Yaskawa DR2 Manual

PDF

Document

Series SGM/SGMP/DR2

USER'S MANUAL

AC Servomotors and Driver

SGM/SGMP Servomotors

DR2 Servopack

YASKAWA

MANUAL NO. TSE-S800-17D

PREFACE

The rapid progress being made in today’s automation and information technologies is resulting in a growing need for even more-advanced motion control for future high-tech equipment. The end result is a need for devices that can provide more-precise and quicker motion at higher speeds. Servo control technology makes this possible. Launched by Yaskawa in 1993, the

Σ Series consists of innovative AC Servos that were developed using leading-edge servo control technology.

This manual covers all products information on the Σ Series SGMj/DR2, which feature superior functions and performance. This manual was designed to provide comprehensible information for users who are about to use a servo for the first time as well as for users who already have experience in using servos. This manual enables users to understand what

Σ-Series AC Servos are all about and how to design, install, operate, and maintain a servo system. Keep this manual in a convenient location and refer to it whenever necessary in operating and maintaining the servo system.

YASKAWA ELECTRIC CORPORATION

General Precautions

S Some drawings in this manual are shown with the protective cover or shields removed, in order to describe the detail with more clarity. Make sure all covers and shields are replaced before operating this product.

S Some drawings in this manual are shown as typical example and may differ from the shipped product.

S This manual may be modified when necessary because of improvement of the product, modification or changes in specifications.

Such modification is made as a revision by renewing the manual No.

S To order a copy of this manual, if your copy has been damaged or lost, contact your YASKAWA representative listed on the last page stating the manual No. on the front cover.

S YASKAWA is not responsible for accidents or damages due to any modification of the product made by the user since that will void our guarantee.

NOTES FOR SAFE OPERATION

Read this manual thoroughly before installation, operation, maintenance or inspection of the AC Servo

Drives. In this manual, the NOTES FOR SAFE OPERATION are classified as “WARNING” or

“CAUTION”.

WARNING

Indicates a potentially hazardous situation which, if not avoided, could result in death or serious personal injury.

CAUTION

Indicates a potentially hazardous situation which, if not avoided, may result in minor or moderate personal injury and/or damage to the equipment.

In some instances, items described in follow these important items.

CAUTION may also result in a serious accident. In either case, iv

WARNING

(INSTALLATION)

S

After voltage resistance test, wait at least five minutes before servicing the product.

Failure to observe this warning may result in electric shock.

(WIRING)

S

Grounding must be in accordance with the national code and consistent with sound local practices.

Failure to observe this warning may lead to electric shock or fire.

(OPERATION)

S

Never touch any rotating motor parts during operation.

Failure to observe this warning may result in personal injury.

(INSPECTION AND MAINTENANCE)

S

Be sure to turn OFF power before inspection or maintenance.

Otherwise, electric shock may result.

S

After turning OFF power, wait at least five minutes before servicing the product.

Otherwise, residual electric charges may result in electric shock.

CAUTION

(RECEIVING)

S

Use the specified combination of SERVOMOTOR and SERVOPACK.

Failure to observe this caution may lead to fire or failure.

(INSTALLATION)

S

Never use the equipment where it may be exposed to splashes of water, corrosive or flammable gases, or near flammable materials.

Failure to observe this caution may lead to electric shock or fire.

(WIRING)

S

Do not connect three−phase power supply to output terminals

U V

and

.

Failure to observe this caution may lead to personal injury or fire.

S

Securely tighten screws on the power supply and motor output terminals.

Failure to observe this caution can result in a fire.

CAUTION

(OPERATION)

S

To avoid inadvertent accidents, run the SERVOMOTOR only in test run

(without load).

Failure to observe this caution may result in personal injury.

S

Before starting operation with a load connected, set up user constants suitable for the machine.

Starting operation without setting up user constants may lead to overrun failure.

S

Before starting operation with a load connected, make sure emergencystop procedures are in place.

Failure to observe this caution may result in personal injury.

S

During operation, do not touch the heat sink.

Failure to observe this caution may result in burns.

(INSPECTION AND MAINTENANCE)

S

Do not disassemble the SERVOMOTOR.

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

S

Never change wiring while power is ON.

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

Manual Contents

This manual provides Σ-Series users with information on the following:

• An overview of servo systems for first-time users.

• Checking the product on delivery and basic applications of the servo.

• Servo applications.

• Selecting an appropriate servo for your needs and placing an order.

• Inspection and maintenance.

Manual Structure

All chapters in this manual are classified into one or more of three areas according to their contents: A, B, and C. Refer to the applicable chapters for the information you require.

A: Chapters explaining how to select a servo: For users who wish to gain a basic understanding of

Σ Series products or who need to select an appropriate servo.

B: Chapters explaining how to design a servo system: For users who are about to design, install, and operate a Σ-Series Servo Control System.

C: Chapters explaining maintenance: For users who are going to maintain and troubleshoot Σ-Series products.

Chapter Title

CHAPTER 1 For First-time Users of AC Servos . . . . . . . . . . . . . . . . . . . . . .

Provides an overview of servos and the Σ Series

Page

1 . . . . . . . . .

CHAPTER 2 Basic Uses of Σ-series Products . . . . . . . . . . . . . . . . . . . . . . . . .

Describes steps to take when product is received, plus basic wiring and application methods.

15 . . . . . . . . .

CHAPTER 3 Applications of Σ-series Products . . . . . . . . . . . . . . . . . . . . . . .

Describes the effective usage of Σ-Series features according to application.

49 . . . . . . . . .

CHAPTER 4 Using the Digital Operator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Describes operating procedures for Σ-Series servos, turning features ON and OFF, setting control constants, etc.

169 . . . . . . . .

CHAPTER 5 Servo Selection and Data Sheets . . . . . . . . . . . . . . . . . . . . . . . .

Describes selection methods for Σ-Series servos and peripherals and provides servo specifications.

203 . . . . . . . .

CHAPTER 6 Inspection, Maintenance, and Troubleshooting

Describes user maintenance and troubleshooting.

. . . . . . . . . . .

387 . . . . . . . .

CHAPTER 7 Measures to Satisfy the Requirements of

EMC Directive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Provides the measures to conform to the EMC Directive.

415 . . . . . . . . .

Area

A, B

B vii

viii

APPENDIXES

A Differences between DR2 and DR1, SGDA and SGD

Servopacks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Servo Adjustment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

C List of I/O Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

D List of User Constants . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

423

429

445

465

E List of Alarm Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

F Relationship between Reference Forms and User Constants . .

G Reviewing the Full-closed Loop Specifications . . . . . . . . . . . . . . .

477

481

489

. . . . . . . .

INDEX . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A, B. C

B, C

A, B, C

B, C

Basic Terms

Unless otherwise specified, the following definitions are used:

Servomotor: Σ-Series SGM/SGMP Servomotor

Servopack: An amplifier (Trademark of Yaskawa servo amplifier “DR2 Servopack”)

Servodrive: A SGM/SGMP Servomotor and an amplifier (DR2 Servopack)

Servo system: A complete servo control system consisting of servodrive, host controller, and peripheral devices

Visual Aids

The following aids are used to indicate certain types of information for easier reference.

Indicates references for additional information.

TERMS

Technical terms placed in bold in the text are briefly explained in a “TERMS” section at the bottom of the page. The following kinds of technical terms are explained:

Technical terms that need to be explained to users who are not very familiar with servo systems or electronic devices and technical terms specific to Σ Series Servos that need to be explained in descriptions of functions.

The text indicated by this icon is applicable only to Servopack in speed/torque control mode.

Speed/Torque

Positions

The text indicated by this icon is applicable only to Servopack in position control mode.

JUSP-OP02A-1

The text indicated by this icon explains the operating procedure using hand-held type digital operator (Type: JUSP-OP02A-1).

NOTE A Σ-Series Servodrive alone cannot ensure the functionality and performance of the entire machine control system. It must be combined with an appropriate machine and host controller so that the entire control system works properly. Therefore, carefully read the instruction manuals for the machine to be used before attempting to operate the servodrive.



Yaskawa, 1996

All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or transmitted, in any form, or by any means, mechanical, electronic, photocopying, recording, or otherwise, without the prior written permission of Yaskawa. No patent liability is assumed with respect to the use of the information contained herein. Moreover, because Yaskawa is constantly striving to improve its high-quality products, the information contained in this manual is subject to change without notice. Every precaution has been taken in the preparation of this manual. Nevertheless, Yaskawa assumes no responsibility for errors or omissions. Neither is any liability assumed for damages resulting from the use of the information contained in this publication.

CONTENTS

CHAPTER 1 FOR FIRST-TIME USERS OF AC SERVOS . . . . . . . . . . . . . . .

1.1.3

Features of Σ-Series Servos . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

CHAPTER 2 BASIC USES OF Σ-SERIES PRODUCTS . . . . . . . . . . . . . . . . .

2.1

Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.1.1

Notes on Use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.2

Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.2.1

Checking on Delivery . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.2.2

Installing the Servomotor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.2.3

Installing the Servopack . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.3

Connection and Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.3.1

Connecting to Peripheral Devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

CHAPTER 3 APPLICATIONS OF Σ-SERIES PRODUCTS . . . . . . . . . . . . . .

3.1

Setting User Constants According to Machine Characteristics

3.1.1

Changing the Direction of Motor Rotation

. . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.1.2

Setting the Overtravel Limit Function

3.1.3

Restricting Torque

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2

Setting User Constants According to Host Controller

3.2.1

Inputting Speed Reference

. . . . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2.2

Inputting Position Reference

3.2.3

Using Encoder Output

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2.4

Using Contact I/O Signals

3.2.5

Using Electronic Gear

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2.6

Using Contact Input Speed Control

3.2.7

Using Torque Control

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2.8

Using Torque Feed-forward Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2.9

Using Torque Restriction by Analog Voltage Reference . . . . . . . . . . . . . . . . . . .

3.2.10 Using the Reference Pulse Inhibit Function (INHIBIT) . . . . . . . . . . . . . . . . . . . .

3.2.11 Using the Reference Pulse Input Filter Selection Function . . . . . . . . . . . . . . . . .

3.2.12 Using the Analog Monitor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.3

Setting Up the Σ Servopack . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.3.1

Setting User Constants . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.3.2

Setting the Jog Speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.3.3

Setting the Number of Encoder Pulses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.3.4

Setting the Motor Type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

100

101

102

103

104

105

106

76 xi

xii

CONTENTS

3.4

Setting Stop Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.4.1

Adjusting Offset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.4.2

Using Dynamic Brake

3.4.3

Using Zero-Clamp

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.4.4

Using Holding Brake . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.5

Running the Motor Smoothly . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.5.1

Using the Soft Start Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.5.2

Using the Smoothing Function

3.5.3

Adjusting Gain

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.5.4

Adjusting Offset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.5.5

Setting the Torque Reference Filter Time Constant . . . . . . . . . . . . . . . . . . . . . . .

3.6

Minimizing Positioning Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.6.1

Using Autotuning Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.6.2

Setting Servo Gain . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.6.3

Using Feed-forward Control

3.6.4

Using Proportional Control

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.6.5

Setting Speed Bias

3.6.6

Using Mode Switch

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.7

Forming a Protective Sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.7.1

Using Servo Alarm Output and Alarm Code Output . . . . . . . . . . . . . . . . . . . . . .

3.7.2

Using Servo ON Input Signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.7.3

Using Positioning Complete Signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.7.4

Using Speed Coincidence Output Signal

3.7.5

Using Running Output Signal

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.7.6

Using Servo Ready Output Signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.8

Special Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.8.1

Wiring Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.8.2

Wiring for Noise Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.8.3

Using More Than One Servo Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.8.4

Using Regenerative Units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.8.5

Using an Absolute Encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.8.6

Extending an Encoder Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.8.7

Using DR2 Servopack with High Voltage Line . . . . . . . . . . . . . . . . . . . . . . . . . .

3.8.8

Connector Terminal Layouts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

CHAPTER 4 USING THE DIGITAL OPERATOR . . . . . . . . . . . . . . . . . . . . .

4.1

Basic Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.1.1

Connecting the Digital Operator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.1.2

Resetting Servo Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.1.3

Basic Functions and Mode Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.1.4

Operation in Status Display Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.1.5

Operation in User Constant Setting Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.1.6

Operation in Monitor Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

169

170

171

172

173

176

179

134

136

138

140

121

122

128

132

133

142

147

148

151

159

161

163

110

114

115

107

108

109

116

118

120

CONTENTS

4.2

Using the Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2.1

Operation in Alarm Trace-back Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2.2

Operation Using the Digital Operator

4.2.3

Autotuning

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2.4

Reference Offset Automatic Adjustment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2.5

Speed Reference Offset Manual Adjustment Mode . . . . . . . . . . . . . . . . . . . . . . .

4.2.6

Clearing Alarm Trace-back Data

4.2.7

Checking Motor Type

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2.8

Checking Software Version . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

CHAPTER 5 SERVO SELECTION AND DATA SHEETS . . . . . . . . . . . . . . .

5.1

Selecting a Σ-Series Servo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.1.1

Selecting a Servomotor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.1.2

Selecting a Servopack

5.1.3

Digital Operator

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.2

SGM Servomotor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.2.1

Ratings and Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.2.2

Mechanical Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.3

Servopack Ratings and Specifications

5.3.1

Ratings and Specifications

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.3.2

Power Consumption . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.3.3

Overload Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.3.4

Starting Time and Stopping Time

5.3.5

Load Inertia

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.3.6

Overhanging Loads . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.4

Σ-Series Dimensional Drawings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.4.1

Servomotor Dimensional Drawings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.4.2

Servomotor Dimensional Drawings

5.4.3

(TÜV approved, conforming to the machine instructions)

Servopack Dimensional Drawings

. . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.4.4

Digital Operator Dimensional Drawing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.5

Selecting Peripheral Devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.5.1

Selecting Peripheral Devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.5.2

Order List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.6

Specifications and Dimensional Drawings of Peripheral Devices

5.6.1

Cable Specifications and Peripheral Devices

. . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.6.2

Motor Cables

5.6.3

Connector Kits

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.6.4

Brake Power Supply

5.6.5

Encoder Cables

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.6.6

Battery for Absolute Encoder

5.6.7

1CN Connector

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.6.8

Circuit Breaker

5.6.9

Noise Filter

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.6.10 Magnetic Contactor

5.6.11 Surge Suppressor

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.6.12 Regenerative Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.6.13 Variable Resistor for Speed Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

203

233

238

239

240

241

205

212

216

217

230

246

247

363

365

371

349

355

358

373

374

289

329

334

335

341

375

376

379

195

197

200

201

183

186

188 xiii

CONTENTS

5.6.14 Encoder Signal Converter Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.6.15 Cables for Connecting PC and Servopack . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.6.16 4CN Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

379

381

385

CHAPTER 6 INSPECTION, MAINTENANCE, AND TROUBLESHOOTING 387

6.1

Inspection and Maintenance

6.1.1

Servomotor

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.1.2

Servopack . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.1.3

Replacing Battery for Absolute Encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.2

Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.2.1

Troubleshooting Problems with Alarm Display . . . . . . . . . . . . . . . . . . . . . . . . . .

6.2.2

Troubleshooting Problems with No Alarm Display . . . . . . . . . . . . . . . . . . . . . . .

6.2.3

Internal Connection Diagram and Instrument Connection Examples . . . . . . . . .

388

389

390

391

409

411

CHAPTER 7 MEASURES TO SATISFY THE REQUIREMENTS OF

EMC DIRECTIVE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.1

What is European Safe Standard?

7.1.1

What is EN Standard?

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.1.2

What is CE Marking?

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.1.3

EMC Directive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.1.4

Certification Body TÜV Authorized by EU . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.2

Measures to Satisfy the Requirements of EMC Directive

7.2.1

Applicable Servomotor

. . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.2.2

Applicable Noise Filter

7.2.3

Motor Cables

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.2.4

Encoder Cables

7.2.5

Control I/O

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.2.6

Digital Operator and Monitoring by Personal Computer

7.2.7

The Core on the Cable

. . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.2.8

Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

415

416

417

418

419

420

421

421 xiv

APPENDIXES

Differences Between DR2 and DR1, SGDA and SGD Servopacks

Servo Adjustment

. . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B.1 Σ-Series AC Servopack Gain Adjustment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B.1.1

Σ-Series AC Servopacks and Gain Adjustment Methods . . . . . . . . . . . . . . . . . . .

B.1.2

Basic Rules for Gain Adjustment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B.2 Adjusting a Servopack for Speed Control

B.2.1

Adjusting Using Auto-tuning

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B.2.2

Manual Adjustment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B.3 Adjusting a Servopack for Position Control

B.3.1

Adjusting Using Auto-tuning

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B.3.2

Manual Adjustment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B.4 Gain Setting References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B.4.1

Guidelines for Gain Settings According to Load Inertia Ratio . . . . . . . . . . . . . .

List of I/O Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

List of User Constants . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

433

436

437

441

423

429

430

431

432

445

465

CONTENTS

List of Alarm Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Relationship between Reference Forms and User Constants . . . . . . . . . . . . . . . . . . . . . . .

Reviewing the Full-closed Loop Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

INDEX . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

477

481

489

497 xv

FOR FIRST-TIME USERS OF AC

SERVOS

This chapter is intended for first-time users of AC servos. It describes the basic configuration of a servo mechanism and basic technical terms relating to servos.

Users who already have experience in using a servo should also take a look at this chapter to understand the features of Σ-Series AC Servos.

1.1 Basic Understanding of AC Servos

1.1.1 Servo Mechanisms

. . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.1.2 Servo Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.1.3 Features of Σ-Series Servos . . . . . . . . . . . . . . . . . . . . . . . . . .

FOR FIRST-TIME USERS OF AC SERVOS

1.1.1 Servo Mechanisms

1.1 Basic Understanding of AC Servos

This section describes the basic configuration of a servo mechanism and technical terms relating to servos and also explains the features of Σ-Series AC Servos.

1.1.1

Servo Mechanisms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.1.2

Servo Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.1.3

Features of Σ-Series Servos . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.1.1 Servo Mechanisms

You may be familiar with the following terms:

• Servo

• Servo mechanism

• Servo control system

In fact, these terms are synonymous. They have the following meaning:

A control mechanism that monitors physical quantities such as specified positions.

In short, a servo mechanism is like a servant who does tasks faithfully and quickly according to his master’s instructions. In fact, “servo” originally derives from the word “servant.”

TERMS

Servo mechanism

According to Japanese Industrial Standard (JIS) terminology, a “servo mechanism” is defined as a mechanism that uses the position, direction, or orientation of an object as a process variable to control a system to follow any changes in a target value (set point).

More simply, a servo mechanism is a control mechanism that monitors physical quantities such as specified positions. Feedback control is normally performed by a servo mechanism. (Source: JIS B0181)

1.1 Basic Understanding of AC Servos

Servo system could be defined in more detail as a mechanism that:

• Moves at a specified speed and

• Locates an object in a specified position

To develop such a servo system, an automatic control system involving feedback control must be designed. This automatic control system can be illustrated in the following block diagram:

Specified position input

Configuration of Servo System

Servo amplifier

Servo motor

Controlled machine

(load)

Machine position output

Feedback part

Detector

This servo system is an automatic control system that detects the machine position (output data), feeds back the data to the input side, compares it with the specified position (input data), and moves the machine by the difference between the compared data.

In other words, the servo system is a system to control the output data to match the specified input data.

If, for example, the specified position changes, the servo system will reflect the changes.

In the above example, input data is defined as a position, but input data can be any physical quantities such as orientation (angle), water pressure, or voltage.

Position, speed, force (torque), electric current, and so on are typical controlled values for a servo system.

The main technical terms used in this manual are as follows:

1) Servo mechanism

2) Servo

Normally, servo is synonymous with servo mechanism. However, because “mechanism” is omitted, the meaning becomes somewhat ambiguous. Servo may refer to the entire servo mechanism but may also refer to an integral part of a servo mechanism such as a servomotor or a servo amplifier. This manual also follows this convention in the use of the term “servo”.

TERMS

Feedback control

A control that returns process variables to the input side and forms a closed loop. It is also called closed-loop control.

FOR FIRST-TIME USERS OF AC SERVOS

1.1.1 Servo Mechanisms cont.

3) Servo control system

Servo control system is almost synonymous with servo mechanism but places the focus on system control. In this manual, the term “servo system” is also used as a synonym of servo control system.

Related Terms

Servomotor

Servopack

Servo drive

Servo system

Meaning

General servomotors or Yaskawa SGM/SGMP

Servomotors. In some cases, a position detector (encoder) is included in a servomotor.

Trademark of Yaskawa servo amplifier “DR2 Servopack.”

A Servomotor and amplifier pair. Also called “servo.”

A closed control system consisting of a host controller, servo drive and controlled system to form a servo mechanism.

Host controller

Reference

Amplifier

(Servopack) Servomotor

Operate

Controlled system

Servo drive

Servo system

1.1.2 Servo Configuration

1) Configuration of Servo System

The following diagram illustrates a servo system in detail:

1.1 Basic Understanding of AC Servos

Host controller

(5)

Position or speed reference

(Input)

Servo amplifier

(4)

Motor drive circuit

(Output)

(1)

Position or speed feedback

(3) (2)

Detector Servomotor

Gear

Controlled system

Drive system

Position

Speed

Movable table

Ball screw

(1) Controlled system: Mechanical system for which the position or speed is to be controlled.

This includes a drive system that transmits torque from a servomotor.

(2) Servomotor:

(3) Detector:

A main actuator that moves a controlled system. Two types are available: AC servomotor and DC servomotor.

A position or speed detector. Normally, an encoder mounted on a motor is used as a position detector.

(4) Servo amplifier: An amplifier that processes an error signal to correct the difference between a reference and feedback data and operates the servomotor accordingly. A servo amplifier consists of a comparator, which processes error signals, and a power amplifier, which operates the servomotor.

(5) Host controller: A device that controls a servo amplifier by specifying a position or speed as a set point.

FOR FIRST-TIME USERS OF AC SERVOS

1.1.2 Servo Configuration cont.

Servo components (1) to (5) are outlined below:

(1) Controlled system

In the previous figure, the controlled system is a movable table for which the position or speed is controlled. The movable table is driven by a ball screw and is connected to the servomotor via gears.

So, the drive system consists of:

Gears + Ball Screw

This drive system is most commonly used because the power transmission ratio

(gear ratio) can be freely set to ensure high positioning accuracy. However, play in the gears must be minimized.

The following drive system is also possible when the controlled system is a movable table:

Coupling + Ball Screw

When the power transmission ratio is 1 :

1, a coupling is useful because it has no play.

Coupling

This drive system is widely used for machining tools.

Timing Belt + Trapezoidal Screw Thread

Housing

Rolling-contact guide

Ball screw Rolling-contact bearing

A timing belt is a coupling device that allows the power transmission ratio to be set freely and that has no play.

A trapezoidal screw thread does not provide excellent positioning accuracy, so can be treated as a minor coupling device.

Trapezoidal screw thread

Servomotor

Timing belt

To develop an excellent servo system, it is important to select a rigid drive system that has no play.

Configure the controlled system by using an appropriate drive system for the control purpose.

TERMS

Drive system

Also called a drive mechanism.

A drive system connects an actuator (such as a servomotor) to a controlled system and serves as a mechanical control component that transmits torque to the controlled system, orientates the controlled system, and converts motion from rotation to linear motion and vice versa.

1.1 Basic Understanding of AC Servos

(2) Servomotor

(a) DC Servomotor and AC Servomotor

Servomotors are divided into two types: DC servomotors and AC servomotors.

DC servomotors are driven by direct current (DC). They have a long history. Up until the 1980s, the term “servomotor” used to imply a DC servomotor.

From 1984, AC servomotors were emerging as a result of rapid progress in microprocessor technology. Driven by alternating current (AC), AC servomotors are now widely used because of the following advantages:

• Easy maintenance: No brush

• High speed: No limitation in rectification rate

Note however that servomotors and Servopacks use some parts that are subject to mechanical wear or aging. For preventive maintenance, inspect and replace parts at regular intervals.

For details, refer to Chapter 6 Inspection, Maintenance, and Troubleshooting.

(b) AC Servomotor

AC servomotors are divided into two types: synchronous type and induction type.

The synchronous type is more commonly used.

For a synchronous type servomotor, motor speed is controlled by changing the frequency of alternating current.

A synchronous type servomotor provides strong holding torque when stopped, so this type is ideal when precise positioning is required. Use this type for a servo mechanism for position control.

The following figure illustrates the structure of a synchronous type servomotor:

Rotary disc

Light-emitting element

Light-receiving element Armature wire

Housing Front cap

Stator core

Ball bearing

Shaft

Rotor core

Position detector

(encoder) Lead wire

Magnet

Yaskawa SGM and SGMP Servomotors are of the synchronous type.

FOR FIRST-TIME USERS OF AC SERVOS

1.1.2 Servo Configuration cont.

A servomotor must have “instantaneous power” so that it can start as soon as a start reference is received.

The term “power rating (kW/s)” is used to represent instantaneous power.

It refers to the electric power (kW) that a servomotor generates per second.

The greater the power rating, the more powerful the servomotor.

(3) Detector

A servo system requires a position or speed detector. It uses an encoder mounted on a servomotor. Optical and magnetic detection methods are both available.

Encoders are divided into the following two types:

(a) Incremental Encoder

An incremental encoder is a pulse generator, which generates a certain number of pulses per revolution (e.g., 2,000 pulses per revolution). If this encoder is connected to the mechanical system and one pulse is defined as a certain length

(e.g., 0.001 mm), it can be used as a position detector.

However, this encoder does not detect an absolute position and merely outputs a pulse train. Hence zero return operation must be performed before positioning.

The following figure illustrates the operation principle of a pulse generator (Optical method):

Center of revolution

Phase A

Phase B

Phase Z

Slit

Phase A pulse train

Phase B pulse train

Rotary disc

Light-emitting element

Rotary slit

Fixed slit

Light-receiving element

(b) Absolute Encoder

An absolute encoder is designed to detect an absolute angle of rotation as well as to perform the general functions of an incremental encoder. With an absolute encoder, therefore, it is possible to create a system that does not require zero return operation at the beginning of each operation.

• Difference between an absolute and incremental encoder:

An absolute encoder will keep track of the motor shaft position even if system power is lost and some motion occurs during that period of time. The incremental encoder is incapable of the above.

1.1 Basic Understanding of AC Servos

(4) Servo amplifier

A servo amplifier is required to operate an AC servomotor.

The following figure illustrates the configuration of a servo amplifier:

Reference input

Servo amplifier

Comparator

Power amplifier

Motor driving AC power

Feedback

Commercial AC power

Servomotor

A servo amplifier consists of the following two sections:

(a) Comparator

A comparator consists of a comparison function and a control function. The comparison function compares reference input (position or speed) with a feedback signal and generates a differential signal.

The control function amplifies and transforms the differential signal. In other words, it performs proportional (P) control or proportional/integral (PI) control.

(It is not important if you do not understand these control terms completely at this point.)

(b) Power Amplifier

A power amplifier runs the servomotor at a speed or torque proportional to the output of the comparator. In other words, from the commercial power supply of

50/60 Hz, it generates alternating current with a frequency proportional to the reference speed and runs the servomotor with this current.

TERMS

Proportional/integral (PI) control

PI control provides more accurate position or speed control than proportional control, which is more commonly used.

FOR FIRST-TIME USERS OF AC SERVOS

1.1.2 Servo Configuration cont.

(5) Host Controller

A host controller controls a servo amplifier by specifying a position or speed as a set point.

For speed reference, a position control loop may be formed in the host controller when a position feedback signal is received. Yaskawa PROGIC-8 is a typical host controller.

TERMS

PROGIC-8

A programmable machine controller. If combined with a servo amplifier for speed control (maximum eight axis control), the PROGIC-8 can provide position control.

The PROGIC-8 also provides programmable controller functions.

1.1 Basic Understanding of AC Servos

1.1.3 Features of Σ-Series Servos

1) Σ-Series SGM/SGMP Servomotors are synchronous type servomotors and have the following features:

• Size and weight reduced to one-third those of our conventional models.

Compact Servomotor for saving installation space.

• Servo performance (power rating) enhanced to three times that of our conventional models.

Enhanced power rating (kW/s) to satisfy every need.

SGM type

• A wide product range covering rated output of

30 W to 750 W.

Supply Voltage

100 VAC:

200 VAC:

Rated Output

30 W, 50 W, 100 W, 200 W, 300 W

(0.04 HP, 0.07 HP, 0.13 HP, 0.27 HP, 0.40 HP)

30 W, 50 W, 100 W, 200 W, 400 W, 750 W

(0.04 HP, 0.07 HP, 0.13 HP, 0.27 HP, 0.53 HP, 1.01 HP)

SGMP type

2) DR2 Servopacks can perform speed/torque or position control. Select the control mode by setting of the user constant Cn-02 (memory switch).

• Speed/Torque Control Mode: User constant

Cn-02 (memory switch) Bit B = 0

This mode uses speed or torque reference input. Reference input is by analog voltage.

• Position Control Mode: User constant Cn-02

(memory switch) Bit B = 1

This mode uses position reference input. Reference input is by pulse train.

DR2 Servopack

TERMS

Power rating (kW/s)

A constant that represents response performance of a servomotor. It can be determined by dividing squared rated torque by motor inertia. Power rating is the electric power (kW) that a servomotor can generate per second.

The greater the power rating, the more powerful the servomotor.

FOR FIRST-TIME USERS OF AC SERVOS

1.1.3 Features of Σ -Series Servos cont.

3) The most common usage of a speed/torque control Servopack is shown below:

• Using Servopack in Speed/Torque Control Mode (Speed Control)

Host controller

Position reference +

Position control loop

Position feedback

(Analog voltage)

Speed reference

Servopack

(speed/torque control)

Power amplifier

Position Speed

Convert

Pulse train

Position feedback

Torque

(current) feedback

Encoder

Servomotor

As shown in the figure above, a position control loop is formed in the host controller. The host controller compares a position reference with a position feedback signal and sends processing results to the Servopack as a speed reference.

In this way, the host controller can freely perform the control required for the servo mechanism.

The Servopack undertakes the speed control loop and subsequent control processing.

Yaskawa programmable machine controller PROGIC-8 is available as a typical host controller.

1.1 Basic Understanding of AC Servos

4) Speed/torque control Servopack can also provide torque control as shown below.

• Using Servopack in Speed/Torque Control Mode (Torque Control)

Host controller

Position monitoring

Position information

Speed reference

(Analog voltage)

Torque reference

(Analog voltage)

Power amplifier

Servopack

(speed/torque control)

Position Speed

Pulse train

Position feedback

Torque

(current) feedback

Encoder

Servomotor

Set the user constants for Servopack to switch between the following torque control modes:

(1) Controlling servomotor torque by torque reference

(Torque control I)

(2) Operating servomotor by switching between torque reference and speed reference

(Torque control II)

The host controller outputs a torque reference or speed reference to control the Servopack.

It also receives a pulse train (position information) from the Servopack and uses it to monitor the position.

FOR FIRST-TIME USERS OF AC SERVOS

1.1.3 Features of Σ -Series Servos cont.

5) Position control Servopack can be used as below.

• Using Servopack in Position Control Mode

Host controller

Position monitoring

Position information

Position reference

Pulse train

Servopack

(position control)

Power amplifier

Servomotor

Speed/current loop

Pulse train

Position feedback

Encoder

The host controller can send a position reference (pulse train) to the Servopack to perform positioning or interpolation.

This type of Servopack contains a position control loop.

User constants can be used to select either of the following pulse trains:

(1) Code and pulse train

(2) Two-phase pulse train with 90° phase difference

(3) Forward and reverse pulse trains

The host controller receives a pulse train (position information) from the Servopack and uses it to monitor the position.

6) A Digital Operator can be used to set user constants for a Servopack as follows:

(1) Setting user constants to enable or disable each function

(2) Setting user constants required for functions to be used

Set user constants according to the servo system to be set up.

BASIC USES OF Σ-SERIES

PRODUCTS

This chapter describes the first things to do when Σ-Series products are delivered. It also explains the most fundamental ways of connecting and operating

Σ-Series products. Both first-time and experienced servo users must read this chapter.

2.1 Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.1.1 Notes on Use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.2 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.2.1 Checking on Delivery . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.2.2 Installing the Servomotor

2.2.3 Installing the Servopack

. . . . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.3 Connection and Wiring . . . . . . . . . . . . . . . . . . . . .

2.4.3 Step 2: Conducting a Test Run with the Motor Connected

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

BASIC USES OF Σ-SERIES PRODUCTS

2.1.1 Notes on Use

2.1 Precautions

This section provides notes on using Σ-Series products.

2.1.1

Notes on Use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.1.1 Notes on Use

NOTE Always note the following to ensure safe use.

Two types of supply voltage are available, 100 V and 200 V.

Both Σ-Series Servomotor and Servopack have

100 V and 200 V types. Be sure to use the correct type.

Type NP

Voltage label

Always use the SGM/SGMP Servomotor and DR2 Servopack in pairs.

The SGM/SGMP Servomotor cannot run without the DR2 Servopack.

Do not plug the SGM Servomotor directly into the commercial power supply. (Direct connection to the commercial power supply will damage the

Servomotor.)

200 V or

100 V power supply

Direct connection

Damage will result!

Do not change wiring when power is ON.

Always turn the power OFF before connecting or disconnecting a connector.

(Except for Digital Operator (Type: JUSP-

OP02A-1))

CHARGE Lamp

Extinguished

Always turn the power OFF before connecting or disconnecting a connector.

Note that residual voltage still remains in the Servopack even after the power is turned OFF.

Even after the power is turned OFF, residual voltage still remains in the capacitor inside the Servopack. Before inspection is to be performed, make sure if CHARGE lamp is extinguished.

CHARGE

Lamp

Careful!

Residual voltage remains in capacitor

Check if CHARGE lamp goes OFF.

2.1 Precautions

Always follow the specified installation method.

The Servopack generates heat. Install the Servopack so that it can radiate heat freely. Note also that the Servopack must be in an environment free from condensation, vibration and shock.

Provide sufficient clearance

10 mm

Ambient temperature:

0 to 55°C

Perform noise reduction and grounding properly.

If the signal line is noisy, vibration or malfunction will result.

Separate high-voltage cables from low-voltage cables.

Use cables as short as possible.

Use at least class 3 grounding (ground resistance

100Ω or below) for the Servomotor and Servopack.

Never use a line filter for the power supply in the motor circuit.

Casing

Servopack

Signal line

Conduct a voltage resistance test under the following conditions.

Voltage: 1500 Vrms AC, one minute

Braking current: 30 mA

Frequency: 50/60 Hz

Voltage applied point: Between L1, L2, L, N, +, -,

Y3, Y4, U, V, W terminals and ground terminal

(connect between terminals securely.)

Servomotor

Conduct a voltage resistance test as described on the left.

Use a fast-response type ground-fault detector.

For a ground-fault detector, always use a fast-response type or one designed for PWM inverters.

Do not use a time-delay type.

Ground-fault detector

GOOD GOOD

Fast-response type

For PWM inverter

POOR

Time-delay type

Do not perform continuous operation under overhanging load.

Continuous operation cannot be performed by rotating the motor from the load and applying regenerative braking. Regenerative braking by the Servopack can be applied only for a short period, such as the motor deceleration time.

Servomotor

Regenerative braking continuously applied

The Servomotor cannot be operated by turning the power ON and OFF.

Frequently turning the power ON and OFF causes the internal circuit elements to deteriorate. Always start or stop the servomotor by using reference pulses.

Power supply

Servopack

Starting and stopping by turning power ON and OFF

BASIC USES OF S-SERIES PRODUCTS

2.2.1 Checking on Delivery

2.2 Installation

This section describes how to check S-Series products on delivery and how to install them.

2.2.1

Checking on Delivery . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.2.2

Installing the Servomotor

2.2.3

Installing the Servopack

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.2.1 Checking on Delivery

1) When S-Series products are delivered, check the following items:

Check Items

Check if the delivered products are the ones you ordered.

Check if the motor shaft rotates smoothly.

Check for damage.

Check screws for looseness.

Remarks

Check the types marked on the nameplates of

Servomotor and Servopack (see the table below).

If the motor shaft is smoothly turned by hand, it is normal. However, if the motor has brakes, it cannot be turned manually.

Check the overall appearance, and check for damage or scratches resulting from transportation.

Check for looseness by using a screwdriver as necessary.

If any of the above items are faulty or incorrect, contact the dealer from which you purchased the products or your nearest local sales representative.

Appearance Nameplate Type

Servo motor

S-Series

SGM Servomotor

S-Series

SGMP Servomotor

Rated output

Servomotor type

Rated current

Rated torque

Serial number

Manufacturing date

Rated rotation speed

S-Series

SGM: SGM

Servomotor

SGMP: SGM

Servomotor

Rated Output

A3:0.04HP A5:0.07HP

01:0.13HP 02:0.27HP

03:0.40HP 04:0.53HP

08:1.01HP

Power supply

A:200V B:100V

Encoder specifications

3: 2048P/R incremental encoder

W: 12-bit absolute encoder

Design revision order

Shaft specifications

2: Straight without key

4: Straight with key

Option

B: With brake S: With oil seal

D: With brake and oil seal

P: Drip-proof provision

2.2 Installation

Appearance Nameplate

Servopack type

Servopack

Σ-Series DR2

Servopack

Serial number

Output power voltage

Applicable power supply

Type

D R 2 - 0 1 A C P - F

Σ-Series

DR2 Servopack

Rated Ouoput

A3:0.04HP A5:0.07HP

01:0.13HP 02:0.27HP

03:0.40HP 04:0.53HP

08:1.01HP

Power Supply

Type

C: Incremental/absolute encoder available

Applicable motor

Blank: SGM Servomotor

P: SGMP Servomotor

Option

Blank: Semi−closed loop (standard)

P: Full−closed loop

2.2.2 Installing the Servomotor

Servomotor SGM and SGMP types can be installed either horizontally or vertically. However, if the Servomotor is installed incorrectly or in an inappropriate location, the service life will be shortened or unexpected problems will occur. To prevent this, always observe the installation instructions described below.

Before installation :

Anticorrosive paint is coated on the edge of the motor shaft. Clean off the anticorrosive paint thoroughly using a cloth moistened with thinner.

Anticorrosive paint is coated here

NOTE Avoid getting thinner on other parts of the Servomotor when cleaning the shaft.

Storage:

When the Servomotor is to be stored with the power cable disconnected, store it in the following temperature range:

Between −20°C and 60°C

BASIC USES OF Σ-SERIES PRODUCTS

2.2.2 Installing the Servomotor cont.

Installation sites:

The Servomotor SGM and SGMP types are designed for indoor use.

Install Servomotor in an environment which meets the following conditions: a) Free from corrosive and explosive gases b) Well-ventilated and free from dust and moisture c) Ambient temperature of 0 to 40°C d) Relative humidity of 20% to 80% (non-condensing) e) Inspection and cleaning can be performed easily

If the Servomotor is used in a location subject to water or oil mist, install a shield cover over the Servomotor.

Alignment :

Align the shaft of the Servomotor with that of the equipment to be controlled, then connect the shafts with couplings. Install the Servomotor so that alignment accuracy falls within the range shown below.

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

0.03 mm or less. (Turn together with couplings)

Measure this distance at four different positions in the circumference. The difference between the maximum and minimum measurements must be 0.03 mm or less. (Turn together with couplings)

NOTE If the shafts are not aligned properly, vibration will occur, resulting in damage to the bearings.

Mechanical shock to the shaft end must be less than 98m/s 2 applied no more than twice.

(10G) and must be

Design the mechanical system so that thrust load and radial load applied to the servomotor shaft end during operation falls within the range shown in the following table.

TERMS

Thrust load and radial load

1. Thrust load: Shaft-end load applied parallel to the centerline of a shaft

2. Radial load: Shaft-end load applied perpendicular to the centerline of a shaft

Motor

Shaft end

2.2 Installation

• Servomotor with incremental encoder

SGM-A3

SGM-A5

SGM-01

SGM-02

SGM-03

SGM-04

SGM-08

SGMP-01

SGMP-02

SGMP-03

SGMP-04

SGMP-08

Motor Type

Allowable

Radial Load

Fr [N(lb)]

68 (15)

78 (17)

245 (55)

392 (88)

78 (17)

245 (55)

392 (88)

Allowable

Thrust Load

Fs [N(lb)]

54 (12)

74 (16)

147 (33)

49 (11)

68 (15)

69 (15)

147 (33)

LR mm

(in.)

20 (0.82)

25 (1.02)

35 (1.43)

20 (0.82)

25 (1.02)

35 (1.43)

Reference Drawing

• Servomotor with absolute encoder

SGM-A3

SGM-A5

SGM-01

SGM-02

SGM-03

SGM-04

SGM-08

SGMP-01

SGMP-02

SGMP-03

SGMP-04

SGMP-08

Motor Type

Allowable

Radial Load

Fr [N(lb)]

49 (11)

68 (15)

196 (44)

343 (77)

78 (17)

245 (55)

392 (88)

Allowable

Thrust Load

Fs [N(lb)]

19 (4)

49 (11)

68 (15)

98 (22)

49 (11)

68 (15)

69 (15)

147 (33)

LR mm

(in.)

20 (0.82)

25 (1.02)

35 (1.43)

20 (0.82)

25 (1.02)

35 (1.43)

Reference Drawing

Note The radial load and thrust load values shown above are the maximum allowed values for the sum of the load generated by motor torque and the load externally applied to the shaft.

BASIC USES OF Σ-SERIES PRODUCTS

2.2.3 Installing the Servopack

2.2.3 Installing the Servopack

Σ-Series DR2 Servopack is a rack−mounted type servo controller.

Incorrect installation will cause problems. Always observe the installation instructions described in the next page.

Storage:

DR2 Servopack

When the Servopack is to be stored with the power cable disconnected, store it in the following temperature range:

Between −20°C and 85°C

Installation sites:

When installed near a heating unit

When installed near a source of vibration

When installed in a place receiving corrosive gases

Others

Situation

When installed in a control panel

Notes on Installation

Design the control panel size, unit layout, and cooling method so that the temperature around the periphery of the Servopack does not exceed 55°C.

Suppress radiation heat from the heating unit and a temperature rise caused by convection so that the temperature around the periphery of the Servopack does not exceed 55°C.

Install a vibration isolator underneath the Servopack to prevent it from receiving vibration.

Corrosive gases do not immediately affect the Servopack but will eventually cause contactor-related devices to malfunction. Take appropriate action to prevent corrosive gases.

Avoid installation in a hot and humid place or where excessive dust or iron powder is present in the air.

Orientation:

Install the Servopack perpendicularly as shown in the figure.

The Servopack must be orientated as shown in the figure because it is designed to be cooled by natural convection.

• Firmly secure the Servopack through three or four mounting holes.

Ventilation

2.2 Installation

Installation method:

When installing multiple Servopacks side by side in a control panel, observe the following installation method:

Fan

50 mm or more

Fin

30 mm or more

10 mm or more

50 mm or more

2 a) Install Servopack perpendicularly so that the front panel (containing connectors) faces outward.

b) Provide sufficient space around each Servopack to allow cooling by natural convection.

BASIC USES OF Σ-SERIES PRODUCTS

2.2.3 Installing the Servopack cont.

c) When installing Servopacks side by side, provide at least 10 mm space between them and at least 50 mm space above and below them as shown in the figure above. Install cooling fans above the Servopacks to prevent the temperature around each Servopack from increasing excessively and also to maintain the temperature inside the control panel evenly.

d) Maintain the following conditions inside the control panel:

• Ambient temperature for Servopack: 0 to 55°C

• Humidity: 90%RH or less

• Vibration: 0.5G (4.9 m/s

2 )

• Condensation and freezing: None

• Ambient temperature to ensure long-term reliability: 45°C or less

2.3 Connection and Wiring

2.3 Connection and Wiring

This section describes how to connect Σ-Series products to peripheral devices and explains a typical example of wiring the main circuit. It also describes an example of connecting to main host controllers.

2.3.1

Connecting to Peripheral Devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.3.1 Connecting to Peripheral Devices

This section shows a standard example of connecting Σ-Series products to peripheral devices and briefly explains how to connect to each peripheral device.

NOTE Read the following notes before wiring:

• Connect only one cable to one terminal. Never connect two cables to one terminal.

• Do not solder the cable.

• Peel back the cable shield by about 10mm (0.39in.) min. Then insert the cable into the terminal securely and tighten the screw. Never leave the bare wires outside of the termianl.

• When the cable is inserted into the flat terminal, use the following ferrules.

Non−insulated ferrules, 2.5mm

2 or less (Made by PHOENIX CONTACT)

<Reference> Terminal block type: FRONT 2.5H/SA5

(Made by PHOENIX CONTACT)

BASIC USES OF S-SERIES PRODUCTS

Standard connection method for S-Series AC Servo Drives:

Molded-case circuit breaker (MCCB)

Used to protect power supply line. Shuts the circuit off when overcurrent is detected.

Power supply:

Single-phase

200 or 100 V

Digital Operator

Noise filter

Used to eliminate external noise from power supply line.

Allows the user to set user constants or operation references status status.

or and display operation alarm

Hand-held type

(JUSP-OP02A-1)

1-meter(3.3ft.) cable included

Note: The following noise filters do not conform to the EMC instructions. As for the noise filters conforming to EMC instructions, refer to 7.2.2.

Types: LF-205A

LF-210

LF-220

(for DR2-A3A, A5A, 01A,

02A, A3B, A5B, and 01B)

(for DR2-04A and 02B)

(for DR2-03B and 08A) Brake control relay

S-Series

DR2 Servopack

Magnetic contactor

Turns the main power ON or OFF.

Use a surge suppressor for the magnetic contactor.

Type: HI-15E5 (30 A)

Brake power supply

Used for Servomotor with brake.

Types:

LPSE-2H01

(for 200 V input)

LPDE-1H01

(for 100 V input)

See on the precautions wiring (on the previous page).

+(Y3), -(Y4)

Connector for PG

(on Servopack side)

Regenerative unit

(For types DR2-A3A,

A5A, 01A, 02A)

Type: JUSP-RG08

(Not applicable to types

DR2 A3B, A5B, 01B)

Exterior type regenerative resistor

Applicable to DR2-04ACY8,

08ACY8, 02BCY8, 03BCY8)

This wiring is required only for a Servomotor with brake

Connector kits for pulse generator (PG) and for motor are not required if the following parts are ordered:

S Cable with terminal connectors

S Cable with connector and amplifier terminal

Personal computer

Exclusive-use cable between personal computer and Servopack (for NEC PC) is available.

Type: DE9405258 (2m, 6.6ft.) consult factory about cable for

IBM PC.

1CN connector kit

(Type: DP9420010)

Connector for

PG (on motor side)

Connector for motor

Σ-Series Servomotor

Host controller

Servopack is compatible with most P.L.C.motion

controllers and indexers.

References are input as analog signals or pulse trains.

PROGIC-8

Cable for PG

This cable is used to connect a Servomotor encoder to a

Servopack.

The following two types of cable are available according to the encoder type.

As for the PG cables conforming to EMC instructions, refer to

7.2.4.

• Cable for incremental encoder

(with connector on both ends)

9.8ft: DP9320082-1 16.4ft: DP9320082-2

32.8ft: DP9320082-3 49.2ft: DP9320082-4

65.6ft: DP9320082-5

• Cable for absolute encoder

(with connectors on both ends)

9.8ft: DP9320084-1 16.4ft: DP9320084-2

32.8ft: DP9320084-3 49.2ft: DP9320084-4

65.6ft: DP9320084-5

A cable with a single connector (without connector on Servopack side) and a cable without connectors are also available.

Connector kit for PG

On Servomotor side On Servopack side

This connector kit is required for cables without connectors.

For moving parts, a cable for robot must be ordered separately.

Cable for motor

This is a power cable for connecting a Servomotor to a

Servopack.

For a Servomotor with brake, this cable is also used to wire the brake.

As for the motor cables conforming to EMC instructions, refer to

5.6.1.

• Without brake (connector included)

9.8ft: DP9320659-1 16.4ft: DP9320659-2

32.8ft: DP9320659-3 49.2ft: DP9320659-4

65.6ft: DP9320659-5

• With brake (connector included)

9.8ft: DP9320660-1 16.4ft: DP9320660-2

32.8ft: DP9320660-3 49.2ft: DP9320660-4

65.6ft: DP9320660-5

A cable without connector and spare solder is also available.

Connector kit for motor

Connector for motor (on motor side)

This connector kit is required for cables without connector and amplifier terminal.

BASIC USES OF Σ-SERIES PRODUCTS

2.3.2 Main Circuit Wiring and Power ON Sequence

2.3.2 Main Circuit Wiring and Power ON Sequence

1) The following diagram shows a typical example of wiring the main circuit for Σ-Series products:

Single-phase 200 to 230 VAC + 10

–15 %

, 50/60 Hz

R T

For 100 V Type

Single-phase 100 to 115 VAC + 10

–15 %

Servopack DR2

50/60 Hz

1MCCB

1FIL

1MC

Main Power

OFF ON

1MC

1Ry

1PL

1MC

1SUP

ALM+

1CN

ALM-

1Ry

+24V

1MCCB: Circuit breaker

1FIL:

1MC:

1Ry:

1PL:

Noise filter

Contactor

Relay

1SUP: Surge suppressor

1D:

Patrol light

Flywheel diode

2) The following table shows the name and description of each main circuit terminal:

Terminal

Symbol

Name Description

L1, L2

L, N

×2

Y3, Y4

+, −

Main circuit AC input

Control power supply input

U, V, W Motor connection

Ground terminal

Regenerative resistor connection

Regenerative unit connection

Single-phase 200 to 230 VAC + 10

–15 %

, 50/60Hz* 1

Single-phase 200 to 230 VAC + 10

–15 %

, 50/60Hz* 1

Connects terminal U to motor terminal (red), V to (white) and W to (blue).

Connects to ground and motor terminal (for ground and motor grounding)

Regenerative resistor connection (External connection is not normally required.)* 2

Regenerative unit connection terminal (Connection is not normally required.)* 3

*1 For 100 V power supply: Single-phase 100 to 115 VAC + 10

–15 %

, 50/60Hz

*2 Provided only for types 400W, 750W (200VAC) and 200W, 300W (100VAC).

*3 Provided only for types 30W to 200W (200VAC).

2.3 Connection and Wiring

3) Form a power ON sequence as follows: a) Form a power ON sequence so that the main power is turned OFF when a servo alarm signal is output. (See the circuit diagram shown on the previous page.) b) Hold down the power ON push-button for at least two seconds. The Servopack outputs a servo alarm signal for approximately two seconds or less when the power is turned ON. This operation is required to initialize the Servopack.

Power supply

Servo alarm (ALM) output signal

NOTE D After turning the power OFF, do not touch the power terminals for 5 minutes. High voltage may remain in the Servopack.

D Avoid frequently turning the power ON and OFF. Since the Servopack has a capacitor in the power supply, a high charging current flows (for 0.2 second) when the power is turned

ON. Therefore, frequently turning the power ON and OFF causes the main power devices

(such as capacitors and fuses) to deteriorate, resulting in unexpected problems.

BASIC USES OF Σ-SERIES PRODUCTS

2.3.3 Examples of Connecting I/O Signal Terminals

2.3.3 Examples of Connecting I/O Signal Terminals

1) This sub-section provides typical examples of connecting to main host controllers. Connection to other host controllers is also possible. Connect to the host controller according to the connection examples shown below by referring to technical documentation for the host controller.

NOTE This sub-section describes signals related to the DR2 Servopack only. For other signals, refer to the relevant technical documentation.

2) Example of Connecting to PROGIC-8

Servopack for Speed Control

Servopack

Speed

(MADE BY YASKAWA)

FG (connector frame)

*1 These pin numbers are also applicable to SV2 to SV4.

*2 Do not change the standard settings of user constants for the Servopack.

Cable between PROGIC−8 and DR2 Servopack

Type JEPMC − W5521 − 05 (1.6ft.)

JEPMC − W5521 − 10 (3.3ft.)

JEPMC − W5521 − 30 (9.8ft.)

Speed

3) Example of Connecting to GL-Series Positioning Module B2833

Servopack for Speed Control

SERVOPACK

(MADE BY YASKAWA)

SERVO NORMAL

DECEL LS

D/A OUTPUT

2.3 Connection and Wiring

ALARM

*1 These signals are output for approximately two seconds when the power is turned ON. Take this into consideration when designing a power ON sequence.

Relay 1Ry is used to stop main circuit power supply to the Servopack.

BASIC USES OF Σ-SERIES PRODUCTS

2.3.3 Examples of Connecting I/O Signal Terminals cont.

4) Example of Connecting to GL-Series Positioning Module B2813

Servopack for Position Control

Servopack

Positions

(MADE BY YASKAWA)

SERVO

NORMAL

DECEL LS

ALARM

*1 These signals are output for approximately two seconds when the power is turned ON. Take this into consideration when designing a power ON sequence.

Relay 1Ry is used to stop main circuit power supply to Servopack.

*2 Change the Cn-02 setting as follows:

Bit No. 3 = 0

Bit No. 4 = 0

Bit No. 5 = 0

Bit No. B = 1

*3 Pull up the CLR signal with 1 kΩ resistance.

Change the Cn-02 setting as follows:

Bit No. A =1

Speed

2.3 Connection and Wiring

5) Example of Connecting to OMRON Position Control Unit C500-NC222

Servopack for Speed Control

Servopack

I/O POWER

SUPPLY

C500-NC222

(MADE BY OMRON)

X-AXIS (Y-AXIS)

(ON when positioning is stopped)

(ON when proximity is detected)

* These signals are output for approximately two seconds when the power is turned

ON. Take this into consideration when designing a power ON sequence. Relay 1Ry is used to stop main circuit power supply to Servopack.

Note The signals shown here are applicable only to OMRON Sequencer

C500-NC222 and Yaskawa Servopack DR2-VVVV.

BASIC USES OF Σ-SERIES PRODUCTS

2.3.3 Examples of Connecting I/O Signal Terminals cont.

6) Example of Connecting to OMRON Position Control Unit C500-NC112

Servopack for Position Control

SERVOPACK

Positions

C500-NC112

(MADE BY OMRON)

I/O

POWER

SUPPLY

CW LIMIT

CCW LIMIT

EMERGENCY STOP

EXTERNAL INTERRUPT

HOME POSITION

PROXIMITY

LOCAL

READY

PULSE OUTPUT

CW + CCW

DIRECTION

OUTPUT

(ON when proximity is detected)

EXTERNAL

POWER

SUPPLY

*1 These signals are output for approximately two seconds when the power is turned ON. Take this into consideration when designing a power ON sequence. Relay 1Ry is used to stop main circuit power supply to Servopack.

*2 Change the Cn-02 setting as follows:

Bit No. 3 = 1

Bit No. 4 = 0

Bit No. 5 = 0

*3 Manufactured by Yaskawa Controls Co., Ltd.

Note The signals shown here are applicable only to OMRON Sequencer C500-NC112 and

Yaskawa Servopack DR2-VVVV.

Speed

7) Example of Connecting to MITSUBISHI Positioning Unit AD72

Servopack for Speed Control

SERVOPACK

I/O POWER SUPPLY

(MADE BY MITSUBISHI)

AD72

(ON when positioning is stopped)

(ON when proximity is detected)

2.3 Connection and Wiring

SPEED

REF-

ERENCE

*2 These pin numbers are the same for both X and Y axes.

Note The signals shown here are applicable only to MITSUBISHI Sequencer AD72 and Yaskawa Servopack DR2-VVVV.

BASIC USES OF Σ-SERIES PRODUCTS

2.3.3 Examples of Connecting I/O Signal Terminals cont.

8) Example of Connecting to MITSUBISHI Positioning Unit AD71 (B Type)

Servopack for Position Control

SERVOPACK

Positions

I/O POWER SUPPLY

AD71 (B TYPE)

(MADE BY MITSUBISHI)

X AXIS (Y AXIS)

(ON when positioning is stopped)

(ON when proximity is detected)

EXTERNAL

POWER

SUPPLY

+24V

*2 Manufactured by Yaskawa Controls Co., Ltd.

Note The signals shown here are applicable only to MITSUBISHI Sequencer AD71 (B Type) and Yaskawa Servopack DR2-VVVV.

2.4 Conducting a Test Run

2.4 Conducting a Test Run

This section describes how to conduct a full test run. The test run is divided into two steps. Complete a test run in step 1 first, then proceed to step 2.

2.4.1

Test Run in Two Steps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.4.2

Step 1: Conducting a Test Run for Motor without Load . . . . . . . . . . . . . . . .

2.4.3

Step 2: Conducting a Test Run with the Motor Connected to the Machine

2.4.4

Supplementary Information on Test Run . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.4.5

Minimum User Constants Required and Input Signals . . . . . . . . . . . . . . . . .

47 2

2.4.1 Test Run in Two Steps

Conduct the test run when wiring is complete.

Generally, conducting a test run for servo drives can be difficult. However, by following the two steps described below, the test run can be performed safely and correctly.

NOTE To prevent accidents, initially conduct a test run only for a servomotor under no load (i.e., with all couplings and belts disconnected). Do not run the servomotor while it is connected to a machine.

The test run is divided here into steps 1 and 2.

Complete the test run in step 1 first, then proceed to step 2. The purposes of each step are described on the next page.

BASIC USES OF Σ-SERIES PRODUCTS

2.4.1 Test Run in Two Steps cont .

Step 1: Conducting a test run for the motor without load . . .

Check that the motor is wired correctly.

Check wiring.

Operate the motor with a

Digital Operator.

Conduct a test run with the motor shaft disconnected from the machine.

Purpose: • To check power supply circuit wiring

• To check motor wiring

• To check I/O signal (1CN) wiring

Do not connect to a machine.

Outline: • Turn the power ON.

• Operate the motor with a digital operator.

• Check I/O signals (1CN).

• Conduct a test run using I/O signals.

Step 2: Conducting a test run with the motor and machine connected . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Adjust Servopack according to machine characteristics.

Connect to the machine and conduct a test run.

DR2

Speed adjustment by autotuning

Purpose: • To perform autotuning to adjust the motor according to machine characteristics

• To match the speed and direction of rotation with the machine specifications

• To check the final control mode

Connect to the machine.

Outline: • Perform autotuning.

• Adjust user constant settings.

• Record user constant settings.

End of test run

For customers who use a servomotor with a brake, refer to Section 2.4.4 Supplementary

Information on Test Run before starting a test run.

The following pages describe the test run procedure in detail.

2.4 Conducting a Test Run

2.4.2 Step 1: Conducting a Test Run for Motor without Load

Check that the motor is wired correctly.

If the motor fails to rotate properly during a servo drive test run, the cause most frequently lies in incorrect wiring.

Conduct a test run for the motor without load according to the procedure described below.

For customers who use a servomotor with brake, refer to Section 2.4.4 Supplemental In-

formation on Test Run before starting a test run.

Operate the motor with a Digital Operator.

Check wiring.

Do not connect to the machine.

(1) Secure the servomotor.

Secure the servomotor to mounting holes to prevent it from moving during operation. Alternatively, install the servomotor on the machine and disconnect couplings and belts.

Secure servomotor to mounting holes.

Do not connect anything to the motor shaft

(no-load status).

(2) Disconnect connector 1CN, then check the motor wiring in the power supply circuit.

(When incremental encoder is used)

I/O signals (1CN) are not to be used so leave connector 1CN disconnected.

(When absolute encoder is used)

Connect the battery to the battery terminals

1CN-21, -22.

Disconnect connector

1CN

(3) Short the alarm signal circuit.

Because connector 1CN is disconnected, the alarm signal prevents the power supply circuit from being turned ON. Therefore, temporarily short the alarm signal circuit.

Power supply

0V +24V Force this relay ON.

Short this circuit.

ALM+

ALM-

(1CN−31)

(1CN−32)

1CN disconnected

BASIC USES OF Σ-SERIES PRODUCTS

2.4.2 Step 1: Conducting a Test Run for Motor without Load cont.

(4) Turn the power ON.

Turn the Servopack power ON. If the Servopack is turned ON normally, the LED on the

Digital Operator lights up as shown in the figure.

Power is not supplied to the servomotor because the servo is OFF.

If an alarm display appears on the LED as shown in the figure above, the power supply circuit, motor wiring or encoder wiring is incorrect. In this case, turn the power OFF, then correct the problem.

(5) Operate using the Digital Operator

Operate the motor with the Digital Operator.

Check that the motor runs normally.

Operation by Digital Operator

Refer to 4.2.2 Operating Using the Digital Op-

erator.

(6) Connect signal lines.

Connect connector 1CN as follows:

If an alarm occurs, the power supply circuit, motor wiring, or encoder wiring is incorrect.

After turning the power OFF, remove the short circuit.

ALM+

ALM(1) Turn the power OFF.

(2) Return the alarm signal circuit shorted in the above step (3) to its original state.

(3) Connect connector 1CN.

(4) Turn the power ON again.

Connect connector

1CN.

(7) Check input signals.

Check the input signal wiring in monitor mode.

For the checking method, refer to 4.1.6 Opera-

tion in Monitor Mode.

Example of

Un-05

Internal status bit display

(Un-05, Un-06)

N-CL

(1CN-46)

P-CL

(1CN-45)

• Checking method

Turn each connected signal line ON and

OFF to check that the monitor bit display changes accordingly.

Input Signal

High level or open

0 V level

OFF

ON/OFF

S-ON

(1CN-40)

P-CON

(1CN-41)

P-OT

(1CN-42)

N-OT

(1CN-43)

The memory switch can be used to eliminate the need for external short-circuits in wiring (Refer to 3.1.2).

Monitor Bit Display

Extinguished

Lit

2.4 Conducting a Test Run

If the signal lines below are not wired correctly, the motor fails to rotate. Always wire them correctly. (If signal lines are not to be used, short them as necessary.)

P-OT 1CN-42 Motor can rotate in forward direction when this input signal is at 0 V.

N-OT 1CN-43 Motor can reverse when this input signal is at 0 V.

S-ON 1CN-40 Servo is turned ON when this input signal is at 0 V. However, leave the servo in OFF status.

(8) Turn servo (motor) ON.

Turn the servo ON as follows:

(1) Check that no reference has been input.

Speed/torque control mode :

V-REF (1CN-5) and T-REF (1CN-9) are at 0 V.

Position control mode:

PULS (1CN-7) and SIGN (1CN-11) are fixed.

S−ON

Servopack

Servomotor

(1CN−40)

Turn the servo ON

(2) Turn the servo ON signal ON.

Set S-ON (1CN-40) to 0 V. If normal, the motor is turned ON and the Digital Operator displays the data as shown in the figure. If an alarm display appears, take appropriate action as described in Appendix E List of Alarm Displays.

Display when servo is turned ON

(9) Operate by reference input.

The operating procedure differs according to the Servopack control mode used.

Speed/Torque

Speed/Torque Control Mode

(This section describes the standard speed control setting.)

(1) Gradually increase the speed reference input

(V-REF, 1CN-5) voltage. The motor will rotate.

Servopack

Servomotor

(1CN−5)

(1CN−6)

Servomotor rotates at a speed proportional to the reference voltage.

When a host controller such as a programmable controller performs position control, it may be difficult to directly input the speed reference voltage. In this case, constant voltage reference should be input once to ensure correct operation.

BASIC USES OF Σ-SERIES PRODUCTS

2.4.2 Step 1: Conducting a Test Run for Motor without Load cont.

(2) Check the following items in monitor mode (Refer to 4.6.1.):

(1) Has a reference speed been input?

(2) Is the motor speed as designed?

(3) Does the reference speed match the actual motor speed?

(4) Does the motor stop when no reference is input?

Un-00 Actual motor speed

Un-01 Reference speed

(3) If the motor rotates at an extremely slow speed when 0 V is specified as the reference voltage, correct the reference offset value as described in Section 4.2.4 Reference

Offset Automatic Adjustment

(4) To change motor speed or the direction of rotation, reset the user constants shown below.

Cn-03 Speed reference gain (Refer to 3.2.7.)

Cn-02 bit 0 Reverse rotation mode (Refer to 3.1.1.)

Positions

Position Control Mode

(1) Set user constant Cn-02 so that the reference pulse form matches the host controller output form. (Refer to 4.1.5 for details on how to set user constants.)

Selecting reference pulse form (Refer to 3.2.2.)

Cn-02

Bit 3

Bit 4

Bit 5

(2) Input a slow speed pulses from the host controller and execute low-speed operation.

Host controller

Reference pulse

Servopack

Servomotor

(1CN−7)

(1CN−8)

(1CN−11)

(1CN−12)

2.4 Conducting a Test Run

(3) Check the following items in monitor mode

(Refer to 4.6.1.):

(1) Has a reference pulse been input?

(2) Is the motor speed as set?

(3) Does the reference speed match the actual motor speed?

(4) Does the motor stop when no reference is input?

Un-00 Actual motor speed

Un-07 Reference pulse speed display

Un-08 Position error

(4) To change motor speed or the direction of rotation, reset the user constants shown below.

Cn-24,Cn-25

Cn-02 bit 0

Electronic gear ratio (Refer to 3.2.5.)

Reverse rotation mode (Refer to 3.1.1.)

If an alarm occurs or the motor fails to rotate during the above operation, connector 1CN wiring is incorrect or the user constant settings do not match the host controller specifications.

In this case, check the wiring and review the user constant settings, then repeat step 1.

Refer to Appendix E List of Alarm Displays and Appendix D List of User Constants.

This is all that is required to complete step 1 (conducting a test run for motor without load).

Whenever possible, perform tuning associated with the host controller and other necessary adjustments in step 1 (before installing the motor on the machine).

2.4.3 Step 2: Conducting a Test Run with the Motor Connected to the Machine

After step 1 is complete, proceed to step 2 in which a test run is conducted with the motor connected to the machine. The purpose of step 2 is to adjust the Servopack according to the machine characteristics.

Conduct a test run according to the procedure described below.

Purposes: 1) Autotuning

2) Speed adjustment

DR2

Servopack

Servomotor

Connect to the machine.

BASIC USES OF Σ-SERIES PRODUCTS

2.4.3 Step 2: Conducting a Test Run with the Motor Connected to the Machine cont.

NOTE Before proceeding to step 2, repeat step 1 (conducting a test run for the motor without load) until you are fully satisfied that the test has been completed successfully. Operation faults that arise after the motor is connected to the machine not only damage the machine but may also cause an accident resulting in injury or death. Therefore, all items including user constants setting and wiring should be tested as conclusively as possible before step 1 is complete.

(1) Check that power is OFF.

Turn the Servopack power OFF.

Power supply

Servopack

Power OFF

(2) Connect the servomotor to the machine.

Refer to 2.2.2 Installing the Servomotor.

Servomotor

Install servomotor on machine.

(3) Perform autotuning.

Tune the Servopack according to the machine characteristics. Refer to 4.2.3 Autotuning.

DR2

Autotuning:

Automatically measures machine characteristics and performs optimum tuning

Servopack Servomotor

(4) Operate by reference input.

As in step 1 (conducting a test run for motor without load), perform (9) Operate by refer-

ence input on page 41. Perform tuning associated with the host controller.

Host controller

Reference

Servopack

Servomotor

(5) Set user constants and record the settings.

Set user constants as necessary. Record all the user constant settings for maintenance purposes.

Servopack

User constants

Record the settings

This is all that is required to conduct the test run.

Normally, the machine may cause much friction because of an insufficient running-in period. After a test run is complete, perform adequate running-in.

2.4 Conducting a Test Run

2.4.4 Supplementary Information on Test Run

In the following cases, always refer to the information described below before starting a test run:

• When using a servomotor with a brake

• When performing position control from the host controller

1) When using a servomotor with brake

The brake prevents the motor shaft from rotating due to a backdriving torque. Such a torque may be created by an external force or the force of gravity acting on the load and may result in undesired motion or the load, should motor power be lost.

Servopack uses the brake interlock output (BK) signal to control holding brake operation for a servomotor with brake.

• Axis to which external force is applied • Vertical axis

Servomotor

Holding brake

External force

Servomotor

Prevents the motor from rotating due to gravity

Holding brake

NOTE To prevent faulty operation caused by gravity (or external force), first check that the motor and holding brake operate normally with the motor disconnected from the machine.

Then, connect the motor to the machine and conduct a test run.

For wiring of a servomotor with a brake, refer to 3.4.4 Using Holding Brake.

Brake control relay

Brake power supply

LPSE-2H01 (200 V input)

LPDE-1H01 (100 V input)

Power supply: single-phase

200 V or 100 V

Servopack

Cable for motor with brake

9.8ft DP9320660-1

16.4ft DP9320660-2

32.8ft DP9320660-3

49.2ft DP9320660-4

65.6ft DP9320660-5

Servomotor with brake

BASIC USES OF Σ-SERIES PRODUCTS

2.4.4 Supplementary Information on Test Run cont.

2) When performing position control from the host controller

Check motor operation first and then conduct a test run as described in the table below.

Host controller

Type: DR2−jjjj

Speed reference

Position control

Speed control

GOOD

Test run for motor without load

POOR

NOTE Check the motor operation with the motor disconnected from the machine. If the host controller does not perform position control correctly, the motor may run out of control.

Reference from

Host Controller

Jogging

(constant-speed reference input from host controller)

Simple positioning

Overtravel (when

P-OT and N-OT signals are used)

Check Items

Motor speed

Number of motor revolutions

Whether the motor stops rotating when

P-OT and N-OT signals are input

Check Method

Check the motor speed as follows:

Review Items

Use the speed monitor (Un-00) of the digital operator.

Run the motor at low speed. For example, input a speed reference of

60 r/min and check that the motor makes one revolution per one second.

Input a reference equivalent to one motor revolution and visually check that the motor shaft makes one revolution.

Check that the motor stops when

P-OT and N-OT signals are input during continuous motor operation.

Check whether the speed reference gain value (user constant

Cn-03) is correct.

Check whether the dividing ratio count

(user constant

Cn-0A) is correct.

If the motor does not stop, review the

P-OT and N-OT wiring.

2.4 Conducting a Test Run

2.4.5 Minimum User Constants Required and Input Signals

1) This section describes the minimum user constants that must be set to conduct a test run.

For details on how to set each user constant, refer to 4.1.5 Operation in User Constant

Setting Mode.

a) Servopack in speed/torque control mode

Cn-03 Speed reference gain

Cn-0A Dividing ratio setting b) Servopack in torque control mode

Cn-13 Torque reference adjustment gain

Cn-0A Dividing ratio setting c) Servopack in position control mode

Cn-02 bits 3, 4 and 5

Cn-24

Cn-25

Reference pulse form selection

Electronic gear ratio (numerator)

Electronic gear ratio (denominator)

After changing the Cn-02 setting, always turn the power OFF, then ON. This makes the new setting valid.

2) If the specified direction of rotation differs from the actual direction of rotation, the wiring may be incorrect. In this case, recheck the wiring and correct it accordingly. Then, if the direction of rotation is to be reversed, set the following user constant:

Cn-02 (bit 0) Reverse rotation mode

After changing the Cn-02 setting, always turn the power OFF, then ON. This makes the new setting valid.

3) The following table lists the minimum input signals required to conduct a test run. For details of each input signal, refer to the relevant page.

Signal Name

S-ON

Pin

Number

(servo ON) 1CN-40

P-OT

N-OT

(forward rotation prohibited)

(revere rotation prohibited)

1CN-42

1CN-43

Function

Switching between motor ON and OFF status.The

memory switch can be used to eliminate the need for external short-circuit wiring (see page 132).

Overtravel limit switch

The memory switch can be used to eliminate the need for external short-circuit wiring (see page 54).

APPLICATIONS OF Σ-SERIES

PRODUCTS

This chapter is prepared for readers who wish to learn more about the applications of Σ-series products after fully understanding Chapter 2 Basic Uses of

Σ-series Products. It explains how to set user constants for each purpose and how to use each function. Read the applicable sections according to your requirements.

Before Reading this Chapter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.1 Setting User Constants

According to Machine Characteristics

3.1.1 Changing the Direction of Motor Rotation

. . . . . . .

. . . . . . . . . . . . . . .

3.1.2 Setting the Overtravel Limit Function

3.1.3 Restricting Torque

. . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2 Setting User Constants

According to Host Controller

3.2.1 Inputting Speed Reference

. . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2.2 Inputting Position Reference . . . . . . . . . . . . . . . . . . . . . . . . .

3.2.3 Using Encoder Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2.4 Using Contact I/O Signals . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2.5 Using Electronic Gear . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2.6 Using Contact Input Speed Control

3.2.7 Using Torque Control

. . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2.8 Using Torque Feed-forward Function . . . . . . . . . . . . . . . . . .

3.2.9 Using Torque Restriction by Analog Voltage Reference . . . .

3.2.10 Using the Reference Pulse Inhibit Function (INHIBIT) . . . . .

3.2.11 Using the Reference Pulse Input Filter Selection Function . .

3.2.12 Using the Analog Monitor . . . . . . . . . . . . . . . . . . . . . . . . . . .

100

101

102

3.3 Setting Up the Σ Servopack

3.3.1 Setting User Constants

. . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.3.2 Setting the Jog Speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.3.3 Setting the Number of Encoder Pulses . . . . . . . . . . . . . . . . . .

103

103

104

105

3.4 Setting Stop Mode . . . . . . . . . . . . . . . . . . . . . . . .

107

Chapter Table of Contents, Continued

3.4.3 Using Zero-Clamp . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.4.4 Using Holding Brake . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

109

110

3.5 Running the Motor Smoothly . . . . . . . . . . . . . . .

114

3.5.5 Setting the Torque Reference Filter Time Constant . . . . . . . .

116

3.6 Minimizing Positioning Time

3.6.1 Using Autotuning Function

. . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . .

118

118

3.6.5 Setting Speed Bias

3.6.6 Using Mode Switch

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

121

122

3.7.1 Using Servo Alarm Output and Alarm Code Output

3.7.2 Using Servo ON Input Signal

. . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . .

3.7.3 Using Positioning Complete Signal . . . . . . . . . . . . . . . . . . . .

3.7.4 Using Speed Coincidence Output Signal . . . . . . . . . . . . . . . .

3.7.5 Using Running Output Signal . . . . . . . . . . . . . . . . . . . . . . . .

3.7.6 Using Servo Ready Output Signal . . . . . . . . . . . . . . . . . . . . .

128

132

133

134

136

138

3.8.2 Wiring for Noise Control . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.8.3 Using More Than One Servo Drive . . . . . . . . . . . . . . . . . . . .

3.8.4 Using Regenerative Units . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.8.5 Using an Absolute Encoder . . . . . . . . . . . . . . . . . . . . . . . . . .

3.8.6 Extending an Encoder Cable . . . . . . . . . . . . . . . . . . . . . . . . .

3.8.7 Using DR2 Servopack with High Voltage Line . . . . . . . . . . .

3.8.8 Connector Terminal Layouts . . . . . . . . . . . . . . . . . . . . . . . . .

142

147

148

151

159

161

163

Before Reading this Chapter

1) This chapter describes how to use each 1CN connector I/O signal for the DR2 Servopack and how to set the corresponding user constant.

2) For a list of I/O signals of 1CN connecor, refer to Appendix C List of I/O Signals.

For terminal arrangement for I/O signals of 1CN connecor, refer to 3.8.8 Connector Ter-

minal Layouts.

I/O signals

Host controller, external circuit

3) For a list of user constants, refer to Appendix D List of User Constants.

4) User constants are divided into the following two types.

1) Memory switch

Cn-01 and Cn-02

2) Constant setting

Cn-03 and later

Set each bit to ON or OFF to select a function.

Set a numerical value such as a torque limit value or speed loop gain.

DR2 Servopack

User constants

5) For details on how to set user constants, refer to 4.1.5 Operation in User Constant Setting

Mode.

APPLICATIONS OF Σ-SERIES PRODUCTS

3.1.1 Changing the Direction of Motor Rotation

3.1 Setting User Constants According to Machine

Characteristics

This section describes how to set user constants according to the dimensions and performance of the machine to be used.

3.1.1

Changing the Direction of Motor Rotation

3.1.2

Setting the Overtravel Limit Function

. . . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.1.3

Restricting Torque . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.1.1 Changing the Direction of Motor Rotation

1) This Servopack provides a reverse rotation mode in which the direction of rotation can be reversed without altering the servomotor wiring. With the standard setting, forward rotation is defined as counterclockwise (CCW) rotation when viewed from the drive end.

2) If reverse rotation mode is used, the direction of motor rotation can be reversed without other items being changed. The direction (+/−) of axial motion is reversed.

Standard Setting Reverse Rotation Mode

Forward Run Reference

Encoder output from Servopack

(Phase A)

(Phase B)

Encoder output from Servopack

(Phase A)

(Phase B)

Reverse Run Reference

Encoder output from Servopack

(Phase A)

(Phase B)

Encoder output from Servopack

(Phase A)

(Phase B)

3.1 Setting User Constants According to Machine Characteristics

3) Setting Reverse Rotation Mode:

Reverse rotation mode can be set in either of the following two ways. Normally, method 1 is easier to use.

a) Method 1: Setting Memory Switch

Set bit 0 of memory switch Cn-02 to select reverse rotation mode.

Cn-02 Bit 0 Rotation Direction

Selection

Factory

Setting: 0

For Speed/Torque Control and Position Control

Set the direction of rotation.

Setting

Meaning

Forward rotation is defined as counterclockwise rotation when viewed from the drive end.

Forward rotation is defined as clockwise rotation when viewed from the drive end.

(Standard setting)

(Reverse rotation mode)

3 b) Method 2: Shorting the Wiring in the 2CN Connector

Servopack Reverse rotation mode can be set for the 2CN connector for the encoder. This method is used to standardize user constant settings without using the memory switch.

In this case, reverse rotation mode is set regardless of the memory switch setting.

Servomotor

Encoder

Short 2CN-1 and 2CN-7 in the 2CN connector.

Servopack

2CN

APPLICATIONS OF Σ-SERIES PRODUCTS

3.1.2 Setting the Overtravel Limit Function

3.1.2 Setting the Overtravel Limit Function

1) The overtravel limit function forces the moving part of the machine to stop when it exceeds the movable range.

2) To use the overtravel limit function, connect the following input signal terminals correctly.

→ Input P-OT 1CN-42

→ Input N-OT 1CN-43

Forward Rotation Prohibited

(Forward Overtravel)

Reverse Rotation Prohibited

(Reverse Overtravel)

For Speed/Torque

Control and

Position Control

For Speed/Torque

Control and

Position Control

Inputs terminals for overtravel limit switch.

For linear motion, connect a limit switch to prevent damage to the machine.

Reverse rotation side

Servomotor

Forward rotation side

Limit switch Servopack

(1CN−42)

(1CN−43)

P-OT

N-OT

ON: 1CN-42 is at low level.

OFF: 1CN-42 is at high level.

ON: 1CN-43 is at low level.

OFF: 1CN-43 is at high level.

Forward rotation allowed. Normal operation status.

Forward rotation prohibited (reverse rotation allowed).

Reverse rotation allowed. Normal operation status.

Reverse rotation prohibited (forward rotation allowed).

3.1 Setting User Constants According to Machine Characteristics

3) Use the following user constants (memory switch) to specify whether input signals for overtravel are to be used.

Cn-01 Bit 2

Cn-01 Bit 3

Use of P-OT Input Signal

Use of N-OT Input Signal

Factory

Setting: 0

Factory

Setting: 0

For Speed/Torque Control and Position Control

Specifies whether the P-OT input signal for prohibiting forward rotation at overtravel (1CN-42) is to be used and whether the N-OT input signal for prohibiting reverse rotation at overtravel

(1CN-43) is to be used.

Servopack

-42

-43

Specifies “1” when external short-circuit wiring is to be omitted.

The short-circuit wiring shown in the figure can be omitted when P-OT and

N-OT are not used.

Bit Setting

Meaning

Uses the P-OT input signal for prohibiting forward rotation. (Forward rotation is prohibited when 1CN-16 is open. Forward rotation is allowed when 1CN-42 is at 0 V.)

Does not use the P-OT input signal for prohibiting forward rotation.

(Forward rotation is always allowed. This has the same effect as shorting

1CN-42 to 0 V.)

Uses the N-OT input signal for prohibiting reverse rotation. (Reverse rotation is prohibited when 1CN-17 is open. Reverse rotation is allowed when 1CN-43 is at 0 V.)

Does not use the N-OT input signal for prohibiting reverse rotation.

(Reverse rotation is always allowed. This has the same effect as shorting

1CN-43 to 0 V.)

4) If the P-OT and N-OT input signals are used, set the following user constants to specify how to stop the motor.

Cn-01 Bit 8

Cn-01 Bit 9

How to Stop Motor at

Overtravel

Operation to be Performed when Motor Stops after

Overtravel

Factory

Setting: 0

Factory

Setting: 0

For Speed Control and

Position Control

For Speed Control and

Position Control

• Inputs signal for prohibiting forward rotation

(P-OT, 1CN-42)

• Inputs signal for prohibiting reverse rotation

(N-OT, 1CN-43)

Specify how to stop the motor when either of the above signals is input.

Overtravel

Stop mode

Bit 8

Stop by dynamic brake

Bit 6

Coasting to a stop

Deceleration stop

After stop

Releasing dynamic brake

Servo OFF

Zero-clamp

APPLICATIONS OF Σ-SERIES PRODUCTS

3.1.2 Setting the Overtravel Limit Function cont.

Cn-01 bit 8

Setting

Meaning

Stops the motor in the same way as when the servo is turned OFF.

The motor is stopped by dynamic brake or coasts to a stop. Either of these stop modes can be selected by setting bit 6 of Cn-01.

Stops the motor by decelerating it with the preset torque.

Preset value: Cn-06 (EMGTRQ) emergency stop torque

If deceleration stop mode is selected, specify the operation to be done after the motor stops.

Cn-01 bit 9

Setting

Meaning

Turns the servo OFF when the motor stops in deceleration stop mode.

Causes the motor to enter zero-clamp status after it stops in deceleration stop mode.

If torque control mode is selected, the motor stops in the same way as when the servo is turned OFF, regardless of the setting of Cn-01 bit 8.

Cn-06

EMGTRQ

Emergency Stop

Torque

Unit:

Setting

Range: 0 to

Maximum

Torque

Factory

Setting:

Maximum

Torque

For Speed/Torque

Control and Position

Control

Specifies the stop torque to be applied at overtravel when the input signal for prohibiting forward or reverse rotation is to be used.

Input signal for prohibiting forward rotation

P-OT (1CN-42)

Memory switch

Emergency stop torque

Specifies a torque value in terms of a percentage of the rated torque.

