Omron SJDE-APA-OY User Manual

Manual No. TOEP-C71080601-01-OY

JUNMA SERIES SERVO DRIVE

Model: SJDE-##APA-OY

USER’S MANUAL

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 constantly 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.

Introduction

This instruction manual describes the JUNMA series AC SERVOPACKs. To properly use the JUNMA series AC SERVOPACK, read these instructions thoroughly and retain for easy reference for inspections, maintenance, and so on. Make sure that the end user receives this manual.

Related Manuals

Refer to the following manuals as required.

Manual Name Manual Number

JUNMA series AC SERVOMOTOR INSTRUCTIONS TOEPC23026101

Safety Information

The following conventions are used to indicate precautions in this manual. Failure to heed these precautions can result in serious or possibly even fatal injury or damage to the products or to related equipment and systems.

WARNING

CAUTION

PROHIBITED

MANDATORY

Indicates precautions that, if not heeded, could possibly result in loss of life or serious injury.

Indicates precautions that, if not heeded, could result in relatively serious or minor injury, damage to the product, or faulty operation.

In some situations, the precautions indicated could have serious consequences if not heeded.

Indicates prohibited actions that must not be performed. For example, this sym-

bol would be used as follows to indicate that fire is prohibited: .

Indicates compulsory actions that must be performed. For example, this symbol

would be used as follows to indicate that grounding is compulsory: .

Notes for Safe Operation

Read these instructions thoroughly before checking products on delivery, storage and transportation, installation, wiring, operation and inspection, and disposal of the AC SERVOPACK.

WARNING

• Be sure to correctly connect the SERVOPACK connectors, CNA and CNB.

Incorrect wiring may result in electric shock, injury, or damage to the equipment. For the wiring method, refer to 3.8 Wiring the Power Supply/Regenerative Unit Connector (CNA) and 3.9 Wiring the Servomotor Main Circuit Cable Connector (CNB).

• Make sure that the emergency-stop circuit turns OFF the Servo ON signal and the power supply of the main circuit when the EMG (emergency stop) signal turns ON.

Because of residual voltage, the servomotor rotates for a few seconds after the power supply has turned OFF. This may result in injury or damage to the equipment. Make sure that the EMG means the stop of the motor rotation.

• 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. Also, design the circuit's power supply to be automatically cut off if /S-ON signal is OFF, and an emergency stop occurs at the same time.

Failure to observe this warning may result in injury.

• Never touch the inside of the SERVOPACKs.

Failure to observe this warning may result in electric shock.

• Do not touch terminals for five minutes after the power is turned OFF.

Residual voltage may cause electric shock.

• Follow the procedures and instructions for trial operation precisely as described in this manual.

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, wiring, advice on inspection and malfunction must be performed only by authorized personnel.

Failure to observe this warning may result in fire, electric shock, or injury.

• Do not damage, press, exert excessive force or place heavy objects on the cables or the cables between other objects where they might be pinched.

Failure to observe this warning may result in electric shock, stopping operation of the product, or burning.

• Provide an appropriate stopping device on the machine side to ensure safety.

A holding brake for a servomotor with brake is not a stopping device for ensuring safety. Failure to observe this warning may result in injury.

WARNING

• Do not come close to the machine immediately after resetting momentary power loss to avoid an unexpected restart.

Take appropriate measures to ensure safety against an unexpected restart. Failure to observe this warning may result in injury.

• Do not modify the product.

Failure to observe this warning may result in injury or damage to the product.

• Be sure to correctly ground the SERVOPACK and the servomotor.

• Connect the SERVOPACK’s ground terminal to electrical codes (ground resistance: 100 Ω or less).

Improper grounding may result in electric shock or fire.

 Checking on Delivery

WARNING

• Always use the servomotor and SERVOPACK in one of the specified combinations.

Failure to observe this caution may result in fire or malfunction.

 Storage and Transportation

WARNING

• Do not store or install the product in the following places.

Failure to observe this caution may result in damage to the product.

• Locations subject to direct sunlight.

• Locations subject to temperatures outside the range specified in the storage or installation temperature conditions.

• Locations subject to humidity outside the range specified in the storage or installation humidity conditions.

• Locations subject to condensation as the result of extreme changes in temperature.

• Locations subject to corrosive or flammable gases.

• Locations subject to dust, salts, or iron dust.

• Locations subject to exposure to water, oil, or chemicals.

• Locations subject to shock or vibration.

• Do not hold the product by the cables or motor shaft while transporting it.

Failure to observe this caution may result in injury or malfunction.

• Do not place any load exceeding the limit specified on the packing box.

Failure to observe this caution may result in injury or malfunction.

 Installation

• Make sure to follow the conditions on 2.1 Installation Conditions.

Failure to observe this caution may result in electric shock, fire, or SERVOPACK’s malfunction.

• 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, such as metalic frag-

ment, or combustibles 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.

• SERVOPACK is precision equipment. Do not apply any strong impact.

Failure to observe this caution may result in malfunction.

 Wiring

• 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, regenerative unit connection terminal, and

motor main circuit cable terminals.

Failure to observe this caution may result in fire.

• Do not bundle or run power and signal lines together in the same duct. Keep power and

signal lines separated by at least 30 cm (11.81 in).

Failure to observe this caution may result in malfunction.

• Use twisted-pair shielded wires or multi-core twisted pair shielded wires for I/O signal

cable and encoder cable.

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 the power supply LED

(PWR) are 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 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 such as capacitors and fuses to deteriorate, resulting in unexpected problems.

WARNING

• Observe the following precautions when wiring connector for power supply/regenerative unit.

• Remove the connector for power supply/regenerative unit from the SERVOPACK prior to wiring.

• Insert only one wire per terminal on the connector for power supply/regenerative unit.

• Make sure that the core wire is not electrically shorted to adjacent core wires.

• 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 of single-phase 200 V to 230 V without connecting directly to a voltage of 400 V.

The SERVOPACK will be destroyed.

• Take appropriate measures to ensure that the input power supply is supplied within the specified voltage fluctuation range. Be particularly careful in places where the power supply is unstable.

An incorrect power supply may result in damage to the product.

• Install external breakers or other safety devices against short-circuiting in external wiring.

Failure to observe this caution may result in fire.

• Take appropriate and sufficient countermeasures for each when installing systems in the following locations.

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 including power supply lines.

• Do not reverse the polarity of the battery when wiring with regenerative unit.

Failure to observe this caution may result in damage to the product.

 Operation

WARNING

• 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 any operation with a machine connected, change the settings of the SERVOPACK’s reference pulse with the PULSE rotary switch to match those of the machine.

Starting operation without matching the proper settings may cause the machine to run out of control or malfunction.

• When using the servomotor for a vertical axis, install safety devices to prevent workpieces from falling off because of alarms.

Workpiece’s falling off may result in injury or malfunction.

• Do not touch the SERVOPACK heatsinks, regenerative unit, 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.

• When an alarm occurs, remove the cause, turn OFF the power and ON again after confirming safety, and then resume operation.

Failure to observe this caution may result in injury.

• Do not use the holding brake of the servomotor for ordinary braking.

Failure to observe this caution may result in malfunction.

 Maintenance and Inspection

WARNING

• Do not open the SERVOPACK case for 5 minutes after the power supply lamp (PWR LED) goes out. High voltage may remain in the SERVOPACK after the power supply has been turned OFF.

• After turning OFF the power supply, wait 15 minutes before replacing the cooling fan.

Failure to observe this caution may result in burns because the cooling fan is hot.

• Mount the cooling fan in the correct way explained in 6.3 Replacement of Cooling Fan.

Mounting the cooling fan in the incorrect direction may result in the breakdown of the SERVOPACK.

• Do not attempt to change wiring while the power is ON.

Failure to observe this caution may result in electric shock or injury.

 Disposal

WARNING

• When disposing of the products, treat them as general industrial waste.

 General Precautions

Note the following to ensure safe application.

• The drawings presented in this manual are sometimes shown without covers or protective guards. Always replace the cover or protective guard as specified first, and then operate the products in accordance with the manual.

• The drawings presented in this manual are typical examples and may not match the product you received.

• This manual is subject to change due to product improvement, specification modification, and manual improvement. When this manual is revised, the manual code is updated and the new manual is published as a next edition.

• If the manual must be ordered due to loss or damage, inform your nearest representative of OMRON YASKAWA Motion Control B.V. (OYMC) or one of the offices listed on the back of this manual.

• OYMC will not take responsibility for the results of unauthorized modifications of this product. OYMC shall not be liable for any damages or troubles resulting from unauthorized modification.

CONTENTS

Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2

Related Manuals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2

Safety Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2

Notes for Safe Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3

1 BEFORE USE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

1.1 Warning Label . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

1.2 Checking Products . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

1.3 Model Designation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

1.4 SERVOPACKs and Applicable Servomotors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

1.5 Part Names and Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

 Reference Pulse Setting (PULSE) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

 Reference Filter Setting Rotary Switch (FIL) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

 Reference Display (REF) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

 Alarm Display (AL1, AL2, and AL3) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

2 INSTALLATION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

2.1 Installation Conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

2.2 Installation Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

 Installation Method and Direction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

 Space between SERVOPACK Units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

3 WIRING . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

3.1 Precautions on Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

 Protection for Power Supply Line . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

 Caution for Grounding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

 Caution for Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

 Other Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

 Power Loss . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

 Molded-Case Circuit Breaker (MCCB) or Fuse Capacity Relation to Power-Supply

Capacity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

 Noise Prevention . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

3.2 System Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

3.3 Standard Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

3.4 Installation and Wiring Conditions on CE Marking . . . . . . . . . . . . . . . . . . . . . . . . . 25

 Attaching the Ferrite Core . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

 Fixing the Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

 Shield Box . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

3.5 SERVOPACKs and Applicable Peripheral Devices . . . . . . . . . . . . . . . . . . . . . . . . . 27

3.6 Main Circuit Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

3.7 SERVOPACK Main Circuit Wire Size . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

 Cable Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

 Wire Size and Allowable Current . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

