Yaskawa SGDH Sigma II User's Manual

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YASKAWA

SERIES SGDH

FULLY CLOSED INTERFACE UNIT

USER'S MANUAL

MODEL: JUSP-FC100

YASKAWA

MANUAL NO. SIE-C718-5

Safety Information

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

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

CAUTION Indicates precautions that, if not heeded, could result in relatively serious or minor injury, damage to the product, or faulty operation.

PROHIBITED Indicates actions that must never be taken.

The warning symbols for ISO and JIS standards are different, as shown below.

ISO JIS

The ISO symbol is used in this manual.

Both of these symbols appear on warning labels on Yaskawa products. Please abide by these warning labels regardless of which symbol is used.

Yaskawa, 1999

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.

iii

Visual Aids

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

EXAMPLE

Indicates application examples.

INFO

Indicates supplemental information.

IMPORTANT

Indicates important information that should be memorized, including precautions such as alarm displays to avoid damaging the devices.

TERMS Indicates definitions of difficult terms or terms that have not been previously explained in this manual.

CONTENTS

Safety Information

Visual Aids

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

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

Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Using This Manual

Safety Precautions

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

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

1 Checking Products and Part Names

1.1 Checking Products on Delivery . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.2 Product Part Names . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.3 Mounting the Option Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1 - 2

1 - 3

1 - 4 iii iv vii viii ix

2 Installation

2.1 Storage Conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.2 Installation Site . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.3 Orientation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.4 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2 - 2

2 - 3

2 - 4

3 Connectors

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

3.1.1 Single-phase (100 V or 200 V) Main Circuit Specifications

3.1.2 Three-phase (200 V) Main Circuit Specifications

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

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

3.2 SERVOPACK Internal Block Diagrams . . . . . . . . . . . . . . . . . . . . . . .

3.3 Fully Closed Encoder Signals Connector (CN4) . . . . . . . . . . . . . . .

3.3.1 Fully Closed Encoder Connection Example

3.3.2 CN4 Connector Terminal Layout

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

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

3.4 Examples of Combined Connections . . . . . . . . . . . . . . . . . . . . . . . .

3.4.1 Single-phase Power Supply Specifications (for Position Control)

3.4.2 Three-phase Power Supply Specifications (for Position Control)

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

4 Trial Operation

4.1 Check Items before Trial Operation . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2 Parameters Required for Trial Operation . . . . . . . . . . . . . . . . . . . . .

3 - 2

3 - 2

3 - 3

3 - 4

3 - 5

3 - 5

3 - 6

3 - 7

3 - 7

3 - 8

4 - 2

4 - 2 v

5 Parameter Settings and Functions

5.1 Fully Closed System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.1.1 Fully Closed Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.1.2 Fully Closed System Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.2 Setting Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5 - 2

5 - 2

5 - 4

6 Ratings, Specifications, and Dimensional Drawings

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

6.2 Dimensional Drawings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.2.1 Option Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.2.2 SERVOPACKs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7 Troubleshooting

7.1 Troubleshooting Problems with Alarm Displays . . . . . . . . . . . . . .

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

6 - 2

6 - 3

6 - 3

6 - 4

7 - 2

7 - 4 vi

Overview

J About this Manual

This manual provides the following information for the Σ-ΙΙ Series SGMjH/SGDH-jE Servodrives.

D Procedures for installing and wiring the SERVOPACK and Option Unit.

D Procedures for trial operation of the Servodrive.

D Ratings and specifications for standard models.

D Procedures for maintenance and inspection.

J Related Manuals

Refer to the following manuals as required.

Read this manual carefully to ensure the proper use of Σ-ΙΙ Series Servodrives. Also, keep this manual in a safe place so that it can be referred to whenever necessary.

Manual Name

Σ-II Series SGMjH/SGDH

User’s Manual

Servo Selection and Data Sheets

Σ-ΙΙ Series SGMjH/SGDH

User’s Manual

Design and Maintenance

Manual Number

SIE-S800-32.1

SIE-S800-32.2

Contents

Describes the procedure used to select

Σ-II Series Servodrives and capacities.

Provides detailed information on SGDH

SERVOPACKs.

vii

Using This Manual

J Intended Audience

This manual is intended for the following users.

D Those designing Σ-II Series Servodrive systems.

D Those installing or wiring Σ-II Series Servodrives.

D Those performing trial operation or adjustments of Σ-II Series Servodrives.

D Those maintaining or inspecting Σ-II Series Servodrives.

J Description of Technical Terms

In this manual, the following terms are defined as follows:

D Option Unit = JUSP-FC100

D Servomotor = Σ-ΙΙ Series SGMAH, SGMPH, SGMGH, SGMSH, or SGMDH Servomotor.

D SERVOPACK = Σ-ΙΙ Series SGDH-jjjE SERVOPACK.

D Servodrive = A set including a Servomotor and Servo Amplifier.

D Servo System = A servo control system that includes the combination of a Servodrive with a host computer and peripheral devices.

J Indication of Reverse Signals

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

D /S-ON

D /P-CON viii

Safety Precautions

The following precautions are for checking products upon delivery, installation, wiring, operation, maintenance and inspections.

Checking Products upon Delivery

CAUTION

Always use the Servomotor and SERVOPACK in one of the specified combinations.

Not doing so may cause fire or malfunction.

J Installation

CAUTION

Never use the products in an environment subject to water, corrosive gases, inflammable gases, or combustibles

Doing so may result in electric shock or fire.

J Wiring

WARNING

Connect the SERVOPACK ground terminal effectively to a system grounding conductor or grounding electrode (100Ω or less).

Improper grounding may result in electric shock or fire.

CAUTION

Do not connect a three-phase power supply to SERVOPACK U, V, or W output terminals.

