Yaskawa Junma User Manual

AC SERVOPACK

JUNMA Series

INSTRUCTIONS

Model:SJDE-APA-OY

To properly use the product, read this manual thoroughly and retain for easy reference, inspection, and maintenance. Ensure the end user receives this manual.

AC伺服单元

JUNMA系列

使用说明书

型号：SJDE-APA-OY

为了安全使用本产品，请务必阅读该使用说明书。另外，请妥善保管该使用说明书，并将其交至最终用户手中。

ACサーボパック

JUNMAシリーズ

取扱説明書

形式：SJDE-APA-OY

製品を安全にお使い頂くために，本書を必ずお読みください。また，本書をお手元に保管していただくとともに，最終的に本製品をご使用になるユーザー様のお手元に確実に届けられるよう，お取り計らい願います。

MANUAL NO. TOMP C710806 06A

English

汉语

日本語

English

AC SERVOPACK

JUNMA SERIES

INSTRUCTIONS

Introduction - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-4 Notation Used in this Manual - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-4 Related Manuals - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-4 Safety Information - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-5 Notes for Safe Operation- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-5

1 Before Use - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-11

1.1 Warning Label - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-11

1.2 Checking Products - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-11

1.3 Model Designation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -E-12

1.4 SERVOPACKs and Applicable Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - E-12

1.5 Part Names and Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -E-13

 Reference Pulse Setting (PULSE) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-13  Reference Filter Setting Rotary Switch (FIL) - - - - - - - - - - - - - - - - - - - - - - - - -E-14  Reference Display (REF) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-14  Alarm Display (AL1, AL2, and AL3) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-15

2 Installation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-16

2.1 Installation Conditions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -E-16

2.2 Installation Method - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -E-17

 Installation Method and Direction - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-17  Space between SERVOPACK Units - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-17

3 Wiring - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-18

3.1 Precautions on Wiring - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-18

 Protection for Power Supply Line - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-18  Caution for Grounding - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -E-18  Caution for Cable- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -E-18  Other Precautions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-19  Power Loss - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-19  Molded-Case Circuit Breaker (MCCB) or Fuse Capacity Relation to

Power-Supply Capacity - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-20

 Noise Prevention - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-21

E-1

3.2 System Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-23

3.3 Standard Connection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-24

3.4 Installation and Wiring Conditions on CE Marking - - - - - - - - - - - - - - - - - - - - - - - E-26

 Attaching the Ferrite Core - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-27  Fixing the Cable - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-27  Shield Box - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-27

3.5 SERVOPACKs and Applicable Peripheral Devices - - - - - - - - - - - - - - - - - - - - - - E-28

3.6 Main Circuit Wiring - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-28

3.7 SERVOPACK Main Circuit Wire Size - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-28

 Cable Types - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-28  Cable Size and Allowable Current - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-29  Power Supply Input Terminals (L1, L2), Motor Connection Terminals (U, V, W),

and Regenerative Unit Connection Terminals (+, -)- - - - - - - - - - - - - - - - - - - - E-29

 Ground Terminal ( ) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-29  Encoder Signal Connector - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-29  I/O Signal Connector - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-29

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

 Wire Size - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-30  Connector for Power Supply/Regenerative Unit (CNA) - - - - - - - - - - - - - - - - - E-31

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

 Servomotors without Brakes - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-32  Servomotors with Brakes - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-33

3.10 Wiring the Encoder Connector (CN2) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-35  Connection Diagram for Standard Encoder Cable- - - - - - - - - - - - - - - - - - - - - E-35

3.11 Wiring I/O Connectors- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-36  Connection Diagram for Standard I/O Cable - - - - - - - - - - - - - - - - - - - - - - - - E-36

3.12 Connection Examples of Input Signal - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-37

 Line Driver Output - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-37  Open-collector Output - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-37

3.13 Connection Example of Output Signal - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-38

3.14 EMG Sequence - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-39

3.15 Explanation of I/O Signals - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-40

4 Trial Operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-42

5 Additional Functions When Digital Operator or JunmaWin is Used - - - E-44

5.1 Requirements - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-44

5.2 List of Available Functions and Applicable SERVOPACKs - - - - - - - - - - - - - - - - - E-44

5.3 Servomotor Rotation Direction - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-45  Related Parameter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-46

5.4 Electronic Gear - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-47

 Electronic Gear Ratio- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-48  Encoder Resolution - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-48  Electronic Gear Ratio Setting Examples - - - - - - - - - - - - - - - - - - - - - - - - - - - E-49  Related Parameter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-50

E-2

English

5.5 Positioning Completed Signal - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-50  Related Parameter- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -E-51

5.6 Internal Torque Limit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-52  Related Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -E-52

5.7 Filter Setting using Parameter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-53

 Filter Setting Procedure - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-53  Related Parameter- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -E-54

5.8 Utility Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-55

 Utility Function List- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -E-55  Alarm History Display (Fn000) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-55  JOG Operation (Fn002) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-57  Origin Search (Fn003) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-60  Clearing Alarm History (Fn006) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-62  Software Version Display (Fn012) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-63

5.9 Alarm Display- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-64

 Alarm List - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -E-64  Warning List - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-65

5.10 Monitor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-66

 Monitor List - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-66  Analog Output Signals that can be Monitored - - - - - - - - - - - - - - - - - - - - - - - - E-67

5.11 Parameter List - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-68

 Related Parameter- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -E-68  Related Parameter- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -E-69

5.12 Communication Unit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-71

 Wiring- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-71  Operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-73  Dimensions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-73  Specifications of Connector for PC (CN9)- - - - - - - - - - - - - - - - - - - - - - - - - - -E-73

6 Troubleshooting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-74

6.1 Alarm Indicator Lights - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-74

6.2 Troubleshooting for Malfunctions when Alarm Indicators Are Not Lit - - - - - - - - - - E-79

7 Inspections- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-83

7.1 Regular Inspections - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-83

7.2 Part's Life Expectancy- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-83

7.3 Replacement of Cooling Fan - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-84

 SJDE-01APA-OY to 04APA-OY SERVOPACKs - - - - - - - - - - - - - - - - - - - - - - E-84  SJDE-08APA-OY SERVOPACKs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-86

8 Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-89

8.1 Specifications- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-89

8.2 Torque-Motor Speed Characteristics- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -E-90

8.3 Overload Protection Characteristics - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-91

Revision History

E-3

Notation for Parameters (Display Example for Pn170)

Digit Notation Setting Notation

Meaning Notation Meaning

Pn170.0

Pn170.1

Pn170.2

Pn170.3

Indicates the value for the 1st digit of parameter Pn170.

Indicates the value for the 2nd digit of parameter Pn170.

Indicates the value for the 3rd digit of parameter Pn170.

Indicates the value for the 4th digit of parameter Pn170.

Pn170.0 = x or n.x

Pn170.1 = x or n.x

Indicates that the value for the 1st digit of parameter Pn170 is x.

Indicates that the value for the 2nd digit of parameter Pn170 is x.

Pn170.2 = x or n.x

Pn170.3 = x or n.x

Indicates that the value for the 3rd digit of parameter Pn170 is x.

Indicates that the value for the 4th digit of parameter Pn170 is x.

Notation

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.

Notation Used in this Manual

Related Manuals

Refer to the following manuals as required.

Manual Name Manual Number

AC SERVO DRIVES JUNMA SERIES

JUNMA series AC SERVOMOTOR INSTRUCTIONS

Σ SERIES DIGITAL OPERATOR SAFETY PRECAUTIONS

KAEPS80000023

TOBPC23026100

TOBPC73080000

E-4

English

Safety Information

WARNING

CAUTION

PROHIBITED

MANDATORY

WARNING

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.

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 symbol

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.

• 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.

E-5

WARNING

CAUTION

• 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 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 braking 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 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

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

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

E-6

English

 Storage and Transportation

CAUTION

• 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.

• If disinfectants or insecticides must be used to treat packing materials such as wooden frames, pallets, or plywood, the packing materials must be treated before the product is packaged, and methods other than fumigation must be used. Example: Heat treatment, where materials are kiln-dried to a core temperature of 56°C for 30 minutes or more.

If the electronic products, which include stand-alone products and products installed in machines, are packed with fumigated wooden materials, the electrical components may be greatly damaged by the gases or fumes resulting from the fumigation process. In particular, disinfectants containing halogen, which includes chlorine, fluorine, bromine, or iodine can contribute to the erosion of the capacitors.

 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 metallic fragment, 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.

E-7

CAUTION

• 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.

• 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.

• Observe the following precautions when wiring connectors for power supply/regenerative unit and for motor main circuit cable.

• Remove the connectors from the SERVOPACK prior to wiring.

• Insert only one wire per terminal on the connectors.

• 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.

Failure to observe this caution may result in damage to the SERVOPACK. For details on the power supply voltage, refer to 8.1 Specifications.

E-8

English

• Take appropriate measures to ensure that the input power supply is supplied within the

CAUTION

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

• 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 using a servomotor with a holding brake, run a trial operation to confirm that the holding brake activates correctly. Also, take appropriate measures to ensure safety against an error such as signal line disconnection.

• 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.

E-9

CAUTION

 Maintenance and Inspection

• 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 SERVOPA CK .

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

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

 Disposal

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

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

E-10

1.1 Warning Label

English

SERVOPACK's Warning Label

SERVOPACK model

Serial number

SERVOPACK version

Applicable power supply

Applicable motor capacity

Order number

SJDE

SERVOPACK

One screwdriver for

selecting the pulse and setting the filter

One copy of this

Instruction Manual

Connector for power supply/ regenerative unit

(model: JZSP-CHG9-1)

Nameplate

1PH 200-230V 50/60Hz 1PH 100-115V 50/60Hz

2.5A

03404

1 Before Use

1.1 Warning Label

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

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 Yaskawa representative or the dealer from whom you purchased the products.

AC SERVOPACK

JUNMA Series

INSTRUCTIONS

Model:SJDE-APA-OY

To properly use the product, read this manual thoroughly and retain for easy reference, inspection, and maintenance. Ensure the end user receives this manual.