Cn-01 Bit 6

Cn-01 Bit 7

How to Stop Motor at Servo

OFF

Operation to Be Performed when Motor Stops after Servo

OFF

Stop by dynamic brake

Input signal for prohibiting reverse rotation

N-OT (1CN-43)

Factory

Setting: 0

Factory

Setting: 1

Coasting to a stop

For Speed/Torque Control and Position Control

The Servopack enters servo OFF status when:

• Servo ON input signal (S-ON, 1CN-40) is turned

OFF.

• Servo alarm arises.

Servo OFF

Stop mode

Stop by dynamic brake

Bit 6

Coasting to a stop

After stop

Releasing dynamic brake 0

Bit 7

Holding dynamic brake

• Main power is turned OFF.

Remains being released dynamic brake

Specify how to stop the motor when one of the above events occurs during operation.

Setting

Dynamic brake is a function that electrically applies brakes by using a resistor to consume motor rotation energy.

Meaning

Cn-01 bit 6

Stops the motor by dynamic brake.

Causes the motor to coast to a stop.

The motor power is OFF and stops due to machine friction.

3.1 Setting User Constants According to Machine Characteristics

If dynamic brake stop mode is selected, specify the operation to be performed when the motor stops.

Cn-01 bit 7

Setting

Meaning

Releases dynamic brake after the motor stops.

Does not release dynamic brake even after the motor stops.

3.1.3 Restricting Torque

1) The Servopack can provide the following torque control:

Torque restriction

Torque control

Level 1: To restrict the maximum output torque to protect the machine or workpiece

Level 2: To restrict torque after the motor moves the machine to a specified position

Level 3: To always control output torque, not speed

Level 4: To alternately use speed control and torque control

This section describes how to use levels 1 and 2 of the torque restriction function.

2) How to Set Level 1: Internal Torque Limit

The maximum torque is restricted to the values set in the following user constants.

Cn-08

TLMTF

Forward Rotation

Torque Limit

Cn-09

TLMTR

Reverse Rotation

Torque Limit

Unit:

Setting

Range: 0 to

Maximum

Torque

Setting

Range: 0 to

Maximum

Torque

Factory

Setting:

Maximum

Torque

Factory

Setting:

Maximum

Torque

For Speed/Torque

Control and Position

Control

For Speed/Torque

Control and Position

Control

APPLICATIONS OF Σ-SERIES PRODUCTS

3.1.3 Restricting Torque cont.

Sets the maximum torque values for forward rotation and reverse rotation, respectively.

Sets these user constants when torque must be restricted according to machine conditions.

This torque restriction function always monitors torque, and outputs the signal shown on the right when the limit value is reached.

Specifies a torque limit value in terms of a percentage of the rated torque.

Output Signal for Torque Restriction Function

CLT+ (1CN-25), CLT- (1CN-26)

Status indication mode bit data

Monitor mode (Un-05) bit 4

User Constant Setting:

Memory switch (Cn-01) bit 4 = 0

Speed

Example of Use: Machine Protection

Torque limit

Motor speed

Note that too small a torque limit value will result in torque shortage at acceleration or deceleration.

Torque

• Using CLT+, CLT- Signals

This section describes how to use contact output signals CLT+, CLT- as a torque limit output signal.

Servopack I/O power

+24V

Photocoupler Output

Per output:

Maximum operation voltage: 30 VDC

Maximum output current: 50 mA DC

1CN-25 CLT+

1CN-26 CLT-

Output → CLT+ 1CN-25 Torque Limit Output (Running

Output → CLT- 1CN-26

For Speed/Torque

Control

This signal indicates whether motor output torque (current) is being restricted.

ON status: The circuit between 1CN-25 and

1CN-26 is closed.

1CN-25 is at low level.

OFF status: The circuit between 1CN-25 and

1-CN26 is open.

1CN-25 is at high level.

Motor output torque is being restricted.

(Internal torque reference is greater than the preset value.)

Motor output torque is not being restricted.

(Internal torque reference is equal to or below the preset value.)

3.1 Setting User Constants According to Machine Characteristics

Preset Value: Cn-08 (TLMTF)

Cn-09 (TLMTR)

Cn-18 (CLMIF) : P-CL input only

Cn-19 (CLMIR) : N-CL input only

Note This function is changed to another function depending on the setting of bit 4 of memory switch Cn-01.

To use output signals CLT+, CLT- as a torque limit output signal, set the following memory switch to 0.

This memory switch can also be used to set level 2 torque restriction (described in the next subsection).

Cn-01 Bit 4

CLT+, CLTOutput Signals

Selection

Factory

Setting: 0

For Speed/Torque Control

Sets the output conditions for output signals CLT+ (1CN-25) and CLT- (1CN-26).

Setting Meaning

Uses CLT+, CLT- output signals as a torque limit output signal.

Compares the DR2 Servopack internal torque

(current) reference with the preset value.

Preset Value:Cn-08 (TLMTF)

Cn-09 (TLMTR)

Cn-18 (CLMIF): P-CL input only

Cn-19 (CLMIR): N-CL input only

Internal torque

(current) reference

Opens the circuit between 1CN-25 and

1CN-26

≧preset value

Internal torque

(current) reference < preset value

Closes the circuit between 1CN-25 and

1CN-26

Uses CLT+, CLT- output signals as a speed coincide output signal.

For details, refer to 3.7.4.

Bit 4 of memory switch Cn-01

Torque limit detection

Speed coincide

CLT+

CLT-

(1CN-25)

(1CN-26)

When CLT+, CLT- output signals are changed, the following bit data are also changed:

• Status indication mode bit data

• Monitor mode Un-05 bit 4

APPLICATIONS OF Σ-SERIES PRODUCTS

3.1.3 Restricting Torque cont.

3) How to Set Level 2: External Torque Limit

First, use a contact input signal to make the torque

(current) limit value set in the user constant valid.

Torque limit can be set separately for forward and reverse rotation.

To use this function, always set bit 2 of memory switch Cn-02 to 0 (standard setting). The contact input speed control function cannot be used.

1CN-45

1CN-46

Forward rotation

Reverse rotation

Servopack

Without torque limit

Speed

Torque

With torque limit

Speed

Without torque limit

Speed

Torque

With torque limit

Speed

Torque

ON: 1CN-45 is at low level.

OFF: 1CN-45 is at high level.

ON: 1CN-46 is at low level.

OFF: 1CN-46 is at high level.

Torque restriction applies during forward rotation.

Limit value:

Cn-18

Torque restriction does not apply during forward rotation.

Torque restriction applies during reverse rotation.

Limit value:

Cn-19

Torque restriction does not apply during reverse rotation.

This torque restriction function outputs the signal shown on the right.

Examples of Use:

Forced stopping

Holding workpiece by robot

Output Signal for Torque Restriction Function

•

CLT+ (1CN-25), CLT- (1CN-26)

Status indication mode bit data

Monitor mode Un-05 bit 4 •

User Constant Setting:

Memory switch Cn-01 bit 4 = 0

3.1 Setting User Constants According to Machine Characteristics

Cn-18

CLMIF

Forward External

Torque Limit

Cn-19

CLMIR

Reverse External

Torque Limit

Unit:

Setting

Range: 0 to

Maximum

Torque

Setting

Range: 0 to

Maximum

Torque

Factory

Setting:

100

Factory

Setting:

100

For Speed/Torque

Control and Position

Control

For Speed/Torque

Control and Position

Control

Sets a torque limit value when torque is restricted by external contact input.

This function is valid when bit 2 of memory switch Cn-02 is set to 0.

When P-CL (1CN-45) is input

When N-CL (1CN-46) is input

Applies torque restriction as specified in Cn-18

Applies torque restriction as specified in Cn-19

For torque restriction by analog voltage reference, refer to 3.2.9 Using Torque Restriction

by Analog Voltage Reference.

• Using P-CL and N-CL Signals

This section describes how to use input signals P-CL and N-CL as torque limit input signals.

I/O power supply Servopack

+24VIN

1CN

-47

4.7kΩ

Photocoupler

Host controller

P-CL -45

5mA

N-CL -46

→ Input P-CL 1CN-45

→ Input N-CL 1CN-46

Forward External Torque Limit

Input (Speed Selection 1)

Reverse External Torque Limit

Input (Speed Selection 2)

For Speed/Torque

Control and

Position Control

For Speed/Torque

Control and

Position Control

These signals are for forward and reverse external torque (current) limit input.

This function is useful in forced stopping.

Output Signal for Torque

Restriction Function

• CLT+ (1CN-25), CLT- (1CN-26)

• Status indication mode bit data

• Monitor mode Un-05 bit 4

• User Constant Setting:

Memory switch Cn-01 bit 4 = 0

APPLICATIONS OF Σ-SERIES PRODUCTS

3.1.3 Restricting Torque cont.

ON: 1CN-45 is at low level.

OFF: 1CN-45 is at high level.

ON: 1CN-46 is at low level.

OFF: 1CN-46 is at high level.

Torque restriction applies during forward rotation.

Limit value:

Cn-18

Torque restriction does not apply during forward rotation. Normal operation status.

Torque restriction applies during reverse rotation.

Limit value:

Cn-19

Torque restriction does not apply during reverse rotation. Normal operation status.

The signal shown on the right is output while torque is being restricted.

Note This function is changed to another function depending on the setting of bit 2 of memory switch Cn-02 (see below).

To use input signals P-CL and N-CL as torque limit input signals, set the following memory switch to 0.

Cn-02 Bit 2

Contact Input Speed Control

Selection

Factory

Setting: 0

For Speed/Torque Control and Position Control

Prohibits the contact input speed control function.

If the contact input speed control function is used, the contents of the input signals shown below will change.

Contact input

Servopack

Run the motor at internally set speed

Servomotor

After this memory switch is reset, the meanings of the following signals will also change:

Monitor mode (Un-05) bit 7 and bit 8

Setting

Meaning

Does not use the contact input speed control function.

Uses the contact input speed control function.

Input Signal

P-CON (1CN-41)

P-CL (1CN-45)

N-CL (1CN-46)

Used to switch between P control and

PI control.

(For speed/torque control, bits A and

B of Cn-01 take precedence over this signal.)

Used for forward external torque limit input

Used for reverse external torque limit input

P-CON

Direction of rotation

0: Forward

1: Reverse

P-CL N-CL

0 0

0: OFF, 1: ON

Speed Setting

Normal speed/torque or position control

Cn-1F (SPEED1)

Cn-20 (SPEED2)

Cn-21 (SPEED3)

3.1 Setting User Constants According to Machine Characteristics

• Handling of the CLT+, CLT- signals are the same as for level 1 (internal torque limit).

Refer to Using CLT+, CLT- Signals on page 58.

APPLICATIONS OF Σ-SERIES PRODUCTS

3.2.1 Inputting Speed Reference

3.2 Setting User Constants According to Host Controller

This section describes how to connect a Σ-series Servo to a host controller and how to set user constants.

3.2.1

Inputting Speed Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2.2

Inputting Position Reference

3.2.3

Using Encoder Output

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2.4

Using Contact I/O Signals

3.2.5

Using Electronic Gear

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2.6

Using Contact Input Speed Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2.7

Using Torque Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2.8

Using Torque Feed-forward Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2.9

Using Torque Restriction by Analog Voltage Reference

3.2.10 Using the Reference Pulse Inhibit Function (INHIBIT)

. . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . .

3.2.11 Using the Reference Pulse Input Filter Selection Function

3.2.12 Using the Analog Monitor

. . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

100

101

102

3.2.1 Inputting Speed Reference

1) Using the following memory switch, select the speed/torque control.

Cn-02 Bit B

Selection of Speed/Torque

Control or Position Control

Factory

Setting: 0

For Speed/Torque Control and Position Control

Select the control mode (speed/torque control or position control) by bit B of memory switch Cn-02.

Setting

Meaning

Selects speed or torque control.

Select the control form by bits A and B of memory switch Cn-01.

Selects position control.

Note For the memory switch Cn-02, always turn the power OFF and then ON after changing the setting. This makes the new setting valid.

2) Input a speed reference by using the following input signal “speed reference input.” Since this signal can be used in different ways, set the optimum reference input for the system to be created.

Servopack

Torque reference input

(analog voltage input)

Speed reference input

(analog voltage input)

1CN-9

1CN-10

1CN-5

1CN-6

Torque reference

Speed reference

↕P: Represents twisted-pair cables

3.2 Setting User Constants According to Host Controller

→ Input V-REF

→ Input SG-V

1CN-5

1CN-6

Speed Reference Input

Signal Ground for Speed

Reference Input

Use these signals when speed control is selected

(memory switch Cn-02 bit B = 0).

For ordinary speed control, always wire the V-

REF and SG-V terminals.

Motor speed is controlled in proportion to the input voltage between V-REF and SG-V.

Reference speed

Standard setting

4500

3000

1500

-1500

Input voltage (V)

-3000

-4500 Set the slope in

Cn-03 (VREFGN).

• Standard Setting:

Cn-03 = 500: This setting means that 6 V is equivalent to rated speed (3,000 r/min)

Examples:

+6 V input → 3000 r/min in forward direction

+1 V input → 500 r/min in forward direction

−3 V input → 1500 r/min in reverse direction

User constant Cn-03 can be used to change the voltage input range.

• Example of Input Circuit

(See the figure on the right)

Servopack

For noise control, always use twisted-pair cables.

Recommended Variable Resistor for Speed Setting:

Type 25HP-10B manufactured by Sakae Tsushin Kogyo Co., Ltd.

When position control is performed by a host controller such as a programmable controller.

Connect V-REF and SG-V to speed reference output terminals on the host controller. In this case, adjust Cn-03 according to output voltage specifications.

Host controller

Speed reference output terminals

Feedback pulse input terminals

Output → +15V 1CN-23

Output → -15V 1CN-24

Servopack

1CN-5

1CN-6

1CN-33

1CN-34

1CN-35

1CN-36

↕P: Represents twisted-pair cables

+15V power supply for speed/torque control

-15V power supply for speed/torque control

For Speed/Torque

Control Only

For Speed/Torque

Control Only

Power output for speed/torque control.

Max. output current is 30mADC.

For Speed/Torque

Control Only

For Speed/Torque

Control Only

APPLICATIONS OF Σ-SERIES PRODUCTS

3.2.1 Inputting Speed Reference cont.

3) Use the memory switch and input signal P-CON to specify one of the four modes shown below.

Cn-01 Bit A

Cn-01 Bit B

Control Mode Selection

Factory

Setting: 0

Factory

Setting: 0

For Speed/Torque Control

Only

For Speed/Torque Control

Only

The Servopack for speed/torque control provides four different control modes.

3.2 Setting User Constants According to Host Controller

Cn-01

Setting

Bit B Bit A

Speed Control

This is normal speed control.

Speed reference is input from V-REF

(1CN-5).

P-CON (1CN-41) signal is used to switch between P control and PI control.

1CN-41 is open

PI control

1CN-41 is at 0 V

P control

DR2 Servopack

Speed reference V-REF

(1CN-5)

P/PI changeover P-CON

(1CN-41)

Torque reference input T-REF (1CN-9) cannot be used.

Zero-clamp Speed Control

This speed control allows the zero-clamp function to be set when the motor stops.

Speed reference is input from V-REF

(1CN-5).

P-CON (1CN-41) signal is used to turn the zero-clamp function ON or OFF.

DR2 Servopack

Speed reference V-REF

(1CN-5)

Zero-clamp P-CON

(1CN-41)

Zero-clamp is performed when the following two conditions are met:

Condition 1: P-CON is turned

ON.

Condition 2: Motor speed drops below the preset value.

Preset value: Cn-29 (ZCLVL)

1CN-41 is open

Turns zero-clamp function OFF

1CN-41 is at 0 V

Turns zero-clamp function ON

Torque reference input T-REF (1CN-9) cannot be used.

0 Torque control I

1 Torque control II

For torque control, refer to 3.2.7 Using Torque Control.

APPLICATIONS OF Σ-SERIES PRODUCTS

3.2.1 Inputting Speed Reference cont.

• Using P-CON Signal:

→ Input P-CON 1CN-41

Proportional Control, etc.

For Speed/Torque

Control and

Position Control

The function of input signal P-CON changes with the memory switch setting.

Memory switch

Servopack

Switching between P control and PI control

Switching between zero-clamp enabled mode and zero-clamp prohibited mode

Switching between torque control and speed control

Changing the direction of rotation

Memory Switch

Cn-02

Bit 2

Cn-01

Bit B

Cn-01

Bit A

0 0 0

1 − −

Meaning of P-CON Signal

Switching between proportional (P) control and proportional/integral (PI) control

Switching between zero-clamp enabled/prohibited mode

Speed control with zero-clamp function

Torque control I (P-CON is not used.)

Switching between torque control and speed control

(Torque control II)

Changing the direction of rotation during contact input speed control

4) Adjust the speed reference gain using the following user constant.

Cn-03

VREFGN Speed

Reference Gain

Unit:

(r/min)/V

Setting

Range:

10 to 2162

Factory

Setting:

500

For Speed/Torque

Control Only

This user constant is for speed/torque control only. Sets the voltage range for speed reference input V-REF (1CN-5). Sets this user constant according to the output form of the host controller or external circuit.

The factory setting is as follows:

Rated speed (3000 r/min)/6 V = 500

Reference speed (r/min)

Reference voltage (V)

Set this slope.

TERMS

Zero-clamp function

This function is used for a system in which the host controller does not form a position loop.

In this case, the stopping position may shift even if a speed reference is set to 0. If the zeroclamp function is turned ON, a position loop is internally formed so that the stopping position is firmly “clamped.”

3.2 Setting User Constants According to Host Controller

3.2.2 Inputting Position Reference

1) Using the following memory switch, select the position control.

Cn-02 Bit B

Selection of Speed/Torque

Control or Position Control

Factory

Setting: 0

For Speed/Torque Control and Position Control

Positions

Select the control mode (speed/torque control or position control) by bit B of memory switch Cn-02.

Setting

Meaning

Selects speed or torque control.

Select the control form by bits A and B of memory switch Cn-01.

Selects position control.

Note For the memory switch Cn-02, always turn the power OFF and then ON after changing the setting. This makes the new setting valid.

2) Input a position reference by using the following input signal “reference pulse input.”

Since there are several specifications for input signal, select reference input for the system to be created.

Inputs a move reference by pulse input.

Position reference can correspond to the following three types of output form:

Reference pulse input

Reference sign input

Error counter clear input

• Line driver output

• +12V Open collector output

• +5V Open collector output

↕P: Represents twisted-pair cables

Connection Example 1: Line Driver Output

Servopack

PHOTOCOUPLER

Line Driver Used: Host controller Servopack

Line driver Photocoupler

SN75174 manufactured by

Texas Instruments Inc., or

MC3487 or equivalent.

1CN-7

1CN-8

1CN-11

1CN-12

1CN-15

1CN-14

APPLICATIONS OF Σ-SERIES PRODUCTS

3.2.2 Inputting Position Reference cont.

Connection Example 2: Open Collector Output

Sets the value of limiting resistor R1 so that input current i falls within the following range:

Host controller i

1CN-7

Servopack

Photocoupler

Input Current i: 7 to 15 mA

Examples:

• When Vcc is 12 V,

R1 = 1 kΩ

• When Vcc is 5 V,

R1 = 180 Ω

1CN-8

1CN-11

1CN-12

1CN-15

1CN-14

↕P: Represents twisted-pair cables

Note The signal logic for open collector output is as follows.

When Tr1 is ON

When Tr1 is OFF

Equivalent to high level input

Equivalent to low level input

Output → PL1 1CN-3

Output → PL2 1CN-13

Output → PL3 1CN-18

Power for Open Collector

Reference

For Position

Control Only

For details, refer to the Connection Example 3 (When Power for Open Collector Reference is Used) shown below:

3.2 Setting User Constants According to Host Controller

Connection Example 3: When Power for Open Collector Reference is Used

When power for open collector reference (PL1, PL2,

PL3) is used, connect between PL1 and PULS, PL2 and SIGN, PL3 and CLR as follows:

Host controller Servopack

Photocoupler

↕P: Represents twisted-pair cables

Note The signal logic for open collector output is as follows.

When Tr1 is ON

When Tr1 is OFF

Equivalent to high level input

Equivalent to low level input

3) Use the following memory switch to select the reference pulse form to be used:

→ Input PULS

1CN-7 Reference Pulse Input For Position Control Only

→ Input

£ PULS 1CN-8

Reference Pulse Input For Position Control Only

→ Input SIGN

→ Input

£ SIGN

1CN-11 Reference Sign Input

1CN-12

Reference Sign Input

For Position Control Only

The motor only rotates at an angle proportional to the input pulse.

Cn-02 Bit 3

Cn-02 Bit 4

Cn-02 Bit 5

Reference Pulse Form

Selection

Reference Pulse Form

Selection

Reference Pulse Form

Selection

Factory

Setting: 0

Factory

Setting: 0

Factory

Setting: 0

For Position Control Only

Sets the form of a reference pulse that is externally output to the Servopack.

Sets the pulse form according to the host controller specifications.

Set also the input pulse logic in bit D of Cn-02.

Host controller

Position reference pulse

Servopack

(1CN-7)

(1CN-11)

APPLICATIONS OF Σ-SERIES PRODUCTS

3.2.2 Inputting Position Reference cont.

Bit D

Cn-02

Bit

Input

Pulse

Multiplier

Reference

Pulse

Form

Sign + pulse train

Motor Forward

Run Reference

(1CN-7)

(1CN-11)

(Positive logic setting)

0 1 0

0 1 1

1 0 0

¢ 4

Twophase pulse train with

90° phase differ ence

(1CN-7)

(1CN-11)

(1CN-7)

(1CN-11)

CW *1 pulse +

CCW pulse

Sign + pulse train

(1CN-7)

(1CN-11)

(1CN-7)

(1CN-11)

(Negative logic setting)

0 1 0

0 1 1

1 0 0

Twophase pulse train with

90° phase differ ence

(1CN-7)

(1CN-11)

0 0 1

CW *2 pulse +

CCW pulse

(1CN-7)

(1CN-11)

Motor Reverse

Run Reference

(1CN-7)

(1CN-11)

(1CN-7)

(1CN-11)

(1CN-7)

(1CN-11)

(1CN-7)

(1CN-11)

(1CN-7)

(1CN-11)

(1CN-7)

(1CN-11)

(1CN-7)

(1CN-11)

*1 When CW pulse + CCW pulse and positive logic setting, make sure to set each of the signals (the one not being input the pulse) to Low level.

*2 When CW pulse + CCW pulse and negative logic setting, make sure to set each of the signals (the one not being input the pulse) to High level.

3.2 Setting User Constants According to Host Controller

Input Pulse Multiply Function:

When the reference form is two-phase pulse

train with 90° phase difference, the input pulse multiply function can be used.

Number of motor move pulses

The electronic gear function can also be used to convert input pulses.

(1CN-7)

(1CN-11)

Input reference pulse x 4 x 2 x 1

Example of I/O Signal Generation Timing

Servo ON

Base block

Sign + pulse train

PG pulse

Release t1 ≦ 30 ms t2 ≦ 6 ms

(When user constant Cn-12 is set to 0) t3 ≧ 40 ms t4, t5, t6 ≦ 2 ms t7 ≧ 20 μs

Note The interval from the time the servo ON signal is turned ON until a reference pulse is input must be at least 40 ms. Otherwise, the reference pulse may not be input.

The error counter clear (CLR) signal must be ON for at least 20 μs. Otherwise, it becomes invalid.

APPLICATIONS OF Σ-SERIES PRODUCTS

3.2.2 Inputting Position Reference cont.

Allowable Voltage Level and Timing for Reference Pulse Input

Reference Pulse Form

Sign + pulse train input

(SIGN + PULS signal)

Maximum reference frequency: 450 kpps

Electrical Specifications

¨ reference © reference

Remarks

The signs for each reference pulse are as follows:

: High level

: Low level

90° different two-phase pulse train

(phase A + phase B)

Maximum reference frequency x 1 multiplier:

450 kpps x 2 multiplier:

400 kpps x 4 multiplier:

200 kpps

CCW pulse + CW pulse

Maximum reference frequency: 450 kpps

Phase A

Phase B

User constant Cn-02

(bits 3, 4 and 5) is used to switch the input pulse multiplier mode.

Phase B is 90° forward from phase B

Phase B is 90° behind phase B

CCW pulse

CW pulse

¨ reference © reference

4) The following describes how to clear the error counter.

→ Input CLR 1CN-15

→ Input

£ CLR 1CN-14

Error Counter Clear Input

For Position

Control Only

For Position

Control Only

Setting the CLR signal to high level does the following:

• Sets the error counter inside the Servopack to 0.

• Prohibits position loop control.

Use this signal to clear the error counter from the host controller.

Servopack

Clear

Position loop error counter

Bit A of memory switch Cn-02 can be set so that the error counter is cleared only once when the leading edge of an input pulse rises.

3.2 Setting User Constants According to Host Controller

Cn-02 Bit A

Error Counter Clear Signal

Selection

Factory

Setting: 0

For Position Control Only

Selects the pulse form of error counter clear signal CLR (1CN-15).

Setting

Meaning

Clears the error counter when the CLR signal is set at high level. Error pulses do not accumulate while the signal remains at high level.

Clears the error counter only once when the rising edge of the CLR signal rises.

(1CN-15) Cleared state

(1CN-15)

Cleared only once at this point

Cn-01 Bit A

Error Counter Processing at

Servo OFF

Factory

Setting: 0

For Position Control Only

Select the error counter processing at Servo OFF.

Setting

Meaning

Error counter is cleared at Servo OFF.

Error counter is not cleared at servo OFF.

APPLICATIONS OF Σ-SERIES PRODUCTS

3.2.3 Using Encoder Output

3.2.3 Using Encoder Output

1) Encoder output signals divided inside the Servopack can be output externally. These signals can be used to form a position control loop in the host controller.

Servopack

This output is explained here.

Host controller

Servomotor encoder

Phase A

Phase B

Phase C

Frequency dividing circuit

The output circuit is for line driver output. Connect each signal line according to the following circuit diagram.

Phase A

Phase B

Servopack

(1CN-33)

(1CN-34)

(1CN-35)

(1CN-36)

Phase C

(1CN-19)

(1CN-20)

Host controller

Line receiver

Phase A

Phase B

Phase C

Choke coil

(1CN-1) SG

(1CN-50)

↕P: Represents twisted-pair cables

Smoothing capacitor

Line receiver used: SN75175 manufactured by

Texas Instruments Inc. or

MC3486 (or equivalent)

R (termination resistor): 220 to 470 Ω

C (decoupling capacitor): 0.1 μF

TERMS

Divided (or dividing)

“Dividing” means converting an input pulse train from the encoder mounted on the motor according to the preset pulse density and outputting the converted pulse. The unit is pulses per revolution.

3.2 Setting User Constants According to Host Controller

2) I/O signals are described below.

Output → PAO 1CN-33

Output → £ PAO 1CN-34

Output → PBO 1CN-35

Output → £ PBO 1CN-36

Output → PCO 1CN-19

Output → £ PCO 1CN-20

Encoder Output

Phase-A

Encoder Output

Phase-A

Encoder Output

Phase-B

Encoder Output

Phase-B

Encoder Output

Phase-C

Encoder Output

Phase-C

For Speed/Torque Control and Position Control

Divided encoder signals are output.

Always connect these signal terminals when a position loop is formed in the host controller to perform position control.

Set a dividing ratio in the following user constant.

Dividing ratio setting Cn-0A PGRAT

The dividing ratio setting is not relevant to the gear ratio setting (Cn-24, 25) for the electronic gear function of the Servopack for position control.

Output Phase Form

(Incremental Encoder)

Forward rotation

Phase A

Phase B

Phase C

Reverse rotation

Phase A

Phase B

Phase C

(Absolute Encoder)

Forward rotation

Phase A

Phase B

Phase C

Reverse rotation

Phase A

Phase B

Phase C

APPLICATIONS OF Σ-SERIES PRODUCTS

3.2.3 Using Encoder Output cont.

→ Input SEN 1CN-4

→ Input 0SEN 1CN-2

Output → PSO 1CN-48

Output → £ PSO 1CN-49

→ Input BAT¨

1CN-21

→ Input BAT©

1CN-22

SEN Signal Input

Encoder Output

Phase-S

Encoder Output

Phase-S

Battery (+)

Battery (−)

For Speed/Torque Control and Position Control

Use these signals (SEN to BAT©) for absolute encoders. For details, refer to 3.8.5 Using

an Absolute Encoder.

Output → SG 1CN-1

Output → FG 1CN-50

Signal Ground for

Encoder Output

Frame Ground

SG: Connect to 0 V on the host controller.

FG: Connect to the cable shielded wire.

For Speed/Torque Control and Position Control

3) Use the following memory switch to specify the type of the encoder to be used.

Cn-02 Bit 9

Encoder Type Selection Factory

Setting: 0

For Speed/Torque Control and Position Control

Sets the encoder type according to the servomotor type as shown in the table.

After changing the memory switch setting, always turn the power OFF, then ON.

Motor Type

SGM-jjj31j

SGMP-jjj31j

SGM-jjjW1j

SGMP-jjjW1j

Incremental encoder

Encoder Type

Absolute encoder

Setting

3.2 Setting User Constants According to Host Controller

4) Set the pulse dividing ratio in the following user constant.

Cn-0A

PGRAT

Dividing Ratio Setting

Unit:

P/R

Setting

Range: 16 to No. of

Encoder

Pulses

Factory

Setting:

2048

For Speed/Torque

Control and Position

Control

Sets the number of output pulses for PG output signals (PAO, £ PAO, PBO and £ PBO).

Servomotor encoder

Pulses from motor encoder (PG) are divided by the preset number of pulses before being output.

Servopack

Frequency dividing

Output terminals:

PAO (1CN-33)

£ PAO (1CN-34)

PBO (1CN-35)

£ PBO (1CN-36)

Phase A

Phase B

The number of output pulses per revolution is set in this user constant. Set this value according to the reference unit of the machine or controller to be used.

The setting range varies according to the encoder used.

Setting example:

Preset value: 16

Motor Type

SGM-jjj31j

SGMP-jjj31j

SGM-jjjW1j

SGMP-jjjW1j

Number of Encoder Pulses Per Revolution

Incremental encoder: 2048 pulses per revolution

Absolute encoder: 1024 pulses per revolution

1 revolution

Setting Range

16 to 2048

16 to 1024

For the user constant Cn-0A, always turn the power OFF and then ON after changing the setting. This makes the new setting valid.

APPLICATIONS OF Σ-SERIES PRODUCTS

3.2.4 Using Contact I/O Signals

3.2.4 Using Contact I/O Signals

1) Contact Input Signal Terminal Connections

These signals are used to control DR2 Servopack operation. Connect these signal terminals as necessary.

Servopack

I/O power supply

Photocoupler

1CN-47

Host controller

1CN-45

1CN-46

1CN-40

1CN-41

1CN-42

1CN-43

1CN-44

Note Provide an external I/O power supply separately.

There are no power terminals to which the DR2 Servopack outputs signals externally.

External Power Supply: 24 1 VDC

50 mA or more

Yaskawa recommends that this external power supply be the same type as for the output circuit.

→ Input +24VIN 1CN-47

I/O Power Supply For Speed/Torque

Control and

Position Control

This external power supply input terminal is common to the following contact input signals:

Contact Input Signals: P-CL

N-CL

S-ON

P-CON

(1CN-45)

(1CN-46)

(1CN-40)

(1CN-41)

P-OT

N-OT

(1CN-42)

(1CN-43)

ALMRST (1CN-44)

Servopack

I/O power supply

1CN-47

Connect an external I/O power supply.

3.2 Setting User Constants According to Host Controller

2) Contact Output Signal Terminal Connections

These output signals are used to indicate DR2 Servopack operation status.

Servopack

Photocoupler

Photocoupler output

Per output

Maximum operational voltage: 30 VDC

Maximum output current: 50 mA DC

I/O power supply

Open collector output

Per output

Maximum operational voltage: 30 VDC

Maximum output current: 20 mA DC

Host controller

Note Provide an external I/O power supply separately.

There are no power terminals to which the DR2 Servopack outputs signals externally.

Yaskawa recommends that this external power supply be the same type as for the input circuit.

Output → SG 1CN-2

Signal Ground for Alarm

Code Output Signal

For Speed/Torque

Control and

Position Control

This signal ground is used for the following output signals. Connect to 0 V on the external power supply.

Contact Output Signals: ALO1

ALO2

ALO3

(1CN-37)

(1CN-38)

(1CN-39)

APPLICATIONS OF Σ-SERIES PRODUCTS

3.2.5 Using Electronic Gear

3.2.5 Using Electronic Gear

For position control only.

Positions

1) Outline

The electronic gear function enables the motor travel distance per input reference pulse to be set to any value. It allows the host controller to perform control without having to consider the machine gear ratio and the number of encoder pulses.

When Electronic Gear Function is Not Used

Workpiece

Number of encoder pulses: 2048

Ball screw pitch: 6 mm

To move a workpiece 10 mm,

One revolution is equivalent to 6 mm, so

10 6 = 1.6666 (revolutions)

2048 x 4 (pulses) is equivalent to one revolution, so

1.6666 x 2048 x 4 = 13653 (pulses)

A total of 13653 pulses must be input as a reference.

the host controller needs to make this calculation.

When Electronic Gear Function is Used

Workpiece

Reference unit: 1 μm

Number of encoder pulses: 2048

Ball screw pitch: 6 mm

Machine conditions and reference unit must be defined for the electronic gear function beforehand.

To move a workpiece 10 mm:

Reference unit is 1 μm, so

10 mm 1 μm = 10000 pulses

2) Setting the Electronic Gear

Calculate the electronic gear ratio (B/A) according to the procedure below and set the value in Cn-24 and Cn-25.

a) Check the machine specifications.

Items related to electronic gear:

− Gear ratio

− Ball screw pitch

− Pulley diameter

Ball screw pitch

Gear ratio b) Check the number of encoder pulses for the SGM Servomotor.

Motor Type

SGM-jjj31j

SGMP-jjj31j

SGM-jjjW1j

SGMP-jjjW1j

Encoder Type

Incremental encoder

Absolute encoder

Number of Encoder

Pulses Per Revolution

2048

1024

Same as user constant Cn-11 settings.

3.2 Setting User Constants According to Host Controller c) Determine the reference unit to be used.

Reference unit is the minimum unit of position data used for moving the load.

(Minimum unit of reference from host controller)

To move a table in 0.001 mm units

Reference unit: 0.001 mm

Examples:

0.01 mm, 0.001 mm, 0.1°, 0.01 inch

Reference input of one pulse moves the load by one reference unit.

Determine the reference unit according to machine specifications and positioning accuracy.

Example: When reference unit is 1 μm

If a reference of 50,000 pulses is input, the load moves 50 mm (50,000 x 1 μm).

d) Determine the load travel distance per revolution of load shaft in reference units.

Load travel distance per revolution of load shaft (in reference units)

Load travel distance per revolution of load shaft (in unit of distance)

Reference unit

Example: When ball screw pitch is 5 mm and reference unit is 0.001 mm

5/0.001 = 5,000 (reference units)

Ball Screw Disc Table Belt & Pulley

Load shaft

P: Pitch

1 revolution

Reference unit

1 revolution

Load shaft

360°

Reference unit

D: Pulley diameter

1 revolution

π D

Reference unit

3 e) Determine the electronic gear ratio

 B



If the load shaft makes “n” revolutions when the motor shaft makes “m” revolutions,

Electronic gear ratio

 B



Number of encoder pulses x 4

Travel distance per revolution of load shaft (in reference units)

× mn

NOTE Make sure that the electronic gear ratio meets the following condition:

0.01 ≤ Electronic gear ratio

 B



≤ 100

If the electronic gear ratio is outside this range, the Servopack does not work properly. In this case, modify the load configuration or reference unit.

APPLICATIONS OF Σ-SERIES PRODUCTS

3.2.5 Using Electronic Gear cont.

f) Set the electronic gear ratio in the user constants below.

Reduce the electronic gear ratio

 B

 to their lowest terms so that both A and B are an integer smaller than 65535, then set A and B in the following user constants.

 B

 Cn-24 RATB Electronic gear ratio (numerator)

Cn-25 RATA Electronic gear ratio (denominator)

This is all that is required to set the electronic gear.

Cn-24

Cn-25

RATB

Electronic Gear Ratio

(Numerator)

RATA

Electronic Gear Ratio

(Denominator)

Unit:

None

Unit:

None

Setting

Range: 1 to 65535

Setting

Range: 1 to 65535

Factory

Setting: 4

For Position

Control Only

Factory

Setting: 1

For Position

Control Only

These user constants are for position control only.

Input reference pulse

Set the electronic gear ratio according to machine specifications.

Servopack

Electronic gear

Servomotor

Electronic gear ratio

 B



= Cn-24

B = [(Number of encoder pulses) x 4] x [Motor shaft rotating speed]

A = [Load travel distance per revolution of load shaft (Reference unit)] x [Load shaft rotating speed]

Note that the user constant settings must meet the following condition:

0.01 ≤

 B



≤ 100

3.2 Setting User Constants According to Host Controller

3) Examples of Setting an Electronic Gear Ratio for Different Load Mechanisms

Ball Screw

Reference unit: 0.001 mm

Load shaft

Incremental encoder:

Ball screw pitch: 6 mm

2048 pulses per revolution

Travel distance per revolution of load shaft

Electronic gear ratio

6mm

0.001mm =

6000





2048 × 4 × 1

6000 × 1 =

Cn-24

Cn-25

Preset values

Cn-24

Cn-25

8192

6000

Disc Table

Reference unit:

0.1°

Gear ratio:

3 : 1

Load shaft

Incremental encoder:

2048 pulses per revolution

Travel distance per revolution of load shaft

360°

0.1°

= 3600

Electronic gear ratio





2048 × 4 × 3

3600 × 1 =

Cn-24

Cn-25

Preset values

Cn-24

Cn-25

24576

3600

Belt & Pulley

Reference unit: 0.0254 mm

Load shaft

Gear ratio:

2.4 : 1 Pulley diameter:

100 mm

Absolute encoder:

1024 pulses per revolution

Travel distance per revolution of load shaft =

3.14 x 100mm

0.0254mm =

12362

Electronic gear ratio





1024 × 4 × 2.4

12362 × 1

Cn-24

Cn-25

9830.4

12362 =

49152

61810

Preset values

Cn-24

Cn-25

49152

61810

4) Control Block Diagram for Servopack for Position Control

Reference pulse

DR2 Servopack for position control

Differentiation

Feed-forw ard gain

Smooth− ing Error counter

Primary lag filter

Bias

Speed loop

COIN signal

Current loop

SGM

Servomotor

PG signal output

Encoder

Frequency dividing

APPLICATIONS OF Σ-SERIES PRODUCTS

3.2.6 Using Contact Input Speed Control

3.2.6 Using Contact Input Speed Control

1) The contact input speed control function provides easy-to-use speed control. It allows the user to initially set three different motor speeds in user constants, select one of the speeds externally by contact input and run the motor.

This function can be used for both speed/torque control and position control.

Contact input

P-CON

P-CL

N-CL

Servopack

1CN-41

1CN-45

1CN-46

Speed selection

Servomotor

No external speed setting device or pulse generator is required.

The motor is operated at the speed set in the user constant.

User constants

2) To use the contact input speed control function, perform Steps a) to c).

a) Set the following memory switch to 1.

Cn-02 Bit 2

Contact Input Speed Control

Selection

Factory

Setting: 0

Enables the contact input speed control function.

If the contact input speed control function is used, the contents of the input signals shown below will change.

For Speed/Torque Control and Position Control

Contact input

Servopack

Run the motor at internally set speed

Servomotor

When this memory switch is reset, the meanings of the following signals will also change:

Monitor mode (Un-05) bit 7 and bit 8

3.2 Setting User Constants According to Host Controller

Setting

Meaning

Does not use the contact input speed control function.

Uses the contact input speed control

Note In the case of the position control ferrence function

(INHIBIT) cannot be used.

Input Signal

P-CON(1CN-41)

P-CL(1CN-45)

N-CL(1CN-46)

Used to switch between P control and PI control.

Used for forward external torque limit input

Used for reverse external torque limit input

0: OFF, 1: ON

P-CON

Direction of rotation

0: Forward

1: Reverse

P-CL N-CL Speed Setting

Stop (or pulse reference)

Cn-1F, SPEED1

Cn-20, SPEED2

Cn-21, SPEED3 b) Set three motor speeds in the following user constants.

Cn-1F

SPEED1

1st Speed (Contact

Input Speed Control)

Cn-20

SPEED2

2nd Speed (Contact

Input Speed Control)

Cn-21

SPEED3

3rd Speed (Contact

Input Speed Control)

Unit: r/min

Setting

Range: 0 to

Maximum

Speed

Setting

Range: 0 to

Maximum

Speed

Setting

Range: 0 to

Maximum

Speed

Factory

Setting:

100

Factory

Setting:

200

Factory

Setting:

300

For Speed/Torque

Control and Position

Control

For Speed/Torque

Control and Position

Control

For Speed/Torque

Control and Position

Control

Use these user constants to set motor speeds when the contact input speed control function is used (set bit 2 of memory switch Cn-02).

Speed selection input signals P-CL (1CN-45) and N-CL (1CN-46), and rotation direction selection signal P-CON (1CN-41) enable the motor to run at the preset speeds.

c) Set the soft start time (for speed/torque control only).

Contact input speed control

(Memory switch Cn-02 bit 2 = 1)

Servopack

Run the motor at internally set speed

Servomotor

Contact input

Cn-07

Cn-23

SFSACC

Soft Start Time

(Acceleration)

SFSDEC

Soft Start Time

(Deceleration)

Unit: ms

Setting

Range: 0 to 10000

Setting

Range: 0 to 10000

Factory

Setting: 0

Factory

Setting: 0

For Speed/Torque

Control and Position

Control

For Speed/Torque

Control and Position

Control

APPLICATIONS OF Σ-SERIES PRODUCTS

3.2.6 Using Contact Input Speed Control cont.

In the Servopack, a speed reference is multiplied by the preset acceleration or deceleration value to provide speed control.

Speed reference

Soft start

When a progressive speed reference is input or contact input speed control is used, smooth speed control can be performed. (For normal speed control, set “0” in each user constant.)

Servopack

Internal speed reference

Cn-07: Set this time interval.

Set the following value in each user constant.

Cn-23: Set this time interval.

• Cn-07: Time interval from the time the motor starts until it reaches the maximum speed (4,500 r/min)

• Cn-23: Time interval from the time the motor is running at the maximum speed (4500 r/min) until it stops

Note For position control type, the soft start function is available only when the contact input speed control function is used.

3) Contact input speed control performs the following operation.

The following input signals are used to start and stop the motor.

→ Input P-CL 1CN-45

→ Input N-CL 1CN-46

Speed Selection 1 (Forward

External Torque Limit Input)

Speed Selection 2 (Reverse

External Torque Limit Input)

For Speed/Torque

Control and

Position Control

For Speed/Torque

Control and

Position Control a) Contact Input Speed Control when Cn-02 bit 2 = 1

• For Speed/Torque Control:

0: OFF, 1: ON

Contact Signal User Constant

Cn-02 Cn-01

Bit 2 Bit A Bit B

Stopped by speed reference 0

Stopped by zero-clamp

(Refer to 3.4.3.)

Analog speed reference

(V-REF) input

With zero-clamp function

SPEED1 (Cn-1F) Direction of rotation

0: Forward

1: Reverse

−−−− −−−− SPEED2 (Cn-20)

SPEED3 (Cn-21)

Preset values (0 or 1) and input signal status in the portions indicated by horizontal bars (−) are optional.

3.2 Setting User Constants According to Host Controller

• For Position Control:

0: OFF, 1: ON

Contact Signal

−−−−

Direction of rotation

0: Forward rotation

1: Reverse rotation

User Constant

Cn-02 Cn-01

Bit 2 Bit F

−−−−

Stop

SPEED (Cn-1F)

SPEED (Cn-20)

SPEED (Cn-21)

Preset values (0 or 1) and input signal status in the portions indicated by horizontal bars (−) are optional.

Note When the contact input speed control function is used, the reference pulse inhibit function is not available.

b) Standard Setting when Cn-02 bit 2 = 0

Input signals are used as external torque limit input.

Input signal P-CON is used to specify the direction of motor rotation.

Proportional Control, etc.

→ Input P-CON 1CN-41

For Speed/Torque

Control and

Position Control a) Contact Input Speed Control when Cn-02 bit 2 = 1

Use input signal P-CON to specify the direction of motor rotation.

P-CON

Meaning

Reverse rotation

0 Forward rotation

0: OFF (high level), 1: ON (low level) b) Standard Setting when Cn-02 bit 2 = 0

P-CON signal is used for proportional control, zero-clamp and torque/speed control changeover.

Note For the speed/torque control, control by external reference (voltage reference) is possible when the contact input speed control function is used by setting bits A and B of user constant Cn-01.

For the position control, control by external reference (pulse reference) is possible when the contact input speed control function is used by setting bit F of user constant Cn-01.

APPLICATIONS OF Σ-SERIES PRODUCTS

3.2.6 Using Contact Input Speed Control cont.

4) The figure below illustrates an example of operation in contact input speed control mode.

Using the soft start function reduces physical shock at speed changeover.

When Contact Input Speed Control is Used

Motor speed

3rd speed

1st speed

2nd speed

Stopped

Set acceleration and deceleration values in Cn-07 and Cn-23 (soft start time).

Stopped

1st speed

2nd speed

3rd speed

OFF

OFF

Note For the position control, the soft start function is available only when contact input speed control is used. The soft start function is not available when pulse reference input is used.

For the position control type, if contact input speed control mode is switched to pulse reference input mode when the motor is running at the 1st, 2nd or 3rd speed, the Servopack does not receive a pulse reference until positioning complete signal COIN is output.

Always start outputting a pulse reference from the host controller after a positioning complete signal is output from the Servopack.

Signal Generation Timing for Position Control Type

Motor speed

0 r/min

COIN

Pulse reference

N-CL

P-CL

Selected speed 1st speed 2nd speed 3rd speed Pulse reference 1st speed

The above figure illustrates signal generation timing when the soft start function is used.

The value of t

1 is not influenced by use of the soft start function.

A maximum of 6 ms delay occurs when P-CL or N-CL signal is read.

3.2 Setting User Constants According to Host Controller

3.2.7 Using Torque Control

1) The Servopack can provide the following torque control:

Speed

Torque restriction Level 1: To restrict the maximum output torque to protect the machine or workpiece

Level 2: To restrict torque after the motor moves the machine to a specified position

Torque control Level 3: To always control output torque, not speed

Level 4: To switch between speed control and torque control

This section describes how to use levels 3 and 4 of the torque control function.

2) Use the following memory switch to select level 3 (torque control I) or level 4 (torque control II).

Cn-01 Bit A

Cn-01 Bit B

Control Mode Selection

Factory

Setting: 0

Factory

Setting: 0

For Speed/Torque Control

Only

For Speed/Torque Control

Only

This is dedicated torque control.

A motor torque reference value is externally input into the Servopack to control torque.

Examples of Use: Tension control

Pressure control

Cn-01

Setting

Bit B Bit A

Torque Control I

This is a dedicated torque control mode.

A torque reference is input from T-REF

(1CN-9).

P-CON is not used.

1 0

Speed reference input V-REF (1CN-5) cannot be used.

User constant Cn-14 can be used for maximum speed control.

Example of Use:

Tension control

Servopack

Tension

Torque reference

(1CN-9)

Servopack

APPLICATIONS OF Σ-SERIES PRODUCTS

3.2.7 Using Torque Control cont.

Cn-01

Setting

Bit B Bit A

Torque Control II

Torque control and speed control can be switched.

A speed reference or speed limit value is input from V-REF (1CN-5).

1 1

T-REF (1CN-9) inputs a toque reference, torque feed-forward reference or torque limit value depending on the control mode used.

P-CON (1CN-41) is used to switch between torque control and speed control.

Speed reference

Torque reference

Switching between speed and torque reference

(1CN-5)

(1CN-9)

(1CN-41)

Servopack

1 1

When 1CN-41 is open Torque control

When 1CN-41 is at 0 V Speed control

For Torque Control when P-CON is OFF:

T-REF reference controls torque.

V-REF can be used to limit motor speed.

V-REF voltage (+) limits motor speed during forward or reverse rotation.

Principle of Speed Restriction:

When the speed exceeds the speed limit, negative feedback of torque proportional to the difference between the current speed and the limit speed is performed to return the speed to within the normal speed range. Therefore, the actual motor speed limit value has a certain range depending on the load conditions.

Motor speed

Speed limit range

V-REF

3.2 Setting User Constants According to Host Controller

Cn-01

Setting

Bit B Bit A

1 1

For Speed Control when P-CON is ON:

Values set in bit F of user constant Cn-01 and bit F of Cn-02 determine the following:

User

Constant

Speed

Reference

Torque

Reference k

Cn-01 Cn-02

Bit F Bit F

0 0

(V-REF)

(1CN-5,-6)

Speed control

Speed reference

(T-REF)

(1CN-9,-10)

Cannot be used

Speed control with torque feed-forward

Any value can be set in bit F of Cn-02 (0 and 1 have the same effect).

−−−−

Speed reference

Torque feed-forward

F d t il f d with torque feed-forward, t l refer to 3.2.8 Using Torque

Feed-forward Function.

Speed control with torque limit by analog voltage reference

Speed reference

Torque limit value

For details of speed control with torque limit by analog voltage reference, refer to

3 2 9 Using Torque

Restriction by Analog Voltage

Reference.

Speed control (Standard setting)

Zero-clamp speed control (Refer to 3.4.3.)

3) The following input signals perform torque control.

Torque reference input

(Analog voltage input)

Speed reference input

(Analog voltage input)

1CN-9

1CN-10

1CN-5

1CN-6

Servopack

Torque reference

Speed reference

↕P: Represents twisted-pair cables

APPLICATIONS OF Σ-SERIES PRODUCTS

3.2.7 Using Torque Control cont.

→ Input T-REF 1CN-9

→ Input SG-T 1CN-10

Torque Reference Input

Signal Ground for Torque

Reference Input

For Speed/Torque

Control Only

For Speed/Torque

Control Only

These signals are used when torque control is selected (bits A and B of memory switch Cn-01).

Motor torque is controlled so that it is proportional to the input voltage between T-REF and SG-T.

Standard setting

300

Reference torque

(%)

200

100

Standard Setting

Cn-13 = 30: This setting means that 3 V is equivalent to rated torque.

Examples: +3 V input → Rated torque in forward direction

+9 V input → 300% of rated torque in forward direction

−0.3 V input → 10% of rated torque in reverse direction

User constant Cn-13 can be used to change the voltage input range.

Example of Input Circuit:

See the figure on the right.

-100 Input voltage

(V)

-200

-300

Set the slope in

Cn-13

(TCRFGN).

Servopack

• For noise control, always use twistedpair cables.

• Example of Variable Resistor for Speed Setting:

Type 25HP-10B manufactured by Sakae Tsushin Kogyo Co., Ltd.

→ Input V-REF 1CN-5

→ Input SG-V 1CN-6

Speed Reference Input (or

Speed Limit Input)

Signal Ground for Speed

Reference Input

For Speed/Torque

Control Only

For Speed/Torque

Control Only

These signals are used when speed control is selected (bits A and B of memory switch Cn-01).

For normal speed control, always connect these signal terminals.

Motor speed is controlled so that it is proportional to the input voltage between V-REF and SG-V.

Reference speed (r/min)

4500

3000

1500

Standard setting

-1500

-3000

-4500

Input voltage

(V)

Set the slope in Cn-03

(VREFGN).

Standard Setting

Cn-03 = 500: This setting means that 6 V is equivalent to rated speed (3000 r/min).

Examples: +6 V input → 3000 r/min in forward direction

+1 V input → 500 r/min in forward direction

−3 V input → 1500 r/min in reverse direction

3.2 Setting User Constants According to Host Controller

User constant Cn-03 can be used to change the voltage input range. (This is also applicable to speed restriction.)

Example of Input Circuit:

See the figure on the right.

Servopack

• For noise control, always use twistedpair cables.

• Example of Variable Resistor for Speed Setting:

Type 25HP-10B manufactured by Sakae Tsushin Kogyo Co., Ltd.

When input signal P-CON is used to switch between speed reference and torque reference for torque control II, set both bits A and B of memory switch Cn-01 to 1.

→ Input P-CON 1CN-41

Proportional Control, etc.

For Speed/Torque

Control and

Position Control

The function of this input signal varies according to the memory switch setting.

Cn-02

Bit 2

Cn-01

Bit B

−

Cn-01

Bit A

−

Function of P-CON

Proportional control

(Standard setting)

Speed control with zero-clamp function

Switching between zero-clamp enabled/ prohibited mode

Torque control I

(P-CON is not used.)

Torque control II

Changing the direction of rotation during contact input speed control.

Servopack

Proportional control

Zero-clamp control

Torque/speed control

Rotation direction control

Memory switch

The function of P-CON signal varies according to the memory switch setting.

APPLICATIONS OF Σ-SERIES PRODUCTS

3.2.7 Using Torque Control cont.

• Torque/Speed Changeover Control

This function is used to switch between torque control and speed control in torque control II mode.

ON: 1CN-41 is at low level.

OFF: 1CN-41 is at high level.

Speed control

Torque control

4) Set the following user constants for torque control according to the servo system used.

Cn-13

TCRFGN

Torque Reference

Gain

Unit:

0.1 V/Rated

Torque

Setting

Range:

10 to 100

Factory

Setting:

For Speed/Torque

Control Only

Reference torque

Rated torque

Sets the voltage range of torque reference input

T-REF (1CN-9) according to the output form of the host controller or external circuit.

The factory setting is 30, so the rated torque is 3 V (30 x 0.1).

Reference voltage (V)

Set this reference voltage.

Cn-14

TCRLMT

Speed Limit for Torque

Control I

Unit: r/min

Setting

Range: 0 to

Maximum

Speed

Factory

Setting:

Maximum

Speed

For Speed/Torque

Control Only

Sets a motor speed limit value in this constant when torque control I is selected.

This user constant is used to prevent machine overspeed during torque control.

Speed Control Range for Torque Control I

Motor speed

TCRLMT

Torque control range

Torque

For torque control I, set bits A and B of memory switch Cn-01.

Cn-03

VREFGN

Speed Reference

Gain

Unit:

(r/min)/V

Setting

Range:

10 to

2162

Factory

Setting:

500

For Speed/Torque

Control Only

Sets the voltage range of speed reference input V-

REF (1CN-3) according to the output form of the host controller or external circuit.

Reference speed

(r/min)

The factory setting is 500 [rated speed (3000 r/min)/6 V = 500].

Set this slope.

Reference voltage (V)

3.2 Setting User Constants According to Host Controller

3.2.8 Using Torque Feed-forward Function

For speed control only.

Speed 1) Outline

The torque feed-forward function reduces positioning time. It differentiates a speed reference at the host controller (prepared by the customer) to generate a torque feed-forward reference, then sends this torque feed-forward reference and the speed reference to the

Servopack.

Too high a torque feed-forward value will result in overshoot or undershoot. To prevent this, set the optimum value while observing system response.

Connect a speed reference signal line and torque feed-forward reference signal line from the host controller to V-REF (1CN-5, 1CN-6) and T-REF (1CN-9, 1CN-10), respectively.

Host controller

Position reference

Schematic Block Diagram for Torque Feed-forward Control

Servopack

Diffe− renti− ation

Current loop

Integration

Speed calculation

Frequency dividing

: Position loop gain

: Feed-forward gain

Servomotor

Encoder

2) How to Use Torque Feed-forward Function

To use the torque feed-forward function, set the following memory switch to 1.

Cn-01 Bit F

Selection of Torque

Feed-forward Function

Factory

Setting: 0

For Speed Control Only

Enables the torque feed-forward function.

To use the torque feed-forward function, input a speed reference to the V-REF terminal and a torque feed-forward reference to the T-REF terminal.

The host controller must generate a torque feed-forward reference from a speed reference.

Setting

Meaning

Does not use the torque feed-forward function.

Uses the torque feed-forward function.

APPLICATIONS OF Σ-SERIES PRODUCTS

3.2.9 Using Torque Restriction by Analog Voltage Reference

• This function cannot be used with the function for torque restriction by analog voltage reference, described in 3.2.9 Using Torque Restriction by Analog Voltage Reference.

• For user constants and control modes, refer to Appendix D List of User Constants.

3) Setting a Torque Feed-forward Value in User Constant Cn-13

The factory setting is Cn-13 = 30. If, for example, the torque feed-forward value is 3 V, torque is restricted to 100% (rated torque).

Cn-13

TCRFGN

Torque Reference

Gain

Unit: 0.1

V/Rated

Torque

Setting

Range:

10 to 100

Factory

Setting:

For Speed/Torque

Control Only

3.2.9 Using Torque Restriction by Analog Voltage Reference

For speed control only.

Speed 1) Outline

This function restricts torque by assigning the T-REF terminal (1CN-9, 1CN-10) a torque limit value in terms of analog voltage. Since torque reference input terminal T-REF is used as an input terminal, this function cannot be used for torque control.

Schematic Block Diagram for Torque Restriction by Analog Voltage Reference

Torque limit value

Speed reference Speed loop gain (Cn-04)

Integration

(Cn-05)

Speed feedback

Torque limit value

Torque reference

3.2 Setting User Constants According to Host Controller

2) How to Use Torque Restriction by Analog Voltage Reference

To use this torque restriction function, set the following memory switch to 1.

Cn-02 Bit F

Torque Restriction by Analog

Voltage Reference

Factory

Setting: 0

For Speed Control Only

Enables this torque restriction function.

To use this function, input a speed reference to the V-REF terminal and a torque limit value to the T-REF terminal.

This function cannot be used for torque control.

Torque restriction cannot be set separately for forward and reverse rotation. (The same setting applies to both forward and reverse rotation.)

Setting

Meaning

Uses the T-REF terminal as a torque reference or torque feed-forward reference input terminal.

Uses the T-REF terminal as a torque limit value input terminal.

• This function cannot be used with the torque feed-forward function described in 3.2.8

Using Torque Feed-forward Function.

• For user constants and control modes, refer to Appendix D List of User Constants.

3) Setting a Torque Limit Value in User Constant Cn-13

The factory setting is Cn-13 = 30. If, for example, the torque limit value is 3 V, torque is restricted to 100% (rated torque).

Cn-13

TCRFGN

Torque Reference

Gain

Unit: 0.1 V/

Rated

Torque

Setting

Range:

10 to 100

Factory

Setting:

For Speed/Torque

Control Only

APPLICATIONS OF Σ-SERIES PRODUCTS

3.2.10 Using the Reference Pulse Inhibit Function (INHIBIT)

3.2.10 Using the Reference Pulse Inhibit Function (INHIBIT)

For position control only.

Positions 1) Outline

This function inhibits a position control from counting input reference pulses.

While this function is being used, the motor remains in servo locked (clamped) status.

The P-CON signal is used to enable or prohibit this function.

When this function is used, therefore, the P-CON signal cannot be used to switch between proportion (P) control and proportional/integral (PI) control for speed loop. (PI control is always used.)

Servopack

Schematic Block Diagram for INHIBIT Function

Cn-01 bit F

Reference pulse

Error counter

P-CON

Feedback pulse

2) How to Use Reference Pulse Inhibit Function: INHIBIT

To use the INHIBIT function, set the following memory switch to 1:

Cn-01 Bit F

Reference Pulse Inhibit

Function (INHIBIT)

Factory

Setting: 0

For Position Control Only

Enables the INHIBIT function.

Setting

Meaning

Does not use the INHIBIT function.

Reference pulses are always counted.

Uses the INHIBIT function.

P-CON signal is used to enable or prohibit the INHIBIT function.

P-CON Meaning

OFF Counts reference pulses.

Prohibits the Servopack from counting reference pulses.

The motor remains in servo locked (clamped) status.

100

3.2 Setting User Constants According to Host Controller

• Always set bit 2 of memory switch Cn-02 to 0.

If bit 2 is set to 1, the contact input speed control function is selected, and the INHIBIT function cannot be used. (The P-CON signal is used for changing the motor rotation direction. For the contact input speed function, refer to 3.2.6 Using Contact Input

Speed Control.)

3) Relationship between INHIBIT Signal and Reference Pulse

INHIBIT signal

(P-CON)

Reference pulse

Input reference pulses are not counted during this period.

3.2.11 Using the Reference Pulse Input Filter Selection Function

For position control only.

Positions 1) Outline

This function selects a reference pulse input filter inside the Servopack according to the output form of reference pulses from the host controller.

2) How to Use Reference Pulse Input Filter

Set the following memory switch according to the output form of reference pulses from the host controller:

Cn-02 Bit F

Reference Pulse Input Filter

Selection Function

Factory

Setting: 0

For Position Control Only

Sets the memory switch according to the output form (line driver or open collector) of reference pulses from the host controller.

Setting

Meaning

Output form of reference pulses from host controller: Line driver output (maximum frequency of reference pulse: 450 kpps)

Output form of reference pulses from host controller: Open collector output

(maximum frequency of reference pulse: 200 kpps)

• For open collector output, the wire length must be as short as possible (maximum 3 m).

101

APPLICATIONS OF Σ-SERIES PRODUCTS

3.2.12 Using the Analog Monitor

3.2.12 Using the Analog Monitor

1) The following two analog voltage monitor signals are output.

Output → TRQ-M 1CN-16 Torque monitor

Output → VTG-M 1CN-17 Speed monitor

For Speed/Torque

Control

TRQ-M : Torque monitor output (¦3V/¦100% torque)

VTG-M : Speed monitor output (¦3V/¦1000 r/min)

• As for the check terminals of the front panel:

TMON is the same signal as TRQ-M

VTG is the same signal as VTG-M

Signal ground for TMON and VTG is SG0V of check terminals.

The following memory switch is used to modify the signal specifications.

Cn-02 Bit 6

TRQ-M Specifications Factory

Setting: 0

For Speed/Torque Control

Setting

Meaning

Uses TRQ-M as the torque reference monitor output.

Uses TRQ-M as the speed reference monitor output.

102

3.3 Setting Up the Σ Servopack

3.3 Setting Up the Σ Servopack

This section describes how to set user constants to operate the DR2 Servopack.

3.3.1

Setting User Constants

3.3.2

Setting the Jog Speed

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.3.3

Setting the Number of Encoder Pulses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.3.4

Setting the Motor Type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

103

104

105

106

3.3.1 Setting User Constants

1) Σ-series Servopacks provide many functions, and have parameters called “user constants” to allow the user to specify each function and perform fine adjustment.

Servopack

User constants

Digital Operator is used to set user constants.

2) User constants are divided into the following two types.

1) Memory switch

Cn-01, Cn-02

2) User constant setting

Cn-03 and later

Each bit of this switch is turned ON or OFF to specify a function.

A numerical value such as a torque limit value or speed loop gain is set in this constant.

• For Speed/Torque Control:

User

Constant

Cn-01

Cn-02

Cn-03

Cn-..

Cn-2A

Name and Code

Memory switch

VREFGN Speed reference gain

...

PULSNO2 Number of external PG pulses

Remarks

Each bit number has a switch (ON/OFF).

103

APPLICATIONS OF Σ-SERIES PRODUCTS

3.3.2 Setting the Jog Speed

• For Position Control:

User

Constant

Cn-01

Cn-02

Cn-04

Cn-..

Cn-2A

Name and Code

Memory switch

LOOPHZ

...

Speed loop gain

...

PULSNO2 Number of external PG pulses

Remarks

Each bit number has a switch (ON/OFF).

3) For a list of user constants, refer to Appendix D List of User Constants.

Some user constants for speed/torque control and position control have different meanings. Refer to a list of user constants for each type.

4) For details of how to set user constants, refer to 4.1.5 Operation in User Constant Setting

Mode

3.3.2 Setting the Jog Speed

1) Use the following user constant to set or modify a motor speed when operating the

Σ-series Servo from a Digital Operator:

Cn-10

JOGSPD

Jog Speed

Unit: r/min

Setting

Range: 0 to

Maximum

Speed

Factory

Setting:

500

For Speed/Torque

Control and Position

Control

This constant is used to set a motor speed when the motor is operated using a Digital Operator.

Operation Using Digital Operator

104

3.3 Setting Up the Σ Servopack

3.3.3 Setting the Number of Encoder Pulses

1) To ensure that the Σ-series Servo System operates properly, set the type of the encoder to be used and the number of encoder pulses per revolution in the following user constants:

Cn-02 Bit 9

Encoder Type Selection Factory

Setting: 0

For Speed/Torque Control and Position Control

Set the encoder type according to the servomotor type to be used.

After changing the memory switch setting, turn the power OFF, then ON.

Motor Type

SGM-jjj31j

SGMP-jjj31j

SGM-jjjW1j

SGMP-jjjW1j

Encoder Type

Incremental encoder

Absolute encoder

Preset Value

Cn-11

PULSNO

Number of

Encoder Pulses

Unit: Pulses

Per Revolution

Setting

Range:

Number of

Encoder

Pulses

Factory

Setting:

2048

For Speed/Torque

Control and

Position Control

Set the number of encoder pulses according to the servomotor type to be used. If this user constant is set incorrectly, system operation cannot be guaranteed.

After changing the user constant setting, turn the power OFF, then ON.

Motor Type

SGM-jjj31j

SGMP-jjj31j

SGM-jjjW1j

SGMP-jjjW1j

Number of Encoder Pulses Per Revolution

Incremental encoder: 2048 pulses per revolution

Absolute encoder: 1024 pulses per revolution

Preset Value

2048

1024

105

APPLICATIONS OF Σ-SERIES PRODUCTS

3.3.4 Setting the Motor Type

3.3.4 Setting the Motor Type

1) To ensure that the Σ-series Servo System operates properly, set the type of the servomotor to be used in the following user constant.

Cn-02 Bit 8

Motor Selection Factory Setting:

DR2-jjjj: 0

DR2-jjjjP: 1

For Speed/Torque Control and Position Control

Set this memory switch according to the servomotor type to be used (SGM or SGMP).

After changing the memory switch setting, turn the power OFF, then ON.

This makes the new setting valid.

Motor Type

SGM-jjjjjj

SGMP-jjjjjj

Preset Value

106

3.4 Setting Stop Mode

3.4 Setting Stop Mode

This section describes how to stop the motor properly.

3.4.1

Adjusting Offset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.4.2

Using Dynamic Brake . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.4.3

Using Zero-Clamp . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.4.4

Using Holding Brake . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

107

108

109

110

3.4.1 Adjusting Offset

1) “Why does not the motor stop?”

When 0 V is specified as reference voltage for Servopack for speed/torque control, the motor may rotate at a very slow speed and fail to stop. This happens when reference voltage from the host controller or external circuit has a slight reference offset (in mV units). If this offset is adjusted to 0 V, the motor will stop.

When reference voltage from the host controller or external circuit has an offset

Reference voltage

Offset

Reference speed or reference torque

Offset adjustment

Reference voltage

Offset is corrected by the Servopack.

Reference speed or reference torque

2) The following two methods can be used to adjust the reference offset to 0 V.

1) Automatic adjustment of reference offset

2) Manual adjustment of reference offset

Reference offset is automatically adjusted to 0 V.

Reference offset can be intentionally set to a specified value.

NOTE If a position control loop is formed in the host controller, do not use automatic adjustment in 1. Always use manual adjustment in 2.

107

APPLICATIONS OF Σ-SERIES PRODUCTS

3.4.2 Using Dynamic Brake

3) For detailed adjustment procedures, refer to the following sections.

1) Automatic adjustment of reference offset

2) Manual adjustment of reference offset

Adjustment Method

4.2.4 Reference Offset Automatic Adjustment

4.2.5 Speed Reference Offset Manual

AdjustmentMode

3.4.2 Using Dynamic Brake

1) To stop the servomotor by applying dynamic brake (DB), set desired values in the following memory switch. If dynamic brake is not used, the servomotor will stop naturally due to machine friction.

Cn-01Bit 6

Cn-01Bit 7

How to Stop Motor When

Servo is Turned OFF

Operation to Be Performed

When Motor Stops After

Servo is Turned OFF

Factory

Setting: 0

Factory

Setting: 1

For Speed/Torque Control and Position Control

The Servopack enters servo OFF status when:

• Servo ON input signal (S-ON, 1CN-40) is turned

OFF

• Servo alarm arises

• Main power is turned OFF

Specify how to stop the motor when one of the above events occurs during operation.

Cn-01 bit 6

Servo OFF

Stop mode

Stop by dynamic brake

Bit 6

Coasting to a stop

After stop

Bit 7

Releasing dynamic brake

Holding dynamic brake

Remains being released dynamic brake

Setting

Meaning

Stops the motor by dynamic brake.

Causes the motor to coast to a stop.

The motor power is OFF and stops due to machine friction.

If dynamic brake stop mode is selected, specify the operation to be performed when the motor stops.

Setting

Meaning

Releases dynamic brake after the motor stops.

Does not release dynamic brake even after the motor stop.

108

TERMS

Dynamic brake (DB)

One of the general methods to cause a motor sudden stop.

“Dynamic brake” suddenly stops a servomotor by shorting its electrical circuit.

This dynamic brake circuit is incorporated in the Servopack.

Servopack Servomotor

3.4 Setting Stop Mode

3.4.3 Using Zero-Clamp

1) The zero-clamp function is used for a system in which the host controller does not form a position loop by speed reference input.

Speed/Torque

In other words, this function is used to cause the motor to stop and enter a servo locked status when the input voltage of speed reference V-REF is not 0 V. When the zero-clamp function is turned ON, an internal position loop is temporarily formed, causing the motor to be clamped within one pulse. Even if the motor is forcibly rotated by external force, it returns to the zero-clamp position.

Host controller

Speed reference less than

Cn-29 setting is ignored Stops instantaneously

Speed reference

V-REF

P-CON

2) Set the following memory switch so that input signal P-CON can be used to enable or disable the zero-clamp function.

Cn-01Bit A

Cn-01Bit B

Control Mode Selection

Factory

Setting:0

Factory

Setting:0

For Speed/Torque Control

Only

For Speed/Torque Control

Only

→ Input P-CON 1CN-41

Proportional Control, etc.

For Speed/Torque

Control and

Position Control

Cn-01

Setting

Bit B Bit A

0 1

Zero-clamp Speed Control

This speed control allows the zero-clamp function to be set when the motor stops.

A speed reference is input from

V-REF (1CN-5).

P-CON (1CN-41) is used to turn the zero-clamp function ON or OFF.

P-CON

(1CN-41) is open (OFF)

P-CON

(1CN-41) is closed (ON)

Turns zero-clamp function OFF

Turns zero-clamp function ON

Speed reference

(1CN-5)

Zero-clamp

(1CN-41)

Servopack

Zero-clamp is performed when the following two conditions are met:

Motor speed is below the value set in Cn-29 (ZCLVL).

Torque reference input T-REF

(1CN-9) cannot be used.

109

APPLICATIONS OF Σ-SERIES PRODUCTS

3.4.4 Using Holding Brake

3) Set in the following user constant the motor speed level at which zero-clamp is to be performed:

Cn-29

ZCLVL Zero-Clamp

Level

Unit: r/min

Setting Range:

0 to Maximum

Speed

Factory

Setting:

For Speed Control

Only

If zero-clamp speed control is selected, set the motor speed level at which zero-clamp is to be performed.

Conditions for Zero-clamp

Zero-clamp is performed when all the following conditions are met: a) Zero-clamp speed control is selected.(Bits A and B of memory switch Cn-01 are set to

1 and 0, respectively.) b) P-CON (1CN-41) is turned ON (0 V).

c) Motor speed drops below the preset value.

V-REF speed reference

Speed

Preset value for zero-clamp

P-CON input

Zero-clamp being performed

Open (OFF)

Closed (ON)

Time

110

3.4.4 Using Holding Brake

1) Outline

Holding brake is useful when a servo drive is used to control a vertical axis. A servomotor with brake prevents the movable part from dropping due to gravitation when the system power is turned OFF.

Servomotor

Holding brake

Prevents movable part from shifting due to gravitation when power is turned OFF

NOTE The built-in brake in Servomotor with brake is a de-energization operation type, which is used for holding purposes only and cannot be used for braking purposes. Use the holding brake only to retain a stopped motor. Brake torque is more than 100% of the rated motor torque.

3.4 Setting Stop Mode

2) Use Servopack contact output-signal TGON+, TGON- and brake power supply to form a brake ON/OFF circuit.

An example of standard wiring is shown below.

Servopack

Power supply

Servomotor with brake

TGON+ 1CN-27

TGON-

1CN-28

Motor plug

BK-RY: Brake control relay

Blue or yellow

White

Brake power supply

Red

Black

Brake power supply has two types (200 V, 100 V).

Set the following memory switch to select the brake interlock output.

Cn-01 Bit E

Selection of TGON+, TGON-

Signals

Factory

Setting: 0

For Speed/Torque Control and Position Control

Set bit E of Cn-01 to 1 to select the brake interlock output.

Setting

Meaning

Uses the TGON+, TGON- signals as the running output.

Uses the TGON+, TGON- signals as the brake interlock output.

Output → TGON+ 1CN-27

Output → TGON- 1CN-28

Brake Interlock Output, etc.

For Speed/Torque

Control and

Position Control

This output signal controls the brake when a motor with brake is used. This signal terminal need not be connected when a motor without brake is used.

Related User Constants

Cn-12

Cn-15

Cn-16

Time delay from brake signal until servo OFF

Speed level for brake signal output during operation

Output timing of brake signal during motor operation

ON Status:

Circuit between 1CN-27 and 1CN-28 is closed.

1CN-27 is at low level.

OFF Status:

Circuit between 1CN-27 and 1CN-28 is open.

1CN-27 is at high level.

Releases the brake.

Applies the brake.

111

APPLICATIONS OF Σ-SERIES PRODUCTS

3.4.4 Using Holding Brake cont.

3) Between the brake is released and applied by brake power (TGON+) ON/OFF, time delay occurs as follows:

S-ON Input

(1CN-40)

TGON+ Output

(Brake Power Supply)

(1CN-27)

Brake

Speed Reference

OFF

180ms max.

Apply

200ms min.

Release

OFF

100ms max.

Apply

Min. 200ms is required between brake power ON (TGON+) and speed reference input.

As for the brake holding timing at servo OFF, refer to 4) and 5) shown below.

4) If the machine moves slightly due to gravity when the brake is applied, set the following user constant to adjust brake ON (brake holding) timing:

Cn-12 BRKTIM

Time delay from the time a brake signal is output until servo OFF status occurs

Unit:

10 ms

Setting

Range:

0 to 50

Factory

Setting:

For

Speed/Torque

Control and

Position Control

This user constant is used to set output timing of brake control signals TGON+ (1CN-27), TGON-

(1CN-28) and servo OFF operation (motor output stop) when SGM/SGMP Servomotor with brake is used.

This user constant is not available for alarm occurrence and main power OFF.

Brake Timing when Motor is in Stopped Status

S-ON input

(1CN-40)

TGON+ output

(1CN-27)

Servo ON/OFF operation (motor

ON/OFF status)

Servo ON

Release brake

Motor is ON

Servo OFF

Apply brake

Motor is

OFF

BRKTIM

With the standard setting, the servo is turned OFF when TGON+ signal (brake operation) is output. The machine may move slightly due to gravitation. This movement depends on machine configuration and brake characteristics. If this happens, use this user constant to delay servo OFF timing to prevent the machine from moving.

Set in this constant the brake ON timing used when the motor is in stopped status.

For brake ON timing during motor operation, use Cn-15 and Cn-16.

112

3.4 Setting Stop Mode

5) Set the following user constants to adjust brake ON timing so that holding brake is applied when the motor stops.

Cn-15 BRKSPD

Cn-16 BRKWAI

Speed Level at which

Brake Signal Is Output during Motor Operation

Unit: r/min

Output Timing of Brake

Signal during Motor

Operation

Unit:

10 ms

Setting

Range:

0 to

Maximum

Speed

Setting

Range: 10 to 100

Factory

Setting:

100

Factory

Setting:

For

Speed/Torque

Control and

Position

Control

For

Speed/Torque

Control and

Position

Control

Cn-15 and Cn-16 are used for SGM/SGMP Servomotors with brake. Use these user constants to set brake timing used when the servo is turned

OFF by input signal S-ON (1CN-40) or alarm occurrence during motor rotation.

Since brakes for SGM/SGMP Servomotors are designed as holding brakes, if brake is applied at motor running, brake generates excessive friction. Therefore, brake ON timing when the motor stops must be appropriate. Adjust the user constant settings while observing machine operation.

Brake Timing when Motor is in Stopped Status

Power OFF by S-ON input

(1CN-40) or alarm occurrence and main power OFF

Servo ON

Servo OFF

Stop by dynamic brake or coasting to a stop (Cn-01 bit 6)

Motor speed

(r/min)

BRKSPD

(Cn-15)

TGON+ output

(1CN-27)

Release brake

Apply brake

BRKWAI

(Cn-16)

When this time elapses, TGON+ signal is output.

• Conditions for TGON+ signal (1CN-27) output during motor operation. The circuit between

1CN-27 and 1CN-28 is opened in either of the following situations.

1 Motor speed drops below the value set in Cn-15 (BRKSPD) after servo OFF occurs.

2 The time set in Cn-16 (BRKWAI) has elapsed since servo OFF occurred.

113

APPLICATIONS OF Σ-SERIES PRODUCTS

3.5.1 Using the Soft Start Function

3.5 Running the Motor Smoothly

This section explains how to run the servomotor smoothly.

3.5.1

Using the Soft Start Function

3.5.2

Using the Smoothing Function

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.5.3

Adjusting Gain

3.5.4

Adjusting Offset

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.5.5

Setting the Torque Reference Filter Time Constant . . . . . . . . . . . . . . . . . . .

114

115

116

114

3.5.1 Using the Soft Start Function

1) The soft start function adjusts progressive speed reference input inside the Servopack so that acceleration and deceleration can be as constant as possible. To use this function, set the following user constants.

Speed/Torque

Cn-07

SFSACC

Soft Start Time (Acceleration)

Cn-23

SFSDEC

Soft Start Time (Deceleration)

Unit: ms

Setting

Range:

0 to

10000

Setting

Range:

0 to

10000

Factory

Setting:

For Speed/Torque

Control Only

Factory

Setting:

For Speed/Torque

Control Only

In the Servopack, a speed reference is multiplied by the acceleration or deceleration value set in

Cn-07 or Cn-23 to provide speed control.

Smooth speed control can be achieved when progressive speed references are input or when contact input speed control is used.

Speed reference

Soft start

Servopack internal speed reference

Cn-07: Set this time interval.

Set these user constants as follows.

Cn-23: Set this time interval.

Cn-07: Time interval from the time the motor starts until the maximum speed (4500 r/min) is reached

Cn-23: Time interval from the time the motor is running at the maximum speed (4500 r/min) until it stops

3.5 Running the Motor Smoothly

3.5.2 Using the Smoothing Function

Positions

1) The smoothing function adjusts constant-frequency reference input inside the Servopack so that acceleration and deceleration can be as constant as possible. To use this function, set the following user constant.

Cn-26

ACCTME Position Reference

Acceleration/Deceleration

Time Constant

(Smoothing)

Unit:

0.1 ms

Setting

Range:

0 to 640

Factory

Setting:

For

Position

Control

Only

This user constant is used for position control only.

Reference pulse

This function performs acceleration/deceleration processing for input reference pulses (primary lag characteristics).

This function prevents the motor from running at progressive speeds in the following cases:

Reference pulse frequency

Servopack

Accel/ decel

Servomotor

Apply acceleration/deceleration processing

Cn-26 (ACCTME)

• When the host controller which outputs references cannot perform acceleration/deceleration processing

Reference pulse frequency

• When reference pulse frequency is too low

• When reference electronic gear ratio is too high (more than 10 times)

This function does not change the travel distance (number of pulses).

3.5.3 Adjusting Gain

1) If speed loop gain or position loop gain exceeds the allowable limit for the servo system including the machine to be controlled, the system will vibrate or become too susceptible.

Under such conditions, smooth operation cannot be expected. Reduce each loop gain value to an appropriate value.

2) For servo gain adjustment, refer to the following section:

3.6.2 Setting Servo Gain

115

APPLICATIONS OF Σ-SERIES PRODUCTS

3.5.5 Setting the Torque Reference Filter Time Constant

3.5.4 Adjusting Offset

1) If reference voltage from the host controller or external circuit has an offset in the vicinity of 0 V, smooth operation cannot be expected. Adjust the reference offset to 0 V.

Speed/Torque

When Reference Voltage from Host Controller or External Circuit has an Offset

Reference voltage

Reference speed or reference torque

Offset

Offset adjustment

Reference voltage

Reference speed or reference torque

Offset is corrected by the Servopack.

2) The following two methods are available to adjust the reference offset to 0 V.

1) Automatic adjustment of reference offset

2) Manual adjustment of reference offset

Reference offset is automatically adjusted.

Reference offset can be intentionally set to a specified value.

NOTE If a position control loop is formed in the host controller, do not use automatic adjustment in 1). Always use manual adjustment in 2).

3) For detailed adjustment procedures, refer to the following sections:

1) Automatic adjustment of reference offset

2) Manual adjustment of reference offset

Adjustment Method

4.2.4 Reference Offset Automatic Adjustment

4.2.5 Speed Reference Offset Manual

AdjustmentMode

3.5.5 Setting the Torque Reference Filter Time Constant

1) If the machine causes vibration, possibly resulting from the servo drive, adjust the following filter time constant. Vibration may stop.

Cn-17

TRQFIL Torque Reference

Filter Time Constant

Unit:

100 µs

Setting

Range:

0 to 250

Factory

Setting:

For Speed/Torque

Control and

Position Control

Cn-17 is a torque reference filter time constant for the DR2 Servopack. The smaller the value, the higher the torque control response. There is, however, a certain limit depending on machine conditions.

With the standard setting, the machine may cause vibration resulting from the servo drive. In this case, increase the constant setting. Vibration may stop. Vibration can be caused by incorrect gain adjustment, machine problems and so on.

116

3.5 Running the Motor Smoothly

Set the following memory switch to select the torque reference filter degree.

Cn-02 Bit C

Torque Reference Filter

Degree

Factory

Setting: 0

For Speed/Torque Control and Position Control

Setting

Primary filter

Secondary filter

Meaning

117

APPLICATIONS OF Σ-SERIES PRODUCTS

3.6.2 Setting Servo Gain

3.6 Minimizing Positioning Time

118

This section describes how to minimize positioning time.

