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User`s Manual

1. oe ela 29 5 6 F W170 H350 D210 30 5 7 G 19200 H450 D274 usss 30 eee 31 6 1 Additional User s Parameters to Standard 31 6 2 Encoder Pulse Parameter 36 6 3 Motor Parameter 37 1 I Segment LED Display 38 7 1 Status Display Mode 38 1 2 Additional Alarm and Warning 39 8 Utility Functions 40 9 Monitor Modes n OD 41 10 PeripheFalSs ____ 42 10 1 Connection Diagram of Attachment 42 10 2 Attachment Dimensions 44 10 3 External Regenerative Resistor 54 10 4 Connector 1 conversion cable for DR2 104
2. D 8 38 pg Speed and or Position Control Option T REF Terminal Allocation Speed and or Position Control Option T REF Terminal Allocation Parameter is same as standard 2 V Torque Control Option V REF Terminal Allocation Torque Control Option V REF Terminal Allocation Parameter is same as standard 2 V T U Encoder Usage Uses absolute encoder as an absolute encoder 1 Reserved Do not change 2 Reserved Do not change 3 Reserved Do not change External Encoder Usage EGSV3 does not have this function 31764 Parameter Factory When Units Sins Enabled Classification Pn009 T Function Select Switch 9 0000 7111 NE 0010 Tuning din 3d zn og n D Reserved Do not change _ Reserved Do not change Current Control Method Selection O O O OOOO Control Method Selection Parameter is same as standardsVv Speed Detection Method Selection O O OOOO Detection Method Selection Parameter is same as standard 2 V Select Power supply voltage for Encoder supply voltage for Encoder 5 2V 5 3V 5 4V 5 5V 5 6V 5 8V 5 9V 6 0V Function Select Switch 0000 1111 6029 PT Setup 0100 restart ain tet og a f D Parameter Display Selection oO Parameter Display Selection 0 000 0 Parameter is same
3. 56 10 5 Connector 2 conversion cable for Encoder 5 11 ARENA 58 11 1 About Difference between EGSV3 and 58 11 2 Series Related Documents 58 11 3 About Difference between EGSV3 and 59 eae NANG 61 11 5 Spec code 62 122 REVISION MST Leer Gen 63 Revision No 5 1764 Precautions General Precautions The drawings presented in this manual are sometimes shown without covers or protective guards Always replace the cover or protective guard as specified first and then operate the products in accordance with the manual The drawings presented in this manual are typical examples and may not match the product you received This manual is subject to change due to product improvement specification modification and manual improvement When this manual is revised the manual code is updated and the new manual is published as a next edition The edition number appears on the back covers m 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 Sa
4. 1 m TOF crest breaker beg IFLT Moisa filter 188 Surge absorber contactor for contin power apy 254 Surge Marber Magnetic cantadipr lor main clroull power supply 384 Surge absorber IF Bela Fiera diada 3 CACR 120 EE1VBD 00 CACR 180 EE1VBD 00 CACR 240 EE1VBD 00 CACR 330 EE1VBD 00 Three phase 200V NN 384 C cL L1 512 L 3 DL3 1KM P LIC 2 servo T 24 V iRy alarm display Bie ALM x 2 B2 zi Serve power Serve power 32 4D supply supply OFF IKM Q2 DES gt IKM 15 IKM 2KM ai sxs 25 Molded case circuit breaker TPL Indicator lamp 1FLT Noise filter 1584 Surge absorber IKM Magnetic contactor for control power supply 25A Surge absorber 2KM Magnetic contactor for main circuit power supply 38A Surge absorber 1Ry Relay 1D Flywheel diode 16 64 4 CACR 470 EE1VBD 00 CACR 550 EE1VBD 00 CACR 660 EE1VBD 00 CACR 780 EE1VBD 00 Three phase 200V N XN L H Far serva alanm display Bu 0 TPL Servo power Servo power supply OM supply OFF err n m 1KM 15 Regenerative regmtar unit um 25A TOF Mokled case circui
5. 9 00 GAGR 2R1 EE1VBD 00 Figure Mount ing Hole 30 30 DR2 A3 ASBC CACR R O EE2VBD 00 CACR R90 EE2VBD 00 CACR 2R1 EE2VBD 00 225 250 RJ f fit ij 130 1 E 30 3 M4 JaU X 02 64 10 2 10 DR2 04AG DR2 02BC 2 8 00 CACR 2R8 EE2VBD 00 Figure Mounting Hole 44 q ud TIES S ce NEHME f 50 e a 15 4 JaU X 10 2 11 DR2 08AG DR2 03BC GAGR 5R5 EETVBD 00 CACR 5SR5 EE2VBD 00 Figure Mounting Hole e F KR fi ji 50 75 4 93 7 64 10 3 External Regenerative Resistor 10 3 1 EGDR RO1 EGDR RO2 external dimensions mSpecification EGDR RO1 140W 500 EGDR RO2 140W 12 50 LS pg BEI 20103 Cover 120101 119 3 15 110 114 15 Case EKE120 107 4 5mm hole Terminal symbol 04764 10 3 2 EGDR RO3 External Dimensions mSpecification 280W 80 2 5mm hole s mm ______
6. 5 ve ASS 180 1 700 5 Mounting Pitch ON 0 020 5 Mounting Pitch 100 5 5 W110 H250 D210 CACR 330 EE1VBD 00 Input Voltage 1 Name Plate Air Flow Cooling Fan Terminals 9 13 M4 Screws EE 4 M5 Screws lt gt N G d Terminal 2 M4 Screws IR 75 210 Mounting 3 Outline oz tO e 5 00345 Mounting Pitch 110 29764 5 6 F W170 H350 D210 CACR 470 EE1VBD 00 CACR 550 EE1VBD 00 Input Volt Name Plate 4 M6 Screws Mounting Outline Ground Terminal 2 M6 Screws 350 33529 5Mounting Pitch 25 200 Mounting Pitch 170 5 7 G W260 H450 D274 CACR 660 EE1VBD 00 CACR 780 EE1VBD 00 Name Plate Input Voltage t Air Flow age Terminals 1 Flow 1 Air Flow 4 M6 Screws h 2 Ground Terminal Mounting 2 M6 Screws olo Outline STG m LO ST 30 200 Mounting Pitch 260 30764 1 1 Air Flow u a PT TTE TL TL TL T
7. when speed coincides Forward nun prohibited i iTGON when OFF 1 POT eo Rotation detection output Toon when the motor speed T Photocoupler output Reverse run prohibited 5 exceeds Ine settings Prohibited when OFF S L ons operating voltage S RDY Met sumo BC eee Ete Reset whan 2 I8 RDY when ready Forward external torque kmil 31 2 Limit when ON n 32 ALM Reverse extemal torque limit Limit when ON FG Connect shield to connector shell F 3 represents twisted pair wires 2 backup battery 54 Enabled by the parameter setting tion 22764 Servo alarm output OFF for an alarm Connect when using an absolute encoder When the encoder cable with the battery case 15 connected do not connect The 24 VDC power supply 15 not included Use a 24 VDX power supply with double insulation or remforced maula CACR EE VAS 00 36PIN analog reference Connection example in speed control is as shown below Nu PE i Senvopnack SEN Signal Input speed Ratoni Input Haie Speed 2 V ko 10 V Torque Reteranoe Input Rated Torque V Ip 10 V DIM Vg for CH for OPEN Forward Dres Bug OPEN Aarre Remi For OW
8. Rotation Detection output mogor when the motor speed Photocoupler output Reverse run prohibited 48 exceeds the settings operaling voltage Prohibited when OFF VDC oulpul current Alarm reset Reset when 29 4 S RDY IALM RST P ELT i whan tied at HEC ALM 4E 7 M E a i amp Connector shell FG Connect shield to connector shell Forward extemal terque limit Limit when Reverse extemal torque limit Luma wien ON represents twisted pair wires 2 Connect when using an absolute encoder When the encoder cable with the battery case 15 connected do not connect a backup battery 3 The 24 VDC power supply is not included Use 24 VDC power supply with double insulation or remtorced insula 24764 CACR EE VAP 00 36PIN position reference Connection example in speed control is as shown below Reference Pulse Servopack max 450 5 Error Counter Clear signal Active High Servo ON for 1Ry CIN D UL SVO Flevarsa Driva Disabled for N L amp OPEN NLS N OT Forward Drive Disabled for PLS OPEN ELS er Serve ON i Reverse Drive Disabled s Forward Drive Disabled Alarm Raset tor ON a __ Fr t Alarm Reset Current Cont
9. ALO2 Out i Al d 14 S ON Servo ON input 32 103 ndo Te ee 15 P CON P control input E 33 AL output 16 P OT didus rotation 34 ALM rca 17 N OT 35 ALM Servo alarm ALM tion prohibited Output 18 Alarm reset input 36 FG Frame ground RST CN1 cable with connector for 36pin Case Connector TOT Qty Model Qty 10136 T 10336 52A0 008 1kit Doo one Sumitomo 3M Limited soldering model 20 64 4 2 3 2 Pulse encoder connector for Incremental encoder and absolute encoder CN2A layout SG GND E 5 2 56 GND 12 BAT SG GND 13 BAT AM 4 127 14 2 PG5V pe 15 u PE iod sina Rotate LEM PA neue ea DIR direction 17 IPA ae 9395 8 fae phase change 18 PB He ps 19 P rn DE _ 20 FG Pope CN2A cable with connector Case Connector Qty Model Qty 10320 52A0 008 1 52 Sumitomo 3M Limited 4 2 4 CN2B Serial signal connector Connection is unnecessary 4 2 5 CN3 for digital operator This connector is for digital operator JUSP OPO5A 1 E 4 2 6 CN5 Analog monitors connector This connector is for monitor connector only in CACR EE1VA 00 CACR nun EE2VA 00 36pin model and
