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
R
E
F
English
汉语
日本語
English
AC SERVOPACK
JUNMA SERIES
INSTRUCTIONS
CONTENTS
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
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
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
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
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
R
E
F
C
0
8
9
A
B
D
E
F
4
5
3
2
6
7
1
C
0
8
9
A
B
D
E
F
4
5
3
2
6
7
1
SERVOPACK
model
Serial number
SERVOPACK
version
Applicable
power supply
Applicable motor
capacity
Order number
SJDE
SERVOPACK
R
E
F
C
0
8
9
A
B
D
E
F
4
5
3
2
6
7
1
C
0
8
9
A
B
D
E
F
4
5
3
2
6
7
1
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.
ACԎ᳡ܗ
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
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。
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-01AM41 SJME-01AM4C
SJME-01AM41-OY SJME-01AM4C-OY
SJME-02AM41 SJME-02AM4C
SJME-02AM41-OY SJME-02AM4C-OY
SJME-04AM41 SJME-04AM4C
SJME-04AM41-OY SJME-04AM4C-OY
SJME-08AM41 SJME-08AM4C
SJME-08AM41-OY SJME-08AM4C-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
L1
L2
+
CNA CNB
U
V
W
-
Connector for
communication unit (CN52)
C
N
1
9
F
A
E
B
D
C
4
5
6
7
0
1
8
2
3
9
F
A
E
B
D
C
4
5
6
7
0
1
8
2
3
PULSE
C
0
8
9
A
B
D
E
F
4
5
3
2
6
7
1
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
0
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F
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
CW
CCW
CW
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)*
3
Acceleration/
Deceleration
Time for Step
Reference
*4
Filter
Setting
Value*
2
Do not set 8 through F.
Small filter time
constant (short
positioning time)
Large filter time
constant
(little vibration
with a long
positioning time)
0*
1
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
C
0
8
9
A
B
D
E
F
4
5
3
2
6
7
1
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
AL1
AL2
AL3
AL1
AL2
AL3
AL1
AL2
AL3
AL1
AL2
AL3
AL1
AL2
AL3
AL1
AL2
AL3
Blinks at regular
intervals.
AL1
AL2
AL3
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
2
4.9 m/s
2
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
A
9
8
7
PULSE
A
9
8
7
FIL
C
N
1
C
N
2
PWR
L1
L2
+
-
50 mm
min.
YASKAWA
YASKAWA
200V
200V
SJDE- 04 APA-OY
D
C
B
E
A
F
CTL
9
0
8
1
7
2
6
3
5
4
AL1
PULSE
D
C
AL2
B
E
A
F
9
0
8
1
AL3
7
2
6
3
5
4
FIL
C
N
1
C
N
2
PWR
U
L1
V
L2
+
W
-
CNA CNB
10 mm
min.
SJDE- 04 APA-OY
D
C
B
E
A
F
9
0
8
1
7
2
6
3
5
4
PULSE
D
C
B
E
A
F
9
0
8
1
7
2
6
3
5
4
FIL
C
N
1
C
N
2
PWR
L1
L2
+
-
CNA CNB
50 mm
min.
D
C
B
E
F
CTL
0
1
2
6
3
5
4
AL1
D
C
AL2
B
E
F
0
1
AL3
2
6
3
5
4
U
V
W
CNA CNB
YASKAWA
200V
SJDE- 04 APA-OY
CTL
AL1
PULSE
AL2
AL3
FIL
C
N
1
C
N
2
PWR
U
V
W
Air outlet direction
200V
D
C
B
E
A
F
CTL
9
0
8
1
7
2
6
3
5
4
AL1
D
C
AL2
B
E
A
F
9
0
8
1
AL3
7
2
6
3
5
4
U
L1
V
L2
+
W
-
CNA CNB
Air inlet direction
E-17
3.1 Precautions on Wiring
WARNING
200V
YASKAWA
SJDE- 04 APA-OY
CTL
AL1
AL2
AL3
9
F
A
E
B
D
C
4
5
6
7
8
0
1
2
3
9
F
A
E
B
D
C
4
5
6
7
8
0
1
2
3
C
N
1
C
N
2
PWR
L1
L2
+
CNA CNB
U
V
W
-
200V
YASKAWA
SJDE- 04 APA-OY
FIL
PULSE
FIL
PULSE
FIL
PULSE
CTL
AL1
AL2
AL3
9
F
A
E
B
D
C
4
5
6
7
8
0
1
2
3
9
F
A
E
B
D
C
4
5
6
7
8
0
1
2
3
C
N
1
C
N
2
PWR
L1
L2
+
CNA CNB
U
V
W
-
200V
YASKAWA
SJDE- 04 APA-OY
CTL
AL1
AL2
AL3
9
F
A
E
B
D
C
4
5
6
7
8
0
1
2
3
9
F
A
E
B
D
C
4
5
6
7
8
0
1
2
3
C
N
1
C
N
2
PWR
L1
L2
+
CNA CNB
U
V
W
-
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
30
Power Loss
Power Loss with SERVOPACK Rated Output
Main
Circuit
Power
Supply
Max. Applica-
ble Servomotor
Capacity
kW
0.1 SJDE-01APA-OY 0.84 6 0.9 4.2
SERVOPACK
Model No.
