Yaskawa CACR-SR Manual

YASKAWA ELECTRIC ENGINEERING

Re-engineered AC SERVOPACK

USER'S MANUAL

CACR-SR □□ BF SERVOPACK

YASKAWA

YASKAWA ELECTRIC ENGINEERING CORPORATION

MANUAL NO. KG22E

Copyright

©

2004 YASKAWA ELECTRIC ENGINEERING CORPORATION

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

Engineering assumes no responsibility for errors or omissions. Neither is any liability assumed for damages resulting from the use of the information contained in this publication.

About this manual

„ Description of Technical Terms

The terms in this manual are defined as follows:

• Re-engineered AC SERVOPACK:

The SERVOPACKs that have been developed to be used for replacement of the conventional

SERVOPACK models prior to

Σ series.

• CACR-SR††BF1†:

The re-engineered AC SERVOPACK model designation. The code in † differs depending on the

SERVOPACK capacity and specifications. Refer to 2.2 SERVOPACK Model Designations.

„ Quick access to your required information

Read the chapters marked with

9

to get the information required for your purpose.

Chapter

Chapter 1

Outline

Chapter 2

Specifications and

Dimensional

Drawings

Chapter 3

Wiring

Chapter 4

Settings and Display

Chapter 5

Maintenance,

Inspection, and

Alarm/Warning

Display

SERVOPACKs,

Servomotors, and Peripheral

Devices

Ratings and

Characteristics

9

9

9

9

9

Panel

Configuration and Wiring

9

9

Trial Operation

9

9

Maintenance and Inspection

9

„ Related Manuals

Refer to the following manuals as required.

Manual Name

Σ-III Series

SGM†S/SGDS

Digital Operator

Operation Manual

Manual Number

TOBPS80000001

Contents

Provides detailed information on the operation of the

JUSP-OP05A Digital Operator.

Σ-III Series

SGM†S/SGDS

User’s Manual

SIEPS80000000

Describes the following items of

Σ-III Series

SERVOPACKs and Servomotors.

• Selection of model and capacity

• Ratings, characteristics, and dimensional drawings

• Cables and peripheral devices

• Panel configuration and wiring

• Trial operation, servo adjustment, and functions

• Inspection, maintenance, and troubleshooting iii

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.

In some situations, the precautions indicated could have series consequences if not heeded.

PROHIBITED

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

MANDATORY

Indicates compulsory actions that must be performed. For example, this symbol would be used as follows to indicate that grounding is compulsory: .

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 Electric Engineering products. Please abide by these warning labels regardless of which symbol is used.

iv

Notes for Safe Operation

Read this manual thoroughly before checking products on delivery, storage and transportation, installation, wiring, operation and inspection, and disposal of the AC servo drives.

WARNING

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

Failure to observe this warning may result in injury.

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

Failure to observe this warning may result in injury.

• Never touch the inside of the SERVOPACKs.

Failure to observe this warning may result in electric shock.

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

Residual voltage may cause electric shock.

• Do not touch terminals for five minutes after voltage resistance test.

Residual voltage may cause electric shock.

• Follow the procedures and instructions for trial operation precisely as noted in this Manual.

• Follow the procedures and instructions for the trial operation as noted in the applicable manual for that product.

Malfunctions that occur after the servomotor is connected to the equipment not only damage the equipment, but may also cause an accident resulting in death or injury.

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

Failure to observe this warning may result in electric shock.

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

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

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

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

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

Failure to observe this warning may result in injury.

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

Failure to observe this warning may result in injury.

• Do not modify the product.

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

• Connect the ground terminal to electrical codes (ground resistance: 100

Ω or less).

Improper grounding may result in electric shock or fire.

v

vi

„ Checking on Delivery

CAUTION

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

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

„ Storage and Transportation

CAUTION

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

• Locations subject to direct sunlight.

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

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

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

• Locations subject to corrosive or flammable gases.

• Locations subject to dust, salts, or iron dust.

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

• Locations subject to shock or vibration.

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

• Do not hold the product by the cables or motor shaft while transporting it.

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

• Do not place any load exceeding the limit specified on the packing box.

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

„ Installation

CAUTION

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

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

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

Failure to observe this caution may result in injury.

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

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

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

Failure to observe this caution may result in malfunction.

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

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

• Do not apply any strong impact.

Failure to observe this caution may result in malfunction.

„ Wiring

CAUTION

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

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

• Securely connect the power supply terminal screws and motor output terminal screws.

Failure to observe this caution may result in fire.

• Do not bundle or run power and signal lines together in the same duct. Keep power and signal lines separated by at least 30 cm (11.81 in).

• Use twisted-pair shielded wires or multi-core twisted pair shielded wires for signal and encoder

(PG) feedback lines.

The maximum length is 3 m (118.11 in) for reference input lines and is 20 m (787.40 in) for PG feedback lines.

• Do not touch the power terminals for 5 minutes after turning power OFF because high voltage may still remain in the SERVOPACK.

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

• Avoid frequently turning power ON and OFF. Do not turn power ON or OFF more than once per minute.

Since the SERVOPACK has a capacitor in the power supply, a high charging current flows for 0.2 seconds when power is turned ON. Frequently turning power ON and OFF causes main power devices like capacitors and fuses to deteriorate, resulting in unexpected problems.

• Be sure to wire correctly and securely.

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

• Always use the specified power supply voltage.

An incorrect voltage may result in burning.

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

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

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

Failure to observe this caution may result in fire.

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

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

• Locations subject to static electricity or other forms of noise.

• Locations subject to strong electromagnetic fields and magnetic fields.

• Locations subject to possible exposure to radioactivity.

• Locations close to power supplies.

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

Failure to observe this caution may damage the battery or cause it to explode.

vii

„ Operation

CAUTION

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

Failure to observe this caution 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.

• Forward run prohibited (P-OT) and reverse run prohibited (N-OT) signals are not effective during

JOG mode operation using parameter Fn002 and zero point search mode using parameter Fn003.

• When using the servomotor for a vertical axis, install the safety devices to prevent workpieces to fall off due to occurrence of alarm or overtravel. Set the servomotor so that it will stop in the zero clamp state at occurrence of overtravel.

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

• When not using the normal autotuning, set to the correct moment of inertia ratio.

Setting to an incorrect moment of inertia ratio may cause vibration.

• Do not touch the SERVOPACK heatsinks, regenerative resistor, or servomotor while power is ON or soon after the power is turned OFF.

Failure to observe this caution may result in burns due to high temperatures.

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

Failure to observe this caution may result in injury due to unstable operation.

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

Failure to observe this caution may result in injury.

• Do not use the servo brake of the servomotor for ordinary braking.

Failure to observe this caution may result in malfunction.

„

Maintenance and Inspection

CAUTION

• When replacing the SERVOPACK, resume operation only after resetting the potentiometers, pins, and parameters to their original settings.

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

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

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

• Do not disassemble the SERVOPACK.

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

viii

„ Disposal

CAUTION

• When disposing of the products, treat them as ordinary industrial waste.

„ General Precautions

The following describes general precautions. Note the following to ensure safe application.

• 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.

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

• 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.

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

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

ix

x

CONTENTS

About this manual- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - iii

SAFETY INFORMATION- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - iv

Notes for Safe Operation- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - v

1 Outline

1.1 Outline- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2

1.2 Features - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2

1.2.1 Compatible with SERVOPACK Operating Environments Prior to

Σ-Series - - - - - - - - - - - - - - -1-2

1.2.2 Updated with the Latest Technologies- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -1-2

1.2.3 Wide Range of Applicable Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -1-2

1.3 Applicable Servomotors and Encoders - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-3

1.4 SERVOPACK Part Names- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4

2 Specifications and Dimensional Drawings

2.1 Ratings and Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2

2.2 SERVOPACK Model Designations - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-4

2.3 Re-engineered AC SERVOPACK Selection - - - - - - - - - - - - - - - - - - - - - - - - - - 2-5

2.4 Dimensional Drawings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-7

2.4.1 Re-engineered AC SERVOPACKs for CACR-SR02B† to SR44B† - - - - - - - - - - - - - - - - - - -2-7

2.4.2 Re-engineered AC SERVOPACK Models for CACR-SR60BB, 60BZ, 60BE, and 60BY - - - - - -2-9

3 Wiring

3.1 Wiring for Re-engineered AC SERVOPACKs CACR-SR††BF1††† - - - - - - - 3-2

3.1.1 Connection Diagram - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-2

3.1.2 Names and Description of Main Circuit Terminals - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-2

3.1.3 Connector Receptacle Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-3

3.1.4 CN1 I/O Signal Connector Terminal Layout - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-3

3.1.5 CN2 Optical Encoder (PG) Connector Terminal Layout - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-5

3.2 I/O Signal Connector Terminals - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-6

3.2.1 Re-engineered SERVOPACKs for CACR-SR††BE

(for Multiplexed Incremental Encoder) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-6

3.2.2 Re-engineered SERVOPACKs for CACR-SR††BB

(for Conventional Incremental Encoder) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-8

3.2.3 Re-engineered SERVOPACKs for CACR-SR††BY (for Absolute Encoder) - - - - - - - - - - - - 3-10

3.2.4 Re-engineered SERVOPACKs for CACR-SR††BZ (for Absolute Encoder)- - - - - - - - - - - - - 3-12

4 Settings and Display

4.1 Setting Switches- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-2

4.1.1 Setting Fixed Switches (User’s Modification Prohibited) - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-3

4.1.2 Switches To Be Set According to Application - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-3

4.1.3 Potentiometers VR and RH - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-3

4.1.4 Alarm Reset Button - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-4

4.1.5 LED Display - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-4

4.1.6 Monitoring Pins - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-4

4.1.7 Digital Operator Connector - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-4

4.2 Factory Settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-5

4.2.1 Pin Settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-5

4.2.2 List of Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-11

5 Maintenance, Inspection and Alarm/Warning Display

5.1 Status Display - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-2

5.2 Alarm Display Table - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-3

5.3 Warning Displays - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-6

5.4 Inspection and Maintenance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-7

5.4.1 Servomotor Inspection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-7

5.4.2 SERVOPACK Inspection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-7

5.4.3 SERVOPACK’s Parts Replacement Schedule - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-7

xi

1

Outline

1

1.1 Outline - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2

1.2 Features - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2

1.2.1 Compatible with SERVOPACK Operating Environments Prior to

Σ-Series - - - - - - - - - - 1-2

1.2.2 Updated with the Latest Technologies - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2

1.2.3 Wide Range of Applicable Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2

1.3 Applicable Servomotors and Encoders - - - - - - - - - - - - - - - - - - - - - - - - - - 1-3

1.4 SERVOPACK Part Names - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4

1-1

1-2

1 Outline

1.2.1 Compatible with SERVOPACK Operating Environments Prior to

Σ-Series

1.1 Outline

The re-engineered AC SERVOPACK model CACR-SR††BF has been developed to be used for replacement of the conventional SERVOPACK models that had been introduced before

Σ-series, using the latest technologies in its circuit configuration.

The re-engineered AC SERVOPACK supports all the types of encoders for AC servodrives: serial encoders and encoders older than serial encoders

The re-engineered AC SERVOPACK provides the operating environment of the following conventional

SERVOPACK models.

CACR-SR††BA

(Speed control/analog control, incremental encoder applicable, base-mounted type)

CACR-SR††BB

(Speed control/analog control, incremental encoder applicable, base-mounted type)

CACR-SR††BZ

(Speed control/analog control, absolute encoder applicable, base-mounted type)

CACR-SR††BE

(Speed control/digital control, incremental encoder applicable, base-mounted type)

CACR-SR††BY

(Speed control/digital control, absolute encoder applicable, base-mounted type)

1.2 Features

1.2.1 Compatible with SERVOPACK Operating Environments Prior to

Σ-Series

Operating Environments:

• External dimensions/installation

(Some models require attachments.)

• Main circuit terminals

• Control connector and signal layout

• Recognizes the encoder type prior to

Σ series by the switch setting

(An encoder signal converter is built in.)

• Important adjustments such as speed gain adjustment can be made using the potentiometers VR.

(In the same way as of the conventional models CACR-SR†BB and BZ)

1.2.2 Updated with the Latest Technologies

• The basic functions and performance are equivalent to those of

Σ-III series SERVOPACK

• The parameters of

Σ-III series SERVOPACK are applied.