10. 1 S CO N NIN CO N SGDA A3AP 44 00 SGDA SGDA ADAP GAGR R70 EE1VAP 00 Position SGDA 01AP CACR R90 EE1VAP 00 Control SGDA 02AP GAGR 2R1 EE1VAP 00 200v SGDA 04AP CACR 2R8 EE1VAP 00 5 2 1 B 36 EGDR BS02 SGDA 08AP CACR 5R5 EE1VAP 00 5 3 1 36 EGDR BS03 DR2 A3BG GAGR R 70 EE2VBD 00 EGDR DR DR2 A5BG CACR R90 EE2VBD 00 5 1 2 A 50 04 100v DR2 01BC CACR 2R1 EE2VBD 00 DR2 03BC CACR 5R5 EE2VBD 00 5 3 2 50 Rm eo NIN CO No NO oo No NIN DR2 02BC CACR 2R8 EE2VBD 00 5 2 2 B 50 EGDR SYLO1 DR2 A3AC GAGR R44 EE1VBD 00 DR2 AdDAG GAGR R70 EE1VBD 00 5 1 2 A 50 DR2 DR2 01AC GAGR R90 EETVBD 00 200v DR2 02AG GAGR 2R1 EE1VBD 00 SGDA 03BP CACR 5R5 EE2VAP 00 5 3 1 C 36 EGDR BS03 SGDB TSAD cACR 120 EE1VBD 00 10 2 5 Notel iud en CACR 180 EE1VBD 00 RA EGDR RO2 mere EGDR BS05 10 2 6 200V CACR 240 EE1VBD 00 SGDB 44AD Note1 T aos 0an GACR 330 EE1VBD 00 EGDR BSO6 10 2 7 EGDR R03 Note1 508 600 CACR 470 EE1VBD 00 JUSP RAO4 E CACR 470 EE1VBD 00 SGDB 75ADG CACR 550 EE1VBD 00 Require d SGDB 1AADG 660 00 RAO5 E Note2 SGDB 1EADG 780 00 Not Note1 Symbol 7 is set character G S D P depend on motor model Note2 External reg
11. CACR 180 EE1VBD 00 CACR 240 EE1VBD 00 CACR 330 EE1VBD 00 Conversion 00 terminal symbol terminal symbol L1 00 terminal symbol L1 Note external regenerative resistor is connected to EGSV3 change short bar connection form B2 B3 to B1 B2 And the value of resistance capacity must be set on Parameter Pn600 43 64 10 2 Attachment Dimensions 10 2 1 Replacement for SGDA 100V 30W 100W and 200V 30W 200W EGSV3 CACR R70 EE2VAS 00 CACR R90 EE2VAS 00 CACR 2R1 EE2VAS 00 CACR R44 EE1VAS 00 CACR R70 EE1VAS 00 CACR R90 EE1VAS 00 CACR 2R1 EE1VAS 00 CACR R70 EE2VAP 00 CACR R90 EE2VAP 00 CACR 2R1 EE2VAP 00 CACR R44 EE1VAP 00 CACR R70 EE1VAP 00 CACR R90 EE1VAP 00 CACR 2R1 EE1VAP 00 m Dimensions 2 W55 160 D130 gt EGSV3 with attachment W71 160 D141 Dimensions of Width W and depth D is not included Connector and cable assembling Additional dimensions for connector and cable assembling is 25mm as width and 75mm as depth Base plate EM A or N L Xu 1 MI Conversion AF s E 75 44 64 10 2 2 Replacement for SGDA 100V 200W 200V 400W Applied EGSV3 CACR 2R8 EE2VAS 00 CACR 2R8 EE1VAS 00 CACR 2R8 EE2VAP 00 CACR 2R8 EE1VAP 00 u Dimensions gt size W75 H160 D130 gt EGSV3 with attachment W91 H160 0141 Di
12. Deyin a CH Forni Danai Carin Oh kar 09 4 for Phatoeaupker Maximum operational voltage 30 VDC Maximum operational curent 50 ku Bee Mr Dues ity OM for pesd aiy OM for TON ben feet Cres pose eel 2 Signal input ine represents twisted pair wires 3 newer supah must be prepared by 23764 4 3 2 Position control Example CACR EE VBD 00 50PIN analog pulse reference Connection example in position control is as shown below SERVOPACK 37 ALCH Alarm code output uid far alarm ALOR operating voltage 30 current 20 m DC gt an 1 ALOJ reine 4 i aw V 38 Encoder output ncoder 34 pulse phase A Applicable line SNTSALSS 75 Encoder output KC348 pulse phase ge by E Backup Texas Instruments 2 810 4 5 V PCO or ihe equivalent Encoder output PCO T pulse phase C 45 V SEN signal input 2 Powersupply for output reference HAN 424 VIN gt x male h ent ON when ON S ON P pontrol sas wh I en posikoning P control when ON es A 26 COIN completes bi Forward run prohibited 42 ITGON Prohibited when OFF ET
13. M Resistor RH120 Base EKE120106 Case BXE120105 222 T 4 5mm hole Terminal symbol 907 64 10 4 Connector 1 conversion cable DR2 EGDR CBLO4 10 4 1 Drawings 200 ce a E T I e 10 4 2 Schematic gt J NI O O S CO O MI oy I 5 I I lt O QI J mI 22 N el N co lt AN I QJ gt O r cN M SY LOT CO LO o CN CN CN NI OO OOP SEP FI FI FI FI FI FI FIF N I ID lt NI Z Z gt C S 1 OP DJ Aa Sl el 0 lt oN YA DI A co Qe I a QIN NJ exl cN N oO N D c NI O e gt cD ws Dy al Oy 02 Oli O a 21 052 WD NAIN AA N QUI cN ex NJ cN LL LO 96 764 EGDR GBL05 10 5 Gonnector 2 conversion cab
14. is not included Depth D al DD A Conversion terminal 48 64 10 2 6 Replacement 5608 2kW 3kW mApplied EGSV3 CACR 180 EE1VBD 00 CACR 240 EE1VBD 00 mDimensions gt size W130 H250 D225 gt EGSV3 with attachment W 135 H250 0191 Connector and cable assembling size 75mm is not included Depth D 4 5 5mm hole Base plate 74 il SES Conversion terminal 49 64 10 2 7 Replacement 5608 4 4kW 5kW mApplied EGSV3 CACR 330 EE1VBD 00 mDimensions gt size W210 H250 D225 gt EGSV3 with attachment W 180 H308 0221 Connector and cable assembling size 75mm is not included Depth D Base plate iui T A hae ll 50 64 10 2 8 Replacement 5608 6kW 7 5kW Applied EGSV3 CACR 470 EE1VBD 00 CACR 550 EE1VBD 00 mDimensions gt size W230 H350 D240 gt EGSV3 with attachment W210 H350 0221 Connector and cable assembling size 75mm is not included Depth D alj Min d 4 350 11 91764 10 2 9 For DR2 A3 01AC GAGR R44 EE1VBD 00 GAGR R 70 EE1VBD 00
15. 00 98 7 64 11 3 About Difference between EGSV3 and 5 EGSV3 makes point of compatibility as substitute 2 SERVOPACK However some specifications are different Typical different points are explained below Auto function of 2 auto tuning function is not supported It s more like 2 V EGSV3 does not support the speed bias function Speed bias function engineer in Yaskawa Engineering adjust as needed In SGDA control power supply and main power supply is on Separation between control power common terminal and main power But the each power input of EGSV3 is separated Conversion terminal for EGSV3 is useful for substitution EGSV3 is included the regenerative transistor External Regenerative resistor Regenerative unit for SGDA is not usable unit EGDR RO1 is prepared as External Regenerative Resistor unit for EGSV3 connector and encoder connector on EGSV3 is not compatible with DR2 It s not usable with the existing cable Model of connector and and connector Use conversion cables encoder connector for DR2 connector and encoder connector EGSV3 is compatible with SGDA and SGDB It s usable with the existing cable and connector MONT Refer the next chapter 11 3 1 External dimension 59 64 11 3 1 Comparison Mounting Dimension and External Dimensions External pe Attachment with Attachment and Group Old model Dimensions EGSV3 E
16. 8 764 1 3 SERVOPACK Ratings and Specifications 1 3 1 Single phase 200 V Rating 36 pin CACR EE1VAS 00 50 pin CACR EE1VBD 00 CACR R44 R70 R90 2R1 2R8 5R5 Power 30W 50W 100W 200W 400W 750W Continuous Output G qA 0 664 0914 21 28A 5 5A Current Max Output Current 1 3A 2 1A 2 9A 6 5A 9 3A 16 9A Control Power _ single phase 200 to 230 VAC 50 60 Hz Supply Main Circuit Power gingle phase 200 to 230 50 60 Hz Supply Regenerative Serial Built in Resistor 40W 500 Minimum Allowable 40Q _ Resistance Approx Mass 1 0 kg 1 2 kg 1 5 kg Note EGDR RO1 140W 500 which is the External Regenerative Resistor unit is prepared as optional unit 5R5 not be connected to external regenerative resistor CACR R70 R90 2R1 2R8 5R5 Power 30W 50W 100W 200W 300W Continuous 0664 284 5 5A Current Max Output Current 2 1A 2 9A 6 5A 9 3A 16 9A Control Power Single phase 100 to 110 50 60 Hz Supply 2 Power single phase 100 to 110 VAG 50 60 Hz upply Regenerative Bera Built in Resistor 40W 500 Minimum Allowable 400 Resistance Approx Mass 1 0kg 1 2kg 1 5kg 1 3 2 Single phase 100 V Rating 36 pin CACR EE2VAS 00 50 pin CACR EE2VBD 00 Note EGDR RO01 140W 500 which is the External Regenerative Resistor unit is prepared as optio
17. CORPORATION E0000 C IMI M1 M2 standard means the motor model on chapter 6 3 Motor model except chapter 6 3 is to indicate the following table 020 wo y encoder capacity Standard 2 standaga motor series Type SGMG LIA SGMG LIB 2 SGMS SGMD UA USAMED US x x x SGM SGM SGME SGML SGMP 1 62 64 Multiplexed 6 E c 0 gt incremental 12 Revision history Revision Revised Revised content Revised page 011 6 26 Addition of minimum allowable regenerative resistance P8 1 3 1 1 3 2 rv 2R1 Approx Mass 1 2kg 1 0kg 1 3 4 Correction of errors in photo coupler output max current 10mA 50mA 6 1 Pn000 3 3 additional setting 3 Output Pulses Function Automatically Select setting range 0000 0283 0000 03B3 factory setting 0200 0300 or 0310 supported in more than Ver xxA5xx Pn232 1 2 additional setting setting range 0100 0101 0101 0102 supported in more than Ver xxA5xx 6 3 Spec changes supported in more than Ver xxxxA5 3R8 EE1VBD motor parm2 SGMG 05A A SGM 04A 470 EE1BVD motor parm2 SGMG 55A A gt SGMG 60A B 7 2 1 Correction of the description of alarm A C20 Phase detect error Phase error at the power turned on A C21 Phase error Phase error at the the operating 10 2 1 Addition of the missing type EExVAP 6 2 Correct
