Junma Series Servo
Junma Series Servo
™
SJME Servo Motor
SJDE SERVOPACK
Pulse Reference Control
New Servo Concept: Junma
Junma uses the world’s premier servo technology to provide unmatched performance
with a quick and efficient setup.
This totally new plug and play design concept requires no parameter settings or gain
adjustments.
Adaptive tuning and vibration suppression functionality simplify machine commissioning
while maintaining steady high-precision positioning and optimum efficiency.
Junma’s ready-to-use features for high-speed, high-torque, and high-precision operation
are ready to work for you.
2
Junma Features
Attain optimum servo performance without time
consuming setup:
• Connect and go! Matched motor and amplifier
sets simplify setup
• System parameters are set on system power-up
• Machine load inertia is calculated automatically
• Tuning gains are adjusted dynamically, even
when the load changes
• Mechanical vibrations are suppressed with the
turn of a rotary switch
FA S T & E A S Y S E T U P
Unpacking
Remove the servo amplifier
from the box.
YASKAWA
Installation and Wiring
Input voltage: 120 or 240 VAC (single phase)
Connect the cables for the
power supply, signal lines,
and a motor.
YASKAWA
Feedback resolution: 65,536 pulses/rev
Control input: pulse and direction
High torque output at speeds up to 4500 RPM
Advanced control functionality:
• Adaptive tuning
• Vibration suppression
• Jogging
• Homing to marker pulse
• Electronic gearing
• Torque limiting
• Position complete output
Reference Pulse Setting
Select the reference pulse
switch for your controller.
No parameter
settings or gain
adjustments
are needed.
YASKAWA
Screwdriver
provided
Setup completion
JunmaWin software diagnostic tools:
• Alarm history
• Troubleshooting wizard
• Extensive monitoring capability
The motor is ready to run
with the reference from
the controller. The
required torque
is possible even
at a speed of
4500 RPM.
YASKAWA
Conforms to international standards:
3
Ratings and Specifications
Junma Servo Motors
Voltage
100/200 VAC
Servo motor Model SJME-
A
Applicable Servo Amplifier
SJDE-
Rated output * 1
W
01
02
04
01
02
04
08
100
200
400
750
A
08
Rated torque * 1, *2
Nm
0.318
0.637
1.27
2.39
Instantaneous peak torque * 1
Nm
0.955
1.91
3.82
7.16
Rated current * 1
Arms
0.84
1.1
2.0
3.7
Instantaneous max. current *1
Arms
2.5
3.3
6.0
11.1
Rated speed * 1
RPM
3000 (for 200V models)*3
Max. speed * 1
RPM
Torque constant
Nm/Arms
4500 (for 200V models)*3
Rotor moment of inertia
0.413
0.645
0.682
0.699
kg•m2
0.0634 x 10 -4
0.330 x 10 -4
0.603 x 10 -4
1.50 x 10 -4
Rated power rate * 1
kW/s
16.0
12.3
26.7
38.1
Rated angular
acceleration * 1
rad/s
50200
19300
21100
15900
2
Time rating
Continuous
Thermal class
B
Vibration class
15 μm or below
Withstand voltage
1500 VAC for one minute
Insulation resistance
500 VDC, 10 MW min.
Enclosure
Totally enclosed, self-cooled, IP55 (excluding shaft opening and connectors)
Impact resistance
Impact acceleration: 490 m/s2 in three directions – vertical, side to side, and front to back.
Impact occurrences: 2
Vibration resistance
Vibration acceleration: 49 m/s2 in three directions – vertical, side to side, and front to back.
*1 These items and speed/torque characteristics quoted in combination with a SJDE servo amplifier are at an armature winding temperature of 100 °C. Other values are at 20 °C.
*2 The rated torques listed here are the values for the continuous allowable torque at 40 °C with an aluminium heatsink (250 mm x 250 mm x 6 mm) attached.
*3 Refer to the Speed/Torque Characteristics for rated speed and maximum speed for 100V models.
Holding Brake Specifications
Servo motor Model SJME-
01
A
02
04
08
24 VDC ± 10%
Rated voltage
Holding brake moment of inertia *
kg •m2 x 10 -4
Capacity
W
0.0075
0.064
0.171
6
6.9
7.7
2.39
Minimum holding torque (Static
friction torque)
Nm
0.318
1.27
Coil resistance
W (at 20 °C)
96
83
75
Rated current
A (at 20 °C)
0.25
0.29
0.32
Brake release time
ms
80 max.
