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USER'S MANUAL

1. 3 3 3 1 4 CN1 I O Signal Connector Terminal Layout 3 3 3 1 5 CN2 Optical Encoder PG Connector Terminal Layout 3 5 3 2 I O Signal Connector Terminals 3 6 3 2 1 Re engineered SERVOPACKs for CACR SRLILIBE for Multiplexed Incremental Encoder 3 6 3 2 2 Re engineered SERVOPACKs for CACR SRLILIBB for Conventional Incremental Encoder 3 8 3 2 3 Re engineered SERVOPACKs for CACR SRLILIBY for Absolute Encoder 3 10 3 2 4 Re engineered SERVOPACKs for CACR SRLILIBZ for Absolute Encoder 3 12 4 Settings and Display 4 1 Setting Switches 4 2 4 1 1 Setting Fixed Switches User s Modification Prohibited 4 3 4 1 2 Switches To Be Set According to Application 4 3 4 1 3 Potentiometers VR and RH 4 3 4 1 4 Alarm Reset Button 4 4 4 1 5 LED Display 4 4 4 1 6 Monitoring Pins 4 4 4 1 7 Digital Operator Connector 4 4 4 2 Fac
2. 4 11 4 1 4 2 4 Settings and Display 4 1 Setting Switches The setting switches are provided on the board inside the re engineered AC SERVOPACK CACR SRLILIBF to ensure the operating environment of the corresponding conventional model There are two types of switches The switches that have been set and fixed according to the corresponding con ventional model before shipment and the switches that need to be set by users according to the application T N LI CN17 O 3bod1 a SL5 o Co TMON VIG ng LIIS GND LIS i CMS LED lamp 3 LED lamp 2 LED la O D O 2 CHARGE CN24 RUN ALARM 38581 D LO NE CN15 CN26 0 J Q jeg 1 33 1 3 HE LE ZENO EMS I CN22 CN23 CN21 CN11 CN10 99 bod bog pod oopod 1 33 13 Powe 1 el CN2 TT Oo z N o CN1 4 1 Setting Switches 4 1 1 Setting Fixed Switches User s Modi
3. 000000 YASKAWAELECTRICENGINEERNG Re engineered AC SERVOPACK USER S MANUAL BF SERVOPACK CACR SRI YASKAWA ELECTRIC ENGINEERING CORPORATION YASKAWA MANUAL NO KG22E Copyright O 2004 YASKAWA ELECTRIC ENGINEERING 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 Electric Engineering No patent liability is assumed with respect to the use of the information contained herein Moreover because Yaskawa Electric Engineering is constantly striving to improve its high quality prod ucts the information contained in this manual is subject to change without notice Every pre caution has been taken in the preparation of this manual Nevertheless Yaskawa Electric Engineering 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 Description of Technical Terms The terms in this manual are defined as follows Re engineered AC SERVOPACK The SERVOPACKs that have been developed to be used for replacement of the conventional SERVOPACK models prior to 2 series e CACR SROOBFIO The re engineered AC SERVOPACK model designation The code in O differs depending on the SERVOPACK ca
4. Note The parameters in shaded area have been set according to the SERVOPACK model before shipment After restart Cn 0A Pn407 Speed Limit during Toque Control Contact Yaskawa service division when changing the settings of these parameters 4 12 4 Settings and Display 4 2 2 List of Parameters cont d Conventional Parameter Factory Setting Model No Name Setting Range Unit setting Validation SROOBE BY Constant No PnS01 Zero Clamp Level 0 to 10000 min ieu Pn502 Zero Speed Level to 10000 min Dung Pn503 Speed Coincidence Signal Output UM T Va td Width Pn506 Brake Reference eto ORE 0 to 50 X 10 ms 10 ms 0 ms Immediately Cn 12 Delay Time Pn507 IN Reference Output Speed 0 to 10000 min Immediately Cn 15 puspg Waiting Time for Brake Signal 10 to 100 x 10 ms 10 ms 500 ms Immediately Cn 16 When Motor Running Pn509 ar Ponyar Cut Hol 20 to 1000 ms Immediately PABA Input Sesen E A 289 ES SE PSDC inpu Signal seteetion s i EEE Es Esses EE neuem Pn50F Output Signal Selection 2 0 After restart Pn510 Output Signal Selection 3 O After restart PESTE Ouput Signal Reversal Seg po ESET Excessive Position Error Alarm 1 to 1073741824 22 1 reference d RAN Pn520 j reference Immediately Level reference units unit units S 5 0 to 1073741824 239 1 reference 7 reference A Pn522 Positioning Completed Width j Immediately reference uni
5. 10 3 0 V input E D A 1 30 Forward rotation current imt aa Tl LPF 100 10 3 0 V input 77 gt YA 1 45 SG 24Vin m Servo ON 24V Ary SON 47 Tesma Y K when 1Ry is ON 1 8 P control when 2Ry is ON 2RY F CON r PI control when 2Ry is OFF 0 o pr Y K Reverse run prohibited N LS e when N LS is open e 00 ag ES m t K Forward run prohibited P LS when P LS is open gap Bol z lt 5 mA y K Alarm reset 9Ry r when 9Ry is ON oo ARST 4 Ssma K 3Ry turns ON when e gt R e N current limit detected 24V CLT o y 4Ry turns ON when BY q TGON Li TG turns ON FON 1 Jy Output 5Ry turns OFF for a 5Ry ALM 1 23 Max voltage 30 VDC serio alarm ETN 1 38 d z Max current 30 mA 6Ry turns ON when 6Ry S RDY 1 39 d e Ne F servo ready a TS RDV 1 28 d 1 27 PAO Phase A i rao T p 133 lt 1 PBO i ial Output line driver Phase B PBO DAE SI LS75ALS174 PCO b me Tae 9 Phase Cf 1 19 e IPCO Pr ST I SG 4 e 1 17 ad A 1 32 9 SEN TA MEET OSEN YA 1 3 tao 7 ov 1 2 dg 0V m 141 a V 1 2 V F 379 Battery 1 2 8 to 4 5 V F bato d 1 46 1 37 ale E FG 1 18 L 3 10 3 2 1 O Signal Connector Terminals E Optical encoder 15 bit absolute encoder SE
6. 3 Wiring 3 2 1 Re engineered SERVOPACKs for CACR SRLILIBE for Multiplexed Incremental Encoder 3 2 1 O Signal Connector Terminals 3 2 1 Re engineered SERVOPACKs for CACR SRLILIBE for Multiplexed Incremental Encoder Example CACR SR20BF12FE that have replaced CACR SR20BE12F SERVOPACK CACR SR20BF12FE Torque monitor F series 3 0 V 10 96 100 Yo ag CN1 16 bit TS 2 Speed monitor ao D A F series 2 0 V 10 96 1000 min Speed reference input gt 112 LPF 16 bit 6V rated speed 73 D A CPU Auxiliary speed reference input d ji 1 14 LPF 2 to 10 V rated speed gt r15 Reverse rotation current limit gt 33 LPFL 16 bit 100 10 3 0V input A gt d b D A Forward rotation current limit gt t cu LPF 100 10 3 0V input x a 145 sc 24Vin d Servo ON 24v AR SON 47 5mA Y when 1RY is ON mii 778 K P control when 2Ry is ON 2RY F CON PI control when 2Ry is OFF 7 o sp Re K Reverse run prohibited N LS when N LS is open ogo NOl e lt 5mA Y K Forward run prohibited P LS CJ when P LS is open 6 o OT e 5mA Y 1 41 Alarm reset 9Ry C when 9Ry is ON D K 3Ry turns ON when AY e
7. 1 O Signal Connector Terminals Optical Encoder SERVOPACK CACR SR20BF1AMB CN CN2 f a PA i p fF 26 Y IPA R f 2 17 i PB 1 N P K 2 18 D IPB 2 19 i E jo PC F P 2 14 g IPC 2 15 K j K PU P 2 8 IPU E f R PV 7 P 2 10 yaa g IPV P 2 11 M gt 5 p a2 5 Y g IPW 2 13 E ff AG e gt PG5V s 23 gt PGOV 2 2 2 6 fe 2 3 K gt DIR 2 7 J YA 77 1 50 NA Sl gt 2 20 I 3 9 3 Wiring 3 2 3 Re engineered SERVOPACKs for CACR SRLILIBY for Absolute Encoder 3 2 3 Re engineered SERVOPACKs for CACR SRLILIBY for Absolute Encoder Example CACR SR20BFISFY that have replaced CACR SR20BYISF SERVOPACK CACR SR20BF1SFY Torque monitor CN1 F series 3 0 V 10 100 L3 16 bit oe Speed monitor lt 2 D A F series 2 0 V 10 96 1000 min 1 10 Speed reference input gt z LPF gt 16 bit 1 12 6 V rated speed gt s D A CPU Auxiliary speed reference input d f LPF 2 to 10 V rated speed gt ae Reverse rotation current limi gt gi LPF 16 bit 100
8. 22 22 kanen annen lle lle lll iv Notes for Safe Operation R rr rrr rrr rere nn nn nn no V 1 Outline Tel OUN Sao a a a 1 2 1 2 Features 1 2 1 2 1 Compatible with SERVOPACK Operating Environments Prior to X Series 1 2 1 2 2 Updated with the Latest Technologies 1 2 1 2 3 Wide Range of Applicable Servomotors 1 2 1 3 Applicable Servomotors and Encoders 1 3 1 4 SERVOPACK Part Names 1 4 2 Specifications and Dimensional Drawings 2 1 Ratings and Specifications 2 2 2 2 SERVOPACK Model Designations 2 4 2 3 Re engineered AC SERVOPACK Selection 2 5 2 4 Dimensional Drawings 2 7 2 4 1 Re engineered AC SERVOPACKs for CACR SRO2BLI to SRA4BLI 2 7 2 4 2 Re engineered AC SERVOPACK Models for CACR SR60BB 60BZ 60BE and 60BY 2 9 3 Wiring 3 1 Wiring for Re engineered AC SERVOPACKs CACR SROOBF1000 3 2 3 1 1 Connection Diagram 3 2 3 1 2 Names and Description of Main Circuit Terminals 3 2 3 1 3 Connector Receptacle Specifications
