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

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.

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.

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

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

■ 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 ).

CAUTION

• 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.

■ 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

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

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

For high-preci sion machine tool s

E SGMPH (Waterproof Spec. IP67)

③ Serial Encoder Specifications

No. SGMAH SGMPH SGMGH SGMSH

13-bit

Incremental

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.

1.2 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

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

Hall

Sensor

Model

SGLGW-

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

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)

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

Hall

Sensor

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

Min. 64

LMin. 100

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

1.5 F-Type Iron Core

■ Motor Coil

Min. 50

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

Mass

(kg)

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.

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

By Renishaw

JZDPA005

JZDPA006

JZDPA008

By Renishaw

By Haidenhain

By Renishaw

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

Notes:

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.

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

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

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

L1C

L2C

OFF

Power

MC1

Digital Torque Amplifier

SGDG-□□GT

RY10

MC1

Surge

Supressor

ALM

ALM-SG

Figure A Main Circuit Wiring Example

CN1

Ry10

+24V

24V

■ Power ON Sequence Design

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)

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.

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

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

■ Peripheral Device Types and Capacities

Table 2.3 Shows Servopack device Types and capacities.

Table 2.3: Peripheral Device Types and Capacities

2.1 Main Circuit Wiring

Main

Circuit

Power

Supply

Single-Phase

200V

Three-Phase

200V

Model

Power Su ppl y

Capacity Per

Capacity

(kW)

0.1 01GT 0.40 4

0.4 04GT 1.2 8

1.0 10GT 2.3 7

1.5 15GT 3.2 10

＊ The FN □□□□ noise filter is manufactured by Schaffner Corp.

SGDG- Model

Amplifier

(KV A)

MCCB or

Fuse

Capacity

(Arms)

Recommended

Noise Filter*

Single-

FN2070-

6/07

Phase 250VAC 6A

Single-

FN2070-

10/07

Phase 250VAC 10A

Three-

FN258L-

16/07

Phase 480V 16A

Specifi-

cations

Magnetic

Contactor

10A or Equivalent

20A or Equivalent

2.2 Input Signals

■ Example of I/O Signal Connection

• A typical example of I/O signal connecti on is shown below.

Power　90V~253V AC

24V~12V

Torque/

Force

Reference

Noise F ilter

Emergency

MC1

Stop

Power

OFF

Power

RY10

MC1

Surge

Supressor

L2 L1C L2C

CN1-26

CN1-27

3.3ＫΩ

CN1-13 CN1-34

RY1

/Ｓ-ＯＮ CN1-14 CN1-35

RY2

/DBOFF CN1-15

CMD-IN CN1-3

GND CN1-4 CN1-21

3.3ＫΩ

A/D

SGDG-□□GT

Digital Torque Am pl ifier

SV ON　5

DB_OFF

SV ON

ALM

DB OFF

RUN

SN75ALS174 or similar product

CN1-7

CN1-10

CN1-20

CN1-22 CN1-23

CN1-24 CN1-25

U V

24V~12V

RY10

Motor

ALM+ ALMRUN+ RUN-

PAO /PAO

Encoder

PBO

Divided

/PBO PCO

/PCO

Output

■ Connector (CN1) Terminal Array List

The CN1 terminal array and its specif ications are shown below.

CN1 Terminal Layout

2.2 Input Signals

1--- --- 19GND GND

Torque/

CMD

-IN

5 --- --- 23 *PB0

RUN+RUN Signal

9 --- --- 27

11 --- ---

13 +24V

OFF

17 --- --- 35 ALM -

Force Reference Input

Output

External Power Input

DB OFF Signal Input

2 GND GND

4 GND GND 22 PBO

6 GND GND 24 PCO

8 --- --- 26 /S-ON5

10 RUN -

12 --- --- 30 --- ---

14 /S-ON

16 --- --- 34

18 --- --- 36 --- ---

RUN Signal Output

Servo ON Signal Input

21 *PAO

25 *PCO

DB OFF5

Torque

Mon

31 --- ---

33 GND GND

Encoder Divided Output A

phaseEncoder

Divided Output B phase-

Encoder Divided Output C phase-

DB OFF Sign a l Input

Torque Monitor

5V/Max. Torque

Servo Alarm Output

Encoder

20 PAO

SPD-

MON

32 --- ---

ALM ＋Servo Alarm

Divided Output A phase+

Encoder Divided Output B phase+

Encoder Divided Output C phase+

Servo ON Input

Speed Monitor

1V/1000 RPM

Output

Note 1 Do not use empty terminals for relays. Note 2 Connect the I/O signal cable shield wire to the connector shell. This is connected to the

frame ground on the digital torque amplifier side connector.

■ CN1 Specifications

Specification for

Connector Used in

Digital Torque

Amplifier

10236-52A2JL-type Right Angle 36P

Soldering

Type

10136-3000VE 10336-52A0-008 Sumitomo 3M, Inc.

Applied Receptacle Model

Case Manufacturer Name

2.2 Input Signals

■ I/O Signal Names and Their Functions

The names and functions of the digita l torque amplifier I/O signals are shown below.

Input Signals

Common

Torque

Common

Signal Name

/S-ON

DB － OFF

+24VIN

CMD-IN

Pin No.

14 26

Function

Servo ON

• The inverter out put is enabled to provide power to the motor. DB Release

• A free run st ate has resul ted by releasing the DB. Sequence si gnal control pow er input

• +24V power supply provided by customer. Torque/Force Reference Input

• -10~+10VDC 10V= Peak Motor Torque

Output Signals

Signal Name Pin No. Function

ALM+ ALM - PAO 20 *PAO PBO *PBO 23 PCO *PCO

RUN+ RUN -　 10

SPD-MON 28 Speed Monitor (1V/1000rpm) , Linear Scale 1V/1000mm/sec TORQUE-MON 29 5V/Max Torque

FG Shell

34 35

21 22

24 25

７

Servo Alarm : Turns OFF due to error detection.

A-phase Signal

2-phase pu lse (A-phase, B-phase)

B-phase Signal

C-phase Signal

Base Block Release Signal : Output du ring base block release

The frame ground in connected upon connection of the I/O signal cable shield wire to the connector shell.

Conversion Encoder Output S ignal and origin pulse (C-phase) signal

Reserved

Output Signals (Continued)

Signal Name Pin No. Function

1 5 8

9 11 12 16 17 18 30 31 32 36

Open Te rmi nal (Note) Do not use empty ter m inals for relays, etc.

2.2 Input Signals

■ Interface Circuit

An example is given below of connection of the digi tal torque amplifier I/O signals to an upper level device.

■ Command Input Circuit and Interface

Analog Input Circuit The analog signal is the torque ref erence signal. The input impedance is as follows.

• Command Input (CMD-IN): Approx. 14kΩ The maximum allowable voltage for the input signal is

• 10V= Peak Motor Torque

Amplifier

(1/2W)

1.8kΩ

12V

25HP-10B

2kΩ

or more

1000：1

CMD-IN

Approx.14kΩ

±12V

■ Sequence Input Circuit and Interface

+24VIN

/S-ON etc.

Amplifier

3.3k Ω

Amplifier

DC24V 50mA or more

+24VIN

/S-ON etc.

3.3kΩ

24V

50mAor more

Amplifier

DC24V 50mA or more

+24VIN

/S-ONetc.

3.3kΩ

This is connected by a relay or open collector transistor circuit. Select a low current type when connecting by relay. If low curre nt relay is not used, this may cause a connection fault.

2.2 Input Signals

■ Output Circuits and Interfaces

The output signal circuits of the digital torque amplifier are of the three types shown below. Configure the input circuit on the upper-level device to match each of these output circuits.

• Connection with Line Driver Output Circuits The output signals (PAO, *PAO, PBO, *PBO) where the encoder serial data was converter to a 2-phase (A-phase, B-phase) pulse, and the origin pulse signal (PCO, *PCO) are output by the line driver circui t. The upper- level device receives these through the line receiver circuit. See “2.3 Wiring to the Encoder” for an example of the connect io n circuit .

• Connection with Photocoupler Output Circuit Servo alarms and other output signals f or sequence use are configured in the photocoupler output circ uit. They are connected through the relay and line driver circuits.

Digital Torque

Amplifier Side

DC5V～24V

Relay

Digital Torque

Amplifier Side

DC5V～12V

Note: The maximum allowable voltage and current capacity of the photocoupler output circuit are as

follows:

• Voltage: DC30V(Max.)

