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Sigma-III Series SGDS User`s Manual

1. i Options X II Series SGMAS SGMPS m and SGMSS servomotor fade Specifications 1 Without options B With 90 VDC brake C With 24 VDC brake D With oil seal and 90 VDC brake Rated OUPUE N E With oil seal and 24 VDC brake Code SGMAS SGMPS SGMSS A5 0 05 S With oil seal 01 0 10 0 10 c2 0 15 Shaft End Specifications 0 20 0 20 02 Code Specifications SGMAS SGMPS SGMSS 04 0 40 0 40 06 0 60 Z 2 Straight without key Standard Standard Standard 08 0 75 0 75 3 Taper 1 10 with key Option 10 1 0 4 Straight with key Option Option 12 1 15 6 Straight with key and tap Option 15 i i is 39 8 Straight with tap Option Option Design Revision Order Supply Voltage Code Design Revision Order A 200 VAC SGMAS SGMPS SGMSS Servomotor is for 200 VAC also when SERVOPACK is for 100 VAC E SGMPS IP67 specification Serial Encoder Specifications Code Specifications SGMAS SGMPS SGMSS 17 bit absolute Standard Standard Standard 17 bit incremental Note The number of encoder pulse is 32768 P Rev 2 2 2 1 Servomotor Model Designations 2 With Gears SGMAS 01ACAH1 2B
2. XIII Series SGMAS SGMPS and SGMSS servomotor Options 1 Without brake B With 90 VDC brake With 24 VDC brake Rated Output kW Code SGMAS SGMPS SGMSS AS 0 05 Shaft End Specifications 01 0 10 0 10 C2 0 15 m Code Specifications SGMAS SGMPS SGMSS 02 0 20 0 20 0 Flange type no shaft H H 04 0 40 0 40 2 Straight without key H J H J 06 0 60 4 Straight with key L Serre GS 6 Straight with key andtap H J HJ 12 145 E 8 Straight with tap H H 15 1 5 1 5 T Gear Ratio 30 sao Code Gear Ratio SGMAS SGMPS SGMSS B 4 11 H 01A to 12A H 01A to 15A B Supply Volt J only 12A J only 15A upply Voltage G A 200 VAC 1 21 H J H J Servomotor is for 200 VAC also when 1 1 5 H J H J L SERVOPACK is for 100 VAC 2 1 9 H only A5A B L 3 3 31 J A5A to 08A J 01A to 08A Serial Encoder Specifications 5 oU L Code Specifications SGMAS SGMPS SGMSS S L 2 17 bit absolute T me Standard Standard Standard 1 33 Hyd H J C 17 bit incremental 3 8 1 45 I Note The number of encoder pulses is 32768 P Rev Design Revision Order Gear Type Code Design Revision Order Code Specifications A SGMAS SGMPS SGMSS H HDS planetary low backlash gear SGMAS SGMPS E SGMPS IP67 specification J Standard backlash gear SGMAS SGMPS
3. 25 8 1 02 in No 1 Pin No 2 1 27 0 05 NJ 15 24 0 60 21 5 0 84 I 0 50 Unit mm in Pin No 14 Units mm in 2 Cable Size Specifications Use twisted pair or twisted pair shielded wire AWG24 26 28 30 016 mm 0 63 in max 4 Specifications and Dimensional Drawings of Cables and Peripheral Devices 4 4 1 Cables for Connecting Personal Computers 4 4 Peripheral Devices 4 4 1 Cables for Connecting Personal Computers SGDS SynqNet does not support any connection to personal computers 4 4 2 Digital Operator 1 Model JUSP OP05A with a 1m connection Cable SERVOPACK E Digital Operator L ge joo fom oo oo oo oo oo ooo m looo OA po L 2 Dimensional Drawings P tight countersunk screw 3 x 12 co9993J Tightening torque 3 5N cm 70 2 76 Nameplate 5 oazo 0 67 0 03 1000 30 39 37 1 18 Units mm in CE Plug 10114 3000VE Shell 10314 52F0 008 f 4 4 3 Cables for Analog Monitor 1 Cable Type JZSP CAO01 Connect the specified cables to CN5 connector for monitoring the analog monitor signals
4. ge a 16 kHz Drive Cycle 4 SynqNet nodes Controller g amp Calculate E 3 amp 9 Calculate g E z 4 58 8 E SynqNet Downstream E am Communication E 3 3 3 SynqNet Upstream T DIE 1 FI Communication ControlCycle lt gt Demand_Strobe Feedback_Strobe Drive Strobe L i Li U Torque Output RepeatTorque RepeatTorque New Torque RepeatTorque RepeatTorque Serial Encoder Acquire For the smallest control latency the serial encoder data should beacquired just beforethe Drive Strobe interrupt 6 3 6 SynqNet Communications 6 2 1 Specifications 6 2 Specifications and Configurations 6 2 1 Specifications Specification Buffer Update Rate 16 kHz Node Coordination Support for up to 32 coordinated axes Topology Ring or String 6 2 2 SynqNet Communications Connection Example 1 Configuration Elements a Controller The controller is the SynqNet network host There should only be one controller per network b Nodes A node is a slave and not the controller unless otherwise stated c Terminator An optional loopback connector placed at the end of a node chain in a string topology 2 Topology SynqNet supports a ring topology where the network nodes are connected in series back to the SynqNet control ler In a ring topology if any one cable or node f
5. 3 13 supported SynqNet features 6 10 surge protector 4 20 switch ID setting 6 8 SynqNet communications grounding 6 7 specifications and configurations 6 4 SynqNet communications connection example 6 4 SynqNet connectors CN6A and CN6B 5 11 SynqNet packet timing 6 2 SynqNet port LED indicators 6 8 T temperature regulation 3 2 temperature resistant vinyl cable 4 3 torque control tolerance 3 9 torque filters 8 2 trial operation 7 9 troubleshooting 9 2 troubleshooting for malfunction without alarm display 9 17 U UL standards 1 11 using more than one SERVOPACK 5 17 using noise filter 5 14 utility functions 10 2 vibration shock resistance 3 2 vinyl cable 4 3 voltage regulation 3 5
6. 6 11 servo alarm ALM output 9 2 servo system configurations 1 6 servomotor inspection 9 21 servomotor stop method 9 2 servomotors nameplate 1 2 product part names 1 4 SERVOPACK inspection 9 21 SERVOPACK main circuit wire size 4 2 SERVOPACK standard replacement period 9 22 SERVOPACK s parts replacement schedule 9 22 SERVOPACKs applicable servomotors 2 6 dimensional drawings 3 17 installation 3 4 internal block diagrams 3 6 load moment of inertia 3 12 model designations 2 5 nameplate 1 3 overload characteristics 3 12 power losses 3 11 product part names 1 5 ratings and specifications 3 2 speed control range 3 2 starting time 3 13 stopping time
7. 3 2 3 2 SERVOPACK Installation 3 4 3 8 SERVOPACK Internal Block Diagrams 3 6 3 3 1 Single phase 100 V 50 W to 400 W Models 3 6 xii 3 3 2 Single phase 200 V 50 W to 400W Models 3 7 3 3 3 Three phase 200 V 1 0 kW Models 3 8 3 3 4 Single phase 200 V 750 W Model 3 9 3 3 5 Three phase 200 V 1 5 kW to 3 0 kW Models 3 10 3 4 SERVOPACK Power Losses 3 11 3 5 SERVOPACK Overload Characteristics and Load Moment of Inertia 3 12 3 5 1 Overload Characteristics 3 12 3 5 2 Starting and Stopping Time 3 13 3 5 3 Load Moment of Inertia 3 13 3 6 Dimensional Drawings of SERVOPACK Model SGDS O000720 3 17 3 6 1 Classification table 3 17 3 6 2 Single phase 100 V 200 V 50 W 100 W 200 W 3 17 3 6 3 Single phase 200 V 400 W 3 18 3 6 4 Single phase 100 V 400 W 3 18 3 6 5 Single phase 200 V 750 W and Three phase 200 V 1 0 kW 3 19 3 6 6 Three phase 200 V 1 5 KW 3 19 3 6 7 Three phase 200 V 2 0 kW 3 0 kW
8. 6 2 6 1 1 Overview 6 2 6 1 2 SynqNet Packet Timing 6 2 6 2 Specifications and Configurations 6 4 6 2 1 Specifications 6 4 6 2 2 SynqNet Communications Connection Example 6 4 6 2 3 Precautions for Wiring SynqNet Cables 6 5 6 2 4 Grounding 6 7 6 3 Settings 6 8 6 3 1 Switch ID Setting 6 8 6 3 2 SynqNet Port LED Indicators 6 8 6 3 3 LED 7 Segment Display 6 9 6 4 Supported SynqNet Features 6 10 6 4 1 Cyclic Commands 6 10 6 4 2 Cyclic Responses 6 10 6 4 3 Service Commands 6 11 7 Operation 7 1 Trial Operation 7 2 7 1 1 Digital Operator Operation 7 2 xiv 8 Adjustments 8 1 Torque Filters 8 2 8 2 Analog Monitor 8 5 9 Inspection Maintenance and Troubleshooting 9 1 Troubleshooting 9 2 9 1 1 Alarm Display Table
9. 4 15 4 4 10 Magnetic Contactor 4 18 4 4 11 Surge Protector 4 20 4 4 12 AC DC Reactors for Harmonic Suppression 4 21 4 1 4 Specifications and Dimensional Drawings of Cables and Peripheral Devices 4 1 SERVOPACK Main Circuit Wire Size IMPORTANT 1 Wire sizes were selected for three cables per bundle at 40 C 104 F ambient temperature with the rated current 2 Use cable with a minimum dielectric withstand voltage of 600 V for main circuits 3 If cables are bundled in PVC or metal ducts consider the reduction ratio of the allowable current 4 Use heat resistant cable under high ambient or panel temperatures where normal vinyl cable will rapidly deteriorate 5 Use cable within the allowable moment of inertia 6 Do not use in continuous regenerating mode 1 Single phase for 100 V Terminal d Model SGDS External Terminal Name Symbol Main circuit power input terminals L1 L2 Servomotor connection terminals HIV1 25 Control power input terminals LIC L2C HIV1 25 External regenerative resistor connection terminals B1 B2 HIV1 25 Ground terminal remm HIV2 0 min 2 Single phase for 200 V External Terminal Name Terminal SERVOPACK Model SGDS Symbol Main circuit power input terminals Servomotor connection terminals HIVI 25 Control power input terminals L1C L2C HIV1 25 External regenerative
10. 4 21 xiii 5 Wiring 5 1 Wiring Main Circuit 5 2 5 1 1 Names and Descriptions of Main Circuit Terminals 5 2 5 1 2 Wiring Main Circuit Terminal Block Spring Type 5 3 5 1 3 Typical Main Circuit Wiring Examples 5 4 5 2 Wiring Encoders 5 7 5 3 Examples of I O Signal Connections 5 8 5 3 1 Connection Example 5 8 5 3 2 I O Signal Connector CN1 Terminal Layout 5 9 5 3 3 I O Signal CN1 Names and Functions 5 10 5 3 4 SynqNet Connectors CN6A and CN6B 5 11 5 4 Special Wiring 5 12 5 4 1 Wiring Precautions 5 12 5 4 2 Wiring for Noise Control 5 13 5 4 3 Using More Than One SERVOPACK 5 17 5 4 4 400 V Power Supply Voltage 5 18 5 4 5 AC DC Reactor for Harmonic Suppression 5 19 5 5 Connecting Regenerative Resistors 5 20 5 5 1 Regenerative Power and Regenerative Resistance 5 20 5 5 2 Connecting External Regenerative Resistors 5 20 5 6 Flexible Cables 5 23 6 SynqNet Communications 6 1 Introduction
11. L Low backlash gear SGMSS Note SGMPS servomotors conform to IP67 but the gears do not 2 3 2 Selections 2 1 2 Model SGMCS 2 1 2 Model SGMCS SGMCS 02B 3B 1 1 D III Series SGMCS servomotor Brake Specifications Code Specifications 1 Without brake Flange Specifications Code Specifications 1 C face Design Revision Order Code Specifications A 45 to 200 N m 2 4 Rated Torque N m Motor Outer Diameter mm Code Specifications B 6135 C 6175 D 0230 E 6290 M 0280 N 90360 02 2 0 O 04 4 0 05 5 0 O 07 7 0 O 08 8 0 10 10 0 14 14 0 16 16 0 17 17 0 25 25 0 39 35 0 45 45 0 80 80 0 1A 110 0 1E 150 0 2Z 200 0 B 2 to 35 Nem Serial Encoder Specifications Code Specifications Remarks 3 20 bit absolute without multiturn data Standard D 20 bit incremental Option 2 2 SERVOPACK Model Designations 2 2 SERVOPACK Model Designations Select the SERVOPACK according to the applied servomotor SGDS 02A 72A X III Series SGDS Mounting Method SERVOPACK Code Mounting Method Base mounted as standard R Rack mounted Rated
12. Q puu lll 4 0 16 TTI NI 75 2 95 Nameplate 180 7 09 Units mm in Approx mass 2 8 kg 6 17 Ib 4 Specifications and Dimensional Drawings of Cables and Peripheral Devices 4 1 SERVOPACK Main Circuit Wire Size 4 2 4 2 Connectors for Main Circuit Control Power Supply and Servomotor Cable 4 4 4 2 1 Spring Type Standard 4 4 4 2 2 Crimp Type Option 4 5 4 3 CN1 Cables for I O Signals 4 6 4 3 1 Standard Cables 4 6 4 3 2 Connector Type and Cable Size 4 6 4 4 Peripheral Devices 4 8 4 4 1 Cables for Connecting Personal Computers 4 8 4 4 2 Digital Operator 4 8 4 4 3 Cables for Analog Monitor 4 8 4 4 4 Connector Terminal Block Converter Unit 4 9 4 4 5 Brake Power Supply Unit 4 10 4 4 6 External Regenerative Resistor 4 11 4 4 7 Absolute Encoder Battery 4 13 4 4 8 Molded case Circuit Breaker MCCB 4 14 4 4 9 Noise Filter
13. 3 20 4 Specifications and Dimensional Drawings of Cables and Peripheral Devices 4 1 SERVOPACK Main Circuit Wire Size 4 2 4 2 Connectors for Main Circuit Control Power Supply and Servomotor Cable 4 4 4 2 1 Spring Type Standard 4 4 4 2 2 Crimp Type Option 4 5 4 3 CN1 Cables for I O Signals 4 6 4 3 1 Standard Cables 4 6 4 3 2 Connector Type and Cable Size 4 6 4 4 Peripheral Devices 4 8 4 4 1 Cables for Connecting Personal Computers 4 8 4 4 2 Digital Operator 4 8 4 4 3 Cables for Analog Monitor 4 8 4 4 4 Connector Terminal Block Converter Unit 4 9 4 4 5 Brake Power Supply Unit 4 10 4 4 6 External Regenerative Resistor 4 11 4 4 7 Absolute Encoder Battery 4 13 4 4 8 Molded case Circuit Breaker MCCB 4 14 4 4 9 Noise Filter 4 15 4 4 10 Magnetic Contactor 4 18 4 4 11 Surge Protector 4 20 4 4 12 AC DC Reactors for Harmonic Suppression
14. G7 YASKAWA SERVOPACK 200V SGDS 02A72A o Cable for Analog Monitor 4 4 Peripheral Devices 2 Dimensional Drawings Socket DF11 4DS 2C Hirose Electric Corporation Connector DF11 2428SCF Hirose Electric Corporation Black _ Black c 3 4 lt a NENG eit T 20 0 ite 100075 39 3775 mm in Red 3 Specifications Gable Color Signal Name White Analog Monitor 1 Torque reference 1 V 100 rated torque Analog Monitor 2 Motor speed 1 V 1000 min Black 2 cables GND 0 V Analog monitor GND 0V 4 4 4 Connector Terminal Block Converter Unit 1 Model JUSP TA26P The connection diagram for the connector terminal block converter unit is shown below SERVOPACK Connector terminal block converter unit model JUSP TA26P 2 Dimensional Drawings of Terminal Block Terminal block 40P Connector plug 40P M3 5 screw FCN 364P040 AU 3 Can be fixed on DIN rail 20 5 0 81 Units mm in 4 9 4 Specifications and Dimensional Drawings of Cables and Peripheral Devices 4 4 5 Brake Power Supply Unit 3 Dimensional Drawings of Cable Connector terminal block Plug FCN361J040 AU SERVOPACK end connector 26P Cover FCN 360C040 B Plug 10126 6000EL Fujitsu Ltd Cover 10326 52A0 008 Sumitomo 3M Ltd 37 2
15. 1 LE n Use flexible cables for movable sections such as robot arms For the precautions on handling flexible cables refer to 5 6 Flexible Cables 2 Not required when using an incremental encoder or using an absolute encoder with a battery connected to the host controller 2 14 2 4 Selecting Cables 2 4 2 Cables for SGMSS Servomotor Cable Connection for Standard Wiring Distance SGDS LILILI72A SERVOPACK Battery case when an absolute encoder is used Servomotor main circuit cable SGMSS Servomotor 2 15 2 Selections 2 4 2 Cables for SGMSS Servomotor Encoder Cable Extension from 20 m 65 5 ft up to 50 m 164 ft SGDS LILILI72A SERVOPACK Relay encoder cable extension SERVOPACK end To be assembled by the customer SGMSS Servomotor 2 4 Selecting Cables Name Length Specification o 0t 7 f a O O 9 84 ft 5m Cable with loose SERVOPACK end Encoder end d SERIE 10m JZSP CMP03 10 JZSP CMP13 10 For incremen gaam ZSheMPust0 s2se co 10 apo 49 2 ft 65 5 ft 9 84 ft 5 Cable with loose JZSP CSP04 05 JZSP CSP24 05 SERVOPACK end Encoder end wire at encoder 16 4 ft end 10m JZSP CSP04 10 JZSP CSP24 10 encoder with 15m Battery case battery case 4928 JZSP CSP04 15 JZSP CSP24 15 20 e JZSP CSP04 20 JZSP CSP24 20 QD cN2 65 5 ft 3
16. 5 9 CN2 terminal layout 5 7 connecting regenerative resistors 5 20 connectors for main circuit control power supply and servomotor cable 4 4 continuous output current 3 2 CSA standards 1 11 cyclic commands 6 10 cyclic responses 6 10 D digital operator 2 24 4 8 E examples of I O signal connections 5 8 external regenerative resistor 4 11 external regenerative resistors 5 20 F flexible cables 5 23 frequency characteristics 3 2 fuse capacity 2 25 Index 1 ground terminal 4 2 grounding 5 14 H hot start 3 12 l T O signal names and functions 5 10 input power supply 3 2 inspection and maintenance 9 21 jog mode operation 7 2 L LED 7 segment display 6 9 load moment of inertia 3 13
17. NV WU S Chassis or Bracket Tied to Connector Tied to shield IN PORT s 6 2 Specifications and Configurations 4 Node Shielding Node shielding is DC isolated from port to port and from local node chassis as well as from ground and power signals Molex offers an insulated screened connector PN 85504 This prevents currents at DC or main fre quency from circling the ring or coming back via some system ground path The shields are AC coupled via capacitors one for each port to a nearby earth point on the node and or machine chassis This capacitor reduces EMI by dumping high frequency energy to the earth ground The cable shields are also tied to isolated plane sec tions one for each port on the node PCB to minimize EMI R2 Node Connector Tied to cable shell AC Capacitor coupled to Earth GND or Digital GND Pe Cable Shell Tied to shield ISOLATED PLANE SHIELD GND 50 Cable Shield Twisted Pair one shown OUT PORT Chassis or Bracket Isolated from Connector ISOLATED PLANE SHIELD GND 51 IN PORT 6 2 4 Grounding SynqNet provides grounding of its communication lines through the connectors Each connection includes ground lines for the transmit line and the receive line as well as earth ground For proper machine ground
18. 9 2 9 1 2 Warning Displays 9 4 9 1 3 Troubleshooting of Alarm and Warning 9 5 9 1 4 Troubleshooting for Malfunction without Alarm Display 9 17 9 2 Inspection and Maintenance 9 21 9 2 1 Servomotor Inspection 9 21 9 2 2 SERVOPACK Inspection 9 21 9 2 3 SERVOPACK s Parts Replacement Schedule 9 22 10 Appendix 10 1 Utility Functions 10 2 10 1 1 List of Parameters 10 3 10 2 Monitor Modes 10 10 INDEX Revision History XV 1 Outline 1 1 Checking Products 1 2 1 1 1 Check Items 1 2 1 1 2 Servomotors 1 2 1 1 3 SERVOPACKS 1 3 1 2 Product Part Names 1 4 1 2 1 Servomotors 1 4 1 2 2 SERVOPACKS 1 5 1 3 Examples of Servo System Configurations 1 6 1 4 Applicable Standards 1 11 1 4 1 North American Safety Standards UL CSA 1 11 ADCE Marking eec seecue cece wales TEn ha AE 1 11 1 1 1 Outline 1 1 1 Check Items 1 1
19. Install a surge protector Refer to 4 4 10 Magnetic Contactor Battery case SGMPS 08 15 When an absolute Servomotor for 750 W ee ewe encoder is used Used for a servomotor with a brake Refer to 4 4 7 o Refer to 4 4 5 Brake Power Supply Unit Absolute Encoder Battery Va Encoder cable for relay 9 Encoder cable for relay LL Refer to 2 5 1 Refer to 2 5 1 Servomotor main circuit cable Refer to 5 1 1 and 5 1 2 SGMAS SGMPS Servomotor 1 7 1 Outline 2 Connecting to SGMAS and SGMPS Servomotors Connect the main circuit cable and encoder cable to SGMAS or SGMPS 100 W to 400 W servomotor in the following manner IMPORTANT Do not directly touch the connector pins provided with the servomotor Particularly the encoder may be damaged by static electricity etc 1 Remove the protective tape and cap from the servomotor connector Cap Protective tape 2 Mount the cable connector on the servomotor and fix it with screws as shown in the figure below Encoder cable For all models 2xM2 pan head screw Tightening torque 0 15N m UI U Rubber packing Servomotor main circuit cable 0 2xM2 tapped holes Ew For SGMAS AS to 06 and G O TOL EE SGMPS 01 to 04 2xM2 pan head screw Tightening torque 0 15N m For SGMAS 08
20. Units mm in Lead wire length L 500 19 69 Rated power 120 W Resistance 1 O to100 Q Units mm in Rated Power i i i E 70W 1501172 42 90W 5 91 6 77 0 63 1 65 0 180 202 44 120W 7 09 7 95 0 63 4 73 0 200 220 60 7 87 8 66 0 59 2 36 312 12 28 270 10 63 Lead wire length L 450 17 72 Lead wire length L 300 11 81 Rated power 300 W Rated power 200 W Resistance 1 Q to 30 Q Resistance 1 Q to 10kQ Units mm in Units mm in 4 12 4 4 Peripheral Devices 4 4 7 Absolute Encoder Battery After the power supply was turned OFF a backup battery is required to write the position of absolute encoder Install one of the absolute encoder batteries below 1 Battery Case Model JUSP BAO1 IMPORTANT 1 A battery is not mounted in the battery case A battery must be purchased separately Battery Case Model JZSP BAO1 Refer to 2 Battery Mounted in the Battery Case on this page 2 Install the battery case where the ambient temperature is 0 to 55 C 32 F to 131 F Connector on SERVOPACK end Encoder cable JZSP CSP04 00 05 00 06 00 07 00 Install the battery JZSP BA01 Note The battery is not included The user must provide the battery Battery Case JUSP BAO1 2 Battery Mounted in the Battery Case Model JZSP BAO1 lithium battery Battery ER3V ba
21. 3 m Ress ipa PS PG serial signal inp 5 Wiring 5 3 1 Connection Example 5 3 Examples of I O Signal Connections 5 3 1 Connection Example 24VIN CN1 1 bid CN1 11 BRK e lt V USERO _ CN1 7 Pa EA Pa CN1 12 BRK qo d 3 3 kQ CN1 13 ALM E aK x USER1 CN1 8 L RVA 4 I BN CN1 14 ALM CN1 9 USER V A V x HOME _ CN1 4 Ne 7 LJ oo CN1 10 e USER 5V v Py V ax l cw oT _ CN1 3 I PY V x CNi 5 Ms G 330 Q e IT ccw oT CN1 2 aK AA ah CN1 16 MSR gt H lt EXSTOP cN1 5 J AN 4 EXSTOP CN1 6 xf nu Na CN1 18 NS G bd m CN1 17 MS COM ENC A CN1 21 p CN1 20 Jy NS_COM 1200 ENC A SENI Encoder I F ENC_B CN1 23 s ENC B lCN1 24 gt ENC_C CN1 25 gt ENC C CN1 26 gt GND CN113 Connecrtor shell v A FG 5 8 Shield line is connected to the connector shell 5 3 Examples of I O Signal Connections 5 3 2 I O Signal Connector CN
22. SGMAS for 50 to 1 15 kW SGMPS for 100 to 400 W SGMPS for 750 W 1 5 kW 2 4 Selecting Cables Length Specifications Standard Type Flexible Type JZSP CSP01 05 JZSP CSP21 05 16 4 ft secas zsr csraros JZSP CSP01 10 JZSP CSP21 10 32 8 ft urere usce 3 9 84 ft SERVOPACK end Encoder end S B JZSP CSP01 15 JZSP CSP21 15 a B N e JZSP CSP01 20 JZSP CSP21 20 JZSP CSP05 15 JZSP CSP25 15 49 2 f Eust ees JZSP CSP05 20 JZSP CSP25 20 zu JZSP CMP00 03 JZSP CMP10 03 9 84 ft l g i 2 JZSP CMP00 05 JZSP CMP10 05 16 4 ft Paroma zareve SERVOPACK end Encoder end 32 8 f i el ra L 1 JZSP CMP00 15 JZSP CMP10 15 49 2 ft zsrcumoss securis JZSP CMP00 20 JZSP CMP10 20 65 3 f ceed anm 3m JZSP CSP19 03 JZSP CSP29 03 9 84 ft 5 m JZSP CSP19 05 JZSP CSP29 05 16 4 ft m 5m m 9 84 ft 5m 16 4 ft SERVOPACK end A E5 3 Battery case Encoder end 32 8 ft o CA oO B 8 Y e B tA B S B a B N e B SERVOPACK end Encoder end QI H Fe Battery case um o 8 2 JZSP CSP19 10 JZSP CSP29 10 ae a JZSP CSP19 15 JZSP CSP29 15 elm etes peres 20m JZSP CSP19 20 JZSP CSP29 20 65 5 ft a 5 Use flexible cables for movable sections such as robot arms Refer to 5 6 Flexible Cables Note When the battery of the host controller is used for the absolute encoder no b
23. The fuse of the SERVOPACK is blown out Replace the SERVOPACK Inrush current limit resistor disconnection Replace the SERVOPACK check the power abnormal power supply voltage inrush current supply voltage and reduce the number of times limit resistor overload of main circuit ON OFF operation A SERVOPACK fault occurred Replace the SERVOPACK Lowered AC power supply voltage large voltage AC power supply voltage must be within the drop specified range A SERVOPACK board fault occurred Replace the SERVOPACK Replace the SERVOPACK Incorrect order of phases U V and W in the ser Correct the servomotor wiring vomotor wiring The encoder wiring is incorrect Correct the encoder wiring Malfunction due to noise interference in the Take measures against noise for the encoder encoder wiring wiring A SERVOPACK fault occurred Replace the SERVOPACK Incorrect order of phases U V and W in the ser Correct the servomotor wiring vomotor wiring The encoder wiring is incorrect Correct the encoder wiring Malfunction occurred due to noise interference in Take measures against noise for the encoder the encoder wiring wiring The position speed reference input is too large Reduce the reference value The setting of reference input gain is incorrect Correct the reference input gain setting A SERVOPACK board fault occurred Replace the SERVOPACK A SERVOPACK board fault occurred Replace the SERVOPACK Fau
24. 0 88 X5059 50 74 125 140 35 45 60 5 5 3 Tl re a es am so am am fea omom ean X5060 40 59 105 125 45 60 65 4 43 1 0 re sn am ain aon am e e exo om e X5061 35 52 80 95 35 45 50 4 43 0 5 poet es eo Lets eso a2 am a ero e aion 4 22 Wiring 5 1 Wiring Main Circuit 5 2 5 1 1 Names and Descriptions of Main Circuit Terminals 5 2 5 1 2 Wiring Main Circuit Terminal Block Spring Type 5 3 5 1 3 Typical Main Circuit Wiring Examples 5 4 5 2 Wiring Encoders 5 7 5 3 Examples of I O Signal Connections 5 8 5 3 1 Connection Example 5 8 5 3 2 I O Signal Connector CN1 Terminal Layout 5 9 5 3 3 I O Signal CN1 Names and Functions 5 10 5 3 4 SynqNet Connectors CN6A and CN6B 5 11 5 4 Special Wiring 5 12 5 4 1 Wiring Precautions 5 12 5 4 2 Wiring for Noise Control 5 13 5 4 3 Using More Than One SERVOPACK 5 17 5 4 4 400 V Power Supply Voltage 5 18 5 4 5 AC DC Reactor for Harmonic Suppression 5 19 5 5 Connecting Regenerative Resistors 5 20 5 5 1 Regenerative Power and R
25. 0 Xue Yuan Road Haidian Beijing P R China Post Code 100083 hone 86 10 6233 2782 Fax 86 10 6232 1536 HOUGANG MOTOMAN ROBOT CO LTD Yongchang North Street Beijing Economic Technological Investment amp Development Area eijing 100076 P R China hone 86 10 6788 0551 Fax 86 10 6788 2878 lt rA M v cog INA uo TSD vIK lt v5 ov NO I UD YASKAWA ELECTRIC CORPORATION YASKAWA In the event that the end user of this product is to be the military and said product is to be employed in any weapons systems or the manufacture thereof the export will fall under the relevant regulations as stipulated in the Foreign Exchange and Foreign Trade Regulations Therefore be sure to follow all procedures and submit all relevant documentation according to any and all rules regulations and laws that may apply Specifications are subject to change without notice MANUAL NO SIEP S800000 25A for ongoing product modifications and improvements Printed in Japan November 2004 04 11 2004 YASKAWA ELECTRIC CORPORATION All rights reserved 04 8
26. Auxiliary contact gt bo terminal M3 5 54 2 13 0 32 76 2 99 11 3 10 8 0 44 0 43 Main contact terminal M3 5 Approx mass 0 38 kg 0 838 Ib 2 x M4 mounting holes 4 18 c Model HI 25J and HI 35J 58 2 28 qe eet y 23 4 0 92 111 4 37 M3 5 Coil terminal aan 75 295 5 30 1 18 M3 5 Auxiliary contact terminal M5 Main contact terminal Approx mass 0 68 kg 1 50 Ib M3 5 Coil terminal R Pa eaa D D eg I 1 20 155 0 79 061 M3 5 Auxiliary contact terminal Main contact terminal HI 50J M5 HI 65J M6 Approx mass 1 1 kg 2 43 Ib 98 3 86 Mounting Hole 4 4 Peripheral Devices Dimensions in mm in Terminal Symbols 4 0 16 50 1 97 Auxiliary contact Structure 1NO1NC a A1 o v o Adb RO SI 54 7e3 JE dE T L va va 6 i eaa apa 2x M4 Mounting holes 2 x M4 Mounting holes 2 x M4 Mounting holes
27. Current Detection Error 3 Phase W current sensor is faulty System Alarm 0 Internal program error 0 of SERVOPACK DB stop Internal program processing error occurred System Alarm 1 Internal program error 1 of SERVOPACK DB stop Internal program processing error occurred B B B B B B B B B System Alarm 2 Internal program error 2 of SERVOPACK DB stop N Internal program processing error occurred DB B B B B B B B B B EE E A A A A A A A A A bF1 E A bF2 A bF3 E WOZU System Alarm 4 Internal program error 4 of SERVOPACK DB stop Internal program processing error occurred Servo Overrun Detected The servomotor ran out of control Available Absolute Encoder Clear Error and The multi turn for the absolute encoder was DB stop Multi turn Limit Setting Error not properly cleared or set E A C10 A C80 E E A C90 Encoder Communications Error Communications between SERVOPACK and DB stop encoder is not possible E A A A System Alarm 3 Internal program error 3 of SERVOPACK stop A Internal program processing error occurred H A A A C91 A Encoder Communications Position Data Error occurred Encoder Communications Timer A Error between the encoder and the SERVOPACK i D Encoder Echoback Error Contents of communications with encoder is stop incorrect E A C92 E A CAO A CbO E E A A