3.6.1

Using Autotuning Function

3.6.2

Setting Servo Gain

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.6.3

Using Feed-forward Control

3.6.4

Using Proportional Control

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.6.5

Setting Speed Bias . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.6.6

Using Mode Switch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

118

120

121

122

3.6.1 Using Autotuning Function

1) If speed loop gain and position loop gain for the servo system are not set properly, positioning may become slow. Techniques and experience are required to set these servo gain values according to machine configuration and machine rigidity.

2) Σ-series Servopacks have an autotuning function that automatically measures machine characteristics and sets the necessary servo gain values. With this function, even firsttime servo users can easily perform tuning for servo gain. Servo gain values are set in user constants.

3) The following user constants can be automatically set by the autotuning function.

User Constant

Cn-04

Cn-05

Cn-1A

Meaning

Speed loop gain

Speed loop integration time constant

Position loop gain

4) For details of how to perform autotuning, refer to 4.2.3 Autotuning

3.6.2 Setting Servo Gain

1) Check and reset the servo gain when: a) Automatically set servo gain values need to be checked after autotuning.

b) Each servo gain value checked in a) is to be directly set for another Servopack.

c) Response performance needs to be further enhanced after autotuning, or servo gain values need to be reset for a system with lower response performance.

Positions

3.6 Minimizing Positioning Time

2) Set the following user constants related to speed loop as necessary.

Cn-04

Cn-05

LOOPHZ

Speed Loop Gain (Kv)

PITIME

Speed Loop Integration

Time Constant (Ti)

Unit:

0.01

Setting

Range: 1 to 2000

Setting

Range: 2 to 10000

Factory

Setting:

Factory

Setting:

2000

For Speed/Torque

Control and Position

Control

For Speed/Torque

Control and Position

Control

Cn-04 and Cn-05 are a speed loop gain and an integration time constant for the Servopack, respectively.

Speed reference

Speed loop gain

Speed feedback

The higher the speed loop gain value or the smaller the speed loop integration time constant value, the higher the speed control response. There is, however, a certain limit depending on machine characteristics.

These user constants are automatically set by the autotuning function.

The unit of speed loop integration time constant Cn-05 (Ti) can be changed to

0.01 ms.

3) Set the following user constants related to position loop as necessary.

Cn-1A

POSGN

Position Loop Gain (Kp)

Unit:

1/s

Setting

Range: 1 to 500

Factory

Setting:

For Position Control

Only

This user constant is a position loop gain for the

Servopack.

Increasing the position loop gain value provides position control with higher response and less error. However, there is a certain limit depending on machine characteristics.

Position reference

This user constant is automatically set by the autotuning function.

Position loop gain

Position feedback

Cn-1E

OVERLV

Overflow

Unit: 256

References

Setting

Range: 1 to 32767

Factory

Setting:

1024

For Position Control

Only

This user constant is for position control only.

(Alarm A.31)

Cn-1E

OVERLV

Set in this user constant the error pulse level at which a position error pulse overflow alarm (alarm

A.31) is detected.

Error pulse

Normal control

(Alarm A.31)

If the machine permits only a small position loop gain value to be set in Cn-1A, an overflow alarm may arise during high-speed operation. In this case, increase the value set in this user constant to suppress alarm detection.

119

APPLICATIONS OF Σ-SERIES PRODUCTS

3.6.4 Using Proportional Control

3.6.3 Using Feed-forward Control

Feed-forward control shortens positioning time. To use feed-forward control, set the following user constant.

Positions

Cn-1D

Cn-27

FFGN

Feed-forward Gain

FFFILT

Feed-forward Reference

Filter

Unit:

100

μs

Setting

Range: 0 to 100

Setting

Range: 0 to 640

Factory

Setting: 0

For Position Control

Only

Factory

Setting: 0

For Position Control

Only

This user constant is for position control only.

Reference pulse

Differe ntiation

Feedback pulse

Primary delay filter

Cn-27

FFFILT

This user constant is set to apply feed-forward frequency compensation to position control inside the Servopack.

Use this user constant to shorten positioning time.

Too high a value may cause the machine to vibrate. For ordinary machines, set 80% or less in this constant.

3.6.4 Using Proportional Control

1) If both bits A and B of memory switch Cn-01 are set to 0 as shown below, input signal

P-CON serves as a PI/P control changeover switch for speed control loop.

Speed/Torque

• PI Control: Proportional/Integral control

• P Control: Proportional control

Cn-01 Bit A

Cn-01Bit B

Control Mode Selection

Factory

Setting: 0

Factory

Setting: 0

For Speed/Torque Control and Position Control

120

TERMS

Feed-forward control

Control for making necessary corrections beforehand to prevent the control system from receiving the effects of disturbance.

Using feed-forward control increases effective servo gain, enhancing response performance.

3.6 Minimizing Positioning Time

For speed/torque control only.

Cn-01

Setting

Bit B Bit A

0 0

Signal P-CON (1CN-41) is used to switch between P control and PI control.

PI control P-CON (1CN-41) is open (OFF)

P-CON (1CN-41) is closed (ON)

P control

Torque reference input T-REF (1CN-9) cannot be used.

P/PI changeover

DR2 Servopack

P-CON

2) Proportional control can be used in the following two ways.

a) The host controller can selectively use P control mode for particular conditions only.

This method can prevent the occurrence of overshoot and also shorten settling time.

For particular conditions, refer to 3.6.6 Using Mode Switch.

b) In the speed control mode, if PI control mode is used when the speed reference has a reference offset, the motor may rotate at a very slow speed and fail to stop even if 0 is specified as a speed reference. In this case, use P control mode to stop the motor.

3.6.5 Setting Speed Bias

The settling time for positioning can be reduced by assigning bias to the speed reference output part in the Servopack. To assign bias, use the following constant.

Positions

Cn-1C

BIASLV

Bias

Unit: r/min

Setting

Range: 0 to 450

Factory

Setting: 0

For Position Control

Only

This user constant is for position control only.

This user constant is set to assign an offset to a speed reference in the DR2 Servopack.

Use this constant to shorten settling time.

Set this user constant according to machine conditions.

Internal speed reference

Error pulse

121

APPLICATIONS OF Σ-SERIES PRODUCTS

3.6.6 Using Mode Switch

3.6.6 Using Mode Switch

1) Use the mode switch for the following purposes: a) To prevent overshoot during acceleration or deceleration (for speed control).

b) To prevent undershoot during positioning in order to reduce settling time (for position control).

Speed

Overshoot

Actual motor operation

Reference

Time

Undershoot

Settling time

2) In other words, the mode switch is a function that automatically switches the speed control mode inside the Servopack from PI control to P control while certain conditions are being established.

NOTE The mode switch is used to fully utilize performance of a servo drive to achieve very highspeed positioning. The speed response waveform must be observed to adjust the mode switch.

For normal use, the speed loop gain and position loop gain set by autotuning provide sufficient speed/position control.

Even if overshoot or undershoot occurs, they can be suppressed by setting the acceleration/deceleration time constant for the host controller, the soft start time constants

(Cn-07, Cn-23), or position reference accel/decel time constant (Cn-26) for the Servopack.

122

TERMS

From PI control to P control

PI control means proportional/integral control and P control means proportional control. In short, switching “from PI control to P control” reduces effective servo gain, making the servo system more stable.

3.6 Minimizing Positioning Time

3) Servopacks can use four types of mode switches (1 to 4). To select a mode switch, use the following memory switch. Note that the mode switch setting methods for speed/ torque control and position control are slightly different.

For Speed/

Torque

Control

Memory

Switch

Cn-01

Bit D Bit C

1 1

For Position

Memory

Switch Cn-01

Bit

−

Control

Bit

−

Bit

Mode Switch Setting

Does not use mode switch.

Uses torque reference as a detection point.

(Standard setting)

Uses speed reference as a detection point.

User Constant

Cn-0C

Cn-0D

1 0 1

Uses acceleration reference as a detection point. Cn-0E

Uses error pulse as a detection point.

Cn-0F

Unit

Percentage of rated torque: %

Motor speed: r/min

Acceleration reference inside the Servopack:

10 (r/min)/s

Reference unit

When Torque Reference Is Used as a Detection Point of

Mode Switch

If a torque reference exceeds the torque value set in user constant Cn-0C, the speed loop switches to P control.

Speed

Reference speed

(Standard

Setting)

Motor speed

The DR2 Servopack is factory set to this standard mode (Cn-0C = 200).

Torque

Internal torque reference

Example of Use: PI control

P control

PI control

P control

PI control

If a mode switch is not used and PI control is always performed, torque may enter a saturation state during acceleration or deceleration, causing the motor speed to have overshoot or undershoot.

Using the mode switch suppresses torque saturation and prevents the motor speed from having overshoot and undershoot.

Without mode switch

Overshoot

Motor speed

Undershoot

Time

With mode switch

Motor speed

Time

123

APPLICATIONS OF Σ-SERIES PRODUCTS

3.6.6 Using Mode Switch cont.

When Speed Reference Is Used as a Detection Point of Mode Switch

If a speed reference exceeds the value set in user constant Cn-0D, the speed loop switches to P control.

Speed reference

Speed

Motor speed

Example of Use:

PI control P control PI control

The mode switch is used to reduce settling time.

Generally, speed loop gain must be increased to reduce settling time. Using the mode switch suppresses the occurrence of overshoot and undershoot when speed loop gain is increased.

Without mode switch

Speed reference

Motor speed

Increase speed loop gain

Settling time is long

With mode switch

Motor speed

Without mode switch

Overshoot

Motor speed

Undershoot

Time

Suppress the occurrence of overshoot and undershoot.

Settling time

When Acceleration Is Used as a Detection Point of Mode

Switch

If motor acceleration exceeds the value set in user constant Cn-0E, the speed loop switches to P control.

Speed

Reference speed Motor speed

Motor acceleration

Acceleration reference

Example of Use: PI control

P control

PI control PI control

P control

If a mode switch is not used and PI control is always performed, torque may enter a saturation state during acceleration or deceleration, causing the motor speed to have overshoot or undershoot.

Using the mode switch suppresses torque saturation and prevents the motor speed from having overshoot and undershoot.

Without mode switch

Overshoot

Motor speed

Undershoot

Time

With mode switch

Motor speed

Time

124

3.6 Minimizing Positioning Time

Positions

When Error Pulse Is Used as a Detection Point of Mode Switch

For position control only.

Speed reference

If an error pulse exceeds the value set in user constant Cn-0F, the speed loop switches to P control.

Speed

Error pulse

PI control P control

Motor speed

PI control

Example of Use:

The mode switch is used to reduce settling time.

Generally, speed loop gain must be increased to reduce settling time. Using the mode switch suppresses the occurrence of overshoot and undershoot when speed loop gain is increased.

Without mode switch

Speed reference

Motor speed

Motor speed Increase speed loop gain

Motor speed

Without mode switch

Overshoot

Undershoot

Settling time is long Time

With mode switch

Motor speed

Suppress the occurrence of overshoot and undershoot.

Settling time

4) The user constants required to set each mode switch are summarized as follows.

Cn-01Bit B

Mode Switch ON/OFF Factory

Setting: 0

For Position Control Only

For position control only.

Speed Reference

Actual motor operation

This user constant is used to enable or disable the mode switch function.

Setting Meaning

0 Uses the mode switch function

1 Does not use the mode switch function

Time

Settling time

Mode switch is used to reduce settling time and suppress undershoot when the motor stops. It switches PI control to P control when certain conditions are met.

The Servopack allows use of four different types of mode switch. To select a mode switch, set bits C and D of memory switch Cn-01.

For speed/torque control, bits C and D are used to enable or disable the mode switch function.

125

APPLICATIONS OF Σ-SERIES PRODUCTS

3.6.6 Using Mode Switch cont.

Cn-01 Bit C

Cn-01 Bit D

Mode Switch Selection

Factory

Setting: 0

Factory

Setting: 0

For Speed/Torque Control and Position Control

Use the following user constants to set the mode switch to be used.

Memory

Switch

Cn-01 Mode Switch Type

Bit D Bit C

0 0 Uses torque reference as a detection point.

Uses speed reference as a detection point.

Uses acceleration reference as a detection point.

1 1

For speed/ torque control

Does not use mode switch.

For position control

Uses error pulse as a detection point.

User Constant for Setting

Detection

Point

Cn-0C

Cn-0D

Cn-0E

Cn-0F

Mode switch is used to reduce settling time and suppress undershoot when the motor stops. It switches PI control to P control when certain conditions are met.

126

3.6 Minimizing Positioning Time

Cn-0C

TRQMSW Mode Switch

(Torque

Reference)

Cn-0D

REFMSW Mode Switch

(Speed

Reference)

Cn-0E

ACCMSW Mode Switch

(Acceleration

Reference)

Cn-0F

ERPMSW Mode Switch

(Error Pulse)

Unit: % Setting

Range: 0 to 800

Unit: r/min

Unit:

Reference

Unit

Setting

Range: 0 to 4500

Unit: 10

(r/min)/s

Setting

Range: 0 to 3000

Setting

Range: 0 to 10000

Factory

Setting:

200

Factory

Setting: 0

Factory

Setting: 0

Factory

Setting: 0

For

Speed/Torque

Control and

Position Control

For

Speed/Torque

Control and

Position Control

For

Speed/Torque

Control and

Position Control

For Position

Control Only

Mode switch is used to reduce settling time and suppress undershoot when the motor stops. It switches PI control to P control when certain conditions are met.

Speed

Reference

Actual motor operation

Time

Settling time

The Servopack allows use of four different types of mode switch. To select a mode switch, set bits B, C and D of memory switch Cn-01.

Memory Switch

Cn-01

Bit D Bit C Bit B

− − 1

Mode Switch

Setting

Does not use mode switch.

Uses torque reference as a detection point.

Uses speed reference as a detection point.

Uses acceleration reference as a detection point.

Uses error pulse as a detection point.

Cn-0C

Cn-0D

Cn-0E

Cn-0F

User constant Cn-0F is for position control only.

Percentage of rated torque: %

Motor speed: r/min

Acceleration reference inside the DR2 Servopack:

10 (r/min)/s

Reference unit

127

APPLICATIONS OF Σ-SERIES PRODUCTS

3.7.1 Using Servo Alarm Output and Alarm Code Output

3.7 Forming a Protective Sequence

This section describes how to use I/O signals from the Servopack to form a protective sequence for safety purposes.

3.7.1

Using Servo Alarm Output and Alarm Code Output . . . . . . . . . . . . . . . . . . .

3.7.2

Using Servo ON Input Signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.7.3

Using Positioning Complete Signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.7.4

Using Speed Coincidence Output Signal . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.7.5

Using Running Output Signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.7.6

Using Servo Ready Output Signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

128

132

133

134

136

138

3.7.1 Using Servo Alarm Output and Alarm Code Output

1) Basic Wiring for Alarm Output Signals

Photocoupler Output

Per output:

Maximum operation voltage: 30 VDC

Maximum output current: 50 mADC

Open Collector Output

Per output:

Maximum operation voltage: 30 VDC

Maximum output current: 20 mADC

Servopack

Photocoupler

1CN-31 ALM+

1CN-32 ALM-

1CN-37 ALO1

1CN-38 ALO2

1CN-39 ALO3

1CN-2 SG

I/O power supply

Host controller

Provide an external I/O power supply separately. There are no DC power available from Servopack for output signals.

128

3.7 Forming a Protective Sequence

2) Contact Output Signal ALM+, ALM-

Output → ALM+ 1CN-31

Output → ALM- 1CN-32

Servo Alarm Output

Signal Ground for Servo

Alarm Output

For Speed Torque

Control and

Position Control

For Speed Torque

Control and

Position Control

Signal ALM+ is output when the Servopack detects an alarm.

Servopack

Alarm detection

ALM+ output

Turns the power

OFF

Form an external circuit so that this alarm output

(ALM) turns the Servopack main power OFF.

ON status:

OFF status:

Circuit between 1CN-31 and 1CN-32 is closed.

1CN-31 is at low level.

Circuit between 1CN-31 and 1CN-32 is open.

1CN-31 is at high level.

Normal state

Alarm state

Alarm codes ALO1, ALO2, and ALO3 are output to indicate each alarm type.

3) Contact Output Signals ALO1, ALO2, and ALO3

Output → ALO1 1CN-37

Output → ALO2 1CN-38

Output → ALO3 1CN-39

Output → SG 1CN-2

Alarm Code Output

Signal Ground for Alarm Code

Output

For Speed/Torque

Control and

Position Control

For Speed/Torque

Control and

Position Control

For Speed/Torque

Control and

Position Control

For Speed/Torque

Control and

Position Control

These signals output an alarm code to indicate the type of an alarm detected by the Servopack.

Use these signals to display alarm codes at the host controller.

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APPLICATIONS OF Σ-SERIES PRODUCTS

3.7.1 Using Servo Alarm Output and Alarm Code Output cont.

4) Relationship between Alarm Display and Alarm Code Output

Alarm Display and Alarm Code Output:

Alarm

Display

Alarm Code Output

ALO1 ALO2 ALO3

Servo

Alarm

(ALM+)

Output

○

User constant error

An absolute encoder error occurred or user constant is faulty.

Overcurrent Overcurrent flowed thorough the main circuit.

Servopack overheated.

Fuse blown Fuse of main circuit power supply is blown.

Regenerative error

Failure of regenerative circuit

Position error pulse overflow

Overvoltage or undervoltage

The number of pulses in error counter has exceeded the preset value.

Main circuit DC voltage is overvoltage or undervoltage.

Overspeed Motor speed has exceeded the 110% of the maximum allowable speed.

Overload Motor and Servopack are overloaded.

Absolute encoder error

Reference input read error

Overrun

Disconnection of PG signal line

Absolute encoder is faulty.

Failure of analog voltage reference input read

Overrun occurred due to motor or encoder signal wiring faults.

Encoder signal line is disconnected.

○ : Output transistor is ON

¢ : Output transistor is OFF

* : Displays an alarm category number.

For details, refer to Appendix E List of Alarm Displays.

130

3.7 Forming a Protective Sequence

Alarm

Display

Alarm Code Output

ALO1 ALO2 ALO3

Servo

Alarm

(ALM+)

Output

Digital

Operator transmission error

Communication error occurred between Digital Oper-

¢ ¢ ¢ ○

No error

○ : Output transistor is ON

¢ : Output transistor is OFF

* : Displays an alarm category number.

For details, refer to Appendix E List of Alarm Displays.

5) When the servo alarm (ALM+) is output, eliminate the cause of the alarm and set the following ALMRST input signal at low level (0V) to reset the alarm state.

→ Input ALMRST 1CN-44

Alarm Reset For Speed/Torque

Control and

Position Control

This signal is used to reset the servo alarm state.

Alarm state can be reset using the Digital Operator.

Also, alarm state is reset at control power ON/OFF.

When an alarm occurs, always eliminate the cause before resetting the alarm state. 6.2.1 Troubleshooting Problems with Alarm Display describes how to troubleshoot the system when an alarm arises.

131

APPLICATIONS OF Σ-SERIES PRODUCTS

3.7.2 Using Servo ON Input Signal

3.7.2 Using Servo ON Input Signal

1) This section describes how to wire and use contact input signal “servo ON (S-ON).” Use this signal to forcibly turn the servomotor OFF from the host controller.

I/O power supply

Host controller

1CN-47

Servopack

Photocoupler

1CN-40

→ Input S-ON 1CN-40

Servo ON For Speed/Torque

Control and

Position Control

This signal is used to turn the motor ON or OFF.

ON: 1CN-40 is at low level

OFF:

1CN-40 is at high level

Turns the motor ON. This is normal operation state. Motor is operated according to input signals.

(called “servo ON state”).

Turns the motor OFF. This is inoperable state (called “servo OFF state“).

If the servo is turned OFF during motor operation, the motor is decelerated to a stop by applying dynamic brake (standard setting).

This function can be selected by setting bits 6 and 7 of memory switch Cn-01.

NOTE Do not use the S-ON signal to start or stop the motor. Always use an input reference to start and stop the motor.

2) If the S-ON signal is not to be used, set the following memory switch to 1:

Cn-01 Bit 0

Use of Servo ON Input Signal Factory

Setting: 0

For Speed/Torque Control and Position Control

This memory switch is used to enable or disable the servo ON input signal S-ON (1CN-40).

When external short-circuit wiring is omitted, set the memory switch to “1.”

Servopack

1CN-40

(S-ON)

When S-ON is not used, this short-circuit wiring can be omitted.

Setting

Meaning

Uses servo ON signal S-ON.

(When 1CN-40 is open, servo is OFF. When 1CN-14 is at 0 V, servo is ON.)

Does not use servo ON signal S-ON.

(Always servo is ON. Equivalent to shortcircuit 1CN-14 and 0V.)

132

3.7 Forming a Protective Sequence

3.7.3 Using Positioning Complete Signal

1) This section describes how to wire and use contact output-signal “positioning complete output (COIN).” This signal is output to indicate that servomotor operation is complete.

Positions

I/O power supply

Servopack

Photocoupler output

Per output:

Maximum operation voltage:

30 VDC

Maximum output current:

50 mADC

1CN-25

1CN-26

COIN+

COIN-

Output → COIN+ 1CN-25 Positioning Complete Output

Output → COIN- 1CN-26

For Position

Control Only

For position control only.

Reference

Motor

This output signal indicates that motor operation is complete during position control. The host controller uses this signal as an interlock to confirm that positioning is complete.

ON status:

Circuit between 1CN-25 and 1CN-26 is closed.

1CN-25 is at low level.

Speed

Error pulse

COIN+

(1CN-25)

Positioning is complete (position error is below the preset value).

OFF status:

Circuit between 1CN-25 and 1CN-26 is open.

1CN-25 is at high level.

Positioning is not complete (position error is over the preset value.)

Preset Value: Cn-1B (positioning complete range)

2) Set the number of error pulses in the following user constant Cn-1B to adjust output timing of COIN (positioning complete output).

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APPLICATIONS OF Σ-SERIES PRODUCTS

3.7.4 Using Speed Coincidence Output Signal

Cn-1B

COINLV Positioning

Complete

Range

Unit:

Reference

Unit

Setting

Range: 0 to 250

Factory

Setting: 7

For Position

Control Only

For position control only.

Reference

Speed

Motor

This user constant is used to set output timing of positioning complete signal (COIN+, 1CN-25) to be output when motor operation is complete after a position reference pulse has been input.

Error pulse

COIN+

(1CN-25)

Set the number of error pulses in terms of reference unit (the number of input pulses that is defined using the electronic gear function).

If too large a value is set in this user constant, error may become too small when the motor runs at a low speed, causing COIN+ to be output continuously.

COINLV does not affect the final positioning accuracy.

3.7.4 Using Speed Coincidence Output Signal

Speed/Torque

1) This section describes how to wire and use contact output signal “speed coincidence outputs (LCT+, CLT-).” This signal is output to indicate that actual motor speed matches a reference speed. The host controller uses this signal as an interlock.

I/O power supply

Servopack

Photocoupler Output

Per output:

Maximum operation voltage: 30 VDC

Maximum output current: 50 mADC

1CN-25

V-CMP+ or CLT+

1CN-26

V-CMPor CLT-

134

3.7 Forming a Protective Sequence

Output → CLT+ 1CN-25

Output → CLT- 1CN-26

Speed Coincidence Output

For Speed/Torque

Control Only

For Speed/Torque

Control Only

For speed/torque control only.

This output signal indicates that actual motor speed matches the input speed reference during speed control.

Motor speed

Reference speed

V-CMP+ is output within this range.

ON status:

OFF status:

Circuit between 1CN-25 and 1CN-26 is closed.

1CN-25 is at low level.

Circuit between 1CN-25 and 1CN-26 is open.

1CN-25 is at high level.

Actual motor speed matches the speed reference (speed difference is below the preset value).

Actual motor speed does not match the speed reference (speed difference is greater than the preset value).

Preset value: Cn-22 (speed coincidence signal output width)

2) Set the following user constant to specify the output conditions for speed coincidence signal V-CMP.

Cn-22

VCMPLV Speed Coincidence

Signal Output Width

Unit: r/min

Setting

Range: 0 to Max.

Speed

Factory

Setting:

For

Speed/Torque

Control Only

For speed/torque control only

Set the output conditions for speed coincidence signal V-CMP+ (1CN-25).

Motor speed

Reference speed

V-CMP+ is output within this range

V-CMP+ signal is output when the difference between the reference speed and actual motor speed is not greater than the preset value.

Example: When preset value is 100 and reference speed is 2000 r/min.

V-CMP+ is ON (circuit between 1CN-25 and 1CN-26 is closed) when the speed is between 1900 and 2100 r/min.

135

APPLICATIONS OF Σ-SERIES PRODUCTS

3.7.5 Using Running Output Signal

Note When output signals CLT+ and CLT- are used as the speed coincide output, set the following memory switch (Cn-01 bit4) to 1.

Cn-01 Bit 4

CLT+, CLT- Output Signals

Selection

Factory

Setting: 0

For Speed/Torque Control and Position Control

Sets the output conditions for output signals CLT+ (1CN-25) and CLT- (1CN-26).

Setting

Meaning

Uses CLT+, CLT- output signals as a torque limit output signal.

Refer to 3.1.3 for details.

Uses CLT+, CLT- output signals as a speed coincide output signal.

Bit 4 of memory switch Cn-01

Torque limit detection

Speed coincide

CLT+

CLT-

(1CN-25)

(1CN-26)

When CLT+, CLT- output signals are changed, the following bit data are also changed:

• Status indication mode bit data

• Monitor mode Un-05 bit 4

3.7.5 Using Running Output Signal

1) This section describes how to wire and use contact output signals TGON+, TGON- as a running output signal. This signal indicates that a servomotor is currently running.

I/O power supply

Servopack

Photocoupler Output

Per output:

Maximum operation voltage: 30 VDC

Maximum output current: 50 mADC

1CN-27 TGON+

1CN-28 TGON-

Output → TGON+ 1CN-27 Running Output (Brake Interlock

Output → TGON- 1CN-28

For Speed/Torque

Control and

Position Control

This output signal indicates that the motor is currently running.

Motor speed

It is used as an external interlock.

TGON+

(1CN-27)

136

3.7 Forming a Protective Sequence

ON status:

OFF status:

Circuit between 1CN-27 and 1CN-28 is closed.

1CN-27 is at low level.

Circuit between 1CN-27 and 1CN-28 is open.

1CN-27 is at high level.

Motor is running.

(Motor speed is greater than the preset value.)

Motor is stopped.

(Motor speed is below the preset value.)

Preset value: Cn-0B (zero-speed level)

Note This function is changed to another function depending on the setting of bit E of memory switch Cn-01.

2) To use TGON+, TGON- as a running output signals, set the following memory switch to

“0.”

Cn-01 Bit E

TGON+, TGON- Output

Signals Selection

Factory

Setting: 0

For Speed/Torque Control and Position Control 3

This memory switch is used to set output conditions for output signals TGON+, TGON-

(1CN-27).

Memory switch

Cn-01 bit E

Rotation detection

Brake interlock output

TGON+

(!CN-27)

When TGON+, TGON- signals are changed, the following bit data are also changed:

• Status indication mode bit data

• Monitor mode Un-05 bit 4

Setting Meaning

Uses TGON+, TGON- as a running output signals.

TGON+, TGON- compare motor speed with the value set in Cn-0B (TGONLV).

Motor speed ≥ preset value

Motor speed < preset value

Closes circuit between 1CN-27 and 1CN-28.

Opens circuit between 1CN-27 and 1CN-28.

Uses TGON+, TGON- as a torque limit output signal.

For details, refer to 3.4.4.

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APPLICATIONS OF Σ-SERIES PRODUCTS

3.7.6 Using Servo Ready Output

3) Use the following user constant to specify the output conditions for running output signals

TGON+, TGON-.

Cn-0B TGONLV

Zero-Speed

Level

Unit: r/min

Setting

Range: 1 to

Maximum

Speed

Factory

Setting:

For

Speed/Torque

Control and

Position Control

This user constant is used to set the speed level at which the Servopack determines that the motor is running and then outputs a signal.

The following signals are output when motor speed exceeds the preset value. (The circuit between 1CN-27 and 1CN-28 is closed when motor speed exceeds the preset value.)

Signals are output when motor speed exceeds the preset value.

TGON+ (1CN-27)

Status indication mode bit data

Monitor mode Un-05 bit 4

User Constant Setting:

Memory switch Cn-01 bit E = 0

Motor speed

TGON+

(1CN-27)

3.7.6 Using Servo Ready Output

1) This section describes how to wire and use photocoupler output signal S-RDY (servo ready).

“Servo ready” means that the Servopack is not in servo alarm state when the main circuit is turned ON. For absolute encoder specifications, “servo ready” means that, in addition to the above, the SEN signal is at high level and the absolute encoder is also in ready state.

Also, alarm state is reset at control power ON/OFF.

Servopack

24V power supply

Photocoupler output

Per output

Maximum operational voltage: 30VDC

Maximum output current: 50mADC

138

3.7 Forming a Protective Sequence

Output → S-RDY

Servo Ready Output For Speed/Torque

Control and

Position Control

This signal indicates that the Servopack is ready to receive servo ON signals.

ON status:

OFF status:

Circuit is closed or signal is at low level. servo ready state

Circuit is open or signal is at high level.

Not in servo ready state

139

APPLICATIONS OF Σ-SERIES PRODUCTS

3.8.1 Wiring Instructions

3.8 Special Wiring

140

This section describes special wiring methods including the one for noise control. Always refer to 3.8.1 Notes on Wiring and 3.8.2 Wiring for Noise Control, and refer to other sections as necessary.

3.8.1

Wiring Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.8.2

Wiring for Noise Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.8.3

Using More Than One Servo Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.8.4

Using Regenerative Units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.8.5

Using an Absolute Encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.8.6

Extending an Encoder Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.8.7

Using DR2 Servopack with High Voltage Line . . . . . . . . . . . . . . . . . . . . . . . .

3.8.8

Connector Terminal Layouts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

140

142

147

148

151

159

161

163

3.8.1 Wiring Instructions

To ensure safe and stable operation, always refer to the following wiring instructions.

NOTE Always use the following cables for reference input and encoder wiring.

For reference input

For encoder

Cable Type Yaskawa Drawing No.

Twisted-pair cables

Multiconductor shielded twisted-pair cable

−

B9400064 (for incremental encoder)

DP8409123 (for absolute encoder)

Maximum

Allowable

Length

3 m (9.8 ft.)

20 m (65.6 ft.)

• Trim off the excess portion of the cable to minimize the cable length.

NOTE For a ground wire, use as thick a cable as possible.

• At least class 3 grounding (ground to 100 Ω or less) is recommended.

• Always use one-line grounding.

• If the motor is insulated from the machine, ground the motor directly.

NOTE Do not bend or apply tension to cables.

• Since the conductor of a signal cable is very thin (0.2 to 0.3 mm), handle it with adequate care.

3.8 Special Wiring

NOTE Use a noise filter to prevent noise interference.

(For details, refer to the following Caution.)

Noise filter

• If the servo 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.

Since this Servopack is designed as an industrial device, it provides no mechanism to prevent noise interference.

NOTE To prevent malfunction due to noise, take the following actions:

• Position the input reference device and noise filter as close to the Servopack as possible.

• Always install a surge absorber circuit in the relay, solenoid and magnetic contactor coils.

• The distance between a power line (such as a power supply line or motor cable) and a signal line must be at least 30 cm (12 in). Do not put the power and signal lines in the same duct or bundle them together.

• Do not share the power supply with an electric welder or electrical discharge machine.

When the Servopack is placed near a high-frequency oscillator, install a noise filter on the input side of the power supply line.

Note a) Since Servopack uses high-speed switching elements, signal lines may receive noise. To prevent this, always take the above actions.

b) For details of grounding and noise filters, refer to 3.8.2 Wiring for Noise Con-

trol.

NOTE Use a molded-case circuit breaker (MCCB) or fuse to protect the power supply line from high voltage.

MCCB • This Servopack is directly connected to commercial power supply without a transformer.

Always use an MCCB or fuse to protect the servo system from accidental high voltage.

• Select an appropriate MCCB or fuse according to the Servopack capacity and the number of

Servopacks to be used as shown below.

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APPLICATIONS OF Σ-SERIES PRODUCTS

3.8.2 Wiring for Noise Control

MCCB or Fuse for Each Power Capacity

Power

Voltage

Servopack Type

DR2-A3Aj

DR2-A5Aj

DR2-01Aj

DR2-02Aj

DR2-04Aj

DR2-08Aj

DR2-A3Bj

DR2-A5Bj

DR2-01Bj

DR2-02Bj

DR2-03Bj

Power Capacity Per

Servopack (kVA)

(see note 1)

0.25

0.3

0.5

0.75

1.2

2.2

0.25

0.3

0.5

0.75

1.4

Power Capacity Per

MCCB or Fuse (A)

(see note 2)

Note 1) Power capacity at rated load

2) Operating characteristics (25°C): 2 seconds or more for 200%, 0.01 second or more for

700%

When control circuit breaker and main circuit breaker are used separately, be aware of in-rush current (30 to 40A, for 5ms or less) flows at control power ON.

3) A fast-operating fuse cannot be used because the Servopack power supply is a capacitor input type. A fast-operating fuse may blow out when the power is turned ON.

142

3.8.2 Wiring for Noise Control

This noise control do not conform to the EMC instructions.

To adapt DR2 Servopack to EMC instructions, refer to 7 Measures to

Satisfy the Requirements of EMC Instructions.

1) Example of Wiring for Noise Control a) This Servopack uses high-speed switching elements in the main circuit. It may receive “switching noise” from these high-speed switching elements if wiring or grounding around the Servopack is not appropriate. To prevent this, always wire and ground the Servopack correctly.

b) This Servopack has a built-in microprocessor (CPU). To protect the microprocessor from external noise, install a noise filter in place.

3.8 Special Wiring c) The following is an example of wiring for noise control.

Noise filter

* 1

100 or

200 VAC

3.5 mm 2 or more

(Casing)

DR2

Servopack

• Operation relay sequence

• Signal generation circuit (provided by customer)

(White)

(Blue)

Servomotor

(Red)

(Green)

3.5 mm 2 or more

Motor output line shield *2

3.5 mm 2 or more

(Casing) (Casing)

Wire with a thickness of

3.5 mm 2 or more

(Casing)

Ground plate

Ground: one-line grounding

(at least class 3 grounding)

* 1 When using a noise filter, always observe the following wiring instructions:

*2 Normally, motor output line shield is not required.

Note 1 For a ground wire to be connected to the casing, use a thick wire with a thick ness of at least 3.5 mm 2 (preferably, plain stitch cooper wire).

However, be aware that max. connectable size of ground terminal of

Servopack is 2.5mm

2 .

2 For wires indicated by P↕, use twisted-pair cables whenever possible.

2) Correct Grounding

• Always ground the motor ground terminal.

Always connect servomotor ground terminal FG (green) to the Servopack ground terminal . Be sure to ground the ground terminal .

• If the servomotor is grounded via the machine, a switching noise current will flow from the Servopack power unit through motor stray capacitance. The above grounding is required to prevent the adverse effects of switching noise.

• If the reference input line receives noise, do the following.

143

APPLICATIONS OF Σ-SERIES PRODUCTS

3.8.2 Wiring for Noise Control cont.

Ground the 0 V line (such as SG-V and SG-T) of the reference input line. If the main circuit wiring for the motor is accommodated in a metal conduit, ground the conduit and its junction box. For all grounding, always use one-line grounding.

3) Noise Filter Installation a) Use an inhibit type noise filter to prevent noise from the power supply line.

Install a noise filter on the power supply line for peripheral equipment as necessary.

The following table lists recommended noise filters for each Servopack type.

Noise Filter Types

Noise Filter

Connection

Recommended Noise Filter

Type Specifications

LF-205A Single-phase

00 C, 5

Power

Voltage

100 V

30 W

(0.04 HP)

50 W

(0.07 HP)

100 W

(0.13 HP)

200 W

(0.27 HP)

400 W

(0.53 HP)

750 W

(1.01 HP)

30 W

(0.04 HP)

50 W

(0.07 HP)

100 W

(0.13 HP)

200 W

(0.27 HP)

300 W

(0.39 HP)

DR2-A3Aj

DR2-A5Aj

DR2-01Aj

DR2-02Aj

DR2-04Aj

DR2-08Aj

DR2-A3Bj

DR2-A5Bj

DR2-01Bj

DR2-02Bj

DR2-03Bj

(Correct)

(Incorrect)

LF-210

LF-220

LF-205A

LF-210

LF-220

Single-phase

200 VAC, 10 A

Single-phase

200 VAC, 20 A

Single-phase

00 C, 5

Single-phase

200 VAC, 10 A

Single-phase

200 VAC, 20 A

Note These noise filters are manufactured by Tokin Corp. and available from Yaskawa.

For noise filters, contact your nearest Yaskawa sales representatives.

144

3.8 Special Wiring b) Always observe the following installation and wiring instructions. Incorrect use of a noise filter halves its benefits.

• Separate input lines from output lines.

Do not put the input and output lines in the same duct or bundle them together.

Noise filter

Separate these circuits.

• Separate the noise filter ground wire from the output lines.

Do not accommodate the noise filter ground wire, output lines and other signal lines in the same duct or bundle them together.

Noise filter

The ground wire can be close to input lines.

145

APPLICATIONS OF Σ-SERIES PRODUCTS

3.8.2 Wiring for Noise Control cont.

• Connect the noise filter ground wire directly to the ground plate.

Do not connect the noise filter ground wire to other ground wires.

Noise filter

Shielded ground wire

Thick and short

• When grounding a noise filter inside a Unit.

If a noise filter is located inside a Unit, connect the noise filter ground wire and the ground wires from other devices inside the Unit to the ground plate for the Unit first, then ground these wires.

Unit

Noise filter

Ground

146

3.8 Special Wiring

3.8.3 Using More Than One Servo Drive

Example of Wiring More than One Servo Drive

Note Make sure to connect only one cable to power input terminals (L1, L2, L, N).

Never connect more than one cables to one terminal.

Power supply

Power

OFF

Power

Noise filter

Servopack Servomotor

Servopack

Servomotor

Servopack

Servomotor

147

APPLICATIONS OF Σ-SERIES PRODUCTS

3.8.4 Using Regenerative Units

1) Connect the alarm output (ALM) terminals for the three Servopacks in series to enable alarm detection relay 1Ry to operate. This is because ALM is a logical complement output signal, so the output transistor is turned OFF when the system enters an alarm state.

2) Multiple servos can share a single MCCB or noise filter. Always select a MCCB or noise filter that has enough capacity for the total power capacity (load conditions) of those servos. For details, refer to page 142.

MCCB Noise filter

3.8.4 Using Regenerative Units

Note Regenerative unit can be applied only to 200V 30W to 200W (types DR2-A3A,

A5A, 01A, 02A). For 200V 400W, 750W and all types of 100V, regenerative unit cannot be used.

1) “What is a Regenerative Unit?”

A regenerative unit is designed to safely consume electric energy that is generated when the servomotor is rotated by the load.

Servopack Electric energy

Force

Energy consumption Regenerative unit

148

3.8 Special Wiring

2) “When is a Regenerative Unit Required?”

For general use, a generative unit is not required. In the following cases, however, the user must determine whether a regenerative unit is required or not: a) When the motor is used to control a vertical axis.

b) When the motor starts and stops frequently.

c) When load inertia exceeds the allowable load inertia on the motor side.

d) When the motor rotates at a speed higher than the rated speed (3000 r/min).

a) When motor controls a vertical axis.

Servomotor

Speed b) When motor accelerates and decelerates frequently.

Speed reference

Moves vertically d) When motor rotates at a speed higher than 3000 r/min.

Speed reference

Operating speed

Rated speed

3000 r/min

Time c) When load inertia is too high.

Load inertia

Servomotor

Load inertia > Allowable load inertia for servomotor

3) “How can we Determine Whether a Regenerative Unit is Required or Not?”

Using software “regenerative capacity check program” enables the user to easily determine whether a regenerative unit is required. This software is included as part of Yaskawa proprietary software “AC servomotor sizing software,” which is supplied free of charge. Use this software as necessary.

149

APPLICATIONS OF Σ-SERIES PRODUCTS

3.8.4 Using Regenerative Units cont.

4) Connecting a Regenerative Unit

The standard connection diagram for a regenerative unit is shown below.

DR2 Servopack (DR2-A3A, A5A, 01A or 02A)

Single-phase

200-230 VAC or

100-115 VAC

Servomotor

Photocoupler

Alarm

Regenerative unit a) A regenerative unit has the following fault detection functions:

• Detecting broken wiring in a regenerative resistor

• Detecting faults in a regenerative transistor

• Detecting overvoltage b) When one of these fault detection functions operates, the internal alarm relay is actuated. Then, the circuit between output terminals C1 and C2 is opened.

c) Form a sequence so that the Servopack main power is turned OFF when the alarm relay is actuated.

d) Once the alarm relay is actuated, it takes two or three seconds until the system returns to the normal state. This time is required for the main capacitor inside the Servopack to discharge electricity.

150

3.8 Special Wiring

3.8.5 Using an Absolute Encoder

1) Outline

An absolute value detection system detects an absolute position of the machine even when the servo system is OFF. If such a system is to be formed in the host controller, use an SGM or SGMP Servomotor with absolute encoder. Consequently, automatic operation can be performed without zero return operation immediately after the power is turned

ON.

SGMjjjW1j

(SGMPjjjW1j)

Always detects absolute position

Zero return operation

12-bit absolute encoder

2) Standard Connection Diagram for a 12-bit Absolute Encoder Mounted on a Servo- motor

• Interface Circuit

Servomotor

12-bit absolute encoder

Host controller

Clear

Battery

Up/ down counter

Serial interface circuit

Line receiver

Decoder

BAT+

BAT-

Serial interface circuit

Servopack

1CN-4

1CN-2

1CN-21

1CN-22

1CN-33

1CN-34

1CN-35

1CN-36

1CN-19

1CN-20

1CN-48

1CN-49

1CN-1

1CN-50

Represents twisted pair wires

Line Receiver Used: SN75175 or MC3486 manufactured by Texas Instruments Inc.

Termination Resistor R: 220 to 470 Ω

Normally, PAO serial data is used. In this case, PS serial interface is unnecessary.

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APPLICATIONS OF Σ-SERIES PRODUCTS

3.8.5 Using an Absolute Encoder cont.

SEN signal Electrical Specifications

• The SEN signal must be set at high level after at least three seconds after the power is turned ON.

• When the SEN signal is changed from low level to high level, +5 V is applied to the absolute encoder, and serial data and initial incremental pulses are transmitted.

Host controller

7406 or equivalent

At high level

Approx. 1mA

SG 1CN-2

Servopack

• A PNP transistor is recommended.

• Signal level High level: Min. 4 V

Low level: Max. 0.7 V

• The motor is not turned ON until these operations are complete, regardless of the servo

ON signal (S-ON).

3) Memory Switch to Determine Whether to Use Input Signal SEN

Cn-01 Bit 1

Use of SEN Input Signal Factory

Setting: 0

For Speed/Torque Control and Position Control

This memory switch is used to determine whether to use input signal SEN (1CN-4).

This memory switch is available for absolute encoders only (not for incremental encoders).

Servopack

Servomotor

1CN-4

SEN

Absolute encoder

Setting

Meaning

Uses SEN signal.

Does not use SEN signal.

NOTE If the SEN signal is to be turned OFF, then ON again, it must remain at high level for at least 1.3 seconds before being turned OFF.

SEN signal

OFF ON: High level

1.3 seconds or more

OFF

15 ms or more

4) Memory Switch to 1 to Select Absolute Encoder

Cn-02 Bit 9

Encoder Type Selection Factory

Setting: 0

For Speed/Torque Control and Position Control

Sets the encoder type according to the servomotor type to be used.

After changing the memory switch setting, turn the power OFF, then ON.

Motor Type Number of Encoder Pulses Per Revolution

SGM-jjj31j

SGMP-jjj31j

SGM-jjjW1j

SGMP-jjjW1j

Incremental encoder: 2048 pulses per revolution

Absolute encoder : 1024 pulses per revolution

Preset

Value

152

3.8 Special Wiring

Use the following user constant to set the number of pulses for the absolute encoder to be used:

Cn-11

PULSNO

Number of Encoder

Pulses

Unit:

P/R

Setting

Range:

Number of

Encoder

Pulses

Factory

Setting:

2048

For Speed/Torque

Control and Position

Control

Sets the number of encoder pulses according to the servomotor type to be used.

After changing this user constant setting, turn the power OFF, then ON. This makes the new setting valid.

Motor Type

SGM-jjj31j

SGMP-jjj31j

SGM-jjjW1j

SGMP-jjjW1j

Number of Encoder Pulses Per Revolution

Incremental encoder: 2048 pulses per revolution

Absolute encoder : 1024 pulses per revolution

Preset

Value

2048

1024

5) Using a Battery

Use the following battery to enable the absolute encoder to store position information even when the power is turned OFF. Load the battery in the host controller and connect it to Servopack input terminals BAT and BAT0.

Lithium battery

Toshiba Battery ER6V C3 Type

3.6 V, 2000 mAH

Connect the battery securely to prevent contact faults resulting from environmental changes or aging.

Battery voltage is not monitored inside the Servopack.

Provide a battery voltage monitor circuit as necessary.

Minimum voltage: 2.8 V

6) Setting up Absolute Encoder a) Set up the absolute encoder in the following cases:

• When starting the machine for the first time

• When the absolute encoder is not connected to power supply or backup power supply

(battery) for more than two days

NOTE Improper setup may cause malfunctions such as improper encoder operation and/or strain on the battery. Follow the setup procedure on the next page.

153

APPLICATIONS OF Σ-SERIES PRODUCTS

3.8.5 Using an Absolute Encoder cont.

b) The setup procedure is as follows:

Turning DR2 Servopack Control

Power ON

• Wire the DR2 Servopack, motor and encoder in the normal way.

• Connect the battery and turn the DR2 Servopack

ON.

2 Turning the Encoder ON

• Set the SEN signal at high level.

• Keep the encoder turned ON for at least three minutes.

• It does not matter even if alarm status arises.

3 Resetting Data

• Turn the DR2 Servopack control power OFF, then disconnect the encoder connector.

• Short-circuit encoder connector terminals 13 and

14 for two seconds or more.

4 Turning the Power ON

• Return the wiring to the original state.

• Turn the DR2 Servopack control power ON and set the SEN signal at high level.

• If alarm “A.00” arises, repeat the same procedure from the beginning.

• If no problem has occurred, the setup procedure is complete.

NOTE Setting up the encoder sets the revolution count inside the encoder to 0.

After setting up the encoder, always reset the machine home position. Operating the machine without the home position being reset does not only damage the machine but may also cause an accident resulting in injury or death.

7) Absolute Data Exchange Sequence

The Servopack sends absolute data to the host controller when receiving output from a

12-bit absolute encoder. This data exchange sequence is described below.

Use the following detailed information when designing a host controller.

a) Outline of Absolute Signal Servopack

The 12-bit absolute encoder outputs PAO,

PBO, PCO and PSO as shown on the right.

Frequency dividing circuit

Signal

Name

Status

Initial state

Normal state

Initial state

Normal state

PCO Normal state

PSO Normal state

Serial data

Initial incremental pulse

Incremental pulse

Initial incremental pulse

Incremental pulse

Home position pulse

Rotation count serial data

Contents

154

3.8 Special Wiring b) Contents of Absolute Data

Serial Data: Indicates how many turns the motor shaft has made from the reference position (position specified at setup).

Initial Incremental Pulse: Outputs pulses at the same pulse rate as when the motor shaft rotates from the home position to the current position at the maximum speed of 4900 r/min.

Reference position

(setup)

Current position

Coordinate data

Value M

Absolute data P

M can be determined using the following formula.

= M ¢ R+P

= P

− P

Current value read by encoder

Serial data (rotation count data)

Number of initial incremental pulses

(Normally, this is a negative value)

Number of initial incremental pulses read at setup

Current value required for the customer system

Number of pulses per encoder revolution

(pulse count after dividing, value of Cn-0A) c) Absolute Data Transmitting Sequence

(1) Set the SEN signal at high level.

(2) After 100 ms, set the system to serial data reception-waiting-state.

Clear the incremental pulse up/down counter

Undefined

Rotation count serial data

Initial incremental pulse

Incremental pulse

(Phase A) (Phase A)

Incremental pulse

(Phase B) (Phase B) to zero.

(3) Receive eight bytes of serial data.

Undefined

1 to

3 ms

Rotation count serial data

(4) The system enters a normal incremental op-

10 to

15 ms

Approx.

23 ms eration state approximately 50 ms after the last serial data is received.

155

APPLICATIONS OF Σ-SERIES PRODUCTS

3.8.5 Using an Absolute Encoder cont.

d) Detailed Specifications of Each Signal

• Specifications of PAO Serial Data: “P” or “A” “+” or “-” ”0” to “9””

“CR”

The number of revolutions is output in five digits.

Data transmission method

Baud rate

Start bit

Stop bit

Parity

Character code

Data format

Start-stop synchronization

(ASYNC)

9600

1 bit

Even number

ASCII 7-bit code

8 characters. As shown on the right.

Start bit

Data

Even parity

• Data is P+00000 (CR) or P−00000

(CR) when the number of revolutions is zero.

• The maximum number of revolutions is 99999. If this value is exceeded, it returns to 00000.

• Specifications of PSO Serial Data:

The number of revolutions and the absolute position within one revolution are always output in five and four digits, respectively.

The transmission cycle is approximately 40 ms.

“P” or “A”

Number of revolutions: “0” to “9”

“+” or “-” “+” or “-”

Absolute position within one revolution:

“0” to “9”

“CR”

Data

Start bit Even parity

Data transmission method

Baud rate

Start bit

Stop bit

Parity

Character code

Data format

Start-stop synchronization

(ASYNC)

9600

1 bit

Even number

ASCII 7-bit code

13 characters. As shown on the right.

• Absolute position data within one revolution is a value before frequency dividing.

(4,096 pulses per revolution)

• Absolute position data increases during forward rotation (standard setting).

(Not valid in reverse rotation mode)

• Incremental Pulse and Home Position

Pulse:

Phase A

Phase B

Phase C Initial incremental pulses which provide absolute data are first divided by the frequency divider inside the Servopack and then output in the same way as normal incremental pulses.

Forward rotation

Phase A

Phase B

Phase C

Reverse rotation

• Note that phase C is not divided so its pulse width is narrower than phase A.

156

3.8 Special Wiring

• Use the following user constant to set the pulse dividing ratio.

Cn-0A

PGRAT

Dividing Ratio

Setting

Unit: P/R Setting Range:

16 to Number of Encoder

Pulses

Factory

Setting:

2048

For Speed/Torque

Control and

Position Control

Set the number of output pulses for PG output signals (PAO,

*

PAO, PBO and

*

PBO).

Pulses from motor encoder (PG) are divided by the preset number of pulses before being output.

Servopack

Servomotor encoder

Phase A

Phase B

Frequency divider

Output terminals:

PAO (1CN-33)

*PAO (1CN-34)

PBO (1CN-35)

*PBO (1CN-36)

Phase A

Phase B

Output

The number of output pulses per revolution is set in this user constant. Set this value according to the reference unit of the machine or controller to be used.

Setting example:

Preset value: 16

1 revolution

The setting range varies according to the encoder used.

Motor Type

SGM-jjj31j

SGMP-jjj31j

SGM-jjjW1j

SGMP-jjjW1j

Number of Encoder Pulses Per

Revolution

Incremental encoder: 2048 pulses per revolution

Absolute encoder: 1024 pulses per revolution

Setting Range

16 to 2048

16 to 1024

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APPLICATIONS OF Σ-SERIES PRODUCTS

3.8.5 Using an Absolute Encoder cont.

8) Alarm Display

When a 12-bit absolute encoder is used, the following alarms are detected and displayed.

List of Alarms

Alarm Type Meaning

Backup Alarm

Battery Alarm

Checksum

Error

Overspeed

Absolute Error

Backup/Battery

Combination

Alarm

Indicates that backup voltage drop was detected. (This alarm helps maintain reliability of rotation count data.)

Indicates that backup voltage drop was detected. (This alarm warns of battery replacement and disconnection.)

Indicates that an error was detected in memory data check.

Indicates that the motor was running at a speed exceeding 400 r/min when the encoder was turned

ON.

Indicates that an error was detected in sensor check inside the encoder.

Digital

Operator

Display

PAO Serial

Data

ALM81.

PSO Serial

Data

ALARMOA

BACK

ALM83.

ALARMOD

BATT

ALM82.

ALARMOB

CHEC

ALM85.

ALARMOP

OVER

ALM84.

ALM81.

ALARMOH

ABSO

ALARMOE

BACK

(BATT)

The SEN signal can be used to output alarm information from PAO and PSO as serial data. (This function is not available if the Servopack control power is turned

OFF by the external circuit when an alarm occurs.)

SEN Signal

Digital

Operator

Display

PAO Serial

Data

PSO Serial

Data

“H” Error detection “H”

“L”:

“H”

“L” or Absolute encoder alarm

(Details unknown)

Incremental pulse

ALM80.

Absolute encoder alarm

(Alarm type identified)

ALARMO

*

ALM8

*

P¦jjjjj, jjjj

H¦jjjjj, jjjj

CR and so on

(Undefined)

ALARMO

*

****

(Undefined)

158

3.8 Special Wiring

9) Absolute Encoder Home Position Error Detection

Cn-02 Bit 1

Absolute Encoder Home

Position Error Detection

Factory

Setting: 0

For Speed/Torque Control and Position Control

This memory switch is used to specify whether to use home position error detection

(alarm A.80) when an absolute encoder is used.

Setting

Meaning

Detects a home position error.

Does not detect a home position error.

Normally, set this memory switch to “0.”

This memory switch has no significance when an incremental encoder is used.

3.8.6 Extending an Encoder Cable

1) Both incremental and absolute encoders have a standard encoder cable (maximum 20 meters (65.6 ft.)). If a longer cable is required, prepare an extension cable as described below. The maximum allowable cable length is 50 meters (164 ft.).

a) 3-meter (19.8 ft.) Cable with Connectors:

• For incremental encoder: DP9320082-1

• For absolute encoder: DP9320084-1

TERMS

Home position error detection

This function detects an encoder count error resulting from noise. It checks the number of pulses per motor revolution, and outputs a home position error alarm if that number is incorrect.

If the absolute encoder detects an error, it inverts phase C and notifies the Servopack of the error. In this case, this “home position error detection” function also works.

159

APPLICATIONS OF Σ-SERIES PRODUCTS

3.8.6 Extending an Encoder Cable cont.

b) 50-meter (164 ft.) Extension Cable:

• For both incremental and absolute encoders: DP8409179

Cut this cable 30 cm (0.98 ft.) or less from each end.

Be sure to connect each wire correctly

(see the following table).

Maximum 50 m (164 ft.)

160

3.8 Special Wiring

2) Connect cables of the same color to each other as shown in the table below. Note that wiring for incremental and absolute encoders is different.

PG5V

PG0V

*

Signal

Name

*

Color and Wire Size of

Cable with Connectors

Red

Color and Wire Size of

50-meter Extension

Cable (DP8409179)

AWG22 Red AWG16

Black AWG22 Black AWG16

Green/Yellow AWG22 Green/Yellow AWG16

Blue AWG26 Blue AWG26

White/Blue

Yellow

AWG26

White/Blue

Yellow

AWG26

White/Yellow

Green

White/Green

Violet

AWG26

White/Yellow

Green

White/Green

Purple

AWG26

*

BAT

BAT0

White/Green

RESET White/Gray

AWG26 White/Green

AWG26 White/Gray

AWG26

Orange AWG26 Orange AWG26

White/Orange AWG26 White/Orange AWG26

Only the absolute encoder can be connected.

3.8.7 Using DR2 Servopack with High Voltage Line

1) DR2 Servopacks are divided into single-phase 200 V and single-phase 100 V types according to supply voltage.

If, however, three-phase 400 VAC class (400 V, 440 V) power supply must be used, prepare the following power transformer (for single-phase).

1) 400 or 440 VAC

2) 400 or 440 VAC

200 VAC

100 VAC

161

APPLICATIONS OF Σ-SERIES PRODUCTS

3.8.7 Using DR2 Servopack with High Voltage Line cont.

2) Select appropriate power transformer capacity according to the following table.

Supply

Voltage

Servopack Type

DR2-A3Aj

DR2-A5Aj

DR2-01Aj

DR2-02Aj

DR2-04Aj

DR2-08Aj

DR2-A3Bj

DR2-A5Bj

100 V DR2-01Bj

DR2-02Bj

DR2-03Bj

Note At rated load.

3) When 400V class supply voltage is used:

Power Supply Capacity Per

DR2 Servopack (kVA)

(see note)

0.25

0.3

0.5

0.75

1.2

2.2

0.25

0.3

0.5

0.75

1.4

Servopack

Three-phase

400 or 440 VAC

Power transformer

200 or 100 VAC

1MC

Magnetic contactor for power ON/OFF

162

3.8 Special Wiring

3.8.8 Connector Terminal Layouts

This section describes connector terminal layouts for Servopacks, Servomotors and Digital

Operator.

1) Servopack Connectors for Speed/Torque and Position Control

1CN Terminal Layout

*PSO

PSO

+24V

Line Driver output

Phase-S

External Input Power

Supply

Reverse Current Limit

ON Input

Forward Current Limit

ON Input

ALM-

ALM+

S-RDY-

29 S-RDY+

Servo Alarm Output

VTG-M

TRQ-M

CLR

Open Collector Reference Power Supply

Speed Monitor

Torque Monitor

Error Counter Clear p

Open Collector Reference Power Supply

ALM-

RST 28 TGON-

Reverse Running Prohibit Input

Forward Running Prohibit Input

TGON+

CLT

(COIN-)

Current Limit Detection

Output

CLT

(COIN+)

ALO2

ALO1

*PBO

PBO

*PAO

PAO

Alarm Code Output,

Open Collector Output

Line Driver Output

Phase-B

Line Driver Output

Phase-A

-15V

+15V

BAT-

BAT+

*PCO

PCO

Speed/Torque Reference Power Supply

Battery -

Battery +

Line Driver Output

Phase-C

V-REF

SEN

PL1

GND

Speed Reference Input

SEN Signal Input

Open Collector Reference Power Supply

D Servopack Side Connector type: MR-50RFA4 (manufactured by Honda Tsushin Kogyo Co.,

Ltd.)

Cable Side Connector type: MR-50M (Soldering type, manufactured by Honda Tsushin

Kogyo Co., Ltd.)

MRP-50M01 (Caulking type, manufactured by Honda

Tsushin Kogyo Co., Ltd.)

Connector case type: MR-50L (manufactured by Honda Tsushin Kogyo Co.,

Ltd.)

163

APPLICATIONS OF Σ-SERIES PRODUCTS

3.8.8 Connector Terminal Layouts cont.

2CN Terminal Layout

⋅For Incremental Encoder

⋅For 12-bit Absolute Encoder

DIR

20 7

Servopack Side Connector type: MR-20RMA4 (manufactured by Honda Tsushin Kogyo Co.,

Ltd.)

Cable Side Connector type: MR-20F (Soldering type, manufactured by Honda Tsushin

Kogyo Co., Ltd.)

MRP-20F01 (Caulking type, manufactured by Honda

Tsushin Kogyo Co., Ltd.)

Connector case type: MR-20L (manufactured by Honda Tsushin Kogyo Co.,

Ltd. )

164

3.8 Special Wiring

2) Connectors for Incremental Encoder

Channel A output

Channel B output

Channel C output

0 V (power supply)

+5 V (power supply)

Frame ground (FG)

Blue

Blue/Black

Yellow

Yellow/Black

Green

Green/Black

Gray

Red

Orange

Items to be Prepared by Customer

(Manufactured by AMP)

Cap: 172161-1

Socket: 170361-1 (chain type) or

170365-1 (loose type)

Blue

White/Blue

Yellow

White/Yellow

Green

White/Green

Red

Black

Green/Yellow

2CN

Items to be Prepared by Customer

Case:

MR-20L

(manufactured by Honda Tsushin

Kogyo Co., Ltd.)

Connector: soldering type: MR-20F

Caulking type: MRP-20F01

(manufactured by Honda Tsushin

Kogyo Co., Ltd.)

165

APPLICATIONS OF Σ-SERIES PRODUCTS

3.8.8 Connector Terminal Layouts cont.

3) Connectors for Absolute Encoder

Do not use this terminal. (It is used to discharge electricity from capacitor before shipment.)

Channel A output

Channel B output

Channel Z output

0 V (power supply)

+5 V (power supply)

Frame ground (FG)

Channel S output

(Capacitor reset)

Reset

0 V (battery)

3.6 V (battery)

Items to be Prepared by Customer

(Manufactured by AMP)

Cap:172163-1

Socket: 170361-1 (chain type) or

170365-1 (loose type)

Blue

White/Blue

Yellow

White/Yellow

Green

White/Green

Black

Red

Green/Yellow

Purple

White/Purple

(Gray)

White/Gray

White/Orange

Orange

2CN

Blue

White/Blue

Yellow

White/Yellow

Green

White/Green

Violet

White/Violet

Red

Black

White/Gray

Orange

White/Orange

Green/Blue

Items to be Prepared by Customer

Case:

MR-20L

(manufactured by Honda Tsushin

Kogyo Co., Ltd.)

Connector: soldering type: MR-20F

Caulking type: MRP-20F01

(manufactured by Honda Tsushin

Kogyo Co., Ltd.)

166

4) Connectors and Terminals for Standard-type Motor without Brake

1 Phase U

2 Phase V

3 Phase W

4 Frame ground (FG)

Red

White

Blue

Green

3.8 Special Wiring

Cap: 172159-1

Socket: 170362-1 or

170366-1

(Manufactured by AMP)

5) Connectors and Terminals for Motor with Brake

1 Phase U

2 Phase V

3 Phase W

4 Frame ground (FG)

5 Brake terminal

6 Brake terminal

Red

White

Blue

Green

Black

Cap: 172160-1

Socket: 170362-1 or

170366-1

(Manufactured by AMP)

(DC side)

Red

AC input

Black

Brake power supply (manufactured by

Yaskawa Controls Co., Ltd.)

• 100 VAC input: 90 VDC (LPDE-1H01)

• 200 VAC input: 90 VDC (LPSE-2H01)

167

APPLICATIONS OF Σ-SERIES PRODUCTS

3.8.8 Connector Terminal Layouts cont.

6) Connectors for Digital Operator

• JUSP-OP02A-1 (Hand-held Type)

17JE-23090-02

(manufactured by Daiichi

Denshi Kogyo K.K.)

Cable

(Provided)

Pin Signal Signal Circuit Name

No. Name

1 TXD

Signal

Direction

Transmit data (non-inversion side) P z S

TXD

RXD

OPH

* RXD

5VPP

GND

Transmit data (inversion side) P z S

Receive data (non-inversion side) P ! S

Receive data (inversion side) P ! S

Shorting pins 6 and 7 produces a terminal resistance of 220 Ω between RXD and * RXD.

Signal ground 0 V

168

USING THE DIGITAL OPERATOR

This chapter describes the basic operation of the digital operator and the convenient features it offers.

All constant settings and motor operations are possible by simple, convenient, operation.

Operate the digital operator as you read through this chapter.

4.1 Basic Operations . . . . . . . . . . . . . . . . . . . . . . . . .

4.1.1 Connecting the Digital Operator . . . . . . . . . . . . . . . . . . . . . . .

4.1.2 Resetting Servo Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.1.3 Basic Functions and Mode Selection . . . . . . . . . . . . . . . . . . .

4.1.4 Operation in Status Display Mode . . . . . . . . . . . . . . . . . . . . .

4.1.5 Operation in User Constant Setting Mode . . . . . . . . . . . . . . .

4.1.6 Operation in Monitor Mode . . . . . . . . . . . . . . . . . . . . . . . . . .

170

170

171

172

173

176

179

4.2 Using the Functions . . . . . . . . . . . . . . . . . . . . . . .

4.2.1 Operation in Alarm Trace-back Mode . . . . . . . . . . . . . . . . . .

4.2.2 Operation Using the Digital Operator . . . . . . . . . . . . . . . . . . .

4.2.3 Autotuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2.4 Reference Offset Automatic Adjustment . . . . . . . . . . . . . . . .

4.2.5 Speed Reference Offset Manual Adjustment Mode

4.2.6 Clearing Alarm Trace-back Data

. . . . . . . .

. . . . . . . . . . . . . . . . . . . . . .

4.2.7 Checking Motor Type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2.8 Checking Software Version . . . . . . . . . . . . . . . . . . . . . . . . . .

183

183

186

188

195

197

200

201

169

USING THE DIGITAL OPERATOR

4.1.1 Connecting the Digital Operator

4.1 Basic Operations

This section describes the basic operations using the Digital Operator.

4.1.1

Connecting the Digital Operator

4.1.2

Resetting Servo Alarms

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.1.3

Basic Functions and Mode Selection

4.1.4

Operation in Status Display Mode

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.1.5

Operation in User Constant Setting Mode

4.1.6

Operation in Monitor Mode

. . . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

170

171

172

173

176

179

4.1.1 Connecting the Digital Operator

The applicable Digital Operator type is JUSP-OP02A-1 (Hand-held Type) .

Hand-held type is connected to the Servopack as shown below.

JUSP-OP02A-1 (Hand-held Type)

170

Connect using the 1 m cable supplied.

Servopack

· The Digital Operator connector can be connected or disconnected while the Servopack power is ON.

Note Mount type digital operator (JUSP-OP03A) cannot be used.

Type: JUSP-OP03A

4.1 Basic Operations

4.1.2 Resetting Servo Alarms

Servo alarms can be reset using the Digital Operator. (Servo alarms can also be reset by the

1CN-44, ALMRST input signal. Refer to 3.7.1 for details.)

Press Alarm Reset

NOTE After an alarm occurs, remove the cause of the alarm before resetting it. Refer to Section

6.2 Troubleshooting to determine and remedy the cause of an alarm.

171

USING THE DIGITAL OPERATOR

4.1.3 Basic Functions and Mode Selection

4.1.3 Basic Functions and Mode Selection

Digital Operator operation allows status display, user constant setting, operating reference, and auto-tuning operations.

Basic Mode Selection

The four basic modes are listed below. Each time the mode key is pressed, the next mode in the sequence is selected.

JUSP-OP02A-1

Press the key to switch the mode.

Status Display

Mode → Sub-section 4.1.4

Displays the Servopack status as bit data and codes.

Setting Mode → Sub-section 4.1.5

Sets the user constants to select and set all Servopack functions.

Monitor Mode → Sub-section 4.1.6

Displays the speed references to the Servopack, the actual speed, and internal status.

Alarm Trace-back

Mode → Sub-section 4.2.1

Displays a log of previous alarms.

Special Modes

These modes are selected by setting a value for user constant

Setting

Mode

Operation mode from Digital

Operator → Sub-section 4.2.2

Reference offset automatic adjustment mode →

Sub-section 4.2.4

Clear alarm trace-back data → Sub-section 4.2.6

Speed reference offset manual adjustment mode →

Sub-section 4.2.5

Motor-type check mode →

Sub-section 4.2.7

Auto-tuning mode →

Sub-section 4.2.3

Software-version check mode → Sub-section 4.2.8

172

4.1 Basic Operations

4.1.4 Operation in Status Display Mode

The status display mode displays the Servopack status as bit data and codes.

• Selecting Status Display Mode

Press to select the status display mode.

Status Display

Mode

The status display mode is selected when the power supply is turned ON.

Keys to the status display are shown below. Note that the display differs between the speed/ torque control and position control.

Speed/Torque

For Speed/Torque Control

Torque Limit Detection or

Speed Coincide

Base Block

Control Power ON

Speed Reference Input

Bit Data Code

TGON or Brake Interlock Signal

Main Power ON

Torque Reference Input see below see next page

Code Status

Base block

Servo OFF (motor power OFF)

Run

Servo ON (motor power ON)

Forward Rotation Prohibited (P-OT)

1CN-42 (P-OT) OFF. See Cn-01 Bit 2 (page 55).

Reverse Rotation Prohibited (N-OT)

1CN-43 (N-OT) OFF. See Cn-01 Bit 3 (page 55).

Alarm Status

Displays the alarm number. See the table of alarms on page 185.

173

USING THE DIGITAL OPERATOR

4.1.4 Operation in Status Display Mode cont.

Bit Data

Control Power ON

Main Power ON

Base Block

Torque Limit Detection or Speed

Coincide

(Selected by Cn-01 bit 4)

TGON or Brake Interlock Signal

(selected by Cn-01 Bit E)

Speed Reference Input

Torque Reference Input

Description

Lit when Servopack control power ON. Not lit when

Servopack control power OFF.

Lit when Servopack main circuit power ON. Not lit when

Servopack main circuit power OFF.

Lit for base block. not lit at servo ON.

Lit if Servopack internal torque reference exceeds preset value.

Not lit if Servopack internal torque reference is below preset value.

Preset value: Set in Cn-08, -09 (max. torque is standard setting)

Cn-18 is preset value during 1CN-45 (P-CL ) input.

Cn-19 is preset value during 1CN-46 (N-CL ) input.

(100% of rated torque are standard setting for Cn-18,

Cn-19)

Not lit during torque control.

Lit if motor speed reaches speed reference. Otherwise, not lit.

Lit if motor speed exceeds preset value.

Not lit if motor speed is below preset value.

Preset value: Set in Cn-0B (20 r/min is factory setting)

When brake interlock is ON, between 1CN-27 and -28 is closed and 1CN-27 is Low level, lit when brake is releaded.

When brake interlock is OFF, between 1CN-27 and -28 is open and 1CN-27 is High level, not lit when brake operates.

Lit if input speed reference exceeds preset value.

Not lit if input speed reference is below preset value.

Specified value: Set in Cn-0B (20 r/min is factory setting)

Lit if input torque reference exceeds preset value.

Not lit if input torque reference is below preset value.

Preset value: Set in Cn-0B (10% rated torque is standard setting)

174

4.1 Basic Operations

Positions

For Position Control

Bit Data Code

Positioning Complete

Base Block

Control Power ON

Reference

Pulse Input

TGON or Brake

Interlock Signal

Main Power ON

CLR Input see below see next page

Code Status

Base block

Servo OFF

Run

Servo ON

Forward Rotation Prohibited

1CN-42 (P-OT) OFF. See Cn-01 Bit 2 (page 55).

Reverse Rotation Prohibited

1CN-43 (N-OT) OFF. See Cn-01 Bit 3 (page 55).

Alarm Status

Displays the alarm number. See the table of alarms on page 185.

175

USING THE DIGITAL OPERATOR

4.1.5 Operation in User Constant Setting Mode

Bit Data

Control Power ON

Main Power ON

Base Block

Positioning Complete

TGON or Brake Interlock Signal

(selected by Cn-01 Bit E)

Reference Pulse Input

CLR Input

Description

Lit when Servopack control power ON. Not lit when

Servopack control power OFF.

Lit when Servopack main circuit power ON. Not lit when

Servopack main circuit power OFF.

Lit for base block. Not lit at servo ON.

Lit if error between position reference and actual motor position is below preset value.

Not lit if error between position reference and actual motor position exceeds preset value.

Preset value: Set in Cn-1B (1 pulse is standard setting)

Lit if motor speed exceeds preset value.

Not lit if motor speed is below preset value.

Preset value: Set in Cn-0B (20 r/min is standard setting)

When brake interlock is ON, between 1CN-27 and -28 is closed and 1CN-27 is Low level, lit when brake is releaded.

When brake interlock is OFF, between 1CN-27 and -28 is open and 1CN-27 is High level, not lit when brake operates.

Lit if reference pulse is input.

Not lit if no reference pulse is input.

Lit when clear signal is input.

Not lit when clear signal is not input.

4.1.5 Operation in User Constant Setting Mode

1) Two types of user constant are used a) Constant Settings (Cn-03 to Cn-23) b) Memory Switches (Cn-01, Cn-02)

The setting method is different for each type.

The Servopack offers a large number of functions, which are selected and adjusted by the user constant settings.

The constant settings (Cn-03 to Cn-23) allow setting of a constant within a fixed range.

The memory switches (Cn-01, Cn-02) allow the required functions to be selected.

Refer to Appendix D List of User Constant Settings.

176

4.1 Basic Operations

2) Using the Setting Mode for Constant Settings (Cn-03 to Cn-23)

The constant settings (Cn-03 to Cn-23) allow setting of a constant. Check the permitted range of the constant in Appendix D List of User Constant Settings, before changing the data. The example below shows how to change user setting Cn-15 from 100 to 85.

1) Press DSPL

SET setting mode.

to select the user constant

Setting

Mode

2) Select the user constant number to set.

Press the digit.

and keys to select the

Press the value.

and keys to change the

The selected digit flashes.

3) Press DATA

ENTER to display the current data for the user constant selected at step 2.

User Constant

Number

Data

4) Set the required data.

Press the digit.

and

Press the value.

and keys to select the keys to change the

5) Press DATA

ENTER to store the data.

The selected digit flashes.

6) Press DATA

ENTER once more to display the user constant number again.

7) Repeat steps 2 to 6 as often as required.

User Constant

Number

• Refer to Appendix D List of User Constant Settings.

The stored data flashes.

Data

177

USING THE DIGITAL OPERATOR

4.1.5 Operation in User Constant Setting Mode cont.

3) Using the Setting Mode for Memory Switches (Cn-01, Cn-02)

Turn the bits of the memory switches ON and OFF to select the functions required.

The example below shows how to turn ON Bit 4 of memory switch Cn-01.

1) Press DSPL

SET setting mode.

to select the user constant

Setting

Mode

2) Select the user constant number to set.

Press the digit.

and keys to select the

Press the value.

and keys to change the

The selected digit flashes.

3) Press DATA

ENTER to display the current data for the memory switch selected at step 2.

User Constant

Number

Memory

Switch Data

Bit

Number to Set

4) Press the and bit number to set.

keys to select the

Bit Number to Set

Bit

Number

5) Press the and keys to set the memory switch data ON or OFF for the bit number.

6) Repeat steps 4 and 5 as often as required.

7) Press DATA

ENTER to store the data.

Press either key.

The stored data flashes.

TERMS

Turning Bits ON and OFF

Memory switches use bits, not numbers, to select functions.

Sixteen bits are available (1 to 9 and A to E). Select the required functions by turning the appropriate bit

ON (function ON) or OFF (function OFF).

: = OFF

= ON

178

8) Press DATA

ENTER once more to display the user constant number again.

User Constant

Number

• Refer to Appendix D List of User Constant Settings.

4.1 Basic Operations

Memory

Switch Data

4.1.6 Operation in Monitor Mode

1) The monitor mode allows the reference values input into the Servopack, I/O signal status, and Servopack internal status to be monitored.

The monitor mode can be set during motor operation.

2) Using the Monitor Mode

The example below shows how to display 1500, the contents of monitor number Un-00.

1) Press DSPL

SET to select the monitor mode

Monitor

Mode 4

2) Press the and keys to select the monitor number to display.

3) Press DATA

ENTER to display the data for the monitor number selected at step 2.

Monitor

Number

4) Press DATA

ENTER once more to display the monitor number again.

Monitor

Number

Data

179

USING THE DIGITAL OPERATOR

4.1.6 Operation in Monitor Mode cont.

3) Keys to Monitor Mode Display are shown below. Note that the display differs between the speed/torque control and position control types.

Speed/Torque

For Speed/Torque Control

Monitor

Number

Monitor Display

Actual motor speed

Units: r/min

Input speed reference

Units: r/min

Internal torque reference Units: %

(with respect to rated torque)

Number of pulses from motor

U-phase edge

Units: pulses

Electrical angle

Units: 0.1deg

Internal status bit display

Internal Status

Bit Display see below

Bit # Description

1 Servo alarm

2 Dynamic brake ON

Related I/O Signal, User Constant

1CN-31(ALM)

3 Reverse rotation mode

5 Torque limit or speed coincide

Cn-02 Bit 0, 2CN-7(DIR)

4 During motor rotation or brake interlock signal 1CN-27 (TG-ON), status display mode

1CN-25 (V-CMP), status display mode

6 Mode switch ON

Or contact input speed co o

1CN-45 (P-CL) 7 During forward torque limit

8 During reverse torque limit

9 Motor power ON

10 A-phase

1CN-46 (N-CL)

2CN-33(PA), 2CN-34(

£

PA)

11 B-phase

2CN-35(PB), 2CN-36(

£

PB)

12 C-phase

2CN-19(PC), 2CN-20(

£

PC)

13 U-phase

14 V-phase

15 W-phase

16 Servo ON

17 P operation, zero clamp, or rotation direction input

18 Forward overtravel

19 Reverse overtravel

20 SEN signal input

Only when incremental encoder is used.

1CN-40 (S-ON) , Cn-01 Bit 0

1CN-41 (P-CON) , Cn-01 Bit A, B,

Cn-02 Bit 2

1CN-42 (P-OT), Cn-01 Bit 2

1CN-43 (N-OT), Cn-01 Bit 3

1CN-4 (SEN)

180

4.1 Basic Operations

Positions

For Position Control

Monitor

Number

Monitor Display

Actual motor speed Units: r/min

Internal torque reference

Units: %

(with respect to rated torque)

Number of pulses from motor U-phase edge

Units: pulses

Electrical angle

Units: 0.1deg

Internal status bit display

Positional error

Units: x1 reference unit (Cn-02 Bit E = 0) x100 reference unit (Cn-02 Bit E = 1)

Reference pulse counter value

Units: Reference unit

Displays 0 to 65535

Internal Status

Bit Display

Monitor

Un-05

Bit # Description

1 Servo alarm

2 Dynamic brake ON

3 Reverse rotation mode

4 During motor rotation or brake interlock signal

5 Positioning complete

Related I/O Signal, User

Constant

1CN-31 (ALM)

Cn-02 Bit 0, 2CN-7 (DIR)

1CN-27 (TG-ON), status display mode

1CN-25 (COIN) , status display mode

6 Mode switch ON

7 During forward torque limit

8 During reverse torque limit

9 Motor power ON

10 A-phase

11 B-phase

12 C-phase

13 U-phase

14 V-phase

15 W-phase

Or contact input speed co o

16 Servo ON

17 P operation or rotation direction input

18 Forward overtravel

19 Reverse overtravel

20 Not used

1CN-45 (P-CL)

1CN-46 (N-CL)

2CN-33(PA), 2CN-34( * PA)

2CN-35(PB), 2CN-36( * PB)

2CN-19(PC), 2CN-20( * PC)

Only when incremental encoder is used.

1CN-40 (S-ON), Cn-01 Bit 0

1CN-41 (P-CON)

1CN-42 (P-OT), Cn-01 Bit 2

1CN-43 (N-OT), Cn-01 Bit 3

181

USING THE DIGITAL OPERATOR

4.1.6 Operation in Monitor Mode cont.

Monitor

Un-06

Bit #

Description

Input reference pulse

2 Input pulse sign

3 Error counter clear input

4 to

Not used.

13 Full-closed Phase-A

14 Full-closed Phase-B

15 Full-closed Phase-C

16 to

Not used.

Related I/O Signal, User

Constant

1CN-1 (PLUS), 1CN-2(

£

PULS)

1CN-3(SIGN), 1CN-4 (

£

SIGN)

1CN-5 (CLR), 1CN-6(

£

CLR)

4CN-2 (FA), 4CN-3 (

£

FA)

4CN-4 (FB), 4CN-5 (

£

FB)

4CN-6 (FC), 4CN-7 (

£

FC)

182

4.2 Using the Functions

4.2 Using the Functions

This section describes how to use the basic operations described in section 1 to operate and adjust the motor.

4.2.1

Operation in Alarm Trace-back Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2.2

Operation Using the Digital Operator

4.2.3

Autotuning

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2.4

Reference Offset Automatic Adjustment . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2.5

Speed Reference Offset Manual Adjustment Mode

4.2.6

Clearing Alarm Trace-back Data

. . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2.7

Checking Motor Type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2.8

Checking Software Version . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

183

186

188

195

197

200

201

4.2.1 Operation in Alarm Trace-back Mode

1) The alarm trace-back mode displays up to ten alarms which occurred previously. By allowing confirmation of what alarm occurred when, it is a useful aid to speed up troubleshooting.

Alarm Sequence Number

The higher the number, the older the alarm data

Alarm Code See the table of alarms on page 185.

NOTE The alarm trace-back data is not cleared on alarm reset or when the Servopack power is turned OFF. This does not adversely affect operation.

The data is cleared using the special mode: Clear alarm trace-back data.

Refer to sub-section 4.2.6 for details.

183

USING THE DIGITAL OPERATOR

4.2.1 Operation in Alarm Trace-back Mode cont.

2) Using the Alarm Trace-back Mode

Follow the procedure below to determine which alarms occurred previously.

1) Press DSPL

SET back mode.

to select the alarm trace-

Alarm Trace-back Mode

2) Press the and keys to scroll the alarm sequence numbers up and down and display information on previous alarms. The higher the left-hand digit

(alarm sequence number), the older the alarm data.

Older

Newer

184

4.2 Using the Functions

3) The table below lists the alarms displayed in the alarm trace-back mode.

Displayed Alarm

Code

Absolute data error

User constant breakdown

Description

User constant setting error

Overcurrent

Blown fuse

Regenerative error

Position error pulse overflow (for position control only)

Overvoltage

Overspeed

Overload

Absolute encoder error

Absolute encoder back-up error

Absolute encoder checksum error

Absolute encoder battery error

Absolute encoder data error

Absolute encoder overspeed

Reference input read error

Servo overrun detected overrun.

)

(This function prevents (or minimizes)

Encoder output phase error

Incremental encoder initial pulse error

Encoder A-, B-phase disconnection

Encoder C-phase disconnection

External PG A-, B-phase disconnection

External PG C-phase disconnection

Not an alarm. Reset by alarm reset or Servopack power ON.

185

USING THE DIGITAL OPERATOR

4.2.2 Operation Using the Digital Operator

The following are operator-related alarms which are not recorded by alarm trace-back.

Digital Operator transmission error 1

Digital Operator transmission error 2

• Refer to the troubleshooting procedures when an alarm occurs, described in section

6.2.

4.2.2 Operation Using the Digital Operator

Simple Motor Check

Operation from the Digital Operator allows the Servopack to run the motor. This allows rapid checking of basic operations during machine set-up and testing, without the trouble of connecting a host controller.

