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Linear Sigma Series SGL**/SGDH USER`S MANUAL

1. L103 s 9 22 L2 UE 0 35 09 34 2 43 ae E I ue e xut wn HUI HI S ft ft aft tft ft D D D e N ifi ifi iji D ifi D D Dn W ma ofa e oe ears Peg tl ae jL jL jL LL HL pnis E 2 5 1 1 1 1 d H E L 2 o 85 3 35 273 amp 8 s e BOS BIR S Meer z 1 060 E Z4 2 76 l vS 5 f a 21 gt fo 2 4 42 Ty EN x 2 x 0 01 uere n w t 2 uos cx EIS LL 0 2 X i ey a H ie Ce 1 e 2 Q i 0 0 Li p ty v F E Coil assembly E S HAPS 8 0 31 i a 2 44 lt Spacer Do not remove them until the coil e Gap assemb is mounted on the machine e sj s Includes a 0 2 0 01 thickness magnet cover S T d p E ap a ok oF a a H 2 ae ies nut Ini ue Ini ni utr z pg Stites ie de He Je Te de Me amp dh ds Ji JG E amp amp gd di han i Wt uw Imi ut Ini US S dU ifi iji D D i E SPR R 2xN M6 tapped holes 54 2 13 depth 8 0 31 4532 L2 54 1 77 009 L133 2 13 Mount the magnetic way so that its corner surfaces are flush with the inner step Mount the magnetic way so that its corner surfaces are flush with the inner step 3 23 1002 X 90 0 3 3 54 0 01 Assembly Dimensions Referenc
2. x 35 iS 8 s is S uy B Bye eS gl S al g SE Ref length oj e 8 aw 00D 300 11 81 R e erence eng 60 2 36 x 5 0 20 Units mm in Hall Sensor Linear Servomotor Hall Sensor Output Signals Connector Specifications Connector Specifications When the coil assembly moves in the di Pin No Name rection indicated by the arrow in the fig Pin No Name ure the relationship between the hall 1 SV Power supply 1 Phase U sensor output signals Su Sv Sw and the 2 Phase U 2 Phase V inverse power of each mol or phase Vu 3 Ph V Vv Vw becomes as shown in the figure ase Pin connector type 4 Phase W below 17JE 23090 02 D8C 4 Phase W Extension LRRAOGAMRPN182 5 Not used Pin type 021 279 1020 made by DON Ete 5 0V Power supply made by Interconnectron 6 Notused vu f Isu i G d P PCT The mating connector 6 Not used The imiatiig connedbr Co roun Inverse Socket connector type T Not used power Vv 17JE 13090 02 D8C Not a Plug type LPRAO6BFRDN170 V Sv Stud type 17L 002C or oh use Socket type 020 105 1020 17L 002C1 9 Not used Vw I d 0 180 360 540 Electrical angle Coil Assembly Model SGLFW 215 120 180 9 6 4 395 300 360 18 11 5 15 55 11 81 14 17 3 39 3 Specifications and Dimensional
3. z F N e o e 8 4440 UNC af X v ys i The coil assembly moves in the direction g 3 2318 Hall sensor indicated by the arrow when current ol 9i 9 4 flows in the order of phase U V and W D Se E 19 6941 97 P D EDS F EE TT 64 2 90 17 ZEE 3 s 63 min E z s Nameplate 90 29 2 EB 500 50 19 69 1 97 SP c E iL Se eS ea E ag e Es Niece SoS ab5o On Sao Sale 90 min esis Reference length ES Units mm in Hall Sensor Linear Servomotor Hall Sensor Output Signals Connector Specifications Connector Specifications When the coil assembly moves in the di Pin No Name Lead rection indicated by the arrow in the fig Pin No Name corr f 1 5VDC 060 6 UJ Phase Ul Red ure the relationship between the hall 1 ase e sensor output signals Su Sv Sw and the 2 Phase U Plug type 350779 1 2 Phase V White inverse power of each motoro phase Vu 3 Phase V Pin type 350218 3 or 3 Phase W Black Vv Vw becomes as shown in the figure Pin connector type 4 Phase W 350547 3 No 1 to 3 below 17JE 23090 02 D8C g a Ng P 4 Ground Green made by DDK Ltd B y made by Tycon Electronics AMP K K Vu T LEES The mating connector Not used The mating connector 1745 13090 02 08C cc ree asorat Inverse Stud type 17L 002C or 8 Not used Socket type 350536 3 or power VV SV 17L 002C1 9 Not used 350550 3
4. 12 5 0 49 25 0 98 L2 67 5 2 66 67 5 2 66 j 1 i F i Li Hi 103 4 06 Br t t t t t t t t 20 0 79 83 327y NG io p apaa l E e i Base 63 2 48 Zl ea 4A ry I Na Fe m m gs ad BIEN i o D G 6 a i fl amp IDEE zi S oF 5 98 x eiue l i5 eo TEC B o S i m s x S 1 o amp clo Da 0m ot 1 4503 P004 i 0 06400 Ey 2 3 li em L 6 4 6 dumecu 6 6 6 1t 6 z a F i d 4 p Oo Hs q no H siz Ag Coil assembly N L5 N 92 5 3 64 175 0 69 5 3 f S 92 5 3 64 A L4 ole 202 5 7 97 2xN1 M8 screws depth 10 0 39 2 x N2 12 0 47 mounting holes Gap See the sectional view for the depth Including magnet cover of plate thickness 0 2 0 01 67 5 2 66 25 0 98 9 2 x N1 M8 bolts depth 25 0 98 L2 gt 487 5 2 66 5 0 20 ES 3l 12 5 0 49 L133 Reference value Units mm in Note 1 The magnetic way may affect pacemakers Keep a minimum distance of 200 mm 7 87 in from the magnetic way 2 Two magnetic ways in a set can be connected to each other 3 The magnetic way with base has the same characteristics as those of the magnetic way without base SGLTM 4000DA 405 337 5 387 5 202 5 202 5 2 Ln an os A 3 4
5. Sig S S S Heatsink 6 pinterminal Flange S ONSE Hole Diagram D re M5 screw M x ap ym 8 0 31 p lcu 1 ute CN3 A 1 lalelalelat t m 2 Fey En Q 1 o Ia MI io a TO A z A e KY CN1 fa aA 62 amp if E IPAE q lij E Se OD CN2 Jr ES E g ar zs lj eae ASIS Pat a t oe 5 9 5 pin terminal i E f tejMscew X e EE o pea oll 0 01 2 Y A PEDE 6 0 24 S Bl V 35150 97 50 1 97 E 24 5 0 96 S o 9 38 13515 31 75 2 95 230 9 06 S ines i i i D Mounting pitch 2 VGround terminal 3 pin terminal 7 0 28 191 5 7 54 N M M5 screw M5 screw P Reference length Units mm in Approx mass 5 7 kg 12 57 Ib External Terminal Connector Main circuit Control power power supply supply L1 L2 L3 L1c L2C SERVOPACK Connector Od ey Connector SERVOPACK Manufacturer Three phase Single phase Symbol Connector Model 200 VAC 200 VAC 10250 52A2JL Sumitomo 3M Co Ltd 50 60 Hz 20 60 Hiz 53460 0611 Molex Japan Co Ltd Malnciruit Control poner 10214 52A2JL Sumitomo 3M Co Ltd power supply supply L1 L2 13 24V OV AS p Three phase 24 VDC 400 VAC 50 60 Hz 4 29 4 SERVOPACK Specifications and Dimensional Drawings 4 9 1 Three phase
6. 1009 External Terminal Connector Main circuit Control power power supply supply Li L2 L3 L1C L2C Three phase Single phase 200 VAC 200 VAC 50 60 Hz 50 60 Hz Main circuit Control power power supply supply L1 L2 L3 24V OV Three phase 24 VDC 400 VAC 50 60 Hz S8 gie Sdo Heat sink Dle MIL e SIG a dt Seg cni j zee P 10 oO 9 f SIR CN2 E N ke S i s G 2 v O v O amp w O DA iy 14 pin terminal Sis 6 0 24 M4 mounting screw eo 41 8 0 31 Sets 90 197 15 0 59 wo w 0 59 180 3 15 15 0 59 24 5 0 96 155 5 6 12 if 110 4 33 KE 2 95 180 7 09 Ground terminal 2xM4 screws L 0 28 e 141 5 5 57 KOY W ED DK SERVOPACK Connector 10214 52A2JL 7 5 0 30 270 0 5 10 63 0 02 Mounting Hole Diagram 4xM5 tap YH Wa b 72 30 cogs 30 1 18 Mounting pitch 1 18 Reference length Units mm in Approx mass 4 0 kg 8 82 Ib Connector SERVOPACK Manufacturer Symbol Connector Model 10250 52A2JL Sumitomo 3M Co Ltd Hc 53460 0611 Molex Japan Co Ltd Sumitomo 3M Co Ltd 4 8 Dimensional Drawings of Rack mounted SERVOPACK Model 4 8 6 Three phase 200 V 5 0 kW 50AE R Three phase 400 V 5 0 kW 50DE R
7. io permin al b Connector plug 50P eg S 7 0 28 M3 5 screw MR 50RMD2 7 ud P 1 lt 2 2 E cR MGE M CCELI L E Lo 2x93 5 E aL 2 XQ23 60 14 UU eec ee 9 2xM3 tapped holes 3 5 247 5 9 74 3 5 0 14 3 5 247 5 9 74 3 5 0 14 0 14 X With terminal block cover amp removed Reference length Units mm in Can be fixed on DIN rail 3 Dimensional Drawing of Cable Connector terminal block converter unit SERVOPACK end connector 50P end connector 50P 10150 6000EL Sumitomo 3M Ltd MRP 50F01 Honda Communication Industries Co Ltd Shell Case 10350 52A0 008 Sumitomo 3M Ltd MR 50L Honda Communication Industries Co Ltd Cable black AWG 28 25 UL20276 VW 1SC Units mm in 6 21 6 Specifications and Dimensional Drawings of Cables and Peripheral Devices 6 8 5 External Regenerative Resistor 6 8 5 External Regenerative Resistor 6 22 Regenerative resistors for SERVOPACKs are internally or externally mounted as shown in the table below Regenerative resistors can be externally mounted on all SERVOPACKs Connect an external regenerative resis tor to the SERVOPACK if regenerative energy exceeds the capacity of the SERVOPACK If a regenerative resistor is to be mounted externally the jumper between B2 and B3 for the internal regenerative resistor must be removed Refer to
8. e is r a lo 2 i o SES lt E o Note Connect a regenerative resistor between B1 and B2 terminals The regenerative resistor is provided by the customer 7 42 8 Digital Operator Panel Operator 8 1 Functions on Digital Operator Panel Operator 8 2 8 1 1 Connecting the Digital Operator 8 2 8 1 2 Key Names and Functions 8 3 8 1 3 Basic Mode Selection and Operation 8 4 8 1 4 Status Display 8 6 8 2 Operation in Utility Function Mode FnLILILI 8 8 8 2 1 List of Utility Function Modes 8 8 8 2 2 Alarm Traceback Data Display Fn000 8 9 8 2 3 JOG Mode Operation Fn002 8 10 8 2 4 Zero point Search Mode Fn003 8 11 8 2 5 Parameter Settings Initialization Fn005 8 12 8 2 6 Alarm Traceback Data Clear Fn006 8 13 8 2 7 Automatic Offset adjustment of Motor Current Detection Signal FnOOE 8 14 8 2 8 Manual Offset adjustment of Motor Current Detection Signal FnOOF 8 15 8 2 9 Password Setting Protects Parameters from Being Changed Fn010
9. r 14 2 0 56 With magnet cover 14 0 55 Without magnet cover SGLFW 50D200BOD Gap 1 0 04 Without magnet cover Nameplate m See the figures amp The coil assembly moves in the O and below X direction indicated by the arrow L3 when current flows in the order of phase U V and W 10 0 39 amp SO eo N e 6 x M5 tapped holes depth 7 0 28 SGLFW 50D380BOD 12 x M5 tapped holes depth 7 0 28 47 5 1 87 14 0 55 Hall Sensor Linear Servomotor Connector Specifications Connector Specifications 9 6 Pin No Name 1 5V Power supply 2 Phase U 3 Phase V Pin connector type 4 Ph N 7JE 23090 02 D8C S Extension LRRAOGAMRPN182 made by DDK Ltd 5 ov Power supply Pin type 021 279 1020 The mating connector 6 Not used made by Interconnectron Socket connector type 7 Not used The mating connector 17JE T9090 02 DSC 8 Not used Plug type LPRAO6BFRDN170 Stud type 17L 002C or Socket 020 105 1020 17L 002C1 9 Not used Gexettypes 02910 Coil Assembly Model SGLFW 50D200BLID 50D380BLID 3 36 395 15 55 300 360 11 81 60 2 36
10. 100 80 L 30A050C r 30A080C 60 Loss W 40 20 0 0 100 200 300 Force Model SGLGW 400 40A365C 40A253C 300 40A140C Loss 200 w 100 0 0 100 200 300 Force 12 9 12 Appendix 12 2 2 Calculating the Regenerative Energy Model SGLGW 500 400 60A365C 60A253C 60A140C 300 Loss W 200 100 0 0 100 200 300 Force Model SGLGW 1800 1600 90A535C 90A370C 1400 r 90A200C 1200 1000 Loss QW gog 600 400 200 0 096 10096 200 300 400 Force 12 10 12 2 Calculating the Required Capacity of Regenerative Resistors With High force Magnetic Ways Model SGLGW 700 600 L 40A365C r 40A253C 500 r 40A140C Loss 400 W 300 200 100 0 0 100 200 300 400 Force Model SGLGW 800 L 60A365C 60A253C 600 60A140C Loss 400 W 200 0 096 10096 20096 30096 40096 Force 96 12 11 12 Appendix 12 2 2 Calculating the Regenerative Energy b SGLFW Linear Servomotors Model SGLFW 1200 658 35A230A p 35A120A 20A120A
11. d Coste 1 85 2 Spacer Do not remove them until the coil Gap 2xN M6 tapped holes depth 8 0 31 3 assemb is mounted on the machine Nt Includes a 0 2 0 01 thick magnet cover KA iN E a Ry E Q i gt i t ER ae ST tzaina 7 T i j 7 4 0 09200 PN FS ds D amp N x 1 1 i T T 1 HR i lig E o E4213 i 9 02 L2 54 gar Wed d 11 33 le 13 Mount the magnetic way so that its corner surfaces are flush with the inner step Reference length Units mm in 8 2309 90 0 3 k3 54 0 01 Assembly Dimensions Two magnetic ways for both ends of coil assembly make one set Spacers are mounted on magnetic ways for safety during transportation Do not remove the spacers until the coil assembly is mounted on a machine The magnetic way may affect pacemakers Keep a minimum distance of 200 mm 7 87 in from the magnetic way Two magnetic ways in a set can be connected to each other 4 The dimensions marked with an are the dimensions between the magnetic ways Be sure to follow exactly the dimensions specified in the figure above Mount magnetic ways as shown in Assembly Dimensions The values with an are the dimensions at preshipment Use socket headed screws of strength class 10 9 minimum for magnetic way mounting screws Do not use stainless steel screws Coil Assembly
12. SGLFW 35D120A SGLFW 35D230A 6 6 5 Motor 4 speed ee A B 2 1t 1 Bd 0 0 50 100 150 200 250 0 100 200 300 400 500 Force N Force N SGLFW 50D200B SGLFW 50D380B 6 6 0 200 400 600 800 0 500 1000 1500 Force N Force N SGLFW 1ZD200B SGLFW 1ZD380B 0 500 1000 1500 0 1000 2000 3000 Force N Force N Note The dotted line indicates characteristics when the linear servomotor for 400 VAC is used with an input power supply for 200 VAC In this case the serial converter should be changed Contact your Yaskawa representa tives 3 8 3 3 Ratings and Specifications of SGLTW SGLTM 3 3 Ratings and Specifications of SGLTW SGLTM 1 Ratings and Specifications Dielectric Strength 1500 VAC for 1 minute Protection Method Self cooled Ambient Humidity 20 to 80 no condensation Allowable Winding Temperature 130 C 266 F Insulation class B Time Rating Continuous Insulation Resistance 500 VDC 10 MQ min Ambient Temperature 0 to 40 C 32 to 104 F Excitation Permanent magnet Ratings and Specifications of SGLTW Linear Servomotors with T type Iron Core Voltage 200V Linear Servomolo Em i 4000 mist ANELU rae i 380 760 1140 1320 2000 2600 5000 7500 Force mienne Peel Vo e 7 7 154 232
13. Hall Sensor Connector Specifications 380BL1 18xM5 tapped ho 95 3 74 35 5 35 5 4 0 55 12 0 47 2 17 60 2 36 300 11 81 60 2 36 x 5 0 20 Reference length Units mm in Linear Servomotor Pin No Name 4 5V Power supply 2 Phase U Pin connectoro type 3 Phase V 17JE 23090 02 D8C 4 Phase W made by DDK Ltd 5 OV Power supply The mating connector 6 Not used Socket connector type 17JE 13090 02 D8C 7 Not used Stud type 17L 002C or 8 Not used 17L 002C1 9 NIGEUSEd Coil Assembly Model SGLFW Hall Sensor Output Signals Connector Specifications When the coil assembly moves in the di Lead rection indicated by the arrow in the fig Koco Pin No Name cic ure the relationship between the hall LI 1 Phase U Red sensor output signals Su Sv Sw and the Ph Vl whi inverse power of each motor phase Vu uk a Earl 2 Bse ite Vv Vw becomes as shown in the figure in type 3 or below 350547 3 No 1 to 3 5 Prase W Blue below 350654 1 4 FG Green 350669 1 No 4 Vu _ made by Tyco Electronics AMP K K Su The mating connector lt Cap type 350780 1 Inverse V Socket type 350536 3 or
14. Servo ON ON m Release i t1 lt 30 ms Baseblock E u C f t2 lt 6 ms m When parameter Pn506 is set to 0 1 t3 2 40 ms Sign pulse train 1 t3 H ep Jj nnn nnnnnnnn ji PAO H i t4 t5 t6 lt 2 ms Encoder pulses ee PL 1 f1 t7 gt 20 us 5 COIN __ t4 1 ae t6 CR ON ON EY 17 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 9 52 9 8 Operating Using Position Control 2 Reference Pulse Input Signal Timing The reference pulse input signal timing is shown below Table 9 1 Reference Pulse Input Signal Timing Reference Pulse Signal Form Electrical Specifications Sign and pulse train input _ fae N tl t2 lt 0 1 ms Sign SIGN 1t2 SIGN and PULS signal 3 H t3 t7 0 1 ms H Forward Maximum reference frequency i t4 5 16 3 us reference 500 kpps t me L Reverse For open collector output 200 kpps Forward Reverse tare reference reference reference T T x 100 lt 50 CW pulse and CCW pulse Maximum reference frequency T 83 3ys 200 Raps AN AUA 1210 us For open collector output 200 kpps le le AN T T x 100 lt 50 Forward Reverse reference reference tl t2 lt 0 1 us 1 i CCW t t2 Cw
15. Reference length Units mm in Approx mass 11 5 kg 25 35 Ib External Terminal Connector Main circuit Control power regenerative Connector SERVOPACK power Supply supply resistor Symbol Connector Model L1 L2 L3 24V 0v B1 B2 External SERVOPACK Connector 10250 52A2JL Sumitomo 3M Co Ltd M 53460 0611 Molex Japan Co Ltd ANC 10214 52A2JL Sumitomo 3M Co Ltd 50 60 Hz 4 31 5 Specifications and Dimensional Drawings of Serial Converter Unit 5 1 Serial Converter Unit Specifications 5 2 5 2 Analog Signal Input Timing 5 3 5 3 Dimensional Drawings of Serial Converter Unit 5 4 5 3 1 Linear Scale without Cable for Hall Sensor by Heidenhain 5 4 5 3 2 Linear Scale without Cable for Hall Sensor by Renishaw 5 5 5 3 3 Linear Scale with Cable for Hall Sensor by Heidenhain 5 6 5 3 4 Linear Scale with Cable for Hall Sensor by Renishaw 5 8 5 1 5 Specifications and Dimensional Drawings of Serial Converter Unit 5 1 Serial Converter Unit Specifications 1 Model JZDP D000 000 2 Characteristics and Specifications Electrical 5 0V 5 ripple content 5 max Signal Resolution Frequency Analog Input Signals 2 Differential
16. 10 200 to 230V 15 Regenerative resistor Option 50 60 Hz i t um uu LE B2 FORT o O FAND NM RA r i Ip 1 d as rn eS PM1 PM2 PM3 l s 4 Noise 4 filter Linear servomotor S 1KM L1 BA1BA3 A T b t ci Mpeg QP MEM L3 BA2 C7 C6 cs i T vt Hall C9 sensor Base drive overcurrent Voltage sen protector isolator 1 Voltage sen Relay drive sor isolator r sor isolator X e 4 i EN Y Current Lic sensor Serial 4 5V le O converter it L2C Z DC DC L gt m 12 V T T E akle converter ASIC F L pes v PWM control etc en 1 1 7 PG output supply Power Open during H ahi Reference pulse input OFF ON servo alarm 1RY m A m m 1KM i Lj 4 mA gt e e Speed and force e o o ov reference input Tak 1RY em a_i CPU 1KM ner operator Position Speed calculation etc Analog voltage Fi gt gt M Sequence I O i converter CN10 l CN5 CN3 l T Pe S me te pen ge n pa 1 Connector for Analog monitor Digital operator or application output for personal computer module supervision 4 3 5 Three phase 400 V 500 W to 3 0 kW Models Three phase 380 to 480V 94 50 60 Hz md Q ia 1 NN e 1 B1 B2 B3 B FAN1 2 1 999 FU1 1 P v fier
17. 1 5 1 2 1 Linear Servomotors 1 5 1 2 2 SERVOPACKs 1 6 1 3 Examples of Servo System Configurations 1 8 1 3 1 Single phase 200 V Main Circuit 1 8 1 3 2 Three phase 200 V Main Circuit 1 9 1 3 3 Three phase 400 V Main Circuit 1 10 1 4 Applicable Standards 1 11 1 4 1 North American Safety Standards UL CSA 1 11 1 4 2 CE Marking 1 11 2 Selections 2 1 Linear Servomotor Model Designation 2 2 2 1 1 Coil Assembly 2 2 2 1 2 Magnetic Way 2 2 2 2 SERVOPACK Model Designation 2 3 2 3 X II Series SERVOPACKs and Applicable Linear Servomotors 2 4 2 4 Serial Converter Units Models 2 6 2 5 Selecting Cables 2 7 2 6 Selecting Peripheral Devices 2 9 2 6 1 Special Options
18. 2 9 2 6 2 Molded case Circuit Breaker and Fuse Capacity 2 11 2 6 3 Noise Filters Magnetic Contactors Surge Suppressors and DC Reactors 2 12 2 6 4 Regenerative Resistors 2 13 2 6 5 Linear Scales 2 14 xiii xiv 3 Specifications and Dimensional Drawings 3 1 Ratings and Specifications of SGLGW SGLGM 3 2 3 2 Ratings and Specifications of SGLFW SGLFM 3 6 3 3 Ratings and Specifications of SGLTW SGLTM 3 9 3 4 Mechanical Specifications of Linear Servomotors 3 15 3 5 Quick Guide to Linear Servomotor Dimensional Drawings 3 16 3 6 Dimensional Drawings of SGLGW SGLGM Linear Servomotors 3 17 3 6 1 SGLGLI 30 Linear Servomotors 3 17 3 6 2 SGLGLI 40 Linear Servomotors 3 20 3 6 3 SGLGLI 60 Linear Servomotors 3 24 3 6 4 SGLGLI 90 Linear Servomotors 3 28 3 7 Dimensional Drawings of SGLFW SGLFM Linear Servomotors 3 30 3 7 1 SGLFLI 20 Linear Servomotors eee ee 3 30 3 7 2 SGLFLI
19. ae 2xM4 Mounting holes NiS 3 5 Auxiliary contact terminal M3 5 Main contact terminal d Model HI 25JCU and HI 35JCU Dimensions in mm in Mounting Hole Dimensions in mm in Approx mass 0 75 kg 1 65 Ib M3 5 External 58 2 28 connection terminals a 111 4 37 oe Coil drive unit 79 3 11 8 8 0 302 M3 5 Coil terminal 80 6 2 39 n 43 1 69 58 4 2 30 2 12 2 0 48 0 32 MX M3 5 Auxiliary 0 52 contact terminal 2xM4 Mounting holes M5 Main contact terminal 6 34 6 8 Peripheral Devices 6 8 10 Surge Suppressor 1 Surge Suppressor for Magnetic Contactor Contact Yaskawa Controls Co Ltd a Model TU 250 TU 650 b Specifications Model Surge Rated Applicable Voltage Range for Operation Applicable Absorption Insula Magnetic Coil Magnetic Method tion Volt AC 50 60Hz Contactor 50V 110V 127V 240V 380V 440V age TU 25C120 T U 25C240 300 VAC U HI 25J 2 R Note 9j Applicable voltage range 6 35 6 Specifications and Dimensional Drawings of Cables and Peripheral Devices 6 8 10 Surge Suppressor c Dimensional Drawings Model
20. 7 28 7 5 Others 7 31 7 5 1 Wiring Precautions 7 31 7 5 2 Wiring for Noise Control 7 32 7 5 3 Using More Than One SERVOPACK 7 35 7 5 4 Operating Conditions on 400 V Power Supply Voltage 7 36 7 5 5 DC Reactor for Harmonic Suppression 7 37 7 6 Connecting Regenerative Resistors 7 38 7 6 1 Regenerative Power and Regenerative Resistance 7 38 7 6 2 Connecting External Regenerative Resistors 7 38 7 Wiring 7 1 1 Introduction 7 1 Linear Servomotor Installation 7 1 1 Introduction Install the linear servomotor according to the following precautions A WARNING If you have a pacemaker or any other electronic medical devices do not approach the magnetic way of the linear servomotor Failure to observe this warning may malfunction of the medical device A CAUTION When unpacking and installing magnetic way check that no metal fragments or other magnetic objects are present considering the magnetic attraction of the Failure to observe this caution may result in injury or damage to the magnetic way s magnets Do not use the magnetic way near metal or other magnetic objects Failure to ob
21. SERVOPACK Linear scale Serial m Noise filter 3 CN2 converter unit Ae L1 J 1 Aa O L2 Properly treat the end of shielded 1 wire L3 25 35m Jr 9 E Coil imin NE assembly Hic M 1 1 4 FG P LC cnt Y Linear servomotor roa 2 0 mm min 1 r e Operation relay sequence eSignal generation circuit provided by customers l l AAAA 3 2 l l I e it 1LF 7 AVR 3 5mm Grounding min I 2 HJ mm aN eo eae LN 5mm min 1 Wires of 3 5mm min _ _ E AN Ground plate Ground Exclusive grounding with grounding resistance 100W max 1 For grounding wires connected to the casing use a thick wire with a thickness of at least 3 5mm equivalent to a copper braided flat conductor 2 ZZ represents twisted pari wires 3 When using a noise filter follow the precautions in 3 Using Noise Filters 2 Correct Grounding a Grounding the Motor Frame Always connect the linear servomotor frame terminal FG to the SERVOPACK ground terminal Q Also be sure to ground the ground terminal Ground both coil assembly and magnetic way of the linear servomotor If the linear servomotor is grounded via the machine a switching noise current will flow from the SERVOPACK power unit through the linear servomotor stray capacitance The above grounding is required to prevent the adverse effects of switching noise b Noise on t
22. 9 43 9 7 8 Speed Coincidence Output 9 46 9 Operation 9 8 Operating Using Position Control 9 47 9 8 1 Setting Parameters 9 47 9 8 2 Setting the Electronic Gear 9 49 9 8 3 Position Reference 9 52 9 8 4 Smoothing 9 55 9 8 5 Positioning Completed Output Signal 9 57 9 8 6 Positioning Near Signal 9 58 9 8 7 Reference Pulse Inhibit Function INHIBIT 9 59 9 9 Operating Using Force Control 9 60 9 9 1 Setting Parameters 9 60 9 9 2 Force Reference Input 9 60 9 9 3 Adjusting the Force Reference Offset 9 61 9 9 4 Limiting Linear Servomotor Speed during Force Control 9 63 9 10 Operating Using Speed Control with an Internally Set Speed 9 65 9 10 1 Setting Parameters 9 65 9 10 2 Input Signal Settings 9 66 9 10 3 Operating Using an Internally Set Speed 9 66 9 11 Limiting Force 9 68 9 11 1 Internal Force Limit Limiting Maximum Output Force 9 68 9 11
23. Model SGLTW 1200 50D320H 35D320H 1000 50D170H _35D170H 800 Loss W 00 400 200 0 0 50 100 150 200 240 Force Model SGLTW 14000 42000 EM 80D400B 45000 40D600B 40D400B Loss 8000 W 6000 4000 2000 d 56096 0 0 100 200 300 400 500 600 Force 12 14 3 SERVOPACK s Absorbable Energy 12 2 Calculating the Required Capacity of Regenerative Resistors The following diagrams show the relationship between the SERVOPACK s input power supply voltage and its absorbable energy a 200 V SERVOPACKs 120 Model SGDH 700 Model SGDH 600 150 30AE 9 E L 20 E D s gt 80 r O1AE to O4AE 8 _ 75AE D O5AE to 10AE 9 p ds ABAE E 50AE a a S 300 8 40 2 a 2 Th lt 200 a eee 20 Y 100 0 180 200 220 240 260 9 180 200 220 240 260 AC Input Power Supply Voltage Vrms AC Input Power Supply Voltage Vrms b 400 V SERVOPACKs Model SGDH 140 e 120 20DE 30DE gt 100 15DE o i 80 2 60 2 2 40 x 20 ria oo 360 400 440 480 AC Input Power Supply Voltage Vrms 320 400 520 Model SGDH 350 300 75DE 250 mt 50DE 200 150 100 Absorbable Enerby J 50
24. l O power supply 24V x 24V Positioning uni 2L e Q AD72 manufactured Pk Baav E Control power supply by Mitsubishi Loc y 2 L1 O CONT pu a Y Main circuit power supply 1 when D risu 2 eels Oy 3 J DOG Ax when Linear servomotor lt o t Bdetected J CN SERVO 24V IN 47 U gt H S ON1 40 V M 2 J SV ON iry 3h i ALM 31 READY 1Ry 4 i Linear scale 4 A ALM J 32 2 5 V REF T REF 5 9 1 Serial E i gt CN2 m Ei 6 Speed reference SG 6 10 i converte 14 SS gt 7H unit LK ENCO 2 4 t 7 4 lt X PBO gt 35 Properly treat the ends of shielded wires 5 PULSE A i IPBO 36 7 PAO 1 33 8 PULSE B IPAO 1 34 CNI 10 j j PCO 1 19 42 4 P OT 112 PULSE C IPCO 1 20 a OV EUN 43 A N OT q 4 04 V TU Connector shell 3 1 The ALM signal is output for about two seconds after the power is turned ON Take this into consid eration 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 WE represents twisted pair wires Y Note Only signals applicable to Mitsubishi s AD72 Positioning Unit and Yaskawa s SGDH SERVO PACK are shown in the diagram 12 21 12 Appendix 12 3 7 Example of Connection to Mitsubishi
25. 4 4 voltage resistance test 4 7 V REF 7 26 W WARN 7 27 warning code output 11 4 warning display 11 4 warning display and troubleshooting 11 16 warning display table when the application module is used 11 6 warning output WARN 9 77 wiring 400 V power supply voltage 7 36 DC power supply input 7 20 wiring encoders 7 21 wiring example 7 32 wiring for noise control 7 32 wiring main circuit power supply connector 7 17 wiring precautions 7 31 Z zero clamp function 9 41 Index 4 Revision History The revision dates and numbers of the revised manuals are given on the bottom of the back cover MANUAL NO SIEPS80000019B Printed in Japan November 2003 03 10 9 Revision No L Date of Date of original printing publication Date of mo Revised Content October 2003 2003 First edition edition EM 2003 Revision NOFRCECHASIGHCSGUN ERG Scams and Applicable SGLTW Linear Serv
26. 4 5 electronic gear ratio equation 9 5 encoder signal converter unit 6 40 encoder signal output 9 43 external force limit 9 69 external regenerative resistor 6 22 F feed forward compensation 4 4 feedback signal checking 9 9 9 15 feed forward reference 10 15 flexible cables 6 11 wiring precautions 6 11 force control tolerance 4 4 force limit setting 9 11 9 17 force limiting using an analog voltage reference 9 71 forward run prohibited 9 32 frequency characteristics 4 4 fuse capacity 2 11 G grounding 7 32 hall sensor selecting no hall sensor 9 14 hall sensor signal monitor 8 35 hotstarts s2sSs tesa A A eee et eee et 4 13 Index T O signal CN1 names and functions 7 26 I O signal cables 2 10 6 16 I O signal connections 7 22 INDEXER modul
27. 4 5 Index PULS 2 aen ck ee ee ee Mee eee 7 26 pulse dividing ratio setting 9 45 R rack mounted type 4 15 reactors 6 37 DC reactor 7 37 selection 2 12 reference pulse form 4 4 frequency 4 4 type 4 4 reference pulse inhibit function INHIBIT 9 59 reference unit 9 49 regenerative resistor capacity 7 40 regenerative resistor unit 6 25 regenerative resistors selection 2 13 RESET key 8 3 reverse run prohibited 9 32 RIGHT key 8 3 running outputsignal 9 77 S selecting a position reference filter 9 55 selecting the speed loop control method PI Control or IP Control 10 14 selecting the stopping method after servo OFF 9 34 sequence I O signal monitor display 8 31 sequence input 4 5 sequence input circuit interfac
28. 3 28 3 7 Dimensional Drawings of SGLFW SGLFM Linear Servomotors 3 30 3 7 1 SGLFLI 20 Linear Servomotors 3 30 3 7 2 SGLFLI 35 Linear Servomotors 3 32 3 7 3 SGLFLI 50 Linear Servomotors 3 35 3 7 4 SGLFLI 1Z Linear Servomotors 3 38 3 8 Dimensional Drawings of SGLTW SGLTM Linear Servomotors 3 41 3 8 1 SGLTLI 20 Linear Servomotors 3 41 3 8 2 SGLTO 350000A0 Linear Servomotors 3 44 3 8 3 SGLTLI 35LILILILIHLI Linear Servomotors 3 47 3 8 4 SGLTLI 40 Linear Servomotors 3 50 3 8 5 SGLTLI 50 Linear Servomotors 3 53 3 8 6 SGLTLI 80 Linear Servomotors 3 56 3 1 3 Specifications and Dimensional Drawings 3 1 Ratings and Specifications of SGLGW SGLGM 1 Ratings and Specifications Dielectric Strength 1500 VAC for 1 minute Protection Methods Self cooled air cooling Ambient Humidity 20 to 80 no condensation Allowable Winding Temperature 130 C 266 F Insulation class B Time Rating Continuous Insulation Resistance 500 VDC 10 MQ min Ambient Temperature 0 to 40 C 32 to 104 F Excitation Permanent ma
29. Properly treat the end of shielded wire 24V For servo 1Ry Hohe display CN1 1Ry 9 Main circuit Main circuit 1PL power supply power supply OFF ON 1Ry 32 1 024V 1KM 1SUP Nr 1Ry Relay 1QF Molded case circuit breaker 4PL Indicator lamp FIL Noise filter 1SUP Surge suppressor 1KM Magnetic contactor 4D Flyweel diode 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 When designing the power ON sequence note that the SERVOPACK will output 1 Ry is OFF a servo alarm signal for two seconds or less when the control power is turned ON And use this relay to turn OFF the main power supply to the SERVOPACK Control power 2 0 s max supply a Servo alarm ALM output signal Select the power supply specifications for the parts in accordance with the input power supply iHarmonic Suppression If another device requires for harmonic suppression connect the DC reactor to the DC main circuit side on the SERVOPACK For connecting examples refer to 7 5 5 DC Reactor for Harmonic Suppression 7 19 7 Wiring 7 2 3 Typical Main Circuit Wiring Examples 4 DC Power Supply Input A WARNING SGDH SERVOPACK is applicable for both AC and DC power
30. 12 17 12 3 3 Example of Connection to OMRON s Position Control Unit 12 18 12 3 4 Example of Connection to OMRON s Position Control Unit C500 NC221 SERVOPACK in Speed Control Mode 12 19 12 3 5 Example of Connection to OMRON s Position Control Unit C500 NC112 SERVOPACK in Position Control Mode 12 20 12 3 6 Example of Connection to Mitsubishi s AD72 Positioning Unit SERVOPACK in Speed Control Mode 12 21 12 3 7 Example of Connection to Mitsubishi s AD75 Positioning Unit SERVOPACK in Position Control Mode 12 22 12 4 List of Parameters 12 23 12 4 1 Utility Functions List 12 23 12 4 2 List of Parameters 12 24 12 4 3 Monitor Modes 12 40 12 5 Parameter Recording Table 12 41 INDEX Revision History xxi 1 Outline 1 1 Checking Products 1 2 1 1 1 Check Items 1 2 1 1 2 Linear Servomotors 1 2 1 1 8 SERVOPACKs 1 3 1 1
31. connections U V W input signal CN1 and serial converter unit CN2 Disconnect the CN1 connector during trial operation using SERVOPACK internal references Refer to 9 2 Trial Operation Using SERVOPACK Internal References 3 Turn ON the Turn ON the power Check the panel operator to make sure that the SERVOPACK is power running normally The alarm A 08 does not indicate an error Polarity Check whether the polarity is being correctly detected detection operation check only for detection ole Jog operation After setting the mass ratio Pn103 perform jog operation Connect input Connect I O signals CN1 necessary for the trial operation to the SERVOPACK EN signals Check input Check the input signals using the internal monitor function signals Turn ON the power and check that the emergency stop brake overtravel and other protective functions are operating correctly Input servo ON Input the servo ON signal and turn ON the linear servomotor Host signal reference 10 Input reference Input the reference for the control mode being used and check that the linear servo Host motor is operating normally reference Set necessary Run the linear servomotor from the host controller in the same way as in step 10 and Host parameters set the required parameters so that the machine movement direction movement dis reference tance and movement speed are the same as the references
32. 12 7 12 3 Connection to Host Controller 12 16 12 3 1 Example of Connection to MP2200 MP2300 2 axes Motion Module SVA 01 12 16 12 3 2 Example of Connection to OMRON s Motion Control Unit 12 17 12 3 3 Example of Connection to OMRON s Position Control Unit 12 18 12 3 4 Example of Connection to OMRON s Position Control Unit C500 NC221 SERVOPACK in Speed Control Mode 12 19 12 3 5 Example of Connection to OMRON s Position Control Unit C500 NC112 SERVOPACK in Position Control Mode 12 20 12 3 6 Example of Connection to Mitsubishi s AD72 positioning Unit SERVOPACK in Speed Control Mode 12 21 12 3 7 Example of Connection to Mitsubishi s AD75 positioning Unit SERVOPACK in Position Control Mode 12 22 12 4 List of Parameters 12 23 12 4 1 Utility Functions List 12 23 12 4 2 List of Parameters 12 24 12 4 3 Monitor Modes 12 40 12 5 Parameter Recording Table 12 41 12 1 12 Appendix 12 1 Linear Servomotor Capacity Selection Examples Mm u e Load speed Ur 7120 m min e Feeding distance 0 76 m e Workpiece mass WW 1 kg e Feeding time fm 0 4 s max e Table mass WT 2 kg e Acceleration time ta 0
33. 50 mm 1 97 in min 30 mm 10 mm 1 18in min 0 39 in 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 fans above the SERVOPACKs to avoid excessive temperature rise and to maintain even temperature inside the control panel Environmental Conditions in the Control Panel Ambient Temperature 0 to 55 C 32 to 131 F Humidity 90 RH or less Vibration 4 9 m s Condensation and Freezing None Ambient Temperature for Long term Reliability 45 C 113 F or less Conduct voltage resistance tests under the following conditions Voltage 1500 Vrms AC for one minute Braking current 30 mA or more Frequency 50 or 60 Hz Voltage applied points For SGDH LILIAE SERVOPACKs Between the ground terminals and the point where the terminals L1 L2 L3 L1C L2C U V W are connected For SGDH LILIDE SERVOPACKs Between the neutral terminals and the point where the terminals L1 L2 L3 U V W are connected 4 7 4 SERVOPACK Specifications and Dimensional Drawings 4 3 1 Single phase 200
34. 400 440 480 AC Input Power Supply Vrms 320 360 520 12 15 12 Appendix 12 3 1 Example of Connection to MP2200 MP2300 2 axes Motion Module SVA 01 12 3 Connection to Host Controller 12 3 1 Example of Connection to MP2200 MP2300 2 axes Motion Module SVA 01 MP2200 MP2300 Series SVA 01 manufactured by Yaskawa SGDH SERVOPACK CNTCNZ ies 6s CNT SG 14 2 SG AO 0 NREF 2 lt i 5 V REF PA 3 3 33 PAO PAL 4 lt T 7 T 34 PAO PC 5 SS oo 19 PCO PCL 6 lt l 20 PCO SG 7 6 SG Al O VTG 8 l i AO_1 TREF 9 lt l t l t 9 T REF OV for 24V 10 lt e i 7 32 ALM OV for 24V 11 4 i i DO 2 PCON 12 lt l i 41 P CON Switches the control mode DO 4 13 7 i 9 45 P CL Depends on the user settings DO 3 14 i l A 46 N CL Depends on the user settings DI_3 P OT 15 e l f 42 P OT 24V 16 lt 47 24V IN DI 0 SVALM 17 j T t T 31 ALM DI 2 ZEROIHOMELS 18 4 4 i SG 19 lt T l T i 10 SG i i i roe Control power supply Al 1 TMON 21 4 i i i L1 22 H i L2 I ipai PB 23 k 35 PBO 34 Main circuit power supply PBL 24 4 36 PBO Do e
35. 9 72 9 11 Limiting Force 2 Input Signals Type Signal Connector Pin Name Name Number Input T REF CN1 9 Force reference input CNI 10 Signal ground for force reference input The force limit input gain is set in parameter Pn400 Refer to 9 9 1 Setting Parameters W Input Specifications Input range 1 VDC to 10 VDC rated force e Maximum allowable input voltage 12 VDC Type Signal Connector Pin Setting Meaning Limit Value Name Number Input P CL CN1 45 ON low level Forward external force limit The analog voltage reference Factory setting ON limit or the value set in Pn483 or Pn404 whichever is smaller OFF high level Forward external force limit Pn483 OFF Input N CL CN1 46 ON low level Reverse external force limit The analog voltage reference Factory setting ON limit or the value set in Pn484 or Pn405 whichever is smaller OFF high level Reverse external force limit Pn484 OFF When using the force limiting with the external force 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 8 3 2 Input Circuit Signal Allocation 9 11 5 Checking Output Force Limiting during Operation The following signal can be output to indicate that the servomotor
36. 9 9 4 Limiting Linear Servomotor Speed during Force Control During force control the linear servomotor is controlled to output the specified force which means that the linear servomotor speed is not controlled Accordingly when an excessive reference force 1s set for the mechanical load force it will prevail over the mechanical load force and the linear servomotor speed will greatly increase This function serves to limit the linear servomotor speed during force control to protect the machine With No Speed Limit With Speed Limit Danger of damage due to A Motor speed excessive machine speed Motor speed 1 Maximum speed x Safe operation with speed limit Speed limit 4 7 1 Speed Limit Mode Selection Force Limit Option Pn002 n OO00 Uses the value set in Pn480 as the speed limit internal speed limit function voltage of V REF and the setting in Pn300 external speed limit function n0010 Uses V REF CNI 5 6 as an external speed limit input Applies a speed limit using the input 9 63 9 Operation 9 9 4 Limiting Linear Servomotor Speed during Force Control 2 Internal Speed Limit Function Pn480 Speed Limit During Force Control Setting Range Setting Unit Factory Setting Setting Validation 0 to 5000 5000 Immediately Sets the linear servomotor speed limit value during force control The setting in this parameter is enabled when Pn002 n OOO The servomotor s
37. 12 23 list of utility function modes 8 8 load regulation 4 4 M magnetic contactor 6 31 magnetic contactors selection 2 12 magnetic way model designations 2 59 main circuit wiring examples 7 18 manual adjustment of the force reference offset 9 62 manual offset adjustment of the motor current detection signal Fn00F 8 15 manual tuning 10 12 mass ratio formula 9 10 9 17 max output current 4 3 MECHATROLINK I I F unit 6 41 mode switch P PI switching 10 19 MODE SET key 8 3 molded case circuit breaker MCCB 2 11 6 26 monitor display feedback pulse counter 8 33 reference pulse counter 8 33 monitor mode 8 30 motor models display Fn011 8 17 mounting spacer 7 10 N names and functions of main circuit terminals 7 15 POM ie ckes 7 26 NEAR o Sc22 eset tod ysct ete tee ee ese 7 27 nois
38. Current sensor a t DC DC i LCI converter ASIC PWM control etc a lt Power Power Open during CN1 PG output Reference pulse input supply Supply servo alarm 1RY p Pi m T 1KM 1 4 j4 AID Speed and force P TT 4KM 1RY 5 9j toj loj lol CPU reference input 1KM Surge i Panel operator Position Speed calculation etc suppressor Analog voltage VO Sequence I O i converter We CN10 Jens CN3 mal 4 a x mt gt 1 Connector for Analog monitor Digital operator or application output for personal computer module supervision 4 9 4 SERVOPACK Specifications and Dimensional Drawings 4 3 4 Three phase 200 V 7 5 kW Models 4 3 4 Three phase 200 V 7 5 kW Models Three phase
39. 12 29 12 Appendix 12 4 2 List of Parameters Parameter Factory Setting Reference Pn207 Position Control Function Switches 0000 After restart 4th 3rd 2nd 1st digit digit digit digit Position Reference Filter Selection Refer to 9 8 4 Smoothing Acceleration deceleration filter Average movement filter Position Control Option E to 10 4 3 i Uses V REF as a speed feed forward input Dividing Ratio Parameter Selection oo Uses Pn201 16 bit or less Uses Pn212 17 bit or more Pulse Reference Input Terminal Selection o Inputs pulse reference from CNI Inputs pulse reference from CN8 when an application module JUSP LD001A is mounted Position Reference Movement Averaging 0 to 6400 0 01 ms After Time restart Available only for the software version 32 or later 12 30 12 4 List of Parameters Parameter Factory Setting Reference dai dd pu Sein VALo Pn21 7 Reference Pulse Input Multiplication 1 to 99 Immedi ately Pn218 Reference Pulse Input Multiplication 0000 After Function Selection restart 4th 3rd 2nd 1st digit digit digit digit Reference Pulse Multiplication Function Selection o Disabled Enabled Reserved Do not change Reserved Do not change Reserved Do not change Linear Scale Pitch 0 to 65535 After restart Pn281 PG Divider 1 to 255 1P scale After 9 7 7 pitch restart Speed Reference Input Gain 150 to 3000 i AME T ately Pn305 Soft Start Accelerati
40. 8 1 Functions on Digital Operator Panel Operator 2 Codes and Meanings Baseblock Run Forward Run Prohibited Reverse Run Prohibited Alarm Status Displays the alarm number 8 Digital Operator Panel Operator 8 2 1 List of Utility Function Modes 8 2 Operation in Utility Function Mode FnOOQ 8 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 Oo 9 7 3 9 9 3 Fn014 Application module detection results clear Note When the parameters marked with O in remarks column or in PnLILILI are set for Password Set Fn00C Manual zero adjustment of analog monitor output Fn00D Manual gain adjustment of analog monitor output Ea py La o IE END NECS NE c pe Will EnA MimelegnewntopqesieN uno S LUGNNEUOILTLILILLLLLD ANM ME MN EUM E unu eal ELE NLIS p NE MN EON ting Fn010 the indication shown below appears and such parameters cannot be changed Blinks for one second 8 8 8 2 Operation in Utility Function Mode FnOOD 8 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
41. 8 16 8 2 10 Motor Models Display Fn011 8 17 8 2 11 Software Version Display Fn012 8 18 8 2 12 Application Module Detection Results Clear Fn014 8 19 8 3 Operation in Parameter Setting Mode PnLILILI 8 20 8 3 1 Setting Parameters 8 20 8 3 2 Input Circuit Signal Allocation 8 24 8 3 3 Output Circuit Signal Allocation 8 28 8 4 Operation in Monitor Mode UnLILILI 8 30 8 4 1 List of Monitor Modes 8 30 8 4 2 Sequence l O Signal Monitor Display 8 31 8 4 3 Operation in Monitor Mode 8 32 8 4 4 Monitor Display of Reference Pulse Counter and Feedback Pulse Counter 8 33 8 4 5 Allowable Maximum Motor Speed for Dividing Ratio Monitor For the software version 32 or later 8 34 8 4 6 Hall Sensor Signal Monitor For the software version 32 or later 8 35 8 Digital Operator Panel Operator 8 1 1 Connecting the Digital Operator 8 1 Functions on Digital Operator Panel Operator This section describes the basic operations of the digital operator hereinafter called the digital operator and the panel operator hereinafter called the panel operator for setting the operating conditions Set parameters and JOG operation and disp
42. 2 T Control power supply Main circuit power supply L Linear scale F3 Serial converte unit Properly treat the ends of shielded wired The ALM signal is output for about two seconds after the power is turned ON Take this into consid eration 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 Set parameter Pn200 0 to 1 Connect the shield wire to the connector shell 4 z represents twisted pair wires Note Only signals applicable to OMRON s MC unit positioning unit and Yaskawa s SGDS SERVO PACK are shown in the diagram Linear servomotor 12 3 Connection to Host Controller 12 3 4 Example of Connection to OMRON s Position Control Unit C500 NC221 SERVOPACK in Speed Control Mode SGDH SERVOPACK 2 Position control unit I O power supply 2 C500 NC221 SAU Ett 24V us d manufactured by Sees 024V L1 0 OMRON L2 X axis Y axis L3 QO EXT IN 8 9 j 24V ji ON waen Linear servomotor ositionin 2 12 ccwLx 3 is cancelled U 3 13 sTPX 7 1 ps when Vs ne roximl M lt ESTER A S deteced Gc T SUS EMGX p
43. 540 21 26 23 03 60 2 36 x 9 0 35 Reference length 3 56 3 8 Dimensional Drawings of SGLTW SGLTM Linear Servomotors 2 Magnetic Way SGLTM 800100A step 153 46 02 max preshipment Mount the magnetic way so that its corner surfaces are flush with the inner Note 1 0 75 19 1 0 5 4 47 0 02 preshipment ie Q4 111 8 0 3 4 4040 01 113 5 1 5 0 3 e e s S 1 amp k0 06 0 01 e o S NIE oL rE _ Do g i FI 37 9 1 49 2xN2 09 0 35 mounting holes See the sectional view for the depth F Spacers Do not remove them Nameplate oN until the coil assembly is mounted 2 x N1 M8 screws depth 10 on the machine Mount the magnetic way so that its corner surfaces qj are flush with the inner step r 111 840 3 4 40 0 01 Assembly Dimensions 2 96 Reference length Units mm in Two magnetic ways for both ends of coil assembly make one set Spacers are mounted on magnetic ways for safety during transportation Do not remove the spacers until the coil assembly is mounted on a machine The magnetic way may affect pacemakers Keep a minimum distance of 200 mm 7 87 in from the magnetic way Two magnetic ways in a set can be connected to each other The dimensions marked with an
44. 9 2 2 Setup Procedure Using Linear Servomotors with Hall Sensors Perform the following steps 1 to 7 in order 1 Installation and Wiring of the Linear Servomotor and Linear Scale Install the coil assembly and linear scale so that the motor forward direction and linear scale count up direction are the same IMPORTANT If the motor forward direction and linear scale count up direction do not match and the linear servomotor is run in this state the linear servomotor may not operate or overrun may occur When using linear X series servomotors the motor forward direction coil assembly s movement direction when current flows through phases U V and W in that order is toward the side from which the motor cable is extended The analog 1 V p p voltage input from the linear scale to the serial converter unit is counted during phase A cos signal progression ne Phase A progression pulse increase Phase B progression pulse decrease 9 2 Trial Operation Using SERVOPACK Internal References inrofS B Motor Forward Direction and Linear Scale Count Direction Do Not Match Ifthe motor forward direction and linear scale count direction are opposite due to wiring or other factors set the parameter Pn080 1 1 B phase progression U V W phase in order Available only for the software version 32 or later W Linear Scale Count Direction The Heidenhain or Renishaw linear scale counts pulses when the sensor head is oper
45. Electrical angle 1 16 bit decimal code Number of pulses from the phase U 0 Un004 Electrical angle 2 Angle from 0 zero degree of phase U Un005 1 Input signal monitor E 2 X Unooe 1 Output signal monitor Loos 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 0 Un009 Accumulated load rate value for the rated force as 100 Displays effective force 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 UnOOC 2 Input reference pulse counter 32 bit hexadecimal code valid only in position control mode UnO0D Feedback pulse counter 32 bit hexadecimal code p Un010 Allowable maximum motor speed and dividing ratio monitor 100 mm s or pulse For the software version 32 or later scale pitch Pn280 Un011 Hall sensor signal monitor For the software version 32 or later 1 Refer to 8 4 2 Sequence I O Signal Monitor Display 2 Refer to 8 4 4 Monitor Display of Reference Pulse Counter and Feedback Pulse Counter 8 30 8 4 Operation in Monitor Mode UnOOD 8 4 2 Sequence l O Signal Monitor Display The following section descr
46. MODE SET MODE SET Key After about one second LI 1 2 3 4 5 6 DATA ENTER DATA DATA ENTER Key pATA SHIFT Key Press at least 1 s 8 14 Press the DSPL SET or MODE SET Key to select the utility function mode Press the UP or DOWN Key to select FnOOE Note The enabled digit blinks Press the DATA ENTER Key once or DATA SHIFT Key for more than one second and the display will be as shown on the left Press the DSPL SET or MODE SET Key The offset will be automatically adjusted When the adjustment completes the display shown on the left blinks for about one second The display changes from donE to the display shown on the left Press the DATA ENTER Key once or DATA SHIFT Key for more than one second to return to the utility function mode display FnOOE 8 2 Operation in Utility Function Mode FnOOD 8 2 8 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 force 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 mm s and adjust the operator until the force monitor ripple is mi
47. Operation The linear servomotor can now be run Adjust the servo gain if necessary Refer to 12 10 1 Autotuning If an error occurs refer to Section 11 Inspection Maintenance and Troubleshooting Host reference 9 5 9 Operation 9 2 1 SERVOPACK Setup Procedure 9 2 Trial Operation Using SERVOPACK Internal References 9 2 1 SERVOPACK Setup Procedure The setup procedures for combinations of a linear servomotor with hall sensor and those for combinations of a linear servomotor without a hall sensor are different Use the setup procedure appropriate for the system being used Cate Setup procedure for linear servomotors Setup procedure for linear servomotors gory with hall sensors without hall sensors Proce Install and wire the linear servomotor and linear Install and wire the linear servomotor and linear dure scale scale Adjust the linear scale Connect the cables Adjust the linear scale Connect the cables Set the linear scale pitch Check the feedback signal Set the linear scale pitch Select No Hall Sensor in the parameters Check the feedback signal Assign polarity detection start input P DET Set the mass ratio Perform jog operation from the panel operator Set the force limit OOND N Set the overtravel signal 10 Set the force limit 11 Check the polarity detection operation 12 Adjust the polarity detection 13 Perform a jog operation from the panel operator
48. 0 200 400 Force N SGLTW 35A170H 600 700 Motor speed m s 0 200 400 600 Force N SGLTW 50A170H Motor speed m s A B 4 3 4 3 SGLTW 20A320A 6 5 Motor 4 speed m s 3 A B 2 1 0 0 200 400 600 800 Force N SGLTW 35A320A 6 5 Motor 4 speed m s 3 A B 2 1 0 0 400 800 1200 1400 0 Force N SGLTW 35A320H 3 o 400 800 Force N SGLTW 50A320H 1200 j eo 600 1200 Force N 1800 SGLTW 20A460A 0 200 400 600 800 1000 1200 Force N SGLTW 35A460A 500 1000 1500 2000 2500 Force N 3 3 Ratings and Specifications of SGLTW SGLTM A Continuous duty zone B Intermittent duty zone SGLTW 40A400B SGLTW 40A600B 4 4 3 Motor Motor speed speed m s 2 m s 2 1 1 A B A B 0 0 0 1000 2000 3000 0 2000 4000 Force N Force N SGLTW 80A400B SGLTW 80A600B 4 4 3 3 Motor Motor speed speed m s 2 m s 2 1 1 A B A B 0 0 0 2000 4000 6000 0 2000 4000 6000 8000 Force N Force N 3 Specifications and Dimensional Drawings b 400 V Class A Continuous duty zone B Intermittent duty zone
49. 24 99 0 4 0 98 0 02 1 5 0 06 le 6540 3 2 56 0 01 11 8141 18 3 0 12 0 12 le 72 2 83 aid Gas 82 0 3 3 22 0 01 Linear scale end Analog 14 35 0 4 0 56 0 02 90 3 54 signal input connector CN2 22 5 0 89 4xM5 tapped holes depth 10 0 39 Units mm in 5 8 5 3 Dimensional Drawings of Serial Converter Unit CN1 CN2 CN3 SERVOPACK end Linear scale end Linear scale end serial data output Analog signal input Hall sensor signal input 9 6 8 5 17 series connector model 17 series connector model 17 series connector model 17JE 13090 27 17JE 13150 02 D8C 17JE 13090 socket by DDK Ltd socket by DDK Ltd by DDK Ltd S phase output s emy 8 emy 9 eos input Vie zi s Em s Emy Shield Note 1 Do not use empty pins 2 The linear scale analog 1 Vp p output D sub 15 pin male by Renishaw Inc can be directly connected However the BID and DIR signals are not connected 3 U phase V phase and W phase input are internally pulled up at 10kQ 5 9 6 Specifications and Dimensional Drawings of Cables and Peripheral Devices 6 1 Linear Servomotor Main Circuit Cables 6 2 6 2 Cables for Connecting Serial Converter Units 6 8 6 3 Cable
50. 6 18 1 se orange Re 1 3 ew Rea 1 s vn white Red 1 6 SG j Whte Black 1 7 Pus verw Red 1 s us verw Be 1 s Tm m Red 1 n sew Orange Red 2 35 Gray Red 2 35 ck white Red 2 35 white Bia 2 4 wew Red 2 8 veew wax 2 19 eco Pm Red 2 20 PCO Pink Black 2 22 Orange Black 3 onm dE Ca Gray Black 3 25 mome wwe Rea 3 zr neon verw Rei 3 _ Pink Red 3 31 ALM Orange Red 4 35 wo Gry Rea 4 35 Peo white Rea 4 37 ALO1 Yellow Red 4 aos Pink Red 4 Pink 4 ip con Orangel Red 5 43 N OT Gray Red 5 white Red 5 White 2avN Yelow Red 5 48 veew sex 5 49 Pink Red 5 50 B Pink Black 5 Meu Shield Host controller end Lead Marker No BR NIN o N Co 2 30 31 32 o WLW W W W w w OJIN AJ A POT M TM ITM PD e Se Se ex ak as a o e represents twisted pair wires 6 8 Peripheral Devices 6 8 Peripheral Devices 6 8 1 Cables for Connecting Personal Computers Cable Type JZSP CMS02 Dimensional Drawing SERVOPACK end Personal computer end Half pitch connector D sub connector 9 pin Plug 10114 3000VE Personal computer end SERVOPACK end 17JE 13090 02 D8A Shell
51. Alarm Traceback Data Clear For details refer to 8 2 6 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 See 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 IJ I l LI Digital operator transmission error 2 LJ L LI Refer to 71 1 Troubleshooting for alarm number and contents roD 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 Display after Press the DSPL SET or MODE SET Key to select Alarm e Traceback Data Display Fn000 If a number other than SET MOBEGET Fn000 is displayed press UP Key or DOWN Key to set DSPL SET Key MODESET Key Fn000 Note The enabled digit blinks Press the DATA ENTER Key once or DATA SHIFT Key lt 4 DATAA for more than one second DATA ENTER Key DATA SHIFT Key The latest alarm data is displayed Press at least 1 s 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 th
52. 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 7 2 1 Names and Functions of Main Circuit Terminals Terminal Symbol Name Main Maximum Functions Circuit Applicable Voltage Servomotor V Capacity KW L1 L2 Main circuit power 200 0 05 to 0 4 Single phase 200 to 230 VAC 19 6 15 50 60 Hz m Spr en eso 9 0 510 7 5 Three phase 200 to 230 VAC 0 15 50 60 H oli 400 051075 Three phase 380 to 480VAC 1 15 50 60 Hz Servomotor Connects to the servomotor U VW A connection terminals L1C L2C Control circuit power 200 0051075 Single phase 200 to 230 VAC 0 15 50 60 Hz 24V COV supply input terminal 49 051075 24 VDC 15 Ground terminals Connects to the power supply ground terminals and servomotor ground terminal 400 External 200 0 05 to 0 4 Normally not connected regenerative Connect an external regenerative resistor provided resistor connection by customer between B1 and B2 if the regenerative terminal capacity is insufficient 0 5 to 5 0 Normally short B2 and B3 for an internal regenera regenerative resistor is insufficient 0 5to 5 0 tive r
53. 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 9 36 9 7 Operating Using Speed Control with Analog Reference 9 7 2 Setting Input Signals 1 Speed Reference Input Input the speed reference to the SERVOPACK using the analog voltage reference to control the linear servomotor speed in proportion to the input voltage Type Signal Connector Pin Name Name Number Input V REF CNI 5 Speed Reference Input CNI 6 Signal Ground for Speed Reference Input The above inputs are used for speed control analog voltage reference Pn000 1 0 4 7 9 or A Pn300 is used to set the speed reference input gain Refer to 9 7 1 Setting Parameters W Input Specifications Input range 2 VDC to 10 VDC rated speed Maximum allowable input voltage 12 VDC Setting Example Pn300 600 Rated speed at 6 V Rated motor speed Actual examples are shown below Factory setting Speed Reference Movement 4 8 12 Input Direction Input voltage V 6 V Forward Rated motor speed 1500 mm s SGLGW Linear Motor Speed EXP Omolor Rated motor speed 1V Forward 1 6 rated motor speed 250 mm s The slope is set in Pn300 3 V Reverse 1 2 rated motor speed 750 mm s 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 term
54. SGLGM SGLGM 40000C 40000CT 9 0 2 25 4 0 35 0 01 25 4 L124 1 unit 0299 o 920 2 D mm warning aav Nameplate Warning label 54 0 21 X X NxM5 mounting screws depth 13 0 51 per unit Only for SGLGM CT Standard force Magnetic Way 90 45 2 0 40090C or 40090CT re 225 180 5 2 40225C or 40225CT 8 86 7 09 8 X Reference length Units mm in 3 405 360 9 3 40405C or 40405CT 5 o 14 17 035 0 72 8 0 Standard 360 315 l andar sasgoc or a0s600T SS 5 450 405 10 3 9 40450C or 40450CT 17 72 15 94 0 39 3 22 3 6 Dimensional Drawings of SGLGW SGLGM Linear Servomotors 4 High force Magnetic Way SGLGM A40LILILIC M SGLGM 40000CT M SGLGM SGLGM 40000C M 40000CT M L1 33 1 unit 74 2 31 8 7 4102 31 8 lt 4 g 0 29 001 1 42 2302 0 293001 12 2 02 Nameplate Warning label 0 48 0 01 0 22 mounting holes per unit 5 5 0 22 b10 50 39 22 5 0 89 L2 22 5 s H d dex 5 4 5 4 0 21 e 0 21 N M5 screws depth 13 0 51 per unit xx XX Only for SGLGM CT M E T Reference length Units mm in High force Magnetic Way Model SGLGM 90 l 40090C M or 40090CT M a 5 39 a p 0 T 2
55. SGLTW 35D170H SGLTW 35D320H 0 200 400 600 0 400 800 1200 Force N Force N SGLTW 50D170H SGLTW 50D320H 5 5 4 Motor speed 3 m s 2 A B 1 nis 0 0 300 600 900 0 600 1200 1800 Force N Force N SGLTW 40D400B SGLTW 40D600B 4 4 3 Motor speed A m s 2 1 a eee 4 0 0 1000 2000 3000 0 2000 4000 Force N Force N SGLTW 80D400B SGLTW 80D600B 4 4 Motor speed m s 2 1 0 0 2000 4000 6000 0 2000 4000 6000 8000 Force N Force N Note The dotted line indicates characteristics when the linear servomotor for 400 VAC is used with an input power supply for 200 VAC In this case the serial converter should be changed Contact your Yaskawa representa tives 3 14 3 4 Mechanical Specifications of Linear Servomotors 3 4 Mechanical Specifications of Linear Servomotors 1 Impact Resistance e Impact acceleration 196 m s Impact occurrences twice 2 Vibration Resistance The linear servomotors will withstand the following vibration acceleration in three directions Vertical side to side and front to back e Vibration acceleration 49 m s 3 Specifications and Dimensional Drawings 3 5 Quick Guide to Linear Servomotor Dimensional Drawings 3 16 Linear Servomotor Model
56. T TL2C ME 4 converter I etc 1 control etc I 9 5v os f DO 12V PG output 1 gt a oi eee RO Y ROS m 5V Supply Soonly Open during T Reference pulse input OFF ON servo alarm 1RY BIBIBIBIB P m m 1KM i CL 7 a AD Speed and force 1 p KM Pas o fol fel fo ov CPU reference input POWER m Position Speed calculation etc 1KM Surge 1 Panel operator p suppressor Analog voltage J VO M Sequence I O converter Ni le CN10 jo ons nd a E B j m E E P z 1 Connector for Analog monitor Digital operator or application output for personal computer module supervision 4 3 3 Three phase 200 V 2 0 kW to 5 0 kW Models Three phase 200 to 230V 127 50 60 Hz l di T H 7 H 7 7 B1 B2L B3 H B T 7 7 j Bi FAN1 i IQ FU1 Noise l P t T T P 1 filter 12 V Linear servomotor CHARGE ZN 4 VN U K a T v v k W para 1 7 AN w 0 1 N i N71 S a Gate drive over amp x Relay drive Voltage Gate drive current protector Fs Interface o sensor Ej P 4 cN2 P Voltage __ n gt sens r 1 i i i
57. Type Signal Connector Meaning Name Pin Number ALOI CNI 37 Alarm code output ALO2 CNI 38 Alarm code output ALO3 CNI 39 Alarm code output CNI 1 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 77 1 1 Alarm Display Table for details on alarm code output 9 76 9 13 Other Output Signals 9 13 2 Warning Output WARN Type Signal Connector Setting Meaning Name Pin Number AVARN Masi be allocated ON high evel OFF ow lev This output signal displays warnings before an overload A 71 or regenerative overload A 32 alarm is output For use the WARN signal must be allocated with parameter Pn50F For details refer to 8 3 3 Output Circuit Signal Allo cation Related Parameters The following parameter is used to select the alarm code output Description Pn001 n 0000 Outputs alarm codes alone for alarm codes ALO1 ALO2 and ALO3 pom 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 9 13 1 Servo Alarm Output ALM and Alarm Code Output ALO1 ALO2 ALO3 for alarm code descriptions Refer to 71 1 2 Warning Display for the ON OFF combinations of ALO1 ALO2 and ALO3 when a warning code is out put 9 13 3 Ru
58. a utility function mode EDD LI DSPL SET Key e MODE SET Key Press the UP or DOWN Key to select Fn012 ED e Note The enabled digit blinks Press the DATA ENTER Key once or DATA SHIFT Key for more than one second to display the DATA SHIFT Key SERVOPACK software version number Press at least 1 s Press the DSPL SET or MODE SET Key to display the encoder software version number MODE SET MODE SET Key Press the DATA ENTER Key once or DATA SHIFT 9 Key for more than one second to return to the utility DATA 4 DATA SHIFT Key function mode Fn012 DATA ENTER Key Press at least 1 s 8 18 8 2 Operation in Utility Function Mode FnOOD 8 2 12 Application Module Detection Results Clear Fn014 The alarm A E7 application module detection error occurs when turning ON the power for the first time when the SERVOPACK is used without application module after the SERVOPACK has been used with application module Clearing application module detection results is performed as using the SERVOPACK individually without operating the application module detection Restarting again after performing the following operation will clear and reset the alarm A E7 Then the opera tion of SERVOPACK without application module is enabled IMPORTANT RTANT Because the parameter is set for the SERVOPACK with an application module change the setting or initial ize the parameter value Fn005 of utility functio
59. an offset in the reference voltage Reference yoltage Automatic offset adjustment reference Reference yoltage 1 Force reference Offset automatically adjusted in SERVOPACK 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 force reference offset Fn00B 1 Automatic Adjustment of the Force Reference Offset The automatic adjustment of analog reference offset Fn009 cannot be used when a position loop has been formed with the host controller Use the force reference offset manual adjustment Fn00B IMPORTANT The analog reference offset must be automatically adjusted with the servo OFF 9 61 9 Operation 9 9 3 Adjusting the Force Reference Offset Use the following procedure for automatic adjustment of the force reference offset Step Display after Digital Panel Description Operation Operator Operator Turn OFF the SERVOPACK and input the 0 V reference volt age from the host controller or external circuit SERVOPACK Linear servomotor 0 V force reference Servo OFF Host controller Slow movement Servo ON Press the DSPL SET or MODE SET Key to select the utility EZ SET function mode MODE SET DSPUSETKey MQDE SET Key Press the LEFT RIGHT or UP DOWN Key or UP or DOWN Key to select parameter Fn009 The di
60. burning vii A WARNING Provide an appropriate stopping device on the machine side to ensure 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 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 B Checking on Delivery N CAUTION Always use the linear 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 Be sure to store the magnetic way of the linear servomotor in the same way as it was originally packaged 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 stora
61. the IGBT or Heat Sink Overheated oard and the thermostat switch he SERVOPACK board fault occurred 4 Occurred when the he connection between grounding and U V or W Check and then correct the wiring main circuit power is incorrect supply was turned ON or when an 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 frequency 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
62. 3 gee PERS Allowable frequency Used d sed spee en For SGLGW n 15 Ww WM For SGLTW and SGLFW n GE 13 excluding SGLTW 40 and 80 W WM For SGLTW 40 and 80 n gt Wm Linear servomotor coil assembly mass eW Load mass including coil assembly 12 5 12 Appendix 12 2 1 Simple Calculation 3 SERVOPACKs with Capacity of 7 5 kW SERVOPACKs with capacity of 7 5 kW do not have built in regenerative resistors The following table shows the allowable regenerative frequencies when the following regenerative resistor is used together with an applicable SERVOPACK e 200 V Class JUSP RA05 400 V Class JUSP RA18 The linear servomotor driven conditions and the conversion equation of the allowable regenerative frequencies to the speed and load mass are the same as 2 SERVOPACKs with Capacities of 500 W to 5 0 kW Linear Servomotor Allowable Frequencies in Load Condition Model Regenerative Mode times min A 3 Seu 8656008 8OD6008 12 6 12 2 Calculating the Required Capacity of Regenerative Resistors 12 2 2 Calculating the Regenerative Energy This section shows the procedure for calculating the regenerative resistor capacity when acceleration and decel eration operation is as shown in the following diagram Vm Motor speed 0 gt tp Motor force Regenerative force 1 Calculation Procedure The procedure for calculating the regenerative capac
63. CN1 Linear scale 6 16 cwix 4R Ry a Ms 34 k 5 1 44 DC GND it gt NE Serial a5 eg 11 amp DC GND 4 ALM y 32 MID 11 24VIN 47 Properly treat the ends of shielded wires gt 12 24V 3 19 OUT 1X S ON 40 9 25 X OUT V REF T REF 5 9 8 24 X AG sG1 6 10 42 P OT 7 23 X A PAO 33 3Ry 6 22 X A P IPAO 34 i 5 21 XB A PBO 35 43 NOT 024V 4 20 XB X IZ PBO36 4Ry 16 14 X C d PCO 19 15 13 X C IZ IPCO 20 1 17 OV m SGT 1 Connector 2 shell 1 The ALM signal is output 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 1 Ry to stop main circuit power supply to the SERVOPACK 2 Connect the I O cable s shield wire to the connector shell 3 Ea represents twisted pair wires Note Only signals applicable to OMRON s C500 NC221 position control unit and Yaskawa s SGDH SERVOPACK are shown in the diagram 12 19 12 Appendix 12 3 5 Example of Connection to OMRON s Position Control Unit C500 NC112 SERVOPACK in Position Control Mode 12 3 5 Example of Connection to OMRON s Position Control Unit C500 NC112 SERVOPACK in Position Control Mode SGDH SERVOPACK 2 Lic o L2C O Position control L2
64. Control circuit terminal and regenerative resistor connecting terminals differ the position of the termi nal block by the SERVOPACK model Refer to Chapter 4 SERVOPACK Specifications and Dimensional Drawings for details SERVOPACK model SGDH 75AE Refer to 4 7 7 Three phase 200 V 7 5 kW 75AE and 4 9 1 Three phase 200 V 7 5 kW 75AE P SERVOPACK model SGDH 75DE Refer to 4 7 8 Three phase 400 V 7 5 kW 75DE and 4 9 2 Three phase 400 V 7 5 kW 75DE P 1 7 1 Outline 1 3 1 Single phase 200 V Main Circuit 1 3 Examples of Servo System Configurations This section describes examples of basic servo system configuration 1 3 1 Single phase 200 V Main Circuit Power supply Single phase 200 VAC R T Molded case circuit breaker MCCB Protects the power supply line by shutting the circuit OFF when an overcurrent is detected Refer to 2 6 2 Note To connect a DC reactor refer to 7 5 5 DC Reactor for Harmonic Suppression SGDH LILIAE s SERVOPACK Magnetic contactor Turns the servo ON S and OFF YASKAWA y SERVOPACK Noise filter Eliminates external noise from the power line Refer to 2 6 3 Install a surge suppressor Refer to E Connection cable for digital operator Personal computer Connection cable for personal computer C psa to 2 6 1 I O signal cable Refer to 2 6 1 Regenerative A SN resist
65. 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 10 21 10 Adjustments 10 4 6 Setting the Speed Bias 10 4 6 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 Ee Setting Range Setting Unit Factory Setting Setting Validation Bias Width Addition Setting Range Setting Unit Factory Setting Setting Validation 0 to 250 1 Reference units Immediately To reduce the positioning time set these parameters based on the machine s characteristics The Bias Width Addition Pn108 specifies when the Bias Pn180 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 Pn180 Error pulse Bias Pn180 Bias width addition Pn108 10 4 7 Speed Feedback Filter Pn308 Speed Feedback Filter Time Constant Setting Range Setting Unit Factory Setting Sett
66. Linear Servomotor Peak Speed Setting When connecting the linear servomo Available tor a value higher than the linear ser vomotor peak speed was set for Pn384 Overload High Load The motor was operating for several Available seconds to several tens of seconds under a force largely exceeding rat ings Overload Low Load The motor was operating continuously Available under a force largely exceeding rat ings Dynamic Brake Overload When the dynamic brake was applied Available Not detected for the SERVOPACKs kinetic energy exceeded the capacity with the capacity of 50 W to 1 0 kW of dynamic brake resistor Overload of Surge The main circuit power was frequently Available Current Limit Resistor turned ON and OFF Heat Sink Overheated The heat sink of SERVOPACK over Available Not detected for the SERVOPACKs heated with the capacity of 50 W to 1 0 kW Encoder Checksum Error The checksum results of encoder memory is abnormal Encoder Data Error Data Error Data in the Data in the encoder is abnormal is abnormal po l i Speed Input Read Error Ee A D converter for reference speed a input is faulty Reference Force Input Read Error The A D converter for reference force Available input is faulty Current Detection Error Current sensor error was detected or Available linear servomotor line was discon nected System Alarm A system error occurred in the SERVOPACK Servo Overrun Detected The serv
67. Linear X Series SGLLJLJ SGDH USER S MANUAL SGLGW SGLFW SGLTW Linear Servomotors SGDH SERVOPACK YASKAWA MANUAL NO SIEP S800000 19C Copyright 2003 YASKAWA ELECTRIC CORPORATION All rights reserved No part of this publication may be reproduced stored in a retrieval system or transmitted in any form or by any means mechanical electronic photocopying recording or otherwise without the prior written permission of Yaskawa No patent liability is assumed with respect to the use of the information contained herein Moreover because Yaskawa is con stantly striving to improve its high quality products the information contained in this manual is subject to change without notice Every precaution has been taken in the preparation of this manual Nevertheless Yaskawa assumes no responsibility for errors or omissions Neither is any liability assumed for damages resulting from the use of the information contained in this publication About this Manual W Intended Audience This manual is intended for the following users Those selecting I Series servodrives or peripheral devices for X II Series servodrives Those wanting to know about the ratings and characteristics of Z 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 inspecting X II Series
68. Movement in the opposite direction is possible during overtravel For example SERVOPACK reverse run is possible during forward overtravel Limit Switch E IMPORTANT When the linear servomotor stops due to overtravel during position control the position error pulses are held A clear sig nal CLR input is required to clear the error pulses 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 overtravel input signal Meaning Pn50A Inputs the Forward Run Prohibited P OT signal from CN1 42 Factory setting Disables the Forward Run Prohibited P OT signal Allows constant forward run Inputs the Reverse Run Prohibited N OT signal from CN1 43 Factory setting Applicable control methods Speed control position control and force 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 8 3 2 Input Cir cuit Signal Allocation 9 32 9 6 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 Parameter Stop Mode Mode After Me