28. SGMAS 01 100W SGMAS C2 150W in nias 1 593 5500 min 0 726 1 544 Load moment Load moment Load moment of inertia of inertia of inertia x10 kg m 10 kg m x10 kg m 0 1 0 1 0 1 0 3000 6000 0 3000 6000 0 3000 6000 Motor speed min Motor speed min Motor speed min SGMAS 02 200W SGMAS 04 400W 3500min 4000 mint 3 800 esi 3 480 p 3 475 aui Load moment Load moment of inertia of inertia 10 kg m 4 544 x10 kg m 1 544 0 1 0 0 3000 6000 0 3000 6000 Motor speed min Motor speed min 2 Load Moment of Inertia and Motor Speed for SGMPS Servomotors 1 480 Load moment of inertia 3 x10 kg m 0 772 0 SGMPS 01 100W 4000 mint 3 945 Load moment of inertia 2 x10 kg m 1 544 0 0 3000 6000 Motor speed min SGMPS 02 200W 3500 min 0 3000 6000 Motor speed min SGMPS 04 400W inl 2 863 4000 min Load moment 4 544 of inertia P x10 kg m 0 L 0 3000 6000 Motor speed min 3 5 SERVOPACK Overload Characteristics and Load Moment of Inertia 3 Load Moment of Inertia and Motor Speed for SGMCS Servomotors SGMCS 02B 42W 400 min Load moment 250 of inertia 104 kg m 183 5 m 0 0 200 400 600 Motor speed min SGMCS 04C 84W 670 250 min Load moment of inertia 10 kg m 155 4 i 0 0 200 400 600 Motor speed min SGMCS 08C
29. voltage resistance test 3 5 Index 2 WwW warning display and troubleshooting 9 15 warning displays 9 4 wiring for noise control 5 13 wiring main circuit terminal block 5 3 wiring precautions 5 12 Revision History The revision dates and numbers of the revised manuals are given on the bottom of the back cover MANUAL NO SIEP S800000 25A Printed in Japan November 2004 04 11 m of Date of original printing publication Date of Printing Rev Revised Contents Y II Series SGM_JS SGDS USER S MANUAL For SynqNet Communications IRUMA BUSINESS 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 South Waukegan IL 60085 U S A Phone 1 847 887 7000 Fax 1 847 887 7370 MOTOMAN INC HEADQUARTERS 805 Liberty Lane West Carrollton OH 45449 U S A hone 1 937 847 6200 Fax 1 937 847 6277 PI YASKAWA EL TRICO DO BRASIL COM RCIO LTD A Avenida Fagundes Filho 620 Bairro Saude Sao Paulo SP Brazil CEP 04304 000 hone 55 11 5071 2552 Fax 55 11 5581 8795 PI YASKAWA ELECTRIC EUROPE GmbH Am Kronberger Hang 2 65824 Schwalbach Germany Phone 49 6196 569 300 Fax 49 6196 569 312 Motoman Robotics Europe AB ox 504 8
30. 15 0 59 7 52 8 2 08 45 1 77 10 75 3 2 96 67 5 2 66 Units mm in 3 Plugs Chained Detached Trademark 17 1 0 67 6 33 3 0 07 6 0 12 0 12 0 3 0 01 min AS Cut off type S AN o o E e S Units mm in S co e 4 Specifications and Dimensional Drawings of Cables and Peripheral Devices 4 3 1 Standard Cables 4 3 CN1 Cables for I O Signals 4 3 1 Standard Cables 1 Cable Types Cable Types Length L JZSP VJIO1 1 1 m 3 28ft JZSP VJIOI1 2 2 m 6 56ft JZSP VJIO1 3 3 m 9 84ft 2 Dimensional Drawings Connector at SERVOPACK end 10126 6000EL 26P Sumitomo 3M Ltd Sleeve F2 black Shell 10326 52A0 008 Cable black SSRFPVV SBAWG 28 x 13P 02 8 0 11 in UL20276VW 1SC wire markers LER o s L 1004 Units mm in 4 3 2 Connector Type and Cable Size Use the following connector and wire when customers assemble the cable The connector CN1 includes a set of case and a connector Connector Parts List Connector Type Cases Connector JZSP VJI9 1 10126 3000VE 10326 52A0 008 Manufactured by Sumitomo 3M Ltd 4 3 CN1 Cables for I O Signals 1 Dimensional Drawings of Case Case dimensional drawing Connector dimensional drawing 2 54 0 10 12 0 0 47
31. 1H 0 0 1H 0 0 ately 2nd Step 2ndTorque Reference Filter Fre dc quency ately Value ately Constant ately ome ewe tnm mtm ately pee eset tote inet fet ee ately pete ee mmm Time ately oom m eee ately Excessive Position Error Alarm Level 0 to 1073741823 lreference 262144 Immedi 239 1 unit reference ately reference units units ately 4th 3rd 2nd st digit digit digit digit 1 Z 1 Z 1 Program JOG Operation Related Switch Refer to 7 2 4 0 Waiting time Pn535 Forward movement Pn531 x Number of times of movement Pn536 iting time Pn535 Reverse movement Pn531 x Number of times of movements Pn536 iting time Pn535 Forward movement Pn531 x Number of times of movements Pn536 iting time Pn535 Reverse movement Pn531 x Number of times of movements Pn536 ing time Pn535 Reverse movement Pn531 x Number of times of movements Pn536 Waiting time Pn535 Forward movement Pn531 x Number of times of movements Pn536 Waiting time Pn535 Forward movement Pn531 Waiting time Pn535 gt Reverse movement Pn531 x Number of times of movement Pn536 Waiting time Pn535 Reverse movement Pn531 Waiting time Pn535 gt Forward movement Pn531 x Number of times of movement Pn536 Reserved Do not change Reserved Do not change Reserved Do not change Program JOG Movement Distance 1 to 1073741824 2 1 reference 32768 Immedi reference units unit reference ately units
32. A OO 10 1596 50 60 Hz Control power supply ASIC PWM control etc Power Power Open during OFF ON Servo alarm 1KM To La 1KM Thy Surge protector CPU Position speed calculation etc Sequence I O FPGA SynqNet External encoder communications Digital Operator SynqNet 3 3 SERVOPACK Internal Block Diagrams 3 3 4 Single phase 200 V 750 W Model Single phase 200 to 230 V 49 50 60 Hz Single phase 200 V 750 W Model SGDS 08A A L1 Varistor brake circuit Control power ASIC supply PWM control etc Power Power Open during ON kd N Servo alarm ky NT 1R Position speed y i 1KM Surge Panel operator calculation etc Sequence I O FPGA SynqNet communications External encoder Digital Operator Personal computer SynqNet Note L3 terminal is not used Do not connect 3 SERVOPACK Specifications and Dimensional Drawings 3 3 5 Three phase 200 V 1 5 kW to 3 0 kW Models 3 3 5 Three phase 200 V 1 5 kW to 3 0 kW Models 200 15 230 vite Three phase 200 V 1 5 kW to 3 0 kW Model SGDS LIEIA A O10 15 to30 50 60 Hz ENEN filter Varistor Control Cte Analog ower Tt P PWM control etc Power Power Open during OFF ON Servoalarm CPU Position speed calculation etc Panel operator Sequence I O protector FPGA SynqNet External encod
33. Auxiliary contact Structure 1NO1NC 541 723 El 64g apa 4 19 4 Specifications and Dimensional Drawings of Cables and Peripheral Devices 4 4 11 Surge Protector 4 4 11 Surge Protector 1 Model R C M 601BQZ 4 and R C M 601BUZ 4 Manufactured by Okaya Electric Industries Co Ltd The surge protector absorbs surge voltage generated when the magnetic coil is OFF This prevents faulty opera tion in or damage to electronic circuits near the magnetic contactors or switches Recommended surge protectors for HI L1J series magnetic contactors are listed below 2 Dimensional Drawings a RC M 601BQZ 4 Dimensional Drawings Internal Connection Diagram 04 240 5 o 9 04 0 104 1121 gt it 43 8 o 5 5 1 0 0 22 a 28 540 1 125004 je gt Connection cables j 1 Case 2005 10 094 7 97 F ab SSSSS2A amp SSSN 4540 5 6 180 02 2831 le 4441 1 61 0 04 Units mm in b R C M 601BUZ 4 4 i 1 H m i 1 43 0 0 22 5 51 0 285810 12004 Connection cables 3 c TO 8 2 S e N N co Le E3 e H 2 4 540 5 6 18 0 02 2841 je 412 1 1
34. Either the procedure shown in Fig A or B can be used to open the wire insert opening Fig A c gt Fig B 3 Insert the wire core into the opening and then close the opening by releasing the lever or removing the screwdriver 5 3 5 Wiring 5 1 3 Typical Main Circuit Wiring Examples 5 1 3 Typical Main Circuit Wiring Examples 1 Single phase 100 200 V For servo 1Ry alarm display Main power Main supply ower suppl OFF P ON pply 1Ry 1PRT SERVOPACK SGDS O0072A 24V CN1 13 Ry 1 024V 1QF Molded case circuit breaker Ry Relay FIL Noise filter 1PL Indicator lamp 1KM Magnetic contactor 1PRT Surge protector 1D Flywheel diode 2 Three phase 200 V lll SERVOPACK For servo alarm display 1Ry 1PRT 1QF Molded case circuit breaker FIL Noise filter 1KM Magnetic contactor 5 4 SGDS O0072A 1Ry Relay 1PL Indicator lamp 1PRT Surge protector 1D Flywheel diode 5 1 Wiring Main Circuit 3 750 W Single phase 200V SERVOPACK Main Main Supply Supply OFF ON 1 024V 1KM 1PRT 1QF Molded case circuit breaker 1Ry Relay FIL Noise filter 1PL Indicator lamp 1KM Magnetic contactor 1PRT Surge protector 1D Flywheel diode Note Terminal L3 is not used for the single phase 200 V 750W SERVOPACKs Do not connect IMPORTANT iDesigning a Power ON Sequence Note the following points when designing the pow
35. Length Specifications Model Standard Type Flexible Type CN3 Servo motor Main Cir cuit Ca bles Cont Relay Encoder Cables e Wires and Connec tors for Relay En coder Ca ble Exten sions Relay Encoder Cables Cables Encoder end Same for incre mental and abso lute encoders SGMAS 50 to 600 W SGMPS 100 to 400 W SGMAS 750 W 1 15 kW SGMPS 750 W SGMAS 50 W to 1 15 kW SGMPS 100 W to 400 W Wires and connectors for relay en coder cable extensions are avail able for assembly by the customer SERVOPACK end For absolute en coders with a battery case SGMAS 50 W to 1 15kW SGMPS 100 W to 1 5 kW JZSP CSM80 05 5m JZSP CSM90 05 16 4 ft JZSP CSM90 10 628 f peine i JZSP CSM90 15 49 2 ft 3 JZSP CSM90 20 65 5 f paeem S B JZSP CSM80 10 Nn JZSP CSM80 15 Y e B8 JZSP CSM80 20 20 m 65 6 ft max CA 8 JZSP CSMSI 05 JZSP CSM91 05 164 f pesas JZSP CSM91 10 62 8 f ae JZSP CSM91 15 492 guum JZSP CSM91 20 on 75ean JZSP CSP11 30m 98 425 JZSP CMP 19 30 ft 40m 131 234 JZSP CMP 19 40 ft 50m 164 042 JZSP CMP 19 50 ft JZSP CSP12 2 S B JZSP CSMSI 10 a 5 JZSP CSM81 15 Y 8 JZSP CSM81 20 SERVOPACK end 3 Encoder end a 50m 164 042 ft max gt SERVOPACK end Encoder end dH Battery case Battery attached
36. No battery is mounted in the battery T case A battery must be purchased separately To connect to a host controller provided by a customer 3 6 V 2000 mAh ER6VC3N manufactured by Toshiba Battery Co Ltd he 2 5 2 Molded case Circuit Breaker and Fuse Capacity SERVOPACK Model Power Supply Capacity Current Capacity of per SERVOPACK Breaker or Fuse kVA Arms n 0 25 Main Circuit Power Supply Capacity kW 0 05 Single phase 0 10 100 V 0 40 0 05 0 10 0 20 0 40 Single phase 200 V RETE 075 21 Three phase cum 200 V 20A 30A ed o rdi o Nominal value at the rated load The specified derating is required to select an appropriate fuse capacity Refer to 4 4 8 Molded case Circuit Breaker MCCB 2 The cutoff characteristics 25 C 200 two seconds min 700 0 01 seconds min Note Do not use a fast acting fuse Because the SERVOPACK s power supply is a capacitor input type a fast acting fuse may blow when the power is turned ON IMPORTANT The SGDS SERVOPACK does not include a protective grounding circuit To ensure safety in the system install a ground fault protector against overloads and short circuit or a ground fault protector dedicated for protective grounding combined with the molded case circuit breaker 2 25 2 Selections 2 5 3 Noise Filters 2 5 3 Noise Filters Main Circuit SERVOPACK Model Recommended Noise Filter Power icu Supply SGDS Type
37. load regulation 3 2 M magnetic contactor 4 18 main circuit terminal names and descriptions 5 2 wiring examples 5 4 main circuit power input terminals 4 2 max output current 3 2 molded case circuit breaker 2 25 molded case circuit breaker MCCB 4 14 monitor mode 10 10 N noise filters 2 26 4 15 noise interference 5 12 notch filters 8 3 P parameter list 10 3 peripheral device selection 2 24 peripheral devices 4 8 precautions for wiring SynqNet cables 6 5 Q value 8 3 R reactors connecting a reactor 5 19 types 5 19 recommended noise filters 5 14 regenerative resistor capacity 5 21 regenerative resistors 2 27 replacing oil seal 9 21 Index S service commands
38. 168W ini Load moment 200 min of inertia 10 kg m 1014 pe 0 0 200 400 600 Motor speed min SGMCS 16E 335W 1 3240 100 min Load moment of inertia 10 kg m 0 0 100 200 300 Motor speed min B Load moment of inertia x10 kg m 147 5 Load moment of inertia x10 kg m 180 5 1863 Load moment of inertia x10 kg m Load moment of inertia x10 kg m 400 SGMCS 05B 105W 250 min 610 i 0 0 200 400 600 Motor speed min SGMCS 10C 209W 835 200 min T 0 0 200 400 600 Motor speed min SGMCS 17D 356W 100 mint i SGMCS 07B 147W Load moment 990 of inertia x10 kg m 109 5 798 Load moment of inertia 5 x10 kg m 351 7 2727 Load moment of inertia x10 kg m Motor speed min SGMCS 35E 550W 100 mint 4470 Motor speed min 0 0 100 200 300 400 0 0 100 200 300 400 200 min 0 200 400 600 Motor speed min SGMCS 14C 293W 200 min 0 fi 0 100 200 300 400 Motor speed min SGMCS 25D 393W 100 mint 0 1 0 100 200 300 400 Motor speed min 3 15 3 SERVOPACK Specifications and Dimensional Drawings 3 5 3 Load Moment of Inertia 4 Allowable Load Moment of Inertia at the Motor Shaft The rotor moment of inertia ratio is the value for a servomotor without a gear and a brak
39. 5 5 49 0 02 5 5 5 0 20 Mounting Hole Diagram 150 5 91 139 5 0 5 5 49 0 02 5 5 ounting 5 0 20 ey eo ERI 75 2 95 2 x M4 screws Outline pu 150 5 91 Terminals terminal 2 x M4 18 pitch 0 71 Mounting Hole Diagram 2 x M4 screws Mounting pitch 70 2 76 Vv Ground CN3 Scns re aie E E pf TCN6A Ochar ti PaA rab 2 lo geall CN6B Lic og suo gs DI og C CN1 e g E od w og Sl CN2 A DA 20 0 79 55 2 17 screws 75 2 95 4 5 1 78 130 5 12 Units mm in Approx mass 1 4 kg 3 09 Ib 4 0 16 T RCM mx cws ml t CN5 ake 550000008 Outli ie i P m s on EAn mmm i sera O UUDEIOLUDLUL E wee i e n n a E ilies 1 dos ERST ol i o gt gt aii CN1 E Ae a TEMA Hs 7 voumpseme ena ibez H i ia Name terminal i i 18 plate Cooling fan screws E 1400 3 94 180 7 09 Units mm in Approx mass 1 2 kg 2 65 Ib 3 6 Dimensional Drawings of SERVOPACK Model SGDS 000720 3 6 5 Single phase 200 V 7
40. 61 0 04 Units mm in 4 20 4 4 Peripheral Devices 4 4 12 AC DC Reactors for Harmonic Suppression 1 Specifications Manufactured by Yaskawa Controls Co Ltd Contact your Yaskawa representative for details If necessary for harmonic suppression connect an AC reactor to the AC line for the single phase input a DC reactor between the SERVOPACK main circuit terminals 1 and 2 for the three phase input Select a reactor that matches the ratings of the SERVOPACK For wiring refer to 5 4 5 AC DC Reactor for Harmonic Suppres sion Reactor Specifications AC DC Reactor Inductance Rated Current Applicable SERVOPACK Model Single phase 100 V Single phase 200 V Three phase 200 V 4 21 4 Specifications and Dimensional Drawings of Cables and Peripheral Devices 4 4 12 AC DC Reactors for Harmonic Suppression 2 Dimensional Drawings B G aon PEP s E u l Notch ka Units mm in Dimensions in mm in Reactor apee E ee ale A 1 38 2 05 3 15 3 74 1 18 1 57 1 77 0 16 0 17 0 88 S dae eos aso aw aa a7 us ots fin am 1 38 2 05 3 54 4 13 1 38 1 77 1 97 0 16 0 17 1 32 1 38 2 05 3 15 3 74 1 18 1 57 1 77 0 16 0 18 0 88 1 38 2 05 3 15 3 74 1 18 1 57 77 0 16 0 17
41. Alarm Display Table 9 3 Alarm Display and Troubleshooting Occurrence Correct the power supply and set Fn005 to ini Parameter Checksum Error EEPROM data of SERVOPACK is incorrect Parameter For mat Error The data of the parameter is incorrect System Check sum Error The data of the parameter is incorrect Parameter Password Error The data of the parameter is incorrect Main Circuit Detector Error Parameter Set ting Error The parameter setting out of the allowable set ting range Combination of parameters out of setting range Occurred when the control power sup ply was turned ON Occurred when the power was turned back ON after parameters are copied with parameter copy function of the digital operator Occurred when the control power sup ply was turned ON Occurred when the control power sup ply was turned ON Occurred when the control power sup ply was turned ON or during opera tion Occurred when the control power sup ply was turned ON Occurred after having changed the setting of Pn533 Program JOG Movement Speed The control power supply ranged from 30 VAC to 60 VAC tialize the parameter The power supply was turned OFF while chang Set Fn005 to initialize the parameter and ing the parameter setting input the parameter again Replace the SERVOPACK Reconsider the parameter writing method The number of times that parameters
42. CCO A Multi turn Limit Disagreement Different multi turn limits have been set in the DB stop encoder and SERVOPACK Position Error Pulse Position error pulse exceeded parameter DB stop Available Overflow Pn520 D A d00 A E02 B FPGA WDC Error FPGA Watchdog malfunction Available SynqNet Communication Error SynqNet and SERVOPACK are not able to DB stop Available communicate Power Line Open Phase One phase is not connected in the main power Available supply 00E Digital Operator Transmission Digital Operator fails to communicate with N a rre onthe Error SERVOPACK fe a N A A EOA A E60 ASIC Interrupt Communication Not able to communication between ASIC stop N A Error Interrupt and SERVOPACK A F10 Not decided L A 9 3 9 Inspection Maintenance and Troubleshooting 9 1 2 Warning Displays 9 1 2 Warning Displays The relation between warning displays and warning code outputs are shown in Table 9 2 Table 9 2 Warning Displays and Outputs Warning Display Position Error Pulse Overflow Position error pulse exceeded the parameter settings Pn520 Overload This warning occurs before the overload alarms A 710 or A 720 occur If the warning is ignored and operation continues an overload alarm may occur Regenerative Overload This warning occurs before the regenerative overload alarm A 320 occurs If the warning is ignored and operation continues a regenera tive overload alarm may occu
43. Co Ltd 10 pole For 750 W to 1 5 kW SERVOPACKs 2 External View and Dimensions I iri m ft fui it sft dub n dz 14 3 0 56 The Number of Poles Dimension A Dimension B 3 21 5 0 85 15 0 59 7 51 5 2 03 45 1 77 P 5 2 09 om Units mm in 10 74 2 91 67 5 2 66 3 Connection Lever 4 20 6 0 81 10 0 39 a o 7 2 7 ee _ Trademark and S serial number o M rr 2 V KIM MV L Erg LL J Reference length Units mm in 4 2 Connectors for Main Circuit Control Power Supply and Servomotor Cable 4 2 2 Crimp Type Option The crimp type connectors are options Contact the manufacturer for details 1 Connector Types 3 pole For servomotor main circuit cable connector at 51241 0311 SERVOPACK end 7 pole For 50 to 400 W SERVOPACKs 51241 0711 51241 1011 Molex Japan Co Ltd 56125 0018 56125 0118 57349 5300 57349 6000 9990909099 Q The Number of Poles Dimension A Dimension B 3 22 8 0 90
44. Encoder Cable Em JZSP CMP01 03 JZSP CMP11 03 9 84 ft sm JZSP CMP01 05 JZSP CMP11 05 16 4 ft j j i i With a straight plug 10m SERVOPACK end Encoder end 32 8 ft JZSP CMP01 10 JZSP CMP11 10 15m EID JZSP CMP01 15 JZSP CMP11 15 E usecuenas Cable with con 20m nectors at both JZSP CMP01 20 JZSP CMP11 20 65 5 ft ends 3 For incremen JZSP CMP02 03 JZSP CMP12 03 tal encoder 9 84 ft 5 Fes py ZSP CMPO2 05 JZSP CMP12 05 With a L shaped plug 10 i SERVOPACK end Encoder end m JZSP CMP02 10 JZSP CMP12 10 oaa Seen feae Pu JZSP CMP02 15 JZSP CMP12 15 49 2 ft ies JZSP CMP02 20 JZSP CMP12 20 65 5 ft 2 17 2 Selections 2 4 2 Cables for SGMSS Servomotor Name Length Specification Standard Type Flexible Type JZSP CSP06 03 JZSP CSP26 03 9 84 ft 5m 164 JZSP CSP06 05 JZSP CSP26 05 With a straight plug l0m SERVOPACK end Encoder end JZSP CSP06 10 JZSP CSP26 10 Goei Ce QC 218 Ju 15m PER JZSP CSP06 15 JZSP CSP26 15 Cable with con 49 2 ft nectors at both 20m JZSP CSP06 20 JZSP CSP26 20 ends 65 5 esos con For absolute 3m Srcoder With 9 84 8 JZSP CSP07 03 JZSP CSP27 03 battery case 5m R JZSP CSP07 05 JZSP CSP27 05 With a L shaped plug 16 4 ft SERVOPACK end Encoder end 10m z ZSP CSP07 10 ZSP CSP27 10 32 8 f JZSP CSP07 JZSP CSP27 a i 15 JZSP CSP07 15 JZSP CSP27 15 Battery case 628 purum ae JZSP CSP07 20 JZSP CSP27 20 65 5 ft j B
45. I F Alarm 2 FPGA WDC Er ror SynqNet Com munication Er ror Power Line Open Phase In the main power supply ON status the voltage stays low for one second or more at one of the phases R S and T Detected when the main circuit power supply turns ON Digital Opera tor Transmis sion Error 1 Digital Opera tor Transmis sion Error 2 Table 9 3 Alarm Display and Troubleshooting Cont d Aarm Alarm Name Situation at Alarm Cause Corrective Actions Display Occurrence Occurred when the control power sup ply was turned ON Occurred at the servomotor high speed operation The servomotor did not run with position reference input Normal move ment but occurred with a long dis tance reference input Occurred when the SynqNet commu nications was OFF Occurred when the This is not an alarm module reset Occurred during A SERVOPACK board fault occurred Replace the SERVOPACK operation Occurred when the control power sup ply was turned ON Occurred when the control power sup ply was turned ON Occurred when the control power sup ply was turned ON Occurred when the main circuit power supply was turned ON Occurred when the servomotor was running Occurred when the power supply was turned ON with digital operator connected or when connecting digital operator with the power supply ON A SERVOPACK board fault occurred Faulty contact in the servomotor U
46. Magnetic Contactor 4 4 10 Magnetic Contactor 1 Model HI L1J The magnetic contactor is manufactured by Yaskawa Controls Co Ltd Contact your Yaskawa representative for details A magnetic contactor is required to make the AC power to SERVOPACK ON OFF sequence externally Be sure to attach a surge protector to the excitation coil of the magnetic contactor Refer to 4 4 11 Surge Protector for details of the surge protector For selecting a magnetic contactor refer to 2 5 3 Noise Filters 2 For Single phase 100 200V and Three phase 200 V SERVOPACKs a Model HI 11J and HI 14J 44 1 73 76 2 99 10 1 0 40 Auxiliary 032 M3 5 Coil SS f contact Structure terminal gt A 5 0 ES a A1 o vv o Ag b 3 Tis 183 74 5 2 93 78 5 3 09 y Ae AL e S 2 x M4 mounting 3 4 we ele M3 5 Auxiliary contact terminal 9 0 35 holes wig La M3 5 Main contact terminal Approx mass 0 25 kg 0 551 Ib HI 15J Auxiliary contact Structure 1NO1NC HI 20J Auxiliary contact v Structure
47. ON ON Occurred when the Incorrect order of phase U V and W in the ser Correct the servomotor wiring servo was ON ora vomotor wiring reference Was An Encoder fault occurred Replace the servomotor epit A SERVOPACK fault occurred Replace the SERVOPACK Absolute Occurred when the An Encoder fault occurred Replace the servomotor Encoder Clear control power sup A SERVOPACK board fault occurred Replace the SERVOPACK Error and Multi ply was turned ON tu rn Limit Set Occurred when an An Encoder fault occurred Replace the servomotor ting Error encoder alarm was A SERVOPACK board fault occurred Replace the SERVOPACK reset 9 12 Encoder Com munications Error Encoder Com munications Position Data Error Encoder Com munications Timer Error Encoder Parameter Error Encoder Echoback Error Table 9 3 Alarm Display and Troubleshooting Cont d Alarm Situation at Alarm Alarm Name Display Occurrence Occurred when the control power sup ply was turned ON or during opera tion Occurred when the control power sup ply was turned ON Occurred when the control power sup Cause Incorrect encoder wiring and faulty contact Noise interference due to improper encoder cable specifications Noise interference because the encoder cable length is too long Noise interference on the signal line because the encoder cable is bent and the sheath is damaged The encoder cable is b
48. Output of Design Revision Order Applicable Servomotor A B Starts from A Code Rated Output Interface Specifications A5 50W Code Specifications 01 100 W 72 SynqNet IF 02 200W 04 pai Power Supply Voltage 08 750 W Code Voltage 10 1 0 kW 200 V 15 1 5 kW F 100 V 100 V input 200 V output Doubled voltage 20 2 0 kW 30 3 0 kW 2 5 2 Selections 2 3 X III Series SERVOPACKs and Applicable Servomotors Table 2 1 SERVOPACKs and Applicable Servomotors X III Series SGDS SERVOPACK XIII Series SGMLIS servomotor Single phase Single phase Three phase 100 VAC 200 VAC 200 VAC CNR ASF ABA Super High Power PEE TA Capacity 2 oe Di TA Len A oW m Dom l ox 1 OcA 600W TA sodes A p mee o 1 macew J 9 SGMPS maom or vw nennen om qow Cr wA OMAWOW P ud exem 9 L1 SGMSS anom WA S Super High Power mausk B did XAQONM 3 3AQsqi 4 30A 3 0 kW 30A 3000min 5 model ee ee ee ee OPE EMEN a um iL uM cq eos o EMO WII oq ie y Logan gp 22 1 Mr o ow x IT WEM NENNEN UNE E EN SMS REILIIOOMEEN GENUINE CENE NENE NNI Direct Drive 08C 168 W 04F oUmin imos fepQase wy mn 07A D o oe 150min 8models 35E 550W a oM 0 00 5 1 ov 1 The rated speed of servomotor model SGMCS 25D and SGMCS 35E is 150 min Note Models with gears are
49. Servomotor connector Encoder connector Frame Mounting flange Via A Encoder Servomotor connector connector A 1 4 1 2 Product Part Names 4 Type SGMCS Direct drive Medium capacity Series Encoder connector 1 2 2 SERVOPACKs SERVOPACK model Refer to 2 2 SERVOPACK Model Designations LED 7 segment display Displays servo state Refer to 6 33 LED 7 Segmert Display Switch ID setting switches Used to set switch ID Refer to 6 3 1 Switch ID Setting Charge indicator Lights when the main circuit power supply is on and stays lit as long as the main circuit power supply capacitor remains charged Therefore do not touch the SERVOPACK even after the power supply is turned off if the indicator is lit Main circuit power supply terminals Used for main circuit power supply input Refer to 5 1 Wiring Main Circuit Control power supply terminals Used for control power supply input Refer to 5 1 Wiring Main Circuit Regenerative resistor connecting terminals Used to connect external regenerative resistors Refer to 5 5 Connecting Regenerative Resistors Servomotor terminals Connects to the servomotor power line Refer to 5 1 Wiring Main Circuit Ground terminal Be sure to connect to protect against electric shock Refer to 5 1 Wiring Main Circuit Rotary axis Mounting flange Frame Input Voltage Power indicator Lights when the control power supply is on Alarm ind
50. Specifications 005 2070 6 07 Single phase 250 VAC 6 A Single phase Lis per Pere sneha 250 VA 6A 100 V ELE HE N2070 10 07 Single phase 250 VAC 10 A N2070 16 07 Single phase 250 VAC 16 A ERR FN2070 6 07 Single phase 250 VAC 6 A V s 9m wa 200 V FN2070 10 07 Single phase 250 VAC 10 A 08A FN2070 16 07 Single phase 250 VAC 16 A TOA Three phase 15A FN258L 16 07 Three phase 480 VAC 16 A 200V xs FN258L 30 07 Three phase 480 VAC 30 A Refer to 4 4 9 Noise Filter IMPORTANT Noise Filter Brake Power Supply Use the following noise filter at the brake power input for 400 W or less servomotors with holding brakes MODEL FN2070 6 07 Manufactured by SCHAFFNER Electronic 2 26 2 5 Selecting Peripheral Devices 2 5 4 Regenerative Resistors SERVOPACK Model Model Built in Regenerative Resistor Minimum Main Circuit Capacity Resistance Capacity Processable Allowable Power Supply SGDS W ad Resistance kW 9 Single phase 010 100 V EUN 20 4 40 05 s 10 2 020 Lm 40 Single phase 200 V Three phase 200 V The regenerative electric power mean value that can be processed is 20 of the capacity rating of the built in regenerative resistor Note 1 If the SERVOPACK cannot process the regenerative power an external regenerative resistor is required Refer to 4 4 6 External Regenerative Resistor and 5 5 Connecting Regenerative Resis tors 2 Ex
51. V and W Correct the servomotor wiring wirings A SERVOPACK board fault occurred Replace the SERVOPACK Incorrect wirings of the servomotor U V and W A SERVOPACK board fault occurred Replace the SERVOPACK Improper SERVOPACK gain adjustment Increase the speed loop gain Pn100 and posi tion loop gain Pn102 The position reference pulse frequency is too Reduce slowly the position reference pulse fre high quency Set the parameter Pn520 to proper value Reconsider and correct the load and servomo tor capacity Replace the SERVOPACK Improper setting of the parameter Pn520 Posi tion Error Pulse Overflow Alarm Level The servomotor specifications do not meet the load conditions such as torque and moment of inertia This is not an alarm Turn ON the SynqNet communication power supply FPGA WDC malfunction Replace the SERVOPACK SynqNet and SERVOPACK are not able to com Reset network and check for noise generators municate due to network communication error A SERVOPACK fault occurred Replace the SERVOPACK Incorrect three phase power supply wiring Correct the power supply wiring Unbalanced three phase power supply Balance the power supply by changing phases A SERVOPACK fault occurred Replace the SERVOPACK Faulty contact in three phase power supply wir Correct the power supply wiring ing Unbalanced three phase power supply Balance the power supply A SERVOPACK fault occurred Replace the
