Yaskawa FSP User Manual

Sigma FSP Amplifier User’s Manual

All rights reserved. No part of this publication may be stored in a retrieval system, or reproduced in any way, including but not limited to photocopy, photography, magnetic or other recording, without the prior agreement and written permission of the publisher. Program listings may be entered, stored and executed in a computer system, but not reproduced for publication.

This guide is designed to provide information about the FSP Amplifier hardware. Every effort has been made to make this guide complete and as accurate as possible. However, no warranty of suitability, purpose or fitness is made or implied. YEA Inc. is not liable or responsible to any person or entity for loss or damage in connection with or stemming from the use of the FSP Amplifier and/or the information contained in this publication

YEA Inc. bears no responsibility for errors, which may appear in this publication and retains the right to make changes to the products and the guide without prior notice.

Yaskawa Electric America, Inc.

2121 Norman Drive South Waukegan, IL 60085

United States

Tel: 1-800-927-5292 Fax: 1-847-887-7310 motionproducts@yaskawa.com

For more information refer to our web site: www.yaskawa.com

ii iii

WARNING

YEA manufactures component parts that can be used in a wide variety of industrial applications. The selection and application of YEA products remain the responsibility of the equipment designer or end user. YEA accepts no responsibility for the way its products are incorporated into the final system design.

Under no circumstances should any YEA product be incorporated into any product or design as the exclusive or sole safety control. Without exception, all controls should be designed to detect faults dynamically and fail safely under all circumstances. All products designed to incorporate a component part manufactured by YEA must be supplied to the end user with appropriate warnings and instructions as to that part’s safe use and operation. Any warnings provided by YEA must be promptly provided to the end user.

YEA offers an express warranty only as to the quality of its products in conforming to standards and specifications published in YEA’s manual. NO OTHER WARRANTY, EXPRESS OR IMPLIED, IS OFFERED. YEA assumes no liability for any personal injury, property damage, losses, or claims arising from misapplication of its products.

Safety Information

The following defines the symbols used in this manual to indicate varying degrees of safety precautions and to identify the corresponding level of hazard inherent to each. Failure to follow precautions provided in this manual can result in serious, possibly even fatal, injury, and/or damage to the persons, products, or related equipment and systems.

WARNING

WARNING: Indicates a potentially hazardous situation, which, if not

heeded, could result in death or serious injury.

CAUTION

CAUTION: Indicates a potentially hazardous situation, which, if not

avoided, may result in minor or moderate injury.

vi vii

FSP Amplifier User’s Manual Table of Contents/Preface

1. Checking Product and Part Names.................................................................1-1

1.1. Checking the FSP Amplifier Series Products on Delivery ........................... 1-2

1.1.1. Servo Amplifiers.......................................................................................1-2

1.2. Product Part Names........................................................................................ 1-3

1.2.1. Servo Amplifiers.......................................................................................1-3

1.2.2. Model Numbers.........................................................................................1-4

2. Installation.........................................................................................................2-1

2.1. Servo Amplifiers ............................................................................................ 2-2

2.1.1. Storage Conditions....................................................................................2-2

2.1.2. Installation Site.......................................................................................... 2-2

2.1.3. Orientation.................................................................................................2-3

2.1.4. Installation................................................................................................. 2-3

3. Wiring................................................................................................................3-1