69. Reference length Units mm in Approx mass 13 5 kg 29 76 Ib External Terminal Connector SERVOPACK Connector TEE External Connector SERVOPACK Main circuit Control power regenerative Symbol Connector Model Manufacturer power supply supply resistor HIiIi5 Pavpov B1 B2 10250 52A2JL Sumitomo 3M Co Ltd OU Three phase 24 VDC 400 VAC 50 60 Hz 53460 0611 Molex Japan Co Ltd 10214 52A2JL Sumitomo 3M Co Ltd 4 23 4 SERVOPACK Specifications and Dimensional Drawings 4 8 1 Single phase 200 V 50 W 100 W 200 W ASAE R 01AE R 02AE R 4 8 Dimensional Drawings of Rack mounted SERVOPACK Model 4 8 1 Single phase 200 V 50 W 100 W 200 W A5AE R 01AE R 02AE R 4 24 17 5 0 69 195 7 68 Ground terminal 2xM4 screws External Terminal Connector Main circuit power supply La 12 O Single phase 200 VAC 50 60 Hz Control power supply L1C L2C Ie Single phase 200 VAC 50 60 Hz 11 5 0 06 42 1 5 22 5 0 89 24 5 36 22 5 32 5 1 28 2 0 89 65 60 20 hole 0 083 Mounting Hole Diagram 2xM4 screw holes 0 02 Mounting pitch 0 5 7 09 160 6 30 Min 166 6 54 180 SERVOPACK Connect
70. The SERVOPACKs with a capacity of 7 5 kW do not have a built in regenerative resistor The following regenerative resistor is required according to the SERVOPACK model SERVOPACK Model Regenerative Resistor Specifications Allowable Model Power Loss SGDH 75AE JUSP RAO05 3 13 0 1760 W 350W SGDH 75DE JUSP RA18 18 Q 880 W 180 W 2 Dimensional Drawings 4x6 0 24 Mounting holes Protective cover Ground terminal M4 screw External terminals M5 screws Cement resistor 30 1 18 Units mm in Units mm in Model W H M1 M2 Approx Mass kg Ib 300 350 95 250 335 7 diis oss 220 350 92 180 335 4 SPRS aso 3m aw 6 25 6 Specifications and Dimensional Drawings of Cables and Peripheral Devices 6 8 7 Molded case Circuit Breaker MCCB 6 8 7 Molded case Circuit Breaker MCCB Note the following descriptions when selecting a molded case circuit breaker IMPORTANT E Circuit Breakers Select a breaker for inverters High frequency current leaks from the servomotor armature because of switching operations inside the SERVOPACK 1 Maximum Input Current The instantaneous max
71. To power supply T Encoder cable 9 7 9 Operation 9 2 2 Setup 4 9 8 Procedure Using Linear Servomotors with Hall Sensors Setting the Linear Scale Pitch Grating Turn ON the control power supply When the power is supplied normally the panel operator on the front panel of the SERVOPACK will show the following display A linear scale pitch setting error A 08 will be displayed but does not indicate an error Set the scale pitch Pn280 according to the scale being used After setting validation of the control power the A 08 alarm will be cleared and the settings will be enabled Normal status Chri cl ry If an alarm other than A 08 is displayed as shown in the following diagram the power supply circuit linear ser vomotor main circuit cable or encoder cable wiring is the probable cause Shut down the power supply specify the location causing the alarm and take corrective measures so that the display returns to the above normal sta tus For details on alarms refer to 71 1 Troubleshooting Example of alarm display ale RIEL Linear Scale Pitch Setting Range Setting Unit Factory Setting Setting Validation 010 65535 Afer restari If the linear scale pitch Pn280 is not set correctly the linear servomotor cannot be controlled Make sure that the correct value is set before operating the linear servomotor When using a SERVOPACK right after factory shipment the alarm A 08 Linear Scale Pitch Setting E
72. are the dimensions between the magnetic ways Be sure to follow exactly the dimensions specified in the figure above Mount magnetic ways as shown in Assembly Dimensions The values with an amp are the dimensions at preshipment Use socket headed screws of strength class 10 9 minimum for magnetic way mounting screws Do not use stainless steel screws Magnetic Way Model SGLTM UASA 405 337 5 13 29 337 5 13 29 6 FI 14 15 94 67 5 2 66 x 5 0 20 33 75 1 33 x 10 0 39 0 24 0 43 30 86 80675A b 607 5 23 92 607 5 23 92 10 19 24 26 57 67 5 2 66 x 9 0 35 33 75 1 33 x18 0 7 0 39 0 75 52 91 45A 945 877 5 34 55 877 5 34 55 14 27 34 809 37 20 67 5 2 66 x 13 0 51 33 75 1 33 x 26 1 02 0 55 1 06 74 96 3 57 3 Specifications and Dimensional Drawings 3 8 6 SGLTLI 80 Linear Servomotors 3 Magnetic Way with Base SGLTM 80LILILIAY 3 58 14 4 0 57 25 0 98 L2 67 5 2 66 I 67 5 2 66 T 3 75 1 3 E pod dro i vt n 1 1 i 1 i lu 140 5 51 6 a 20 079 120 4 72 o rg gt e n 4 i 100 3 94 Coil assembly Base 5 NG X Xp X Y oy A His y r
73. can be directly connected Contact Heidenhain Corp for details 5 4 5 3 Dimensional Drawings of Serial Converter Unit 5 3 2 Linear Scale without Cable for Hall Sensor by Renishaw 1 Serial Converter Unit Model JZDP D005 000 2 Connection Example SERVOPACK SGDH OOOE 3 Dimensional Drawing 2x 4 2 2x 4 40 UNC tapped holes Serial converter unit JZDP D005 000 D sub 15 pin connector 4x 4 2 0 17 SERVOPACK end Serial data output connector CN1 24 99 0 4 0 98 0 02 1 5 0 06 a 3 0 12 14 35 0 4 0 56 0 02 Pin No Signal CN1 Pin No g 5V SERVOPACK end S phase output Serial data output Emply v id OV 6 S phase output 8 Emy 9 Emy 17 series connector model 17LE 13090 27 socket by DDK Ltd SERVOPACK does not have the function to process Vq signals Note 1 Do not use empty pins Linear scale by Renishaw Inc Linear scale end 60 17 holes holes Nameplate Analog signal input connector CN2 Y F VA Ir EE ds TITS jp ero Li S Zam N eI 4 di ss WO 300 30 6550 3 2 56 0 01 11 8141 18 72 2 83 82 0 3 3 22 0 01 90 3 54 Units mm in Ruf input Way Prt 6 7 a 9 10 fsi 12 03 14 15
74. d JK e amp npa Signal Differential voltage 2 0 3 V built in terminator 100 Q H 10 V min L 0 5 V min H 3 V min L 0 5 V min 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 50V 30 mA age 50V Ambient o O o Temperature 0 32 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 k 100 394 4 29 MS 478 0 31 aq nin r fa 204 5 0 16 m alla 60 18 hole o po N 4 JL ess seges B ay 5 0 20 df Jap ile eJ L cake i iii 4 40 0 2 D 50 1 97 E Y A M 1 57 0 0079 S Receiver unit Socket eis A 51 2 01 max 33 5 1 32 max 6 40 6 8 Peripheral Devices 6 8 14 MECHATROLINK I F Unit 1 Model JUSP NS100 for MECHATROLINK I communications JUSP NS115 for MECHATROLINK I II communications 2 Specifications Item JUSP NS100 JUSP NS115 SGDH LILILIE models Applicable SERVOPACK All SGDH LILILIE models software version 33 or later Installation Method Mounted on the SGDH SERVOPACK side CN10 Basic Power Supply Method Supplied from t
75. 19 Immediately Reverse External Force Limit Position Force Setting Range Setting Unit Factory E Setting Validation 010 800 immediately Note The setting unit is a percentage of rated force i e the rated force is 100 2 Input Signals Name Number Factory Setting ON Pn404 whichever is smaller OFF Input N CL CN1 46 ON low level Reverse external force limit The value set in Pn484 or Factory Setting ON Pn405 whichever is smaller OFF high level Reverse external force limit Pn484 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 8 3 2 Input Circuit Signal Allocation 9 69 9 Operation 9 11 2 External Force Limit Output Force Limiting by Input Signals 3 Changes in Output Force during External Force Limit Example External force limit Pn483 Pn484 set to 800 P CL Forward External Force Limit Input High level High level N CL Reverse External Force Limit Low Input level Note In this example the linear servomotor movement direction is Pn000 n LILILIO standard setting CCW forward 9 70 9 11 Limiting Force 9 11 3 Force Limiting Using an Analog Voltage Reference Force limiting by analog voltage refere
76. 3 32 SGLFW 35L1120ALI Gap1 0 04 Without magnet cover 50 min L1 gt 30 1 30 L2 25 0 98 i Hall sensor 1 18 1 18 36 Es A agnetic way 1 42 i X i E o a S CEU LEER E em d E i J D 5 Jara 48 amp ES D er l ra B et hd oy ej oe o ow ub E E P gt E S al 3 2xscrews roe See the figures and below amp 34 40 UNC oS L3 7 0 28 e 9 30 min g o 47 29 2 ee NS TN Stole The coil assembly moves in the X e OP 2 28 direction indicated by the arrow TN 9 ONS when current flows in the order GA of phase U V and W Dr 35 1 38 S X 2 Pd N SGLFW 350230A0 12xM4 tapped holes depth 5 5 0 22 6xM4 tapped holes depth 5 5 0 22 35 1 38 12 5 0 49 180 7 09 36 1 42 x 5 0 20 Refere Units m nce length m in ow in the fig v Sw and the he figure Hall Sensor Linear Servomotor Hall Sensor Output Signals Connector Specifications PRNG Name Connector Specifications When the coil assembly moves in the di Pin No Name Lead rection indicated by the arr 1 5v Power supply Hoece
77. 800 A 20A090A Loss W 600 400 200 0 0 100 200 300 Force Model SGLFW 1800 I 1ZA380B 1600 Fa 50A380B 1ZA200B 1400 50A200B 1200 Loss 4000 W 800 600 400 200 0 50 100 150 200 250 1800 1600 1400 1200 Loss 4000 W 800 600 400 200 0 Force 96 Model SGLFW 1ZD380B 50D380B p 1ZD200B 50D200B 0 50 100 150 200 250 12 12 Force 12 2 Calculating the Required Capacity of Regenerative Resistors c SGLTW Linear Servomotors 4000 Model SGLTW 3500 35A460A 35A320A 35A170A 3000 LG 20A460A 20A320A 2500 20A170A Loss W 2000 1500 1000 500 0 0 100 200 300 Force Model SGLTW 1200 4000 50A320H 35A320H 50A170H 800 gt 35A170H Loss wW 00 400 200 0 0 50 100 150 200 240 Force Model SGLTW 12000 od 10000 ne pis 40A600B Jut 8000 40A400B Loss 6000 4000 2000 Z 540 560 0 0 100 200 300 400 500 600 Force 12 13 12 Appendix 12 2 2 Calculating the Regenerative Energy
78. E Heat shrinkable tube 28 01 10 Finishied outer dia 6 8 00 27 S AN V pe SERVOPACK end W ce Ww i inal OSS Foe Mr erimpied terrain GY Cable UL2464 C Connector front view 2 AWG18 4C onnector by Interconnectron SPUCO6KFSDN236 Wire markers Units mm in a Cable Type Applicable Linear Servomotors Cable Type ay ie JZSP CLN14 01 SGLGW 30A00000D JZSP CLN14 03 3m 9 84 f 40A00000D 5 16 40 ft 60A0D0000D aes With a connector by Interconnectron for cede cela 200 V servomotor JZSP CLN14 15 15 m 49 21 ft JZSP CLN14 20 20 m 65 62 ft b Wiring Specifications SERVOPACK end Leads Linear Servomotor end Connector Wire Color Signal Signal Pin No Black White 1 Phase U Phase U 1 Black White 2 Phase V Phase V 2 Black White 3 Phase W Phase W 3 Green Yellow FG 4 5 FG 6 6 1 Linear Servomotor Main Circuit Cables 6 JZSP CLN15 Cables SERVOPACK end Linear servomotor end 8 5 0 33 50 1 97 L 61 2 40 i 3 4 0 13 27 2 1 07 Heat shrinkable tube Finishied outer dia 6 8 0 27 as Y EE Cable UL2464 ree tre Connector by Interconnectron Connector front view Wire mark rs LPRAO6BFRDN182 Units mm in M4 crimpted terminal gt C gt a Cable Type Applicable Linear Servomotors Cable Type m cn SGLFW 35D00000D
79. EE dl 3 4 ge sg S o 9 2 S Ti o F 1 T amp mz 9 gt gt x nM p P on T T 2 Nameplate Hall sensor Ine cor ae DE moves in the a pt i y the arrow when current flows 5 Protective tube in the order of phase U V and W kra LE 2xscrews 19 69 1 97 4x40 UNC 2 19 2 0 76 With magnet cover 19 0 75 Without magnet cover Gap 0 8 0 03 With magnet cover Gap 1 0 04 Without magnet cover Cable UL20276 AWG28 m 5a es E 5 1 38 Reference length 69 Units mm in Wiring specification of hall sensor cable Linear Servomotor Hall Sensor Output Signals Pin No Name Connector Specifications When the coil assembly moves in the di n rection indicated by the arrow in the fig 1 5VDC PinNo Name ure the relationship between the hall 2 Phase U 1 Phase U sensor output signals Su Sv Sw and the 2 Phase V inverse power of each motor phase Vu 3 Phase V Vv Vw becomes as shown in the figure Pin connector type 4 Phase W 4 _ Phase W below 17JE 23090 02 D8C Extension LRRAO6AMRPN182 5 Not used 5 ov i made by DDK Ltd Pin type 021 279 1020 N d The mating connector 6 Not used made by Interconnectron 6 ot use Vu T 7 N d Ground Socket connector t
80. EE 360 to 500 350000 sou Sem e ree z nun Note Use hexagonal socket head bolts tensile strength Class 10 9 7 1 Linear Servomotor Installation INFON The magnetic way s magnets exert strong magnetic attraction Make sure that any steel bolts or wrenches being used are 4 kept away from the magnets Always use bolts with a head height according to the dimensions shown in the following table Magnet i x Magnetic Way Model neag height K Magnetic i Bolt size is mm Reference way yoke SGLFM in 200000 Fig 1 4 2 0 17 max pes Magnet i T 350000 l soon 26 max sie 67626 m amr Fig 2 4 When joining magnetic ways together place the second magnetic way temporarily in line with and at least 30 mm apart from the first magnetic way Next match the direction of the magnetic ways standard mark Approx 4 mm dia indentation Refer to the diagrams in step 2 Next while holding the magnetic ways down so that they are not raised push the second magnetic way against the first magnetic way and secure with bolts Keep fingers clear to prevent them being jammed between the magnetic way due to the mag netic attraction pulling the magnetic ways together First magnetic way INFON Before installing additional magnetic ways install the coil assembly For details refer to 2 Coil Assembly Installation 7
81. Explanation Set correctly the mass ratio Pn103 The utility function Fn007 can be used after the online autotuning 2 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 Adjust the force reference filter time constant Pn401 so that no vibration occurs Repeat the steps 1 and 2 Then reduce the value for 10 to 20 5 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 To increase the servo gains more than the values set by the online autotuning To determine the servo gains and mass 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 Force Reference and Motor Speed and Position Error Monitor for the position control Refer to 10 5 Ana log Monitor The servodrive supporting tool SigmaWin allows you to observe such signals Prepare either of them 10 3 3 Position Loop Gain Position Loop Gain Kp Setting Range Setting Unit Factory Setting Setting Validation 1 to 2 000 immediately The responsiveness of the position loop is determined by the position loop gain The responsiveness incr
82. K 10 Resistance J 15 H 3 3 Specifications Resistance Tolerance K 10 J 596 H 396 Temperature Resistance 400 PPM C less than 200 260 PPM C 209 or more Characteristics Withstand Voltage 2000 VAC min AR 0 1 0 05Q Insulation Resistance 500 VDC 20 MQ or more Short time Overload When 10 times of rated power is applied for five seconds AR 2 0 05Q Life 1000 hours of repeating the operation ON for 90 minutes and OFF for 30 min utes AR 5 0 05 2 Heat Resistance Not ignite after having applied 10 times of rated electric power for one minute Operating Temperature 25 to 150 C 13 to 302 F 6 23 6 Specifications and Dimensional Drawings of Cables and Peripheral Devices 6 8 5 External Regenerative Resistor 4 Dimensional Drawings RH120 150 220 RH220B Units mm in Rated Power E Lead wire length L 500 19 69 Rated power 120 W N 195 D ea Resistance 1 Q to100 Q 212 180 44 120W 8 35 7 09 1 73 230 200 60 9 06 7 87 2 36 Units mm in 250 9 84 234 9 21 312 12 28 270 10 63 Lead wire length L 450 17 72 Lead wire length L 300 11 81 Rated power 300 W Rated power 200 W Resistance 1 O to 30 O Resistance 1 Q to 10kQ Units mm in Units mm in 6 24 6 8 Peripheral Devices 6 8 6 Regenerative Resistor 1 Models
83. L2 or L3 n 000 Applicable for DC power supply input Input the DC power supply between the terminal and the terminal 1 or the terminal and the terminal When changing the parameters turn the power ON again for the necessity of the effective setting 7 20 7 3 Wiring Encoders 7 3 Wiring Encoders 7 3 1 Connecting an Encoder CN2 and Output Signals from the SERVOPACK 1 Connecting a Linear Scale Made by Heidenhain Linear scale made by Heidenhain Serial converter unit SERVOPACK Host controller User s CN2 CN1 CN2 CN1 LUN Line receiver 1 f w COS 1 2 CAPS 5 PhaseA 33 PAO 4 2 3 S 3 PA L7 RB 4 gt Phase 9 gt 1 ICOSs 9 E lt IPS 6 lt A T i S Phase 35 PBO Jj 6 ENI 3 PA SIN y 3 i 36 X PBO R 7 1 I 1 i Phase bj 11 1 SIN 11 19 PCO 1 10 11 gt i gt E 20 pco 7 R 9 VT v oH Output line driver T 1 14 14 p t ud p i REF gt l SN75ALS194 manu ie 7 Vii REF 7 factured by Texas ge gt gt 1 Instrument or the A 5V s4 1 Wheat 1 quen Choke gt T OV S 2 5 lt y j PGOV 2 gt PGOV enn CN1 F Connector Qonnector i i s she she onnecto ov
84. 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 point pulse phase C position of the linear scale that outputs the zero point signal and to clamp at the position This mode is used to confirm that the linear scale outputs the zero point signal correctly When the maximum speed is set to 5 m s the movement speed for executing the zero point search is 60 mm s 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 ES Press the DSPL SET or MODE SET Key to select SET the utility function mode 19 DSPL SET Key MODE SET Key Press the UP or DOWN Key to select the Fn003 Note The enabled digit blinks Press the DATA ENTER Key once or DATA SHIFT DATA ENTER DATA Key for more than one second and the display will 4 DATA ENTER Key DATA SHIFT Key be as shown on the left Press at least 1 s Press the SVON or MODE SET Key OBESSE The servo turns ON SVON Key MODE SET Key When the parameter is set to Pn000 0 0 default pressing the UP Key will run the motor in the for ward direction
85. Pressing the DOWN Key will run the motor in the reverse direction When the parameter is set to Pn000 0 1 the movement direction of the motor is reversed When the motor zero point search is completed the display blinks Display blinks At this moment the motor is servo locked at the zero point pulse position Press the DATA ENTER Key once or DATA SHIFT Key for more than one second DATAS Fn003 displ i DATA ENTER Key DATA SHIFT Key n Isplay appears again Ereseatigesr oe The motor will be servo OFF status 8 11 8 Digital Operator Panel Operator 8 2 5 Parameter Settings Initialization Fn005 8 2 5 Parameter Settings Initialization Fn005 This function is used when returning to the factory settings after changing parameter settings Pressing the DSPL SET or MODE 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 u Step Operation Digital Operator Pane Description 2 4 8 12 Operator ce 9 SET DSPL SET Key MODE SET MODE SET Key ENTER DATA ENTER Key DATA SHIFT Key Press at least 1 s SET MODE SET DSPL SET Key MODE SET Key End of initialization After about one second DATA ENTER DATA 4 DATA ENTER Key DATA SHIFT Key Press at least 1 s Press the DSPL SET or MODE
86. RY High speed 3 1KM Analog vollage K 1 0 Sequence I O di de 1 Surge CN10 J CNS CN3 suppressor F 4 Connector for Analog monitor Digital operator or application output for personal computer module supervision sensor 4 11 4 SERVOPACK Specifications and Dimensional Drawings 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 Table 4 1 SERVOPACK Power Losses at Rated Output Maximurn Output s Control RT Applicable seRVOPACK Current Main Circuit Regenerative Circuit Main Circuit Power Linear Ser Resistor Supply vootor Model Effective Power Loss Power Loss Power Capacity SGDH W W ae Single phase 200 V ASAE RICE UAE un 0AE 12 Three phase 200 V TSAE TRAE ORE es 15AE 11 6 ip EO T 3 8 7 5 T5AE 0 45 1 0 2 0 10DE 1 SERVOPACKs with a capacity of 50 to 400W do not have built in regenerative resistors If the regenerative energy exceeds the specified value connect an external regenerative resistor Refer to 11 1 3 Alarm Display Table when the Application Module is Used 2 Regenerative resistor power losses are allowable losses Take the following action if this value is exceeded Three phase 400 V Remove the lead from the internal regenerative resistor in the SERVOPACK Install an external regenerative resistor optional
87. Receptacle type MS3102A 22 22P made by DDK Ltd 5 OV Power supply made by DDK Ltd Vi The mating connector 6 Not used The mating connector EH woe T Norused L shaped plug type MS3108B22 22S 8 Not used Straight plug type MS3106B22 22S ower Vv Stud type 1 19020 Or Cable clamp type MS3057 12A R sv 17L 002C1 9 Not used p type V Vw 5 Coil Assembly Model SGLTW 395 40040080 40060080 a 23 03 Reference length 3 50 360 14 17 60 2 36 x 6 0 24 540 21 26 60 2 36 x 9 0 35 0 180 360 540 Electrical angle 15 14 20 25 20 30 3 8 Dimensional Drawings of SGLTW SGLTM Linear Servomotors 2 Magnetic Way SGLTM 40000A 37582 1 48001 Coil assembly 1 440 3 0 06 0 01 150 5 91 is o E io a r oc o c dE ux ceo o Quoc N S z o Bia r alt Sle 15 xt a EI x isl st alt S 5 ojm e Wk w Mount the magnetic way so that its corner surfaces are flush with the inner step Note 1 E 3 oY 14 MEI 0 59 36 1 1 42 je 2xN 9 0 35 mounting holes See the sectional view for the depth we i Spacer Do not remove them until the coil assemb is mounted on n 7777 n eS 2xN M8 screws depth 10 0 39 Nameplate temaene ols Z NS 5 6 SETEN OU ll
88. SERVOPACK and servomotor Available capacities do not match each other The linear servomotor and SERVOPACK voltage specifica tions do not correspond to each other Linear Scale Pitch Setting Error The initial value 0 um is set for the linear scale pitch Pn280 Dividing Ratio Setting Error A value higher than the motor peak speed that can be obtained from the dividing ratio was set for Pn384 When connecting the linear servo motor a value higher than the maxi mum dividing ratio that can be obtained from the linear servomotor peak speed was set for Pn281 i aa ee ported by X II series Overcurrent or Heat Sink Overheated An overcurrent flowed through the IGBT Heat sink of SERVOPACK was over heated Regeneration Error Detected Regenerative transistor or regenerative Availab Regenerative Overload Regenerative energy exceeds regener Availabl ative resistor capacity Main Circuit Power The power supply to the main circuit Availabl Supply Wiring Error does not match the parameter Pn001 setting Overvoltage 2 Main circuit DC voltage is excessively Available high Undervoltage 2 Main circuit DC voltage is excessively low 11 2 11 1 Troubleshooting Table 11 1 Alarm Displays and Outputs Cont d Alarm Alarm Code Output Alarm Reset Alarm Name Meanin Display mg ALO1 ALO2 ALO3 Overspeed The motor speed is excessively Available high The divided output frequency exceeds 15 MHz
89. SGLGW SGLGM Coreless type SGLFW SGLFM With F type iron core SGLFW 50 SGLFM 50 SGLFW 1Z SGLFM 1Z SGLTW 20 SGLTM 20 SGLTW 35 SGLTM 35 3 8 2 3 8 3 SGLTW 1 SGLTM SGLTW 40 SGLTM 40 3 84 With T type iron core SGLTW 50 SGLTM 50 SGLTW 80 SGLTM 80 3 6 Dimensional Drawings of SGLGW SGLGM Linear Servomotors 3 6 Dimensional Drawings of SGLGW SGLGM Linear Servomotors 3 6 1 SGLGLI 30 Linear Servomotors 1 Coil Assembly SGLGW 30A0N00CO With a connector made by Tyco Electronics AMP K K The following table and figures show the specifications when a main circuit s cable connector made by Tyco Electronics is used for the coil assembly 4xM4 mounting screw depth 5 0 20 e N 2xscrew 4 40 UNC L5 L4 amp The coil assembly moves in the direction indicated by the arrow Cable when current flows in the order of phase U V and W UL20276 AWG26 c able UL2517 AWG25 Nameplate 2x2 M4 Mounting screw depth 5 0 20 on both sides 500 50 19 69 1 97 Reference length Units mm in 24 0 94 Hall Sensor Linear Servomotor Hall Sensor Output Signals Connector specifications Pin No Name Connector Specifications When the coil assembly moves in the QUE Pin No Name Coler direction indicated by the
90. Shielded wire Connector shell Smoothing sne capacitor Shielded wire gennector p 5 i A represents shielded twisted pair wires v 2 Connecting a Linear Scale Made by Renishaw Linear scale made by Renishaw Serial converter unit SERVOPACK x Host controller User s CN2 CN1 oy Line receiver 9 i COS E 9 2 lt CAPS 5 Phase a 33 e PAO l 2 3 Phase 1 l 1 wy 34 7PAO_ Zi Re 1 A gt l ICOS y 6 lt Y IPS 6 Bh 5 P lt nem z ase 1 7i gt 10 B JA SIN s 10 rd Tx 36 b PBO Ze R 7 a CA po d 1 i 2 if 1 SIN 2 j 3 Phase C 19 PCO t A 10 11 INN c pog 20 PCO Z RD 9 tT 3 Fu REF 3 Output line driver m i 1 gt E SN75ALS194 manu E alle 11 REF 11 1 factured by Texas S i 2 jd Instruments or the ov H 5V 4 La BVA 4 1 iA PGBV diim Choke 12 i ov 12 p Pow 2 ma a 2 5 PGOV fee f ry CN1 Lt Connector Connector 1J sG 2 she A she OV OV Shielded wire Connector Smoothing shell C Shielded i capacitor i i onnector lelaea wire shell i Y represented shielded twisted pair wires v 7 3 2 Encoder Connector CN2 Terminal Layout 1 PGSV PG power supply 2 PGOV PG power supply 5 V 0V pue qusc ee m e Applicable line receiver SN75175 manufactured by Texas Instruments or the equivalent corres ponding to MC3486 R Terminator 220 to 470 C Decoupling Capacitor 0 14F L5 ss Posse imu 5 75 PGsealsemi mut puer suu ld
91. 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 Reference pulse frequency is too Check Un00C Reference Pulse Counter Reduce the reference pulse frequency to a value within high the specification Serial converter unit fault pulse Replace the serial converter unit count does not change 11 1 Troubleshooting Table 11 7 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 oil from servomotor surface Overloaded Run under no load Reconsider load and operation conditions or replace with larger capacity servomotor 11 21 11 Inspection Maintenance and Troubleshooting 11 2 1 Linear Servomotor Inspection 11 2 Inspection and Maintenance 11 2 1 Linear Servomotor Inspection N CAUTION Do not disassemble the linear servomotor Failure to observe this caution may result in electric shock or injury Simple daily inspection is sufficient The inspection and maintenance frequencies in Table 11 8 are only guide lines Increase or decrease the frequency to suit the operating conditions and environment If disassembly of the linear servomotor is required becau
92. This output signal can be allocated to another output terminal with parameter Pn50E Refer to 8 3 3 Output Circuit Signal Allocation for details Speed Coincidence Signal Output Width Setting Range Setting Unit Factory Setting Setting Validation 010 100 immediately The V CMP signal is output when the difference between the speed reference and actual motor speed is the same as the pn582 setting or Motor speed less E EXAMPLE The V CMP signal turns ON at 1900 to 2100 mm s if the Pn582 is set to 100 and the reference speed is 2000 mm s 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 completed signal COIN for position control and it is always OFF high level for torque control 9 46 9 8 Operating Using Position Control 9 8 Operating Using Position Control 9 8 1 Setting Parameters Set the following parameters for position control using pulse trains 1 Control Mode Selection Pn000 InHBMB Control mode selection Position control pulse train reference 2 Setting a Reference Pulse Form Type Signal Connector Name Name Pin Number Input PULS CNI 7 Reference Pulse Input PULS CNI 8 Reference Pulse Input SIGN CNI 11 Reference Code Input SIGN CNI 12 Reference Code Input Set the input form for the SERVOPACK using parame
93. Two phase pulse train with 90 phase differential phase A and t2 10ys phase B Lii ME T x 100 50 Maximum reference frequency Phase B Eo Xu VIQR EL mode is done x1 input pulse multiplier 500 kpps with parameter x2 input pulse multiplier 400 kpps Pn200 0 set tl t2 lt 0 1 us Switching of the input pulse multiplier ti t gt c i Forward reference Reverse reference ting x4 input pulse multiplier 200 kpps Phase B leads Phase B lags phase A by 90 phase A by 90 9 53 9 Operation 9 8 3 Position Reference 3 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 PULS 7 plete 1500 jwsk IPULSs 8 b SIGN P ISIGN m 1502 VEL CLR bz ETAT ICLR 14 jisoo vaL s 2 Represents twisted pair wires 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 Im CN1 li Example Es gt PULS 7 Photocoupler When Vcc is 24V R1 2 2 KQ When Vcc is 1
94. ZCLAMP signal is turned ON a speed reference below the Pn580 setting is detected o Stops precisely p Zero clamp P CON ZCLAMP ss ZB Zane 9 41 9 Operation 9 7 6 Using the Zero Clamp Function 2 Parameter Setting Parameter Meaning Pn000 Control mode selection Speed control analog voltage reference lt gt Zero clamp Zero Clamp Conditions Zero clamp is performed with Pn000 n LILIALI when the following two conditions are satisfied P CON ZCLAMP is ON low level Speed reference V REF drops below the setting of Pn580 SERVOPACK V REF speed reference Speed CN1 p twal reset value Speed reference VREF y REF 9 i for zero clamping P CON 41 Zero clamp UZCLAMP E Pn580 i I IP CON ZCLAMP input Open oF F Ese ON l i 1 Zero clamp is performed TO OFF e M i I Zero Clamp Level Setting Range Setting Unit Factory Setting Setting Validation Oo 10000 immediately Sets the motor speed at which the zero clamp is performed if zero clamp speed control Pn000 n LILIALT 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 Number E ZCLAMP Must be allocated M This is the input signal 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 s
95. cree eoo OFF high leve This signal is output when the linear servomotor speed reaches the speed limit value set in Pn480 or set by the analog volt age reference For use this output signal must be allocated with parameter Pn50F For details refer to 8 3 3 Output Circuit Signal Alloca tion 9 64 9 10 Operating Using Speed Control with an Internally Set Speed 9 10 Operating Using Speed Control with an Internally Set Speed Internally Set Speed Selection 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 parameters Linear P CON SPD D Servomotor SPD DY y SPEED1 Pn380 Speed Contact inputs P CL SPD A SPEED2 Pn381 reference Ov N CL SPD B ga SPEED3 Pn382 9 10 1 Setting Parameters Mearing Pn000 n0030 Control mode selection Internally set speed control contact reference Pn380 Internally set speed 1 SPEED1 Setting Range Setting Unit Factory Setting Setting Validation 00 5000 immediately Internally set speed 2 SPEED2 Setting Range Setting Unit Factory Setting Setting Validation 010 5000 immediately Internally set speed 3 SPEED3 Setting Range Setting Unit Factory Setting Settin
96. is on both sides Cal UL20276 AWG26 M Nameplate 5 3 00 21 Cable UL2517 AWG15 oO Oe e rco 6 16 a Gap 0 04 Note The coil assembly moves in the direction r indicated by the arrow when current Reference length flows in the order of phase U V and W Units mm in Hall Sensor Linear Servomotor Hall Sensor Output Signals Connector Ae Connector Specifications When the coil assembly moves in the di Pin No Name rection indicated by the arrow in the fig 4 leevrpowereupew Pin No Name color ure the relationship between the hall H 5V Power supply 1 Phase U Red sensor output signals Su Sv Sw and the 2 Phase U z inverse power of each motor phase Vu i i 3 Phase V Bh UE E 2 Phase V White Vv Vw becomes as shown in the figure in connector type 3 Phase W Blue below 4 OV Power supply Vi u 17JE 23090 02 D8C Phase W ET No 1 to 3 made by DDK Ltd 350669 1 No 4 FG Green ais oc The mating connector Not used made by Tyco Electronics AMP K K Su Not used Cap type 350780 1 Inverse Not used Socket type 350536 3 or power VV SV Not used 350550 3 V PIC D AESK 0 180 360 540 Electrical angle Coil Assembly PPM kg Ib 4 6 95 L 4 5 19 189 130 0 0 3 4 2 0 5 5 8 0 0 2 7 0 Socket connector type 7 The mating connector 17
97. mE Imme diately Function Selection Application Switches 3 Function Selection Application Switches After 80 restart Imme diately Speed Loop Gain Imme diately Speed Loop Integral Time Constant Imme diately Position Loop Gain Imme diately Mass Ratio 2nd Speed Loop Gain diately Imme diately 2nd Speed Loop Integral Time Constant 2nd Position Loop Gain diately Bias Width Addition diately Feed forward diately Feed forward Filter Time Constant ezlegzlesz gz s HERH HE lt F T T T Gain related Application Switches After pel pel e eee a Po om Poem 1 ma 1 Pim oem fT mem 1 epe c t E a Imme diately Mode Switch Force Reference Imme diately After restart Mode Switch Error Pulse Online Autotuning Switches Imme diately Speed Feedback Compensation Automatic Gain Change Timer diately Imme diately Automatic Gain Change Width Imme diately Bias Imme diately Mode Switch Speed Reference Imme diately Mode Switch Acceleration B Position Control References Form After Selection Switches restart 12 41 12 Appendix Parame Factory iras Seting ter Setting ag Pn202 Electronic Gear Ratio Numerator After restart Pn203 H Electronic Gear Raio ee Cay Ea Ea Pn204 Position Reference Accel Decel Time Imme Constant diately Pn207 OO ae Position pone cate aS Function
98. 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 servo drive 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 four 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 n0000 Use a force reference level for detec Percentage to the rated force ion point Pn10C Factory Setting Use a speed reference level for Pn181 Servomotor speed mm s detection point Use an acceleration level for detec Pn182 Servomotor acceleration 10 mm s tion point i n LILILI3 Use a position error pulse for detec Pn10F Reference unit tion point n0004 Do not use the mode switch function ooo Select a condition to e
99. move the linear servomotor to a position where the OT signal is not detected The settings for scale pitch Pn280 and motor phase selection Pn080 1 may not be appropriate for the device Check the linear scale specifications and feedback signal conditions When the detection reference is repeatedly output several times in the same direction noise may occur in the scale signal resulting in malfunction Check that the FG of the serial converter unit and linear servomotor is connected to FG of the SERVOPACK and that FG of the SERVOPACK is connected to the power supply FG Also check that the encoder cable is securely sealed If the coil assembly is subjected to an external force such as cable tension and the speed feedback is not 0 regardless of a 0 detection reference polarity detection will be poor Reduce the external force and make the speed feedback 0 When the linear scale pitch is 100 um min the SERVOPACK cannot detect correct speed feedback Use a linear scale with good scale pitch precision within 40 um is recommended When the size ofthe speed feedback for the polarity detection reference is 2 mm s max detection may be poor First check that the mass ratio Pn103 is set correctly If Pn103 is set correctly increase the value of polarity detection speed loop gain Pn481 When the load is heavy a large gain will cause an alarm The gain cannot be increased under this condition so reduce the mechanical friction If
100. rF 1 P Linear servomotor CHARGE KM 114 ope R c1 a JE 2 Jud ECT sz 1 Lue i Nir 4 L Gate drive over Hall current protector pilb2l 3 sensor lo i i R2 i i Voltage games Relay di Gate d l elay drive Sensor iate drive Voltage li ft i CN2 Serial sens r X gt Interface O converte not provided s unit Control power gt i 24 VDC ras E re oy x i i Y za uv i Erg Y DC DC P 5v H ov converter 1 ASIC 4 Le 177 7 935v PWM control etc c 12V CN1 i n a PG output i Wow sm E M Reference pulse input Power Power Open during a uud supply TRY larm la I A D je Speed and force T m P CPU reference input Panel operator Position Speed calculation etc 1KM Analog voltage j 1 0 j Sequence I O converter 2RY High speed diode E CN10 CN5 CN3 suppressor p oc e E Connector for Analog monitor Digital operator or application output for personal computer module
101. 0 2 kg 0 44 Ib FG terminal M4 I x Connector Ss to SERVOPACK eS lI i CN6A 142 5 59 CN6B n af 4 Nameplate Il loeo CNA 6 41 6 Specifications and Dimensional Drawings of Cables and Peripheral Devices 6 8 15 DeviceNet I F Unit 6 8 15 DeviceNet I F Unit 1 Model JUSP NS300 2 Specifications instalation Method Basic Specifications DeviceNet Communications Operation Specifications DeviceNet communications Command Format Reference Input Commands Motion commands position speed and Parameter read write Position Control Beneteau Linear first second step asymmetric exponential S curve a id enue Deceleration Method Pee eee unctions Fully closed Control Impossible Fixed Allocation to Input Signals SERVOPACK CN1 Con nector Position Data Latch Position data latching is possible using phase C zero point signals Function and external signals Parameters damage Parameter setting errors Communications error Internal Functions Protection Ma MS Module Statu LED Indicators MD NS Network Status 3 Dimensional Drawings Forward reverse run prohibited Zero point signal Emergency stop signal Units mm in Approx mass 0 2 kg 0 44 Ib FG terminal
102. 02 s e Feeding times n 120 times min e Friction coefficiency H 0 2 1 Speed Diagram 60 _ 60 uu 129 95 s where ta ta tc 0 4 0 02 x 2 0 36 s 2 Force Under Constant Load FL 9 8 u Wiw Wr 29 8 x 0 2 x 142 5 88 N 3 Force at Load Acceleration UL 120 FP Wu Wr gp FL 132 x ggg 5 88 305 88 N 4 Linear Servomotor Provisional Selection a Selecting Conditions e Fp lt Linear servomotor maximum force The following models satisfy the conditions SGLGW 60A253BP linear servomotor coil assembly SGDH 04AE SERVOPACK b Specifications of the Provisionally Selected Linear Servomotor and SERVOPACK Rated output 400 W Rated speed 1500 mm s Rated force 147 N nstantaneous peak force 440 N Linear servomotor coil assembly mass Wm 0 82 kg 12 2 12 1 Linear Servomotor Capacity Selection Examples 5 Verification on the Provisionally Selected Linear Servomotor Force under constant load FL 9 8 u Ww Wr Wy 9 8 x 0 2 x 1 2 0 82 7 5 N Force at load acceleration LL Ww Wr Wm LF 120 x 1 2 0 92 60ta ide 60 x 0 02 389 5 N lt Instantaneous peak force x 0 9 Satisfactory FP ETS Force at load deceleration UL Ww Wr Wm 120 x 1 2 0 82 PS 60r FL 60 x 0 02 7 374 5 N lt Instantaneous peak force x 0 9 Satisfactory Effective force Fe tat
103. 1 7 21 7 Wiring 7 4 1 Speed Control Mode 7 4 Examples of I O Signal Connections 7 4 1 Speed Control Mode SERVOPACK Speed reference 4 2 to 10V V REF rated motor SG aite speed coe Alarm code output 3 ALO2 Max operating voltage External force r 30 VDC T REF i limit Force feed ALS Max operating current forward SG ce 20 mA DC 1 to 10 V rated force PAO 3407 PAO PBO PG dividing ratio output Applicable line receiver A PBO SN75175 manufactured by Texas Instruments or the equivalent corresponding PCO to MC3486 14 424 V 24VIN 47 3 3 KO ro cen ON hen ON ervo when V CMP lt Speed coincidence detection P control ON when speed coincides P control when ON IN CMP YT Forward run prohibited TGON Prohibited when OFF Running output ON when the motor speed econ exceeds the settings Reverse run prohibited Prohibited when OFF Alarm reset ON when ready 30 7 S RDY Reset when ON cea Forward current limit Limit when ON Reverse current limit Limit when ON Photocoupler output Max operating voltage 30 VDC Max operating current FG Connect shield to 50 mA DC connector shell Connector shell zum represents twisted pair wires 2 The time constant for the primary filter is 47 us 3 Enabled by the parameter setting 4 Customers must purchase a 24 VDC power supply wi
104. 1 7 Wiring 7 1 3 SGLFW and SGLFM Linear Servomotor F shaped with Core 2 Coil Assembly Installation The SGLFW coil assembly is constructed of an aluminum or steel base and iron core with a resin coated coil winding section Make sure that the coil winding section 1s not subjected to shock during installation Shock may cause injury or damage to the coil assembly Use the following procedure to install the SGLFW coil assembly 1 Install the coil assembly on the movable table supported by the linear guide in line with the previously installed magnetic way Make sure that the air gap between the coil assembly and magnetic way magnets is the specified distance Maintain the following air gaps when installing Make sure that the coil assembly and magnetic way do not interfere during the stroke Installation tap Cor ssa sam n P voe 22 02 0 83 0 004 0 04 0 01 amp 3 jJ 258102 58201 1 02 0 004 98 0 03 2 28 0 004 27202 en Coil assembly Air gap G Magnetic way Linear servomotor side Diagram viewed from the side where the cable extends from the coil assembly The value in parentheses is the dimension when the magnet protection cover is used 7 1 Linear Servomotor Installation IMPORTANT When two or more magnetic ways are used first secure one of the magnetic ways only and then install the coil assembly in the ava
105. 1 Linear Servomotor Installation 7 2 7 1 1 Introduction 7 2 7 1 2 SGLGW and SGLGM Linear Servomotors Coreless Types 7 3 7 1 3 SGLFW and SGLFM Linear Servomotor F shaped with Core 7 6 7 1 4 SGLTW and SGLTM Linear Servomotor T Type with Iron Core 7 10 7 2 Wiring Main Circuit 7 15 7 2 1 Names and Functions of Main Circuit Terminals 7 15 7 2 2 Wiring Main Circuit Power Supply Connector Spring Type 7 17 7 2 3 Typical Main Circuit Wiring Examples 7 18 7 3 Wiring Encoders 7 21 7 3 1 Connecting an Encoder CN2 and Output Signals from the SERVOPACK 7 21 7 3 2 Encoder Connector CN2 Terminal Layout 7 21 7 4 Examples of I O Signal Connections 7 22 7 4 1 Speed Control Mode 7 22 7 4 2 Position Control Mode 7 23 7 4 3 Force Control Mode 7 24 7 4 4 I O Signal Connector CN1 Terminal Layout 7 25 7 4 5 I O Signal CN1 Names and Functions 7 26 7 4 6 Interface Circuit
106. 10314 52A0 008 Signal Pin No N Pin No Signal Daiichi Denshi Kogyo Co Ltd Sumitomo 3M Ltd RXD 2 Po 2 TXD TEN 38 1 50 2000 50 78 74 1 97 39 1 54 TXD 3 A JXD p i SS A PS LU 9 59 Cable type 214 7 CTS 8 d AWG26 x 3C UL2464 N FG Case y Case FG la Shield wire 2 x M2 6 screws 2 x M2 6 screws Units mm in 6 8 2 Digital Operator 1 Model JUSP OP02A 2 with a 1m 3 28 ft connection Cable SERVOPACK Us o Tg iz 99 Digital Operator Connect to CN3 LLp I p 2L p T o_o 135 41 15 26 can V ojt A is Ls 11 89 LI 44 2 i Reference length 29 5 8 99 Units mm in 6 Specifications and Dimensional Drawings of Cables and Peripheral Devices 6 8 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 db i Digital Operator end SERVOPACK end ae 1 29 JZSP CMSO00 1 1 m 3 28 ft 30 9 14 L T 25m1 staj JZSP CMS00 2 1 5 m 6 56 ft Bl is g ile 1088 9 e E ERO RE 11 d 7 JZSP CMS00 3 2 m 9 84 ft E M E Rs 6 8 3 Cables for Analog Monitor 1 Cable Type JZSP CAO01 Connect the specified cables to CN5 co
107. 12 5 Parameter Recording Table Setting Name Valida tion Setting P481 Pn482 Pn483 Pn484 Pn506 Pn508 Pn509 Pn50A Pn50B Pn50C Pn50D Pn50E Pn50F Pn510 Pn512 Pn513 Pn51E Pn580 Pn581 Pn582 Pn583 Pn584 Pn600 Imme diately Polarity Detection Speed Loop Gain Imme diately Polarity Detection Speed Loop Integral Time Constant Imme diately Forward Force Limit Imme diately Reverse Force Limit Imme diately Position Completion Width Imme diately Near Signal Width Overflow Level Imme diately Brake Reference Servo OFF Delay Time Imme diately Servo OFF Brake Reference Waiting Time Imme diately After restart After restart After restart After restart After restart After restart After restart After restart After restart Momentary Hold Time Input Signal Selection 1 Input Signal Selection 2 Input Signal Selection 3 Input Signal Selection 4 Output Signal Selection 1 Output Signal Selection 2 Output Signal Selection 3 Output Signal Reverse Settings Input Signal Selection 5 Imme diately Excessive Position Error Warning Level Imme diately Zero Clamp Level Imme diately Zero Speed Level Imme diately Speed Coincidence Signal Output Width Imme diately Brake Reference Output Speed Level Imme diately Motor Self cooling Ratio Imme diately External Regenrative Resistor Capacity 12 43 Index
108. 121 242 367 394 57 9 86 9 Current Col AssemtiyWass kg 25 45 87 a7 os Poop 8 a 2 5 BEN Constant Vimis a Electrical Time B 59 59 59 7 0 152 152 17 17 Constant Mechanical Time ese 75 65 64 52 48 46 4 4 3 3 Constant Tren Sees ia 1 01 0 49 038 0 76 0 44 032 024 02 022 0 18 With Heat Sink l l l l l l l l Thermal Resistance 1 82 1 11 0 74 1 26 0 95 0 61 0 57 0 4 0 47 0 33 Magnetic oer N Attraction Magnetic Attraction 1591 2380 1403 2784 4165 3950 5890 7650 11400 3 Specifications and Dimensional Drawings Linear Servomotor Model SGLTW Rated Speed t 2 la s le S 5 llle i N d e 2 a g Sjan A A Dlolm e I e E e o 4 en s S de Iz o v e Es d a Mc Sails i E EN Ir o ia c THRG n N c mat N nN Ww oo uw 5 h S lale lal 9 eo 11 5 Thermal Resistance pw 1400 2780 2000 3980 1400 1 The unbalanced magnetic gap resulted from the coil assembly installation condition causes a magnetic attrac Instantaneous Peak x Arms 11 9 23 9 Current m s Peak Speed m s tion on the coil assembly 2 The value indicates the magnetic attraction generated on one side of the magnetic way Instantaneous Peak Force Mechanical Time Electrical Time Constant Constant Attraction Rated Force Magnetic Attraction Magnetic Coll Assembly Mass Thermal
109. 15 Clear Input CLR CNI 14 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 n0000 Clears at high level Gi 2 CLR ears at Position error pulses do not accumulate while the high level CN1 15 enai ever signal is at high level Factory setting n0010 Clears at the rising edge CLR High CN1 15 Clears here just once Clears at low level CLR Position error pulses do not accumulate while the CN1 15 Clears at low level signal is at low level Clears at the falling edge CLR Ton CN1 15 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 stop functioning and the servomotor to rotate slowly due to drift in the speed loop When the clear signal CLR is not wired Because position error pulses will be cleared when Pn200 is set to n LILI2LI the linear servo motor does not run even if a pulse train command is entered 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 Pn
110. 2 External Force Limit Output Force Limiting by Input Signals 9 69 9 11 3 Force Limiting Using an Analog Voltage Reference 9 71 9 11 4 Force Limiting Using an External Force Limit and Analog Voltage Reference 9 72 9 11 5 Checking Output Force Limiting during Operation 9 73 9 12 Control Mode Selection 9 74 9 12 1 Setting Parameters 9 74 9 12 2 Switching the Control Mode 9 74 9 13 Other Output Signals 9 76 9 13 1 Servo Alarm Output ALM and Alarm Code Output ALO1 ALO2 ALO3 9 76 9 13 2 Warning Output IWARN 9 77 9 13 3 Running Output Signal TGON 9 77 9 13 4 Servo Ready S RDY Output 9 78 9 3 9 Operation 9 1 Trial Operation 9 4 Perform a trial operation after wiring is completed Use the following procedure to perform a trial operation The procedures for Speed Control Mode standard set ting and Position Control Mode are described in this chapter When a specific explanation is not provided use the default parameters 1 Trial Operation Using SERVOPACK Internal References Refer to 9 2 Trial Operation Using SERVOPACK Internal References W Purpose Run the linear servomotor without host reference input C
111. 200 V 7 5 kW 75AE P 4 9 Dimensional Drawings of Duct ventilated SERVOPACK Model 4 9 1 Three phase 200 V 7 5 kW 75AE P i M i i a ounting Hole Diagram ess S o 34 4xM6taps SHS 7 0 28 RE Cooling fan 1 34 82 3 23 oS X pup see net ae Y 3 PU A 1 scpH C 3 L pa f 2x96 0 24 Al CN3 7 i holes 1 110 4 33 e ag 8 8 m Control circuit e Controll N i x 5 e Que terminal M4 circuit T EEUU Q p terminal N Punched hole olo a So IE g CN CN2 5 o oS VT 1 N 1 So les1 ge 2 e ejaj Main V 12 01 542 5 0 40 1 81 x circuit iG terminal 8 REECH e Hex ODI 1G 1 1CO TCD 1691691 0 H a Qe SS Y i y Vv 9 0 35 123 5 41 65 6 A 19 X 4 86 1 61 2 58 So 27 7 5 3 44 107 4 21 E 0 28 205 8 07 f e 55 219 8 62 12 5 0 49 4 JL 225 1 06 Max 235 9 25 j Gar 8 62 k lt 4 Max230 9 06 a gt Ground ain circui Ground terminal t terminal M5 V M8 termina A A Ne re ike x v Reference length Units mm in Se Approx mass 14 kg 30 86 Ib Sy 4 8 0 19 External Te
112. 2mm 0 047 in Speed reference mm s Speed feedback mm s Speed reference mm s Speed feedback mm s DQ INFO Nro 9 2 Trial Operation Using SERVOPACK Internal References c Detection Waveforms The Sigma Win trace function can be used to check whether detection is normal Normal Detection The detection result is normal if the speed feedback for the speed reference for the last detection waveform unspecified number of detections is traced The following criteria are used to determine whether a trace is being performed The feedback polarity is not inverse to the reference speed is in same direction The feedback speed range is 2 mm s up to the maximum reference speed 20 Speed reference mm s Enlarged 20 35 15 600 000 1200000 1800000 2400 000 Time ms 3000000 3600000 Speed feedback mm s 35 s EET EP 2640000 2760000 2880000 3000000 Time ms 3120000 15 3240000 Detection Error The detection result is an error if the speed feedback for speed reference for the last detection waveform unspecified number of detections is not traced Le ee 1 H i i 10 r PN REEE EPEE P EE ma pw i i 5 r TT EN L ESL A EAEE LEM H i i o Speed reference 0 i U i mm s D i aba 1 Spor Enlarged cpee a 2 i i 10 r
113. 2nd and onward Zero point signal will be half of the phase A pulse width Dividing TERMS The dividing means that the divider converts data into the pulse density set in the parameter Pn281 on the base of the scale lt pitch of linear scale installed on the linear servomotor and outputs it The setting unit is the number of edges scale pitch 9 43 9 Operation 9 7 7 Encoder Signal Output Relation between Linear Scale by Renishaw and Encoder Output Signals from the IMPORTANT SERVOPACK For some models of the Renishaw linear scales the position at which the zero point signal Ref is output varies in accordance with the direction of movement If combining the SERVOPACK with one of those models phase C pulses are output from the SERVOPACK in two places For more details of the linear scale zero point signals refer to the instruction manual for the linear scale being used When passing the first zero point signal Ref forward after the power supply is turned ON Machine position Forward Power ON Zero point signal Ref Phase C l The linear scale does not output a zero point signal Ref When moving forward this position however is where phase C The width of the second is output from the SERVOPACK Phase C is output even when _ Pulse is half of phase A moving in reverse When passing the first zero point signal Ref in
114. 3 An external regenerative resistor must be connected to SERVOPACKs with a capacity of 7 5 kW The following regenerative resistor units are provided for this purpose For the SGDH 75DE JUSP RA18 allowable loss 180W For the SGDH 75AE JUSP RAO5 allowable loss 350W Note Refer to 7 6 Connecting Regenerative Resistors 6 8 5 External Regenerative Resistor and 6 8 6 Regenerative Resistor for details 4 12 4 5 SERVOPACK Overload Characteristics and Allowable Load Mass 4 5 SERVOPACK Overload Characteristics and Allowable Load Mass 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 10 000 1 000 Operating time s 00 Rated force Approx Rated force Maximum force Maia dores Motor force TERMS E Hot Start ree A hot start indicates that both the SERVOPACK and the servomotor have run long enough at the rated load to be thermally saturated 4 13 4 SERVOPACK Specifications and Dimensional Drawings 4 5 2 Starting Time and Stopping Time 4 5 2 Starting Time and Stopping Time The starting time tr and the stopping time f of linear servomotor under constant load conditions can
115. 3 V input 10 rated force in reverse direction 200 Set the slope The voltage input range can be changed with parameter Pn400 i with Pn400 W Input Circuit Example SERVOPACK r 470 Q 1 2W min Use twisted pair wires as a countermeasure against noise Variable resistor example Model 25HP 10B manufactured by Sakae Tsushin Kogyo Co Ltd CN1 9 60 INFON B Checking the Internal Force Reference 1 Checking the internal force reference with the panel operator Use the Monitor Mode Un 002 Refer to 8 4 Operation in Monitor Mode Un OLID 2 Checking the internal force reference with an analog monitor 9 9 Operating Using Force Control The internal force reference can also be checked with an analog monitor Refer to 70 5 Analog Monitor 9 9 3 Adjusting the Force Reference Offset When using force control the linear servomotor may move slowly even when 0 V is specified as the analog ref erence voltage This occurs when the host controller or external circuit has a slight offset measured in mV in the reference voltage In this case the reference offset can be adjusted automatically and manually using the panel operator or digital operator The automatic adjustment of analog speed force 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
116. 35 Linear Servomotors 3 32 3 7 3 SGLFLI 50 Linear Servomotors eee ee eee 3 35 3 7 4 SGLFLI 1Z Linear Servomotors 3 38 3 8 Dimensional Drawings of SGLTW SGLTM Linear Servomotors 3 41 3 8 1 SGLTO 20 Linear Servomotors 3 41 3 8 2 SGLTO 350000A0 Linear Servomotors 3 44 3 8 3 SGLTO 350000HO Linear Servomotors 3 47 3 8 4 SGLTLI 40 Linear Servomotors 3 50 3 8 5 SGLTLI 50 Linear Servomotors 3 53 3 8 6 SGLTLI 80 Linear Servomotors 3 56 4 SERVOPACK Specifications and Dimensional Drawings 4 1 SERVOPACK Ratings and Specifications 4 3 4 1 1 Single phase Three phase 200 V 4 3 4 1 2 Three phase 400 V 4 3 4 1 3 SERVOPACK Ratings and Specifications 4 4 4 2 SERVOPACK Installation 4 6 4 3 SERVOPACK Internal Block Diagrams 4 8 4 3 1 Single phase 200 V 50 W to 400 W M
117. 4 0 3 80000DAQ 3 zm 0 01 0 75 0 004 0 06 0 01 Linear servomotor side view Dec UNE 1 2 0 05 Diagram viewed from the side where the cable extends from the coil assembly ssnmaumun 405 13 01 1403 2 76 0 01 0 59 0 004 0 04 0 01 zonunmun 5593 19 1 0 1 oe 3 35 0 01 0 75 0 004 0 8 0 03 The value in parentheses is the dimension when the magnet protection cover is used IMPORTANT When two or more magnetic way are used first secure one of the magnetic way only and then install the coil assembly in the available space If using one magnetic way only with insufficient space to extend the linear guide up to the position of the coil assembly temporarily mount a dummy linear guide in line with the magnetic way s Simplified diagram showing installation of dummy linear guide Standard linear guide Dummy linear guide n Y I r I Magnetic way Coil l l assembly l pn ee ee PEERS t t r l l Magnetic way M Movable table I T t LZ AD Block 2 Insert a thin nonmagnetic preferably resin sheet approximately 0 5 mm thick in the air gap between the coil assembly and magnetic way and move the coil assembly slowly toward the magnetic way owly move col assembly d E Movable table i 7 13 7 Wir
118. 5 3 60 Reference length Units mm in Approx mass 1 1 kg 2 43 Ib 17 0 67 External Terminal Connector SERVOPACK Connector Main circuit Control power Connector SERVOPACK Mah facturet power supply supply Symbol Connector Model L1 12 L1C L2C 10250 52A2JL Sumitomo 3M Co Ltd Xy Xy 53460 0611 Molex Japan Co Ltd Single phase Single phase 200 VAG ono VAG 10214 52A2JL Sumitomo 3M Co Ltd 50 60 Hz 50 60 Hz 4 17 4 SERVOPACK Specifications and Dimensional Drawings 4 7 3 Three phase 200 V 500 W 750 W 1 0 kW 05AE 08AE 10AE 4 7 3 Three phase 200 V 500 W 750 W 1 0 kW 05AE 08AE 10AE 96 2 3 79 5 00 20 hole N N e st a i 9 e Q Ko MI Cooling fan 15 0 59 Mounting Hole Diagram E q 75 2 95 J 180 7 09 S 90 3 54 8 0 31 me fell 17 0 67 OOo AE cM Mounting pitch 160 6 30 49 5 0 5 5 89 0 02 0 3 54 Reference length Units mm in Approx mass 1 7 kg 3 75 Ib 5 cann ms L External Terminal Connector SERVOPACK Connector Main circuit Control power Connector SERVOPACK Manufacturer power supply supply Symbol
119. 5 0 10 Current Motor Constant Naw 96 13 6 16 7 12 Electrical Time e 04 04 04 0 5 Constant Mechanical Time m 369 324 3 12 2 32 Constant Thermal Resistance Thermal Resistance Without Heat Sink pee at vareta ooo Note 1 The items marked with an and Force and Speed Characteristics are the values at a motor winding tem perature of 100 C 212 F during operation in combination with a SERVOPACK The others are at 20 C 68 F 2 The above specifications show the values under the cooling condition when a heat sink aluminium board NI j Ur e w D al 7 ec ua UA 3 S A o n E ul in on in o nz P S alo zu BLO fj xj BLO oo N Nn oo N Nn oo vo i oo lo N N bo e Ur gt Ur N io o N N Un T oo listed in the following table is mounted on the coil assembly Linear Servomotor Heat Sink Size Model SGLGW in mm in 30A050C 30A080C 200 x 300 x 12 40A140C 7 87 x 11 81 x 0 47 60A140C 40A253C 300 x 400 x 12 60A253C 11 81 x 15 75 x 0 47 40A365C 400 x 500 x 12 60A365C 15 75 x 19 69 x 0 47 90A200C 90A370C 90A535C 800 x 900 x 12 31 50 x 35 43 x 0 47 3 The values of peak speed in the table indicate the maximum speed that can be controlled from SERVOPACK Refer to Force and Speed Characteristics for the actual motor peak speed 3 Specifications and Dimensional Drawings 2 Force and Speed Character
120. 5020 675 607 5 23 92 6863 10 46 ke 613 Geo quas 945 877 5 84 55 9563 13 65 cl ERES Reference length 3 37 3 Specifications and Dimensional Drawings 3 7 4 SGLFO 1Z Linear Servomotors 3 7 4 SGLFO 1Z Linear Servomotors 1 Coil Assembly SGLFW 1ZOOOOBO With a connector made by Tyco Electronics AMP K K The following table and figures show the specifications when a main circuit s cable connector made by Tyco Electronics is used for the coil assembly 40 1 57 3 amp 2 x screws 4 40 UNC 5 2 0 20 With magnet cover Gap 0 8 0 03 With magnet cover 58 0 1 Gap 1 0 04 Without magnet cover 2810 00 14 2 0 56 With magnet cover 14 0 55 Without magnet cover SGLFW 1ZL1200B T BG Ed 5 0 20 Without magnet cover Sa S WF E 50 min L1 30 55 2 17 L2 pe 40 Hall sensor i 18 60236 lE Ja 055 eel M m sge 9 INI En I E I AI 9S Bogataj 9 B End d PRA pra A L A vz g Sh _ E I 6er 4 fe r 4 no ite 1 1 E x o i B B5 3 8B sj A B l PE T e Ge The coil assembly moves in the direction See the figures D indicated by the arrow when current e P and Q below flows in the order of phase U V and W o 50 min 25 10 9 0 39
121. 6 2 Molded case Circuit Breaker and Fuse Capacity 2 11 2 6 3 Noise Filters Magnetic Contactors Surge Suppressors and DC Reactors 2 12 2 6 4 Regenerative Resistors 2 13 2 6 5 Linear Scales 2 14 2 1 2 Selections 2 1 1 Coil Assembly 2 1 Linear Servomotor Model Designation This section describes how to check the model and ratings of the linear servomotor The alphanumeric codes after SGLLILI indicate the specifications 2 1 1 Coil Assembly SGL G W 40A 140A P D Cable Connector for Main Circuit Cable Linear X Series Code Specifications Applicable Model Linear servomotor MS connector or connector made by Tyco Electronics All motor models Servomotor Model AMP K K Standard Code Specifications e SGLGW 30A 40A 60A G Coreless Connector made by SGLFW 35D 50D 1ZD F F type iron core D Interconnectron e SGLTW 35DOO0H T T type iron core S0DLILILH Weoley Hall Sensor Cooling Code Specifications Applicable models Magnet height P With hall sensor standard All motor models Voltage C Forced cooling SGLGW 40A 60A 90A A 200 VAC H With hall sensor and forced cooling D 400 VAC Without hall sensor All motor models Design revision order A B C
122. 69 1 97 4 See 15 0 59 o9 E 88 oo cc oo GG EE 3s EX Loc Ro eo E o NEM e o gt Q eo c D E 5 Koj Ex e ex D Gap 1 0 04 Without magnet cover B 100 min 1 Lee Hall Sensor Linear Servomotor Hall Sensor Output Signals Connector Specifications Connector Specifications When the coil assembly moves in the di Pin No Name Pin No Name Lead rection indicated by the arrow in the fig te i Color i i 1 5VDC WOO eH ure the relationship between the hall l I 1 Phase U Red sensor output signals Su Sv Sw and the 2 Phase U z i f h t h Vi 2 Phase V White inverse power of each motor phase Vu 3 Ph V Plug type 330779 1 Vv Vw becomes as shown in the figure ase Pin type 350218 3 or 3 Phase W Black bel Pin connector type 4 Phase W 350547 3 No 1 to 3 eM 17JE 23090 02 D8C eo iN 4 Ground Green de by DDK Ltd 5 0v 1 No _ MEE made by Tyco Electronics AMP K K Vu Sul The mating connector 2 Notused The mating connector Socket connector type 7 Not used Cap type 350780 1 nverse 17JE 13090 02 D8C 8 Not used Socket type 350536 3 or power Vv Stud type 17L 002C or pees cada V SV 17L 002C1 9 Not used 0 180 360 540 Electrical angle Coil Assembly Model
123. 69 1 97 xo z 2 2xscrews iS x i E 4x40 UNC d 3 5 es EREN 29 Sis E No ale Dn OO OO eet ee S a a Un 97 l8 f UL20276 AWG28 E zi m es E 35 1 38 43 1 69 s Reference length e Units mm in 63 min Wiring specification of dr See cable Linear Servomotor Hall Sensor Output Signals Pin No Name Connector Specifications When the coil assembly moves in the di PinN Name rection indicated by the arrow in the fig 1 5VDC mie ure the relationship between the hall 2 Phase U 1 Phase U sensor output signals Su Sv Sw and the Ph V inverse power of each motor phase Vu Pin connector type 3 Phase V 2 Vv Vw becomes as shown in the figure 4 Phase W 4 ase below 17JE 23090 02 D8C Extension LRRAOGAMRPN182 5 Not used made by DD Pid 5 ov Pin type 021 279 1020 c The mating connector 6 Not used made by Interconnectron 6 ot use Vu T Ground Fah 3090 oe T Not used The mating connector T D nverse Stud type 17L 002C or 2 Not used Plug type LPRA06BFRDN170 power W 17L 002C1 9 Not used Socket type 020 105 1020 V Sv Vw 5 0 180 360 540 3 54 Coil Assembly Model SGLTW L2 o9 ele 8 315 Electrical angle P 3 170 144 5 67 16 6 7 50D320HLID Reference length 288 11 34 1 4 II 12 40 48 1 89 x 6 0 24 0 67 0 55 24 25 3 8 Dimensional Drawings of SGLTW SGLTM Linear Servomotors 3 Magnetic Way SGLTM 50000H
124. 7 6 Connecting Regenerative Resistors for the selection No built in regenerative resistor is provided to 7 5 kW SERVOPACKs Be sure to prepare the externally mounted regenerative resistor The following table shows examples of regenerative resistors Applicable SERVOPACK Specifications fora Regenerative Min Allowable Resistor Mounted in a Resistance SERVOPACK Q Resistance Q Capacity W 7 SGDH 05AE S GDH 08AE SGDH 10AE SGDH 15AE 30 70 ree pnase 200 sGDI 20AF SGDH 75AE 3 13 1760 5 SGDH 05DE SGDH 10DE 108 70 SGDH 15DE SGDH 30DE SGDH 50DE 3 SGDH 75DE 8 880 The values in parentheses are for the optional JUSP RAOS regenerative resistor 2 The values in parentheses are for the optional JUSP RA18 regenerative resistor 6 8 Peripheral Devices The external regenerative resistor must be purchased by customers Refer to the table below for selecting an external regenerative resistor Refer to 7 6 Connecting Regenerative Resistors for the connection 1 References for External Regenerative Resistor Regenerative Specifications Manufacturer Resistor Model RH120 70 W 1 to 100 Q RH150 90 W 1 to 100 Q RH220 120 W lul Waki Wireless Research Institute RH300C 200 W 1 to 10kQ RH500 300 W 1 to 30 Q 2 Model Designation RH120 N 10Q J Model Resistance Tolerance N Noninductive winding Code Specifications
125. 8 6 PAO 7 27 parameter setting mode 8 20 parameter settings initialization Fn005 8 12 parameters 8 21 8 23 example of changing function selection 8 23 password setting protects parameters from being changed Fn010 8 16 PBO 7 27 P CL 7 26 PCO 7 27 P CON 7 26 peripheral device selection 2 9 polarity detection checking or adjusting 9 17 polarity detection start input assigning 9 16 position control block diagram 9 55 position loop gain 10 13 positioning completed output signal 9 57 positioning completed width setting 4 4 positioning nearsignal 9 58 positioning time reduction functions 10 3 P OT 7 26 product part names 1 5 PROFIBUS DP I F unit 6 43 proportional control operation proportional operation reference 10 18 protection
126. 9 4 6 sie 6 GG F m d Fog xj Saa 2xN2 4912 00 47 mounting holes sje ol 5 oe See the sectional view for the depth aa Se j 1 JI a iu es z 91 ri 9 R 5 1 5t03 o 9 he 9 E 51 55 x 0 04 Lj 0 06 so Y C I T 1 HE O8 Jj Lee ep pO hb e Gera s des EJ ETE Y SER 2x N1 M8 depth 10 0 39 92 5 3 64 E 9250380 1 175 068 S i 5864 T s x screws depth 10 0 39 92 5 3 64 4 202 5 7 97 N 0 cd si i Gap E gt 3 Including magnet cover of plate thickness 0 2 0 01 rod an og 3 75 1 33 7 5 2 66 2 x N3 M8 bolts depth 25 0 98 i25 0 98 2 al 467 5 2 66 3 1 0 12 L3 4 4 0 57 L123 Reference value Units mm in Note 1 The magnetic way may affect pacemakers Keep a minimum distance of 200 mm 7 87 in from the magnetic way 2 Two magnetic ways in a set can be connected to each other 3 The magnetic way with base has the same characteristics as those of the magnetic way without base SGLTM 80LILILIA Magnetic Way Model SGLTM 405 337 5 387 5 202 5 202 5 2 1 1 80945AY 945 37 20 877 5 34 55 1 3 6 1 18 AOBTEAY 675 607 5 6575 472 5 236 25 10 9 31 26 57 23 92 25 89 18 60 9 31 0 39 0 12 0 75 68 34 4 7 3 3 9275 742 5 247 5 1 4 2 4 36 52 29 23 9 74 0 55 0 16 1 06 94 80 4 SERVOPACK Specificatio
127. 9 60 9 9 3 Adjusting the Force Reference Offset 9 61 9 9 4 Limiting Linear Servomotor Speed during Force Control 9 63 9 10 Operating Using Speed Control with an Internally Set Speed 9 65 9 10 1 Setting Parameters 2 2 eee ee ee eee eee ee eee ee 9 65 9 10 2 Input Signal Settings 9 66 9 10 3 Operating Using an Internally Set Speed 9 66 9 11 Limiting Force 9 68 9 11 1 Internal Force Limit Limiting Maximum Output Force 9 68 9 11 2 External Force Limit Output Force Limiting by Input Signals 9 69 9 11 3 Force Limiting Using an Analog Voltage Reference 9 71 9 11 4 Force Limiting Using an External Force Limit and Analog Voltage Reference 9 72 9 11 5 Checking Output Force Limiting during Operation 9 73 9 12 Control Mode Selection 9 74 9 12 1 Setting Parameters 2 2 2 eee ee eee eee eee ee eee ee 9 74 9 12 2 Switching the Control Mode 9 74 9 13 Other Output Signals 9 76 9 13 1 Servo Alarm Output ALM and Alarm Co
128. 9 again after the motor movement direction is changed 9 27 9 Operation 9 4 Trial Operation with the Linear Servomotor Connected to the Machine A WARNING Follow the procedure below for trial operation precisely as given Malfunctions that occur after the linear 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 movement and speed to equipment specifications To power CN1 supply Turn ON the power and make the settings for mechanical configuration related to protective func tion such as overtravel and brake Check that the SERVOPACK is servo OFF status and then turn ON the power to the machine host controller Check again that the protective function in step 1 operates normally Adjust the servo gain and improve the linear servo motor response characteristics if necessary 9 28 log Reference 9 8 Operating Using Position Control and 9 9 Operating Using Force Control for control mode used Refer to 9 6 Setting Common Basic Functions For steps 3 to 8 take advance measures for emergency stop so that the servomotor can stop safely when an error occurs during operation Refer to 10 1 Autotuning The servomotor will not be broken in completely dur ing the
129. ALos ALM a B B 500 600 Output A E0 ojo No Application Module No No application module installed module installed Application Module Time No response ELI the application out module Watchdog Counter Error of WDC error in the application Application Module module MECHATROLINK II Transmission cycle setting of Transmission Cycle MECHATROLINK II is incor Setting Error rect Watchdog Timer Error MECHATROLINK I II synchro nization error NS100 115 Communica MECHATROLINK I II commu tions Error nications error NS300 Duplicate MAC ID Same node address already exists Error on the DeviceNet network Application Module No application module was Detection Error detected BUS OFF Error Fatal communications error has occurred in DeviceNet communi cations SERVOPACK Malfunc SERVOPACK is defective tion SERVOPACK Initial Initial processing failed Access Error SERVOPACK WDC Error SERVOPACK WDC error EHE Execution Command was interrupted Incomplete Application Module Error Some kind of alarm occurred in the NS600 Note 1 The following types of application modules are available NS100 JUSP NS100 MECHATROLINK I F application module NS115 JUSP NS115 MECHATROLINK II I F application module NS300 JUSP NS300 Device Net I F application module NS500 JUSP NS500 PROFIBUS DP I F application module NS600 JUSP NS600 INDEXER application module 2 For troubleshooting application module alarms refer to relev
130. CN2 Linear scale end Analog signal input 17 series connector model 17LE 13150 27 socket by DDK Ltd 2 The linear scale analog 1 Vp p output D sub 15 pin male by Renishaw Inc can be directly connected However the BID and DIR signals are not connected 3 Use the linear scale end connector to change the zero point specifications of the linear scale 5 5 5 Specifications and Dimensional Drawings of Serial Converter Unit 5 3 3 Linear Scale with Cable for Hall Sensor by Heidenhain 5 3 3 Linear Scale with Cable for Hall Sensor by Heidenhain 1 Serial Converter Model JZDP D006 O00 2 Connection Example Serial converter unit JZDP D006 000 D sub 9 pin connector SERVOPACK CN3 SGDH OOOE 3 Dimensional Drawing Linear scale by Heidenhain Corp JZSP CLP70 00 D sub 15 pin connector Hall sensor Linear scale end Hall sensor signal input connector CN3 2x4 4 2 4x 4 2 0 17 2x 4 40 UNC tapped holes 40 17 holes abc eiiiai SERVOPACK end Serial data output connector CN1 24 99 0 4 0 98 0 02 Q 65 0 3 2 56 0 01 72 2 83 82 0 3 3 22 0 01 Linear scale end Analog 14 35 0 4 0 56 0 02 k 90 3 54 signal input connector CN2 1 5 0 06 22 5 0 89 4xM5 tapped holes depth 10 0 39 Units mm in 5 6 5 3 Dimensio
131. Cabl z dum The coil assembly moves in the direction indicated by the arrow able o when current flows in the order of phase U V and W UL20276 AWG26 Cable UL2517 AWG25 m 2x2 M4 Mounting screw depth 5 0 20 on both sides 22 0 87 24 0 94 Hall Sensor Connector Specifications Pin No Name 1 5V Power supply 2 Phase U Pin connector type 3 Phase V 17JE 23090 02 D8C 4 Phase W made by DDK Ltd 5 OV Power supply The mating connector 6 Not used Socket connector type 7 Not used 17JE 13090 02 D8C Stud type 17L 002C or 8 Not used 17L 002C1 9 Not used Coil Assembly ModelscLew H B B 80 72 50 30A080CLID 3 15 2 83 50 48 30 30A050CLID 1 97 1 89 1 18 1 97 Linear Servomotor Connector Specifications Extension SROCO6JMSCN169 Pin type 021 423 1020 made by Interconnectron The mating connector Plug type SPUCO6KFSDN236 Socket type 020 030 1020 Pin No Name Lead Color 1 Phase U Red 2 Phase V White 3 Phase W Blue 4 Not used 5 Not used 6 FG Green Approx Mass kg Ib 085 014 o 095 919 038 G L4 L5 Gap 20 20 0 79 30 25 1 18 The value indicates the mass of coil assembly with a hall sensor unit 3 18 Reference length Units mm in Hall S
132. Connector to SERVOPACK same lil I 9 133 5 24 gt i 6 42 6 8 Peripheral Devices 6 8 16 PROFIBUS DP I F Unit 1 Model JUSP NS500 2 Specifications Basic Specifications PROFIBUS DP Baud Rate Setting The baud rate is automatically set by the Master between 9 6 kbps d and 12 Mbps Communications Station Address Setting Select the address from 0 to 7D 0 to 125 using the rotary switches Operation Specifications Positioning using PROFIBUS DP communications PROFIBUS DP communications Reference Input Commands Motion commands position speed Parameter read write Position Control Acceleration Linear first second step asymmetric exponential S curve Pus d Onto Deceleration Method P asy KSRP K unctions Fully closed Control Impossible Fixed Allocation to SERVOPACK CN1 Connector NS500 Unit Emergency stop signal SERVOPACK CN1 w Ae n Servo alarm Brake interlock Servo ready Positioning completion Output Signals Connector NS500 Unit Notch 1 notch 2 Position Data Latch Position data latching is possible using phase C zero point signals Function and external signals intemal Functions Parameters damage Parameter setting errors Communications errors etc ERR Module E LED Indicators Hes e COMM Communications Status The allocation of the output signals