9. Encoders 2048 p r 8192 p r Absolute Encoders 1024 p r 8192 p r 1 3 1 Outline 1 4 SERVOPACK Part Names Control main circuit power supply terminal CN3 Connector for personal computer monitoring or digital operator CN1 I O signal connector CN2 Encoder connector 2 Specifications and Dimensional Drawings 2 1 Ratings and Specifications 2 2 2 2 SERVOPACK Model Designations 2 4 2 3 Re engineered AC SERVOPACK Selection 2 5 2 4 Dimensional Drawings 2 7 2 4 1 Re engineered AC SERVOPACKs for CACR SRO2BD to SR44BD 2 7 2 4 2 Re engineered AC SERVOPACK Models for CACR SR60BB 60BZ 60BE and 60BY 2 9 2 2 2 Specifications and Dimensional Drawings 2 1 Ratings and Specifications Max Applicable Servomotor Capacity 0 3 0 5 0 7 1 0 1 5 2 0 3 0 44 kw i i Three phase 200 to 230 VAC 10 to 15 50 60 Hz Control Circuit Single phase 200 to 230 VAC 10 to 15 50 60 Hz Continuous Output Curent Arms Max Output Current ms Control Method Three phase full wave rectification IGBT PWM sine wave driven Feedback Incremental encoder Absolute encoder 8192 p r 2048 p r 1024 p r 6000 p r 5000 p r 4000 p r 2500 p r 1500 p r 1000 p r etc Temperature Storage 20 to 85 C Tem
10. 0F01 MR 50L Communication Industries Co Ltd CN2 For connecting the optical encoder PG Applicable Receptacle Model Honda MR 20RMA MR 20F MRP 20F01 MR 20L Communication Industries Co Ltd CN3 For connecting the digital operator e Connector Shell Manufacturer 10114 3000VE 10314 52A0 008 B M Limited 3 1 4 CN1 1 O Signal Connector Terminal Layout Model No ended Model No ended Model No ended Model No ended with B Model for with Z Model for with E Model for with Y Model for SRLILIBB SRLILIBZ SRLILIBE SRLILIBY 35 TGON TGON TGON TGON PB TGON TGON TGON TGON 3 3 3 4 3 Wiring 3 1 4 CN1 I O Signal Connector Terminal Layout cont d CACR SROOBF100 Model No ended Model No ended Model No ended Model No ended with B Model for with Z Model for with E Model for with Y Model for SRLILIBB SRLILIBZ SRLILIBE SRLILIBY asses SRDY 3 fom sme Ru s 1 The MCB trip signal output function is not provided for SROOBB and SRLILIBZ 2 The PG signal output phase S is not provided for SROOBY 3 1 Wiring for Re engineered AC SERVOPACKs CACR SROOBF1000 3 1 5 CN2 Optical Encoder PG Connector Terminal Layout For Conventional For Multiplexed Incremental Type Incremental Encoder Encoder For Absolute Encoder The phase S rotation amount serial data of 12 bit absolute PG is not processed 3 5
11. 1 ol CO o O OA DE Z olo O olol ol O o Ol Oo O olo O DEEEEEEEEE x on orr orr 39 E NND 2880 6000 6000 6000 6000 6000 10000 12500 15000 20000 25000 E A mm 4 2 Factory Settings Settings for Conventional SERVOPACK SRLILIBB with Incremental Encoder for Reference Check the number of dividing output pulses on the SROOBB in the following table Ratio 6000 5000 4000 2500 1 Ds xp p T m9 1 2 3 4 5 6 8 TARA poo EAEE poo ICE How 8 Foo A pes 39 pu o o wm ew sw mo 28 1 7 TEE a EE E RR Fool ws q4 pw I TD se o o 1m fm pop pus 5 o o po im 1 oo im 2 pze 18 pw po a eom wp T1 T 81 7 o a pde pose E SR E TT TT TT ops a mf mf 17 FLT a r s F o o o o o TT soe soon amo 2 9 son 107 ST TSTOTS TOT To e LZ OT TSTSTS TO TT a 3o pz 299 preso 99 o o fo ooo 25 2o x 9 vo KUNI TT To TS To p T D9 OOo pue pow sw se 300 200 REESE a ER si Ce O ER IE EE CO C WC BO VE Dr roof o se sw ps 2 9 18 3 TT To To E E e ZA KASI TTT TTT e ps E ze wo w 91 ooo ps a mio OT TTT ps papa fm a rs EN AA RF J ap eee ojo TT e pue px pue pw ew OT ITST E RR A A KC E MSI Note The pin SW2 8 is reserved The pins marked with O are short circuited 4 Settings and Display 4 2 1 Pin Settings Settings for Conventional SERVOPACK SRLILIBZ with Absolute Enc
12. 2 outputs are not provided 3 12 Optical encoder 3 2 1 O Signal Connector Terminals 46 bit absolute encod r SERVOPACK CACR SR20BF1SMZ E CN2 A L PA 8 p ff 2 16 A IPA R 217 jJ g PB P 2 18 P y lv f IPB E 219 o f F P 2 14 IPC d f 215 PG Q F e v PG5V G f 24 gt PGOV o go 2 5 E 2 2 f 6 Logo 2 3 R gt 2 1 21 T BAT Je 2 12 S 1 37 L DET BATO J o VA K 1 50 hed Ny 5 2 20 3 13 4 Settings and Display 4 1 Setting Switches 4 2 4 1 1 Setting Fixed Switches User s Modification Prohibited 4 3 4 1 2 Switches To Be Set According to Application 4 3 4 1 3 Potentiometers VR and RH 4 3 4 1 4 Alarm Reset Button 4 4 4 1 5 LED Display 4 4 4 1 6 Monitoring Pins 4 4 4 1 7 Digital Operator Connector 4 4 4 2 Factory Settings 4 5 4 2 1 Pin Settings 4 5 4 2 2 List of Parameters
13. 4 2966 2766 http www yaskawa eng co jp lt North amp South America gt YASKAWA ELECTRIC AMERICA INC 2121 Norman Drive South Waukegan IL 60085 USA Phone 1 874 887 7000 Phone 1 800 YASKAWA 1 800 927 5292 from U S A and Canada Fax 1 874 887 7440 http www yaskawa com Yaskawa El ctrico do Brasil Ltda Av Fagundes Filho 620 Saude S o Paulo SP 04304 000 Brasil Phone 55 11 5071 2552 Fax 55 11 5581 8795 http www yaskawa com br lt Europe gt YASKAWA ENGINEERING EUROPE GmbH Am kronberger Hang 2 65824 Schwalbach Germany Phone 49 6196 569 520 Fax 49 6196 888 598 http www yaskawa de lt Asia gt YASKAWA ENGINEERING ASIA PACIFIC PTE LTD 151 Lorong Chuan 04 01B New Tech Park Singapore 556741 SINGAPORE Phone 65 6282 1601 Fax 65 6382 3668 http www yaskawa com sg YASKAWA ELECTRIC SHANGHAI CO LTD No 18 Aona Road Waigaoqiao Free Trade Zone Pudong New Area Shanghai 200131 P R China Phone 86 21 5385 2200 Fax 86 21 5385 3299 YASKAWA ENGINEERING KOREA CORPORATION KFPA Bldg 1201 35 4 Youido Dong Yeongdungpo Ku Seoul 150 010 Korea Phone 82 2 3775 0337 Fax 82 2 784 8495 http www yaskawa co kr YASKAWA ELECTRIC TAIWAN CORPORATION 9F 16 Nanking E Rd Sec 3 Taipei Taiwan Phone 886 2 2502 5003 Fax 886 2 2505 1280 YASKAWA ELECTRIC THAILAND CO LTD 252 101 20th floor Muang Thai phatra Office Tower 2 Rachadaphisek Road Huaykwang Bangkok 10320 THAILAND Phone 6
14. 62 693 2200 Fax 662 693 2204 YASKAWA YASKAWA ELECTRIC ENGINEERING CORPORATION In the event that the end user of this product is to be the military and said product is to be employed in any weapons systems or the manufacture thereof the export will fall under the relevant regulations as stipulated in the Foreign Exchange and Foreign Trade Regulations Therefore be sure to follow all procedures and submit all relevant documentation according to any and all rules regulations and laws that may apply Specifications are subject to change without notice for ongoing product modifications and improvements 2004 YASKAWA ELECTRIC CORPORATION All rights reserved MANUAL NO KG22E Printed in Japan October 2004 04 10
15. AGEDISA SAGED BAT SAGED BAT cC c ci cj c c 4 i HEH CACR SROSBBILID CKE c c G CACR SRO2BBILIS SASEM SA CACR SRIOBBILIS CACR SR30BBILIS ci c cj da Conventional SERVOPACK Model SRLILIBB and Re engineered SERVOPACK Model SRLILIBF CACR SR44BF 1 OMB CACR SRO3BFILIFB CACR SRO3BFILIFB CACR SROSBFILIFB CACR SRIOBFILIFB CACR SRISBFILIFB CACR SR2OBFILIFB CACR SR30BFILIFB CACR SR44BF10FB CACR SROSBFILIDB CACR SRIOBFILIDB CACR SR2OBFILIDB CACR SR44BF 1 IDB CACR SRO2BFILISB CACR SRO3BFILISB CACR SROSBFILISB CACR SRIOBFILISB CACR SRISBFILISB CACR SR30BFILISB Conventional SERVOPACK Model SRLILIBZ and Re engineered SERVOPACK Model Conventional Model SRLILIBZ CACR SRO3BZILIM CACR SRO7BZILIM CACR SRIOBZILIM CACR SRISBZILIM CACR SR20BZILIM CACR SR30BZILIM CACR SR44BZ10M CACR SR60BZILIM CACR SRO3BZILIF CACR SRO3BZILIF CACR SROSBZILIF CACR SRIOBZILIF CACR SRISBZILIF CACR SR2OBZILIF CACR SR30BZILIF CACR SRA4BZILIF CACR SROSBZILID CACR SRIOBZILID CACR SR20BZ10D USADED 2E CACR SR30BBILID CACR SR30BFILIDB CACR SR30BZILID CACR SR44BZ10D CACR SRO2BZILIS CACR SRO3BZILIS CACR SROSBZILIS CACR SRIOBZILIS CACR SRISBZILIS CACR SR30BZILIS Re engineered Model SRLILIBF CACR SRO3BFILIMZ CACR SRO7BFILIMZ CACR SRIOBFILIMZ CACR SRISBFILIMZ CACR SR2OBFILIMZ CACR SR30BFILIMZ CACR SR44BF1 IMZ CACR SR60BF1 IMZ CAC
16. BY is Y M series F series D series S series G series CACR SR30BFILIFLI CACR SR44BF 1 OFO CACR SR44BF10FO 10 CACR SR30BFILISLI 4 3 64 4 5 Dimensions in mm 179 8 166 6 4 x SERVOPACK mounting screws M6 x 16 included e n Laf vd 13 2 F352086 A includes Attachment SERVOPACK mounting bolts EMI lo nting Base M included Attachment product code F352086 A CACR SROOBFILIGLI CACR SR30BFILIGLI CACR SR44BF 1 CACR SR44BFIDIGO Attachment product code F352086 A 2 4 Dimensional Drawings 2 4 2 Re engineered AC SERVOPACK Models for CACR SR60BB 60BZ 60BE and 60BY 1 Re engineered AC SERVOPACK Models for CACR SR60BB 60BZ 60BE and 60BY CACR SR60BFILIMB CACR SR60BFILIMZ CACR SR60BFILIME CACR SR60BF1ILIMY 450 E m Attachment Ee 430 ee product code as o F352087 A