• Current: DC50mA(Max.)

2.3 Wiring to the Encoder

The wiring of the digital torqu e amplifier to the encoder is described here.

■ Connection to Encoder (CN2) and Output Signal Processing from Digital Torque

Amplifier (CN1)

Incremental *

Encoder

D(6)

H(1) G(2)

0.33mm

(Shell)

* S G M AH , SGMGH, S G M S H O n ly.

Shield

Wire

Digital Torque Amplifier

CN1

PG5V PG0V

Connector

Shell

1- 33 1-34

1-35 1-36

1-19 1-20

1-1

CN2

2-5 2-6

Output Line Driver

TI SN75ALS194

2-1 2-2

Connector

Shell

A-phase

B-phase

C-phaseC(5)

or equivalent

PAO

*PAO

PBO

*PBO

PCO

*PCO

Applied Line Receiver TI SN75175 or equivalent

(provided by customer)

■ Encoder Connector (CN2) Terminal Array and Models

The CN2 terminal arrays and models are shown below.

CN2 Terminal Array

2.3 Wiring to the Encoder

1 PG5V

5 PS

Encoder Power +5V

Encoder Serial Signa l Input

PG0V

*PS

Encoder Power 0V

Encoder Serial Signal Input

CN2 Connectors

Model of

Connector Us ed

in Digital

Torque

Amplifier

53460-0611 55100-0600 54280-0600 Japan Molex, Inc.

Note: The plug and socket on the digital torque amplifier side are a set product FA1394 from Japan

Molex, Inc.

Note: The motor-side socket is connected to the connector for the SGMAH, SGMPH servomotor

encoder.

Note: The SGMGH and SGMSH servomotor enc oder connectors are shown belo w.

• Plug L-type: MS3108B20-29S or

• Straight: MS3106B20-29S

• Cable Clamp: MS3057-12A

Plug, soldered

type (digital

torque amplifier-

side connector)

Applied Plug (or socket) Model

Socket, soldered

type, (motor-side

connector)

Manufacturer

Name

Supp.

Yaskawa pro vi de s a dedi cat ed cab le fo r the en cod e r. Fo r det ai ls, see the fo llow i ng do cu me nt.

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

2.4 Cable Specifications and Peripheral Devices

Ratings and specifications for peripheral devices, as well as cable specifications for digital torque amplifiers are summarized in the tables below.

CAUTION

Wiring Precautions

• Do not bundle or run power and signal l ines together in the same duct.

Keep power and signal line s at le ast 11.81” (30cm) apart.

• Use twisted pa ir or shielded multi-core t wi s t e d pa ir wires for signal and encoder (PG) feedback lines.

• The maximum length s 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 with 164 ft (50m) specifications for distances over 65.6ft (20m).

■ Cable Specifications

SGDG

External Terminal Name

Terminal

Symbol

Main circuit power input terminals Servomotor connection terminals U, V, W

Control power supply term inals L1C, L2C Control I\O signal connector CN1 Twisted pair or shielded twisted pair wires

PG signal connector CN2

Ground terminal 14 AWG [HIV 0.003 (2.0)]

L1, L2 (Single Phase)

16 AWG [HIV 0.002

Core wire at least 28 AWG [0.0002 annealed copper t wis ted wires Finished cable dimensions: maximum (6.8mm) for CN2.

Wire Size AWG [in

01GT 04GT

(1.25)]

16 AWG [HIV 0.002 (1.25)]

Φ0.63in (16mm) for CN1 and Φ0.27in

(mm2)]

14 AWG [0.003 (2.0)]

(0.12)], tinned,

Main circuit power input terminals L1, L2, L3

(Three-phase)

14 AWG [HI V 0 .003 (2.0)]

Servomotor connection terminals U, V, W Control power supply terminals L1C, L2C

16 AWG [HIV 0.002 (1.25)]

Control I\O signal connector CN1 Twisted pair or shielded twisted pair wires PG signal connector CN2

Core wire at least 28 AWG [0.0002

(0.12)], tinned, annealed copper twisted wires Finished cable dimensions: maximum Φ0.63in (16mm) for CN1 and Φ0.27in (6.8mm) for CN2.

Ground terminal 14 AWG [HIV 0.003 (2.0)]

Notes: 1. Wire sizes were selected for three cables per bundle at 40°C ambient temperature with the rated current.

2. Use cables with a minim um withstand vol tage of 600V for main circuits.

3. If cables are bundled in PVC or metal ducts, consider the reduction ratio of the allowa ble current.

4. Use hea t-resistant cable under high ambient or panel temperat ures where normal vinyl cable will rapidly deteriorate.

2.4 Cable Specifications and Peripheral Devices

The following table shows types of cables. It is used in conjunction with the preceding tables.

Cable Type

Temperature Rating of Conductor

Name Composition

PVC

HIV

Standard polyvinyl chloride cable 600V PVC cable Temperature-resistant vinyl cable

The following table specifies the appropriate cables for CN1 and CN2 digital torque amplif ier connectors . Wire siz es we re s elect ed with the exp ec ta tio n of th ree ca bles per b und le, at an ambient temperature of 40°C, at the rated current level.

Connector Name Signal Description Specification

Cable Use twisted pair or shielded twist e d pair wire. Control I/O Signal Connector

PG Signal Connector

CN1

CN2

Applicable wire (AWG): 24, 26, 28, 30

Finished cable

Dimension

Cable Use Yaskawa cable, or shielded twisted pair wire.

Applicable wire

Finished cable

Dimension

Φ 0.63 (Φ16.0) maximum

(AWG): 24, 26, 28, 30 Use 22 AWG [0.000 5in

AWG [0.0002 in wiring di stances up to 65.6ft (20m).

Φ 0.27 (Φ6.8) maximum

(0.34mm2)] for the encoder power supply and 26

(0.14mm2)] for other signals. These conditio ns permit

°C

— 60 75

2.5 Standard Connection Examples

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

Power　90V~253V AC

24V~12V

Torque/

Force

Reference

Noise Filter

Emergency

Stop

MC1

Power

OFF

Power

RY10

MC1

Surge

Supressor

L2 L1C L2C

CN1-26

CN1-27

3.3ＫΩ

CN1-13 CN1-34

RY1

/Ｓ-ＯＮ CN1-14 CN1-35 ALM-

RY2

/DBOFF

CMD-IN CN1-3

GND CN1-4 CN1-21

3.3ＫΩ

CN1-15

A/D

SGDG-□□GT Servo amplifier

SV ON　5

DB_OFF

SV ON

DB OFF

ALM

RUN

SN75ALS174 or similar product

CN1-24 CN1-25

CN1-7

CN1-10

CN1-20

CN1-22 CN1-23

U V

CN2

RY10

ALM+

RUN+ RUN-

PAO /PAO

PBO /PBO

PCO /PCO

Motor

24V~12V

Encoder

Divided

Output

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

Power　90V~253V Ac

Emergency

Noise Filter

Stop

Power

OFF

Power

RY10

2.5 Standard Connection Examples

MC1

Torque/

Force

Reference

24V~12V

Surge

Supressor

MC1

L2 L3

L1C L2C

CN1-26

CN1-27

3.3ＫΩ

CN1-13

RY1

RY2

CN1-14

/Ｓ-ＯＮ

/DBOFF

CN1-3

CMD-IN

GND CN1-4 CN1-21

3.3ＫΩ

CN1-15

SGDG-□□GT Digital

Torque Amplifier

DB_OFF

A/D

SV ON　3

SV ON

DB OFF

ALM

run

SN75ALS174 or similar product

CN1-34

CN1-35

CN1-7

CN1-10

CN1-20

CN1-22 CN1-23

CN1-24 CN1-25

CN2

RY10

ALM+

ALM-

RUN+

RUN-

PAO /PAO

PBO

/PBO

PCO /PCO

Motor

24V~12V

Encoder

Divided

Output

* For single-phase

applications, use terminals L1 + L3 for the main power connection.

Notes:

3. Setup

3.1 Linear Motor Mounting

CAUTION

• In the case of linear motors, various changes c an occur according to the direct ion of the motor mounting and the dir ection of the en coder mounti ng. Therefor e, perform set up carefull y.

Careless setup may result in injury.

■ Motor Mounting and Encoder Mounting

Mount so that the motor forward direction matches the encoder forward direction.

