Yaskawa LEGEND Digital Torque Amplifier User Manual

LEGEND Digital Torque Amplifier
SGDG User’s Manual

Upon receipt of the product and prior to initial operation, read these instructions
thoroughly, and retain for future reference.

Safety-Related Symbols

G

The followi ng sy mbo l s are used in this man ual acco r d ing to the s afe ty-r el ated co nte n t.
Be sure to observe text annotated with these safety symbols as their content is important.

WARNIN

CAUTION

YASKAWA manufactures compon ent parts that can be used in a wide variety
of industrial applications. The selection and application of YASKAWA prod­ucts remain the responsibility of the equipment designer or end user.
YASKAWA accepts no responsibility for the way its products are incorporated
into the final syst em desi g n.

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

Mis-operation may result in a hazardous condition with the possibility of death or
serious injury.

Mis-operation may result in a hazardous condition with the possibility of serious or
light injury as well as material damage.

Furthermore, the items annotated with a may result in serious
consequences depending on the situation. Be sure to observe these as they highlight
important content.

CAUTION

WARNING

YASKAWA offers an express warranty only as to the quality of its products in
conforming to standards and specifications published in YASKAW A’ s manual.
NO OTHER W ARRA NTY, EXPRESS OR IMPL IED, I S O FFERED. YASKAWA
assumes no liability for any personal injury, property damage, losses, or
claims arising from misapplication of its products.

i

Icon Display

The following icons were designe d so as to aid in understanding the type of descriptive
content. The icons are displayed where needed to aid in comprehension.

Major items which should be memorized. In addi tion 、 this can be a minor item which does

Important

Exp.

Supp.

Terminology?? This explains difficult- to-understand technical terminology and technical terms which

not reach the level of damage to the machine, such as the genera tion of an alarm display.

This shows programming, operation examples, etc.

This shows supplemental informat ion and convenient functions to remember.

have not been previously explain ed.

ii

Outline of Manual

 Thank you for purchasing the LEGEND Digital torque amplifier.
 Use this product with a full understa nding of conditions such as product specific a tions, usage

limits, etc.

 This manual explains the following areas for users of the LEGEND Digital torque amplifier.

• Methods for mounting and wiring servomotor an d amplif iers

• How to use the various functions

• Ratings and specificati ons for standard device types

• Maintenance and Inspection

 For additional infor mation on Sigma II servomotor,please refer to the following documents:

• Sigma II Servo System Product Catalog Supplement
(Doc.# G-MI#99001x-Sigma II)

• Sigma II Series Servo System User’s Manual
(Doc.# YEA-S800-32.2x)

• Linear Servomotor Product Catalog
(Doc.#KAE-S800-39.10)

iii

G

Safety Notes

In this manual, we will describe important cautionary items which should always be
observed regarding usa ge, inspection upon receipt of product, mounting, wiring,
operation, and maintenance/inspection.

■ Inspection Upon Receipt of Product

• Use the ser vomotors and am plifiers in the designated combinations. (See “3.5

Combinations” on page 39.)

Failure to do so may result in fire or unit failure.

■ Mounting

• Never use this produc t in an area where w ater may splash, in a corrosive or flammable
atmosphere, or next to flammable items.

Doing so may res u lt in electric shock or fire.

CAUTION

CAUTION

■ Wiring

WARNIN

• Be sure to connect the ground terminal of the digital torque amplifier to a grounding
electrode (100Ω or less).

Failure to do so may result in electric shock or fire.

CAUTION

Wiring Precautions

• Do not bundl e or run power and sig n al lines together in the same duct.

Keep power and signal lin e s at least 1 1.81” (30cm) apart.

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

• The maxim um lengths for signal lines are as follows :

• Maximum of 9.84ft (300cm) for reference input lines.

• Maximum of 65.6ft (20m ) for PG feedback lines.