133. Converter Unit 5 1 Serial Converter Unit Specifications 5 2 5 2 Analog Signal Input Timing 5 3 5 3 Dimensional Drawings of Serial Converter Unit 5 4 5 3 1 Linear Scale without Cable for Hall Sensor by Heidenhain 5 4 5 3 2 Linear Scale without Cable for Hall Sensor by Renishaw 5 5 5 3 3 Linear Scale with Cable for Hall Sensor by Heidenhain 5 6 5 3 4 Linear Scale with Cable for Hall Sensor by Renishaw 5 8 XV xvi 6 Specifications and Dimensional Drawings of Cables and Peripheral Devices 7 Wiring 6 1 Linear Servomotor Main Circuit Cables 6 2 6 2 Cables for Connecting Serial Converter Units 6 8 6 3 Cables for Connecting Linear Scales 6 9 6 4 Cables for Connecting Hall Sensors 6 10 6 5 Flexible Cables 6 11 6 6 SERVOPACK Main Circuit Wire Size 6 13 6 6 1 Cable Types 6 13 6 6 2 Single phase 200 V 6 14 6 6 3 Three phase 200 V 6 14 6 6 4 Three phase 4
134. DATA 4 DATA SHIFT Key DATA DATAS saved DATA SHIFT Key DATA ENTER Key Press at least 1 s At the moment the CN1 45 operates with OR logic for S ON and P CL e Press the DATA ENTER Key once or DATA SHIFT Key for more than one second to return to the display pana Pn50A DATA ENTER Key DATA SHIFT Key s Press at least 1 s Press the UP Key to set Pn50B Note The enabled digit blinks Press the DATA ENTER Key once or DATA SHIFT BETA Key for more than one second to display the current data DATA SHIFT Key Of Pn50B Pressatleast 19 D CT is allocated to CN 1 45 Press the LEFT or RIGHT Key or DATA SHIFT 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 45 to CNI 40 Press the DATA ENTER Key once or DATA SHIFT e Key for more than one second The value blinks and is DATA 4 DATA SHIFT Key ENTER DATA DATAENTER Key DATA SHIFT Key Saved Press at least 1 s e Press the DATA ENTER Key once or DATA SHIFT Key for more than one second to return to the display DATA 4 ON i i m DATA ENTER Key DATA SHIFT Key Pn50B S ON is allocation to CN1 45 and P CL is allocated to CN1 40 Turn the power OFF and ON again to enable the change of input signal selections Pn50A and Pn50B DATA ENTER 8 27 8 Digital Operator Panel Operator 8 3 3 Output Circuit Signal Allocation 8 3 3 Output Circui
135. Description Name Pin Number P CON CN1 41 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 linear servomotor movement 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 8 3 2 Input Circuit Signal Allocation 3 Related Parameter Parameter Function Pn50A n0001 Enables the input signal allocation for the sequence Set to allocate the gain switching signal P CON to an input terminal 10 18 10 4 Servo Gain Adjustment Functions 10 4 5 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
136. Display after r1 r1 e Press the DSPL SET or MODE SET Key to select the util EDD Ll SPESE key MOREE ity function mode MODE SET Key Press the UP or DOWN Key to select the Fn002 Note The enabled digit blinks o e Press the DATA ENTER Key once or DATA SHIFT Key at DATA least one second and the display will be as shown on the DATA ENTER Key DATA SHIFT Key left The operator enters JOG operation mode Press at least 1 s C Press the DSPL SET or MODE SET Key The servo turns SET ON DSPL SET Key MODE SET MODE SET Key Press the UP Key for the forward direction or DOWN Key I Forward direction i for the reverse direction The linear servomotor moves as long as the key is pressed Da Reverse direction Press the DSPL SET or MODE SET Key The servo turns GIG MOBEREF OFF Or press the DATA SHIFT Key at least one second to LI DSPESET Key MODE SET Key turn the servo OFF Press the DATA ENTER once or DATA SHIFT Key at least DATA e ons ENTER DATA one second to return to the utility function mode display DATA ENTER Key DATA SHIFT Key Fn002 Press at least 1 s 8 2 Operation in Utility Function Mode FnOOD INFO The linear servomotor movement direction differs depending on the setting of parameter Pn000 0 Direction 4 Selection The above example shows the case of factory setting 8 2 4 Zero point Search Mode Fn003 N CAUTION Forward run prohibited
137. Echoback Error control power sup ply Nas turned ON Noise interference occurred due to incorrect serial Use tinned annealed copper twisted pair or or during operation converter unit 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 serial converter unit cable is too long Noise interference occurred on the signal line Correct the serial converter unit cable layout because the serial converter unit cable is bent and the sheath is damaged The serial converter unit cable is bundled with a Correct the serial converter unit cable layout so high current line or near a high current line that no surge 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 the serial converter unit Take measures against noise for the serial con verter unit wiring Reduce the machine vibration or mount the serial converter unit securely Replace the serial converter unit Replace the SERVOPACK Excessive vibration and shocks to the serial con verter unit was applied A serial converter unit fault occurred A SERVOPACK board fault occurred Position Error Pulse Overflow In servo ON status the position error pul
138. FN258L 16 07 Three phase HI 15J 35 A a 5 er 480 VAC 16A X5061 wes Three phase 0 EE 200 V Three phase HI 20J 35 A ES FN258L mossa xem 480 VAC 30A SOAE FMAC 0934 5010 Iee phase HI 25J 50 A ES 440 VAC 50A ieu TU 65C240 15 7SAE FMAC 0953 6410 Lhree phase HI 357 65 A 440 VAC 64 A eor O45 O5DE X804 IODE FN258L 7 07 Three phase 1 15ICU G5 A ee 480 VAC 7 A 685A EJ i13 IDE Three phase Built in 400 V E i i FN258L 16 07 Tire pluse HI 20JCU 35 A EJ ELE 480 VAC 16 A 685A 5 0 50DE Three phase HI 25JCU 50 A 39 o Perr ee ee phase HI 25JCU 50 A E Note 1 If some SERVOPACKs are wired at the same time select the proper magnetic contactors accord ing to the total capacity 480 VAC 35 A HI 35JCU 65 A 2 The following table shows the manufacturers of each device Peripheral Device Noise Filter FN FS type Schaffner Electronic FMAC type SCHURTER formely TIMONTA Magnetic Contactor Yaskawa Controls Co Ltd Surge Suppressor Yaskawa Controls Co Ltd DC Reactor Yaskawa Controls Co Ltd 2 12 2 6 Selecting Peripheral Devices 2 6 4 Regenerative Resistors Regenerative Resistor SERVOPAGK Model Refer to 6 8 5 6 8 6 and 7 6 Main Circuit Power Supply Capacit Buitin al Externall ity x y kW SGDH NEN NM Capacity c nnected Q W 005 05 ASAE Single phase Mii 10 is 200V Ez 20 se Lr so o Three
139. Fixed Power Supply Voltage Fixed Code Remarks Code Voltage A Single Three phase 200V For force speed and position control E D Three phase 400V Applicable for various application modules 2 3 2 Selections 2 3 X II Series SERVOPACKs and Applicable Linear Servomotors Linear X Series Linear Servomotor Single phase Three phase Three phase 200 VAC 200 VAC Psoaosoc AME TdT wc wa end i ee ci o Uh cu Standard 40433050 OMAE O Cg Swaec ww elu ME CCENEE NENIUNNCNENM NN NNNE Wayisused eons AE wae o is swexc sa ais 17 models Hgh oce aoas Magnetic Way is used SGLEW With F type iron core 35D120A 35D230A 14 models 50D200B 50D380B 1ZD200B os 3E 2 3 X II Series SERVOPACKs and Applicable Linear Servomotors E l Series SGDH SERVOPACK Linear X Series Linear Servomotor Single phase Three phase Three phase 3OMTA 20M33XA 20M amp 0 amp SATA SBAEOA S5MQA SM SGLTW cs With T type iron core 50A170H cL SoaxH 40M 408808 80M0B X Cl ee 22 models S5DWOH S530H i E 40D4B Lm ae d 80D600B Note The model combi
140. INDEX A adjusting offset 9 38 air gap 7 13 alarm code output 9 76 11 2 alarm display table 11 2 alarm display table when the application module is used 11 5 alarm reset 9 76 11 2 alarm traceback data clear Fn006 8 13 alarm traceback data display Fn000 8 9 allocating input signals 8 27 allocating output signals 8 29 allowable maximum motor speed and dividing ratio monitor 8 34 ALM 7 27 ALM RST 7 26 8 3 ALO 7 27 ambient storage temperature 4 4 analog monitor 10 29 analog monitor cable 2 10 analog monitoring 4 5 application module 2 10 application module detection results clear Fn014 8 19 automatic offset signal adjustment of motor current detection signal Fn00E 8 14 autotuning functions 10 3 B base mounted type
141. Integral Time Constant Pn101 Tf Force 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 10 12 10 3 Manual Tuning 10 3 2 Servo Gain Manual Tuning The SERVOPACK has the following parameters for 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 Force 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
142. Method and Remarks Configure an input signal circuit necessary for servo ON Satisfy the following conditions Connect the I O signal connectors CN 1 in the circuit on Servo ON S ON input signal can be input the previous page or equivalent to input the signal neces Forward Run Prohibited P OT and Reverse Run Prohibited sary for servo ON Then turn OFF the power and connect N OT input signals are turned ON L level Forward run the CNI to the SERVOPACK 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 8 3 2 Input Circuit Signal Alloca tion Turn ON the power and make sure that the panel operator The input signal setting is not correct if the display is not the same display is as shown below as on the left Check the input signal using the Un005 input signal monitor from the panel operator vrons LET Check input signal wiring in monitor mode using the digital opera tor or panel operator Refer to 8 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 Ll Top lignts when input signal is OFF high level 4 Bottom SN when input signal is low level Input th
143. Model SGLTM 270 10 63 4 et 1950020 486 19 13 40894038 756 702 27 64 14 11 ssepe asm 3 49 3 Specifications and Dimensional Drawings 3 8 4 SGLTLI 40 Linear Servomotors 3 8 4 SGLTLI 40 Linear Servomotors 1 Coil Assembly SGLTW 400000BO 19 1 0 75 111 8 4 40 19 1 0 75 83 3 27 78 3 07 Hall sensor 63 2 48 NxM8 tapped holes depth 16 mm o5 2 wo p fa eo i Ol Y P ae Pa 2 i P mE Sje el 44 40 UNG alz The coil assembly moves in the direction indicated by the arrow when z z z e current flows in the order of phase U V and W HERE B EJE E E sS 5s s5 z Ez SZ EIC SEG glase le vejs gj gs ae lt E Reference length 8 Nameplate Units mm in Hall Sensor Linear Servomotor Hall Sensor Output Signals Connector Specifications Connector Specifications When the coil assembly moves in the di Pin No Name Pin No Name rection indicated by the arrow in the fig A Phase U ure the relationship between the hall 1 rev Power SUPPI DO OA B Phase V sensor output signals Su Sv Sw and 2 Phase U DONDE the inverse power of each motor phase 3 Phase V C Phase W Vu Vv Vw becomes as shown in the fig Pin connector type 4 Phase W D Ground ure below 17JE 23090 02 D8C
144. NU 50 60 Hz 50 60 Hz 53460 0611 Molex Japan Co Ltd Three phase 400 V 10214 52A2JL Sumitomo 3M Co Ltd Main circuit Control power power supply supply L1 L2 L3 24 Vt OV Nc r Three phase 24 VDC 400 VAC 50 60 Hz 4 20 4 7 Dimensional Drawings of Base mounted SERVOPACK Model 4 7 6 Three phase 200 V 5 0 kW 50AE Three phase 400 V 5 0 kW 50DE E Heat sink 6 pin terminal Mounting Hole Diagram S M5 screw g 0 31 o 4xM5 screw taps o 4 pin terminal X i anne NE i M4 screw 10 i T i Fe od o _ foe Oo 1 ar An il 497 at a 5 1 3 32 Hop Sas 1 o9 P Selz Zo Ai ov g Ox f v Oo i5 o0 li gts WO ole i i NYO as Bs ks 1 D Ed In z i coud nu Y ph PCR PETE E oS l 7 An 12540 5 iac 5 4140 22 125 4 92 5 r5 2 95 3501006 1 6 0 06 N 5 4 92 0 02 5 0 20 4 gt 9 06 0 29 Mounting pitch 0 20 ite M5 screw M5 screw nT j Reference length Units mm in Approx mass 2 8 kg 12 13 Ib External Terminal Connector Main circuit Control power power supply supply L1 L2 L3 LIC LE2C SERVOPACK Connector Connector Three phase Single phase Symbol SPEUR 90 60 H12
145. Ovcuarce Poner O For 50W to 5 0 kW SERVOPACK L i For 7 5 kW SERVOPACK Signal Name Monitoring Item with Factory Setting Analog monitor 1 Force reference 1 V 100 rated force BME ENDON v 1o Cl sl 10 29 10 Adjustments Related Parameters The following signals can be monitored Parameter Function WomiorSigns Observation Gai Pn003 n OOO0 n O00O 1 V 1000 mm s Factory setting for Monitor 2 n OOO1 n OO010 Speed reference 1 V 1000 mm s ee alll n 0002 n 0020 Internal Internal force reference reference 1 V 100 rated force Factory setting for Monitor 1 L2 T A ABODE ROOT posone vre Wu me uer mem p converted to motor speed BGG REST weres Dvmmeaw PORE Se INNEMERHS 0o penes nonae nonen When using speed control or force control the position error monitor signal is not specified N The analog monitor output voltage is 8 V maximum The output will be limited to 8 V even if this value is exceeded Fon in the above calculations 10 30 11 Inspection Maintenance and Troubleshooting 11 1 Troubleshooting 11 2 11 1 1 Alarm Display Table 11 2 11 1 2 Warning Display 11 4 11 1 3 Alarm Display Table when the Application Module is Used 11 5 11 1 4 Warning Display Table when the Application
146. Panel Operator 8 2 8 1 1 Connecting the Digital Operator 8 2 8 1 2 Key Names and Functions 8 3 8 1 3 Basic Mode Selection and Operation 8 4 8 1 4 Status Display 8 6 8 2 Operation in Utility Function Mode FnOOD 8 8 8 2 1 List of Utility Function Modes 8 8 8 2 2 Alarm Traceback Data Display Fn000 8 9 8 2 3 JOG Mode Operation Fn002 8 10 8 2 4 Zero point Search Mode Fn003 8 11 8 2 5 Parameter Settings Initialization Fn005 8 12 8 2 6 Alarm Traceback Data Clear Fn006 8 13 8 2 7 Automatic Offset adjustment of Motor Current Detection Signal FnOOE 8 14 8 2 8 Manual Offset adjustment of Motor Current Detection Signal FnOOF 8 15 8 2 9 Password Setting Protects Parameters from Being Changed Fn010 8 16 8 2 10 Motor Models Display Fn011 8 17 8 2 11 Software Version Display Fn012 8 18 xviii 8 2 12 Applicatio
147. Pn480 Speed Limit during Force Control 0 to 5000 1 mm s 5000 Immedi 9 9 4 ately Pn481 Polarity Detection Speed Loop Gain 1 to 2000 1 Hz 40 Immedi 9 2 3 ately Pn482 Polarity Detection Speed Loop Integral 15 to 51200 0 01 ms 3000 Immedi 9 2 3 Time Constant ately Pn483 Forward Force Limit 2 0 to 800 1 30 Immedi 9 2 3 ately 9 11 1 Pn484 Reverse Force Limit 2 0 to 800 1 30 Immedi ately Pn500 Positioning Completed Width 0 to 250 1 reference 7 Immedi 9 8 5 unit ately Pn504 NEAR Signal Width 1 to 250 1 reference 7 Immedi 9 8 6 unit ately Pn505 Overflow Level 256 to 8388352 256 refer 262144 Immedi 10 3 3 ence units ately Pn506 Brake Reference Servo OFF Delay Time 0 to 50 10 ms Immedi ately Pn508 Servo OFF Brake Reference Waiting 10 to 100 10 ms 500 Immedi Time ately ately Available for the software version 32 or later 2 To reduce any danger while setting up the linear servomotor the factory settings are set to low values factory setting 3096 After the servomotor has been set up increase the settings of the parameters to the required force For details refer to 9 2 Trial Operation Using SERVOPACK Internal References 12 32 12 4 List of Parameters Parameter Factory Setting Reference Pn50A Input Signal Selection 1 2100 After restart 4th 3rd 2nd 1st digit digit digit digit Input Signal Allocation Mode Refer to 8 3 2 Input Circuit Signal Allocation Uses the sequence input signal terminals wi
148. SET Key to select the utility function mode Press the UP or DOWN Key to select Fn005 Note The enabled digit blinks Press the DATA ENTER Key once or DATA SHIFT Key for more than one second and the display will be as shown on the left Press the DSPL SET or MODE SET Key Then the parameters will be initialized During initialization the display shown on the left blinks When the initialization of parameter setting com pletes the display shown on the left blinks for about one second The display changes from donE to the display shown on the left Press the DATA ENTER Key once or DATA SHIFT Key for more than one second to return to the utility function mode display Fn005 8 2 6 Alarm Traceback Data Clear Fn006 This function clears the alarm traceback data 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 ERO u DSPL SET DSPL SET Key POR MODE SET Key DATA ENTER DATA ENTER Key DATA DATA SHIFT Key Press at least 1 s DSPL DSPL SET Key MODE SET MODE SET Key After about one second ENTE e ENTER DATA 4 DATA ENTER Key DATA SHIFT Key Press at least 1 s 8 2 Operation in Utility Function Mode FnOOD Press the DSPL SET or MODE SET Key to select the utility function mode Press the UP or DOWN Key to select Fn006 Note The enable
149. Sv Sw and the 2 Phase V inverse power of each motor phase Vu Vv Vw becomes as shown in the figure 4 Phase W below 5 Not used 6 Not used Vu Ul 1 Ground Inverse power Vy V ISv wh H 0 180 360 540 Electrical angle 3 33 3 Specifications and Dimensional Drawings 3 7 2 SGLFO 35 Linear Servomotors 3 Magnetic Way SGLFM 35000A L3 2xN 4 8 0 19 mounting holes Coil assembly 1 00 s 8 LUELLA Reference mark Reference mark 0 24 Reference marks Nameplate Two 4 0 16 marks are engraved 94 2 13 0 39 r pus 322 02 4322 1 27 1 27 0 01 Reference length Units mm in The height of screw head must be 4 2 0 17 max Assembly Dimensions Note 1 Multiple SGLFM 35LILILIA magnetic ways can be connected Connect magnetic ways so that the refer ence marks match one on the other in the same direction as shown in the figure 2 The magnetic way may affect pacemakers Keep a minimum distance of 200 mm from the magnetic way Magnetic Way 324 270 10 63 334 4 6 1 540 0 4 2 486 19 13 550 4 1 2 EE 756 702 27 64 766 4 1 2 9 ssec avin 3 34 3 7 Dimensional Drawings of SGLFW SGLFM Linear Servomotors 3 7 3 SGLFLI 50 Linear Servomotors 1 Coil Assembly SGLFW 500000BO With a connector made by Tyco Electronics AMP K K The following table and figures show the s
150. Tuning 10 13 10 3 3 Position Loop Gain 10 13 10 3 4 Speed Loop Gain 10 14 10 3 5 Speed Loop Integral Time Constant 10 14 10 4 Servo Gain Adjustment Functions 10 15 10 4 1 Feed forward Reference 10 15 10 4 2 Force Feed forward 10 16 10 4 3 Speed Feed forward 10 17 10 4 4 Proportional Control Operation Proportional Operation Reference 10 18 10 4 5 Using the Mode Switch P PI Switching 10 19 10 4 6 Setting the Speed Bias 10 22 10 4 7 Speed Feedback Filter 10 22 10 4 8 Speed Feedback Compensation 10 23 10 4 9 Switching Gain Settings 10 25 10 4 10 Force Reference Filter 10 26 10 5 Analog Monitor 10 29 11 Inspection Maintenance and Troubleshooting 11 1 Troubleshooting 11 2 11 1 1 Al
151. 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 EL TRICO DO BRASIL COM RCIO LTD A 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 Tors s Sweden Phone 46 486 48800 Fax 46 486 41410 Motoman Robotec GmbH Kammerfeldstrafe 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 7F Doore Bldg 24 Yeoido dong Youngdungpo Ku Seoul 150 877 Korea Phone 82 2 784 7844 Fax 82 2 784 8495 YASKAWA ELECTRIC SINGAPORE PTE LTD 151 Lorong Chuan 404 01 New Tech Park Singapore 556741 Singapore Phone 65 6282 3003 Fax 65 6289 3003 YASKAWA ELECTRIC SHANGHAI CO LTD No 18 Xizang Zhong Road Room 1805 Harbour Ring Plaza Shanghai 20000 China Phone 86 21 5385 2200 Fax 86 21 5385 3299 YATEC ENGINE
152. X II Series servodrives conform to the following overseas standards 1 4 1 North American Safety Standards UL CSA L i TAL US LISTED Model UL Standards UL File No Standards UL Standards UL File No File No CSA Standards CSA Standards Certifications A C22 2 Underwriters Laboratories Inc 2 Canadian Standards Association 1 4 2 CE Marking EMC Directive em Low Voltage qa Directive a ENS55011 SERVOPACK SGDH EN50178 bliss camel or group EN61000 6 2 T V Product Services GmbH Note For installation conditions refer to 7 5 2 Wiring for Noise Control Because SERVOPACKs and linear servomotors are built in type reconfirmation is required after being installed in the final product 1 11 2 Selections 2 1 Linear Servomotor Model Designation 2 2 2 1 1 Coil Assembly 2 2 2 1 2 Magnetic Way 2 2 2 2 SERVOPACK Model Designation 2 3 2 3 X II Series SERVOPACKs and Applicable Linear Servomotors 2 4 2 4 Serial Converter Units Models 2 6 2 5 Selecting Cables 2 7 2 6 Selecting Peripheral Devices 2 9 2 6 1 Special Options 2 9 2
153. 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 Turn ON the servo ON S ON input signal If the linear servomotor moves at extremely slow speed refer to 9 7 3 Adjusting Offset and use the ref erence voltage offset to keep the servomotor from moving Send the command for the movement amount easy Refer to 8 1 3 Basic Mode Selection and Operation for to check for example 1 cm from the host control how it is displayed ler in advance and check the sent movement Un00D feedback pulse counter pulse amount and actual movement distance by visual inspection and the Un00D feedback pulse counter pulse If the sent movement amount and actual movement Refer to 9 7 7 Encoder Signal Output for how to set distance in step 11 are not equal correctly set the Encoder output resolution Pn281 P Pn280 Pn281 PG divider outputting the encoder pulse from the SERVOPACK 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 The number of encoder pulses per scale pitch 9 25 9 Operation 9 3 3 Operating Procedure in Position Control Mode Pn000 n 0010 9 3 3 Operating Procedure in Position Control Mode Pn000 n 0010 The following circuit is required External input signal circuit or equivalent Reference pu acco
154. and Force Setting 6 39 6 8 13 Encoder Signal Converter Unit 6 40 6 8 14 MECHATROLINK I F Unit 6 41 6 8 15 DeviceNet I F Unit 6 42 6 8 16 PROFIBUS DP I F Unit 6 43 6 8 17 INDEXER Module 6 45 7 1 Linear Servomotor Installation 7 2 7 1 1 Introduction 7 2 7 1 2 SGLGW and SGLGM Linear Servomotors Coreless Types 7 3 7 1 3 SGLFW and SGLFM Linear Servomotor F shaped with Core 7 6 7 1 4 SGLTW and SGLTM Linear Servomotor T Type with Iron Core 7 10 7 2 Wiring Main Circuit 7 15 7 2 1 Names and Functions of Main Circuit Terminals 7 15 7 2 2 Wiring Main Circuit Power Supply Connector Spring Type 7 17 7 2 3 Typical Main Circuit Wiring Examples 7 18 7 3 Wiring Encoders 7 21 7 3 1 Connecting an Encoder CN2 and Output Signals from the SERVOPACK 7 21 7 3 2 Encoder Connector CN2 Terminal La
155. arrow in the 1 pev Powersupply Io 6 eil 1 Phase U Red figure the relationship between the hall 2 Phase U sensor output signals Su Sv Sw and 3 Phase V Plug type 350779 1 2 Phase V White the inverse power of each motor phase i ase Pin type 350924 1 or Phase W Blue Vu Vv Vw becomes as shown in the Pin connector type 4 Phase W WS 770672 2 following figure 17JE 23090 02 D8C mad by Tyco 4 FG Green made by DDK Ltd 5 OV Power supply ECHTE ANE KK The mating connector 6 Not used The mati t vu f Bu Socket connector type T Not used e maung connector 17JE 13090 02 D8C 8 Not used Cap type 350780 1 Stud type 17L 002C or Socket type 350925 1 or Inverse 17L 002C1 9 Not used 770673 1 power VV S V H 0 180 360 540 Electrical angle Coil Assembly Approx L L L3 L L Mass Model SGLGW G ae Gap op 30 2 1 2 4 5 50 48 20 0 0 85 0 14 80 72 50 30 25 0 95 0 19 ae s The value indicates the mass of coil assembly with a hall sensor unit 3 17 3 Specifications and Dimensional Drawings 3 6 1 SGLGLI 30 Linear Servomotors 2 Coil Assembly SGLGW 30ALILILICLID With a connector made by Interconnectron The following table and figures show the specifications when a main circuit s cable connector made by Intercon nectron is used for the coil assembly 4xM4 mounting screw depth 5 0 20 e N 2xscrew 4 40 UNC PS L5 L4 m
156. be calcu lated using the following formulas M Vu M Vu s Starting time tr Eus Fi s Stopping time tf Feu FL Vm Motor movement speed m s M Load mass including motor kg Motor instantaneous peak force N in combination with a SERVOPACK F Load force N Calculate the motor force from the motor current Motor force Motor force constant X Motor effective current The following figure shows the motor force and motor speed timing chart Motor force Current amplitude gt Time Motor movement e i gt Time speed 4 14 4 6 SERVOPACK Dimensional Drawings 4 6 SERVOPACK Dimensional Drawings SERVOPACK dimensional drawings are grouped according to the mounting method and the capacity 1 Base mounted Type SERVOPACK Single phase Three phase E Supply Voltage Lv pns pue 2 Rack mounted Type SERVOPACK Single phase Three phase Lv onan sop 3 Duct ventilated Type Supply Voltage SERVOPACK mm Capacity Model SGDH LILILIE P Supply Voltage Theeghass 200V OV 4 15 4 SERVOPACK Specifications and Dimensional Drawings 4 7 1 Single phase 200 V 50 W 100 W 200 W A5AE 01AE 02AE 4 7 Dimensional Drawings of Base mounted SERVOPACK Model 4 7 1 Single phase 200 V 50 W 100 W 200 W A5AE 01AE 02AE 4 16 2xM4 screws 160 6 30 Terminal 5 5 2 block el 1
157. 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 If you have a pacemaker or any other electronic medical device do not go near the magnetic way of the linear servomotor Failure to observe this warning may result in the malfunction of the medical device Be sure to use nonmagnetic tools when installing or working close to the linear servomotor Example a beryllium copper alloy hexagonal wrench set made by NGK Insulators Ltd If starting an operation with the linear servomotor in a machine set the linear servomotor to always allow emergency stops Failure to observe this warning may result in injury Never touch the linear servomotor or machinery during operation Failure to observe this warning may result in injury Before wiring install the SERVOPACK and the linear servomotor Failure to observe this warning may result in electric shock Do not operate switches with wet hands Failure to observe this warning may result in elec
158. checked on the digital operator For details refer to 8 1 4 Status Display and 8 4 1 List of Monitor Modes The S RDY signal can be allocated to another output terminal with parameter Pn5OE For details refer to 8 3 3 Output Cir cuit Signal Allocation 9 78 10 Adjustments 10 1 Autotuning 10 2 10 1 1 Servo Gain Adjustment Methods 10 2 10 1 2 List of Servo Adjustment Functions 10 3 10 2 Online Autotuning 10 5 10 2 1 Online Autotuning 10 5 10 2 2 Online Autotuning Procedure 10 6 10 2 3 Selecting the Online Autotuning Execution Method 10 7 10 2 4 Machine Rigidity Setting for Online Autotuning 10 8 10 2 5 Method for Changing the Machine Rigidity Setting 10 9 10 2 6 Saving the Results of Online Autotuning 10 10 10 2 7 Procedure for Saving the Results of Online Autotuning 10 11 10 3 Manual Tuning 10 12 10 3 1 Explanation of Servo Gain 10 12 10 3 2 Servo Gain Manual Tuning 10 13 10 3 3 Position Loop Gain 10 13 10 3 4 Speed Loop Gain 10 14 10 3 5 Speed Loop Integral Time Constant 10 14 10 4 Servo Gain Adjustment F
159. connector made by Interconnectron The following table and figures show the specifications when a main circuit s cable connector made by Intercon nectron 1s used for the coil assembly The mating connector Sockt connector type L5 L6 2xscrew wem Nameplate d jounting holes 4 40 UNC N2xM4 tapped depth 6 0 24 25 4 1 0 S 6 5 0 26 e 7 2 d o 4 8 0 19 0 28 IS AN hs Mounting holes on both sides bU e N1xM4 tapped depth 6 0 24 o2 H D 4 oF O x5 ouo 1B To V a 2 Sle 2 e co o N e N Gap 0 8 0 03 Gap 0 8 0 03 Reference length Units mm in Hall Sensor Linear Servomotor Hall Sensor Output Signals Connector Specifications Connector Specifications Pin No Name 1 2 When the coil assembly moves in the direc fetes recep Extension SROCO6JMSCN169 tion indicated by the arrow in the figure the REM Pin type 021 423 1020 relationship between the hall sensor output 2 Phase U made by Interconnectron signals Su Sv Sw and the inverse power of each motor phase Vu Vv Vw becomes as 3 Phase V 2 Pin connector type A Bn Ww The mating connector shown in the figure below 17JE 23090 02 D8C prid Plug type SPUCO6KFSDN236 made by DDK Ltd 5 0V Power supply Socket type 020 030 1020 Vu
160. ecc Length of coil assembly 2 1 2 Magnetic Way SGL G M 40 225 AC Linear X Series Options Linear servomotor Code Specifications Applicable Model Standard All motor models Model ificati Only for all Iron core types Code Specifications C With magnet cover SOLEM yp G Coreless e SGLTM F F type iron core T T type iron core M High thrust force Only for the following coreless types e SGLGM 40 60 M Magnetic way Only for the T type iron core types With base and e SGLTM 20 35 40 80 Note The magnetic ways with base for SGLTM 35000h 500000H are not available Magnet height magnetic cover Design revision order A B C ooo Note The coreless linear servomotor has revision CT Length of magnetic way 2 2 2 2 SERVOPACK Model Designation 2 2 SERVOPACK Model Designation Select the SERVOPACK according to the applied linear servomotor SGDH 10 A E O X II Series SGDH SERVOPACK Rated Output of Applicable Servomotor kW Mounting Method Code Rated Output Code Rated Output TEM Rated Output of A5 0 05 10 10 gode Specifications Applicable Servomotor kW 01 0 10 15 15 Base mounted 0 05 to 7 5 02 0 20 20 20 P Duct ventilated 7 5 04 0 40 30 30 R Rack mounted 0 05 to 5 0 05 0 45 50 5 0 08 0 75 75 7 5 Model
161. ee Ie onde nd lt 0 06 0 07 ili il iJ ihi ihi ili i i Mount the magnetic way so that its coner sutaces 52 595 57 5 2 66 EH flush with the inner 2 07 301 L2 67 5 Step 3j 111 8103 7 6 0 30 L184 2 66 x4 40 0 01 Reference length Assembly Dimensions Units mm in Two magnetic ways for both ends of coil assembly make one set Spacers are mounted on magnetic ways for safety during transportation Do not remove the spacers until the coil assembly is mounted on a machine The magnetic way may affect pacemakers Keep a minimum distance of 200 mm 7 87 in from the magnetic way Two magnetic ways in a set can be connected to each other The dimensions marked with an are the dimensions between the magnetic ways Be sure to follow exactly the dimensions specified in the figure above Mount magnetic ways as shown in Assembly Dimensions The values with an are the dimensions at preshipment Use socket headed screws of strength class 10 9 minimum for magnetic way mounting screws Do not use stainless steel screws Magnetic Way Model SGLTM 40405A 40675A 40945A 405 15 94 675 26 57 945 37 20 337 5 13 29 6 9 607 5 23 92 10 15 877 5 34 55 14 21 0 55 3 51 3 Specifications and Dimensional Drawings 3 8 4 SGLTLI 40 Linear Servomotors 3 Magnetic Way with Base SGLTM 40EIEIEIAY
162. ere pi e NN mar so 0 ee 3 10DE X5075 Three phase 15DE pee ey X5076 6 37 6 Specifications and Dimensional Drawings of Cables and Peripheral Devices 6 8 11 DC Reactor for Harmonic Suppression 2 Dimensional Drawings Units mm DC Reactor Dimensions in mm in Approx e ee Er in kg Ib BA 125 140 1 1 E 105 125 1 0 2 b 4 13 4 92 pos 2 30 2 ORAE 2 20 X5061 E 80 95 35 0 5 1 38 eus 3 15 3 74 1 38 rom 1 p 019 em 1 10 X5068 50 125 155 53 66 75 1 9 1 97 em 4 92 6 1 2 09 E 2 2 95 o2 025 4 19 re 105 125 i26 1 0 2 E 4 13 4 92 am es A em 2 20 E 100 120 0 8 e 3 94 4 72 ius am we oD mooom 1 76 X5071 3 80 95 30 0 5 1 38 eos Sum 3 74 1 18 asn a a D em 1 10 bs 85 28 0 3 ass d 3 35 1 10 aso ut 5 eio eim 0 66 X5075 a 100 120 40 0 9 1 57 e 3 94 4 72 E am ain Dr 010 1 98 X5076 50 125 140 60 4 3 1 1 1 97 e 4 92 5 51 en n 2 36 o2 0 17 2 43 X5077 50 125 155 53 66 75 5 3 1 9 1 97 35 4 92 6 1 2 09 2 6 2 95 29 0 2 4 19 6 38 6 8 Peripheral Devices 6 8 12 Variable Resistor for Speed and Force Setting 1 Model 25HP 10B The multiturn type winding variable resistors with dial MD10 30B4 are manufactured by Sakae Tsushin Kogyo Co Ltd Contact Yaskawa Controls Co Ltd 2 Dimensional Drawings Units
163. error Servo Overrun Occurred when the A SERVOPACK board fault occurred Replace the SERVOPACK Detected control power sup ply was turned ON Occurred when the The order of phase U V and W in the servomotor Correct the servomotor wiring servo was ON ora wiring is incorrect reference was input The polarity detection is not performed properly Correct the settings for the polarity detection related parameter When Pn080 0 1 is set A serial converter unit fault occurred Replace the serial converter unit A SERVOPACK fault occurred Replace the SERVOPACK 11 12 11 1 Troubleshooting Table 11 5 Alarm Display and Troubleshooting Cont d Alarm Alarm Name Situation at Alarm Cause Corrective Actions Display Occurrence Phase Faulty Occurred when the When Pn080 0 0 is set though no hall sensor is Connect correctly the hall sensor cable to the Detection control power sup mounted serial converter unit Occurs when ply was turned ON Correct the setting of parameter Pn080 0 using a hall The hall sensor is protruding from the linear servo Reconsider the linear servomotor installation sensor motor magnetic way A hall sensor fault occurred Replace the linear servomotor coil assembly A serial converter unit fault occurred Replace the serial converter unit A SERVOPACK fault occurred Replace the SERVOPACK Occurred when the The linear servomotor coil assembly direction and Correct the setting of para
164. fault occurred Replace the SERVOPACK Occurred during The AC power supply voltage was lowered and The AC power supply voltage must be within the normal operation large voltage drop occurred specified range A temporary power failure occurred Clear and reset the alarm and restart the opera tion The servomotor main circuit cable is short circuited Repair or replace the servomotor main circuit cable The servomotor is short circuited Replace the servomotor A SERVOPACK fault occurred Replace the SERVOPACK 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 maxi Occurred when The order of phases U V and W in the servomotor Correct the servomotor wiring mum motor servo was ON wiring is incorrect speed DENSIS m psy 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 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 tung orina The encoder wiring is incorrect Correct the encoder wiring high speed move n n 3 7 m P Malfunction occurred due to noise interference in Take measures against noise for the encoder wir i the encoder w
165. 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 Deceleration Filter Average Movement Time Filter Pn207 n 0000 Pn207 n 0001 Before filter applied After filter applied Before filter applied After filter applied om LI X3 63 2 Pn208 Pn208 Response waveform for stepwise input Before filter applied Pn204 After filter applied Response waveform for stepwise input ra Pn208 t Response waveform for ramp reference input 9 56 9 8 Operating Using Position Control 9 8 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 Name Pin Number em UU iere Forre This output signal can be allocated to an output terminal with parameter Pn50E The factory setting is allocated to CN1 25 26 Pn500 Positioning Completed Width Setting Range Setting Unit Factory Setting Setting Validation 010 250 immediately The positioning completed COIN signal is output when the difference position error pulse between the number of reference pulses output by the host controller and the travel distance of the servomotor is less than Speed the value set in
166. incorrect wiring and disconnection ofthe Correct the wiring for the external regenerative normal operation regenerative resistor resistor The regenerative resistor is disconnected so the Replace the regenerative resistor or replace the regenerative energy became excessive SERVOPACK Reconsider the load and operation conditions A SERVOPACK fault such as regenerative transis Replace the SERVOPACK tor and voltage sensor fault occurred 11 8 Regenerative Overload Detected when the power to the main circuit is turned ON Main Circuit Wiring Error Detected when the power to the main circuit is turned ON Overvoltage Detected when the SERVOPACK s main circuit DC voltage is 420 V or more Detected when the power to the main circuit is turned ON 11 1 Troubleshooting Table 11 5 Alarm Display and Troubleshooting Cont d Occurred when the control power sup ply was turned ON Occurred when the main circuit power supply was turned ON Occurred during normal operation large increase of regenerative resistor temperature Occurred during normal operation small increase of regenerative resistor temperature Occurred when the control power sup ply was turned ON Occurred when the main circuit power supply was turned ON Occurred when the control power sup ply was turned ON Occurred when the main circuit power supply was turned ON Occurred durin
167. input amplitude 0 4 V to 1 2V cos sin Ref Input signal level 1 5 V to 3 5V Hall Sensor Input CMOS level Signal Output Signals Position data hall sensor information and alarms Output Method Serial data transmission HDLC High level Data Link Control protocol format with Manchester codes Transmission Cjde Output Circuit Balanced transceiver SN75LBC176 or the equivalent PE remtemiessmestn o o o Mechanical Environmental 0 C to 55 C 32 to 131 F Conditions Storage temperature 20 C to 80 C 4 to 176 F Humidity 20 to 90 RH without condensation 1 The current consumption of the linear scale and hall sensor is not included in this value The current consumption of linear scale and hall sensor must be taken into consideration for the cur rent capacity of host controller that supplies the power The current consumption of hall sensor Approx 40 mA 2 Inputa value within the specified range Otherwise incorrect position information is output and the device may be damaged 3 The transmission is enabled 100 to 300 ms after the power turns ON 5 2 5 2 Analog Signal Input Timing 5 2 Analog Signal Input Timing The following figure shows the input timing of the analog signals When the cos and sin signals are shifted 180 degrees the differential signals are the cos and sin signals The specifications of the cos cos sin and sin signals are identical except for the phase In
168. is Correct the serial converter unit cable layout serial converter unit cable bent or its sheath is damaged Excessive noise interference to serial Check if the serial converter unit cable is Change the serial converter unit cable layout so that no converter unit cable bundled with a high current line or near surge is applied 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 count error due Check if the signal line from the serial con Take a measure against noise for the serial converter unit to noise verter unit is influenced by noise wiring Excessive vibration and shock to the Machine vibration occurred or servomotor Reduce the machine vibration or mount the servomotor serial converter unit mounting such as mounting surface preci securely sion fixing alignment is incorrect Serial converter unit fault om Replace the serial converter unit SERVOPACK fault Po Replace the SERVOPACK 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
169. is OFF H level ON when CNI 45 input signal is OFF H level ON when CN1 46 input signal is OFF H level SPD A Signal Mapping Refer to 9 10 Operating Using Speed Control with an Internally Set Speed Same as SPD D SPD B Signal Mapping Refer to 9 10 Operating Using Speed Conttol with an Internally Set Speed Same as SPD D C SEL Signal Mapping Control mode change when ON L level Refer to 9 12 2 Switching the Control Mode Same as SPD D 12 35 12 Appendix 12 4 2 List of Parameters Parameter F i Factory Setting Reference Pn50D Input Signal Selection 4 8888 After restart 4th 3rd 2nd 1st digit digit digit digit ZCLAMP Signal Mapping Zero clamp when ON L level Refer to 9 7 6 Using the Zero Camp Function ON when CN1 40 input signa ON when CN1 41 input signal is ON L level 2 ON when CN1 42 input signal is ON L level ON when CN1 43 input signal is ON L level 3 ON when CN1 44 input signal is ON L level s ON wen as iout sears oneen iE s sew SSCS s on vien enrampas sorra s ON wien CNIa2 npsil sorre OOU E o ON wien NI mso O F ON when CN1 46 input signal is OFF H level INHIBIT Signal Mapping Reference pulse inhibit when ON L level Refer to 9 8 7 Reference Pulse Inhibit function INHIBIT Same as ZCLAMP G SEL1 Signal Mapping Gain change when ON L level Refer to 10 4 9 Switching Gain Settings Same as ZCLAMP P DET Signa
170. limiting by analog voltage reference 9 11 4 9 11 1 Internal Force Limit Limiting Maximum Output Force Maximum force is always limited to the values set in the following parameters Pn483 Forward Force Limit Reverse Force Limit The settings in these parameters are constantly enabled The setting unit is a percentage of rated force Ifthe force limit is set higher than the maximum force ofthe linear servomotor the maximum force ofthe linear servomotor is used No Internal Force Limit Internal Force Limit Maximum force can be output Speed Limiting force Too small a force limit setting will result in insufficient force during acceleration and deceleration IMPORTANT For safe operation at setup of linear servomotor the factory setting of Pn483 and Pn484 are 30 which are relatively low After having set up the linear servomotor increase the settings of Pn483 and Pn484 to the desired level Set to 800 if there is no restriction 9 68 9 11 Limiting Force 9 11 2 External Force Limit Output Force Limiting by Input Signals This function allows the force 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 force limits previously set in parameters 1 Related Parameters Forward External Force Limit Position Force Setting Range Setting Unit Factory E Setting Validation owe
171. linear servomotor models are forcibly stopped by dynamic braking Similar to the Coast Mode the n LILILIO 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 runs 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 linear servomotor is forced to stop by dynamic braking regardless of the settings of this parameter when the main circuit power supply L1 L2 L3 or control power supply L1C L2C turns OFF SGDH ASAE to 15AE 50 W to 1 5 kW for 200 V SGDH 10DE to 75DE 1 0 kw to 7 5 kW for 400 V If the linear servomotor must be stopped by coasting rather than by dynamic braking when the main circuit power supply L1 L2 L3 or the control power supply L1C L2C turns OFF arrange the sequence externally so the linear 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 SERVOPACK s internal ele ments Use the speed input reference and position reference to control the s
172. mm in Panel X 11 54 0 45 0 04 Panel driling diagram 25 7 5 0 30 hole 0 25 HP Helicolumn z x 40 10 HS L RE hole Go H n9 H zae y d l2 13 11 10 0 39 A 14 541 0 57 0 04 MD multi dial 24 1 0 94 0 04 A 37 541 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 im CN1 unc eem alo 1 2 5 s V REF i i 9 f T REF 12V F 1 6 XSG 6 39 6 Specifications and Dimensional Drawings of Cables and Peripheral Devices 6 8 13 Encoder Signal Converter Unit 6 8 13 Encoder Signal Converter Unit 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 Specifications Receiver Unit 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 Output Circuit Output Circuit Output Circuit Output Circuit
173. more The display at the left will appear for a mass ratio of 20096 Press the DSPL SET or MODE SET Key The mass ratio will be saved When completed donE will blink for about one second After donE is displayed the mass ratio will be displayed again Press the DATA ENTER or DATA SHIFT Key for one second or more to return to the Fn007 display of the utility function mode This completes saving the default value for the mass ratio for online autotuning The next time the power supply is turned ON the value that was saved for the Mass Ratio Pn103 will be used to start online autotuning 10 11 10 Adjustments 10 3 1 Explanation of Servo Gain 10 3 Manual Tuning 10 3 1 Explanation of Servo Gain The block diagram for position control is as follows Position control loop Speed control loop Speed Move Speed SLUT Ces R pee t Speed pattern 1 7 Servomotor eee ae Position reference j Speed Kv gt Tf LE Current Electric l Y loop trol control power t control r Pcounter gain KP m Ti mP gt lsection converting i Time H section i i Speed loop Current loop i Position loop l te E EEEE A EE E E EE EEA E E E EEEE SEE AE E H Linear scale pie SERVOPACK x Host controller Kp Position Loop Gain Pn102 provided by user Kv Speed Loop Gain Pn100 Ti Speed Loop
174. ohase a 98 a 8 30 xaE 23 0 7 E RUE OR TAF TSP RAT ORE INDE DE Three phase 20DE did 30DE ERRA 75DE 18 2 8802 JUSP RA18 1 For the optional JUSP RAO5 Regenerative Resistor Unit 2 For the optional JUSP RA18 Regenerative Resistor Unit Note 1 If the SERVOPACK cannot process the regenerative power an external regenerative resistor is required Refer to 6 8 5 External Regenerative Resistor 6 8 6 Regenerative Resistor and 7 6 Connecting Regenerative Resistors 2 The following table shows the manufacturers of each device Peripheral Device External Regenerative Resistor Iwaki Wireless Research Institute External Regenerative Unit Yaskawa Electric Corporation 2 13 2 Selections 2 6 5 Linear Scales 2 6 5 Linear Scales ee Max Speed of Resolution Scale Pitch Applicable Linear Manufacturer Type Output Signal um pulse Output Servomotor Resolution Pn281 _ LIDA187 LIDA487 Heidenhain LIDA489 Corp LIF181 Note 1 The linear scale signal is multiplied by eight bits 256 segmentation inside the serial converter unit 1Vpp Analog voltage 2 Using the zero point signal with a linear scale made by Renishaw Inc may cause a deviation in the home position If so adjust the setting so that the zero point is output only in one direction by using BID DIR signal 3 This list does not cover all the applicable types of linear scales And the linear scales listed in
175. one end JZSP CKI01 3 With connection cable 1 m Digital Operator JUSP OP02A 2 am JZSP CMS00 1 Only required when using AX series Digital Operator JUSP OP02A 1 Connection Cable JZSP CMS00 2 SERVOPACK Operator end end for Digital Operator JZSP CMS00 3 D Sub 9 pin For DOS V SERVOPACK Personal Connection Cable for Personal 28 JZSP CMS02 end computer SOR Computer SERVOPACK end Monitor end JZSP CA01 m Analog Monitor Cable MECHATROLINK I I F Unit NS100 MECHATROLINK II I F Unit NS115 Application Module DeviceNet I F Unit NS300 PROFIBUS DP I F Unit NS500 INDEXER Module NS600 For details refer to the manuals of each application module 2 10 2 6 Selecting Peripheral Devices 2 6 2 Molded case Circuit Breaker and Fuse Capacity Current Capacity of the SERVOPACK Molded case Circuit Breaker Main Model Power Supply and the Fuse Ams 2 Circuit Capacity per Power SERVOPACK Refer to 6 8 7 Supply Capacity kVA Main Circuit Control Ci Main Circuit Control Cir SGDH cuit Power cuit Power KW Power Supply Supply Power Supply ASAE a 4 0 13 Inrush Current 24 VDO 78A 20A Nominal value at the rated load The specified derating is required to select an appropriate fuse capacity 2 Cutoff characteristics 25 C 300 five seconds min and inrush current of 20ms 3 A preventive circuit for inrush cu
176. or Down Cursor Key to select the machine rigidity setting uem Press the DSPL SET or MODE SET Key SET MODE SET The rigidity setting will be changed and donE will blink on DSPLISET Key mopE SET Key the display for about one second About one second later After donE is displayed the setting will be displayed again Press the DATA ENTER or DATA SHIFT Key for more than le one second to return to the Fn001 display of the utility function DATA ENTER Key DATA SHIFT Key mode Press at least 1 s This completes changing the machine rigidity setting for online autotuning 10 9 10 Adjustments 10 2 6 Saving the Results of Online Autotuning 10 2 6 Saving the Results of Online Autotuning N CAUTION Always set the correct mass ratio when online autotuning is not used If the mass ratio is set incorrectly vibration may occur For online autotuning the most recent load mass 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 mass 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 mass as the default value t
177. rated force Maximum allowable input voltage 12 VDC 9 71 9 Operation 9 11 4 Force Limiting Using an External Force Limit and Analog Voltage Reference 9 11 4 Force Limiting Using an External Force Limit and Analog Voltage Reference This function can be used to combine force limiting by an external input signal and by analog voltage reference Because the force limit by analog voltage reference 1s input from T REF CNI 9 10 this function cannot be used during force control Use P CL CN1 45 or N CL CN1 46 for force limiting by external input signal When P CL or N CL is ON either the force limit by analog voltage reference or the setting in Pn404 or Pn405 will be applied as the force limit whichever is smaller SERVOPACK P CL gt N CL gt Force limit R Forward torque value limit value Pn483 Pn404 Speed loop P CL ON Speed i Force reference reference Reverse torque reds limit value Pn484 Pn101 N CL ON Speed feedback 1 Related Parameters Meaning Pn002 a 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 L1LILI2 is set T REF is used for force feed forward input but the functions cannot be used together Forward External Force Limit P890 5 19 imnesais Reverse External Force Limit The setting unit is a percentage of rated force 1 e the rated force is 100
178. 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 55 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 Regeneration Occurred when the A SERVOPACK board fault occurred Replace the SERVOPACK Error Detected Detected when control power sup ply was turned ON the power to the Occurred when the An external regenerative resistor is not connected Connect an external regenerative resistor main circuit was main circuit power for a servomotor of 7 5 kW turned ON 7 F supply was turned Pn600 is set to a value other than 0 for a servomotor Connect an external regenerative resistor or set ON of 400 W or less and an external regenerative resis Pn600 to 0 if an external regenerative resistor is tor is not connected not connected Check for incorrect wiring or a disconnected wire in Correct the wiring for the external regenerative the regenerative resistor resistor A SERVOPACK fault occurred such as regenerative Replace the SERVOPACK transistor or a voltage sensor fault The jumper between B2 and B3 is removed for a ser Correct the wiring vomotor of 500 W or more and 5 0 kW or less Occurred during Check for
179. run allowed when CN1 43 input signal is ON L le Forward run allowed when CN 1 44 input signal is ON L leve Forward run allowed when CN1 45 input signal is ON L eve eve Forward run allowed when CN1 46 input signa Forward run prohibited Forward run allowe ojo joijio n co Forward run allowed when CN1 40 input signal is OFF H leve Forward run allowed when CN1 41 input signal is OFF H level Forward run allowed when CN1 42 input signal is OFF H level Forward run allowed when CN1 43 input signal is OFF H leve o j oj um m Slo Forward run allowed when CN1 44 input signal is OFF H leve Forward run allowed when CN1 45 input signal is OFF H leve E oS Forward run allowed when CN1 46 input signal is OFF H leve 12 33 12 Appendix 12 4 2 List of Parameters Parameter F Factory Setting Reference No Name Setting Range Setting Validation Pn50B Input Signal Selection 2 6543 After restart 4th 3rd 2nd st digit digit digit digit n LILILILI N OT Signal Mapping Reverse run prohibited when OFF H level Refer to 9 6 3 Setting the Overtravel Limit Function Reverse run allowed when CN1 40 input signal is ON L level Reverse run allowed when CN1 42 input signal is ON L level Reverse run allowed when CN1 43 input signal is ON L level Reverse run allowed when CN1 44 input signal is ON L level Reverse run allowed when CN1 45 input s
180. s AD75 Positioning Unit SERVOPACK in Position Control Mode 12 3 7 Example of Connection to Mitsubishis AD75 Positioning Unit SERVOPACK in Position Control Mode I O power supply SGDH SERVOPACK Positioning unit o4y L5 24V AD 5 8 js ar aes by i gt 024V itsubishi i 5 Ze d Control power supply X axis Y axis L1 26 Og tn 20 k 4 7 READY 1Ry L3 Main circuit power supply m ON when Oo 14 STOP pz posttoning f is cancelled Linear servomotor 11 DOG ON when CN1 U proximit 2 s v 24 Is Qerecied PCO 719 lt gt Wo 25 PGO PCO 20 Linear scale Serial TRY ALM 31 CN2 i converter YH unit i ALM 32 gt Properly treat the ends of shielded wires 3 k PULS T 21 J PULSE IPULS 8 CN1 4 SIGN 11 41 amp 22 SIGN ISIGNT 12 40 J S ON 22KO cLRI 15 42 P OT 5 A CERT 14 43 N OT 024V 23 CLEAR lt The ALM signal is output for about two seconds when the power is turned ON Take this into consider ation 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 SGDH SE
181. selection Pn110 1 Speed feedback compensation function 10 23 10 Adjustments 10 4 8 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 70 5 Analog Monitor on monitoring the position error and force 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 2 With PI control gradually increase the Speed Loop Gain in Pn100 and reduce the Speed Loop Integral Time Constant Pn101 so 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 4000 Speed loop integral ti tant Pn101 peed loop integral time constant Pn101 2zX Priob 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 posi
182. servodrives B Description of Technical Terms The terms in this manual are defined as follows Servomotor or motor Linear X Series SGLGW SGLFW and SGLTW linear servomotor e SERVOPACK XI Series SGDH 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 P CON P CON BW Quick access to your required information Read the chapters marked with V to get the information required for your purpose SERVOPACK Trial S Linear Panel 3 Inspection Ratings and Operation Chapter Servomotors D Configuration and Characteristics b and Servo and Peripheral and Wiring Maintenance Adjustment Devices v Chapter 1 Outline Chapter 2 Selections Chapter 3 Linear Servomotor Specifications and Dimensional Drawings Chapter 4 SERVOPACK Specifications Y and Dimensional Drawings Chapter 5 Serial Converter Unit Specifications and Drawings Chapter 6 Specifications and Drawings of Cables and Peripheral Devices Chapter 7 Installation and Wiring Chapter 8
183. show the specifications when a main circuit s cable connector made by Tyco Electronics is used for the coil assembly 2xscrew 4 40 UNC L5 L6 Mounting holes Nameplate N2xM4 tapped depth 6 0 24 L3 gt j Mounting N1xM4 ta holes on both sides pped depth 6 0 24 Gap 0 8 0 03 Gap 0 8 0 03 Hall Sensor Connector Specifications 4 v 4 x 4 V 4 N 4 V 4 V 4 X Linear Servomotor Connector Specifications Reference length Units mm in Hall Sensor Output Signals Pin No Name When the coil assembly moves in the direc QUE Pin No Name color tion indicated by the arrow in the figure the 1 jev Powersuppy Fio o e UH 1 Phase U Red relationship between the hall sensor output 2 Phase U es signals Su Sv Sw and the inverse power of Phase V Whit 3 Phase V Plug type 350779 1 2 ase ite carn motor phase vi Vv Vw becomes as Pin connector type A Pnasew Pin type 350561 3 or 3 Phase WJ BIE j SIONI E 17JE 23090 02 D8C SEC 380690 3 No 1103 4 FG Green TT made by DDK Ltd 5 ov Power supply 2200584 y pply 350669 1 No 4 Vu The mating connector 6 Not used made by Tyco Electronics AMP K K Ltt LLL Sockt conne
184. 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 nal in speed control mode is Invalid Allocating Output Signals EXAMPLE The procedure to replace Movement Detection TGON signal allocated to CN1 27 28 with factory set ting to Invalid and allocate Brake Interlock BK signal to CN1 27 28 is shown below Before After soe GEEL GEE BN rin Display after Digital Panel TEE Press the DSPL SET or MODE SET Key to select the value setting parameter mode If a parameter other than DSPL SET Ke JON y MODE SET Key i is displayed press the UP or DOWN Key to select n50E Note The enabled digit blinks Press the DATA ENTER Key once or DATA SHIFT Key for more than one second to display the current data of PATAS Pn50E TGON is allocated to CN1 27 28 Press the LEFT Key or RIGHT or DATA SHIFT Key to e select the third digit from the right Press the DOWN Key to set 0 Sets TGON Invalid Press the DATA ENTER Key once or DATA SHIFT Key ENTER DATA for more than one second DATA ENTER Key DATA SHIFT Key The value blinks and is saved Press at least 1 s DATA ENTER Key DATA SHIFT Key DATA 4 DATA SHIFT Key TR e Press the DATA ENTER Key once or DATA SHIFT Key ENTER DATA DATA ENTER Key DATA SHI
185. su E 6 Not used 7 8 9 Pin No Name Lead Color Not used B T e inverse Not used 95e d power VV Phase V White V 17JE 13090 02 D8C 1 Stud type 17L 002C or 2 17L 002C1 Not used 3 Phase W Blue 4 Not used Mw S 5 Not used z 0 180 360 540 6 FG Green Electrical angle Approx Coil Assembly B Model SGLGW L2 L3 L4 L5 L6 N N2 Mass kg Ib 90 30 45 0 0 L1 1 140 125 52 5 3 4 0 48 Dm m 5 5 8 2525 2375 180 375 60 135 3 0 82 Dm aw 365 350 315 30 525 270 14 1 16 eas E oss The value indicates the mass of coil assembly with a hall sensor unit 3 25 3 Specifications and Dimensional Drawings 3 6 3 SGLGLI 60 Linear Servomotors 3 Standard force Magnetic Way SGLGM 60LILILIC SGLGM 60000CT SGLGM SGLGM eooooc 60000CT L134 4 unit 62800 25 4 9102 0 2921 25 4 y 9102 gt rus 0 35 0 01 Ch 0 35 0 01 A l 4 C1 82 3 23 Nameplate Warning label N E apples S y M Xo Pitch 45 2s 1 77 L2 22 5 0 89 Nx5 5 0 22 mounting holes per unit 0 89 22 5 0 89 L2 22 5 ud 45 17 0 89 LLL NxM5 mounting screws d pth 13 0 51 per unit EM GOnly for SGLGM E ICT Reference length Units mm in 1 77 Standard force Magnetic Way L1 2 Model SGLGM 60090C or 600
186. 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 8 26 8 3 Operation in Parameter Setting Mode PnOOD 3 Allocating Input Signals EXAMPLE The procedure to replace Servo ON S ON signal allocated to CN1 40 and Forward External Force Limit P CL allocated to CN1 45 is shown below Before After Pn50A zm CDU PnsoB faja fi Display after Digital zs Em Press the DSPL SET or MODE SET Key to select the value setting parameter mode If a parameter other DSPL SET Key joe than PnSOA is displayed press the UP or DOWN Key to set Pn50A Note The enabled digit blinks Press the DATA ENTER Key once or DATA SHIFT 9 Key for more than one second to display the current data of Pn50A DATA ENTER DATA 4 DATA ENTER Key DATA SHIFT Key Press at least 1 s S ON is allocated to CN1 40 e Press the UP Key to set to 1 BETA Sequence input signals can be freely set DATA SHIFT Key 0 Press the LEFT or RIGHT Key or DATA SHIFT 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 40 to CN1 45 Press the DATA ENTER Key once or DATA SHIFT Key for more than one second The value blinks and is
187. the Linear Scale When the linear scale is an open type adjust the head installation For details on the adjustment method contact the manufacturer of the scales When the linear scale is a sealed type adjustment is not required But the dimensional tolerances for installation must be maintained 4 Connecting the Cables Check the power supply circuit linear servomotor and encoder wirings Do not connect the I O signal connector CN 1 For main circuit wiring examples refer to 7 2 Wiring Main Circuit For details on the linear servomotor s main circuit cable and encoder cable refer to 2 6 Selecting Peripheral Devices To power supply T Encoder cable 9 13 9 Operation 9 2 3 Setup Procedure Using Linear Servomotors without Hall Sensors 5 Setting the Linear Scale Pitch Turn ON the control power supply When the power is supplied normally the panel operator on the front panel of the SERVOPACK will show the following display A linear scale pitch setting error A 08 will be displayed but does not indicate an error Set the scale pitch Pn280 according to the scale being used After setting validation of the control power the A 08 alarm will be cleared and the settings will be enabled Normal status Chri cl ry If an alarm other than A 08 is displayed as shown in the following diagram the power supply circuit linear ser vomotor main circuit cable or encoder cable wiring is the probable cause Shut d
188. the mechanical friction cannot be reduced without difficulty consider using the hall sensor for polarity detection An alarm will occur if the linear servomotor movement distance exceeds 10 mm during polarity detection The linear servomotor may have moved during detection for some reason so check other causes and take appropriate countermeasures 9 2 Trial Operation Using SERVOPACK Internal References e Related Parameters Parameters Description Polarity Detection Speed Loop Gain Setting Range Setting Unit Factory Setting Setting Validation to 2000 immediately Polarity Detection Speed Loop Time Constant Setting Range Setting Unit Factory Setting Setting Validation 15 to 51200 0 01 ms 3000 Immediately 0 15 to 512 00 ms 30 00 ms 13 Jog Operation from the Panel Operator After checking steps 1 to 12 perform a trial operation as follows Note Perform trial operations without a load attached if possible 1 Turn ON the control power and main circuit power 2 Operate the panel operator or digital operator and move the linear servomotor using jog operation For details on jog operation refer to 8 2 3 JOG Mode Operation Fn002 IMPORTANT When turning ON the servo for the first time after installation and wiring stand away from the linear servo motor as overrun may occur 3 Check that the linear servomotor is moving normally from end to end of the stroke INFO B Unsuccessful Trial Operations An unsucc
189. the offset while monitoring the force refer ence monitor signal Press the LEFT or RIGHT Key or DATA SHIFT Key for less than one second The display shown on the left appears When the offset adjustment completes press the DATA ENTER Key once or DATA SHIFT Key for more than one second The display returns to the utility function mode dis play FnOOF 8 15 8 Digital Operator Panel Operator 8 2 9 Password Setting Protects Parameters from Being Changed Fn010 8 2 9 Password Setting Protects Parameters from Being Changed Fn010 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 8 2 7 List of Utility Function Modes for details Setting values are as follows 0000 Write permitted Releases write prohibited mode 0001 Write prohibited Parameters become write prohibited from the next power ON Display after Press the DSPL SET or MODE SET Key to select the SET utility function mode e DSPL SET Key MODE SET Key Press the UP or DOWN Key to select Fn010 dus Note The enabled digit blinks DATA ENTER Press the DATA ENTER Key once or DATA SHIFT 9 Key for more than one second and the display will be DATA ENTER Key DATA SHIET Key as shown on the left Press at least 1 s Press the UP or DOWN Key to set a value 0000 Write permitt
190. this parameter Reference Motor speed Set the number of error pulses in reference units the number of input pulses defined using the electronic gear s isa Too large a value at this parameter may output only a small error during Un008 low speed operation that will cause the COIN signal to be output con ICON 1 tinuously CN1 25 J E 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 COIN is a position control signal When the factory setting is used and the output terminal allocation is not performed with the PnSOE this signal is used for the speed coincidence output V CMP for speed control and it is always OFF high level for force control 9 57 9 Operation 9 8 6 Positioning Near Signal 9 8 6 9 58 Positioning Near Signal This signal indicates that the positioning of the linear servomotor is near to completion and is generally used in combination 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 Mea
191. to avoid subjecting it to vibration Installation at a Site Exposed to Corrosive Gas Corrosive gas does not have an immediate effect on the SERVOPACK but will eventually cause the 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 Conforming to the following standards ULS08C CSA C222 No 14 EN50178 EN55011 group 1 class A EN61000 6 2 4 6 4 2 SERVOPACK Installation Orientation Installation Voltage Resistance Test Install the SERVOPACK perpendicular to the wall as shown in the figure The SERVOPACK must be oriented this way because it is designed to be cooled by natural convection or a cooling fan Secure the SERVOPACK using two to four mounting holes The number of holes depends on the capacity CIBO VILE t Follow the procedure below to install multiple SERVOPACKs side by side in a control panel Cooling fan Cooling fan Kk NS C C K NC 74 50 mm 1 97 in min y goo b y 9 o b D A Q 9 9 cn o 9 asas 00000J o 9 E p IL p 1 e a OC 4 eo looo e ie g
192. trial operation Therefore let the system run for a sufficient amount of additional time to ensure that it is properly broken in 5 Write the parameters set for maintenance in 12 5 The servodrive supporting tool Sigma Win serves Parameter Recording Table for the file management of parameters 9 5 Control Mode Selection 9 5 Control Mode Selection The control modes supported by the SGDH SERVOPACK are described below Parameter Control Mode Reference Section n LILIOL Speed Control Analog voltage speed reference 9 7 Factory Controls servomotor speed by means of an analog voltage speed reference Use setting in the following instances To control speed For position control using the encoder feedback division output from the SERVOPACK to form a position loop in the host controller Position Control Pulse train position reference Controls the position of the machine by means of a pulse train position refer ence Controls the position with the number of input pulses and controls the speed with the input pulse frequency Use when positioning is required Force Control Analog voltage speed reference Controls the linear servomotor s output force by means of an analog voltage force reference Use to output the required amount of force for operations such as pressing SPD B to control the speed as set in advance in the SERVOPACK Three oper ating speeds can be set in the SERVOPACK In this case an analog referen
193. x 6 0 24 0 67 0 55 24 25 Electrical angle 3 53 3 Specifications and Dimensional Drawings 3 8 5 SGLTLI 50 Linear Servomotors 2 Coil Assembly SGLTW 50DLILILIHLID With a connector made by Interconnectron The following table and figures show the specifications when a main circuit s cable connector made by Intercon nectron is used for the coil assembly NxM6 tapped holes depth 12 0 47 x 0 2 io L x 85 3 35 zi Kons 81 3 19 4Z7 P 30 1 18 SABE 82 5 246 X i Magnetic way L3 hae FS E n SIS 12 0 47 xls 4810 15 em l Y Lr I 1 TT 4 i a wv Tj at Fl zz 3x gt gt gt a lf g E e 28 4 A S5 i Slag N 2 EE EERE 3H et ol 9 o pe S o9 8 e e TG vum Y Y d N I zzI zzlz gto wd Ss gt x c Tla IU gu s Re E E 3 The coil assembly moves in the direction S S2 2 8 indicated by the arrow when current flows je ejg Protective tube in the order of phase U V and W o9 Fle p E E Ele 500 50 2 ls 19
194. 0 ms 20 00 ms Pn106 2nd Position Loop Gain Setting Range Setting Unit Factory Setting Setting Validation 1 to 2 000 immediately 10 25 10 Adjustments 10 4 10 Force Reference Filter 10 4 10 Force Reference Filter As shown in the following diagram the force reference filter contains one force reference filter and two notch fil ters arrayed in series and each filter operates independently The notch filters can be enabled and disabled using the parameters Force related unction switc Pn408 I Force reference Force Force reference filter Pn401 l l l l l l l l l befor filtering I reference after filtering l l l l l l l l l 1st order delay filter Notch filter Notch filter IMPORTANT Software version earlier than 32 does not have the parameters for the First Stage Notch Filter Q Value Pn40A and the Second Stage Notch Filter Pn40B and Pn40C 1 Force Reference Filter If you suspect that machine vibration is being caused by the servodrive try adjusting the force reference filter time constant This may stop the vibration The lower the value the better the speed control response but there is a lower limit that depends on the machine conditions Pn401 Force Reference Filter Time Constant Setting Range Range Setting Unit Factory Setting Setting Validation Setn Range to 65 535 0 01 ms 100 Immediately 0 00 to 655 35 ms 1 00 ms 10 26 10 4 Servo Gain Adjustment Fu
195. 00 V 6 15 6 7 I O Signal Cables for CN1 Connector 6 16 6 7 1 Standard Cables 6 16 6 7 2 Connector Type and Cable Size 6 16 6 7 3 Connection Diagram 6 18 6 8 Peripheral Devices 6 19 6 8 1 Cables for Connecting Personal Computers 6 19 6 8 2 Digital Operator 6 19 6 8 3 Cables for Analog Monitor 6 20 6 8 4 Connector Terminal Block Converter Unit 6 21 6 8 5 External Regenerative Resistor 6 22 6 8 6 Regenerative Resistor 6 25 6 8 7 Molded case Circuit Breaker MCCB 6 26 6 8 8 Noise Filter 6 27 6 8 9 Magnetic Contactor 6 31 6 8 10 Surge Suppressor 6 35 6 8 11 DC Reactor for Harmonic Suppression 6 37 6 8 12 Variable Resistor for Speed
196. 000 1 Set parameters to match the application rect Reference pulse mode selection is Check the parameter setting for the refer Correct setting of parameter Pn200 0 incorrect ence pulse mode Pn200 0 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 Force control Force reference input Check T 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 Position control Reference pulse Check Pn200 0 reference pulse form orsign Correct the setting of Pn200 0 or the input input is incorrect pulse signal 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 The polarity detection is not exe Correct the setting of Pn080 cuted Tum S ON or P DET input signal ON A SERVOPACK fault occurred Replace the SERVOPACK Linear Servo motor Moves serial converter unit wiring is incor Check the serial converter unit wiring Correct the serial converter unit wiring Instanta rect neously and Linear scale wiring is incorrect Check the linear scale wiring Co
197. 005 Made by None standard Renishaw force 60A365C 260 35A320H 106 magnetic 90A200C 264 50A170H 108 way is used 90A370C 265 SGLTW 50A320H 109 Made by y 90A535C 266 m n 40A400B 185 D006 i i es type Heidenhain SGLGW 40A140C 255 yp 40A600B 186 SGLGM 40A253C 256 80A400B 187 Coreless 40A365C 257 80A600B 188 Made by 60A140C 261 35D170H D008 Renishaw Yes HEU ME Ez gon 60A253C 262 35D320H 194 magnetic way is used 60A365C 263 50D170H 195 20A090A 017 50D320H 196 20A120A 018 40D400B 197 35A120A 019 40D600B 198 35A230A 020 80D400B 199 50A200B 181 80D600B 200 SGLFW 50A380B 182 Iron core F type 1ZA200B 183 1ZA380B 184 35D120A 211 35D230A 212 50D200B 189 50D380B 190 1ZD200B 191 1ZD380B 192 2 5 Selecting Cables 2 5 Selecting Cables SERVOPACK Serial converter a Note The following two main circuit cables are available for the linear servomotor MS connector or connector made by Tyco Electronics AMP K K Connector made by Interconnectron unit Linear scale To be provided Hall sensor by s Z a 4 unit Applicable Cable Connection Linear Servo Cable Type Specifications Length motor Model JZSP CLN11 01 JZSP CLNI1 03 SGLGW 30 40 3m __ JZSP CLN11 03 SERVOPACK Linear servomotor and 60 JZSP CLN11 05 end SGLFW 20 JZSP CLN11 10 B co T SGLFW 35 JZSP CLN
