Yaskawa SGDH User Manual

Σ-II Series

SGDH User’s Manual Supplement for Linear Sigma Series

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

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

About this Manual

Intended Audience



This manual is intended for the following users.

•

Those selecting Σ-II Series servodrives or peripheral devices for Σ-II Series servodrives.

•

Those wanting to know about the ratings and characteristics of Σ-II Series servodrives.

•

Description of Technical Terms



The terms in this manual are defined as follows:

• Servomotor or motor =

• SERVOPACK = Σ-II Series SGDH amplifier.

• Servodrive = A set including a servomotor and servo amplifier.

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

• Parameter number = Numbers that the user inputs toward the SERVOPACK.

Indication of Reverse Signals



In this manual, the names of reverse signals (ones that are valid when low) are written with a forward slash (/) before the signal name, as shown in the following example:

• S-ON

• P-CON

designing Σ-II Series servodrive systems.

Those Those installing or wiring Σ-II Series servodrives. Those performing trial operation or adjustments of Σ-II Series servodrives. Those maintaining or inspecting Σ-II Series servodrives.

Linear Σ Series SGLGW, SGLFW and SGLTW linear servomotor

computer and peripheral devices.

/S-ON

/P-CON

iii

IMPORTANT

INFO

EXAMPLE

TERMS

Quick access to your required information



Read the chapters marked with 9 to get the information required for your purpose.

Chapter

Chapter 1 Outline

Chapter 2 Selections

Chapter 3 Linear Servomotor

Specifications and Dimensional Drawings

Chapter 4 SERVOPACK Specifications and Dimensional Drawings

Chapter 5 Serial Converter Unit

Specifications and Drawings

Chapter 6 Specifications and Drawings of Cables and Peripheral Devices

Chapter 7 Installation and Wiring

Chapter 8 Panel Operator

Chapter 9 Operation

Chapter 10 Adjustment

Chapter 11 Inspection, Maintenance, and

Troubleshooting

Chapter 12 Appendix

SERVOPACK

s, Linear

Servomotors,

and Peripheral

Devices

Ratings and

Characteristics

System

Design

Panel

Configuration

and Wiring

Trial Operation and Servo

Adjustment

Inspection

and

Maintenance

9999

99 9

9999

Visual Aids

■

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

• Indicates important information that should be memorized, including precautions such as alarm displays to avoid damaging the devices.

• Indicates supplemental information.

• Indicates application examples.

• Indicates definitions of difficult terms or terms that have not been previously explained in this manual.

Related Manuals

Refer to the following manuals as required.

Manual Name Manual Number Contents

-II Series

AC SERVOPACK SGDH/SGDM SAFETY PRECAUTIONS

-II Series SGMH/SGDM

Digital Operator Operation Manual

-II Series SGDH MECHATROLINK

Interface Unit User’s Manual Model: JUSP-NS100

-II Series SGDH MECHATROLINK-II

Application Module User’s Manual Model: JUSP-NS115

-II Series SGDH

DeviceNet Interface Unit User’s Manual Model: JUSP-NS300

-II Series SGDH PROFIBUS-DP

IF UNIT User’s Manual Model: JUSP-NS500

-II Series Indexer Application Module

User’s Manual Model: JUSP-NS600

TOBPS80000004 Describes the safety precautions on using a SERVO-

TOE-S800-34 Provides detailed information on the operating method

SIE-C718-4 Provides detailed information on MECHATROLINK

SIEPC71080001 Provides detailed information on MECHATROLINK-II

SIE-C718-6 Describes the DeviceNet communications.

SIE-C718-8 Describes the PROFIBUS-DP communications.

SIE-C718-9 Provides detailed information on positioning by com-

PACK in the Σ-

of the JUSP-OP02A-2 digital operator (option).

communications.

munications and the contact points.

II Series.

WARNING

CAUTION

PROHIBITED

MANDATORY

Safety Information

The following conventions are used to indicate precautions in this manual. Failure to heed precautions provided in this manual can result in serious or possibly even fatal injury or damage to the products or to related equipment and systems.

