
Pulse
Setting
Resolution Connection Method
Value (P/REV)
0
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F
BCD
78 9
A
FIL
EF
BCD
EF
A
PULSE
Reference Filter Setting (FIL)
23
Reference Pulse Setting (PULSE)
motor drive of the machine, and the motor resolution.
time.
Alarm (AL1, AL2, and AL3)
: Lit
Indicators*
Lit orange.
Blinks orange.
Motor
Power
Reference
Pulses
OFF
—
OFF
Indicators
ON
—
Blinks green.
ON
Input
Meaning of Alarm
AL1
Meaning of Alarm
AL2
Normal
AL3
Overcurrent
AL3
AL1
*: Lit yellow for 1 s when the clear signal is input.
Indicators
AL1
AL2
Input
Lit green.
: OFF
AL1
AL2
Cooling fan in
SERVOPACK
stopped
AL2
Speed error
AL3
AL3
AL1
AL1
AL2
AL2
Overload
AL3
SERVOPACKs
Reference (REF)
System error
AL3
AL1
Rotary switch for
reference pulse
setting (PULSE)
AL3
Blinks at regular intervals. changed.
AL1
AL2
AL2
Encoder error
AL3
AL1
AL2
Voltage error
AL3
Connector for Power Supply/
Regenerative Unit (CNA)
N
A
4
3
4
3
4
2
3
3
1
2
2
2
N
A
Pin No. Symbol Signal Name
Phase U
U
1
Phase V
V
2
Phase W
W
3
Not used
4
1
1
1
Pin No. Symbol
Signal Name
L1
1
Power supply
input terminals
L2
2
+
3
Regenerative unit
connection terminals
4
Connector for Motor Main
Circuit Cable (CNB)
4
I/O Signal Connector (CN1)
Pin No.
1
2
3
4
5
6
7
I/O
Input
Input
Input
Input
Input
Input
Output
Symbol
Signal Name
Pin No.
CW, PULS Reverse rotation pulse,
8
reference pulse
/CW, /PULS
9
CCW, SIGN Forward rotation pulse,
10
/CCW, /SIGN
11
reference sign
External input power supply 12
+24VIN
Servo ON
/S-ON
13
Output signal ground
SG-COM
14
Shell
I/O Symbol
Signal Name
CLR
Input
Position error
pulse clear
/CLR
Input
Phase-C signal
Output PCO
Output SG-PCO Phase-C signal ground
Servo alarm
Output ALM
Brake
/BK
Output
Output /COIN Positioning completed
FG
-
14
8
9
1
Encoder Connector (CN2)
Pin No. Symbol
Signal Name
Pin No. Symbol Signal Name
Phase BPG5V PG power supply +5 V
B1
6
Phase /Z
PG0V PG power supply 0 V
/Z
2
7
Phase U
Phase A+
A+
U
3
8
Phase V
Phase AAV
4
9
Phase W
Phase B+
B+
W
5
10
9
1
10
2
13
Connection
Connection Diagram
Diagram
Example
Power supply
Single-phase 200 V to 230 VAC
50/60Hz
L1 L2
Molded-case circuit breaker
Surge protector
Noise
filter
AVR1*
24-V power supply
MC1
SW1 SW2
MC1
C1
200 V to
AVR2
230 VAC
24-V power
supply
+24V 0V
Reactor
200 V to
230 VAC
MC1
Spark
killer
+
C2
Regenerative unit —
JUSPY4
RG08D
Y5
Ry1
5
+24V
Varistor
Brake
6
0V
SERVOPACK
L1
CNA
1
L2
2
+
3
—
4
CNB
1
U
1
2
V
2
3
W
3
U
V
Servomotor
W
FG
4
CN1
Controller
CW,PULS
1 75Ω
/CW,/PULS
2 75Ω
CN2
1
PG5V
1
2
PG0V
2
CCW,SIGN
3 75Ω
3
A+
3
/CCW,/SIGN
4 75Ω
4
A—
4
CLR
8 75Ω
5
B+
5
/CLR
9 75Ω
6
B—
6
2.2kΩ
Encoder
PCO
10
7
/Z
7
SG-PCO
11
8
U
8
+24VIN
5
9
V
9
/S-ON
6
10
W
10
3.4kΩ
ALM
Ry1
Flywheel diode
12
/BK
13
/COIN
14
SG-COM
7
Shell
Shell
12
Shield
a 24-VDC power supply
*: Prepare
for the brake separate from the
sequence power supply.
Shield
Notes: 1 AVR1 : 24-VDC power supply for brake
AVR2 : 24-VDC power supply for sequence
SW1 : Power OFF switch
SW2 : Power ON switch
MC1 : Magnetic contactor
Ry1 : Relay for brake
ž
Manufactures of Components
Spark killer
Flywheel diode
Relay for brake
Varistor
Okaya Electric Industries Co., Ltd.:CRE-50500
Toshiba Corp.:
1NH42
Omron Corp.:
MY series
Nippon Chemi-Con Corp.:
TNR7V121K
2 The ground protection circuit is designed for ground fault inside the motor windings while the motor is running.
Therefore, it may not protect the system under the following conditions.
• A low-resistance ground fault occurs between the main circuit cable and connector for the servomotor.
• The power supply is turned ON during a ground fault.
To configure a safer system, install an earth leakage breaker to protect against both overloads and shortcircuits, or install an
earth leakage breaker for ground protection and a molded-case circuit breaker.
14
Main Circuit Wiring
• SJDE SERVOPACKs are suitable where the power supply is less than 5000 Arms (230 V rms max.).
• SERVOPACKs must be used with UL-listed fuses or circuit breakers, in accordance with the National
Electrical Code (NEC).
• Use 75 ˚C heat-resistant copper wires or an equivalent.
SERVOPACK Main Circuit Wire Size and Tightning Torque
Cable Types
Allowable
Conductor
Temperature
Cable Types
Symbol
Name
PVC
Normal vinyl cable
–
IV
600-V vinyl cable
60˚C
HIV
Temperature-resistant vinyl cable
75˚C
Connection Diagram
• Wire sizes are selected for three cables per bundle at 40 ˚C ambient temperature with the rated
current.
• Use cables with a minimum withstand voltage of 600 V for main circuits.
• If cables are bundled in PVC or metal ducts, consider the reduction ratio of the allowable current.
• Use heat-resistant cables under high ambient or panel temperatures where normal vinyl cables
will rapidly deteriorate.
• Do not use cables under continuous regenerative state.
The following table shows the wire size and allowable current for three cables. Use a cable whose
specifications meet or are less than the values in the table.
600-V Heat-resistant Vinyl Cables (HIV)
AWG Size
20
—
18
16
14
Nominal Cross Configuration Conductive
Section Diameter
Number of Resistance
Ω /mm
mm2
wires/mm2
0.5
0.75
0.9
1.25
2.0
19/0.18
30/0.18
37/0.18
50/0.18
7/0.6
39.5
26.0
24.4
15.6
9.53
Allowable Current at
Ambient Temperature A
30˚C
6.6
8.8
9.0
12.0
23
40˚C
5.6
7.0
7.7
11.0
20
50˚C
4.5
5.5
6.0
8.5
16
Note: The values in the table are only for reference.
15
Connection
Connection Diagram
Diagram
Power Supply Input Terminals (L1, L2), Motor Connection Terminals (U, V, W),
and Regenerative Unit Connection Terminals (+, –)
Capacity
W
SERVOPACK
Type
100
200
400
750
SJDE-01A
SJDE-02A
SJDE-04A
SJDE-08A
L1, L2
Terminal Symbol
U, V, W
+, –
HIV1.25mm2
Wiring length:
20 m max.
HIV1.25mm2
Wiring length:
0.5 m max.
HIV1.25mm2
HIV2.0mm2
Note: Connectors are used for all wiring.
Ground Terminal (
Wire Size
)
Terminal Screw Size Tightening Torque
2
HIV 2.0 mm min.
M4
1.2 to 1.4Nžm
<Signal Line Wire Sizes>
The following wires are used for the CN1 and CN2 connectors on the SERVOPACK.
Connector Name and Symbol
Item
Cable
I/O signal
connector
CN1
Maximum cable length
Applicable wires
Specifications
Use twisted-pair wires or shielded twisted-pair
wires.
3m
AWG24(0.2 mm2), AWG26(0.12 mm2),
AWG28(0.08 mm2)
Finished cable outer diameter 8 mm dia. max.
Cable
Maximum cable length
Encoder signal
connector
Use the cables specified by Yaskawa or use
shielded twisted-pair wires.