198. 1 0 l unit C500 NC112 povar PUPPY ia manufactured by 12V T7 o OMRON 012V T Linear servomotor 1 U 12V y 2 Ym y CW LIMIT k Encoder signal Ww 3Ry conversion unit p ME LRX 01 A2 Linear scale EMERGENCY STOP X 4 EXTERNAL B L 24 seria FHS INTERRUPT CN2 converte E PG ORIGIN YA unit i Y ORIGIN PROXIMITY ET V __g Properly treat the ends of shielded wired LOCAL READY c 5V e NV 47 4 F24NIN 1 1 External 9A 1 1 1 PULSE 7 40 JS ON y L power supply PULSE OUTPUT 9B PULSES 8 42 p or 3RY 24V 10A SIGNI 11 43 N OT ARY E 10B ISIGN 12 J CLRT5 012V CLRy 14 1 The ALM signal is output 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 Set parameter Pn200 0 to 1 3 Manufactured by Yaskawa Controls Co Ltd Note Only signals applicable to OMRON s C500 NC112 position control unit and Yaskawa s SGDH SERVOPACK are shown in the diagram 12 20 12 3 Connection to Host Controller 12 3 6 Example of Connection to Mitsubishi s AD72 Positioning Unit SERVOPACK in Speed Control Mode SGDH SERVOPACK
199. 10 Fi r 15 4 7 15 Lh A 4 i t Speed 1 H ad er feedback mm s 20f 7 7177777 77 7 room i D fr 85 1 13 71 F r 1 1 30 1 30 1 r 1 i 1 i 35 960 000 1920000 2880000 3840000 4800000 4080000 4320000 4560000 4800000 5040000 Time ms Time ms The detection waveform is not always the same so the waveform may be different from those shown above even though the detection has completed normally 9 19 9 Operation 9 2 3 Setup Procedure Using Linear Servomotors without Hall Sensors d Troubleshooting for Polarity Detection Errors Refer to the following table for troubleshooting if polarity detection is not completed normally Problem Cause Countermeasure The linear servomotor does not move during polarity detection speed feedback is O Polarity detection error alarm A C5 has occurred 9 20 Polarity detection is not being performed A force limit is activated The mechanical friction is large Overtravel signal is detected during polarity detection Parameter settings are incorrect Noise is present in the scale signal The coil assembly is being subjected to an external force The linear scale precision is rough Linear servomotor traceability for the polarity detection reference is poor The travel distance during polarity detection has exceeded 10 mm Check whet
200. 10 0 39 0 24 55 2 17 18 0 31 Mounting Hole Diagram 5 0 22 2xM4 screw holes 160 6 30 149 5 0 5 5 89 0 02 Mounting pitch T Nameplate HI i 5 w 75 2 95 130 5 12 External Terminal Connector Main circuit Control power power supply supply L1 L2 L1C L2C Single phase Single phase 200 VAC 200 VAC 50 60 Hz 50 60 Hz 7 0 28 91 5 3 60 Reference length Units mm in Approx mass 0 8 kg 1 76 Ib 17 067 SERVOPACK Connector Connector SERVOPACK Manufacturer Symbol Connector Model 10250 52A2JL Sumitomo 3M Co Ltd 53460 0611 Molex Japan Co Ltd 10214 52A2JL Sumitomo 3M Co Ltd 4 7 Dimensional Drawings of Base mounted SERVOPACK Model 4 7 2 Single phase 200 V 400 W 04AE Mounting Hole Diagram 75 2 95 N N N N 2 o e 2x5 0 20 holes i 2xM4 screw holes i i srog 1 CN10 aN ii 1 al h te N S a YCN3 fi e i 3i EM nn ec e a J PIED fe Ne ere gpl 22 CN1 if 1 giel o E xe me ea s 2 523 A U Z d in i CN2 i d x i pont Qd i xA if M 3 li Nameplate q 12 0 47 e D 75 2 95Y 130 5 12 9 Ground terminal 2xM4 screws 8 0 31 7 0 28 91
201. 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 Type Type Manufactured by Sumitomo 3M Ltd 1 Dimensional Drawing of Case 17 0 0 67 41 1 1 62 18 0 5 49 46 5 1 83 39 0 1 54 Reference length Units mm in x EY e P i 6 7 I O Signal Cables for CN1 Connector 2 Dimensional Drawing of Connector 2 54 0 10 2 3 0 09 0 20 Weare oJ 10 10 ol Ol 10 alll lt JEN i A e o e JE ES ES 41 1 1 62 Pin No 1 nnunnnunnnuniaonnnanan SOO oso VETE EFE ET CT CT HT 0 36 5 0 30 RIS 1 H re NS oj sr 1 27 0 05 AS Pin No 26 730 48 1 20 Reference length 36 7 1 44 Units mm in 3 Cable Size Specifications Use twisted pair or twisted pair shielded wire Applicable wires AWG24 26 28 30 Cable Finished Diameter 16 0 63 in mm max 6 17 6 Specifications and Dimensional Drawings of Cables and Peripheral Devices 6 7 3 Connection Diagram 6 7 3 Connection Diagram SERVOPACK end Signal ga
202. 20 180 2 6 40225C M or 40225CT M d 7 09 n 5 73 360 315 8 4 1 High Force 40360C M or 40360CT M 12 40 405 360 9 4 6 450 405 10 5 1 40450C M or 40450CT M 17 72 115 94 1124 3 23 3 Specifications and Dimensional Drawings 3 6 3 SGLGLI 60 Linear Servomotors 3 6 3 SGLGLI 60 Linear Servomotors 1 Coil Assembly SGLGW 60ALILILICLI With a connector made by Tyco Electronics AMP K K The following table and figures show the specifications when a main circuit s cable connector made by Tyco Electronics is used for the coil assembly L5 L6 0 180 360 540 Electrical angle 2xscrew i P 45 1 77 i Nameplat Mounting holes amep ate 4 40 UNC yy N2xM4 tapped depth 6 0 24 e 8x 25 4 1 0 eoe The coil assembly moves in the direction indicated by the arrow when current flows in the p s 5 3 p oje order of phase U V and W 6 5 0 26 T2 o 5 0 21 10 o 16 L1 E n I o 4 8 0 19 0 28 S16 7 90 28 0 63 L4 L3 E T o i LI d 45 1 77 Mounting holes on both sides i e S N1xM4 tapped depth 6 0 24 1 o PS t STA c iy LW T eu S 7 5 e 2 0 30 co o x Gap 0 8 0 03 Gap 0 8 0 03 Refere
203. 200 2 Pn200 n 0000 Clear the error pulse during the baseblock Factory setting During the baseblock means when the SVON signal or the main circuit power supply is OFF or an alarm occurs n LMLILI Do not clear the error pulse Clear only with the CLR signal n0200 Clear the error pulse when an alarm occurs 9 48 9 8 Operating Using Position Control 9 8 2 Setting the Electronic Gear 1 Scale Feedback Resolution The scale feedback resolution from the SERVOPACK is 1 256 of the scale pitch Pn280 Scale Pitch Pulse Resolution 0 136 um 0075 um QUIS im 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 Not Used is Used Linear scale Linear scale Reference unit 1m To move a workpiece 10 mm 0 39 in To move a workpiece 10 mm using reference units The scale pitch is 20 mm Therefore 1 reference unit is 1 um 10 x 1000 20 x 2567128000 pulses To move a workpiece 10 mm 10000 jum 128000 pulses are input as reference 1 pulse 1 um pulses 10000 1 10000 pulses The equation must be calculated at Input 10000 pulses as reference input the host controller 9 49 9 Operation 9 8 2 Setting the Elect
204. 2V R1 1 kQ 1900 y When Vcc is 5V RI 180 Q gt pulsy 8 Note When the open collector output is used the signal logic is as follows a i i R p SIGNY 11 t When Tr1 is ON High level input or equivalent ISIGN 42 us 36 When Tr1 is OFF Low level input or equivalent R1 CLR 4 ts p S ICLR 14 pM h j FA Represents twisted pair wires 9 54 9 8 Operating Using Position Control When the external power supply is used the circuit will be isolated by a photocoupler When the SERVOPACK internal power supply is used the circuit will not be isolated Host controller SERVOPACK CN1 PLIN 3 d 7 Photocoupler 1500 1 i vaL TH IPULS y 8 L ko PL2 13 SIGN 1 7 PLSy 18 s 15 CLR a Ti ICLRy 14 LU PULS k 1 V z za Represents twisted pair wires When the open collector output is used input signal noise margin lowers Set the parameter Pn200 3 to 1 IMPORTANT P ids E j 4 Position Control Block Diagram A block diagram for position control is shown below SERVOPACK in position control Pn109 Pn202 Feed Pn180 i forward j filter time Bias constant sss Pn108 gt Bias width addition Reference 2 Linear servomotor Serial pulse f Current x loop converter unit Li
205. 3 4 al 5 PS Eight 2 AT Light blue amp Ps WM e m um Shell Shield Case Shield 7 8 9 S 6 3 Cables for Connecting Linear Scales 6 3 Cables for Connecting Linear Scales 1 Cable Type Type Length L JZSP CLLOO 01 1m 328 ft JZSP CLLOO 03 3 m 9 84 ft JZSP CLLO00 05 JZSP CLLO00 10 JZSP CLLOO 15 15 m 49 21 ft 2 Dimensional Drawing Serial converter unit end Linear scale end L 1 Finished diameter 9 5 0 37 S Pe EESTI z 8 Cable AWG22x3 AWG25x12 Connector type 17JE 23150 02 Connector type 17JE 13150 02 D8C D8C 15 pin soldered With stad 15 pin soldered made by DDK Ltd made by DDK Ltd Units mm in 3 Specifications Serial converter unit end Linear scale end Pin No Signal EUN Pin No Signal 1 Cos V1 T 1 Cos V1 2 Sin V2 i r 2 Sin V2 3 Ref VO t T 3 Ref VO 4 5V 3 3 4 5V 5 5Vs 5 5Vs 6 BID 6 BID 7 Vx 7 Vx 8 Vq 3 8 Vq 9 Cos V1 3 9 Cos V1 10 Sin V2 mt 10 Sin v2 11 Ref V0 t 11 Ref VO 12 ov 12 ov 13 0Vs 13 0Vs 14 DIR 3 14 DIR 15 Inner Pv 15 Inner Case Shield I Case Shield 6 Specifications and
206. 4 15 bias setting 4 4 BK 7 27 built in open collector power supply 4 4 built in panel operator 8 2 C cable seletion 2 7 cables for analog monitor 6 20 cables for connecting hall sensors dimensional drawings 6 10 cables for connecting linear scales dimensional drawings 6 9 cables for connecting personal computers 6 19 cables for connecting serial converter units dimensional drawings 6 8 calculating the required capacity of regenerative resistors 12 4 CE marking 1 11 checking products 1 2 clear signal form selection 9 48 CLR 7 26 CLT 7 27 CNI terminal layout 7 25 CN2 terminal layout 7 21 coil assembly model designations 2 2 COIN 7 27 Index 1 connecting a reactor 7 37 connecting linear scales linear scale
207. 4 28 4 8 6 Three phase 200V 5 0kW 50AE R Three phase 400V 5 0kW 50DE R 4 29 4 9 Dimensional Drawings of Duct ventilated SERVOPACK Model 4 30 4 9 1 Three phase 200 V 7 5 kW 75AE P 4 30 4 9 2 Three phase 400 V 7 5 kW 75DE P 4 31 4 1 SERVOPACK Ratings and Specifications 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 Ifthe voltage exceeds these values use a step down transformer so that the voltage will be within the specified range 4 1 1 Single phase Three phase 200 V The value of the input power supply voltage is maximum 253 Vrms SERVOPACK A5A 01A 02A 04A 05A 08A 10A 15A 20A 30A 50A maasai A RETE Max Applicable 0 05 0 1 0 2 0 4 0 45 0 75 1 0 Servomotor Emme LLL LLL Lu Continuous Out 0 64 0 91 2 1 2 8 3 8 57 7 11 6 18 5 24 8 32 9 put Current ce Max Output Cur 2 0 28 65 8 5 11 0 13 9 17 mimo LI PE Y Main Single phase Three phase 200 to 230 VAC 10 to 15 50 60 Hz co reme LL Circuit Configuration Base mounted Rack mounting available as an option Base mounted Duct ventilated available as an option Regenerative External re
208. 4 3 kg 31 53 Ib 6 o External Terminal Connector SJN ola SERVOPACK Connector TE External Main circuit Control power regenerative power supply supply resistor L1 L2 L3 LIC L2C B1 B2 Three phase Single phase 200 VAC 200 VAC 50 60 Hz 50 60 Hz 4 22 0 98 Connector SERVOPACK Manufacturer Symbol Connector Model 10250 52A2JL Sumitomo 3M Co Ltd 53460 0611 Molex Japan Co Ltd 10214 52A2JL Sumitomo 3M Co Ltd 4 7 Dimensional Drawings of Base mounted SERVOPACK Model 4 7 8 Three phase 400 V 7 5 kW 75DE Mounting Hole Diagram S S 4xM6 screw holes eo Cooling fan e T 10 0 39 le e sERVOPACK 200V CN3 CN8 e so pm o Ee EEEE yy heo L LLLT E EE d I 110 4 33 ee S S gg e E c5 io Main circuit Q al CN1 CN2 09109 Control circuit S i i foe terminal Main circuit ain circui 130 5 12 r1q 46 A n terminal M5 N 1 81 eT Blelelale lellalle St rr MIU 4 EE e y B ay te aT 0 28 wl S S 158 6 22 208 79 RIS i 25 0 98 1807 09 25 0 98 Ground 25 180 7 09 1 25 230 9 06 R terminal 0 98 0 98 Main circuit Control circuit V Ground terminal M5 terminal M4 terminal M5
209. 4 Serial Converter Units 1 4 1 2 Product Part Names 1 5 1 2 1 Linear Servomotors 1 5 1 2 2 SERVOPACKs 1 6 1 3 Examples of Servo System Configurations 1 8 1 3 1 Single phase 200 V Main Circuit 1 8 1 3 2 Three phase 200 V Main Circuit 1 9 1 3 3 Three phase 400 V Main Circuit 1 10 1 4 Applicable Standards 1 11 1 4 1 North American Safety Standards UL CSA 1 11 1 4 2 CE Marking 1 11 1 1 1 Outline 1 1 1 Check Items 1 1 Checking Products 1 1 1 Check Items Check the following items when the products are delivered Gheck items Are the delivered products the ones Check the model numbers marked on the nameplates on the linear that were ordered servomotor and SERVOPACK Refer to the descriptions of model numbers in the following section Is there any damage Check the overall appearance and check for damage or scratches that may have occurred during shipping If any of the above items are faulty or incorrect contact your Yaskawa representative or the dealer from whom you purchas
210. 422A port such as for a personal computer RS 232C ports under certain conditions 1 N Communications Up to N 14 for RS 422A ports Aris Address Seting Functions Status display parameter setting monitor display alarm trace back dis play JOG and autotuning operations speed force reference signal and other drawing functions Others Reverse movement connection zero point search automatic servomotor ID DC reactor connection terminal for harmonic suppressions 1 Use the SERVOPACK within the ambient temperature range When enclosed in a control panel internal temperatures 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 x100 Speed reguration The motor speed may change due to voltage variations or amplifier drift and changes in processing resistance due to temperature variation The ratio of speed changes to the rated speed represent speed regulation due to voltage and temperature variations 3 The forward direction indicates the direction in which the linear scale counts up Phase A advance 4 The built in open collector power supply is not electrically insulated from the control circuit in the SERVOPACK 5 The DC reactor connection terminals for power supplies designed for minimum harmonics are not included in SERVOPACKs with capacities of 7 5 kW 4 5 4 SERVOPACK Specifications and Dimensi
211. 50 1 97 ed for connecting serial converter 545 ci zo rjr Conditions Repeat moving one end of the cable forward and backward for 320 mm 12 60 in with using the test equipment shown in the following 2 Connect the lead wires in parallel and count the number of cable return motion times until a lead wire 1s disconnected Note that one reciprocating is counted as one test P Shifting distance 320 12 60 in NZ UN NA ZN d Shifting end Bending radius Fixed end x Note 1 The life of flexible cable differs largely depending on the amount of mechanical shocks mounting to the cable and fixing methods The life of flexible cable is limited under the specified conditions 2 The life of flexible cable indicates the number of bending times in which lead wires are electrically conducted and by which no cracks and damages that affects the performance of cable sheathing are caused Disconnecting the shield wire is not taken into account 2 Wiring Precautions Even if the recommended bending radius R is respected in the mechanical design incorrect wiring may cause the early disconnection Observe the following precautions when wiring a Cable twisting Straighten the flexible cables wiring Twisted cables causes the early disconnection Check the indication on the cable surface to make sure that the cable is not twisted 6 11 6 Specifications and Dimensional Drawings of Cables and
212. 53460 0611 Molex Japan Co Ltd Main circuit Control power 10214 52A2JL Sumitomo 3M Co Ltd power supply supply L1 L2 13 pPa4v ov Three phase 24 VDC 400 VAC 50 60 Hz 4 21 4 SERVOPACK Specifications and Dimensional Drawings 4 7 7 Three phase 200 V 7 5 kW 75AE 4 7 7 Three phase 200 V 7 5 kW 75AE Mounting Hole Diagram 4xM6 screw holes 180 7 09 P l S S i S Cooling fan S e e aem CN 8 md o ggg 8 yy YASKAWA Owi 0 31 cCN3 P ELS 030 110 4 33 CN5 2 N Control circuit alo o terminal E T 5 o M4 o G 2 bar ae Control 9 9 circuit E Bed CN1 CN2 e x terminal e e E oR NS S 851 6 2 6 6 e 9 TO Forts 0 49 1 81 x Main circuit amp j O terminal 9 2 BB anene MEE 0 35 ory MANNANNA N GO ot 19 0 75 hasas noes OTS 30 5 1 20 171 6 73 28 28 3 1 11 e 25 A 180 7 09 25 0 98 Max 230 9 06 __ 0 98 x ain circuit Ground terminal terminal M6 _ M8 A View A elelee P n B ED e e o ez o Reference length Units mm in a Approx mass 1
213. 9 29 alk a gt ojoj al 3 SI dl a S e S o nM Ids ees NJAN 24453 N M y g e ims 0 09301 fm n e EZ 6 3 gt AA i d EM bh m Dl ol 2 3 es Slo als N L5 74 291 44 0 55 sas o Coil assembly Ri gt le gt 216 p 74 291 JL L4 ih 162 6 38 f cap 2xN1 M6 screws depth 8 0 31 2 N2 010 90 39 mounting holes See the sectional view for the depth Including magnet cover of plate thickness 0 2 0 01 gt gt E wr 15 0 59 34 5 1 36 S 9 S S 120 0 79 L2 pla 54 2 13 2 x N1 M6 bolts depth 16 0 63 k ie 0 51 Reference length Units mm in Note 1 The magnetic way may affect pacemakers Keep a minimum distance of 200 mm 7 87 in from the magnetic way 2 Two magnetic ways in a set can be connected to each other 3 The magnetic way with base has the same characteristics as those of the magnetic way without base SGLTM 35010DA Magnetic Way Model SGLTM 324 270 310 162 162 6 2 6 4 540 486 526 378 189 10 3 11 756 702 742 594 198 14 4 15 3 8 Dimensional Drawings of SGLTW SGLTM Linear Servomotors 3 8 3 SGLTLI 35LILILILIHLI Linear Servomotors 1 Coil Assembly SGLTW 350000HO With a connector made by Tyco Electronics AMP K K The following table and figures show the specifications when a main circuit s cable connector made by
214. 9 13 4 S RDY 30 supply is turned ON If without hall sensor is set the magnetic polarity detection must be completed PAO 33 1 Phase A signal Converted two phase pulse phases A and B encoder output 7 3 PAO 34 signal and zero point pulse phase C signal RS 422 or the 74 1 PBO 35 Phase B signal equivalent 9 7 7 PBO 36 Proper line receiver is SN75175 manufactured by Texas PCO 19 Phase C signal Instruments or the equivalent corresponding to MC3486 PCO 20 ALO1 37 Alarm code output Outputs 3 bit alarm codes 9 13 1 ALO2 38 Open collector 30 V and 20 mA rating maximum ALO3 39 1 Shell Connected to frame ground if the shield wire of the I O signal cable is connected to the connector shell Reserved terminals 9 11 5 Terminals not used Do not connect relays to these terminals Reserved Speed IN CMP Speed coincidence output in Speed Control Mode Detects whether the motor 9 7 8 IN CMP speed is within the setting range and if it matches the reference speed value 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 9 132 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 8 3 3 25 26 Position COIN 25 Positioning comp
215. 9 37 9 7 3 Adjusting Offset 9 38 9 7 4 Soft Start 9 41 9 7 5 Speed Reference Filter 9 41 9 7 6 Using the Zero Clamp Function 9 41 9 7 7 Encoder Signal Output 9 43 9 7 8 Speed Coincidence Output 9 46 9 8 Operating Using Position Control 9 47 9 8 1 Setting Parameters 2 2 2 eee eee ee eee ee eee eee eee 9 47 9 8 2 Setting the Electronic Gear eee rere eee ee 9 49 9 8 3 Position Reference 2 2 2 ee eee eee eee eee rere eee 9 52 9 8 4 Smoothing 2 2 ee oer eee eee re ee eee ee eee renee 9 55 9 8 5 Positioning Completed Output Signal 9 57 9 8 6 Positioning Near Signal 9 58 9 8 7 Reference Pulse Inhibit Function INHIBIT 9 59 9 9 Operating Using Force Control 9 60 9 9 1 Setting Parameters 2 2 2 eee eee eee ee eee eee eee 9 60 9 9 2 Force Reference Input 2 2 2 eee eee eer eee eee rere eee
216. 9 x 762 x 50 12L1380B 23 98 x 30 00 x 1 97 3 The values of peak speed in the table indicate the maximum speed that can be controlled from SERVOPACK Refer to Force and Speed Characteristics for the actual motor peak speed 3 6 2 Force and Speed Characteristics a 200 V Class A Continuous duty zone B Intermittent duty zone SGLFW 20A090A 6 5 Motor 4 Motor speed speed m s 3 m s 2 1 if 0 0 20 40 60 80 100 Force N SGLFW 35A120A 6 5 Motor 4 Motor speed speed m s 3 m s oO a gt UJ gt UJ 0 50 100 150 200 250 Force N SGLFW 50A200B 6 5 Motor 4 Motor speed speed m s 3 m s A B 2 1 0 0 200 400 600 800 Force N SGLFW 1ZA200B 6 5 Motor 4 Motor speed speed m s 3 m s A B 2 1 0 0 500 1000 1500 Force N 6 5 4 3 2 1 0 3 2 Ratings and Specifications of SGLFW SGLFM SGLFW 20A120A 7 0 40 80 120 140 Force N SGLFW 35A230A 0 100 200 300 400 500 Force N SGLFW 50A380B ny 0 500 1000 1500 Force N SGLFW 1ZA380B cB 0 1000 2000 3000 Force N 3 7 3 Specifications and Dimensional Drawings b 400 V Class A Continuous duty zone B Intermittent duty zone
217. 90CT 3 or 3 54 0 08 2 43 86 5 L 4 1 77 225 180 60225C or 60225CT 7 09 N 2 1 0 08 5 2 6 0 20 360 315 8 41 Foe 9 4 6 0 35 10 xi 0 1 405 360 450 40 5 3 26 3 6 Dimensional Drawings of SGLGW SGLGM Linear Servomotors 4 High force Magnetic Way SGLGM 60LILILIC M SGLGM 60LILILICT M SGLGM SGLGM 60000C M 60000CT M L1 23 1 unit 7 4302 31 8 7 4302 31 8 0 292001 12 2 02 0 291001 S 12 2 02 4 C1 0 48 0 01 Nameplate Warning label 0 48 0 01 A 82 3 23 Nx 5 5 60 22 mounting holes per unit 0 89 22 5 0 89 L2 22 5 54 0 21 XX X gt NxM5 mounting screws depth 13 0 51 per unit Only for SGLGM L__ICT M Reference length Units mm in High force Magnetic Way Model SGLGM 90 45 2 1 3 225 180 5 3 3 60225C M or 60225CT M 8 86 7 09 High Force 360 315 8 52 563006 or 6080007 o 20 405 360 9 59 504056 or 6040587 Gs faim 450 405 10 6 6 60450C M or 60450CT M 1775 15 94 3 27 3 Specifications and Dimensional Drawings 3 6 4 SGLGLI 90 Linear Servomotors 3 6 4 SGLGLI 90 Linear Servomotors 1 Coil Assembly SGLGW 90A000coO L5 L6 95 3 74 N2xM6 mounting screws depth 9 qe 2xscrews 344 40 UNC bl 2xN1 M6 Mounting screws depth 9 0 35
218. A and SPD B input signals When using SPD A and SPD B they must be allocated with parameter Pn50C Refer to 8 3 2 Input Circuit Signal Alloca tion 9 74 9 12 Control Mode Selection 2 Switching Other Than Internally Set Speed Control Pn000 1 7 8 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 Pn000 Setting Name Pin Number n 0070 1 0080 n 0090 n n n n Input P CON CN1 41 ON low level Speed Force Speed Zero Inhibit Factory setting clamp sia ada HON clamp 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 8 3 2 Input Circuit Signal Allocation 9 75 9 Operation 9 13 1 Servo Alarm Output ALM and Alarm Code Output ALO1 ALO2 ALO3 9 13 Other Output Signals The following output signals which have no direct connection with the control modes are used for machine pro tection 9 13 1 Servo Alarm Output ALM and Alarm Code Output ALO1 ALO2 ALO3 1 Servo A
219. AR 7 25 7 Wiring 7 4 5 I O Signal CN1 Names and Functions 7 4 5 I O Signal CN1 Names and Functions 1 Input Signals Signal Name Pin No Function Refer ence S ON Servo ON Turns ON the linear servomotor when the gate block in the inverter is released P CON Common E Function selected by parameter ww Proportional control Switches the speed control loop from PI proportional 9 7 2 reference integral to P proportional control when ON 10 4 4 Direction reference With the internal set speed selected Switch the movement 10 direction switching P OT N OT Position force Enables control mode switching Force speed Zero clamp reference Speed control with zero clamp function Reference speed is zero when ON Reference pulse block Position control with reference pulse stop Stops reference e pulse input when ON Forward run Overtravel prohibited Stops linear servomotor when mov prohibited able part travels beyond the allowable range of motion Reverse run prohibited Function selected by parameter Forward external force Current limit function enabled when ON limit ON Reverse external force limit ON wl Control mode 9 12 P CL N CL Position 4 speed ALM RST 24VIN Control power supply input for sequence signals Users must provide the 24 V 7 4 6 power supply Allowable voltage fluctuation range 11 to 25 V modified using a parameter 9 9 4 Force T REF 9 10
220. Basic Mode Selection and Operation for how it is displayed Un00D feedback pulse counter pulse Check the input pulse polarity and input reference pulse form Refer to 9 8 1 2 Setting a Reference Pulse Form Set the motor speed of several 10 mm s for the refer ence pulse speed because such speed is safe Refer to 8 1 3 Basic Mode Selection and Operation for how it is displayed Un007 input reference pulse speed mm s The number of input reference pulses Un00C can be obtained from the following equation Un007 Input reference pulse Input reference pulse pulse s x p o Reference input pps Pn202 Pn203 p 3 Electronic gear ratio P280 1 109 1000000 23 256 Encoder pulse The encoder pulse differs depending on the model of the servomotor used 9 3 Trial Operation for Linear Servomotor without Load from Host Reference cont d Check Method and Remarks Check the motor speed using the Un000 motor speed mm s 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 Refer to 8 1 3 Basic Mode Selection and Operation for how it is displayed Un000 motor speed mm s To change the motor movement direction without changing input reference pulse form refer to 9 6 2 Switching the Linear Servomotor Movement Direction Perform the operation from step
221. Breaker MCCB 6 26 6 8 8 Noise Filter 6 27 6 8 9 Magnetic Contactor 6 31 6 8 10 Surge Suppressor 6 35 6 8 11 DC Reactor for Harmonic Suppression 6 37 6 8 12 Variable Resistor for Speed and Force Setting 6 39 6 8 13 Encoder Signal Converter Unit 6 40 6 8 14 MECHATROLINK I F Unit 6 41 6 8 15 DeviceNet I F Unit 6 42 6 8 16 PROFIBUS DP I F Unit 6 43 6 8 17 INDEXER Module 6 45 6 Specifications and Dimensional Drawings of Cables and Peripheral Devices 6 1 Linear Servomotor Main Circuit Cables 1 JZSP CLN11 Cables SERVOPACK end Linear servomotor end 8 5 0 33 50 1 97 L 35 1 38 Heat shrinkable tube a Finished aaa 6 8 0 27 t ze p 1 CH N pes M4 crimped O Cable UL2464 ap terminal AWG18 4C Wire markers S 27 7 1 09 w Ig Cap 350780 1 4 pole Socket 350536 3 Chained made by Tyco Electronics AMP K K Units mm in a
222. C71080001 Provides detailed information on MECHATROLINK II Application Module User s Manual communications Model JUSP NS115 X II Series SGDH SIE C718 6 Describes the DeviceNet communications DeviceNet Interface Unit User s Manual Model JUSP NS300 II Series SGDH PROFIBUS DP SIE C718 8 Describes the PROFIBUS DP communications IF UNIT User s Manual Model JUSP NS500 X II Series Indexer Application Module SIE C718 9 Provides detailed information on positioning by com User s Manual munications and the contact points Model JUSP NS600 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 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 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
223. Cable Type Applicable Linear Servomotors Cable Type d EA JZSP CLN11 01 JZSP CLN11 03 3 m 9 84 ft SGLGW 30 40 and 60 SGLFW 20 end 35 b Wiring Specifications SERVOPACK end Leads Linear Servomotor end Connector Wire Color Signal Signal Pin No Red Phase U Phase U 1 White Phase V Phase V 2 Blue Phase W Phase W 3 Green Yellow FG FG 4 6 1 Linear Servomotor Main Circuit Cables 2 JZSP CLN21 Cables SERVOPACK end Linear servomotor end 8 5 0 33 50 1 97 L pedo 1 38 Hear shrinkable tube Finished outer dia U 11 9 0 47 S e ay Y 2 M4 crimpted C NX i LS ferminal G Cable UL2570 50539 7 AWGI4 4C 6 0 30 Wire markers m Cap 350780 1 4 pin 0 58 Socket 350537 3 Chained made by Tyco Electronics AMP K K Units mm in a Cable Type Applicable Linear Servomotors Cable Type D JZSP CLN21 01 1 m 3 28 ft JZSP CLN21 03 3m 9 84 ft oe JZSP CLN21 05 5m 16 40 ft dade JZSP CLN21 10 10m 32 81 ft SGLTW 20 and 35 JZSP CLN21 15 15 m 4921 ft JZSP CLN21 20 20 m 65 62 ft b Wiring Specifications SERVOPACK end Leads Linear Servomotor end Connector Wire Color Signal Signal Pin No Red Phase U Phase U 1 White Phase V Phase V 2 Blue Ph
224. Connector Model S LIC L2C 10250 52A2JL Sumitomo 3M Co Ltd 53460 0611 Molex Japan Co Ltd Three phase Single phase 10214 52A2JL Sumitomo 3M Co Ltd 200 VAC 200 VAC 50 60 Hz 50 60 Hz 4 18 4 7 Dimensional Drawings of Base mounted SERVOPACK Model 4 7 4 Three phase 200 V 1 5 kW 15AE Three phase 400 V 500 W 750 W 1 0 kW 1 5 kW 05DE O8DE 10DE 15DE 160 6 30 2x45 0 20 holes Mounting Hole Diagram Heat sink 4xM4 screw holes y m meine D e cb el AF lal GIES Al Ia g eJ Geooo T M eo Eo 4 CN3 S et Die x I Dob Les Ho e o Xj Cnt E AWTS SB row f DA leol 7 CO ly L P Terminal terminal xd 94 002 5 2xM4 m 94 0 5 0 20 screws 4 Mounting pitch 0 20 110 4 33 4 8 0 31 pus 2 95 1 180 7 09 0 16 110 4 33 141 5 5 57 External Terminal Connector Main circuit Control power power supply supply Li L2 L3 L1C L2C Three phase Single phase 200 VAC 200 VAC 50 60 Hz 50 60 Hz Main circuit Control power power supply supply L1 L2 L3 24 V OV Three phase 24 VDC 400 VAC 50 60 Hz 7 0 28 Reference length Units mm in Approx mass 2 8 kg 6 17 Ib Cooling fan SERVOPACK Connect
225. DC Variable setting range 1 to 10 VDC at rated force positive Reference force reference with positive reference input voltage maximum 12 V Input Input Impedance About 14 KQ Circuit Time Constant About 47 us Speed Selection Reference With forward reverse current limit signal speed 1 to 3 selection servo motor stops or another control method is used when both are OFF Position Perfor Bias Setting 0 to 450 mm s setting resolution 1 mm s Control mance 0 to 100 setting resolution 1 Modes 0 to 250 reference units setting resolution 1 reference unit Setting Reference Sign pulse train 90 phase difference 2 phase pulse phase A phase Signals Pulse B or CCW CW pulse train Input Speed Reference Voltage 3 6 VDC Variable setting range 2 to 10 VDC at rated speed servo Signals Reference motor forward movement with positive reference input voltage maxi Input mum 12 V About HE About ys Line driver 5 V level open collector 5 V or 12 V level Maximum 500 200 kpps line driver open collector Control Signal Clear signal input pulse form identical to reference pulse Built in Open Collector Power 12 V 1kQ resistor built in Supply 4 4 4 1 SERVOPACK Ratings and Specifications cont d VO Position Output Fom Phase A B C line driver B C line driver Signals LE NENNEN Dividing Ratio Sequence Input Signal allocation can Servo ON P control or Cont
226. DSPL SET Key i e MODE SET Key Press the UP or DOWN Key to select Un00C or Un00D Press the DATA ENTER Key once or DATA DA e SHIFT Key for more than one second to display the DATA data of the selected monitor number DATA SHIFT Ke The upper 16 bit data DATA ENTER KOY a at least 1 d Press the UP or DOWN Key to display the lower 16 bit data The lower 16 bit data Press both UP and DOWN Keys simultaneously 9 9 while the display on the left appears to clear the 32 bit counter data A v Press simultaneously The display shown on the left is of the lower 16 bit data Press the DATA ENTER Key once or DATA SHIFT Key for more than one second to return to the display of monitor number ENTER DATA 4 DATA ENTER Key DATA SHIFT Key Press at least 1 s When the control power supply is turned ON reference pulse and feedback pulse will be 0 The pulse numbers will increase when the servomotor moves in the counting up direction of the linear scale phase A progression and decrease when the servomotor moves in the counting down direction of the linear scale phase B progression Displays the pulse number from 0 to FFFFFFFF 4294967295 in sequence If one pulse is decreased from 0 the digital operator and the panel operator display FFFFFFFF 4294967295 and then decrease from this pulse number Also if one pulse in increased from FFFFFFFF 4294967295 the digital operator and the panel operato
227. Dimensional Drawings of Cables and Peripheral Devices 6 4 Cables for Connecting Hall Sensors 1 Cable Type JZSP CLL10 15 15 m 49 21 ft 2 Dimensional Drawing Serial converter unit end Hall sensor end L Finished diameter 6 8 go2n E IE t Cable AWG22x2 AWG24x4 Connector type 17JE 13090 02 D8C With stad 9 pin soldered made by DDK Ltd Connector type 17JE 23090 02 D8C 9 pin soldered made by DDK Ltd Units mm in 3 Specifications Serial converter unit end Hall sensor end Pin No Signal EUR Pin No Signal 1 5V 1 5V 2 Phase U input 2 Phase U input 3 Phase V input 3 Phase V input 4 Phase W input 4 Phase W input 5 OV 5 OV 6 o 7 i 7 8 8 9 i i 9 Case Shield l Case Shield 6 10 6 5 Flexible Cables 6 5 Flexible Cables 1 Life of Flexible Cable The flexible cable supports 10 000 000 or more operations of bending life with the recommended bending radius The following table shows the recommended bending radius R of each cable Recommended Cable Type Model bend radius in mm in ZSP CINTIGID JZSP CLNZT GIG Linear servomotor main circuit cables JZSP CLN39 00
228. Drawings 3 7 4 SGLFO 1Z Linear Servomotors 3 Magnetic Way SGLFM 1ZOO0A 2xN 7 60 28 mounting holes 11 5 00 45 counter boring depth 1 5 0 06 Coil assembly 6 5 0 26 125 4 92 62 5 2 46 62 5 2 46 P Reference mark 6 5 0 26 Reference mark 67 5 2 M 432 1 70 0 55 N 5840 1 Reference marks 1 70 o3 Gap1 0 04 2 2850 004 Mn Tow 4 0 16 marks are engraved Reference length Units mm in The height of screw head must be 6 7 0 26 max Assembly Dimensions Note 1 Multiple SGFLM 1ZLILILIA magnetic ways can be connected Connect magnetic ways so that the refer ence marks match one on the other in the same direction 2 The magnetic way may affect pacemakers Keep a minimum distance of 200 mm from the magnetic way Magnetic Way 4 405 337 5 13 29 423 9 6 5 0 4 mm 675 607 5 23 92 693 9 1 83 26 57 67 5 2 66 x 9 0 35 27 32 0 39 18 30 94 877 5 34 55 963 9 1 12 zma a0 seon os Reference length 3 40 3 8 Dimensional Drawings of SGLTW SGLTM Linear Servomotors 3 8 Dimensional Drawings of SGLTW SGLTM Linear Servomotors 3 8 1 SGLTLI 20 Linear Servomotors 15 0 59 1 Coil Assembly SGLTW 20ALILILIALI NxM6 tapped holes depth 12 0 47 L1 55 2 17 50 1 97 1
229. E R O8DE R 10DE R 15DE R gt 5 gt 2 eee Q Mounting Hole Diagram eat sin Q E 4xM4 screw x M has 0 02 8 gis N 2 a 1 8 gg 8 HER e als 1 1 E PE Sa SS 48 50 05 180 7 09 v gr89yreroo 12 0 47 Ground terminal cT 2xM4 screws 7 028 141 5 5 57 Mounting pitch Reference length Units mm in Approx mass 3 0 kg 6 61 Ib Cooling fan External Terminal Connector Main circuit Control power power supply supply L1 L2 L3 L1C L2C SERVOPACK Connector M ey Connector SERVOPACK Manufacturer Three phase Single phase Symbol Connector Model 200 VAC 200 VAC 10250 52A2JL Sumitomo 3M Co Ltd 50 60 Hz 50 60 Hz 53460 0611 Molex Japan Co Ltd Main circuit Control power 10214 52A2JL Sumitomo 3M Co Ltd power supply supply L1 L2 L3 24V 0V LH Three phase 24 VDC 400 VAC 50 60 Hz 4 27 4 SERVOPACK Specifications and Dimensional Drawings 4 8 5 Three phase 200 V 2 0 kW 3 0 kW 20AE R 30AE R Three phase 400 V 2 0 kW 3 0 kW 20DE R 30DE R 4 8 5 Three phase 200 V 2 0 kW 3 0 kW 20AE R 30AE R Three phase 400 V 2 0 kW 3 0 kW 20DE R 30DE R 4 28
230. ERING 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 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 TONGJI 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 reg
231. FL2 tc Fs ta 389 5 2 x 0 02 7 5 2 x 0 36 374 5 2 x 0 02 Frms 7 05 108 3 N lt Rated force x 0 9 Satisfactory 6 Result The provisionally selected linear servomotor and SERVOPACK are confirmed to be applicable The force diagram is shown below 12 3 12 Appendix 12 2 1 Simple Calculation 12 2 Calculating the Required Capacity of Regenerative Resistors 12 2 1 Simple Calculation When driving a linear servomotor with the horizontal axis check the external regenerative resistor requirements using the calculation method shown below 1 SERVOPACKs with Capacities of 400 W or Less SERVOPACKs with capacities of 400 W or less do not have built in regenerative resistors The energy that can be charged with capacitors is shown in the following table If the kinetic energy in the linear servomotor exceeds these values then connect an external regenerative resistor Voltage Applicable Regenerative Remarks SERVOPACKs Energy that Can be Processed joules 200 V SGDH ASAE Value when main circuit input voltage is 200 VAC Calculate the kinetic energy Es in the linear servomotor from the following equation Es MVu 12 M Load mass kg Vu Speed used by linear servomotor m s 2 SERVOPACKs with Capacities of 500 W to 5 0 kW SERVOPACKs with capacities of 500 W to 5 0 kW have built in regenerative resistors The allowable fre quencies for just the servomotor in acceleration and dece
232. FMAC 0953 6410 Dimensional Drawings 78 EC iss G31 is 541 ee E 6 50 3 0 26 0 01 6 50 3 0 26 0 01 Imensions in mm in PF 11540 3 Su isis 66 2 60 66 2 60 Lp mam mam Applicable SERVOPACK S0AE 75AE SGDH Manufacturer SCHURTER formely TIMONTA 6 29 6 Specifications and Dimensional Drawings of Cables and Peripheral Devices 6 8 8 Noise Filter c FS Series F555503533 Dimensional Drawings Symbol 8 wai TO amp xma TE 0 pimensions E OY mmm eH WES 25 0 98 Specifications Applicable SERVOPACK dues SGDH Schaffner Electronic 6 30 6 8 Peripheral Devices 6 8 9 Magnetic Contactor 1 Model HI OJ The magnetic contactor is manufactured by Yaskawa Controls Co Ltd A magnetic contactor is required to make the AC power supply to SERVOPACK ON OFF sequence externally Be sure to attach a surge suppressor to the excitation coil of the magnetic contactor Refer to 6 8 10 Surge Sup pressor for details of the surge suppressor For selecting a magnetic contactor refer to 2 6 3 Noise Filters Magnetic Contactors Surge Suppressors and DC Reactors 2 For Single phase 200 V and Three phase 200 V SERVOPACK
233. FT Key Press at least 1 s for more than one second to return to the display Pn50E Press the UP Key to set Pn50F Note The enabled digit blinks Press the DATA ENTER Key once or DATA SHIFT Key ENTER DATA for more than one second to display the current data of DATA ENTER Key DATA SHIFT Key PnSOF Press at least 1 s L BK is set to Invalid Press the LEFT or RIHGT Key or DATA SHIFT Key to select the third digit from the right Press the UP Key to set DATA lt DATA SHIFT Key Allocates BK to CN1 27 28 Press the DATA ENTER Key once or DATA SHIFT Key ENTER DATA for more than one second The value blinks and is saved DATA ENTER Key DATA SHIFT Key Press at least 1 s Press the DATA ENTER Key once or DATA SHIFT Key ENTER DATA for more than one second to return to the display Pn50F 4 DATA ENTER Key DATA SHIFT Key TGON is set as Invalid and BK is allocated to CN1 27 Press at least 1 s 28 8 29 8 Digital Operator Panel Operator 8 4 1 List of Monitor Modes 8 4 Operation in Monitor Mode UnLILIL1 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 8 4 1 List of Monitor Modes Un000 Actual motor speed Un001 Input speed reference Valid only in speed control mode Un002 Internal force reference in percentage to the rated force
234. Force N b With High force Magnetic Ways A Continuous duty zone B Intermittent duty zone 3 1 Ratings and Specifications of SGLGW SGLGM SGLGW 40A140C SGLGW 40A253C SGLGW 40A365C 5 5 5 4 4 4 Motor Motor Motor speed 3 speed speed m s m s m s 2 2 A B A B A B 1 1 1 0 0 0 0 50 100 150 200 250 O 100 200 300 400 500 0 150 300 450 600 750 Force N Force N Force N SGLGW 60A140C SGLGW 60A253C SGLGW 60A365C 5 5 5 4 4 4 Motor Motor Motor speed speed speed 3 m s m s m s 2 2 2 A B A B A B 1 1 1 0 0 0 0 80 160 240 320 400 O 160 320 480 640 800 O 240 480 720 960 1200 Force N Force N Force N 3 Specifications and Dimensional Drawings 3 2 Ratings and Specifications of SGLFW SGLFM 1 Ratings and Specifications Dielectric Strength 1500 VAC for 1 minute Protection Methods Self cooled Ambient Humidity 20 to 80 no condensation Allowable Winding Temperature 130 C 266 F Insulation class B Time Rating Continuous Insulation Resistance 500 VDC 10 MQ min Ambient Temperature 0 to 40 C 32 to 104 F Excitation Permanent magnet Ratings and Specifications of SGLFW Linear Servomotors with F type Iron Core Linear Servornotor 20K 3 S A 3 T s T Z5 Model SGLF
235. Force reference input 1 to 10 V rated motor force Input gain can be modified using 9 9 2 a parameter 9 11 3 9 11 4 L 7 Reference pulse input Input mode is set from the following pulses 8 for only line driver Sign pulse string 1 CCW CW pulse s Two phase pulse 90 phase differential 1 Position CLR Positional error pulse clear input Clears the positional error pulse during position con CLR 1 trol 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 8 3 2 Input Circuit Signal Allocation Alarm reset Releases the servo alarm state 9 13 1 Internal speed With the internal set speed selected Switches the 9 switching internal speed settings 4 4 4 4 4 4 4 4 0 0 1 2 3 5 6 4 7 1 5 4 3 The voltage input range for speed and force references is a maximum of 12 V 7 26 7 4 Examples of I O Signal Connections 2 Output Signals Signal Name ALM 31 Servo alarm Turns OFF when an error is detected 9 13 1 ALM 32 Common TGON 27 Detection during linear servomotor movement Detects when the linear servomotor is 9 13 3 TGON 28 moving at a speed higher than the motor speed setting Detection speed can be set by using the parameters S RDY 29 Servo ready ON if there is no servo alarm when the control main circuit power
236. I O Linear servomotor Reference pulse input Speed and force reference input 380 to 480V i5 3 50 60 Hz Regenerative resistor Option Lil Tm cL SS a SS censi NN 1 B1 B2 dee Uo 2 FAN1 4 EU1 Noise P d ra J filter mmes n 12 V amp 1KM qa XX1 XX3 atc CHARGE ZN A Y E MAU e R 4 CT2 V b e Ira s K V P gt gt Ww L3 02 4 w x U um A TTS N A N oeo Y Gate drive over e current protector RYT i V i Relay drive O Tage Gate drive i sensor Voltage sensor t provided not provided i S Control power 24 VDC aera erases EBBeeREECAS REGA ee i 1 Lic FU2 5v d tF pcc pris T converter o L psv erest as 1 ASIC cnv o PWM control etc c 1 1 PG output ES SS SSS ae FS a er ee 5V bt AC power supply Power Open durin a rower supply servo alarn 100 V 200 V i e l xD OFF ON IRY ME E j ov I T T 2RY 9 POWER CPU Y T ak i Panel operator Position Speed calculation etc A A
237. II 15 JZSP CLN11 20 JZSP CLN21 01 SGLGW 90 JZSP CLN21 03 2 Between SERVO SGLFW 50 and gt mam CERMOPADK Binge servomotor Linear Servo PACK and incor pe 3m J2SP CLN21 05 Cn A CH servomotor SGLTW 20 35 eres ircuit Cables and 50 JZSP CLN21 15 JZSP CLN21 20 JZSP CLN39 01 JZSP CLN39 03 sERvopACK TOUT cael SGLTW 40 and JZSP CLN39 05 80 JZSP CLN39 10 JZSP CLN39 15 JZSP CLN39 20 2 7 2 Selections Linear Servo motor Main Circuit Cables Q Encoder Cables Connection cables for seri al converter unit Connection cables for hall sensor Connection Between SERVO PACK and linear servomotor Between serial convert er unit and linear scale Between SERVO PACK connector CN2 and serial converter unit Between serial convert er unit and hall sensor unit Applicable Linear Servo motor Model SGLGW 30A00000D 40A00000D 60A00000D For 200 VAC SGLFW 35D00000D 50000000D 1ZDOOOOOD SGLTW 35DO00HOD 50DO00HOD For 400 VAC All models All models All models Cable Length Cable Type JZSP CLN15 20 JZSP CLL00 01 JZSP CLLOO 15 JZSP CLL10 03 Serial converter unit d JZSP CLL10 05 JZSP CLL10 10 JZSP CLL10 15 Specifications SERVOPACK SERVOPACK Serial converter unit end SERVOPACK sensor unit end The main circuit s cable connec
238. JE 13090 02 D8C Stud type 17L 002C or 8 17L 002C1 9 1 2 9 367 357 260 4 5 285 3 535 525 455 4 6 380 8 10 5 airs eis The value indicates the mass of coil assembly with a hall sensor unit 3 28 3 6 Dimensional Drawings of SGLGW SGLGM Linear Servomotors 2 Magnetic Way SGLGM 9001010A L1 01 1 unit Nameplate Warning label N M6 mounting screws depth 14 5 0 57 Reference length Units mm in Magnetic Way 252 189 4 73 1 504 441 8 14 7 ae A739 3 29 3 Specifications and Dimensional Drawings 3 7 1 SGLFO 20 Linear Servomotors 3 7 Dimensional Drawings of SGLFW SGLFM Linear Servomotors 3 7 1 SGLFLI 20 Linear Servomotors 1 Coil Assembly SGLFW 20ALILILIALI 1 57 4 2 0 17 With magnet cover 10 2 0 40 With magnet cover 4 0 16 Without magnet cover 2xscrews Gap 0 8 0 03 With magnet cover 34 40 UNC 9 10 0 39 Without magnet cover 4550 1 1 770 004 SGLFW 20A090AL Gap 1 0 04 Without magnet cover 2xM4 tapped holes depth 5 5 0 22 See the figures D and below L3 1 x 4a See note Li m Er Er Er mn mm LU Note The coil assembly moves in the direction i
239. JZSP CLN15 01 1 m 328 ft 50000000D JZSP CLN15 03 3 m 9 84 ft AZDLILILILILID SGLTW 35DLILILIHLID 50D000HOD With a connector by Interconnectron for 400 V servomotor b Wiring Specifications SERVOPACK end Leads Linear Servomotor end Connector Wire Color Signal Signal Pin No Black White 1 Phase U Phase U 1 Black White 2 Phase V Phase V 2 Black White 3 Phase W PS 3 Green Yellow FG Phase W 4 5 6 6 Specifications and Dimensional Drawings of Cables and Peripheral Devices 6 2 Cables for Connecting Serial Converter Units 1 Cable Type engin O JZSP CLP70 01 1m 3 28 ft JZSP CLP70 03 3m 9 84 ft 5 m 16 40 ft 10 m 32 81 ft 15 m 49 21 ft 20 m 65 62 ft 2 Dimensional Drawing SERVOPACK end Serial converter unit end 4 L gt za Finished diameter 6 8 00 27 hee L J C tor t 55100 0600 N mue cern onnector type 6 pin soldered Eee Connector type 17JE 23090 02 D8C made by Molex Japan Co Ltd 9 pin soldered made by DDK Ltd Units mm in 3 Specifications SERVOPACK end Serial converter unit end PinNo Signal cable oon PinNo Signal gable 1 PG5V Red i i 1 5V Red 2 PGOV Black 5 OV Black 3
240. Magnetic Way Model SGLTM 0 08 1 6 B 675 6075 6575 4725 23625 10 2i ASA cep asa 36 ET 945 8775 9275 7425 2475 14 30 ER ne En 3 52 3 8 Dimensional Drawings of SGLTW SGLTM Linear Servomotors 3 8 5 SGLTLI 50 Linear Servomotors 1 Coil Assembly SGLTW 500000HO With a connector made by Tyco Electronics AMP K K The following table and figures show the specifications when a main circuit s cable connector made by Tyco Electronics is used for the coil assembly NxM6 tapped holes depth 12 0 47 102 x 19 0 01 5 1001 81 3 19 177 P 30 1 18 ET iud Br EI 62 5 2 46 X 5 Magnetic way 10 0 39 L2 L3 g S 12 0 47 m 20 0 79 4840 15 1 89 0 01 YS les E c t Y acere Vv TES 3 paisa cd e 4 m gt SSS SSS e i T 2 El e di Es A l D aa Ne N d S E 1 3 d J Dj e Tr m id 8 Je NS e l Y S i ef EL xk ee es a Se Protective tub The coil assembly moves in the direction S FO LOCI e UMS indicated by the arrow when current flows 2 screws in the order of phase U V and W 9 34x40 UNC 0 04 Without magnet cover 2 23 3 0 92 With magnet cover 23 1 0 91 Without magnet cover Gap 0 8 0 03 With magnet co
241. Module is Used 11 6 11 1 5 Troubleshooting of Alarm and Warning 11 7 11 1 6 Troubleshooting for Malfunction without Alarm Display 11 17 11 2 Inspection and Maintenance 11 22 11 2 1 Linear Servomotor Inspection 11 22 11 2 2 SERVOPACK Inspection 11 22 11 2 3 Parts Replacement Schedule 11 23 11 1 11 Inspection Maintenance and Troubleshooting 11 1 1 Alarm Display Table 11 1 Troubleshooting 11 1 1 Alarm Display Table The relation between alarm displays and alarm code outputs is shown in Table 11 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 Coasting to a stop Stops the servomotor naturally with friction when the motor is running and not brak ing Table 11 1 Alarm Displays and Outputs Alarm Alarm Code Output Alarm Reset Alarm Name Meaning Display ALO1 ALO2 ALO3 A 02 Parameter Breakdown EEPROM data of SERVOPACK is abnormal Main Circuit Encoder Error Detection data for power circuit is Available Not detected for the SERVOPACKs abnormal with the capacity of 7 5 kW or more Parameter Setting Error The parameter setting is outside the allowable setting range Pn080 0 1 was set though a hall sensor was connected Combination Error
242. PACK than the turning ON OFF of the main circuit main circuit s power is turned ON or OFF more than 10 times 2 seconds Occurred at the main circuit power atthe main circuit power supply ON OF operation power supply can be turned ON OFF to 5 times supply ON OFF exceeds the allowable range min or less operation A SERVOPACK fault occurred Replace the SERVOPACK Heat Sink Occurred when the A SERVOPACK fault occurred Replace the SERVOPACK Overheated control power sup The overload alarm has been reset by turning OFF Change the method to reset the alarm Detected when ply was turned ON the power too many times the heat sink tem a zr e near sink tem f Occurred when the The load exceeds the rated load Reconsider the load and operation conditions or perature exceeds Ap 100 x C main circuit power reconsider the servomotor capacity supply was turned The SERVOPACK ambient temperature exceeds The ambient temperature must be 55 C or less ON or while the ser 55 C vomotor was run ning A SERVOPACK fault occurred Replace the SERVOPACK The surge current limit resistor operation frequency Reduce the number of times that main circuit s 11 11 11 Inspection Maintenance and Troubleshooting 11 1 5 Troubleshooting of Alarm and Warning Table 11 5 Alarm Display and Troubleshooting Cont d Alarm Alarm Name Situation at Alarm Cause Corrective Actions Display Occurrence Encoder Occurre
243. PACK Un000 mm s how it is displayed 5 Check the Un000 motor speed mm s Refer to 8 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 movement direction speed reference input gain Un001 voltage between V REF V x Pn300 rated speed 6V To change the motor movement direction without changing polarity for speed reference input gain refer to 9 6 2 Switching the Linear Servomotor Movement Direction Perform the operation from step 2 again after the motor rotation direction is changed vomotor without load is completed When the speed reference input is set to 0 V and servo OFF status enters the trial operation for ser 9 24 9 3 Trial Operation for Linear Servomotor without Load from Host Reference T i INFON When Position Control is configured at the Host Analog speed reference SERVOPACK Position control Speed control When the SERVOPACK conducts speed control and position control is conducted at the host controller perform the oper ations below following the operations in 9 3 2 Operating Procedure in Speed Control Mode Pn000 n OILO LJ on the previous page Check the input signal circuit
244. PACK received a servo ON com power line wiring or replace the SERVOPACK For the software ON mand version 32 or later Digital Operator Occurred when the The contact between the digital operator and the Insert securely the connector or replace the cable Transmission power supply was SERVOPACK is faulty Error 1 1 turned ON with dig The external noise interference occurred to the digi Do not Do not lay the cable near noise source Do not lay the cable near noise source cable near noise source ital operator con i e tal operator or cable Install digital operator far from noise source ECIS OT The digital operator cable is near noise source n when connecting 7 Digital Operator digital operator with A digital operator fault occurred Replace the digital operator Tr eM the power supply A SERVOPACK fault occurred Replace the SERVOPACK Error 2 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 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 11 15 11 Inspection Maintenance and Troubleshooting 11 1 5 Troublesh
245. Peripheral Devices b Fixing method Do not fix the moving points of the flexible cable or stress on the fixed points may cause early disconnec tion Fix the cable at the minimum number of points c Cable length If the cable length is too long it may cause the cable s sagging Besides the cable length is too short it may cause the excessive tension on the fixed points that will cause the early disconnection Use a flexible cable with the optimum length d Interference between cables Avoid interference between cables Interference limits the motion of flexible cable which causes early disconnection Keep enough distance between cables or provide a partition when wiring 6 12 6 6 SERVOPACK Main Circuit Wire Size 6 6 SERVOPACK Main Circuit Wire Size IMPORTANT 1 Wire sizes were selected for three cables per bundle at 40 C 104 F ambient temperature with the rated current 2 Use cable with a minimum withstand voltage of 600 V for main circuits 3 If cables are bundled in PVC or metal ducts consider the reduction ratio of the allowable current 4 Use heat resistant cables under high ambient or panel temperatures where normal vinyl cables will rap idly deteriorate 5 Use cables within the allowable mass 6 Do not use cables under continuous regenerative state 6 6 1 Cable Types Allowable Conductor Name Temperature eC F Normal vinyl cable Lom 600 V vinyl cable 60 140 Temperature r
246. Pn50B 2 n xLIxx Reserve External Force Limit Pn50B 3 n LIxxx Internal Set Speed Selection Pn50C 0 n xxxL1 Internal Set Speed Selection Pn50C 1 n xxLIx Internal Set Speed Selection Pn50C 2 n xLIxx Control Method Selection Pn50C 3 n LIxxx Zero Clamp Pn50D 0 n xxxL1 Reference Pulse Inhibit Pn50D 1 n xxOx Gain Changeover Pn50D 2 n xOxx Polarity Detection Pn50D 3 n LIxxx Reference Pulse Input Multiplication Pn513 0 n xxxL1 Connection Not Required SERVOPACK judges the connection CN1 Input Pin Allocation Input Signal sov 73 SON 5 7ECON 0 P CON 9 o P OT N N OT TARWERST o e gt Lm ARNERST 5 A Lim 911 ESR ARA Li pep p A Q ol c m a ac v J gt L7 3 13 pz d Y w jam INHIBIT INHIBIT G SEL Gs fae 1 r 91 oe 3 4 ec ee eee 7 pee eee ee ee B pepe B Ea Peo EJEA KAES EZE3 KIEN EJEA KIES EJEA KIEZ KIES KALE KAES EAA c x Paes 7 x i EE m tc This function is valid for the software version 32 or later 8 25 8 Digital Operator Panel Operator 8 3 2 Input Circuit Signal Allocation 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
247. RVO PACK are shown in the diagram 12 22 12 4 List of Parameters 12 4 List of Parameters 12 4 1 Utility Functions List The following list shows the available utility functions Refer Function ence Section Alarm traceback data display Rigidity setting during online autotuning JOG mode operation Zero point search mode Parameter setting initialization Alarm traceback data clear Writing to EEPROM mass ratio data obtained from online autotuning 10 2 7 Fixed parameter OSs Automatic tuning of analog speed force reference offset 9 7 3 9 9 3 Parame ter No Fn000 Fn001 Fn002 Fn003 Fn005 Fn006 Fn007 Fn008 Fn009 Fn00A Fn00B Fn00C Fn00D FnOOE FnOOF Fn010 Fn011 Fn012 Fn013 Fn014 Manual adjustment of speed reference offset Manual adjustment of force 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 Fixed parameter Application module detection results clear Note When the parameters marked with O in remarks column are set for Password Setting Fn010 the indication shown below appears and such parameters cannot be changed O links for Inja ta P sis 12 23 12 Appendi
248. RVOPACK board fault occurred fault occurred ASERVOPACK board fault occurred Replace the SERVOPACK Replace the SERVOPACK SERVOPACK Reference Occurred when the A SERVOPACK board fault occurred Replace the SERVOPACK Force Input control power sup A malfunction occurred in the reading section of the Clear and reset the alarm and restart the operation Read Error ply was turned ON force reference input Detected wh Detected when Occurred during A SERVOPACK board fault occurred Replace the SERVOPACK the servo is ON normal operation Current sensor error is detected or servomotor line is Check and correct the servomotor power line or replace the SERVOPACK Occurred during normal operation due to external noise Reference Occurred when the Speed Input control power sup Read Error ply was turned ON Detected when the Servo is ON Occurred during normal operation Current Occurred during Detection Error normal operation For the software version 32 or later disconnected System Alarm Program error Software operation time exceeded Occurred when the control power sup ply was turned ON Occurred during normal operation A SERVOPACK board fault occurred Replace the SERVOPACK A program is incorrect Replace the SERVOPACK Contact your Yaskawa representative Stack fl Been NRE A SERVOPACK board fault occurred Replace the SERVOPACK Micro program
249. Resistance 1 26 0 83 0 Force Constant BEMF Constant V m s Motor Constant 3 10 3 3 Ratings and Specifications of SGLTW SGLTM en Note 1 The items marked with an and Force and Speed Characteristics are the values at a motor winding tem perature of 100 C 212 F during operation in combination with a SERVOPACK The others are at 20 C 68 F 2 The above specifications show the values under the cooling condition when a heat sink aluminium board listed in the following table is mounted on the coil assembly Linear Servomotor Heat Sink Size Model SGLTW in mm in 20A170A 254 x 254 x 25 35A170A 10 0 x 10 0 x 0 98 20A320A 20A460A 35L1170H 35A320A 35L1320H 35A460A 50L1170H 40L1400B 40L1600B 50L1320H 80L1400B 80L1600B 3 The values of peak speed in the table indicate the maximum speed that can be controlled from SERVOPACK Refer to Force and Speed Characteristics for the actual motor peak speed 400 x 500 x 40 15 75 x 19 69 x 1 57 609 x 762 x 50 23 98 x 30 0 x 1 97 3 11 3 Specifications and Dimensional Drawings 2 Force and Speed Characteristics 6 5 Motor 4 speed m s 3 2 1 0 6 5 Motor 4 speed m s 3 2 1 0 a 200 V Class A Continuous duty zone B Intermittent duty zone SGLTW 20A170A Motor speed m s i 0 100 200 300 400 Force N SGLTW 35A170A Motor speed m s
250. SGLTW 170 144 5 67 16 8 3 7 ITAD i asas 0y 315 288 11 34 i7 i4 68 95HS20AH 12 40 48 1 89 x 6 0 24 0 67 0 55 14 99 460 432 017 01 is 20 10 99EM60 H 18 11 48 1 89 x 9 0 35 0 71 0 79 22 05 Reference length 3 44 3 8 Dimensional Drawings of SGLTW SGLTM Linear Servomotors 2 Magnetic Way SGLTM 35000A Coil assembly 42 4 0 3 do x0 090 01 i 100 3 94 87 3 43 Nameplate 1 Be rum 8 30 6 2xN 7 0 28 mounting holes See the sectional view for the depth B TONERS 1 20 Spacers Do not remove them until the 2xNxM6 screws depth 8 0 31 coil assembly is mounted on the machine 871 511 2 81 0 04 preshipment 103 4 06 max preshipment 9 9 2 4 0 3 A x0 09 0 01 Y 0 K Mount the magnetic way so that its corner surfaces 12 are flush with the inner step 0477 34 5 1 36 Mount the magnetic way so that its corner surfaces are flush with the inner step 244 99 70 0 3 2 76 0 01 Reference length Units mm in Assembly Dimensions Note 1 Two magnetic ways for both ends of coil assembly make one set Spacers are mounted on magnetic ways for safety during transportation Do not remove the spacers until the coil assembly
251. Servo Gain Adjustment Functions 10 4 9 Switching Gain Settings Gain switching by the external signal is possible with the SGDH 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 8 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 Parameters Pn50A n 0001 Enables the input signal allocation for the sequence Set to allocate the gain switching signal G SEL to an input terminal Speed Loop Gain Tio 2 000 Speed Loop Integral Time Constant 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 Position Loop Gain Tio 2 000 Pn104 2nd Speed Loop Gain 1 to 2 000 Pn105 2nd Speed Loop Integral Time Constant 1 0 Setting Range Setting Unit Factory Setting Setting Validation 15 to 51 200 0 01 ms 2 000 Immediately 0 15 to 512 0
252. Switches restart Position Reference Movement Average Imme ed Time diately EA Reference Pulse Input ate ees Imme ae ee ae Reference Pulse Input Multiplication After Pn218 0000 p tt Function Selection piedi Pn280 Linear Scale Pitch After restart Pn281 PG Divider After restart 6 00 Virated Speed Reference Input Gain Imme Pn305 0 ms Soft Start Acceleration Time Imme diately Pn306 0 ms Soft Start Deceleration Time Imme diately Pn307 0 40 ms Speed Reference Filter Time Constant Imme l diately Pn308 0 00 ms Speed Feedback Filter Time Constant Imme l diately Pn380 10 mm s Internal Set Speed 1 Imme diately Pn381 20 mm s Internal Set Speed 2 Imme diately Pn382 30 mm s Internal Set Speed 3 Imme diately Pn383 50 mm s JOG Speed Imme diately Pn384 5 0m s Motor Maximum Speed After h restart Pn400 3 0Virated force Force Reference Input Gain Imme diately Pn401 1 00 ms Force Reference Filter Time Constant Imme l diately Pn404 100 Forward External Force Limit Imme i diately Pn405 100 Reverse External Force Limit Imme i diately Pn406 800 Emergency Stop Force Imme diately Pn408 0000 Force Function Switches Imme diately Pn409 2000 Hz Notch Filter Frequency Imme diately Pn40A 0 70 Notch Filter Q Value Imme diately Pn40B 2000 Hz Notch Filter 2 Frequency Imme diately Pn40C 0 70 Notch Filter 2 Q Value Imme diately Pn480 5000mm s Speed Limit in Force Control Imme diately 12 42
253. TU 250 Units mm in Approx mass 0 02 kg 0 04 Ib 6 2 M3 5 Connection terminals A028 S M bu U vost e Operation 8 indicator LED Py C t 22 0 87 H NN E 26 1 02 22 0 87 Model TU 650 Units mm in Approx mass 0 035 kg 0 077 Ib 6 2 M3 5 Connection terminals 0 24 ao sS Operation HH R indicator ww LED A i ii N y eo 3 0 12 i i 21 0 83 6 36 Internal Connection Diagram CR Varistor 4 Internal Connection Diagram o CR A Ley Varistor p z 4 eh a 6 8 Peripheral Devices 6 8 11 DC Reactor for Harmonic Suppression 1 Specifications DC reactor for harmonic suppression is handled by Yaskawa Controls Co Ltd If necessary for harmonic suppression connect a DC reactor to the SERVOPACK Note that no terminal for con necting a DC reactor is provided to the 7 5 kW SERVOPACKs Refer to the table below for selecting a DC reactor according to the SERVOPACK capacity For the connection method refer to 6 8 1 DC Reactor for Harmonic Suppression Applicable DC Reactor DC Reactor Specifications SERVOPACK Model Model Inductance Rated SGDH mH Current A pua a ae peu d Single phase 200 309 X5061 4 8 xum m Iv
254. Table Positioning by designating the command table by the contact input Maximum 128 points Zero Pont Retur Other Functions External positioning JOG speed table operation Maximum 16 speeds S ON Servo ON SERVOPACK P OT Forward Run Prohibited MOT Reverse Run Prohibited DEC Zero Point Return Deceleration LS RTRG External Positioning Signal Input e MODEO 1 Mode signal START HOME Start Signal Zero point Return Execution INDEXER Module PGMRES JOGP Program Reset Motor Forward Rotation SELO JOGN Program Starting Step Designation Motor Reverse Rotation I O Signals SELI to SEL4 JOGO to JOG3 Program Starting Step Designation JOG Speed Table Selection ALM Servo Alarm WARN Warning SERVOPACK BK Brake Interlock n S RDY Servo Ready ALOI ALO2 ALO3 Alarm Codes INDEXER Module INPOSITION Positioning Completed POUTO to POUT4 Programmable Outputs 6 45 6 Specifications and Dimensional Drawings of Cables and Peripheral Devices 6 8 17 INDEXER Module 3 Dimensional Drawings Units mm in Approx mass 0 2 kg 0 44 Ib 24 0 94 FG terminal M4 d A 3 Connector SIS To SERVOPAC L WS No J fl I 142 5 59 Or i Nameplate lle Ir I J 128 5 04 6 46 7
255. Tyco Electronics is used for the coil assembly 0 15 0 01 x NxM6 tapped holes depth 12 0 47 x A E 30 1 18 T g 3 L2 53 o SIO SEE a dn ee Ey v E ka ne Li m ME xi i sS sE AR i EK xe M M oS o NS o e oO E i H S AY Nameplate The coil assembly moves in the direction 2 p Protective tube indicated by the arrow when current flows 2xscrews S in the order of phase U V and W re 34x40 UNC m EIE 9 Cable 19 2 0 76 With magnet cover 19 0 75 Without magnet cover Gap 0 8 0 03 With magnet cover Gap 1 0 04 Without magnet cover Wiring specifications he UL20276 AWG28 500 38 69 Lead specifications of coil assembly Reference length Units mm in Hall Sensor Output Signals When the coil assembly moves in the di rection indicated by the arrow in the fig ure the relationship between the hall sensor output signals Su Sv Sw and the inverse power of each motor phase Vu Vv Vw becomes as shown in the figure below Inverse power v of hall sensor cable PAN N If this cable is bent repetitively the cable will WIND a
256. V vB Is 0 180 360 540 Electrical angle Coil Assembly E 170 144 5 67 16 8 2 j 17 4 4 8 0 1 5 315 288 11 34 1l 6 460 432 17 01 1 2 6 7 Reference length 3 41 3 Specifications and Dimensional Drawings 3 8 1 SGLTLI 20 Linear Servomotors 2 Magnetic Way SGLTM 20000A 3 42 7 1 5 1 2 81 0 04 preshipment 103 44 06 max preshipment 15 0 59 L2 P 29 3 1 15 1 25 0 01 54 2 13 54 2 13 D ou 1 1 1 1 1 1 k 2 4 0 3 mars i i i um x0 09 0 01 I gg Nameplate 7 TOL 1 un Gy 29 3 1 15 IR 2xN 7 0 28 mounting holes See the sectional view for the depth Spacers Do not remove until the coil assembly is mounted on a machine 2xN M6 screws depth 8 0 31 8 0 31 Q uf N way so that its step Mount the magnetic corner surfaces are flush with the inner Mount the magnetic way so that its corner surfaces are ush with the inner 70 0 3 step 9 4 k2 7650 01 Assembly Dimensions Reference length Units mm in Note 1 Two magnetic ways for both ends of coil assembly make one set Spacers are mounted on magnetic ways for safety during transportation Do not remove the spacers until the coil assembly is mounted on a machine Ww N The m
257. V 50 W to 400 W Models 4 3 SERVOPACK Internal Block Diagrams The following diagrams show the SERVOPACK internal blocks 4 3 1 Single phase 200 V 50 W to 400 W Models 4 8 Single phase T 10 200 to 230V 15 50 60 Hz T s 3 i gg a E XX B1 B2 THS1 ZS e1 RY1 OR 35 d PM1 1 D2 D3 D4 Noise E T PZ ore r1 filter i R7 VY Linear servomotor h EU 1 CHARGH ZN p1 z EN u jou 1 o R Z Li A c1 i Gi v IKM xxi son M NN 1 R8 Ww t uz T RI JE a wr 1 1 N1 L Ny t Hall cl 1 Gate drive over PS pale 5 S uci drive Voltage Gate drive current protector Y i Voltage EN Serial sensor Interface e O converter o gt unit lado ecc PEE E a i L i1c a eG Pes5V L 15V i 4 EZ T penc i ASIC 1 converter h PWM control etc CN1 1 PG output Power Power 7 a EE r supply Supply Open during Reference pulse input m T servo alarm 1RY 1 je AID Speed and Force p 1KM 1R
258. VOLTS 200 230 VOLTS 0 230 Applicable Hz 50 60 PHASE 3 motor Appiicane i P PHASE 3 AMPS 248 capacity power SUPPIY Amps 18 6 KU MP 3 0 4 0 Serial S N _ 412808 15 1 number YASKAWA ELECTRIC MADE IN JAPAN AULA UAI V 1 Outline 1 1 4 Serial Converter Units 1 1 4 Serial Converter Units 1 4 Serial converter model Order No Serial No Nameplate SERIAL CONVERTER MODEL JZDP D006 156 For O N S N YASKAWA ELECTRI 4 bint IC CORF ORATION ii 1 2 Product Part Names 1 2 Product Part Names 1 2 1 Linear Servomotors 1 Coreless SGLGW and SGLGM Magnetic way Coil assembly 2 SGLFW and SGLFM With F type Iron Core Coil assembly Main circuit cable for linear servomotor 3 SGLTW and SGLTM With T type Iron Core Coil assembly Spacer for installation Main circuit cable for linear servomotor 1 5 1 Outline 1 2 2 SERVOPACKs 1 2 2 SERVOPACKs 1 SGDH for 50 W to 5 0 kW With the front cover open CN5 Analog monitor connector Used to monitor motor speed force reference and other values through a special cable Refer to 6 8 3 Cables for Analog Monitor or rl 10 5 Analog Monitor LLLI LJ COO MODE SET A V DAZ O CHARGE POWER O YASKAWA SERVOPACK YASKAWA SGDH Panel display Front cover 5 digit 7 segment LED used to display SERVOPACK status
259. VOPACKs with capacity of 7 5 kW do not have these terminals The type of DC reactor to be connected dif fers depending on the SERVOPACK capacity Refer to the following table Applicable DC Reactor Reactor Specifications ee Model Model Inductance mH Rated Current A Sees ASE 200 V aE xo 02AE X5070 200 0 i 65 EE ii L Ws 0 Three phase EE SX NE EK 0 EEE 8 200 V EZ AE EH lt 4 Lo E sus xXs amp Rar 388 Three phase 05DE X504 L3 p 9 LE i 400 V Rs X5075 4 5 20DE X5076 CERERE Note Select a proper DC reactor for the input current to the SERVOPACK Refer to 2 6 2 Molded case Circuit Breaker and Fuse Capacity for input current to each SERVOPACK For the kind of reactor refer to 7 5 5 DC Reactor for Harmonic Suppres sion 2 Connecting a Reactor Connect a DC reactor as shown in the following diagram The DC reactor is connected in series to the rectifier circuit s output side DC Reactor Three phase input DC reactor SERVOPACK 001 o ia Note 1 The SERVOPACK 1 and 2 terminals for the DC reactor are short circuited before ship ment Remove the lead wire between these two terminals and connect the DC reactor with SERVOPACK 2 DC reactor is an option Provided by customer 7 37 7 Wiring 7 6 1 Regenerative Power and Regenerative Resistance 7 6 Connecting Regenerative Resistors 7 6 1 Regenerative Power and Regenera
260. W Se eee ee mrs EEE ere pe epe hapa apa m pepe pr pe pr a Peak 125 220 440 1200 1200 2400 220 440 1200 1200 2400 Force Instantaneous Peak Cur Arms 3 0 2 9 4 4 8 8 12 4 25 0 21 6 43 6 2 3 4 6 5 6 11 0 12 3 24 6 urren w oje 1a as oo fea e zs ss e oa 5 Fece nran ter arteren artar sor sor mor oor sar sar rone oe _ ms 32 33 36 3 6 159 158 183 1833 35 3 5 150 150 174 172 Constant Mechanical Time ms 110 93 62 55 30 29 23 21 55 55 32 32 25 22 Constant Thermal Resistance Thermal Resistance x jw 7 69 5 02 4 10 1 94 1 65 095 13 073 41 194 65 695 13 0 73 Without Heat Sink i 7 i Magnetic Attraction 1586 1650 3260 3300 6520 810 1590 1650 3260 3300 6520 Note 1 The items marked with an and Force and Speed Characteristics are the values at a motor winding tem perature of 100 C 212 F during operation in combination with aSERVOPACK The others are at 20 C 68 F 2 The above specifications show the values under the cooling condition when a heat sink aluminium board listed in the following table is mounted on the coil assembly Linear Servomotor Heat Sink Size Model SGLFW in mm in 20A090A 125 x 125 x 13 20A120A 4 92 x 4 92 x 0 51 35L1120A 254 x 254 x 25 35L1230A 10 0 x 10 0 x 0 98 400 x 500 x 40 15 75 x 19 69 x 1 57 50L1200B 1ZL1200B 50L1380B 60
261. Without is incorrect trol method and the input are agreed input correctly Reference Speed reference offset is error The SERVOPACK offset is adjusted incor Adjust the SERVOPACK offset correctly Input rectly 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 correctly A SERVOPACK fault occurred A SERVOPACK board fault occurred Replace the SERVOPACK Linear scale counting up direction Check the directions Change the setting of Pn080 1 Motor Phase Order and linear servomotor coil assembly Selection forward direction do not agree Match the linear scale direction and servomotor direc tion Polarity detection is not performed Check if the value of Un004 Electrical Correct the polarity detection related parameter settings correctly Angle 2 at an arbitrary position is between 10 degrees DB dynamic Improper parameter setting Check the setting of parameter Pn001 0 Correct the setting of parameter Pn001 1 brake Does Servo OFF or Alarm Stop Mode Not Operate DB resistor disconnected Check if excessive mass motor overspeed Replace the SERVOPACK and reconsider the load or DB frequently activated 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 Servomotor Vibration source o
262. Y LT CPU reference input 1KM Surge Position Speed calculation etc suppressor Analog voltage J l VO je ice lel Sequence I O E CN10 CN5 CN3 Connector for application module Analog monitor output for supervision Digital operator or personal computer 4 3 SERVOPACK Internal Block Diagrams 4 3 2 Three phase 200 V 500 W to 1 5 kW Models Three phase 200 to 230V 15 50 60 Hz 7 7 7 7 7 7 7 j B BIBS B T T 7 7 7 FANT ON e B RY1 R2 2 amp C gu umm 02 03 pa 1 V n P Noite 1 P Linear servomotor 1KM qu i CHARGE ZX JC a u T XXT R on Z i L2 X8 T 4 v L3 Boo i 1 aA wW i N 1 N L Gate drive over Relay drive Voltage Gate drive current protector L RA sensor A H ele z Voltage sensor Interface o gt l For 0 5 KW to1 0 kW Current L1C sensor t T Dc Dc
263. agnetic way may affect pacemakers Keep a minimum distance of 200 mm from the magnetic way Two magnetic ways in a set can be connected to each other 4 The dimensions marked with an are the dimensions between the magnetic ways Be sure to follow exactly the dimensions specified in the figure above Mount magnetic ways as shown in Assembly Dimensions The values with an 4 are the dimensions at preshipment 5 Use socket headed screws of strength class 10 9 minimum for magnetic way mounting screws Do not use stainless steel screws Magnetic Way Model SGLTM 270 10 63 3 x 486 1913 5 7 sionis ie 54 2 13 x 9 0 35 039 12 57 756 702 27 64 14 7 9 aati 29 76 54 2 13 x 130 51 0 55 1742 3 8 Dimensional Drawings of SGLTW SGLTM Linear Servomotors 3 Magnetic Way with Base SGLTM 20000AY 7 0 20 0 79 54 2 13 117 0 46 Go a L2 44 2 132 Sg lt hi eo Xe 1 1 I P v bi P P L 4 e Sem a ee Q ag i Yo 7 _ _ _ m e syle gj ale 2 4 0 3 ST 7 oomi Ak Ce E fi 99 gt ES ES 6 o 9 Hp sje qs fc NJA S amp S S Coil assembly LS 14 2 91 414 0 55 oS S le 74 2 91 pie L4 162 6 38 gt l A 7 2 x N2 610 60 39 mo
