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AC Servo Drives Sigma-V Series USER`S MANUAL Setup

1. Shield box Power supply ig Noise Brake Power ingle phase memes c Me AD 200 VAC 5 filter Supply abso Contral SENG ontrol a a Brake power MS Wo4 voy 9 VW s J5 E supply O 3 Omm 24 VDC Ons io o IServomotor Power supply 8 2 o One turn Three phase hs 5 Noise 8 L1 L2 L3 400 VAC o filter i a 5 CN2l 5 mm t 5 M Encoder s 5 s Surge o absorber One lum PE MECHATROLINK II i CN 5 PE controller o o CN1 CN8 Core Core 1 EN Two turn Clamp Clamp Two turn controller Symbol Cable Name Specification 0 I O signal cable Shield cable Q Safety signal cable Shield cable Motor main circuit cable Shield cable Encoder cable Shield cable Control power cable Shield cable Main circuit cable Shield cable MECHATROLINK II communication cable Shield cable 2 supply and the 24 VDC power supply Model number FN2070 6 07 SCHAFFNER 42 2 24 Products that have received CE marking are recommended for the 24 VDC power supply Install the following noise filter on the power line between the single phase 200 V power For more information on this filter refer to ZW Series Product Catalog KAEP S800000 2 4 EMC Installation Conditions Three phase 400
2. 5 4 JOG Operation Using a Digital Operator This section describes the procedure for executing a JOG operation using a digital operator Connect the digital operator to the SERVOPACK CN3 connector Z V series IIl series JUSP OPO5A 1 E JUSP OP05A Digital Operator Digital Operator 2322 SGDV SERVOPACK e A JL SLA y uum lvl PES AA la lt CHARGE c 1 o alo 6 D 1 t aa CT lon ID 1 Digital operator conversion conneotor jon Model JZSP CVS05 A3 E 4 Ou 4 on Insert securely into pe f SERVOPACK CN3 connector e D e 5 EN u on B Jen s glory CQ The digital operator can be connected or removed while the SERVOPACK power is ON Step Display after operation Keys Operation BB PRM MON Turn ON the power to the SERVO Un000 00000 PACK message saying that the file 1 Un002 00000 list is being loaded will appear and then Un008 0000000000 the parameter monitor mode will Un00D 0000000000 appear FUNCTION Press the Key to view the main Alm History em 2 TOC menu of the Utility Function mode Z Search Program JOG Press the Key or Key to select Fn002 Trial Operation Checking Servomotor Operation 5 7 5 8 5 Trial Operation Checking Servomotor Operation
3. Brake Power Supply SERVOPACK U VW ron E E ES Brake ower supply E Noise jami S mm Om Three phase S filter L1 L2 L3 Ors e 9 200 VAC 9 0 Servomotor Surge L1C L2C One tur absorber CN2 jum S E Encoder oj o PE a MECHATROLINK II 5 CN6 controller o CN1 CN8 P I I core Core Two turn I N Two turn Clamp e Host Safety unit controller Symbol Cable Name Specification 0 I O signal cable Shield cable Q Safety signal cable Shield cable Motor main circuit cable Shield cable Encoder cable Shield cable Main circuit cable Shield cable MECHATROLINK II communication cable Shield cable n Installation 2 21 2 Installation Three phase 200 V SGDV LILILIA11A OOO 180 200 330 Shield box Brake Power Supply SERVOPACK U VW E E E Brake lower supply Noise o o Three phase 5 filter L1 L2 13 o O Em 200 VAC 9 o Servomotor Surge L1C L2C One tur absorber i a CN2 jam 6 m i Encoder o o a Ead iir NG 5 CNG controller O CN1 CN8 PE I I Core Core Two turn N Two turn Clamp Q Host Safety uni controller Symb
4. 1QF Molded case circuit breaker 1FIL Noise filter 1KM Magnetic contactor for control power supply 2KM Magnetic contactor for main power supply 1Ry Relay SGDV 210D 260D 280D 370D R SIT SERVOPACK 1QF AN SGDV OOOD 3SA t e 1FIL 2KM 4 T L1 A 9 L2 L3 1KM DC Powel 9 24V su avy o For servo 24V 1Ry alarm display 1Ry NG amp 1PL Servo power Servo power 1 OV gt supply ON supply OFF 1KM Ee ATi I 1KM 1SA 1KM 1Ry 2KM 2SA 1PL Indicator lamp 1SA Surge absorber 2SA Surge absorber 3SA Surge absorber 1D Flywheel diode S T i SERVOPACK 10F EN SGDV OOOD 3SA EE D FIL oa Aa Ka DC power supply 24v For servo 24V i B1 6 CN1 1Ry alarm display B2 ALM A 31 1Ry T 4 SF amp 1PL 1 Servo power Servo power LOT ALM 32 1 Qv supply ON supply OFF 1KM e2 Em 1 NG a rH A 06 1KM 15A Regenerative 1KM 1Ry 2KM resistor unit 2SA 1QF Molded case circuit breaker 1FIL Noise filter 1KM Magnetic contactor for control power supply 2KM Magnetic contactor for main power supply 1Ry Relay 1PL Indicator lamp 1SA Surge absorber 2SA Surge absorber 3SA Surge absorber
5. Brake power supply Used for a servomotor with a 90 V brake Magnetic contactor encoder is used Safety function Turns the brake power supply devices ON and OFF t Install a surge absorber Motor main Encoder cable circuit cable SGMGV SGMSV Servomotor 1 Use a 24 VDC power supply with double insulation or reinforced insulation The power supply is not included 2 Before connecting an external regenerative resistor to the SERVOPACK refer to 3 4 Con necting Regenerative Resistors 3 Use a following power supply for 90 V brake For details refer to 2 V series Product Cat alog KAEP S800000 42 e For 200 V input voltage LPSE 2H01 E For 100 V input voltage LPDE 1H01 E 3 3 Main Circuit Wiring The names specifications and functions of the main circuit terminals required for trial operation are given below 3 3 Main Circuit Wiring 3 3 1 Names and Functions of Main Circuit Terminals p CHARGE Analog Pulse Models ps AA M II Models Name Tur Model SGDV OOO00 Description Single phase 100 to 115 V L1 L2 OOOF 10 to 15 50 60 Hz Main circuit input oooa Three phase 200 to 230 V terminals 10 to 15 50 60 Hz pe Three phase 380 to 480 V ee phase to gt 000D 10 to 15 50 60 Hz Single phase 100 to 115 V TE OOUF 10 to 15 50 60 Hz
6. 2 9 2 3 1 Orientation 2 9 2 3 2 Installation Standards 2 10 2 4 EMC Installation Conditions 2 12 n Installation 2 1 2 Installation 2 1 1 Servomotor Installation Environment 2 1 Installation Environment and Applicable Standards The installation environment and the applicable standards for servomotors and SERVOPACKs are described in this section 2 1 1 Servomotor Installation Environment W Ambient temperature 0 to 40 C W Ambient humidity 80 RH or less with no condensation W Altitude 1 000 m or less W Vibration resistance The servomotor will withstand the following vibration acceleration in three directions vertical side to side and front to back Servomotor Model Vibration Acceleration Front to at Flange EE SGMIV SGMAV SGMPS 3 Y Vertical SGMCS 02 to 35 49 m s Side to Sid n 2 i a ji sa bp F gt e to back direction 24 5m s Horizontal F SGMGV 55 to 1E 5 Impact Applied to the SGMCS 45 to 2Z 24 5 m s Servomotor SGMSV 70 14 7 m s Shock resistance 490 m s at servomotor flange W Installation site An environment that satisfies the following conditions Indoors and free of corrosive or explosive gases Well ventilated and free of dust and moisture Facilitates inspection and cleaning
7. cont d Problem Probable Cause Investigative Actions Corrective Actions 9 Check CR Rene SG to Correct the control mode Speed control Speed refer confirm if the control R nate selection parameter or the ence input is incorrect method and the input are ishal agreed input signal Check TREF and SG to Correct the control mode Torque control Torque ref confirm if the control selection parameter ofthe Servomotor erence input is incorrect method and the input are R mp Rotates agreed input signal Without Reference Speed reference offset is The SERVOPACK offset is Adjust the SERVOPACK Input incorrect adjusted incorrectly offset ii f Check Pn200 0 reference Correct the control mode Position control Reference SS pulse form or sign pulse selection parameter or the pulse input is incorrect signal input signal A SERVOPACK fault Replace the SERVOPACK occurred Check the setting of param Correct the parameter set Improper Pn001 setting eter Pn001 0 ting Check if excessive moment Dynamic DB esisioe disconnected of inertia motor overspeed Replace the SERVOPACK Brake Does or DB frequently activated and lighten the load Not Operate occurred There is a defective compo DB drive circuit fault nent in the DB circuit Replace the SERVOPACK Reduce the load so that the moment of inertia ratio vibrated during execution of Cheek the servomotor speed PS value or inc
8. External Terminal Terminal Name Symbols 1R9 3R5 5R4 8R4 120 170 210 260 280 370 Main circuit power input LLL2 L3 HIVI25 HIv2 0 HIv3 5 y ET EN terminals Control power input terminals 24V 0V HIV1 25 Servomotor connection U V W HIV1 25 HIv2 0 HIV mvs s HIV HIV terminals External regenerative resistor B1 B2 HIV1 25 HIV qjy45 HIV my connection B1 B2 2 0 5 5 8 0 terminals Ground terminal D HIV2 0 or higher Wiring and Connection 3 13 3 Wiring and Connection 3 3 3 Typical Main Circuit Wiring Examples 3 3 3 Typical Main Circuit Wiring Examples Use a molded case circuit breaker 1QF or fuse to protect the main circuit IMPORTANT The SERVOPACK connects directly to a commercial power sup ply it is not isolated through a transformer or other device Always use a molded case circuit breaker 1QF or fuse to pro tect the servo system from accidents involving different power System voltages or other accidents Install a ground fault detector The SERVOPACK does not have a built in protective circuit for grounding To configure a safer system install a ground fault detector against overloads and short circuiting or install a ground fault detector combined with a molded case circuit breaker Do not turn power ON and OFF frequently The power supply in the SERVOPACK contains a capacitor which causes a high charging current to flow when po
9. Operation OF sevoorr P Forvard O JOG Operation Window 5 12 5 5 JOG Operation Using SigmaWin cont d Step Operation Display Set the JOG speed The motor speed is set to 500 min Click ey if you need to change it oe foo min 1 Operation OF sevo Serva ON Servo ON Servo ON JOG Speed Setting Click a The display changes from Pri304 JOG Speed m fo min 1 Edit Servo OFF to Servo ON and is lit in green Operation 5 n Trial Operation Checking Servomotor Operation 5 13 5 Trial Operation Checking Servomotor Operation cont d Step Operation Display Start JOG operation se JOG Speed Setting When you click Oo the servomotor Pn304 JOG Speed 3 h Eoo min 1 Edit will rotate in the forward direction When Reverse Coreen you click w it will rotate in reverse 6 e o Servo ON Confirm that the servomotor operation is cor rect At the same time carefully inspect the servomotor s condition and check the follow ing points in particular If a problem is found correct it Is there any unusual vibration Is there any unusual sound s the temperature rising unusually high Servo OFF r JOG Speed Setting Click Pn304 JOG Speed ah Foo min 1 Screen display will return to the display shown at step 4 Operation 7 Oj Servo OFF M o Terminate JOG operation T 8
10. When not using the safety i function use the SERVOPACK with the safety function jumper connector JZSP CVHO5 E provided as an accessory inserted 100 VAC Brake power supply 1 Used for a servomotor with a brake When using the safety function insert a connection cable specifically for the safety function CT Safety function devices Magnetic contactor oder le used Tums the brake power supply ON and OFF Install a surge absorber Motor main circuit cable SGMJV SGMAV SGMPS Servomotor c 9 2 o o c c o O TD c t D c 1 Use a 24 VDC power supply not included 2 Before connecting an external regenerative resistor to the SERVOPACK refer to 3 4 Con necting Regenerative Resistors 3 3 3 Wiring and Connection 3 2 2 Connecting to SGDV LILILIA01A SERVOPACK 3 2 2 Connecting to SGDV LILILIA01A SERVOPACK Power supply Three phase 200 VAC RST Molded case circuit breaker MCCB Protects the power supply line by shutting the circuit OFF when overcurrent is detected Noise filter Used to eliminate external noise from the power line SGDV LILILIA01A SERVOPACK Magnetic contactor Turns the servo ON and OFF Install a surge absorber Connection cable for digital operator C Connection cable j
11. Step Display after operation Keys Operation BB Pn304 00500 Press the Key 3 Un 005 00909 The display changes to the execution Un002 00000 display of Fn002 Un00D 0000000000 RUN ns 0 0000 Press the Key RUN is dis 4 Un000 00000 E played as the status and the servomo Unoo2 00000 tor power turns ON Un00D 0000000000 Press the Key to rotate the ser vomotor in the forward direction and press the Key to rotate it in reverse The servomotor will operate while the key is being pressed The factory setting is 500 min Forward RUN rotation Pn304 00500 5 Un000 00000 Un002 00000 Reverse Un00D 0000000000 rotation Confirm that the servomotor operation is correct At the same time carefully inspect the servomotor s condition and check the following points in particu lar If a problem is found correct it Is there any unusual vibration Are there any unusual sound Is the temperature rising unusually high BB After confirming that the servomotor is Pn304 00500 running correctly press the 6 Un000 00000 Key Un002 00000 BB is displayed as the status and the Un00D 0000000000 servomotor power turns OFF FUNCTION Alm Histor sg y Press the Key to return to the 7 JOG Z Search Program JOG main menu of the Utility Function mode 5 4 JOG Operation Using a Digital Operator Step Display after operation Keys Operation BB PRM MON Un000 00000 GES 8 Un002 0000
12. Wiring and Connection 3 Wiring and Connection 3 3 4 Wiring the Main Circuit Terminal Connector Spring Type 3 3 4 3 18 Precautions When using more than one SERVOPACK with a DC power supply refer to these manuals here for the appropriate wiring connections and required settings e X V Series User s Manual Design and Maintenance Rotational Motor Analog Voltage and Pulse Train Ref erence SIEP S800000 45 e X V Series User s Manual Design and Maintenance Rotational Motor MECHA TROLINK II Communications Reference SIEP S800000 46 Wiring the Main Circuit Terminal Connector Spring Type Two types of main circuit terminals are available a connector type and a terminal Screw type SERVOPACKs with terminal screws SGDV 180A 200A 330A 470A 550A 590A 780A 8R4D 120D 170D 210D 260D 280D 370D SERVOPACKs with connectors SGDV R70F R90F 2R1F 2R8F R70A R90A IR6A 2R8A 3R8A 5R5A 7R6A 120A 1R9D 3R5D 5RAD A spring connector is used for SERVOPACKs with connectors The following sec tion describes how to wire the main circuit terminal using a connector A CAUTION Observe the following precautions when wiring main circuit terminal connectors Do not turn ON the power to the SERVOPACK until all wiring has been completed including the main circuit terminal connectors Remove detachable main circuit terminal connectors from the SERVOPACK prior to wiring Insert only one main
13. cont d Sam C Investigative Acti Corrective Acti Alarm Name ause nvestigative Actions orrec ve Actions The ambient temperature Measure the ambient tem The ambient temperature around the servomotor is perature around the servo a too high molor must be 40 C or less The servomotor load is Check the accumulated The servomotor load must A 860 greater than the rated load ratio monitor Un009 be within the specified Encoder load to see the load range Overheated Turn the power supply OFF Only when an and then ON again If the absolute encoder is connected Detected on the encoder side An encoder fault alarm still occurs the ser occurred vomotor may be faulty Replace the servomotor Turn the power supply OFF and then ON again If the PUN fault alarm still occurs the SER VOPACK may be faulty Replace the SERVOPACK A 8A0 9 External Encoder Error of Scale Setting of the zero point position of absolute exter nal scale failed because the servomotor rotated Before setting the zero point position use the fully closed feedback counter monitor UnOOE to con firm that the servomotor is not rotating The servomotor must be stopped while setting the Zero point position An external encoder fault occurred Replace the external encoder A 8A19 External Encoder Error of Module An external encoder fault occurred Replace the external encoder A
14. A E02 7 MECHA TROLINK II Internal Synchronization Error 1 A parameter was changed by the digital operator or the personal computer during MECHA TROLINK II communi cations Confirm the way the parameters are edited Stop changing parameters using digital operator or personal computer during MECHATROLINK II com munications MECHATROLINK II transmission cycle fluctu ated Remove the cause of trans mission cycle fluctuation at host controller Turn the power supply OFF and then ON again If the A cade fault alarm still occurs the SER VOPACK may be faulty Replace the SERVOPACK A E40 MECHA Setting of MECHA 7 TROLINK II TROLINK II transmis Check the MECHA Set the transmission cycle Transmission Cycle Setting Error sion cycle is out of specifications range TROLINK II transmission cycle setting to the proper value 2 3 These errors occur in SERVOPACKs using MECHATROLINK II The alarm that may occur in a SERVOPACK with option module for fully closed loop control n Troubleshooting 6 21 6 Troubleshooting cont d Alarm Cause Investigative Acti Corrective Acti Alarm Name gative Actions orrective Actions burn data s M Check the WDT data updat Update the WDT data at the A E50 2 ne ah shai ing for the host controller host controller correctly S EGLINKI Turn the power supply OFF and then ON again If the EX nennen A eee f
15. Check if the host controller is executing data parity checks Execute a multi turn data parity check Check noise in the input output signal line between the SERVOPACK and the host controller Take measures against noise and again execute a multiturn data parity check n Troubleshooting 6 35 6 Troubleshooting cont d Problem Probable Cause Investigative Actions Corrective Actions Check the external power supply 24 V voltage for CDD du the input signal PPly 8e bd Hei d pro Check if the overtravel limit Correct the overtravel limit BOC SHE s abun switch operates properly Switch Check if the overtravel limit Correct the overtravel limit switch is wired correctly switch wiring Check the TUCHIAHOTKOT the Stabilize the external power input signal external power supply 424 V voltage supply 24 V voltage Pply ge Forward or reverse run pro Check if the overtravel limit Stabilize the operation of hibited signal malfunction switch operates correctly the overtravel limit switch ing OR rtravel B Check if the overtravel limit OT switch wiring is correct Correct the overtravel limit check for damaged cables switch wiring or loose screws Check if the P OT signal is If another signal is allocated Pana OCA BA COT allocated in Pn50A 3 in Pn50A 3 select P OT N OT allocation parame Check if the N OT signal is If a gnal is
16. Change the encoder cable layout so that no surge is applied 6 3 Troubleshooting Malfunction Based on Operation and Conditions of the Servomotor cont d Problem Probable Cause Position Error FG potential varies because of influence of machines such as welders at the servo motor SERVOPACK pulse count error due to noise Excessive vibration and shock to the encoder Unsecured coupling Investigative Actions Check if the machines are correctly grounded Check if the input output signal line from the encoder is influenced by noise Check if vibration from the machine occurred or servo motor installation is incor rect mounting surface accuracy fixing alignment etc Check if a position error Corrective Actions Ground machines correctly and prevent diversion to the FG at the PG side Take measures against noise in the encoder wiring Reduce the machine vibra tion or mount the servomo tor securely Secure the coupling between the machine and servomotor Use input signal cable with the specified specifications The I O signal cable length must be no more than 3 m Replace the servomotor Replace the SERVOPACK Without between machine and servo CCurs at the coupling Alarm motor between machine and servo motor cont d The I O signal cable must be P twisted pair or shielded Noise interference due to twisted