3.1. Connecting to Peripheral Devices.................................................................. 3-2

3.1.1. Single-Phase 100 V/200 V Main Circuit Specifications..........................3-3

3.1.2. Single-Phase 220 V 0.75 & 1.5kW Main Circuit S pecification s............ 3-4

3.1.3. Three-phase 200 V Main Circuit Specifications......................................3-5

3.1.4. Three-Phase 400 V Main Circuit Specifications......................................3-6

3.2. FSP Amplifier Internal Block Diagrams....................................................... 3-7

3.2.1. Single-phase 30 W to 400 W, 100 V/2 00 V Models...............................3-7

3.2.2. Three-phase 1 kW to 3 kW, 200 V Models .............................................3-8

3.2.3. Three-phase 0.5 kW to 3.0 kW, 400 V Models....................................... 3-9

3.2.4. Three-phase 5 kW, 400 V Model...........................................................3-10

3.3. Main Circuit W iring..................................................................................... 3-11

3.3.1. Names and Descriptions of Main Circuit Terminal............................... 3-12

3.3.2. Typical Main Circuit Wiring Example...................................................3-13

3.3.3. Servo Amplifier Power Losses...............................................................3-14

3.3.4. Wiring Main Circuit Terminal Blocks...................................................3-15

3.4. I/O Signals.................................................................................................... 3-16

3.4.1. Example of Typical I/O Signal Connections..........................................3-16

3.4.2. List of CN1 Terminals............................................................................ 3-17

3.4.3. I/O Signal Names and Functions............................................................3-18

3.4.4. Interface Circuits.....................................................................................3-20

3.5. Wiring Encoders (for SGMGH and SGMSH Motors Only) ...................... 3-24

3.5.1. Encoder Connections..............................................................................3-24

3.5.2. CN2 Encoder Connector Terminal Layou t and Types..........................3-25

3.6. Examples of Standard Connections............................................................. 3-26

4. Trial Operation.................................................................................................4-1

4.1. Two-Step Trial Operation.............................................................................. 4-2

4.1.1. Step 1: Trial Operation for Servomotor without Load.............................4-3

4.1.2. Step 2: Trial Operation with Servomotor Connected to Machine........... 4-9

4.2. Additional Setup Procedures in Trial Operation ......................................... 4-10

4.2.1. Servomotors with Brakes........................................................................4-10

4.2.2. Position Control by Host Controller.......................................................4-11

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FSP Amplifier User’s Manual Table of Contents/Preface