ACԎ᳡ܗ

JUNMA㋏߫

Փ⫼䇈ᯢк

ൟো˖SJDE-APA-OY

ЎњᅝܼՓ⫼ᴀѻકˈ䇋ࡵᖙ䯙䇏䆹Փ⫼䇈ᯢкǄ ঺໪ˈ䇋ཹ୘ֱㅵ䆹Փ⫼䇈ᯢкˈᑊᇚ݊Ѹ㟇᳔㒜⫼᠋᠟ЁǄ

ACサーボパック

JUNMAシリーズ

取扱説明書

形式：SJDE-APA-OY

R E F

English

∝䇁

日本語

MANUAL NO. TOMP C710806 06A

E-11

1.3 Model Designation

SJDE㧙02 A P A㧙OY

JUNMA series SERVOPACK SJDE

Applicable servomotor capacity

Power supply voltage

Interface specification

Code

A: 200 VAC

Design revision order A

P: Pulse train reference

01 02 04 08

Output (W)

100 200 400 750

1.3 Model Designation

1.4 SERVOPACKs and Applicable Servomotors

Rated

Output

100W

200W

400W

750W

Without Brakes With Brakes

SJME-01AM41 SJME-01AM4C

SJME-01AM41-OY SJME-01AM4C-OY

SJME-02AM41 SJME-02AM4C

SJME-02AM41-OY SJME-02AM4C-OY

SJME-04AM41 SJME-04AM4C

SJME-04AM41-OY SJME-04AM4C-OY

SJME-08AM41 SJME-08AM4C

SJME-08AM41-OY SJME-08AM4C-OY

Servomotor

SERVOPACK

SJDE-01APA-OY

SJDE-02APA-OY

SJDE-04APA-OY

SJDE-08APA-OY

E-12

English

1.5 Part Names and Functions

Type

Rotary switch for reference filter setting (FIL)

Rotary switch for reference pulse setting (PULSE)

Power supply indicator (PWR)

Connector for power supply / regenerative unit (CNA)

Connector for motor main circuit cable (CNB)

Encoder connector (CN2)

Ground terminal

I/O signal connector (CN1)

Alarm indicators (AL1 to AL3)

Reference indicator (REF)

Input voltage

200V

YASKAWA

SJDE- 04 APA-OY

FIL

PULSE

REF AL1 AL2 AL3

C N 2

PWR

CNA CNB

Connector for communication unit (CN52)

C N 1

PULSE

Set

Value

Reference Pulse

Connection Method

Reference Pulse Type

Input

Frequency

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

CW + CCW Positive logic

CW + CCW Negative logic

Mark + pulse sequence, Positive logic

Mark + pulse sequence, Negative logic

to 187.5 kpps

187.5 to

750 kpps

to 187.5 kpps

187.5 to 750 kpps

to 187.5 kpps

187.5 to 750 kpps

to 187.5 kpps

187.5 to 750 kpps

Reference

Pulse

Resolution

(P/REV)

1000

2500

5000

10000

1000

2500

5000

10000

1000

2500

5000

10000

1000

2500

5000

10000

PULS

SIGN

CCW

PULS

SIGN

 Reference Pulse Setting (PULSE)

1.5 Part Names and Functions

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

2. The factory setting is 0.

E-13

1.5 Part Names and Functions

Description

Approx. Time between

Completing Reference and

Completing Positioning

(Settling Time)*

Acceleration/ Deceleration

Time for Step

Reference

Filter

Setting

Value*

Do not set 8 through F.

Small filter time constant (short positioning time)

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

1 2 3 4 5 6 7

8 to F

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

170 ms

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

FIL

 Reference Filter Setting Rotary Switch (FIL)

When the digital operator or JunmaWin is used, set Pn170.0 to 0 to enable the setting of FIL switch.

* 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 decel-

eration time.

 Reference Display (REF)

Indicators*

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

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

Motor

Power

Reference

Pulses

E-14

1.5 Part Names and Functions

English

: Lit : OFF

AL1 AL2 AL3

Blinks at regular intervals.

AL1 AL2 AL3

 Alarm Display (AL1, AL2, and AL3)

Indicators Meaning of Alarm Indicators Meaning of Alarm

Normal Overcurrent

Speed error

Overload System error

Encoder error

Voltage error

SERVOPACK’s built-in

fan stop

Rotary switch for reference pulse setting (PULSE) changed. The settings were changed for parameters that require the power to be restarted.

E-15

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

Installation Site

heating unit

Installation near a source of vibration

Installation at a site exposed to corrosive gas

Free of dust and iron powder Clean and dry

4.9 m/s

19.6 m/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. Note: For long-term reliability the internal temperature of the control

panel must be 45 °C or lower.

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.

E-16

2.2 Installation Method

English

SERVOPACK installation plate

M4 screw

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).

 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 metallic 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.

YASKAWA

SJDE- 04 APA-OY

PULSE

FIL

C N 1

C N 2

PWR

50 mm min.

YASKAWA

200V

SJDE- 04 APA-OY

CTL

AL1

PULSE

AL2

AL3

FIL

C N 1

C N 2

PWR

CNA CNB

10 mm min.

SJDE- 04 APA-OY

PULSE

FIL

C N 1

C N 2

PWR

CNA CNB

50 mm min.

CTL

AL1

AL2

AL3

CNA CNB

YASKAWA

200V

SJDE- 04 APA-OY

CTL AL1

PULSE

AL2 AL3

FIL

C N 1

C N 2

PWR

Air outlet direction

200V

CTL

AL1

AL2

AL3

CNA CNB

Air inlet direction

E-17

3.1 Precautions on Wiring

WARNING

200V

YASKAWA

SJDE- 04 APA-OY

CTL AL1 AL2 AL3

C N

PWR

CNA CNB

200V

YASKAWA

SJDE- 04 APA-OY

FIL

PULSE

FIL

PULSE

FIL

PULSE

CTL AL1 AL2 AL3

C N 1

C N 2

PWR

CNA CNB

200V

YASKAWA

SJDE- 04 APA-OY

CTL AL1 AL2 AL3

C N 1

C N 2

PWR

CNA CNB

3 Wiring

3.1 Precautions on Wiring

• 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.

 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.

E-18

3.1 Precautions on Wiring

English

 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-04APA-OY

SJDE-08APA-OY

100W

200W

400W

750W

before Restarting

(s)

20SJDE-02APA-OY

 Power Loss

Power Loss with SERVOPACK Rated Output

Main

Circuit Power

Supply

Max. Applica-

ble Servomotor

Capacity

0.1 SJDE-01APA-OY 0.84 6 0.9 4.2

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

Single-

phase 200 V

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

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

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

E-19

3.1 Precautions on Wiring

NOTE

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

MCCB or Fuse Capacity Relation to Power-Supply Capacity

∗1

External Fuse

Model No.

[Power-Supply

Capacity

∗2

Arms]

0KLK 015.T

[15]

0KLK 030.T

[30]

Inrush

Current

Main Circuit Power

Supply

Single-

phase 200 V

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

SERVOPACK

CapacitykWModel No.:

SJDE-

0.1 01APA-OY

0.2 02APA-OY

0.4 04APA-OY

0.75 08APA-OY

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.

• 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.

Applicable Ser-

vomotor

Model: SJME-

01AM41

01AM41-OY

02AM41

02AM41-OY

04AM41

04AM41-OY

08AM41

08AM41-OY

PowerSupply

Capacity

kVA

0.4

0.75

1.2 8

2.2 16

MCCB Current

Capacity

Arms

E-20

English

 Noise Prevention

Example of Wiring for Noise Prevention

3.1 Precautions on Wiring

100 VAC

200 VAC

Noise filter

Min. wire size

: 3.5 mm

2LF

Casing

Min. wire size: 3.5 mm

Operation relay sequence User signal generating circuit

1LF

Casing

AVR

(Ground

-ing) 2 mm2 or larger

Min. wire size: 3.5 mm

Casing

SERVOPACK

SJDE

Grounding plate

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

CN1

U V

CN2

Min. wire size : 3.5 mm

Servomotor

* 1. A 100 VAC power supply can be used with a SERVOPACK version 03404 or firmware version 0004 or later.

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

or larger.

Flat braided copper wires are recommended.

* 3. Use twisted pair wires for section P.

(FG)

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.

E-21

3.1 Precautions on Wiring

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

Power-Supply

Volt age

Single-

phase

200 V

SERVOPACK

Model

SJDE-01APA-OY

to 02APA-OY

SJDE-04APA-OY

SJDE-08APA-OY

Recommended Noise Filters

Model Specifications Manufacturer

FN2070-6/07 Single-phase 250 VAC, 6A

FN2070-10/07 Single-phase 250 VAC,10A

FN2070L-16/07 Single-phase 250 VAC, 16A

Schaffner EMC, Inc.

E-22

English

3.2 System Configuration

Connectors for motor main circuit cable (CNB

)

Connectors for power supply/regenerative unit (

CNA

)

To the control circuits of magnetic contactor

Encoder cable (for relay

)

Motor main circuit cable (

for relay)

I/O signal cable

Host controller

SJDE SERVOPACK

SJME Servomotors

L1 L2

Brake relay

24-VDC power supply

Used for a servomotor with a brake.

Used for a regenerative unit.

Noise filter

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

Molded-case circuit breaker

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

Magnetic contactor

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

Power supply

Single-phase 100 VAC

Single-phase 200 VAC

Regenerative unit

Used if regenerative energy is high.

AC reactor

Used for a power supply harmonic suppression.

Fuse

To protect the equipment, always install fuses.

Surge absorber (for lightning surge)

When not using a digital operator or JunmaWin, never open the protective cover for the connector. If the connector is used, a SERVOPACK failure may result.

CAUTION

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).

WARNING

Varistor

APA-OY

Communication unit

VCMP

SVON COIN TGON REF

CHARGE

ALARM

DATA

JOG SVON

SCROLL

MODE/SET

RESET

SERVO

READ WRITE

SERVO

YASKAWA

DIGITAL OPERATOR JUSP-OP05A-1-E

PC running JunmaWin

Digital operator

When using a digital operator, or JunmaWin*

3.2 System Configuration

* 1. A 100 VAC power supply can be used with a SERVOPACK version 03404 or firmware version 0004 or later. * 2. A digital operator or JunmaWin can be used with a SERVOPACK version 03303 or firmware version 0003 or later. * 3. Prepare a 24-VDC power supply for the brake separately from the sequence power supply.