• Use a cable type UL20276-SB for distanc es over 65.6ft (20m ).

iv

CAUTION

G

G

• Do not connect a three-phase power supply to the digital torque amplifier output terminals
U, V, and W.

Doing so may result in in jury or fire.

• Securely fasten the screws for the power terminals and mo tor terminals.

Failure to do say may result in fire.

■ Operation

WARNIN

• To prevent unexpected accidents, test the motor with the motor shaft not conn ected to a
machine or load.

• T o prev ent une xp ected acc ident s , run w ith l imi t swit c hes or st op pe rs att ac hed to bot h end s
of the magne t track.

Failur e to do so may result in injury.

• Set parameters before operating the motor in connection with a machine..

Operatin g w ithout making these settings m ay result in mac hine runaway and damage.

• After mounting on the machine, prior to the star t of operation, make sure th e em ergency
stop can be applied at any time.

Failur e to do so may result in injury.

• Do not touch the heat sink while the unit is running.

The high tempe rature may result in burns.

■ Maintenance/Inspection

WARNIN

• Never touch the inside of the digital torque amplifier.

Doing so may result in electrical shock.

• Be sure no wir ing is exposed when power is turned ON.

Failure to do so may re su lt in el ectrical sh oc k .

• Do not touch the terminals for five minutes following power OFF .

Electrical shock may result due to residual voltage.

CAUTION

• Do not change the wiring while power is ON.

Doing so may result in electrical shock or injury.

v

f

■ General Cautionary Items

Cautionary Items Regarding Usage

• The fig ures contai ned in this manua l may, for purposes of detailed explanation, be drawn with covers and
safety sh ields removed. When operating this product, be sure to return all standard covers and shields to
their original locations, and operate the product in accordanc e w ith this manual.

• The fig ures contain ed in this manual are representative examples, and may diff er from the produ ct
recieved.

• Appropr iate modifications may be made to this manual due to improvement s or specification changes in
the product, or to imp rove the ease of use of th e m anual itself. In the event of such changes, the document
number of the ma nual will be upda ted, and issued as a revision.

• To order additional copies of this manual, contact your Yasakwa representative, or the nearest Yaskawa
sales office printed on the back of this manual with the document number written on the cover.

• Yask a w a assumes no responsibil ity for products modified by the custo m er as they fall outside th e
warranty.

■ Warning Label

危険

WARNING

注意

CAUTION

必ずアース線を接続せよ

Use proper grounding techniques.

通電中および電源オフ後，5分間端子部にさわるな！感電のおそれあり

Disc onnect al l power and wait 5 m in.
before servicing. May cause electric shock.

通電中はヒートシンクにさわるな！火傷のおそれ あり

Do not touch heat sink when power is ON.
May cause burn.

Mounting Position o

Warning Label

Ground Mark

Figure A: Attachment Position of Warning Label and Ground Mark

vi

Table of Contents

Safety-Related Symbols .......................................................................................... i

Icon Display ............................................................................................................. ii

Outline of Manual ................................................................................................... iii

Safety Notes............................................................................................................ iv

Inspection Upon Receipt of Product........................................................iv

Mounting .................................................................................................iv

Wiring......................................................................................................iv

Operation .................................................................................................v

Maintenance/Inspection ...........................................................................v

General Cautionary Items .......................................................................vi

Warning Label.........................................................................................vi

Chapter 1: Interpretation of Model Number ......................................................... 1

1.1 Rotary Motor Type ..................................................................................... 1

1.2 Linear Motor Type...................................................................................... 2

Motor Coils.............................................................................................. 2

1.3 Core-less Type .......................................................................................... 2

Motor Coil................................................................................................ 2

1.4 T-Type Iron Core ....................................................................................... 3

Motor Coil................................................................................................ 3

1.5 F-Type Iron Core ....................................................................................... 4

Motor Coil................................................................................................ 4

