Yaskawa Large Capacity Sigma II User Manual

YASKAWA

Series SGMBH/SGDH

USER’S MANUAL

AC Servodrive (400 V, 22 to 55 kW)

SGMBH Servomotor
SGDH SERVOPACK

YA S K A WA

 MANUAL NO. SIE-S800-32.4

Copyright © 2002 YASKAWA ELECTRIC CORPORATION

All rights reserved. No part of this publication may be reproduced, stored in a retrieval system,
or transmitted, in any form, or by any means, mechanical, electronic, photocopying, recording,
or otherwise, without the prior written permission of Yaskawa. No patent liability is assumed
with respect to the use of the information contained herein. Moreover, because Yaskawa is con­stantly striving to improve its high-quality products, the information contained in this manual is
subject to change without notice. Every precaution has been taken in the preparation of this
manual. Nevertheless, Yaskawa assumes no responsibility for errors or omissions. Neither is
any liability assumed for damages resulting from the use of the information contained in this
publication.

About this Manual

 This manual provides the following information for the Σ-II Series SGMBH/SGDH

Servodrives.

• Procedures for installing and wiring the servomotor and SERVOPACK.

• Procedures for trial operation of the Servodrive.

• Procedures for using functions and adjusting the servodrives.

• Procedures for using the built-in Panel Operator and the Hand-held Digital Operator.

• Ratings and specifications for standard models.

• Procedures for maintenance and inspection.

 Intended Audience

This manual is intended for the following users.

• Those designing Σ-II Series servodrive systems.

• Those installing or wiring Σ-II Series servodrives.

• Those performing trial operation or adjustments of Σ-II Series servodrives.

• Those maintaining or inspecting Σ-II Series servodrives.

 Description of Technical Terms

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

• Servomotor = Σ-II Series SGMBH servomotor.

• SERVOPACK = Σ-II Series SGDH SERVOPACK.

• Servodrive = A set including a servomotor and Servo Amplifier.

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

with a host computer and peripheral devices.

 Indication of Reverse Signals

In this manual, the names of reverse signals (ones that are valid when low) are written with a

forward slash (/) before the signal name, as shown in the following example:

• S-ON

• P-CON

= /S-ON

= /P-CON

iii

 Visual Aids

The following aids are used to indicate certain types of information for easier reference.

IMPORTANT

INFO

EXAMPLE

TERMS

Indicates important information that should be memorized, including precautions such as

alarm displays to avoid damaging the devices.

Indicates supplemental information.

Indicates application examples.

Indicates definitions of difficult terms or terms that have not been previously explained in

this manual.

The text indicated by this icon explains the operating procedure using Hand-held type Digi-

tal Operator (Type: JUSP-OP02A-2).

JUSP-OP02A-2

iv

Related Manuals

 Refer to the following manuals as required.

 Also, keep this manual in a safe place so that it can be referred to whenever neces-

sary.

Σ Series/Σ-ΙΙ Series
Servopacks Personal
Computer Monitoring
Software Operation Manual

Σ-ΙΙ Series
SGMH/SGDM
Digital Operator
Operation Manual

Safety Information

Manual Name Manual Number Contents

SIE-S800-35 Describes the applications and operation of

software for the Σ Series/Σ-II Series servo­drive monitoring devices for use on per­sonal computers.

TOE-S800-34 Provides detailed information on the opera-

tion of the JUSP-OP02A-2 Digital Opera­tor, which is an optional product.

WARNING

CAUTION

PROHIBITED

The following conventions are used to indicate precautions in this manual.

Failure to heed precautions provided in this manual 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 seri-

ous injury.

Indicates precautions that, if not heeded, could result in relatively serious or minor

injury, damage to the product, or faulty operation.

Indicates actions that must never be taken.

v

Safety Precautions

The following precautions are for checking products upon delivery, installation, wiring,

operation, maintenance and inspections.

 Checking Products upon Delivery

CAUTION

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

Not doing so may cause fire or malfunction.

 Installation

CAUTION

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

combustibles.

• Doing so may result in electric shock or fire.

vi

 Wiring

WARNING

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

Improper grounding may result in electric shock or fire.

• Use the thermal protector built into the servomotor according to either of the two following meth-

ods.

SGMBH servomotors are cooled by a fan. If the fan is defective or power to the fan is disconnected, heat
from the motor may result in burns or fire.

Method 1:

• Wire the output from the thermal protector to the host controller and turn OFF the servo when the

thermal protector operates.

Maincircuit
contactors

Maincircuit
powersupply

SGDH

SERVOPACK

M

PG

Thermal
protector

ServoOFF

HostController

Method 2:

• Wire the thermal protector to the operating circuit of the main circuit contactors or the host control-

ler and turn OFF the main circuit when the thermal protector operates.

Main

circuit

contactors

Maincircuit
powersupply

Tomaincircuit
contactors

SGDH

SERVOPACK

Hostcontrolleroroperating
circuitofmaincircuitcontactors

M

PG

Thermal
protector

CAUTION

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

Doing so may result in injury or fire.

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

Not doing so may result in fire.

vii

 Operation

WARNING

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

Doing so may result in injury.

CAUTION

• Conduct trial operation on the servomotor alone with the motor shaft disconnected from machine to

avoid any unexpected accidents.