E-23

3.3 Standard Connection

Power supply Single-phase 200 V to 230 VAC, Single-phase 100 V to 115 VAC

50/60Hz

AVR 1

24 V power supply

Brake

PG0V

PG5VCW,PULS

/CW,/PULS

CCW,SIGN

/CCW,/SIGN

CLR

/CLR

PCO

SG-PCO

+24VIN

/S-ON

ALM

/BK

/COIN

SG-COM

Shell

Shield

Flywheel diode

1L1

Varistor

200 V to 230 VAC, 100 V to 150 VAC

24V

Molded-case circuit breaker

SERVOPACK

Controller

Regenerative unit

JUSP-

RG08E-E

Servomotor

Encoder

Surge absorber (for lightning surge)

Surge absorber

SW1

MC1

Ry1

C1 C2

SW2

MC1

75Ω

2.2kΩ

CNA CNB

CN1 CN2

3.4kΩ

24V

Noise

filter

Reactor

AVR 2 24 V power supply

200 V to 230 VAC 100 V to 115 VAC

–

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

Fuse

MC1

A–

B–

3.3 Standard Connection

* 1. A 100 VAC power supply can be used with a SERVOPACK version 03404 or firmware version 0004 or later. * 2. Prepare a 24 VDC power supply for sequence separately from the 24 VDC power supply for brake. * 3. For switching surge

E-24

3.3 Standard Connection

English

NOTE

SERVOPACK

0 V

Emergency Stop

5 VDC to 24 VDC

Note: 1. AVR1: 24 VDC power supply for brake

AVR2: 24 VDC power supply for

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

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.

Configure the holding brake circuit that is to be activated upon occurrence of emergency stop.

• Parts example

Surge absorber Okaya Electric Industries Co., Ltd. CRE-50500

(Sold as: Spark Quencher)

Flywheel diode Toshiba Corporation 1NH42

Brake relay OMRON Corporation MY series

Varistor Nippon Chemi-Con Corporation TNR7V121K

Relay Circuit Example

E-25

3.4 Installation and Wiring Conditions on CE Marking

NOTE

Power Supply Single-phase 200 VAC, 100 VAC*

U, V, W

L1, L2

CN2

CN1

Ground Plate

Encoder

Servo-

motor

Brake

Clamp

Noise

filter

Ferrite

core

Clamp

Surge absorber

(for lightning

surge)

Brake power

supply

Host controller

SERVOPACK









Ferrite

core

Ferrite

core

Ferrite

core

Ferrite

core

+, –

Regenerative

unit

Cable joint

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 other

conditions.

Symbol Cable Name Specifications

* A 100 VAC power supply can be used with a SERVOPACK version 03404 or firmware version 0004 or later.

I/O Signals cable Shield cable

Servomotor Main Circuit cable Shield cable

Encoder cable Shield cable

AC Line cable Shield cable

E-26

3.4 Installation and Wiring Conditions on CE Marking

English

Cable (two turns)

Ferrite core

Cable clamp

Shield (cable sheath stripped)

Remove paint on mounting surface.

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

Ground plate

Host controller side

Cable

 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.

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

 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.

E-27

3.5 SERVOPACKs and Applicable Peripheral Devices

SERVOPACK

Capa-

Type

SJDE01APA-OY

SJDE02APA-OY

SJDE04APA-OY

SJDE08APA-OY

Manufacturer

* 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.

100 W

200 W

400 W

750 W

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).

city

Power

Supply

Capacity per

SERVOPACK

kVA

0.40

0.75 X5053

1.2 8

2.2 16

−−

Current

Capacity of

Molded-case

Circuit Breaker

*1 *2

Arms

Current

Capacity and

Model of

External

Fuse

0KLK

015.T

(15 Arms)

0KLK

030.T

(30 Arms)

Littelfuse

Inc.

Inrush

Magnetic

Cur-

Contac-

rent

A0-p

30 HI-11J

60 HI-15J

Yaskawa

Controls

−

Co., Ltd.

tor

Noise Filter

FN2070

-6/07

FN2070

-10/07

FN2070

-16/07

Schaffner Electronic

Surge

Absorber

xCxM-

601BQZ-4

Okaya

Electric

Industries

Co., Ltd. (Sold as:

Surge

Protector)

Reactor

X5052

X5054

X5056

Yaskawa 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 Normal vinyl cable −

IV 600 V vinyl cable 60 °C

HIV Temperature-resistant vinyl cable 75 °C

• 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.

E-28

3.7 SERVOPACK Main Circuit Wire Size

English

 Cable 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

Size

Nominal Cross

Section Diameter

Configuration

Number of

wires/mm

Conductive Resistance

Ω/mm

Allowable Current at Ambient Temperature

30 °C 40 °C 50 °C

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.

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

and Regenerative Unit Connection Terminals (+, -)

Terminal Symbol

HIV1.25mm

Wiring length:

20 m max.

HIV1.25mm

Wiring length:

0.5 m max.

Capacity

100

200

400

750

SERVOPACK Type

SJDE-01APA-OY

SJDE-02APA-OY

SJDE-04APA-OY

SJDE-08APA-OY

Note: Connectors are used for all wiring.

L1, L2 U, V, W +, -

HIV1.25 mm

HIV2.0 mm

 Ground Terminal ( )

Wire Size Terminal Screw Size Tightening Torque

HIV 2.0 mm

min.

M4 1.2 to 1.4 Nxm

 Encoder Signal Connector

Item Specifications

Cable Use Yaskawa 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)

E-29

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

CAUTION

9 to 10 mm

fig A fig B

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

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

• Observe the following precautions when wiring connectors for power supply/regenerative unit and for motor main circuit cable.

• Remove the connectors from the SERVOPACK prior to wiring.

• Insert only one wire per terminal on the connectors.

• 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.

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.

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

E-30

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

English

4321

Power supply/Regenerative Unit connector 04JFAT-SBXGF-N (Manufactured by JST. Mfg. Co., Ltd.)

L2 L1

Power supply

Single-phase, 200 VAC, 100 VAC*

Molded-case circuit breaker

Noise filter

Magnetic contactor

AC reactor

Regenerative Unit

+(Y3)

㧙

Y4 Y5 C1 C2

CNA connector

200V

YASKAWA

SJDE- 04 APA-OY

FIL

PULSE

REF AL1 AL2 AL3

C N

C N 2

PWR

FuseFuse

5. Connect the connector to the SERVOPACK.

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

* A 100 VAC power supply can be used with a SERVOPACK version 03404 or firmware version 0004 or later.

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

2L2

4 −

Power supply input terminals

Regenerative unit connection terminals

E-31

3.9 Wiring the Servomotor Main Circuit Cable Connector (CNB)

NOTE

Servomotor main circuit cable

(for relaying)

Connector provided with Servomotor main circuit cable

Red

White

Blue

Green/Yellow

Phase U

Phase V

Phase W

Motor

Green/Yellow

CNB connector

200V

YASKAWA

SJDE- 04 APA-OY

FIL

PULSE

REF AL1 AL2 AL3

C N 1

C N 2

PWR

CNA CNB

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

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.

• 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

YASKAWA

SJDE- 04 APA-OY

PULSE

FIL

C N 1

C N 2

294

CNA CNB

Controller

200V

REF

AL1

AL2

AL3

Separate by 300 mm or more

Power Supply

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

E-32

3.9 Wiring the Servomotor Main Circuit Cable Connector (CNB)

English

SERVOPACK end

M4 crimped terminal

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

5556TL (Loose wires) (Molex)

Motor end

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

50mm

SERVOPACK Connector

(Viewed from soldered side)

123

456

Servomotor Connector

(Viewed from cable insertion side)

Lead ColorSignal NamePin No.

Red

White

Blue

Green/Yellow

Phase U Phase V

Phase W

∗

1 2 3 4

Crimped terminal

Lead ColorSignal Name

Red

White

Blue

Green/Yellow

Phase U Phase V Phase W

Pin No.

1 2 3 4 5 6

∗:

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

Connector provided with Servomotor main circuit cable

CNB connector

Servomotor main circuit cable

(for relaying)

Motor

Red

White

Blue

Green/Yellow

Black

Green/Yellow

Black

Varistor

Black

Phase U

Phase V

Phase W

Brake

Brake relay

24 VDC

DC power

supply

200V

YASKAWA

SJDE- 04 APA-OY

FIL

PULSE

REF AL1 AL2 AL3

C N 1

C N 2

PWR

CNA CNB

1234

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

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.

 Servomotors with Brakes

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.

E-33

3.9 Wiring the Servomotor Main Circuit Cable Connector (CNB)

NOTE

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

SERVOPACK end

50mm

Motor end

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

M4 crimped terminal

SERVOPACK Connector

(Viewed from soldered side)

123

456

Servomotor Connector

(Viewed from cable insertion side)

Lead ColorSignal NamePin No.

Red

White

Blue

Green/Yellow

Black

Phase U Phase V

Phase W

∗1

Brake

∗2

Brake

∗2

Lead ColorSignal Name

Red

White

Blue

Green/Yellow

Black

Phase U Phase V

Phase W

FG Brake Brake

Pin No.

1 2 3 4 5 6

1 2 3 4

Crimped terminal

∗1:

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

∗

2: No polarity for connection to the brake.

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.

Failures caused by incorrect wiring or wrong voltage application in the brake circuit may damage the equipment or cause an accident resulting in death or injury.

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

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.

E-34

3.10 Wiring the Encoder Connector (CN2)

English

Separate by 300 mm or more

Power Supply

200V

YASKAWA

SJDE- 04 APA-OY

FIL

PULSE

REF AL1 AL2 AL3

CNA CNB

C N 2

C N 1

NOTE

Pin No. Signal Name

Shell

PG5V

PG0V(GND)

Phase A (+)

Phase A (-)

Phase B (+)

Phase B (-)

Phase /Z

Phase U

Phase V

Phase W

Lead Color

Red

Black

Blue

Blue/White

Yellow

Yellow/White

Purple

Gray

Green

Orange

Shield

Red

Black

Blue

Blue/White

Yellow

Yellow/White

Purple

Gray

Green

Orange

Shield

Lead ColorPin No. Signal Name

PG5V

PG0V(GND)

Phase A (+)

Phase A (-)

Phase B (+)

Phase B (-)

Phase /Z

Phase U

Phase V

Phase W

Shield

SERVOPACK Connector (Viewed from soldered side)

Servomotor Connector (Viewed from cable insertion side)

Shield wire

654321

12 11 10 8 79

97531

246810

SERVOPACK end

y 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)

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

Motor end

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

5556T2L(Loose wires)

(Molex)

3.10 Wiring the Encoder Connector (CN2)

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

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

E-35

3.11 Wiring I/O Connectors

Controller

Separate by 300 mm or more

Power supply

200V

YASKAWA

SJDE- 04 APA-OY

FIL

PULSE

REF AL1 AL2 AL3

CNA CNB

C N 2

C N 1

NOTE

8 9 10 11 13 1412

5432761

SERVOPACK Connector (Plug) (Viewed from soldered side)

3.11 Wiring I/O Connectors

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 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.