17. Reduce the servomotor Parameter Size These warnings occur in SERVOPACKs using MECHATROLINK II A 921 Check the operat reference speed Dynamic Brake The rotating energy at 18 frequency ofthe Reduce the moment of Overload 8 EY DB with power con eet a DB stop exceeds the d by DB resi inertia Warning before the DB resistance capacity ae Y t resis lt Reduce the number of alarm A 731 UROB id times of the DB stop oper occurs Un00B ation The SERVOPACK may be 5 AK fault _ faulty Replace the SERVO PACK A 930 The battery connec Check the battery Reconnect the battery Absolute tion 1s incorrect connection Encoder Battery Error The battery voltage is The absolute lower than the speci M nd the battery Replace the battery encoder battery fied value 2 7 V ge voltage is lower than the specified value The SERVOPACK may be Only when an SPRV OPACK fault _ faulty Replace the SERVO absolute encoder is OCCUTEC PACK connected A941 Parameters that require Change of h Baveb q Turn OFF the power and ON Parameters bs deck ave Deen again Requires Restart 7 78 C A 94A raa rote Disabled parameter _ Use the correct parameter number was used number Parameter Num ber Error A 94B Data Setting a rd send ios Set the value of the parameter Warning 2 MES OUPSICe TAG Pange 10 5 within the allowable range Out of Range the command data A
18. Motor main circuit cable SGMJV SGMAV SGMPS Wiring and Connection SGMGV SGMSV Servomotor 1 Use a 24 VDC power supply not included ca 2 Before connecting an external regenerative resistor to the SERVOPACK refer to 3 4 Con necting Regenerative Resistors 3 7 3 8 3 Wiring and Connection 3 2 6 Connecting to SGDV LILILID11A SERVOPACK 3 2 6 Connecting to SGDV OOOD11A SERVOPACK Power supply Three phase 400 VAC R ST Molded case circuit breaker MCCB Protects the power supply line by shutting the circuit OFF when overcurrent is detected Noise filter Used to eliminate external noise from the power line SGDV HIDIDD411A Magnetic SERVOPACK contactor Turns the servo ON and OFF Install a surge o absorber Digital operator Connect to the MECHATROLINK II Personal Connection cable computer for digital operator Connection cable for personal computer c 1 0 signal cable 100 200 VAC DC power 1 Host controller supply 24 V f When not using the safety function use the SERVOPACK with the safety function jumper connector JZSP CVHO5 E provided as an accessory inserted CJ When using the safety function insert a connection cable specifically for the safety function Battery case _ CR CD when an absolute Regenerative resistor 2
19. Shield box Brake Power Supply SERVOPACK z U V W Ts 3 Em Brake ower supply Noise S o o Three phase memes amp mu L1 L2 L3 Oka EO O RB 200 VAC 9 o Servomotor Surge L1C L2C One turi absorber 2 E CN2 jam p G Encoder 9 o CN1 CN8 I I Core Core PE Two turn I N Two turn Clamp e PE Host Safety unit controller Safety unit Symbol Cable Name Specification 0 I O signal cable Shield cable Q Safety signal cable Shield cable Motor main circuit cable Shield cable Encoder cable Shield cable Main circuit cable Shield cable 2 4 EMC Installation Conditions Three phase 200 V SGDV LILILIAO1A LILILI 180 200 330 Shield box Brake Power Supply SERVOPACK U VW a Brake Power supply Noise Ut E S Three phase G filter L1 L2 L3 o Om 200 VAC 9 o Servomotor Surge LIC L2C One turn absorber E 2 E CN2 m 5 p Encoder o 9 CN8 I Core Core PE Two turn I N Two turn Clamp PE o e Host Safety unit controller Symbol Cable Name Specification 1 O signal cable Shield cable Safety signal cable Shield cable Motor main circuit cable Shield cable Encoder cable Shield cable Main circuit cable Shield cable n Installation 2 15 2 Installation
20. The SERVOPACK may be faulty Replace the SERVO PACK n Troubleshooting 6 29 6 Troubleshooting 6 3 Conditions of the Servomotor Troubleshooting Malfunction Based on Operation and Troubleshooting for the malfunctions based on the operation and conditions of the servomotor is provided in this section Be sure to turn OFF the servo system before troubleshooting items shown in bold lines in the table For problems not described here refer to the following manuals e Z V Series User s Manual Design and Maintenance Rotational Motor Analog Volt age and Pulse Train Reference SIEP S800000 45 e X V Series User s Manual Design and Maintenance Rotational Motor MECHA TROLINK II Communications Reference SIEP S800000 46 not input Problem Probable Cause Investigative Actions The control power supply is Check voltage between not ON power supply terminals The main circuit power sup Check the voltage between ply is not ON power supply terminals Wiring of I O signal connec J Check if the connector CN1 tor CN1 faulty or discon is properly inserted and con nected nected Servomotor or encoder wir Check the wiring ing disconnected Run under no load and Servomotor yeng check the load status Does Not n Start Speed position references Check reference input pins Setting for Pn50A to Pn50D Input Signal Selection is incorrect Check settings of parame ters Pn50A to P
21. Free of high magnetic field 2 1 Installation Environment and Applicable Standards 2 1 2 SERVOPACK Installation Environment E Surrounding air temperature 0 to 55 C B Ambient humidity 90 RH or less with no condensation E Altitude 1 000 m or less E Vibration resistance 4 9 m s E Shock resistance 19 6 m s W Installation Precautions Mounting in a Control Panel To prevent the temperature around the SERVOPACK from exceeding 55 C take into account the size of the control panel the layout of the SERVOPACK and the cooling method For details refer to 2 3 SERVOPACK Installation Mounting Near a Heating Unit To prevent the temperature around the SERVOPACK from exceeding 55 C suppress radiant heat from the heating unit and temperature rise due to convection Mounting Near a Vibration Source To prevent vibration from being transmitted to the SERVOPACK install a vibration isolator underneath the SERVOPACK Mounting to a Location Exposed to Corrosive Gas Take measures to prevent exposure to corrosive gas Corrosive gases will not imme diately affect the SERVOPACK but will eventually cause electronic components and contactor related devices to malfunction Other Locations Do not mount the SERVOPACK in locations subject to high temperatures high humidity dripping water cutting oil dust iron filings or radiation Note When storing the SERVOPACK with the power OFF store it in an environment with the following
22. WI Fs E et Brake supply 9 jal um 5 24 VDC DAS mo 99 Servomotor Power supply amp o One turn Three phase mem 5 hg G m L1 L2 L3 400 VAC o filter D 2 9 CN2m S 5 S Encoder Surge One turn 9 bsorber CN1 CN8 FE Core Core Two turn Two turn CI CI Host Safety unit controller Symbol Cable Name Specification 0 I O signal cable Shield cable Q Safety signal cable Shield cable Motor main circuit cable Shield cable Encoder cable Shield cable Control power cable Shield cable Main circuit cable Shield cable 2 3 Products that have received CE marking are recommended for the 24 VDC power supply Install the following noise filter on the power line between the single phase 200 V power supply and the 24 VDC power supply Model number FN2070 6 07 SCHAFFNER For more information on this filter refer to X V Series Product Catalog KAEP S800000 42 Installation 2 17 2 Installation Three phase 400 V SGDV LILILIDOIA LILILI 210 260 280 370 Shield box cove supply Brake Power ingle phase 200 VAC Supply Surge SERVOPACK absorber Control a m power UVW m Em Brake supply P 24 V 0 V n S S 24 VDC 1 Q Eo Om Servomotor P
23. controller Safety unit Symbol Cable Name Specification 0 I O signal cable Shield cable Safety signal cable Shield cable Motor main circuit cable Shield cable Encoder cable Shield cable Main circuit cable Shield cable 2 12 2 4 EMC Installation Conditions Three phase 200 V SGDV LILILIAO1A LILILI R70 R90 IR6 2R8 3R8 5R5 7R6 Shield box Brake Power Supply SERVOPACK Power supply Noi 2 ON Me g E dm EINE oise 5 ES E Three phase memes amp iam SMltl2ls O6 AO D 200 VAC 9 o Servomotor o Surge 5 LIC L2C One turn absorber 9 a CN2 S 5 Encoder m 5m 9 5 oj CN1 CN8 I I Core Core PE Two turn I N Two turn Clamp PE o e Host Safety unit controller Symbol Cable Name Specification 1 O signal cable Shield cable Safety signal cable Shield cable Motor main circuit cable Shield cable Encoder cable Shield cable Main circuit cable Shield cable n Installation 2 13 2 Installation 2 14 Three phase 200 V SGDV LILILIAO1A 000 120
24. o 2 CN2 gt m E Encoder 9 o PE tx wecanan DE ow 9 o CN1 CN8 PE 4m ES Two turn Two turn Clamp Host Safety unit controller Symbol Cable Name Specification T O signal cable Shield cable Safety signal cable Shield cable Motor main circuit cable Shield cable Encoder cable Shield cable Main circuit cable Shield cable MECHATROLINK II communication cable Shield cable n Installation 2 Installation Three phase 200 V SGDV LILILIA11A 000 R70 R90 1R6 2R8 3R8 5R5 7R6 Shield box Brake Power Supply SERVOPACK lal P Iv U VW o E Threephase 5 La 12 13 O6 mo 200 VAC o E o Surge 5 mI LAC L2C One tur absorber 9 a o CN2 jem 5 mm E D 9 f PE 3 MECHATROLINK II FS amp GNG controller an Core Core Two turn Two turn Clamp Te Host Safety uni controller Symbol Cable Name Specification 0 I O signal cable Shield cable Q Safety signal cable Shield cable Motor main circuit cable Shield cable Encoder cable Shield cable Main circuit cable Shield cable MECHATROLINK II communication cable Shield cable 2 20 2 4 EMC Installation Conditions Three phase 200 V SGDV LILILIA11A 000 120 Shield box
25. 3 F1 Press the Up or Down V Cursor LI Key to select Fn002 4 m Press the DATA SHIFT Key for approxi LI mately one second 5 O Press the MODE SET Key LI The servomotor power will turn ON MODE SET n Trial Operation Checking Servomotor Operation 5 5 5 Trial Operation Checking Servomotor Operation Step Display after operation Keys Operation 6 T LI Press the Up Cursor Key to rotate the ser vomotor in the forward direction and press the Down Cursor Key to rotate it in reverse The servomotor will operate while the key is being pressed The fac tory setting is 500 min Forward rotation Reverse rotation Confirm that the servomotor operation is correct At the same time carefully inspect the servomotor s condition and check the following points in particular Ifa problem is found correct it Is there any unusual vibration Is there any unusual sound Is the temperature rising unusually high Press the MODE SET Key The servo motor power will be OFF Note The servomotor can be turned OFF by pressing the DATA SHIFT Key for approximately one second C 2 DATA 4 Press the DATA SHIFT Key for approxi mately one second Fn002 is displayed again 9 T l Alternate display Press the MODE SET Key to return to the initial display step 1 5 6 5 4 JOG Operation Using a Digital Operator
26. 9 53 23 20 16 12 3 5 7 0 8 5 41 33 29 24 10 5 5 7 1 0 3 47 43 38 31 8 8 0 7 1 2 241 55 49 40 6 14 0 7 1 6 1 35 79 70 57 4 22 0 7 2 0 0 85 91 81 66 Note The values in the table are for reference only Wiring and Connection 3 Wiring and Connection 3 3 2 SERVOPACK Main Circuit Wire Size 3 12 E Single phase 100 V Terminal SERVOPACK Model SGDV External Terminal Name Symbol ymbols R70 R90 2R1 2R8 Main circuit power input terminals L1 L2 HIV1 25 HIV2 0 Control power input terminals L1C L2C HIV1 25 Servomotor connection terminals U V W HIV1 25 External regenerative resistor connection terminals B1 B2 HIV1 25 Ground terminal HIV2 0 or higher m Three phase 200 V External Terral SERVOPACK Model SGDV Terminal Symbols Name y R70 R90 R6 2R amp 3R8 5R5 7R6 120 180 200 330 470 550 590 780 Main circuit power input F P2 Hvi25 HIV2 0 mis HIV HI MY HIV22 0 terminals L3 Control power input DC HIV1 25 terminals Servomotor connection U V W HIV1 25 HIV2 0 HIV RIY DIY HIV14 0 HIV22 0 terminals External regenerative resistor HIVI 25 BIV HIV HIV Hivs o HIVv22 0 connection terminals roune Qo HIV2 0 or higher m Three phase 400 V 3 3 Main Circuit Wiring SERVOPACK Model SGDV
27. 940 Data Setting Calculation result of Set the value of the parameter P Warning 3 set value is incorrect within the allowable range Calculation Error S c A 94D 6 Data Setting Parameter size setin Use the correct parameter 2 Warning 4 command is incorrect size 3 6 27 6 Troubleshooting cont d Neu rp RAM Cause Corrective Actions A 94E Change the setting value of Data Setting Taha Pn850 or the LT_MOD data Warning 5 du x cL NES for the LTMOD ON com Latch mode VENTURE mand sent by the host con error troller to the proper value A 95A Command sending Send a command after com Command condition is not satis mand sending condition is Warning 1 fied satisfied AIB SERVOPACK Do not sentan unsupported Command received unsupported command pp Warning 2 command i Command sending A 95D condition for latch Send a command after Command elated commands as command sending condi Warning 4 bed tion is satisfied A 95E Subcommand sending Send a command after com Command condition is not satis mand sending condition is Warning 5 fied satisfied A 95F Command Undefined command Do not use an undefined Warning 5 was sent m command Undefined Com i mand Correct the MECHA MECHATROLINK II Confirmithewirin TROLINK II wiring wiring is incorrect Or connect a terminal to the terminal station Take measures against noise A 960 Check the MEC
28. Fn000 to see if the DB overload alarm A 730 or A 731 was reported Change the SERVOPACK model operation condi tions or the mechanism so that the DB does not need to be used so frequently The generated regenera tive energy exceeded the SERVOPACK regenera tive energy processing capacity Check the regenerative load ratio monitor Un00A to see how many times the regen erative resistor has been used Check the operation condi tion including overload and reconsider the regenerative resistor value n Troubleshooting P e 6 6 6 Troubleshooting cont d Alarm era Akai INES Cause Investigative Actions Corrective Actions Check the regenerativeload Change the regenerative The SERVOPACK regen ratio monitor Un00A to see resistance value to a value erative resistance is too how many times the regen larger than the SERVO small erative resistor has been PACK minimum allowable used resistance value A 100 co was applied Check to see if the operat Reduce the load applied to Overcurrent or stopped or fining aba ing conditions are outside the servomotor or increase neat ane Ia nee 4 8 servo drive specifications the operation speed verheate i f An overcurrent Improve the wiring or Take countermeasures for IGBT or heat one Malfunction caused by installation environment iig of de Fd Use an FG of SERVOPACK noise interference 20r Heer noise wire size eq
29. ON Residual voltage may cause electric shock Follow the procedures and instructions provided in this manual for trial operation Failure to do so may result not only in faulty operation and damage to equipment but also in personal injury lt The multi turn output range for the V Series absolute position detecting System is different from that of earlier systems 15 bit and 12 bit encoders In particular change the system to configure the X series infinite length positioning system with the V Series The multi turn limit value need not be changed except for special applica tions Changing it inappropriately or unintentionally can be dangerous Ifthe Multi turn Limit Disagreement alarm occurs check the setting of parameter Pn205 in the SERVOPACK to be sure that it is correct If Fn013 is executed when an incorrect value is set in Pn205 an incorrect value will be set in the encoder The alarm will disappear even if an incorrect value is set but incorrect positions will be detected resulting in a dangerous situation where the machine will move to unexpected positions Do not remove the front cover cables connectors or optional items from the upper front of the SERVOPACK while the power is ON Failure to observe this warning may result in electric shock Do not damage press exert excessive force on or place heavy objects on the cables Failure to observe this warning may result in electric shock stopping operat
30. You will return to the main window Click al to end JOG operation 5 14 Refer to the online manual for SigmaWin for details Follow the steps below to view the online manual How to view the online manual Turn ON the computer Open the Manual folder Open the YE Applications folder Open SigmaWin English Edition Online Manual 6 Troubleshooting This chapter describes the problems that can occur during setup and suggests measures for correcting them 6 1 Troubleshooting of Alarms 6 2 6 2 Troubleshooting of Warnings 6 25 6 3 Troubleshooting Malfunction Based on Operation and 6 30 Conditions of the Servomotor n Troubleshooting m Le 6 2 6 Troubleshooting 6 1 Troubleshooting of Alarms When an error occurs in SERVOPACKs an alarm display such as A OOO and CPFLILI on the panel operator Refer to the following table to identify the cause of an alarm and the action to be taken For alarms not described here refer to the following manuals e 2 V Series User s Manual Design and Maintenance Rotational Motor Analog Volt age and Pulse Train Reference SIEP S800000 45 e Z V Series User s Manual Design and Maintenance Rotational Motor MECHA TROLINK II Communications Reference SIEP S800000 46 Al aaan a g Cause Investigative Actions Corrective Actions Set the power supply volt T
31. another signal is allocated ters Pn50A 3 Pn50B 0 allocated in Pn50B 0 in Pn50B 0 select N OT Check Pn001 0 and Pn001 1 Select a servo mode stop when the servomotor power method other than coast to Incorrect servomotor stop is OFF stop method selection Check Pn001 0 and Pn001 1 Select a servo mode stop method other than coast to when in torque control i stop Improper Improper limit switch posi Install the limit switch at the Position to tion and dog length appropriate position Stop by The overtravel limit switch Install the overtravel limit OT Signal position is too short for the switch at the appropriate coasting distance Position Error Without Alarm Noise interference due to improper encoder cable specifications Noise interference due to length of encoder cable Noise influence due to dam aged encoder cable Excessive noise interference to encoder cable 6 36 The encoder cable must be tinned annealed copper twisted pair or shielded twisted pair cable with a core of 0 12 mm min Check the encoder cable The encoder cable length length must be no more than 20 m Check if the encoder cable is bent or if its sheath is damaged Check if the encoder cable is bundled with a high cur rent line or near a high cur rent line position Use encoder cable with the specified specifications Replace the encoder cable and correct the encoder cable layout
32. cables together with the I O signal cables or the encoder cables in the same duct Keep them separated by at least 30 cm Failure to do so may result in malfunction Use shielded twisted pair wires or multi core shielded twisted pair wires for I O signal cables and the encoder cables I O signal cables must be no longer than 3 m encoder cables must be no longer than 50 m and control power supply 24 V 0 V cables for a 400 V input SER VOPACK must be no longer than 10 m Do not touch the power terminals while the CHARGE lamp is ON after turning power OFF because high voltage may still remain in the SERVOPACK Make sure the charge indicator is off first before starting an inspection 3 2 System Configuration Diagram 3 2 System Configuration Diagram 3 2 1 Connecting to SGDV LILILIF01A SERVOPACK Power supply Single phase 100 VAC R T Molded case circuit breaker MCCB Protects the power supply line by shutting the circuit OFF when overcurrent is detected Digital Noise filter operator Used to eliminate SGDV OOOF01A external noise from SERVOPACK the power line Magnetic contactor Turns the servo ON and OFF Install a surge absorber Personal computer P umm Connection cable for digital operator e one Connection cable for personal computer I O signal cable Regenerative resistor