20m
AWG22 (0.33 mm2) and AWG26 (0.12 mm2)
CN2
Applicable wires
Used AWG22 for the encoder power supply and
AWG26 for signal lines.
Finished cable outer diameter 9 mm dia. max.
16
Wiring Precautions
Connection Diagram
• Only an electrical engineer should perform the wiring.
• Design the circuit so that both the /S-ON signal and the main-circuit power supply turn
OFF at an emergency stop.
• An overtravel function is not provided for the SERVOPACK. To configure a safer
system, include a function so that the /S-ON signal will turn OFF when the limit switch
is activated.
• If the servomotor is used to drive a vertical axis, install a safety device such as a
counterweight to prevent the workpiece from falling down when an alarm occurs.
Failure to observe this precaution may result in injury or damage to the equipment
from fallen workpieces.
• Use a molded-case circuit breaker and fuse to protect the power supply line from high
voltage. The SJDE SERVOPACK connects directly to a commercial power supply
without a transformer, so always use a circuit breaker and fuse to protect the
SERVOPACK from accidental high voltage.
• The ground protection circuit is designed for ground fault inside the motor windings
while the motor is running. Therefore, it may not protect the system under the
following conditions.
ž A low-resistance ground fault occurs between the main circuit cable and connector
for the servomotor.
ž The power supply is turned ON during a ground fault.
To configure a safer system, install an earth leakage breaker to protect against both
overloads and shortcircuits, or install an earth leakage breaker for ground protection
and a molded-case circuit breaker.
• The distance between a power line (such as a power supply line or servomotor cable)
and a signal line must be at least 30 cm. Do not put the power and signal lines in the
same duct, and do not bundle them together.
• The longer a pulse line is, the lower the maximum frequency of the line is.
• Customers must purchase a 24 VDC power supply with double-shielded enclosure.
• Install an interlock system in the circuit to avoid any accident when opening or closing
the machine’s protective cover.
Caution for Grounding
• To ground a SERVOPACK, follow these conditions.
2
ž Use as thick a cable as possible (HIV 2.0 mm or thicker) for grounding.
ž A ground resistance of 100Ω or less is recommended.
ž Ground to one point only.
89A
67
89A
200V
CTL
AL1
AL2
AL3
C
N
2
45
45
PWR
PWR
U
L1
U
L1
L2
V
L2
V
L2
+
W
+
W
CNA CNB
B C DE
C
N
1
L1
-
B C DE
67
89A
89A
67
89A
67
23
23
45
67
45
PWR
FIL
23
C
N
2
YASKAWA
SJDE- 04 APA
PULSE
45
C
N
1
C
N
2
200V
CTL
AL1
AL2
AL3
F0 1
C
N
1
23
B C DE
F0 1
89A
B C DE
F0 1
FIL
F0 1
67
YASKAWA
SJDE- 04 APA
PULSE
45
200V
CTL
AL1
AL2
AL3
F0 1
B C DE
23
B C DE
F0 1
FIL
23
YASKAWA
SJDE- 04 APA
PULSE
CNA CNB
U
V
+
W
CNA CNB
Caution for Cable
• For wiring, use the specified cables. Use cables that are as short as possible.
• Do not bend exessively or apply tension to cables. The conductor of a signal cable is
very thin (0.08 to 0.12 mm2), so handle the cables carefully.
17
Connection
Connection Diagram
Diagram
Explanation of I/O Signals
Pulse train references are given to control the position of the servomotor. The following pulse train output
forms are supported from the host controller.
• Line driver output
• +24-V open-collector output
• +12-V open-collector output
• +5-V open-collector output
I/O Signal Timing Examples
Servo ON (/S-ON)
ON
Motor ON
t1
Motor ON
t2
Brake released
H
Brake (/BK)
(SIGN)
Sign + pulse train
t1:
t2:
t3
Approx. 40 ms
Approx. 130 ms*3
40 ms*1
(Motor with brake: 100 ms)
t4
20 µs*2
H
t3
L
(PULS)
Positioning completed (/COIN)
ON
t4
Clear (CLR)
ON
interval from when the servo ON signal is turned ON until the reference pulse is input
*1: The
must be at least 40 ms, or the reference pulse may not be received by the SERVOPACK.
If a motor with a brake is in used, more time will be required to release the brake.
Therefore, provide an interval of at least 100 ms.
error counter clear signal must be ON for at least 20 µs. If the reference pulse is stopped
*2: The
when the clear signal is turned ON, the motor will stop at that position.
The lag time for the brake is 100 ms. Use a relay for brakes with an operating time of 30 ms
*3: or
less.
Notes: 1 The maximum lag time from the moment that an error or fault was detected until the
alarm signal turns ON is 2ms.
Alarm detection
ALM
2ms max.
2 If using the phase-C output signal, use an edge when the signal changes from OFF
to ON at the beginning, so that the changes in the waveform from ON to OFF are
round edged.
PCO
Edge when the signal changes from OFF to ON
Reference Pulse Signal Form
Sign + pulse train input
(SIGN + PULS signal)
Maximum reference frequency:
750 kpps (187.5 kpps for an
open-collector output)
Electrical Specifications
SIGN
PULS
18
t1
t2
t3
T
Forward reference
Sign (SIGN):
High = Forward reference
Low = Reverse reference
Reverse reference
T
CW pulse + CCW pulse
Maximum reference frequency:
750 kpps (187.5 kpps for an
open-collector output)
t1, t2, t3 > 3µs
0.65µs
( /T) ×100 50%
Remarks
t1 > 3µs
0.65µs
( /T) 100 50%
CCW
CW
t1
Forward reference
Reverse reference
–
Connection Examples of Input Signal
Line Driver Output
Applicable line driver: SN75174 or MC3487 (Manufactured by Texas Instruments or equivalent)
24-V Power supply
+24V
SERVOPACK
CN1
+24VIN
6 3.4kΩ
Photocoupler
Host controller
0V
5
PULS
1
7mA
75Ω
/PULS
2
75Ω
SIGN
3
75Ω
/SIGN
4
75Ω
CLR
8
75Ω
/CLR
9
75Ω
Twisted-pair wires
Connection Diagram
*:
/S-ON
*
Open-collector Output
Set the R1 through R3 current limit resistors so that input current (i) will fall within the following range.
Input current (i) = 7 mA to 15 mA
24-V Power supply
SERVOPACK
+24V
CN1
+24VIN
6 3.4kΩ
Photocoupler
Host controller
/S-ON
5
7mA
0V
Vcc
R1
i *
PULS
1
75Ω
/PULS
2
75Ω
Photocoupler
Tr1
R2
Tr2
R3
i
i
SIGN
3
75Ω
/SIGN
4
75Ω
CLR
8
75Ω
/CLR
9
75Ω
Examples:
• When Vcc is +24 V: R1 through R3 = 2.2 kΩ
• When Vcc is +12 V: R1 through R3 = 1 kΩ
• When Vcc is +5 V: R1 through R3 = 180 Ω
Note: The following signal logic applies for
an open-collector output.
Tr1 to Tr 3 ON Equivalent to high level input
Tr1 to Tr 3 OFF Equivalent to low level input
Tr3
*:
Twisted-pair wires
Connection Example of Output Signal
Set the load so that the output current (i) will fall within 50 mA or less.
Photocoupler output (per output signal)
• Max. voltage: 30 VDC
• Max. current: 50 mADC
24-V Power supply
SERVOPACK
+24V
0V
CN1
Photocoupler
10
PCO
Load
50mA max.
11
SG-PCO
12
ALM
Load
14
/COIN
Load
13
BK
Load
7
SG-COM
19
Installation
Installation
Servomotor Installation
Precautions
The service life of the servomotor will be shortened or unexpected problems will occur if the servomotor is
installed incorrectly or in an inappropriate location. Always observe the precautions in this section when
installing a servomotor.
• If the relay cables are connected to the motor, be sure to connect the end for the servomotor's main-circuit
cables before connecting the end for the encoder cable. If the encoder cable's end is connected first, the
encoder may become damaged because of the voltage differences between the Frame Ground (FG) pins
on the servomotor and the grounding terminal of the SERVOPACK.
• If using cables that are not made by Yaskawa, ensure that connector pins and cables are correctly
configured.
• Make sure there is no foreign matter (such as dust and metal chips) in the connector before connecting.
• When handling a servomotor with its cables connected, hold the servomotor or the connectors and cables
will be damaged.