1.6 Digital Torque Amplifier ............................................................................. 5

1.7 Serial Converter Unit ................................................................................. 6

Chapter 2: Wiring ................................................................................................... 9

2.1 Main Circuit Wiring..................................................................................... 9

Main Circuit Terminal Names and Functions .......................................... 9

Example of Typical Main Circuit Wiring................................................. 12

Power ON Sequence Design ................................................................ 13

Power Line Size and Peripheral Devices .............................................. 13

Digital Torque Amplifier Power Loss ..................................................... 13

Main Circuit Terminal Block Wiring Method .......................................... 13

Power Terminal Processing .................................................................. 14

Peripheral Device Types and Capacities .............................................. 15

2.2 Input Signals ............................................................................................ 16

Table of Contents

Example of I/O Signal Connection ........................................................ 16

Connector (CN1) Terminal Array List.................................................... 17

CN1 Specifications................................................................................ 17

I/O Signal Names and Their Functions ................................................. 18

Command Input Circuit and Interface ................................................... 20

Sequence Input Circuit and Interface.................................................... 20

Output Circuits and Interfaces............................................................... 21

2.3 Wiring to the Encoder .............................................................................. 22

2.4 Cable Specifications and Peripheral Devices.......................................... 24

2.5 Standard Connection Examples .............................................................. 26

Single-phase Power Specification (SGDG-01GT, SGDG-04GT).......... 26

3-Phase Power Specification (SGDG-10GT, SGDG-15GT) ................. 27

Chapter 3: Setup................................................................................................... 29

3.1 Linear Motor Mounting............................................................................. 29

3.2 Rotary Motor Mounting ............................................................................ 29

Storage Temperature............................................................................ 30

Mounting Location................................................................................. 30

Alignment .............................................................................................. 31

Mounting Direction ................................................................................ 31

Shaft Tolerance Ranges ....................................................................... 31

Oil and Water Countermeasures........................................................... 32

Cable Stress.......................................................................................... 32

Vibration Resistance ............................................................................. 33

3.3 Digital Torque Amplifier Installation ......................................................... 34

Storage Conditions................................................................................ 34

Mounting Conditions ............................................................................. 34

3.4 Switch Settings ........................................................................................ 37

SW1 Function Selection Switch (dip switches) ..................................... 37

SW2 Linear Scale Pitch Setting (rotary switch)..................................... 37

SW3 PG Divider Setting (rotary switch) ................................................ 38

3.5 Combinations........................................................................................... 39

Combinations with Rotary Motors ......................................................... 39

Linear Motor Combinations ................................................................... 40

Serial Conversion Unit and Applicable Motors...................................... 40

Chapter 4: Description of Functions .................................................................. 41

4.1 Torque/Force Control............................................................................... 41

4.2 Protection Sequence Design ................................................................... 41

Servo ON Input ..................................................................................... 42

DB OFF Input........................................................................................ 43

RUN Signal Output................................................................................ 43

4.3 Encoder Signal Output............................................................................. 44

I/O Signals............................................................................................ 45

Table of Contents

Output Phase Form............................................................................... 45

PG Divider Setting................................................................................. 46

4.4 Analog Monitor......................................................................................... 47

4.5 Regenerative Resistor Selection ............................................................. 47

External Regen Resistors ..................................................................... 48

For Digital Torque Amplifiers of 400W Capacity or Less ...................... 48

For Digital Torque Amplifiers of 500W Capacity or More...................... 51

Calculating Regen Energy .................................................................... 51

Chapter 5: Servo System Maintenance/Inspection........................................... 53

5.1 Motor Inspection ...................................................................................... 53

5.2 Digital Torque Amplifier Inspection .......................................................... 54

Component Replacement Timeline....................................................... 54

Use Conditions...................................................................................... 54

5.3 Alarms...................................................................................................... 55

7-Segment LED..................................................................................... 55

Alarm List .............................................................................................. 55

Appendix A: Host Controller Connection Examples ........................................ 57