4.3. Minimum Parameters and Input Signals ..................................................... 4-12

4.3.1. Parameters...............................................................................................4-12

4.3.2. Input Signals............................................................................................4-12

5. Parameter Settings and Functions ..................................................................5-1

5.1. Settings According to Device Characteristics............................................... 5-4

5.1.1. Switching Servomotor Rotation Direction...............................................5-4

5.1.2. Setting the Overtravel Limit Function......................................................5-5

5.1.3. Limiting Torque........................................................................................ 5-8

5.2. Settings According to Host Controller ........................................................ 5-12

5.2.1. Speed Reference......................................................................................5-12

5.2.2. Position Reference ..................................................................................5-14

5.2.3. Using the Encoder Signal Output...........................................................5-20

5.2.4. Sequence I/O Signals..............................................................................5-23

5.2.5. Using the Electronic Gear Function.......................................................5-25

5.2.6. Contact Input Speed Control...................................................................5-29

5.2.7. Using Torque Control............................................................................. 5-34

5.2.8. Torque Feed-Forward Function..............................................................5-40

5.2.9. Torque Limiting by Analog Voltage Reference.....................................5-42

5.2.10. Reference Pulse Inhibit Function (/INHIBIT) .......................................5-44

5.3. Setting Up the Servo Amplifier................................................................... 5-45

5.3.1. Parameters...............................................................................................5-45

5.3.2. JOG Speed...............................................................................................5-46

5.3.3. Input Circuit Signal Allocation...............................................................5-46

5.3.4. Output Circuit Signal Allocation............................................................5-50

5.3.5. Control Mode Selection..........................................................................5-52

5.4. Setting Stop Functions ................................................................................. 5-54

5.4.1. Adjusting Offset......................................................................................5-54

5.4.2. Servo OFF Stop Mode Selection............................................................5-55

5.4.3. Using the Zero Clamp Function............................................................. 5-56

5.4.4. Using the Holding Brake........................................................................5-58

5.5. Forming a Protective Sequence ................................................................... 5-61

5.5.1. Using Servo Alarm and Alarm Code Outp uts.......................................5-61

5.5.2. Using the Servo ON Input Signal (/S-ON).............................................5-63

5.5.3. Using the Positioning Completed Output S ignal (/COIN)....................5-64

5.5.4. Speed Coincidence Output (/V-CMP)....................................................5-65

5.5.5. Using the Running Output Signal (/TGON).......................................... 5-67

5.5.6. Using the Servo Ready Output Signal (/S-RDY )...................................5-68

5.5.7. Using the Warning Output Signal (/WARN).........................................5-69

5.5.8. Handling Power Loss..............................................................................5-71

5.6. Selecting a Regenerative Resistor................................................................ 5-72

5.6.1. External Regenerative Resistor...............................................................5-73

5.6.2. Calculating the Regenerative Power Capacity.......................................5-74

5.7. Absolute Encoders........................................................................................ 5-78

5.7.1. Interface Circuit.......................................................................................5-79

5.7.2. Configuring an Absolute Encoder..........................................................5-80

5.7.3. Absolute Encoder Setup..........................................................................5-81

FSP Amplifier User’s Manual Table of Contents/Preface

5.7.4. Absolute Encoder Reception Sequence..................................................5-84

5.8. AB Encoders................................................................................................. 5-89

5.9. Defining User Units and Setup.................................................................... 5-91

5.9.1. Position Control.......................................................................................5-91

5.9.1.1. Defining User Units for Motion Profiles..................................5-91

5.9.1.2. Position Units............................................................................5-91

5.9.1.3. Speed Units...............................................................................5-92

5.9.1.4. Acceleration Units ....................................................................5-93

5.9.1.5. Setting Default Motion Profile Parameters...............................5-95

5.9.1.6. Profile Speed (Pn2A2, Pn2A3).................................................5-95

5.9.1.7. Profile Acceleration (Pn2A4, Pn2A5) ......................................5-95

5.9.1.8. Jerk Smoothing Time (Pn2A6).................................................5-96

5.9.1.9. Quick Stop Deceleration (Pn2A8, Pn2A9)...............................5-96

5.9.1.10. Motion End Window (Pn2C0)..................................................5-96

5.9.2. Torque Control........................................................................................5-97

5.9.2.1. Torque Slope (Pn2C1) ..............................................................5-97

5.9.3. Homing....................................................................................................5-97

5.9.4. Digital I/O................................................................................................5-98

5.9.5. Auto Tuning ............................................................................................5-99

5.10. Auto Running a User Program................................................................... 5-100

6. Servo Adjustment..............................................................................................6-1

6.1. Selection of Control Mode............................................................................. 6-2

6.2. Analog Input or Contact Input Velocity Control........................................... 6-3

6.2.1. Principle and Block Diagram of the Velo city Contro l.............................6-3

6.2.2. Parameters of the Velocity Control.......................................................... 6-4

6.2.3. Setting the Input Gain...............................................................................6-4

6.2.4. Adjusting Offset........................................................................................6-5

6.2.5. Using the Soft Start Function....................................................................6-6

6.2.6. Load Inertia Setting...................................................................................6-7

6.2.7. Adjusting Speed Loop Gain......................................................................6-8

6.2.8. Setting the Torque Reference Filter Time Constant................................6-9

6.2.9. Notch Filter................................................................................................6-9

6.2.10. Gain Setting Reference Values...............................................................6-10

6.3. NCT Position Control .................................................................................. 6-12

6.3.1. Load Inertia Setting.................................................................................6-12

6.3.2. Position Control Block Diagram............................................................6-14

6.3.3. NCT Gain Parameters.............................................................................6-15

6.3.4. Additional Parameters Tuning................................................................ 6-16

6.3.5. Filters.......................................................................................................6-16