Installation Conditions
Environment
Operating temperature
Operating humidity
Installation sites
Storage conditions
Altitude
Environment
0˚C to +40˚C without freezing
20% to 80%RH with no condensation
• Indoors
• Free of corrosive or explosive gases
• Well-ventilated and free of dust and moisture
• Facilitates inspection and cleaning
If the power cable is disconnected, store the motor under these conditions.
Temperature: -20˚C to +60˚C without freezing
Humidity: 20% to 80%RH with no condensation
1000 m or below above sea level
Note: Do not directly connect the servomotor to a commercial power line. This will damage the servomotor.
Waterproof Specifications
The protective structure of the servomotors is designed with an IP55 rating.
• The servomotor can be used in a location that is subject to water drops, except for the connector and the
section where the shaft passes through.
• Do not use the servomotor in a location that is subject to oil mist.
Flange
Through shaft section
This refers to the gap where the shaft
protrudes from the end of the motor.
Shaft
Direction of Servomotor Rotation
Positive rotation of the servomotor is counterclockwise when viewed from the load.
Counterclockwise
20
Installation Direction
• The motor can be installed horizontally or vertically. If the motor is mounted vertically, provide a cable trap
so that water drops do not enter the motor.
If the motor is installed with the axis pointing up, take preventative measures so that oil does not splash on
the motor from other parts of the machine such as the gearbox.
• Do not bend or pull excessively any cables, the lead openings, and the junctions of the cables.
The cores in the encoder cable and the brake signal line in the main circuit cable are only 0.2 mm2 or 0.3
mm2. Be sure to protect them from stress.
Horizontal
Vertical
Cable trap
• The end of the motor shaft is coated with an anticorrosive coating. Thoroughly remove the coating prior to
installation, or it will not be possible to couple the motor to the mechanical system.
Anticorrosive coating
• Use the mounting holes (two for 100-W models and four for 200- to 750-W models) on the motor installation
surface to secure the motor.
Nut
Motor installation plate
Washer
Mounting screw
• Do not apply shock directly to the output shaft or encoder when mounting the motor, because the
servomotor shaft is directly coupled to the encoder. The encoder may be damaged by the shock.
<Precautions>
The motor main circuit cable, encoder cable, and relay cable cannot be used for applications in which the
cables are moved, twisted, or rotated to a small bending radius. The cable bending radius in the center of the
cable must be a of 15 mm or larger. If the cables need to be bent, consult your Yaskawa representative.
Bending radius
R = 15
21
Installation
Installation Method
Installation
Installation
Coupling to the Machine
Observe the following precautions when coupling the servomotor with the drive axis of the machine.
• Align the shaft of the servomotor with the shaft of the equipment, and then couple the shafts.
• Make sure that the motor and the machine are accurately aligned.
Failure to observe this caution may result in damage to the motor axis or deterioration of the standard life of
the servomotor by an eccentric load. Keep the eccentric load as small as possible.
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.
Coupling
Note: When measuring the difference, turn
the motor and the coupling together.
• A metal disk coupling designed for servomotors is recommended to maintain the response characteristics
and durability of the servomotor.
• When attaching the coupling to the shaft of the servomotor, do not hammer the axis or near the encoder.
Such shocks and vibrations may cause the encoder to malfunction.
Allowable Loads
Design the mechanical system so that, during operation, the thrust and radial loads applied to the servomotor
shaft do not exceed the range shown in the table below.
Allowable Allowable Thrust Load Distance
Servomotor Model
N
from Flange
Radial Load
SJMEmm
Direction
A or B
N
01A
78
54
20
02A
245
74
25
245
74
25
04A
147
35
08A
392
Distance from Flange
Allowable Radial Load
A B
Allowable Thrust Load
Mechanical Tolerance TIR (Total Indicator Reading)
The following diagram shows tolerances for the servomotor's output shaft and installation area.
Perpendicularity between the flange face and output shaft
0.08 mm A
Run-out at the end of the shaft
0.03 mm
A
Matching concentricity of the flange
0.06 dia. mm A
22
SERVOPACK Installation
Installation Conditions
Installation Site
Notes
Design the control panel size, unit layout, and cooling method so
the temperature around the SERVOPACK does not exceed 55˚C.
Installation in a control panel
Note: The maximum ambient temperature for long-term reliability is 45˚C.
Minimize the heat radiating from the heating unit as well as any
temperature rise caused by natural convection so the temperature
around the SERVOPACK does not exceed 55˚C.
Installation near a source of
Install a vibration isolator beneath the SERVOPACK to avoid subjecting
vibration
it to vibration.
Corrosive gas does not have an immediate effect on the SERVOPACK
Installation at a site exposed to
but will eventually cause the electronic components and contactor-related
corrosive gas
devices to malfunction. Take appropriate action to avoid corrosive gas.
Take appropriate action to avoid any contaminants such as dust, iron
Installation at a contaminated
particles, water drops, or oil mist. Contamination will cause the
site
electronic components to malfunction.
Installation Method
• Install the SERVOPACK perpendicular to the wall. The SERVOPACK contains a built-in fan for cooling and
must be mounted in the specified direction.
• Connect the mounting holes securely to the mounting surface with M4 screws (two mounting holes).
SERVOPACK installation plate
M4 screw
Space between SERVOPACK Units
Be sure to keep a space between adjacent SERVOPACK units if they are mounted inside the control panel
so that the units can be cooled.
Airflow
F0 1 2
F0 1 2
FIL
34 56
CTL
AL1
AL2
AL3
C
N
1
C
N
2
BC D
BC D
PWR
34 56
E
PULSE
E
F0 1 2
E
F0 1 2
E
A
A
BC D
F0 1 2
F0 1 2
E
F0 1 2
BC D
E
A
E
A
F0 1 2
SJDE- 04 APA
CTL
AL1
AL2
AL3
C
N
1
C
N
2
PWR
34 56
BC D
C
N
1
C
N
2
34 56
BC D
FIL
200V
78 9
E
PULSE
78 9
C
N
1
SJDE- 04 APA
CTL
AL1
AL2
AL3
78 9
34 56
50 mm min.
YASKAWA
200V
A
34 56
78 9
FIL
78 9
PULSE
A
SJDE- 04 APA
CTL
AL1
AL2
AL3
78 9
34 56
78 9
FIL
YASKAWA
BC D
34 56
78 9
PULSE
200V
BC D
SJDE- 04 APA
YASKAWA
A
200V
A
YASKAWA
C
N
2
PWR
PWR
L1
U
L1
U
L1
U
L1
U
L2
V
L2
V
L2
V
L2
V
+
W
-
+
W
-
CNA CNB
30 mm min.
+
W
-
CNA CNB
10 mm min.
+
W
-
CNA CNB
Airflow
CNA CNB
50 mm min.
23
Installation
Installation near a heating unit
Cables
Cables // Peripheral
Peripheral Devices
Devices
Servomotor Main-circuit Cables with Connectors at both Ends (for Relays)
Specifications
Motor Type
No brake
With brakes
Cable Model
JZSP-CHM000-05
JZSP-CHM000-10
JZSP-CHM030-05
JZSP-CHM030-10
Length (L) Manufacturer
Contact
5m
10m
KUNSHAN FUJIX IMPORT
Fujix Co., Ltd
AND
EXPORT TARDE CO.,LTD.
5m
10m
Note: Contact your Yaskawa representative for the servomotor main-circuit cables of
3m, 15m, and 20m.
Dimensions / Wiring Specifications
oo(For motors without brakes)
JZSP-CHM000-
SERVOPACK end
50mm
1
Motor end
L
4
4 5 6
1 2 3
Connector (crimp type)
Receptacle:5557-06R-210
Terminal: 5556T(chained) or
5556TL(detached)
(Molex Japan Co., Ltd.)
M4 crimped terminals
Connector (crimp type)
Receptacle: F32FSS-04V-KY
Terminal: SF3F-01GF-P2.0 or SF3F-41GF-P2.0
(J.S.T. Mfg. Co., Ltd.)
SERVOPACK-end Connector
Servomotor-end Connector
Pin No.
Signal
Wire Color
Pin No.
Signal
1
Phase U
Red
1
Phase U
Wire Color
Red
2
Phase V
White
2
Phase V
White
3
Phase W
Blue
3
Phase W
Blue
4
—
—
4
FG
Green/Yellow
5
—
—
Crimped terminals
F G*
Green/Yellow
6
—
—
*: Connect the FG pin to the grounding terminal of the SERVOPACK.
oo(For motors with brakes)
JZSP-CHM030-
Motor end
SERVOPACK end
1
50mm
4
L
M4 crimped terminals
Connector (crimp type)
Receptacle: F32FSS-04V-KY
Terminal: SF3F-01GF-P2.0 or SF3F-41GF-P2.0
(J.S.T. Mfg. Co., Ltd.)