A.1 Connecting the Galil IMC-1900/2900 ...................................................... 57

A.2 Connecting the Delta Tau PMAC2 .......................................................... 58

A.3 Connecting the MEI PCX/DSP ................................................................ 59

A.4 Connecting the Acroloop ACR-8010 ....................................................... 60

Appendix B: Installation Conditions for EMC Directives ............................... 61

EMC Installation Conditions.................................................................. 61

The Cable Core..................................................................................... 64

Cable Clamp ......................................................................................... 64

1.1 Rotary Motor Type

SGMPH - 01 A A A 2 S D

1. Interpretation of Model Number

1.1 Rotar y Moto r Type

Σ-II Series
Servo Motor
Series Name

SGMAH
SGMPH
SGMGH
SGMSH

② Voltage

1500

r / min

A 200V
B

100V

3000

r / min

＊１

① Motor Capacity (kW)

SGMAH SGMPH SGMGH SGMSH

No.

3000

r / min
A3 0.03
A5 0.05

01 0.1 0.1
02 0.2 0.2
03
04 0.4 0.4
05 0.45
06
08 0.75 0.75
09 0.85
10 1.0
12
13 1.3
15 1.5 1.5

3000

r / min

SGMPH only

⑧ Brake/Oil S eal Specifications

w/o brake or oil seal

1
S w/ oil seal
C w/ 24V brake
E S+C

⑦ Shaft Specif ic a tio n

2 Straight, no key
4 Sra ight , w/ ke y
6 Straight, w/ key and ta p
8 Straight, w/ tap

④ Design Revision Order

SGMAH

A

SGMPH
SGMGH(1500 r/min)
SGMSH
SGMGH(1500 r/min)

C

For high-preci sion machine tool s

E SGMPH (Waterproof Spec. IP67)

③ Serial Encoder Specifications

No. SGMAH SGMPH SGMGH SGMSH

A

13-bit

Incremental

C

17-bit

Incremental

◎ ◎

◎

: Standard

◎

○

: Opt i on

◎

*1. 10 0V is only for us e with SGMA H , SG M PH
servo motors of 0.2kW or less.

1

1.2 Linear Motor Type

1.2 Linear Motor Type

■ Motor Coils

SGL G W - 40 A 140 A

Linear Σ Series Motor

Motor Type

G: Core-less

T: T-type iron core
F: F-type iron core

Type
W: Motor Coil

Height of Magnets

1.3 Core-less Type

■ Motor Coil

16

30

L1

W

Option Specifications
P: w/ Hall sensor only.
W: w/ Hall se nsor and
Serial Converter. Th e
Serial Converter is
required f or operation with
LEGEND Digital Torque
Amplifiers.

Design Revision Orde r

Magnet Track Length

Voltage
A: 200V

25.4

15

H

Hall

Sensor

Model

SGLGW-

40A140A(P)
40A253A(P)
40A365A(P)
60A140A(P) 220 73 140 125 83 0.47
60A253A(P)
60A365A(P)

2

Max.

Thrust

(N)

140 47 140 125 63 0.39
280 93 252.5 237.5 63 0.65

420 140 365 350 63 0.91

440 147 252.5 237.5 83 0.80
660 220 365 350 83 1.13

Cont.

Thrust

(N)

L2

External Dimensions (mm)

L1 L2 H

Mass

(kg)

1.4 T-Type Iron Core

■ Motor Coil

Type: SGLTW-20A □□□ A(P), SGLTW -35A □□□ A(P)

1.4 T-Type Iron Core

W

50

H

Hall

Sensor

Type: SGLTW-40A □□□ A(P), SGLTW -80A □□□ A(P)

W

H

Min. 64

40

LMin. 100

L

Model

SGLTW-

20A170A(P)

20A320A(P)

20A460A(P)

35A170A(P)

35A320A(P)

35A460A(P)

40A400A(P)

40A600A(P)

80A400A(P)

80A600A(P)

Max.

