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DC Power Input Sigma-II Series SGM*J/SGDJ USER`S MANUAL

1. gt Forward rotation Reverse rotation k PY tial reference pulse form PULS CN1 1 SIGN i CN1 3 x1 Internal Motor movement processing reference pulses x4 8 47 8 Operation 8 6 1 Setting Parameters 3 Clear Signal Form Selection Type Signal Connector Name Name Pin Number Input CNI 5 Clear Input CLR CNI 6 Clear Input The internal processing of the SERVOPACK for the clear signal can be set to either of four types by parameter Pn200 1 Select according to the specifications of the machine or host controller Pn200 n LILIOLI Clears at high level T Gleasat Position error pulses do not accumulate while the high level CN1 5 o Drawer signal is at high level Factory setting n LILI1Ll Clears at the rising edge CLR High CN1 5 Clears here just once n 0020 Clears at low level an Position error pulses do not accumulate while the CN1 5 Clears at low level signal is at low level n LILI3LI Clears at the falling edge CLR iow CN1 5 I Clears here just once The following are executed when the clear operation is enabled The SERVOPACK error counter is set to 0 Position loop operation is disabled Holding the clear status may cause the servo clamp to st
2. R T X X Power X cama to QF Power ON Sp OBR 1RY 1KM 1 1 MC ru Noise TEM CE aL filter SUP AC DC _L converter ade 1KM L1 A i5 SERVOPACK 34 C1 4 OC 1RY CN Me 3 34 ALM s 35 ALM E L1 is SERVOPACK 4 I OC1 4 oc CN1 334 ALM Y 35 ALM OL1 SERVOPACK L2 C1 C2 CN1 3 34 ALM 35 ALM hey yov Servomotor M Note Wire the system so that the phase S power supply wil be the ground phase 6 23 6 Wiring 6 4 5 Extending Encoder Cables 6 4 5 Extending Encoder Cables Standard encoder cables have a maximum length of 20 m Ifa longer cable is required prepare an extension cable as described below The maximum allowable cable length is 50 m 1 Specifications for User modified Cables Cable type JZSP CMP 19 00 Cable length 50 m 164 0 ft max Basic Specifications UL20276 Max operating temperature 80 C 176 F AWGI6 x 2C AWG26 X 2P AWGI6 1 31 mm 0 00203 in Insulation covered dimensions 2 0 0 08 in AWG26 0 13 mm 0 000201 in Insulation covered dimensions 0 91 mm 0 04 in Finished Dimensions 6 8 mm 0 27 in Internal Configuration and Lead Color Light blue Whi hite Orange i fe Yaskawa Standards Cable length 30 m 98 4 ft 40 m 131 2 ft 50 m 164 0 ft Specifications Standard Length Specify the cabl
3. 2 4 2 2 SERVOPACK Model Designations 2 6 2 3 SGDJ SERVOPACKs and Applicable Servomotors 2 7 2 4 Selecting Cables 2 8 2 5 Selecting Peripheral Devices 2 12 2 5 1 Special Options 2 12 2 5 2 Molded case Circuit Breaker and Fuse Capacity 2 13 2 5 3 AC DC Power Supply and Power Supply Input Capacitor 2 14 2 5 4 Noise Filters Surge Suppressors Magnetic Conductors and Brake Power Supply 2 15 3 Specifications and Dimensional Drawings 3 1 Ratings and Specifications of SGMMJ 3000 min 3 2 3 1 1 SGMMJ Servomotors Without Gears 3 2 3 1 2 SGMMJ Servomotors With Standard Backlash Gears 3 4 xii 3 2 Ratings and Specifications of SGMAJ 3000min 3 5 3 2 1 SGMAJ Servomotors Without Gears 3 5 3 2 2 SGMAJ Servomotors With Standard Backlash Gears 3 8 3 2 3 SGMAJ Servomotors With Low backlash Gears 3 10 3 3 Mechanical Specifications of SGMMJ and SGMAJ Servomotors 3 12 3 3 1 Precautions on Servomotor Installation 3 12 3 3 2 Mechanical Characteristics of SGMMJ Servomotors 3 14 3 3 3 Mechanical Characteristics of SGMAJ Servomotors
4. 8 45 position control by host controller 8 16 position loop gain 9 12 positioning completed output signal 8 57 positioning completed width setting 4 3 positioning near signal 8 58 positioning time reduction functions 9 3 P OT 6 12 proportional control operation proportional operation reference 9 16 protection 4 4 PSO 6 13 PULS 6 12 pulse dividing ratio setting 8 45 R rated input motor speed 3 17 rated torque 3 17 reference pulse form 4 3 frequency 4 3 type 4 3 reference pulse inhibit function INHIBIT 8 59 reference unit 8 49 reference voltage 4 3 replacing batteries 8 29 replacing oil seal 10 18 RESET key 7 3 reverse rotation prohibited 8
5. 4 2 setting a reference pulse form 8 47 setting for holding brakes 8 22 setting the electronic gear 8 49 setting the overtravel limit function 8 20 setting the servo ON signal 8 18 setting the speed bias 9 20 SGDJ SERVOPACKs and applicable servomotors 2 7 SGMAJ servomotor connectors for standard environments 5 6 SGMAJ servomotors 3000 min 1 3 5 3 8 3 10 derating rate for servomotor with oil seal 3 6 dimensional drawings 3 25 holding brake electrical specifications 3 7 holding brake moment of inertia 3 6 torque motor speed characteristics 3 6 with low backlash gears 3 10 with standard backlash gears 3 8 without gears 3 5 SGMMJ servomotor connectors for standard environments 5 5 SGMMJ servomotors 3000 min 1 3 2 3 4 dimensional drawings 3 19 holding brake electrical specifications 3 3 holding brake moment of
6. i The ground wire can be close to input lines Noise filter q v 6 19 6 Wiring 6 4 2 Wiring for Noise Control 3 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 Noise Noise filter filter SERVOPACK SERVOPACK ERVOPACK SERVOPACK S 1 amp l ar ee Shielded ground wire 77 4 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 e gt gt gt gt E 7 2 Unit k E AC DC SERVOPACK converter l T Noise i i filter D SERVOPACK d e Ground i 1 Box 6 20 6 4 Others 6 4 3 Installation Conditions of EMC Directives To adapt a combination of a SGMAJ servomotor and a SGDJ SERVOPACK to EMC Directives EN55011 group classA EN61000 6 2 the following conditions must be satisfied 1 EMC Installation Conditions This section describes the installation conditions that satisfy EMC guidelines for each model of the SGDJ SERVOPACK This secti
7. 8 60 8 7 2 Torque Reference Input 8 60 8 7 3 Adjusting the Reference Offset 8 61 8 7 4 Limiting Servomotor Speed during Torque Control 8 63 8 8 Operating Using Speed Control with an Internally Set Speed 8 65 8 8 1 Setting Parameters 8 65 8 8 2 Input Signal Settings 8 66 8 8 3 Operating Using an Internally Set Speed 8 66 8 9 Limiting Torque 8 68 8 9 1 Internal Torque Limit Limiting Maximum Output Torque 8 68 8 9 2 External Torque Limit Output Torque Limiting by Input Signals 8 69 8 9 3 Torque Limiting Using an Analog Voltage Reference 8 71 8 9 4 Torque Limiting Using an External Torque Limit and Analog Voltage Reference 8 72 8 9 5 Checking Output Torque Limiting during Operation 8 73 8 10 Control Mode Selection 8 74 8 10 1 Setting Parameters 8 74 8 10 2 Switching the Control Mode 8 74 8 11 Other Output Signals 8 76 8 11 1 Servo Alarm Output ALM and Alarm Code Output ALO1 ALO2 ALO3 8 76 8 11 2 Warning Output WARN 8 77 8 11 3 Runnin
8. 10 30 10 4 2 List of Parameters 10 31 10 4 3 Monitor Modes 10 47 INDEX Revision History xix 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 Without Gears and Brakes 1 4 1 2 2 SERVOPACKs 1 5 1 3 Examples of Servo System Configurations 1 6 1 4 Applicable Standards 1 7 1 4 1 North American Safety Standards UL CSA 1 7 1 4 2 CE Marking 1 7 1 1 1 Outline 1 1 1 Check Items 1 1 Checking Products The following procedure is used to check the AC servodrives of 2 II Series products on delivery 1 1 1 Check Items Check the following items when 2 II Series products are delivered Check Tems Check the model numbers marked on the nameplates on the servomo tor and SERVOPACK Refer to the descriptions of model numbers in the following section Are the delivere
9. Yaskawa SGDJ OOOs SERVOPACK CN E CN1 17 24v allt 24V IN 13 C4 22 DOO i S ON J 14 47 DO1 EN IP CON 1 15 L1 23 J DO2 toot N OT J 17 L2 48 DO3 P OT 16 2 DO4 ALM RST 18 T T 19 DI2 Pg ITGON 1 9 I i 1 1 lei N CMP 8 U gt E V w 18 DIO IS RDY 7 a i I 44 DI3 ALM 34 45 J 024V l ALM X 35 CN2 L I 1 i 3 4 Lov T J TLIMP e T gt 1 J SENS SEN f 5 d ENSG sc 6 IN A V REF 3 4 1 8 X TLIMPG 10 PA 12 PB 11 PAL e 13 PBL lt y n Connector shell Cy C2 T Control power supply Main circuit power supply SEM represents twisted pair wires 10 21 10 Inspection Maintenance and Troubleshooting 10 3 3 Example of Connection to MEMOCON GL120 130 Series Motion Module MC20 10 3 3 Example of Connection to MEMOCON GL120 130 Series Motion Module 10 22 MEMOCON GL120 130 Series MC20 manufactured by Yaskawa FG Connector frame SGDJ OOOS SERVOPACK 1 SV1 1 PA is PAO J 2 IPA IPAO T 3 C PB LA PBO 4 gt PB EVA IPBO S 5 pc PCO e C PC avai IPCO 7 VREF V REF t gt 81 56 n SG 9 BAT i BAT 10 BATO A BAT 19 24V 24VIN 13 K SVON S ON 14 PCON P CON 11 SEN i SEN 12 C OSEN 2 SG gt 15 C ALM RST_
10. 9 13 xvii xviii 9 4 Servo Gain Adjustment Functions 9 14 9 4 1 Feed forward Reference 9 14 9 4 2 Torque Feed forward 9 15 9 4 3 Proportional Control Operation Proportional Operation Reference 9 16 9 4 4 Using the Mode Switch P PI Switching 9 17 9 4 5 Setting the Speed Bias 9 20 9 4 6 Speed Feedback Filter 9 20 9 4 7 Speed Feedback Compensation 9 21 9 4 8 Switching Gain Settings 9 23 9 4 9 Torque Reference Filter 9 24 9 5 Analog Monitor 9 26 9 5 1 Related Parameters 9 27 9 5 2 Manual Zero Adjustment and Gain Adjustment of Analog Monitor Output FnOOC FnOOD 9 28 10 Inspection Maintenance and Troubleshooting 10 1 Troubleshooting 10 2 10 1 1 Alarm Display Table 10 2 10 1 2 Warning Display 10 4 10 1 3 Troubleshooting of Alarm and Warning 10 5 10 1 4 Troubleshooting for Malfunction without Alarm Display 10 13 10 2 Inspection and Maintenance 10 18 10 2 1 Servomotor In
11. 6 10 CN2 terminal layout 6 6 COIN 6 13 connecting the digital operator 7 2 connection cable for digital operator 2 13 connection cable for personal computer 2 13 connection to host controller 10 20 connector terminal block converter unit 5 19 connectors and cables for encoder signals 5 11 Index 1 control method 4 3 control mode selection 8 17 8 74 CSA standards 1 7 D DATA ENTER key Ye 20esc20 tooo sentenced die cee seen 73 digital operator 2 13 5 17 key names and functions 7 3 status display 7 5 disctable 2 22 2222 2 2222l2leccuceemcuoxesul 8 51 DOWN key 7 3 DSPL SET key 7 3 dynamic brake 4 4 E electronic gear 4 4 electronic gear ratio equation 8 51 encoder cable 2 9 5 10 encoder connector CN2 terminal layout 6 6 encoder signal converter unit
12. 8th digit Option Code Specifications Blank Leads length 300mm 11 81 in H Leads length 500mm 19 69 in J Leads length 1000mm 39 37 in K Leads length 1500mm 59 06 in Tth digit Brake and Oil Seal Code Specifications 1 Without brakes C 24 VDC brake 6th digit Shaft End Code Specifications Remarks 2 Straight without flat Standard A Straight with flat Option 1 The number of encoder pulses 2048 P Rev 2 The number of encoder pulses 32768 P Rev 2 2 5th digit Design Revision Order Code Specifications A Fixed 2 1 Servomotor Model Designations 2 With Gears 1st 2nd 3rd 4th Sth 6th 7th 8th 9th 10th digits digits digits digits digits digits digits digits digits SGMMJ A1CAAJ 1210 X mini series SGMMJ servomotor 1st 2nd digits 3rd digit Power Rated Output Supply Voltage W Voltage Code Rated Output 24V A1 10 48V A2 20 A3 30 4th digit Serial Encoder Specifications Remarks 13 bit incremental encoder Standard 2 17 bit absolute encoder Standard 1 The number of encoder pulses 2048 P Rev 2 The number of encoder pulses 32768 P Rev 5th digit Design Revision Order Code Specifications 10th digit Option Code Specifications Blank Leads len
13. After completion of the automatic adjustment the amount of offset is stored in the SERVOPACK The amount of offset can be checked in the manual adjustment of torque reference offset FnOOB The automatic adjustment of analog reference offset Fn009 cannot be used when a position loop has been formed with the host controller and the error pulse is changed to zero at the servomotor stop due to servolock Use the torque reference offset manual adjustment FnOOB IMPORTANT The analog reference offset must be automatically adjusted with the servo OFF 8 61 8 Operation 8 7 3 Adjusting the Reference Offset Use the following procedure for automatic adjustment of the torque reference offset Step Display after Description Operation Turn OFF the SERVOPACK and input the 0 V reference voltage 0 V speed M from the host controller or external circuit reference or torque Host reference controller Servo OFF Slow rotation Servo ON zd Press the DSPL SET Key to select the utility function mode SET DSPL SET Key Press the LEFT RIGHT or UP DOWN Key or UP or DOWN Key to select parameter Fn009 The digit that can be set will blink Press the DATA ENTER Key rEF o will be displayed Press the DSPL SET Key The reference offset will be automatically adjusted When completed donE will blink for about one second After donE is displayed rEF o will be displayed again DSPL SET Key
14. 2 10 servomotor model designations model SGMAJ 2 4 model SGMM J 2 2 servomotors inspection and maintenance 10 18 mechanical specifications 3 12 model designations 2 2 nameplate 1 2 overhanging loads 4 12 precautions on servomotor installation 3 12 product part names 1 4 1 5 wire size 5 4 SERVOPACK inspection 10 18 SERVOPACK main circuit wire size and connectors 5 4 SERVOPACK s parts replacement schedule 10 19 SERVOPACKs installation 4 5 internal block diagrams 4 7 load moment of inertia 4 10 model designations 2 6 nameplate 13 operating conditions 4 5 overload characteristics 4 10 power losses 4 9 power supply capacities 4 9 product part names 1 5 ratings and specifications
15. 3 15 3 4 Terms and Data for Servomotors With Gears 3 17 3 5 Dimensional Drawings of SGMMJ Servomotors 3000min 3 19 3 5 1 SGMMJ Servomotors 3000min Standard and Without Brakes 3 19 3 5 2 SGMMJ Servomotors 3000min Standard and With Brakes 3 20 3 5 3 SGMMJ Servomotor 3000min With Gears and Without Brakes 3 21 3 5 4 SGMMJ Servomotors 3000min With Gears and Brakes 3 23 3 6 Dimensional Drawings of SGMAJ Servomotors 3000 min 3 25 3 6 1 SGMAJ Servomotors 3000 min Without Gears 3 25 3 6 2 SGMAJ Servomotors 3000 min Without Gears and With Brakes 3 28 3 6 3 SGMAJ Servomotors 3000 min With Standard Backlash Gears and Without Brakes 3 30 3 6 4 SGMAJ Servomotors 3000 min With Standard Backlash Gears and Brakes 3 35 3 6 5 SGMAJ Servomotors 3000 min With Low backlash Gears and Without Brakes 3 39 3 7 Dimensional Drawing of Output Shafts With Oil Seals 3 43 4 SERVOPACK Specifications and Dimensional Drawings 4 1 SERVOPACK Ratings and Specifications 4 2 4 1 1 SERVOPACK Ratings and Specifications 1 4 2 4 1 2 SERVOPACK Ratings and Specifications 2 4 3 42 SERVOPACK Installation 4 5 4 3 SERVOPACK Internal Block Diagrams
16. 5 21 5 6 7 Variable Resistor for Speed and Torque Setting 5 21 5 6 8 Encoder Signal Converter Unit 5 22 5 Specifications and Dimensional Drawings of Cables and Peripheral Devices 5 1 1 Cables for SGMMJ and SGMAJ Servomotors Without Brakes 5 1 Specifications and Dimensional Drawings of Servomotor Main Circuit Cable When assembling the servomotor main circuit cable refer to 5 2 Servomotor and SERVOPACK Main Circuit Wire Size and Connectors 5 1 1 Cables for SGMMJ and SGMAJ Servomotors Without Brakes 1 SGMMJ SERVOPACK end Servomotor end Units mm in 50 1 97 L 35 1 38 Heat shrinkable tube Plug 5559 04P Housing 721 105 026 000 Terminal 5558T Manufactured by WAGO Company of Japan Ltd Units m ft Cable Type Cable Length L IZSP CDMO0 03 IZSP CDMO0 05 IZSP CDMO0 10 IZSP CDMO0 15 JZSP CDMO00 20 20 65 62 2 SGMAJ SERVOPACK end Servomotor end Units mm in 39 1 97 k 35 1 38 ume a D eS e Lo gT E Ex EE Housing 721 105 026 000 Manufactured by WAGO Company of Japan Ltd Units m ft Cable Type Cable Length L JZSP CJMO0 08 JZSP CJMO0 05 TZSP CINO0 10 XZSP CIMOO S TZSP CINOO 20 5 1 Specifications and Dimensional Drawin
17. Torsion Lost rigidity motion Torsion rigidity e Y Torsion Torque rigidity 5 Rated torque Rated torque Rated torque J 2 Noise Data The following noise data for a servomotor with a gear is for reference only and may slightly vary with the capac ity and gear ratio of the servomotor Measurement Conditions Scale A 50 cm 19 7 in iE Ground Noise 28 dB L Initial Noise F Level dB 50 eran 1000 2000 3000 4000 Input speed min 3 17 3 Specifications and Dimensional Drawings 3 Efficiency The output torque and motor speed produce the following trends in efficiency The values in the tables Ratings and Specifications of SGMMJ and SGMAJ Servomotors with Gears are at the rated motor torque and rated motor speed 3000 min Lo Efficiency Efficiency Output torque Motor speed 3 5 Dimensional Drawings of SGMMJ Servomotors 3000min 3 5 Dimensional Drawings of SGMMJ Servomotors 3000min 3 5 1 SGMMJ Servomotors 3000min Standard and Without Brakes Encoder cable UL20276 300 11 81 30 1 18 Z Protective tube ey Motor cable aN AWG24 UL10095 or UL3266 Shaft End 125 10 98 00 04 A ox 0 0016 L e 5h6 59 008 00 20 5 0003 207 20 2 5 4 60 79
18. 4 11 4 5 3 Load Moment of Inertia 4 11 4 5 4 Overhanging Loads 4 12 4 6 Dimensional Drawings 4 13 4 6 1 24 VDC 10 50 W A1CLI ASCLI 48 VDC 50 W to 200 W A5ED to O2ED 4 13 4 6 2 24 VDC 80 W A8CLI 48 VDC 300 W O3ELI 4 13 4 1 4 SERVOPACK Specifications and Dimensional Drawings 4 1 1 SERVOPACK Ratings and Specifications 1 4 1 SERVOPACK Ratings and Specifications N CAUTION Take appropriate measures to ensure that the input power supply is supplied within the specified voltage range An incorrect input power supply may result in damage to the SERVOPACK Be sure to set the voltage within the specified range 4 1 1 SERVOPACK Ratings and Specifications 1 Power Supply Voltage 24 VDC 48 VDC ASCS A8CS ASES OIES O2ES 03ES SERVOPACK Model SGDJ 5305 BSCS SSeS UIES es DOES ASCP A8CP ASEP OIEP O2EP OS3EP Input Power Supply Control Circuit 24 VDC 15 48 VDC 15 A A 55 T3 38 OT eS Wax Output Curenta 5 13 as 37 ae Refer to 2 3 SGDJ SERVOPACKs and Applicable Servomotors for applicable servomotors MIN 4 1 SERVOPACK Ratings and Specifications 4 1 2 SERVOPACK Ratings and Specifications 2 SGDJ Item Ratings and Specifications SGD 000s
19. 4 7 4 3 1 Speed and Torque Control SGDJ LILILIS 4 7 4 3 2 Position Control SGDJ LILILIP 4 8 4 4 SERVOPACK s Power Supply Capacities and Power Losses 4 9 4 5 SERVOPACK Overload Characteristics and Allowable Load Moment of Inertia 4 10 4 5 1 Overload Characteristics 4 10 4 5 2 Starting and Stopping Time 4 11 4 5 3 Load Moment of Inertia 4 11 4 5 4 Overhanging Loads 4 12 xiii 4 6 Dimensional Drawings 4 13 4 6 1 24 VDC 10 50 W A1CLI ASCLI 48 VDC 50 W to 200 W A5ED to 02ED 4 13 4 6 2 24 VDC 80 W A8CL 48 VDC 300 W 03ED 4 13 5 Specifications and Dimensional Drawings of Cables and Peripheral Devices 5 1 Specifications and Dimensional Drawings of Servomotor Main Circuit Cable 5 2 5 1 1 Cables for SGMMJ and SGMAJ Servomotors Without Brakes 5 2 5 1 2 Cables for SGMMJ and SGMAJ Servomotors With Brakes 5 3 5 2 Servomotor and SERVOPACK Main Circuit Wire Size and Connectors 5 4 5 2 1 Wire Size 5 4 5 2 2 SGMMJ Servomotor Connectors for Standard Environme
20. 7 2 7 1 2 Key Names and Functions 7 3 7 1 3 Basic Mode Selection and Operation 7 4 7 1 4 Status Display 7 5 7 2 Operation in Utility Function Mode FnOOD 7 7 7 2 1 List of Utility Function Modes 7 7 7 2 2 Alarm Traceback Data Display Fn000 7 8 7 2 3 Zero point Search Mode Fn003 7 9 7 2 4 Parameter Settings Initialization Fn005 7 10 7 2 5 Alarm Traceback Data Clear Fn006 7 11 7 2 6 Automatic Offset adjustment of Motor Current Detection Signal Fn00E 7 12 7 2 7 Manual Offset adjustment of Motor Current Detection Signal FnOOF 7 13 7 2 8 Password Setting Protects Parameters from Being Changed Fn010 7 14 7 2 9 Motor Models Display Fn011 7 15 7 2 10 Software Version Display Fn012 7 16 7 3 Operation in Parameter Setting Mode PnLILILI 7 17 7 3 1 Setting Parameters 7 17 7 3 2 Input Circuit Signal Allocation 7 21 7 3 3 Output Circuit Signal Allocation 7 24 7 4 Operation in Monitor
21. 9 17 molded case circuit breaker MCCB 2 13 molded case circuit breaker and fuse capacity 2 13 monitor display feedback pulse counter 7 29 reference pulse counter 7 29 monitor mode 7 26 motor models display Fn011 7 15 multiturn limit setting 8 35 N names and functions of main circuit terminals 6 2 N CL 6 12 NEAR 6 13 noise data 3 17 noise filter 5 21 noise interference 6 17 north american safety standards 1 7 N OT 6 12 notch filter 9 24 O online autotuning 9 5 machine rigidity setting 9 8 saving the results 9 10 operating using position control 8 47 operating using speed control with an internally set speed 8 65 operating using speed control with analog reference 8 37 operating using torque control
22. 5 21 surge suppressor for magnetic contactor 5 21 SVON key 7 3 switching gain settings 9 23 switching the servomotor rotation direction 8 19 T temperature regulation 4 3 terms 3 17 TGON 6 13 8 77 through shaft section 3 13 torque control tolerance 4 3 torque limiting using an analog voltage reference 8 71 torque reference filter 9 24 torsion rigidity 3 17 T REF 6 12 trial operation 8 4 trial operation for servomotor without load 8 6 troubleshooting 10 2 alarm 10 5 malfunction without alarm display 10 13 U UL standards 1 7 undershooting 9 17 UP key 7 3 using more than one SERVOPACK 6 23 V variable resistor for speed and torque setting 5 21 V CMP 6 13
23. 6 14 analog input circuit 6 14 position reference input circuit 6 14 internal torque limit 8 68 L LEFT key 7 3 limiting torque 8 68 list of parameter 10 30 list of utility function modes TT load moment of inertia 4 11 Index load regulation 4 3 lost motion 3 17 M machine rigidity setting 9 8 main circuit wiring examples 6 4 manual adjustment of the torque reference offset 8 62 manual gain adjustment of analog monitor output Fn00D 9 30 manual offset adjustment of the motor current detection signal FnOOF 7 13 manual tuning 9 11 manual zero adjustment of analog monitor output Fn00C 9 29 mating concentricity of the flange 3 14 3 15 max allowable input motor speed 3 17 mechanical characteristics of SGMAJ servomotors 3 15 mechanical characteristics of SGMMJ servomotors 3 14 mode switch P PI switching
24. 6 13 8 76 ALM RST 6 12 7 3 ALO 6 13 ambient storage temperature 4 3 analog monitor 4 4 9 26 analog monitor cable 2 13 angular transmission error accuracy 3 17 attaching the ferrite core 6 22 automatic offset adjustment of motor current detection signal Fn00E 7 12 autotuning functions 9 3 B ball screw 8 51 BAT 6 12 belt and pulley 8 51 bias setting 4 3 BK 6 13 block diagram for position control 8 55 C cables for analog monitor 5 18 cables for connecting personal computers 5 16 CE marking 1 7 checking products 1 2 circuit time constant 4 3 clear signal form selection 8 48 CLR 6 12 CLT 6 13 CNI terminal layout
25. 9 OSEHAZT sas as 91 130 3 6 70 60 55 OSEHA41 60g 4 90 3 58 1 18 0 12 0 24 2 76 2 36 0 22 03EEIA61 3 26 3 6 Dimensional Drawings of SGMAJ Servomotors 3000 min Units mm in Allowable Allowable Radial Load Thrust Load N Ibf N Ibf Model SGMAJ ECAR 2 4 ta O2ELIA61 MSx8L 0 79 0 12 0 20 0 20 Nok OEDAZI Lu 03ELIA41 20 3 5 5 3 7 0 79 0 12 0 20 0 20 N 1 The dimensions for L and LL of a servomotor incorporating an encoder with super capacitor model SGMAJ LILILIA INFOJ are as shown below SGMAJ 02 and 03 L dimension 8 2 mm 0 32 in LL dimension 8 2 mm 0 32 in 2 The working point of the SGMAJ servomotor radial load is at the position of minus 5 mm from the shaft end Dimensional Tolerances Units mm in Model Shaft end Dimensions Flange Face Dimensions SGMAJ 02EDA21 02EOA41 14 05512 J 50 1 9685 n 0 011 0 0004 0 025 0 00098 O2bELIA61 O3ELIA21 O3ELIA41 O3ELIA61 3 27 3 Specifications and Dimensional Drawings 3 6 2 SGMAJ Servomotors 3000 min Without Gears and With Brakes 3 6 2 SGMAJ Servomotors 3000 min Without Gears and With Brakes 1 50 W 100 W Encoder cable 6 0 24 UL20276 f N 300 11 81 30 1 18 Encoder plug D Motor cable 7 00 28 35 1 38 300 11
26. 2 63 80 8 88 0 054 0 018 oemAsnn 351 372780 1257 0 765 0 255 5 34 80 181 0 071 0 035 1 21 756 80 2563 1 01 0 496 8 40 80 284 0 057 0 021 133 189 80 4021 0 807 0 297 O1ELIAJCLILI O1ELIAJ7LILI 3 2 Ratings and Specifications of SGMAJ 3000min cont d Moment of Inertia J Servomotor Gear Output x104 kg m x 103 oz in s Servomotor Rated Instanta Model Torque neous SGMAJ reri Gear Effi Peak 4 Motor W Ratio ciency Ra Gears N m 96 oz in 96 i 0299 0193 02EDIAJTEICI 2 73 527 80 178 E ajete ENOTO ee Ee XE 0379180 Q59 ao oc O2ELIAJ7LILI vs 3 82 80 173 0 366 0 193 541 80 2436 5 18 2 73 3 31 7 89 80 35 5 0 353 0 180 0 955 1117 80 5027 5 00 2 55 135 121 16 0 80 72 2 0 403 0 230 2266 80 10224 25 2 80 113 0 1 33 3568 80 16001 5 71 3 26 Maximum motor speed is up to 4000 min at the shaft O3ELIAJ1LILI O3ELIAJSLILI O3ELIAJCLILI 0 338 0 165 03bEDIAJ7EIEI 4 79 2 34 O D a 3000 2 Gear output torque is expressed using the following equation 3 Gear output torque servomotor output torque x x efficiency 1 gear ratio 3 Specifications and Dimensional Drawings 3 2 3 SGMAJ Servomotors With Low backlash Gears 3 2 3 SGMAJ Servomotors With Low backlash Gears Time Rating Continuous Withstand Voltage 100V 200V Serv
27. 2 TXD Sumitomo 3M Ltd Sumitomo 3M Ltd TXD 9 4 RXD 39 1 54 2000 50 78 7441 97 39 1 54 RTS 10 i E 5 0 20 CTS 4 T T e GND 14 gt 14 GND 8 pr seer FG 12 T Case FG M m Zr Cable FG Case Shield wire N AWG26 x 3C UL2464 2 x M2 6 screws 5 6 2 Digital Operator 1 Model JUSP OP02A 2 with a 1m 3 28 ft connection Cable SERVOPACK IT Digital Operator T of or ae LO Connect to CN3 RA Ps 2 Dimensional Drawing Units mm in 2 0 08 x 4 5 0 18 463 2 48 18 5 0 73 mounting holes 0 1 97 0 28 D p NM E UOL c OAL RD TA YASKAWA 26 1 02 L sof Len Q H4 bed ae 125 4 92 135 5 31 5 17 5 Specifications and Dimensional Drawings of Cables and Peripheral Devices 5 6 3 Cables for Analog Monitor 3 Other Types of the Applicable Connection Cables JZSP CMS00 0 The following cables are applicable for longer distance connection Units mm in Cable Type bd d Digital Operator end SERVOPACK end 30 1 18 L 39 154 JZSP CMS00 1 1 m 3 28 ft 8 1 JZSP CMS00 2 15m 432 f l s ot as 4 2m 6 56 f file si P Reng Dzem i N o S 8 gece 5 6 3 Cables for Analog Monitor 1 Cable Type JZ
28. For details on each digit of the parameter see 0 4 2 List of Parameters Pn50A n 2000 Input the forward run prohibited signal P OT from CN1 16 Factory setting n 8LILIL Forward run prohibited signal P OT is disabled Forward rotation allowed This blank shows the setting value of the function selection as well as the state condition on the digital operator JUSP OP02A 2 The number of the parameter This section explains the details of the function selection 7 3 2 Input Circuit Signal Allocation Each input signal is allocated to a pin of the input connector CNI by setting the parameter The following table shows detailed allocation 1 Factory Setting Pn50A 0 0 The factory setting for the input signal allocation is as follows LL means factory setting Pnsoa ni HELD Prso nib I 7 21 7 Digital Operator 7 3 2 Input Circuit Signal Allocation 2 Changing the Allocation Pn50A 0 1 Set the parameter in accordance with the relation between the signal to be used and the input connector pin After having changed the parameter turn OFF the power and ON again to enable the parameters L means factory setting Connection Not Required SERVOPACK judges the connection Signal Name i CN Input Pin Allocation Parameter Setting Allocation Servo ON Pn50A 1 n xxOx Proportional Operation Reference Pn50A 2 n xLIxx Forward Run Prohibited Pn50A 3 n LIx
29. For online autotuning the most recent load moment of inertia is calculated and the control parameters are adjusted to achieve response suitable for the machine rigidity setting When online autotuning is performed the Position Loop Gain Pn102 Speed Loop Gain Pn100 and Speed Loop Integral Time Constant Pn101 are saved When the power supply to the SERVOPACK is turned OFF however the calculated load moment of iner tia is lost and the factory setting is used as the default value to start autotuning the next time the power supply is turned ON To use the calculated load moment of inertia as the default value the next time the power supply is turned ON the utility function mode parameter Fn007 Writing to EEPROM moment of inertia ratio data obtained from online autotuning can be used to save the most recent value in parameter Pn103 Moment of Inertia Ratio The moment of inertia ratio is given as the moment of inertia ratio 6 of the rotor moment of inertia of the servomo tor Moment of Inertia Ratio Setting Range Setting Unit Factory Setting Setting Validation ow7o000 9 my Motor axis conversion load moment of inertia J Roter moment of inertia Jm Moment of inertia ratio The factory setting for the moment of inertia ratio is 0 no load operation of motor without connecting a machine 9 2 7 Procedure for Saving the Results of Online Autotuning The following procedure is used to save the resu
30. Speed loop Current loop i L Position loop 1 TLLA i lt SERVOPACK Position control loop SGDJ LILILIP Speed control loop SGDJ LILILIS Servomotor 2 Host controller provided by user Encoder gt Kp Position Loop Gain Pn102 Kv Speed Loop Gain Pn100 Ti Speed Loop Integral Time Constant Pn101 Tf Torque Reference Filter Time Constant Pn401 To adjust the servo gain manually understand the configuration and characteristics of the SERVOPACK and adjust the servo gain parameters one by one If one parameter is changed it is almost always necessary to adjust the other parameters It will also be necessary to make preparations such as setting up a measuring instrument to monitor the output waveform from the analog monitor The SERVOPACK has three feedback loops 1 e position loop speed loop and current loop The innermost loop must have the highest response and the middle loop must have higher response than the outermost If this principle is not followed it will result in vibration or responsiveness decreases The SERVOPACK is designed to ensure that the current loop has good response performance The user need to adjust only position loop gain and speed loop gain 9 11 9 Adjustments 9 3 2 Servo Gain Manual Tuning 9 3 2 Servo Gain Manual Tuning The SERVOPACK has the following parameters for
31. b Connection Example for Open collector Output Select the limit resistance R1 value so that the input current will be within 7 to 15 mA Host controller SERVOPACK Vcc i CN1 E Example RI i apuls 1 Photocoupler When Vcc is 24V R1 2 2 KQ gt ams When Vee is 12V RI 1 kQ ies 1900 y When Vcc is 5V RI 180 Q gt gt j Note When the open collector output is used the signal logic is as follows gt i i R p SIGNY 3 t When Tr1 is ON High level input or equivalent ISIGNy 4 oe 3h When Tr1 is OFF Low level input or equivalent rm ad 4 R1 CLR K yas i arhe 1500 Ys k dn Represents twisted pair wires IMPORTANT When the open collector output is used input signal noise margin lowers Set the parameter Pn200 3 to 1 8 54 8 6 Operating Using Position Control 3 Position Control Block Diagram A block diagram for position control is shown below SERVOPACK in position control Pn109 Pn202 pn10A Feed Feed for ward fil f d ee ter time Pn108 constant Bias adding width Pn200 0 Reference Servomotor pulse PG signal output 8 55 8 Operation 8 6 4 Smoothing 8 6 4 Smoothing A filter can be applied in the SERVOPACK to a constant frequency reference pulse 1 Selecting a Position Reference Filter Pn2
32. ee d ee PG seriat signlinpat 6 PS PG ser signaTinput fee eg c dee 6 6 6 3 Examples of I O Signal Connections 6 3 Examples of I O Signal Connections 6 3 1 SGDJ LILILIS for Speed Control Mode SERVOPACK Speed reference ka 42 to 10V V REF rated motor speed SG ALO1 Alarm code output 4 ALO2 Max operating voltage External torque T REF r 30VDC limit Torque feed ALOS Max operating current forward SG ce 20 mA DC 1 to 10 V rated torque PAO AT 4 21 PAO Backup battery 3 gt 2 8 to 4 5 V BAT PG dividing ratio output lt PBO Applicable line receiver A PBO SN75175 manufactured by Texas Instruments or the equivalent corresponding 4 75V SEN gt 24 PCO to MC3486 SEN signal input 5 86 s gt IPCO ov Amount of phase S rotation PSO Serial data output L 27 Applicable line receiver x 27 VES SN75175 manufactured 5 by Texas Instruments or 24 V 24VIN the equivalent corresponding gt to MC3486 Servo ON d Servo ON when ON hs jee C Speed coincidence detection P control ON when speed coincides P control when ON 3 TGON Running output ON when the motor speed exceeds the settings Forward run prohibited Prohibited when OFF Reverse run prohibited Prohibited when OFF Alarm reset Reset when ON Forward current limit Limit when ON Reverse current limit Limit when ON Photocoupler output Max operating voltage 30 VD
33. 8 20 8 3 Setting Common Basic Functions 3 Selecting the Motor Stop Method When Overtravel is Used This is used to set the stop method when an overtravel P OT N OT signal is input while the motor is operating Stopping brake DB then places it into Coast power OFF Mode Coasts the servomotor to a stop then places it into Coast power OFF Mode Coast to a stop Stops the servomotor in the same way as when the servo is OFF coasts to a stop then places it into Coast power OFF Mode n LILI1LI Decelerate to stop Zero Clamp Decelerates the servomotor with emergency stop torque Pn406 then places it into Zero Clamp Servolock Mode n0020 Coast Decelerates the servomotor with emergency stop torque Pn406 then places it into Coast power OFF Mode During torque control these settings affect only the servomotor stopping method After it is stopped the servomotor enters Coast Mode regardless of the setting After changing these parameters turn OFF the main circuit and control power supplies and then turn them ON again to enable the new settings During n LIL102 Coast Mode SERVOPACK can be resumed using the servo ON signal E TERMS Stop by dynamic brake Stops by using the dynamic brake with short circuiting by a circuit of SERVOPACK Coast to a stop Stops naturally with no brake by using the friction resistance of the motor in operation Decelerate to stop Stops by using deceleration b
34. 9 25 9 Adjustments 9 5 Analog Monitor 9 26 Signals for analog voltage references can be monitored To monitor analog signals connect the analog monitor cable JZSP CAO01 or DE9404559 to the connector CNS The analog monitor signals can be selected by setting parameters Pn003 0 and Pn003 1 L CN5 Cable Type o JZSP CA01 H or DE9404559 i Black H Black H Oo White Oo Red r Signal Name Monitoring Item with Factory Setting 1 Analog monitor 1 Torque reference 1 V 100 rated torque Black 2 lines GND 0 V 9 5 Analog Monitor 9 5 1 Related Parameters The following signals can be monitored 1 Pn003 Function Selections Parameter Function Montor Signal Observation Gai AOM n 1101030 n ion 1 V 1000 min Factory setting for Monitor 2 n LILILI1 n LIDI1LI Speed reference 1 V 1000 min LAM n0002 n LILI2L Internal torque reference 1 V 100 rated torque Factory setting for Monitor 1 nns scan mE Mme DIDA n CIO Oa Tree n0005 n LILI5L Position reference speed 1 V 1000 min converted to motor speed noone nonen oo RECT Dn sees D D Do Do D Reserved Do not set e l l MM NN E When using speed control or torque control the position error monitor signal is not specified N The analog monitor output voltage is 5 V maximum The output will be
35. About one second later Press the DATA ENTER Key to return to the Fn009 display of the Fa nbl utility function mode DATA ENTER Key 2 Manual Adjustment of the Torque Reference Offset Manual adjustment of the torque reference offset Fn00B is used in the following cases fa position loop is formed with the host controller and the error is zeroed when servolock is stopped To deliberately set the offset to some value Use this mode to check the offset data that was set in the automatic adjustment mode of the torque refer ence offset This mode operates in the same way as the automatic adjustment mode Fn009 except that the amount of offset is directly input during the adjustment The offset adjustment range and setting units are as follows Torque Reference Offset Adjustment Range Offset Adjustment Range 128 to 127 Torque reference 1881 6 mV to 1866 9 mV Offset Setting Unit 3 ad Offset Setting Unit DES OT f 12147 mV Voltage orque reference 1 14 7 m 8 62 8 7 Operating Using Torque Control Use the following procedure to manually adjust the torque reference offset Step Display after Key Description Operation 4 r1 l Ejio Press the DSPL SET Key to select the utility function mode DSPL SET DSPL SET Key Press the LEFT RIGHT or UP DOWN Key or UP or DOWN Key to select parameter Fn00B The digit that can be set will blink Press the DATA ENTER Key The display w
36. Check the motor speed using the Un000 motor Refer to 7 1 3 Basic Mode Selection and Operation for speed min how it is displayed Un000 motor speed min Check that the Un007 and Un000 values in steps 9 and 10 are equal Check the motor rotation direction To change the motor rotation direction without chang ing input reference pulse form refer to 8 3 2 Switching the Servomotor Rotation Direction Perform the operation from step 9 again after the motor rotation direction is changed 4 When the pulse reference input is stopped and servo OFF status enters the trial operation for servomotor without load and using position control with the host controller is completed 8 14 8 1 Trial Operation 8 1 3 Trial Operation with the Servomotor Connected to the Machine A WARNING Follow the procedure below for trial operation precisely as given Malfunctions that occur after the servomotor is connected to the machine not only damage the machine but may also cause an accident resulting death or injury Follow the procedures below to perform the trial operation 1 Set the necessary parameters according to the machine configuration 2 Match the direction of rotation and speed to equipment specifications To host controller To power T supply Secure the motor flange to the machine and install it on the load shaft Check Method and Remarks Turn ON the power and make the settings fo
37. P CON CN1 15 ON low level Operates the SERVOPACK with proportional control OFF high level Operates the SERVOPACK with proportional integral control P CON signal selects either the PI proportional integral or P proportional Speed Control Mode Switching to P control reduces servomotor rotation and minute vibrations due to speed reference input drift Input reference At 0 V the servomotor rotation due to drift will be reduced but servomotor rigidity holding force drops when the servomotor is stopped Note A parameter can be used to reallocate the input connector number for the P CON signal Refer to 7 3 2 Input Circuit Signal Allocation 8 38 8 5 Operating Using Speed Control with Analog Reference 8 5 3 Adjusting Offset When using the speed control the servomotor may rotate slowly even if 0 V is specified as the analog voltage reference This happens if the host controller or external circuit has a slight offset in the units of mV in the ref erence voltage Adjustments can be done manually or automatically by using the digital operator Refer to 7 2 Operation in Utility Function Mode Fn OOD The automatic adjustment of the analog speed torque reference offset Fn009 automatically measures the amount of the offset and adjusts the reference voltage The SERVOPACK automatically adjusts the offset when the host controller or external circuit has the offset in the reference voltage Reference voltage
38. These values are reference values 3 Derating Rate for Servomotor With Oil Seal For a motor with oil seal use the following derating rate because of the higher friction torque Servomotor Model ABC Te DeratingRaie 09 7 9 4 Torque motor Speed Characteristics SGMAJ A5C DC24V SGMAJ A8C DC24V 00 000 4000 4000 Motor 30900 Motor 3000 speed speed A B min 2000 min 2000 1000 1000 0 0 0 01 02 03 0 4 O 0 10 2 0 3 0 4 0 5 0 6 Torque N m Torque N m Eq ur qn oup 0 10 20 30 40 50 O 10 20 30 40 50 60 70 80 Torque oz in Torque oz in SGMAJ A5E DC48V SGMAJ 01E DC48V 00 000 4000 4000 Motor 3000 Motor 3000 speed 2000 speed 2000 min 1 min 1 1000 1000 0 0 0 0 1 0 2 0 3 0 4 0 5 0 0 2 0 4 0 6 0 8 1 0 Torque N m Torque N m pp uq AES qe p ap jeg pg Cs n O 10 20 30 40 50 60 70 O 20 40 60 80 100120140 Torque ozin Torque oz in SGMAJ 02E DC48V SGMAJ 03E DC48V 00 000 4000 4000 Motor 3000 3000 speed min 1 2000 2000 1000 1000 Continuous Duty Zone i 06 0 4 0 8 1 2 1 6 2 0 Al Torque N m Torque N m Intermittent Duty Zone O 40 80 120 160 200 O 40 80 120 160 200 240 280 Torque oz in Torque oz in 3 6 3 2 Ratings and Specifications of SGMAJ 3000min 5 Holding Brake Electrical Specifications Holding Brake Specification
39. 6 21 6 4 4 Using More Than One SERVOPACK 6 23 6 4 5 Extending Encoder Cables 6 24 6 Wiring 6 1 1 Names and Functions of Main Circuit Terminals 6 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 300 mm 11 81 in Failure to observe this caution may result in malfunction Use twisted pair shielded wires or multi core twisted pair shielded wires for signal and encoder PG feed back 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 nottouch the power terminals for five minutes after turning power OFF Make sure the charge indicator is turned OFF first before starting an inspection Avoid frequently turning 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 the power ON and OFF causes main power devices such as capacitors and fuses to deteriorate resulting in unexpected problems 6 1 1 Names and Functions of Main Circuit Terminals 6 2 Terminal Symbol Main Maximum Functions Circuit
40. Socket Soldered 12 0 47 Molex Japan Co p 43 5 1 71 PM i 0s JZSP CMP9 2 5 11 5 Specifications and Dimensional Drawings of Cables and Peripheral Devices 5 4 1 Connectors and Cables 4 Encoder Cable Specifications Cable Type JZSP CMPO9 LILI JZSP CMP19 LIL1 Cable Length 20 m 65 62 ft max 50 m 164 04 ft max Basic T 20276 SB T 20276 SB Specifications AWG22x2C AWG24x2P AWG16x2C AWG26x2P Finished Dimensions 6 5 mm 0 26 in 6 8 mm 0 27 in Internal Configuration and Lead Colors Yaskawa Standard 5 m 16 40 ft 10 m 32 81 ft 30 m 98 43 ft 40 m 131 23 ft Specifications 15 m 49 21 ft 20 m 65 62 ft 50 m 164 04 ft Standard Length 5 Encoder Plug Connector Pin Arrangement 16 bit or 17 bit Serial Absolute 13 bit Serial Incremental Encoder Encoder Connection Specifications Connection Specifications Lead m a wW N 4 2j Ld Plug JZSP CMP9 1 SERVOPACK end Socket JZSP CMP9 2 Encoder end 5 12 5 5 I O Signal Cables for CN1 Connector 5 5 I O Signal Cables for CN1 Connector 5 5 1 Standard Cables For the connection diagram refer to 5 5 3 Connection Diagram 1 Cable Types Cable Type Cable Length L JZSP VAIO1 1 1 m 3 28 ft JZSP VADOT JZSP VAI01 3 3 m 9 84 ft 2 Dimensional Drawing SERVOPACK end Connector 10136 3000VE 36P Shell 10336 52S0 00S Cable black SSRFPVV SB AW
41. Units mm in EZ EE y 2 0 797 o 35 0 28 ole Diagram 0 20 160 6 30 0 20 Approx mass 0 6 kg 1 32lb Note The terminal block connector is not attached to the SGDJ SERVOPACK The terminal block connector must be provided by customer 4 6 2 24 VDC 80 W A8CL 48 VDC 300 W 03EL1 External dimensions common to all SERVOPACKs for speed torque and position control are shown in the fol lowing diagrams 160 6 30 Nameplate cr lr lr ln lr Ia ja ia n 9 Nameplate 120 4 72 1 46 160 6 30 CN5 43 1 69 CN3 CN1 CN4 Mounting Hole Diagram N 0g a 3 M4 tap eee 18 01 43 1 69 Units mm in Approx mass i 160 6 30 Mounting Pitch 150 0 5 5 91 0 02 R 5 0 20 So it 0 8 kg 1 76lb Note The terminal block connector is not attached to the SGDJ SERVOPACK The terminal block connector must be provided by customer 4 13 5 Specifications and Dimensional Drawings of Cables and Peripheral Devices 5 1 Specifications and Dimensional Drawings of Servomotor Main Circuit Cable 5 2 5 1 1 Cables for SGMMJ and SGMAJ Servomotors Without Brakes 5 2 5 1 2 Cables for SGMMJ and SGMAJ Servomotors With Brakes 5 3 5 2 Servomotor and SERVOPACK Main Circuit Wire Size and Connectors
42. Write permitted Releases write prohibited mode 0001 Write prohibited Parameters become write prohibited from the next power ON Display after 1 Press the DSPL SET Key to select the utility function mode SET DSPL SET Key Press the UP or DOWN Key to select Fn010 Note The enabled digit blinks Press the DATA ENTER Key and the display will be as shown on the left Press the UP or DOWN Key to set a value 0000 Write permitted 0001 Write prohibited Press the DSPL SET Key to register the value When the value is registered the display shown on the left blinks for about one second Note Ifa value other than 0000 and 0001 is set Error blinks for about one second and the previ ous setting is displayed After about one The display changes from donE to P 000L1 second Press the DATA ENTER Key to return to the utility function ENTER mode display Fn010 DATA ENTER Key 7 2 Operation in Utility Function Mode FnLILILI 7 2 9 Motor Models Display Fn011 This mode is used for motor maintenance set the parameter Fn011 to select the motor model check mode If the SERVOPACK has been custom made you can also check the specification codes of SERVOPACKs Display after Press the DSPL SET Key to select the utility function mode SET DSPL SET Key Press the UP or DOWN Key to select Fn011 Note The enabled digit blinks Press the DATA ENTER Key to
43. 0 0003 ABLILIA6GLI A8CLIA2LI 2 200 W 300 W Encoder cable 6 0 24 UL20276 300 11 81 30 1 18 gt l _ Encoder plug 00 11 8 30 1 18 0 04 A E E IR 0 0016 26 5 LM 3 ara 0 12 6 4604 A RB 1 LG 0 0016 p Bash Sealants o vt OK 3 y ry Y z al 7 Y v Serial encoder e Holding brake A Tap x Depth de energizing operation Z 0 02 See the following table Power supply 24 VDC 0 0008 Units mm in Model ee 166 136 eas 30 6 60 70 5 5 O2EHA H 654 5 35 2 46 aag 024 2 36 e79 022 O2ELIAGLI 5 eee do 164 90 5 30 6 60 70 5 OSEHA4H 7 64 6 46 356 1 18 0 24 Q39 2 76 022 O3ELIAGLI 3 29 3 Specifications and Dimensional Drawings 3 6 3 SGMAJ Servomotors 3000 min With Standard Backlash Gears and Without Brakes Units mm in Model Tapx Allowable Allowable SGMAJ 2 QK U W T Radial Load Thrust Load pane N Ibf N Ibf Nok CEONZO ue 3 53 ta O2EHAeH M5xL 079 0 12 0 20 0 20 No k EDAD Konp T 4 85 O3ELIAGLI M5x8L 079 0 12 0 20 0 20 INF oN 1 The dimensions for L and LL of a servomotor incorporating an encoder with super capacitor model SGMAJ LILILIA 7 are as shown below SGMAJ 02 a
44. 10m 32 8 ft 15m 49 2 ft 20m 65 6 ft 30m 98 4 ft 40m 131 2 ft JZSP CMP09 10 50m JZSP CMP19 50 164 0 ft SERVOPACK end EET at SERVOPACK end iE fi AD Encoder end Soldered 20 m 65 6 ft max 50 m 164 0 ft max DM 2 Selections 2 10 F Refer 3m JZSP CDM00 03 9 84 ft 5m Without brakes 32 8 ft 49 2 ft 65 6 ft 9 84 ft 16 4 ft With brakes 32 8 ft 49 2 ft 20m Servomo 3m Circuit cpm Cables JZSP CJMO00 05 and Con ian feces nectors SGMAJ 10m 49 2 ft 65 6 ft 9 84 ft 16 4 ft With brakes 32 8 ft 49 2 ft 65 6 ft brakes SEMINE e JZSP CFM9 3 connector kit with brakes SERVOPACK end SERVOPACK end SERVOPACK end SERVOPACK end cont d Seromotor 5 2 2 Seromotor d Seromotor Seromotor 2 4 Selecting Cables cont d Refer M tor Main Circuit Cables and Con nectors Cont d Servomo tor Con nection Connec tor Kit SGMAJ connector kit with brakes SGMAJ connector kit with brakes For SERVOPACK power sup ply input connector kit SERVOPACK power supply input servomotor ca bles connection connector kit JZSP CMM9 1 JZSP CMM9 2 JZSP CJG9 2 JZSP CJG9 3 For a flexible cable contact your Yaskawa representative The following connectors sets are avail
45. Avenida Fagundes Filho 620 Bairro Saude Sao Paulo SP Brazil CEP 04304 000 Phone 55 11 5071 2552 Fax 55 11 5581 8795 YASKAWA ELECTRIC EUROPE GmbH Am Kronberger Hang 2 65824 Schwalbach Germany Phone 49 6196 569 300 Fax 49 6196 569 312 Motoman Robotics Europe AB Box 504 S38525 Torsas Sweden Phone 46 486 48800 Fax 46 486 41410 Motoman Robotec GmbH Kammerfeldstrage 1 85391 Allershausen Germany Phone 49 8166 90 100 Fax 49 8166 90 103 YASKAWA ELECTRIC UK LTD 1 Hunt Hill Orchardton Woods Cumbernauld G68 9LF United Kingdom Phone 44 1236 735000 Fax 44 1236 458182 YASKAWA ELECTRIC KOREA CORPORATION Kfpa Bldg 1201 35 4 Youido dong Yeongdungpo Ku Seoul 150 010 Korea Phone 82 2 784 7844 Fax 82 2 784 8495 YASKAWA ELECTRIC SINGAPORE PTE LTD 151 Lorong Chuan 04 01 New Tech Park Singapore 556741 Singapore Phone 65 6282 3003 Fax 65 6289 3003 YASKAWA ELECTRIC SHANGHAI CO LTD No 18 Xizang Zhong Road Room 1805 Harbour Ring Plaza Shanghai 20000 China Phone 86 21 5385 2200 Fax 86 21 5385 3299 YATEC ENGINEERING CORPORATION 4F No 49 Wu Kong 6 Rd Wu Ku Industrial Park Taipei Taiwan Phone 886 2 2298 3676 Fax 886 2 2298 3677 YASKAWA ELECTRIC HK COMPANY LIMITED Rm 2909 10 Hong Kong Plaza 186 191 Connaught Road West Hong Kong Phone 852 2803 2385 Fax 852 2547 5773 BEIJING OFFICE Room No 301 Office Building of Beijing International Club 21 Jianguomenwai Avenue Beijing 100020 China Phone 86 10 6532 1850 Fax
46. c Fixing the Cable Fix and ground the cable shield using a piece of conductive metal Example of Cable Clamp Shield cable sheath stripped Host controller side LH Ground plate QJ Fix and ground the cable shield EM using a piece of conductive metal Remove paint on mounting surface d Shield Box A shield box which is a closed metallic enclosure should be used for shielding magnetic interference The structure of the box should allow the main body door and cooling unit to be attached to the ground The box opening should be as small as possible 6 22 6 4 4 Using More Than One SERVOPACK The following diagram is an example of the wiring when more than one SERVOPACK is used 6 4 Others 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 Servomotor M Servomotor M
47. check that the speed reference input voltage between the V REF and SG is 0 V 2 Turn ON the servo ON S ON input signal If the servomotor rotates at extremely slow speed refer to 8 5 3 Adjusting Offset and use the reference voltage offset to keep the servomotor from moving Generally increase the speed reference input voltage The factory setting is 6 V rated rotation speed between V REF and SG from 0 V 4 Check the speed reference input to the SERVO Refer to 7 1 3 Basic Mode Selection and Operation for PACK Un000 min 1 how it is displayed 5 Check the Un000 motor speed min 1 Refer to 7 1 3 Basic Mode Selection and Operation for how it is displayed 1 3 Check that the Un001 and Un000 values in steps 4 Change the speed reference input voltage and check and 5 are equal that Un001 and Un000 values are equal for multiple speed references 7 Check the speed reference input gain and motor Refer to the following equation to change the Pn300 rotation direction speed reference input gain Un001 voltage between V REF V x Pn300 3000 min 1 6V To change the motor rotation direction without chang ing polarity for speed reference input gain refer to 8 3 2 Switching the Servomotor Rotation Direction Perform the operation from step 2 again after the motor rotation direction is changed When the speed reference input is set to 0 V and servo OFF status enters the trial operation for ser vomotor without load
48. voltages are input and a torque limit value corresponding to that absolute value is applied in the forward or reverse direction 1 Related Parameters Meaning Pn002 n LILILI1 Speed control option Uses the T REF terminal to be used as an external torque limit input When n LILI1L12 is set the T REF terminal is used for torque feed forward input but the functions cannot be used together 2 Input Signals Type Signal Connector Name Name Pin Number Input T REF CNI 1 Torque reference input CN1 2 Signal ground for torque reference input The torque limit input gain is set at parameter Pn400 Refer to 8 7 1 Setting Parameters W Input Specifications Input range 1 VDC to 10 VDC rated torque e Maximum allowable input voltage 12 VDC 8 71 8 Operation 8 9 4 Torque Limiting Using an External Torque Limit and Analog Voltage Reference 8 9 4 Torque Limiting Using an External Torque Limit and Analog Voltage Reference This function can be used to combine torque limiting by an external input signal and by analog voltage reference and can be used only for SGDJ LILILIS SERVOPACK Because the torque limit by analog voltage reference is input from T REF CN1 1 2 this function cannot be used during torque control Use P CL CN1 11 or N CL CN1 12 for torque limiting by external input signal When P CL or N CL is ON either the torque limit by analog voltage reference or the setting in Pn404 or Pn405 will be appl
49. 2 2 0 030 0 0012 0 030 0 0012 0 030 0 0012 3 40 id 3 0 12 3 5 Brakes Units mm in Allowable Allowable Radial Thrust Load Load N Ibf N Ibf 5 5 137 127 0 20 0 20 2 4 31 29 14 33 4 7 7 gt 0 206 47 235 5 53 0 20 0 20 11 14 13 13 2 5 5 13 167 0 20 0 20 2 7 38 1 5 5 14 216 33 0 20 0 20 3 D 49 2 7 392 0 24 0 24 6 0 89 23 23 53 12 14 2 7 7 5 147 33 235 53 6 431 20 029 5 5 167 20 02 5 5 216 20 02 6 392 20 029 7 431 020 2o an encoder with super capacitor model SGMAJ LILILIA LL dimension 12 mm 0 47 in at the position of minus 5 mm from the shaft end Units mm in Shaft end Dimensions S 14 9 0 55 0 018 0 00071 16 0 63 0 018 0 00071 16 063 0 018 0 00071 16 063 9 063 9 0 63 6 6 6 0 018 0 00071 16 0 018 0 00071 16 a 0 018 0 00071 3 6 Dimensional Drawings of SGMAJ Servomotors 3000 min Units mm in cont d Model Flange Face Dimensions Shaft end Dimensions se 7 08 7 8 0 035 0 0014 0 021 0 00083 0 035 0 0014 0 021 0 00083 6 1 6 1 LB S g 9s 0 0 079 5 9 335 9 o 0 79 01EQOAH101 5 9 256 6 0 63 0 030 0 0012 0 018 0 00071 01EOAHBO1 5 9 256 6 0 63 0 030 0 0012 0
50. 30 VDC Current 50 mA DC 6 16 6 4 Others 6 4 Others 6 4 1 Wiring Precautions To ensure safe and stable operation always observe the following wiring precautions IMPORTANT For a ground wire use as thick a cable as possible 2 0 mm 0 003 in or thicker For wiring for reference inputs and encoders use the specified cables Refer to 5 Specifications and Dimensional Drawings of Cables and Peripheral Devices for details Use cables as short as possible At least class 3 ground 100 Q max is recommended Ground to one point only If the servomotor is insulated from the machine ground the servomotor 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 6 4 2 Wiring for Noise Control Ifthe 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 Because the 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 suppressor in the relay solenoid and magnetic contactor coils The di
51. 3Ry 24V 24V PULSE OUTPUT 9B amp PULSE 2 16 P OT TOA SIGN 3 17 N OT 4Ry sidus 10B ISIGN 4 lt 4 3 CLR 012V ICLRTG The ALM signal is output for approximately two seconds when the control power is turned ON Take this into consideration when designing the power ON sequence The ALM signal actuates the alarm detection relay 1 Ry to stop main circuit power supply to the SERVOPACK 2 Manufactured by Yaskawa Controls Co Ltd Note Only signals applicable to OMRON s C500 NC112 position control unit and Yaskawa s SGDJ OOOP SERVOPACK are shown in the diagram 10 27 10 Inspection Maintenance and Troubleshooting 10 3 9 Example of Connection to MITSUBISHI s AD72 Positioning Unit SERVOPACK in Speed Control Mode 10 3 9 Example of Connection to MITSUBISHI s AD72 Positioning Unit SERVOPACK in Speed Control Mode SGDJ OOOS SERVOPACK I O power supply paupe Positioning unit AD72 gt 024V O manufactured t 5 es M Control power supply by Mitsubishi 2 4 d L2 Main circuit power supply CONT 1 ON when z sro 1 v lees Q4 3 DOG a or mE S t Que v roximity IS Getecte SIvomotor SERVO 4 24V INJ 13 1 1 IS ONT 14 U9 2 2 SV ON 4 Ry VO 3 Q 3 A 4 ALM 34 Ww 4 O 4 READY 1Ry ALM 35 5 S VREF TREF T 3 1 i lt REF TREF 30 6 Je Sp
52. BAT CNI 28 Battery BAT CNI1 29 Battery CNI 10 Signal Ground SG CNI 1 2 Connect to 0 V on the host controller Dividing TERMS The dividing means that the divider converts data into the pulse density based on the pulse data of the encoder installed on k the servomotor and outputs it The setting unit is the number of pulses revolution 8 44 8 5 Operating Using Speed Control with Analog Reference IMPORTANT If using the SERVOPACK s phase C pulse output for a zero point return rotate the servomotor twice or more before starting a zero point return If the configuration prevents the servomotor from rotating the ser vomotor or more perform a zero point return at a motor speed of 600 min or below If the motor speed is faster than 600 min the phase C pulse output may not be output correctly Pulse Dividing Ratio Setting Pn201 PG Divid n Mer Setting Range Setting Unit Factory Setting Setting Validation 16 to 16384 16384 After restart Set the number of pulses for PG output signals PAO PAO PBO PBO externally from the SERVOPACK Feedback pulses from the encoder per revolution are divided inside the SERVOPACK by the number set in Pn201 before being output Set according to the system specifications of the machine or host controller The setting range varies with the number of encoder pulses for the servomotor used Motor Model Encoder Resolution No of Pulses Setting S