17. CACR SRO3BYILIF C CACKCSRISBEIEI CACKCSRIDBEIEI SAFED 03 CACR SRO3BEILIF ACR SRO3BFILIFE CACR SRO3BY LIF C E CACR SR30BEILIF CACR SR3OBFILIFE CACR SR30BYILIF CACR SRA4BEILIF CACR SRA4BFILIFE CACR SRAA4BYILIF CACR SRO2BEILIG CACR SRO3BEILIG CACR SRO2BFILIGE CACR SRO3BFILIGE CACR SRO2BYILIG CACR SRO3BYILIG CACR SROSBEILIG CACR SROSBFILIGE CACR SROSBYILIG CACR SROSBEILID CACR SR2OBEILID CACR SR30BEILID CACR SRO3BEILIS CACR SRISBEILIS CACR SR30BEILIS CACR SROSBFILIDE CACR SROOBFILIDE CACR SR30BFILIDE CACR SRO3BFILISE CACR SRISBFILISE CACR SR30BFILISE G SAGED 09A CACR SRIOBEILIG CACR SRIOBFILIGE CACR SRIOBYILIG SAGED 13A CACR SRISBEILIG CACR SRISBFILIGE CACR SRISBYILIG USAGED 20A CACR SROOBEILIG CACR SR2OBFILIGE CACR SR20BYILIG SAGED 30A CACR SR3OBEILIG CACR SR30BFILIGE CACR SR30BYILIG SAGED 44A CACR SRA4BEILIG CACR SR44BFILIGE CACR SRA4BYILIG CACR SROSBYILID SADED 10E CACR SRIOBEILID CACR SRIOBFILIDE CACR SRIOBYILID CACR SR20BYILID CACR SR30BYILID SADED 37E CACR SRA4BEILID CACR SR44BFICIDE CACR SR44BY10D SASEM 02A CACR SRO2BEILIS CACR SRO2BFILISE CACR SRO2BY ILIS CACR SRO3BY LOS SASEM 05A CACR SROSBEILIS CACR SROSBFILISE CACR SROSBYILIS SASEM 08A CACR SRIOBEILIS CACR SRIOBFILISE CACR SRIOBYILIS CACR SRISBYILIS CACR SR30BY LIS CACR SRO3BFILIFY CACR SRO3BFILIFY CACR SROSBFILIFY CACR SRIOBFILIFY CACR SRISBFILIFY CACR SR2OBFILIF
18. Cure 2 N current limit detected 24V CLT 1 5 dy 4Ry turns ON when 4Ry TGON 16 TG turns ON Teon 1 122 Output 5Ry turns OFF for a SRy am I 1 23 Max voltage 30 VDC servo alarm ALM ji 1 38 P y Max current 30 mA 6Ry turns ON when 6Ry S RDY T 1 39 1 servo read e A AT 1 d s RDY 1 1 28 dy T 1 27 J pua P O o d Phase a PAO P1139 S IT E T 1 34 PhaseB a 35 Output line driver L PRO P 4 P LS75ALS174 _ PCO A Tob Phase C IPCO HE PT 1 19 lt 1 la 120 PHA A 12 VM 14 Y PG signal PHB EP ec open collector output t 1 37 M a PHC pa SG T E Atoi BE abo Output open a collector 1 25 Fl e 1 47 Alarm code output ALO2 LS07 t 1 40 Jq ALO3 149 1 42 yo 1 11 e 12V e OV 13 1 31 OV lt Syre 0v LJ 11 Vse 72 1 50 3 2 1 O Signal Connector Terminals Optical encoder SERVOPACK CACR SR20BF12FE ON CN2 TP foro PA Vn A P faa PP m IPB 2 19 tp Pon ii IPC PG5 V t gt PGOV A 1 50 3 7 3 8 3 Wiring 3 2 2 Re engineered SERVOPACKs for CACR SRLILIBB for Conventional Incremental Encoder 3 2 2 Re engineered SERVOPACKs for CACR SRLILIBB for Conventional Incremental Encoder Example CACR SR20BF1AMB that have replaced CACR SR20BBIAM Torque monitor M series 3 0 V 10 100 Speed monitor M seri
19. R SRO3BFILIFZ CACR SRO3BFILIFZ CACR SROSBFILIFZ CACR SRIOBFILIFZ CACR SRISBFILIFZ CACR SROOBFILIFZ CACR SR30BFILIFZ CACR SR44BF 1 OFZ CACR SROSBFILIDZ CACR SRIOBFILIDZ CACR SR2OBFILIDZ CACR SR30BFILIDZ CACR SR44BF 101DZ CACR SRO2BFILISZ CACR SRO3BFILISZ CACR SROSBFILISZ CACR SRIOBFILISZ CACR SRISBFILISZ CACR SR30BFILISZ 2 5 2 6 Applicable Servomotors SAMED 03 SAMED 06 SAMED 09 SAMED 12 HE SAMED 30 c E SAMED 60 SAFED 02 a SAFED 05 a SAFED 09 SAFED 13 SAFED 20 SAFED 30 SAFED 44 SAGED 02A SAGED 03A SAGED 05A ii ci AD c c USADED 05E ec SADED 15E SADED 22E c c USASEM 03A ec ac SASEM 15A USASEM 30A 2 Specifications and Dimensional Drawings Conventional SERVOPACK Model SRLILIBE and Re engineered SERVOPACK Model Re engineered Model Conventional Model SROOBF Conventional Model CACR SRO7BEILIM E SAMED 20 CACR SR20BEILIM CACR SR2OBFILIME 5 E E CACR SR30BEILIM M M M M CACR SR30BFILI SAMED 44 CACR SR44BE10 CACR SR44BF10 Conventional SERVOPACK Model SRLILIBYand Re eng Mo CACR SR44BY ILIM inerred SERVOPACK del Re engineered Model SRLILIBF CACR SRO3BFILIMY CACR SRO7BFILIMY CACR SRIOBFILIMY CACR SRISBFILIMY CACR SROOBFILIMY CACR SR30BFILIMY CACR SRA4BFILIMY CACR SR60BEILIM CACR SR60BFILIME CACR SR60BYILIM CACR SR60BFILIMY CACR SRO3BEILIF CACR SRO3BFILIFE
20. RVOPACK CACR SR20BF1SFY n E CN2 ET N TP 74s P 7 Xi PA E E 2 17 d Bl FEEL 71218 3 Ilt PB E 2 19 ET n JP ju r1 4515 PC E H z PG5V S 4 L gt PGOV 1 II m E E E z ri 240 5 L BAT Ihe 15 12 d S N 1 37 f T 35 13 BATO J _ L i f W Ny ji 1 50 2 20 L Optical encoder 12 bit absolute encoder SERVOPACK CACR SR20BF1WFY R E CN2 L BT HEL 4576 PA z IPA n E 2 17 a e m P 1238 g j y IPB E H 249 pc ET H Je f 2 14 J H tas IPC K 5 ps E L pap 2 L PG5V Fg PGOV I L y 2 10 e j 4 BAT P 2 12 L 1 37 5 BATO E 2 13 E e E 1 i N i 1 60 2 20 l Note Cut the rotation amount data signal line on the Servomotor encoder cable side 3 11 3 Wiring 3 2 4 Re engineered SERVOPACKs for CACR SRLILIBZ for Absolute Encoder 3 2 4 Re engineered SERVOPACKs for CACR SRLILIBZ for Absolute Encoder Example CACR SR20BF1SMZ that have replaced CACR SR20BZISM SERVOPACK CACR SR20BF1SMZ Torque monitor 1 26 Forward run prohibited PLS por when P LS is open SPOT 4 mA Y M series 3 0 V 10 100 k CNI F 1 9 Speed monitor 4 i M series 4 0 V 10 96 1000 min ro boo 4 i E Speed reference input gt Pa Ee gt 6 V rated speed gt ET p
21. T ZE RR Ea T n 9 ek Sd S t Fees GD a lof ER Is i da LIT of j ki i SEE avg 2 F ALA n Q l I L5 a gj JE Nu H H p E R c q 2x7 dia holes E Dimensions in mm S 4 x SERVOPACK mounting o screws M6 x 16 included o co eo a 7 i 2 TY Mounting base included F352087 A includes pm Attachment product code SERVOPACK mounting bolts F352087 A 2 9 3 1 Wiring for Re engineered AC SERVOPACKs CACR SROOBF1000 3 2 3 1 1 Connection Diagram 3 2 3 1 2 Names and Description of Main Circuit Terminals 3 2 3 1 3 Connector Receptacle Specifications 3 3 3 1 4 CN1 I O Signal Connector Terminal Layout 3 3 3 1 5 CN2 Optical Encoder PG Connector Terminal Layout 3 5 3 2 1 0 Signal Connector Terminals 3 6 3 2 1 Re engineered SERVOPACKs for CACR SRLILIBE for Multiplexed Incremental Encoder 3 6 3 2 2 Re engineered SERVOPACKs for CACR SRLILIBB for Conventional Incremental Encoder 3 8 3 2 3 Re engineered SERVOPACKs for CACR SRLILIBY for Absolute Encoder 3 10 3 2 4 Re engineered SERVOPACKs for CACR SRLILIBZ for Absolute Encoder 3 12 3 1 3 Wiring 3 1 1 Connection Diagram 3 1 Wiring for Re
22. VOPACK Failure to observe this caution may result in electric shock or injury viii B Disposal A CAUTION When disposing of the products treat them as ordinary industrial waste H General Precautions The following describes general precautions Note the following to ensure safe application The drawings presented in this manual are sometimes shown without covers or protective guards Always replace the cover or protective guard as specified first and then operate the products in accordance with the manual The drawings presented in this manual are typical examples and may not match the product you received This manual is subject to change due to product improvement specification modification and manual improvement When this manual is revised the manual code is updated and the new manual is published as a next edition The edition number appears on the front and back covers If the manual must be ordered due to loss or damage inform your nearest Yaskawa Electric Engineering representative or one of the offices listed on the back of this manual Yaskawa Electric Engineering will not take responsibility for the results of unauthorized modifications of this product Yaskawa Electric Engineering shall not be liable for any damages or troubles resulting from unauthorized modification CONTENTS About this manual iii SAFETY INFORMATION 2
23. WA ea E 2 153 Auxiliary speed reference input i oa 2 to 10 V rated speed Ts Reverse rotation current limit gt P gt 100 10 3 0 V input 1 29 i fox Forward rotation current limit gt K 100 10 3 0 V input X as 145 sc 24Vin gt e Servo ON 24 V 1Ry SON k lt 5 mA y K when 1Ry is ON 1 8 P control when 2Ry is ON 2RY F CON lt 5 mA y PI control when 2Ry is OFF oo f ru m K Reverse run prohibited NIS oe when N LS is open oo PEOR Tama f K 1 41 3R 3Ry turns ON when ore eH current limit detected 24 V 5 CLT 4Ry turns on when 4Ry _TGON 1 6 TG turns ON 130 re gt y Output e 1 5Ry turns OFF for a SRY ALM 1 23 Max voltage 30 VDC servo alarm UNE AR d Max current 30 mA 6Ry turns ON when 6Ry S RDY 1 39 servo read g Y i S RDY Y E 1 27 8Ry turns OFF for a 8Ry _ OL P OL alafm OL R y 1 25 Output line driver PAO 74 f LS75ALS174 Phase A ao p ras b 1 E PBO 12 V e Phase B eso PATS 1 16 PCO 1 36 71 48 eco dps 3j Phase C IPCO P 1 19 i s i f 19 SG J e Y 1 17 o 732 SEN H OSEN L E MEET ay j 1 2 1 49 T ov t 1 1 sc 141 C Battery i17 em 12 V fasi 28t04 5V F BATO f 1 37 146 T a8 8 Q up Note MCB trip CN1 43 and 4
