Yaskawa Large Capacity Sigma II User Manual

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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

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

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.

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.

 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

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

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

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

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

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

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

For First-time Users of AC Servos

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.”

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

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.

TERMS

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

1.1.2 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

400V0V440

380

DWDV B1

24N

24P

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

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

1.1.2 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

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.

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

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

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

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

. (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.

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

1.3.1 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

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

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.

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

1-11

For First-time Users of AC Servos

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.

 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

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

2.3 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

2.1 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

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

DWDV B1

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

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

CHARGE

Casing

Single line

DWDV B1

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

DWDV B1

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

CHARGE

+2-+1

POWER

8CN

O P E R A T O R

TDATA/SEEMOD/

CN5

CN3

KSERVOPAC

S-HDG

AYASKAW

DWDV B1

24N

24P

L1/R L2/S

UVW

L3/T

 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

Basic Operation

 Do not perform continuous operation under overhanging load.

Continuous operation cannot be performed

by rotating the motor from the load and

applying regenerative braking. Regenerative

braking by the SERVOPACK can be applied

only for a short period, such as the motor

deceleration time.

 The servomotor cannot be oper-

ated by turning the power ON and OFF.

Frequently turning the power ON and OFF

causes the internal circuit elements to deteri-

orate. Always start or stop the servomotor by

using reference pulses.

Do not apply regenerative braking continuously.

Powe r supply

Do not start or stop by tuning power ON and OFF.

Servomotor

SERVOPACK

380 to 480 V

L1/R

L2/S

L3/T

2-4

2.2 Installation

This section describes how to check Σ-II Series products on delivery and how to install them.

2.2.1 Checking on Delivery

Check the following items when Σ-II Series products are delivered.

Check Items Comments

Are the delivered products the ones that were ordered?

Does the servomotor shaft rotate smoothly?

Is there any damage? Check the overall appearance, and check for damage or scratches

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

2.2 Installation

Check the model numbers marked on the nameplates of the servomotor and SERVOPACK. (See the following.)

The servomotor shaft is normal if it can be turned smoothly by hand. Servomotors with brakes, however, cannot be turned manually.

that may have occurred during shipping.

If any of the above items are faulty or incorrect, contact your Yaskawa sales representative

or the dealer from whom you purchased the products.

 Servomotors

External Appearance and Nameplate Examples

(Example)

Rated output

Servomotor model

AC SERVO MOTOR

SGMBH - 2BDCA

SGMBH servomotor

TYPE

kw N.m

-1

min

1500

RATING

CONT.

SER.NO.

DATE

9708

YASKAWA ELECTRIC CORPORATION

140

K7A500 101 - 004

Munufacturing date

Serial number

Rated rotation speed

ENCODER

UTMAH- B12BDYR11

17 bit

JAPAN

2-5

Basic Operation

2.2.1 Checking on Delivery

Model Numbers

SGMBH -2BD C A

Σ-II Series Servomotor

Servomotor Capacity

2B: 22 kW 4E: 45 kW 3Z: 30 kW 5E: 55 kW 3G: 37 kW

Supply Voltage

D: 400 V

Encoder Specifications

2: 17-bit absolute encoder 3: 20-bit absolute encoder (optional) C: 17-bit incremental encoder

 SERVOPACKs

External Appearance and Nameplate

POWER

8CN

O P E R A T O R

T DATA/SEEMOD/

CN5

CN3

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

DWDV B1

24N

CHARGE

L1/R L2/S

+2-+1

Σ-II Series SGDH SERVOPACK

DC 24P

L3/T

S-HDG

UVW

KSERVOPAC

AYASKAW

 

Options

1: With V-type oil seal B: With V-type oil seal, 90-VDC holding brake C: With V-type oil seal, 24-VDC holding brake S: With S-type oil seal D: With S-type oil seal, 90-VDC holding brake E: With S-type oil seal, 24-VDC holding brake

Shaft End Specifications

2: Flange mounted, straight without key 6: Flange mounted, straight with key and tap K: With foot, straight without key L: With foot, straight with key and tap

Design Revision Order A: Maximum torque 200%

(Example)

SERVOPACK model

SERVOPACK

MODEL

VOLTS 380- 480 Hz 50/60 PHASE 3 AMPS 145

S / N R7C303 - 221 - 4

Serial number

Applicable power supply

SGDH - 3ZDE

AC-INPUT AC - OUTPUT

YASKAWA ELECTRIC

MADE IN JAPAN

VOLTS 0- 480 PHASE 3 AMPS 175

kW (HP)

30.0 (40.2)

Output power

Model Numbers

SGDH -2BD E

Σ-II Series SGDH SERVOPACK

Rated Output (motor capacity)

2B: 22 kW 4E: 45 kW 3Z: 30 kW 5E::55 kW 3G: 37 kW

Supply Voltage D:400 V

Model

E: For speed/torque control and position control

2-6

2.2.2 Installing the Servomotor

SGMBH servomotors can be installed either horizontally or vertically. The service life of the

servomotor will be shortened or unexpected problems will occur if the servomotor is

installed incorrectly or in an inappropriate location. Always observe the following installa-

tion instructions.

 Prior to Installation

The end of the motor shaft is coated with anticorrosive paint. Thoroughly remove the paint

using a cloth moistened with thinner prior to installation.

2.2 Installation

IMPORTANT

Anticorrosive paint is coated here.

Avoid getting thinner on other parts of the servomotor when cleaning the shaft.

 Storage Temperature

Store the servomotor within the following temperature range if it is stored with the power

cable disconnected.

Between -20 to 60 °C.

 Installation Site

SGMBH servomotors are designed for indoor use. Install the servomotor in environments

that satisfy the following conditions.

• Free of corrosive or explosive gases.

• Well-ventilated and free of dust and moisture.

• Ambient temperature of 0 to 40 °C.

• Relative humidity of 20% to 80% (non-condensing)

• Facilitates inspection and cleaning.

• Altitude : 1000 m max.

TERMS

Install a protective cover over the servomotor if it is used in a location that is subject to

water or oil mist. Also use a servomotor with an oil seal to seal the through shaft

section.

Install the electrical connector with the cable facing downward or in a horizontal position.

Through Sections of the shaft

This refers to the gap where the shaft protrudes from the end of the motor.

2-7

Shaft opening

Basic Operation

2.2.2 Installing the Servomotor

 Alignment

Align the shaft of the servomotor with that of the equipment to be controlled, then connect

the shafts with flexible couplings. Install the servomotor so that alignment accuracy falls

within the following range.

Measure this distance at four different positions in the circumference. The difference between the maximum and minimum measurements must be 0.03 mm or less. (Turn together with couplings)

Measure this distance at four different positions in the circumference. The difference between the maximum and minimum measurementsmust be 0.03 mm or less. (Turn together with couplings)

IMPORTANT

1. Vibration that will damage the bearings will occur if the shafts are not properly aligned.

2. Do not allow direct impact to be applied to the shafts when installing the coupling. Otherwise the

encoder mounted on the opposite end of the shaft may be damaged.

3. Before mounting the pinion gear directly to the motor output shaft, consult your Yaskawa sales rep-

resentative.

 Wiring the Servomotor Power Lines

Connect the servomotor power lines (U, V, and W) to the servomotor terminal block (M10)

in the servomotor terminal box. Connect the ground wire to the ground screw in the terminal

box.

 Wiring the Servomotor Thermostat

The servomotor has a built-in thermostat. Wire the thermostat leads (l, lb) to the terminal

block (M4) in the servomotor’s terminal box.

 Wiring the Servomotor Fan

Wire the servomotor fan leads U(A), V(B), and W(C) so that the direction of air flows

according to the following diagram. If the air flows in the opposite direction, change the wir-

ing of any of the two phases U, V, and W.

Direction of cool air

Servomotor

2-8

2.2 Installation

 Protecting the Servomotor Fan

The servomotor fan has a built-in thermal protector, as shown in the following diagram, that

operates at 140°C ±5 %. To protect the servomotor fan from overcurrent, use with a 2-A no-

fuse breaker.