52. cannot be solved by the described corrective actions Table 9 5 Troubleshooting for Malfunction without Alarm Display Corecive Actors Symptom Cause Turn OFF the servo system before executing operations Servomotor The control power supply is not Check voltage between power supply Correct the power circuit Does Not ON terminals Start The main circuit power supply is Check the voltage between power supply Correct the power circuit not ON terminals Wrong wiring or disconnection of Check if the connector CN1 is properly Correct the connector CN1 connection I O signal connector CN1 inserted and connected Encoder type differs from parame Check incremental or absolute encoder Set parameter Pn002 2 to the encoder type being ter setting used P OT or N OT input signal stays Check the Overtravel Input signal Turn ON the Overtravel Input signal OFF A SERVOPACK fault occurred A SERVOPACK board fault occurred Replace the SERVOPACK Servomotor Check the servomotor wiring Correct the servomotor wiring Moves In Incorrect encoder wiring Check the encoder wiring Correct the encoder wiring stantaneous ly then Stops Overloaded Run under no load Reduce load or replace with larger capacity servomo tor Servomotor or encoder wiring dis Check the wiring Correct the wiring connected Servomotor Wiring connection to motor defec Check connection of power lead phases Tighten any loose terminals or connectors S
53. in injury Do not cover the inlet or outlet ports and prevent any foreign objects from entering the product Failure to observe this caution may cause internal elements to deteriorate resulting in malfunction or fire Be sure to install the product in the correct direction Failure to observe this caution may result in malfunction Provide the specified clearances between the SERVOPACK and the control panel or with other devices Failure to observe this caution may result in fire or malfunction Do not apply any strong impact Failure to observe this caution may result in malfunction viii B Wiring N CAUTION Do not connect a three phase power supply to the U V or W output terminals Failure to observe this caution may result in injury or fire Securely connect the power supply terminal screws and motor output terminal screws Failure to observe this caution may result in fire Do not bundle or run power and signal lines together in the same duct Keep power and signal lines separated by at least 30 cm 11 81 in Use twisted pair shielded wires or multi core twisted pair shielded wires for signal and encoder PG feedback lines The maximum length is 3 m 118 11 in for reference input lines and is 20 m 787 40 in for PG feedback lines Do not touch the power terminals for five minutes after turning power OFF because high voltage may still remain in the SERVOPACK Make sure the charge indicator is out first before star
54. input controlled by the host controller Built in Analog Monitor CN5 Analog monitor connector built in for monitoring speed torque Functions Speed 1 V 1000 min Torque 1 V rated torque Communications Interface Digital operator hand held type via RS422A port or personal computer via RS232C port Axis Address Parameter Setting Functions Status display user constant setting monitor display alarm display JOG driving speed and torque instruction signals etc 3 3 3 SERVOPACK Specifications and Dimensional Drawings 3 2 SERVOPACK Installation The SGDS SERVOPACKs can be mounted on a base or on a rack Incorrect installation will cause problems Always observe the following installation instructions A WARNING Do not touch terminals for five minutes after voltage resistance test Refer to Voltage Resistance Test on the next page Residual voltage may cause electric shock Connect the main circuit wires control wires and main circuit cables of the motor correctly Incorrect wiring will result in failure of the SERVOPACK Storage Store the SERVOPACK within the following temperature range if it is stored with the power cable dis connected Temperature 20 to 85 C 4 to 185 F Humidity 90 RH or less with no condensation Operating Installation category Overvoltage category II Conditions Pollution degree 2 Protection class 1X Altitude 1000 m max Conforming to the follow
55. is given in Table 9 1 If an alarm occurs the servomotor can be stopped by doing either of the following operations DB STOP Stops the servomotor immediately using the dynamic brake ZERO SPEED STOP Stops the servomotor by setting the speed reference to 0 Table 9 1 Alarm Display Table Alarm Alarm Name Meaning Servomotor Alarm Display Stop Method Reset DNE Frais Ceon Eror EEPROM dit of SERVOPACK Tons DRS NA Parameter Format Error Parameter daa of SERVOPACK is omen DBwop WA Sistem Cheen Enor Parametr dof SERVOPACK meone Dx NR setting range setting range not ateh each other a nii RN RR nected Servo ON reference Invalid Alarm The Host controller reference was sent to turn DB stop Available the Servo ON after the Servo ON function was used with the Digital Operator or SigmaWint Overcurrent or Heat Sink An overcurrent flowed through the IGBT DB stop N A Overheated Heat sink of SERVOPACK was crete faulty Regenerative Overload Regenerative energy exceeds regenerative DB stop Available resistor capacity Main Circuit Power Supply Wiring The power supply to the main circuit does not DB stop Available Error match the parameter Pn001 setting Main circuit DC voltage is excessively high DB DBstp Available Undervoltage Main circuit DC voltage is insufficiently low MESECA DBstop sai Overspeed Rotational speed of the motor is excessively e stop high Overload High Load The mo
56. j Battery En Soldered cN2 Oe connec 1s eu emo Encoder Cable 9 E Straight plu MS3106B20 29S gnat plug L shaped plug For standard environment Encoder end connector MS3108B20 29S Cable clamp MS3057 12A Straight pl L shaped plug JA08A 20 29S J1 EB JL04 2022CKE 09 For IP67 specification Cable diameter Encoder end connector 6 5 to 9 9 5 mm JL04 2022CKE 12 Cable clamp Cable diameter 9 5 tod 13 mm JL04 2022CKE 14 Cable diameter 12 9 to 15 9 mm Contact Japan Aviation Electronics Industry Ltd 2 18 2 4 Selecting Cables Name Length Standard Type Flexible Type D cng Encoder Cable cont Servomotor Main Circuit Ca ble Connectors I5m JZSP CMP09 15 49 2 ft JZSP CMP09 20 65 5 ft meemem OO Cables and connectors 20m 5m JZSP CMP09 05 16 4 ft uomo Ton JZSP CMPO09 10 32 8 ft Cable Specification 20 m 65 5 ft max Cables with connectors are not available Refer to 5 Wiring 2 19 2 Selections 2 4 3 Cables for SGMCS Servomotor 2 4 3 Cables for SGMCS Servomotor Cable Connection for Standard Wiring Distance SGDS LILILI72A SERVOPACK Tau ceno E Xr amo g We g e SGMCS Encoder Servomotor Servomotor cabl
57. point where the termi nals L1 L2 L3 L1C L2C U V and W are connected 3 SERVOPACK Specifications and Dimensional Drawings 3 3 1 Single phase 100 V 50 W to 400 W Models 3 3 SERVOPACK Internal Block Diagrams 3 3 1 Single phase 100 V 50 W to 400 W Models Single phase 100 to 115 V 48 50 60Hz Single phase 100 V 50 W to 400 W Model SGDS LILIF A LIL1 A5 to 04 Bosco ueri xe ILL m eB ED Dynamic brake circuit Control power supply ASIC PWM control etc Power Power Open during OFF ON Servo alarm4 kM Fa CPU Surge Position speed protector calculation etc Sequence I O FPGA SynqNet SP External encoder communications Digital Operator SynqNet 3 3 SERVOPACK Internal Block Diagrams 3 3 2 Single phase 200 V 50 W to 400W Models Single phase 200 to 230 V 1 50 60 HZ Single phase 200 V 50 W to 400 W Model SGDS ODA A OO r A5 to 04 Q Control power ASIC PWM control etc Power Power Open during OFF ON Servo alarm4KM CPU Position speed calculation etc 1Ry Surge protector Sequence I O FPGA SynqNet External encoder communications Digital Operator SynqNet 3 SERVOPACK Specifications and Dimensional Drawings 3 3 3 Three phase 200 V 1 0 kW Models 3 3 3 Three phase 200 V 1 0 kW Models 3 8 Three phase 200 to 230 V 19 Three phase 200 V 1 0 kW Model SGDS LILIA
58. power sup ply was turned ON Occurred when the main circuit power supply was turned ON Occurred during normal operation Occurred at servo motor decelera tion A SERVOPACK board fault occurred Replace the SERVOPACK The power supply voltage is 270 V or more Correct the input voltage The regenerative energy is excessive Select a proper regenerative resistance capac The regenerating state continued ity or reconsider the load and operation condi tions The set value of parameter Pn600 is smaller than Correct the set value of parameter Pn600 the external regenerative resistor capacity A SERVOPACK fault occurred Repalce the SERVOPACK The regenerative energy is excessive Select a proper regenerative resistance capac ity or reconsider the load and operation condi tions A SERVOPACK board fault occurred Replace the SERVOPACK In DC power input mode AC power is supplied For AC power input set Pn001 2 0 For DC power input set Pn001 2 1 In AC power input mode DC power is supplied connected A SERVOPACK board fault occurred Replace the SERVOPACK The AC power voltage is 290 V or more AC power voltage must be within the specified range A SERVOPACK fault occurred Replace the SERVOPACK Check the AC power voltage no excessive volt AC power voltage must be within the specified age change range High motor speed and excessive load moment of Reconsider the load and operation condit
59. switch SW Correct the overtravel limit SW over the zone operates properly specified by Check if the overtravel limit switch SW Correct the overtravel limit SW wiring the host con troller is connected correctly The overtravel signal does not Input signal external power supply fluc Stabilize the external 24 V power supply voltage operate normally tuation Check if the overtravel limit switch SW Adjust the overtravel limit SW activate correctly Check if the overtravel limit switch wir Correct the overtravel limit SW wiring ing is correct 9 19 9 Inspection Maintenance and Troubleshooting 9 1 4 Troubleshooting for Malfunction without Alarm Display Table 9 5 Troubleshooting for Malfunction without Alarm Display Cont d Corrective Actions Symptom Turn OFF the servo system before executing operations Overtravel Incorrect servomotor stop method Check if coast to stop in servo OFF Check Pn001 0 and Pn001 1 OT selection status is selected Movement Check if coast to stop in torque control Check Pn001 0 and Pn001 1 over the zone mode is selected uiia by Improper overtravel position set The distance to the position of OT Correct the OT position t i OSUGOD ting overtravel is too short relative to coast roller ing distance Noise interference due to improper The encoder cable specifications must Use encoder cable with the specified specifications encoder cable spec
60. the effective load current when using more than multiple SERVOPACK calculated from the total power supply capacity The consumption of other controllers must be considered when selecting a molded case circuit breaker 2 Inrush Current Refer to 2 5 2 Molded case Circuit Breaker and Fuse Capacity for SERVOPACK inrush current The allowable inrush current for a low speed acting molded case circuit breaker is approximately 10 times of the rated current for 0 02 seconds When turning ON multiple SERVOPACK simultaneously select a molded case circuit breaker with the allowable current for 20 ms larger than the total inrush current shown in 2 5 2 Molded case Circuit Breaker and Fuse Capacity 4 4 Peripheral Devices 4 4 9 Noise Filter The recommended noise filter is manufactured by Schaffner Elektronik Contact Yaskawa Controls Co Ltd Select one of the following noise filters according to SERVOPACK capacity For more details on selecting the current capacity for a noise filter refer to 2 5 Selecting Peripheral Devices 1 Single phase 100 200 V Side view Side view Oo xr Top view Dimensional Drawings Contact Terminal i P N E 4 15 4 Specifications and Dimensional Drawings of Cables and Peripheral Devices 4 4 9 Noise Filter 4 47 0 039 6 14 0 039 4 69 0 020 2 26 0 039 3 37 0 039 45 4 t 1 2 5
61. this alarm occurs frequently replace Detected on the ply was turned the servomotor encoder side ON A SERVOPACK board fault occurred Replace the SERVOPACK Occurred during A malfunction occurred in the encoder Correct the wirings around the encoder sepa operation rate the encoder cable from the power line grounding etc An Encoder fault occurred Turn OFF the encoder power supply and ON again If this alarm occurs frequently replace the servomotor A SERVOPACK board fault occurred Replace the SERVOPACK Encoder Over Occurred whenthe When the encoder power supply turns ON the Turn ON the encoder power supply when the speed control power sup servomotor runs at 200 min or more servomotor runs at the speed less than 200 Detected when ply was turned min the encoder ON An Encoder fault occurred Replace the servomotor power supply turns ON A SERVOPACK board fault occurred Replace the SERVOPACK Detected on the Occurred during An Encoder fault occurred Replace the servomotor encoder side operation A SERVOPACK board fault occurred Replace the SERVOPACK 9 11 9 Inspection Maintenance and Troubleshooting 9 1 3 Troubleshooting of Alarm and Warning Table 9 3 Alarm Display and Troubleshooting Cont d Aarm Alarm Name Situation at Alarm Cause Corrective Actions Display Occurrence Encoder Over Occurred when the An Encoder fault occurred Replace the servomotor heated control power
62. to 5 6 Flexible Cables Note When the battery of the host controller is used for the absolute encoder no battery case is required In this case use a cable for the incremental encoder 2 10 2 4 Selecting Cables Name Servomotor Model SGMAS 50 to 150 W SGMPS 100 W SGMAS 200 to 600 W SGMPS 200 to 400 W CN3 Servo motor Main Circuit Cables Without brakes SGMAS 750 W 1 15 kW Use flexible cables for movable sections such as robot arms Refer to 5 6 Flexible Cables m B Nn 3 B tA B Lenath Standard Type Flexible Type JZSP CSMO01 03 JZSP CSM21 03 9 84 ft secs Lzsecsaa JZSP CSMO1 05 JZSP CSM21 05 hes JZSP CSMOI 10 JZSP CSM21 10 32 8 ft g g i JZSP CSM01 15 JZSP CSM21 15 49 21 Eee JZSP CSM01 20 JZSP CSM21 20 65 5 f eens ae am JZSP CSM02 03 JZSP CSM22 03 9 84 ft g g li i 5m JZSP CSM02 05 JZSP CSM22 05 16 4 ft JZSP CSM02 10 JZSP CSM22 10 32 8 ft secs secs JZSP CSM02 15 JZSP CSM22 15 49 21 prune JZSP CSM02 20 JZSP CSM22 20 65 5 ft seca ssp JZSP CSM03 03 JZSP CSM23 03 9 84 ft secs ssp csuas os JZSP CSM03 05 JZSP CSM23 05 164 8 poseen JZSP CSM03 10 JZSP CSM23 10 628 f poen JZSP CSM03 15 JZSP CSM23 15 49 21 ery JZSP CSM03 20 JZSP CSM23 20 3m JZSP CMM00 03 JZSP CMM01 03 9 84 ft JZSP CMM00 05 JZSP CMM01 05 16 4 ft esecueos secs JZSP CMMO00 10 JZSP CMMOI 10 32 8 ft cuo secun JZSP CMM0
63. 0 15 JZSP CMMOI 15 JZSP CMMO00 20 JZSP CM tA B n B N e 8 S B a 8 N e B vs B a B N e B o 8 a 8 Y e B M01 20 cont d Specifications SERVOPACK end Servomotor end SERVOPACK end Servomotor end 2 11 2 Selections 2 4 1 Cables for SGMAS and SGMPS Servomotor Length Name Servomotor Model vs B 9 84 ft Standard Type Flexible Type Without brakes Cont SGMPS 1 5 kW SGMAS 50 to 150 W SGMPS Q 100 W CN3 Servo motor Main Cir cuit Ca bles Cont SGMAS 200 to 600 W With brakes SGMPS 200 to 400 W SGMAS 750 W 1 15 kW tA B 10m JZSP CMM20 10 G28 f preesse JZSP CMM20 15 49 2 f oe JZSP CMM20 20 65 5 f ps gt JZSP CSM11 03 9 84 ft g i 5m JZSP CSM11 05 16 4 ft JZSP CSM11 10 G28 f prese 15m 49 2 ft JZSP CSMI1 20 65 5 Ea m JZSP CSM12 UNDE JZSP CSMI2 MEL JZSP CSMI2 gaa etes JZSP CSMI2 SN M13 3 3 3 3 03 05 10 15 E 20 03 05 10 15 20 a 5 M JZSP CM 06 4 wrcworer M M Y e 8 S B JZSP CSM11 15 Y e 8 CA 8 S B 32 8 ft a 5 N e 8 m JZSP CS 9 84 f ao JZSP CSM On Ge jenem JZSP CSM gaa etes JZSP CSM ss m enean CA 8 Om moo oo B gt a 8 Y e 8 cont d Specifications SERVOPACK end Servomotor end SERVOPACK
64. 0 V Three phase 200 V Note Select a proper AC or DC reactor for the input current to the SERVOPACK Refer to 2 5 2 Molded case Circuit Breaker and Fuse Capacity for input current to each SERVOPACK For the kind of reactor refer to 4 4 12 AC DC Reactors for Harmonic Suppression 2 Connecting a Reactor Connect a reactor as shown in the following diagram AC Reactor DC Reactor SGDS SGDS SERVOPACK SERVOPACK Power supply AC reactor DC reactor L1 LVYY O1 L2 2092 Note 1 The DC reactor s 1 and 2 terminals are short circuited before shipment Remove the lead wire between these two terminals and connect the DC reactor 2 AC DC reactor is an option 5 Wiring 5 5 1 Regenerative Power and Regenerative Resistance 5 5 Connecting Regenerative Resistors 5 5 1 Regenerative Power and Regenerative Resistance The rotational energy of a driven machine such as servomotor is returned to the SERVOPACK This is called the regenerative power The regenerative power is absorbed by charging the smoothing capacitor but when the chargeable energy is exceeded the regenerative power is further consumed by the regenerative resistor The servomotor is driven into the regeneration state in the following circumstances While decelerating to a stop during acceleration and deceleration operation With a load on the vertical axis During continuous opera
65. 0 W 100 W 200W 3 17 3 6 3 Single phase 200 V 400W _ 3 18 3 6 4 Single phase 100 V 400W _ 3 18 3 6 5 Single phase 200 V 750 W and Three phase 200 V 1 0 kW 3 19 3 6 6 Three phase 200 V 1 5 KW 3 19 3 6 7 Three phase 200 V 2 0 kW 3 0 kW 3 20 3 1 3 SERVOPACK Specifications and Dimensional Drawings 3 1 SERVOPACK Ratings and Specifications SERVOPACK Model SGDS 04 Max Applicable Servomotor Capacity kW 0 05 0 75 100 V e pes ses 200V Max Output Current Arms 2 1 28 169 17 f Input Power SERVOPACK 100 VAC Single phase Supply Capacity 200 VAC Single phase j Range Three phase Main Circuit Single or three phase 200 to 230 VAC 10 to 15 50 60 Hz Single phase 100 to 115 VAC 10 to 15 50 60 Hz Control Circuit Single phase 200 to 230 VAC 10 to 15 50 60 Hz Single phase 100 to 115 VAC 10 to 15 50 60 Hz Control Method Single or three phase full wave rectification IGBT PWM sine wave driven Feedback Serial encoder 17 bit incremental absolute Operating 0 to 55 C 20 to 85 C Conditions 90 RH or less with no condensation Vibration Shock Resistance 4 9 m s 19 6 m s2 Configuration Base mounted Rack mounting available as an option Performance Speed Control Range 1 5000 The lowest speed of the speed control range is the speed at which the servomotor will not
66. 0 to 1000 0 0 0 V Analog Monitor 2 Offset Voltage Setting Range Setting Unit Factory Setting Setting Validation 1000 0 to 1000 0 0 1 V 0 Immediately 1000 0 to 1000 0 0 0 V W Example If Pn006 0102 Pn422 10 00 96 and Pn550 3 00 V then Analog Monitor 1 Torque reference 1 x Torque reference 10 x 10 3 V If the torque is 2 1 x 52 10 x roa a x 10 3 V 7 2 V Analog Monitor 1 output voltage N The analog monitor output voltage is 8 V maximum The output will be limited to 8 V even if this value is exceeded Fori in the above calculations 9 Inspection Maintenance and Trouble shooting 9 1 Troubleshooting 9 2 9 1 1 Alarm Display Table 9 2 9 1 2 Warning Displays 9 4 9 1 3 Troubleshooting of Alarm and Warning 9 5 9 1 4 Troubleshooting for Malfunction without Alarm Display 9 17 9 2 Inspection and Maintenance 9 21 9 2 1 Servomotor Inspection 9 21 9 2 2 SERVOPACK Inspection 9 21 9 2 3 SERVOPACK s Parts Replacement Schedule 9 22 9 1 9 Inspection Maintenance and Troubleshooting 9 1 1 Alarm Display Table 9 1 Troubleshooting 9 1 1 Alarm Display Table A summary of alarm displays
67. 000 08000 00000 00000 00000000 JOG 08000 00000 00000 00000000 00200 00000 00000 00000000 FUNCTION Display the main menu of the utility function mode and select the utility function Fn002 Press the Key Then the screen changes and shows switches to the execution If the screen does not change and NO OP is displayed in the status display section a write prohibited password has been saved in Fn010 Clear the write prohibited password if possible Press the Key or the Key to select the appropriate parameter number digit Press the Key or the Key to change the digit value Press the Key Cursor moves from the parameter number to the parameter value Press the Key or the Key to select the appropriate value digit Press the Key or the Key to change the digit value Press the Key Returns to the main menu of the auxiliary function mode Note 1 For more information on operating method refer to the III series SGMLIS SGDS Digital Operator Instructions Manual No TOBP S800000 01 2 Some parameters require the power supply to be turned OFF and then turned ON again to enable the func tion See 70 1 1 List of Parameters for full listing 7 1 Trial Operation 3 Multi turn Reset Operation Key Display Display the main menu of the utility function mode and FUNCTION select Fn008 A810 Press the Key Then the screen c
68. 04 Unit min Standard setting 500 min FUNCTION BB Pn304 Un000 Un002 UnOOD 00500 00000 00000 00000000 RUN Pn304 Un000 Un002 Un00D 00500 00000 00000 00000000 00500 00000 00000 00000000 BB Pn304 Un000 Un002 Un00D 00500 00000 00000 00000000 FUNCTION 7 1 Trial Operation Operation Key Diss Display the main menu of the utility function mode and select the utility function Fn002 Press the Key Then the screen changes and shows switches to the execu tion display of a jog operation Fn002 If the screen does not change and NO OP is displayed in the status display section a write prohibited password has been saved in Fn010 Clear the write prohibited password if possible Press the Key The status display changes to RUN and the motor enters a servo ON state If the Key is pressed the motor moves forward at 500 min l If the Key is pressed the motor moves in reverse at 500 min l Make sure that the motor operation is completed and then press the Key The status display changes to BB and the motor enters a servo OFF state Press the Key Returns to the main menu of the utility function mode 7 Operation 7 1 1 Digital Operator Operation 2 Parameter Set Operation Key Display FUNCTION BB Pn304 Un000 Un002 Un00D 00500 00000 00000 00000
69. 1 Terminal Layout 1 24VIN External input 14 ALM Servo alarm CONI power supply F Medus signal output prohibit status signal 3 CW OT CW run output 16 MS R Module prohibit signal green status output i red Home signal Module input 5 EXSTOP External stop status 18 NS_G Network signal input common status output green External stop signal 7 USERO User input 20 NS_COM Network signal 0 status common User input 21 ENC_A External USER User signal encoder 22 ENC_A External output A encoder A User signal Brake signal External 24 ENC B External output encoder encoder B B Brake signal Servo alarm External 26 ENC C External output signal output encoder encoder C C Note 1 Do not use unused terminals for relays 2 Connect the shield of the I O signal cable to the connector shell Connect to the FG frame ground at the SERVOPACK end connector 5 Wiring 5 3 3 I O Signal CN1 Names and Functions 5 3 3 I O Signal CN1 Names and Functions 1 Input Signals Name No 24VIN 1 Control power supply input for sequence signals Users must provide the 24 V power supply Allowable voles fluctuation range 11 to 25 V omor 3 Cwmni Sps te matr wien he mca n mvae ranee CW OT CW run aoa Stops the motor when the axis exceeds the movable range FONE Renon e tome potion ot manae to e seRvOPACK 00 Reports the home position of machine to the SERVOPACK EXSTOP 5 Exter
70. 1 46 73 2 87 39 1 54 L 47 1 85 Cable length 0 JUSP TA26P 500 mm 19 69 in 100g 0 22 Ib JUSP TA26P 2 800g 0381 4 4 5 Brake Power Supply Unit 1 Model LPSE 2H01 LPDE 1H01 Manufactured by Yaskawa Controls Co Ltd 200 V input LPSE 2H01 100 V input LPDE 1H01 2 Specifications Rated output voltage 90 VDC Maximum output current DC 1 0A Lead wire length 500 mm 19 69 in each Maximum ambient temperature 60 C 140 F Lead wires Color coded Refer to the following table AC input Uu 100 V 200V Blue White Yellow White Red Blue 3 Dimensional Drawings 50 1 97 30 1 18 Ss e 31 25 0 98 2 Mounting holes 63 Spot facing 5 5 and 4 long 1 Lj d e Nameplate Lead wire kl an 11 0 43 Units mm in 4 4 Peripheral Devices 4 Internal Circuits Open or close the circuit for the brake s power supply so that is switched on the AC side When switching on the DC side install a surge protector near the brake coil to prevent damage to the brake coil from voltage surges due to DC side switching a Internal Circuit for 200 VAC Brake Power Supply Model LPSE 2H01 DC Brake side No polarity AC side 180 to 230 V Black b Internal Circuit for 100 VAC Brake Power Supply Model LPDE 1H01 Diode bridge DC Brake side AC side Surge E No polarity 90 to 120 V protecto 4 4 6 Exte
71. 12 2xM2 5 pan head screw Tightening torque 0 33N m I 2xM2 tapped jholeg MR Note Do not remove the rubber packing on the servomotor end cable connector Mount the con nector so that the rubber packing is seated properly If the rubber packing is not seated properly the requirements for the protective construc tion specifications may not be met 1 8 3 Connecting to SGMSS Servomotors Power supply Single phase 200 VAC RST Molded case circuit breaker MCCB Protects the power suppl line by shutting the circuit OFF when overcurrent is detected Refer to 4 4 8 Molded Noise filter Used to eliminate external noise from the power line Refer to 4 4 9 Magnetic contactor Regenerative resistor Connect an external regenerative resistor to terminals B1 and B2 if the regenerative capacity is insufficient 1 3 Examples of Servo System Configurations Notes 1 For single phase 200V 800W SERVOPACKS the terminal L3 is not used Do not connect 2 Remove the lead wire between the terminals B2 and B3 on the SERVOPACK before connecting an external regenerative resistor to the SERVOPACK 3 For connecting the AC DC reactor refer to 5 4 5 AC DC Reactor for Harmonic Suppression J Refer to 4 4 6 External Regenerative Resistor Magnetic c
72. 38525 Tors s Sweden hone 46 486 48800 Fax 46 486 41410 UD Motoman Robotec GmbH Kammerfeldstrage 1 85391 Allershausen Germany hone 49 8166 90 100 Fax 49 8166 90 103 ASKAWA ELECTRIC UK LTD Hunt Hill Orchardton Woods Cumbernauld G68 9LF United Kingdom hone 44 1236 735000 Fax 44 1236 458182 ASKAWA ELECTRIC KOREA CORPORATION F Doore Bldg 24 Yeoido dong Youngdungpo Ku Seoul 150 877 Korea hone 82 2 784 7844 Fax 82 2 784 8495 YASKAWA ELECTRIC SINGAPORE PTE LTD 151 Lorong Chuan 404 01 New Tech Park Singapore 556741 Singapore Phone 65 6282 3003 Fax 65 6289 3003 YASKAWA ELECTRIC SHANGHAI CO LTD No 18 Xizang Zhong Road Room 1805 Harbour Ring Plaza Shanghai 20000 China hone 86 21 5385 2200 Fax 86 21 5385 3299 ATEC ENGINEERING CORPORATION F No 49 Wu Kong 6 Rd Wu Ku Industrial Park Taipei Taiwan hone 886 2 2298 3676 Fax 886 2 2298 3677 ASKAWA ELECTRIC HK COMPANY LIMITED m 2909 10 Hong Kong Plaza 186 191 Connaught Road West Hong Kong hone 852 2803 2385 Fax 852 2547 5773 EIJING OFFICE oom No 301 Office Building of Beijing International Club 21 ianguomenwai Avenue Beijing 100020 China hone 86 10 6532 1850 Fax 86 10 6532 1851 AIPEI OFFICE F 16 Nanking E Rd Sec 3 Taipei Taiwan hone 886 2 2502 5003 Fax 886 2 2505 1280 HANGHAI YASKAWA TONGUI M amp E CO LTD 7 Hui He Road Shanghai China 200437 hone 86 21 6553 6060 Fax 86 21 5588 1190 EIJING YASKAWA BEIKE AUTOMATION ENGINEERING CO LTD