Rise time for holding torque
ms
100 max.
* To 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 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 servo motor.
2 Do not use the holding brake when the servo is on. Failure to observe this caution may result in an overload of the servo amplifier or a decrease of brake life.
Speed/Torque Characteristics
3000
2000
A
0
B
0
0.25
0.50 0.75 1.00
Torque (N m)
A: Continuous Duty Zone
4000
3000
2000
A
1000
0
B
0
0.5
1.0
1.5
Torque (N m)
SJME-04A
5000
2.0
4000
3000
2000
A
1000
0
B
0
1
2
3
Torque (N m)
4
B: Intermittent Duty Zone
Note: Solid lines show the torque/speed characteristics of the servo motor at 200V and the broken lines show them at 100V.
4
SJME-08A
5000
Motor speed ( RPM )
Motor speed ( RPM )
Motor speed ( RPM )
4000
1000
SJME-02A
5000
Motor speed ( RPM )
SJME-01A
5000
4000
3000
2000
A
1000
0
B
0
2
4
6
Torque (N m)
8
Dimensions
Units: mm
100 W
300 ± 30
Encoder connector
Encoder cable
Servo motor main circuit cable
3
300 ± 30
3
Cross Section A-A
0.08 A
L
LL
0.03
25
Pin
0.06 dia. A
Approx.
mass (kg)
01AMB41
119
94
0.5
01AMB4C
164
139
0.8
No brake
.
2-4.3 dia.
Description Color
1
Phase U
Red
Phase U
Red
Phase V
White
Phase V
White
3
Phase W
Blue
Phase W
Blue
FG
Green/
Yellow
FG
Green/
Yellow
5
–
–
Brake
Red
6
–
–
Brake
Black
Plug: 5559-06P-210
Terminal (No.1 to 3, 5, 6): 5558T (reel) or 5558TL (bagged)
Grounding Pin (No.4): 30490-2002 (reel) or 30490-2012 (bagged)
(Manufactured by: Molex Japan Co., Ltd)
Encoder Connector Specifications
12 11 10 9
8 7
5 4
2 1
6
3
Pin
200 W to 750 W
300 ± 30
Encoder cable
With brake
Description Color
2
4
dia
Note: Only for servo motors with brakes
Holding brake torque = Motor rated torque
LL
1
dia.
30
46
Holding brake (de-energization operation)
Power supply: 24 VDC
L
4
2
0
8 -0.009
dia.
A
Type
SJME-
5
3
0
-0.033
A
6
40
A
2.5
14
5
Motor Connector Specifications
Motor connector
1.8
Encoder connector
3
Servo motor main circuit cable
5
Motor connector
5
300 ± 30
Cross Section A-A
0.08 A
L
LL
LR
LC
QK
LF dia.
A
S dia.
A
A
0.03
LD
LA
Holding brake (de-energization operation)
Power supply: 24 VDC
Color
PG 5V
Red
2
PG 0V (GND)
Black
3
Phase A+
Blue
4
Phase A –
Blue/White
5
Phase B+
Yellow
6
Phase B –
Yellow/White
7
Phase / Z
Purple
8
Phase U
Gray
9
Phase V
Green
10
Phase W
Orange
11
–
–
12
FG
Shield
Plug: 5559-12P-210
Terminal: 5558T2 (reel) or 5558T2L (bagged)
(Manufactured by: Molex Japan Co., Ltd)
LB dia.
LE
LG
Description
1
dia
.
4-LZ dia.
0.06 dia. A
Note: Only for servo motors with brakes
Holding brake torque = Motor rated torque
Type
SJME-
L
LL
02AMB41
125.5
95.5
02AMB4C
165.5
135.5
04AMB41
148.5
118.5
04AMB4C
188.5
158.5
08AMB41
173
133
08AMB4C
216
176
LR
30
LG
6
LE
3
S
14 0-0.011
LB
50 0-0.039
LC
LD
LF
–
–
60
8
3
16 0-0.011
70 0-0.046
80
35
LZ
QK
5.5
20
–
20
Approx.