■ Setting the Linear Encoder Scale Pitch

Upon completing mounting and wiring, feed control power only, input (SW2) the correct linear scale pitch use d by each applic ation. Alarm 0 (SW setting error) is output at the initial power ON because the initial value is assumed to be “0”. This ceases occurring if the correct value is set in SW2 and the power cycled.

3.1 Linear Motor Mounting

3.2 Rotar y Moto r Mounting

The SGM□H servomotor can be mounted in both the horizontal or vertical direction. However, mistaking the mounting direction or mounting in an inappropriate location may shorten motor life or lead to unexpected accidents. Correctly mount the motor according to the following caution ary items.

CAUTION

• Do not connect the servomotor directly to a commercial power source. This will damage the motor.

The servo mo tor will not run without a dedicated digital to rq u e am pl if ie r.

3.2 Rotary Motor Mounting

Before Mounting

Important

The shaft end is treated with a rust-preventative agent. Before mounting the motor, wipe off this rust-preventative agent with a cloth soaked in thinner. When removing the rust-preventative agent, be sure that the thinner does not contact any other parts of the servomotor .

■ Storage Temperature

Store the servomotor withi n the temper ature range below when storing without electric al feed.

-20 ~ +60°C Temperature Range

Rustpreventative A gent

■ Mounting Location

The SGM□H servomotor is intended fo r use indoors. Use in an environment meeting the following conditi ons.

• Indoors, in a location free from corro sive or explosive gas.

• A location with good ventilation, with little dust, grime, or steam

• A location with an ambient temperature between 0~40°C

• A location with a relative humidity of 20%~80%, no condensation

• A location easy to inspect and clean

Important

3.2 Rotary Motor Mounting

■ Alignment

Upon mating to the machi n e, make sure the motor shaft core and the machine shaft cor e are coupled in a straight line. Mount the servomotor so that it falls within the alignment accuracy in th e figure below.

The maximum deviation at all four sides cannot exceed 0.03mm (rotated with the coupling)

The maxi mum deviation at all four sides cann ot exceed 0.03mm (rotated with the coupling)

(1) Improper alignment can lead to vibration, which risks damaging the shaft coupling. (2) When mo unting the coupling, do not apply shock directly to the shaft. This may damage th e encoder mounted

on the shaft end opposite t h e load.

■ Mounting Direction

The SGM□H servomotor can be mounted in either the horizontal or vertical direc tions.

■ Shaft Tolerance Ranges

Design machine systems so that the thrust loads and radial loads1 applied to the servomotor shaft during ope ration fall within the tolerances in Table 3.1. The allowable radial loa ds shown in the table are the maximum loads that can be applied to the end of the output shaft.

1. Thrust Load, Radial Load: Thrust Load (Fs): The shaft load applied parrallel to the shaft core. Radial Load (Fr): Shaft load ap p l ied at a right angle to th e shaft core.

Motor

Shaft

3.2 Rotary Motor Mounting

Table 3.1: Allowable Radial Load/Allowable Thrust Load for Servomotors

Motor Model

SGMAH-

SGMPH-

SGMGH-

SGMSH-

Allowable

Radial Load Fr

［N(kgf)］

A3 68(7) 54(5.5)

01 78(8) 54(5.5) 02 245(25) 74(7.5) 04 245(25) 74(7.5) 08 392(40) 147(7.5) 35 01 78(8) 49(5) 20 02 245(25) 68(7) 04 245(25) 68(7) 08 392(40) 147(15) 15 490(50) 147(15)

05A □ A 490(50) 98(10)

13A □ A 686 (70) 343(35)

10A 686(70) 196(20) 15A 686(70) 196(20)

Allowable

Thrust Load Fs

［N(kgf)］

［mm］

20A5 68(7) 54(5.5)

5809A □ A 490(50) 98(10)

Reference Diagram

■ Oil and Water Countermeasures

It is possible to take protective measures for motor operation in areas where water or oil may drip. However, use a motor with an oil seal atta ched when needed to set through to

the shaft section

. In addition, mount the motor with the connector s facing downward.

Through

Shaft Section

■ Cable Stress

Do not bend or stretch the power line. In particula r, be care fu l to wire the signal cable so that they are n ot subj ec t to str ess because its core is very thin (0.2, 0.3mm).

1. Through Shaft Section This refers to the gap where the shaft protrudes from the end of the motor.

3.2 Rotary Motor Mounting

■ Vibration Resistance

Mount the servomotor with the shaft positioned horizontally. The servomotor will withstand the following le vels of vibration on all three axes: front-to- back (X), vertical (Y), and side-to-side (Z).

• SGMAH, SGMPH: 49m/s

• SGMSH, SGMGH, SGMDH, and SGMUH: 24.5m/s

(5G)

(2.5G)

Side-to-side

3.2.1 Vibration Clas s

The vibration class for SGMH servomotors operating at rated speed is 15µm (maximum).

Position for measuring vibration

Vertical

Front-to-back

Hor izontal shaft

Impact applied to the servomotor

3.3 Digital Torque Amplifier Installation

The SGDG digital torque amplifier is a base-mo unted digital torque amplifier. Mount it properly according to the following cautionary items as mistakes in the mounting method can lead to failure of the unit.

■ Storage Conditions

Store the digital torq ue amplifier within the temperature range bel ow when storing without electrica l feed.

Temperature Range: -20~ +85°C

LEGEND SGDG Digital Torque Amplifier

■ Mounting Conditions

Location

The following points shoul d be kept in mind with regard to the mounting location.

Installation

Conditions

Mounted in a Control Panel

Mounted Near a HeatGenerating Object

Mounted Near a Vibration Source

Design the control panel size, digital torque amplifier installati on, and cooling method so that the ambient temper atu re of t he dig ita l torq ue amp li fie r does not exc eed 55

°C.

Suppress the temperature rise due to radiated heat and convection from the heat-generating object so that the ambient temperature of the digital torque amplifier does not exceed 55

Attach vibrat ion- prevent ative bracket s to the dig it al torque amplifier mount ing surface so that the vibrations are not communicated to the digital tor que amplifier.

Cautions on Mounting

°C.

3.3 Digital Torque Amplifier Installation

Installation

Conditions

Mounted in a Location Exposed to Corrosive Gas

Others

Take measures to prevent the influx of corrosive gas. The gas will have no immedi ate effect, but will lead to device failures in the electronic components and contact-related devices.

Do not install in areas with high temperature or hum idity, or where the atmosphere contains dust or iron particles.

Cautions on Mounting

Control Panel Environmental Conditions

• Digital Torque Amplifier Ambient Temperature: 0~55°C

• Humidity: 90% RH or less

• Vi bration: 0.5G (4.9m/s

)

• Do not allow freezing or condensation to occur.

• Use an am bient te mperature of 45°C or less to maintain long-term reliability.

Mounting Direction

Mount in a vertical direction on a wall as shown in the figure below. Cool the digital torque amplifier eit her with natural convection or a fan. Be sure to maintain this direction. Securely fix the digital torque amplifier to the mounting surface by using the mounting holes at 2~4 locations (the number of holes will differ depending on capacity).

Surface

Mounting

Ventilation

Cooling

Mount the amplifier with suffic ient peripheral space around the digi tal torque amplifier consideration of the above figure so as to achieve sufficient cooling by either a fan or natural convecti on.

3.3 Digital Torque Amplifier Installation

Digital Torque Amplifier Mounting Standards

Observe the standards for mount ing into a control panel shown in the figure below, including those cases where multiple digital torque amplifiers are installed in parallel within a control panel (hereafter referred to as a “parallel platform”).

FanFan

30mm or more 10mm or more

50mm o more

50mm or more

Mount the digital torque amplif ier so that the front side faces the operator .

Side-by-side Installation

When installing digital torque amplifier side by side as shown in the figure above, allow at least 0.39in (10mm) between and at least 1.97in (50mm) above and below each digital torque amplifier. Install cooling fans above the digital torque amplifie rs to avoid excessive te mperature rise and to maintai n even tem perature inside the cont ro l panel .