73. 50 W and Three phase 200 V 1 0 kW Mounting Hole Diagram 3 M4 screw 5 0 20 pt i 0 22 ki 200000080 DODGE ODDO UU uille Mounting pitch 150 5 91 139 5 0 5 5 49 0 02 Ix ca Ground oak terminal ole 2x M4 Screws 180 7 09 R Units mm in Approx mass 1 4 kg 3 09 Ib 3 6 6 Three phase 200 V 1 5 kW Mounting Hole Diagram olv 4 0 16 i nu X 1 4 l Two 2200000000000 terminal E j em f pmm Jg 10 ooon a 2 5 anon gee i 8 Te gal B ma M i i j ERIRE 60 20 4 f eo N02 Mounting pitch 75 18 e Ground S 90 3 54 terminal le 2 95 0 71 180 7 09 R BON Units mm in Approx mass 2 1 kg 4 63 Ib 3 19 3 SERVOPACK Specifications and Dimensional Drawings 3 6 7 Three phase 200 V 2 0 kW 3 0 kW 3 6 7 Three phase 200 V 2 0 kW 3 0 kW 180 7 09 170 0 5 6 69 0 02 5 0 20 3 20 Mounting pitch Mounting Hole Diagram 4 M4 screws 96 05 3544002 9 Mounting pitch 0 20 100 3 94 180 7 09 13 terminals with M4 screws mE KAN a PAARA A RANARAN T en i RAN
74. 6 4 3 Service Commands 6 11 6 SynqNet Communications 6 1 1 Overview 6 1 Introduction 6 1 1 Overview SynqNet is a synchronous network technology designed for multi axis motion control applications The physi cal layer of SynqNet is based on the physical layer of Ethernet SynqNet operates over two pairs of wires one pair for receive data signals and the other pair for transmit data signals Each receiving node uses digital time correction techniques to minimize skew and jitter Service channel capability is used to query nodes or servo for drive parameters and status information 6 1 2 SynqNet Packet Timing SynqNet is unlike other synchronous digital servo network protocols in the way that command and response mes sages are handled With other servo networks the cyclic and service channel commands and responses are usu ally handled in a single data packet per controller cycle In SynqNet the cyclic data demands cyclic data responses service channel demands and service channel responses may occur in separate communication buff ers during the controller cycle This is implemented by utilizing a drive update period drive cycle that is faster than the controller cycle The communications buffer is checked by the drive every drive cycle An integral num ber of drive cycles must make up one controller cycle In other servo networks the data packet size and node time slots are usua
75. 7 6 1 79 0 047 2 27 0 039 0441 1305 1 9851 9 exero sisson oan 103 0 3 143 03 109 03 f ewi esson zomg C 25 02 40 02 osito 84405 86405 33012 324 0 5 imam O 00 44401 53201 4440 M 0 17 0 004 0 17 0 004 6t01 74 01 E 09 01 T2401 ee eorom 66 03 9 w External Dimensions F J K L 510 2 2 01 0 0079 S 38 0 5 1 50 0 020 Sm 250 VAC 250 VAC Applicable O1F 02F 04F SERVO PACK ASA SGDS 01A 04A 08A 02A 4 16 4 4 Peripheral Devices 2 Three phase 200 V Select one of the following noise filters according to SERVOPACK capacity For more details on selecting cur rent capacity for a noise filter refer to 2 5 Selecting Peripheral Devices For connecting the noise filter refer to 5 7 3 Typical Main Circuit Wiring Examples FN258L 16 07 FN258L 30 07 Side view Front Side view j 7A to 55A Dimensional Drawings 3051 33541 ES 12 01 0 039 13 19 0 039 142 0 8 1501 ons ens 2 17 0 024 2 36 0 024 275 0 8 30541 mem o ense 290 0 5 320 t 0 5 LIN s n External 30403 35 03 6 54 0 2 rz 0 26 0 008 300 10 400 10 e aston fasten 1 0 1 9 1 P AWG14 AWG10 Specifications AC480 V 16 A AC480 V 30 A Applicable SERVO PACK 10A 15A 20A 30A SGDS 4 17 4 Specifications and Dimensional Drawings of Cables and Peripheral Devices 4 4 10
76. Checking Products 3 Type SGMCS Direct drive Small capacity Series Nameplate y AC SERVO MOTOR Servomotor model SGMCS 04C3A11 W V A Ratings 1 ES PU 200 200 A Order number O N9271316 1 Serial number S NDD9964567890012 HAIMA A I YASKAWA ELECTRIC CORPORATION JAPAN 4 Type SGMCS Direct drive Middle capacity Series Nameplate AC SERVO MOTOR Servomotor model TYPE SGMCS 45M3A11 707 W 45N m 150 min 58 A 200 V CONT insF Order number O N 252909 101 Serial number gt S N 842000045 DATE 0306 A ELECTRIC MADE IN JAPAN QE Ratings aa Nameplate SERVOPACK wobEL SGDS 10A72A SERVOPACK sein AC INPUT AC OUTPUT model pplicable N motor capacity Serial number y YASKAWA ELECTRIC IAA UAM 1 Outline 1 2 1 Servomotors 1 2 Product Part Names 1 2 1 Servomotors 1 Types SGMAS and SGMPS without Gears and Brakes SGMAS or SGMPS 01 to 04 for 100 W to 400 W SGMPS 08 15 for 750 W 1 5 kW Servomotor Encoder connector connector ear Bio Servomotor main circuit cable Encoder cable Encoder Detecting section Encoder Detecting section Nameplate Nameplate 2 Type SGMSS without Gears and Brakes Servomotor connector Encoder connector Encoder Detecting section 3 Type SGMCS Direct drive Small capacity Series Rotary axis Nameplate
77. Checking Products The following procedure is used to check the AC servodrives of X III Series products on delivery 1 1 1 Check Items Check the following items when X III Series products are delivered Check Tiems Are the delivered products the ones Check the model numbers marked on the nameplates on the servomo that were ordered tor and SERVOPACK Refer to the descriptions of model numbers in the following section Does the servomotor shaft rotate The servomotor shaft is normal if it can be turned smoothly by hand smoothly servomotors with brakes however cannot be turned manually Is there any damage Check the overall appearance and check for damage or scratches that may have occurred during shipping If any of the above items are faulty or incorrect contact your Yaskawa representative or the dealer from whom you purchased the products 1 1 2 Servomotors 1 Types SGMAS and SGMPS Nameplate y AC SERVO MOTOR SGMAS 04ACA21 wW 400 v200 2 6 Ratings aa Nm 427 mnt 3000 B Order number O N9271316 1 Serial number S NDD9964567890012 TUUM UIT YASKAWA ELECTRIC CORPORATION JAPAN Servomotor model Nameplate AC SERVO MOTOR Servomotor model TYPE SGMSS 10ACA21 Ratings A 1000 W 3 18N m 3000 min 5 7 A 200 V I CONT lins F Order number O N 9W0774 002A 039 Serial number S N BB2 753000039 DATE 0002 y YASKAWA ELECTRIC MADE IN JAPAN 1 1
78. Follow the procedure below to install multiple SERVOPACKs side by side in a control panel Cooling fan Cooling fan K NC CM KN Z 74 50 mm 1 97 in min E23 Ezssg 8 3 q ears i BN r EUN 50 mm 1 97 in min 30 mm 1 18in min 10 mm 0 39in min SERVOPACK Orientation Install the SERVOPACK perpendicular to the wall so the front panel containing connectors faces out ward Cooling A As shown in the figure above allow sufficient space around each SERVOPACK for cooling by cool ing fans or natural convection Side by side Installation When installing SERVOPACKs side by side as shown in the figure above allow at least 10 mm 0 39 in between and at least 50 mm 1 97 in above and below each SERVOPACK Install cooling fans above the SERVOPACKs to avoid excessive temperature rise and to maintain even temperature inside the control panel Environmental Conditions in the Control Panel Ambient Temperature 0 to 55 C 32 to 131 F Humidity 90 RH or less Vibration 0 5 G 4 9 m s Condensation and Freezing None Ambient Temperature for Long term Reliability 45 C 113 F max Voltage Conduct voltage resistance tests under the following conditions Resistance Voltage 1500 Vrms AC for one minute Test Braking current 30 mA or more Frequency 50 or 60 Hz For SGDS LILILI72A SERVOPACKs Between the ground terminals and the
79. Fr 100 0 Operating time s 10 0 1 0 Rated torque Maximum torque Approx 2 Maximum torque Rated torque Note The overload protection characteristics of A and B in the figure are applicable when the SERVOPACK is combined with one of the following servomotors Graph Servomotor Model SGMAS SGMPS SGMSS SGMCS A5 to 04 01 to 04 E II 02 to 35 3 06 to 12 08 to 15 10 to 30 45 to 2Z 3 5 SERVOPACK Overload Characteristics and Load Moment of Inertia 3 5 2 Starting and Stopping Time The motor starting time tr and stopping time tf under a constant load are calculated using the following for mulas Motor viscous torque and friction torque are ignored n 2r Ny Ju Ji Starting time tr 2 MYM Lfs 60 Toy T l PES 2mNw Ju Ji Stopping time tf GO Tu T T s Nm Motor speed min Jw Motor rotor moment of inertia kg m J Load converted to shaft moment of inertia kg m Tpm Instantaneous peak motor torque when combined with a SERVOPACK N m Ti Load torque N m Calculate the torque from the motor current using servomotor torque constant x motor current effective value The following figure shows the motor torque and motor speed timing chart Motor torque e l current amplitude gt Time Motor speed gt Time 3 5 3 Load Moment of Inertia The size of the allowable load moment of inertia of
80. II Series servodrives Those performing trial operation or adjustments of 2 III Series servodrives Those maintaining or inspecting X III Series servodrives B Description of Technical Terms The terms in this manual are defined as follows Servomotor X III Series SGMAS SGMPS SGMSS SGMCS direct drive servomotor SERVOPACK XII Series SGDS amplifier Servodrive A set including a servomotor and servo amplifier Servo System A servo control system that includes the combination of a servodrive with a host computer and peripheral devices W Indication of Reverse Signals In this manual the names of reverse signals ones that are valid when low are written with a forward slash before the signal name as shown in the following example e S ON S ON e P CON P CON B Outline of the Contents 1 Outline Describes the outline of X III series servodrive 2 Selections Describes the models of a servodrive and peripheral devices 3 SERVOPACK Specifications and Describes the specifications and dimensional drawings of 2 III series Dimensional Drawings SERVOPACK 4 Specifications and Dimensional Drawings Describes the specifications and dimensional drawings of cables and of Cables and Peripheral Devices peripheral devices 5 Wiring Describes wiring after purchase 6 SynqNet Communications Describes the wiring and communication method of the SynqNet com munications 7 Operation Describes the operation o
81. K Check the regenerative resistor capac ity or reconsider the load and opera tion conditions The setting of parameter Pn600 is smaller than Correct the setting of parameter the external regenerative resistor capacity Pn600 A SERVOPACK fault occurred Regenerative energy is excessive Replace the SERVOPACK Check the regenerative resistor capac ity or reconsider the load and opera tion conditions 9 15 9 Inspection Maintenance and Troubleshooting 9 1 3 Troubleshooting of Alarm and Warning 9 16 Absolute Encoder Battery Error The battery voltage stays below the specified value four seconds after the control power sup ply was turned ON Only when an absolute encoder is connected Data Setting Warning Power ON from OFF after Parame ter Change Parameter Regis ter Address Warn ing Data Range Warn ing Operation Warn ing Table 9 4 Warning Display and Troubleshooting Cont d Warning Warning Name Situation at Warning Cause Corrective Actions Display Occurrence Occurred when the control power supply was turned ON Setting Pn002 2 1 Occurred four sec onds or more after the control power supply was turned ON Setting Pn002 2 0 When an absolute encoder was used Occurred after param eter setting Occurred after param eter setting Occurred after param eter setting Occurred after param eter setting Occurred after opera tion of para
82. L2 Main circuit input 50 W to 400 W Single phase 100 to 115 V 710 15 50 60 Hz terminal 12 L3 50 W to 400 W Single phase 200 to 230 V 10 15 50 60 Hz 750W Single phase 200 to 230 V 15 50 60 Hz Note Terminal L3 is not used Do not connect 500 W to 3 0 kW Three phase 200 to 230 V 0 15 50 60 Hz U V W Servomotor Connects to the servomotor connection terminals LIC L2C Control power input 50 W to 400 W Single phase 100 to 115 V 119 15 50 60 Hz terminal 50 W to 3 0 kW Single phase 200 to 230 V 15 50 60 Hz Ground terminals x2 Connects to the power supply ground terminals and servomotor ground termi nal B1 or B2 External regenerative Normally not connected resistor terminal Connect an external regenerative resistor provided by cus B1 G B2 B3 50 W to 400 W tomer between B1 and B2 if the regenerative capacity is insufficient Note B3 terminal is not provided Normally short B2 and B3 for an internal regenerative resistor Remove the wire between B2 and B3 and connect an exter 750 W to 3 0 KW nal regenerative resistor between B1 and B2 if the capacity of the internal regenerative resistor is insufficient Customers must provide an external regenerative resistor terminal DC reactor Normally short O1 O2 rake ae ia 750 W to 3 0 kW If a countermeasure against power supply harmonic waves or power su P ppy is needed con
83. More Than One SERVOPACK The following diagram is an example of the wiring when more than one SERVOPACK is used 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 Multiple servos can share a single molded case circuit breaker QF or noise filter Always select a QF or noise filter that has enough capacity for the total power capacity load conditions of those servos For details refer to 2 5 2 Molded case Circuit Breaker and Fuse Capacity Power supply RST Bc Me Power QF Power ON OFF m 1RY 1KM TO T j 1KM Edi E Noise w filter PRT za iue Servomotor sO r a 9 3 SERVOPACK OL1C M OL2C 24V acy CN1 A he p13 ALM 3414 ALM jh VE Servomotor Q3 SERVOPACK OL1C M OL2C CN1 13 ALM 14 ALM i L1 Ss FS ey E Servomotor LC LT 15 OL2C CN1 13 ALM 14 ALM vov Note Wire the system so that the power supply s phase S is the ground 5 17 5 Wiring 5 4 4 400 V Power Supply Voltage 5 4 4 400 V Power Supply Voltage N CAUTION Do not connect the SERVOPACK for 100 V and 200 V directly to a voltage of 400 V The SERVOPACK will be destroyed Control the AC power supply ON and OFF sequence at the primary side of the voltage conversion trans former Voltage conversion transformer inductance will cause a surge voltage if th
84. P39 10 20 m 65 6 ft max Cables n D JZSP CMP09 15 JZSP CSP39 15 O 20m JZSP CMP09 20 ZSP CSP39 20 1 Use flexible cables for movable sections such as robot arms Refer to 5 6 Flexible Cables 2 Contact Japan Aviation Electronics Industry Ltd 2 22 2 4 Selecting Cables cont d Length SpecTications 3 Standard Type Flexible Type 4 m 9 84 n 1ZSP CMM60 08 JZSP CSM60 03 Without JZSP CMM60 05 JZSP CSM60 05 lose SERVOPACK end Servomotor end bakes SGMCS 10m For small E JZSP CMM60 10 JZSP CSM60 10 B C D E 32 8 ft capacity Bg oe m series f E 49 2 fi 1ZSP CMMo0 15 JZSP CSM60 15 20m IZSP CMM60 20 JZSP CSM60 20 65 5 ft l E g j Without brakes Servomotor For Cables with connectors and cables Main Circuit SGMCS LILIM N connector are not available Contact middle Cable your Yaskawa representative Connectors capacity series Soldered Servomotor end connector JN1DS04FK1 2 5m JZSP CSM90 05 JZSP CSM80 05 10 For JZSP CSM90 10 JZSP CSM80 10 20 m 65 6 ft max Cables SGMCS OOB C D E P szsp csmoo 15 JZSP CSM80 15 O 49 2 ft pls JZSP CSM90 20 JZSP CSM80 20 65 5 ft i g 7 JZSP CMP19 30 Wires and 98 4 ft Wires and connectors for Connectors d bl t 40m 50 m 164 ft max for Relay bin enco idis ue en 131 2 JZSP CMP19 40 sions are available for as O Encoder ft Cable sembly by the cus
85. SERVOPACK The contact between digital operator and Insert securely the connector or replace the SERVOPACK is faulty cable The external noise interference occurred to the Move cable away from noise sources digital operator or cable is faulty A Digital operator fault occurred Replace the digital operator A SERVOPACK fault occurred Replace the SERVOPACK Position Error Pulse Overflow Overload Warning for the alarms A 710 and A 720 In either of the fol lowing cases 1 20 of the over load detection level of A 710 2 20 of the over load detection level of A 720 Regenerative Overload Warning for the alarm A 320 2 Warning Display and Troubleshooting Table 9 4 Warning Display and Troubleshooting Occurred during oper ation Occurred when the servo was ON The servomotor did not run with a refer ence input Occurred during oper ation Occurred when the control power supply was turned ON Occurred during nor mal operation Large increase of regenerative resistor temperature Occurred during nor mal operation Small increase of regenerative resistor temperature Occurred at servomo tor deceleration 9 1 Troubleshooting Warning Warning Name Situation at Warning Cause Corrective Actions Display Occurrence A SERVOPACK board fault occurred Replace the SERVOPACK Wiring is incorrect or the contact of servomo tor U V and W is faulty Correct the encoder wirin
86. View Connect an external regenerative resistor between B1 and B2 terminals E ad a Note The user must provide the regenerative resistor Bj E elt S 3 es D i b SERVOPACKSs with Capacities of 750 W to 3 0 kW Enlarged View Disconnect the wiring between the SERVOPACK s B2 and B3 terminals and connect an external regenerative resistor between the B1 and B2 terminals The user must provide the regenerative resistor Note Be sure to take out the lead wire between the B2 and B3 terminals Do not touch the regenerative resistors because they reach high temperature Use heat resistant non flam cuit Wire Size for wire size for connecting an external regenerative resistor IMPORTANT d id mable wiring and make sure that wiring does not touch the resistors Refer to 4 1 SERVOPACK Main Cir 5 22 5 6 Flexible Cables 5 6 Flexible Cables 1 Life of Flexible Cable The flexible cable supports 10 000 000 or more operations of bending life with the recommended bending radius R 90 mm 3 54 in under the following test conditions Conditions 1 Repeat moving one end of the cable forward and backward for 320 mm 12 60 in using the test equip ment shown in the followin
87. YASKAWA Y II Series SGMLJS SGDS USER S MANUAL For SynqNet Communications SGMAS SGMPS SGMSS SGMCS Servomotors SGDS 7LIA SERVOPACK YASKAWA MANUAL NO SIEP S800000 25A SynqNet is a registered trademark of the Motion Engineering Inc Copyright 2004 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 photocopying recording or otherwise without the prior written permission of Yaskawa No patent liability is assumed with respect to the use of the information contained herein Moreover because Yaskawa is con stantly 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 W Intended Audience This manual is intended for the following users Those selecting X HI Series Servodrives or peripheral devices for X II Series servodrives Those wanting to know about the ratings and characteristics of X III Series servodrives Those designing X I Series servodrive systems Those installing or wiring amp I
88. a servomotor depends on the capacity and is limited to 5 to 30 times the motor inertia This value is provided strictly as a guideline and results may vary depending on ser vomotor drive conditions An overvoltage alarm is likely to occur during deceleration if the load moment of inertia exceeds the allowable load moment of inertia SERVOPACKs with a built in regenerative resistor may generate a regeneration overload alarm Take one of the following steps 1f this occurs Reduce the torque limit Reduce the deceleration rate Reduce the maximum motor speed nstall an externally mounted regenerative resistor if the alarm cannot be cleared Contact your Yaskawa Application Engineering Department Regenerative resistors are not built into 200 V for 50 W to 400 W and 100 V for 50 W to 400 W SERVOPACKs The following figures show the tentative relationship between the load moment of inertia and motor speed using an example with a load moment of inertia 10 to 30 times the load moment of inertia at the motor shaft External regenerative resistors are required when this condition is exceeded or if the allowable loss capacity W of the built in regenerative resistor is exceeded due to regenerative drive conditions when a regenerative resistor is already built in 3 SERVOPACK Specifications and Dimensional Drawings 3 5 3 Load Moment of Inertia 1 Load Moment of Inertia and Motor Speed for SGMAS Servomotors SGMAS AB 50W
89. actors for harmonic suppression 4 21 5 19 alarm display and troubleshooting 9 5 alarm display table 9 2 alarm reset 9 2 ambient storage humidity 3 9 ambient storage temperature 3 2 analog monitor 8 5 analog monitor cable 2 24 B battery case 4 13 battery for absolute encoder 2 25 battery installed on the host controller end 4 13 brake power supply unit 4 10 built in regenerative resistor 5 20 C cable selection 2 7 SGMAS and SGMPS servomotors 2 7 SGMCS servomotors 2 20 SGMSS Servomotor 2 15 cable type 4 3 cables for analog monitor 4 8 cables for connecting personal computers 4 8 CE marking 1 11 checking products 1 2 CNI cables for I O signals 4 6 CNI terminal layout
90. ails the network will redirect packet data around the break and notify the application with an event The location of the break can be determined by the application lidle Link Ring Topology String topology opened or terminated is also supported where the network nodes are not connected back to the SynqNet controller If a cable breaks the nodes downstream from the break will no longer be able to send receive packets to from the controller The advantage of using a terminator on the last node is that the network initializa tion time is reduced because the controller can deterministically find the last node on a network Both string topology types do not support fault recovery n Co N N N OUT kn our fn orin ov String Topology 6 4 6 2 Specifications and Configurations l Co N N N OUT KJ our fn or aA Terminated String Topology Loopback Connector 6 2 3 Precautions for Wiring SynqNet Cables 1 Cable Length The SynqNet cable lengths are derived from the measured propagation delays during network initialization This information is used to determine the spacing between packets for each node SynqNet networks can have up to 32 nodes and cables can be up to 100 meters in length By measuring the actual propagation delays and optimizing the packet spacing the network performance and actual bandwidth is improved Typical CATS cable propagation delays are roughly 0 005 microsec per meter Actual values are a
91. apacity SGDS bg ud roa by Built in Resistor KW W Single phase 0 05 100V 0 10 0 20 0 40 Single phase 0 05 200 V 0 10 0 20 0 40 0 75 Three phase 1s 2 SL Minimum Allowable Resistance Q 12 I IRRRERNNEE The average regenerative power that can be handled is 2096 of the rated capacity of the regenerative resistor built into the SERVOPACK 5 5 Connecting Regenerative Resistors 3 Precautions on Selecting External Regenerative Resistors A built in regenerative resistor is provided for 750 W to 3 0 kW SGDS SERVOPACKs as standard When installing an external regenerative resistor make sure that the resistance is the same as that of the SERVOPACK s built in resistor If combining multiple small capacity regenerative resistors to increase the regenerative resistor capacity W select resistors so that the resistance value including error is at least as high as the minimum allowable resistance shown in the above table Connecting a regenerative resistor with the resistance smaller than the minimum allowable resistance may increase the current flow in the regeneration circuit resulting in damage to the circuit 4 Parameter Setting Pn600 Regenerative Resistor Capacity SetingRange Range Unt O Factory Setting Setting Validation etn range to SERVOPACK W ow Immediately capacity Be sure to set this parameter when installing an external regenerative resistor When set to the factory se
92. ately 10 8 10 1 Utility Functions Pe ae ewe om m Time ately pum Ls percent ately BE icc RM ond NR E NE ment ately ately Pm pue pese a ately 0 Pn600 Regenerative Resistor Capacity s Depends on Immedi SERVOPACK Capac ately ity ub 1 Normally set to 0 When using an external regenerative resistor set the capacity W of the regenerative resistor 2 The upper limit is the maximum output capacity W of the SERVOPACK 1m lm 0 1 0 1 10 W 10 9 10 Appendix 10 2 Monitor Modes The following list shows the monitor modes that are available Parameter Description No p Un002 Internal torque reference in percentage to the rated torque Un003 Rotation angle 1 32 bit decimal code Un005 Input signal monitor Un006 Unoos Un00A Regenerative load ratio in percentage to the processable regenerative power regenerative power consumption in cycle of 10 seconds Un004 Rotation angle 2 Angle to the zero point electrical angle deg Un00B Power consumed by DB resistance in percentage to the processable power at DB activation displayed in cycle of 10 seconds Un00D Feedback pulse counter 32 bit decimal code Note Except for the parameters listed here all other parameters are reserved parameters 10 10 Index INDEX Numerics 400 V power supply voltage 5 18 A absolute encoder battery 4 13 AC DC re
93. ation The drawings presented in this manual are sometimes shown without covers or protective guards Always replace the cover or protective guard as specified first and then operate the products in accordance with the manual The drawings presented in this manual are typical examples and may not match the product you received This manual is subject to change due to product improvement specification modification and manual improvement When this manual is revised the manual code is updated and the new manual is published as a next edition If the manual must be ordered due to loss or damage inform your nearest Yaskawa representative or one of the offices listed on the back of this manual 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 xi CONTENTS About this Manual iii Related Manuals iv Safety Information V Notes for Safe Operation vi 1 Outline 1 1 Checking Products 1 2 1 1 1 Check Items 1 2 1 1 2 Servomotors 1 2 1 1 8 SERVOPACKs 1 3 1 2 Prod
94. attery case is required In this case use a cable for the incremental encoder 2 9 2 Selections 2 4 1 Cables for SGMAS and SGMPS Servomotor cont d Name Servomotor Length Specifications Model Standard Type Flexible Type 3 p JZSP CMP03 03 JZSP CMP13 03 9 84 ft 2m JZSP CMP03 05 JZSP CMP13 05 nae with SGMAS 16 4 ft SERVOPACK end Encoder end oose wire a 10 encoder end 90 tote RN JZSP CMP03 10 JZSP CMP13 10 SGMPS 32 8 ft For incremen tal encoder 100 to 1 5 kW f 5m JZSP CMP03 15 JZSP CMP13 15 49 2 ft 20m JZSP CMP03 20 JZSP CMP13 20 65 5 ft JZSP CSP04 03 JZSP CSP24 03 9 84 ft g i i 5m Cable with JZSP CSP04 05 JZSP CSP24 05 icase Wire at SGMAS 16 4 ft uscsmas SERVOPACK end Encoder end encoder end 50 to 1 15 kW 10m For absolute SGMPS 32 8 ft SIDES ale O encoder with 100 to 1 5 kW 15 Battery case JZSP CSP04 15 JZSP CSP24 15 battery case 49 2 ft CN2 25 Encoder E JZSP CSP04 20 JZSP CSP24 20 cable 65 5 ft end connector SGMPS JZSP CMP9 1 E kit HE SGMAS Caulking Exclusive tool is required 50 to 1 15 kW P quired Encoder end oi w connector kit 9 SMS Soldered T LE 5 sh JZSP CMP09 05 JZSP CSP39 05 16 4 ft 10m NN 32 8 f JZSP CMPO9 10 JZSP CSP39 10 20 m 65 5 ft max abies 15 O p JZSP CMP09 15 JZSP CSP39 15 49 2 ft 9 20m JZSP CMP09 20 JZSP CSP39 20 65 5 ft Use flexible cables for movable sections such as robot arms Refer