Not doing so may result in injury.

• Before starting operation with a machine connected, change the settings to match the parameters

of the machine.

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

• Before starting operation with a machine connected, make sure that an emergency stop can be

applied at any time.

Not doing so may result in injury.

• Do not touch the heat sinks during operation.

Doing so may result in burns due to high temperatures.

 Maintenance and Inspection

WARNING

• Never touch the inside of the SERVOPACKs.

Doing so may result in electric shock.

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

Doing so may result in electric shock.

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

Residual voltage may cause electric shock.

CAUTION

• Do not disassemble the servomotor.

Doing so may result in electric shock or injury.

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

Doing so may result in electric shock or injury.

viii

 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.

SGDH SERVOPACK Standards and Certification

SGDH SERVOPACKs conform to the following standards. However, because this product is

a built-in type, reconfirmation is required after being installed in the final product.

• EN55011 group 1 class A

• EN50082-2

ix

CONTENTS

1 For First-time Users of AC Servos

1.1 Basic Understanding of AC Servos - - - - - - - - - - - - - - - - - - 1-2

1.1.1 Servo Mechanisms - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2

1.1.2 Technical Terms- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4

1.2 Configuration of Servo System - - - - - - - - - - - - - - - - - - - - - 1-5

1.3 Features of

1.3.1 Outline - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-10

1.3.2 Using the SGDH SERVOPACK - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-11

Σ-ΙΙ Series Servos - - - - - - - - - - - - - - - - - - - - - 1-10

2 Basic Operation

2.1 Precautions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2

2.2 Installation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-5

2.2.1 Checking on Delivery - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-5

2.2.2 Installing the Servomotor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-7

2.2.3 Allowable Radial and Thrust Loads - - - - - - - - - - - - - - - - - - - - - - - - 2-10

2.2.4 Installing the SERVOPACK - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-11

2.2.5 Power Loss - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-13

2.3 Connection and Wiring - - - - - - - - - - - - - - - - - - - - - - - - - - 2-14

2.3.1 Connecting to Peripheral Devices - - - - - - - - - - - - - - - - - - - - - - - - - 2-14

2.3.2 Main Circuit Wiring and Power ON Sequence- - - - - - - - - - - - - - - - - 2-18

2.4 I/O Signals- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-21

2.4.1 Examples of I/O Signal Connections - - - - - - - - - - - - - - - - - - - - - - - 2-22

2.4.2 List of CN1 Terminals - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-23

2.4.3 I/O Signal Names and Functions - - - - - - - - - - - - - - - - - - - - - - - - - - 2-24

2.4.4 Interface Circuits - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-26

2.5 Wiring Encoders- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-30

2.5.1 Connecting an Encoder (CN2) and Output Signals
from the SERVOPACK (CN1) - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-30

2.5.2 Terminal Layout and Types of CN2 Encoder Connector- - - - - - - - - - 2-31

2.5.3 Examples of Connecting I/O Signal Terminals- - - - - - - - - - - - - - - - - 2-32

3 Trial Operation

3.1 Two-step Trial Operation - - - - - - - - - - - - - - - - - - - - - - - - - - 3-2

3.1.1 Step 1: Trial Operation for Servomotor without Load - - - - - - - - - - - - - 3-3

3.1.2 Step 2: Trial Operation with the Servomotor Connected
to the Machine - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-9