 Connection Diagram for Standard I/O Cable

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.

Host controller endSERVOPACK end

Plug (14P): 10114-6000EL Shell Kit: 10314-52A0-008 (3M)

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

(φ5.6)

I/O Code Signal Name

No.

1 Input CW, PULS Reverse pulse,

2 Input /CW, /PULS Red

Reference pulse

3 Input CCW, SIGN Forward pulse,

4 Input /CCW, /SIGN Red

Reference sign

5 Input +24VIN External input power

Lead

Color

Orange 1 Black

Light

gray

White Black

Dot Mark

Number Color

Black

supply

6 Input /S-ON Servo ON Red

7 Output SG-COM Output signal ground Yellow Black

8 Input CLR Position deviation

9 Input /CLR Pink Black

Pulse clear

Red

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 Light

14 Output /COIN Positioning completion Red

gray

Black

Shell −− FG −−

E-36

3.12 Connection Examples of Input Signal

English

SERVOPACK

Photocoupler

Host Controller

/PULS

SIGN

/SIGN

CLR

/CLR

PULS

75Ω

7mA

∗

∗ޓޓ Twisted-pair wires

CN1

75Ω

3.4kΩ

/S-ON

+24VIN

24VDC Power Supply

+24V

Photocoupler

/PULS

SIGN

/SIGN

CLR

/CLR

PULS

∗

Vcc

Tr1

Tr2

Tr3

75Ω

SERVOPACK

Photocoupler

7mA

CN1

3.4kΩ

/S-ON

+24VIN

+24V

Examples:



When Vcc is +12V: R1 through R3=1 kΩ



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

Host Controller

24VDC Power Supply

∗ޓޓ Twisted-pair wires

3.12 Connection Examples of Input Signal

 Line Driver Output

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

 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

E-37

3.13 Connection Example of Output Signal

Photocoupler output (Per output signal)

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

SERVOPACK

Photocoupler

50mA max.

+24V 0V

SG-PCO

ALM

/COIN

SG-COM

PCO

CN1

Load

24VDC Power Supply

NOTE

3.13 Connection Example of Output Signal

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

Incorrect wiring or wrong voltage application in the output circuit may cause short-circuit.

E-38

3.14 EMG Sequence

English

WARNING

NOTE

SERVOPACK

Servo ON

CNA

CN1

/S-ON

+24VIN

MC1

DC24V

MC1

Noise filter

MC1

Power ONPower

OFF

Power supply Single-phase 200VAC to 230VAC, Single-phase 100VAC to 115V* 50/60Hz

EMG

3.14 EMG Sequence

• 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.

• 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.

* A 100 VAC power supply can be used with a SERVOPACK version 03404 or firmware version 0004 or later.

E-39

3.15 Explanation of I/O Signals

Servo ON (/S-ON)

Positioning completed (/COIN)

Clear (CLR)

Motor ON

Brake (/BK)

Sign + pulse train

Motor ON

Brake released

(SIGN)

(PULS)

t1: Approx. 40 ms t2: Approx. 130 ms

t3 ≥ 40 ms

(Motor with brake: 100 ms)

≥ 20 μs

2ms max.

Alarm detection

ALM

PCO

An edge from OFF to ON

NOTE

3.15 Explanation of I/O Signals

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

• Line driver output

• +24-V open-collector output

• +12-V open-collector output

• +5-V open-collector output

I/O Signal Timing Examples

* 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. The clear signal clears the error

counter of the SERVOPACK when the signal is turned from OFF to ON. If the reference pulse is stops when the clear signal is turned ON, the motor will also 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.

2. If using the phase-C output signal, use an edge exactly when the signal changes from OFF to ON. Because the wave curve is gentle, the timing to start the next sequence might vary if not specified.

Failures caused by incorrect wiring or wrong voltage application in the brake circuit may damage the equipment or cause an accident resulting in death or injury. Follow the procedures and instructions for wiring and trial operation precisely as described in this manual.

E-40

3.15 Explanation of I/O Signals

English

Forward reference

Reverse reference

t2 t3

SIGN

PULS

t1, t2, t3 > 3μs

τ ≥

0.65μs

(

τ/T

)

100 ≤ 50%

Forward reference

Reverse reference

CCW

t1 > 3μs

τ ≥

0.65μs

(

τ/T

)

100 ≤ 50%

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

Sign (SIGN): High = Forward

reference Low = Reverse reference

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

－

E-41

NOTE

Select the PULSE setting with the rotary switch.

Screwdriver

APA-OY

Controller

Reference pulse

APA-OY

4 Trial Operation

Failures caused by incorrect wiring or wrong voltage application in the brake circuit may damage the equipment or cause an accident resulting in death or injury.

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

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,

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

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

YASK AWA

SJDE- 04 APA-OY

REF

AL1

PULSE

AL2

AL3

FIL

200V

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

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

• 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 setting

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 6 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 6 Troubleshooting and clear the alarm.

E-42

English

Step Details

EMERGENCY

Reference Pulse

Controller

APA-OY

Select the FIL setting with the rotary switch.

Screwdriver

APA-OY

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.

6. Protective Functions • Turn ON the power, activate the servo ON (S-ON) input signal. 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

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

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 setting

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

E-43

5.1 Requirements

CAUTION

5 Additional Functions When Digital Operator or

JunmaWin is Used

• Never run the SERVOPACK with a digital operator or JunmaWin connected. Use a digital operator or JunmaWin only during:

• Setup, such as when the gear ratio is changed, and

• Maintenance, such as when the Monitor function is used to confirm the status.

5.1 Requirements

The following devices must be connected to the SERVOPACK to use the functions described in this chapter.

• A digital operator or personal computer running JunmaWin

• A communication unit (Model: JUSP-JC001-1)

For the operations of a digital operator, refer to Σ-V Series USER'S MANUAL Operation of Digital Operator (Manual No.: SIEP S800000 55).

5.2 List of Available Functions and Applicable SERVOPACKs

Items

Applicable SERVOPACK version

Applicable firmware version

Applicable JunmaWin version

Servomotor rotation direction setting

Electronic gear ratio setting

Positioning completed signal setting

Internal torque limit setting

Functions

* The digital operator cannot be connected to a Version 2 SERVOPACK (SERVOPACK: version 03202, firmware: version

0002).

Filter setting using parameters

Utility functions (alarm history display, clearing alarm history, JOG operation, origin search, software version display)

Alarm display

Monitor

Version4 Version3 Version2*

03404 03303 03202

0004 0003 0002

JunmaWin

Ver.1.20 or later

Applicable Not applicable Not applicable

Applicable Applicable Not applicable

Applicable Not applicable Not applicable

Applicable Applicable Not applicable

SERVOPACK Version

JunmaWin for

SJDEP-OY

Ver.1. 00

cannot be

connected to

JunmaWin

E-44

5.3 Servomotor Rotation Direction

English

Reverse

(CW)

Forward

(CCW)

5.3 Servomotor Rotation Direction

The servomotor rotation direction can be reversed with parameter Pn000.0 without changing the polarity of the position reference.

The standard setting for forward rotation is counterclockwise (CCW) as viewed from the load end of the servomotor.

Forward/

Reverse

Reference

Forward Reference

Reverse Reference

Forward Reference

Direction of Motor Rotation

Forward

(CCW)

Reverse

(CW)

Pn000

Parameter

n.0 The forward rotation is CCW.

[Factory setting]

n.1 The forward rotation is CW. (reverse rotation mode)

Reverse Reference

E-45

5.3 Servomotor Rotation Direction

Direction Selection (rotational)

CCW for forward rotation.

CW for reverse rotation. (reverse rotation mode)

Reserved (Do not change.)

4th 3rd 2nd 1st digit digit digit digit



 Related Parameter

Parameter

No.

Basic Function Select Switch 0

Pn000

Name

Setting Range

0010 to 0011 – 0010 After restart

Units

Factory Setting

When

Enabled

E-46

English

5.4 Electronic Gear

When the Electronic Gear is Not Used:

Calculate the revolutions. 1 revolution is 6 mm. Therefore, 10 ÷ 6 = 1.6666 revolutions.

Calculate the required reference pulses. 65536 pulses is 1 revolution. Therefore, 1.6666 × 65536 = 109222 pulses.

Input 109222 pulses as reference pulses.

Reference pulses must be calculated per reference. → complicated

When the Electronic Gear is Used:

The reference unit is 1μm. Therefore, to move the workpiece 10 mm (10000 μm), 1 pulse = 1 μm, so 10000 ÷ 1 = 10000 pulses. Input 10000 pulses as reference pulses.

Calculation of reference pulses per reference is not required. → simplified

Ball screw pitch: 6 mm

Encoder resolution (16 bit) 65536

The section indicates the difference between using and not using an electronic gear when a workpiece is moved 10 mm in the following configuration.

The electronic gear enables the workpiece travel distance per reference pulse input from the host controller. The minimum unit of the position data moving a load is called a reference unit.

5.4 Electronic Gear

E-47

5.4 Electronic Gear

Electronic gear ratio:

Pn210

Pn20E

Encoder resolution

Travel distance per load shaft revolution (reference units)

NOTE

 Electronic Gear Ratio

Set the electronic gear ratio using Pn20E and Pn210.

Electronic Gear Ratio (Numerator)

Pn20E

Pn210

Setting Range Setting Unit Factory Setting When Enabled

1 to 1073741824 1 4 After restart

Electronic Gear Ratio (Denominator)

Setting Range Setting Unit Factory Setting When Enabled

1 to 1073741824 1 1 After restart

If the gear ratio of the servomotor and the load shaft is given as n/m where m is the rotation of the servomotor and n is the rotation of the load shaft,

 Encoder Resolution

Encoder resolution is 65536.

Electronic gear ratio setting range: 0.01 ≤ Electronic gear ratio (B/A) ≤ 100 If the electronic gear ratio is outside this range, a parameter setting error 1 (A.040) will be output.