(Parameter setting using a digital operator.)

1.2.3 Wide Range of Applicable Servomotors

The re-engineered AC SERVOPACKs can be combined with various models of servomotors by setting the internal parameters: C series, M series, F series, G series, D series, S series,

Σ-series, Σ-II series, and Σ-III series Servomotors.

1.3 Applicable Servomotors and Encoders

1.3 Applicable Servomotors and Encoders

The following servomotors besides

Σ series, Σ-II series, Σ-III series are applicable.

Αpplicable Servomotor Models Prior to Σ Series

C Series

USACED-03A

USACED-05A

USACED-12A

USACED-20A

USACED-30A

USACED-44A

USACED-60A

M Series

USAMED-03

USAMED-06

USAMED-09

USAMED-12

USAMED-20

USAMED-30

USAMED-44

USAMED-60

F Series

USAFED-02

USAFED-03

USAFED-05

USAFED-09

USAFED-13

USAFED-20

USAFED-30

USAFED-44

G Series

USAGED-02A

USAGED-03A

USAGED-05A

USAGED-09A

USAGED-13A

USAGED-20A

USAGED-30A

USAGED-44A

D Series

USADED-05E

USADED-10E

USADED-15E

USADED-22E

USADED-37E

USAGED-44A

S Series

USASEM-02A

USASEM-03A

USASEM-05A

USASEM-08A

USASEM-15A

USASEM-30A

Applicable Encoders

Conventional Incremental Encoders

Multiplexed Incremental Encoders

Absolute Encoders

1000 p/r, 1500 p/r, 2500 p/r, 4000 p/r, 5000 p/r, 6000 p/r

2048 p/r, 8192 p/r

1024 p/r, 8192 p/r

1

1-3

1-4

1 Outline

1.4 SERVOPACK Part Names

Control/main circuit power supply terminal

CN3 Connector for personal computer monitoring or digital operator

CN1 I/O signal connector

CN2 Encoder connector

2

Specifications and Dimensional Drawings

2

2.1 Ratings and Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2

2.2 SERVOPACK Model Designations - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-4

2.3 Re-engineered AC SERVOPACK Selection - - - - - - - - - - - - - - - - - - - - - - - 2-5

2.4 Dimensional Drawings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-7

2.4.1 Re-engineered AC SERVOPACKs for CACR-SR02B† to SR44B† - - - - - - - - - - - - - - 2-7

2.4.2 Re-engineered AC SERVOPACK Models for CACR-SR60BB, 60BZ, 60BE, and 60BY 2-9

2-1

2-2

2 Specifications and Dimensional Drawings

2.1 Ratings and Specifications

Re-engineered SERVOPACK Model

CACR-

Max. Applicable Servomotor Capacity

[kW]

Input

Power

Supply

Main Circuit

Control Circuit

SR03BF SR05BF SR07BF SR10BF SR15BF SR20BF SR30BF SR44BF SR60BF

0.3 0.5 0.7 1.0 1.5 2.0 3.0 4.4 6.0

Three-phase 200 to 230 VAC +10 to -15 %, 50/60 Hz

Single-phase 200 to 230 VAC +10 to -15 %, 50/60 Hz

Continuous Output Current [Arms]

Max. Output Current [Arms]

Control Method

3.0 4.2 5.8 7.6 11.7 19.0 26.0 33.0 45.0

8.5 11.0 13.9 17.0 28.0 42.0 56.6 70.0 80.6

Three-phase full-wave rectification IGBT-PWM (sine-wave driven)

Feedback

Incremental encoder/Absolute encoder

(8192 p/r, 2048 p/r, 1024 p/r, 6000 p/r, 5000 p/r, 4000 p/r, 2500 p/r, 1500 p/r, 1000 p/r, etc.)

Operating

Conditions

Ambient

Temperature

Storage

Temperature

Ambient/

Storage

Humidity

Vibration/

Shock

Resistance

0 to 55

-20 to 85

90 % RH or less (with no condensation)

5 m/s

2

°C

°C

/ 20 m/s

2

(0.5G/2G)

Configuration

Approx. Mass

Speed Control Range

Base-mounted

10 kg

1:3000

Load Regulation 0 to 100 % load: 0.01 % max. (at rated speed)

Speed

Control

Speed

Regulation

Voltage

Regulation

Temperature

Regulation

Frequency

Characteristics

0 %

25

±25 °C: 0.1% max. (at rated speed)

100 Hz

Torque Control (Repeatability)

Acceleration Time Setting

±2 %

0 to 10 s

2.1 Ratings and Specifications

Monitor

(cont’d)

Speed/Torque

References

±6 VDC (forward rotation with positive reference) at rated speed

±3 VDC (forward rotation with positive reference) at rated torque

Auxiliary Inputs

Position Output

(PG pulses)

Rated Reference Voltage

Input Impedance About 30 k

Ω

Circuit Time

Constant

About 70 µs

Built-in Reference Power Supply

Form

Frequency

Dividing

Ratio

±2 V to ±10 VDC (forward rotation with positive reference) at rated speed.

±12 VDC±5 %, ±30 mA

Line-driver or open-collector (phase A, phase B, phase C)

Any setting ratio

Sequence Input

Rated Reference Voltage

Speed control mode

Torque control mode

Input Impedance About 30 k

Ω

Circuit Time

Constant

About 70

µs

Sequence Output

External Current Limits

Servo ON, P control, forward run prohibited, reverse run prohibited, and alarm reset

Servo alarm, servo ready, TG ON, current limit, and alarm code (3-bit output)

±0 V to ±9 VDC, forward rotation: -3 VDC/rated current, reverse rotation: 3 VDC/rated current

Dynamic Brake (DB)

Regenerative Processing

Operated at main power OFF, servo alarm, servo OFF.

Built-in

Allowable Load Moment of Inertia 5 times of rotor moment of inertia

Overtravel Prevention

Operated at P-OT and N-OT

Protection

LED Display

Overcurrent, regeneration error, overvoltage, input overvoltage, overspeed, insufficient voltage, overload, zero-point pulse error, A/D error, overrun detection, open-phase, and

CPU error

7-segment LED (status and alarm display)

Speed monitor 1000 r/min

-1

and torque monitor 3V/rated torque

2

2-3

2-4

2 Specifications and Dimensional Drawings

2.2 SERVOPACK Model Designations

This section explains how to check the SERVOPACK model.

CACR-SR††BF1†††-Y†††

SERVOPACK prior to the

Σ series

SERVOPACK for speed control

Capacity.

∗1

Base-mounted re-engineered AC SERVOPACK

Input voltage: 200 V

Applicable encoder

∗3

Applicable servomotor

∗2

Conventional SERVOPACK model

∗4

Y-specification code (Customer-specified code)

(1) SERVOPACK Capacity and Applicable Servomotors (*1, *2)

Unit: kW

*1 Capacity code

*2 Applicable servomotor code

07

10

15

02

03

05

20

30

44

60

(2) Encoders (*3)

M F G S D C

−

0.15

0.15

0.15

−

0.3

0.3

0.3

0.31

−

−

0.25

−

0.6

0.45

−

0.45

−

0.46

−

0.5

−

0.9

0.85

0.85

0.77

−

0.5

−

−

1.2

1.3

1.3

1.54

1.0

1.2

2.0

1.8

1.8

−

1.5

1.8

3.0

2.9

2.9

3.08

2.2

2.9

4.4

6.0

4.4

−

4.4

−

−

−

3.7

−

4.4

6.0

Type

Absolute

Pulse Code

1024 W

8192 S

Type

Conventional incremental

Pulse Code

1000 F

1440 H

1500

2000

2500

4000

5000

6000

B

A

C

D

E

K

Type

Multiplexed incremental

(3) Conventional SERVOPACKs (*4)

Pulse Code

2048 3

8192 2

2500 4

Model

CACR-SR††BB

CACR-SR††BZ

CACR-SR††BE

CACR-SR††BY

CACR-SR††BA

Code

B

Z

E

Y

A

2.3 Re-engineered AC SERVOPACK Selection

2.3 Re-engineered AC SERVOPACK Selection

M

Applicable

Servomotors

Conventional SERVOPACK Model SR††BB and Re-engineered SERVOPACK Model

Conventional Model

SR††BB

Re-engineered Model

SR††BF

Conventional SERVOPACK Model SR††BZ and Re-engineered SERVOPACK Model

Conventional Model

SR††BZ

Re-engineered Model

SR††BF

USAMED-03 CACR-SR03BB1†M CACR-SR03BF1†MB CACR-SR03BZ1†M CACR-SR03BF1†MZ

USAMED-06 CACR-SR07BB1†M CACR-SR07BF1†MB CACR-SR07BZ1†M CACR-SR07BF1†MZ

USAMED-09 CACR-SR10BB1†M CACR-SR10BF1†MB CACR-SR10BZ1†M CACR-SR10BF1†MZ

USAMED-12 CACR-SR15BB1†M CACR-SR15BF1†MB CACR-SR15BZ1†M CACR-SR15BF1†MZ

USAMED-20 CACR-SR20BB1†M CACR-SR20BF1†MB CACR-SR20BZ1†M CACR-SR20BF1†MZ

USAMED-30 CACR-SR30BB1†M CACR-SR30BF1†MB CACR-SR30BZ1†M CACR-SR30BF1†MZ

F

USAMED-44 CACR-SR44BB1†M CACR-SR44BF1†MB CACR-SR44BZ1†M CACR-SR44BF1†MZ

USAMED-60 CACR-SR60BB1†M CACR-SR60BF1†MB CACR-SR60BZ1†M CACR-SR60BF1†MZ

USAFED-02

USAFED-03

CACR-SR03BB1†F

CACR-SR03BB1†F

CACR-SR03BF1†FB

CACR-SR03BF1†FB

CACR-SR03BZ1†F

CACR-SR03BZ1†F

CACR-SR03BF1†FZ

CACR-SR03BF1†FZ

USAFED-05

USAFED-09

USAFED-13

USAFED-20

CACR-SR05BB1†F

CACR-SR10BB1†F

CACR-SR15BB1†F

CACR-SR20BB1†F

CACR-SR05BF1†FB

CACR-SR10BF1†FB

CACR-SR15BF1†FB

CACR-SR20BF1†FB

CACR-SR05BZ1†F

CACR-SR10BZ1†F

CACR-SR15BZ1†F

CACR-SR20BZ1†F

CACR-SR05BF1†FZ

CACR-SR10BF1†FZ

CACR-SR15BF1†FZ

CACR-SR20BF1†FZ

CACR-SR30BB1†F CACR-SR30BF1†FB

CACR-SR44BB1†F CACR-SR44BF1†FB

CACR-SR30BZ1†F CACR-SR30BF1†FZ

CACR-SR44BZ1†F CACR-SR44BF1†FZ

G

USAFED-30

USAFED-44

USAGED-02A

USAGED-03A

USAGED-05A

USAGED-09A

USAGED-13A

USAGED-20A

D

S

USAGED-30A

USAGED-44A

USADED-05E CACR-SR05BB1†D CACR-SR05BF1†DB CACR-SR05BZ1†D CACR-SR05BF1†DZ

USADED-10E CACR-SR10BB1†D CACR-SR10BF1†DB CACR-SR10BZ1†D CACR-SR10BF1†DZ

USADED-15E CACR-SR20BB1†D CACR-SR20BF1†DB CACR-SR20BZ1†D CACR-SR20BF1†DZ

USADED-22E CACR-SR30BB1†D CACR-SR30BF1†DB CACR-SR30BZ1†D CACR-SR30BF1†DZ

USADED-37E CACR-SR44BB1†D CACR-SR44BF1†DB CACR-SR44BZ1†D CACR-SR44BF1†DZ

USASEM-02A CACR-SR02BB1†S CACR-SR02BF1†SB CACR-SR02BZ1†S CACR-SR02BF1†SZ

USASEM-03A CACR-SR03BB1†S CACR-SR03BF1†SB

USASEM-05A CACR-SR05BB1†S CACR-SR05BF1†SB

USASEM-08A CACR-SR10BB1†S CACR-SR10BF1†SB

USASEM-15A CACR-SR15BB1†S CACR-SR15BF1†SB

USASEM-30A CACR-SR30BB1†S CACR-SR30BF1†SB

CACR-SR03BZ1†S CACR-SR03BF1†SZ

CACR-SR05BZ1†S CACR-SR05BF1†SZ

CACR-SR10BZ1†S CACR-SR10BF1†SZ

CACR-SR15BZ1†S CACR-SR15BF1†SZ

CACR-SR30BZ1†S CACR-SR30BF1†SZ

2

2-5

2-6

2 Specifications and Dimensional Drawings

M

Applicable

Servomotors

Conventional SERVOPACK Model SR††BE and Re-engineered SERVOPACK Model

Conventional SERVOPACK Model

SR††BYand Re-enginerred SERVOPACK

Model

Conventional Model

Re-engineered Model

　