53. Detection TGON Speed Reference Input Torque Reference Input Power Ready SGDJ LILILIS SGDJ LILILIP Meaning Bi Data Control Lit when SERVOPACK control power is Control Lit when SERVOPACK control power sup Power ON ON Power ON ply is ON Q Baseblock Lit for baseblock Not lit when servo is ON Baseblock Lit for baseblock Not lit when servo is ON Lit when the difference between the motor speed and reference speed is the same as or less than the value set in Pn503 Factory setting is 10 min Always lit in torque control mode Lit if motor speed exceeds preset value Not lit if motor speed is below preset value Preset value Set in Pn502 Factory setting is 20 min Lit if input speed reference exceeds preset value Not lit if input speed reference is below pre set value Preset value Set in Pn502 Factory setting is 20 min Lit if input torque reference exceeds preset value Not lit if input torque reference is below preset value Preset value 10 of rated torque Lit when main circuit power supply is ON and normal Not lit when main circuit power supply power is OFF Positioning Completion COIN Rotation Detection TGON Reference Pulse Input Error Counter Clear Signal Input Power Ready Lit if error between position reference and actual motor position is below preset value Not lit if error between position reference and actual motor positio
54. O2ELIAJ3LILI O2ELIAJCLILI OSELIAJ1LILI OSELIAJ3LILI 0 79 5 M 9 0 79 0 7 00 9 0 98 0 035 0 0014 0 021 0 0008 5 0 9 0 79 00 9 0 98 15 9 126 15 0 1 26 4 4 0 035 0 0014 0 021 0 0008 0 035 0 0014 0 025 0 0010 0 035 0 0014 0 025 0 0010 33 d 3 9 e 39 ce NICO 0 035 0 0014 0 021 0 0008 a 3 9 4 5 9 4 5 3 38 3 6 Dimensional Drawings of SGMAJ Servomotors 3000 min 3 6 5 SGMAJ Servomotors 3000 min With Low backlash Gears and Without Brakes 1 50 W 80 W 100 W Encoder cable 6 0 24 300 11 81 30 1 18 Encoder plug 7 m UL20276 T ITE Se ee REN 1 0 06 A 0 0024 LR 0 04 gt A 0 0016 0 05 QK 60 0020 9 5 0 37 N N Y Qo r C2 my s 17 0167 1 Y E r 11 0 43 j LD LBh7 i E Serial encoder Rotating section Hatching section See the following table Units mm in IEEE qm EE ean asa em o SE gan es esn e ees A d 6 e Sethekk 0 98 0 200 5 140 5 107 5 0 30 n ES A Ea 223 5 149 5 116 5 x 38 A8COAHCH1 8 80 5 89 4 59 a D a D E A 0 79 Si ees s 5 ae A In 3 39 3 Specifications and
55. Occurred during nor The effective torque exceeds the rated torque Reconsider the load and operation condi mal operation tions Or check the servomotor capacity Temperature in the SERVOPACK panel is high Reduce the in panel temperature to 55 C or less A SERVOPACK fault occurred Replace the SERVOPACK Absolute Encoder Occurred when the con A SERVOPACK board fault occurred The abso Replace the SERVOPACK Battery Warning trol power supply was lute encoder is used in the incremental encoder The battery voltage turned ON setting stays below the Setting Pn002 2 1 specified value 4 Occurred 4 seconds or The battery connection is incorrect or faulty Connect correctly the battery seconds after the more after the control The battery voltage is lower than the specified Replace the battery and turn OFF the control power sup power supply was value 2 7 V encoder power supply and ON again turned ON ply was turned ON s A SERVOPACK board fault occurred Replace the SERVOPACK Only when an Setting Pn002 2 0 absolute encoder is When an absolute connected encoder was used 10 12 10 1 Troubleshooting 10 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 cannot be solved by the described corrective actions Table 10 5 Troubleshooting for Malfunction wit
56. Pn102 preset value high Refer to the gain adjustment in User s Man ual 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 Man setting ual When the autotuning is used Incor Check the machine rigidity setting Fn001 Select a proper machine rigidity setting Fn001 rect machine rigidity setting When the autotuning is not used Check the rotational moment of inertia ratio Correct the rotational moment of inertia ratio data Incorrect rotational moment of iner data Pn103 Pn103 tia ratio data Use the mode switch setting function Noise interference due to improper The specifications of encoder cable must Use encoder cable with the specified specifications encoder cable specifications be Twisted pair or twisted pair shielded wire with core 0 12 mm 0 0002 in min and tinned annealed copper twisted wire Noise interference because the The wiring distance must be 20 m 65 6 ft The encoder cable distance must be within the specified encoder cable distance is too long max range Noise interference due to damaged Noise interference occurred to the signal Correct the encoder cable layout encoder cable line because the encoder cable is bent or its sheath damaged Excessive noise to the encoder cable Check ifthe encoder cable is bundled with a Change the encoder cable layout
57. R Total Indicator Reading Standard With gears Reference Diagram A Perpendicularity between the flange 0 04 mm 0 06 mm face and output shaft 0 00157 in 0 00236 in Ts A cal 0 04 mm 0 05 mm Mating concentricity of the flange O D 0 00157 in 0 00197 in 0 02 mm 0 04 mm C Run out at the end of the shaft 0 000787 in 0 00157 in 2 Direction of Servomotor Rotation Positive rotation of the servomotor is counterclockwise when viewed from the load Same as for servomotors with gears Positive direction Vibration Class TERMS E Ts E i A vibration class of 15 um or below indicates a total vibration amplitude of 15 uim maximum on the servomotor during rated rotation 3 15 3 Specifications and Dimensional Drawings 3 3 3 Mechanical Characteristics of SGMAJ Servomotors 3 Impact Resistance Mount the servomotor with the axis horizontal The servomotor will withstand the following vertical impacts Impact acceleration 490 m s mpact occurrences 2 Vertical 4 Vibration Resistance Mount the servomotor with the axis horizontal The servomotor will withstand the following vibration accelera tion in three directions Vertical side to side and front to back Vibration accelerationat flange 49 m s Vertical Front to back 4 Side to side Horizontal shaft Impact applied to the servomotor 5 Vibration Class The vib
58. V or W output terminals Failure to observe this caution may result in injury or fire Securely connect the power supply terminals and motor output terminals 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 Failure to observe this caution may result in malfunction 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 turned OFF first before starting an inspection Avoid frequently turning power ON and OFF Do not turn power ON or OFF more than once per minute A high charging current flows for 0 2 seconds in the SERVOPACK when power is turned ON Frequently turning power ON and OFF causes main power devices such as 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 I
59. i ALM RST J 16 ALM ALM J 17 ALMO l ALM O a 2 represents twisted pair wires Pin numbers are the same for SV2 to SV4 CN1 20 21 22 23 24 25 3 4 c1 9 c2 O cn aia L2 Oo Control power supply Main circuit power supply Servomotor A Jo N MEMOCON GL60 70 Series B2813 024V 24V CN2 1 33 SERVO NORMAL 20 DECELERATION X 35 START 3 STOP 2 45 46 12V 47 1Ry Ny Po m gs E odi 5V 5 gt OV 42 e manufactured by Yaskawa 10 3 Connection to Host Controller SGDJ OOOP SERVOPACK CN2 CN1 24 PULSE PULSE J1 23 pase DP PULSE 2 22 SIGN SIGN 3 21 _ SIGN Ze ISIGN f4 38 CLR CLR 5 5 ICLR ICLR 6 61 OV SG 10 l CN1 Connector gar FA AO 5 20 17 IPA e P X21 18 C PB PBO 22 19 PB IPBO 23 14 PC PCO 24 15 PC Z PCO 25 1 ov SG 19 EIC 20 FG ERROR 2Ry 12V 36 C1 L10 L2 0 Qo Servomotor e lt c CN2 CN1 13 24VIN 14 L S ON 024V 24V Y 16 P OT 3Ry Ja hS 17 n oT 4 34 ALM 1Ry e 35 ALM 1 The ALM signal is o
60. oe aT paa Crimped connector JZSP CMP03 20 20 m 65 62 ft Molex Japan Co Ltd Wire markers 2 Encoder end Connector Kit Dimensional Drawing Socket Soldered 43 5 1 71 12 0 47 JZSP CMP9 2 Molex Japan Co Ltd KH M f VEN eo ola i go 3 Encoder Plug Connector Pin Arrangement 16 bit or 17 bit Serial Absolute 13 bit Serial Incremental Encoder Encoder Connection Specifications Connection Specifications Lead Lead i 2 3 4 5 oo U E 2 rov fe 3 ary ome aa e NN ed White SN f E White PS Socket PS White JZSP CMP9 2 Encoder end Light blue Plug JZSP CMP9 1 SERVOPACK end 5 10 5 4 Connectors and Cables for Encoder Signals 5 4 Connectors and Cables for Encoder Signals The flexible cables are options Contact your Yaskawa representative 5 4 1 Connectors and Cables 1 Cable Type Cables for Maximum 20 m 65 62 ft Cables for Maximum 50 m 164 04 ft Wiring Distance Wiring Distance Cable Type Cable Length Cable Type Cable Length JZSP CMP09 05 JZSP CMP19 30 30 m 98 43 ft JZSP CMP09 10 10 m 32 81 ft JZSP CMP19 40 JZSP CMP09 15 15 m 49 21 ft JZSP CMP19 50 JZSP CMP09 20 20 m 65 62 ft 2 SERVOPACK end Connector for CN2 Units mm in Dimensional Drawing Plug connector Soldered A Molex Japan Co Ltd JZSP CMP9 1 3 Encoder end Connector
61. power OFF when either of the following conditions is satis fied When the motor speed falls below the level set Motor speed Pn507 Be ee oe in Pn507 after the servo OFF Pn001 0 When the time set in Pn508 is exceeded after the servo OFF BK output Brake held Pn508 y B IMPORTANT The servomotor will be limited to its maximum speed even if the value set in Pn507 is higher than the maximum speed Allocate the running output signal TGON and the brake signal BK to different terminals If the brake signal BK and running output signal TGON are allocated to the same output terminal the TGON signal will go to low level at the speed at which the movable part drops on the vertical axis which means that the BK signal will not go to high level even if the conditions of this parameter are met This is because signals are output with OR logic when multiple signals are allocated to the same output terminal For output signal allocations refer to 7 3 3 Output Cir cuit Signal Allocation 8 24 8 3 Setting Common Basic Functions 8 3 5 Selecting the Stopping Method After Servo OFF The stopping method when the power to the SERVOPACK turns OFF can be selected Parameter Stop Mode Mode After Meaning Stopping Pn001 n0000 Dynamic Brake Stops the servomotor by dynamic braking DB then holds it in Dynamic Brake Mode Factory set Stop by dynamic ting brake n0001 Coast Sto
62. 0 0014 0 025 0 0010 3 42 3 7 Dimensional Drawing of Output Shafts With Oil Seals 3 7 Dimensional Drawing of Output Shafts With Oil Seals For the SGMAJ servomotors with oil seals the external dimensions of output shafts differ as shown below SGMAJ A5 A8 01 SGMAJ 02 03 Capacity 50 W to 100 W 200 to 300 W Lo Dimen LO sions of DO 28 01 10 48 01 89 Output Shaft 3 mm in LB 30 5 5 01 181 0 00083 050 5 5 01 9685 0 00098 Dimensional Drawing 3 43 4 SERVOPACK Specifications and Dimensional Drawings 4 1 SERVOPACK Ratings and Specifications 4 2 4 1 1 SERVOPACK Ratings and Specifications 1 4 2 4 1 2 SERVOPACK Ratings and Specifications 2 4 3 4 2 SERVOPACK Installation 4 5 4 3 SERVOPACK Internal Block Diagrams 4 7 4 3 1 Speed and Torque Control SGDJ LILILIS 4 7 4 3 2 Position Control SGDJ LILILIP 4 8 4 4 SERVOPACK s Power Supply Capacities and Power Losses 4 9 4 5 SERVOPACK Overload Characteristics and Allowable Load Moment of Inertia 4 10 4 5 1 Overload Characteristics 4 10 4 5 2 Starting and Stopping Time
63. 000P Control Method MOSFET PWM method Applicable p Serial encoder 13 16 or 17 bit incremental absolute Feedback n us Applicable Applicable Basic The 13 bit encoder is incremental only p Specifi poc X ture 0 C to 40 C 32 F to 104 F Including the internal icable Applicable cations ongi Aptent Storage Temperature Panel use 20 C to 85 C 4 F to 185 F pE A tions Ambient Storage Humidity 9095 RH or less with no condensation Applicable A A pi pl pli sli Vibration Shock Resistance 9 8 m s 147 m s Applicable 1 5000 The lowest speed of the speed control range is Speed Control Range the speed at which the servomotor will not stop with a pplicable N A rated torque load ppli pl pli pi pli pli Load Regulation 0 to 100 load 0 01 or less at rated speed N A Voltage Regulation Rated voltage 10 0 at rated speed N A P Nd Regula 55 25 C 77 F 30 196 or less at rated speed N A A Frequency Characteristics 400 Hz at Jj Jy N A Torque Control Tolerance A bl N A Soft Start Time Setting 0to 10s Can be set individually for acceleration and Applicable NA Speed deceleration and 6 VDC Variable setting range 2 to 10 VDC at Torque Speed Reference Voltage 3 rated torque servomotor forward rotation with positive Applicable N A Control Reference reference input voltage maximum 12 V Modes Input Input Impedance About 14 kQ Circuit Time Consta
64. 00454 0 00100 0 0643 0 0142 0 636 80 2 15 0 00418 0 00064 0 255 80 0 86 A2EIEJAJAEIEIE 96 80 122 0 0638 A2O00AJBO00 20 3000 9 03 1 27 80 2 26 4 1 25 0 382 80 1 29 54 1 80 183 ER 0 00723 0 00175 TM 0 102 0 0248 0 00612 0 00064 0 0867 0 00906 0 00917 0 00167 A300AJ1000 1000 0 130 0 0236 bns 122 80 3254 0 00842 0 00092 1 16 ASOIOAJZ000 30 3000 5 5 we 173 80 457 0 119 0 0130 1 91 80 431 0 0806 0 0731 A300AJ33O000 U25 Goo 10 I 1 14 1 04 5 4 1 16 0 815 80 2 55 115 80 361 5 8 0 8 8 313 200 i 0 00648 0 00100 0 0918 0 0142 200 313 00 18 120 18 20 3 2 Ratings and Specifications of SGMAJ 3000min 1 Gear output torque is expressed using the following equation Gear output torque servomotor output torque x gear x efficiency 2 Maximum motor speed is up to 5000 min at the shaft 3 This brake is for holding de energization operation and cannot be used to stop the servomo tor 4 The allowable torque is limited by gear 3 2 Ratings and Specifications of SGMAJ 3000min 3 2 1 SGMAJ Servomotors Without Gears 1 Ratings and Specifications Time Rating Continuous Thermal Class B Vibration Class 15 um or below Withstand Voltage 1000 VAC for one minute Insulation Resistance 500 VDC 10 MQ min Enclosure Totally enclosed self cooled IP55 except
65. 13653 pulses are input as reference pulses Input 10000 pulses per 10 mm of workpiece The equation must be calculated at the movement host controller 8 49 8 Operation 8 6 2 Setting the Electronic Gear 3 Related Parameters Pn202 Electronic Gear Ratio Numerator Setting Range Setting Unit Factory Setting Setting Validation fosa 4 reser Electronic Gear Ratio Denominator Setting Range Setting Unit Factory Setting Setting Validation rss TO Merem If the deceleration ratio of the servomotor and the load shaft is given as n m where m is the rotation of the servomotor and n is the rotation of the load shaft B Pn202 No of encoder pulses x 4 Pn203 Travel distance per load shaft revolution reference units Electronic gear ratio Ifthe ratio is outside the setting range reduce the fraction both numerator and denominator until you obtain integers within the range Be careful not to change the electronic gear ratio B A B IMPORTANT Electronic gear ratio setting range 0 01 lt Electronic gear ratio B A 100 If the electronic gear ratio is outside this range the SERVOPACK will not operate properly In this case modify the load configuration or reference unit 4 Procedure for Setting the Electronic Gear Ratio Use the following procedure to set the electronic gear ratio p Check machine specifications Check the deceleration ratio ball screw pitch and p
66. 28 5 o24 61 10 oo08 Units mm in Model Allowable Allowable SGMMJ Tap x Depth Radial Load Thrust Load N Ibf N Ibf A300AJ12CO 69 A300Av16CcO 16 A300AJ22CO 555 147 59 A300AJ26CO 1224 13 A300AJ32CO 186 A300AJ36CO Note 1 The key slot conforms to the standard JIS B 1301 1975 fine class and the parallel key is attached to it 2 The electromagnetic brake is only used to hold the position and cannot be used to stop the servo motor 3 24 3 6 Dimensional Drawings of SGMAJ Servomotors 3000 min 3 6 Dimensional Drawings of SGMAJ Servomotors 3000 min 3 6 1 SGMAJ Servomotors 3000 min Without Gears 1 50 W 80 W 100 W Encoder cable 6 0 24 300 11 81 30 1 18 Encoder plug UL20276 ee gt a T Motor cable 7 90 28 C 35 1 38 Motor plug ShaftEnd bh s 0 04 A SL i 00048 2 z C140 e 0 04 A 80 0016 p 55 9 2 44 3 0 17 j A bs o 0 A G 30 0 021 61 181 5 00083 Cete Tap x Depth 0 02 0 0008 See the following table Serial encoder Units mm in Allowable Allowable Radial Load Thrust Load N Ibf N Ibf CEA 102 0 77 0 44 0 No Now 0 4 C cam 4 02 3 03 1 73 0 88 LM 0 ion 0 m 0 odi dic 119 5 945 61 5 No EZH a IN
67. 3 The voltage input range for speed and torque references is a maximum of 12 V 2 Output Signals Signal Name SGDJ Function Refer LILILIS OOOP ence ALM 34 34 Servo alarm Turns OFF when an error is detected 8 11 1 ALM 35 35 Common TGON 9 10 9 10 Detection during servomotor rotation Detects when the servomotor is rotating at a speed higher than the motor speed setting Detection speed can be set by using the parameters S RDY 7 10 7 10 Servo ready ON if there is no servo alarm when the control main circuit power 8 11 4 supply is turned ON PAO 21 21 Phase A signal Converted two phase pulse phases A and B encoder output 6 2 PAO 22 22 signal and zero point pulse phase C signal RS 422 or the PBO 23 23 Phase B signal equivalent ING PBO 24 24 Proper line receiver is SN75175 manufactured by Texas Instruments or the equivalent corresponding to MC3486 PCO 25 2 PCO 2 6 26 PSO 27 27 Phase S signal With an absolute encoder Outputs serial data corresponding IPSO 28 28 to the number of revolutions RS 422 or the equivalent ALO1 30 30 Alarm code output Outputs 3 bit alarm codes 8 11 1 ALO2 31 31 Open collector 30 V and 20 mA rating maximum ALO3 32 33 32 33 FG Shell Connected to frame ground if the shield wire of the I O signal cable is connected to the connector shell Speed IN CMP 8 10 Speed coincidence output in Speed Control Mode Detects whether the motor 8 5 8 speed is within the
68. 3 or n Oxxx Indicates the value for the 4th digit of parameter Pn000 ri LI L 1st digit 2nd digit 3rd digit 4th digit Hexadecimal display How to Display Parameters 2 After changing the parameters with After restart mentioned in Setting Validation column in the table on the following pages turn OFF the main circuit and control power supplies and then turn them ON again to enable the new settings 10 31 10 Inspection Maintenance and Troubleshooting 10 4 2 List of Parameters Param Name Setting Range Units Factory Setting Setting Reference eter No ooos coop Validation Section Pn000 Function Selection Basic Switches 0000 0010 After restart Ath 3rd 2nd st digit digit digit digit Direction Selection Refer to 8 3 2 Switching the Servomotor Rotation Direction Sets CCW as forward direction Sets CW as forward direction Reverse Rotation Mode 2 and 3 Reserved Do not change Control Method Selection Refer to 8 2 Control Mode Selection Speed control analog reference Position control pulse train reference Torque control analog reference Internal set speed control contact reference BH Internal set speed control contact reference Speed control analog reference Internal set speed control contact reference Position control pulse train reference Internal set speed control contact reference Torque control analog reference Position control puls
69. 5 2 3 SGMAJ Servomotor Connectors for Standard Environments 5 2 3 SGMAJ Servomotor Connectors for Standard Environments 1 Servomotors Main Circuit Without Brakes a Connector Type JZSP CMMO9 1 Units mm in onnector on ervomotor main servomotor circuit connector 350780 1 MI eum e 350570 3 or Tyco Electronics AMP L 9 Socket 350689 3 K K am Soldered type i N a F 716 0 30 gt 27 4 1 08 14 7 0 58 b Connector Pin Arrangement Pin No 2 Servomotors With Brakes a Connector Type JZSP CMM9 2 Units mm in Connector on Servomotor main servomotor circuit connector 350781 1 350570 3 or Tyco Electronics AMP Pau gt va im i Socket 350689 3 K K i 2 Soldered type ie Bi 27 4 1 08 28 4 1 12 b Connector Pin Arrangement ead Cole Phe R4 OS Whit Bl 3 FG OGewvdw S Brake terminal ue art 6 Brake terminal ind 5 2 Servomotor and SERVOPACK Main Circuit Wire Size and Connectors 3 SERVOPACK Power Supply Input Connector Kit a Type Type Attached Connector Connector Type Manufacturer JZSP CJG9 2 Control power input connector 721 102 026 000 WAGO Company of Main circuit power input connector 721 203 026 000 Japan Lt
70. 5 22 encoder signal output 8 44 extending encoder cables 6 24 external torque limit 8 69 F feed forward compensation 4 3 feed forward reference 9 14 forward rotation prohibited 8 20 frequency characteristics 4 3 G ground noise 3 17 grounding 6 18 H handling batteries 8 29 handling oil and water 3 13 hot starts eRe tee eee see le Eri 4 10 l T O signal CN1 names and functions 6 12 T O signal cables 2 12 5 13 I O signal connections 6 7 impact acceleration 3 14 3 16 impact occurrences 3 14 3 16 impact resistance 3 16 input circuit signal allocation 7 21 input impedance 4 3 input signal monitor display 7 27 installation conditions of EMC directives 6 21 instantaneous power loss settings 8 26 interface for reference input circuits
71. 5 4 5 2 1 Wire Size 5 4 5 2 2 SGMMJ Servomotor Connectors for Standard Environments 5 5 5 2 3 SGMAJ Servomotor Connectors for Standard Environments 5 6 5 3 Encoder Cables for CN4 Connector 5 10 5 3 1 Encoder Cable With Connectors 5 10 5 3 2 Encoder Cable With a SERVOPACK Connector and Encoder Loose Leads 5 10 5 4 Connectors and Cables for Encoder Signals 5 11 5 4 1 Connectors and Cables 5 11 5 5 I O Signal Cables for CN1 Connector 5 13 5 5 1 Standard Cables 5 13 5 5 2 Connector Type and Cable Size 5 13 5 5 3 Connection Diagram 5 15 5 6 Peripheral Devices 5 16 5 6 1 Cables for Connecting Personal Computers 5 16 5 6 2 Digital Operator 5 17 5 6 3 Cables for Analog Monitor 5 18 5 6 4 Connector Terminal Block Converter Unit 5 19 5 6 5 Noise Filter 5 21 5 6 6 Surge Suppressor
72. 57 0 0079 204 80 3 15 I I I 354 M 9 81 3 19 max E C t3 E J er S Cc E N eg 50 1 97 v n Receiver unit Socket ds 51 2 01 max 33 5 1 32 max 5 22 6 1 Wiring Main Circuit 6 2 6 1 1 Names and Functions of Main Circuit Terminals 6 2 6 1 2 Wiring Main Circuit Power Supply Connector 6 3 6 1 3 Typical Main Circuit Wiring Examples 6 4 6 2 Wiring Encoders 6 5 6 2 1 Connecting an Encoder CN2 and Output Signals from the SERVOPACK CN1 6 5 6 2 2 Encoder Connector CN2 Terminal Layout 6 6 6 3 Examples of I O Signal Connections 6 7 6 3 1 SGDJ LILILIS for Speed Control Mode 6 7 6 3 2 SGDJ LILILIP for Position Control Mode 6 8 6 3 3 SGDJ LILILIS for Torque Control Mode 6 9 6 3 4 I O Signal Connector CN1 Terminal Layout 6 10 6 3 5 I O Signal CN1 Names and Functions 6 12 6 3 6 Interface Circuit 6 14 6 4 Others 6 17 6 4 1 Wiring Precautions 6 17 6 4 2 Wiring for Noise Control 6 18 6 4 3 Installation Conditions of EMC Directives
73. 8 Operation 8 1 Trial Operation 8 4 8 1 1 Trial Operation for Servomotor without Load 8 6 8 1 2 Trial Operation for Servomotor without Load from Host Reference 8 9 8 1 3 Trial Operation with the Servomotor Connected to the Machine 8 15 8 1 4 Servomotor with Brakes 8 16 8 1 5 Position Control by Host Controller 8 16 8 2 Control Mode Selection 8 17 8 3 Setting Common Basic Functions 8 18 8 3 1 Setting the Servo ON Signal 8 18 8 3 2 Switching the Servomotor Rotation Direction 8 19 8 3 3 Setting the Overtravel Limit Function 8 20 8 3 4 Setting for Holding Brakes 8 22 8 3 5 Selecting the Stopping Method After Servo OFF 8 25 8 3 6 Instantaneous Power Loss Settings 8 26 8 4 Absolute Encoders 8 27 8 4 1 Interface Circuits 8 28 8 4 2 Selecting an Absolute Encoder 8 29 8 4 3 Handling Batteries 8 29 8 4 4 Replacing Batteries 8 29 8 4 5 Absolute Encoder Setup Fn008 8 30 8 4 6 Absolute Encoder Reception Sequence 8 31 8 4 7 M
74. 8 8 1 Setting Parameters Meaning Pn000 n 0030 Control mode selection Internally set speed control contact reference Note If only Pn000 1 5 Internally set speed control amp Position control any operation which uses the internally set speed selection will be valid when using the SGDJ LILILIP SERVOPACK Pn301 Internally set speed 1 SPEED1 Setting Range Setting Unit Factory Setting Setting Validation Internally set speed 2 SPEED2 Setting Range Setting Unit Factory Setting Setting Validation Internally set speed 3 SPEED3 Setting Range Setting Unit Factory Setting Setting Validation Note The maximum speed of servomotor is used whenever a speed settings for the Pn301 to Pn303 exceed the maximum speed 8 65 8 Operation 8 8 2 Input Signal Settings 8 8 2 Input Signal Settings The following input signals are used to switch the operating speed Name Number Input Switches the servomotor rotation direction P cr ccs m Input Selects the internally set speed ul E OE EE Input N CL CNI 12 Selects the internally set speed SPD B Must be allocated W Input Signal Selection The following two types of operation can be performed using the internally set speeds Operation with the P CON P CL and N CL input signals pins allocated in factory setting Operation with the SPD D SPD A and SPD B input signals SPD D SPD A and SPD B input signals must be allocated with parameter Pn50C R
75. 86 10 6532 1851 TAIPEI OFFICE 9F 16 Nanking E Rd Sec 3 Taipei Taiwan Phone 886 2 2502 5003 Fax 886 2 2505 1280 SHANGHAI YASKAWA TONGJUI M amp E CO LTD 27 Hui He Road Shanghai China 200437 Phone 86 21 6553 6060 Fax 86 21 5588 1190 BEIJING YASKAWA BEIKE AUTOMATION ENGINEERING CO LTD 30 Xue Yuan Road Haidian Beijing P R China Post Code 100083 Phone 86 10 6233 2782 Fax 86 10 6232 1536 SHOUGANG MOTOMAN ROBOT CO LTD 7 Yongchang North Street Beijing Economic Technological Investment amp Development Area Beijing 100076 P R China Phone 86 10 6788 0551 Fax 86 10 6788 2878 YASKAWA ELECTRIC CORPORATION YASKAWA In the event that the end user of this product is to be the military and said product is to be employed in any weapons systems or the manufacture thereof the export will fall under the relevant regulations as stipulated in the Foreign Exchange and Foreign Trade Regulations Therefore be sure to follow all procedures and submit all relevant documentation according to any and all rules regulations and laws that may apply Specifications are subject to change without notice for ongoing product modifications and improvements 2000 2004 YASKAWA ELECTRIC CORPORATION All rights reserved MANUAL NO SIE S800 38C Printed in Japan August 2004 00 6 amp 04 1 99 23029
76. 9 0008 Units mm in Allowable Allowable Radial Load Thrust Load N Ibf N Ibf A100A210 77 61 265 130 34 3 A100AA10 3 03 2 40 1 04 Applied 287 7 71 mH 87 71 36 5 tmi 170 LM 3 43 2 80 1 44 375 44 1 9 91 A300A210 97 46 5 210 A300AA10 3 82 D 1 83 Applied 463 3 19 3 Specifications and Dimensional Drawings 3 5 2 SGMMJ Servomotors 3000min Standard and With Brakes 3 5 2 SGMMJ Servomotors 3000min Standard and With Brakes Encoder cable UL20276 V 300 11 81 30 41 18 e L or UL3266 Protective tube 96 0 24 Black 0 04 A Shaft End 0 0016 gt L1 16 0 63 710 02 125 0 98 A 0 0008 L2 2 5 0 10 M 0297 60 0016 iQ o Y Y gt e pv ON S vy Holding brake de energization operation Nameplate 2 M3 Tap x Dep Voltage 24VDC 95h6 Q5 oos 00 20 5 0003 Brake holding torque Rated motor torque 20h7 620 5 921 60 79 5 0008 Units mm in Allowable Allowable Radial Load Thrust Load N Ibf N Ibf A100A2C0O 101 5 85 5 26 5 Notapplied 215 343 A1HDBAACH 3 40 G 37 1 04 Applied 474 7 71 A20O0A2coO 115 5 36 5 Norapplie 270 A200AACO 4 55 3 92 1 44 595 44 1 A300A2coO 125 5 310 9 91 ASODAACO 4 94 4 i lou 683 Note Th
77. ALM RST was turned ON ALM RST from ON to OFF Stops during Operation and will Not Restart Servomotor Wiring connection to servomotor is Check connection of power lead phases U Tighten any loose terminals or connectors Speed Unsta defective V and W and encoder connectors ble 10 13 10 Inspection Maintenance and Troubleshooting 10 1 4 Troubleshooting for Malfunction without Alarm Display Table 10 5 Troubleshooting for Malfunction without Alarm Display cont d Symptom Cause Turn OFF the servo system before executing operations Servomotor Speed control Speed reference input Check V REF and SG to confirm if the con Correct the control mode selection parameter or the Rotates With is incorrect trol method and the input are agreed input correctly out Refer Torque control Torque reference Check V REF and SG to confirm if the con Correct the control mode selection parameter or the ence Input input is incorrect trol method and the input are agreed input correctly Speed reference offset is error The SERVOPACK offset is adjusted incor Adjust the SERVOPACK offset correctly rectly Position control Reference pulse Check Pn200 0 reference pulse form or sign Correct the control mode selection parameter or the input is incorrect pulse signal input correctly A SERVOPACK fault occurred A SERVOPACK board fault occurred Replace the SERVOPACK DB dynamic Improper parameter setting Check
78. Absolute Encoder Position Difference Error The position saved in host controller when the power turned OFF is differ ent from the position when the power turned ON 10 1 Troubleshooting Table 10 5 Troubleshooting for Malfunction without Alarm Display cont d Turn OFF the servo system before executing operations Speed loop gain value Pn100 too Factory setting Kv 40 0 Hz Reduce speed loop gain Pn100 preset value high Refer to 9 3 2 Servo Gain Manual Tuning ae ere Position loop gain value Pn102 too Factory setting Kp 40 0 s Reduce position loop gain Pn102 preset value high Refer to 9 3 2 Servo Gain Manual Tuning ponam Incorrect speed loop integral time Factory setting Ti 20 00 ms Correct the speed loop integral time constant Pn101 constant Pn101 setting Refer to 9 3 2 Servo Gain Manual Tuning When the autotuning is used Incor Check the machine rigidity setting Fn001 Select a proper machine rigidity setting Fn001 When the autotuning is not used Check the rotational moment of inertia ratio Correct the rotational moment of inertia ratio data Incorrect rotational moment of iner data Pn103 Pn103 tia ratio data Cause Speed loop gain value Pn100 too Factory setting Kv 40 0 Hz Reduce the speed loop gain Pn100 preset value high Refer to the gain adjustment in User s Man ual Position loop gain value Pn102 too Factory setting Kp 40 0 s Reduce the position loop gain
79. Absolute Encoder Setup Fn008 8 30 8 4 6 Absolute Encoder Reception Sequence 8 31 8 4 7 Multiturn Limit Setting 8 35 8 4 8 Multiturn Limit Setting When Multiturn Limit Disagreement A CC Occurred 8 36 8 5 Operating Using Speed Control with Analog Reference 8 37 8 5 1 Setting Parameters 8 37 8 5 2 Setting Input Signals 8 38 8 5 3 Adjusting Offset 8 39 8 5 4 Soft Start 8 42 8 5 5 Speed Reference Filter 8 42 8 5 6 Using the Zero Clamp Function 8 42 8 5 7 Encoder Signal Output 8 44 8 5 8 Speed Coincidence Output 8 46 8 6 Operating Using Position Control 8 47 8 6 1 Setting Parameters 8 47 8 6 2 Setting the Electronic Gear 8 49 8 6 3 Position Reference 8 52 8 6 4 Smoothing 8 56 8 6 5 Positioning Completed Output Signal 8 57 8 6 6 Positioning Near Signal 8 58 8 6 7 Reference Pulse Inhibit Function I
80. Applicable Voltage Servomotor V Capacity kW L1 L2 Main circuit power 0 05 to 0 08 24 VDC 415 supply input terminal 0 051003 48 VDC 415 U V W Servomotor Connects to the servomotor connection terminals C1 C2 Control circuit power 0 05 to 0 08 24 VDC 15 supply input terminal 0 05 to 0 3 48 VDC 415 D Ground terminals Connects to the power supply ground terminals and servomotor ground terminal 6 1 Wiring Main Circuit 6 1 2 Wiring Main Circuit Power Supply Connector A CAUTION Observe the following precautions when wiring main circuit connector Remove the connector from the SERVOPACK prior to wiring Insert only one wire per terminal on the connector Make sure that the core wire is not electrically shorted to adjacent core wires SGDJ SERVOPACK has a removable connector for the main circuit power supply or the control power sup ply terminal Use the following procedure when connecting the SERVOPACK to the connector 1 Wire Size Wire can be used simply by stripping back the outer coating The following is applicable wire sizes Single wire 0 5 00 02 in to 1 6 00 06 in mm Braided wire AWG28 to AWGI2 2 Connection Procedure 1 Strip the end of the wire ZZZ77777 7A kl 8 to 9 mm 0 31 to 0 35 inches 2 Open the wire terminal on the power supply connector housing plug with the tool using the procedure shown in Fig A or B Insert the connection hook
81. Brake Power Supply Refer to 6 1 3 Typical Main Circuit Wiring Examples for the connection method 5 6 6 Surge Suppressor 1 Surge Suppressor for Magnetic Contactor Contact Okaya Electric Industries Co Ltd When using a servomotor with holding brake install a surge suppressor near the brake coil a Model CR50500BL b Specifications f Power supply 250 VAC Capacitance 0 5 uF 20 Resistance 50 Q 1 2 W 30 co 5 6 7 Variable Resistor for Speed and Torque Setting 1 Model 25HP 10B The multiturn type winding variable resistors with dial MD10 30B4 are manufactured by Sakae Tsushin Kogyo 5 Co Ltd Contact Yaskawa Controls Co Ltd 2 Dimensional Drawings Units mm in Panel X 44 524 0 45 0 04 lt gt 25 HP Helicolumn Panel driling diagram 3 8 l 25 7 5 0 30 hole o 0 10 amp g E ele L als Bae e 3 J yN d I2 T3 1 10 0 39 e 14 5 1 0 57 0 04 244 1 gi 0 94 0 04 MD multi dial lt gt H 37 51 1 48 0 04 L 4 5 0 18 3 Example of Connection to an External Power Supply 1 8 KQ 1 2 W min SERVOPACK 25HP 10B 3 AKO CN1 Pines ba ale i 12 3 V REF i 1 gt T REF 5 21 5 Specifications and Dimensional Drawings of Cables and Peripheral Devices 5 6 8 Encoder Signal Converter Unit 5 6 8 Encoder Signal Converter U
82. CN Pin No Signa 2000 50 78 7441 97 39 1 54 EE p38 1 50 TXD 2 4 RXD a 0v 7 14 OV g E RTS 4 HN 2 Z e i 1 CTS 5 od 3 POR Boo e pay Shield wire eL F6 25 13 AWG26 x 3C UL2464 f _ 2 x M2 6 screws 2x M2 6 screws 2 D sub 9 pin Connector Cable for IBM PC Compatible a Cable Type JZSP CMS02 b Dimensional Drawing Units mm in SERVOPACK end Personal computer SH Half pitch connector Personal computer end SERVOPACK end D sub connector 9 pin Plug 10114 3000VE Signal Pin No 17JE 13090 02 D8A Shell 10314 52A0 008 9 sill Pin Nos Signal Daiichi Denshi Kogyo Co Ltd Sumitomo 3M Ltd RXD 2 2 TXD 38 1 50 2000 50 78 74 1 97 39 1 54 TXD 3 4 IRXD OV 5 14 OV A Lal EP peu RTS 7 y cts 8 Cable type 1214 T FG Case Case FG ihg 9 Shield wire AWG26 x 3C UL2464 2 x M2 6 screws 2 x M2 6 screws 5 16 5 6 Peripheral Devices 3 14 pin Half pitch Connector Cable for NEC PC 98 Series PC a Cable Type JZSP CMS03 b Dimensional Drawing Units mm in Personal computer end SERVOPACK end Half pitch connector Half pitch connector Personal computer end SERVOPACK end Plug 10114 3000VE Plug 10114 3000VE Signal Pin No US Pin No Signal Shell 10314 52F0 008 Shell 10314 52A0 008 RXD 1 F 3
83. COIN The above output signals can be changed to CLT VLT BK WARN and NEAR 6 11 6 Wiring 6 3 5 I O Signal CN1 Names and Functions 6 3 5 I O Signal CN1 Names and Functions 1 Input Signals 1 Signal Name SGDJ Function 000s OOOP Servo ON Turns ON the servomotor when the gate block in the inverter is l 4 released 5 P OT 16 N OT 17 Common 1 8 3 8 Position speed Position torque Enables control mode switching Torque speed erence speed is zero when ON block ence pulse input when ON Forward run Overtravel prohibited Stops servomotor when movable prohibited part travels beyond the allowable range of motion Reverse run prohibited Function selected by parameter Forward exter Current limit function enabled when ON nal torque limit ON Reverse external torque limit ON Internal speed With the internal set speed selected Switches the 8 8 switching internal speed settings Alarm reset Releases the servo alarm state Function selected by parameter Proportional Switches the speed control loop from PI proportional control reference integral to P proportional control when ON P CL 1 N CL 2 i 9 4 3 Direction refer With the internal set speed selected Switch the rotation 8 8 2 ence direction 1 ARST Control mode 24VIN lli switching 1 BAT 2 2 Connecting pin for the absolute encoder backup battery BAT 29 2 Do not connect when a b
84. Dimensional Drawings 3 6 5 SGMAJ Servomotors 3000 min With Low backlash Gears and Without Model SGMAJ A5OOAH1011 A5OOAH2011 ASLILIAHCLI1 Gear Ratio re LA LZ aD 1 5 M4x8L N o2 Os 1 1 21 1 3 Ww ASLILIAH7EI1 A8CLIAH1L11 A8CLIAHBLI1 1 5 gt gt gt Q3 Q3 Q3 Q3 N UA UA n UA o AR A aA EA E AA A DAITDAAMAANAMNAMNNY vs CA x A oS Cc m wo S vw Pu N N N N QSpuspruspus nN nN nN So So s e oo i 1 11 N L ON ww pea Un o 1 2 o wn we NO A8CLIAHCLI1 YN INFO nrof WwW Nn Az wm A So o 1 33 Uo cn A o wn ta oO Un e gt So e oo i 1 5 N nN U3 e Un o9 aa e oo i o9 aD 2 s Ww nN W in S A Fe c wn e U3 oO o 1 33 A Fe c wn G3 Nn 1 The dimensions for L and LL of a servomotor incorporating are as shown below SGMAJ AS A8 and 01 L dimension 12 mm 0 47 in 2 The working point of the SGMAJ servomotor radial load is Dimensional Tolerances Model SGMAJ LB 0 030 0 00 0 030 0 00 0 030 0 00 65 256 5 256 5 9 256 Flange Face Dimensions 2
85. E 48 VDC Code Rated Output C E A5 0 05 O O A8 0 08 O 01 0 1 O 02 0 2 B O 03 0 3 z O O Available 4th digit Serial Encoder Code Specifications Remarks 1 16 bit absolute encoder 1 Standard 4 16 bit absolute encoder 2 Option with super capacitor A 13 bit incremental encoder 2 Standard B 16 bit incremental encoder Option 1 The number of encoder pulses 16384 P Rev 2 The number of encoder pulses 2048 P Rev 2 4 2 1 Servomotor Model Designations 2 With Gears 1st 2nd 3rd 4th 5th 6th 7th 8th 9th digits digits digits digits digits digits digits digits SGMAJ A5CAAJ 1 21 9th digit Brake DC power supply input Code Specifications D II series 1 Without brake SGMAJ servomotor C With 24 VDC brake BE 6th digit mE 8th digit Shaft End Gear TypeCode 1st 2nd digit Code Specifications G H J Rated Output 3rd digit Voltage 0 No shaft Oo kW C 24 VDC D 48 VDC 2 Straight without key O O Code Rated Output A B 6 Stdpnwihleyanito O O AS 0 05 o o 8 Straight with tap O A8 0 08 9 O Available 01 0 1 O 02 T J o 8th digit Shaft End Code 2 6 8 m iait 1st 2nd 3rd digits 03 0 3 O 6 digit un Code of the Rated O Available Gear Output and Voltage 4th digit Serial Encod
86. Encoder Signal Output for how to set rotation in step 11 are not equal correctly set the PG divider Pn201 P Rev The number of encoder Pn201 PG divided ratio outputting the encoder pulses per revolution pulse from the SERVOPACK 3 When the speed reference input is set to 0 V and servo OFF status enters the trial operation for posi tion control with the host controller is completed 8 12 8 1 Trial Operation 3 Operating Procedure in Position Control Mode Pn000 n LIL11E1 The following circuit is required External input signal circuit or equivalent Position SERVOPACK Reference pulse according to parameter Pn200 0 setting put form from the host controller to 8 6 1 2 Setting a Reference Pulse Form that it coincides with the host controller setting to 8 6 2 Setting the Electronic Gear MF ed signal Send the pulse reference for the number of motor rotation easy to check for example one motor revo lution and with slow speed from the host controller in advance Check the number of reference pulses input to the SERVOPACK by the changed amount before and after the Un00C input reference pulse counter pulse was executed Check the actual number of motor rotation pulse by the changed amount before and after the Un003 rotation angle 1 pulse was executed Check that steps 5 and 6 satisfy the following equa tion Un003 Un00C x Pn202 Pn203 Check that the motor rotation dir
87. FG and the phase U phase V or phase W power line 10 2 2 SERVOPACK Inspection For inspection and maintenance of the SERVOPACK follow the inspection procedures in Table 10 7 at least once every year Other routine inspections are not required Table 10 7 SERVOPACK Inspections Clean Interior and At least once a year Check for dust dirt and oil Clean with cloth or compressed air Circuit Boards on the surfaces Loose Screws Check for loose terminal Tighten any loose screws block and connector Screws Defective Parts in Check for discoloration Contact your Yaskawa representative Unit or on damage or discontinuities Circuit Boards due to heating 10 18 10 2 Inspection and Maintenance 10 2 3 SERVOPACK s Parts Replacement Schedule The following electric or electronic parts are subject to mechanical wear or deterioration over time To avoid failure replace these parts at the frequency indicated The parameters of any SERVOPACKs overhauled by Yaskawa are reset to the factory settings before ship ping Be sure to confirm that the parameters are properly set before starting operation Table 10 8 Periodical Part Replacement Standard Replacement Method Operating Conditions Replacement Period Relays Test Replace if necessary Ambient Temperature Annual Aluminum 5 years Test Replace with new circuit Load Factor 80 max Electrolytic board if necessary Operation Rate 20 hours day Capacitor on C
88. Factory Setting Setting Validation Tio 2 000 immediately This parameter determines the responsiveness of the speed loop If the speed loop s responsiveness is too low it will delay the outer position loop and cause overshooting and vibration of the speed reference The SERVOPACK will be most stable and responsive when the speed loop gain is set as high as possible within the range that does not cause vibration in the mechanical system The value of speed loop gain is the same as the set value of Pn100 if the moment of inertia ratio in Pn103 has been set correctly Moment of Inertia Ratio Setting Range Setting Unit Factory Setting Setting Validation ow 1000 o 9 Wmmedatly Motor axis conversion load moment of inertia Jj Pn103setvalue UE L M Servomotor rotor moment of inertia Jy x10004 The factory setting is Pn103 0 Before adjusting the servo determine the moment of inertia ratio with the equation above and set parameter Pn103 9 3 5 Speed Loop Integral Time Constant Speed Loop Integral Time Constant Ti Setting Range Setting Unit Factory Setting Setting Validation 15 to 51 200 0 01 ms 2 000 Immediately 0 15 to 512 00 ms 20 00 ms The speed loop has an integral element so that the speed loop can respond to minute inputs This integral element causes a delay in the SERVOPACK If the time constant is set too long overshooting will occur which results in a longer position ing settling time or responsiveness de
89. IPCO 25 X axis speed reference 47 aS V REF 3 Axis speed reference ground 18 j Ia SG lu 24 V output eu is outpu 194 24 IN 13 24 V output ground 20 ALM 35 O connector 24 VDC 24 Vinput 1 X axis CW limit input af X axis CCW limit input 4 M X axis immediate stop input 6 Battery 1 X axis origin proximity input 10 J 4 T BAT 1 28 24 V input ground 14 BAT 29 2 8 to 4 5 VDC C1 C2 T Control power supply T Main circuit power supply Do Servomotor U Q 4 V O 2 Ww 3 4 1 oo _ i f 0O CN2 KO Connect when an absolute encoder is used Battery for CN1 ER6VC3 3 6 V 2000 mA 2 H represents twisted pair wires Note 1 Only signals applicable to OMRON s MC unit and Yaskawa s SGDJ O00OS SERVOPACK are shown in the diagram A UN Open the signal lines not to be used connection to the SERVOPACK in the same way 5 The normally closed N C input terminals not to be used at the motion control unit I O connec tor section must be short circuited at the connector 6 Make the setting so that the servo can be turned ON OFF by the S ON signal Note that incorrect signal connection will cause damage to the MC unit and SERVOPACK The above connection diagram shows only X axis connection When using another axes make 10 3 6 Example of Connection to OMRON s Position Control Unit Position control unit CS1W NC133 233 433 ma
90. Japan November 2002 00 06 amp Revision number Date of Date of original printing publication Date of Printing Revised Content June June2000 o First First edition 0 November 2002 M All chapters LI Z RAa add A revised March 2004 Addition SGMMJ servomotor model designations Addition SGDJ SERVOPACKs and applicable servomotors 2 6 Revision Type of the I O signal cables connector kit JZSP CKI to JZSP VAIO9 le Ratings and specifications for SGMMJ servomotors 3000min p gears and with standard backlash gears Addition Mechanical characteristics of SGMMJ servomotors HESS Dimensional drawings of SGMMJ servomotors 3000min 5 NEN standard and with without brakes with gears and with without brakes Addition SGMMJ servomotor connectors for standard environments 523 38 4 Revision Type of the SERVOPACK power supply input connector kit JZSP CFG9 2 to JZSP CJG9 2 JZSP CFG9 3 to JZSP CJG9 3 a EE JZSP CKI9 to JZSP VAI09 KG o een DC Power Input I Series SGML J SGDJ USER S MANUAL 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 Phone 1 937 847 6200 Fax 1 937 847 6277 YASKAWA ELETRICO DO BRASIL COMERCIO LTD A
91. Key Press the DSPL SET Key to select the utility function mode Press the UP or DOWN Key to select FnOOF Note The enabled digit blinks Press the DATA ENTER Key and the display will be as shown on the left phase U Press the LEFT or RIGHT Key to display the phase U offset amount Press the UP or DOWN Key to adjust the offset Carefully adjust the offset while monitoring the torque reference monitor signal Press the LEFT or RIGHT Key The display shown on the left appears Press the DSPL SET Key The display shown on the left appears phase V Press the LEFT or RIGHT Key to display the phase V offset amount Press the UP or DOWN Key to adjust the offset Carefully adjust the offset while monitoring the torque reference monitor signal Press the LEFT or RIGHT Key The display shown on the left appears When the offset adjustment completes press the DATA ENTER Key The display returns to the utility function mode display FnOOF 7 13 7 Digital Operator 7 2 8 Password Setting Protects Parameters from Being Changed Fn010 7 2 8 Password Setting Protects Parameters from Being Changed Fn010 7 14 The write prohibited setting is used for preventing accidental changes of the parameter All the parameters PnOOO and some of Fn OOO become write prohibited by setting values Refer to 7 2 1 List of Utility Function Modes for details Setting values are as follows 0000
92. Mode UnLILILI 7 26 7 4 1 List of Monitor Modes 7 26 XV xvi 8 Operation 8 1 Trial Operation 8 4 8 1 1 Trial Operation for Servomotor without Load 8 6 8 1 2 Trial Operation for Servomotor without Load from Host Reference 8 9 8 1 3 Trial Operation with the Servomotor Connected to the Machine 8 15 8 1 4 Servomotor with Brakes 8 16 8 1 5 Position Control by Host Controller 8 16 8 2 Control Mode Selection 8 17 8 3 Setting Common Basic Functions 8 18 8 3 1 Setting the Servo ON Signal 8 18 8 3 2 Switching the Servomotor Rotation Direction 8 19 8 3 3 Setting the Overtravel Limit Function 8 20 8 3 4 Setting for Holding Brakes 8 22 8 3 5 Selecting the Stopping Method After Servo OFF 8 25 8 3 6 Instantaneous Power Loss Settings 8 26 8 4 Absolute Encoders 8 27 8 4 1 Interface Circuits 8 28 8 4 2 Selecting an Absolute Encoder 8 29 8 4 3 Handling Batteries 8 29 8 4 4 Replacing Batteries 8 29 8 4 5
93. N amp o a v o 1 O Qr BIN olo OJN l ui See the following table Tap x Depth Rotating section Hatching section Serial encoder Units mm in S S e e S a Ele oo m Eee sles Aae e EEEE EEEF F F o Fla BIS FIS Flo SIS FI F a C Sja ce nlia amp oo oo Slen amp loo X X JP eh IPO a IA OO IA GI E A 2 D o RN e en en 21 a m Ei a S15 4d HL LLI LLI CN co eo e Gear Ratio 1 5 SGMAJ Units mm in Allowable 53 66 53 66 RadialLoad ThrustLoad Allowable 62 82 133 144 62 104 6 2 6 2 9 3 9 3 7 5 9 5 6 0 24 6 0 24 7 0 28 7 0 28 6 0 24 7 0 28 6 0 24 6 0 24 8 0 31 8 0 31 6 0 24 8 0 31 4 0 16 4 0 16 4 0 16 3 5 M5x10L 0 14 3 5 M5Xx10L 0 14 M6x12L M6x12L 3 5 M5x10L 0 14 M6x12L 9 9 0 35 9 9 0 35 9 0 35 9 0 35 105 120 4 13 4 72 0 35 90 EE E EN S Qa O Q x HE uw EZ S IT uw e o m s ES r 289m t uw Ea e 2 e Or 4 94 3S s P 90 105 02EOAJ3O1 02EDAJCO1 105 120 02EDAJ701 90 105 O3EDAJ101 105 120 OSELIAJ3LI1 O2ELIAJ1LI1 3 33 3 Specifications and Dimensional Drawings 3 6 3 SGMAJ Servomotors 3000 min With Standard Backlash Gears and Without Brakes Units mm in c
94. Output Fn00C FnOOD 9 28 9 Adjustments 9 1 1 Servo Gain Adjustment Methods 9 1 Autotuning 9 1 1 Servo Gain Adjustment Methods The SERVOPACK has the servo gains to determine the servo response characteristics The servo gains are set in the parameters The parameters are designated for each function as shown in 9 1 2 List of Servo Adjustment Functions The servo gains are factory set to stable values and responsiveness can be increased depending on the actual machine conditions The following flowchart shows an overview procedure for adjusting the servo gains to reduce the positioning time for position control Follow this flowchart to effectively adjust the servo gains For functions in bold lines in the flowchart select the adjustment method according to the client s intent using 9 7 2 List of Servo Adjustment Functions C Start adjusting servo gain Adjust using 1 Autotuning Functions Results OK Results insufficient Adjust using 2 Positioning Time Reduction Functions Results OK Results insufficient Vibration resulted Adjust using 3 Vibration Reduction Functions Results insufficient Results OK C End servo gain adjustment If the desired responsiveness cannot be achieved adjusting according to the servo gain adjustment methods con sider the following possible causes Autotun
95. Output Circuit Signal Allocation for details Pn504 NEAR Signal Width Setting Range Setting Unit Factory Setting Setting Validation to 260 immediately The positioning near NEAR signal is output when the differ ence error between the number of reference pulses output by a Motor speed the host controller and the travel distance of the servomotor is less than the value set in Pn504 ees Set the number of error pulses in reference units the number of input pulses defined using the electronic gear Error pulse Normally the setting should be larger than that for the position ing completed width Pn500 8 58 8 6 Operating Using Position Control 8 6 7 Reference Pulse Inhibit Function INHIBIT 1 Description This function inhibits the SERVOPACK from counting input pulses during position control The servomotor remains locked clamped while pulse are inhibited SERVOPACK IL Pn000 n 0010 OFF Reference pulse gt Error counter Pn000 n LILIBEI P CON P CON INHIBIT INHIBIT a Feedback pulse 2 Setting Parameters Meaning Pn000 n LILIBLI Control mode selection Position control pulse train reference Inhibit E Inhibit INHIBIT switching condition INHIBIT signal ON OFF ON P CON INHIBIT signal ON low level P CON Reference pulse Hduuuur Len eo t1 t2 lt 0 5 ms Input reference pulses are not counted duri
96. SGMAJ Servomotors 3000 min With Low backlash Gears and Without Brakes Units mm in Approx Allowable Allowable Model Gear n i Radial Thrust SGMAJ Ratio LC LA LZ TapxDepth U W T E Load Load g N Ibf N bf 90 105 9 35 6 6 3 0 245 90 105 9 35 6 6 3 5 323 53 105 120 9 4 8 7 3 7 549 1 67 4 4 13 4 72 0 35 0 16 0 31 0 28 8 4 138 exces on da a INF ol 1 The dimensions for L and LL of a servomotor incorporating an encoder with super capacitor model SGMAJ LILILIA Ge are as shown below SGMAJ 02 and 03 L dimension 8 2 mm 0 32 in LL dimension 8 2 mm 0 32 in 2 The working point of the SGMAJ servomotor radial load is at the position of minus 5 mm from the shaft end Dimensional Tolerances Units mm in Model Flange Face Dimensions Shaft end Dimensions seu 08 8s O LB S 02EQAH101 85 335 20 9 0 79 9 0 035 0 0014 0 021 0 0008 02EOAHBD1 85 7 335 20 0 79 0 035 0 0014 0 021 0 0008 02EOAHCO1 100 3 94 25 0 98 0 035 0 0014 0 021 0 0008 02ELIAH7EM 100 3 94 25 098 0 035 0 0014 0 021 0 0008 03EDAH101 85 9 335 9 20 0 79 0 035 0 0014 0 021 0 0008 100 3 9 25 0 98 15 4 53 V 1 26 15 4 53 9 126 0 0 0 035 0 0014 0 021 0 0008 0 0 0 035 0 0014 0 025 0 001 0 035
97. Tem TO s on dens ac o 2707 NM JM JL t time tf Stopping time tf 60 T amp M TL s Nw Motor speed min Jy Motor rotor moment of inertia kg n Ji Load converted to shaft moment of inertia kg m7 Tpw 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 current amplitude Motor speed Time 4 5 3 Load Moment of Inertia The larger the load moment of inertia the worse the movement response of the load The size ofthe load moment of inertia Jj allowable when using a servomotor depends on motor capacity and is limited to within 30 times the moment of inertia of each servomotor Jm This value is provided strictly as a guideline and results may vary depending on servomotor drive conditions An overvoltage alarm is likely to occur during deceleration if the load moment of inertia exceeds the allowable load moment of inertia Take one of the following steps if this occurs Reduce the torque limit Reduce the deceleration rate Reduce the maximum motor speed 4 11 4 SERVOPACK Specifications and Dimensional Drawings 4 5 4 Overhanging Loads 4 5 4 Overhanging Loads A servomotor may not be operated with an overhanging load which tends to contin
98. The Principle of Speed Limiting When the speed is outside of the allowable range a torque that is proportional to the difference between the actual speed and the speed limit is used as negative feedback to bring the speed back within the speed limit range Accordingly there is a margin generated by the load conditions in the actual motor speed limit value 4 Signals Output during Servomotor Speed Limit Name Pin Number Oupu VET Must be allocated M EE OFF high leve This signal is output when the servomotor speed reaches the speed limit value set in Pn407 or set by the analog voltage ref erence For use this output signal must be allocated with parameter PnSOF For details refer to 7 3 3 Output Circuit Signal Alloca tion 8 64 8 8 Operating Using Speed Control with an Internally Set Speed 8 8 Operating Using Speed Control with an Internally Set Speed SGDJ O00S e i Paw Internally Set Speed Selection Speed Torque This function allows speed control operation by externally selecting an input signal from among three servo motor speed settings made in advance with parameters in the SERVOPACK The speed control operations within the three settings are valid There is no need for an external speed or pulse generator SERVOPACK Internally set speed P CON SPD D lead Servomotor 7 SPEED1 Pn301 Speed Contact inputs 4 P CL SPD A y SPEED2 Pn302 pg Male O N CL SPD B E d SPEED3 Pn303
99. The servomotor will withstand the following vertical impacts Impact acceleration 490 m s mpact occurrences 2 Vertical Horizontal shaft Because the detector of the servomotor is installed on the shaft end opposite the load do not apply shock to IMPORTANT the shaft Failure to observe this caution may result in damage to the product 4 Vibration Resistance Mount the servomotor with the axis horizontal The servomotor will withstand the following vibration accelera tion in three directions Vertical side to side and front to back Vibration acceleration at flange 49 m s Vertical Front to back gt Side to side Horizontal shaft Impact applied to the servomotor 3 14 3 3 Mechanical Specifications of SGMMJ and SGMAJ Servomotors 5 Vibration Class The vibration class for the servomotors at rated motor speed is shown below Vibration class 15 um or below Position for measuring vibration Ay 6 Protective Structure The standard protection class for the protective structure is IP55 except for shaft opening 3 3 3 Mechanical Characteristics of SGMAJ Servomotors 1 Mechanical Tolerance The following table shows tolerances for the servomotor s output shaft and installation area For more details on tolerances refer to the dimensional drawing of the individual servomotor Tolerance T
100. Voltage level A Z Q WY Low Ly eval High evel 10 42 10 4 List of Parameters Parame Name Setting Range Units Factory Setting Setting Reference ter No Ooos 000P Validation Section Pn50C Input Signal Selections 3 8888 8888 After restart 4th 3rd 2nd 4st digit digit digit digi SPD D Signal Mapping Refer to 8 8 Operating Using Speed Control with an Internally Set Speed 0 ON when CN1 14 input signal is ON L level ON when CNI 15 input signal is ON L level s JON when C2 inpusignlisON Led a ON when CN1 14 input signal is OFF H level ON when CNI 15 input signal is OFF H level 8 ON when CNI 16 input signal is OFF H level ON when CNI 17 input signal is OFF H level D ON when CNI 18 input signal is OFF H level ON when CNI 11 input signal is OFF H level ON when CNI 12 input signal is OFF H level SPD A Signal Mapping Refer to 8 8 Operating Using Speed Control with an Internally Set Speed Same as SPD D SPD B Signal Mapping Refer to 8 8 Operating Using Speed Control with an Internally Set Speed Same as SPD D C SEL Signal Mapping Control mode change when ON L level Refer to 8 10 2 Switching the Control Mode Same as SPD D 10 43 10 Inspection Maintenance and Troubleshooting 10 4 2 List Parame ter No Pn50D 10 44 of Parameters Name Setting Range Units Factory Setting Setting Reference