U V

 Installing the Servomotor Fan

To maximize the cooling capacity of the servomotor fan, install the fan at least 200 mm

(7.87 in) from the inlet side of the servomotor as shown in the following diagram.

Cool air

200 mm min.

Servomotor

 Servomotor Connector Specifications

• Encoder Connector at Servomotor

The connector specifications for the encoder on the servomotor are as follows:

L-shaped

JA08A-20-29S-JA-EB

MS3108B20-29S

* 1. Connector at servomotor is already provided. * 2. Manufactured by Japan Aviation Electronics Industry, Ltd. * 3. Waterproof.

Encoder Connectors

Plug Cable Clamp

Straight

*2, *3

JA06A-20-29S-J1-EB

MS3106B20-29S

To be prepared by the customer

*2, *3

JL04-2022CKE (**)

MS3057-12A

** indicates the cable diameter.

2-9

Receptacle

*2, *3

97F-3102E20-29P

Basic Operation

2.2.3 Allowable Radial and Thrust Loads

• Fan Connector on Servomotor

Plug Cable Clamp

L-shaped

CE05-8A18-10SD-B-BAS

*2, *3

MS3108B18-10S

* 1. Connector at servomotor is already provided. * 2. Manufactured by Daiichi Denshi Kogyo Co., Ltd. * 3. Waterproof.

2.2.3 Allowable Radial and Thrust Loads

The connector specifications for the fan on the servomotor are as follows:

Fan Connectors

Receptacle

Straight

CE05-6A18-10SD-B-BSS

MS3106B18-10S

To be prepared by the customer

*2, *3

CE3057-10A-* (D265)

MS3057-10A

** indicates the cable diameter.

*2, *3

CE05-2A18-10PD-B

Design the mechanical system so radial and thrust loads1 applied to the servomotor shaft end

during operation falls within the ranges shown in the following table.

Servomotor Model

SGMBH-

2BD

3ZD

3GD

4ED

5ED

Note: Allowable radial and thrust loads shown above are the maximum val-

ues that could be applied to the shaft end from motor torque or other loads.

Allowable Radial Load

Fr [N]

5880 2156 100

6272 2156 100

7448 2156 100

7840 2156 100

8428 2156 110

Allowable Thrust Load

Fs [N]

[mm]

TERMS

Radial and thrust loads

Thrust load (Fs): Load applied parallel to the centerline of the shaft. Radial load (Fr): Load applied perpendicular to the centerline of the shaft.

2-10

Motor

2.2.4 Installing the SERVOPACK

The SGDH SERVOPACK is a base-mounting servo controller. Incorrect installation will

cause problems. Always observe the installation instructions below.

 Storage Temperature

Store the servomotor within the following temperature range if it

is stored with the power cable disconnected.

Between -20 to +85 °C.

 Installation Site

Take the following precautions at the installation site.

Situation Notes on Installation

Installation in a Control Panel Design the control panel size, unit layout, and cooling method

Installation Near a Heating Unit Minimize heat radiated from the heating unit as well as any tem-

Installation Near a Source of Vibration

Installation at a Site Exposed to Corrosive Gas

Other Situations Do not install the SERVOPACK in hot and humid locations or

2.2 Installation

WARNING

May cause electric shock.

Disconnect all power and wait 5 min. before servicing.

Use proper

grounding techniques.

SGDH SERVOPACK

so the temperature around the SERVOPACK does not exceed 55

°C.

perature 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.

Take appropriate action to avoid corrosive gas. Corrosive gas does not have an immediate effect on the SERVOPACK, but will eventually cause electronic components and contactorrelated devices to malfunction.

locations subject to excessive dust or iron powder in the air.

 Orientation

Install the SERVOPACK perpendicular to the wall as shown in the figure.

50 mm min. (ventilation exhaust)

120 mm min.

POWER

8CN

O P E R A T O R

TDATA/SEEMOD/

CN5

CN3

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

DWDV B1

24N

CHARGE

L1/R L2/S

+2-+1

50 mm min.

50 mm min. (ventilation intake)

S-HDG

DC 24P

UVW

L3/T

50 mm min.

KSERVOPAC

AYASKAW

120 mm min.

2-11

Air flow

Basic Operation

2.2.4 Installing the SERVOPACK

 Installation

Follow the procedure below to install multiple SERVOPACKs side by side in a control

panel.

Fan

50 mm or more

WARNING

May cause electric shock.

Disconnect all power and wait 5 min. before servicing.

Use proper

grounding techniques.

30 mm or more

WARNING

May cause electric shock.

Disconnect all power and wait 5 min. before servicing.

Use proper

grounding techniques.

10 mm or more

WARNING

May cause electric shock.

Disconnect all power and wait 5 min. before servicing.

Use proper

grounding techniques.

WARNING

May cause electric shock.

Disconnect all power and wait 5 min. before servicing.

Use proper

grounding techniques.

50 mm or more

SERVOPACK Orientation

Install the SERVOPACK perpendicular to the wall so the front panel containing connectors

faces outward.

Cooling

As shown in the figure above, allow sufficient space around each SERVOPACK for cooling

by cooling fans or natural convection.

Side-by-side Installation

When installing SERVOPACKs side by side as shown above, allow at least 10mm (0.39 in)

between and at least 50mm (1.97 in) above and below each SERVOPACK. Install cooling

fans above the SERVOPACKs to avoid excessive temperature rise and to maintain even tem-

perature inside the control panel.

Environmental Conditions in the Control Panel

• Ambient Temperature: 0 to 55 °C

• Humidity: 90% RH or less

• Vibration: 4.9 m/s

• Condensation and Freezing: None

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

2-12

2.2.5 Power Loss

Power loss of SERVOPACK is given below:

2.2 Installation

SERVOPACK

Model

SGDH-

2BDE

3ZDE

3GDE

4EDE

5EDE

Output Current

(Effective Value)

[A]

60 650 120 770

88 970 1090

105 1140 1260

135 1440 1560

160 1720 1840

Main Circuit Power Loss

[W]

Control Circuit

Power Loss

[W]

Total Power Loss

[W]

2-13

Basic Operation

2.3.1 Connecting to Peripheral Devices

2.3 Connection and Wiring

This section describes how to connect Σ-II Series products to peripheral devices and explains a

typical example of wiring the main circuit. It also describes an example of connecting to main

host controllers.

2.3.1 Connecting to Peripheral Devices

This section shows a standard example of connecting Σ-II Series products to peripheral

devices and briefly explains how to connect to each peripheral device.

2-14

 400 V Series

cMolded-case circuit

breaker (MCCB)

Used to protect power supply line.

dNoise filter

Used to eliminate external noise from power supply line.

eMagnetic contactor

(HI Series)

Turns the servo ON or OFF.

fBrake power supply

Used for servomotor with brake. LPSE-2H01 (for 200 V input)

gPower transformer

Used to switch between 200 V to 400 V.

hDynamic Brake (DB)

Unit

Used if dynamic brake function is required for SERVOPACK.

Use a surge suppressor

for themagnetic contactor.

Power supply

Three-phase 400 VAC

RST

SGDH SERVOPACK

CN3

CN1

480 V460

CHARGE

400 V 0 V440

380

DWDV B1

24N

24P

CN1

Host controller

MP910, MP920, MP930, and MP-SG1 with a Motion Module

POWER

8CN

O P E R A T O R

TDATA/SEEMOD/

CN5

CN3

KSERVOPAC

S-HDG

AYASKAW

CN2

Connect the SGDH SERVOPACK to a Yaskawa host controller.

2.3 Connection and Wiring

CN3

Digital Operator

Allows the user to set parameters or operation reference and display operation status or alarm status.