SR††BF

Conventional Model

Re-engineered Model

　

SR††BF

USAMED-03 CACR-SR03BE1†M CACR-SR03BF1†ME CACR-SR03BY1†M CACR-SR03BF1†MY

USAMED-06 CACR-SR07BE1†M CACR-SR07BF1†ME CACR-SR07BY1†M CACR-SR07BF1†MY

USAMED-09 CACR-SR10BE1†M CACR-SR10BF1†ME CACR-SR10BY1†M CACR-SR10BF1†MY

USAMED-12 CACR-SR15BE1†M CACR-SR15BF1†ME CACR-SR15BY1†M CACR-SR15BF1†MY

USAMED-20 CACR-SR20BE1†M CACR-SR20BF1†ME CACR-SR20BY1†M CACR-SR20BF1†MY

USAMED-30 CACR-SR30BE1†M CACR-SR30BF1†ME CACR-SR30BY1†M CACR-SR30BF1†MY

F

USAMED-44 CACR-SR44BE1†M CACR-SR44BF1†ME CACR-SR44BY1†M CACR-SR44BF1†MY

USAMED-60 CACR-SR60BE1†M CACR-SR60BF1†ME CACR-SR60BY1†M CACR-SR60BF1†MY

USAFED-02

USAFED-03

CACR-SR03BE1†F

CACR-SR03BE1†F

CACR-SR03BF1†FE

CACR-SR03BF1†FE

CACR-SR03BY1†F

CACR-SR03BY1†F

CACR-SR03BF1†FY

CACR-SR03BF1†FY

USAFED-05

USAFED-09

USAFED-13

USAFED-20

CACR-SR05BE1†F

CACR-SR10BE1†F

CACR-SR15BE1†F

CACR-SR20BE1†F

CACR-SR05BF1†FE

CACR-SR10BF1†FE

CACR-SR15BF1†FE

CACR-SR20BF1†FE

CACR-SR05BY1†F

CACR-SR10BY1†F

CACR-SR15BY1†F

CACR-SR20BY1†F

CACR-SR05BF1†FY

CACR-SR10BF1†FY

CACR-SR15BF1†FY

CACR-SR20BF1†FY

G

D

S

USAFED-30

USAFED-44

CACR-SR30BE1†F CACR-SR30BF1†FE CACR-SR30BY1†F CACR-SR30BF1†FY

CACR-SR44BE1†F CACR-SR44BF1†FE CACR-SR44BY1†F CACR-SR44BF1†FY

USAGED-02A CACR-SR02BE1†G CACR-SR02BF1†GE CACR-SR02BY1†G CACR-SR02BF1†GY

USAGED-03A CACR-SR03BE1†G CACR-SR03BF1†GE CACR-SR03BY1†G CACR-SR03BF1†GY

USAGED-05A CACR-SR05BE1†G CACR-SR05BF1†GE CACR-SR05BY1†G CACR-SR05BF1†GY

USAGED-09A CACR-SR10BE1†G CACR-SR10BF1†GE CACR-SR10BY1†G CACR-SR10BF1†GY

USAGED-13A CACR-SR15BE1†G CACR-SR15BF1†GE CACR-SR15BY1†G CACR-SR15BF1†GY

USAGED-20A CACR-SR20BE1†G CACR-SR20BF1†GE CACR-SR20BY1†G CACR-SR20BF1†GY

USAGED-30A CACR-SR30BE1†G CACR-SR30BF1†GE CACR-SR30BY1†G CACR-SR30BF1†GY

USAGED-44A CACR-SR44BE1†G CACR-SR44BF1†GE CACR-SR44BY1†G CACR-SR44BF1†GY

USADED-05E CACR-SR05BE1†D CACR-SR05BF1†DE CACR-SR05BY1†D CACR-SR05BF1†DY

USADED-10E CACR-SR10BE1†D CACR-SR10BF1†DE CACR-SR10BY1†D CACR-SR10BF1†DY

USADED-15E CACR-SR20BE1†D CACR-SR20BF1†DE CACR-SR20BY1†D CACR-SR20BF1†DY

USADED-22E CACR-SR30BE1†D CACR-SR30BF1†DE CACR-SR30BY1†D CACR-SR30BF1†DY

USADED-37E CACR-SR44BE1†D CACR-SR44BF1†DE CACR-SR44BY1†D CACR-SR44BF1†DY

USASEM-02A CACR-SR02BE1†S CACR-SR02BF1†SE CACR-SR02BY1†S CACR-SR02BF1†SY

USASEM-03A CACR-SR03BE1†S CACR-SR03BF1†SE CACR-SR03BY1†S CACR-SR03BF1†SY

USASEM-05A CACR-SR05BE1†S CACR-SR05BF1†SE CACR-SR05BY1†S CACR-SR05BF1†SY

USASEM-08A CACR-SR10BE1†S CACR-SR10BF1†SE CACR-SR10BY1†S CACR-SR10BF1†SY

USASEM-15A CACR-SR15BE1†S CACR-SR15BF1†SE CACR-SR15BY1†S CACR-SR15BF1†SY

USASEM-30A CACR-SR30BE1†S CACR-SR30BF1†SE CACR-SR30BY1†S CACR-SR30BF1†SY

2.4 Dimensional Drawings

2.4 Dimensional Drawings

2.4.1 Re-engineered AC SERVOPACKs for CACR-SR02B† to SR44B†

(1) Re-engineered AC SERVOPACK Models for Conventional Models CACR-SR††BB and -SR††BZ

Note: † at the end of the model codes of the re-engineered AC SERVOPACK for CACR-SR††BB is “B” , and that for CACR-SR††BZ is “Z” .

For Conventional M-series For Conventional F-series For Conventional D-series For Conventional S-series

Models for which no mounting attachment is required

CACR-SR03BF1†M† CACR-SR03BF1†F†

CACR-SR07BF1†M† CACR-SR05BF1†F†

CACR-SR10BF1†M†

CACR-SR15BF1†M†

CACR-SR10BF1†F†

CACR-SR15BF1†F†

CACR-SR05BF1†D†

CACR-SR10BF1†D†

CACR-SR02BF1†S†

CACR-SR03BF1†S†

CACR-SR05BF1†S†

CACR-SR10BF1†S†

CACR-SR15BF1†S†

CACR-SR30BF1†S†

Models for which the mounting attachment F352086-A is required

CACR-SR20BF1†M† CACR-SR20BF1†F† CACR-SR20BF1†D†

CACR-SR30BF1†M†

CACR-SR44BF1†M†

CACR-SR30BF1†F†

CACR-SR44BF1†F†

CACR-SR30BF1†D†

CACR-SR44BF1†D†

CACR-SR30BF1†S†

2

2-7

2-8

2 Specifications and Dimensional Drawings

2.4.1 Re-engineered AC SERVOPACKs for CACR-SR02B† to SR44B†

(2) Re-engineered AC SERVOPACK Models for Conventional Models CACR-SR††BE and -SR††BY

Note: † at the end of the model codes of the re-engineered AC SERVOPACK for CACR-SR††BE is “E” , and that for CACR-SR††BY is “Y” .

For Conventional

M-series

For Conventional

F-series

For Convention

D-series

For Conventional

S-series

For Conventional

G-series

No mounting attachment is required for SERVOPACKs 4.4 kW or less.

CACR-SR03BF1†M† CACR-SR03BF1†F† CACR-SR05BF1†D† CACR-SR02BF1†S† CACR-SR02BF1†G†

CACR-SR07BF1†M† CACR-SR05BF1†F† CACR-SR10BF1†D† CACR-SR03BF1†S† CACR-SR03BF1†G†

CACR-SR10BF1†M† CACR-SR10BF1†F† CACR-SR20BF1†D† CACR-SR05BF1†S† CACR-SR05BF1†G†

CACR-SR15BF1†M† CACR-SR15BF1†F† CACR-SR30BF1†D† CACR-SR10BF1†S† CACR-SR10BF1†G†

CACR-SR20BF1†M† CACR-SR20BF1†F† CACR-SR44BF1†D† CACR-SR15BF1†S† CACR-SR15BF1†G†

CACR-SR30BF1†M† CACR-SR30BF1†F†

CACR-SR44BF1†M† CACR-SR44BF1†F†

CACR-SR44BF1†M† CACR-SR44BF1†F†

CACR-SR30BF1†S† CACR-SR20BF1†G†

CACR-SR30BF1†G†

CACR-SR44BF1†G†

Attachment product code:

F352086-A

2

× 7 dia. holes

Dimensions in mm

F352086-A includes:

y Attachment

y SERVOPACK mounting bolts

Mounting base

(included)

Attachment product code:

F352086-A

4

× SERVOPACK mounting screws M6 × 16 (included)

2.4 Dimensional Drawings

2.4.2 Re-engineered AC SERVOPACK Models for CACR-SR60BB, 60BZ, 60BE, and 60BY

(1) Re-engineered AC SERVOPACK Models for CACR-SR60BB, 60BZ, 60BE, and 60BY

CACR-SR60BF1†MB

CACR-SR60BF1†MZ

CACR-SR60BF1†ME

CACR-SR60BF1†MY

Attachment product code:

F352087-A

2

2 × 7 dia. holes

Dimensions in mm

4 × SERVOPACK mounting screws M6 × 16 (included)

F352087-A includes:

y Attachment

y SERVOPACK mounting bolts

Mounting base (included)

Attachment product code:

F352087-A

2-9

3

Wiring

3.1 Wiring for Re-engineered AC SERVOPACKs CACR-SR††BF1††† - - - 3-2

3.1.1 Connection Diagram - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-2

3.1.2 Names and Description of Main Circuit Terminals - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-2

3.1.3 Connector Receptacle Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-3

3.1.4 CN1 I/O Signal Connector Terminal Layout - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-3

3.1.5 CN2 Optical Encoder (PG) Connector Terminal Layout - - - - - - - - - - - - - - - - - - - - - - - 3-5

3.2 I/O Signal Connector Terminals - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-6

3.2.1 Re-engineered SERVOPACKs for CACR-SR††BE

(for Multiplexed Incremental Encoder) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-6

3.2.2 Re-engineered SERVOPACKs for CACR-SR††BB

(for Conventional Incremental Encoder) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-8

3.2.3 Re-engineered SERVOPACKs for CACR-SR††BY (for Absolute Encoder) - - - - - - - 3-10

3.2.4 Re-engineered SERVOPACKs for CACR-SR††BZ (for Absolute Encoder) - - - - - - - 3-12

3

3-1

3-2

3 Wiring

3.1.1 Connection Diagram

3.1 Wiring for Re-engineered AC SERVOPACKs

CACR-SR††BF1†††

3.1.1 Connection Diagram

Main circuit power supply

Three-phase 200V/220V

50/60 Hz

Re-engineered AC SERVOPACK

Regenerative resistor

Y3 Y4

R

S

T

U

V

W

AC Servomotor

A

B

C

D

M

Control circuit power supply

Single-phase 200V/220V

50/60Hz t r

Encoder signal conversion function built-in

I/O signals y

Speed reference y PG signal y Operation signal

CN1

CN2 PG

Encoder

Digital operator

JUSP-OP05A

CN3

3.1.2 Names and Description of Main Circuit Terminals

Terminal Symbol

(R) (S) (T)

(U) (V) (W)

(r) (t)

(Y3) (Y4)

Name

Main circuit input terminals

Servomotor connection terminals

Control circuit input terminals

Ground terminal

Regenerative resistor terminals

Description

Three-phase 200 to 230 VAC

+10 to -15 %

, 50/60 Hz

Connect (U) to the terminal A, (V) to the terminal B, (W) to the terminal C of

Servomotor.