6.3.6. Flexible System Parameters....................................................................6-18

6.3.7. Gain Factor..............................................................................................6-18

6.3.8. Integral Clear Parameters........................................................................6-19

6.3.9. Tuning Procedure for Position Control Parameters...............................6-19

6.4. Analog Monitor............................................................................................ 6-21

7. Using the Panel Operator.................................................................................7-1

7.1. Basic Operation.............................................................................................. 7-2

FSP Amplifier User’s Manual Table of Contents/Preface

7.1.1. Panel Operator...........................................................................................7-2

7.1.2. Resetting Servo Alarms............................................................................7-3

7.1.3. Basic Mode Selection................................................................................7-3

7.1.4. Status Display Mode.................................................................................7-4

7.1.5. Operation in Parameter Setting Mode......................................................7-6

7.1.6. Operation in Monitor Mode....................................................................7-11

7.2. Applied Operation........................................................................................ 7-16

7.2.1. Operation in Alarm Traceback Mode.....................................................7-17

7.2.2. JOG Operation ........................................................................................7-18

7.2.3. Automatic Adjustment of Speed and Torque Reference Offset............7-20

7.2.4. Manual Adjustment of Speed and Torque Reference Offset.................7-22

7.2.5. Clearing Alarm Traceback Data.............................................................7-25

7.2.6. Checking the Motor Model.....................................................................7-26

7.2.7. Checking the Software Version..............................................................7-27

7.2.8. Origin Search Mode................................................................................7-28

7.2.9. Initializing Parameter Settings................................................................7-30

7.2.10. Manual Zero & Gain Adjustment of Analog M onitor Output .............7-31

7.2.11. Adjusting the Motor Current Detection Offset ......................................7-34

7.2.12. Write Protection Setting..........................................................................7-36

8. Ratings, Specifications and Dimensional Drawings.......................................8-1

8.1. Ratings and Specifications............................................................................. 8-2

8.2. Single-phase 100 V FSP Amplifier and Motors Combinations....................8-6

8.3. Single-phase 200 V FSP Amplifier and Motors Combinations....................8-7

8.4. Three-phase 200 V FSP Amplifier and Motor Combinations...................... 8-8

8.5. Three-phase 400 V FSP Amplifier and Motors Combinations..................... 8-9

8.6. Base-mounted Dimensional Drawings........................................................ 8-10

8.6.1. FSP-A3B* to -01B* (Single-phase 100 V, 30 to 100 W)

FSP-A3A* to -02A* (Single-phase 200 V, 30 to 200 W).....................8-10

8.6.2. FSP-02B* (Single-phase 100 V, 200 W)

FSP-04A* (Single-phase 200 V, 400 W)...............................................8-11

8.6.3. FSP-08A* (Single-phase 200 V, 0.75 kW)

FSP-10A* (Three-phase 200 V, 1.0 kW)...............................................8-12

8.6.4. FSP-05D*, 10D*, 15D* (Three-phase 400 V, 0.5 to 1.5kW)...............8-13

8.6.5. FSP-20*, -30* (Three-phase 200 V, 400 V, 2.0 and 3.0 kW)

FSP-15A* (Single-phase 200 V, 1.5 kW)..............................................8-14