95. available excluding SGMCS 2 4 Selecting Cables 2 4 Selecting Cables 2 4 1 Cables for SGMAS and SGMPS Servomotor Cable Connection for Standard Wiring Distance SGMAS SGMPS SERVOPACK SGMPS 08 15 Servomotor for 750 W 1 5 kW Servomotor i main circuit cable for relay Battery case when an absolute encoder is used C Encoder cable 2 Servomotor main circuit cable SGMAS and SGMPS 01 to 04 Servomotor for 100 to 400 W C 2 7 2 Selections 2 4 1 Cables for SGMAS and SGMPS Servomotor Encoder Cable Extension from 20 m 65 5 ft up to 50 m 164 ft yu SGMAS SGMPS SGMPS 08 15 Servomotor for 750 W 1 5 kW SERVOPACK Relay encoder cable extension SERVOPACK end Relay encoder cable extension SERVOPACK end To be assembled by the customer To be assembled by the customer Q Relay encoder cable extension Encoder end SGMAS or SGMPS 01 to 04 Servomotor for 100 W to 400 W 2 8 Name Servomotor Model D cN2 Encoder cable Cable with connectors at both ends For incremen tal encoder Cable with connectors at both ends For absolute encoder with battery case Cable with connectors at both ends For incremen tal encoder Cable with connectors at both ends For absolute encoder with battery case
96. ay result in electric shock Do not remove the panel cover while the power is ON Failure to observe this warning may result in electric shock Do not touch terminals for five minutes after the power is turned OFF Residual voltage may cause electric shock Do not touch terminals for five minutes after voltage resistance test Residual voltage may cause electric shock Follow the procedures and instructions for trial operation precisely as noted in the X III series User s Manual Manual No SIEP 8800000 00 Malfunctions that occur after the servomotor is connected to the equipment not only damage the equipment but may also cause an accident resulting in death or injury The output range of multi turn data for X III series absolute detection system differs from that for conventional systems 15 bit encoder and 12 bit encoder Especially when Infinite length positioning system of conventional type is to be configured with III series be sure to make the system modification The multi turn limit value must be changed only for special applications Changing it inappropriately or unintentionally can be dangerous If the 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 w
97. ble and a signal line must be at least 30 cm 11 81 in Do not put the power and signal lines in the same duct or bundle them together Do not share the power circuit with an electric welder or electrical discharge machine When the SERVOPACK is placed near a high frequency generator install a noise filter on the input side of the power supply line Use a molded case circuit breaker QF or fuse to protect the power supply line from high voltage The SGDS SERVOPACK connects directly to a commercial without a transformer so always use a QF or fuse to protect the SERVOPACK from accidental high voltage The SGDS SERVOPACKs do not have built in ground protection circuits To configure a safer system install an earth leakage breaker for protection against overloads and short circuiting or install an earth leakage breaker combined with a wiring circuit breaker for ground protection 5 4 Special Wiring 5 4 2 Wiring for Noise Control 1 Wiring Example The SGDS SERVOPACK uses high speed switching elements in the main circuit It may receive switching noise from these high speed switching elements if wiring or grounding around the SERVOPACK is not appro priate To prevent this always wire and ground the SERVOPACK correctly The SGDS SERVOPACK has a built in microprocessor CPU so protect it from external noise as much as pos sible by installing a noise filter in the appropriate place The following is an example of wiri
98. by turning Change the alarm resetting method OFF the power too many times Overload or regenerative power exceeds the Reconsider the load and operation conditions regenerative resistor capacity Incorrect mounting of SERVOPACK direction The ambient temperature for SERVOPACK distance to other devices must be 55 C or less Heat radiation of the panel or heat around the panel A SERVOPACK fan fault occurred Replace the SERVOPACK A SERVOPACK fault occurred Replace the SERVOPACK Regeneration Occurred when the A SERVOPACK board fault occurred Replace the SERVOPACK Error Detected control power sup Detected when ply was turned ON the power to the Occurred when the Pn600 is set to a value other than 0 for servo Connect a external regenerative resistor or set main circuit was main circuit power motor 400 W or less and an external regenera Pn600 to 0 if an external regenerative resis turned ON supply was turned tive resistor is not connected tor is not connected ON Check for wrong wiring or disconnection of Correct the wiring for the external regenerative regenerative resistor resistor A SERVOPACK fault occurred such as regener Replace the SERVOPACK ative transistor and voltage sensor fault Occurred during Check for wrong wiring and disconnection of Correct the wiring for the external regenerative normal operation regenerative resistor resistor The jumper between B2 and B3 is rem
99. ce because the encoder cable length is too long Noise interference on the signal line because the encoder cable is bent and the sheath is damaged The encoder cable is bundled with a high current Correct the encoder cable layout so that no line or near a high current line surge is applied ply was turned ON or during opera tion FG varies because of the influence from the ser Ground the machine separately from PG side vomotor side machines such as welder FG Take measures against noise for the encoder wiring Noise interference on the signal line from the encoder Reduce the machine vibration or mount the servomotor securely Excessive vibration and shocks to the encoder An Encoder fault occurred A SERVOPACK board fault occurred Occurred when the Incorrect setting of parameters for the control power sup SERVOPACK ply was turned ON The multiturn limit value for the encoder is not set or changed Occurred during A SERVOPACK board fault occurred operation Replace the servomotor Replace the SERVOPACK Wee Multi tum Limit Correct the setting of Pn205 0 to 65535 Disagreement Execute Fn013 at the occurrence of alarm Replace the SERVOPACK 9 13 9 Inspection Maintenance and Troubleshooting 9 1 3 Troubleshooting of Alarm and Warning 9 14 Position Error Pulse Overflow In servo ON status the position error pulses exceed the overflow level set in the parameter Pn520
100. ces to fall off due to overtravel Set to the correct moment of inertia ratio Setting to an incorrect moment of inertia ratio may cause vibration Do not touch the SERVOPACK heatsinks regenerative resistor or servomotor while power is ON or soon after the power is turned OFF Failure to observe this caution may result in burns due to high temperatures Do not make any extreme adjustments or setting changes of parameters Failure to observe this caution may result in injury due to unstable operation When an alarm occurs remove the cause reset the alarm after confirming safety and then resume operation Failure to observe this caution may result in injury Do not use the servo brake of the servomotor for ordinary braking Failure to observe this caution may result in malfunction B Maintenance and Inspection N CAUTION When replacing the SERVOPACK resume operation only after transferring the previous SERVOPACK parameters to the new SERVOPACK Failure to observe this caution may result in damage to the product Do not attempt to change wiring while the power is ON Failure to observe this caution may result in electric shock or injury G Do not disassemble the servomotor Failure to observe this caution may result in electric shock or injury m Disposal N CAUTION When disposing of the products treat them as general industrial waste B General Precautions Note the following to ensure safe applic
101. d combinations Failure to observe this caution may result in fire or malfunction W Storage and Transportation A CAUTION Do not store or install the product in the following places 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 or installation temperature conditions Locations subject to humidity outside the range specified in the storage or installation humidity conditions Locations subject to condensation as the result of extreme changes in temperature Locations subject to corrosive or flammable gases Locations subject to dust salts or iron dust Locations subject to exposure to water oil or chemicals Locations subject to shock or vibration Do not hold the product by the cables or motor shaft while transporting it Failure to observe this caution may result in injury or malfunction Do not place any load exceeding the limit specified on the packing box Failure to observe this caution may result in injury or malfunction vii Installation N CAUTION Never use the products in an environment subject to water corrosive gases inflammable gases or combustibles Failure to observe this caution may result in electric shock or fire Do not step on or place a heavy object on the product Failure to observe this caution may result
102. d maximum values a Topology Mismatch error will be returned To recover use a control reset to clear the previous minimum and maximum cable values re initialize the network and set the new min max val ues 2 Micro D Connections SGDS SynqNet utilizes Micro D connectors to interconnect the nodes and the controller See section 5 3 4 Synq Net Connectors CN6A and CN6B for Micro D pin arrangements The cabling scheme uses straight through cables The crossover of transmit and receive is carried out at the connectors These two pinouts have been named the OUT port and the IN port to assist in the setup of hardware but remember that each port is full duplex and has the ability to transmit and receive data 3 Cable Shielding SynqNet defines cable shielding conventions in order to properly isolate local node signals and power while min imizing EMI both emission and reception Shielded cabling will reduce EMI coupled from other devices in the system The cables shall have their shields connected to the metal connector shell using the clamp on the Micro D connector Cable shield connections are treated slightly differently at the controller and node PCBs Both are detailed below Controller Connector Tied to cable shell Optional AC Capacitor coupled to Digital GND Cable Shell Tied to shield SHIELD GND5 Cable Shield Twisted Pair one shown OUT PORT 3
103. ds the DB MReduce the motor speed servomotor was resistance capacity Reduce the load moment of inertia running in servo Reduce the number of times of DB stop OFF status operation Overload of Occurred when the A SERVOPACK board fault occurred Replace the SERVOPACK Surge Current control power sup Limit Resistor ply was turned Detected when ON the number of Occurred during A SERVOPACK board fault occurred Replace the SERVOPACK times of the main operations other circuit power than the main cir ON OFF ope cuit ON OFF ration exceeds iG bres Occurred at the The inrush current limit resistor operation fre Reduce the main circuit power supply ON imes d main circuit power quency at the main circuit power supply ON OFF operation frequency to five times min or seconds supply is ON OFF OFF operation exceeds the allowable range less operation A SERVOPACK fault occurred Replace the SERVOPACK Heat Sink Occurred when the A SERVOPACK fault occurred Replace the SERVOPACK Overheated control power sup The overload alarm has been reset by turning Change the alarm resetting method Detected when ply was turned ON OFF the power too many times the heat sink Occurred when the The load exceeds the rated load Reconsider the load and operation conditions CAR C main circuit power or reconsider the servomotor capacity exceeds supply was turned The SERVOPACK ambient temperature exceeds The ambient
104. e Model Rotor Moment of Inertia Ratio iy Gov w ev Model Rotor Moment of Inertia Ratio 200 3 6 Dimensional Drawings of SERVOPACK Model SGDS LILILI72L1 3 6 Dimensional Drawings of SERVOPACK Model SGDS LIEIE172L1 3 6 1 Classification table SERVOPACK dimensional drawings are grouped according to the mounting method and capacity Base mounted type Power Supply Capacity Width Height Depth Volume Reference Voltage du sk dui mm Section Single phase 1073 3 6 2 100 V 10W W ERE W W 1463 3x63 6 3 Single phase W i 6 2 200 V W 200 W 400 W 1463 363 6 3 750W O W i NILUM 6 4 Three phase 1 0 s 200 V 3 6 2 Single phase 100 V 200 V 50 W 100 W 200 W Mounting Hole Diagram 4 5 1 78 2 x M4 screws Er n Nameplate 3240 5 1 2640 02 oN 2 x M4 screws OS i a E e ToT Q X g Da 1 1 7 i olo dD fe WO lol Lae w H Wa 2 5 i giz i ee i m t 1 i 1 Ground terminal i i 5 0 20 1400 3 94 E 130 5 12 Units mm in Approx mass 1 0 kg 2 20 Ib 3 SERVOPACK Specifications and Dimensional Drawings 3 6 3 Single phase 200 V 400 W 3 6 3 Single phase 200 V 400 W 3 6 4 Single phase 100 V 400 W 150 5 91 139 5 0
105. e and make sure that the parameter Pn001 2 is set to 1 Also observe the precautions given in IMPOR TANT IMPORTANT 1 The servomotor returns the regenerated energy to the power supply The SERVOPACK that can use a DC power supply is not capable of processing the regenerated energy Provide measures to process the regenerated energy on the power supply 2 With a SERVOPACK that is using DC power a certain amount of time is required to discharge all remaining electricity after the main power supply is turned OFF Note that high voltage electricity remains in the SERVOPACK after the power supply is turned ON a DC Power Supply Input Terminals for the Main and Control Circuits Terminal Symbols B1 Main circuit positive polarity terminal 270 VDC to 320 VDC L1C L2C Control power supply input terminal 270 VDC to 320 VDC No polarity b Parameter Setting Pn001 n 0000 DC power input not supported AC power input to the L1 L2 or L3 terminals n O100 pc power input supported DC power input to B1 and or B1 and O2 Turn the power OFF and turn it ON again to validate the setting 5 2 Wiring Encoders 5 2 Wiring Encoders The connection cable between encoders and the SERVOPACK and the pin numbers for wiring depend on the servomotor model CN2 Encoder Connector Terminal Layout 1 PG5V PG power supply 2 PGOV PG power supply ee eee ee BAT Battery BAT Battery BH RN MEI
106. e displayed in two patterns as shown below Parameter Type Display of Digital Operator Parameters for function Hexadecimal display for each digit selection Parameters for constant settings Since each digit in the function selection parameters has a meaning the value can only be changed for each indi vidual digit Each digit displays a value within its own setting range 2 Definition of Display for Function Selection Parameters Each digit of the function selection parameters has a unique meaning For example the rightmost digit of parameter Pn000 is expressed as Pn000 0 1 Each digit of the function selection parameters is defined as shown below The following explains the IMPORTANT 8 p purpose of each digit of a parameter rl LI L 1st digit 2nd digit 3rd digit 4th digit For the hexadecimal display only How to Display Parameters Pn000 0 Indicates the value for the 1st digit of parameter Pn000 Pn000 1 Indicates the value for the 2nd digit of parameter Pn000 Pn000 2 Indicates the value for the 3rd digit of parameter Pn000 Pn000 3 Indicates the value for the 4th digit of parameter Pn000 2 After changing the parameters with After restart mentioned in Setting Validation column in the table on the next page turn OFF the main circuit and control power supplies and then turn them ON again to enable the new settings 10 3 10 Appendix 10 1 1 List of Parameters Parameter y Fact
107. e ferrite cores on the SERVOPACK end and the controller end Refer to the following diagram 4 Cable Ferrite Recommended core ZCAT2436 1330 TDK ore c Noise on the Reference Input Line If the reference input line receives noise ground the 0 V line SG of the reference input line If the main cir cuit wiring for the motor is accommodated in a metal conduit ground the conduit and its junction box For all grounding ground at one point only All grounds must be made to only one point in the system 3 Using Noise Filters Use an inhibit type noise filter to prevent noise from the power supply line The following table lists recom mended noise filters for each SERVOPACK model Install a noise filter on the power supply line for peripheral equipment as necessary Noise Filters SERVOPKOK Mode Voltage Capacity SGDS Model Manufacturer Edi Jan E os A T amp indi amp sihase N2070 6 07 Single phase 250 VAC 6A 100 V 848 o FNI070 1887 Single phase 250 VAC 16 005 p FN2070 6 07 Single phase 250 VAC 6 A poy E 0 x Schaffner Elektronik 848 04A TNIST IU7 Seis DSO VAC TOA or on FNIXU IGUT Sielehsse 250 VAG TGA Trespass 19 oa 200 V FN258L 16 07 Three phase 480 VAC 16 A 5 4 Special Wiring Always observe the following installation and wiring instructions Incorrect use of a noise filter halves its bene fits IMPORTANT Do
108. e main circuit cable View A 2 Servomotor main circuit cable QD Encoder cable 2 20 2 4 Selecting Cables Encoder Cable Extension from 20m 65 5 ft up to 50m 164 ft SGDS SERVOPACK To be assembled by the customer Servomotor SGMCS Encoder main circuit Servomotor cable cable Relay encoder cable extension Encoder end View A 2 21 2 Selections 2 4 3 Cables for SGMCS Servomotor Length Specicatons Flexible Type IZSP CSP60 03 9 84 ft IZSP CSP60 05 Cable with connectors at 16 4 ft SERVOPACK end x Encoder end oe na JZSP CMP60 10 JZSP CSP60 10 For incremental and 32 8 ft ri E398 t absolute encoder 15m JZSP CMP60 15 JZSP CSP60 15 49 2 ft t 20m 65 5 8 JZSP CMP60 20 JZSP CSP60 20 JZSP CMP03 03 JZSP CMP13 03 9 84 ft am JZSP CMP03 05 JZSP CMP13 05 Cable with loose wires at 16 4 ft SERVOPACK end Encoder end encoder end 10m For incremental and 32 8 ft TASESOMPOSSU JZSP CME13 10 absolute encoder 15m cN2 JZSP CMP03 15 JZSP CMP13 15 49 2 ft Encoder 50 Cables g JZSP CMP03 20 JZSP CMP13 20 Soldered SERVOPACK end connector kit JZSP CMP9 1 Connectors at encoder end Caulking Straight plug TNEDSESIS Exclusive tool is required Connectors at encoder end Er yi Socket contact JN1 22 22S PKG100 5m JZSP CMP09 05 JZSP CSP39 05 164 f LL 10 d D JZSP CMP09 10 JZSP CS
109. e power is turned ON and OFF at the second ary damaging the SERVOPACK When using SERVOPACK with the three phase 400 VAC class 380 V to 480 V prepare the following voltage conversion transfers single phase or three phase Primary Voltage Secondary Voltage 380 to 480 VAC gt 200 VAC 380 to 480 VAC gt 100 VAC When selecting a voltage conversion transfer refer to the capacities shown in the following table Single phase sense poo s PL senso jy e Esso Pd saps Tweephase soa 7 4 3 16 7 20 v 10 This is the net value at the rated load Voltage conversion SGDS transfer SERVOPACK Single phase Poet rx 5 Pal TR 100 or 200 VAC em R E D i L1 E an i L2 lez ell i RM MEIN u 9 amp 8 UE H B3 Magnetic contactor for e l power supply ON and OFF eye im Fig 5 1 Single phase Power Supply Connection Example 5 4 Special Wiring 5 4 5 AC DC Reactor for Harmonic Suppression 1 Reactor Types The SGDS SERVOPACK has reactor connection terminals for power supply harmonic suppression The type of reactor to be connected differs depending on the SERVOPACK capacity Refer to the following table Reactor Specifications Applicable AC DC Reactor Impedance Rated Model Current SERVOPACK Model SGDS Single phase 100 V Single phase 20
110. e the position loop gain Pn102 preset value opping too high Refer to the gain adjustment in User s Manual Incorrect speed loop integral time Factory setting Ti 20 00 ms Correct the speed loop integral time constant Pn101 constant Pn101 setting Refer to the gain adjustment in User s setting Manual Incorrect moment of inertia ratio Check the rotational moment of inertia Correct the rotational moment of inertia ratio data data Pn103 ratio data Pn103 Pn103 Use the mode switch setting function ABS Noise interference due to improper The specifications of encoder cable must Use encoder cable with the specified specifications absolute encoder cable specifications be Position Tinned annealed copper twisted pair or Difference twisted pair shielded wires with core Error 0 12 mm 0 0002 in2 min m rid Noise interference because the The maximum allowable cable length is The encoder cable distance must be within the speci Hist control encoder cable distance is too long 20 m 65 6 ft fied range ler when the Noise interference due to damaged Noise interference to the signal line Correct the encoder cable layout power turned encoder cable because the encoder cable is bent or OFF is differ damaged ent from the Excessive noise to the encoder Check if the encoder cable is bundled Change the encoder cable layout so that no surge is position when cable with a high current line or near high cur applied the po
111. eater Stale Table 6 3 In Port LED Indicators LED INK Link Activity M t ore ice e RCV Receive Siate Bink 037 F F Bink 037 He 6 3 Settings 6 3 3 LED 7 Segment Display The state of the SERVOPACK is shown in the 7 segment LED display The status of the SERVOPACK is displayed as follow On Servo is in motion Off Servo stopping or stopped On Servo ON enabled Off Servo OFF disabled On Communication history exist Off No communication history On Synchronous communications Off Asynchronous communications Only the Servo OFF light segment will light up before connecting to the network after turning on the power sup ply The following displays are alternately lit at P OT and N OT status B B P OT N OT When an alarm is generated the alarm code digits are alternately lit as the status For example A 123 OG Geng Status A 1 2 3 6 SynqNet Communications 6 4 1 Cyclic Commands 6 4 Supported SynqNet Features The SGDS SynqNet SERVOPACK performs cyclic operations Commands are sent and responses are retrieved during every control cycle The following sections list the supported SynqNet functions 6 4 1 Cyclic Commands All cyclic commands are executed every control cycle 1 Torque Sets torque value Scale 10 000 units 100 rated torque 2 Amp Enable Disable Sets servo to enabled or disabled s
112. ecified input signal wires rect input signal wire specifica must be tions Tinned annealed copper twisted pair or twisted pair shielded wires with core 0 12 mm 0 0002 in min Noise interference due to long The maximum allowable cable length is Shorten the wiring distance for input signal line to length of input signal line 3 m 9 84 ft and the impedance a few the specified range hundreds ohm max Noise interference due to incor The specifications of encoder cable must Use the specified encoder cable rect encoder cable specifications be Tinned annealed copper twisted pair or twisted pair shielded wires with core 0 12 mm 0 0002 in min Noise interference due to long The maximum allowable cable length is Shorten the encoder cable wiring distance to the encoder cable wiring 20 m 65 6 ft specified value Noise due to damaged encoder Check if the encoder cable is not dam Modify the encoder cable layout cable aged or bent Excessive noise to the encoder Check if the encoder cable is bundled Install a surge suppressor to the encoder cable cable with high current line or near the high current line FG varies by influence of Check if the machine is correctly Ground the machine separately from PG side FG machines such as welder on the grounded servomotor side SERVOPACK pulse counting Check if there is noise interference on Take measure against noise for the encoder wiring error due to noise the signal line fro
113. egenerative Resistance 5 20 5 5 2 Connecting External Regenerative Resistors 5 20 5 6 Flexible Cables 5 23 5 Wiring 5 1 1 Names and Descriptions of Main Circuit Terminals 5 1 Wiring Main Circuit This section describes typical examples of main circuit wiring functions of main circuit terminals and the power ON sequence N CAUTION Do not bundle or run power and signal lines together in the same duct Keep power and signal lines sepa rated by atleast 30 cm 11 81 in Use twisted pair wires or multi core shielded pair wires for signal and encoder PG feedback lines The maximum length is 3 m 118 11 inches for reference input lines and is 20 m 787 40 in for PG feedback lines Do not touch the power terminals for five minutes after turning power OFF because high voltage may still remain in the SERVOPACK Make sure the charge indicator is out first before starting an inspection Avoid frequently turning the power ON and OFF Do not turn the power ON or OFF more than once per minute Since the SERVOPACK has a capacitor in the power supply a high charging current flows for 0 2 seconds when the power is turned ON Frequently turning power ON and OFF causes main power devices like capacitors and fuses to deteriorate resulting in unexpected problems 5 1 1 Names and Descriptions of Main Circuit Terminals Terminal Name Description Symbol L1 or L1
114. end Servomotor end Use flexible cables for movable sections such as robot arms Refer to 5 6 Flexible Cables 2 12 2 4 Selecting Cables Name With brakes Cont CN3 Servo motor Main Cir cuit Cables Cont Servomotor end connector kit Servomotor Model Lenath Standard Type Flexible Type 3 JZSP CMM10 03 JZSP CMM 9 84 ft 1 03 1 05 m wm JZSP CMM10 10 JZSP CMM 32 8 ft E m 1 10 M 5 JZSP CMM10 05 JZSP CMM 16 4 ft M 15m JZSP CMM10 15 JZSP CMM 49 2 ft 20 JZSP CMM10 20 JZSP CMM 65 5 f pum CM 2 5m JZSP CMM30 05 16 4 ft 10m JZSP CMM30 10 32 8 ft am JZSP CMM30 15 49 2 ft 20m JZSP CMM30 20 65 5 ft JZSP CSM9 3 JZSP CMMO9 1 JZSP CMM9 3 JZSP CMM9 2 JZSP CSM9 5 2 ft ft ate JZSP CMM30 03 9 84 ft Ait t SGMAS 50 to 150 W SGMPS 100 W SGMAS 200 to 600 W SGMPS 200 to 400 W SGMAS 750 W 1 15 kW SGMPS 750 W Without brakes SGMPS 1 5 kW Without brakes SGMPS 750 W With brakes SGMPS 1 5 kW With brakes JZSP CSM9 4 JZSP CMM9 4 cont d Specifications SERVOPACK end Servomotor end Caulking Exclusive tool is required Caulking Ki D Use flexible cables for movable sections such as robot arms Refer to 5 6 Flexible Cables 2 13 2 Selections 2 4 1 Cables for SGMAS and SGMPS Servomotor cont d Name Servomotor
115. ent settings are used to distinguish if a direct command is being issued or not and to distinguish the type of memory being accessed The setting for the read or write functions setting will apply to all Memory Operations as well as some Direct Commands For more information on operating methods refer to the MEI SynqNet Controller manuals 1 Memory Operations Motor capacity motor models encoder resolution and alarm history data can be read 2 Direct Commands The following direct commands are supported by SGDS SynqNet Table 6 4 Supported Direct Commands Read Alarm Read Reads an alarm code from the alarm history Alarm Count Read Reads the number of active alarms stored in alarm history buffer Clear Alarm Write Clears all alarms in the active alarm list that may be cleared See the Alarms table for a list of alarms that can be cleared If all the alarms in the alarm list can be cleared then the fault line is deasserted the Fault flag response will be cleared and the servo will be enabled if the hardware enable line is asserted and the Amp Enable is set Read Warning Returns a warning code from the warning list Warning Count Read Reads the number of warnings stored in warnings list Clear Warning Write Clears all warnings Multi turn Count Read turn Count Read Reads the 16 bit multi turn value 0000000000000 the 16 bit multi turn value um Count Rend turn Count Clear Write Resets EIL NE serial encoder mu