Single-phase 200 to 230 VAC

+10 to -15 %

, 50/60 Hz

Connect to the power supply ground terminal and the Servomotor D terminal.

Regenerative resistor connection terminals (normally not to be connected externally.)

3.1 Wiring for Re-engineered AC SERVOPACKs CACR-SR††BF1†††

3.1.3 Connector Receptacle Specifications

CN1: For I/O signals

Applicable Receptacle Model

Inside

SERVOPACK

Soldered Type Caulking Type

MR-50RMA MR-50F MRP-50F01

Case

MR-50L

Manufacturer

Honda

Communication

Industries Co., Ltd.

CN2: For connecting the optical encoder (PG)

Applicable Receptacle Model

Inside

SERVOPACK

Soldered Type Caulking Type

MR-20RMA MR-20F MRP-20F01

Case

MR-20L

Manufacturer

Honda

Communication

Industries Co., Ltd.

CN3: For connecting the digital operator

Half-pitch Connector

Plug Shell

10114-3000VE 10314-52A0-008

Manufacturer

SUMITOMO 3M

Limited

3.1.4 CN1 I/O Signal Connector Terminal Layout

Re-engineered AC

SERVOPACK

Model

Pin No.

Model No. ended with B (Model for

SR††BB)

12

13

14

15

8

9

10

11

6

7

4

5

1

2

3

20

21

22

23

16

17

18

19

/S-ON

TMON

VTG

SG

IN-A

SG

IN-B

SG

SG

SG

SG

PHA

/V-CMP+

/V-CMP-

+24V-IN

+12V

SG

FG

PCO

/PCO

PHC

/TGON+

/TGON-

CACR-SR††BF1††

Model No. ended with Z (Model for

SR††BZ)

/S-ON

TMON

VTG

SG

IN-A

SG

IN-B

SG

SG

SG

SG

SEN

/V-CMP+

/V-CMP-

+24V-IN

+12V

SG

FG

PCO

/PCO

BAT+

/TGON+

/TGON-

Model No. ended with E (Model for

SR††BE)

/S-ON

TMON

VTG

SG

V-REF

SG

T-REF

SG

SG

SG

SG

PHA

/V-CMP+

/V-CMP-

+24V-IN

+12V

SG

FG

PCO

/PCO

PHC

/TGON+

/TGON-

Model No. ended with Y (Model for

SR††BY)

/S-ON

TMON

VTG

SG

V-REF

SG

T-REF

SG

SG

SG

SG

SEN

/V-CMP+

/V-CMP-

+24V-IN

+12V

SG

FG

PCO

/PCO

BAT+

/TGON+

/TGON-

3

3-3

3-4

3 Wiring

3.1.4 CN1 I/O Signal Connector Terminal Layout

(cont’d)

Re-engineered AC

SERVOPACK

Model

Model No. ended with B (Model for

SR††BB)

CACR-SR††BF1††

Model No. ended with Z (Model for

SR††BZ)

Model No. ended with E (Model for

SR††BE)

Pin No.

40

41

42

24

25

36

37

38

39

32

33

34

35

26

27

28

29

30

31

43

44

45

46

47

48

49

50

/P-CON

OL-

P-OT empty

*1 empty

*1

P-CL

SG

-12V

SG

+12V

SG

FG

N-OT

/S-RDY-

/S-RDY+

N-CL

SG

-12V

SG

PAO

/PAO

PBO

/PBO

PHB

ALM+

ALM-

OL+

/P-CON

OL-

N-OT

/S-RDY-

/S-RDY+

N-CL

SG

-12V

SG

PAO

/PAO

PBO

/PBO

BAT-

ALM+

ALM-

OL+

P-OT empty

*1 empty

*1

P-CL

SG

-12V

SG

+12V

SG

FG

/ALM-RST

P-CL

SG

-12V

SG

+12V

SG

FG

* 1. The MCB trip signal output function is not provided for SR††BB and SR††BZ.

* 2. The PG signal output phase S is not provided for SR††BY.

/P-CON

AL01

N-OT

/S-RDY-

/S-RDY+

N-CL

SG

-12V

SG

PAO

/PAO

PBO

/PBO

PHB

ALM+

ALM-

AL02

P-OT

AL03

Model No. ended with Y (Model for

SR††BY)

/P-CON empty

*2

N-OT

/S-RDY-

/S-RDY+

N-CL

SG

-12V

SG

PAO

/PAO

PBO

/PBO

BAT-

ALM+

ALMempty

*2

P-OT empty

/ALM-RST

P-CL

SG

-12V

SG

+12V

SG

FG

3.1 Wiring for Re-engineered AC SERVOPACKs CACR-SR††BF1†††

3.1.5 CN2 Optical Encoder (PG) Connector Terminal Layout

Pin No.

9

13

14

15

16

10

11

12

17

18

19

20

1

4

5

2

3

6

7

8

PG5 V

PG5 V

DIR

PU

/PU

PA

/PA

PB

/PB

FG

PV

/PV

PW

/PW

PC

/PC

For Conventional

Incremental

Encoder

0 V

0 V

0 V

PG5 V

PA

/PA

PB

/PB

FG

For Multiplexed

Type Incremental

Encoder

0 V

0 V

0 V

PG5 V

PG5 V

PG5 V

DIR

−

−

Absolute RST

−

BAT

BAT0

PC

/PC

For Absolute

Encoder

PA

/PA

PB

/PB

FG

0 V

0 V

0 V

PG5 V

PG5 V

PG5 V

DIR

−

*

−

*

Absolute RST

−

BAT

BAT0

PC

/PC

* The phase S rotation amount serial data of 12-bit absolute PG is not processed.

3

3-5

3-6

3 Wiring

3.2.1 Re-engineered SERVOPACKs for CACR-SR††BE (for Multiplexed Incremental Encoder)

3.2 I/O Signal Connector Terminals

3.2.1 Re-engineered SERVOPACKs for CACR-SR††BE

(for Multiplexed Incremental Encoder)

Example: CACR-SR20BF12FE that have replaced CACR-SR20BE12F

SERVOPACK CACR-SR20BF12FE

Torque monitor

F-series: 3.0 V

±10 %/100 %

CN1

Speed monitor

F-series: 2.0 V

±10 %/1000 min

-1

1-9

1-10

16-bit

D/A

Speed reference input

±6V/rated speed

1-12

1-13

LPF

16-bit

D/A

LPF

Auxiliary speed reference input

±2 to ±10 V/rated speed

1-14

1-15

Reverse rotation current limit

-100 % ±10 %/+3.0V input

Forward rotation current limit

+100 % ±10 %/-3.0V input

Servo ON when 1RY is ON

24V

P control when 2Ry is ON

(PI control when 2Ry is OFF)

Reverse run prohibited when N-LS is open

1Ry

2Ry

N-LS

+24Vin

S-ON

P-CON

N-OT

1-29

1-30

1-44

1-45

1-7

1-8

1-24

1-26

LPF

LPF

SG

5 mA

5 mA

5 mA

16-bit

D/A

Forward run prohibited when P-LS is open

Alarm reset when 9Ry is ON

P-LS

9Ry

P-OT

ALM-RST

1-41

1-43

5 mA

5 mA

3Ry

3Ry turns ON when current limit detected

4Ry turns ON when

TG turns ON.

24V

5Ry turns OFF for a servo alarm

6Ry turns ON when servo ready

4Ry

5Ry

6Ry

CLT+

CLT-

TGON+

TGON-

ALM+

ALM-

S-RDY+

S-RDY-

1-5

1-6

1-22

1-23

1-38

1-39

1-28

1-27

CPU

Output

Max. voltage 30 VDC

Max. current 30 mA

Phase A

Phase B

Phase C

PAO

/PAO

PBO

/PBO

PCO

/PCO

P

P

P

1-33

1-34

1-35

1-36

1-19

1-20

Output line driver

LS75ALS174

+12 V

PHA 1-16

1-4

PG signal open collector output

PHB

1-37

1-48

Alarm code output

PHC

ALO1

ALO2

1-21

1-25

SG

Output open collector

LS07

1-40

1-17

1-32

1-47

ALO3

1-42

-12 V

1-49

1-11

1-31

0 V

0 V

0 V

1-3

1-2

1-1

1-46

SG

1-50

1-18

Optical encoder

PG

E

F

C

D

A

B

K

L

Z

/Z

H

G

J

3.2 I/O Signal Connector Terminals

P

P

P

SERVOPACK

CN2

2-16

2-17

2-18

2-19

2-14

2-15

PA

/PA

PB

/PB

PC

/PC

CACR-SR20BF12FE

3

2-4

2-1

2-5

2-2

2-6

2-3

2-7

2-20

DIR

PG5 V

PG0 V

1-50

3-7

3-8

3 Wiring

3.2.2 Re-engineered SERVOPACKs for CACR-SR††BB (for Conventional Incremental Encoder)

3.2.2 Re-engineered SERVOPACKs for CACR-SR††BB

(for Conventional Incremental Encoder)

Example: CACR-SR20BF1AMB that have replaced CACR-SR20BB1AM

Torque monitor

M-series: 3.0 V ±10 %/100 %

Speed monitor

M-series: 4.0 V ±10 %/1000 min

-1

Speed reference input

±6 V/rated speed

Auxiliary speed reference input

±2 to ±10 V/rated speed

Reverse rotation current limit

-100 %

±10 %/+3.0 V input

Forward rotation current limit

+100 %

±10 %/-3.0 V input

SERVOPACK

CN1

1-9

1-10

1-12

1-13

1-14

1-15

1-29

1-30

1-44

1-45

SG

CACR-SR20BF1AMB

Current limit

Servo ON when 1Ry is ON

24V 1Ry

+24Vin

S-ON

1-7

1-8

5 mA

2Ry

P-CON

5 mA

P control when 2Ry is ON

(PI control when 2Ry is OFF)

Reverse run prohibited when N-LS is open

Forward run prohibited when P-LS is open

N-LS

N-OT

P-LS

P-OT

1-24

1-26

1-41

5 mA

5 mA

3Ry turns ON when current limit detected

4Ry turns ON when TG turns ON

5Ry turns OFF for a servo alarm

6Ry turns ON when servo ready

24V

3Ry

4Ry

5Ry

6Ry

CLT+

CLT-

TGON+

TGON-

ALM+

ALM-

S-RDY+

S-RDY-

1-5

1-6

1-22

1-23

1-38

1-39

1-28

1-27

Output

Max. voltage: 30 VDC

Max. current: 30 mA

8Ry turns OFF for a

OL alarm

Phase A

Phase B

Phase C

PG signal open collector output

8Ry OL

OL-

PAO

/PAO

PBO

/PBO

PCO

/PCO

1-40

1-25

P

P

P

1-33

1-34

1-35

1-36

1-19

1-20

PHA

PHB

PHC

1-4

1-37

1-21

0 V

0 V

0 V

1-3

1-2

1-1

1-50

1-18

Note: MCB trip (CN1-43 and -42) outputs are not provided.