24. Y CACR SR30BFILIFY CACR SRAA4BFILIFY CACR SRO2BFILIGY CACR SRO3BFILIGY CACR SROSBFILIGY CACR SRIOBFILIGY CACR SRISBFILIGY CACR SR2OBFILIGY CACR SR30BFILIGY CACR SRAA4BFILIGY CACR SROSBFILIDY CACR SRIOBFILIDY CACR SR2OBFILIDY CACR SR30BFILIDY CACR SR44BF10DY CACR SRO2BFILISY CACR SRO3BFILISY CACR SROSBFILISY CACR SRIOBFILISY CACR SRISBFILISY CACR SR30BFILISY 2 4 Dimensional Drawings 2 4 Dimensional Drawings 2 4 1 Re engineered AC SERVOPACKs for CACR SRO2BLI to SRAABLI 1 Re engineered AC SERVOPACK Models for Conventional Models CACR SRLILIBB and SRLILIBZ Note O at the end of the model codes of the re engineered AC SERVOPACK for CACR SRLILIBB is B and that for CACR SRLILIBZ is Z CACR SRIOBFILIMLI CACR SRIOBFILIFLI CACR SROSBFILISLI CACR SRISBFILIMLI CACR SRISBFILIFLI CACR SEISEFIEISET CACR SRIOBFIOSO CACR BESES Models for which the mounting attachment F352086 A is required CACR SR2OBFILIMLI CACR SROOBFILIFLI CACR SR2OBFILIDLI CACR SR30BFILISLI CACR SR30BFILIMLI CACR SR30BFILIFLI CACR SR30BFILIDLI CACR SRAA4BFILIMLI CACR SR44BF1OFO CACR SR44BF10DO 2 7 2 8 2 Specifications and Dimensional Drawings 2 4 1 Re engineered AC SERVOPACKs for CACR SRO2BLI to SRA4BLI 2 Re engineered AC SERVOPACK Models for Conventional Models CACR SRLILIBE and SRLILIBY Note O at the end of the model codes of the re engineered AC SERVOPACK for CACR SRLILIBE is E and that for CACR SRLILI
25. arning 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 unex pected restart Failure to observe this warning may result in injury Do not modify the product Failure to observe this warning may result in injury or damage to the product Connect the ground terminal to electrical codes ground resistance 100 2 or less Improper grounding may result in electric shock or fire H Checking on Delivery A CAUTION Always use the servomotor and SERVOPACK in one of the specified combinations Failure to observe this caution so may result in fire or malfunction H Storage and Transportation A CAUTION Do not store or install the product in the following places Locations subject to direct sunlight Locations subject to temperatures outside the range specified in the storage installation temperature condi tions Locations subject to humidity outside the range specified in the storage installation humidity conditions Locations subject to condensation as the result of extreme changes in temperature Locations subject to corrosive or flammable gases Locations subject to dust salts or iron dust Locations subject to exposure to water oil or chemicals Locations subject to shock or vibration Failure to observe this caution may result in fire electric sh
26. d zero point pulse error A D error overrun detection open phase and CPU error LED Display 7 segment LED status and alarm display I O Signals Built in Functions Speed monitor 1000 r min and torque monitor 3V rated torque 2 3 2 4 2 Specifications and Dimensional Drawings 2 2 SERVOPACK Model Designations This section explains how to check the SERVOPACK model CACR SROOBF1000 YOOO SERVOPACK prior to the X series SERVOPACK for speed control Capacity Base mounted re engineered AC SERVOPACK Input voltage 200 V Applicable encoder 3 Applicable servomotor 2 Conventional SERVOPACK model 4 Y specification code Customer specified code 1 SERVOPACK Capacity and Applicable Servomotors 1 2 Unit kW 2 Applicable servomotor code G S C 1 Capacity code P t ul D Pulse Multiplexed Mis incremental 2500 4 Conventional incremental 3 Conventional SERVOPACKs 4 CACR SRLILIBB CACR SRLILIBZ CACR SRLILIBE CACR SRLILIBY CACR SRLILIBA 2 3 Re engineered AC SERVOPACK Selection 2 3 Re engineered AC SERVOPACK Selection Servomotors Applicable SROOBB SAMED 03 SAMED 12 CACR SR20BBILIM SAMED 44 SAMED 60 CACR SR60BBILIM SAFED 02 SAFED 03 CACR SRO3BBILIF SAFED 05 CACR SROSBBILIF SAFED 09 SAFED 13 CACR SRISBBILIF SAFED 20 SAFED 30 SAFED 44 CACR SR44BB10F SAGED 02A SAGED 03A S
27. ed Change of Parameters The change of the parameters can be validated only after L H H Requires Setting Validation turning the power ON from OFF 5 4 Inspection and Maintenance 5 4 Inspection and Maintenance 5 4 1 Servomotor Inspection The AC servomotors are brushless Simple daily inspection is sufficient The inspection and maintenance fre quencies in the table are only guidelines Increase or decrease the frequency to suit the operating conditions and environment IMPORTANT During inspection and maintenance do not disassemble the servomotor Vibration and Noise Touch and listen Levels higher than normal According to degree of i Exterior o Ra Clean with cloth or compressed air contamination Disconnect SERVOPACK and test Contact the Yaskawa service At least once a year insulation resistance division if the insulation resis at 500 V Must exceed 10 MQ tance is below 10 MQ Replacing Oil Seal At least once every Remove the servomotor and Applies only to servomotors p g 5000 hours replace the oil seal with oil seals Overhaul At least once every Contact the Yaskawa service Do not disassemble and clean 20000 hours or 5 years division the servomotor by yourself Measure across the servomotor s FG and the phase U phase V or phase W power line 5 4 2 SERVOPACK Inspection Insulation Resistance Measurement Check for dust dirt and oil on the surfaces Clean with compressed air Exterior and B
28. ed Short circuited Pins uu o NI NI 1 ircui 1 2 Shon itd Pins E ircul 1 2 ircul 1 2 Q Q 0 1 B 14 e Q Ti Set to the defaults at factory depending on re engineered Short circuited Pins AC SERVOPACK model See Table 4 1 2 2 2 2 Q Z Core ES 712 T 23 1 2 16 i NIG Sorcerers 12 21 i 2 2 i i 1 2 1 2 i i 1 2 1 2 i i 1 2 1 2 i i 1 2 2 3 i i 1 2 2 3 i i 1 2 1 2 2222 1 2 ShortoincunedPins 12 12 Saa 12 12 23 Soneras 12 13 12 12 i Set to the defaults at factory depending on re engineered 26 Short circuited Pins AC SERVOPACK model See Table 4 1 n Set to the defaults at factory depending on re engineered 6 digit ON OFF AC SERVOPACK model See Table 4 1 Set to the defaults at factory depending on re engineered Short circuited Pins AC SERVOPACK model See Table 4 3 Short circuited Pins Th aa PRC KA MARA See Table 4 5 amp digit ON OFF ese switches are set to e defaults a lac Sky See Table 4 6 Change the setting according to the application 8 digit ON OFF See Table 4 4 DSWI Hexadecimal switching K Set to the defaults at factory depending on encoder type See Table 4 2 DSWS5 Hexadecimal switching Table 4 1 SROSBF SROTBF to TOBF OF ON ON ov or ow rz 12 sker OF ow Q Z 1 2 3 3 3 3 1 2 Q d Z oO OJ 21 O ZI ZIZI zZ Z o Z 4 5 4 Setting
29. engineered AC SERVOPACKs CACR SRLILIBF 1LILILI 3 1 1 Connection Diagram Re engineered AC SERVOPACK Regenerative AC Servomotor resistor OTO Main circuit power supply gt OR Y3 Y4 U A Three phase 200V 220V _ Ds V e LB 50 60 Hz S T w OSM M i D CY Control circuit power supply f Single phase 200V 220V D t 50 60Hz conversion function i built in 9 i I O signals i CN2 Encoder Speed reference PG signal CN1 i Operation signal CER Digital operator JUSP OP05A CN3 3 1 2 Names and Description of Main Circuit Terminals Terminal Symbol R S T Three phase 200 to 230 VAC 10 to 15 50 60 Hz terminals U V W Servomotor Connect U to the terminal A V to the terminal B W to the terminal C of connection terminals Servomotor r Single phase 200 to 230 VAC 10 to 15 50 60 Hz terminals Ground terminal Connect to the power supply ground terminal and the Servomotor D terminal Y3 Y4 Regenerative resistor Regenerative resistor connection terminals normally not to be connected terminals externally 3 2 3 1 Wiring for Re engineered AC SERVOPACKs CACR SROOBF1000 3 1 3 Connector Receptacle Specifications CNI For I O signals Applicable Receptacle Model gp Honda MR 50RMA MR 50F MRP 5