x

3.2 Supplementary Information on Trial Operation - - - - - - - - - 3-10

3.2.1 Servomotors with Brakes - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-10

3.2.2 Position Control by Host Controller- - - - - - - - - - - - - - - - - - - - - - - - - 3-11

3.3 Minimum Parameters and Input Signals - - - - - - - - - - - - - - 3-12

3.3.1 Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-12

3.3.2 Input Signals - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-13

4 Parameter Settings and Functions

4.1 Settings According to Device Characteristics - - - - - - - - - - - 4-4

4.1.1 Switching Servomotor Rotation Direction - - - - - - - - - - - - - - - - - - - - -4-4

4.1.2 Setting the Overtravel Limit Function - - - - - - - - - - - - - - - - - - - - - - - -4-5

4.1.3 Limiting Torques - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-9

4.2 Settings According to Host Controller - - - - - - - - - - - - - - - - 4-14

4.2.1 Speed Reference - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-14

4.2.2 Position Reference - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-16

4.2.3 Using the Encoder Signal Output - - - - - - - - - - - - - - - - - - - - - - - - - -4-22

4.2.4 Sequence I/O Signals - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-26

4.2.5 Using the Electronic Gear Function - - - - - - - - - - - - - - - - - - - - - - - - 4-29

4.2.6 Contact Input Speed Control - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-33

4.2.7 Using Torque Control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-38

4.2.8 Torque Feed-forward Function - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-44

4.2.9 Speed Feed-forward Function - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-46

4.2.10 Torque Limiting by Analog Voltage Reference, Function 1- - - - - - - -4-47

4.2.11 Torque Limiting by Analog Voltage Reference, Function 2- - - - - - - - 4-48

4.2.12 Reference Pulse Inhibit Function (INHIBIT) - - - - - - - - - - - - - - - - - -4-50

4.3 Setting Up the SERVOPACK - - - - - - - - - - - - - - - - - - - - - - 4-52

4.3.1 Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-52

4.3.2 JOG Speed - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-53

4.3.3 Input Circuit Signal Allocation - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-53

4.3.4 Output Circuit Signal Allocation - - - - - - - - - - - - - - - - - - - - - - - - - - -4-57

4.3.5 Control Mode Selection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-59

4.4 Setting Stop Functions - - - - - - - - - - - - - - - - - - - - - - - - - - 4-62

4.4.1 Adjusting Offset - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-62

4.4.2 Using the Dynamic Brake - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-63

4.4.3 Using the Zero Clamp Function - - - - - - - - - - - - - - - - - - - - - - - - - - -4-64

4.4.4 Using the Holding Brake - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-66

4.5 Forming a Protective Sequence- - - - - - - - - - - - - - - - - - - - 4-70

4.5.1 Using Servo Alarm and Alarm Code Outputs- - - - - - - - - - - - - - - - - -4-70

4.5.2 Using the Servo ON Input Signal - - - - - - - - - - - - - - - - - - - - - - - - - -4-72

4.5.3 Using the Positioning Completed Output Signal - - - - - - - - - - - - - - - - 4-73

4.5.4 Speed Coincidence Output - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-75

4.5.5 Using the Running Output Signal - - - - - - - - - - - - - - - - - - - - - - - - - - 4-76

xi

4.5.6 Using the Servo Ready Output Signal - - - - - - - - - - - - - - - - - - - - - - 4-77

4.5.7 Using the Warning Output Signal- - - - - - - - - - - - - - - - - - - - - - - - - - 4-78

4.5.8 Using the Near Output Signal - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-80

4.5.9 Handling Power Loss - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-81

4.6 External Regenerative Resistors - - - - - - - - - - - - - - - - - - - 4-83

4.7 Absolute Encoders - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-84

4.7.1 Interface Circuit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-85

4.7.2 Selecting an Absolute Encoder - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-86

4.7.3 Handling Batteries - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-86

4.7.4 Absolute Encoder Setup - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-87

4.7.5 Absolute Encoder Reception Sequence - - - - - - - - - - - - - - - - - - - - - 4-90

4.7.6 Multiturn Limit Setting- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-95

4.8 Special Wiring - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-99

4.8.1 Wiring Precautions- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-99

4.8.2 Wiring for Noise Control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-101

4.8.3 Using More Than One Servodrive - - - - - - - - - - - - - - - - - - - - - - - - 4-105

4.8.4 Extending Encoder Cables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-106

5 Servo Adjustment

5.1 Smooth Operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-2

5.1.1 Using the Soft Start Function- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-2

5.1.2 Smoothing- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-3

5.1.3 Adjusting Gain - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-4

5.1.4 Adjusting Offset - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-4

5.1.5 Setting the Torque Reference Filter Time Constant - - - - - - - - - - - - - - 5-5

5.1.6 Notch Filter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-5

5.2 High-speed Positioning - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-6

5.2.1 Setting Servo Gain- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-6

5.2.2 Using Feed-forward Control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-8

5.2.3 Using Proportional Control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-8

5.2.4 Setting Speed Bias - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-9

5.2.5 Using Mode Switch - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-10

5.2.6 Speed Feedback Compensation - - - - - - - - - - - - - - - - - - - - - - - - - - 5-14

5.3 Autotuning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-16

5.3.1 Online Autotuning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-17

5.3.2 Machine Rigidity Settings for Online Autotuning - - - - - - - - - - - - - - - 5-19

5.3.3 Saving Results of Online Autotuning - - - - - - - - - - - - - - - - - - - - - - - 5-22

5.3.4 Parameters Related to Online Autotuning- - - - - - - - - - - - - - - - - - - - 5-25

5.4 Servo Gain Adjustments - - - - - - - - - - - - - - - - - - - - - - - - - 5-27

5.4.1 Servo Gain Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-27

5.4.2 Basic Rules of Gain Adjustment - - - - - - - - - - - - - - - - - - - - - - - - - - 5-27

5.4.3 Making Manual Adjustments - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-29

xii

5.4.4 Gain Setting Reference Values - - - - - - - - - - - - - - - - - - - - - - - - - - -5-34

5.5 Analog Monitor- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-36

6 Using the Digital Operator

6.1 Basic Operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-2

6.1.1 Connecting the Digital Operator - - - - - - - - - - - - - - - - - - - - - - - - - - - -6-2

6.1.2 Functions- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -6-3

6.1.3 Resetting Servo Alarms- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -6-4

6.1.4 Basic Mode Selection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -6-5

6.1.5 Status Display Mode - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -6-6

6.1.6 Operation in Parameter Setting Mode- - - - - - - - - - - - - - - - - - - - - - - -6-9

6.1.7 Operation in Monitor Mode - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-15

6.2 Applied Operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-20

6.2.1 Operation in Alarm Traceback Mode- - - - - - - - - - - - - - - - - - - - - - - - 6-21

6.2.2 Controlling Operation Through the Digital Operator - - - - - - - - - - - - -6-22

6.2.3 Automatic Adjustment of the Speed and Torque Reference Offset - - - 6-25

6.2.4 Manual Adjustment of the Speed and Torque Reference Offset- - - - - 6-28

6.2.5 Clearing Alarm Traceback Data - - - - - - - - - - - - - - - - - - - - - - - - - - -6-33

6.2.6 Checking the Motor Model- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -6-35

6.2.7 Checking the Software Version - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-38

6.2.8 Zero-point Search Mode - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-39

6.2.9 Initializing Parameter Settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-42

6.2.10 Manual Zero Adjustment and Gain Adjustment of
Analog Monitor Output - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -6-44