264. alarm status and other values when parameters are input Refer to 8 1 2 Key Names and Functions SERVOPACK model Refer to 2 3 SERVOPACK Model Designations Panel keys Used to set parameters Refer to 8 1 2 Key Names and Functions Panel operator Charge indicator Lights when the main circuit power supply is ON and stays lit as long as the main circuit power supply capacitor remains charged Therefore do not touch the SERVOPACK even after the power supply is turned OFF if the indicator is lit Power ON indicator Lights when the control power supply is ON CN3 Connector for personal computer monitoring and digital operator Used to communicate with a personal computer or to connect a digital operator Refer to 6 8 1 Cables for Connecting Personal Computer and 6 8 2 Digital Operator Main circuit power supply terminals Used for main circuit power supply input Refer to 7 2 Wiring Main Circuit CN1 I O signal connector Used for reference input signals and sequence l O signals Refer to 7 4 Examples of I O Signal Connections Control power supply terminals Used for control power supply input Refer to 7 2 Wiring Main Circuit Regenerative resistor connecting terminals Used to connect external regenerative resistors Refer to 7 6 Connecting Regenerative Resistors Servomotor terminals Connects to the servomotor power line Refer to 7 2 Wiring Mai
265. an open collector output circuit through a photocoupler relay circuit or line receiver circuit Photocoupler Circuit Example Relay Circuit Example SERVOPACK 5 t12 VDC SERVOPACK Photocoupler 5 to 24 VDC 9 Relay x3K m o SERVOPACK Bada 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 5 to 24 VDC SERVOPACK Relay Yi 4 5 to 12 VDC o Dy Ld o y pa Note The maximum allowable voltage and current capacities for photocoupler output circuits are as follows Voltage 30 VDC Current 50 mA DC 7 30 7 5 Others 7 5 Others 7 5 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 or thicker Use a molded case circuit breaker QF or
266. and control power supply and ON again to validate new setting Pn10B 1 and Pn110 0 require the power to be reset as mentioned above Pn10B 0 Pn110 1 and Pn110 2 are enabled with the off line so the power does not have to be reset No Setting Validation Function Selection ia Servo Gain Related Pn10B Gain Application Switches 0000 After restart Parameter Immediately Pn110 Online Autotuning Switches 0010 After restart Immediately Position Control Related Pn200 Position Control References Selection Switches 0000 Parameter Pn207 Position Control Function Switches 0000 Pn218 Reference Pulse Multiplication Function 0000 After restart Selection For the software version 32 or later iini rameter Sequence Related Parameter Ionen For the software version 32 or later Sequence Related Parameter E een 8 22 8 3 Operation in Parameter Setting Mode PnOOD b Example of Changing Function Selection The procedure to change the setting of control method selection Pn000 1 of the function selection basic switches Pn000 from speed control to position control is shown below Display after Digital M c Press the DSPL SET or MODE SET Key to select the 9 parameter setting mode Ifa parameter other than Pn000 is displayed press the UP or DOWN Key to select the MODE SET Pn100 MODE SET Key DEUN Note The enable digit blinks Press the DATA ENTER Key once or DATA SHIFT one Key for more than one second The curre
267. aning Stopping Pn001 n 0000 Stop by dynamic Dynamic Brake Stops the linear servomotor by applying dynamic brake brake DB then holds it in Dynamic Brake Mode Factory setting Coasts the linear servomotor to a stop then places it into Coast power OFF Mode n 0002 Coast to a stop Stops the linear servomotor in the same way as when the servo is OFF coasts to a stop then places it into Coast power OFF Mode Decelerate to stop Zero Clamp Decelerates the linear servomotor with emergency stop force Pn406 then places it into Zero Clamp Servolock Mode n 0020 Decelerates the linear servomotor with emergency stop force Pn406 then places it into Coast power OFF Mode During force control the linear servomotor enters DB Stop Mode or Coast Mode regardless of the setting of Pn001 1 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 braking force Zero Clamp Mode A mode forms a position loop by using the position reference zero For details on stopping methods wh
268. ant application module manual Manual numbers are described in Related Manuals on page v 3 When mounting the NS115 module observe the following restrictions on use If the NS115 mod ule is connected to the hand held digital operator or communications are being sent to or from SigmaWin and another device a personal computer during execution of the following com mands an A ED alarm Command execution incomplete occurs and the MECHATROLINK II commands are not successfully sent PRM RD PRM WR PPRM WR CONFIG ALM RD ALM CLR SENS ON ADJ ID RD 11 5 11 Inspection Maintenance and Troubleshooting 11 1 4 Warning Display Table when the Application Module is Used 11 1 4 Warning Display Table when the Application Module is Used The following special warnings will occur when the SGDH SERVOPACK and an application module are used together The relation between warning displays and warning code outputs is shown in Table 11 4 Table 11 4 Warning Displays and Outputs when the SERVOPACK and an Application Module Is Used Together Warning Application Module Warning Name Meaning Warning Code Display which Detects Warnings NS NS NS NS NS ALO1 ALO2 ALO3 ea Data Setting Warning A value outside the setting range L L H was set using communications HEN Command Warning A command not supported in the product specifications was issied H L H L The command reception condi tions were not met Communications A commun
269. arm Display Table 11 2 11 1 2 Warning Display 11 4 11 1 3 Alarm Display Table when the Application Module is Used 11 5 11 1 4 Warning Display Table when the Application Module is Used 11 6 11 1 5 Troubleshooting of Alarm and Warning 11 7 11 1 6 Troubleshooting for Malfunction without Alarm Display 11 17 11 2 Inspection and Maintenance 11 22 11 2 1 Linear Servomotor Inspection 11 22 11 2 2 SERVOPACK Inspection 11 22 11 2 3 Parts Replacement Schedule 11 23 12 Appendix 12 1 Linear Servomotor Capacity Selection Examples 12 2 12 2 Calculating the Required Capacity of Regenerative Resistors 12 4 12 2 1 Simple Calculation 12 4 12 2 2 Calculating the Regenerative Energy 12 7 12 3 Connection to Host Controller 12 16 12 3 1 Example of Connection to MP2200 MP2300 2 axes Motion Module SVA 01 12 16 12 3 2 Example of Connection to OMRON s Motion Control Unit
270. ase W Phase W 3 Green Yellow FG FG 4 6 Specifications and Dimensional Drawings of Cables and Peripheral Devices 3 JZSP CLN39 Cables The linear servomotor end of the JZSP CLN39 cable is not provided with a connector loose wired The connector must be provided by the customer SERVOPACK end 50 1 97 u Linear servomotor end 35 1 38 2 0 08 8 5 0 33 M4 crimpted O gt 5 terminal Heat shrinkable tube Finished out dia 15 8 0 62 aS TW U a Cable Type Applicable Linear Servomotor Models Cable Type Mini ra SGLTW 40 and 80 b Wiring Specifications SERVOPACK end Leads Wire markers Linear Servomotor end Connector Wire Color Signal Signal Pin No Red Phase U Phase U 1 White Phase V Phase V 2 Blue Phase W Phase W 3 Green Yellow FG FG 4 m _ Cable UL2570 AWG11 4C Units mm in 6 1 Linear Servomotor Main Circuit Cables 4 JZSP CLN39 Cable Connectors Contact Yaskawa Controls Co Ltd Attached Plus Cable Clamp Connector Straight L shaped MS3102A22 22P MS3106B22 22S MS3108B22 22S MS3057 12A a MS3106B Straight Plug with front shell and back shell separated Units mm in Shell Joint Screw Joint Outer Cable Clamp Min Size Len
271. ated to the side attached the signal cable However the direction in which the signal cable is extended is different so the count direction is different Viewed from above Heidenhain linear scale When installed as shown in the diagram on the left operation is Reverse direction Forward direction performed in the forward direction when the sensor head is 5 s moved to the right LIDA 48 HEIDENHAIN Sensor head Signal cable Renishaw linear scale When installed as shown in the diagram on the left operation is Forward direction Reverse direction performed in the forward direction when the sensor head is RENISHAW moved to the left RGH22 1 o of Signal cable Sensor head 2 Adjusting the Linear Scale When the linear scale is an open type adjust the head installation For details on the adjustment method contact the manufacturer of the scales When the linear scale is a sealed type adjustment is not required But the dimensional tolerances for installation must be maintained 3 Connecting the Cables Check the power supply circuit linear servomotor and encoder wirings Do not connect the I O signal connector CN 1 For main circuit wiring examples refer to 7 2 Wiring Main Circuit For details on the linear servomotor s main circuit cable and encoder cable refer to 2 6 Selecting Peripheral Devices
272. atio may cause vibration Do not touch the SERVOPACK heatsinks regenerative resistor or servomotor while power is ON or soon after the power is turned OFF Failure to observe this caution may result in burns due to high temperatures Do not make any extreme adjustments or setting changes of parameters Failure to observe this caution may result in injury due to unstable operation When an alarm occurs remove the cause reset the alarm after confirming safety and then resume operation Failure to observe this caution may result in injury xi B Maintenance and Inspection A 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 linear 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 d
273. bove calculation determines that the amount of regenerative power Wk processed by the built in resistor is not exceeded then an external regenerative resistor is not required If the amount of regenerative power that can be processed by the built in resistor is exceeded then install an external regenerative resistor for the capacity obtained from the above calculation If the energy consumed by load loss in step 2 above is unknown then perform the calculation using Ey 0 When the operation period in regeneration mode is continuous add the following items to the above calcula tion procedure in order to find the required capacity W for the regenerative resistor Energy for continuous regeneration mode operation period Eg joules Here Eg VygI ctg e Vu Linear servomotor speed m s for same operation period as above Tg Linear servomotor s generated force N in continuous regenerative mode operation period tg Same operation periods as above Energy consumed by a regenerative resistor Ex Eg Ej Ey Ec Eg Required capacity of regenerative resistor Wy Ex 0 2 x T 12 2 Calculating the Required Capacity of Regenerative Resistors 2 Servomotor Winding Resistance Loss The following diagrams show the relationship for each servomotor between the servomotor s generated force and the winding resistance loss a SGLGW Linear Servomotors With Standard force Magnetic Ways Model SGLGW
274. by Heidenhain 7 21 linear scale by Renishaw 7 21 connecting regenerative resistors 7 38 connecting the digital operator 8 2 connection cable for digital operator 2 10 connection cable for personal computer 2 10 connection to host controller 12 16 connector terminal block converter unit 6 21 connectors and cables for encoder signals 6 11 continuous output current 4 3 control method 4 4 control mode selection 9 29 9 74 D DATAJENTER key vetite erone EEan E inu uet 8 3 DATA SHIFT key 8 3 DGr actor eem eet sec aiee med 6 37 selection 2 12 DeviceNet I F unit 6 42 digital operator 2 10 6 19 key names and functions 8 3 status display 8 6 types 8 2 DOWN key 8 3 DSPL SET key 8 3 dynamic brake 4 5 E electronic gear
275. ccurs overwrite the mass ratio in Pn103 using the utility function Fn007 Writing to EEPROM mass ratio data obtained from online autotuning and set Pn110 to n LILILI2 to disable online autotuning The setting n 0101 is used when the load mass varies constantly This setting enables a consistent responsiveness even when the load mass changes If the load mass changes in less than 200 ms however the autotuning accuracy will deterio rate in which case Pn110 0 should be set to 0 or 2 The setting n LILIL12 is used when online autotuning is not possible when the load mass is known and the mass ratio is set in Pn103 to perform the adjustment manually or any other time the online autotuning function is not going to be used 10 7 10 Adjustments 10 2 4 Machine Rigidity Setting for Online Autotuning 10 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 Force 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
276. ce is not necessary These are switching modes for using the four control methods described above in combination Select the control method switching mode that best suits the application Speed Control Contact input speed control 9 10 Uses the three input signals P CON SPD D P CL SPD A and N CL 9 29 9 Operation 9 6 1 Setting the Servo ON Signal 9 6 Setting Common Basic Functions 9 6 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 Due ener Input S ON CN1 40 ON low level Linear servomotor power ON Linear servomotor can be Factory setting operated OFF high Linear servomotor power OFF Linear servomotor cannot be level operated W IMPORTANT Always input the servo ON signal before inputting the input reference to start or stop the linear 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 mal function Note A parameter can be used to re allocate the input connector number for the S ON signal Refer to 8 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 must be taken because the SERVOPACK can o
277. cifications Connector Specifications Pin No Name 1 2 When the coil assembly moves in the direc 9 Extension SROCOBJMSCN169 tion indicated by the arrow in the figure the 5V Power supply relationship between the hall sensor output Phase U a ARESA signals Su Sv Sw and the inverse power of y each motor phase Vu Vv Vw becomes as Phase V shown in the figure below Pin connector type The mating connector 17JE 23090 02 D8C Phase W Plug type SPUCOGKFSDN236 8 ims OV Power supply Socket type 020 030 1020 Vu Not used made by DDK Ltd The mating connector Sockt connector type Pin No Name Lead Color Not used Inverse O CO N ajaj AJ wl nm gt 17JE 13090 02 D8C 1 Phase U Red Vv Stud type 17L 002C or Not used 2 Phase V White d 17L 002C1 Not used 3 Phase W Blue 4 Not used vw S Not used 0 6180 360 540 6 FG Green Electrical angle Coil Assembly 90 30 45 0 0 Approx L1 N1 N2 Mass kg Ib 140 125 52 5 3 4 0 40 252 5 237 5 180 37 5 6 135 5 8 0 66 365 35 315 3 52 5 270 8 14 0 93 The value indicates the mass of coil assembly with a hall sensor unit 3 21 3 Specifications and Dimensional Drawings 3 6 2 SGLGLI 40 Linear Servomotors 3 Standard force Magnetic Way SGLGM 40000C SGLGM 40000CT
278. city For more details refer to 2 6 3 Noise Filters Magnetic Contactors Surge Suppressors and DC Reactors Refer to 7 2 3 Typical Main Circuit Wiring Examples for the connection method 1 Single phase 200 V FN2070 6 07 FN2070 10 07 Side view Top view Dimensional Drawings Units mm in Dimensions 156 1 6 14 0 039 8 ssQmaew External Dimensions Rm EET a ERE in mm n M 5 3 0 1 0 21 0 004 38 0 5 1 500 020 Specifications 250 VAC 6 A 250 VAC 10A Applicable ASAE SERVOPACK phase O1AE 04AE SGDH 02AE Schaffner Electronic 6 27 6 Specifications and Dimensional Drawings of Cables and Peripheral Devices 6 8 8 Noise Filter 2 Three phase 200 400 V Select one of the following noise filters according to SERVOPACK capacity For more details refer to 2 6 3 Noise Filters Magnetic Contactors Surge Suppressors and DC Reactors Refer to 7 2 3 Typical Main Circuit Wiring Examples for the connection method a FN Series FN258L 7 07 FN258L 16 07 FN258L 30 07 Side view Front and side views D I Dimensional Drawings Ce Een EON SEO EGNEN INE EEEE 051 120100 Externa Dimensions ERAO iu J E01 0 059 00039 o M5 AWG16 AWG14 AWG10 Applicable SERVOPACK SGDH Manufacturer Schaffner Electronic 6 28 6 8 Peripheral Devices b FMAC Series FMAC 0934 5010
279. contactor 6 35 selection 2 12 SVON key 8 3 switching gain settings 10 25 switching the servomotor movement direction 9 31 T temperature regulation 4 4 TGON 7 27 torque reference filter 10 26 TREF 22S Sess Sosy SSS ee See esses 7 26 trial operation 9 4 using SERVOPACK internal references 9 6 Index troubleshooting 11 2 alarm 11 7 malfunction without alarm display 11 17 U UL standards 1 11 undershooting 10 19 UP key 8 3 using more than one SERVOPACK 7 35 V variable resistor for speed and force setting 6 39 V CMP 7 27 VCT 7 27 vibration reduction functions 10 4 vibration shock resistance 4 4 VLT 7 27 voltage regulation
280. ctor type 7 Not used The mating connector i nverse 17JE 13090 02 D8C 8 Not used Cap type 350780 1 power Vv Stud type 17L 002C or Socket type 350570 3 or V 17L 002C1 9 Not used 350689 3 BD 0 180 Electrical angle Approx L1 L2 L3 L4 L5 L6 N1 N2 Mass kg Ib 140 125 90 30 52 5 45 3 4 0 40 e a7 Coil Assembly Model SGLGW 2525 2375 180 375 60 135 5 8 0 66 essen osa 035 cay 365 350 315 30 525 270 8 14 0 93 The value indicates the mass of coil assembly with a hall sensor unit 3 20 3 6 Dimensional Drawings of SGLGW SGLGM Linear Servomotors 2 Coil Assembly SGLGW A0ALILILICLID With a connector made by Interconnectron The following table and figures show the specifications when a main circuit s cable connector made by Intercon nectron is used for the coil assembly L5 L6 Mounting holes 2xscrew Nameplate 3144 40 UNC N2xM4 tapped depth 6 0 24 19 69 1 97 E The coil assembly moves in the direction indicated by the arrow in the order of phase U V and W L1 L4 L3 19 69 1 97 Mounting holes on both sides N1xM4 tapped depth 6 0 24 Gap 0 8 0 03 Gap 0 8 0 03 ines a oo nits mm in Hall Sensor Linear Servomotor Hall Sensor Output Signals Connector Spe
281. ctrical angle 3 7 Dimensional Drawings of SGLFW SGLFM Linear Servomotors 2 Magnetic Way SGLFM 20000A L3 Coil assembly 2xNx04 8 00 19 mounting holes 4 5 0 18 P 0 l Nje 1 57 44 1 73 A Reference marks 10 0 39 34 1 34 q Two 4 0 16 marks are engraved Nell Gap1 0 04 450 1 1 750 004 Reference length Units mm in Xe The height of screw head 4 2 0 17 max Mounting Screw Note 1 Multiple SGLFM 20LILILIA magnetic ways can be connected Connect magnetic ways so that the refer ence marks match one on the other in the same direction as shown in the figure 2 The magnet way may affect pacemakers Keep a minimum distance of 200 mm from the magnetic way Magnetic Way 270 10 63 331 6 6 0 9 0 4 4 2 324 540 486 19 13 547 6 i i 42159291038 756 702 27 64 763 6 i cs sexis tos Reference length 3 31 3 Specifications and Dimensional Drawings 3 7 2 SGLFO 35 Linear Servomotors 3 7 2 SGLFO 35 Linear Servomotors 1 Coil Assembly SGLFW 350000A0 With a connector made by Tyco Electronics AMP K K The following table and figures show the specifications when a main circuit s cable connector made by Tyco Electronics is used for the coil assembly 60 2 36 55 2 17 4 2 0 17 With magnet cover 4 0 16 Without magnet cover Gap 0 8 0 03 With magnet cover
282. d FnEILID Utility Function Mode Refer to 8 2 DATA Press MODE SET DATA SHIFT AIAGIGIG gt Press e for more than one second PnLILILI Parameter Setting Mode Refer to 8 3 DATA 4 i e DATA SHIFT Key Press MODE SET Press v al more than one second UnLILID Monitor Mode Refer to 8 4 DATA SHIFT Key Press 9 A MODE SET Press MODE SET Key and UP or DOWN Key to select the desired parameter number Then press DATA SHIFT Key for more than one second to display the contents of selected parameter number in the selected mode Refer to each operation instruction described later 8 5 8 Digital Operator Panel Operator 8 1 4 Status Display 8 1 4 Status Display Bit data Code f 3 9 Q 1 Bit Data and Meanings Bit Data Control Power ON Speed or Force Control Mode Meaning Bi Data Lit when SERVOPACK control power is ON Control Power ON Position Control Mode Lit when SERVOPACK control power sup ply is ON Baseblock Lit for baseblock Not lit when servo is ON Baseblock Lit for baseblock Not lit when servo is ON 8 6 Speed Coincidence V CMP Movement Detection TGON Speed Reference Input Force Reference Input Power Ready Lit when the difference between the motor speed and reference speed is the same as or less than the value set in Pn582 Factor
283. d SERVOPACK Model 4 16 4 7 1 Single phase 200 V 50 W 100 W 200 W ABAE 01AE 02AE 4 16 4 7 2 Single phase 200 V 400 W 04AE 4 17 4 7 3 Three phase 200 V 500 W 750 W 1 0 kW 05AE 08AEMOAE 4 18 4 7 4 Three phase 200 V 1 5 kW 15AE Three phase 400 V 500 W 750 W 1 0 kW 1 5 kW O5DE 08DE 10DE 15DE 4 19 4 7 5 Three phase 200 V 2 0 kW 3 0 kW 20AE 30AE Three phase 400 V 2 0 kW 3 0 kW 20DE 30DE 4 20 4 7 6 Three phase 200V 5 0 kW 50AE Three phase 400V 5 0 kW 50DE 4 21 4 1 4 SERVOPACK Specifications and Dimensional Drawings 4 7 7 Three phase 200 V 7 5 kW 75AE 4 22 4 7 8 Three phase 400 V 7 5 kW 75DE 4 23 4 8 Dimensional Drawings of Rack mounted SERVOPACK Model 4 24 4 8 1 Single phase 200 V 50 W 100 W 200 W A5AE R 01AE R 02AE R 4 24 4 8 2 Single phase 200 V 400 W OAAE R 4 25 4 8 3 Three phase 200 V 500 W 750 W 1 0 kW O5AE R O8AE R 10AE R 4 26 4 8 4 Three phase 200 V 1 5 kW 15AE R Three phase 400 V 500 W 750 W 1 0 kKW 1 5 kW O5DE R O8DE R 10DE R 15DE R 4 27 4 8 5 Three phase 200 V 2 0 kW 3 0 kW 20AE R 30AE R Three phase 400 V 2 0 kW 3 0 kW 20DE R 30DE R
284. d digit blinks Press the DATA ENTER Key once or DATA SHIFT Key for more than one second and the display will be as shown on the left Press the DSPL SET or MODE SET Key to clear the alarm traceback data The display shown on the left blinks for about one sec ond when the data is cleared The display changes from donE to the display shown on the left Press the DATA ENTER Key once or DATA SHIFT Key for more than one second to return to the utility function mode display Fn006 8 13 8 Digital Operator Panel Operator 8 2 7 Automatic Offset adjustment of Motor Current Detection Signal FnOOE 8 2 7 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 force ripple caused by current offset Automatic adjustment is possible only with power supplied to the main circuit power supply and with the servo OFF IMPORTANT SERVOPACKs Execute the automatic offset adjustment if the force ripple is too big when compared with that of other Display after T m Operator MODE SET MODE SET Key DSPL SET DSPL SET Key Fini LI LI iur lo JATA ENTER T D N DATA ENTER Key DSPL SET DSPL SET Key DATA 4 DATA SHIFT Key Press at least 1 s
285. d when the A fault occurred in the serial converter unit and was If this alarm occurs frequently replace the serial control power sup detected by the serial converter unit self diagnosis converter unit Checksum Error ply was turned ON A SERVOPACK fault occurred Replace the SERVOPACK Detected on the encoder side or during an opera tion Encoder Data Occurred when the The linear scale s signal is weak Check if the linear scale is correctly mounted Error control power sup malfunction occurred in the serial converter unit Turn the control power supply OFF and then ON Detected onthe ply was turned ON again If this alarm occurs frequently replace the encoder side serial converter unit A SERVOPACK board fault occurred Replace the SERVOPACK The linear scale s signal is weak Check if the linear scale is correctly mounted A malfunction occurred in the serial converter unit Correct the wiring around the serial converter unit by separating the serial converter unit cable from the power line or by checking the grounding and other wiring A serial converter unit fault occurred If this alarm occurs frequently replace the serial converter unit A SERVOPACK board fault occurred Replace the SERVOPACK A SERVOPACK board fault occurred Replace the SERVOPACK A malfunction occurred in reading section of the Clear and reset the alarm and restart the operation speed reference input A SERVOPACK ASE
286. dation 50 to 400 0 01 70 Immediately 0 50 to 4 00 0 70 Second Stage Notch Filter Q Value Setting Range Setting Unit Factory Setting Setting Validation 50 to 400 0 01 70 Immediately 0 50 to 4 00 0 70 Used for software version 32 or later IMPORTANT 1 Sufficient precautions must be taken when setting the notch frequencies Do not set the notch frequen cies Pn409 or Pn40B that is close to the speed loop s response frequency Set the frequencies at least four times higher than the speed loop s response frequency Setting the notch 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 Mass Ratio Pn103 is set to the correct value 2 Change the Notch Filter Frequency Pn409 or Pn40B only when the linear servomotor is stopped Vibration may occur if the notch filter frequency is changed when the linear servomotor is moving 10 28 10 5 Analog Monitor 10 5 Analog Monitor Signals for analog voltage references can be monitored To monitor analog signals connect the analog monitor cable JZSP CA01 to the connector CNS The analog monitor signals can be selected by setting parameters Pn003 0 and Pn003 1 SERVOPARK 200V scpH Co ve Co v YASKAWA MODESET Cable Type JZSP CA01 WE Aa 7v Wa
287. de Output ALO1 ALO2 ALO3 9 76 9 13 2 Warning Output WARN 9 77 9 13 3 Running Output Signal TGON eee eee 9 77 9 13 4 Servo Ready S RDY Output 9 78 10 Adjustments 10 1 Autotuning 10 2 10 1 1 Servo Gain Adjustment Methods 10 2 10 1 2 List of Servo Adjustment Functions 10 3 10 2 Online Autotuning 10 5 10 2 1 Online Autotuning 10 5 10 2 2 Online Autotuning Procedure 10 6 10 2 3 Selecting the Online Autotuning Execution Method 10 7 xix 10 2 4 Machine Rigidity Setting for Online Autotuning 10 8 10 2 5 Method for Changing the Machine Rigidity Setting 10 9 10 2 6 Saving the Results of Online Autotuning 10 10 10 2 7 Procedure for Saving the Results of Online Autotuning 10 11 10 3 Manual Tuning 10 12 10 3 1 Explanation of Servo Gain 10 12 10 3 2 Servo Gain Manual
288. ded Position Data Power Line Open Phase In the main power supply ON status the voltage stays low for 1 second or more at one of the phases R S and T Detected when the main circuit power supply turns 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 main circuit power supply was turned ON Occurred when the servomotor was running conditions such as force and mass Position data is 32 bit or more A SERVOPACK fault occurred The three phase power supply wiring is incorrect The three phase power supply is unbalanced A SERVOPACK fault occurred The contact in three phase power supply wiring is faulty Three phase power supply is unbalanced A SERVOPACK fault occurred capacity Narrow the movable range of the linear servomo tor Replace the SERVOPACK Correct the power supply wiring Balance the power supply by changing phases Replace the SERVOPACK Correct the power supply wiring Balance the power supply Replace the SERVOPACK 11 1 Troubleshooting Table 11 5 Alarm Display and Troubleshooting Cont d Alarm Alarm Name Situation at Alarm Cause Corrective Actions Display Occurrence Servomotor Line Occurred when the The power is not supplied to the linear servomotor Check and then correct the linear servomotor Disconnection servo was turned while the SERVO
289. e 6 45 input circuit signal allocation 8 24 input signal monitor display 8 31 instantaneous power loss settings 9 35 interface for reference input circuits 7 28 analog input circuit 7 28 position reference input circuit 7 28 internal force limit 9 68 J JOG mode operation Fn002 8 10 jog operation 9 10 9 21 L LEFT key 8 3 limiting force 9 68 linear scale adjusting 9 7 9 13 linear scale count direction 9 7 9 13 linear scale pitch setting 9 8 9 14 linear scales selection 2 14 linear servomotor installation 7 0 linear servomotor main circuit cables dimensional drawings 6 2 linear servomotors mechanical specifications 3 15 model designations 220 nameplate 1 2 part names 1 5 list of parameters
290. e 7 29 sequence output 4 5 serial converter units analog signal input timing 5 3 dimensional drawings 5 4 model designations 2 6 nameplate 1 4 specifications 5 2 servo alarm ALM output 11 2 servo alarm output ALM 9 76 servo gain adjustment methods 10 2 explanation 10 12 servo ready 9 78 servo system configurations 1 8 servomotors capacity selection examples 12 5 winding resistance loss 12 9 SERVOPACKs absorbable energy 12 15 applicable linear servomotors 2 4 cable types 6 13 dimensional drawings 4 15 inspection 11 22 installation 4 6 internal block diagrams 4 8 load mass 4 13 model designations 23 nameplate 1 3 operating conditi
291. e 30 VDC Max operating current 50 mA DC Connector shell FG Connect shield to connector shell E represents twisted pair wires 2 The time constant for the primary filter is 47 us 3 Enabled by the parameter setting 4 Enabled by the parameter setting 5 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 8 3 2 Input Circuit Signal Allocation and 8 3 3 Output Circuit Signal Allocation 7 24 7 4 Examples of I O Signal Connections 7 4 4 O Signal Connector CN1 Terminal Layout The following diagram shows the terminal layout and the signals that are preset before shipping Pin Signal Num Function Name 1 SG GND 26 V CMP Speed coinci COIN dence detec SG GND TGON Moving sig tion output nal output 3 PLI Open collec 28 TGON Moving tor reference 29 signal output power supply S RDY Servo ready output 30 S RDY Servo ready output ND 31 ALM Servo alarm output 32 ALM Servo alarm output 33 PAO PG dividing ulse input ulse output p p T REF Force refer E E 34 PAO PG dividing Phase A ence input pulse output GND 35 PBO PG dividing Phase A pulse output 11 SIGN Reference 36 PBO PG dividing AE Phase B sign input pulse output Reference 37 Eun P
292. e S ON signal then make sure that the display of If an alarm display appears correct it according to 1 Trouble the panel operator is as shown below shooting If there is noise in the reference voltage during speed control the horizontal line at the far left edge of the panel oper Er ator display may blink Also the linear servomotor may run very slowly Refer to 7 6 Connecting Regenerative Resistors and take a preventive measure 9 23 9 Operation 9 3 2 Operating Procedure in Speed Control Mode Pn000 n OO0D 9 3 2 Operating Procedure in Speed Control Mode Pn000 n OO0D The following circuit is required External input signal circuit or equivalent SERVOPACK 24V S ON P OT N OT ov V REF Ve Ve Max voltage 12V Check Method and Remarks Check the power and input signal circuits again and Refer to the above figure for input signal circuit 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 linear servomotor moves with the speed refer ence input OV refer to 9 7 3 Adjusting Offset and use the reference voltage offset to keep the linear servomo tor from moving Generally increase the speed reference input voltage The factory setting is 6 V rated speed between V REF and SG from 0 V 4 Check the speed reference input to the Refer to 8 1 3 Basic Mode Selection and Operation for SERVO
293. e alarm data is Press the UP Key to display value in order Note A means no alarm occurs Press the DATA ENTER Key once or DATA SHIFT Key for more than one second The display will return to DATA SHIFT Key Fn000 Press at least 1 s 8 9 8 Digital Operator Panel Operator 8 2 3 JOG Mode Operation Fn002 8 2 3 JOG Mode Operation Fn002 A CAUTION Forward run prohibited P OT and reverse run prohibited N OT signals are disabled during JOG mode operation The JOG mode operation is designed to move a linear servomotor without connecting to the host controller when performing the trial operation The JOG mode operation is used to confirm the movement direction and motor speed setting 1 Precautions Observe the following precautions when performing JOG mode operation The SERVOPACK must be in servo ready state The JOG mode operation cannot be performed while the SERVOPACK is in servo ON state The servo ON S ON input signal must be OFF Ifthe parameter Pn50A 1 S ON Signal Mapping is set to 7 Sets signal ON change the setting to 8 Sets signal OFF 2 Related Parameter Mika OC Speed Setting Range Setting Unit Factory Setting Setting Validation 076 10000 mms immediately Sets the motor speed reference value of the utility function Fn002 JOG Mode Operation 3 Operation Procedure Use the following procedure to execute the JOG mode operation
294. e 200 V 2 0 kW 3 0 kW 20AE 30AE Three phase 400 V 2 0 kW 3 0 kW 20DE 30DE 4 20 4 7 6 Three phase 200 V 5 0 kW 50AE Three phase 400 V 5 0 kW 50DE 4 21 4 7 7 Three phase 200 V 7 5 kW 75AE 4 22 4 7 8 Three phase 400 V 7 5 kW 75DE 4 23 4 8 Dimensional Drawings of Rack mounted SERVOPACK Model 4 24 4 8 1 Single phase 200 V 50 W 100 W 200 W A5AE R 01AE R 02AE R 4 24 4 8 2 Single phase 200 V 400 W O4AE R 4 25 4 8 3 Three phase 200 V 500 W 750 W 1 0 kW O5AE R O8AE R 10AE R 4 26 4 8 4 Three phase 200 V 1 5 kW 15AE R Three phase 400 V 500 W 750 W 1 0 kW 1 5 kW O5DE R O8DE R 10DE R 15DE R 4 27 4 8 5 Three phase 200 V 2 0 kW 3 0 kW 20AE R 30AE R Three phase 400 V 2 0 kW 3 0 kW 20DE R 30DE R 4 28 4 8 6 Three phase 200 V 5 0 kW 50AE R Three phase 400 V 5 0 kW 50DE R 4 29 4 9 Dimensional Drawings of Duct ventilated SERVOPACK Model 4 30 4 9 1 Three phiase 200 V 7 5 kW 75AE P 4 30 4 9 2 Three phase 400 V 7 5 kW 75DE P 4 31 5 Specifications and Dimensional Drawings of Serial
295. e 400 V External Terminal Name Terminal SERVOPACK Model SGDH Symbol O5DE 10DE 15DE 20DE 30DE TRES L1 L2 L3 NER HIV1 25 HIV2 0 Main circuit power supply input terminals Three phase o o omis Servomotor connection terminals U V W HIV1 25 HIV2 0 Control power supply input terminals 24V 0V HIV1 25 External regenerative resistor connection BI B2 HIVI25 terminals Ground terminal HIV2 0 or more Terminal SERVOPACK External Terminal Name Me Model SGDH y 50DE 75DE HIV3 5 HIV5 5 L1 L2 L3 Three phase Servomotor connection terminals U V W HIV3 5 HIV5 5 Control power supply input terminals 24V 0V HIV1 25 External regenerative resistor connection BI B2 HIV2 0 HIV3 5 terminals Ground terminal HIV2 0 or more Main circuit power supply input terminals 6 15 6 Specifications and Dimensional Drawings of Cables and Peripheral Devices 6 7 1 Standard Cables 6 7 I O Signal Cables for CN1 Connector 6 7 1 Standard Cables For the connection diagram refer to 6 7 3 Connection Diagram 1 Cable Types Cable Type Cable Length L JZSP CKIOT IZSP CKIOT2 ZSP CKOT3 2 Dimensional Drawing SERVOPACK end Sleeve F2 black Connector 10150 6000EL 50P Shell 10350 52A0 008 7 Cable black SSRFPVV SB AWG 28 x 25P UL20276 VW 1SC 62 8 0 11 wire markers Y y y 1 IL L 100 d 3 94939 Units mm in Manufactured by Sumitomo 3M Ltd 6 7
296. e ABA i i cr 28 TGON Linear servomotor AI GND 26 i i i m 27 TGON AO GND 27 i TE 1 SG lt 7 OV for 24V 28 lt lt l 30 S RDY Ww OV for 24V 29 i i DS DO 1 ALMRST 30 1 i 44 IALM RST Vineak scale DO 0 SV ON 31 t L t 40 S ON EE pcm ES DO 5 SEN for VS866 32 i i CN2 ri converter 1 eg DI 4 N OT 33 o i i 43 N OT Ky wit ENT 24V 34 4 i a DI_1 SRDY 35 L 7 L 7 29 S RDY Properly treat the end of DI 5 EXT DEC 36 de T Oe ae T shielded wires FGH FG EXT DEC input ZERO HOME LS input P OT input Brake interlock output N OT input Brake interlock output Note Connection cables model JEPMC W2040 LILI to connect the SERVOPACK to the MP2200 MP2300 are provided by Yaskawa For details refer to Machine Controller MP2200 MP2300 Motion Module Uesr s Manual manual no SIEPC88070016 12 16 12 3 Connection to Host Controller 12 3 2 Example of Connection to OMRON s Motion Control Unit MC unit manufactured by OMRON C200H MC221 CS1W MC221 MC421 CV500 MC221 MC421 SGDH SERVOPACK DRV connector 24V input _1 ca rales Lic e TR 24V input ground 2 CN1 Loc 6 _ Control power supply X axis alarm input _3 J ALM 34 L1 X axis r
297. e connector shell zs represents twisted pair wires 2 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 8 3 2 Input Circuit Signal Allocation and 8 3 3 Output Circuit Signal Allocation 7 23 7 Wiring 7 4 3 Force Control Mode 7 4 3 Force Control Mode SERVOPACK External speed limit 2 to 10 V rated motor speed A ALO1 Alarm code output Max operating voltage g ALO2 gt 30 VDC Max operating current A DC ALO3 20m Force reference 1 to 10 V rated force PG dividing ratio output PBO Applicable line receiver PBO SN75175 manufactured y Texas Instruments or by T l the equivalent corresponding PCO to MC3486 Servo ON Servo ON when ON a Speed limit output ON when the motor s P contro NLT lt running speed is limited 4 l P control when ON 1 IP CONJ 41 Si P OT Ae gk Forward run prohibited LLGON TGON output Prohibited when OFF T Yh a TGON ON at levels above the setting Reverse run prohibited Prohibited when OFF Alarm reset Reset when ON EIN ALM RST saksi S14 Forward current limit Limit when ON Reverse current limit d SVE Photocoupler output Limit when ON Max operating voltag
298. e filters 7 33 selection 2 12 noise interference 7 31 N OT 7 26 notch filter 10 27 O online autotuning 10 5 machine rigidity setting 10 8 saving the results 10 10 operating using force control 9 60 operating using position control 9 47 operating using speed control with an internally set speed 9 65 operating using speed control with analog reference 9 36 operation in monitor mode 8 32 output circuit interface 7 29 line driver output circuit 7 29 open collector output circuit 7 30 photocoupler output circuit 7 30 output circuit signal allocation 8 28 output signal monitor display 8 32 overshooting 10 19 overtravel signal setting 9 17 overtravel stop 4 5 panel operator key names and functions 8 3 status display
299. e length Units mm in Note 1 Two magnetic ways for both ends of coil assembly make one set Spacers are mounted on magnetic ways for safety during transportation Do not remove the spacers until the coil assembly is mounted on a machine 2 The magnetic way may affect pacemakers Keep a minimum distance of 200 mm 7 87 in from the magnetic way 3 Two magnetic ways in a set can be connected to each other 4 The dimensions marked with an are the dimensions between the magnetic ways Be sure to follow exactly the dimensions specified in the figure above Mount magnetic ways as shown in Assembly Dimensions The values with an amp are the dimensions at preshipment 5 Use socket headed screws of strength class 10 9 minimum for magnetic way mounting screws Do not use 324 270 10 63 6 8 12 76 54 2 13 x 5 0 20 0 24 17 64 540 0 1 4 stainless steel screws Magnetic Way L2 Model SGLTM 0 486 19 13 1 3 756 702 27 64 1 18 E 3 55 3 Specifications and Dimensional Drawings 3 8 6 SGLTLI 80 Linear Servomotors 3 8 6 SGLTLI 80 Linear Servomotors 1 Coil Assembly SGLTW 800000B0 120 4 72 115 4 53 Hall sensor NxMB8 tapped holes depth 16 0 63 Receptacle 69 2 48 Coil assembly L3 25 3 1 0 With magnet cover 25 1 0 99 Without magnet cover Gap 1 2 0 05 With magnet cover Gap 1 4 0 06 Witho
300. e phase 200 V 500 W 750 W 1 0 kW O5AE R O8AE R 10AE R je gt t N 22 5 0 89 5 60 20 h 17 5 0 69 5 0 30 96 2 3 79 In gt 195 7 68 160 6 30 180 7 09 rrecocr ooood x 4 o eo Mounting Hole Diagram D 75 2 95 180 7 09 ps S Ground N o terminal nos 2g 2xM4 screws 4 zs 7 0 28 141 5 5 57 SL L4 dab eo A 1 sig Jel miadi S gs i SJ Bo 00 mE ds ge E sag 17 0 67 n ajal dm i 17 0 67 h 2 r Reference length Units mm in Approx mass 1 9 kg 4 19 Ib 7 5 0 30 10 0 39 External Terminal Connector SERVOPACK Connector Main circuit Control power Connector SERVOPACK Manufacturer power supply supply Symbol Connector Model L1 L2 13 LIC L2C Ko 10250 52A2JL Sumitomo 3M Co Ltd La 53460 0611 Molex Japan Co Ltd Three phase Single phase 10214 52A2JL Sumitomo 3M Co Ltd 200 VAC 200 VAC 50 60 Hz 50 60 Hz 4 26 4 8 Dimensional Drawings of Rack mounted SERVOPACK Model 4 8 4 Three phase 200 V 1 5 kW 15AE R Three phase 400 V 500 W 750 W 1 0 kW 1 5 kW OS5D
301. e rigidity setting ity Setting Check the setting of Pn103 Mass Ratio Correct the setting of Pn103 Mass Ratio The force reference is saturated Check the force reference wave form Use the mode switch function The force limit Pn483 Pn484 is set Initial value of force limit Set a appropriate value for Pn483 and Pn484 Force to the initial value Pn483 30 Limit Pn484 30 11 19 11 Inspection Maintenance and Troubleshooting 11 1 6 Troubleshooting for Malfunction without Alarm Display Symptom Overtravel OT Movement over the zone specified by the host con troller Position error without alarm 11 20 Table 11 7 Troubleshooting for Malfunction without Alarm Display Cont d Turn OFF the servo system before executing operations An overtravel signal is output P OT Check if the voltage of input signal external Connect to the external 24 V power supply CN1 42 or N OT CN1 43 is at power supply 24 V is correct H Check if the overtravel limit switch SW Correct the overtravel limit SW operates properly Check if the overtravel limit switch SW is Correct the overtravel limit SW wiring connected correctly 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 Adj
302. e scale pitch is 4 um the motor maximum speed is limited to 1 m s because of the maximum response frequency of serial converter unit The SERVOPACK with the software version 32 or higher outputs the alarm Dividing Pulse Output Setting Error A 09 if the set value does not satisfy the above setting range or the set ting conditions The SERVOPACK with the software version before 32 cannot output correctly the divided pulses if the set value does not satisfy the above setting range or the setting condition The upper limit of encoder output resolution is limited by the frequency dividing specification of serial converter unit W Setting Example When the linear scale pitch 20 um Pn280 20 and the motor maximum speed 5 m s Pn384 50 Pn281 31 is accepted but Pn281 32 is not accepted and A 09 is output WB Output Example When Pn281 20 20 edge output 5 pulse output per linear scale pitch Preset value 20 PAoJUuuuu PBO T Linear scale pitch Pn280 9 45 9 Operation 9 7 8 Speed Coincidence Output 9 7 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 CN1 25 26 ON low level Speed coincides Factory setting OFF high level Speed does not coincide
303. e 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 kl 10 20 10 4 Servo Gain Adjustment Functions a Zn Un1 n MNRMRU R MIN 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 aii speed Motor speed eter Pn182 y Pn182 Acceler ation 0 Pn182 PI control P PI control 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 force saturation during acceleration or deceleration The mode switch function suppresses force 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
304. e to the magnetic attraction pulling the magnetic ways together Follow the same procedure as in steps 1 to 4 to install the second and subsequent magnetic ways 7 11 7 Wiring ig eee 7 1 4 SGLTW and SGLTM Linear Servomotor T Type with Iron Core Magnetic attraction w INFON For safety install the coil assembly before installing the second or subsequent magnetic way Refer to 2 Coil Assembly Y Installation for details 2 Coil Assembly Installation The SGLTW coil assembly is constructed of an aluminum or steel base and iron core with a resin coated coil winding section Make sure that the coil winding section is not subjected to shock during installation Shock may damage the coil assembly Use the following procedure to install the SGLTW coil assembly 1 Install the coil assembly on the movable table supported by the linear guide in line with the previously installed magnetic way 2W Magnetic way oil assembly The relationship between the dimensions and positioning between the coil assembly and magnetic way is shown here Maintain the following air gaps when installing Make sure that the coil assembly and magnetic way do not intervene during the stroke 7 12 7 1 Linear Servomotor Installation Coil Assem 4 bly Model H A Air gaps Magnetic SGLTW G1 G2 way 550 3 T gap msan EHETSEOD TEOL oseti de G2 zer 70 593 0 59 0 004 ipe 2 76 0 01 eee 400000AQ0 83403 m 1
305. e trial operation after installation a Ratings and Specifications TOU SOOU Rated Rated Voltage 24 jQAVDC 0 0 0 0 00 0 0 iowa gs Fu Voliage Fine 70 to 130 of the rated voltage Input operation tuation Section Current Range 7 3 to 9 3 mA Operating Voltage Maximum 70 of the rated voltage at 23 C 73 40 F Open Voltage Minimum 10 of the raged voltage at 23 C 73 40 F Output Method High sensitivity relay contacts Max Rated Voltage and 220 VAC 2 A Current fm Surge Voltage Control CR method ing Performance Any voltage between 100 VAC and 220 VAC Applicable Voltage Range for Operation Magnetic Coil Examples 100 V 50 Hz 100 to 110 V 60 Hz 200 V 50 Hz 200 to 220 V 60 Hz b Circuit Connection Diagram Electronic control drive Coil drive unit Magnetic contactor TCU 500U 6 33 6 Specifications and Dimensional Drawings of Cables and Peripheral Devices 6 8 9 Magnetic Contactor c Model HI 15JCU and HI 20JCU Dimensions in mm in Mounting Hole Dimensions in mm in Approx mass 0 45 kg 0 99 Ib M3 5 External 49 1 93 _ connection terminals 91 3 58 4 8 8 0 35 Coil drive unit 57 1 2 25 7 2 0 28 M3 5 Coil xterminal 49 1 1 93
306. eases 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 Ifthe position loop gain Pn102 cannot be set high in the mechanical system an overflow alarm may occur during high 8 o WY speed operation In this case increase the values in the following parameter to suppress detection of the overflow alarm 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 10 13 10 Adjustments 10 3 4 Speed Loop Gain 10 3 4 Speed Loop Gain Speed Loop Gain Kv Setting Range Setting Unit Factory Setting Setting Validation 1 1o 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 o
307. eceleration 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 lst order delay filter for the force refer ence Notch filters can be set for the force refer ence Pn40B is valid for the software version 32 or later 10 4 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 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 This filter is 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 Force Position Speed Force 10 2 Online Autotuning 10 2 Online Auto
308. ection Correct the servomotor wiring servomotor did not is faulty Tun by the refer The encoder wiring is incorrect or the connection is Correct the encoder wiring ence input faulty The starting force exceeds the maximum force Reconsider the load and operation conditions or reconsider the servomotor capacity The polarity detection is not performed properly Correct the settings for the polarity detection when Pn080 0 1 is set related parameter normal operation ing force largely exceeds the rated force reconsider the linear 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 servomotor was running and in a sta tus other than servo OFF Occurred when the The kinetic energy at a DB stop exceeds the DB servomotor was resistance capacity running in servo OFF status Replace the SERVOPACK MReduce the motor speed Q Reduce the load mass or Reduce the number of times of the DB stop operation A SERVOPACK fault occurred Replace the SERVOPACK Overload of Occurred when the A SERVOPACK board fault occurred Replace the SERVOPACK Surge Current Limit Resistor Detected when the number of times that the control power sup ply was turned ON Occurred during operations other A SERVOPACK board fault occurred Replace the SERVO
309. ed 0001 Write prohibited DSRE SET Key MODESET Key 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 previous setting is displayed After about one second The display changes from donE to P 000L1 PIGICIGL 1 FE e Press the DATA ENTER Key once or DATA SHIFT Key for more than one second to return to the utility DATA ENTER Key p aere Key function mode display Fn010 Press at least 1 s ENTER um ER Press the DSPL SET or MODE SET Key to register 6 the value 8 16 8 2 Operation in Utility Function Mode FnOOD 8 2 10 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 AlAIGIGIG LI Nec Key r1 Fiol i Ij DATA ENTER DATA ENTER Key r1 l r1 Ed DSPL SET Key DSPL SET DSPL SET Key DSPL SET DSPL SET Key DATA ENTER DATA ENTER Key RON MODE SET Key DATA 4 DATA SHIFT Key Press at least 1 s e MODE SET MODE SET Key e MODE SET MODE SET Key e MODE SET MODE SET Key DATA 4 DATA SHIFT Key Press at least 1 s Press the DSPL SET or MODE SET Key to select the uti
310. ed 8 3 1 Setting Parameters 1 Value Setting Parameters a Types of Value Setting Parameters Refer to 2 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 The example below shows how to change parameter Pn100 speed loop gain from 40 to 100 Display after Press the DSPL SET or MODE SET Key to select the DSPL EE parameter setting mode If a parameter other than DSPL SET Ke y d Pn100 is displayed press the UP or DOWN Key to MODE SET Key select Pn100 Note The enabled digit blinks Press the DATA ENTER Key once or DATA SHIFT COA La e Key for more than one second The current data of LILI LJ pand Pn100 is displayed DATA ENTER Key DATA SHIFT Key play Press at least 1 s e Press the LEFT or RIGHT Key or DATA SHIFT Key to Press the UP or DOWN Key to change the data fS ERE Keep pressing UP or DOWN Key until 00100 is dis played Press the DATA ENTER Key once or DATA SHIFT DATA Key for more than one second The value blinks and is DATA DATA 4 DATA ENTER Key DATA SHIFT Key saved Press at least 1 s Press the DATA ENTER Key once or DATA SHIFT DATA Key for more than one second to return to the display of DATA 4 A DATA ENTER Key DATA SHIFT Key Pn100 The data for the spe
311. ed characteristics 3 4 ratings and specifications 3 2 SGLTW SGLTM linear servomotors air gap 7 14 dimensional drawings 3 41 force and speed characteristics 3 12 installation 7 10 ratings and specifications 3 9 SIGN in cee sect ce Beatie ce eech eet toes e aed 7 26 soft start 9 41 soft start time setting 4 4 software version display Fn012 8 18 S ON 7 26 specifications of built in regenerative resistor 7 39 speed coincidence output 9 46 speed feedback compensation 10 23 speed limit during force control 9 64 speed loop gain 10 14 speed loop integral time constant 10 14 speed regulation 4 5 S RDY sidia ipani Anete AA E AAA ADEE 7 27 9 78 standard replacement period 11 23 starting time 4 14 stopping time 4 14 surge suppressor for magnetic
312. ed loop gain Pn100 is Press atleast 1s changed from 40 to 100 M uu select the digit to be set LL T DATA amp DATA SHIFT Key 8 20 8 3 Operation in Parameter Setting Mode PnOOD 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 Force control parameter parameter Pn406 Emergency Stop Force mi Range Setting Unit ee ed Setting Validation 080 f m Immediately This section shows the This section shows the This section shows the This section shows if range of the parameter minimum setting unit SERVOPACK s parameter the setting is validated settings The maximum the setting value with factory setting immediately or after value can be set even if restart when changing 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 8 21 8 Digital Operator Panel Operator 8 3 1 Setting Parameters 2 Function Selection Parameters a Types of Function Selection Parameters Refer to 2 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
313. ed the products 1 1 2 Linear Servomotors The location of the nameplate varies depending on the model of the linear servomotor The nameplate is affixed on both the coil assembly and the magnetic way 1 Coreless SGLGW and SGLGM Linear Servomotors Coil assembly and Magnetic way Nameplate Servomotor CORELESS LINEAR SERVO MOTOR SGLGW 40A140B model W Od DT Ratings N47 3 Order No O N E Serial No gt S N 1 YASKAWA ELECTRIC CORPORATION JAPAN 1 1 Checking Products 2 SGLFW and SGLFM Linear Servomotors with F type Iron Core and SGLTW and SGLTM Linear Servomotors with T type Iron Core SGLFW and SGLFM Coil assembly Nameplate Linear SERVO MOTOR Servomotor TYPE SGLFW 35A120A model 200 W 80 N 25 mis Ratings 3 13 A 200 V ins B Order No O N E Serial No S N DATE y YASKAWA ELECTRIC MADE IN JAPAN e Magnetic w agneie way Nameplate W YASKAWA Servomoto TYPE SGLFM 20756A model Order No gt O N Z Serial No gt 9 MADE IN JAPAN DATE __ Note The location of the nameplate varies depending on the model and capacity of the linear servomotor 1 1 3 SERVOPACKs SGDH for 50 W to 5 0 kW SGDH for 7 5 kW SERVOPACK SERVOPACK MODEL SGDH 30AE model AC INPUT AC OUTPUT
314. edure Using Linear Servomotors without Hall Sensors 9 12 9 3 Trial Operation for Linear Servomotor without Load from Host Reference 9 22 9 3 1 Servo ON Command from the Host 9 22 9 3 2 Operating Procedure in Speed Control Mode Pn000 n 0000 9 24 9 3 3 Operating Procedure in Position Control Mode Pn000 n 0010 9 26 9 4 Trial Operation with the Linear Servomotor Connected to the Machine 9 28 9 5 Control Mode Selection 9 29 9 6 Setting Common Basic Functions 9 30 9 6 1 Setting the Servo ON Signal 9 30 9 6 2 Switching the Linear Servomotor Movement Direction 9 31 9 6 3 Setting the Overtravel Limit Function 9 32 9 6 4 Selecting the Stopping Method After Servo OFF 9 34 9 6 5 Instantaneous Power Loss Settings 9 35 9 6 6 Motor Maximum Speed For the software version 32 or later 9 35 9 7 Operating Using Speed Control with Analog Reference 9 36 9 7 1 Setting Parameters 9 36 9 7 2 Setting Input Signals
315. en the servo turns OFF or when an alarm occurs refer to 9 6 4 Selecting the Stopping Method After Servo OFF 4 Setting the Stop Force for Overtravel Pn406 Emergency Stop Force Setting Range Setting Unit Factory Setting Setting Validation 0 to 800 800 Immediately This sets the stop force for when the overtravel signal P OT N OT is input The setting unit is a percentage of the rated force 1 e the rated force is 100 The value large enough to be the motor maximum force 800 is set as the factory setting for emergency stop force However the actual output emergency stop force is determined by motor ratings 9 33 9 Operation 9 6 4 Selecting the Stopping Method After Servo OFF 9 6 4 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 n OOO0 Stop by dynamic Dynamic Brake Stops the linear servomotor by dynamic braking brake DB then holds it in Dynamic Brake Mode Fac tory setting n 0OOO1 Coast Stops the servomotor by dynamic braking DB then places it into Coast power OFF Mode n LILILI2 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 L3 is OFF Some
316. ensional Drawings of Serial Converter Unit 5 3 1 Linear Scale without Cable for Hall Sensor by Heidenhain 1 Serial Converter Unit Model JZDP D003 LILILI 2 Connection Example SERVOPACK Serial converter unit JZDP D003 LILILI CN1 CN2 Linear scale SGDH OOOE by Heidenhain Corp JZSP CLP70 00 Connection cable by Heidenhain Corp 3 Dimensional Drawing 4x 4 2 0 17 holes 2x 4 40 UNC tapped holes 2x6 4 2 Nameplate Linear scale end Analog signal input connector CN2 SERVOPACK end 0 17 holes Serial data output connector CN1 zt aoe SVE IA LS A o i o 162 e Ho E 5 a SES EM e e TD LY sf ST Ox N Oy 65 0 3 2 56 0 01 2x 4 40 UNC 72 2 83 tapped holes gt 82 0 3 3 22 0 01 14 35 0 3 0 56 0 01 90 3 54 l Units mm in de CN1 CN2 1 SERVOPACK end cos input A Linear scale end S phase output Serial data output Analog signal input Empty Empty 6 S phase output Empty 8 Empty 9 Empty seres connector 9 cos input A Shield ATLE 13090 27 UR ML socket by DDK Ltd sin input B 17LE 13150 27 socket by DDK Ltd Empty Ref input R Empty Shield Note 1 Do not use the empty pins 2 The linear scale analog 1 V output D sub 15 pin male manufactured by Heidenhain Corp
317. ensor Output Signals When the coil assembly moves in the direction indicated by the arrow in the figure the relationship between the hall sensor output signals Su Sv Sw and the inverse power of each motor phase Vu Vv Vw becomes as shown in the following figure Vu Su L1 Inverse power Vv V Vw Iw 0 180 360 540 Electrical angle 3 6 Dimensional Drawings of SGLGW SGLGM Linear Servomotors 3 Magnetic Way SGLGM 30000A Nameplate Warning label o fl WARNING away Nx4 5 holes c 8xcounter boring 5 0 20 L S 36 1 42 Pitch 54 2 13 99 0 20 0 71 ire L2 M 20 1 A L1 03 1 unit NxM4 Mounting holes depth 6 0 24 I I Erg Pitch 54 2 13 27 1 06 27 1 06 Magnetic Way L1 Model SGLGM mm 432 30432A 17 01 L2 mm 108 54 2 0 6 216 162 4 1 1 3 378 14 88 8 2 030 5 07 7 6 0 23 44 1 73 H 24 0 94 Reference length Units mm in 3 19 3 Specifications and Dimensional Drawings 3 6 2 SGLGLI 40 Linear Servomotors 3 6 2 SGLGLI 40 Linear Servomotors 1 Coil Assembly SGLGW 40ALILILICLI With a connector made by Tyco Electronics AMP K K The following table and figures
318. ent 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 serial converter unit due to noise signal line from the serial converter unit wiring Excessive vibration and shock to the Vibration from the machine occurred or ser Reduce vibration from the machine or correct the linear serial converter unit vomotor installation is incorrect servomotor installation Mounting surface accuracy fixing or alignment Serial converter unit fault oom Replace the serial converter unit Linear scale fault oom Replace the linear scale 11 18 11 1 Troubleshooting Table 11 7 Troubleshooting for Malfunction without Alarm Display Cont d Symptom Cause Turn OFF the servo system before executing operations Servomotor Speed loop gain value Pn100 too Factory setting Kv 40 0 Hz Reduce speed loop gain Pn100 preset value Vibrates at high Refer to 9 3 2 Operating Procedure in about 200 to Speed Control Mode Pn000 n ILIO LJ 400 Hz 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 Operating Procedure in Speed Control Mode Pn000 n OCOC Incorrect speed loop integral time Factory setting Ti 20 00
319. er can be either line driver or open collector outputs The following shows by type Line driver Output Circuit Host controller SERVOPACK 1500 Applicable line driver SN75174 manufactured by Texas Instruments or the equivalent Host controller SERVOPACK Vcc a Host controller SERVOPACK ae PL2 PL3 terminals 1 0 KQ 12 V y ED BEC NN 150 Q Qr id YV U 42 IDA VF 1 5 to 1 8 V Use the examples below to set pull up resistor R1 so the input 1 current i falls between 7 mA and 15 mA gt Application Examples 1 5 V max R1 2 2kQwitha R1 1 kQ witha R1 180 Q with a Vcc of 24V 45 Vcc of 12 V 5 Vcc of 5 V 5 when ON 7 28 2 Sequence Input Circuit Interface CNI connector terminals 40 to 47 is explained below 7 4 Examples of I O Signal Connections The sequence input circuit interface 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 24VIN 3 3 kO SERVOPACK JA s24viN 3 3 kO S ON etc S ON etc Note The 24 VDC external power suppl
320. erence 0 to 5000 1 mm s Immedi 10 4 5 ately Pn182 Mode Switch Acceleration 0 to 30000 Face ale 3 10 4 5 ately 1 Pn111 will be effective when Pn110 1 is set 0 2 Available for the software version 32 or later 12 28 12 4 List of Parameters Parameter Factory Setting Reference Pn200 Position Control Reference Form 0000 After 9 8 1 Selection Switch restart 4th 3rd 2nd 1st digit digit digit digit Reference Pulse Form Sign Pulse positive logic CW CCW positive logic Phase A Phase B x1 positive logic Phase A Phase B x2 positive logic Phase A Phase B x4 positive logic Sign Pulse negative logic CW CCW negative logic Phase A Phase B x1 negative logic 8 Phase A Phase B x2 negative logic 9 Phase A Phase B x4 negative logic Position Error Counter Clear Signal Form LO Cas position rror souner vben me siemat soete OO Clear Operation EN Clear error counter at the baseblock Does not clear error counter Possible to clear error counter only with CLR signal Clear error counter when an alarm occurs Filter Selection EN Reference input filter for line driver signals Reference input filter for open collector signals Pn202 Electronic Gear Ratio Numerator 1 to 65535 4 After 9 8 2 restart Pn203 Electronic Gear Ratio Denominator 1 to 65535 1 After restart Pn204 Position Reference Accel Decel Time 0 to 6400 0 01 ms Immedi 9 8 4 Constant ately
321. ernal Regenerative Resistors 3 Precautions on Selecting External Regenerative Resistors A built in regenerative resistor is provided for 500 W to 5 0 kW SGDH SERVOPACKs as standard When installing an external regenerative resistor with the SERVOPACK make sure that the resistance is the same as that of the SERVOPACK s built in resistor If combining multiple small capacity regenerative resistors to increase the regenerative resistor capacity W select resistors so that the resistance value including error is at least as high as the minimum allowable resistance shown in the following table Connecting a regenerative resistor with the resistance smaller than the minimum allowable resistance may increase the current flow in the regeneration circuit resulting in damage to the circuit 4 Related Parameter Pn600 Regenerative Resistor Capacity Speed Position Force SetngRange Range Unt Factory Setting Setting Validation 0 to SERVOPACK m W Immediately capacity Be sure to set this parameter when installing an external regenerative resistor with the SERVOPACK With the factory setting of 0 the SERVOPACK s built in resistor is used Set the regenerative resistor capacity within tolerance value When the set value is improper alarm A 32 is not detected cor rectly Also do not set other than 0 without connecting the regenerative resistor because alarm A 30 or A 33 may be detected The set value diffe
322. esistant 75 1 67 vinyl cable The following table shows the wire size and allowable current for three cables Use a cable whose specifications meet or are less than the values in the table 600 V Heat resistant Vinyl Cables HIV Nominal Allowable Current at Ambient Temperature Cross Configuration Conductive A Section Number of Resistance Mid Diameter wires mm Q km 30 C 86 F highs eb 2 104 F 122 F mm 56 x es mms 3 35 5 om 3s 1 55 mus INE NNI 2 39 27 9 STOS Tus 2 is TOR Ce b em 3 3 34 3 3 SC 5 5 8 3 5 La ox 325 7 38 7 31 7 8 8 Note The values in the table are only for reference 0 18 16 14 12 0 6 13 6 Specifications and Dimensional Drawings of Cables and Peripheral Devices 6 6 2 Single phase 200 V 6 6 2 Single phase 200 V Symbol Control power supply input terminals L1C L2C HIV1 25 External regenerative resistor connection B1 B2 HIV1 25 terminals Ground terminal HIV2 0 or more 6 6 3 Three phase 200 V External Terminal Name Terminal Symbol HIVES External regenerative resistor connection BI B2 HIV1 25 HIV2 0 HIV3 5 terminals Ground terminal HIV2 0 or more Terminal External Terminal Name Symbol Model SGDH External regenerative resistor connection BI B2 HIV5 5 HIV8 0 terminals Ground terminal eo HIV2 0 or more 6 14 6 6 SERVOPACK Main Circuit Wire Size 6 6 4 Three phas
323. esistor B1 B2 B3 Remove the wire between B2 and B3 and connect an dim external regenerative resistor provided by customer between B1 and B2 if the capacity of the internal E 200 200 400 200 400 200 400 Connect an external regenerative resistor provided B1 B2 7 5 by customer between B1 and B2 Refer to 7 6 Con necting Regenerative Resistors for details Tf using the main circuit power supply and the control power supply with DC power supply input refer to 7 2 3 Typical Main Circuit Wiring Examples 4 DC Power Supply Input for more information on wiring 7 15 7 Wiring 7 2 1 Names and Functions of Main Circuit Terminals 7 16 Terminal Symbol Main Circuit Voltage V DC reactor for harmonic suppression terminal cont d Maximum Functions Applicable Servomotor Capacity kW 0 05 to 5 0 Normally short 1 and 92 0 5 to 7 5 If a countermeasure against power supply harmonic waves is needed connect a DC reactor between 1 and Q2 These terminals do not exist Normally not connected Note This terminal is on the SERVOPACK with a capacity of 7 5 kW only 9 Normally not connected 7 2 Wiring Main Circuit 7 2 2 Wiring Main Circuit Power Supply Connector Spring Type 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 Ma
324. ess at least 1 s be entered Turn ON the servo ON S ON signal The display will be as Servo ON shown at the left Press the LEFT or RIGHT Key or DATA SHIFT Key for less DET than one second to display the speed reference offset amount DATA SHIFT Key Less than 1 s Press the UP or DOWN Key to adjust the amount of offset 7 Press the LEFT or RIGHT Key or MODE SET Key for less than one second The display will appear momentarily as shown at the MODE SET left and donE will blink and the offset will be set After the eee era Y setting is completed the display will return to the display as shown at the left DATA 4 DATA ENTER Key DATA SHIFT Key function mode Press at least 1 s Press the DATA ENTER Key once or DATA SHIFT Key for ENTER more than one second to return to the Fn00A display of the utility 9 40 9 7 Operating Using Speed Control with Analog Reference 9 7 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 oo 0000 m 0 mmedatey Soft Start Deceleration Time Setting Range Setting Unit Factory Setting Setting Validation ow 1000 ms 0 mmedatey The soft start function enables smooth speed control when inputting a stepwise speed reference or when selecting internally s
325. essful trial operation could be attributed to the following conditions Check the conditions and take appropriate measures The force reference is saturated because the load is too heavy or the jog speed is too fast Lower the jog speed or lighten the load The linear servomotor is moving slightly and then stops The linear servomotor and linear scale are out of alignment Check the wiring scale pitch setting linear scale count and whether the motor forward direction matches the scale count direction Polarity detection is not being performed normally Perform step 12 Checking or Adjusting Polarity Detection Setup is finished when all these checks have been completed 9 21 9 Operation 9 3 1 Servo ON Command from the Host 9 3 Trial Operation for Linear Servomotor without Load from Host Reference Check that the linear 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 linear servomotor to the machine 9 3 1 Servo ON Command from the Host The following circuits are required External input signal circuit or equivalent Speed Control Position Control Standard Setting Pn000 n 0010 Pn000 n 0000 9 22 9 3 Trial Operation for Linear Servomotor without Load from Host Reference Check
326. et Setting Unit Analog Input Voltage Offset Setting Unit Force reference 1 14 7 mV 9 62 9 9 Operating Using Force Control Use the following procedure to manually adjust the force reference offset Display after Digital Panel Description Operation Operator Operator Press the DSPL SET or MODE SET Key to select the utility function mode DSPL SET MODE SET MODE SET Key DSPL SET Key Press the LEFT RIGHT or UP DOWN Key or UP or DOWN Key to select parameter FnOOB The digit that can be set will blink Press the DATA ENTER Key once or DATA SHIFT Key for ATA more than one second The display will be as shown at the left DATA SHIFT Key The manual adjustment mode for the force reference offset will be Press at least 1 s entered Turn ON the servo ON S ON signal The display will be as shown at the left Press the LEFT or RIGHT Key or DATA SHIFT Key for less than DATA one second to display the force reference offset amount DATA SHIFT Key Less than 1 s Press the UP or DOWN Key to adjust the amount of offset S on EU e 7 Press the LEFT or RIGHT Key or DATA SHIFT Key for less than DATA one second to return to the display shown on the left DATA SHIFT Key Less than 1 s p e Press the DATA ENTER Key once or DATA SHIFT Key for EDD DATA more than one second to return to the Fn0OB display of the utility DATA ENTER Key DATA SHIFT Key function mode Press at least 1 s
327. et speeds Set both Pn305 and Pn306 to 0 for normal speed 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 start 9 7 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 00 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 9 7 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 Pn580 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 moved by external force When the
328. eter The control power supply ranged from 30 VAC to 60 VAC The power supply was turned OFF while changing the parameter setting The power supply 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 ranged from 30 VAC to Correct the power supply 60 VAC Replace the SERVOPACK A SERVOPACK fault occurred 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 Set Fn005 to initialize the parameter Check and correct the hall sensor wiring Correct the set value of parameter Pn080 0 Pn080 0 1 was set though a hall sensor was con nected The SERVOPACK EEPROM and the related circuit Replace the SERVOPACK are faulty The SERVOPACK and servomotor capacities do not correspond to each other Servomotor capacity SERVOPACK capacity 1 4 or servomotor capacity SERVOPACK capacity 2 4 The linear servomotor and SERVOPACK voltage Select the proper combination of SERVOPACK specifications do not correspond to each other and linear servomotor voltages The parameter that is writ
329. eter see 2 4 2 List of Parameters Parameter Pn50A n 2000 Input the forward run prohibited signal P OT from CN1 42 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 panel operator and the digital operator JUSP OP02A 2 The number of the parameter This section explains the details of the function selection 8 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 e EIE ee BETS 8 24 8 3 Operation in Parameter Setting Mode PnOOD 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 Signal Name Parameter Setting Allocation Servo ON Pn50A 1 n xxOx Proportional Operation Reference Pn50A 2 n xLIxx Forward Run Prohibited Pn50A 3 n LIxxx Reverse Run Prohibited Pn50B 0 n xxxO Alarm Reset Pn50B 1 n xxOx Forward External Force Limit
330. f feedback pulses is returned EXAMPLE Using a linear scale with a scale pitch of 20 um if the linear servomotor is moved only 1 cm by hand in the linear scale s count direction the number of feedback pulses will be as follows 1 cm 20 um 256 12 800 pulses E 1 Linear servomotor cable attached to coil assembly When the linear servomotor is moved by hand to the side with the cable and the value of UnOOD is 1F400 or FFFEOCOO confirmation is completed Note The actual monitor display will deviate by the error in movement distance only so a value that is close to the above value is acceptable For B When the Value of the UnOOD is incorrect If the Un00D value is not displayed correctly the following conditions may be present Check the conditions and take appropriate countermeasures The scale pitch of the linear scale does not match Ifthe scale pitch set in Pn280 is different from the actual scale pitch the assumed number of feedback pulses will not be returned Check the specifications of the linear scale The linear scale has not been adjusted Ifthe linear scale is not adjusted the linear scale s output signal level will drop and the count will not be correct Check that the linear scale is correctly adjusted For details contact the scale s manufacturer The wiring between the linear scale and serial converter unit is not correct If the wiring is not correct a norma