Used during machine set-up and testing. Forward, reverse, speed settings possible.

Power

No need to connect to host controller or external circuits.

Motor can be run just from the Digital Operator.

1) Operation Using the Digital Operator

Use the following procedure to operate the motor from the Digital Operator

1) Press DSPL

SET setting mode.

to select the user constant

Setting Mode

186

4.2 Using the Functions

2) Select the user constant number Cn-00.

(User constant Cn-00 is selected when the power is turned ON.)

Press the digit.

and keys to select the

Press the and keys to change the value.

Select Cn-00.

The selected digit blinks.

3) Press DATA

ENTER to display the current data for the user constant Cn-00.

User Constant Number

4) Press the and keys to change the data to 00.

(This user constant is set to 00 when the power is turned ON.)

Set to 00-00.

Press the keys to change the value.

Data

5) Press DSPL

SET to set the Digital Operator in operation mode. Operation is now possible under Digital Operator control.

Display for operation mode from

Digital Operator

6) Press

JOG

SVON to set the servo ON status

(motor power turned ON).

Select Servo ON/Servo OFF

Press to change.

Servo ON

- motor ON

Servo OFF

- base block

7) Press the motor.

and keys to operate the

Motor Forward/Reverse Rotation

8) Press DSPL

SET to revert to . This sets the servo OFF status (motor power turned OFF).

(Alternatively, press

OFF status.)

JOG

SVON to set the servo

Motor runs forward while this key is pressed.

Motor runs backward while this key is pressed.

Motor

Forward

Rotation

Motor

Reverse

Rotation

9) Press DATA

ENTER to return to the setting mode display. This disables operation under Digital Operator control.

Setting Mode Display

187

USING THE DIGITAL OPERATOR

4.2.3 Autotuning

2) Changing Motor Speed

The motor speed for operation under Digital Operator control can be changed with a following user constant.

Cn-10

JOGSPD Jog Speed Unit: r/min Setting

Range:

0 to MAX.

Speed

Factory

Setting:

500

For Speed/

Torque

Control and

Position

Control

Set the motor speed (JOG speed) in this user constant when motor is operated using the digital operator.

For details about setting the motor speed, refer to 4.1.5 Operation in User Constant Set-

ting Mode and Appendix D List of User Constants.

188

4.2.3 Autotuning

No experience required to achieve optimum settings.

The Servopack contains a built-in autotuning function to automatically measure the machine characteristics and set the user constants.

Servo drives normally require tuning to match the machine configuration and rigidity. This tuning requires a great deal of experience and is difficult for a person unfamiliar with the tuning procedure.

However, autotuning allows even totally inexperienced people to easily complete the tuning.

Servopack

Autotuning

Automatically measures the machine characteristics and sets the user constants.

Servomotor

Load Inertia

Friction

Autotuning is similar to auto-focus for a camera.

4.2 Using the Functions

3) User Constants Automatically Settable with Autotuning

Speed/Torque

Speed/torque control Positions

Position control

Cn-04

Cn-05

Speed loop gain

Speed loop integration time constant

Cn-04

Cn-05

Cn-1A

Speed loop gain

Speed loop integration time constant

Position loop gain

Once autotuning has been completed, the autotuning procedure can be omitted for subsequent machines, providing the machine specifications remain unchanged.

It is sufficient to directly set the user constants for subsequent machines.

The machine rigidity can be selected from one of seven levels.

NOTE • Conduct autotuning with the motor attached to the machine.

Make sure that the machine is ready for operation and take sufficient safety precautions when operating the machine.

• Make sure that the P-CON signal is OFF (PI control is selected) before starting autotuning.

• Before conducting autotuning, make sure that setting of user constant Cn-10 is 500

(factory setting).

• Make sure that the speed control mode is set to PI control before starting autotuning.

If the mode switch is used, PI control automatically switches to P control above a set operating level (PI control to P control switching level), even if the P-CON signal is OFF.

If the mode switch is used, follow operation a) or operation b) below before starting autotuning.

a) Set the user constants to disable the mode switch.

Speed control: Set both Cn-01 Bit C and Bit D to 1.

Position control: Set both Cn-01 Bit B to 1.

b) Increase the operating level, such that P control is not selected.

In practice, set the operating level as shown in the table below.

TERMS

Machine Rigidity

The machine rigidity is one of the machine characteristics related to servo control. Set the servo to high response for a machine, such as a machine tool, with high rigidity, and to low response for a machine, such as a robot, with low rigidity.

Motor

High rigidity

Low rigidity

189

USING THE DIGITAL OPERATOR

4.2.3 Autotuning cont.

Operating Level

Torque reference

Speed reference

Acceleration

Error pulse

User Constant Setting

Cn-0C to maximum torque

Cn-0D to a preset value exceeding Cn-10

Cn-0E to the maximum value: 3000

Cn-0F to the maximum value: 10000

Select the operating level using Bit C and Bit D of Cn-01.

Refer to 3.6.6 using mode switch for details of the mode switch function.

190

4.2 Using the Functions

4) Using Autotuning

Follow the procedure below to run autotuning.

1) Press DSPL

SET setting mode.

to select the user constant

2) Select the user constant number Cn-00.

(User constant Cn-00 is selected when the power is turned ON.)

Press the digit.

and keys to select the

Press the value.

and keys to change the

3) Press DATA

ENTER to display the current data for the user constant Cn-00.

User Constant Number

Setting Mode

Select Cn-00.

The selected digit blinks.

Data

4) Press the data to 05.

5) Press ity.

DSPL

SET and keys to change the

Set to 00-05.

Press the keys to change the value.

to display the machine rigid-

6) Press the and keys to select the machine rigidity. If the actual rigidity is unknown, select medium rigidity.

Machine Rigidity

Display

High Rigidity

Medium Rigidity

Low Rigidity

7) Press DSPL

SET to select autotuning mode.

Autotuning Mode

191

USING THE DIGITAL OPERATOR

4.2.3 Autotuning cont.

8) Press

JOG

SVON to set the servo ON status.

Select Servo ON/Servo OFF

9) Press the motor.

and keys to operate the

Motor Forward/Reverse Rotation

10) When autotuning is complete, the END message is displayed, as shown to the right.

Servo OFF status is automatically selected. If Servo ON/Servo OFF is selected by a signal from an external contact, turn this signal OFF.

Press

Servo ON

- motor ON

Servo OFF

- base block to change.

Motor runs forward while this key is pressed.

Motor runs backward while this key is pressed.

Motor

Forward

Rotation

Motor

Reverse

Rotation

Autotuning Complete

11) Release the the and display.

keys to revert to

12) Press DATA

ENTER to return to the setting mode display. This ends the autotuning operation.

Setting Mode Display

• Refer to sub-section 3) on page 192 for the precautions relating to autotuning.

5) Precautions Relating to Autotuning a) Speed Setting During Autotuning

The motor speed during autotuning is set by user constant Cn-10. Set to 500 r/min., which is the factory setting. Autotuning may be unsuccessful if this value is set too low.

The motor runs intermittently while the not rotate continuously.

or key is held down. The motor does b) Machine Rigidity Selection

Select the machine rigidity as described below. If the actual rigidity is unknown, select medium rigidity.

High Rigidity

Medium Rigidity

Low Rigidity

192

4.2 Using the Functions

• If the Machine Resonates

At servo ON when the

JOG

SVON key is pressed or when the motor is operated by pressing the or key, machine resonance indicates an inappropriate machine rigidity setting.

Follow the procedure below to correct the machine rigidity setting, and run autotuning once more.

(1) Press the DSPL

SET key to cancel autotuning.

(2) Press the DSPL

SET key once more to enter the machine rigidity setting mode. Reduce the setting by one.

• If Autotuning Does Not End

Failure of autotuning to end , is caused by an inappropriate machine rigidity setting. Follow the procedure below to correct the machine rigidity setting, and run autotuning once more.

(1) Press the DSPL

SET key to cancel autotuning.

(2) Press the DSPL

SET key once more to enter the machine rigidity setting mode.

Increase the setting by one.

Autotuning may not end for machines with large play or extremely low rigidity.

In these cases, use conventional manual adjustment.

193

USING THE DIGITAL OPERATOR

4.2.3 Autotuning cont.

c) Input Signals

• The OT signal and SEN signal (absolute encoder only) are enabled during autotuning.

Input the OT signal and SEN signal (absolute encoder only) during autotuning.

To conduct autotuning without inputting these signals, set user constant Cn-01 Bits 1,

2, and 3 to 1.

• Autotuning is not possible during overtravel

(P-OT or N-OT signal OFF).

Load

Motor

OFF ON

• Conduct autotuning when no overtravel has occurred (both P-OT and

N-OT signal ON).

Load

Motor

• Set the P-CON signal OFF during autotuning.

• If the mode switch is used, take one of the steps below before running autotuning.

(1) Cancel the mode switch.

(2) Set the mode switch operating level to a high level.

Refer to page 122 for details about setting the mode switch.

• If using the S-ON signal to set the servo ON status, display

ON the S-ON signal.

before turning

194

4.2 Using the Functions

4.2.4 Reference Offset Automatic Adjustment

Speed/Torque

1) Why Does Reference Offset Occur?

Using a speed/torque control, the motor may rotate slowly when the reference voltage is intended to be 0 V.

This occurs when the host controller or external circuit has a small offset (measured in mV) in the reference voltage.

Automatic Adjustment of Reference Voltage

The reference offset automatic adjustment mode automatically measures the offset and adjusts the reference voltage. It adjusts both speed and torque references.

The following diagram illustrates automatic adjustment of an offset in the reference voltage from the host controller or external circuit.

Reference

Voltage

Offset

Reference

Speed or

Reference

Torque

Automatic Adjustment of Offset

Reference

Voltage

Reference

Speed or

Reference

Torque

Offset

Automatically

Adjusted in

Servopack

2) After completion of offset automatic adjustment, the amount of offset is stored in the

Servopack.

The amount of offset can be checked in the speed reference offset manual adjustment mode. Refer to sub-section 4.2.5 for details.

195

USING THE DIGITAL OPERATOR

4.2.4 Reference Offset Automatic Adjustment cont.

3) Using the Reference Offset Automatic Adjustment Mode

Follow the procedure below to automatically adjust the reference offset.

1) Follow the procedure below to set the motor into operating mode.

(1) Input the (intended) 0 V reference voltage from the host controller or external circuit.

Host

Controller

0 V Speed

Reference or Torque

Reference

Servo ON

Motor

Slow Rotation

Servopack

(2) Then, turn ON the servo ON (1CN-40,

S-ON) signal.

2) Press DSPL

SET setting mode.

to select the user constant

3) Select the user constant number Cn-00.

(User constant Cn-00 is selected when the power is turned ON.)

Setting Mode

Press the digit.

and keys to select the

Select Cn-00.

The selected digit blinks.

Press the value.

and keys to change the

4) Press DATA

ENTER to display the current data for the user constant Cn-00.

User Constant Number Data

5) Press the data to 01.

and keys to change the

Press the keys to change the value.

Set to 00-01.

6) Press DSPL

SET to automatically adjust the reference offset. The motor rotation stops.

Slow

Rotation

Motor Stops

7) Press DATA

ENTER to return to the setting mode display. This ends reference offset automatic adjustment.

Setting Mode Display

196

4.2 Using the Functions

4) The reference offset automatic adjustment mode cannot be used where a position loop is formed with the host controller and the error pulses are zeroed when servo lock is stopped.

In this case, use the speed reference offset manual adjustment mode. Refer to sub-section 4.2.5 for details.

Zero-clamp speed control is available to force the motor to stop during zero speed reference. Refer to sub-section 3.4.3 for details.

4.2.5 Speed Reference Offset Manual Adjustment Mode

1) Speed reference offset manual adjustment is available for the speed/torque control.

It is very convenient in the following situations:

Speed/Torque

• If a position loop is formed with the host controller and the error pulses are zeroed when servo lock is stopped.

• To deliberately set the offset to some value.

This mode can also be used to check the data set in the reference offset automatic adjustment mode.

In principle, this mode operates in the same way as the reference offset automatic adjustment mode, except that the amount of offset is directly input during the adjustment.

The offset can be set for speed references only.

197

USING THE DIGITAL OPERATOR

4.2.5 Speed Reference Offset Manual Adjustment Mode cont.

Offset Adjustment Range and Setting Units are as follows:

Reference Speed or Reference Torque

Offset Adjustment Range

Offset Units

Speed Reference

Input Voltage or Torque

Reference Input

Voltage

Offset Adjustment Range: -512 to +511 (78 mV)

Offset Units:

Reference Speed: 0.038 r/min. (0.076 mV)

For Cn-03 = 500 (factory setting)

Reference Torque: 0.0025% (0.076mV)

For Cn-13 = 30 (factory setting)

2) Follow the procedure below to manually adjust the reference voltage.

1) Press DSPL

SET setting mode.

to select the user constant

Setting Mode

2) Select the user constant number Cn-00.

(User constant Cn-00 is selected when the power is turned ON.)

Press the digit.

and keys to select the

Press value.

and keys to change the

3) Press DATA

ENTER to display the current data for the user constant Cn-00.

User Constant Number

Select Cn-00.

The selected digit blinks.

Data

198

4.2 Using the Functions

4) Press the data to 03.

and keys to change the

Set to 00-03.

Press the keys to change the value.

5) Press DSPL

SET to select the speed reference offset manual adjustment mode.

(The amount of speed reference offset is displayed.)

Speed Reference

Offset Manual

Adjustment Mode

6) Press the and amount of offset.

keys to adjust the

(Adjust the speed references.)

7) Press DSPL

SET to enter the torque reference offset manual adjustment mode.

(The amount of torque reference offset is displayed.)

8) Press the and keys to adjust the amount of offset.

(Adjust the torque references.)

9) Press DSPL

SET data display.

to return to the user constant

10) Press DATA

ENTER to return to the setting mode display. This ends the reference offset manual adjustment.

199

USING THE DIGITAL OPERATOR

4.2.6 Clearing Alarm Trace-back Data

4.2.6 Clearing Alarm Trace-back Data

1) This procedure clears the alarm history, which stores the alarms occurring in the Servopack. Each alarm in the alarm history is set to A99, which is not an alarm code. Refer to

4.2.1 Operation in Alarm Trace-back Mode for details.

2) Follow the procedure below to clear the alarm trace-back data.

1) Press DSPL

SET setting mode.

to select the user constant

Setting Mode

2) Select the user constant number Cn-00.

(User constant Cn-00 is selected when the power is turned ON.)

Select Cn-00.

The selected digit bllinks.

Press the and keys to select the digit.

Press the value.

and keys to change the

3) Press DATA

ENTER to display the current data for the user constant Cn-00.

User Constant Number Data

4) Press the data to 02.

and keys to change the

Set to 00-02.

Press the keys to change the value.

5) Press data.

DSPL

SET to clear the alarm trace-back

Clear the alarm trace-back data.

6) Press DATA

ENTER data display.

to return to the user constant

User Constant Number Data

200

4.2 Using the Functions

4.2.7 Checking Motor Type

1) Set Cn-00 to 00-04 to select the motor-type check mode.

This mode is used for maintenance and is not normally used by the customer.

Operation

Set Cn-00 to 00-04

Motor Type Display

Motor type displayed

Motor Type

0: SGM 200V

1: SGM 100V

2: SGMP 200V

3: SGMP 100V

Motor Capacity

9E: 30W b2: 50W

01: 100W

02: 200W

03: 300W

04: 400W

08: 750W

Modification Index

(Modification No.) displayed

Modification Index (Modification No.) Display

Hexadecimal Display

Modification index

(Modification No.)

4.2.8 Checking Software Version

1) Set Cn-00 to 00-06 to select the software-version check mode.

This mode is used for maintenance and is not normally used by the customer.

Operation Software Version Display

Set Cn-00 to 00-06

Software

Version

Software version displayed

201

SERVO SELECTION AND

DATA SHEETS

This chapter describes how to select Σ-Series servo drives and peripheral devices.

The section also presents the specifications and dimensional drawings required for selection and design.

Choose and carefully read the relevant sections of this chapter.

5.1 Selecting a Σ-Series Servo

5.1.1 Selecting a Servomotor

. . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.1.2 Selecting a Servopack . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.1.3 Digital Operator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

205

205

212

216

5.2 SGM Servomotor . . . . . . . . . . . . . . . . . . . . . . . . .

5.2.1 Ratings and Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.2.2 Mechanical Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . .

217

217

230

5.3 Servopack Ratings and Specifications

5.3.1 Ratings and Specifications

. . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . .

5.3.2 Power Consumption . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.3.3 Overload Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.3.4 Starting Time and Stopping Time . . . . . . . . . . . . . . . . . . . . . .

5.3.5 Load Inertia . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.3.6 Overhanging Loads . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

233

233

238

239

240

241

246

5.4 Σ-Series Dimensional Drawings

5.4.1 Servomotor Dimensional Drawings

. . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . .

5.4.2 Servomotor Dimensional Drawings

(TÜV approved, conforming to the machine instructions)

5.4.3 Servopack Dimensional Drawings

. . .

. . . . . . . . . . . . . . . . . . . . .

5.4.4 Digital Operator Dimensional Drawing . . . . . . . . . . . . . . . . .

247

247

289

329

334

5.5 Selecting Peripheral Devices

5.5.1 Selecting Peripheral Devices

. . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . .

5.5.2 Order List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

335

335

341

203

Chapter Table of Contents, Continued

5.6 Specifications and Dimensional Drawings of Peripheral Devices . . . . . . . . . . . . . . . . . . . . . .

5.6.1 Cable Specifications and Peripheral Devices . . . . . . . . . . . . .

5.6.2 Motor Cables

5.6.3 Connector Kits

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.6.4 Brake Power Supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.6.5 Encoder Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.6.6 Battery for Absolute Encoder . . . . . . . . . . . . . . . . . . . . . . . . .

5.6.7 1CN Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.6.8 Circuit Breaker

5.6.9 Noise Filter

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.6.10 Magnetic Contactor

5.6.11 Surge Suppressor

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.6.12 Regenerative Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.6.13 Variable Resistor for Speed Setting . . . . . . . . . . . . . . . . . . . .

5.6.14 Encoder Signal Converter Unit . . . . . . . . . . . . . . . . . . . . . . . .

5.6.15 Cables for Connecting PC and Servopack . . . . . . . . . . . . . . .

5.6.16 4CN Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

349

349

375

376

379

381

385

371

373

374

355

358

363

365

204

5.1 Selecting a Σ -Series Servo

5.1 Selecting a Σ-Series Servo

This section describes how to select the Σ-Series Servomotor, Servopack, and Digital

Operator.

5.1.1

Selecting a Servomotor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.1.2

Selecting a Servopack

5.1.3

Digital Operator

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

205

212

216

5.1.1 Selecting a Servomotor

1) The selection of an SGM or SGMP Servomotor matched to the servo system in which it is used is based on the servomotor type, that is, the seven alphanumeric characters after

“SGM-” or “SGMP-”, described below. The numbers (1) to (6) below correspond to the numbers in the flowchart for Servomotor selection on the following pages.

205

SERVO SELECTION AND DATA SHEETS

5.1.1 Selecting a Servomotor cont.

SGM type

SGMP type

Σ-Series

SGM: SGM Servomotor

SGMP: SGMP Servomotor

(cube type)

1) Rated output (motor capacity)

(Type SGM only)

A3: 30W (0.04HP) A5: 50W (0.07HP)

(Types SGM and SGMP)

01: 100W (0.13HP) 02: 200W (0.27HP)

03: 300W (0.40HP) 04: 400W (0.53HP)

08: 750W (1.01HP)

2) Supply voltage

A: 200V B: 100V

V: 200V W: 100V

(V and W are EN Standard application)

U: 200V L: 100V

(U and L are UL Standard application)

3) Encoder specification

3: 2048 P/R incremental encoder

W: 12-bit absolute encoder (Available upon special request)

S: 15-bit absolute encoder

4: 2000 P/R incremental encoder

4) Design revision order

5) Shaft specification

2: Straight without key

4: Straight with key

6) Options

B: with brake S: with shaft seal

D: with brake and shaft seal

P: drip-proofed

Flowchart for Servomotor selection

Selected motor type

Example

Axis 1

Axis 2

Axis 3

Axis 4

Axis 5

D D D

SGM-jjjjjjj

D D D D D D

206

5.1 Selecting a Σ -Series Servo

2) The actual selection of the SGM or SGMP Servomotor is conducted according to the flowchart in the next page.

If an SGMP Servomotor is selected, replace SGM with SGMP. SGMP Servomotors are available from 100W (0.13HP) to 750W (1.01HP). A 1500W (2.01HP) type also exists but the DR2 Servopack can handle up to 750W (1.01HP).

207

SERVO SELECTION AND DATA SHEETS

5.1.1 Selecting a Servomotor cont.

Flowchart for Servomotor Selection

Start Servomotor selection

1) Select motor capacity

D Fill in Machine Data Table

D D D

If necessary, refer to the data sheets in 5.2.1

Ratings and Specifications.

D D D

Refer to 3) Machine Data Table on page 210.

D Select capacity using

Servomotor sizing software.

D D D

See note on the next page.

Determine motor capacity

Enter code as characters 1 and 2:

30W (0.04HP) = A3, 50W (0.07HP) = A5,

100W (0.13HP) = 01, 200W (0.27HP) = 02,

300W (0.40HP) = 03, 400W (0.53HP) = 04,

750W (1.01HP) = 80

Enter rated output

SGM-JJ_ _ _ _ _

2) Determine supply voltage

200 V power supply

100V / 200V ?

100 V power supply

EN standard application ?

Yes

SGM-jjA_ _ _ _

SGM-jjV_ _ _ _

SGM-jjB_ _ _ _

SGM-jjW_ _ _ _

To next page(A)

208

5.1 Selecting a Σ -Series Servo

From the previous page (A)

3) Select encoder specification

Absolute/ incremental?

Incremental encoder (2048 P/R)

Absolute encoder (12-bit)

SGM-jjj3_ _ _

SGM-jjjW_ _ _

4) Enter design revision order

Always enter 1.

SGM-jjjj1_ _

5) Select shaft specification

With/without key?

Straight without key

Straight with key

SGM-jjjjj2_

SGM-jjjjj4_

6) Selection option specification

Under gravitational load

Oil used at end of shaft

Gravitational load+oil

Subject to water droplets

With brake

With shaft seal

With brake and shaft seal

Drip-proofed

SGM-jjjjjjB

SGM-jjjjjjS

SGM-jjjjjjD

SGM-jjjjjjP

End Servomotor selection

Note Consult Yaskawa sales representative for sizing or sizing software.

209

SERVO SELECTION AND DATA SHEETS

5.1.1 Selecting a Servomotor cont.

3) Machine Data Table

Fill out the machine data table below as an aid to selecting the drive system. When the machine data table is complete, use the servomotor sizing software to select the motor capacity.

1) Ball Screw Horizontal Axis

Load mass

Thrust

Coefficient of friction

Overall efficiency

Gear ratio

Gear+coupling

R (= Nm/Nl)

GD 2 g

Ball screw pitch

Ball screw diameter

Ball screw length

2) Ball Screw Vertical Axis

Load mass

Counterweight

Coefficient of friction

Overall efficiency

Gear ratio

Gear+coupling

R (= Nm/Nl)

GD 2 g

Ball screw pitch

Ball screw diameter

L Ball screw length

3) Timing Belt

Load mass

Thrust

Coefficient of friction

Overall efficiency

Gear ratio

Gear+coupling

Pulley

Pulley diameter

4) Rack and Pinion

Load mass

Thrust

Coefficient of friction

Overall efficiency

Gear ratio

Gear+coupling

Pinion diameter

Pinion thickness

R (= Nm/Nl)

GD 2 g

GD 2 d

µ t

R (= Nm/Nl)

GD 2 g kg (lb) kg (lb) kg¡cm 2 (lb¡in 2 .) mm (in.) mm (in.) mm (in.) kg (lb) kg (lb) kg¡cm 2 (lb¡in 2 .) mm (in.) mm (in.) mm (in.) kg (lb) kg (lb) kg¡cm 2 (lb¡in 2 .) kg¡cm 2 (lb¡in 2 .) mm (in.) kg (lb) kg (lb) kg¡cm 2 (lb¡in 2 .) mm (in.) mm (in.)

Gear+coupling

GD g p g

Pulley

Motor

Gear+coupling

GD 2 g

Gear+coupling

GD 2 g

Gear+coupling

GD g p g

Timing belt

Pinion

210

5.1 Selecting a Σ -Series Servo

5) Roll Feeder

Load GD 2

Tension

Press force

Roller diameter

Coefficient of friction

Overall efficiency

Gear ratio

Gear+coupling

6) Rotor

Load GD 2

Load torque

Overall efficiency

Gear ratio

Gear+coupling

7) Others

Load GD 2

Load torque

Motor speed

DUTY

Positioning time

Accel/decel time

Duty cycle

DUTY

Positioning distance

Moving member speed

Positioning time

Accel/decel time

GD 2 ℓ

Tℓ

Nm td ts ta

GD 2 ℓ

R (= Nm/Nl)

GD 2 g

GD 2 ℓ

Tℓ

R (= Nm/Nl)

GD 2 g td

Vℓ ts ta

Enter either Vℓ or ts. If both are entered, specify priority.

Operating environment Operating temperature

Other kg¡cm 2 (lb¡in 2 .) kg (lb) kg (lb) mm (in.) kg¡cm 2 (lb¡in 2 .) s s kg¡cm 2 (lb¡in 2 .) kg¡cm 2 (lb¡in 2 .) kg¡cm 2 (lb¡in 2 .) kg¡cm 2 (lb¡in 2 .) kg¡cm 2 (lb¡in 2 .) s s r/min s s mm (in.) m/min

Gear+coupling

GD g

Motor

Gear+coupling

GD 2 g f

T ℓ

Roller

211

SERVO SELECTION AND DATA SHEETS

5.1.2 Selecting a Servopack

5.1.2 Selecting a Servopack

1) The selection of a DR2 Servopack matched to the servo system in which it is used is based on the Servopack type, that is, the four to six alphanumeric characters after

“DR2-”, described below. The numbers 1) to 5) below correspond to the numbers in the flowchart for Servopack selection on the following pages.

212

5.1 Selecting a Σ -Series Servo

DR2 - 01 A C P - F

Σ-Series

DR2: DR2 Servopack

1) Rated output

A3: 30W (0.04HP) A5: 50W (0.07HP)

01: 100W (0.13HP) 02: 200W (0.27HP)

03: 300W (0.40HP) 04: 400W (0.53HP)

08: 750W (1.01HP)

2) Supply voltage

A: 200V B: 100V

3) Model

C: Speed/torque/position control

4) Factory setting of applicable motor type*

Blank: SGM Servomotor

P: SGMP Servomotor

5) Option

Blank: Semi-closed loop specifications

(standard)

F: Full-closed loop specifications

Flowchart for Servopack selection

Example

Axis 1

Axis 2

Axis 3

Axis 4

Axis 5

D D D

Selected Servopack type

DR2

D D D D D D

−

DR2-jjjjj-j

* The applicable motor type (SGM/SGMP) can be changed by setting the user constants.

213

SERVO SELECTION AND DATA SHEETS

5.1.2 Selecting a Servopack cont.

2) The actual selection of the DR2 Servopack is conducted according to the following flowchart.

Flowchart for Servopack Selection

Start Servopack selection

1) Enter rated output D D D

Check specifications in 5.3.1 Ratings and Specifications.

Enter a rated output equal to the motor capacity.

Enter rated output

Enter code as characters 1 and 2:

30W (0.04HP) = A3, 50W (0.07HP) = A5,

100W (0.13HP) = 01, 200W (0.27HP) = 02,

300W (0.40HP) = 03, 400W (0.53HP) = 04,

750W (1.01HP) = 08

DR2-JJ__

2) Determine supply voltage

100 V / 200 V ?

200 V power supply

100 V power supply

3) Select model

Always enter C.

DR2-jjjC

The applicable motor type (SGM/SGMP) can be changed by setting of the user constants.

4) Determine applicable motor

DR2-jjjj

DR2-jjjjP

Type SGM

Type SGMP

Type SGM /

Type SGMP

To the next page.

DR2-jjA_

DR2-jjB_

214

5.1 Selecting a Σ -Series Servo

From the previous page

5) Determine option specifications

Semi-closed/Full-closed?

Semi-closed specifications (standard)

Full-closed specifications

End Servopack selection

DR2-jjjjj

DR2-jjjjj-F

215

SERVO SELECTION AND DATA SHEETS

5.1.3 Digital Operator

5.1.3 Digital Operator

1) Use the following digital operator (hand-held type) for operation.

• Use held in the hand while connected with the 1 m cable supplied.

JUSP-OP02A-1 (Hand-held Type)

Note Mount type digital operator (JUSP-OP03A) cannot be used for DR2 Servopack.

Instead of digital operator, also personal computer (IBM PC) can be used to monitor or set the user constants.

For details, refer to the manual ”Operation Manual for

Personal Computer Monitoring Software”

(Manual No. SIE-S800-15.5).

JUSP-OP03A (Mount Type)

216

5.2 SGM Servomotor

5.2 SGM Servomotor

This section presents tables of ratings and specifications for SGM and SGMP

Servomotors. Refer to these tables when selecting a Servomotor.

5.2.1

5.2.2

Ratings and Specifications

Mechanical Characteristics

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

217

230

5.2.1 Ratings and Specifications

1) The ratings and specifications of SGM and SGMP Servomotors are shown below. Refer to them as required when selecting a Servomotor.

2) Ratings and Specifications of 200-VAC SGM Servomotors

Time rating:

Heat resistance class:

Vibration class:

Withstand voltage:

Insulation resistance:

Enclosure:

Ambient temperature:

Ambient humidity:

Excitation:

Drive method:

Mounting: continuous

Class B (Class A for UL spec. type SGM-jU)

15µm or below

1500 VAC

500 VDC 10MΩ min.

totally enclosed, self-cooled

0 to 40°C

20% to 80% (non-condensing) permanent magnet direct drive flange method

217

SERVO SELECTION AND DATA SHEETS

5.2.1 Ratings and Specifications cont.

SGM Servomotor

Rated Output* 1 W (HP) q 1 * 2 N¡m

(oz¡in)

Instantaneous Peak Torque* 1 N¡m

(oz¡in)

Rated Curent* 1 A (rms)

Instantaneous Max Current* 1 A (rms)

Rated Speed* 1 r/min

Instantaneous Max Speed* 1 r/min

Torque Constant* 1 N¡m/A

(rms)

Moment of Inertia [J

]

(oz¡in/A)

(rms) kg¡m 2

10 −4

(oz¡in¡s 2

10 −3 )

Rated Power Rate* 1 kW/s

Rated Angular Acceleration* 1 rad/s 2

Inertia Time Constant

Inductive Time Constant ms ms

A3A

A3V

(0.04)

0.095

(13.5)

0.29

(40.5)

0.42

1.3

3000

4500

0.255

(36.2)

0.021

(0.288)

4.36

45200

1.5

0.286

(40.5)

0.026

(0.368)

9.63

61200

0.9

1.8

A5A

A5V

(0.07)

0.159

(22.6)

0.48

(67.7)

0.6

1.9

01A

01V

100

(0.13)

0.318

(45.1)

0.96

(135)

0.87

2.8

0.408

(57.8)

0.040

(0.576)

25.4

79500

0.5

1.9

0.355

(50.2)

0.123

(1.74)

32.8

51800

0.4

5.4

02A

02V

200

(0.27)

0.637

(90.1)

1.91

(270)

2.0

6.0

04A

04V

400

(0.53)

1.27

(181)

3.82

(542)

2.6

8.0

08A

08V

750

(1.01)

2.39

(338)

7.1

(1010)

4.4

13.9

0.533

(75.5)

0.191

(2.70)

84.6

666000

0.3

6.4

0.590

(83.5)

0.671

(9.52)

85.1

35600

0.3

* 1 These items and torque-motor speed characteristics quoted in combination with a DR2

Servopack at an armature winding temperature of 100°C. Other values quoted at 20°C. All values typical at power voltage 200V.

* 2 Rated torques are continuous allowable torque values at 40°C with a 250 x 250 x 6 (mm)

(9.84 x 9.84 x 0.24 (in.)) heat sink attached.

NOTE The ratings and specifications above refer to a standard Servomotor.

Add the numerical values below to the moment of inertia values in the table for a motor fitted with a holding brake and/or a 12-bit absolute encoder.

Other specifications will also change slightly.

TERMS

Holding Brake

The holding brake is automatically applied to the motor shaft to prevent the load falling in vertical axis applications when the motor power supply is turned off or fails. It is only to hold the load and cannot be used for stopping motor.

Load

Motor

Load

Prevent load falling

218

5.2 SGM Servomotor

Item

12-bit absolute encoder kg¡m 2

10 −4

(oz¡in¡s 2

10 −3 ) kg¡m 2

10 −4

(oz¡in¡s 2

10 −3 )

A3A

A3V

0.0085

(0.120)

0.025

(0.352)

A5A

A5V

01A

01V

SGM−

02A

02V

0.058

(0.816)

04A

04V

08A

08V

0.14

(1.98)

Electrical Specifications of the Holding Brake a) SGM Type (Rated Voltage: 90 VDC) . .

Standard

Motor Model Motor

Capacity

(W)

Holding Brake Specifications

SGM-A3jjjj

SGM-A5jjjj

SGM-01jjjj

SGM-02jjjj

SGM-04jjjj

SGM-08jjjj

100

200

400

750

6.5

Capacity

(W)

2.0

Holding

Torque

(kg-cm)

2.0

3.5

25 b) SGM Type (Rated Voltage: 24 VDC) . .

Semi-standard

Coil

Resistance

(Ω at 20°C)

1350

1246

1350

Rated

Current

(A at 20°C)

0.067

0.072

0.067

Motor Model

SGM-A3jjjj

SGM-A5jjjj

SGM-01jjjj

SGM-02jjjj

SGM-04jjjj

SGM-08jjjj

100

200

400

750

Motor

Capacity

(W)

Holding Brake Specifications

6.5

Capacity

(W)

2.0

Holding

Torque

(kg-cm)

2.0

3.5

Coil

Resistance

(Ω at 20°C)

Rated

Current

(A at 20°C)

0.25

0.27

0.25

219

SERVO SELECTION AND DATA SHEETS

5.2.1 Ratings and Specifications cont.

3) 200-VAC SGM Servomotor Torque-Motor Speed Characteristics

• SGM-A3A (V) • SGM-A5A (V)

4000

Motor

Speed

(r/min)

3000

2000

1000

0 0

0.1

0.2

0.3

0.4

20 40 60

• SGM-01A (V)

4000

Motor

Speed

(r/min)

3000

2000

1000

0 0

0.25

0.5

0.75

50 100

150

• SGM-04A (V)

Motor

Speed

(r/min)

4000

3000

2000

1000

0 0

200

2 3

400

600

4000

Motor

Speed

(r/min)

3000

2000

1000

0 0

0.15

0.3

0.45

0.6

20 40 60 80 100

• SGM-02A (V)

Motor

Speed

(r/min)

4000

3000

2000

1000

0 0

0.5

100

1 1.5

200

300

• SGM-08A (V)

Motor

Speed

(r/min)

4000

3000

2000

1000

0 0

400

4 6

800

1200

A: Continuous Duty Zone

B: Intermittent Duty Zone

220

5.2 SGM Servomotor

4) Ratings and Specifications of 200-VAC SGMP Servomotors

Time rating:

Heat resistance class:

Vibration class:

Withstand voltage:

Insulation resistance:

Enclosure:

Ambient temperature:

Ambient humidity:

Excitation:

Drive method:

Mounting: continuous

Class B (Class A for UL spec. type SGMP-jU)

15µm or below

1500 VAC

500 VDC 10MΩ min.

totally enclosed, self-cooled

0 to 40°C

20% to 80% (non-condensing) permanent magnet direct drive flange method

SGMP Servomotor

Rated Output * 1

Rated Torque * 1 * 2

Instantaneous Peak Torque

Rated Current * 1 q

Instantaneous Peak Current

* 1

Rated Rotation Speed * 1

Max. Rotation Speed * 1

Torque Constant * 1

W (HP)

N¡m

(oz¡in)

N¡m

(oz¡in)

A (rms)

Moment of

Inertia

Incremental encoder, no h ldi

, b k

Incremental encoder, with h ldi

, b k

Absolute encoder, no h ldi

, b k

Absolute encoder, with h ldi

, b k

Rated Power Rate * 1

Rated Angular Acceleration

* 1

Inertia Time Constant

Inductive Time Constant r/min r/min

3000

4500

N¡m/A (rms) oz¡in/A (rms)

(=GD 2

/4) kg¡m 2

10 −4

0.392

55.5

0.065

(oz¡in¡s 2

10 −3 ) (0.917)

(=GD 2

/4) kg¡m 2

10 −4

0.103

(oz¡in¡s 2

10 −3 ) (1.46)

(=GD 2 kg¡m 2

/4)

10 −4

0.090

(oz¡in¡s 2

10 −3 ) (1.27)

(=GD 2 kg¡m 2

/4)

10 −4

0.128

(oz¡in¡s 2

10 −3 ) (1.81) kW/s rad/s 2

15.7

49200 ms ms

01A

01V

100 (0.13)

0.318

(45.1)

0.96

(135)

0.89

2.8

0.7

3.7

0.349

49.4

0.209

(2.96)

0.307

(4.35)

0.234

(3.31)

0.332

(4.70)

19.4

30500

0.6

7.4

02A

02V

200 (0.27)

0.637

(90.1)

1.91

(270)

2.0

6.0

0.535

75.8

0.347

(4.92)

0.445

(6.31)

0.372

(5.27)

0.470

(6.66)

46.8

36700

0.4

8.5

04A

04V

400 (0.54)

1.27

(181)

3.82

(542)

2.6

8.0

08A

08V

750 (1.01)

2.39

(338)

7.1

(1010)

4.1

13.9

0.641

91.0

2.11

(29.9)

2.52

(35.7)

2.14

(30.3)

2.55

(36.1)

26.9

11300

0.7

* 1 These items and torque-motor speed characteristics quoted in combination with a DR2

Servopack at an armature winding temperature of 100°C. Other values quoted at 20°C. All values typical at power voltage 200V.

221

SERVO SELECTION AND DATA SHEETS

5.2.1 Ratings and Specifications cont.

* 2 Rated torques are continuous allowable torque values at 40°C with an attached heat sink as specified below.

Heat sink dimensions 01A, 02A, 04A .

250¢250¢6(mm), (9.84¢9.84¢0.24 (in.))

08A . . . . . . . . . .

300¢300¢12(mm),(11.81¢11.81¢0.47(in.))

Electrical Specifications of the Holding Brake a) SGMP Type (Rated Voltage: 90 VDC) . . . . . . . .

Standard

Motor Model Motor

Capacity

(W)

Holding Brake Specifications

SGMP-01jjjj

SGMP-02jjjj

SGMP-04jjjj

SGMP-08jjjj

100

200

400

750

7.6

7.5

Capacity

(W)

5.0

Holding

Torque

(kg-cm)

Coil

Resistance

(Ω at 20°C)

1555

1573

1062

1083

Rated

Current

(A at 20°C)

0.062

0.056

0.085

0.083

b) SGMP Type (Rated Voltage: 24 VDC) . . . . . . . .

Semi-standard

Motor Model Motor

Capacity

(W)

Holding Brake Specifications

SGMP-01jjjj

SGMP-02jjjj

SGMP-04jjjj

SGMP-08jjjj

100

200

400

750

7.6

7.5

Capacity

(W)

5.0

Holding

Torque

(kg-cm)

Coil

Resistance

(Ω at 20°C)

114

116

Rated

Current

(A at 20°C)

0.23

0.21

0.29

0.31

222

5.2 SGM Servomotor

5) 200-VAC SGMP Servomotor Torque-Motor Speed Characteristics

• SGMP-01A (V) • SGMP-02A (V)

4000

Motor

Speed

(r/min)

3000

2000

1000

0 0 0.2

0.4

0.6

0.8

0 40 80 120

4000

Motor

Speed

(r/min)

3000

2000

1000

0 0

0.5

100

1 1.5

200

300

• SGMP-04A (V)

4000

Motor

Speed

(r/min)

3000

2000

1000

0 0

200

2 3

400

600

• SGMP-08A (V)

4000

Motor

Speed

(r/min)

3000

2000

1000

0 0

400

4 6

800

1200

A: Continuous Duty Zone

B: Intermittent Duty Zone

223

SERVO SELECTION AND DATA SHEETS

5.2.1 Ratings and Specifications cont.

6) Ratings and Specifications of 100-VAC SGM Servomotors

Time rating:

Heat resistance class:

Vibration class:

Withstand voltage:

Insulation resistance:

Enclosure:

Ambient temperature:

Ambient humidity:

Excitation:

Drive method:

Mounting: continuous

Class B (Class A for UL spec. type SGM-jU)

15µm or below

1500 VAC

500 VDC 10MΩ min.

totally enclosed, self-cooled

0 to 40°C

20% to 80% (non-condensing) permanent magnet direct drive flange method

SGM Servomotor

Rated Output * q

1 * 2

W (HP)

N¡m

(oz¡in)

N¡m q 1

(oz¡in)

Rated Current * 1 A (rms)

Instantaneous Peak Current * 1 A (rms)

Rated Rotation Speed * 1

Max. Rotation Speed * 1

Torque Constant * 1 r/min r/min

N¡m/A (rms)

Moment of Inertia oz¡in/A (rms)

(=GD 2

/4) kg¡m 2

10 −4

(oz¡in¡s 2

10 −3 )

Rated Power Rating * 1

Rated Angular Acceleration * 1

Inertia Time Constant kW/s rad/s ms

Inductive Time Constant ms

0.63

2.0

3000

4500

0.168

(23.8)

0.021

A3B

A3W

30 (0.04)

0.095

(13.5)

0.29

(40.5)

(0.288)

4.36

45200

1.6

1.3

0.194

(27.5)

0.026

(0.368)

9.63

61200

0.9

1.6

A5B

A5W

50 (0.07)

0.159

(22.6)

0.48

(67.7)

0.9

2.9

01B

01W

02B

02W

03B

03W

100 (0.13) 200 (0.27) 300 (0.40)

0.318

(45.1)

0.96

(135)

2.2

7.1

0.637

(90.1)

1.91

(270)

2.7

8.4

0.95

(135.0)

3.72

(527.7)

3.7

14.8

0.156

(22.1)

0.040

(0.576)

25.4

79500

0.6

1.6

0.255

(36.1)

0.123

(1.74)

32.8

51800

0.4

5.7

0.279

(39.6)

0.191

(2.71)

47.3

49700

0.3

5.3

* 1 These items and torque-motor speed characteristics quoted in combination with a

DR2 Servopack at an armature winding temperature of 100°C. Other values quoted at

20°C. All values typical at power voltage 100V.

* 2 Rated torques are continuous allowable torque values at 40°C with a 250 x 250 x 6

(mm) (9.84 x 9.84 x 0.24 (in.)) heat sink attached.

224

5.2 SGM Servomotor

NOTE The ratings and specifications above refer to a standard Servomotor.

Add the numerical values below to the moment of inertia values in the table for a motor fitted with a holding brake and/or a 12-bit absolute encoder.

Other specifications will also change slightly.

Item

12-bit absolute encoder kg¡m 2

10 −4

(oz¡in¡s 2

10 −3 ) kg¡m 2

10 −4

(oz¡in¡s 2

10 −3 )

A3B

0.0085

0.12

0.025

0.36

A5B

SGM-

01B 02B

0.058

0.82

03B

Electrical Specifications of the Holding Brake a) SGM Type (Rated Voltage: 90 VDC) . .

Standard

Motor Model Motor

Capacity

(W)

Holding Brake Specifications

SGM-A3jjjj

SGM-A5jjjj

SGM-01jjjj

SGM-02jjjj

SGM-03jjjj

100

200

400

6.5

Capacity

(W)

2.0

Holding

Torque

(kg-cm)

2.0

3.5

15 b) SGM Type (Rated Voltage: 24 VDC) . .

Semi-standard

Coil

Resistance

(Ω at 20°C)

1350

1246

Rated

Current

(A at 20°C)

0.067

0.072

Motor Model

SGM-A3jjjj

SGM-A5jjjj

SGM-01jjjj

SGM-02jjjj

SGM-03jjjj

100

200

400

Motor

Capacity

(W)

Holding Brake Specifications

6.5

Capacity

(W)

2.0

Holding

Torque

(kg-cm)

2.0

3.5

Coil

Resistance

(Ω at 20°C)

Rated

Current

(A at 20°C)

0.25

0.27

225

SERVO SELECTION AND DATA SHEETS

5.2.1 Ratings and Specifications cont.

7) 100-VAC SGM Servomotor Torque-Motor Speed Characteristics

• SGM-A3B (W)

Motor

Speed

(r/min)

4000

3000

2000

1000

0 0

0.1

0.2

0.3

0.4

20 40 60

• SGM-01B (W)

Motor

Speed

(r/min)

4000

3000

2000

1000

0 0

0.25

0.5

0.75

50 100

• SGM-03B (W)

150

Motor

Speed

(r/min)

4000

3000

2000

1000

1 2 3

TORQUE (N•m)

200 400

600

• SGM-A5B (W)

Motor

Speed

(r/min)

4000

3000

2000

1000

0 0

0.15

0.3 0.45

0 20 40 60 80

0.6

100

• SGM-02B (W)

Motor

Speed

(r/min)

4000

3000

2000

1000

0 0

0.5

100

1 1.5

200

300

A: Continuous Duty Zone

B: Intermittent Duty Zone

226

5.2 SGM Servomotor

8) Ratings and Specifications of 100-VAC SGMP Servomotors

Time rating:

Heat resistance class:

Vibration class:

Withstand voltage:

Insulation resistance:

Enclosure:

Ambient temperature:

Ambient humidity:

Excitation:

Drive method:

Mounting: continuous

Class B (Class A for UL spec. type SGMP-jU)

15µm or below

1500 VAC

500 VDC 10MΩ min.

totally enclosed, self-cooled

0 to 40°C

20% to 80% (non-condensing) permanent magnet direct drive flange method

Rated Output* q

Rated Current* 1

Moment of Inertia

2 q

SGMP Servomotor

Instantaneous Peak Current* 1

Rated Rotation Speed* 1

Max. Rotation Speed* 1

Torque Constant* 1

Rated Power Rate* 1

Incremental encoder, no g

Incremental encoder,

Absolute encoder, no

Rated Angular Acceleration*

Inertia Time Constant

Inductive Time Constant

1 g

Absolute encoder, with g g

W (HP)

N¡m

(oz¡in)

N¡m

(oz¡in)

A (rms)

A (rms) r/min r/min

N¡m/A (rms) oz¡in/A (rms)

(=GD 2

/4) kg¡m 2

10 −4

0.160

22.8

0.065

(oz¡in¡s 2

10 −3 ) (0.917)

(=GD 2

/4) kg¡m 2

10 −4

0.103

(oz¡in¡s 2

10 −3 ) (1.46)

(=GD 2 kg¡m 2

/4)

10 −4

0.090

(oz¡in¡s 2

10 −3 ) (1.27)

(=GD kg¡m 2

/4)

10 −4

0.128

(oz¡in¡s 2

10 −3 ) (1.81) kW/s rad/s 2

15.7

49200 ms ms

0.8

3.6

01B

01W

100 (0.13)

0.318

(45.1)

0.96

(135)

2.2

7.1

3000

4500

0.258

36.5

0.209

(2.96)

0.307

(4.35)

0.234

(3.31)

0.332

(4.70)

19.4

30500

0.7

6.3

02B

02W

200 (0.27)

0.637

(90.1)

1.91

(270)

2.7

8.4

03B

03W

300 (0.40)

0.955

(135)

2.86

(406)

4.3

13.9

0.246

34.9

0.347

(4.92)

0.445

(6.31)

0.372

(5.27)

0.470

(6.66)

26.3

27500

0.4

8.5

* 1 These items and torque-motor speed characteristics quoted in combination with a

DR2 Servopack at an armature winding temperature of 100°C. Other values quoted at

20°C. All values typical at power voltage 100V.

* 2 Rated torques are continuous allowable torque values at 40_C with a 250 x 250 x 6

(mm) (9.84 x 9.84 x 0.24 (in.)) heat sink attached.

227

SERVO SELECTION AND DATA SHEETS

5.2.1 Ratings and Specifications cont.

Electrical Specifications of the Holding Brake a) SGMP Type (Rated Voltage: 90 VDC) . . . . . . . .

Standard

Motor Model Motor

Capacity

(W)

Holding Brake Specifications

SGMP-01jjjj

SGMP-02jjjj

SGMP-04jjjj

SGMP-08jjjj

SGMP-15jjjj

100

200

400

750

1500

7.6

7.5

Capacity

(W)

5.0

Holding

Torque

(kg-cm)

Coil

Resistance

(Ω at 20°C)

1555

1573

1062

1083

832

Rated

Current

(A at 20°C)

0.062

0.056

0.085

0.083

0.11

b) SGMP Type (Rated Voltage: 24 VDC) . . . . . . . .

Semi-standard

Motor Model Motor

Capacity

(W)

Holding Brake Specifications

SGMP-01jjjj

SGMP-02jjjj

SGMP-04jjjj

SGMP-08jjjj

SGMP-15jjjj

100

200

400

750

1500

7.6

7.5

Capacity

(W)

5.0

Holding

Torque

(kg-cm)

Coil

Resistance

(Ω at 20°C)

114

116

Rated

Current

(A at 20°C)

0.23

0.21

0.29

0.31

0.42

228

5.2 SGM Servomotor

9) 100-VAC SGMP Servomotor Torque-Motor Speed Characteristics

• SGMP-01B (W) • SGMP-02B (W)

4000

Motor

Speed

(r/min)

3000

2000

1000

0 0

0.2

0.4

0.6

0.8

50 100

• SGMP-03B (W)

4000

Motor

Speed

(r/min)

3000

2000

1000

0 0

200

2 3

400

600

4000

Motor

Speed

(r/min)

3000

2000

1000

0.5

100

1 1.5

200

300

A: Continuous Duty Zone

B: Intermittent Duty Zone

229

SERVO SELECTION AND DATA SHEETS

5.2.2 Mechanical Characteristics

5.2.2 Mechanical Characteristics

1) Allowable Radial Load, Allowable Thrust Load

The output shaft allowable loads for SGM and SGMP Servomotor are shown below.

Conduct mechanical design such that the thrust loads and radial loads do not exceed the values stated below.

Servomotor

Type

SGM-A3

SGM-A5

SGM-01

SGM-02

SGM-03

SGM-04

SGM-08

SGMP-01

SGMP-02

SGMP-03

SGMP-04

SGMP-08

Allowable

Radial Load

Fr [N(lb)]

68 (15)

78 (17)

245 (55)

392 (88)

78 (17)

245 (55)

392 (88)

Allowable

Thrust Load

Fs [N(lb)]

54 (12)

74 (16)

147 (33)

49 (11)

68 (15)

147 (33)

LR mm

(in.)

20 (0.82)

25 (1.02)

35 (1.43)

20 (0.82)

25 (1.02)

35 (1.43)

Reference Diagram

Note The radial load and thrust load limit values are the sum of the loads generated by the motor torque and the external loads applied to the shaft.

230

5.2 SGM Servomotor

2) Mechanical Tolerance

The tolerances of the SGM and SGMP Servomotor output shaft and installation are shown in the table below.

Tolerance (T.I.R.)

Perpendicularity between flange face and output shaft

Mating concentricity of flange O.D.

Run-out at end of shaft

0.04mm

(0.0016in.)

0.04mm

(0.0016in.)

0.02mm

(0.00079in.)

Note T.I.R. = Total Indicator Reading

Reference Diagram

3) Direction of Motor Rotation

Positive rotation of the servomotor is counterclockwise, viewing from the load.

4) Impact Resistance

Vertical

Mount the servomotor with the axis horizontal.

The servomotor must withstand the following vertical impacts.

• Impact Acceleration: 98 m/s

2 (10 G)

• Number of Impacts: 2

Horizontal shaft

NOTE In SGM and SGMP Servomotors, an accurate detector is attached to the shaft at the opposite end from the load.

Avoid applying impacts directly to the shaft as these may damage the detector.

5) Vibration Resistance

Mount the servomotor with the axis horizontal.

The servomotor must withstand the following vibration accelerations in three directions: vertical, transverse, and longitudinal.

Transverse

• Vibration Acceleration: 24.5 m/s

2 (2.5 G)

Longitudinal

Vertical

Horizontal shaft

231

SERVO SELECTION AND DATA SHEETS

5.2.2 Mechanical Characteristics cont.

6) Vibration Class

The SGM and SGMP Servomotors meet the following vibration class at rated speed.

• Vibration Class: 15µm or below

Vibration Measurement Position

232

TERMS

Vibration Class

Vibration class 15µm or below indicates that the total amplitude of vibration of the motor alone, running at rated speed, does not exceed 15µm.

5.3 Servopack Ratings and Specifications

5.3 Servopack Ratings and Specifications

This section presents tables of DR2 Servopack ratings and specifications separately for speed/torque control and for position control.

5.3.1

Ratings and Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.3.2

Power Consumption . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.3.3

Overload Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.3.4

Starting Time and Stopping Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.3.5

Load Inertia . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.3.6

Overhanging Loads . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

233

238

239

240

241

246

5.3.1 Ratings and Specifications

1) The ratings and specifications of the DR2 Servopack are shown below. Refer to them as required when selecting a Servopack.

Refer to the specifications listed for combination with the appropriate type of Servomotor.

2) Ratings and Specifications of DR2 Servopack for Speed/Torque Control

Voltage

Servopack Type

Max. Applicable Motor Capacity

W (HP)

Combined

S tions ifi

Motor Type

Motor

Capacity

W (HP)

DR2- A3AC

Rated/Max.

Motor Speed

Applicable encoder

Allowable Load

Inertia* 1

L kg¡m 2

(oz in s

−4

10 ) )

(0.04)

A3Aj

(0.04)

0.63

(8.80)

−

A5AC

(0.07)

A5Aj

(0.07)

3000/4500 r/min

0.78

(11.0)

−

01AC

100

(0.13)

02AC

200

(0.27)

04AC

400

(0.53)

01Aj 02Aj 04Aj

100

200 VAC

(0.13)

1.20

(17.0)

1.95

(27.6)

200

(0.27)

3.69

(52.2)

6.27

(88.8)

400

(0.53)

5.73

(81.1)

10.41

(147.4)

08AC

750

(1.01)

08Aj

750

(1.01)

20.1

(284.6)

18.5

(262.0)

A3BC

(0.04)

Incremental encoder 2048 P/R, absolute encoder 1024 P/R

−

A5BC

(0.07)

−

100 VAC

01BC

100

(0.13)

02BC

200

(0.27)

03BC

300

(0.40)

A3Bj A5Bj 01Bj 02Bj 03Bj

(0.04)

0.63

(8.80)

(0.07)

3000/4500 r/min

0.78

(11.0)

100

(0.13)

1.20

(17.0)

1.95

(27.6)

200

(0.27)

3.69

(52.2)

6.27

(88.8)

300

(0.40)

5.73

(81.1)

10.41

(147.4) SGM (Upper)/

SGMP (Lower)

Max. Output Current

Continuous Output

Current A (rms)* 9

Max. Output Current

A (rms)

1.3

0.42

1.3

1.9

0.60

1.9

2.8

0.87

(0.89)

2.8

6.0

2.0

6.0

8.0

2.6

8.0

13.9

4.4

(4.1)

13.9

2.0

0.63

2.0

2.9

0.90

2.9

7.1

2.2

7.1

8.4

2.7

8.4

14.8

3.7

(4.3)

14.8

233

SERVO SELECTION AND DATA SHEETS

5.3.1 Ratings and Specifications cont.

Basic p

Voltage

Servopack Type

Max. Applicable Motor Capacity

W (HP)

Power Supply

(Main/control circuit)

200 VAC

Single-phase 200 to 230 VAC+10% to −15%,

50/60Hz

Single-phase 100 to 115 VAC+10% to

−15%* 2 , 50/60Hz

100 VAC

DR2- A3AC A5AC 01AC 02AC 04AC 08AC A3BC A5BC 01BC 02BC 03BC

(0.04)

(0.07)

100

(0.13)

200

(0.27)

400

(0.53)

750

(1.01)

(0.04)

(0.07)

100

(0.13)

200

(0.27)

300

(0.40)

Control Method

Ambient/Storage Humidity

Single-phase, full-wave rectification IGBT-PWM (sine-wave driven)

Feedback

Location

Incremental encoder 2048 P/R, absolute encoder 1024 P/R

Ambient Temp.

0 to +55°C* 3

Storage Temp.

−20 to +85°C

90% or less (non-condensing)

Structure

Vibration/Shock

Resistance

Approx. Mass

0.5/2G

Rack-mounted* 7 kg (lb) 2.5 (5.51) 3.7 (8.16) 2.5 (5.51) 3.7 (8.16)

Performance

Input

Signal

I/O

Si l

Speed Control Range* 4

Speed g l ti *

Load

Regulation

Voltage

Regulation

Temperature

Regulation

Frequency

Characteristics

1:5000

0% to 100%:0.01% max. (at rated speed)

+10% to -15%: 0.01% max. (at rated speed)

25¦25°C: ¦0.2% max. (at rated speed)

250 Hz (at J

)

Torque Control

(Repeatability)

¦ 2.0%

Accel/Decel Time Setting 0 to 10 s

Speed

Refer-

Rated Reference Voltage

6 VDC (positive motor rotation with positive reference) at rated speed (factory setting)

Variable setting range: ¦2 to ¦10 VDC at rated torque

Input

Impedance

Approx. 30kΩ

Approx. 330µs

Torque

Refer-

Circuit Time

Constant

Rated Reference Voltage

¦ 3 VDC (positive motor rotation with positive reference) at rated speed (factory setting)

Variable setting range: ¦1 to ¦10 VDC at rated torque

Approx. 30kΩ Input

Impedance

Circuit Time

Constant

Approx. 330µs

Posii

Output

Output Form

Frequency

Dividing Ratio

A-, B-, C-phase line driver* 8

(16 to N) /N (N=2048, 1024)* 6

Sequence Input

Sequence Output

Dynamic Brake

External Regenerative Unit

Overtravel

Protective Functions

Servo ON, P drive (or motor forward/reverse by torque control, zero-clamp drive reference, or internal setting speed), forward run stop (P-OT), reverse run stop (N-OT), current limit + selection

(or internal speed selection), current limit − selection (or internal speed selection), alarm reset

Torque limit detection (or speed coincidence) , motor running output (or external brake interlock), servo ready, servo alarm, 3-bit alarm codes

Operated at main power OFF, servo alarm or overtravel.

Required when exceeding the allowable load inertia* 1

Dynamic brake stop at P-OT or N-OT or deceleration stop

Overcurrent, overload, overvoltage, overspeed, reference input read error, overrun prevention, origin error, CPU error, encoder error, fuse blown

234

Indicators

Others

5.3 Servopack Ratings and Specifications

Power (green LED) and status/alarm (red, 7-segment LEDs)

Digital operator: status/alarm (red, 7-segment LEDs ×5)

Torque control, zero clamp operation (position loop stop}, soft start/stop, speed coincidence, brake interlock signal output, reverse run connection, JOG run, auto-tuning

* 1 Allowable load inertia ranges require no optional regenerative unit (applicable to

200V 30W to 200W) or external regenerative resistor (applicable to 100V 200W,

300W or 200V 400W, 750W). Values are when motor speed is 3000r/min max. If load inertias exceed these ranges, restrict the operation or use a regenerative unit (applicable to 200V 30W to 200W) or external regenerative resistor (applicable to 100V

200W, 300W or 200V 400W, 750W).

For details, refer to 5.3.5 Load Inertia.

* 2 Supply voltage should not exceed 230 V + 10% (253 V) or 115 V + 10% (127 V). A step-down transformer is required if the voltage should exceed these values.

* 3 Use within the ambient temperature range. When enclosed in a box, the internal temperatures must not exceed the ambient temperature range.

* 4 The lowest speed of the speed control range is the speed at which the motor does not stop under 100% load.

* 5 Speed regulation is defined as follows:

Speed regulation =

No-load-speed – Full-load-speed

Rated speed

× 100%

The motor speed may change due to voltage variations or amplifier drift and changes in processing resistance due to temperature variation.

These ratios of the speed changes to the rated speed represent the speed regulation due to voltage and temperature variations.

* 6 N is the number of encoder pulses.

* 7 Base mount can be available as an option (DR2-jjY7).

* 8 Open collector output can be available as an option (DR2-jjY1).

* 9 Values in parenthesis show SGMP type Servomotor.

235

SERVO SELECTION AND DATA SHEETS

5.3.1 Ratings and Specifications cont.

3) Ratings and Specifications of DR2 Servopack for Position Control

Voltage

Servopack Type

Max. Applicable Motor Capacity

W (HP)

200 VAC 100 VAC

DR2- A3AC A5AC 01AC 02AC 04AC 08AC A3BC A5BC 01BC 02BC 03BC

(0.04)

(0.07)

100

(0.13)

200

(0.27)

400

(0.53)

750

(1.01)

(0.04)

(0.07)

100

(0.13)

200

(0.27)

300

(0.40)

Combined

S tions ifi

Combined p

Basic p

Performance

Input g

I/O

Signals

Motor Type

Motor Capacity

W (HP)

Rated/ Max.

Motor Speed

Applicable encoder

Allowable Load

Inertia* 1 kg¡m 2

(oz¡in¡s

−4

) )

A3Aj A5Aj

(0.04)

3000/4500 r/min 3000/4500 r/min

Incremental encoder 2048 P/R, absolute encoder 1024 P/R

0.63

(8.80)

(0.07)

0.78

(11.0)

01Aj

100

(0.13)

1.20

(17.0)

02Aj

200

(0.27)

3.69

(52.2)

04Aj

400

(0.53)

5.73

(81.1)

08Aj

750

(1.01)

20.1

(284.6)

A3Bj A5Bj 01Bj 02Bj 03Bj

(0.04)

0.63

(8.80)

(0.07)

0.78

(11.0)

100

(0.13)

1.20

(17.0)

200

(0.27)

3.69

(52.2)

300

(0.40)

5.73

(81.1)

SGM (Upper)/

SGMP (Lower)

− −

1.95

(27.6)

6.27

(88.8)

10.41

(147.4)

18.5

(262.0) − −

1.95

(27.6)

6.27

(88.8)

10.41

(147.4)

Continuous Output

Current* 7

Max. Output Current

Power Supply

(Main/control circuit)

0.42

1.3

0.6

1.9

0.87

(0.89)

2.8

2.0

6.0

2.6

8.0

Single-phase 200 to 230 VAC, +10% to −15%,

50/60 Hz* 2

4.4

(4.1)

13.9

0.63

0.90

2.2

2.7

3.7

(4.3)

2.0

2.9

7.1

8.4

14.8

Single-phase 100 to 115 VAC* 2

−15%, 50/60 Hz

, +10% to

Control Method Single-phase, full-wave rectification IGBT-PWM (sine-wave driven)

Feedback

Location

Ambient Temp.

0 to 55°C* 3

Storage Temp.

Incremental encoder 2048 P/R, absolute encoder 1024 P/R

−20°C to +85°C

Ambient/Storage Humidity

90% or less (with no condensation)

Structure

Vibration/Shock

Resistance

Approx. Mass

Bias Setting kg (lb)

0.5/2G

Rack-mounted*

2.5 (5.51)

3.7 (8.16)

0 to 450 r/min. (Setting resolution: 1 r/min.)

Feed Forward

Compensation

0 to 100% (Setting resolution: 1%)

Position Complete Width

Setting

2.5 (5.51)

0 to 250 reference units.

Reference unit: minimum unit of position data which moves load

Reference

Type

3.7 (8.16)

SIGN + PULSE train, 90° phase difference 2-phase pulse, (A-phase+B-phase), CCW pulse+CW pulse

Line driver (+5 V level), open collector (+5 V or +12 V level)

0 to 450 kpps

Pulse Form

Pulse

Frequency

Control Signal

Position

Output

Output Form

Frequency

Dividing Ratio

CLEAR (input pulse form identical to reference pulse)

A-, B-, C-phase line driver* 6

(16 to N) /N (N=2048, 1024)* 4

Sequence Input

Sequence Output

Dynamic Brake

External Regenerative Unit

Servo ON, P drive (or motor forward/reverse by internal speed setting), forward run stop (P-OT), reverse run stop (N-OT), alarm reset, current limit + selection (or internal speed selection), current limit − selection (or internal speed selection)

Positioning complete, motor running output (or external brake interlock), servo ready, servo alarm,

3-bit alarm codes

Operated at main power OFF, servo alarm or overtravel.

Required when exceeding the allowable load inertia

236

Overtravel

Protective Functions

Indicators

Others

5.3 Servopack Ratings and Specifications

Dynamic brake stop at P-OT or N-OT or deceleration stop

Overcurrent, overload, overvoltage, overspeed, overrun prevention, origin error, CPU error, encoder error, overflow, fuse blown, undervoltage

Power (green LED) and status/alarm (red, 7-segment LEDs)

Digital operator: status/alarm (red, 7-segment LEDs ×5)

Brake interlock signal output, reverse run connection, JOG run, electronic gear, auto-tuning

* 1 Allowable load inertia ranges require no optional external regenerative unit (applicable to 200V 30W to 200W) or external regenerative resistor (applicable to 100V 200W,

200W, 300W or 200V 400W, 750W).

For details, refer to 5.3.5 Load Inertia.

* 2 Supply voltage should not exceed 230 V + 10% (253 V) or 115 V + 10% (127 V). A step-down transformer is required if the voltage should exceed these values.

* 3 Use within the ambient temperature range. When enclosed in a box, the internal temperatures must not exceed the ambient temperature range.

* 4 N is the number of encoder pulses.

* 5 Base mount can be available as an option (DR2-jjY7).

* 6 Open collector output can be available as an option (DR2-jjY1).

* 7 Values in parenthesis show SGMP type Servomotor.

237

SERVO SELECTION AND DATA SHEETS

5.3.2 Power Consumption

5.3.2 Power Consumption

Supply Voltage

200V

Servopack

Type DR2-

Output Current

(Effective

Value)

0.42

Main Circuit

2.9

Supply Voltage

100V

A3Aj

(30W-0.04HP)

A5Aj

(50W-0.07HP)

01Aj

(100W-0.13HP)

02Aj

(200W-0.27HP)

04Aj

(400W-0.53HP)

08Aj

(750W-1.01HP)

A3Bj

(30W-0.04HP)

A5Bj

(50W-0.07HP)

01Bj

(100W-0.13HP)

02Bj

(200W-0.27HP)

03Bj

(300W-0.40HP)

0.6

0.87

2.0

2.6

4.4

0.63

0.90

2.2

2.7

3.7

4.2

6.3

14.5

22.2

36.1

2.9

4.4

12.0

16.2

20.1

Power Loss W

Regenerative

Resistor

Control Circuit

<Total>

Power Loss

15.9

−

17.2

19.3

27.5

41.2

55.1

15.9

17.4

25.0

35.2

39.1

Note Power loss of regenerative resistor shows the allowable loss. If this value is exceeded, remove the built-in regenerative resistor inside the Servopack and install a resistor externally.

Before installing an external regenerative resistor, contact your Yaskawa representative.

238

5.3 Servopack Ratings and Specifications

5.3.3 Overload Characteristics

The Servopack has a built-in overload protective function to protect the Servopack and Servomotor from overload. Therefore, the Servopack allowable power is limited by the overload protective function, as shown below.

The overload detection level is quoted under hot start conditions at a motor ambient temperature of 40°C.

Operating Time (s)

Motor Rated Current (%)

Overload Characteristics

TERMS

Hot Start

Indicates that both Servopack and Servomotor have run long enough at rated load to be thermally saturated.

239

SERVO SELECTION AND DATA SHEETS

5.3.4 Starting Time and Stopping Time

5.3.4 Starting Time and Stopping Time

1) The motor starting time (tr) and stopping time (tf) under constant load are calculated by the following formulas. The motor viscous torque and friction torque are ignored.

Starting Time: tf = 104.7 ×

M t·

+ J

(α–β)

)

[ms]

Stopping Time: tf = 104.7 ×

K t

·I

+ J

(α + β)

)

[ms]

: Motor rated speed (r/min.)

K t

: Motor moment of inertia (kg¡m 2 =lb¡in¡s

: Motor torque constant (N¡m/A=lb¡in/A)

2 ) . . .

(GD

: Load converted to shaft moment of inertia (kg¡m 2 )

. .

/4)

(GD 2

/4)

: Motor rated current (A)

α=I

[where I

β=I

: Accel/decel current coefficient is accel/decel current (accel/decel current is α times the motor rated current) (A)]

]: Load current coefficient

]: Load torque equivalent current (load current is β times the motor rated current) (A)]

Motor Current

Time

Motor Speed

Motor Current (size) - Motor Speed Timing Chart

Time

240

5.3 Servopack Ratings and Specifications

5.3.5 Load Inertia

1) The larger the load inertia becomes, the worse the movement response of the load.

The size of the load inertia [J

] allowable when using a Servomotor depends on the motor capacity, as shown in the diagrams below.

• Small Load Inertia

Motor Load Motor

Load

• Large Load Inertia

Motor

Load

Motor Load

241

SERVO SELECTION AND DATA SHEETS

5.3.5 Load Inertia cont.

a) SGM Servomotors

200-VAC Servomotors with incremental encoder

Load Inertia kg¡m 2

(oz¡in¡s 2

−4

10 −3 )

0.63

(8.92)

30W

(0.04HP)

Load Inertia kg¡m 2

(oz¡in¡s 2

−4

10 −3 )

(51.2)

(0.27HP)

2.83

( 40.1 )

Load Inertia kg¡m 2

¢ 10

(oz¡in¡s 2

−4

10 −3 )

Motor Speed

(11.0)

(0.07HP)

Load Inertia kg¡m 2

¢ 10

(oz¡in¡s 2

−4

10 −3 )

5.73

(81.1 )

Motor Speed

400W

(0.53HP)

Load Inertia kg¡m 2

(oz¡in¡s 2

−4

10 −3 )

Motor Speed

(17.0)

(0.13HP)

Motor Speed

Load Inertia kg¡m 2

(oz¡in¡s 2

−4

10 −3 )

20.1

(284.6 )

0 3000

Motor Speed

4500 (r/min)

(1.01HP)

4.50

(63.7 )

Motor Speed

Note 1 The above diagrams represent deceleration under maximum torque. Applying an acceleration/deceleration curve to the reference allows operation outside the range of the diagrams. (That is, characteristics change according to pattern of operation and load )conditions.

2 As for 400W and 750W types, make sure not to perform frequent accel/decel, since regenerativeresistor is incorporated inside the Servopack.

242

5.3 Servopack Ratings and Specifications b) SGM Servomotors

100-VAC Servomotors with incremental encoder

Load Inertia kg¡m 2

(oz¡in¡s

−4

10 −3 )

0.63

(8.21)

30W

(0.04HP)

Load Inertia kg¡m 2

(oz¡in¡s 2

−4

10 −3 )

3.69

(52.3 )

200W

(0.27HP)

Load Inertia kg¡m 2

¢ 10

(oz¡in¡s

−4

10 −3 )

Motor Speed

(11.0)

(0.07HP)

Load Inertia kg¡m 2

¢ 10

(oz¡in¡s 2

−4

10 −3 )

5.73

(81.1 )

3000

Motor Speed

4500

300W

(0.53HP)

0 3000

Motor Speed

4500

Load Inertia kg¡m 2

(oz¡in¡s

−4

¢ 10 −3 )

Motor Speed

(17.0)

(0.13HP)

Motor Speed

Note 1 The above diagrams represent deceleration under maximum torque. Applying an acceleration/deceleration curve to the reference allows operation outside the range of the dia grams. (That is, characteristics change according to pattern of operation and load condi− tions).

2 As for 200W and 300W types, make sure not to perform frequent accel/decel, since re− generative resistor is incorporated inside the Servopack.

243

SERVO SELECTION AND DATA SHEETS

5.3.5 Load Inertia cont.

c) SGMP Servomotors

200-VAC Servomotors with incremental encoder

Load Inertia kg¡m ¢ 10

(oz¡in¡s 2

−4

10 −3 )

Load Inertia kg¡m ¢ 10

(oz¡in¡s 2

10 −3 )

(0.13HP)

1.95

(27.6)

6.27

(88.8 )

Load Inertia kg¡m 2

(oz¡in¡s 2

−4

10 −3 )

Motor Speed

10.41

(147.4 )

400W

(0.53HP)

200W

(0.27HP)

Load Inertia kg¡m 2

(oz¡in¡s 2

−4

10 −3 )

2.65

(37.5 )

0 3000

Motor Speed

4500

18.5

(262.0 )

750W

(1.01HP)

0 3000

Motor Speed

4500

2.95

(41.8 )

0 3000

Motor Speed

4500

Note 1 Diagrams above represent deceleration under maximum torque. Applying an acceleration/ deceleration curve to the reference allows operation outside the range of the diagrams.

(That is, the characteristics change according to pattern of operation and load conditions).

2 As for 400W and 750W types, make sure not to perform frequent accel/decel, since regenerative resistor is incorporated inside the Servopack.

244

Load Inertia kg¡m ¢ 10

(oz¡in¡s 2

10 −3 ) d) SGMP Servomotors

100-VAC Servomotors with incremental encoder

Load Inertia kg¡m ¢ 10

(oz¡in¡s 2

10 −3 )

(0.13HP)

1.95

(27.6 )

6.27

(88.8 )

5.3 Servopack Ratings and Specifications

200W

(0.27HP)

0 3000

Motor Speed

4500

Load Inertia kg¡m 2

(oz¡in¡s 2

−4

10 −3 )

Motor Speed

10.41

(147.4 )

300W

(0.53HP)

0 3000

Motor Speed

4500

Note 1 Diagrams above represent deceleration under maximum torque. Applying an acceleration/ deceleration curve to the reference allows operation outside the range of the diagrams.

(That is, the characteristics change according to pattern of operation and load conditions).

2 As for 200W and 300W types, make sure not to perform frequent accel/decel, since regenerative resistor is incorporated inside the Servopack.

245

SERVO SELECTION AND DATA SHEETS

5.3.6 Overhanging Loads

2) An overvoltage alarm is likely during deceleration if the load inertia exceeds the range of the diagrams. Take one of the countermeasures below.

a) Reduce the torque limit value.

b) Reduce the deceleration rate.

c) Reduce the maximum speed used.

d) Add a regenerative unit (applicable to 200V 30W to 200W) or external regenerative resistor (applicable to 100V 200W, 300W or 200V 400W, 750W).

5.3.6 Overhanging Loads

1) A Servomotor may not be operated under an overhanging load, that is a load which tends to continually rotate the motor.

Under an overhanging load (e.g. when the direction of the torque applied by the motor is opposite from the direction of shaft rotation), the Servopack regenerative brake is applied continuously and the regenerative energy of the load may exceed the allowable range and damage the Servopack.

The regenerative brake capacity of the DR2 Servopack is rated for short-time operation, approximately equivalent to the deceleration stopping time.

• Overhanging Load Example 1: Motor drive for vertical axis, using no counterweight

Motor

246

• Overhanging Load Example 2: Tension control drive

Tension

Motor

Motor subject to be rotated from feed motor to keep applied tension.

5.4 Σ-Series Dimensional Drawings

5.4 Σ-Series Dimensional Drawings

This section presents dimensional drawings of the Σ-Series Servomotor, Servopack, and Digital Operator.

5.4.1

Servomotor Dimensional Drawings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.4.2

Servomotor Dimensional Drawings

(TÜV approved, conforming to the machine instructions) . . . . . . . . . . . . . .

5.4.3

Servopack Dimensional Drawings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.4.4

Digital Operator Dimensional Drawing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

247

289

329

334

5.4.1 Servomotor Dimensional Drawings

1) The dimensional drawings of the SGM Servomotors are broadly grouped into the following four categories.

a) Incremental encoder, no brake (from page 248) b) Incremental encoder, with brake (from page 253) c) Absolute encoder, no brake (from page 258) d) Absolute encoder, with brake (from page 264)

Motor capacities are available as 30 W (0.04 HP), 50 W (0.07 HP), 100 W (0.13 HP), 200

W (0.27 HP), 300 W (0.40 HP), 400 W (0.53 HP), 750 W (1.01 HP). These are grouped into three categories, as follows:

• 30W (0.04 HP), 50W (0.07 HP), 100W (0.13 HP)

• 200W (0.27 HP), 300W (0.40 HP), 400W (0.53 HP)

• 750W (1.01 HP)

• As for the dimensional drawings of SGMP servomotors, see from the page 269 on.

• As for the dimensional drawings of TÜV approved SGM servomotors, see from the page 289 on.

• As for the dimensional drawings of TÜV approved SGMP servomotors, see from the page 309 on.

247

SERVO SELECTION AND DATA SHEETS

5.4.1 Servomotor Dimensional Drawings cont.

(1) SGM Servomotor

Incremental encoder, no brake (Type SGM-jjj31j)

• 30W (0.04 HP), 50W (0.07 HP),100W (0.13 HP)

Encoder Lead

UL2854

300 30 (11.811.18)

35 (1.38)

Encoder Plug

Protective Tube

(Black)

33 (1.30)

6.5

(0.26)

Motor Lead UL1828 or UL3534

30030

(11.811.18)

(0.16)

9.5 (0.37)

5 (0.20)

(0.98)

2.5

(0.10)

Motor Plug

(0.0016)

0.04

(0.0008)

φ0.02

0 -0.21

0 -0.0008

φ46

(φ1.81)

Incremental Encoder

2048 P/R

Cross-section Y-Y

40 (1.57)

Screw

A (0.0008)

0.02

Shaft end screw hole

(SGM-jjA(B)316, with key type only)

2φ 4.3 ( φ 0.17)

MTG Holes

Type

SGM-

L LL LM S QK U W T Screw dimensions

Output

(HP)

Approx.

mass kg

(lb)

0.3

(0 66)

Allowable radial load

N (lb)

Allowable thrust load

N (lb)

(15.3)

(12 1)

A3A312 94.5

69.5

(2 )

A3A314

A3B314

A3A316

A3B316

A5A312 102.0

77.0

(3 03)

A5A314

A5B314

A5A316

A5B316

01A312 119.5

01B312

( 0)

01A314

01B314

01A316

01B316

94.5

36.5

44.0

(1 3)

61.5

(2 2)

)

(0 2 )

(0 31)

14 1.2

(0 0 )

(0 08)

1.2

(0 0 )

1.8

(0 0 )

(0 08)

(0 12)

(0 08)

(0 12)

−

M2.5

depth 5

(0.20)

−

M2.5

depth 5

(0.20)

−

M3 depth 6

(0.24)

100

0.4

(0 88)

0.5

(1 10)

(17.5)

248

5.4 Σ-Series Dimensional Drawings

Note 1) The detector uses an incremental encoder 2048 P/R.

2) Type “A” indicates 200 V specification, and type “B” indicates 100 V specification.

3) “A3A(B)314”, “A3A(B)316”, “A5A(B)314”, “A5A(B)316” “01A(B)314” and “01A(B)316” have a keyed shaft. The keyway complies with JIS B 1301-1976 (precision). A straight key is supplied.

4) The quoted allowable radial load is the value at a position 20 mm (0.79 in.) from the motor mounting surface.

• 200 W (0.27 HP), 300 W (0.40 HP), 400 W (0.53 HP)

Encoder Lead

Encoder Plug

Protective Tube (Black)

Motor Lead (Teflon wire) AWG22

UL1828 or UL3534 Motor Plug

Screw

Cross-section Y-Y

4−R5.3

60 (2.36)

φ70

(φ2.76)

Incremental Encoder

2048 P/R

Shaft end screw hole

(SGM-jjA(B)316, with key type only)

4-φ5.5

(φ0.22)

MTG Holes

249

SERVO SELECTION AND DATA SHEETS

5.4.1 Servomotor Dimensional Drawings cont.

Type

SGM-

L LL LM QK U W T Screw dimensions

Out put

(HP)

200

Approx.

mass kg

(lb)

1.1

(2 3)

Allowable radial load

N (lb)

Allowable thrust load

N (lb)

245

(55.1)

(16 6)

02A312 126.5

96.5

(3 80)

62.5

(2 6)

−

02A314

02B314

02A316

02B316

03B312 154.5

124.5

( 90)

90.5

(3 6)

No key

03B314 (6.08) (4.90) (3.56) 20

03B316

(6 08)

(0 9)

(0 12)

04A312 154.5

124.5

( 90)

90.5

(3 6)

No key

04A314 (6.08) (4.90) (3.56) 20

04A316

(6 08)

(0 9)

(0 20)

M5, d

, h 8 (0 31)

−

(0 12)

(0 20)

(0 20) depth 8 (0.31)

−

(0 12)

(0 20)

(0 20) depth 8 (0.31)

300

400

1.7

(3 )

)

Note 1) The detector uses an incremental encoder 2048 P/R.

2) Type “A” indicates 200 V specification, and type “B” indicates 100 V specification.

3) “02A(B)314”, “02A(B)316” “03B314”, “03B316”, “04A314” and “04A316” have a keyed shaft. The keyway complies with JIS B 1301-1976 (precision). A straight key is supplied.

4) The quoted allowable radial load is the value at a position 25 mm (0.98 in.) from the motor mounting surface.

250

5.4 Σ-Series Dimensional Drawings

• 750 W (1.01 HP)

Protective Tube (Black)

Encoder Lead

Motor Lead (Teflon wire)

AWG20 UL1828 or UL3534

Encoder Plug

Motor Plug

Screw

0 -0.01

0 -0.0004

Cross-section Y-Y

80 (3.15)

φ 90

( φ 3.54)

4-φ7 (φ0.28)

MTG Holes 4−R8.2

Shaft end screw hole

(SGM08 A316, with key type only)

Incremental Encoder

Type

SGM-

QK U W T Screw dimensions

08A312 No key −

08A314 30

08A316

(1 18)

(0 12)

(0 20)

(0 20) depth

8(0.31)

Output

(HP)

750

(1.01)

Approx.

mass kg

(lb)

3.4

(7.50)

Allowable radial load

N (lb)

Allowable thrust load

N (lb)

Note 1) The detector uses an incremental encoder 2048 P/R.

2) Type “A” indicates 200 V specification.