SERVOPACK-end Connector
5
6
1
2
3
Connector (crimp type)
Receptacle:5557-06R-210
Terminal: 5556T(chained) or
5556TL(detached)
(Molex Japan Co., Ltd.)
Servomotor-end Connector
Pin No.
Signal
Wire Color
Pin No.
Signal
1
Phase U
Red
Phase U
Red
2
Phase V
White
Phase V
White
3
Phase W
Blue
4
—
—
Crimped terminals
Green/Yellow
Crimped terminals
F G*1
Brake*2
1
2
3
4
5
6
Crimped terminals
Brake*2
Black
Black
the FG pin to the grounding terminal of the SERVOPACK.
*12:: Connect
* No polarity for connection to the brake.
24
4
Wire Color
Phase W
Blue
FG
Green/Yellow
Brake
Black
Brake
Black
Connectors for Servomotor Main-circuit Cables
Specifications
Type
Parts
Model
5557-06R-210
Receptacle
5556T(chained)
or
Terminal
Crimp type
5556TL(detached)
Crimping tool 57027-5000
Manufacturer
Contact
Molex Japan
Co., Ltd.
Molex Interconnect(Shanghai)Co.,Ltd.
Shanghai
Shenzhen
Molex Hong Kong China Ltd., Shenzhen Office
Dimensions Units: mm
11.6
10.7
4
5
6
1
2
3
13.8
19.6
Connectors for Battery Case, Regenerative Unit, and Servomotor Main-circuit Cables
Cables / Peripheral Devices
Specifications
Type
Parts
Model
Manufacturer
Contact
For battery case/
Shanghai
CNA connector 04JFAT-SBXGF-N
regenerative unit
J.S.T.(SHANGHAI)
Spring
J.S.T. Mfg.
CO LTD
For servomotor
type
CNB connector 04JFAT-SAYGF-N Co., Ltd.
Shenzhen
main-circuit cables
J.S.T.(H.K)
CO LTD
Tool to remove wires
J-FAT-OT
Dimensions Units: mm
Servomotor Main Circuit Cable Connector
04JFAT-SAYGF-N
N
4
4
3
3
2
2
N
A
A
1
1
Power Supply/Regenerative Unit Connector
04JFAT-SBXGF-N
13.2
13.2
1
6.7
RX
JST
29
2
29
3
A
4
JST
A
4
34.24
29.04
20.44
3
2
1
6.7
34.24
29.04
20.44
4
3
2
1
5.08
4
3
2
NY
1
5.08
15.24
15.24
Tool to Remove Wires
J-FAT-OT
20.3
7
25
Cables
Cables // Peripheral
Peripheral Devices
Devices
Encoder Cables with Connectors at both Ends (for Relay)
Specifications
Model
Length (L) Manufacturer
Contact
5m
JZSP-CHP800-05
Sun-Wa Technos
SHANGHAI SUN-WA TECHNOS CO.,LTD
Corporation
10m
JZSP-CHP800-10
Note: Contact your Yaskawa representative for the encoder cables
of 3m, 15m, and 20m.
Dimensions
Motor end
SERVOPACK end
L
9
10
1
2
• Crimp type (Gray)
Plug and cable cover set : 54599-1005
Plug housing :
51209-1001
Crimped terminals:
59351-8087(chained) or
59351-8187(detached)
(Molex Japan Co., Ltd.)
7
8
9 10 11 12
1
2
3 4
5
6
Receptacle : 5557-12R-210
Terminal : 5556T2(chained) or
5556T2L(detached)
(Molex Japan Co., Ltd.)
• Solder type (Black)
Shell kit :
36310-3200-008
Receptacle : 36210-0100FD
Wiring Specifications
Pin No.
Signal
Wire Color
PG5V
Red
1
PG0V(GND)
Black
2
Phase A+
Blue
3
Phase A—
Blue/White
4
Phase B+
Yellow
5
Phase B— Yellow/White
6
Phase /Z
Purple
7
Phase U
Gray
8
Phase V
Green
9
Phase W
Orange
10
—
Shield wire
Shell
Shield wire
26
Pin No.
Signal
Wire Color
PG5V
Red
1
PG0V(GND)
Black
2
Phase A+
Blue
3
Phase A— Blue/ White
4
Phase B+
Yellow
5
Phase B— Yellow/White
6
Phase /Z
Purple
7
Phase U
Gray
8
Phase V
Green
9
Phase W
Orange
10
—
—
11
FG
Shield
12
Connectors for Encoder Cables
Specifications
Motor End
Type
Parts
Model
5557-12R-210
5556T2(chained) or
5556T2L(detached)
Receptacle
Crimp type Terminal
Manufacturer
Contact
Shanghai
Molex Japan
Co., Ltd.
Molex Interconnect(Shanghai)Co.,Ltd.
Shenzhen
Molex Hong Kong China Ltd., Shenzhen Office
Crimping tool 57026-5000
SERVOPACK End
Parts
Model
Plug and cable cover set 54599-1005
Plug housing
51209-1001
Crimp type
59351-8087(chained) or
(gray)
Crimp terminal
59351-8187(detached)
Crimping tool
57401-5300
Soldered type Plug and cable cover set 54599-1005
(gray)
Plug connector
54593-1011
36310-3200-008
Shell
kit
Soldered type
(black)
36210-0100FD
Receptacle
Manufacturer
Contact
Shanghai
Molex Japan
Co., Ltd.
Molex Interconnect(Shanghai)
Co.,Ltd.
Shenzhen
Molex Hong Kong China Ltd.,
Shenzhen Office
Sumitomo
3M Ltd.
Cables / Peripheral Devices
Type
SHANGHAI SUN-WA
TECHNOS CO.,LTD
Dimensions Units: mm
Motor End
11.6
10.7
7
8
9 10 11 12
1
2
3 4
5
6
26.4
19.6
SERVOPACK End
40
11
9
10
1
2
15
22.7
27
Cables
Cables // Peripheral
Peripheral Devices
Devices
Cables for I/O Signals
Specifications
Cable Model
Length (L) Manufacturer
Contact
1m
JZSP-CHI003-01
Sun-Wa Technos
SHANGHAI SUN-WA TECHNOS CO.,LTD
2m
JZSP-CHI003-02
Corporation
3m
JZSP-CHI003-03
Dimensions Units: mm
SERVOPACK end
Host controller end
100 +10
–0
(5.6 dia.)
L
Connector(14P) : 10114-6000EL
Shell : 10314-52A0-008
(Sumitomo 3M Ltd.)
Cable (black)
HP-SB/20276SR AWG#28 × 7P
UL20276 VW-1
Wiring Specifications
Pin No. Signal Code
CW, PULS
/CW, /PULS
CCW, SIGN
/CCW, /SIGN
+24VIN
/S-ON
SG-COM
1
2
3
4
5
6
7
Marking
Pin No. Signal
Code
Dots Color
Black
8
CLR
Reverse rotation pulse,
Orange
reference pulse
9
Red
/CLR
Black 10
PCO
Forward rotation pulse, Light gray
1
reference signal
11
Red
SG-PCO
Black 12
ALM
External input power supply
White
13
Servo ON
Red
/BK
Output signal ground
Yellow
Black 14
/COIN
Shell
Lead
Color
Signal Name
Signal Name
Position error
pulse clear
Phase-C signal
Phase-C signal ground
Servo alarm
Brake
Positioning completed
FG
Marking
Dots Color
Red
1 Black
Pink
Red
Black
Orange
Red
2
Black
Light gray
Red
Lead
Color
Yellow
Connectors for I/O Signals
Specifications
Models
Manufacturer
Contact
10314-52A0-008 Sumitomo
SHANGHAI SUN-WA TECHNOS CO.,LTD
3M Ltd.
10114-3000VE
Type
Parts
Soldered Shell kit
type
Plug
Dimensions Units: mm
Shell Kit
Plug
8.5
2.54
2.3
1.27
5.1
7.0
23.6
12.7
9.1
29.5
7.5
5.2
18.2
Pin No.1
Pin No.2
1.27
7.62
13.6
28
15˚
19.3
(2.9)
(6.6)
12.7
39.0
23.8
3M
18.2
Magnetic Contactor
Specifications
Model Specifications Manufacturer
Contact
20A
HI-11J
Yaskawa Controls YASKAWA ELECTRICH
Co., Ltd.