3.4 Switch Settings

■ SW1 Function Selection Switch (dip switches)

Switch No. Function At OFF At ON Default Setting

2 Torque Reference Filter No Yes ON

3 Input Power Selection

8 Not used ON

Status After DB Stop During Base Block

Linear Scale Polarity Reversal

Regen Overload Alarm or Warning

Feedback Pulse B-phase Reversal

Command Direction Reversal

Release DB after motor stop

DC-Power Input Compatible

B-phase progression: U, V , W direction

No Yes ON

Reversed Not reversed ON

Continue DB af ter motor stop

AC-Power Input Compatible

A-phase progressio n: U, V , W direction

(enabled only when

linear motor is used)

■ SW2 Linear Scale Pitch Setting (rotary switch)

Setting Linear Scale Pitch Setting Setting Linear Scale Pitch Setting

1 2 3 4 5 6 7 Not used F Not used

0μm 2μm

4μm 20μm 40μm

800μm

1000μm

8 Not used 9 Not used

A Not used

B Not used C Not used

D Not used

E Not used

＊ The defaul t se tting is 0 (0μm).

3.4 Switch Settings

■ SW3 PG Divider Setting (rotary switch)

Setting PG Divider Setting** Setting PG Divider Setting**

0* 8192 P/R 8 3000 P/R

1 8000 P/R 9 2500 P/R 2 7200 P/R A 2048 P/R 3 6000 P/R B 2000 P/R 4 5000 P/R C 1800 P/R 5 4096 P/R D 1600 P/R 6 4000 P/R E 1000 P/R 7 3600 P/R F Not used

＊ The default se tt in g is 0 (20 4 8 ×4). ＊＊ 4× at host controller

For a 13-bit Rotary Motor

For a 17-bit Rotary Motor

Setting PG Divider Setting** Setting PG Divider Setting**

0* 65,536 P/R 8 30000 P/R

1 64,000 P/R 9 24000 P/R 2 60,000 P/R A 16000 P/R 3 50,000 P/R B 131,072 P/R*** 4 40,000 P/R C 120,000 P/R*** 5 36,000 P/R D 100,000 P/R*** 6 32,768 P/R E 80,000 P/R*** 7 32,000 P/R F Not used

＊ The default setting is 0 (16384×4). ＊＊ 4× at host controller ＊＊＊ Overspeed alar m will activate at motor speeds o f 2500rpm or higher.

For Linear Motors

Setting PG Divider Setting Setting PG Divider Setting

0* 1/20 8 1/32

1 1/256 9 1/16 2 1/250 A 1/10 3 1/200 B 1/8 4 1/128 C 1/5 5 1/100 D 1/4 6 1/64 E 1/2 7 1/40 F Not used

＊ The default setting is 0 (1/20).

3.5 Combinations

Digital Torque amplifi er and motor combinations are shown below.

■ Combinations with Rotary Motors

3.5 Combinations

SGMAH

Digital Torque

Amplifier Model

SGDG-01GT SGMAH-A3B

SGDG-04GT SGMAH-01B

SGDG-10GT SGMAH-08A

Compatible Motor Models

SGMAH-A5B SGMAH-A3A SGMAH-A5A SGMAH-01A

SGMAH-02B SGMAH-02A SGMAH-04A

SGMPH

Digital Torque

Amplifier Model

SGDG-01GT SGMPH-01A SGDG-04GT SGMPH-01B

SGDG-10GT SGMPH-08A SGDG-15GT SGMPH-15A

Compatible Motor Models

SGMPH-02B SGMPH-02A SGMPH-04A

Digital Torque

Amplifier Model

SGDG-10GT

SGDG-15GT

SGMGH

Compatible Motor Models

SGMGH-05 □ A SGMGH-09 □ A

SGMGH-13 □ A

3.5 Combinations

SGMSH

Digital Torque

Amplifier Model

SGDG-10GT SGDG-15GT

■ Linear Motor Combinations

Digital Torque

Amplifier Model

SGDG-01GT SGDG-04GT SGLGW-40A253A

SGDG-10GT SGLTW-20A320A

SGDG-15GT SGLFW-50A380A

Compatible Motor Models

SGMSH-10 □ A SGMSH-15 □ A

Linear Motor Models

SGLGW-40A140A

SGLGW-40A365A SGLGW-60A140A SGLGW-60A253A SGLFW-20A090A SGLFW-20A120A SGLFW-35A120A

SGLTW-35A170A SGLTW-35A320A SGLFW-35A230A SGLFW-50A200A SGLGW-60A365A SGLTW-20A170A

SGLFW-1ZA200A

■ Serial Conversion Unit and Applicable Motors

Serial Conversion Unit Model

JZDP-A00 □ - □□□

Applicable Motors

Serial Conversion Unit Model

JZDP-A00 □ - □□□

Applicable Motors

4. Description of Functions

CN1-3

CN1-4

4.1 Torque/Force Control

This is the torque/force control-dedicated mode.

This control mode inputs the torque/force reference from CMD-IN (CN1-3 & CN1-4).

Amplifier

CMD-IN

4.2 Protection Sequence Design

This section describes the methods for integrating a protective sequence for safety purposes using I/O signals from the digital torque amplifier.

CN1-3

CN1-4

4.1 Torque/Force Control

Servo Alarm Output

Digital Torque Amplifier

Digital T orque A m plifier

Photocoupler O utput pe r Output Max. Usage voltage: DC30V Max. Usage Current: :DC50mA

Photocoupler

CN1-34

MAX 50mA

CN1-35

ALM+

ALM-

The basic method for continuin g alar m-related “output signals” is shown below. Prepare an ext ernal 24V usage power source . No 24V powe r source is integrated in the digital torque amplifier. The photocoupler output signal is handled as follows:

Output → ALM+　CN1-34

Output → ALM- CN1-35

Servo Alarm Output Signal ground for servo alarm

output

24V P ow er

+24V

The output is “ON” when the digital torque amplif ier detects an error.

4.2 Protection Sequence Design

Be sure to configure the external circuit so that the main power to the digital torque ampli fier goes OFF at alarm output.

ON State

OFF State

CN1–34, 35 is “closed”, CN1–34 is level “Low”

CN1–34, 35 is “open”, CN1–34 is level “High”

Normal State

Alarm State

■ Servo ON Input

Serial Input Signal: The basic connection method and for Servo ON (/S-ON) is displayed below. This is used to forcibly stop the servomotor in a “non-powered” state.

24V

Power

+24V

Upper-Level

Device

+24VIN

S-ON

→ Input/S-ON　CN1-14 Servo ON

Switches the motor between a powered and a non-powered state.

When ON CN1-14 is

“L” level

When OFF

CN1-14 is

“H” level

Sends po w er to th e m o to r. This is the normal RUN state. (this is called the 4sta te )

Sets the motor to a “non-powered” state. O peration is not possible (this is the Servo OFF state). Do not perform Se rvo O FF while th e mot or is running except during an emergency stop.

Amplifier

CN1-13 3.3kΩ

CN1-14

5mA

Servo ON

Servo OFF

Photocouple

Motor “Powered” State

The motor runs according to the input signals

Motor Non- P o w ered State

Operation is not possible

Important

Do not start/stop the motor by using the (/S -ON) signal. Always start/stop the motor with an input command.

4.2 Protection Sequence Design

■ DB OFF Input

Sequence Input Signal: The basic connection and handling method for the (DB OFF) signal is shown below. This is used to forcibly release the “DB stop state” during Servo OFF from the upper-level device .

24VPower

+24V

Upper-Level

Device

+24VIN

DB-OFF

Amplifier

CN1-13 3.3kΩ

CN1-15

5mA

Photocouple

→ Input DB OFF　CN1-15 DB OFF

Switches the motor between a powered and a non-powered state.

When ONCN1-15 is “L” level

When OFFCN1-15 is “H” level

DB stop at Servo OFF DB ON

Releases the DB stop and goes to free run at Servo OFF

DB OFF

DB Sto p State

DB stop at Servo OFF

DB Stop Release

Release DB stop according to an input signal

■ RUN Signal Output

Photocoupler Output Signa l: The basic connection method and handling method for the “RUN” signal is shown below. This output signal indicates that the base block on the output inverter is rel eased, and power is being applied to the motor.

Photocoupler Ou tput per Output

Max. Use Voltage: DC30V Max. Output Current :

DC50mA

Output → RUN　CN1-7

ON State

OFF State

Digital Torque Amplifier

CN1-7

C N 1-10

RUN Signal Output

CN1–7, 10 is “clos ed”

CN1–7 is le ve l “ L”

CN1–7, 10 is “open” CN1–

7 is level “H”

RUN

RUN-

Base Block

Base Block Releas ed

24V Pow er

+24V 0V

4.3 Encoder Signal Output

The output signa l following division within the digital torque amplifier of the enc oder output1 can be output to an external device.