331. f speed loop gain is the same as the set value of Pn100 if the moment of inertia ratio in Pn103 has been set correctly E Setting Range Setting Unit Factory Setting Setting Validation 0 to 10 000 Immediately 0 to 20 000 Load mass ML includes coil assembly Linear servomotor coil assembly mass Mw Pn103 set value 1 x 100 The factory setting is Pn103 0 Before adjusting the servo determine the mass ratio with the equation above and set param eter Pn103 The setting range for the software version 32 or later 10 3 5 Speed Loop Integral Time Constant Pn101 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 decreases The estimated set value for Pn101 depends on the speed loop control method with Pn10B 1 as shown below W Selecting the Speed Loop Control Method PI Control or I P Control Y 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 a
332. for brake interlock servo ready or positioning completion Command Format Forward reverse run prohibited Zero point return deceleration LS Input Signals Zero point signal External positioning signal can be changed using parameter settings 6 43 6 Specifications and Dimensional Drawings of Cables and Peripheral Devices 6 8 16 PROFIBUS DP I F Unit 3 Dimensional Drawings Units mm in Approx mass 0 2 kg 0 44 Ib 24 0 94 FG terminal M4 Connector to SERVOPACK 6 44 CN11 3 94 oe amp sone ll lll ux Opp ii 133 5 24 6 8 Peripheral Devices 6 8 17 INDEXER Module 1 Model JUSP NS600 2 Specifications Applicable SERVOPACK All SGDH LILILIE SERVOPACKs Installation Method Mounted on the SGDH SERVOPACK side CN10 Power Supply Method Supplied fi the SERVOPACK control I CPU upplied ftom the control power supply Power Consumption Program Table Program table positioning by designating the starting step by the contact input Maximum 128 steps Serial commands in ASCII codes Communications specifications RS422 RS485 Maximum 50 m Control Specifica Serial Communications RS232C Maximum 3 m tions Connection Multi drop method Maximum 16 axes Baud rate 9600 19200 38400bps Command
333. form servo ON OFF in the JOG operation with the operator 8 3 8 Digital Operator Panel Operator 8 1 3 Basic Mode Selection and Operation 8 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 1 Using the Digital Operator Turn ON the power Press DSPL SET Key i A basic mode is selected in the following order bib gt Status Display Mode Refer to 8 1 4 i Press C Press FnLILILI Utility Function Mode i Press Refer to 8 2 CETER gt Press k gt PnOOUO Parameter Setting Mode Refer to 8 3 i Press BHIR gt Press 2 PnLILIDI Monitor Mode Muu Refer to 8 4 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 8 4 8 1 Functions on Digital Operator Panel Operator 2 Using the Panel Operator Turn ON the power Press DSPL SET Key i A basic mode is selected in the following order blb Status Display Mode Refer to 8 1 4 i Press eJ MODE SET Press e for more than one secon
334. ftware version 32 or later 12 26 12 4 List of Parameters Parameter Name Setting Range Unit Factory Setting Reference No E Validation Section Pn100 Speed Loop Gain 1 to 2000 Immedi 10 3 4 ately Pn101 Speed Loop Integral Time Constant 15 to 51200 0 01 ms 2000 Immedi 10 3 5 id Pn1 lli Position Loop Gain 1 to 2000 o o we 10 3 3 ately d 03 Mass Ratio 0 to 10000 1 Immedi 0 to 20000 ately Pn104 2nd Speed Loop Gain 1 to 2000 Immedi 10 4 9 ately Pn105 2nd Speed Loop Integral Time Constant 15 to 51200 na 01 ms Bod 00 Immedi 10 4 9 ately Pn106 2nd Position Loop Gain 1 to 2000 Immedi 10 4 9 ately Pn108 Bias Width Addition 0 to 250 1 reference 7 Immedi 10 4 6 unit ately Pn109 Feed forward 0 to 100 1 Immedi 10 4 1 ately Pn10A Feed forward Filter Time Constant 0 to 6400 pee S 10 4 1 ately Gain related Application Switches After restart Immedi ately 4th 3rd 2nd 1st digit digit digit digit a B8 i T Setting Mode Refer to 10 4 5 Using the Mode Switch P PI Switching Validation Use internal force reference as the condition Level setting Pn10C Use speed reference as the condition Level setting Pn181 Use acceleration as the condition Level setting Pn182 Immediately Use position error pulse as the condition Level setting Pn10F No mode switch function available etting Refer to 10 3 5 Speed Loop Integral Time Constant Validation o pem NN After restart Automatic Gain Switching Se
335. fuse to protect the power supply line from high voltage For wiring for reference inputs and encoders use the specified cables Refer to 6 Specifications and Dimensional Drawings of Cables and Peripheral Devices for details Use cables as short as possible At least class 3 ground 100 2 max is recommended Ground to one point only fthe 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 0047 to 0 012 in so handle the cables care fully Use a noise filter to prevent noise interference For details refer to 7 5 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 The wiring distance between the linear scale and serial converter unit must be as short as possible Always install a surge suppressor in the relay solenoid and magnetic contactor coils The distance between a power line such as a power supply line or servomotor cable and a signal line must be at least 300 mm Do not put the power and signal lines in the same duct or bundle them together Do not share the power
336. g normal operation Alarm Alarm Name Situation at Alarm Cause Corrective Actions Display Occurrence A SERVOPACK board fault occurred Replace the SERVOPACK The power supply voltage is 270 V or more Correct the input voltage The regenerative energy is excessive The regenerating state continued The setting of parameter Pn600 is smaller than the Correct the set value of parameter Pn600 external regenerative resistor s capacity A SERVOPACK fault occurred Replace the SERVOPACK Select a proper regenerative resistance capacity or reconsider the load and operation conditions Occurred at servo The regenerative energy is excessive Select a proper regenerative resistance capacity or motor deceleration reconsider the load and operation conditions A SERVOPACK board fault occurred In the DC power input mode AC power is supplied through L1 and L2 or L1 L2 and L3 In the AC power input mode DC power is supplied through 1 and terminals Pn600 is set to 0 if the regenerative resistance is dis Set Pn600 to 0 connected A SERVOPACK board fault occurred Replace the SERVOPACK The AC power voltage must be within the speci fied range A SERVOPACK fault occurred Replace the SERVOPACK Check the AC power voltage check if there is no The AC power voltage must be within the speci excessive voltage change fied range The motor speed is high and load mass is excessive Check the load mass and minus load s
337. g Validation 010 5000 immediately Note The maximum speed of linear servomotor is used whenever a speed settings for the Pn380 to Pn382 exceed the maximum speed 9 65 9 Operation 9 10 2 Input Signal Settings 9 10 2 Input Signal Settings The following input signals are used to switch the operating speed Name Number Input Switches the linear servomotor movement direction P ea Input Selects the internally set speed P em puede Input N CL CNI 46 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 Refer to 8 3 2 Input Circuit Signal Allocation 9 10 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 Speed P CON P CL N CL Movement SPD D SPD A SPD B Direction Forward san Lo ag Pn382 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 s
338. ge or installation humidity conditions Locations subject to condensation as the result of extreme changes in temperature Locations subject to corrosive or flammable gases Locations subject to dust salts or iron dust Locations subject to exposure to water oil or chemicals Locations subject to shock or vibration Failure to observe this caution may result in fire electric shock or damage to the product Do not carry the linear servomotor by its cables 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 viii Installation N CAUTION When unpacking and installing magnetic way check that no metal fragments or magnetized objects near the stator because they may be affected by the magnetic attraction of the magnetic way Failure to observe this caution may result in injury or damage to the magnetic way s magnets Do not use the magnetic way near metal or other magnetized objects Failure to observe this caution may result in injury Do not place clocks magnetic cards floppy disks or measuring instruments close to the magnetic way Failure to observe this caution may result in malfunction or damage to these items by the magnetic force Securely mount the linear servomotor on to the machine If the linear servomotor is not mounted securely it may loosen d
339. generative Built in External regenerative Processing resistor resistor 4 1 2 Three phase 400 V The value of the input power supply voltage is maximum 528 Vrms Capacity kW see id ld all MAR Arms ax OupurCurent me 55 33 M 3 38 ws ET Power Tne 380 to 480 VAC 10 to 15 50 60 fo Supply Control Circuit 24 VDC 15 Configuration Base mounted Base mounted Duct venti Rack mounting available as an option lated available as an option Regenerative Processing External regenerative resistor 4 SERVOPACK Specifications and Dimensional Drawings 4 1 3 SERVOPACK Ratings and Specifications 4 1 3 SERVOPACK Ratings and Specifications Basic Single or three phase full wave rectification IGBT PWM sine wave Specifi driven cations Feedback 1 256 data of serial converter unit sine wave pitch LN DN tions Ambient Storage Humidity 90 RH or less with no condensation Vibration Shock Resistance 4 9 m s2 19 6 m s Speed Perfor 1 5000 The lowest speed of the speed control range is the speed at which and mance the servomotor will not stop with a rated force load Force 0 to 100 load 0 01 or less at rated speed pale Rated voltage 105 0 at rated speed 25 25 C 77 F 0 1 or less at rated speed tion Modes Force Control Tolerance 2 Repeatability Soft Start Time Setting 0 to 10 s Can be set individually for acceleration and deceleration Force Reference Voltage 3 V
340. git that can be set will blink more than one second rEF_o will be displayed DATA ENTER Key DATA SHIFT Key Press at least 1 s Press the DSPL SET or MODE SET Key MODESET The reference offset will be automatically adjusted MODE SET Key When completed donE will blink for about one second After donE is displayed rEF_o will be displayed again mimo Press the DATA ENTER Key once or DATA SHIFT Key for DATA Ela more than one second to return to the Fn009 display of the util DATA 4 z DATA ENTER Key DATA SHIFT Key ity function mode Press at least 1 s rinm at i e Press the DATA ENTER Key once or DATA SHIFT Key for 2 Manual Adjustment of the Force Reference Offset Manual adjustment of the force reference offset Fn00B is used in the following cases Ifa 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 force reference 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 Force Reference Offset Adjustment Range Offset Adjustment Range 128 to 127 Force reference 1881 6 mV to 1866 9 mV Offs
341. gnet a With Standard force Magnetic Ways The following table shows the ratings and specifications when the standard force magnetic ways are used near Servomolor 30A peres purpe pe pr peor pe ps pepe o Rated Current Current Rated Current Ams 0 51 51 0 0 79 10 2 2 Instantangous Peak 40 140 280 420 220 440 1300 2200 3000 Force Instantaneous Peak Arms 1 62 2 53 2 4 4 9 7 3 3 5 7 0 10 5 17 6 30 0 40 8 Current Coi Assemby Wess ka 010 UIs 034 887 ux ur OTe 136 333 35 35 GSA EP ES CES CERE SERI EA Motor Constant Constant Motor Constant Niyw 110 13 5 36 8 45 0 Flectrical Time 02 04 04 04 04 05 05 05 14 14 14 Constant Mecanica Time ms 730 478 559 496 477 341 3 08 298 3 18 2 66 2 42 Constant Thermal Resistance lt yy 5 19 3 11 1 67 0 87 0 58 1 56 0 77 0 51 0 39 0 26 0 22 With Heat Sink i Thermal Resistance 3 00 1 80 123 2 59 Magnetic Attraction N 0 3 1 Ratings and Specifications of SGLGW SGLGM b With High force Magnetic Ways The following table shows the ratings and specifications when the high force magnetic ways are used Linear Servomotor 40A Model SGLGM OOOOOC M T 140C 253C 365C 140C 253C 365C SGLGW Peak Speed ms 3 Heu cr jeg pec lum re Instantaneous Peak 230 360 720 Force Instantaneous Peak Atis 32 9 7
342. gth Diameter Mounting Effective J 0 12 of Nut Screw Screw VT Length V L Ww 22 izgasuner 1826 5557 4048 j 1618UNEF 25 50 072 2 19 159 038 197 b MS3108B L shaped Plug with front shell and back shell separated Units mm in Shell Joint Max Outer Cable Min Size Screw Over Diameter i j Clamp Effective A all of Nut Mounting Screw Length pa Screw Length 0 38 V W L 13 8 18 26 76 98 4048 241 333 13 16 9 53 18UNEF 0 72 6 03 1 59 0 95 1 31 18UNEF 038 Units mm in Shell Joint Screw Outer Cable Clamp Min Outer Size Diameter Di Mounting Effective of Nut ao Screw Screw 0 V Length Qo 38 N40 5 g L w iost s s 24uNEF PE PR Pun 19 12 5 8 24UNEF M 0 3 1 37 0 87 0 75 0 38 6 Specifications and Dimensional Drawings of Cables and Peripheral Devices d MS3057A 12A Cable Clamp With Rubber Bushing C 1 6 0 06 fe J Bushing inner diameter dam Cable clamp inner diameter abes Movable range on one side Units mm in Applicable shell Overall Effective Mounting Screw Rubber size Length Screw Bushing Type Ax0 7 Length V C 5 JZSP CLN14 Cables SERVOPACK end Linear servomotor end 8 5 0 33 50 1 97 be L 51 2 01
343. h a radius heat resistance and flexibility suitable for the system If the SERVOPACK malfunctions turn OFF the main circuits power supply of the SERVOPACK The continuous flow of a large current may cause fire Use a noise filter to minimize the effects of electromagnetic damage Failure to observe this caution may result in electromagnetic damage to electronic devices used near the SERVOPACK Do not connect a three phase power supply to the U V or W output terminals Failure to observe this caution may result in injury or fire Securely connect the power supply 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 shielded twisted pair wire or shielded multi core twisted pair wire for the signal lines and feedback lines of the serial converter unit SC The maximum wiring length is 3 m for the reference input line and 20 m for the SC feedback line 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 Since the SERVOPACK has a capacitor in the po
344. hase B sign input output 13 PL2 Open collec 38 ALO2 Alarm code tor reference 39 output Clear input ower supply ALO3 Alarm code output LR 40 41 42 43 44 45 46 47 48 49 27 Reference 5 V REF Speed refer ence input SG G 7 PULS Reference pulse input un Bi x A x ALOI Alarm code 15 C Clear input S ON Servo ON input 6 P CON P control input 17 P OT Forward run prohibit input Open collec N OT Reverse run tor reference prohibit input power supply 19 PCO PG dividing ALM Alarm reset pulse output RST input PG dividing Phase C P CL Forward pulse output external force N CL Reverse Phase C oo 20 limit input external force 24V External input IN power supply 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 N N limit input N A o Speed coinci COIN dence detec tion output Note 1 Do not use unused terminals for relays parameters Refer to 8 3 2 Input Circuit Signal Allocation and 8 3 3 Output Circuit Signal Allo cation nput 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 NE
345. he 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 linear servomotor is accommodated in a metal conduit ground the conduit and its junction box For all grounding ground at one point only 7 5 Others 3 Using Noise Filters Use an inhibit type noise filter to prevent noise from the power supply line The following table lists recom mended noise filters for each SERVOPACK model Install a noise filter on the power supply line for peripheral equipment as necessary Voltage SERVOPACK Model Recommended Noise Filters ee mans Single phase SCHAFFNER 2 Ll M Three phase SGDH 05AE FN258L 7 07 Three phase 480 VAC 7A 200 V SGDH O8AE to 20AE FN258L 16 07 Three phase 480 VAC 16A SGDH 30AE FN258L 30 07 Three phase 480 VAC 30A SGDH 50AB FMAC 0934 5010 Three phase 440 VAC 50A SCHURTER SGDH 75AE FMAC 0953 6410 Three phase 440 VAC 64A formely TIMONTA Three phase SGDH 05DE to 15DE FN258L 7 07 Three phase 480 VAC 7A SCHAFFNER 400 V SGDH 20DE 30DE FN258L 16 07 Three phase 480 VAC 16A SGDH SODE 75DE FS5559 35 33 Three phase 480 VAC 35A iPrecautions when using noise filter IMPORTANT uod WT mu 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 togethe
346. he SERVOPACK control power supply Specifications Power Consumption MECHATROLINK Baud Rate 4 Mbps 2 m 10Mbps 500us or more 4Mbps 2ms Communications Transmission Cycle ps i when using MECHATROLINK I Positioning using MECHA Positioning using MECHA Operation Specification TROLINK I communications TROLINK I II communications MECHATROLINK I communica MECHATROLINK I II communica tions tions Command Format Commands Motion commands posi Commands Motion commands posi Reference Input tion speed Interpola tion speed Interpolation tion commands commands Parameter Parameter read write read write Monitor out Monitor output put Position Control Acceleration Linear first second step asymmetric exponential S curve EDS ni onto Deceleration Method Ds Bay CAP unctions Fully closed Control Impossible Forward reverse run prohibited Zero point return deceleration LS External latch signals 1 2 3 Forward reverse force control Position Data Latch M A f Position data latching is possible using phase C and external signals 1 2 3 Function Parameters damage Parameter setting errors Communications errors WDT Protection Internal Functions errors A Alarm A Alarm LED Indicators R MECHATROLINK I Communi R MECHATROLINK I II Communi cating cating 3 Dimensional Drawings JUSP NS100 NS115 Signal Allocation Changes Input Signals Possible Units mm in Approx mass
347. he next time the power supply is turned ON the utility func tion mode parameter Fn007 Writing to EEPROM mass ratio data obtained from online autotuning can be used to save the most recent value in parameter Pn103 Mass Ratio The mass ratio is given as the mass ratio 96 of the coil assembly mass of the linear servomotor Mass Ratio Setting Range Setting Unit Factory Setting Setting Validation 0 to 10 000 1 Immediately 0 to 20 000 Load mass ML includes coil assembly Linear servomotor coil assembly mass Mm Mass ratio 1 1 x 100 The factory setting for the mass ratio is 0 no load operation of linear servomotor without connecting a machine The setting range for the software version 32 or later 10 10 10 2 Online Autotuning 10 2 7 Procedure for Saving the Results of Online Autotuning The following procedure is used to save the results of online autotuning DSPL SET Key DATA ENTER DATA ENTER Key DSPL SET DSPL SET Key ie MODE SET Key DATA SHIFT Key Press at least 1 s MODE SET MODE SET Key About one second later DATA ENTER DATA ENTER Key e DATA DATA SHIFT Key Press at least 1 s Press the DSPL SET or MODE SET Key to select the utility function mode Press the Up or Down Cursor Key to select parameter Fn007 The digit that can be set will blink Press the DATA ENTER or DATA SHIFT Key for one second or
348. he terminal blocks are authorized for limited rating for indus trial use and applicable up to 600 V Accordingly these terminal blocks are applicable for 400 V SERVOPACK 7 17 7 Wiring 7 2 3 Typical Main Circuit Wiring Examples 7 2 3 Typical Main Circuit Wiring Examples 1 Single phase 200 V R T SERVOPACK SGDH LIDIAE Linear servomotor 9 Linear scale Properly treat the end of shielded wire F 24V 1Ry orm do oT 1Ry Main circuit Main Circuit 1P power supply power supply OFF ON 32 1 024V O 1KM 1SUP 1Ry Relay 1QF Molded case circuit breaker 1PL_ Indicator lamp FIL Noise filter 1SUP Surge suppressor 1KM Magnetic contactor 1D Flyweel diode 2 Three phase 200 V S T SERVOPACK SGDH ODIAE Linear servomotor Serial converter unit Properly treat the end of shielded wire 24V F 1Ry oc ay CN1 1Ry Main circuit Main circuit power supply power supply OFF 1Ry 32 1 024V O 1KM 1SUP 1Ry Relay 1QF Molded case circuit breaker 4p Indicator lamp FIL Noise filter 1SUP Surge suppressor 1KM Magnetic contactor 1D Flyweel diode 7 18 7 2 Wiring Main Circuit 3 Three phase 400 V Ry Sy T SERVOPACK SGDH OODE Linear servomotor 9 Linear scale Serial converter unit
349. heck that the following wiring and settings are correct To powersupply Power supply circuit wiring Linear servomotor wiring Serial converter unit wiring Linear scale wiring Hall sensor wiring Scale pitch setting Scale signal count direction and count quantity Motor movement direction and movement speed Force limit parameter setting Polarity detection operation only if polarity detection is used 2 Trial Operation Using Host References Refer to 9 3 Trial Operation for Linear Servomotor without Load from Host Reference W Purpose Run the linear servomotor with host reference input Check that the following wiring and settings are correct I O signal wiring with the host controller Linear servomotor movement direction movement speed and movement distance To power supply Operation of brake overtravel and other protective func tions Required parameter settings 9 1 Trial Operation c mm m a Step Reference 4 Installation and Install the linear servomotor and SERVOPACK according to the installation condi mounting tions Wiring and Wire and connect the power supply circuit L1 L2 or L1 L2 L3 linear servomotor x
350. her the status display is P dt when the S ON P DET signal is input If P dt is not displayed check whether the parameters for input signal selection Pn50A and Pn50D are set correctly and check whether signal input is being performed cor rectly To prevent danger during setup the SGDH SERVOPACK s factory settings for the force limit parameters are 30 Check the set values for Pn483 and Pn484 and change to a user set value if the setting is initial value Increase the value to the maximum value if no particular restrictions are required When the mechanical friction is relatively larger than the linear servomotor s rated force 1096 or more the linear servomotor may stop operating during polarity detec tion if factory settings are used First check whether the mass ratio Pn103 is set correctly If Pn103 is set correctly increase the value set for polarity detection speed loop gain Pn481 If the load is heavy and the mechanical friction is very large a large gain will cause an alarm The gain cannot be increased under this condition so reduce the mechanical friction If the mechanical friction cannot be reduced without difficulty and the situation does not improve even if the gain is reduced consider using the hall sensor for polarity detection If the OT signal is detected during polarity detection polarity detection will be ended and the status will be returned to previous status Before performing polarity detection
351. hipment machine base value 200000 71 51 70 0 15 350000 2 81 0 04 2 76 0 01 1131 111 8 0 15 91 51 90 0 15 2 Insert the mounting bolts into one side of the magnetic way yoke and tighten lightly by hand Next while firmly holding down the magnetic way yoke onto the positioning step tighten the bolts firmly o the magnetic way yoke Magnetic Way Model Tightening torque 200000 M6 1220 to 1710 400000 M8 2970 to 4150 800000 35000H M6 1220 to 1710 5OLILILIH Note The following conditions apply to these values Machine material Steel Hexagonal socket head bolts tensile strength Class 10 9 3 After removing the mounting spacer bolts on the side of the magnetic way yoke installed first firmly hold down the other magnetic way yoke onto the positioning step while tightening the bolts firmly Make sure that the magnetic way yoke does not slip into the path of the coil assembly 4 Fully remove the spacer used for transport If the bolt holes used for mounting the magnetic way are in the position where the mounting spacer was mounted tighten the bolts at these locations 5 When joining magnetic ways together place the second magnetic way temporarily in line with and at least 30 mm apart from the first magnetic way Next while pushing the second magnetic way against the first magnetic way secure with bolts Keep fingers clear to prevent them being jammed between the magnetic ways du
352. ibes the monitor display for sequence I O signals 1 Input Signal Monitor Display The status of input signal allocated to each input terminal 1s 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 8 3 2 Input Circuit Signal Allocation for the relation between input terminals and signals Display LED Input Terminal Name Factory Setting N1 40 S ON N1 N CL 4 EXAMPLE gt When S ON signal is ON Servo ON at L level l E The bottom segment of number 1 is lit 1 zlz The top segment of I number 1 is lit When P OT signal operates Operates at H level The top segment of number 3 is lit 87654321 8 31 8 Digital Operator Panel Operator 8 4 3 Operation in Monitor Mode 2 Output Signal Monitor Display The status of output signal allocated to each output terminal 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 7654321 Number Refer to 8 3 3 Output Circuit Signal Allocation for the relation between output terminals and signals Factory Setting CN1 25 26 COIN or V CMP NI 27 28 TGON Seven segments in the top and bottom rows of a
353. ic way Nameplate IS A and below 7 0 28 L3 The coil assembly moves in the direction indicated by the arrow when current flows in the order of phase U V and W SGLFW 35D230ALID 12xM4 tapped holes depth 5 5 0 22 Linear Servomotor Connector Specifications Extension LRRAOGAMRPN182 Plug type LPRAO6BFRDN170 9 Pin No Name 1 5V Power supply 5 2 Phase U 3 Phase V Pin connector type A onim idi Pin type 021 279 1020 mpadeiby DON LEC QV Rower supniy made by Interconnectron The mating connector 6 Not used Socket connector type 7 Not used The mating connector 17JE 13090 02 D8C 3 Not used Stud type 17L 002C or Socket type 020 105 1020 17L 002C1 9 Not used Coil Assembly Model SGLFW 180 7 09 36 1 42 x 5 0 20 gt Units mm Hall Sensor Output Signals When the coil assembly moves in the di rection indicated by the arrow in the fig 108 l 35D120ALID 5 Q A 4 25 0 28 2 87 180 216 12 23 35D230ALID 03 7 09 8 50 0 47 5 07 Pin No Name ure the relationship between the hall 1 Phase U sensor output signals Su
354. ications error occurred L H H L Warning once Main Power OFF The main power supply is not L L being supplied Not Completed within Positioning was not completed L L the Set Time within the set time NS600 Error Some error occurred in the NS600 Check the NS600 Error Display L L L for details Note 1 The following types of application modules are available NS100 JUSP NS100 MECHATROLINK I F application module NS115 JUSP NS115 MECHATROLINK II I F application module NS300 JUSP NS300 DeviceNet I F application module NS500 JUSP NS500 PROFIBUS DP I F application module NS600 JUSP NS600 INDEXER application module 2 For troubleshooting application module alarms refer to relevant application module manual Manual numbers are described in Related Manuals on page v 3 When mounting the NS115 module observe the following restrictions on use If the hand held digital operator is connected or the communications are being sent or from SigmaWin and another device a personal computer the following commands can not be carried out uncondi tionally command warning A 95 and the MECHATROLINK II commands are not success fully sent PRM RD PRM WR PPRM WR CONFIG ALM RD ALM CLR SENS ON ADJ ID RD 11 6 11 1 Troubleshooting 11 1 5 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 opera
355. ignal is ON L level 6 Reverse run allowed when CN1 46 input signal is ON L level Reverse run prohibited 8 Reverse run allowed 9 Reverse run allowed when CN1 40 input signal is OFF dee O B Reverse run allowed when CN1 42 input signal is OFF level O Reve ran loved wh CNM ingot senelis OFE Que ALM RST Signal Mapping Alarm Reset when ON L level 0006 to 9 13 1 Servo Alarm Output ALM and Alarm Code Output ALO1 ALO2 ALO3 Same as S ON the setting of 2nd digit o Reserved Do not change Same as S ON the setting of 2nd digit of 1 e Limit when ON 1 2 and 9 11 4 he setting of 2nd digit o ignal Mapping Force Limit when ON Refer to 9 10 2 9 10 3 9 11 2 and 9 11 4 Same as S ON the setting of 2nd digit of E Input signal polarities Signal Effective Voltage Contact Level Level B T Q WW Low L level High evel 12 4 List of Parameters Parameter z Factory Setting Reference Pn50C Input Signal Selection 3 8888 After restart 4th 3rd 2nd 1st digit digit digit digit EXE 9 10 Operating Using Speed Control with an Internally Set ON when CN1 40 input signal is ON L level 5 on when onia mours oN aee SSCS 8 sessigtor ooo o ON when CN1 40 input signal is OFF H level ON when CN1 41 input signal is OFF H level 8 ON when CNI 42 input signal is OFF H level ON when CN1 43 input signal is OFF H level D ON when CN1 44 input signal
356. ignal must be allocated Refer to 8 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 9 42 9 7 Operating Using Speed Control with Analog Reference 9 7 7 Encoder Signal Output Encoder feedback pulses processed inside the SERVOPACK can be output externally Name Pin Number PAO Outputs are explained here SERVOPACK Host controller CN2 CN1 Serial DATA Fre Phase A PAG p converter quenc Phase B PB Note The zero point pulse width will i dividing circuit unit Phase C PCQ be the same as the phase A pulse width accoding to the dividing ratio Even in reverse movement mode Pn000 0 1 the dividing output phase form is the same as that for the standard setting Pn000 0 0 B Output Phase Form Forward movement phase B leads by 90 Reverse movement phase A leads by 90 pee ss Phase A Tess Phase A UOU Phase B Phase B Phase C a a Phase C ce oa a st LLL IMPORTANT When returning the machine to its home position by using the zero point signal of linear scale the home return speed should be 50 mm s or less If the speed is higher than 50 mm s the phase C pulse may not be output correctly Whenusing a linear scale with more than one zero point signal the phase C pulse width of
357. ilable space If using one magnetic way only with insufficient space to extend the linear guide up to the position of the coil assembly temporarily mount a dummy linear guide in line with the magnetic way s Simplified diagram showing installation of dummy linear guide Standard linear guide Dummy linear guide Magnetic way Movable table 2 Insert a thin nonmagnetic preferably resin sheet approximately 0 5 mm thick in the air gap between the coil assembly and magnetic way and move the coil assembly toward the magnetic way Slowly move col assembly Nonmagnetic shee IMPORTANT Make sure that hands or tools are not jammed due to the magnetic attraction from the magnetic way when the coil assembly approaches the end of the magnetic way When the air gap between the coil assembly and the magnetic way is fixed the nonmagnetic sheet is not required Refer to the table of dimensions in step 1 3 Move the coil assembly back and forth several times over the magnetic way from end to end making sure that the coil assembly is not touching the magnetic way and that no foreign objects such as magnetic par ticles are present Use a nonmagnetic brass or stainless steel gap gauge to check that the air gap between the coil assembly and the magnetic way is even 7 9 7 Wiring 7 1 4 SGLTW and SGLTM Linear Servomotor T Ty
358. imum output of SERVOPACK is approximately 3 times of the rated output for maximum 3 seconds Accordingly select a circuit breaker whose operating time is 5 seconds or more at 300 of SERVOPACK rated current The general purpose and low speed acting molded case circuit breakers are applicable The power supply capacity per SERVOPACK when using a servomotor is described in 2 6 2 Molded case Circuit Breaker and Fuse Capacity Select a circuit breaker with the capacity larger than the effective load current when using multiple SERVOPACKs calculated from the total power supply capacity The power consumption of other controllers must be considered when selecting a circuit breaker 2 Inrush Current Refer to 2 6 2 Molded case Circuit Breaker and Fuse Capacity for SERVOPACK inrush current The allowable inrush current for a low speed acting circuit breaker is approximately 10 times of the rated current for 0 02 seconds When turning ON multiple SERVOPACKs simultaneously select a molded case circuit breaker with the allowable current for 20 ms larger than the total inrush current shown in 2 6 2 Molded case Circuit Breaker and Fuse Capacity 6 26 6 8 Peripheral Devices 6 8 8 Noise Filter The noise filters model FN and FS manufactured by Schaffner Electronic and FMAC manufacture by SCHURTER formely TIMONTA AG are recommended Contact Yaskawa Controls Co Ltd Select one of the following noise filters according to SERVOPACK capa
359. in bold lines in the flowchart select the adjustment method according to the client s intent using 10 1 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 Autotuning does not suit the operating conditions Adjust the servo gains manually Refer to 10 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 10 2 10 1 Autotuning 10 1 2 List of Servo Adjustment Functions 1 Autotuning Functions Autotuning calculates the load mass 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 K
360. inals B2 and B3 3 To connect a DC reactor refer to 7 5 5 DC Reactor for Harmonic Suppression P SGDH OOAE d operator SERVOPACK Refer to 2 6 1 IE z Connection cable for Le YASKAWA 200V digital operator SERVOPACK SGDH EnpDma LIC E Connection cable for Sonne RAM personal computer ule Refer to 2 6 1 L2 N j L3 yah E 2 I O signal cable on uc Lac B1 A L B2 B3 a Refer to 2 6 1 y A w A _ a In Connection cable for AU po serial converter unit j 7 Refer to 2 5 Serial converter unit Refer to 2 4 Main circuit cable for linear servomotor Encoder Refer to 2 5 cable Refer to 2 5 Connection cable for hall sensor Refer to 2 5 Linear scale To be provided by users Refer to 2 6 5 Linear servomotor with core 1 9 1 Outline 1 3 3 Three phase 400 V Main Circuit 1 3 3 Three phase 400 V Main Circuit Power supply Three phase 400 VAC RST bl Molded case circuit breaker MCCB Protects the power supply line by shutting the circuit OFF when an overcurrent is detected Refer to 2 6 2 Noise filter Eliminates external noise from the power line Refer to 2 6 3 Magnetic contactor o Turns the servo ON and OFF Install a surge suppres
361. inals 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 r CN1 V REF SERVOPACK Speed reference 1 8kQ 1 2 W min output terminals SG Feedback pulse input 4 terminals z represents twisted pair wires 2 Proportional Control Reference P CON Type Signal Connector Setting Description Name Pin Number P CON CN1 41 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 linear servomotor movement 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 8 3 2 Input Circuit Signal Allocation 9 37 9 Operation 9 7 3 Adjusting Offset 9 7 3 Adjusting Offset When using the speed control the servomotor may run slowly even if 0 V is specified as the analog voltage ref ere
362. ing 7 1 4 SGLTW and SGLTM Linear Servomotor T Type with Iron Core A INFO mop Make sure that hands or tools are not jammed or caught due to the attraction of the magnetic way when the coil assembly approaches the end of the magnetic way When the air gap between the coil assembly and the magnetic way is fixed the nonmagnetic sheet is not required Refer to the table of dimensions in step 1 3 Move the coil assembly back and forth several times over the magnetic way from end to end making sure that the coil assembly is not touching the magnetic way and that no foreign objects such as magnetic par ticles are present Use a nonmagnetic brass or stainless steel gap gauge to check that the air gap between the coil assembly and the magnetic way is even estimated gap 0 3 mm 0 012 in 3 Magnetic Attraction 7 14 The linear servomotor is constructed of an opposing coil assembly and magnetic way Therefore magnetic attrac tion is offset when the air gap between the coil assembly and both magnetic ways is even However achieving an even air gap is difficult due to the accuracy of the linear servomotor itself and the device and error in the assembly of the linear servomotor at installation Consider the magnetic attraction values shown in the following table when designing the device to account for the effect of magnetic attraction calculated val ues Magnetic Magnetic i Coil Assembly gneu g Attraction at
363. ing Set Pn110 0 0 Y Yes Operation OK Load mass varies Yes LA 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 vaue for next autotuning Utility function Fn007 End 10 6 10 2 Online Autotuning 10 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 Online Autotuning Switches Setting Range Setting Unit Factory Setting Setting Validation om C LLLI 000 After restar Pn110 The factory setting is n OO00 This setting is recommended for applications in which the load mass does not change much or if the load mass is not known The mass calculated at the beginning of operation is used continuously In this case differences in machine status and operation references at the beginning of operation may cause minor differences in the cal culation results of the load mass causing differences in the servo responsiveness each time the power supply is turned ON If this o
364. ing Unit Factory Setting Setting Validation 10 to 100 0 1V rated force 30 Immediately 1 0 to 10 0 V Rated force 3 0 V Rated force This sets the analog voltage level for the force reference T REF that is necessary to operate the linear servomotor at the rated force Reference force Rated force W EXAMPLE Pn400 30 The linear servomotor operates at the rated force with 3 V input factory setting This reference voltage is set Pn400 100 The linear servomotor operates at the rated force with 10 V input Reference voltage V Pn400 20 The linear servomotor operates at the rated force with 2 V input 9 9 2 Force Reference Input By applying a force reference determined by the analog voltage reference to the SERVOPACK the linear servo motor force can be controlled in proportion with the input voltage Name Pin Number Input Force Reference Input Ea Signal Ground for Force Reference Input Used during force control analog voltage reference Pn000 1 2 6 8 9 The force reference gain is set in Pn400 For setting details refer to 9 9 1 Setting Parameters W Input Specifications Input range 1 to 10 VDC rated force Max allowable input voltage 12 VDC 300 9 Reference force 200 Factory setting 40 c T 1 Pn400 30 Rated force at 3 V Factory sein T7034 8 12 3 V input Rated force in forward direction Pp 4oo Input voltage V 9 V input 300 rated force in forward direction f 0
365. ing Using Position Control 5 Electronic Gear Ratio Setting Example An example of electronic gear ratio setting is given below Load Configuration 1 Checkihe scale pitch m Determine the reference 1 reference unit 0 001 mm 1 um unit Calculate the electronic poem t mem 20 um Pee parameters Pn202 NN abe Electronic Gear Ratio Equation Reference pulse Posi Linear servomotor d rien He ITAL A loop Af mm P C 4 gt Movement distance L mm x256 4 A amp mm P Reference unit L mm scale pitch L mm Movement distance Ps Ps mm Scale pitch L B L ap eae B js 256xL x AQ _ 256xAQ Set A and B with the following parameters 4 DS Ps A Pn203 B Pn202 9 51 9 Operation 9 8 3 Position Reference 9 8 3 Position Reference The servomotor positioning is controlled by inputting a pulse train reference The pulse train output form from 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 fn1ooo Reference input filter for open collector signal 1 Input Output Signal Timing Example
366. ing Validation 0 to 65 535 0 01 ms Immediately 0 00 to 655 35 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 10 22 10 4 Servo Gain Adjustment Functions 10 4 8 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 restan Speed Feedback Compensation Setting Range Setting Unit Factory 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 mass ratio set in Pn103 is correct Verify that the mass ratio has been set correctly Speed reference Error counter output Force reference Force reference filter time constant Pn401 Speed loop PI control Pn100 Pn101 Speed feedback Speed feedback compensation Pn111 A Speed feedback compensation
367. ion 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 4 uuuuU e xe o lt t1 t2 lt 0 5 ms Input reference pulses are not counted during this period 3 Setting Input Signals Type Signal Name Connector Pin Setting Meaning Number Input P CON CNI 41 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 Counts reference pulses Input INHIBIT Must be allocated ON low level Turns the INHIBIT function ON CN1 00 il Inhibits the SERVOPACK from counting refer ence pulses OFF high level Turns the INHIBIT function OFF pose 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 8 3 2 Input Circuit Signal Allocation 9 59 9 Operation 9 9 1 Setting Parameters 9 9 Operating Using Force Control 9 9 1 Setting Parameters The following parameters must be set for force control operation with analog voltage reference Meaning Pn000 n0020 Control mode selection Force control analog voltage reference Force Reference Input Gain Setting Range Sett
368. ions Check the conditions and take appropriate measures The load is too heavy or the jog speed is too fast resulting in force reference saturation Set the force limit referring to 7 Setting Force Limit If the force reference remains saturated lighten the load or lower the jog speed The linear servomotor is moving slightly and then stops The linear servomotor hall sensor and linear scale are out of alignment Check the wiring scale pitch setting linear scale count and whether the motor forward direction matches the scale countup direction The alarm A C2 phase error detection occurs when the linear servomotor moves The count direction of the linear scale signal is not correct or the count may not be normal Perform 5 Checking the Feedback Signal again If the count is normal the malfunction may be caused by noise Check the wiring and ground conditions of the SERVOPACK serial converter unit and linear servomotor 7 Setting Force Limit To prevent danger during setup of the linear servomotor the factory settings for the forward force limit Pn483 and reverse force limit Pn484 parameters are set to small value factory setting 30 When the linear servomotor moves normally in jog operation mode increase the value set for parameters Pn483 and Pn484 to the force required Set the value to the maximum value if no particular restricting condi tions apply Forward Force Limit Setting Range Setting Unit Factory Set
369. iring ing The position or 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 The divided output frequency exceeds 15 MHz Correct the setting for dividing output Decrease the maximum speed A SERVOPACK board fault occurred Replace the SERVOPACK Linear Servomo Occurred when the When connecting the linear servomotor a value Check the maximum speed of the allowable linear tor Maximum control power sup higher than the linear servomotor peak speed was set servomotor with Un010 and then set Pn384 to a Speed Setting ply was turned ON for Pn384 value that is lower than the maximum speed of the Error linear servomotor For the software version 32 or later 11 10 11 1 Troubleshooting Table 11 5 Alarm Display and Troubleshooting Cont d Alarm Alarm Name Situation at Alarm Cause Corrective Actions Display Occurrence Overload Occurred when the A SERVOPACK board fault occurred Replace the SERVOPACK A 71 High Load control power sup A 72 Low Load 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 conn
370. irst magnetic ways together And after confirming the mounting position secure the second magnetic way using bolts Make sure that fingers do not get jammed due to the magnetic attraction between magnetic ways 2 Coil Assembly Installation The coil assembly of SGLGW linear servomotor is constructed of an aluminum base and a resin coated coil winding section Handle the coil assembly with care and do not subject the coil winding section to shock Doing so may cause injury or damage to the coil assembly Use the following procedure to install the coil assembly of SGLGW linear servomotor 1 Insert the coil winding section of the coil assembly between the magnets of the magnetic way that has already been installed Next install the movable table supported by the coil assembly s linear guide Make sure that the air gap between the coil assembly s coil winding section and magnetic way magnets is the specified distance Magnetic way 7 1 Linear Servomotor Installation The relationship between the dimensions and positioning between the coil assembly s coil winding section and magnetic way s magnets is shown here Maintain the following air gaps when installing Make sure that the coil assembly and magnetic way do not interfere during the stroke Air B Air gap G2 0 03 10 3 0 95 0 3 t03 Coil assembly 0 8 0 3 03 0 8 0 3 t0 1 10 3 t0 Magnetic way 2 Move the coil as
371. is mounted on a machine 2 The magnetic way may affect pacemakers Keep a minimum distance of 200 mm 7 87 in from the magnetic way 3 Two magnetic ways in a set can be connected to each other 4 The dimensions marked with an are the dimensions between the magnetic ways Be sure to follow exactly the dimensions specified in the figure above Mount magnetic ways as shown in Assembly Dimensions The values with an are the dimensions at preshipment 5 Use socket headed screws of strength class 10 9 minimum for magnetic way mounting screws Do not use stainless steel screws Magnetic Way L2 Model SGLTM aU 324 540 486 19 13 1 8 21 26 54 2 13 x 9 0 35 0 39 17 64 N 270 10 63 6 4 8 12 76 54 2 13 x 5 0 20 0 24 10 56 0 756 702 27 64 14 m 29 76 54 2 13 x 13 0 51 0 55 24 25 3 45 3 Specifications and Dimensional Drawings 3 8 2 SGLTLI 35LILILILIALI Linear Servomotors 3 Magnet Way with Base SGLTM 35LILILIAY 3 46 20 0 79 13 13 0 51 0 0 L2 54 2 13 54 2 13 G l LLL 85 3 35 N29 l I 15 0 59 70 2 76 g ECD eer 2 e e e e Base 55 2 17 m S ae D 4 e eo y Jl gt _ gt Geass 6 I O
372. istics a With Standard force Magnetic Ways A Continuous duty zone B Intermittent duty zone SGLGW 30A050C SGLGW 30A080C 6 0 6 0 5 0 5 0 Motor 4 0 Motor 4 0 speed speed m s 3 0 m s 3 0 A A B 2 0 2 0 1 0 1 0 0 0 0 10 20 30 40 50 0 20 40 60 80 100 Force N Force N SGLGW 40A140C SGLGW 40A253C SGLGW 40A365C 6 0 6 0 6 0 5 0 5 0 5 0 Motor 4 0 Motor 4 0 Motor 4 0 speed A speed A speed A m s 3 0 m s 3 0 m s 3 0 2 0 2 0 2 0 B B 1 0 1 0 1 0 B 0 0 0 0 30 60 90 120 150 0 100 200 300 400 0 150 300 450 600 Force N Force N Force N SGLGW 60A140C SGLGW 60A253C SGLGW 60A365C 6 0 6 0 6 0 5 0 5 0 5 0 Motor 4 0 Motor 4 0 Motor 4 0 speed A speed A speed A m s 3 0 m s 3 0 m s 3 0 2 0 2 0 2 0 B B B 1 0 1 0 1 0 0 0 0 0 100 200 300 0 200 400 600 0 300 600 900 Force N Force N Force N SGLGW 90A200C SGLGW 90A370C SGLGW 90A535C 6 0 6 0 6 0 5 0 5 0 5 0 Motor 4 0 Motor 4 0 Motor 4 0 speed A speed A speed A m s 3 0 m s 3 0 m s 3 0 2 0 2 0 2 0 B B B 1 0 1 0 1 0 0 0 0 0 300 600 2900 1200 1500 0 500 1000 1500 2000 2500 O 700 1400 2100 2800 3500 Force N Force N
373. ity is as follows Sep Symbol 1 Calculate the kinetic energy of the linear ser Es Eg MV 2 vomotor 2 Calculate the energy consumed by friction Ej VuFtp 2 loss during the deceleration period 3 EL Calculate the energy lost from linear servo EM Value calculated from 2 Servo motor winding resistance motor Winding Resistance Loss diagrams X tp Calculate the SERVOPACK energy that can Ec Calculate from 3 SERVO be absorbed PACK s Absorbable Energy dia grams 5 Calculate the energy consumed by the regen Ex Ex Eg Ej tEyy Ec erative resistor Calculate the required regenerative resistor Wk Wy Eg 0 2 X T capacity W Note 1 The 0 2 in the equation for calculating Wy is the value for when the regenerative resis tor s utilized load ratio is 20 2 The units for the various symbols are as follows Symbol Meanings Kinetic energy of linear servomotor Energy consumed by friction loss during the deceleration period Energy consumed by linear servomotor winding resistance loss Energy that can be absorbed by SERVOPACK Energy consumed by regenerative resistor J Required capacity of regenerative resistor kg M MM ML ke Load mass including linear servomotor Linear servomotor movement speed tD sec Period to decelerate to a stop Repeated operation cycle of linear servomotor 12 7 12 Appendix 12 2 2 Calculating the Regenerative Energy 12 8 If the a
374. ke sure that the core wire is not electrically shorted to adjacent core wires SERVOPACKs with a capacity below 1 5 kW have a removable connector for the main circuit power supply or the control power supply 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 to 61 6 mm Braided wire AWG28 to AWG12 2 Connection Procedure 1 Strip the end of the wire EN E 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 nsert the connection hook end of the provided 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 7 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 N The terminal block for SERVOPACK SGDH ODE for 400 V 500 W to 1 5 kW has an indication 300 V 15 A This is a U INFO rating recognition of UL authorization which means that t
375. l Mapping Polarity detection when ON L level Refer to 9 2 3 0 to F Same as ZCLAMP 12 36 12 4 List of Parameters Parameter Factory Setting Reference Pn50E Output Signal Selection 1 3211 After restart 4th 3rd 2nd 1st digit digit digit digit Positioning Completion E to 9 8 5 Positioning Completed Output Signal Disabled the above signal is not used o Outputs the signal from CN1 25 26 output terminal EV Outputs the signal from CNI 27 28 output terminal 3 Outputs the signal from CN1 29 30 output terminal Speed Coincidence Detection Signal Mapping V CMP Refer to 9 7 8 Speed Coincidence Output Same as COIN Movement Detection Signal Mapping TGON Refer to 9 13 3 Same as COIN Servo Ready Signal Mapping S RDY Refer to 9 13 4 Servo Ready S RDY Output Same as COIN Pn50F Output Signal Selection 2 0000 After restart 4th 3rd 2nd 1st digit digit digit digit Force Limit Detection Signal Mapping CLT cs to 9 11 5 Checking Output Force Limiting ing Operation Disabled the above signal is not used 1 Outputs the signal from CN1 25 26 output terminal 2 Outputs the signal from CN1 27 28 output terminal 3 Outputs the signal from CN1 29 30 output terminal Speed Limit Detection Signal Mapping VLT Refer to 9 9 4 Limiting Linear Servomotor Speed during Force Control Same as CLT Brake Interlock Signal Mapping BK Ti to 8 3 3 a for Warni
376. l count will not be performed Rewire the devices correctly 9 15 9 Operation 9 2 3 Setup Procedure Using Linear Servomotors without Hall Sensors b Checking the Concurrence between the Linear Scale Count Direction and the Linear Ser vomotor Forward Direction Next move the coil assembly by hand in the direction of the side with the cable and check that the Un00D monitor is counting up SSS M l ee E gt Linear servomotor cable attached to coil assembly When the linear servomotor is moved by hand to the side with the cable if the value of UnOOD is a countup value confirmation is completed For B When the Value of the UnOOD is counted down When the value of the Un00D is a counted down set the parameter Pn080 1 1 B phase progression U V W phase in order Enable the setting by setting validation With this setting the SERVOPACK performs current control by treating the linear scale countup direction as the motor forward direction c Related Parameters Pn080 n LILIOL Phase A progression phase U V W order factory setting 8 Assigning Polarity Detection Start Input P DET When using a linear servomotor without a hall sensor polarity detection must be performed after turning ON the power When the input signal assignment mode is set to the factory setting Pn50A 0 0 polarity detection starts at the same time as the Servo ON S ON signal and when the polarit
377. larm Output ALM This signal is output when an error is detected in the SERVOPACK Type Signal Connector Setting Meaning Name Pin Number CNI 31 32 ON low level Normal SERVOPACK condition Factory setting OFF high level SERVOPACK alarm condition E 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 CNI1 44 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 8 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 8 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 resetting the alarm The methods for trouble shooting alarms are described in 71 1 5 Troubleshooting of Alarm and Warning 3 Alarm Code Output
378. lay status using these operators For the operation of the digital operator Model JUSP OP02A 2 refer to XI Series SGMLIH SGDM Digital Operator Operation Manual TOE S800 34 8 1 1 Connecting the Digital Operator Two types of digital operators are available One is a built in operator that has a panel indicator and switches located on the front panel of the SERVOPACK This type of digital operator is also called a panel operator The other one is a hand held operator JUSP OP02A 2 digital operator which can be connected to the SERVOPACK with connector CN3 of the SERVOPACK 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 Digital Operator JUSP OP02A 2 ia YASKAWA LO WY SERVOPACK SGDH DIGITAL SERVOPACK OPERATOR Ji MODE SET amp w DW P OP02A Panel Operator ALARM DSPL RESET SET GG I YASKAWA CN3 A dedicated cable is used to connect the digital operator to the SERVOPACK ooojo o ooo Oo SERVOPACK OO OOOO Oo o IMPORTANT If the digital operator is connected to the SERVOPACK the panel operator does not display anything 8 1 Functions on Digital Operator Panel Operator 8 1 2 Key Names and Functions Key names and functions for the digital operator and the panel operator are explained below Set parameter
379. lection 2 Setting Refer to 10 4 11 2 Validation No automatic gain switching available After restart Position error Both position reference and position error Reserved Do not change Pn10C Mode Switch Force Reference 0 to 800 ee aa 10 4 5 ately The setting range for the software version 32 or later 2 Available only for the software version 32 or later 12 27 12 Appendix 12 4 2 List of Parameters Parameter Name Setting Range Unit Factory Setting Reference No Setting Validation Section Pn10F Mode Switch Position Error Pulse 0 to 10000 I reference Immedi 10 4 5 unit ately Pn110 Online Autotuning Switches 0010 After restart 4th 3rd 2nd 1st digit digit digit digit Online Autotuning Selection Lo Tunes only at the beginning of operation Does not perform autotuning Speed Feedback Compensation Selection Refer to 10 4 8 Speed Feedback Compensation Uses speed feedback compensation Does not use speed feedback compensation Standard speed feedback Friction Compensation Selection o Disabled Friction compensation Small Friction compensation Large Reserved Do not change Pn111 Speed Feedback Compensation T to 500 1 100 immedi 1048 ately Pn124 Automatic Gain Switching Timer 1 to 10000 1 ms 100 Immedi ately Pn125 Automatic Gain Switching Width 2 to 250 1 reference T Immedi unit ately Pn180 Bias 0 to 450 1 mm s Immedi 10 4 6 ately Pn181 Mode Switch Speed Ref
380. leration operation during the motor speed cycle from 0 m s to the maximum speed to 0 are summarized in the following table Convert the data into the values obtained with actual rotation speed and load mass to determine whether an external regenerative resistor is needed Load Condition Including Coil Assembly Allowable Frequencies in Regenerative Mode times min ope JA E suede M SUE SUUM mH RM assembly mass 30A2000 Linear Servomotor Model 3043700 r TABOR OS swa a 5045808 ms assembly mass iZA2008 IZA 12 4 12 2 Calculating the Required Capacity of Regenerative Resistors Load Condition Including Coil Assembly Allowable Frequencies in EingarssorvomoterdMadal Regenerative Mode times min SGLTW 20A170A 20A320A 20A460A 35A170A 35A320A Borse 35A460A wice of coi assembly mass 35A170H 35A320H 50A170H 50A320H 40A400B Note The model with M is the combination model with a standard type coil assembly and a high force type magnetic way Speed reference Servomotor speed 4 Servomotor generated force o Operating cycle Allowable frequency 1 T times min Fig 12 1 Operating Conditions for Allowable Regenerative Frequency Calculation Use the following equation to calculate the allowable frequency for regenerative mode operation 2 Allowable frequency in regenerative mode times Peak speed s ed red
381. leted output in Position Control Mode Turns ON when the 9 8 5 COIN 26 number of positional error pulses reaches the value set The setting is the number of positional error pulses set in reference units input pulse units defined by the elec tronic gear iu 3 4 Output Circuit Signal Allocation 7 27 7 Wiring 7 4 6 Interface Circuit 7 4 6 Interface Circuit This section shows examples of SERVOPACK I O signal connection to the host controller 1 Interface for Reference Input Circuits a Analog Input Circuit CNI connector terminals 5 6 Speed reference input and 9 10 Force reference input are explained below Analog signals are either speed or force reference signals at the impedance below Reference speed input About 14 KQ Reference force input About 14 kQ The maximum allowable voltages for input signals is 12 V Analog Voltage Input Circuit Analog Voltage Input Circuit D A SERVOPACK SERVOPACK 1 8 KQ 1 2 W min Host controller 34 V REF or V REF or 12V 25HP 10B 2 TEREF X T REF 14 KQ 2 kQ 1 sc About 14 kQ l sg About l OV OV b Position Reference Input Circuit CNI connector terminals 7 8 Reference pulse input 11 12 Reference code input and 15 14 Clear input are explained below An output circuit for the reference pulse and position error pulse clear signal at the host controll
382. lity function mode Press the UP or DOWN Key to select Fn011 Note The enabled digit blinks Press the DATA ENTER Key once or DATA SHIFT Key for more than one second to display the linear ser vomotor model and voltage code ED IHE Linear Servomotor Voltage Linear Servomotor Type Data Model Data Type 01 200 VAC or 280 VDC 40 Linear servomotor 02 400 VAC or 560 VDC Press the DSPL SET or MODE SET Key to display the servomotor capacity rl IGI IG Motor capacity in units of 10 W The above example indicates 100 W Press the DSPL SET or MODE SET Key and the linear scale type and resolution code will be displayed E inm Wa LAWL _ Linear Scale Type Scale Pitch Multiplication Data Resolution 8 8 bit Data Type 00 Incremental Press the DSPL SET or MODE SET Key to display the SERVOPACK s code for custom orders Note The display y 0000 means standard model TM for custom orders Press the DATA ENTER Key once or DATA SHIFT Key for more than one second to return to the utility function mode display Fn011 8 17 8 Digital Operator Panel Operator 8 2 11 Software Version Display Fn012 8 2 11 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 Press the DSPL SET or MODE SET Key to select the
383. lug type 350779 1 A PN Phase V Pin boe 350218 3 oF 3 Phase W Black becomes as shown in the figure below ype Phase W 350547 3 No 1 to 3 FG IG 17JE 23090 02 D8C 350654 1 a ren made by DDK Ltd The mating connector DV Power Supply 350669 1 No 4 Not used made by Tycon Electronics AMP K K Vu Su Not used The mating connector L Lt Cap type 350780 1 inverse 8 Notused Socket type 350536 3 or powr Vv Not used 350550 3 V Vw ISu 0 180 360 540 Electrical angle Socket connector type 17JE 13090 02 D8C Stud type 17L 002C or 17L 002C1 OO CO N OD mo B amp B Ww nm Coil Assembly Model SGLFW 215 120 180 6 35 395 300 360 12 6 9 9S0HS80BH 15 55 11 81 14 17 3 35 3 Specifications and Dimensional Drawings 3 7 3 SGLFLI 50 Linear Servomotors 2 Coil Assembly SGLFW 50DLILILIBLID With a connector made by Interconnectron The following table and figures show the specifications when a main circuit s cable connector made by Intercon nectron is used for the coil assembly D o a a SI 7 BIS 7 0 28 m 37 75 33 75 1 49 1 33 71 5 2 81 0 55 0 gt 3 m a 3 2 Q 3 z E 2 280 004 3 Gap 0 8 0 03 With magnet cove Magnetic way Hall sensor
384. ly 1 50 to 30 00 V Rated speed 6 00 V Rated speed speed The speed feed forward function uses analog voltages and is valid only in position control The speed feed forward function is used to shorten positioning time The host controller differentiates the position refer ence to generate the feed forward reference and inputs the feed forward reference together with the position reference to the SERVOPACK Too high a speed 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 position reference signal line to PULS and SIGN CN1 7 8 11 and 12 and a speed feed forward reference signal line to V REF CN1 5 and 6 from the host controller Host controller SERVOPACK Differ V REF CN1 5 and 6 ential gt gt Pn300 Linear servomotor Position reference gt gt Pus Kp Pn102 gt Pn100 o Current loop v SIGN Integration Pn101 Speed eg calculation Linear scale Kp Position loop gain Ker Feed forward gain Speed feed forward value is set using the parameter Pn300 The factory setting is Pn300 600 If for example the speed feed forward value is 6V then the speed is limited to the rated speed 10 17 10 Adjustments 10 4 4 Pr
385. 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 pe CN1 6 Signal Ground Inputs an analog voltage reference as the linear servomotor speed limit value during force control The smaller value is enabled the speed limit input from V REF or the Pn480 Speed Limit during Force 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 force control With Pn300 600 factory setting and 6 V input from V REF CN1 5 6 the actual motor speed is limited to the rated speed of the servomotor used INFO W The Principle of Speed Limiting When the speed is outside of the allowable range a force 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 VIT Must be allocated
386. me disconnect 1 5VDC 2 Phase U Phase V Phase U 3 Phase V RH l Pin connector 4 Phase W 17JE 23090 02 D8C Ph Ww Ground made by DDK Ltd 5 0v i The mating connector 6 Not used View from top of coil assembly Socket connector type 7 Not used 3 B 17JE 13090 02 D8C 3 eee Name Color Code Wire size Stud type 17L 002C or Phase U U 17L 002C1 3 Notused PhaseV Black V 2mm Phase W W Ground Green 2mm Coil Assembly Model SGLTW 35L1170HLI ACER 0 180 360 540 Electrical angle 170 144 5 67 16 8 4 7 6 69 48 1 89 x 3 0 12 0 63 0 31 10 36 315 288 11 34 mp 88 soono inim asas 02 Reference length 3 47 3 Specifications and Dimensional Drawings 3 8 3 SGLTO 350000HO Linear Servomotors 2 Coil Assembly SGLTW 35DLILILIHLID With a connector made by Interconnectron The following table and figures show the specifications when a main circuit s cable connector made by Intercon nectron is used for the coil assembly 1 10 15 0 01 X NxM6 tapped holes depth 12 0 47 as 70 2 76 gt 8 EP 30 1 18 L1 AME X 10 0 39 L2 Laa Ss e Magnetic way 0 482015 Slo 0 LYN X 0 79 1 89 001 MER i 9x 4 9 9 3 pepeg e Se DE z Em o 3 8 a 2 3
387. meter Pn080 1 servo is turned ON linear scale direction do not match or during operation The hall sensor is protruding from the linear servo Reconsider the linear servomotor installation motor magnetic way Noise interference on the hall sensor signals Take a noise prevention measure for the hall sen sor wiring Connect the case of serial converter unit to FG The linear scale installation does not meet the Reconsider the installation requirements of the scale specifications Dust and dirt accumulate on the linear scale Remove dust and dirt on the linear scale A linear scale fault occurred Replace the linear scale Polarity Occurred during The polarity detection failed Refer to 9 2 3 d Troubleshooting for Polarity Detection Faulty polarity detection Detection Errors Encoder Occurred when the The serial converter unit wiring and the contact are Correct the serial converter unit wiring Communica control power sup incorrect tions Error ply was turned ON Noise interference occurred due to incorrect serial Use tinned annealed copper twisted pair or or during operation converter unit 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 serial converter unit cable is too long The noise interference occurred on the signal line Correct the serial converte
388. mr LL Uno6 Owpusmd mor SSS SY Un007 Input reference pulse speed displayed only in position control mode s mode force in 10 s cycle Displays regenerative power consumption in 10 s cycle Power consumed by DB resistance Value for the processable power when dynamic brake is applied as 100 Dis plays DB power consumption in 10 s cycle Un00C Input reference pulse counter 32 bit decimal code pr mmssmpuemsemmi 00000 UD Feedback pulse counter G2bit decimated OoOO o o oS Un010 Motor maximum speed setting upper limit or encoder output resolution setting 100mm s or upper limit Pulse scale pitch Pn280 Uno11 Hall sensor signal monitor teh 00 6H Available for the software version 32 or later 12 40 12 5 Parameter Recording Table 12 5 Parameter Recording Table Use the following table for recording parameters Note Setting validation immediately or after restart for Pn10B and Pn110 differs depending on the digit The digits validated after restart are underlined in Factory Setting column eer TTT s mon mo f Function Selection Basic Switches 0 end mor o Function Selection Application Switches 1 Md imo we Function Selection Application Switches 2 p After restart 2 Bep 1 1 eof 1 1 mee 1 1 Bep 1 1 eef roe mmm 1 1 mee 1 1 epum 1 me 1 1 epu 11 n m a ne EIN uk p m E
389. ms Correct the speed loop integral time constant Pn101 constant Pn101 setting Refer to 9 3 2 Operating Procedure in setting Speed Control Mode Pn000 n ILIO Check the setting of Pn103 Mass Ratio Correct the setting of Pn103 Mass Ratio When the autotuning is used Incor Check the setting of Pn103 Mass Ratio Correct the setting of Pn103 Mass Ratio rect mass ratio data setting When the autotuning is used Incor Check the setting of Fn001 Machine Ridig Correct the setting of Fn001 Machine Ridigity Setting rect machine rigidity setting ity Setting High Speed loop gain value Pn100 too Factory setting Kv 40 0 Hz Reduce the speed loop gain Pn100 preset value Speed low Refer to the gain adjustment in User s Man Overshoot on ual Starting and Position loop gain value Pn102 too Factory setting Kp 40 0 s Reduce the position loop gain Pn102 preset value Stopping 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 setting of Pn103 Mass Ratio Correct the setting of Pn103 Mass Ratio rect mass ratio data When the autotuning is not used Check the setting of Fn001 Machine Ridig Correct the setting of Fn001 Machine Ridigity Setting Incorrect machin
390. n Circuit Nameplate side view Indicates the SERVOPACK model and ratings Refer to 1 1 3 SERVOPACKs CN2 Encoder connector Connects to the serial converter unit Refer to 7 3 Wiring Encoders Ground terminal Be sure to connect to protect against electrical shock Refer to 7 2 Wiring Main Circuit S B Connecting terminal of DC Reactor For connecting a reactor refer to 7 5 5 DC Reactor for Harmonic Suppression 1 2 Product Part Names 2 SGDH for 7 5 kW Power indicator Panel operator e G SERVOPACK 200V SERVOPACK model IH LLL C Powt E CN3 Connector for personal computer monitoring and CN8 ren El cna voes A A v parc J CNS digital operator Charge indicator Control circuit terminal CN1 CN2 Main circuit power supply terminals L1 L2 L3 fel G9 G9 Ie Ome Panel display CN5 Analog monitor connector Panel switch CN2 Encoder connector CN1 I O signal connector Nameplate side view Servomotor terminals U V W Ground terminal Regenerative resistor connecting terminals B1 B2
391. n 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 lt q EXAMPLE gt When ALM signal operates alarm at H level 31 lt 4 The top segment of l number 1 is lit 7654321 8 4 3 Operation in Monitor Mode The example below shows how to display the contents of monitor number Un000 when the linear servomotor runs at 1500 mm s Display after Digital P 1 anel erator 6 Press the DSPL SET or MODE SET Key to select the SET monitor mode DSPL SET Key MODE SET MODE SET Key 2 Press the UP or DOWN Key to select the monitor num ber to be displayed The display shows the example of the data of Un000 3 Press the DATA ENTER Key once or DATA SHIFT Key for more than one second to display the data of Un000 ENTER DATA 4 DATA ENTER Key DATA SHIFT Key Press at least 1 s Press at least 1 s 4 Press the DATA ENTER Key once or DATA SHIFT Wht E ONAA Key for more than one second to return to the display DATA ENTER Key DATA SHIFT Key of monitor number 8 32 8 4 Operation in Monitor Mode UnOOD 8 4 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 hexadecimal Display after Digital Panel a died Press the DSPL SET or MODE SET Key to select eo the monitor mode
392. n Module Detection Results Clear Fn014 8 19 8 3 Operation in Parameter Setting Mode PnLIDIEI 8 20 8 3 1 Setting Parameters 8 20 8 3 2 Input Circuit Signal Allocation 8 24 8 3 3 Output Circuit Signal Allocation 8 28 8 4 Operation in Monitor Mode UnOOID 8 30 8 4 1 List of Monitor Modes 8 30 8 4 2 Sequence I O Signal Monitor Display 8 31 8 4 3 Operation in Monitor Mode 8 32 8 4 4 Monitor Display of Reference Pulse Counter and Feedback Pulse Counter 8 33 8 4 5 Allowable Maximum Motor Speed for Dividing Ratio Monitor For the software version 32 or later 8 34 8 4 6 Hall Sensor Signal Monitor For the software version 32 or later 8 35 9 Operation 9 1 Trial Operation 9 4 9 2 Trial Operation Using SERVOPACK Internal References 9 6 9 2 1 SERVOPACK Setup Procedure 9 6 9 2 2 Setup Procedure Using Linear Servomotors with Hall Sensors 9 6 9 2 3 Setup Proc
393. n mode as required Display after Press the DSPL SET or MODE SET Key to select SET the utility function mode DSPL SET Key e MODE SET Key Press the UP or DOWN Key to select the Fn014 Note The enabled digit blinks Press the DATA ENTER Key once or DATA SHIFT Key for more than one second and the dis DATRISHIPT Key Play will be as shown on the left Press at least 1 s 3 co 4 Press the DSPL SET or MODE SET Key and the l display will be as shown on the left to clear the application module detection c 9 SET DSPL SET Key MODE SET MODE SET Key The display changes from donE to the display After about one second shown on the left Press the DATA ENTER Key once or DATA eus SHIFT Key for more than one second to return to DATA 4 EM DATA SHIFT Key the utility function mode Press at least 1 s DATA ENTER Key 8 19 8 Digital Operator Panel Operator 8 3 1 Setting Parameters 8 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 select