(SHANGHAI) CO.,LTD.
35A
HI-15J
Dimensions Units: mm
HI-11J
Mounting Hole
Dimensions
Dimensions
44
10.1
Coil terminal
M3.5
8.2
76
61
34.5
4.5
Auxiliary
Contact
34
13
U
V
R 1 S 3 T 5
1 13
U 2 V 4 W6
2 14
1
W
35
NO A1
2
NC
10.4
2 × M4
mounting holes
9
4
8.2
Auxiliary contact terminal M3.5
Main contact terminal M3.5
Cables / Peripheral Devices
T
NO
A2 NC
48
52
S
41
74.5
78.5
R
Structure
NO A1
15.5
b
a
5
Terminal Symbols
A2 NC
R 1 S 3 T 5
1 11
U 2 V 4 W6
2 12
HI-15J
Mounting Hole
Dimensions
Dimensions
91
Coil terminal
M3.5
65
39
5.2
4.5
35
5
45.5
15.3
8.2
b
9.6
a
Terminal Symbols
Auxiliary
Contact
Structure
3
NO A1
29
50
U
V
9.6
11.3
W
70
75
1
35
T
85
S
51
R
NONC
A2 NC
R 1 S 3 T 5 1 21 3 13
2
U 2 V 4 W 6 2 22 4 14
4
8.2
10.8
9
54
76
2 × M4
mounting holes
Auxiliary contact terminal M3.5
Main contact terminal M4
29
Cables
Cables // Peripheral
Peripheral Devices
Devices
External Fuse
Specifications
Fuse
Model
0KLK015.T
0KLK030.T
Rated Rated Fusing
Applicable
Manufacturer
Current Voltage Time
SERVOPACKs
15Arms
Within 2 s SJDE-01 to 04 Littelfuse Inc.
600V
30Arms
at 200%
SJDE-08
Contact
KUNSHAN FUJIX IMPORT
AND EXPORT TARDE CO.,LTD.
Fuse Block
Model
L60030M2SQ
L60030M2C
Type
Manufacturer
Screw terminal, 2 poles
Littelfuse Inc.
Copper box lug, 2 poles
Dimensions Units: mm
Fuse
10.31
38.1
Fuse Block
36.49
31.75
76.2
30
Contact
KUNSHAN FUJIX IMPORT
AND EXPORT TARDE CO.,LTD.
Noise Filter
Specifications
Model
Specifications
Manufacturer
Contact
FN2070-6/07 Single-phase 250 VAC, 6A
Schaffner Schaffner Shanghai
FN2070-10/07 Single-phase 250 VAC, 10A Electronic Co.,LTD.
FN2070-16/07 Single-phase 250 VAC, 16A
Dimensions Units: mm
FN2070-6/07, FN2070-10/07
Top view
38±0.5
Cables / Peripheral Devices
25±0.2
140 +5
-0
32.4±0.5
45.4±1.2
P/N/E
0.9±0.1
B
C
8.4±0.5
6±0.1
D
A
Contact terminal
Side view
57.5±1
Model
FN2070-6/07
FN2070-10/07
A
B
C
D
113.5±1 103±0.3 94±1 4.4±0.1
156±1 143±0.3 130.5±1 5.3±0.1
FN2070-16/07
Top view
Contact terminal
Side view
57.6±1
40±0.2
140 +5
-0
P/N/E
8.6±0.5
1.2±0.1
119±0.5
109±0.3
98.5±1
4.4±0.1
7.4±0.1
51±0.2
66±0.3
85.5±1
31
Cables
Cables // Peripheral
Peripheral Devices
Devices
Regenerative Unit
Specifications
JUSP-RG08D
Model
50Ω
Resistance
Allowable
regenerative energy 12W
Manufacturer
Regenerative
operating voltage 380 Vdc
Contact
YASKAWA
Yaskawa Electric ELECTRIC
Corporation
(SHANGHAI)
CO.,LTD.
Regenerative
processing current 8 Adc
Error detection
Disconnection of regenerative resistance,
failure of regenerative transistor, or overvoltage
Alarm output
NC contact (Opens if a protective function is used.)
Contact specifications: 250 VAC, 1.5A (inductive load)
Dimensions Units: mm
15
6
Nameplate
6-dia. hole
25
M4 screw for external terminal
REGENERATIVE UNIT
JUSP-RG08D
POWER
RE-ON
AL-RE
AL-0V
+(Y3)
160
130
149
(Y4)
(Y5)
C1
C2
(15.5)
6
5
15
YASKAWA
25
50
130
M4 screw for ground terminal
Approx. mass : 1.0kg
Surge Protector (For lightning surge protection)
Specifications
Model
Contact
Specifications Manufacturer
Single-phase Okaya Electric
OKAYA HONG KONG
RžCžM-601BQZ-4
250 VAC
Industries Co., Ltd. TRADING LIMITED
Dimensions Units: mm
Internal Connection Diagram
11±1
Dimensions
1
1 2
Case
41±1
32
28±1
200+30
-0
Connection
cables
4.5±0.5
5.5±1.0
28.5±1.0
4.2 dia. ±0.5
2
AC Reactor
Specifications
Contact
Inductance (mH) Rated Current (A) Manufacturer
1.0
45.0
2.0
20.0
Yaskawa Controls YASKAWA ELECTRICH
Co., Ltd.
(SHANGHAI) CO.,LTD.
3.0
5.0
5.0
2.0
Cables / Peripheral Devices
Model
X5052
X5053
X5054
X5056
Dimensions Units: mm
I dia.
G
C
D
Nameplate
Model
X5052
X5053
X5054
X5056
E
F
A
B
4 × H dia.
Notch
A
35
35
35
35
B
52
52
52
52
Dimensions mm
G
F
E
D
C
80 95 30 40 45
90 105 35 45 50
80 95 30 40 45
80 95 30 40 45
H
4
4
4
4
I
4.3
4.3
4.5
4.3
Approx. Mass
kg
0.4
0.6
0.4
0.4
Replacement Cooling Fan
Specifications
Model
JZSP-CHF08-1
JZSP-CHF08-2
Applicable SERVOPACKs
SJDE-01 to 04
SJDE-08
Manufacturer
Contact
Sun-Wa Technos SHANGHAI SUN-WA
Corporation
TECHNOS CO.,LTD
External Views
JZSP-CHF08-1
JZSP-CHF08-2
33
Cables
Cables // Peripheral
Peripheral Devices
Devices
Contact Information
Manufacture
Representative in China
Manufacture
Kunshan Fujix Import and Export Trade Co.,Ltd
Representative in China
Shanghai
Okaya Hong Kong Trading Limited.
Fujix
Co., Ltd
Shanghai
Molex Japan
Co., Ltd
Shenzhen
Okaya
Electric
Industries
Co., Ltd.
Shenzhen
Okaya Hong Kong Trading Limited.
Hong Kong
Okaya Hong Kong Trading Limited.
Shanghai
Kunshan Fujix Import and Export Trade Co.,Ltd
JST. Mfg.
Co., Ltd.
Littelfuse
Inc.
Hong Kong
Yaskawa
Controls
Co., Ltd.
Sun-Wa
Technos
Corporation
Sumitomo
3M Ltd.
Schaffner
Electronic
34
Shanghai Sun-Wa Technos Co.,Ltd
Yaskawa
Electric
Corporation
Yaskawa Electroc (Shanghai) Co.,Ltd.
Selection
Selection of
of Servomotor
Servomotor Size
Size
AC Servomotor Selection Software: JunmaSize+
JunmaSize+ is software designed for the capacity selection of servomotors in the Junma series.
Features
Cables / Peripheral Devices
• The latest product information.
• A wizard system with conversational mode to select optimal servomotors.
• References and reuses previously input and stored data.