Hand-held type

(JUSP-OP02A-2)

1-meter (3.3-ft.) cable included

Personal computer

Cable model: JZSP-CMS01 to 03

380 to 480 V

Brake power supply

DC power supply (24 VDC)

Power supply for cooling fan

Note: The Dynamic Brake (DB) Unt's DBON and

DB24 terminals can be used with SERVOPACKs of 37 kW or more only.

DBON

DB24

DC24P

DC24N

DB24

DBON

Regenerative Resistor

Dynamic Brake Unit

SGMBH servomotor

2-15

Basic Operation

2.3.1 Connecting to Peripheral Devices

 Connector terminal block converter unit (Model: JUSP-TA50P)

The terminal block allows connection to a host con-

troller.

 Cable with CN1 connector and one end without connector

1m (3.3ft): JZSP-CKI01-1

2m (6.6ft): JZSP-CKI01-2

CN1

0.5 meter cable with CN1 connector

3m (9.8ft): JZSP-CKI01-3

CN1

 CN1 connector kit

Model: JZSP-CKI9

 Cable for PG

This cable is used to connect the encoder of servomotor to the SERVOPACK.

The following cables are available according to encoder types.

• Cable only (without connector at either end)

Cable Type Cable Model Length Remarks

Standard Encoder Cable JZSP-CMP09-05

JZSP-CMP09-10

JZSP-CMP09-15

JZSP-CMP09-20

50-m Specifications Encoder Cable

JZSP-CMP19-30

JZSP-CMP19-40

JZSP-CMP19-50

5 m (196.85 in)

10 m (393.70 in)

15 m (590.55 in)

20 m (787.40 in)

30 m (1181.10 in)

40 m (1574.80 in)

50 m (1968.50 in)

CN1

The maximum allowable cable length is 20 m.

The maximum allowable cable length is 50 m.

Cable

2-16

2.3 Connection and Wiring

• Cable with a single connector (without connector on encoder end)

Cable Model Length

JZSP-CMP03-03

JZSP-CMP03-05

JZSP-CMP03-10

JZSP-CMP03-15

JZSP-CMP03-20

3 m (118.11 in)

5 m (196.85 in)

10 m (393.70 in)

15 m (590.55 in)

20 m (787.40 in)

• Cable with connectors on both ends (straight plug on encoder end)

Applicable Servomotors Cable Model Length

SGMBH Servomotors

With Straight Plug

With L-Shape Plug

 Connector for PG

Connector on SERVOPACK End Only

Connector on Servomotor End Only

JZSP-CMP01-03

JZSP-CMP01-05

JZSP-CMP01-10

JZSP-CMP01-15

JZSP-CMP01-20

JZSP-CMP02-03

JZSP-CMP02-05

JZSP-CMP02-10

JZSP-CMP02-15

JZSP-CMP02-20

55102-0600 (Manufactured by Molex Japan Co., Ltd.)

54280-0600 (Manufactured by Molex Japan Co., Ltd.)

3 m (118.11 in)

5 m (196.85 in)

10 m (393.70 in)

15 m (590.55 in)

20 m (787.40 in)

3 m (118.11 in)

5 m (196.85 in)

10 m (393.70 in)

15 m (590.55 in)

20 m (787.40 in)

Connector kit: JZSP-CMP9-1

2-17

Basic Operation

2.3.2 Main Circuit Wiring and Power ON Sequence

This section shows typical examples of main circuit wiring for Σ-II Series servo products,

functions of main circuit terminals, and the power ON sequence.

 400-V Power Supply

• SERVOPACK Main Circuit Terminal Names and Descriptions

The following table shows the name and description of each main circuit terminal.

Table 2.1 SERVOPACK Main Circuit Terminals

Terminal

Functions Description

Symbol

L1/R, L2/S,

Main power input terminals

L3/T

U, V, W Servomotor connection

terminal

DC24P,

Control power input terminal

DC24N

(Two)

Ground terminal Connected to ground.

+1, +2 DC reactor connection termi-

nal

B1, B2 Regenerative Resistor Unit

connection terminal

480 V, 460 V, 440 V, 400 V,

Input terminals for control actuator

380 V, 0 V

−

Main circuit minus terminal Normally, external connection is not required.

DU, DV, DW Dynamic Brake Unit

connection terminal

DBON, DB24 Dynamic Brake Unit connec-

tion terminal



Three-phase 380 to 480 VAC , 50/60 Hz





Used to connect to the servomotor.

24 VDC

±15 %

(For power ground and motor ground)

Used to protect against harmonics (factory setting: short-circuited)

Used to connect the regenerative resistor.

Single-phase 380 to 480 V, 50/60 Hz Power supply input terminals for the fan and the contactor.

Used to connect the Dynamic Brake Unit.

Used to connect the Dynamic Brake Unit to the DBON and DB24 terminals (when using 37-kW and 55-kW SERVOPACKs only).

2-18

2.3 Connection and Wiring

• Servomotor Terminal Names and Descriptions

The following table shows the name and description of each motor terminal.

Table 2.2 Servomotor Terminals

Three-phase 380 to 480 VAC

R ST

1MCCB

Main circuit power

FIL

Terminal

Functions Description

Symbol

U, V, W SERVOPACK connection ter-

minals

U (A), V (B),

Fan terminals Used to connect the fan power supply.

W (C)

A, B Brake power supply connec-

tion terminals

Used to connect to the U, V, and W terminals of the SERVOPACK



Three-phase 380 to 480 VAC , 50/60 Hz





Used to connect the brake power supply (only when using servomotors with brakes).

1, 1b Thermal protector terminals Used to detect overheating of the servomotor and open

the thermal protector circuit.

Use a sequence that turns OFF the SERVOPACK’s main circuit power or the servomotor when the thermal protector circuit opens.

• Typical Wiring Example

Using 400 V, 22 kW or 30 kW

DB Unit

W(C)

V(B)

U(A)

1Ry

Fan

0 V

+10

(50/60Hz)

-15

Prepared by customer

Control power supply

DC24V

+−

1Ry

OFF

1MC

(Alarm lamp)

1PL

1MC

1Ry

1SUP

Regenerative Resistor Unit

1MC

SERVOPACK

SGDH- DE

380 to 480 V

DC24P

DC24N

L1/R

L2/S

L3/T

DU DV

CN2

ALM+

ALM -

CN1

Thermal protector

+24V

: Circuit breaker (for inverter type)

1MCCB

: Noise filter

FIL

: Contactor

1MC

: Relay

1Ry

2-19

: Lamp for display

1PL

: Surge suppressor

1SUP

: Flywheel diode

Basic Operation

2.3.2 Main Circuit Wiring and Power ON Sequence

Using 400 V, 37 kW or 55 kW

Three-phase 380 to 480 VAC

R ST

1MCCB

Main circuit power

FIL

+10

-15

Prepared by customer

Control power supply

DC24V

+−

1Ry

OFF

1MC

(Alarm lamp)

1PL

1MC

1Ry

1SUP

1MC

SERVOPACK

SGDH- DE

380 to 480 V

DC24P

DC24N

L1/R

L2/S

L3/T

DB24

DB0N

CN2

ALM+

ALM -

W(C)

V(B)

U(A)

DB Unit

U V

Fan

Thermal protector

CN1

1Ry

0 V

+24V

: Circuit breaker (for inverter type)

1MCCB

: Noise filter

FIL

: Contactor

1MC

: Relay

1Ry

: Lamp for display

1PL

: Surge suppressor

1SUP

: Flywheel diode

 Note

• Do not bundle or run power and signal lines together in the same duct. Keep power and

signal lines separated by at least 30 cm (11.81 in).

• Use twisted-pair wires or multi-core shielded-pair wires for signal and encoder (PG)

feedback lines. The length for wiring is 3 m (118.11 in) maximum for the reference

input line.

• Do not touch the power terminal even if power was turned OFF. High voltage may still

remain in SERVOPACK. Make sure the charge indicator is out first before starting an

inspection.