Upper-Leve

Devic

Encoder

Serial Data

Digital Torque

Amplifier

CN2 CN1

Division

Circuit

A-Phase B-Phase C-Phase

The output circuit is a line driver output. Connect in consideration of the following circuit.

Digital Torque

A-Phase

B-Phase

C-Phase

Amplifier

Connector Shell

CN1-20 CN1-21

CN1-22 CN1-23

CN1-24 CN1-25

CN1-1

PAO

*PAO

PBO

*PBO

PCO

*PCO

‚o

Shield Wire

Upper-Level Device

Line Receiv er

8‚bOV16

Choke Coil

+5 V

Smoothing Capacitor

A-Phase

B-Phase

C-Phase

+5 V

‚o: Shows a twisted pair wire.

Applied Line Receiver: TI SN75175 or MC3486equivalent

R (Termination Resistance): 220~470ƒ¶ ‚b (Decoupling Capa citor) : 0.1ƒÊF

1. After Division: This means the output conve rted to the set pulse ratio based on the pulse data from the encoder mounted on the motor. The unit here is “No. of Pulses/Rotat ion”.

■ I/O Signals

In Reverse OperationIn Reverse Operation

In Forward Operation

The details on the output signal are as follows:

4.3 Encoder Signal Output

Output → PAO CN1-20 Output → *PAO CN1-21 Output → PBO CN1-22 Output → *PBO CN1-23 Output → PCO CN1-24 Output → *PCO　CN1–25

Encoder Output A-phase Encoder Output /A-phase Encoder Output B-phase Encoder Output /B-phase Encoder Output C-phase Encoder Output /C-phase

The divided encoder signal is output. The division ratio is set in the fol lowing switches.

Encoder Di vision Ratio Setting

SW3

■ Output Phase Form

In Forward Operation In Reverse Operation

A-Phase

B-Phase

C-Phase

90

A-Phase B-Phase

C-Phase

90

Output →　SG　CN1–2

Signal Ground

Signal Ground: Connect to “0V” on the upper- level device.

4.3 Encoder Signal Output

■ PG Divider Setting

Set the pulse division rat io by the following switches.

Delivery

Setting

SW3

PG Divider

Setting

Unit

P/R

Setting Range

16,000~131,072 (Rotary 17-bit) 65,536 1000~8192 (Rotary 13-bit) 8192 1/256~1/2 (Linear Motor) 1/20

Set the number of output pulses output by the encoder output signals (PAO, *PAO, PBO, *PBO).

Output Terminals

PAO(CN1-20)

Servo Motor Encoder

Serial Data

Amplifier

Divider

*PAO(CN1-21)

PBO(CN1-22)

*PBO(CN1-23) A-Phase

Output

B-Phase

This divides the pulses from the motor en coder (PG) by the number of pulses set there, then outputs it. The setting value is the number of output pulses per motor rotation. Set this to match the command unit of the machine controller. The setting range differs according to the encoder used.

4.4 Analog Monitor

The following signals can be monitor ed in the analog voltage form.

1CN Pin No. Signal Name Content

4.4 Analog Monitor

29 Analog Monitor 2 Torque = 5V/Max. Torque

Analog Monitor 1 Motor speed

: 1V/1000r/min or 1V/1000mm/sec

The analog monitor output volta ge is 8VDC (Max.). The output voltage will invert if it exceeds 8VDC.

4.5 Regenerative Resistor Selection

When the servomotor is operated in electrical generator mode, the servo amplfier will absorb electrical power . This is c alled regenerative power. Although the regenerative power is absorbed by charging the smoo thing capacitor of the digital torque amplifier, the regenerative power will be further consumed by the regen resistor if the chargeable energy limit of the capacitor is exceeded. The servomotor is operated in the regen (electrical generator) mode in the following situations:

• Deceleration to stop time during acceleration/deceleration operation

• Vertical axis load

• Continuous operation where the servomotor continues rotating from the load side (overhauling load)

The capacity of the regenerative resistor integrated within the digital torque amplifier is designed for short-term operation only, such as the deceleration to stop period. Operation is not possible with an overhauling load. Install an external regen resi stor if the regen power exceeds the processin g capab ility of the digital torque amplifier. The specifications of regen resistors inte grated in digital torque amplifiers and the regen power the y can process (average) are shown below.

Integrated Regen Resistor

Applied Digital T o rque

Amplifier

Resistance (Ω) Capacity (W)

SGDG-01GT/-04GT －－－ SGDG-10GT 50 60 12 40 SGDG-15GT 30 70 14 20

＊ The regen capa city (avera ge) which can be proc essed is a 20% rat ing of the regene rative resistor capacity

integrated within the digita l to rq u e amplifier.

Specifications

Regen Power

Processed by

Integrated

Resistor (W)

Minimum

Total

Resistance

(Ω)

When installing an external regen resistor, make the resistance the same as that of the resistor integrated withi n the digital torque amplifier. When using several resistors with small resistance co m bined in a gr oup t o inc rea se the capacity (W) of the regen resis tor , se lect resistors so that the value including the resistance error is equal to or greater than the “minimum allowable resista nce” in the above table.

4.5 Regenerative Resistor Selection

■ External Regen Resistors

(1) If the power resistor is used at the rated load rate, resistor temperatures will reach 200°C~300°C. Be sure to

Important

derate be fore using. Check with the manufacturer for the lo ad characteristics of the resistor. Use at a load rating of 20% or less when using natural cooling (natural convection cooling) , and at 50% or less when forced air cooling is used.

(2) For safety reason s , w e re co m m e n d th e use of resi st ors with the rmostatic sw it ch es.

■ For Digital Torque Amplifiers of 400W Capacity or Less

SGDG-01GT

The SGDG-01GT does not have the regen transist or built-in even though there are terminals for connecting an external regen resistor. Therefore, for external regen requirement, the JUSP-RG08D external regen unit must be used. This unit connects directly across the DC bus. It is a self-contained unit consisting of bus sensing circuitry, switching IGBT, 50 ohm power resistor, and alarm relay contacts. The regen capacity of this unit is 60W before derating. The convection cool capacity is 12W. Capacity increases to 30W with forced-air cooling. When this external regen unit is used, #5 of SW1 in the SGDG-01GT should be turned OFF to avoid erroneous alarms.

The following is the dimension and spec ifications of the JUSP-RG08D:

Dimensional Drawings

Regenerative Unit Specifications

4.5 Regenerative Resistor Selection

Type

Applicable Servopack SGDG Servopack Regenera tive Working Voltage 3 80V dc Regenerative Proce ssing Current 8Adc Regenerative res istance:50

Regenerative resistance

Error Detection Function

Alarm Output

Dimensions in mm (inches)

discon nection, regenerative transistor fault, overvoltage

Normally closed contact (open when prote ctive funct ion operates)

55W x 160H x 130D (2.17W x 6.30H x 5.31D)

JUSP-RG08

JUSP-RG08D

200V operation ok

Remarks

Ω 60W

SGDG-04GT

The SGDG-04GT has terminals for connecting an external regen resistor of higher capacity. However, the SGDG-04GT does not aut omatically recognize this external reg en resistor and it doesn’t activate the regen IGBT. Thus, when an external resistor is connected, the regen energy is still processed by internal regen capacity. The alarm #4 (overvoltage) will occur if the regen energy is too high. To add external regen capability to the SGDG-04GT, one of the following methods may be used:

1. Use external regen unit JUSP-RG08D. Refer to the information in the table above for more de tails. When this exte rnal regen unit is used, #5 of SW1 in the SGDG-04GT should be turned OFF to avoid erroneous alarms.

2. Use SGDG-04GTY22P for external regen application only. If the user knows that the

application requires extra regen capacity, the Y-mod unit must be ordered. With Y22P-mod, two (2) external regen resistors, RH500N25_ohmK, wired in series must be connected to the SGDH-04GT at all times. These resistors should be connected across terminals B1 and B2. The convection cool capacity of these two resistors in series is 120W. The capacity increases to 300W with forced-air cooling. Therefore, the items required are:

1 x SGDG-04GTY22P 2 x RH500N25_ohmK

4.5 Regenerative Resistor Selection

Connecting the JUSP-RG08D to the SGDG-01GT/SGDG-04GT

a) A regenerative unit has the fol lowing fault detection functions:

• Detecting disconnecti on in a regene rative resistor

• Detecting faults in a regenerative resistor

• Detecting overvoltage

b) When one of these fault detection functions operates, the internal alarm relay is

actuated. Then the circuit between output terminals C1 and C2 is opened.

c) When an external resistor is use d, r emove the shorting jumper between Y4 and Y5.