6.2.11 Adjusting the Motor Current Detection Offset - - - - - - - - - - - - - - - - - 6-49

6.2.12 Password Setting (Write Prohibited Setting) - - - - - - - - - - - - - - - - -6-53

6.2.13 Clearing Option Unit Detection Results - - - - - - - - - - - - - - - - - - - - -6-55

7 Servo Selection and Data Sheets

7.1 Selecting a S-II Series Servodrives - - - - - - - - - - - - - - - - - - 7-3

7.1.1 Selecting Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -7-3

7.1.2 Selecting SERVOPACKs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -7-8

7.2 Servomotor Ratings and Specifications - - - - - - - - - - - - - - - 7-9

7.2.1 Ratings and Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -7-9

7.2.2 Mechanical Characteristics - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-11

7.3 SERVOPACK Ratings and Specifications - - - - - - - - - - - - 7-13

7.3.1 Combined Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -7-13

7.3.2 Ratings and Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -7-14

7.3.3 Overload Characteristics - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-18

7.3.4 Starting and Stopping Time - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -7-19

7.3.5 Load Moment of Inertia - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -7-19

7.3.6 Overhanging Load - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-20

xiii

7.4 Servodrive Dimensional Drawings - - - - - - - - - - - - - - - - - - 7-21

7.4.1 Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-21

7.4.2 SERVOPACKs- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-24

7.5 Specifications and Dimensional Drawings
for Peripheral Devices - - - - - - - - - - - - - - - - - - - - - - - - - - 7-27

7.5.1 Cable Specifications and Peripheral Devices - - - - - - - - - - - - - - - - - 7-27

7.5.2 Digital Operator - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-31

7.5.3 CN1 Connector - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-32

7.5.4 Connector Terminal Block Converter Unit - - - - - - - - - - - - - - - - - - - - 7-34

7.5.5 Cable With CN1 Connector and One End Without Connector- - - - - - 7-36

7.5.6 CN2 Encoder Connector at SERVOPACK - - - - - - - - - - - - - - - - - - - 7-37

7.5.7 Encoder Cables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-37

7.5.8 Absolute Encoder Battery - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-41

7.5.9 Brake Power Supplies - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-42

7.5.10 Molded-case Circuit Breaker (MCCB) - - - - - - - - - - - - - - - - - - - - - 7-44

7.5.11 Noise Filter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-44

7.5.12 Surge Suppressor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-46

7.5.13 Regenerative Resistor Unit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-46

7.5.14 Dynamic Brake (DB) Unit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-50

7.5.15 Thermal Relays - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-56

7.5.16 Variable Resistor for Speed Setting - - - - - - - - - - - - - - - - - - - - - - - 7-59

7.5.17 Encoder Signal Converter Unit - - - - - - - - - - - - - - - - - - - - - - - - - - 7-59

7.5.18 Cables for Connecting PCs to a SERVOPACK - - - - - - - - - - - - - - - 7-61

8 Inspection, Maintenance, and Troubleshooting

8.1 Servodrive Inspection and Maintenance - - - - - - - - - - - - - - 8-2

8.1.1 Servomotor Inspection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-2

8.1.2 SERVOPACK Inspection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-3

8.1.3 Replacing Battery for Absolute Encoder - - - - - - - - - - - - - - - - - - - - - - 8-4

8.2 Troubleshooting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-5

8.2.1 Troubleshooting Problems with Alarm Displays- - - - - - - - - - - - - - - - - 8-5

8.2.2 Troubleshooting Problems with No Alarm Display - - - - - - - - - - - - - - 8-35

8.2.3 Alarm Display Table - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-37

8.2.4 Warning Displays- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-39

8.2.5 Internal Connection Diagram and Instrument Connection
Examples - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-40

Appendix A List of Parameters

INDEX

xiv

1

For First-time Users of AC Servos

This chapter is intended for first–time users of AC servos. It describes the

basic configuration of a servo mechanism and basic technical terms relating to

servos. Users who already have experience in using a servo should also take a

look at this chapter to understand the features of Σ-ΙΙ Series AC Servos.

1.1 Basic Understanding of AC Servos - - - - - - - - - - - - - - - - - - - 1-2

1.1.1 Servo Mechanisms - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2

1.1.2 Technical Terms - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4

1.2 Configuration of Servo System - - - - - - - - - - - - - - - - - - - - - - 1-5

1.3 Features of Σ-ΙΙ Series Servos - - - - - - - - - - - - - - - - - - - - - 1-10

1.3.1 Outline - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-10

1.3.2 Using the SGDH SERVOPACK - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-11

1

1-1

For First-time Users of AC Servos

1

1.1.1 Servo Mechanisms

1.1 Basic Understanding of AC Servos

This section describes the basic configuration of a servo mechanism and technical terms relating

to servos and also explains the features of Σ-ΙΙ Series AC Servos.