18. connected to measuring equipment through cable JZSP CAO1 E Pin No 2306 Signal Specification color 1 White Analog monitor 1 Torque reference 0 88V rating torque Default setting Motor speed monitor 0 5V 1000min Red Analog monitor 2 Default setting 3 black GND Analog monitor OV 4 black GND Analog monitor OV 4 2 7 7 USB Port It s for PC and follows the USB1 1 standard 21764 4 3 Signal Connection Example 4 3 1 Speed control Example CACR EE VBD 00 50PIN analog pulse reference Connection example in speed control is as shown below Speed reference Seen Max input x LEN voligge range 5 37 123 8 Aarm code OFF alarm EE operating voltage 30 External torque ALO3 Max output current 20 mA DC limit Torque feed forward input A voltage range Encoder output 412 pulse phase A ABATI H hi ag Applicable line receiver PBO Encoderoutput SN75ALS175 or Backup battery pulse are gt MC3488 manufactured 2 6 104 5 V by Texas Instruments or the equivalent E Encoder output s x Seco 7 pulse phase SEN signal input S 4 V 1 1 9 w Servo ON when ON 4 ER control coincidence detection P control when 41
19. in damage to the product 4 764 aWiring CAUTION Be sure to wire correctly and securely Failure to observe this caution may result in motor overrun injury malfunction Do not connect a commercial power supply to the U V or W servomotor connection terminals Failure to observe this caution may result in injury or fire Securely connect the power supply terminal screws and servomotor connection terminal screws Failure to observe this caution may result in fire Do not bundle or run the main circuit cables and input output signal lines or the encoder cables together in the same duct Keep power and signal lines separated by at least 30cm Use twisted pair shielded wires multi core twisted pair shielded wires for input output signal lines and the encoder cables The maximum length is 3 m for input output signal lines and 20m for encoder cables Do not touch the power terminals for 5 minutes after turning power OFF because high voltage may still remain in the SERVOPACK Make sure the charge indicator is out first before wiring or starting an inspection Observe the following precautions when wiring main circuit terminal blocks If the main circuit terminal is the connector remove the connector from the SERVOPACK prior to wiring Insert only one wire per insertion slot on the terminal block and the connector Make sure that the core wire is not electrically shorted to adjacent core wires Always
20. reset the alarm after confirming safety and then resume operation Failure to observe this caution may result in damage to the product fire or injury Do not use the holding brake of the servomotor for braking Failure to observe this caution may result in malfunction Always use the servomotor and SERVOPACK in one of the specified combinations Failure to observe this caution so may result in fire or malfunction The servomotor stopping method of turning the main circuit or control circuit power OFF without turning the servo OFF during operation can not be set in Parameter Pn001 When turning the main circuit power OFF without turning the servo OFF The servomotor will be stopped by dynamic braking DB When turning the control circuit power OFF without turning the servo OFF The stopping method will vary depending on the model Refer to the 2 V Series User s Manual Design and Maintenance for details Set the parameters of encoder selection PnF20 PnF40 according to the motor combination correctly Starting operation without matching the proper settings may cause the machine to run out of control or malfunction 67 64 mgMaintenance and Inspection Do not disassemble the SERVOPACK Failure to observe this caution may result in electric shock or injury Do not attempt to change wiring while the power is ON Failure to observe this caution may result in electric shock or injury When replaci
21. this warning may result in injury or damage to the product Never touch the inside of the SERVOPACK s Failure to observe this warning may result in electric shock Do not remove the cover of power supply terminal while the power is Failure to observe this warning may result in electric shock not touch terminals for five minutes after the power is turned OFF Residual voltage may cause electric shock Do not touch terminals while the charge indicator is lit Residual voltage may cause electric shock Do not touch terminals for five minutes after voltage resistance test Residual voltage may cause electric shock AN WARNING Follow the procedures and instructions for the trial operation as noted in the applicable manual for that product Malfunctions that occur after the servomotor is connected to the equipment not only damage the equipment but may also cause an accident resulting in death or injury output range of multi turn data for CACR series absolute detection system differs from that for conventional systems 15 bit encoder and 12 bit encoder Especially when Infinite length positioning system of 2 series is to be configured with CACR series be sure to make the system modification multi turn limit value must be changed only for special applications Changing it inappropriately or unintentionally can be dangerous If the Multi turn Limit Disagreement alarm occurs check the setting o
22. use the specified power supply voltage An incorrect voltage may result in fire 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 CAUTION 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 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 SERVOPACK and servomotor or cause it to explode Wiring or inspection must be performed by a technical expert 0 7 64 Operation CAUTION Conduct trial operation on the servomotor alone with the motor shaft disconnected from machine to avoid any unexpected accidents Failure to observe this caution may result in injury Before starting operation with a machine connected change the settings to match the parameters of the machine Starting operation without mat
23. 2 Encoder selection 0000 FFFF model Setup Note2 restart din gid 2nd t Get dil n L D Encoder pulse selection Refer to chapter 6 2 encoder pulse selection table Reserved Do not change Encoder Type selection 1 Absolute encoder 3 Incremental encoder Note1 PnF20 and PnF40 are not supported by parameter initialized function Fn005 Note2 Factory setting of PnF20 and PnF40 are as shown below SERVOPACK model Factory setting CACR R70 EE2Vur 00 9 2 00 2 1 2 00 300B 2 8 2 00 5 5 2 00 CACR R44 EE1Van 00 CACR R70 EE1Van 00 90 1 00 2 1 1 0 00 CACR 2R8 EE1Van 00 CACR 5R5 EE1Va0 00 CACR 3R8 EE1VBD 00 CACR 7R6 EE1VBD 00 CACR 120 EE1VBD 00 CACR 180 EE1VBD 00 CACR 240 EE1VBD 00 CACR 330 EE1VBD 00 CACR 470 EE1VBD 00 CACR 550 EE1VBD 00 CACR 660 EE1VBD 00 CACR 780 EE1VBD 00 310B 310C 30 64 6 2 Encoder Pulse Parameter Encoder pulse is selected as following table in parameter PnF20 1 0 and PnF40 1 0 PnF20 1 0 or Encoder pulse See UEM 1 0 Prohibited 36 764 6 3 Motor Parameter Motor parameter is selected as following table in Pn232 0 Refer the chapter 11 5 if model of motor is not listed in this table 31 64 7 1 Segment LED Display One figure of 7 Segment LED is mounted in front of SERVOPACKs and it indicates the operating conditions and alarm
24. 20 EE1VBD 00 CACR 180 EE1VBD 00 CACR 240 EE1VBD 00 CACR 330 EE1VBD 00 Terminal Name Symbols Function Man En dud L1 L2 L3 Three phase main power input input terminals conte ere L1C L2C Single phase control power input input terminals 2 If the regenerative capacity is insufficient connect an external regenerative 9 1 2 resistor between 1 and B2 resistor connection Note The external regenerative resistor is not included terminals Mounted inside Internal regenerative resistor is connected between B1 and regenerative B3 And Between B2 and B3 it is short circuited when the resistor SERVOPACK is shipped from the factory DC reactor If a countermeasure against power supply harmonic waves is needed connection terminal for powersupply 4 CY connect a DC reactor between 1 and 2 RA And Between 1 and 2 it is short circuited when the SERVOPACK is shipped from the factory suppression Servomotor connection U V W Use for connecting to the servomotor terminals Ground terminals x2 Use for connecting the power supply ground terminal and servomotor ground terminal M4 screw All terminals are with M4 screw 5 CACR 470 EE1VBD 00 CACR 550 EE1VBD 00 CACR 660 EE1VBD 00 CACR 780 EE1VBD 00 Name e Function Symbols sed L1 L2 L3 Three phase main power input input terminals Pon PORS L1C L2C Single phase control power input