394. n the driven Any foreign matter damages or deforma Contact the machine manufacturer 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 specified serial converter unit cable serial converter unit cable specifica be tions 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 serial The wiring distance must be 20 m 65 6 ft Shorten the serial converter unit cable wiring distance to converter unit cable wiring distance max the specified value Noise due to damaged serial con Check if the serial converter unit cable is Modify the serial converter unit cable layout verter unit cable not damaged or bent Excessive noise to the serial con Check if the serial converter unit cable is Install a surge suppressor to the serial converter unit verter unit cable bundled with high current line or near the cable high curr
395. n080 n0000 Phase A progression phase U V W order factory setting n000 Phase B progression phase U V W order 6 Jog Operation from the Panel Operator IMPORTANT When turning ON the servo for the first time after installation and wiring stand away from the motor mov ing part as overrun may occur 1 To perform a trial operation with a load attached set mass ratio Pn103 before running When the calculated mass ratio exceeds 20000 set 20000 in the parameter and adjust loop gains Mass Rae Setting Range Setting Unit Factory Setting Setting Validation Use the following formula to obtain the mass ratio Load mass including mass of coil assembly Mass ratio Pn103 1 x100 94 Coil assembly mass This setting range is applicable for software version 32 or later The range for software earlier than ver sion 32 is 096 to 10 000 INFO Perform trial operations without a load attached where possible 2 Turn ON the control power supply and main circuit power supply 3 Operate the panel operator or digital operator and move the linear servomotor using jog operation For details on jog operation refer to 8 2 3 JOG Mode Operation Fn002 4 Check that the linear servomotor moves normally from end to end of the stroke 9 10 9 2 Trial Operation Using SERVOPACK Internal References INFOQ B Unsuccessful Trial Operations An unsuccessful trial operation could be attributed to the following condit
396. nal Drawings of Serial Converter Unit CN1 CN2 CN3 SERVOPACK end Linear scale end Linear scale end serial data output Analog signal input Hall sensor signal input 1 9 1 6 9 6 8 5 17 series connector model 17 series connector model 17 series connector model 17JE 13090 27 17JE 13150 02 D8C 17JE 13090 socket by DDK Ltd socket by DDK Ltd by DDK Ltd cos input A sin input B Ref input R 7 Case my V Shield Note 1 Do not use empty pins 2 The linear scale analog 1 Vp p output D sub 15 pin male by Heidenhain Corp can be directly connected 3 U phase V phase and W phase input are internally pulled up at 10kQ 5 7 5 Specifications and Dimensional Drawings of Serial Converter Unit 5 3 4 Linear Scale with Cable for Hall Sensor by Renishaw 5 3 4 Linear Scale with Cable for Hall Sensor by Renishaw 1 Serial Converter Unit JZDP D008 LILILI 2 Connection Example Serial converter unit JZDP D008 LILILI D sub 9 pin connector SERVOPACK CN3 SGDH OOOE 3 Dimensional Drawing Linear scale by Renishaw Inc JZSP CLP70 00 D sub 15 pin connector Hall sensor Linear scale end Hall sensor signal input connector CN3 2x 4 2 4x 4 2 0 17 2x 4 40 UNC tapped holes 60 17 holes holes Nameplate SERVOPACK end Serial data output connector CN1
397. nal Monitor For the software version 32 or later This section describes the monitor display for the signal patterns of the hall sensor This function is available for Servopack Software version 32 or later Display after Press the DSPL SET or MODE SET Key to select the mon SET itor mode EATER DSPL SET Key a SET MODE SET Key 2 EEZEE Press the UP or DOWN Key to select Un011 Press the DATA ENTER Key once or DATA SHIFT Key Du for more than one second to return to the display of monitor Press the DATA ENTER Key once or DATA SHIFT Key for more than one second to display the hall sensor signal pattern H Lit Phase W signal monitor Phase V signal monitor e Phase U signal monitor CL ETH SEA DATA L Hall sensor signal pattern DATA ENTER Key ee a Hall Sensor Signal Monitor Signal Pattern Phase U Phase V Phase W 0 DATA ESTEE DATA ENTER Key DATA SHIFT Key number Press at least 1 s 8 35 9 Operation 9 1 Trial Operation 9 4 9 2 Trial Operation Using SERVOPACK Internal References 9 6 9 2 1 SERVOPACK Setup Procedure 9 6 9 2 2 Setup Procedure Using Linear Servomotors with Hall Sensors 9 6 9 2 3 Setup Procedure Using Linear Servomotors without Hall Sensors 9 12 9 3 Trial Operation for Linear Servomotor without Load f
398. nations shown in this table are used when the maximum rated force of the appli cable linear servomotor is required To suppress rises in temperature larger linear servomotors are used in some cases If so the SERVOPACK capacity can be lowered if using a motor at a lower force than the rated force Calculate the required current and select a model with a margin of approximately 20 An allowance can be made for up to 1 3 of the combined capacity of the linear servomotor and SERVOPACK in the table 2 Selections 2 4 Serial Converter Units Models JZDP D003 001 oo 2 6 Note When using a 400 V winding linear servomotor with a 200 V SERVOPACK the parameters in the serial converter should be changed Contact your Yaskawa representatives Serial Converter Unit Model Applicable Linear Servomotor i Servomotor Model Symbol Servomotor Model Symbol Symbol A Applicable Hall S ymbo ppearance Linear Scale all sensor 30A050C 250 20A170A 011 30A080C 251 20A320A 012 40A140C 252 20A460A 013 D003 Made b None Aiden 40A253C 253 35A170A 014 SGLGW 40A365C 254 35A320A 015 Coreless 60A140C 258 35A460A 016 When a 60A253C 259 35A170H 105 D
399. nce This happens if the host controller or external circuit has a slight offset in the units of mV in the refer ence voltage Adjustments can be done manually or automatically by using the panel operator or digital operator Refer to 8 2 Operation in Utility Function Mode Fn OOD The automatic adjustment of the analog speed force reference offset Fn009 automatically measures the amount of the offset and adjusts the reference voltage 9 38 The SERVOPACK automatically adjusts the offset when the host controller or external circuit has the offset in the reference voltage Reference voltage Offset Speed reference h Automatic offset adjustment voltage Reference Speed reference Offset automatically adjusted in SERVOPACK After completion of the automatic adjustment the amount of offset 1s stored in the SERVOPACK The amount of offset can be checked in the speed reference offset manual adjustment mode Fn00A 9 7 Operating Using Speed Control with Analog Reference 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 Use the speed reference 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 i
400. nce length Units mm in Hall Sensor Linear Servomotor Hall Sensor Output Signals Connector Specifications EE NEG Connector Specifications m When the coil assembly moves in the di koso Pin No Name Color rection indicated by the arrow in the fig 1 55V Power supply o0 1 Phase U Red ure the relationship between the hall 2 Phase U EL sensor output signals Su Sv Sw and the Phase V Whit i 3 Phase Plug type 350779 1 2 ase ite inverse power of each motor phase Vu Pin connector t i Pin type 350561 3 or 3 Phase W Blue Vv Vw becomes as shown in the figure ypa 4 Phase W 350690 3 No 1 to 3 below 17JE 23090 02 D8C 3 No 1 to 3 4 FG Green 350654 1 made by DDK Ltd 5 OV Powr supply 350669 1 No 4 The mating connector 6 Not used made by Tyco Electronics AMP K K Vu Fs q m Socket connector type 7 Not used The mating connector type 17JE 13080 02 D8C 8 Not used Cap type 350780 1 Inverse Stud type 17L 002C or Socket type 350570 3 or power V Iv 17L 002C1 9 Not used 350689 3 v Vw S d H Coil Assembly PPP Model SGLGW L L2 L3 L4 L5 L N1 N2 Mass kg Ib 1 90 0 4 0 1 6 40 125 3 52 5 5 3 4 0 48 5 0 252 5 237 5 180 375 6 B5 5 8 0 82 oe 365 350 315 30 525 27 3 14 L16 sassen issn asa an oa os es The value indicates the mass of coil assembly with a hall sensor unit 3 24 3 6 Dimensional Drawings of SGLGW SGLGM Linear Servomotors 2 Coil Assembly SGLGW 60ALILILICLID With a
401. nce limits force by assigning a force limit in an analog voltage to the T REF terminals CN1 9 and 10 This function can be used only during speed or position control not during force control Refer to the following block diagram when the force limit with an analog voltage reference is used for speed con trol SERVOPACK Po lirit x T REF 5400 Forward force Y limit value Pn483 Speed loop ain Speed gt REF Pn300 Pn100 Petes reference 7 reference Speed loop integral time constant Reverse force Pn101 limit value Pn484 Speed feedback N There is no polarity in the input voltage of the analog voltage reference for force limiting The absolute values of both INFO and voltages are input and a force limit value corresponding to that absolute value is applied in the forward or reverse direction 1 Related Parameters Meaning Pn002 n0001 Speed control option Uses the T REF terminal to be used as an external force limit input When n O1O1L22 is set the T REF terminal is used for force feed forward input but the functions cannot be used together 2 Input Signals Name Pin Number Input Force reference input oe ea 3 Signal ground for force reference input The force limit input gain is set at parameter Pn400 Refer to 9 9 1 Setting Parameters W Input Specifications Input range 1 VDC to 10 VDC
402. nctions 2 Notch Filter The notch filter can eliminate specific frequency vibration generated by sources such as resonances of ball screw axes The notch filter puts a notch in the gain curve at the specific vibration frequency The frequency compo nents near the notch frequency can be eliminated with this characteristics A higher notch filter Q value produces a sharper notch and phase delay Q value 0 7 Q value 1 0 Notch filter Notch filter 10 10 Frequency Hz Frequency Hz Notch filter Notch filter 100 Phase 200 deg 300 400 10 10 10 Frequency Hz Frequency Hz Enables the notch filter to be used The setting is validated immediately Used for software version 32 or later Set the machine s vibration frequency in the parameter of a notch filter to be used First Stage Notch Filter Frequency Setting Range Setting Unit Factory Setting Setting Validation 50 to 2 000 2 000 Immediately Second Stage Notch Filter Frequency Setting Range Setting Unit Factory Setting Setting Validation 50 to 2 000 2 000 Immediately Used for software version 32 or later 10 27 10 Adjustments 10 4 10 Force Reference Filter When the vibration is suppressed but overshooting occurs increase the Q value and check whether the over shooting is corrected First Stage Notch Filter Q Value Setting Range Setting Unit Factory Setting Setting Vali
403. ndicated by the arrow SGLFW 20A120A0 3xM4 when current flows in the order of phase U V and W apped holes depth 5 5 0 22 Linear Servomotor Connector Specifications ota e NLO Hall Sensor Connector Specifications Pin No Name 1 5V Power supply 2 Phase U 3 Phase V Pin connector type 17JE 23090 02 D8C i Phase W made by DDK Ltd 5 OV Power supply The mating connector 6 Not used Socket connectoro type T Not used 17JE 13090 02 D8C Stud type 17L 002C or B Wot used 17L 002C1 9 Not used Coil Assembly Model SGLFW Reference length Units mm in Hall Sensor Output Signals When the coil assembly moves in the di rection indicated by the arrow in the fig ure the relationship between the hall sensor output signals Su Sv Sw and the inverse power of each motor phase Vu Plug type 350779 1 Pin type 350218 3 or Vv Vw becomes as shown in the figure below 350547 3 No 1 to 3 350654 1 1 2 3 4 350669 1 No 4 made by Tyco Electronics AMP K K The mating connector Cap type 350780 1 Socket type 350536 3 or 350550 3 9T 36 72 2 0 7 20A090ALI 3 58 1 42 2 88 0 08 1 54 127 72 108 3 20A120A0 5 0 2 83 4 25 0 12 3 30 Vu Iu 1 nverse yy power Sv V Vw 0 180 360 540 Ele
404. near scale 9 8 4 Smoothing A filter can be applied in the SERVOPACK to a constant frequency reference pulse 1 Selecting a Position Reference Filter Description Pn207 n0000 Acceleration deceleration filter n0001 Average movement filter After resetting the parameter turn OFF the power once and turn it ON again 9 55 9 Operation 9 8 4 Smoothing 2 Filter related Parameters Pn204 Position Reference Acceleration Deceleration Time Constant Setting Range Setting Unit Factory Setting Setting Validation 0 to 6400 0 01 ms Immediately 0 00 to 64 00 ms Average Movement Time of Position Reference Setting Range Setting Unit Factory Setting Setting Validation 0 to 6400 0 01 ms Immediately 0 00 to 64 00 ms 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 When the reference electronic
405. ng Signal Mapping WARN eal to 9 13 2 TE a 12 37 12 Appendix 12 4 2 List of Parameters Parameter Factory Setting Reference Pn510 Output Signal Selection 3 0000 After 9 8 6 restart 4th 3rd 2nd 1st digit digit digit digit n Near Signal Mapping NEAR 0 Disabled the above signal is not used Outputs the signal from CN1 25 26 terminal 2 Outputs the signal from CN1 27 28 terminal 3 Outputs the signal from CN1 29 30 terminal Reserved Do not change Reference Pulse Input Switch Signal Mapping IP SELA Same as NEAR Reserved Do not change Pn512 Output Signal Reverse Settings 0000 After 8 3 3 restart Ath 3rd 2nd 1st digit digit digit digit n Output Signal Reverse for CN1 25 or 26 Terminals o Output signal is not reversed Output signal is reversed Output Signal Reverse for CN1 27 or 28 Terminals o Output signal is not reversed Output signal is reversed Output Signal Reverse for CN1 29 or 30 Terminals za Output signal is not reversed Output signal is reversed Reserved Do not change Available for the software version 32 or later 12 38 12 4 List of Parameters Parameter Factory Setting Reference restart 4th 3rd 2nd 1st digit digit digit digit P SEL2 Signal Mapping Gain change when ON L level o 0 Ls oneness once oo Le eseo CL Ls onenen maser i B ON when CN1 42 input signal is OFF H level ON
406. nimized Refer to 0 5 Analog Monitor Adjust the phase U and phase V offsets alternately several times until these offsets are well balanced Display after i MODE SET Key DATA 4 DATA SHIFT Key Press at least 1 s DATA 4 DATA SHIFT Key Press at least 1 s e DATA 4 DATA SHIFT Key Press at least 1 s e MODE SET MODE SET Key e DATA lt 4 DATA SHIFT Key Press at least 1 s DATA 4 DATA SHIFT Key Press at least 1 s DATA 4 DATA SHIFT Key Press at least 1 s Press the DSPL SET or MODE 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 once or DATA SHIFT Key for more than one second and the display will be as shown on the left phase U Press the LEFT or RIGHT or DATA SHIFT Key for less than one second to display the phase U offset amount Press the UP or DOWN Key to adjust the offset Care fully adjust the offset while monitoring the force refer ence monitor signal Press the LEFT or RIGHT or DATA SHIFT Key for less than one second The display shown on the left appears Press the DSPL SET or MODE SET Key The display shown on the left appears phase V Press the LEFT or RIGHT or DATA SHIFT Key for less than one second to display the phase V offset amount Press the UP or DOWN Key to adjust the offset Care fully adjust
407. ning 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 The output terminal must be allocated with parameter Pn510 in order to use positioning near signal Refer to 8 3 3 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 did speed the host controller and the travel distance of the servomotor is less than the value set in Pn504 C 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 OF ing completed width Pn500 9 8 Operating Using Position Control 9 8 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 Mearing Pn000 n OOBO Control mode selection Posit
408. nnector for monitoring the analog monitor signals For details refer to 10 5 Analog Monitor With the front cover open Cable for Analog Monitor E FAAEE CO 6 5 MODEISET A DATA Ocuarce POWER o 2 Dimensional Drawing Socket DF11 4DS 2C Black Connector DF11 2428SCF Black T 34 eooo 1 A 1000 6 mm 39 37 7 in n White Red Viewed from the cable Manufactured by Hirose Electric Corporation 3 Specifications Cable Color Monitoring Item ic E ACER Analog Monitor 1 Force reference 1V 100 rated force E IRL Ci Sy qe oo o o Note The above monitoring items are the factory settings The monitoring items can be changed by set ting the parameter Pn003 Refer to 10 5 Analog Monitor 6 20 6 8 Peripheral Devices 6 8 4 Connector Terminal Block Converter Unit 1 Model JUSP TA50P The connection between the connector terminal block converter and the SERVOPACK is shown below yaar b SERVOPACK LITT aoas CN4 Attached cable length 500 0 mm 19 69 5 in s ooooclo I 7 e fecu o oo o o o ooc B p p 5 1 ji o oN Connector terminal block converter unit model JUSP TA50P i 2 Dimensional Drawings of Terminal Block
409. nning Output Signal TGON Name Pin Number Output TGON CN1 27 28 ON low level Linear servomotor is operating Motor speed is above E below the setting in Pn581 This signal is output to indicate that the linear servomotor is currently operating above the setting in parameter Pn581 The TGON signal can be allocated to another output terminal with parameter PnSOE For details refer to 8 3 3 Output Cir cuit Signal Allocation Related Parameter Pn581 Zero Speed Level Setting Range Setting Unit Factory Setting Setting Validation to 5000 immediately Set the range in which the running output signal TGON is output in this parameter When the linear servomotor movement speed is above the value set in the Pn581 it is judged to be linear servomotor mov ing and the running output signal TGON is output The movement detection signal can also be checked on the digital operator For details refer to 8 1 4 Status Display and 8 4 1 List of Monitor Modes 9 77 9 Operation 9 13 4 Servo Ready S RDY Output 9 13 4 Servo Ready S RDY Output Name Number rn ONT ecm tng Ora smeisaresi 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 If no hall sensor is set the polarity detection must be completed The servo ready signal condition can also be
410. nother axes make connection to the SERVOPACK in the same way 6 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 7 Make the setting so that the servo can be turned ON OFF by the S ON signal 12 17 12 Appendix 12 3 3 Example of Connection to OMRON s Position Control Unit 12 3 3 Example of Connection to OMRON s Position Control Unit 12 18 Position control unit CS1W NC133 233 433 manufactured by OMRON I O power supply 5V power supply for pulse output A4 24V r 1 24V FT T 5V GND for pulse output A3 c T CW output A5 024 PULS SGDH SERVOPACK CN1 T gt 8 CW output A6 CCW output A7 SIGN PULS X 11 CCW output A8 NE NEC NIN SIGN 12 Error counter reset output A11 CLR J 15 CLR Origin input signal A16 Origin input common A14 ABS PCO 14 19 PCO 20 G COIN COIN 25 26 24V power supply for output A1 24V GND for output A2 k lt Input common A244 4 X axis external interrupt input A19 X axis origin proximity input A21 X axis CCW limit input A23 X axis CW limit input A22 X axis immediate stop input A20 1 2 3 24V IN Connector shell 3 L1C L2C L1 CN2
411. ns and Dimensional Drawings 4 1 SERVOPACK Ratings and Specifications 4 3 4 1 1 Single phase Three phase 200 V 4 3 4 1 2 Three phase 400 V 4 3 4 1 3 SERVOPACK Ratings and Specifications 4 4 42 SERVOPACK Installation 4 6 4 3 SERVOPACK Internal Block Diagrams 4 8 4 3 1 Single phase 200 V 50 W to 400 W Models 4 8 4 3 2 Three phase 200 V 500 W to 1 5 kW Models 4 9 4 3 3 Three phase 200 V 2 0 kW to 5 0 kW Models 4 9 4 3 4 Three phase 200 V 7 5 kW Models 4 10 4 3 5 Three phase 400 V 500 W to 3 0 kW Models 4 10 4 3 6 Three phase 400 V 5 0 kW Model 4 11 4 3 7 Three phase 400 V 7 5 kW Models 4 11 4 4 SERVOPACK s Power Supply Capacities and Power Losses 4 12 4 5 SERVOPACK Overload Characteristics and Allowable Load Mass 4 13 4 5 1 Overload Characteristics 4 13 4 5 2 Starting Time and Stopping Time 4 14 4 6 SERVOPACK Dimensional Drawings 4 15 4 7 Dimensional Drawings of Base mounte
412. nt data of ENTER DATA 4 JEN DATA ENTER Key DATA SHIFT Key Pn000 is displayed Press at least 1 s DSPL SET Key e Press the LEFT or RIGHT or DATA SHIFT Key to select the first digit of current data DATA 4 DATA SHIFT Key Press the UP Key once to change to n 0010 Set the control method to position control Press the DATA ENTER Key once or DATA SHIFT Key for more than one second The value blinks and is DATA 4 DATA SHIFT Key Saved Press at least 1 s Press the DATA ENTER Key once or DATA SHIFT Key for more than one second to return to the display DATA 4 DATA SHIFT Key Pn000 The control method is changed to position con Press at least 1 s trol 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 y 1st digit 2nd digit 3rd digit Ath 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 xxL1x Indicates the value for the 2nd digit of parameter Pn000 Pn000 2 or n xL1xx Indicates the value for the 3rd digit of parameter Pn000 Pn000 3 or n LIxxx Indicates the value for the 4th digit of parameter Pn000 8 23 8 Digital Operator Panel Operator 8 3 2 Input Circuit Signal Allocation For details on each digit of the param
413. o the internal speed reference at the position control Switches from PI control to P control using the value of an internal servo vari able in a parameter force speed accelera tion or position error as a threshold value Compensates the motor speed using an observer Uses the external signals to change each parameter for speed loop gain Kv speed loop integral time constant Ti and posi tion loop gain Kp Valid Refer Control ence Modes Section B i Position 10 4 5 Speed 10 4 8 10 4 9 10 3 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 also increases however some times the servo rigidity decreases Speed Position Speed 10 Adjustments 10 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 Force Reference Filter Pn401 Notch Filter Pn409 Pn40B Description Converts a stepwise speed reference to a constant acceleration or d
414. o the SER VOPACK Too high a force 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 5 and 6 and a force forward feed reference to T REF CN1 9 and 10 from the host controller Host contro SERVOPACK Differ L gt REF CN1 9 Pn400 Linear ential V REF CN1 5 servomotor 0 95 Pn300 E Pn100 Current loop M Position 1 Integration reference Pn101 Speed Le eG calculation Linear Divider scale Kp Position loop gain Ker Feed forward gain Force feed forward is set using the parameter Pn400 The factory setting is Pn400 30 If for example the force feed forward value is 3V then the force is limited to 100 of the rated force The force feed forward function cannot be used with force limiting by analog voltage reference described in 9 11 3 Force Limiting Using an Analog Voltage Reference 10 16 10 4 Servo Gain Adjustment Functions 10 4 3 Speed Feed forward Pn207 n OO00 Disabled n LIDMLE Uses V REF terminal for speed feed forward input Speed Reference Input Gain Setting Range Setting Unit Factory Setting Setting Validation 150 to 3 000 0 01 V Rated 600 Immediate
415. odels 4 8 4 3 2 Three phase 200 V 500 W to 1 5 kW Models 4 9 4 3 3 Three phase 200 V 2 0 kW to 5 0 kW Models 4 9 4 3 4 Three phase 200 V 7 5 kW Models 4 10 4 3 5 Three phase 400 V 500 W to 3 0 kW Models 4 10 4 3 6 Three phase 400 V 5 0 kW Model 4 11 4 3 7 Three phase 400 V 7 5 kW Models 4 11 4 4 SERVOPACK s Power Supply Capacities and Power Losses 4 12 4 5 SERVOPACK Overload Characteristics and Allowable Load Mass 4 13 4 5 1 Overload Characteristics 4 13 4 5 2 Starting Time and Stopping Time 4 14 4 6 SERVOPACK Dimensional Drawings 4 15 4 7 Dimensional Drawings of Base mounted SERVOPACK Model 4 16 4 7 1 Single phase 200 V 50 W 100 W 200 W ABAE O1AE O2AE 4 16 47 2 Single phase 200 V 400 W 04AE 4 17 4 7 3 Three phase 200 V 500 W 750 W 1 0 kW 05AE 08AE 10AE 4 18 4 7 4 Three phase 200 V 1 5 kW 15AE Three phase 400 V 500 W 750 W 1 0 kW 1 5 kW 05DE 08DE 10DE 15DE 4 19 4 7 5 Three phas
416. omotor ran out of control cd Phase Faulty Detection Alarm The electrical angle at the hall sen sor phase U edge deviated for 40 degrees or more Hall sensor signal error was detected Linear Servomotor Pole Detection The polarity of linear servomotor can Available Error not be detected Encoder Communications Error Communications between SERVOPACK and encoder is not pos sible Encoder Parameter Error Parameter Error Encoder parameters are Encoder parameters are faulty eee AN Echoback Error Contents peat communications with encoder is incorrect 11 3 11 Inspection Maintenance and Troubleshooting 11 1 2 Warning Display Table 11 1 Alarm Displays and Outputs Cont d Alarm Alarm Code Output oll Alarm Name Meanin Reset Display 3 ALO1 ALO2 ALO3 A dO Position Error Pulse Overflow Position error pulse exceeded parame Available ter Pn505 L L H H Exceeded Position Data Position data is 32 bit or more Power Line Open Phase One phase is not connected in the NUM main power supply H L H H received a servo ON command 0E Digital Operator Digital operator JUSP OP02A 2 Transmission Error fails to communicate with eee Not decided SERVOPACK e g CPU error Numer Nm 8 8 T8 T 1 These alarm occur only for the software version 32 or later 2 For the SERVOPACK with a capacity of 7 5 kW A 40 Alarm detecting excessively high low voltage in the main circuit A 41 No
417. omotors 2 Addition Serial Converter Units Models JZDP A003 211 and JZDP A003 212 12229 2 2 12229 Revision SGLGW Servomotor Winding Resistance Loss February 2004 Revision Models of SGLFW servomotors with F type iron core 3 320 m20 Revision Ratings and Specifications of SGLFW 50 1Z servomotors with F type iron core 32 2 Revision Force and speed characteristics diagrams for 200 V class servomotors of SGLFW 50A200B 50A380B 1ZA200B 1ZA380B models and 400 V class servomotors of SGLFW 50D200B 50D380B 1ZD200B 1ZD380B models 12 2 1 2 Revision Table for allowable frequencies in regenerative mode for the servomotor when the SERVOPACKs with capacities of 500 W to 5 0 kW are used 12 2 2 2 b Revision Diagrams for the SGLFW servomotor winding resistance loss Revision Address March 2005 Revision Specifications of linear servomotor Revision Specifications of linear servomotor C type coreless motor 2 5 Revision Models of serial converter unit A type to C type Chapter 5 2 7 1 Deletion Types of analog monitor cable 6 8 3 Revision Manufacturer of FMAC type noise filter TIMONTA to SCHURTER 6 8 8 Deletion Ratings and specifications of SGLGW SGLGM linear servomotors C type CT type coreless motor 12 yy Gore and seed characteristics 9 7 7 Addition Relation between Linear Scale by Renishaw and Encoder Output Signals from the SERVOPACK Linear X Series SGL SGDH
418. on Time 0 to 10000 I ms Immedi ately Pn306 Soft Start Deceleration Time 0 to 10000 Immedi ately Pn307 Speed Reference Filter Time Constant 0 to 65535 0 01 ms Immedi ately Pn308 Speed Feedback Filter Time Constant 0 to 65535 0 01 ms Immedi 10 4 7 ately Pn380 Internal Set Speed 1 0 to 5000 1 mm s Immedi 9 10 1 ately Pn381 Internal Set Speed 2 0 to 5000 1 mm s Immedi 9 10 1 ately Pn382 Internal Set Speed 3 0 to 5000 1 mm s Immedi 9 10 1 ately Pn383 JOG Speed 0 to 5000 1 mm s Immedi ately Pn384 Motor Maximum Speed 1 to 100 0 1 m s 50 After restart Force Reference Input Gain 10 to 100 0 1 V 30 Immedi rated force ately Pn401 Force Reference Filter Time Constant 0 to 65535 0 01 ms 100 Immedi 10 4 10 ately Pn404 Forward External Force Limit 0 to 800 196 100 Immedi 9 11 2 ately 9 11 4 ately Available for the software version 32 or later 12 31 12 Appendix 12 4 2 List of Parameters Parameter F Factory Setting Reference Pn406 Emergency Stop Force 0 to 800 1 800 Immedi 9 6 3 ately Pn408 Force Function Switches 0000 Immedi ately Ath 3rd 2nd 1st digit digit digit digit Notch Filter Selection 1 E to 3 Uses a notch filter for force reference Reserved Do not change Notch Filter Selection 2 1 EN to 10 4 Uses the notch filter 2 for force reference Reserved Do not change ately ately ately f Pn40C Notch Filter 2 Q Value 50 to 400 0 01 70 Immedi 10 4 10 ately
419. on control the soft start function will operate only when selecting the internally set speed The soft start function cannot 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 mm s Pulse reference OFF f ON Selected speed 1st speed 2nd speed 3rd speed Pulse reference 1st speed t1 gt 2 ms 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 9 67 9 Operation 9 11 1 Internal Force Limit Limiting Maximum Output Force 9 11 Limiting Force The SERVOPACK provides the following four methods for limiting output force to protect the machine Setting Limiting Method Reference Section Level Internal force limit 9 11 1 External force limit 9 112 Force limiting by analog voltage reference 9 11 3 External force limit Force
420. onal Drawings 4 2 SERVOPACK Installation The SGDH SERVOPACKs can be mounted on a base rack or duct ventilated Incorrect installation will cause problems Always observe the following installation instructions A WARNING After voltage resistance test wait at least five minutes before servicing the product Refer to Voltage Resis tance Test on the following page Failure to observe this warning may result in electric shock Connect the main circuit wires control wires and main circuit cables of the motor correctly Incorrect wiring will result in failure of the SERVOPACK Storage Store the SERVOPACK within the following temperature range if it is stored with the power cable discon nected Temperature 20 to 85 C 4 to 185 F Humidity 9096RH or less with no condensation pia Con Installation category Overvoltage category III itions Pollution degree 2 Protection class 1X Altitude Maximum 1000 m Installation Site Installation in a Control Panel Design the control panel size unit layout and cooling method so the temperature around the SERVOPACK does not exceed 55 C 131 F Installation Near a Heating Unit Minimize the heat radiating from the heating unit as well as any temperature rise caused by natural convec tion so the temperature around the SERVOPACK does not exceed 55 C 131 F Installation Near a Source of Vibration Install a vibration isolator on the SERVOPACK
421. ons 4 6 orientation 4 7 Index 3 overload characteristics 4 13 parts replacement schedule 11 23 powerlosses 4 12 power supply capacities 4 12 product part names 1 6 ratings and specifications 4 3 Wile Size GAFE hiten SS fen Sas ee ese 6 13 setting a reference pulse form 9 47 setting the electronic gear 9 49 setting the overtravel limit function 9 32 setting the servo ON signal 9 30 setting the speed bias 10 22 setup procedure linear servomotors with hall sensors 9 6 linear servomotors without hall sensors 9 12 SGLFW SGLFM linear servomotors air gap 7 10 dimensional drawings 3 30 force and speed characteristics 3 7 installation 7 6 ratings and specifications 3 6 SGLGW SGLGM linear servomotors 7 3 dimensional drawings 3217 force and spe
422. ons 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 B Operation N CAUTION Do not stand within the machine s range of motion during operation Failure to observe this caution may result in injury Before operation install a limit switch or stopper on the end of the slider to prevent unexpected movement 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 If using the linear servomotor on a vertical axis install a safety device such as a counterbalance so that the workpiece does not fall if an alarm or overtravel occurs Set the linear servomotor so that it will stop in the zero clamp state at occurrence of overtravel The workpiece may fall during overtraveling When not using the online autotuning set to the correct mass ratio Setting to an incorrect moment of inertia r
423. ooting of Alarm and Warning 2 Warning Display and Troubleshooting Table 11 6 Warning Display and Troubleshooting Warning Warning Name Situation at Warning Cause Corrective Actions Display Occurrence Excessive Potion Occurred during nor The position error exceeded the setting of param When the position error becomes within Error mal operation eter Pn51E the setting of Pn51E the SERVOPACK will be automatically restored Overload Occurred when the con When the control power was previously turned No problem exists because the Warning for the trol power supply was OFF an overload alarm occurred SERVOPACK saves the previous value alarms A71 and turned ON A72 Occurs when the servo Wiring is incorrect and the contact in servomotor Correct the servomotor wiring In either of the fol was ON wiring is faulty lowing cases T 7 12 Be of the Wiring is incorrect and the contact in encoder Correct the encoder wiring 0 e wiring is faulty overload detection E Y level of A71 A SERVOPACK fault occurred Replace the SERVOPACK 2 20 of the The servomotor did not Servomotor wiring is incorrect and the contact is Correct the servomotor wiring overload detection run with a reference faulty level of A72 input Encoder wiring is incorrect and the contact is faulty Correct the encoder wiring The starting force exceeds the maximum force Reconsider the load and operation condi tions Or check the servomotor ca
424. oportional Control Operation Proportional Operation Reference 10 4 4 Proportional Control Operation Proportional Operation Reference 1 PI P Control 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 Control Mode Pn000 n 0000 Speed Effective in speed control or position SERUGPB DK Control control Input signal P CON CN1 41 is used to select PI control or P control iti Ali ri P PI P CON n 0OO010 Position CN1 41 is OFF PI control Switehihg Control H level CN1 41 is ON P control L level e 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 10 4 5 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 linear servomotor may move very slowly and fail to stop even if 0 is specified as the speed reference In this case use P control mode to stop the linear ser vomotor 2 Proportional Control Reference P CON Type Signal Connector Setting
425. ops the linear servomotor by applying dynamic brake DB and then releases DB Makes the linear servomotor coast to a stop state without using the dynamic brake DB Overtravel OT Stop Mode zn to 9 6 3 Selecting the Overtravel Limit Function Same setting as Pn001 0 Stops the linear servomotor by applying DB or by coasting Sets the emergency stop force of Pn406 to the maximum value decelerate the linear servo motor to a stop and then sets it to servolock state Sets the emergency stop force of Pn406 to the maximum value decelerate the linear servo motor to a stop and then sets it to coasting state AC DC Power Input Selection Refer to 7 2 3 Typical Main Circuit Examples Not applicable to DC power input Input AC power supply through L1 L2 and L3 terminals Applicable to DC power input Input DC power supply between 1 and Warning Code Output Selection Refer to 9 13 2 Warning Display ALOI ALO2 and ALO3 output only alarm codes 1 ALO1 ALO2 and ALO3 output both alarm codes and warning codes While warning codes are output ALM signal output remains ON normal state restart 4th 3rd 2nd 1st digit digit digit digit Speed Control Option T REF Terminal Allocation POD ENIUUSPETUCUTCICITUR TIENE NNNM Force Control Option V REF Terminal Allocation to 9 9 i 1 Uses V REF as an external speed limit input 000 Uses V REF as an external speed limit input Reserved Do not change Reserved Do n
426. or Connector SERVOPACK Man fact r r Symbol Connector Model 10250 52A2JL Sumitomo 3M Co Ltd 53460 0611 Molex Japan Co Ltd 10214 52A2JL Sumitomo 3M Co Ltd 4 19 4 SERVOPACK Specifications and Dimensional Drawings 4 7 5 Three phase 200 V 2 0 kW 3 0 kW 20AE 30AE Three phase 400 V 2 0 kW 3 0 kW 20DE 30DE 4 7 5 Three phase 200 V 2 0 kW 3 0 kW 20AE 30AE Three phase 400 V 2 0 kW 3 0 kW 20DE 30DE 2x96 Mounting Hole Diagram 90 24 holes Heat sink E e 4xM5 tap xl 778 Ss r E S i 1 x 1 3 SeS li 5 ales o Do 2 D N o z N H S i 14 pin termina e o M4 mounting m 9 screw fol Ier i i Ie Y L h NN RENE E EN 100 0 5 Al 5 II 3 9440 02 5 Ground terminal 4 1 9 20 Mounting pitch 0 20 100 3 94 i 110 4 33 0 20 0 20 75 2 95 180 7 09 110 4 33 HEO 299 7 09 0 16 Nameplate 7 0 28 141 5 5 57 i 8 Fasean Reference length Units mm in Approx mass 3 8 kg 8 38 Ib External Terminal Connector Three phase 200 V Main circuit Control power Power supply Sel SERVOPACK Connector Connector SERVOPACK Manufacturer Symbol Connector Model Three phase Single phase CN1 10250 52A2JL Sumitomo 3M Co Ltd 200 VAC 200 VAC m
427. or Connector SERVOPACK Mandtasi rer Symbol Connector Model 10250 52A2JL Sumitomo 3M Co Ltd 53460 0611 Molex Japan Co Ltd 10214 52A2JL Reference length Units mm in Approx mass 1 0 kg 2 20 Ib Sumitomo 3M Co Ltd 4 8 Dimensional Drawings of Rack mounted SERVOPACK Model 4 8 2 Single phase 200 V 400 W 04AE R Mounting Hole Diagram S 21 5 5 ANA screw 2 8 0 85 42 1 65 22 5 0 89 24 5 0 96 holes o 425 32 5 1 28 Tat Eon 1 67 65 60 20 hole 0 08 M a al e 5 i i elo og 3 ds dag ro pe REGIE 0 a 2 if T o diss osge E E i m g 2 i i p 4 X Dopa i gt al g 425 167 32 5 1 28 75 2 95 Sg i o ml 2xM4 screws Reference length Units mm in Approx mass 1 3 kg 2 87 Ib External Terminal Connector Main oe Control Bower SERVOPACK Manufacturer power supply Supply Symbol Connector Model LTTU2 Lic L2c SERVOPACK Connector 10250 52A2JL Sumitomo 3M Co Ltd ey ey 53460 0611 Molex Japan Co Ltd a S 10214 52A2JL Sumitomo 3M Co Ltd P ee boss 10214 52A2JL Sumitomo 3M Co Ltd 50 60 Hz 50 60 Hz 4 25 4 SERVOPACK Specifications and Dimensional Drawings 4 8 3 Three phase 200 V 500 W 750 W 1 0 kW 05AE R 08AE R 10AE R 4 8 3 Thre
428. or s Connect an external regenerative resistor to terminals B1 and B2 if the regenerative capacity is insufficient Refer to 2 6 4 Vu Connection cable for serial converter unit Refer to 2 5 Serial converter unit Refer to 2 4 Main circuit cable for linear servomotor Refer to 2 5 Encoder cable Refer to 2 5 n Connection cable n for hall sensor g Refer to 2 5 Linear scale To be provided by users Refer to 2 6 5 1 3 Examples of Servo System Configurations 1 3 2 Three phase 200 V Main Circuit pply Three phase 200 VAC Power su RST Molded case circuit breaker MCCB Protects the power supply line by shutting the circuit OFF when an overcurrent is detected Refer to 2 6 2 Noise filter Eliminates external noise from the power line Refer to 2 6 3 Regenerative resistor Connect an external regenerative resistor to terminals B1 and B2 if the regenerative capacity is insufficient Refer to 2 6 4 Magnetic contactor CJ Turns the servo suppressor Refer to YAON and OFF 2 6 3 Install a surge fc 1 The positive terminal for the main circuit is only available for use in the three phase 200 VAC 7 5 kW SERVOPACKs Do not use the positive terminals 1 or 2 2 Before connecting an external regenerative resistor to the SERVOPACK be sure to disconnect the lead between term
429. ot change 12 25 12 Appendix 12 4 2 List of Parameters Parameter Name Setting Range Unit Factory Setting Reference No Setting Validation Section Pn003 Function Selection Application Switches 3 ae aa 0002 E ZEE ately 4th 3rd 2nd ist digit digit digit digit n Analog Monitor 1 Analog Monitor 2 Signals E to 1 Edi TE Motor speed 1V 1000 mm s 06 Motor speed X 4 1V 250 mm s Motor speed x 8 1V 125 mm s Reserved Do not change Refer to 10 5 Analog Monitor Reserved Do not change ately Pn005 Reserved Do not change 0000 Immedi ately Pn080 Function Selection Application Switches 0000 After 80 restart 4th 3rd 2nd 1st digit digit digit digit Hall Sensor Selection Refer to 9 2 3 With hall sensor Without hall sensor Motor Phase Order Selection Refer to 9 2 2 9 2 3 Phase A progression in order of phase U V and W Phase B progression in order of phase U V and W Reserved Do not change Calculation of Motor Max Speed and Encoder Output Resolution Max Value Selection Calculates the encoder output resolution max value by fixing the motor max speed and the monitor displays Un010 Calculates the motor max speed by fixing the encoder output resolution max value and the monitor displays Un010 Ifthe linear servomotor with a hall sensor is used software version 32 or later can be used If software version earlier than 32 is used set to zero 2 Available only for the so
430. ound i 7 34 7 5 3 Using More Than One SERVOPACK The following diagram is an example of the wiring when more than one SERVOPACK is used 7 5 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 6 2 Molded case Circuit Breaker and Fuse Capacity Power supply RS T QF filter Power ON m 1RY 1KM Ir TD SUP 1KM Note Wire the system so that the phase S power supply will be the ground phase _ d OL3 OL1C OL2C CN1 31 ALM 32 aiM HAY OL1 OL2 T SERVOPACK OL1C OL2C CN1 31 ALM i i Eg 32 ALM OL1 fo Ll Qv gt 11 l1 J 9 5 SERVOPACK OL1C OL2C CN1 31 ALM 32 ALM uh tI pov Linear servomotor Linear servomotor Linear servomotor 7 35 7 Wiring 7 5 4 Operating Conditions on 400 V Power Supply Voltage 7 5 4 Operating Conditions on 400 V Power Supply Voltage A CAUTION Do not connect the SERVOPACK for 200 V directly to a voltage of 400 V The SERVOPACK will be destroyed Control
431. out 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 11 7 Troubleshooting for Malfunction without Alarm Display Symptom Cause Turn OFF the servo system before executing operations Linear Servo The control power supply is not ON Check voltage between control power sup Correct the control power circuit motor Does ply terminals Not 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 Linear servomotor or serial converter Check the wiring Correct the wiring unit wiring disconnected 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 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 Control method selection is incor Check parameter Pn
432. output force is being limited Type Signal Connector Pin Setting Meaning Name Number Output CLT Must be allocated ON low level Servomotor output force is being limited OFF high level Force is not being limited The output terminal must be allocated with parameter Pn50F to use this output signal Refer to 8 3 3 Output Circuit Signal Allocation for details 9 73 9 Operation 9 12 1 Setting Parameters 9 12 Control Mode Selection The methods and conditions for switching SERVOPACK control modes are described below 9 12 1 Setting Parameters The following combinations of control modes can be selected according to the application at hand 9 12 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 A000 the control mode will switch when both P CL SPD A and N CL SPD B signals are OFF high level Type Signal Connector Setting Meaning Name Pin Number Input P CL CN1 45 OFF high level Switches control mode Factory setting SPD A Must be allocated Input N CL CN1 46 OFF high level Factory setting SPD B Must be allocated W Input Signal 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
433. own the power supply specify the location causing the alarm and take corrective measures so that the display returns to the above normal sta tus For details on alarms refer to 71 1 Troubleshooting Example of alarm display sm LL BI Linear Scale Pitch Setting Range Setting Unit Factory Setting Setting Validation 010 65535 After restart If the linear scale pitch Pn280 is not set correctly the linear servomotor cannot be controlled Make sure that the correct value is set before operating the linear servomotor When using a SERVOPACK right after factory shipment the alarm A 08 Linear Scale Pitch Setting Error will be dis played but does not indicate an error This alarm is generated to remind the user to set Pn280 After setting the correct value and setting validation the alarm A 08 is cleared Control is performed the SERVOPACK using 1 256 the distance of the scale pitch as a minimum feedback pulse The count is performed in the serial converter unit using 1 256 of the linear scale pitch Make sure that the scale pitch satisfies the following conditions Value of LLL e Integer Scale pitch um 9 Examples Corrent 1 2 4 8 10 16 40 Incorrect 3 12 18 Linear scale pitch Pn280 Distance of one cycle of the analog voltage feedback signal Linear scale pitch 6 Selecting No Hall Sensor Select No Hall Sensor for the parameter Pn080 0 The factory setting is Pn080 0 0 With hall sensor so the
434. p Pn102 and Force 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 Refer ence Section Guidelines for Selection Description Online Autotuning Pn110 0 Fn001 Fn007 This function automatically measures the machine char acteristics and sets the required servo gains accordingly This function allows beginners to adjust the servo gains easily Only the minimum number of parameters must be set for autotuning using a normal operation reference The load mass is calculated during operation for a user reference and the 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 Feed forward Pn109 Pn10A Force feed forward Pn002 Pn400 Speed feed forward Pn207 Pn300 Mode Switch P PI Switching Pn10B Pn10C Pn10D Pn10E Pn10F Speed Feedback Compensation Pn110 Pn111 Gain Switching Pn100 Pn101 Pn102 Pn104 Pn105 Pn106 Description Feed forward compensation for the posi tion reference is added to the speed refer ence Inputs force feed forward to the force ref erence input terminal and adds to the internal force reference at the speed con trol Inputs speed feed forward to the speed reference input terminal and adds t
435. p voltage input from the linear scale to the serial converter unit is counted up during phase A cos signal progression Phase A progression pulse increase Phase B progression pulse decrease 9 12 9 2 Trial Operation Using SERVOPACK Internal References roD m When Motor Forward Direction and Linear Scale Count Direction Do Not Match 4 When the motor forward direction and linear scale count direction are reversed due to wiring or other factors set so that parameter Pn080 1 1 B phase progression U V W phase in order W Linear Scale Count Direction The Heidenhain or Renishaw linear scale counts pulses when the sensor head is operated to the side attached the signal cable However the direction in which the signal cable is extended is different so the count direction is different Viewed from above Heidenhain linear scale When installed as shown in the diagram on the left operation is Reverse direction Forward direction lt q p performed in the forward direction when the sensor head is s moved to the right LIDA 48 HEIDENHAIN Sensor head Signal cable Renishaw linear scale When installed as shown in the diagram on the left operation is Forward direction Reverse direction performed in the forward direction when the sensor head is RENISHAW moved to the left RGH22 1 o of Signal cable Sensor head 3 Adjusting
436. pacity The polarity detection is not performed properly Correct the settings for the polarity detec When Pn080 0 1 is set tion related parameter A SERVOPACK fault occurred Replace the SERVOPACK Occurred during nor The effective force exceeds the rated force 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 Regenerative Occurred when the con A SERVOPACK fault occurred Replace the SERVOPACK Overload trol power supply was Warning for the turned ON alarm A320 Occurred during nor Regenerative energy is excessive Check the regenerative resistor capacity mal operation Regenerative status continues or reconsider the load and operation con Large increase of ditions regenerative resistor temperature Occurred during nor The setting of parameter Pn600 is smaller than Correct the setting of parameter Pn600 mal operation the external regenerative resistor capacity Small increase of A SERVOPACK fault occurred Replace the SERVOPACK regenerative resistor temperature Occurred at servomo Regenerative energy is excessive Check the regenerative resistor capacity tor deceleration or reconsider the load and operation con ditions 11 16 11 1 Troubleshooting 11 1 6 Troubleshooting for Malfunction with
437. pe with Iron Core 3 Magnetic Attraction The linear servomotor is constructed of an opposing coil assembly and magnetic way Therefore the coil assem bly is subject to magnetic attraction as shown in the following table calculated values Consider the magnetic attraction when designing the device Coil Assembl Model Air gap G 1 Magnetic attraction F 2 SGLFW is mm in N TEE ZEE 99 Ure attraction 35012080 Air gap G F ae SS Indicates an air gap value of 0 3 mm 0 012 in relative to the design value 2 ndicates the magnetic attraction for the maximum force 7 1 4 SGLTW and SGLTM Linear Servomotor T Type with Iron Core 1 Magnetic Way Installation The SGLTM magnetic way is packaged with two magnetic way yokes secured with aluminum mounting spacers IMPORTANT Do not remove the installation spacers until the magnetic way is temporarily fixed to the device Use the following procedure to install the SGLTM magnetic way 1 With the mounting spacers attached place the magnetic way on both positioning steps Make sure that the machine and magnetic way are not scratched or dented when positioning the magnetic way Set the dimensions of these positioning steps to match the W2 dimensions in the following table 7 10 7 1 Linear Servomotor Installation Dimensions in mm in sanati cie Model w1 w2 SGLTM Dimensions Recommended at s
438. pecifica resulting in insufficient regenerative capacity tions Reconsider the load and operation condi tions A SERVOPACK fault occurred Replace the SERVOPACK Replace the SERVOPACK For AC power input Pn001 2 0 For DC power input Pn001 2 1 The AC power voltage is too high Occurred at servo The motor speed is high and the load mass is exces Reconsider the load and operation conditions motor deceleration sive 11 Inspection Maintenance and Troubleshooting 11 1 5 Troubleshooting of Alarm and Warning Table 11 5 Alarm Display and Troubleshooting Cont d Alarm Alarm Name Situation at Alarm Cause Corrective Actions Display Occurrence Undervoltage Occurred when the A SERVOPACK board fault occurred Replace the SERVOPACK Detected when control power sup the ply was turned ON SERVOPACK s Occurred when the The AC power supply voltage is low The AC power supply voltage must be within the main crout DC main circuit power specified range ltage is 170 V is ie supply was turned The fuse of the SERVOPACK is blown out Replace the SERVOPACK ON Detected when The surge current limit resistor is disconnected Replace the SERVOPACK Check the power sup the power to the resulting in an abnormal power supply voltage or in ply voltage and reduce the number of times that main circuit is an overload of the surge current limit resistor the main circuit is turned ON or OFF turned ON A SERVOPACK
439. pecifications when a main circuit s cable connector made by Tyco Electronics is used for the coil assembly 50 min L1 301 55 2 17 40 1 57 Hall sensor Magnetic way m 3 st The coil assembly moves in the direction See the figures c indicated by the arrow when current flows in 25 and below SY the order of phase U V and W Gap 0 8 0 03 With magnet cover Gap 1 0 04 Without magnet cover 14 2 0 56 With magnet cover 14 0 55 Without magnet cover SGLFW 500200BO SGLFW 500380BO 6 x M5 tapped holes depth 7 0 28 12 x M5 tapped holes depth 7 0 28 47 5 1 87 a io i S s 18 300 11 81 gt e 60 2 36 x 5 0 20 E Reference length Units mm in Hall Sensor Linear Servomotor Hall Sensor Output Signals Connector Specifications PinN N Connector Specifications When the coil assembly moves in the di M ills Pin No Name bead rection indicated by the arrow in the fig 5V Power supply 1 Phase U Red ure the relationship between the hall Phase U sensor output signals Su Sv Sw and the 2 Phase V White inverse power of each phase Vu Vv Vw P
440. perate as soon as the power is turned ON Pn50A n0000 Inputs the S ON signal from the input terminal CN1 40 Factory setting n 0070 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 9 30 9 6 2 Switching the Linear Servomotor Movement Direction 9 6 Setting Common Basic Functions The movement direction of the linear 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 movement is the linear scale counting up direction Parameter Name Pn000 n0000 Standard setting CCW For ward Factory setting Reverse Direction Mode CW Reverse Moves in forward direction CCW Encoder pu Reference Analog monitor Force reference E NA Motor movement speed se divided output PAO L PBO Phase B progression E Moves in reverse direction CW Encoder pu Analog monito
441. power Sv 350550 3 V vC RH 0 180 360 540 215 120 180 9 64 1Z0200BO 46 4 72 7 09 035 141 395 300 360 18 11 5 1ZOS80B0 15 55 11 815 a417 0 71 25 35 3 38 Electrical angle 3 7 Dimensional Drawings of SGLFW SGLFM Linear Servomotors 2 Coil Assembly SGLFW 1ZDOOOBOD With a connector made by Interconnectron The following table and figures show the specifications when a main circuit s cable connector made by Intercon nectron is used for the coil assembly 50 min L1 sat AS p ix S i EE Hh th noo P T n i x e g a 8 c c 2xscrews DE E 0 UNC See the fi x The coil assembly moves in the E ee the figures c direction indicated by the arrow ce 5 2 0 20 With magnet cover and below when current flows in the order o S 5 0 20 Without magnet cover 4 50 min 25 L3 phase U V and W 10 0 9 o9 E 0 39 Gap 0 8 0 03 With magnet cover Gap 1 0 04 Without magnet cover 58 0 1 2 28 0 004 14 2 0 56 With magnet cover 14 0 55 Without magnet cover Nameplate JL LL 1 tat tat taut tat SGLFW 1ZD200BOD SGLFW 1ZD380B 9xM5 tapped holes depth 7 0 28
442. put the signals Ref and Ref so that they shall cross each other as shown in the figure because they are input into the converter When they are crossed the output data will be counted up 0 le 100 gt gt o 2 cos 9 A e cos A cos COS sin sin Input voltage range 1 5 V to 3 5V sin B sin B c c E E gt gt N N Ref o o Ref Ref R Input voltage range Ref X X 1 5 V to 3 5V i R 5 to 7596 ple 5 to 75 Zero Point Count up direction Tf the analog signal amplitude declines to about 0 35 V because of differential amplitude the serial con verter outputs an alarm IMPORTANT Precautions 1 Never perform insulation resistance and withstand voltage tests 2 When analog signals are input to the serial converter unit noise influence on the analog signals affects the unit s ability to output correct position information The analog cable must be as short as possible and shielded 3 Use the device in an environment free from hydrogen sulfide HS and other hazardous gases 4 Do not connect or disconnect the unit while power is being supplied or the unit may be damaged 5 When using multiple axes use a shield cable for each axis Do not use a shield cable for multiple axes 5 3 5 Specifications and Dimensional Drawings of Serial Converter Unit 5 3 1 Linear Scale without Cable for Hall Sensor by Heidenhain 5 3 Dim
443. r Incorrect Correct filter LO Separate these circuits 7 7 33 7 Wiring 7 5 2 Wiring for Noise Control 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 Incorrect Correct Noise Noise A m filter L 4 filter The ground wire tp qj C gt can be close to T input lines vYY q A yvy 4 77 Box Box 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 L ise l i b Noise rt Noise x filler Jo filter gt SERVOPACK SERVOPACK SERVOPACK SERVOPACK igo Duce Thick and ground wire short ZZ Box Box 4 When grounding a noise filter inside a unit Ifa noise filter is located inside a unit connect the noise filter ground wire and the ground wires from other devices inside the unit to the ground plate for the unit first then ground these wires gt gt gt gt gt sss Unit oo oo SERVOPACK Aud 1 uL Noise D filter ti Gr
444. r E N_ se divided output PAO L PBO Phase B progression Forward Reference Reverse Reference Analog monitor E N in reverse direction CW Encoder pulse devided output PAO Phase A progression PBO L A Move in forward direction CCW Analog monitor A Encoder pulse divided output PAO Phase A progression PBO L The direction of P OT and N OT change For Pn000 n LILILIO standard setting counterclockwise is P OT For Pn000 n LILILI1 Reverse Direction Mode clockwise is P OT 9 31 9 Operation 9 6 3 Setting the Overtravel Limit Function 9 6 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 Number Input P OT CN1 42 Forward run allowed Normal operation status LUN EET Forward run prohibited Forward overtravel Input N OT CN1 43 Reverse run allowed Normal operation status dd Reverse run prohibited Reverse overtravel Connect limit switches as shown below to prevent damage to the devices dur 3 Linear servomotor ing linear motion Forward
445. r the main circuit power supply depends on the SERVOPACK output To continue SERVOPACK operation for a power loss that is longer than this provide an uninterruptible power supply 9 6 6 Motor Maximum Speed For the software version 32 or later Sets the linear servomotor maximum speed Setting a lower speed realizes more delicate speed control and more strict protection by generating the overspeed alarm A 51 Also setting a lower speed allows the upper limit of PG divider Pn281 to be set higher Refer to 9 7 7 Encoder Signal Output for details Motor Maximum Speed Setting Range Setting Unit Factory Setting Setting Validation 0 1 to 10 0 m s 5 0 m s f a value lower than the rated speed is set for Pn384 the rated speed becomes the same value as the setting of Pn384 9 35 9 Operation 9 7 1 Setting Parameters 9 7 Operating Using Speed Control with Analog Reference 9 7 1 Setting Parameters Pn000 n LILIOL Control mode selection Speed control analog reference factory setting Pn300 Speed Reference Input Gain Setting Range Setting Unit Factory Setting Setting Validation 1 50 to 30 00 V Rated 0 01 V Rated 6 00 V Rated speed Immediately speed speed Sets the analog voltage level for the speed reference V REF necessary to operate the linear servomotor at the rated speed W EXAMPLE Pn300 600 6 V input is equivalent to the rated speed of the servomotor Reference factory setting Voltage V
446. r display 0 and increase from this pulse number When using the 8 bit serial converter unit the feedback pulse will be 256 pulses scale pitch 8 33 8 Digital Operator Panel Operator 8 4 5 Allowable Maximum Motor Speed for Dividing Ratio Monitor For the software version 32 or later 8 4 5 Allowable Maximum Motor Speed for Dividing Ratio Monitor For the software version 32 or later This section describes the monitor display for determining the maximum speed Pn384 for the PG Divider Pn281 Adjust the setting of Pn080 3 to select the location to be monitored This function is available for Ser vopack Software version 32 or later Display after 1 Press the DSPL SET or MODE SET Key to select the mon Le IDIDID Ge itor mode DSPL SET Key PON MODE SET Key Press the UP or DOWN Key to select Un010 Press the DATA ENTER Key once or DATA SHIFT Key for more than one second to display the motor maximum DATA 4 DATA ENTER Key DATA SHIFT Key speed that can be set Press at least 1 s maximum dividing ratio that can be set LI LJ C DSPL SET Key MODE SET MODE SET Key a e Press the DATA ENTER Key once or DATA SHIFT Key Gj n E DATA for more than one second to return to the display of monitor DATA ENTER Key p M Key number Press at least 1 s Press the DSPL SET or MODE SET Key to display the SET 8 34 8 4 Operation in Monitor Mode UnOOD 8 4 6 Hall Sensor Sig
447. r scale The linear scale has not been adjusted Ifthe linear scale is not adjusted the linear scale s output signal level will drop and the count will not be correct Check that the linear scale is correctly adjusted For details contact the scale s manufacturer The wiring between the linear scale and serial converter unit is not correct If the wiring is not correct a normal count will not be performed Rewire the devices correctly 9 9 9 Operation 9 2 2 Setup Procedure Using Linear Servomotors with Hall Sensors b Checking the Concurrence between the Linear Scale Count Direction and the Linear Ser vomotor Forward Direction Next move the coil assembly by hand in the direction of the side with the cable and check that the Un00D monitor is counting up Ss EE Linear servomotor cable attached to coil assembly When the linear servomotor is moved by hand to the side with the cable if the value of UnOOD is a countup value confirmation is completed INFON m When the Value of the UnOOD is counted down v When the value of the Un00D is a counted down set the parameter Pn080 1 1 B phase progression U V W phase in order Enable the setting by setting validation With this setting the SERVOPACK performs current control by treating the linear scale countup direction as the motor forward direction c Related Parameters Pn080 1 is available for software version 32 or later P
448. r unit cable layout because the serial converter unit cable is bent and the sheath is damaged The serial converter unit cable is bundled with a Correct the serial converter unit cable layout so high current line or near a high current line that no surge 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 a measure against noise for the serial con the serial converter unit verter unit wiring Excessive vibration and shocks were applied to the Reduce the machine vibration or mount the serial serial converter unit converter unit securely A serial converter unit fault occurred Replace the serial converter unit A SERVOPACK board fault occurred Replace the SERVOPACK Encoder Occurred when the A serial converter unit fault occurred Replace the serial converter unit Parameter Error control power sup A SERVOPACK board fault occurred Replace the SERVOPACK ply was turned ON 11 13 11 Inspection Maintenance and Troubleshooting 11 1 5 Troubleshooting of Alarm and Warning Table 11 5 Alarm Display and Troubleshooting Cont d Alarm Alarm Name Situation at Alarm Cause Corrective Actions Display Occurrence Encoder Occurred when the The serial converter unit wiring and contact are Correct the serial converter unit wiring incorrect
449. rawings presented in this manual are typical examples and may not match the product you received This manual is subject to change due to product improvement specification modification and manual improvement When this manual is revised the manual code is updated and the new manual is published as a next edition If the manual must be ordered due to loss or damage inform your nearest Yaskawa representative or one of the offices listed on the back of this manual Yaskawa will not take responsibility for the results of unauthorized modifications of this product Yaskawa shall not be liable for any damages or troubles resulting from unauthorized modification xii CONTENTS About this Manual iii Related Manuals V Safety Information ee vi Notes for Safe Operation vii 1 Outline 1 1 Checking Products 1 2 1 1 1 Check Items 1 2 1 1 2 Linear Servomotors 1 2 1 1 8 SERVOPACKs 1 3 1 1 4 Serial Converter Units 1 4 1 2 Product Part Names
450. rc 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 10 14 10 4 Servo Gain Adjustment Functions 10 4 Servo Gain Adjustment Functions 10 4 1 Feed forward Reference Feed forward Setting Range Setting Unit Factory Setting Setting Validation enmity 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 Feedback pulse 10 15 10 Adjustments 10 4 2 Force Feed forward 10 4 2 Force Feed forward Pn002 n0000 Disabled n0002 Uses T REF terminal for force feed forward input Force Reference Input Gain Setting Range Setting Unit Factory Setting Setting Validation 10 to 100 0 1V Rated force 30 Immediately 1 0 to 10 0 V Rated force 3 0 V Rated force The force feed forward function is valid only in speed control analog reference The force feed forward function shortens positioning time differentiates a speed reference at the host controller to generate a force feed forward reference and inputs the force feed forward reference together with the speed reference t
451. rding to parameter Pn200 0 setting SERVOPACK Ise Pulse reference put form from the host controller to 9 8 1 2 Setting a Reference Pulse Form that it coincides with the host controller setting to 9 8 2 Setting the Electronic Gear 3 4 5 7 9 26 Turn ON the power and the servo ON S ON input signal Send the pulse reference for the motor movement amount easy to check for example 1 cm 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 motor movement amount pulse by the change in Un00D feedback pulse counter pulse before and after executing the sent pulse ref erence Check that steps 5 and 6 satisfy the following equa tion Un00D Un00C x Pn202 Pn203 Check that the motor movement direction is the same as the reference Input the pulse reference with the bigger motor movement amount from the host controller to obtain the constant speed Check the reference pulse speed input to the SERVOPACK using the Un007 input reference pulse speed mm s Set the motor speed of several 10 mm s for the refer ence pulse speed because such speed is safe Refer to 8 7 3 Basic Mode Selection and Operationer ation for how it is displayed Un00C input reference pulse counter pulse Refer to 8 1 3
452. reverse after the power supply is turned ON Machine position Forward Power ON Zero point signal Ref Phase C A The linear scale does not output a zero point signal Ref When moving in reverse this position however is where phase C The width of the second is output from the SERVOPACK Phase C is output even when pulse is half of phase A moving forward 9 44 9 7 Operating Using Speed Control with Analog Reference Pulse Dividing Ratio Setting Encoder Output Resolution i Setting Range Setting Unit Factory Setting Setting Validation 1 to 255P Pn280 x4 1P Pn280 x4 20P Pn280 x4 After restart Set the output pulse resolution for PG output signals PAO PAO PBO PBO externally from the SERVOPACK Feedback pulses per linear scale pitch Pn280 are divided inside the SERVOPACK by the value set in Pn281 before being output Set according to the system specifications of the machine or host controller The setting range varies with the linear servomotor maximum speed Pn384 and linear scale pitch Pn280 Refer to the table below for details Scale Pitch Motor Max Speed Encoder Output Pn280 um Pn384 0 1m s Resolution Pn281 50 1 to 63 40 40 1 to 127 20 1 to 255 50 1 to 31 40 1 to 63 20 1 to 127 10 1 to 255 10 1 to 31 8 1 to 63 4 1 to 127 2 1 to 255 When th
453. rity detection start signal and perform polarity detection When the display on the panel operator or digital operator is bb when the power is turned ON the display will change to P dt during polar ity detection and return to bb after completion After detection is completed push the linear servomotor down on the stroke end and check the electrical angle in monitor mode parameter Un004 electrical angle 2 Phase U angle from 0 After confirmation remove the linear servomotor from the stroke end 10 mm min Then execute the setting validation and restart polarity detection Repeat this procedure three times If the deviation of the electrical angle is within 10 the polarity detection is normal However the polarity detection operation will change slightly depend ing on the detection location perform the following detailed check at the end Detailed Confirmation Based on the user set position measure the electrical angles using monitor mode parameter Un004 electrical angle 2 Phase U angle from 0 when polarity detection is performed at 30 points each 1 5 mm apart If the electrical angles are in the relationship 12 10 the measurement results indicate the normal polarity detec tion The following table shows the position intervals used to perform polarity detection when the following linear servomotor models are used Linear Servomotor Model Position Interval SGLGW 30 SGLFW 20 SGLTW 20 SGLGW 90 2 8 mm 0 11 in 1
454. rminal Connector SERVOPACK Connector External Main circuit Control power regenerative nnector ERVOPACK iua de ia resistor pee E Me L1 L2 L3 L1C L2C B1 B2 10250 52A2JL Sumitomo 3M Co Ltd Y 53460 0611 Molex Japan Co Ltd Three phase Single phase 10214 52A2JL Sumitomo 3M Co Ltd 200 VAC 200 VAC 50 60 Hz 50 60 Hz 4 30 4 9 Dimensional Drawings of Duct ventilated SERVOPACK Model 4 9 2 Three phase 400 V 7 5 kW 75DE P Mounting Hole Diagram S S e Coolingfan c 4xM6 screw holes Externals S SI 1 pis ceo 10 LO mp 2 NIN 13i servorac ov CN3 He e s C 3 o Ro E VASKAWA Lt E i C CNS zs 110 4 33 i se 8 0 31 L e e a aS Punched hole Ze olo E pe ol Main circuit i Q e xj CN1 CN2 x uo Control circuit eo 1o terminal c e i N e 1 ko 130 5 12 46 e 1 81 H iar ee GIG ENE uw y il ML er n DOTAR 217 0 28 20 Oe gt 190 7 48 WLES 0 30 5 a qe 158 6 22 0 79 S 24 0 94 12 5 0 49 205 8 07 J25 9 9 SA 205 8 07 1255 0 49 B 0 49 S 12 5 230 9 06 l4 2 rs 0 49 Main circuit Control circuit Ground N Main circuit RIT terminal M5 terminal M4 terminal M5 terminal M5 Ground terminal A
455. rol mode switching forward reverse motor be modified movement by internal speed setting zero clamping reference pulse pro hibited forward run prohibited P OT reverse run prohibited N OT alarm reset forward current limit and reverse current limit or internal speed selection Sequence Output Fixed Output Servo alarm 3 bit alarm codes Signal allocation can Positioning completed speed coincidence during servomotor move be modified ment servo ready during current limiting during speed limiting brake released warning selecting three of the NEAR signals Internal Dynamic Brake Operated at main power OFF servo alarm servo OFF or overtravel Func Overtravel Stop Dynamic brake stop at P OT or N OT deceleration to a stop or coast to a tions stop Electronic Gear 0 01 lt B A 100 Protection Overcurrent overvoltage low voltage overload regeneration error main circuit detection section error heat sink overheated no power supply overflow overspeed encoder error overrun CPU error parameter error LED Displa Charge Power five 7 segment LEDs built in Digital Operator func y tions CN5 Analog Monitoring Analog monitor connector built in for monitoring speed force and other reference signals Speed 1 V 1000 mm s Force 1 V 100 of rated force Position error pulses 0 05 V 1 reference units or 0 05 V 100 reference units Communications Connected Devices Digital Operator hand held model RS
456. rom Host Reference 9 22 9 3 1 Servo ON Command from the Host 9 22 9 3 2 Operating Procedure in Speed Control Mode Pn000 n LILIOL 9 24 9 3 3 Operating Procedure in Position Control Mode Pn000 n 0010 9 26 9 4 Trial Operation with the Linear Servomotor Connected to the Machine 9 28 9 5 Control Mode Selection 9 29 9 6 Setting Common Basic Functions 9 30 9 6 1 Setting the Servo ON Signal 9 30 9 6 2 Switching the Linear Servomotor Movement Direction 9 31 9 6 3 Setting the Overtravel Limit Function 9 32 9 6 4 Selecting the Stopping Method After Servo OFF 9 34 9 6 5 Instantaneous Power Loss Settings 9 35 9 6 6 Motor Maximum Speed For the software version 32 or later 9 35 9 7 Operating Using Speed Control with Analog Reference 9 36 9 7 1 Setting Parameters 9 36 9 7 2 Setting Input Signals 9 37 9 7 3 Adjusting Offset 9 38 9 7 4 Soft Start 9 41 9 7 5 Speed Reference Filter 9 41 9 7 6 Using the Zero Clamp Function 9 41 9 7 7 Encoder Signal Output