101. a measure against noise for the encoder wir the encoder ing Excessive vibration and shocks were applied to the Reduce the machine vibration or mount the servo encoder motor securely A SERVOPACK board fault occurred Replace the SERVOPACK The encoder wiring and contact are incorrect Correct the encoder wiring Noise interference occurred due to incorrect encoder cable specifications Use tinned annealed copper twisted pair or twisted pair shielded wire with a core of at least 0 12 mm 0 0002 in Noise interference occurred because the wiring dis The wiring distance must be 20m 65 6 ft max tance for the encoder cable is too long Noise interference occurred on the signal line Correct the encoder cable layout 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 surge line or near a high current line is applied The FG electrical potential varies because of the Ground the machine separately from PG side FG influence from such machines on the servomotor side as welders Noise interference occurred on the signal line from Take measures against noise for the encoder wir the encoder ing Excessive vibration and shocks to the encoder was Reduce the machine vibration or mount the servo applied motor securely An encoder fault occurred Replace the servomotor A SERVOPACK board fault occurred Replace t
102. completed signal COIN for position control and it is always OFF high level for torque control 8 46 8 6 Operating Using Position Control 8 6 Operating Using Position Control SGDJ OOOP Position 8 6 1 Setting Parameters 1 Control Mode Selection Pn000 n LILI1LI Control mode selection Position control pulse train reference factory setting 2 Setting a Reference Pulse Form Type Signal Connector Name Name Pin Number Input PULS CNI 1 Reference Pulse Input PULS CNI1 2 Reference Pulse Input SIGN CNI 3 Reference Code Input SIGN CNI 4 Reference Code Input Set the input form for the SERVOPACK using parameter Pn200 0 according to the host controller specifications Reference Pulse Input Forward Rotation Reverse Rotation Pulse Reference Reference Multiplier Pn200 n LILILIO Sign pulse train Mid Positive logic Factory setting n LILIL11 CW pulse CCW pulse dl Positive logic n0002 Two phase pulse n EIEIEI3 train with 90 phase differential n LILILI4 Positive logic n0005 Sign pulse train Negative logic n DIEILI6 CW pulse CCW Hm pulse CN1 1 Negative logic m te H n0007 Two phase pulse n0008 train with 90 phase differential n 0009 Negative logic The input pulse multiplier can be set for the 2 phase pulse train with 90 phase differen
103. damaged When bending cables are used wiring must be performed so that excessive stress will not be applied to the connector section Failure to observe this caution may damage the connector IMPORTANT 1 Before starting installation thoroughly remove the anticorrosive paint that coats the end of the motor shaft Anticorrosive paint is coated here 2 Vibration from improper alignment of shafts will damage the bearings 3 Do not allow direct impact to be applied to the shafts when installing the coupling as the encoder mounted on the opposite end of the shaft may be damaged 3 13 3 Specifications and Dimensional Drawings 3 3 2 Mechanical Characteristics of SGMMJ Servomotors 3 3 2 Mechanical Characteristics of SGMMJ Servomotors 1 Mechanical Tolerance This section describes the mechanical specifications of SGMMJ servomotor Tolerance T I R Total Indicator Reading Standard With gears Reference Diagram A Perpendicularity between the flange 0 04 mm 0 06 mm face and output shaft 0 00157 in 0 00236 in Ts 6 Lut 0 04 mm 0 05 mm H Mating concentricity of the flange O D 0 00157 in 0 00197 in i IR 0 02 mm 0 04 mm Run out at the end of the shaft 0 000787 in 0 00157 in 2 Direction of Servomotor Rotation Positive rotation of the servomotor is counterclockwise when viewed from the load Positive direction 3 Impact Resistance Mount the servomotor with the axis horizontal
104. display on the left will appear Press the DSPL SET Key The multiturn limit setting in the absolute encoder will be changed When the setting is completed donE will blink for about one second After donE is displayed PGSEt will be displayed again Press the DATA ENTER Key to return to the Fn013 display of the util ity function mode 8 5 Operating Using Speed Control with Analog Reference 8 5 Operating Using Speed Control with Analog Reference 8 5 1 Setting Parameters Pn000 n0000 Control mode selection Speed control analog reference factory setting Speed Reference Input Gain Setting Range Setting Unit Factory Setting Setting Validation 1 50 to 3000 0 01 V Rated Immediately 150 to 30 00 V Rated speed speed Sets the analog voltage level for the speed reference V REF necessary to operate the servomotor at the rated speed E EXAMPLE Pn300 600 6 V input is equivalent to the rated speed of the servomotor Reference factory setting Voltage V Pn300 1000 10 V input is equivalent to the rated speed of the servomotor Pn300 200 2 V input is equivalent to the rated speed of the servomotor 8 37 8 Operation 8 5 2 Setting Input Signals 8 5 2 Setting Input Signals 1 Speed Reference Input Input the speed reference to the SERVOPACK using the analog voltage reference to control the servomotor speed in proportion to the input voltage Type Signal Connector Pin Name Nam
105. display the servomotor model and voltage code Fur FAO DIO DATA Motor Voltage Motor Type ENTER Model Data Model DATA ENTER Key Reserved OD SGMAJ Reserved OF Not defined Reserved 24 VDC 48 VDC OF is displayed when using SGMMJ servomotor But it does not effect the operation Press the DSPL SET Key to display the servomotor capacity DSPL 1 1 SET LI LI DSPL SET Key eel Motor capacity in units of 10 W The above example indicates 100 W Press the DSPL SET Key and the encoder type and resolution code will be displayed r1 Ea 13 SET DSPL SET Key Encoder Type Motor Type Data Type Data Resolution 00 Incremental 13 13 bit 01 Absolute 16 16 bit 17 17 bit Press the DSPL SET Key to display the SERVOPACK s code for custom orders Note The display y 0000 means standard model DSPL SET DSPL SET K Lat r1 Code for custom orders m Press the DATA ENTER Key to return to the utility function ENTER mode display Fn011 DATA ENTER Key 7 15 7 Digital Operator 7 2 10 Software Version Display Fn012 7 2 10 Software Version Display Fn012 Set the Fn012 to select the software version check mode to check the SERVOPACK and encoder software ver sion numbers Display after a Press the DSPL SET Key to select the utility function mode DSPL SET Key Press the U
106. do not Check the operation of the brake overtravel and other pro connect the motor shaft to tective functions the load shaft 3 Trial Operation for the Servomotor and Machine Combined Refer to 8 1 3 W Purpose The servomotor is connected to the machine and trial opera tion is performed The SERVOPACK is adjusted to match the machine characteristics The servomotor s rotation direction motor speed and machine travel distance Set the necessary parameters Secure the motor flange to the machine and use a coupling to connect the motor shaft to the load shaft 8 1 Trial Operation Install the servomotor and SERVOPACK according to the installation conditions Do not connect the servomotor to the machine because the servomotor will be oper ated first under a no load condition for checking Wiring and Connect the power supply circuit L1 or L2 servomotor wiring U V W I O sig CO RHONE nal wiring CN1 and encoder wiring CN4 During 1 Trial Operation for Servo Installation and mounting motor without Load however disconnect the CN1 connector Turn ON the power Check the panel operator to make sure that the SERVOPACK is running normally If using a servomotor equipped with an absolute encoder perform the setup for the absolute encoder Refer to 8 4 5 Absolute Encoder Setup Fn008 Execute jog mode Execute jog mode operation with the servomotor alone under a no load cond
107. enin 15 irs ew ss eon eto jew eso em eoo im s eso m e poe calos eo aso do o PEDES 65 dis i Dat Pen Aap ee o aen sss 3 37 3 Specifications and Dimensional Drawings 3 6 4 SGMAJ Servomotors 3000 min With Standard Backlash Gears and Brakes Model Gear 90 105 9 3 5 6 6 90 105 9 3 5 6 6 105 120 9 4 8 7 105 120 9 4 8 7 90 105 OSELIAJ1LILI 4 13 105 120 120 135 O3ELIAJCLILI 5 31 9 35 6 6 es SP lao oon nio 9 4 8 7 es MP leis oso ow m 5 10 8 am MP Lomor 33 7 3 33 7 3 4 7 10 4 4 7 10 4 3 9 8 6 4 8 10 6 6 9 15 2 Units mm in Allowable Allowable Radial Thrust Load Load N Ibf N Ibf 295 360 53 585 5 66 63 275 235 62 53 460 290 104 66 65 5 5 149 310 120 135 11 5 10 8 6 9 755 70 Y INFO won 1 The dimensions for L and LL of a servomotor incorporating an encoder with super capacitor model SGMAJ LILILIA are as shown below SGMAJ 02 and 03 L dimension 8 2 mm 0 32 in LL dimension 48 2 mm 0 32 in 2 The working point of the SGMAJ servomotor radial load is at the position of minus 5 mm from the shaft end Dimensional Tolerances Units mm in Model SGMAJ Flange Face Dimensions Shaft end Dimensions gs 20 0 02E0OAJ100 335 0 035 0 0014 0 021 0 0 035 0 0014 0 021 0 0008 0 035 0 0014 0 021 0 0008 1 25 85 5 20 5 0 0008
108. feedback speed is smoother The response is delayed if a large value is set The speed reference is smoother The response is delayed if a large value is set These filters are effective in essentially all frequency bands The response is delayed if a large value low frequency is set Mainly effective for vibration between 500 and 2 000 Hz Instability will result if the setting is not correct Valid Control Modes Position Refer ence Section Speed Position Speed Torque Position Speed Torque 9 2 Online Autotuning 9 2 Online Autotuning 9 2 1 Online Autotuning Online autotuning calculates the load moment of inertia during operation of the SERVOPACK and sets parame ters so that the servo gains consistent with the Machine Rigidity Fn001 are achieved Online autotuning may not be effective in the following cases The load moment of inertia varies in less than 200 ms The motor speed is lower than 100 min or the acceleration reference is very even Load rigidity is low and mechanical vibration occurs easily or friction is high The speed reference is a stepwise reference If the condition meets one of the above cases or the desired operation cannot be achieved by the online autotun ing calculate the load moment of inertia on the basis of the machine specifications or using the moment of inertia detection function of Yaskawa s servodrive supporting tool SigmaWin Set the valu
109. for servomotor brake must be purchased by customers SGDJ OOCO SGDJ OOEO SERVOPACK Connection cable for digital operator Refer to 5 7 2 Personal computer iri It Connection cable Sh for personal computer oy Refer to 5 7 1 vk lt I O signal cable Refer to 5 6 Encoder cable Refer to 5 3 5 4 SGMLIJ Servomotor 1 4 Applicable Standards 1 4 Applicable Standards X II Series servodrives conform to the following overseas standards 1 4 1 North American Safety Standards UL CSA L i TAL US LISTED UL Standards UL File No __ CSA Standards Certifications SERVOPACK SGDJ ULS08C E147823 Mr Servomotor POMMJ UL1004 E165827 ponte SGMAJ No 100 Underwriters Laboratories Inc 2 Canadian Standards Association 1 4 2 CE Marking EMC Directive cael Low Voltage n SERVOPACK e Pe ub Servomotor SGMAI IEC60034 8 group 1 class A EN61000 6 2 IEC60034 9 TUV Product Services GmbH Note For installation conditions refer to 6 4 2 Wiring for Noise Control Because SERVOPACKs and servomotors are built in type reconfirmation is required after being installed in the final product 2 Selections 2 1 Servomotor Model Designations 2 2 2414 Model SOMM sexum scouts tire totnm ER Eris rae tiis d lis RR 2
110. for shaft opening Ambient Temperature 0 to 40 C 32 to 104 F Ambient Humidity 20 to 80 no condensation Excitation Permanent magnet Drive Method Direct drive Mounting Flange method Voltage For 24 VDC For 48 VDC Servomotor Model 3E SGMAJ A5C A8C 0 INm 0 159 0 255 0 159 0 318 0 637 0 955 1 SELL uae A 58 16 8 Max Current 0 0599 0 0461 0 0880 0 126 0 109 0 123 Torque Constant Rotor Moment of x104 kg m 0 0225 0 0364 0 0225 0 0364 0 106 0 173 Rated b E rad s2 70900 70000 70900 87500 60100 55300 celeration 1 These items and torque motor speed characteristics quoted in combination with an SGDJ SERVOPACK are at an armature winding temperature of 100 C 212 F Other values quoted at 20 C 66 2 F All values are typical 2 Rated torques are continuous allowable torque values at 40 C 104 F with an 250 x 250 x 6 mm 10 x 10 x 0 24 in alminum plate heat sink attached 3 These values are reference values Ww N m sin 3 N m sin 3 rms min 3 5 3 Specifications and Dimensional Drawings 3 2 1 SGMAJ Servomotors Without Gears 2 Holding Brake Moment of Inertia The moment of inertia of the servomotor with holding brake is expressed using the following equation The moment of inertia of the servomotor with holding brake rotor moment of inertia brake moment inertia Servomotor Model ABC m III Holding Brake ED aa m 0 0085 0 058 ibd cde
111. formula Current value read by encoder Pg M x R Po Multiturn data rotation count data Number of initial incremental pulses Use the following for reverse rotation Number of initial incremental pulses read at setup This is saved and mode Pn000 0 1 controlled by the host controller Ps Pr MxR Po Py Current value required for the user s system Py Pr Ps Number of pulses per encoder revolution pulse count after dividing value of Pn201 3 Detailed Signal Specifications a PAO Serial Data Specifications The number of revolutions is output in five digits Character code ASCII 7 bit code Data format 8 characters as shown below p or 0 to 9 CR 00000 1010 1 ere Pn ae i Data i t Stop bit Start bit Even parity Note 1 Data is P 00000 CR or P 00000 CR when the number of revolutions is zero 2 The revolution range is 32767 to 32768 When this range is exceeded the data changes from 32767 to 32678 or from 32678 to 32767 When changing multiturn limit the range changes For details refer to 8 4 7 Multiturn Limit Setting 8 32 8 4 Absolute Encoders b PSO Serial Data Specifications The number of revolutions is always output in five digits and seven digits absolute position within one revo lution Character code ASCII 7 bit code Data format 13 characters as shown below No of revolutions 0 to 9 Absolute posit
112. limited to 5 V even if this value is exceeded INFO 2 in the above calculations 9 27 9 Adjustments 9 5 2 Manual Zero Adjustment and Gain Adjustment of Analog Monitor Output Fn00C FnOOD 9 5 2 Manual Zero Adjustment and Gain Adjustment of Analog Monitor Output FnOOC FnOOD Motor speed torque reference and position error can be monitored through the analog monitor output Refer to 9 5 Analog Monitor Use the manual zero adjustment function to compensate for the output voltage drift or the zero point drift caused by noise entering the monitor system The gain adjustment function can be changed to match the sensitivity of the measuring system Monitor output voltage Gain adjustment Zero adjustment Setting unit Zero setting range 2 V 17 mV LSB Gain setting range 50 to 150 960 4 LSB 9 28 9 5 Analog Monitor 1 Manual Zero Adjustment of Analog Monitor Output FnOOC Follow the procedure below to execute the manual zero adjustment of analog monitor output Display afer Operation Fey Desin Press the DSPL SET Key to select the utility function mode Press the LEFT RIGHT Key or the UP DOWN Key to set the parameter Fn00C Press the DATA ENTER Key and Chl1 o will be displayed DATA ENTER Key Press the DSPL SET Key and the monitor output for the two channels will be displayed alternately DSPL Displayed SET alternately DSPL SET Key Pre
113. local power supply cannot apply the overvoltage such as surge to the output side and the output side may be damaged even if the voltage is applied Never fail to use the surge suppressor 2 15 3 Specifications and Dimensional Drawings 3 1 Ratings and Specifications of SGMMJ 3000 min 3 2 3 1 1 SGMMJ Servomotors Without Gears 3 2 3 1 2 SGMMJ Servomotors With Standard Backlash Gears 3 4 3 2 Ratings and Specifications of SGMAJ 3000min 3 5 3 2 1 SGMAJ Servomotors Without Gears 3 5 3 2 2 SGMAJ Servomotors With Standard Backlash Gears 3 8 3 2 3 SGMAJ Servomotors With Low backlash Gears 3 10 3 3 Mechanical Specifications of SGMMJ and SGMAJ Servomotors 3 12 3 3 1 Precautions on Servomotor Installation 3 12 3 3 2 Mechanical Characteristics of SGMMJ Servomotors 3 14 3 3 3 Mechanical Characteristics of SGMAJ Servomotors 3 15 3 4 Terms and Data for Servomotors With Gears 3 17 3 5 Dimensional Drawings of SGMMJ Servomotors 3000min 3 19 3 5 1 SGMMJ Servomotors 3000min Standard and Without Brakes 3 19 3 5 2 SGMMJ Servomotors 3000min Standard and With Brakes 3 20 3
114. non load side of the servomotor Counterclockwise viewed from the load and shaft end 4 4 4 2 SERVOPACK Installation 4 2 SERVOPACK Installation The SGDJ SERVOPACKs can be mounted on a compact servo amplifier with a book end design Incorrect installation will cause problems Always observe the following installation instructions AN WARNING Connect the main circuit wires control wires and main circuit cables of the motor correctly Incorrect wiring will result in failure of the SERVOPACK Store the SERVOPACK within the following temperature range if it is stored with the power cable discon nected Temperature 20 to 85 C 4 to 185 F Humidity 90 RH or less with no condensation Storage Operating Protection class 1X Conditions Altitude Maximum 1000 m Installation in a Control Panel Design the control panel size unit layout and cooling method so the temperature around the SERVOPACK does not exceed 40 C 104 F Installation Near a Heating Unit Minimize the heat radiating from the heating unit as well as any temperature rise caused by natural convec tion so the temperature around the SERVOPACK does not exceed 40 C 104 F Installation Near a Source of Vibration Installation Site Install a vibration isolator on 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 eventua
115. not change ately mmedi ately Pn501 Zero Clamp Level 0 to 10000 min Pn502 Rotation Detection Level 1 to 10000 mir P 1 i edi 8 11 3 ately Pn503 Speed Coincidence Signal Output Width 0 to 100 min edi ately edi Pn409 Notch Filter Frequency 50 to 2000 Hz 1 Hz 2000 2000 Immedi ately Pn500 Positioning Completed Width 0 to 250 reference 1 reference mmedi units unit Pn506 Brake Reference Servo OFF Delay Time 1 to 50 10 to 500 ms Pn507 Brake Reference Output Speed Level 0 to 10000 min Pn508 Timing for Brake Reference Output during 10 to 100 10 ms Motor Operation 100 to 1000 ms Pn509 Momentary Hold time 20 to 1000 ms 1 ms Used only for SGDJ LILILIP SERVOPACK for position control mode ately edi ately edi ately 20 Immedi ately EELEREEEEL Bd Pee eee Pn504 NEAR Signal Width 1 to 250 reference 1 reference 7 units unit ately Pn505 Overflow Level 1 to 8388352 1 reference 1024 Immedi unit ately 9 4 9 8 6 5 8 5 6 8 5 8 8 6 6 9 3 3 8 3 4 8 3 4 8 3 4 8 3 6 EE 10 40 10 4 List of Parameters Param Name Setting Range Units Factory Setting Setting Reference eter No ooos ooop Validation Section Pn50A Input Signal Selections 1 2100 2100 After restart 4th 3rd 2nd st digit digit digit digit Input Signal Allocation Mode Refer to 7 3 2 Input Circuit Signal Allocation Use
116. pulse division output pao _ U L pgo L Phase B advanced Rev Reverse CW 27 Q Encoder pu erse Reference Analog monitor JE se division output PAO Phase A advanced PBO L Forward CCW Encoder pu log monitor d x Ise division output PAO TUUL Phase A advanced PBO IL The direction of P OT and N OT change For Pn000 n O000 standard setting counterclockwise is P OT For Pn000 n LILILI1 Reverse Rotation Mode clockwise is P OT 8 19 8 Operation 8 3 3 Setting the Overtravel Limit Function 8 3 3 Setting the Overtravel Limit Function The overtravel limit function forces movable machine parts to stop if they exceed the allowable range of motion and turn ON a limit switch 1 Connecting the Overtravel Signal To use the overtravel function connect the following overtravel limit switch input signal terminals Type Name Connector Pin Setting Meaning Number CNI 16 ON low level Forward rotation allowed Normal operation status Factory setting OFF high Forward rotation prohibited Forward overtravel level N OT CNI 17 ON low level Reverse rotation allowed Normal operation status Factory setting OFF high Reverse rotation prohibited Reverse overtravel level Connect limit switches as shown below to prevent damage to J Motor forward r
117. pulse train with 90 phase differential phase A and phase B Maximum reference frequency x1 input pulse multiplier 500 kpps x2 input pulse multiplier 400 kpps x4 input pulse multiplier 200 kpps Electrical Specifications sort tPA t5 t6 Forward reference Reverse reference X s Reverse reference cw Forward i3 reference uot gt gt Phase A t b Phase B A T Reverse reference Phase B lags phase A by 90 Forward reference j Phase B leads phase A by 90 8 6 Operating Using Position Control tl t2 lt 0 1 ms t3 t7 lt 0 1 ms t4 t5 t6 gt 3 us T2 1 0 us t T x 100 50 tl t2 lt 0 1 ms t3 gt 3 us T2 1 0 us t T x 100 50 tl t2 lt 0 1 ms T21 0 us t T x 100 50 Remarks Sign SIGN H Forward reference L Reverse reference Switching of the input pulse multiplier mode is done with parameter Pn200 0 set ting 8 53 8 Operation 8 6 3 Position Reference 2 Connection Example a Connection Example for Line driver Output Applicable line driver SN75174 manufactured by Texas Instruments Inc or MC3487 or equivalent Host controller SERVOPACK Line CN1 driver s PULS 1 E 1500 jwsk IPULSs 2 b SIGN P yi ISIGN j 1502 VEL CLR P we icLR Ve jisoo woe 2 Represents twisted pair wires
118. speed reference input is too large Reduce the reference value The setting of the reference input gain is incorrect Correct the reference input gain setting A SERVOPACK board fault occurred Replace the SERVOPACK A 71 High Load Occurred when the A SERVOPACK board fault occurred Replace the SERVOPACK A 72 Low Load control power sup ply was turned ON Occurred when the The servomotor wiring is incorrect or the connection Correct the servomotor wiring servo was ON is faulty The encoder wiring is incorrect or the connection is Correct the encoder wiring faulty A SERVOPACK fault occurred Replace the SERVOPACK Occurred when the The servomotor wiring is incorrect or the connection Correct the servomotor wiring servomotor did not is faulty run by the refer The encoder wiring is incorrect or the connection is Correct the encoder wiring ence input faulty The starting torque exceeds the maximum torque Reconsider the load and operation conditions or reconsider the servomotor capacity normal operation starting torque largely exceeds the rated torque reconsider the servomotor capacity Dynamic Brake Occurred when the A SERVOPACK board fault occurred Replace the SERVOPACK Overload control power sup ply was turned ON Occurred when the A SERVOPACK board fault occurred Replace the SERVOPACK servomotor was running and in a sta tus other than servo OFF Occurred when the The rotating energy at
119. the control modes are used for machine pro tection 8 11 1 Servo Alarm Output ALM and Alarm Code Output ALO1 ALO2 ALO3 1 Servo Alarm Output ALM This signal is output when an error is detected in the SERVOPACK Type Signal Connector Setting Meaning Name Pin Number CNI 34 35 ON low level Normal SERVOPACK condition Factory setting OFF high level SERVOPACK alarm condition B IMPORTANT Always form an external circuit so this alarm output turns OFF the main circuit power supply to the SERVOPACK 2 Alarm Reset Type Signal Connector Name Name Pin Number Input ALM CNI 18 Alarm Reset RST When a servo alarm ALM has occurred and the cause of the alarm has been eliminated the alarm can be reset by turning this signal ALM RST from OFF high level to ON low level This signal can be allocated to other pin numbers with Pn50B For details on the procedure refer to 7 3 2 Input Circuit Signal Allocation The ALM RST signal cannot be constantly enabled by the allocation of an external input signal Reset the alarm by chang ing the signal from high level to low level The alarm can also be reset from the panel operator or digital operator Refer to 7 1 2 Key Names and Functions for details IMPORTANT 1 Some encoder related alarms cannot be reset with the ALM RST signal input To reset these alarms turn OFF the control power supply 2 When an alarm occurs always eliminate the cause before rese
120. which stores the alarms generated in the SERVOPACK After having cleared data A No alarm is set to all the alarm traceback data Display after ae DSPL SET DSPL SET Key After about one second DATA ENTER DATA ENTER Key Press the DSPL SET Key to select the utility function mode Press the UP or DOWN Key to select Fn006 Note The enabled digit blinks Press the DATA ENTER Key and the display will be as shown on the left Press the DSPL SET Key to clear the alarm traceback data The display shown on the left blinks for about one second when the data is cleared The display changes from donE to the display shown on the left Press the DATA ENTER Key to return to the utility function mode display Fn006 7 11 7 Digital Operator 7 2 6 Automatic Offset adjustment of Motor Current Detection Signal FnOOE 7 2 6 Automatic Offset adjustment of Motor Current Detection Signal FnOOE Automatic motor current detection offset adjustment has performed at Yaskawa before shipping Basically the user need not perform this adjustment Perform this adjustment only if highly accurate adjustment is required for reducing torque ripple caused by cur rent offset Automatic adjustment is possible only with power supplied to the main circuit power supply and with the servo OFF IMPORTANT Execute the automatic offset adjustment if the torque ripple is too big when compared with that of other SERVOPA
121. 0 F000 Manual givadjsiment of analog monitorouipat OY Fn00E Automatie ofbetadjutment of motor corent detesionsiga O Fn0OF Manual oer adjustment of motor current detection siei 0 FOTO Password setting protects parameters fom beng changed Fo Momos O o Foa Setwaevemondwg OO o Fn013 Multiturn limit value setting change when a Multiturn Limit Disagreement alarm A CC occurs Note When the parameters marked with O in remarks column are set for Write Prohibited Setting Fn010 the indication shown below appears and such parameters cannot be changed Cc _ Blinks for L LI one second 10 30 10 4 List of Parameters 10 4 2 List of Parameters 1 Parameter Display Parameter settings are displayed as shown below Fur l1 Decimal display LIILI LI in five digit 2 Definition of Display for Function Selection Parameters Each digit of the function selection parameters has a meaning For example the rightmost digit of parameter Pn000 is expressed as Pn000 0 IMPORTANT 1 Each digit of the function selection parameters is defined as shown below The following explains the purpose of each digit of a parameter Pn000 0 or n xxxLI Indicates the value for the 1st digit of parameter Pn000 Pn000 1 or n xxLIx Indicates the value for the 2nd digit of parameter Pn000 Pn000 2 or n xLlIxx Indicates the value for the 3rd digit of parameter Pn000 Pn000
122. 0 0638 0 0955 0 0318 0 0638 0 0955 Instantaneous 0 0955 0 191 0 287 0 0955 0 191 0 287 1 mac 13 5 27 0 40 6 13 5 27 0 40 6 Peak Torque ozin 8s 270 406 135 aoe Instantaneous i A 5 7 5 7 Max Current 1 Am oo ease s 0 0172 0 0358 0 0358 0 0172 0 0358 0 0358 Torque Constant x10 kg m 0 00354 0 00548 0 00750 0 00354 0 00548 0 00750 Incremental Rotor Moment of 0 0501 0 00776 0 106 0 0501 0 00776 0 106 x104 ka m 0 00272 0 00466 0 00668 0 00272 0 00466 0 00668 PE TEC 0 00466 0 00668 0 0385 0 0660 0 0946 0 0385 0 0660 0 0946 Rated Power Rate Rated Angular gu H rad s2 90000 116000 127000 90000 116000 127000 Acceleration 1 These items and torque motor speed characteristics quoted in combination with an SGDJ SERVOPACK are at an armature winding temperature of 100 C 212 F Other values quoted at 20 C 68 F All values are typical 2 Rated torques are continuous allowable torque values at 40 C 104 F with an aluminum plate heat sink attached Al and A2 150 x 150 x 3 mm 5 9 x 5 9 x 0 12 in A3 250 x 250 x 6 mm 10 x 10 x 0 24 in 3 These values are reference values 3 2 3 1 Ratings and Specifications of SGMMJ 3000 min 2 Holding Brake Moment of Inertia The moment of inertia of the servomotor with holding brake is expressed using the following equation The moment of inertia of the
123. 0000 After E restart 4th 3rd 2nd 1st digit digit digit digit Near Signal Mapping NEAR Refer to 8 6 6 Positioning Near Signal Lo Disabled the above signal is not used Outputs the signal from CN1 25 or 26 terminals 2 Outputs the signal from CN1 27 or 28 terminals 3 Outputs the signal from CN1 29 or 30 terminals Reserved Do not change Reserved Do not change Reserved Do not change Pn511 Reserved Do not change 8888 8888 Immedi ately Pn512 Output Signal Reversal Settings 4 0000 0000 restart 4th 3rd 2nd ist digit digit digit digit Output Signal Reversal for CN1 8 or 10 Terminals Lo Output signal is not reversed Output signal is reversed Output Signal Reversal for CN1 9 or 10 Terminals Lo Output signal is not reversed Output signal is reversed Output Signal Reversal for CN1 7 or 10 Terminals oO Output signal is not reversed Output signal is reversed Reserved Do not change PACK Capacity ately Pn601 Reserved Do not change Depends on SERVO Immedi em mooemt opm ately 1 Normally set to 0 When using an external regenerative resistor set the allowable power loss W of the regenerative resistor 2 The upper limit is the maximum output capacity W of the SERVOPACK 10 46 10 4 List of Parameters 10 4 3 Monitor Modes The following list shows monitor modes available Parameter Content of Display No T Un008
124. 010 250 immediately To reduce the positioning time set these parameters based on the machine s characteristics The Bias Width Addition Pn108 specifies when the Bias Pn107 is added and the width is expressed in error pulse units The bias input will be added when Bias width addition the error pulse value exceeds the width set in Pn108 Pn108 Speed reference Bias set No bias Bias Pn107 gt Error pulse Bias Pn107 Bias width addition Pn108 9 4 6 Speed Feedback Filter Pn308 Speed Feedback Filter Time Constant Setting Range Setting Unit Factory Setting Setting Validation 0 to 65 535 0 01 ms 0 Immediately 0 00 to 655 35 ms 0 00 ms Sets the 1st order filter for the speed loop s speed feedback Makes the motor speed smoother and reduces vibration If the set value is too high it will introduce a delay in the loop and cause poor responsiveness 9 20 9 4 Servo Gain Adjustment Functions 9 4 7 Speed Feedback Compensation The speed feedback compensation can be used to reduce vibration and allow a higher speed loop gain to be set In the end the speed feedback compensation allows the positioning settling time to be reduced because the position loop gain can also be increased if the speed loop gain can be increased Pn110 Online Autotuning Switches Setting Range Setting Unit Factory Setting Setting Validation a After restar Speed Feedback Compensation Setting Range Setting Unit Fac
125. 012 0 030 0 0012 5 35 0 035 0 0014 5 2 56 5 2 56 35 35 0 030 0 0012 0 0 0 6 0 6 0 0 035 0 0014 8 0 6 0 6 0 0 035 0 0014 0 3 P H 3 j 3 32 1 0 018 1 0 0 0 0007 1 0 0 0 0007 Units mm in Shaft end Dimensions G O O a S 0 0 0 0007 0 0 0 0007 4 6 0 6 0 16 6 0 6 6 0 0 018 0 0007 0 021 0 0008 0 035 0 0014 0 021 0 0008 0 0 0 0 021 0 0008 0 0 018 0 018 0 018 0 018 i 1 0 0 018 0 0007 0 0 1 0 0 0 018 0 0007 1 0 0 0 0 55 0 63 0 63 0 63 0 63 0 63 2 0 79 0 63 0 63 0 79 0 79 3 6 Dimensional Drawings of SGMAJ Servomotors 3000 min 2 200 W 300 W pepe E y I i FED o8 ive E HSS oa xL R n i xt ye GENERE dj is ee t N x o t Lo N ojo S oe lt C 2 s zu 3 qi o Fl s si AS Aus i Pii X Ne o o IN o8 Ez o 2 Sr 4 8 a Cea uw o had 5 H nt i pal mele A 4 ss I s 2 hE a m N A eo eo 2 2 Se Bt e oo Pg A o oo e 5 5 H N 24 5 S Ws e SUA ps E SO Jao col gee N st S Q La a Goss
126. 018 0 00071 01EOAHCO1 85 9 335 20 079 0 035 0 0014 0 021 0 00083 01EQOAH7O1 85 335 20 079 0 035 0 0014 0 021 0 00083 2 200 W 300 W Encoder cable 7 0 28 300 11 81 30 1 18 zi Encoderplug a uiar4 4 1 UL20276 Shaft End EK 3 EVER Motor plug gt g 1 a x ge A 0 04 300 11 81 0 0024 0 0016 i uj 30 1 18 L _L 0 06 Aj 40 05 A nic E Le IR 0 0020 0 LM L1 12 14 00 55 LG 13 a LEH QK j Y H Z H 7 EE WAZ eom 4H 5 g WA 1933 f z 44 Y 4 9LZ Serial encoder Rotating section Tap x Depth Hatching section See the following table Units mm in sow me c uem menie o eon olos 0 0 039 02EQDAHCO1 045 we Bis rc N in oe 1 42 a 1 42 Bl RA Ww Ww wo 5o 5 o m N M m LR Uu N Cn ar Ss S a Ur A God tA oma gt gt 243 5 159 5 126 84 12 12 59 96 100 ae aes E 03EDAH101 m E OSELIAHBLI1 om ia PARIE 6 8 4 13 0 49 n A zi b I qo 9 e e Sue E NI EOE S w Da Fo e bo 3 41 3 Specifications and Dimensional Drawings 3 6 5
127. 05 and Pn306 2nd speed SPEED2 1st speed SPEED1 o i 1 i Stop I i I SPEED1 1 l i l 1st speed I I I SPEED2 f f l i 1 2nd speed 1 i f 1 l I E I f SPEED3 i 1 Brd speed f I 1 1 f 1 1 i l l f ROE SPD OFF OFF ON r ON OFF OFF ON ON OFF j 1 f I IN CL SPD B i OFF ON ON OFF OFF ON ON OFF OFF 1 I i l ON ON ON OFF OFF OFF OFF OFF P CON SPD D IMPORTANT When Pn000 1 5 Internally set speed control Position control in the SGDJ LILILIP SERVOPACK the soft start function will operate only when selecting the internally set speed The soft start function can not be used with pulse reference input When switching to pulse reference input during operation at either of the three speeds 1st speed to 3rd speed the pulse reference will not be received by the SERVOPACK until after the positioning completed COIN signal is output Always begin the output of the pulse reference from the host controller after the positioning completed COIN signal is output from the SERVOPACK Example Operation with an Internally Set Speed and Soft Start amp Position Control Pulse Train Reference Signal Timing in Position Control Motor speed 0 min Pulse reference OFF f ON Selected speed 1st speed 2nd speed 3rd speed Pulse reference 1st speed t1 gt 2 ms
128. 07 n LILILIO Acceleration deceleration filter n LILILI 1 Average movement filter After resetting the parameter turn OFF the power once and turn it ON again 2 Filter related Parameters Position Reference Acceleration Deceleration Time Constant Setting Range Setting Unit recy Setting Setting Validation 0 to 6400 0 01 ms Immediately 0 to 64 00 ms 0 o ms Average Movement Time of Position Reference Position Setting Range Setting Unit Factory Setting Setting Validation 0640 ommes 0 immediately W IMPORTANT When the position reference acceleration deceleration time constant Pn204 is changed a value with no reference pulse input and a position error of 0 will be enabled To ensure that the setting value is correctly reflected stop the reference pulse from the host controller and input the clear signal CLR or turn the servo OFF to clear the error This function provides smooth motor operating in the following cases The function does not affect the travel distance 1 e the number of pulses When the host controller that outputs a reference cannot perform acceleration deceleration processing When the reference pulse frequency is too low e When the reference electronic gear ratio is too high i e 10x or more The difference between the position reference acceleration deceleration time constant Pn204 and the position reference movement averaging time Pn208 is shown below Acceleration Deceler
129. 1 18 0 57 1 10 0 98 0 63 25 63 65 30 30 145 28 25 16 0 35 2 56 1 18 1 18 0 57 1 10 0 98 0 63 10 69 83 85 36 38 195 36 32 20 0 39 1 50 0 77 1 42 1 26 0 79 10 6 268 194 120 A8COAJCO1 01E0AJ700 z A d 0 39 i i i 25 09 3 35 3 Specifications and Dimensional Drawings 3 6 4 SGMAJ Servomotors 3000 min With Standard Backlash Gears and Brakes Units mm in F Ree SGMAJ Ratio LC LA LZ TapxDepth U W T bed Load Load g b w bf N lbf T 615 gt i S 1 The dimensions for L and LL of a servomotor incorporating an encoder with super capacitor model SGMAJ LILILIA 7 INFOJ are as shown below SGMAJ AS A8 and 01 L dimension 12 mm 0 47 in LL dimension 12 mm 0 47 in 2 The working point of the SGMAJ servomotor radial load is at the position of minus 5 mm from the shaft end Dimensional Tolerances Units mm in Model Flange Face Dimensions Shaft end Dimensions A LB C S 0 030 0 0012 0 018 0 0007 0 030 0 0012 0 018 0 0007 0 030 0 0012 0 018 0 0007 65 T 1 2 0 030 0 0012 0 018 0 0007 65 1 2 0 030 0 00 0 018 0 0007 0 035 0 0014 0 021 0 0008 LB S 9 2 20 0 55 9 2 56 6 0 63 0 556 6 0 63 0 7 56 6 0 63 9 2 56 6 0 63 0 3
130. 1 Servo Alarm Output ALM and Alarm Code Output ALO1 ALO2 ALO3 8 76 8 11 2 Warning Output IWARN 8 77 8 11 3 Running Output Signal TGON 8 77 8 11 4 Servo Ready S RDY Output 8 78 9 Adjustments 9 1 Autotuning 9 2 9 1 1 Servo Gain Adjustment Methods 9 2 9 1 2 List of Servo Adjustment Functions 9 3 9 2 Online Autotuning 9 5 9 2 1 Online Autotuning 9 5 9 2 2 Online Autotuning Procedure 9 6 9 2 3 Selecting the Online Autotuning Execution Method 9 7 9 2 4 Machine Rigidity Setting for Online Autotuning 9 8 9 2 5 Method for Changing the Machine Rigidity Setting 9 9 9 2 6 Saving the Results of Online Autotuning 9 10 9 2 7 Procedure for Saving the Results of Online Autotuning 9 10 9 3 Manual Tuning 9 11 9 3 1 Explanation of Servo Gain 9 11 9 3 2 Servo Gain Manual Tuning 9 12 9 3 3 Position Loop Gain 9 12 9 3 4 Speed Loop Gain 9 13 9 3 5 Speed Loop Integral Time Constant
131. 152MHSA EO LGQ2A102MHSA Note To limit the voltage variation of the power supply that results from changes in the load of the servomotor i UPITHT2OM Control Power Supply 39 0 32 UPJ2A390MPH CORPORA Input TION 3 15 PH insert the power supply input capacitor as close as possible to the SERVOPACK so that it is parallel to the output side of the AC DC power supply 2 14 2 5 Selecting Peripheral Devices 2 5 4 Noise Filters Surge Suppressors Magnetic Conductors and Brake Power Supply SERVOPACK Model Noise Filter Surge Suppressor SGDJ end BM Manufacturer Manufacturer an 7n a Okaya Electric E TE i SUP P8HEPR 4 Industries Co CR50500BA EE UE EO vpe Ltd Note 1 Connect a noise filter on the AC side of an AC DC power supply 2 Mount the surge suppressor on the magnetic conductors to prevent noise from the power supply and to protect the contacts 1 Magnetic Conductors Connect the magnetic conductors on the DC side of an AC DC power supply Select the magnetic conductors according to the capacity of the power supply If several servo system are being used at the same time select the magnetic conductors according to the total capacity 2 Brake Power Supply The brakes of the SGMMJ and SGMAJ servomotors are 24 VDC The 24 VDC brake power supply must be provided by the customer Be careful when connecting the power supply for 24 VDC brake to the local power supply The
132. 2 2 1 2 Model SGMAJ 2 4 2 2 SERVOPACK Model Designations 2 6 2 3 SGDJ SERVOPACKs and Applicable Servomotors 2 7 2 4 Selecting Cables 2 8 2 5 Selecting Peripheral Devices 2 12 2 5 1 Special Options 2 12 2 5 2 Molded case Circuit Breaker and Fuse Capacity 2 13 2 5 3 AC DC Power Supply and Power Supply Input Capacitor 2 14 2 5 4 Noise Filters Surge Suppressors Magnetic Conductors and Brake Power Supply 2 15 2 Selections 2 1 1 Model SGMMJ 2 1 Servomotor Model Designations This section explains how to check the servomotor model and ratings The alphanumeric codes after SGMLIH indicate the specifications 2 1 1 Model SGMMJ 1 Standard Type mini series SGMMJ servomotor 1st 2nd 3rd 4th digits digits digits digits digits digits digits SGMMJ A1CAA2 10 1st 2nd digits 3rd digit Power Rated Output Supply Voltage W Code Voltage Code Rated Output C 24V A1 10 E 48V A2 20 A3 30 5th Ath digit Serial Encoder Code Specifications Remarks A 13 bit incremental encoder Standard 2 17 bit absolute encoder Standard 6th 7th 8th
133. 20 RIGHT key 7 3 running output signal 8 77 run out at the end of the shaft 3 14 3 15 S selecting a position reference filter 8 56 selecting an absolute encoder 8 29 selecting cables 2 8 selecting the speed loop control method PI Control or IP Control 9 13 selecting the stopping method after servo OFF 8 25 SEN 6 12 SEN signal connection 8 28 sequence I O signal monitor display 7 27 sequence input 4 4 sequence input circuit interface 6 15 sequence output 4 4 servo alarm output 8 76 10 2 servo gain adjustment methods 9 2 explanation 9 11 servo ready output 8 78 servo system configurations 1 6 servomotor connection connector kit 2 11 Index servomotor inspection 10 18 servomotor main circuit cable specifications and dimensional drawings 5 2 servomotor main circuit cables and connectors
134. 20276 300 11 81 30 1 18 gt EN Motor cable AWG24 UL10095 or UL3266 Protective tube 5 00 20 Black e ENG 1 81 lt 0 06 A View Y Y 0 0024 Shaft End 118 4 65 48 0 71 10 04 42 7 1 68 40 8 1 61 NEAL A 0 0016 E140 E11 57 0 05 A 0 0020 Warning label Nameplate 4 03 4 0 13 through hole o9h7 9 o1 60 35 9 ccog 28h7 0 5 001 01 10 9 coos Units mm in Model Allowable Allowable SGMMJ Key Tap x Depth Radial Load Thrust Load N Ibf N Ibf ASDDAJIZD 6 A300AJ160 Attached 16 Sis en A3LILIAJ36LI Attached Note The key slot conforms to the standard JIS B 1301 1975 fine class and the parallel key is attached to it 3 22 3 5 Dimensional Drawings of SGMMJ Servomotors 3000min 3 5 4 SGMMJ Servomotors 3000min With Gears and Brakes 1 10 W 20 W Encoder cable UL20276 300 11 81 30 a Motor cable 3 0 12 3 0 12 AWG24 UL10095 Protective tube or UL3266 a 6 00 24 Black a x 300 11 81 M3 Tap x Depth 6 30 1 18 1I 0 06 JA View Y Y P L 0 0024 Shaft End J L1 18 0 71 T L2 3 0 12 7 0 04 125 00 98 9 5 7 5 2 0 47 LA 0 0016 16 0 63 War
135. 24 V Q 3 s 25 j PGO PCO 25 W Q 7 T j a Do N 1 1Ry rag ALM 34 CN iw ALM 35 cm xus 21 PULSE IPULSJ 2 CN1 4 SIGN 3 13 amp 22 X SIGN ISIGN1 4 _14 4 S ON 22K9 ciR 5 16 P OT 5 ICER 6 17 N OT 024V 23 CLEAR SE The ALM signal is output for about two seconds when the control power is turned ON Take this into consideration when designing the power ON sequence The ALM signal actuates the alarm detection relay 1Ry to stop the main circuit power supply to the SERVOPACK Note Only signals applicable to Mitsubishi s AD75 Positioning Unit and Yaskawa s SGDJ LILILIP SERVOPACK are shown in the diagram 10 29 10 Inspection Maintenance and Troubleshooting 10 4 1 Utility Functions List 10 4 List of Parameters 10 4 1 Utility Functions List The following list shows the available utility functions No a stor gy ag avoids E aaa F002 FOGmodeapention CYT Fos Zerowpointsearchmode SSCS CCS Fro4 Fixed parameterDonotchange CE FR005 Paramersetinginitalizaon ECOL F06 Aummebwk ndea TOS Fn007 Writing to EEPROM inertia ratio data obtained from online wong O 927 FnOO8 Absolute encoder mulitumresetand encoderalamreset sO 43 Fn009 Automatic tuning of analog speed torque reference offset m a E Fn00B8 Manual adjustment otorgue referenco SSC F006 Manual zero adjustmont of analog monitor ouput
136. 35 0 79 3 36 3 6 Dimensional Drawings of SGMAJ Servomotors 3000 min Units mm in cont d Model Flange Face Dimensions Shaft end Dimensions 2 7 M NRI GANZE 0 035 0 0014 0 021 0 0008 0 030 0 0012 0 018 0 0007 5 1 5 0 035 0 0014 0 021 0 0008 0 035 0 0014 0 021 0 0008 2 200 W 300 W LB S 9 335 0 0 79 65 2 56 6 0 63 O1ELIAJ3LILI 65 9 256 6 0 63 0 030 0 0012 0 018 0 0007 85 335 o 0 79 9 335 0 0 79 Encoder cable 6 00 24 Encod UL20276 300 11 81 30 1 18 ncoder plug i Motor cable 7 0 28 35 1 38 Motor plug Ma 0 0024 F004 300 11 81 I 0 06 A 30 1 18 L L A 0 0016 el Lo IR 40 05 A c 26 LM tt te 60 0020 S 1 04 710 28 e Le fia a E LE aK a 13 0 51 sealants S4 a per Y N i Yr TY ry Pag d N 7 Y Serial MON Holding brake de energizing operation Rotating section AW Power supply 24 VDC Hatching section See the following table Units mm in sous AE ESTEE ERE Ed ES E EEUU 63 ain an eo eso er c2n eso ona saeua 351 s un wi RECEN IER R 1139 1 5 Bis Tee 1 57 1 73 ree a 5 iiri 620 ie an G2 ca 694 i5 07 om ass 4 ese
137. 4 Position Reference Accel Decel Time 0 00 to 64 00 ms 0 01 ms Immedi Constant ately Pn205 multiturn Limit Setting 0 to 65535 rev NE 65535 65535 restart nepes 1 1 Used only for SGDJ LILILIP SERVOPACK for position control mode 2 The multiturn limit must be changed only for special applications Changing this limit inappropri ately or unintentionally can be dangerous 10 38 10 4 List of Parameters Param Name Setting Range Units Factory Setting Setting Setting Reference eter No Ooos 000P Validation Section Pn207 Position Control Function Switches 0000 to 1111 Leo 0000 restart 4th 3rd 2nd 1st digit digit digit digit Position Reference Filter Selection Refer to 8 6 4 Smoothing 0 Acceleration deceleration filter Average movement filter Reserved Do not change Reserved Do not change Reserved Do not change Pn208 Position Reference Movement Averaging 0 00 to 64 00 ms 0 01 ms After Time restart Pn300 Speed Reference Input Gain 1 50 to 30 00 V Immedi rated speed ately Pn301 Speed 1 0 to 10000 min 1 mir 100 100 Immedi 8 8 1 ately Pn302 Speed 2 0 to 10000 min 1 mir 200 200 Immedi 8 8 1 ately Pn303 Speed 3 0 to 10000 min 1 min 300 300 Immedi 8 8 1 ately Pn304 JOG Speed 0 to 10000 min 1 mir 500 500 Immedi 8 1 1 ately Pn305 Soft Start Acceleration Time 0 to 10000 ms 1 ms Immedi 8 5 4 ately Pn306 S
138. 5 3 SGMMJ Servomotor 3000min With Gears and Without Brakes 3 21 3 5 4 SGMMJ Servomotors 3000min With Gears and Brakes 3 23 3 6 Dimensional Drawings of SGMAJ Servomotors 3000 min 3 25 3 6 1 SGMAJ Servomotors 3000 min Without Gears 3 25 3 6 2 SGMAJ Servomotors 3000 min Without Gears and With Brakes 3 28 3 6 3 SGMAJ Servomotors 3000 min With Standard Backlash Gears and Without Brakes 3 30 3 6 4 SGMAJ Servomotors 3000 min With Standard Backlash Gears and Brakes 3 35 3 6 5 SGMAJ Servomotors 3000 min With Low backlash Gears and Without Brakes 3 39 3 7 Dimensional Drawing of Output Shafts With Oil Seals 3 43 3 Specifications and Dimensional Drawings 3 1 1 SGMMJ Servomotors Without Gears 3 1 Ratings and Specifications of SGMMJ 3000 min 3 1 1 SGMMJ Servomotors Without Gears 1 Ratings and Specifications Time Rating Continuous Thermal Class B Vibration Class 15 um or below Withstand Voltage 1000 VAC for one minute Insulation Resistance 500 VDC 10 M Q min 400 V Servomotors 1800 VAC for one minute Ambient Temperature 0 to 40 C 32 to 104 F Ambient Humidity 20 to 80 no condensation Excitation Permanent magnet Drive Method Direct drive Mounting Flange method Voltage For 24 VDC For 48 VDC Servomolor Model SGMMU Rated Torque 0 0318
139. 7the digits Conformed to SGMMJ Servomotors 1st 2nd digits SERVOPACK for SGMAJ and SGMMJ Rated Output of Applicable Servomotor W A2C A3C is blank Code Rated Output 4 digit Control Mode Al 19 Code Remarks Be au S For speed and torque control A3 30 P For position control A5 50 A8 80 3 digit Voltage 01 100 Code Voltage 02 200 E 48 VDC 03 300 C 24 VDC 2 3 SGDJ SERVOPACKs and Applicable Servomotors 2 3 SGDJ SERVOPACKs and Applicable Servomotors SGDJ SERVOPACK Servomotor 24VDC VDC 48 VDC e umi 7 SGMMJ 24 VDC A2C ASCO Ka a A5C ASCO SGMAJ aec ct XE ap 48 voc 25 n SNC NN A swa EL wE aa SGMMJ 02E O2ELI ee m 2 7 2 Selections 2 4 Selecting Cables i Vimeo 7K i AIA Do 7 g V 2 8 2 4 Selecting Cables 9 84 ft 16 4 ft 32 8 ft 49 2 ft 65 6 ft D ona Encoder Cable Cable with connec tors at both ends Cable with loose wire at encoder end SERVOPACK end connector kit Encoder end connector kit Cables JZSP CMP03 03 9 84 ft JZSP CMP03 05 16 4 ft JZSP CMP03 10 32 8 ft JZSP CMP03 15 49 2 ft JZSP CMP03 20 65 6 ft JZSP CMP9 1 JZSP CMP9 2 ee JZSP CMP09 05 16 4 ft
140. 8 60 operation in monitor mode 7 28 output circuit interface 6 15 line driver output circuit 6 15 open collector output circuit 6 16 photocoupler output circuit 6 16 output circuit signal allocation 7 24 output signal monitor display 7 28 overshooting 9 17 overtravel stop 4 4 P PAO 6 13 PAO serial data specifications 8 32 parameter setting mode 7 17 parameter settings initialization Fn005 7 10 parameters 7 18 7 20 example of changing function selection 7 20 password setting protects parameters from being changed Fn010 7 14 PBO 6 13 P CL 6 12 PCO 6 13 P CON 6 12 peripheral device selection 2 12 2 15 noise filters surge suppressors magnetic conductors and brake power supply 2 15 perpendicularity between the flange face and output shaft 3 14 3 15 PG divider
141. 81 30 1 18 i 0 1 0 04 A L 0 0016 SA EEEE i i Le 040 01 57 3 LM 2 5 0098 90 04 A 22 0 12 5 60 0076 0 87 Sealants 0 20 9 6 0 37 17 0 67 7 Sh6 30h7 5 0 021 91 195 0 0008 Serial encoder N Holding brake de energization operation Z 0 02 0 0008 Power supply 24 VDC See the following table Units mm in Allowable Allowable Model LM Radial Thrust SGMAJ TapxDepth Load N Load N Ibf Ibf Bo 133 5 108 5 44 0 No owes NEU IL AN ASHIBAALI 5 26 4 27 1 73 uM ne eae 0 pon emo Eug 160 135 61 5 No o 78 54 A8COA40 A8COA40 o 30 5 31 2 S Nome 18 12 ABCEIAGLI er area 160 0 135 0 61 5 No owes 78 54 01EDA40 01EDA40 30 5 31 2 42 18 12 Enae m o INF oN 1 The dimensions for L and LL of a servomotor incorporating an encoder with super capacitor model SGMAJ LILILIA V are as shown below SGMAJ AS A8 and 01 L dimension 12 mm 0 47 in LL dimension 12 mm 0 17 in 2 The working point of the SGMAJ servomotor radial load is at the position of minus 5 mm from the shaft end 3 28 3 6 Dimensional Drawings of SGMAJ Servomotors 3000 min Dimensional Tolerances Units mm in Model Shaft end Dimensions mm in SOMAJ A500420 A500440 0 235
142. AUTION Conduct trial operation on the servomotor alone with the motor shaft disconnected from machine to avoid any unexpected accidents Failure to observe this caution may result in injury Before starting operation with a machine connected change the settings to match the parameters of the machine Starting operation without matching the proper settings may cause the machine to run out of control or malfunction Forward run prohibited P OT and reverse run prohibited N OT signals are not effective during zero point search mode using parameter Fn003 When using the servomotor for a vertical axis install the safety devices to prevent workpieces to fall off due to occurrence of alarm or overtravel Setthe servomotor so that it will stop in the zero clamp state at occurrence of overtravel Failure to observe this caution may cause workpieces to fall off due to overtravel When not using the normal autotuning set to the correct moment of inertia ratio Setting to an incorrect moment of inertia ratio may cause vibration Do not touch the SERVOPACK heatsinks 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
143. After restart position error condition only Reserved Do not change Immedi Pn10C Mode Switch Torque Reference 0 to 800 1 200 200 9 4 4 ately Pn10D Mode Switch Speed Reference 0 to 10000 min 1 min Immedi 9 4 4 ately Pn10E Mode Switch Acceleration 0 to 3000 min s 1 minl s Immedi 9 4 4 ately Pn10F Mode Switch Error Pulse 0 to 10000 reference 1 reference Immedi 9 4 4 units unit ately Used only for SGDJ LILILIP SERVOPACK for position control mode 10 36 10 4 List of Parameters Param Name Setting Range Units Factory Setting Setting Reference eter No 000s coop Validation Section Pn110 Online Autotuning Switches 0010 0010 After restart Immedi ately 4th 3rd 2nd st digit digit digit digit Online Autotuning Method Setting Refer to 9 2 3 Selecting the Online Autotuning Execution Method Validation Tunes only at the beginning of operation Always tunes After restart Does not perform autotuning Speed Feedback Compensation Selection Setting Refer to 9 4 7 Speed Feedback Compensation Validation Applicable Immediately MET Setting Friction Compensation Selection Validation Friction compensation Disabled Friction compensation Small Immediately 2 Friction compensation Large 10 37 Reserved Do not change Pn111 Speed Feedback Compensation 1 to 500 1 poem Immedi ately 100 100 Reserved Do not change Pn11F Lg an Pn121 Era The p
144. C Max operating current FG Connect shield to 50 mA DC connector shell Connector shell l ES represents twisted pair wires 2 The time constant for the primary filter is 47 us 3 Connect a backup battery when using an absolute encoder When connecting a battery to the host controller however do not connect a backup battery 4 Enabled by the parameter setting 5 Customers must purchase a 24 VDC power supply with double shielded enclosure 6 Enabled when using the absolute encoder Note The functions allocated to the input signals SIO to SI6 and the output signals SO1 to SO3 can be changed by using the parameters Refer to 7 3 2 Input Circuit Signal Allocation and 7 3 3 Output Circuit Signal Allocation 6 Wiring 6 3 2 SGDJ LILILIP for Position Control Mode 6 3 2 SGDJ LILILIP for Position Control Mode SERVOPACK TAPULS PULS CW Phase PULS SIGN SLOT Alarm code output SIGN Max operating voltage Position PRSY ALO 30 VDC reference SIGN ALO3 Max operating current lt 20 mA DC CLR CLR CLR A PAO PAO ce PBO PG dividing ratio output 93 PBO Applicable line receiver lt lt SN75175 manufactured by Texas Instruments or m BAT the equivalent corresponding Backup battery 2 PCO to MC3486 2 8104 5 V BAT 250 PCO SEN PSO Amount of phase S rotation 5V Serial data output SEN sianal input 2 SG C27 amp ipso Applicable line receiver TUER n SN75175 manufac
145. CKs Display after T SEE Key Press the DSPL SET Key to select the utility function mode DSPL SET DSPL SET Key Press the UP or DOWN Key to select FnOOE Note The enabled digit blinks Press the DATA ENTER Key and the display will be as shown on the left Press the DSPL SET Key The offset will be automatically adjusted When the adjustment completes the display shown on the left blinks for about one second After about one The display changes from donE to the display shown on the second left Press the DATA ENTER Key to return to the utility function EMEP mode display FnOOE DATA ENTER Key 7 12 7 2 Operation in Utility Function Mode FnOOD 7 2 7 Manual Offset adjustment of Motor Current Detection Signal FnOOF The adjusting range of the motor current detection offset is 512 to 511 To adjust the offset perform the automatic adjustment FnOOE first And if the torque ripple is still big after the automatic adjustment perform the manual adjustment IMPORTANT If this function particularly manual adjustment is executed carelessly it may worsen the characteristics When performing manual adjustments run the motor at a speed of approximately 100 min and adjust the operator until the torque monitor ripple is minimized Refer to 9 5 Analog Monitor Adjust the phase U and phase V offsets alternately several times until these offsets are well balanced Key DSPL SET DSPL SET
146. Control Mode 10 26 10 3 8 Example of Connection to OMRON s Position Control Unit C500 NC112 SERVOPACK in Position Control Mode 10 27 10 3 9 Example of Connection to MITSUBISHI s AD72 Positioning Unit SERVOPACK in Speed Control Mode 10 28 10 3 10 Example of Connection to MITSUBISHI s AD75 Positioning Unit SERVOPACK in Position Control Mode 10 29 10 4 List of Parameters 10 30 10 4 1 Utility Functions List 10 30 10 4 2 List of Parameters 10 31 10 4 3 Monitor Modes 10 47 10 1 10 Inspection Maintenance and Troubleshooting 10 1 1 Alarm Display Table 10 1 Troubleshooting 10 1 1 Alarm Display Table The relation between alarm displays and alarm code outputs is shown in Table 10 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 10 1 Alarm Displays and Outputs Alarm Alarm Code Output Foam Alarm Name Meaning fent Display ALO1 ALO2 ALO3 A 02 Parameter Breakdown EEPROM data of SERVOPACK is abnormal Main Circuit Encoder Error Detection data for power circuit is abnormal H H H Parameter Setting Error The parameter setting is out
147. D Allocating Output Signals EXAMPLE The procedure to replace Rotation Detection TGON signal allocated to CN1 9 10 with factory setting to Invalid and allocate Brake Interlock BK signal to CN1 9 10 is shown below Before After Pn50E BELL GEL Display after er 1 DSPL SET DSPL SET Key DATA ENTER DATA ENTER Key DATA ENTER DATA ENT DATA ENTER DATA ENTER Key DATA ENTER DATA ENTER Key DATA ENTER DATA ENTER Key DATA ENTER DATA ENTER Key Press the DSPL SET Key to select the value setting parame ter mode Ifa parameter other than PnSOE is displayed press the UP or DOWN Key to select Pn50E Note The enabled digit blinks Press the DATA ENTER Key to display the current data of Pn50E TGON is allocated to CN1 9 10 Press the LEFT Key or RIGHT Key to select the third digit from the right Press the DOWN Key to set 0 Sets TGON Tnvalid Press the DATA ENTER Key The value blinks and is saved Press the DATA ENTER Key to return to the display Pn50E Press the UP Key to set Pn50F Note The enabled digit blinks Press the DATA ENTER Key to display the current data of Pn50F BK is set to Invalid Press the LEFT or RIHGT Key to select the third digit from the right Press the UP Key to set 2 Allocates BK to CN1 9 10 Press the DATA ENTER Key The value blinks and is saved Press the DATA EN