 Power Supply Input Terminals (L1, L2), Motor Connection Terminals (U, V, W),

and Regenerative Unit Connection Terminals (+, -) 28

 Ground Terminal () . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

 Encoder signal connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

 I/O signal connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

3.8 Wiring the Power Supply/Regenerative Unit Connector (CNA) . . . . . . . . . . . . . . . . 30

 Wire Size . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

 Connector for Power Supply/Regenerative Unit (CNA) . . . . . . . . . . . . . . . . . . . . 31

3.9 Wiring the Servomotor Main Circuit Cable Connector (CNB) . . . . . . . . . . . . . . . . . 32

 Servomotors without Brakes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

 Servomotors with Brakes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

3.10 Wiring the Encoder Connector (CN2) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

 Connection Diagram for Standard Encoder Cable . . . . . . . . . . . . . . . . . . . . . . . 35

3.11 Wiring I/O Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

 Connection Diagram for Standard I/O Cable

(supplied by Yaskawa Electric Company . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

 Connection Diagram and Description for the General-purpose control cables

(R7A-CPZ@@@S) supplied by OMRON Company. . . . . . . . . . . . . . . . . . . . . . . . 37

3.12 Connection Examples of Input Signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39

 Line Driver Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39

 Open-collector Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39

3.13 Connection Example of Output Signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40

3.14 EMG Sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41

3.15 Explanation of I/O Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

4 TRIAL OPERATION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44

5 TROUBLESHOOTING . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46

5.1 Alarm Indicator Lights . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46

5.2 Troubleshooting for Malfunctions when Alarm Indicators Are Not Lit . . . . . . . . . . . 51

6 INSPECTIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54

6.1 Regular Inspections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54

6.2 Part's Life Expectancy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54

6.3 Replacement of Cooling Fan . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55

7 SPECIFICATIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60

7.1 Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60

7.2 Overload Protection Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61

1.1 Warning Label

1 Before Use

1.1 Warning Label

A warning label is located on the side of the SERVOPACK.

SERVOPACK's Warning Label

1.2 Checking Products

Confirm that the following items have been delivered together with the SERVOPACK. Verify that the ordered product as received by the model number marked on the nameplate on the SERVOPACK.

If you find any irregularities such as incorrect SERVOPACK model, damages, and missing parts or items, contact your OYMC representative or the dealer from whom you purchased the products.

SJDE

SERVOPACK

OMRON

APA-OY

Applicable power supply

Order number Serial number

Nameplate

SERVOPACK model

Applicable motor capacity

One screwdriver for selecting

the pulse and setting the filter

Connector Part Number JZSP-CHG9-1

One copy of this

Instruction Manual

1.3 Model Designation

SJDE—02 A P A —OY

JUNMA series SERVOPACK SJDE

pplicable servomotor capacity

Code

Output (W)

100

200

400

750

Power supply voltage

: 200 VAC

Interface specification P: Pulse train reference

Design revision order

1.4 SERVOPACKs and Applicable Servomotors

Rated

Output

100W SJME-01AMB41-OY SJME-01AMB4C-OY SJDE-01APA-OY

200W SJME-02AMB41-OY SJME-02AMB4C-OY SJDE-02APA-OY

400W SJME-04AMB41-OY SJME-04AMB4C-OY SJDE-04APA-OY

750W SJME-08AMB41-OY SJME-08AMB4C-OY SJDE-08APA-OY

Without Brakes With Brakes

Servomotor SERVOPACK

1.5 Part Names and Functions

Rotary switch for reference pulse setting (PULSE)

Rotary switch for reference filter setting (FIL)

I/O signal connector (CN1)

Power supply indicator (PWR)

Ground terminal

Ty pe

 Reference Pulse Setting (PULSE)

Reference

Set

Pulse

Resolution

(P/REV)

1000

2500

5000

10000

1000

2500

5000

10000

1000

2500

5000

10000

1000

2500

5000

10000

Value

PULSE

Note: 1. Make settings after turning OFF the power.

2. The factory setting is 0.

Reference Pulse

Connection Method

Open collector

or line driver

Line driver

Open collector

or line driver

Line driver

Open collector

or line driver

Line driver

Open collector

or line driver

Line driver

Input voltage

Reference indicator (REF) Alarm indicators (AL1 to AL3)

This connector is for factory use only. (Do not use!)

Encoder connector (CN2)

Connector for motor main circuit cable (CNB)

Connector for power supply / regenerative unit (CNA)

Reference

Pulse Type

CW + CCW Positive logic

CCW

CW + CCW Negative logic

CCW

Mark + pulse sequence, Positive logic

PULS

SIGN

Mark + pulse sequence, Negative logic

PULS

SIGN

1.5 Part Names and Functions

A A A

 Reference Filter Setting Rotary Switch (FIL)

Acceleration/

Filter

Deceleration

Time for Step

Reference

1 2 3 4 5 6 7

Do not set 8 through F.

8 to F

45 ms 50 ms 60 ms 65 ms 70 ms 80 ms 85 ms

170 ms

FIL

Setting Value*

* 1. The factory setting is 0. If the machine vibrates, this value must be changed. * 2. If the machine vibrates when starting or stopping the machine, set a larger value. * 3. The value depends on conditions such as the level of command acceleration and

deceleration, the machine rigidity and the motor resolution (PULSE switch).

* 4. Select the correct servomotor capacity with these values if using a step reference

that has no acceleration or deceleration time.

Approx. Time between

Completing Reference and

Completing Positioning

(Settling Time)*

100 to 200 ms 110 to 220 ms 130 to 260 ms 150 to 300 ms 170 to 340 ms 200 to 400 ms 250 to 500 ms

500 to 1000 ms

Description

Small filter time constant (short positioning time)

Large filter time constant (little vibration with a long positioning time)

 Reference Display (REF)

Indicators* Motor

Power Lit orange. OFF − Blinks orange. OFF Input Lit green. ON − Blinks green. ON Input

* Lit yellow for 1s when the clear signal is input.

Reference

Pulses

 Alarm Display (AL1, AL2, and AL3)

Indicators Meaning of Alarm Indicators Meaning of Alarm

L1 L2 L3

Normal Overcurrent

Speed error

Overload System error

Encoder error

L1 L2 L3

AL1 AL2 AL3

Blinks at regular intervals.

SERVOPACK’s built-in

fan stop

Rotary switch for reference pulse setting (PULSE) changed.

Voltage error

2.1 Installation Conditions

2 Installation

The following shows the installation location and method of the SERVOPACK.

2.1 Installation Conditions

Item Specifications

Operating temperature 0 ° C to +55 °C

Operating humidity 90% RH or less (with no condensation)

Storage temperature -20 ° C to +70 ° C

Storage humidity 90% RH or less (with no condensation)

Installation site Free of corrosive gases

Altitude 1000 m or below

Vibration resistance

Shock resistance

Operating conditions Installation category (overvoltage category): II

Installation in a control panel

Installation near a heating unit

Installation Site

Installation near a source of vibration

Installation at a site exposed to corrosive gas

Free of dust and iron powder Clean and dry

4.9m/s

19.6m/s

Pollution degree: 2 Protection class: IP10 (EN50178)

Design the control panel size, unit layout, and cooling method so the temperature around the SERVOPACK does not exceed 55 ° C.

Minimize the heat radiating from the heating unit as well as any temperature rise caused by natural convection so the temperature around the SERVOPACK does not exceed 55 ° C.

Install a vibration isolator beneath the SERVOPACK to avoid subjecting it to vibration.

Corrosive gas does not have an immediate effect on the SERVOPACK but will eventually cause the electronic components and contactor-

related devices to malfunction. Take appropriate action to avoid corrosive gas.

2.2 Installation Method

 Installation Method and Direction

• Install the SERVOPACK perpendicular to the wall. The SERVOPACK contains a built-in fan for cooling and must be mounted in the specified direction.

• Connect the mounting holes securely to the mounting surface with M4 screws (two mounting holes).

SERVOPACK installation plate

M4 screw

 Space between SERVOPACK Units

• Be sure to keep a space between adjacent SERVOPACK units if they are mounted inside the control panel so that the units can be cooled.

• Do not cover the inlet or outlet parts and prevent any foreign objects, such as metalic fragment, or combustibles from entering the product. Failure to observe this caution may cause internal elements to deteriorate resulting in malfunction or fire.

30 mm min.

10 mm min.

50 mm min.

Air outlet direction

Air inlet direction

3.1 Precautions on Wiring

3 Wiring

3.1 Precautions on Wiring

WARNING

• Be sure to correctly ground the SERVOPACK and the servomotor.

• Wiring must be performed by an authorized person qualified in electrical work.

 Protection for Power Supply Line

• Use a molded-case circuit breaker and fuse to protect the power supply line from high voltage. The SJDE SERVOPACK connects directly to a commercial power supply without a transformer, so always use a circuit breaker and fuse to protect the SERVOPACK from accidental high voltage.

 Caution for Grounding

Consider the following conditions when grounding the SERVOPACK.

• For a ground wire, use as thick a cable as possible (2.0 mm2 or thicker).

• A ground resistance of 100 (Ω) or less is recommended.

• Ground to one point only.

OMRON

SJDE- 04 APA-OY

PULSE

FIL

C N 1

C N 2

PWR

OMRON

200V

SJDE- 04 APA-OY

CTL

AL1

PULSE

AL2

AL3

FIL

C N 1

C N 2

PWR

CNA CNB

200V

SJDE- 04 APA-OY

CTL

AL1

PULSE

AL2

AL3

FIL

C N 1

C N 2

PWR

CNA CNB

 Caution for Cable

• For wiring, use the specified cables. Use cables that are as short as possible.

• Do not bend or apply tension to cables. The conductor of a signal cable is very thin (0.08 to

0.12 mm2), so handle the cables carefully.

3.1 Precautions on Wiring

 Other Precautions

• Make sure that the emergency-stop circuit turns OFF the /S-ON signal as well as the power supply of the main circuit. Refer to 3.14 EMG Sequence.

• An overtravel function is not provided for the SERVOPACK. For system safety, include a sequence so that the /S-ON signal will turn OFF when the limit switch is activated.

• If the servomotor is used to drive a vertical axis, install a safety device with an alarm function to prevent the workpiece from falling down. Failure to observe this precaution may result in injury or damage to the equipment from fallen workpieces.