E-48

English

 Electronic Gear Ratio Setting Examples

Ball screw pitch: 6 mm

16-bit encoder

Load shaft

Reference unit: 0.001 mm

16-bit encoder

Load shaft

Reference unit: 0.01°

Gear ratio: 1/10

Load shaft

Gear ratio

1/50

Reference unit: 0.005 mm

Pulley diameter:

100 mm

16-bit encoder

65536

600011

65536

36000

65536

62800

The following examples show electronic gear ratio settings for different load configurations.

Load Configuration

Ball Screw Disc Table Belt and Pulley

Step Operation

5.4 Electronic Gear

1 Check machine

specifications.

• Ball screw pitch: 6 mm

• Gear ratio: 1/1

Rotation angle per revolution: 360° Gear ratio: 1/10

Pulley diameter: 100 mm (pulley circumference: 314 mm)

• Gear ratio: 1/50

2 Check the

encoder resolution.

3 Determine the

reference unit used.

4 Calculate the

travel distance per load shaft revolution.

65536 (16-bit) 65536 (16-bit) 65536 (16-bit)

Reference unit: 0.001 mm (1 μm)

Reference unit: 0.01° Reference unit: 0.005

mm (5 μm)

6 mm/0.001 mm=6000 360°/0.01°=36000 314 mm/0.005 mm

=62800

(Reference unit)

5 Calculate the

electronic gear ratio.

6 Set parameters. Pn20E: 65536 Pn20E: 655360 Pn20E: 3276800

Pn210: 6000 Pn210: 36000 Pn210: 62800

E-49

5.5 Positioning Completed Signal

Electronic Gear Ratio Selection

Reference pulse resolution that is in accordance with the setting of the rotary switch for the reference pulse setting (PULSE).

Reference pulse resolution that is in accordance with the electronic gear ratio (Pn20E/Pn210).*

Reserved. (Do not change.)

4th 3rd 2nd 1st digit digit digit digit



 Related Parameter

Parameter

No.

Pn21B

* This parameter is only used to set the reference pulse resolution. Use the rotary switch for the reference pulse setting

(PULSE) to set the type of reference pulse. For details, refer to and Functions.

Name Setting Range Units

Electronic Gear Function Select Switch

0000 to 0001 – 0000 After restart



Reference Pulse Setting (PULSE) under 1.5 Part Names

Factory Setting

5.5 Positioning Completed Signal

This signal indicates that servomotor movement has been completed during position control.

When the difference between the number of reference pulses output by the host controller and the travel distance of the servomotor (position error) drops below the set value in the parameter, the positioning completion signal will be output.

Use this signal to check the completion of positioning from the host controller.

Type

Output /COIN CN1-14 ON (close) Positioning has been completed.

Signal Name

Connector

Pin Number

Setting Meaning

OFF (open) Positioning is not completed.

When

Enabled

E-50

5.5 Positioning Completed Signal

English

Motor speed

Reference

Motor speed

/COIN

Time

Position error

Effective at ON (close).

Pn522

 Related Parameter

Positioning Completed Width

Pn522

Setting Range Setting Unit Factory Setting When Enabled

0 to 1073741824 1 reference unit 10 Immediately

The positioning completed width setting has no effect on final positioning accuracy.

Note: If the parameter is set to a value that is too large, a positioning completed signal might be

output if the position error is low during a low speed operation. This will cause the positioning completed signal to be output continuously. If this signal is output unexpectedly, reduce the set value until it is no longer output.

E-51

5.6 Internal Torque Limit

Pn403

Pn402

Speed

Maximum torque

Speed

Limiting torque

No Internal Torque Limit

(Maximum Torque Can Be Output)

Internal Torque Limit

5.6 Internal Torque Limit

This function always limits maximum output torque by setting values of following parameters.

 Related Parameters

Forward Torque Limit

Pn402

Pn403

The setting unit is a percentage of the rated torque.

Note: 1. The maximum torque of the servomotor is used when the set value exceeds the maximum torque.

2. If the settings of Pn402 and Pn403 are too low, the torque may be insufficient for acceleration or deceleration of

Setting Range Setting Unit Factory Setting When Enabled

0 to 800 1% 800 Immediately

Reverse Torque Limit

Setting Range Setting Unit Factory Setting When Enabled

0 to 800 1% 800 Immediately

the servomotor.

Torque waveform

E-52

5.7 Filter Setting using Parameter

English

Start

Vibration during operation?

Increase FIL setting with rotary switch (FIL).

End

Satisfied with response?

End

Yes

Connect a digital operator or a computer with JunmaWin.

Set the tuning-less function (Pn170.0) to 1. (Enable response settings set by parameters.)

Load moment of inertia too high?

Yes

Set tuning-less load level (Pn170.3) to 0.

Set tuning-less load level (Pn170.3) to 1.

Yes

Increase tuning-less rigidity level (Pn170.2).

Satisfied with response?

End

Yes

Note: Set the tuning-less load level (Pn170.3) to 1 if

overshooting or low-frequency vibrations occur.

Note: Refer to  Related Parameter under 5.7 Filter Setting

using Parameter.

5.7 Filter Setting using Parameter

If the machine vibrates or overshooting occurs, use the Pn170 parameter. Response can be improved by changing the parameter setting to select a filter.

 Filter Setting Procedure

E-53

5.7 Filter Setting using Parameter

Tuning-less Function Selection

When

Enabled

Uses the setting of the reference filter setting rotary switch (FIL).

After restart

Uses the settings in Pn170.2 and Pn170.3.

Reserved (Do not change.)

Tuning-less Rigidity Level

Acceleration/ Deceleration Time for step

Reference

Approx. Time between Completing Reference and

Completing Positioning

(Setting Time)

Description When

Enabled

0 170 ms 500 to 1000 ms

Immediately

1 85 ms 250 to 500 ms

2 80 ms 200 to 400 ms

3 70 ms 170 to 340 ms

4 65 ms 150 to 300 ms

5 60 ms 130 to 260 ms

6 50 ms 110 to 220 ms

7 45 ms 100 to 200 ms

8 40 ms 90 to 180 ms

9 36 ms 80 to 160 ms

A 33 ms 75 to 145 ms

B 30 ms 70 to 135 ms

C 28 ms 65 to 125 ms

D 26 ms 60 to 115 ms

E 24 ms 55 to 110 ms

F 22 ms 50 to 100 ms

Tuning-less Load Level

When

Enabled

0 Small load level

Immediately

1 Large load level

4th 3rd 2nd 1st digit digit digit digit



 Related Parameter

Parameter

No.

Pn170

Name Setting Range Units

Tuning-less Function

0000 to 1F01 – 0700 –

Related Switch

Factory Setting

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

Small filter time constant (short positioning time)

When

Enabled

E-54

5.8 Utility Functions

English

5.8 Utility Functions

 Utility Function List

Fn No. Function Remarks

Fn000 Alarm History Display –

Fn002 JOG Operation –

Fn003 Origin Search –

Fn006 Clearing Alarm History –

Fn010 Write Prohibited Setting Cannot to be changed.

Fn012 Software Version Display –

 Alarm History Display (Fn000)

This function displays the last ten alarms that have occurred in the SERVOPACK. The latest ten alarm numbers and time stamps* can be checked.

* Time Stamps

A function that measures the ON times of the control power supply and main circuit power supply in 100-ms units and displays the total operating time when an alarm occurs. The time stamp operates around the clock for approximately 13 years.

If 36000 is displayed,

3600000 [ms] = 3600 [s] = 60 [min] = 1 [h] Therefore, the total number of operating hours is 1 hour.

Preparation

There are no tasks that must be performed before displaying the alarm history.

E-55

5.8 Utility Functions

− FUNCTION−

Fn012 Fn000 Fn002 Fn003

− ALARM− 0: D00 0001207196 1: 720 0000032651 2: 511 0000009043 3: −−−

− ALARM− 1: 720 0000032651 2: 511 0000009043 3: −−− 4: −−−

Time stamps

Alarm Number

Alarm Sequence Number The higher the number, the older the alarm data.

Operating Procedure

Use the following procedure.

Step Display after Operation Keys Operation

Press the Key to open the Utility Function Mode main menu, and select

Fn000 using the or Key.

Press the Key.

The display is switched to the display of Fn000 (alarm history display).

Press the or Key to scroll

the alarm history display.

E-56

Press the Key.

The display returns to the Utility Function Mode main menu.

Fn012

Fn000 Fn002 Fn003

Note: 1. If the same alarm occurs after more than one hour, the alarm will be saved. If it occurs in less than one hour, it will

not be saved.

2. The display ".---" means no alarm occurs.

3. Delete the alarm history using the parameter Fn006. The alarm history is not cleared on alarm reset or when the SERVOPACK main circuit power is turned OFF.

4. CPF00 and CPF01 are the alarms related to digital operator, and not recorded in Alarm Data.

5. Warnings are not recorded in Alarm Data.

− FUNCTION−

5.8 Utility Functions

English

− FUNCTION−

Fn000 Fn002 Fn003 Fn006

 JOG Operation (Fn002)

JOG operation is used to check the operation of the servomotor under speed control without connecting the SERVOPACK to the host controller.

Preparation

The following conditions must be met to perform a jog operation.

• All alarms must be cleared.

• The servo ON signal (/S-ON) must be OFF.

• The JOG speed must be set considering the operating range of the machine.

Set the jog speed in Pn304.

Jog Speed

Pn304

Pn305

Pn306

Setting Range Setting Unit Factory Setting When Enabled

0 to 10000

Soft Start Acceleration Time

Setting Range Setting Unit Factory Setting When Enabled

0 to 10000 1 ms 100 Immediately

Soft Start Deceleration Time

Setting Range Setting Unit Factory Setting When Enabled

0 to 10000 1 ms 100 Immediately

1 min

-1

500 Immediately

Operating Procedure

Use the following procedure. The following operation example shows when the servomotor rotates at the JOG speed 1000 min-1. The factory setting of JOG speed is 500 min-1.

Step Display after Operation Keys Operation

Press the Key to open the Utility

BB − JOG−

Pn304=00500

Un000=0 00000 Un002=0 00000 Un00D=0 0000000000

Function Mode main menu, and select

Fn002 using the

Key.

Press the

The display is switched to the execution display of Fn002 (JOG mode operation).

or Key.

E-57

5.8 Utility Functions

BB − JOG−

Pn304=00500 Un000=0 00000 Un002=0 00000 Un00D=0 0000000000

BB − JOG−

Pn304=01000

Un000=0 00000

Un002=0 00000

Un00D=0 0000000000

BB − JOG−

Pn304=01000

Un000=0 00000

Un002=0 00000

Un00D=0 0000000000

RUN − JOG−

Pn304=01000

Un000=0 00000

Un002=0 00000

Un00D=0 0000000000

RUN − JOG−

Pn304=01000

Un000=0 00000

Un002=0 00000

Un00D=0 0000000000

Step Display after Operation Keys Operation

Press the

Key.