• Avoid frequently turning power ON and OFF. Since the SGDH SERVOPACK has a

capacitor in the power supply, a high charging current flows for 0.2 seconds when

power is turned ON. Therefore, frequently turning the power ON and OFF causes the

main circuit devices (such as capacitors and fuses) to deteriorate, resulting in unex-

pected problems.

2-20

2.4 I/O Signals

This section describes I/O signals for the SGDH SERVOPACK.

2.4 I/O Signals

2-21

Basic Operation

2.4.1 Examples of I/O Signal Connections

The following diagram shows a typical example of I/O signal connections.

∗

BAT (+)

BAT (- )

Reference speed

±2 to ±10 V/rated

motor speed

Torque reference

±1 to ±10 V/rated

motor torque

Position reference

Backup battery

2.8 to 4.5 V

∗

SEN signal input

PULS

CW Phase A

SIGN

CCW Phase B

CLR

Open-collector reference power supply

∗

+5V

V -REF

T -REF

PULS

/PULS

SIGN

/SIGN

CLR

/CLR

PL1

PL2

PL3

SEN

150 Ω

∗

150 Ω

1kΩ

LPF

SGD

A/D

Photocouplers

+12V

SERVOPACK

∗

ALO1

ALO2

Alarm code output

ALO3

Maximum operating voltage: 30 VDC Maximum operating current: 20 mA DC

PBO

PG dividing ratio output

/PBO

Applicable line receiver SN75175 or MC3486

PCO

/PCO

PSO

/PSO

manufactured by T/I or the equivalent

Amount of phase-S rotation

Serial data output

∗

Applicable line receiver

SN75175 or MC3486 manufactured by T/I or the equivalent

Servo ON (Servo ON when ON)

P control (P control when ON)

Reverse run prohibited (Prohibited when OFF)

Forward run prohibited (Prohibited when OFF)

Alarm reset (Reset when ON)

Reverse current limit (Limit when ON)

Forward current limit (Limit when ON)

∗

2. The time constant for the primary filter is 47 µs.

+24V

+24VIN

/S-ON

/P-CON

/ALM-RST

/P-CL

N-OT

P-OT

/N-CL

represents twisted-pair wires.

2-22

Photocouplers

28 29

/V-CMP+ (/COIN+) /V-CMP(/COIN

/TGON+

/TGON/S-RDY+

Speed coincidence detection (On when speed coincides)

Positioning completed (ON

when positioning is completed)

TGON output (ON at levels above the setting)

Servo ready output

/S-RDY-

ALM+

ALM -

(ON when ready)

Servo alarm output (OFF for an alarm)

Photocoupler output

Connector shell

Connect shield to connector shell.

∗

Connector when using an absolute encoder.

∗

Used only with an absolute encoder.

Maximum operating voltage: 30 VDC Maximum operating current: 50 mA DC

2.4.2 List of CN1 Terminals

The following diagram shows the layout and specifications of CN1 terminals.

 CN1 Terminal Layout

2.4 I/O Signals

SG GND

SEN SEN signal

input

SG GND

/PULS Reference

pulse input

SG GND

/SIGN Reference sign

input

/CLR Clear input

−−

PL3 Open-collec-

tor reference power supply

/PCO PG divided

output phase C

BAT (-) Battery (-)

−−

SG GND

PL1 Open-collec-

tor reference power supply

V-REF Speed Refer-

ence Input

PULS Reference

pulse input

T-REF Torque Refer-

ence Input

SIGN Reference sign

input

PL2 Open-collec-

tor reference power supply

CLR Clear input

−−

PCO PG divided

output phase C

BAT (+) Battery (+)

−−

/V-CMP+

(/COIN+)

Speed coincidence detection output

/TGON+ TGON signal

output

/S-RDY+ Servo ready

output

ALM+ Servo alarm

output

PAO PG divided out-

put phase A

PBO PG divided out-

put phase B

ALO1 Alarm code

outputs

ALO3 (open-collector

output)

P-CON P operation

input

N-OT Reverse over-

travel input

/P-CL Forward cur-

rent limit ON input

+24V

-IN

/PSO Phase-S signal

External input power supply

output

/V-CMP(/COIN-)

/TGON- TGON signal

/S-RDY- Servo ready

ALM- Servo alarm

/PAO PG divided

/PBO PG divided

ALO2 Alarm code

/S-ON Servo ON

P-OT Forward over-

/ALMRST

/N-CL Reverse cur-

PSO Phase-S sig-

−−

Speed Coincidence Detection Output

output

output phase A

output phase B

outputs

input

travel input

Alarm reset input

rent limit ON input

nal output

Note: 1. Do not use unused terminals for relays.

2. Connect the shield of the I/O signal cable to the connector shell. Connect to the FG (frame ground) at the SERVOPACK-end connector.

2-23

Basic Operation

2.4.3 I/O Signal Names and Functions

 CN1 Specifications

2.4.3 I/O Signal Names and Functions

Single Name Pin

Common

/S-ON

/P-CON

P-OT N-OT

/P-CL /N-CL

/ALM RST

+24VIN

SEN

BAT (+) BAT (-)

Specifications for SER-

VOPACK Connectors

10250-52A2JL or Equivalent 50-p Right Angle Plug

Solder Type Case Manufacturer

10150-3000VE 10350-52A0-008 Sumitomo 3M Co.

Applicable Receptacles

The following section describes SERVOPACK I/O signal names and functions

 Input Signals

Table 2.3 Input Signal Names and Functions

Functions Refer-

No.

Servo ON:

Turns ON the servomotor when the gate block in the inverter is released.

* Function selected via parameter.

Proportional operation reference

Direction reference With internal reference speed selected: Switches the direction of

Control mode switching Position ↔ speed

Zero-clamp reference Speed control with zero-clamp function: Reference speed is

Reference pulse block Position control with reference pulse stop: Stops reference pulse

Forward Run prohibited

Reverse Run prohibited

* Function selected via parameter.

Forward current limit ON Reverse current limit ON

Internal speed switching With internal reference speed selected: Switches the internal

Alarm reset: Releases the servo alarm state.

Control power supply input for sequence signals: Users must provide the +24-V power supply. Allowable voltage fluctuation range: 11 to 25 V

4 (2)

Initial data request signal when using an absolute encoder.

Connecting pin for the absolute encoder backup battery.

Switches the speed control loop from PI (proportional/ integral) to P (proportional) control when ON.

rotation.

Control ↔ torque

Torque ↔ speed

zero when ON.

input when ON.

Overtravel prohibited: Stops servomotor when movable part travels beyond the allowable range of motion.

Current limit function used when ON.

speed settings.

Enables control mode switching.

ence

4.5.2

−

4.2.1

4.2.6

4.2.7

4.4.3

4.2.12

4.1.2

−

4.1.3

4.2.6

4.5.1

4.2.4

4.7.1

2-24

Table 2.3 Input Signal Names and Functions (cont’d)

2.4 I/O Signals

Single Name Pin

SpeedV-

To rq u eT-

Position Reference

REF

PULS /PULS SIGN /SIGN

CLR /CLR

PL1 PL2 PL3

Note: 1. The functions allocated to /S-ON, /P-CON. P-OT, N-OT, /ALM-RST, /P-CL, and /N-CL

Functions Refer-

No.

5 (6)

Speed reference speed input: ±2 to ±10 V/rated motor speed (Input gain can be modified using a parameter.)

Torque reference input: ±1 to ±10 V/rated motor torque (Input gain can be modified using a

(10)

parameter.)

Reference pulse input

Line-driver

Open-collector

Error counter clear: Clears the error counter during position control.

+12-V pull-up power supply when PULS, SIGN and CLR reference signals are open-collec-

tor outputs (+12-V power supply is built into the SERVOPACK).

input signals can be changed via parameters. Refer to 4.3.3 Input Circuit Signal Alloca-

tion.