mass (kg)
0.9
70
–
40
LA
1.5
1.3
1.9
90
7
30
2.6
3.5
5
Ratings and Specifications
Junma SERVOPACKS
01APA
02APA
04APA
08APA
W
100
200
400
750
Continuous output current
Arms
0.84
1.1
2.0
3.7
Instantaneous max. output current
Arms
2.5
3.3
6.0
11.1
Servo Amplifier Model SJDEMax. applicable servo motor capacity
-OY
Voltage
Input power supply
(for main circuit
and control circuit)
Single-phase 100 to 115 VAC, +10 to −15% ; Single-phase 200 to 230 VAC, +10 to −15%
50/60 Hz ± 5%
Frequency
Voltage frequency
capacity
at rated output
kVA
Power loss at rated output
W
Input control method
0.40
0.75
1.2
2.2
14
16
24
35
Capacitor-input type, single-phase full-wave rectification with resistance to prevent inrush current
Output control method
PWM control, sine wave power driven system
Feedback
Incremental encoder
Built-in functions
I/O signals
Allowable load inertia * 1
Input signal
for reference
(designated
pulse type
and pulse
resolution with
PULSE switch)
kg•m2
0.6 x 10 -4
3 x 10 -4
5 x 10 -4
Pulse type
Select one of the following settings:
1. CCW + CW pulse train
2. Sign + pulse train
3. CCW + CW pulse train (negative logic)
4. Sign + pulse train (negative logic)
Pulse resolution
Select one of the following settings:
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.
Clear input signal
Clears the positioning error at the rising edge of the pulse
Servo ON input signal
Turns the servo motor on or off
Alarm output signal
OFF if an alarm occurs
Brake output signal
External signal to control brakes. Turn ON to release the brake.
Position completed output signal
ON if the current position is equal to the reference position ± 10 pulses
Origin output signal
ON if the motor is at the origin (width: 1/500 rev)
Dynamic brake (DB)
Operated at main power OFF, servo alarm, servo OFF
(OFF after motor stops; ON if the motor power is off)
Regenerative processing
Optional (if the regenerative energy is too large, install a regenerative unit)
Protection *
Speed errors, overload, encoder errors, voltage errors, overcurrents,
disablement of the built-in cooling fan, system errors
2
Display
Five LED indicators (PWR, REF, AL1, AL2, AL3)
Reference filter
Select one of eight levels with FIL switch
Cooling method
10 x 10 -4
Forced cooling (built-in fan)
Operating temperature
0 °C to +55 °C
Operating humidity
90% RH or less (no condensation)
Storage temperature
–20 °C to +70 °C
Storage humidity
90% RH or less (no condensation)
Installation site
Free of corrosive gases; Free of dust and iron powder; Clean and dry
Altitude
1000 m or below
Vibration resistance
4.9 m/s2
Shock resistance
19.6 m/s2
Operating conditions
Installation category (overvoltage category): II; Pollution degree: 2
Protection class: IP1X (EN50178)
* 1 Be sure to use the motor within the allowable load moment of inertia. The motor will become unstable if the load moment of inertia exceeds the
allowable value.
*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 cases:
• A low-resistance ground fault occurs in the main circuit cable or in the connector of the cable for the servo motor.
• The power supply is turned on during a ground fault.