25. 200V 240 3kW 200V 330 SKW 200V 470 6kW 200V 550 7 5kW 200V 660 11kW 200V 780 15kW 200V AC SERVOPACK 117764 3 SERVOPACK Selection Attachment External Group old model Reengineered model dimensions Terminal Mounting Connector External Regenerative Note3 Change Plate Change CACR R70 EE2VAS 00 SGDA A5BS L CAOR RO0 EE2VIS 00 5 1 1 A 36 EGDR BSO1 5 2 1 800 EGDR BS02 S Tm External CD 2 N CD en a ct O S CO N 5604 0385 CACR 5R5 EE2VAS 00 5 3 1 C 36 EGDR BS03 SGDA A3AS GAGR R44 EE1VAS 00 Ka EGDR RO1 SGDA SGDA ASAS CACR R7O EEIVAS 00 Speed SGDA O1AS GAGR R90 EETVAS 00 EGDR RO1 control SGDA O2AS CACR 2R1 EE1VAS 00 200v SGDA O4AS CACR 2R8 EE1VAS 00 5 2 1 B 36 EGDR BS02 SGDA O8AS CACR 5R5 EE1VAS 00 5 3 1 C 36 EGDR EGDR BS03 10 2 1 1 Egp Roi sp SODA A3BP CACR RIO EE2VAP O0 oo ition LSGDA ASBP 00 5 1 1 A 36 EGDR BSO1 OSI CIONT SGDA O1BP CACR 2R1 EE2VAP 00 EGDR RO1 EGDR RO1 DR2 04AC CACR 2R8 EE1VBD 00 5 2 2 B 50 DR2 pe CACR 5R5 EE1VBD 00 5 3 2 C 50 SYLO1 trol En SGDA 02BP CACR 2R8 EE2VAP 00 5 2 1 B 36 EGDR BS02 SGDB 03ADM O3ADM SGDB 05AD CACR 3R8 EE1VBD 00 EGDR No option SGDB SGDB 07ADM 2 po ATO2A EGDR BS04 10 2 4 SGDB 10AD CACR 7R6 EE1VBD 00
26. AS 00 CACR 5R5 EE2VAP 00 CACR 5R5 EE1VAP 00 100289 ka TT Input Voltage 4 Cooling Fan 100 or200V CHARGE Name Plate 969 2 Screws 15 180 0000000000000 cdi s 0 0 x namn Pitch o gt 139 Mounting 5 3 2 6 50 W70 H150 D180 CACR 5R5 EE2VBD 00 CACR 5R5 EE1VBD 00 CACR 3R8 EE1VBD 00 CACR 7R6 EE1VBD 00 SS a 00001 Input Voltage OV 100 4 or200V Model CACR TR6 EETVYD Tw Termana Is lt Ground Termina 2 M4 Screws Air Flow 150 139 5 0 5 Mounting Pitch 5 5 E 0 0 00000625 28 64 5 4 D W100 H180 D1801 CACR 120 EE1VBD 00 CACR 180 EE1VBD 00 CACR 240 EE1VBD 00 M t Air Flow Model eH Ground Terminal 2 M4 Screws 1 Air Flow I PH SR APA SS EE 180 o I E N 19 Terminals 13 M4 Screws
27. CR 2R1 EE2VAP 00 CACR R44 EE1VAP 00 CACR R70 EE1VAP 00 CACR R90 EE1VAP 00 CACR 2R1 EE1VAP 00 waa idi 74 ui gt I7 am e EN MAE __ Lib 41 2 A 50 W47 H150 D130 Input Voltage 100 or 200V CHARGE 150 Two Terminals Ground Terminal 2 M4 Screws 26 764 1 8 18 15 BE U 4 5 2 5 2 1 36 W65 H150 D130 CACR 2R8 EE2VAS 00 CACR 2R8 EE1VAS 00 CACR 2R8 EE2VAP 00 CACR 2R8 EE1VAP 00 uz TOY we er Phy i F1 Ki il rg mie late F m 713 d e 1 14 hat J 81 F he A 4 5 2 2 50 W65 H150 0130 CACR 2R8 EE2VBD 00 CACR 2R8 EE1VBD 00 Input Voltage Lo V 100V 2 M4 Screws or 20 0 s FP ce CHARGE Mounting Outline 150 39 5 5 Mounting Pitch 21764 5 3 6 5 3 1 36 70 H150 D180 5 5 2 5 00 CACR 5R5 EE1V
28. GSV3 Base with EGSV3 W ET 160 130 R90 EE2VAS 00 150 SGDA 01BS 01BS CACR 2R1 EE2VAS 00 2R1 EE2VAS 00 Boo QHD SGDA ABAS CACR R70 EE1VAS 00 R70 EE1VAS 00 Ferd 01 5 59 R90 EE1VAS 00 FEX 02AS Free 2R1 EE1VAS 00 SGDA A3BP CACR R70 EE2VAP 00 SGDA 160 130 R90 EE2VAP 00 150 Positioning 01BP 2 1 2 00 SGDA A3AP CACR R44 EE1VAP 00 R44 EE1VAP 00 R70 EE1VAP 00 SGDA 160 150 ih SGDA 01AP 01AP CACR R90 EE1VAP 00 R90 EE1VAP 00 200v SGDA 02AP ae 2R1 EE1VAP 00 SGDA 04AP 04AP 160 130 ea 2R8 EE1VAP 00 150 130 75 DR2 A3BC CACR R70 EE2VBD 00 R70 EE2VBD 00 DR2 DR2 A5BC 220 201 CACR R90 EE2VBD 00 47 150 130 220 130 Speed DR2 DR2 1BC Eun 2R1 EE2VBD 00 Postoing ee 100v DR2 EX me 2R8 EE2VBD ar p s E 130 DR2 EI ERI 5R5 EE2VBD 00 DR2 A3AC CACR R44 EE1VBD 00 R44 EE1VBD 00 aan DR2 ASAC CACR R70 EE1VBD 00 R70 EE1VBD 00 DR2 220 201 150 Speed DR2 Em D R90 EE1VBD 00 Positioning DR2 ET pn 2R1 EE1VBD 00 200v DR2 5R5 EE1VBD 00 180 CACRRSEEIVBD 00 3R8 EE1VBD 00 SGDB 05AD 150 SGDB 07ADM 110 250 225 CACR 7R6 EE1VBD 00 ET 10AD E 15AD CACR 120 EE1VBD 00 yr SGDB standard E E 20AD CACR 180 EE1VBD 00 100 180 180 135 250 225 CR 240 EETVBD 00 135 E
29. Inputs analog voltage as speed reference Torque T REF 9 1 Inputs analog voltage as torque reference PULS 7 1 PULS 8 2 I Input pulse signal for positioning control Position H x ISIGN 12 4 gt Clears position error during position control ICLR 14 6 I 2 Output Signals Pin No Control Signal 50pin 36pin 36pin Method aes AN VBD VAS VAP 27 Servo alarm Turns OFF when an error is detected TGON 28 10 10 motor speed setting IS RDY 29 Servo ready Turns when the SERVOPACK is ready S RDY 30 i to accept the servo ON S ON signal Can be selected BK signal by parameter setting Holding brake control signal common hay 2 Phase A signal PAO 34 21 21 Phase B signal x 5 x 2 Phase C signal eun P Phase S signal ALO 37 30 30 ALO2 38 31 31 Alarm code output Outputs 3 bit alarm codes ALO3 39 32 32 FG 50 36 36 Frame ground 8 Speed coincidence output L E i Power supply for analog reference 12V 24 18 64 Pin No Control Signal 50 36pin Method Name model model model VBD VAS VAP COIN 25 8 If position control is selected the signal turns ON when COIN 26 10 the number of position error reaches the value set Position PL1 3 PL2 13 Output signals of power supply open col
30. N SGDB 30AD CACR 240 EE1VBD 00 SGDB 44AD LSGDB M4AD 40 250 255 GACR 330 EE1VBD 00 110 250 210 180 250 221 180 308 221 SGDB 50AD SGDB 60AD CACR 470 EE1VBD 00 SGDB 60AD 350 240 ms SGDB 75ADG CACR 550 EE1VBD 00 eee 1AADG ee 660 EE1VBD 00 x SEDB 1EADG 20 450 265 7 00 250 450 274 SGDB 1EADG CACR 780 EE1VBD 00 External dimensions Not compatible Some case depth is Some case width Is longer than original longer than original I O connection to upper controller Compatible not compatible with DR2 0 Encoderwiring po compatible not compatible with DR2 60 764 11 4 Name Plate 11 4 1 Standard Name Plate IP10 INPUT AC OUTPUT _ SURROUNDING kV 50 60H 0 230V 50 60Hz run 4 0 55 C 6 gt e 0 YASKAWA ELECTRIC CORPORATION MADE IN JAPAN 8 2 1 2 3 Surrounding Air Temperature 6 7 8 10 KO Kom 4 5 6 OrderingNumber 8 _ 61 64 11 5 Spec Code is nameplate to distinguish the motor parameter setting M1 is to show the No 1 motor model and M2 is to show the No 2 motor model O N 77 YASKAWA modified by YASKAWA ELECTRIC ENGINEERING
31. OPACK internal status Refer to the following table And refer to the next document about operation method and meaning of function Document 1 SIEP 5800000 450 Servo Drives 2 V Series USER S MANUAL Design and Maintenance Rotational Motor Analog Voltage and Pulse Train Reference 2 SIEP 5800000 550 Servo Drives 2 V Series USER S MANUAL Digital operator E CERES Lune Lum owwswame C _ Un007 Input reference pulse speed mined valid only in position control Un008 iul anode reference unit valid only in position control Input reference pulse counter Feedback pulse counter Encoder resolution Un012 Total operation time Un013 Feedback pulse counter 41764 10 Peripherals 10 1 Connection Diagram of Attachment 10 1 1 Attachment for CACR LILILI EELIVALI 00 CACR oo EE1VBD 00 terminal symbol L1 Conversion terminal Note JUSP RG08 conventional Regenerative unit can not be connected to B1 B2 terminal When processing the regenerated energy is needed use the EGDR RO1 that is Regenerative resistor for CACR ooo EEoVAc 00 If JUSP RGO8C and external regenerative resistor is used on existing system this regenerative resistor can be connected to CACR ooo EEoVAc 00 directly In this case the value of resistance capacity must be set on Parameter Pn600 42764 10 1 2 Attachment for CACR LILILI EE1VBD 00 Except CACR 120 EE1VBD 00