30. er was fre DB stop Available amete aem Ni Heat Sink Overheated The heat sink of SERVOPACK over Zerospeed Available EC Encoder Backup Error All the power supplies for the abso DB stop N lute encoder have failed and position data was cleared Encoder Checksum Error The checksum results of encoder DB stop N Er S Absolute Encoder Battery Battery voltage for the absolute DB stop Available CE MT Encoder Data Error Data in the encoder is incorrect is too high Read Error speed input is faulty Stop Data Error ence is incorrect Stop Read Error torque input is faulty stop i N Current Detection Error 2 Phase V current sensor is faulty Current Detection Error 3 Phase W current sensor is faulty Encoder Overspeed The encoder was rotating at high DB stop N speed when the power was turned ON A A A A A A A A Alarm Code Output ALO1 L L H ALO2 ALO3 5 2 Alarm Display Table Table 5 1 Alarm Display Table cont d Servomo Alarm Alarm Code Output Alarm tor Stop Reset Display Alarm Name Meaning Method ALO1 ALO2 ALO3 P Well System Alarm 0 Internal program error 0 of DB stop N A Internal program SERVOPACK occurred processing error PW System Alarm 1 Internal program error 1 of DB stop Internal program error SERVOPACK occurred VAN el P N System Alarm 2 Internal program error 2 of Current control SERVOPACK occu
31. es 4 0 V 10 1000 min Speed reference input 6 V rated speed Auxiliary speed reference input 2 to 10 V rated speed Reverse rotation current limit 100 10 3 0 V input SERVOPACK CACR SR20BF1AMB CN1 ENS lt 1 10 St dl O r i 2 i gt I 3E 1 T 1 13 1 EEL 1 15 1 1 30 Forward rotation current limit 100 10 3 0 V input AC L 145 SG 24Vin Servo ON F wheniRyisON 2 RES SON ATT Tem K T 1 8 P control when 2Ry is ON RY BISON EA PI control when 2Ry is OFF O O V 1 24 lt 5 mal Reverse run prohibited NIS a L FK when N LS is open o NOT lt 5 mal Forward run prohibited P LS 424 when P LS is open jo ei e E 1 41 3Ry 3Ry turns ON when current limit detected 4Ry turns ON when TG turns ON 5Ry turns OFF fora 24V pervo ularn E t 6Ry turns ON when 6Ry S RDY ey _S RDY T 1 38 lia Ere DR 127 8Ry turns OFF for a 8Ry OL L OL alarm pu E 1 1 25 PAO 7 5 di Output line driver PhaseA lt mao PT A LS75ALS174 PBO ji Phase B eso PTS K T Phase cf IPCO T1 o T SG lt Q 1 17 PHA Output open 1 32 PG signal PHB collector 1 47 open collector output e LS07 PHC 6 149 d 21 o i ii b y 12 V 379 W g ETE V SG iso Far SE En TGON 116 ke icon 17 Es 5Ry ALM 11 23 CLT E Output Max voltage 30 VDC Max current 30 mA Note MCB trip CN1 43 and 42 outputs are not provided 3 2
32. fication Prohibited The switches listed in the table below have been set to the appropriate values before shipment Do not change the settings of these switches Doing so will cause motor runaway or SERVOPACK failure Swich No Model depended function selection switch Cs CNS Model depended Tumetionselecton swith FENG Model depended function selection switch FONT Model depended function selection swin OOOO ons Model depended function aaa Model depended funcion elation switch Model depended funcion seen swith Model depended funcion sesion swith Model depended funcion seleciona switch Model depended funcion sesion wich Model depended funcion sesion swith Model depended funcion estin swith Model depended funcion lesion swith E O ES E E EO ee ote wees Aa Ss 4 1 2 Switches To Be Set According to Application The switches listed in the table below need to be set by users according to the application SU maine 0 SWz Freqeney dividing ato soting sw eine or CACRSREMBBIBZ DSWi Enorme DSWs Fneoderseting o 4 1 3 Potentiometers VR and RH Set the following potentiometers to the same scale positions as those of your conventional SERVOPACK to obtain the same performance as before re
33. he Host controller reference was DB stop Available Invalid Alarm sent to turn the Servo ON after the Servo ON function was used with the Regeneration Error Regenerative circuit or regenerative DB stop Available Regenerative Overload Regenerative energy exceeds regen Zerospeed Available erative resistor capacity stop Main Circuit Power The power supply to the main circuit DB stop Available Supply Wiring Error does not match the parameter Pn001 setting Overvoltage Main circuit DC voltage is exces DB stop Available sively high Undervoltage Main circuit DC voltage is exces Zero speed Available obi m 5 3 5 4 5 Maintenance Inspection and Alarm Warning Display Alarm Display A 510 Table 5 1 Alarm Display Table cont d Servomo high Dividing Pulse Output The motor speed upper limit of the DB stop Available Overspeed set PG dividing pulse Pn212 is detected Autotuning Alarm The moment of inertia ratio calcula DB stop Available BME M Overload High Load The motor was operating for several Zerospeed Available seconds to several tens of seconds Stop under a torque largely exceeding rat ings Overload Low Load The motor was operating continu DB stop Available ously under a torque largely exceed ing ratings Dynamic Brake Overload When the dynamic brake was DB stop Available applied rotational energy exceeded the capacity of dynamic brake resis tor Overload of Surge The main circuit pow
34. iately Pn10E Mode Switch acceleration 0 to 30000 r min s Immediately Pn10F Mode Switch position error pulse pus o S Immediately units unit unit Pn200 Position Control Reference Form NEN Selection Switch 1 Position Reference Acceleration 0 to 65535 reference Pn209 s reference Immediately Deceleration Bias units s 2 unit s PER Pn102 Position Loop Gain 1 0 to 2000 0 s 40 0 s Immediately Pn20E Electronic Gear Ratio Numerator 1 to 1073741824 239 After restart Pn210 fas Gear Ratio Denomina 1 to 1073741824 230 SH ividi i 30 Pn212 PG Dividing Pulse pulse unit 16 to 1073741824 2 1 P Rev 2048 P Rev After restart Enabled when SW2 8 is ON P Rev 1 50 to 10 00 V rated 0 01 V 6 00 V 7 Pn300 i I diatel Pn304 JOG Speed 0 to 10000 min Immediately Cn 10 ili 0 01 V 10 00 V Pn30A Auxiliary Speed Reference Input 1 50 to 10 00 V Immediately Cn 03 Gain rated speed rated speed rated speed 1 0 to 10 0 V Pn400 Torque Reference Input Gain YI Wadi V Taed Immediately Cn 13 rated torgue torgue torgue pn4o1 IstStep Ist Torque Reference Filter 0 99 19 655 35ms 0 01ms 1 00ms lmmeditely Cn 17 Time Constant Pn402 Forward Torque Limit 0 to 800 800 Immediately Pn403 Reverse Torque Limit 0 to 800 800 Immediately Pn406 Emergency Stop Torque O to 800 Yo 800 Yo Immediately 0 to 10000 min Cn 14 Ro min Immediately 1 0 to 10 0V 0 1V rated 3 0V rated rated torque torque torque
35. id for CACR SRLILIBB and SRLILIBZ SL7 Specifications Selected Capacitor Short circuited between 1 2 Factory Setting E g B o un 3 o S H H a 2 a q 2 i BA 28 S O Ao The PG pulse outputs from the SERVOPACK can be set using SW2 pins 1 through 8 Caution The maximum number of output pulses that can be set is the number of encoder pulses Table 4 6 SW2 No of Dividing Output Pulses Settings for Re engineered AC SERVOPACKs CACR SRLILIBF No of Dividing Output Pulses 4 7 4 8 4 Settings and Display 4 2 1 Pin Settings Table 4 6 SW2 No of Dividing Output Pulses Settings for Re engineered AC SERVOPACKs CACR SRLILIBF cont d tet ee TE our Output Pulses ON TON or OFF ON OFF OFF 50 or OFF OFF ON OFF ON or or 4 2 Q 9 9 O z az uz o ES H o ES ES 2 Z o ES H o ES H 2 Z O u H Q o O ol O o olo Z Z Z O Es H OFF Fon or on OFF ON OFF OFF 35 or ox on or ow or ore 3 Q O 0 olo EE Ol ol ol 21 Q o ES H O u H Q Ol o oj o ol olol o O ES H o s H O ES ES Q o 9 9 Q 3 Z Z Z Z O ES ES E rH rH o ES H ES ES Oj O cmm mi H pyi rH o ES H Forr ox Torr OFF OFF ox Torr OFF 1200 Forr ow OFF ORF o o O O O 21 2 21 2