2. Pin numbers in parenthesis () indicate signal grounds.

3. The voltage input range for speed and torque references is a maximum of ±12 V.

Input mode

• Sign + pulse train

• CCW/CW pulse

• Two-phase pulse (90° phase differential)

 Output Signals

ence

4.2.1

4.2.7

4.2.2

Table 2.4 Output Signal Names and Functions

Signal Name Pin No. Functions Refer-

Common

Speed/V-

ALM+ ALM-

/TGON+ /TGON-

/S-RDY+ /S-RDY-

PAO /PAO PBO /PBO PCO /PCO

PSO /PSO

ALO1 ALO2 ALO3

/V-CMP-

CMP+

31 32

27 28

29 30

33 (1)

34 35 36 19 20

48 49

37 38

39 (1)

Shell

25 26

Servo alarm: Turns OFF when an error is detected.

Detection during servomotor rotation: Detects whether the servomotor is rotating at a speed higher than the motor speed setting. Motor speed detection can be set via parameter.

Servo ready: ON if there is no servo alarm when the control/main circuit power supply is turned ON.

Phase-A signal

Phase-B signal Phase-C signal

Phase-S signal With an absolute encoder: Outputs serial data corresponding to

Alarm code output: Outputs 3-bit alarm codes. Open-collector: 30 V and 20 mA rating maximum

Connected to frame ground if the shield wire of the I/O signal cable is connected to the connector shell.

Speed coincidence (output in Speed Control Mode): Detects whether the motor speed is within the setting range and if it matches the reference speed value.

Converted two-phase pulse (phase A and B) encoder output signal and origin pulse (phase C) signal: RS-422 or the equivalent

the number of revolutions (RS-422 or equivalent)

ence

4.5.1

4.5.5

4.5.6

4.2.3

4.7.5

4.5.1

−

4.5.4

2-25

Basic Operation

2.4.4 Interface Circuits

Table 2.4 Output Signal Names and Functions (cont’d)

Signal Name Pin No. Functions Refer-

Position

/COIN+ /COIN-

25 26

Positioning completed (output in Position Control Mode): Turns ON when the number of error pulses reaches the value set. The setting is the number of error pulses set in reference units (input pulse units defined by the electronic gear).

Not used.

16 17

These terminals are not used. Do not connect relays to these terminals.

23 24 50

Note: 1. Pin numbers in parenthesis () indicate signal grounds.

2. The functions allocated to /TGON, /S-RDY, and /V-CMP (/COIN) output signals can be changed via parameters. /CLT, /VCT, /BK, /WARN, and /NEAR signals can also be changed. Refer to 4.3.4 Output Circuit Signal Allocation.

2.4.4 Interface Circuits

ence

4.5.3

This section shows examples of SERVOPACK I/O signal connection to the host controller.

 Interface for Reference Input Circuits

Analog Input Circuit

Analog signals are either speed or torque reference signals at the impedance below.

• Reference speed input: About 14 kΩ

• Reference torque input: About 14 kΩ

The maximum allowable voltages for input signals is ±12 V.

SERVOPACK

1.8kΩ (1/2W) min.

-REF or

T-REF

About 14kΩ

12V

25HP-10B

2kΩ

1000: 1

2-26

2.4 I/O Signals

Reference Position Input Circuit

An output circuit for the reference pulse and error counter clear signal at the host controller

can be either line-driver or open-collector outputs. These are shown below by type.

• Line-driver Output

Host controller end

Applicable line-driver SN75174 manufactured by T/I or the equivalent

2.8 V ≤ (H level) − (L level) ≤ 3.7 V

• Open-collector Output, Example 1: Power Supply Provided by User

Host controller end

Vcc

SERVOPACK end

150 Ω

SERVOPACK end

150 Ω

4.7 kΩ

4.7kΩ

Tr1

1.5 to 1.8 V

Use the examples below to set pull-up resistor R1 so the input current, i, falls between 7

and 15 mA.

Application Examples

When Vcc is 24 V ± 5 %: R1 = 2.2 kΩ

When Vcc is 12 V ± 5 %: R1 = 1 kΩ

When Vcc is 5 V ± 5 %: R1 = 180 Ω

• Open-collector Output, Example 2: Using 12-V Power Supply Built into SERVOPACK

This circuit uses the 12-V power supply built into the SERVOPACK. The input is not

insulated in this case.

Host controller end

About 9 mA

SERVOPACK end

PL1,PL2,PL3, terminals

1.0 kΩ

150 Ω

+12V

1.5V max. when ON

2-27

Basic Operation

2.4.4 Interface Circuits

 Sequence Input Circuit Interface

The sequence input circuit interface connects through a relay or open-collector transistor cir-

cuit. Select a low-current relay otherwise a faulty contact will result.

Servoamp

+24VIN

/S-ON, etc.

3.3 kΩ

24 VDC 50 mA min.

Servoamp

+24VIN

/S-ON, etc.

3.3 kΩ

24 VDC 50 mA min.

 Output Circuit Interfaces

Any of the following three types of SERVOPACK output circuits can be used. Form an input

circuit at the host controller that matches one of these types.

• Connecting to a Line-driver Output Circuit

Encoder serial data converted to two-phase (phase A and B) pulse output signals (PAO,

/PAO, PBO, /PBO), origin pulse signals (PCO, /PCO) and phase-S rotation signals

(PSO, /PSO) are output via line-driver output circuits that normally comprise the posi-

tion control system at the host controller. Connect the line-driver output circuit through

a line receiver circuit at the host controller.

See 2.5 Wiring Encoders for connection circuit examples.

• Connecting to an Open-collector Output Circuit

Alarm code signals are output from open-collector transistor output circuits.

Connect an open-collector output circuit through a photocoupler, relay or line receiver

circuit.

2-28

2.4 I/O Signals

SERVOPACK end

5 to 12 VDC

Photocoupler

SERVOPACK end

5 to 12 VDC

Note: The maximum allowable voltage and current capacities for open-col-

lector output circuits are as follows.

• Voltage: 30 VDC max.

• Current: 20 mA DC max.

• Connecting to a Photocoupler Output Circuit

5 to 12 VDC

Relay

Photocoupler output circuits are used for servo alarm, servo ready, and other sequence

output signal circuits.

Connect a photocoupler output circuit through a relay or line receiver circuit.

SERVOPACK end

5 to 24 VDC

Relay

Note: The maximum allowable voltage and current capacities for photocou-

pler output circuits are as follows.

• Voltage: 30 VDC max.

• Current: 50 mA DC max.

SERVOPACK end

5 to 12 VDC

2-29

Basic Operation

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

2.5 Wiring Encoders

The following sections describe the procedure for wiring a SERVOPACK to the encoder.

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

The following diagrams show wiring for incremental and absolute encoders.

 Incremental Encoders

Incremental encoder

∗

C (5) D

H (1) G (2)

(Shell)

∗

: represents twisted-pair wires.

(6)

Blue

White/Blue

Red

Black

0.33mm (0.001in2)

Shield wires

CN2

2-5 2-6

Output line-driver

SN75ALS194 manufactured by T/I or the eqivalent

2-1 2-2

Connector shell

SERVOPACK

Phase A

Phase B

Phase C

PG5V PG0V

Connector shell

CN1

1-33 1-34

1-35 1-36

1-19 1-20

1-1

PAO /PAO

PBO /PBO

PCO /PCO

∗

Applicable line receiver SN75175 manufactured by T/I or the equivalent

0V0V

(Customer end)

2-30

 Absolute Encoders

Absolute encoder

C 5

Blue

D 6

White/Blue

H 1

Red

Black

G 2

0.33mm (0.001in2)

T 3

Orange

S 4

White/ orange

(Shell)

Shield

2.5 Wiring Encoders

SERVOPACK

CN1

PG5V PG0V

Connector shell

1-33 1-34

1-35 1-36

1-19 1-20

1-48 1-49

1-21 1-22

1-4

1-2 1-1

PAO /PAO

PBO /PBO

PCO /PCO

PSO /PSO

SEN

SG SG

BAT + BAT -

Phase A

∗

CN2

2-5 2-6

Output line-driver SN75ALS194 manufactured by T/I or the eqivalent

2-1 2-2

2-3 2-4

Connector shell

Phase B

Phase C

Phase S

∗

Applicable line receiver SN75175 manufactured by T/I or the equivalent

+5 V

Battery

(Customer end)

: represents twisted-pair wires.