32. Phase error Detection of UVW 15 21 not correct the at the E operating Initial rotation data error RSC is over A C30 PG disconnection 1 A Encoder disconnected A C31 PG disconnection 1 Encoder disconnected A C40 PG disconnection 1 Encoder is disconnected Gr1 The servomotor is stopped according to the setting in Pn001 0 if an alarm occurs Pn001 0 is factory set to stop the servomotor by applying the DB 1 2 2 Additional Warning Alarm Warning Meaning Number A 912 Heat sink temperature warning Heat sink temperature is over setting temperature 39 64 8 Utility Functions Utility functions are used to execute the functions related to servomotor operation and adjustment Each utility function has a number starting with Fn The following table lists the utility functions and reference section And refer to the next document about operation method and meaning of function Document 1 SIEP 5800000 450 AC Servo Drives 2 V Series USER S MANUAL Design and Maintenance Rotational Motor Analog Voltage and Pulse Train Reference 2 SIEP 5800000 550 AC Servo Drives 2 V Series USER S MANUAL Digital operator Fn00D Gain adjustment of analog monitor output Note Do not use the function that is not listed in this table 40764 9 Monitor Modes Unoon The monitor mode can be used for monitoring the I O signal status and SERV
33. Reengineered SERVOPACK Y YAS KAWA EGSV3 Series CACR EE V 00 YASKAWA Electric Engineering Corporation User s Manual Contents PrecautionS 2 L OUNO ereere 8 Li ADOC EGSV 6 E EE EN 8 1 2 Parts Names 8 1 3 SERVOPACK Ratings and 5 9 2 SERVOPACK Model Designation 11 3 SERVOPACK 12 4 Wiring and 13 4 1 Main Circuit 13 4 2 Signal 18 4 3 Signal Connection Example 22 5 External Dimensions 26 E E E s su eons ss eee ee 26 ON 21 ___ ____ tees 28 5 4 D W100 H180 0180 29 55 E W110 H250 D2101_
34. as standard 2 V Alarm Gr 2 Stop Method Selection Alarm Gr 2 Stop Method Selection Parameter is same as standard 2 V EE TE EE Supply Method for Three phase SERVOPACK Three phase power supply Single phase power supply is same as standard 2 But factory setting is depending on Model Power range Factory setting 3R8 766 120 180 240 330 470 550 660 780 0 R44 R70 R90 2R1 2R8 5R5 1 Reserved Do not change Reserved Donotcharge mo 32 64 Parameter Factory When Name Setting Range Units Setting Enabled Classification Encoder Output Pulses 16 1078741824 1073741824 1 P Rev SIT Setup on Model restart Factory setting R44 R70 R90 2R1 2R8 SRS 2048 3R8 7 6 120 180 240 330 470 550 660 780 8192 Pn230 _ Reserved Do not change EE 0000 Power range Reserved Do not change restart 3d 2 u Hit ad od Select Motor parameter 0 Motor Parameter 1 1 Motor Parameter 2 2 Reserved Do not change Note Refer the selection table on chapter 6 3 Reserved Do not change Reserved Do not change 33 64 Parameter Factory When v Output Signal Selection 1 0000 3333 AT Setup restart din 4 2nd t n m Positioning Completion Signal Mapping COIN 0 3 Note2 Speed Coincidence Detection Signal Mapping V CMP 0 3 Note2 Servomotor Rotatio
35. ching the proper settings may cause the machine to run out of control or malfunction Avoid frequently turning power ON and OFF Since the SERVOPACK has a capacitor in the power supply a high charging current flows when power is turned ON Frequently turning power ON and OFF causes main power devices like capacitors and fuses to deteriorate resulting in unexpected problems Forced stop function with forward reverse overtravel is not effective during JOG mode operation using utility function 1002 and zero point search using Fn003 When using the servomotor for a vertical axis install the safety devices to prevent work pieces to fall off due to occurrence of alarm or overtravel Set the servomotor so that it will stop in the zero clamp state at occurrence of overtravel Failure to observe this caution may cause work pieces to fall off due to overtravel When not using the tuning less function set to the correct moment of inertia ratio Pn103 Setting to an incorrect moment of inertia ratio may cause vibration Do not touch the SERVOPACK heatsinks regenerative resistor or servomotor while power is ON or soon after the power is turned OFF Failure to observe this caution may result in burns due to high temperatures Do not make any extreme adjustments or setting changes of parameters Failure to observe this caution may result in injury or damage to the product due to unstable operation When an alarm occurs remove the cause
36. enerative resistor must be needed Other model needs regenerative resistor case by case Note3 This column shows a chapter number placing external dimensions 12 64 4 Wiring and Connection 4 1 Main Circuit Wiring 4 1 1 Names and function of the main circuit terminals 1 44 00 CACR R70 EEoVoo 00 90 00 2 1 00 CACR 2R8 EEoVoc 00 Connection Name Termina Function Symbols Main circuit power Single phase main power input L1 L2 L3 input terminals No connection on L3 terminal L1C L2C Single phase control power input Terminals Connector 1 Edema Built in regenerative resistor is not in SERVOPACKs asna s If the regenerative capacity is insufficient connect an 9 81 82 external regenerative resistor between B1 and B2 resistor connection I Note The external regenerative resistor is not terminals included Servomotor Connector2 connection U V W Use for connecting to the servomotor terminals Ground Ground terminals x2 Use for connecting the power supply ground terminal and servomotor ground terminal M4 screw 2 CACR 5R5 EEoVa0 00 Connection Name Function Symbols Main circuit power Single phase main power input L1 L2 L3 input terminals No connection on L3 terminal PONTO POP L1C L2C Single phase control power input Terminals Connector 1 Ex
37. f parameter Pn205 in the SERVOPACK to be sure that it is correct If Fn013 is executed when an incorrect value is set in Pn205 an incorrect value will be set in the encoder The alarm will disappear even if an incorrect value is set but incorrect positions will be detected resulting in a dangerous situation where the machine will move to unexpected positions Do not remove the front cover cables connectors or optional items on the foreside 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 fire Do not modify the product Failure to observe this warning may result in injury damage to the product or fire Provide an appropriate stopping device on the machine side to ensure safety A holding brake for a servomotor with brake is not a stopping device for ensuring safety Failure to observe this warning may result in injury Do not come close to the machine immediately after resetting momentary power loss to avoid an unexpected restart Take appropriate measures to ensure safety against an unexpected restart Failure to observe this warning may result in injury Connect the ground terminal to electrical codes ground resistance 100 Q or less for a SERVOPACK with 200 V 100 V power supply Improper grounding may result
38. fety Information The following conventions are used to indicate precautions in this manual Failure to heed precautions provided in this manual can result in serious or possibly even fatal injury or damage to the products or to related equipment and systems WARNING AN CAUTION Q PROHIBITED 4 MANDATORY Indicates precautions that if not heeded could possibly result in loss of life or serious injury Indicates precautions that if not heeded could result in relatively serious or minor injury damage to the product or faulty operation In some situations the precautions indicated could have serious consequences if not heeded Indicates prohibited actions that must not be performed For this symbol would be used to indicate that fire is prohibited as follows 50 Indicates compulsory actions that must be performed For example this svmbol would be used to indicate that grounding is compulsory as follows 2 64 Safety Precautions This section describes important precautions that must be followed during storage transportation installation wiring operation maintenance inspection and disposal Be sure to always observe these precautions thoroughly 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
39. in electric shock or fire Installation disassembly or repair must be performed only by authorized personnel 37 64 motorage and Transportation Do not store or install the product in the following places Locations subject to direct sunlight Locations subject to temperatures outside the range specified in the storage installation temperature conditions Locations subject to humidity outside the range specified the storage installation humidity conditions Locations subject to condensation as the result of extreme changes in temperature Locations subject to corrosive or flammable gases Locations subject to dust salts or iron dust Locations subject to exposure to water oil or chemicals Locations subject to shock or vibration Failure to observe this caution may result in fire electric shock or damage to the product Do not hold the product by the cables motor shaft or detector 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 f disinfectants or insecticides must be used to treat packing materials such as wooden frames pallets or plywood the packing materials must be treated before the product is packaged and methods other than fumigation must be used Example Heat treatment where materia