• Install an interlock system in the circuit to avoid any accident when opening or closing the machine’s protective cover.

• Whether the electricity is served or not to the motor, do not use the motor being rotated from the outside.

• When restarting the power supply soon after turning OFF, alarm may occur to the SERVOPACK. Refer to the power supply holding time in the following table to restart the power supply correctly.

SERVOPACK Min. Waiting Time

Model Capacity

SJDE-01APA-OY

SJDE-02APA-OY

SJDE-04APA-OY

SJDE-08APA-OY

100W

200W

400W

750W

before Restarting

(s)

 Power Loss

Power Loss with SERVOPACK Rated Output

Main

Circuit Power

Supply

Single-

phase 200 V

Max. Applicable

Servomotor

Capacity

0.1 SJDE-01APA-OY 0.84 6 0.9 4.2 9 15

0.2 SJDE-02APA-OY 1.1 8 1.8 5.8 17

SERVOPACK

Model No.

Output

Current

(Effective

Value)

Main Circuit Power

Loss

Diode

Power

Loss

IPM

Power

Loss

Control

Circuit Power

Loss

To ta l

Power

Loss

0.4 SJDE-04APA-OY 2.0 16 3.6 11.9 25

0.75 SJDE-08APA-OY 3.7 27 6.4 20.3 36

Note: Valued obtained with the servomotor with the rated output.

3.1 Precautions on Wiring

 Molded-Case Circuit Breaker (MCCB) or Fuse Capacity Relation to Power-Supply Capac-

ity

MCCB or Fuse Capacity Relation to Power-Supply Capacity

Main

Circuit

Power

Supply

Single-

phase 200 V

* 1. Valued obtained with the servomotor with the rated output. * 2. Fuse manufactured by Littelfuse Inc.

NOTE

SERVOPACK Applicable Ser-

Capac-

ity

0.1 SJDE-01APA-OY SJME-01APA-OY 0.4 4 0KLK 015.T

0.2 SJDE-02APA-OY SJME-02APA-OY 0.75

0.4 SJDE-04APA-OY SJME-04APA-OY 1.2 8

0.75 SJDE-08APA-OY SJME-08APA-OY 2.2 16 0KLK 030.T

Ground Fault The ground protection circuit is designed for ground fault inside the motor windings while the

motor is running. Therefore, it may not protect the system under the following conditions.

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.

Model No.

• A low-resistance ground fault occurs between the main circuit cable and connector for the servomotor.

• The power supply is turned ON during a ground fault.

vomotor Model

PowerSupply

Capacity

kVA

MCCB Current

Capacity Arms

External Fuse

[Power-Supply

∗1

Model No.

Capacity

∗2

Arms]

[15]

[30]

Inrush

Current

3.1 Precautions on Wiring

 Noise Prevention

Example of Wiring for Noise Prevention

SERVOPACK

SJDE

Grounding plate

Groudning: Ground to one point only. Min. grounding resistance: 100 Ω

CN1

*1.

U V

CN2

Min. wire size : 3.5 mm

200 VAC

Min. wire size : 3.5 mm

Noise filter

2LF

Casing

*1.

• Operation relay sequence

• User signal generating circuit

Casing

Min. wire size: 3.5 mm

1LF

*2.

AVR

(Grounding)

Casing

*1.

2 mm2 or larger

Min. wire size: 3.5 mm

Casing

* 1. For the wires connected to the casings for installation purposes, use wires with a diameter of 3.5 mm2

or larger. Flat braided copper wires are recommended.

Servomoto

(FG)

* 2. Use twisted pair wires for section P.

Correct Grounding

• Servomotor frame grounding: Be sure to connect the FG grounding terminal on the frame of the servomotor to the grounding terminal on the SERVOPACK.

• Be sure to ground the grounding terminal of the SERVOPACK.

• If the wires of the servomotor’s main circuit are laid in a metal conduit, ground the conduit and the grounding box.

One-point grounding must be used.

Noise Filters

Use noise filters to prevent any noise interference from the power-supply line.

The following table lists the recommended noise filters.

Recommended Noise Filters

PowerSupply

Voltage

SERVOPACK Model Recommended Noise Filters

Model Specifications Manufacturer

3.1 Precautions on Wiring

Single-

phase

200 V

SJDE-01APA to -

04APA-OY

SJDE-08APA-OY

R7A-FIZP105-BE Single-phase 250 VAC, 5A Block

R7A-FIZP109-BE Single-phase 250 VAC, 9A

Transformatoren Elektronik GmbH & Co. KG.

3.1 Precautions on Wiring

Filter dimensions for model R7A-FIZP105-BE

Filter dimensions for model R7A-FIZP109-BE

3.2 System Configuration

Power supply

Single-phase 200 VAC

L1 L2

Molded-case circuit breaker

To protect the equipment and wiring, always connect a molded-case circuit breaker.

Noise filter

Used to eliminate suppress noise from power lines for CE marking requirements.

Surge protector

To protect the system from lightening surge.

AC reactor

Used for a power supply harmonic suppression.

Fuse

To protect the equipment, always install fuses.

Magnetic contactor

Used to turn OFF the servo power supply when using a regenerative unit or in case of emergency.

Vari stor

WARNING

Correctly connect the connectors CNA and CNB. Incorrect wiring may result in electric shock, injury, or damage to the equipment. After wiring, install the connectors as explained in 3.8 Wiring the Power

Supply/Regenerative Unit Connector (CNA) and 3.9 Wiring the Servomotor Main Circuit Cable Connector (CNB).

Used for a regenerative unit.

Regenerative unit

Used if regenerative energy is high.

Used for a servomotor with a brake.

24-VDC power supply

Brake relay

Connectors for motor main circuit cable (CNB

Connectors for power supply/regenerative unit (

)

CNA

SJDE SERVOPACKs

I/O signal cable

Motor main circuit cable (

for relay)

)

SJME Servomotors

3.2 System Configuration

CAUTION

Never open the protective cover for the connector. Do not use the connector since the connector is reserved for adjustment by the manufacturer. If the connector is used, a SERVOPACK failure may result.

CJ-series PLC

Encoder cable (for relay

)

To the control circuits of magnetic contactor

* Prepare a 24-VDC power supply for the brake separately from the sequence power supply.

3.3 Standard Connection

Power supply Single-phase 200 V to 230 VAC 50/60Hz

Molded-case circuit breaker

Surge protector

Noise

VR2 24 V power supply

filter

200 V to 230 VAC

24V

SW1

SW2

MC1

Regenerative unit

C1 C2

JUSP-

RG08D

MC1

Spark killer

AVR1 * 24 V power supply

200 V to 230 VAC

SERVOPACK

Fuse

−

CNA CNB 1L1

Reactor

−

Ry1

24V

Shell

Vari stor

Shield

Brake

Servomotor

Note: 1. AVR1:24 VDC power

supply for brake

AVR2: 24 VDC power sup-

SW1: Power OFF switch SW2: Power ON switch MC1: Magnetic contactor Ry1: Brake relay

Controller

2.2kΩ

Flywheel diode

ply for sequence

MC1

Ry1

CN1 CN2

Shield

/CW,/PULS

CCW,SIGN

/CCW,/SIGN

CLR

/CLR

PCO

SG-PCO

+24VIN

/S-ON

ALM

/BK

/COIN

SG-COM

Shell

75Ω

3.4kΩ

PG5VCW,PULS

PG0V

A−

B−

Shell

Shield

* Prepare a 24-VDC power supply

for the brake separate from the sequence power supply.

• Parts example

Spark killer Okaya Electric Industries Co., Ltd. CRE-50500

Flywheel diode Toshiba Corporation 1NH42

Brake relay OMRON Corporation MY series

Varistor Nippon Chemi-Con Corporation TNR7V121K

Encoder

3.4 Installation and Wiring Conditions on CE Marking

2. The ground protection circuit is designed for ground fault inside the motor windings while the motor is running. Therefore, it may not protect the system under the following conditions.

• A low-resistance ground fault occurs between the main circuit cable and connector for the servomotor.

• The power supply is turned ON during a ground fault. 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.

* Prepare a 24 VDC power supply for sequence separately from the 24 VDC power supply for brake.

3.4 Installation and Wiring Conditions on CE Marking

To adapt a combination of a SJME servomotor and a SJDE SERVOPACK to EMC Directives (EN55011, group 1, class A and EN61000-6-2), the following conditions must be satisfied. After installing the SERVOPACK, do a test run to make sure that the machine operates correctly.

The actual EMC level may differ depending on the actual system's configuration, wiring, and

NOTE

other conditions.

Ground Plate

Brake power

supply

Cable joint

Power Supply Single-phase 200 VAC

SERVOPACK



Clamp

Surge

protector

Noise

filter

Regenerative

unit

L1, L2

+, −

CN1

U, V, W

CN2

core

Ferrite

core

Ferrite



Host controller

Symbol Cable Name Specifications

I/O Signals cable Shield cable

Servomotor Main Circuit cable Shield cable

Encoder cable Shield cable

AC Line cable Shield cable

Clamp





core

Ferrite

core

Ferrite

core

Ferrite

Cable joint

Brake

Servo-

motor

Encoder

3.4 Installation and Wiring Conditions on CE Marking

 Attaching the Ferrite Core

Coil the motor main circuit cable (as a connection) around the ferrite core with two turns, then attach them by the SERVOPACK. Refer to the diagram in the previous page.

Cable (two turns)

Ferrite core

Note: Recommended Ferrite-core

Model: ESD-SR-25 (Tokin. Corp.)

 Fixing the Cable

Fix and ground the cable shield using a piece of conductive metal.

• Example of Cable Clamp

Host controller side

Ground plate

Cable

Cable clamp

Shield (cable sheath stripped)

Fix and ground the cable shield using a piece of conductive metal.

Remove paint on mounting surface.

 Shield Box

A shield box, which is a closed metallic enclosure, should be used for shielding magnetic interference. The structure of the box should allow the main body, door, and cooling unit to be attached to the ground. The box opening should be as small as possible.