Indicates precautions that, if not heeded, could possibly result in loss of life or serious

injury.

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

injury, damage to the product, or faulty operation.

In some situations, the precautions indicated could have serious consequences if not heeded.

Indicates prohibited actions that must not be performed. For example, this symbol

would be used as follows to indicate that fire is prohibited: .

Indicates compulsory actions that must be performed. For example, this symbol would

be used as follows to indicate that grounding is compulsory: .

The warning symbols for ISO and JIS standards are different, as shown below.

ISO JIS

The ISO symbol is used in this manual. Both of these symbols appear on warning labels on Yaskawa products. Please abide by these warning labels

regardless of which symbol is used.

Notes for Safe Operation

WARNING

Read this manual thoroughly before checking products on delivery, storage and transportation, installation, wiring, operation and inspection, and disposal of the AC servodrive.

• If you have a pacemaker or any other electronic medical device, do not go near the magnetic way of the linear servomotor.

Failure to observe this warning may result in the malfunction of the medical device.

• Be sure to use nonmagnetic tools when installing or working close to the linear servomotor. (Example: a beryllium-copper alloy hexagonal wrench set, made by NGK Insulators, Ltd.)

• If starting an operation with the linear servomotor in a machine, set the linear servomotor to always allow emergency stops.

Failure to observe this warning may result in injury.

• Never touch the linear servomotor or machinery during operation.

Failure to observe this warning may result in injury.

• Before wiring, install the SERVOPACK and the linear servomotor.

Failure to observe this warning may result in electric shock.

• Do not operate switches with wet hands.

Failure to observe this warning may result in electric shock.

• Never touch the inside of the SERVOPACKs.

Failure to observe this warning may result in electric shock.

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

Residual voltage may cause electric shock.

• Do not touch terminals for five minutes after voltage resistance test.

Residual voltage may cause electric shock.

• Make sure that the main circuit power cable, the control power cable, and the linear servomotor main circuit cable are wired correctly.

Failure to observe this warning may result in damage to the SERVOPACK.

• Follow the procedures and instructions for trial operation precisely as described in this manual.

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

• The SGDH SERVOPACK supports both AC and DC power. If DC power is supplied to the SERVOPACK without setting Pn001=n.1 (DC power input), the internal components of the SERVOPACK will burn and may result in fire or serious damage.

Before using a DC power supply, be sure to check the parameter Pn001 setting.

• Do not remove the front cover, cables, connectors, or optional items while the power is ON.

Failure to observe this warning may result in electric shock.

• Do not damage, press, exert excessive force or place heavy objects on the cables.

Failure to observe this warning may result in electric shock, stopping operation of the product, or burning.

vii

WARNING

CAUTION

• Provide an appropriate stopping device on the machine side to ensure safety.

Failure to observe this warning may result in injury.

• Do not come close to the machine immediately after resetting momentary power loss to avoid an unexpected restart. Take appropriate measures to ensure safety against an unexpected restart.

Failure to observe this warning may result in injury.

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

Improper grounding may result in electric shock or fire.

• Installation, disassembly, or repair must be performed only by authorized personnel.

Failure to observe this warning may result in electric shock or injury.

• Do not modify the product.

Failure to observe this warning may result in injury or damage to the product.

Checking on Delivery



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

Failure to observe this caution may result in fire or malfunction.

Storage and Transportation



• Be sure to store the magnetic way of the linear servomotor in the same way as it was originally packaged.

• Do not store or install the product in the following places.

• Locations subject to direct sunlight.

• Locations subject to temperatures outside the range specified in the storage or installation temperature conditions.

• Locations subject to humidity outside the range specified in the storage or installation humidity conditions.

• Locations subject to condensation as the result of extreme changes in temperature.

• Locations subject to corrosive or flammable gases.

• Locations subject to dust, salts, or iron dust.

• Locations subject to exposure to water, oil, or chemicals.

• Locations subject to shock or vibration.

Failure to observe this caution may result in fire, electric shock, or damage to the product.

• Do not carry the linear servomotor by its cables.

Failure to observe this caution may result in injury or malfunction.

• Do not place any load exceeding the limit specified on the packing box.