Selection of Servomotor Size
Servomotor Selection Screen
35
Selection
Selection of
of Servomotor
Servomotor Size
Size
Formulas for Selecting Servomotor Capacity
Motions
Linear Motion
Horizontal Axis
Vertical Axis
Rotational Motion
M V
NR
Servomotor
µ
Counterbalance
MC
1/R
Servomotor
Servomotor
Lead : PB
1/R
Mechanical Configuration
N : Load axis speed (min-1)
V : Load speed (m/min)
T : Effective load torque
at motor shaft (Nžm)
µ : Friction coefficient
1/R
Lead : PB
PB : Ball screw lead (m)
M : Mass of linear-motion unit (kg)
MC : Mass of counterbalance (kg)
Torque
Speed
Speed Diagram
1/R :Gear ratio
:Combined efficiency
TM :Servomotor maximum
torque (Nžm)
Speed
V
Tp
TL
M V
For motion of vertical axis
Torque
0
TS
ta
tc
tm
td
te
Cycle time t (s)
Travel Distance (m)
R
Load axis speed
(min-1)
=V
60
ž
ta + 2tc + td
2
R
= V (tm – ta)
60
N = V
PB
N
Motor Speed (min-1)
Effective Load Torque at
Motor Shaft (Nžm)
Where ta = td,
NM = N
ž
N = V
PB
R
TL = 9.8 × µž M ž PB
2π ž R ž
TL = T
Rž
Effective Load Inertia at
Motor Shaft (kgžm2)
(
)
TL = 9.8 × M – MC PB
2π ž R ž
JL = JL1 + JL2 + JL3
JL1
JL3
JL1
JL3
JL2
JL3
JL2
JL1
JL2
Linear Motion
JL1 = M ž
ž
Solid cylinder
JK =
L (m)
2
PB
1
MK ž D 2
8
or
Rotational Motion
2
2πR
JK = π ž L ž D 4
32
MK : Mass (kg)
: Density (kg/m3) Iron
Aluminum
D (m)
PB
JL1 = (M + MC )ž
2πR
= 7.87 × 103 (kg /m3)
= 2.70 × 103 (kg /m3)
<Inertia for motor shaft>
At gear input side JL2 = JK
At gear output side JL3 = JK2
R
P0 = 2π ž NM ž TL
60
Running Power (W)
Pa =
Acceleration Power (W)
Required Starting Torque
(Nžm)
ž
NM
2
JL
ta
(
)
TP = 2π ž NM JM + JL + TL
60 × ta
Required Braking Torque
(Nžm)
Effective Torque(Nžm)
2π
60
(
)
TS = 2π ž NM JM + JL –TL
60 × td
Trms =
T P 2 ž ta + T L 2 ž tc + T S 2 ž td
t
Min. Starting Time (S)
(
)
tam = 2π ž NM JM + JL
60 (TM –TL )
Min. Braking Time (S)
(
)
tdm = 2π ž NM JM + JL
60 (TM + TL )
36
Trms =
TP 2žta + TL 2 (tc + te) + TS 2žtd
t
Linear Motion
Motions
Rack & Pinion
µ
Mechanical Configuration
Chain and Timing Belt
µ
Lp
W
dp, Zp
1/R
Lp
dp, Zp
1/R
N : Load axis speed (min-1)
V : Load speed (m/min)
T : Effective load torque at motor shaft (Nžm)
µ : Friction coefficient
Torque
M : Mass of linear-motion unit (kg)
1/R : Gear ratio
η : Combined efficiency
TM : Servomotor maximum torque (Nžm)
Speed
dp : Pitch diameter (m)
Zp : Number of gear
Lp : Pitch (m)
PB = Zp ž Lp or π ž dp
Speed
V
Tp
TL
Speed Diagram
W
Torque
0
TS
ta
tc
tm
td
te
Cycle time t (s)
Travel Distance (m)
R
=V
60
ž
ta + 2tc + td
2
Load axis speed
(min-1)
Where ta = td,
R
= V (tm – ta)
60
Motor Speed (min-1)
Effective Load Torque at
Motor Shaft (Nžm)
NM = N
ž
Selection of Servomotor Size
N = V
PB
R
9.8 × µ ž M ž PB + 2π žT
TL =
2π ž R ž
Effective Load Inertia at
Motor Shaft (kgžm2)
JL = JL1 + JL2 + JL3
JL1
JL1
JL3
JL3
JL3
JL3
JL2
JL2
Linear Motion
JL1 = M ž
ž
Solid cylinder
JK =
L (m)
PB
2
2πR
1
MK ž D 2
8
or
JK =
π
32
ž L žD
MK : Mass (kg)
: Density (kg/m3) Iron
Aluminum
D (m)
Rotational Motion
4
= 7.87 × 103 (kg /m3)
= 2.70 × 103 (kg /m3)
<Inertia for motor shaft>
At gear input side JL2 = JK
At gear output side JL3 = JK2
R
P0 = 2πž NM žTL
60
Running Power (W)
Acceleration Power (W)
Pa =
Required Starting Torque
(Nž m)
Required Braking Torque
(Nž m)
Effective Torque(Nž m)
2π
ž NM
60
2
JL
ta
(
)
TP = 2πžNM JM + JL + TL
60 × ta
(
)
TS = 2πžNM JM + JL –TL
60 × td
Trms =
T P 2 ž ta + T L 2 ž tc + T S 2 ž td
t
Min. Starting Time (S)
2πžNM (JM + JL)
tam =
60 (TM –TL)
Min. Braking Time (S)
(
)
tdm = 2πžNM JM + JL
60 (TM + TL)
37
Selection
Selection of
of Servomotor
Servomotor Size
Size
Servomotor Selection Example
Mechanical Specifications
• Load speed
Load
: V
= 30m/min
• Mass of linear-motion unit : M = 4kg
Gear A
Pulley
Gear B
• Pulley diameter
: DP = 0.064m
• Pulley thickness
: LP
• Coupling mass
: MC = 2690kg/m3
• Gear ratio
:R
=5
• Positioning frequency : n
= 40 times/min
• Traveling distance
= 0.5m
:
= 1.2 S max.
• Positioning interval : tm
• Friction coefficient
:µ
= 0.2
• Gear A outer diameter : DA = 0.02m
• Effective load torque
:T
= 0.05Nžm
: LA = 0.02m
• Gear B outer diameter : DB = 0.1m
Servomotor
: ρ A, ρB = 7870kg/m3
• Coupling outer diameter : DC = 0.03m
• Gear A thickness
Coupling
= 0.02m
• Gear density
• Gear B thickness
at motor shaft
• Combined efficiency : η
= 0.9
(90%)
: LB = 0.02m
Speed Diagram
V
30
= 60 = 1.5 (s)
Cycle time t = 60
n
Reference pulse
Speed
(m/min)
40
Load speed
ta
tc
td ts
Time (s)
Where acceleration time (ta) = deceleration time (td ) and
setting time (tc) = 0.1 s when the filter setting of the FIL rotary switch is 0.
Acceleration time : ta = td = tm – ts – 60 × = 1.2 – 0.1 – 60 × 0.5 = 0.1 (s)
1.2
t
V
30
Constant-speed time : tc = tm – ts – ta – td = 1.2 – 0.1 – 0.1 – 0.1 = 0.9 (s)
Speed
PB = πd = π × 0.064 = 0.201
• Load axis speed
N = V = 30 = 149 (min-1)
PB
0.201
• Motor speed
NM = N
ž
R=149 × 5= 745 (min-1)
Effective Torque at Motor Shaft
TL = µ ž 9.8 ž M ž PB + 2π ž T = 0.2 × 9.8 × 4 × 0.201 + 2π × 0.05 = 0.0669 (Nžm)
2π × 5 × 0.9
2π R ž η
Effective Load Moment of Inertia at Motor Shaft
JL = JL1 + JL2 + JL3 = (1.639 + 0.687 + 0.362) × 10-4 = 2.69 × 10-4 (kgžm2)
• Linear motion
PB 2
0.201 2
JL1 = M 2π R = 4 × 2π × 5 =1.639 × 10-4 (kgžm2)
• Load-shaft motion: Pulley × 2 + Gear B
JL2 = Σ J2i = 1 2 × π × (2690 × 0.02 × (0.064) 4 × 2 + 7870 × 0.02 × (0.1) 4) = 0.687 × 10-4 (kgžm2)
R
5
32
• Motor-shaft motion: Gear A + Coupling
JL3 = π × 7870 × 0.02 × (0.02) 4 + 1 × 0.3 × (0.03)2 = 0.362 × 10-4 (kgžm2)
8
32
38
Load Running Power
Po = 2π NM žTL
60
=
2π × 745 × 0.0669
= 5.2(W)
60
Load Acceleration Power
2π
NM
60
Pa =
2
2
2π
× 10-4 = 16.4(W)
JL
=
× 745 × 2.690.1
60
ta
Recomended Servomotor Selections
Conditions
TL Motor rated torque
ž Pa + Po =(1 to 2) × Motor rated output
ž NM
Motor rated speed or maximum speed
ž JL
Allowable load inertia of SERVOPACK
ž
From these conditions, the following selections are recommended :
ž Servomotor
: SJME-02AMA4
ž SERVOPACK : SJDE-02APA
<Ratings>
200(W)
3000(min-1)
4500(min-1)
0.637(N ž m)
1.91(N ž m)
0.417× 10-4 (kg ž m2)
3× 10-4 (kg ž m2)
Selection of Servomotor Size
:
• Rated output
:
• Rated speed
:
• Maximum speed
:
• Rated torque
:
• Instantaneous peak torque
:
• Rotor moment of inertia
• Allowable load inertia of SERVOPACK :
Servomotor Check
Required Starting Torque
-4
(
)
(
)
TP = 2π NM JM + JL + TL = 2π × 745 × 0.417 + 2.69 × 10 + 0.0669 = 0.309(Nžm)
60ta
60 × 0.1
(
)
< 1.91 Nžm = Instantaneous peak torque
Therefore, the servomotor can be used.