Doing so may result in injury or fire.

D Securely fasten the power supply terminal screws and motor output terminal screws.

Not doing so may result in fire.

J Operation

WARNING

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

Doing so may result in injury.

CAUTION

Conduct trial operation on the Servomotor alone with the motor shaft disconnected from machine to avoid any unexpected accidents.

Not doing so may result in injury.

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

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

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

Not doing so may result in injury.

Do not touch the heat sinks during operation.

Doing so may result in burns due to high temperatures.

J Maintenance and Inspection

WARNING

Never touch the inside of the SERVOPACKs.

Doing so may result in electric shock.

Do not remove the panel cover while the power is ON.

Doing so may result in electric shock.

Do not touch terminals for five minutes after the power is turned OFF.

Residual voltage may cause electric shock.

CAUTION

Do not disassemble the Servomotor.

Doing so may result in electric shock or injury.

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

Doing so may result in electric shock or injury.

Safety Precautions

J General Precautions

Note the following to ensure safe application.

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

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

S This manual is subject to change due to product improvement, specification modification, and manual improvement. When this manual is revised, the manual code is updated and the new manual is published as a next edition. The edition number appears on the front and back covers.

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

S Yaskawa will not take responsibility for the results of unauthorized modifications of this product. Yaskawa shall not be liable for any damages or troubles resulting from unauthorized modification.

Checking Products and Part Names

This chapter describes the procedure for checking Σ-II Series products and the Option Unit upon delivery. It also describes the names of product parts.

1.1 Checking Products on Delivery

1.2 Product Part Names

. . . . . . . . . .

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

1.3 Mounting the Option Unit . . . . . . . . . . . . . . .

1 - 2

1 - 3

1 - 4

1 -1

Checking Products and Part Names

1.1 Checking Products on Delivery

The following procedure is used to check products upon delivery. Check the following items when products are delivered.

Check Items

Are the delivered products the ones that were ordered?

Is there any damage?

Can the Option Unit be installed on the SERVOPACK used?

Comments

Check the model numbers marked on the nameplates of the Option Unit. (Refer to the descriptions of model numbers on following pages)

Check the overall appearance, and check for damage or scratches that may have occurred during shipping.

Check the model number given on the SERVOPACK nameplate. The model number must contain “SGDH” and “E” as shown below to support the Option Unit.

SGDH-jjjE-j

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

External Appearance and Nameplate Examples

FC100

Option Unit model number

Option Unit Name

SERVOPACK

FULLY-CLOSED I/F UNIT

MODEL JUSP-FC100

S/N V81003-69

VER. 000000

YASKAWA ELECTRIC

MADE IN JAPAN

Figure 1.1

External Appearance of the Option Unit

Serial number Version

Figure 1.2

Nameplate

1 -2

1.2 Product Part Names

Model Numbers

Option Unit

JUSP − FC10 0

SERVOPACK peripheral device

Type of device: FC10 Fully Closed Interface Unit

Design Revision Order

1.2 Product Part Names

The following diagram illustrates the product part names of the Option Unit.

Ground wire: Connect to the terminal marked as “G” on the SGDH SERVOPACK.

FC100

Nameplate: Indicates the model and serial numbers of the Option Unit.

CN4 Connector: Used for fully closed encoder.

Figure 1.3

Option Unit

1 -3

Checking Products and Part Names

1.3 Mounting the Option Unit

Mount a fully closed I/F unit type JUSP-FC100 on a SGDH SERVOPACK in the following manner.

Provide the screws for connecting ground wire as shown below.

Mounting

Method

Base mounted

Rack mounted

Duct ventilated

SERVOPACK Type Screw Remarks

SGDH-A3 to 02BE

SGDH-A3 to 10AE

SGDH-15 to 50AE

SGDH-05 to 30DE

SGDH-60/75AE

M3 × 10 round head screws

(with spring washer and plain washer)

M4 × 10 round head screw

(with spring washer and plain washer)

M4 × 8 round head screws

(with spring washer and plain washer)

M4 × 6 round head screws

(with spring washer and plain washer)

Must be provided by customer.

Use the screw of the front panel.

SGDH-A3 to 02BE-R

SGDH-A3 to 50AE-R

SGDH-05 to 30DE-R

Must be provided by customer.

Note : Make sure that spring washers and plain washers are used for mounting. (Otherwise, the screw for connecting ground wire sticks out from the other side of the flange, and the

SERVOPACK cannot be mounted properly.)

Use the screw of the front panel.

SGDH-60/75AE-P M4 × 8 round head screws

(with spring washer and plain washer)

1. Remove the connector cover from the CN10 connector on the SERVOPACK.

CN10

YASKAWA SERVOPACK

SGDH−

Connector cover

MODE/SET DATA/

CHARGE POWER

2. Mount the Option Unit on the SERVOPACK.

Connector (Connect to SERVOPACK)

SERVOPACK connector CN10

YASKAWA SERVOPACK

SGDH−

1 -4

1.3 Mounting the Option Unit

3. For grounding, connect a ground wire of the Option Unit to the point marked “G” on the

SERVOPACK.

GROUND WIRE

“G”

YASKAWA

SGDH−

SERVOPACK

FC100

MODE/SET

CHARGE

DATA/

POWER

For SERVOPACK (30 W to 5.0 kW)

“G”

GROUND WIRE

YASKAWA

SGDH −

SERVOPACK 200V

NS100

For SERVOPACK (6.0 kW to 7.5 kW)

When the Option Unit has been mounted correctly, the SERVOPACK will appear as shown in the following diagram.

YASKAWA SERVOPACK

SGDH− 200V

FC100

1 -5

Installation

This chapter describes precautions for Σ-II Series product installation.