1.1.1 Servo Mechanisms

You may be familiar with the following terms:

• Servo

• Servo mechanism

• Servo control system

In fact, these terms are synonymous. They have the following meaning:

A control mechanism that monitors physical quantities such as specified positions.

In short, a servo mechanism is like a servant who does tasks faithfully and quickly according

to his master’s instructions. In fact, “servo” originally derives from the word “servant.”

1

Servo system could be defined in more detail as a mechanism that:

• Moves at a specified speed and

• Locates an object in a specified position

TERMS

1

Servo mechanism

According to Japanese Industrial Standard (JIS) terminology, a “servo mechanism” is defined as a
mechanism that uses the position, direction, or orientation of an object as a process variable to control
a system to follow any changes in a target value (set point). More simply, a servo mechanism is a con­trol mechanism that monitors physical quantities such as specified positions. Feedback control is nor­mally performed by a servo mechanism. (Source: JIS B0181)

1-2

1.1 Basic Understanding of AC Servos

To develop such a servo system, an automatic control system involving feedback control1

must be designed. This automatic control system can be illustrated in the following block

diagram:

ConfigurationofServoSystem

Specifiedposition

input

+

-

Servo
amplifier

Servo­motor

Feedbackpart

Detector

Controlled
machine
(load)

Machineposition

output

This servo system is an automatic control system that detects the machine position (output

data), feeds back the data to the input side, compares it with the specified position (input

data), and moves the machine by the difference between the compared data.

In other words, the servo system is a system to control the output data to match the specified

input data.

If, for example, the specified position changes, the servo system will reflect the changes.

In the above example, input data is defined as a position, but input data can be any physical

quantities such as orientation (angle), water pressure, or voltage.

Position, speed, force (torque), electric current, and so on are typical controlled values for a

servo system.

1

TERMS

1

Feedback control

A control method in which process variables are returned to the input side to form a closed loop. It is
also called closed-loop control. If a negative signal is returned to the input side, it is called negative
feedback control. Normally, negative feedback control is used to stabilize the system. If feedback is
not returned, the control method is called open-loop control.

1-3

For First-time Users of AC Servos

1

1.1.2 Technical Terms

1.1.2 Technical Terms

The main technical terms used in this manual are as follows:

• Servo mechanism

• Servo

Normally, servo is synonymous with servo mechanism. However, because “mecha-

nism” is omitted, the meaning becomes somewhat ambiguous. Servo may refer to the

entire servo mechanism but may also refer to an integral part of a servo mechanism such

as a servomotor or a servo amplifier. This manual also follows this convention in the use

of the term “servo.”

• Servo control system

Servo control system is almost synonymous with servo mechanism but places the focus

on system control. In this manual, the term “servo system” is also used as a synonym of

servo control system.

Related Terms Meaning

Servomotor General servomotors or Yaskawa SGMBH servomotors. In some cases,

a position detector (encoder) is included in a servomotor.

SERVOPACK Trademark of Yaskawa servo amplifier “SGDH SERVOPACK.”

Servo drive A servomotor and amplifier pair. Also called “servo.”

Servo system A closed control system consisting of a host controller, servo drive and

controlled system to form a servo mechanism.

Hostcontroller

Reference

Amplifier

POWER

8CN

TDATA/SEEMOD/

CN5

KSERVOPAC

AYASKAW

(SERVOPACK)

O
P
E
R
A
T
O
R

CN3

WARNING

5
!

Maycause
electricshock.

Disconnectallpower
andwait5min.
beforeservicing.

Useproper

groundingtechniques.

480V460

CHARGE

S-HDG

DC

DC

400V0V440

380

DU

DWDV B1

B2

24N

24P

V

V

V

L1/R L2/S

+2-+1

UVW

L3/T

Servomotor

Operate

Controlled
system

Servodrive

Servosystem

1-4

1.2 Configuration of Servo System

The following diagram illustrates a servo system in detail:

Positionor
speed
reference

Comparator

(Input)

Positionor
speed
feedback

Power
amplifier

(3) (2)

Hostcontroller

(5)

Servoamplifier

(4)

Motor
drive
circuit

Gear

1.2 Configuration of Servo System

(Output)

Position

Speed

(1)

Controlled
system

Movabletable

Ballscrew

1

Drivesystem

(1) Controlled

system:

Detector

servomotor

Mechanical system for which the position or speed is to be controlled. This
includes a drive system that transmits torque from a servomotor.

(2) Servomotor: A main actuator that moves a controlled system. Two types are available: AC ser-

vomotor and DC servomotor.

(3) Detector: A position or speed detector. Normally, an encoder mounted on a motor is used as

a position detector.

(4) Servo amplifier: An amplifier that processes an error signal to correct the difference between a ref-

erence and feedback data and operates the servomotor accordingly. A servo
amplifier consists of a comparator, which processes error signals, and a power
amplifier, which operates the servomotor.

(5) Host controller: A device that controls a servo amplifier by specifying a position or speed as a set

point.