33. circuit cable per opening in the main circuit terminal connector Make sure that no part of the core wire comes into contact with i e short circuit adjacent wires 3 3 Main Circuit Wiring E Wiring Procedure 1 Remove the main circuit terminal connector from the SERVOPACK Enlarged View lee 1 L1 rz M L2 oul L3 O0 3 L1C 1 O D IL2C B1 O O wei d 1 Press the lock jg 2 Remove the main circuit terminal e 94 connector while L pressing the lock Main circuit terminal connector 2 Strip the end of the wires Applicable wire sizes Refer to 3 3 2 SERVOPACK Main Circuit Wire Size 8 to 9 mm 3 Open the wire terminal on the terminal connector housing with a tool using the following methods Either method can be used to open the wire terminal E Using a spring opener Use the spring opener provided with the SERVOPACK to open the wire terminal as shown in the diagram Note The spring opener 1981045 1 made by Tyco Electronics AMP K K can also be used Al Wiring and Connection Spring opener 3 19 3 Wiring and Connection 3 3 4 Wiring the Main Circuit Terminal Connector Spring Type W Using a screwdriver Use a commercially available flat blade screwdriver with a blade width of 3 0 to 3 5 mm Insert the screwdriver into the slot and press
34. down firmly to open the wire termi nal 4 Insert the wire core into the opening and then secure the wire into position by removing the opener or screwdriver to close the opening Make all the required connections in the same way Attach the connector to the SERVOPACK omn 3 20 3 4 3 4 1 3 4 Connecting Regenerative Resistors Connecting Regenerative Resistors This section describes how to connect regenerative resistors and set the regenerative resistor capacity To learn how to select a regenerative resistor and for detailed spec ifications refer to XV Series Product Catalog KAEP S800000 42 For more information on how to set the capacity of regenerative resistors refer to 2 V Series User s Manual Design and Maintenance SIEP S800000 45 46 A WARNING Be sure to connect the regenerative resistor correctly Failure to observe this warning may result in fire or damage to the product Connecting Regenerative Resistor SERVOPACKs Model SGDV R70F R90F 2R1F 2R8F R70A R90A 1R6A 2R8A Connect an external regenerative resistor between B1 and B2 terminals After connecting a resistor select the capacity Enlarged View Wiring and Connection 3 21 3 Wiring and Connection 3 4 1 Connecting Regenerative Resistor E SERVOPACKs Model SGDV 3R8A 5R5A 7R6A 120A 180A 200A 330A 1R9D 3R5D 5R4D 8R4D 120D 170D Disconnect
35. lock 5S y um Enlarged View B3 og Fes 2 Remove the NLS 1 Press the lock servomotor connection terminal Servomotor Lock connector while connection ressing the lock terminal connector p g 2 Slide the lock injector of the safety function jumper connector to the SERVOPACK side to unlock and remove the safety function jumper connector ANN irl 1 Slide the lock injector to the SERVOPACK Lock injector Safety function 2 Remove the safety function jumper connector jumper connector while the lock injector is slid to the SERVOPACK side R Safety Function Note The safety function jumper connector may be damaged if it is removed without being unlocking 3 Connect a safety device to CN8 4 5 5 Trial Operation Checking Servomotor Operation This chapter describes how to perform trial operation 5 1 Outline 5255 ag a a a ee 5 2 5 2 Inspection and Checking before Trial Operation 5 2 5 3 JOG Operation Using a Panel Operator 5 5 5 4 JOG Operation Using a Digital Operator 5 7 5 5 JOG Operation Using SigmaWin 5 10 n Trial Operation Checking Servomotor Operation 5 1 5 Trial Operation Checking Servomotor Operation 5 1 5 2 Outline The
36. loop inte gral time constant Pn101 Factory setting Ti 20 0 ms Correct the speed loop inte gral time constant setting Pn101 Pn100 too high High Rotation Speed Overshoot on Position loop gain value Starting and Pn102 too high Stopping Incorrect speed loop integral time constant Pn101 set ting Incorrect moment of inertia ratio data Pn103 Absolute Encoder Position Difference Error The position saved in the host controller Noise interference due to when the improper encoder cable power was specifications turned OFF is different from the position when the power was next turned ON 6 34 Check the moment of inertia ratio setting Pn103 The encoder cable must be tinned annealed copper twisted pair or shielded twisted pair cables with a core of 0 12 mm min Correct the moment of iner tia ratio setting Pn103 Use encoder cable with the specified specifications 6 3 Troubleshooting Malfunction Based on Operation and Conditions of the Servomotor cont d Problem Probable Cause Noise interference due to length of encoder cable Noise interference due to damaged encoder cable Excessive noise interference at the encoder cable FG potential varies because of influence of machines Absolute such as welders at the servo Encoder motor Position Difference SERVOPACK pulse count Error The ing error due to noise inter position feren
37. regenerative Insufficient SERVO Check the operation condi Ae a NU PACK tion or the capacity using ouis ne e A VOPACK capacity Recon capacity or regenerative the capacity selection Soft sider the operation resistor capacity ware SigmaJunmaSize diti pa h Or regenerative power etc condiuons usung the capac has been continuously ity selection software Sig flowing back maJunmaSize etc Regenerative power con A 320 tinuously flowed back Check the load to the servo pe twe system Regenerative because negative load motor during operation andone gt aon condi nen Overload was continuously applied op The setting of parameter Pn600 is smaller than the Check the external regener Set the Pn600 to a correct external regenerative ative resistor connecuon value ne Togene and the value of the Pn600 resistor s capacity Change the regenerative The external regenerative Check the regenerative E ap ak again ar resistance is too high resistance tive resistor of appropriate capacity The SERVOPACK may be A EV Aue fault faulty Replace the SERVO es PACK When using a regenerative resistor built in the SERVO The regenerative resistor PACK disconnected when the Measure the resistance of Replace the SERVOPACK SERVOPACK power the regenerative resistor When using an external voltage was increased regenerative resistor Replace the external regen erative resistor A 330 z OP In the AC power input Check the power supp
38. temperature and humidity 20 to 85 C 90 RH or less with no condensation n Installation 2 4 2 Installation 2 1 3 Installation Conditions for Applicable Standards 2 1 3 Installation Conditions for Applicable Standards UL508C ele ENS0178 EN55011 A2 group classA EN61000 6 2 EN61800 3 EN61800 5 1 EN954 1 IEC61508 1 to 4 Overvoltage Category III operating Pollution degree 2 Protection class IP10 UL Standard and Low Voltage Directive Satisfy the conditions outlined in X V Series AC SERVOPACK SGDV Safety Installation Precautions TOBP C710800 10 Conditions EMC Directive Certification is required after installation in the user s machine under the conditions outlined in 2 4 EMC Installation Conditions of this manual 2 2 2 2 1 2 2 2 2 2 Servomotor Installation Servomotor Installation Orientation Servomotors can be installed either horizontally or vertically Servomotors with gears can be installed only horizontally depending on gear lubrica tion conditions Refer to 2 V Series Product Catalog KAEP S800000 42 for details Installation Standards The motor rated specifications rated output rated torque and rated speed are the continuous allowable values at an ambient temperature of 40 C when servomotors are installed with heat sinks For more information on heat sinks refer to 3 V Series Product Catalog KAEP S800000 42 When a motor is mounted on a smal
39. than the specified Measure the Dalen volt Replace the battery value 2 7 V age The SERVOPACK may be n Ee fault faulty Replace the SERVO PACK A 840 Encoder Data Error Detected on the encoder side A malfunction occurred in the encoder Turn the power supply OFF and then ON again If the alarm still occurs the ser vomotor may be faulty Replace the servomotor Malfunction of encoder because of noise interfer ence etc Correct the wiring around the encoder by separating the encoder cable from the servomotor main circuit cable or by checking the grounding and other wiring A 850 Encoder Overspeed Detected when the control power supply was turned OFF and then ON again Detected on the encoder side The servomotor was run ning at 200 min or higher when the control power supply was turned ON Check the speed monitor Un000 to confirm the ser vomotor speed when the power is turned ON Reduce the servomotor speed to a value less than 200 min and turn ON the control power supply An encoder fault occurred Turn the power supply OFF and then ON again If the alarm still occurs the ser vomotor may be faulty Replace the servomotor A SERVOPACK fault occurred Turn the power supply OFF and then ON again If the alarm still occurs the SER VOPACK may be faulty Replace the SERVOPACK n Troubleshooting 6 13 6 Troubleshooting
40. 0 Press the Key twice to return to Un008 0000000000 UnOOD 0000000000 the initial display step 1 W Alarm Display An alarm is automatically displayed if a problem occurs for some reason Refer to Chapter 6 Troubleshooting section and apply the appropriate measures A 710 ALARM A 710 00001207196 1 2 3 720 00000032651 511 00000009043 W Error Display The following messages will be displayed if a communications error occurs between the SERVOPACK and the digital operator due to a connection problem such as poor connector contact Check the connections and turn the power ON again If the prob lem still persists the digital operator or SERVOPACK must be replaced CPFO00 COM ERR OP amp SV CPFO1 COM ERR OP amp SV n Trial Operation Checking Servomotor Operation 5 9 5 Trial Operation Checking Servomotor Operation 5 5 JOG Operation Using SigmaWin This section describes the procedure for executing a JOG operation using Sig maWint In the following example test run procedures are explained using the JOG operation window of Test Run on the main menu of SigmaWin Step Operation Display Connect a computer Use a connection cable to connect a SERVO PACK to a computer which has SigmaWin installed SERVOPACK CN7 1 ES on ool te eu on ea es on a Connection cable for fes
41. 01 1D ov supply ON supply OFF ku o2 ALM432 gt t ol dm al 1KM 15A 1KM 1Ry 2KM 2SA 1QF Molded case circuit breaker 1PL Indicator lamp 1FIL Noise filter 1SA Surge absorber 1KM Magnetic contactor for control power supply 2SA Surge absorber 2KM Magnetic contactor for main power supply 3SA Surge absorber 1Ry Relay 1D Flywheel diode For SGDV R70A R90A 1R6A 2R8A terminals B2 and B3 are not short circuited SGDV 470A 550A 590A 780A SIT R SERVOPACK AVE SGDV OOOA tor Y AN 3SA Q 1FIL p 2KM J aoo w Ka L2 t a L3 1KM ram kpe OL2C t For servo 24 V alarm display i 9 B1 CN1 1Ry 1Ry QB2 ALM 31 T N e 1PL Lx Servo power Servo power supply ON supply OFF 1KM AM 432 179 t t 7 i t i 1KM 15A egenerative 1KM 1Ry 2KM resistor unit 1 28A 1QF Molded case circuit breaker 1PL Indicator lamp 1FIL Noise filter 1SA Surge absorber 1KM Magnetic contactor for control power supply 2SA Surge absorber 2KM Magnetic contactor for main power supply 3SA Surge absorber 1Ry Relay 1D Flywheel diode Wiring and Connection 3 15 3 Wiring and Connection 3 3 3 Typical Main Circuit Wiring Examples E Three phase 400 V SGDV OOOD 3 16 SGDV 1R9D 3R5D 5R4D 8R4D 120D 170D
42. 1D Flywheel diode 3 3 Main Circuit Wiring E Precautions When Using More Than One SERVOPACK This section shows an example of the wiring when more than one SERVOPACK is used and the precautions Wiring Example Analog pulse model Connect the alarm output ALM terminals for the three SERVOPACKs in series to enable alarm detection relay 1RY to operate When the alarm occurs the ALM output signal transistor is turned OFF Power supply RST SYN 1QF LI 3SA b a 1FIL ded 2KM Ca Ne gt Relay Lj SERVOPACK Servomotor terminal L3 Relay For servo alarm terminal 4Ry display Lic 24V M e T I u c aime try Servo power Servo power yz 4 3 supply ON supply OFF idi ALM 32 iD a j NG L1 KM 18A 12 SERVOPACK Servomotor 1KM 1Ry 2KM L3 1 Relay Relay terminal M ESA terminal pic L2C CN1 ALM 31 1QF Molded case circuit breaker yh Y 1FIL Noise filter TA ADM 192 1KM Magnetic contactor p for control power supply i L1 2KM paca contactor Lj SERVOPACK Servofmotor power supply L3 1Ry Relay 1PL Indicator lamp M 1SA Surge absorber olit 2SA Surge absorber Loc ani 3SA Surge absorber ALM 31 1D Flywheel diode Ed iP ALM 32
43. 2 16 Three phase 200 V SGDV LILILIAO1A 000 470 550 590 780 Power supply Three phase 200 VAC e ar zm Noise filter Surge absorber resistor unit Shield box a 2 lt Brake Power 2 ih fan Supply SERVOPACK U V W E E Brake L1 L2 L3 DER o Servomotor L1C L2C CN2 p Encoder o Regenerative E B1 B2 CN1 CN8 PE PE Qo came Satety unit EE Symbol Cable Name Specification 0 I O signal cable Shield cable Safety signal cable Shield cable Motor main circuit cable Shield cable Encoder cable Shield cable Main circuit cable Shield cable Regenerative resistor unit cable Non shield cable Cooling fan cable Shield cable Three phase 400 V SGDV LILIEIDO1A O00 1 R9 3R5 5R4 8R4 120 170 2 4 EMC Installation Conditions Shield box rower supply Noise Brake Power ingle phase mami G tert 200 VAC 5 filter Supply purge Conti SERVOPACK absorber ontro a a power S vov U V
44. 5 3 6 3 Wiring and Connection 3 2 4 Connecting to SGDV OOOF11A SERVOPACK 3 2 4 Connecting to SGDV LILILIF11A SERVOPACK Power supply Single phase 100 VAC R T Molded case circuit breaker MCCB Protects the power supply line by shutting the circuit OFF when overcurrent is detected Noise filter Used to eliminate external noise from the power line SGDV OOOF11A Magnetic SERVOPACK contactor Turns the servo ON and OFF Install a surge absorber Digital operator FT Connect to the MECHATROLINK II Personal Connection cable computer for digital operator C Connection cable for personal computer I O signal cable Host controller Regenerative resistor When not using the safety function use the SERVOPACK with the safety function jumper connector JZSP CVHO5 E provided as an accessory inserted 100 VAC Brake power supply Used for a servomotor with a brake When using the safety function insert a connection cable specifically for the safety function C Safety function devices Battery case gt when an absolute encoder is used Magnetic contactor Turns the brake power supply ON and OFF Install a surge absorber Motor main circuit cable SGMJV SGMAV SGMPS Servomotor 1 Use a 24 VDC pow
45. 7 YASKAWA AC Servo Drives YX V Series USER S MANUAL Setup Rotational Motor SGDV SERVOPACK SGMJV SGMAV SGMPS SGMGV SGMSV SGMCS Servomotors e Overview of Setup E Installation a Wiring and Connection Es Safety Function EN Trial Operation 3 Checking Servomotor Operation Troubleshooting ER MANUAL NO SIEP S800000 43B Copyright 2007 YASKAWA ELECTRIC 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 photo copying 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 About this Manual This manual describes procedures required for installation wiring and connecting Z V Series servo drives including a JOG operation for servomotors not connected
46. CK e e Bv e 9 s e lo e sm 9e lelebibieeo oppo Wiring and Connection 3 23 4 Safety Function This chapter describes the safety functions 4 1 O tlliig iso ipi REG ah ancien s oaks aes debe EE 4 2 4 2 Hard Wire Base Block HWBB Function 4 3 4 3 Safety Function Signal CN8 Names and Functions 4 4 4 4 Precautions When Not Using the Safety Function 4 4 4 5 When Using the Safety Function 4 5 R Safety Function 4 1 4 Safety Function 4 1 Outline The safety function is incorporated in the SERVOPACK to reduce the risk associated with the machine by protecting workers from injury and by securing safe machine operation Especially when working in hazardous areas inside the safeguard as for machine maintenance it can be used to avoid adverse machine movement The person who designs a system using the safety function Hard Wire Baseblock function must have full knowledge of the related safety standards and full under standing of the following manuals V Series User s Manual Design and Maintenance Rotational Motor Analog Voltage and Pulse Train Refer ence SIEP S800000 45 X V Series User s Manual Design and Maintenance Rotational Motor MECHATROLINK II Communica tions Reference SIEP S800000 46 4 2 Hard Wire Base Block HWBB Function 4 2 Hard Wire Base Block HWBB Function The Hard Wire Base Block function herei
47. Control power i DIDA Single phase 200 to 230 V input terminals 10 to 15 50 60 Hz 24V OV ooOoOp 24 VDC 15 Wiring and Connection 3 Wiring and Connection 3 3 2 SERVOPACK Main Circuit Wire Size cont d Name De Model SGDV OO00 Description If the regenerative capacity is insuf R70F R90F 2R1F 2R8F ficient connect an external regener a R90A IR6A ative resistor option between B1 Q and B2 Ifthe internal regenerative resistor is External B1 B2 EM n aS insufficient remove the wire regenerative Or 330A IR9D 3R5D between B2 and B3 and connect an resistor terminals B1 B2 SRAD 8RAD 120D external regenerative resistor 170D x option between B1 and B2 or Bl and B2 470A 550A 590A Connect a regenerative resistor unit 780A 210D 260D option between B1 and B2 or 280D 370D Bl and B2 DC reactor Normally short 1 and 2 connection If a countermeasure against power n or 61 02 BEHS supply harmonic waves is needed piger is y connect a DC reactor between 1 suppression and 2 Main circuit plus OOOA B1 or B1 terminals 9 000p Use when DC power supply input is Main circuit minus 000A used terminals O2o0r 000D Servomotor connection U V W Use for connecting to the servomotor terminals Ground terminals x 2 Use for connecting the power supply ground terminal and servo motor ground terminal 3 3 2 SERVOPACK Main Circu
48. Do not allow direct impact to be applied to the shafts when installing the coupling as the encoder mounted on the opposite end of the shaft may be damaged Alignment Accuracy Measure this distance at four different positions on the circumference The difference between the maximum and minimum measurements must be 0 03 mm or less Turn together with coupling 2 2 4 Protective Structure 2 2 Servomotor Installation The servomotor protective structure is described below Model Without Gears With Gears SGMJV SGMAV IP65 IP55 IP55 SGMPS IP67 Optional IP55 SGMGV IP67 _ IP67 SGMSV SGMSV 70 servomotor only IP22 SGMCS 02 to 35 IP42 expect for gaps on the rotating section of the shaft SGMCS 45 to 2Z IPA44 Except through shaft section The protective structure specifications can be satisfied only when using a specified cable When the through shaft section is subject to oil exposure refer to 2 2 5 Other Pre cautions For SGMJV and SGMAV servomotors the protective structure specifications can be satisfied only when u sing a specified cable Flange Through shaft section This refers to the gap where the shaft protrudes from the end of the motor n Installation 2 7 2 Installation 2 2 5 Other Precautions 2 2 5 Other Precautions E Handling Oil and Water If the servomotor is used in a location that is subject to water o