Then, connect the resistor between P/Y3 and Y4.

d) The resistance value of the ext erna l resistor should be 50

Ω min.

SGDG-04GTY22P

Connect the regen resistor between terminals B1-B2 on the SGDG-04GTY22P digital torque amplifier.

Amplifier

SGDG04GTY22P

Regen R esistor

* The regen resistor is provided by the customer.

4.5 Regenerative Resistor Selection

■ For Digital Torque Amplifiers of 500W Capacity or More

Open terminals B2-B3 on the digital torque amplifier (remove the wire), and connect the regen resistor betwe en ter minals B1-B2.

Amplifier

Important

Regen R esistor

Be sure to remove the lead wire between B 2-B3.

* The re gen reistor is supplie d by the customer

The regen resistor reaches high temperatures. Use wires with high-temperature insulation, and make sure the wires do not come into contact with the regen resistor.

When an external resistor is connected, turn OFF #5 of SW1. Be sure the energy capacity of the res i sto r is ad eq uate to dissipate the reg en en erg y of the loa d.

■ Calculating Regen Energy

For the procedure to calculate regen resistor capacity, please refer to Chapter 5 of the Sigma II Series Servo System User’s Manual (Doc. # YEA-SIA-S800-32.2x).

Notes:

5. Servo System Maintenance/ Inspection

5.1 Motor Inspection

The procedures for simple daily maintenance of the servomotor are shown in Table 5.1. Because AC servomotors are brushless, simple daily inspection is sufficient. The inspection periods in the table are standard scales. Determine the usage conditions and environment, and then decide an appropriate inspection period.

Do not disassemble the servomot or for maintenance/inspection. Contact your Yaskawa

Important

representative or sales office if the servomotor is to be disassembled.

Table 5.1: Servomotor Inspection

5.1 Motor Inspection

Inspection

Item

Check fo r vibration or noise

External Inspection

Changing the oil seal

Comprehensive Inspection

Inspection

Period

Daily Inspect by touch or hearing.

According to soiling conditions

Once every 5,000 hours mini m um

Every 20,000 hours or 5 years, minimum

Inspection/Work

Content

Clean w it h cloth or air.

Remove from m achine and replace.

Cont ac t yo u r Yaskaw a service department.

Notes

The level should not be greate r than normal.

－

Only for motors with oil seals.

The customer should not disassemble/clean the servomotor.

5.2 Digital Torque Amplifier Inspection

Digital torque amplifier inspection is summarized in the table below. Although there is no need for daily inspection, perform inspections at least once per year.

Table 5.2: Digital Torque Amplifier Inspection

Inspection

Item

Unit, Board Cleaning

Loose Screws

Component Fault in Unit or Board

Inspection

Period

Once per year minimum

Inspection Content

There shou ld be no grime, dust, or oil on the unit.

There shou ld be no loosene ss in the terminal block and connector mounting screws.

There should be no cha nges in coloration due to heat, damage, or wi re breakage.

Measures Taken at

Error

Clean with air or cloth.

Tighten

Consu lt Yaskawa.

■ Component Replacement Timeline

The components in the table below are subje ct to mechanical wear or degradation over time. Inspect these periodically for purposes of preventat ive maintenance. Digital torque amplif iers overhauled by Yaskawa are shipped with their system switches returned to their factory default settings. Be sure to verify these switches before operating.

Table 5.3: Periodic Inspection of Components

Standard

Component Name

Replacement

Replacement Metho d, Other

Period

Cooling Fan 4 ~ 5 Years R e p l ace with a new item.

Smoothing Capacitor 7 ~ 8 Years

Relays Fuses 10 years Rep l ac e w i t h a ne w i te m . Dischar ge Capacito r on

Printed Circuit Board

―

5 years

Replace with a new item. (determine by inspection)

Determ ine by inspection

Replace with a new bo a rd . (determin e by inspection)

■ Use Conditions

• Ambient T emperature: Yearly average 30°C

• Load Ratio: 80% or less

• Operation Rate: 20 hours or less per day

5.3 Alarms

POWER ON: Green LED turns ON at control power ON. CHARGE LED: Red LED turns ON at main circuit power ON.

■ 7-Segment LED

Normal

Status

■ Alarm List

5.3 Alarms

Base B lock

Servo ON

Alarm

Display

Alarm Name Content

Switch Setting Error

Overcurrent Overcurrent flowed to IGBT

Regen Circuit Error

Overvoltage The main circuit vo ltage exceeds 420V*.

Overspeed

SW2, SW3 are not set during line ar motor combination

・Regen resistor disconnection ・Regen transistor short

The regen energy exceeds the capacity of the regen resistor*#.

Detected when the motor speed exceeds the maximum speed*.

Undervoltage The main ci rc uit volta ge i s be low 70V*.

Operati on for several seconds or tens of secon ds at a t or qu e/f or ce grea t ly in exc e ss of

Overload

the rating*#. Continuous operation above the rated

torque/force*.

5.3 Alarms

Alarm

Display

Alarm Name Content

Communication error between encoder and

Encoder

Communicati on Error

Runaway Detection Motor ru n awa y*.

Encoder Failure

Main Circuit Power

Error

digital to rq u e am pl if ie r. Communication between the encoder and

digital torque amplifier failed three times in succession.

Checksum error in EEPROM wit hin encoder

Error in the number of pulses in encoder rotation

Error in EEPROM within encod e r Error in communication data between

encoder and digital torque amplifier. DC input with AC input settings for main

circuit power or AC input with DC input settings.

Main circ uit power was fre quently tuned ON/OFF*.

Improper combination of motor and digital torque amplifier capacities.

Combination Error

Digital Torque

Amplifier Fault

Linear Motor Scale

Polarity Error

＊ Reset at S–ON signal ON.

# LED will blink at warni ng before alarm.

Improper motor combination.

Failure of A/D converter used in command input

Servo amplifier system error

Polarity setting of the linear motor scale A, B-phase s is reversed.

Appendix A: Host Controller Connection Examples

Appendix A:Host Controller Connection Examp les

This appendix provides example s of SGDG digital torque amplifier connection to typic al host controllers. Please refer to the manuals of the host controllers f or more details before actually connecting to them.

A.1 Connecting the Galil IMC-1900/2900

LEGEND - Galil, Minimum Servo Interface

SGDG, CN1

CMD-IN

GND

PAO

PBO

PCO

SV ON5

GND

CASE

IMC-1900 / 2900

MOCMDn

GND

+MAn

-MAn

+MBn

-MBn

+INn

-INn

AMPENn

GND

P* = Twisted Pair n = Ax i s Des ignat i on, X, Y, Z or W

Caution:

Galil motion cont rol lers all ow to reverse the loop and encoder polari ty with t he M T and CE commands. Check applicable Galil produc t manual s for the appropriate procedure on proper loop and encoder phasing. Incorrect phasing may cause the motor to

"run away!"

Appendix A: Host Controller Connection Examples

A.2 Connecting the Delta Tau PMAC2

LEGEND - Delta T au PMAC2, M inimum Servo Interf ace

SGDG, CN1

CMD-IN

GND

PAO

PBO

PCO

GND

/S-ON

+24V

ACC - 8E

DACnA+

AGND

CHAn+

CHAn-

CHBn+

CHBn-

CHCn+

CHCn-

GND

AMP_ENAn+

AMP_ENAn-

TB x - 1

TB x - 3

TB y - 1

TB y - 2

TB y - 3

TB y - 4

TB y - 5

TB y - 6 TB y - 8

TB x - 7

TB x - 8

CASE

Note: Jumper pin 1 to 2 on E1 to power ACC-8E digital 5V circuitry from PM A C2

through flat cable on JM ACH port. Jumper pin1 to 2 on E4 (axis n=1) and on E7 (axis n=2) for normally open relay contact between A MP_ENA n + an A MP_ENAn-.