The cursor moves to the setting side (the right side) of Pn304 (JOG mode operation).

BB − JOG−

Pn304=01000

Un000=0 00000

Un002=0 00000 Un00D=0 0000000000

Press the

or Key to set the JOG

speed to 1000 min

Press the Key.

The setting value is entered, and the cursor moves to the parameter number side (the left side).

Press the Key.

“RUN” is displayed in the status display, and the servo turns ON.

Press the

servomotor at the speed 1000 min forward direction.

Press the

servomotor at the speed 1000 min reverse direction.

After having confirmed the correct motion

of servomotor, press the Key.

“BB” is displayed in the status display, and the servo turns OFF.

or Key and the

-1

Key to rotate the

-1

E-58

5.8 Utility Functions

English

Step Display after Operation Keys Operation

Press the

BB Fn000

Fn002 Fn003 Fn006

− FUNCTION−

Key.

The display returns to the Utility Function Mode main menu.

After JOG operation, turn OFF the power to the SERVOPACK and then turn ON again.

E-59

5.8 Utility Functions

CAUTION

For aligning the motor shaft to the machine

Servomotor

Machine

− FUNCTION−

Fn002

Fn003

Fn006

Fn010

 Origin Search (Fn003)

The origin search is designed to position the origin pulse position of the incremental encoder (phase C) and to clamp at the position.

• Perform origin searches without connecting the coupling.

This function is used when the motor shaft needs to be aligned to the machine. Motor speed at the time of execution: 60 min

-1

Preparation

The following conditions must be met to perform the origin search.

• All alarms must be cleared.

• The servo ON signal (/S-ON) must be OFF.

Operation Procedure

Use the following procedure. The following operation example shows when the servomotor rotates counterclockwise until the servomotor stops at the detected phase-C position.

Step Display after Operation Keys Operation

Key to open the Utility

Press the

BB − Z − Search− Un000=0 00000

Un002=0 00000 Un003=0 0000000774 Un00D=0 0000000000

Function Mode main menu, and select

Fn003 using the

Press the Key.

The display is switched to the execution display of Fn003 (Origin Search Mode).

or Key.

E-60

5.8 Utility Functions

English

Un000=0 00000

Un002=0 00000

Un003=0 0000000774

Un00D=0 0000000000

RUN − Z − Search−

Un000=0 00000

Un002=0 00000

Un003=0 0000000000

Un00D=0 0000001D58

BB − Z − Search−

Step Display after Operation Keys Operation

Press the Key.

“RUN” is displayed in the status display,

RUN − Complete− Un000=0 00000

Un002=0 00000

Un003=0 0000000000 Un00D=0 0000001D58

and the servomotor becomes servo ON status.

Note: If the servomotor is already at the

zero position, “-Complete-” is displayed.

Key to rotate the

Press the

servomotor in forward direction. And then stops at the phase-C position. Note: 1. Keep pressing the key until the

servomotor stops.

2. When the origin search completed normally, “-Complete-” is displayed on the right top on the screen.

When the origin search is completed,

press the Key.

“BB” is displayed in the status display, and the servomotor becomes servo OFF status. The display “-Complete-” changes to “-Z-Search-.”

BB Fn002

Fn003 Fn006 Fn010

− FUNCTION−

E-61

Press the

The display returns to the Utility Function Mode main menu.

After origin search operation, turn OFF the power to the SERVOPACK and then turn ON again.

Key.

5.8 Utility Functions

Alarm History

Start : [DATA] Return: [SET]

Data Clear

Alarm History

Start : [DATA] Return: [SET]

Data Clear

 Clearing Alarm History (Fn006)

The clear alarm history function deletes all of the alarm history recorded in the SERVOPACK.

Note: The alarm history is not deleted when the alarm reset is executed or the main circuit power

supply of the SERVOPACK is turned OFF.

Preparation

There are no tasks that must be performed before clearing the alarm history.

Operating Procedure

Use the following procedure.

Step Display after Operation Keys Operation

Press the

Fn003

Fn006 Fn010 Fn012

− FUNCTION−

Key to open the Utility

Function Mode main menu, and select Fn006 using the or Key.

Key.

Press the The display is switched to the execution

display of Fn006 (Clearing Alarm History).

E-62

Key to clear the alarm

Press the history. During clearing, “Done” is displayed in

the status display. After the clearing is completed, “BB” is displayed.

Note: Press the

Key not to clear

the alarm history. The display returns to the Utility Function Mode main menu.

English

 Software Version Display (Fn012)

− FUNCTION−

Fn010 Fn012 Fn000 Fn002

BB − Soft Ver−

DRIVER

Ver.=0001

− FUNCTION−

Fn010 Fn012 Fn000 Fn002

Select Fn012 to check the SERVOPACK software version numbers.

Preparation

There are no tasks that must be performed before the execution.

Operating Procedure

Use the following procedure.

Step Display after Operation Keys Operation

Press the key to open the Utility

Function Mode main menu, and select

Fn012 using the or Key.

Press the Key.

The SERVOPACK software version number is displayed.

Press the Key.

The display returns to the Utility Function Mode main menu.

5.8 Utility Functions

E-63

5.9 Alarm Display

ALM1

ALM2

ALM3

ALM1

ALM2

ALM3

ALM1

ALM2

ALM3

5.9 Alarm Display

If an alarm occurs, remove the cause of the alarm, and then clear the alarm. When a digital operator is being used, press ALARM RESET Key on the digital operator to clear the alarm. When JunmaWin is being used, click RESET in the Alarm Display window to clear the alarm.

 Alarm List

Alarm

Normal – – –

ALARM LED

Display

Alarm Code Alarm Name Alarm Reset

A.510

Speed error

A.d00

LM1

Overload

Encoder error

Voltage error

Overcurrent A.100

SERVOPACK

built-in fan

stopped

LM2

LM3

LM1

LM2

LM3

LM1

LM2

LM3

LM1

LM2

LM3

A.710

A.720

A.730

A.7AA

A.C10

A.C20

A.C50

A.C90

A.400

A.410

A.7Ab

Overspeed Available

Position Error Pulse Overflow

Overload: High load Available

Overload: Low load Available

Dynamic Brake Overload Available

Board Overheated Available

Servo Overrun Detected Available

Incorrect Phase Detection N/A

Incorrect Polarity Detection N/A

Encoder Signal Error N/A

Overvoltage Available

Undervoltage Available

Overcurrent N/A

SERVOPACK Built-in Fan stop N/A

Available

E-64

5.9 Alarm Display

English

ALM1

ALM2

ALM3

ALM1

ALM2

ALM3

Blinks at regular intervals

Alarm

System error

 Warning List

Warni ng

Servo Setup

• Rotary switch change

• Parameter change

ALARM LED

Display

Alarm Code Alarm Name Alarm Reset

A.020

A.021

A.022

A.023

A.030

A.040

A.b33

A.bF0

A.bF1

A.bF2

A.bF3

A.bF4

A.bFA

ALARM LED

Display

Parameter Error 0 N/A

Parameter Error 1 N/A

Parameter Error 2 N/A

Parameter Error 3 N/A

Main Circuit Detector Error N/A

Parameter Setting Error N/A

Current Detection Error N/A

System Alarm 0 N/A

System Alarm 1 N/A

System Alarm 2 N/A

System Alarm 3 N/A

System Alarm 4 N/A

System Alarm A N/A

Warning Code Warning Name

A.941

A.94E

Note: The alarm classification LED has priority over

the alarm LED for warning. Alarm LED for warning will not blink until the alarm is cleared.

Setting changed for parameters requiring restart

PULSE setting changed (rotary switch)

LM1

Overload A.910

LM2

LM3

E-65

Overload

5.10 Monitor

Un005 =

87654321 digit

Un006 =

87654321 digit

5.10 Monitor

 Monitor List

Un Number Content of Display Unit

Un000 Motor rotating speed

Un001 Speed reference

Un002 Internal torque reference (in percentage to the rated

torque)

Un003 Rotation angle 1

Un004 Rotation angle 2 (electric angle from polarity origin) deg

Un005

Un006

Input signal monitor

Output signal monitor

Un007 Input reference pulse speed

Un008 Position error amount reference unit

Un009 Accumulated load ratio (in percentage to the rated torque:

effective torque in cycle of 10 s)

Un00C Input reference pulse counter reference unit

Un00D Feedback pulse counter

-1

min

-1

min

feedback unit

–

-1

min

feedback unit

* 1. 65536 pulses/rev for SJDE-APA-OY SERVOPACK. * 2. Example of a display on the input signal monitor (Un005) is shown below. The top row indicates which signals are OFF,

and the bottom row which signals are ON. Signals that have not been defined are set to ON.

Digit Number

Input Pin

Number

1 CN1-6 /S-ON

2 to 8 – –

* 3. Example of a display on the output signal monitor (Un006) is shown below. The top row indicates which signals are

OFF, and the bottom row which signals are ON. Signals that have not been defined are set to ON.

Digit Number

Output Pin

Number

1CN1-12ALM

2CN1-13/BK

3CN1-14/COIN

4 to 8 – –

E-66

Signal Name

English

 Analog Output Signals that can be Monitored

−

The shaded parts in the following diagram indicate analog output signals that can be monitored.

SERVOPACK

CN 1

Speed reference Accumulated load ratio

Error

counter

Motor rotational

speed

Speed

loop

Speed

conversion

Torque

reference

Rotation angle

Current

loop

(U/V/W)

CN2

PULS SIGN

Position reference speed

Speed

conversion

Position loop

Electronic

gear

Electronic

gear

Error

counter

Position error

−

5.10 Monitor

MKp

Load

ENC

E-67

5.11 Parameter List

Direction Selection (rotational)

CCW for forward rotation.

CW for reverse rotation. (reverse rotation mode)

Reserved (Do not change.)

4th 3rd 2nd 1st digit digit digit digit



5.11 Parameter List

 Related Parameter

Parameter

No.

Basic Function Select Switch 0

Pn000

Name

Setting Range

0010 to 0011 - 0010 After restart

Units

Factory Setting

When

Enabled

E-68

English

 Related Parameter

Tuning-less Function Selection

When

Enabled

Uses the setting of the reference filter setting rotary switch (FIL).