Thrust

(N)

380 130 170 100 51 2.6
760 250 315 100 51 4.8

1140 380 460 100 51

660 220 170 100 66 3.7
1320 440 315 100 66 6.8
2000 670 460 100 66 10
2000 670 395 150 78 20
3000 1000 585 150 78 30
4000 1300 395 150 115 30
6000 2000 585 150 115 43

Cont.

Thrust

(N)

External Dimensions (mm)

L W H

Mass

(kg)

７

3

1.5 F-Type Iron Core

1.5 F-Type Iron Core

■ Motor Coil

Min. 50

L

Hall Sensor

Model

SGLFW-

20A090A(P) 86 25 91 40 34 0.7
20A120A(P)
35A120A(P)
35A230A(P) 440 160 235 55 34 2.3
50A200A(P)
50A380A(P)
1ZA200A(P) 1200 400 215 119 43 6.4
1ZA380A(P)

Max.

Thrust

(N)

125 40 127 40 34 0.9
220 80 127 55 34 1.3

600 200 215 71.5 43 3.7

1200 400 395 71.5 43 6.9

2400 800 395 119 43 12.2

Cont.

Thrust

(N)

External Dimensions (mm)

L W H

W

H

Mass

(kg)

4

1.6 Digital Torque Amplifier

T

1.6 Digital Torque Amplifier

SGDG

LEGEND
SGDG Servo Amplifier

Maximum a pplied motor capacity
(see table below)

Voltage
G: 90V~253V

Model
@T: Torqu e/Force Con trol

10 G

-

Maximum Capacity of Applied Motor

Applied Motor

Maximum Ca pacity

Symbol

01 0.1
04 0.4
10 1.0
15 1.5

Capacity

(kW)

Note: Keep th e following in mind in SGDG digital to rque amplifier and SGDG/SGL□W

servomotor combinations:
The SGDG-01GT can drive motors of 30~200W rated output.
The SGDG-04GT can drive motors of 100~750W rated output.
The SGDG-10GT can drive motors of 300W~2kW rated output.
The SGDG-15GT can drive motors of 750W~3kW rated output.

Since LEGEND servo drives are applicable to a wider range motor and driver combinations,
the output power of the drive will dictate the available maximum motor power even if the
maximum output power of the motor is larger than that of the connected drive.

Specific speed/torque performance will vary depending on such power supply conditions as
voltage, number of available phases, etc.

5

1.7 S erial Convert er Uni t

1.7 Serial Converter Unit

JZDP

Conversion unit type

(see ta bl e below)

Compatible Motor Numbers
Varies according to compatible motors

(see ta bl e below)

A○○○ △△△

-

-

Serial Converter Unit Type Model Classifications

Model Model Usage Scale Hall Sensor (Y/N?)

JZDP­A003

JZDP­A004
(Note)
US Market­dedicated

By Haidenhain

N

By Renishaw

Y

JZDP­A005

JZDP­A006

JZDP­A008

By Renishaw

N

By Haidenhain

Y

By Renishaw

Y

6

Serial Converter Units and Applied Motors

1.7 Serial Converter Unit

Serial Conver te r Unit Mode l

JZDP-A00 □ - □□□

001 SGLGW-40A140A(P) 013 SGLTW-20A460A(P)
002 SGLGW-40A253A(P) 014 SGLTW-35A170A(P)
003 SGLGW-40A365A(P) 015 SGLTW-35A320A(P)
004 SGLGW-60A140A(P) 016 SGLTW-35A460A(P)
005 SGLGW-60A253A(P) 017 SGLFW-20A090A(P)
006 SGLGW-60A365A(P) 018 SGLFW-20A120A(P)
007 SGLTW-40A400A(P) 019 SGLFW-35A120A(P)
008 SGLTW-40A600A(P) 020 SGLFW-35A230A(P)
009 SGLTW-80A400A(P) 021 SGLFW-50A200A(P)
010 SGLTW-80A600A(P) 022 SGLFW-50A380A(P)
011 SGLTW-20A170A(P) 023 SGLFW-1ZA200A(P)
012 SGLTW-20A320A(P) 024 SGLFW-1ZA380A(P)