116. er communications Digital Operator Personal computer SynqNet 3 10 3 4 SERVOPACK Power Losses 3 4 SERVOPACK Power Losses The following table shows SERVOPACK power losses at the rated output SERVOPACK Power Losses at Rated Output Maximum Output Main Circuit Regenerative Control Main Circuit Applicable SERVOPACK Current PowerLoss ResistorPower Circuit Power Servomotor Model Effective W Loss Power Supply Capacity SGDS Value W Loss KW A W Single phase 100V Single phase 200V phase 200V 1 SERVOPACKs with a capacity of 50 to 400 W do not have built in regenerative resistors If the regenerative energy exceeds the specified value connect an external regenerative resistor 2 Regenerative resistor power losses are allowable losses Take the following action if this value is exceeded Remove the lead from the internal regenerative resistor in the SERVOPACK nstall an external regenerative resistor Note External regenerative resistors are optional Refer to 5 5 Connecting Regenerative Resistors and 4 4 6 External Regenerative Resistor for details 3 11 3 SERVOPACK Specifications and Dimensional Drawings 3 5 1 Overload Characteristics 3 5 lel A Overload Characteristics and Load Moment of nertia 3 5 1 Overload Characteristics The overload detection level is set under hot start conditions at a servomotor ambient temperature of 40 C 104 F 10000 0 f 1000 0
117. er ON sequence Design the power ON sequence so that main circuit power is turned OFF when a servo alarm signal is output See the circuit figure above The ALM signal is output for approximately two seconds when the power is turned ON Take this into con sideration when designing the power ON sequence The ALM signal actuates the alarm detection relay 1Ry to stop main circuit power supply to the SERVOPACK Power supply 2 0 s max gt Servo alarm ALM 4 output signal Select the power supply specifications for the parts in accordance with the input power supply 5 5 5 Wiring 5 1 3 Typical Main Circuit Wiring Examples 4 DC Power Supply Input for SERVOPACK A CAUTION Do not use a DC power supply for the 100V SERVOPACK SGDS OOFOOOD A DC power will destroy the SERVOPACK and may cause a fatal accident or fire Do not change the factory setting for Pn001 n LIOLILI DC power supply input not supported The AC and DC power can be used with the 200V SERVOPACK SGDS LILIALILI Before using DC power supply Pn001 n 0100 DC power supply supported must be selected Failure to do so will cause the internal element of the SERVOPACK to burn out and fire and damage to the devices may result Check the parameter setting before using a DC power supply When using a DC power supply for the SERVOPACK SGDS LILIALILI use the terminals listed in the following tabl
118. f basic servo system configuration 1 6 1 3 Examples of Servo System Configurations 1 Connecting to SGMAS and SGMPS Servomotors Power supply Single phase 100 or 200 VAC Note For connecting the AC DC reactor R T refer to 5 4 5 AC DC Reactor for Molded case Harmonic Suppression circuit breaker MCCB Protects the power supply line by shutting the circuit OFF when overcurrent is detected Refer to 4 4 8 Molded case Digital Circuit Breaker MCCB op erator Refer to 4 4 2 Connection cable Noise filter for digital operator Used to eliminate SGDS LILIDI72A external noise from the power line Refer to 4 4 9 Noise Filter Q OJ Magnetic vyigaga amp E contactor 8306 earza n Turns the servo s Ororen SynqNet Fg ON and OFF O Gu communication cables SynqNet controller Installa surge J i E 9 Hl OA d or nod 3 protector Hi and or nodes Refer to EU c 4 4 10 Magnetic QS d T WELT Contactor u A Tei N D E EL Le d udo oy ath Mi a n s i eio gll a E m Uea o elon S I O signal cable Regenerative Ts u resistor External LED displa Connectian extemal m L mmm or External B regenerative resistor Ww p y to terminals B1 and B2 4 if the regenerative Refer to 5 4 capacity is insufficient e A SIS Refer to 4 4 6 External Regenerative Resistor t Magnetic contactor 0 Turns the brake power supply ON or OFF
119. f the SERVOPACK 8 Adjustments Describes the adjustment functions contain autotuning 9 Inspection Maintenance and Describes maintenance and inspection contain troubleshooting if an Troubleshooting alarm occurs 10 Appendix Describes the list of parameters and alarm codes B Visual Aids The following aids are used to indicate certain types of information for easier reference IMPORTANT Indicates important information that should be memorized including precautions such as alarm dis plays to avoid damaging the devices INFO Indicates supplemental information lt 4 EXAMPLE gt Indicates application examples TERNE Indicates definitions of difficult terms or terms that have not been previously explained in this man ual Related Manuals Refer to the following manuals as required 2 III Series AC SERVOPACK SGDS TOBP S800000 00 Describes the safety precautions of X III series Safety Precautions SERVOPACK X III Series SGMLIS SGDS Digital TOBP S800000 01 Provides detailed information on the operation of the Operator Operation Manual JUSP OPOSA Digital Operator 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 IN WARNING Indicates precautions that if not heeded could possibly result in los
120. ference because the The maximum allowable cable length is The input signal cable distance must be within the input signal cable distance is too 3 m 9 84 ft specified range long Encoder fault pulse count does Encoder fault Replace the servomotor not change Servomotor Ambient temperature too high Measure servomotor ambient tempera Reduce ambient temperature to the maximum allow Overheated ture able value of 40 C 104 F or lower Servomotor surface dirty Visual check Clean dust and oil from motor surface Overloaded Run under no load Reduce load or replace with larger capacity servomo tor 9 20 9 2 Inspection and Maintenance 9 2 Inspection and Maintenance 9 2 1 Servomotor Inspection The AC servomotors are brushless Simple daily inspection is sufficient The inspection and maintenance fre quencies in Table 9 6 are only guidelines Increase or decrease the frequency to suit the operating conditions and environment IMPORTANT During inspection and maintenance do not disassemble the servomotor If disassembly of the servomotor is required contact your Yaskawa representative Table 9 6 Servomotor Inspections Vibration and Noise Touch and listen and listen Levels Levels higher than normal than normal Exterior According to degree Sarin RT with cloth or compressed of contamination Insulation Resistance Atleast once a year Disconnect SERVOPACK and Contact your Yaskawa repre Measurement test ins
121. ffected by cable construction and will vary but the variation will be small for any reasonable cable The propagation delay can be estimated by a cable propagation velocity of 70 the speed of light using the formula delay meters 1 000 000 0 7 299 722 458 For example here are some rough values for various cable lengths Length m Time us 0 048 0 119 04m During SynqNet initialization the controller sends a packet to each node waits for the node to repeat the packet back and measures the elapsed time In ring topologies the last cable requires the packet to travel around the net work and return to the controller The controller reads the clock values for each measurement packet and stores the values The raw time values are then converted into cable length meters and the propagation delays are used to calculate the packet spacing The propagation delay measurement is based on the SynqNet clock rate which is 25MHz period 0 040 micro seconds At 25MHz the clock resolution is 0 040 microseconds which translates to roughly 8 meters The accu racy is based on the forwarding variations for each node 1 clock and the resolution of the propagation delay timer 0 5 clocks The accuracy for each cable can be determined from accuracy 020 microsec 040 microsec nodeCount 2 in terms of meters accuracy 4 meters 8 meters nodeCount 2 For example a network with 3 nodes has foll
122. g 2 Connect the lead wires in parallel and count the number of cable return motion times until a lead wire 1s disconnected Note that one reciprocation is counted as one test Shifting distance 320 mm 12 60 in 4 tA Z K 27 p ZN i Shifting end 7 Bending radius Fixed end R 90 mm 3 54 in N Note 1 The life of flexible cable differs largely depending on the amount of mechanical shocks mounting to the cable and fixing methods The life of flexible cable is limited under the specified conditions 2 The life of flexible cable indicates the number of bending times in which lead wires are electrically conducted and by which no cracks and damages that affects the performance of cable sheathing are caused Disconnecting the shield wire is not taken into account 2 Wiring Precautions Even if the recommended bending radius R is followed in the mechanical design incorrect wiring may cause the early disconnection Observe the following precautions when wiring a Cable Twisting Straighten the flexible cables wiring Twisted cables cause the early disconnection Check the indication on the cable surface to make sure that the cable is not twisted b Fixing Method Do not fix the moving points of the flexible cable or stress on the fixed points may cause early disconnec tion Fix the cable at the minimum number of points c Cable Len
123. g the encoder Correct the encoder wiring improper and position loop gain MER pulse frequency Set the parameter Pn520 to a value The position reference pulse frequency is too high Setting ofthe parameter Pn520 Position Error Pulse Alarm Level is improper other than 0 The servomotor specifications do not meet the Reconsider and correct the load and load conditions torque moment of inertia servomotor capacity Incorrect wiring and faulty contact in servo Correct the servomotor wiring motor wiring Incorrect wiring and faulty contact in encoder Correct the encoder wiring wiring A SERVOPACK fault occurred Replace the SERVOPACK Incorrect wiring and faulty contact in servo Correct the servomotor wiring motor wiring Incorrect wiring and faulty contact in encoder Correct the encoder wiring wiring Reconsider the load and operation con ditions Or check the servomotor The starting torque exceeds the maximum torque capacity A SERVOPACK fault occurred Replace the SERVOPACK Reconsider the load and operation con ditions Or check the servomotor The effective torque exceeds the rated torque Temperature in the SERVOPACK panel is high capacity Reduce the in panel temperature to 55 C or less A SERVOPACK fault occurred Replace the SERVOPACK A SERVOPACK board fault occurred Regenerative energy is excessive Regenerative status continues Replace the SERVOPAC
124. gnals can be changed by setting parameters Pn006 0 1 and Pn007 0 1 The output voltages on analog monitor 1 and 2 are set as shown below Analog monitor 1 output voltage 1 x Signal selection x Signal multiplier j Offset voltage V Pn006 O OXX Pn006 OX Pn550 Analog monitor 2 output voltage 1 x Signal selection x Signal multiplier Offset voltage V Pn007 O OXX Pn007 OX Pn551 T 8 5 8 Adjustments 1 Related Parameters The following signals can be monitored a Pn006 and Pn007 Function Selections Parameter Monitor Signal Pn007 Setting ES subtract from Torque Reference Setting Ee l noma Reese nums wss mme wee jwEEB Reserved o o 7 i nDEOB Reserved 7 7 Egoe menu 0 0 es y sen nooo Runs Se Reseved 000 00 00e 0000 00 cop onm eil mmmer wees 1 8 2 Analog Monitor The monitor factor can also be changed by setting parameters Pn006 2 and Pn007 2 nc EILEEN RC st E EE o zm x o mos ano ma wo Analog Monitor 1 Offset Voltage Setting Range Setting Unit Factory Setting Setting Validation 1000 0 to 1000 0 0 1 V 0 Immediately 1000
125. gth If the cable length is too long it may result the cable sagging If the cable length is too short excessive ten sion on the fixed points will cause the early disconnection Use a flexible cable with the optimum length d Interference between Cables Avoid interference between cables Interference limits the motion of flexible cable which causes early disconnection Keep enough distance between cables or provide a partition when wiring 5 23 6 SynqNet Communications 6 1 Introduction 6 2 6 1 1 Overview 6 2 6 1 2 SynqNet Packet Timing 6 2 6 2 Specifications and Configurations 6 4 6 2 1 Specifications 6 4 6 2 2 SynqNet Communications Connection Example 6 4 6 2 3 Precautions for Wiring SynqNet Cables 6 5 6 2 4 Grounding 6 7 6 3 Settings 6 8 6 3 1 Switch ID Setting 6 8 6 3 2 SynqNet Port LED Indicators 6 8 6 3 3 LED 7 Segment Display 6 9 6 4 Supported SynqNet Features 6 10 6 4 1 Cyclic Commands 6 10 6 4 2 Cyclic Responses 6 10
126. h filter that is being used First Stage Notch Filter Frequency Setting Range Setting Unit Factory Setting Setting Validation 50 to 2 000 Hz 2 000 Hz Immediately Second Stage Notch Filter Frequency Setting Range Setting Unit Factory Setting Setting Validation 50 to 2 000 Hz 2 000 Hz Immediately 8 Adjustments When the vibration is suppressed but overshooting occurs increase the Q value and check whether the over shooting is corrected First Stage Notch Filter Q Value Setting Range Setting Unit Factory Setting Setting Validation 70 to 1000 0 01 70 Immediately 0 70 to 10 00 0 70 Second Stage Notch Filter Q Value Setting Range Setting Unit Factory Setting Setting Validation 70 to 1000 0 01 70 Immediately 0 70 to 10 00 0 70 IMPORTANT Change the Notch Filter Frequency Pn409 or Pn40C only when the motor is stopped Vibration may occur if the notch filter frequency is changed when the motor is rotating 8 2 Analog Monitor 8 2 Analog Monitor Signals for analog voltage references can be monitored To monitor analog signals connect the analog monitor cable JZSP CA01 to the connector CNS 200V G7 YASKAWA SERVOPACK SGDS 02A72A o pl Ovomer Qu Black Black White Red Signal Name Analog monitor 1 Torque reference 1 V 100 Rated torque Analog monitor2 Motor speed 1 V 1000 min Black 2lines GND 0 V Analog monitor GND 0 V The analog monitor si
127. hanges and shows execution display of Multiturn Clear Fn008 p PGCL1 A 810 Press the Key until PGCLS appears Multiturn Clear PGCLS Press the Key to clear the multi turn data of the abso DONE of lute encoder DONE is displayed for one second after the Multiturn Clear setting have been made PGCES Turn OFF the power supply and then turn it ON again to enable the settings 8 Adjustments 8 1 Torque Filters 8 2 8 2 Analog Monitor 8 5 8 1 8 Adjustments 8 1 Torque Filters As shown in the following diagram the torque reference filter contains three torque reference filters and two notch filters arrayed in series and each filter operates independently The notch filters can be enabled and dis abled with the parameters i H 1 Torque reference First Stage A Torque reference before filtering 1 Torque Notch after filtering i Retbrence Filters 1 ilter Pn409 i Pn401 Pn40A i Pn411 1 and Pn40B Pn40F and 1 1 1 1 1 1 Pn410 1 Torque Reference Filter If you suspect that machine vibration is being caused by the servodrive try adjusting the filter time constants This may stop the vibration The lower the value the better the speed control response will be but there is a lower limit that depends on the machine conditions Pn401 First stage 1 torque refe
128. icator Lights when an alarm exists CN3 Connector for Digital Operator Used for I O with a digital operator Refer to 4 4 2 Digital Operator CN5 Analog monitor connector Used to monitor motor speed torque reference and other values through a special cable Refer to 4 4 3 Cables for Analog Monitor SynqNet output status indicators Lights when link is active and when communicating correctly with the controller respectively Refer to 6 32 SynqNet Port LED indicators CN6A SynqNet output connector Used to communicate with SynqNet controller Refer to 5 3 4 SynqNet Connectors CN6A and CNBR 2n SynqNet input status indicators Lights when link is active and when communicating correctly with the controller respectively Refer to 6 3 2 SynqNet Port LED Indicators CN6B SynqNet input connector Used to communicate with SynqNet controller Refer to 5 3 4 SynqNet Connectors CN6A and CN6B CN1 I O signal connector Used for reference input signals and sequence IO signals Refer to 5 3 Examples of I O Signal Connections Nameplate side view Indicates the SERVOPACK model and ratings Refer to 1 1 3 SERVOPACKs CN2 Encoder connector Connects to the encoder of the SERVOPACK Refer to 5 2 Wiring Encoders INFON W Connecting terminal 7 For connecting a reactor refer to 5 4 5 AC DC Reactor for Harmonic Suppression 1 5 1 Outline 1 3 Examples of Servo System Configurations This section describes examples o
129. ifications be Tinned annealed copper twisted pair or twisted pair shielded wires with core 0 12 mm 0 0002 in min Noise interference because the The maximum allowable cable length is The encoder cable distance must be within the speci encoder cable distance is too long 20 m 65 6 ft fied range Noise influence due to damaged Check if the encoder cable is bent or its Correct the encoder cable layout encoder cable sheath is damaged Excessive noise interference to Check if the encoder cable is bundled Change the encoder cable layout so that no surge is encoder cable with a high current line or near high cur applied rent line FG varies because machine such Check if grounding of the machine is Ground encoder to FG do not share a ground with a as welder installed on servomotor correctly grounded machine side due to noise is influenced by noise the encoder tor due to incorrect installation motor securely Position Unsecured coupling between Check if a position error occurs at the Secure the coupling between the machine and servo Error machine and servomotor coupling between machine and servomo motor without tor alarm Noise interference due to improper The input signal cable specifications Use input signal cable with the specified specifica input signal cable specifications must be tions Tinned annealed copper twisted pair or twisted pair shielded wires with core 0 12 mm 0 0002 in min Noise inter
130. ill 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 while the power is ON Failure to observe this warning may result in electric shock Installation disassembly or repair must be performed only by authorized personnel Failure to observe this warning may result in electric shock or injury Do not damage press exert excessive force or place heavy objects on the cables Failure to observe this warning may result in electric shock stopping operation of the product or burning Provide an appropriate stopping device on the machine side to ensure safety A holding brake for a servomotor with brake is not a stopping device for ensuring safety Failure to observe this warning may result in injury vi A WARNING Do not come close to the machine immediately after resetting momentary power loss to avoid an unexpected restart Take appropriate measures to ensure safety against an unexpected restart Failure to observe this warning may result in injury G Do not modify the product Failure to observe this warning may result in injury or damage to the product do Connect the ground terminal to electrical codes ground resistance 100 W or less Improper grounding may result in electric shock or fire B Checking on Delivery A CAUTION Always use the servomotor and SERVOPACK in one of the specifie
131. ing details see section 5 4 2 Wiring for Noise Control 6 7 6 SynqNet Communications 6 3 1 Switch ID Setting 6 3 Settings 6 3 1 Switch ID Setting SynqNet does not require any hardware setting for node address because node addresses are assigned by the con troller to each node However a switch ID setting may be required for higher level applications To set the switch ID for applications use the rotary switches SW1 and SW2 on the SERVOPACK s front panel After making the settings the application should re read the switch ID Each rotary switch has 16 positions from hexadecimal 0 through F so there are 256 possible settings The switch ID value is stored in a 32 bit address within the FPGA of the node the upper 16 bits or the first 2 digits of the 4 digit hexadecimal value are the rotary switch settings of SW1 and SW2 respectively Table 6 1 Example Switch ID Settings Rotary Switch Switch ID Rotary Switch Switch ID Lo v www i 2 l 9 i mom 9 A wSAW s 4 waw r r wm 6 3 2 SynqNet Port LED Indicators Each SynqNet port has two LEDs The LEDs specifically relate to the FPGA and network states They function independently from the drive processors or other devices attached to the node The normal state of the LEDs dur ing normal operation is to be continuously lit Table 6 2 Out Port LED Indicators Description LNK Link Activity Link Active Normal Operation fa ee a m Rep
132. ing standards Certification is pending for the following standards UL508C CSA C222 No 14 EN50178 e EN55011 group 1 class A EN61000 6 2 Installation Site Installation in a Control Panel Design the control panel size unit layout and cooling method so the temperature around the SERVOPACK does not exceed 55 C 131 F Installation Near a Heating Unit Minimize the heat radiating from the heating unit as well as any temperature rise caused by natural convection so the temperature around the SERVOPACK does not exceed 55 C 131 F Installation Near a Source of Vibration Install a vibration isolator beneath the SERVOPACK to avoid subjecting it to vibration Installation at a Site Exposed to Corrosive Gas Corrosive gas does not have an immediate effect on the SERVOPACK but will eventually cause the electronic components and contactor related devices to malfunction Take appropriate action to avoid corrosive gas Other Situations Do not install the SERVOPACK in hot humid locations or locations subject to excessive dust or iron powder in the air 3 2 SERVOPACK Installation Orientation Install the SERVOPACK perpendicular to the wall as shown in the figure The SERVOPACK must be oriented this way because it is designed to be cooled by natural convection or a cooling fan Secure the SERVOPACK using two to four of the mounting holes The number of holes depends on the capacity ti Ventilation Installation
133. ion replace the encoder SERVOPACK fault Replace the SERVOPACK Encoder Occurred when the An Encoder fault occurred encoder self diagno Setup the encoder If this alarm occurs fre Checksum control power sup sis quently replace the servomotor Error ply was turned ON A SERVOPACK fault occurred Replace the SERVOPACK Detected on the or during opera encoder side tion Occurred when An Encoder fault occurred encoder self diagno Setup the encoder If this alarm occurs fre SEN signal was sis quently replace the servomotor turned ON Absolute When the control A SERVOPACK board fault occurred when the Replace the SERVOPACK Encoder Bat power supply was absolute encoder is used as an incremental tery Error turned ON Detected when Setting the battery volt Pn002 2 1 encoder age is lower than When the control The battery connection is incorrect Connect correctly the battery the specified power supply was The battery voltage is lower than the specified Replace the battery and then turn ON the value 2 to 4 turned ON value 2 7 V power to the encoder seconds after the Setting control power Pn002 2 0 using supply turns an absolute ON encoder Only when an absolute encoder is connected A SERVOPACK board fault occurred Replace the SERVOPACK Encoder Data Occurred whenthe A malfunction occurred in the encoder Turn OFF the encoder power supply and on Error control power sup again If
134. ions inertia insufficient regenerative capacity check the load moment of inertia and minus load specifications A SERVOPACK fault occurred Replace the SERVOPACK High motor speed and excessive load moment of Reconsider the load and operation conditions inertia Undervoltage Detected when the SERVOPACK main circuit DC voltage is approx 170 V or less Detected when the power to the main circuit was turned ON Overspeed Detected when the feedback speed is the max imum motor speed x 1 1 or more Overload High Load Overload Low Load 9 1 Troubleshooting Table 9 3 Alarm Display and Troubleshooting Cont d Occurred when the control power sup ply was turned ON Occurred when the main circuit power supply was turned ON Occurred during normal operation Occurred when the control power sup ply was turned ON Occurred in servo ON status Occurred when the servomotor started running or at high speed run Occurred when the control power sup ply was turned ON Occurred when the servo was turned ON Occurred when the servo was turned ON Occurred when the servomotor did not run by the refer ence input Occurred during normal operation Alarm Alarm Name Situationat Alarm Cause Corrective Actions Display Occurrence A SERVOPACK board fault occurred The AC power supply voltage is 120 V or less AC power supply voltage must be within the specified range
135. lly fixed This is neither true with Syn qNet nor PROFIBUS During startup network configuration the SynqNet controller determines when in each controller cycle the individual nodes will receive new demands and when the responses will be read The resolu tion of the SynqNet node communication scheduling 1s 40 nanoseconds Each node may have a different packet size depending on the number of axes supported During every SynqNet controller cycle every axis in every node will receive a new cyclic demand All drives are notified of new cyclic data at the same time via a strobe mechanism During a SynqNet controller cycle there may be one service channel request per node Since a node may have multiple axes it is not possible to handle service channel requests for multiple axes at the same node during the same controller cycle The service channel request may not occur during the same drive cycle as the cyclic demand The main advantage of this architecture is that the time from controller update until drive update is minimized Also the time from drive position update to new controller update is also minimized 6 1 Introduction The following figure illustrates the relationship between the SynqNet data interchange over the wire and the drive message buffer updates SynqNet Phase 2 Example 4 kHz Control Cycle
136. lti turn data Also will clear alarm 0810H encoder backup error Requires a SynqNet reset afterwards 6 11 7 Operation This chapter explains the JOG operation parameter settings and the Multiturn Limit setting when using the digital operator For more information on operat ing methods refer to the MEI SynqNet controller manuals 7 1 Trial Operation 7 2 7 1 1 Digital Operator Operation 7 2 7 Operation 7 1 1 Digital Operator Operation 7 1 Trial Operation 7 1 1 Digital Operator Operation The digital operator can be used to operate the servomotor and to perform other functions such as the multi turn reset 1 Operate with the Digital Operator Use the digital operator to operate the servomotor with util ity function Fn002 Jog Mode Operation The factory set ting for jog operation is 500 min Check to see if the servomotor runs normally The operating procedure is given below Diaital The motor can be operated using only the digital operator This Operator makes it possible to check the servomotor rotation direction and ziz z Sct the speed during machine setup and trial operation without C_ connecting the host controller When operating the servomotor with the digital operator a ae parameter can be used to change the servomotor speed as mE described below Parameter Pn3