24V Power Supply

P* = Twisted Pair n = Axi s Designation: 1 or 2

when n=1, x=5 and y= 2 when n=2, x=7 and y= 3

A.3 Connecting the MEI PCX/DSP

LEGEND - MEI PCX/DSP, Minimum Servo Interface

SGDG, CN1

Appendix A: Host Controller Connection Examples

CMD-IN

GND

PAO

PBO

PCO

SV ON5

GND

CASE

+/ -10V Anal og Out n

AGND n

Enc oder A+ n

Enc oder A- n

Enc oder B+ n

Enc oder B- n

Enc I ndex+ n

Enc I ndex- n

Am p Enab le Out n

GND n

P* = Twisted Pair n = Ax i s Des ignat i on, 0, 1, 2. . .

Signals may be f r om diff e rent c onnectors on MEI cont r oller . Consult ME I DSP S eri es Motion Cont r oller Installat ion G ui de for details.

Appendix A: Host Controller Connection Examples

A.4 Connecting the Acroloop ACR-8010

LEGEND - Acroloop (ACR-8010), Minimum Servo Interface

SGDG, CN1

CMD-IN

GND

ASIG-x

AGND-x

Torque Reference should b

mapped to one of these

analog out p uts

PAO

PBO

PCO

SV ON5

GND

CHAn

CHAn'

CHBn

CHBn'

MRKn

MRKn'

OUT-y

AGND

CASE

P* = Twisted Pair n = Axis Designation, 0, 1, 2...

x = A nalog output number y = Digital output number

Encoder type is Differential Line Driver (+5 Volt Outputs) so Pullups should be rem oved Encoders 0-3 are on P1A co nnector Encoders 4-7 are on P1B co nnector ASIG-0 and AGND-0 through ASIG -7 and GND-7 are on P2 conn ector AGND is on P2 connector OUT-32 through OUT-63 are on P3 connector

Servo on should be

mapped to one of these

digital outputs

Appendix B: Installation Conditions for EMC Directives

The following conditions mus t be satisfied to adapt a combination SGM□H servomotor and an SGDG digital torque amplifie r to EMC directives (EN55011-2 and EN61000-6-2).

■ EMC Installation Conditions

This section describes the installation conditions that satisfy EMC guidelines for each model of the SGDG digital torque amplifier. Also, it describes the EMC installation conditions satis fied under test conditions prepared by Yaskawa . The act ual EMC level may differ depending on actual syste m configuration, wiring, and other conditions.

Appendix B: Installation Conditions for EMC Directives

Shield cable (2m)

Motor

Encoder

Core

②

Clamp

Core

Earth Plate/Shield Box

U,V,W

③

Clamp

Core

CN2

CN1

SGDG -04GT

L1C,L2C

L1,L2

Controller cable

①

② Motor cable Shield cable (5m)

③ Encoder cabl e Sh ield cable (5m)

④ AC Line cable Shield cabl e ( 2m)

Symbol Name Specification

①

Core

Clamp

Controller

Filter

Noise

Clamp

④

SGDG-04GT

SGDG-01GT

AC200V

Power supply

Single phase

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

Appendix B: Installation Conditions for EMC Directives

Controller cable

Motor

Encoder

① Shield cable (2m)

② Motor cable Shield cable (5m)

③ Encoder cable Shield cable (5m)

④ AC Line cable Shield cable (2m)

Symbol Name Specification

Core

Clamp

Core

③

CN2

CN1

①

Controller

②

Clamp

Core

Earth Plate/Shield Box

U,V,W

SGDG-15GT

L1C,L2C

L1,L2,L3

SGDG-10GT

SGDG-15GT

Noise

Clamp

AC200V

Power supply

Filter

④

3 phase

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

Appendix B: Installation Conditions for EMC Directives

■ Cable Core and Cable Clamp

■ The Cable Core

Attach the core on the cable as shown below:

Cable Model

Quantity

ESD-SR-25

Note: The diagram shows two turns of the cable

Turn 2

Manufacturer

Tokin Corp.

The table below shows the cable and position where the core is attached.

Cable Name Mounting Position of the Core

Controller Cable

Servomotor Cable

Encoder Cable

Near the controller and digital torque ampl ifier.

Near the digita l torque amplifier and the servomotor.

■ Cable Clamp

The figure below shows the cable shiel d using a piec e of conductive metal. <Example of Cable Clamp>

Cable

Core

Clamp

Cable

Shield (Cable sheath stripped)

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

Remove paint on mounting surface of ground plate

■ Noise Filter for Brake Power Supply

FN2070-6/07 (Made by Schaffner) for servomotors of 0.4kW or less.

■ Cable Specifications

Shielded cables shoul d be used for the following cables:

AC power input line cable (between the power supply and the noise filter) Servomotor cable (betwee n the digi tal torque amplifier and the servomotor) Encoder cable (between the digital torque amplifier and the servomotor) Controller cable (betwe e n the digital torque amplifier and the controlle r)

■ Recommended Ferrite Cores

Cable N am e Ferrite Core s Manufa ctu rer

Appendix B: Installation Conditions for EMC Directives

Controller Cable Encoder Cable

Servomotor Cable

■ Shielded Bo x

A shielded box, a closed metallic encl osure, should be used for shielding elect roma gnetic interference. The structure of the box should allow the main body, door, cooling unit, etc., to be attached to the ground. The box opening should be as small as possible.

ESD-SR-25 Tokin

400W or lower ESD-SR-25 Tokin 1kW or higher PC40T90×13.5 ×74 TDK

Notes:

INDEX

Acroloop ACR-8010 ................................ 60

Alarms

7-Segment LED

Analog Monitor

................................ 55

....................................... 47

Brake Power

Noise Filter

...................................... 65

Cable ................................................... 65

Ferrite Cores Cable Clamp Cable Core

Attachment Cables

Specifications Capacity

SGDG-04GT

SGDG-10GT

SGDG-15GT Combination

Linear Motor

Serial Conversion Unit

SGMSH Combination Error Combinations

SGMAH

SGMGH

SGMPH Connection

Examples

3-Phase Power .................................. 27

Single Phase ..................................... 26

Connector

Encoder

Terminal Array ................................... 23

Specification Terminal Array

Control Panel

Environment

Cooling Fan

.................................... 65

.......................................... 64

...................................... 64

................................... 24

...................................... 5

..................................... 40

........................ 40

........................................... 40

................................... 56

........................................... 39

.......................................... 39

........................................... 39

..................................... 17

.................................. 17

..................................... 35

Replacement

Core-less Type

Magnet Track

.................................... 54

..................................... 2

Delta Tau PMAC2 ................................... 58

Digital Torque Amplifier

Amplifier Fault Component Replacement Cooling Inspection

Cleaning ............................................. 54

Component Fault................................ 54

Screws ............................................... 54

Installation Model Number Mounting Direction Mounting Location Mounting Standards Power Loss Storage Use Conditions