49. ERVOPACK capac ity lt 4 Select the proper combina tion of SERVOPACK and servomotor capacities An encoder fault Replace the servomotor and Replace the servomotor do not corre den a see if the alarm occurs encoder spond again The SERVOPACK may be e SFRVOPACK fault faulty Replace the SERVO PACK An unsupported serial A 051 converter unit serial Check the product specifi U rted encoder or external cations and select the cor Select uie beter combing nsupporte gt tion of units Device Alarm encoder is connected to the SERVOPACK rect model A 0b0 Cancelled Servo ON Command Alarm After executing the util ity function to turn ON the power to the motor the Servo ON command was sent from the host controller Turn the SERVOPACK power supply OFF and then ON again 2 Pn533 min x 2 encoder resolution p Pn20E 6x 10 These errors occur in SERVOPACKs using MECHATROLINK II Pn210 6 1 Troubleshooting of Alarms cont d Alarm igati i Abin Nane Cause Investigative Actions Corrective Actions Incore wiring or eom Check the wiring Refer to cable or motor main eir 3 1 Main Circuit Wiring Correct the wiring SIEP S800000 45 46 cuit cable Check for short circuits across the servomotor ter Short circuit or ground minals U V and W or Soie cabl s t av be dati fault of main circuit cable be
50. Excessive vibration and shock to the encoder An encoder fault occurred Investigative Actions The input output signal cables must be tinned annealed copper twisted pair or shielded twisted pair cables with a core of 0 12 mm min Check the length of the input output cable The encoder cable must be tinned annealed copper twisted pair or shielded twisted pair cables with a core of 0 12 mm min Check the length of the encoder cable Check if the encoder cable is damaged or bent Check if the encoder cable is bundled with high current line or near a high current line Check if the machines are correctly grounded Check if there is noise inter ference on the input output signal line from the encoder Check if vibration from the machine occurred or servo motor installation is incor rect mounting surface accuracy fixing alignment etc Corrective Actions Use the specified input sig nal wires The input output cable length must be no more than 3m Use the specified encoder cable The encoder cable must be no more than 20 m Replace the encoder cable and modify the encoder cable layout Correct the encoder cable layout so that no surge is applied Ground machines correctly and prevent diversion to the FG at the PG side Take measures against noise in the encoder wiring Reduce vibration from the machine or secure the ser vomotor installation Replace th
51. HA 1 MECHATROLINK II TROLINK II communica MECHA Confirm the en data reception error tions cable and FG wiring TROLINK Com occurred due to noise installation and take measures such as munications interf conditions ddine ferri h Warning interference adding ferrite core on the MECHATROLINK II com munications cable A SERVOPACK fault occurred A fault occurred in the SER VOPACK Repair or replace the SER VOPACK These warnings occur in SERVOPACKs using MECHATROLINK II 6 28 6 2 Troubleshooting of Warnings cont d Warning Situation at Warning 3 Warning Name Occurrence Cause Corrective Actions For 100 VAC SER VOPACKs The AC power sup A 971 Undervoltage ply voltage is 60 V or below For 200 VAC SER VOPACKs The AC power sup ply voltage is 140 V or below For 400 VAC SER VOPACKs The AC power sup ply voltage is 280 V or below Measure the power supply voltage Use a power supply voltage within the specified range The power supply volt age dropped during operation Measure the power supply voltage Increase the power supply capacity An instantaneous power failure occurred Measure the power supply voltage Lower the instantaneous power cut hold time Pn509 The fuse in the SER VOPACK is burned out Replace the SERVOPACK and connect an AC DC reac tor to the SERVOPACK A SERVOPACK fault occurred
52. IDO1A SERVOPACK 3 5 3 2 4 Connecting to SGDV OOOF11A SERVOPACK 3 6 3 2 5 Connecting to SGDV OOOA11A SERVOPACK 3 7 3 2 6 Connecting to SGDV OOMOD11A SERVOPACK 3 8 3 3 Main Circuit Wiring a saa ag aed eem hme ne Sy ee 3 9 3 3 1 Names and Functions of Main Circuit Terminals 3 9 3 3 2 SERVOPACK Main Circuit Wire Size 3 10 3 3 3 Typical Main Circuit Wiring Examples 3 14 3 3 4 Wiring the Main Circuit Terminal Connector Spring Type 3 18 3 4 Connecting Regenerative Resistors 3 21 3 4 1 Connecting Regenerative Resistor 3 21 xiv A oatetyi EUECHUOD RE RME EPA ER AE ee ees 4 1 4 4 O tlilie c ESSERE rire RUP Awe ee AE i eee FEE 4 2 4 2 Hard Wire Base Block HWBB Function 4 3 4 3 Safety Function Signal CN8 Names and Functions 4 4 4 4 Precautions When Not Using the Safety Function 4 4 4 5 When Using the Safety Function cee eee 4 5 5 Trial Operation Checking Servomotor Operation 5 1 Sel OUI raodo dee Data notet tu t od eae o e uud n n 5 2 5 2 Inspection and Checking before Trial Operation 5 2 5 3 JOG Operation Using a Pa
53. Models and Peripheral Devices Ratings and Specifi cations System Design Panels and Wiring Trial Operation Trial Operation and Servo Adjustment Maintenance and Inspection Z V Series Product Catalog KAEP S800000 42 Y Y X V Series User s Manual Design and Maintenance Rotational Motor Analog Voltage and Pulse Train Reference SIEP S800000 45 X V Series User s Manual Design and Maintenance Rotational Motor MECHATROLINK II Communications Reference SIEP S800000 46 Z V Series User s Manual Operation of Digital Operator SIEP S800000 55 V Series User s Manual MECHATROLINK II Command SIEP S800000 54 V Series AC SERVOPACK SGDV Safety Precautions TOBP C710800 10 gt Series Digital Operator Safety Precautions TOBP C730800 00 AC SERVOMOTOR Safety Precautions TOBP C230200 00 W 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 A WARNING A CAUTION amp PROHIBITED MANDATORY Indicates precautions that if not heeded could possibly result in loss of life or serious injury Indicates precautions that if not heeded could result in relatively
54. ON Do not store or install the product in the following locations Failure to observe this caution may result in fire electric shock or damage to the product 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 instal lation humidity conditions Locations subject to condensation as the result of extreme changes in tempera ture 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 Do not hold the product by the cables motor shaft or detector while trans porting 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 vii viii W Storage and Transportation cont d A CAUTION If disinfectants or insecticides must be used to treat packing materials such as wooden frames pallets or plywood the packing materials must be treated before the product is packaged and methods other than fumigation must be used Example Heat treatment where materials are kiln dried to a core temperature of 56 C for 30 minutes or more If the electronic p
55. OPACK to be connected x Click met Place the cursor over 4 ES the SERVOPACK to be connected and Law then click on it m ee Ton The main window of SigmaWin will then open Eu Eu n Trial Operation Checking Servomotor Operation 5 Trial Operation Checking Servomotor Operation cont d Step Operation Display Run test operation Test Run R 1 Select Test Run first and then select Jog d quU U J from the menu on the main window 2 Warnings for the JOG operation window will be displayed Read them and click 3 The JOG operation window is open Warnings for the JOG Operation Window Peet PAS Main Window JOG Operation A WARNING Lis dangerous to operate this function because the servomotor wil rotate Always be sure to check the user s manual betere operating Pay particular attertiun to bre folkrering points 1 Perform safety checks around moving parts While the operation bution ia being depressed the senvomotor will run ot servomotor the JOG spend set Execute after having confemed that operation wil peeseni no danger 2 Forward Run Prohibt P OT H Reverse Run Pronibt N OT is dsntind operation ihe servomotor will not stop even if the P OTAN OT signal are passed When operating verity the action end posion of the servomotor Clicking the OK button to start the JOG operation ES pn G JOG Operation AXIS 0
56. RVOPACKs using MECHATROLINK II n Troubleshooting 6 15 6 Troubleshooting cont d Alarm Alarm Name Cause Investigative Actions Corrective Actions A bFO System Alarm 0 A SERVOPACK fault occurred Turn the power supply OFF and then ON again If the alarm still occurs the SER VOPACK may be faulty Replace the SERVOPACK A bF 1 System Alarm 1 A SERVOPACK fault occurred Turn the power supply OFF and then ON again If the alarm still occurs the SER VOPACK may be faulty Replace the SERVOPACK A bF2 System Alarm 2 A SERVOPACK fault Occurred Turn the power supply OFF and then ON again If the alarm still occurs the SER VOPACK may be faulty Replace the SERVOPACK A bF3 System Alarm 3 A SERVOPACK fault occurred Turn the power supply OFF and then ON again If the alarm still occurs the SER VOPACK may be faulty Replace the SERVOPACK A bF4 System Alarm 4 A SERVOPACK fault occurred Turn the power supply OFF and then ON again If the alarm still occurs the SER VOPACK may be faulty Replace the SERVOPACK A C10 Servo Overrun Detected Detected when the servomotor power is ON The order of phases U V and W in the servomotor wiring is incorrect Check the servomotor wir ing Confirm that the servomo tor is correctly wired An encoder fault If the alarm still occurs after turning the power OFF and then ON again ev
57. Servomotor Operation 5 3 5 Trial Operation Checking Servomotor Operation E Checking the Main Circuit Power Supply Servomotor and Encoder Wiring Once again check the main circuit power supply servomotor and encoder wiring that was described in Chapter 3 Wiring and Connection Perform a trial operation with the safety function jumper connector JZSP CVHOS E provided as an accessory inserted into the CN8 connector Power supply Safety function jumper connector JZSP CVH05 E Do not connect to CN1 Encoder cable 5 3 JOG Operation Using a Panel Operator 5 3 JOG Operation Using a Panel Operator This section describes the procedure for executing a JOG operation using a panel operator The panel operator is located under the front cover of the SERVOPACK analog pulse models only View with a veecoe csr front cover open D 101 01 E C a Panel operator BI exe pile IMODE SET A V 4 DAT Step Display after operation Keys Operation DI p Il Lan Lan Turn ON the power to the SERVOPACK The forward run prohibited P OT or 4 Alternate reverse run prohibited N OT message is 4 R display displayed When the JOG operation is executed P OT and N OT are automatically disabled moje 2 En F1 B 1 en Press the MODE SET Key to select the 07Q utility function mode ri LI LJ MODE SET
58. South Waukegan IL 60085 U S A Phone 1 847 887 7000 Fax 1 847 887 7370 YASKAWA ELETRICO DO BRASIL LTDA Avenida Fagundes Filho 620 Sao Paulo SP CEP 04304 000 Brazil Phone 55 11 3585 1100 Fax 55 11 5581 8795 YASKAWA ELECTRIC EUROPE GmbH Hauptstrape 185 65760 Eschborn Germany Phone 49 6196 569 300 Fax 49 6196 569 398 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 7F Doore Bldg 24 Yeoido dong Youngdungpo Ku Seoul 150 877 Korea Phone 82 2 784 7844 Fax 82 2 784 8495 YASKAWA ELECTRIC SINGAPORE PTE LTD 151 Lorong Chuan 04 01 New Tech Park 556741 Singapore Phone 65 6282 3003 Fax 65 6289 3003 YASKAWA ELECTRIC SHANGHAI CO LTD No 18 Xizang Zhong Road Room 1702 1707 Harbour Ring Plaza Shanghai 200001 China Phone 86 21 5385 2200 Fax 86 21 5385 3299 YASKAWA ELECTRIC SHANGHAI CO LTD BEIJING OFFICE Room 1011A Tower W3 Oriental Plaza No 1 East Chang An Ave Dong Cheng District Beijing 100738 China Phone 86 10 8518 4086 Fax 86 10 8518 4082 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 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 r
59. V SGDV LILILID11A 000 210 260 280 370 Shield box Brake Power Supply SERVOPACK Control Power supply 5 Single phase 200 o Surge absorber E Brake power LL U VW Supply 24V 0V 24 VDC 1 Servomotor Noise filter 3 L1 L2 L3 Power supply Three phase 400 VAC Clamp Encoder a CN2 ml 5 o Surge absorber PE resistor cable B1 B2 om al a 1 1 25 EU Symbol Cable Name Specification 0 I O signal cable Shield cable Q Safety signal cable Shield cable Motor main circuit cable Shield cable Encoder cable Shield cable 6 Control power cable Shield cable E Main circuit cable Shield cable m Regenerative resistor unit cable Non shield cable MECHATROLINK II communication cable Shield cable NN 1 Products that have received CE marking are recommended for the 24 VDC power supply 2 Install the following noise filter on the power line between the single phase 200 V power supply and the 24 VDC power supply Model number FN2070 6 07 SCHAFFNER 3 For more information on this filter refer to ZW Series Product Catalog KAEP S800000 42 2 25 2 Installation W Attachment Methods of Ferrite Co
60. V Series User s Manual Design and Maintenance Rotational Motor Analog Volt age and Pulse Train Reference SIEP S800000 45 e X V Series User s Manual Design and Maintenance Rotational Motor MECHA TROLINK II Communications Reference SIEP S800000 46 3 1 Precautions for Wiring 3 2 3 2 System Configuration Diagram 3 3 3 2 1 Connecting to SGDV LILILIF01A SERVOPACK 3 3 3 2 2 Connecting to SGDV LILILIA01A SERVOPACK 3 4 3 2 3 Connecting to SGDV LILILIDO1A SERVOPACK 3 5 3 2 4 Connecting to SGDV OOOF11A SERVOPACK 3 6 3 2 5 Connecting to SGDV LILILIA11A SERVOPACK 3 7 3 2 6 Connecting to SGDV LILILID11A SERVOPACK 3 8 3 3 Main Circuit Wiring 3 9 3 3 1 Names and Functions of Main Circuit Terminals 3 9 3 3 2 SERVOPACK Main Circuit Wire Size 3 10 3 3 3 Typical Main Circuit Wiring Examples 3 14 3 3 4 Wiring the Main Circuit Terminal Connector Spring TYPE a cae RR ee mn 3 18 3 4 Connecting Regenerative Resistors 3 21 3 4 1 Connecting Regenerative Resistor 3 21 n Wiring and Connection 3 1 3 2 3 Wiring and Connection 3 1 Precautions for Wiring A CAUTION Be sure to wire correctly and securely Failure to observe this caution may result in motor overrun injury or malfunction Do not bundle or run the main circuit
61. al problems Check the executed run command and servomotor speed Remove the mechanical problems A SERVOPACK fault occurred The SERVOPACK may be faulty Replace the SERVO PACK A 730 A 731 Dynamic Brake Overload An excessive power consump tion of dynamic The servomotor rotates because of external force Check the operation status Take measures to ensure the servomotor will not rotate because of external force The rotating energy at a DB stop exceeds the DB resistance capacity Check the DB resistor power consumption moni tor Un00B to see how many times the DB has been used Reduce the servomotor ref erence speed Reduce the moment of iner tia ratio Reduce the number of times of the DB stop operation brake was detected The SERVOPACK may be P PES fault faulty Replace the SERVO occurred PACK i The inrush current limit A 740 resistor operation fre Reduce the fi f Overload of quency at the main circuit educe uie Hrequeney o Surge Current Limit Resistor The main circuit power is turned ON OFF too fre quently power supply ON OFF turning the main circuit operation exceeds the power supply ON OFF allowable range The SERVOPACK may be A SRV PAGE fault faulty Replace the SERVO PACK n Troubleshooting 6 11 6 Troubleshooting cont d Alam c Investigative Acti Corrective Acti Alarm Name ause nvestigative A
62. and reset the alarm and restart the operation A SERVOPACK fault occurred Turn the power supply OFF and then ON again If the alarm still occurs the SER VOPACK may be faulty Replace the SERVOPACK A b20 Reference Torque Input Read Error A malfunction occurred in the reading section of the torque reference input Clear and reset the alarm and restart the operation Turn the power supply OFF and then ON again If the Detected when A SERVOPACK fault H 1 till the SER hesena BON curs eie Replace the SERVOPACK A b31 Turn the power supply OFF Current The current detection cir _ re M Detection Error 1 cuit for phase U is faulty VOPACK may be faulty Phase U Replace the SERVOPACK A b32 Turn the power supply OFF Current The current detection cir _ cM E Detection Error 2 cuit for phase V is faulty VOPACK may be faulty Phase V Replace the SERVOPACK Turn the power supply OFF A b33 The detection circuit for _ e ra PEE the current is faulty VOPACK 2 Current may be faulty Detection Error 3 Replace the SERVOPACK Current detector The servomotor main cir cuit cable is disconnected Check for disconnection of the motor main circuit cable Correct the servomotor wir ing A b6A 2 MECHATROLINK Communications ASIC Error 1 SERVOPACK MECHA TROLINK communica tion section fault Replace the SERVOPACK 2 These errors occur in SE
63. askawa representative or one of the offices listed on the back of this manual 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 Applicable Standards E North American Safety Standards UL cUL us A us LISTED UL Standards Modal UL File No SERVOPACK SGDV ULS08C E147823 SGMJV SGMAV Servomotor SGMPS UL1004 E165827 SGMGV SGMSV Underwriters Laboratories Inc W European Standards CE Low Voltage EMC Directive Safety Directive EMI EMS Standards Model EN50178 EN55011 A2 EN61800 3 EN954 1 SERVOPACK lt SGDV EN61800 5 1 group class A EN61000 6 2 IEC61508 1 EN61800 3 to 4 SGMIV SGMAV IEC60034 5 ENSSOIUA2 eneigoo 3 Servomotor SGMPS group class A IEC60034 8 EN61000 6 2 SGMGV iE cG0934 9 EN61800 3 SGMSV Note Because SERVOPACKs and servomotors are built into machines certification is required after installation in the user s product xiii CONTENTS About this Manual 4242 43 Ree die eae a a en da iii Safety Precautions oc scm pner e Rete pe RR n don vi Applicable Standards xiii TVOVEIVIEWLON SClU DSi urate E Eh CRAT CEN ae T TDI I UNO 1 1 2 nstalation todo SA cree as nie eon Rend Dyan TE ME E 2 1 2 1 Instal
64. ation B Operation A CAUTION Conduct trial operations on the servomotor alone with the motor shaft dis connected from the machine to avoid 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 Do not frequently turn power ON and OFF Since the SERVOPACK has a capacitor in the power supply a high charging cur rent flows 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 When using JOG operations Fn002 origin search operations Fn003 or EasyFFT operations Fn206 the dynamic brake function does not work for reverse overtravel or forward overtravel Take necessary precautions Failure to observe this caution may result in damage to the product When using the servomotor for a vertical axis install safety devices to pre vent workpieces from falling due to alarms or overtravels Set the servomo tor so that it will stop in the zero clamp state when overtravel occurs Failure to observe this caution may cause workpieces to fall due to overtravel When not using turning less function set to the correct moment of inertia ratio Pn103 Setting to an incorrect moment
65. ault alarm still occurs the SER acta VOPACK may be faulty Replace the SERVOPACK WDT data of host con A E51 2 MECHA TROLINK II Synchronization Failed troller was not updated correctly at the synchroni zation communications start and synchroniza tion communications could not start Check the WDT data updat ing for the host controller Update the WDT data at the host controller correctly Turn the power supply OFF and then ON again If the A E60 MECHA TROLINK II Communications error Reception error A DEUS fault alarm still occurs the SER NOES VOPACK may be faulty Replace the SERVOPACK Correct the MECHA MECHATROLINK II wiring is incorrect Check the MECHA TROLINK II wirings TROLINK II wiring Connect the terminator cor rectly MECHATROLINK II data reception error occurred due to noise Take measures against noise Check the MECHA TROLINK II communica tions cable and FG wiring and take measures such as interference adding ferrite core on the MECHATROLINK II com munications cable Turn the power supply OFF and then ON again If the A SERVOPACK fault alarm still occurs the SER VOPACK may be faulty Replace the SERVOPACK A E61 2 MECHA TROLINK II Transmission Cycle Error Synchronization interval error MECHATROLINK II transmission cycle fluctu ated Check the MECHA TROLINK II transmission cycle setting Remove the cause o