Failure to observe this caution may result in injury or malfunction.

viii

Installation

CAUTION

Cover

Magnetic way



• When unpacking and installing magnetic way, check that no metal fragments or magnetized objects near the stator because they may be affected by the magnetic attraction of the magnetic way.

Failure to observe this caution may result in injury or damage to the magnetic way's magnets.

• Do not use the magnetic way near metal or other magnetized objects.

Failure to observe this caution may result in injury.

• Do not place clocks, magnetic cards, floppy disks, or measuring instruments close to the magnetic way.

Failure to observe this caution may result in malfunction or damage to these items by the magnetic force.

• Securely mount the linear servomotor on to the machine.

If the linear servomotor is not mounted securely, it may loosen during operation.

• Do not carry the magnetic way by its magnet protection cover.

Failure to observe this caution may result in injury by the cover’s edge or the shape of the cover may become distorted.

• When removing the dummy plate for reducing magnetic force used for the SGLFM magnetic way, pay attention to the magnetic attraction of the magnetic way. Do not place the removed plate close to the magnetic way.

Failure to observe this caution may result in injury or damage to the magnetic way’s magnets or the magnet protection cover.

• Install SERVOPACKs, linear servomotors, and regenerative resistors on nonflammable objects.

Mounting directly onto or near flammable objects may result in fire.

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

Failure to observe this caution may result in electric shock or fire.

• Do not step on or place a heavy object on the product.

Failure to observe this caution may result in injury.

• Do not cover the inlet or outlet parts and prevent any foreign objects from entering the product.

Failure to observe this caution may cause internal elements to deteriorate resulting in malfunction or fire.

• Be sure to install the product in the correct direction.

Failure to observe this caution may result in malfunction.

• Provide the specified clearances between the SERVOPACK and the control panel or with other devices.

Failure to observe this caution may result in fire or malfunction.

• Do not apply any strong impact.

Failure to observe this caution may result in malfunction.

CAUTION

Wiring



• Securely tighten the cable connector screws and securing mechanism.

If the connector screws and securing mechanism are not secure, they may loosen during operation.

• Use power lines and cables with a radius, heat resistance, and flexibility suitable for the system.

• If the SERVOPACK malfunctions, turn OFF the main circuit’s power supply of the SERVOPACK.

The continuous flow of a large current may cause fire.

• Use a noise filter to minimize the effects of electromagnetic damage.

Failure to observe this caution may result in electromagnetic damage to electronic devices used near the SERVOPA CK .

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

Failure to observe this caution may result in injury or fire.

• Securely connect the power supply terminals and motor output terminals.

Failure to observe this caution may result in fire.

• Do not bundle or run power and signal lines together in the same duct. Keep power and signal lines separated by at least 30 cm (11.81 in).

Failure to observe this caution may result in malfunction.

• Use shielded twisted-pair wire or shielded multi-core twisted-pair wire for the signal lines and feedback lines of the serial converter unit (SC).

The maximum wiring length is 3 m for the reference input line and 20 m for the SC feedback line.

• Do not touch the power terminals for five minutes after turning power OFF because high voltage may still remain in the SERVOPACK.

Make sure the charge indicator is turned OFF first before starting an inspection.

• Avoid frequently turning power ON and OFF. Do not turn power ON or OFF more than once per minute.

Since the SERVOPACK has a capacitor in the power supply, a high charging current flows for 0.2 seconds when power is turned ON. Frequently turning power ON and OFF causes main power devices such as capacitors and fuses to deteriorate, resulting in unexpected problems.

• Observe the following precautions when wiring main circuit terminal blocks.

• Remove the terminal block from the SERVOPACK prior to wiring.

• Insert only one wire per terminal on the terminal block.

• Make sure that the core wire is not electrically shorted to adjacent core wires.

• Do not connect the SERVOPACK for 100 V and 200 V directly to a voltage of 400 V.

The SERVOPACK will be destroyed.

• Be sure to wire correctly and securely.

Failure to observe this caution may result in motor overrun, injury, or malfunction.

• Always use the specified power supply voltage.

An incorrect voltage may result in burning.