The SGDH SERVOPACKs are base-mounted servo controller. Incorrect installation will cause problems. Always observe the installation precautions shown in this chapter.

2.1 Storage Conditions

2.2 Installation Site

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

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

2.3 Orientation . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.4 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2 - 2

2 - 3

2 - 4

2 -1

Installation

2.1 Storage Conditions

Store the SERVOPACK within the following temperature range when it is stored with the power cable disconnected.

−20 to 85°C

YASKAWA SERVOPACK

SGDH−

200V

FC100

Σ-II Series SGDH SERVOPACK with Option Unit mounted

2.2 Installation Site

Take the following precautions at the installation site.

Situation

Installation in a Control

Panel

Installation Near a

Heating Unit

Installation Near a

Source of Vibration

Installation at a Site

Exposed to Corrosive

Gas

Other Situations

Installation Precaution

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

Minimize heat radiated from the heating unit as well as any temperature rise caused by natural convection so that the temperature around the SERVOPACK does not exceed 55°C.

Install a vibration isolator beneath the SERVOPACK to avoid subjecting it to vibration.

Corrosive gas does not have an immediate effect on the SERVO-

PACK, but will eventually cause electronic components and contactor-related devices to malfunction. Take appropriate action to avoid corrosive gas.

Do not install the SERVOPACK in hot or humid locations, or locations subject to excessive dust or iron powder in the air.

2 -2

2.3 Orientation

Install the SERVOPACK perpendicular to the wall as shown in the figure. The SERVOPACK must be oriented this way because it is designed to be cooled by natural convection or cooling fan.

Secure the SERVOPACK using 2 to 4 mounting holes. The number of holes depends on the SER-

VOPACK capacity.

Wall

MADE IN JAPAN

Ventilation

2 -3

Installation

2.4 Installation

Follow the procedure below to install multiple SERVOPACKs side by side in a control panel.

Cooling fan Cooling fan

50 mm (1.97 in) min.

30 mm

(1.18 in) min.

10 mm (0.39 in) min.

50 mm (1.97 in) min.

SERVOPACK Orientation

Install the SERVOPACK perpendicular to the wall so that the front panel (containing connectors) faces outward.

Cooling

As shown in the figure above, provide sufficient space around each SERVOPACK for cooling by cooling fans or natural convection.

Side-by-side Installation

When installing SERVOPACKs side by side as shown in the figure above, provide at least 10 mm

(0.39 in) between and at least 50 mm (1.97 in) above and below each SERVOPACK. Install cooling fans above the SERVOPACKs to maintain a constant temperature inside the control panel and to prevent an excessive temperature rise around each SERVOPACK.

Environmental Conditions in the Control Panel

D Ambient Temperature:

D Humidity:

D Vibration:

0 to 55°C

90% RH or less

0.5 G (4.9 m/s 2 )

D Condensation and Freezing: None

D Ambient Temperature for Long-term Reliability:

45°C max.

2 -4

Connectors

This chapter describes the procedure used to connect Σ-II Series products to peripheral devices when an Option Unit is mounted and provides examples of combined connections.

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

3.1.1 Single-phase (100 V or 200 V) Main Circuit

Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.1.2 Three-phase (200 V) Main Circuit Specifications

3.2 SERVOPACK Internal Block Diagrams . . .

3.3 Fully Closed Encoder Signals Connector

(CN4) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.3.1 Fully Closed Encoder Connection Example . . . . .

3.3.2 CN4 Connector Terminal Layout . . . . . . . . . . . . . . .

3.4 Examples of Combined Connections . . . . .

3.4.1 Single-phase Power Supply Specifications

(for Position Control) . . . . . . . . . . . . . . . . . . . . . . .

3.4.2 Three-phase Power Supply Specifications

(for Position Control) . . . . . . . . . . . . . . . . . . . . . . .

3 - 2

3 - 3

3 - 4

3 - 5

3 - 6

3 - 7

3 - 8

3 -1

Connectors

3.1.1 Single-phase (100 V or 200 V) Main Circuit Specifications

3.1 Connecting to Peripheral Devices

This section provides examples of standard Σ-II Series product connections to peripheral devices.

It also briefly explains how to connect each peripheral device.

3.1.1 Single-phase (100 V or 200 V) Main Circuit Specifications

Molded-case Circuit

Breaker (MCCB)

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

Power supply

Single-phase 200 VAC

R T

Noise Filter

Used to eliminate external noise from the power line.

Molded-case circuit breaker

Digital Operator

JUSP-OP02A-2

Allows the user to set parameters or operation references and to display operation or alarm status.

Communication is also possible with a personal computer.

Personal Computer

Noise filter

Magnetic Contactor

HI Series

Turns the servo

ON and OFF.

Install a surge suppressor on the magnetic contactor.

Magnetic contactor

Power Supply for Brake

Used for a Servomotor with a brake.

Brake power supply

Magnetic contactor

Power supply ground line

U V W

L1 L2 L1C L2C

B1 B2

Cable model: JZSP-CMS01 to 03

Fully Closed Encoder

Connector kit model: JZSP-VEP02

Encoder

Cable

Encoder

Connector

Regenerative resistor

(option)

Regenerative Resistor

Connect an external regenerative resistor to terminals

B1 and B2 if the regenerative capacity is insufficient.

3 -2

3.1 Connecting to Peripheral Devices

3.1.2 Three-phase (200 V) Main Circuit Specifications

Molded-case Circuit

Breaker (MCCB)

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

Power supply

Three-phase 200 VAC

R S T

Molded-case circuit breaker

Digital Operator

JUSP-OP02A-2

Allows the user to set parameters or operation references and to display operation or alarm status.