3.5 SERVOPACKs and Applicable Peripheral Devices

SERVOPACK Power

Ty pe Capa-

SJDE01APA-OY

SJDE02APA-OY

SJDE-

100 W 0.40 4 0KLK

200 W 0.75 X5053

400 W 1.2 8 X5054

city

Supply

Capacity

per

SERVO-

PAC K

kVA

04APA-OY

SJDE08APA-OY

750 W 2.2 16 0KLK

Manufacturer - - Littelfuse

* 1. Nominal value at the rated load. The specified derating is required to select the appropriate molded-

case circuit breaker. * 2. Cut-off characteristics (25 °C): 200 % two seconds min. and 700 % 0.01 seconds min. Note: 1. The ground protection circuit is designed for ground fault inside the motor windings while the

motor is running. Therefore, it may not protect the system under the following conditions.

• A low-resistance ground fault occurs between the main circuit cable and connector for the servomotor.

• The power supply is turned ON during a ground fault.

2. It is recommended to use a general-purpose circuit breaker of the rated current 200 mA or more, or a circuit breaker for inverters (for high-frequency).

Current

Capacity of

Molded-case

Circuit

Breaker

*1 *2

Arms

Current

Capacity

and Model

of Exter-

nal Fuse

015.T (15 Arms)

030.T (30 Arms)

Inc.

Inrush

Magnetic

Cur-

Contac-

rent

A0-p

30 HI-11J R7A-

Noise Fil-

tor

FIZP105BE

60 HI-15J R7A-

FIZP109BE

-Yaskawa Controls

Co., Ltd.

Block Elec-

tronik GmbH

ter

Surge

Protector

xCxM-

R 601BQZ4

Okaya Electric

Industries Co., Ltd.

Reactor

X5052

X5056

Yas ka wa Controls

Co., Ltd.

3.6 Main Circuit Wiring

• SJDE SERVOPACKs are suitable where the power supply is less than 5000 Arms (230 V max.).

• SERVOPACKs must be used with UL-listed fuses or circuit breakers, in accordance with the National Electrical Code (NEC).

• Use 75 ° C heat-resistant copper wires or an equivalent.

3.7 SERVOPACK Main Circuit Wire Size

 Cable Types

Symbol Name Allowable Conductor Temperature

PVC

HIV

Normal vinyl cable

600 V vinyl cable

Temperature-resistant vinyl cable

• Wire sizes are selected for three cables per bundle at 40 ° C ambient temperature with the rated current.

• Use cables with a minimum withstand voltage of 600 V for main circuits.

• If cables are bundled in PVC or metal ducts, consider the reduction ratio of the allowable current.

• Use heat-resistant cables under high ambient or panel temperatures where normal vinyl cables will rapidly deteriorate.

• Do not use cables under continuous regenerative state.

 Wire Size and Allowable Current

The following table shows the wire size and allowable current for three cables. Use a cable whose specifications meet or are less than allowable current in the table.

• 600 V Heat-resistant Vinyl Cables (HIV)

AWG

Nominal Cross

Size

Section Diameter

20 0.5 19/0.18 39.5 6.6 5.6 4.5

- 0.75 30/0.18 26.0 8.8 7.0 5.5

18 0.9 37/0.18 24.4 9.0 7.7 6.0

16 1.25 50/0.18 15.6 12.0 11.0 8.5

14 2.0 7/0.6 9.53 23 20 16

Note: The values in the table are only for reference.

Configuration

Number of wires/mm

Conductive Resistance

Ω/mm

Allowable Current at Ambient Temperature

30 ° C 40 ° C 50 ° C

−

60 ° C

75 ° C

 Power Supply Input Terminals (L1, L2), Motor Connection Terminals (U, V, W),

and Regenerative Unit Connection Terminals (+, -)

CapacityWSERVOPACK Type Ter mi n a l S y m b ol

L1, L2 U, V, W +, -

100

200

400

750

Note: Connectors are used for all wiring.

SJDE-01APA-OY

SJDE-02APA-OY

SJDE-04APA-OY

SJDE-08APA-OY

HIV1.25 mm

HIV2.0 mm

HIV1.25mm

Wiring length:

20 m max.

HIV1.25mm

Wiring length:

0.5 m max.

 Ground Terminal ( )

Wire Size Ter mi n a l S c r e w S i z e Tightening Torque

HIV 2.0 mm

min.

M4 1.2 to 1.4Nxm

3.7 SERVOPACK Main Circuit Wire Size

 Encoder signal connector

Item Specifications

Cable Use OYMC specified wires, or shielded twisted-pair wires.

Maximum cable length 20 m

Applicable wires

Finished cable outer diameter

AWG22 (0.33 mm Used AWG22 for the encoder power supply and AWG26 for signal lines.

φ9 mm max.

) and AWG26 (0.12 mm2)

 I/O signal connector

Item Specifications

Cable Use twisted-pair wires or shielded twisted-pair wires.

Maximum cable length 3 m

Applicable wires

Finished cable outer diameter

AWG24 (0.2 mm

φ8 mm max.

), AWG26 (0.12 mm2), AWG28 (0.08 mm2)

3.8 Wiring the Power Supply/Regenerative Unit Connector (CNA)

WARNIN

• Observe the following precautions when wiring main circuit connector.

• Remove the connector from the SERVOPACK prior to wiring.

• Insert only one wire per terminal opening on the connector.

• Make sure that the core wire is not electrically shorted to adjacent core wires.

Use the following procedure when connecting the SERVOPACK to the power supply/regenerative unit connector.

1. Remove the connector from the SERVOPACK. Make sure to remove the connector from the SERVOPACK when wiring.

2. Strip the outer coating. Straighten the wire core with your fingers to prevent the wires from unwinding.

9 to 10 mm

3. Open the wire terminal on the power supply connector housing (plug) with the tool (lever for wiring) using the procedure shown in Fig. A or B.

• Insert the connection hook end of the provided tool into the slot as shown in Fig. A. Tool must be purchased by the customer.

• Use a standard flat-blade screwdriver (blade width of 2.5 to 3.0 mm (0.09 to 0.12 in)). Put the blade into the slot, as shown in Fig. B, and press down firmly to open the wire terminal.

Either the procedure shown in Fig. A or B can be used to open the wire insert opening.

fig A fig B

Tool Type: J-FAT-OT (JST. Mfg Co., Ltd)

4. Insert the wire core into the opening and then close the opening by releasing the tool hook or removing the screwdriver.

 Wire Size

Item Wire Size

Conductor

Size

Sheath Dimension

Braided wire

Single wire

AWG14 to AWG22

φ1.6mm to φ0.65mm

φ3.8mm to φ1.7mm

3.8 Wiring the Power Supply/Regenerative Unit Connector (CNA)

5. Connect the connector to the SERVOPACK. After wiring the connector, reconnect the connector to the SERVOPACK.

Power supply

Single-phase, 200 VAC

L2 L1

Molded-case circuit breaker

Noise filter

Magnetic contactor

AC reactor

CNA connector

Power supply/Regenerative Unit connector JZSP-CHG9-1 (This connector is supplied with the servopa

Regenerative Unit

+(Y3)

— Y4 Y5 C1 C2

FuseFuse

Note: 1. Pull lightly on the wires to confirm that they are securely connected.

2. Be sure that none of the insulating sheaths of the wires are caught in the springs.

 Connector for Power Supply/Regenerative Unit (CNA)

Pin No. Symbol Signal Name

1L1

Power supply input terminals

2L2

4 −

Regenerative unit connection terminals

3.9 Wiring the Servomotor Main Circuit Cable Connector (CNB)

Wire the connector for the servomotor main circuit cable (CNB) in the same way as the connector for the power supply/regenerative unit (CNA). Refer to the previous section for details and the procedure.

Controller

Separate by 300 mm or more

Power Supply

IMPORTANT

• The distance between the cable for the servomotor’s main circuit and the encoder as well as the I/O cable is 300 mm or more.

• Do not bundle or run the servomotor main circuit cable in the same duct with other cables.

• Be sure that the maximum wiring length of the servomotor main circuit cable is 20 m.

 Servomotors without Brakes

Connector for servomotor main circuit cable 04JFAT-SAYGF-N (JST. Mfg. Co., Ltd)

Connector provided with Servomotor main circuit cable

Green/Yellow

Motor

Note: Pin numbers are given on the connector as well. Confirm all pin numbers.

Red

White

Blue

Phase U

Phase V

Phase W

Green/Yellow

Servomotor main circuit cable

(for relaying)

CNB connector

3.9 Wiring the Servomotor Main Circuit Cable Connector (CNB)

Connection Diagram for Standard Servomotor Main Circuit Cable

If a user-prepared servomotor main circuit cable is used, refer to the following connection diagram for the standard cable (JZSP-CHM000- Cable with Connectors on Both Ends) and wire the servomotor main circuit cable.

Motor end

SERVOPACK end

50mm

Connector (crimp type) Receptacle: 5557-06R-210 Terminal: 5556T (Chain) or 5556TL (Loose wires) (Molex)

Servomotor Connector

(Viewed from cable insertion side)

456

123

Pin No.

1 2 3 4 5 6

Connect the FG pin to the grounding terminal of the SERVOPACK.

∗:

Phase U Phase V Phase W

— —

Lead ColorSignal Name

Green/Yellow

 Servomotors with Brakes

Connector provided with Servomotor main circuit cable

Red

White

Blue

Green/Yellow

Black

Phase U

Phase V

Phase W

Break

Red

White

Blue

—

M4 crimped terminal

Connector (crimp type) Receptacle: F32FSS-04V-KY Rececontact: SF3F-01GF-P2.0 or SF3F-41GF-P2.0 (JST. Mfg. Co., Ltd.)

SERVOPACK Connector

(Viewed from soldered side)

1 2 3 4

Shielded cable

Crimped terminal

Connector for servomotor main circuit cable 04JFAT-SAYGF-N (JST. Mfg. Co., Ltd)

Phase U

Phase V

Phase W

—

∗

Lead ColorSignal NamePin No.

Red

White

Blue

—

Green/Yellow

CNB connector

Varistor

Motor

Green/Yellow

Black

Servomotor main circuit cable

(for relaying)

Note: 1. Prepare a double-insulated 24-VDC power supply.