After restart

Uses the settings in Pn170.2 and Pn170.3.

Reserved (Do not change.)

Tuning-less Rigidity Level

Acceleration/ Deceleration Time for step

Reference

Approx. Time between Completing Reference and

Completing Positioning

(Setting Time)

Description When

Enabled

0 170 ms 500 to 1000 ms

Immediately

1 85 ms 250 to 500 ms

2 80 ms 200 to 400 ms

3 70 ms 170 to 340 ms

4 65 ms 150 to 300 ms

5 60 ms 130 to 260 ms

6 50 ms 110 to 220 ms

7 45 ms 100 to 200 ms

8 40 ms 90 to 180 ms

9 36 ms 80 to 160 ms

A 33 ms 75 to 145 ms

B 30 ms 70 to 135 ms

C 28 ms 65 to 125 ms

D 26 ms 60 to 115 ms

E 24 ms 55 to 110 ms

F 22 ms 50 to 100 ms

Tuning-less Load Level

When

Enabled

Small load level

Immediately

Large load level

Small filter time constant (short positioning time)

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

4th 3rd 2nd 1st digit digit digit digit



5.11 Parameter List

Parameter

No.

Pn170

Name Setting Range Units

Tuning-less Function

0000 to 1F01 – 0700 –

Related Switch

Factory

Setting

When

Enabled

E-69

5.11 Parameter List

Electronic Gear Ratio Selection

Reference pulse resolution that is in accordance with the setting of the rotary switch for the reference pulse setting (PULSE).

Reference pulse resolution that is in accordance with the electronic gear ratio (Pn20E/Pn210).*

Reserved. (Do not change.)

4th 3rd 2nd 1st digit digit digit digit



Parameter

No.

Pn20E

Pn210

Pn21B

Pn304

Pn305

Pn306

Pn402 Forward Torque Limit

Pn403 Reverse Torque Limit

Pn522

* This parameter is only used to set the reference pulse resolution. Use the rotary switch for the reference pulse setting

(PULSE) to set the type of reference pulse. For details, refer to and Functions.

Name Setting Range Units

Electronic Gear Ratio (Numerator)

Electronic Gear Ratio (Denominator)

Electronic Gear Function Select Switch

Jog Speed

Soft Start Acceleration Time

Soft Start Deceleration Time

Positioning Completed Width

1 to 1073741824 1 4 After restart

1 to 1073741824 1 1 After restart

0000 to 0001 – 0000 After restart

0 to 10000

0 to 10000 1 ms 100 Immediately

0 to 800 1% 800 Immediately

0 to 1073741824 1 reference

-1

1 min

unit



Reference Pulse Setting (PULSE) under 1.5 Part Names

Factory Setting

500 Immediately

10 Immediately

When

Enabled

E-70

5.12 Communication Unit

English

CAUTION

CN5

5.12 Communication Unit

 Wiring

For the wirings, see the following figures.

• Do not frequently plug or unplug the cable.

The cable can only be connected 20 times. If the cable is connected more often, contact failure of the connector will occur and communications will be disabled.

• Do not bend the cable unless necessary.

Frequent bending may cause the cable to break.

• Do not connect the PC running JunmaWin and the digital operator to the communication unit at the same time.

Only the JunmaWin or the digital operator will be enabled.

• Be sure that the cable connectors are correctly inserted.

If the connectors are incorrectly or loosely connected, a communications failure will occur.

• Open the connector cover on the SERVOPACK only if necessary.

Frequent opening and closing may cause the cover to break.

• Do not pull on the cable when disconnecting it from the SERVOPACK.

If the cable is disconnected incorrectly, it might be pulled out of the cable connector.

• Be sure that the cable connectors are correctly aligned.

If the connectors are incorrectly inserted, malfunction or damage to the connector pins may occur.

To make it easy to check, a red wire is used to make pin 1 on the cable.

Connecting to Digital Operator

Cable for SERVOPACK

APA-OY

SJDE-APA-OY

SERVOPACK

CN52

Communication Unit

CN9

JUSP-JC001-1

CN 3

SVON COIN TGON REF

CHARGE

VCMP

ALARM RESET

JOG SVON

READ WRITE

SERVO

DIGITAL OPERATOR JUSP-OP05A-1-E

YASKAWA

SCROLL

MODE/SET

DATA

SERVO

Digital Operator

E-71

5.12 Communication Unit

SJDE-APA-OY

SERVOPACK

CN 3

CN9

CN52

JUSP-JC001-1

Communication Unit

Cable for SERVOPACK

Cable for PC

APA-OY

JunmaWin

Download

Connecting to PC running JunmaWin

CN5

* JunmaWin software can be downloaded from http://www.e-mechatronics.com.

Connecting to SERVOPACK

1. Open the panel which is to the right of the CN1 connector on the SERVOPACK.

2. Connect the cable to the connector inside. When connecting the cable, make sure that pin 1 (red) is bottom.

Connecting to Communication Unit

Connect the cable, making sure that pin 1 (red) is on the top.

SJDE

SERVOPACK

YASK AWA

200V

REF

AL1

AL2

AL3

FIL

C N 1

C N 2

PWR

＋

−

CNBCNA

SJDE- 04 APA-OY

PULSE

Pin No.1 (red)

Connector for PC

E-72

Communication Unit

English

 Operation

CN52

CN3

CN9

66.5

(4)

Unit: mm

Never run the SERVOPACK with a digital operator or JunmaWin connected.

Use a digital operator or JunmaWin only during:

• Setup, such as when the gear ratio is changed, and

• Maintenance, such as when the Monitor function is used to confirm the status.

 Dimensions

5.12 Communication Unit

 Specifications of Connector for PC (CN9)

Connector Specifications

Item Manufacturer Model

Board-side Hirose Electric Corporation DF11-4DP-2DS(52)(4P)

Connector-side Hirose Electric Corporation DF-4DS-2C(4P)

Connector Pin Arrangement

Number

1 /TXD I Transmitting 3 GND – GND

2 /RXD O Receiving 4 GND – GND

Symbol I/O Function

Number

Symbol I/O Function

E-73

6.1 Alarm Indicator Lights

NOTE

AL1

AL2

AL3

AL1

AL2

AL3

6 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 Yaskawa 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 turn ON the power again.

6.1 Alarm Indicator Lights

Alarm

Display

Alarm Name

Speed error

Overload Power was

Conditions at Alarm Occur-

rence

Power was turned ON.

Servo was turned ON.

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

turned ON.

Servo was turned ON.

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 reference is too large.

A SERVOPACK fault occurred. Replace the SERVOPACK.

An overload alarm was cleared excessive number of times by turning OFF the power.

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.

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.

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

Check and correct the servomotor wiring.

E-74

6.1 Alarm Indicator Lights

English

AL1

AL2

AL3

Alarm

Display

Alarm Name

Overload The servomo-

Conditions at Alarm Occur-

rence

tor did not rotate for a reference input from the controller.

Normal operation.

Servo OFF status.

Cause Corrective Action

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

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.

An overload alarm was cleared excessive number of times by turning OFF the power.

The SERVOPACK is used with the 100 VAC input voltage, and the motor is trying to rotate at a speed outside the allowable range defined by the speed/ torque characteristic curve.

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.

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

Use the 200 VAC input voltage or input the reference correctly.

Reconsider the load conditions.

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

E-75

6.1 Alarm Indicator Lights

AL1

AL2

AL3

AL1

AL2

AL3

Alarm

Display

Alarm Name

Encoder error

Voltage 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.

E-76

6.1 Alarm Indicator Lights

English

AL1

AL2

AL3

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

Check and correct the servomotor wiring.

Correct the servomotor circuits or cable. Replace the servomotor.

Note: 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.

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

E-77

6.1 Alarm Indicator Lights

AL1

AL2

AL3

AL1

AL2

AL3

Pn20E

Pn210

0.01≤≤100

AL1

AL2

AL3

Flashing at

regular

intervals.

Alarm Display

Alarm Name

SERVOP ACK builtin fan stopped.

System error

Reference pulse setting rotary switch (PULSE) changed.

The settings were changed for parameters that require the power to be restarted.

Conditions at Alarm Occur-

rence

Power was turned ON or during servomotor operation.

Power was turned ON.

Servo was turned ON.

Normal operation

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.

The power was turned OFF while the parameter was being set.

A value outside the allowable setting range was set for the parameter.

The electronic gear ratio is outside the setting range.

A SERVOPACK fault occurred.

The cable for the servomotor main circuit was disconnected.

A SERVOPACK fault occurred.

−

Refer to 7 Inspections and replace the cooling fan.

Inspect the cooling fan.

Execute Initialize Servo of the parameter edit function of JunmaWin, and set the parameter.

Reset the value to be within the allowable setting range.

Reset the value to be within the allowable range:

• Replace the SERVOPACK.

• Contact your Yaskawa representative.

• Replace the SERVOPACK.

• Contact your Yaskawa representative.

Reconsider the wiring of the cable for the servomotor main circuit.

• Replace the SERVOPACK.

• Contact your Yaskawa representative.

Turn ON the power again. (The operation of the servomotor can continue during display of this alarm.)

E-78

6.2 Troubleshooting for Malfunctions when Alarm Indicators Are Not Lit

English

6.2 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 wiring of the regenerative unit 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.

Replace the SERVOPACK and the regenerative unit, and 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.

Turn 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.

E-79

6.2 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.

The motor does not rotate at the speed specified by the reference input.

Servomotor turns in the wrong direction.

Servomotor operation is not stable.

Motor overheated

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 SERVOPACK is used with the 100 VAC input voltage, and the motor is trying to rotate at a speed outside the allowable range defined by the speed/torque characteristic curve.

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 from 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.

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 input voltage. Reenter the correct refer-

Check the speed/torque characteristics.

Check the reference pulse speed.

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).

Correct the wiring.

Set the suitable reference pulse type.

Connect a resistor according to the voltage.

ence.

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

Correct the wiring.

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.

E-80

6.2 Troubleshooting for Malfunctions when Alarm Indicators Are Not Lit

English

Problem Cause Inspection Items Corrective Action

The holding brake does not work.

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

Abnormal noise from Servomotor or machine vibrates, or an overshoot occurs.

The holding brake power is turned ON.

The servomotor is overloaded.

A stop circuit fault occurred.

Mounting not secured. Check to see if there are any

Defective bearings Check for the noise and

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.