66. ce saved in the host controller when the P power was Excessive vibration and turned OFF is different from the position when the power was next turned ON cont d shock to the encoder An encoder fault occurred Investigative Actions Corrective Actions Check the encoder cable The encoder cable length length must be no more than 20 m Check if the encoder cable is bent or if its sheath is damaged Check if the encoder cable is bundled with a high cur rent line or near high cur rent line Check if the machines are correctly grounded Check if there is noise inter ference on the input output signal line from the encoder Check if vibration from the machine occurred or servo motor installation is incor rect mounting surface accuracy fixing alignment etc Replace the encoder cable and correct the encoder cable layout Change the encoder cable layout so that no surge is applied Ground machines correctly and prevent diversion to the FG at the PG side Take measures against noise in the encoder wiring Reduce vibration from the machine or secure the ser vomotor installation Replace the servomotor A SERVOPACK fault occurred The pulse count does not change Replace the SERVOPACK Host controller multi turn data reading error Check the error detection at the host controller Correct the error detection section of the host control ler
67. ce in this manual Install the servomotor and SERVOPACK Chapter 2 Installation 4 Perform the required wiring and connections for a JOG operation Chapter 3 Wiring and Connection Ju Perform a JOG operation for the servomotor using the panel operator the digital operator or SigmaWin Chapter 5 Trial Operation Checking Servomotor Operation Trial Operation Using the Panel Operator 5 3 JOG Operation Using a Panel Operator Trial Operation Using the Digital Operator 5 4 JOG Operation Using a Digital Operator Trial Operation Using SigmaWin 5 5 JOG Operation Using SigmaWin 2 Installation This chapter describes how to install the servomotor and the SERVOPACK 2 1 Installation Environment and Applicable Standards 2 2 2 1 1 Servomotor Installation Environment 2 2 2 1 2 SERVOPACK Installation Environment 2 3 2 1 3 Installation Conditions for Applicable Standards 2 4 2 2 Servomotor Installation 2 5 2 2 1 Orientation 2 5 2 2 2 Installation Standards 2 5 2 2 3 Connecting Servomotor to Machine 2 6 2 2 4 Protective Structure 2 7 2 2 5 Other Precautions 2 8 2 3 SERVOPACK Installation
68. ctions Corrective Actions mie E adu d Check the servomotor wir Confirm that the servomo Adest ing tor is correctly wired wiring is incorrect A reference value exceed A 510 ing the overspeed detec Check the input value Reduce Py E value Overspeed tion level was input J gam The servomotor speed exceeds the The motor speed Check the servomotor Reduce the speed reference input gain adjust the servo maximum exceeded the maximum speed waveform gain or reconsider the oper ation conditions The SERVOPACK may be A SBRVOPACK fault faulty Replace the SERVO occurred PACK The encoder output pulse Check the encoder output Decrease the setting of the output frequency 1 tput setti tp encoder output pulse A 511 exceeded the limit PUSA Dp Serine Pn212 Overspeed of The encoder output pulse Encoder Output output frequency Check the encoder output p th i Pulse Rate exceeded the limit pulse output setting and ser CTe4S Me servomotor speed because the servomotor vomotor speed speed was too high Abnormal vibration was ee Reduce the servomotor detected at the servomo cheek he ced and torau speed or reduce the speed tor rotation speed NC ka Jaring demon loop gain Pn100 A 520 Vibration Alarm The moment of inertia ratio Pn103 value is greater than the actual value or is greatly changed Check the moment of iner tia ratio Set the moment of inertia ratio Pn103 t
69. ctions orrective Actions Check the surrounding air Decrease the surrounding The surrounding air tem temperature nea ather air temperature by improv perature is too high K t e ing the SERVOPACK most installation conditions The overload alarm has Check the alarm trace back been reset by turning OFF monitor Fn000 to see if Change the method for the power too many the overload alarm was resetting the alarm times reported A 7A0 Check the accumulated Heat Sink Excessive load or opera load ratio monitor Un009 to Overheated tion beyond the regenera M Reconsider the load and Detected when tive energy processing H 5 operation conditions the heat sink tem perature exceeds capacity load ratio monitor Un00A to see the regenerative 100 C energy processing capacity Incorrect SERVOPACK installation orientation or Check the SERVOPACK Install the SERVOPACK around the SERVO installation conditions correctly as specified PACK The SERVOPACK may be AE fault faulty Replace the SERVO PACK Remove foreign matter or KA Fan in The fan inside the SER Check for foreign matter or ce Pa A kin debris inside the SERVO SERVOPACK VOPACK stopped occurs the SERVOPACK PACK Stopped may be faulty Replace the SERVOPACK Alarm occurred when the power to the absolute Check to see if the power encoder was initially was turned ON initially Serup the encoder En008 turned ON ane encoder cable discon Ch
70. e discon nected Repair or replace them Execute the SV_ON or Check the motor status SENS ON command only A ED1 2 when the command is exe when the motor is not run A timeout error occurred cuted f EOM when using an MECHA hing eo TROLINK command Check the external encoder Execute the SENS ON status when the command is command only when an executed external scale is connected The three phase power Check the power supply Confirm that the power rate supply wiring is incorrect wiring supply is correctly wired Main Circuit The three phase power Measure thevoltage ab ach Balance the power supply Cable Open supply is unbalanced phase of the three phase by changing phases Phase power supply With the main A single phase power is power supply ON input without setting voltage was low Pn00B 2 power supply Check the power supply Match the parameter setting for more than 1 second in an R S or T phase method for three phase SERVOPACK to 1 sin gle phase power supply and the parameter setting to the power supply Detected when the main power Turn the power supply OFF supply was turned and then ON again If the ON eo fault alarm still occurs the SER kl VOPACK may be faulty Replace the SERVOPACK 2 These errors occur in SERVOPACKs using MECHATROLINK II n Troubleshooting 6 23 6 Troubleshooting cont d Alarm EU 3 j Alarm Name Cause Investigative Actions Corr
71. e servomotor n Troubleshooting 6 33 6 Troubleshooting cont d Corrective Actions Execute the advanced auto tuning Reduce the speed loop gain Pn100 Problem Probable Cause Investigative Actions Check to see if the servo Unbalanced servo gains gains have been correctly adjusted Check the speed loop gain Speed loop gain value value Pn100 Pn100 too high Factory setting Kv 40 0 Servomotor Hz Vibrates at a 7 Frequency of Position loop gain value PIDE E loop gain Approx 200 to Pn102 too high Ms den Ol 400 Hz actory setting Kp 40 0 s Reduce the position loop gain Pn102 Incorrect speed loop integral time constant Pn101 set ting Check the speed loop inte gral time constant Pn101 Factory setting Ti 20 0 ms Correct the speed loop inte gral time constant Pn101 setting Incorrect moment of inertia ratio data Pn103 Check the moment of inertia ratio setting Pn103 Unbalanced servo gains Check to see if the servo gains have been correctly adjusted Speed loop gain value Check the speed loop gain value Pn100 Factory setting Kv 40 0 Hz Correct the moment of iner tia ratio Pn103 setting Execute the advanced auto tuning Reduce the speed loop gain Pn100 Check the position loop gain value Pn102 Factory setting Kp 40 0 s Reduce the position loop gain Pn102 Check the speed
72. eck to see if the power Confirm the connection and again ij was turned ON initially set up the encoder Fn008 A 810 Encoder Backup The power from both the Error control power supply 5 Replace the battery or take Detected on the encoder side Only when an absolute encoder is connected V and the battery power supply from the SERVO PACK is not being sup plied Check the encoder connec tor battery or the connector contact status similar measures to supply power to the encoder and set up the encoder Fn008 An absolute encoder fault occurred If the alarm cannot be reset by setting up the encoder again replace the servomo tor A SERVOPACK fault occurred The SERVOPACK may be faulty Replace the SERVO PACK 6 12 6 1 Troubleshooting of Alarms cont d Alarm Cause Investigative Actions Corrective Actions Alarm Name Set up the encoder again b using Fn008 If the alarm A820 An encoder fault still occurs the servomotor Encoder OCGULTEC may be faulty Replace the Checksum Error servomotor Detected on the The SERVOPACK may be encoder side Ao eee fault faulty Replace the SERVO PACK A 830 Absolute Encoder Battery Error The absolute encoder battery voltage is lower than the specified value The battery connection is incorrect Check the battery connec tion Reconnect the battery The battery voltage is lower
73. ective Actions CPF00 E Check the connector con Insert securely the connec Digital Operator Transmission Error 1 SERVOPACK is faulty tact tor or replace the cable Malfunction caused by noise interference Keep the digital operator or the cable away from noise sources CPF01 Digital Operator Transmission Error 2 A digital operator fault occurred Disconnect the digital oper ator and then re connect it If the alarm still occurs the digital operator may be faulty Replace the digital operator A SERVOPACK fault occurred Turn the power supply OFF and then ON again If the alarm still occurs the SER VOPACK may be faulty Replace the SERVOPACK 6 24 6 2 6 2 Troubleshooting of Warnings Troubleshooting of Warnings Refer to the following table to identity the cause of a warning and the action to be taken Contact your Yaskawa representative if the problem cannot be solved by the described corrective action For warnings not described here refer to the following manuals e X V Series User s Manual Design and Maintenance Rotational Motor Analog Volt age and Pulse Train Reference SIEP S800000 45 e X V Series User s Manual Design and Maintenance Rotational Motor MECHA TROLINK II Communications Reference SIEP S800000 46 Warning Warning Name Situation at Warning Occurrence Cause Corrective Actions A 900 Position Error Pulse Overflow Wirin
74. elevant 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 2007 2008 YASKAWA ELECTRIC CORPORATION All rights reserved MANUAL NO SIEP S800000 43B Published in Japan November 2008 07 4 j 0 08 5 3
75. en though the servomotor is occurred correctly wired the servo motor may be faulty Replace the servomotor Turn the power supply OFF and then ON again If the oe fault alarm still occurs the SER VOPACK may be faulty Replace the SERVOPACK A C80 Absolute Encoder Clear Error and Multi turn Limit Setting Error An encoder fault Turn the power supply OFF and then ON again If the alarm still occurs the ser occurred vomotor may be faulty Replace the servomotor Turn the power supply OFF and then ON again If the Al fault alarm still occurs the SER VOPACK may be faulty Replace the SERVOPACK 6 16 6 1 Troubleshooting of Alarms cont d Alere c Investigative Acti Corrective Acti Alarm Name ause nvestigative Actions Orrective Actions Contact fault of encoder Re insert the encoder con Check the encoder connec connector or incorrect tor contact status nector and confirm that the encoder wiring encoder is correctly wired Encoder cable disconnec tion or short circuit Check the encoder cable Use the encoder cable with Or incorrect cable imped the specified rating ance Corrosion caused by humidity ede Improve the operating envi Short circuit caused by Check the operating envi ronmental conditions and B replace the cable If the intrusion of water drops ronment A C90 or cutting oil alarm still occurs replace Mos a the SERVOPACK Encoder C
76. er supply not included 2 Before connecting an external regenerative resistor to the SERVOPACK refer to 3 4 Con necting Regenerative Resistors 3 2 System Configuration Diagram 3 2 5 Connecting to SGDV LILILIA11A SERVOPACK Power supply Three phase 200 VAC RST Molded case circuit breaker MCCB Protects the power supply line by shutting the circuit OFF when overcurrent is detected Noise filter Used to eliminate external noise from SGDV LILILIA11A the power line Magnetic SERVOPACK Digital contactor F operator Tume tha saro i M Connect to the Install a surge 2 MECHATROLINK II absorber SG 8 Connection cable A for digital operator Personal M computer Cm i Connection cable Il for personal computer I O signal cable Host controller Regenerative resistor 2 f When not using the safety function use the SERVOPACK with the safety function jumper connector JZSP CVHO5 E provided as an accessory inserted C When using the safety function insert a connection cable specifically for the safety function CT Safety function devices 200 VAC Brake power supply 1 Used for a servomotor with a brake Battery case when an absolute encoder is used Magnetic contactor Turns the brake power supply ON and OFF Install a surge absorber
77. f the encoder but not both Itis dangerous to install batteries at both ends simultaneously because that sets up a loop circuit between the batteries Always use the specified power supply voltage An incorrect voltage may result in fire or malfunction Take appropriate measures to ensure that the input power supply is sup plied 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 form of potential interference when installing systems in the following locations 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 Failure to observe this caution may result in damage to the product E Wiring cont d A CAUTION Do not reverse the polarity of the battery when connecting it Failure to observe this caution may result in damage to the battery the SERVO PACK or cause an explosion Wiring or inspection must be performed by a technical expert Use a 24 VDC power supply with double insulation or reinforced insul
78. f trans mission cycle fluctuation at host controller A SERVOPACK fault occurred Turn the power supply OFF and then ON again If the alarm still occurs the SER VOPACK may be faulty Replace the SERVOPACK 2 6 22 These errors occur in SERVOPACKs using MECHATROLINK II 6 1 Troubleshooting of Alarms cont d Alam c Investigative Acti Corrective Acti Alarm Name ause nvestigative Actions Orrective Actions A parameter was changed bythe digital ee Stop changing parameters the personal computer Confirm the way the i ER during MECHA parameters are edited TROLINK II communi DL AMEN ES cations munications A EA2 DRV Alarm 2 MECHATROLINK II Check the MECHA Remove the cause of trans SERVOPACK transmission cycle fluctu TROLINK II transmission mission cycle fluctuation at WDC error ated cycle setting host controller Turn the power supply OFF and then ON again If the A e fault alarm still occurs the SER eee VOPACK may be faulty Replace the SERVOPACK The output signal circuits or devices for HWBB1 and The lag between activa A Eb1 tions of the input signals A he time L or the iun Safety Function HWBBI and easure the time lag input signal circuits ately between the HWBB1 and may be faulty Alterna Signal Input HWBB2 for the HWBB Timing E f nctiondsiten second or HWBB2 signals tively the input signal Iming Error ire cables may b
79. function Do not connect a commercial power supply to the U V or W terminals for the servomotor connection Failure to observe this caution may result in injury or fire Securely connect the main circuit power supply terminals and servomotor connection terminals Failure to observe this caution may result in fire Do not bundle or run the main circuit cables together with the I O signal cables or the encoder cables in the same duct Keep them separated by at least 30 cm Failure to do so may result in malfunction Use shielded twisted pair wires or multi core shielded twisted pair wires for I O signal cables and the encoder cables I O signal cables must be no longer than 3 m encoder cables must be no longer than 50 m and control power supply 24 V 0 V cables for a 400 V input SERVOPACK must be no longer than 10 m Do not touch the power terminals while the CHARGE lamp is ON after turn ing power OFF because high voltage may still remain in the SERVOPACK Make sure the charge indicator is off first before starting an inspection Observe the following precautions when wiring main circuit terminals Remove detachable main circuit terminals from the SERVOPACK prior to wir ing Insert only one main circuit cable per opening in the main circuit terminals Make sure that no part of the core wire comes into contact with 1 e short cir cuit adjacent wires Install a battery at either the host controller or the battery unit o
80. g of the servomo tor U V or W line is incorrect Check the wiring of the cable for motor main circuit Check whether there is any loose connection in motor wiring or encoder wiring The SERVOPACK gain is too low Check the SERVO PACK gain Increase the servo gain by using the function such as advanced autotuning The position reference pulse frequency is too high Lower the position reference pulse fre quency Lower the position reference pulse frequency or the posi tion reference acceleration or correct the electronic gear ratio The position reference acceleration is too high Lower the position reference accelera tion Apply a smoothing function such as a position reference acceleration deceleration time constant Pn216 The excessive position error alarm level Pn520 is too low for the operating condi tions Check the excessive position error alarm level Pn520 Set an appropriate value for the Pn520 A SERVOPACK fault occurred Turn the power supply OFF and then ON again If the alarm still occurs the SER VOPACK may be faulty Replace the SERVOPACK A 901 Position Error Pulse Overflow Alarm at Servo ON When the S_ON sig nal was OFF the ser vomotor moved without cleaning the counter for position error pulses The num ber of position error pulses exceeded the maximum number of pulses allowed Set Pn200 2 to 0 to clear t
81. he number of position error pulses when the S_ON signal is OFF Or set an appropriate value for the excessive position error warning level at servo ON Pn528 when the S_ON sig nal is ON n Troubleshooting 6 25 6 Troubleshooting cont d Warning Situation at Warning 7 Warning Name Occurence Cause Corrective Actions m ibd Correct the servomotor and encoder wiring is heck the wiri der wiring if th Check the wiring encoder wiring if they are incorrect or the con S TOL nection is faulty 8 The servomotor is in Check the overload Reconsider the load and oper A 910 Overload Warning before alarm A710 or A720 occurs excess of the overload protective characteris tics characteristics of the servomotor and reference input ation conditions Or check the servomotor capacity The servomotor is not driven due to a mechanical factor and the operating load has become excessive Check the refer ence input and motor speed Improve the mechanical fac tor A SERVOPACK fault occurred The SERVOPACK may be faulty Replace the SERVO PACK Unusual vibration was detected while the motor was rotating Check whether unusual sound is generated from the motor and check the speed and torque waveform of Lower the motor rotation speed or lower the servo gain by using the function such as one parameter tuning A 911 the motor Vibration The moment