1-5

For First-time Users of AC Servos

1

1.1.2 Technical Terms

Servo components (1) to (5) are outlined below:

1. Controlled System

In the previous figure, the controlled system is a movable table for which the position or

speed is controlled. The movable table is driven by a ball screw and is connected to the

servomotor via gears. So, the drive system consists of:

• Gears + Ball Screw

This drive system is most commonly used because the power transmission ratio (gear

ratio) can be freely set to ensure high positioning accuracy. However, play in the gears

must be minimized.

The following drive system

1

is also possible when the controlled system is a movable

table:

• Coupling + Ball Screw

When the power transmission ratio is

1 : 1, a coupling is useful because it

has no play.

This drive system is widely used for

machining tools.

Coupling

Housing

Rolling-contact
guide

Ballscrew

Rolling-contact
bearing

TERMS

• Timing Belt + Trapezoidal Screw Thread

A timing belt is a coupling device that allows

the power transmission ratio to be set freely

and that has no play.

A trapezoidal screw thread does not provide

excellent positioning accuracy, so can be

Trapezoidal
screwthread

treated as a minor coupling device.

To develop an excellent servo system, it is

important to select a rigid drive system that

Servomotor

Timingbelt

has no play.

Configure the controlled system by using an appropriate drive system for the control

purpose.

1

Drive system

Also called a drive mechanism. A drive system connects an actuator (such as a servomotor) to a con­trolled system and serves a mechanical control component that transmits torque to the controlled sys­tem, orientates the controlled system, and converts motion from rotation to linear motion and vice
versa.

1-6

1.2 Configuration of Servo System

2. Servomotor

• DC Servomotor and AC Servomotor

Servomotors are divided into two types: DC servomotors and AC servomotors.

DC servomotors are driven by direct current (DC). They have a long history. Up until

the 1980s, the term “servomotor” used to imply a DC servomotor.

From 1984, AC servomotors were emerging as a result of rapid progress in micropro-

cessor technology. Driven by alternating current (AC), AC servomotors are now widely

used because of the following advantages:

• Easy maintenance: No brush

• High speed: No limitation in rectification rate

Note however that servomotors and SERVOPACKs use some parts that are subject to

mechanical wear or aging. For preventive maintenance, inspect and replace parts at reg-

ular intervals. For details, refer to Chapter 8 Inspection, Maintenance, and Trouble-

shooting.

• AC Servomotor

1

AC servomotors are divided into two types: Synchronous type and induction type. The

synchronous type is more commonly used.

For a synchronous type servomotor, motor speed is controlled by changing the fre-

quency of alternating current.

A synchronous type servomotor provides strong holding torque when stopped, so this

type is ideal when precise positioning is required. Use this type for a servo mechanism

for position control.

The following figure illustrates the structure of a synchronous type servomotor:

Rotary disc
Light-emitting
element

Position detector
(encoder)

Light-receiving
element

Armature
wire

Lead wire

Housing

Stator core

Magnet

Front cap

Ball bearing

Shaft

Rotor core

Yaskawa SGMBH servomotors are of the synchronous type.

• Performance of Servomotor

A servomotor must have “instantaneous power” so that it can start as soon as a start ref-

erence is received. The term “power rating (kW/s)” is used to represent instantaneous

power. It refers to the electric power (kW) that a servomotor generates per second. The

greater the power rating, the more powerful the servomotor.

1-7

For First-time Users of AC Servos

1

3. Detector

A servo system requires a position or speed detector. It uses an encoder mounted on a

servomotor for this purpose. Encoders are divided into the following two types:

• Incremental Encoder

An incremental encoder is a pulse generator, which generates a certain number of pulses

per revolution (e.g., 2,000 pulses per revolution). If this encoder is connected to the

mechanical system and one pulse is defined as a certain length (e.g., 0.001 mm), it can

be used as a position detector. However, this encoder does not detect an absolute posi-

tion and merely outputs a pulse train. Hence zero point return operation must be per-

formed before positioning. The following figure illustrates the operation principle of a

pulse generator:

Phase A pulse train

Phase B pulse train

Fixed slit

Light-receiving
element

Center of
revolution

Phase A
Phase B

Phase Z

Rotary
disc

Slit

Light-emitting
element

Rotary slit

• Absolute Encoder

An absolute encoder is designed to detect an absolute angle of rotation as well as to per-

form the general functions of an incremental encoder. With an absolute encoder, there-

fore, it is possible to create a system that does not require zero point return operation at

the beginning of each operation.

• Difference between an Absolute and Incremental Encoder

An absolute encoder will keep track of the motor shaft position even if system power is

lost and some motion occurs during that period of time. The incremental encoder is

incapable of the above.

1-8

1.2 Configuration of Servo System

4. Servo Amplifier

A servo amplifier is required to operate an AC servomotor. The following figure illus-

trates the configuration of a servo amplifier:

Servo amplifier

Motor driving AC power

Reference
input

Comparator

Power
amplifier

1

Feedback

Commercial AC power

Servomotor

A servo amplifier consists of the following two sections:

• Comparator

A comparator consists of a comparison function and a control function. The comparison

function compares reference input (position or speed) with a feedback signal and gener-

ates a differential signal.

The control function amplifies and transforms the differential signal. In other words, it

performs proportional (P) control or proportional/integral (PI) control

1

. (It is not impor-

tant if you do not understand these control terms completely at this point.)