137. lty servomotor wiring faulty wiring and con nection Faulty encoder wiring faulty wiring and connec Correct the encoder wiring tion A SERVOPACK fault occurred Replace the SERVOPACK Faulty servomotor wiring faulty wiring and con Correct the servomotor wiring nection Faulty encoder wiring faulty wiring and connec Correct the encoder wiring tion The starting torque exceeds the maximum torque Reconsider the load and operation conditions or reconsider the servomotor capacity Replace the SERVOPACK Reconsider the load and operation conditions or reconsider the servomotor capacity Correct the servomotor wiring A SERVOPACK fault occurred The effective torque exceeds the rated torque or the starting torque largely exceeds the rated torque A SERVOPACK fault occurred Replace the SERVOPACK 9 Inspection Maintenance and Troubleshooting 9 1 3 Troubleshooting of Alarm and Warning Table 9 3 Alarm Display and Troubleshooting Cont d Aarm Alarm Name Situation at Alarm Cause Corrective Actions Display Occurrence Dynamic Brake Occurred when the A SERVOPACK board fault occurred Replace the SERVOPACK Overload control power sup For ply was turned SERVOPACKs ON 500 W to 1 0 Occurred when the A SERVOPACK board fault occurred Replace the SERVOPACK kW servomotor was running and in the status other than servo OFF Occurred when the The rotating energy at DB stop excee
138. m eit rs n ERI e un U v wW QA DE Servomotor main circuit cable SGMCS Servomotor Note For connecting the AC DC reactor refer to 5 4 5 AC DC Reactor for Harmonic Suppression Connection cable for digital operator SynqNet communication cables qi HUI I O signal cable Refer to 5 4 EE e Encoder cable Digital operator Refer to 4 4 2 SynqNet controller and or nodes External LED display or External switches Nameplate Servomotor main circuit cable View A 1 4 Applicable Standards 1 4 Applicable Standards 1 4 1 North American Safety Standards UL CSA d i TAL US LISTED UL Standards UL File No CSA Standards Certification cation SERVOPACK m ULSO8C E147823 E oed 2 n CSA C222 Servomotor UL1004 E165827 No 100 1 Underwriters Laboratories Inc 2 Canadian Standards Association Note Certification is pending for the following SERVOPACKs SGDS SERVOPACKs 1 5 to 3 kW SGMPS 15 SERVOPACKs SGMSS 15 to 30 SERVOPACKs SGMCS 45 to 2Z SERVOPACKs 1 4 2 CE Marking CE EMC Directi Model Low Voltage poe Certification SERVOPACK IEC60034 1 IEC60034 5 Servomotor IEC60034 8 IEC60034 9 EN55011 class A group 1 EN61000 6 2 TUV Product Services GmbH Note 1 Because SERVOPACKs and servomotors are the built in type reconfirmation is required after being installed in the final
139. m encoder Excessive vibration and shock to Vibration from the machine or servomo Reduce vibration from the machine or secure the ser the encoder tor incorrect installation vomotor installation Encoder fault Encoder fault Replace the motor Servomotor Speed loop gain value Pn100 too Factory setting Kv 40 0 Hz Reduce speed loop gain Pn100 preset value Vibrates at high Refer to the gain adjustment in User s Approximate Manual ly 200 to 400 H Position loop gain value Pn102 Factory setting Kp 40 0 s Reduce position loop gain Pn102 preset value z too high Refer to the gain adjustment in User s Manual Incorrect speed loop integral time Factory setting Ti 20 00 ms Correct the speed loop integral time constant Pn101 constant Pn101 setting Refer to the gain adjustment in User s setting Manual Incorrect moment of inertia ratio Check the moment of inertia ratio data Correct the moment of inertia ratio data Pn103 data Pn103 Pn103 9 18 9 1 Troubleshooting Table 9 5 Troubleshooting for Malfunction without Alarm Display Cont d Corrective Actions Symptom Turn OFF the servo system before executing operations High Rota Speed loop gain value Pn100 too Factory setting Kv 40 0 Hz Reduce the speed loop gain Pn100 preset value tion Speed high Refer to the gain adjustment in User s Overshoot on Manual Starting and Stobpi Position loop gain value Pn102 Factory setting Kp 40 0 s Reduc
140. meter set ting A SERVOPACK board fault occurred The absolute encoder is used in the incremental encoder setting Incorrect or faulty connection of battery Correct the battery connection The battery voltage is lower than the specified Replace the battery and turn OFF the value 2 7 V encoder power supply and ON again A SERVOPACK board fault occurred Replace the SERVOPACK Invalid data is attempted to be set Verify data used To validate new setting of this parameter turn Turn OFF the power and ON again OFF the power and ON again Replace the SERVOPACK This warning occurs when an invalid parame Verify address used ter or register address is used This warning occurs when data attempted to Verify used data is within allowable be set is out of the acceptable range range Operation or data processing execution causes Reconsider operation procedure and a warning operation conditions Data Size Warning Occurred after param This warning occurs when data attempted to Verify data size used eter set or get be set or get has incorrect data size Command Warn Occurred after a com This warning occurs when an invalid SynqNet Verify command ing mand is issued command is executed 9 1 Troubleshooting 9 1 4 Troubleshooting for Malfunction without Alarm Display The troubleshooting for the malfunctions that causes no alarm display is listed below Contact your Yaskawa representative if the problem
141. n Pn006 2 Offset voltage Pn550 Theorie reference outputs a value Torque reference value output from SERVOPACK Gravity compensation Pn422 10 5 10 Appendix 10 1 1 List of Parameters Parameter Factory Setting Reference Pn007 Function Selection Application Switch 7 HERE 0000 ately 3rd 2nd 1st digit digit digit Sai Analog Monitor 2 Signal Selection Motor speed 1 V 1000 min Reserved Torque reference 1 V 100 Gravity compensation Pn422 Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Analog Monitor 2 Signal Multiplication Selection x1 x 10 x 100 x 1 10 x 1 100 Reserved Do not change Analog monitor 2 output voltage 1 Signal selection Pn007 0 Signal multiplication Pn007 2 Offset voltage Pn551 The torque reference outputs a value Torque reference value output from SERVOPACK Gravity compensation Pn422 for monitor Pn008 Function Selection Application Switch 8 0000 After restart 3rd 2nd 1st digit digit digit d Lowered Battery Voltage Alarm Warning Selection Outputs alarm A 830 for lowered battery voltage Outputs warning A 930 for lowered battery voltage Detects warning Does not detect warning Reserved Do not change Pn100 Speed Loop Gain 1 0 to 2000 0 Hz 40 0 Hz
142. nal stop input EXSTOP 6 Stops the servomotor immediately and the servo is turned OFF USERO 7 User input signal USER1 8 External encoder input ENG C External encoder input for C channel ENC_C 2 Output Signals a USER User output signal m i em BRK 12 Use when a motor with a brake is used ALM 13 Servo alarm ALM 14 Turns OFF when an error is detected Active use when there is a servo alarm Active use when communication is established with SynqNet Note Pin numbers in parentheses indicate signal grounds 5 3 Examples of I O Signal Connections 5 3 4 SynqNet Connectors CN6A and CN6B The following table show the terminal layout for the SynqNet connector and its specifications 1 Connector Specification Name Commercial Ulti mate Micro D connector 83611 9006 Cable end Commercial Ulti mate Micro D cable receptacle 83421 9014 2 Connector Pin Arrangement The following tables show the arrangement of the connector pin Pin Teminalname VO Pin Terminalname 0 L1 CONN RD ea s CONN RDI Tarot icom 7 89i 6ow _ S EARTHGND_OOF 3 Dicom _ 3 miom o eos mi 99 00000 QVooooco Q Pi 6 7 8 9 ipo cow 7 meom s FARTHGNDIN oocom roo comm 5 Wiring 5 4 1 Wiring Precautions 5 4 Special Wiring 5 4 1 Wiring Precauti
143. nect a DC reactor between 1 O2 harmonic suppression 5 1 Wiring Main Circuit cont d Terminal Name Description Symbol B1 Main circuit plus 50 W to 3 0 kW Use when DC power supply input is used Refer to 5 1 3 4 terminal DC Power Supply Input for SERVOPACK Main circuit minus 50 W to 400 W terminal 5 1 2 Wiring Main Circuit Terminal Block Spring Type A CAUTION Observe the following precautions when wiring main circuit terminal blocks Remove the terminal block from the SERVOPACK prior to wiring Insert only one wire per terminal on the terminal block Make sure that the core wire is not electrically shorted to adjacent core wires 1 Wire Size Wire can be used simply by stripping back the outer coating The following are applicable wire sizes Single wire 00 5 0 02 to 01 6 0 06 mm inches Braided wire AWG28 to AWGI2 2 Connection Procedure 1 Strip the end of the wire jga to 0 35 i 2 Open the wire terminal on the terminal block housing plug with the tool using the procedure shown in Fig A and B Press the lever and insert the wire into the wire terminal on the hook end of the tool as shown in Fig A Use a standard flat blade screwdriver blade width of 3 0 to 3 5 mm 0 12 to 0 14 in or type 54932 0000 manufactured by Molex Japan Co Ltd Put the blade into the slot as shown in Fig B and press down firmly to open the wire terminal
144. ng for noise control wh eiie SGDS SERVOPACK Noise filter 3 T m ee EN move 4 E 7 N nlt oe TET 3 5 mm Ne 9 0 005 in2 min Operation relay sequence circuit 0 005 in 1LF AVR Ground 2 mm 0 003 in2 mi p Casing Casing 3 5mm 0 005 i Wires of 3 5 mm 4d 0 005 in2 or more d C 889 A Ground plate L Ground Ground to an independent ground at least class 3 grounding 100 Q max 1 For ground wires connected to the casing use a thick wire with a thickness of at least 3 5 mn 0 005 in preferably plain stitch cooper wire 2 z should be twisted pair wires 3 When using a noise filter follow the precautions in 3 Using Noise Filter 5 13 5 Wiring 5 4 2 Wiring for Noise Control 2 Grounding a Motor Frame Always connect servomotor frame terminal FG to the SERVOPACK ground terminal Also be sure to ground the ground terminal If the servomotor is grounded via the machine a switching noise current will flow from the SERVOPACK power unit through motor stray capacitance The above grounding is required to prevent the adverse effects of switching noise b SynqNet Communication Cable Make sure to keep the box or power line separate from the SynqNet communication cable because the cable is easily influenced by noise If noise is a problem coil the communication cable two turns around th
145. not put the input and output lines in the same duct or bundle them together Incorrect Correct Filter Separate these circuits Separate the noise filter ground wire from the output lines Do not accommodate the noise filter ground wire output lines and other signal lines in the same duct or bundle them together Incorrect Correct Filter Filter 7 The ground wire qf C can be close to input lines yyy Ae P V 4 77 4 77 Box Box 5 15 5 Wiring 5 4 2 Wiring for Noise Control Connect the noise filter ground wire directly to the ground plate Do not connect the noise filter ground wire to other ground wires Incorrect Correct E gt IO Filter TO Filter gt SS Sf SGDS SGDS SGDS SGDS S L e KAN Thick and ground wire short TIL Box Box When grounding a noise filter inside a unit If a noise filter is located inside a unit connect the noise filter ground wire and the ground wires from other devices inside the unit to the ground plate for the unit first then ground these wires gt gt gt gt Filter i 1 SGDS Ground i 5 16 5 4 Special Wiring 5 4 3 Using
146. ons To ensure safe and stable operation always observe the following wiring precautions IMPORTANT FL For the ground wire use as thick a cable as possible 2 0 mm 0 079 in or thicker 5 12 For wiring for reference inputs and encoders use the specified cables Refer to 4 Specifications and Dimensional Drawings of Cables and Peripheral Devices for details Use cables that are as short as possible At least class 3 ground 100 Q max is recommended Ground to one point only Ifthe motor is insulated from the machine ground the motor directly Do not bend or apply tension to cables The conductor of a signal cable is very thin 0 2 to 0 3 mm 0 0079 to 0 012 in so handle the cables care fully Use a noise filter to prevent noise interference For details refer to 5 4 2 Wiring for Noise Control If the equipment is to be used near private houses or may receive noise interference install a noise filter on the input side of the power supply line Since the SGDS SERVOPACK is designed as an industrial device it provides no mechanism to prevent noise interference To prevent malfunction due to noise take the following actions Position the input reference device and noise filter as close to the SERVOPACK as possible Always install a surge protector circuit in the relay solenoid and electromagnetic contactor coils The distance between a power line such as the power supply line or motor ca
147. ontactor Turns the brake power supply ON and OFF Install a surge protector Refer to 4 4 10 Magnetic Contactor Brake power supply Used for a servomotor with a brake Refer to 4 4 5 Brake Power Supply Unit SGDS LILILI72A SynqNet communication cables SynqNet controller Ol Wi i I O signal cable External LED display or external switches Refer to 5 4 Battery case when an absolute encoder is used Refer to 4 4 7 Absolute Encoder Battery SGMSS Servomotor Servomotor main circuit cable 1 9 1 Outline 4 Connecting to SGMCS Servomotor Power supply Single phase 100 or 200 VAC R T Molded case circuit breaker MCCB Protects the power supply line by shutting the circuit OFF when overcurrent is detected Refer to 4 4 8 Molded case Circuit Breaker MCCB Noise filter Used to eliminate external noise from the power line Refer to 4 4 9 Noise Filter Ug Regenerative resistor Connect an external regenerative resistor to terminals B1 and B2 if the regenerative capacity is insufficient Refer to 4 4 6 External Regenerative Resistor SGDS LILILI72A 9 Magnetic contactor O Turns the servo ON and OFF cosa ey Install a surge protector ww power Refer to O us 4 4 10 Magnetic s 4 j Contactor Oce TR A req Li ur M n K io g cea d L1 D 5 R all Ii aL
148. ory Setting Reference Pn001 Function Selection Application Switch 1 0000 After restart 3rd 2nd st digit digit digit di Stops motor by applying dynamic brake DB Stops motor by applying dynamic brake DB and then releases DB Makes motor coast to stop without using dynamic brake DB Not applicable to DC power input Input AC power supply through L1 L2 and L3 terminals Applicable to DC power input Input DC power supply between B1 and or input DC power supply between B1 and Ol Reserved Do not change restart 3rd 2nd 1st digit digit digit d Reserved Do not change Reserved Do not change Absolute Encoder Usage Uses absolute encoder as an absolute encoder Uses absolute encoder as an incremental encoder Reserved Do not change 10 4 10 1 Utility Functions Parameter Factory Setting Reference ately 3rd 2nd 1st digit digit digit digit Analog Monitor 1 Signal Selection Motor Speed 1 V 1000 min Reserved Torque reference 1 V 100 Gravity compensation Pn422 Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Analog Monitor 1 Signal Multiplication Selection x1 x10 x 100 x 1 10 x 1 100 Reserved Do not change Analog monitor 1 output voltage 1 Signal selection Pn006 0 Signal multiplicatio
149. oved for Correct the wiring the servomotor 500 W or more Regenerative resistor is disconnected so the Replace the regenerative resistor or replace the regenerative energy became excessive SERVOPACK Reconsider the load and opera tion conditions A SERVOPACK fault such as regenerative tran Replace the SERVOPACK sistor and voltage sensor fault occurred 9 7 9 Inspection Maintenance and Troubleshooting 9 1 3 Troubleshooting of Alarm and Warning 9 8 Regenerative Overload Detected when the power to the main circuit was turned ON Main Circuit Wiring Error Detected when the power to the main circuit was turned ON Overvoltage Detected when the SERVOPACK main circuit DC voltage is approx 410 V or more Detected when the power to the main circuit was turned ON Table 9 3 Alarm Display and Troubleshooting Cont d Aarm Alarm Name situata a Alam Cause Corrective Actions Display Occurrence Occurred when the control power sup ply was turned ON Occurred when the main circuit power supply was turned ON Occurred during normal operation large increase of regenerative resis tor temperature Occurred during normal operation small increase of regenerative resis tor temperature Occurred at servo motor decelera tion Occurred when the control power sup ply was turned ON Occurred when the main circuit power supply was turned ON Occurred when the control
150. owing cable length accuracies Resolution Variation Accuracy 02 04 2 03 microsec 16 meters 02 08y 2 05 microsec 10 meters 02 12 2 07 microsec 14 meters 6 SynqNet Communications 6 2 3 Precautions for Wiring SynqNet Cables In some servo networks the system designer may want to optimize the packet spacing by configuring the cable length values Most networks will not need this type of optimization The SynqNet network has maximum mini mum and nominal cable length configurations Changing these configurations will affect the packet spacing cal culations and the topology mismatch checking During network initialization if a measured cable length is not between the minimum and maximum values a Topology Mismatch error will be returned A break free cable performs much better than one with an in line coupler Even those couplers that offer continu ity of the shield do so in an inadequate fashion and should be avoided During network initialization the nominal cable lengths will be measured and the minimum and maximum val ues will be calculated The minimum cable length will be set to the nominal 8 meters The maximum cable length will be set to the nominal 8 meters During subsequent network initializations the measured cable length will be compared to the minimum and maximum values If the measured cable length is not between the minimum an
151. ped cd restart 10 6 10 1 Utility Functions Parameter Facto Settin Reference MN ices sia cc Mad ea EH ately Eu ce sd cele ately ee ee Le ately pepe pee restart em LL om omm ev restart tad sta AOE cii od oir d RR ately dll uu LEE RENE Eod EE X RN Constant ately EM EL LS 2 EUNT ately ately 8 1 l Disabled Immediately Uses 2nd step notch filter for torque reference Reserved Do not change Pn408 Torque Related Function Switch 0000 After 8 restart 3rd 2nd ist 0 digit digit digit digit 1st Notch Filter Selection Setting Validation Disabled Immediately 1 Uses 1st step notch filter for torque reference ee A Setting Speed Limit Selection Validation Uses the smaller value between motor max speed and user constant as speed limit value After restart Uses the smaller value between overspeed detection speed and user constant as speed limit value 2nd Notch Filter Selection Setting Validation 1 The multiturn limit must be changed only for special applications Changing this limit inappropriately or unintentionally can be dangerous 10 7 10 Appendix 10 1 1 List of Parameters Parameter Factory Setting Reference Pn409 Ist Step Notch Filter Frequency 50 to 2000 Hz 1 Hz 2000 Hz Immedi 8 1 ately Pn40A Ist Step Notch Filter Q Value 70 to 10 00 ately Pn40C 2nd Step Notch Filter Frequency 50 to 2000 Hz Eu 2000 Hz ately 0 0
152. peed tive U V and W and encoder connectors Unstable Servomotor A SERVOPACK fault occurred A SERVOPACK board fault occurred Replace the SERVOPACK Rotates Without Reference Input Dynamic Incorrect parameter setting Check the setting of parameter Pn001 0 Correct the parameter setting Brake DB DB resistor was disconnected Excessive moment of inertia motor Replace the SERVOPACK and reconsider the load Does Not overspeed DB frequently activated Operate DB drive circuit is faulty DB circuit parts are faulty Replace the SERVOPACK 9 17 9 Inspection Maintenance and Troubleshooting 9 1 4 Troubleshooting for Malfunction without Alarm Display Table 9 5 Troubleshooting for Malfunction without Alarm Display Cont d Corrective Actions Symptom Cause Turn OFF the servo system before executing operations Abnormal Mounting not secured Check for any loose mounting screws Tighten the mounting screws Noise from Check for misalignment of couplings Align the couplings servomotor z Check for unbalanced couplings Balance the couplings Defective bearings Check for noise and vibration around the If any abnormalities contact your Yaskawa represen bearings tative Vibration source on the driven Any foreign matter damages or defor Contact the machine manufacturer machine mation on the machine movable section Noise interference due to incor The specifications of input signal wires Use the sp
153. product 2 Certification is pending for the following SERVOPACKs SGDS SERVOPACKs 50 W to 3 kW SGMPS 15 SERVOPACKs SGMSS 15 to 30 SERVOPACKs SGMCS 45 to 2Z SERVOPACKs 1 11 2 Selections 2 1 Servomotor Model Designations 2 2 2 1 1 Model SGMAS SGMPS SGMSS 2 2 2 1 2 Model SGMCS 2 4 2 2 SERVOPACK Model Designations 2 5 2 3 X III Series SERVOPACKs and Applicable Servomotors 2 6 2 4 Selecting Cables 2 7 2 4 1 Cables for SGMAS and SGMPS Servomotor 2 7 2 4 2 Cables for SGMSS Servomotor 2 15 2 4 3 Cables for SGMCS Servomotor 2 20 2 5 Selecting Peripheral Devices 2 24 2 5 1 Special Options 2 24 2 5 2 Molded case Circuit Breaker and Fuse Capacity 2 25 2 5 3 Noise Filters 2 26 2 5 4 Regenerative Resistors 2 27 2 1 2 Selections 2 1 1 Model SGMAS SGMPS SGMSS 2 1 Servomotor Model Designations This section explains how to check the servomotor model and ratings The alphanumeric codes after SGMLIS indicate the specifications 2 1 1 Model SGMAS SGMPS SGMSS 1 Without Gears SGMAS 01ACA2 1
154. r Absolute Encoder Battery This warning occurs when the absolute encoder battery voltage is low Voltage Lowered ered Continuing the operation in this status may cause an alarm Data Data Setting Warning Warning This This warning occurs when data attempted to be set is invalid occurs when data This warning occurs when data attempted to be set is invalid to be set is invalid Power ON From OFF poe Sing Verne NM The change of the parameters can be validated only after turning the Address Warning This warning occurs when an invalid parameter or register address is used Data Range Warning This warning occurs when data attempted to be set is out of the accept a Qu Data Execution Data Execution Warning Invalid data execution 0 data execution EETA Size Warning ee warning occurs when data attempted to be set or get has incorrect data size Command Warning This warning occurs when an invalid SynqNet command is executed 9 4 9 1 3 Troubleshooting of Alarm and Warning When an error occurs in SERVOPACKs an alarm display such as A O1O and CPFLIL or warning display such as A 9LILI appears on the panel operator However the display A is not an alarm Refer to the following sections to identify the cause of an alarm and the action to be taken 9 1 Troubleshooting Contact your Yaskawa representative if the problem cannot be solved by the described corrective action 1 Alarm Display and Troubleshooting
155. rence filter First stage 1 torque reference fter O O O O O O OOO 000 0 00 to 655 35 ms Pn40F Second stage 2nd order torque reference filter frequency 100 to 2 000 Hz Second stage 2nd order torque reference filter Q value 0 50 to 10 00 Hz Pn411 Third stage torque reference filter Note 1 The setting units for the third stage torque reference filter are different from the units for the first and second stage filters 2 The second stage 2nd order torque reference filter is disabled when parameter Pn40F Second Stage 2nd order Torque Reference Filter Frequency is set to it s factory setting of 2 000 Hz 8 1 Torque Filters 2 Notch Filter The notch filter can eliminate specific frequency vibration generated by sources such as resonances of ball screw axes The notch filter puts a notch in the gain curve at the specific frequency vibration The frequency compo nents near the notch frequency can be eliminated with this characteristic A higher notch filter Q value produces a sharper notch and phase delay Q value 0 5 Q value 1 0 Notch filter Notch filter 10 10 Frequency Hz Frequency Hz Notch filter Notch filter 10 10 Frequency Hz Frequency Hz Pn408 nmo Secondstage notch erissa OOO OOOO Used notch filters are enabled It isn t necessary to turn the power OFF and ON again Set the machine s vibration frequency in the parameter of a notc
156. resistor connection terminal B1 B2 HIV1 25 Ground terminal HIV2 0 min 3 Three phase for 200 V Symbol Control power input terminals LIC L2C HIV1 25 External regenerative resistor connection terminals B1 B2 HIV1 25 HIV2 0 HIV3 5 Ground terminal I9 HIV2 0 min 4 1 SERVOPACK Main Circuit Wire Size 4 Cable Types Cable Types Allowable Conductor Symbol Name Temperature C Temperature resistant vinyl cable The wire size and allowable current for a three conductor cable is shown in the table Use a cable whose specifi cations meet or are less than the values in the table 600 V Heat resistant Vinyl Cable HIV Nominal Configuration Conductive Allowable Currency Cross Section number of Resistance at Ambient Temperatures AWG size Diameter wires mm Q km A mm ae 40 C 50 C 86 F 104 F 122 F Lx wm ER GIE 95 mwe a 9 a ae 1s 35 sw 7 3158 cee VE UNE 7 0 8 Note The values in the table are only for reference 4 Specifications and Dimensional Drawings of Cables and Peripheral Devices 4 2 1 Spring Type Standard 4 2 Connectors for Main Circuit Control Power Supply and Servomotor Cable 4 2 1 Spring Type Standard Spring type connectors are provided on SERVOPACK as standard 1 Connector Types 3 pole For servomotor main circuit cable connector at 51446 0301 SERVOPACK end 7 pole For 50 to 400 W SERVOPACKs Molex Japan
157. rnal Regenerative Resistor When the regenerative energy exceeds the capacity of the SERVOPACK install an external regenerative resistor The regenerative resistor must be purchased separately by customers Refer to the table below for selecting the regenerative resistor Refer to 5 5 Connecting Regenerative Resistors for the connection 1 References for External Regenerative Resistor Resistor Model Iwaki Wireless Research Institute RH220 RHGDOC RHOD 2 Model Designation RH120 N 100 J Model Tolerance N Noninductive winding Code Tolerance K 10 Resistance J 1596 H X396 4 Specifications and Dimensional Drawings of Cables and Peripheral Devices 4 4 6 External Regenerative Resistor 3 Specifications Resistance Tolerance K 10 J 596 H 3 Temperature Resistance 400 PPM C 20Q max 260 PPM C 20Q min Characteristics Withstand Voltage 2000 VAC min AR 0 1 0 05Q Insulation Resistance 500 VDC 20 MQ minimum Short time Overload When 10 times of rated power is applied for five seconds AR 2 0 059 Life 1000 hours of repeating the operation ON for 90 minutes and OFF for 30 min utes AR 5 0 05Q Heat Resistance Not ignite after having applied 10 times of rated electric power for one minute Operating temperature 25 C to 150 C 13 F to 302 F 4 Dimensional Drawings RH120 150 220 RH220B