82. he power supply voltage Measure the power supply age within the specified suddenly dropped voltage range and set Fn005 to ini tialize the parameter The power supply went Note the circumstances Set Fn005 to initialize the OFF while changing a when the power supply parameter and then set the parameter setting went OFF parameter again The SERVOPACK may be The number of times that Were the parameters fre faulty Repair or replace the A 020 parameters were written quently changed through SERVOPACK Parameter exceeded the limit the host controller Reconsider the method of Checksum Error 1 The parameter data in the SER VOPACK is incor rect writing parameters Malfunction caused by noise from the AC power supply or grounding line static electricity noise etc Turn the power supply ON and OFF several times If the alarm still occurs there may be noise interference Take countermeasures against noise Gas water drops or cut ting oil entered the SER Check the installation con The SERVOPACK may be VOPACK and caused ditions faulty Replace the SERVO failure of the internal PACK components Turn the power supply ON A SERVOPACK fault and OFF several times If The SERVOPACK may be faulty Replace the SERVO occurred the alarm still occurs the SERVOPACK is faulty PACK A 021 Parameter Format Error 1 The parameter data in the SER VOPACK is incor rect The sof
83. hs 1 0 signal cable il p nil Ji Regenerative resistor 2 200 VAC Brake power supply 1 Used for a servomotor with a brake when an absolute encoder is used Magnetic contactor Turns the brake power supply ON and OFF Install a surge absorber Motor main circuit cable SGMJV SGMAV SGMPS SGMGV SGMSV Servomotor 2 Use a 24 VDC power supply not included necting Regenerative Resistors for personal computer Digital operator Personal computer Host controller When not using the safety function use the SERVOPACK with the safety function jumper connector JZSP CVHO5 E provided as an accessory inserted g When using the safety function insert a connection cable specifically for the safety function ae Safety function devices Before connecting an external regenerative resistor to the SERVOPACK refer to 3 4 Con 3 2 System Configuration Diagram 3 2 3 Connecting to SGDV OOOD01A SERVOPACK Power supply Three phase 400 VAC RST Molded case circuit breaker MCCB Protects the power supply line by shutting the circuit OFF when overcurrent is detected Digital operator SGDV LILILIDO1A Noise filter Magnetic SERVOPACK Used to eliminate contactor external noise from Tu
84. input are input agreed i Check TREF and SG to Correct the control mode Torque control Torque ref confirm if the control n selection parameter or the erence input is incorrect method and the input are agreed input oe Position control Reference Check Pn200 0 reference Correct the control mode oes Not s pulse form or sign pulse selection parameter or the Start pulse input is incorrect sienal t gnal input card Position error pulse clear Check CLR input pins Turn CLR input signal CLR input is turned ON CN1 14 and 15 OFF The forward run prohibited P OT and reverse run pro Check P OT or N OT input Turn P OT or N OT input hibited N OT input signals signal signal ON are turned OFF Set the HWBBI or Wedel aa sah ee input signal e e safety input signa en not using the safe HWBBI or HWBB2 on MAE Ny EF function mount the safety remains OFF Paster function jumper connector provided as an accessory on the CN8 A SERVOPACK fault occurred Replace the SERVOPACK Servomotor Servomotor wiring is incor Check the servomotor wir on taneously ds Encoder wiring is incorrect Check the encoder wiring Check connections of main ope Wiring connection to servo f circuit cable phases U V Tighten any loose terminals Un stable motor is defective and W and encoder con or connectors nectors n Troubleshooting 6 31 6 Troubleshooting
85. ion of the product or fire Do not modify the product Failure to observe this warning may result in injury fire or damage to the product A WARNING Provide an appropriate stopping device on the machine side to ensure safety The holding brake on a servomotor with a 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 a momentary power loss The machine may restart unexpectedly Take appropriate mea sures to ensure safety against an unexpected restart Failure to observe this warning may result in injury Connect the ground terminal according to local electrical codes 100 Q or less fora SERVOPACK with a 100 200 V power supply 10 Q or less for a SERVOPACK with a 400 V power supply Improper grounding may result in electric shock or fire Installation disassembly or repair must be performed only by authorized personnel Failure to observe this warning may result in electric shock or injury The person who designs a system using the safety function Hard Wire Baseblock function must have full knowledge of the related safety stan dards and full understanding of the instructions in 3 V Series User s Man ual Design and Maintenance SIEP S800000 45 46 Failure to observe this warning may result in injury or damage to the product Storage and Transportation A CAUTI
86. is OFF Or correct the excessive position error alarm level at servo ON Pn526 3 control 6 20 The alarm that may occur in a SERVOPACK with option module for fully closed loop 6 1 Troubleshooting of Alarms cont d Alarm Cause Investigative Actions Corrective Actions Alarm Name After a position error pulse has been input Pn529 limits the speed if the S_ON signal is Set position error pulses to A d02 turned ON If Pn529 lim Position Error Pulse Overflow Alarm by Speed Limit at Servo ON its the speed in such a state this alarm occurs when reference pulses are input and the number of position error pulses exceeds the value set for parameter Pn520 Exces sive Position Error Alarm Level be cleared while the 5 ON signal is OFF Or correct the excessive position error alarm level Pn520 Or adjust the speed limit level at servo ON Pn529 A d10 3 Motor load Position Error Pulse Overflow Motor rotation direction and external encoder installation direction are opposite Check the servomotor rota tion direction and the exter nal encoder installation direction Install the external encoder in the opposite direction or reverse the setting of the external encoder usage method Pn002 3 Mounting of the load e g stage and external encoder joint installation are incorrect Check the external encoder mechanical connection Check the mechanical joints
87. it Wire Size 3 10 This section describes the SERVOPACK Main Circuit Wire Size IMPORTANT 1 Wire sizes are selected for three cables per bundle at 40 C sur rounding air temperature with the rated current Use a wire with a minimum withstand voltage of 600 V for the N main circuit 3 If cables are bundled in PVC or metal ducts take into account the reduction of the allowable current 4 Use a heat resistant wire under high surrounding air or panel temperatures where polyvinyl chloride insulated wires will rapidly deteriorate 3 3 Main Circuit Wiring B Wire Types Use the following type of wire for main circuit Cable Type Allowable Conductor Symbol Name Temperature C IV 600 V polyvinyl chloride insulated wire 60 HIV 600 V grade heat resistant polyvinyl chloride 75 insulated wire The following table shows the wire sizes and allowable currents for three wires Use wires with specifications equal to or less than those shown in the table 600 V grade heat resistant polyvinyl chloride insulated wire HIV Nominal Allowable Current at AWG Cross Configuration Conductive Surrounding Air Temperature Si Section Number of Resistance Be Diameter Wires mm Q km 7 mm 30 C 40 C 50 C 20 0 5 19 0 18 39 5 6 6 5 6 4 5 19 0 75 30 0 18 26 0 8 8 7 0 5 5 18 0 9 37 0 18 24 4 9 0 Jed 6 0 16 1 25 50 0 18 15 6 12 0 11 0 8 5 14 2 0 7 0 6
88. l surface the motor temperature may rise consid erably because of the limited heat radiating abilities of the surface To restrict the temperature rise you should either mount a heat sink or limit the electrical thermal and mechanical stress on the motor derating Refer to 2 V Series Product Catalog KAEP S800000 42 for the relation between heat sink size and derating The data in the catalog is given only for reference as the actual temperature rise depends on how the heat sink motor mounting section is fixed on the installation surface and what material is used for the motor mounting section Always check the actual motor tem perature If the servomotor is covered or if a heating element is installed near the servomotor the motor temperature may rise considerably In this case take following counter measures Reduce the load ratio Reconsider the motor heating conditions Install a cooling fan to forcedly cool the motor n Installation 2 6 2 Installation 2 2 3 Connecting Servomotor to Machine 2 2 3 Connecting Servomotor to Machine The end of the motor shaft is coated with anticorrosive paint Thoroughly remove the paint prior to installation Align the shaft of the servomotor with the shaft of the machine and then couple the shafts Install the servomotor so that alignment accuracy falls within the following range Vibration will damage the bearings or encoders if the shafts are not properly aligned
89. l undamaged and is the motor oiled If the servomotor has a brake is the brake released beforehand To release the brake apply the specified voltage 24 VDC or 90 VDC The following diagram shows an example of the circuit wiring needed to release the holding brake before a trial operation 5 2 Inspection and Checking before Trial Operation An example of the circuit wiring Servomotor SERVOPACK with brake Power supply A T u o Q l v v L3 W o _ LL SIC b L2C 24 VDC power supply or Brake power supply 24 VDC or 90 VDC A24 VDC power supply is not included Brake power supply Input voltage of 200 V LPSE 2H01 E Input voltage of 100 V LPDE 1H01 E m SERVOPACKs Inspect and check the following items and take appropriate measures before per forming trial operation if any problem exists Are all installation wiring and connections correct Is the correct power supply voltage being supplied to the SERVOPACK E Installing the Servomotor and SERVOPACK Install the servomotor and SERVOPACK according to the installation conditions Secure the mounting plate of the servomotor to the equipment Do not connect any load to the shaft Note Be sure to secure the servomotor to the equipment or the servomotor may turn over when it starts rotating Do not connect anything to the servomotor shaft n Trial Operation Checking
90. lation Environment and Applicable Standards 2 2 2 1 1 Servomotor Installation Environment 2 2 2 1 2 SERVOPACK Installation Environment 2 3 2 1 3 Installation Conditions for Applicable Standards 2 4 2 2 Servomotor Installation 2 5 2 271 Orientation 5 ess DER ut Ge A OR ea RACER e ao 2 5 2 2 2 Installation Standards 2 5 2 2 3 Connecting Servomotor to Machine 2 6 2 2 4 Protective Structure o rou marne eter repe moindre tte be 2 7 2 2 5 Other Pr cautions 44 4 cnius Sa RN Ng gk n hia ede ae ed oe 2 8 2 3 SERVOPACK Installation 2 9 2 9 1 Orientation ia ah hue te rre bed e BN edo ane er s 2 9 2 3 2 Installation Standards 2 10 2 4 EMC Installation Conditions 2 12 SeWiringrand Connections 99 9 1 999 es a a a I TIT aa NETT 3 1 3 1 Precautions for Wiring 3 2 3 2 System Configuration Diagram 3 3 3 2 1 Connecting to SGDV OMOF01A SERVOPACK 3 3 3 2 2 Connecting to SGDV LILILIA01A SERVOPACK 3 4 3 2 3 Connecting to SGDV LILILD
91. lue set in the excessive position error The contact in the servo motor U V and W wir ings is faulty Check the motor main cir cuit cable connection Confirm that there is no contact fault in the motor wiring of encoder wiring The frequency of the position reference pulse is too high Reduce the reference pulse frequency and operate the SERVOPACK Reduce the position refer ence pulse frequency or ref erence acceleration Or reconsider the electronic gear ratio The position reference acceleration is too fast Reduce the reference accel eration and operate the SERVOPACK Apply the smoothing func tion such as using position reference acceleration deceleration time constant Pn216 Setting of the Pn520 alarm level NE Excessive Position Error Check the alarm level Pn520 Alarm Level is low Pn520 to see if it is set to sone Pn520 to proper against the operating con an appropriate value dition Turn the power supply OFF and then ON again If the A SKAK fault alarm still occurs the SER ogee VOPACK may be faulty Replace the SERVOPACK A d01 The S ON signal is to be Set position error pulses to Position Error Pulse Overflow Alarm at Servo ON turned ON when the num ber of position error pulses is greater than the set value of Pn526 Check the error counter monitor Un008 while the S ON signal is OFF be cleared while the 5 ON signal
92. ly to Correct the settings to Main Circuit mode DC power was see if itis a DC power sup match the actual power sup Wing Supply supplied ply ply specifications iri Detected when In the DC power input Check the power supply to Correct the settings to the power to the main circuit is turned ON mode AC power was supplied see if it is a AC power sup ply match the actual power sup ply specifications Regenerative resistor capacity Pn600 is not set to 0 even though the regenerative resistor is Is the regenerative resistor connected If it is check the regenera tive resistor capacity Set Pn600 to 0 disconnected The SERVOPACK may be Pr awe fault faulty Replace the SERVO PACK n Troubleshooting u 6 8 6 Troubleshooting cont d Alarm Alarm Name Cause Investigative Actions Corrective Actions A 400 Overvoltage Detected in the SERVOPACK main circuit power supply section For 100 VAC SERVO PACKs The AC power supply voltage exceeded 145 V For 200 VAC SERVO PACKs The AC power supply voltage exceeded 290 V For 400 VAC SERVO PACKs The AC power supply voltage exceeded 580 V For 200 VAC SERVO PACKs with DC power supply input The power supply voltage exceeded 410 V For 400 VAC SERVO PACKs with DC power supply input The power supply voltage exceeded 820 V Measure the power supply voltage Set AC DC p
93. n50D Corrective Actions Correct the power circuit Correct the power circuit Correct the connector CN1 connection Correct the wiring Reduce load or replace with larger capacity servomotor Input speed position refer ences correctly Correct the settings for Pn50A to Pn50D Input Signal Selection Encoder type differs from parameter setting Pn002 2 Check setting of parameter Pn002 2 Set parameter Pn002 2 to the encoder type being used Servo ON S ON input signal stays OFF Check settings of parame ters Pn50A 0 and Pn50A 1 Set the parameters to turn the Servo ON S ON input signal ON P CON input function set ting is incorrect Check parameter Pn000 1 Set parameters to match the application 6 30 6 3 Troubleshooting Malfunction Based on Operation and Conditions of the Servomotor cont d Problem Probable Cause Investigative Actions Corrective Actions Ifusing an absolute encoder SEN input is OFF EN aed status of turn the SEN input signal ON Refi I cel Check the Pn200 0 setting Match the Pn200 0 setting SOT mode Se ec and the reference pulse sta and the reference pulse sta ek tus tus Check V REF and SG to C t th tri d Speed control Speed refer confirm if the control ja PAS CODO MOSE 7 ae selection parameter or the ence input is incorrect method and the
94. nafter referred to as HWBB function is a safety function designed to baseblock the motor shut off the motor current by using the hardwired circuits Each circuit for two channel input signals blocks the run sig nal to turn off the power module and the motor current is shut off Refer to the dia gram below Power supply SERVOPACK 24 V power supply L ii CN8 m Control circuit IHWBB1 d Run signal Fuse l HWBB1 HWBB2 HWBB2 0v I Note For safety function signal connections the input signal is the OV common and the output signal is the source output This is opposite to other signals described in this manual To avoid confusion the ON and OFF status of signals for safety functions are defined as fol lows ON The state in which the relay contacts are closed or the transistor is ON and current flows into the signal line OFF The state in which the relay contacts are open or the transistor is OFF and no current flows into the signal line A WARNING Perform risk assessment for the system and confirm that the safety requirements with the following standards are fulfilled before using the HWBB function EN954 1 Category3 IEC61508 1 to 4 SIL2 R Safety Function 4 3 4 Safety Function 4 3 4 4 Safe
95. nel Operator 5 5 5 4 JOG Operation Using a Digital Operator 5 7 5 5 JOG Operation Using SigmaWin 5 10 Om FOUDIESMOOUMG ere sr A hae ee eee nah done a tele ee 6 1 6 1 Troubleshooting of Alarms 6 2 6 2 Troubleshooting of Warnings 6 25 6 3 Troubleshooting Malfunction Based on Operation and Conditions of the Servomotor 6 30 Revision History XV Overview of Setup This chapter describes how to set up the 2 V series of servo drives Overview of Setup 1 1 1 Overview of Setup This chapter describes the flow of the setup procedure from installation until a JOG operation A panel operator a digital operator and SigmaWin which is an engi neering tool that can be used with a PC are available to set up a servo drive The panel operator is included with the SERVOPACK and the digital operator and SigmaWin are sold separately A CAUTION and the system may stop Analarm or warning may be generated if communications are executed with the host controller during operation using SigmaWin or the digital operator If an alarm or warning is generated the process currently being executed may be aborted IMPORTANT Be sure to read 5 2 Inspection and Checking before Trial Operation Operation Referen
96. nst noise encoder Excessive vibration and Check the opetatins euviz Reduce the machine vibra shocks were applied to t p e tion or correctly install the A C92 the encoder s servomotor Encoder Turn the power supply OFF Communications An encoder fault and then ON again If the Timer Error d alarm still occurs the ser occurred vomotor may be faulty Replace the servomotor Turn the power supply OFF and then ON again If the A PER VOLAS fault alarm still occurs the SER VOPACK may be faulty Replace the SERVOPACK Turn the power supply OFF Au encoder fault and then ON again If the alarm still occurs the ser occurred vomotor may be faulty A CAQ Replace the servomotor Encoder Parameter Error Turn thie power supply DEK and then again e A SERVOPACK fault alarm still occurs the SER occurred VOPACK may be faulty Replace the SERVOPACK A Cb0 Encoder Echoback Error The encoder wiring and contact are incorrect Check the encoder wiring Correct the encoder wiring Noise interference occurred due to incorrect encoder cable specifica tions Use tinned annealed cop per twisted pair or shielded twisted pair cable with a core of at least 0 12 mm Noise interference occurred because the wir ing distance for the encoder cable is too long The wiring distance must be 20 m max The FG potential varies because of influence from machines on the servomo tor side s
97. nstallation 2 4 EMC Installation Conditions This section describes the recommended installation conditions that satisfy EMC guidelines for each model of the SGDV SERVOPACK The conditions required for the standard type base mounted of SERVOPACK are described Refer to this sec tion for other SERVOPACK models such as the rack mounted types as well This section describes the EMC installation conditions satisfied in test conditions prepared by Yaskawa The actual EMC level may differ depending on the actual sys tem s configuration wiring and other conditions However because this product is built in check that the following conditions are still met after being installed in the user s product The applicable standards are EN55011 A2 group 1 class A EN61800 3 and EN61000 6 2 m SGDV LILILILIO1A Analog pulse model Single phase 100 V SGDV LILILIF01A 000 R70 R90 2R1 2R8 Shield box Brake Power Supply One turn SERVOPACK Ei e Brake a D U V W o 5 Em Power supply E Noise 6 LSLILO Om Single phase o filter G m L1 L2 Oo o o 100 VAC 9 o Servomotor o Surge 8 LIC Lac EORUM absorber Twotun Two turn CN2 lm g 5 Encoder o o CN8 I Core Core PE I Two turn Two turn Clamp E PE Host Safety unit