• Power Amplifier

A power amplifier runs the servomotor at a speed or torque proportional to the output of

the comparator. In other words, from the commercial power supply of 50/60 Hz, it gen-

erates alternating current with a frequency proportional to the reference speed and runs

the servomotor with this current.

5. Host Controller

A host controller controls a servo amplifier by specifying a position or speed as a set

point.

TERMS

For speed reference, a position control loop may be formed in the host controller when a

position feedback signal is received. Yaskawa machine controller MP920 is a typical

host controller.

1

Proportional/integral (PI) control

PI control provides more accurate position or speed control than proportional control, which is more
commonly used.

1-9

For First-time Users of AC Servos

1

1.3.1 Outline

1.3 Features of Σ-ΙΙ Series Servos

A Σ-ΙΙ Series Servo consists of an SGMBH servomotor and an SGDH SERVOPACK.

1.3.1 Outline

This section outlines SGMBH servomotor types and the control types of SGDH SERVO-

PAC Ks .

 SGMBH Servomotor Type

Σ-ΙΙ Series SGMBH servomotors are synchronous type servomo-

tors and have the following features:

Rated Motor

Speed

Voltage Maximum

To rq u e

Rated Output

Maximum

Motor Speed

1500 min

2000 min

-1

-1

400 V 200 % 22 to 55 kW (10 models)

 Control Types of SGDH SERVOPACK

SGDH SERVOPACKs allow the control of speed, position and torque.

Speed Control (Analog Reference)

Accepts an analog voltage speed reference.

Position Control (Pulse Reference)

Accepts a pulse train position reference.

Torque Control (Analog Reference)

Accepts an analog voltage torque reference.

SGMBH
Servomotor

WARNING

5

May cause
electric shock.

Disconnect all power
and wait 5 min.
before servicing.

Use proper

grounding techniques.

SGDH SERVOPACK

1-10

1.3.2 Using the SGDH SERVOPACK

 Using the SERVOPACK for Speed Control

The most common use of a SERVOPACK for speed control is shown below:

1.3 Features of Σ-ΙΙ Series Servos

Host controller

Position reference

Position
feedback

(Analog
voltage)

+

Speed
reference

+

-

Position

-

Convert

Position feedback

Position control loop

SERVOPACK
(speed control mode)

Power
amplifier

+

-

Speed

Pulse train

Servomotor

Torque
(current)
feedback

Encoder

As shown in the above figure, a position control loop is formed in the host controller. The

host controller compares a position reference with a position feedback signal and sends the

processed result to the SERVOPACK as a speed reference.

In this way the host controller can be freed from performing the servo mechanism control.

The SERVOPACK undertakes the speed control loop and subsequent control processing.

1

The Yaskawa machine controller MP920 is used as a typical host controller.

1-11

For First-time Users of AC Servos

1

1.3.2 Using the SGDH SERVOPACK

 Using the SERVOPACK for Torque Control

The SERVOPACK can be used for torque control as shown below.

Host controller

Position
monitoring

Position
information

Torque
reference

(Analog
voltage)

Position feedback Encoder

SERVOPACK
(torque control mode)

Power
amplifier

Servomotor

Torque (current)
feedback

Pulse train

The host controller outputs a torque reference to control the SERVOPACK. It also receives a

pulse train (position information) from the SERVOPACK and uses it to monitor the position.

1-12

 Using the SERVOPACK for Position Control

The SERVOPACK can be used for position control as shown below.

Host controller

Position
monitoring

1.3 Features of Σ-ΙΙ Series Servos

Position
information

Position
reference

Pulse
train

+

+

--

Speed/current loop

Position feedback

SERVOPACK
(position control mode)

Power
amplifier

Servomotor

Pulse train

Encoder

The host controller can send a position reference (pulse train) to the SERVOPACK to per-

form positioning or interpolation. This type of SERVOPACK contains a position control

loop.

Parameters can be used to select either of the following pulse trains:

• Sign + pulse train

• Two-phase pulse train with 90° phase difference

• Forward and reverse pulse trains

The host controller receives a pulse train (position information) from the SERVOPACK and

uses it to monitor the position.

1

 Parameter Setting

A Digital Operator can be used to set parameters for a SERVOPACK as follows:

• Setting parameters to enable or disable each function

• Setting parameters required for functions to be used

Set parameters according to the servo system to be set up.

1-13

2

Basic Operation

This chapter describes the first things to do when Σ-II Series products are

delivered. It also explains the most fundamental ways of connecting and oper-

ating Σ-II Series products. Both first-time and experienced servo users must

read this chapter.