Communication is also possible with a personal computer.

Noise Filter

Used to eliminate external noise from the power line.

Personal Computer

Noise filter

Magnetic Contactor

HI Series

Turns the servo

ON and OFF.

Install a surge suppressor on the magnetic contactor.

Power Supply for Brake

Used for a Servomotor with a brake.

Magnetic contactor

Brake power supply

Magnetic contactor

Power supply ground line

U V W

L1 L2 L3

L1C L2C

B1 B2

Cable model: JZSP-CMS01 to 03

Fully Closed Encoder

Connector kit model: JZSP-VEP02

Encoder

Cable

Encoder

Connector

Regenerative resistor

(optional)

Regenerative Resistor

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

B1 and B2.

3 -3

Connectors

3.2 SERVOPACK Internal Block Diagrams

The following sections show an internal block diagram for the SERVOPACK with an Option Unit.

30 to 400 W 200-V and 30 to 200 W 100-V Models

Single−phase

200 to 230 V

(50/60Hz)

+10%

− 15%

Line filter

1MC L1

FU1

XX1

PM−1

RY1

−

Relay drive

CHARGE

Voltage

Sensor

B1 B2

TR1

Gate drive

PM1−2

Gate drive over− current protector

THS1

D2D3D4

CN2

Voltage

Sensor

Interface

AC Servomotor

L1C

L2C

Power

OFF

Power

1MC

(5RY)

1MC

Surge suppressor

Open during servo alarm

∼

−

DC/DC con− verter

± 5V

+15 V

+ 5V

± 12 V

+ 5 V

ASIC

(PWM control)

POWER

Monitor display

Analog voltage converter

CN5

Analog monitor output for su− pervision

CN3

Digital Operator personal computer

CPU

(position and speed calculations)

Current

Sensor

CN8

For battery connection

CN1

I/O

CN10

Sequence I/O

CN10

Fully closed PG

CN4

Power supply

3 -4

3.3 Fully Closed Encoder Signals Connector (CN4)

This section describes the wiring required to connect the fully closed encoder signals connector

(CN4) to the fully closed encoder.

3.3.1 Fully Closed Encoder Connection Example

The following diagram shows an example of CN4 connections.

SERVOPACK

Input line receiver

Made by TI

SN75175

CN4

/FA P

Fully closed PG

Phase A

0 V

Connector shell

/FB

/FC

Phase B

Phase C

0 V

P: Twisted pair cable

Note The SERVOPACK does not provide power supply for the fully closed PG, so it must be provided by the customer.

3 -5

Connectors

3.3.2 CN4 Connector Terminal Layout

The following diagram shows the CN4 connector terminal layout and connector specifications.

CN4 Connector Terminal Layout

4 −

6 −

8 −

−

5 −

7 −

−

14 FC

−

16 FA

18 FB

−

Fully closed phase C

Fully closed phase A

Fully closed phase B

15 /FC

17 /FA

19 /FB

Fully closed phase C

Fully closed phase A

Fully closed phase B

Note 1. Do not connect anything to empty terminals.

Connect the cable shield to the connector shell. It is connected to the frame ground (FG) through the connector on the

SERVOPACK end.

CN4 Specifications

Specifications for Applicable Receptacles

Connectors

10220-52A2JL

20-pin Right Angle Plug

Soldered

10120-3000VE

Case

10320-52A0-008

Manufacturer

SUMITOMO 3M LTD.

Note 1. Use shielded twisted pair cables with AWG24 or AWG26 wires. The finished cable outside diameter must be 11.6 mm max.

2. The JZSP-VEP02 Connector Kit is available.

3 -6

3.4 Examples of Combined Connections

The following diagrams show examples of combined connections.

3.4.1 Single-phase Power Supply Specifications (for Position Control)

Single-phase 200 to 230 VAC

(50/60 Hz)

+ 10%

–15% or Single-phase 110 to 115 VAC

(50/60 Hz)

+ 10%

–15%

1MCCB

R T

Noise filter Power

OFF

Power

1MC

Alarm processing

1MC SUP

Be sure to attach a surge suppressor to the excitation coil of the magnetic contactor and relay.

Connect to ground.

1MC

L1C

L2C

CN1

B1 B2 B3

SGDH SERVOPACK

CN2

A(1)

B(2)

C(3)

D(4)

Servomotor

Optical encoder

Be sure to prepare the end of shield properly.

Fully closed speed and position detector

JUSP-FC100 Option Unit

CN4

7 150Ω

Fully closed PG power supply

PULS

Position reference

Phase A

SIGN

CCW

Phase B

CLR

SIGN

*SIGN

CLR

ALO1

ALO2

ALO3

Alarm code output

Maximum operating voltage: 30 VDC

Maximum operating

~ 14

1 kΩ

PBO

*PBO current: 20 mA DC

*1.

Power supply for open col-

Backup battery 2.8 to 4.5V

*2 lector reference

−

PL1

PL2

PL3

BAT(+)

+12 V PAO

*PAO

PG dividing ratio output

Applicable line receiver:

SN75175 made by TI or MC3486 equivalent

PCO

*PCO

SEN signal input *2

Servo ON when 1Ry turns ON

P operation when 2Ry turns ON

Reverse run prohibited when N-LS turns OFF

Forward run prohibited when P-LS turns OFF

Alarm reset when 3Ry turns ON

+24 V

Reverse run current limit ON when 6Ry turns ON

Forward run current limit ON when 7Ry turns ON

+ 5 V

0 V

1Ry

2Ry

N−LS

P−LS

3Ry

6Ry

7Ry

SEN

+24 V

/S−ON

/P−CON

N−OT

P−OT

/ALM−RST 44

/N−CL 46

/P−CL

3.3 kΩ

PSO

*PSO

*3.