Discharge Capacitor

Replacement

.................................. 56

.................... 54

........................................... 35

........................................ 54

....................................... 34

.................................... 5

............................. 35

............................. 34

........................... 36

...................................... 13

........................................... 34

................................. 54

.................................... 54

EMC Directives ...................................... 61

SGDG-01GT, 04GT SGDG-10GT, 15GT

Encoder Communication Error Encoder Failure Encoder Signal

Output

Encoder Signals

I/O Signals Output Phase Form PG Divider

...................................... 56

............................................. 44

....................................... 45

....................................... 46

........................... 62

........................... 63

................... 56

........................... 45

F-Type Iron Core

Magnet Track

Fuses

Replacement

..................................... 4

.................................... 54

Galil IMC-1900/2900 ............................... 57

Input Circuits

Command Sequence

Input Signals

Connection DB OFF Functions Names Servo ON

........................................ 20

...................................... 16

........................................... 43

......................................... 18

............................................ 18

........................................ 42

Linear Motor Model

Core-less Type F-Type Iron Core Magnet Track T-Type Iron Core

Linear Motors

Encoder

Scale Pitch......................................... 29

Mounting

Encoder ............................................. 29

Motor ................................................. 29

................................... 2

................................. 4

..................................... 2

................................. 3

......................................... 29

Main Circuit

Functions

Terminal Names Main Circuit Power Error MEI PCX/DSP Model

Serial Converter Unit Model Number

Linear Motor

Rotary Motor

........................................... 9

.................................. 9

.......................... 56

........................................ 59

............................ 6

......................................... 1

....................................... 2

...................................... 1

Oil Seals............................................... 32

Output Circuits Output Signals

RUN Overcurrent Overload Overspeed Overvoltage

....................................... 21

............................................... 43

........................................... 55

............................................... 55

............................................ 55

........................................... 55

Peripherals ............................................ 24

Power Line

Size

................................................ 13

Stripping

Terminal Processing Power ON Sequence Protection Sequence

Design

.......................................... 14

.......................... 14

............................... 13

............................................ 41

Regen Circuit Error ................................. 55

Regenerative Resistor Selection Regenerative Resistors

-500W Capacity Amps

500W+ Capacity Amps

Energy Calculation

External Relays

Replacement Rotary Motor

Mounting Rotary Motors

Alignment

Mounting

Shaft Tolerance

Vibration Class

Vibration Resistance

Runaway

........................................... 48

......................................... 29

Direction ............................................. 31

Location.............................................. 30

SGMAH .............................................. 33

SGMDH.............................................. 33

SGMGH.............................................. 33

SGMPH .............................................. 33

SGMSH .............................................. 33

SGMUH.............................................. 33

............................................... 56

........................................ 31

............................ 51

.................................... 54

................................ 31

................................. 33

.......................... 33

................ 47

........................ 48

....................... 51

Scale Polarity Error ................................. 56

Serial Converter

Applied Motor

JZDP-A003

JZDP-A004

JZDP-A005

JZDP-A006

JZDP-A008 Servo Alarm

Output

............................................. 41

..................................... 7

........................................ 6

Servomotor

Inspection

Maximum Capacity

Vibration Resistance and Class SGDG-01GT SGLTW -35A SGLTW -80A SGLTW-20A SGLTW-40A Smoothing Capacitor

Replacement Specifications Storage Temperature Switch Setting

Function Selection

Linear Scale Pitch

PG Divider

PG Divider Setting Switch Setting Error Switch Settings

........................................ 53

Comprehensive ................................. 53

External ............................................. 53

Noise ................................................. 53

Oil Seal .............................................. 53

Vibration ............................................ 53

.............................. 5

............................................ 5

........................................... 3

............................................ 3

.................................... 54

........................................ 65

.............................. 30

............................. 37

13-bit Rotary ...................................... 38

17-bit Rotary ...................................... 38

Linear Motor ...................................... 38

............................. 38

................................ 55

...................................... 37

............ 33

Terminal Block

Connection

Torque Control

Description

T-Type Iron Core

Magnet Track

...................................... 14

....................................... 41

..................................... 3

Undervoltage ......................................... 55

Wiring .................................................... 9

Encoder Main Circuit

.......................................... 22

........................................ 9

Example............................................. 12

Terminal Block ................................... 13

ASKAWA ELECTRIC AMERICA, INC.

2121 Norman Drive South, Waukegan, IL 60085, U.S.A. Phone: (847) 887-7000 Fax: (847) 887-7310 Internet: http://www.yaskawa.com

MOTOMAN INC.

805 Liberty Lane, West Carrollton, OH 45449, U.S.A. Phone: (937) 847-6200 Fax: (937) 847-6277 Internet: http://www.motoman.com

ASKAWA ELETRICO DO BRASIL COMERCIO LTDA.

venida Fagundes Filho, 620 Bairro Saude Sao Paolo-SP, Brasil CEP: 04304-000

Phone: 55-11-5071-2552 Fax: 55-11-5581-8795 Internet: http://www.yaskawa.com.br

ASKAWA ELECTRIC CORPORATION

New Pier Takeshiba South Tower, 1-16-1, Kaigan, Minatoku, Tokyo, 105-6891, Japan Phone: 81-3-5402-4511 Fax: 81-3-5402-4580 Internet: http://www.yaskawa.co.jp

ASKAWA ELECTRIC (SHANGHAI) CO., LTD.

4F No. 18 Aona Road, Waigaoqiao Free Trade Zone, Pudong New Area, Shanghai 200131, China Phone: 86-21-5866-3470 Fax: 86-21-5866-3869

BEIJING OFFICE Room No. 301 Office Building of Beijing International Club, 21 Jianguomanwai Avenue, Beijing 100020, China Phone: 86-10-6532-1850 Fax: 86-10-6532-1851

SHANGHAI OFFICE 27 Hui He Road Shanghai 200437 China Phone: 86-21-6553-6600 Fax: 86-21-6531-4242

SHANGHAI YASKAWA-TONJI M & E CO., LTD.

27 Hui He Road Shanghai 200437 China Phone: 86-21-6533-2828 Fax: 86-21-6553-6677

BEIJING YASKAWA BEIKE AUTOMATION ENGINEERING CO., LTD.

30 Xue Yuan Road, Haidian, Beijing 100083 P.R. China Phone: 86-10-6232-9943 Fax: 86-10-6234-5002

SHOUGANG MOTOMAN ROBOT CO., LTD.

7, Yongchang-North Street, Beijing Economic Technological Investment & Development Area, Beijing 100076 P.R. China Phone: 86-10-6788-0551 Fax: 86-10-6788-2878

ASKAWA ELECTRIC (HK) COMPANY LIMITED

Rm. 2909-10, Hong Kong Plaza, 186-191 Connaught Road West, Hong Kong Phone: 852-2803-2385 Fax: 852-2547-5773

ASKAWA ELECTRIC KOREA CORPORATION

Kfpa Bldg #1201, 35-4 Youido-dong, Yeongdungpo-Ku, Seoul 150-010, Korea Phone: 82-2-784-7844 Fax: 82-2-784-8495

ASKAWA ELECTRIC (SINGAPORE) PTE. LTD.

151 Lorong Chuan, #04-01, New Tech Park Singapore 556741, Singapore Phone: 65-282-3003 Fax: 65-289-3003

TAIPEI OFFICE (AND YATEC ENGINEERING CORPORATION)

Shen Hsiang Tang Sung Chiang Building 10F 146 Sung Chiang Road, Taipei, Taiwan Phone: 886-2-2563-0010 Fax: 886-2-2567-4677

ASKAWA ELECTRIC TAIWAN CORPORATION

Shen Hsiang Tang Sung Chiang Building 10F 146 Sung Chiang Road, Taipei, Taiwan Phone: 886-2-2563-0010 Fax: 886-2-2567-4677

ASKAWA ELECTRIC EUROPE GmbH

m Kronberger Hang 2, 65824 Schwalbach, Germany

Phone: 49-6196-569-300 Fax: 49-6196-888-301 Internet: http://www.yaskawa.de

MOTOMAN ROBOTEC GmbH

Kammerfeldstrabe 1, 85391 Allershausen, Germany Phone: 49-8166-900 Fax: 49-8166-9039

ASKAWA ELECTRIC UK LTD.

1 Hunt Hill Orchardton Woods Cumbernauld, G68 9LF, United Kingdom Phone: 44-12-3673-5000 Fax: 44-12-3645-8182

MOTOMAN ROBOTICS EUROPE AB

Box 504 S38525, Torsas, Sweden Phone: 46-486-48800 Fax: 46-486-41410

Yaskawa Electric America, Inc., July 2009 YEA-SIA-LGD-1.2F Printed in U.S.A.

Yaskawa LEGEND Digital Torque Amplifier User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Table of Contents

1.1 Rotary Motor Type

1. Interpretation of Model Number

1.2 Linear Motor Type

1.3 Core-less Type

1.4 T-Type Iron Core

1.5 F-Type Iron Core

1.6 Digital Torque Amplifier

1.7 S erial Convert er Uni t

2.1 Main Circuit Wiring

2. Wiring

2.2 Input Signals

2.3 Wiring to the Encoder

2.4 Cable Specifications and Peripheral Devices

2.5 Standard Connection Examples

3. Setup

3.1 Linear Motor Mounting

3.2 Rotar y Moto r Mounting

3.3 Digital Torque Amplifier Installation

3.4 Switch Settings

3.5 Combinations

4. Description of Functions

4.2 Protection Sequence Design

4.1 Torque/Force Control

4.3 Encoder Signal Output

4.4 Analog Monitor

4.5 Regenerative Resistor Selection

5. Servo System Maintenance/ Inspection

5.1 Motor Inspection

5.2 Digital Torque Amplifier Inspection

5.3 Alarms

Appendix A: Host Controller Connection Examples

A.1 Connecting the Galil IMC-1900/2900

A.2 Connecting the Delta Tau PMAC2

A.3 Connecting the MEI PCX/DSP

A.4 Connecting the Acroloop ACR-8010

Appendix B: Installation Conditions for EMC Directives

INDEX