3) “08A314” and “08A316” have a keyed shaft. The keyway complies with JIS B 1301-1976

(precision). A straight key is supplied.

4) The quoted allowable radial load is the value at a position 35 mm (1.38 in.) from the motor mounting surface.

251

SERVO SELECTION AND DATA SHEETS

5.4.1 Servomotor Dimensional Drawings cont.

• Details of Motor and Encoder Plugs (Common for 30 W (0.04 HP) to 750 W (1.01 HP)

Motor Plug

Plug : 172167-1 (AMP)

Pin: 170360-1 or 170364-1

(170359-1 or 170363-1: 30, 50, or

100 W only)

Connected to

Cap: 172159-1

Socket: 170362 -1 or 170366-1

Motor Wiring Specifications

U phase

V phase

W phase

Red

White

Blue

Green

Encoder Plug

Plug: 172169-1 (Made by AMP)

Pin: 170359-1 or 170363-1

Connected to

Cap :172161-1

Socket: 170361-1 or 170365-1

Incremental Encoder Wiring Specifications

A channel output

B channel output

C channel output

Blue

Blue/Black

Yellow

Yellow/Black

Green

C channel output

0V (power supply)

Green/Black

Gray

+5V (power supply) Red

FG (Frame Ground) Orange

252

5.4 Σ-Series Dimensional Drawings

(2) SGM Servomotor

Incremental encoder, with brake (Type SGM-jjj31jB)

• 30W (0.04 HP), 50W (0.07 HP), 100W (0.13 HP)

Encoder Lead

30030 (11.811.18)

35 (1.38)

Encoder Plug

6.5

(0.26)

Motor Lead UL1828 or UL3534

Protective Tube

(Black)

33 (1.30)

(0.16)

Brake Lead

Motor Plug

9.5 (0.37)

5 (0.20)

(0.98)

2.5 (0.10)

(0.0016)

0.04 A

0 -0.21

0 -0.0008

(0.0008)

φ 0.02

Screw

Cross-section Y-Y

40 (1.57)

φ46

(φ1.81)

Incremental Encoder

2048 P/R

Holding Brake

(Deenergisation Operation)

Voltage: 90 VDC, Dissipated current (Reference): 0.08 A

Brake Holding Torque

= Motor Rated Torque

A (0.0008)

0.02

Shaft end screw hole

(SGM-jjA(B)316B, with key type only)

2-φ4.3 (φ0.17)

MTG Holes

Type

SGM-

L LL LM LB S QK U W T Screw dimensions

Output

(HP)

Approx.

mass kg

(lb)

Allowable radial load

N (lb)

Allowable thrust load

N (lb)

( )

(15.3)

(12.1)

A3A312B 126.0

A3B312B (4.96)

A3A314B

A3B314B

A3A316B

A3B316B

A5A312B 133.5

A5B312B (5.26)

A5A314B

A5B314B

A5A316B

A5B316B

01A312B 160.0

01B312B (6.30)

01A314B

01B314B

01A316B

01B316B

101.0

(3.98)

36.5

(1 44)

31.5

(1 24)

(0 24)

108.5

(4.27)

44.0

(1 73)

31.5

(1 24)

(0 24)

135.0

(5.31)

61.5

(2 42)

40.5

(1 59)

(0 31)

(0.55)

1.2

(0 05)

(0 08)

(0.55)

1.2

(0 05)

(0 08)

(0.55)

1.8

(0 07)

(0 12)

− 30

(0.04)

M2.5, depth 5

(0.20)

− 50

(0.07)

M2.5, depth 5

(0.20)

− 100

(0.13)

M3, depth 6

(0.24)

( )

(17 5)

253

SERVO SELECTION AND DATA SHEETS

5.4.1 Servomotor Dimensional Drawings cont.

Note 1) The detector uses an incremental encoder 2048 P/R.

2) Type “A” indicates 200 V specification, and type “B” indicates 100 V specification.

3) “A3A(B)314B”, “A3A(B)316B”, “A5A(B)314B”, “A5A(B)316B”, “01A(B)314B” and

“01A(B)316B” have a keyed shaft. The keyway complies with JIS B 1301-1976 (precision). A straight key is supplied.

4) The quoted allowable radial load is the value at a position 20 mm (0.79 in.) from the motor mounting surface.

5) The electromagnetic brake is only to hold the load in position and cannot be used to stop the motor.

• 200 W (0.53 HP), 300 W (0.40 HP), 400 W (0.27 HP)

Encoder Lead

Motor Lead (Teflon wire) AWG22

UL1828 or UL3534

Protective Tube

(Black)

Encoder Plug

Motor Plug

Screw

Cross-section Y-Y

34 (1.34)

12 (0.47)

Brake Lead

60 (2.36)

4−R5.3

φ70

(φ2.76)

Incremental Encoder

2048 P/R

Holding Brake

(Deenergisation Operation)

Voltage: 90 VDC, Dissipated current (Reference): 0.1 A

Brake Holding Torque

= Motor Rated Torque

Shaft end screw hole

(SGM-jjA(B)316B, with key type only)

4-φ5.5

(φ0.22)

MTG Holes

254

5.4 Σ-Series Dimensional Drawings

Type

SGM-

04A312B

04A314B

04A316B

L LL LM QK U W

02A312B 166.0

136.0

( 3 )

62.5

(2 6)

02A314B

02B314B

02A316B

02B316B

03B312B 194.0

164.0

(6 6)

90.5

(3 6)

No key

03B314B (7.64) (6.46) (3.56) 20

03B316B

( 6 )

(0 9)

(0 12)

(0 20)

No key

20 3

(0 12)

(0 20)

T Screw dimensions

−

Output

(HP)

200

Approx.

mass kg

(lb)

1.6

(3 3)

Allowable radial load

N (lb)

Allowable thrust load

N (lb)

(

245

(55.1)

(16 6)

(0 20)

(0.31) p

−

(0 20)

M5, depth 8

(0.31)

−

(0 20)

M5, depth 8

(0.31)

300

400

(0.53)

2.2

( 8 )

Note 1) The detector uses an incremental encoder 2048 P/R.

2) Type “A” indicates 200 V specification, and type “B” indicates 100 V specification.

3) “02A(B)314B”, “02A(B)316B”, “03B314B”, “03B316B”, “04A314B” and “04A316B” have a keyed shaft. The keyway complies with JIS B 1301-1976 (precision). A straight key is supplied.

4) The quoted allowable radial load is the value at a position 25 mm (0.98 in.) from the motor mounting surface.

5) The electromagnetic brake is only to hold the load in position and cannot be used to stop the motor.

255

SERVO SELECTION AND DATA SHEETS

5.4.1 Servomotor Dimensional Drawings cont.

• 750 W (1.01 HP)

Encoder Lead

34 (1.34)

Motor Lead (Teflon wire) AWG22

UL1828 or UL3534

Protective Tube

(Black)

111 (4.37)

15 (0.59)

Brake

Lead

Encoder Plug

Motor Plug

Screw

Cross-section Y-Y

80 (3.15)

φ90

(φ3.54)

256

Incremental Encoder

2048 P/R

Holding Brake

(Deenergisation Operation)

Voltage: 90 VDC, Dissipated current (Reference): 0.15 A

Brake Holding Torque= Motor Rated Torque

4-φ7 (φ0.28)

MTG Holes 4−R8.2

Shaft end screw hole

(SGM08 A316B, with key type only)

Type

SGM-

QK U W T

08A312B No key

08A314B 30

( ) (

(

(0.12) ) (0.20) ) )

Screw dimensions

−

Output

(HP)

Approx.

mass kg

(lb)

(

750

(

4.3

(1.01) ) (9.48) )

M5, depth 8

(0.31)

Allowable radial load

N (lb)

Allowable thrust load

N (lb)

Note 1) The detector uses an incremental encoder 2048 P/R.

2) Type “A” indicates 200 V specification.

3) “08A314B” and “08A316B” have a keyed shaft. The keyway complies with JIS B

1301-1976 (precision). A straight key is supplied.

4) The quoted allowable radial load is the value at a position 35 mm (1.38 in.) from the motor mounting surface.

5) The electromagnetic brake is only to hold the load in position and cannot be used to stop the motor.

5.4 Σ-Series Dimensional Drawings

• Details of Motor and Encoder Plugs (Common for 30 W (0.04 HP) to 750 W (1.01 HP)

Motor Plug

Plug : 172168-1 (AMP)

Pin: 170360-1 or 170364-1

(17359-1 or 170363-1: 30, 50, or

100 W only)

Connected to

Cap: 172160-1

Socket: 170362 -1 or 170366-1

Motor Wiring Specifications

U phase

V phase

W phase

Brake terminal

Red

White

Blue

Green/Yellow

Red

Black

Encoder Plug

Plug: 172169-1 (AMP)

Pin: 170359-1 or 170363-1

Connected to

Cap :172161-1

Socket: 170361-1 or 170365-1

Incremental Encoder Wiring Specifications

A channel output

B channel output

C channel output

Blue

Blue/Black

Yellow

Yellow/Black

C channel output

0V (power supply)

Green

Green/Black

Gray

+5V (power supply) Red

FG (Frame Ground) Orange

257

SERVO SELECTION AND DATA SHEETS

5.4.1 Servomotor Dimensional Drawings cont.

(3) SGM Servomotor

Absolute encoder, no brake (Type SGM-jjjW1j)

• 30 W (0.04 HP), 50 W (0.07 HP), 100 W (0.13 HP)

Encoder Lead

UL20276

30030 (11.811.18)

35 (1.38)

Motor Lead (Teflon wire) AWG24

UL1828 or UL3534

Protective Tube (Black)

Encoder Plug

Motor Plug

56 (2.20)

(0.28)

Screw

30030 (11.811.18)

9.5 (0.37)

(0.16)

5 (0.20)

(0.0016)

0.04 A

(0.98)

2.5 (0.10)

0 -0.21

(0.0008)

φ0.02

φ46

(φ1.81)

Cross-section Y-Y

40 (1.57)

4−R3.7

Absolute encoder

1024 P/R

(0.0008)

0.02

Shaft end screw hole

(SGM-jjA(B)W16, with key type only)

2-φ4.3

(φ0.17)

MTG Holes

Type

SGM-

L LL LM S QK U W T Screw dimensions

Output

(HP)

−−− 30

Approx.

mass kg

(lb)

0.45

(0 99)

Allowable radial load

N (lb)

Allowable thrust load

N (lb)

(15.3)

(12 1)

A3AW12 117.5

92.5

(3 6 )

A3AW14

A3BW14

A3AW16

A3BW16

A5AW12 125.0

100.0

(3 9 )

A5AW14

A5BW14

A5AW16

A5BW16

01AW12 142.5

117.5

( 63)

01AW14

01BW14

01AW16

01BW16

36.5

(1 )

(0 2 )

44.0

(1 3)

61.5

(2 2)

(0 2 )

(0 31)

14 1.2

(0 0 )

(0 08)

14 1.2

(0 0 )

(0 08)

14 1.8

(0 0 )

(0 12)

(0 08)

(0 12)

M2.5, depth 5

(0.20)

−−− 50 0.55

(1 21)

M2.5, depth 5

(0.20)

−−− 100 0.65

(1 3)

M3, depth 6

(0.24)

(17.5)

258

5.4 Σ-Series Dimensional Drawings

Note 1) The detector uses a 12-bit absolute encoder 1024 P/R.

2) Type “A” indicates 200 V specification, and type “B” indicates 100 V specification.

3) “A3A(B)W14”, “A3A(B)W16”, “A5A(B)W14”, “A5A(B)W16”, “01A(B)W14” and

“01A(B)W16” have a keyed shaft. The keyway complies with JIS B 1301-1976 (precision). A straight key is supplied.

4) The quoted allowable radial load is the value at a position 20 mm (0.79 in.) from the motor mounting surface.

259

SERVO SELECTION AND DATA SHEETS

5.4.1 Servomotor Dimensional Drawings cont.

• 200 W (0.27 HP), 300W (0.40 HP), 400 W (0.53 HP)

Encoder Lead

UL20276

30030 (11.811.18)

35 (1.38) Encoder Plug

Screw

Motor Lead (Teflon wire) AWG24 UL1828 or UL3534

Protective Tube (Black) Motor Plug

55 (2.17)

8.5

(0.33)

30030 (11.811.18)

7.5

(0.30)

(0.47)

6 (0.24)

30 (1.18)

3 (0.12)

(0.0016)

0.04

0 -0.01

(0.0016)

φ0.04

Cross-section Y-Y

4−R5.3

60 (2.36)

φ70

(φ2.76)

0 -0.025

Absolute encoder

1024 P/R

A (0.0008)

0.02

Shaft end screw hole

(SGM-jjA(B)W16, with key type only)

4-φ5.5

(φ0.22)

MTG Holes

Type

SGM-

L LL LM QK U W T

−

Screw dimensions

Output

(HP)

200

Approx.

mass kg

(lb)

1.2

(2 6 )

Allowable radial load

N (lb)

Allowable thrust load

N (lb)

(

245

(55.1)

(16 6)

02AW12 147.5

02BW12

( 81)

02AW14

02BW14

02AW16

04AW12

04AW14

04AW16

117.5

62.5

(2 6)

20 3

(0 12)

02BW16

03BW12

03BW14

175.5

(6 91) (

145.5

90.5

(3 6)

No key

(6.91) (5.73) (3.56) 20

03BW16

(0 12)

No key

20 3

(0 12)

(0.20)

M5, depth 8

(0.31)

−

M5, depth 8

(0.31)

− 400

(0.53)

M5, depth 8

(0.31)

300 1.8

(3 9 )

260

5.4 Σ-Series Dimensional Drawings

Note 1) The detector uses a 12-bit absolute encoder 1024 P/R.

2) Type “A” indicates 200 V specification, and type “B” indicates 100 V specification.

3) “02A(B)W14”, “02A(B)W16”, “03BW14” “03BW16”, “04AW14” and “04AW16” have a keyed shaft. The keyway complies with JIS B 1301-1976 (precision). A straight key is supplied.

4) The quoted allowable radial load is the value at a position 25 mm (0.98 in.) from the motor mounting surface.

261

SERVO SELECTION AND DATA SHEETS

5.4.1 Servomotor Dimensional Drawings cont.

• 750 W (1.01 HP)

Encoder Lead

UL20276 30030 (11.811.18)

35 (1.38)

(0.39)

Motor Lead UL1828 or UL3534

Protective Tube (Black)

55 (2.17)

30030 (11.811.18)

10.4

(0.41)

206 (8.10)

166 (6.54)

111 (4.35)

(0.59)

Encoder Plug

Motor Plug

(0.0016)

0.04

(1.57)

0 -0.01

(0.31)

Screw

Cross-section Y-Y

(0.0016)

φ0.04

80 (3.15)

φ90

(φ3.54)

Absolute encoder

1024 P/R

Y 0 -0.030

(0.0008)

0.02

4-φ7 (φ0.28)

MTG Holes

4−R8.2

Shaft end screw hole

(SGM08 AW16, with key type only)

Type

SGM-

QK U

08AW12 No key

08AW14 30

( ) (

(0.12) ) (

W T

(

)

−

Screw dimensions

(

Output

(HP)

750

(1.01) )

Approx.

mass kg

(lb)

(

3.5

(7.72) )

Allowable radial load

N (lb)

Allowable thrust load

N (lb)

M5, depth 8

(0.31)

Note 1) The detector uses a 12-bit absolute encoder 1024 P/R.

2) Type “A” indicates 200 V specification.

3) “08AW14” and “08AW16” have a keyed shaft. The keyway complies with JIS B

1301-1976 (precision). A straight key is supplied.

4) The quoted allowable radial load is the value at a position 35 mm (1.38 in.) from the motor mounting surface.

262

5.4 Σ-Series Dimensional Drawings

• Details of Motor and Encoder Plugs (Common for 30 W (0.04 HP) to 750 W (1.01 HP)

Motor Plug

Plug : 172167-1 (AMP)

Pin: 170360-1 or 170364-1

(17359-1 or 170363-1: 30, 50, or

100 W only)

Connected to

Cap: 172159-1

Socket: 170362 -1 or 170366-1

U phase

V phase

W phase

Motor Wiring Specifications

Red

White

Blue

Green/Yellow

Encoder Plug

Plug: 172171-1 (AMP)

Pin: 170359-1 or 170363-1

Connected to

Cap :172163-1

Socket: 170361-1 or 170365-1

Incremental Encoder Wiring Specifications

(12)

A channel output

B channel output

Z channel output

0 V (power supply)

+5 V (power supply)

FG (Frame Ground)

S channel output

(Capacitor reset)

Reset

0V(battery)

3.6V(battery)

Blue

White/Blue

Yellow

White/Yellow

Green

White/Green

Gray

Red

Orange

Purple

White/Purple

(Gray)

White/Gray

White/Orange

Orange

* Terminal to discharge capacitor for product dispatch. Do not use.

263

SERVO SELECTION AND DATA SHEETS

5.4.1 Servomotor Dimensional Drawings cont.

(4) SGM Servomotor

Absolute encoder, with brake (Type SGM-jjjW1jB)

• 30 W (0.04 HP), 50 W (0.07 HP), 100 W (0.13 HP)

Encoder Lead

UL20276

30030 (11.811.18)

35 (1.38)

Encoder Plug U

Screw

Absolute encoder

1024 P/R

56 (2.20)

(0.28)

Motor Lead (Teflon wire) AWG24

UL1828 or UL3534

Protective

Tube (Black)

(0.16)

Brake Lead

Motor Plug

30030 (11.811.18)

(0.16)

9.5 (0.37)

5 (0.20)

25 (0.98)

2.5 (0.10)

(0.0016)

0.04 A

0 -0.21

(0.0008)

φ0.02

φ46

(φ1.81)

Cross-section Y-Y

40 (1.57)

4−R3.7

A (0.0008)

0.02

Holding Brake

(Deenergisation Operation)

Voltage: 90 VDC, Dissipated current (Reference): 0.08 A

Brake Holding Torque

= Motor Rated Torque

2-φ4.3

(φ0.17)

Shaft end screw

MTG Holes hole

(SGM-jjA(B)W16B, with key type only)

Type

SGM-

L LL LM LB S QK U W T

A3AW12B 149.0

124.0

( 88)

A3AW14B

A3BW14B

A3AW16B

A3BW16B

A5AW12B 156.5

131.5

( 18)

A5AW14B

A5BW14B

A5AW16B

A5BW16B

01AW12B 183.0

158.0

(6 22)

01AW14B

01BW14B

01AW16B

01BW16B

36.5

44.0

(1 3)

61.5

(2 2)

)

31.5

(1 2 )

40.5

(1 9)

(0 2 )

(0 31)

14 1.2

(0 0 )

(0 08)

14 1.2

(0 0 )

(0 08)

14 1.8

(0 0 )

(0 12)

Screw dimensions

−

Output

(HP)

Approx.

mass kg

(lb)

Allowable radial load

N (lb)

30 0.75

(1 6 )

(1 3)

Allowable thrust load

N (lb)

(12 1)

M2.5, depth 5

(0.20)

−

M2.5, depth 5

(0.20)

−

M3, depth 6

(0.24)

100

0.85

(1 8 )

0.95

(2 09)

(1 )

264

5.4 Σ-Series Dimensional Drawings

Note 1) The detector uses a 12-bit absolute encoder 1024 P/R.

2) Type “A” indicates 200 V specification, and type “B” indicates 100 V specification.

3) “A3A(B)W14B”, “A3A(B)W16B”, “A5A(B)W14B”, “A5A(B)W16B”, “01A(B)W14B” and

“01A(B)W16B” have a keyed shaft. The keyway complies with JIS B 1301-1976 (precision). A straight key is supplied.

4) The quoted allowable radial load is the value at a position 20 mm (0.79 in.) from the motor mounting surface.

5) The electromagnetic brake is only to hold the load in position and cannot be used to stop the motor.

• 200 W (0.27 HP), 300 W (0.40 HP), 400 W (0.53 HP)

Encoder Lead

UL20276

30030 (11.811.18)

35 (1.38)

Encoder Plug

Motor Lead (Teflon wire) AWG22 UL1828 or UL3534

55 (2.17)

8.5

(0.33)

Protective

Tube (Black)

39.5 (1.56)

5.3

(0.21)

Motor Plug

30030 (11.811.18)

7.5

(0.30)

(0.47)

6 (0.24)

30 (1.18)

3 (0.12)

(0.0016)

0.04

0 -0.01

(0.0016)

φ0.04

4−R5.3

Screw

Cross-section Y-Y

60 (2.36)

φ70

(φ2.76)

0 -0.025

Absolute encoder

1024 P/R

Holding Brake

(Deenergisation Operation) Voltage: 90 VDC,

Dissipated current (Reference): 0.1 A Brake Holding

Torque = Motor Rated Torque

(0.0008)

0.02

Shaft end screw hole

(SGM-jjA(B)W16B, with key type only)

4-φ5.5 (φ0.22)

MTG Holes

265

SERVO SELECTION AND DATA SHEETS

5.4.1 Servomotor Dimensional Drawings cont.

Type

SGM-

L LL LM QK U W T Screw dimensions

Output

(HP)

Approx.

mass kg

(lb)

(HP)

200

(0.27)

1.7

(3 )

Allowable radial load

N (lb)

(

245

(55.1)

02AW12B 187.0

157.0

(6 18)

62.5

(2 6)

−

02AW14B

02BW14B

02AW16B

20 3

(0 12)

(0 20)

02BW16B

M5, depth 8

(0.31)

03BW12B 215.0

185.0

( 28)

90.5

(3 6)

No key

03BW14B (8.46) (7.28) (3.56) 20

03BW16B

(8 6)

(0 79)

04AW12B

04AW14B

04AW16B

3 5

(0 20)

(0.20)

−

M5, depth 8

(0.31)

No key −

(0 9)

(0 12)

(0 20)

(0 20) depth 8

(0.31)

300

(0.40)

400

(0.53)

2.3

( 0 )

Allowable thrust load

N (lb)

(16.6)

Note 1) The detector uses a 12-bit absolute encoder 1024 P/R.

2) Type “A” indicates 200 V specification, and type “B” indicates 100 V specification.

3) “02A(B)W14B”, “02A(B)W16B”, “03BW14B”, “03BW16B”, “04AW14B” and “04AW16B” have a keyed shaft. The keyway complies with JIS B 1301-1976 (precision). A straight key is supplied.

4) The quoted allowable radial load is the value at a position 25 mm (0.98 in.) from the motor mounting surface.

5) The electromagnetic brake is only to hold the load in position and cannot be used to stop the motor.

266

5.4 Σ-Series Dimensional Drawings

• 750 W (1.01 HP)

(0.39)

30030 (11.811.18)

35 (1.38) Encoder Plug

Protective Tube (Black)

Encoder Lead

UL20276

55 (2.17) 44.5 (1.75)

2.8 (0.11)

Brake Lead

Motor Lead UL1828 or UL3534

Motor Plug

30030 (11.811.18)

10.4

(0.41)

250.5 (9.86)

210.5 (8.29)

111 (4.35)

(0.59)

(0.0016)

0.04

40 (1.57)

(0.12)

(0.31)

0 -0.01

Screw

Cross-section Y-Y

(0.0016)

φ0.04

80 (3.15)

φ90

(φ3.54)

Absolute encoder

1024 P/R

Holding Brake

(Deenergisation Operation)

Voltage: 90 VDC, Dissipated current (Reference): 0.15 A

Brake Holding Torque

= Motor Rated Torque

0 -0.030

A (0.0008)

0.02

4-φ7 (φ0.28)

MTG Holes

4−R8.2

Shaft end screw hole

(SGM08 AW16B, with key type only)

Type

SGM-

QK U W

08AW12B No key

) ( ) ( ) (

08AW16B

)

−

Screw dimensions

(lb)

M5, depth 8

(0.31)

(

Output

(HP)

750

(1.01) ) (

Approx.

mass kg

(lb)

4.5

Allowable radial load

(lb)

(

392

(88.1) )

Allowable thrust load

N (lb)

(

147

(33.0) )

Note 1) The detector uses a 12-bit absolute encoder 1024 P/R.

2) Type “A” indicates 200 V specification.

3) “08AW14B” and “08AW16B” have a keyed shaft. The keyway complies with JIS B

1301-1976 (precision). A straight key is supplied.

4) The quoted allowable radial load is the value at a position 35 mm (1.38 in.) from the motor mounting surface.

5) The electromagnetic brake is only to hold the load in position and cannot be used to stop the motor.

267

SERVO SELECTION AND DATA SHEETS

5.4.1 Servomotor Dimensional Drawings cont.

• Details of Motor and Encoder Plugs (Common for 30 W (0.04 HP) to 750 W (1.01 HP)

Motor Plug

Encoder Plug

Plug : 172168-1 (AMP)

Pin: 170360-1 or 170364-1

(17359-1 or 170363-1: 30, 50, or

100 W only)

Connected to

Cap: 172160-1

Socket: 170362 -1 or 170366-1

Plug: 172171-1 (AMP)

Pin: 170359-1 or 170363-1

Connected to

Cap :172163-1

Socket: 170361-1 or 170365-1

Motor Wiring Specifications

U phase

V phase

W phase

Brake terminal

Red

White

Blue

Green/Yellow

Red

Black

Incremental Encoder Wiring Specifications

(12)

A channel output

B channel output

Z channel output

0 V (power supply)

+5 V (power supply)

FG (Frame Ground)

S channel output

(Capacitor reset)

Reset

0V(battery)

3.6V(battery)

Blue

White/Blue

Yellow

White/Yellow

Green

White/Green

Black

Red

Green/Yellow

Purple

White/Purple

(Gray)

White/Gray

White/Orange

Orange

* Terminal to discharge capacitor for product dispatch. Do not use.

268

5.4 Σ-Series Dimensional Drawings

2) The dimensional drawings of the SGMP Servomotors are broadly grouped into the following four categories.

a) Incremental encoder, no brake (from page 270) b) Incremental encoder, with brake (from page 275) c) Absolute encoder, no brake (from page 280) d) Absolute encoder, with brake (from page 284)

Motor capacities are available as 100 W (0.13 HP), 200 W (0.27 HP), 300 W (0.40 HP) ,

400 W (0.53 HP), 750 W (1.01 HP). These are grouped into three categories, as follows:

• 100W (0.13 HP)

• 200W (0.27 HP), 300W (0.40 HP), 400W (0.53 HP)

• 750W (1.01 HP)

• As for the dimensional drawings of SGM servomotors, see from page 247 on.

• As for the dimensional drawings of TÜV approved SGM servomotors, see from the page 289 on.

• As for the dimensional drawings of TÜV approved SGMP servomotors, see from the page 309 on.

269

SERVO SELECTION AND DATA SHEETS

5.4.1 Servomotor Dimensional Drawings cont.

(1) SGMP Servomotor

Incremental encoder, no brake (Type SGM-jjj31j)

• 100 W (0.13 HP)

Encoder Lead

UL2854

Motor Lead

Encoder Plug

Motor Plug

Screw

Cross-section Y-Y

Hex. Nut

14 (0.55)

Sealant

5 Incremental Encoder 4-∅5.5

(4-∅0.22)

MTG Holes

Shaft end screw hole

(SGMP-01A(B)316, with key type only)

Type

SGMP-

L LL LM S QK U W T Screw dimensions

---

Output

(HP)

100

(0.13)

Approx.

mass kg

(lb)

Allowable radial load

N (lb)

Allowable thrust load

N (lb)

( )

(17.5)

(11.0)

01A312

01B312

(3 23)

(2.24)

42.5

(1 6 )

(0 31)

01A314

01B314

01A316

01B316

(0.55)

1.8

(0 0 )

(0 12)

M3, depth 6

(0.24)

270

5.4 Σ-Series Dimensional Drawings

Note 1) The detector uses an incremental encoder 2048 P/R.

2) Type “A” indicates 200 V specification, and type “B” indicates 100 V specification.

3) “01A(B)314” and “01A(B)316” have a keyed shaft. The keyway complies with JIS B

1301-1976 (precision). A straight key is supplied.

4) The quoted allowable radial load is the value at a position 20 mm (0.79 in.) from the motor mounting surface.

5) Conforms to “IP55” protective structure (except connector and output shaft faces).

• 200 W (0.27 HP), 300 W (0.40 HP), 400 W (0.53 HP)

Encoder Lead

UL2854

Motor Lead

Encoder Plug

Motor Plug

Screw

Cross-section Y-Y

Hex. Nut

14 (0.55)

Sealant

Incremental Encoder

∅14

(∅0.55

−0.011

−0.0004)

Shaft end screw hole

(SGMP-jjA(B)316, with key type only)

4-∅7

(4-∅0.28)

MTG Holes

271

SERVO SELECTION AND DATA SHEETS

5.4.1 Servomotor Dimensional Drawings cont.

Type

SGMP-

04A312

04A314

04A316

L LL LM QK

02A312 92 62

(2 )

02A314

02B314

02A316

48.1

(1 89)

16 3

(0 12)

(0 20)

02B316

03B312 112 82

(3 23)

68.1

(2 68)

No key

03B314 (4.41) (3.23) (2.68) 16

03B316

( 1)

(0 63)

(0.63) (0.12)

(0 20)

No key

16 3

(0 12)

(0 20)

Screw dimensions

---

Output

(HP)

Approx.

mass kg

(lb)

200

(0.27)

1.4

(3 09)

Allowable radial load

N (lb)

Allowable thrust load

N (lb)

M5, depth

(0.31)

---

M5, depth

(0.31)

--400

(0.53)

M5, depth

(0.31)

300

(0.40)

2.1

( 63)

Note 1) The detector uses an incremental encoder 2048 P/R.

2) Type “A” indicates 200 V specification, and type “B” indicates 100 V specification.

3) “02A(B)314”, “02A(B)316”, “04A314”, “04A316”, “03B314”, and 03B316 have a keyed shaft. The keyway complies with JIS B 1301-1976 (precision). A straight key is supplied.

4) The quoted allowable radial load is the value at a position 25 mm (0.98 in.) from the motor mounting surface.

5) Conforms to “IP55” protective structure (except connector and output shaft faces).

272

5.4 Σ-Series Dimensional Drawings

Encoder Lead

Motor Lead

• 750 W (1.01 HP)

Encoder Plug

Motor Plug

Screw

Cross-section Y-Y

Hex.nut 17

(0.67)

Sealant

MTG Holes

Incremental Encoder

Shaft end screw hole

(SGMP-08A316, with key type only)

Type

SGMP-

QK U W T

08A312 No key

08A314 22

08A316

( (

(

) (0.12) ) (0.20) ) (0.20) )

Screw dimensions

---

(

Output

(HP)

750

(1.01) )

Approx.

mass kg

(lb)

(

4.2

(9.26) )

Allowable radial load

N (lb)

)

Allowable thrust load

N (lb)

( )

M5, depth 8

(0.31)

Note 1) The detector uses an incremental encoder 2048 P/R.

2) Type “A” indicates 200 V specification.

3) “08A314” and “08A316” have a keyed shaft. The keyway complies with JIS B 1301-1976

(precision). A straight key is supplied.

4) The quoted allowable radial load is the value at a position 35 mm (1.38in.) from the motor mounting surface.

5) Conforms to IP55 protective structure (except connector and output shaft faces).

273

SERVO SELECTION AND DATA SHEETS

5.4.1 Servomotor Dimensional Drawings cont.

• Details of Motor and Encoder Plugs (Common for 100 W (0.13HP) to 750 W (1.01HP))

Motor Plug

Encoder Plug

Plug : 172167-1 (AMP)

Pin: 170360-1 or 170364-1

Connected to

Cap 172159-1

Socket 170362-1 or 170366-1

Plug: 172169-1 (AMP)

Pin: 170359-1 or 170363-1

Connected to

Cap :172161-1

Socket: 170361-1 or 170365-1

Motor Wiring Specifications

U phase

V phase

W phase

Red

White

Blue

Green/Yellow

Incremental Encoder Wiring Specifications

A channel output

B channel output

C channel output

0 V (power supply)

+5 V (power supply)

FG (Frame Ground)

Blue

Blue/Black

Yellow

Yellow/Black

Green

Green/Black

Gray

Red

Orange

274

Encoder Lead

5.4 Σ-Series Dimensional Drawings

(2) SGMP Servomotor

Incremental encoder, with brake (Type SGMP-jjj31jB)

• 100 W (0.13HP)

Screw

Motor Lead

Encoder Plug

Motor Plug Cross-section Y-Y

Hex. nut 14

(0.55)

21(0.83)

Sealant

Incremental Encoder

2048 P/R

Holding Brake (deenergization operation)

Voltage: 90 VDC

Brake holding torque = motor rated torque

4-∅5.5

(4-∅0.22)

MTG Holes

Shaft end screw hole

(SGMP-01A(B)316B, with key type only)

Type

SGMP-

L LL LM LB S QK U W T Screw dimensions

---

Output

(HP)

Approx.

mass kg

(lb)

100 0.9

(1 98)

Allowable radial load

N (lb)

Allowable thrus t load

N (lb)

(17.5)

(11 0)

01A312B 111

01B312B (4.37)

01A314B

01B314B

01A316B

01B316B

(3.39)

42.5

(1 67)

(1 14)

(0 31)

14 1.8

(0 07)

(0 12)

M3, depth 6

(0.24)

Note 1) The detector uses an incremental encoder 2048 P/R.

2) Type “A” indicates 200 V specification, and type “B” indicates 100V specification.

3) “01A(B)314B” and “01A(B)316B” have a keyed shaft. The keyway complies with JIS B

1301-1976 (precision). A straight key is supplied.

275

SERVO SELECTION AND DATA SHEETS

5.4.1 Servomotor Dimensional Drawings cont.

4) The quoted allowable radial load is the value at a position 20 mm (0.79in.) from the motor mounting surface.

5) The electromagnetic brake is only to hold the load in position and cannot be used to stop the motor.

6) Conforms to IP55 protective structure (except connector and output shaft faces).

• 200 W (0.27HP), 300W (0.40 HP), 400 W (0.53HP)

Encoder Lead

Motor Lead

Encoder Plug

Motor Plug

Screw

Cross-section Y-Y

Hex. nut 14

(0.55)

Sealant

Incremental Encoder

2048 P/R

Holding Brake (deenergization operation)

Voltage: 90 VDC

Brake holding torque = motor rated torque

4-∅0.7

(4-∅0.28)

MTG Holes

Shaft end screw hole

(SGMP-jjA(B)316B, with key type only)

276

5.4 Σ-Series Dimensional Drawings

Type

SGMP-

L LL LM QK U W T Screw dimensions

Output

(HP)

200

Approx.

mass kg

(lb)

1.9

( 19)

Allowable radial load

N (lb)

(

245

(55.1)

02A312B 123.5

93.5

(3 68)

48.1

(1 89)

---

02A314B

02B314B

02A316B

16 3

(0 12)

(0 20)

02B316B

M5, depth 8

(0.31)

03B312B 143.5

03B316B

04A312B

04A314B

04A316B

( 6 ) (

113.5

68.1

(2 68)

No key

(0 63)

---

(0 12)

(0 20)

(0 20) depth 8

(0.31)

No key ---

(0 63)

(0 12)

(0 20)

(0 20) depth 8

(0.31)

300

400

(0.53)

(

2.6

Allowable thrust load

N (lb)

(15.3)

Note 1) The detector uses an incremental encoder 2048 P/R.

2) Type “A” indicates 200 V specification, and type “B” indicates 100V specification.

3) “02A(B)314B”, “02A(B)316B”, “03B314B” “03B316B” “04A314B” and “04A316B” have a keyed shaft. The keyway complies with JIS B 1301-1976 (precision). A straight key is supplied.

4) The quoted allowable radial load is the value at a position 25 mm (0.98in.) from the motor mounting surface.

5) The electromagnetic brake is only to hold the load in position and cannot be used to stop the motor.

6) Conforms to IP55 protective structure (except connector and output shaft faces).

277

SERVO SELECTION AND DATA SHEETS

5.4.1 Servomotor Dimensional Drawings cont.

• 750 W (1.01HP)

Encoder Lead

Encoder Plug

Motor Lead

Motor Plug

Sealant

Screw

Cross-section Y-Y

Hex. nut

17 (0.67)

MTG Holes

278

Incremental Encoder

Holding Brake (deenergization operation)

Voltage: 90 VDC

Brake holding torque = motor rated torque

(φ0.0016)

Shaft end screw hole

(SGMP-08A316B, with key type only)

Type

SGMP-

08A312B No key

08A314B 22

08A316B (0.87)

U W T Screw dimensions

−

Output

(HP)

750

(1.01)

Approx.

mass kg

(lb)

6.1

(13.45)

M5, depth 8

(0.31)

Allowable radial load

N (lb)

)

Allowable thrust load

N (lb)

( )

Note 1) The detector uses an incremental encoder 2048 P/R.

2) Type “A” indicates 200 V specification.

3) “08A314B” and “08A316B” have a keyed shaft. The keyway complies with JIS B

1301-1976 (precision).

A straight key is supplied.

5.4 Σ-Series Dimensional Drawings

4) The quoted allowable radial load is the value at a position 35 mm (1.38 in.) from the motor mounting surface.

5) The electromagnetic brake is only to hold the load in position and cannot be used to stop the motor.

6) Conforms to IP55 protective structure (except connector and output shaft faces).

• Details of Motor and Encoder Plugs (Common for 100 W (0.13 HP) to 750 W (1.01 HP))

Motor Plug

Encoder Plug

Plug : 172168-1 (AMP)

Pin 170360-1 or 170364-1

Connected to

Cap 172160-1

Socket 170362-1 or 170366-1

Plug: 172169-1 (AMP)

Pin: 170359-1 or 170366-1

Connected to

Cap :172161-1

Socket: 170361-1 or 170365-1

Motor Wiring Specifications

1 U phase

V phase

W phase

Brake terminal

Red

White

Blue

Green/Yellow

Black

Incremental Encoder Wiring Specifications

A channel output

B channel output

C channel output

0 V (power supply)

+5 V (power supply)

FG (Frame Ground)

Blue

Blue/Black

Yellow

Yellow/Black

Green

Green/Black

Gray

Red

Orange

279

SERVO SELECTION AND DATA SHEETS

5.4.1 Servomotor Dimensional Drawings cont.

(3) SGMP Servomotor

Absolute encoder, no brake (Type SGMP-jjjW1j)

• 100 W (0.13HP)

Encoder Lead Encoder Plug

Motor lead

55 (2.17) sealant

Motor Plug

Screw

Cross-section Y-Y

Hex. nut 14

(0.55)

21 (0.83)

Absolute encoder

4-∅5.5

(4-∅0.22)

MTG Holes

Shaft end screw hole

(SGMP-01A(B)W16, with key type only)

Type

SGMP-

L LL LM S QK U W T Screw dimensions

Output

(HP)

Approx.

mass kg

(lb)

Allowable radial load

N (lb)

Allowable thrust load

N (lb)

(17.5) (

11 0)

01AW12 122.5

97.5

(3 8 )

01AW14

01BW14

01AW16

01BW16

42.5

(1 6 )

(0 31)

14 1.8

(0 0 )

(0 12)

---

M3, depth 6

(0.24)

100

(0.13)

0.9

(1 98)

Note 1) The detector uses a 12-bit absolute encoder 1024 P/R.

2) Type “A” indicates 200 V specification, and type “B” indicates 100 V specification.

3) “01A(B)W14” and “01A(B)W16” have a keyed shaft. The keyway complies with JIS B

1301-1976 (precision). A straight key is supplied.

4) The quoted allowable radial load is the value at a position 20 mm (0.79 in.) from the motor mounting surface.

5) Conforms to IP55 protective structure (except connector and output shaft faces).

280

Encoder Lead

5.4 Σ-Series Dimensional Drawings

• 200 W (0.27 HP), 300 W (0.40 HP) (100 V only), 400 W (0.53HP) (200 V only)

Encoder Plug

Motor Plug

Screw

Cross-section Y-Y

Hex. nut 14

(0.55)

Absolute encoder

4-∅7

(4-∅0.28)

MTG Holes

Shaft end screw hole

(SGMP-jj

A(B)W16, with key type only)

Type

SGMP-

L LL

02AW12 116.5

86.5

(3 1)

48.1

(1 89)

QK U W T Screw dimensions

---

02AW14

02BW14

02AW16

16 3

(0 12)

(0 20)

02BW16

M5, depth 8

(0.31)

03BW12 136.5

03BW16

04AW12

04AW14

04AW16

( 3 )

106.5

( 19)

68.1

(2 68)

No key

(0 63)

---

(0 12)

(0 20)

(0 20) depth 8

(0.31)

--No key

(0 63)

(0 12)

(0 20)

(0 20) depth 8

(0.31)

Output

(HP)

Approx.

mass kg

(lb)

200 1.6

(3 3)

Allowable radial load

N (lb)

245 (55.1) )

Allowable thrust load

N (lb)

( )

300

400

(0.53)

2.3

( 0 )

Note 1) The detector uses a 12-bit absolute encoder 1024 P/R.

2) Type “A” indicates 200 V specification, and type “B” indicates 100 V specification.

281

SERVO SELECTION AND DATA SHEETS

5.4.1 Servomotor Dimensional Drawings cont.

3) “02A(B)W14”, “02A(B)W16”, “03BW14”, “03BW16”, “04AW14”, and “04AW16” have a keyed shaft. The keyway complies with JIS B 1301-1976 (precision). A straight key is supplied.

4) The quoted allowable radial load is the value at a position 25 mm (0.98 in.) from the motor mounting surface.

5) Conforms to IP55 protective structure (except connector and output shaft faces).

Sealant

• 750 W (1.01HP)

Encoder Lead

UL20276

300¦30 (11.81¦1.18)

(35)(1.38)

Motor Lead UL2464

300¦30(11.81¦1.18)

(35)(1.38)

12(0.47)

10.5

(0.41)

(146) (5.75)

106(4.17) 40(1.57)

66.7(2.63)

(0.39)

3.5

(0.14)

(0.75)

Encoder Plug

Motor Plug

(0.0016)

0.04 A

0.02

(0.0008)

4-R6

4-φ10

(4−φ0.39)

MTG Hoses j

120(4.72)

38(1.50)

T Screw

Cross-section Y-Y

Hex. nut 17

(0.67)

Absolute encoder

1024 P/R

φ0.04

(φ0.0016)

φ145

(φ5.71)

Shaft end screw hole

(SGMP-08AW16, with key type only)

Type

SGMP-

QK U W T

08AW12 No key

08AW14 22

( (

(

(0.12) ) (0.20) ) (0.20) )

−

Screw dimensions

Output

(HP)

Approx.

mass kg

(lb)

(

750

(

4.8

(1.01) ) (10.58) )

Allowable radial load

N (lb)

Allowable thrust load

N (lb)

) ( )

M5, depth 8

(0.31)

282

5.4 Σ-Series Dimensional Drawings

Note 1) The detector uses a 12-bit absolute encoder 1024 P/R.

2) Type “A” indicates 200 V specification.

3) “08AW14” and “08AW16” have a keyed shaft. The keyway complies with JIS B

1301-1976 (precision). A straight key is supplied.

4) The quoted allowable radial load is the value at a position 35 mm (1.38 in.) from the motor mounting surface.

5) Conforms to IP55 protective structure (except connector and output shaft faces).

• Details of Motor and Encoder Plugs (Common for 100 W (0.13 HP) to 750 W (1.01 HP))

Motor Plug

Plug : 172167-1 (AMP)

Pin 170360-1 or 170364-1

Connected to

Cap 172159-1

Socket 170362-1 or 170366-1

Motor Wiring Specifications

U phase

V phase

W phase

Red

White

Blue

Green/Yellow

Encoder Plug

Plug: 172171-1 (AMP)

Pin: 170359-1 or 170363-1

Connected to

Cap :172163-1

Socket: 170361-1 or 170365-1

Absolute Encoder Wiring Specifications

*

(12)

A channel output

B channel output

Z channel output

0 V (power supply)

+5 V (power supply)

FG (Frame Ground)

S channel output

(Capacitor reset)

Reset

0V(battery)

3.6V(battery)

Blue

White/Blue

Yellow

White/Yellow

Green

White/Green

Black

Red

Green/Yellow

Purple

White/Purple

(Gray)

White/Gray

White/Orange

Orange

*

Terminal to discharge capacitor for product dispatch.

Do not use.

283

SERVO SELECTION AND DATA SHEETS

5.4.1 Servomotor Dimensional Drawings cont.

(4) SGMP Servomotor

Absolute encoder, with brake (Type SGMP-jjjW1jB)

• 100 W (0.13 HP)

Encoder Lead

Motor Lead

Encoder Plug

Motor Plug

Screw

Cross-section Y-Y

Hex. nut

14 (0.55)

55 (2.17)

Sealant Sealant

Absolute Encoder Holding Brake (deenergization operation)

Voltage: 90 VDC

Brake holding torque = motor rated torque

4-∅5.5

(4-∅0.22)

MTG Holes

Shaft end screw hole

(SGMP-01A(B)W16B, with key type only)

Type

SGMP-

L LL LM LB S QK U W T Screw dimensions

---

Output

(HP)

Approx.

mass kg

(lb)

100

(0.13)

1.2

(2 65)

Allowable radial load

N (lb)

(

(17.5)

Allowable thrust load

N (lb)

(

(11.0)

01AW12B 151.5

01BW12B (5.96)

01AW14B

01BW14B

01AW16B

01BW16B

126.5

(4.98)

42.5

(1 67)

(1 14)

(0 31)

14 1.8

(0 07)

(0 12)

M3, depth 6

(0.24)

284

5.4 Σ-Series Dimensional Drawings

Note 1) The detector uses a 12-bit absolute encoder 1024 P/R.

2) Type “A” indicates 200 V specification, and type “B” indicates 100 V specification.

3) “01A(B)W14B” and “01A(B)W16B” have a keyed shaft. The keyway complies with JIS B

1301-1976 (precision). A straight key is supplied.

4) The quoted allowable radial load is the value at a position 20 mm (0.79 in.) from the motor mounting surface.

5) The electromagnetic brake is only to hold the load in position and cannot be used to stop the motor.

6) Conforms to IP55 protective structure (except connector and output shaft faces).

285

SERVO SELECTION AND DATA SHEETS

5.4.1 Servomotor Dimensional Drawings cont.

• 200 W (0.27 HP), 300 W (0.40 HP), 400 W (0.53 HP)

(0.47)

Encoder Lead

UL20276

300¦30(11.81¦1.18)

(35)(1.38)

Sealant

38.4

(1.51)

31.5(1.24)

Sealant

Motor Lead UL2464

Encoder Plug

8.25(0.32)

(0.31)

14(0.55)

30(1.18)

3(0.12)

Motor Plug

T Screw

Cross-section Y-Y

300¦30(11.81¦1.18)

(35)(1.38)

(0.0016)

0.04 A

0.02

(0.0008)

4-R8.2

4-∅7

(4-∅0.28)

MTG Holes

Hex.hut 14

(0.55) j

80(3.15)

21(0.83)

φ90

(φ3.54)

Absolute Encoder

1024P/R

φ0.04

(φ0.0016)

Holding Brake (deenergization operation)

Voltage: 90 VDC

Brake holding torque = motor rated torque

Shaft end screw hole

(SGMP-jjA(B)W16B, with key type only)

5 Type

SGMP-

04AW12B

04AW14B

04AW16B

02AW12B 148

(

02AW14B

02BW14B

02AW16B

02BW16B

03BW12B 168

(

03BW16B

(

118

) (

48.1

)

(

138

(

68.1

) )

(

No key

(

No key

(

U W T Screw dimensions

---

(

Output

(HP)

200

(0.27) ) (

Approx.

mass kg

(lb)

2.3

(5.07) )

Allowable radial load

N (lb)

Allowable thrust load

N (lb)

245 (55.1) 68 (15.3) )

) (

)

M5, depth 8

(0.31)

---

(

) ) ) depth 8

(0.31)

---

(

) ) ) depth 8

(0.31)

(

300

400

(0.53) )

(

3.0

(0.40) ) (6.61) )

Note 1) The detector uses a 12-bit absolute encoder 1024 P/R.

2) Type “A” indicates 200 V specification, and type “B” indicates 100 V specification.

286

5.4 Σ-Series Dimensional Drawings

4) The quoted allowable radial load is the value at a position 25 mm (0.98 in.) from the motor mounting surface.

5) The electromagnetic brake is only to hold the load in position and cannot be used to stop the motor.

6) Conforms to IP55 protective structure (except connector and output shaft faces).

• 750 W (1.01 HP)

Encoder Lead UL20276

300¦30(11.81¦1.18)

(35)(1.38)

Encoder Plug

Motor Lead UL2464

140(5.51)

12(0.47)

Sealant

10.5

(0.41)

300¦30

(11.81¦1.18)

(35)(1.38)

180(7.09)

40(1.57)

66.7(2.63)

10(0.39) 3.5(0.14)

(0.75)

Motor Plug

(0.0016)

0.04

0.02

(0.0008)

4-R6

4-φ10

(4−φ0.39)

MTG Holes

Screw

Cross-section Y-Y

Hex. nut 17

(0.67) j @@@@120

(4.72)

Absolute Encoder

1024P/R

φ0.04

(φ0.0016)

Holding Brake (deenergization operation)

Voltage: 90 VDC

Brake holding torque = motor rated torque

Shaft end screw hole

(SGMP-08AW16B, with key type only)

φ145

(φ5.71)

Type

SGMP-

QK U W

08AW12B No key

08AW14B 22

08AW16B (0.87)

(0.12)

(0 20)

T Screw dimensions

Output

(HP)

− 750

(1.01)

Approx.

mass kg

(lb)

6.2

(13.67)

M5, depth 8

(0.31)

Allowable radial load

N (lb)

Allowable thrust load

N (lb)

287

SERVO SELECTION AND DATA SHEETS

5.4.1 Servomotor Dimensional Drawings cont.

Note 1) The detector uses a 12-bit absolute encoder 1024 P/R.

2) Type “A” indicates 200 V specification.

3) “08AW14B” and “08AW16B” have a keyed shaft. The keyway complies with JIS B

1301-1976 (precision). A straight key is supplied.

4) The quoted allowable radial load is the value at a position 35 mm (1.38 in) from the motor mounting surface.

5) The electromagnetic brake is only to hold the load in position and cannot be used to stop the motor.

6) Conforms to IP55 protective structure (except connector and output shaft faces).

• Details of Motor and Encoder Plugs (Common for 100W (0.13 HP) to 750 W (1.01 HP))

Motor Plug

Encoder Plug

Plug : 172168-1 (AMP)

Pin 170360-1 or 170364-1(1 to 4pin)

170359-1 or 170363 (5 to 6 pin)

(17360-1 or 17364-1:only 750W)

Connected to

Cap 172160-1

Socket 170362-1 or 170366-1

Motor Wiring Specifications

U phase

V phase

W phase

Brake terminal

Red

White

Blue

Green/Yellow

Black

Plug: 172171-1 (AMP)

Pin: 170359-1 or 170363-1

Connected to

Cap :172163-1

Socket: 170361-1 or 170365-1

*

Absolute Encoder Wiring Specifications

(12)

A channel output

B channel output

Z channel output

0 V (power supply)

+5 V (power supply)

FG (Frame Ground)

S channel output

(Capacitor reset)

Reset

0V(battery)

3.6V(battery)

Blue

White/Blue

Yellow

White/Yellow

Green

White/Green

Black

Red

Green/Yellow

Purple

White/Purple

(Gray)

White/Gray

White/Orange

Orange

*

Terminal to discharge capacitor for product dispatch.

Do not use.

288

5.4 Σ-Series Dimensional Drawings

5.4.2 Servomotor Dimensional Drawings

(TÜV approved, conforming to the machine instructions)

1) The dimensional drawings of TÜV approved SGM Servomotors (conforming to the machine instructions) are broadly grouped into the following four categories.

a) Incremental encoder, no brake (from page 290) b) Incremental encoder, with brake (from page 294) c) Absolute encoder, no brake (from page 299) d) Absolute encoder, with brake (from page 304)

Motor capacities are available as 30 W (0.04 HP), 50 W (0.07 HP), 100 W (0.13 HP),

200 W (0.27 HP), 300 W (0.40 HP), 400 W (0.53 HP), 750 W (1.01 HP). These are grouped into three categories, as follows:

• 30W (0.04 HP), 50W (0.07 HP), 100W (0.13 HP)

• 200W (0.27 HP), 300W (0.40 HP), 400W (0.53 HP)

• 750W (1.01 HP)

• As for the dimensional drawings of SGM servomotors, see from the page 247 on.

• As for the dimensional drawings of SGMP servomotors, see from the page 269 on.

• As for the dimensional drawings of TÜV approved SGMP servomotors, see from the page 309 on.

All drawings conform to the machine instructions. As for the motor drawings conforming to the EMC instructions, encoder plug and its accessories are different. For details, contact your Yaskawa representative.

289

SERVO SELECTION AND DATA SHEETS

5.4.2 Servomotor Dimensional Drawings cont.

(1) TÜV approved (conforming to the machine instructions) SGM Servomotor

Incremental encoder, no brake (Type SGM-jjj31j)

• 30W (0.04 HP), 50W (0.07 HP),100W (0.13 HP)

(11.81¦1.18)

(1.38)

Encoder Lead

UL2854

Motor Lead

φ7 (φ0.29)

(1.30)

6.5 (0.26)

Sealant

(0.16)

Marked Wire

Sealant

(0.37)

(0.20)

Screw

Cross-section Y-Y

(11.81¦1.18) (0.0016)

(0.98)

(0.10)

(φ0.0008)

40 (1.57)

(0.24)

(0.83)

(φ0.55)

0 -0.21

Incremental Encoder

2048 P/R

Sealant Nameplate

(φ1.81)

Shaft end screw hole

2-φ4.3 (φ0.17)

MTG Holes

(SGM-jjV(W)316, with key type only)

Type

SGM-

L LL LM S QK U W T Screw dimensions

Output

(HP)

Approx.

mass kg

(lb)

0.3

(0 66)

Allowable radial load

N (lb)

Allowable thrust load

N (lb)

(15.3)

(12 1)

A3V312 94.5

69.5

(2 )

A3V314

A3W314

A3V316

A3W316

A5V312 102.0

77.0

(3 03)

A5V314

A5W314

A5V316

A5W316

01V312 119.5

94.5

(3 2)

01V314

01W314

01V316

01W316

36.5

(1 )

(0 2 )

44.0

(1 3)

61.5

(2 2)

(0 2 )

(0 31)

14 1.2

(0 0 )

(0 08)

1.2

(0 0 )

1.8

(0 0 )

(0 08)

(0 12)

(0 08)

(0 12)

−

M2.5

depth 5

(0.20)

−

M2.5

depth 5

(0.20)

−

M3 depth 6

(0.24)

100

0.4

(0 88)

0.5

(1 10)

(17.5)

290

5.4 Σ-Series Dimensional Drawings

Note 1) The detector uses an incremental encoder 2048 P/R.

2) Type “V” indicates 200 V specification, and type “W” indicates 100 V specification.

3) “A3V(W)314”, “A3V(W)316”, “A5V(W)314”, “A5V(W)316”, “01V(W)314” and

“01V(W)316” have a keyed shaft. The keyway complies with JIS B 1301-1976 (precision). A straight key is supplied.

4) The quoted allowable radial load is the value at a position 20 mm (0.79 in.) from the motor mounting surface.

• 200 W (0.27 HP), 300 W (0.40 HP), 400 W (0.53 HP)

Encoder Lead

UL2854

(11.81¦1.18)

(1.38)

Motor Lead φ7

(φ0.29)

Marked Wire

Screw

Cross-section Y-Y

(0.0016)

(11.81¦1.18)

(0.83)

(φ0.55)

Sealant

(1.34)

(0.20)

(0.28)

Sealant

(0.47)

(1.18)

(0.12)

(0.24)

0 -0.01

(φ0.0016) (2.36)

(φ2.76)

0 -0.025

Type

SGM-

Incremental Encoder

2048 P/R

Sealant

LL LM QK U W T

(0.0008)

Screw dimensions

4-φ5.5 (φ0.22)

MTG Holes

Shaft end screw hole

(SGM-jjV(W)316, with key type only)

Output

(HP)

200

Approx.

mass kg

(lb)

1.1

(2 3)

Allowable radial load

N (lb)

Allowable thrust load

N (lb)

(

245

(55.1)

(16 6)

02V312 126.5

96.5

(3 80)

62.5

(2 6)

−

02V314

02W314

02V316

02W316

03W312 154.5

03W316

04V312

04V314

04V316

(6 08)

124.5

( 90)

90.5

(3 6)

No key

(0 9)

(0 12)

(0 20)

M5, d

, h 8 (0 31)

−

(0 12)

(0 20)

(0 20) depth 8 (0.31)

No key −

(0 9)

(0 12)

(0 20)

(0 20) depth 8 (0.31)

300

400

(0.53)

1.1

(2 3)

291

SERVO SELECTION AND DATA SHEETS

5.4.2 Servomotor Dimensional Drawings cont.

Note 1) The detector uses an incremental encoder 2048 P/R.

2) Type “V” indicates 200 V specification, and type “W” indicates 100 V specification.

3) “02V(W)314”, “02V(W)316”, “03W314”, “03W316”, “04V314” and “04V316” have a keyed shaft. The keyway complies with JIS B 1301-1976 (precision). A straight key is supplied.

4) The quoted allowable radial load is the value at a position 25 mm (0.98 in.) from the motor mounting surface.

• 750 W (1.01 HP)

Encoder Lead

UL2854

(11.81¦1.18)

(1.38)

(0.20)

Sealant

(1.34)

Motor Lead φ7

(φ0.29)

Marked Wire

(0.0008)

Screw

Cross-section Y-Y

(0.31)

(11.81¦1.18)

(7.28)

(5.71)

(4.37)

(0.59)

Sealant

(0.31)

(0.0016)

(0.12)

(1.57)

(φ0.0016) (0.83)

(φ0.55)

(3.15)

(1.38)

Incremental Encoder

2048 P/R

Sealant

0 -0.01

4-φ7 (φ0.28)

MTG Holes

0 -0.030

Shaft end screw hole

(SGM−08V316, with key type only)

Type

SGM-

QK U W T Screw dimensions

08V312 No key −

08V314 30

08V316

(1 18)

(0 12)

(0 20)

(0 20) depth

8(0.31)

Output

(HP)

750

(1.01)

Approx.

mass kg

(lb)

3.4

(7.50)

Allowable radial load

N (lb)

Allowable thrust load

N (lb)

Note 1) The detector uses an incremental encoder 2048 P/R.

2) Type “V” indicates 200 V specification.

292

5.4 Σ-Series Dimensional Drawings

3) “08V314” and “08V316” have a keyed shaft. The keyway complies with JIS B 1301-1976

(precision). A straight key is supplied.

4) The quoted allowable radial load is the value at a position 35 mm (1.38 in.) from the motor mounting surface.

• Details of Motor and Encoder Plugs (Common for 30 W (0.04 HP) to 750 W (1.01 HP)

Motor Plug

Plug : 172167-1 (AMP)

Pin: 170360-1 or 170364-1

(170359-1 or 170363-1: 30, 50, or

100 W only)

Connected to

Cap: 172159-1

Socket: 170362 -1 or 170366-1

Motor Wiring Specifications

U phase

V phase

W phase

Red

White

Blue

Green

Encoder Plug

Plug: 172169-1 (Made by AMP)

Pin: 170359-1 or 170363-1

Connected to

Cap :172161-1

Socket: 170361-1 or 170365-1

Incremental Encoder Wiring Specifications

A channel output

B channel output

C channel output

0 V (power supply)

+5 V (power supply)

FG (Frame Ground)

Blue

Blue/Black

Yellow

Yellow/Black

Green

Green/Black

Gray

Red

Orange

293

SERVO SELECTION AND DATA SHEETS

5.4.2 Servomotor Dimensional Drawings cont.

(2) TÜV approved (conforming to the machine instructions) SGM Servomotor

Incremental encoder, with brake (Type SGM-jjj31jB)

• 30W (0.04 HP), 50W (0.07 HP), 100W (0.13 HP)

(11.81¦1.18)

(1.38)

Marked Wire

Encoder Lead

UL2854

Motor Lead

φ7 (φ0.29)

(1.30)

(0.26)

Sealant

(0.16)

Sealant

(11.81¦1.18)

(0.98)

(0.37)

Sealant

(0.20)

(0.10)

(0.0016)

(φ0.0008)

(φ1.81) (0.24)

Screw

Cross-section Y-Y

(0.83)

(φ0.55)

0 -0.21

Sealant

Screw (×2)

Incremental

Encoder

2048 P/R

Nameplate

Holding Brake

(Deenergisation Operation)

Voltage: 90VDC, Dissipated

Current (Reference): 0.08A

Brake Holding Torque = Motor

Rated Torque

(0.0008)

Shaft end screw hole

(SGM-jjV(W)316B, with key type only)

2-φ4.3 (φ0.17)

MTG Holes

Type

SGM-

L LL LM LB S QK U W T

−

Screw dimensions

Output

(HP)

(0.04)

Approx.

mass kg

(lb)

Allowable radial load

N (lb)

Allowable thrust load

N (lb)

( )

(15.3)

(12.1)

A3V312B 126.0

A3W312B (4.96)

A3V314B

A3W314B

A3V316B

A3W316B

A5V312B 133.5

A5W312B (5.26)

A5V314B

A5W314B

A5V316B

A5W316B

101.0

(3.98)

108.5

(4.27)

36.5

(1 44)

44.0

(1 73)

31.5

(1 24)

31.5

(1 24)

(0 24)

01V312B

01W312B

160.0

(6 30)

135.0

(5.31)

61.5

(2 42)

40.5

(1 59)

(0 31)

01V314B

01W314B

01V316B

01W316B

(0.55)

1.2

(0 05)

(0 08)

(0.55)

1.2

(0 05)

(0 08)

(0.55)

1.8

(0 07)

(0 12)

M2.5, depth 5

(0.20)

−

M2.5, depth 5

(0.20)

−

M3, depth 6

(0.24)

(0.07)

100

(0.13)

( )

(17 5)

294

5.4 Σ-Series Dimensional Drawings

Note 1) The detector uses an incremental encoder 2048 P/R.

2) Type “V” indicates 200 V specification, and type “W” indicates 100 V specification.

3) “A3V(W)314B”, “A3V(W)316B”, “A5V(W)314B”, “A5V(W)316B”, “01V(W)314B” and

“01V(W)316B” have a keyed shaft. The keyway complies with JIS B 1301-1976 (precision). A straight key is supplied.

4) The quoted allowable radial load is the value at a position 20 mm (0.79 in.) from the motor mounting surface.

5) The electromagnetic brake is only to hold the load in position and cannot be used to stop the motor.

• 200 W (0.53 HP), 300 W (0.40 HP), 400 W (0.27 HP)

Encoder Lead

UL2854

(11.81¦1.18)

(1.38)

Motor Lead φ7

(φ0.29)

(1.34)

(0.20)

(1.56)

(0.21)

Brake Lead

Sealant

Marked Wire

(11.81¦1.18)

(0.28)

Sealant

(0.47)

Sealant (0.24)

(1.18)

(0.12)

0 -0.01

(0.0016)

Screw

Cross-section Y-Y

(0.83)

(φ0.55)

(φ0.0016)

(2.36)

(φ2.76)

0 -0.025

Incremental Encoder

2048 P/R

Holding Brake

(Deenergisation Operation)

Voltage: 90VDC, Dissipated

Current (Reference): 0.08A

Brake Holding Torque = Motor

Rated Torque

(φ0.0008)

4-φ5.5 (φ0.22)

MTG Holes

Shaft end screw hole

(SGM-jjV(W)316B, with key type only)

295

SERVO SELECTION AND DATA SHEETS

5.4.2 Servomotor Dimensional Drawings cont.

Type SGM-

02V312B

02W312B

02V314B

02W314B

02V316B

02W316B

03W312B

03W314B

03W316B

04V312B

04V314B

04V316B

166.0

136.0

( 3 )

62.5

(2 6)

QK U

20 3

(0 12)

194.0

( 6 )

164.0

(6 6)

90.5

(3 6)

No key

(7.64) (6.46) (3.56) 20

(0 12)

No key

20 3

(0 12)

W T Screw diminsions

−

Output

(HP)

200

Approx.

mass kg

(lb)

1.6

(3 3)

Allowable radial load

N (lb)

Allowable thrust load

N (lb)

(

245

(55.1)

(16 6)

(0 20)

(0.31) p

−

(0 20)

M5, depth 8

(0.31)

−

(0 20)

M5, depth 8

(0.31)

300

400

(0.53)

2.2

( 8 )

Note 1) The detector uses an incremental encoder 2048 P/R.

2) Type “V” indicates 200 V specification, and type “W” indicates 100 V specification.

3) “02V(W)314B”, “02V(W)316B”, “03W314B”, “03W316B”, “04V314B” and “04V316B” have a keyed shaft. The keyway complies with JIS B 1301-1976 (precision). A straight key is supplied.

4) The quoted allowable radial load is the value at a position 25 mm (0.98 in.) from the motor mounting surface.

5) The electromagnetic brake is only to hold the load in position and cannot be used to stop the motor.

296

5.4 Σ-Series Dimensional Drawings

• 750 W (1.01 HP)

Encoder Lead

UL2854

(1.38)

(11.81¦1.18)

Sealant

(1.34)

Motor Lead φ7

(φ0.29)

(1.75)

(0.20)

Brake Lead

Sealant

(11.81¦1.18)

(0.31)

(9.04)

(7.46)

(4.37)

(0.59)

Sealant

Marked Wire

(0.31)

(0.0016)

(0.12)

(1.57)

0 -0.01

Screw

Cross-section Y-Y

(φ0.0016)

(0.83)

(φ0.55)

(3.15)

(φ3.54)

0 -0.030

(1.38)

Incremental Encoder

2048 P/R

Holding Brake

(Deenergisation Operation)

Voltage: 90VDC, Dissipated

Current (Reference): 0.08A

Brake Holding Torque = Motor

Rated Torque

(0.0008)

4-φ7 (φ0.28)

MTG Holes

Shaft end screw hole

(SGM−08V316B, with key type only)

Type

SGM-

QK U W T

08V312B No key

08V314B 30

08V316B (1.18)

(0.12)

(0 20)

Screw dimensions

−

Output

(HP)

Approx.

mass kg

(lb)

750

(1.01)

4.3

(9 8)

M5, depth 8

(0.31)

Allowable radial load

N (lb)

Allowable thrust load

N (lb)

Note 1) The detector uses an incremental encoder 2048 P/R.

2) Type “V” indicates 200 V specification.

3) “08V314B” and “08V316B have a keyed shaft. The keyway complies with JIS B

1301-1976 (precision). A straight key is supplied.

4) The quoted allowable radial load is the value at a position 35 mm (1.38 in.) from the motor mounting surface.

5) The electromagnetic brake is only to hold the load in position and cannot be used to stop the motor.

297

SERVO SELECTION AND DATA SHEETS

5.4.2 Servomotor Dimensional Drawings cont.

• Details of Motor and Encoder Plugs (Common for 30 W (0.04 HP) to 750 W (1.01 HP)

Motor Plug

Plug : 172168-1 (AMP)

Pin: 170360-1 or 170364-1

(17359-1 or 170363-1: 30, 50, or

100 W only)

Connected to

Cap: 172160-1

Socket: 170362 -1 or 170366-1

Motor Wiring Specifications

U phase

V phase

W phase

Brake terminal

Red

White

Blue

Green/Yellow

Red

Black

Encoder Plug

Plug: 172169-1 (AMP)

Pin: 170359-1 or 170363-1

Connected to

Cap :172161-1

Socket: 170361-1 or 170365-1

Incremental Encoder Wiring Specifications

A channel output

B channel output

C channel output

0 V (power supply)

+5 V (power supply)

FG (Frame Ground)

Blue

Blue/Black

Yellow

Yellow/Black

Green

Green/Black

Gray

Red

Orange

298

5.4 S-Series Dimensional Drawings

(3) TÜV approved (conforming to the machine instructions) SGM Servomotor

Absolute encoder, no brake (Type SGM-jjjW1j)

· 30 W (0.04 HP), 50 W (0.07 HP), 100 W (0.13 HP)

300¦30(11.81¦1.18)

(1.38)

Motor Lead

Encoder Lead

UL20276 f7 (f0.29)

56 (2.20)

7 (0.28)

Sealant

Marked Wire

300¦30(11.81¦1.18)

9.5(0.37)

(0.20)

0.04

25(0.98) (0.0016)

2.5 (0.10)

QK f0.02

(f0.0008)

A f 46

(f1.81)

W T

Screw

Cross-section Y-Y

21 (0.83)

14 (f0.55)

(1.57)

4-R3.7

Nameplate

Absolute Encoder

1024 P/R

Nameplate

0.02

(0.0008)

0 -0.21

Shaft end screw hole

(SGM-jjV(W)W16, with key type only)

2-f4.3 (f0.17)

MTG Holes

Type

SGM-

L LL LM S QK U W T

A3VW12

A3WW12

117.5

(4.63)

A3VW14

A3WW14

A3VW16

A3WW16

A5VW12

A5WW12

125.0

(4.92)

A5VW14

A5WW14

A5VW16

A5WW16

01VW12

01WW12

142.5

(5.61)

01VW14

01WW14

01VW16

01WW16

92.5

(3.64)

36.5

(1.44)

100.0

(3.94)

117.5

(4.63)

44.0

(1.73)

61.5

(2.42)

(0.24)

(0.31)

(0.55)

1.2

(0.05)

(0.08)

(0.55)

1.2

(0.05)

(0.08)

(0.55)

1.8

(0.07)

(0.12)

(0.08)

(0.12)

Screw dimensions

−−−

Output

(HP)

(0.04)

Approx.

mass kg

(lb)

0.45

(0.99)

Allowable radial load

N (lb)

(15.3)

Allowable thrust load

N (lb)

(12.1)

M2.5, depth 5

(0.20)

−−−

M2.5, depth 5

(0.20)

−−−

M3, depth 6

(0.24)

(0.07)

100

(0.13)

0.55

(1.21)

0.65

(1.43)

(17.5)

299

SERVO SELECTION AND DATA SHEETS

5.4.2 Servomotor Dimensional Drawings cont.

Note 1) The detector uses a 12-bit absolute encoder 1024 P/R.

2) Type “V” indicates 200 V specification, and type “W” indicates 100 V specification.

3) “A3V(W)W14”, “A3V(W)W16”, “A5V(W)W14”, “A5V(W)W16”, “01V(W)W14” and

“01V(W)W16” have a keyed shaft. The keyway complies with JIS B 1301-1976 (precision). A straight key is supplied.

4) The quoted allowable radial load is the value at a position 20 mm (0.79 in.) from the motor mounting surface.

· 200 W (0.27 HP), 300W (0.40 HP), 400 W (0.53 HP)

300¦30(11.81¦1.18)

(1.38)

Encoder Lead

UL20276

Motor Lead f7 (f0.29)

55 (2.17)

8.5

(0.33)

Nameplate

Marked Wire

300¦30(11.81¦1.18)

7 (0.28)

30 (1.18)

Nameplate

12(0.47) 3 (0.12)

(0.24)

0 -0.01

Screw

Cross-section Y-Y

0.04

(0.0016) f0.04

(0.0016)

21 (0.83) f14 (f0.55)

(2.36) f70(f2.76)

Absolute Encoder

1024 P/R

0 -0.025

0.02

(0.0008)

Shaft end screw hole

(SGM-jjV(W)W16, with key type only)

4-f5.5

(f0.22)

MTG Holes

4-R5.3

300

5.4 Σ-Series Dimensional Drawings

Type

SGM-

L LL LM QK U W T Screw dimensions

Output

(HP)

200

(7.87)

Approx.

mass kg

(lb)

1.2

(2.65)

Allowable radial load

N (lb)

245

( (55.1)

02VW12 147.5

117.5

( 63)

62.5

(2 6)

−

02VW14

02WW14

02VW16

20 3

(0 12)

(0 20)

02WW16

M5, depth 8

(0.31)

03WW12 175.5

03WW16

04VW12

04VW14

04VW16

(6 91) (

145.5

90.5

(3 6)

No key

(0 9)

−

(0 12)

(0 20)

(0 20) depth 8

(0.31)

No key −

(0 9)

(0 12)

(0 20)

(0 20) depth 8

(0.31)

300

(0.40)

400

(15.7)

1.8

(3.97)

Allowable thrust load

N (lb)

(16.6)

Note 1) The detector uses a 12-bit absolute encoder 1024 P/R.

2) Type “V” indicates 200 V specification, and type “W” indicates 100 V specification.

3) “02V(W)W14”, “02V(W)W16”, “03WW14” “03WW16”, “04VW14” and “04VW16” have a keyed shaft. The keyway complies with JIS B 1301-1976 (precision). A straight key is supplied.

4) The quoted allowable radial load is the value at a position 25 mm (0.98 in.) from the motor mounting surface.

301

SERVO SELECTION AND DATA SHEETS

5.4.2 Servomotor Dimensional Drawings cont.

· 750 W (1.01 HP)

Encoder Lead

UL20276

55 (2.17)

10 (0.39)

TÜV NP

300¦30(11.81¦1.18)

35 (1.38)

Motor Lead f7 (f0.29)

Marked Wire

300¦30(11.81¦1.18)

206 (8.11)

166 (6.53)

111 (4.37)

8 15 (0.59)

(0.31)

Nameplate

Sealant

(0.0016)

0.04

40(1.57)

3 (0.12)

8 (0.31)

0 -0.01

Screw

Cross-section Y-Y

(f0.0016) f0.04

Shaft end screw hole

(SGM08 VW16, with key type only)

21 (0.83) f14 (f0.55)

(3.15)

0 -0.030

f90 (f3.54)

(1.38)

Absolute Encoder

1024 P/R

Sealant

0.02

(0.0008)

4-f7 (f0.28)

MTG Holes

4-R8.2

Type

SGM-

QK U

08VW12 No key

08VW14 30

08VW16

(1.18)

(0.12)

W T

(0.20)

Screw dimensions

−−−

Output

(HP)

750

(1.01)

Approx.

mass kg

(lb)

3.5

(7.72)

Allowable radial load

N (lb)

Allowable thrust load

N (lb)

M5, depth 8

(0.31)

Note 1) The detector uses a 12-bit absolute encoder 1024 P/R.

2) Type “V” indicates 200 V specification.

3) “08VW14” and “08VW16” have a keyed shaft. The keyway complies with JIS B

1301-1976 (precision). A straight key is supplied.

4) The quoted allowable radial load is the value at a position 35 mm (1.38 in.) from the motor mounting surface.

302

5.4 Σ-Series Dimensional Drawings

• Details of Motor and Encoder Plugs (Common for 30 W (0.04 HP) to 750 W (1.01 HP)

Motor Plug

Plug : 172167-1 (AMP)

Pin: 170360-1 or 170364-1

(17359-1 or 170363-1: 30, 50, or

100 W only)

Connected to

Cap: 172159-1

Socket: 170362 -1 or 170366-1

U phase

V phase

W phase

Motor Wiring Specifications

Red

White

Blue

Green/Yellow

Encoder Plug

Plug: 172171-1 (AMP)

Pin: 170359-1 or 170363-1

Connected to

Cap :172163-1

Socket: 170361-1 or 170365-1

Incremental Encoder Wiring Specifications

A channel output

Blue

White/Blue

Yellow 3

B channel output

Z channel output

0 V (power supply)

+5 V (power supply)

FG (Frame Ground)

White/Yellow

Green

White/Green

Gray

Red

Orange

Purple

*

(12)

S channel output

(Capacitor reset)

Reset

0V(battery)

3.6V(battery)

White/Purple

(Gray)

White/Gray

White/Orange

Orange

*

Terminal to discharge capacitor for product dispatch.

Do not use.

303

SERVO SELECTION AND DATA SHEETS

5.4.2 Servomotor Dimensional Drawings cont.

(4) TÜV approved (conforming to the machine instructions) SGM Servomotor

Absolute encoder, with brake (Type SGM-jjjW1jB)

· 30 W (0.04 HP), 50 W (0.07 HP), 100 W (0.13 HP)

300¦30 (11.81¦1.18)

(1.38)

Screw

Marked Wire

Motor Lead f7 (f0.29)

Cross-section Y-Y

Encoder Lead

UL20276

56 (2.20)

7 (0.28)

Sealant

300¦30 (11.81¦1.18)

9.5(0.37)

(0.20)

Sealant

25 (0.98)

2.5(0.10)

(0.0016)

0.04

A f0.02

(f0.0008)

A 40

(1.57)

21 (0.83)

14 (f0.55)

4-R5.3

0 -0.21

f46

(f1.81)

TÜV NP

Absolute

Encoder

1024 P/R

Holding Brake Nameplate

(Deenergisation Operation)

0.02

Voltage: 90VDC, Dissipated Current

(Reference): 0.08A

(0.0008)

Brake Holding Torque = Motor Rated Torque

Shaft end screw hole

(SGM-jjV(W)W16B, with key type only)

2-f4.3 (f0.17)

MTG Holes

Type

SGM-

S QK U W T

A3VW12B 149.0

A3WW12B

149.0

(5.87)

A3VW14B

A3WW14B

A3VW16B

124.0

(4.88)

36.5

(1.44)

31.5

(1.24)

(0.24)

(0.55)

1.2

(0.05)

(0.08)

A3WW16B

A5VW12B 156.5

A5WW12B

156.5

(6.16)

A5VW14B

A5WW14B

A5VW16B

131.5

(5.18)

44.0

(1.73)

31.5

(1.24)

A5WW16B

01VW12B

01WW12B

01VW14B

01WW14B

01VW16B

183.0

(7.20)

158.0

(6.22)

61.5

(2.42)

40.5

(1.59)

(0.31)

(0.55)

1.2

(0.05)

(0.08)

(0.55)

1.8

(0.07)

(0.12)

Screw dimen

-sions

−−−

Output

(HP)

(0.04)

Appr ox.

mass kg

(lb)

0.75

(1.65)

Allowable radial load

N (lb)

(15.3)

Allowable thrust load

N (lb)

(12.1)

M2.5, depth

(0.20)

−−− 50

(0.07)

0.85

(1.87)

M2.5, depth

(0.20)

−−− 100

(0.13)

0.95

(2.09)

(17.5)

01WW16B

M3, depth

(0.24)

304

5.4 S-Series Dimensional Drawings

Note 1) The detector uses a 12-bit absolute encoder 1024 P/R.

2) Type “V” indicates 200 V specification, and type “W” indicates 100 V specification.

3) “A3V(W)W14B”, “A3V(W)W16B”, “A5V(W)W14B”, “A5V(W)W16B”, “01V(W)W14B” and “01V(W)W16B” have a keyed shaft. The keyway complies with JIS B 1301-1976

(precision). A straight key is supplied.

4) The quoted allowable radial load is the value at a position 20 mm (0.79 in.) from the motor mounting surface.

5) The electromagnetic brake is only to hold the load in position and cannot be used to stop the motor.

· 200 W (0.27 HP), 300 W (0.40 HP), 400 W (0.53 HP)

300¦30 (11.81¦1.18)

Encoder Lead UL20276

Motor Lead f7 (f0.29)

55 (2.17)

8.5 (0.33)

TÜV NP

39.5 (1.56)

5.3 (0.21)

Brake Lead

Sealant

(1.38)

Screw

Marked Wire

300¦30 (11.81¦1.18)

7 (0.28)

Sealant

12 (0.47)

(0.24)

(0.12)

(0.0016)

0.04

Cross-section Y-Y

(f0.0016) f0.04

21 (0.83)

14 (0.55)

(2.36)

Absolute Encoder

1024 P/R

Holding Brake

(Deenergisation Operation)

Voltage: 90VDC, Dissipated

Current (Reference): 0.08A

Brake Holding Torque = Motor

Rated Torque

0 -0.025

0.02

(0.0008)

Shaft end screw hole

4-f5.5

(f0.22)

MTG Holes

4-R5.3

(SGM-jjV(W)W16B, with key type only)

305

SERVO SELECTION AND DATA SHEETS

5.4.2 Servomotor Dimensional Drawings cont.

Type

SGM-

L LL LM QK U W T Screw dimensions

Out put

(HP)

200

(0.27)

Approx.

mass kg

(lb)

1.7

(3 )

Allowable radial load

N (lb)

(

245

(55.1)

02VW12B 187.0

157.0

(6 18)

62.5

(2 6)

−

02VW14B

02WW14B

02VW16B

20 3

(0 12)

(0 20)

02WW16B

M5, depth 8

(0.31)

03WW12B 215.0

03WW16B

04VW12B

04VW14B

04VW16B

(8 6)

185.0

( 28)

90.5

(3 6)

No key

(0 9)

−

(0 12)

(0 20)

(0 20) depth 8

(0.31)

No key −

(0 9)

(0 12)

(0 20)

(0 20) depth 8

(0.31)

300

(0.40)

400

(0.53)

2.3

( 0 )

Allowable thrust load

N (lb)

(16.6)

Note 1) The detector uses a 12-bit absolute encoder 1024 P/R.

2) Type “V” indicates 200 V specification, and type “W” indicates 100 V specification.

3) “02V(W)W14B”, “02V(W)W16B”, “03WW14B”, “03WW16B”, “04VW14B” and

“04VW16B” have a keyed shaft. The keyway complies with JIS B 1301-1976 (precision).

A straight key is supplied.

4) The quoted allowable radial load is the value at a position 25 mm (0.98 in.) from the motor mounting surface.

5) The electromagnetic brake is only to hold the load in position and cannot be used to stop the motor.

306

5.4 S-Series Dimensional Drawings

· 750 W (1.01 HP)

Encoder Lead

UL20276

300¦30 (11.81¦1.18)

(1.38)

Marked Wire

Screw

55 (2.17)

10 (0.39)

TÜV NP

Motor Lead f7 (f0.29)

44.5

(1.75)

Brake Lead

Sealant

300¦30 (11.81¦1.18)

250.5(9.86)

210.5 (8.29)

111 (4.37)

8 (0.31)

15 (0.59)

Sealant

(0.0016)

0.04

40 (1.57)

3 (0.12)

8 (0.31)

0 -0.01

Cross-section Y-Y

(f0.0016) f0.04

(0.83) 21

(f0.55) f14

Shaft end screw hole

(SGM-08VW16B, with key type only)

(3.15)

Absolute Encoder

1024 P/R

Holding Brake

(Deenergisation Operation)

Voltage: 90VDC, Dissipated

Current (Reference): 0.08A

Brake Holding Torque = Motor

Rated Torque

0 -0.030

(1.38)

0.02

(0.0008)

4-f7 (f0.28)

MTG Holes

4-R8.2

Type

SGM-

QK U W

08VW12B No key

08VW14B 30

08VW16B

(1.18)

(0.12)

(0.20)

T Screw dimensions

(lb)

−−−

(0.20)

(0.31)

Output

(HP)

750

(1.01)

Approx.

mass kg

(lb)

4.5

(9.92)

Allowable radial load

N (lb)

Allowable thrust load

N (lb)

392 (88.1) 147 (33.0)

Note 1) The detector uses a 12-bit absolute encoder 1024 P/R.