SG

Output line driver

LS75ALS174

+12 V

1-16

1-48

SG

Output open collector

LS07

-12 V

1-17

1-32

1-47

1-49

1-11

1-31

1-46

Optical Encoder

PG

M

N

P

K

L

R

H

G

E

F

C

D

A

B

J

3.2 I/O Signal Connector Terminals

P

P

P

P

P

P

2-5

2-2

2-6

2-3

2-7

SERVOPACK

CN2

PA

2-16

/PA

2-17

PB

2-18

/PB

2-19

PC

2-14

/PC

2-15

PU

2-8

/PU

2-9

PV

2-10

2-11

/PV

PW

2-12

/PW

2-13

2-4

2-1

CACR-SR20BF1AMB

PG5V

PG0V

DIR

1-50

2-20

3

3-9

3-10

3 Wiring

3.2.3 Re-engineered SERVOPACKs for CACR-SR††BY (for Absolute Encoder)

3.2.3 Re-engineered SERVOPACKs for CACR-SR††BY (for Absolute Encoder)

Example: CACR-SR20BF1SFY that have replaced CACR-SR20BY1SF

Torque monitor

F-series: 3.0 V

±10 %/100 %

Speed monitor

F-series: 2.0 V ±10 %/1000 min

-1

SERVOPACK

CN1

1-9

1-10

Speed reference input

±6 V/rated speed

Auxiliary speed reference input

±2 to ±10 V/rated speed

Reverse rotation current limit

-100 %

±10 %/+3.0 V input

Forward rotation current limit

+100 %

±10 %/-3.0 V input

Servo ON when 1Ry is ON

24 V

P control when 2Ry is ON

(PI control when 2Ry is OFF)

Reverse run prohibited when N-LS is open

Forward run prohibited when P-LS is open

Alarm reset when 9Ry is ON

3Ry turns ON when current limit detected

4Ry turns ON when

TG turns ON

5Ry turns OFF for a servo alarm

6Ry turns ON when servo ready

24 V

Phase A

Phase B

Phase C

1-12

1-13

1-14

1-15

1-29

1-30

1-44

1-45

1Ry

+24Vin

S-ON

1-7

1-8

2Ry

P-CON

1-24

N-LS

N-OT

1-26

P-LS

P-OT

1-41

9Ry

ALM-RST

3Ry

4Ry

5Ry

6Ry

CLT+

CLT-

TGON+

TGON-

ALM+

ALM-

S-RDY+

S-RDY-

PAO

/PAO

PBO

/PBO

PCO

/PCO

P

P

P

1-33

1-34

1-35

1-36

1-19

1-20

1-43

1-5

1-6

1-22

1-23

1-38

1-39

1-28

1-27

LPF

LPF

LPF

LPF

SG

5 mA

5 mA

5 mA

5 mA

5 mA

CACR-SR20BF1SFY

16-bit

D/A

16-bit

D/A

16-bit

D/A

Output

Max. voltage: 30 VDC

Max. current: 30 mA

Output line driver

LS75ALS174

+12 V

CPU

1-16

1-48

SG

SEN

0SEN

0V

0V

Battery

2.8 to 4.5 V

+

BAT

BAT0

1-4

1-3

1-2

1-1

1-21

1-37

-12 V

1-17

1-32

1-47

1-49

1-11

1-31

1-46

1-50

1-18

FG

3.2 I/O Signal Connector Terminals

Optical encoder

15-bit absolute encoder

C

D

E

F

A

B

PG

H

G

P

P

P

SERVOPACK CACR-SR20BF1SFY

CN2

2-16

2-17

2-18

2-19

2-14

2-15

PA

/PA

PB

/PB

PC

/PC

S

J

R

T

Optical encoder

12-bit absolute encoder

PG

E

F

C

D

A

B

K

L

PS

/PS

Note

H

G

P

P

P

P

2-4

2-1

2-5

2-2

2-6

2-3

2-10

2-12

2-13

2-20

PG5 V

PG0 V

1-21

BAT

1-37

BAT0

1-50

SERVOPACK

CN2

2-16

2-17

2-18

2-19

2-14

2-15

PA

/PA

PB

/PB

PC

/PC

CACR-SR20BF1WFY

PG5 V

PG0 V

R

T

S

J

P

2-4

2-1

2-5

2-2

2-6

2-3

2-10

2-12

2-13

2-20

1-21

BAT

1-37

BAT0

1-50

Note: Cut the rotation amount data signal line on the Servomotor encoder cable side.

3-11

3

3-12

3 Wiring

3.2.4 Re-engineered SERVOPACKs for CACR-SR††BZ (for Absolute Encoder)

3.2.4 Re-engineered SERVOPACKs for CACR-SR††BZ (for Absolute Encoder)

Example: CACR-SR20BF1SMZ that have replaced CACR-SR20BZ1SM

Torque monitor

M-series: 3.0 V

±10 %/100 %

Speed monitor

M-series: 4.0 V ±10 %/1000 min

-1

SERVOPACK

CN1

1-9

1-10

CACR-SR20BF1SMZ

Speed reference input

±6 V/rated speed

Auxiliary speed reference input

±2 to ±10 V/rated speed

Reverse rotation current limit

-100 %

±10 %/+3.0 V input

Forward rotation current limit

+100 % ±10 %/-3.0 V input

1-12

1-13

1-14

1-15

1-29

1-30

1-44

1-45

SG

Servo ON when 1Ry is ON

24 V

P control when 2Ry is ON

(PI control when 2Ry is OFF)

Reverse run prohibited when N-LS is open

Forward run prohibited when P-LS is open

1Ry

+24Vin

S-ON

2Ry

P-CON

N-LS

N-OT

P-LS

P-OT

1-7

1-8

1-24

1-26

1-41

5 mA

5 mA

5 mA

5mA

3Ry turns ON when current limit detected

4Ry turns on when

TG turns ON

5Ry turns OFF for a servo alarm

6Ry turns ON when servo ready

24 V

3Ry

4Ry

5Ry

6Ry

CLT+

CLT-

TGON+

TGON-

ALM+

ALM-

S-RDY+

S-RDY-

1-5

1-6

1-22

1-23

1-38

1-39

1-28

1-27

Output

Max. voltage: 30 VDC

Max. current: 30 mA

8Ry turns OFF for a

OL alafm

Phase A

Phase B

Phase C

SEN

0SEN

0 V

0 V

Battery

2.8 to 4.5 V

+

BAT

BAT0

PAO

/PAO

PBO

/PBO

PCO

/PCO

8Ry

OL

OL-

1-40

1-25

P

P

P

1-33

1-34

1-35

1-36

1-19

1-20

1-4

1-3

1-2

1-1

1-21

1-37

1-50

1-18

Note: MCB trip (CN1-43 and -42) outputs are not provided.

SG

Output line driver

LS75ALS174

+12 V

SG

-12 V

1-16

1-48

1-17

1-32

1-47

1-49

1-11

1-31

1-46

Optical encoder

15-bit absolute encoder

C

D

E

F

A

B

PG

H

G

R

T

S

J

3.2 I/O Signal Connector Terminals

P

P

P

SERVOPACK

CN2

2-16

2-17

2-18

2-19

2-14

2-15

PA

/PA

PB

/PB

PC

/PC

CACR-SR20BF1SMZ

PG5 V

PG0 V

P

2-4

2-1

2-5

2-2

2-6

2-3

2-10

2-12

2-13

2-20

1-21

BAT

1-37

BAT0

1-50

3

3-13

4

Settings and Display

4.1 Setting Switches - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-2

4.1.1 Setting Fixed Switches (User’s Modification Prohibited) - - - - - - - - - - - - - - - - - - - - - - 4-3

4.1.2 Switches To Be Set According to Application - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-3

4.1.3 Potentiometers VR and RH - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-3

4.1.4 Alarm Reset Button - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-4

4.1.5 LED Display - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-4

4.1.6 Monitoring Pins - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-4

4.1.7 Digital Operator Connector - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-4

4.2 Factory Settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-5

4.2.1 Pin Settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-5

4.2.2 List of Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-11

4

4-1

4-2

4 Settings and Display

4.1 Setting Switches

The setting switches are provided on the board inside the re-engineered AC SERVOPACK CACR-SR††BF to ensure the operating environment of the corresponding conventional model.

There are two types of switches: The switches that have been set and fixed according to the corresponding conventional model before shipment, and the switches that need to be set by users according to the application.

3

SL5

1

CN17

LED lamp

(1

(CHARGE)

3

CN24

1

TMON

VTG

GND

LED lamp (2

LED lamp (3

RUN ALARM

CN15 CN26

1 3 3 1

ZERO LOOP IN-B

3

SL7

1

CN22 CN23 CN21 CN11 CN10

1 3 3

CN2

1 3 1 3 1 3 1

3 1 3 1

CN4 CN16

PG5V RESET VR5

CN18

CN7

CN5

3

3

3

3

1

1

1

1

CUR

CN6

FINE

CN8

CN9

CN1

4.1 Setting Switches

4.1.1 Setting Fixed Switches (User’s Modification Prohibited)

The switches listed in the table below have been set to the appropriate values before shipment.

Do not change the settings of these switches. Doing so will cause motor runaway or SERVOPACK failure.

CN22

CN23

CN24

CN26

S2

SL5

SW3-7

CN503

CN11

CN13

CN14

CN15

CN16

CN18

CN20

CN21

Switch No.

CN4

CN5

CN6

CN7

CN8

CN9

CN10

Name

Model depended function selection switch

Model depended function selection switch

Model depended function selection switch

Model depended function selection switch

Model depended function selection switch Not mounted

Model depended function selection switch Not mounted

Model depended function selection switch

Model depended function selection switch

Model depended function selection switch

Model depended function selection switch

Model depended function selection switch

Model depended function selection switch

Model depended function selection switch

Model depended function selection switch

Model depended function selection switch

Model depended function selection switch

Model depended function selection switch

Model depended function selection switch

Model depended function selection switch

Model depended function selection switch

Speed feedback gain switching

Speed feedback gain switching

PC connection connector

Remarks

Connector for personal computer cable

4.1.2 Switches To Be Set According to Application

The switches listed in the table below need to be set by users according to the application.

Switch No.

SL7

SW2

SW3

DSW1

DSW5

Name

Torque filter switching

Frequency dividing ratio setting

Setting for CACR-SR††BB/BZ

Encoder setting

Encoder setting

Remarks

4.1.3 Potentiometers VR and RH

Set the following potentiometers to the same scale positions as those of your conventional SERVOPACK to obtain the same performance as before replacement.

VR1

VR6

VR3

VR4

VR5

RH2

IN-B

LOOP

ZERO

FINE

CUR

PG5V

IN-B input gain

Speed loop gain

Speed amplifier zero adjustment

IN-B fine adjustment

Starting current adjustment

PG voltage adjustment

4

4-3

4-4

4 Settings and Display

4.1.4 Alarm Reset Button

4.1.4 Alarm Reset Button

When a SERVOPACK alarm occurs, eliminate the cause and then press the RESET Button to reset the servo alarm.

If the cause has not been eliminated, the alarm will occur again.

RESET Alarm reset button

4.1.5 LED Display

There are four LEDs on the board as follows.

DS1 7-Segment LED

LED lamp (1) Main circuit CHARGE LED

LED lamp (2) Encoder conversion function

LED lamp (3) Encoder conversion alarm

SERVOPACK status and alarm display

Main circuit with high-voltage

Lit in yellow during normal operation

Lit in red at alarm occurrence

4.1.6 Monitoring Pins

The monitoring pins listed in the table below are provided for monitor signals.

The levels are the same as the conventional models.

TMON

VTG

GND

For torque monitor

For speed monitor

GND for monitor signal line

4.1.7 Digital Operator Connector

When using the re-engineered SERVOPACK as the replacement of the conventional model CACR-SR††BE or

CACR-SR††BY, the connector CN3 is used to connect the digital operator JUSP-OP05A.

CN3

Connector for

Σ-III series digital operator

Cable connector

4.2 Factory Settings

4.2 Factory Settings

4.2.1 Pin Settings

Switch

No.

CN16

CN18

CN20

CN21

CN22

CN23

CN24

CN26

CN4

CN5

CN6

CN7

CN8

CN9

CN10

CN11

CN13

CN14

CN15

Setting

Short-circuited Pins

Short-circuited Pins

Short-circuited Pins

Short-circuited Pins

Short-circuited Pins

Short-circuited Pins

Short-circuited Pins

Short-circuited Pins

Short-circuited Pins

Short-circuited Pins

Short-circuited Pins

Short-circuited Pins

Short-circuited Pins

Short-circuited Pins

Short-circuited Pins

Short-circuited Pins

Short-circuited Pins

Short-circuited Pins

Short-circuited Pins

Applicable Conventional SERVOPACK Model

SR††BA

SR††BB

1-2

SR††BE SR††BZ SR††BY

1-2

1-2

1-2

2-3

1-2

1-2

1-2

1-2

2-3

2-3

2-3 open

2-3

2-3

2-3

Not mounted

1-2

1-2

1-2

2-3

2-3

1-2

1-2

1-2

1-2

2-3

2-3

1-2

1-2 1-2 1-2 1-2

Set to the defaults at factory depending on re-engineered

AC SERVOPACK model

1-2 2-3 1-2 open

1-2

1-2

1-2

1-2

1-2

2-3

1-2

1-2

1-2

1-2

2-3

2-3

1-2

2-3

2-3

2-3

1-2

1-2

1-2

2-3

2-3

1-2

2-3

1-2

Set to the defaults at factory depending on re-engineered

AC SERVOPACK model

Remarks

See Table 4.1

See Table 4.1

S2 6-digit ON/OFF

SL5 Short-circuited Pins

SL7

SW2

SW3

Short-circuited Pins

8-digit ON/OFF

8-digit ON/OFF

DSW1 Hexadecimal switching

DSW5 Hexadecimal switching

Set to the defaults at factory depending on re-engineered

AC SERVOPACK model

Set to the defaults at factory depending on re-engineered

AC SERVOPACK model

These switches are set to the defaults at factory.