Applied Motor

Serial Converter Unit Model

JZDP-A00 □ - □□□

Applied Motor

7

Notes:

8

2.1 Main Circuit Wiring

2. Wiring

2.1 Main Circuit Wiring

Here we will show representative examples of main circuit wiring, the functions of the main
circuit terminals, as well as the power input sequence, etc. Observe the following cautionary
items when wiring.

CAUTION

• Do not pass the power line and signal lines through the same duct or bundle them together. Keep the
power line and signal lines at least 30cm apart when wiring.

• Use a twist pair wire or multi-core twisted-pair bundled shield wire for the signal and encoder lines.

The maximum wiring length is 3m for the command input line, and 20m for the encoder feedback line.

• Do not touch the power terminal for 5 min. after power OFF as a high voltage may remain even after
power OFF.

Perform inspection work after checking that the CHARGE lamp has gone out.

• Do not turn the power ON/OFF frequently. Limit ON/OFF repetition to one time per minute.

Because the digital torque amplifier has a capacitor in its power unit, a large charging current (charging
time: 0.2sec.) will be fed at power ON. For this reason, frequent power ON/OFF switching degrades the
main circuit element within the digital torque amplifier.

• Suitable for use on a circuit capable of delivering not more than 5000 A

(symmetrical)

rms

■ Main Circuit Terminal Names and Functions

Table 2.1: Main Circuit Terminal Names and their Functions

Terminal

Code

L1, L2 or L1,
L2, L3

U, V, W

L1C, L2C

(2 places) Ground Terminal

Name Function

100W/400W

Main Circuit Power
Input Terminal

Motor Connection
Terminal

Control Power Input
Terminal

Single Phase 90~253 V

1.0kW~1.5kW

Three Phase 90~253 V

Connected to motor.

Single Phase 90~253 V

Perform “Ground Processing “ by connecting with the power
grounding terminal and the motor grounding terminal.

9

2.1 Main Circuit Wiring

Table 2.1: Main Circuit Terminal Names and their Functions (Continued)

Terminal

Code

B1, B2 or
B1, B2, B3

⊕1，⊕2

Name Function

Connection not normally needed.
Connect an external regen resistor (provided by

External Rege n
Resistor Connection
Terminal

High-Frequency
Harmonic
Suppressing DC

100W/400W

1.0kW/1.5kW

This is normally sh orted between ⊕1-⊕2. If harmonic
frequency suppression is needed, connect a DC reactor
between ⊕1-⊕2.

customer) between B1-B2 if regen capability is
insufficient.

(Note）There is no B3 terminal.
B2-B3 is no rmally shorted (using the in te g rated

regen resistor)
If the capacity of the internal regen resistor is
insuf ficient, connect an external regen resistor
(provided by customer) between B1-B2 with B2­B3 open (wiring removed).

Reactor Connection
Terminal

Main Circuit Load

Connection is normally not needed.

Terminal

10

2.1 Main Circuit Wiring

SYSTEM
SWITCHES

(Under the cover)

MAIN
POWER
INDICATOR

MAIN
POWER
TERMINAL

CONTROL
POWER
TERMINAL

MOTOR
CONNECTION
TERMINAL

HEAT SINK

(Side)

OPTION BOARD

CONNECTOR

CONTROL

POWER

INDICATOR

STATUS

INDICATOR

WARNING

LABEL

GROUNDING
TERMINAL

I/O SIGNAL

CONNECTOR CN1

ENCODER CONNECTOR
CN2

11

2.1 Main Circuit Wiring

■ Example of Typical Main Circuit Wiring

A typical wiring example is shown in the figur e below.