148. ERVOPACK lute encoder is used with the setting for incremental encoder Alarm occurred when the power to the absolute Set up the encoder encoder was initially turned ON The encoder cable had been disconnected once First confirm the connection and set up the encoder The power from both the PG power supply 5 V Replace the battery or take similar measures to and the battery power supply from the SERVO supply power to the encoder and set up the PACK is not being supplied encoder An absolute encoder fault occurred If the alarm cannot be reset by setting up the encoder again replace the encoder A SERVOPACK fault occurred Replace the SERVOPACK A fault occurred in the encoder and was detected by Set up the encoder If this alarm occurs fre encoder self diagnosis quently replace the servomotor A SERVOPACK fault occurred Replace the SERVOPACK Set up the encoder If this alarm occurs fre quently replace the servomotor A fault occurred in the encoder and was detected by encoder self diagnosis When the absolute encoder was used as an incre mental a SERVOPACK board fault occurred Replace the SERVOPACK The battery connection is incorrect Reconnect the battery The battery voltage is lower than the specified value Replace the battery and then turn ON the power 2 7 V to the encoder A SERVOPACK board fault occurred Replace the SERVOPACK 10 1 Troubleshooting Encoder Data Error Detected
149. Error counter value amount of position error displayed only in position control mode Un009 Accumulated load rate Value for the rated torque as 10096 Displays effective torque in 10 s cycle ROO Un00B Power consumed by DB resistance Value for the processable power when dynamic brake is applied as 100 Displays DB power consumption in 10 s cycle UnO0C Input reference pulse counter hexadecimal code displayed only in position control mode Un00D Feedback pulse counter hexadecimal code 10 47 Index INDEX A absolute encoder battery 2 13 absolute encoder reception sequence 8 31 absolute encoder setup 8 30 absolute encoders 8 27 AC DC power supply and power supply input capacitor 2 14 adjusting offset 8 39 alarm code output 8 76 10 2 alarm display table 10 2 alarm reset 8 76 10 2 alarm traceback data clear Fn006 7 11 alarm traceback data display Fn000 7 8 alignment 3 12 allocating input signals 7 23 allocating output signals 7 25 ALM
150. F 1 Variable resistor example Model 25HP 10B manufactured by Sakae Tsushin Kogyo Co Ltd SG 42 8 60 8 7 Operating Using Torque Control INFON m Checking the Internal Torque Reference 1 Checking the internal torque reference with the panel operator Use the Monitor Mode Un 002 Refer to 7 4 Operation in Monitor Mode Un OLID 2 Checking the internal torque reference with an analog monitor The internal torque reference can also be checked with an analog monitor Refer to 9 5 Analog Monitor 8 7 3 Adjusting the Reference Offset 1 Automatic Adjustment of the Torque Reference Offset When using torque control the servomotor may rotate slowly even when 0 V is specified as the analog reference voltage This occurs when the host controller or external circuit has a slight offset measured in mV in the refer ence voltage In this case the reference offset can be adjusted automatically and manually using the digital oper ator The automatic adjustment of analog speed torque reference offset Fn009 automatically measures the offset and adjusts the reference voltage The SERVOPACK performs the following automatic adjustment when the host controller or external circuit has an offset in the reference voltage Reference voltage Reference voltage 4 Offset automatically adjusted in SERVOPACK Offset Torque Automatic reference Torque offset reference adjustment
151. G 28 x 18P UL20276 VW 1SC L_ 4 29 Finished dimension 6 8 mm 00 27in H 9 100 8 3 9409 Units mm in Manufactured by Sumitomo 3M Ltd Terminal number seal 5 5 2 Connector Type and Cable Size Use the following connector and wire when assembling the cable The CN1 connector includes a set of case and a connector Connector Type Manufactured by Sumitomo 3M Ltd 1 Dimensional Drawing of Case Units mm in 17 0 0 67 og LO hoped 18 0 32 2 1 27 0 71 P 1 37 6 1 48 SS Hah Zn i oc o 0 amp wi HU lt i S 435071 J OS 127 0 50 5 Specifications and Dimensional Drawings of Cables and Peripheral Devices 5 5 2 Connector Type and Cable Size 2 Dimensional Drawing of Connector Units mm in 2 54 0 10 A 1 27 0 05 S e N Z E a TER S A S SS 9 a LL a xe Pin No 1 Pin No 2 OO Sc oc T 2 a ot 1 27 0 05 AS Pin No 19 21 59 0 85 27 8 1 09 3 Cable Size Specifications Use twisted pair or twisted pair shielded wire Applicable Wires AWQG24A 26 28 30 Finished Dimension 16 mm 00 63 in o
152. IC MADE IN JAPAN Applicable motor capacity 1 3 1 Outline 1 2 1 Servomotors Without Gears and Brakes 1 2 Product Part Names 1 2 1 Servomotors Without Gears and Brakes 1 SGMMJ Pr Servomotor connector a2 Encoder connector t Servomotor main circuit cable Z Encoder cable Nameplate Back side Encoder Detecting section 2 SGMAJ Ph v Encoder connector Z D Servomotor connector N Servomotor main Fa Encoder cable circuit cable Nameplate Back side Encoder Detecting section 1 4 1 2 2 SERVOPACKs Ready indicator Green lights Control power supply and main circuit current can be turned ON and servomotors can be operated Red lights Cannot be operated when alarms occurs CN8 Servomotor terminals and ground terminals Connects to the servomotor power line Refer to 6 1 Wiring Main Circuit Nameplate side view Indicates the SERVOPACK model and ratings Refer to 1 1 3 SERVOPACKs J eue O 0 00 0 CN9 Main circuit power supply terminals and ground terminals Used for main circuit power supply input Refer to 6 1 Wiring Main Circuit CN7 Control power supply terminals Used for control power supply input Refer to 6 1 W
153. Input Read Error The A D converter for reference speed Available input is faulty Reference Torque Input Read Error The A D converter for reference Available torque input is faulty System Alarm A Hon c MPH error occurred in the SER Hon c MPH EL MN Multiturn Limit Setting Error was not properly cleared or set WENN 25 NC PACK and encoder is not possible Encoder Parameter Error Parameter Error Encoder pauca are EIL UCUL MNE e ur Lr cicoderi is incorrect set in Hie encoder and SERVOPACK M MM EIDEIEE ter Pn505 00E Digital Operator Digital operator JUSP OP02A 2 Transmission Error fails to communicate with SERVO Not decided PACK e g CPU error Form Nwwiwesnsas ATA TATE 10 3 10 Inspection Maintenance and Troubleshooting 10 1 2 Warning Display 10 1 2 Warning Display The relation between warning displays and warning code outputs is shown in table 10 2 Table 10 2 Warning Displays and Outputs Warning f Warning Code Output Display Warning Name Meaning ALOT ALO T ALOS Overload This warning occurs before the overload alarms A 71 or A 72 occur If the warning is ignored and operation con tinues an overload alarm may occur Absolute Encoder Battery This warning occurs when the absolute encoder battery Voltage Lowered voltage is lowered Ifthe warning is ignored and operation continues an overload alarm may occur Note Warning code is not output without setting P
154. J 3000min cont d Moment of dae J Servomotor Gear Output x104 kg m x10 oz in s Servomotor Rated Instanta Model neous SGMAJ E Peak 4 Motor Gas n i me Dl i Gears oz in 2 55 80 8 0 441 0 335 5 96 85 19 3 0 191 0 085 tA Maximum motor speed is up to 4000 min at the shaft 2 Gear output torque is expressed using the following equation X efficiency Gear output torque servomotor output torque x sear ratio 3 The instantaneous peak torque values indicated with 3 are limited by the gear so use the following servomotor instantaneous peak torque In this case set torque limit parameters Pn402 and 403 for the SERVOPACK at 250 3 11 3 Specifications and Dimensional Drawings 3 3 1 Precautions on Servomotor Installation 3 3 Mechanical Specifications of SGMMJ and SGMAJ Servomotors 3 3 1 Precautions on Servomotor Installation Servomotors can be installed either horizontally or vertically The service life of the servomotor will be shortened or unexpected problems will occur if the servomotor is installed incorrectly or in an inappropriate location Always observe the following installation instructions N CAUTION Do not connect the servomotor directly to a commercial power line This will damage the servomotor Do not connect Pa The servomotor cannot operate without the proper SERVOPACK Storage Temperature and Humidity Store the servomo
155. Key to perform servo ON OFF in the JOG operation with the operator IMPORTANT When an alarm occurs remove the cause and then reset the alarm Refer to 10 1 Troubleshooting 7 3 7 Digital Operator 7 1 3 Basic Mode Selection and Operation 7 1 3 Basic Mode Selection and Operation The basic modes include Status display mode Utility Function Mode Parameter Setting Mode and Monitor Mode Select a basic mode to display the operation status set parameters and operation references The basic mode is selected in the following order Turn ON the power press DSPLISET Key i A basic mode is selected in the following order blb gt Status Display Mode Refer to 7 1 4 i Press C Press 284 FnOOO Utility Function Mode i Press Refer to 7 2 CETER gt Press gt PnOO0 Parameter Setting Mode Refer to 7 3 DSPL SET Y I HAIGIGIG Press 25 PnLILILI Monitor Mode Un UUU Refer to 7 4 DSPL Press Press DSPL SET Key and UP or DOWN Key to select the desired parameter number Then press DATA ENTER Key to display the contents of selected parameter number in the selected mode Refer to each operation instruction described later 7 4 7 1 Functions on Digital Operator 7 1 4 Status Display Item Bit data Code f 2 1 Bit Data and Meanings Bit Data Speed Coincidence V CMP Rotation
156. MAJ Ratio TapxDepth RadialLoad Thrust N Ibf Load N Ibf owes 8L 5 5 1 0 145 sanam 36 e 79 0 22 13 iE 2 e m 2 2 33 70 6 6 1 2 215 e 3 31 M4x8L 70 80 6 6 3 5 5 1 3 230 1 21 M4x8L 70 80 6 6 3 5 5 1 3 245 33 1 33 M4x8L 5 EA 5 NS EAE ETE s 1 10 B9 0 63 142 1 26 0 79 20 215 Bs rn NO T us T 3 po us T 3 T s T 3 T s 3 Ra z m Us 0 0 39 T a T T im T a T i i i x 5 T a T D 7 s T s B 7 s s 3 31 3 Specifications and Dimensional Drawings 3 6 3 SGMAJ Servomotors 3000 min With Standard Backlash Gears and Without Brakes Model Gear 90 Units mm in cont d Allowable Allowable Radial Load Thrust N Ibf Load N Ibf O1EHAJCEM 121 MSxl0L 105 Lad 6 6 a Tl 3 54 4 13 0 35 0 14 024 022 63 103 235 jr 105 9 35 6 6 24 480 53 M5x10L INF oN 1 The dimensions for L and LL of a servomotor incorporating an encoder with super capacitor model SGMAJ LILILIA 7 are as shown below SGMAJ AS A8 and 01 L dimension 12 mm 0 47 in LL dimension 12 mm 0 47 in 2 The working point of the SGMAJ servomotor radial load is at the position of minus 5 mm from the shaft end Dimensional Tolerances Model Flange Face Dimensions SGMAJ 0 0 0012 A500AJ101 56 2 0 030 20 0 030 0 0012 0 030 0 0012 0 030 0 0012 0 030 0 0
157. Multiturn Limit Disagreement alarm A CC occurs check the setting of parameter Pn205 to be sure that it is correct If Fn013 is executed when an incorrect value is set in Pn205 an incorrect value will be set in the encoder The alarm will disappear even if an incorrect value is set but incorrect positions will be detected resulting a dangerous situation where the machine will move to unexpected positions and machine break and personal accident will occur The parameter for the multiturn limit setting sets the upper limit for the multiturn data from the encoder into Pn002 nOOOO when using an absolute encoder When the rotation amount exceeds this setting the encoder rotation amount returns to 0 Pn205 Multiturn Limit Setting Setting Range Setting Unit Factory Setting Setting Validation 0 to 65535 65535 After restart This parameter is valid when Pn002 nOOOO when the absolute encoder is used The range of the multiturn data will vary when this parameter is set to anything other than the factory setting Factory Setting 265535 Without Factory Setting 465535 Reverse 32767 Forward direction j direction 1 Multiturn o Multiturn data V data 32768 No of revolutions 3 0 W When Set to Anything Other than the Factory Setting 65535 When the motor rotates in the reverse direction with the multiturn data at 0 the multiturn data will change to the setting of Pn205 When the motor rotates in the forward dir
158. N 0 5 ote 4 70 3 72 2 45 1 1 A8COA61 an 0 d 0 m Midi 119 5 94 5 61 5 No J Now a Ee 0 5 MBER 4 70 3 72 2 42 1 1 01010A61 id 0 m 0 E N 1 The dimensions for L and LL of a servomotor incorporating an encoder with super capacitor model SGMAJ LILILIA NFO are as shown below SGMAJ A5 A8 and 01 L dimension 12 mm 0 47 in LL dimension 12 mm 0 47 in 2 The working point of the SGMAJ servomotor radial load is at the position of minus 5 mm from the shaft end 3 25 3 Specifications and Dimensional Drawings 3 6 1 SGMAJ Servomotors 3000 min Without Gears Dimensional Tolerances Units mm in Mode ABEIEIA41 0236 0 0003 A5O0A61 A8COA21 A8CLIA41 A8CLIA61 0100A21 0100441 0100461 2 200 W 300 W Encoder cable 6 0 24 UL20276 300 11 81 30 1 18 Encoder plug i Jer eng f 300 11 81 R 30 21 18 4 0 041A 2 0 0016 LL LR 37083 LM pig LE 60 04 A 0 0016 LG 8 QK i5 3 G Mw B Y B Serial encoder A 0 02 0 0008 4 0LZ Tap x Depth See the following table 4 Q 9LBh7 Units mm in Model SEINE ages geil xis 30 3 6 70 60 5 5 O2EHA41 4 98 3 80 248 1 18 0 12 0 24 2 76 2 36 0 22 O2ELIA61 154
159. NHIBIT 8 59 8 7 Operating Using Torque Control 8 60 8 7 1 Setting Parameters 8 60 8 7 2 Torque Reference Input 8 60 8 7 3 Adjusting the Reference Offset 8 61 8 7 4 Limiting Servomotor Speed during Torque Control 8 63 8 8 Operating Using Speed Control with an Internally Set Speed 8 65 8 8 1 Setting Parameters 8 65 8 8 2 Input Signal Settings 8 66 8 8 3 Operating Using an Internally Set Speed 8 66 8 9 Limiting Torque 8 68 8 9 1 Internal Torque Limit Limiting Maximum Output Torque 8 68 8 9 2 External Torque Limit Output Torque Limiting by Input Signals 8 69 8 9 3 Torque Limiting Using an Analog Voltage Reference 8 71 8 9 4 Torque Limiting Using an External Torque Limit and Analog Voltage Reference 8 72 8 9 5 Checking Output Torque Limiting during Operation 8 73 8 10 Control Mode Selection 8 74 8 10 1 Setting Parameters 8 74 8 10 2 Switching the Control Mode 8 74 8 11 Other Output Signals 8 76 8 11
160. Note 1 The soft start function is used in the above figure 2 The t value is not affected by whether the soft start function is used A maximum delay of 2 ms occurs in loading P CL SPD A and N CL SPD B 8 67 8 Operation 8 9 1 Internal Torque Limit Limiting Maximum Output Torque 8 9 Limiting Torque The SERVOPACK provides the following four methods for limiting output torque to protect the machine Setting Limiting Method Applicable Reference Level SERVOPACK SGDJ Section LILILIS LILILIP External torque limit Applicable Applicable Torque limiting by analog voltage reference Applicable External torque limit Torque limiting by analog voltage reference Applicable 8 9 1 Internal Torque Limit Limiting Maximum Output Torque Maximum torque is always limited to the values set in the following parameters Pn402 Forward Torque Limit Setting Range Setting Unit Factory Setting Setting Validation O o 800 immediately Reverse Torque Limit Setting Range Setting Unit Factory Setting Setting Validation 070 800 immediately The settings in these parameters are constantly enabled The setting unit is a percentage of rated torque If the torque limit is set higher than the maximum torque of the servomotor the maximum torque of the servomotor is used as is the case with the 800 factory setting No Internal Torque Limit Internal Torque Limit Maximum Torque Can Be Output Speed mw p Maximum torque Limitin
161. OPACK s internal ele ments Use the speed input reference and position reference to control the starting and stopping of the servomotor Dynamic brake DB SERVOPACK Servomotor TERMS N A common method for quickly stopping a servomotor The servomotor is stopped by short circuiting the servomotor circuit This circuit is built into the SERVO PACK 8 25 8 Operation 8 3 6 Instantaneous Power Loss Settings 8 3 6 Instantaneous Power Loss Settings Determines whether to continue operation or turn the servo OFF when the power supply voltage to the SERVOPACK main circuit is instantaneously interrupted Instantaneous Power Cut Hold Time Setting Range Setting Unit Factory Setting Setting Validation 20 to 1000 immediately In power loss detection the status of the main circuit power supply is detected and OFF status is ignored so servomotor operation will continue if the servomotor turns back ON within the time set in parameter Pn509 In the following instances however the parameter setting InstananepuUs power imteruption will be invalid Power f an insufficient voltage alarm A 41 occurs during a supply 4 OFF time t power loss with a large servomotor load voltage When control is lost equivalent to normal power OFF Operation operation with loss of the control power supply continued Pn509 gt t B IMPORTANT The maximum setting for the hold time during a power loss is 1 000 ms but the hol
162. Offset automatically adjusted in SERVOPACK lOf et Speed Speed reference Reference voltage reference Automatic offset adjustment After completion of the automatic adjustment the amount of offset is stored in the SERVOPACK The amount of offset can be checked in the speed reference offset manual adjustment mode Fn00A Refer to 8 5 3 2 Manual Adjustment of the Speed Reference Offset 8 39 8 Operation 8 5 3 Adjusting Offset 1 Automatic Adjustment of the Speed Reference Offset The automatic adjustment of reference offset Fn009 cannot be used when a position loop has been formed with a host controller and the error pulse is changed to zero at the servomotor stop due to servolock Use the speed ref erence offset manual adjustment Fn00A described in the next section for a position loop The zero clamp speed control function can be used to force the motor to stop while the zero speed reference is given Refer to 8 5 6 Using the Zero Clamp Function IMPORTANT The speed reference offset must be automatically adjusted with the servo OFF Adjust the speed reference offset automatically in the following procedure SERVOPACK Servomotor Turn OFF the SERVOPACK and input the 0 V reference voltage from the host controller or external circuit 0 V speed reference Slow rotation Servo ON Press the DSPL SET Key to select the utility function mode Press the LEFT RIGHT or UP DOWN Key or
163. Ooo O Press the DSPL SET Key to select the utility function mode DSPL SET DSPL SET Key Press the UP or DOWN Key to select parameter Fn008 Note The digit that can be set will blink Press the DATA ENTER Key The display will be as shown at the left Note If there is a mistake in the key operation nO OP will blink for about one second The panel operator or digital operator will return to the utility function mode Press the DSPL SET Key This will clear the multiturn data of the absolute encoder When completed donE will blink for about one second About onesece After donE is displayed PGCLS will be displayed again ond later Press the DATA ENTER Key to return to the Fn008 display of the util ity function mode Continue pressing the UP Key until PGCLS is displayed 8 30 8 4 Absolute Encoders 8 4 6 Absolute Encoder Reception Sequence The sequence in which the SERVOPACK receives outputs from the absolute encoder and transmits them to host controller is shown below 1 Outline of Absolute Signals The serial data pulses etc of the absolute encoder that are output from the SERVOPACK are output from the PAO PBO and PCO signals as shown below SERVOPACK Dividing Conversion circuit PBO BO from serial data Pn201 into pulse PCO Data PSO conversion Sal ae At initial status Serial data Initial incremental pulse 9 normal status Increm
164. P or DOWN Key to select Fn012 Note The enabled digit blinks Press the DATA ENTER Key to display the SERVOPACK software version number Press the DSPL SET Key to display the encoder software ver sion number Press the DATA ENTER Key to return to the utility function mode Fn012 7 16 7 3 Operation in Parameter Setting Mode PnOOD 7 3 Operation in Parameter Setting Mode PnOOD Functions can be selected or adjusted by setting parameters There are two types of parameters One type requires value setting and the other requires function selection These two types use different setting methods With value setting a parameter is set to a value within the specified range of the parameter With function selec tion the functions allocated to each digit of the seven segment LED panel indicator five digits can be selected 7 3 1 Setting Parameters 1 Value Setting Parameters a Types of Value Setting Parameters Refer to 0 4 2 List of Parameters b Example of Changing Value Setting Parameter The parameter settings can be used for changing parameter data Before changing the data check the permit ted range of the parameter lt q EXAMPLE gt The example below shows how to change parameter Pn100 speed loop gain from 40 to 100 Display after n Em Press the DSPL SET Key to select the parameter setting mode If a parameter other than Pn100 is displayed press the UP or DSPL SETKey DOWN Key to se
165. PACK s parameter the setting is validated value can be set even if restart when changing 7 3 Operation in Parameter Setting Mode PnOOD 2 Function Selection Parameters a Types of Function Selection Parameters Refer to 10 4 2 List of Parameters If the parameters with After restart in Setting Validation column in the table are changed turn OFF the main circuit and control power supply and ON again to validate new setting Pnl0B 1 and Pn110 0 require the power to be reset as mentioned above Pnl0B 0 Pn110 1 and Pn110 2 are enabled with the off line so the power does not have to be reset Factory Setting Caleng Parameter Name Setting gory No a Died Validation Function Selecion Parameter Tne Servo Gain Related Pn10B Gain Application Switches 0000 0000 After restart Parameter Immediately Pn110 Online Autotuning Switches 0010 0010 After restart Immediately Position Control Related Pn200 Position Control References Selection Switches 0000 0000 After restart Parameter Pn207 Position Control Function Switches 0000 0000 After restart Torque Control Related Pn408 Torque Function Switches 0000 0000 Immediately Parameter Sequence Related After restart FS coed After restart c After restart Sequence Related After restart Ces ater ons After restart 7 19 7 Digital Operator 7 3 1 Setting Parameters b Example of Changing Function Selection The procedure to change the setting of co
166. PL SET Key Press the UP or DOWN Key to select parameter Fn00A EID Li The digit that can be set will blink STA Press the DATA ENTER Key The display will be as shown at the left 3 h EE The manual adjustment mode for the speed reference offset will be DATA ENTER Key entered 4 Turn ON the servo ON S ON signal The display will be as shown at the left Press the LEFT or RIGHT Key to display the speed reference offset amount eum Press the UP or DOWN Key to adjust the amount of offset N Press the LEFT or RIGHT Key The display will appear momentarily as shown at the left and donE will blink and the offset will be set After the setting is completed the display will return to the display as shown at the left ll DAA Press the DATA ENTER Key to return to the Fn00A display of the util c ity function mode DATA ENTER Key 8 41 8 Operation 8 5 4 Soft Start 8 5 4 Soft Start The soft start function converts the stepwise speed reference inside the SERVOPACK to a consistent rate of acceleration and deceleration Soft Start Acceleration Time Setting Range Setting Unit Factory Setting Setting Validation ms 0 p 0 to 10000 Immediately Soft Start Deceleration Time 0010 m 9 medeey The soft start function enables smooth speed control when inputting a stepwise speed reference or when selecting internally set speeds Set both Pn305 and Pn306 to 0 for normal spee
167. Parameters Pn50A n0001 Enables the input signal allocation for the sequence Set to allocate the gain switching signal G SEL to an input terminal Pn100 Speed Loop Gain Tio 2 000 Speed Loop Integral Time Constant 0 15 to 512 00 ms 20 00 ms Position Loop Gain Tio 2 000 2nd Speed Loop Gain Tio 2 000 2nd Speed Loop Integral Time Constant 0 15 to 512 00 ms 20 00 ms 2nd Position Loop Gain Setting Range Setting Unit Factory Setting Setting Validation T10 2 000 immediately 9 23 9 Adjustments 9 4 9 Torque Reference Filter 9 4 9 Torque Reference Filter As shown in the following diagram the torque reference filter contains torque reference filter time constant Pn401 and notch filter frequency Pn409 arrayed in series The notch filter can be enabled and disabled using the parameters Torque l I function l switches I l l I I l l l l Torque reference Notch TEIGI filter time filter Torque reference before filtering frequency l after filtering l l l l l l Pn409 1st order delay filter Notch filter 1 Torque Reference Filter If you suspect that machine vibration is being caused by the servodrive try adjusting the filter time constant 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 Torque Reference Filter Ti
168. Pe Cogg SPecifi git Serial Encoder Code P S cations A5 A8 01 02 03 Code Specifications Remarks H 1 4 5 ololololo 1 16 bit absolute encoder Standard Low 2 1 9 O 4 16 bit absolute encoder Onti back 7 33 ojo jojo o with super capacitor pron lash B 1 11 OjO O O A 13 bit incremental encoder standard c 121 O O O O10 m x1 O Available B 16 bit incremental encoder Option 1 The number of encoder pulses 16384 P Rev 8th digit Shaft End Code 2 6 ut init 1st 2nd 3rd digits 2 The number of encoder pulses 2048 P Rev 6 digit in digi ode ortho EN Eur Output and Volt 5th digit Design Revision Order Gear ae Type Specifi re pode ati A5 A8 01 02 03 Code Specifications Code cations A Fixed J 1 1 5 O O O0 0 0 CETERAE E Low 3 331 l O O O OO 6th digit Gear Type en ud back 7 133 O O OO O aft En Code Specifications Code lash c 421 O Oj O O O G HDS planetary low backlash gear 0 O Available H HDS planetary low backlash gear 2 6 8 J Standard backlash gear 2 6 2 5 2 Selections 2 2 SERVOPACK Model Designations Select the SERVOPACK according to the applied servomotor 1st 2nd 3rd 4th 5th 6th 7th digits digits digits digits digits digits SGDJ AB E S Y32 DC power supply EI series SGDJ SERVOPACK 5th and
169. RVOPACK OPI R JUSP OP02A Aia DSPL RESET SET gaon I YASKAWA CN3 A dedicated cable is used to connect the digital operator to the SERVOPACK e Tle Hel o o o 7 1 Functions on Digital Operator 7 1 2 Key Names and Functions Key names and functions for the digital operator and the panel operator are explained below Set parameters and JOG operation and display status using the panel operator ALARM To reset the servo alarm Hand held Note 1 The servo alarm can be reset by ALM RST CNI 18 input signal iai RESET K Digital Operator i 2 The servo alarm need not be reset if the control power supply is turned OFF EEL To select a basic mode such as the status display mode utility function mode parameter setting mode or monitor mode SET DSPL SET Key Can be also used to set the data To display parameter setting and set value DATA ENTER DATA ENTER Key Press the UP Key to increase the set value UP S For JOG operation this key is used as Forward Run Start Key i Press the DOWN Key to decrease the set value For JOG operation this key is used as Reserve Run Start Key DOWN Key Press the RIGHT Key to shift to the next digit on the right RIGHT Key Press the LEFT Key to shift to the next digit on the left Press the SVON
170. SGDJ LILILIS for Torque Control Mode SERVOPACK 4 External speed limit 2 to 10 V rated motor speed A ALO1 Alarm code output Max operating voltage g ALO25 30 VDC Max operating current ADC ALO3 20m Torque reference 1 to 10 V rated torque BAT Backup battery 3 PAO 2 8to4 5V BAT C PG dividing ratio output d PBO Applicable line receiver A PBO pe SN75175 manufactured SEN by Texas Instruments or a 5V the equivalent corresponding SEN signal input 3 SG gt 24 g PCO to MC3486 0v 7 Amount of phase S rotation 73 Serial data output ALL 2 A IPSO Applicable line receiver e SN75175 manufactured by Texas Instruments or the equivalent corresponding to MC3486 IN CMP Servo ON Servo ON when ON Speed limit output ON when the motor s runnning P control speed is limited 4 P control when ON Forward run prohibited Prohibited when OFF Reverse run prohibited Prohibited when OFF ON when ready Alarm reset Reset when ON SG COM C Forward current limit Limit when ON ALM OFF for an alarm Reverse current limit eva Photocoupler output Limit when ON Max operating voltage 30 VDC Max operating current 50 mA DC Connector shell FG Connect shield to connector shell Tt E represents twisted pair wires 2 The time constant for the primary filter is 47 us 3 Connect a backup battery w
171. SP CA01 DE9404559 Connect the specified cables to CN5 connector for monitoring the analog monitor signals For details refer to 9 5 Analog Monitor Cable for Analog Monitor CN5 E 3 TAE cB Lr L9 p colr E LE ail INFOQ Specify the cable type either JZSP CA01 or DE9404559 when ordering the cable for analog monitor 2 Dimensional Drawing Socket DF11 4DS 2C Black Connector DF11 2428SCF Black 3il 4 AIR 1000 mm 39 37 97 in t White Red Viewed from the cable Manufactured by Hirose Electric Corporation 3 Specifications Cable Color Monitoring Item 3 ow j Analog Monitor 2 Motor speed 1V 1000 min 0 EAIN F Analog Monitor 1 Torque reference 1V 100 rated torque Black 2 cables GND 0 V Note The above monitoring items are the factory settings The monitoring items can be changed by setting the parameter Pn003 Refer to 9 5 Analog Monitor 5 18 5 6 Peripheral Devices 5 6 4 Connector Terminal Block Converter Unit 1 Model JUSP TA36P The connection between the connector terminal block converter and the SERVOPACK is shown below SERVOPACK D Lis E pa length 0 5 mm 0 02 in Connector plug 40P FCN 364P040 AU Terminal block 40P i 5 screws e C OU fo l
172. Selection The following two types of control mode selection are available for switching from internally set speed control Switching with the P CL and N CL input signals pins allocated in factory setting Switching with the SPD A and SPD B input signals When using SPD A and SPD B they must be allocated with parameter Pn50C Refer to 7 3 2 Input Circuit Signal Alloca tion 8 74 8 10 Control Mode Selection 2 Switching Other Than Internally Set Speed Control Pn000 1 9 A or B Use the following signals to switch control modes The control modes switch as shown below for each of the sig nal states indicated When changing the sequence input signal from the factory setting Pn50A n LILILI1 allocate the C SEL to an input terminal and change modes with the C SEL signal In this case input a speed reference analog voltage reference for speed control and a position reference pulse train reference for position control Type Signal Connector Setting pM sre pnn S eae pea roses ie a ee Input C SEL Must be allocated ON low level The control mode can be switched with either P CON or C SEL When using the C SEL signal the input signal must be allocated Refer to 7 3 2 Input Circuit Signal Allocation 8 75 8 Operation 8 11 1 Servo Alarm Output ALM and Alarm Code Output ALO1 ALO2 ALO3 8 11 Other Output Signals The following output signals which have no direct connection with
173. TER Key to return to the display Pn50F TGON is set as Invalid and BK is allocated to CN1 9 10 7 25 7 Digital Operator 7 4 1 List of Monitor Modes 7 4 Operation in Monitor Mode UnOOO The monitor mode can be used for monitoring the reference values I O signal status and SERVOPACK internal status The monitor mode can be selected during motor operation 7 4 1 List of Monitor Modes 1 Contents of Monitor Mode Display PE Content of Display Unit Un000 Actual motor speed mim Un001 Input speed reference Valid only in speed control mode 3 Un002 Internal torque reference in pree to the rated torque from the zero point Un005 Input signat monitor o 7 ee ro a RR Un007 Input reference pulse speed valid only in position control mode Un008 Error counter value amount of position error valid only in position control mode Un009 Accumulated load rate value for the rated torque as 100 Displays effective torque in 10 s cycle Un00A Regenerative load rate value for the processable regenerative power as 100 Displays regen erative power consumption in 10 s cycle Un00B Power consumed by DB resistance Value for the processable power when dynamic brake is applied as 100 Displays power consumed by DB resistance in 10 s cycle Un00C Input reference pulse counter 32 bit hexadecimal code valid only in position control mode ies UnOOD Feedback pulse counter Data as four times of th
174. UP or DOWN Key to select parameter Fn009 The digit that can be set will blink Press the DATA ENTER Key rEF o will be displayed Press the DSPL SET Key The reference offset will be automatically adjusted When completed donE will blink for about one second After donE is displayed rEF o will be displayed again About one second later Press the DATA ENTER Key to return to the Fn009 display of the utility function mode DATA ENTER DATA ENTER Key 8 40 8 5 Operating Using Speed Control with Analog Reference 2 Manual Adjustment of the Speed Reference Offset Use the speed reference offset manual adjustment Fn00A in the following situations Ifa loop is formed with the host controller and the position error pulse is to be zero when servolock is stopped To deliberately set the offset to some value To check the offset data set in the speed reference offset automatic adjustment mode This function operates in the same way as the reference offset automatic adjustment mode Fn009 except that the amount of offset is directly input during the adjustment The offset setting range and setting units are as follows Speed Reference Offset adjustment range Offset Adjustment Range 15000 Speed Reference 750 mV Analog Input Voltage Offset setting unit Offset Setting Unit Speed Reference 1 0 05 mV SET E Press the DSPL SET Key to select the utility function mode DS
175. VOPACK Operator Connection Cable for Digital Op 4 92 ft Lg del en erator he 2m IzsP CMS00 3 Jo 6 56 ft D Sub 25 pin For PC98 2m a Personal JZSP CMS01 computer end 6 56 ft a D Sub go For DOS V CN3 2m SERVOPACK Personal Connection Cable for Personal JZSP CMS02 end computer end 6 56 ft Computer 0 Half pitch 14 pin For PC 98 2m P 6 56 ft JZSP CMS03 Oe re computer end cN5 lm JZSP CAO01 or SERVOPACK end Monitor end Analog Monitor Cable 3 28 ft DE9404559 To connect to a host controller pro vided by a customer 3 6 V 2000 mAh CN manufactured by Toshiba Battery cne ER6VC3 Ltd Battery for Absolute Encoder Power lr e Capacity per Current Capacity of the Fuse and the SERVOPACK Voltage ed SERVOPACK lr e Molded case Circuit Breaker model g Continuous Momentary Power Supply Power Supply Rating W ud W 100 VAC ae 200 VAC Arms SGDIASC 9 ERU NEM 24 VDC SGDI ABC 14 9 7 SGDJ AS5E 92 1 SGDJ 01E 48 VDC 10 3 11 0 30 T SGDI 2E e SGDJ 03E a 1 5 Note 1 Connect the fuse or the molded case circuit breaker to the DC side on the control power supply 2 Select a fuse and a molded case circuit breaker that are certified by the UL and the CSA and have CE Marking 2 13 2 Selections 2 5 3 AC DC Power Supply and Power Supply Input Capacitor The following table shows the f
176. YASKAWA DC Power Input I Series SGMI J SGDJ USER S MANUAL AC Servodrives SGMMJ SGMAJ Servomotor SGDJ SERVOPACK YASKAWA MANUAL NO SIE S800 38C Copyright 2000 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 B Intended Audience This manual is intended for the following users Those selecting I Series servodrives or peripheral devices for X II Series servodrives Those wanting to know about the ratings and characteristics of X II Series servodrives Those designing X II Series servodrive systems Those installing or wiring X II Series servodrives Those performing trial operation or adjustments of XII Series servodrives Those maintaining or insp
177. a DB stop exceeds the DB MReduce the motor speed servomotor was resistance capacity Reduce the load moment of inertia or TURPIDETTESSTVO Reduce the number of times of the DB stop OFF status operation A SERVOPACK fault occurred Replace the SERVOPACK 10 7 10 Inspection Maintenance and Troubleshooting 10 1 3 Troubleshooting of Alarm and Warning 10 8 Overload of Surge Current Limit Resistor Detected when the number of times that the main circuit s power is turned ON or OFF more than 10 times 2 seconds Heat Sink Overheated Detected when the heat sink temperature exceeds 100 x C Encoder Backup Error Detected on the encoder side Only when an absolute encoder is connected Encoder Checksum Error Detected on the encoder side Absolute Encoder Battery Error Detected when the battery volt age is lower than the specified value 2 to4 s after the control power supply is turned ON Only when an absolute encoder is connected Table 10 3 Alarm Display and Troubleshooting cont d Alarm Alarm Name ituationat Alarm Cause Corrective Actions Display Occurrence Occurred when the control power sup ply was turned ON Occurred during operations other than the turning ON OFF of the main circuit Occurred at the main circuit power supply ON OFF operation Occurred when the control power sup ply was turned ON Occurred when the main circuit power s
178. able Phase S line driver only with an absolute encoder Position Output F S Servo ON P control or Control mode switching for ward reverse motor rotation by internal speed setting Signal allocation can zero clamping reference pulse prohibited forward run Sequence Input me nee FRA Applicable Applicable Ds ade 3 p be modified prohibited P OT reverse run prohibited N OT alarm 2 e 9 reset forward current limit and reverse current limit or internal speed selection Fixed Output Servo alarm 3 bit alarm codes Applicable Applicable Positioning completed speed coincidence during ser Sequence Output i i i i imiti q p Signal allocation can vomotor rotation servo ready during current limiting Applicable Applicable be modified during speed limiting brake released warning selecting three of the NEAR signals Dynamic Brake Operated at main power OFF servo alarm servo OFF or Applicable Applicable overtravel Overtravel Stop Dynamic brake stop at P OT or N OT deceleration to a Applicable Applicable stop or coast to a stop Electronic Gear 0 01 lt B A lt 100 Overcurrent overvoltage overload regeneration error main circuit detection section error heat sink over i Protection Applicable Applicable heated no power supply overflow overspeed encoder error overrun CPU error parameter error Analog monitor connector built in for monitoring speed torque and other reference signal
179. able for purchase For the control power supply CN7 For the main circuit power sup ply CN9 The following connectors sets are available for purchase For the control power supply CN7 For the servomotor main circuit CN8 For the main circuit power sup ply CN9 2 11 2 Selections 2 5 1 Special Options 2 5 Selecting Peripheral Devices 2 5 1 Special Options Analog monitor cable Digital operator m E 3 3 Connection cable for digital operator Personal computer 4 Connection cable for personal computer ER A5 D I O signal cable Host controller Install the battery for the absolute encoder on the side of the host controller S Refer Terminal block and 0 5 m 1 64 ft connection cable Connector terminal block JUSP TA36P 5 6 4 converter unit JZSP VAIOI 1 3 28 ft Loose wires at host controller end 5 5 1 23 2 D ont Cable with 2 iei da loose wires at t JZSP VAIOI 2 one end 6 56 ft us JZSP VAIO1 3 9 84 ft Connector kit JZSP VAIO9 2 12 2 5 Selecting Peripheral Devices cont d Refer With connection cable 1 m 3 28 ft Digital Operator JUSP OP02A 2 lm JZSP CMS00 1 Only required when using series O ras 3 28 ft Digital Operator JUSP OP02A 1 1 5m i igi a JZSP CMS00 2 SER
180. again DATA ENTER DATA ENTER Key The motor will be servo OFF status 7 9 7 Digital Operator 7 2 4 Parameter Settings Initialization Fn005 7 2 4 Parameter Settings Initialization Fn005 This function is used when returning to the factory settings after changing parameter settings Pressing the DSPL SET Key during servo ON does not initialize the parameter settings After initialization turn OFF the power supply and then turn ON again IMPORTANT Initialize the parameter settings with the servo OFF Display after m Press the DSPL SET Key to select the utility function mode SET DSPL SET Key Press the UP or DOWN Key to select Fn005 Note The enabled digit blinks Em Press the DATA ENTER Key and the display will be as shown on the left DATA ENTER Key DSPL SET Key During initialization the display shown on the left blinks End of initializa When the initialization of parameter setting completes the tion display shown on the left blinks for about one second After about one The display changes from donk to the display shown on the second left Press the DATA ENTER Key to return to the utility function mode display Fn005 DATA ENTER 4 emn Press the DSPL SET Key Then the parameters will be initial BEN ized DATA ENTER Key 7 10 7 2 5 Alarm Traceback Data Clear Fn006 7 2 Operation in Utility Function Mode FnOOD This function clears the alarm traceback data
181. ain Circuit Terminals 6 2 6 1 2 Wiring Main Circuit Power Supply Connector 6 3 6 1 3 Typical Main Circuit Wiring Examples 6 4 xiv 6 2 Wiring Encoders 6 5 6 2 1 Connecting an Encoder CN2 and Output Signals from the SERVOPACK CN1 6 5 6 2 2 Encoder Connector CN2 Terminal Layout 6 6 6 3 Examples of I O Signal Connections 6 7 6 3 1 SGDJ LILILIS for Speed Control Mode 6 7 6 3 2 SGDJ LILILIP for Position Control Mode 6 8 6 3 3 SGDJ LILILIS for Torque Control Mode 6 9 6 3 4 I O Signal Connector CN1 Terminal Layout 6 10 6 3 5 I O Signal CN1 Names and Functions 6 12 6 3 6 Interface Circuit 6 14 6 4 Others 6 17 6 4 1 Wiring Precautions 6 17 6 4 2 Wiring for Noise Control 6 18 6 4 3 Installation Conditions of EMC Directives 6 21 6 4 4 Using More Than One SERVOPACK 6 23 6 4 5 Extending Encoder Cables 6 24 7 Digital Operator 7 1 Functions on Digital Operator 7 2 7 1 1 Connecting the Digital Operator
182. al Key Description SEHE Press the DSPL SET Key to select the monitor mode SET DSPL SET Key Press the UP or DOWN Key to select Un00C or Un00D Press the DATA ENTER Key to display the data of the HI DNA selected monitor number The upper 16 bit data CATWENTER Key The lower 16 bit data a Press both UP and DOWN Keys simultaneously while the TIE display on the left appears to clear the 32 bit counter data Press simultaneouly The display shown on the left is of the lower 16 bit data m ni Press the DATA ENTER Key to return to the display of ENTER 1 iL DIDI monitor number DATA ENTER Key Press the UP or DOWN Key to display the lower 16 bit data When the control power supply is turned ON reference pulse and feedback pulse will be 0 The counter value increases by forward references and decreases by reverse references Displays the pulse number from 0 to 4294967295 in sequence If one pulse is decreased from 0 the digital operator and the panel operator display 4294967295 and then decrease from this pulse number Also if one pulse in increased from 4294967295 the digital operator and the panel operator display 0 and increase from this pulse number The feedback pulse will be 8192 pulse rev when using the 13 bit encoder The feedback pulse will be 65536 pulse rev when using the 16 bit encoder The feedback pulse will be 131071 pulse rev when using the 17 bit encoder 7 29
183. al Operation for Servomotor without Load from Host Reference Description Configure an input signal circuit necessary for servo ON Connect the I O signal connectors CN1 in the circuit on the previous page or equivalent to input the signal neces sary for servo ON Then turn OFF the power and connect the CN1 to the SERVOPACK L ole T Turn ON the power and make sure that the digital operator display is as shown below Input the S ON signal then make sure that the display of the digital operator is as shown below 8 10 Check Method and Remarks Satisfy the following conditions Servo ON S ON input signal can be input Forward Run Prohibited P OT and Reverse Run Prohibited N OT input signals are turned ON L level Forward run and reverse run are prohibited Reference input OV reference or 0 pulse is not input To omit the external wiring the input terminal function can be set to Always ON or Always OFF using the input signal allocation function of parameter Refer to 7 3 2 Input Circuit Signal Alloca tion When the absolute encoder is used Absolute Encoder Setup Fn008 operation and the SEN signal wiring can be omitted when setting the Pn002 to n 0100 Uses absolute encoder as an incre mental encoder only during trial operation The input signal setting is not correct if the display is not the same as on the left Check the input signal using the Un005 input signal m
184. al noise as much as pos sible by installing a noise filter in the appropriate place The following is an example of wiring for noise control AC power supply AC DC Noise filter 3 converter T Servomotor hd hd at gt L1 V a O L2 Ww 3 5 mm ge Q in e 3 5 mm C1 CN4 0 005 in C2 min CN1 o p Inn m i ERE 9 Operation relay min sequence Signal generation i circuit provided by i customer AAAA 3 2 AVR Ground 3 5mm 0 005 in min 1LF y ifa V osi Wires of 3 5 mm 0 005 in2 or more L 737 2 mnf 0 003 in min Casing 3 5mm 0 005 in mijf 1 Casing _ es Ground plate 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 Z7 represents twisted pair wires 3 When using a noise filter follow the precautions in 6 4 2 Wiring for Noise Control 3 Using Noise Filter 2 Correct Grounding a Grounding the 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 switc
185. alog voltage reference Factory setting ON limit or the value set in Pn402 or Pn404 whichever is smaller OFF high level Forward external torque limit Pn402 OFF Input N CL CNI 12 ON low level Reverse external torque limit The analog voltage reference Factory setting ON limit or the value set in Pn403 or Pn405 whichever is smaller OFF high level Reverse external torque limit Pn403 OFF When using the torque limiting with the external torque limit and analog voltage reference make sure that there are no other signals allocated to the same terminals as P CL and N CL When multiple signals are allocated to the same terminal the signals are handled with OR logic which affects the ON OFF state of the other signals Refer to 7 3 2 Input Circuit Sig nal Allocation 8 9 5 Checking Output Torque Limiting during Operation The following signal can be output to indicate that the servomotor output torque is being limited Type Signal Connector Pin Setting Meaning Name Number Output CLT Must be allocated ON low level Servomotor output torque is being limited OFF high level Torque is not being limited The output terminal must be allocated with parameter Pn50F to use this output signal Refer to 7 3 3 Output Circuit Signal Allocation for details 8 73 8 Operation 8 10 1 Setting Parameters 8 10 Control Mode Selection The methods and conditions for switching SERVOPACK control modes are descr
186. 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 transfer the previous SERVOPACK parameters to the new SERVOPACK before resuming operation 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 ordinary industrial waste B General Precautions Note the following to ensure safe application The drawings presented in this manual are sometimes shown without covers or protective guards Always replace the cover or protective guard as specified first and then operate the products in accordance with the manual The drawings presented in this manual are typical examples and may not match the product you received This manual is subject to change due to product improvement specification modification and manual improvement When this manual is revised the manual code is updated and the new manual is published as a next edition If the manual must be ordered due t
187. arameter Pn111 setting is enabled only when the parameter Pn110 1 is set to 0 10 Inspection Maintenance and Troubleshooting 10 4 2 List of Parameters Parame Name Setting Range Units Factory Setting Setting Refer ter No pe Ha Validation ence Sec tion Pn200 Position M References Selection iid id After 8 6 1 Switches restart 4th 3rd 2nd Ast digit digit digit digit Reference Pulse Form EM Sign Pulse positive logic CW CCW positive logic Phase A Phase B x1 positive logic Phase A Phase B x2 positive logic 4 Phase A Phase B x4 positive logic Sign Pulse negative logic 6 CW CCW negative logic Phase A Phase B x1 negative logic 38 Phase A Phase B x2 negative logic 9 Phase A Phase B x4 negative logic Error Counter Clear Signal From o Clears error counter when the signal is at H level Clears error counter at the rising edge of the signal Clears error counter when the signal is at L level Clears error counter at the falling edge of the signal Clear Operation 0 Clears error counter at the baseblock Does not clear error counter Possible to clear error counter only with CLR signal Clears error counter when an alarm occurs Filter Selection EN Reference input filter for line driver signals Reference input filter for open collector signals Pn201 PG Divider 16 to 16384 P rev P rev 16384 16384 After restart restart restart Pn20
188. ation Filter Average Movement Time Filter Pn207 n 0000 Pn207 n 0001 Before filter applied After filter applied Before filter applied After filter applied Pn208 Pn208 Response waveform for stepwise input N Before filter applied Pn204 After filter applied Response waveform for stepwise input Pn208 Z gt t Response waveform for ramp reference input 8 56 8 6 Operating Using Position Control 8 6 5 Positioning Completed Output Signal This signal indicates that servomotor movement has been completed during position control Use the signal as an interlock to confirm at the host controller that positioning has been completed Type Signal Connector Setting Meaning Name Pin Number COIN CN1 8 10 ON low level Positioning has been completed Factory setting OFF high level Positioning is not completed This output signal can be allocated to an output terminal with parameter Pn50E Refer to 7 3 3 Output Circuit Signal Allo cation for details The factory setting is allocated to CN1 8 10 Positioning Completed Width Setting Range Setting Unit Factory Setting Setting Validation 010 250 immediately The positioning completed COIN signal is output when the difference Reference position error pulse between the number of reference pulses output by Motor speed the host controller and the travel distance of the servomotor is less than Speed the value set in this parameter Set the n
189. attery is connected to the host controller Speed V REF 3 4 Speed reference speed input 2 to 10 V rated motor speed Input gain can be Torque T REF 1 2 Torque reference input 1 to 10 V rated motor torque Input gain can be 8 7 2 modified using a parameter modified using a parameter Reference pulse Input mode is set from the following pulses Position CLR CLR 6 12 1 1 1 1 1 1 1 1 Control power supply input for sequence signals Users must provide the 24 V power supply Allowable voltage fluctuation range 11 to 25 V 5 6 36 19 Initial data request signal when using an absolute encoder 2 input Sign pulse string for only line CCW CW pulse 4 driver Two phase pulse 90 phase differential Positional error pulse clear input Clears the positional error pulse during 8 6 1 position control 4 5 6 7 1 2 8 3 8 9 1 3 5 6 6 3 Examples of I O Signal Connections n d T Am IQ nu M Note 1 Pin numbers in parentheses indicate signal grounds 2 The functions allocated to S ON P CON P OT N OT ALM RST P CL and N CL input signals can be changed by using the parameters Refer to 7 3 2 Input Circuit Signal Allocation
190. autions 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 Q PROHIBITED ndicates prohibited actions that must not be performed For example this symbol would be used as follows to indicate that fire is prohibited amp 9 MANDATORY Indicates compulsory actions that must be performed For example this symbol would be used as follows to indicate that grounding is compulsory D The warning symbols for ISO and JIS standards are different as shown below ISO JIS A 0 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 servodrive 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 may result in electric shock Do not touch terminals
191. battery turn OFF the SERVOPACK power to cancel the absolute encoder battery alarm A 83 3 Turn ON the SERVOPACK power back again If it operates without any problems the battery replace ment has been completed IMPORTANT If the SERVOPACK control power supply is turned OFF and the battery is disconnected which includes disconnecting the encoder cable the absolute encoder data will be deleted The absolute encoder must be setup again Refer to 8 4 5 Absolute Encoder Setup Fn008 8 29 8 Operation 8 4 5 Absolute Encoder Setup Fn008 8 4 5 Absolute Encoder Setup Fn008 Setting up initializing the absolute encoder is necessary in the following cases When starting the machine for the first time When an encoder backup error alarm A 81 is generated When an encoder checksum error alarm A 82 is generated To set the absolute encoder multiturn data to 0 Use a built in type digital operator in the SERVOPACK or a digital operator for setup IMPORTANT 1 Encoder setup operation is only possible when the servo is OFF 2 Ifthe following absolute encoder alarms are displayed cancel the alarm by using the same method as the setup initializing They cannot be canceled with the SERVOPACK alarm reset input signal ALM RST Encoder backup error alarm A 81 Encoder checksum error alarm A 82 Any other alarms that monitor the inside of the encoder should be canceled by turning OFF the power Display after ee
192. ce and Motor Speed and Position Error Monitor for the position control Refer to 9 5 Analog Monitor The servodrive supporting tool SigmaWin allows you to observe such signals Prepare either of them 9 3 3 Position Loop Gain Pn102 Position Loop Gain Kp Setting Range Setting Unit Factory Setting Setting Validation T 1o 2 000 immediately The responsiveness of the position loop is determined by the position loop gain The responsiveness increases and the posi tioning time decreases when the position loop gain is set to a higher value In general the position loop gain cannot be set higher than natural vibrating frequency of the mechanical system so the mechanical system must be made more rigid to increase its natural vibrating frequency and allow the position loop gain to be set to a high value If the position loop gain Pn102 cannot be set high in the mechanical system an overflow alarm may occur during high A o WW speed operation In this case increase the values in the following parameter to suppress detection of the overflow alarm Pn505 Overflow Level Setting Range Setting Unit Factory Setting Setting Validation 1 to 32 767 256 reference units 1 024 Immediately This parameter s new setting must satisfy the following condition Max feed speed reference units s x20 Pn102 Pn505 2 9 12 9 3 Manual Tuning 9 3 4 Speed Loop Gain Speed Loop Gain Kv Setting Range Setting Unit
193. ce 0 Pn10C W Operating Example If the mode switch function is not being used and the SERVOPACK is always operated with PI control the speed of the motor may overshoot or undershoot due to torque saturation during acceleration or deceleration The mode switch function suppresses torque saturation and eliminates the overshooting or undershooting of the motor speed With this setting the speed loop is switched to P control when the value of speed reference input exceeds the speed set in parameter Pn10D Pi P control PIcontrol W Operating Example In this example the mode switch is used to reduce the settling time It is necessary to increase the speed loop gain to reduce the settling time Using the mode switch suppresses overshooting and undershooting when speed loop gain is increased Without Mode Switching With Mode Switching Speed reference Motor speed Long settling time PR Increase speed loop gain Overshoot Motor V speed Undershoot Time Settling time le 9 18 9 4 Servo Gain Adjustment Functions Ce E E Using the Acceleration Level to Switch Modes With this setting the speed loop is switched to P control when the motor s acceleration rate exceeds the acceleration rate set in param RETETENce speed Motor speed eter Pn10E y Pn10E Acceler ation 0 Pn10E PI control PI control W Operating Example If the mode switch functi