36. msec 5 2 Alarm Display Table 5 2 Alarm Display Table The re engineered SERVOPACK model CACR SRLILIBF has the same alarm function as that of X III series SERVOPACK If an alarm occurs the servomotor can be stopped by doing either of the following operations DB stop Stops the servomotor immediately using the dynamic brake Zero speed stop Stops the servomotor by setting the speed reference to 0 Table 5 1 Alarm Display Table Servomo Alarm Alarm Code Output Servo Alarm Alarm Name Meanin tor Stop Reset Alarm Display Method ALO1 ALO2 ALO3 ALM Output Parameter Checksum The data of the parameter in the DB stop Error SERVOPACK is incorrect Parameter Format Error The data of the parameter in the DB stop SERVOPACK is incorrect N A i N A SERVOPACK is incorrect Parameter Password Error The data of the parameter in the DB stop N A ECHTE Error incorrect Pack Alarm allowable setting range Dividing Pulse Output The PG dividing pulse setting DB stop N A Setting Error Pn212 is outside the allowable set H H H H ting range or not satisfies the setting conditions This alarm may occur when using SRLILIBFILILIE or SRLILIBFILILTY Error exceeds the setting range ities do not match each other Alarm ported was connected Digital Operator or SigmaWin Overcurrent or Heat Sink An overcurrent flowed through the DB stop N A Overheated IGBT Heat sink of SERVOPACK was over heated Servo ON reference T
37. oards Check for discoloration damage and dis Contact the Yaskawa service At least once a year connected wires on the surfaces division Check for loose terminal block and connec Loose Screws B Tighten any loose screws 5 4 3 SERVOPACK s Parts Replacement Schedule The following electric or electronic parts are subject to mechanical wear or deterioration over time To avoid fail ure replace these parts at the frequency indicated The parameters of any SERVOPACKs overhauled by Yaskawa service division are reset to the factory settings before shipping Be sure to confirm that the parameters are properly set before starting operation Standard Part Replacement Recommendations Operating Conditions Period Cooling Fan 4 to 5 years Replace with a new SERVOPACK Replace with a new SERVOPACK Smoothing Capacitor 7 to 8 years Depending on results of investigation Ambient Temperature Annual Replace with a new SERVOPACK average of 30 C Relays M M Depending on results of investigation Load Factor 80 max Fuses Replace with a new SERVOPACK Operation Rate 20 hours day max Aluminum Electrolytic Sada Replace with a new SERVOPACK Capacitor on Circuit Board i Depending on results of investigation 5 7 Applications and Inquiries YASKAWA ENGINEERING Global Office lt Japan gt YASKAWA ENGINEERING CORPORATION 480 Kamifujisawa Iruma Saitama 358 0013 Japan Phone 81 4 2966 1862 Fax 81
38. ock or damage to the product Do not hold the product by the cables or motor shaft while transporting it Failure to observe this caution may result in injury or malfunction Do not place any load exceeding the limit specified on the packing box Failure to observe this caution may result in injury or malfunction B Installation 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 ports and prevent any foreign objects from entering the product Failure to observe this caution may cause internal elements to deteriorate resulting in malfunction or fire Be sure to install the product in the correct direction Failure to observe this caution may result in malfunction Provide the specified clearances between the SERVOPACK and the control panel or with other devices Failure to observe this caution may result in fire or malfunction Do not apply any strong impact Failure to observe this caution may result in malfunction B Wiring N CAUTION Do not connect a three phase power supply to the U V or W output terminals Failure to observe this caution may result in injury or fire Securely connect the power supply terminal screws and mot
39. oder for Reference Check the number of dividing output pulses on the SROOBZ in the following table s s 8192 gt 92 6000 teto oe otot penu CC EA ES E E Es ST neg 2500 2400 E md KKSO SES K RE E GENE EC ERE NEC DAS ET OS SHEER SITIO RUE E ECHHEFECINESEC SECRET CI TIN E HH Loe ne ES stereo pe eq F RRE REESE KERES ERE RERO BEES ES ES AE E qi ES Fer po permeado RET Ele fepno pra pe ee po EEE A RSS EE EA Ee aa E Ei FC RS a qj exesr meir qec qu E RSA RS ES RA E E ERRA ES ee Eee ecl Ss Eg E PS O OE qp EEE a Pepe ae caer cya Note The pins SW2 7 and 8 are reserved The pins marked with O are short circuited 4 10 4 2 Factory Settings 4 2 2 List of Parameters Conventional Parameter Factory Setting Model No Name Setting Range Unit Setting Validation SROOBE BY Constant No Pn000 Function Selection Basic Switch 0 After restart Pn001 Function Selection Application N Switch 1 Pn002 Function Selection Application NE Switch 2 Pn100 Speed Loop Gain 1 0 to 2000 0 Hz Pn101 Speed Loop Integral Time Constant 0 15 to 512 00 ms 20 00 ms Immediately Cn 04 0 1 Hz 40 0 Hz Immediately Pn108 Bias Addition Width 0 to 250 reference units Immediately EF Pn109 Feed Forward Gain 0 to 100 Immediately Pn10B Gain related Application Switch aa Immediately Pnl0C Mode Switch torque reference 0 to 800 200 Immediately Cn 0C t Pnl0D Mode Switch speed reference 0 to 10000 min Immed
40. or output terminal screws Failure to observe this caution may result in fire Do not bundle or run power and signal lines together in the same duct Keep power and signal lines separated by at least 30 cm 11 81 in Use twisted pair shielded wires or multi core twisted pair shielded wires for signal and encoder PG feedback lines The maximum length is 3 m 118 11 in for reference input lines and is 20 m 787 40 in for PG feedback lines Do not touch the power terminals for 5 minutes after turning power OFF because high voltage may still remain in the SERVOPACK Make sure the charge indicator is out first before starting an inspection Avoid frequently turning power ON and OFF Do not turn power ON or OFF more than once per minute Since the SERVOPACK has a capacitor in the power supply a high charging current flows for 0 2 seconds when power is turned ON Frequently turning power ON and OFF causes main power devices like capacitors and fuses to deteriorate resulting in unexpected problems Be sure to wire correctly and securely Failure to observe this caution may result in motor overrun injury or malfunction Always use the specified power supply voltage An incorrect voltage may result in burning Take appropriate measures to ensure that the input power supply is supplied within the specified voltage fluctuation range Be particularly careful in places where the power supply is unstable An incorrect power supply may res
41. pacity and specifications Refer to 2 2 SERVOPACK Model Designations H Quick access to your required information Read the chapters marked with V to get the information required for your purpose SERVOPACKS Panel Servomotors Ratings and Maintenance and Peripheral Characteristics Devices Chapter 1 Outline Chapter 2 Specifications and Dimensional Drawings Chapter Configuration Trial Operation and Wiring and Inspection Chapter 3 Sete ka Chapter 4 EE O O A l Chapter 5 Maintenance Inspection and Alarm Warning Display H Related Manuals Refer to the following manuals as required Manual Number 2 Ill Series SGMOS SGDS TOBPS80000001 Provides detailed information on the operation of the Digital Operator JUSP OPOSA Digital Operator Operation Manual Describes the following items of X III Series SERVOPACKs and Servomotors Selection of model and capacity 2 Ill Series SGMLIS SGDS SIEPS80000000 User s Manual Ratings characteristics and dimensional drawings Cables and peripheral devices Panel configuration and wiring Trial operation servo adjustment and functions Inspection maintenance and troubleshooting Safety Information The following conventions are used to indicate precautions in this manual Failure to heed precautions pro vided in this manual can result in serious or possibly even fatal injury or damage to the products or to related equipment and sys