Change the setting according to the application.

Set to the defaults at factory depending on encoder type

See Table 4.1

See Table 4.3

See Table 4.5

See Table 4.6

See Table 4.4

See Table 4.2

Model CACR-

SR03BF

SR05BF

SR07BF to 10BF

SR15BF

SR20BF

SR30BF

SR44BF

SR60BF

S2-1

OFF

OFF

OFF

OFF

OFF

OFF

OFF

OFF

S2-2

ON

ON

ON

ON

ON

ON

ON

ON

Table 4.1

S2-3

ON

ON

ON

ON

ON

OFF

OFF

OFF

S2-4

ON

ON

ON

OFF

OFF

ON

ON

OFF

S2-5

ON

ON

OFF

ON

OFF

ON

OFF

ON

S2-6 CN15 CN26

ON OPEN OPEN

OFF

ON

2-3

1-2

2-3

1-2

ON

OFF

OFF

ON

ON

1-2

1-2

1-2

1-2

1-2

1-2

1-2

1-2

1-2

1-2

4

4-5

4-6

4 Settings and Display

4.2.1 Pin Settings

Servomotor Encoder Specifications

Encoder Type

Conventional incremental

Multiplexed incremental

Absolute

Model

Code

F

H

E

K

C

D

B

A

M

3

2

W

S

No. of

Pulses

1000 P/R

1440 P/R

1500 P/R

2000 P/R

2500 P/R

4000 P/R

5000 P/R

6000 P/R

30000 P/R

2048 P/R

8192 P/R

1024 P/R

8192 P/R

Table 4.2

Setting

SW2

Status

4 DSW1 DSW5 1

0

1

2

6

7

4

5

2

3

0

1

1

0

9

0

1

2 3 5 6 7

ON ON ON ON OFF OFF OFF

ON ON ON ON OFF ON OFF

OFF OFF ON ON OFF OFF OFF

OFF ON OFF ON OFF OFF OFF

ON ON ON OFF OFF OFF OFF

ON OFF ON OFF OFF OFF OFF

ON ON OFF OFF OFF OFF OFF

OFF ON OFF OFF OFF OFF OFF

ON ON ON ON ON ON OFF

ON OFF OFF ON OFF OFF OFF

OFF OFF OFF OFF OFF OFF OFF

OFF ON ON ON OFF OFF OFF

OFF OFF OFF OFF OFF OFF OFF

Set according to the number of encoder pulses.

When the SERVOPACK output dividing ratio is set to 1/1

Pn212 is enabled when SW2-8 is ON.

The settings shown in Tables 4.3, 4.4 and 4.5 are valid on the re-engineered AC SERVOPACKs for CACR-

SR††BB and -SR††BZ, but invalid for the re-engineered AC SERVOPACK for CACR-SR††BE and -

SR††BY.

Table 4.3 Motor Rated Speed

(Valid for CACR-SR††BB and -SR††BZ)

Servomotor Rated Speed

1000 r/min

-1

1500 r/min

-1

2000 r/min

-1

3000 r/min

-1

SL5

1-2

2-3

2-3

2-3

SW3-7

ON

ON

OFF

ON

7

8

5

6

3

4

1

2

Pin No.

Table 4.4 Speed Amplifier Gain (Valid for CACR-SR††BB and -SR††BZ)

SW3 Specifications

Functions

Integration 0.033 uF

Integration 0.22 uF

For servomotor rated speed

Mode selection switch

OFF

Proportional gain 100 k

Ω

Proportional gain 220 k

Ω

Valid

Valid

Imperfect integration 6.6 M

Ω

Valid

Integration 0.033 uF Invalid

Invalid

Invalid

Valid

ON

Invalid

Invalid

Invalid

Valid

Valid

Valid

Invalid

M-series

F-series

ON

OFF

OFF

ON

OFF

OFF

ON

OFF

Factory Settings

S-series

1 kW and

1.5 kW

OFF

ON

OFF

OFF

OFF

ON

ON

OFF

S-series

0.5 kW or less, and

3.0 kW

OFF

ON

OFF

ON

OFF

OFF

ON

OFF

D-series

OFF

OFF

OFF

ON

OFF

OFF

OFF

OFF

4.2 Factory Settings

Table 4.5 Torque Filter Switching

(Valid for CACR-SR††BB and -SR††BZ)

SL7 Specifications

Factory Setting

Short-circuited between 1-2

Short-circuited between 2-3

Open

3200 pF

2000 pF

1000 pF

Factory setting

The PG pulse outputs from the SERVOPACK can be set using SW2 pins 1 through 8.

Caution: The maximum number of output pulses that can be set is the number of encoder pulses.

Table 4.6 SW2: No. of Dividing Output Pulses

Settings for Re-engineered AC SERVOPACKs CACR-SR††BF

1 2 3 4 5 6 7 8

OFF OFF OFF OFF OFF OFF OFF OFF

ON OFF OFF OFF OFF OFF OFF OFF

OFF ON OFF OFF OFF OFF OFF OFF

ON ON OFF OFF OFF OFF OFF OFF

OFF OFF ON OFF OFF OFF OFF OFF

ON OFF ON OFF OFF OFF OFF OFF

OFF ON ON OFF OFF OFF OFF OFF

ON ON ON OFF OFF OFF OFF OFF

OFF OFF OFF ON OFF OFF OFF OFF

ON OFF OFF ON OFF OFF OFF OFF

OFF ON OFF ON OFF OFF OFF OFF

ON ON OFF ON OFF OFF OFF OFF

OFF OFF ON ON OFF OFF OFF OFF

ON OFF ON ON OFF OFF OFF OFF

OFF ON ON ON OFF OFF OFF OFF

ON ON ON ON OFF OFF OFF OFF

OFF OFF OFF OFF ON OFF OFF OFF

ON OFF OFF OFF ON OFF OFF OFF

OFF ON OFF OFF ON OFF OFF OFF

ON ON OFF OFF ON OFF OFF OFF

OFF OFF ON OFF ON OFF OFF OFF

ON OFF ON OFF ON OFF OFF OFF

OFF ON ON OFF ON OFF OFF OFF

ON ON ON OFF ON OFF OFF OFF

OFF OFF OFF ON ON OFF OFF OFF

ON OFF OFF ON ON OFF OFF OFF

OFF ON OFF ON ON OFF OFF OFF

ON ON OFF ON ON OFF OFF OFF

OFF OFF ON ON ON OFF OFF OFF

ON OFF ON ON ON OFF OFF OFF

OFF ON ON ON ON OFF OFF OFF

ON ON ON ON ON OFF OFF OFF

OFF OFF OFF OFF OFF ON OFF OFF

ON OFF OFF OFF OFF ON OFF OFF

OFF ON OFF OFF OFF ON OFF OFF

ON ON OFF OFF OFF ON OFF OFF

OFF OFF ON OFF OFF ON OFF OFF

ON OFF ON OFF OFF ON OFF OFF

OFF ON ON OFF OFF ON OFF OFF

256

250

240

200

480

400

375

300

1024

1000

800

750

625

600

512

500

No. of Dividing

Output Pulses

8192

8000

6000

5000

4096

4000

3000

2500

2400

2048

2000

1600

1500

1250

120

100

80

64

60

160

150

128

125

4-7

4

4-8

4 Settings and Display

4.2.1 Pin Settings

Table 4.6 SW2: No. of Dividing Output Pulses

Settings for Re-engineered AC SERVOPACKs CACR-SR††BF (cont’d)

1 2 3 4 5 6 7 8

ON ON ON OFF OFF ON OFF OFF

OFF OFF OFF ON OFF ON OFF OFF

ON OFF OFF ON OFF ON OFF OFF

OFF ON OFF ON OFF ON OFF OFF

ON ON OFF ON OFF ON OFF OFF

OFF OFF ON ON OFF ON OFF OFF

ON OFF ON ON OFF ON OFF OFF

OFF ON ON ON OFF ON OFF OFF

ON ON ON ON OFF ON OFF OFF

OFF OFF OFF OFF ON ON OFF OFF

ON OFF OFF OFF ON ON OFF OFF

OFF ON OFF OFF ON ON OFF OFF

ON ON OFF OFF ON ON OFF OFF

OFF OFF ON OFF ON ON OFF OFF

ON OFF ON OFF ON ON OFF OFF

OFF ON ON OFF ON ON OFF OFF

ON

OFF

ON

OFF

ON

OFF

ON

OFF

ON

−

ON

OFF

OFF

ON

ON

OFF

OFF

ON

ON

−

ON

OFF

OFF

OFF

OFF

ON

ON

ON

OFF

ON

ON

ON

ON

ON

ON

ON

ON

ON

ON

ON

ON

ON

ON

ON

ON

ON

ON

ON

ON

ON

ON

ON

OFF

OFF

OFF

OFF

OFF

OFF

OFF

OFF

OFF

OFF

OFF

OFF

OFF

OFF

OFF

OFF

ON ON ON ON OFF OFF

− − − − −

ON

6000

6000

6000

6000

6000

10000

12500

15000

20000

25000

30000

Pn212

No. of Dividing

Output Pulses

50

40

32

30

25

20

16

1200

1440

360

720

2880

6000

6000

4.2 Factory Settings

Settings for Conventional SERVOPACK SR††BB with Incremental Encoder for Reference

Check the number of dividing output pulses on the SR††BB in the following table.

1

{

{

{

{

{

{

{

{

{

2

{

{

{

{

{

{

{

{

{

{

{

{

{

{

{

3

{

{

{

{

{

{

{

{

{

{

{

{

{

{

{

{

{

{

{

4

{

{

{

{

{

{

{

{

{

{

{

{

{

{

{

{

{

{

{

{

{

5

{

{

{

{

{

{

{

{

{

{

{

{

{

{

{

{

{

{

{

{

{

{

{

{

{

6

{

{

{

{

{

{

{

{

{

{

{

{

{

{

{

{

{

{

{

{

{

{

{

{

{

{

{

{

{

7

{

{

{

{

{

{

{

{

{

{

{

{

{

{

{

{

{

{

{

Dividing

Ratio

1/1

1/2

1/3

1/4

1/5

1/6

1/8

1/10

1/12

1/15

1/16

1/20

1/24

1/25

1/30

1/40

1/48

1/50

1/60

2/2

2/3

2/4

2/5

2/6

2/8

2/10

2/12

2/15

2/16

2/20

2/24

2/25

2/30

2/40

2/48

2/50

2/60

(A)

6000

(B)

5000

(D)

4000

(C)

2500

(E)

1500

(F)

1000

6000 5000 4000 2500 1500 1000

3000 2500 2000 1250 750 500

2000

− − −

500

−

1500 1250 1000 625 375 250

1200 1000 800 500 300 200

1000 − −

750 625 500

−

−

250

−

−

125

600 500 400 250 150 100

500

400

375

125

−

−

−

−

120 100

−

−

250

200

− −

150 125 100

−

80

−

−

−

300 250 200 125

250

− − −

240 200 160 100

−

−

−

50

125

100

−

75

−

60

50

−

−

30

−

−

−

50

−

40

-

25

−

20

100

− − −

25

−

6000 5000 4000 2500 1500 1000

4000

− − −

1000

−

3000 2500 2000 1250 750 500

2400 2000 1600 1000 600 400

2000

1500

−

1250

−

1000

−

625

500

−

−

250

1200 1000 800 500 300 200

1000

800

750

−

−

−

−

−

500

−

−

−

250

200

−

−

−

125

600 500 400 250 150 100

500

− − −

125

480 400 320 200 120

−

80

400

− − −

300 250 200 125

250

− − −

240 200 160 100

200

− − −

100

75

−

60

50

−

50

−

40

−

Note: The pin SW2-8 is reserved. The pins marked with { are short-circuited.