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 servomotor.

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

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

−

loose mounting screws.

Check to see if the coupling is misaligned.

Check to see if the coupling is unbalanced.

vibration around the bearings.

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

is used.

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 used.

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 highcurrent lines.

Check to see if the machine is correctly grounded properly.

is being

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.

Reconsider the load conditions and replace the SERVOPACK.

Replace the SERVOPACK.

Tighten the mounting screws.

Align the coupling.

Balance the coupling.

If there is a fault, contact your Yaskawa 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.

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 absorber (for lightning surge) on the encoder cable.

Ground the machine separately from the PG’s FG.

E-81

6.2 Troubleshooting for Malfunctions when Alarm Indicators Are Not Lit

Problem Cause Inspection Items Corrective Action

Abnormal noise from Servomotor or machine vibrates, or an overshoot occurs.

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.

E-82

7.1 Regular Inspections

English

7 Inspections

7.1 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.

7.2 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 Yaskawa 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

environmental and operating conditions.

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

SERVOPACK Model Manufacturer

SJDE-01APA-OY to 04APA-OY

SJDE-08APA-OY JZSP-CHF08-2

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

unusual noise or vibration.

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

Clean with cloth or compressed air.

Tighten any loose screws.

E-83

7.3 Replacement of Cooling Fan

CAUTION

Front of SERVOPACK

Case

Yaskawa

LECT

RIC

Case

Cover

APA-OY

7.3 Replacement of Cooling Fan

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

Residual voltage may cause electric shock.

• 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.

 SJDE-01APA-OY to 04APA-OY SERVOPACKs

1. Open the case of the SERVOPACK.

Insert the tip of a straight-edge screwdriver into the three notches on the SERVOPACK one by one and pry the case off.

2. Lift up to remove the case.

E-84

English

3. Disconnect the cable of the cooling fan

Pick the cable up, and then pull it out.

Cooling fan

Mounting screw

Arrow on the

heatsink side

Fit the edge (

) of the cooling fan into the position (

)

circled here.

Arrows on the

cooling fan side

Place the cooling-fan cable as shown here.

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 cool-

ing 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.

7.3 Replacement of Cooling Fan

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

CAUTION: Make sure that the wiring lay-

out of the cable matches that shown in the diagram.

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

E-85

7.3 Replacement of Cooling Fan

Case

Front of SERVOPACK

Pick the cable up, and then pull it out.

Case

Cover

APA-OY

 SJDE-08APA-OY SERVOPACKs

1. Open the case of the SERVOPACK.

Insert the tip of a straight-edge screwdriver into the three notches on the case and the two on the cover on the SERVOPACK one by one and pry the case off.

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.

E-86

English

4. Remove the two mounting screws of

Cooling fan

Mounting screws

Diagram A

Diagram B

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

the cooling fan.

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

the opening ( ) as shown in the diagram 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.

7.3 Replacement of Cooling Fan

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

E-87

7.3 Replacement of Cooling Fan

Place the cooling-fan cable as shown here.

H 10

LCBON

H 10

LCBON

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 lay-

out of the cable matches that shown in the diagram.

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

E-88

8.1 Specifications

English

8 Specifications

8.1 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]

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

Output control method PWM control, sine wave power driven system

Feedback Analog output encoder

Allowable load inertia [kgm

Leakage current

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

I/O Signals

Clear input signal Clears the positioning error when turned from OFF to ON.

Servo ON input signal Turns the servomotor on or off.

Alarm output signal OFF if an alarm occurs.

Brake output signal External signal to control brakes.

Voltage

Frequency 50/60Hz ± 5%

Capacity at rated output [kVA]

200 VAC

100 VAC*

200 VAC

100 VAC*

200 VAC

100 VAC*

]* 0.6×10

Powersupply frequency

High frequency

Pulse type Select one of the following signals:

Pulse resolution, pulse connection method

0.1 0.2 0.4 0.75

2.5 3.3 6.0 11.1

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

Single-phase 100 V to 115 VAC, +10% to -15%

0.40 0.75 1.2 2.2

0.20 0.38 0.60 1.1

14 16 24 35

781217.5

tance 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.

Note: OFF for 2s when power is turned ON.

Turn ON to release the brake.

3×10

-4

5×10

-4

10×10

-4

E-89

8.2 Torque-Motor Speed Characteristics

NOTE

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

Positioning completed output signal

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

Origin output signal ON if the motor is at the origin. (Width: 1/500 rev)

I/O Signals

Note: Use the pulse edge that changes the signal

from OFF to ON.

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 Optional

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

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

Built-in functions

Reference filter Select one of eight levels with FIL switch.

Cooling method Forced cooling (built-in fan)

* A 100 VAC power supply can be used with a SERVOPACK version 03404 or firmware version 0004 or later.

When a 100 VAC power supply is used, reduced ratings are applied. For details, refer to 8.2 Torque-Motor Speed Charac-

teristics.

Use the input power supply within the specified voltage range: 200 VAC to 230 VAC or 100 VAC to 115 VAC

8.2 Torque-Motor Speed Characteristics

A: Continuous Duty Zone B: Intermittent Duty Zone

SJME-01A SJME-02A SJME-04A SJME-08A

5000

)

4000

-1

3000

2000

1000

Motor speed (min

0 0.25 1.000.750.50

Torque (

) Torque (

N㨯m

Note: 1. The characteristics of the intermittent duty zone differ depending on the supply voltages.

The solid and dotted lines of the intermittent duty zone indicate the characteristics when a servomotor runs with the following combinations:

• The solid line: With a single-phase 200 V SERVOPACK

• The dotted line: With a single-phase 100 V SERVOPACK

2. When the effective torque is within the rated torque, the servomotor can be used within the intermittent duty zone.

3. When the main circuit cable length exceeds 20 m, note that the intermittent duty zone of the To rqu e -Motor Speed Characteristics will shrink as the line-to-line voltage drops.

)

-1

Motor speed (min

5000

4000

3000

2000

1000

0 0.5 2.01.51.0

5000

)

4000

-1

3000

2000

1000

) Torque (

N㨯m

Motor speed (min

0123 4

5000

)

4000

-1

3000

) Torque (

N㨯m

2000

1000

Motor speed (min

02 4 68

N㨯m

)

E-90

8.3 Overload Protection Characteristics

English

NOTE

1000

100

100 150 200 250 300

Motor torque (%)

Time (s)

SJME-01 100W)

Example: If the Servomotor torque is 300 %,

an overload alarm will occur in approximately two seconds.

1000

100

150 200 250 300

Motor torque (%)

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

Time (s)

8.3 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 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.

• When using SERVOPACKs with a 100 VAC power supply, depending on the motor speed, an overload alarm may occur even if values are within the allowable range for the overload protection characteristics shown in the following figures.

The overload protection characteristics are shown below.

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

E-91

Revision History

MANUAL NO.ޓTOMP C710806 06A

Published in China October 201010-10

Date of publication

Date of original publication

The revision dates and numbers of the revised manuals are given on the bottom of the back cover.

Date of

Publication

October 2010

WEB

Rev.

No.

–– –

Section Revised Content

No.

First edition

AC SERVOPACK

JUNMA Series

INSTRUCTIONS

IRUMA BUSINESS CENTER (SOLUTION CENTER)

480, Kamifujisawa, Iruma, Saitama 358-8555, Japan Phone 81-4-2962-5151 Fax 81-4-2962-6138

YASKAWA AMERICA, INC.

2121 Norman Drive South, Waukegan, IL 60085, U.S.A. Phone (800) YASKAWA (800-927-5292) or 1-847-887-7000 Fax 1-847-887-7310

YASKAWA ELETRICO DO BRASIL LTDA.

Avenida Fagundes Filho, 620 Sao Paulo-SP CEP 04304-000, Brazil Phone 55-11-3585-1100 Fax 55-11-5581-8795

YASKAWA EUROPE GmbH

Hauptstraβe 185, Eschborn 65760, Germany

Phone 49-6196-569-300 Fax 49-6196-569-398

YASKAWA ELECTRIC UK LTD.

1 Hunt Hill Orchardton Woods Cumbernauld, G68 9LF, United Kingdom Phone 44-1236-735000 Fax 44-1236-458182

YASKAWA ELECTRIC KOREA CORPORATION

7F, Doore Bldg. 24, Yeoido-dong, Yeoungdungpo-gu, Seoul 150-877, Korea Phone 82-2-784-7844 Fax 82-2-784-8495

YASKAWA ELECTRIC (SINGAPORE) PTE. LTD.

151 Lorong Chuan, #04-01, New Tech Park 556741, Singapore Phone 65-6282-3003 Fax 65-6289-3003

YASKAWA ELECTRIC (SHANGHAI) CO., LTD.

No.18 Xizang Zhong Road. 17F, Harbour Ring Plaza Shanghai 200001, China Phone 86-21-5385-2200 Fax 86-21-5385-3299

YASKAWA ELECTRIC (SHANGHAI) CO., LTD. BEIJING OFFICE

Room 1011, Tower W3 Oriental Plaza, No.1 East Chang An Ave., Dong Cheng District, Beijing 100738, China Phone 86-10-8518-4086 Fax 86-10-8518-4082

YASKAWA ELECTRIC TAIWAN CORPORATION

9F, 16, Nanking E. Rd., Sec. 3, Taipei 104, Taiwan Phone 886-2-2502-5003 Fax 886-2-2505-1280

YASKAWA ELECTRIC CORPORATION

In the event that the end user of this product is to be the military and said product is to be employed in any weapons systems or the manufacture thereof, the export will fall under the relevant regulations as stipulated in the Foreign Exchange and Foreign Trade Regulations. Therefore, be sure to follow all procedures and submit all relevant documentation according to any and all rules, regulations and laws that may apply.

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

MANUAL NO. TOMP C710806 06A

Published in China October 2010 10-10

10-10-4

Yaskawa Junma User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

CONTENTS

Introduction

Notation Used in this Manual

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

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

 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

 Cable 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

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 Requirements

5.2 List of Available Functions and Applicable SERVOPACKs

5.3 Servomotor Rotation Direction

 Related Parameter

5.4 Electronic Gear

Encoder resolution

 Electronic Gear Ratio

 Electronic Gear Ratio Setting Examples

5.5 Positioning Completed Signal

 Related Parameter

 Related Parameter

5.6 Internal Torque Limit

 Related Parameters

5.7 Filter Setting using Parameter

 Filter Setting Procedure

 Related Parameter