Phase-S rotation count

Serial data output

Applicable line receiver:

SN75175 made by TI

Servo ON

P control

(P operation)

Reverse run prohibited

/COIN+

/COIN− or MC3486 equivalent

Positioning completed

(ON when positioning has been completed)

Forward run prohibited

Alarm reset

Reverse current limit ON

Forward current limit ON

/TGON+

/TGON−

/S−RDY+

/S−RDY−

ALM+

~ 32

ALM−

Connector shell

Connect shield to connector shell.

TGON output

(ON when the set value is exceeded)

Servo ready output

(ON when ready)

Servo alarm output

(OFF for an alarm)

Photocoupler Outputs

Maximum operating voltage: 30 VDC

Maximum operating current: 50 mA DC * 1.

↕P represents twisted-pair wires.

* 2.

Connect when using an absolute encoder.

* 3.

Valid when using an absolute encoder.

* 4.

Connect the ground wire of the Option Unit to the point marked “G” on the SERVOPACK. (Refer to 1.3 Mounting the Option Unit.)

3 -7

Connectors

3.4.2 Three-phase Power Supply Specifications (for Position Control)

1MCCB

R S T

Noise filter

Three-phase 200 to 230 VAC

(50/60 Hz)

Power

OFF

Power

1MC

+ 10%

–15%

Alarm processing or Three-phase 100 to 115 VAC

(50/60 Hz)

+ 10%

–15%

1MC SUP Be sure to attach a surge suppressor to the excitation coil of the magnetic contactor and relay.

Connect to ground.

1MC

L1C

L2C

B1 B2 B3

SGDH

SERVOPACK

CN2

CN1

JUSP-FC100 Option Unit

CN4

A(1)

Servomotor

B(2) M

C(3)

D(4)

Optical encoder

Be sure to prepare the end of shield properly.

Fully closed speed and position detector

* 1.

↕P represents twisted-pair wires.

* 2.

Connect when using an absolute encoder.

Fully closed PG power supply

Position reference

Backup battery 2.8 to 4.5V

SEN signal input

Servo ON when 1Ry turns ON

P operation when 2Ry turns ON

PULS

*PULS

Phase A

SIGN

CCW

Phase B

SIGN

*SIGN

CLR

*CLR

*1.

Power supply for open collector references

0 V

−

+5 V

PL1

PL2

PL3

BAT(+)

SEN

+24 V +24 V

150 Ω

1 kΩ

3.3 kΩ

+12 V

1Ry

/S−ON 40

2Ry

/P−CON 41

Reverse run prohibited when N-LS turns OFF

N−LS

N−OT 43

Reverse run prohibited when P-LS turns OFF

P−LS

P−OT 42

Alarm reset when 3Ry turns ON

Reverse current limit ON when 6Ry turns ON

Forward current limit ON when 7Ry turns ON

3Ry

/ALM−RST 44

6Ry

/N−CL 46

7Ry

/P−CL 45

ALO1

ALO2

ALO3

Alarm code output

Maximum operating voltage:

30 VDC

Maximum operating current:

20 mA DC

PAO

*PAO

PBO

*PBO

PCO

*PCO

PSO

*PSO

*3.

PG dividing ratio output

Applicable line receiver:

SN75175 made by TI or

MC3486 equivalent

Phase-S rotation count

Serial data output

Applicable line receiver:

SN75175 made by TI or

MC3486 equivalent

Servo ON

P control

(P operation)

Reverse run prohibited

Forward run prohibited

Alarm reset

Reverse current limit ON

Forward current limit ON

/COIN+

/COIN−

/TGON+

/TGON−

/S−RDY+

/S−RDY−

Connector shell

Connect shield to connector shell.

ALM+

ALM−

Positioning completed

(ON when positioning is completed)

TGON output

(ON when the set value is exceeded)

Servo ready output

(ON when ready)

Servo alarm output

(OFF for an alarm)

Photocoupler output

Maximum operating voltage: 30 VDC

Maximum operating current: 50 mA DC

* 3.

Valid when using an absolute encoder.

* 4.

Connect the ground wire of the Option Unit to the point marked “G” on the

SERVOPACK. (Refer to 1.3 Mounting the Option Unit.)

3 -8

Trial Operation

This chapter describes the check items before trial operation and the parameters required for trial operation.

4.1 Check Items before Trial Operation . . . . . . . . . .

4.2 Parameters Required for Trial Operation . . . . .

4 - 2

4 -1

Trial Operation

4.1 Check Items before Trial Operation

Conduct trial operation after wiring has been completed.

Inspect and check the following items when performing trial operation, and be sure to conduct trial operation safely.

Refer to Chapter 4 Trial Operation of the Σ-II Series SGMjH/SGDH User’s Manual (SIE-

S800-32.2) for details on trial operation.

D Before conducting trial operation for fully closed control, check the fully closed encoder and other relevant settings. If the settings are incorrect, there will be a risk of the motor going out of control. Conduct initial trial operation by setting the Pn505 parameter (overflow level) to 1 (minimum value) to check the operation at low speed.

4.2 Parameters Required for Trial Operation

This section describes the minimum parameters required for trial operation with fully closed encoder specifications.

Parameters

Refer to 7.1.6 Operation in User Constant Setting Mode of the Σ-II Series SGMjH/SGDH

User’s Manual (SIE-S800-32.2) for details on the setting of each parameter.

Turn OFF power once after changing any parameter. The change will be valid when power is turned ON again.

Pn202

Pn203

Electronic Gear Ratio (Numerator)

Electronic Gear Ratio (Denominator)

See 5.2

Changing Servomotor Rotation Direction

Use the following parameter to reverse the direction of rotation.