Required Braking Torque
2 π NM (JM + JL)
2π × 745 × (0.417 + 2.69) × 10-4
– TL =
– 0.0669 = 0.175(N ž m)
60ta
60 × 0.1
< 1.91(Nžm) = Instantaneous peak torque
Therefore, the servomotor can be used.
TS =
Effective Torque
Trms =
TP 2 ž ta + TL 2 ž tc + TS 2 ž td =
t
(0.297)2
× 0.1+ (0.0669)2 × 0.9 +(0.177)2 × 0.1
1.5
= 0.1032(Nž m)
< 0.637(Nžm) =Rated torque
Therefore, the servomotor can be used.
Therefore the recommended selection of servomotors and SERVOPACKs has sufficient capacity
and can be used.
39
Selection
Selection of
of Servomotor
Servomotor Size
Size
Servomotor Selection Example
Mechanical Specifications
:V
• Load speed
Linear motion unit
Servomotor
= 15m/min
• Mass of linear motion unit : M = 80kg
• Ball screw length
: LB = 0.8m
• Ball screw diameter : DB = 0.016m
Ball screw
v
Coupling
• Ball screw lead
: PB = 0.005m
• Coupling mass
: MC = 0.3kg
• Positioning frequency
n = 40 times/min
• Traveling distance
= 0.25m
• Positioning interval
tm = 1.2 S max.
• Friction coefficient
µ = 0.2
• Combined efficiency
η = 0.9
(90%)
• Coupling outer diameter : DC = 0.03m
Speed Diagram
V
15
Cycle time
Reference pulse
Speed
(m/min)
Load speed
ta
tc
td ts
Time (s)
t = 60
= 60 = 1.5 (s)
n
40
Where acceleration time (ta) = deceleration time (td ) and
setting time (tc) = 0.1 s when the filter setting of the FIL rotary switch is 0.
Acceleration time : ta = td = tm — ts — 60 × = 1.2 — 0.1 — 60 × 0.5 = 0.1 (s)
1.2
t
V
30
Constant-speed time : tc = tm — ts — ta — td = 1.2 — 0.1 — 0.1 — 0.1 = 0.9 (s)
Speed
• Load axis speed
• Motor speed
N = V = 15 = 3000 (min-1)
PB
0.005
Because of direct coupling, the gear ratio is 1/R = 1/1.
Then, NM = N ž R=3000 × 1=3000 (min-1)
Effective Torque at Motor Shaft
TL = µ ž 9.8 ž M ž PB = 0.2 × 9.8 × 80 × 0.005 = 0.139 (Nžm)
2π × 1 × 0.9
2π R ž η
Effective Load Moment of Inertia at Motor Shaft
JL = JL1 + JB + JC = 1.25 × 10-4 (kgžm2)
• Linear motion
• Ball screw
• Coupling
PB 2
0.005 2
JL1 = M 2π R = 80 × 2 π × 1 = 0.507 × 10-4 (kgžm2)
JB = π ρ ž LB ž DB 4 = π × 7.87 × 103 × 0.8 × (0.016)4 = 0.405 × 10-4 (kgžm2)
32
32
1
JC = 1 MC žDC 2 = × 0.3 × (0.03)2 = 0.338 × 10-4 (kgžm2)
8
8
Load Running Power
2π × 3000 × 0.139
Po = 2π NM ž TL =
= 43.7(W)
60
60
40
Load Acceleration Power
Pa =
2π
NM
60
2
2 1.25 × 10-4
2π
JL
=
×
3000 ×
= 123.4(W)
60
0.1
ta
Recommended Servomotor Selections
Conditions
TL Motor rated torque
ž Pa + Po =(1 to 2) × Motor rated output
ž NM
Motor rated speed or maximum speed
ž JL
Allowable load inertia of SERVOPACK
ž
From these conditions, the following selections are recommended :
ž Servomotor
: SJME-02AMA4
ž SERVOPACK : SJDE-02APA
<Ratings>
200(W)
3000(min-1)
4500(min-1)
0.637(N ž m)
1.91(N ž m)
0.417 × 10-4 (kg ž m2)
3 × 10-4 (kg ž m2)
Selection of Servomotor Size
:
• Rated output
:
• Rated speed
:
• Maximum speed
:
• Rated torque
:
• Instantaneous peak torque
:
• Rotor moment of inertia
• Allowable load inertia of SERVOPACK :
Servomotor Check
Required Starting Torque
-4
(
)
(
)
TP = 2π NM JM + JL + TL = 2π × 3000 × 0.417 + 1.25 × 10 + 0.139
60ta
60 × 0.1
< 1.91(Nžm)=Instantaneous peak torque
Therefore, the servomotor can be used.
0.662(Nžm)
Required Braking Torque
2π NM (JM + JL)
2π × 3000 × (0.417 + 1.25) × 10-4
— TL =
— 0.139
60ta
60 × 0.1
< 1.91(Nžm)= Instantaneous peak torque
Therefore, the servomotor can be used.
TS =
0.384(Nžm)
Effective Torque
Trms =
TP 2 ž ta + TL 2 ž tc + TS 2 ž td
t
=
(0.662)2 × 0.1+ (0.139)2 × 0.9 + (0.384)2 × 0.1
1.5
0.225(Nžm)
< 0.637(Nžm)= Rated torque
Therefore, the servomotor can be used.
Therefore the recommended selection of servomotors and SERVOPACKs has sufficient capacity
and can be used.
41
Connection
Connection to
to Host
Host Controller
Controller
Wiring to Mitsubishi's QD75D
I/O power supply
+24V +
QD75D
positioning unit
o Positioning Unit
+24V
-
024V
SJDE SERVOPACK
1
FLS
2
RLS
8
PG024
CN1
SG-PCO
11
10
PGO
PCO 10
11
6
7
READY
ALM 12
SG-COM
2.2kΩ
7
CLR
/CLR
8
CW,PULS
1
16
/CW,/PULS
2
17
18
CCW,SIGN
/CCW,/SIGN
+24VIN
3
/S-ON
6
13
14
15
Notes: 1 Mitsubishi = Mitsubishi Electric Corporation
2 Only signals between Yaskawa's SJDE
SERVOPACK and Mitsubishi's QD75D
positioning unit are shown in the diagram.
L1
L1
L2
L2
12
CLEAR
9
4
5
Servomotor
U
V
W
A(1)
B(2)
C(3)
M
D(4)
PG
CN2
Wiring to Omron's CS1W-NC133/233/433 Positioning Unit
I/O power supply
CS1W-NC133/233/433 +24V +
positioning unit
5V power supply
for pulse output
+24 V
024V
SJDE SERVOPACK
+5V
5V GND for pulse output
A4
A3
CW(+) output
A5
Twisted-pair
wires
CW,PULS
CN1
1
CW(-) output
A6
/CW,/PULS
CCW(+) output
A7
CCW,SIGN
3
CCW(-) output
A8
/CCW,/SIGN
4
CLR
8
Error counter
reset output A11
Origin input signal A15
2
/CLR 9
SG-PCO 11
Origin input common A14
PCO 10
Positioning completion signal A12
/COIN- 14
24 V power supply for output A1
Connector
shell
24 V GND for output A2
+24VIN
42
A19
A21
A23
A22
A20
Servomotor
5
/S-ON
6
SG-COM
7
Input common A24
X-axis external interrupt input
X-axis origin proximity limit input
X-axis CCW limit input
X-axis CW limit input
X-axis immediate stop input
Notes: 1 Omron = Omron Corporation
2 Only signals between Yaskawa's SJDE
SERVOPACK and Omron's CS1WNC133/233/433 positioning unit are shown
in the diagram.
L1
L2
U
V
W
CN2
ALM 12
A(1)
B(2)
C(3)
M
D(4)
PG
Product
Product Standard
Standard Life
Life
Servodrive parts are subject to deterioration caused by mechanical friction and aging.