∗

2.5.2 Terminal Layout and Types of CN2 Encoder Connector

The following diagram shows the layout and types of CN2 terminals.

 CN2 Connector Terminal Layout

PG5V PG power supply

+5 V

BAT (+)

Battery (+)

(For an absolute encoder)

PS PG serial signal input

PG 0 V PG power supply

0 V

BAT (-)

Battery (-)

(For an absolute encoder)

/PS PG serial signal input

2-31

Basic Operation

2.5.3 Examples of Connecting I/O Signal Terminals

 CN2 Connector Models

SERVOPACK Connectors Applicable Plug (or Socket)

53460-0611 Molex Japan Co., Ltd.

Note: FA1394 is the product number for the SERVOPACK-end plug set from Molex Japan Co.,

Ltd.

Soldered Relay Plug

(SERVOPACK Connector)

55100-0600 Molex Japan Co., Ltd.

Soldered Relay Plug

(Servomotor Connector)

L-shaped plug: MS3108B20-29S or Straight : MS3106B20-29S Cable clamp : MS3057-12A

INFO

Encoder cables are available from Yaskawa. See Chapter 7 Servo Selection and Data Sheets for more

details on the cables.

2.5.3 Examples of Connecting I/O Signal Terminals

SGDH SERVOPACKs can be connected to the host controllers listed below. Connect the

SERVOPACK to the host controller by referring to documentation for the host controller.

• MP920

• GL-Series B2833 Positioning Module

• GL-Series B2813 Positioning Module

• OMRON C500-NC222 and C500-NC112 Position Control Units

• MITSUBISHI AD72 and AD71 (B Type) Positioning Unit

Typical connection examples for the OMRON Position Control Unit and MITSUBISHI

Positioning Unit are provided below.

2-32

Speed/Torque

2.5 Wiring Encoders

 Connection to OMRON C500-NC222 Position Control Unit

SERVOPACK for Speed/Torque Control

SERVOPACK

SGDH- DE

47 40

5(9)

6(10)

33 34 35 36 19 20

DC24P DC24N

L1/R L2/S L3/T

380 to 480 V

CN1 ALM+

ALM-

+24VIN /S-ON V-REF(T-REF) SG

PAO /PAO /PBO PBO PCO /PCO SG FG

CN1

P-OT

N-OT

U V W

3Ry

4Ry

C500-NC222

(Made by OMRON)

+24V

CCWLX

STPX

ORGX

EMGX

CWLX

DC GND

OUT-1X

X-OUT

X-AG

X-A

X-/A

X-B

X-/B

X-C

X-/C

I/O power supply

+24V

X-axis (Y-axis)

EXT IN

8 9

2(12)

3(13)

4(14)

5(15)

6(16)

M/D

3(19) 9(28)

8(24)

7(23) 6(22) 5(21)

4(20) 16(14) 15(13)

1(17)

3Ry

4Ry

+24V 0 V

(ON when positioning is stopped)

(ON when proximity is detected)

1Ry

B C D

0 V

* These signals are output for approximately two seconds when the power is turned ON. Take this

into consideration when designing a power ON sequence. Relay 1Ry is used to stop main circuit power supply to SERVOPACK.

Note: The signals shown here are applicable only to OMRON C500-NC222 Position Control Unit

and Yaskawa SGDH-DE SERVOPACK.

2-33

Basic Operation

2.5.3 Examples of Connecting I/O Signal Terminals

 Connection to OMRON C500-NC112 Position Control Unit

SERVOPACK for Position Control

Position

I/O power supply

+12V

C500-NC112

(Made by OMRON)

(ON when proximity is detected)

+5V

8A 8B 9A 9B 10A 10B

4Ry

3Ry

1Ry

+5V

CW limit

CCW limit

Emergency stop

External interrupt

Home position

Home position proximity

Local

Ready

Pulse output

CW+CCW

Direction output

+12V

0 V12

LRX-01/A2

+24V

1Ry

SERVOPACK

/S-ON

P-OT

N-OT

B C D

+24V

External power supply

+24V

CN1

3Ry

4Ry

SGDH- DE

DC24P DC24N

L1/R L2/S L3/T

380 to 480 V

CN1

PCO

/PCO

ALM+

ALM-

8 11

12 15 14

PULSE

SIGN

CLR

* 1. These signals are output for approximately two seconds when the power is turned ON. Take

this into consideration when designing a power ON sequence. Relay 1Ry is used to stop main circuit power supply to SERVOPACK.

* 2. Change the Pn200.0 = 1 setting as follows:

Bit No.3 = 1 Bit No.4 = 0 Bit No.5 = 0

Note: The signals shown here are applicable only to OMRON C500-NC112 Position Control Unit

and Yaskawa SGDH-DE SERVOPACK.

2-34

 Connection to MITSUBISHI AD72 Positioning Unit

SERVOPACK for Speed/Torque Control

Speed/Torque

I/O power supply

+24V

AD72

(Made by MITSUBISHI)

STOP

DOG

SV-ON

READY

CONT

1 2 3

SERVO

1 2 3

4 5 6

1Ry

+24V

0 V

(ON when positioning is stopped)

(ON when proximity is detected)

1Ry

2.5 Wiring Encoders

SERVOPACK

SGDH- DE

DC24P DC24N

L1/R L2/S

L3/T

380 to 480 V

CN1

+24VIN

/S-ON

ALM+

ALM-32 V-REF5(9) (T-REF)

6(10)

CN1

P-OT

N-OT

Servomotor

C D

0 V24

PULSE A

PULSE B

PULSE C

0V 0V

ENCO

4 5 7 8 10 11 3 6

PBO35

/PBO36 PAO33

/PAO34 PCO19

/PCO20 SG1

* 1. These signals are output for approximately two seconds when the power is turned ON. Take

this into consideration when designing a power ON sequence. Relay 1Ry is used to stop main circuit power supply to SERVOPACK.

* 2. These pin numbers are the same for both X and Y axes.

Note: The signals shown here are applicable only to MITSUBISHI AD72 Positioning Unit and

Yaskawa SGDH-DE SERVOPACK.

2-35

Basic Operation

2.5.3 Examples of Connecting I/O Signal Terminals

 Connection to MITSUBISHI AD71 (B Type) Positioning Unit

SERVOPACK for Position Control

Position

I/O power supply

+12V

AD71 (B type)

(Made by MITSUBISHI)

READY

STOP

DOG

PGO

START

PULSE

SIGN

CLEAR

5A(7A)

5B(7B)

6A(8A)

6B(8B) 9A(10A) 9B(10B)

11A(13A)

11B(13B)

17B(20B)

15A(18A)

15B(18B)

16A(19A)

16B(19B)

12A(14A)

12B(14B)

1Ry

+24V

0 V

SERVOPACK

SGDH- DE

DC24P DC24N

L1/R L2/S

L3/T

CN1

7 8

11 12

380 to 480 V

PCO19

/PCO20

ALM

PULSE

SIGN

CLR

(ON when positioning

is stopped) (ON when proximity is detected)

1kΩ

LRX-01/A2

1Ry

CN1

/S-ON

P-OT N-OT

U V

47 40

42 43

Servomotor

A B

C D

+24V

External power supply

+24V

* 1. These signals are output for approximately two seconds when the power is turned ON. Take

this into consideration when designing a power ON sequence. Relay 1Ry is used to stop main circuit power supply to SERVOPACK.

* 2. Manufactured by Yaskawa Controls Co., Ltd.

Note: The signals shown here are applicable only to MITSUBISHI AD71 (B Type) Positioning

Unit and Yaskawa SGDH-DE SERVOPACK.