6
Dimensions
Units: mm
SJDE-01, 02 (100 W, 200 W)
Mounting Hole Diagram
5
10
φ 4.5
2-M4 Mounting Holes
5
Air Flow
140
130
120
140
130 ± 0.5
(Mounting Pitch)
CN1
(5)
(10)
CNA, CNB
Ground Terminal
with 2-M4 Screws
7
19
35
Nameplate
4.5
(5)
12.5 15
CN2
Air Flow
(4.5)
(75)
SJDE-04 (400 W)
(28)
7
5
105
35
(Mounting Pitch)
Mounting Hole Diagram
Air Flow
2-M4 Mounting Holes
5
5
10
φ 4.5
140
130 ± 0.5
(Mounting Pitch)
140
130
120
CN1
4.5
7
19
Ground Terminal
with 2-M4 Screws
CNA, CNB
(5)
(5)
(10)
12.5 15
CN2
Nameplate
(75)
Air Flow
(4.5)
5
105
40
7
SJDE-08 (750 W)
Mounting Hole Diagram
φ 4.5
2-M4 Mounting Holes
Air Flow
5
5
10
(33)
40
(Mounting Pitch)
140
130 ± 0.5
(Mounting Pitch)
140
130
120
CN1
Ground Terminal
with 2-M4 Screws
14
4.5
17
30
70
CNA, CNB
(5)
(5)
(10)
12.5 15
CN2
Nameplate
Air Flow
(4.5)
(75)
17
5
145
14
(13)
30
70
(Mounting Pitch)
7
Cable/Connector Selection
Power Cables
Specifications
Model
Without holding brake
Servo Motor Main
Circuit Cables with
Connectors at Both Ends
With holding brake
Appearance
3m
JZSP-CHM000-03
5m
JZSP-CHM000-05
10 m
JZSP-CHM000-10
15 m
JZSP-CHM000-15
20 m
JZSP-CHM000-20
3m
JZSP-CHM030-03
5m
JZSP-CHM030-05
10 m
JZSP-CHM030-10
15 m
JZSP-CHM030-15
20 m
JZSP-CHM030-20
Encoder Cables
Specifications
Model
Encoder Cables with Connectors at Both Ends
(shielded)
Appearance
3m
JZSP-CHP800-03
5m
JZSP-CHP800-05
10 m
JZSP-CHP800-10
15 m
JZSP-CHP800-15
20 m
JZSP-CHP800-20
Connectors for Power and Encoder
Specifications
Connector Kits for
Servo Motor Main
Circuit Cable*1
Power Supply and
Regenerative Unit
Connector Kits
Encoder Cable
Connector Kits*1
Type
Model
Appearance
Servo motor side
Crimp Type
JZSP-CHM9-1 *2
Servo amplifier side (CNB)
Spring Type
JZSP-CHM9-2
Servo amplifier side (CNA)
Spring Type
JZSP-CHG9-1
*3
Servo motor side
Crimp Type
JZSP-CHP9-1
*2
Servo amplifier side (CN2)
Soldered Type
JZSP-CHP9-3
*3
*1 Sold separately. If making cable assemblies, these connectors are necessary.
*2 Crimping tool required.
*3 With tool (lever for wiring).
Regenerative Unit
Description Specifications
Model
Appearance
Resistance: 50 W
Allowable Regenerative Energy: 12 W
Regenerative Regenerative Voltage: 380 VDC
Unit for Servo Regenerative Current: 8 ADC
Amplifier
Error Detection: Disconnection of regenerative resistance, failure
(CNA)
of regenerative transistor, or overvoltage
JUSP-RG08E-E
Alarm Output: NC contact (opens when an error is detected).
Contact specifications: 250 VAC, 1.5 A (inductive load)
Signal and Communication Cables
Name
Type
Length
I/O Signal Cables
I/O Signal Connector
Kits*1
For Servo
amplifier CN1
Soldered
Type
Cable for Personal Computer
PC Communication Board (Required for Setup with JunmaWin Software)
* 1: Sold separately. If making cable assemblies, these connectors are necessary.
8
Model
1m
JZSP-CHI003-01
2m
JZSP-CHI003-02
3m
JZSP-CHI003-03
–
2m
JZSP-CHI9-1
JZSP-CPS00-02
JUSP-JC001-1
Appearance
System Configuration Diagram
Power supply
Single-phase 100 VAC or 200 VAC
L1 L2
Molded-case circuit breaker*1
To protect the equipment and wiring,
always connect a molded-case circuit
breaker (earth leakage breaker).
Noise filter
Used to suppress noise from
power lines for CE marking
requirements.
SJDE
SERVOPACK
Magnetic contactor
Used to turn off the servo
power supply when using a
regenerative unit or in case
of emergency.
-OY
CD
AB
23
67
F0 1
89
E
45
CD
AB
67
F0 1
89
E
Used for a
servo motor
with a brake.
23
Surge protector
To protect the system
from lightening surge.
I/O signal cable
Host controller
45
24VDC
power
supply*2
AC reactor
Used to control power
supply harmonics.
Fuse
Relay
Encoder cable ( for relay)
Varistor
To protect the equipment,
always install fuses.
Motor main circuit cable
(for relay )
Connectors for motor
main circuit cable (CNB)
Connectors for power
supply/regenerative unit (CNA)
Used for a
regenerative unit.
SJME
Servo Motor
Regenerative unit
Used if regenerative
energy is high.