Output
Current
(Effective
Value)
A
Main
Circuit
Power
Loss
W
Diode
Power
Loss
W
IPM
Power
Loss
W
Control
Circuit
Power
Loss
W
To ta l
Power
Loss
W
15
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
9
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
4
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-
01AM41
01AM41-OY
02AM41
02AM41-OY
04AM41
04AM41-OY
08AM41
08AM41-OY
PowerSupply
Capacity
kVA
0.4
0.75
1.2 8
2.2 16
MCCB
Current
Capacity
Arms
A
30
60
E-20
English
Noise Prevention
Example of Wiring for Noise Prevention
3.1 Precautions on Wiring
100 VAC
200 VAC
Noise filter
*1
Min. wire size
2
: 3.5 mm
*2
2LF
Casing
P
Min. wire size: 3.5 mm
Operation relay sequence
User signal generating circuit
*3
1LF
P
Casing
Casing
P
2
*2
AVR
(Ground
-ing)
2 mm2 or larger
Min. wire size: 3.5 mm
Casing
Casing
SERVOPACK
SJDE
L1
L2
Grounding plate
Groudning: Ground to one point only.
Min. grounding resistance: 100 Ω
CN1
2
*2
U
V
W
CN2
Min. wire size
: 3.5 mm
Min. wire size
: 3.5 mm
Servomotor
2
2
* 1. A 100 VAC power supply can be used with a SERVOPACK version 03404 or firmware version 0004 or later.
2
* 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.
M
(FG)
PG
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
R
E
F
Brake relay
24-VDC
power
supply
*
3
Used for a
servomotor
with a brake.
Used for a
regenerative unit.
C
0
8
9
A
B
D
E
F
4
5
3
2
6
7
1
C
0
8
9
A
B
D
E
F
4
5
3
2
6
7
1
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
*
1
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*
2
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
*
1
50/60Hz
AVR 1
*
2
24 V power supply
Brake
V
W
FG
U
V
W
U
V
W
U
/Z
B
+
A
+
PG0V
PG5VCW,PULS
/CW,/PULS
CCW,SIGN
/CCW,/SIGN
CLR
/CLR
PCO
SG-PCO
+24VIN
/S-ON
ALM
/BK
/COIN
SG-COM
2
3
4
1
2
3
4
5
6
7
8
9
10
12
1
2
3
4
1
2
3
4
8
9
5
6
7
Shell
Shell
Shield
Shield
Flywheel diode
10
11
12
13
14
1L1
L2
+
2
3
1
2
3
4
5
6
7
8
9
10
1
6
5
Varistor
200 V to
230 VAC,
100 V to
150 VAC
*
1
+
24V
0V
Molded-case circuit breaker
SERVOPACK
Controller
Regenerative unit
JUSP-
RG08E-E
Servomotor
Encoder
Surge absorber (for lightning surge)
Surge
absorber
*
3
L1
SW1
MC1
MC1
Ry1
Ry1
C1 C2
+
Y4
Y5
SW2
MC1
L2
75Ω
75Ω
75Ω
75Ω
75Ω
75Ω
2.2kΩ
CNA CNB
CN1 CN2
3.4kΩ
+
24V
0V
Noise
filter
Reactor
AVR 2
24 V power
supply
200 V to
230 VAC
100 V to
115 VAC
*
1
–
–
* Prepare a 24-VDC power supply
for the brake separate from the
sequence power supply.
Fuse
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.
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.
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
PE
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
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
c
d
e
f
* 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
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.
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.
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
4
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
*3
Noise
Filter
FN2070
-6/07
FN2070
-10/07
FN2070
-16/07
Schaffner
Electronic
Surge
Absorber
xCxM-
R
601BQZ-4
Okaya
Electric
Industries
Co., Ltd.
(Sold as:
Surge
Protector)
AC
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
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