2. Connect the varistor in parallel with the 24-V power supply terminal and GND terminal to suppress the surge voltage resulting from the holding brake turned ON and OFF.

3. Pin numbers are given on the connector as well.

24 VDC

DC power

supply

Brake relay

3.9 Wiring the Servomotor Main Circuit Cable Connector (CNB)

4. If using the servomotor to drive a vertical axis, provide a circuit to turn the holding brake ON so that the movable section will not be pulled down by gravity when the power supply of the SERVOPACK is turned OFF.

Connection Diagram for Standard Servomotor Main Circuit Cable

If a user-prepared servomotor main circuit cable is used, refer to the following connection diagram for the standard cable (JZSP-CHM030- Cable with Connectors on Both Ends) and wire the servomotor main circuit cable.

Motor end

Connector (crimp type) Receptacle: 5557-06R-210 Terminal: 5556T (Chain) or 5556TL (Loose wires) (Molex)

Servomotor Connector

(Viewed from cable insertion side)

456

123

Phase U

Phase V

Phase W

FG Brake Brake

Lead ColorSignal Name

Red

White

Blue

Green/Yellow

Black

Pin No.

1 2 3 4 5 6

Connect the FG pin to the grounding terminal of the SERVOPACK.

∗1:

2: No polarity for connection to the brake.

∗

M4 crimped terminal

Connector (crimp type) Receptacle: F32FSS-04V-KY Rececontact: SF3F-01GF-P2.0 or SF3F-41GF-P2.0 (JST. Mfg. Co., Ltd.)

Shielded cable

SERVOPACK end

50mm

SERVOPACK Connector

(Viewed from soldered side)

Phase U

Phase V

Phase W

FG Brake Brake

—

Crimped terminal

∗1

∗2

Lead ColorSignal NamePin No.

Red

White

Blue

—

Green/Yellow

Black

3.10 Wiring the Encoder Connector (CN2)

C N 1

C N 2

• Separate the encoder cable at least 300 mm from power lines (i.e., high-voltage lines such as the

NOTE

power supply line and servomotor main circuit cable).

• Do not bundle with or run the encode cable in the same duct as power lines.

• Be sure that the maximum wiring length of the encoder cable is 20 m.

 Connection Diagram for Standard Encoder Cable

If a user-prepared encoder cable is used for relaying, refer to the following connection diagram for the standard cable (JZSP-CHP800- Cable with Connectors on Both Ends) and wire the encoder cable.

SERVOPACK end

Separate by 300 mm or more

Power Supply

Motor end

 Crimp type (Gray) Plug and Cable Cover Set: 54599-1005 Plug Housing: 51209-1001 Crimp Terminals: 59351-8087(Chain) or 59351-8187 (Loose wires) (Molex)

SERVOPACK Connector (Viewed from soldered side)

97531

Pin No. Signal Name

PG5V

PG0V(GND)

Phase A (+)

Phase A (-)

Phase B (+)

Phase B (-)

Phase /Z

Phase U

Phase V

Phase W

Shell

—

Lead Color

Blue/White

Yellow/White

Orange

 Solder type (Black) Shell Kit: 36310-3200-008 Receptacle: 36210-0100FD (3M)

246810

Red

Black

Blue

Yellow

Purple

Gray

Green

Shield

Shield wire

Note: Pin numbers are given on the connector as well.

Servomotor Connector (Viewed from cable insertion side)

12 11 10 8 79

654321

Receptacle: 5557-12R-210 Terminals: 5556T2 (Chain) or

5556T2L(Loose wires)

(Molex)

Lead ColorPin No. Signal Name

PG5V

PG0V(GND)

Phase A (+)

Phase A (-)

Blue/White

Phase B (+)

Phase B (-)

Yellow/White

Phase /Z

Phase U

Phase V

Phase W

—

Shield

Red

Black

Blue

Yellow

Purple

Gray

Green

Orange

—

Shield

3.11 Wiring I/O Connectors

Controller

Separate by 300 mm or more

Power supply

Note: Do not apply excessive force when connecting or disconnecting the cable or the

connector. Damage to the cable or connectors may cause the product to stop operating or malfunction.

• Separate the I/O cable at least 300 mm from power lines (i.e., high-voltage lines, such as the

NOTE

 Connection Diagram for Standard I/O Cable (supplied by Yaskawa Electric Company

If a user-prepared I/O cable is used for relaying, refer to the following connection diagram for the standard cable (JZSP-CHI003- Cable with Connector) and wire the encoder cable.

power supply line and servomotor main circuit cable).

• Be sure that the maximum wiring length of the I/O cable is 3 m.

• The longer the I/O cable is, the lower the maximum transmission frequency will be.

Host controller endSERVOPACK end

Plug (14P): 10114-6000EL Shell Kit: 10314-52A0-008

I/O Code Signal Name Lead

No.

1 Input CW, PULS Reverse pulse,

SERVOPACK Connector (Plug)

(Viewed from soldered side)

8 9 1011 131412

543276

2Input/CW, /PULS Red

3 Input CCW, SIGN Forward pulse,

4 Input /CCW, /SIGN Red

5 Input +24VIN External input power supply White Black

6 Input /S-ON Servo ON Red

7 Output SG-COM Output signal ground Yellow Black

8 Input CLR Position deviation Pulse

9 Input /CLR Pink Black

10 Output PCO Phase-C signal Red

11 Output SG-PCO Phase-C signal ground Orange 2 Black

12 Output ALM Servo alarm Red

13 Output /BK Brake Li ght

14 Output /COIN Positioning completion Red

Shell −− FG −−

Note: Pin numbers are given on the connector as well.

(φ5.6)

Reference pulse

Reference sign

clear

Color

Orange 1 Black

Light

gray

Dot Mark

Number Color

Black

Red

Black

3.11 Wiring I/O Connectors

 Connection Diagram and Description for the General-purpose control cables (R7A-

CPZ@@@S) supplied by OMRON Company.

A General-purpose Control Cable connects to the Servo Driver's Control I/O Connector (CN1). There is no connector on the controller end. Wire a connector to match the controller if you are connecting to a Position Control Unit and a compatible cable is not available, or if the drive is connected to a controller manufactured by another company.

Cable Models

Model Length (L) Outer Diameter of the

R7A-CPZ001S 1 m

R7A-CPZ002S 2m

cable

5,6 mm Approx. 0.1 kg

5,6 mm Approx. 0.2 kg

Weig ht

Connection Configuration and Dimensions

Controller end Servo Driver end

R7D-ZP@

Wiring

No. Wire Color/Mark Color Signal Name

Connector plug: 10114-3000VE (Sumitomo 3M) Connector case: 10314-52A0-008 (Sumitomo 3M) Wires with the same wire color and the same number of marks are twisted pairs

Orange/Red (-) +CW/PULS

Orange/Black (-) -CW/PULS

Gray/Red (-) +CCW/SIGN

Gray/Black (-) -CCW/SIGN

White/Red (-) +24VIN

Yellow/Black (-) RUN

White/Black (-) OGND

Pink/Red (-) +ECRST

Pink/Black (-) -ECRST

Orange/Red (--) Z

Orange/Black (--) ZCOM

Gray/Red (--) /ALM

Gray/Black (--) BKIR

Yellow/Red (-) INP

3.11 Wiring I/O Connectors

Connector Pin Arrangement

3.12 Connection Examples of Input Signal

 Line Driver Output

Applicable line driver: SN75174 or MC3487 (Manufactured by Texas Instruments or equivalent)

24VDC Power Supply

+24V

Host Controller

Twisted-pair wires∗

∗

+24VIN

/S-ON

PULS

/PULS

SIGN

/SIGN

/CLR

CLR

SERVOPACK

CN1

3.4kΩ

7mA

75Ω

Photocoupler

 Open-collector Output

Set the current limit resistors R1 through R3 so that the input current (i) will be within the following range. Input Current (i) = 7 mA to 15 mA

24VDC Power Supply

+24V

Host Controller

Vcc

Tr1

Tr2

Tr3

+24VIN

/S-ON

∗

PULS

/PULS

SIGN

/SIGN

CLR

/CLR

SERVOPACK

CN1

3.4kΩ

7mA

75Ω

Photocoupler

Examples:



When Vcc is +24V: R1 through R3=2.2 kΩ



When Vcc is +12V: R1 through R3=1 kΩ



When Vcc is +5V: R1 through R3=180 Ω

Note: The following signal logic applies for an open-collector output.

Tr1 to Tr3 ON Equivalent to high level input.

Equivalent to low level input.Tr1 to Tr3 OFF

Twisted-pair wires∗

3.13 Connection Example of Output Signal

Set the load so that the output current (i) will fall within 50 mA or less.

Photocoupler output (Per output signal)

 Max. voltage: 30VDC  Max. current: 50m ADC

SERVOPACK

Photocoupler

50mA max.

CN1

PCO

SG-PCO

ALM

/COIN

SG-COM

24VDC Power Supply

+24V 0V

Load

3.14 EMG Sequence

WARNING

• Make the emergency stop circuit to turn OFF the Servo ON signal as well as the main circuit power supply when the EMG (emergency stop) signal turns ON.

The residual voltage rotates the servomotor for a few seconds after the power supply has turned OFF, which may result in injury or damage to the equipment.

IMPORTANT

• Use the power ON/OFF signals or the servo ON/OFF signals only when necessary to turn the servomotor’s power supply ON or OFF. Failure to observe this caution may result in unpredictable performance of the servomotor.

Power supply Single-phase 200VAC to 230VAC 50/60Hz

Noise filter

DC24V

MC1

Power ONPower

OFF

MC1

Servo ON

EMG

CNA

MC1

SUP

SERVOPACK

CN1

+24VIN

/S-ON

3.15 Explanation of I/O Signals

Pulse train references are given to control the position of the servomotor. The following pulse train forms from the host controller are supported.