40. input terminals External Fe B1 B2 External regenerative resistor must be connected to this terminal resistor connection terminals Main circuit negative Use when DC power supply input is used terminal And it s minus input terminal Servomotor connection UVW Use for connecting to the servomotor terminals Ground terminals x2 Use for connecting the power supply ground terminal and servomotor ground terminal M4 screw All terminals are with M6 screw 14 64 4 1 2 Typical Main Circuit Wiring Examples Note the following points when designing the power ON sequence Design the power ON sequence so that main power is turned OFF when a servo alarm signal ALM is output The ALM signal is output for a maximum of five seconds when the control power is turned ON Take this into consideration when designing the power ON sequence Design the sequence so the ALM signal is activated and the alarm detection relay 1Ry is turned OFF to stop the main circuit s power supply to the SERVOPACK Control power supply 5 0 s max ALM signal Select the power supply specifications for the parts in accordance with the input power supply them ON at the same time or turn the main circuit power supply after the control power supply When turning OFF the power supplies first turn the power for the main IMPORTANT circuit OFF and then turn OFF the control power supply 0 When turning ON the co
41. ion of errors P36 PnE20 1 0 or PnE40 1 0 PnF20 1 0 or PnF40 1 0 11 5 P58 Addition of power 80W and encoder code inclusion of SGME SGML into motor code SGM 3 Addition DR2 s attachment 10 2 9 10 2 11 Addition of the drawings for DR2 update 10 4 Addition of Connector 1 conversion cable 2 T ond 2 NO d 3 2012 11 09 4 4 2013 1 31 10 5 Addition of Connector 2 conversion cable 5 5 2013 3 5 11 3 Description of DR2 s conversion cable 11 3 1 Addition of dimensions for DR2 update 11 5 Correction of errors Encoder code 4096P R 7 6 63 764 Reengineered AC SERVOPACK EGSV3 Series CACR EE V 00 User s Manual Yaskawa Engineering kanto office 142 3 Shinko Iruma Saitama 358 0055 Japan Phone 04 2931 1819 Fax 04 2931 1811 Yaskawa Engineering Nagoya office Dai ichi kokugi building 4 1 6 Chiyoda Naka ku Nagoya Aichi 460 0012 Japan Phone 052 331 5318 Fax 052 331 5374 Yaskawa Engineering Kansai office 7 10 37 sennrigaoka setsu Osaka 566 0001 Japan Phone 06 6378 6526 Fax 06 6378 6531 Yaskawa Engineering Kyushu office 315 2 Kamisokoino Nakama Fukuoka 809 0003 Japan Phone 093 280 7722 Fax 093 245 5871 In the event that the end user of this product is to be the military and said product is to be i employed in any weapons systems the manufacture thereof the export will fall under the relevant regulations as s
42. le for Encoder 10 5 1 Drawings 2007 10 5 2 Schematic 9 764 11 Appendix 11 1 About Difference between EGSV3 and Z V EGSV3 SERVOPACK basically applies standard 2 V technology But some points are different Typical different points and common points are as shown below Common point Item N Digital operator Connection is possible SigmaWin Connection is possible Sigma Win does not support some function of EGSV3 Different point Item Option module for 2 V No support on EGSV3 Mechatrolink connection No support on EGSV3 Panel operator No support on EGSV3 2 V safety function No support on EGSV3 AC100V model 100V model of EGSV3 can connect 100V model of motor But 100V model of 2 V SERVOPACKs connects to 200V model of motor due to apply the double voltage system on main circuit 11 2 Z V Series Related Documents gt V series related documents for EGSV3 are as shown below Refer to these manuals as required Selecting Trial Models and Trial Operation Peripheral Operation and Servo Devices Adjustment Maintenance and Inspection Document name S V Series User s Manual Design and Maintenance Rotational Motor Analog Voltage and Pulse Train Reference SIEP 50000045 S V Series User s Manual Operation of Digital Operator SIEP S800000 55 AC SERVOPACK SGDV Safety Precautions Model CACR xxx EE GS 11 107 S Series Digital Operator Safety Precautions TOBP C730800
43. lector PL3 18 reference Analog monitor signal MON1 16 _ MON1 Torque reference monitor Monitor MON2 17 I 2 Speed monitor Note Analog monitor is allocated CN5 in case 36 pin connector 4 2 2 1CN Terminal Layout 4 2 2 1 50pin Terminal layout CACR LILILI EETVBD 00 CACR L1L1L1 EE2VBD 00 Speed 1 SG GND 26 COIN coincidence 2 SG GND 27 EON 1 signal output 3 PL1 Power supply for 28 ITGON TGON signal open collector output SEN Signal S RDY Servo ready 4 SEN 29 input m signal output S 4 5 V REF Speed reference 30 S RDY ervo ready input S signal output 6 SG GND 31 ALM id 7 PLUS Pulse reference 32 ALM Servo alarm Pul PG A ph output 8 PLUS Pulse reference 33 PAO phase input T output PG A oh 9 T REF Torque reference 34 phase input PG B oh output 10 SG GND 35 PBO 11 SIGN Sign reference 36 PBO Si 4 output 12 Sign reference 37 ALOT arm code input Inf Output d 13 PL2 ower supply for 38 102 arm code open collector 4 Output 14 Clear input 39 ALO3 Output 15 CLR Clear input 40 S ON Servo ON input 16 Analog 41 P CON P control inpu
44. ls are kiln dried to a core temperature of 56 deg C F for 30 minutes or more If the electronic products which include stand alone products and products Installed in machines are packed with fumigated wooden materials the electrical components may be greatly damaged by the gases or fumes resulting from the fumigation process In particular disinfectants containing halogen which includes chlorine fluorine bromine or iodine can contribute to the erosion of the capacitors minstallation Never use the products in an environment subject to water corrosive gases inflammable gases 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 or malfunction Do not cover the inlet or outlet ports and prevent any foreign objects from entering the product Failure to observe this caution may cause internal elements to deteriorate resulting in malfunction or fire Be sure to install the product in the correct direction Failure to observe this caution may result in malfunction Provide the specified clearances between the SERVOPACK and the control panel or with other devices Failure to observe this caution may result in fire or malfunction Do not apply any strong impact Failure to observe this caution may result in malfunction An incorrect power supply may result
45. mensions of Width W and depth 0 is not included Connector and cable assembling Additional dimensions for connector and cable assembling is 25mm as width and 75mm as depth Base plate _ CACR 2R8 EE1VAN PM Conversion b s terminal 7 4 130 x 75 Hiren 45764 10 2 3 Replacement for SGDA 100V 300W 200V 750W mApplied EGSV3 CACR 5R5 EE2VAS 00 CACR 5R5 EE1VAS 00 CACR 5R5 EE2VAP 00 CACR 5R5 EE1VAP 00 mDimensions gt size W105 H160 D130 gt EGSV3 with attachment W105 H160 0193 5 Dimensions of Width W and depth D is not included Connector and cable assembling Additional dimensions for connector and cable assembling is 25mm as width and 75mm as depth Base plate BA TI lOU Conversion terminal CJELO LI LI Li FU 75 46764 10 2 4 Replacement 5608 500W 1kW mApplied EGSV3 CACR 3R8 EE1VBD 00 CACR 7R6 EE1VBD 00 m Dimensions gt size W110 H250 D225 EGSV3 with attachment W110 H250 0196 Connector and cable assembling size 75mm is not included Depth D E di iL DOO Doo 250 1 Conversion terminal 41764 10 2 5 Replacement 5608 1 5 mApplied EGSV3 CACR 120 EE1VBD 00 mDimensions gt size W110 H250 D225 gt EGSV3 with attachment W 110 H270 D196 Connector and cable assembling size 75mm