42. perature Operating Ambient Conditions Storage 90 RH or less with no condensation Humidity Vibration Shock 5 m s 20 m s 0 5G 2G Resistance 0 to 100 load 0 01 max at rated speed Speed Voltage 0 Speed Regu Regulation E Control lation Temperature 25 25 C 0 1 max at rated speed Regulation Frequency Characteristics T00 Hz Torque Control Repeatabiiiy Acceleration Time Setting n c O o o Q o 9 o m Performance 2 1 Ratings and Specifications cont d Speed control 6 VDC forward rotation with positive reference at rated speed Rated Refer mode ence Voltage Speed Torgue 3 ie control 3 VDC forward rotation with positive reference at rated torque References Input Impedance About 30 kQ Circuit Time Rated Peier 2 V to 10 VDC forward rotation with positive reference at rated speed ence Voltage Auxiliary Inputs Input Impedance About 30 kQ Sear Position Output Frequency PG pulses Dividing Any setting ratio Ratio Sequence Input Servo ON P control forward run prohibited reverse run prohibited and alarm reset Sequence Output Servo alarm servo ready TG ON current limit and alarm code 3 bit output PES 0 V to 9 VDC forward rotation 3 VDC rated current reverse rotation 3 VDC rated External Current Limits bann Overcurrent regeneration error overvoltage input overvoltage overspeed insufficient Protection voltage overloa
43. placement LOOP Speed loop gain ZERO Speed amplifier zero adjustment FINE IN B fine adjustment PG5V PG voltage adjustment 4 3 4 4 4 Settings and Display 4 1 4 Alarm Reset Button 4 1 4 Alarm Reset Button 4 1 5 4 1 6 4 1 7 When a SERVOPACK alarm occurs eliminate the cause and then press the RESET Button to reset the servo alarm If the cause has not been eliminated the alarm will occur again LED Display There are four LEDs on the board as follows 7 Segment LED SERVOPACK status and alarm display LED lamp 1 Main circuit CHARGE LED Main circuit with high voltage LED lamp 2 Lit in yellow during normal operation LED lamp 3 Lit in red at alarm occurrence Monitoring Pins The monitoring pins listed in the table below are provided for monitor signals The levels are the same as the conventional models THON GND for monitor signal line Digital Operator Connector When using the re engineered SERVOPACK as the replacement of the conventional model CACR SRLILIBE or CACR SRLILIBY the connector CN3 is used to connect the digital operator JUSP OP05A CN3 Connector for X III series Cabledantidetir digital operator 4 2 Factory Settings 4 2 Factory Settings 4 2 1 Pin Settings SU Applicable Conventional SERVOPACK Model witc Setting SRLILIBA Remarks No SROOBB SROOBE SROOBZ SROOBY c 12 cs 73 n FT gt N FT CN8 i CN9 Short circuited Pins tl Not mount
44. rred H H H H processing program error VAN elm System Alarm 3 Internal program error 3 of N A Encoder interface SERVOPACK occurred processing error VAN ol System Alarm 4 Internal program error 4 of N A CPU watchdog timer SERVOPACK occurred error ACT IMO Absolute Encoder Clear The multi turn for the absolute DB stop N A Error and Multi turn encoder was not properly cleared or Limit Setting Error set Melee Encoder Communica Communications between DB stop N A tions Error SERVOPACK and encoder is not possible Lesi Encoder Communica An encoder position data calculation DB stop 5 tions Position Data Error error occurred H L H PAMPA Encoder Communica An error occurs in the communica DB stop tions Timer Error tions timer between the encoder and the SERVOPACK ACAO AMO 0 Encoder Echoback Error Contents of communications with DB stop h o BR AMON Multi turn Limit Different multi turn limits have been DB stop N A Disagreement set in the encoder and SERVOPACK PW Position Error Pulse Position error pulse exceeded param DB stop Available EHE RENI PW Position Error Pulse When the servo turns ON the posi DB stop Available Overflow Alarm tion error pulses exceeded the param at Servo ON eter setting Pn526 Position Error Pulse Over If the servo turns ON with position Zerospeed Available H H flow Alarm by Speed error pulses accumulated the speed is stop Limit at Servo ON limited by Pn529 In this state the reference p
45. s and Display 4 2 1 Pin Settings Table 4 2 SW2 Status DO Sa Lee Adda For To Tor F Ta coeno C 200 FR A MPR ERREI 5 swesR e Ton fox for OFF or OFF or A 7 forr ow or ort ort ore orr gt ON TON on on ON TON o ON ORF OFF ON OFF OFF OFF 1 OFF OFF OFF OFF OFF OFF or mem 0 for ON ON ON OFF OFF OFF a ace Set according to When the SERVOPACK output dividing the number of ratio is set to 1 1 encoder pulses Pn212 is enabled when SW2 8 is ON The settings shown in Tables 4 3 4 4 and 4 5 are valid on the re engineered AC SERVOPACKs for CACR SRLILIBB and SROOBZ but invalid for the re engineered AC SERVOPACK for CACR SRLILIBE and SRLILIBY Servomotor Encoder Specifications Setting Multiplexed incremental Table 4 3 Motor Rated Speed Valid for CACR SRLILIBB and SRLILIBZ Servomotor ai SW3 7 Table 4 4 Speed Amplifier Gain Valid for CACR SRLILIBB and SRLILIBZ SW3 O SW3Specifications Factory Settings M S series M series S series 0 5 kW or Pin No Functions 1 kW and k D series F series 1 5 kW less and i 3 0 kW Tropa gan 100 K Proportional eain 220 KQ 5 mwceration 0055 ur maii vana or OFF or OFF 5 meena aa vana or ON orr OFF 7 Forsevomororratedsp n ON ON NF E Modesetcctionswinch vaia maa O o om om 4 2 Factory Settings Table 4 5 Torque Filter Switching Val
46. t workpieces to fall off due to occurrence of alarm or overtravel Set the servomotor so that it will stop in the zero clamp state at occurrence of overtravel Failure to observe this caution may cause workpieces to fall off due to overtravel When not using the normal autotuning set to the correct moment of inertia ratio Setting to an incorrect moment of inertia ratio may cause vibration Do not touch the SERVOPACK heatsinks regenerative resistor or servomotor while power is ON or soon after the power is turned OFF Failure to observe this caution may result in burns due to high temperatures Do not make any extreme adjustments or setting changes of parameters Failure to observe this caution may result in injury due to unstable operation When an alarm occurs remove the cause reset the alarm after confirming safety and then resume operation Failure to observe this caution may result in injury Do not use the servo brake of the servomotor for ordinary braking Failure to observe this caution may result in malfunction B Maintenance and Inspection A CAUTION When replacing the SERVOPACK resume operation only after resetting the potentiometers pins and parameters to their original settings 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 Do not disassemble the SER
47. tems Indicates precautions that if not heeded could possibly result in loss of life or serious N WARNING injury Indicates precautions that if not heeded could result in relatively serious or minor injury damage to the product or faulty operation AN CAUTION In some situations the precautions indicated could have series consequences if not heeded Q PROHIBITED Indicates prohibited actions that must not be performed For example this symbol would be used to indicate that fire is prohibited as follows S9 MANDATORY Indicates compulsory actions that must be performed For example this symbol would be used as follows to indicate that grounding is compulsory O The warning symbols for ISO and JIS standards are different as shown below ISO JIS A D The ISO symbol is used in this manual Both of these symbols appear on warning labels on Yaskawa Electric Engineering 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 servo drives A WARNING Never touch any rotating motor parts while the motor is running Failure to observe this warning may result in injury Before starting operation with a machine connected make sure that an emergency stop can be applied at any time Fail
48. tline The re engineered AC SERVOPACK model CACR SRLILIBF has been developed to be used for replacement of the conventional SERVOPACK models that had been introduced before X series using the latest technologies in its circuit configuration The re engineered AC SERVOPACK supports all the types of encoders for AC servodrives serial encoders and encoders older than serial encoders The re engineered AC SERVOPACK provides the operating environment of the following conventional SERVOPACK models CACR SRLILIBA Speed control analog control incremental encoder applicable base mounted type CACR SRLILIBB Speed control analog control incremental encoder applicable base mounted type CACR SRLILIBZ Speed control analog control absolute encoder applicable base mounted type CACR SRLILIBE Speed control digital control incremental encoder applicable base mounted type CACR SRLILIBY Speed control digital control absolute encoder applicable base mounted type 1 2 Features 1 2 1 Compatible with SERVOPACK Operating Environments Prior to X Series Operating Environments External dimensions installation Some models require attachments Main circuit terminals Control connector and signal layout Recognizes the encoder type prior to X series by the switch setting An encoder signal converter is built in mportant adjustments such as speed gain adjustment can be made using the potentiometers VR In the same way as of the con