8.6.6. FSP-50D* (Three-phase 400 V, 5.0 kW)...............................................8-15

8.7. Servomotors: Ratings, Specifications and Dimensional Drawings ............ 8-16

8.7.1. SGMAH Servomotors ............................................................................8-16

8.7.2. SGMPH Servomotors.............................................................................8-21

8.7.3. SGMGH Servomotors ............................................................................8-25

8.7.4. SGMSH Servomotors.............................................................................8-29

8.7.5. SGMUH Servomotors ............................................................................8-33

9. Inspection, Maintenance, and Troubleshooting.............................................9-1

9.1. FSP Amplifier Inspection and Maintenance.................................................. 9-2

9.1.1. Servomotor Inspection..............................................................................9-2

9.1.2. Servo Amplifier Inspection.......................................................................9-3

FSP Amplifier User’s Manual Table of Contents/Preface

9.1.3. Replacing the Battery for the Absolute Encoder......................................9-4

9.2. Troubleshooting.............................................................................................. 9-5

9.2.1. Troubleshooting Problems with Alarm Displays.....................................9-5

9.2.2. Troubleshooting Problems with No Alarm Display..............................9-37

9.2.3. Alarm Display Table...............................................................................9-39

9.2.4. Warning Displays....................................................................................9-41

Appendix A. Host Controller Connection Examples .......................................A-1

A.1. Connecting the GL-series MC20 Motion Module ........................................A-2

A.2. Connecting the CP-9200SH Servo Controller Module (SVA).....................A-3

A.3. Connecting the GL-series B2813 Positioning Module .................................A-4

A.4. Connecting OMRON's C500-NC221 Position Control Unit........................A-5

A.5. Connecting OMRON's C500-NC112 Position Control Unit........................A-6

A.6. Connecting MITSUBISHI's AD72 Positioning Unit....................................A-7

A.7. Connecting MITSUBISHI's AD75 Positioning Unit....................................A-8

Appendix B. Special Wiring ...............................................................................B-1

B.1. Wiring Precautions.........................................................................................B-2

B.2. Wiring for Noise Control ...............................................................................B-5

B.3. Using More Than One FSP Amplifier.........................................................B-10

B.4. Extending Encoder Cables...........................................................................B-11

B.5. 400 V Power Supply Voltage ......................................................................B-13

B.6. Reactor for Harmonic Suppression..............................................................B-15

Appendix C. Specifications for Peripheral Devices..........................................C-1

C.1. Connector Terminal Block Converter Unit JUSP-TA50P............................C-2

C.2. DC Reactors for Power Supplies Designed for Minimum Harmonics........C-4

C.3. Surge Suppressor............................................................................................C-6

C.4. Magnetic Contactor........................................................................................C-6

C.5. Variable Resistor for Speed Setting...............................................................C-6

C.6. CN1 I/O Signal Connector.............................................................................C-6

C.7. Connecting Pulse A/B Encoder without C Pulse (Index Pulse) ...................C-7

C.8. Absolute Encoder Battery..............................................................................C-8

C.9. Connecting Regenerative Resistors ...............................................................C-9

Appendix D. List of Parameters.........................................................................D-1

D.1. Parameters ......................................................................................................D-2

D.2. Switches..........................................................................................................D-7

D.3. Input Signal Selections.................................................................................D-11

D.3.1. Home Switches.......................................................................................D-12

D.3.2. Extended input signal selection.............................................................D-12

D.4. Output Signal Selections..............................................................................D-13

D.4.1. Extended Output Signal Selection.........................................................D-13

D.5. Auxiliary Functions......................................................................................D-14

D.6. Monitor Modes.............................................................................................D-14

Appendix E. External Regenerative Resistor Specifications...........................E-1

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FSP Amplifier User’s Manual Table of Contents/Preface

xiii

FSP Amplifier User’s Manual Table of Contents/Preface

Using This Manual

 Intended Audience

This manual is intended for the following users.

• Those designing FSP Amplifier servo systems.

• Those installing or wiring FSP Amplifier servo systems.

• Those performing trial operation or adjustments of FSP Amplifier servo

systems.

• Those maintaining or inspecting FSP Amplifier servo systems.

 Description of Technical Terms

In this manual, the following terms are defined as follows:

• Servomotor = SGMAH/SGMPH/SGMGH/SGMSH/SGMUH or other

compatible servomotor.

• Servo Amplifier = FSP Amplifier Series.

• Servo Drive = A set including a servomotor and servo amplifier.

• Servo System = A servo control system that includes the combination

of a servo drive with a host computer and peripheral devices.