• Line driver output

• +24-V open-collector output

• +12-V open-collector output

• +5-V open-collector output

I/O Signal Timing Examples

Servo ON (/S-ON)

Motor ON

Brake (/BK)

Sign + pulse train

Positioning completed (/COIN)

(SIGN)

(PULS)

Clear (CLR)

ON Motor ON

Brake released

t1: Approx. 40 ms

t2: Approx. 130 ms

t3 ≥ 40 ms

(Motor with brake: 100 ms)

≥ 20 μs

* 1. The interval from when the servo ON signal is turned ON until the reference pulse is input must be at

least 40 ms, or the reference pulse may not be received by the SERVOPACK. If a motor with a brake is in used, more time will be required to release the brake. Therefore, provide an interval of at least 100 ms.

* 2. The error counter clear signal must be ON for at least 20 μs. If the reference pulse is stopped when the

clear signal is turned ON, the motor will stop at that position. * 3. The lag time for the brake is 100 ms. Use a relay for brakes with an operating time of 30 ms or less. Note: 1. The maximum lag time from the time that the error or fault is detected until the time that the alarm

signal is turned ON is 2 ms.

larm detection

ALM

2ms max.

2. If using the phase-C output signal, use an edge when the signal changes from OFF to ON at the start, so that the wave form will rise after a set time lag.

PCO

3.15 Explanation of I/O Signals

Reference Pulse Signal Form Electrical Specifications Remarks

Sign + pulse train input (SIGN + PULS signal)

Maximum reference frequency: 750 kpps (187.5 kpps for an open-collector output)

CW pulse + CCW pulse

Maximum reference frequency: 750 kpps (187.5 kpps for an open-collector output)

SIGN

PULS

CCW

Forward reference

t2 t3

Reverse reference

t1, t2, t3 >

0.65μs

τ ≥

(

)

100 ≤ 50%

τ/T

μs

t1 > 3

τ ≥

0.65μs

(

)

100 ≤ 50%

τ/T

3μs

Sign (SIGN): High = Forward

reference Low = Reverse reference

4 Trial Operation

Use the following procedure to perform trial operation.

Step Details

1. Installation • Install the SERVOPACK and servomotor under the installation conditions. Do not connect the servomotor shaft to the machine.

2. Wiring and PULSE Settings • Wire the power supply connector, servomotor main circuit cable,

Select the PULSE setting with the rotary switch.

Screwdriver

3. LED Check • Turn ON the power and confirm that the REF indicator is lit orange

Check that the color of the REF indicator changes to orange or green.

4. PULSE Reference Input 1 • Input the reference pulse from the controller, and then check on

Controller

Reference pulse

encoder cable, and the I/O signal cable correctly following the procedures in Section 3.

• If a servomotor with a brake is used, connect all signal cables including those for the brake power supply and the relay.

• Use the PULSE rotary switch to select the type of controller’s output pulse and set the resolution of the servomotor.

Note: Use the screwdriver to change the set-

ting on the rotary switch. Never use the screwdriver for any purpose other than setting the rotary switch.

or green. If the indicator is orange, turn ON the servo ON (S-ON) input signal and check that the color of the REF indicator changes from orange to green.

• If the REF indicator is not orange or green, or the indicator of the AL1, AL2 or AL3 alarm is red, refer to Section 5 Troubleshooting and clear the alarm.

the number of the pulses and servomotor’s rotational direction. Make sure the servomotor rotates in the correct direction while the REF indicator is blinking green.

• If the servomotor does not rotate according to the reference, refer to Section 5 Troubleshooting and clear the alarm.

5. Servomotor Shaft Coupling • Set the servomotor to servo OFF (servomotor OFF) status to turn OFF the power. Couple the servomotor shaft to the machine under the conditions outlined in the servomotor instructions.

Step Details

6. Protective Functions • Turn ON the power, activate the servo ON (S-ON) input signal, and check that the color of the REF indicator changes from orange to green. The machine may momentarily make a sound after the

servo is turned ON. This is due to the setting of the automatic filter in the servo and is not an error.

• Check that all the protective functions, such as the emergency stop and holding brake functions are working correctly.

7. PULSE Reference Input 2 • Input the reference pulse from the controller, and then check that

Controller

Reference Pulse

8. Filter Settings • If the machine vibrates or if the positioning completed signal

Select the FIL setting with the rotary switch.

the machine is running in the correct direction and at the correct rate designed by the settings. The machine may momentarily make a sound after the machine moves. This is due to the setting of the automatic filter in the servo and is not an error.

(/COIN) repeatedly turns ON and OFF after the servomotor stops, turn the FIL rotary switch from 0 to 1, and then to 0 again. If the machine still vibrates, gradually increase the setting on the FIL rotary switch from 0 to 7 until the optimum setting is reached.

Note: Use the screwdriver to change the set-

ting on the rotary switch. Never use the screwdriver for any purpose other than setting the rotary switch.

Screwdriver

5.1 Alarm Indicator Lights

5 Troubleshooting

If the servomotor does not operate correctly due to setting failures, wiring faults, or other problems, refer to this section and take corrective actions. Contact your OYMC representative if the problem cannot be solved by the corrective actions described here.

• When taking a corrective action, turn OFF the power, remove the cause of the alarm, and then tur n

NOTE

5.1 Alarm Indicator Lights

Alarm

Display

ON the power again.

Alarm Name

Speed error

Conditions at

Alarm Occur-

Power was turned ON.

Servo was turned ON.

Servomotor operation was started or was switched to high-speed operation.

rence

Cause Corrective Action

A SERVOPACK fault occurred. Replace the SERVOPACK.

Phases U, V, and W in the servomotor are wired to the wrong terminals.

The encoder wiring is incorrect.

Malfunction occurred due to noise interference in the encoder wiring.

A SERVOPACK fault occurred. Replace the SERVOPACK.

Phases U, V, and W in the servomotor are wired to the wrong terminals.

The encoder wiring is incorrect.

Malfunction occurred due to noise interference in the encoder wiring.

The position pulse reference input has exceeded 10,000 pulses per revolution.

A SERVOPACK fault occurred. Replace the SERVOPACK.

Correct the servomotor wiring.

Take measures against noise for the encoder wiring.

Check and correct the servomotor wiring.

Take measures against noise for the encoder wiring.

Input the correct reference value.

5.1 Alarm Indicator Lights

Alarm

Display

Alarm Name

Overload Power was

Conditions at Alarm Occur-

rence

turned ON.

Servo was turned ON.

The servomotor did not operation for a reference input from the controller.

Normal operation.

Servo OFF status.

Cause Corrective Action

A SERVOPACK fault occurred. Replace the SERVOPACK.

Servomotor main circuit cable wiring is incorrect or a contact in servomotor wiring is faulty.

Encoder cable wiring is incorrect or a contact in encoder wiring is faulty.

A SERVOPACK fault occurred. Replace the SERVOPACK.

Servomotor main circuit cable wiring is incorrect or a contact in servomotor wiring is faulty.

Encoder cable wiring is incorrect or a contact in the cable is faulty.

The starting torque exceeds the maximum torque.

A SERVOPACK fault occurred. Replace the SERVOPACK.

The effective torque continued over the period of the rated torque, or the starting torque greatly exceeds the rated torque.

Drop in power supply voltage. Make sure that the power sup-

The servomotor coil burned out. Measure the coil resistance. If

The servomotor was operated with the holding brake engaged.

The ambient temperature around the servomotor exceeded 55 ° C.

The installation conditions of the SERVOPACK are not suitable (the SERVOPACK is influenced by the mounting direction, mounting space, or ambient objects).

A SERVOPACK fault occurred. Replace the SERVOPACK.

The servomotor did not stop three seconds after the SERVOPACK is set to servo OFF status.

Check and correct the servomotor wiring.

Reconsider and correct the load, operating conditions, and servomotor capacity.

Reconsider the load and operation conditions.

Reconsider the servomotor capacity and use a servomotor with a larger capacity.

ply voltage is within the permissible range.

the coil burned out, replace the servomotor.

Measure the voltage of the brake terminals and release the brake.

Reconsider the installation conditions so that the ambient temperature will be 55 °C or less.

Reconsider the load conditions.

Check to see if the servomotor is being rotated by an external force.

5.1 Alarm Indicator Lights

Alarm

Display

Alarm Name

Encoder error

Vol tage error

Conditions at

Alarm Occur-

rence

Power was turned ON or during servomotor operation.

Power was turned ON.

Normal operation.

Cause Corrective Action

The encoder wiring and the contact are incorrect.

Noise interference occurred due to incorrect encoder cable specifications.

Noise interference occurred because the wiring distance for the encoder cable is too long.

The encoder cable is disconnected.

An zero point error occurred. Replace the servomotor.

An encoder fault occurred.

The AC power supply voltage exceeded the permissible range.

The power supply was turned ON again before the power supply to the SERVOPACK was completely OFF.

A SERVOPACK fault occurred. Replace the SERVOPACK.

The AC power supply voltage exceeded the permissible range.

The servomotor speed is high and load moment of inertia is excessive.

The regenerative unit is not connected or the selection of the regenerative unit is wrong.

A SERVOPACK fault occurred. Replace the SERVOPACK.

Correct the encoder wiring.

Use twisted-pair or shielded twisted-pair cables with a core

of at least 0.12 mm

The wiring distance must be 20 m maximum.

Replace the encoder cable.

Make sure the AC power voltage is within the specified range.

Wait until the REF indicator is OFF, and turn ON the power supply again.

Make sure the AC power voltage is within the specified range.

Reconsider the load and operation conditions.

Calculate the regenerative energy and connect a regenerative unit with sufficient processing capacity.

5.1 Alarm Indicator Lights

Alarm

Display

Alarm Name

Overcurrent

Conditions at Alarm Occur-

rence

Power was turned ON.

Cause Corrective Action

Phases U, V, and W in the servomotor are wired to the wrong terminals.

The ground wire is caught on other terminals.

A short circuit occurred between ground and U, V, or W of the servomotor main circuit cable.

A short circuit occurred between phase U, V, or W of the servomotor main circuit cable.

The Regenerative Unit is wired incorrectly.

A short circuit occurred between ground and U, V, or W of the SERVOPACK.

A short circuit occurred between ground and U, V, or W of the servomotor. A short circuit occurred between phase U, V, or W of the servomotor.

The load is excessive or beyond the capacity of regeneration processing.

The installation conditions of the SERVOPACK are not suitable (the SERVOPACK is influenced by the mounting direction, mounting space, or ambient heat).