194. ce 7 Immedi 9 4 5 units unit ately ately Used only for SGDJ LILILIP SERVOPACK for position control mode 10 35 10 Inspection Maintenance and Troubleshooting 10 4 2 List of Parameters Param Name Setting Range Units Factory Setting Setting Reference eter No 000s coop Validation Section ately Pn10B Gain related Application Switches 0000 0000 After restart Immedi ately Ath 3rd 2nd 1st digit digit digit digit Mode Switch Selection Setting Refer to 9 4 4 Using the Mode Switch P PI Switching Validation Uses internal torque reference as the condition Level setting Pn10C Immediately Uses speed reference as the condition Level setting Pn10D Immediately Uses acceleration as the condition Level setting Pn10E Immediately Uses position error pulse as the condition Level setting Pn10F Immediately No mode switch function available Immediately Speed Loop Control Method Setting Refer to 9 3 5 Speed Loop Integral Time Constant Validation o PI control After restart Reserved Do not change Automatic Gain Switching Condition Selection Setting Refer to 9 4 8 Switching Gain Settings Validation o Automatic gain switching disabled Factory setting After restart Switches the gain according to the position reference condition only After restart Switches the gain according to the position error condition only After restart Switches the gain according to the position reference and
195. cified encoder cable encoder cable specifications be Twisted pair or twisted pair shielded wire with core 0 12 mm 0 0002 in min and tinned annealed copper twisted wire Noise interference due to long m E distance must be 20 m 65 6 ft Shorten the encoder cable wiring distance to the speci encoder cable wiring distance fied value Noise due to damaged encoder cable Check if the encoder cable is not damaged Modify the encoder cable layout or bent Excessive noise to the encoder cable Check if the encoder cable is bundled with Install a surge suppressor to the encoder cable high current line or near the high current line FG electrical potential varies by Check if the machine is correctly grounded Ground the machine separately from PG side FG influence of such machines on the servomotor side as welders SERVOPACK pulse counting error Check if there is noise interference on the Take measure against noise for the encoder wiring due to noise signal line from encoder Excessive vibration and shock to the Vibration from the machine occurred or ser Reduce vibration from the machine or secure the servo encoder vomotor installation is incorrect motor installation Mounting surface accuracy fixing align ment etc Encoder fault An encoder fault occurred Replace the servomotor 10 14 Symptom Servomotor Vibrates at about 200 to 400 Hz High Rotation Speed Overshoot on Starting and Stopping
196. creases The estimated set value for Pn101 depends on the speed loop control method with Pn10B 1 as shown below INFON W Selecting the Speed Loop Control Method PI Control or I P Control 7 Generally I P control is more effective in high speed positioning or high speed precision manufacturing applications The position loop gain is lower than it would be in PI control so shorter positioning times and smaller arc radii can be achieved On the other hand PI control is generally used when switching to P control fairly often with a mode switch or other method 9 13 9 Adjustments 9 4 1 Feed forward Reference 9 4 Servo Gain Adjustment Functions 9 4 1 Feed forward Reference Feed forward Setting Range Setting Unit Factory Setting Setting Validation 08 oo o medately Feed forward Filter Time Constant Setting Range Setting Unit Factory Setting Setting Validation 0 to 6 400 0 01ms Immediately 0 00 to 64 00 ms Applies feed forward compensation in position control inside the SERVOPACK Use this parameter to shorten positioning time Too high value may cause the machine to vibrate For Position ordinary machines set 80 or less in this parameter reference pulse gain Kp Encoder feedback pulse 9 14 9 4 Servo Gain Adjustment Functions 9 4 2 Torque Feed forward Pn002 n OOO0 Disabled n 0002 Uses T REF terminal for torque feed forward input Pn400 Torque Reference Input Gain Setting Range Set
197. cremental encoder After changing these parameters turn OFF the main circuit and control power supplies and then turn them ON again to enable the new settings 8 4 3 Handling Batteries In order for the absolute encoder to retain position data when the power is turned OFF the data must be backed up by a battery S PROHIBITED Install the battery at either the host controller or the SERVOPACK end It is dangerous to install batteries at both simultaneously because that sets up a loop circuit between the batteries Battery Yaskawa Model Manufac Specifications Manufacturer Installation turer Location Model Host controller ER6VC3 Lithium battery Toshiba Battery Co 3 6 V 2000mAh Ltd Prepare the battery according to the specifications of the host controller Use the battery with the model number ER6VC3 3 6 V 2000 mAh made by Toshiba Battery Co Ltd or equivalent 8 4 4 Replacing Batteries The SERVOPACK will generate an absolute encoder battery alarm A 83 when the battery voltage drops below about 2 7 V This alarm is output however only when the SERVOPACK power is turned ON If the voltage drops while the SERVOPACK power is ON the SERVOPACK will not generate the alarm This alarm can be changed to an absolute encoder battery warning A 93 by setting the parameter Battery Replacement Procedure 1 Replace the battery with only the SERVOPACK control power supply turned ON 2 After replacing the
198. d b Dimensional Drawings and Connector Pin Arrangement CN7 Control power input connector Connector with cage 721 102 026 000 WAGO Company of Japan Ltd Latch Coding finger Apin Units mm in Control power input 24 48 VDC terminal CN9 Main circuit power input connector Connector with cage 721 203 026 000 WAGO Company of Japan Ltd Latch Coding finger 21 5 0 85 4 5 7 5 7 515 0 065 6 30 0 30 0 20 ZNZN Units mm in 5 Specifications and Dimensional Drawings of Cables and Peripheral Devices 5 2 3 SGMAJ Servomotor Connectors for Standard Environments 4 Connector Kit for SERVOPACK Power Supply Input Motor Cable Connection a Type Attached Connector Connector Type Control power input connector 721 102 026 000 JZSP CJG9 3 CN8 Motorconnectionconnector connection connector 721 105 026 000 noe of CN9 ENTIII I __ circuit power input connector 721 203 026 000 b Dimensional Drawings and Connector Pin Arrangement CN7 Control power input connector Connector with cage 721 102 026 000 WAGO Company of Japan Ltd Latch Coding finger 11 5 0 45 ssl 5 5 0 06 0 20 0 2 Units mm in Control power input 24 48 VDC terminal Control power input DC ground terminal CN8 Motor connection connector Connector with cage 721 105 026 000 WAGO Company of Japan Ltd Latch Coding fin
199. d ON This is required in order to initialize the SERVOPACK Power supply 2 0 s max 1 Servo alarm ALM output signal Select the power supply specifications for the parts in accordance with the input power supply 6 4 6 2 Wiring Encoders 6 2 Wiring Encoders The connection cables between encoder and SERVOPACK and wiring pin numbers differ depending on servo motor model Refer to 5 Specifications and Dimensional Drawings of Cables and Peripheral Devices for details 6 2 1 Connecting an Encoder CN2 and Output Signals from the SERVOPACK CN1 1 Incremental Encoders SERVOPACK Host controller pos Line receiver Phase A 20 PAO 2 3 Phase Incremental DR 21 TPAO eval Ro PA encoder Ph B a ase 22 PBO t 6 5 Phase A R33 p PBO 373 R 7 B 5 Light blue 4 ey 5 Phase So 24 4 PCO j 10 11 Phase 6 White Light pide PS 6 25 PCO z R 9 C Pc E Output line driver SN75ALS194 A 8 16 A manufactured by Texas ov gt 5 V PG Instruments or the equivalent H Se Pv a T gt PGOV K t ov 14 86 I i ov Smoothing 0 001 in capacitor Connector shell p Shell Shield wire Connector Applicable line receiver SN75175 manufactured Q by Texas Instruments or the equivalent corresponding to MC3486 R terminator 220 to 470 Q C Decoupling Capacitor 0 1 uF 7 represents twisted pair w
200. d and operation Detected when capacity conditions the power to the A SERVOPACK fault occurred Replace the SERVOPACK main circuit is Occurred at servo The motor speed is high and the load moment of Reconsider the load and operation conditions turned ON motor deceleration inertia is excessive Overvoltage 10 6 10 1 Troubleshooting Table 10 3 Alarm Display and Troubleshooting cont d an Alarm Name Situation atalan Cause Corrective Actions Display Occurrence Overspeed Occurred when the A SERVOPACK board fault occurred Replace the SERVOPACK Detected when control power sup the feedback ply was turned ON speed is the max Occurred when The order of phases U V and W in the servomotor Correct the servomotor wiring imum motor servo was ON wiring is incorrect speed The encoder wiring is incorrect Correct the encoder wiring Malfunction occurred due to noise interference in Take measures against noise for the encoder wir the encoder wiring i ing A SERVOPACK fault occurred Replace the SERVOPACK Occurred when the The order of phases U V and W in the servomotor Correct the servomotor wiring servomotor started wiring is incorrect Pune ORINA The encoder wiring is incorrect Correct the encoder wiring high speed rotation Em BUB Malfunction occurred due to noise interference in Take measures against noise for the encoder wir the encoder wiring ing The position or
201. d control Set these parameters as follows Pn305 The time interval from the time the motor starts until the motor maximum speed is reached Pn306 The time interval from the time the motor is operating at the motor maximum speed until it stops Maximum speed of Servomotor After soft start Before soft HEN kl a Pn305 Pn306 8 5 5 Speed Reference Filter Speed Reference Filter Time Constant Setting Range Setting Unit Factory Setting Setting Validation 0 to 65535 0 01 ms 40 Immediately 0 to 655 35 ms 0 40 ms This smoothens the speed reference by applying a 1st order delay filter to the analog speed reference V REF input A value that is too large however will slow down response 8 5 6 Using the Zero Clamp Function 1 Zero Clamp Function The zero clamp function is used for systems where the host controller does not form a position loop for the speed reference input When the zero clamp signal ZCLAMP is ON a position loop is formed inside the SERVOPACK as soon as the input voltage of the speed reference V REF drops below the motor speed level in the zero clamp level Pn501 The servomotor ignores the speed reference and then quickly stops and locks the servomotor The servomotor is clamped within 1 pulse of when the zero clamp function is turned ON and will still return to the zero clamp position even if it is forcibly rotated by external force When the ZCLAMP signal is turned ON a speed refe
202. d only for a servomotor with a brake This output signal is not used with the factory settings The output signal must be allocated with Pn50F It does not need to be connected for servomotors with out a brake B IMPORTANT The BK signal is not output during overtravel or when there is no power to the servomotor 3 Allocating Brake Signals BK The brake signal BK is not used with the factory settings The output signal must be allocated Parameter Meaning Ell NENNEN B IMPORTANT When set to the factory setting the brake signal is invalid When multiple signals are allocated to the same output termi nal the signals are output with OR logic To output the BK signal alone disable the other output signals or set them to output terminals other than the one allocated to the BK signal For the allocation of SERVOPACK output signals other than BK signal refer to 7 3 3 Output Circuit Signal Allocation 4 Setting the Brake ON Timing after the Servomotor Stops With the factory setting the BK signal is output at the same time as the servo is turned OFF The servo OFF tim ing can be changed with a parameter Pn506 Delay Time from Brake Reference Until Servo OFF Setting Range Setting Unit Factory Setting Setting Validation 0 to 50 10 ms Immediately 0 to 500 ms When using the servomotor to control a vertical axis the machine movable part may shift slightly depending on the brake ON timing due to gravity or an ext
203. d products the ones that were ordered 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 Check the overall appearance and check for damage or scratches that Is there any damage aS 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 SGMMJ AC SERVO MOTOR Servomotor model y SGMMJ A1CAA21 Rated output _ 10W 2 1A Ins B Rated speed gt 3000min 03 09 Manufacturing date Serial number 379526 1 1 1 YASKAWA ELECTRIC CO JAPAN Rated output current YW __ACSERVO MOTOR SGMAJ A5CAA21 Servomotor model w 50 V 24 29 Nm 0 159 3000 B Order number O N 9271316 1 Serial number gt S N DD 9964567890012 Ratings YASKAWA ELECTRIC CORPORATION JAPAN 1 2 1 1 Checking Products 1 1 3 SERVOPACKs SERVOPACK MODEL SGDJ A5CP SERVOPACK model Applicable DC INPUT AC OUTPUT ower supply 24V 3PH 0 24V P PPY l 40A 29A 0 05W Order number O N 60A 194 341 7 Serial number gt S N D001Y3265990007 C UL US CE O YASKAWA ELECTR
204. d time for the SERVOPACK Pn509 t Servo OFF control power supply is about 100 ms The hold time for the main circuit power supply depends on the SERVO PACK output To continue SERVOPACK operation for a power loss that is longer than this provide an uninterruptible power supply 8 26 8 4 Absolute Encoders 8 4 Absolute Encoders A WARNING The output range of multiturn data for the II series absolute detection system differs from that for conven tional systems 15 bit encoder and 12 bit encoder When an infinite length positioning system of the con ventional type is to be configured with the 2 II series be sure to make the following system modification If a motor with an absolute encoder is used a system to detect the absolute position can be made in the host con troller Consequently operation can be performed without zero point return operation immediately after the power is turned ON SGMAJ LILILI1LI servomotor With 16 bit absolute encoder SGMMJ LILILI2LI servomotor With 17 bit absolute encoder Absolute position detected continuously zero point y amp yrn operation Absolute Encoder Resolution OutputRange Action when Limit Is Exceeded Type of Multiturn Data x Series 99999 to When the upper limit 99999 is exceeded in the forward direc SGD 99999 tion the multiturn data is 0 SGDA SGDB Absolute encoder When the lower limit 99999 is exceeded in the reverse direc tion
205. displayed press the UP or DOWN Key to set Pn50A Note The enabled digit blinks Press the DATA ENTER Key to display the current data of Pn50A S ON is allocated to CN1 14 Press the UP Key to set to 1 Sequence input signals can be freely set Press the LEFT or RIGHT Key to select the second digit from the right Press the UP key to set to 5 Changes the allocation of S ON from CN1 14 to CN1 11 Press the DATA ENTER Key The value blinks and is saved At the moment the CN1 11 operates with OR logic for S ON and P CL Press the DATA ENTER Key to return to the display Pn50A Press the UP Key to set Pn50B Note The enabled digit blinks Press the DATA ENTER Key to display the current data of ENTER Pn50B DATA ENTER Key P CL is allocated to CN1 11 Press the LEFT or RIGHT Key to select the third digit from the right Press the DOWN Key to set to 0 Changes the allocation of P CL from CN1 11 to CN1 40 Press the DATA ENTER Key The value blinks and is saved Press the DATA ENTER Key to return to the display Pn50B S ON is allocation to CN1 11 and P CL is allocated to CN1 14 Turn the power OFF and ON again to enable the change of input signal selections Pn50A and Pn50B 7 23 7 Digital Operator 7 3 3 Output Circuit Signal Allocation 7 3 3 Output Circuit Signal Allocation Functions can be allocated to the following sequence output signals After having changed the parame
206. e Number Input V REF CNI 3 Speed Reference Input CN1 4 Signal Ground for Speed Reference Input The above inputs are used for speed control analog voltage reference Pn000 1 0 4 9 or A Pn300 is used to set the speed reference input gain Refer to 8 5 7 Setting Parameters W Input Specifications Input range 2 VDC to 10 VDC rated speed Maximum allowable input voltage 12 VDC Setting Example 1 Pn300 600 Rated speed at 6 V Rated motor speed Actual examples are shown below Factory setting 4 Speed Reference Rotation Motor Speed SGMAH 12 Input Direction P Servomotor Input voltage qv Rated motor speed 3000 min Rated motor speed 3 The slope is set in Pn300 Parameter Pn300 can be used to change the voltage input range W Input Circuit Example Connect V REF and SG to the speed reference output terminals on Always use twisted pair wire to control noise the host controller when using a host controller such as a program Recommended variable resistor Model 25HP mable controller for position control 10B manufactured by Sakae Tsushin Kogyo Co SERVOPACK Ltd Host controller PLA 4 CN1 SERVOPACK Speed reference 7 1 8 kO 1 2 W min output terminals pulse input terminals Feedback t J represents twisted pair wires 2 Proportional Control Reference P CON Type Signal Connector Setting Description Name Pin Number
207. e electromagnetic brake is only used to hold the position and cannot be used to stop the servo motor 3 20 3 5 Dimensional Drawings of SGMMJ Servomotors 3000min 3 5 3 SGMMJ Servomotor 8000min With Gears and Without Brakes 1 10 W 20 W Encoder cable UL20276 A 300 11 81 30 41 18 Motor cable AWG24 UL10095 or UL3266 Protective tube 5 00 20 Black 300 11 81 View Y Y 30 41 18 Ij 0 06 A Shaft End 0 0024 L1 L2 C125 10 98 16 0 63 7710 04 A 0 0016 00 05 A iB 60 0020 20h7 2 M3 Tap x Depth 4 2 03 4 00 13 holes Warning label Nameplate 8h6 8 009 00 315 9 oo04 20h7 620 5 91 0 79 6 0008 Units mm in Model Allowable Allowable SGMMJ Tap x Depth Radial Load Thrust Load N Ibf N Ibf 113 5 95 5 m 240 52 275 76 Att Atached 4 88 4 17 2 S No ta 275 89 SM 606 20 123 5 105 5 p 52 aE 76 None Not 5 28 4 57 G i ed 315 89 A200AJc610 Attached M3 x 6L 694 20 Note The key slot conforms to the standard JIS B 1301 1975 fine class and the parallel key is attached to it AT1LILIAJB21LI 3 21 3 Specifications and Dimensional Drawings 3 5 3 SGMMJ Servomotor 3000min With Gears and Without Brakes 2 30 W Encoder cable UL
208. e encoder pulse number 32 bit hexadecimal code s 1 Refer to 2 Sequence I O Signal Monitor Display 2 Refer to 4 Monitor Display of Reference Pulse Counter and Feedback Pulse Counter 1 26 7 4 Operation in Monitor Mode UnOOD 2 Sequence I O Signal Monitor Display The following section describes the monitor display for sequence I O signals a Input Signal Monitor Display The status of input signal allocated to each input terminal is displayed When the input is in OFF open status the top segment LED is lit when the input is in ON short circuited status the bottom segment LED is lit Top OFF H level Bottom ON L level 87654321 Number Refer to 7 3 2 Input Circuit Signal Allocation for the relation between input terminals and signals Input Terminal Name Factory Setting NSG When using SGDJ LILILIP SERVOPACK for the position control mode the SEN signal is assigned Pin No 36 lt q EXAMPLE gt When S ON signal is ON Servo ON at L level ETTE I 3I lt The bottom segment of number 1 is lit 87654321 When S ON signal is OFF 131 lt lt The top segment of l number 1 is lit 87654321 When P OT signal operates Operates at H level The top segment of A number 3 is lit 87654321 7 27 7 Digital Operator 7 4 1 List of Monitor Modes b Output Signal Monitor Display The status of output signal allocated to each output terminal
209. e in Pn103 and perform the adjustment manually The following utility function is also available for the online autotuning Fn007 Writes the load moment of inertia calculated by the online autotuning in Pn103 and uses as the default value for the next calculation 9 Adjustments 9 2 2 Online Autotuning Procedure 9 2 2 Online Autotuning Procedure A WARNING Do not perform extreme adjustment or setting changes causing unstable servo operation Failure to observe this warning may result in injury and damages to the machine Adjust the gains slowly while confirming motor operation Start LA Operate with factory setting Set Pn110 0 0 Y Yes Operation OK Yes Continuous online autotuning Set Pn110 0 1 Operation OK No Ajust the machine rigidity setting Set at Fn001 Operation OK Adjust the friction ln Yes Set Pn110 2 Operation OK gt Do not perform ae autotuning Write the result of autotuning Set Pn110 0 2 in the parameter The result will be used as the default value for next autotuning Utility function Fn007 End 9 6 9 2 Online Autotuning 9 2 3 Selecting the Online Autotuning Execution Method There are three methods that can be used for online autotuning At start of operation constantly and none The selection method is described next O
210. e length in OO of cable type designation Example JZSP CMP19 30 3 m 98 4 ft 6 24 6 4 Others 2 Connectors and Connector kits for User modified Encoder Cables Specifications SERVOPACK end connector kit JZSP CMP9 1 5 4 1 Servomotor end connector kit JZSP CMP9 2 Cables JZSP CMP19 O 50 m 164 0 ft max Maximum length 50 m 1 97 in 6 25 7 Digital Operator 7 1 Functions on Digital Operator 7 2 7 1 1 Connecting the Digital Operator 7 2 7 1 2 Key Names and Functions 7 3 7 1 3 Basic Mode Selection and Operation 7 4 7 1 4 Status Display 7 5 7 2 Operation in Utility Function Mode FnOOD 7 7 7 2 1 List of Utility Function Modes 7 7 7 2 2 Alarm Traceback Data Display Fn000 7 8 7 2 3 Zero point Search Mode Fn003 7 9 7 2 4 Parameter Settings Initialization Fn005 7 10 7 2 5 Alarm Traceback Data Clear Fn006 7 11 7 2 6 Automatic Offset adjustment of Motor Current Detection Signal FnOOE 7 12 7 2 7 Manual Offset adjustment of Motor Current Detection Signal FnOOF 7 13 7 2 8 Password S
211. e refer The V REF input voltage and the Pn300 setting are Lower the reference speed to the speed limit ence input incorrect value The position reference pulse frequency is too high Adjust slowly the position reference pulse fre quency Apply the smoothing function Correct the electronic gear ratio Setting of the position error pulse overflow alarm Set the parameter Pn505 to proper value level Pn505 is incorrect The servomotor specifications do not meet the load Reconsider and correct the load and servomotor conditions such as torque and moment of inertia capacity Digital Opera Occurred when the The contact between the digital operator and the Insert securely the connector or replace the cable tor Transmis power supply was SERVOPACK is faulty sion Error 1 2 turned ON with dig The external noise interference occurred to the digi Do not lay the cable near noise source ital operator con nz i 5 tal operator or cable Install digital operator far from noise source DEG GOh The digital operator cable is near noise source when connecting m 3 Digital Opera digiisl operator with A digital operator fault occurred Replace the digital operator tor Trainee the power supply SERVOPACK fault occurred Replace the SERVOPACK sion Error 2 3 was turned ON 1 This alarm occurs when the communications is still disabled five seconds after digital opera tor power supply is ON or when digital
212. e the alarm the older the alarm data is table The following alarm are operator related alarms which are not recorded in the traceback data Digital operator transmission error 1 Digital operator transmission error 2 Refer to 70 1 Troubleshooting for alarm number and contents vro 1 Alarm traceback data will not be updated when the same alarm occurs repetitively 2 The display A means no alarm occurs Follow the procedure below to confirm alarms which have been generated Press the DSPL SET Key to select Alarm Traceback Data Dis play Fn000 If a number other than Fn000 is displayed press DSPL SET Key UP Key or DOWN Key to set Fn000 Note The enabled digit blinks TR Press the DATA ENTER Key The latest alarm data is displayed DATA ENTER Key Press the UP Key to display the data for a previous alarm To display one newer alarm data press DOWN Key Note The higher the digit on the far left the older the alarm data is Press the UP Key to display value in order Note A means no alarm occurs Press the DATA ENTER Key The display will return to Fn000 7 8 7 2 Operation in Utility Function Mode FnOOD 7 2 3 Zero point Search Mode Fn003 A CAUTION Forward run prohibited P OT and reverse run prohibited N OT signals are disabled during zero point search mode operations using Fn003 The zero point search mode is designed to perform positioning to the zero p
213. e train reference lt Speed control analog reference Position control pulse train reference Torque control analog reference 9 Torque control analog reference Speed control analog reference Speed control analog reference Zero clamp B Position control pulse train reference Position control Inhibit Axis Address Sets SERVOPACK axis address Function supported by PC software SigmaWin Rotation Type Linear Type Startup Selection When the Encoder is not Connected Lo Starts up as rotation type Reserved Do not change 10 32 10 4 List of Parameters Param Name Setting Range Units Factory Setting Setting Reference eter No Ens ooop Validation Section Pn001 Function Selection Application Switches 1 0000 0010 After restart 4th 3rd 2nd 1st digit digit digit digit es ef MES Servo OFF or Alarm Stop Mode Refer to 8 3 5 Selecting the Stopping Method After Servo OFF Stops the motor by applying dynamic brake DB Stops the motor by applying dynamic brake DB and then releases DB Makes the motor coast to a stop state without using the dynamic brake DB Overtravel OT Stop Mode Refer to 8 3 3 Setting the Overtravel Limit Function Same setting as Pn001 0 Stops the motor by applying DB or by coasting Sets the torque of Pn406 to the maximum value decelerate the motor to a stop and then sets it to servolock state Sets the torque of Pn406 to the maximum va
214. ecting X II Series servodrives B Description of Technical Terms The terms in this manual are defined as follows Servomotor or motor DC power input X II Series SGMMJ and SGMAJ servomotor SERVOPACK DC power input X I Series SGDJ 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 Parameter number Numbers that the user inputs toward the SERVOPACK 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 SON S ON e P CON P CON B Quick access to your required information Read the chapters marked with V to get the information required for your purpose SERVOPACKs Servomotors and Peripheral Devices Ratings and Panel Trial Operation Character Configura tion and Servo istics and Wiring Adjustment Inspection and Chapter Maintenance Chapter 1 Outline Chapter 2 Selections Chapter 3 Specifications and Dimensional Drawings Chapter 4 SERVOPACK Specifications and Dimensional Drawings Chapter 5 ai EN Specifications and Dimensional Drawings of Cables and Peripheral Devices Chapter 6 Wiring Chapter 7 Digital Operator Chapter 8 Operation Chapter 9 Adjustments Cha
215. ection is the same as the reference Input the pulse reference with the large number of motor rotation from the host controller to obtain the constant speed Set the motor speed of several 100 min l for the refer ence pulse speed because such speed is safe Refer to 7 1 3 Basic Mode Selection and Operation for how it is displayed Un00C input reference pulse counter pulse Refer to 7 1 3 Basic Mode Selection and Operation for how it is displayed Un003 rotation angle 1 pulse Check the input pulse polarity and input reference pulse form Refer to 8 6 1 2 Setting a Reference Pulse Form Set the motor speed of several 100 min for the refer ence pulse speed because such speed is safe 8 13 8 Operation 8 1 2 Trial Operation for Servomotor without Load from Host Reference cont d Check Method and Remarks Check the reference pulse speed input to the SER Refer to 7 1 3 Basic Mode Selection and Operation for VOPACK using the Un007 input reference pulse how it is displayed speed min Un007 input reference pulse speed min The number of input reference pulses Un00C can be obtained from the following equation Pn202 1 x Pn203 2 5 8192 EE i as Reference input ppm Electronic Encoder gear ratio pulse Un007 input reference pulse speed input reference pulse pulses S x 60 x The encoder pulse differs depending on the model of the servomotor used
216. ection with the multiturn data at the Pn205 setting the multiturn data will change to 0 Set the Pn205 to the desired multiturn data 1 Encoder Multiturn Limit Disagreement Pn205 setting value Reverse Forward direction direction No of revolutions 3 Position detection ee i ce ea Revolution counter ILLE sot ol LLY Detection amount cl Absolute encoder Position Travel distance motor 1 revolution Ifthe Pn205 value is changed from the factory setting and the power is turned OFF then ON an alarm will be dis played Alarm Alarm Name Alarm Code Outputs Meaning Display A CC Multiturn Limit Disagreement ALOI ALO2 ALO3 Different multiturn limits have been set ON L OFF Hj ON I in the encoder and SERVOPACK 8 35 8 Operation 8 4 8 Multiturn Limit Setting When Multiturn Limit Disagreement A CC Occurred 8 4 8 Multiturn Limit Setting When Multiturn Limit Disagreement A CC Occurred Perform the following operation using the digital operator This operation can only be done when the A CC alarm is generated Display after e e om ooo mmm DSPL SET DSPL SET Key About one second later DATA ENTER DATA ENTER Key 8 36 Press the DSPL SET Key to select the utility function mode Press the LEFT RIGHT or UP DOWN Key or the UP or DOWN Key to set the parameter Fn013 The digit that can be set will blink Press the DATA ENTER Key The
217. eed reference SG N 4 2 CN2 ENCO PESEE 4h E PBO 22 T T 5 PULSE A IPBO 23 7 A PAO X 20 8 PULSE B Z IPAO 21 10 A 1 PCO 1 24 41 j PULSEC iam IPCO 1 25 3 J OV 1 SG J 10 024 V 6 ov P 9 Xov tvo o E Connector shell 3 1 The ALM signal is output for about two seconds after the control power is turned ON Take this into consideration when designing the power ON sequence The ALM signal actuates the alarm detection relay 1Ry to stop the main circuit power supply to the SERVOPACK 2 Pin numbers are the same both for X axis and Y axis 3 Connect the connector wire to the connector shell 4 represents twisted pair wires y Note Only signals applicable to Mitsubishi s AD72 Positioning Unit and Yaskawa s SGDJ LILILIS SERVOPACK are shown in the diagram 10 28 10 3 Connection to Host Controller 10 3 10 Example of Connection to MITSUBISHI s AD75 Positioning Unit SERVOPACK in Position Control Mode I O power supply SGDJ OOOP SERVOPACK Positioning unit AD75 424V T E 24V manufactured b 1 Te Misuse omine fee C1 dj Control power supply X axis Y axis he 26 L2 Main circuit power supply A 1Ry 7 READY J m ON wh Qo 14 STOP positioning is canceled Servomotor 11 DOG gt 4 Slade is CN1 UO 1 detected 2 24 k PCO
218. efer to 7 3 2 Input Circuit Signal Allocation 8 8 3 Operating Using an Internally Set Speed Use ON OFF combinations of the following input signals to operate with the internally set speeds Input Signal Motor Rotation Speed IP CON P CL IN CL Direction SPD D SPD A SPD B Forward san Lo ag Pn303 Internally Set Speed 3 SPEED3 Note Signal OFF High level Signal ON Low level IMPORTANT Control Mode Switching When Pn000 1 4 5 or 6 and either P CL SPD A or N CL SPD B is OFF high level the control mode will switch Example When Pn000 1 5 Internally set speed selection Position control pulse train Input Signal Speed P CL SPD A N CL SPD B OFF high OFF high Pulse train reference input position control OFF high ON low Pn301 Internally Set Speed 1 SPEED1 ON low ON low Pn302 Internally Set Speed 2 SPEED2 ON low OFF high Pn303 Internally Set Speed 3 SPEED3 8 8 Operating Using Speed Control with an Internally Set Speed Example of Operating with Internally Set Speed Selection The shock that results when the speed is changed can be reduced by using the soft start function For details on the soft start function refer to 8 5 4 Soft Start Example Operation with an Internally Set Speed and Soft Start Servomotor speed 3rd speed SPEED3 Acceleration deceleration are done for the soft start times set in Pn3
219. end of the tool into the slot 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 Either the procedure shown in Fig A or B can be used to open the wire insert opening Fig B 3 Insert the wire core into the opening and then close the opening by releasing the lever connection or removing the screwdriver 6 Wiring 6 1 3 Typical Main Circuit Wiring Examples 6 1 3 Typical Main Circuit Wiring Examples Single phase 100 200 V SERVOPACK J i SGDJ OOCoO SGDJ OOEO 24V os 31 Main circuit Main circuit power supply power supply OFF ON m T 32 1D 024V i Ja o TKM 1SUP 1QF Molded case circuit breaker 1Ry Relay FIL Noise filter 1PL Indicator lamp 1KM Magnetic contactor 1SUP Surge suppressor 1CAP Capacitor for the control power supply input 1D Flywheel diode 2CAP Capacitor for the main circuit power supply input 1FU Fuse IMPORTANT Designing a Power ON Sequence Note the following points when designing the power ON sequence Design the power ON sequence so that main circuit power supply is turned OFF when a servo alarm signal is output See the previous circuit figure The SERVOPACK will output 1Ry is OFF a servo alarm signal for two seconds or less when the control power is turne
220. ental pulse me 2 Absolute Encoder Transmission Sequence and Contents 1 Set the SEN signal at high level 2 After 100 ms set the system to serial data reception waiting state Clear the incremental pulse up down counter to zero 3 Receive eight bytes of serial data 4 The system enters a normal incremental operation state about 400 ms after the last serial data is received SEN signal Rotation count serial data 22222 L EE incre Bus lI defined BEAT EE Incremental pulse 4 Phase A Phase A PBO Undefined Initial incre EMEN Incremental pulse Een ESE mental pulse Phase B Phase B PSO Undefined Rotation count serial data 60ms min 90ms typ 1 to 3 ms 260 ms max 400 ms mak Approx 15ms Serial data Indicates how many turns the motor shaft has made from the reference position position spec ified at setup Initial incremental pulse Outputs pulses at the same pulse rate as when the motor shaft rotates from the origin to the current position at about 2500 min for 16 bits when the dividing pulse is at the factory set ting 8 31 8 Operation 8 4 6 Absolute Encoder Reception Sequence Reference position setup Current position Coordinate 1 0 1 2 V 3 value 1 0 1 1 1 1 2 I I 3 1 zt 1 1 1 1 1 li Value M 1 1 1 1MxR Poi 1 1 1 i i i i P E i i i Pg Py E i i I I 1 1 1 1 Final absolute data P is calculated by following
221. eplate Back side Output shaft Encoder Detecting section 5 2 1 Wire Size SERVOPACK Model Main Circuit Power Input Motor Connection Control Power Input SGDJ Terminal CN9 Terminal CN8 Terminal CN7 ASCO A8CLI ASELI O1ELI 02E0 03EG AWG14 HIV2 0 or more AWG14 HIV2 0 or more AWG16 HIV1 25 or more AWG16 HIV1 25 or more AWG16 HIV1 25 or more 5 2 Servomotor and SERVOPACK Main Circuit Wire Size and Connectors 5 2 2 SGMMJ Servomotor Connectors for Standard Environments 1 Servomotors Main Circuit Without Brakes a Connector Type JZSP CFM9 2 Units mm in Connector on Servomotor main servomotor circuit connector Type Manufacturer n 1 P a oY Ca 5559 04P SS Molex Japan Co Ltd b Connector Pin Arrangement Lead Cole Red GreenYellow 2 Servomotors With Brakes a Connector Type JZSP CFM9 3 Units mm in Connector on Servomotor main Type Manufacturer circuit connector Ca 5559 06P servomotor E 5559 06P Molex Japan Co Ltd SED Socket 5558TL j E OR Ee b Connector Pin Arrangement Pf Phase Re A a oo Gems Brake ral No polarity 6 Brak terial 5 Specifications and Dimensional Drawings of Cables and Peripheral Devices
222. erence torque Rated torque W EXAMPLE Ref ii i Pn400 30 The servomotor operates at the rated torque with 3 V input eference voltage factory setting This reference voltage is set Pn400 1000 The servomotor operates at the rated torque with 10 V input Pn400 200 The servomotor operates at the rated torque with 2 V input 8 7 2 Torque Reference Input By applying a torque reference determined by the analog voltage reference to the SERVOPACK the servomotor torque can be controlled in proportion with the input voltage Name Pin Number Input T REF Torque Reference Input DM S per 3 Signal Ground for Torque Reference Input Used during torque control analog voltage reference Pn000 1 2 6 9 The torque reference gain is set in Pn400 For setting details refer to 8 7 1 Setting Parameters W Input Specifications Input range 1 to 10VDC rated torque Max allowable input voltage 12 VDC Factory setting Pn400 30 Rated torque at 3 V 300 Reference torque 96 200 Factory setting 0 34 8 12 3 V input Rated torque in forward direction 100 MPut voltage V 9 V input 300 rated torque in forward direction 0 3 V input 10 rated torque in reverse direction 200 O8 Set the slope The voltage input range can be changed with parameter Pn400 with Pn400 W Input Circuit Example SERVOPACK z 470 Q 1 2 W min Use twisted pair wires as a countermeasure against noise CN1 T RE
223. ernal force By using this parameter to delay turning the servo OFF this slight shift can be IBK output Brake released Brake Re eliminated S ON CN1 14 E iM dud This parameter changes the brake ON timing while the servomo Power to motor Power to motor No power to motor tor is stopped For details on brake operation while the servomotor is operating refer to 8 3 4 5 Setting the Brake ON Timing When Servomotor Running in this section BW IMPORTANT The servomotor will turn OFF immediately when an alarm occurs regardless of the setting of this parameter The machine movable part may shift due to gravity or external force during the time until the brake operates 8 23 8 Operation 8 3 4 Setting for Holding Brakes 5 Setting the Brake ON Timing When Servomotor Running The following parameters can be used to change the BK signal output conditions when a stop reference is output during servomotor operation due to the servo OFF or an alarm occurring Brake Reference Output Speed Level Setting Range Setting Unit Factory Setting Setting Validation Timing for Brake Reference Output during Motor Operation Setting Range Setting Unit Factory Setting Setting Validation 10 to 100 10 ms 50 Immediately 100 to 1000 ms 500 ms BK Signal Output Conditions When Servo motor Running S ON input Servo ON Servo OFF Or alarm or _ The BK signal goes to high level brake ON
224. es pose e n a This input signal is required to output absolute data SERVOPACK from the SERVOPACK Host gontollgr ONI Let at least three seconds elapse after turning ON the ae SEN 5 36 pus Q power before changing the SEN signal to high level i High evel gt When the SEN signal changes from low level to high About 1 mA ree 7406 or equivalent level the multiturn data and initial incremental pulses SG are output ovy Until these operations have been completed the servo motor cannot be turned ON regardless of the status of We recommend a PNP transistor the servo ON signal S ON The panel operator dis Signal levels play will also remain b b High 4 0 V min Low 0 8 V max Refer to 8 4 6 Absolute Encoder Reception Sequence B IMPORTANT Maintain the high level for at least 1 3 seconds when the SEN signal is turned OFF and then ON as shown in the figure on the SEN signal right OFF ON high level ON 1 3 s min j l gt ms min 8 28 8 4 Absolute Encoders 8 4 2 Selecting an Absolute Encoder An absolute encoder can also be used as an incremental encoder Pn002 n LIOLIL Use the absolute encoder as an absolute encoder Factory setting n LI1LIL Use the absolute encoder as an incremental encoder The SEN signal and back up battery are not required when using the absolute encoder as an in
225. etting Protects Parameters from Being Changed Fn010 7 14 7 2 9 Motor Models Display Fn011 7 15 7 2 10 Software Version Display Fn012 7 16 7 3 Operation in Parameter Setting Mode PnLILILI 7 17 7 3 1 Setting Parameters 7 17 7 3 2 Input Circuit Signal Allocation 7 21 7 3 3 Output Circuit Signal Allocation 7 24 7 4 Operation in Monitor Mode UnLILIL 7 26 7 4 1 List of Monitor Modes 7 26 7 Digital Operator 7 1 1 Connecting the Digital Operator 71 1 Functions on Digital Operator This section describes the basic operations of the digital operator hereinafter called the digital operator for set ting the operating conditions Set parameters and JOG operation and display status using these operators For the detailed operation of the digital operator Model JUSP OP02A 2 refer to X II Series SGMLIH SGDM Dig ital Operator Operation Manual TOE S800 34 7 1 1 Connecting the Digital Operator There is no need to turn OFF the SERVOPACK to connect this hand held operator to the SERVOPACK Refer to the following illustrations to connect the digital operator to the SERVOPACK Hand held Digital Operator JUSP OP02A 2 Q MN BB8888 SERVOPACK DIGITAL ERATOI SE
226. eturn to the utility function mode display Fn00D 10 Inspection Maintenance and Troubleshooting 10 1 Troubleshooting 10 2 10 1 1 Alarm Display Table 10 2 10 1 2 Warning Display 10 4 10 1 3 Troubleshooting of Alarm and Warning 10 5 10 1 4 Troubleshooting for Malfunction without Alarm Display 10 13 10 2 Inspection and Maintenance 10 18 10 2 1 Servomotor Inspection 10 18 10 2 2 SERVOPACK Inspection 10 18 10 2 3 SERVOPACK s Parts Replacement Schedule 10 19 10 3 Connection to Host Controller 10 20 10 3 1 Example of Connection to MP920 4 axes Analog Module SVA 01 10 20 10 3 2 Example of Connection to CP 9200SH Servo Controller Module SVA SERVOPACK in Speed Control Mode 10 21 10 3 3 Example of Connection to MEMOCON GL120 130 Series Motion Module MC20 10 22 10 3 4 Example of Connection to MEMOCON GL60 70 Series Positioning Module B2813 SERVOPACK in Position Control Mode 10 23 10 3 5 Example of Connection to OMRON s Motion Control Unit 10 24 10 3 6 Example of Connection to OMRON s Position Control Unit 10 25 10 3 7 Example of Connection to OMRON s Position Control Unit C500 NC221 SERVOPACK in Speed
227. for five minutes after the power is turned OFF Residual voltage may cause electric shock Follow the procedures and instructions for trial operation precisely as described in this man ual 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 multiturn limit value must be changed only for special applications Changing it inappropriately or unintentionally can be dangerous If the Multiturn Limit Disagreement alarm A CC occurs check the setting of parameter Pn205 in the SERVOPACK to be sure that it is correct If Fn013 is executed when an incorrect value is set in Pn205 an incorrect value will be set in the encoder The alarm will disappear even if an incorrect value is set but incorrect positions will be detected resulting in a dangerous situation where the machine will move to unexpected positions Do not remove the cables and connector items while the power is ON Failure to observe this warning may result in electric shock 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 res
228. for through shaft section This refers to the gap where If the servomotor is used in a location that is subject to water the shaft protrudes from the end of the motor or oil mist use a servomotor with an oil seal to seal the Handling Oil through shaft section Flange and Water Precautions on Using Servomotor With Oil Seal The oil surface must be under the oil seal lip Use an oil seal in favorably lubricated condition When using a servomotor with its shaft pointed upward be sure that oil will not stay in the oil seal lips Make sure there are no bends or tension on the power lines Cable Stress Especially be careful to wire signal line cables so that they are not subject to stress because the core wires are very thin at only 0 2 to 0 3 mm 0 0079 to 0 012 in Observe the following precautions Make sure there is no foreign matters such as dust and metal chips in the connector before connect ing When the connectors are connected to the motor be sure to connect the end of servomotor main cir cuit cables before connecting the encoder cable s end Ifthe encoder cable s end is connected first the encoder may be damaged because of the voltage dif Connectors ferences between FGs Make sure of the pin arrangement Do not apply shock to resin connectors Otherwise they may be damaged When handling a servomotor with its cables connected hold the servomotor or the connectors Oth erwise the cables will be
229. fore performing trial operation of the ser Seatu Vomotor without a load Refer to the following table and check the servomotor operation and specifications in advance Analog speed reference gt Host SERVOPACK controller Trial operation for Position control Speed control servomotor without load Reference from the Host Check Item Check Method Review Items Controller Reference Section JOG Operation Motor Speed Check motor speed as follows Check the parameter setting at Constant Use the motor speed monitor Pn300 to see if reference speed Reference Speed Un000 on the panel operator gain is correct Input from Run the servomotor at low speed Host Controller 1 Input a reference speed of 60 min for example to check to see if the servomotor makes one revolution per second Simple No of motor rotation Input a reference equivalent to one Check the parameter setting at Positioning motor rotation and visually check to Pn201 to see if the number of PG see if the shaft makes one revolution dividing pulses is correct Overtravel Whether the servomo Check to see if the servomotor stops Review P OT and N OT wiring if P OT and tor stops rotating when P OT and N OT signals are the servomotor does not stop N OT Used when P OT and N OT input during continuous servomotor signals are input operation 8 16 8 2 Control Mode Selection 8 2 Control Mode Selection The control modes suppo
230. g 9 2 5 Method for Changing the Machine Rigidity Setting The machine rigidity setting is changed in utility function mode using parameter Fn001 The procedure is given below Display afer Operation Key DesWpion DSPL SET DSPL SET Key DATA ENTER DATA ENTER Key DSPL SET DSPL SET Key About one second later DATA ENTER DATA ENTER Key Press the DSPL SET Key to select the utility function mode Press the Up or Down Cursor Key to select Fn001 The digit that can be set will blink Press the DATA ENTER Key for one second or more The display shown at the left will appear and the rigidity for online autotuning can be set Press the Up or Down Cursor Key to select the machine rigidity set ting Press the DSPL SET Key The rigidity setting will be changed and donE will blink on the display for about one second After donE is displayed the setting will be displayed again Press the DATA ENTER Key for more than one second to return to the Fn001 display of the utility function mode This completes changing the machine rigidity setting for online autotuning 9 Adjustments 9 2 6 Saving the Results of Online Autotuning 9 2 6 Saving the Results of Online Autotuning N CAUTION Always set the correct moment of inertia ratio when online autotuning is not used If the moment of inertia ratio is set incorrectly vibration may occur
231. g Output Signal TGON 8 77 8 11 4 Servo Ready S RDY Output 8 78 8 3 8 Operation 8 1 Trial Operation 8 4 Make sure that all wiring has been completed prior to trial operation Perform the following three types of trial operation in order Instructions are given for SGDJ LILILIS speed con trol mode and SGDJ LILILIP position control mode Unless otherwise specified the standard parameters for speed control mode factory setting are used 1 Trial Operation for Servomotor without Load Refer to 8 1 1 W Purpose The servomotor is operated without connecting the shaft to the machine in order to confirm that the following wiring is correct Power supply circuit wiring Motor wiring To power gt il Encoder wiring supply I Motor s rotation direction and motor speed Secure the motor flange to the machine but do not connect the motor shaft to the load shaft 2 Trial Operation for Servomotor with Host Reference Refer to 8 1 2 W Purpose The servomotor is operated without connecting the shaft to the machine in order to confirm that the following wiring is correct I O signal wiring between the SERVOPACK and the host controller To host controller ae To power lt Hl 5 supply der Motor s rotation direction motor speed and number of h Secure the motor flange to rotations the machine but
232. g the Machine Rigidity Setting 9 9 9 2 6 Saving the Results of Online Autotuning 9 10 9 2 7 Procedure for Saving the Results of Online Autotuning 9 10 9 3 Manual Tuning 9 11 9 3 1 Explanation of Servo Gain 9 11 9 3 2 Servo Gain Manual Tuning 9 12 9 3 3 Position Loop Gain 9 12 9 3 4 Speed Loop Gain 9 13 9 3 5 Speed Loop Integral Time Constant 9 13 9 4 Servo Gain Adjustment Functions 9 14 9 4 1 Feed forward Reference 9 14 9 4 2 Torque Feed forward 9 15 9 4 3 Proportional Control Operation Proportional Operation Reference 9 16 9 4 4 Using the Mode Switch P PI Switching 9 17 9 4 5 Setting the Speed Bias 9 20 9 4 6 Speed Feedback Filter 9 20 9 4 7 Speed Feedback Compensation 9 21 9 4 8 Switching Gain Settings 9 23 9 4 9 Torque Reference Filter 9 24 9 5 Analog Monitor 9 26 9 5 1 Related Parameters 9 27 9 5 2 Manual Zero Adjustment and Gain Adjustment of Analog Monitor
233. g torque Too small a torque limit setting will result in insufficient torque during acceleration and deceleration 8 68 8 9 Limiting Torque 8 9 2 External Torque Limit Output Torque Limiting by Input Signals This function allows the torque to be limited at specific times during machine operation for example during press stops and hold operations for robot workpieces An input signal is used to enable the torque limits previously set in parameters 1 Related Parameters Pn404 Forward External Torque Limit Position Setting Range Seng Unit Factory Setting Setting Validation per Reverse External Torque Limit Position Setting Range Setting Unit Factory Setting Setting Validation 010 800 immediately Note The setting unit is a percentage of rated torque 1 e the rated torque is 100 2 Input Signals Name Number Factory Setting ON Pn404 whichever is smaller OFF Input N CL CNI 12 ON low level Reverse external torque limit The value set in Pn403 or Factory Setting ON Pn405 whichever is smaller OFF high level Reverse external torque limit Pn403 OFF When using this function make sure that there are no other signals allocated to the same terminals as P CL and N CL When multiple signals are allocated to the same terminal the signals are handled with OR logic which affects the ON OFF state of the other signals Refer to 7 3 2 Input Circuit Signal Allocation 8 69 8 Operati
234. ger 26 5 1 04 1 pin Units mm in Motor phase V connection terminal Connect the motor V phase Motor phase W connection terminal Connect the motor W phase eee a 5 2 Servomotor and SERVOPACK Main Circuit Wire Size and Connectors CN9 Main circuit power input connector Connector with cage 721 203 026 000 WAGO Company of Japan Ltd Latch Coding finger 21 5 0 85 1 5 TS asl 125 006 6 30 0 30 0 28 Control power input 24 48 VDC terminal Control power input DC ground terminal 5 9 5 Specifications and Dimensional Drawings of Cables and Peripheral Devices 5 3 1 Encoder Cable With Connectors 5 3 Encoder Cables for CN4 Connector When assembling the encoder cable refer to 5 4 Connectors and Cables for Encoder Signals Contact Yaskawa Controls Co Ltd for IP67 applicable cables flexible cables and connectors 5 3 1 Encoder Cable With Connectors JZSP CMP00 03 3m 9 84 ft SERVOPACK end JZSP CMPO00 05 i Finished dimension Encoder end Cable Type d ads Dimensional Drawing L 6 5 0 26 i JZSP CMP00 10 lom 281f p pm JZSP CMP00 15 15m 49 21 ft Crimped connector Soldered socket connector Molex Japan Co Ltd Molex Japan Co Ltd JZSP CMP00 20 20 m 65 62 ft 5 3 2 Encoder Cable With a SERVOPACK Connector and Encoder Loose Leads 1 Cable Type Cable Type dd Dimensional Drawing L r Finished dimension
235. gs of Servomotor Main Circuit Cable 5 1 2 Cables for SGMMJ and SGMAJ Servomotors With Brakes 1 SGMMJ SERVOPACK end Servomotor end Units mm in 50 1 97 5 35 1 38 L3 E g A DEER e ee g Cr Heat shrinkable tube d Wire markers Plug 5559 06P M4 crimped terminal Terminal 5558T Housing 721 105 026 000 Manufactured by WAGO Company of Japan Ltd Units m ft Cable Type Cable Length L XZSP CDMIO 08 IZSP COMTO 05 ZSP CDMiO O ZSP CDM O S JZSP CDM10 20 20 65 62 2 SGMAJ SERVOPACK end Servomotor end Units mm in 50 1 97 L je 35 1 38 Q fe Q jo Bi 2 E i o5 ES Clu O gt Cap 350781 1 6 pin 2 n Socket 350536 6 Chained i N Manufactured by Tyco Electronics AMP K K Wire markers M4 crimped terminal Housing 721 105 026 000 Manufactured by WAGO Company of Japan Ltd Units m ft Cable Type Cable Length L JZSP CJM10 20 20 65 62 5 Specifications and Dimensional Drawings of Cables and Peripheral Devices 5 2 1 Wire Size 5 2 Servomotor and SERVOPACK Main Circuit Wire Size and Con nectors Sih i Servomotor connector gt Encoder connector Servomotor cable Encoder cable Nam
236. gth 300mm 11 81 in H Leads length 500mm 19 69 in J Leads length 1000mm 39 37 in K Leads length 1500mm 59 06 in 9th digit Brake and Oil Seal Code Specifications Without brakes 24 VDC brake 8th digit Shaft End A Fixed 6th digit Gears Code Specifications J With gears 2 Straight without flat Standard 6 Straight with key and tap Option Tth digit Gear Ratio Code Specifications Remarks 1 5 i For SGMMJ A3 1 16 2 Gear ratio flange 040 3 1 25 A 1m For SGMMJ A1 and A2 B TH Gear ratio flange L125 C 1 25 2 3 2 Selections 2 1 2 Model SGMAJ 2 1 2 Model SGMAJ 1 Standard Type 1st 2nd 3rd 4th 5th 6th 7th digits digits digits digits digits digits SGMAJ A5CAA2 1 7th digit Brake and Oil Seal Code Specifications 1 Without options With oil seal With 24 VDC brake mojo With oil seal and 24 VDC brake 6th digit Shaft End Code Specifications Remarks 2 Straight without key Standard 4 Straight with key Option 6 Straight with key and tap 5th digits Design Revision Order Code Specifications A Fixed 1st 2nd digits Hn Rated Output 3rd digit Voltage kW C 24 VDC
237. he SERVOPACK The parameter settings for the SERVOPACK are Correct the setting of Pn205 0 to 65535 incorrect Execute Fn013 at the occurrence of alarm The multiturn limit value for the encoder is not set or was changed Occurred during A SERVOPACK board fault occurred Replace the SERVOPACK normal operation 10 1 Troubleshooting Table 10 3 Alarm Display and Troubleshooting cont d Alarm Alarm Name Situation atAlarm Cause Corrective Actions Display Occurrence Position Error Occurred when the The overflow level Pn505 is incorrect Make the value set in the Pn505 to other than 0 Pulse Overflow control power sup A SERVOPACK board fault occurred Replace the SERVOPACK In servo ON sta ply was turned ON tus the position Occurred at the ser The contact in the servomotor U V and W wirings Correct the servomotor wiring error pulses vomotor high speed is faulty Correct the encoder wiring tation exceed the over rotation A SERVOPACK board fault occurred Replace the SERVOPACK flow level set in z A The servomotor did Wirings of the servomotor U V and W are incorrect Correct the servomotor wiring the parameter Pn505 not run with posi A SERVOPACK board fault occurred Replace the SERVOPACK tion reference input Normal movement The SERVOPACK gain adjustment is improper Increase the speed loop gain Pn100 and position but occurred with a loop gain Pn102 long distanc
238. hen using an absolute encoder When connecting a battery to the host controller however do not connect a backup battery 4 Enabled by the parameter setting 5 Customers must purchase a 24 VDC power supply with double shielded enclosure 6 Enabled when using the absolute encoder Note The functions allocated to the input signals SIO to SI6 and the output signals SO1 to SO3 can be changed by using the parameters Refer to 7 3 2 Input Circuit Signal Allocation and 7 3 3 Output Circuit Signal Allocation 6 Wiring 6 3 4 I O Signal Connector CN1 Terminal Layout 6 3 4 I O Signal Connector CN1 Terminal Layout 1 SGDJ LILILIS for Speed Torque Control The following diagram shows the terminal layout and the signals that are preset before shipping Signal ground for torque refer ence Signal ground for speed refer ence input Signal ground for SEN signal Speed coin cidence out put Signal ground common Reverse cur rent limit ON input Forward rotation pro hibited Alarm reset input Torque refer ence input Speed refer ence input SEN signal for absolute encoder Servo ready signal output TGON signal output Forward current limit ON input External power supply input P control input Reverse rota tion prohibited PG dividing pulse output phase A PG dividing pulse output phase B PG dividing pulse output phase C Absolute encoder output phase S Backup batter