 Indication of Inverted Signals

In this manual, the names of inverted signals (ones that are valid when low) are written with a forward slash (/) before the signal name, as shown in the following equations:

• S–ON = /S–ON

• P–CON = /P–CON

xiv

FSP Amplifier User’s Manual Table of Contents/Preface

Safety Precautions

The following precautions are for checking products upon delivery, installation, wiring, operation, maintenance and inspections.

 Checking Products upon Delivery

CAUTION

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

Not doing so may cause fire or malfunction.

 Installation

CAUTION

• Never use the products in an environment subject to water, corrosive gases, inflammable gases, or combustibles.

Doing so may result in electric shock or fire.

 Wiring

WARNING

• Connect the ground terminal to a class 3 ground (10 V or less).

Improper grounding may result in electric shock or fire.

CAUTION

• Do not connect a three-phase power supply to the U, V, or W output terminals.

Doing so may result in injury or fire.

• Securely fasten the power supply terminal screws and motor output terminal screws.

Not doing so may result in fire.

 Operation

CAUTION

• Never touch any rotating motor parts while the motor is running.

Doing so may result in injury.

FSP Amplifier User’s Manual Table of Contents/Preface

CAUTION

• Conduct trial operation on the servomotor alone with the motor shaft disconnected from machine to avoid any unexpected accidents.

Not doing so 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.

• Before starting operation with a machine connected, make sure that an emergency stop can be applied at any time.

Not doing so may result in injury.

• Do not touch the heat sinks during operation.

Not doing so may result in burns due to high temperatures.

 Maintenance and Inspection

WARNING

• Do not remove the panel cover while the power is ON.

Doing so carries a risk of electric shock.

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

Residual voltage may cause electric shock.

• Never touch the inside of the servo amplifier.

Doing so may result in electric shock.

CAUTION

• Do not disassemble the servomotor.

Doing so may result in electric shock or injury.

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

Doing so may result in electric shock or injury.

xvi

FSP Amplifier User’s Manual Table of Contents/Preface

 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 back cover.

• If the manual must be ordered due to loss or damage, inform your nearest YEA

representative or one of the offices listed on the back of this manual.

• YEA will not take responsibility for the results of unauthorized modifications of

this product. YEA shall not be liable for any damages or trouble resulting from unauthorized modification.

xvii

FSP Amplifier User’s Manual Chapter 1: Checking Product and Part Names

1. Checking Product and Part Names

This chapter describes the procedure for checking products upon delivery as well as names for product parts.

1.1. Checking the FSP Amplifier Series Products on Delivery .............................1-2

1.1.1. Servo Amplifiers.....................................................................................1-2

1.2. Product Part Names.........................................................................................1-3

1.2.1. Servo Amplifiers.....................................................................................1-3

1.2.2. Model Numbers ......................................................................................1-4

1-1

FSP Amplifier User’s Manual Chapter 1: Checking Product and Part Names

1.1. Checking the FSP Amplifier Series Products on Delivery

The following procedure is suggested to check FSP Amplifier series products upon delivery.

Use the following checklist when FSP Amplifier series products are delivered.

Initial Inspection Comments

Are the delivered products the ones that were ordered?

Does the servomotor shaft rotate smoothly?

Is there any damage? Check the overall appearance, and

Are there any loose screws? Check screws for looseness using a

If any of the above are faulty or incorrect, contact YEA or an authorized distributor.

Check the model numbers marked on the nameplates of the servomotor and servo amplifier. (Refer to the descriptions of model numbers on the following pages) The servomotor shaft is normal if it can be turned smoothly by hand. Servomotors with brakes, however, cannot be turned manually.

check for damage or scratches that may have occurred during shipping.

screwdriver.

1.1.1. Servo Amplifiers

 External Appearance and Nameplate Examples

1-2

FSP Amplifier User’s Manual Chapter 1: Checking Product and Part Names

1.2. Product Part Names

This section describes product part names.