46. n Detection Signal Mapping TGON 0 3 Note2 Servo Ready Signal Mapping S RDY 0 3 Note2 Output Signal Selection 2 0000 3333 After restart din 2nd B dud Torque Limit Detection Signal Mapping CLT Note2 Speed Limit Detection Signal Mapping VLT Brake Signal Mapping BK Note2 Warning Signal Mapping 0 2 0 3 __03 Noted 0 3 3 Note1 Factory setting Factory setting SERVOPACK model Pn50E CACR ooo EEoVAs 00 0211 0300 CACR ooo EEoVBD 00 3211 0000 Note2 The relation between parameter setting and external terminal is as follows Output terminal CACR ooo EEoVAs 00 CACR ooo EEoVBD 00 0 Disabled Applicable signal is not used Disabled Applicable signal is not used Set value 1 Outputs the signal from CN1 8 10 Outputs the signal from CN1 25 26 2 Outputs the signal from CN1 9 10 Outputs the signal from CN1 27 28 3 Outputs the signal from CN1 7 10 Outputs the signal from CN1 29 30 34764 parameter 000000000 Factory When Fa Name Setting Range Setting Enabled Classification PnF20 Depend on After Note1 Motor 1 Encoder selection 0000 model Setup Note2 restart din 3rd 2nd t8 n m Encoder pulse selection Refer to chapter 6 2 encoder pulse selection table Reserved Do not chanqe Encoder Type selection 1 Absolute encoder 3 Incremental encoder Depend on After Motor
47. nal input 23 PBO P PG C phase output 6 OSEN SEN signal input 24 PCO for Brake interlock SPP PG C phase IV CM Speed re signal output PG S phase EM C output 8 coincidence 26 PSO output TGON signal PG S phase SG BK V CMP EON output A output 10 TGON common 28 BAT Battery OV Forward torque 11 P CL 29 Battery Reverse torque FONR Alarm code limit ON output 13 24V IN External power 34 102 Alarm code supply input Output 14 S ON Servo ON input 32 ALO3 output Sa Alarm code 15 P CON control input 33 output common 16 2 rotation 34 ALM 2 OV 17 Reverse rota 35 ALM Servo alarm IALM tion prohibited Output 18 Alarm reset input 36 FG Frame ground RST 4 2 2 3 36 pin Terminal layout CACR LILILI EETVAP 00 CACR LILIL EE2VAP 00 Pulse reference model Pulse reference 1 PULS inp t 19 SG GND 2 IPLUS ien reference 20 3 SIGN 22 21 IPAO 4 ISIGN a erence p 22 1 PG 5 CLR Clear input Serr 23 ii 5 6 Clear input 24 a P lete a eco 8 ees coincidence 26 PSO ia GON signal PG S ph 9 TGON ct 27 IPSO ms dd o 52 BN 28 BAT Battery COM TGON common 0 V Forward torque 11 P CL limit ON input 29 BAT Battery External r Alarm cod B 13 24V IN dire d 31
48. nal unit 5R5 can not be connected to external regenerative resistor 1 3 3 Three phase 200 V Rating 50 pin CACR EE1VBD 00 CACR 3R8 7R6 120 180 240 330 470 550 660 780 500W 1kW 5kW 2kW 3kW 5kW 6kW 7 5kW 11kW 15kW E 38A 7 6A 11 6A 18 5A 24 8A 32 9A 46 9A 547A 58 6A 78 0A Max Output Current 17 28 42 56 84 110A 130A 140A 1704 Control Power _ Single phase 200 to 230 VAC 50 60 Hz Supply Men 4 Three phase 200 to 230 50 60 Hz Built in Note1 External Note 2 Regenerative 180W Resistor 40W 500 80W 120 ap 6 250 3 130 MII NO ane 120 80 6 250 3 130 Resistance Approx Mass 1 5kg 2 8kg 4 6kg 10 2kg 21 3kg Note1 EGDR R02 140W 12 50 and EGDR RO3 280W 80 which are the External Regenerative Resistor unit are prepared as optional units 3R8 and 7R6 can not be connected to external regenerative resistor Note2 CACR 470 550 660 and 780 need external regenerative resistor JUSP RA04 E 880W 6 250 for CACR 470 and JUSP RA05 E 1760W 3 130 for CACR 550 660 and 780 are prepared by Yaskawa 9 764 1 3 4 Basic Specifications Specification Drive Method Sine wave current drive with PWM control of IGBT Incremental Encoder 8192 2048 Absolute Encoder 15bit 12bi
49. nector for digital operator Charge indicator Lights when the main circuit power supply is ON and stays lit as long as the internal capacitor remains charged Therefore do not touch the SERVOPACK even after the power supply is turned OFF if the indicator is lit It may result in electric shock CN2A Pulse encoder connector CN1 signal connector CN5 analog monitor connector Main circuit power supply terminals Used for main circuit power supply input 2 Serial signal connector Ground terminal Be sure to connect to protect against electric shock 1 2 2 GAGR O O EEDIVBD 00 7 Segment LED Input voltage CN7 Connector for personal computer SERVOPACK Model CN3 Connector for digital operator Charge indicator Lights when the main circuit power supply is ON CN2A Pulse encoder connector and stays lit as long as the internal capacitor remains charged Therefore do not touch the SERVOPACK even after the power supply is turned OFF if the indicator is lit It may result in electric shock CN1 signal connector Main circuit power supply terminals Used for main circuit power supply input CN2B Serial signal connector Ground terminal Be sure to connect to protect against electric shock
50. ng the SERVOPACK resume operation only after transferring the previous SERVOPACK parameters to the new SERVOPACK Failure to observe this caution may result in damage to the product mDisposal CAUTION When disposing of the products treat them as ordinary industrial waste aVVarranty Information Free Warranty Period This product is warranted for twelve months after being delivered to Yaskawa s customer or if applicable eighteen months from the date of shipment from Yaskawa s factory whichever comes first Scope of Warranty If a Yaskawa product is found to be defective due to Yaskawa workmanship or materials the defect occurs during the warranty period Yaskawa will provide a replacement repair the defective product and provide shipping to and from the site free of charge However if the Yaskawa Authorized Service Center determines that the problem with a Yaskawa product is not due to defects in Yaskawa s workmanship or materials then the customer will be responsible for the cost of any necessary repairs 1764 1 Outline 1 1 About EGSV3 EGSV3 is reengineered SERVOPACKs that is developed to substitute Sigama 1 SERVOPACKs And it s applied with 2 1 motors 1 2 Parts Names This section describes the part names of EGSV3 SERVOPACK 1 2 1 GAGR O 0 00 7 Segment LED Input voltage CN7 Connector for personal computer SERVOPACK Model CN3 Con
51. ntrol power supply and the main circuit power supply turn The typical main circuit wiring examples are shown below WARNING Do not touch the power supply terminals after turning OFF the power High voltage may still remain in the SERVOPACK resulting in electric shock When the voltage is discharged the charge indicator will turn OFF Make sure the charge indicator is OFF before starting wiring or inspections 1 CACR R70 EE V 00 CACR R90 EE V 00 CACR 2R1 EE V 00 CACR 2R8 EE V 00 CACR 5R5 EE V 00 Single phase 100V and 200V Note Terminal L3 is not used for single phase connection ld 254 tFLT wu KA La al YL LZ k j LIC k a L2C L kd iF tr ma fd CN 3 1m mapa 1 p gt ALM iD 1 SHAD 3 Woy spoly OFF 1 a ER 154 RET Huy op cH IOF Moxed case breakaor Indicator Emp tlie 15A Surge samber KM for nia postnr supah 25A Surge 2EM Magnetic Tor ran 45 Surge sbsorber IK diode 157764 2 CACR 3R8 EE1VBD 00 CACR 7R6 EE1VBD 00 Three phase 200V GEEE LFLT mapply ON sopply OFF Ley 154
52. on CACR EE1VAS 00 36PIN analog reference Alarm code output signal Open Collector output MAX voltage DC30V Max output current DC20mA Encoder divide output pulse Phase A B C Line driver output SN75ALS174 or equivalent Analog monitor 1 output Torque reference monitor 1V 100 Max output 8V 10mA accuracy 20mV Analog monitor 2 output Speed monitor 1V 1000r min 1 Max output 8V 10mA accuracy 20mV Communication RS422A USB Communication Complies with standard USB1 1 Digital operator JUSP OP05A 1 E Mounting Base mount Note1 No function on CACR ooo EEoVAS 00 36PIN analog reference model Note2 No function on 0 0 0 00 36PIN pulse reference model Note3 The absolute encoder can not be connected to CACR ooo EEoVAP 00 36PIN pulse reference model 107764 2 SERVOPACK Model Designation CACR 7 EE V B D 00 E Custom made 00 Standard Reference method D Analog Pulse reference 5 Analog reference P Pulse reference connector and PG specification A CN1 36PIN Incremental Absolute 50PIN Incremental Absolute Series V 2 V Input Voltage specification 1 AC200V 2 AC100V Model for Yaskawa engineering EGSV3 Power range Current indication R44 30W 200V R70 50W 200V 30W 100V R90 100W 200V 50W 100V 2R1 200W 200V 100W 100V 2R8 400W 200V 200W 100V 3R8 500W 200V 565 750W 200V 300W 100V 7R6 IKW 200V 120 1 5KW 200V 180 2KW