To the control
circuit of magnetic
contactor
*1:
Install a ground fault interrupter to protect against both overloads and short circuits, or install a
ground fault interrupter for ground fault protection and a molded case circuit breaker.
*2: Prepare a 24VDC power supply for holding brake and I/O signals.
9
Connection Diagram
SJDE SERVOPACK
L1
Manufacturers of Components
Power supply
Single-phase 200 to 230 VAC or Single-phase 100 to 115 VAC
50/60Hz
L2
Molded Case Circuit Breaker
Surge Absorber
Noise
Filter
AVR1*
24 VDC power supply
MC1
SW1 SW2
MC1
200 to
230 VAC
AVR2*
or
24 VDC
100 to
power 115 VAC
supply
C1
MC1
Surge
Absorber
Reactor
200 to 230 VAC
or
100 to 115 VAC
—
Regenerative
Y4
unit
JUSP-RG08D Y5
+24 V 0 V
Maintenance
Communication
Ports
/TXD
/RXD
GND
CNA
1
L2
2
+
3
—
4
Fuse
+
C2
L1
Fuse
Manufacturer
Model
Surge absorber
Okaya Electric Industries Co., Ltd.
(Spark killer)
CRE-50500
Flywheel diode
Toshiba Corp.
1NH42
Relay for holding
brake
Omron Corp.
MY series
Varistor
Nippon Chemi-Con Corp.
TNR7V121K
Ry1
5
+24 V
Varistor
0V
SERVOPACK
CNB
1
Holding
Brake
6
U
1
2
V
2
3
W
3
U
V
W
Servo
Motor
FG
4
Communication
board
JUSP-JC001
CN52
Host Controller
CN2
1
CW,PULS
1 75
PG5V
1
/CW,/PULS
2 75
2
PG0V
2
CCW,SIGN
3 75
3
A+
3
/CCW,/SIGN
4 75
4
A—
4
CLR
8 75
5
B+
5
9 75
6
B—
6
PCO
10
7
/Z
7
SG-PCO
11
8
U
8
+24VIN
/CLR
2.2 kΩ
5
9
V
9
/S-ON
6
10
W
10
ALM
12
/BK
13
/COIN
14
Ry1
Flywheel Diode
SG-COM
Shield
Notes: 1
Component
AVR1 : 24 VDC power supply for holding brake
SW1 : Power off switch
MC1 : Magnetic contactor
3.4 kΩ
Shell
Encoder
12
Shield
7
Shell
*: Prepare separate 24 VDC
power supplies for a holding
brake and I/O signals.
AVR2 : 24 VDC power supply for I/O signals
SW2 : Power on switch
Ry1 : Relay for holding brake
2
The ground fault 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 cases.
• A low-resistance ground fault occurs in the main circuit cable or in the connector of the cable for the servo motor.
•The power supply is turned on during a ground fault.
To make your system even safer, install a ground fault interrupter for overloads and short circuits, or install a molded-case
circuit breaker combined with a ground fault interrupter for ground faults.
10
Model Number Designations
Servo Motor Model Designation
SJME - 02
A
M
B
4
1
Junma Series Servo Motor
Brake Specifications
Specification
Capacity
Junma Servo Motor
3,000 rpm - 4,500 rpm
(100 –750 W)
Output (W)
Code
Code
No Brake
1
24 VDC Brake
C
100
01
200
02
400
04
Specification
750
08
Straight with key
Shaft end Specifications
Code
4
Design procedure
Voltage
Specification
Specification
Code
100/200 VAC
A
Code
Standard
B
Feedback specification
Specification
Code
Analog output encoder
M
Servo Amplifier Model Designation
SJDE - 02
A
P
A
- OY
Junma Series
Servo Amplifier
Design Revision Order
A, B …
Applicable Servo Motor Capacity
Junma
Servo Amplifier
Output (W)
Code
Interface Specification
01
Specification
200
02
Pulse Reference Control
400
04
750
08
100
Code
P
Power Supply Voltage
Specification
Code
100/200 VAC
A
11
™
Yaskawa America, Inc.
Drives & Motion Division
2121 Norman Drive South
Waukegan, IL 60085
Tel: 1-800-YASKAWA (927-5292) ● Fax: 1-847-887-7310
Document BL.Junma.01 8/16/2011 ● © 2011
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