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CACR-SRxxBF
User Manual
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Yaskawa CACR-SRxxBF User Manual

YASKAWA ELECTRIC ENGINEERING
Re-engineered AC SERVOPACK
USER'S MANUAL
CACR-SR□□BF SERVOPACK
YA S K A WA
YASKAWA ELECTRIC ENGINEERING CORPORATION
MANUAL NO. KG22E
Copyright © 2004 YASKAWA ELECTRIC ENGINEERING CORPORATION

About this manual

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 Σ series.
• CACR-SRBF1: The re-engineered AC SERVOPACK model designation. The code in differs depending on the
SERVOPACK capacity and specifications. Refer to 2.2 SERVOPACK Model Designations.
Quick access to your required information
Read the chapters marked with 9 to get the information required for your purpose.
SERVOPACKs,
Chapter
Chapter 1 Outline
Chapter 2 Specifications and
Dimensional Drawings
Chapter 3 Wiring
Chapter 4 Settings and Display
Chapter 5 Maintenance,
Inspection, and Alarm/Warning Display
Servomotors,
and Peripheral
Devices
9
999
9999
Related Manuals
Refer to the following manuals as required.
Ratings and
Characteristics
Panel
Configuration
and Wiring
Trial Operation
9
Maintenance
and Inspection
9
Manual Name Manual Number Contents
Σ-III Series SGMS/SGDS Digital Operator Operation Manual
Σ-III Series SGMS/SGDS User’s Manual
TOBPS80000001
SIEPS80000000
Provides detailed information on the operation of the JUSP-OP05A Digital Operator.
Describes the following items of Σ-III Series SERVOPACKs and Servomotors.
• Selection of model and capacity
• Ratings, characteristics, and dimensional drawings
• Cables and peripheral devices
• Panel configuration and wiring
• Trial operation, servo adjustment, and functions
• Inspection, maintenance, and troubleshooting
iii

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 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 series consequences if not
heeded.
Indicates prohibited actions that must not be performed. For example, this symbol
would be used to indicate that fire is prohibited as follows: .
Indicates compulsory actions that must be performed. For example, this symbol would
be used as follows to indicate that grounding is compulsory: .
The warning symbols for ISO and JIS standards are different, as shown below.
ISO JIS
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.
iv

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.
WARNING
• Never touch any rotating motor parts while the motor is running.
Failure to observe this warning may result in injury.
• Before starting operation with a machine connected, make sure that an emergency stop can
be applied at any time.
Failure to observe this warning may result in injury.
• Never touch the inside of the SERVOPACKs.
Failure to observe this warning may result in electric shock.
• Do not touch terminals 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 warning may result in injury.
• Do not come close to the machine immediately after resetting momentary power loss to
avoid an unexpected restart. Take appropriate measures to ensure safety against an 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 Ω or less).
Improper grounding may result in electric shock or fire.
v
Checking on Delivery
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.
Storage and Transportation
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 condi­tions.
• 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 shock, or damage to the product.
• Do not hold the product by the cables or motor shaft while transporting it.
Failure to observe this caution may result in injury or malfunction.
• Do not place any load exceeding the limit specified on the packing box.
Failure to observe this caution may result in injury or malfunction.
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.
CAUTION
vi
Wiring
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 motor 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 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.
• 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
Operation
CAUTION
• Conduct trial operation on the servomotor alone with the motor shaft disconnected from machine to
avoid any unexpected accidents.
Failure to observe this caution may result in injury.
• Before starting operation with a machine connected, change the settings to match the parameters
of the machine.
Starting operation without matching the proper settings may cause the machine to run out of control or mal­function.
• Forward run prohibited (P-OT) and reverse run prohibited (N-OT) signals are not effective during
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 prevent 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.
viii
Maintenance and Inspection
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 SERVOPACK.
Failure to observe this caution may result in electric shock or injury.
Disposal
CAUTION
• When disposing of the products, treat them as ordinary industrial waste.
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.
ix

CONTENTS

About this manual- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - iii SAFETY INFORMATION- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - iv Notes for Safe Operation- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - v
1 Outline
1.1 Outline- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2
1.2 Features - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2
1.2.1 Compatible with SERVOPACK Operating Environments Prior to Σ-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-SR02B to SR44B - - - - - - - - - - - - - - - - - - -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-SRBF1 - - - - - - - 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 I/O Signal Connector Terminals - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-6
3.2.1 Re-engineered SERVOPACKs for CACR-SRBE
(for Multiplexed Incremental Encoder) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-6
3.2.2 Re-engineered SERVOPACKs for CACR-SRBB
(for Conventional Incremental Encoder) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-8
3.2.3 Re-engineered SERVOPACKs for CACR-SRBY (for Absolute Encoder) - - - - - - - - - - - -3-10
3.2.4 Re-engineered SERVOPACKs for CACR-SRBZ (for Absolute Encoder)- - - - - - - - - - - - -3-12
x
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 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 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 Outline - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2
1.2 Features - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2
1.2.1 Compatible with SERVOPACK Operating Environments Prior to Σ-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
1 Outline
1.2.1 Compatible with SERVOPACK Operating Environments Prior to Σ-Series

1.1 Outline

The re-engineered AC SERVOPACK model CACR-SRBF has been developed to be used for replacement of the conventional SERVOPACK models that had been introduced before Σ-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-SRBA (Speed control/analog control, incremental encoder applicable, base-mounted type)
CACR-SRBB (Speed control/analog control, incremental encoder applicable, base-mounted type)
CACR-SRBZ (Speed control/analog control, absolute encoder applicable, base-mounted type)
CACR-SRBE (Speed control/digital control, incremental encoder applicable, base-mounted type)
CACR-SRBY (Speed control/digital control, absolute encoder applicable, base-mounted type)