Pn000.0

Function Selection Basic Switches: Direction Selection See 5.2

Fully Closed Encoder Specifications

Use the following parameters to conduct trial operation with fully closed encoder specifications.

Pn002.3

Pn206

Usage of fully closed encoder

Number of fully closed pulses

See 5.2

4 -2

Parameter Settings and Functions

This chapter describes how to set parameters and use functions when using fully closed system specifications.

5.1 Fully Closed System

5.1.1 Fully Closed Control

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

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

5.1.2 Fully Closed System Specifications

5.2 Setting Parameters

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

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

5 - 2

5 - 4

5 -1

Parameter Settings and Functions

5.1.2 Fully Closed System Specifications

5.1 Fully Closed System

5.1.1 Fully Closed Control

In previous SERVOPACKs, a semi-closed method was used to control the motor. In the SGDH

SERVOPACK, however, a fully closed loop can be created using the parameter settings. With this function even more precise control is achieved because control involves the detection of the position and speed of actual machine operation.

Fully closed control

Torque

Servomotor

Mechanism including backlash and friction

Power

Speed and control at the machine end

Load torque

Current Detection current

Speed, position

Controlled machine

Parameters must be set when using fully closed control. Refer to 5.2 Setting Parameters for details.

5.1.2 Fully Closed System Specifications

This section describes the fully closed system specifications of the SGDH SERVOPACK when an Option Unit is mounted.

Fully Closed Encoder Pulse Output Form

5-V Differential line driver output (complies with EIA Standard RS-422A)

Fully Closed Encoder Pulse Signal Form

90° Phase difference 2-phase differential pulse: phase A, phase B

Maximum receivable frequency for SERVOPACK: 1 Mbps

Phase A

Phase B t1 t2 t3 t4

Forward rotation t1,t2,t3,t4 > 0.2 µs

Reverse rotation

5 -2

5.1 Fully Closed System

Encoder Signal Output from SERVOPACK

If settings are made to use fully closed encoder pulses (refer to 5.2 Setting Parameters), the PAO,

PBO, and PCO output signal terminals of the CN1 connector on the SGDH SERVOPACK will directly output fully closed encoder pulses. Encoder dividing ratio settings will be ignored.

If settings are made to use fully closed encoder pulses in reverse rotation mode, PBO output signals will be inverted.

Control Mode

Fully closed control is applicable to position control mode only. This mode can be switched to another control mode during operation. Refer to 5.3.5 Control Mode Selection of the Σ-II Series

SGMjH/SGDH User’s Manual (SIE-S800-32.2) for details.

If position control mode is switched to another control mode, semi-closed control will be performed, which differs from ordinary control with regard to the following points.

D PAO, PBO, and PCO output signals are fully closed encoder pulses.

D Fully closed encoder open circuit can be detected.

Selecting Motor Encoders

Either incremental or absolute encoders can be used.

When using an absolute encoder, note that semi-closed control differs from ordinary control with regard to the following points.

D No SEN signal input is required.

D The PAO signal does not contain absolute value information (fully closed encoder pulses will be output). If absolute value information on the motor encoder is required, use the PSO signal.

5 -3

Parameter Settings and Functions

5.2 Setting Parameters

This section describes the parameters that must be set when using an Option Unit.

Fully Closed Encoder

Set the method for using the fully closed encoder.

Pn002.3

Fully Closed Encoder Usage Method Factory

Setting:

Position Control

The setting details are as follows:

Parameters

Pn002.3

Setting

(Factory setting)

Meaning

Fully closed encoder is not used.

Fully closed encoder is used without phase C.

Fully closed encoder is used with phase C.

Fully closed encoder is used in Reverse Rotation

Mode without phase C.

Fully closed encoder is used in Reverse Rotation

Mode with phase C.

Setting this parameter to 0 allows operation to be performed in ordinary semi-closed control mode.

When changes have been made to this parameter, turn OFF the power once. The set value will become effective when the power is turned ON again.

Number of Fully Closed Encoder Pulses

Set the number of fully closed encoder pulses for each motor rotation.

When the number of fully closed encoder pulses per motor rotation is not an integer, set the closest integer.

Error will occur in the speed monitor for position loop gain, feed forward, and reference pulse, but no position displacement will occur. Set the number of pulses with a multiplication factor of 1.

Pn206 Number of Fully Closed

Encoder Pulses

Unit

P/R

Setting

Range:

513 to 65535

Factory

Setting:

16384

Position

Control

When changes have been made to this parameter, turn OFF the power once. The set value will become effective when the power is turned ON again.

5 -4

5.2 Setting Parameters

Electronic Gears

The electronic gear settings for fully closed operation are different from those for semi-closed operations.

For information on the parameters, refer to 5.2.5 Using the Electronic Gear Function of the Σ-II

Series SGMjH/SGDH User’s Manual (SIE-S800-32.2).

SERVOPACK

Position reference pulse

Encoder signal output

×1

×2

×4

Electronic gear

Deviation counter

×4

Speed current loop

Servomotor

Machine

Fully closed PG

5 -5

Parameter Settings and Functions

Reverse Rotation Settings

The settings shown in the following table must be made in order to used the Reverse Rotation

Mode.

Making the settings carefully. Errors may cause the motor to run out of control.