The servomotor is operating in excess of the rated output.

The built-in cooling fan of the SERVOPACK stopped operating.

The SERVOPACK and servomotor capacities do not match each other.

A SERVOPACK fault occurred. Replace the SERVOPACK.

The servomotor burned out. Check the balance of the resis-

Check and correct the servomotor wiring.

Correct the servomotor circuits or cable. Replace the servomotor.

Before turning ON the power supply, make sure that the circuit is correctly grounded without a short circuit.

Check and correct the wiring.

Replace the SERVOPACK.

Replace the servomotor.

Reconsider and correct the load and operating conditions.

Reconsider the installation conditions so that the ambient temperature will be 55 ° C or less.

Reduce the load.

Replace the cooling fan.

Refer to the catalog and select the proper combination of SERVOPACK and servomotor capacities.

tance between servomotor phases. If there is any unbalance, replace the servomotor.

5.1 Alarm Indicator Lights

Alarm Display

Flashing at

regular

intervals.

Alarm Name

SERVOPAC K built-in fan stopped.

System error

Reference pulse setting rotary switch (PULSE) changed

Conditions at Alarm Occur-

rence

Power was turned ON or during servomotor operation.

Power was turned ON.

Power was turned ON or during servomotor operation.

Cause Corrective Action

The cooling fan built into the SERVOPACK stopped.

The air inlet of the cooling fan is blocked with dirt or other foreign matter.

A SERVOPACK fault occurred.

− Turn ON the power again.

Refer to Section 6 and replace the cooling fan.

Inspect the cooling fan.

Replace the SERVOPACK. Contact your OYMC repre-

sentative.

(The operation of the servomotor can continue during display of this alarm.)

5.2 Troubleshooting for Malfunctions when Alarm Indicators Are Not Lit

Troubleshooting for malfunctions that occur with the servomotor even though the alarm indicators do not light are listed below. Perform the appropriate corrective actions accordingly.

: Take corrective actions for the shaded items only after turning the servo system OFF.

Problem Cause Inspection Items Corrective Action

PWR indicator does not light when power is turned ON.

Servomotor does not rotate for reference input from the controller.

The wiring of the power cable is incorrect.

The servo ON (/S-ON) input is OFF.

The reference pulse settings are incorrect.

The wiring of the servomotor main circuit cable is incorrect.

The wiring of the encoder cable is incorrect

The wiring of the I/O signal (connector CN1) is incorrect.

The power is not turned ON. Check the power supply and

Both CW input and CCW input are ON simultaneously.

A SERVOPACK fault occurred.

Check the power supply to be sure it is within the permissible voltage range.

Check the wiring of the power supply input.

Check the connection cable for the regenerative unit is correctly wired.

Check to see if the REF indicator is lit green.

Check to see if the REF indicator is flashing.

Check the reference pulse types of the controller and the SERVOPACK.

Check the wiring. Correct the wiring.

Check the wiring of the reference pulse.

Check the reference pulse type.

Check the voltage of the reference pulse.

the status of PWR indicator.

Check the voltage between the power supply terminals.

Check the wiring of the reference pulses.

− Replace the SERVOPACK.

Set the power supply input within the permissible power supply voltage range.

Correct the wiring.

−

Turn ON the servo ON signal or wire the servomotor correctly if the REF indicator is lit orange.

Wire the servomotor correctly or set the pulse type of the SERVOPACK according to the reference pulse type of the controller if the REF indicator is not lit.

Set the pulse type of the SERVOPACK according to the reference pulse type of the controller.

Correct the wiring.

Set the pulse type of the SERVOPACK according to the reference pulse type of the controller.

Connect a resistor according to the voltage.

Tur n ON the power.

Correct the power ON circuit.

Input either the CW pulse signal or CCW pulse signal.

Be sure to turn OFF all terminals with no input signals.

5.2 Troubleshooting for Malfunctions when Alarm Indicators Are Not Lit

Problem Cause Inspection Items Corrective Action

Servomotor turns for a moment and stops.

Servomotor turns even without a reference.

Servomotor turns in the wrong direction.

Servomotor operation is not stable.

Motor overheated

The holding brake does not work.

The wiring of the servomotor main circuit cable and encoder cable is incorrect.

The reference pulse input is not correct.

The SERVOPACK is faulty. − Replace the SERVOPACK.

The CW and CCW inputs are connected backward.

The servomotor main circuit cable or encoder cable is not wired correctly.

Misalignment of the coupling connecting the servomotor shaft and machine, loose screws, or load torque changes resulting form pulley and gear engagement.

The load moment of inertia exceeds the permissible value of the SERVOPACK.

The connection of the pulse signal wires is incorrect.

The ambient temperature around the servomotor is too high.

The ventilation is obstructed. Check to see if ventilation is

The servomotor is overloaded.

The holding brake power is turned ON.

Check the order of phases U, V, and W in the servomotor main circuit cable and the wiring of the encoder cable.

Check the reference pulse type.

Check the voltage of the reference pulse.

Check the reference pulse types of the controller and the SERVOPACK.

Check the wiring of the servomotor main circuit cable phases U, V, and W and the encoder cable.

Check the coupling to the machine system.

Operate the servomotor with no load (i.e., disconnect the servomotor from the machine).

Check the wiring of the pulse signal wires of the host controller and SERVOPACK.

Check the reference pulse types of the controller and the SERVOPACK.

Be sure that the ambient temperature around the servomotor is 40 ° C or less.

obstructed.

Operate the servomotor with no load (i.e., disconnect the servomotor from the machine).

Check to see if the holding brake power is turned ON.

Correct the wiring.

Set the suitable reference pulse type.

Connect a resistor according to the voltage.

Connect the CW pulse signal to the CW input and the CCW pulse signal to the CCW input.

Wire the cables correctly.

Review and adjust the machine.

Reduce the load.

Replace the servomotor and SERVOPACK with ones with higher capacities.

Correct the wiring.

Set the pulse type of the SERVOPACK according to the reference pulse type of the controller.

Reconsider the installation conditions so that the ambient temperature will be 40 °C or less. Cool down the servomotor with a fan or cooler.

Provide good ventilation.

Reduce the load.

Replace the servomotor and SERVOPACK with ones with higher capacities.

Design the circuit so that the holding brake is turned OFF when the holding brake needs to hold the load when the servomotor comes to a stop.

5.2 Troubleshooting for Malfunctions when Alarm Indicators Are Not Lit

Problem Cause Inspection Items Corrective Action

Servomotor does not stop operation smoothly or at all when servo is turned OFF.

Abnormal noise from Servomotor or machine vibrates.

The servomotor is overloaded.

Check to see if the load is excessive or the servomotor speed is too high.

Reconsider the load conditions and replace the SERVOPACK.

A stop circuit fault occurred. − Replace the SERVOPACK.

Mounting not secured. Check to see if there are any

Tighten the mounting screws.

loose mounting screws.

Check to see if the coupling

Align the coupling.

is misaligned.

Check to see if the coupling

Balance the coupling.

is unbalanced.

Defective bearings Check for the noise and

vibration around the bearings.

Vibration source on the driven machine

Noise interference due to incorrect input signal cable specifications.

Noise interference because the input signal cable is longer than the applicable range.

Noise interference because the encoder cable specifications are incorrect.

Foreign matter, looseness, or deformation on the machine movable section.

Be sure that the twisted-pair or shielded twisted-pair cable with a core of at least

0.08 mm

The wiring distance must be 3 m max.

Check to see if a shielded twisted-pair cable with a core

of at least 0.12 mm

is used.

is being

If there is a fault, contact your OYMC representative.

(Contact the machine manufacturer.)

Use the specified input signal cables.

Shorten the wiring distance for input signal cable to 3 m or less.

Use a cable that meets the encoder cable specifications.

used.

Noise interference because the encoder cable is longer than the applicable range.

Noise is entering the encoder cable because the sheath is damage.

Excessive noise interference on encoder cable.

FG potential varies due to the influence of machines such as a welder at the ser-

Check the length of the encoder cable.

Check to see if the encoder cable is damaged.

Check to see if the encoder cable is bundled with highcurrent lines or near high-current lines.

Check to see if the machine is correctly grounded properly.

The wiring distance must be 20 m or less.

Modify the encoder cable layout so the cable is not subjected to surge.

Install a surge protector on the encoder cable.

Ground the machine separately from the PG’s FG.

vomotor.

Excessive vibration and shock on the encoder.

The filter setting is improper. Check the set value on the

Vibration from the machine occurred or servomotor installation is incorrect. (Mounting surface accuracy, securing, alignment, etc.)

reference filter (FIL) rotary switch.

Reduce vibration from the machine or secure the servomotor.

Increase the set value on the reference filter (FIL) rotary switch.

6.1 Regular Inspections

6 Inspections

6.1 Regular Inspections

For inspection and maintenance of the SERVOPACK, follow the inspection procedures in the following table at least once every year. Other routine inspections are not required.

Item Frequency Procedure Comments

Exterior At least once a year Check for dust, dirt, and oil on

Loose Screws Check for loose connector

the surfaces.

screws.

6.2 Part's Life Expectancy

The following electric or electrical parts are subject to mechanical wear or deterioration over time. If an unusual noise or vibration occurs, refer to the life expectancy table and contact your OYMC representative. After examining the part in question, we will determine whether the parts should be replaced or not. When the part has expired before the expected time, further inspection will be required.

Part Life Expectancy Comments

Cooling Fan 30,000 hours Life depends on operation conditions. Check that there is no

Note: 1. The life expectancy listed in the table is a reference period that may be affected by the environ-

mental and operating conditions.

2. The recommended models of the replacement cooling fans are:

SERVOPACK Model Manufacturer

SJDE-01APA to 04APA-OY

SJDE-08APA-OY JZSP-CHF08-2

unusual noise or vibration.

JZSP-CHF08-1 Sun-Wa Technos Co., Ltd.

http://www.sunwa.co.jp/

Clean with cloth or compressed air.

Tighten any loose screws.

6.3 Replacement of Cooling Fan

WARNING

• Do not open the SERVOPACK case for five minutes after the LED (PWR) is turned OFF.