53. rol 2 Ay ON d DA Ira Forward Current Control dor 7 Fly ON 26 ON 1 rane LATER P Gontrol tor 2 Ay ON onte HET 5Fly OFF for Sarva Alarm 4 anfle servo Alarm EET mors Fire voltage 30 VDC age x n D h i if l b Maximum aperational current 50 ON for Positioning Complete Turned when Thee mate in Cn OB1 PG Output 1 For Absolute 23 51 4 Line Driver Encoder Line Driver M BN 813483 25 manctactured by ee ee 286 _ Alarm Code Output t Mod Note 1 The capacity af each output circuit is below 30 VDC and 50 2 Signal input line TP represents twisted pair wires 3 power supply must be prepared by customers 29764 5 External Dimensions 5 1 5 1 1 36 W47 H150 D130 CACR R70 EE2VAS 00 CACR R90 EE2VAS 00 CACR 2R1 EE2VAS 00 CACR R44 EE1VAS 00 CACR R70 EE1VAS 00 CACR R90 EE1VAS 00 CACR 2R1 EE1VAS 00 CACR R70 EE2VBD 00 CACR R90 EE2VBD 00 CACR 2R1 EE2VBD 00 CACR R44 EE1VBD 00 CACR R70 EE1VBD 00 CACR R90 EE1VBD 00 CACR 2R1 EE1VBD 00 2 4 Screws LO Mounting 5 outline dlz gt 4 1 eg Mounting Pitch 41 CACR R70 EE2VAP 00 CACR R90 EE2VAP 00 CA
54. status of SERVOPACKs 7 1 Status Display Mode 7 1 1 Operating conditions _The operating conditions are displayed in one figure indication Specification 11 Indication on digital operator Base Block BB Power supply to motor is turned OFF Run E Power supply to motor is turned ON A Initialize or Downloading CPFO1 7 1 2 Status during Over Travel POT and NOT is displayed each character by turns And if POT and NOT happens at same time it is displayed alternately Example POT P gt fade out gt o gt fade out gt t gt fade out 7 1 3 Status during Alarm or Warning Number of alarm or warning is displayed each character by turns Example A C20 gt fade out gt C gt fade out gt 2 gt fade out gt 0 gt fade 38764 7 2 Additional Alarm and Warning EGSV3 adds the alarm and warning function to 2 V SERVOPACKs as shown below Refer to a SIJP 580000045 AC Servo Drives 2 V Series USER S MANUAL Design and Maintenance Rotational Motor Analog Voltage and Pulse Train Reference for the overlapping part with 2 V standard product 7 2 1 Additional Alarm Servomotor Alarm Code Stopping Number Reset ALO1 pe ALO3 A 800 C phase error or Pulse Detecting C phase is not NA error correct 1 rotate Brass amor Detection of UVW iae is A C20 not correct the at the power turned on power turned on
55. t monitor 1 F er 17 2 Analog monitor 2 42 FA 3 18 PL3 Power supply for 43 IN OT Reverse rotation open collector PG prohibited ALM R 19 PCO Praag 44 Alarm reset input PG C ph PR Forward t 20 985 45 P CL output limit ON input R 21 BAT Battery 46 N CL TE Ext limit ON input 22 BAT Battery 24v IN power m jo supply input PG S ph 23 12V ower supply for 48 PSO phase Iv f analog reference PG S ph output 24 12V ower supply for 49 PSO phase analog reference ICOIN Speed output 25 coincidence 50 FG Frame ground output CN1 cable with connector for 50 Model name Case Connector supplied by Manufacturer Yaskawa Model Qty Model Qty 10150 3000PE ner JZSP CSI9 1 E 10350 5220 008 1 1 Sumitomo 3M Limited soldering model 19 64 4 2 2 2 36pin Terminal layout CACR LILILI EET1VAS 00 CACR LILILI EE2VAS 00 Analog speed reference model 1 T REF 4 reference 19 SG GND EE SG GND 20 PAO dg 3 V REF ur reference 21 IPAO 4 4 SG GND 22 PBO EE eu PG B phase 5 SEN SEN sig
56. t Note3 Surrounding Air Temperature O C to 55 C Storage Temperature 20 C to 85 C Ambient Humidity 90 RH or less With no freezing or condensation Storage Humidity 90 RH or less With no freezing or condensation Vibration Resistance 4 9m s Shock Resistance 19 6 m s Altitude 1000 m or less Activated when a servo alarm occurs or when the power supply the main circuit is OFF or when servomotor is OFF Over current overvoltage insufficient voltage overload Protective Function regeneration error Over speed run away Heat Sink Overheated encoder error CPU error Display Charge indication 7 seg LED Pulse signal input Line driver and Open Collector 1Mpps 200Kpps note1 Sign signal input Clear signal input Line driver and Open Collector note opeed reference input Max input voltage 10 V Speed Control Range 1 5000 note2 Torque reference input Max input voltage 10 V note2 15 input signal P CON input signal P OT A JJ input signal N OT input signal P CL input signal N CL input signal ALM RST input signal photo coupler input ALM output signal photo coupler output Max input voltage DC30V S RDY output signal Max input current DC50mA TG ON output signal S RDY signal is only prepared on CACR EE1VBD 00 50PIN analog Pulse reference COIN output signal COIN signal is not prepared
57. t breaker Indicator lamp TFLT filler 15 Surge absorber Magnetic contactor for control power supply 25 Surge absorber 2KM Magnetic contactor for main circuit power supply 354 Surge absorber Relay 1D Flywheel diode 11 64 4 2 Signal Connections 4 2 1 Signal Names and Functions 1 Input Signals Pin No Control Signal 50 36pin 36pin Method ae model model model Bee VBD VAS VAP S ON 40 14 14 Servo ON OFF Turns ON OFF the servomotor Switches the speed control loop from PI proportional P CON 41 15 15 integral to P proportional control when ON Change other function by parameter setting P OT 42 16 16 bis SEM prevention Stops servomotor when part travels beyond the allowable range of motion Activates deactivates external torque limit function Common ie Ne H With internal set speed control selected Switches the N CL 46 12 12 internal set speed settings ALM RST 44 18 18 Alarm reset Releases the servo alarm state 24VIN 47 13 13 Control power supply input for sequence signals SEN 4 5 Initial data request signal when using an absolute encoder Connecting pin for the absolute encoder backup BAT 21 28 28 battery BAT 22 29 29 Do not connect when the encoder cable with the battery case is used Speed V REF 5 3
58. ternal I Built in regenerative resistor is connected on this regenerative B1 B2 terminal External regenerative resistor can not be resistor connection connected to this terminal terminals Servomotor Connector2 connection U V W Use for connecting to the servomotor terminals Ground Ground terminals x2 Use for connecting the power supply ground terminal and servomotor ground terminal M4 screw 3 CACR 3R8 EE1VBD 00 CACR 7R6 EE1VBD 00 Terminal Connection Name Function Symbols Main oe L1 L2 L3 Three phase main power input input terminals Eod powerinput L1C L2C Single phase control power input Terminals Connector 1 External mos Built in regenerative resistor is connected on this regenerative I B1 B2 terminal External regenerative resistor can not be resistor connection connected to this terminal terminals Servomotor Connector 2 connection U V W Use for connecting to the servomotor terminals Ground Ground terminals x2 Use for connecting the power supply ground terminal and servomotor ground terminal M4 screw Main circuit power input terminal which is mentioned above 3 tables is connector type Cable end Connector Model Manufacturer Connector 1 721 207 026 000 WAGO Japan Connector 2 721 203 026 000 WAGO Japan 13564 4 CACR 1
59. tipulated 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 YASKAWA Electric Engineering Corporation Specifications are subject to change without notice for ongoing product modifications and improvements Manual No EMC110006E 5 Published in Japan Jun 2012 64 64
60. u Terminals 5 M6 Screws 6 M6 Screws Terminals 5 M6 Screws Terminals 6 M6 Screws 50 Cooling Fan 6 Parameters In EGSV3 SERVOPACKs following parameters is added to standard 2 V The parameters without explanations in this manual and 2 V manual are set at factory If yo change it carelessly machine move unexpected way Failure to observe this caution may result in injury or malfunction 6 1 Additional User s Parameters to Standard Z V Parameter Factory When pee Name Setting Range Units Sins Enabled Classification 0300 After Pn000 Function Select Switho Select Switch 0 0000 0383 03B3 0000 0383 0310 Setup din 2nd n Ll CI C d Direction Selection Selection Parameteris same as standard 2 Control Method Selection 000000000000 Method Selection Parameteris same as standardsV 0 Reference Method Factory Setting D Analog and Pulse reference 0 S Analog reference P Pulse reference 1 Encoder Output Pulses Function Selection O Output Pulses Function Selection 0 2 Reserved Reserved not change 3 Output Pulses Function Reserved Select Reserved Do not change Function Select Switch 2 0000 4313 0000 Setup restart din 35d

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