Phase A

Direction of

Motor as

Viewed from

Load for

Forward

Rotation

CCW direction

Relation between Fully

Closed PG during Forward

Rotation Input

Phase

Pn000.0 Setting Pn002.3 Setting

Figure 5.1

0 1, 3

Relation

Between Fully

Closed PG during CCW

Rotation as

Viewed from

Motor load

Input Phase

Figure 5.1

CW direction

Fully Closed PG Input

Figure 5.2

Figure 5.1

Figure 5.2

2, 4

1, 3

2, 4

Fully Closed PG Input

Figure 5.2

Figure 5.1

Figure 5.2

Phase A

Phase B

Figure 5.1

Time Time

Figure 5.2

Both Pn000.0 and Pn002.3 can be used to change the rotational direction during normal operation. If the motor runs out of control, change either Pn000.0 or Pn002.3.

When Pn002.3 is set to 2 or 4, PBO output signals will be inverted.

5 -6

Ratings, Specifications, and

Dimensional Drawings

This chapter provides the ratings, specifications, and dimensional drawings of the Option Unit.

6.1 Ratings and Specifications

6.2 Dimensional Drawings

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

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

6.2.1 Option Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.2.2 SERVOPACKs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6 - 2

6 - 3

6 - 4 6

6 -1

Ratings, Specifications, and Dimensional Drawings

6.1 Ratings and Specifications

The following table shows ratings and specifications for the Option Unit.

Item

Table 6.1 Option Unit Ratings and Specifications

Details

Applicable SERVOPACK

Installation Method

All SGDH-jjjE models

Mounted on the SGDH SERVOPACK.

Basic Specifications Power Consumption

[W]

0.5 max.

External Dimensions

[mm]

20 × 142 × 128 (W × H × D)

Approx. Mass

[kg] (lb)

0.2 (0.44)

Fully Closed System

Specifications

Fully Closed

Encoder Pulse

Output Form

5-V differential line driver output (complies with EIA Standard RS-422A)

Fully Closed Encoder Pulse Signal

Form

90° Phase difference 2-phase differential pulse (phase A, phase B)

Internal Functions

Maximum

Receivable

Frequency for

SERVOPACK

Power Supply for

Fully Closed Encoder

Protection

1 Mbps

To be prepared by customer

Fully closed encoder open circuit detection

Reverse Rotation Set by parameters

6 -2

6.2 Dimensional Drawings

Dimensional drawings of the Option Unit and SERVOPACKs are shown below.

6.2.1 Option Unit

Dimensions of the Option Unit are shown below.

(24 (0.94))

FC100

(0.79)

128 (5.04)

Approx. mass: 0.2 kg (0.44 lb)

6 -3

Ratings, Specifications, and Dimensional Drawings

6.2.2 SERVOPACKs

Dimensional drawings of the Base-mounted Standard SERVOPACKs (with Option Unit mounted) are shown below.

Base-mounted Models

Unit: mm (in)

SGDH-A3AE to -02AE (Single-phase, 200 V, 30 to 200 W)

SGDH-A3AE to -01BE (Single-phase, 100 V, 30 to 100 W)

Ver.

FC100

MADE IN JAPAN

75 (2.95)

(75 (2.95))

130 (5.12)

Approx. mass: 1.0 kg (2.21 lb)

SGDH-04AE (Single-phase, 200 V, 400 W)

SGDH-02BE (Single-phase, 100 V, 200 W)

Ver.

FC100

MADE IN JAPAN

95 (3.74) (75 (2.95)) 130 (5.12)

Approx. mass: 1.3 kg (2.87 lb)

6 -4

6.2 Dimensional Drawings

SGDH-05AE to-10AE (Three-phase, 200 V, 0.5 to 1.0 kW)

Ver.

FC100

MADE IN JAPAN

110 (4.33) (75 (2.95))

SGDH-15AE (Three-phase, 200 V, 1.5 kW)

Ver.

FC100

180 (7.09)

Approx. mass: 1.9 kg (4.19 lb)

MADE IN JAPAN

130 (5.12) (75 (2.95)) 180 (7.09)

Approx. mass: 3.0 kg (6.61 lb)

6 -5

Ratings, Specifications, and Dimensional Drawings

6.2.2 SERVOPACKs

SGDH-20AE, -30AE (Three-phase, 200 V, 2.0 kW, 3.0 kW)

Ver.

FC100

MADE IN JAPAN

130 (5.12) (75 (2.95))

SGDH-50AE (Three-phase, 200 V, 5.0 kW)

Ver.

50AE−N1−R

FC100

180 (7.09)

Approx. mass: 4.0 kg (8.82 lb)

155 (6.10) (75 (2.95)) 230 (9.06)

Approx. mass: 5.7 kg (12.57 lb)

6 -6

Ver.

6.2 Dimensional Drawings

SGDH-60AE, -75AE (Three-phase, 200 V, 6.0 kW, 7.5 kW)

CN3

POWER CN8

BATTERY

FC100

L1 L2 +

250 (9.84) 235 (9.25)

Approx. mass: 15.0 kg (33.07 lb)

6 -7

Troubleshooting

This chapter describes troubleshooting procedures for Servodrives with an

Option Unit.

7.1 Troubleshooting Problems with

Alarm Displays . . . . . . . . . . . . . . . . . . . . . . .

7.2 Troubleshooting Problems with

No Alarm Display . . . . . . . . . . . . . . . . . . . . .

7 - 2

7 - 4

7 -1

Troubleshooting

7.1 Troubleshooting Problems with Alarm Displays

This section describes alarms that will be added when an Optional Unit is mounted. Refer to the Σ-II

Series SGMjH/SGDH User’s Manual (SIE-S800-32.2) for details on alarms not listed in this section.

Problems that occur in the Servodrives are displayed on the panel operator as “A.jj” or “CPFjj .” “A.− −,” however, does not indicate an alarm. Refer to the following sections to identify the cause of an alarm and the action to be taken.

Contact your Yaskawa representative if the problem cannot be solved by the described procedures.