457. ronic Gear 3 Related Parameters Pn202 Electronic Gear Ratio Numerator Setting Range Setting Unit Factory Setting Setting Validation feas 4 reser Electronic Gear Ratio Denominator Setting Range Setting Unit Factory Setting Setting Validation fessa O 1 reser The electronic gear ratio to be set can be calculated by the following equation Pn202 Workpiece travel distance per reference v Electronic gear ratio Pn203 Scale pitch 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 Sep Check the scale pitch Check the scale pitch of linear scale used Determine the reference unit used Determine the reference unit from the host controller considering the machine specifications and positioning accuracy Calculate the electronic gear ratio Use the electronic gear ratio equation to calculate the ratio B A 4 Set parameters Set parameters using the calculated values 9 50 9 8 Operat
458. rovided as standard Install external regen erative resistors when the built in regenerative resistor cannot process all the regenerative power Required No built in regenerative resistor is provided so the external regenerative resistor is required If the external regenerative resistor is not connected with the SERVOPACK the alarm A 30 is detected as a regeneration error alarm 7 38 7 6 Connecting Regenerative Resistors 2 Specifications of Built in Regenerative Resistor If the amount of regenerative energy exceeds the processing capacity of the SERVOPACK then install an exter nal regenerative resistor The following table shows the specifications of the SERVOPACK s built in resistor and the amount of regenerative power average values that it can process Specifications Regenerative Power Minimum Applicable SERVOPACKs of Build in Resistor Processed by Built in Allowable SGDH rks rs i b i Single phase ASAE 04AE 200 V Three phase 05AE to 10AE ae E 200V 20AE TSE sss wes m Tessa WbEW DE TOR dM E u E a sbE i C 18 880 3 180 3 a 1 The average regenerative power that can be handled is 20 of the rated capacity of the regenerative resistor built into the SERVOPACK 2 The values in parentheses are for the optional JUSP RA05 Regenerative Resistor 3 The values in parentheses are for the optional JUSP RA18 Regenerative Resistor 7 39 7 Wiring 7 6 2 Connecting Ext
459. rrect the linear scale wiring then Stops P Linear scale pitch Pn280 is incor Check the setting of Pn280 Correct the setting of Pn280 rect Linear scale counting up direction Check the directions Change the setting of Pn080 1 Servomotor Phase Order and linear servomotor coil assembly Selection forward direction are not agreed Match the linear scale direction and coil assembly direc tion Polarity detection is not performed Check if the value of Un004 Electrical Correct the settings for the polarity detection related correctly Angle 2 at an arbitrary position is between parameter 10 degrees Linear Servo Wiring connection to servomotor is Check connection of power lead phases U Tighten any loose terminals or connectors motor Speed defective V and W and encoder connectors Unstable 11 17 11 Inspection Maintenance and Troubleshooting 11 1 6 Troubleshooting for Malfunction without Alarm Display Table 11 7 Troubleshooting for Malfunction without Alarm Display Cont d Symptom Cause Turn OFF the servo system before executing operations Linear Speed control Speed reference input Check V REF and SG to confirm if the con Correct the control mode selection parameter or the Servomotor is incorrect trol method and the input are agreed input correctly Rotates Force control Force reference input Check T REF and SG to confirm if the con Correct the control mode selection parameter or the
460. rrent is not built in the 24 VDC control power supply The protective circuit must be designed by the customer 4 Make sure the current capacity is accurate For the SERVOPACK with the cooling fan built in an inrush current flows 200 of the current capacity in the table above for two seconds when turning ON the control circuit power supply to start the fan working Note Do not use a fast acting fuse Because the SERVOPACK s power supply is a capacitor input type a fast acting fuse may blow when the power is turned ON IMPORTANT The SGDH 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 11 2 Selections 2 6 3 Noise Filters Magnetic Contactors Surge Suppressors and DC Reactors 2 6 3 Noise Filters Magnetic Contactors Surge Suppressors and DC Reactors Recommended Noise Filter Main Circuit SERVOPACK Model Benl Magnetic Contac Suge DC Refer to 6 8 8 Suppressor Reactor owe Capacit tor Refer to Refer to i Supply kW Y SGDH Type Specifications Refer to 6 8 9 c 10 6 8 11 EE 005 ASAE Single phase i 10 EN FN2070 6 07 ero Single phase 58 O02AE DA ibd argon Ame mem cu Single phase 04AE FN2070 10 07 xe 250 VAC 10 A TU 25C240 Three phase OSAE FN258L 7 07 HI 11J 20 A 480 VAC 7A 0 0 75 O8AE a 0 Ea
461. rror will be dis played but does not indicate an error This alarm is generated to remind the user to set Pn280 After setting the correct value and setting validation the alarm A 08 is cleared Control is performed the SERVOPACK using 1 256 the distance of the scale pitch as a minimum feedback pulse The count is performed in the serial converter unit using 1 256 of the linear scale pitch Make sure that the scale pitch satisfies the following conditions Value of EE NN Integer Scale pitch um M Examples Corrent 1 2 4 8 10 16 40 Incorrect 3 12 18 Linear scale pitch Pn280 Distance of one cycle of the analog voltage feedback signal 4 Linear scale pitch 9 2 Trial Operation Using SERVOPACK Internal References 5 Checking the Feedback Signal Check the following feedback signals to the SERVOPACK Check whether the signals from the linear scale are correctly received Check whether the motor forward direction and linear scale count direction are the same IMPORTANT 1 Before checking the feedback signals be sure to set Pn000 0 to 0 counting up direction of the linear scale phase A progression as forward direction If Pn000 0 is set to a value other than zero the linear servomotor may not run 2 Be sure to check the feedback signals before operating the linear servomotor If the linear servomotor is operated without checking the feedback signals the linear servomotor may not run or overrun may occ
462. rs depending on the cooling method of external regenerative resistor For natural air cooling method Set the value maximum 20 of the actually installed regenerative resistor capacity W For forced air cooling method Set the value maximum 50 of the actually installed regenerative resistor capacity W For example set 20 W 100 W x 20 for the 100 W external regenerative resistor with natural cooling method Pn600 2 units 10 W IMPORTANT When resistors for power are used at the rated load ratio the resistor temperature increases to between 200 C 392 F and 300 C 572 F The resistors must be used at or below the rated values Check 7 40 with the manufacturer for the resistor s load characteristics Use the regenerative resistors at no more than 20 of the rated load ratio with natural convection cooling and no more than 50 of the rated load ratio with forced air cooling 2 For safety s sake use the resistors with thermoswitches 7 6 Connecting Regenerative Resistors 5 Connecting Regenerative Resistors IMPORTANT Do not touch the regenerative resistors because they reach high temperatures Use heat resistant non flam mable wiring and make sure that the wiring does not touch the resistors Refer to 6 6 SERVOPACK Main Circuit Wire Size for connecting wire size when connecting an external regenerative resistor a SERVOPACKs with Capacities of 400W or Less Enlarged View Connect an ex
463. s Dry 044 0 d Main contact f terminal M3 5 ska 8P4 v 6 31 6 Specifications and Dimensional Drawings of Cables and Peripheral Devices 6 8 9 Magnetic Contactor c Model HI 25J and HI 35J Dimensions in mm in Mounting Hole Terminal Symbols Dimensions in mm in Approx mass 0 68 kg 1 50 Ib 58 2 28 P 111 4 37 23 4 0 92 M3 5 Coil terminal Auxiliary contact Structure OSYY 0 AR 1NO1NC TE 54172 n a i M aa aba 72 2 83 94 3 70 2 x M4 Mounting holes M3 5 Auxiliary contact terminal 8 2 0 32 J 9 0 35 13 1 052 M5 Main contact terminal 6 32 6 8 Peripheral Devices 3 Magnetic Contactor with Coil Drive Unit for Three phase 400 V SERVOPACKs The magnetic contactors for three phase 400 V SERVOPACKs include coil drive unit The rated voltage of the operating coil in the coil drive unit is 24 VDC Maintain the power supply voltage within the specified range The voltage below the allowable range causes malfunction resulting in the magnetic contacts seizing or the coil burning out If a voltage above 24 V is applied the unit will be damaged Confirm the voltage at th
464. s a Model HI 11J Dimensions in mm in Mounting Hole Terminal Symbols Dimensions in mm in Approx mass 0 25 kg 0 55 Ib 44 1 73 Auxiliary 10 1 0 40 A E 4 contact Coil terminal M3 5 Structure 8 2 0 32 gt AA 8 2 0 32 2 x M4 mounting gt holes 9 0 35 e Auxiliary contact terminal M3 5 104 041 Main contact terminal M3 5 b Model HI 15J and HI 20J Dimensions in mm in Mounting Hole Terminal Symbols Dimensions in mm in Approx mass 0 38 kg 0 83 Ib alia 45 5 1 79 l 3 pce 15 3 0 60 Coil terminal 0 20 35 1 38 MEE 0 20 1 38 oSYY Wo Aa al Structure 1NO1NC 3 TIS HI 20J Auxiliary contact Structure o Y Y o Alb Auxiliary contact F I i L4 5 2 N terminal M3 5 2 13 2 x M4 mounting 4NO1NC 3 TH 5723 0 32 hole
465. s given Refer to 9 7 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 Step Display after Digital Panel Description Operation Operator Operator SERVOPACK Linear servomotor 0 V force reference Servo OFF Host controller Slow movement Servo ON DSPL SET DSPL SET Key 2 MODE SET MODE SET Key DATA ENTER DATA ENTER Key DSPL SET DSPL SET Key DATA 4 DATA SHIFT Key Press at least 1 s IEF Io C rlE F In mo IFI GIBIBS 3 5 MODE SET MODE SET Key About one second later DATA ENTER DATA ENTER Key DATA 4 DATA SHIFT Key Press at least 1 s Turn OFF the SERVOPACK and input the 0 V reference voltage from the host controller or external circuit Press the DSPL SET or MODE SET Key to select the utility function mode 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 once or DATA SHIFT Key for more than one second rEF o will be displayed Press the DSPL SET or MODE 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 Press the DATA ENTER Key once or DATA SHIFT Key for more
466. s and JOG operation and display status using the panel operator Key Digital Operator Panel Operator ee ALARM A v Press simultaneously RESET Key Digital Operator mam 1 L ELI lola O DSPL SERVOPACK OPERATOR SET JOSE POA ERE nem DSPL SET Key e MODE SET MODE SET Key DATA ENTER DATA ENTER Key DATA 4 DATA SHIFT Key e Key i DOWN Key a Key iiid UP Key ej v DOWN Key mr II Lj 2098 Panel Operator e DATA 4 DATA SHIFT Key e MODE SET MODE SET Key LEFT Jg Key IMPORTANT When an alarm occurs remove the cause and then reset the alarm Refer to 71 1 Troubleshooting To reset the servo alarm Note 1 The servo alarm can be reset by ALM RST CN1 44 input signal 2 The servo alarm need not be reset if the control power supply is turned OFF To select a basic mode such as the status display mode utility function mode parameter setting mode or monitor mode Can be also used to set the data To display parameter setting and set value Press the UP Key to increase the set value For JOG operation this key is used as Forward Run Start Key Press the DOWN Key to decrease the set value For JOG operation this key is used as Reserve Run Start Key Press the RIGHT Key to shift to the next digit on the right Press the LEFT or DATA SHIFT Key to shift to the next digit on the left Press the SVON or MODE SET Key to per
467. s for Connecting Linear Scales 6 9 6 4 Cables for Connecting Hall Sensors 6 10 6 5 Flexible Cables 6 11 6 6 SERVOPACK Main Circuit Wire Size 6 13 6 6 1 Cable Types 6 13 6 6 2 Single phase 200 V 6 14 6 6 3 Three phase 200 V 6 14 6 6 4 Three phase 400 V 6 15 6 7 I O Signal Cables for CN1 Connector 6 16 6 7 1 Standard Cables 6 16 6 7 2 Connector Type and Cable Size 6 16 6 7 3 Connection Diagram 6 18 6 8 Peripheral Devices 6 19 6 8 1 Cables for Connecting Personal Computers 6 19 6 8 2 Digital Operator 6 19 6 8 3 Cables for Analog Monitor 6 20 6 8 4 Connector Terminal Block Converter Unit 6 21 6 8 5 External Regenerative Resistor 6 22 6 8 6 Regenerative Resistor 6 25 6 8 7 Molded case Circuit
468. se of the linear servomotor failure contact your Yaskawa representative Table 11 8 Linear Servomotor Inspections lim Frequency Procedure Commens EN M and Noise a NEN C ee and listen from safe posi NENCL NEM higher than normal tion Exterior According to degree Clean with cloth or compressed Use alcohol solvent 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 Do not perform insulation resistance measurement and withstand voltage test for the sensors GAP between At least once a year Disconnect the linear servomotor The GAP dimension stays Coil Assembly and from the SERVOPACK and then unchanged from its initial Magnetic Way check the gap value Overhaul At least once every 5 Contact your Yaskawa represen The user should not disassem years tative ble and clean the servomotor Measure across the servomotor FG and the phase U phase V or phase W power line 11 2 2 SERVOPACK Inspection 11 22 For inspection and maintenance of the SERVOPACK follow the inspection procedures in Table 11 9 at least once every year Other routine inspections are not required Table 11 9 SERVOPACK Inspections Clean Interior and At least once a year Check for dust dirt and oil Clean with cloth or compre
469. sembly back and forth several times over the magnetic way from end to end making sure that the coil assembly and magnetic way are not touching each other and that no foreign objects such as magnetic particles are present 7 Wiring 7 1 3 SGLFW and SGLFM Linear Servomotor F shaped with Core 7 1 3 SGLFW and SGLFM Linear Servomotor F shaped with Core 1 Magnetic Way Installation The SGLFM magnetic way is packed with a cardboard sheet covering the magnetic surface above which is a thin rectangular steel plate The steel plate is a dummy plate used to reduce the influence of magnetic force on the surrounding environment When removing the plate make sure that fingers are kept clear and that the magnet and magnet protection cover are not damaged Dummy plate for reducing magnetic force Cardboard sheet Magnet Magnetic way yoke Use the following procedure to install the SGLFM magnetic way 1 Remove the dummy plate used to reduce magnetic force and the cardboard sheet from the magnetic way s front panel 2 Align the side of the magnetic way with standard marks approx 4 mm dia indentations with the stan dard surface of the machine base keeping fingers clear to prevent being jammed ik way connection TIRE lr Standard surface Wi mark IN NE 3 While pressing the magnetic way down closely onto the machine s standard surface secure with bolts Magnetic Way Model Tightening torque SGLFM ove Necm
470. serve this caution may result in injury Do not place clocks magnetic cards floppy disks or measuring instruments close to the magnetic way Failure to observe this caution may result in malfunction or damage to these items by the magnetic force Do not hold the cover when carrying a magnetic way with an antimagnetic cover Failure to observe this caution may result in injury by the cover edge or the cover may become distorted Keep fingers away from the gap between magnetic ways when connecting multiple magnetic ways together Otherwise fingers may become jammed due to the magnetic attraction between magnetic ways resulting in injury When joining magnetic ways together place the second magnetic way temporarily in line and at least 30 mm apart from the first magnetic way Next after aligning the angles of the bolt sockets on the magnetic way s connecting surfaces rotate the second mag netic way to join the first magnetic way Connect the second and first magnetic ways together And after confirming the mounting position secure the second magnetic way using bolts Make sure that fingers do not get jammed due to the magnetic attraction between magnetic ways 7 2 7 1 Linear Servomotor Installation N CAUTION When using linear servomotors with hall sensors make sure that the hall sensor does not protrude from the servomotor s magnetic way Otherwise the linear servomotor may not operate properly The hall sensor is built in
471. ses exceed the overflow level set in the parameter Pn505 Occurred when the control power sup ply was turned ON Occurred at the ser vomotor high speed movement The servomotor did not run with posi The overflow level Pn505 is incorrect A SERVOPACK board fault occurred The contact in the servomotor U V and W wirings is faulty A SERVOPACK board fault occurred Wirings of the servomotor U V and W are incorrect A SERVOPACK board fault occurred Make the value set in the Pn505 to other than 0 Replace the SERVOPACK Correct the servomotor wiring Correct the encoder wiring Replace the SERVOPACK o o Correct the servomotor wiring tion reference input Replace the SERVOPACK Increase the speed loop gain Pn100 and position loop gain Pn102 Lower the reference speed to the speed limit value Adjust slowly the position reference pulse fre Normal movement The SERVOPACK gain adjustment is improper but occurred with a long distance refer ence input The V REF input voltage and the Pn300 setting are incorrect The position reference pulse frequency is too high quency Apply the smoothing function Correct the electronic gear ratio Set the parameter Pn505 to proper value Reconsider and correct the load and servomotor Setting of the position error pulse overflow alarm level Pn505 is incorrect The servomotor specifications do not meet the load 11 14 Excee
472. setting will change to Pn080 0 1 No hall sensor The setting validation 1s required to enable the set tings Pn080 n0000 With hall sensor factory setting n0001 No hall sensor When Pn080 0 0 is set without connecting a hall sensor the alarm A C2 phase error detection alarm will occur when the power is turned ON 9 14 9 2 Trial Operation Using SERVOPACK Internal References 7 Checking the Feedback Signal Check the following feedback signals to the SERVOPACK Check whether the signals from the linear scale are correctly received Check whether the motor forward direction and linear scale count direction are the same IMPORTANT 1 Before checking the feedback signals be sure to set Pn000 0 to 0 counting up direction of the linear scale phase A progression as forward direction If Pn000 0 is set to a value other than zero the linear servomotor may not run 2 Be sure to check the feedback signals before operating the linear servomotor If the linear servomotor is operated without checking the feedback signals the linear servomotor may not run or overrun may occur a Checking the Signals from the Linear Scale 1 Turn ON the control power to the SERVOPACK and set to servo OFF status 2 Displays the monitor mode parameter Un00D Feedback Pulse Counter on the panel operator or digital operator 3 Move the linear servomotor from end to end of the stroke by hand and check whether the correct number o
473. sor Refer to 2 6 3 1 E 2 DC power supply 24 VDC Regenerative resistor Connect an external regenerative resistor to terminals B1 and B2 if the rgenerative capacity is insufficient Refer to 2 6 4 1 10 7 1 Use a 24 VDC power supply To be provided by users 2 Before connecting an external regenerative resistor to the SERVOPACK be sure to disconnect the lead between terminals B2 and B3 3 To connect a DC reactor refer to 7 5 5 DC Reactor for Harmonic Suppression M E Digital operator SGDH OODE Refer to 2 6 1 SERVOPACK Connection cable for digital operator SEavoracK 7 g P Personal computer SGDH BEES e 9 Connection cable h Temi for personal computer NS W e Refer to 2 6 7 us L3 LN ei z 2 I O signal cable e i pe a 1 ov 3 0 Hi NN B3 uN Refer to 2 6 1 v A w Main circuit cable for linear servomotor Refer to 2 5 Connection cable for serial convertr unit Refer to 2 5 Serial convertr unit Refer to 2 4 Encoder cable Refer to 2 5 Connection cable for hall sensor Refer to 2 5 Linear scale To be provided by users Refer to 2 6 5 Linear servomotor wirh core 1 4 Applicable Standards 1 4 Applicable Standards
474. ssed 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 11 2 Inspection and Maintenance 11 2 3 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 11 10 Periodical Part Replacement Standard Part Replacement Replacement Method Operating Conditions Period Cooling Fan Replace with new part Ambient Temperature Annual Smoothing Capacitor 7 to 8 years Test Replace with new part if nec average of 30 C essary Load Factor 80 max Aluminum 5 years Test Replace with new circuit Electrolytic board if necessary Capacitor on Circuit Board 11 23 12 Appendix 12 1 Linear Servomotor Capacity Selection Examples 12 2 12 2 Calculating the Required Capacity of Regenerative Resistors 12 4 12 2 1 Simple Calculation 12 4 12 2 2 Calculating the Regenerative Energy
475. supervision 4 10 4 3 6 Three phase 400 V 5 0 kW Model Three phase 10 4 3 SERVOPACK Internal Block Diagrams 380 to 480V 15 50 60 Hz SN de QC 92 Noise E filter 1KM iL1XX1 XX3 R E J sh 3 1 XX2 N not provided Control power 24 VDC Linear servomotor iH o Voltage sens r P JE A V KE N Gate drive over current protector Relay drive sen Voltage Gate drive or Interface Lic FU2 L2c o9 o 9 servo alarm SRP 1RY 2RY 2RY High speed diode Power Open during 100 V 200 V Analog voltage converter ASIC PWM control etc gt li Hall Serial O converter 1 unit CPU Position Speed calculation etc H 4 z 5 Connector for Analog monitor Digital operator or application output for personal computer module supervision 4 3 7 Three phase 400 V 7 5 kW Models Three phase 10 PG output Reference pulse input Speed and force reference input Sequence
476. supply input However if the DC power supply input supplies a voltage without setting 1 for DC power supply input in the parameter Pn001 2 the SERVOPACK s internal elements will burn and may cause fire or malfunction When using the SERVOPACK with DC power supply input confirm the following setting of parameters When using the SGDH SERVOPACK with DC power supply input use the following power supply and set the parameter Pn001 2 to 1 Also read carefully to the following Important section IMPORTANT 1 Servomotor returns the regenerative energy to the power supply when regenerating SERVOPACK does not regenerate with DC power supply input specifications so regenerate the energy on the power supply side 2 Take appropriate measures to ensure that a high charging current stays inside the SERVOPACK when power is OFF a Main Circuit and Control Power Supply Input The following shows the connection for the main power supply and the control power supply Main Circuit Power Terminal Supply Voltage Supply input SGDH AE AC400V 513 to 648 VDC idi Geo ete SN en aT Commo wad WV Control power supply input Single phase 200 to 230 VAC 10 15 50 terminal SGDH AE 60Hz or 270 to 310 VDC without polarity 24V OV AC400V 24VDC 15 SGDH DE b Setting Parameters Pn001 n 0000 Not applicable for DC power supply input Input the AC power supply for the terminal L1
477. 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 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 7 31 7 Wiring 7 5 2 Wiring for Noise Control 7 5 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 7 32 The SGDH SERVOPACK has a built in microprocessor CPU so protect it from external noise as much as pos sible by installing a noise filter in the appropriate place The following is an example of wiring for noise control 200 VAC 3
478. t Factory Setting Setting Validation Oto 800 immediately INFOQ If the force limit is set too high polarity detection may not operate normally 12 Checking or Adjusting Polarity Detection Check whether the polarity detection is operating normally IMPORTANT 1 The linear servomotor is turned ON during polarity detection so take measures to avoid electric shock The linear servomotor will make large movements during detection so do not stand near the coil assem bly 2 Polarity detection depends on many factors such as mass ratio friction and cable tension If any error occurs because of one of these factors the setting may be incorrect 9 17 9 Operation 9 2 3 Setup Procedure Using Linear Servomotors without Hall Sensors YN INFO Nro 9 18 a Polarity Detection Completion Timing Polarity detection is performed when the S ON signal P DET signal for P DET signal assignment is input after turning ON the control power and main circuit power During detection the status display is P dt and the S RDY signal turns ON when completed S ON input P DET ee S RDY output I i 4 Polarity detection Polarity detection completed Status display P dt 5 Normal operation possible b Checking whether Detection is Normal Simple Confirmation After turning ON both the control power and main circuit power input the S ON signal Use P DET signal when using the pola
479. t Signal Allocation Functions can be allocated to the following sequence output signals After having changed the parameter turn OFF the power and ON again to enable the parameters 29 30 Pn512 n xLIxx Remark Parameter Setting Pn512 n xxxO Pn512 2n xxLIx Allocation 0 EI L 1 Positioning Invalid H L Valid output signal Low level x KJ Completion T T COIN mc Be ee J Vara owput signal High level L means factory setting CN1 Pin No 25 26 27 28 Pn50E 0 n xxxL1 Speed Coinci Invalid dence Detection 1 T Saf Do not use the output signal ee age que ae ce rec Movement Detec 0 Invalid f p Factory Setting na e ee ee E ee Pn50E TGON Pn50E 2 n xLIxx 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 Servo Ready S RDY Pn50E 3 n LIxxx Force 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 Reference Pulse Input Multiplication PSELA Pn510 2 u ES Ka EXE EXE ors EIL E 1 5 x L1 x x This function is valid for the software version 32 or later 8 28 8 3 Operation in Parameter Setting Mode PnOOD IMPORTANT 1 When two or more
480. t used Servomotor Line Disconnection The power is not supplied to the linear Available servomotor while the SERVOPACK 11 1 2 Warning Display The relation between warning displays and warning code outputs is shown in table 11 2 Table 11 2 Warning Displays and Outputs Warning Warina Name Meanin Warning Code Output Display ng ing ALO1 ALO2 ALO3 The position deviation exceeds the value of Pn51E 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 Regenerative Overload This warning occurs before the regenerative overload alarm A 32 occurs If the warning is ignored and opera tion continues a regenerative overload alarm may occur The warning occurs only for the software version 32 or higher Note Warning code is not output without setting Pn001 n 1 01010 Outputs both Alarm Codes and Warning Codes 11 4 11 1 Troubleshooting 11 1 3 Alarm Display Table when the Application Module is Used The following special alarms will occur when the SGDH SERVOPACK and an application module are used together The relation between alarm displays and alarm code outputs is shown in Table 11 3 Table 11 3 Alarm Displays and Outputs when the SERVOPACK and an Application Module Is Used Together Alarm Ed Module Alarm Name Meaning ER Code Servo Deom ieee E which Detects Alarms ER Alarm NS NS NS NS Ns fad ALO2
481. tarting and stopping of the servomotor 1 Dynamic brake DB SERVOPACK Servomotor TERMS f J DB A common method for quickly stopping a servomotor The servomotor is stopped G by short circuiting the servomotor circuit This circuit is built into the SERVO PACK e 9 34 9 6 Setting Common Basic Functions 9 6 5 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 netantangous power ihterruption will be invalid Power If 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 Servo ON B IMPORTANT The maximum setting for the hold time during a power loss is 1 000 ms but the hold time for the SERVOPACK Pn509 t Servo ON Servo OFF control power supply is about 100 ms The hold time fo
482. tection icd Setting Range Setting Unit Factory Setting Setting Validation Use the following formula to obtain the mass ratio Load mass including mass of coil assembly _ Mass ratio Pn103 1 x100 96 Coil assembly mass This setting range is applicable for software version 32 or later The range for software earlier than ver sion 32 is 096 to 10 000 10 Setting the Overtravel Signal Polarity detection cannot start in overtravel state When using the overtravel function connect the signal wires and use in base block status When not using the overtravel function set the parameters Pn50A 3 to 8 and Pn50B 0 to 8 OT signal disabled The setting validation is required to enable the settings For details refer to 9 6 3 Setting the Overtravel Limit Function 11 Setting Force Limit To prevent danger during setup of the linear servomotor the factory settings for the forward force limit Pn483 and reverse force limit Pn484 parameters are set to small value factory setting 30 Ifthe force limit is set after 5 Setting the Linear Scale Pitch and 7 Checking the Feedback Signal overrun will not occur Increase the value in the parameters up to the required force Set the value to the maximum value if no particular restricting conditions apply Pn483 Forward Force Limit Setting Range Setting Unit Factory Setting Setting Validation 010 800 immediately Reverse Force Limit Setting Range Setting Uni
483. ten in the serial converter Replace the serial converter unit unit is incorrect A SERVOPACK board fault occurred Replace the SERVOPACK The initial value is set for Pn280 Correct the set value of parameter Pn280 Select the proper combination of SERVOPACK and servomotor capacities A value higher than the motor peak speed that can be obtained from the dividing ratio was set for Pn384 Change the set value to a value within the allow able peak speed referring to Un010 Then set validation of the control power supply A value higher than the maximum dividing ratio that can be obtained from the linear servomotor peak speed was set for Pn281 Change the set value to a value within the allow able dividing ratio referring to Un010 Then set validation of the control power supply Replace the linear servomotor with the gt II series supported model The mounted serial encoder is not supported by II series 11 Inspection Maintenance and Troubleshooting 11 1 5 Troubleshooting of Alarm and Warning Table 11 5 Alarm Display and Troubleshooting Cont d Alarm Alarm Name Situation at Alarm Cause Corrective Actions Display Occurrence Overcurrent Occurred when the The overload alarm has been reset by turning OFF Change the method to reset the alarm An overcurrent control power sup the power too many times flowed through ply was turned ON he connection is faulty between the SERVOPACK Replace the SERVOPACK
484. ter Pn200 0 according to the host controller specifications Parameter Reference Pulse Input Forward Movement Reverse Movement Pulse Reference Reference Multiplier Pn200 n LILILIO Sign pulse train PULS Positive logic Ni JL JL JL SIGN Factory setting CN1 11 CW pulse CCW BUS c BUS pulse CNI 0 CN1 7 iti i SIGN SIGN Positive logic ONIY n one Two phase pulse train with 90 phase PULS PULS differential oa Sai M SIGN SIGN Positive logic CN1 11 CN1 11 Sign pulse train puts M Negative logic CN1 7 CN1 7 U U SIGN 7 SIGN CN1 11 CN1 11 CW pulse CCW pulse Negative logic Two phase pulse train with 90 phase PULS differential CN1 7 f SIGN Negative logic CN1 11 The input pulse multiplier can be set for the 2 phase pulse train with 90 phase differen A tial reference pulse form PULS 1 CN1 7 SIGN CN1 11 x1 gt Forward direction Reverse direction Internal Motor movement processing reference pulses x4 9 47 9 Operation 9 8 1 Setting Parameters 3 Clear Signal Form Selection Type Signal Connector Name Name Pin Number Input CN1
485. ternal regenerative resistor between Bl and B2 terminals Note The user must provide the regenerative resis tor b SERVOPACKs with Capacities of 0 5 to 5 0 kW Enlarged View Disconnect the wiring between the SERVOPACK s L1C Vu B2 and B3 terminals and connect an external regen L2C parag erative resistor between the B1 and B2 terminals B1 The user must provide the regenerative resistor B2 B3 Note Be sure to remove the lead wire between the B2 and B3 terminals y 7 41 7 Wiring 7 6 2 Connecting External Regenerative Resistors c SERVOPACK s with Capacity of 7 5 kW No built in regenerative resistor is provided so the external regenerative resistor is required The special regenerative resistors are as follow Main Circuit Applicable Applicable i Specifications Power Supply SERVOPACK Regenerative Model SGDH Resistor Three phase 75AE JUSP RA05 n 25 Q 220 W x 8 parallel connection 200 V Three phase 75DE JUSP RA18 EN 18 Q 220 W x 4 direct parallel connection 400 V The following diagram shows the connection method between the SERVOPACK and the regenerative resis tor SERVOPACK Regenerative Resistor o A JUSP RALILI 1 TE gg ET ar FA VASKawa Ge CE
486. th 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 8 3 2 Input Circuit Signal Allocation and 8 3 3 Output Circuit Signal Allocation 7 22 7 4 Examples of I O Signal Connections 7 4 2 Position Control Mode SERVOPACK PULS PULS pow PULS ase A ALO1 SIGN Alarm code output TSN g LO2 Max operating voltage Prasele SIGN 30 VDC oS Max output current CLR 20 mA DC CLR Position reference CLR PAO 34 5 IPAO MET O llect ividi i pen collector PL2 PBO PG dividing ratio output reference gt Applicable line receiver power supply PBO SN75175 manufactured by Texas Instruments or the equivalent es corresponding to A 83486 24V SG gt Servo ON T Servo ON when ON P control COIN ON when positioning P control when ON cee completes Forward run prohibited TGON Prohibited when OFF Movement speed TGON detection output TM p Reverse run prohibited ON above the setting Prohibited when OFF S03 9 2 ig Fafe a pM eger Ex Alarm reset Reset when ON S RDY RDY ON when ready Forward current limit Limited when ON ALM OFF for an alarm a Photocoupler output Max operating voltage Reverse current limit Limited when ON Connector shell 30 VDC O Max output current FG 50 mA DC Connect the shielded wire to th
487. th standard allocation Changes the sequence input signal allocation for each signal IS ON Signal Mapping Signal Polarity Normal Servo ON when ON L level Signal Polarity Reverse Servo ON when OFF H level Refer to 9 6 1 Setting the Servo ON Signal 0 ON when CN1 40 input signal is ON ON when CN1 41 input signal is ON ON when CN1 42 input signal is ON A 7 lt G N t t 1 1 o 7 lt e e lt 43 input signa 45 input signal ON when CN1 46 input signal is ON L leve Sets signal ON 44 input signal o o n o Sets signal OFF OFF when CN1 40 input signal is OFF H level OFF when CN1 41 input signal is OFF H level OFF when CN1 42 input signal is OFF H level OFF when CN1 43 input signal is OFF H level plo OFF when CN1 44 input signal is OFF H level OFF when CN1 45 input signal is OFF H level OFF when CN1 46 input signal is OFF H level P CON Sig pping P control when ON Refer to 10 4 4 Proportional Control Operation Proportional Operation Reference 0 to F Same as S ON mimj jocj ojuo P OT Signal Mapping Forward run prohibited when OFF H level Refer to 9 6 3 Setting the Overtravel Limit Function Forward run a when CN1 40 input signa Forward run allowed when CN1 41 input signal is ON L leve N Forward run allowed when CN1 42 input signal is ON L level evel Forward
488. than one second to return to the Fn009 display of the utility function mode 9 39 9 Operation 9 7 3 Adjusting Offset 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 Step Display after Digital Panel Description FDI Operator e Press the DSPL SET or MODE SET Key to select the utility function mode POR DSPLISET Key OMODE SET Key Press the UP or DOWN Key to select parameter Fn00A The digit that can be set will blink Press the DATA ENTER Key once or DATA SHIFT Key for more than one second The display will be as shown at the left DATA 4 z D NN Key DATA SHIFT Key The manual adjustment mode for the speed reference offset will Pr
489. the AC power supply ON and OFF sequence at the primary side of voltage conversion transfer Voltage conversion transfer inductance will cause a surge voltage if the power is turned ON and OFF at the secondary damaging the SERVOPACK There are three types of SGDH SERVOPACKS for the power supply voltages Single phase 200 VAC three phase 200 VAC and three phase 400 VAC When using the SERVOPACK for 200 V with the three phase 400 VAC class 380 to 480 V prepare the following voltage conversion transformers single phase or three phase Primary Voltage Secondary Voltage 380 to 480 VAC 200 VAC When selecting a voltage conversion transformer refer to the capacities shown in the following table Voltage SERVOPACK Model Voltage Capacity per Current Capacity of Circuit Se SERVOPACK E Breaker or Fuse Arms Single phase 200 V Three phase 200 V This is the net value at the rated load Voltage conversion SERVOPACK transformer 7 Single phase 1KM b 200 VAC Es RIS 000 d g s TA 4 H Magnetic contactor for power supply ON and OFF ooo ooo oad Lp IL p IL p 1 E 19 rre o i Single phase Power Supply Connection Example 7 36 7 5 Others 7 5 5 DC Reactor for Harmonic Suppression 1 Reactor Types The SERVOPACK has the DC reactor connection terminals for power supply harmonic suppression However SER
490. 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 Force Reference Fil Setting s Hz Time Constant ter 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 10 8 10 2 Online Autotuning 10 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 Step Display after Operation Digital Operator Panel Description wl ES Press the DSPL SET or MODE SET Key to select the utility ae function mode ie DSPL SET Key MODE SET Key Press the Up or Down Cursor Key to select Fn001 The digit that can be set will blink Press the DATA ENTER or DATA SHIFT Key for one second ENTER or more DATA ENTER Key eee The display shown at the left will appear and the rigidity for online autotuning can be set Press the Up
491. the table may not be applicable or available if their specifications have been modified or their production has been stopped Check the most recent catalog of the linear scale manufacturer to select a linear scale that meets the specifications described in 5 7 Serial Converter Unit Specifications 4 Select a linear scale so that the current consumption of the linear scale is 190 mA max 5 At parameter Pn280 set the scale pitch of the linear scale so that it satisfies the following con dition Otherwise satisfactory control cannot be obtained 64000 Pn280 Scale pitch uum Examples Correct 1 2 4 8 10 16 20 40 Incorrect 3 12 18 must result in an integer number 2 14 3 Specifications and Dimensional Drawings 3 1 Ratings and Specifications of SGLGW SGLGM 3 2 3 2 Ratings and Specifications of SGLFW SGLFM 3 6 3 3 Ratings and Specifications of SGLTW SGLTM 3 9 3 4 Mechanical Specifications of Linear Servomotors 3 15 3 5 Quick Guide to Linear Servomotor Dimensional Drawings 3 16 3 6 Dimensional Drawings of SGLGW SGLGM Linear Servomotors 3 17 3 6 1 SGLGLI 30 Linear Servomotors 3 17 3 6 2 SGLGLI 40 Linear Servomotors 3 20 3 6 3 SGLGLI 60 Linear Servomotors 3 24 3 6 4 SGLGLI 90 Linear Servomotors
492. ting Setting Validation Oo 800 immediately Reverse Force Limit Setting Range Setting Unit Factory Setting Setting Validation 010 800 immediately 9 11 9 Operation 9 2 3 Setup Procedure Using Linear Servomotors without Hall Sensors 9 2 3 Setup Procedure Using Linear Servomotors without Hall Sensors Perform the following steps 1 to 13 1 Checking Operating Conditions Make sure that the following conditions are satisfied when performing polarity detection No problems when linear servomotor is moved approximately 2 mm Scale pitch must be within 100 um within 40 um recommended Minimum unequal external force on the linear servomotor 5 max of rated force is recommended Mass ratio less than 30 times e On a horizontal axis Friction on the guide is a percentage of the rated force air slide not used 2 Installation and Wiring the Linear Servomotor and Linear Scale Install the coil assembly and linear scale so that the motor forward direction and linear scale count direction are the same IMPORTANT If the motor forward direction and linear scale count directions do not match and the linear servomotor is run in this state the linear servomotor may not operate or overrun may occur When using linear X series servomotors the motor forward direction coil assembly s direction of progression when current flows in phase order U V and W is toward the side from which the cable is extended The analog 1 V p
493. tion loop gain units 1 s 3 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 force reference If there is any vibrating noise or noticeable vibration gradually increase the Force Reference Filter Time Constant in Pn401 4 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 5 Decrease the speed feedback compensation to a value lower than 9096 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 6 Find the parameter settings that yield the shortest settling time without causing vibration or instability in the position error or force reference waveform being observed with the analog monitor 7 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 10 24 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 10 4
494. tive Resistance The kinetic energy of driven machine such as linear servomotor is returned to the SERVOPACK This is called regenerative power The regenerative power is absorbed by charging the smoothing capacitor but when the power exceeds the capacitor s chargeable energy the regenerative power is further consumed by the regenerative resistor The servomotor is driven in regeneration state in the following circumstances While decelerating to a stop during acceleration and deceleration operation Continuous falling operation on the vertical axis During continuous operation with the servomotor moved from the load side negative load The SERVOPACKs with a capacity of the single phase 200 V with 50 to 400 W do not have built in regenerative resistors Ifthe value calculated in 2 2 Calculating the Required Capacity of Regenerative Resistors needs an external regenerative resistor connect an external regenerative resistor 7 6 2 Connecting External Regenerative Resistors 1 Necessity of External Regenerative Resistors Necessity of External Regen Description erative Resistors 400 W or less Not Required No built in regenerative resistor is provided however normally an external regenerative resistor is not required SERVOPACK Capacity Install external regenerative resistors when the smoothing capacitor in SER VOPACK cannot process all the regenerative power 500 W to 5 0 kW Not Required A built in regenerative resistor is p
495. to the coil assembly in SGLGW 30 and SGLGW 90 linear servomotor While the hall sensor is built in the side of other models 7 1 2 SGLGW and SGLGM Linear Servomotors Coreless Types 1 Magnetic Way Installation The SGLGM magnetic ways are U channel steel tracks with opposing magnets attached to the inner surfaces Make sure that no foreign particles magnetic objects are caught between the magnets when installing them Magnets Use the following procedure to install SGLGM magnetic ways 1 After checking the magnetic way s two mounting reference surfaces place the magnetic way on the refer ence surface of the machine base making sure that hands are kept clear Nameplate Mounting reference surface in M ounting reference surface 2 Press the magnetic way down closely onto the reference surface of the machine and secure it with bolts Magnetic Way Model A Tightening torque 09000 eee MS 720 to 1010 600000 90LILILILI 1220 to 1710 Note Use hexagonal socket head bolts tensile strength Class 10 9 7 Wiring 7 1 2 SGLGW and SGLGM Linear Servomotors Coreless Types 7 4 3 When joining magnetic ways together place the second magnetic way temporarily in line and at least 30 mm apart from the first magnetic way Next after aligning the angles of the bolt sockets on the magnetic way s connecting surfaces rotate the second magnetic way to join the first magnetic way Connect the second and f
496. tor 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 Not detected for the SERVOPACK with the capacity of 7 5 kW Parameter Setting Error The parameter setting was out of the allowable set ting range Combination Error The SERVOPACK and servomotor capacities do not correspond Linear Scale Pitch Setting Error Dividing Ratio Setting Error For the software version 32 or later Encoder Type Mismatching For the software version 32 or later 1 Alarm Display and Troubleshooting Table 11 5 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 Occurred when the control power sup ply was turned ON Occurred when the control power sup ply was turned ON Occurred when the control power sup ply was turned ON Alarm Alarm Name Situation at Alarm Cause Corrective Actions Display Occurrence Correct the power supply and set Fn005 to initial ize the param
497. tor is made by Interconnectron Note A connector is not provided on the linear servomotor end of the main circuit cable type JZSP CLN39 O The user must provide the connector on the linear servomotor end For details on the required connector refer to 6 7 Linear Servomotor Main Circuit Cables 2 6 Selecting Peripheral Devices 2 6 Selecting Peripheral Devices 2 6 1 Special Options Digital operator 3 Connection cable for digital operator Personal computer Y YASKAWA 200V 7 SERVOPACK 4 Connection cable for personal computer m m m mmmmm mm e e ej lececc loc o R n E QOO O cmar Power O S CN10 CN7 CN11 CN11 Connector x 9 f CN6 CN6 CN4 CN4 CN4 CN6 pt mU i ak MIC J MECHATROLINK I MECHATROLINK II DeviceNet PROFIBUS DP INDEXER I F Unit I F Unit I F Unit I F Unit Module NS100 NS115 NS300 NS500 NS600 2 9 2 Selections 2 6 1 Special Options EF Refer Terminal block and 0 5 m connection cable Connector terminal block gt JUSP TA50P converter unit I O Signal Cables Cable with JZSP CKIOI 1 Loose wires at host controller end loose wires at JZSP CKIO1 2
498. traction attraction difference Coil assembly j in N Magnetic gt attraction g Mo imo m 7 1510 2040 2 i e 20A320ALI 0 05 Pi a 9 Magnetic p 20A460ALI sa 3050 a E i EE on 40040080 1 7 E mE 9 0 ow EN ee 0 05 o 1 7 G1 G2 4000 500 1400 33A Z0AD 1330 1800 350170HO 1 3 0 7 i gt 0 03 sons m CELER w En won mns Indicates an air gap value when one side is 0 3 mm 0 012 in and the other side is 0 3 mm 0 012 in relative to the design values 2 Indicates the magnetic attraction at maximum force 7 2 Wiring Main Circuit 7 2 Wiring Main Circuit This section describes typical examples of main circuit wiring functions of main circuit terminals and the power ON sequence CAUTION Do not bundle or run power and signal lines together in the same duct Keep power and signal lines sepa rated by at least 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 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
499. tric shock Never touch the inside of the SERVOPACKs Failure to observe this warning may result in electric shock Do not touch terminals for five minutes after the power is turned OFF Residual voltage may cause electric shock Do not touch terminals for five minutes after voltage resistance test Residual voltage may cause electric shock Make sure that the main circuit power cable the control power cable and the linear servomotor main circuit cable are wired correctly Failure to observe this warning may result in damage to the SERVOPACK 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 SGDH SERVOPACK supports both AC and DC power If DC power is supplied to the SERVOPACK without setting Pn001 n 0100 DC power input the internal components of the SERVOPACK will burn and may result in fire or serious damage Before using a DC power supply be sure to check the parameter Pn001 setting Do not remove the front cover cables connectors or optional items while the power is ON Failure to observe this warning may result in electric shock 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
500. tuning 10 2 1 Online Autotuning Online autotuning calculates the load mass during operation of the SERVOPACK and sets parameters 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 mass varies in less than 200 ms The motor speed is lower than 100 mm s or the acceleration reference is very even Load rigidity is low and mechanical vibration occurs easily or friction 1s 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 mass on the basis of the machine specifications or using the mass detection function of Yaskawa s servodrive supporting tool SigmaWin Set the value in Pn103 and perform the adjustment manu ally The following utility function is also available for the online autotuning Fn007 Writes the load mass calculated by the online autotuning in Pn103 and uses as the default value for the next calculation 10 5 10 Adjustments 10 2 2 Online Autotuning Procedure 10 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 sett
501. ul phaceul f d ure the relationship between the hall 2 Phase U tS 1 asg e sensor output signals Su S Phase V Whit i h motor ph Vu Pin connector type Pin type 350218 3 or 3 Phase W Black i ype 4 Phase W 350547 3 No 1 to 3 below 7JE 23090 02 D8C 3S0 a No103 a FG Green made by DDK Ltd 5 OV Power supply 350669 1 No 4 The mating connector 6 Not used made by Tycon Electronics AMP K K Vu T Socket connector type T Not used The mating connector 17JE 13090 02 D8C Cap type 350780 1 Inverse 8 Not used Stud type 17L 002C or Socket type 350536 3 or power Vv Sv 17L 002C1 9 Not used 350550 3 V Vw Sw 0 180 360 Coil Assembly Model SGLFW 127 72 108 6 13 350120A0 65 0 2 83 4 25 024 2 87 235 180 216 12 23 350230A0 9 25 7 09 8 50 0 47 5 07 540 Electrical angle 3 7 Dimensional Drawings of SGLFW SGLFM Linear Servomotors 2 Coil Assembly SGLFW 35DLILILIALID With a connector made by Interconnectron The following table and figures show the specifications when a main circuit s cable connector made by Intercon nectron is used for the coil assembly 60 2 36 55 2 17 4 0 16 Without magnet cover Gap 0 8 0 03 With magnet cover 77 0 004 Gap1 0 04 Without magnet cover SGLFW 35D120ALID Hall Sensor Connector Specifications 2xscrews 4 40 UNC of e Hall sensor Magnet
502. ulations and laws that may apply Specifications are subject to change without notice MANUAL NO SIEP S800000 19C for ongoing product modifications and improvements Printed in Japan March 2005 03 10 D o 2003 2005 YASKAWA ELECTRIC CORPORATION All rights reserved 04 8 97 71082 01 19011
503. un reference output _4 J S ON 340 L2o X axis alarm reset output 5 le JALM RST_ 44 L3 O Main circuit power supply Doa ony X axis feedback ground 10 yi SG 4 1 Linear servomotor X axis phase A input 11 l b 4 PAO 4 33 X axis phase A input 12 READ IPAO 34 U X axis phase B input 13 Ga PBO 1 35 V M X axis phase B input 14 J wa PBO 1 36 Wc X axis phase Z input 15 J o PCO 19 X axis phase Z input 16 y i 1 PCO X 20 X axis speed reference 17 y V REF 1 5 Linear scale Axis speed reference ground 18 i SG l6 c Serial zx lt E gt CN2 i converter T FG sna gH wt y 24V output 19 A 24V IN 47 24V output ground 20 ALM 32 Properly treat the ends of shielded wired I O connector 24VDC 24V input 1 i X axis CW limit input 2 X axis CCW limit input _ 4 X axis immediate stop input 6 X axis origin proximity input 10 p 24V input ground 444 ii represents twisted pair wires Note 1 Only signals applicable to OMRON s MC unit and Yaskawa s SGDH SERVOPACK are shown in the diagram 2 The main circuit power supply is a three phase 200 VAC SERVOPACK input in the example The power supply and wiring must be in accordance with the power supply specifications of the SERVOPACK to be used 3 Note that incorrect signal connection will cause damage to the MC unit and SERVOPACK 4 Open the signal lines not to be used 5 The above connection diagram shows only X axis connection When using a
504. unctions 10 15 10 4 1 Feed forward Reference 10 15 10 4 2 Force Feed forward 10 16 10 4 3 Speed Feed forward 10 17 10 4 4 Proportional Control Operation Proportional Operation Reference 10 18 10 4 5 Using the Mode Switch P PI Switching 10 19 10 4 6 Setting the Speed Bias 10 22 10 4 7 Speed Feedback Filter 10 22 10 4 8 Speed Feedback Compensation 10 23 10 4 9 Switching Gain Settings 10 25 10 4 10 Force Reference Filter 10 26 10 5 Analog Monitor 10 29 10 1 10 Adjustments 10 1 1 Servo Gain Adjustment Methods 10 1 Autotuning 10 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 10 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
505. unting holes i ZXNTSME screws depthangussd See the sectional view for the depth 27 1 06 e oj e e e e e e Including magnet cover of plate 2 40 3 fi I l I pd if thickness 0 2 0 01 oat gn lt T T o 4013 20 0 79 L2 ya 54 2 13 2 3 0 09 L3 11 7 0 46 0 1 L13 Reference length 2 x N1 M6 bolts depth 16 0 63 l Units mm in Note 1 The magnetic way may affect pacemakers Keep a minimum distance of 200 mm 7 87 in from the magnetic way 2 Two magnetic ways in a set can be connected to each other 3 The magnetic way with base has the same characteristics as those of the magnetic way without base SGLTM 20LILILIA Magnetic Way Dem 4 2 2 2 324 0 310 162 162 2 wsz 259 aue E 540 6 3 2 4 L L4 1 7 6 5 1 8 526 378 189 10 8 5 756 70 74 594 198 14 12 aver asro creo en 3 43 3 Specifications and Dimensional Drawings 3 8 2 SGLTLI 35LILILILIALI Linear Servomotors 3 8 2 SGLTLI 35LILILILIALI Linear Servomotors 1 Coil Assembly SGLTW 350000A0 NxM6 tapped holes depth 12 0 47 15 0 59 70 2 76 2 screws 34x40 UNC The coil assembly moves in the direction Hall sensor indicated by the arrow when current flows 19 69 1 97 in the ordear phase U V and W mE 4 2 90 17 Reference length Nameplate 90 33 63 min Units mm in 00 50 19
506. ur a Checking the Signals from the Linear Scale 1 Turn ON the control power to the SERVOPACK and set to servo OFF status 2 Displays the monitor mode parameter Un00D Feedback Pulse Counter on the panel operator or digital operator 3 Move the linear servomotor from end to end of the stroke by hand and check whether the correct number of feedback pulses is returned lt q EXAMPLE gt Using a linear scale with a scale pitch of 20 um if the linear servomotor is moved only 1 cm by hand in the linear scale s count direction the number of feedback pulses will be as follows 1 cm 20 um 256 12 800 pulses SSeS T 1 TERTA iy oo a aes gt i Linear servomotor cable l attached to coil assembly When the linear servomotor is moved by hand to the side with the cable and the value of UnOOD is 1F400 or FFFEOCOO confirmation is completed Note The actual monitor display will deviate by the error in movement distance only so a value that is close to the above value is acceptable INFON m When the Value of the UnOOD is incorrect If the Un00D value is not displayed correctly the following conditions may be present Check the conditions and take appropriate countermeasures The scale pitch of the linear scale does not match Ifthe scale pitch set in Pn280 is different from the actual scale pitch the assumed number of feedback pulses will not be returned Check the specifications of the linea
507. uring operation Do not carry the magnetic way by its antimagnetic cover Failure to observe this caution may result in injury by the cover s edge or the shape of the cover may become dis torted Install SERVOPACKs linear servomotors and regenerative resistors on nonflammable objects Mounting directly onto or near flammable objects may result in fire 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 B Wiring N CAUTION Securely tighten the cable connector screws and securing mechanism If the connector screws and securing mechanism are not secure they may loosen during operation Use power lines and cables wit
508. ust 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 force control Check Pn001 0 and Pn001 1 mode is selected Improper overtravel position setting The distance to the position of OT over Correct the OT position travel is too short considering the coasting distance Noise interference due to improper The serial converter unit cable specifica Use serial converter unit cable with the specified specifi serial converter unit cable specifica tions must be cations tions 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 serial The wiring distance must be 20 m 65 6 ft The serial converter unit cable distance must be within converter unit cable distance is too max the specified range long Noise influence due to damaged Check if the serial converter unit cable
509. ut magnet cover Hall Sensor Connector Specifications Pin connector type 17JE 23090 02 D8C made by DDK Ltd The mating connector Socket connector type 17JE 13090 02 D8C Stud type 17L 002C or 17L 002C1 Coil Assembly Model SGLTW 800400B0 ae 15 55 585 800600BO0 The coil assembly moves in the direction indicated by the arrow when current flows in the order of phase U V and W 2xscrews 4 40 UNC N id Reference length eS ls Units mm in Linear Servomotor Hall Sensor Output Signals Connector Specifications When the coil assembly moves in the di Pin No Name rection indicated by the arrow in the fig Pin No Name 2 ure the relationship between the hall 1 5VDC DEN A PhaseU sensor output signals Su Sv Sw and the 2 Phase U co OB B Phase V inverse power of each motor phase Vu Vv Vw becomes as shown in the figiure 3 Phase V C PhaseW below 4 Phase W Receptacle type MS3102A 22 22P D Ground made by DDK Ltd Vi 5 ov uf Tsu 6 Not used The mating connector 7 Not used L shaped plug type MS3108B22 22S Inverse Straight plug type MS3106B22 22S power VV Sv 8 Not used Cable clamp type MS3057 12A V 9 Not used Vw IS 0 180 360 540 Electrical angle 360 14 17 15 14 30 60 2 36 x 6 0 24 0 55 66 14 20 43 0 79 94 80
510. ver 500 50 Hall sensor 19 69 1 97 7 end connector Cable a UL20276 AWG28 S EL 9 Wiring specifications of hall sensor cable Pin No Name 1 5VDC 2 Phase U 3 Phase V Pin connector 17JE 23090 02 D8C 4 Phase W made by DDK Ltd 5 ov The mating connector 6 Not used Socket connector type 7 Not used 17JE 13090 02 D8C 8 Not used Stud type 17L 002C or 17L 002C1 9 Not used Coil Assembly Model SGLTW 500170HO 500320HO Reference length px l 35 1 43 1 6 63 min Lead specifications of coil assembly If this cable is bent repetitively the cable will disconnect Phase V Phase U Phase W round View from top of coil assembly Name Color Code Wire size Phase U U Phase V Black V 2mm Phase W Ww Ground Green 2mm Reference length Units mm in Hall Sensor Output Signals When the coil assembly moves in the di rection indicated by the arrow in the fig ure the relationship between the hall sensor output signals Su Sv Sw and the inverse power o each motor phase Vu Vv Vw becomes as shown in the figure below va papa s inis Inverse power LA V 170 144 5 67 16 8 6 6 69 48 1 89 x 3 0 12 0 63 0 31 13 23 315 288 11 34 17 14 m 12 40 48 1 89
511. wer supply a high charging current flows for 0 2 seconds when power is turned ON Frequently turning power ON and OFF causes main power devices 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 Do not connect the SERVOPACK for 100 V and 200 V directly to a voltage of 400 V The SERVOPACK will be destroyed Be sure to wire correctly and securely Failure to observe this caution may result in motor overrun injury or malfunction Always use the specified power supply voltage An incorrect voltage may result in burning Make sure that the polarity is correct Incorrect polarity may cause ruptures or damage 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 A 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 locati
512. when CN1 43 input signal is OFF H level D ON when CN1 44 input signal is OFF H level EX ON when CN1 45 input signal is OFF H level ON when CN1 46 input signal is OFF H level Reserved Do not change Reserved Do not change Reserved Do not change Pn51E Excessive Position Error Warning Level 0 to 100 1 Immedi 11 12 ately Pn580 Zero Clamp Level 0 to 5000 1 mm s Immedi ately Pn581 Zero Speed Level 1 to 5000 1 mm s Immedi 9 13 3 ately Pn582 Speed Coincidence Signal Output Width 0 to 100 1 mm s 10 Immedi 9 7 8 ately Pn583 Brake Reference Output Speed Level 0 to 5000 1 mm s 100 Immedi ately e Motor Self cooling Ratio 0 to 100 1 peak Immedi speed ately d External Regenerative Resistor Capacity Depending on 10 W Immedi model ately Available for the software version 32 or later Usually set to 0 If an external regenerative resistor is mounted set the capacity W of the resistor so that it is the same or lower than the rated value 3 The upper limit value is the maximum output capacity W of applied SERVOPACK 12 39 12 Appendix 12 4 3 Monitor Modes 12 4 3 Monitor Modes The following list shows available monitor modes Parame Content of Display Un000 Actual motor speed m Un001 Input speed reference Un002 Internal force reference Value for rated force Un003 Electrical angle 1 16 bit decimal code number of pulses from the phase U 0 Ups mwrsmuim
513. witch 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 Pn380 Internally Set Speed 1 SPEEDI ON low ON low Pn381 Internally Set Speed 2 SPEED2 ON low OFF high Pn382 Internally Set Speed 3 SPEED3 9 10 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 9 7 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 Pn305 and Pn306 2nd speed SPEED2 1st speed SPEED1 0 1 l Stop I I l 2 SPEED1 1 I i l 1st speed E mM SPEED2 i I i i i i l i 1 2nd speed 1 1 i 1 1 I 1 i I z 1 1 SPEED3 i 1 Brd speed i i MEE i 1 l f i 1 1 i l l l CE STDS OFF OFF ON ON OFF OFF ON ON OFF 1 1 l l I N CL SPD B 1 OFF ON ON OFF OFF ON ON OFF OFF 1 1 1 ON 1 ON ON OFF OFF OFF OFF OFF P CON SPD D IMPORTANT When Pn000 1 5 Internally set speed control amp Positi
514. x 12 4 2 List of Parameters 12 4 2 List of Parameters Parameter Name Setting Range Unit Factory Setting Reference No Setting Validation Section Pn000 Function Selection Basic Switches 0000 After restart 4th 3rd 2nd 1st digit digit digit digit Direction Selection ES to 9 6 2 Switching the Linear Servomotor Movement Direction Sets the counting up direction of the linear scale phase A progression as forward direction 1 Sets the counting down direction of the linear scale phase B progression as forward direction Movement direction reversal mode Control Method Selection Refer to 9 5 9 12 o amaan 1 Position control Position control pulse train reference 0 O train reference Ea O O RN nalts comme retaenco gt Femme a resonsonitpuserser ts Fome comol Gaalon s ioe eont ingens c Speet eont maet 5 Pon omat pae minte osso Axis Address Sets SERVOPACK axis address Rotation Type Linear Type Selection When the Encoder is not Connected 0 Starts up as rotation type Starts up as linear type 12 24 12 4 List of Parameters Parameter Name Setting Range Unit Factory Setting Reference No Setting Validation Section Pn001 Function Selection Application Switches 1 0000 After restart 4th 3rd 2nd 1st digit digit digit digit p Refer to 9 6 4 Selecting the Stopping Method After Servo OFF Stops the linear servomotor by applying dynamic brake DB St
515. x 5 0 20 300 11 81 Pin No Name Phase U Phase V Phase W Not used Not used lojala n 215 120 180 6 35 12 63 asin Ground Reference length Units mm in Hall Sensor Output Signals When the coil assembly moves in the di rection indicated by the arrow in the fig ure the relationship between the hall sensor output signals Su Sv Sw and the inverse power of each motor phase Vu Vv Vw becomes as shown in the figure below Inverse power Vv V Sv Vw Sw i 0 180 360 Electrical angle 540 3 7 Dimensional Drawings of SGLFW SGLFM Linear Servomotors 3 Magnetic Way SGLFM 50000A L3 8 6 2xN 5 8 0 23 mounting holed 5 0 20 Coil assembly Reference mark 39 4 1 55 Reference marks Two 4 0 16 marks are engraved 3949 N Gap1 0 04 i 5810 1 1 55 0 01 2 280 004 The height of screw head must be 5 2 0 20 max Reference length Units mm in Assembly Dimensions Note 1 Multiple SGLFM SOLILILIA magnetic ways can be connected Connect magnetic ways so that the refer ence marks match one on the other in the same direction as shown in the figure 2 The magnetic way may affect pacemakers Keep a minimum distance of 200 mm from the magnetic way Magnetic Way Model SGLFM 337 5 13 29 4163 615 Ge
516. xecute the mode switch P PI switching Setting is validated immediately 1 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 10 19 10 Adjustments 10 4 5 Using the Mode Switch P PI Switching Using the Force Reference Level to Switch Modes Factory Setting With this setting the speed loop is switched to P control when the Reference speed value of force reference input exceeds the force set in parameter Pn10C The factory default setting for the force reference detection point is 200 of the rated force Pn10C 200 Motor speed Pn10C Force reference 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 force saturation during acceleration or deceleration The mode switch function suppresses force 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 Pn181 Pi P control PI control W Operating Example In this example the mode switch is used to reduce the settling time It is necessary to increas
517. y setting is 10 mm s Always lit in force control mode Lit if motor speed exceeds preset value Not lit if motor speed is below preset value Preset value Set in Pn581 Factory setting is 20 mm s Lit if input speed reference exceeds preset value Not lit if input speed reference is below pre set value Preset value Set in Pn581 Factory setting is 20 mm s Lit if input force reference exceeds preset value Not lit if input force reference is below pre set value Preset value 10 of rated force Lit when main circuit power supply is ON and normal Not lit when main circuit power supply power is OFF Positioning Completion COIN Movement 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 position 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 Pn581 Factory setting is 20 mm s 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
518. y capacity must be 50 mA minimum 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 24V I O power supply SERVOPACK input PRI ERE 24V I O power supply PLN 4 Output Circuit Interface There are three types of SERVOPACK output circuits a Line driver Output Circuit SERVOPACK input CNI connector terminals 33 34 phase A signal 35 36 phase B signal and 19 20 phase C signal are explained below Encoder serial data converted to two phase phases A and B pulse output signals PAO PAO PBO PBO and zero point pulse signals PCO PCO are output via line driver output circuits Normally the SERVOPACK uses this output circuit in speed control to comprise the position control system at the host controller Connect the line driver output circuit through a line receiver circuit at the host controller 7 29 7 Wiring 7 4 6 Interface Circuit b Open collector Output Circuit CN1 connector terminals 37 to 39 Alarm code output are explained below Alarm code signals ALO1 ALO2 ALO3 are output from open collector transistor output circuits Connect
519. y detection is completed the Servo Ready S RDY signal turns ON To incorporate a sequence at the host controller that monitors the Servo Ready signal and outputs servo ON sig nals or to perform polarity detection using different timing from the servo ON signal the polarity detection start signal P DET must be assigned to a user set input After setting the parameter Pn50A 0 to 1 the input signal assignments can be changed for each signal set Pn50D 3 P DET signal mapping and assign the P DET signal to any input terminal The setting validation 1s required to enable the settings Type Name Connector Pin Setting Meaning Number Input S ON CNI 40 ON low level Turning the servo ON and the polarity detection function ON enabled OFF high level Turning the servo ON and the polarity detection function OFF disabled adl P DET Must be allocated ON low level Turning the polarity detection function ON enabled OFF high level Turning the polarity detection function OFF disabled This input lini is used to start polarity detection Either the S ON or P DET signal can be used to start polarity detection When the P DET signal is used input signal must be allocated For details on assignment methods refer to 8 3 2 Input Cir cuit Signal Allocation 9 16 9 2 Trial Operation Using SERVOPACK Internal References 9 Setting the mass ratio Set the mass ratio Pn103 before starting the polarity de
520. yf v Panel Operator Chapter 9 Operation Chapter 10 Adjustment Chapter 11 Inspection Maintenance and Troubleshooting Chapter 12 Appendix 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 B T Q R plays to avoid damaging the devices Indicates supplemental information EXAMPLEP Indicates application examples TERWS iv 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 II Series TOBPS80000004 Describes the safety precautions on using a AC SERVOPACK SGDH SGDM SERVOPACK in the XII Series SAFETY PRECAUTIONS XII Series SGMLIH SGDM TOE S800 34 Provides detailed information on the operating method Digital Operator Operation Manual of the JUSP OP02A 2 digital operator option X 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 II Series SGDH MECHATROLINK SIE C718 4 Provides detailed information on MECHATROLINK Interface Unit User s Manual communications Model JUSP NS100 XII Series SGDH MECHATROLINK II SIEP
521. yout 7 21 7 4 Examples of I O Signal Connections 7 22 7 4 1 Speed Control Mode 7 22 7 4 2 Position Control Mode 7 23 7 4 3 Force Control Mode 7 24 7 4 4 O Signal Connector CN1 Terminal Layout 7 25 7 4 5 I O Signal CN1 Names and Functions 7 26 7 4 6 Interface Circuit 7 28 7 5 Others 7 31 7 5 1 Wiring Precautions 7 31 7 5 2 Wiring for Noise Control 7 32 7 5 3 Using More Than One SERVOPACK 7 35 7 5 4 Operating Conditions on 400 V Power Supply Voltage 7 36 7 5 5 DC Reactor for Harmonic Suppression 7 37 7 6 Connecting Regenerative Resistors 7 38 7 6 1 Regenerative Power and Regenerative Resistance 7 38 7 6 2 Connecting External Regenerative Resistors 7 38 8 Digital Operator Panel Operator 8 1 Functions on Digital Operator
522. ype ot use The mating connector 17JE 13090 02 D8C 8 Not used Plug type LPRAOGBFRDN170 Inverse 3 Stud type 17L 002C or power VV Sv 17L 002C1 9 Not used Socket type 020 105 1020 V Vw S 0 180 360 540 Electrical angle Coil Assembly 8 3 170 144 5 67 16 4 7 anas 315 288 11 34 17 4 8 8 ia iss man Reference length 3 48 3 8 Dimensional Drawings of SGLTW SGLTM Linear Servomotors 3 Magnetic Way SGLTM 35000H 15 52 0 59 01 123 4 84 max preshipment eG S 70 2 76 EP S v5 exp x e zi 91 5 1 3 60 0 04 preshipment 15 0 1 0 59 0 004 90 0 3 amp 3 54 0 01 4540 1 0 59 0 004 pe C CX e i 1 1 i 1 i 1 i N N n H T i 1 2a s x i i ar T a a gt T TIT 7 1 SS 240 3 i 1 S S x0 09 0 01 Wc Nameplate i Y i L Hi mc 46 ge sb iL mi 30 6 XN 07 0 28 mounting holes See the sectional view for the depth 8 0 31 ET lt a Mount the magnetic way so that its corner surfaces are flush with the inner step Note 1

Linear Sigma Series SGL**/SGDH USER`S MANUAL

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