1.2 Features

1.2.1 Compatible with SERVOPACK Operating Environments Prior to Σ-Series
Operating Environments:
• External dimensions/installation (Some models require attachments.)
• Main circuit terminals
• Control connector and signal layout
• Recognizes the encoder type prior to Σ series by the switch setting (An encoder signal converter is built in.)
• Important adjustments such as speed gain adjustment can be made using the potentiometers VR. (In the same way as of the conventional models CACR-SRBB and BZ)

1.2.2 Updated with the Latest Technologies

• The basic functions and performance are equivalent to those of Σ-III series SERVOPACK
• The parameters of Σ-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 inter­nal parameters: C series, M series, F series, G series, D series, S series, Σ-series, Σ-II series, and Σ-III series Ser­vomotors.
1-2

1.3 Applicable Servomotors and Encoders

The following servomotors besides Σ series, Σ-II series, Σ-III series are applicable.
Αpplicable Servomotor Models Prior to Σ Series
C Series M Series F Series G Series D Series S Series
USACED-03A USACED-05A
USACED-12A USACED-20A
USACED-30A USACED-44A USACED-60A
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 Encoders 2048 p/r, 8192 p/r
Absolute Encoders 1024 p/r, 8192 p/r
USAMED-03 USAMED-06
USAMED-09 USAMED-12
USAMED-20 USAMED-30 USAMED-44
USAMED-60
USAFED-02 USAFED-03
USAFED-05 USAFED-09
USAFED-13 USAFED-20 USAFED-30
USAFED-44
USAGED-02A USAGED-03A
USAGED-05A USAGED-09A
USAGED-13A USAGED-20A USAGED-30A
USAGED-44A
1.3 Applicable Servomotors and Encoders
USADED-05E USADED-10E
USADED-15E USADED-22E
USADED-37E USAGED-44A
USASEM-02A USASEM-03A
USASEM-05A USASEM-08A
USASEM-15A USASEM-30A
1
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
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-SR02B to SR44B - - - - - - - - - - - - - - 2-7
2.4.2 Re-engineered AC SERVOPACK Models for CACR-SR60BB, 60BZ, 60BE, and 60BY 2-9
2
2-1
2 Specifications and Dimensional Drawings

2.1 Ratings and Specifications

Re-engineered SERVOPACK Model CACR-
Max. Applicable Servomotor Capacity [kW]
Input Power Supply
Continuous Output Current [Arms]
Max. Output Current [Arms]
Control Method Three-phase full-wave rectification IGBT-PWM (sine-wave driven)
Feedback
Operating Conditions
Configuration Base-mounted
Approx. Mass 10 kg
Basic Specifications
Speed Control
Torque Control (Repeatability) ±2 %
Acceleration Time Setting 0 to 10 s
Performance
Main Circuit 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
Ambient Temperature
Storage Temperature
Ambient/ Storage Humidity
Vibration/ Shock Resistance
Speed Control Range 1:3000
Load Regulation 0 to 100 % load: 0.01 % max. (at rated speed)
Speed Regu­lation
Frequency Characteristics
Voltage Regulation
Temperature Regulation
SR03BF SR05BF SR07BF SR10BF SR15BF SR20BF SR30BF SR44BF SR60BF
0.3 0.5 0.7 1.0 1.5 2.0 3.0 4.4 6.0
3.0 4.2 5.8 7.6 11.7 19.0 26.0 33.0 45.0
8.5 11.0 13.9 17.0 28.0 42.0 56.6 70.0 80.6
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.)
0 to 55 °C
-20 to 85 °C
90 % RH or less (with no condensation)
5 m/s2 / 20 m/s2 (0.5G/2G)
0 %
25±25 °C: 0.1% max. (at rated speed)
100 Hz
2-2
2.1 Ratings and Specifications
Speed control
Rated Refer-
Speed/Torque References
Auxiliary Inputs
Built-in Reference Power Supply ±12 VDC±5 %, ±30 mA
Position Output (PG pulses)
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)
External Current Limits
I/O Signals
Dynamic Brake (DB) Operated at main power OFF, servo alarm, servo OFF.
Regenerative Processing Built-in
Allowable Load Moment of Inertia 5 times of rotor moment of inertia
Overtravel Prevention Operated at P-OT and N-OT
Protection
LED Display 7-segment LED (status and alarm display)
Monitor
Built-in Functions
ence Voltage
Input Impedance About 30 kΩ
Circuit Time Constant
Rated Refer­ence Voltage
Input Impedance About 30 kΩ
Circuit Time Constant
Form Line-driver or open-collector (phase A, phase B, phase C)
Frequency Dividing Ratio
mode
Torque control mode
About 70 µs
±2 V to ±10 VDC (forward rotation with positive reference) at rated speed.
About 70 µs
Any setting ratio
±0 V to ±9 VDC, forward rotation: -3 VDC/rated current, reverse rotation: 3 VDC/rated current
Overcurrent, regeneration error, overvoltage, input overvoltage, overspeed, insufficient voltage, overload, zero-point pulse error, A/D error, overrun detection, open-phase, and CPU error
Speed monitor 1000 r/min
±6 VDC (forward rotation with positive reference) at rated speed
±3 VDC (forward rotation with positive reference) at rated torque
-1
and torque monitor 3V/rated torque
(cont’d)
2
2-3
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