A.C6

A.C6: Fully Closed Encoder Phase-A/-B Open Circuit Alarm

Display and Outputs

ALO1

Alarm Outputs

Alarm Code Outputs

ALO2

OFF

ALO3

ALM

OFF

Note OFF: Output transistor is OFF (alarm state). ON: Output transistor is ON.

Status and Remedy for Alarm

At power ON

When Servo ON (S-ON) signal turns ON

A, B,

C, D,

During Servomotor operation

A, B,

C, D

Cause Remedy

A Fully closed encoder wiring error, faulty contact, or open circuit.

E Although no fully closed encoder is connected, the Pn002.3 parameter is set to 1, 2, 3, or 4.

Check the wiring and check that the connector is fully inserted on the encoder side.

B There is noise in the fully closed encoder wiring.

Separate the fully closed encoder wiring from the main circuit.

C The fully closed encoder is defective or OFF.

Replace the fully closed encoder or turn ON the power.

D SERVOPACK is defective.

Replace SERVOPACK.

Set the Pn002.3 parameter to 0.

7 -2

7.1 Troubleshooting Problems with Alarm Displays

A.C7

A.C7: Fully Closed Encoder Phase-C Open Circuit Alarm

Display and Outputs

ALO1

Alarm Code Outputs

ALO2 ALO3

Alarm Outputs

OFF ON

ALM

OFF

Note OFF: Output transistor is OFF (alarm state). ON: Output transistor is ON.

Status and Remedy for Alarm

At power ON

When Servo ON (S-ON) signal turns ON

A, B,

C, D,

E, F

During Servomotor operation

A, B,

C, D

Cause

Fully closed encoder wiring error, faulty contact, or open circuit.

There is noise in the fully closed encoder wiring.

Remedy

Check the wiring and check that the connector is fully inserted on the encoder side.

Separate the fully closed encoder wiring from the main circuit.

C The fully closed encoder is defective or OFF.

Replace the fully closed encoder or turn ON the power.

D SERVOPACK is defective.

Replace SERVOPACK.

Set the Pn002.3 parameter to 0.

E Although no fully closed encoder is connected, the Pn002.3 parameter is set to 1, 2, 3, or 4.

F Although no fully closed encoder for phase C is connected, the Pn002.3 parameter is set to 2 or 4.

Set the Pn002.3 parameter to 1 or 3.

Supplementary Information on A.C6 and A.C7

D When Pn002.3 = 0, neither A.C6 nor A.C7 will be detected.

When Pn002.3 = 1 or 3, only A.C6 will be detected.

When Pn002.3 = 2 or 4, both A.C6 and A.C7 will be detected.

D When Pn002.3 = 1, 2, 3, or 4, open circuit will be detected while the motor is ON even if the control mode is not fully closed control mode (such as jogging mode).

D Open circuit is detected when no current flows through the terminating resistor inside the

SERVOPACK. Therefore, alarm A.C6 or A.C7 will also be activated when the power supply for the fully closed PG line driver is shut down.

7 -3

Troubleshooting

7.2 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.

Also refer to 9.2.2 Troubleshooting Problems with No Alarm Display of the Σ-II Series SGMjH/

SGDH User’s Manual (SIE-S800-32.2).

Contact your Yaskawa representative if the problem cannot be solved by the described procedures.

Symptom

When a command is input, the motor reverses out of control.

When a command is input, the motor continues to run.

Table 7.1 Troubleshooting Problems with No Alarm Display

Cause

The fully closed encoder phases are incorrect.

Remedy

Correct the wiring or the Pn002.3 setting.

No fully closed encoder pulses are output. Check the fully closed encoder.

7 -4

No.4-3（インター）メカトロ製品用 SIE

SERIES SGDH

FULLY CLOSED INTERFACE UNIT

USER'S MANUAL

IRUMA BUSINESS CENTER

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

Phone 81-42-962-5696 Fax 81-42-962-6138

YASKAWA ELECTRIC AMERICA, INC.

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

Phone 1-847-887-7000 Fax 1-847-887-7370

MOTOMAN INC. HEADQUARTERS

805 Liberty Lane West Carrollton, OH 45449, U.S.A.

Phone 1-937-847-6200 Fax 1-937-847-6277

YASKAWA ELETRICO DO BRASIL COMERCIO LTD.A.

Avenida Fagundes Filho, 620 Bairro Saude-Sao Paulo-SP, Brazil CEP: 04304-000

Phone 55-11-5071-2552 Fax 55-11-5581-8795

YASKAWA ELECTRIC EUROPE GmbH

Am Kronberger Hang 2, 65824 Schwalbach, Germany

Phone 49-6196-569-300 Fax 49-6196-569-398

Motoman Robotics Europe AB

Box 504 S38525 Torsas, Sweden

Phone 46-486-48800 Fax 46-486-41410

Motoman Robotec GmbH

Kammerfeldstraβe 1, 85391 Allershausen, Germany

Phone 49-8166-90-100 Fax 49-8166-90-103

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 65-6282-3003 Fax 65-6289-3003

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

4F., No.49 Wu Kong 6 Rd, Wu-Ku Industrial Park, Taipei, Taiwan

Phone 886-2-2298-3676 Fax 886-2-2298-3677

YASKAWA ELECTRIC (HK) COMPANY LIMITED

Rm. 2909-10, Hong 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

9F, 16, Nanking E. Rd., Sec. 3, Taipei, Taiwan

Phone 886-2-2502-5003 Fax 886-2-2505-1280

SHANGHAI YASKAWA-TONGJI M & E CO., LTD.

27 Hui He Road Shanghai China 200437

Phone 86-21-6553-6060 Fax 86-21-5588-1190

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

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

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

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

MANUAL NO. SIE-C718-5

02-5

①

99-71007