2-36

Trial Operation

This chapter describes a two-step trial operation. Be sure to complete step 1

before proceeding to step 2.

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

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

3-1

Trial Operation

3.1 Two-step Trial Operation

Make sure that all wiring is completed prior to starting trial operation. Perform the trial opera-

tion in the order given below (step 1 and 2) for your safety.

IMPORTANT

To prevent accidents, initially perform step 1 where the trial operation is conducted under no-load con-

ditions (with all couplings and belts disconnected). Do not operate the servomotor while it is con-

nected to the equipment.

Step 1: Trial Operation for Servomotor without Load

Make sure the servomotor is wired properly and then turn the shaft prior to connecting the servomotor to the equipment. For details on wiring, refer to 2.3.1 Connecting to Peripheral Devices.

Operate the motor with a Digital Operator.

POWER

8CN

O P E R A T O R

TDATA/SEEMOD/

CN5

CN3

From the power supply

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

CHARGE

+2-+1

Check wiring.

KSERVOPAC

S-HDG

AYASKAW

DWDV B1

24N

24P

L1/R L2/S

UVW

L3/T

Do not connect to the equipment.

Step 2: Trial Operation with the Equipment and Servomotor Connected

Adjust the servomotor according to equipment characteristics, connect the servomotor to the equipment, and perform the trial operation.

Adjust speed by autotuning.

SGMBH

SGDH SERVOPACK

Servomotor

Connect to the equipment.

3-2

3.1.1 Step 1: Trial Operation for Servomotor without Load

In step 1, make sure that the servomotor is wired properly as shown below. Incorrect wiring

is generally the reason why servomotors fail to operate properly during trial operation.

• Check main power supply circuit wiring.

• Check servomotor wiring.

• Check CN1 I/O signal wiring.

Make sure the host controller and other adjustments are completed as much as possible in

step 1 (prior to connecting the servomotor to equipment).

Conduct a test run for the motor without load according to the following procedure. See

3.2.1 Servomotors with Brakes if you are using a servomotor with brakes.

Operate the motor with a Digital Operator.

POWER

8CN

O P E R A T O R

TDATA/SEEMOD/

CN5

CN3

From the power supply

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

CHARGE

+2-+1

Check wiring.

KSERVOPAC

S-HDG

AYASKAW

DWDV B1

24N

24P

L1/R L2/S

UVW

L3/T

Do not connect to the equipment.

3.1 Two-step Trial Operation

1. Secure the servomotor.

Secure the servomotor mounting plate to the

equipment in order to prevent the servomotor

from moving during operation. In this case,

be sure to disconnect the coupling and belt.

2. Check the wiring.

Disconnect the CN1 connector and check servomo-

tor wiring in the power supply circuit. CN1 I/O sig-

nals are not used, so leave the connector

disconnected.

Secure the mounting plate of the servomotor to the equipment.

Do not connect anything to the shaft (no-load conditions).

WARNING

May cause electric shock.

Disconnect all power and wait 5 min. before servicing.

Use proper

grounding techniques.

Disconnect the CN1 connector.

3-3

Trial Operation

3.1.1 Step 1: Trial Operation for Servomotor without Load

3. Turn ON power.

Turn ON SERVOPACK power. If the SERVO-

PACK has turned ON normally, the LED dis-

play on the Digital Operator will appear as

shown on the right. Power is not supplied to the

servomotor because the servo is OFF.

If an alarm display appears on the LED indica-

tor as shown on the right, the power supply cir-

cuit, servomotor wiring, or encoder wiring is

incorrect. In this case, turn OFF power and take

appropriate action. See 8.2.3 Alarm Display

Ta bl e.

4. Operate with the Digital Operator.

Normal display

Alternate display

Example of Alarm Display

Operate the servomotor using the Digital Oper-

ator. Check to see if the servomotor runs nor-

mally.

See 6.2.2 Controlling Operation Through the

Digital Operator for more details on the proce-

dure.

5. Connect the signal lines.

Use the following procedure to connect the

CN1 connector.

a) Turn OFF power.

b) Connect the CN1 connector.

c) Turn ON power again.

Operation by Digital Operator

If an alarm occurs, the power supply circuit, motor wiring, or encoder wiring is incorrect.

WARNING

May cause electric shock.

Disconnect all power and wait 5 min. before servicing.

Use proper

grounding techniques.

Connect CN1 connector.

3-4

3.1 Two-step Trial Operation

6. Check the input signals.

Check input signal wiring in Monitor Mode using the Digital Operator. See 6.1.7 Oper-

ation in Monitor Mode for more details on the procedure.

Turn ON and OFF each signal line to see if the LED monitor bit display on the panel

changes as shown below.

Input signal LED display

IMPORTANT

P-OT N-OT

/ALM-RST /P-CL /N-CL SEN

Input Signal Status LED Display

OFF (high level) Top LED indicators light.

ON (low level) Bottom LED indicators light.

The servomotor will not operate properly if the following signal lines are not wired correctly. Short

the signal lines if they will not be used. The input signal selections (parameters Pn50A to Pn50D) can

be used to eliminate the need for external short circuiting.

Signal Symbol Connector Pin

-OT CN1-42

-OT CN1-43

-ON CN1-40

+24VIN

No.

CN1

-47

/P-CON /S-ON

Top lights when OFF (high level).

Bottom lights when ON (low level).

Description

The servomotor can rotate in the forward direction when this signal line is low (0 V).

The servomotor can rotate in the reverse direction when this signal line is low (0 V).

The servomotor is turned ON when this signal line is low (0 V). Leave the servomotor OFF.

Control power supply terminal for sequence signals.

INFO

If an absolute encoder is being used, the servo will not turn ON when the servo ON signal (/S-ON) is

input unless the SEN signal is also ON.

When the SEN signal is checked in monitor mode, the top of the LED will light because the SEN sig-

nal is high when ON.

3-5

Trial Operation

3.1.1 Step 1: Trial Operation for Servomotor without Load

7. Turn ON the servo.

/S-ON

SERVOPACK

CN1-40

Turns ON the servo.

Servomoto

Turn ON the servo using the following procedure.

a) Make sure there are no reference signals input.

• Set V-REF (CN1-5) and T-REF (CN1-9) to 0 V for speed and torque control.

• Set PULS (CN1-7) and SIGN (CN1-11) to low for position control.

b) Turn ON the servo ON signal.

Display with the servo ON.

Set /S-ON (CN1-40) to 0 V. If normal, the servomotor will turn ON and the LED

indicator on the front panel will display as shown above. If an alarm display appears,

take appropriate action as described in 8.2 Troubleshooting.

IMPORTANT

If there is noise in the reference voltage for speed control, the “-” on the left of the 7-segment LED

may flash.

8. Operate using reference input.

The operating procedure here depends on the parameter settings (control mode selection

at memory switch Pn000.1). Use the following procedure for operations with speed and

position control.

3-6

3.1 Two-step Trial Operation

 Operating Procedure in Speed Control Mode: Set Pn000.1 to 0

Standard speed control setting is described here.

Reference voltage

-REF

SERVOPACK

(CN1-5)

(CN1-6)

Servomotor

Servomotor rotates at a speed proportional to the reference voltage.

1. Gradually increase the reference speed input (V-REF, CN1-5) voltage. The servomotor

will rotate.

2. Check the following items in Monitor Mode. See 6.1.7 Operation in Monitor Mode.

Un000 Actual motor speed

Un001 Reference speed

• Has the reference speed been input?

• Is the motor speed as designed?

• Does the reference speed coincide the actual motor speed?

• Does the servomotor stop when the speed reference is 0?

3. If the servomotor rotates at extremely slow speed with 0 V specified for the reference

voltage, correct the reference offset value as described in 6.2.3 Automatic Adjustment of

the Speed and Torque Reference Offset or 6.2.4 Manual Adjustment of the Speed and

Torque Reference Offset.

4. Reset the parameters shown below to change the motor speed or direction of rotation.

Pn300 Speed Reference Input Gain

See 4.2.1 Speed Reference.