4

4-9

4-10

4 Settings and Display

4.2.1 Pin Settings

Settings for Conventional SERVOPACK SR††BZ with Absolute Encoder for Reference

Check the number of dividing output pulses on the SR††BZ in the following table.

1

{

{

{

{

{

{

{

{

{

{

{

{

{

{

{

{

2

{

{

{

{

{

{

{

{

{

{

{

{

{

{

{

{

3

{

{

{

{

{

{

{

{

{

{

{

{

{

{

{

{

4

{

{

{

{

{

{

{

{

{

{

{

{

{

{

{

{

5

{

{

{

{

{

{

{

{

{

{

{

{

{

{

{

{

6

{

{

{

{

{

{

{

{

{

{

{

{

{

{

{

{

{

{

{

{

{

{

{

{

{

{

{

{

{

{

{

{

150

125

120

100

250

240

200

160

80

75

400

375

320

300

625

600

500

480

2000

1600

1500

1250

1200

1000

800

750

(s)

8192

6000

5000

4000

3000

2500

2400

1

{

{

{

{

{

{

{

{

{

{

{

{

{

{

{

{

2

{

{

{

{

{

{

{

{

{

{

{

{

{

{

{

{

3

{

{

{

{

{

{

{

{

{

{

{

{

{

{

{

{

4

{

{

{

{

{

{

{

{

{

{

{

{

{

{

{

{

5

{

{

{

{

{

{

{

{

{

{

{

{

{

{

{

{

Note: The pins SW2-7 and -8 are reserved. The pins marked with { are short-circuited.

6

(9)

(8)

(5)

(4)

90

45

(15)

(12)

(3)

(2)

3600

2160

1800

1440

1080

720

360

180

8192

4096

2048

1024

512

256

128

64

40

30

25

20

(s)

8192

60

50

4.2 Factory Settings

4.2.2 List of Parameters

Parameter

No.

Name Setting Range Unit

Factory

Setting

Setting

Validation

Pn000

Pn001

Pn002

Pn100

Pn101

Pn102

Pn107

Pn108

Pn109

Pn10B

Pn10C

Pn10D

Pn10E

Pn10F

Function Selection Basic Switch 0

Function Selection Application

Switch 1

Function Selection Application

Switch 2

Speed Loop Gain

Speed Loop Integral Time Constant

Position Loop Gain

Bias

Bias Addition Width

Feed Forward Gain

Gain-related Application Switch

Mode Switch (torque reference)

Mode Switch (speed reference)

Mode Switch (acceleration)

Mode Switch (position error pulse)

1.0 to 2000.0 Hz

0.15 to 512.00 ms

1.0 to 2000.0/s

0 to 450 min

-1

0 to 250 reference units

0 to 100 %

−

0 to 800 %

0 to 10000 min

-1

0 to 30000 r/min/s

0 to 10000 reference units

−

−

−

0.1 Hz

0.01 ms

0.1/s

1 min

-1

Reference unit

1%

−

1%

1 min

-1

1 r/min/s

Reference unit

0

0

0

After restart

After restart

After restart

40.0 Hz Immediately

20.00 ms Immediately

40.0/s Immediately

0 min

-1

7 reference units

0 %

0

200%

Immediately

Immediately

Immediately

Immediately

Immediately

0 min

-1

Immediately

0 r/min/s Immediately

0 reference unit

Immediately

Pn200

Position Control Reference Form

Selection Switch

−

0 After restart

Pn209

Position Reference Acceleration/

Deceleration Bias

0 to 65535 reference units/s

1 reference unit/s

−

0 Immediately

Pn20E

Pn210

Pn212

Pn300

Pn304

Pn305

Pn306

Pn30A

Pn400

Pn401

Electronic Gear Ratio (Numerator) 1 to 1073741824 (2

30

)

Electronic Gear Ratio (Denominator)

PG Dividing Pulse (pulse unit)

Enabled when SW2-8 is ON

Speed Reference Input Gain

1 to 1073741824 (2

16 to 1073741824 (2

P/Rev

30

30

)

)

1.50 to 10.00 V/ rated speed

JOG Speed

Soft Start Acceleration Time

Soft Start Deceleration Time

Auxiliary Speed Reference Input

Gain

Torque Reference Input Gain

0 to 10000 min

-1

0 to 10000 ms

0 to 10000 ms

1.50 to 10.00 V/ rated speed

1.0 to 10.0 V/ rated torque

1st Step 1st Torque Reference Filter

Time Constant

Forward Torque Limit

Reverse Torque Limit

Emergency Stop Torque

0.00 to 655.35 ms

0 to 800 %

0 to 800 %

0 to 800 %

−

1 P/Rev

0.01 V/ rated speed

1 min

1 ms

1 ms

-1

0.01 V/ rated speed

0.1 V/ rated torque

0.01 ms

4

1

6.00 V/ rated speed

500 min

0 ms

0 ms

10.00 V/ rated speed

3.0 V/ rated torque

-1

After restart

After restart

2048 P/Rev After restart

1.00 ms

Immediately

Immediately

Immediately

Immediately

Immediately

Immediately

Immediately

Pn402

Pn403

Pn406

Pn407

Pn408

Pn415

Speed Limit during Toque Control

Torque Related Function Switch

External Current Limit Input Gain

0 to 10000 min

−

1.0 to 10.0V/ rated torque

-1

1 %

1 %

1 %

1 min

-1

−

0.1V/ rated torque

800 %

800 %

800 %

10000 min

-

1

0

3.0V/ rated torque

Immediately

Immediately

Immediately

Immediately

After restart

Immediately

Note: The parameters in shaded area have been set according to the SERVOPACK model before shipment.

Contact Yaskawa service division when changing the settings of these parameters.

Conventional

Model

SR††BE/BY

Constant No.

−

−

−

−

−

−

Cn-0A

Cn-03

Cn-13

Cn-17

Cn-08

Cn-09

Cn-06

−

Cn-04

Cn-05

−

−

−

−

−

Cn-0C

Cn-0D

Cn-0E

−

−

Cn-10

Cn-07

Cn-23

Cn-14

−

−

4-11

4

4-12

4 Settings and Display

4.2.2 List of Parameters

Parameter

No.

Name Setting Range Unit

Factory

Setting

Setting

Validation

Pn501

Pn502

Zero Clamp Level

Zero Speed Level

0 to 10000 min

-1

1 to 10000 min

-1

1 min

-1

1 min

-1

10 min

-1

20 min

-1

Immediately

Immediately

Pn503

Pn506

Pn507

Pn508

Pn509

Pn50A

Pn50B

Pn50C

Pn50D

Pn50E

Pn50F

Pn510

Pn512

Pn520

Speed Coincidence Signal Output

Width

Brake Reference - Servo OFF

Delay Time

Brake Reference Output Speed

Level

Waiting Time for Brake Signal

When Motor Running

Instantaneous Power Cut Hold

Time

Input Signal Selection 1

Input Signal Selection 2

Input Signal Selection 3

Input Signal Selection 4

Output Signal Selection 1

Output Signal Selection 2

Output Signal Selection 3

Output Signal Reversal Setting

Excessive Position Error Alarm

Level

0 to 100 min

(0 to 50)

×

10 ms

0 to 10000 min

(10 to 100)

×

10 ms

20 to 1000 ms

−

−

−

−

−

−

−

−

-1

1 to 1073741824 (2 reference units

-1

30

)

1 min

-1

10 ms

1 min

10 ms

1 ms

−

−

−

−

−

−

−

−

1 reference unit

-1

10 min

0 ms

100 min

500 ms

20 ms

-1

-1

2100

6543

8888

8888

3211

0

0

0

262144 reference units

Immediately

Immediately

Immediately

Immediately

Immediately

After restart

After restart

After restart

After restart

After restart

After restart

After restart

After restart

Immediately

Pn522

Positioning Completed Width

0 to 1073741824 (2

30

) reference units

1 reference unit

7 reference units

Immediately

Note: The parameters in shaded area have been set according to the SERVOPACK model before shipment.

Contact Yaskawa service division when changing the settings of these parameters.

(cont’d)

Conventional

Model

SR††BE/BY

Constant No.

Cn-0F

Cn-0B

−

Cn-12

Cn-15

Cn-16

−

−

−

−

−

−

−

−

−

−

−

5

Maintenance, Inspection and Alarm/Warning

Display

5.1 Status Display - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-2

5.2 Alarm Display Table - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-3

5.3 Warning Displays - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-6

5.4 Inspection and Maintenance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-7

5.4.1 Servomotor Inspection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-7

5.4.2 SERVOPACK Inspection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-7

5.4.3 SERVOPACK’s Parts Replacement Schedule - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-7

5

5-1

5-2

5 Maintenance, Inspection and Alarm/Warning Display

5.1 Status Display

The 7-segment LED (DS1) on the re-engineered AC SERVOPACK indicates the SERVOPACK status.

e d c

• When no alarm occurs, the bits are lit as shown in the table below.

Bit Data Indication

Item c d e

Bit Data Indication

Control Power ON Lights when the control power to the SERVOPACK turns ON.

Baseblock

Rotation Detection

(/TGON)

Lights when baseblocked (the servo turns OFF.)

Goes out when the servo turns ON.

Lights when the motor speed is higher than the value specified in Pn502.

(Factory setting: 20 min

-1

)

• When an alarm occurs, the corresponding alarm code is displayed and blinks digit by digit for 250 msec.

5.2 Alarm Display Table

5.2 Alarm Display Table

Alarm

Display

The re-engineered SERVOPACK model CACR-SR††BF has the same alarm function as that of

Σ-III series

SERVOPACK.

If an alarm occurs, the servomotor can be stopped by doing either of the following operations.

• DB stop: Stops the servomotor immediately using the dynamic brake.

• Zero-speed stop: Stops the servomotor by setting the speed reference to “0.”

Table 5.1 Alarm Display Table

Alarm Name Meaning

Servomotor Stop

Method

Alarm

Reset

Alarm Code Output

ALO1 ALO2 ALO3

Servo

Alarm

(ALM)

Output

DB stop N/A

A.020

Parameter Checksum

Error

The data of the parameter in the

SERVOPACK is incorrect.

A.021

Parameter Format Error The data of the parameter in the

SERVOPACK is incorrect.

A.022

System Checksum Error The data of the parameter in the

SERVOPACK is incorrect.

A.023

Parameter Password Error The data of the parameter in the

SERVOPACK is incorrect.

A.030

Main Circuit Detector

Error

Detection data for power circuit is incorrect.

A.031

Main Circuit (Power

Pack) Alarm

A.040

Parameter Setting Error

The switch S2 is set incorrectly

A.041

Dividing Pulse Output

Setting Error

The parameter setting is outside the allowable setting range.

The PG dividing pulse setting

(Pn212) is outside the allowable setting range or not satisfies the setting conditions.

This alarm may occur when using-

SR††BF1††E or -

SR††BF1††Y.

A.042

Parameter Combination

Error

A.050

Combination Error

Combination of some parameters exceeds the setting range.

A.051

A.0b0

Servo ON reference

A.100

A.300

A.320

A.330

A.400

A.410

Unsupported Product

Alarm

Invalid Alarm

Overcurrent or Heat Sink

Overheated

Regeneration Error

Detected

Regenerative Overload

Main Circuit Power

Supply Wiring Error

Overvoltage

Undervoltage

SERVOPACK and servomotor capacities do not match each other.

The serial converter unit unsupported was connected.

The Host controller reference was sent to turn the Servo ON after the

Servo ON function was used with the

Digital Operator or SigmaWin+.

An overcurrent flowed through the

IGBT.

Heat sink of SERVOPACK was overheated.

Regenerative circuit or regenerative resistor is faulty.

Regenerative energy exceeds regenerative resistor capacity.

The power supply to the main circuit does not match the parameter Pn001 setting.

Main circuit DC voltage is excessively high.

Main circuit DC voltage is excessively low.