49. tory Settings 4 5 4 2 1 Pin Settings 4 5 4 2 2 List of Parameters 4 11 5 Maintenance Inspection and Alarm Warning Display 5 1 Status Display 5 2 5 2 Alarm Display Table 5 3 5 3 Warning Displays 5 6 5 4 Inspection and Maintenance 5 7 5 4 1 Servomotor Inspection 5 7 5 4 2 SERVOPACK Inspection 5 7 5 4 3 SERVOPACK s Parts Replacement Schedule 5 7 xi 1 Outline 1 1 Outlines ge q m im vm 1 2 1 2 Features 1 2 1 2 1 Compatible with SERVOPACK Operating Environments Prior to Z Series 1 2 1 2 2 Updated with the Latest Technologies 1 2 1 2 3 Wide Range of Applicable Servomotors 1 2 1 3 Applicable Servomotors and Encoders 1 3 1 4 SERVOPACK Part Names 1 4 1 1 1 2 1 Outline 1 2 1 Compatible with SERVOPACK Operating Environments Prior to X Series 1 1 Ou
50. ts unit units Note The parameters in shaded area have been set according to the SERVOPACK model before shipment Contact Yaskawa service division when changing the settings of these parameters 5 Maintenance Inspection and Alarm Warning Display 5 1 Status Display 5 2 5 2 Alarm Display Table 5 3 5 3 Warning Displays 5 6 5 4 Inspection and Maintenance 5 7 5 4 1 Servomotor Inspection 5 7 5 4 2 SERVOPACK Inspection 5 7 5 4 3 SERVOPACK s Parts Replacement Schedule 5 7 5 2 5 Maintenance Inspection and Alarm Warning Display 5 1 Status Display The 7 segment LED DS1 on the re engineered AC SERVOPACK indicates the SERVOPACK status When no alarm occurs the bits are lit as shown in the table below Bit Data Indication Bi Daa Control Power ON Lights when the control power to the SERVOPACK turns ON Lights when baseblocked the servo turns OFF Baseblock Goes out when the servo turns ON Lights when the motor speed is higher than the value specified Rotation Detection in Pn502 TGON Factory setting 20 min ly When an alarm occurs the corresponding alarm code is displayed and blinks digit by digit for 250
51. ulse was input without resetting the speed limit and the posi tion error pulses exceeds the value set for the parameter Pn520 PW Power Line Open Phase One phase is not connected in the Zerospeed Available main power supply Stop H is AA Lw AC Overvoltage Alarm A voltage higher than 200 VAC is DB stop supplied Gi Digital Operator Digital operator JUSP OP05A fails k Transmission Error to communicate with SERVOPACK E Not decided e g CPU error en E ER Ra RN CS ee 5 5 5 6 5 Maintenance Inspection and Alarm Warning Display 5 3 Warning Displays The relation between warning displays and warning code outputs are shown in table 5 2 Table 5 2 Warning Displays and Outputs Warning Warning Code Output Display Warning Name Meaning ALO ALO2 ALOS Overload This warning occurs before the overload alarms A 710 or A 720 occur If the warning is ignored and operation con tinues an overload alarm may occur Vibration Abnormal vibration at the motor speed was detected The detection level is the same as A 520 Set whether to output an alarm or warning by Vibration Detection Switch of Pn310 Regenerative Overload This warning occurs before the regenerative overload alarm A 320 occurs If the warning is ignored and opera tion continues a regenerative overload alarm may occur Absolute Encoder Battery This warning occurs when the absolute encoder battery L L H Voltage Lowered voltage is lower
52. ult in damage to the product Install external breakers or other safety devices against short circuiting in external wiring Failure to observe this caution may result in fire Take appropriate and sufficient countermeasures for each when installing systems in the following locations Failure to observe this caution may result in damage to the product Locations subject to static electricity or other forms of noise Locations subject to strong electromagnetic fields and magnetic fields Locations subject to possible exposure to radioactivity Locations close to power supplies Do not reverse the polarity of the battery when connecting it Failure to observe this caution may damage the battery or cause it to explode vii H Operation A CAUTION Conduct trial operation on the servomotor alone with the motor shaft disconnected from machine to avoid any unexpected accidents Failure to observe this caution may result in injury Before starting operation with a machine connected change the settings to match the parameters of the machine Starting operation without matching the proper settings may cause the machine to run out of control or mal function Forward run prohibited P OT and reverse run prohibited N OT signals are not effective during JOG mode operation using parameter Fn002 and zero point search mode using parameter Fn003 When using the servomotor for a vertical axis install the safety devices to preven
53. ure to observe this warning may result in injury Never touch the inside of the SERVOPACks Failure to observe this warning may result in electric shock Do not touch terminals for five minutes after the power is turned OFF Residual voltage may cause electric shock Do not touch terminals for five minutes after voltage resistance test Residual voltage may cause electric shock Follow the procedures and instructions for trial operation precisely as noted in this Manual Follow the procedures and instructions for the trial operation as noted in the applicable man ual for that product Malfunctions that occur after the servomotor is connected to the equipment not only damage the equipment but may also cause an accident resulting in death or injury Do not remove the front cover cables connectors or optional items while the power is ON Failure to observe this warning may result in electric shock Installation disassembly or repair must be performed only by authorized personnel Failure to observe this warning may result in electric shock or injury Do not damage press exert excessive force or place heavy objects on the cables Failure to observe this warning may result in electric shock stopping operation of the product or burning Provide an appropriate stopping device on the machine side to ensure safety A holding brake for a servomotor with brake is not a stopping device for ensuring safety Failure to observe this w
54. ventional models CACR SRLIBB and BZ 1 2 2 Updated with the Latest Technologies The basic functions and performance are equivalent to those of X III series SERVOPACK The parameters of X III series SERVOPACK are applied Parameter setting using a digital operator 1 2 3 Wide Range of Applicable Servomotors The re engineered AC SERVOPACKs can be combined with various models of servomotors by setting the inter nal parameters C series M series F series G series D series S series X series X II series and X III series Ser vomotors 1 3 Applicable Servomotors and Encoders 1 3 Applicable Servomotors and Encoders The following servomotors besides X series X II series X III series are applicable Applicable Servomotor Models Prior to X Series SACED 03A SACED 05A SACED 12A SACED 20A SACED 30A SACED 44A SAMED 03 SAMED 06 SAMED 09 SAMED 12 SAMED 20 SAMED 30 SAFED 02 SAFED 03 SAFED 05 SAFED 09 SAFED 13 SAFED 20 SAGED 02A SAGED 03A SAGED 05A SAGED 09A SAGED 13A SAGED 20A USADED 05E USADED 10E USADED 15E USADED 22E USADED 37E USAGED 44A USASEM 02A USASEM 03A USASEM 05A USASEM 08A USASEM 15A USASEM 30A SACED 60A SAMED 44 SAMED 60 SAFED 30 SAFED 44 SAGED 30A SAGED 44A 22898292828 C EG Gee ere ie ee clc aE Ee Applicable Encoders Conventional Incremental Encoders 1000 p r 1500 p r 2500 p r 4000 p r 5000 p r 6000 p r Multiplexed Incremental

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