2) Type “V” indicates 200 V specification.

3) “08VW14B” and “08VW16B” have a keyed shaft. The keyway complies with JIS B

1301-1976 (precision). A straight key is supplied.

4) The quoted allowable radial load is the value at a position 35 mm (1.38 in.) from the motor mounting surface.

5) The electromagnetic brake is only to hold the load in position and cannot be used to stop the motor.

307

SERVO SELECTION AND DATA SHEETS

5.4.2 Servomotor Dimensional Drawings cont.

• Details of Motor and Encoder Plugs (Common for 30 W (0.04 HP) to 750 W (1.01 HP)

Motor Plug

Encoder Plug

Plug : 172168-1 (AMP)

Pin: 170360-1 or 170364-1

(17359-1 or 170363-1: 30, 50, or

100 W only)

Connected to

Cap: 172160-1

Socket: 170362 -1 or 170366-1

Motor Wiring Specifications

U phase

V phase

W phase

Brake terminal

Red

White

Blue

Green/Yellow

Red

Black

Plug: 172171-1 (AMP)

Pin: 170359-1 or 170363-1

Connected to

Cap :172163-1

Socket: 170361-1 or 170365-1

*

Incremental Encoder Wiring Specifications

(12)

A channel output

B channel output

Z channel output

0 V (power supply)

+5 V (power supply)

FG (Frame Ground)

S channel output

(Capacitor reset)

Reset

0V(battery)

3.6V(battery)

Blue

White/Blue

Yellow

White/Yellow

Green

White/Green

Black

Red

Green/Yellow

Purple

White/Purple

(Gray)

White/Gray

White/Orange

Orange

*

Terminal to discharge capacitor for product dispatch.

Do not use.

308

5.4 Σ-Series Dimensional Drawings

2) The dimensional drawings of TÜV approved SGMP Servomotors (conforming to the machine instructions) are broadly grouped into the following four categories.

a) Incremental encoder, no brake (from page 310) b) Incremental encoder, with brake (from page 314 ) c) Absolute encoder, no brake (from page 319) d) Absolute encoder, with brake (from page 324)

Motor capacities are available as 100 W (0.13 HP), 200 W (0.27 HP), 300 W (0.40 HP) ,

400 W (0.53 HP), 750 W (1.01 HP). These are grouped into three categories, as follows:

• 100W (0.13 HP)

• 200W (0.27 HP), 300W (0.40 HP), 400W (0.53 HP)

• 750W (1.01 HP)

• As for the dimensional drawings of SGM servomotors, see from the page 247 on.

• As for the dimensional drawings of SGMP servomotors, see from the page 269 on.

• As for the dimensional drawings of TÜV approved SGM servomotors, see from the page 289 on.

309

SERVO SELECTION AND DATA SHEETS

5.4.2 Servomotor Dimensional Drawings cont.

(1) TÜV approved (conforming to the machine instructions) SGMP Servomotor

Incremental encoder, no brake (Type SGMP-jjj31j)

• 100 W (0.13 HP)

Encoder Lead

UL2854φ6

(φ0.24)

(11.81¦1.18)

(1.38)

Motor Lead UL2464

φ7(φ0.29)

Marked Wire

Sealant

Nameplate

(0.20)

(3.23)

(2.24)

(1.67)

(0.98)

(0.42) (0.24) (0.12)

(0.55)

φ(

(1.38)

(11.81¦1.18)

(0.0016)

(φ0.0016)

(φ 2.76)

Screw

Cross-section Y-Y

Hex. Nut

14 (0.55)

(2.36)

(0.83)

Incremental Encoder

2048 P/R (0.0008)

4-φ5.5 (φ0.22)

MTG Holes Shaft end screw hole

(SGMP-01V(W)316, with key type only)

Type

SGMP-

QK U W T Screw dimensions

Output

W (HP)

)

Approx.

mass kg

(lb)

( ) 01V312 No key

01W312

01V314

01W314

(0 55)

1.8

(0.07)

(0 12)

01V316

01W316

---

M3, depth 6

(0 24) p

Allowable radial load

N (lb)

Allowable thrust load

N (lb)

49 (11.0) )

Note 1) The detector uses an incremental encoder 2048 P/R.

2) Type “V” indicates 200 V specification, and type “W” indicates 100 V specification.

3) “01V(W)314” and “01V(W)316” have a keyed shaft. The keyway complies with JIS B

1301-1976 (precision). A straight key is supplied.

4) The quoted allowable radial load is the value at a position 20 mm (0.79 in.) from the motor mounting surface.

5) Conforms to “IP55” protective structure (except connector and output shaft faces).

310

5.4 Σ-Series Dimensional Drawings

• 200 W (0.27 HP), 300 W (0.40 HP), 400 W (0.53 HP)

Motor Lead

UL2464

φ7 (φ0.29)

Encoder Lead

UL2854φ6

(φ0.24)

Sealant 5.2

(0.20)

Marked Wire

(11.81¦1.18)

(1.38)

(11.81¦1.18)

(0.32)

(0.31) (0.12)

(0.55)

(1.38)

(1.18)

(0.0016)

Screw

4-φ7 (φ0.29)

MTG Holes

Cross-section Y-Y

(3.15)

Hex. Nut

14 (0.55)

(0.83)

(φ0.0016)

Nameplate

0 -0.01

0 -0.030

Incremental Encoder

2048 P/R

(0.0008)

Shaft end screw hole

(SGMP-jjV(W)316, with key type only)

Type

SGMP-

04V312

04V314

04V316

02V312 92

(

02V314

02W314

02V316

02W316

03W312 112

(

03W316

(

ML1

) (

ML2

48.1

)

(

68.1

) )

(

No key

(

No key

(

U W T Screw dimensions

---

Output

W (HP)

Approx.

mass kg

(lb)

(

200

(

1.4

(0.27) ) (3.09) )

) (

)

M5, depth 8

(0.31)

---

(

) ) ) depth 8

(0.31)

---

(

) ) ) depth 8

(0.31)

(

300

400

(0.53) )

(

2.1

(0.40) ) (4.63) )

Allowable radial load

N (lb)

Allowable thrust load

N (lb)

Note 1) The detector uses an incremental encoder 2048 P/R.

2) Type “V” indicates 200 V specification, and type “W” indicates 100 V specification.

311

SERVO SELECTION AND DATA SHEETS

5.4.2 Servomotor Dimensional Drawings cont.

3) “02V(W)314”, “02V(W)316”, “04V314”, “04V316”, “03W314”, and 03W316 have a keyed shaft. The keyway complies with JIS B 1301-1976 (precision). A straight key is supplied.

4) The quoted allowable radial load is the value at a position 25 mm (0.98 in.) from the motor mounting surface.

5) Conforms to “IP55” protective structure (except connector and output shaft faces).

• 750 W (1.01 HP)

Encoder Lead

UL2854φ6

(φ0.24)

Motor Lead

UL2464

φ7 (φ0.29)

(11.81¦1.18)

(1.38)

Marked Wire

Sealant

(0.20)

(1.38)

(11.81¦1.18)

(4.78)

(2.63)

(3.21)

(1.57)

(0.0016)

(0.41) (0.39) (0.14)

Nameplate (0.0008)

(0.75)

4-φ10

(φ0.39)

MTG Holes

(φ5.71)

Screw

Cross-section Y-Y

(4.72)

(1.50)

Hex. Nut

14 (0.55)

0 -0.035

0 -0.01

Incremental Encoder

2048 P/R

(φ0.0016)

Shaft end screw hole

(SGMP-08V316, with key type only)

Type

SGMP-

QK U W T

08V312 No key

08V314

08V316

(0 8 )

(0.12)

(0 20)

Screw dimensions

---

Output

(HP)

750

(1.01)

Approx.

mass kg

(lb)

4.6

(10.14)

Allowable radial load

N (lb)

392 (80.1) )

Allowable thrust load

N (lb)

( )

M5, depth 8

(0.31)

Note 1) The detector uses an incremental encoder 2048 P/R.

2) Type “V” indicates 200 V specification.

3) “08V314” and “08V316” have a keyed shaft. The keyway complies with JIS B 1301-1976

(precision). A straight key is supplied.

4) The quoted allowable radial load is the value at a position 35 mm (1.38in.) from the motor mounting surface.

5) Conforms to IP55 protective structure (except connector and output shaft faces).

312

5.4 Σ-Series Dimensional Drawings

• Details of Motor and Encoder Plugs (Common for 100 W (0.13HP) to 750 W (1.01HP))

Motor Plug

Encoder Plug

Plug : 172167-1 (AMP)

Pin: 170360-1 or 170364-1

Connected to

Cap 172159-1

Socket 170362-1 or 170366-1

Plug: 172169-1 (AMP)

Pin: 170359-1 or 170363-1

Connected to

Cap :172161-1

Socket: 170361-1 or 170365-1

Motor Wiring Specifications

U phase

V phase

W phase

Red

White

Blue

Green/Yellow

Incremental Encoder Wiring Specifications

A channel output

B channel output

C channel output

0 V (power supply)

+5 V (power supply)

FG (Frame Ground)

Blue

Blue/Black

Yellow

Yellow/Black

Green

Green/Black

Gray

Red

Orange

313

SERVO SELECTION AND DATA SHEETS

5.4.2 Servomotor Dimensional Drawings cont.

(2) TÜV approved (conforming to the machine instructions) SGMP Servomotor

Incremental encoder, with brake (Type SGMP-jjj31jB)

• 100 W (0.13HP)

Encoder Lead

UL2854φ6

(φ0.24) (11.81¦1.18)

(1.38)

(0.57)

(0.37)

Motor Lead

UL2464 φ7 (φ0.29)

(1.14)

Sealant

(4.37)

(3.39)

(1.67) (0.98)

(0.42) (0.24) (0.12)

(0.55)

Marked Wire

Screw

Cross-section Y-Y

(1.38)

(11.81¦1.18)

(2.36)

(0.83)

Hex. Nut

14 (0.55)

(0.0016)

(φ0.0016)

4-φ5.5 (φ0.22)

MTG Holes

(φ2.76)

Incremental Encoder

2048 P/R

Holding Brake

(Deenergisation Operation)

Voltage depends on the last symbol of motor type:

B: 90VDC C: 24VDC

Brake Holding Torque = Motor

Rated Torque

(0.0008)

Shaft end screw hole

(SGMP-01V(W)316B(C), with key type only)

Type SGMPQK U W

01V312B(C) No key

01V314B(C) 14

01V316B(C)

(0 55)

01W312B(C) No key

1.8

(0.07)

(0.12)

01W314B(C) 14

(0.55)

01W316B(C)

(0.55)

1.8

(0.07)

(0.12)

Screw dimensions

---

Output

(HP)

100

(0.13)

Approx.

mass kg

(lb)

0.9

(1.98)

Allowable radial load

N (lb)

M3, depth 6

(0.24)

---

Allowable thrust load

N (lb)

49 (11.0) )

(0.12)

M3, depth 6

(0.24)

Note 1) The detector uses an incremental encoder 2048 P/R.

2) Type “V” indicates 200 V specification, and “W” indicates 100V specification.

3) “01V314B(C)”, “01V316B(C)”, “01W314B(C)” and “01W316B(C)” have a keyed shaft.

The keyway complies with JIS B 1301-1976 (precision). A straight key is supplied.

314

5.4 Σ-Series Dimensional Drawings

4) The quoted allowable radial load is the value at a position 20 mm (0.79in.) from the motor mounting surface.

5) The electromagnetic brake is only to hold the load in position and cannot be used to stop the motor.

6) Conforms to IP55 protective structure (except connector and output shaft faces).

• 200 W (0.27HP), 300W (0.40 HP), 400 W (0.53HP)

Encoder Lead

UL2854φ6

(φ0.24)

Motor Lead

UL2464 φ7

(φ0.29)

Sealant

(11.81¦1.18)

(1.38)

Marked Wire

(1.24)

(0.24)

Sealant

(0.55)

(11.81¦1.18)

(0.0016)

(0.32) (0.31) (0.12)

(1.18)

(φ0.0016)

Screw

Cross-section Y-Y

(3.15)

Hex. Nut

14 (0.55)

4-φ7 (φ0.28)

MTG Holes

(0.83)

(φ3.54)

Incremental Encoder

2048 P/R

Holding Brake

Nameplate

(Deenergisation Operation)

Voltage depends on the last symbol of motor type:

B: 90VDC C: 24VDC

Brake Holding Torque = Motor

Rated Torque

(0.0008)

Shaft end screw hole

(SGMP-jjV(W)316B(C), with key type only)

315

SERVO SELECTION AND DATA SHEETS

5.4.2 Servomotor Dimensional Drawings cont.

Type SGMPL LL LM QK U W T Screw dimensions

Output

(HP)

Approx.

mass kg

(lb)

Allowable radial load

N (lb)

( )

( 1)

Allowable thrust load

N (lb)

(15.3)

02V312B(C)

02V314B(C)

02V316B(C)

02W312B(C)

02W314B(C)

02W316B(C)

123.5

( 86)

93.5

(3 68)

48.1

(1 89)

No key −

(0 12)

(0 20)

(0 20) depth 8

No key −

(0 63)

(0 12)

(0 20)

(0 20) depth 8

03W312B(C) 143.5

(

113.5

68.1

(2 68)

No key

03W314B(C) (5.65) (4.47) (2.68) 16

03W316B(C)

( 6 )

(0 63)

(0 12)

(0 20)

− depth 8

04V312B(C)

04V314B(C)

04V316B(C)

No key −

(0 63)

(0 12)

(0 20)

(0 20) depth 8

200

(0.27)

300

(0.40)

400

(0.53)

Note 1) The detector uses an incremental encoder 2048 P/R.

2) Type “V” indicates 200 V specification, and “W” indicates 100V specification.

3) “02V314B(C)”, “02V316B(C)”, “02W314B(C)”, “02W316B(C)”, “03W314B(C)”,

“03W316B(C)”, “04V314B(C)” and “04V316B(C)” have a keyed shaft. The keyway complies with JIS B 1301-1976 (precision). A straight key is supplied.

4) The quoted allowable radial load is the value at a position 25 mm (0.98in.) from the motor mounting surface.

5) The electromagnetic brake is only to hold the load in position and cannot be used to stop the motor.

6) Conforms to IP55 protective structure (except connector and output shaft faces).

316

5.4 Σ-Series Dimensional Drawings

• 750 W (1.01HP)

Encoder Lead

UL2854φ 6

(φ 0.24)

Sealant

(11.81¦1.18)

(1.38)

Motor Lead

UL2464 φ7 (φ0.29)

(0.38)

Marked Wire

Screw

(1.38)

(11.81¦1.18)

(4.65 MAX)

(2.63)

(6.22 MAX)

(1.57)

(0.41) (0.0016)

Name plate

(0.14)

(0.75)

(0.0008)

4-φ10

(φ 0.39)

MTG Holes

Cross-section Y-Y

(φ 5.71)

(4.72)

(1.50)

Hex. Nut

17 (0.67)

0 -0.01

0 -0.035

Incremental

Encoder

2048 P/R

Holding Brake

(Deenergisation Operation)

Voltage depends on the last symbol of motor type:

(φ 0.0016)

B: 90VDC C: 24VDC

Brake Holding Torque = Motor

Rated Torque

Shaft end screw hole

(SGMP-08V316B(C), with key type only)

Type SGMPQK U W T Screw dimens ions

08V312B(C) No key −

08V314B(C)

08V316B(C)

( ) ( ) ( ) ( ) M5

Depth 8

Output

(HP)

750

(1.01)

Approx.

mass kg

(lb)

5.7

(12.57)

Allowable radial load

N (lb)

Allowable thrust load

N (lb)

392 (88.1) ) ( )

Note 1) The detector uses an incremental encoder 2048 P/R.

2) Type “V” indicates 200 V specification.

3) “08V314B(C)” and “08V316B(C)” have a keyed shaft. The keyway complies with JIS B

1301-1976 (precision). A straight key is supplied.

4) The quoted allowable radial load is the value at a position 35 mm (1.38 in.) from the motor mounting surface.

5) The electromagnetic brake is only to hold the load in position and cannot be used to stop the motor.

6) Conforms to IP55 protective structure (except connector and output shaft faces).

317

SERVO SELECTION AND DATA SHEETS

5.4.2 Servomotor Dimensional Drawings cont.

• Details of Motor and Encoder Plugs (Common for 100 W (0.13 HP) to 750 W (1.01 HP))

Motor Plug

Plug : 172168-1 (AMP)

Pin: 170360-1 or 170364-1

(17359-1 or 170363-1: 30, 50, or

100 W only)

Connected to

Cap: 172160-1

Socket: 170362 -1 or 170366-1

Motor Wiring Specifications

U phase

V phase

W phase

Brake terminal

Red

White

Blue

Green/Yellow

Red

Black

Encoder Plug

Plug: 172169-1 (AMP)

Pin: 170359-1 or 170363-1

Connected to

Cap :172161-1

Socket: 170361-1 or 170365-1

Incremental Encoder Wiring Specifications

A channel output Blue

A channel output Blue/Black

B channel output Yellow

B channel output Yellow/Black

C channel output

0V (power supply)

+5 V(power supply)

Green

Green/Black

Gray

Red

FG (Frame Ground) Orange

318

5.4 Σ-Series Dimensional Drawings

(3) TÜV approved (conforming to the machine instructions) SGMP Servomotor

Absolute encoder, no brake (Type SGMP-jjjW1j)

• 100 W (0.13HP)

(11.81¦1.18)

(1.38)

Encoder Lead

UL20276 φ8 (0.31)

55 (2.17)

(0.33)

Sealant

Motor Lead UL2464

φ 7 (φ 0.29)

Marked Wire

122.5 (4.82)

97.5 (3.84)

(1.67)

10.55

(0.42)(0.24) (0.12)

(0.98)

(1.38)

(11.81¦1.18)

(0.0016)

(0.55)

8 -0.009

(φ 0.0016)

4-φ5.5 (φ0.22)

MTG Holes

(φ 2.76)

0 -0.025

Screw

Cross-section Y-Y

Hex. Nut

14 (0.55)

(2.36)

(0.83)

12-bit Absolute

Encoder 1024 P/R

Nameplate

(0.0008)

Shaft end screw hole

(SGMP-01V(W)W16, with key type only)

Type

SGMP-

QK U W T

01VW12 No key

01WW12

01VW14 14

01WW14

(0 )

01VW16

1.8

(0 12)

01WW16

(0 12)

Screw dimensions

−

M3, depth 6

(0.24)

Output

(HP)

Approx.

mass kg

(lb)

100 0.95

(2 09)

Allowable radial load

N (lb)

Allowable thrust load

N (lb)

Note 1) The detector uses a 12-bit absolute encoder 1024 P/R.

2) Type “V” indicates 200 V specification, and “W” indicates 100 V specification.

3) “01V(W)W14” and “01V(W)W16” have a keyed shaft. The keyway complies with JIS B

1301-1976 (precision). A straight key is supplied.

4) The quoted allowable radial load is the value at a position 20 mm (0.79 in.) from the motor mounting surface.

5) Conforms to IP55 protective structure (except connector and output shaft faces).

319

SERVO SELECTION AND DATA SHEETS

5.4.2 Servomotor Dimensional Drawings cont.

• 200 W (0.27 HP), 300 W (0.40 HP) (100 V only), 400 W (0.53HP) (200 V only)

Encoder Lead

UL20276

φ 8 (φ0.31)

(11.81¦1.18)

(1.38)

Motor Lead

UL2464 φ7 (φ0.29)

Marked Wire

(0.47)

(1.51)

Sealant

(0.55)

(1.38)

(11.81¦1.18)

(0.32) (0.31) (0.12)

(1.18)

(0.0016)

(φ0.0016)

Screw

Cross-section Y-Y

Hex. Nut

14 (0.55)

(3.15)

(0.83)

4-φ7 (φ0.29)

MTG Holes

0 -0.01

0 -0.030

(0.0008)

Nameplate

12-bit Absolute

Encoder

1024 P/R

Shaft end screw hole

(SGMP-jj

V(W)W16, with key type only)

Type

SGMP-

L LL LM QK U W T Screw dimensions

02VW12 116.5

02WW12

( 9)

02VW14

02WW14

02VW16

86.5

48.1

(1 89)

16 3

(0 12)

(0 20)

---

02WW16

M5, depth 8

(0.31)

03WW12

03WW14

03WW16

04VW12

04VW14

04VW16

136.5

( 3 )

106.5

( 19)

68.1

(2 68)

No key ---

(0 12)

(0 20)

(0 20) depth 8

(0.31)

--No key

(0 63)

(0 12)

(0 20)

(0 20) depth 8

(0.31)

Output

(HP)

200

400

(0.53)

Approx.

mass kg

(lb)

1.6

(3 3)

300 2.3

( 0 )

Allowable radial load

N (lb)

)

Allowable thrust load N (lb)

( )

Note 1) The detector uses a 12-bit absolute encoder 1024 P/R.

2) Type “V” indicates 200 V specification, and “W” indicates 100 V specification.

320

5.4 Σ-Series Dimensional Drawings

3) “02V(W)W14”, “02V(W)W16”, “03WW14”, “03WW16”, “04VW14”, and “04VW16” have a keyed shaft. The keyway complies with JIS B 1301-1976 (precision). A straight key is supplied.

4) The quoted allowable radial load is the value at a position 25 mm (0.98 in.) from the motor mounting surface.

5) Conforms to IP55 protective structure (except connector and output shaft faces).

321

SERVO SELECTION AND DATA SHEETS

5.4.2 Servomotor Dimensional Drawings cont.

• 750 W (1.01HP)

Encoder Lead

UL20276φ8

(φ0.31)

Motor Lead

UL2464

φ7 (φ0.29)

(11.81¦1.18)

(1.38)

Marked Wire

Sealant (0.55)

(0.75)

(5.75)

(4.17)

(1.38)

(11.81¦1.18)

(1.57)

(2.63)

(0.41) (0.39)

(0.14)

Nameplate

(0.0016)

(0.0008)

0 -0.01

0 -0.035

Screw

Cross-section Y-Y

(4.72)

(1.50)

Hex. Nut

17 (0.67)

4-φ10

(φ0.39)

MTG Holes

(φ5.71)

12−bit Absolute

Encoder 1024 P/R

(φ0.0016)

Shaft end screw hole

(SGMP-08VW16, with key type only)

Type

SGMP-

QK U W T

08VW12 No key

08VW14 22

( (

(

(0.12) ) (0.20) ) (0.20) )

−

Screw dimensions

Output

(HP)

Approx.

mass kg

(lb)

(

750

(

4.7

(1.01) ) (10.36) )

Allowable radial load

N (lb)

Allowable thrust load

N (lb)

) ( )

M5, depth 8

(0.31)

Note 1) The detector uses a 12-bit absolute encoder 1024 P/R.

2) Type “V” indicates 200 V specification.

3) “08VW14” and “08VW16” have a keyed shaft. The keyway complies with JIS B

1301-1976 (precision). A straight key is supplied.

4) The quoted allowable radial load is the value at a position 35 mm (1.38 in.) from the motor mounting surface.

5) Conforms to IP55 protective structure (except connector and output shaft faces).

322

5.4 Σ-Series Dimensional Drawings

• Details of Motor and Encoder Plugs (Common for 100 W (0.13 HP) to 750 W (1.01 HP))

Motor Plug

Encoder Plug

Plug : 172167-1 (AMP)

Pin 170360-1 or 170364-1

Connected to

Cap 172159-1

Socket 170362-1 or 170366-1

Motor Wiring Specifications

U phase

V phase

W phase

Red

White

Blue

Green/Yellow

Plug: 172171-1 (AMP)

Pin: 170359-1 or 170363-1

Connected to

Cap :172163-1

Socket: 170361-1 or 170365-1

*

Absolute Encoder Wiring Specifications

(12)

A channel output Blue

A channel output White/Blue

B channel output Yellow

B channel output

Z channel output

White/Yellow

Green

Z channel output

0V (power supply)

+5 V(power supply)

White/Green

Black

Red

FG (Frame Ground) Green/Yellow

S channel output Purple

S channel output

(Capacitor reset)

Reset

White/Purple

(Gray)

White/Gray

0V(battery)

3.6V(battery)

White/Orange

Orange

*

Terminal to discharge capacitor for product dispatch.

Do not use.

323

SERVO SELECTION AND DATA SHEETS

5.4.2 Servomotor Dimensional Drawings cont.

(4) TÜV approved (conforming to the machine instructions) SGMP Servomotor

Absolute encoder, with brake (Type SGMP-jjjW1jB)

• 100 W (0.13 HP)

(11.81¦1.18)

(1.38)

Motor Lead

UL2464 φ7 (φ0.29)

Encoder Lead

UL20276 φ8

(φ0.31)

151.5 (5.96)

55 (2.17)

(0.33)

126.5 (4.98)

(1.14)

Sealant

(11.81¦1.18)

(1.67)

(0.42) (0.24) (0.12)

(0.98)

(1.38)

Marked Wire

Screw

Cross-section Y-Y

(0.0016)

4-φ5.5

(φ0.22)

MTG Holes

(φ0.0016)

(2.36)

Hex. Nut

14 (0.55)

(0.55)

(φ2.76)

324

12−bit Absolute

Encoder 1024 P/R

Holding Brake

(Deenergisation Operation)

Voltage depends on the last symbol of motor type:

B: 90VDC C: 24VDC

Brake Holding Torque = Motor

Rated Torque

Nameplate

(0.0008)

Shaft end screw hole

(SGMP-01V(W)W16B(C), with key type only)

Type SGMPQK U W T

01VW12B(C) No key

01WW12B(C)

01VW14B(C) 14

( (0.55) ) (

1.8

(0.07) ) (

(0.12) ) (

(0.12) )

01WW14B(C)

Screw dimensions

---

Output

(HP)

100

(0.13)

01VW16B(C)

01WW16B(C)

M3, p

(0 24)

Approx.

mass kg

(lb)

1.2

(2.65)

Allowable radial load

N (lb)

Allowable thrust load

N (lb)

Note 1) The detector uses a 12-bit absolute encoder 1024 P/R.

2) Type “V” indicates 200 V specification, and “W” indicates 100 V specification.

3) “01VW14B(C)”, “01VW16B(C)”, “01WW14B(C)” and “01WW16B(C)” have a keyed shaft. The keyway complies with JIS B 1301-1976 (precision). A straight key is supplied.

5.4 Σ-Series Dimensional Drawings

4) The quoted allowable radial load is the value at a position 20 mm (0.79 in.) from the motor mounting surface.

5) The electromagnetic brake is only to hold the load in position and cannot be used to stop the motor.

6) Conforms to IP55 protective structure (except connector and output shaft faces).

325

SERVO SELECTION AND DATA SHEETS

5.4.2 Servomotor Dimensional Drawings cont.

• 200 W (0.27 HP), 300 W (0.40 HP), 400 W (0.53 HP)

(11.81¦1.18)

Encoder Lead

UL20276φ8

(φ0.31)

Motor Lead

UL2464 φ7

(φ0.29)

Sealant

(1.24)

(1.38)

Marked Wire

(0.32) (0.31)

(11.81¦1.18)

(0.12)

(1.18)

(0.0016)

(φ0.0016)

(0.55)

4-φ7 (φ0.28)

MTG Holes

Screw

Cross-section Y-Y

(3.15)

Hex. Nut

14 (0.55)

(φ3.54)

12-bit Absolute

Encoder 2048 P/R

Nameplate

Holding Brake

(Deenergisation Operation)

Voltage depends on the last symbol of motor type:

B: 90VDC C: 24VDC

Brake Holding Torque = Motor

Rated Torque

(0.0008)

Shaft end screw holeSGMP-jjV(W)W16B(C), with key type only)

Type SGMP-

04VW12B(C)

04VW14B(C)

04VW16B(C)

02VW12B(C) 148

(

02VW14B(C)

02WW14B(C)

02VW16B(C)

02WW16B(C)

03WW12B(C) 168

(

03WW16B(C)

(

118

) (

48.1

)

(

138

(

68.1

) )

(

No key

(

No key

(

U W T Screw dimensions

Output

(HP)

---

(

200

) (

)

M5, depth 8

(0.31)

---

(

) ) ) depth 8

(0.31)

---

(

) ) ) depth 8

(0.31)

(

300

(

400

(0.53) )

(

Approx.

mass kg

(lb)

2.3

)

Allowable radial load

N (lb)

245

(55.1)

Allowable thrust load

N (lb)

(15.3)

(

3.0

)

Note 1) The detector uses a 12-bit absolute encoder 1024 P/R.

326

5.4 Σ-Series Dimensional Drawings

2) Type “V” indicates 200 V specification, and “W” indicates 100 V specification.

3) “02V(W)W14B”, “02V(W)W16B”, “03WW14B”, “03WW16B”, “04VW14B”, and

“04VW16B” have a keyed shaft. The keyway complies with JIS B 1301-1976 (precision).

A straight key is supplied.

4) The quoted allowable radial load is the value at a position 25 mm (0.98 in.) from the motor mounting surface.

5) The electromagnetic brake is only to hold the load in position and cannot be used to stop the motor.

6) Conforms to IP55 protective structure (except connector and output shaft faces).

• 750 W (1.01 HP)

Encoder Lead

UL20276φ8

(φ0.31)

Motor Lead

UL2464 φ7 (φ0.29)

(11.81¦1.18)

(1.38)

Marked Wire

(0.55)

Sealant

(1.38)

(11.81¦1.18)

(7.17 MAX)

(5.59 MAX) (1.57)

66.7 (2.63)

(0.39)

(0.41)

Nameplate

(0.14)

(0.75)

(0.0016)

(0.0008)

0 -0.01

0 -0.035

4-φ10

(φ0.39)

MTG Holes

(φ5.71)

Screw

Cross-section Y-Y

(4.72)

(1.50)

Hex. Nut

17 (0.67) 5

12−bit Absolute

Encoder 1024 P/R

Holding Brake (φ0.0016)

(Deenergisation Operation)

Voltage depends on the last symbol of motor type:

B: 90VDC C: 24VDC

Brake Holding Torque = Motor

Rated Torque

Shaft end screw hole

(SGMP-08VW16B(C), with key type only)

Type

SGMP-

QK U W T

08VW12B(C) No key

08VW14B(C) 22

08VW16B(C) (0.87)

(0.12)

(0 20)

Screw dimensions

−

Output

(HP)

Approx.

mass kg

(lb)

750

(1.01)

6.2

(13 6 )

M5 depth

8 (0.31)

Allowable radial load

N (lb)

Allowable thrust load

N (lb)

327

SERVO SELECTION AND DATA SHEETS

5.4.2 Servomotor Dimensional Drawings cont.

Note 1) The detector uses a 12-bit absolute encoder 1024 P/R.

2) Type “V” indicates 200 V specification.

3) “08VW14B(C)” and “08VW16B(C)” have a keyed shaft. The keyway complies with JIS B

1301-1976 (precision). A straight key is supplied.

4) The quoted allowable radial load is the value at a position 35 mm (1.38 in) from the motor mounting surface.

5) The electromagnetic brake is only to hold the load in position and cannot be used to stop the motor.

6) Conforms to IP55 protective structure (except connector and output shaft faces).

• Details of Motor and Encoder Plugs (Common for 100W (0.13 HP) to 750 W (1.01 HP))

Motor Plug

Encoder Plug

Plug : 172168-1 (AMP)

Pin 170360-1 or 170364-1(1 to 4pin)

170359-1 or 170363 (5 to 6 pin)

(17360-1 or 17364-1:only 750W)

Connected to

Cap 172160-1

Socket 170362-1 or 170366-1

Motor Wiring Specifications

U phase

V phase

W phase

Brake terminal

Red

White

Blue

Green/Yellow

Black

Plug: 172171-1 (AMP)

Pin: 170359-1 or 170363-1

Connected to

Cap :172163-1

Socket: 170361-1 or 170365-1

*

Absolute Encoder Wiring Specifications

(12)

A channel output

B channel output

Z channel output

0 V (power supply)

+5 V (power supply)

FG (Frame Ground)

S channel output

(Capacitor reset)

Reset

0V(battery)

3.6V(battery)

Blue

White/Blue

Yellow

White/Yellow

Green

White/Green

Black

Red

Green/Yellow

Purple

White/Purple

(Gray)

White/Gray

White/Orange

Orange

*

Terminal to discharge capacitor for product dispatch. Do not use.

328

5.4 Σ-Series Dimensional Drawings

5.4.3 Servopack Dimensional Drawings

1) The dimension drawings of the DR2 Servopack are broadly grouped into the following two categories according to capacity and option specifications (semi-closed or fullclosed loop).

a) Semi-closed loop (standard)

200V, 30W (0.04 HP) to 200 W (0.27HP) (Types: DR2-A3Aj to 02Aj)

100V, 30W (0.04 HP) to 100 W (0.13HP) (Types: DR2-A3Bj to 01Bj) b) Semi-closed loop (standard)

200V, 400W (0.53 HP), 750W (1.01 HP) (Types: DR2-04Aj, 08Aj)

100V, 200W (0.27 HP), 300W (0.40 HP) (Types: DR2-02Bj,03Bj) c) Full-closed loop (option)

200V, 30W (0.04 HP) to 200W (0.27 HP) (Types: DR2-A3Aj-F to 02Aj-F)

100V, 30W (0.04 HP) to 100W (0.13 HP) (Types: DR2-A3Bj-F to 01Bj-F) d) Full-closed loop (option)

200V, 400W (0.53 HP) to 750W (1.01 HP) (Types: DR2-04Aj-F to 08Aj-F)

100V, 200W (0.27 HP) to 300W (0.40 HP) (Types: DR2-02Bj-F to 03Bj-F)

329

SERVO SELECTION AND DATA SHEETS

5.4.3 Servopack Dimensional Drawings cont.

a) Semi-closed loop (standard)

DR2-A3Aj to 02Aj (200V, 30W (0.04 HP) to 200 W (0.27HP))

DR2-A3Bj to 01Bj (100V, 30W (0.04 HP) to 100 W (0.13HP))

Heat Sink

(1.18) (1.18)

(1.30)

VOLTAGE INDICATION

External Terminals (11P)

FRONT2.5H/SA5

(PHOENIX CONTACT)

(0.59)

(0.24)

(1.18)

(0.59)

(2.36)

(0.59) (0.59)

(0.09)

(7.91)

Approx. Mass: 2.5 kg (5.51 lb)

(1.97) 3-M4 TAPPED HOLES

330

5.4 Σ-Series Dimensional Drawings b) Semi-closed loop (standard)

DR2-04Aj, 08Aj (200V, 400W (0.53 HP), 750W (1.01 HP))

DR2-02Bj, 03Bj (100V, 200W (0.27 HP), 300W (0.40 HP))

Heat Sink

(1.30)

VOLTAGE INDICATION

(0.24)

(1.97)

(0.49)

(2.95)

External Terminals (11P)

FRONT2.5H/SA5

(PHOENIX CONTACT)

(0.49) (0.09)

(9.80)

(1.97)

3-M4 TAPPED HOLES

Approx. Mass: 3.7 kg (8.16 lb)

331

SERVO SELECTION AND DATA SHEETS

5.4.3 Servopack Dimensional Drawings cont.

c) Full-closed loop (option)

200V, 30W (0.04 HP) to 200W (0.27 HP) (Types: DR2-A3Aj-F to 02Aj-F)

100V, 30W (0.04 HP) to 100W (0.13 HP) (Types: DR2-A3Bj-F to 01Bj-F)

Heat Sink

(1.18) (1.18) (1.30)

VOLTAGE INDICATION

(0.24)

(0.09)

(0.59)

(1.18)

(0.59)

(2.36)

External Terminals (11P)

FRONT2.5H/SA5 (PHOENIX CONTACT)

(0.59) (0.59)

(7.91)

Approx. Mass: 2.5 kg (5.51 lb)

(1.97)

3-M4 TAPPED HOLES

332

5.4 Σ-Series Dimensional Drawings d) Full-closed loop (option)

200V, 400W (0.53 HP) to 750W (1.01 HP) (Types: DR2-04Aj-F to 08Aj-F)

100V, 200W (0.27 HP) to 300W (0.40 HP) (Types: DR2-02Bj-F to 03Bj-F)

Heat Sink

(1.30)

VOLTAGE INDICATION

(0.24)

(0.49)

External Terminals (11P)

FRONT2.5H/SA5

(PHOENIX CONTACT)

(1.97)

(2.95)

(0.49)

(0.09)

(9.80)

Approx. Mass: 3.7 kg (8.16 lb)

(1.97)

3-M4 TAPPED HOLES

333

SERVO SELECTION AND DATA SHEETS

5.4.4 Digital Operator Dimensional Drawing

5.4.4 Digital Operator Dimensional Drawing

a) JUSP-OP02A-1 (Hand-held type)

(2.48)

(1.97)

(2-φ0.18)

MTG HOLES

(0.73)

(0.28)

TYPE:17JE-23090-02

Made by

DAIICHI

DENSHI KOGYO K.K.

Approx. Mass: 0.18 kg (0.40 lb)

Note Mount type digital operator (type: JUSP-OP03A) cannot be used for DR2 Servopack.

334

5.5 Selecting Peripheral Devices

5.5 Selecting Peripheral Devices

This section shows how to select peripheral devices using flowcharts. Order lists for

Servomotors, Servopacks, digital operators, and peripheral devices are also included.

5.5.1

Selecting Peripheral Devices

5.5.2

Order List

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

335

341

5.5.1 Selecting Peripheral Devices

Select the peripheral devices using the flowcharts on the subsequent pages.

The items below are not included in the flowcharts. Refer to 5.6 Specifications and Dimen-

sional Drawings of Peripheral Devices.

• Variable resistors for speed setting

• Encoder signal converter units

• Cables for connecting PC and Servopack

335

SERVO SELECTION AND DATA SHEETS

5.5.1 Selecting Peripheral Devices cont.

Start peripheral device selection

1) Select motor cables

No brake/With brake?

No brake

With connector and

AMP terminal/Cable only?

Select one of the following according to cable length.

With connector and amplifier terminal

Cable only* 1

Select one of the following according to cable length.

With brake

With connector and

AMP terminal/Cable only?

With connector and amplifier terminal

Select one of the following according to cable length.

Cable only* 1

Select one of the following according to cable length.

(9.8ft)

(16.4ft)

10m

(32.8ft)

15m

(49.2ft)

20m

(65.6ft)

DP9320659-1

DP9320659-2

DP9320659-3

DP9320659-4

DP9320659-5

(9.8ft)

(16.4ft)

10m

(32.8ft)

15m

(49.2ft)

20m

(65.6ft)

DP8409359-1

DP8409359-2

DP8409359-3

DP8409359-4

DP8409359-5

(9.8ft)

(16.4ft)

10m

(32.8ft)

15m

(49.2ft)

20m

(65.6ft)

DP9320660-1

DP9320660-2

DP9320660-3

DP9320660-4

DP9320660-5

(9.8ft)

(16.4ft)

10m

(32.8ft)

15m

(49.2ft)

20m

(65.6ft)

DP8409360-1

DP8409360-2

DP8409360-3

DP8409360-4

DP8409360-5

Incremental encoder/Absolute encoder

Incremental

Select connector kit.

Absolute

Select connector kit.

Incremental encoder/Absolute encoder

Incremental

Select connector kit.

Absolute

Select connector kit.

DP9420009-1 DP9420009-3 DP9420009-2 DP9420009-4

1)’ Select brake power supply.

to (a) to (b)

*1 When approved cable is required, use the following cable :

VDE250 approved, without brake : 4 ×0.75mm

2 with brake : 7× 0.75mm

336

from (a)

5.5 Selecting Peripheral Devices from (b)

100 V input /

200 V input

100 V input

LPDE-1H01

200 V input

LPSE-2H01

2) Select encoder cable

Incremental encoder/Absolute encoder

Incremental

Absolute

Connector both ends

Servopack end without connector

Cable only

Connector both ends

Select one of the following according to cable length.

Servopack end without connector

Select one of the following according to cable length.

Cable only

Select one of the following according to cable length.

(9.8ft)

(16.4ft)

10m

(32.8ft)

15m

(49.2ft)

20m

(65.6ft)

DP9320082-1

DP9320082-2

DP9320082-3

DP9320082-4

DP9320082-5

(9.8ft)

(16.4ft)

10m

(32.8ft)

15m

(49.2ft)

20m

(65.6ft)

DP9320086-1

DP9320086-2

DP9320086-3

DP9320086-4

DP9320086-5

(9.8ft)

(16.4ft)

10m

(32.8ft)

15m

(49.2ft)

20m

(65.6ft)

DP9400064-1

DP9400064-2

DP9400064-3

DP9400064-4

DP9400064-5

Connector kit previously selected at step 1)

Yes No

Select connector kit.

DP9420009-1

DP9420009-2 to (b)

337

SERVO SELECTION AND DATA SHEETS

5.5.1 Selecting Peripheral Devices cont.

Absolute

Connector both ends

Servopack end without connector

Cable only

Connector both ends

Select one of the following according to cable length.

Servopack end without connector

Select one of the following according to cable length.

Cable only

Select one of the following according to cable length.

(9.8ft)

(16.4ft)

10m

(32.8ft)

15m

(49.2ft)

20m

(65.6ft)

DP9320084-1

DP9320084-2

DP9320084-3

DP9320084-4

DP9320084-5

(9.8ft)

(16.4ft)

10m

(32.8ft)

15m

(49.2ft)

20m

(65.6ft)

DP9320085-1

DP9320085-2

DP9320085-3

DP9320085-4

DP9320085-5

(9.8ft)

(16.4ft)

10m

(32.8ft)

15m

(49.2ft)

20m

(65.6ft)

DP8409123-1

DP8409123-2

DP8409123-3

DP8409123-4

DP8409123-5

Connector kit previously selected at step 1)

Yes No

Select connector kit.

DP94020006-3

DP94020006-4

2)’ Select battery for absolute encoder.

ER6VC3 (3.6V) to (c)

338

5.5 Selecting Peripheral Devices from (c)

3) Select 1CN connector for reference input.

Connector only

1CN connector

DP9420010

4) Select circuit breaker (MCCB) and noise filter.

200 V

Servopack power supply 200 V/100 V?

100 V

Servopack capacity?

Use circuit breaker for 5 A power supply capacity.

Noise filter

LF−205A

Use circuit breaker for 9 A power supply capacity.

Use circuit breaker for 16 A power supply capacity.

Use circuit breaker for 5 A power supply capacity.

Use circuit breaker for 8 A power supply capacity.

Use circuit breaker for 15 A power supply capacity.

Noise filter

LF−210

Noise filter

LF−220

Noise filter

LF−205A

Noise filter

LF−210

Noise filter

LF−220

5) Select magnetic contactor and surge suppressor.

Magnetic contactor

HI−15E5

Use one 30 A magnetic contactor for a single

Σ Series, regardless of capacity.

For multiple servo systems, select the magnetic contactor according to the total capacity.

to (d)

339

SERVO SELECTION AND DATA SHEETS

5.5.1 Selecting Peripheral Devices cont.

from (d)

Surge

Suppressor

CR50500BL

6) Select regenerative unit.

This is the surge suppressor for HI-15E5, shown in the previous page.

I to IV

Type of application?

III

Vertical axis

Exceeding 3000 r/min.

Load inertia exceeds 30 times motor inertia (50 to 200 W(0.07 to

0.27 HP), or 20 times motor inertia

(400 W(0.53 HP), 750 W(1.01HP)).

Frequent acceleration/deceleration

(once per second, or more).

Application I to IV

Investigate regenerative unit capacity using AC Servomotor sizing software.

Not application I to IV

Regenerative unit not needed

Result of investigation into regenerative unit?

Applicable

No regenerative unit required.

Add regenerative unit or external regenerative resistor

Regenerative unit

JUSP−RG08

End peripheral device selection

*2 Regenerative unit : applicable to 200V 30W to 200W

External regenerative resistor : applicable to 100V 200W, 300W or 200V 400W, 750W

When power supply is 100V, 30W to 100W, review the application using larger capacity Servopack.

340

5.5 Selecting Peripheral Devices

5.5.2 Order List

1) Order lists are given below for the Servomotors, Servopacks, digital operators, and peripheral devices which comprise the AC Servo Σ−Series. These order lists are a convenient aid to selecting peripheral devices.

SGM Servomotor

Servomotor Type

SGM-

jjjjjjj

SGM-

jjjjjjj

SGM-

jjjjjjj

SGM-

jjjjjjj

SGM-

jjjjjjj

SGM-

jjjjjjj

Qty

DR2 Servopack (excluding cables and connectors)

DR2-

jjjj

j

DR2-

jjjj

j

DR2-

jjjj

j

DR2-

jjjj

j

DR2-

jjjj

j

DR2-

jjjj

j

Servopack Type

SGMP Servomotor

Servomotor Type

SGMP-

jjjjjjj

SGMP-

jjjjjjj

SGMP-

jjjjjjj

SGMP-

jjjjjjj

SGMP-

jjjjjjj

SGMP-

jjjjjjj

Digital Operator

JUSP-OP02A-1

Digital Operator Type

Qty

(Purchase Separately)

Qty

341

SERVO SELECTION AND DATA SHEETS

5.5.2 Order List cont.

Cables for Servomotor without Brake

(with connector and amplifier terminals)

Cable Type

DP9320659-1

DP9320659-2

DP9320659-3

DP9320659-4

DP9320659-5

3 m (9.8 ft)

5 m (16.4 ft)

10 m (32.8 ft)

15 m (49.2 ft)

20 m (65.6 ft)

(Purchase Separately)

Qty

Cables for Servomotor without Brake

(Cable Only) *1

Cable Type

DP8409359-1

DP8409359-2

DP8409359-3

DP8409359-4

DP8409359-5

3 m (9.8 ft)

5 m (16.4 ft)

10 m (32.8 ft)

15 m (49.2 ft)

20 m (65.6 ft)

(Purchase Separately)

Qty

*1 Customer to attach connector and amplifier terminals. Requires K1 connector kit.

Cables for Servomotor with Brake

(with connector and amplifier terminals)

Cable Type

DP9320660-1

DP9320660-2

DP9320660-3

DP9320660-4

DP9320660-5

3 m (9.8 ft)

5 m (16.4 ft)

10 m (32.8 ft)

15 m (49.2 ft)

20 m (65.6 ft)

(Purchase Separately)

Qty

342

5.5 Selecting Peripheral Devices

Cables for Servomotor with Brake

(Cable Only) *1

Cable Type

DP8409360-1

DP8409360-2

DP8409360-3

DP8409360-4

DP8409360-5

3 m (9.8 ft)

5 m (16.4 ft)

10 m (32.8 ft)

15 m (49.2 ft)

20 m (65.6 ft)

(Purchase Separately)

Qty

*1 Customer to attach connector and amplifier terminals. Requires K1 connector kit.

Connector Kits

(Purchase Separately)

Connector Kit Type

DP9420009-1 (Incremental encoder, no brake)

DP9420009-2 (Incremental encoder, with brake)

DP9420009-3 (Absolute encoder, no brake)

DP9420009-4 (Absolute encoder, with brake)

Qty

• The three products in the diagrams below are supplied as a set.

1) Encoder Connector for Motor End of Cable ... one connector for incremental or absolute encoder

2) Motor Connector for Motor End of Cable ... one connector for Servomotor with or without brake

3) Encoder Connector for Servopack End of Cable ... one 2CN connector

1) Encoder Connector for Motor End of Cable

For Incremental Encoder

2) Motor Connector for Motor End of Cable

For Absolute Encoder

3) Encoder Connector for Servopack End of Cable

No Brake

343

SERVO SELECTION AND DATA SHEETS

5.5.2 Order List cont.

Brake Power Supply (for motor with brake)

(Purchase Separately)

Qty Brake Power Supply Type

LPSE−2H01 (for 200 V)

LPDE−1H01 (for 100 V)

Cables for Incremental Encoder

(Connector Both Ends)

Cable Type

DP9320082−1

DP9320082−2

DP9320082−3

DP9320082−4

DP9320082−5

3m (9.8 ft)

5m (16.4 ft)

10m (32.8 ft)

15m (49.2 ft)

20m (65.6 ft)

(Purchase Separately)

Qty

Cables for Incremental Encoder

(Servopack end without connectors) *2

Cable Type

DP9320086−1

DP9320086−2

DP9320086−3

DP9320086−4

DP9320086−5

3m (9.8 ft)

5m (16.4 ft)

10m (32.8 ft)

15m (49.2 ft)

20m (65.6 ft)

(Purchase Separately)

Qty

*2 Customer to attach connector to Servopack end of cable. Requires K1 connector kit.

344

5.5 Selecting Peripheral Devices

Cables for Incremental Encoder

(Cable Only) *3

Cable Type

B9400064−1

B9400064−2

B9400064−3

B9400064−4

B9400064−5

3m (9.8 ft)

5m (16.4 ft)

10m (32.8 ft)

15m (49.2 ft)

20m (65.6 ft)

(Purchase Separately)

Qty

*3 Customer to attach connector to both ends of cable. Requires K1 connector kit.

Cables for Absolute Encoder

(Connector Both Ends)

Cable Type

DP9320084−1

DP9320084−2

DP9320084−3

DP9320084−4

DP9320084−5

3m (9.8 ft)

5m (16.4 ft)

10m (32.8 ft)

15m (49.2 ft)

20m (65.6 ft)

(Purchase Separately)

Qty 5

345

SERVO SELECTION AND DATA SHEETS

5.5.2 Order List cont.

Cables for Absolute Encoder

(Servopack end without connectors) *2

Cable Type

DP9320085−1

DP9320085−2

DP9320085−3

DP9320085−4

DP9320085−5

3m (9.8 ft)

5m (16.4 ft)

10m (32.8 ft)

15m (49.2 ft)

20m (65.6 ft)

(Purchase Separately)

Qty

*2 Customer to attach connector to Servopack end of cable. Requires K1 connector kit.

Cables for Absolute Encoder

(Cable Only) *3

Cable Type

DP8409123−1

DP8409123−2

DP8409123−3

DP8409123−4

DP8409123−5

3m (9.8 ft)

5m (16.4 ft)

10m (32.8 ft)

15m (49.2 ft)

20m (65.6 ft)

(Purchase Separately)

Qty

*3 Customer to attach connector to both ends of cable. Requires K1 connector kit.

Battery for Absolute Encoder

Battery Type

(Purchase Separately)

Qty

ER6VC3 (3.6V)

346

5.5 Selecting Peripheral Devices

1CN Connector

DP9420010

Connector Type

One 1CN Connector

Noise Filter

LF−205A (5A)

LF−210 (10A)

LF−220 (20A)

Magnetic Contactor

Noise Filter Type

HI−15E5 (30A)

Magnetic Contactor Type

Surge Suppressor

CR50500BL

Surge Suppressor Type

Regenerative Unit * 4

JUSP−RG08

Regenerative Unit Type

*4 Applicable only to 200V, 30W to 200W specification.

(Purchase Separately)

Qty

(Purchase Separately)

Qty

(Purchase Separately)

Qty

(Purchase Separately)

Qty

(Purchase Separately)

Qty

347

SERVO SELECTION AND DATA SHEETS

5.5.2 Order List cont.

Variable Resistor for Speed Setting

Variable Resistor Type

25HP−10B

Cables for Connecting PC and Servopack

DE9405258

Cable Type

2m (6.6 ft)

(Purchase Separately)

Qty

(Purchase Separately)

Qty

Encoder Signal Converter Unit

Unit Type

LRX−01/A1

LRX−01/A2

LRX−01/A3

LRX−01/A4

(Purchase Separately)

Qty

348

5.6 Specifications and Dimensional Drawings of Peripheral Devices

5.6 Specifications and Dimensional Drawings of Peripheral

Devices

This section shows the specifications and dimensional drawings of the peripheral devices required for the Σ-Series servo system. The sequence of peripheral devices is given by the Flowchart for Peripheral Device Selection in 5.5 Selecting Peripheral

Devices.

5.6.1

Cable Specifications and Peripheral Devices . . . . . . . . . . . . . . . . . . . . . . . .

5.6.2

Motor Cables

5.6.3

Connector Kits

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.6.4

Brake Power Supply

5.6.5

Encoder Cables

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.6.6

Battery for Absolute Encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.6.7

1CN Connector

5.6.8

Circuit Breaker

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.6.9

Noise Filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.6.10 Magnetic Contactor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.6.11 Surge Suppressor

5.6.12 Regenerative Unit

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.6.13 Variable Resistor for Speed Setting

5.6.14 Encoder Signal Converter Unit

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.6.15 Cables for Connecting PC and Servopack . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.6.16 4CN Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

371

373

374

375

376

379

381

385

349

355

358

363

365

371

5.6.1 Cable Specifications and Peripheral Devices

1) The rated current of the DR2 Servopack external terminals, cable size, and peripheral devices are listed in the next table.

For wiring, refer to 2.3.1.

349

SERVO SELECTION AND DATA SHEETS

5.6.1 Cable Specifications and Peripheral Devices cont.

S For 200VAC Class

Servopack Type

30 W

(0.04HP)

50 W

(0.07HP)

100 W

(0.13HP)

200 W

(0.27HP)

400 W

(0.53HP)

750 W

DR2-

(1.01HP)

Applicable

Servomotor

A3AC SGM−A3A j

SGM−A3V j

SGM−A5A j A5AC

01AC

SGM−A5V j

SGM−01A j

SGM−01V j

01ACP SGMP−01A j

02AC

SGMP−01V j

SGM−02A j

SGM−02V j

02ACP SGMP−02A j

04AC

SGMP−02V j

SGM−04A j

SGM−04V j

04ACP SGMP−04A j

08AC

SGMP−04V j

SGM−08A j

SGM−08V j

Power supply capacity per

Servopack kVA

0.25

0.3

0.5

0.75

1.2

2.2

MCCB or fuse capacity

Noise filter type

(reference diagram)

Applicable

Not applicable

Recommended noise filter *3

Type Spec.

LF−205A Single−phase

200 VAC

Power

ON/OFF

Contactor

35A or

LF- 210

LF- 220

Single-phase

200 VAC

Single-phase

200 VAC

Class, 20 A

08ACP SGMP−08A j

SGMP−08V j

Note For power ON/OFF switch, use contactor 30A or above.

*1 Value at rated load.

*2 Braking characteristics (at 25_ C): 200% for 2s min., 700% for 0.01s min.

*3 Yaskawa recommends noise filters manufactured by Tokin Corp.

Yaskawa Controls Co., Ltd. can supply these noise filters.

350

5.6 Specifications and Dimensional Drawings of Peripheral Devices

S For 100VAC Class

Servopack Type

DR2-

Applicable

Servomotor

30 W

(0.04HP)

50 W

(0.07HP)

100 W

(0.13HP)

200 W

(0.27HP)

300 W

(0.40HP)

A3BC

A5BC

SGM−A3B j

SGM−A3W j

SGM−A5B j

SGM−A5W j

01BC SGM−01B j

SGM−01W j

01BCP SGMP−01B j

02BC

SGMP−01W j

SGM−02B j

SGM−02W j

02BCP SGMP−02B j

03BC

SGMP−02W j

SGM−03B j

SGM−03W j

03BCP SGMP−03B j

SGMP−03W j

Power supply capacity per

Servopack kVA

0.25

MCCB or fuse capacity

0.3

0.5

0.75

1.4

Noise filter type

(reference diagram)

Not applicable

Recommended noise filter *3

Type Spec.

LF- 205A Single-phase

200 VAC

Power

ON/OFF

Contactor

35A or above

LF- 210

LF- 220

Single-phase

200 VAC

Single-phase

200 VAC

Note For power ON/OFF switch, use contactor 30A or above.

*1 Value at rated load.

*2 Braking characteristics (at 25_C): 200% for 2s min., 700% for 0.01s min.

*3 Yaskawa recommends noise filters manufactured by Tokin Corp.

Yaskawa Controls Co., Ltd. can supply these noise filters.

The types of cable are shown in the table below. Use it in combination with the table above.

Symbol

PVC

HIV

Cable Type

Name

Normal vinyl cable

600 V vinyl cable

Temperature-resistant vinyl cable

Conductor Allowable Temperature

C p

---

Note 1) Use cable with 600 V min. withstand voltage for main circuits.

2) Consider allowable current reduction ratio if cables are bundled in PVC or metal ducts.

3) Use temperature-resistant cable under high ambient or panel temperature where normal vinyl cables rapidly deteriorate.

351

SERVO SELECTION AND DATA SHEETS

5.6.1 Cable Specifications and Peripheral Devices cont.

2) Cable Specifications

Cable Specifications for Main Circuit Power Input Terminals

Applied

Voltage

Servopack

Type

200VAC

Class

100VAC

Class

A3A j

A5A j

01A j

02A j

04A j

08A j

A3B j

A5B j

01B j

02B j

03B j

Main Circuit Power Input Terminal* 1

L1. L2,

Rated Input Current

A (rms)

Cable Spec.* 2 Tightening

Torque

(N¡m)

1.3

1.5

AWG16 (HIV 1.25) Min.

0.5

2.5

4.0

AWG14 (HIV 2.0) Min.

6.0

11.0

2.0

2.6

AWG16 (HIV 1.25) Min.

4.5

8.0

14.0

AWG14 (HIV 2.0) Min.

*1 When P, N (Y3, Y4) terminals are used, use the same size cable as those of L1, L2.

Tightening torque is the same as those of L1, L2 (0.5N¡m).

*2 The cable specifications were selected under conditions of three cables per bundle at 40_C ambient temperature, with the rated current flowing. Max. connectable cable size is 2.5mm

2 .

Cable Specifications for Control Circuit Power Input Terminals

Applied

Voltage

Servopack Type

DR2−

200VAC

Class

100VAC

Class

All Models

Control Circuit Power Input Terminal

L, N

Rated Input

Current*

A (rms)

Cable Spec.* 1 Tightening

Torque

(N¡m)

0.2

AWG16

(HIV 1.25) Min.

0.5

0.4

*1 Max. connectable cable size is 2.5mm

2 .

*2 When control circuit breaker and main circuit breaker are used separately, be aware of in−rush current (30 to 40 A, for 5 ms or less) flows at control power ON.

352

5.6 Specifications and Dimensional Drawings of Peripheral Devices

Cable Specifications for Motor Connecting Terminals

Applied

Voltage

200VAC

Class

100VAC

Class

Servopack

Type

A3Aj

A5Aj

01Aj

02Aj

04Aj

08Aj

A3Bj

A5Bj

01Bj

02Bj

03Bj

Rated Input Current A

(rms)

Main Circuit Power Input Terminal*

U, V, W,

Cable Spec.* 1 Tightening

Torque

(N¡m)

0.42

0.6

0.87 (0.89)* 2

Refer to the “Cable Specifications” shown below.

0.5

2.0

2.6

4.4 (4.1)* 2

0.63

0.9

2.2

2.7

3.7 (4.3)* 2

*1 Max.connectable cable size is 2.5mm

2 .

*2 Values in parentheses are applied only when SGMP motor is used.

• Cable Specifications

(When motor conforms to Japanese Standard)

When Yaskawa cables are used, contact your Yaskawa representative for details.

When selecting non−Yaskawa cables, check the cable current rating and consider the operating environment. In this case, use cable sizes AWG 22 to AWG 18 (0.3 to

0.89mm

2 ) since motor−side connector has some restriction. As for connectors on motor side, contact your Yaskawa representative.

(When motor conforms to EN Standard)

Connector is not supplied with motor power cable. Check the cable current rating and consider the operating environment to select the cable and connector conforming to the EN Standard.

Red

White

Blue

Green/Yellow

<Phase>

Phase−U

Phase−V

Phase−W

353

SERVO SELECTION AND DATA SHEETS

5.6.1 Cable Specifications and Peripheral Devices cont.

3) The appropriate cables for Servopack connectors 1CN and 2CN are shown in the table below. As for the cables conforming to the EMC instructions, refer to 7.2.4 and 7.2.5.

Control I/O Signal

Connector

1CN Cable

Finished Cable

Dimensions

PG Signal Connector 2CN Cable

Finished Cable

Dimensions

Use twisted-pair cable or twisted-pair shielded cable.

Max. wiring length is 3m (9.8ft.).

φ16.0 mm (φ 0.63 in.)MAX.

Use Yaskawa cable.

Use twisted-pair shielded cable if

Yaskawa cable is not used.

If using cable other than Yaskawa s, use AWG22 for encoder power supply and FG line. Use AWG26 for other signals. These connections permit wiring distances up to 20 m (65.6 ft).

φ11.0mm (φ0.43 in.) MAX.

354

5.6 Specifications and Dimensional Drawings of Peripheral Devices

5.6.2 Motor Cables

1) The dimensions and appearance of the motor cables are shown below. Specify the cable type when ordering.

a) Cables For Motor Without Brake (with connector and AMP terminals)

DP9320659-1

DP9320659-2

Type

DP9320659-3

DP9320659-4

DP9320659-5

3000

+100

5000

+100

10000

+500

15000

+500

20000

+500

L in mm (feet)

(10

+0.33

0 )

(16.7

+0.33

0 )

(33.3

+1.67

(50

+1.67

0 )

)

(66.7

+1.67

0 )

Connector for Motor End of Cable

Cap: 172159-1 (4-pin)

Socket: 170362-1 or 170366-1

Finished Dimension:∅7.5mm Max

Heat Shrink

Tube

Cable: AWG20 x 4 core

Heat Shrink

Tube Spare

Solder

(1.38)

(1.97)

(0.35) 5 b) Cables For Motor With Brake (with connector and AMP terminals)

DP9320660-1

DP9320660-2

DP9320660-3

DP9320660-4

DP9320660-5

Type L in mm (feet)

3000

+100

5000

+100

10000

+500

15000

+500

20000

+500

(10

+0.33

0 )

(16.7

+0.33

0 )

(33.3

+1.67

0 )

(50

+1.67

0 )

(66.7

+1.67

0 )

Connector for Motor End of Cable

Cap: 172160-1 (6-pin)

Socket: 170362-1 or 170366-1

Finished Dimension:

∅7.5mm Max

Cable: AWG20 x 4 core

Heat

Shrink Tube

Heat

Shrink Tube Spare

Solder

(1.38)

(1.97)

(0.35)

355

SERVO SELECTION AND DATA SHEETS

5.6.2 Motor Cables cont.

c) Cables For Motor Without Brake

(Cable Only)

Cable AWG20 x 4 core

DP8409359-1

DP8409359-2

DP8409359-3

DP8409359-4

DP8409359-5

Type L in mm (feet)

3000

+100

5000

+100

10000

+500

15000

+500

20000

+500

(10

+0.33

0 )

(16.7

+0.33

0 )

(33.3

+1.67

0 )

(50

+1.67

0 )

(66.7

+1.67

0 )

AMP Connector

Cap: 172159-1

Socket: 170362-1 or 170366-1 (Manufactured by AMP.)

Pin #

Red

White

Blue

Green

U phase

V phase

W phase

356

5.6 Specifications and Dimensional Drawings of Peripheral Devices d) Cables For Motor With Brake

(Cable Only)

Cable AWG20 x 6 core

DP8409360-1

DP8409360-2

Type

DP8409360-3

DP8409360-4

DP8409360-5

L in mm (feet)

3000

+100

5000

+100

10000

+500

15000

+500

20000

+500

(10

+0.33

0 )

(16.7

+0.33

0 )

(33.3

+1.67

0 )

(50

+1.67

0 )

(66.7

+1.67

0 )

AMP Connector

Cap: 172160-1

Socket: 170362-1 or 170366-1 (Manufactured by AMP.)

Pin #

Red

White

U phase

V phase

FG (Frame Ground)

Br (Brake Terminal)

* If cable only is ordered, purchase the AMP connector separately. Refer to 5.6.3 Con

nector Kits for details about caps and sockets.

357

SERVO SELECTION AND DATA SHEETS

5.6.3 Connector Kits

5.6.3 Connector Kits

1) A connector kit comprises three connectors as shown in the diagram below: one encoder connector at both the motor and Servopack ends of the cable and a motor connector for the motor end of the cable.

Encoder Connector for Motor End of Cable Encoder Connector for Servopack End of Cable

Motor Connector for Motor End of Cable

Four types of connector kit are available according to the following information:

• Is the encoder incremental or absolute?

• Is the motor with or without a brake?

A connector kit is required in the following cases: a) If motor cable only is purchased (whether or not motor has a brake).

b) If the encoder cable with a motor connector only and Servopack end without connector, or encoder cable only is purchased (for either incremental or absolute encoder).

2) Select one of the following two types of encoder cable connector.

a) For Incremental Encoder

(0.55)

(0.93)

4.14 (0.16)

(0.16)

Cap: 172161-1

Socket: 170365-1

16 (0.63)

358

5.6 Specifications and Dimensional Drawings of Peripheral Devices b) For Absolute Encoder

(0.88)

(0.93)

(0.17)

Cap: 172163-1

Socket: 170361-1 or 170365-1

3) Select one of the following two types of motor cable connector.

a) Motor Without Brake

(0.39)

(0.93) b) Motor With Brake

4.14 (0.16)

(0.16)

Cap: 172159-1

Socket: 170362-1 or 170366-1

(0.55)

(0.93)

(0.17)

Cap: 172160-1

Socket: 170362-1 or 170366-1

359

SERVO SELECTION AND DATA SHEETS

5.6.3 Connector Kits cont.

4) The following shows the encoder connector for the Servopack end of the cable.

Caulking type is not provided as the connector kits. When using the caulking type, order separately and use MRP-Fjtype contact.

• Connector (Soldering type)

2-φ2.8 (0.11)

Connector

Type

MR-20F

32.8

(1.29)

27.8

(1.09)

(0.39)

• Connector (Caulking type)

22.3

(0.88)

(0.43)

(0.12)

2.4

(0.09)

Units: mm (inches)

8.4

(0.33)

10.9

(0.43)

2-φ2.8 (0.11)

(0.43)

Connector

Type

MRP-20F01

32.8

(1.29)

27.8

(1.09)

(0.39)

22.3

(0.88)

2.4

(0.09)

Units: mm (inches)

(0.12)

21.3

(0.84)

360

Female Contact

16.9¦0.5 (0.67¦0.020)

5.6 Specifications and Dimensional Drawings of Peripheral Devices

Type Designation

MRP - F 102

Terminal status (See the Table below.)

Terminal type*

Connector series

* M: Male F: Female

Tool

Terminal

Status

Type

MRP-F102

MRP-F103

MRP-F112

MRP-F113

Processing

Silver plated

Gold plated

Silver plated

Gold plated

Type Designation

MRP - MF

Applicable Female

Insulation

MRP-8F01 to

MRP-50F01

Contact pulling tool

Connector series

• Case

φD

E B

Case Type

MR-20L

39.3

(1.55)

(0.71)

39.8

(1.57)

Units: mm (inches)

φD

(0.43)

(47.9)

(1.89)

* Maximum dimensions

361

SERVO SELECTION AND DATA SHEETS

5.6.3 Connector Kits cont.

5) The types of connector kit are shown below. Select the type of connector kit according to the connectors selected in (2), (3), and (4) above.

Connector

Kit Type

Application

Encoder

Type

Motor

Brake

With/

Without

DP9420009-1 Incremental Without

DP9420009-2

DP9420009-3

DP9420009-4

Incremental With

Absolute

Without

With

Connector Kit Part List

For Encoder Cable

Cap

Encoder End

Socket

Servopack End

Connector Case

Type Q ty

Type Qt y

Type Q ty

172161

-1

*1 1

170365

-1

*1 *3

MR-20F

1 *2

MR-20L

172163

-1

*1 1 *3

For Motor Cable

Cap

Type

172159

-1

172160

-1

172159

-1

172160

-1

Q ty

Socket

Type Qt y

170366

-1

*1 Manufactured by AMP.

*2 Manufactured by 3M.

*3 Including one spare.

362

5.6 Specifications and Dimensional Drawings of Peripheral Devices

5.6.4 Brake Power Supply

1) Brake power supplies are available for 200 V and 100 V input.

200 VAC Input: LPSE-2H01

100 VAC Input: LPDE-1H01

Use for Servomotor with brake.

• Dimensional Drawings

(1.97)

(1.18)

Manufactured by Yaskawa Controls Co., Ltd.

2-∅3(2-∅0.12) MTG HOLES

(SPOT FACING ∅5.5

(∅0.22), 4 (0.16) LONG)

Name

Plate

Lead Wires

• Lead Wire Length: 500 mm each (19.69 in.)

• Max. Ambient Temperature: 60_C

• Lead Wires: Color Coded

Blue/White

100V

AC Input

Yellow/White

200V

(0.98)

Red/Black

Brake

363

SERVO SELECTION AND DATA SHEETS

5.6.4 Brake Power Supply cont.

2) The internal circuits are shown below. While it is possible to switch either the AC or DC side of the brake power supply, it is normally safer to switch the AC side. If the DC side is to be switched, install a surge suppressor near the brake coil to prevent the surge voltages due to switching the DC side damaging the brake coil.

• Internal Circuit for 200 VAC Input (LPSE-2H01)

Yellow

AC Side

White

Diode

Red

Surge

Suppressor

DC (Brake) Side

Black

• Internal Circuit for 100 VAC Input (LPDE-1H01)

Blue

AC Side

White

Diode Bridge

Surge

Suppressor

Surge

Killer

Red

DC (Brake) Side

Black

364

5.6 Specifications and Dimensional Drawings of Peripheral Devices

5.6.5 Encoder Cables

1) The dimensions and appearance of the encoder cables are shown below. Specify the cable type when ordering.

As for the cables conforming to the EMC instructions, refer to 7.2.4.

a) Cables for Incremental Encoder (Connector Both Ends)

Connector for Encoder End of Cable

Cap: 172161-1 (9-pin)

Socket: 170365-1

Heat

Shrink Tube

Cable B9400064

Connector for Servopack End of Cable

Case: MR-20L

Connector: MR-20F

(1.38) L

DP9320082-1

DP9320082-2

DP9320082-3

DP9320082-4

DP9320082-5

Type L in mm (feet)

3000

+100

5000

+100

10000

+500

15000

+500

20000

+500

(10

+0.33

0 )

(16.7

+0.33

0 )

(33.3

+1.67

0 )

(50

+1.67

0 )

(66.7

+1.67

0 ) b) Cables for Absolute Encoder (Connector Both Ends)

Connector for Encoder End of Cable

Cap: 172163-1 (15-pin)

Socket: 170365-1

(1.38)

Heat

Shrink Tube

Cable DP8409123

Servopack End of Cable

Case: MR-20L

Connector: MR-20F

DP9320084-1

Type

DP9320084-2

DP9320084-3

DP9320084-4

DP9320084-5

L in mm (feet)

3000

+100

5000

+100

10000

+500

15000

+500

20000

+500

(10

+0.33

0 )

(16.7

+0.33

0 )

(33.3

+1.67

0 )

(50

+1.67

0 )

(66.7

+1.67

0 )

365

SERVO SELECTION AND DATA SHEETS

5.6.5 Encoder Cables cont.

c) Cables for Incremental Encoder (Servopack End without Connector)

Wire Markers

Wires

Connector for Encoder End of Cable

Cap: 172161-1 (9-pin)

Socket: 170365-1

Cable B9400064

(AWG22 x 3C, AWG26 x 4P)

Heat Shrink

Tube

Heat Shrink

Tube

Encoder End

(1.38)

Servopack End

(0.79)

(2.36)

DP9320086-1

DP9320086-2

DP9320086-3

DP9320086-4

DP9320086-5

Type L in mm (feet)

3000

+100

5000

+100

10000

+500

15000

+500

20000

+500

(10

+0.33

0 )

(16.7

+0.33

0 )

(33.3

+1.67

0 )

(50

+1.67

0 )

(66.7

+1.67

0 )

Case: MR-20L (Manufactured by Honda Tsushin

Kogyo Co., Ltd.)

Cap: 172161-1

Socket: 170365-1

Connector: MR-20F (Manufactured by Honda

Tsushin Kogyo Co., Ltd.)

Encoder End

Blue

White/Blue

Yellow

White/Yellow

Green

White/Green

Red

Black

Servopack End

Green/Yellow

P: twisted-pair shielded cables.

*Purchase cases and connectors separately. Refer to 5.6.3 Connector Kits for details.

366

5.6 Specifications and Dimensional Drawings of Peripheral Devices d) Cables for Absolute Encoder (Servopack End without Connector)

Cap: 172163-1 (15-pin)

Socket: 170365-1

Encoder End

Heat Shrink

Tube

Cable DP8409123

(AWG22 x 3C, AWG26 x 6P)

Heat Shrink

Tube

Wire Markers

Wires

Servopack End

(1.38) (0.79)

(2.36)

DP9320085-1

Type

DP9320085-2

DP9320085-3

DP9320085-4

DP9320085-5

L in mm (feet)

3000

+100

5000

+100

10000

+500

15000

+500

20000

+500

(10

+0.33

0 )

(16.7

+0.33

0 )

(33.3

+1.67

0 )

(50

+1.67

0 )

(66.7

+1.67

0 )

Case: MR-20L (Manufactured by Honda

Tsushin Kogyo Co., Ltd.)

Connector: MR-20F (Manufactured by Honda

Tsushin Kogyo Co., Ltd. )

Cap: 172163-1

Socket: 170365-1

Encoder End

0.2mm

Blue

White/Blue

Yellow

White/Yellow

Green

White/Green

Purple

White/Purple

Red

Black

Servopack End

0.5mm

White/Grey

Orange

White/Orange

Green/Yellow

P: twisted-pair shielded cables.

*Purchase cases and connectors separately. Refer to 5.6.3 Connector Kits for details.

* 5

367

SERVO SELECTION AND DATA SHEETS

5.6.5 Encoder Cables cont.

e) Cables for Incremental Encoder (Cable Only)

Cable AWG22 x 3C, AWG26 x 4P

B9400064-1

B9400064-2

B9400064-3

B9400064-4

B9400064-5

Type L in mm (feet)

3000

+100

5000

+100

10000

+500

15000

+500

20000

+500

(10

+0.33

0 )

(16.7

+0.33

0 )

(33.3

+1.67

0 )

(50

+1.67

0 )

(66.7

+1.67

0 )

Cap: 172161-1 (Manufactured by AMP.)

Socket: 170365-1

(Manufactured by AMP.)

Encoder End

Blue

White/Blue

White/Yellow

Green

White/Green

Red

Black

0.5mm

Case: MR-20L (Manufactured by Honda Tsushin

Kogyo Co., Ltd.)

Connector: MR-20F (Manufactured by Honda

Tsushin Kogyo Co., Ltd. )

0.2mm

Connector

Servopack End

Green/Yellow

P: twisted-pair shielded cables.

* Purchase caps, sockets, cases, and connectors separately. Refer to

5.6.3. Connector Kits for details.

368

5.6 Specifications and Dimensional Drawings of Peripheral Devices f) Cables for Absolute Encoder (Cable Only)

Cable AWG22 x 3C, AWG26 x 6P

DP8409123-1

DP8409123-2

DP8409123-3

DP8409123-4

DP8409123-5

Type

Cap: 172163-1

Socket: 170365-1

L in mm (feet)

3000

+100

5000

+100

10000

+500

15000

+500

20000

+500

(10

+0.33

0 )

(16.7

+0.33

0 )

(33.3

+1.67

0 )

(50

+1.67

0 )

(66.7

+1.67

0 )

Case: MR-20L (Manufactured by Honda Tsushin

Kogyo Co., Ltd.)

Connector: MR-20F (Manufactured by Honda

Tsushin Kogyo Co., Ltd.)

0.2mm

Blue

White/Blue

Yellow

White/Yellow

Green

White/Green

Purple

White/Purple

Red

Black

0.5mm

White/Grey

Orange

White/Orange

Green/Yellow

0.5mm

P: twisted-pair shielded cables.

* Purchase caps, sockets, cases, and connectors separately. Refer to

5.6.3. Connector Kits for details.

369

SERVO SELECTION AND DATA SHEETS

5.6.5 Encoder Cables cont.

2) Details of the encoder cables are summarized in the table below.

These cables are not supplied as accessories with a Servopack or Servomotor.

Purchase in standard specified lengths as required.

Cable

Specification

Basic

Specifications

Incremental Encoder

Yaskawa Drg.

#B9400064

(Soldering type)

Compound KQVV-SW

Yaskawa Drg.

#DE8400093

(Caulking type)

KQVV-SB

AWG22 x 3C, AWG26 x

AWG26 x 10P

φ7.5 mm (φ0.30in.) φ10.0 mm (φ0.39in.) Finished

Dimension

Internal

Structure and

Lead Colors

Yaskawa standard specifications

Absolute Encoder

Yaskawa Drg.

#DP8409123

(Soldering type)

Compound KQVV-SW

AWG22 x 3C, AWG26 x

φ8.0 mm (φ0.31in.)

10 3

Red

Black

Green/Yellow

Blue − White/Blue

(Twisted pair)

Yellow − White/Yellow

(Twisted Pair)

Green − White/Green

(Twisted Pair)

Orange − White/Orang

(Twisted Pair)

Blue − White

(Twisted pair)

2 Yellow − White

(Twisted pair)

Greem − White

(Twisted pair)

4 Red − White

(Twisted pair)

5 Purple − White

(Twisted Pair)

6 Blue − Brown

(Twisted Pair)

7 Yellow − Brown

(Twisted Pair)

8 Green − Brown

(Twisted pair)

9 Red − Brown

(Twisted pair)

10 Purple − Brown

(Twisted pair)

Red

Black

Green/Yellow

Blue − White/Blue

(Twisted pair)

Yellow − White/Yellow

(Twisted Pair)

Green − White/Green

(Twisted Pair)

Orange − White/Orang

(Twisted Pair)

Purple − White/Purple

(Twisted Pair)

Grey − White/Grey

(Twisted Pair)

Standard lengths:

3 m (9.8ft.) , 5 m (16.4ft.) , 10 m (32.8ft.), 15 m (49.2ft.), 20 m (65.6ft.) *

*When appropriate cable is used, the allowable wiring distance between Servopack and Servomotor (PG) is 20 m (65.6ft.) max.

Note 1 See items a) to d) in this section for details about cables with connectors.

2 When wiring distance between Servopack and servomotor (PG) exceeds 20m (65.6ft.), max. 50m (164ft.) cable can be available (AWG16, Yaskawa Drg. #DP8409179).

For details, contact your Yaskawa representative.

370

5.6 Specifications and Dimensional Drawings of Peripheral Devices

5.6.6 Battery for Absolute Encoder

1) Purchase the following battery if using an absolute encoder. (Manufactured by Toshiba

Battery Co., Ltd.)

• Lithium Battery: ER 6 V C3

• Nominal Voltage: 3.6 V

• Standard Capacity: 2000 mAh

5.6.7 1CN Connector

1) This connector is required to connect the host controller to 1CN on the Servopack.

As for the connector conforming to the EMC instructions, refer to 7.2.5.

As for the caulking type contact tool, see 5.6.3 Connector Kits for details, and use

MRP-Mjtype contact.

• Connector (Soldering type)

2-φ2.8 (0.11)

Connector

Type

MR-50M

61.4

(2.42)

56.4

(2.22)

(0.39)

50.9

(2.00)

(0.12)

(0.43)

2.4

(0.09)

Units: mm (inches)

8.5

(0.33)

(0.24)

371

SERVO SELECTION AND DATA SHEETS

5.6.7 1CN Connector cont.

• Connector (Caulking type)

2-φ2.8 (0.11)

(0.43)

Connector

Type

MRP-20M01

61.4

(2.42)

Male Contact

16.9¦0.5 (0.67¦0.020)

Units: mm (inches)

56.4

(2.22)

(0.39)

50.9

(2.00)

2.4

(0.09)

(0.12)

Type Designation

MRP - M 102

Terminal status (See the Table below.)

Terminal type*

Connector series

* M: Male F: Female

Terminal

Status

Type

MRP-M102

MRP-M103

MRP-M112

MRP-M113

Processing

Silver plated

Gold plated

Silver plated

Gold plated

Applicable Male

Insulation

MRP-8M01 to

MRP-50M01

372

• Case

φD

5.6 Specifications and Dimensional Drawings of Peripheral Devices

Case Type

MR-50L

67.9

(2.67)

(0.71)

44.8

(1.76)

Units: mm (inches)

φD

(0.63)

(76.5)

(3.01)

* Maximum dimensions

2) The 1CN connector type is shown below.

Connector

Type

Connector Part List

Type

Connector

Qty

MR-50M* 1

Type

MR-50L* DP9420010 I/O connector for 1CN

(Soldering type)

− I/O connector for 1CN

(Caulking type)

MRP-50M01* 1 MR-50L*

Case

Qty

* Manufactured by Honda Tsushin Kogyo Co., Ltd.

5.6.8 Circuit Breaker

1) The customer should purchase a circuit breaker (MCCB) of appropriate capacity.

• Recommended Product

Ground fault detector for motor protection manufactured by

Mitsubishi Electric Co. Ltd.

Type: MN50-CF

Rated Current: 7.1 A, 10 A, 16 A, 25 A, 32 A, 45A

Use to protect the power lines.

373

SERVO SELECTION AND DATA SHEETS

5.6.9 Noise Filter

5.6.9 Noise Filter

1) Select the noise filter from the following three types according to the Servopack capacity.

As for the noise filter conforming to the EMC instructions, refer to 7.2.2.

Install to eliminate external noise from the power lines.