Power　90V～253V

Noise Filter

Emergency

MC1

Stop

Power

L1

L2

L3

L1C

L2C

OFF

Power

ON

MC1

Digital Torque Amplifier

SGDG-□□GT

RY10

MC1

Surge

Supressor

FG

U

V

W

A

B

M

C

D

PG

12

ALM

ALM-SG

Figure A Main Circuit Wiring Example

CN1

31

32

Ry10

1D

0

+24V

24V

■ Power ON Sequence Design

S

Keep the following in mind when designing a Power ON Sequence.

• Design the power feed sequence so that the power goes OFF if a “Servo Alarm” is
output. See “Figure A Main Circuit Wir ing Example” on page 12.

• Hold down the power ON button for at least two seconds. The digital tor que
amplifier will output a “Servo Alar m” signal for at most two seconds at power ON.
This is necessary for digital torqu e amplifier initial setting.

2.1 Main Circuit Wiring

Power

ervo Alarm (ALM) Output Signal

2.0s Max.

■ Power Line Size and Peripheral Devices

See the Sigma II Series Servo System User's Manual: Servo Selection and Data Sheet
edition. (Document Number: YEA-SIA-S800-32.2x)

■ Digital Torque Amplifier Power Loss

The digital torque amplifie r power loss at continuous output is shown in Table 2.2 below.

Table 2.2: Digital Torque Amplifier Power Loss at Continuous Output

Main

Circuit

Single-phase
200V

3-phase
200V

Max.

Applied

Motor

Capacity

0.10 SGDG–01GT 0.91 6.7 – 13 19.7

0.40 SGDG–04GT 2.8 20 – 13 33

1.0 SGDG–10GT 7.6 55 12 15 82

1.5 SGDG–15GT 11.6 123 14 15 152

Digital Torque

Amplifier Model

Output

Current

(actual)

A

Main

Circuit

Power

Loss W

Regen

Resistor

Power

Loss W

Control

Circuit

Power

Loss W

Total

Power

Loss W

Note: The regen res is tor power loss is the allowable power loss. Take the following measures if this

value is exceeded. Remove the lead wire of the digital torque amplifier' s integrated regen
resistor and install an external regen resistor. Furthermore, the external re gen re si stor is an
option. For details on regen resistors, see “

4.5 Regenerative Resistor Selection”.

■ Main Circuit Terminal Block Wiring Method

Observe the following cautionary items when wiring.

CAUTION

• Perform wiring after removing the terminal block from the digital tor que amplifier unit.

• Insert one wir e into each po wer line in sertion aperture in the termin al block.

• When inserting the pow er lines, be sure that they do not short against the surrounding material due to
exposed wir e cores.

• Power lines that have been mist akenly pulled out by excessive force should be re-stripped then connected .

Servo amplifiers with capacities of 1.5kW or less consist of a connector-type terminal
block for the main circuit. Wire the terminal block by the following procedure.

13

2.1 Main Circuit Wiring

.)

Connec tio n Me th od

1. Strip the insulation of the power lines used.

2. Open the terminal block wiring insertion area with a tool. There are two opening
methods as shown in figures A and B.

• Figure A shows opening by prying with an accessory lever.

• Figure B shows opening by forcibly pressi ng the driver insertion aperture with

8

9mm

～

(.315~.35 in

either a flathead screwdriver head width 3.0~3.5mm (.118~.138 in.) or a 210-120J­type driver from Wago, Inc. The work can be done using either of the methods in

Figure A: or Figure B:.

Figure A :

Figure B:

3. Insert the core of the power line int o the opening. Release the lever or the pressure on
the driver after insertion.

■ Power Terminal Processing

Strip the insulation on the power line. The useable line sizes are as follows:

• Solid Conductor.. φ0.5~φ1.6mm

• Stranded Conductor ..AWG28~AWG12

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