2.1 Precautions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -2-2

2.2 Installation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -2-5

2.2.1 Checking on Delivery - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-5

2.2.2 Installing the Servomotor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-7

2.2.3 Allowable Radial and Thrust Loads - - - - - - - - - - - - - - - - - - - - - - - - 2-10

2.2.4 Installing the SERVOPACK - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-11

2.2.5 Power Loss - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-13

2

2.3 Connection and Wiring - - - - - - - - - - - - - - - - - - - - - - - - - - 2-14

2.3.1 Connecting to Peripheral Devices - - - - - - - - - - - - - - - - - - - - - - - - - 2-14

2.3.2 Main Circuit Wiring and Power ON Sequence - - - - - - - - - - - - - - - - - 2-18

2.4 I/O Signals - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-21

2.4.1 Examples of I/O Signal Connections - - - - - - - - - - - - - - - - - - - - - - - 2-22

2.4.2 List of CN1 Terminals - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-23

2.4.3 I/O Signal Names and Functions - - - - - - - - - - - - - - - - - - - - - - - - - - 2-24

2.4.4 Interface Circuits - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-26

2.5 Wiring Encoders - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-30

2.5.1Connecting an Encoder (CN2) and Output Signals
from the SERVOPACK (CN1) - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-30

2.5.2 Terminal Layout and Types of CN2 Encoder Connector - - - - - - - - - - 2-31

2.5.3 Examples of Connecting I/O Signal Terminals - - - - - - - - - - - - - - - - 2-32

2-1

Basic Operation

2

2.1 Precautions

This section provides notes on using Σ-II Series products.

 Use a 400-VAC power supply.

Use a 400-VAC power supply.

 Do not connect the servomotor directly to a commercial power line.

Direct connection to the power frequency sup-

ply will damage the servomotor. The servomo-

tor cannot be operated without an SGDH

SERVOPACK.

power supply

 Do not change wiring when power is ON.

Always turn the power OFF before connecting

or disconnecting a connector. (Except for Digi-

tal Operator (Model: JUSP-OP02A-2))

400 VAC

WARNING

5
!

May cause
electric shock.

Disconnect all power
and wait 5 min.
before servicing.

Use proper

grounding techniques.

480 V460

400 V 0 V440

380

V

V

V

CHARGE

Direct
connection

Damage will result!

OFF

POWER

8CN

TDATA/SEEMOD/

CN5

KSERVOPAC

AYASKAW

(POWER and
CHANGE lamp)

O
P
E
R
A
T
O
R
CN3

S-HDG

DC

DC

DU

DWDV B1

B2

24N

24P

L1/R L2/S

+2-+1

UVW

L3/T

Always turn the
power OFF before
connecting a
connector.

 Before inspecting, always wait 5 minutes after turning power OFF.

Even after the power is turned OFF, residual

electric charge still remains in the capacitor

inside the SERVOPACK. To prevent an electric

shock, always wait for the CHARGE lamp to go

OFF before starting inspection (if necessary).

2-2

CHARGE lamp

 Always follow the specified installation method.

2.1 Precautions

When installing SERVOPACKs side by side as

Provide sufficient clearance

shown in the figure on the right, allow at least 10

mm (0.39 in) between and at least 50 mm (1.97 in)

above and below each SERVOPACK. The SERVO-

50 mm
or more

PACK generates heat. Install the SERVOPACK so

that it can radiate heat freely. Note also that the

SERVOPACK must be in an environment free from

condensation, vibration and shock.

Ambient temperature: 0 to 55°C

 Perform noise reduction and grounding properly.

If the signal line is noisy, vibration or malfunction will result.

• Separate high-voltage cables from low-voltage

cables.

• Use cables as short as possible.

• Perform the grounding with the ground resis-

tance of 100 Ω or less for the servomotor and

SERVOPACK.

• Never use a line filter for the power supply in

the motor circuit.

SERVOPACK

480 V460

400 V 0 V440

380

DU

V

V

V

CHARGE

+2-+1

WARNING

5
!

May cause
electric shock.

Disconnect all power
and wait 5 min.
before servicing.

Use proper

grounding techniques.

480 V460

400 V 0 V440

380
V

V

V

CHARGE

Casing

Single
line

DC

DC

DWDV B1

B2

24N

24P

L1/R L2/S

UVW

L3/T

POWER

8CN

O
P
E
R
A
T
O
R

T DATA/SEEMOD/

CN5

CN3

KSERVOPAC

S-HDG

AYASKAW

DC

DC

DU

DWDV B1

B2

24N

24P

L1/R L2/S

+2-+1

UVW

L3/T

Servomotor

Ground
(with resistance
of 100 Ω or less)

10 mm
or more

WARNING

5
!

May cause
electric shock.

Disconnect all power
and wait 5 min.
before servicing.

Use proper

grounding techniques.

480 V460

400 V 0 V440

380

DU

V

V

V

CHARGE

+2-+1

M

POWER

8CN

O
P
E
R
A
T
O
R

TDATA/SEEMOD/

CN5

CN3

KSERVOPAC

S-HDG

AYASKAW

DC

DC

DWDV B1

B2

24N

24P

L1/R L2/S

UVW

L3/T

2

 Conduct a voltage resistance test under the following conditions.

• Voltage: 1500 Vrms AC, one minute

• Current limit: 100 mA

• Frequency: 50/60 Hz

• Voltage application points: Between 480 V, 460 V, 440 V, 400 V, 380 V, 0 V terminals,

L1/R, L2/S, L3/T terminals, and frame ground (connect terminals securely).

Contact your Yaskawa representative before applying voltage to points not specified above,

e.g., when performing standards certification tests.

 Use a fast-response type ground-fault interrupter.

For a ground-fault interrupter, always use a

fast-response type or one designed for PWM

inverters. Do not use a time-delay type.

GOOD

Fast-response
type

Ground-fault interrupter

GOOD

For PWM
inverter

POOR

Time-delay
type

2-3