• The following standard service life is for reference only. The service life varies with environmental conditions and
application methods. Refer to the standard life provided in the table and contact your Yaskawa representative to
determine whether part replacement is required. If a problem occurs, inspection is necessary regardless of the length of
the service life.
SERVOPACKs
Part
Standard Life
Remarks
Cooling fan 30,000 hours The service life varies with the operating conditions.
Check for abnormal sounds or vibration during inspection.
Connection to Host Controller
Note: The following cooling fans are available for replacement
(manufactured by Sun-Wa Technos Corporation).
• SJDE-01 to 04 : JZSP-CHF08-1
JZSP-CHF08-2
• SJDE-08 :
Servomotors
Standard Life
Remarks
20,000 hours The service life varies with the operating conditions.
Check for abnormal sounds or vibration during inspection.
Product Standard Life
Part
Bearings
43
Terminology
Terminology
SERVOPACKs
lServo OFF
The state in which the motor is free and not controlled and power is
not supplied to the motor.
Servomotors
lForward rotation and reverse rotation
With Yaskawa's AC servomotors, forward rotation is the CCW
direction and reverse rotation is the CW direction as seen from the
lServo ON
load side of the motor.
The state in which the motor is controlled and power is supplied to
lMotor with brake
the motor.
lH level
The brake is used while the motor is not rotating. Do not use the
brake to stop the motor during operation. The servo must remain off
When the digital signal is at high level (5 V for TTL levels).
while the brake is functioning.
lL level
lCentering precision
When the digital signal is at low level (0 V for TTL levels).
The mechanical precision between the two shafts of the rotating
lRising edge
machines coupled together. Centering precision usually refers to
Where an electric signal shifts from low level to high level.
the load shaft.
lPosition settling time
lAllowable thrust load
The SERVOPACK drives the motor with a pulse train input for
position reference. The position settling time is the time from when
the difference in position between the axes of the motor shaft and
The maximum allowable load applied parallel to the axis of the
motor shaft.
the pulse train input is completed until the positioning error is within
the acceptable range.
lAllowable radial load
lOverload
The maximum allowable load applied vertically to the axis of the
The state in which the torque integrated over a certain period
motor shaft.
exceeds a preset allowable value.
lMomentary power interruption
The state where the supply of voltage to the SERVOPACK turns
OFF momentarily.
Peripheral Devices
lShort circuit breaker
lOpen collector
A device that automatically shuts off the circuit when the low-
An IC with an output collector that is open or a circuit using such an IC.
lMagnetic contactor
lLine driver
An IC with a relatively long-distance signal transmission method, or
voltage line has a ground fault.
A magnetic switch that turns power ON and OFF.
the circuit using such an IC.
lSurge protector
lMomentary power hold time
A device that absorbs external voltages, such as lightning surges,
The maximum time that the voltage of the main circuit can be
maintained without generating an alarm during a momentary
interruption of power.
lNoise countermeasures
A method to prevent or suppress noise that may disturb the signal
to prevent the malfunctioning and destruction of peripheral
electronic circuits.
lNoise filter
A device installed to prevent external noise from power lines.
lines resulting in malfunctions. Countermeasures should be taken
lServomotor size selection software
so that noise is not radiated from the SERVOPACK and so that the
Software used to select servomotors and SERVOPACKs.
SERVOPACK is not adversely influenced by external noise.
lD-grade grounding
A grounding method with a grounding resistance of 100 Ω or less.
Product name: JunmaSize+
lCoupling
lFrame ground
A joint that connects the motor shaft and load shaft. The coupling
Frame ground (FG). Connected to the shield wire of the cable.
the load shaft to a certain extent. Couplings are available in metal
lSignal ground
disk types, Oldham types, and bellows types. Metal disk couplings
The signal ground (SG) is a signal level of 0 V.
and have good durability.
44
can absorb differences between the position of the motor shaft and
are recommended for the optimum performance of the servomotor
FAQs
FAQs
Q. What are the features of a servomotor?
A. Compared with a stepping motor, a servomotor can output constant torque in low- to high-speed ranges.
Unlike a stepping motor, which causes problems with vibration, noise, and heat generation, a servomotor
ensures smooth rotation without loss of control.
Q. What features does the JUNMA servodrive have compared with other servodrives?
A. Conventional servodrives require settings for a variety of functions, including servo gain settings. The
JUNMA servodrive works with minimal adjustments of two rotary switches instead of parameters.
Therefore, high-performance control is ensured with the same ease as a stepping motor.
Q. What machines can the JUNMA be used for?
A. The JUNMA can be used for almost all machines, including timing belts and ball screws. The JUNMA
cannot be used if the installation precision exceeds the recommended precision specified in Coupling to
the Machine (page 22).
Q. What is "Servo ON"?
Q. The red indicator on the front panel of the SERVOPACK is lit and the servomotor stopped
operating. What should be done?
A. The alarm has been turned on. The meaning of alarms and corrections vary with the display on the
indicator and the number of indicators that light. For details, refer to Alarm (page 13).
Q. Why does the REF (green indicator) blink while the motor is in operation?
Terminology
A. It refers to the application of power to the servomotor by turning ON the /S-ON I/O signal. When power is
applied to the motor, the position of the motor shaft will be locked unless a reference is input. In the servo
ON state, the servomotor is in a servo-locked state and will not move even if external force is applied.
Q. When is the FIL rotary switch for the reference filter setting used?
A. The FIL switch is used to smooth the reference input to the SERVOPACK. The initial value (0) may be
used in most cases. If the machine vibrates, increase the value. The higher the value is, the smoother the
motion becomes but the longer the position settling time will be. Settings up to 7 are available.
Q. The servomotor generates noise after the servomotor is turned on or after the value of the FIL
rotary switch for reference filter setting is changed. What should be done?
A. The JUNMA starts vibration detection when the servo is turned on, and makes automatic adjustments if
needed. While making these adjustments, some noise may be generated. Once the adjustments are
made, the adjusted value will be used until the setting of the FIL rotary switch for reference filter is
changed. Therefore, no further noise will be generated.
Q. The machine vibrates. What should be done?
A. The JUNMA detects machine vibration and makes automatic adjustments. Any unusual noise while the
machine is running may be caused by errors in the automatic adjustments. Increase the Reference Filter
Setting (FIL) by one, and then return to the previous setting. JUNMA will now be able to make the correct
automatic adjustments.
45
FAQs
A. The REF blinks to indicate that a reference pulse is being input (i.e., the motor is rotating).Do not touch
the machine or motor shaft while the REF is blinking, no matter how slowly the motor is turning. For
details, refer to Part Names and Functions (page 12).
Revision
Revision History
History
The revision dates and numbers of the revised catalogs are given on the bottom of the back cover.
LITERATURE NO. KAEP S800000 23B
© Printed in Japan July 2005 04-7
Date of
printing
1
Revision number
Date of original
publication
Date of Printing Rev. No.
July 2004
–
July 2005
46
Section
–
–
1
Revised Content
First edition:
Based on the Japanese version of the JUNMA
Series catalog printed in July 2004.
(Catalog No.: KAJP S800000 23A)
Second edition:
Based on the Japanese version of the JUNMA
Series catalog printed in February 2005.
(Catalog No.: KAJP S800000 23B)
All chapters
Revision: Exterior of SERVOPACK and
servomotor.
All chapters
Addition: Contact information in China.
(Cables and peripheral devices)
P4: Connection to Peripheral
Devices
Addition: Cautions and Warnings.
Revision: Drawings in the system configuration.
P4: SERVOPACKs and Applicable
Servomotors
Revised.
P5: Cable and Connectors
Revised.
P8: Speed/Torque Characteristics
Revision: Repetitive operating range.
P10: Ratings and Specifications
Revision: Power loss at rated output.
P12: Reference Filter Setting (FIL)
Revision: Acceleration/Deceleration Time for
Step Reference.
P14: Connection Diagram
Revised.
P17: Wiring Precautions
Revised.
P18: Explanation of I/O Signals
Addition: Notes on the lag time for the alarm
signal and the phase-C output signal.
P19: Connection Example of Input
Signal
Revision: Connection diagrams.
P19: Connection Example of Output
Signal
Added.
P30: External Fuse
Added.
P34: Contact Information
Added.
Revision History
MEMO
47
JUNMA SERIES
LITERATURE NO. KAEP S800000 23B
Printed in Japan July 2005 04-7 1 -0
2004-2005