98. o an appro priate value A 521 Autotuning Alarm Vibration was detected while executing the advanced autotun ing one parame ter tuning EasyFFT or tun ing less function The servomotor vibrated considerably while per forming tuning less func tion factory setting Check the servomotor speed waveform Reduce the load so that the moment of inertia ratio falls within the allowable value or raise the tuning level or reduce the gain level using the tuning less function Fn200 The servomotor vibrated considerably during advanced autotuning one parameter tuning or EasyFFT Check the servomotor speed waveform Check the operation proce dure of corresponding func tion and take a corrective action 6 10 6 1 Troubleshooting of Alarms cont d Alarm igati Abin Nane Cause Investigative Actions Corrective Actions Incorrect wiring or con Confirm that the servomo tact fault of servomotor Check the wiring tor and encoder are cor and encoder rectly wired Operation beyond the Check the servomotor over Reconsider the load condi Ayr tions and operation condi overload protection char load characteristics and gt AAN acteristics executed run command tionis Or increase the A 720 i servomotor capacity Overload A 710 High Load A 720 Low Load Excessive load was applied during operation because the servomotor was not driven due to mechanic
99. of inertia Set an appropriate value for ratio Pn103 is larger Check the moment pprop iate Vs n the moment of inertia than the actual value or of inertia ratio Pn103 greatly changes The POWER supply volt Measure the power Set the power supply voltage age is in excess of the SIR supply voltage within the specified range specified range Pply 8 p 8 The external regenera Check the op rat Change the regenerative tive resistance servo gt OP resistance regenerative resis A 920 amplifier capacity or ing conditions or tor capacity or SERVOPACK Regenerative regenerative resistor capacity using the capacity Reconsider the Overload LU capacity selection soe Dn verload capacity is insufficient software Siemalun operating conditions using Warning before the or a continuous regen En Ea the capacity selection soft alarm A320 occurs erative state occurs ware SigmaJunmaSizet etc Regenerative power continuously flowed back because negative load was continuously applied Check the load on the servomotor dur ing operation Reconsider the system including the servo machine and operation conditions 6 26 6 2 Troubleshooting of Warnings cont d Warning Warning Name Situation at Warning Occurrence Cause Corrective Actions The servomotor is driven by an external force Check the operat ing conditions Do not drive the motor with external force
100. of inertia ratio may cause vibration Do not touch the SERVOPACK heatsinks regenerative resistor or servo motor 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 or damage to the product 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 damage to the product fire or injury Do not use the holding brake of the servomotor for braking Failure to observe this caution may result in malfunction B Operation cont d A CAUTION Always use the servomotor and SERVOPACK in one of the specified com binations Failure to observe this caution may result in fire or malfunction The servomotor stopping method of turning the main circuit or control cir cuit power OFF without turning the servo OFF during operation can not be set in Parameter Pn001 Use the following method to stop the servomotor When turning the main circuit power OFF without turning the servo OFF The servomotor will be stopped by dynamic braking DB When turning the control circuit power OFF without turning the servo OFF The stopping method will vary depending on the SERVOPACK model Refer to the Z V Series U
101. ol Cable Name Specification 0 I O signal cable Shield cable Safety signal cable Shield cable Motor main circuit cable Shield cable Encoder cable Shield cable Main circuit cable Shield cable MECHATROLINK II communication cable Shield cable 2 22 2 4 EMC Installation Conditions Three phase 200 V SGDV LILILIA11A 000 470 550 590 780 Shield box Clamp Cooling fan Brake Power Supply SERVOPACK ral P a Noi U VW 5 ower supply oise Three phase p 5 filter LA 12 13 O5 200 VAC 6 o L1C L2C tors 6 CN2 MS Encoder Regenerative PE resistor unit B1 B2 a m edi NS Clamp Clamp rJ 2 ost Safety unit Symbol Cable Name Specification T O signal cable Shield cable Safety signal cable Shield cable Motor main circuit cable Shield cable Encoder cable Shield cable Main circuit cable Shield cable Regenerative resistor unit cable Non shield cable Cooling fan cable Shield cable MECHATROLINK II communication cable Shield cable n Installation 2 23 2 Installation Three phase 400 V SGDV OOOD11A O00 IR9 3R5 5R4 8R4 120 170
102. onnector contact fault Communications Error caused by vibration Malfunction caused by noise interference Correct the wiring around the encoder to avoid noise interference Separate the encoder cable from the ser vomotor main circuit cable improve grounding etc A SERVOPACK fault occurred Connect the servomotor to another SERVOPACK and turn ON the control power If no alarm occurs the SERVOPACK may be faulty Replace the SERVO PACK A C91 Encoder Communications Position Data Error The noise interference occurred on the input out put signal line because the encoder cable is bent and the sheath is damaged Check the encoder cable and connector Confirm that there is no problem with the encoder cable layout The encoder cable is bun dled with a high current line or near a high current line Check the encoder cable layout Confirm that there is no surge voltage on the encoder cable The FG potential varies because of influence from machines on the servomo tor side such as the welder Check the encoder cable layout Properly ground the device to separate from the encoder FG n Troubleshooting 6 17 6 Troubleshooting cont d Alam c Investigative Acti Corrective Acti Alarm Name ause nvestigative Actions Orrective Actions Noise interference occurred on the input out _ Take countermeasures put signal line from the agai
103. ower supply 2 Three phase 5 Noise LI 2 13 400 VAC o filters CN2 p G Encoder Surge ojla absorber Regenerative B1 B2 resistor unit PE cable T PE Clamp Clamp o Host Safety unit controller ET Symbol Cable Name Specification 0 I O signal cable Shield cable Q Safety signal cable Shield cable Motor main circuit cable Shield cable Encoder cable Shield cable Control power cable Shield cable Main circuit cable Shield cable Regenerative resistor unit cable Non shield cable 1 Products that have received CE marking are recommended for the 24 VDC power supply 2 Install the following noise filter on the power line between the single phase 200 V power supply and the 24 VDC power supply Model number FN2070 6 07 SCHAFFNER 3 For more information on this filter refer to X V Series Product Catalog KAEP S800000 42 2 18 2 4 EMC Installation Conditions m SGDV 000011A M II model Single phase 100 V SGDV LILILIF11A 000 R70 R90 2R1 2R8 Shield box Brake Power Supply One tum sERVOPACK E z z U VW re E E Brake ower supply Noise 6 jum jama 05 Om Single phase 5 filter G pe L1 L2 o a 2 100 VAC e o Servomotor o Surge 8 E L1C L2C One turi absorber Two turn
104. ower supply voltage within the speci fied range The power supply is unstable or was influ enced by a lightning surge Measure the power supply voltage Improve the power supply conditions by installing a surge absorber etc Then turn the power supply ON again If the alarm still occurs the SERVOPACK may be faulty Replace the SERVOPACK Acceleration decelera tion was executed under the following conditions The AC power supply voltage of 100 VAC SERVOPACK was in the range between 115 V and 135 V The AC power supply voltage of 200 VAC SERVOPACK was in the range between 230 V and 270 V The AC power supply voltage of 400 VAC SERVOPACK was in the range between 480 V and 560 V Check the power supply voltage and the speed and torque during operation Set AC power supply volt age within the specified range The external regenerative resistance is too high for the actual operation con ditions Check the operation condi tions and the regenerative resistance Select a regenerative resis tance value appropriate for the operation conditions and load 6 1 Troubleshooting of Alarms cont d am e Investigative Acti Corrective Acti Alarm Name ause nvestigative Actions Orrective Actions The moment of inertia Confirm that the moment of lt g b Fo va Increase the deceleration ratio exceeded the allow inertia ratio is within the E A 400 time or reduce
105. pair cable with a improper I O signal cable 2 specifications core of 0 12 mm min and tinned annealed copper twisted wire Noise interference due to Check the I O signal cable length of T O signal cable length An encoder fault occurred The pulse count does not change A SERVOPACK fault occurred Ambient temperature too Measure the servomotor high ambient temperature Servomotor Servomotor surface dirty Overheated Servomotor overloaded Reduce the ambient temper ature to 40 C or less Visually check the surface Cigan d stand OH irom ie surface Check the load status with monitor If overloaded reduce load or replace with larger capac ity servomotor n Troubleshooting o co N Revision History The revision dates and numbers of the revised manuals are given at the bottom of the back cover MANUAL NO SIEP S800000 43B Published in Japan November 2008 07 4 lt gt L Revison number Date of publication L Date of original publication SUED s Rev Section Revised Contents April 2007 First edition Allchapters Completely revised November 2008 D P PA Back Cover Revision Address AC Servo Drives V Series USER S MANUAL Setup Rotational Motor IRUMA BUSINESS CENTER SOLUTION CENTER 480 Kamifujisawa Iruma Saitama 358 8555 Japan Phone 81 4 2962 5696 Fax 81 4 2962 6138 YASKAWA ELECTRIC AMERICA INC 2121 Norman Drive
106. ption Module Communications Error Reception error Wiring of cable between serial converter unit and SERVOPACK is incorrect or contact is faulty Check the external encoder wiring Correct the cable wiring The specified cable is not used between serial con verter unit and SERVO PACK Confirm the external encoder wiring specifica tions Use the specified cable Cable between serial con verter unit and SERVO PACK is too long Measure the external encoder cable length Use 20 m cable max Sheath of cable between serial converter unit and SERVOPACK is broken Check the external encoder cable Replace the cable 3 The alarm that may occur in a SERVOPACK with option module for fully closed loop control n Troubleshooting 6 19 6 Troubleshooting cont d Alarm c Investigative Acti Corrective Acti Alarm Name ause nvestigative Actions orrective Actions Noise interferes with the cored the wiring around 43 cable between serial con serial converter unit e g A CF2 verter unit and SERVO separating input output sig Feedback Option PACK nal line from main circuit Module cable or grounding Communications Error Timer stop A serial converter unit fault occurred Replace the serial con verter unit A SERVOPACK fault occurred Replace the SERVOPACK A d00 Position Error Pulse Overflow Position error exceeded the va
107. r oil mist use a servo motor with an oil seal to seal the through shaft section Precautions on using a servo motor with an oil seal are described below Put the oil surface under the oil seal lip Use an oil seal in favorably lubricated condition When using a servomotor with its shaft upward direction be sure that oil will not stay in the oil seal lips E Cable Stress Make sure there are no bends or tension on the motor main circuit cables and encoder cables Be especially careful to wire encoder cables so that they are not subject to stress because the core wires are very thin at only 0 2 or 0 3 mm B Connectors Observe the following precautions Make sure there is no foreign matters such as dust and metal chips in the connector before connecting When the connectors are connected to the motor be sure to connect the end of motor main circuit cables before connecting the encoder cable s end If the encoder cable s end is connected the encoder may break because of the volt age differences between FG Make sure of the pin arrangement Do not apply shock to resin connectors Otherwise they may be damaged When handling a servomotor with its cables connected hold the servomotor or the connectors and cables will be damaged Fix the connector to SGMJV SGMAV SGMPS 01 02 04 or SGMGV 03 05 servomotors with screws Make sure that the connector is securely fixed with screws If not the protective construction
108. ram JOG movement speed Pn533 Pn533 min x 2 encoder resolution P Pn20E 6 x 10 Pn210 n Troubleshooting gt do 6 Troubleshooting cont d Alarm Sera Alarm Name Cause Investigative Actions Corrective Actions The moving speed of A 042 advanced autotuning is Parameter Com bination Error lower than the setting range after having changed the electronic Check that the detection A 1 conditions is satisfied Reduce the electronic gear ratio Pn20E Pn210 cont d gear ratio Pn20E Pn210 or the servomotor A 044 Fully closed The setting of the option The setting of option mod Loop Control module does not match us ue settings of ule must be compatible Parameter with that of Pn002 3 oe with the setting of Pn002 3 Setting Error A 04A 2 Parameter Setting Error 2 For a 4 byte parameter bank no registration in two consecutive bytes for two bank members Change the number of bytes for bank members to an appropriate value The total amount of bank data exceeds 64 Pn900 x Pn901 gt 64 Reduce the total amount of bank data to 64 or less A 050 Combination Error The SERVO PACK and servo motor capacities The SERVOPACK and servomotor capacities do not match each other Check the capacities to see if they satisfy the following condition Servomotor capacity SERVOPACK capacity lt 1 4 or Servomotor capac ity S
109. rease the e waveform j tuning less function load level or lower the tun ing level for the tuning less level setting Fn200 Check if there are any loose f Tighten the mounting mounting screws Screws Abnormal r Noise from Mounting is not secured Check if there is misalign Align the couplings Servomotor ment of couplings Check if there are unbal Balance the couplings anced couplings Bearings are defective Check for noise and vibra R lt eplace the servomotor tion around the bearings Check for any foreign mat Vibration source at the ter damage or deformations Contact the machine manu driven machine on the machinery s movable facturer parts 6 32 6 3 Troubleshooting Malfunction Based on Operation and Conditions of the Servomotor cont d Problem Probable Cause Abnormal Noise from Servomotor cont d Noise interference due to incorrect input output sig nal cable specifications Noise interference due to length of input output signal cable Noise interference due to incorrect encoder cable specifications Noise interference due to length of encoder cable wir ing Noise interference due to damaged encoder cable Excessive noise to the encoder cable FG potential varies because of influence of machines such as welders at the servo motor SERVOPACK pulse count ing error due to noise inter ference
110. res One turn Two turn Cable 6 4 Cable G y Ferrite core Ferrite core B Recommended Ferrite Core Cable Name Ferrite Core Model Manufacturer Motor main circuit cable ESD SR 250 NEC TOKIN Corp B Recommended Noise Filter and Surge Absorber For more information on recommended noise filters and surge absorbers refer to 2 V Series Product Catalog KAEP S800000 42 W Fixing the Cable Fix and ground the cable shield using a piece of conductive metal Example of Cable Clamp Shield cable sheath stripped Host controller side T Ground plate Fix and ground the cable shield N using a piece of conductive metal Remove paint on mounting surface W Shield Box A shield box which is a closed metallic enclosure is effective as reinforced shielding against electromagnetic interference EMI from SERVOPACKs The structure of the box should allow the main body door and cooling unit to be attached to the ground The box opening should be as small as possible lt Note gt Do not connect the digital operator and the analog monitor cable to the SERVOPACK during operations Connect them only when the machinery is stopped during mainte nance 2 26 3 Wiring and Connection This chapter describes how to set up the wiring and connections required for trial operation For more information on the wiring and connection refer to the following manuals e X
111. rns the servo the power line ON and OFF Install a surge Personal absorber Connection cable comput is puter for digital operator Connection cable for personal computer 100 200 VAC I O signal cable Host controller DC power 4 supply 24 V When not using the safety function use the SERVOPACK with the safety function jumper connector JZSP CVHO5 E provided as an accessory inserted CJ De When using the safety function insert a connection cable specifically for the safety function Battery case _ Tj CT when an absolute ES encoder is used Safety function A devices Regenerative resistor Brake power supply Used for a servomotor with a 90 V brake Magnetic contactor Turns the brake power suppl ON and OFF l Pey Install a surge absorber Encoder cable Motor main circuit cable SGMGV SGMSV Servomotor Wiring and Connection 4 1 Use a 24 VDC power supply with double insulation or reinforced insulation The power supply is not included Es 2 Before connecting an external regenerative resistor to the SERVOPACK refer to 3 4 Con necting Regenerative Resistors 3 Use a following power supply for 90 V brake For details refer to 2 V series Product Cat alog KAEP S800000 42 For 200 V input voltage LPSE 2H01 E For 100 V input voltage LPDE 1H01 E 3
112. roducts which include stand alone products and products installed in machines are packed with fumigated wooden materials the electrical components may be greatly damaged by the gases or fumes resulting from the fumigation process In particular disinfectants containing halogen which includes chlorine fluorine bromine or iodine can contribute to the erosion of the capaci tors W Installation A CAUTION Never use the product 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 con trol 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 B Wiring A CAUTION Be sure to wire correctly and securely Failure to observe this caution may result in motor overrun injury or mal
113. ser s Manual Design and Maintenance for details Maintenance and Inspection A CAUTION Do not disassemble the SERVOPACK Failure to observe this caution may result in electric shock or injury Do not attempt to change wiring while the power is ON Failure to observe this caution may result in electric shock or injury When replacing the SERVOPACK resume operation only after copying the previous SERVOPACK parameters to the new SERVOPACK Failure to observe this caution may result in damage to the product xi xii E Disposal A CAUTION When disposing of the products treat them as ordinary industrial waste W General Precautions Observe the following general precautions to ensure safe application The products shown in illustrations in this manual are sometimes shown without cov ers 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 modifica tion 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 Y