1.2.1. Servo Amplifiers

The figure below shows the part names for servo amplifiers.

1-3

FSP Amplifier User’s Manual Chapter 1: Checking Product and Part Names

1.2.2. Model Numbers

FSP - 05 D - MC

Flex ible Se rvoP ack

Max. Applicable Servomotor Power (see table below)

Input Voltage B - 100VAC, or A - 200VAC, or D - 400VAC

Control Method MC - Se ri al MH - A-B quadrature

Options

- No options C - Pre-loaded ECA M S - Single-phase amplifier (08 and 15 only)

Output Capacity

Code

Max. Applicable

Servomotor Power

(kW)

A3 0.03 A5 0.05 01 0.10 02 0.20 04 0.40 05 0.50 08 0.75 10 1.00 15 1.50 20 2.00 30 3.00 50 5.00

1-4

FSP Amplifier User’s Manual Chapter 2: Installation

2. Installation

This chapter describes precautions for the FSP amplifier series servomotor and the servo amplifier installation.

2.1. Servo Amplifiers .............................................................................................. 2-2

2.1.1. Storage Conditions...................................................................................2-2

2.1.2. Installation Site ........................................................................................ 2-2

2.1.3. Orientation ............................................................................................... 2-3

2.1.4. Installation................................................................................................ 2-3

2-1

FSP Amplifier User’s Manual Chapter 2: Installation

2.1. Servo Amplifiers

The FSP Amplifier servo amplifiers are base-mounted. Incorrect installation will cause problems. Follow the installation instructions below.

2.1.1. Storage Conditions

Store the servo amplifier within the following temperature range, as long as it is stored with the power cable disconnected.

Temperature range: -20 to 85°C

2.1.2. Installation Site

The following precautions apply to the installation site.

Situation Installation Precaution

Installation in a Control Panel

Installation near a Heating Unit

Installation near a Source of Vibration

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

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

Install a vibration isolator beneath the servo amplifier to avoid subjecting it to vibration.

Installation at a Site Exposed to Corrosive Gas

Other Situations

Corrosive gas does not have an immediate effect on the servo amplifier, but will eventually cause electronic components and contactor-related devices to malfunction. Take appropriate action to avoid corrosive gas.

Do not install the servo amplifier in hot and humid locations or locations subject to excessive dust or iron powder in the air.

2-2

FSP Amplifier User’s Manual Chapter 2: Installation

2.1.3. Orientation

Install the servo amplifier perpendicular to the wall as shown in the figure. The servo amplifier must be oriented this way because it is designed to be cooled by natural convection or by a cooling fan.

Secure the servo amplifier using the mounting holes. The number of holes varies (from two to four) with the frame size of the servo amplifier.

2.1.4. Installation

Follow the procedure below to install multiple servo amplifiers side-byside in a control panel.

)

. in

FAN

C N 3

C N 1

C N 2

C N

FAN

C N 3

C N 1

C N 2

10mm(0.4in.)or more

e r

(

m r

0 5

C N 3

C N 1

C N 2

)

. n

(

0 5

30mm(1.2in.)or more

2-3

FSP Amplifier User’s Manual Chapter 2: Installation

 Servo Amplifier Orientation

Install the servo amplifier perpendicular to the wall so the front panels’ connectors face outward.

 Cooling

As shown in the figure, allow sufficient space around each servo amplifier for cooling by cooling fans or natural convection.

 Side-by-side Installation

When installing servo amplifiers side-by-side as shown in the figure, allow at least 0.39 in (10 mm) between and at least 1.97 in (50 mm) above and below each servo amplifier. Install cooling fans above the servo amplifiers to avoid excessive temperature rise and to maintain even temperature inside the control panel.

 Environmental Conditions in the Control

Panel

• Ambient Temperature: 0 to 55°C

• Humidity: 90% RH or less

• Vibration: 0.5 G (4.9 m/s2)

• Condensation and Freezing: None

• Ambient Temperature for Long-term Reliability: 45°C max.