239. hing noise current will flow from the SERVOPACK power unit through servomotor stray capacitance The above grounding is required to prevent the adverse effects of switching noise b 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 6 18 3 Using Noise Filters 6 4 Others 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 m IMPORTANT Recommended noise filter Model SUP P8HEPR 4 Manufacturer Okaya Electric Industries Co Ltd iPrecautions when using noise filter Always observe the following installation and wiring instructions Incorrect use of a noise filter halves its benefits 1 Do not put the input and output lines in the same duct or bundle them together Incorrect filter Correct Noise filter Separate these circuits 2 Separate the noise filter ground wire from the output lines Do not accommodate the noise filter ground wire output lines and other signal lines in the same duct or bundle them together Noise filter
240. hout Alarm Display Symptom Cause Turn OFF the servo system before executing operations Servomotor The control power supply is not ON Check voltage between control power sup Correct the control power circuit Does Not ply terminals Start The main circuit power supply is not Check the voltage between power supply Correct the power circuit ON terminals Wrong wiring or disconnection of Check if the connector CN1 is properly Correct the connector CN1 connection I O signal connector CNI inserted and connected Servomotor or encoder wiring dis Check the wiring Correct the wiring connected Overloaded Run under no load Reduce load or replace with larger capacity servomotor Speed position references not input Check reference input pins Input speed position references correctly Setting for Pn50A to Pn50D Input Check settings of parameters Pn50A to Correct the settings for Pn50A to Pn50D Input Signal Signal Selection is incorrect Pn50D Selection Encoder type differs from parameter Check incremental or absolute encoder Set parameter Pn002 2 to the encoder type being used setting S ON input signal stays OFF Check settings of parameters Pn50A 0 and Correct the parameter setting and turn ON S ON input Pn50A 1 signal P CON input function setting is heck parameter Pn001 1 Set parameters to match the application incorrect SEN input is turned OFF Check the SEN signal input when absolute Turn SEN input sig
241. ibed below 8 10 1 Setting Parameters The following combinations of control modes can be selected according to the application at hand Parameter Control Method Applicable SERVOPACK SGDJ SGDJ OOOs OOOP Pn000 n 0040 Internally set speed control contact reference Speed control Applicable N analog voltage reference n LIL15L Internally set speed control contact reference Position control N Applicable pulse train reference n o060 Internally set speed control contact reference lt gt Torque control Applicable N analog voltage reference A A A Joar E 2 A A A A N N a MBDSU Reet NANA n 0090 Torque control analog voltage reference 2 Speed control ana Applicable log voltage reference n LILIALI Speed control analog voltage reference lt gt Zero clamp Applicable n LILIBLI Position control pulse train reference Position control N A Applicable inhibit 8 10 2 Switching the Control Mode 1 Switching Internally Set Speed Control Pn000 1 4 5 or 6 With the sequence input signals in the factory setting Pn50A n LILILI0 the control mode will switch when both P CL SPD A and N CL SPD B signals are OFF high level Name Pin Number Input P CL CNI 11 OFF high level Switches control mode IN SPD A Must be allocated Input N CL CNI 12 OFF high level Factory setting SPD B Must be allocated W Input Signal
242. icable to OMRON s MC unit positioning unit and Yaskawa s SGDJ OOOP SERVOPACK are shown in the diagram 10 25 10 Inspection Maintenance and Troubleshooting 10 3 7 Example of Connection to OMRON s Position Control Unit C500 NC221 SERVOPACK in Speed Control Mode 10 3 7 Example of Connection to OMRON s Position Control Unit C500 NC221 SERVOPACK in Speed Control Mode 10 26 Position control I O power supply SGDJ OOOS SERVOPACK unit C500 NC221 e 24V manufactured by 24V Tt e 024V OMRON X axis Y axis EXT IN EZ I positon 4 positioning 2 2 CCWLX Py lis canceled 303 sTPX T Addis A 14 lt 4 proximity 14 lt ORGX Zt is omiy 5 15 EMGX m 3 CN 6 16 cwix 4Ry 1Ry ALM 34 1 X DC GND 1 Tt 11 DC GND i lau 35 M D TEL 24VIN 13 12 24V 3 19 OUT 1X IS ON 14 9 25 X OUT V REF T REF 3 1 8 24 X AG SG ou 7 23 X A ca PAO 20 6 22 X A zn IPAO 21 5 21 X B PBO 22 4 20 LXJB X 2 IPBO 23 16 14 X C AN PCO124 15 13 XC Z IPCO 25 1 17 0V mE SGi110 Connector 2 9 shell C10 C2c Control power supply LI OS pt ton L2 d Main circuit power supply Doa Servomotor u M 3 W 0 3 Qo 3 4 j 16 P OT 3Ry AT 4N OT 024V 4Ry 1 The ALM signal is out
243. ich is used only to hold and cannot be used for braking Use the holding brake only to hold a stopped motor Brake torque is at least 120 of the rated motor torque 2 When operating using only a speed loop turn OFF the servo and set the input reference to 0 V when the brake is applied 3 When forming a position loop do not use a mechanical brake while the servomotor is stopped because the servomotor enters servolock status 1 Wiring Example Use the SERVOPACK contact output signal BK and the brake power supply to form a brake ON OFF circuit The following diagram shows a standard wiring example Servomotor AC DC SERVOPACK with brake Power supply converter SS R f L1 T T 12 M C1 Ed O pe cn Ps BK RY uBK 24V 10 ex T SG X Surge suppressor AC DC BK RY converter CR50500BL e Aa Manufactured by Okaya Electric A Industries Co Ltd BK RY Brake control relay AC DC converter The brakes of SGMMJ and SGMAJ SERVOPACK are 24 VDC The customer must provide the 24 VDC output power supply 4 and 2 are the output terminals allocated with Pn50F 2 8 22 8 3 Setting Common Basic Functions 2 Brake Interlock Output Type Name Connector Pin Setting Meaning Number Output BK Must be allocated ON low level Releases the brake OFF high level Applies the brake This output signal controls the brake and is use
244. ied as the torque limit whichever is smaller SERVOPACK P CL 3 gt N CL gt Torque limit R Forward torque value limit value Pn402 Pn404 Speed loop P CL ON Speed ain Torque reference reference Reverse torque limit value Pn403 Pn101 N CL ON Speed feedback 1 Related Parameters Meaning Pn002 n LILILI3 Speed control option When P CL or N CL is enabled the T REF terminal is used as the external torque limit input When n L1LI1L12 is set T REF is used for torque feed forward input but the functions cannot be used together Pn404 Forward External Torque Limit Setting Range Setting Unit Factory Setting Setting Validation omo 9 mmea Reverse External Torque Limit Setting Range Setting Unit Factory Setting Setting Validation 010 800 immediately The setting unit is a percentage of rated torque i e the rated torque is 100 8 72 8 9 Limiting Torque 2 Input Signals Type Signal Connector Pin Name Name Number Input T REF CNI 1 Torque reference input CN1 2 Signal ground for torque reference input The torque limit input gain is set in parameter Pn400 Refer to 8 7 1 Setting Parameters W Input Specifications Input range 1 VDC to 10 VDC rated torque e Maximum allowable input voltage 12 VDC Type Signal Connector Pin Setting Meaning Limit Value Name Number Input P CL CNI 11 ON low level Forward external torque limit The an
245. ill be as shown at the left The manual adjustment mode for the torque reference offset will be entered Turn ON the servo ON S ON signal The display will be as shown at the left Press the LEFT or RIGHT Key to display the torque reference offset amount Press the UP or DOWN Key to adjust the amount of offset Press the LEFT or RIGHT Key to return to the display shown on the left Press the DATA ENTER Key to return to the Fn00B display of the util ENTER ity function mode DATA ENTER Key 8 7 4 Limiting Servomotor Speed during Torque Control During torque control the servomotor is controlled to output the specified torque which means that the servomo tor speed is not controlled Accordingly when an excessive reference torque is set for the mechanical load torque it will prevail over the mechanical load torque and the servomotor speed will greatly increase This function serves to limit the servomotor speed during torque control to protect the machine With No Speed Limit With Speed Limit Motor speed t Maximum speed Danger of damage due to Motor speed excessive machine speed y Safe operation with speed limit Speed limit 4 7 1 Speed Limit Mode Selection Torque Limit Option Pn002 n LILIOLI Uses the value set in Pn407 as the speed limit internal speed limit function n 0010 Uses V REF CNI 3 4 as an external speed limit input Applies a speed limi
246. inertia 3 3 torque motor speed characteristics 3 3 with standard backlash gears 3 4 without gears 3 2 shield box 6 22 SIGN 2 53 5320 gie et pi a DiE eea aga 6 12 soft start 8 42 soft start time setting 4 3 Index 3 software version display Fn012 7 16 S ON 6 12 specifications and dimensional drawings of servomotor main circuit cable 5 2 speed coincidence output 8 46 speed control range 4 3 speed feedback compensation 9 21 speed limit during torque control 8 64 speed loop gain 9 13 speed loop integral time constant 9 13 speed reference input 4 3 speed regulation 4 4 S RDY 6 13 8 78 standard replacement period 10 19 starting time 4 11 stopping time 4 11 surge suppressor
247. ing does not suit the operating conditions Adjust the servo gains manually Refer to 9 3 Manual Tuning The selection of settings for the positioning time reduction functions or vibration reduction functions are not appropriate Each function may not be effective for all machines due to machine characteristics or operating condi tions Use other positioning time reduction function or vibration reduction function 9 2 9 1 Autotuning 9 1 2 List of Servo Adjustment Functions 1 Autotuning Functions Autotuning calculates the load moment of inertia which determines the servo responsiveness and automatically adjusts parameters such as the Speed Loop Gain Kv Pn100 Speed Loop Integral Time Constant Ti Pn101 Position Loop Gain Kp Pn102 and Torque Reference Filter Time Constant Tf Pn401 Refer to the following table to select the appropriate autotuning function for your desired purpose and adjust the servo gains Function Name and Related Parameters Description Online Autotuning Pn110 0 Fn001 Fn007 easily This function automatically measures the machine char acteristics and sets the required servo gains accordingly This function allows beginners to adjust the servo gains Refer ence Section Guidelines for Selection Only the minimum number of parameters must be set for autotuning using a normal operation reference The load moment of inertia is calculated during opera tion for a user reference and the
248. ion within one revolution 0 to 9 or p CR ma aAa 000001010 1 ae e ie Data Stop bit Start bit Even parity Note 1 The absolute position data within one revolution is the value before divided 2 The absolute position data increases during forward rotation The reverse rotation mode is invalid c Incremental Pulses and Zero Point Pulses Just as with normal incremental pulses initial incremental pulses which provide absolute data are first divided by the frequency divider inside the SERVOPACK and then output For details refer to 8 5 7 Encoder Signal Output Forward rotation Reverse rotation Phase A m E ea ee ee mesam SE oy ae Phase B i E e we D maa ec a i 7 Phase B Phase C Ml Phase C h t 8 33 8 Operation 8 4 6 Absolute Encoder Reception Sequence 4 Transferring Alarm Contents When an absolute encoder is used SEN signals can be utilized to transfer the alarm detection contents from PAO outputs to the host controller as serial data For alarm list refer to 10 1 1 Alarm Display Table SEN Signal H Error detection v o RB Overspeed PAO Serial Data Incremental pulse ALM81 Serial Data 8 34 8 4 7 Multiturn Limit Setting A WARNING The multiturn limit value must be changed only for special applications Changing it inappropriately or unin tentionally can be dangerous 8 4 Absolute Encoders If the
249. ircuit max Board 10 19 10 Inspection Maintenance and Troubleshooting 10 3 1 Example of Connection to MP920 4 axes Analog Module SVA 01 10 3 Connection to Host Controller 10 3 1 Example of Connection to MP920 4 axes Analog Module SVA 01 10 20 MP920 Series SVA 01 manufactured by SGDJ OOOS SERVOPACK Yaskawa to CN1 2 NREF V REF F 3 1 SG 8 x 4 3 PA o 120 4 PAL BAG 21 23 PB PBO 22 24 PBL PBO 23 5 PC PCO 1 24 6 PCL TA IPCO 25 74 SG IRE SG j 19 16 24V OUT i 24V IN 13 T T 3 314 SVON IS ON 14 30 J ALMRST __ ALM RST 18 12 4 PCON i i IP CON 15 13 OTR i i N OT 17 14 4 OTF P OT 16 1 I I I 32 DOSEN 11 OV i i t 20 X SEN SEN 5 19 SG SG 16 28 OV SG 110 IJ j 230V TEE 17 SVALM i i ALM 34 10 OV ALM 135 35 SVRDY i i S RDY 7 18 BRK 1 TGONF 9 22 Y BAT BAT 28 21 OBAT i BAT 29 FG f x represents twisted pair wires v Es Control power supply D d Main circuit power supply ere Servomotor 1 j V 2 w 3 4 1 o I A CN2 1 KY 10 3 Connection to Host Controller 10 3 2 Example of Connection to CP 9200SH Servo Controller Module SVA SERVOPACK in Speed Control Mode CP 9200SH SVA manufactured by
250. ires Me 6 5 6 Wiring 6 2 2 Encoder Connector CN2 Terminal Layout 2 Absolute Encoders SERVOPACK Host controller 1 Line receiver Phase A 20 PAO 3 2 3 lt t Phase Absolute encoder 213 IPAO 7 Ro 1 o Ph B E f MS noma e Light E i 5 i bue A PS5 PhaseC 244 PCO 10 I1 nase Sinite Ligprfiue IPS j 6 amp 25 PCO Zi Re 9 C i Phase S 26 A PSO 8 16 i ot 274 IPSO i C es bod Output line driver SN75ALS194 Pod ov 5 V E manufactured by Texas rou Instruments or the equivalent Rad CN1 1 i 1 Red Pos 1 P 5V 5 36 SEN 5 V 5 V 2 Blaci 1 7 peo 2 T Fa x PGO V 6 19 A SG m m 5S6 i ov a ol Smoothing 0 33 mm OV t og capacitor o 001in y 2E BN a 3 Orange ABATI x E A BAT 4 White BAT Qe L BAT WZ t Battery j Con nectar F Applicable line receiver SN75175 manufactured Shell 2 Connector by Texas Instruments or the Shield wire shell equivalent corresponding to MC3486 R terminator 220 to 470 Q C Decoupling Capacitor 0 1 uF 1 WA represents twisted pair wires S 2 The pin numbers for the SEN signal differ depending on the SERVOPACK models SGDJ LILILIS CN1 5 SGDJ LILILIP CN1 36 6 2 2 Encoder Connector CN2 Terminal Layout 1 PG5V PG power supply 2 PGOV PG power supply a eee ee BAT Battery BAT Battery
251. iring Main Circuit 1 2 Product Part Names CN5 Analog monitor connector Used to monitor motor speed torque reference and other values through a special cable Refer to 5 6 3 Cables for Analog Monitor or 9 5 Analog Monitor CN3 Connector for personal computer monitoring and digital operator Used to communicate with a personal computer or to connect a digital operator Refer to 5 6 1 Cables for Connecting Personal Computer and 5 6 2 Digital Operator CN1 I O signal connector Used for reference input signals and sequence O signals Refer to 6 3 Examples of I O Signal Connections CN4 Encoder connector Connects to the encoder in the servomotor Refer to 6 2 Wiring Encoders 1 Outline 1 3 Examples of Servo System Configurations This section describes examples of basic servo system configuration Single phase 100 200 VAC Power supply R T Molded case circuit breaker AZIZA MCCB WUW Protects the power supply line by shutting the circuit OFF when overcurrent is detected E TS Noise filter J ZO 707 Used to eliminate external noise from the power line Refer to 5 7 5 AC DC Power supply Magnetic contactor Turns the servo power supply ON or OFF Install a surge protector Ground line 1 6 Note 24 VDC power supply
252. is completed 8 11 8 Operation 8 1 2 Trial Operation for Servomotor without Load from Host Reference m INFO When Position Control is configured at the Host Analog speed reference gt SERVOPACK Trial operation for Position control Speed control Servomotor without load When the SERVOPACK conducts speed control and position control is conducted at the host controller perform the oper ations below following the operations in 2 Operating Procedure in Speed Control Mode Pn000 n OCI LJ on the pre vious page Check Method and Remarks Check the input signal circuit again and check that Refer to the above figure for input signal circuit the speed reference input voltage between the V REF and SG is 0 V 0 Turn ON the servo ON S ON input signal If the servomotor rotates at extremely slow speed refer to 8 5 3 Adjusting Offset and use the reference voltage offset to keep the servomotor from moving 11 Send the command for the number of motor rotation Refer to 7 1 3 Basic Mode Selection and Operation for easy to check for example one motor revolution how it is displayed from the host controller in advance and check the Un003 rotation angle 1 pulse The number of pulses sent number of rotation and actual number of rota from the zero point tion by visual inspection and the Un003 rotation anglel pulse 2 If the sent number of rotation and actual number of Refer to 8 5 7
253. is completed when the operation is performed as described below and the alarm display does not appear Complete the Fn002 Jog Mode Operation and turn OFF the power For operation method of the digital operator refer to 7 7 Functions on Digital Operator The servomotor speed can be changed using the Pn304 JOG Speed The factory setting for jog speed is 500 min Press the UP or DOWN Key to select Fn002 Note The digit that can be set will blink Press the DATA ENTER Key The display shown at the right will appear and the servomotor will enter JOG operation mode The servomotor can be operated with the panel operator in this condition Press the SVON Key This will turn ON the power to the servomotor Press the UP Key forward or DOWN Key reverse The servomotor will operate as long as the key is pressed Press the DSPL SET Key This will turn OFF the power to the servomotor The power will remain OFF even if the SVON Key is pressed Press the DATA ENTER Key to return to the Fn002 display of the utility function mode 8 7 8 Operation 8 1 1 Trial Operation for Servomotor without Load N The servomotor s rotation direction depends on the setting of parameter Pn000 0 Direction Selection The example INFOJ above describes operation with Pn000 0 in the factory setting a pepe Setting Range Setting Unit Factory Setting Setting Validation 0 to 10000 1 min Immediately Sets the utility function Fn002 Jog Mode O
254. is displayed When the output is in OFF open status the top segment LED is lit When the output is in ON short circuited status the bottom segment is lit Top OFF H level Bottom ON L level 765 4321 Number Output Terminal Namie Factory Setting ALM 1 8 10 COIN or V CMP TGON S RDY ALOI ALO02 CN1 32 Seven segments in the top and bottom rows of an LED turn ON and OFF in different combinations to indi cate various output signals These segments ON for L level and OFF for H level 4 EXAMPLE gt When ALM signal operates alarm at H level 31 lt 4 The top segment of number 1 is lit 7654321 3 Operation in Monitor Mode The example below shows how to display the contents of monitor number Un000 when the servomotor rotates at 1500 min Display after eee 1 TI Eze Press the DSPL SET Key to select the monitor mode MATE LIJI LIIL DSPL SET Key 2 Press the UP or DOWN Key to select the monitor number to be displayed The display shows the example of the data of Un000 3 r TA Press the DATA ENTER Key to display the data of Un000 ENTER DATA ENTER Key 4 Press the DATA ENTER Key to return to the display of moni ENTER tor number 7 28 7 4 Operation in Monitor Mode UnOOD 4 Monitor Display of Reference Pulse Counter and Feedback Pulse Counter The monitor display of reference pulse counter and feedback pulse counter is expressed in 32 bit hexadecim
255. is specified as the speed reference In this case use P control mode to stop the servomotor 9 16 9 4 Servo Gain Adjustment Functions 9 4 4 Using the Mode Switch P PI Switching Use the mode switch P PI switching function in the following cases To suppress overshooting during acceleration or deceleration for speed control To suppress undershooting during positioning and reduce the settling time for position control Speed Overshoot Actual motor operation Reference Time Undershoot ET Settling time The mode switch function automatically switches the speed control mode from PI control mode to P control mode based on a comparison between the servo s internal value and a user set detection level IMPORTANT 1 The mode switch function is used in very high speed positioning when it is necessary to use the servodrive near the limits of its capabilities The speed response waveform must be observed to adjust the mode switch 2 For normal use the speed loop gain and position loop gain set by autotuning provide sufficient speed position control Even if overshooting or undershooting occur they can be suppressed by setting the host controller s acceleration deceleration time constant the SERVOPACK s Soft Start Acceleration Deceler ation Time Pn305 Pn306 or Position Reference Acceleration Deceleration Time Constant Pn204 1 Selecting the Mode Switch Setting The SERVOPACK provides the following f
256. isabled This is the input dl for the zero clamp operation Either P CON or ZCLAMP can be used to switch the zero clamp To use the ZCLAMP signal an input signal must be allocated Refer to 7 3 2 Input Circuit Signal Allocation for more details B IMPORTANT When the ZCLAMP signal is allocated the zero clamp operation will be used even for speed control Pn000 n LILIOLI 8 43 8 Operation 8 5 7 Encoder Signal Output 8 5 7 Encoder Signal Output Encoder feedback pulses processed inside the SERVOPACK can be output externally Name Pin Number Output Encoder output phase A C Encoder output phase A PBO CN1 22 Encoder output phase B Encoder output phase B CN1 24 Encoder output phase C zero point pulse Encoder output phase C zero point pulse These outputs explained here SERVOPACK Host controller Servomotor Encoder CN1 CN2 Phase A PAO circuit oz data Frequency Phase B PBO dividing Phase C PCO Even in reverse rotation mode Pn000 0 1 the dividing output phase form is the same as that for the standard setting Pn000 0 0 W Output Phase Form Forward rotation phase B leads by 90 Reverse rotation phase A leads by 90 ane He Phase A UU Phase A UU Phase B Phase B Phase C JL Phase C J Le gt t t The following signals are added when using an absolute encoder Name Pin Number Input SEN Signal Input
257. ition Jog Operation operation 5 m input Connect the input signals CN1 necessary for trial operation NAE Check input Use the internal monitor function to check the input signals signals Turn ON the power and check the emergency stop brake overtravel and other pro tective functions for correct operation Input the ser Host vo ON signal Input the servo ON signal and turn ON the servomotor Y 8 Input Input the reference for the control mode being used and check the servomotor for Host reference correct operation Reference Turn OFF the power and then connect the servomotor to the machine Check protec tive operation Ifusing a servomotor with an absolute encoder set up the absolute encoder and make the initial settings for the host controller to match the machine s zero position necessary motor from the host controller and set the parameter so that the machine s travel parameters direction travel distance and travel speed all correspond to the reference Set Using the same procedure as you did to input a reference in step 8 operate the servo Host 10 Reference The servomotor can now be operated Adjust the servo gain if necessary Refer to 9 1 Autotuning Host 11 Operation d ME If a problem occurs refer to Chapter 10 Inspection Maintenance and Troubleshoot Reference ing 8 5 8 Operation 8 1 1 Trial Operation for Servomotor without Load 8 1 1 Trial Operation for Servom
258. l Drawings 3 1 2 SGMMJ Servomotors With Standard Backlash Gears SGMMJ A2E DCA48V SGMMJ A3E DC48V 5000 5000 4000 4000 Motor 3000 Motor 3000 speed speed min 2000 min 2000 1000 1000 0 0 A Continuous Duty Zone O 0 04 0 08 0 12 0 16 0 20 O 0 06 0 12 0 18 0 24 0 30 Torque N m Torque N m Intermittent Duty Zone Lop 1 i iit a e p 0 4 8 12 16 20 24 28 O 6 12 18 24 30 36 42 Torque oz in Torque oz in 3 1 2 SGMMJ Servomotors With Standard Backlash Gears Time Rating Continuous Withstand Voltage 1000 VAC for one minute Insulation Resistance 500 VDC 10 MQ min Enclosure Totally enclosed self cooled IP55 except for shaft opening Ambient Temperature 0 to 40 C 32 to 104 F Ambient Humidity 20 to 80 no condensation Excitation Permanent magnet Drive Method Direct drive Mounting Flange method Backlash 15 to 20 min max Gear Mechanism Planetary gear mechanism Gear Rotation Direction Same direction as servomotor Thermal Class B Moment of Inertia J Servomotor Gear Output x104 kgm x 103 oz in s ed Rated Instanta Rated Torque neous dad Me joe Torque Gear Effi Peak l P Gears 4 Nm Rato ciency Torque NN Gears oz in N m N m ozin 96 ozin w 0 127 80 0 43 0 00529 0 00175 ae ae i 18 0 80 60 9 0 0749 0 0248 0 0318 0 407 80 138 Koss 10 soo 00818 Trine 037788 0 0 18 12 0
259. larm and restart the operation A malfunction occurred in reading section of the speed reference input A SERVOPACK board fault occurred A SERVOPACK board fault occurred A malfunction occurred in the reading section of the torque reference input A SERVOPACK board fault occurred A SERVOPACK board fault occurred Replace the SERVOPACK Replace the SERVOPACK Clear and reset the alarm and restart the operation Replace the SERVOPACK Rep ace the SERVOPACK A program is incorrect Replace the SERVOPACK Contact your Yaskawa representative A SERVOPACK board fault occurred A SERVOPACK board fault occurred Replace the SERVOPACK Replace the SERVOPACK The order of phase U V and W in the servomotor Correct the servomotor wiring wiring is incorrect An encoder fault occurred Replace the servomotor A SERVOPACK fault occurred Replace the SERVOPACK reference was input 10 9 10 Inspection Maintenance and Troubleshooting 10 1 3 Troubleshooting of Alarm and Warning 10 10 Table 10 3 Alarm Display and Troubleshooting cont d Alarm Alarm Name ituationat Alarm Cause Corrective Actions Display Occurrence Absolute Encoder Clear Error and Multi turn Limit Set ting Error Occurred when the control power sup ply was turned ON Occurred when an encoder alarm was cleared and reset Occurred when the control power sup ply was turned ON or during operation Encoder Co
260. lect Pn100 Note The enabled digit blinks Press the DATA ENTER Key The current data of Pn100 is dis played DATA ENTER Key Press the LEFT or RIGHT Key to select the digit to be set Press the UP or DOWN Key to change the data Keep pressing UP or DOWN Key until 00100 is displayed Press the DATA ENTER Key The value blinks and is saved ENTER DATA ENTER Key Press the DATA ENTER Key to return to the display of Pn100 ENTER The data for the speed loop gain Pn100 is changed from 40 DATA ENTER Key to 100 7 17 7 Digital Operator 7 3 1 Setting Parameters c Parameter Indications In this manual the parameter is explained with using the following format Applicable control mode for the parameter Speed control internal set speed control Position control The number of the The name of the Torque control parameter parameter Pn406 Emergency Stop Torque fae Range Setting Unit cm Setting Setting Validation 0080 f 1 80 N mmedateyN settings The maximum the setting value with factory setting immediately or the parameter is combined the parameter with the other sepecified motor The following alarm shows the setting value of the parameter EE Decimal display in five digits 7 18 This section shows the This section shows the This section shows the This section shows if range of the parameter minimum setting unit SERVO
261. lly cause the elec tronic 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 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 three or four mounting holes The number of holes depends on the capacity Orientation Conforming to the following standards ULS08C CSA C222 No 14 EN50178 EN55011 group 1 class A EN61000 6 2 4 5 4 SERVOPACK Specifications and Dimensional Drawings Installation 4 6 Follow the procedure below to install multiple SERVOPACKs side by side in a control panel 50 mm 1 97 in min n e PA ier 50 mm 1 97 in min min 0 39 in min SERVOPACK Orientation Install the SERVOPACK perpendicular to the wall so the front panel containing connectors faces outward Cooling As shown in the figure above allow sufficient space around each SERVOPACK for cooling by cooling fans or natural convection Side by side Installation When installing SERVOPACKs side by side as shown in the figure above allow at least 10 mm 0 39 in between and at least 50 mm 1 97 in above and below each SERVOPACK Install cooling fa
262. lts of online autotuning Display afer Operaton Key Besgion ER Press the DSPL SET Key to select the utility function mode SET DSPL SET Key Press the Up or Down Cursor Key to select parameter Fn007 The digit that can be set will blink mm Press the DATA ENTER Key for one second or more B The display at the left will appear for a moment of inertia ratio of DATA ENTER Key 200 DSPL SET Key When completed donE will blink for about one second About one sec After donE is displayed the moment of inertia ratio will be dis ond later played again mm Press the DATA ENTER to the Fn007 display of the utility function ENTER mode DATA ENTER Key Press the DSPL SET Key sail The moment of inertia ratio will be saved This completes saving the default value for the moment of inertia ratio for online autotuning The next time the power supply is turned ON the value that was saved for the Moment of Inertia Ratio Pn103 will be used to start online autotuning 9 10 9 3 Manual Tuning 9 3 Manual Tuning 9 3 1 Explanation of Servo Gain The block diagram for position control is as follows a Speed pattem MSS Speed A EEA I lm d INS t E D Position reference Speed ky Tf ICurren p Electric l i loop control control power i i ig nisi gam KP section T P section converting T Time l
263. lue decelerates the motor to a stop and then sets it to coasting state AC DC Power Input Selection Reserved Do not change Applicable to DC power input Input DC power supply between L1 and L2 Warning Code Output Selection Refer to 8 11 2 Warning Output WARN Lo ALOI ALO2 and ALO3 output only alarm codes 1 ALOI ALO2 and ALO3 output both alarm codes and warning codes While warning codes are output ALM signal output remains ON normal state 10 33 10 Inspection Maintenance and Troubleshooting 10 4 2 List of Parameters Param Name Setting Range Units Factory Setting Setting Reference eter No oops coop Validation Section Pn002 Function Selection Application Switches 2 0000 ERA E ONE restart 4th 3rd 2nd 1st digit digit digit digit Speed Control Option T REF Terminal Allocation o NA Uses T REF as an external torque limit input Refer to 8 9 3 Torque Limiting Using an Analog Voltage Reference Uses T REF as a torque feed forward input Refer to 9 4 2 Torque Feed forward Uses T REF as an external torque limit input when P CL and N CL are ON Refer to 8 9 4 Torque Limiting Using an External Torque Limit and Analog Voltage Reference Torque Control Option V REF Terminal Allocation Refer to 8 7 4 Servomotor Speed I Torque Uses V REF as an external speed limit input Absolute Encoder Usage Refer to 8 4 2 Selecting an Absolute Encoder Em Use
264. m the host controller corresponds to the following Line driver Output 24V Open collector output e 12V Open collector output 5V Open collector output IMPORTANT m Precautions for Open collector Output When the open collector output is used input signal noise margin lowers Change the parameter as follows Pn200 niooo Reference input filter for open collector signal 1 Input Output Signal Timing Example Servo ON ON e i Release r t1 lt 30 ms Baseblock ee H 2 lt 6 ms 2 as When parameter Pn506 is set to 0 NIST 13240 ms Sign pulse train H eiiis umm nuu H PAO d d t4 t5 t6 2 ms Encoder pulses TI t7 2 20 us PBO i t5 7 icon T t4 1 eH t6 ae ON ON 3e t7 Note 1 The interval from the time the servo ON signal is turned ON until a reference pulse is input must be at least 40 ms otherwise the reference pulse may not be received by the SERVOPACK 2 The error counter clear signal must be ON for at least 20 us 8 52 Table 8 1 Reference Pulse Input Signal Timing Reference Pulse Signal Form Sign and pulse train input SIGN and PULS signal Maximum reference frequency 500 kpps For open collector output 200 kpps CW pulse and CCW pulse Maximum reference frequency 500 kpps For open collector output 200 kpps Two phase
265. me Constant Setting Range Setting Unit Factory Setting Setting Validation 0 to 65 535 0 01 ms 100 Immediately 0 00 to 655 35 ms 1 00 ms 2 Notch Filter Using the notch filter in accordance with the components of specific vibration frequency such as resonances of ball screw can eliminate the frequency components to stop the vibration Pn408 n0000 Disables the notch filter n0001 Enables the notch filter Enables the notch filter to be used The setting is validated immediately Set the machine s vibration frequency in the parameter of a notch filter to be used Notch Filter Frequency Setting Range Setting Unit Factory Setting Setting Validation 50 to 2 000 Hz 2 000 Immediately 9 24 9 4 Servo Gain Adjustment Functions 1 Sufficient precautions must be taken when setting the notch frequency Do not set the notch filter fre quency Pn409 that is close to the speed loop s response frequency Set the frequency at least four times higher than the speed loop s response frequency Setting the notch filter frequency too close to the response frequency may cause vibration and damage the machine The speed loop response frequency is the value of the Speed Loop Gain Pn100 when the Moment of Inertia Ratio Pn103 is set to the correct value 2 Change the Notch Filter Frequency Pn409 only when the servomotor is stopped Vibration may occur if the notch filter frequency is changed when the servomotor is rotating
266. mmunica tions Error Occurred when the control power sup ply was turned ON Encoder Parameter Error Occurred when the control power sup ply was turned ON or during operation Encoder Echoback Error Occurred when the control power sup ply was turned ON Multiturn Limit Disagreement An encoder fault occurred Replace the servomotor A SERVOPACK board fault occurred Replace the SERVOPACK An encoder fault occurred Replace the servomotor A SERVOPACK board fault occurred Replace the SERVOPACK The encoder wiring and the contact are incorrect Correct the encoder wiring Noise interference occurred due to incorrect encoder Use tinned annealed copper twisted pair or cable specifications twisted pair shielded wire with a core of at least 0 12 mm 0 0002 in Noise interference occurred because the wiring dis The wiring distance must be 20m 65 6 ft max tance for the encoder cable is too long The noise interference occurred on the signal line Correct the encoder cable layout 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 surge line or near a high current line is applied The FG electrical potential varies because of the Ground the machine separately from PG side FG influence from such machines on the servomotor side as welders Noise interference occurred on the signal line from Take
267. n exceeds preset value Preset value Set in Pn500 Factory setting is 7 pulses Lit if motor speed exceeds preset value Not lit if motor speed is below preset value Preset value Set in Pn502 Factory setting is 20 min Lit if reference pulse is input Not lit if no reference pulse is input Lit when error counter clear signal is input Not lit when error counter clear signal is not input Lit when main circuit power supply is ON and normal Not lit when main circuit power supply power is OFF 7 5 7 Digital Operator 7 1 4 Status Display 2 Codes and Meanings Baseblock Run Forward Run Prohibited Reverse Run Prohibited Alarm Status Displays the alarm number 7 2 Operation in Utility Function Mode FnOOD 7 2 Operation in Utility Function Mode FnLILILI 7 2 1 List of Utility Function Modes This section describes how to apply the basic operations using the panel operator to run and adjust the motor The following table shows the parameters in the utility function mode Parameter Reference Alarm traceback data display Rigidity setting during online autotuning JOG mode operation Zero point search mode Fixed parameter Parameter setting initialization Alarm traceback data clear Fn007 Writing to EEPROM moment of inertia ratio data obtained from online autotuning Fn008 Absolute encoder multiturn reset and encoder alarm reset Manual adjustment of speed reference offset Manual adjustme
268. n001 n 1 O00 Outputs both Alarm Codes and Warning Codes 10 4 10 1 Troubleshooting 10 1 3 Troubleshooting of Alarm and Warning When an error occurs in servodrive an alarm display such as A L1L and CPFLILI or warning display such as A 9LILI appears on the panel operator However the display A is not an alarm Refer to the following sec tions to identify the cause of an alarm and the action to be taken Contact your Yaskawa representative if the problem cannot be solved by the described corrective action Parameter Breakdown The EEPROM data storing the parameter is incorrect Main Circuit Encoder Error Parameter Setting Error The parameter setting was out of the allowable setting range Combination Error The SERVO PACK and ser vomotor capacities do not correspond 1 Alarm Display and Troubleshooting Table 10 3 Alarm Display and Troubleshooting Occurred when the control power sup ply was turned ON Occurred when the control power sup ply was turned ON or during operation Occurred when the control power sup ply was turned ON Occurred when the control power sup ply was turned ON Aarm Alarm Name Situato etam Cause Corrective Actions Display Occurrence Correct the power supply and set Fn005 to initial ize the parameter The control power supply voltage is low The power supply was turned OFF while changing the parameter setting The power supply
269. n001 1 mode is selected Improper overtravel position setting The distance to the position of OT Correct the OT position overtravel is too short considering the coasting distance Noise interference due to improper The encoder cable specifications must be Use encoder cable with the specified specifications encoder cable specifications Twisted pair or twisted pair shielded wire with core 0 12 mm 0 0002 in min and tinned annealed copper twisted wire Noise interference because the The wiring distance must be 20 m 65 6 ft The encoder cable distance must be within the specified encoder cable distance is too long max 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 with a Change the encoder cable layout so that no surge is encoder cable high current line or near high currentline applied FG electrical potential varies by Check if the machine is correctly grounded Ground the machine separately from PG side FG influence of such machines on the servomotor side as welders SERVOPACK pulse count error due Check if the signal line from the encoder is Take a measure against noise for the encoder wiring to noise influenced by noise Excessive vibration and shock to the Machine vibration occurred or servomotor Reduce the machine vibration or mount the
270. nal ON encoder is used Reference pulse mode selection is Check the parameter setting for the refer Correct setting of parameter Pn200 0 incorrect ence pulse mode Speed control Speed reference input Check V REF and SG to confirm if the con Correct the control mode selection parameter or the is incorrect trol method and the input are agreed input Torque control Torque reference Check V REF and SG to confirm if the con Correct the control mode selection parameter or the input is incorrect trol method and the input are agreed input Position control Reference pulse Check Pn200 0 reference pulse form orsign Correct the control mode selection parameter or the input is incorrect pulse signal input The error clear counter CLR input Check CLR or CLR input pins CN1 14 Turn CLR or CLR input signal OFF is turned ON and 15 The forward run prohibited P OT Check P OT or N OT input signal Turn P OT or N OT input signal ON or reverse run prohibited N OT input signal is turned OFF A SERVOPACK fault occurred A SERVOPACK board fault occurred Replace the SERVOPACK Servomotor Check the servomotor wiring Correct the servomotor wiring Moves In Encoder wiring is incorrect Check the encoder wiring Correct the encoder wiring stantaneous ly and then Stops Servomotor An alarm occurred while alarm reset Check the alarm reset signal Remove the cause of alarm Turn alarm reset signal Suddenly signal
271. nd 03 L dimension 8 2 mm 0 32 in LL dimension 8 2 mm 0 32 in 2 The working point of the SGMAJ servomotor radial load is at the position of minus 5 mm from the shaft end Dimensional Tolerances Units mm in Model Shaft end Dimensions Flange Face Dimensions SGMAJ O2ELIA2LI 02EDA4O 14 05512 9 5o 18685 0 011 0 00043 0 025 0 00098 02E0A60 O3EEIA2EI O3ELIA4EI 14 0 5512 50 1 9685 9 0 011 0 00043 0 025 0 00098 03EEIAGLI 3 6 3 SGMAJ Servomotors 3000 min With Standard Backlash Gears and Without Brakes 1 50 W 80 W 100 W Encoder cable 6 0 24 300 11 81 30 1 18 Encoder plug MW I Motor plug L 1 i Y T 7f l 1 re 4 LILC 0 05 A 18 0 71 0 0020 014 00 55 T 0 04 o 2 0 0016 6 D 0 24 o Y _y i I j N 8S Qa C x gt 7 44 i Rotating section 4 oLZ Serial encoder g Tap x Depth Hatching section See the following table 3 30 3 6 Dimensional Drawings of SGMAJ Servomotors 3000 min Units mm in Model Gear SGMAJ Ratio dex paver v e m em pe A500AJ701 1 33 TaT SEE 619 G9 le e em ume cen Een em es SR a EN E ana E m EX D Units mm in Model Gear Allowable Allowable SG
272. nd then ON again If this alarm occurs frequently replace the servomotor A SERVOPACK board fault occurred Replace the SERVOPACK A malfunction occurred in the encoder due to exter Correct the wiring around the encoder by separat nal noise An encoder fault occurred motor A SERVOPACK board fault occurred Replace the SERVOPACK When the encoder power supply turns ON and the Turn ON the encoder power supply when the ser SEN signal is ON when using an absolute encoder vomotor runs at a speed less than 200 min l ing the encoder cable from the power line or by checking the grounding and other wiring If this alarm occurs frequently replace the servo the servomotor runs at 200 min or more An encoder fault occurred Replace the servomotor A SERVOPACK board fault occurred Replace the SERVOPACK An encoder fault occurred Replace the servomotor A SERVOPACK board fault occurred Replace the SERVOPACK An encoder fault occurred Replace the servomotor A SERVOPACK board fault occurred Replace the SERVOPACK The ambient temperature around the servomotor is The ambient temperature must be 40 C or less too high The servomotor load is greater than the rated load The servomotor load must be within the specified range An encoder fault occurred Replace the servomotor A SERVOPACK board fault occurred Replace the SERVOPACK A SERVOPACK board fault occurred Replace the SERVOPACK Clear and reset the a
273. ng for Online Autotuning 9 2 4 Machine Rigidity Setting for Online Autotuning There are ten machine rigidity settings for online autotuning When the machine rigidity setting is selected the servo gains Speed Loop Gain Speed Loop Integral Time Constant Position Loop Gain and Torque Reference Filter Time Constant are determined automatically The factory setting for the machine rigidity setting is 4 The speed loop is suitable for PI or I P control When parameter Pn10B 1 is 0 PI control will be used and when Pn10B 1 is 1 I P control will be used To vali date the setting however the power supply must be turned OFF and then back ON After having validated the setting always set the machine rigidity setting When setting the machine rigidity after having changed the position loop gain Pn102 the value closest to the set position loop gain is displayed as the initial value of machine rigidity Speed Loop PI Control Machine Rigidity Position Loop Gain Speed Loop Gain Speed Loop Integral Torque Reference Setting s Hz Time Constant Filter Time Constant Pn100 0 01 ms 0 01 ms If the machine rigidity setting is greater the servo gain will increase and positioning time will decrease If the setting is too large however vibration may result depending on the machine configuration Set the machine rigidity starting at a low value and increasing it within the range where vibration does not occur 9 2 Online Autotunin
274. ng this period 3 Setting Input Signals Type Signal Name Connector Pin Setting Meaning Number Input P CON CNI 15 ON low level Turns the INHIBIT function ON Factory setting Inhibits the SERVOPACK from counting refer ence pulses OFF high level Turns the INHIBIT function OFF pepe Counts reference pulses Input INHIBIT Must be allocated ON low level Turns the INHIBIT function ON CN1 00 Inhibits the SERVOPACK from counting refer ence pulses OFF high level Turns the INHIBIT function OFF ose Counts reference pulses These input signals enable the inhibit function Either the P CON or the INHIBIT signal can be used to switch the inhibit signal The input signal must be allocated in order to use the INHIBIT signal Refer to 7 3 2 Input Circuit Signal Allocation 8 59 8 Operation 8 7 1 Setting Parameters 8 7 Operating Using Torque Control 8 7 1 Setting Parameters The following parameters must be set for torque control operation with analog voltage reference Meaning Pn000 n 0020 Control mode selection Torque control analog voltage reference Torque Reference Input Gain Setting Range Setting Unit Factory Setting Setting Validation 10 to 100 0 1V rated torque 30 Immediately 1 0 to 10 0 V rated torque 3 0 V rated torque This sets the analog voltage level for the torque reference T REF that is necessary to operate the servomotor at the rated torque Ref
275. ning label 0 05 0 37 0 30 0 05 A 10 0 0020 LAM Y sd E y Y A E o s N CY vy 7 Holding brake de energization operation Nameplate 2 M3 Tap x Depth 4 2 03 4 00 13 holes Voltage 24VDC 8BhE 68 9 555 00 315 9 994 Brake holding torque Rated motor torque 020h7 20 5 24 00 79 0 0008 Units mm in oe Allowable Allowable Ben Tap x Depth Radial Load N Thrust Load m N Ibf 124 325 Attach M3 x 6L arooaascn AIDDAJASCB i 134 5 71 5 a Auer 9 6 00 5 30 2 82 ae eee m 529 eno sale Note The key slot conforms to the standard JIS B 1301 1975 fine class and the parallel key is attached to it 3 23 3 Specifications and Dimensional Drawings 3 5 4 SGMMJ Servomotors 3000min With Gears and Brakes Encoder cable UL20276 300 11 81 30 1 18 gt Motor cable AWG24 UL10095 or UL3266 Protective tube 300 11 81 View Y Y 30 30 41 18 lt _ eT Shaft End 0 0024 164 3 6 47 R g 04 146 3 5 76 48 0 719 0 0016 42 7 1 68 40 8 1 61 3 0 12 90 05 A gt 0 0020 040 01 57 s o X m amp Z D 3 X Holding brake de energization operation Voltage 24VDC Brake holding torque Rated motor torque Nameplate 4 3 4 00 13 through hole 99h7 9 015 60 35 9 oo06 28h7
276. nit The encoder signal converter unit the trade name Receiver Unit converts encoder signal output from the line driver to open collector or voltage pulse output A socket model 11 PFA is required to use a Receiver Unit 1 Model LRX 01 ALI Contact Yaskawa Controls Co Ltd 2 Specifications Receiver Unit T S C NEEEENEMMMEEN LRX 01 A1 LRX 01 A2 LRX 01 A3 LRX 01 A4 Power Supply 12 VDC 10 100 mA 5 VDC 5 100 mA Balanced line driver input RS 422 Input Circuit Input Signals Voltage pulse out Open collector Voltage pulse out Open collector put output put output Output Signals UIpIEISUE Output Circuit Output eireut Output Circuit d JK e sR He Signal Differential voltage 2 0 3 V built in terminator 100 Q H 10 V min L 0 5 V max H 3 V min L 0 5 V max Output Signal 1 mA 30 mA 1 mA 30 mA Level L 0 5 V max Withstand volt L 0 5 V max Withstand volt 30 mA age 50 V 30 mA age 50 V Ambient 5 S 0 82 F to 60 C 140 F IC Used Used Receiver IC AM26LS32C or the equivalent Frequency 3 Dimensional Drawings The socket is optional Units mm in Receiver unit and socket Socket Type 11PFA 11 M3 5x7 129 5 08 SEMS screws 10013 94 pa 29 Z8 0 31 c a4 le olo i Ts l 264 5 I allai 00 18 hole n 18 4 65 max 400 2 1
277. nline Autotuning Switches pt trrestort Pn110 The factory setting is n LILILIO This setting is recommended for applications in which the load moment of inertia does not change much or if the load moment of inertia is not known The inertia calculated at the beginning of operation is used con tinously In this case differences in machine status and operation references at the beginning of operation may cause minor differences in the calculation results of the load moment of inertia causing differences in the servo responsiveness each time the power supply is turned ON If this occurs overwrite the moment of inertia ratio in Pn103 using the utility function Fn007 Writing to EEPROM moment of inertia ratio data obtained from online autotuning and set Pn110 to n 0O02 to disable online autotuning The setting n LILIL11 is used when the load moment of inertia varies constantly This setting enables a consistent respon siveness even when the load moment of inertia changes If the load moment of inertia changes in less than 200 ms how ever the autotuning accuracy will deteriorate in which case Pn110 0 should be set to 0 or 2 The setting n O12 is used when online autotuning is not possible when the load moment of inertia is known and the moment of inertia ratio is set in Pn103 to perform the adjustment manually or any other time the online autotuning function is not going to be used 9 7 9 Adjustments 9 2 4 Machine Rigidity Setti
278. ns 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 40 C 32 to 104 F Humidity 90 RH or less Vibration 9 8 n s Condensation and Freezing None Ambient Temperature for Long term Reliability 40 C 104 F or less 4 3 SERVOPACK Internal Block Diagrams 4 3 SERVOPACK Internal Block Diagrams 4 3 1 Speed and Torque Control SGDJ LILILIS CPU Speed calculation etc Analog voltage converter dons 4 CN3 1 0 or Digital operator or Analog moni output for personal computer supervision Noise filter ACIDC DS EE xxi cd E i converter i K1 4KM CN9 FU1 FU3 FET1 6 1 j n A P p Servomotor 1 97 CN8 1 CHARGE i U l U o4 v 1 1 1 Ww i Aw T o Bet r gt 1 Gate drive over i LAM fol age current protector sensor EY 1 1 Rela ot ____ Interface A ONL FU2 cz ASIC PWM control etc cNip e PG output 4 f E AID Speed torq
279. nstall the battery at either the host controller or the SERVOPACK 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 damage to the SERVOPACK and burning Take appropriate measures to ensure that the input power supply is supplied within the specified voltage fluctuation range Be particularly careful in places where the power supply is unstable An incorrect power supply may result in damage to the product Install external breakers or other safety devices against short circuiting in external wiring Failure to observe this caution may result in fire Take appropriate and sufficient countermeasures for each when installing systems in the following locations 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 including power supply lines Failure to observe this caution may result in damage to the product 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 C
280. nt About 47 us 3 VDC Variable setting range 1 to 10 VDC at Torque Reference Voltage 3 rated torque positive torque reference with positive ref Applicable N A Signals Reference erence input voltage maximum 12 V Input Input Impedance About 14 KQ Applicable Circuit Time Constant About 47 us Applicable Rotation Direction With P control signal Applicable c Contact Selection Speed With forward reverse current limit signal speed 1 to 3 Reference Speed Selection selection servomotor stops or another control method Applicable N A is used when both are OFF Bias Setting 0 to 450 min setting resolution 1 min Applicable Perfor Feed Forward Compensation 0 to 100 setting resolution 1 Applicable mance Positioning Completed Width 0 to 250 reference units setting resolution 1 reference N A Applicable Setting unit dd Position Type Sign pulse train 90 phase difference 2 phase pulse N A Applicable Control phase A phase B or CCW CW pulse train Modes Reference Input Pulse e d 5 V level open collector 5 V or 12 V ev Signals E Maximum 500 200 kpps line driver open collector Control Signal inn input pulse form identical to reference Applicable 4 3 4 SERVOPACK Specifications and Dimensional Drawings 4 1 2 SERVOPACK Ratings and Specifications 2 cont d SGDJ Item Ratings and Specifications c SDE Zi 000s 000P Form Phasa zB oe Toe E Applicable Applic
281. nt of torque reference offset Manual zero adjustment of analog monitor output Manual gain adjustment of analog monitor output Automatic offset adjustment of motor current detection signal Manual offset adjustment of motor current detection signal Password setting protects parameters from being changed Motor models display Software version display Fn013 Multiturn limit setting change when a Multiturn Limit Disagreement Alarm A CC occurs Note When the parameters marked with O in remarks column or in PnLILILI are set for Password Set cree ae Pp _ EE m NE NE Automatic tuning of analog speed torque reference offset NUN X eae pose S O Em EO NE EN LE poe 1 ting Fn010 the indication shown below appears and such parameters cannot be changed Blinks for I one second 7 1 7 Digital Operator 7 2 2 Alarm Traceback Data Display Fn000 7 2 2 Alarm Traceback Data Display Fn000 The alarm traceback display can display up to 10 previously occurred alarms The alarm data is displayed on Fn000 which is stocked in the alarm traceback data The data can be cleared using an utility function mode Alarm Traceback Data Clear For details refer to 7 2 5 Alarm Traceback Data Clear Fn006 The alarm traceback data is not cleared on alarm reset or when the SERVOPACK power is turned OFF This does not adversely affect operation Alarm Sequence Number Alarm Code The higher the number Se
282. ntrol method selection Pn000 1 of the function selection basic switches Pn000 from speed control to torque control is shown below Display after ie ES Press the DSPL SET Key to select the parameter setting mode If a parameter other than Pn000 is displayed press DSPL SET Key the UP or DOWN Key to select the Pn100 Note The enable digit blinks m Press the DATA ENTER Key The current data of Pn000 is displayed DATA ENTER Key Press the LEFT or RIGHT Key to select the first digit of current data Press the UP Key once to change to n 0010 Set the control method to position control Press the DATA ENTER Key The value blinks and is saved Press the DATA ENTER Key to return to the display Pn000 The control method is changed to position control c Parameter Indications Each digit of the function selection parameters is defined as the hexadecimal display The parameter display example shows how parameters are displayed in digits for set values r1 LI 1st digit 2nd digit 3rd digit 4th digit For the hexadecimal display only Pn000 0 or n xxxL1 Indicates the value for the 1st digit of parameter Pn000 Pn000 1 or n xxLI1x Indicates the value for the 2nd digit of parameter Pn000 e Pn000 2 or n xL1xx Indicates the value for the 3rd digit of parameter Pn000 e Pn000 3 or n LIxxx Indicates the value for the 4th digit of parameter Pn000 I 7 20 7 3 Operation in Parameter Setting Mode PnOOD
283. nts 5 5 5 2 3 SGMAJ Servomotor Connectors for Standard Environments 5 6 5 3 Encoder Cables for CN4 Connector 5 10 5 3 1 Encoder Cable With Connectors 5 10 5 3 2 Encoder Cable With a SERVOPACK Connector and Encoder Loose Leads 5 10 5 4 Connectors and Cables for Encoder Signals 5 11 5 4 1 Connectors and Cables 5 11 5 5 I O Signal Cables for CN1 Connector 5 13 5 5 1 Standard Cables 5 13 5 5 2 Connector Type and Cable Size 5 13 5 5 3 Connection Diagram 5 15 5 6 Peripheral Devices 5 16 5 6 1 Cables for Connecting Personal Computers 5 16 5 6 2 Digital Operator 5 17 5 6 3 Cables for Analog Monitor 5 18 5 6 4 Connector Terminal Block Converter Unit 5 19 5 6 5 Noise Filter 5 21 5 6 6 Surge Suppressor 5 21 5 6 7 Variable Resistor for Speed and Torque Setting 5 21 5 6 8 Encoder Signal Converter Unit 5 22 6 Wiring 6 1 Wiring Main Circuit 6 2 6 1 1 Names and Functions of M