DB stop

DB stop

DB stop

DB stop

DB stop

DB stop

DB stop

DB stop

DB stop

DB stop

DB stop

DB stop

DB stop

Zero speed stop

DB stop

DB stop

Zero speed stop

N/A

N/A

N/A

Available

N/A

N/A

N/A

N/A

Available

N/A

Available

N/A

Available

Available

Available

Available

Available

H

L

L

H

H

H

L

H

H

H

H

L

H

H

H

H

5

5-3

5-4

5 Maintenance, Inspection and Alarm/Warning Display

Alarm

Display

Alarm Name

Table 5.1 Alarm Display Table (cont’d)

Meaning

Servomotor Stop

Method

A.510

A.511

A.520

A.521

A.710

A.720

Overspeed

Dividing Pulse Output

Overspeed

Vibration Alarm

Autotuning Alarm

Overload: High Load

Overload: Low Load

The servomotor speed is excessively high.

The motor speed upper limit of the set PG dividing pulse (Pn212) is exceeded.

Vibration at the motor speed was detected.

The moment of inertia ratio calculation error occurred.

The motor was operating for several seconds to several tens of seconds under a torque largely exceeding ratings.

The motor was operating continuously under a torque largely exceeding ratings.

A.730

Dynamic Brake Overload When the dynamic brake was applied, rotational energy exceeded the capacity of dynamic brake resistor.

A.740

A.7A0

A.810

Overload of Surge

Current Limit Resistor

Heat Sink Overheated

Encoder Backup Error

The main circuit power was frequently turned ON and OFF.

The heat sink of SERVOPACK overheated.

All the power supplies for the absolute encoder have failed and position data was cleared.

A.820

Encoder Checksum Error The checksum results of encoder memory is incorrect.

A.830

Absolute Encoder Battery

Error

A.840

Encoder Data Error

A.850

Encoder Overspeed

Battery voltage for the absolute encoder has dropped.

Data in the encoder is incorrect.

A.860

A.b10

Encoder Overheated

Reference Speed Input

Read Error

A.b11

Speed Reference A/D

Data Error

The encoder was rotating at high speed when the power was turned

ON.

The internal temperature of encoder is too high.

The A/D converter for reference speed input is faulty.

A/D conversion data of speed reference is incorrect.

A.b20

Reference Torque Input

Read Error

The A/D converter for reference torque input is faulty.

A.b31

Current Detection Error1 Phase-U current sensor is faulty.

A.b32

Current Detection Error 2 Phase-V current sensor is faulty.

A.b33

Current Detection Error 3 Phase-W current sensor is faulty.

DB stop

DB stop

DB stop

DB stop

Zero speed stop

DB stop

DB stop

DB stop

Zero speed stop

DB stop

DB stop

DB stop

DB stop

DB stop

DB stop

Zero speed stop

Zero speed stop

Zero speed stop

DB stop

DB stop

DB stop

Alarm

Reset

Available

Available

Available

Available

Available

Available

Available

Available

Available

N/A

N/A

Available

N/A

N/A

N/A

Available

Available

Available

N/A

N/A

N/A

Alarm Code Output

ALO1 ALO2 ALO3

Servo

Alarm

(ALM)

Output

L

L

H

H

L

H

L

L

H

H

H

H

5.2 Alarm Display Table

Alarm

Display

Alarm Name

Table 5.1 Alarm Display Table (cont’d)

Meaning

Servomotor Stop

Method

A.bF0

System Alarm 0

(Internal program processing error)

A.bF1

System Alarm 1

(Internal program error)

A.bF2

System Alarm 2

(Current control processing program error)

A.bF3

System Alarm 3

(Encoder interface processing error)

“Internal program error 0” of

SERVOPACK occurred.

“Internal program error 1” of

SERVOPACK occurred.

“Internal program error 2” of

SERVOPACK occurred.

“Internal program error 3” of

SERVOPACK occurred.

A.bF4

System Alarm 4

(CPU watchdog timer error)

“Internal program error 4) of

SERVOPACK occurred.

A.C10

Servo Overrun Detected The servomotor ran out of control.

A.C80

Absolute Encoder Clear

Error and Multi-turn

Limit Setting Error

A.C90

Encoder Communications Error

The multi-turn for the absolute encoder was not properly cleared or set.

A.C91

Encoder Communications Position Data Error

A.C92

Encoder Communications Timer Error

Communications between

SERVOPACK and encoder is not possible.

An encoder position data calculation error occurred.

An error occurs in the communications timer between the encoder and the SERVOPACK.

A.CA0

Encoder Parameter Error Encoder parameters are faulty.

A.Cb0

Encoder Echoback Error Contents of communications with encoder is incorrect.

A.CC0

Multi-turn Limit

Disagreement

Different multi-turn limits have been set in the encoder and SERVOPACK.

A.d00

Position Error Pulse

Overflow

A.d01

Position Error Pulse

Overflow Alarm at Servo ON

A.d02

Position Error Pulse Overflow Alarm by Speed

Limit at Servo ON

Position error pulse exceeded parameter (Pn520).

When the servo turns ON, the position error pulses exceeded the parameter setting (Pn526).

If the servo turns ON with position error pulses accumulated, the speed is limited by Pn529. In this state, the reference pulse was input without resetting the speed limit, and the position error pulses exceeds the value set for the parameter Pn520.

A.F10

Power Line Open Phase One phase is not connected in the main power supply.

A.F20

AC Overvoltage Alarm

CPF00

CPF01

A.

− −

Digital Operator

Transmission Error

Not an error

A voltage higher than 200 VAC is supplied

Digital operator (JUSP-OP05A) fails to communicate with SERVOPACK

(e.g., CPU error).

Normal operation status

DB stop

DB stop

DB stop

DB stop

DB stop

DB stop

DB stop

DB stop

DB stop

DB stop

DB stop

DB stop

DB stop

DB stop

DB stop

Zero speed stop

Zero speed stop

DB stop

−

−

−

Alarm

Reset

N/A

N/A

N/A

N/A

N/A

Available

N/A

N/A

N/A

N/A

N/A

N/A

N/A

Available

Available

Available

Available

N/A

N/A

N/A

−

Alarm Code Output

ALO1 ALO2 ALO3

Servo

Alarm

(ALM)

Output

H

L

L

H

H

H

H

L

L

H

L

H

H

Not decided

H H

H

H

H

H

L

5

5-5

5-6

5 Maintenance, Inspection and Alarm/Warning Display

5.3 Warning Displays

Warning

Display

A.910

A.911

A.920

A.930

A.941

The relation between warning displays and warning code outputs are shown in table 5.2.

Table 5.2 Warning Displays and Outputs

Warning Name

Overload

Meaning

Warning Code Output

ALO1 ALO2 ALO3

L H H

Vibration

Regenerative Overload

Absolute Encoder Battery

Voltage Lowered

Change of Parameters

Requires Setting Validation

This warning occurs before the overload alarms (A.710 or

A.720) occur. If the warning is ignored and operation continues, an overload alarm may occur.

Abnormal vibration at the motor speed was detected. The detection level is the same as A.520. Set whether to output an alarm or warning by “Vibration Detection Switch” of

Pn310.

This warning occurs before the regenerative overload alarm (A.320) occurs. If the warning is ignored and operation continues, a regenerative overload alarm may occur.

This warning occurs when the absolute encoder battery voltage is lowered.

The change of the parameters can be validated only after turning the power ON from OFF.

L

H

L

L

H

L

L

H

H

H

H

H

5.4 Inspection and Maintenance

5.4 Inspection and Maintenance

5.4.1 Servomotor Inspection

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.

IMPORTANT

During inspection and maintenance, do not disassemble the servomotor.

Exterior

Item

Vibration and Noise

Frequency

Daily

According to degree of contamination

Procedure

Touch and listen.

Clean with cloth or compressed air.

Insulation Resistance

Measurement

Replacing Oil Seal

Overhaul

At least once a year

At least once every

5000 hours

At least once every

20000 hours or 5 years

Disconnect SERVOPACK and test insulation resistance at 500 V. Must exceed 10 M

Ω .

∗

Remove the servomotor and replace the oil seal.

Contact the Yaskawa service division.

* Measure across the servomotor’s FG and the phase-U, phase-V, or phase-W power line.

−

Comments

Levels higher than normal?

Contact the Yaskawa service division if the insulation resistance is below 10 M

Ω.

Applies only to servomotors with oil seals.

Do not disassemble and clean the servomotor by yourself.

5.4.2 SERVOPACK Inspection

5

Item

Exterior and Boards

Loose Screws

Frequency

At least once a year

Procedure Comments

Check for dust, dirt, and oil on the surfaces. Clean with compressed air.

Check for discoloration, damage, and disconnected wires on the surfaces.

Check for loose terminal block and connector screws.

Contact the Yaskawa service division.

Tighten any loose screws.

5.4.3 SERVOPACK’s Parts Replacement Schedule

The following electric or electronic parts are subject to mechanical wear or deterioration over time. To avoid failure, replace these parts at the frequency indicated.

The parameters of any SERVOPACKs overhauled by Yaskawa service division are reset to the factory settings before shipping. Be sure to confirm that the parameters are properly set before starting operation.

Part

Cooling Fan

Smoothing Capacitor

Relays

Fuses

Aluminum Electrolytic

Capacitor on Circuit Board

Standard

Replacement

Period

4 to 5 years

7 to 8 years

−

10 years

5 years

Recommendations

Replace with a new SERVOPACK.

Replace with a new SERVOPACK.

(Depending on results of investigation.)

Replace with a new SERVOPACK.

(Depending on results of investigation.)

Replace with a new SERVOPACK.

Replace with a new SERVOPACK.

(Depending on results of investigation.)

Operating Conditions

• Ambient Temperature: Annual average of 30

°C

• Load Factor: 80% max.

• Operation Rate: 20 hours/day max.

5-7

Applications and Inquiries

YASKAWA ENGINEERING Global Office

<Japan>

YASKAWA ENGINEERING CORPORATION

480 Kamifujisawa, Iruma, Saitama 358-0013, Japan

Phone +81-4-2966-1862 Fax +81-4-2966-2766 http://www.yaskawa-eng.co.jp

<North & South America>

YASKAWA ELECTRIC AMERICA, INC.

2121 Norman Drive South, Waukegan, IL 60085, USA

Phone +1-874-887-7000

Phone +1-800-YASKAWA(1-800-927-5292)

from U.S.A. and Canada

Fax +1-874-887-7440 http://www.yaskawa.com

Yaskawa Electrico do Brasil Ltda.

Av. Fagundes Filho, 620-Saude

~

Phone +55-11-5071-2552 Fax +55-11-5581-8795 http://www.yaskawa.com.br

<Europe>

YASKAWA ENGINEERING EUROPE GmbH

Am kronberger Hang 2, 65824 Schwalbach, Germany

Phone +49-6196-569-520 Fax +49-6196-888-598 http://www.yaskawa.de

<Asia>

YASKAWA ENGINEERING ASIA-PACIFIC PTE. LTD.

151 Lorong Chuan, #04-01B,

New Tech Park, Singapore 556741, SINGAPORE

Phone +65-6282-1601 Fax +65-6382-3668 http://www.yaskawa.com.sg

YASKAWA ELECTRIC (SHANGHAI) CO., LTD.

No.18 Aona Road, Waigaoqiao Free

Trade Zone, Pudong New Area

Shanghai 200131, P.R. China

Phone +86-21-5385-2200 Fax +86-21-5385-3299

YASKAWA ENGINEERING KOREA CORPORATION

KFPA Bldg. #1201, 35-4, Youido-Dong

Yeongdungpo-Ku, Seoul 150-010, Korea

Phone +82-2-3775-0337 Fax +82-2-784-8495 http://www.yaskawa.co.kr

YASKAWA ELECTRIC TAIWAN CORPORATION

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

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

YASKAWA ELECTRIC (THAILAND) CO., LTD.

252/101 20th floor, Muang Thai-phatra Office Tower

2, Rachadaphisek Road, Huaykwang,

Bangkok 10320, THAILAND

Phone +662-693-2200 Fax +662-693-2204

YASKAWA ELECTRIC ENGINEERING 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.

©

2004 YASKAWA ELECTRIC CORPORATION. All rights reserved.

MANUAL NO. KG22E

Printed in Japan October 200 4 04 10