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FSP Amplifier User’s Manual Chapter 3: Wiring

3. Wiring

This chapter describes the procedure used to connect FSP Amplifier Series products to peripheral devices and gives typical examples of main circuit wiring as well as I/O signal connections.

3.1. Connecting to Peripheral Devices....................................................................3-2

3.1.1. Single-Phase 100 V/200 V Main Circuit Specifications.......................... 3-3

3.1.2. Single-Phase 220 V 0.75 & 1.5 kW Main Circuit Specifications............ 3-4

3.1.3. Three-Phase 200 V Main Circuit Specifications ..................................... 3-5

3.1.4. Three-Phase 400 V Main Circuit Specifications ..................................... 3-6

3.2. FSP Amplifier Internal Block Diagrams.......................................................... 3-7

3.2.1. Single-phase 30 W to 400 W, 100 V/200 V Models ...............................3-7

3.2.2. Three-phase 1 kW to 3 kW, 200 V Models .............................................3-8

3.2.3. Three-phase 0.5 kW to 3.0 kW, 400 V Models .......................................3-9

3.2.4. Three-phase 5 kW, 400 V Model........................................................... 3-10

3.3. Main Circuit Wiring....................................................................................... 3-11

3.3.1. Names and Descriptions of Main Circuit Terminal...............................3-12

3.3.2. Typical Main Circuit Wiring Example .................................................. 3-13

3.3.3. Servo Amplifier Power Losses ..............................................................3-14

3.3.4. Wiring Main Circuit Terminal Blocks...................................................3-15

3.4. I/O Signals ..................................................................................................... 3-16

3.4.1. Example of Typical I/O Signal Connections .........................................3-16

3.4.2. List of CN1 Terminals ........................................................................... 3-17

3.4.3. I/O Signal Names and Functions ...........................................................3-18

3.4.4. Interface Circuits.................................................................................... 3-20

3.5. Wiring Encoders (for SGMGH and SGMSH Motors Only) ......................... 3-24

3.5.1. Encoder Connections ............................................................................. 3-24

3.5.2. CN2 Encoder Connector Terminal Layout and Types ..........................3-25

3.6. Examples of Standard Connections ............................................................... 3-26

3-1

FSP Amplifier User’s Manual Chapter 3: Wiring

3.1. Connecting to Peripheral Devices

This section provides examples of standard FSP Amplifier Series product connections to peripheral devices.

It also briefly explains how to connect each peripheral device.

3-2

FSP Amplifier User’s Manual Chapter 3: Wiring

3.1.1. Single-Phase 100 V/200 V Main Circuit Specifications

Cable type: P/N YS-12

Brake power supply Used for a servomotor with a brake.

Host controller FSP Amplifier is compa tible with most PLC motion controllers and index ers.

3-3

FSP Amplifier User’s Manual Chapter 3: Wiring

3.1.2. Single-Phase 220 V 0.75 & 1.5 kW Main Circuit

Specifications

Observe the following points:

1. Connect main power supply shown below to L1 and L3 terminals. Power supply is

single-phase, 220 to 230 VAC +10% to –15%, 50/60 Hz. If power supply of 187 V (-15% of 220 V) or less is used, alarm A.41 indicating voltage shortage, may occur when accelerating to max speed with max torque of motor.

2. Short-circuit B2 and B3 terminals using the internal regenerative resistor. If capacity

of the regenerative resistor is insufficient, remove the lead between B2 and B3 terminals and connect an external regenerative resistor unit to B1 and B2 terminals.

Brake powe r supply Used for a servomotor with a brake.

Cable type: P/N YS-12

Host controller FSP Amp lifier is compa tible with most PLC motion controllers and indexers.

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FSP Amplifier User’s Manual Chapter 3: Wiring

3.1.3. Three-Phase 200 V Main Circuit Specifications

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