• Make sure that the polarity is correct.

Incorrect polarity may cause ruptures or damage.

• Take appropriate measures to ensure that the input power supply is supplied within the specified voltage fluctuation range. Be particularly careful in places where the power supply is unstable.

An incorrect power supply may result in damage to the product.

• Install external breakers or other safety devices against short-circuiting in external wiring.

CAUTION

Failure to observe this caution may result in fire.

• Take appropriate and sufficient countermeasures for each when installing systems in the following locations.

• Locations subject to static electricity or other forms of noise.

• Locations subject to strong electromagnetic fields and magnetic fields.

• Locations subject to possible exposure to radioactivity.

• Locations close to power supplies including power supply lines.

Failure to observe this caution may result in damage to the product.

Operation



• Do not stand within the machine's range of motion during operation.

Failure to observe this caution may result in injury.

• Before operation, install a limit switch or stopper on the end of the slider to prevent unexpected movement.

Failure to observe this caution may result in injury.

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

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

• Forward run prohibited (P-OT) and reverse run prohibited (N-OT) signals are not effective during zero point search mode using parameter Fn003.

• If using the linear servomotor on a vertical axis, install a safety device such as a counterbalance so that the workpiece does not fall if an alarm or overtravel occurs. Set the linear servomotor so that it will stop in the zero clamp state at occurrence of overtravel.

The workpiece may fall during overtraveling.

• When not using the online autotuning, set to the correct mass ratio.

Setting to an incorrect moment of inertia ratio may cause vibration.

• Do not touch the SERVOPACK heatsinks, regenerative resistor, or servomotor while power is ON or soon after the power is turned OFF.

Failure to observe this caution may result in burns due to high temperatures.

• Do not make any extreme adjustments or setting changes of parameters.

Failure to observe this caution may result in injury due to unstable operation.

• When an alarm occurs, remove the cause, reset the alarm after confirming safety, and then resume operation.

Failure to observe this caution may result in injury.

CAUTION

Maintenance and Inspection



• When replacing the SERVOPACK, transfer the previous SERVOPACK parameters to the new SERVOPACK before resuming operation.

Failure to observe this caution may result in damage to the product.

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

Failure to observe this caution may result in electric shock or injury.

• Do not disassemble the linear servomotor.

Failure to observe this caution may result in electric shock or injury.

Disposal



• When disposing of the products, treat them as ordinary industrial waste.

General Precautions



Note the following to ensure safe application.

• The drawings presented in this manual are sometimes shown without covers or protective guards. Always replace the cover or protective guard as specified first, and then operate the products in accordance with the manual.

• The drawings presented in this manual are typical examples and may not match the product you received.

• This manual is subject to change due to product improvement, specification modification, and manual improvement. When this manual is revised, the manual code is updated and the new manual is published as a next edition.

• If the manual must be ordered due to loss or damage, inform your nearest Yaskawa representative or one of the offices listed on the back of this manual.

• Yaskawa will not take responsibility for the results of unauthorized modifications of this product. Yaskawa shall not be liable for any damages or troubles resulting from unauthorized modification.

xii

About this Manual - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - iii Related Manuals - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - v Safety Information - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - vi Notes for Safe Operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - vii