284. nufactured by OMRON I O power supply 5V power supply for pulse outpu 5V GND for pulse outpu CW output CW output CCW outpu CCW outpu Error counter reset output Origin input signal Origin input common 24 V power supply for outpu 24 V GND for outpu X axis external interrupt input X axis origin proximity input X axis CCW limit input X axis CW limit input X axis immediate stop input 10 3 Connection to Host Controller 424V 3 1 P 24V o Et bs om A4 5 VDC SGDJ OOOP SERVOPACK A3 c T CN1 A5 ics PULS 1 oq A6 REA IPULS il i d Control power supply AZ A SIGN 3 L1 A8 VEU ISIGN J 4 i24 l T CLR 5 A11 A CLR 6 A16 A PCO 124 Do ATAY Hon IPCO 125 Y COIN T 8 Servomotor CONS 8 A1 1 ANE SG 10 U 1 A2 I EE 2 t 13 3 14 wo 4 16 17 9 18 H 34 CN2 E Pe 35 A19 A214 4 A23 Q A22 lt 4 Connector cc cp shell 3 rH a Il Main circuit power supply 1 T2 The ALM signal is output for about two seconds after the control power is turned ON Take this into consideration when designing the power ON sequence The ALM signal actuates the alarm detection relay 1Ry to stop the main circuit power supply to the SERVOPACK Connect the shield wire to the connector shell 3 E represents twisted pair wires Note Only signals appl
285. o increases however some times the servo rigidity decreases Speed Position Speed 9 3 9 Adjustments 9 1 2 List of Servo Adjustment Functions 3 Vibration Reduction Functions Function Name and Related Parameters Soft Start Pn305 Pn306 Acceleration Deceleration Filters Pn204 Pn207 Movement Average Filter Pn207 Pn208 Speed Feedback Filter Pn308 Speed Reference Filter Pn307 Torque Reference Filter Pn401 Notch Filter Pn409 9 4 Description Converts a stepwise speed reference to a constant acceleration or deceleration for the specified time interval A lst order delay filter for the position reference input A movement averaging filter for the posi tion reference input A standard 1st order delay filter for the speed feedback A lst order delay filter for the speed refer ence A series of three filter time constants 1st order 2nd order and st order can be set in order for the torque reference Notch filters can be set for the torque ref erence Features A constant acceleration deceleration is achieved for smoother operation The operation time is increased for the speci fied time Enables smooth operation The reference time increases by the filter delay time even after the reference input has been completed Enables smooth operation The reference time increases by the filter delay time even after the reference input has been completed The
286. o 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 V Safety Information vi Notes for Safe Operation vii 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 Product Part Names 1 4 1 2 1 Servomotors Without Gears and Brakes 1 4 1 2 2 SERVOPACKs 1 5 1 3 Examples of Servo System Configurations 1 6 1 4 Applicable Standards 1 7 1 4 1 North American Safety Standards UL CSA 1 7 1 4 2 CE Marking 1 7 2 Selections 2 1 Servomotor Model Designations 2 2 2 1 1 Model SGMMJ 2 2 2 1 2 Model SGMAJ
287. o that the setting the Position Loop Gain in Pn102 to the same value as that of the Speed Loop Gain in Pn100 Use the result from the following equation as an initial estimate when setting the Speed Loop Integral Time Constant in Pn101 Speed loop integral time constant Pn101 2 x X Pn100 Speed loop gain units Hz Check the units when setting the Speed Loop Integral Time Constant in Pn101 The value in Pn101 is set in units of 0 01 ms Set the same value for the speed loop gain and position loop gain even though the speed loop gain units Hz are different form the position loop gain units 1 s Repeat step 2 to increase the speed loop gain while monitoring the settling time with the analog monitor s position error and checking whether vibration occurs in the torque reference If there is any vibrating noise or noticeable vibration gradually increase the Torque Reference Filter Time Constant in Pn401 Gradually increase only the position loop gain When it has been increased about as far as possible then decrease the Speed Feedback Compensation in Pn111 from 100 to 90 Then repeat steps 2 and 3 Decrease the speed feedback compensation to a value lower than 90 Then repeat steps 2 through 4 to shorten the settling time If the speed feedback compensation is too low however the response waveform will oscillate Find the parameter settings that yield the shortest settling time without causing vibrati
288. oder pulses 3 Determine the ref 1 Reference unit 0 001 mm 1 Reference unit 0 01 1 Reference unit 0 02 mm 20 um erence unit used 1 um 4 Calculate the travel 6 mm 0 001 mm 6000 360 0 1 3600 314 mm 0 02 mm 15700 distance per load shaft revolution 5 Calculate the elec 5 505 4 B 2048x4 3 B 16384x4 2 tronic gear ratio A 6000 X1 A 3600 1 A 15700 1 Set parameters Pn202 8192 Pn202 24576 Pn202 131072 Pn203 6000 Pn203 3600 Pn203 15700 Reduce the fraction both numerator and denominator since the calculated result will not be within the setting range For example reduce the numerator and denominator by four to obtain Pn202 32768 Pn203 3925 and complete the settings 6 Electronic Gear Ratio Equation Servomotor eww n 4 Reference pulse B Position Speed Pitch P mm rev gt A Oo loop loop Q L Af mm P m x4 AR mm P Reference unit P P rev P P R Encoder pulses P mm rev Ball screw pitch Deceleration ratio n nxP AQ x 4x Pxm Set A and B with the following parameters A Pn203 B Pn202 B Ax Exim x Ad 4x P Qm A nxP P n x AQ 8 51 8 Operation 8 6 3 Position Reference 8 6 3 Position Reference The servomotor positioning is controlled by inputting a pulse train reference The pulse train output form fro
289. oft Start Deceleration Time 0 to 10000 ms 1 ms Immedi 8 5 4 ately Pn307 Speed Reference Filter Time Constant 0 00 to 655 35 ms 0 01 ms 40 Immedi 8 5 5 ately Pn308 Speed Feedback Filter Time Constant 0 00 to 655 35 ms eee eee ately Pn400 Torque Reference Input Gain 1 0 t010 0 V 0 1 V rated 30 Immedi rated torque torque ately Pn401 Torque Reference Filter Time Constant 0 00 to 655 35 ms 0 01 ms 100 100 Immedi 9 4 9 ately Pn402 Forward Torque Limit 0 to 800 1 Immedi ately Pn403 Reverse Torque Limit 0 to 800 1 Immedi ately Pn404 Forward External Torque Limit 0 to 800 1 Immedi 8 9 2 ately 8 9 4 Pn405 Reverse External Torque Limit 0 to 800 1 100 100 Immedi 8 9 2 ately 8 9 4 Used only for SGDJ LILILIP SERVOPACK for position control mode 10 39 10 Inspection Maintenance and Troubleshooting 10 4 2 List of Parameters Param Name Setting Range Units Factory Setting Setting Reference eter No Doos 000P Validation Section Pn406 Emergency Stop Torque 0 to 800 1 800 800 Immedi 8 3 3 ately Pn407 Speed Limit during Torque Control 0 to 10000 min 1 min 10000 Immedi 8 7 4 ately Pn408 Torque Function Switches 0000 to 0101 NN 0000 0000 ately 4th 3rd 2nd 1st digit digit digit digit Notch Filter Selection Refer to 9 4 9 Torque Reference Filter o NA LLL Uses a notch filter for torque reference Reserved Do not change Reserved Do not change Reserved Do
290. oil from servomotor surface Overloaded Run under no load Reconsider load and operation conditions or replace with larger capacity servomotor 10 17 10 Inspection Maintenance and Troubleshooting 10 2 1 Servomotor Inspection 10 2 Inspection and Maintenance 10 2 1 Servomotor Inspection The AC servomotors are brushless Simple daily inspection is sufficient The inspection and maintenance fre quencies in Table 10 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 10 6 Servomotor Inspections Vibration and Noise Touch and listen Levels higher than normal Exterior According to degree Clean with cloth or compressed of contamination air Insulation Resistance At least once a year Disconnect SERVOPACK and Contact your Yaskawa repre Measurement test insulation 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 The user should not disassem 20 000 hours or 5 tative ble and clean the servomotor years Measure across the servomotor
291. oint pulse phase C position of the encoder and to clamp at the position This mode is used when the motor shaft needs to be aligned to the machine Execute the zero point search without connecting the motor shaft with the machine e For aligning the mtu shaft with the machine The speed for executing the zero point search is 60 min The following conditions must be met to perform the zero point search operation If the Servo ON input signal S ON is ON turn it OFF Release the Servo ON signal mask if the parameter Pn 50A 1 is set to 7 and the servo has been set to always be ON Follow the procedure below to execute the zero point search Display after s Press the DSPL SET Key to select the utility function mode DSPL SET Key Press the UP or DOWN Key to select the Fn003 Note The enabled digit blinks A Press the DATA ENTER Key and the display will be as E shown on the left DATA ENTER Key Press the SVON Key The servo turns ON When the parameter is set to Pn000 0 0 default pressing the UP Key will rotate the motor in the forward direction Pressing the DOWN Key will rotate the motor in the reverse direction When the parameter is set to Pn000 0 1 the rota tion direction of the motor is reversed When the motor zero point search is completed the display blinks At this moment the motor is servo locked at the zero point pulse position Press the DATA ENTER Key Fn003 display appears
292. omotors 1500 VAC for one minute 400V Servomotors 1800 VAC for one minute Insulation Resistance 500 VDC 10 MQ min Enclosure Totally enclosed self cooled IP55 except for shaft opening Ambient Temperature 0 to 40 C 32 to 104 F Ambient Humidity 20 to 80 no condensation Excitation Permanent magnet Drive Method Direct drive Mounting Flange method Backlash 3 min max Gear Mechanism Planetary gear mechanism Gear Rotation Direction Same direction as servomotor Thermal Class B Moment of Inertia J Servomotor Gear Output x10 kg m x10 oz in s Servomotor Shae Rated Instanta Torque Effi neous SGMAJ Gdak ur Peak Motor AE Ratio ciency MN Gears N m 96 in oz in 96 0 557 70 1 92 0 058 0 036 1 00 70 3 89 0 055 0 033 22 5 2 67 80 9 12 0 040 0 018 ASOOAHCOO 1 21 78 0 1291 0 566 0 255 4 2 80 14 3 0 035 0 013 0 496 0 184 1 02 80 3 06 2 24 80 6 73 A8CLIAHBLILI 0 255 317 80 3000 36 1 0 114 0 078 1 61 1 10 0 084 0 048 1 19 0 680 A8COAHCOO 6 72 80 22 7 A8COAH700 952 80 1 27 80 4 34 2 8 80 9 55 01EOAHBOO 0 318 396 80 1352 100 45 0 0 069 0 033 0467 0 114 0 078 1 61 1 10 0 084 0 048 aen 0 079 0 043 ico 0 069 0 033 0 977 0 467 5 34 80 182 MEAE 756 80 2577 8 4 80 28 7 1 33 01EDAH700 E 1189 80 4064 O D a o P To P To 3 10 3 2 Ratings and Specifications of SGMA
293. on 8 9 2 External Torque Limit Output Torque Limiting by Input Signals 3 Changes in Output Torque during External Torque Limiting Example External torque limit Pn402 Pn403 set to 80096 P CL Forward External Torque Limit Input High leve High level N CL Reverse External Torque Limit Low Input level Note In this example the servomotor rotation direction is Pn000 n LILILIO standard setting CCW forward 8 70 8 9 Limiting Torque 8 9 3 Torque Limiting Using an Analog Voltage Reference Torque limiting by analog voltage reference limits torque by assigning a torque limit in an analog voltage to the T REF terminals CN1 1 and 2 in the SGDJ LILILIS SERVOPACK This function can be used only with the speed control in the SGDJ LILILIS SERVOPACK and not with the torque control Refer to the following block diagram when the torque limit with an analog voltage reference is used for speed control SERVOPACK Torque limit vais x T REF Pn400 Forward torque Y T limit value Pn402 Speed loop Z gain Speed V REF pn300 Pn100 I Torque reference 7 reference Speed loop integral time constant Reverse torque Pn101 limit value Pn403 Speed feedback N There is no polarity in the input voltage of the analog voltage reference for torque limiting The absolute values of both INFO and
294. on Signal Mapping COIN Refer to 8 6 5 Positioning Completed Output Signal Disabled the above signal is not used Outputs the signal from CN1 8 10 output terminal Outputs the signal from CN1 9 10 output terminal Outputs the signal from CN1 7 10 output terminal Speed Coincidence Detection Signal Mapping V CMP Refer to 8 5 8 Speed Coincidence Output Same as COIN Rotation Detection Signal Mapping TGON Refer to 8 11 3 Running Output Signal TGON Same as COIN Servo Ready Signal Mapping S RDY Refer to 8 11 4 Servo Ready S RDY Output Same as COIN Pn50F Output Signal Selections 2 0000 0000 After restart 4th 3rd 2nd 1st digit digit digit digit Torque Limit Detection Signal Mapping CLT Refer to 8 9 5 Checking Output Torque Limiting during Operation o Disabled che above serat morsel O 2 Speed Limit Detection Signal Mapping VLT Refer to 8 7 4 Limiting Servomotor Speed during Torque Control Same as CLT Brake Interlock Signal Mapping BK Refer to 8 3 4 Setting for Holding Brakes Same as CLT Warning Signal Mapping WARN Refer to 8 11 2 Warning Output WARN Same as CLT 10 45 10 Inspection Maintenance and Troubleshooting 10 4 2 List of Parameters Parame Name Setting Range Units Factory Setting Setting Reference ter No ooos coop Validation Section Pn510 Output Signal Selections 3 0000 to 0333 EN 0000
295. on describes the EMC installation conditions satisfied in test conditions prepared by Yaskawa The actual EMC level may differ depending on the actual system s configuration wiring and other conditions Ground Plate Shield Box SERVOPACK SGDJ E Power Supply E 2 i AC DC UVW 6 Eo P immi Power Supply m Noise LI bes 24V A8V iN amp o m 5 Single phase OJ a filter Py 5 GND Lx LE Servo 100 VACor200VAC 18 motor l m FG o o CN4 9 6 T o m Encoder Approx 2 m 6 56 ft PENTA eu Approx 20 m 65 6 ft 4 Host controller Symbol Cable Name Specifications Controller cable Shield cable Encoder cable Shield cable AC Line cable Unshield cable DC Line cable Unshield cable 6 21 6 Wiring 6 4 3 Installation Conditions of EMC Directives 2 Cable Core and Cable Clamp a Attaching the Ferrite Core The diagram shows one turn in the cable The table shows the cable and the position where the ferrite core is attached Cable Cable Name Mounting Position of the Core A Y Near the SERVOPACK and the servomotor V Encoder cable Near the SERVOPACK and the servomotor Ferrite core b Recommended Ferrite core Cable Name Ferrite Core Model I O signals cable ESD SR 25 NEC TOKIN Encoder cable sd cable Corporation rea cable
296. on is not being used and the SERVOPACK is always operated with PI control the speed of the motor may overshoot or undershoot due to torque saturation during acceleration or deceleration The mode switch function suppresses torque saturation and eliminates the overshooting or undershooting of the motor speed Using the Error Pulse Level to Switch Modes This setting is effective with position control only With this setting the speed loop is switched to P control when Speed the error pulse exceeds the value set in parameter Pn10F Reference Position error pulse Pn10F PI Pcontri PI control W Operating Example In this example the mode switch is used to reduce the settling time It is necessary to increase the speed loop gain to reduce the settling time Using the mode switch suppresses overshooting and undershooting when speed loop gain is increased Without Mode Switching With Mode Switching Speed reference Motor speed Long settling time PR Increase speed loop gain F Overshoot Undershoot Time Settling time kol 9 19 9 Adjustments 9 4 5 Setting the Speed Bias 9 4 5 Setting the Speed Bias The settling time for positioning can be reduced by setting the following parameters to add bias in the speed ref erence block in the SERVOPACK Bie Setting Range Setting Unit Factory Setting Setting Validation Bias Width Addition Setting Range Setting Unit Factory Setting Setting Validation
297. on or instability in the position error or torque reference waveform being observed with the analog monitor The servo gain adjustment procedure is complete when the positioning time cannot be reduced any more IMPORTANT The speed feedback compensation usually makes it possible to increase the speed loop gain and position loop gain Once the speed loop gain and position loop gain have been increased the machine may vibrate 9 22 significantly and may even be damaged if the compensation value is changed significantly or Pn110 1 is set to 1 1 e speed feedback compensation disabled 9 4 Servo Gain Adjustment Functions 9 4 8 Switching Gain Settings Gain switching by the external signal is possible with the SGDJ SERVOPACK For example to use different gains while the servomotor is running or stopped set two values in the gain settings 1 and 2 and switch the gains by the external signal 1 Gain Switching Input Signal FF H high Signal allocation e high Gain settings 1 level required To use the input signal the input terminal must be allocated in the parameter Pn50D Refer to 7 3 2 Input Circuit Signal Allocation 2 Switchable Gain Combinations Turning ON and OFF the gain switching signal G SEL switches the gains as follows Gain Switching Signal G SEL OFF H Level ON L Level Speed loop gain Pn100 Pn104 Speed loop integral time constant Pn101 Pn105 Position loop gain Pn102 Pn106 3 Related
298. on the encoder side Encoder Over speed Detected when the encoder power supply was turned ON Detected on the encoder side Encoder Overheated Only when an absolute encoder is connected Detected on the encoder side Reference Speed Input Read Error Detected when the Servo is ON Reference Torque Input Read Error Detected when the servo is ON System Alarm Program error Software oper ation time exceeded Stack over flow Micro pro gram error Servo Overrun Detected Detected when the servo is ON Table 10 3 Alarm Display and Troubleshooting cont d gal Alarm Name Situation eram Cause Corrective Actions Display Occurrence Occurred when the control power sup ply was turned ON Occurred during normal operation Occurred when the control power sup ply was turned ON Occurred during normal operation Occurred when the control power sup ply was turned ON Occurred during normal operation Occurred when the control power sup ply was turned ON Occurred during normal operation Occurred when the control power sup ply was turned ON Occurred during normal operation Occurred when the control power sup ply was turned ON Occurred during normal operation Occurred when the control power sup ply was turned ON Occurred when the servo was ON or a A malfunction occurred in the encoder Turn the encoder power supply OFF a
299. onitor from the digital operator brons Ff A Check input signal wiring in monitor mode using the digital opera tor or panel operator Refer to 7 4 1 List of Monitor Modes Turn ON and OFF each signal line to see if the LED monitor bit display on the digital operator changes as shown below Input signal LED display P CON S ON la Top lights when input signal is OFF high level 4 Bottom ONY when input signal is low level If an absolute encoder is being used the servo will not turn ON when the servo ON signal S ON is input unless the SEN signal is also ON When the SEN signal is checked in monitor mode the top of the LED will light because the SEN signal is high when ON If an alarm display appears correct it according to 10 1 Trouble shooting If there is noise in the reference voltage during speed control the horizontal line at the far left edge of the digital operator display may blink Also the servomotor may turn very slowly Refer to 6 4 Others and take a preventive measure 8 1 Trial Operation 2 Operating Procedure in Speed Control Mode Pn000 n LILIOL1 The following circuit is required External input signal circuit or equivalent Speed Torque SERVOPACK 24V gt IS ON P OT N OT V REF Ve Max voltage 12 V Check Method and Remarks Check the power and input signal circuits again and Refer to the above figure for input signal circuit
300. ont d Model Gear SGMAJ Ratio O3ELIAJCLI1 O3ELIAJ7LI1 E INF oN 1 The dimensions for L and LL of a servomotor incorporating an encoder with super capacitor model SGMAJ LILILIA A are as shown below SGMAJ 02 and 03 L dimension 8 2 mm 0 32 in LL dimension 48 2 mm 0 32 in 2 The working point of the SGMAJ servomotor radial load is at the position of minus 5 mm from the shaft end Dimensional Tolerances Units mm in Model Flange Face Dimensions Shaft end Dimensions e I a E anc i omen o ma 0 035 0 0014 Ds 021 0 0008 essi P ope ae 0 s 0 m 021 api Eo 0 035 0 0014 a vas m 2 ME men are ME P ap nu E EC ai Di 0 001 250 ae 2s V 0 001 3 34 3 6 Dimensional Drawings of SGMAJ Servomotors 3000 min 3 6 4 SGMAJ Servomotors 3000 min With Standard Backlash Gears and Brakes 1 50 W 80 W 100 W Encoder cable 6 00 24 UL20276 a 300 11 81 30 1 18 300 11 81 JE NP Sel ca aime ORI DE chia Tee i ad Alin 0 06 A k L 0 0024 0 04 T LL LR A 0 0016 a LM L1 2 4O 0 05 A e e 22 i amp LG L3 Q 0 0020 e 3 0 12 o 0 87 e all aK 1 Sealant E 0 16 F See 73 2 m am Y l EH 2 o g Blt 4 Serial encoder olding brake de energi
301. ooogs coop Validation Section Input Signal Selections 4 8888 8888 After restart 4th 3rd 2nd 1st digit digit digit digit IZCLAMP Signal Mapping Zero clamp when ON L level Refer to 8 5 6 Using the Zero Clamp Function Sets signal ON Sets signal OFF ON when CNI 14 input signal is OFF H ON when CNI 15 input signal is OFF H ON when CNI 16 input signal is OFF H ON when CNI 17 input signal is OFF H ON when CNI 18 input signal is OFF H ON when CNI 11 input signal is OFF H nm ON when CNI 14 input signal is ON L level ON when CNI 15 input signal is ON L level ON when CN1 16 input signal is ON L level ON when CN1 17 input signal is ON L level ON when CN1 18 input signal is ON L level ON when CNI 11 input signal is ON L level ON when CN1 12 input signal is ON L level evel evel evel evel evel evel ON when CNI 12 input signal is OFF H level INHIBIT Signal Mapping Reference pulse inhibit when ON L level Refer to 8 6 7 Reference Pulse Inhibit Function INHIBIT Same as ZCLAMP G SEL Signal Mapping Gain change when ON L level Refer to 9 4 8 Switching Gain Settings Same as ZCLAMP Reserved Do not change 10 4 List of Parameters Parame Name Setting Range Units Factory Setting Setting Reference ter No pinus mmm Validation Section Pn50E Output Signal Selections 1 3211 3211 After restart d d d d i Positioning Completi
302. op functioning and the servomotor to rotate slowly due to drift in the speed loop When the clear signal CLR is not wired the signal is always at low level does not clear When the clear signal CLR is not used and CN1 5 6 are not wired the CLR input terminals CN1 5 6 are always at high level The SERVOPACK is Pn200 1 factory set to clear position error pulse at high level Even ifa pulse train reference is input with the setting in this state the pulses will be constantly cleared and the motor will not operate Set the parameter to a value other than Pn200 n LILIOLI or short circuit CN1 5 6 4 Clear Operation Selection This parameter determines when the error pulse should be cleared according to the condition of the SERVOPACK in addition to the clearing operation of the clear signal CLR Either of three clearing modes can be selected with Pn200 2 Pn200 n LIOLILI Clear the error pulse at the CLR signal input during the baseblock Factory During the baseblock means when the SVON signal or the main circuit power supply is OFF or an alarm occurs setting n 0100 Do not clear the error pulse Clear only with the CLR signal n 0200 Clear the error pulse when an alarm occurs or the CLR signal is input 8 48 8 6 Operating Using Position Control 8 6 2 Setting the Electronic Gear 1 Number of Encoder Pulses SGMAJ LILILILILILILI Servomotor serial number Motor Model Encoder Specifications Encode
303. operator communications disabled status stays while an application module is connected 2 This alarm occurs when digital operator received data error occurs consecutively five times or when the state that digital operator receives no data from SERVOPACK for one second or more occurs consecutively three times 10 11 10 Inspection Maintenance and Troubleshooting 10 1 3 Troubleshooting of Alarm and Warning 2 Warning Display and Troubleshooting Table 10 4 Warning Display and Troubleshooting Warning Warning Name Situation at Warning Cause Corrective Actions Display Occurrence Overload Occurs when the servo Wiring is incorrect and the contact in servomotor Correct the servomotor wiring Warning for the was ON wiring is faulty alarms A71 and Wiring is incorrect and the contact in encoder Correct the encoder wiring A72 wiring is faulty In either of the fol A SERVOPACK fault occurred Replace the SERVOPACK D lowing cases The servomotor did not Servomotor wiring is incorrect and the contact is Correct the servomotor wiring 1 20 of the over run with a reference faulty TT load detection level input Encoder wiring is incorrect and the contact is Correct the encoder wiring of A71 faulty 0 2 20 of the PASTS The starting torque exceeds the maximum torque Reconsider the load and operation condi ee level tions Or check the servomotor capacity o A SERVOPACK fault occurred Replace the SERVOPACK
304. osition control system at the host controller Connect the line driver output circuit through a line receiver circuit at the host controller 6 Wiring 6 3 6 Interface Circuit b Open collector Output Circuit CN1 connector terminals 30 to 33 Alarm code output are explained below Alarm code signals ALO1 ALO2 ALO3 are output from open collector transistor output circuits Con nect an open collector output circuit through a photocoupler relay circuit or line receiver circuit Photocoupler Circuit Example Relay Circuit Example SERVOPACK ED BA SERVOPACK Photocoupler 5to 24 VDC Relay o o 4 I Note The maximum allowable voltage and current capacities for open collector output circuits are as follows Voltage 30 VDC Current 20 mA DC c Photocoupler Output Circuit Photocoupler output circuits are used for servo alarm ALM servo ready S RDY and other sequence out put signal circuits Connect a photocoupler output circuit through a relay circuit or line receiver circuit Relay Circuit Example Line Receiver Circuit Example SERVOPACK a 5 to 24 VDC SERVOPACK Relay o FEN z4 5 to 12 VDC Note The maximum allowable voltage and current capacities for photocoupler output circuits are as follows Voltage
305. otation direction the devices during linear motion C m Ld Rotation in the opposite direction is possible during overtravel SERVOPACK For example reverse rotation is possible during forward Servomotor Limit Limit p or_ CN overtravel switch switch 16 17 W IMPORTANT When the servomotor stops due to overtravel during position control the position error pulses are held A clear signal CLR input is required to clear the error pulses N CAUTION When using the servomotor on a vertical axis the workpiece may fall in the overtravel condition To prevent this always set the zero clamp after stopping with Pn001 n0010 Refer to 8 3 3 3 Selecting the Motor Stop Method When Overtravel is Used in this section 2 Enabling Disabling the Overtravel Signal A parameter can be set to disable the overtravel signal If the parameter is set there is no need to wire the over travel input signal n LILILI18 Disables the Reverse Run Prohibited N OT signal Allows constant reverse rotation Applicable control methods Speed control position control and torque control After changing these parameters turn OFF the main circuit and control power supplies and then turn them ON again to enable the new settings A parameter can be used to re allocate input connector number for the P OT and N OT signals Refer to 7 3 2 Input Cir cuit Signal Allocation
306. oting 10 4 2 List of Parameters Param Name Setting Range Units Factory Setting Setting Reference eter No 000s ooop Validation Section Pn50B Input Signal Selections 2 6543 6543 After restart 4th 3rd 2nd 1st digit digit digit digit N OT Signal Mapping Overtravel when OFF H level Refer to 8 3 3 Setting the Overtravel Limit Function Reverse run allowed when CN1 14 input signal is ON L level 1 Reverse run allowed when CN1 15 input signal is ON L level Reverse run allowed when CN1 16 input signal is ON L level s Reveneru aloved wien CN I2inputsigml RON A 8 Reemenmalwet o 9 Reverse run allowed when CN1 14 input signal is OFF H eve B Reverse run allowed when CNI 16 input signal is OFF H leveD Reverse run allowed when CN1 17 input signal is OFF H level D Reverse ran allowed when CN1 18 input signal is OFF H teveD ALM RST Signal Mapping Alarm Reset when ON L level Refer to 8 11 1 Servo Alarm Output ALM and Alarm Code Output ALO1 ALO2 ALO3 Same as N OT P CL Signal Mapping Torque Limit when ON L level Refer to 8 9 2 External Torque Limit Output Torque Limiting by Input Signals Same as S OT the setting of 2nd digit of Pn50A N CL Signal Mapping Torque Limit when ON L level Tus to 8 9 2 External Torque Limit Output Torque Limiting b Same as S OT the setting of 2nd digit of Pn50A W Input signal polarities Effective Level
307. otor without Load A CAUTION Release the coupling between the servomotor and the machine and secure only the servomotor without a load To prevent accidents initially perform the trial operation for servomotor under no load conditions with all couplings and belts disconnected In this section confirm the cable connections of the main circuit power supply motor and encoder except the connection to host controller Incorrect wiring is generally the reason why servomotors fail to operate properly during the trial operation Confirm the wiring and then conduct the trial operation for servomotor without load Confirm the display are the same for the optional digital operator JUSP OP02A 2 Check Method and Remarks Secure the servomotor Secure the mounting plate of the servomotor to the equipment Do not connect anything to the shaft no load conditions Check the power supply circuit servomotor and encoder wiring Power supply Encoder cable Turn ON power Normal Display LL OC Jj LI Alternate display Example of Alarm Display d RP I1 8 6 Follow 3 3 1 Precautions on Servomotor Installation and secure the servomotor mounting plate to the machine in order to prevent the servomotor from moving during operation Do not connect the servomotor shaft to the machine The servomo tor may tip over during rotation With the CN1 connector not connected check the power s
308. our mode switch settings 0 to 3 Select the appropriate mode switch setting with parameter Pn10B 0 Parameter Parameter Mode Switch Selection Containing Setting Unit Detection Point Setting Pn10B OOO Use a torque reference level for Percentage to the rated torque detection point Pn10C Factory Setting n n n LILILI1 Use a speed reference level for Pn10D Servomotor speed min detection point LILILI2 Use an acceleration level for detec Pn10E Servomotor acceleration 10 min s tion point n LILIL 3 Use a position error pulse for detec Pn10F Reference unit tion point n LILILIA Do not use the mode switch function Select a condition to execute the mode switch P PI switching Setting is validated immediately From PI control to P control TERMS za PI control means proportional integral control and P control means proportional control In short switching from PI control to P control reduces effective servo gain making the SERVOPACK more stable 9 17 9 Adjustments 9 4 4 Using the Mode Switch P PI Switching Using the Torque Reference Level to Switch Modes Factory Setting With this setting the speed loop is switched to P control when the Reference speed value of torque reference input exceeds the torque set in parameter Pn10C The factory default setting for the torque reference detection point is 200 of the rated torque Pn10C 200 Motor speed Pn10C Torque referen
309. ous Max Werner Control Rated Main Circuit ety Total Power Model SGDJ voltage Current Current Current Circuit Loss Output kW Loss W Loss W Arms Arms Qs EIE ne pose s asco ae ae ee d A8CLI os qu pw pow 1 5 A5ELI IER 48 VDC 02E0 O3ELI 4 SERVOPACK Specifications and Dimensional Drawings 4 5 1 Overload Characteristics 4 5 SERVOPACK Overload Characteristics and Allowable Load Moment of Inertia 4 5 1 Overload Characteristics SERVOPACKs have a built in overload protective function that protects the SERVOPACKs and servomotors from overload Allowable power for the SERVOPACKs is limited by the overload protective function as shown in the figure below The overload detection level is set under hot start conditions at a servomotor ambient temperature of 40 C 104 F 10000 1000 100 Operating time s 1 Rated torque Maximum torque Rated torque Approx 2 Maximum torque Motor torque TERMS Hot Start res A hot start indicates that both the SERVOPACK and the servomotor have run long enough at the rated load to be thermally saturated 4 10 4 5 SERVOPACK Overload Characteristics and Allowable Load Moment of Inertia 4 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 _ 2n NM JM JL Starting time 9 Te 60
310. pecifications Bit P R Range A 13 2048 16 to 2048 1 16 16384 16 to 16384 E Output Example Pn201 16 when 16 pulses are output per revolution Preset value 16 1 revolution 8 45 8 Operation 8 5 8 Speed Coincidence Output 8 5 8 Speed Coincidence Output The speed coincidence V CMP output signal is output when the actual motor speed during speed control is the same as the speed reference input The host controller uses the signal as an interlock Type Signal Connector Setting Meaning Name Pin Number Output V CMP CNI1 8 10 ON low level Speed coincides Factory setting OFF high level Speed does not coincide This output signal can be allocated to another output terminal with parameter Pn50E Refer to 7 3 3 Output Circuit Signal Allocation for details Speed Coincidence Signal Output Width Setting Range Setting Unit Factory Setting Setting Validation The V CMP signal is output when the difference between the speed reference and actual motor speed is the same as the pn503 setting or Motor speed less W EXAMPLE The V CMP signal turns ON at 1900 to 2100 min if the Pn503 param 1 eter is set to 100 and the reference speed is 2000 min IN CMP is output in this range V CMP is a speed control output signal When the factory setting is used and the output terminal allocation is not per formed with the PnSOE this signal is automatically used as the positioning
311. peration to the reference value of motor speed The motor can be operated using only the digital operator without reference from the host controller The follow ing conditions are required to perform jog mode operation 1 The servo on S ON input signal is OFF H level Refer to 8 3 1 Setting the Servo ON Signal 2 Pn50A is not set to n LILI7L Sets signal ON with the external input signal allocation Refer to 7 3 2 Input Circuit Signal Allocation Pay attention that the Forward Run Prohibited P OT and Reverse Run Prohibited N OT signals are invalid during jog mode operation For the jog mode operation procedures refer to the previous page 8 1 Trial Operation 8 1 2 Trial Operation for Servomotor without Load from Host Reference Check that the servomotor move reference or I O signals are correctly set from the host controller to the SERVOPACK Also check that the wiring and polarity between the host controller and SERVOPACK and the SERVOPACK operation settings are correct This is final check before connecting the servomotor to the machine 1 Servo ON Command from the Host The following circuits are required External input signal circuit or equivalent SGDJ LILILIS Speed Control SGDJ LILILIP Position Control Pn000 n 0000 Pn000 n 0010 Change the SEN signal SGDJ LILILIS CN1 5 SGDJ LILILIP CN1 36 to the H level when an absolute encoder is used 8 Operation 8 1 2 Tri
312. ps the servomotor by dynamic braking DB then places it into Coast power OFF Mode n OoO0 Coast to a stop Coast Stops the servomotor by coasting then places it into Coast power OFF Mode These parameters are valid under the following conditions When the S ON input signal is OFF Servo OFF When an alarm occurs When main circuit power supply L1 L2 is OFF Similar to the Coast Mode the n OOD setting which stops the servomotor by dynamic braking and then holds it in Dynamic Brake Mode does not generate any braking force when the servomotor stops or when it rotates at very low speed W TERMS Stop by dynamic brake Stops by using the dynamic brake with short circuiting by a circuit of SERVOPACK Coast to a stop Stops naturally with no brake by using the friction resistance of the motor in operation B IMPORTANT The SERVOPACK is forced to stop by dynamic braking regardless of the settings of this parameter when the control power supply C1 C2 turns OFF Ifthe servomotor must be stopped by coasting rather than by dynamic braking when the control power supply C1 C2 turns OFF arrange the sequence externally so the servomotor wiring U V W will be interrupted IMPORTANT The dynamic brake DB is an emergency stop function Ifthe servomotor is frequently started and stopped by turning the power ON OFF or using the servo ON sig nal S ON the DB circuit will also be repeatedly operated degrading the SERV
313. pter 10 Inspection Maintenance and Troubleshooting 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 SN INFO nrof plays to avoid damaging the devices Indicates supplemental information lt 4 EXAMPLE gt Indicates application examples TERMS ndicates 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 XII Series SGMLIH SGDM TOE S800 34 Provides detailed information on the operating method Digital Operator Operation Manual of JUSP OP02A 2 type Digital Operator option device Y II Series SERVOPACKs SIE S800 35 Describes the using and the operating methods on soft Personal Computer Monitoring Software ware that changes the local personal computer into the Operation Manual monitor equipment for the X II Series servomotor lt 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 AN WARNING Indicates precautions that if not heeded could possibly result in loss of life or serious injury IN CAUTION Indicates prec
314. put for approximately two seconds when the control power is turned ON Take this into consideration when designing the power ON sequence The ALM signal actuates the alarm detection relay 1Ry to stop main circuit power supply to the SERVOPACK 2 3 L represents twi isted pair wires Connect the I O cable s shield wire to the connector shell Note Only signals applicable to OMRON s C500 NC221 position control unit and Yaskawa s SGDJ LILILIS SERVOPACK are shown in the diagram 10 3 Connection to Host Controller 10 3 8 Example of Connection to OMRON s Position Control Unit C500 NC 112 SERVOPACK in Position Control Mode SGDJ OOOP SERVOPACK e M Control power supply L1 9 Main circuit power supply Position control IO bower suppi L2 unit C500 NC112 P ppy manufactured by 12V7 OMRON 012V Do 1A 4 Servomotor 12V 1B l 4R s 2A y Encoder signal 2 EN EMIT 2 3Ry conversion unit VO CCW LIMIT lt lt lt 43 3 EMERGENCY STOP 3A r LRX 01 A2 D 4 3B B Ln 40 PCO 24 o __ EXTERNAL INTERRUPT Be e gt i pene a ORIGIN 4A av ov 8 PCO 25 LI ORIGIN proximity 4B 3 8 7 Rm LOCAL d Ry 5 y AM 34 mm 135 READY B lt ES s S 137 24VIN External ub 14 f power suppl 9A PULSE 1 14 S ON power supply gt lt
315. r UTT U HUU to o l o o o o o Ooo IT IT o UU UU coum 5 Specifications and Dimensional Drawings of Cables and Peripheral Devices 5 6 4 Connector Terminal Block Converter Unit 2 Connection Diagram SERVOPACK Terminal Block Unit JUSP TA36P Pin No SGDJ Signal SGD Connecto Terminal cor No Block No L2 se eus IMS a s ver sies I A L se ses M 1 8 13 5 i ae a GERNE s veme con 9 _ 10 um NN 56 pepe pee 14 m E ee ee ee E 14 16 mor a ee ee 8 1 16 La wor wer 93 1 18 L ALMRST ALM RST 1 31 B 18 19 a ce 19 o o me 7 a ee mo v A 1 8 Sees ee ee a oe EEG EE E B5 25 BE eo 80 1 V Kd 25 emt Bari Bu p RCM V er EPA o wo ator es Ll 3 RON CON CE Lee T x 3 se se Lr 33 a a er 4 nlm em ao Connector case Ca Har B19 Cable Attached to the terminal block Lx a lt represents twisted pair wires B20 d 5 20 5 6 Peripheral Devices 5 6 5 Noise Filter The noise filters manufactured by Okaya Electric Industries Co Ltd are recommended Contact Yaskawa Con trols Co Ltd Select one of the following noise filters according to SERVOPACK capacity For more details refer to 2 5 4 Noise Filters Surge Suppressors Magnetic Conductors and
316. r Refer to 8 3 Setting Common Basic Functions mechanical configuration related to protective func When a servomotor with brake is used take advance tion such as overtravel and brake measures to prevent vibration due to gravity acting on the machine or external forces before checking the brake operation Check that both servomotor and brake operations are correct For details refer to 8 3 4 Setting for Holding Brakes Set the necessary parameters for control mode used Refer to 8 5 Operating Using Speed Control with Ana log Reference 8 6 Operating Using Position Control and 8 7 Operating Using Torque Control for control mode used 3 Connect the servomotor to the machine with cou Refer to 3 3 1 Precautions on Servomotor Installation pling etc while the power is turned OFF 4 Check that the SERVOPACK is servo OFF status Refer to 8 3 Setting Common Basic Functions and then turn ON the power to the machine host For steps 4 to 8 take advance measures for emergency controller Check again that the protective function stop so that the servomotor can stop safely when an in step 1 operates normally error occurs during operation Perform trial operation with the servomotor con Check that the trial operation is completed with as the nected to the machine following each section in trial operation for servomotor without load Also 8 1 2 Trial Operation for Servomotor without Load check the settings for machine such as reference uni
317. r Type No of Encoder Pulses A Incremental 13 bits 2048 encoder 1 Absolute 16 bits 16384 encoder Note For details on reading servomotor model numbers refer to 2 1 Servomotor Model Designations INFON The number of bits representing the resolution of the applicable encoder is not the same as the number of encoder signal v pulses phases A and B The number of bits representing the resolution is equal to the number of encoder pulses x 4 mul tiplier 2 Electronic Gear The electronic gear enables the workpiece travel distance per input reference pulse from the host controller to be set to any value One reference pulse from the host controller i e the minimum position data unit is called a ref erence unit When the Electronic Gear When the Electronic Gear Is Used Is Not Used Workpiece Workpiece Reference unit 1 uum EZELI ZELELI A k LLII T LELLI No of encoder pulses 2048 Ball screw pitch 6 mm 0 24 in No of encoder pulses 2048 Ball screw pitch 6 mm 0 24 in To move a workpiece 10 mm 0 39 in To move a workpiece 10 mm using reference units 1 revolution is 6 mm Therefore The reference unit is 1 um Therefore 10 6 1 6666 revolutions To move the workpiece 10 mm 10000 um 2048 x 4 pulses is 1 revolution Therefore 1 pulse 1 um so 1 6666 x 2048 x 4 13653 pulses 10000 1 10000 pulses
318. r less 5 14 5 5 I O Signal Cables for CN1 Connector 5 5 3 Connection Diagram SERVOPACK end Host controller end Signal SGDJ LILILIS SGDJ LILILIP T REF PULS PULS V REF SIGN ISIGN L CLR S RDY S RDY V CMP COIN TGON TGON SG SG P CL P CL N CL N CL 24V IN 24V IN S ON S ON P CON P CON P OT P OT N OT N OT ALM RST ALM RST Terminal Pin No Number Seal n n mo olo oz O Z o d n O n Q x N PAO PAO 20 2 22 23 PCO PCO 24 25 s a7 N co 28 BAT BAT 29 BAT BAT s m wo wo w wo SG SG wo OW N j l ee ee lM lM ala l lM 34 ALM ALM 34 represents twisted pair wires Case Shield 5 15 5 Specifications and Dimensional Drawings of Cables and Peripheral Devices 5 6 1 Cables for Connecting Personal Computers 5 6 Peripheral Devices 5 6 1 Cables for Connecting Personal Computers 1 For 25 pin Connector Cable for NEC PC 98 Series PC a Cable Type JZSP CMS01 b Dimensional Drawing Units mm in Personal computer end SERVOPACK end Half pitch t cama eh Ee Sa PERE poires heli 10314 52A0 0 Signal Pin No 255 Daiich Denshi Kogyo Co Ltd Sumitomo 3M Ltd MD o
319. r to 7 1 4 Status Display and 7 4 1 List of Monitor Modes 8 77 8 Operation 8 11 4 Servo Ready S RDY Output 8 11 4 Servo Ready S RDY Output Name Number rr enaa ome smeirsaresir This signal indicates that the SERVOPACK received the servo ON signal and completed all preparations It is output when there are no servo alarms and the main circuit power supply is turned ON An added condition with absolute encoder specifications is that when the SEN signal is at high level absolute data was out put to the host controller The servo ready signal condition can also be checked on the digital operator For details refer to 7 1 4 Status Display and 7 4 1 List of Monitor Modes The S RDY signal can be allocated to another output terminal with parameter Pn5OE For details refer to 7 3 3 Output Cir cuit Signal Allocation 8 78 9 Adjustments 9 1 Autotuning 9 2 9 1 1 Servo Gain Adjustment Methods 9 2 9 1 2 List of Servo Adjustment Functions 9 3 9 2 Online Autotuning 9 5 9 2 1 Online Autotuning 9 5 9 2 2 Online Autotuning Procedure 9 6 9 2 3 Selecting the Online Autotuning Execution Method 9 7 9 2 4 Machine Rigidity Setting for Online Autotuning 9 8 9 2 5 Method for Changin
320. r to 70 1 2 Warning Display for the ON OFF combinations of ALO1 ALO2 and ALO3 when a warning code is out put 8 11 3 Running Output Signal TGON Name Pin Number Output TGON CNI 9 10 ON low level Servomotor is operating Motor speed is above the set setting in Pn502 This signal is output to indicate that the servomotor is currently operating above the setting in parameter Pn502 The TGON signal can be allocated to another output terminal with parameter PnSOE For details refer to 7 3 3 Output Cir cuit Signal Allocation B IMPORTANT If the brake signal BK and running output signal TGON are allocated to the same output terminal the TGON signal will go to low level at the speed at which the movable part drops on the vertical axis which means that the BK signal will not go to high level This is because signals are output with OR logic when multiple signals are allocated to the same out put terminal Always allocate TGON and BK signals to different terminals Related Parameter Rotation Detection Level Setting Range Setting Unit Factory Setting Setting Validation Set the range in which the running output signal TGON is output in this parameter When the servomotor rotation speed is above the value set in the Pn502 it is judged to be servomotor rotating and the run ning output signal TGON is output The rotation detection signal can also be checked on the digital operator For details refe
321. raking torque Zero Clamp Mode A mode forms a position loop by using the position reference zero For details on stopping methods when the servo turns OFF or when an alarm occurs refer to 8 3 5 Selecting the Stopping Method After Servo OFF 4 Setting the Stop Torque for Overtravel Pn406 Emergency Stop Torque Setting Range Setting Unit Factory Setting Setting Validation 0 to 800 800 Immediately This sets the stop torque for when the overtravel signal P OT N OT is input The setting unit is a percentage of the rated torque 1 e the rated torque is 100 The value large enough to be the motor maximum torque 800 is set as the factory setting for emergency stop torque However the actual output emergency stop torque is determined by motor ratings 8 21 8 Operation 8 3 4 Setting for Holding Brakes 8 3 4 Setting for Holding Brakes The holding brake is used when a SERVOPACK controls a vertical axis In other words a servomotor with brake prevents the movable part from shifting due to gravity when the SERVOPACK power goes OFF Refer to 8 1 4 Servomotor with Brakes e Vertical Shaft eShaft with External Force Applied Servomotor External Holding brake force Servomotor l Prevents the servomotor pr from shifting when the power is OFF Prevents the servomotor from shifting due to external force IMPORTANT 1 The brake built into the servomotor with brakes is a deenergization brake wh
322. ration class for the servomotors at rated motor speed is 15 um or below 6 Protective Structure The standard protection class for the protective structure is IP55 except for shaft opening Vibration Class TERMS a I a E A vibration class of 15 um or below indicates a total vibration amplitude of 15 um maximum on the servomotor during rated rotation 3 16 3 4 Terms and Data for Servomotors With Gears 3 4 Terms and Data for Servomotors With Gears 1 Terms for Servomotors With Standard Backlash Gears and Low backlash Gears Terminology for Servomotors with Gears Typical Value Measurement Method Definition Standard Low back POEM lash Gears Gears Be no Jom gom Speed min Max Allowable Input Motor Speed min The rated output torque of the motor is the gear input torque oues Torque The rated torque is this value multiplied by the inverse of the gear ratio and efficiency Lost Motion Angular difference in the screw with a 5 rated torque 15 max 3 max arc min load Maximum value at any four positions during output Torsion Rigidit Highestt le val ith a rated t i igi ity ighest torsion angle value on one side with a rated torque E ENA arc min load Angular Transmis Difference in absolute accuracy for one rotation under load sion Error Accuracy and no load conditions during output 10 max 6 max arc min See the following graph for lost motion and torsion rigidity
323. rcuit D A SERVOPACK SERVOPACK 1 8 kQ 1 2 W min Host controller 3 V REF or V REF or 12V 25HP 10B lee LREF REF 14kQ 2kQ 45 About 14 kQ sq About 4 0v 0v b SGDJ OOOP Position Reference Input Circuit CNI connector terminals 1 2 Reference pulse input 3 4 Reference code input and 5 6 Clear input are explained below An output circuit for the reference pulse and position error pulse clear signal at the host controller can be either line driver or open collector outputs The following shows by type Host controller SERVOPACK Host controller SERVOPACK 1500 T wee R1 SN75174 manufactured by Texas Instruments or the equivalent Y 3 V Applicable line driver gt 2 8 V lt H level L leve VF 1 5 to 1 8 V Use the examples below to set pull up resistor R1 so the input current i falls between 7 mA and 15 mA Application Examples R1 2 2 kQ witha R1 1 kQ with a R1 180 Q with a Vcc of 24V 45 Vcc of 12 V 5 Vcc of 5 V 5 6 14 6 3 Examples of I O Signal Connections 2 Sequence Input Circuit Interface CNI connector terminals 11 to 18 is explained below The sequence input circuit inte
324. ready sig phase C 25 PCO PG dividing nal output pulse output COIN Positioning Absolute phase C complete encoder output signal output TGON TGON signal phase S PSO Absolute output encoder output d Backup battery phase S t input li 1 SG PG Signal ground for PG output signal PAO PG dividing pulse output phase A N CL Reverse cur rent limit ON input 24VIN oe power ALO2 ae code out su input ut ee Alarm code out R put 3 P CON P control input Servo alarm output N OT Reverse rotation AL SG Alarm code sig nal ground S ON Servo ON input 16 P Forward rotation pro hibited input Alarm output prohibited input SG signal ground ALM Alarm reset SEN signal for RST input absolute encoder Note 1 Do not use unused terminals for relays O Signal COM ground com m n P CL Forward cur BATO Backup battery rent limit ON input 0 V g input Alarm code out put 1 OT N 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 3 The functions allocated to the following input and output signals can be changed by using the parameters Refer to 7 3 2 Input Circuit Signal Allocation and 7 3 3 Output Circuit Signal Allo cation Input signals S ON P CON P OT N OT ALM RST P CL and N CL Output signals TGON S RDY and V CMP
325. rence below the Pn501 setting is detected Host controller Speed reference Stops precisely Zero clamp P CON IZCLAMP 8 42 8 5 Operating Using Speed Control with Analog Reference 2 Parameter Setting Meaning Pn000 n LILIALI Control mode selection Speed control analog voltage reference lt gt Zero clamp Zero Clamp Conditions Zero clamp is performed with Pn000 n OOAD when the following two conditions are satisfied P CON ZCLAMP is ON low level Speed reference V REF drops below the setting of Pn501 SERVOPACK V REF speed reference Speed Ps P t val reset value Speed reference REF SS S for zero clamping P CON 15 Zeroclamp 7z amp rawp o Pn501 ZCLAMP 1 i I osea ON P CON ZCLAMP input Open OFF Zero clamp is performed gt OFF OFF Zero Clamp Level Setting Range E Unit Factory Setting Setting Validation Sets the motor speed at which the zero clamp is cci if zero clamp speed control Pn000 n OOAD is selected Even if this value is set higher than the maximum speed of the servomotor the maximum speed will be used 3 Input Signal Setting Type Signal Name Connector Pin Setting Meaning Number P CON CNI 15 ON low level Zero clamp function ON enabled OFF high level Zero clamp function OFF disabled m Must be allocated ON low level Zero clamp function ON enabled OFF high level Zero clamp function OFF d
326. requency The overload alarm has been reset by turning OFF Change the method to reset the alarm the power too many times The excessive change was given to the position Recheck the reference value speed reference The overload or regenerative power exceeds the Reconsider the load and operation conditions regenerative resistor s capacity The direction or the distance of the SERVOPACK to The ambient temperature for the SERVOPACK other devices is incorrect must be 40 C or less Heat radiation of the panel or heat around the panel occurred A SERVOPACK fan fault occurred Replace the SERVOPACK A SERVOPACK fault occurred Occurred when the A SERVOPACK board fault occurred Replace the SERVOPACK control power sup Detected when ia DC voltage ply was turned ON of the Occurred when the The DC power voltage is too high The DC power voltage must be within the speci SERVOPACK s main circuit power fied range main circuit is 33 9UPPly was turned SERVOPACK fault occurred Replace the SERVOPACK ON VDC for the 24 VDC model and Occurred during Check the DC power voltage check if there is no The DC power voltage must be within the speci 60 VDC or more rma operation excessive voltage change fied range for the 480 VDC The motor speed is high and load moment of inertia Check the load moment of inertia and minus load model is excessive resulting in insufficient regenerative specifications Reconsider the loa
327. rface connects through a relay or open collector transistor circuit Select a low current relay otherwise a faulty contact will result Relay Circuit Example Open collector Circuit Example SERVOPACK SERVOPACK 3 3 kQ S ON etc S ON etc Note The 24 VDC external power supply capacity must be 50 mA minimum For SEN input signal circuit refer to 8 4 Absolute Encoders Q INFOL 3 Sink Circuit and Source Circuit The SERVOPACK s I O circuit uses a bidirectional photocoupler Select either the sink circuit or the source cir cuit according to the specifications required for each machine Sink Circuit Source Circuit pe input SERVOPACK input 171 ls 4 Output Circuit Interface There are three types of SERVOPACK output circuits a Line Driver Output Circuit CNI connector terminals 20 21 phase A signal 22 23 phase B signal and 24 25 phase C signal are explained below Encoder serial data converted to two phase phases A and B pulse output signals PAO PAO PBO PBO zero point pulse signals PCO PCO and the amount of phase S rotation signal PSO PSO are output via line driver output circuits Normally the SERVOPACK uses this output circuit in speed control to comprise the p
328. rted by the SGDJ SERVOPACK are described below Parameter Control Mode Applicable Reference SERVOPACK Section SGDJ SGDJ LILIEIS L1 OP n0000 Speed Control Analog voltage speed reference Applica OO OS Controls servomotor speed by means of an analog voltage speed ble Factory reference Use in the following instances setting To control speed For position control using the encoder feedback division output from the SERVOPACK to form a position loop in the host con troller n0010 Position Control Pulse train position reference 00 LIP Controls the position of the servomotor by means of a pulse train position reference pan ory Controls the position with the number of input pulses and controls setting the speed with the input pulse frequency Use when positioning is required Torque Control Analog voltage speed reference Controls the servomotor s output torque by means of an analog voltage torque reference Use to output the required amount of torque for operations such as pressing Speed Control Contact input speed control Applica Uses the three input signals P CON SPD D P CL SPD A ble and N CL SPD B to control the speed as set in advance in the SERVOPACK Three operating speeds can be set in the SERVOPACK In this case an analog reference is not necessary These are switching modes for using the four control methods Applica described above in combination Select the control method swi