158. s of life or serious injury A CAUTION Indicates precautions that if not heeded could result in relatively serious or minor injury damage to the product or faulty operation In some situations the precautions indicated could have serious consequences if not heeded S PROHIBITED _ ndicates prohibited actions that must not be performed For example this symbol would be used to indicate that fire is prohibited as follows K Q MANDATORY Indicates compulsory actions that must be performed For example this symbol would be used as follows to indicate that grounding is compulsory The warning symbols for ISO and JIS standards are different as shown below ISO JIS N D The ISO symbol is used in this manual Both of these symbols appear on warning labels on Yaskawa products Please abide by these warning labels regardless of which symbol is used Notes for Safe Operation Read this manual thoroughly before checking products on delivery storage and transportation installation wiring operation and inspection and disposal of the AC servodrives A WARNING Never touch any rotating motor parts while the motor is running Failure to observe this warning may result in injury Before starting operation with a machine connected make sure that an emergency stop can be applied at any time Failure to observe this warning may result in injury Never touch the inside of the SERVOPACKs Failure to observe this warning m
159. stop with a rated torque load Speed Load 0 to 100 load 0 01 max at rated speed Regulation Regulation Voltage Rated voltage 10 0 at rated speed Regulation Temperature 25 25 C 0 1 max at rated speed Regulation Repeatability Operated at main power OFF servo alarm or servo OFF Externally mounted regenera Built in tive resistor CW OT and CCW OT signal input processed by the host controller Overcurrent overvoltage insufficient voltage overload regeneration error main circuit sensor error heat sink overheat power phase loss overflow overspeed encoder error overrun CPU error parameter error etc LED Display Device Status 7 segment LED Charge Power Alarm Link In Link Out Reporter Receive Others Reverse connection automatic motor discrimination function Basic Specifications Built in Functions 3 1 SERVOPACK Ratings and Specifications Speed regulation is defined as follows i No load motor speed Total load motor speed Speed regulation x 100 Rated motor speed The motor speed may change due to voltage variations or amplifier drift and changes in processing resistance due to temperature variation The ratio of speed changes to the rated speed represent speed regulation due to voltage and temperature variations SynaNet Communication Reference Method Reference Input SynqNet communication Command Torque reference Fully closed Control Fully closed
160. sup A SERVOPACK board fault occurred Replace the SERVOPACK Only when an ply was turned absolute encoder ON is connected Occurred during The ambient temperature at servomotor is too The ambient temperature must be 40 C or less Detected on the operation high encoder side The servomotor load is more than the rated load The servomotor load must be within the speci fied range An Encoder fault occurred Replace the servomotor A SERVOPACK board fault occurred Replace the SERVOPACK Current Detec Occurred when the Phase U current detection circuit fault Replace the SERVOPACK tion Error 1 control power sup Current Detec Ply Wes turned ON Phase V current detection circuit fault tion Error 2 9r during opera Current Detec iur Power supply detection circuit fault Replace the SERVOPACK tion Error 3 Servomotor cable disconnection Check the motor wiring System Alarm Occurred whenthe A SERVOPACK board fault occurred Replace the SERVOPACK 0 control power sup Internal pro ply was turned gram processing ON error System Alarm 1 Internal pro gram error System Alarm 2 Current control processing pro gram error Systemalarm 3 Encoder inter face processing error System Alarm 4 CPU watchdog timer error Servo Overrun Occurred whenthe A SERVOPACK board fault occurred Replace the SERVOPACK Detected control power sup Detected when ply was turned the servo is
161. t by turning Change the alarm resetting method An overcurrent control power sup OFF the power too many times flowed through ply was turned The connection between SERVOPACK board Replace the SERVOPACK the IGBT or ON and thermostat switch is incorrect Heat Sink Heat sink of Occurred whenthe The connection between grounding and U V or Check the wiring and connect correctly SERVOPACK main circuit power W is incorrect was overheated Supply was turned The grounding line has contact with other termi Check the wiring and connect correctly ON or an nals overcurrent pete R A short circuit occurred between U V and W of Repair or replace the servomotor cable occurred while the the servomotor cable and the grounding servomotor was running A short circuit of phase U V and W ofthe servo Repair or replace the servomotor cable motor cable occurred A short circuit between U V and W of the SERVOPACK and the grounding occurred circuit power transistor or board fault A short circuit between U V and W of the servo motor and the grounding occurred A short circuit of phase U V and W of the servo motor occurred load or reduce the number of rotations used A SERVOPACK board fault occurred Replace the SERVOPACK Overheated Frequent activation of dynamic brake occur Replace the SERVOPACK and reduce the DB rence of DB overload alarm operation frequency The overload alarm has been reset
162. tall external breakers or other safety devices against short circuiting in external wiring Failure to observe this caution may result in fire N CAUTION Take appropriate and sufficient countermeasures for each when installing systems in the following locations Failure to observe this caution may result in damage to the product Locations subject to static electricity or other forms of noise Locations subject to strong electromagnetic fields and magnetic fields Locations subject to possible exposure to radioactivity Locations close to power supplies Do not reverse the polarity of the battery when connecting it Failure to observe this caution may damage the battery or cause it to explode B Operation N CAUTION Conduct trial operation on the servomotor alone with the motor shaft disconnected from machine to avoid any unexpected accidents Failure to observe this caution may result in injury Before starting operation with a machine connected change the settings to match the parameters of the machine Starting operation without matching the proper settings may cause the machine to run out of control or malfunction When using the servomotor for a vertical axis install the safety devices to prevent workpieces to fall off due to occurrence of alarm or overtravel Setthe servomotor so that it will stop in the zero clamp state at occurrence of overtravel Failure to observe this caution may cause workpie
163. tate 6 4 2 Cyclic Responses 6 10 All cyclic responses are received every control cycle and are available in the node response buffer 1 Drive Ready Shows that communications are active Valid at all times 2 Encoder Ready Shows that the serial encoder is communicating correctly in synchronous mode Valid when the Drive Ready response appears 3 Amp Powered Shows that motor voltage is available to drive the servo Valid when the Drive Ready response appears 4 Servo ON Shows that servo is enabled or disabled Will not be set if drive is disabled either by turning the PWM off or by dynamic braking Valid when Drive Ready 1s set 5 Torque Limit Shows that the Torque Reference is over the Torque Limit Valid when the Drive Ready response appears 6 Warning Warns that precautions must be taken to prevent a fault or error Valid at all times 7 Fault Shows that a fault has shut down the amplifier To determine the fault cause the error code needs to be read using a memory operation Valid at all times 8 Position Feedback Returns a 32 bit position value at every control cycle 9 Monitor A Torque Echo Shows that the torque value at every control cycle is returned 10 Monitor C Multi turn Data Returns a 16 bit multi turn data value 6 4 Supported SynqNet Features 6 4 3 Service Commands Two types of additional operations are available Direct Commands and Memory Operations Differ
164. temperature must be 55 C or less ON or while the 55 C OFF the power too many times thermostat switch the resistor capacity Incorrect mounting of SERVOPACK direction The ambient temperature for SERVOPACK and distance to the peripheral devices must be 55 C or less Heat radiation from the panel or heat around the SERVOPACK A SERVOPACK fan fault occurred Replace the SERVOPACK 9 10 9 1 Troubleshooting Table 9 3 Alarm Display and Troubleshooting Cont d Alarm Alarm Name Situationat Alarm Cause Corrective Actions Display Occurrence Encoder Occurred when the A SERVOPACK board fault occurred when an Replace the SERVOPACK Backup Error control power sup absolute encoder is used with the setting for Detected on the ply was turned ON incremental encoder encoder side Setting Only when an Pn002 2 1 absolute encoder Occurred when the Initial power ON to the absolute encoder Conduct the encoder setup operation is connected control power sup The encoder cable had been removed once Make sure of the connection and conduct the ply was turned ON encoder setup operation Setting Both PG power supply 5 V and battery power Repair the power supply to the encoder e cud Using supply from the SERVOPACK are broken down replace battery etc and conduct the encoder an absolute setup operation An Absolute encoder fault occurred If the alarm cannot be reset by re setup opera t
165. ternal regenerative resistor manufactured by Iwaki Wireless Research Institute IMPORTANT Noise Filter Brake Power Supply Use the following noise filter at the brake power input for 400 W or less servomotors with holding brakes MODEL FN2070 6 07 Manufactured by SCHAFFNER Electronic 2 27 3 SERVOPACK Specifications and Dimensional Drawings 3 1 SERVOPACK Ratings and Specifications 3 2 3 2 SERVOPACK Installation 3 4 3 3 SERVOPACK Internal Block Diagrams 3 6 3 3 1 Single phase 100 V 50 W to 400 W Models 3 6 3 3 2 Single phase 200 V 50 W to 400W Models 3 7 3 3 3 Three phase 200 V 1 0 kW Models 3 8 3 3 4 Single phase 200 V 750 W Model 3 9 3 3 5 Three phase 200 V 1 5 kW to 3 0 kW Models 3 10 3 4 SERVOPACK Power Losses 3 11 3 5 SERVOPACK Overload Characteristics and Load Moment of Inertia 3 12 3 5 1 Overload Characteristics 3 12 3 5 2 Starting and Stopping Time 3 13 3 5 3 Load Moment of Inertia 3 13 3 6 Dimensional Drawings of SERVOPACK Model SGDS JEEIEIZ2EI 3 17 3 6 1 Classification table 3 17 3 6 2 Single phase 100 V 200 V 5
166. ting an inspection Avoid frequently turning power ON and OFF Do not turn power ON or OFF more than once per minute Since the SERVOPACK has a capacitor in the power supply a high charging current flows for 0 2 seconds when power is turned ON Frequently turning power ON and OFF causes main power devices like capacitors and fuses to deteriorate resulting in unexpected problems Observe the following precautions when wiring main circuit terminal blocks Remove the terminal block from the SERVOPACK prior to wiring Insert only one wire per terminal on the terminal block Make sure that the core wire is not electrically shorted to adjacent core wires Do not connect the SERVOPACK for 100 V and 200 V directly to a voltage of 400 V The SERVOPACK will be destroyed Install the battery at either the host controller or the battery case of the encoder It is dangerous to install batteries at both simultaneously because that sets up a loop circuit between the batteries Be sure to wire correctly and securely Failure to observe this caution may result in motor overrun injury or malfunction Always use the specified power supply voltage An incorrect voltage may result in burning Take appropriate measures to ensure that the input power supply is supplied within the specified voltage fluctuation range Be particularly careful in places where the power supply is unstable An incorrect power supply may result in damage to the product Ins
167. ting of Alarm and Warning Table 9 3 Alarm Display and Troubleshooting Cont d Aarm Alarm Name Situation at Alarm Cause Corrective Actions Display Occurrence Combination Occurred when the SERVOPACK and servomotor capacities do not Select a proper combination of SERVOPACK Error control power sup match each other and servomotor capacities SERVOPACK ply was turned servomotor capacity SERVOPACK capacity lt and servomotor ON 1 4 or servomotor capacity SERVOPACK capacities do no capacity 2 4 match each The parameter written in the encoder is incorrect Replace the servomotor encoder other A SERVOPACK board fault occurred Replace the SERVOPACK Unsupported Occurred when the The serial converter unit unsupported was con Check and then correct the wiring Product Alarm control power sup nected ply was turned ON Servo ON Occurred when the The servo ON reference was input just when Turn OFF the control power supply and then Reference servo was ON occurring the servo ON reference invalid error turn them ON again Invalid Alarm after having used the following functions JOG operation Fn002 origin search Fn003 program JOG operation Fn004 EasyFFT Fn019 9 6 9 1 Troubleshooting Table 9 3 Alarm Display and Troubleshooting Cont d Aarm Alarm Name Situation at Alarm Cause Corrective Actions Display Occurrence Overcurrent Occurred when the The overload alarm has been rese
168. tion with the servomotor rotated from the load side negative load The SERVOPACKs with a capacity of the single phase 200 V with 50 to 400 W or 100 V with 50 to 400 W do not have built in regenerative resistors If the operation exceeds the rotating speed specifications shown in the 3 5 3 Load Moment of Inertia connect an external regenerative resistor 5 5 2 Connecting External Regenerative Resistors 5 20 1 Necessity of External Regenerative Resistors SERVOPACK Capacity Necessity of External Regenerative Resistors No built in regenerative resistor is provided however normally an external regenerative resistor 400 W or less is not required Install external regenerative resistors when the smoothing capacitor in SERVOPACK cannot process all the regenerative power 750 W to 3 0 kW A built in regenerative resistor is provided as standard Install external regenerative resistors when the built in regenerative resistor cannot process all the regenerative power 2 Specifications of Built in Regenerative Resistor If the amount of regenerative energy exceeds the processing capacity of the SERVOPACK then install an exter nal regenerative resistor The following table shows the specifications of the SERVOPACK s built in resistor and the amount of regenerative power average values that it can process Main Circuit eer cress Model Br 0 ications Regenerative Power Se ree Br 0 Built in Resistor Power Processed C
169. tomer 50m n JZSP CMP19 50 1 Use flexible cables for movable sections such as robot arms Refer to 5 6 Flexible Cables 2 Contact Japan Aviation Electronics Industry Ltd Hu 2 23 2 Selections 2 5 1 Special Options 2 5 Selecting Peripheral Devices 2 5 1 Special Options Digital operator 3 Connection cable for digital operatpr JA 3ERVOPACK 2 is A i ounce Analog monitor cable A 5 g 9 S fhe B aJr e Je B cme k E D I O signal cable int E Jo ooo x External LED display ci or External switches OA ae wale Battery for absolute encoder Long Spectators Terminal block and 0 5 m to 2 m 1 640 ft to 6 562 ft connection cable Connector terminal block JUSP TA26P converter unit ent 1 0 Signal e a IZSP VIIOL 1 Cables Cable with 3 28 ft Loose wires at customer end 2m loose wires at JZSP VJI01 2 one end 6 56 f usa RS 3m JZSP VJI01 3 9 84 ft Digital Operator JUSP OP05A With a cable 1 m 3 28 ft CN5 1m tenia SERVOPACK end Analog Monitor Cable 3 28 ft EE EE 2 24 2 5 Selecting Peripheral Devices Speccatons Battery case JUSP BAO1 To mount in the battery case Battery for Absolute Encoder JZSP BAOI CAS B Note
170. tor was operating for several seconds DB stop Available to several tens of seconds under a torque largely exceeding ratings Overload Low Load The motor was operating continuously under a DB stop Available torque largely exceeding ratings Dynamic Brake Overload When the dynamic brake was applied rota DB stop Available tional energy exceeded the capacity of dynamic brake resistor Overload of Surge Current Limit The main circuit power was frequently turned DB e ERE Resistor ON and OFF Heat Sink Overheated The heat sink of SERVOPACK overheated a es Encoder Backup Error All the power supplies for the absolute encoder DB stop N A have failed and position data was cleared 9 1 Troubleshooting Alarm Display Alarm Reset Alarm Name Meaning Servomotor Stop Method Encoder Checksum Error The checksum results of encoder memory is DB stop N E REN Absolute Encoder Battery Error Battery voltage for the absolute encoder has DB stop Available FORMEN NN D D Encoder Data Error Data in the encoder is incorrect N Encoder Overspeed The encoder was rotating at high speed when stop the power was turned ON Table 9 1 Alarm Display Table Cont d A 820 A 830 A 840 A 850 E A 860 Encoder Overheated The internal temperature of encoder is too high E A b31 A b32 A b33 A bFO E Current Detection Errorl Phase U current sensor is faulty Current Detection Error 2 Phase V current sensor is faulty
171. ttery made by Toshiba Battery Co Ltd 3 6 V 1000 mAh ORed o 2 j E 1G Red Connector E 4 Battery ER3V 3 Battery Installed on the Host Controller End Model ER6VC3N lithium battery 3 6 V 2000 mAh Manufactured by Toshiba Battery Co Ltd Specification Model Number Encoder cable Lithium battery ER3V Toshiba Battery Co Ltd 3 6 V 1000 mAh Host controller Lithium battery ER6VC3N Toshiba Battery Co Ltd 3 6 V 2000 mAh 4 Specifications and Dimensional Drawings of Cables and Peripheral Devices 4 4 8 Molded case Circuit Breaker MCCB 4 4 8 Molded case Circuit Breaker MCCB If selecting a molded case circuit breaker observe the following precautions IMPORTANT mGround Fault Detector Select ground fault detectors for inverters High frequency current leaks from the servomotor armature because of switching operation inside the SERVOPACK 1 Maximum Input Current The instantaneous maximum output of SERVOPACK is approximately 3 times of the rated output for maximum for 3 seconds Accordingly select a molded case circuit breaker whose breaking time is 5 sec onds or more at 300 of SERVOPACK rated current The general purpose low speed acting molded case circuit breakers are applicable The power supply capacity per SERVOPACK when using a servomotor is described in 2 5 2 Molded case Circuit Breaker and Fuse Capacity Select a molded case circuit breaker with the capacity larger than
172. tting of 0 the SERVOPACK s built in resistor has been used Set the regenerative resistor capacity tolerance value When the set value is improper alarm A 320 is not detected normally Also do not set other than 0 without connecting the regenerative resistor because alarm A 300 or A 330 may be detected The set value differs depending on the cooling method of external regenerative resistor For natural air cooling method Set the value maximum 20 of the actually installed regenerative resistor capacity W For forced air cooling method Set the value maximum 50 of the actually installed regenerative resistor capacity W Example Set 20 W 100 W x 20 For the 100 W external regenerative resistor with natural cooling method Pn600 2 units 10 W IMPORTANT 1 When resistors for power are used at the rated load ratio the resistor temperature increases to between 200 C and 300 C 392 F and 572 F The resistors must be used at or below the rated values Check with the manufacturer for the resistor s load characteristics Use resistors at no more than 20 of the rated load ratio with natural convection cooling and no more than 5096 of the rated load ratio with forced air cooling 2 For safety s sake use the resistors with thermoswitches 5 21 5 Wiring 5 5 2 Connecting External Regenerative Resistors 5 Connecting Regenerative Resistors a SERVOPACKs with Capacities of 400 W or Less Enlarged
173. uct Part Names 1 4 1 2 1 Servomotors 1 4 1 2 2 SERVOPACKs 1 5 1 3 Examples of Servo System Configurations 1 6 1 4 Applicable Standards 1 11 1 4 1 North American Safety Standards UL CSA 1 11 1 4 2 CE Marking 1 11 2 Selections 2 1 Servomotor Model Designations 2 2 2 1 1 Model SGMAS SGMPS SGMSS 2 2 2 1 2 Model SGMCS 2 4 2 2 SERVOPACK Model Designations 2 5 2 3 XIII Series SERVOPACKs and Applicable Servomotors 2 6 2 4 Selecting Cables 2 7 2 4 1 Cables for SGMAS and SGMPS Servomotor 2 7 2 4 2 Cables for SGMSS Servomotor 2 15 2 4 3 Cables for SGMCS Servomotor 2 20 2 5 Selecting Peripheral Devices 2 24 2 5 1 Special Options 2 24 2 5 2 Molded case Circuit Breaker and Fuse Capacity 2 25 2 5 3 Noise Filters 2 26 2 5 4 Regenerative Resistors 2 27 3 SERVOPACK Specifications and Dimensional Drawings 3 1 SERVOPACK Ratings and Specifications
174. ulation resistance sentative if the insulation at 500 V Must exceed 10 MQ resistance is below 10 MQ Replacing Oil Seal At least once every Remove servomotor from Applies only to servomotors 5 000 hours machine and replace oil seal with oil seals Overhaul At least once every Contact your Yaskawa represen 20 000 hours or 5 tative years Measure across the servomotor FG and the phase U phase V or phase W power line 9 2 2 SERVOPACK Inspection For inspection and maintenance of the SERVOPACK follow the inspection procedures in Table 9 7 at least once every year Other routine inspections are not required Table 9 7 SERVOPACK Inspections Exterior At least once a year Check for dust dirt and oil Clean with cloth or compressed air on the surfaces Loose Screws Check for loose terminal Tighten any loose screws block and connector Screws 9 21 9 Inspection Maintenance and Troubleshooting 9 2 3 SERVOPACK s Parts Replacement Schedule 9 2 3 SERVOPACK s Parts Replacement Schedule 9 22 The following electric or electronic parts are subject to mechanical wear or deterioration over time To avoid failure replace these parts at the frequency indicated Refer to the standard replacement period in the following table contact your Yaskawa representative After an examination of the part in question we will determine whether the parts should be replaced or not The parameters of any SERVOPACKs o
175. undled with a high current line or near a high current line FG varies because of the influence from the ser vomotor side machines such as welder Noise interference on the signal line from the encoder Excessive vibration and shocks to the encoder An Encoder fault occurred A SERVOPACK board fault occurred An Encoder fault occurred A SERVOPACK board fault occurred Encoder incorrect wiring and faulty contact 9 1 Troubleshooting Corrective Actions Correct the encoder wiring Use tinned annealed copper twisted pair wire or twisted pair shielded wire wire with a core at least 0 12 mm 0 0002 in The maximum allowable wiring cable is 20 m 65 6 ft Correct the encoder cable layout Correct the encoder cable layout so that no surge is applied Make the grounding for the machine separately from PG side FG Take proper measures prevent noise sources from coming within close contact of the encoder wiring Reduce the machine vibration or mount the servomotor securely Replace the servomotor Replace the SERVOPACK Replace the servomotor Replace the SERVOPACK Correct the encoder wiring Use tinned annealed copper twisted pair wire or twisted pair shielded wire wire with a core at least 0 12 mm 0 0002 in The maximum allowable wiring cable is 20 m 65 6 ft Correct the encoder cable layout Noise interference due to improper encoder cable specifications Noise interferen
176. verhauled by Yaskawa are reset to the factory settings before ship ping Be sure to confirm that the parameters are properly set before starting operation Table 9 8 Periodical Part Replacement Part Standard Replacement Operating Conditions Period Cooling Fan Ambient Temperature Annual average Load Factor 8096 max elus 7 e N opada Rate 20 hod di tos Aluminum Electrolytic Capacitor on Circuit Board 10 Appendix 10 1 Utility Functions 10 2 10 1 1 List of Parameters 10 3 10 2 Monitor Modes 10 10 10 1 10 Appendix 10 1 Utility Functions 10 2 The following list shows the available utility functions id Mc poer i io EN DENN Fn00E FF F010 Foi Check servomoiormedely T Pno Fn013 Multi turn limit value setting change when a Multi turn Limit Disagreement alarm A CC0 EN occurs Fn019 EasyFFT OF FnO1E SERVOPACK and servomotor ID Display OF FnOIE can be operated only from the JUSP OPOSA digital operator Note When the parameters marked with O in remarks column are set for Write Prohibited Setting Fn008 Absolute encoder multi turn reset and encoder alarm reset Fn010 the indication shown below appears and such parameters cannot be changed 10 1 Utility Functions 10 1 1 List of Parameters 1 Parameter Display Parameter settings ar
177. wer rent line turned ON FG affected by noise from Check if the grounding for the machine Ground encoder to FG do not share a ground with a machines such as welder installed is properly made machine on servomotor side SERVOPACK pulse counting Check if the signal line from the encoder Take measures against noise for encoder wiring error due to noise interference receives influence from noise interfer ence Excessive vibration and shock to Vibration from machine or servomotor Reduce vibration from machine or mount securely the encoder due to incorrect installation the servomotor Encoder fault Encoder fault no change in pulse count Replace the servomotor SERVOPACK fault Check the multi turn data from Replace the SERVOPACK SERVOPACK Host controller multi turn data Check for the error detection at the host Correct the error detection section of host controller reading error controller Check if the host controller executes data Execute the multi turn data parity check parity check Check the noise on the signal line Execute the multi turn data parity check Noises may between SERVOPACK and the host con influence when the parity check is not executed troller Overtravel An overtravel signal is output P Check if the voltage of input signal Connect to the external 24 V power supply OT OT 1CN 2 or N OT 1CN 3 is external power supply 24 V is correct Movement at H Check if the overtravel limit
178. were writ ten exceeded the limit For example the parame ter was changed every scan through the host controller SERVOPACK EEPROM and the related circuit Replace the SERVOPACK are faulty Replace the SERVOPACK the Replace the SERVOPACK Change the parameter settings to be compati ble with the model number in the software The model number of the SERVOPACK in the software being used is old and is not compatible with current parameters The control power supply ranged from 30 VAC to 60 VAC being used Correct the power supply and set Fn005 to ini tialize the parameter The power supply was turned OFF while chang Set Fn005 to initialize the parameter and input ing the parameter setting the parameter again SERVOPACK EEPROM and related circuit are Replace the SERVOPACK faulty Replace the SERVOPACK A SERVOPACK board fault occurred A SERVOPACK fault occurred Replace the SERVOPACK The SERVOPACK and servomotor capacities do Select a proper combination of SERVOPACK not match each other and servomotor capacities The SERVOPACK EEPROM and the related cir cuit are faulty The speed set for Fn004 Program JOG Opera tion is below the allowable range because of the change in Pn533 program JOG movement speed Replace the SERVOPACK Increase the setting for Pn533 Program JOG Movement Speed 9 5 9 Inspection Maintenance and Troubleshooting 9 1 3 Troubleshoo

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