Servopack Capacity Noise Filter Type

30W(0.04 HP),50W(0.07HP),100W(0.13HP),200W(0.27HP) LF-205A

200W(0.27HP)(100V),400W(0.53HP) LF-210

300W(0.40HP)(100V),750W(1.01HP) LF-220

• Dimensional Diagrams

• LF-205A (Single-phase 200 VAC Class, 5 A)

(1.18) (0.94)

(0.53)

IN Rating Plate

(2.48)

(2.83)

(3.19)

(0.53)

(6-Φ0.14)

(0.59)

(1.30)

• LF-210 (Single-phase 200 VAC Class, 10 A)

(2.24) (1.77) (1.42) (0.71)

(0.63)

IN Rating

Plate

(3.74)

(4.13)

(4.53)

(0.63)

(8-Φ0.18 )

(0.98)

(1.97)

374

5.6 Specifications and Dimensional Drawings of Peripheral Devices

• LF-220 (Single-phase 200 VAC Class, 20 A)

(2.76) (2.28)

(1.14)

IN Rating

Plate

(5.12)

(5.67)

(6.30)

(1.14)

(4-∅0.02)

(1.18)

(2.36)

5.6.10 Magnetic Contactor

1) Use one 30 A magnetic contactor of the type shown below for a single Σ Series, regardless of capacity. For multiple servo systems, select the magnetic contactor according to the total capacity.

Type: HI-15E5 (30 A)

Turns servo ON and OFF.

(Note)Attach an appropriate surge suppressor to the magnetic contactor.

• Internal Connection Diagram

375

SERVO SELECTION AND DATA SHEETS

5.6.11 Surge Suppressor

• Dimensional Diagram

2 x M4 Mounting Holes

M4 Auxiliary Contact Terminals

90 (3.54) min.

(0.38) (0.35)

(2.70)

(0.33) (1.34)

2 x M4 Mounting Holes

(0.48)

(2.05)

(0.20)

Main Contact Terminals M4 Coil Terminals

(3.13)

Slider

(0.21)

(1.00)

Mass: 0.33 kg (0.73 lb)

5.6.11 Surge Suppressor

1) Attach a surge suppressor to the magnetic contactor to prevent power supply noise and protect contacts.

• Recommended Product

Spark Killer manufactured by Okaya Electric Industries Co., Ltd.

Type: CR50500 (250 VAC)

Static Electricity Capacity: 0.5 μF  20%

Resistance: 50 Ω (1/2 W) 30%

5.6.12 Regenerative Unit

1) Dimensional drawings of the regenerative unit are shown below.

Type: JUSP-RG08

376

5.6 Specifications and Dimensional Drawings of Peripheral Devices

• Dimensional Drawings

Hole6 dia.

(Φ0.24)

(0.78)

M4 External Terminal Screws

Mass: 1 kg (2.20 lb)

(0.98)

(0.24)

(1.97)

(0.73)

(5.12)

• Regenerative Unit Specifications

Type

Applicable Servopack

Regenerative Working

Voltage

Regenerative Process

Current

Error Detection Functions

Alarm Output

Dimensions in mm

(inches)

JUSP-RG08

Only for 200V, 30 to 200W specifications

380Vdc

Comments

8Adc Built−in regenerative resistance: 50 Ω, 60 W

Regenerative resistance failure, regenerative transistor failure, overvoltage

Normally closed contact

(open when protective function operates)

55W¢160H¢130D

(2.17W ¢ 6.30H¢ 5.31D)

200 V operation OK

377

SERVO SELECTION AND DATA SHEETS

5.6.12 Regenerative cont.

2) JUSP−RG08C type

JUSP−RG08C type is an exterior type regenerative unit. When regenerative ability of the built−in resistor is insufficient, install this regenerative unit to enhance the regenerative ability. When regenerative resistor is installed externally, disconnect the jumper cable between terminals Y4 and Y5. Connect exterior type regenerative unit between terminals P/Y3 and Y4.

• Dimensional Drawings

Nameplate

(0.98)

Hole 6 dia.

(Φ0.24)

M4 External Terminal Screws

Approx. Mass: 1 kg (2.20 lb)

(0.98)

(1.97)

(0.24)

(0.73) (5.12)

• Regenerative Unit Specifications

Type

Applicable Servopack

JUSP−RG08C

Only for 200 V, 30 to 200 W specifications

380Vdc Regenerative Working

Voltage

Regenerative Processing

Current

Error Detection Function

8Adc

Regenerative resistance disconnection, regenerative transistor fault, overvoltage

Minimum Exterior Resistance 50 Ω

Alarm Output Normally closed contact

(open when protective function operates)

Dimensions in mm 55W¢160H¢130D

(inches) (2.17W ¢ 6.30H¢ 5.31D)

Remarks

Regenerative Resistance:

50 Ω, 60 W

200 V operation OK

378

5.6 Specifications and Dimensional Drawings of Peripheral Devices

5.6.13 Variable Resistor for Speed Setting

1) This variable resistor is used to give speed references by applying the speed reference voltage from the external power supply across 1CN pins #3 and #4.

• Dimensional Drawings

φ25¦1

(φ0.98¦

0.04)

25 HP Helicolumn

Panel

(0.45¦0.04)

Panel Drilling Diagram

1.8kφ (1/2 W) min.

Type

25HP-10B,

2 kΩ

SGDA

Servopack

φ7.5(φ0.30)HOLE

φ 2.5

( φ 0.10)

HOLE

(0.39)

Type 25HP-10B

Multi-wrap variable resistor with

MD10-30B4 dial, manufactured by Sakae

Tsushin Kogyo K.K.

(1.48¦0.04)

φ31¦1)

(φ1.22¦

0.04)

(0.57¦0.04)

(0.18)

(0.94¦0.04)

MD Multidial

5.6.14 Encoder Signal Converter Unit

1) Unit to convert the encoder signal output from the line driver to an open collector output or voltage pulse output.

Line Receiver Unit

• Terminal Numbers

Input A Phase

Input B Phase

Input Z Phase

Output A Phase

Output B Phase

Output Z Phase

379

SERVO SELECTION AND DATA SHEETS

5.6.14 Encoder Signal Converter Unit cont.

• Dimensional Drawings

(1.97)

(5.08)

(3.94) (0.75)

11 − M3.5 x 7

Seams screws

(0.31)

Holes 2 x

4.5 mm dia.

(Φ0.18)

(0.20) (0.16)

(0.16)

118 max.

(4.65)

51 max.

(2.01)

(1.57¦0.0079)

33.5 max.

(1.32)

2) The encoder signal converter unit specifications are as follows:

Type

Spec.

Power Supply

Input Signals

Output Signals

Input Signal

Level

Output Signal

Level

LRX-01/A1

Receiver Unit

LRX-01/A2 LRX-01/A3 LRX-01/A4

12 VDC 10%, 100 mA

Balanced line driver input (RS-422)

5 VDC  10%, 100 mA

Voltage pulse output

Open collector output

Voltage pulse output

Open collector output

Voltage differential ≥ 0.3 V, internal termination resistance 100 Ω

H: 10 V min.

(1 mA)

L: 0.5 V max.

(30 mA)

0 to +60°C

L: 0.5 V max.

(30 mA)

Withstand voltage: 50 V

H: 3 V min.

(1 mA)

L: 0.5 V max.

(30 mA)

L: 0.5 V max.

(30 mA)

Withstand voltage: 50 V

Operating

Ambient

Temperature

Range

IC Used AM26LS32C Receiver IC, or equivalent

380

5.6 Specifications and Dimensional Drawings of Peripheral Devices

5.6.15 Cables for Connecting PC and Servopack

1) Special cables for connecting a PC to a Servopack. Using these cables allows monitoring and setting of user constants with a PC.

PC software is available for these communications. Ask your Yaskawa representative for details. Operate the software as described in the manual supplied.

Rear of PC Servopack

17LE-13090-27 (D2BC)

(Made by DDK.)

D-Sub 25-pin (Male) or D-sub 9-pin (Male)

Connection Cable (2 m) (6.56 ft) or less

D-Sub 9-pin (Male) 17JE-23090-02 (D8B)

(Made by DDK.)

• Dimensional Drawings for Type DE9405258 (for NEC PC)

D-Sub connector 25-pin (Male) 17JE-23250-02 (D8A)

(6.56¦0.164)

M2.6 screw

Cable (Black) UL2921

9−strand twisted (0.16 ×7) shielded cable

Two M3 screws x

10 length, 0.5 pitch

Pin Connector 17JE-23090-02 (D1)

Note: Fold back the cable shielding at each end of the cable and secure it with clamps.

2) The communications specifications and connecting-circuit specifications are listed below.

• Baud Rate: 9600 bps

• Number of Bits Start: 1 bit

Data: 7 bits

Stop: 1 bit

Parity: 1 bit (even)

• Synchronization

• XON/XOFF Control

Start-Stop

None

381

SERVO SELECTION AND DATA SHEETS

5.6.15 Cables for Connecting PC and Servopack cont.

• Shift Control: None

• Communications Method:

Servopack End (3CN)

Semi-duplex

RS-232C Port (Personal Computer End)

Shield

Case

Note: Maximum cable length is 2 m (6.56 ft).

3) Connection is also possible to the RS-422A port. In this case, the connection circuit is as follows:

• Transmission Distance: 30 m (98.4 ft) max.

• Transmission System: RS-422A

Servopack End (3CN) RS-422A Port (Personal Computer End)

Shield

Case

• Terminal Arrangement at Servopack End

Pin

Signal Name

TXD

*TXD

RXD

*RXD

OPH

*RXD

5VPP

GND

Signal Circuit Name Signal Direction

Transmit data (not inverted)

Transmit data (inverted)

P←S

Receive data (not inverted)

Receive data (inverted)

P→S

# g p between RXD and *RXD.

Signal ground 0 V

P: Personal computer

S: Servopack

#: Terminal not used, leave open.

382

5.6 Specifications and Dimensional Drawings of Peripheral Devices

4) Cable for connecting Servopack andIBM PC (IBM compatible PC)

Use Yaskawa DE9408565 type cable.

• Dimensional Drawings: Type DE9408565

D−sub Connector

17JE−13090−02(D8A)

2−M2.6 Screw

Pitch 0.45

Cable (Black)

UL2921

9−strand twisted

(0.16 ×7) shielded cable

2−M3 Screw

Pitch 0.5

Pin Connector

17JE−23090−02(D1)

Note: Fold back the cable shielding at each end of the cable and secure it with clamp.

• Connection

Personal Computer End

(D−sub 9−pin)

Clamp with Hood

Servopack End

(D−sub 9−pin)

Clamp with Hood

5) Cable for connecting Servopack and NEC PC−98 half−pitch connector

Use Yaskawa DE9408564 type cable.

• Dimensional Drawings: Type DE9408564

Plug: 10114EL

Shell:10314−3210−000 (Made by 3M)

Cable (Black)

UL2921

9−strand twisted

(0.16 ×7) shielded cable

2−M3 Screw

Pitch 0.5

Pin Connector

17JE−23090−02(D1)

Note: Fold back the cable shielding at each end of the cable and secure it with clamp.

383

SERVO SELECTION AND DATA SHEETS

5.6.15 Cables for Connecting PC and Servopack cont.

• Connection

Personal Computer End

Clamp with Hood

Servopack End

(3CN)

Clamp with Hood

384

5.6 Specifications and Dimensional Drawings of Peripheral Devices

5.6.16 4CN Connector

1) This 4CN connector is used for full-closed loop specification to connect external PG to

4CN. As for caulking type contacts and tool, refer to 5.6.3 Connector Kits. Use MRP-

Fjtype contact.

• Connector (Soldering type)

2-φ2.8 (0.11)

Connector

Type

MR-8F

22.4

(0.88)

17.4

(0.69)

(0.39)

• Connector (Caulking type)

11.9

(0.47)

3.4

(0.13)

(0.43)

2.8

(0.11)

Units: mm (inches)

(0.31)

10.5

(0.41)

2-φ2.8 (0.11)

Connector

Type

MRP-8F01

22.4

(0.88)

17.4

(0.69)

(0.43)

(0.20)

11.9

(0.47)

Units: mm (inches)

1.9

(0.07)

3.4

(0.13)

385

SERVO SELECTION AND DATA SHEETS

5.6.16 4CN Connector cont.

• Case

φD

E B

Case Type

MR-8L

(1.22)

(0.75)

39.8

(1.57)

Units: mm (inches)

φD

(0.43)

(36.6)

(1.44)

* Maximum dimensions

386

INSPECTION, MAINTENANCE,

AND TROUBLESHOOTING

This chapter describes the basic inspections and maintenance to be carried out by the customer.

In addition, troubleshooting procedures are described for problems which cause an alarm display and for problems which result in no alarm display.

6.1 Inspection and Maintenance

6.1.1 Servomotor

. . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.1.2 Servopack . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.1.3 Replacing Battery for Absolute Encoder . . . . . . . . . . . . . . . .

388

388

389

390

6.2 Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . .

6.2.1 Troubleshooting Problems with Alarm Display . . . . . . . . . . .

6.2.2 Troubleshooting Problems With No Alarm Display . . . . . . . .

6.2.3 Internal Connection Diagram and Instrument Connection Examples . . . . . . . . . . . . . . . . . .

391

391

409

411

387

INSPECTION, MAINTENANCE, AND TROUBLESHOOTING

6.1.1 Servomotor

6.1 Inspection and Maintenance

This section describes the basic inspections and maintenance for Σ-Series servo drives.

6.1.1

Servomotor

6.1.2

Servopack

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.1.3

Replacing Battery for Absolute Encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

388

389

390

6.1.1 Servomotor

For inspection and maintenance of servomotors, follow the simple, daily inspection procedures in the table below.

The AC servomotors are brushless. Simple, daily inspection is sufficient. The inspection and maintenance frequencies in the table are only guidelines. Increase or decrease the frequency to suit the operating conditions and environment.

388

Item

Vibration and noise

Appearance

Frequency

Daily

Procedure

Touch and listen.

According to degree of contamination

Yearly

Clean with cloth or compressed air.

Insulation resistance measurement

Replace oil seal Every 5,000 hours

Overhaul Every 20,000 hours or 5 years

Disconnect Servopack and test insulation resistance at

500 V. Must exceed 10 MΩ.

(See note below)

Remove servomotor from machine and replace oil seal.

Contact your Yaskawa representative.

Comments

Levels higher than normal?

Contact your Yaskawa representative if the insulation resistance is below 10 MΩ.

Applies only to motors with oil seal.

The customer should not disassemble and clean the servomotor.

Note Measure across the servomotor FG (green/yellow) and the U-phase (red), Vphase (white), or W-phase (blue) power lead.

During inspection and maintenance, do not disassemble the servomotor.

If disassembly of the servomotor is required, contact your Yaskawa representative.

6.1 Inspection and Maintenance

6.1.2 Servopack

For inspection and maintenance of the Servopack, follow the inspection procedures in the table below at least once every year.

The Servopack contains highly reliable parts and daily inspection is not required. Carry out the inspections and maintenance in the table below once every year.

Item

Clean unit interior and circuit boards

Loose screws

Defective parts in unit or on circuit boards.

Frequency

Yearly

Procedure

Check for dust, dirt, and oil on the surfaces.

Check for loose terminal block and connector screws.

Check for discoloration, damage or discontinuities due to heating.

Remedy

Clean with compressed air.

Tighten any loose screws.

Contact your Yaskawa representative.

Part Replacement Schedule

The following parts are subject to mechanical wear or deterioration over time. To avoid failure, replace these parts at the frequency indicated.

Part

Smoothing Capacitor

Relays

Fuse

Aluminum Electrolytic

Capacitor on Circuit Board

Standard

Replacement Period

7 to 8 years

---

10 years

5 years

Replacement Method

Replace with new part.

Replace with new parts.

Replace with new part.

Replace with new circuit board.

Note Operating Conditions:

• Ambient Temperature: annual average 30°C

• Load Factor: 80% max.

• Operation Rate: 20 hours/day max.

389

INSPECTION, MAINTENANCE, AND TROUBLESHOOTING

6.1.3 Replacing Battery for Absolute Encoder

6.1.3 Replacing Battery for Absolute Encoder

Battery replacement is only required for servo systems using an absolute encoder.

The battery type recommended below (purchased by the customer) is installed in the host controller to allow the absolute encoder to store position data when the power is turned OFF.

Recommended Battery:

• Lithium Battery

ER 6 V C3, manufactured by Toshiba Battery Co.,

Ltd. 3.6 V, 2000 mAh

Estimated Life: Approximately 10 years

Servomotor

12-bit absolute encoder Host Controller

+5 V

Battery

Servopack

1CN-4

1CN-2

1CN-21

1CN22

1CN-33

1CN-34

1CN-35

1CN-36

1CN-19

1CN-20

1CN-48

1CN-49

1CN-1

RESET

The battery voltage is not internally monitored in the Servopack. Therefore, detect low battery voltage at the host controller.

Minimum required battery voltage is 2.8 V.

Replace the battery according to the following procedure if the battery voltage drops to the minimum required battery voltage. The battery maintains absolute position data stored in the encoder.

Battery Replacement Procedure:

1) Turn ON the Servopack and wait at least 3 minutes. The absolute encoder capacitors are charged.

2) Replace the battery in the host controller. The Servopack power supply can be ON or

OFF during battery replacement.

Note After completing step 1 above, the absolute encoder will function normally for up to 2 days with no battery.

390

6.2 Troubleshooting

6.2 Troubleshooting

This section describes causes and remedies for problems which cause an alarm display and for problems which result in no alarm display.

6.2.1

6.2.2

Troubleshooting Problems with Alarm Display . . . . . . . . . . . . . . . . . . . . . . .

Troubleshooting Problems with No Alarm Display . . . . . . . . . . . . . . . . . . . .

6.2.3

Internal Connection Diagram and Instrument Connection Examples . . . . .

391

409

411

6.2.1 Troubleshooting Problems with Alarm Display

Refer to the tables below to identify the cause of a problem which causes an alarm display and take the remedy described.

Note that A.99 does not indicate an alarm.

Contact your Yaskawa representative if the problem cannot be solved by the described procedures.

1. Alarm Display and Troubleshooting Table

D Display and Outputs g

Di l p

Display and

Alarm Name

A.00

Absolute data error

OFF

ALO1

Alarm Output

Alarm Code Output

ALO2

OFF OFF

ALO3

OFF

OFF: Output transistor is OFF

ON: Output transistor is ON

Status When Alarm Occurred

At control power ON

At SEN signal input

, D, E, F

Cn-01 Bit 1 = 0

Cn-01 Bit 1 = 1

, D, E, F

391

INSPECTION, MAINTENANCE, AND TROUBLESHOOTING

6.2.1 Troubleshooting Problems with Alarm Display cont.

Cause

Absolute encoder power not supplied from

Servopack.

Incorrect absolute encoder wiring (PA, PB,

RESET, SEN signal (for speed control), etc.)

Absolute encoder malfunctioned

Remedy

Use the Servopack power supply for the absolute encoder.

Check and correct the absolute encoder wiring.

• When Cn-01 Bit 1 = 0, turn SEN signal OFF and back ON. (See note)

• When Cn-01 Bit 1 = 1, turn Servopack control power OFF and back ON.

Set Cn-01 Bit E to 0.

Incorrect user constant setting.

Incremental encoder used with Cn-01 Bit E set to 1.

Absolute encoder defective

Circuit board (1PWB) defective

Replace servomotor.

Replace Servopack.

NOTE Resetting SEN Signal

When resetting the SEN signal (i.e., turning it OFF and then back ON) for any reason, keep the SEN signal at the high level for more than 1.3 s before turning it OFF.

SEN signal

OFF ON = High Level

1.3 s min.

OFF ON

15 ms min.

D Display and Outputs g

Di l p

Display and

Alarm Name

A.02

User constants breakdown

OFF

ALO1

Alarm Output

Alarm Code Output

ALO2

OFF OFF

ALO3

OFF

OFF: Output transistor is OFF

ON: Output transistor is ON

Status When Alarm Occurred

At control power ON

Cause

Power turned OFF during parameter write.

Alarm occurred next power ON.

Circuit board (1PWB) defective

Remedy

Replace Servopack.

392

6.2 Troubleshooting

D Display and Outputs g

Di l p

Display and

Alarm Name

A.04

User constant setting error

OFF

ALO1

Alarm Output

Alarm Code Output

ALO2

OFF OFF

ALO3

OFF

OFF: Output transistor is OFF

ON: Output transistor is ON

Status When Alarm Occurred

At control power ON

Cause

An out-of-range user constant was previously set or loaded.

Circuit board (1PWB) defective

Remedy

Reset all user constants in range.

Otherwise, re-load correct user constants.

Replace Servopack.

D Display and Outputs g

Di l p

Display and

Alarm Name

A.10

Overcurrent

ALO1

Alarm Output

Alarm Code Output

ALO2

OFF OFF

ALO3

OFF

OFF: Output transistor is OFF

ON: Output transistor is ON

Note Alarm A10 is reset when the power is turned OFF and back ON. It is not reset by the normal alarm reset.

Status When Alarm Occurred

During servomotor operation

, D, E

When servo ON (S-ON) signal turned ON

At main circuit power

393

INSPECTION, MAINTENANCE, AND TROUBLESHOOTING

6.2.1 Troubleshooting Problems with Alarm Display cont.

Cause

Wiring grounded between Servopack and servomotor.

Servopack ambient temperature exceeds

55°C

Servomotor U, V, or W phase grounded.

• Circuit board (1PWB) defective

• Power transistor defective

Current feedback circuit, power transistor,

DB relay, or circuit board defective.

Remedy

Check and correct wiring.

Bring Servopack ambient temperature to

55°C

Note Alarm cannot be reset while power transistor module temperature exceeds 90°C.

Replace servomotor.

Replace Servopack.

D Display and Outputs g

Di l p

Display and

Alarm Name

A.20

Fuse blown

OFF

ALO1

Alarm Output

Alarm Code Output

ALO2

ON OFF

ALO3

OFF

OFF: Output transistor is OFF

ON: Output transistor is ON

Status When Alarm Occurred

At control power ON

A At main circuit power ON

B, C

Cause

Circuit board (1PWB) defective

Fuse is blown.

Main circuit diode module defective

D Display and Outputs g

Di l p

Display and

Alarm Name

A.31

Position error pulse overflow

(position control only)

ALO1

Remedy

Replace Servopack.

Alarm Output

Alarm Code Output

ALO2

ON OFF

ALO3

OFF

OFF: Output transistor is OFF

ON: Output transistor is ON

394

6.2 Troubleshooting

Status When Alarm Occurred

During servomotor operation

At control power ON

Overflow during high-speed operation

No feedback pulse returned after reference pulse input.

Normal operation but overflow when large reference input.

Cause

Servomotor wiring incorrect.

Encoder wiring incorrect (disconnection, short, power supply, etc.)

Servopack adjustment incorrect

Servomotor overloaded

Position reference pulse frequency too high

Circuit board (1PWB) defective.

Remedy

C h g (

2CN )

, ,

Increase speed loop gain (Cn-04) and/or position loop gain (Cn-1A).

Reduce load torque and inertia. Otherwise, replace with larger capacity servomotor.

• Decrease reference pulse frequency.

• Use smoothing function.

• Change electronic gear ratio.

Replace Servopack.

D Display and Outputs g

Di l p

Display and

Alarm Name

A.40

Overvoltage

OFF

ALO1

Alarm Output

Alarm Code Output

ALO2 ALO3

OFF ON OFF

OFF: Output transistor is OFF

ON: Output transistor is ON

Status When Alarm Occurred

During servomotor operation

During motor deceleration

During normal operation

, D

At main circuit power ON

At control power ON

395

INSPECTION, MAINTENANCE, AND TROUBLESHOOTING

6.2.1 Troubleshooting Problems with Alarm Display cont.

Cause Remedy

Load inertia high and motor speed too high • Change operating conditions.

• Use external regenerative resistor or regenerative unit. (Refer to 3.8.4.)

Load exceeds capacity of regenerative unit Change operating conditions.

Servomotor speed too high

Servopack defective

Input voltage too high

Circuit board (1PWB) defective.

Reduce motor speed.

Replace Servopack.

Change input voltage to normal value.

Replace Servopack.

D Display and Outputs g

Di l p

Display and

Alarm Name

A.51

Overspeed

ALO1

Alarm Output

Alarm Code Output

ALO2

OFF ON

ALO3

OFF

OFF: Output transistor is OFF

ON: Output transistor is ON

Status When Alarm Occurred

When servo ON (S-ON) signal turned ON

, B, C, D, E At control power ON

During high-speed servomotor rotation after reference input

Alarm detected at

110% max. speed

, B, C, D, E

• Servomotor wiring incorrect.

• Encoder wiring incorrect (disconnection, short, power supply, etc.)

Incremental encoder power not supplied from Servopack.

Cause

Noise in encoder wiring.

Incorrect user constant (number of encoder pulses) setting.

Circuit board (1PWB) defective

Remedy

Check and correct wiring. (Check A-, B-,

C-phase pulses correct at 2CN.)

Use the Servopack power supply for the encoder.

Separate encoder wiring from main wiring circuits.

Set user constant Cn-11 to the correct number of pulses.

Replace Servopack.

396

6.2 Troubleshooting

D Display and Outputs g

Di l p

Display and

Alarm Name

A.70

Overload

ALO1

Alarm Output

Alarm Code Output

ALO2

ON ON

ALO3

OFF

OFF: Output transistor is OFF

ON: Output transistor is ON

Status When Alarm Occurred

When servo ON (S-ON) signal turned ON

, B, D

At control power ON

When speed reference input

No servomotor rotation

During normal operation

, D

, E

Cause

Servomotor wiring incorrect or disconnected

Encoder wiring incorrect or disconnected

Load greatly exceeds rated torque

Incremental encoder power not supplied from Servopack.

Circuit board (1PWB) defective

Remedy

Check wiring and connectors at servomotor.

Check wiring and connectors at encoder.

Reduce load torque and inertia. Otherwise, replace with larger capacity servomotor.

Use the Servopack power supply for the encoder.

Replace Servopack.

D Display and Outputs g

Di l p

Display and

Alarm Name

A.80

Absolute encoder error (only if absolute encoder is used)

OFF

ALO1

Alarm Output

Alarm Code Output

ALO2

OFF OFF

ALO3

OFF

OFF: Output transistor is OFF

ON: Output transistor is ON

397

INSPECTION, MAINTENANCE, AND TROUBLESHOOTING

6.2.1 Troubleshooting Problems with Alarm Display cont.

Status When Alarm Occurred

At control power ON

Cn-01 Bit 1 = 0

Cn-01 Bit 1 = 1

During servomotor operation

, E

Cause

Incorrect absolute encoder wiring (PA, PB,

RESET, SEN signal (for speed control), etc.)

Absolute encoder malfunctioned

Remedy

Check and correct the absolute encoder wiring.

Circuit board (1PWB) defective

Error occurred in absolute encoder.

Another encoder alarm displayed when

SEN signal or power supply turned back

ON.

Servopack miscounted pulses (positional displacement) or malfunctioned due to noise.

• When Cn-01 Bit 1 = 0, turn SEN signal OFF and back ON.

• When Cn-01 Bit 1 = 1, turn Servopack control power OFF and back ON.

Replace Servopack.

When Cn-01 Bit 1 = 0, turn SEN signal

OFF and back ON (if servomotor is rotating, first turn servo OFF).

When Cn-01 Bit 1 = 1, turn Servopack control power OFF and back ON.

• Separate encoder wiring from main wiring circuits.

• When Cn-01 Bit 1 = 0, turn SEN signal OFF and back ON (if servomotor is rotating, first turn servo OFF).

• When Cn-01 Bit 1 = 1, turn Servopack control power OFF and back ON.

D Display and Outputs g

Di l p

Display and

Alarm Name

A.81

Absolute encoder back-up error

(only if absolute encoder is used)

OFF

ALO1

Alarm Output

Alarm Code Output

ALO2 ALO3

OFF OFF OFF

OFF: Output transistor is OFF

ON: Output transistor is ON

398

6.2 Troubleshooting

Status When Alarm Occurred

At control power ON When SEN signal turned

ON Cn-01 Bit 1 = 0

, C

Cn-01 Bit 1 = 0

Cn-01 Bit 1 = 1

, C

Cause

The following power supplied to the absolute encoder all failed:

• +5 V supply

• Battery (ER6V C3)

• Internal capacitor

Circuit board (1PWB) defective

Absolute encoder malfunctioned

D Display and Outputs g

Di l p

Display and

Alarm Name

A.82

Absolute encoder sum-check error

(only if absolute encoder is used)

OFF

ALO1

Remedy

Follow absolute encoder set-up procedures.

Replace Servopack.

Replace servomotor.

Alarm Output

Alarm Code Output

ALO2 ALO3

OFF OFF OFF

OFF: Output transistor is OFF

ON: Output transistor is ON

Status When Alarm Occurred

At control power ON When SEN signal turned

ON, Cn-01 Bit 1 = 0

Cn-01 Bit 1 = 0

During operation

(see note)

Cn-01 Bit 1 = 1

, B

Cause

Abnormality during absolute encoder memory check

Circuit board (1PWB) defective

Remedy

• Follow absolute encoder set-up procedures.

• Replace servomotor if error occurs frequently.

Replace Servopack.

399

INSPECTION, MAINTENANCE, AND TROUBLESHOOTING

6.2.1 Troubleshooting Problems with Alarm Display cont.

Note An absolute encoder error (A.80) is given initially if a sum-check error (A.82) is generated during operation.

The sum-check error (A.82) occurs after turning the SEN signal (or Servopack power supply)

OFF and back ON.

However, the sum-check error (A.82) does occur during operation if the host controller is receiving the S-phase signal (serial data).

D Display and Outputs g

Di l p

Display and

Alarm Name

A.83

Absolute encoder sum-check error

(only if absolute encoder is used)

OFF

ALO1

Alarm Output

Alarm Code Output

ALO2

OFF OFF

ALO3

OFF

OFF: Output transistor is OFF

ON: Output transistor is ON

Status When Alarm Occurred

At control power ON

Cn-01 Bit 1 = 0 C

When SEN signal turned

ON, Cn-01 Bit 1 = 0

During operation

(see note)

Cn-01 Bit 1 = 1 A

Cause

• Battery not connected

• Battery connection defective

Battery voltage below specified value.

Specified value: 2.8 V.

Circuit board (1PWB) defective

Remedy

Check and correct battery connection.

Install new battery and turn SEN signal (or

Servopack control power) ON.

Replace Servopack.

Note No alarm occurs at the Servopack when a battery error (A.83) is generated. The battery error

(A.83) occurs the next time the SEN signal (or Servopack) turns ON.

However, the battery error (A.83) can be read during operation if the host controller is receiving the S-phase signal (serial data).

400

6.2 Troubleshooting

D Display and Outputs g

Di l p

Display and

Alarm Name

A.84

Absolute encoder data error (only if absolute encoder is used)

OFF

ALO1

Alarm Output

Alarm Code Output

ALO2 ALO3

OFF OFF OFF

OFF: Output transistor is OFF

ON: Output transistor is ON

Status When Alarm Occurred

At control power ON

Cn-01 Bit 1 = 0

When SEN signal turned

ON, Cn-01 Bit 1 = 0

During operation

(see note)

Cn-01 Bit 1 = 1

Cause

Absolute encoder malfunctioned

Remedy

• When Cn-01 Bit 1 = 0, turn SEN signal OFF and back ON.

• When Cn-01 Bit 1 = 1, turn Servopack control power OFF and back ON.

• Replace servomotor if error occurs frequently.

Replace Servopack.

B Circuit board (1PWB) defective

Note No alarm occurs at the Servopack when a data error (A.84) is generated. The data error

(A.84) occurs the next time the SEN signal (or Servopack) turns ON.

However, the data error (A.84) can be read during operation if the host controller is receiving the S-phase signal (serial data).

401

INSPECTION, MAINTENANCE, AND TROUBLESHOOTING

6.2.1 Troubleshooting Problems with Alarm Display cont.

D Display and Outputs g

Di l p

Display and

Alarm Name

A.85

Absolute encoder overspeed (only if absolute encoder is used)

OFF

ALO1

Alarm Output

Alarm Code Output

ALO2 ALO3

OFF OFF OFF

OFF: Output transistor is OFF

ON: Output transistor is ON

Status When Alarm Occurred

At control power ON When SEN signal turned

ON, Cn-01 Bit 1 = 0

Cn-01 Bit 1 = 0

Cn-01 Bit 1 = 1

Position control

Cause

Absolute encoder turned ON at a speed exceeding 400 r/min.

Circuit board (1PWB) defective

D Display and Outputs g

Di l p

Display and

Alarm Name

A.b1

Reference input read error (for speed/torque control only)

OFF

ALO1

Remedy

Turn ON encoder power supply (or SEN signal or Servopack control power supply) at a speed not exceeding 400 r/min.

Replace Servopack.

Alarm Output

Alarm Code Output

ALO2

OFF OFF

ALO3

OFF

OFF: Output transistor is OFF

ON: Output transistor is ON

402

6.2 Troubleshooting

Status When Alarm Occurred

During servomotor operation

At control power ON

Cause

Part malfunctioned in reference read-in unit

(A/D converter, etc.).

Part defective in reference read-in unit

(A/D converter, etc.).

Circuit board (1PWB) defective

Remedy

Reset alarm and restart operation.

Replace Servopack.

Display and Outputs g

Di l p

Display and

Alarm Name

A.C1

Servo overrun

ALO1

Alarm Output

Alarm Code Output

ALO2

OFF ON

ALO3

OFF

OFF: Output transistor is OFF

ON: Output transistor is ON

Status When Alarm Occurred

At control power ON

User constant

Cn-01 Bit 0 = 0

Occurred 1 to 3 seconds after power ON

User constant

Cn-01 Bit 0 = 1

When servo ON (S-ON) signal turned ON

On speed reference input

, C, D, E

Cause

Servomotor wiring incorrect or disconnected

Encoder wiring incorrect or disconnected

Incremental encoder power not supplied from Servopack.

Encoder defective

Circuit board (1PWB) defective

Remedy

Check wiring and connectors at servomotor.

Check wiring and connectors at encoder.

Use the Servopack power supply for the encoder.

Replace servomotor.

Replace Servopack.

403

INSPECTION, MAINTENANCE, AND TROUBLESHOOTING

6.2.1 Troubleshooting Problems with Alarm Display cont.

D Display and Outputs g

Di l p

Display and

Alarm Name

A.C2

Encoder phase detection error

Incremental encoder initial pulse error

ALO1

Alarm Output

Alarm Code Output

ALO2 ALO3

OFF ON OFF

OFF: Output transistor is OFF

ON: Output transistor is ON

Status When Alarm Occurred

During servomotor operation

At control power ON D, E, F, G,

Occurred 1 to 3 seconds after control power ON

E, F, G,

Cause

Noise in encoder wiring.

Encoder wiring incorrect or poor connection

Encoder defective

Noise in encoder wiring.

Encoder wiring incorrect or poor connection

Encoder defective

Absolute encoder is used.

During servomotor operation

Remedy

Separate encoder wiring from main wiring circuits.

Check wiring and connectors at encoder.

Replace servomotor.

Separate encoder wiring from main wiring circuits.

Check wiring and connectors at encoder.

Replace servomotor.

Set the following user constants as follows:

Cn-02 bit 9 = 1

Cn-11 (number of encoder pulses)

404

6.2 Troubleshooting

D Display and Outputs g

Di l p

Display and

Alarm Name

A.C3

Encoder A-,

B-phase disconnection

A.C6

External PG

A-, B-phase disconnection

(only for full-closed loop specification)

ALO1

Alarm Output

Alarm Code Output

ALO2 ALO3

OFF ON OFF

OFF: Output transistor is OFF

ON: Output transistor is ON

Status When Alarm Occurred

At control power ON

, B, C, D

User constant

Cn-01 Bit 0 = 0 D

When servo ON (S-ON) signal turned ON

During servomotor operation

A, B, C, D

Occurred 1 to 3 seconds after control power ON

User constant

Cn-01 Bit 0 = 1

, B, C

Cause

Encoder wiring incorrect or poor connection

Noise in encoder wiring.

Encoder defective

Circuit board (1PWB) defective

Remedy

Check wiring and connectors at encoder.

Separate encoder wiring from main wiring circuits.

Replace servomotor.

Replace Servopack.

405

INSPECTION, MAINTENANCE, AND TROUBLESHOOTING

6.2.1 Troubleshooting Problems with Alarm Display cont.

D Display and Outputs g

Di l p

Display and

Alarm Name

A.C4

Encoder C-phase disconnection

A.C7

External PG

C-phase disconnection

(only for full-closed loop specification)

ALO1

Alarm Output

Alarm Code Output

ALO2 ALO3

OFF ON OFF

OFF: Output transistor is OFF

ON: Output transistor is ON

Status When Alarm Occurred

At main circuit power

User constant

Cn-01 Bit 0 = 0

Occurred 1 to 3 seconds after main circuit power

User constant

Cn-01 Bit 0 = 1 A

, B, C, D

Cause

Encoder wiring incorrect or poor connection

Noise in encoder wiring.

Encoder defective

Circuit board (1PWB) defective

When servo ON (S-ON) signal turned ON

During servomotor operation

, B, C, D

A, B, C, D

Remedy

Check wiring and connectors at encoder.

Separate encoder wiring from main wiring circuits.

Replace servomotor.

Replace Servopack.

406

6.2 Troubleshooting

D Display and Outputs g

Di l p

Display and

Alarm Name

CPF00

Digital operator transmission error 1

ALO1

Not specified

Alarm Output

Alarm Code Output

ALO2 ALO3

Note This alarm is not stored in alarm trace-back function memory.

Status When Alarm Occurred

At control power ON.

Digital operator connected before Servopack power turned ON.

Cause

Cable defective or poor contact between digital operator and Servopack.

Malfunction due to external noise

Digital operator defective

Servopack defective

Digital operator conected to Servopack while control power turned ON.

Remedy

• Check connector connections.

• Replace cable.

Separate digital operator and cable from noise source.

Replace digital operator.

Replace Servopack.

D Display and Outputs g

Di l p

Display and

Alarm Name

CPF01

Digital operator transmission error 2

ALO1

Not specified

Alarm Output

Alarm Code Output

ALO2 ALO3

Note This alarm is not stored in alarm trace-back function memory.

Status When Alarm Occurred

During operation

Cause

Cable defective or poor contact between digital operator and Servopack.

Malfunction due to external noise

Digital operator defective

Servopack defective

Remedy

• Check connector connections.

• Replace cable.

Separate digital operator and cable from noise source.

Replace digital operator.

Replace Servopack.

407

INSPECTION, MAINTENANCE, AND TROUBLESHOOTING

6.2.1 Troubleshooting Problems with Alarm Display cont.

D Display and Outputs g

Di l p

Display and

Alarm Name

A.99

OFF

ALO1

Alarm Output

Alarm Code Output

ALO2 ALO3

OFF OFF ON

OFF: Output transistor is OFF

ON: Output transistor is ON

Status When Alarm Occurred

Indicates normal operation. Not an alarm.

408

6.2 Troubleshooting

6.2.2 Troubleshooting Problems with No Alarm Display

Refer to the tables below to identify the cause of a problem which causes no alarm display and take the remedy described.

Turn OFF the servo system power supply before commencing the shaded procedures.

Contact your Yaskawa representative if the problem cannot be solved by the described procedures.

Troubleshooting Table No Alarm Display

Symptom

Servomotor does not start

Servomotor moves instantaneously, then stops

Suddenly stops during operation and will not restart

Servomotor speed unstable setting.

defective

Cause

Power not connected

Loose connection

Connector (1CN) external wiring incorrect

Servomotor or encoder wiring disconnected.

Overloaded

Speed/position references not input

S-ON is turned OFF

P-CON input function setting incorrect

Reference pulse mode selection incorrect.

Encoder type differs from user constant setting.

P-OT and N-OT inputs are turned OFF.

CLR input is turned ON

SEN input is turned OFF.

Number of encoder pulses differs from user constant

Servomotor or encoder wiring incorrect.

Alarm reset signal

(ALM-RST) is turned ON because an alarm occurred.

Wiring connection to motor

Inspection

Check voltage across L1 and L2, L and N.

Check terminals of connectors (1CN, 2CN).

Check connector (1CN) external wiring

Run under no load.

Check input pins of connector 1CN.

Cn-01 Bit 0 is 0.

Refer to Subsection 3.2.1.

Refer to Subsection 3.2.2.

Incremental or absolute encoder?

(If Cn-01 Bits 2, 3 are 0)

Remedy

Correct the power circuit.

Tighten any loose parts.

Refer to connection diagram and correct wiring.

Reconnect wiring

Reduce load or replace with larger capacity servomotor.

Correctly input speed/position references.

Turn S-ON input ON.

Refer to Subsection 3.2.1

and set user constants to match application.

Select correct user constants Cn-02 Bits 3, 4, 5.

Set user constants Cn-01 Bit

E to the encoder type used.

Turn P-OT and N-OT input signals ON.

Turn CLR input OFF.

Check status of error counter clear input.

Absolute encoder used with

Cn-01 Bit 1 set to 0.

2048 pulses/revolution or

1024 pulses/revolution

Check connection of power lead (U, V, and W phase) and encoder connectors.

Turn SEN input ON.

Set the user constant

(Cn-11) to match the number of encoder pulses.

Refer to Subsection 3.8.8

and correct wiring.

Remove cause of alarm.

Turn alarm reset signal

(ALM-RST) from ON to OFF.

Tighten any loose terminals or connectors.

409

INSPECTION, MAINTENANCE, AND TROUBLESHOOTING

6.2.2 Troubleshooting Problems with No Alarm Display cont.

Symptom

Servomotor vibrates at approximately 200 to

400 Hz.

a e y 00 o

High rotation speed overshoot on starting and stopping.

Servomotor overheated

Abnormal noise

Speed reference 0 V but servomotor rotates.

Cause

Speed loop gain value too high.

Speed/position reference input lead too long.

Inspection

Speed/position reference input lead is bundled with power cables.

Speed loop gain value too high.

Ambient temperature too high

Servomotor surface dirty

Overloaded

Measure servomotor ambient temperature.

Visual check

Run under no load.

Mechanical mounting co ec

Servomotor mounting screws loose?

Coupling not centered?

Coupling unbalanced?

Bearing defective Check noise and vibration near bearing.

Machine causing vibrations Foreign object intrusion, damage or deformation of sliding parts of machine.

Speed reference voltage offset applied

---

Remedy

Reduce speed loop gain

(Cn-04) preset value.

Minimize length of speed/position reference input lead, with impedance not exceeding several hundred ohms

Separate reference input lead at least 30 cm from power cables.

Reduce speed loop gain

(Cn-04) preset value.

Reduce ambient temperature to 40°C max.

Clean dust and oil from motor surface.

Reduce load or replace with larger capacity servomotor.

Tighten mounting screws.

Center coupling.

Balance coupling.

Consult your Yaskawa representative if defective.

Consult with machine manufacturer.

Refer to Subsections 4.2.4

and 4.2.5 and adjust reference offset.

410

6.2 Troubleshooting

POWER SUPPLY

SINGLE-PHASE

200 TO 230V

+10%

-15%

SINGLE-PHASE

100 TO 115V

(50/60Hz)

+10%

-15%

6.2.3 Internal Connection Diagram and Instrument Connection

Examples

The DR2 Servopack internal connection diagram and instrument connection examples are given below.

Refer to these diagrams during inspection and maintenance.

1) Internal Connection Diagram

• 200VAC: 30W to 200W (0.04 HP to 0.53 HP)

100VAV: 30W to 100W (0.04 HP to 0.13HP)

NOISE

FILTER

1MC

POWER

OFF

POWER

1MC

1MC SURGE

SUPPRESSOR

(1RY)

OPEN AT

SERVO ALARM

DB1

PM1

CURRENT

DETECTOR

AC SERVOMOTOR

RED

WHITE

CHARGE

CIRCUIT

BLUE

GREEN

DC/DC

CON-

VERTER

+5V

-5V

PG5V

PRO-

TECTIVE

DETECTION

IN-RUSH CURRENT

PREVENTIVE

CIRCUIT,

REGENERATIVE

PROCESSING

ISO-

LATOR

PWM

REGENERATIVE

CIRCUIT

CURRENT

CONTROL

CIRCUIT

CPU SPEED

CALCU-

LATION

ALARM

INDICATION

CURRENT

REFERENCE

POSITION

CONTROL

RELAY

CURRENT

CONTROL

SPEED

CONTROL

CURRENT

DETECTION

2CN

4CN

1CN

3CN

FOR LINE PG SIGNALS

(FULL-CLOSED LOOP

SPECIFICATIONS)

FOR I/O SIGNALS

FOR SETTING DEVICE

411

INSPECTION, MAINTENANCE, AND TROUBLESHOOTING

6.2.3 Internal Connection Diagram and Instrument Connection Examples cont.

• 200VAC: 400W, 750W (0.27 HP, 1.01 HP)

100VAV: 200W, 300W (0.53 HP, 0.40HP)

POWER SUPPLY

SINGLE-PHASE

200 TO 230V

+10%

-15%

SINGLE-PHASE

100 TO 115V

(50/60Hz)

+10%

-15%

NOISE

FILTER

1MC L1

POWER

OFF

POWER

ON 1MC

1MC

SURGE

SUPPRESSOR

(1RY)

OPEN AT

SERVO ALARM

DB1 Y3 Y4 PM1

CHARGE

TR2

CIRCUIT

CURRENT

DETECTOR

AC SERVOMOTOR

RED

WHITE

BLUE

GREEN

DC/DC

CON-

VERTER

+5V

-5V

PG5V

PRO-

TECTIVE

DETECTION

IN-RUSH CURRENT

PREVENTIVE

CIRCUIT,

REGENERATIVE

PROCESSING

ISO-

LATOR

PWM

REGENERATIVE

CIRCUIT

CURRENT

CONTROL

CIRCUIT

ALARM

INDICATION

CPU

SPEED

CALCU-

LATION

CURRENT

REFERENCE

POSITION

CONTROL

CURRENT

CONTROL

SPEED

CONTROL

RELAY

CURRENT

DETECTION

2CN

4CN

1CN

3CN

FOR LINE PG SIGNALS

(FULL-CLOSED LOOP

SPECIFICATIONS)

FOR I/O SIGNALS

FOR SETTING DEVICE

412

6.2 Troubleshooting

2) Instrument Connection Examples − Speed/Torque Control

Single-phase 200 to 230VAC

+10

-15

%, 50/60Hz

For 100VAC Application

Single-phase 100 to 115VAC

+10

-15

%, 50/60Hz

Noise Filter

SEN Signal Input

Power for Speed/Torque Reference

Max. Output Current: 30mADC

Torque Monitor: 3V/100%

Speed Monitor: 2V/1000r/min

Speed Reference Input

Rated Speed/¦2V to ¦10V

Torque Reference Input

Rated Torque/¦1V to ¦10V

Power Supply

For Power Supply Switching

Attach surge suppressor to megnetic contactor and relays.

Servomotor

DR2 Servopack

When absolute encoder is used

Encoder

Correctly terminate end of shielded cable.

Servo ON at 1Ry ON

P Control at 2Ry ON

Reverse Drive Disabled at N-LS OPEN

Forward Drive Disabled at P-LS OPEN

Alarm Reset at 3Ry ON

Reverse Torque Limit ON at 4Ry ON

Forward Torque Limit ON at 5Ry ON

6Ry ON for Torque Limit Detection

7Ry ON for TGON

8Ry ON for Servo Ready

9Ry OFF for Servo Alarm

Servo ON

P Control

Reverse Drive Disabled

Forward Drive Disabled

Alarm Reset

Reverse Torque Limit ON

Forward Torque Limit ON

Torque Limit Detection

TGON

(ON when the motor zerospeed level (set in the user constant) is exceeded.)

Servo Ready

Servo Alarm

Photocoupler Output

Maximum operational voltage: 30VDC

Maximum operational current: 50mA

PG Output

Line Driver

(Made by T-I)

When absolute encoder is used

Alarm Code Output

Notes:

1. The capacity of each output circuit is below

30VDC, 50mA.

: Twisted pair wires

3. I/O power supply must be prepared by customers.

413

INSPECTION, MAINTENANCE, AND TROUBLESHOOTING

6.2.3 Internal Connection Diagram and Instrument Connection Examples cont.

3) Instrument Connection Examples − Position Control

Single-phase 200 to 230VAC

+10

-15

%, 50/60Hz For 100VAC Application

Single-phase 100 to 115VAC

+10

-15

%, 50/60Hz

Noise Filter

Power Supply

DR2 Servopack

For Power Supply Switching

Attach surge suppressor to megnetic contactor and relays.

Servomotor

Reference Pulse

(Max. 450kpps)

Error Counter Clear Signal

(Active High)

SEN Signal Input

Torque Monitor: 3V/100%

Speed Monitor: 2V/1000r/min

Servo ON at 1Ry ON

P Control at 2Ry ON

Reverse Drive Disabled at N-LS OPEN

Forward Drive Disabled at P-LS OPEN

Alarm Reset at 3Ry ON

Reverse Torque Limit ON at 4Ry ON

Forward Torque Limit ON at 5Ry ON

6Ry ON for Positioning Completed

7Ry ON for TGON

8Ry ON for Servo Ready

9Ry ON for Servo Alarm

PG Output

Line Driver

Alarm Code Output

When absolute encoder is used

Encoder

Correctly terminate end of shielded cable.

Servo ON

P Control

Reverse Drive Disabled

Forward Drive Disabled

Alarm Reset

Reverse Torque Limit ON

Forward Torque Limit ON

Full−closed type only

Positioning Completed

TGON

(ON when the motor zerospeed level (set in the user constant) is exceeded.)

Servo Ready

Servo Alarm

Photocoupler Output

Maximum operational voltage: 30VDC

Maximum operational current: 50mA

Line Driver

(Made by T-I)

When absolute encoder is used

Notes:

1. The capacity of each output circuit is below

30VDC, 50mA.

: Twisted pair wires

3. I/O power supply must be prepared by customers.

414

MEASURES TO SATISFY THE

REQUIREMENTS OF

EMC DIRECTIVE

This chapter outlines EMC directive of European Safe Standard especially to

DR2 Servopack.

In addition, section 2 describes concrete measures for DR2 Servopack to conform to EN standard.

7.1

What is European Safe Standard?

7.1.1 What is EN Standard?

. . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.1.2 What is CE Marking?

7.1.3 EMC Directive

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.1.4 Certification Body TÜV Authorized by EU . . . . . . . . . . . . . .

416

416

417

7.2 Measures to Satisfy the Requirements of

EMC Directive . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.2.1 Applicable Servomotor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.2.2 Applicable Noise Filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.2.3 Motor Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.2.4 Encoder Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.2.5 Control I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.2.6 Digital Operator and Monitoring by Personal Computer . . . .

7.2.7 The Core on the Cable

7.2.8 Wiring

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

418

418

419

420

421

415

MEASURES TO SATISFY THE REQUIREMENTS OF EMC DIRECTIVE

7.1.2 What is CE Marking?

7.1 What is European Safe Standard?

This section outlines the contents of EN standard, CE marking and EMC directive.

7.1.1

What is EN Standard?

7.1.2

What is CE Marking?

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.1.3

EMC Directive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.1.4

Certification Body TÜV Authorized by EU . . . . . . . . . . . . . . . . . . . . . . . . . . .

416

417

7.1.1 What is EN Standard?

1) Board of directors, which consisted of EC cabinet members, provided “EC directive” in

1985 when the European Union was still called EC, with the purpose of management of products from each area of Europe under one standard over applicable standards of member countries.

2) Concrete standard to satisfy “EC directive” is “EN standard (European standard)”.

At the present time, they have instructions for 12 items such as machine directive, low− voltage directive, etc. in addition to EMC directive specified for each of dozens of standards.

7.1.2 What is CE Marking?

1) “CE marking” is a mark to indicate that a product is a safe product conforming to the protection level specified by EC directive.

Attaching this mark to a machine indicates that the machine is a product conforming to

EN standards based on EC directive.

In Europe, every industrial machine has been obliged to have CE marking by machine directive since the 1st of January, 1995.

2) “CE” is an abbreviation of Communauté Européenne in French, which means European

Communities (EC).

After an increase of members, the name has been changed to EU (European Union), but

EC is still used for the name of the directive.

416

7.1 What is European Safe Standard?

7.1.3 EMC Directive

1) This is one of EC directives related to safe requirements for industrial products. EMC directive is concerned with electro−magnetic interference (magnetic noise) mainly from electronic devices, and specify two measures; whether a product controls generating electro−magnetic interference down to a level where it does not affect other devices

(generating side) and whether any measures are provided to prevent an electronic device receiving electro−magnetic interference from malfunctioning (receiving side).

If a product is considered in the above two aspects of the generating side and the receiving side of electro−magnetic interference and provided with proper measures, the product can be said to “coexist with electro−magnetic environment”, which means that the product satisfies EMC requirements.

2) EMC is an abbreviation of Electro−Magnetic Compatibility, indicating electro−magnetic compatibility of a product.

The following diagram outlines the contents explained in 1).

EMI Measures EMI Measures

To Coexist

EMC Measures

In the above diagram:

EMI: Electro−Magnetic Interference (generating side)

EMS: Electro−Magnetic Susceptibility (receiving side)

Machines are to be tested according to their operating status.

7.1.4 Certification Body TÜV Authorized by EU

1) TÜV is one of the certification bodies authorized by European Union (EU) specified organization, which is a German “technical inspection association”.

TÜV has an office (TÜV Product Service, etc.) in Japan, through which Yaskawa obtains approvals.

DR2 Servopack has been approved by this TÜV.

417

MEASURES TO SATISFY THE REQUIREMENTS OF EMC DIRECTIVE

7.2.2 Applicable Noise Filter

7.2 Measures to Satisfy the Requirements of EMC Directive

This section describes the required measures to adapt DR2 Servopack to EMC directive

(EN50081−2, EN50082−2).

7.2.1

Applicable Servomotor

7.2.2

Applicable Noise Filter

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.2.3

Motor Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.2.4

Encoder Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.2.5

Control I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.2.6

Digital Operator and Monitoring by Personal Computer . . . . . . . . . . . . . . . .

7.2.7

The Core on the Cable

7.2.8

Wiring

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

418

419

420

421

7.2.1 Applicable Servomotor

1) Use Yaskawa Servomotor conforming to EN standard.

For details, refer to 5.4.2 Servomotor Dimensional Drawings (TÜV approved).

Servomotor Type Example: SGM−01V312 (200VAC, 100W)

SGM−01W312 (100VAC, 100W)

7.2.2 Applicable Noise Filter

1) Use the following noise filter.

Make sure to ground the noise filter securely.

Applied Voltage

Noise Filter Type and Specifications

(Input Line)

Servopack Type

DR2−

A3Aj

A5Aj

01Aj

02Aj

04Aj

08Aj

A3Bj

A5Bj

01Bj

02Bj

03Bj

Servopack Rated

Input Current

A (rms)

1.3

1.5

2.5

4.0

6.0

11.0

2.0

2.6

4.5

8.0

14.0

SUP P5H EPR

250V, 5A

SUP−P8H−EPR

250V, 8A

SUP−P10H−EPR

250V, 10A

SUP−P5H−EPR

250V, 5A

SUP−P8H−EPR

250V, 8A

SUP−P10H−EPR

250V, 10A

Noise Filter Type and

Specifications

(Power Supply for Brake)

SUP−P5H−EPR

250V, 5A

418

7.2 Measures to Satisfy the Requirements of EMC Directive

7.2.3 Motor Cables

1) Max. cable length is 20m.

7.2.4 Encoder Cables

1) For PG input (2CN), use the following connectors and cables.

Max. cable length is 20m.

Connectors on Servopack and Servomotor are plated.

Make sure to ground between PG cable shield and connector case.

Encoder Type

Cable only

Connector on

Servopack Side

Case

Connector

Connector on Motor Side

Stud for Connector on Motor Side

Incremental

B9400064* 1

Absolute

DP8409123* 1

MR−20L4* 2

MR−20F* 2

17JE13090−02D8A* 3 17JE13150−02D8A* 3

17L−002A* 3

*1 Contact your Yaskawa representative for details.

*2 Made by Honda Tsushin Kogyo Co., Ltd.

*3 Made by DDK Ltd.

Connect the motor side connectors as shown below using studs.

STUD

LOCK SCREW

STUD

419

MEASURES TO SATISFY THE REQUIREMENTS OF EMC DIRECTIVE

7.2.6 Digital Operator and Monitoring by Personal Computer

2) Connect the PG cable as follows:

Incremental

Encoder

S Incremental Encoder

0.2mm

Blue

White/Blue

Yellow

White/Yellow

Green

White/Green

Red

Black

Green/Yellow

Twisted−pair wires

Absolute

Encoder

S Absolute Encoder

0.2mm

Blue

White/Blue

Yellow

White/Yellow

Green

White/Green

Purple

White/Purple

Red

Black

White/Grey

Orange

White/Orange

Green/Blue

Twisted−pair wires

7.2.5 Control I/O

1) For control I/O (1CN) connector, use the following connector. Connector case shown below is plated.

For 1CN cable, use the shielded cable and make sure to ground between cable shield and connector case.

Also, perform shield processing on host controller side securely.

Connector: MR−50M

Connector Case: MR−50L4

7.2.6 Digital Operator and Monitoring by Personal Computer

1) Use digital operator or personal computer (for monitoring) only at test run.

Disconnect them during normal operation.

420

7.2 Measures to Satisfy the Requirements of EMC Directive

7.2.7 The Core on the Cable

1) Attach the core on the cable as shown below:

• Core specifications

Core Model

Quantity

Turn

Manufacturer

ESD−SR−25

1.5

Tokin Corp.

Note: 1.5 turn is as shown below:

CABLE

CORE

• Cable line and the line position where the core is attached:

Cable Line

Line Position

PG Line

Near the Servopack side

I/O Signal Input Line

Near the host controller and

Servopack

7.2.8 Wiring

1) The following diagram shows the wiring example for motor with brake.

The noise filter and the core are shown in the same figure.

NOISE

FILTER

EARTH

PLATE*

(1.97 in.)

POWER

SUPPLY

FOR

BRAKE

(1.97 in.)

MOTOR WITH BRAKE

(3.94 in.)

NOISE

FILTER

1.5 TURN

CORE

(1.97 in.)

(78.7 in.)

(3.94 in.) (1.97 in.)

CORE 1.5 TURN

(3.94 in.)

CORE 1.5 TURN

CONTROL

BOX

* When eatrth plate is not used, polish the mounted noise filter part with sand paper to expose the metal. Then, ground the noise filter securely on the panel.

421

Appendix

Differences Between DR2 and DR1,

SGDA and SGD Servopacks

The functions and performance of Servopacks DR2, DR1, SGDA and SGD are listed and compared in the Tables.

423

DIFFERENCES BETWEEN DR2 AND DR1, SGDA AND SGD SERVOPACKS

Comparison of the DR2 Servopack with the DR1 Servopack (1)

Item DR2 Servopack

Speed Loop Frequency

Characteristics

Servo Gain Compensation

(See note 1)

Auto Tuning

250 Hz

Yes

100 Hz

Serial Communications

Features

7-stage settings

User constant setting/editing

Reference to all monitored values

Auto-tuning

Alarm trace-back confirmation

Multi-axis Communications Yes (However, use rotary switch when axis is set.) No

100 V, 300 W Version

Applicable Servomotors

Yes (External dimensions identical to 200 V,

750 W version)

Both SGM and SGMP servomotors

DR1 Servopack

SGM servomotors.

Not applicable to SGMP

Servomotors.

Torque Feed Forward

(See note 2)

Torque Restriction with Analog

References (See note 2)

Either servomotor type can be used by changing user constant (memory switch) setting.

No Servopack change required.

Yes

Torque feed forward and torque restriction i lt g l

Settings identical for forward and reverse.

Reference Pulse Input Unit

Filter Selection (See note 3)

External Reference Receive

During Contact Input Speed

Control

Reference Pulse Inhibit

Yes Select according to output form of the customer’s controller (line driver or open collector).

Selectable

(Software version: 0003 or later. See Par. 4.2.8.)

Yes Switch the P-CON signal with the user constant settings.

Possible (Monitor mode Un-09)

Yes

Always receivable

Not possible Reference Pulse Value

Display (See note 3)

Analog Speed Monitor

Analog Torque Monitor

PG Dividing Open Collector

Output

Full-closed Loop

Electronic Gear Function

Soft Stop Function

Smoothing Function

Regenerative Processing

Circuit

2V/1000r/min

3V/100%

Can be available as an option

Possible

Yes

0.5V/1000r/min

0.5V/100%

Available only to Phase-C

Power Supply

None

However, only 200V, 30W to 200W can be connectable to regenerative unit.

(200V, 30W to 200W

100V, 30W to 100W)

Incorporated

(200V, 400W and 750W

100V, 200W and 300W)

Main circuit and control circuit are separated.

Not possible

The same as that of soft start

None

Regenerative unit cannot be connected.

(200V, 30W to 100W

100V, 30W and 50W)

Incorporated

(200V, 200W to 750W

100V, 100W and 200W)

Note 1) Material is being prepared on speed loop servo gain compensation.

2) Speed control type only.

3) Position control type only.

424

Digital Operator

Motor Cable

Item

Encoder Cable

Conformable Overseas

Standard

Control Type

User Constant Cn-05 Setting

Unit

DR2 Servopack DR1 Servopack

Hand-held type: JUSP-OP02A-1

3, 5, 10, 15, 20m are available.

(Not the same types as those of SGD, SGDA)

Hand-held type: JUSP-OP02A

3, 5, 10, 15, 20m are available.

(The same types as those of SGD,

SGDA)

3,5,10,15,20m are available (Not the same types as those of SGD, SGDA)

TÜV approved

(Conforming to EN61010)

Speed, torque and position are controlled by the same Servopack.

0.01ms

1ms

425

DIFFERENCES BETWEEN DR2 AND DR1, SGDA AND SGD SERVOPACKS

Comparison of the DR2 Servopack with the DR1 Servopack (2)

Item

Type

Outside Dimensions

Base-mount type

Motor Terminals

Encoder Connector 2CN

DR2 Servopack

DR2-jjAC

(Semi-closed type)

DR2-jjAC-F

(Full-closed type)

DR2-jjACP

(Semi-closed type)

DR2-jjACP-F

(Full-closed type)

60W ×250H ×204D

(200V: 30W to 200W)

(100V: 30W to 100W)

75W ×250H ×252D

(200V: 400W and

750W)

(100V: 200W and

300W)

Option

External terminals in conformance with

Standard

(PHOENIX CONTACT)

MR-20RMA

DR1 Servopack

DR1-jjAC

(Incremental type)

DR1-jjAA

(Absolute type)

60W ×250H ×250D

(200V: 30W to 200W)

(100V: 30W to 100W)

75W ×250H ×250D

(200V: 400W and

750W)

(100V: 200W)

External terminal

(M4 screw)

MR-20RMA

−

Remarks

As for DR2, factory setting of applicable motor is SGM

Servomotor.

Factory setting of applicable motor is

SGMP Servomotor.

Mounting hole position is in common with DR2 and DR1.

Common with DR2 and

DR1. (Different from

SGD type)

Connector 4CN for Full-closed Type

External I/O

Signals

(1CN)

Used Connector

3-pin

5-pin

9-pin

13-pin

18-pin

23-pin

24-pin

MR-8RMA

MR-50RFA MR-50RFA

−

PL1: PULS pull-up

V-REF: Exclusive for speed reference input

T-REF: Exclusive for torque reference input

SG: Signal ground

IN-A: Main input

IN-B: Auxiliary input

PL2: SIGN pull-up

PL3: CLR pull-up

+15V: Reference power supply 30mA

-15V: Reference power supply 30mA

SG: Signal ground

PHC: Phase-C open collector

SG: Signal ground

Common with DR2 and

DR1.

, ll f collector input.

Signals other than described here are used in common with DR2 and DR1.

426

Comparison of the SGDA Servopack with the SGD Servopack

Item

Speed Loop Frequency

Characteristics

Servo Gain Compensation

(See note 1)

Auto Tuning

250 Hz

Yes

7-stage settings

SGDA Servopack

Serial Communications

Features

User constant setting/editing

Reference to all monitored values

Auto-tuning

Alarm trace-back confirmation

Multi-axis Communications Yes (However, 1:1 communications when axis address is set.)

100 V, 300 W Version Yes (External dimensions identical to 200 V,

750 W version)

Applicable Servomotors Both SGM and SGMP servomotors

Either servomotor type can be used by changing user constant (memory switch) setting.

No Servopack change required.

SGD Servopack

150 Hz

3-stage settings

User constant setting/editing

SGM servomotors.

Servopack must be changed to use

SGMP servomotor.

SGMP-compatible Servopack Types

Capacity

01 : 100W

02 : 200W

04 : 400W

08 : 750W

SGMPcompatible

S: Speed control

P: Position control

Torque Feed Forward

(See note 2)

Torque Restriction with Analog

References (See note 2)

Reference Pulse Input Unit

Filter Selection (See note 3)

Yes Torque feed forward and torque restriction i lt g l

Yes

Possible

Settings identical for forward and reverse.

Select according to output form of the customer’s controller (line driver or open collector).

External Reference Receive

During Contact Input Speed

Control

Reference Pulse Inhibit Yes Switch the P-CON signal with the user constant settings.

Possible (Monitor mode Un-09) Reference Pulse Value

Display (See note 3)

Analog Speed Monitor

Analog Torque Monitor

PG Dividing Open Collector

Output

Full-closed Loop

Electronic Gear Function

Soft Stop Function

Smoothing Function

Regenerative Processing

Circuit

Power Supply

Digital Operator

Motor Cable

Can be available as an option

Not possible

Yes

None (Renererative unit can be connectable.)

Main circuit and control circuit are separated.

Hand-held type : JUSP-OP02A-1

Mount type : JUSP-OP03

3,5,10,15,20m are available

None

Not possible

Yes

427

DIFFERENCES BETWEEN DR2 AND DR1, SGDA AND SGD SERVOPACKS

Item

Encoder Cable

Conformable Overseas

Standard

Control Type

User Constant Cn-05 Setting

Unit

SGDA Servopack

3,5,10,15,20m are available

SGD Servopack

Speed/torque and position are controlled by the different type Servopack.

1ms

Note 1) Material is being prepared on speed loop servo gain compensation.

2) Speed control type only.

3) Position control type only.

428

Appendix

Servo Adjustment

This appendix presents the basic rules for Σ-Series AC Servopack gain adjustment, describes various adjustment techniques, and gives some preset values as guidelines.

B.1 Σ-Series AC Servopack Gain Adjustment . . . .

B.1.1 Σ-Series AC Servopacks and Gain Adjustment Methods . . . .

430

430

B.1.2 Basic Rules for Gain Adjustment . . . . . . . . . . . . . . . . . . . . . .

431

B.2 Adjusting a Servopack for Speed Control

B.2.1 Adjusting Using Auto-tuning

. . . .

. . . . . . . . . . . . . . . . . . . . . . . . .

432

432

B.2.2 Manual Adjustment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

433

B.3 Adjusting a Servopack for Position Control . .

B.3.1 Adjusting Using Auto-tuning

B.3.2 Manual Adjustment

. . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

436

436

437

B.4 Gain Setting References . . . . . . . . . . . . . . . . . .

B.4.1 Guidelines for Gain Settings

According to Load Inertia Ratio . . . . . . . . . . . . . . . . . . . . . . .

441

441

429

SERVO ADJUSTMENT

B. 1 .1 Σ -Series AC Servopacks and Gain Adjustment Methods

B.1 Σ-Series AC Servopack Gain Adjustment

This section gives some basic information required to adjust the servo system.

B.1.1

Σ-Series AC Servopacks and Gain Adjustment Methods

B.1.2

Basic Rules for Gain Adjustment

. . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

430

431

B.1.1 Σ-Series AC Servopacks and Gain Adjustment Methods

1) Five types of Σ-Series AC Servopack are available: DR1, SGDA, SGDB, SGD and the current DR2.

The adjustment method is basically identical for each Servopack type, except that autotuning is not available for some types.

The DR2, SGDA,SGDB and SGD Servopacks allow both manual adjustment by the conventional method of observing the machine response and automatic adjustment using the internal auto-tuning function. The DR1 Servopack does not offer auto-tuning.

2) The main user constants changed by the customer to adjust the servo system include the following:

• Cn-04 (Speed Loop Gain)

• Cn-05 (Speed Loop Integration Time Constant)

• Cn-17 (Torque Reference Filter Time Constant)

• Cn-1A (Position Loop Gain)

In a speed-control Servopack (where speed references are applied as analog voltages), the position loop is controlled by the host controller, so the position loop gain is normally adjusted at the host controller.

If adjustment is not possible at the host controller, the same adjustment can be achieved using Cn-03 (Speed Reference Gain), but the servomotor may not reach maximum speed for some preset values of this user constant.

A simple block diagram of the servo system is shown below.

Servo System Block Diagram

Position-control Servopack Speed-control Servopack

Speed Speed

Pattern

Pulse

Train Analog Voltage

Time

Error

Counter

(D/A

Converter)

Speed

Control

Section

Current

Control

Section

Power

Converter

Speed Control Loop

Position Control Loop

Motor

Encoder

Using Speed-control

Servopack

Host Controller (supplied by customer)

Using Position-control

Servopack

Host Controller

(supplied by customer)

Servopack

Note: A position-control Servopack has no D/A converter for speed reference output. This conversion is handled by internal calculations.

Kp: Position Loop Gain

Kv: Speed Loop Gain

Ti: Integration Time Constant

430

B.1 Σ -Series AC Servopack Gain Adjustment

B.1.2 Basic Rules for Gain Adjustment

1) The servo system comprises three feedback systems: position loop, speed loop, and current loop. The response must increase from outer loop to inner loop (see Servo System Block Diagram, above). The response deteriorates and oscillates if this principle is not obeyed.

The customer cannot adjust the current loop. Sufficient response is assured for the current loop.

The customer can adjust the position loop gain and speed loop gain, as well as the speed loop integration time constant and torque reference filter.

2) The position loop and speed loop must be adjusted to provide a balanced response.

In particular, if the position loop gain only is increased (adjustment with Cn-03 at the Servopack if position loop gain adjustment is not possible at the host controller), the speed references oscillate and the result is increased, oscillating position control times.

If the position loop gain (or Cn-03) is increased, the speed loop gain (Cn-04) must be similarly increased.

If the mechanical system starts to oscillate after the position loop gain and speed loop gain are increased, do not increase the gains further.

3) The position loop gain should not normally be increased above the characteristic frequency of the mechanical system.

For example, the harmonic gears used in an articulated robot form a structure with extremely poor rigidity and a characteristic frequency of approximately 10 to 20 Hz. This type of machine allows a position loop gain of only 10 to 20 (1/sec).

Conversely, the characteristic frequency of a precision machine tool such as a chip mounter or IC bonder exceeds 70 Hz, allowing a position loop gain exceeding 70 (1/sec) for some machines.

Therefore, although the response of the servo system (controller, servo driver, motor, detectors, etc.) is an important factor where good response is required, it is also important to improve the rigidity of the mechanical system.

4) In cases where the position loop response is greater than or equal to the speed loop response and linear acceleration or deceleration is attempted, the poor speed loop response and follow-up cause an accumulation of position loop errors and result in increased output of speed references from the position loop.

The motor moves faster and overshoots as a result of increased speed references, and the position loop tends to decrease the speed references. However, the poor motor follow-up due to the poor speed loop response results in oscillating speed references, as shown in the diagram below.

If this problem occurs, reduce the position loop gain or increase the speed loop gain to eliminate the speed reference oscillations.

Speed Reference Output with Unbalanced Position Loop Gain and Speed Loop

Gain

Speed

Reference

Speed references actually output from controller

Speed references calculated in controller

Time

431

SERVO ADJUSTMENT

B.2.1 Adjusting Using Auto-tuning

B.2 Adjusting a Servopack for Speed Control

432

This section gives examples of adjusting the gains of a Servopack for speed control manually and using auto-tuning.

B.2.1

Adjusting Using Auto-tuning

B.2.2

Manual Adjustment

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

432

433

B.2.1 Adjusting Using Auto-tuning

The DR1 Servopack does not offer auto-tuning.

1) Important Points About Auto-tuning a) Speed During Auto-tuning

Auto-tuning may not function correctly if the speed is too low. Set the speed to approximately 500 r/min.

Set the speed with the user constant Cn-10 (Jog speed).

b) Selecting Machine Rigidity

If the machine rigidity is unknown, select the rigidity according to the following standards.

Drive Method

Ball screw, direct

Ball screw, with reduction gears

Timing belt

Chain

Wave reduction gears*

* Product name: Harmonic Drive

Machine Rigidity

DR2, SGDA, SGDB

3 (C-003) to 7 (C-007)

2 (C-002) to 3 (C-003)

SGD

High/medium response

Medium response

1 (C-001) to 3 (C-003)

1 (C-001) to 2 (C-002)

Low/medium response

Low response

Select the machine rigidity level for DR2, SGDA and SGDB andaccording to the table.

Level

7 (C-007) High

Rigidity

6 (C-006) ⋮

5 (C-005) ⋮

4 (C-004) ⋮

3 (C-003) Medium

2 (C-002) ⋮

1 (C-001) Low

B.2 Adjusting a Servopack for Speed Control

Auto-tuning may not end if high response is selected for a low-rigidity machine or low response is selected for a high-rigidity machine.

If this occurs, halt the auto-tuning and change the machine rigidity selection.

2) If Auto-tuning is Unsuccessful

Auto-tuning may be unsuccessful (the end of auto-tuning not displayed) for machines with large play or extremely low rigidity.

Similarly, auto-tuning may be unsuccessful for a machine with high load inertia (exceeding 15 to 30 times the motor moment of inertia).

In these cases, use conventional manual adjustment.

Even if auto-tuning is successful for a machine with large fluctuations in load inertia or load torque, vibrations or noise may still occur in some positions.

3) Response During Operation is Unsatisfactory after Auto-tuning

Auto-tuning sets the gain and integration time constant with some safety margin (to avoid oscillations). This can result in positioning times.

In particular, the target position may not be reached if low response is selected, because the machine does not move in response to the final minute references. An excessively high setting of the integration time constant (Cn-05) during auto-tuning is one cause of this problem.

If response is slow after auto-tuning, the speed loop gain cannot be manually increased very much before oscillation starts.

In this case, manually reduce the integration time constant while observing the machine behavior to ensure oscillation does not occur.

Auto-tuning does not set the torque reference filter (Cn-17) or speed reference gain

(Cn-03).

B.2.2 Manual Adjustment

1) The role of each user constant is briefly described below.

a) Speed Loop Gain (Cn-04)

This user constant sets the speed loop response.

The response is improved by setting this user constant to the maximum value in the range which does not cause vibrations in the mechanical system.

The following formula relates the speed loop gain to the load inertia.

Speed Loop Gain Kv [Hz] =

GDL2

GDM2

+ 1

× (Cn-04 Preset value)

2: Motor Axis Converted Load Inertia

2 : Motor Moment of Inertia

433

SERVO ADJUSTMENT

B. 2 .2 Manual Adjustment cont.

b) Speed Loop Integration Time Constant (Cn-05)

The speed loop has an integration element to allow response to micro-inputs.

This integration element can produce a delay in the servo system, and the positioning setting time increases and response becomes slower as the time constant increases.

However, the integration time constant must be increased to prevent machine vibration if the load inertia is large or the mechanical system includes a element that is prone to vibration.

The following formula calculates a guideline value.

Ti ≥ 2.3 ×

2π × Kv

Ti: Integration Time Constant (sec)

Kv: Speed Loop Gain (Hz) (calculated above) c) Torque Reference Filter Time Constant (Cn-17)

When a ball screw is used, torsional resonance may occur which increases the pitch of the vibration noise.

This vibration can sometimes be overcome by increasing the torque reference filter time constant.

However, this filter will produce a delay in the servo system, just like the integration time constant, and its value should not be increased more than necessary.

d) Speed Reference Gain (Cn-03)

Changing the speed reference gain (Cn-03) changes the position loop gain an equivalent amount. That is, reducing the speed reference gain is equivalent to reducing the position loop gain and increasing it is equivalent to increasing the position loop gain.

Use this user constant (Cn-03) in the following circumstances:

• No position loop gain adjustment at host controller (including cases where fine adjustment not possible by changing number of D/A converter bits)

• Clamping the speed reference output range to specific speeds

Normally leave at the factory setting.

NOTE For a speed-control SGD or SGDA Servopack or SGDB or DR2 Servopack used for speed control, the position loop gain (Cn-1A) is valid in zero-clamp mode only.

The position loop gain (Cn-1A) user constant is always invalid for a DR1 Servopack.

For normal control, change the position loop gain at the host controller or adjust the speed reference gain (Cn-03) in the Servopack.

Changing Cn-1A does not change the position loop gain.

434

B.2 Adjusting a Servopack for Speed Control

2) Adjustment Procedure a) Set the position loop gain at the host controller to a low value and increase the speed loop gain (Cn-04) within the range that no abnormal noise or vibration occurs.

If adjustment of the position loop gain is not possible at the host controller, reduce the speed reference gain (Cn-03).

b) Slightly reduce the speed loop gain from the value at step 1, and increase the position loop gain at the host controller in the range that no overshooting or vibration occurs.

If adjustment of the position loop gain is not possible at the host controller, increase the speed reference gain (Cn-03).

c) Determine the speed loop integration time constant (Cn-05), by observing the positioning setting time and vibrations in the mechanical system.

The positioning setting time may become excessive if the speed loop integration time constant (Cn-05) is too large.

d) It is not necessary to change the torque reference filter time constant (Cn-17) unless torsional resonance occurs in the machine shafts.

Torsional resonance may be indicated by a high vibration noise. Adjust the torque reference filter time constant (Cn-17) to reduce the vibration noise.

e) Finally, fine adjustment of the position gain, speed gain, and integration time constant is required to determine the optimum point for step response.

435

SERVO ADJUSTMENT

B.3.1 Adjusting Using Auto-tuning

B.3 Adjusting a Servopack for Position Control

436

This section gives examples of adjusting the gains of a Servopack for position control manually and using auto-tuning.

B.3.1

Adjusting Using Auto-tuning

B.3.2

Manual Adjustment

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

436

437

B.3.1 Adjusting Using Auto-tuning

The DR1 Servopack does not offer auto-tuning.

1) Important Points About Auto-tuning a) Speed During Auto-tuning

Auto-tuning may not function correctly if the speed is too low. Set the speed to approximately 500 r/min.

Set the speed with the user constant Cn-10 (Jog speed).

b) Selecting Machine Rigidity

If the machine rigidity is unknown, select the rigidity according to the following standards.

Drive Method

Ball screw, direct

Ball screw, with reduction gears

Timing belt

Chain

Wave reductiongears*

* Product name: Harmonic Drive

Machine Rigidity

DR2, SGDA, SGDB

3 (C-003) to 7 (C-007)

SGD

High/medium response

2 (C-002) to 3 (C-003)

1 (C-001) to 3 (C-003)

1 (C-001) to 2 (C-002)

Medium response

Low/medium response

Low response

Select the machine rigidity level for DR2, SGDA and SGDB according to the table.

Level

7 (C-007) High

Rigidity

6 (C-006) ⋮

5 (C-005) ⋮

4 (C-004) ⋮

3 (C-003) Medium

2 (C-002) ⋮

1 (C-001) Low

B.3 Adjusting a Servopack for Position Control

Auto-tuning may not end if high response is selected for a low-rigidity machine or low response is selected for a high-rigidity machine.

If this occurs, halt the auto-tuning and change the machine rigidity selection.

2) If Auto-tuning is Unsuccessful

Auto-tuning may be unsuccessful (the end of auto-tuning not displayed) for machines with large play or extremely low rigidity.

Similarly, auto-tuning may be unsuccessful for a machine with high load inertia (exceeding 15 to 30 times the motor moment of inertia).

In these cases, use conventional manual adjustment.

Even if auto-tuning is successful for a machine with large fluctuations in load inertia or load torque, vibrations or noise may still occur in some positions.

3) Response During Operation is Unsatisfactory after Auto-tuning

Auto-tuning sets the gain and integration time constant with some safety margin (to avoid oscillations). This can result in positioning times.

If response is slow after auto-tuning, the speed loop gain cannot be manually increased very much before vibration starts.

In this case, manually reduce the integration time constant while observing the machine behavior to ensure oscillation does not occur.

Auto-tuning does not set the torque reference filter (Cn-17).

B.3.2 Manual Adjustment

1) The role of each user constant is briefly described below.

a) Speed Loop Gain (Cn-04)

This user constant sets the speed loop response.

The response is improved by setting this user constant to the maximum value in the range which does not cause vibrations in the mechanical system.

The following formula relates the speed loop gain to the load inertia.

Speed Loop Gain Kv [Hz] =

GDL2

GDM2

+ 1

× (Cn-04 Preset value)

2: Motor Axis Converted Load Inertia

2 : Motor Moment of Inertia b) Speed Loop Integration Time Constant (Cn-05)

The speed loop has an integration element to allow response to micro-inputs.

437

SERVO ADJUSTMENT

B.3.2 Manual Adjustment cont.

This integration element can produce a delay in the servo system, and the positioning setting time increases and response becomes slower as the time constant increases.

However, the integration time constant must be increased to prevent machine vibration if the load inertia is large or the mechanical system includes a vibration elements.

The following formula calculates a guideline value.

Ti ≥ 2.3 ×

2π × Kv

Ti: Integration Time Constant (sec)

Kv: Speed Loop Gain (Hz) (calculated above) c) Torque Reference Filter Time Constant (Cn-17)

When a ball screw is used, torsional resonance may occur which increases the pitch of the vibration noise.

These vibrations can sometimes be overcome by increasing the torque reference filter time constant.

However, this filter can produce a delay in the servo system, as is the integration time constant, and its value should not be increased more than necessary.

d) Position Loop Gain

The position loop gain user constant sets the servo system response.

The higher the position loop gain is set, the better the response and shorter the positioning times.

To enable a high setting of the position loop gain, increase the machine rigidity and raise the machine characteristic frequency.

Increasing the position loop gain only to improve the response can result in oscillating response of the overall servo system, that is, the speed references output from the position loop oscillate. Therefore, also increase the speed loop gain while observing the response.

2) Adjustment Procedure a) Set the position loop gain to a low value and increase the speed loop gain (Cn-04) within the range that no abnormal noise or oscillation occurs.

b) Slightly reduce the speed loop gain from the value at step 1, and increase the position loop gain in the range that no overshooting or vibration occurs.

c) Determine the speed loop integration time constant (Cn-05), by observing the positioning set time and vibrations in the mechanical system.

The positioning set time may become excessive if the speed loop integration time constant (Cn-05) is too large.

d) It is not necessary to change the torque reference time constant (Cn-17) unless torsional resonance occurs in the machine shafts.

Torsional resonance may be indicated by a high vibration noise. Adjust the torque reference filter time constant to reduce the vibration noise.

e) Finally, fine adjustment of the position gain, speed gain, and integration time constant is required to determine the optimum point for step response, etc.