Residual voltage may cause electric shock.

• Disconnect all power and wait at least 15 minutes before replacing the cooling fan.

Failure to observe this caution may cause burns due to heatsink’s high temperature.

• Be sure that the cooling fan is positioned in the correct direction when it is installed.

Failure to observe this caution may result in the malfunction of the SERVOPACK.

SERVOPACKs of 100 to 400 W

1. Open the case of the SERVOPACK. Insert the tip of a straight-edge screw-

driver into the three notches on the SERVOPACK one by one and pry the case off.

Front of SERVOPACK

Case

2. Lift up to remove the case.

Case

Cover

6.3 Replacement of Cooling Fan

3. Disconnect the cable of the cooling fan from the fan connector on the SERVOPAC K.

4. Unscrew the cooling fan and remove it.

5. Install the new cooling fan.

(Type: JZSP-CHF08-1)

CAUTION: Before installing the new

cooling fan, make sure that the arrow on the heatsink and the arrow on the fan face the same direction as shown in the diagram.

6. Secure the new cooling fan on the SERVOPACK with mounting screws.

Pick the cable up, and then pull it out.

Arrows on the

cooling fan side

Cooling fan

Mounting screw





Fit the edge (

of the cooling fan into the position ( circled here.

Arrow on the heatsink side



)



)

7. Connect the cooling-fan cable to the fan connector on the SERVOPACK.

CAUTION: Make sure that the wiring

layout of the cable matches that shown in the diagram.

8. Reattach the case and cover to the SERVOPACK in their original positions.

Place the cooling-fan cable as shown here.

750 W SERVOPACKs

1. Open the case of the SERVOPACK. Insert the tip of a straight-edge screw-

driver into the three notches on the case and the two on the cover on the SERVOPACK one by one and pry the case off.

Front of SERVOPACK

6.3 Replacement of Cooling Fan

Case

2. Pull the case and the cover off of the SERVOPACK.

3. Disconnect the cable of the cooling fan from the fan connector on the SERVOPAC K.

Case

Cover

Pick the cable up, and then pull it out.

6.3 Replacement of Cooling Fan

4. Remove the two mounting screws of the cooling fan.

5. Install the new cooling fan. Thread the cooling-fan cable through

the opening ( ) as shown in the dia-

gram A. CAUTION: Make sure that the arrow on

the heatsink and the arrow on the fan face the same direction as shown in the diagram B.

Cooling fan

Mounting screws

Diagram A

6. Secure the fan on the SERVOPACK with mounting screws.

Diagram B

Make sure the direction of the arrows on the fan is the same as this diagram.

7. Turn the SERVOPACK over, and then connect the cooling-fan cable to the fan connector on the SERVOPACK.

CAUTION: Make sure that the wiring

layout of the cable matches that shown in the diagram.

8. Reattach the case and cover to the SERVOPACK in their original positions.

6.3 Replacement of Cooling Fan

Place the cooling-fan cable as shown here.

7.1 Specifications

7 Specifications

7.1 Specifications

SERVOPACK model SJDE- 01APA-OY 02APA-OY 04APA-OY 08APA-OY

Max. applicable servomotor capacity [kW]

Continuous output current [Arms] 0.84 1.1 2.0 3.7

Instantaneous max. output current [Arms]

Input power supply

(for main circuit and control circuit)

Power loss at rated output [W] 14162435

Input control method Capacitor-input type, single-phase full-wave rectification

Output control method PWM control, sine wave power driven system

Feedback Analog output encoder

Allowable load inertia [kgm

Leakage current Power-sup-

I/O Signals

Voltage Single-phase 200 V to 230 VAC, +10 % to -15 %

Frequency 50/60Hz ± 5 %

Capacity at rated output [kVA]

]* 0.6× 10

ply frequency

High frequency

Pulse type Select one of the following signals:

Input signal for reference Designated pulse type and pulse resolution with PULSE switch.

Clear input signal

Servo ON input signal

Alarm output signal

Brake output signal

Positioning completed output signal

Origin output signal

Pulse resolution

0.1 0.2 0.4 0.75

2.5 3.3 6.0 11.1

0.40 0.75 1.2 2.2

with resistance to prevent inrush currents.

-4

5 mA or less

2.5 A0-p Motor cable length: 20 m max.

1. CCW + CW

2. Sign + pulse train

3. CCW + CW (logic reversal)

4. Sign + pulse train (logic reversal)

Select one of the following signals:

1. 1000 pulses/rev (Open collector/line driver) 75 kpps max.

2. 2500 pulses/rev (Open collector/line driver) 187.5 kpps max.

3. 5000 pulses/rev (Line driver) 375 kpps max.

4. 10000 pulses/rev (Line driver) 750 kpps max.

Clears the positioning error when turned ON.

Turns the servomotor on or off.

OFF if an alarm occurs. Note: OFF for 2s when power is turned ON.

External signal to control brakes. Turn ON to release the brake.

ON if the current position is equal to the reference position ±10 pulses.External signal to control brakes.

ON if the motor is at the origin. (Width: 1/500 rev) Note: Use the pulse edge that changes the signal

from OFF to ON.

3× 10

-4

5× 10

-4

10× 10

-4

7.2 Overload Protection Characteristics

SERVOPACK model SJDE- 01APA-OY 02APA-OY 04APA-OY 08APA-OY

Dynamic brake (DB)

Operated at main power OFF, servo alarm, servo OFF. (OFF after motor stops; ON if the motor power is off.)

Regenerative processing

LED display

Built-in functions

Reference filter

Cooling method

Optional (If the regenerated energy is too large, install a regenerative unit.)

5 (PWE, REF, AL1, AL2, AL3)

Select one of eight levels with FIL switch.

Forced cooling (built-in fan)

7.2 Overload Protection Characteristics

The SERVOPACK provides a function to protect the servomotor and SERVOPACK from overloads.

• If an overload alarm occurs, remove the cause of the alarm and wait for at least one minute. Turn

NOTE

The overload protection characteristics are shown below.

ON the servomotor again after the servomotor has cooled sufficiently. If the operation of the servomotor is repeated within a short time, the servomotor coil may burn out.

• Use a correct combination of the SERVOPACK and servomotor.

• Overload protection characteristics are the values used when the motor attached to the aluminum heatsink [250 mm × 250 mm × 6 mm (23.62 in × 23.62 in × 0.24 in)] at the ambient temperature of 40 ° C (104 ° F). Make sure to use the SERVOPACK in the recommended operating conditions.

1000

SJME-01 (100W)

Example: If the Servomotor torque is 300 %,

an overload alarm will occur in approximately two seconds.

Time (s)

100

100 150 200 250 300

Motor torque (%)

SJME-02 (200W) to SJME-08(750W)

1000

100

Time (s)

150 200 250 300

100

Motor torque (%)

Note: The servomotor torque is given as a percentage of the rated torque.

OMRON EUROPE B.V.

Wegalaan 67-69, NL-2132 JD, Hoofddorp, The Netherlands.

Tel: +31 (0) 23 568 13 00 Fax: +31 (0) 23 568 13 88 www.omron-industrial.com

Austria

Tel: +43 (0) 1 80 19 00 www.omron.at

Belgium

Tel: +32 (0) 2 466 24 80 www.omron.be

Czech Republic

Tel: +420 234 602 602 www.omron.cz

Denmark

Tel: +45 43 44 00 11 www.omron.dk

Finland

Tel: +358 (0) 207 464 200 www.omron.fi

Manufacturer

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 relevand 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 may apply. Specifications are subject to change without notice for ongoing product modifications and improvements.

Note: Specifications subject to change without notice. Manual No. TOEP-C71080601-01-OY

YASKAWA ELECTRIC CORPORATION

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Tel: +33 (0) 1 56 63 70 00 www.omron.fr

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Tel: +39 02 32 681 www.omron.it

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Tel: +34 913 777 900 www.omron.es

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Omron SJDE-APA-OY User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Introduction

Related Manuals

Safety Information

Notes for Safe Operation

1.1 Warning Label

1 Before Use

1.2 Checking Products

1.3 Model Designation

1.4 SERVOPACKs and Applicable Servomotors

1.5 Part Names and Functions

 Reference Pulse Setting (PULSE)

 Reference Filter Setting Rotary Switch (FIL)

 Reference Display (REF)

 Alarm Display (AL1, AL2, and AL3)

2.1 Installation Conditions

2 Installation

2.2 Installation Method

 Installation Method and Direction

 Space between SERVOPACK Units

3.1 Precautions on Wiring

3 Wiring

 Protection for Power Supply Line

 Caution for Grounding

 Caution for Cable

 Other Precautions

 Power Loss

 Noise Prevention

3.2 System Configuration

3.3 Standard Connection

3.4 Installation and Wiring Conditions on CE Marking

 Attaching the Ferrite Core

 Fixing the Cable

 Shield Box

3.5 SERVOPACKs and Applicable Peripheral Devices

3.6 Main Circuit Wiring

3.7 SERVOPACK Main Circuit Wire Size

 Cable Types

 Wire Size and Allowable Current

 Encoder signal connector

 I/O signal connector

3.8 Wiring the Power Supply/Regenerative Unit Connector (CNA)

 Wire Size

 Connector for Power Supply/Regenerative Unit (CNA)

3.9 Wiring the Servomotor Main Circuit Cable Connector (CNB)

 Servomotors without Brakes

 Servomotors with Brakes

3.10 Wiring the Encoder Connector (CN2)

 Connection Diagram for Standard Encoder Cable

3.11 Wiring I/O Connectors

 Connection Diagram for Standard I/O Cable (supplied by Yaskawa Electric Company

3.12 Connection Examples of Input Signal

 Line Driver Output

 Open-collector Output

3.13 Connection Example of Output Signal

3.14 EMG Sequence

3.15 Explanation of I/O Signals

4 Trial Operation

5.1 Alarm Indicator Lights

5 Troubleshooting

5.2 Troubleshooting for Malfunctions when Alarm Indicators Are Not Lit

6.1 Regular Inspections

6 Inspections

6.2 Part's Life Expectancy

6.3 Replacement of Cooling Fan

7.1 Specifications

7 Specifications

7.2 Overload Protection Characteristics