114. serial converter unit fault occurred Replace the serial con verter unit A 8A2 External Encoder An external encoder fault _ Replace the external Error of Sensor occurred encoder Incremental A BA3 3 The absolute external External Encoder Error of Position An absolute external encoder fault occurred encoder may be faulty Refer to the encoder manu facture s instruction manual Absolute for corrective actions A 8A5 3 The overspeed from the Repai l h 1 der r epair or replace the exter External Encoder external enco nal encoder Overspeed occurred A 8A6 2 The overheat from the Repai l h I der g epair or replace the exter External Encoder external enco nal encoder Overheated occurred 3 6 14 The alarm that may occur in a SERVOPACK with option module for fully closed loop control 6 1 Troubleshooting of Alarms cont d Aam C Investigative Acti Corrective Acti Alarm Name ause nvestigative Actions Orrective Actions A malfunction occurred Clear and reset the alarm A b10 n Spred tema and restart the operation Speed Reference A D Error Turn the power supply OFF Detected when A SERVOPACK fault and then ON again If the the servo is ON occurred alarm still occurs the SER VOPACK may be faulty Replace the SERVOPACK A b11 Speed Reference A D Data Error A malfunction occurred in the speed reference input section Clear
115. serious or minor injury damage to the product or faulty operation In some situations the precautions indicated could have serious consequences if not heeded Indicates prohibited actions that must not be performed For example this symbol would be used to indicate that fire is prohibited as follows amp Indicates compulsory actions that must be performed For example this symbol would be used as follows to indicate that grounding is compulsory e vi Safety Precautions These safety precautions are very important Read them before performing any pro cedures such as checking products on delivery storage and transportation installa tion wiring operation and inspection or disposal Be sure to always observe these precautions thoroughly N 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 or damage to the product Never touch the inside of the SERVOPACKs Failure to observe this warning may result in electric shock Do not remove the cover of the power supply terminals while the power is Failure to observe this warning may result in electric shock After the power is turned OFF or after a voltage resistance test do not touch terminals while the CHARGE lamp is
116. specifications may not be satisfied Be sure not to apply stress on the connector The connector may be damaged by stress W Radial and Thrust loads Design the mechanical system so thrust and radial loads applied to the servomotor shaft end during operation fall within the allowable ranges of each motor Refer to 2 V Series Product Catalog KAEP S800000 42 for the allowable ranges 2 3 SERVOPACK Installation 2 3 SERVOPACK Installation 2 3 1 Orientation The SERVOPACK is available in models that are base mounted models that are rack mounted and models that are duct ventilated In any case mount the SERVO PACK with a vertical orientation Firmly secure the SERVOPACK to the mounting surface using either two or four mounting holes depending on the SERVOPACK capacity Base mounted A fa MI Air Flow y Rack Rack mounted pino p n Installation 2 Installation 2 3 2 Installation Standards Duct ventilated t gt Duct lt Alle f um e E 4 9 Air Flow 2 3 2 Installation Standards Observe the standards for mounting SERVOPACKs in control panels including those for the mounting SERVOPACKs side b
117. ta personal computer On p Do JZSP CVS06 02 E Start SigmaWin and open the main win dow 1 Turn ON the SERVOPACK 2 Turn ON the computer 3 Double click the YE Applications folder on the desktop YE Applications 4 Double click the SigmaWin icon to dis play the SigmaWin startup screen O Pad 2 SigmaWin English Edition 4 YASKAWA ELECTRIC CORPORATION Startup Screen 5 10 5 5 JOG Operation Using SigmaWin cont d Step Operation Display 5 Once SigmaWin is started the connec EI tion window is displayed Ed Note 7 is used for operation with MM apana aee no SERVOPACK connected aa ae ama Click EX Search to search for the con nected SERVOPACK peace eeu Connection Window 6 Search Condition Setting window is open Select only E V Select Z V v f zv and click Search A dialog box will open first to tell you a zd search has started and then the search result will be shown in the connection window E Azv F Azm F Bazas Note If the message Servopack not F fx I Fmoocr found is displayed refer to 2 2 Selecting a SERVOPACK of Sig ano 2 maWin English Edition Online TS ERI cont d Manual YE Applications gt Man ac App val G sre C Rage Ada nawon 0 du 0 7 Es en Search Condition Setting Window 7 Select the SERV
118. the load Overvoltage able value allowable range V Detected in the Turn the control power OFF SERVOPACK and then ON again while the main circuit power sup main circuit power I supply section n eee fault ply is OFF If the alarm still cont d occurs the SERVOPACK may be faulty Replace the SERVOPACK For 100 VAC SERVO PACKs The power supply volt age is 49 V or less For 200 VAC SERVO Set th ly volt PACKs Measure the power supply l thus n Supp de e 3 The power supply volt voltage Age Wir TAG oben age is 120 V or less Tangs For 400 VAC SERVO PACKs A 410 The power supply volt Undervoltage age is 240 V or less Detected in the The power supply voltage Measure the power supply Increase the power supply SERVOPACK dropped during operation voltage capacity main circuit power supply section Occurrence of instanta neous power interruption Measure the power supply voltage When the instantaneous power cut hold time Pn509 1s set decrease the setting Repair or replace the SER The SERVOPACK fuse is _ VOPACK connect an AC blown out DC reactor and run the SERVOPACK The SERVOPACK may be eS fault faulty Replace the SERVO PERS PACK A 450 Main Circuit A SERVOPACK fault Replace the SERVOPACK Capacitor occurred Overvoltage n Troubleshooting b eo 6 Troubleshooting cont d Alarm RUE AIN ame Cause Investigative A
119. the wiring between the SERVOPACK s B2 and B3 terminals and connect an external regenerative resistor between the B1 and B2 terminals or between the Bl and B2 terminals Note Be sure to take out the lead wire between the B2 and B3 terminals Enlarged View 3 22 3 4 Connecting Regenerative Resistors E SERVOPACKs Model SGDV 470A 550A 590A 780A 210D 260D 280D 370D No built in regenerative resistor is provided so the external regenerative resistor is required The regenerative resistor units are as follow Main MR Applicable Applicable Circuit SERVOPACK Regenerative D Specifications Supply Model SGDV Resistor Unit 470A JUSP RA04 E 6 25 25 Q 220 W 4 resistors in paral Three lel phase z p 200 V 550A 590A JUSP RA05 E 3 13 25 Q 220 W 8 resistors in paral 780A lel 210D 260D P RA18 E 18 18 Q 220 W 2 resistors in series Three i TuS with 2 in parallel phase 400 V 280D 370D JUSP RA19 E 14 25 28 5 Q 220 W 2 resistors in series with 4 in parallel Connect a regenerative resistor unit between B1 and B2 terminals When using a regenerative resistor unit set Pn600 to OW factory setting Regenerative Resistor Unit E i nt I AA SERVOPA
120. ties servomotor capacities A 040 The SERVOPACK may be A SERVOPACK fault Parameter occured faulty Replace the SERVO Setting Error 1 The parameter setting was out of the allowable set ting range PACK The parameter setting is out of the specified range Check the setting ranges of the parameters that have been changed Set the parameter to a value within the specified range The electronics gear ratio is out of the setting range Check the electronic gear ratio The ratio must satisfy 0 001 lt Pn20E Pn210 lt 4000 Set the electronic gear ratio in the range 0 001 lt Pn20E Pn210 lt 4000 A 041 Encoder Output Pulse Setting Error The encoder output pulse Pn212 is out of the set ting range and does not satisfy the setting condi tions Check the parameter Pn212 Set Pn212 to a correct value A 042 Parameter Combination Error The speed of program JOG operation Fn004 is lower than the setting range after having changed the electronic gear ratio Pn20E Pn210 or the servomotor Check that the detection 1 conditions is satisfied Reduce the electronic gear ratio Pn20E Pn210 The speed of program JOG operation Fn004 is lower than the setting range after having changed the setting of the program JOG movement speed Pn533 Check that the detection a l conditions is satisfied Increase the setting for the prog
121. to machinery Be sure to refer to this manual and perform setup operations correctly Keep this manual in a location where it can be accessed for reference whenever required E Description of Technical Terms The following table shows the meanings of terms used in this manual Term Meaning Z V Series SGMJV SGMAV SGMPS SGMGV SGMSV or servomotor SGMCS Direct Drive servomotor SERVOPACK Z V Series SGDV SERVOPACK Servo Drive A set including a servomotor and SERVOPACK i e a servo amplifier A servo control system that includes the combination of a servo Servo System drive with a host controller and peripheral devices Analog voltage and pulse train reference used for SERVOPACK Analog pulse model inierface MECHATROLINK II communications reference used for M II model SERVOPACK interface E IMPORTANT Explanations The following icon is displayed for explanations requiring special attention Indicates important information that should be memorized as well as precautions such as alarm displays that do not involve potential damage IMPORTANT to equipment W Notation Used in this Manual 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 example Example S ON S ON W Manuals Related to the V Series Refer to the following manuals as required Name Selecting
122. trial operation described here is a JOG operation for servomotors not connected to machinery without a load The purpose of this trial operation is to check whether the SERVOPACK and servomotor are properly connected and whether the servomo tor is operating normally To conduct trial operation executed from the host controller for the servomotor with out load or for the servomotor connected to the machine refer to the following man uals e 2 V Series User s Manual Design and Maintenance Rotational Motor Analog Voltage and Pulse Train Reference SIEP S800000 45 e 2 V Series User s Manual Design and Maintenance Rotational Motor MECHA TROLINK II Communications Reference SIEP S800000 46 A CAUTION Conduct trial operation on the servomotor alone with the motor shaft discon nected from the machine to avoid any unexpected accidents If it is unavoidable to perform trial operation while connected to a machine then always make sure that an emergency stop can be immediately executed Inspection and Checking before Trial Operation To ensure safe and correct trial operation inspect and check the following items before starting trial operation Servomotors Inspect and check the following items and take appropriate measures before per forming trial operation if any problem exists Are all wiring and connections correct Are all nuts and bolts securely tightened Ifthe servomotor has an oil seal is the sea
123. tware version of SERVOPACK that caused the alarm is older than that of the written param eter Check Fn012 to see if the set software version agrees with that of the SERVO PACK If not an alarm may occur Write the parameter of another SERVOPACK of the same model with the same software version Then turn the power OFF and then ON again A SERVOPACK fault occurred The SERVOPACK may be faulty Replace the SERVO PACK 6 1 Troubleshooting of Alarms cont d Alarm R Abin Name Cause Investigative Actions Corrective Actions The power supply voltage Measure the power supply nu A DE may be A 022 suddenly dropped voltage P ko prace me System Checksum Error 1 The parameter data in the SER VOPACK is incor The power supply went OFF while setting an util ity function Note the circumstances when the power supply went OFF The SERVOPACK may be faulty Replace the SERVO PACK Turn the power supply ON The SERVOPACK may be rect A SERVOPACK fault and OFF several times If faulty Replace the SERVO occurred the alarm still occurs the PACK SERVOPACK is faulty i A 030 The SERVOPACK may be Main Circuit A PME faul ka faulty Replace the SERVO Detector Error PACK The SERVOPACK and Check the combination of Select the proper combina servomotor capacities do SERVOPACK and servo tion of SERVOPACK and not match each other motor capaci
124. tween the grounding and ee d Replace dun ed or motor main circuit servomotor terminal U V E hee 8 cable or W Refer to 3 7 Main 049368 Circuit Wiring SIEP S800000 45 46 Check for short circuits across the servomotor ter minals U V and W on the Short circuit or ground SERVOPACK or between The servomotor may be fault inside the servomo the grounding and servo faulty Replace the servo tor motor terminal U V or W motor Refer to 3 1 Main Circuit Wiring SIEP S800000 45 46 A 100 Overcurrent or Check for short circuits Heat Sink across the servomotor con Overheated Short circuit or ground nection ernia U ye and The SERVOPACK may be fault inside the SERVO nie OF faulty Replace the SERVO An overcurrent jv between the grounding and p flowed through the PACK terminal U V or W Refer PACK IGBT or heat sink to 3 1 Main Circuit Wiring of SERVOPACK overheated SIEP S800000 45 46 Incorrect wiring or con tact fault of the regenera tive resistor Check the wiring Refer to 3 6 Connecting Regenera tive Resistors SIEP S800000 45 or 3 7 Connecting Regenera tive Resistors SIEP S800000 46 Correct the wiring The dynamic brake DB Emergency stop executed from the SERVOPACK was frequently activated or the DB overload alarm occurred Check the resistor power consumption monitor Un00B to see how many times the DB has been used Or check the alarm trace back monitor
125. ty Function Signal CN8 Names and Functions The following table shows the terminal layout of safety function signals CN8 Signal 3 Pin No N me Function 1 2 xi 2 3 HWBBI Hard wire baseblock input 1 4 AWBB1 Hard wire baseblock input Baseblock motor current off 5 HWBB2 when OFF Hard wire baseblock input 2 6 HWBB2 7 EDMI ON when the HWBBI and the rd HWBBZ2 signals are input and 3 SE Monitored circuit status output 1 the SERVOPACK enters a baseblock state Do not use unused terminals connected to the internal circuits Precautions When Not Using the Safety Function When not using the safety function or when performing a JOG operation use the SERVOPACK with the safety function jumper connector JZSP CVH05 E provided as an accessory inserted If the SERVOPACK is used without the jumper connector inserted into CN8 no current will flow to the motor and no torque will be output When Hbb is displayed on the panel operator and digital operator the motor is base blocked by the safety function Check to see if the JZSP CVHOS E jumper connector is correctly inserted into CN8 4 5 When Using the Safety Function 4 5 When Using the Safety Function When using the safety function remove the jumper connector for the safety function and connect a safety device using the following procedure 1 Remove the servomotor connection terminal connector while pressing the
126. uch as the welder Check the encoder cable and connector Make the grounding for the machine separately from encoder side FG Excessive vibration and shocks were applied to the encoder Check the operating envi ronment Reduce the machine vibra tion or correctly install the servomotor 6 18 6 1 Troubleshooting of Alarms cont d Alere C Investigative Acti Corrective Acti Alarm Name ause nvestigative Actions Orrective Actions Turn the power supply OFF and then ON again If the An encoder fault alarm still occurs the ser A Cb0 er vomotor may be faulty Encoder Replace the servomotor ae Error Turn the power supply OFF cont and then ON again If the A as fault alarm still occurs the SER d VOPACK may be faulty Replace the SERVOPACK A CCO Multi turn Limit Disagreement When using a direct drive DD servomotor the PACK Or the multi turn limit value of the SER Pn205 of the SERVO PACK imulti tumdimitvalue Hone the value of the eee 2 is of Pn205 Pn205 is different from that of the encoder The multi turn limit value of the encoder is different from that of the SERVO Check the value of the Execute Fn013 at the occur rence of alarm VOPACK has been changed Turn the power supply OFF and then ON again If the A FRV PEACE fault alarm still occurs the SER ue VOPACK may be faulty Replace the SERVOPACK A CF1 Feedback O
127. uivalent to the overheated Abi decurs SERVOPACK main circuit cont d 3 wire size Turn the power supply OFF and then ON again If the UNUS fault alarm still occurs the SER j VOPACK may be faulty Replace the SERVOPACK Regenerative resistor capacity Pn600 is set to a value other than 0 for a Connect the external regen SGDV R70 Peat heart iE erative resistor or set VOPACK and an exter and the value of the Pn600 iye resistor is required nal regenerative resistor is not connected The jumper between the Confirm that a jumper is power supply terminals OM ee Be NG Correctly mount a jumper B2 and B3 is removed power supply terminals B2 A 300 and B3 Regeneration Error The external regenerative resistor is incorrectly wired or is removed or Check the external regener ative resistor connection Correctly connect the exter nal regenerative resistor disconnected While the main circuit power supply is OFF turn the control power supply A SERVOPACK fault OFF and then turn ON occurred again If the alarm still occurs the SERVOPACK may by faulty Replace the SERVOPACK 6 1 Troubleshooting of Alarms cont d AE C Investigative Acti Corrective Acti Alarm Name ause nvestiga ve Actions Orrective Actions The power supply voltage Set the power supply volt exceeds the specified ae the power supply age within the specified limit ge range ka regen Change the
128. wer is turned ON Frequently turning power ON and OFF will causes the main circuit elements in the SERVOPACK to deteriorate The following wiring examples show the X V Series SGDV SERVOPACK Analog pulse model E Single phase 100 V SGDV OOOF SGDV R70F R90F 2R1F 2R8F Rj T SERVOPACK x x SGDV OOOF a NA 3SA m i 1FIL V 2KM W t T OL1 t 4 L2 1KM Lic L2C For servo CN1 1R 1Ry alarm display BT OA m 31 y N e B2 1PL Servo power Servo power ALM c supply ON supply OFF 1KM t NG 1KM 1SA 1KM 1Ry 2KM Lt 28A 1QF Molded case circuit breaker 1PL Indicator lamp 1FIL Noise filter 1SA Surge absorber 1KM Magnetic contactor for control power supply 2SA Surge absorber 2KM Magnetic contactor for main power supply 3SA Surge absorber 1Ry Relay 1D Flywheel diode 3 14 3 3 Main Circuit Wiring W Three phase 200 V SGDV LILILIA SGDV R70A R90A 1R6A 2R8A 3R8A 5R5A 7R6A 120A 180A 200A 330A RISIT SERVOPACK ae A SGDV OOOA 3SA U 1FIL V YM 2KM D i Ka L1 w Ka L2 t Fa L3 1KM m Lic my BL t a QL2C VA For servo 24 V i B1 6 CN1 1Ry alarm ica deo ALM 31 1Ry B PL 9B Servo power Servo power O
129. y side in one control panel as shown in the following illustration SERVOPACK Mounting Orientation Mount the SERVOPACK vertically to the wall with the front panel the side with the panel operator display facing out Cooling Refer to the following diagram and leave sufficient space for cooling by fans and nat ural convection 2 10 Mounting SERVOPACKs Side by Side in a Control Panel 2 3 SERVOPACK Installation 40 mm or more t t Width varies with or m r e SERVOPACK model 40 mm or more Leave sufficient space on each side and at the top and the bottom of each SERVO PACK The width on each side varies in accordance with the models of the SERVO PACKS used SERVOPACK Model SGDV Side Left Right Top and bottom R70F R90F 2R1F R70A R90A 1R6A 2R8A 1 mm or more 2R8F 3R8A SRSA 7R6A 1 mm or more 10 mm or more 120A 180A 200A 330A 470A 550A 590A 780A 1R9D 3R5D 5R4D 8R4D 120D 170D 210D 260D 280D 370D 10 mm or more 40 mm or more Also install cooling fans above the SERVOPACKs to disperse local pockets of warmer air around the SERVOPACKs lt Inside the Control Panel The conditions inside the control panel should be the same as the environmental con ditions of the SERVOPACK Refer to 2 7 2 SERVOPACK Installation Environment n Installation 2 11 2 I

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