Pn000.0 Rotation Direction Selection

See 4.1.1 Switching Servomotor Rotation Direction.

3-7

Trial Operation

3.1.1 Step 1: Trial Operation for Servomotor without Load

 Operating Procedure in Position Control Mode: Set Pn000.1 to 1

1. Set the parameter Pn200.0 so the reference pulse form is the same as the host controller

output form.

Selecting the reference pulse form: See 4.2.2 Position Reference.

2. Input a slow speed pulse from the host controller and execute low-speed operation.

Host controller

Reference pulse

PULS

/PULS

SIGN

/SIGN

SERVOPACK

(CN1-7) (CN1-8) (CN1-11) (CN1-12)

Servomotor

3. Check the following items in Monitor Mode. See 6.1.7 Operation in Monitor Mode.

Un000 Actual motor speed

Un007 Reference pulse speed display

Un008 Position offset

• Has the reference pulse been input?

• Is the motor speed as designed?

• Does the reference pulse coincide with the actual motor speed?

• Does the servomotor stop when the reference pulse is turned OFF?

4. Reset the parameters shown below to change the motor speed or direction of rotation.

Pn202, Pn203 Electronic Gear Ratio

See 4.2.5 Using the Electronic Gear Function.

Pn000.0 Rotation Direction Selection

See 4.1.1 Switching Servomotor Rotation Direction.

INFO

If an alarm occurs or the servomotor fails to operate during the above operation, CN1 con-

nector wiring is incorrect or parameter settings do not match the host controller specifica-

tions. Check the wiring and review the parameter settings, then repeat step 1.

Reference

• List of Alarms: See 8.2.3 Alarm Display Table.

• List of Parameters: See Appendix A List of Parameters.

3-8

3.1 Two-step Trial Operation

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

CAUTION

• Follow the procedure below for step-2 operation precisely as given.

Malfunctions that occur after the servomotor is connected to the equipment not only damage the equipment, but may also cause an accident resulting death or injury.

Before proceeding to step 2, repeat step 1 (servomotor trial operation without a load) until

you are fully satisfied that all items including parameters and wiring have been tested com-

pletely.

After step 1 has been completed, proceed to step 2 for trial operation with the servomotor

connected to the equipment. The purpose of step 2 is to adjust the SERVOPACK according

to equipment characteristics.

• Use autotuning to match the SERVOPACK to equipment characteristics.

• Match the direction of rotation and speed to equipment specifications.

• Check the final control form.

SGDH SERVOPACK

Follow the procedures below to perform the trial operation.

1. Make sure power is OFF.

2. Connect the servomotor to the equipment.

See 7.4.1 Servomotors for more details on connecting the servomotor.

3. Use autotuning to match the SERVOPACK to equipment characteristics.

Refer to 5.3 Autotuning.

4. Operate the servomotor by reference input.

As in step 1 (servomotor trial operation with no-load), execute operation by reference

input as described in 3.1.1 Step 1: Trial Operation for Servomotor without Load. Tune to

match the host controller at this time as well.

5. Set and record user settings.

Set parameters as required and record all settings for use later in maintenance.

Servomotor

Connect to the machine.

INFO

The servomotor will not be broken in completely during the trial operation. Therefore, let it the system

run for a sufficient amount of additional time to ensure that it is properly broken in.

3-9

Trial Operation

3.2.1 Servomotors with Brakes

3.2 Supplementary Information on Trial Operation

Always refer to this information before starting trial operation in the following instances:

• 3.2.1 Servomotors with Brakes

• 3.2.2 Position Control by Host Controller

3.2.1 Servomotors with Brakes

Use servomotors with brakes for vertical shaft applications or when external force is applied

to the shaft to prevent the shaft from rotating due to gravity or external force when power is

lost.

The SERVOPACK uses the brake interlock output (/BK) signal to control holding brake

operation when using servomotors with brakes.

IMPORTANT

z Vertical Shaft

Servomotor

Holding brake

Prevents the servomotor from rotating due to gravity.

z Shaft with External Force Applied

External force

Servomotor

To prevent faulty operation due to gravity or external force, make sure that the servomotor and holding

brake operate normally with the servomotor disconnected from the equipment. When both of them

operate normally, connect the servomotor to the equipment to start trial operation.

The following figure shows wiring for a servomotor with brakes. See 4.4.4 Using the Hold-

ing Brake for details on wiring.

Power supply Three-phase 400 V

L1, L2, L3

SGDH SERVOPACK

V W

Servomotor with brakes

Encoder

Power supply transformer (400 V/200 V)

Single-phase 200 V

Magnetic Contactor

Brake control relay

3-10

CN2

(90VDC)

Brake power supply LPDE-1H01 (100-V input) LPSE-2H01 (200-V input)

3.2.2 Position Control by Host Controller

If position control from the host controller has not been confirmed, disconnect the servomo-

tor from the equipment and perform a trial operation, otherwise the servomotor may run out

of control. Check servomotor operation as described in the following table.

Reference speed

Host controller

Position control

SGDH SERVOPACK

Speed control

3.2 Supplementary Information on Trial Operation

Trial operation for servomotor without load

Reference from

the Host Con-

troller

JOG Operation (Constant Refer-

ence Speed Input from Host Controller)

Simple Positioning

Overtravel (P-OT and N-OT

Used)

Check Item Check Method Review Items

Motor speed Check motor speed as fol-

lows:

• Use the speed monitor (Un000) on the Panel Operator.

• Run the servomotor at low

No. of motor rotations

Whether the servomotor stops rotating when P-OT and N-OT signals are input

speed. Input a reference

speed of 60 min example to check to see if the servomotor makes one revolution per second.

Input a reference equivalent to one servomotor rotation and visually check to see if the shaft makes one revolution.

Check to see if the servomotor stops when P-OT and NOT signals are input during continuous servomotor operation.

-1

for

Check the parameter setting at Pn300 to see if reference speed gain is correct.

Check the parameter setting at Pn201 to see if the number of dividing pulses is correct.

Review P-OT and N-OT wiring if the servomotor does not stop.

3-11

Trial Operation

3.3.1 Parameters

3.3 Minimum Parameters and Input Signals

This section describes the minimum parameters and input signals required for trial operation.

3.3.1 Parameters

See 6.1.6 Operation in Parameter Setting Mode for more details on setting parameters.

Turn OFF power once after changing any parameter except Pn300. The change will be valid

when power is turned ON again.

Basic Parameters

Pn000.1 Function Selection Basic Switches:

Control Method Selection

See 4.3.5.

Speed Control

Pn300 Speed Reference Input Gain See 4.2.1.

Pn201 PG Divider See 4.2.3.

Position Control

Pn200.0 Reference Pulse Form See 4.2.2.

Pn202 Electronic Gear Ratio (Numerator) See 4.2.5.

Pn203 Electronic Gear Ratio (Denominator) See 4.2.5.

Changing Servomotor Rotation Direction

The wiring may be incorrect if the specified direction of rotation differs from the actual

direction of rotation. Recheck the wiring and correct if necessary. Use the following param-

eter to reverse the direction of rotation.

Pn000.0 Function Selection Basic Switches:

Direction Selection

See 4.1.1.

3-12

3.3.2 Input Signals

Refer to the relevant page for details on each input signal.

Input signal selection settings through parameters can be used to eliminate the need for

external short circuits.

/S-ON Servo ON CN1-40 See 4.5.2 Using the Servo ON Input Signal for more

P-OT Forward run

N-OT Reverse run

3.3 Minimum Parameters and Input Signals

Signal Name Pin No. Contents

details on turning ON and OFF the servomotor.

CN1-42 See 4.1.2 Setting the Overtravel Limit Function for

prohibited

CN1-43

prohibited

more details on the overtravel limit switch.

3-13

Parameter Settings and Functions

This chapter describes the procedure for setting and applying parameters.

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

4-1

Parameter Settings and Functions

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

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

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