329. s Internal CN5 Analog Monitoring Speed 1 V 1000 min Applicable Applicable Func Torque 1 V 100 of rated torque tions Position error pulses 0 05 V 1 reference units or 0 05 V 100 reference units Digital Operator hand held model RS 422A port such Connected Devices as for a personal computer RS 232C ports under certain Applicable Applicable conditions 1 N Communications Up to N 14 for RS 422A ports Applicable Applicable Communications Axis Address Setting Set with parameters Applicable Applicable Status display parameter setting monitor display alarm Functions trace back display JOG and autotuning operations Applicable Applicable speed torque reference signal and other drawing func tions Reverse rotation connection zero point search auto i Others Applicable Applicable matic servomotor ID 1 Use the SERVOPACK within the ambient temperature range When enclosed in a control panel internal tem peratures must not exceed the ambient temperature range 2 Speed regulation is defined as follows No load motor speed Total load motor speed Rated motor speed The motor speed may change due to voltage variations or amplifier drift and changes in processing resistance Speed reguration x 10096 due to temperature variation The ratio of speed changes to the rated speed represent speed regulation due to voltage and temperature variations 3 Forward is clockwise viewed from the
330. s Holding Servomotor Brake Rated servomotor Capacity wy Holding Coil Rated Model Torque Resistance Current Voltage W N m ozin Q at 20 C A at 20 C 0 159 0 255 0 318 Pee a o e 45 0 ES 0 637 id ar m 9 338 pe 0 955 SEU o 9 90 2 Note The holding brake is only used to hold the load and cannot be used to stop the servomotor 3 Specifications and Dimensional Drawings 3 2 2 SGMAJ Servomotors With Standard Backlash Gears 3 2 2 SGMAJ Servomotors With Standard Backlash Gears Time Rating Continuous Withstand Voltage 100V 200V Servomotors 1500 VAC for one minute 400V Servomotors 1800 VAC for one minute Insulation Resistance 500 VDC 10 MO min Enclosure Totally enclosed self cooled IP55 except for shaft opening e Ambient Temperature 0 to 40 C 32 to 104 F Ambient Humidity 20 to 80 no condensation Excitation Permanent magnet Drive Method Direct drive Mounting Flange method Backlash 15 to 20 min max Gear Mechanism Planetary gear mechanism Gear Rotation Direction Same direction as servomotor Thermal Class B Moment of Inertia J Servomotor Gear Output x10 Eum x 10 oz in s Servomotor Rated Instanta Model Torque neous SGMAJ Effi Peak 1 Motor M Gears n 5 ciency ts i Gears i N m 96 i oz in EAE AE AEAEE ASAIO A500as7on omo cin 9 se cian os ascoascon 1 02 80 3 44 0 099 0 063 3000
331. s absolute encoder as an absolute encoder pa Uses absolute encoder as an incremental encoder Reserved Do not change 10 34 10 4 List of Parameters Param Name Setting Range Units Factory Setting Setting Reference eter No OOOs coop Validation Section Pn003 Function Selection Application Switches 3 Lr 0002 EEEH ee ately 4th 3rd 2nd st digit digit digit digit Analog Monitor 1 Torque Reference Monitor Refer to 9 5 Analog Monitor o RN sese vittis 1 s wenmexsivmer Analog Monitor 2 Speed Reference Monitor Refer to 9 5 Analog Monitor Same as Analog Monitor 1 Torque Reference Monitor Reserved Do not change Reserved Do not change Pn004 Reserved Do not change 0000 0000 Immedi ately Pn005 Reserved Do not change 0000 0000 Immedi ately Pn100 Speed Loop Gain 1 to 2000 Hz Immedi ately Pn101 Speed Loop Integral Time Constant 0 15 to 512 00 ms 0 01 ms 2000 2000 Immedi ately Pn102 Position Loop Gain 1 to poc s Immedi ately Pn103 Moment of Inertia Ratio T to 10000 al Immedi 9 2 6 ately 9 3 3 Pn104 2nd Speed Loop Gain 1 to 2000 Hz Immedi 9 4 8 ately Pn105 2nd Speed Loop Integral Time Constant 0 15 to 512 00 ms Mig ms ee 2000 Immedi A ately Pn106 2nd Position Loop Gain 1 to 2000 s 1 s 40 Immedi 9 4 8 ately Pn107 Bias 0 to 450 min 1 min Immedi 9 4 5 ately Pn108 Bias Width Addition 0 to 250 reference Referen
332. s been reset by turning OFF Change the method to reset the alarm An overcurrent control powersup the power too many times flowed through ply was turned ON he connection is faulty between the SERVOPACK Replace the SERVOPACK the MOS FET oard and the thermostat switch or Heat Sink he SERVOPACK board fault occurred Overheated 4 Occurred when the main circuit power is incorrect supply was turned ON or when an he connection between grounding and U V or W Check and then correct the wiring 4 he grounding line has contact with other terminals A short circuit occurred between the grounding and Repair or replace the servomotor main circuit overcurrent U V or W of the servomotor cable cable occurred while the servomotor was A short circuit occurred between phases U V and W running of the servomotor The wiring of the regenerative resistor is incorrect Check and then correct the wiring A short circuit occurred between the grounding and Replace the SERVOPACK U V or W of the SERVOPACK A SERVOPACK fault occurred current feedback circuit power transistor or board fault A short circuit occurred between the grounding and Replace the servomotor U V W of the servomotor A short circuit occurred between phases U V and W of the servomotor The dynamic brake was activated too frequently so Replace the SERVOPACK and reduce the DB a DB overload alarm occurred operation f
333. s the sequence input signal terminals with standard allocation Changes the sequence input signal allocation for each signal S ON Signal Mapping Signal Polarity Normal Servo ON when ON L level Signal Polarity Reverse Servo ON when OFF H level Refer to 8 3 1 Setting the Servo ON Signal 9 foNwiencNristptsiemsON ive s owes Nash s sesos S s ore wenen ia mpa pai or GRY s OFF wn CNG inguin OFF Hie D OFF when CNI 18 input signal is OFF H level OFF when CNI 11 input si is OFF H level OFF when CN1 12 input signal is OFF H level P CON Signal Mapping P control when ON L level Refer to 9 4 4 Using the Mode Switch P PI Switching Same as S ON P OT Signal Mapping Overtravel when OFF H level Refer to 8 3 3 Setting the Overtravel Limit Function ENLGCTDISTUSEIEUTETIOIECONMN NN NN s revsa OOOO s n 1 9 Forward run allowed when CN1 14 input signal is OFF H level Forward run allowed when CN1 15 input signal is OFF H level B Forward run alowed when CN1 16 input signal is OFF Hleve D_ Forward run allowed when CN1 18 input signal is OFF hleveD Forward run allowed when CNI 12 input signal is OFF H level When Pn50A 0 is set to 0 for the input signal standard allocation mode the following modes are com patible Pn50A 1 7 Pn50A 3 8 and Pn50B 0 8 10 41 10 Inspection Maintenance and Troublesho
334. servo gains Kv Ti Kp and Tf are set according to the Machine Rigidity Setting Fn001 2 Positioning Time Reduction Functions Function Name and Related Parameters Description Feed forward Pn109 Pn10A Torque feed forward Pn002 Pn400 Feed forward compensation for the posi tion reference is added to the speed refer ence Inputs torque feed forward to the torque reference input terminal and adds to the internal torque reference at the speed con trol Mode Switch P PI Switching Pn10B Pn10C Pn10D Pn10E Pn10F Speed Feedback Compensation Pn110 Pn111 Switches from PI control to P control using the value of an internal servo vari able in a parameter torque speed accel eration or position error as a threshold value Compensates the motor speed using an Observer Gain Switching Pn100 Pn101 Pn102 Pn104 Pn105 Pn106 Uses the external signals to change each parameter for speed loop gain Kv speed loop integral time constant T1 and posi tion loop gain Kp Valid Control Modes Position Speed Refer ence Section Features Adjustment is easy The system will be unstable if a large value is set possibly resulting in over shooting or vibration The setting for automatic switching between PI and P control is easy Adjustment is easy because the compensa Position tion can be set as a percentage If the speed loop gain increases the position loop gain als
335. servomotor encoder mounting such as mounting surface preci securely sion fixing alignment is incorrect Encoder fault An encoder fault occurred Replace the servomotor SERVOPACK fault A SERVOPACK fault occurred Replace the SERVOPACK Position error Unsecured coupling between Check if a position error occurs at the cou Secure the coupling between the machine and servomo without machine and servomotor pling between machine and servomotor tor alarm Noise interference due to improper The input signal cable specifications must Use input signal cable with the specified specifications input signal cable specifications be Twisted pair or twisted pair shielded wire with core 0 12 mm 0 0002 in min and tinned annealed copper twisted wire Noise interference because the input The wiring distance must be 3 m 9 84 ft The input signal cable distance must be within the speci signal cable distance is too long max and the impedance several hundreds fied range ohm max Encoder fault pulse count does not An encoder fault occurred pulse count Replace the servomotor change does not change 10 16 10 1 Troubleshooting Table 10 5 Troubleshooting for Malfunction without Alarm Display cont d Symptom Cause Turn OFF the servo system before executing operations Servomotor Ambient temperature too high Reduce ambient temperature to 40 C 104 F max Overheated Servomotor surface dirty Check visually Clean dust and
336. servomotor with holding brake rotor moment of inertia brake moment of inertia Servomotor Model Holding Brake Moment of x104 kg m 0 00125 These values are reference values 3 Holding Brake Electrical Specifications Holding Brake Specifications Holding Brake Servomotor pn Capacity Holding m aL ade Rated Voltage Model W ce at 20 C A at 20 C 68 F 68 F SGMMJ A10 W ZAGEN SGMMJAZT TUE SGMMJ A3LI 26 0 0955 13 5 Note The holding brake is only used to hold the load and cannot be used to stop the servomotor 4 Torque motor Speed Characteristics SGMMJ A1C DC24V SGMMJ A2C DC24V 5000 5000 j 4000 4000 EY Motor 3000 Motor 3000 AN B speed speed min 1 2000 min 1 2000 1000 1000 06 0 02 0 04 0 06 0 08 0 10 06 0 04 0 08 0 12 0 16 0 20 Torque N m Torque N m LI o i i L l LI oL opo pol og O 2 4 6 8 101214 O 4 8 12 16 20 24 28 Torque oz in Torque oz in SGMMJ A3C DC24V SGMMJ A1E DC48V 5000 5000 4000 4000 Motor Motor speed 3000 4 B speed 3000 min 1 2000 i min 1 2000 1000 1000 E 0 li 0 A Continuous Duty Zone O 0 06 0 12 0 18 0 24 0 30 O 0 02 0 04 0 06 0 08 0 10 Torque N m Torque N m Intermittent Duty Zone boyy yp gd gll LI ee ee ogodg og O 6 12 18 24 30 36 42 024 6 8 101214 Torque oz in Torque oz in 3 Specifications and Dimensiona
337. setting range and if it matches the reference speed value 8 10 Position COIN Positioning completed output in Position Control Mode Turns ON when the 8 6 5 number of positional error pulses reaches the value set The setting is the num ber of positional error pulses set in reference units input pulse units defined by the electronic gear Reserved terminals The functions allocated to TGON S RDY and V CMP COIN can be changed by using the parameters Reserved 36 Terminals not used Do not connect relays to these terminals Note 1 Pin numbers in parentheses indicate signal grounds 2 The functions allocated to TGON S RDY and V CMP COIN can be changed by using the parameters CLT VLT BK WARN and NEAR signals can also be changed Refer to 7 3 3 Output Circuit Signal Allocation 5 Phase C signal 6 13 6 Wiring 6 3 6 Interface Circuit 6 3 6 Interface Circuit This section shows examples of SERVOPACK I O signal connection to the host controller 1 Interface for Reference Input Circuits a SGDJ OOOS Analog Input Circuit CN1 connector terminals 3 4 Speed reference input and 1 2 Torque reference input are explained below Analog signals are either speed or torque reference signals at the impedance below Reference speed input About 14 kQ Reference torque input About 14 KQ The maximum allowable voltages for input signals is 12 V Analog Voltage Input Circuit Analog Voltage Input Ci
338. side the allowable setting range Combination Error SERVOPACK and servomotor capaci Available ties do not match each other Overcurrent or Heat Sink Overheated An overcurrent flowed through the N A IGBT L H H H Heat sink of SERVOPACK was over heated in circui i i Availabl Ign Overload High Load The motor was operating for several Available seconds to several tens of seconds under a torque largely exceeding rat ings Overload Low Load The motor was operating continuously Available under a torque largely exceeding rat ings Dynamic Brake Overload When the dynamic brake was applied ilable rotational energy exceeded the capac ity of dynamic brake resistor Overload of Surge The main circuit power was frequently Available arent c uad Or heated 10 2 10 1 Troubleshooting Table 10 1 Alarm Displays and Outputs cont d Alarm Alarm Code Output Alarm Reset Alarm Name Meanin Display mg ALO1 ALO2 ALO3 Encoder Backup Error All the power supplies for the absolute encoder have failed and position data was cleared Encoder Checksum Error The checksum results of encoder N A o ee Absolute Encoder Battery Error Backup battery voltage for the abso Available a ue Encoder Data Error Data Error Data in the Data in the encoder is abnormal is abnormal ete een 2 ae speed when the power was turned ON Encoder Overheated The internal temperature of encoder is too high Reference Speed
339. so that no surge is high current line or near high currentline applied FG electrical potential varies by Check if the machine is correctly grounded Ground the machine separately from PG side FG influence of such machines on the servomotor side as welder SERVOPACK pulse counting error Check if the signal line from the encoder Take measures against noise for encoder wiring due to noise interference receives influence from noise interference Excessive vibration and shock to the Vibration from machine occurred or servo Reduce vibration from machine or mount securely the encoder motor mounting such as mounting surface servomotor precision fixing and alignment is incor rect Encoder fault An encoder fault occurred no change in Replace the servomotor pulse count SERVOPACK fault Check the multiturn data from SERVO Replace the SERVOPACK PACK Host controller multiturn data read Check the error detection at the host con Correct the error detection section of host controller ing error troller Check if the host controller executes data Execute the multiturn data parity check parity check Check noise on the signal line between Noise influence at no parity check as the above SERVOPACK and the host controller 10 15 10 Inspection Maintenance and Troubleshooting 10 1 4 Troubleshooting for Malfunction without Alarm Display Table 10 5 Troubleshooting for Malfunction without Alarm Display cont d Symptom Ca
340. spection 10 18 10 2 2 SERVOPACK Inspection 10 18 10 2 3 SERVOPACK s Parts Replacement Schedule 10 19 10 3 Connection to Host Controller 10 20 10 3 1 Example of Connection to MP920 4 axes Analog Module SVA 01 10 20 10 3 2 Example of Connection to CP 9200SH Servo Controller Module SVA SERVOPACK in Speed Control Mode 10 21 10 3 3 Example of Connection to MEMOCON GL120 130 Series Motion Module MC20 10 22 10 3 4 Example of Connection to MEMOCON GL60 70 Series Positioning Module B2813 SERVOPACK in Position Control Mode 10 23 10 3 5 Example of Connection to OMRON s Motion Control Unit 10 24 10 3 6 Example of Connection to OMRON s Position Control Unit 10 25 10 3 7 Example of Connection to OMRON s Position Control Unit C500 NC221 SERVOPACK in Speed Control Mode 10 26 10 3 8 Example of Connection to OMRON s Position Control Unit C500 NC 112 SERVOPACK in Position Control Mode 10 27 10 3 9 Example of Connection to MITSUBISHI s AD72 Positioning Unit SERVOPACK in Speed Control Mode 10 28 10 3 10 Example of Connection to MITSUBISHI s AD75 Positioning Unit SERVOPACK in Position Control Mode 10 29 10 4 List of Parameters 10 30 10 4 1 Utility Functions List
341. ss the LEFT or RIGHT Key to display the analog monitor out put data Pressing the LEFT or RIGHT Key again will return to Chl o or Ch2 o Press the UP or DOWN Key to perform zero adjustment confirm ing the output waveform of the analog monitor with the measur ing device Press the DATA ENTER Key to return to the utility function mode display Fn00C DATA ENTER DATA ENTER Key 9 29 9 Adjustments 9 5 2 Manual Zero Adjustment and Gain Adjustment of Analog Monitor Output Fn00C FnOOD 2 Manual Gain Adjustment of Analog Monitor Output FnOOD Follow the procedure below to execute the manual gain adjustment of analog monitor output Display afer Operation 1 F1 SET LI DSPL SET Key DATA ENTER DATA ENTER Key DSPL SET DSPL SET Key Displayed alternately DATA ENTER DATA ENTER Key 9 30 Press the DSPL SET Key to select the utility function mode Press the LEFT RIGHT Key or the UPIDOWN Key to set the parameter FnOOD Press the DATA ENTER Key and Ch1 G will be displayed Press the DSPL SET Key and the monitor output for the two channels will be displayed alternately Press the LEFT or RIGHT Key to display the analog monitor gain constant Pressing the LEFT or RIGHT Key again will return to Ch1 G and Ch2 G Press the UP or DOWN Key to adjust the gain confirming the output waveform of the analog monitor output with the measur ing device Press the DATA ENTER Key to r
342. stance between a power line such as a power supply line or servomotor cable and a signal line must be at least 300 mm 11 81 in Do not put the power and signal lines in the same duct or bundle them together Do not share the power supply with an electric welder or electrical discharge machine When the SERVOPACK is placed near a high frequency 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 SERVOPACK connects directly to a commercial power supply without a transformer so always use a QF or fuse to protect the SERVOPACK from accidental high voltage The 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 6 17 6 Wiring 6 4 2 Wiring for Noise Control 6 4 2 Wiring for Noise Control 1 Wiring Example The SERVOPACK uses high speed switching elements in the main circuit It may receive switching noise from these high speed switching elements if the processing of wiring or grounding around the SERVOPACK is not appropriate To prevent this always wire and ground the SERVOPACK correctly The SGDH SERVOPACK has a built in microprocessor CPU so protect it from extern
343. t from Host Reference Check the settings of parameters for control mode Check that the servomotor rotates matching the used set in step 2 again machine operating specifications 8 15 8 Operation 8 1 4 Servomotor with Brakes Check Method and Remarks Adjust the servo gain and improve the servomotor Refer to 9 1 Autotuning response characteristics if necessary The servomotor will not be broken in completely dur ing the trial operation Therefore let the system run for a sufficient amount of additional time to ensure that it is properly broken in Write the parameters set for maintenance in 0 4 List of Parameters Then the trial operation with the servomotor con nected to the machine is completed 8 1 4 Servomotor with Brakes Holding brake operation of the servomotor with brake can be controlled with the brake interlock output BK signal of the SERVOPACK When checking the brake operation take advance measures to prevent vibration due to gravity acting on the machine or external forces Check the servomotor operation and holding brake operation with the servomotor separated from the machine If both operations are correct connect the servomotor and perform trial operation For wiring on a servomotor with brakes and parameter settings refer to 8 3 4 Setting for Holding Brakes 8 1 5 Position Control by Host Controller se anns As described above be sure to separate the servomotor and machine be
344. t be taken because the SERVOPACK can operate as soon as the power is turned ON Pn50A n LILIOL Inputs the S ON signal from the input terminal CN1 14 Factory setting n LILI7L Constantly enables the S ON signal After changing these parameters turn OFF the main circuit and control power supplies and then turn them ON again to enable the new settings When the parameter is set to constantly enable the signal resetting an alarm can only be done by turning the power OFF and ON Alarm reset is disabled 8 18 8 3 2 Switching the Servomotor Rotation Direction 8 3 Setting Common Basic Functions The rotation direction of the servomotor can be switched without changing the reference pulse to the SERVOPACK or the reference voltage polarity This causes the travel direction of the shaft reverse The output signal polarity such as encoder pulse output and analog monitor signal from the SERVOPACK does not change The standard setting for forward rotation is counterclockwise as viewed from the drive end Parameter Name n OOD0 Standard setting CCW For ward Factory setting Reverse Rotation Mode CW Reverse Reference Forward Reference Analog monitor Forward CCW Oy torque reference Rotation speed Encoder pulse division output PAO L PBO Phase B advanced a ayyy CW Analog monitor Encoder
345. t using the input voltage of V REF and the setting in Pn300 external speed limit function 8 63 8 Operation 8 7 4 Limiting Servomotor Speed during Torque Control 2 Internal Speed Limit Function Pn407 Speed Limit During Torque Control Setting Range Setting Unit Factory Setting Setting Validation 0 to 10000 10000 Immediately Sets the servomotor speed limit value during torque control The setting in this parameter is enabled when Pn002 n OOO The servomotor s maximum speed will be used when the setting in this parameter exceeds the maximum speed of the ser vomotor used 3 External Speed Limit Function Name Pin Number Input External Speed Limit Input Inputs an analog voltage reference as the servomotor speed limit value during torque control The smaller value is enabled the speed limit input from V REF or the Pn407 Speed Limit during Torque Control when Pn002 n0010 The setting in Pn300 determines the voltage level to be input as the limit value Polarity has no effect Speed Reference Input Gain Setting Range Setting Unit Factory Setting Setting Validation 150 to 3000 0 01 V rated speed 600 Immediately 1 50 to 30 0 V rated speed 6 00 V rated speed Sets the voltage level for the speed that is to be externally limited during torque control With Pn300 600 factory setting and 6 V input from V REF CN1 3 4 the actual motor speed is limited to the rated speed of the servomotor used INFO W
346. tch ble ing mode that best suits the application Tf Pn000 n 0040 to n OOBO Pn000 is set to switching mode for using the basic control methods in combination Select the control method switching mode that best suits the application Some switching modes cannot be selected depending on the SERVOPACK type SGDJ LILILIS and LILILIP For details refer to 8 10 Control Mode Selection 8 17 8 Operation 8 3 1 Setting the Servo ON Signal 8 3 Setting Common Basic Functions 8 3 1 Setting the Servo ON Signal This sets the servo ON signal S ON that determines whether the servomotor power is ON or OFF 1 Servo ON signal S ON Type Name Connector Pin Setting Meaning Number S ON CNI 14 ON low level Servomotor power ON Servomotor can be operated Factory setting OFF high Servomotor power OFF Servomotor cannot be operated level Always input the servo ON signal before inputting the input reference to start or stop the servomotor Do not input the input reference first and then use the S ON signal to start or stop Doing so will degrade internal elements and lead to malfunc tion E IMPORTANT Note A parameter can be used to re allocate the input connector number for the S ON signal Refer to 7 3 2 Input Circuit Signal Allocation 2 Enabling Disabling the Servo ON Signal A parameter can be always used to set a parameter servo ON condition This eliminates the need to wire S ON but care mus
347. ter turn OFF the power and ON again to enable the parameters L means factory setting CN1 Pin No 8 10 9 10 71 10 Parameter Setting Pn512 n xxxO Allocation 0 Positioning Completion COIN Pn50E 0 n xxxL1 Speed Coinci dence Detection N CMP Pn50E 1 n xxOx Rotation Detection TGON Pn50E 2 n xLIxx Servo Ready S RDY Pn50E 3 n LIxxx Torque Limit Detection CLT Pn50F 0 n xxxO Speed Limit Detection NLT Pn50F 1 n xxOx Brake BK Pn50F 2 n xL1xx Warning WARN Pn50F 3 n LIxxx Near NEAR Pn510 0 n xxxO Pn512 n xxOx Pn512 n xOxx Invalid pa S Pe ee a MEE EBEN EET a ea ee ope ERE RET NR NN EIE LA pu LX ES el SI ee i ae TE E rot ZT TE TE ZT i E ZT E z ART Invalid L Valid output signal Low level H Valid output signal High level Invalid Do not use the output signal E Factory Setting Pn50E Pn50F Pn510 Pn512 fn Note The output signals for Positioning Completion Signal and Speed Coinci dence Detection Signal differ depend ing on the control method IMPORTANT 1 When two or more signals are allocated to the same output circuit a signal is output with OR logic 2 The signals not detected are considered as Invalid For example Positioning Completion COIN Sig 7 24 nal in the SGDJ LILILIS speed control mode is Invalid 7 3 Operation in Parameter Setting Mode PnOO
348. the multiturn data is 0 When the upper limit 32767 is exceeded in the forward direc SGDJ t 32767 tion the multiturn data is 32768 SGDM When the lower limit 32767 is exceeded in the reverse direc SGDH tion the multiturn data is 32768 SGDP D II Series 32768 to The action differs when the Multiturn Limit Setting Pn205 is changed Refer to 8 4 7 Multiturn Limit Setting 8 27 8 Operation 8 4 1 Interface Circuits 8 4 1 Interface Circuits The following diagram shows the standard connections for a an absolute encoder mounted to a servomotor The connection cables and wiring pin numbers depend on the servomotor For details refer to chapter 5 Specifica tions and Dimensional Drawings of Cables and Peripheral Devices Host controller SERVOPACK Encoder NU 7406 ovg f La Battery L UP PAYS 6 Edge Ti 22 p PBO ze 23 Connector DOWN PCO eee 3 24 shell Clear SERO 1753 d H Serial interf gt L7 EU E Am E M ovs i Applicable line driver 1 T ee twisted pair wires Texas Instruments s SN75175 or KM3486 2 For wiring pin numbers refer to chapter 5 Terminating resistance R 220 to 470 Q Specifications and Dimensional Drawings of Cables and Peripheral Devices 9 Represents the pin number for SGDJ LILILIP position control type SEN Signal Connection Pin Number 7 s
349. the servo gains Setting the servo gains in the parameters can adjust the servo responsiveness Pn100 Speed loop gain Kv e Pn101 Speed loop integral time constant Ti Pn102 Position loop gain Kp Pn401 Torque reference filter time constant Tf For the position and speed control the adjustment in the following procedure can increase the responsiveness The positioning time in position control can be reduced Explanation Set correctly the moment of inertia ratio Pn103 The utility function Fn007 can be used after the online autotuning Increase the speed loop gain Pn100 to within the range so that the machine does not vibrate At the same time decrease the speed loop integral time constant Pn101 2 4 Repeat the steps 1 and 2 Then reduce the value for 10 to 20 For the position control increase the position loop gain Pn102 to within the range so that the machine does not vibrate Perform the manual tuning in the following cases 1 3 Adjust the torque reference filter time constant Pn401 so that no vibration occurs 5 To increase the servo gains more than the values set by the online autotuning To determine the servo gains and moment of inertia ratio by the user Start the manual tuning from the factory setting or the values set by the online autotuning Prepare measuring instruments such as memory recorder so that the signals can be observed from the analog monitor CN5 such as Torque Referen
350. the setting of parameter Pn001 0 Correct the parameter setting brake Does DB resistor disconnected Check if excessive moment of inertia Replace the SERVOPACK and reconsider the load Not Operate motor overspeed or DB frequently acti vated occurred DB drive circuit fault DB circuit parts are faulty Replace the SERVOPACK Abnormal Mounting not secured Check if there are any loosen mounting Tighten the mounting screws Noise from screws Servomotor Check if there are misalignment of cou Align the couplings plings Check if there are unbalanced couplings Balance the couplings Defective bearings Check for noise and vibration around the If any problems contact your Yaskawa representative bearings Vibration source on the driven Any foreign matter damages or deforma Contact the machine manufacturer machine tion on the machine movable section Noise interference due to incorrect The specifications of input signal wires Use the specified input signal wires input signal wire specifications must be Twisted pair or twisted pair shielded wire with core 0 12 mm 0 0002 in min and tinned annealed copper twisted wire Noise interference due to long dis The wiring distance must be 3 m 9 84 ft Shorten the wiring distance for input signal line to the tance of input signal line max and the impedance a few hundreds specified value ohm max Noise interference due to incorrect The specifications of encoder cable must Use the spe
351. ting Unit Factory Setting Setting Validation 10 to 100 0 1 V rated torque 30 Immediately 1 0 to 10 0 V rated torque 3 0 V rated torque The torque feed forward function is valid only in speed control analog reference The torque feed forward function shortens positioning time differentiates a speed reference at the host controller to gener ate a torque feed forward reference and inputs the torque feed forward reference together with the speed reference to the SERVOPACK Too high a torque feed forward value will result in overshooting or undershooting To prevent such troubles set the opti mum value while observing the system responsiveness Connect a speed reference signal line to V REF CN1 3 and 4 and a torque forward feed reference to T REF CN1 1 and 2 from the host controller Host controller SERVOPACK T REF CN1 1 Differ gt Pn400 Servomotor ential V REF CN1 3 x OP gt Pn300 H gt Pn100 Current loop Position 1 Ns reference Integration Pn101 Speed Le p calculation Divider Kp Position loop gain Ker Feed forward gain Torque feed forward is set using the parameter Pn400 The factory setting is Pn400 30 If for example the torque feed forward value is 3V then the torque is limited to 100 of the rated torque The torq
352. tor within the following temperature range if it is stored with the power cable discon nected Ambient temperature during storage 20 to 60 C 4 to 140 F Ambient humidity during storage 80 RH or less with no condensation Servomotors are designed for indoor use Install the servomotor in environments that satisfy the follow ing conditions Free of corrosive or explosive gases Well ventilated and free of dust and moisture Ambient temperature of 0 to 40 C 32 to 104 F Relative humidity of 20 to 80 with no condensation Facilitates inspection and cleaning Installation Site Alignment Accuracy Align the shaft of the servomotor with the shaft of the equip 3 12 Alignment Orientation Measure this distance at four different positions on the circumference The difference between the maximum and minimum measurements must be 0 03 mm 0 0012 in or less Turn together with coupling ment and then couple the shafts Install the servomotor so that alignment accuracy falls within the range described on the left Vibration may occur and damage the bearings and encoders if the shafts are not correctly aligned Servomotors can be installed either horizontally or vertically 3 3 Mechanical Specifications of SGMMJ and SGMAJ Servomotors If the servomotor is used in a location that is subject to water drops make sure of the servomotor protective specifications Through shaft section except
353. tory Setting Setting Validation 110500 immediately Fuscion Pn110 n LILIOL Speed feedback compensation is used n LILI1LI Speed feedback compensation is not used Standard speed feedback IMPORTANT When this function is used it is assumed that the moment of inertia ratio set in Pn103 is correct Verify that the moment of inertia ratio has been set correctly Speed reference Error counter output Torque reference Torque reference filter time constant Pn401 Speed loop PI control Pn100 Pn101 Speed feedback Speed feedback compensation Pn111 A Speed feedback compensation selection Pn110 1 Speed feedback compensation function 9 21 9 Adjustments 9 4 7 Speed Feedback Compensation 1 Adjustment Procedure The following procedure explains how to adjust when the speed loop gain cannot be increased due to vibrations in the mechanical system When adding a speed feedback compensation observe the position error and torque reference with the analog monitor while adjusting the servo gain Refer to 9 5 Analog Monitor on monitoring the position error and torque reference 1 Set parameter Pn110 to 0002 so that the following conditions are satisfied To use the speed feedback compensation Not to use the online autotuning function With PI control gradually increase the Speed Loop Gain in Pn100 and reduce the Speed Loop Integral Time Constant Pn101 s
354. tting the alarm The methods for trouble shooting alarms are described in 10 1 3 Troubleshooting of Alarm and Warning 3 Alarm Code Output Type Signal Connector Meaning Name Pin Number ALOI CNI 30 Alarm code output ALO2 CN1 31 Alarm code output ALO3 CNI 32 Alarm code output CN1 33 Signal ground for alarm code output These open collector signals output alarm codes The ON OFF combination of these output signals indicates the type of alarm detected by the servomotor Use these signals to display alarm codes at the host controller Refer to 70 1 1 Alarm Display Table for details on alarm code output 8 76 8 11 Other Output Signals 8 11 2 Warning Output WARN Type Signal Connector Setting Meaning Name Pin Number AVARN Mast be allocated ON high evel OFF Gow lev This output signal displays warnings before an overload A 71 alarm is output For use the WARN signal must be allocated with parameter Pn50F For details refer to 7 3 3 Output Circuit Signal Allo cation Related Parameters The following parameter is used to select the alarm code output Description Pn001 n OLILILI Outputs alarm codes alone for alarm codes ALOI ALO2 and ALO3 n1000 Outputs both alarm and warning codes for alarm codes ALO1 ALO2 and ALO3 and out puts an alarm code when an alarm occurs Refer to 8 11 1 Servo Alarm Output ALM and Alarm Code Output ALO1 ALO2 ALO3 for alarm code descriptions Refe
355. tured by Texas Instruments or the equivalent corresponding 24 V 24VIN eee 4 COIN Servo ON Positioning completed Servo ON when ON S ON ON when positioning completes P control P control when ON t P CON a Fr E Forward run prohibited Prohibited when OFF E 03 7 WV q Reverse run prohibited AT s REK A Prohibited when OFF Alarm reset Reset when ON Geraci den 10 Forward current limit Limit when ON Reverse current limit Limit when ON Connector shell FG Connect shield to connector shell EUN Pa represents twisted pair wires RI controller however do not connect a backup battery 3 4 Enabled when using the absolute encoder TGON S TGON output ON at levels above the setting 4 S RDY Servo alarm output OFF for an alarm SG COM C g ALME S e alarm output OFF for an alarm Photocoupler output Max operating voltage 30 VDC Max operating current 50 mADC Connect a backup battery when using an absolute encoder When connecting a battery to the host Customers must purchase a 24 VDC power supply with double shielded enclosure Note The functions allocated to the input signals SIO to SI6 and the output signals SO1 to SO3 can be changed by using the parameters Refer to 7 3 2 Input Circuit Signal Allocation and 7 3 3 Output Circuit Signal Allocation 6 3 Examples of I O Signal Connections 6 3 3
356. ue reference input Sequence I O 4 7 4 SERVOPACK Specifications and Dimensional Drawings 4 3 2 Position Control SGDJ LILILIP 4 3 2 Position Control SGDJ LILILIP 3 1 Noise b filter AC DC EE E T n J 7 ME E H converter L K1 1 1KM ene FU1 FU3 FENS a Servomotor i CN CHARGE 1 T i V i i w I J L2 bd Y Gate drive over Voltage current protector sens r nterf l Relay 6 71 nterface Rela ec NDS FU i iz i5V dl pc pe 15V C2 L Eonverter E ASIC 1 SV PWM control etc 5V t PG output L SE Reference pulse input CPU i Position calculation etc Analog volt Analog vo lage 1 0 Sequence 1 0 Jens cna 7 2 z a 5 x E B p amp n su Analog monitor Digital operator or output for personal computer supervision 4 4 SERVOPACK s Power Supply Capacities and Power Losses 4 4 SERVOPACK s Power Supply Capacities and Power Losses The following table shows SERVOPACK s power supply capacities and power losses at the rated output oup SERVOPACK Continu
357. ue feed forward function cannot be used with torque limiting by analog voltage reference described in 8 9 3 Torque Limiting Using an Analog Voltage Reference 9 15 9 Adjustments 9 4 3 Proportional Control Operation Proportional Operation Reference 9 4 3 Proportional Control Operation Proportional Operation Reference If parameter Pn000 1 is set to 0 or 1 as shown below the P CON input signal serves as switch to change between PI control and P control PI control Proportional Integral control P control Proportional control Parameter Control Mode Pn000 n LILIOLI Speed Effective in speed control or position Control control Input signal P CON CN1 15 is used to select PI control or P control ETT P PI P CON Position CNI 15 is OFF PI control Switching Control H level SERVOPACK CNI 15 is ON P control L level When sending references from the host controller to the SERVOPACK P control mode can be selected from the host controller for particular operating conditions This mode switching method can be used to suppress overshooting and shorten the settling time Refer to 9 4 4 Using the Mode Switch P PI Switching for more details on inputting the P CON signal and switching the control mode for particular operating conditions If PI control mode is being used and the speed reference has a reference offset the servomotor may rotate very slowly and fail to stop even if 0
358. ulley diameter Check the number of encoder pulses Check the number of encoder pulses for the servomotor used Determine the reference unit used Determine the reference unit from the host controller considering the machine specifications and positioning accuracy Calculate the travel distance per load shaft Calculate the number of reference units necessary to turn the load revolution shaft one revolution based on the previously determined reference units Calculate the electronic gear ratio Use the electronic gear ratio equation to calculate the ratio B A Set parameters Set parameters using the calculated values 8 50 8 6 Operating Using Position Control 5 Electronic Gear Ratio Setting Examples The following examples show electronic gear ratio settings for different load configurations Step Operation Load Configuration Ball Screw Disc Table Belt and Pulley Reference unit 0 001 mm Reference unit 0 1 Reference Unit 0 02 mm Load shaft Load shaft Deceleration X dp LI ratio Deceleration Y 13 bit encoder Ball screw 3 1 ratio pitch 6 mm Load shaft 44 bit encoder 2 1 Pully diameter 100 mm 16 bit encoder Check machine Ball screw pitch 6 mm Rotation angle per revolution Pulley diameter 100 mm specifications Deceleration ratio 1 1 360 pulley circumference 314 mm Deceleration ratio 3 1 Deceleration ratio 2 1 2 Check the number 13 bit 2048 P R 13 bit 2048 P R 16 bit 16384 P R of enc
359. ult in injury Do not come close to the machine immediately after resetting momentary power loss to avoid an unexpected restart Take appropriate measures to ensure safety against an unexpected restart Failure to observe this warning may result in injury Connect the ground terminal to electrical codes ground resistance 100 Q or less Improper grounding may result in electric shock or fire Installation disassembly or repair must be performed only by authorized personnel Failure to observe this warning may result in electric shock or injury Do not modify the product Failure to observe this warning may result in injury or damage to the product vii B Checking on Delivery N CAUTION Always use the servomotor and SERVOPACK in one of the specified combinations Failure to observe this caution may result in fire or malfunction W Storage and Transportation N CAUTION Do not store or install the product in the following places Locations subject to direct sunlight Locations subject to temperatures outside the range specified in the storage 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 expos
360. ultiturn Limit Setting 8 35 8 4 8 Multiturn Limit Setting When Multiturn Limit Disagreement A CC Occurred 8 36 8 5 Operating Using Speed Control with Analog Reference 8 37 8 5 1 Setting Parameters 8 37 8 5 2 Setting Input Signals 8 38 8 5 3 Adjusting Offset 8 39 8 5 4 Soft Start 8 42 8 5 5 Speed Reference Filter 8 42 8 5 6 Using the Zero Clamp Function 8 42 8 5 7 Encoder Signal Output 8 44 8 5 8 Speed Coincidence Output 8 46 8 Operation 8 6 Operating Using Position Control 8 47 8 6 1 Setting Parameters 8 47 8 6 2 Setting the Electronic Gear 8 49 8 6 3 Position Reference 8 52 8 6 4 Smoothing 8 56 8 6 5 Positioning Completed Output Signal 8 57 8 6 6 Positioning Near Signal 8 58 8 6 7 Reference Pulse Inhibit Function INHIBIT 8 59 8 7 Operating Using Torque Control 8 60 8 7 1 Setting Parameters
361. umber of error pulses in reference units the number of input pulses defined using the electronic gear Error pulse Un008 Too large a value at this parameter may output only a small error during ata low speed operation that will cause the COIN signal to be output con tinuously COIN CN1 8 If a servo gain is set that keeps the position error small even when the positioning completed width is large use Pn207 n 1LILILI to enable correct output timing for the COIN signal The positioning completed width setting has no effect on final positioning accuracy 8 57 8 Operation 8 6 6 Positioning Near Signal 8 6 6 Positioning Near Signal This signal indicates that the positioning of the servomotor is near to completion and is generally used in combi nation with the positioning completed COIN output signal The host controller receives the positioning near signal prior to confirming the positioning completed signal and performs the following operating sequence after positioning has been completed to shorten the time required for operation Type Signal Connector Setting Meaning Name Pin Number Output NEAR Must be allocated ON low level The servomotor has reached a point near to positioning completed OFF high level The servomotor has not reached a point near to posi tioning completed The output terminal must be allocated with parameter Pn510 in order to use positioning near signal Refer to 7 3 3
362. uously rotate the motor Fig 4 1 shows a typical example of such a load DO NOT use the servomotor with the Vertical Axis Motor Drive without Counterweight Servomotor PSK E Servomotor A Servomotor rotated repeatedly at a 9 constant speed to maintain the tension Servomotor Fig 4 1 Examples of Overhanging Loads IMPORTANT Never operate s rvornotors with an overhanging load Doing so will cause the SERVOPACKs regenerative brake to be applied continuously and the regenerative energy of the load may exceed the allowable range causing damage to the SERVOPACK The regenerative brake capacity of the SGDM SERVOPACKs is rated for short term operation approximately equivalent to the time it takes to decelerate to a stop 4 12 4 6 Dimensional Drawings 4 6 Dimensional Drawings 4 6 1 24 VDC 10 50 W A1CLI ASCLI 48 VDC 50 W to 200 W ASELI to 02ED External dimensions common to all SERVOPACKs for speed torque and position control are shown in the fol lowing diagrams L pal e5 gZ io y 140 5 51 Nameplate D Depth 10mm 0 39 max 160 6 30 CN8 CN9 CN7 CN5 NA Mounting H e A S o NI Mounting Pitch 150 0 5 5 91 0 02 P 1 38 Reference length
363. upply circuit and servomotor wiring Do not use the CN1 I O signals here Refer to 6 1 Wiring Main Circuit for wiring example of main cir cuit Refer to 2 4 Selecting Cables for motor and encoder cables If the power is correctly supplied the digital operator display will appear as shown on the left The display on the left indicates that Forward Run Prohibited P OT and Reverse Run Prohibited N OT For details refer to 7 1 4 Status Display If an alarm display appears the power supply circuit servomotor wiring or encoder wiring is incorrect If an alarm is displayed turn OFF the power find the problem and correct it Refer to 70 1 Troubleshooting 8 1 Trial Operation cont d Sep Check Method and Remarks Release the brake before driving the servomotor when a Refer to 8 3 4 Setting for Holding Brakes and 8 4 5 Absolute servomotor with brake is used Forward running Reverse running a loli LI r1 Fini DSPL SET DSPL SET Key DATA ENTER DATA ENTER Key SERVOPACK Encoder Setup Fn008 Absolute Encoder Setup Fn008 operation can be omitted when setting the Pn002 to n L11 EIL Uses absolute encoder as an incre mental encoder only during trial operation Use the digital operator to operate the servomotor with utility func tion Fn002 Jog Mode Operation Check that the servomotor rotates in the forward direction by UP key and reverse direction by DOWN key The operation
364. upply was turned ON or while the ser vomotor was run ning Occurred when the control power sup ply was turned ON Setting Pn002 2 1 Occurred when the control power sup ply was turned ON using an absolute encoder Setting Pn002 2 0 Occurred when the control power sup ply was turned ON or during an opera tion Occurred when the SEN signal turned ON When the control power supply was turned ON Setting Pn002 2 1 When the control power supply was turned ON using an absolute encoder Setting Pn002 2 0 A SERVOPACK board fault occurred Replace the SERVOPACK A SERVOPACK board fault occurred Replace the SERVOPACK The surge current limit resistor operation frequency Reduce the number of times that main circuit s at the main circuit power supply ON OF operation power supply can be turned ON OFF to 5 times exceeds the allowable range min or less A SERVOPACK fault occurred Replace the SERVOPACK A SERVOPACK fault occurred Replace the SERVOPACK The overload alarm has been reset by turning OFF Change the method to reset the alarm the power too many times The load exceeds the rated load Reconsider the load and operation conditions or reconsider the servomotor capacity The SERVOPACK ambient temperature exceeds The ambient temperature must be 40 C or less 40 C A SERVOPACK fault occurred Replace the SERVOPACK A SERVOPACK board fault occurred when an abso Replace the S
365. ure to water oil or chemicals Locations subject to shock or vibration Failure to observe this caution may result in fire electric shock or damage to the product Do not hold the product by the cables or motor shaft while transporting it Failure to observe this caution may result in injury or malfunction Do not place any load exceeding the limit specified on the packing box Failure to observe this caution may result in injury or malfunction W 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 in injury Do not cover the inlet or outlet parts 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
366. use Turn OFF the servo system before executing operations Overtravel An overtravel signal is output P OT Check if the voltage of input signal external Connect to the external 24 V power supply OT CN1 16 or N OT CNI 17 is at power supply 24 V is correct Movement H Check if the overtravel limit switch SW Correct the overtravel limit SW over the zone operates properly specified by Check if the overtravel limit switch SW is Correct the overtravel limit SW wiring the host con connected correctly troller The overtravel signal does not oper Check the fluctuation of the input signal Stabilize the external 24 V power supply voltage ate normally P OT or N OT signal external power supply 24 V voltage sometimes changes Check if the overtravel limit switch SW Adjust the overtravel limit SW so that it operates cor activate correctly rectly Check if the overtravel limit switch wiring Correct the overtravel limit SW wiring is correct check for damaged cables or loosen screws Incorrect P OT N OT signal selec Check the P OT signal selection Pn50A 3 Correct the setting of P OT signal selection Pn50A 3 tion Check the N OT signal selection Correct the setting of N OT signal selection Pn50B 0 Pn50B 0 Incorrect servomotor stop method Check if coast to stop in servo OFF status Check Pn001 0 and Pn001 1 selection is selected Check if coast to stop in torque control Check Pn001 0 and P
367. use or the molded case circuit breaker specifications Control Power Applicable Fuse or Molded case Circuit Breaker Specifications Supply Voltage SERVOPACK Rating Voltage V Rating Current Arms 24 VOC mou 0 a8 VDC unen IMPORTANT The SGDJ SERVOPACK does not include a protective grounding circuit Install a ground fault protector to protect the system against overload and short circuit or protective grounding combined with the molded case circuit breaker 2 5 3 AC DC Power Supply and Power Supply Input Capacitor The SGDJ SERVOPACK requires DC power supply Select an AC DC power supply that corresponds with the voltage of the SERVOPACK The following table shows the recommended power supply and the power supply input capacitor Applicable saa SERVOPACK Recommended AC DC Power Supply Voltage Manufacturer Seb D0C0 Densei Lambda K K SGDJ OOEO JWS480P 48 Use a power supply with double insulation that is certified and meets safety standards UL1950 or EN 60950 Recommended Power Supply Input Capacitor Specification per SERVOPACK SERVOPACK Voltage Power Supply Input i Model EE Voltage Capacity Ripple Recommended Num Current Manufacturer V uF Arms Model ber Control Power Supply 6 UPIIHI8IMPH a Input SGDJ 24 ypc Le 50 o0co Main Circuit ASCO Power Supply A8CO UPJ1H122MH PJ1H122M NICHICON UPJ2A331M ASELI 330 DESEE y E UPJ2A561MHH Main Circuit O1ELI Power Supply 02ELI LGQ2A
368. utput for approximately two seconds when the power is turned ON Take this into consideration when designing the power ON sequence The ALM signal actuates the alarm detection relay 1Ry to stop main circuit power supply to the SERVOPACK 2 Connect the shield wire to the connector shell 3 a represents twisted pair wires 10 3 4 Example of Connection to MEMOCON GL60 70 Series Positioning Module B2813 SERVOPACK in Position Control Mode C24 Control power supply Main circuit power supply 10 23 10 Inspection Maintenance and Troubleshooting 10 3 5 Example of Connection to OMRON s Motion Control Unit 10 3 5 Example of Connection to OMRON s Motion Control Unit 10 24 MC unit manufactured by OMRON C200H MC221 CS1W MC221 MC421 CV500 MC221 MC421 DRV connector SGDJ OOOS SERVOPACK 24 VDC 24V input Lim 24V input ground _24 1 CNI X axis alarm input 3 ALM y 34 X axis run reference output 4 S ON 4 14 X axis alarm reset output 5 Y ALM RST K 18 X axis SEN signal ground 8 A2 SG 1 K 6 X axis SEN signal output _9 J IZ SEN 1 5 X axis feedback ground 10 Ug SG 10 CE X axis phase A input 11 4 PAO 20 X axis phase A input 12 LA PAO 04 X axis phase B input 13 l PBO N 23 X axis phase B input 14 ra PBO 22 X axis phase Z input 15 1 PCO N 24 X axis phase Z input 16 J C
369. vibration class 3 16 vibration reduction functions 9 4 vibration resistance 3 14 3 16 vibration shock resistance 4 3 VLT 6 13 voltage regulation 4 3 V REF 6 12 W WARN 6 13 8 77 warning code output 10 4 warning display 10 4 warning display and troubleshooting 10 12 warning output 8 77 wiring absolute encoders 6 6 incremental encoders 6 5 wiring encoders 6 5 wiring example 6 18 wiring for noise control 6 18 wiring main circuit power supply connector 6 3 wiring precautions 6 17 Z zero clamp function 8 42 zero point search mode Fn003 7 9 Index Index 4 Revision History The revision dates and numbers of the revised manuals are given on the bottom of the back cover MANUAL NO SIE S800 38B Printed in
370. was turned OFF while an alarm was being written Set Fn005 to initialize the parameter and input the parameter again The number of times that parameters were written exceeded the limit For example the parameter was changed every scan through the host controller The SERVOPACK EEPROM and the related circuit Replace the SERVOPACK are faulty The control power supply voltage is low Correct the power supply Replace the SERVOPACK Replace the SERVOPACK Recheck the parameter writing method The incorrect parameter was being loaded The incorrect value was rejected as an error at the digital operator The SERVOPACK EEPROM and the related circuit are faulty Set Fn005 to initialize the parameter Replace the SERVOPACK The SERVOPACK and servomotor capacities do not correspond to each other Servomotor capacity SERVOPACK capacity lt 1 4 or servomotor capacity SERVOPACK capacity 2 4 The parameter that is written in the encoder is incor Replace the servomotor encoder rect A SERVOPACK board fault occurred Replace the SERVOPACK Select the proper combination of SERVOPACK and servomotor capacities 10 5 10 Inspection Maintenance and Troubleshooting 10 1 3 Troubleshooting of Alarm and Warning Table 10 3 Alarm Display and Troubleshooting cont d Alarm Situation at Alarm Alarm Name ous Cause Corrective Actions Display Occurrence Overcurrent Occurred when the The overload alarm ha
371. xx Reverse Run Prohibited Pn50B 0 n xxxO Alarm Reset Pn50B 1 naxEIx Lae a Forward External FOE CL L Torque Limit P0082 nxa otep peie Reserve External N CL CL Torque Limit P6083 n Eroa otep Reie pe Internal Set Speed SPD D D Selection PnS0C 0 root Im PTT ete pee Internal Set Speed SPD A A Selection Pn50C 1 n xxElx SPDEA Internal Set Speed Selection Pn50C 2 n xL1xx Control Method Selection Pn50C 3 n LIxxx Zero Clamp Pn50D 0 n xxxO Reference Pulse Inhibit Pn50D 1 n xxLIx Gain Changeover Pn50D 2 n xLIxx IMPORTANT 1 When using Servo ON Forward Run Prohibited and Reverse Run Prohibited signals with the setting Polarity Reversal the machine may not move to the specified safe direction at occurrence of failure such as signal line disconnection If such setting is absolutely necessary confirm the operation and observe safety precautions 2 When two or more signals are allocated to the same input circuit the input signal level will be applied to all the allocated signal 7 3 Operation in Parameter Setting Mode PnOOD 3 Allocating Input Signals EXAMPLE The procedure to replace Servo ON S ON signal allocated to CN1 14 and Forward External Torque Limit P CL allocated to CN1 11 is shown below CB After Pn50A n zn Press the DSPL SET Key to select the value setting parameter mode Ifa parameter other than Pn50A is
372. y input Alarm code output 1 Alarm code output 3 Servo alarm output Not used Signal ground for PG output signal PG dividing pulse output phase A PG dividing pulse output phase B PG dividing pulse output phase C Absolute encoder output phase S Backup battery input 0 V Alarm code output 2 Alarm code sig nal ground Alarm output signal ground 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 3 The functions allocated to the following input and output signals can be changed by using the parameters Refer to 7 3 2 Input Circuit Signal Allocation and 7 3 3 Output Circuit Signal Allo cation Input signals S ON P CON P OT N OT ALM RST P CL and N CL Output signals TGON S RDY and V CMP COIN The above output signals can be changed to CLT VLT BK WARN and NEAR 6 10 6 3 Examples of I O Signal Connections 2 SGDJ LILILIP for Position Control Pin Signal Function Num Name ber PULS Reference pulse 19 input meas 2 PULS Reference PG dividing pulse input pulse output 21 SIGN Reference sign phase A input mE 4 SIGN Reference PG dividing sign input ulse output UTE CLR Error counter iac B p 23 PBO PG dividing clear input pulse output CLR Error PG dividing phase B counter clear pulse output input S RDY Servo
373. zing operation V Rotating section 4 0LZ Tap x Depth Power supply 24 VDC Hatching section See the following table Units mm in 5 9 L2 1 06 30 1 18 30 18 2 0 31 98 0 79 0 55 16 196 141 76 0 7 55 5 56 206 146 77 0 57 63 65 223 163 94 0 57 cnc at wo CE E L1 L3 28 1 1 10 0 67 30 14 5 1 18 0 57 0 98 0 63 Model Gear sovas mao t t tm fum te e 4 2 j i 0 35 1 10 2 3 i 1 10 8 63 65 30 8 2 16 Leo m eo tn m nsn m 699 oe 8 0 35 57 63 65 30 30 145 2 0 35 2 24 2 48 2 56 1 18 1 18 0 57 1 10 8 9 9 223 163 940 9 9 25 63 65 30 30 145 28 2 0 35 0 98 2 48 2 56 1 18 1 18 0 57 1 10 0 98 9 9 9 L 5 6 l 6 Q 6 3 78 642 3 70 232 172 98 5 6 ABCDAJID 232 172 98 5 6 ABCDAJaD 7 I 7 a 6 2 6 l 2 7 1 2 7 R 5 17 0 36 0 36 0 36 0 36 0 36 4 91 4 91 0 36 0 36 4 91 4 91 25 63 65 30 30 145 28 2 0 35 2 56 1 18 1 18 0 57 1 10 0 98 0 69 83 85 36 38 195 36 32 20 0 39 3 35 1 42 1 50 0 77 1 42 1 26 0 79 10 69 83 85 36 38 195 36 32 20 0 39 3 35 1 42 1 50 0 77 1 42 1 26 0 79 25 63 65 30 30 145 28 25 16 0 35 2 56 1 18

DC Power Input Sigma-II Series SGM*J/SGDJ USER`S MANUAL

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