438

B.3 Adjusting a Servopack for Position Control

3) Functions to Improve Response

The mode switch, feed-forward, and bias functions improve response.

However, they are not certain to improve response and may even worsen it in some cases. Follow the points outlined below and observe the actual response while making adjustments.

a) Mode Switch

The mode switch improves the transition characteristics when the torque references become saturated during acceleration or deceleration.

Above the set level, the speed loop control switches from PI (proportional/integral) control to P (proportional) control.

b) Feed-forward Function

Use feed-forward to improve the response speed. However, feed-forward may be ineffective in systems where a sufficiently high value of position loop gain is not possible.

Follow the procedure below to adjust the feed-forward amount (Cn-1D).

(1) Adjust the speed loop and position loop, as described above.

(2) Gradually increase the feed-forward amount (Cn-1D), such that the positioning complete (COIN) signal is output early.

At this point, ensure that the positioning complete (COIN) signal breaks up (alternately turns ON/OFF) and that the speed does not overshoot. These problems can arise if the feed-forward is set too high.

For all types of Servopack except DR1, a primary delay filter can be applied to feedforward. This filter can be used to correct breakup (alternatingly turning ON/OFF) of the positioning complete (COIN) signal or speed overshoot arising when feed-forward is activated.

c) Bias Function

When the lag pulses in the error counter exceeds the positioning complete width

(Cn-1B), the bias amount (Cn-1C) is added to the error counter output (speed reference). If the lag pulses in the error counter lies within the positioning complete width

(Cn-1B), the bias amount (Cn-1C) is no longer added.

This reduces the number of pulses in the error counter and shortens the positioning time.

The motor speed becomes unstable if the bias amount is too large.

Observe the response during adjustment as the optimum value depends on the load, gain, and positioning complete width.

Set Cn-0C to zero (0) when the bias is not used.

Bias Function

Speed

Reference

Motor Speed with No Bias

Motor Speed with Bias

Time

Positioning Complete

(COIN) Signal

439

SERVO ADJUSTMENT

B.3.2 Manual Adjustment cont.

The adjustment procedures described above are common for all Yaskawa digital AC Servopacks. However, not all functions are available on each Servopack. Consult the technical specifications of your Servopack for details.

The adjustment procedures are also identical for conventional analog servos. However, in this case, the adjustments are made using potentiometers instead of the user constants.

440

B.4 Gain Setting References

B.4 Gain Setting References

This section presents tables of load inertia values for reference when adjusting the gain.

B.4.1

Guidelines for Gain Settings According to Load Inertia Ratio . . . . . . . . . . . . . . . . .

441

B.4.1 Guidelines for Gain Settings According to Load Inertia Ratio

1) Adjustment guidelines are given below according to the rigidity of the mechanical system and load inertia. Use these values as guidelines when adjusting according to the procedures described above.

These values are given as guidelines only. Oscillations and poor response may occur inside the specified value ranges. Observe the response (waveform) when optimizing the adjustment.

Higher gains are possible for machines with high rigidity.

a) Machines with High Rigidity

Ball Screw, Direct Drive Machines

Example: Chip mounter, IC bonder, precision machine tools

1 x

3 x

5 x

10 x

15 x

20 x

30 x

Load/Inertia Ratio

(GD

2 /GD

2 )

Position Loop Gain

(Cn-1A) [1/s]

50 to 70

Speed Loop Gain

(Cn-04) [Hz]

50 to 70

100 to 140

150 to 200

270 to 380

400 to 560

500 to 730

700 to 1100

Speed Loop

Integration Time

Constant

(Cn-05) [0.01ms]

500 to 2000

Slightly increase for inertia ratio of 20 x, or

For an inertia ratio of 10 x, or greater, slightly reduce the position loop gain and speed loop gain below the values shown and set the integration time constant to a higher value before starting the adjustment.

As the inertia ratio increases, set the position loop gain and speed loop gain to the lower limit of the range of values specified. Conversely, increase the speed loop integration time constant.

b) Machines with Medium Rigidity

Machines driven by ball screw through reduction gears, or machines directly driven by long ball screws.

Example: General machine tools, orthogonal robots, conveyors

441

SERVO ADJUSTMENT

B.4.1 Guidelines for Gain Settings According to Load Inertia Ratio cont.

Load/Inertia Ratio

(GD

2 /GD

2 )

1 x

3 x

5 x

10 x

15 x

20 x

30 x

Position Loop Gain

(Cn-1A)

[1/s]

30 to 50

Speed Loop Gain

(Cn-04)

[Hz]

30 to 50

60 to 100

90 to 150

160 to 270

240 to 400

310 to 520

450 to 770

Speed Loop

Integration Time

Constant (Cn-05)

[0.01ms]

1000 to 4000

Slightly increase for inertia ratio of 20 x, or

As the inertia ratio increases, set the position loop gain and speed loop gain to the lower limit of the range of values specified. Conversely, increase the speed loop integration time constant.

c) Machines with Low Rigidity

Machines driven by timing belts, chains or wave reduction gears (product name: Harmonic Drive).

Example: Conveyors, articulated robots

1 x

3 x

5 x

10 x

15 x

20 x

30 x

Load/Inertia Ratio

(GD

2 /GD

2 )

Position Loop Gain

(Cn-1A)

[1/s]

10 to 20

Speed Loop Gain

(Cn-04)

[Hz]

10 to 20

20 to 40

30 to 60

50 to 110

80 to 160

100 to 210

150 to 310

Speed Loop

Integration Time

Constant (Cn-05)

[0.01ms]

5000 to 10000

Slightly increase for inertia ratio of 20 x, or

As the inertia ratio increases, set the position loop gain and speed loop gain to the lower limit of the range of values specified. Conversely, increase the speed loop integration time constant.

442

B.4 Gain Setting References

2) When a speed-control Servopack is used, set the position loop gain at the host controller.

If the position loop gain cannot be set at the host controller, adjust the Servopack speed reference gain (Cn-03).

The position loop gain (Cn-1A) of a speed-control Servopack is valid in zero-clamp mode only.

The position loop gain is determined from the following relationship.

K p

[1/s]: Position loop gain

VS [PPS]: Steady speed reference

ε: (pulse): Steady error

(The number of pulses in the error counter at steady speed.)

443

Appendix

List of I/O Signals

This appendix lists I/O signal terminals (connector 1CN) on Servopacks which connect to a host controller or external circuit.

I/O signal

Host controller or external circuit

Note 1) The meanings of some signals for speed/torque control and position control are different. Always refer to the correct list for the

Servopack type.

2) Refer to Chapter 3 for details of how to use I/O signals.

3) Note that the functions of I/O signal terminals differ according to the memory switch (Cn-01, Cn-02) settings.

445

LIST OF I/O SIGNALS

List of Input Signals in Speed/Torque Mode (1)

(1CN Terminal No.)

Speed/Torque

446

Specifications

Memory

Switch

Setting

Standard

Specifications

Standard Setting

(Cn-02 BitB = 0)

Absolute

Encoder

Speed

Coincide

Output

Cn-01

Bit 9 = 1

Cn-01

Bit 4 = 1

GND

−

(Unused)

−

(Unused)

V-REF

Speed reference input 3.2.1

GND

−

(Unused)

−

(Unused)

T-REF

Torque reference input 3.2.7

GND

−

(Unused)

−

(Unused)

−

(Unused)

−

(Unused)

−

(Unused)

TRQ-M

Torque monitor

3.2.12

VTG-M

Speed monitor

3.2.12

SEN

Sensor

3.8.5

Zeroclamp

Cn-01

Bit A = 1

Bit B = 0

Speed Control with

Torque Feed Forward

Cn-01 Bit F = 1

V-REF

Speed reference

GND

3.2.8

Torque

Control I

Cn-01

Bit A = 0

Bit B = 1

−

(Unused)

3.2.7

GND 3.2.7

T-REF

Torque feed forward reference

3.2.8

GND 3.2.8

T-REF

Torque reference

3.2.7

GND 3.2.7

Specifications

Memory

Switch

Setting

Standard

Specifications

Standard Setting

(Cn-02 BitB = 0)

Absolute

Encoder

Cn-01

Bit 9 = 1

Speed

Coincide

Output

Cn-01

Bit 4 = 1

−

(Unused)

PCO PG signal output

*PCO

3.2.3

−

(Unused)

−

(Unused)

BAT+

Backup battery

+input

3.8.5

BAT-

Backup battery

-input

3.8.5

+15V Power for speed/ torque reference

-15V

CLT+

3.2.1

Torque limit detection output

3.1.3

CLT-

CLT+

Speed coincide output

3.7.4

CLT-

Speed coincide output

3.7.4

TGON+ TGON output

TGON-

3.7.5

S-RDY+ Servo ready

S-RDY-

ALM+

3.7.6

Servo alarm

ALM-

3.7.1

Zeroclamp

Cn-01

Bit A = 1

Bit B = 0

Speed Control with

Torque Feed Forward

Torque

Control I

Cn-01

Bit A = 0

Bit B = 1

447

LIST OF I/O SIGNALS

Specifications

Memory

Switch

Setting

Standard

Specifications

Standard Setting

(Cn-02 BitB = 0)

PAO PG signal output

*PAO

PBO

3.2.3

PG signal output

*PBO

3.2.3

ALO1

Alarm code output

(Open collector)

3.7.1

ALO2

Alarm code output

(Open collector)

3.7.1

ALO3

Alarm code output

(Open collector)

S-ON

Servo ON input

3.7.1

P-CON

P control input

3.7.2

3.6.4

Absolute

Encoder

Cn-01

Bit 9 = 1

Speed

Coincide

Output

Cn-01

Bit 4 = 1

Zeroclamp

Cn-01

Bit A = 1

Bit B = 0

P-CON

Zero-clamp operation reference

3.4.3

P-OT

Forward rotation prohibited

3.1.2

N-OT

Reverse rotation prohibited

3.1.2

ALM-RST

Alarm reset input

3.7.1

P-CL

Forward torque limit

ON input

3.1.3

Speed Control with

Torque Feed Forward

Torque

Control I

Cn-01

Bit A = 0

Bit B = 1

448

Specifications

Memory

Switch

Setting

Standard

Specifications

Standard Setting

(Cn-02 BitB = 0)

Absolute

Encoder

Cn-01

Bit 9 = 1

Speed

Coincide

Output

Cn-01

Bit 4 = 1

Zeroclamp

Cn-01

Bit A = 1

Bit B = 0

Speed Control with

Torque Feed Forward

Torque

Control I

Cn-01

Bit A = 0

Bit B = 1

N-CL

Reverse torque limit

ON input

+24VIN

I/O power supply

3.1.3

3.2.4

−

(Unused)

PSO

Phase-S signal output

−

(Unused)

3.8.5

*PSO

Phase-S signal output

3.8.5

Frame ground

3.2.3

Note Information described in the “Standard Specifications” column is also applicable to blank columns.

Number “x.x.x” represents a section number corresponding to each signal name. For example, 3.2.3

represents Section 3.2.3.

449

LIST OF I/O SIGNALS

List of Input Signals in Speed/Torque Mode (2)

(1CN Terminal No.)

Speed/Torque

450

Specifications

Standard Specifications Brake

Interlock

Output

Memory

Switch y

Setting

Standard Setting

(C 02 bi B 0)

GND

−

(Unused)

−

(Unused)

V-REF

Speed reference input g

3.2.1

6 SG

GND

Cn-01 Bit E

Contact Input Speed Control

Cn-02 Bit 2 = 1

Cn-01

Bit B = 0

Cn-01

Bit B = 1

Speed Control with Torque Limit by Analog

Voltage

Reference

Cn-02

Bit F = 1

−

(Unused)

GND

3.2.6

V-REF

Speed reference

3.2.6

V-REF

Speed reference

3.2.9

GND

3.2.6

3.2.9

−

(Unused)

−

(Unused)

T-REF

Torque reference input

10 SG

GND

3.2.7

T-REF

Torque limit input

3.2.9

GND

3.2.9

−

(Unused)

−

(Unused)

−

(Unused)

−

(Unused)

−

(Unused)

Specifications

Standard Specifications Brake

Interlock

Output

Memory

Switch

Setting

Standard Setting

(Cn-02 bitB = 0)

TRQ-M

Torque monitor

VTG-M

Speed monitor

−

(Unused)

PCO

3.2.12

PG signal output

*PCO

3.2.3

−

(Unused)

−

(Unused)

+15V

-15V

CLT+

Power for speed/ torque reference

3.2.1

Torque limit detection

CLT-

TGON+

TGON-

S-RDY+

S-RDY-

ALM+

ALM-

PAO

*PAO

3.1.3

TGON output signal

TGON+

Brake interlock signal

3.7.5

3.4.4

TGON+

Brake interlock signal

3.4.4

Servo ready output

3.7.6

Servo alarm output

3.7.1

PG signal output phase-A

3.2.3

Contact Input Speed Control

Cn-02 Bit 2 = 1

Cn-01

Bit B = 0

Cn-01

Bit B = 1

Speed Control with Torque Limit by Analog

Voltage

Reference

Cn-02

Bit F = 1

451

LIST OF I/O SIGNALS

Specifications

Standard Specifications

Memory

Switch

Setting

Standard Setting

(Cn-02 bitB = 0)

PBO

*PBO

PG signal output phase-B

3.2.3

ALO1

Alarm code output

(Open collector)

3.7.1

ALO2

Alarm code output

(Open collector)

3.7.1

ALO3

Alarm code output

(Open collector)

3.7.1

S-ON

Servo on input

3.7.2

P-CON

P control input

P-OT

Forward rotation prohibited

3.6.4

N-OT

Reverse rotation prohibited

3.1.2

ALM-RST

Alarm reset input

3.7.1

P-CL

Forward torque limit ON input

3.1.3

N-CL

Reverse torque limit ON input

3.1.3

+24VIN

I/O power supply

3.2.4

−

(Unused)

−

(Unused)

Brake

Interlock

Output

Contact Input Speed Control

Cn-02 Bit 2 = 1

Cn-01

Bit B = 0

Cn-01

Bit B = 1

Speed Control with Torque Limit by Analog

Voltage

Reference

Cn-02

Bit F = 1

N-CL

Contact input speed control

3.2.6

P-CL

Contact input speed control

3.2.6

N-CL

Contact input speed control

3.2.6

452

Specifications

Memory

Switch

Setting

Standard Specifications

Standard Setting

(Cn-02 bitB = 0)

Brake

Interlock

Output

Contact Input Speed Control

Cn-02 Bit 2 = 1

Cn-01

Bit B = 0

Cn-01

Bit B = 1

Speed Control with Torque Limit by Analog

Voltage

Reference

Cn-02

Bit F = 1

Frame ground

3.2.3

Note Information described in the “Standard Specifications” column is also applicable to blank columns.

Number “x.x.x” represents a section number corresponding to each signal name. For example, 3.2.3

represents Section 3.2.3.

453

LIST OF I/O SIGNALS

List of Input Signals in Speed/Torque Mode (3)

(1CN Terminal No.)

Speed/Torque

454

Specifications

Memory

S i h y

Standard Specifications

Standard Setting

(C 02 bi B 0) g

P-CON = OFF

−

Torque Control II

Cn-01 Bit A = 1, B = 1

Cn-01

Bit F = 0

Cn-02

Bit F = 0

P-CON = ON

Cn-01

Bit F = 0

Cn-02

Bit F = 1

Cn-01

Bit F = 1

Cn-02

Bit F = 1 or 0

GND

−

(Unused)

−

(Unused)

V-REF

Speed reference input

GND

−

(Unused)

−

(Unused)

T-REF

Torque reference input

3.2.7

T-REF

Torque reference

3.2.7

−

(Unused)

3.2.7

GND

3.2.7

GND

3.2.7

T-REF

Torque limit value

3.2.7

GND

3.2.7

T-REF

Torque feed forward reference

3.2.7

GND

3.2.7

GND

−

(Unused)

−

(Unused)

−

(Unused)

−

(Unused)

−

(Unused)

TRQ-M

Torque monitor

3.2.1

V-REF

Speed limit value

3.2.7

V-REF

Speed reference

3.2.7

GND

3.2.7

GND

3.2.7

V-REF

Speed reference

3.2.7

GND

3.2.7

V-REF

Speed reference

GND

3.2.7

3.2.12

Specifications

Memory

S i h y

Standard Specifications

Standard Setting

(C 02 bi B 0) g

TGON+

TGON-

S-RDY+

S-RDY-

ALM+

ALM-

PAO

VTG-M

Speed monitor

−

(Unused)

PCO

3.2.12

PG signal output

*PCO

3.2.3

−

(Unused)

−

(Unused)

+15V

-15V

CLT+

Power for speed/ torque reference

3.2.1

Torque limit detection

CLT-

3.1.3

TGON output signal

3.7.5

Servo ready output

3.7.6

Servo alarm output

PG signal output

3.7.1

*PAO

PBO PG signal output

3.2.3

*PBO

3.2.3

ALO1

Alarm code output

(Open collector)

3.7.1

P-CON = OFF

−

Torque Control II

Cn-01 Bit A = 1, B = 1

Cn-01

Bit F = 0

Cn-02

Bit F = 0

P-CON = ON

Cn-01

Bit F = 0

Cn-02

Bit F = 1

Cn-01

Bit F = 1

Cn-02

Bit F = 1 or 0

455

LIST OF I/O SIGNALS

456

Specifications

Memory

S i h y

Standard Specifications Torque Control II

Standard Setting

(C 02 bi B 0)

P-CON = OFF

−

Cn-01 Bit A = 1, B = 1

Cn-01

Bit F = 0

Cn-02

Bit F = 0

P-CON = ON

Cn-01

Bit F = 0

Cn-02

Bit F = 1

Cn-01

Bit F = 1

Cn-02

Bit F = 1 or 0

ALO2

Alarm code output

(Open collector)

3.7.1

ALO3

Alarm code output

(Open collector)

3.7.1

S-ON

Servo on input

P-CON

P control input

3.7.2

3.6.4

P-CON

Torque/speed control switch

3.2.7

P-CON

Torque/speed control switch

3.2.7

P-CON

Torque/speed control switch

3.2.7

P-CON

Torque/speed control switch

3.2.7

P-OT

Forward rotation prohibited

N-OT

Reverse rotation prohibited

3.1.2

ALM-RST

Alarm reset input

3.7.1

P-CL

Forward torque limit ON input

3.1.3

N-CL

Reverse torque limit ON input

3.1.3

+24VIN

I/O power supply

3.2.4

−

(Unused)

−

(Unused)

Frame ground

3.2.3

Note Information described in the “Standard Specifications” column is also applicable to blank columns.

Number “x.x.x” in box represents a section number corresponding to each signal name. For example, 3.2.3

represents Section 3.2.3.

List of I/O Signals IN Position Control Mode (1)

(1CN Terminal No.)

Positions

Specifications

Memory

Switch

Setting

Standard Specifications Absolute

Encoder

Standard Setting

(Cn-02 Bit B = 1)

Cn-02

Bit 9 = 1

GND

PL1

Power for open collector reference

3.2.2

−

(Unused)

SEN

Sensor ON signal

3.8.5

−

(Unused)

GND

PULS Reference pulse input

Brake

Interlock

Output

Cn-01

Bit E = 1

INHIBIT

Input

Cn-01 Bit F = 1

Cn-02 Bit 2 = 0

*PULS

Contact Input Speed

Control

Cn-01 Bit F

= 0

Cn-02 Bit 2

= 1

Cn-01 Bit F

= 1

Cn-02 Bit 2

= 1

−

(Unused)

3.2.6

−

(Unused)

3.2.6

PULS

Reference pulse input

3.2.2

*PULS

Reference pulse input

3.2.2

−

(Unused)

GND

SIGN Reference sign input

*SIGN

−

(Unused)

3.2.6

−

(Unused)

3.2.6

PULS

Reference pulse input

3.2.2

*PULS

Reference pulse input

3.2.2

13 PL2

Power for open collector reference

3.2.2

457

LIST OF I/O SIGNALS

458

Specifications

Memory

Switch

Setting

Standard Specifications

Standard Setting

*CLR

(Cn-02 Bit B = 1)

Clear input

Absolute

Encoder

Cn-02

Bit 9 = 1

CLR

3.2.2

Brake

Interlock

Output

Cn-01

Bit E = 1

TRQ-M

Torque monitor

3.2.12

VTG-M

Speed monitor

3.2.12

PL3

Power for open collector reference

3.2.2

PCO PG signal output

*PCO

3.2.3

−

(Unused)

−

(Unused)

BAT+

Backup battery + input

3.8.5

BAT-

Backup battery input

3.8.5

−

(Unused)

−

(Unused)

COIN+

COIN-

TGON+

Positioning complete signal

3.7.3

TGON output signal

TGON-

TGON+

Brake interlock signal

3.4.4

TGON-

Brake interlock signal

3.4.4

INHIBIT

Input

Cn-01 Bit F = 1

Cn-02 Bit 2 = 0

Contact Input Speed

Control

Cn-01 Bit F

= 0

Cn-02 Bit 2

= 1

−

(Unused)

Cn-01 Bit F

= 1

Cn-02 Bit 2

= 1

CLR

Clear input

−

3.2.6

(Unused)

3.2.2

*CLR

Clear input

3.2.6

3.2.2

Specifications

Memory

Switch

Setting

Standard Specifications

Standard Setting

(Cn-02 Bit B = 1)

S-RDY+

S-RDY-

ALM+

Servo ready output

3.7.6

Servo alarm output

ALM-

PAO

3.7.1

PG signal output

*PAO

PBO

*PBO

ALO1

ALO2

ALO3

S-ON

Servo ON input

3.2.3

PG signal output phase-B

3.2.3

Alarm code output

(Open collector)

3.7.1

3.7.2

P-CON

P control input

Absolute

Encoder

Cn-02

Bit 9 = 1

3.6.4

Brake

Interlock

Output

Cn-01

Bit E = 1

INHIBIT

Input

Cn-01 Bit F = 1

Cn-02 Bit 2 = 0

Contact Input Speed

Control

Cn-01 Bit F

= 0

Cn-02 Bit 2

= 1

Cn-01 Bit F

= 1

Cn-02 Bit 2

= 1

P-CON

INHIBIT input

3.2.10

P-CON

Rotation direction reference at contact input speed control

P-CON

Rotation direction reference at contact input speed control

3.2.6

P-OT

Forward rotation prohibited

3.1.2

N-OT

Reverse rotation prohibited

3.1.2

ALM-RST

Alarm reset input

3.7.1

P-CL

Forward torque limit ON input

3.1.3

P-CL

Contact input speed control 1

3.2.6

P-CL

Contact input speed control 1

3.2.6

459

LIST OF I/O SIGNALS

Specifications

Memory

Switch

Setting

Standard Specifications

Standard Setting

(Cn-02 Bit B = 1)

N-CL

Reverse torque limit ON input

3.1.3

Absolute

Encoder

Cn-02

Bit 9 = 1

Brake

Interlock

Output

Cn-01

Bit E = 1

INHIBIT

Input

Cn-01 Bit F = 1

Cn-02 Bit 2 = 0

Contact Input Speed

Control

Cn-01 Bit F

= 0

Cn-02 Bit 2

= 1

N-CL

Contact input speed control 2

Cn-01 Bit F

= 1

Cn-02 Bit 2

= 1

N-CL

Contact input speed control 2

3.2.6

+24VfIN

I/O power supply

−

(Unused)

−

(Unused)

3.2.4

PSO

Phase-S signal output

3.8.5

*PSO

Phase-S signal output

3.8.5

Frame ground

3.2.3

Note Information described in the “Standard Specifications” column is also applicable to blank columns.

Number “x.x.x” represents a section number corresponding to each signal name. For example, 3.2.3

represents Section 3.2.3.

460

List of I/O Signals IN Position Control Mode (2)

(1CN Terminal No.)

Positions

Specifications

Memory

Switch

Setting

Standard Specifications

Standard Setting

(Cn-02 Bit B = 1)

CCW Pulse + CW Pulse

Cn-02

Bit 5, 4, 3 = 0, 0, 1

90_Dirrerence

Two-phase Pulse

Reference

Cn-02

Bit 5, 4, 3 = 0, 1, 0

(× 1 multiplication)

= 0, 1, 1

(× 2 multiplication)

= 1, 0, 0

(× 4 multiplication)

GND

PL1

Power for open collector reference

−

(Unused)

−

(Unused)

GND

PULS Reference pulse input

3.2.2

*PULS

3.2.2

PULS

Forward reference pulse input (CCW)

3.2.2

*PULS

Forward reference pulse input (CCW)

3.2.2

−

(Unused)

GND

SIGN

*SIGN

Reference sign input

3.2.2

SIGN

Reverse reference pulse input (CW)

3.2.2

*SIGN

Reverse reference pulse input (CW)

3.2.2

PL2

Power for open collector reference

3.2.2

*CLR

CLR

Clear input

3.2.2

PULS

Phase-A reference pulse input

3.2.2

*PULS

Phase-A reference pulse input

3.2.2

SIGN

Phase-B reference pulse input

3.2.2

*SIGN

Phase-B reference pulse input

3.2.2

461

LIST OF I/O SIGNALS

462

Specifications

Memory

Switch

Setting

Standard Specifications

Standard Setting

(Cn-02 Bit B = 1)

TRQ-M

Torque monitor

3.2.12

VTG-M

Speed monitor

3.2.12

PL3

Power for open collector reference

PCO

3.2.2

PG signal output phase-C

*PCO

−

(Unused)

−

(Unused)

−

(Unused)

−

(Unused)

COIN+

COIN-

TGON+

TGON-

S-RDY+

S-RDY-

ALM+

ALM-

PAO

*PAO

PBO

*PBO

ALO1

ALO2

ALO3

S-ON

Servo ON input

Positioning complete signal

TGON output signal

Servo ready output

Servo alarm output

3.7.1

PG signal output phase-A

3.2.3

PG signal output phase-B

Alarm code output

(O ) p

3.2.3

3.7.3

3.7.5

3.7.6

3.2.3

3.7.1

3.7.2

P-CON

P control input

3.6.4

CCW Pulse + CW Pulse

Cn-02

Bit 5, 4, 3 = 0, 0, 1

90_Dirrerence

Two-phase Pulse

Reference

Cn-02

Bit 5, 4, 3 = 0, 1, 0

(× 1 multiplication)

= 0, 1, 1

(× 2 multiplication)

= 1, 0, 0

(× 4 multiplication)

Specifications

Memory

Switch

Setting

Standard Specifications

Standard Setting

(Cn-02 Bit B = 1)

CCW Pulse + CW Pulse

Cn-02

Bit 5, 4, 3 = 0, 0, 1

90_Dirrerence

Two-phase Pulse

Reference

Cn-02

Bit 5, 4, 3 = 0, 1, 0

(× 1 multiplication)

= 0, 1, 1

(× 2 multiplication)

= 1, 0, 0

(× 4 multiplication)

P-OT

Forward rotation prohibited

N-OT

Reverse rotation prohibited

ALM-RST

Alarm reset input

P-CL

Forward torque limit ON input

N-CL

Reverse torque limit ON input

+24VIN

I/O power supply

−

(Unused)

−

(Unused)

Frame ground

3.1.2

3.7.1

3.1.3

3.2.4

3.2.3

Note Information described in the “Standard Specifications” column is also applicable to blank columns.

Number “x.x.x” represents a section number corresponding to each signal name. For example, 3.2.3

represents Section 3.2.3.

463

Appendix

List of User Constants

• Σ-Series Servopacks provide many functions, and have parameters called

“user constants” to allow the user to select each function and perform fine adjustment. This appendix lists these user constants.

• User constants are divided into the following two types:

1) Memory switch

Cn-01, Cn-02

2) User constant setting

Cn-03 and later

Each bit of this switch is turned ON or OFF to select a function.

A numerical value such as a torque limit value or speed loop gain is set in this constant.

DR2 Servopack

User constants

Note 1) Some user constants for speed/torque control and position control are different. Always refer to the correct list of user constants for the Servopack type.

2) Refer to Chapter 3 for details of how to use user constants.

3) For details of how to set user constants, refer to Section 4.1.5

Operation in User Constant Setting Mode.

465

LIST OF USER CONSTANTS

For Speed/Torque Control

Speed/Torque

List of User Constants (User Constant Setting)

Category

Gain Related

Co s a s

User

Constant

No.

Cn-00

Cn-01

Cn-02

Cn-03

Cn-04

Code Name Unit Lower

Limit

Upper

Limit

Factory

Setting

Not a user constant. (Cn-00 is used to select special mode for digital operator.)

Memory switch (see on page 468.)

Memory switch (see on page 469.)

VREFGN Speed reference gain

(r/min)/V 10

LOOPHZ Speed loop gain Hz 1

2162

2000

500

Torque

Constants

Cn-05

Cn-1A

Cn-13

PITIME

POSGN

Speed loop integration time constant

0.01ms

Position loop gain 1/s

10000

500

100

2000

Remarks

See note 1

See 3.2.1,

3.2.7.

See note 2

See 3.5.2,

3.6.1, 3.6.2.

See note 2

See 3.5.2,

3.6.1, 3.6.2.

See note 2 and 3

See 3.5.2,

3.6.1, 3.6.2.

See 3.2.7,

3.2.8, 3.2.9.

Sequence

Constants

Cn-06

Cn-08

Cn-09

Cn-14

Cn-17

Cn-18

Cn-19

Cn-07

Cn-23

Cn-0B

Cn-12

Cn-15

TCRFGN Torque reference gain

(0.1

V/rated torque)

% EMGTRQ Emergency stop torque

TLMTF Forward rotation torque limit

TLMTR Reverse rotation torque limit

TCRLMT Speed limit for torque control I

TRQFIL Torque reference filter time constant

CLMIF

CLMIR

Forward external torque limit

Reverse external torque limit

SFSACC Soft start time

(acceleration)

% r/min

100 µs

% ms

SFSDEC Soft start time

(deceleration) ms

TGONLV Zero-speed level r/min

BRKTIM Time delay from brake reference until servo OFF

BRKSPD Speed level for brake reference output during motor operation

10 ms r/min

Max. torque

4500

250

Max. torque

10000

4500

Max.

torque

Max.

torque

Max.

torque

4500

100

See 3.1.2.

See 3.1.3.

See 3.2.7.

See 3.5.5.

See 3.1.3.

See note 4

See 3.2.6,

3.5.1.

See note 4

See 3.2.6,

3.5.1.

See 3.7.5.

See 3.4.4.

466

Category

Sequence

Constants

Pulse

Constants

Other

Co s a s

User

Constant

No.

Cn-16

Cn-22

Cn-29

Cn-0A

Cn-11

Code Name Unit

BRKWAI Output timing of brake reference during motor operation

10 ms

VCMPLV Speed coincidence signal output range

ZCLVL r/min

Zero-clamp level r/min

PGRAT Dividing ratio setting

PULSNO Number of encoder pulses

P/R

Cn-0C

Cn-0D

Cn-0E

Cn-10

Cn-1F

Cn-20

Cn-21

Cn-28

Lower

Limit

TRQMSW Mode switch

(torque reference)

REFMSW Mode switch

(speed reference)

ACCMSW Mode switch

(acceleration reference)

JOGSPD Jog speed

SPEED1 1st speed

(contact input speed control)

SPEED2 2nd speed

(contact input speed control)

SPEED3 3rd speed

(contact input speed control)

NFBCC Speed loop compensation constant

% r/min

(r/min)/s r/min r/min r/min r/min

---

513

100

Upper

Limit

100

4500

32768

800

4500

3000

4500

100

Factory

Setting

Remarks

See 3.4.4.

2048

200

500

100

200

300

See 3.7.4.

See 3.4.3.

See note 1

See 3.2.3.

See note 1

See 3.3.3,

3.8.5.

See 3.6.6.

See 3.3.2.

See 3.2.6.

: User constants that must be always set

Note 1) After changing the setting, always turn the power OFF, then ON. This makes the new setting valid.

2) Automatically set by autotuning function

3) Valid only when zero-clamp function is used

4) To use soft start function, always set both Cn-07 and Cn-23.

467

LIST OF USER CONSTANTS

Input signal bl /di bl

CLT signal i hi g switching

− l q selection at alarm condition

Control mode selection

User

Constant

No.

Cn-01

List of User Constants (Memory Switch Setting)

Bit

No.

Setting

Uses servo ON input (S-ON).

Uses SEN signal input (SEN) when absolute encoder is used.

Uses forward rotation prohibited input (P-OT).

Uses reverse rotation prohibited input (N-OT).

Uses CLT signal (CLT) as torque limit detection output.

Not used.

Stops the motor by applying dynamic brake when an alarm arises.

When an alarm arises, stops the motor by applying dynamic brake and then releases dynamic brake.

Stops the motor according to bit 6 setting when overtravel is detected

(P-OT, N-OT).

9 0

When overtravel is detected (P-OT,

N-OT), decelerates the motor to a stop by applying the torque specified in Cn-06 and then turns the servo

OFF.

B•A 0•0

Speed control

0•1

Speed control with zero-clamp function

Does not use servo ON input

(S-ON). Servo is always ON.

Does not use SEN signal input

(SEN) when absolute encoder is used. Servopack automatically treats signal voltage as high level.

Does not use forward rotation prohibited input (P-OT). Forward rotation is always possible.

Does not use reverse rotation prohibited input (N-OT). Reverse rotation is always possible.

Uses CLT signal (CLT) as speed coincide output.

Not used

Causes the motor to coast to a stop when an alarm arises.

Factory

Setting

When an alarm arises, stops the motor by applying dynamic brake but does not release dynamic brake.

Decelerates the motor to a stop by applying the torque specified in

Cn-06 when overtravel is detected

(P-OT, N-OT).

When overtravel is detected (P-OT,

N-OT), decelerates the motor to a stop by applying the torque specified in Cn-06 and then performs zero-clamp.

1•0 1•1

Torque control I Torque control II

0•0

468

Mode switch selection feed-forward di q function

Rotation selection

Home position error processing selection

Contact input d i

Reserved

Motor selection

Encoder selection g i h l

Reserved

Selection of speed/torque or position control mode

Torque reference filter type

User

Constant

No.

Cn-01

Cn-02

Bit

No.

D•C 0•0

Uses internal torque reference as a condition.

(Level setting:

Cn-0C)

0•1

Uses speed reference as a condition.

(Level setting:

Cn-0D)

Uses TGON signal as the motor running detection signal.

Does not use torque feed-forward function.

Defines counterclockwise (CCW) rotation as forward rotation.

Setting

3•4

Detects home position error (when absolute encoder is used).

Does not use contact input speed control.

Reserved (not to be set)

1•0

Uses acceleration as a condition.

(Level setting:

Cn-0E)

1•1

Does not use mode switch function.

Uses TGON signal as the brake interlock signal.

Uses torque feed-forward function.

Defines clockwise (CW) rotation as forward rotation (reverse rotation mode).

Does not detect home position error.

Uses contact input speed control.

Uses 1CN #16 pin as the speed reference monitor.

Uses 1CN #16 pin as the torque reference monitor.

Reserved (not to be set)

SGM motor

Incremental encoder

Reserved (not to be set)

SGMP motor

Absolute encoder

Speed/torque control mode selection Not used.

Primary

Secondary

Factory

Setting

0•0

The factory setting depends on the Servopack type as shown below.

Servopack Type

DR2-j

DR2-jP

Factory Setting

469

LIST OF USER CONSTANTS

Reserved

Torque reference input selection

User

Constant

No.

Cn-02

Bit

No.

E•D Reserved (not to be set)

F 0

Uses torque reference or torque feed-forward reference.

Setting

Uses analog voltage reference as torque limit input.

Factory

Setting

NOTE For the Cn-01 and Cn-02 memory switches, always turn the power OFF and then ON after changing the setting. This makes the new setting valid.

470

For Position Control

Positions

List of User Constants (User Constant Setting)

Category

Gain

Constants

User

Constant

No.

Cn-00

Cn-01

Cn-02

Cn-04

Code Name Unit Lower

Limit

Upper

Limit

Factory

Setting

Not a user constant. (Cn-00 is used to select special mode for digital operator.)

Memory switch (see on page 474.)

Memory switch (see on page 476.)

LOOPHS Speed loop gain

Hz 1 2000 80

Cn-05

Cn-1A

PITIME

POSGN

Speed loop integration time constant

Position loop gain

0.01ms

1/s

10000

500

2000

Torque

Constants

Sequence

Constants

Cn-1C

Cn-1D

Cn-26

Cn-27

Cn-06

Cn-08

Cn-09

Cn-17

Cn-18

Cn-19

Cn-0B

Cn-12

Cn-15

BIASLV

FFGN

Bias

Feed-forward

ACCTME Position reference acceleration/de celeration time constant

FFFILT Feed-forward reference filter

EMGTRQ Emergency stop torque

TLMTF Forward rotation torque limit

TLMTR

TRQFIL

Reverse rotation torque limit

Torque reference filter time constant

CLMIF

CLMIR

Forward external torque limit

Reverse external torque limit

TGONLV

BRKTIM

Zero-speed level

Time delay from brake reference until servo OFF

BRKSPD Speed level for brake reference output during motor operation r/min

100 µs

% r/min

10 ms r/min

450

100

640

Max.

torque

Max.

torque

Max.

torque

250

Max.

torque

Max.

torque

4500

Max.

torque

Max.

torque

Max.

torque

100

Remarks

See 4.1.3.

See note 1

See note 2

See 3.6.1,

3.6.2.

See note 2

See 3.6.1,

3.6.2.

See note 2

See 3.6.1,

3.6.2.

See 3.6.5.

See 3.6.3.

See 3.5.2.

See 3.6.3.

See 3.1.2.

See 3.1.3.

See 3.5.5.

See 3.1.3.

See 3.7.5.

See 3.4.4.

471

LIST OF USER CONSTANTS

Category

Sequence

Constants

Pulse

Constants

Other

Constants

User

Constant

No.

Cn-16

Code

BRKWAI

Cn-1B

Cn-0A

Cn-11

Cn-24

Cn-25

Cn-2A

Cn-0C

Cn-0D

Cn-0E

Cn-0F

Cn-10

Cn-1E

Cn-1F

Cn-20

Cn-21

Cn-28

Name Unit

COINLV

PGRAT

Output timing of brake reference during motor operation

Positioning complete range

Dividing ratio setting

10 ms

Reference unit

P/R

PULSNO Number of encoder pulses

P/R 513

RATB

RATA

Electronic gear ratio

(numerator)

Electronic gear ratio

(denominator)

PULSNO2 External PG number of pulses

TRQMSW Mode switch

(torque reference)

REFMSW Mode switch

(speed reference)

ACCMSW Mode switch

(acceleration reference)

ERPMSW Mode switch

(error pulse)

JOGSPD Jog speed

OVERLV Overflow

SPEED1

P/R

% r/min

10 (r/min)/s 0

Reference unit r/min

×256 reference unit r/min

513

SPEED2

SPEED3

NFBCC

1st speed

(contact input speed control)

2nd speed

(contact input speed control)

3rd speed

(contact input speed control)

Speed loop compensation constant r/min r/min

---

Lower

Limit

Upper

100

Limit

250

32768

65535

32768

Max.

torque

4500

3000

10000

4500

32767

4500

100

Factory

Setting

Remarks

See 3.4.4.

2048

200

500

1024

100

200

300

See 3.6.6.

See 3.3.2.

See note 4

See 3.5.2,

3.6.2.

See 3.2.6.

See 3.7.3.

See note 1

See 3.2.3.

See note 1

See 3.3.3,

3.8.5.

See note 3

See 3.2.3,

3.2.5.

See note 3

See 3.2.3,

3.2.5.

: User constants that must be always set

472

Note 1) After changing the setting, always turn the power OFF, then ON. This makes the new setting valid.

2) Automatically set by autotuning function

3) The following restriction applies to electronic gear ratio (Cn-24 and Cn-25):

0.01 ≦

B(Cn-24)

A(Cn-25) ≦

100

4) For user constant Cn-1E, when full-closed loop specification, factory setting is 1.

473

LIST OF USER CONSTANTS

For Position Control

Positions List of User Constants (Memory Switch Setting) p enable/disable p g enable/disable bl /di b

−

− g

Sequence l i alarm condition

User

Constant

No.

Cn-01 0

Bit

No.

Setting Factory

Setting

Uses servo ON input (S-ON).

When absolute encoder is used, uses the

SEN input signal (SEN).

Uses forward rotation prohibited input

(P-OT).

Uses reverse rotation prohibited input

(N-OT).

Not used.

Stops the motor by applying dynamic brake when an alarm arises.

When an alarm arises, stops the motor by applying dynamic brake and then releases dynamic brake.

Stops the motor according to bit 6 setting when overtravel is detected (P-OT, N-OT).

When overtravel is detected (P-OT, N-OT), decelerates the motor to a stop by applying the torque specified in Cn-06 and then turns the servo OFF.

Does not use servo ON input (S-ON). Servo is always ON.

When absolute encoder is used, masks the SEN signal. Automatically regarded as High level inside the Servopack.

Does not use forward rotation prohibited input

(P-OT). Forward rotation is always possible.

Does not use reverse rotation prohibited input

(N-OT). Reverse rotation is always possible.

Not used.

Causes the motor to coast to a stop when an alarm arises.

When an alarm arises, stops the motor by applying dynamic brake but does not release dynamic brake.

Decelerates the motor to a stop by applying the torque specified in Cn-06 when overtravel is detected

(P-OT, N-OT).

When overtravel is detected

(P-OT, N-OT), decelerates the motor to a stop by applying the torque specified in Cn-06 and then performs zero-clamp.

See note 3

474

Operation performed at servo

OFF

Mode selection

TGON signal function switch i

Contact input speed selection

INHIBIT

Rotation di i h i selection

Home position error processing selection i

Contact input speed control

Reference l f selection

Reserved

Motor selection

Encoder selection

User

Constant

No.

Cn-01

Bit

No.

Setting

A 0

Clears error pulse when servo is turned

OFF.

B 0

Uses mode switch function as set in bits D and C of Cn-01.

D•C 0•0 0•1

Uses internal torque reference as a condition.

(Level setting: Cn-0C)

Uses speed reference as a condition.

(Level setting:

Cn-0D)

Cn-02

Uses TGON signal as the motor running detection signal.

Stops the motor when both contact signals

P-CL and N-CL are OFF.

Always receives pulse reference.

Defines counterclockwise (CCW) rotation as forward rotation.

Factory

Setting

Does not clear error pulse when servo is turned OFF.

Does not use mode switch function.

1•0 1•1

Uses acceleration as a condition.

Uses error pulse as a condition.

(Level setting:

Cn-0E)

(Level setting:

Cn-0F)

Uses TGON signal as the brake interlock signal.

Receives pulse reference when both contact signals

P-CL and N-CL are OFF.

Enables INHIBIT function.

Defines clockwise (CW) rotation as forward rotation

(reverse rotation mode).

0•0

S See note

Detects home position error (when absolute encoder is used).

7•6 Reserved (not to be used)

8 0

SGM motor

9 0

Incremental encoder

Does not detect home position error.

2 0 1

Does not use contact input speed control.

Uses contact input speed control.

5•4• 0•0•0

Sign +

Pulse

0•0•1 0•1•0

CW + CCW Phase A +

Phase B (x 1 multiplication)

0•1•1

Phase A +

Phase B (x 2 multiplication)

1•0•0

Phase A +

Phase B (x 4 multiplication)

SGMP motor

Absolute encoder

0•0•0

See note

475

LIST OF USER CONSTANTS

Error counter l i l

User

Constant

No.

Cn-02 A

Bit

No.

Selection of speed/torque or position control mode

Torque reference filter

Reference pulse logic

Position level

Reference pulse filter i

Setting

Clears the error counter when an error counter clear signal is at high level.

Not used.

Primary

Does not invert reference pulse logic.

Displays position error Un-08 in x 1 reference units while in monitor mode.

Line driver

(Maximum reference pulse frequency: 450 kpps)

Factory

Setting

Clears the error counter when the leading edge of an error counter clear signal rises.

See note 4

Position control mode

Secondary

Inverts reference pulse logic.

Displays position error

Un-08 in x 100 reference units while in monitor mode.

Open collector

(Maximum reference pulse frequency: 200 kpps)

Note

: User constants that must be always set

1) Internal speed selection is valid only when bit 2 of Cn-02 is set to “1.”

2) The factory setting depends on the Servopack type as shown below.

Servopack Type

DR2-j

DR2-jP

Factory Setting

3) At full-closed loop specification, when Cn-01 bit 4 is set to 1, external PG phase-C disconnection error is not detected.

4) At full-closed loop specification, factory setting of Cn-02 bit B is 1.

NOTE For the Cn-01 and Cn-02 memory switches, always turn the power OFF and then ON after changing the setting. This makes the new setting valid.

476

Appendix

List of Alarm Displays

• SGDA Servopack allows up to 10 last alarms to be displayed at a digital operator. This function is called a traceback function.

Alarm number Alarm display

• This appendix provides the name and meaning of each alarm display.

• For details of how to display an alarm, refer to the following section:

4.2.1 Operation in Alarm Trace-back Mode

• For the cause of each alarm and the action to be taken, refer to the following section:

6.2.1 Troubleshooting Problems with Alarm Display

477

LIST OF ALARM DISPLAYS

Alarm Display

Alarm Display

Di i l

7segment

Alarm Output

Alarm Code Output

ALO1 AL02 AL03

OFF OFF OFF

OFF

ALM

Output

OFF

Alarm Name

Absolute data error

User constant breakdown

User constant setting error

Overcurrent

Blown fuse

Regenerative error

Position error pulse overflow

Overvoltage or undervoltage

Overspeed

Overload

Absolute encoder error

Absolute data fails to be received, or received absolute data is abnormal.

Checksum results of user constants are abnormal.

The user constant setting is outside the allowable setting range.

An overcurrent flowed through the power transistor.

Fuse is blown.

Defective regenerative resistor

Regenerative resistor disconnection

Position error pulse has exceeded the value set in user constant Cn-1E

(overflow).

The main circuit voltage for motor operation has become too high or too low.

Motor speed has exceeded 4950 r/min.

Rated torque was exceeded during continuous operation.

The number of pulses per absolute encoder revolution is abnormal.

Remarks

For absolute encoder only

For position control only

For absolute encoder only

OFF: Output transistor is OFF

ON : Output transistor is ON

478

TERMS

Checksum

An automatic check function for a set of data such as user constants. It stores the sum of user constant data, recalculates the sum at specific timing, and then checks whether the stored value matches the recalculated value. This function is a simple method of checking whether a set of data is correct.

Alarm Display

Di i l S

Segment

Alarm Output

Alarm Code Output

ALO1 AL02 AL03

OFF OFF OFF

OFF

Alarm Name

ALM

Output

OFF Absolute encoder backup error

OFF

Absolute encoder checksum error

Absolute encoder battery error

Absolute encoder data error

Absolute encoder overspeed

Reference input read error

Servo overun detected

Encoder output phase error

Incremental encoder initial pulse error

Encoder A-,

B-phase disconnection

Encoder

C-phase disconnection

Full-closed loop A-,

B-phase disconnection

Full-closed loop C-phase disconnection

All three power supplies for the absolute encoder

(+5 V, battery and internal capacitor) have failed.

The checksum results of absolute encoder memory is abnormal.

Battery voltage for the absolute encoder is abnormal.

The checksum results of absolute encoder memory is abnormal.

The motor was running at a speed exceeding

400 r/min when the absolute encoder was turned ON.

Servopack CPU failed to detect reference input.

The servomotor

(encoder) ran out of control.

Phases A, B and C output by the encoder are abnormal.

For absolute encoder only

Wiring of encoder phase

A or B is disconnected.

Phases A, B and C output by the encoder are abnormal.

Wiring of encoder phases C is disconnected.

A-, B-phase of external

PG is disconnected.

C-phase of external PG is disconnected.

Remarks

Only for full-closed specification

OFF: Output transistor is OFF

ON : Output transistor is ON

479

LIST OF ALARM DISPLAYS

Alarm Display

Di i l S

Segment

Alarm Output

Alarm Code Output

ALO1 AL02 AL03

Undefined

ALM

Output

Undefined

OFF OFF OFF ON

Alarm Name Remarks

Digital operator transmission error 1

Digital operator transmission error 2

Not an error

Digital operator fails to communicate with

Servopack even five seconds after power is turned ON.

Transmission error has occurred five consecutive times.

Normal operation status

These alarms are not stored in alarm traceback memory.

OFF: Output transistor is OFF

ON: Output transistor is ON

480

Appendix

Relationship between Reference Forms and User Constants

This appendix lists the relationship between reference forms and user constants.

<Remarks> f : Related to or possibly related to

×: Not related at all

481

RELATIONSHIP BETWEEN REFERENCE FORMS AND USER CONSTANTS

Relationship between Reference Forms and User Constants (1)

f : Related to or possibly related to

× : Not related at all

Cn-13

Cn-14

Cn-15

Cn-16

Cn-17

Cn-18

Cn-19

Cn-1A

Cn-1B

Cn-1C

Cn-1D

Cn-1E

Cn-03

Cn-04

Cn-05

Cn-06

Cn-07

Cn-08

Cn-09

Cn-0A

Cn-0B

Cn-0C

Cn-0D

Cn-0E

Cn-0F

Cn-10

Cn-11

Cn-12

User

Constant

No.

User Constant Name

Speed reference gain

Speed loop gain

Speed loop integration time constant

Emergency stop torque

Soft start time (acceleration)

Forward torque limit

Reverse torque limit

Encoder pulse dividing ratio

Zero-speed level

Mode switch (torque reference)

Mode switch (speed reference)

Mode switch (acceleration)

Mode switch (error pulse)

JOG speed

Number of encoder pulses

Time delay from brake reference until servo

OFF

Torque reference gain

Speed limit for torque control I

Speed level for brake reference output during motor operation

Output timing of brake reference during motor operation

Torque reference filter time constant

Forward external torque limit

Reverse external torque limit

Position loop gain

Position complete range

Bias

Feed forward

Overflow f f f f

× f f f

Speed/Torque Control Mode

(Cn-02 Bit B = 0)

Speed Control

Cn-02 Bit 2 = 0

Torque Control

Speed

Control

(Standard)

Cn-01

Bit A = 0

Bit B = 0

Speed

Control with

Zero-clamp

Function

Bit A = 1

Bit B = 0

Torque

Control I

Bit A = 0

Bit B = 1

Torque

Control II

Bit A = 1

Bit B = 1 f f f f

× f f f f f f f f f f f

× f

× f f f f f f f f f f f f f f f

× f f f f

× f f f f f f f f f f

× f f f f f f f f

× f f f f f f f

× f

× f f f f f

482

Cn-1F

Cn-20

Cn-21

Cn-22

Cn-23

Cn-24

Cn-25

Cn-26

Cn-27

Cn-28

Cn-29

Cn-2A

User

Constant

No.

Contact input speed control (1st speed)

Contact input speed control (2nd speed)

Contact input speed control (3rd speed)

Speed coincide signal output range

Soft start time (deceleration)

Electronic gear (numerator)

Electronic gear (denominator)

Position reference accel/decel time constant

Feed forward reference filter

Speed loop compensation constant

Zero-clamp level

Full-closed number of pulses

Speed/Torque Control Mode

(Cn-02 Bit B = 0)

Speed Control

Cn-02 Bit 2 = 0

Torque Control

Speed

Control

(Standard)

Cn-01

Bit A = 0

Bit B = 0

Speed

Control with

Zero-clamp

Function

Bit A = 1

Bit B = 0

Torque

Control I

Bit A = 0

Bit B = 1

Torque

Control II

Bit A = 1

Bit B = 1

× f f

× f

× f f

× f

483

RELATIONSHIP BETWEEN REFERENCE FORMS AND USER CONSTANTS

Relationship between Reference Forms and User Constants (2)

: Related to or possibly related to

×: Not related at all

Cn-03

Cn-04

Cn-05

Cn-06

Cn-07

Cn-08

Cn-09

Cn-0A

Cn-0B

Cn-0C

Cn-0D

Cn-0E

Cn-0F

Cn-10

Cn-11

Cn-12

Cn-13

Cn-14

Cn-15

Cn-16

Cn-17

Cn-18

Cn-19

Cn-1A

Cn-1B

User

Constant

No.

User Constant Name

Speed reference gain

Speed loop gain

Speed loop integration time constant

Emergency stop torque

Soft start time (acceleration)

Forward torque limit

Reverse torque limit

Encoder pulse dividing ratio

Zero-speed level

Mode switch (torque reference)

Mode switch (speed reference)

Mode switch (acceleration)

Mode switch (error pulse)

JOG speed

Number of encoder pulses

Time delay from brake reference until servo

OFF

Torque reference gain

Speed limit for torque control I

Speed level for brake reference output during motor operation

Output timing of brake reference during motor operation

Torque reference filter time constant

Forward external torque limit

Reverse external torque limit

Position loop gain

Position complete range f f

× f f f f f f

Cn-01

Bit A = 0

Bit B = 0

× f f f f f f

Stops at

Speed

Reference is 0

Speed/Torque Control Mode

(Cn-02 Bit B = 0)

Contact Input Speed Control

Cn-02 Bit 2 = 1

Stops at

Zero-clamp

Analog

Speed

Reference

(V-REF)

Input f f

× f f f f f f

Cn-01

Bit A = 1

Bit B = 0

× f f f f f f

Cn-01

Bit A = 0

Bit B = 1 f f f f f f f f f f f f

× f f f f f

× f f f f f f

Analog

Speed

Reference

(V-REF)

Input with

Zero-clamp

Function

Cn-01

Bit A = 1

Bit B = 1 f f f f f f f f f f f f f f f

× f f f f f f f f

484

Cn-1C

Cn-1D

Cn-1E

Cn-1F

Cn-20

Cn-21

Cn-22

Cn-23

Cn-24

Cn-25

Cn-26

Cn-27

Cn-28

Cn-29

Cn-2A

User

Constant

No.

Bias

Feed forward

Overflow

Contact input speed control (1st speed)

Contact input speed control (2nd speed)

Contact input speed control (3rd speed)

Speed coincide signal output range

Soft start time (deceleration)

Electronic gear (numerator)

Electronic gear (denominator)

Position reference accel/decel time constant

Feed forward reference filter

Speed loop compensation constant

Zero-clamp level

Full-closed number of pulses

Cn-01

Bit A = 0

Bit B = 0

× f f f f f

× f

Stops at

Speed

Reference is 0 f f

× f f

Cn-01

Bit A = 1

Bit B = 0

× f f f

Speed/Torque Control Mode

(Cn-02 Bit B = 0)

Contact Input Speed Control

Cn-02 Bit 2 = 1

Stops at

Zero-clamp

Analog

Speed

Reference

(V-REF)

Input

Cn-01

Bit A = 0

Bit B = 1

× f f f f f

× f

× f f

Analog

Speed

Reference

(V-REF)

Input with

Zero-clamp

Function

Cn-01

Bit A = 1

Bit B = 1

× f f f

485

RELATIONSHIP BETWEEN REFERENCE FORMS AND USER CONSTANTS

Relationship between Reference Forms and User Constants (3)

f : Related to or possibly related to

×: Not related at all

Cn-13

Cn-14

Cn-15

Cn-16

Cn-17

Cn-18

Cn-19

Cn-1A

Cn-1B

Cn-1C

Cn-03

Cn-04

Cn-05

Cn-06

Cn-07

Cn-08

Cn-09

Cn-0A

Cn-0B

Cn-0C

Cn-0D

Cn-0E

Cn-0F

Cn-10

Cn-11

Cn-12

User

Constant

No.

User Constant Name

Speed reference gain

Speed loop gain

Speed loop integration time constant

Emergency stop torque

Soft start time (acceleration)

Forward torque limit

Reverse torque limit

Encoder pulse dividing ratio

Zero-speed level

Mode switch (torque reference)

Mode switch (speed reference)

Mode switch (acceleration)

Mode switch (error pulse)

JOG speed

Number of encoder pulses

Time delay from brake reference until servo

OFF

Torque reference gain

Speed limit for torque control I

Speed level for brake reference output during motor operation

Output timing of brake reference during motor operation

Torque reference filter time constant

Forward external torque limit

Reverse external torque limit

Position loop gain

Position complete range

Bias

Position

Control

Cn-02

Bit 2 = 0

Position

Control

(Standard)

Position Control Mode

(Cn-02 Bit B = 1)

Contact Speed

Stops at

Speed

Reference is 0

Cn-02

Bit 2 = 1

Cn-01

Bit F = 0

Pulse

Reference

Input

Cn-01

Bit F = 1

× f

× f f f f f

× f f f f f f f f f f f f f f f f f f f f f f f f f f f f f f f f f f f f

× f f f f f f f f

× f f f f f

× f f f f f f f f

486

Cn-1D

Cn-1E

Cn-1F

Cn-20

Cn-21

Cn-22

Cn-23

Cn-24

Cn-25

Cn-26

Cn-27

Cn-28

Cn-29

Cn-2A

User

Constant

No.

Feed forward

Overflow

Contact input speed control (1st speed)

Contact input speed control (2nd speed)

Contact input speed control (3rd speed)

Speed coincide signal output range

Soft start time (deceleration)

Electronic gear (numerator)

Electronic gear (denominator)

Position reference accel/decel time constant

Feed forward reference filter

Speed loop compensation constant

Zero-clamp level

Full-closed number of pulses

Position

Control

Cn-02

Bit 2 = 0

Position Control Mode

(Cn-02 Bit B = 1)

Contact Speed

Cn-02

Bit 2 = 1

Position

Control

(Standard)

Stops at

Speed

Reference is 0

Cn-01

Bit F = 0

Pulse

Reference

Input

Cn-01

Bit F = 1 f f

× f f f f ×

× f f f f f f f f f f f f f

× f f f f f f

487

Appendix

Reviewing the Full-closed Loop Specifications

This appendix outlines the checking methods for combination of mechanical specifications, linear scale (linear scale + waveform shaping circuit) and Servopack at full-closed loop specifications.

489

REVIEWING THE FULL-CLOSED LOOP SPECIFICATIONS

1 Grasping the Mechanical Specifications

1.1 Full-closed Loop System Configuration

Reference Pulse

DR2 Servopack

Error

Counter

Speed

Loop

Current

Loop

Servopack Gear

×4

Speed

Linear Scale

Waveform

Shaping Circuit

Movable

Part

Ball Screw

1.2 Checking the Mechanical Specifications

1) Mechanical Specifications

• Load Speed : V = m/min kg • Load Weight : W =

• Ball Screw Spec. : Pitch P =

• Gear : Gear Ratio = /

• Detection Unit : mm/ PULSE mm/rev

• Duty Cycle :

490

2) Applicable Servomotor and Servopack

• Servomotor : (with incremental encoder)

• Servopack : DR2-j-F • • • • Full-closed feedback input conditions:

1 Line driver output from linear scale

2 Max. frequency : 675kPPS

(

4500 × 1.1

× 8192 ≒

675kPPS)

3 Linear scale evaluation magnification : 4

3) Applicable Linear Scale

• Manufacturer :

• Type : , Scale Interval : mm

• Waveform Shaping Circuit : Type =

(Detector EXE, interpolation digital circuit unit)

Max. operation speed =

Max. input frequency =

Output signal form = kHz m/min

Interpolation magnification =

Evaluation magnification =

Measuring pitch = µm

Min. edge interval =

Min. pulse width = µs

µs

• • • • (Conditions under the combination with linear scale)

• • • • (Combination with Max.

input frequency)

491

REVIEWING THE FULL-CLOSED LOOP SPECIFICATIONS

2 Application Example

2.1 Configuration

Max.Frequency

200kPPS

DR2 Servopack

DR2−j−F

AC Servomotor

Gear

Gear Ratio

= 6/10

4CN

Max. Speed

1200mm/min

Detector

EXE650B

Ball Screw PB = 4mm/rev

Linear Scale Type

LS103

Measuring Pitch: 0.1µm

492

2.2 Linear Scale Specifications and Application Review at

Full-closed System

1) Linear Scale Specifications

• Manufacturer : HEIDENHAIN

• Type : LS103, Scale Interval = 10µm = 0.01mm

• Detector Type : EXE650B

• Max. Input Frequency : 60kHz (Interpolation magnification : 25)

• Interpolation Magnification = 25

• Evaluation Magnification = 4

• Output Signal : 5V line driver output, phase-A leading

(Conforming to DIN66259, EIA standard RS422)

• Measuring Pitch : 0.1µm

• Min. Edge Interval and Pulse Width a

• When detector EXE650B (interpolation magnification: 25) is used:

Switching

Max. Input

Frequency fE max

Approx.

60kHz

40kHz

20kHz

10kHz

8MHz Clock

Min. Edge

Interval a min

0.125µs

0.25µs

0.5µs

1.0µs

Min. Pulse

Width b min

0.125µs

0.25µs

0.5µs

1.0µs

Max. Input

Frequency fE max

Approx.

60kHz

50kHz

25kHz

12.5kHz

10MHz Clock

Min. Edge

Interval a min

0.1µs

0.2µs

0.4µs

0.8µs

Min. Pulse

Width b min

0.1µs

0.2µs

0.4µs

0.8s

−

(×: Switch is closed)

2) Application Review a) Linear Scale :

Input Frequency =

Operation Speed

Scale Interval =

1200∕60

0.01

= 2000PPS < EXE650B Max.InputFrequency

b) Min. Edge Interval and Pulse Width

DR2 receivable max. frequency : 675kHz

10 6

675000 × 4 =

0.3704 μs < Min. Edge Interval

• With the above a) and b), switching S

3 both of the following conditions: and S

4 at 8MHz clock can be performed under

Max. Input

Frequency

20kHz

10kHz

−

− c) Feedback Frequency to Detector Output Frequency and Error Counter

Detector Output Frequency = 2000 ×25 = 50000PPS ! 50kPPS

Feedback Frequency = 50 ×4 = 200kPPS d) DR2 User Constant (Cn-24, -25)

* Electronic Gear = BA =

Cn–24

Cn–25 =

Cn–2A × 4

4×6

0.0001×10

6000 × 4

24000 =

493

494

REVIEWING THE FULL-CLOSED LOOP SPECIFICATIONS

* Number of Full–closed Pulses = Cn–2A =

0.01×10

25×6

6000P∕rev

. * Memory switch Cn-02 Bit B =1

Conditions except above are the same as those of position control at full-closed specifications.

• Reviewing the above data, full-closed loop can be applicable under the above conditions.

Servo ON at ON

P Control at ON

Reverse Overtravel at OFF

Forward Overtravel at OFF

Alarm Reset at ON

Reverse Current Limit at ON

Forward Current Limit at ON

Torque Monitor: 3V/100%

Speed Monitor: 2V/1000r/min

Positioning Completed

TGON

(ON under the level)

Servo Ready

Alarm Output

(OFF at alarm occurrence)

Alarm Code Output

(Hand−held Type)

Single-phase 200 to 230VAC

+10

-15

%, 50/60Hz

For 100VAC Application

Single-phase 100 to 115VAC

+10

-15

%, 50/60Hz

Line Filter

OFF

Power

Servo Alarm

(OFF at Alarm) Pulse Reference Receivable

DR2 Servopack

DR2−jjjCj−F

I/O Signals

Phase−A

CCW

Phase−B

SGM

Servomotor

Red

White

Blue

Green

Linear Motion

Ball Screw

= 2mm/rev

Linear Scale (LID311C)

Phase

-A

-B

-C

-S

Phase

−A

Phase

−B

Phase

−C

DR2 Full−closed Loop (Incremental Encoder)

Connection Diagram

Output the position detection signal.

495

REVIEWING THE FULL-CLOSED LOOP SPECIFICATIONS e) Output Phase Form: Refer to the following phase relation for the feedback pulse to

Servopack

• When incremental encoder is used:

Reverse

Forward

90_

Phase−A Phase−A

Phase−B Phase−B

Phase−C Phase−C

Forward: CCW when viewed from the drive end

90_

Reference pulse frequency =

20mm/s

0.1µm/pulse

= 200kPPS

Motor Speed = 20mm/s

2mm/rev

×60s/min = 600r/min

Reference pulse

DR2 Servopack

Differentiation

Feed forward gain

Smoothing Error counter

Primary lag filter

Bias

Speed loop

COIN signal

Current loop

SGM

Servomotor

Position Detector

Amplifier

Encoder

×4

PG signal output

Note: Semi−closed and full−closed cannot be changed by internal setting.

(DR2−jjjCj−F is the full−closed loop type Servopack.)

496

INDEX

Numbers

1CN connector dimensional drawings, 371 specifications, 371

1CN connector kit, 27

4CN connector, 385

A absolute data exchange sequence, 154 transmitting sequence, 155 absolute value detection system, 151

AC servomotor sizing software, 149 alarm code output, 128 alarm output signals, wiring, 128 alarm signal circuit, test run, 39 alarm traceback data, clearing, 200 alarm traceback mode, 183 alarms display, 158 troubleshooting, 391

Servo, resetting using Digital Operator, 171 servo, reset, 171 alignment, Servomotors, 20 analog monitor, 102 autotuning, 191 precautions, 192 autotuning function, 118

Digital Operator, 188

B battery, 153 absolute encoder, 371 replacement, absolute encoder, 390 bits, turning ON and OFF, 178 brake power supply, 26 dimensional drawings, 363 internal circuit, 364

INDEX specifications, 363

Cable for motor, 27

Cable for PG, 27 cables, 140 encoders dimensional drawings, 365 specifications, 365 for connecting PC and Servopack, 381 motor connectors, 359 dimensional drawings, 355 specifications, 355 specifications, 349 tension, 140

CE Marking, 416

CLT+, 58

CLT-, 58 comparators, 9 connections contact input signal terminals, 80 contact output signal terminals, 81

I/O signal terminals, Servopack, 30

Connector kit for motor, 27

Connector kit for PG, 27 connector kits, 358 dimension drawings, 358 specifications, 358 connectors

1CN, test run, 39

2CN, reverse rotation mode, 53 absolute encoder, 166

Digital Operator, 168 encoder cables, 358 incremental encoder, 165 motor cables, 359 standard−type motor with brake, 167 without brake, 167 terminal layouts, 163

Servopack for speed/torque and position control,

163 contact input signal terminals, connections, 80

497

INDEX contact input speed control function, 86 motor speeds, 87 prohibiting, 62 soft start time, 87

Contact Input Speed Control Selection, 62 contact output signal terminals, connections, 81 controlled systems components, 6 meaning, 5

D deceleration stop mode, 56 detectors encoders, 8 meaning, 5

Digital Operator, 14, 26 alarm traceback mode, 183 autotuning, 188 connection, 170 dimensional drawings, 334 mode selection, 172 monitor mode, 179 status display mode, 173 user constant setting mode, 176 motor operation, 186 selection, 216 servo alarm reset, 171 simple motor check, 186 test run, 40 dimensional diagrams, noise filter, 374 dimensional drawings

1CN connector, 371 brake power supply, 363 cables, encoders, 365 connector kits, 358

Digital Operator, 334

Encoder Signal Converter Unit, 379 magnetic contactor, 375 motor cables, 355 regenerative unit, 376

Servomotors, 247–281, 289–323

Servopacks, 329 variable resistors, 379 dividing, 76

Dividing ratio setting, 77 drive systems, 6

498 dynamic brake, 108 stop mode, 57

E electronic gear function, 82 setting, 82 electronic gear ratio, 82 for different load mechanisms, 85 load travel distance per revolution of load shaft in reference units, 83 machine specifications, 82 number of encoder pulses for the SGM Servomotor,

82 reference unit, 83

EMC Instructions, 417

EMC instructions, measures, 418

EN Standard, 416 encoder output, 76 signals, divided, 76 encoder pulses, number per revolution, 105

Encoder Signal Converter Unit dimensional drawings, 379 specifications, 379 encoders absolute, 8, 151 battery, 371 battery replacement, 390 home position error detection, 159 cables connectors, 358 dimensional drawings, 365 specifications, 365 extending cables, 159 incremental, 8 specification, 78 error counter clear input, 74 clear signal (CLR), 75 clearing, 74

European Safe Standard, 416

Exterior type regenerative registor, 26 external torque limit, 60 forward, 61 reverse, 61 external torque limit input, 61 forward, 61

INDEX reverse, 61

F feed-forward control, 120 feedback control, meaning, 3

Forward Run Reference, 52 fuse, 142

G gain adjustment, 115, 118 speed reference, 68

GL-Series Positioning Module B2813, connection example, 32

GL-Series Positioning Module B2833, connection example, 31 ground fault detector, 17 ground wire, 140 grounding, 17 wiring, 143

H high-voltage lines, Servopacks, 161 holding brake, 110 electrical specifications

100VAC SGM Servomotors, 225

100VAC SGMP Servomotors, 228

200VAC SGM Servomotors, 218

200VAC SGMP Servomotors, 222 home position error detection, 159 host controllers, 5, 10, 27 hot start, 239

I/O Signal Generation Timing, 73 impact resistance, 231

INHIBIT function

See , reference pulse inhibit function input pulse multiply function, 73 input signal terminals alarm reset, 131 battery, 78 error counter clear input, 74 forward external torque limit input, 61 forward rotation prohibited, 54

I/O power supply, 80 motor rotation direction, 89 proportional/integral control, 68 reference pulse input, 71 reference sign input, 71 reverse external torque limit input, 61 reverse rotation prohibited, 54

SEN signal input, 78 servo ON, 132 signal ground for speed reference input, 64, 94 signal ground for torque reference input, 94 speed reference input, 64, 94 speed selection, 88 torque reference input, 94 torque/speed changeover, 95 zero-clamp speed control, 109 inspection, 388, 389

Servomotors, 388

Servopacks, 389 installation, 18

Servomotors, 19

Servopacks, 22

Installation sites

Servomotors, 20

Servopacks, 22 internal torque limit, 57

J jog speed, 104

L limit switch, 54 overtravel limit function, 54 load inertia, 241 loads allowable radial load, 230 allowable thrust load, 230 logic setting negative, 72 positive, 72

M machine data table, 210

499

INDEX machine rigidity, 189 selection, 192 magnetic contactor, 26 dimensional drawings, 375 internal connection diagram, 375 specifications, 375 maintenance, 388, 389

Servomotors, 388

Servopacks, 389

MCCB, 26, 141, 142, 373 mechanical tolerance, 231 memory switches

See , user constants

MITSUBISHI Positioning Unit AD71 (B Type), connection example, 36

MITSUBISHI Positioning Unit AD72, connection example, 35 mode selection, Digital Operators, 172 mode switch, 122 detection points error pulse, 125 motor acceleration, 124 speed reference, 124 torque reference, 123 molded-case circuit breaker

See , MCCB monitor mode, 179 motor checking, Digital Operator, 186 operation, Digital Operator, 186 type check, 201

N-OT input signal, 55

Nameplate

Servomotor, 18

Servopacks, 19 noise control, 17 filter, 26, 141 dimensional diagrams, 374 installation, 144 specifications, 374 wiring, 142

500

OMRON Position Control Unit C500-NC112, connection example, 34

OMRON Position Control Unit C500-NC222, connection example, 33 order lists, 341 output phase, form, 77 absolute encoder, 77 incremental encoder, 77 output signal terminals alarm code output, 129 brake interlock output, 111 encoder output, 77, 78 frame ground, 78 output signal ground common, 81 positioning complete output, 133 running output, 136 servo alarm output, 129 signal ground for alarm code output, 129 signal ground for encoder output, 78 signal ground for servo alarm output, 129 speed coincide output, 134 torque limit output, 58 overhanging load precautions, 17

Servomotors, 246 overload, characteristics, Servopacks, 239 overtravel forward, 54 reverse, 54 overtravel limit function, 54 limit switch, 54

P-CON Signal, meaning, 68

P-OT input signal, 55 peripheral devices selection, 335 flowchart, 336 specifications, 349 wiring, 25 personal computer, 27

Position Control, illustration, 14

Position Control Mode, 11 position references, inputs, 69 line driver output, 69

open collector output, 70, 71 positioning complete signal, 133 positioning time, minimizing, 118 power amplifiers, 9

Power Consumption, 238

Power for Open Collector Reference, 70 power ON sequence, 29 power ratings, 11 precautions, 16 pressure control, 91

PROGIC-8, 10 connection example, 30 proportional control, 120 proportional/integral control, 9, 120 signal, 68 protective sequence, 128 pulse dividing ratio, 79 pulse trains, 14

R radial load, 20 ratings

100VAC SGM Servomotors, 224

100VAC SGMP Servomotors, 227

200VAC SGM Servomotors, 217

200VAC SGMP Servomotors, 221

DR2 Servopacks, 233 reference offset, 195 automatic adjustment, 107, 116, 195 manual adjustment, 107, 116 reference pulse form, 71 input allowable voltage level, 74 timing, 74

Reference Pulse Form, 74

Selection, 71 reference pulse inhibit function, 100

Reference Pulse Input, 71 reference pulse input filter selection function, 101

INDEX regenerative unit, 26, 148 connection, 150 dimensional drawings, 376 specifications, 376 residual voltage, precautions, 16 reverse rotation mode, 52, 53

2CN connector, 53 user constant, 53

Reverse Run Reference, 52 rotation forward, prohibiting, 55 reverse, prohibiting, 55 running output signal, 136

SEN signal, 152

Servo amplifier, components, 9 servo amplifiers, 9 meaning, 5 servo drive, meaning, 4 servo mechanisms illustration, 5 meaning, 2 servo OFF, 56 servo ON input signal, 132 servo ready output signal, 138 servo system configuration, 5 illustration, 4 meaning, 3, 4

Servomotors

100VAC SGM ratings, 224

100VAC SGM specifications, 224

100VAC SGM torque−motor speed characteristics,

226

100VAC SGMP ratings, 227

100VAC SGMP specifications, 227

100VAC SGMP torque−motor speed characteristics, 229

200VAC SGM ratings, 217

200VAC SGM torque−motor speed characteristics,

220

200VAC SGMP ratings, 221

200VAC SGMP specifications, 221

200VAC SGMP torque−motor speed characteristics, 223

501

INDEX

AC, 7 induction, 7 synchronous, 7 alignment, 20 components, 7

DC, 7 dimensional drawings, 247–281, 289–323 features, 11 inspection, 388 installation, 19 installation sites, 20 maintenance, 388 meaning, 4, 5 nameplate, 18 overhanging load, 246 selection, 205 flowchart, 208 machine data table, 210 setting the type, 106 storage, 19 test run, 39 type designation, 18

Servopacks dimensional drawings, 329 features, 11 high-voltage lines, 161 inspection, 389 installation, 22 installation sites, 22 instrument connection examples, 411 internal connection diagram, 411 maintenance, 389 meaning, 4 nameplate, 19 overload characteristics, 239 ratings, 233 selection, 212 flowchart, 214 specifications, 233 storage, 22 test run, 41 type designation, 19 servos alarm output, 128 alarm reset, 171 control systems, meaning, 4 gain adjustment, 115, 118 meaning, 3

502 smoothing function, 115 position reference acceleration/deceleration time constant, 115 soft start function, 90, 114 software, version check, 201 specifications

100VAC SGM Servomotors, 224

100VAC SGMP Servomotors, 227

1CN connector, 371

200VAC SGM Servomotors, 217

200VAC SGMP Servomotors, 221 brake power supply, 363 cables, 349 encoders, 365 connector kits, 358

DR2 Servopacks, 233 home position pulse, 156 incremental pulse, 156 magnetic contactor, 375 noise filter, 374 peripheral devices, 349 regenerative unit, 376 serial data, 156 speed bias, 121 speed coincide output signal, 134 speed control, 67 illustration, 12

Speed monitor, 102 speed reference gain, 68 input, 64

Speed Reference Input, 65 speed reference offset, manual adjustment mode, 197 speed references, 64

Speed/Torque Control Mode, 11 starting time, 240 status display mode, 173 stop mode, setting, 107 stop torque, 56 stopping time, 240

Storage

Servomotors, 19

Servopacks, 22 supply voltages, precautions, 16

surge suppressor, 376

T tension control, 91 terminal layout, 2CN, 164 terminal name control power supply input, 28 ground terminal, 28 main circuit AC input, 28 motor connection, 28 regenerative resistor, 28 regenerative unit connection, 28 terminals, standard−type motor with brake, 167 without brake, 167

Test Run, 37 test run minimum user constants, 47 motor connected to the machine, 43 motor without load, 39 position control from the host controller, 46 servomotor with brake, 45 step 1, description, 38 step 1, procedures, 39 step 2, description, 38 step 2, procedures, 43 thrust load, 20

Torque Control, illustration, 13 torque control, 57, 91

Torque control I, definition, 13

Torque control II, definition, 13 torque feed−forward function, 97 torque limit forward rotation, 57 input signals, 62 output signal, 58 reverse rotation, 57 value, 99

Torque monitor, 102

Torque Reference Filter Degree, 117 torque reference filter time constant, 116 torque restriction, 57 torque restriction function, 60 by analog voltage reference, 99

INDEX torque limit value, 61 troubleshooting alarm display, 391 without alarm display, 409

TRQ-M Specifications, 102

TÜV, 417 type designation

Servomotor, 18

Servopack, 19

U user constant setting mode, 176 user constants, 55, 62 bias, 121 brake signal output timing during motor operation,

113 brake signal speed level output during motor operation, 113 contact input speed control function, 62 contact input speed control selection, 86 control mode selection, 66 dividing ratio setting, 79, 157 electronic gear ratio, 84 emergency stop torque, 56 encoder type selection, 78, 105, 152 error counter clear signal selection, 64, 75 feed-forward gain, 120 jog speed, 104 mode switch ON/OFF, 125 mode switch selection, 126 motor selection, 106 motor speeds, 87 number of encoder pulses, 105, 153 operation at recovery from power loss, 138 operation when motor stops after overtravel, 55 operation when motor stops after servo OFF, 56 overflow, 119

PI/P changeover, 120 position loop gain, 119 positioning complete range, 133 reference pulse inhibit function, 100 reference pulse input filter selection function, 101 reverse rotation mode, 53 rotation direction selection, 53

SEN input signal, 152 servo ON input signal, 132 soft start time, 87, 114 speed coincidence signal output width, 135 speed limit for torque control I, 96

503

INDEX speed loop gain, 119 speed loop integration time constant, 119 speed reference gain, 68, 96 stopping motor at servo OFF, 56, 108 stopping the motor at overtravel, 55

TGON output signal selection, 59, 136, 137 time delay from brake signal output to servo OFF,

112 torque control, 91 torque feed−forward function selection, 97 torque reference filter time constant, 116 torque reference gain, 96, 98, 99 torque restriction by analog voltage reference, 99 zero-clamp speed control, 109 zero-speed level, 138 zero-clamp level, 110

V variable resistor, dimensional drawings, 379 vibration class, 232 vibration resistance, 231 voltage resistance test, 17

W wiring, 25, 53, 140 grounding, 143 main circuit, 28 more than one servo drive, 147 noise control, 142 peripheral devices, 25 precautions, 16, 140 shorting, 2CN connector, 53

Z zero−clamp function, 109 zero-clamp function, meaning, 68

Zero-clamp Speed Control, 67

504

Series SGM/SGMP/DR2

USER'S MANUAL

TOKYO OFFICE

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Phone 81-3-5402-4511 Fax 81-3-5402-4580

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Phone 1-847-887-7000 Fax 1-847-887-7370

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Phone 1-937-847-6200 Fax 1-937-847-6277

YASKAWA ELETRICO DO BRASIL COMERCIO LTDA.

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Phone 55-11-5071-2552 Fax 55-11-5581-8795

YASKAWA ELECTRIC EUROPE GmbH

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Phone 49-6196-569-300 Fax 49-6196-888-301

Motoman Robotics Europe AB

Box 504 S38525 Torsas, Sweden

Phone 46-486-48800 Fax 46-486-41410

Motoman Robotec GmbH

Kammerfeldstra e 1, 85391 Allershausen, Germany

Phone 49-8166-900 Fax 49-8166-9039

YASKAWA ELECTRIC UK LTD.

1 Hunt Hill Orchardton Woods Cumbernauld, G68 9LF, United Kingdom

Phone 44-1236-735000 Fax 44-1236-458182

YASKAWA ELECTRIC KOREA CORPORATION

Kfpa Bldg #1201, 35-4 Youido-dong, Yeongdungpo-Ku, Seoul 150-010, Korea

Phone 82-2-784-7844 Fax 82-2-784-8495

YASKAWA ELECTRIC (SINGAPORE) PTE. LTD.

151 Lorong Chuan, #04-01, New Tech Park Singapore 556741, Singapore

Phone 65-282-3003 Fax 65-289-3003

YASKAWA ELECTRIC (SHANGHAI) CO., LTD.

4F No.18 Aona Road, Waigaoqiao Free Trade Zone, Pudong New Area, Shanghai 200131, China

Phone 86-21-5866-3470 Fax 86-21-5866-3869

YATEC ENGINEERING CORPORATION

Shen Hsiang Tang Sung Chiang Building 10F 146 Sung Chiang Road, Taipei, Taiwan

Phone 886-2-2563-0010 Fax 886-2-2567-4677

YASKAWA ELECTRIC (HK) COMPANY LIMITED

Rm. 2909-10, Hong Kong Plaza, 186-191 Connaught Road West, Hong Kong

Phone 852-2803-2385 Fax 852-2547-5773

BEIJING OFFICE

Room No. 301 Office Building of Beijing International Club, 21

Jianguomenwai Avenue, Beijing 100020, China

Phone 86-10-6532-1850 Fax 86-10-6532-1851

TAIPEI OFFICE

Shen Hsiang Tang Sung Chiang Building 10F 146 Sung Chiang Road, Taipei, Taiwan

Phone 886-2-2563-0010 Fax 886-2-2567-4677

SHANGHAI YASKAWA-TONGJI M & E CO., LTD.

27 Hui He Road Shanghai China 200437

Phone 86-21-6531-4242 Fax 86-21-6553-6060

BEIJING YASKAWA BEIKE AUTOMATION ENGINEERING CO., LTD.

30 Xue Yuan Road, Haidian, Beijing P.R. China Post Code: 100083

Phone 86-10-6233-2782 Fax 86-10-6232-1536

SHOUGANG MOTOMAN ROBOT CO., LTD.

7, Yongchang-North Street, Beijing Economic Technological Investment & Development Area,

Beijing 100076, P.R. China

Phone 86-10-6788-0551 Fax 86-10-6788-2878

YASKAWA ELECTRIC CORPORATION

YASKAWA

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

MANUAL NO. TSE-S800-17D

99-7

94-C71-099, 94-S23-047L