Outline

1.1 Checking Products - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2

1.1.1 Check Items - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2

1.1.2 Linear Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2

1.1.3 SERVOPACKs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-3

1.1.4 Serial Converter Units - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4

1.2 Product Part Names - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-5

1.2.1 Linear Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-5

1.2.2 SERVOPACKs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-6

1.3 Examples of Servo System Configurations - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-8

1.3.1 Single-phase, 200 V Main Circuit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-8

1.3.2 Three-phase, 200 V Main Circuit- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-9

1.3.3 Three-phase, 400 V Main Circuit- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-10

1.4 Applicable Standards - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-11

1.4.1 North American Safety Standards (UL, CSA) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-11

1.4.2 CE Marking- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-11

Selections

2.1 Linear Servomotor Model Designation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2

2.1.1 Coil Assembly - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2

2.1.2 Magnetic Way - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2

2.2 SERVOPACK Model Designation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-3

2.3 Σ-II Series SERVOPACKs and Applicable Linear Servomotors

2.4 Serial Converter Units Models - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-6

2.5 Selecting Cables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-7

2.6 Selecting Peripheral Devices - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-9

2.6.1 Special Options- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-9

2.6.2 Molded-case Circuit Breaker and Fuse Capacity - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-11

2.6.3 Noise Filters and DC Reactors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-12

- - - - - - - - - - - - 2-4

xiii

2.6.4 Regenerative Resistors- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -2-13

2.6.5 Linear Scales - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-14

Specifications and Dimensional Drawings

3.1 Ratings and Specifications of SGLGW/SGLGM- - - - - - - - - - - - - - - - - - - - - - - - 3-2

3.2 Ratings and Specifications of SGLFW/SGLFM - - - - - - - - - - - - - - - - - - - - - - - - 3-6

3.3 Ratings and Specifications of SGLTW/SGLTM- - - - - - - - - - - - - - - - - - - - - - - - - 3-9

3.4 Mechanical Specifications of Linear Servomotors - - - - - - - - - - - - - - - - - - - - - 3-15

3.5 Quick Guide to Linear Servomotor Dimensional Drawings - - - - - - - - - - - - - - - 3-16

3.6 Dimensional Drawings of SGLGW/SGLGM Linear Servomotors - - - - - - - - - - - 3-17

3.6.1 SGLG-30 Linear Servomotors- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-17

3.6.2 SGLG-40 Linear Servomotors- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-19

3.6.3 SGLG-60 Linear Servomotors- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-22

3.6.4 SGLG-90 Linear Servomotors- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-25

3.7 Dimensional Drawings of SGLFW/SGLFM Linear Servomotors - - - - - - - - - - - 3-27

3.7.1 SGLF-20 Linear Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-27

3.7.2 SGLF-35 Linear Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-29

3.7.3 SGLF-50 Linear Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-31

3.7.4 SGLF-1Z Linear Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-33

3.8 Dimensional Drawings of SGLTW / SGLTM Linear Servomotors - - - - - - - - - - - 3-35

3.8.1 SGLT-20 Linear Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-35

3.8.2 SGLT-35A Linear Servomotors- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-38

3.8.3 SGLT-35H Linear Servomotors- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-41

3.8.4 SGLT-40 Linear Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-43

SGLT-50

3.8.5

3.8.6 SGLT-80 Linear Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-48

Linear Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-46

SERVOPACK Specifications and Dimensional Drawings

4.1 SERVOPACK Ratings and Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-2

4.1.1 Single-phase/Three-phase 200 V - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-2

4.1.2 Three-phase 400 V - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-2

4.1.3 SERVOPACK Ratings and Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-3

xiv

4.2 SERVOPACK Installation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-5

4.3 SERVOPACK Internal Block Diagrams - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-7

4.3.1 Single-phase 200 V, 50 W to 400 W Models - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-7

4.3.2 Three-phase 200 V, 500 W to 1.5 kW Models - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-8

4.3.3 Three-phase 200 V, 2.0 kW to 5.0 kW Models - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-8

4.3.4 Three-phase 200 V, 7.5 kW Models- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-9

4.3.5 Three-phase 400 V, 500 W to 3.0 kW Models- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-9

4.3.6 Three-phase 400 V, 5.0 kW Model - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-10

4.3.7 Three-phase 400 V, 7.5 kW Models- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-10

4.4 SERVOPACK’s Power Supply Capacities and Power Losses - - - - - - - - - - - - - 4-11

4.5 SERVOPACK Overload Characteristics and Allowable Load Mass - - - - - - - - - 4-12

4.5.1 Overload Characteristics - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-12

4.5.2 Starting Time and Stopping Time- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-13

4.6 SERVOPACK Dimensional Drawings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-14

4.7 Dimensional Drawings of Base-mounted SERVOPACK Model - - - - - - - - - - - - 4-15

4.7.1 Single-phase 200 V: 50 W/100 W/200 W (A5AE/01AE/02AE) - - - - - - - - - - - - - - - - - - - - - - 4-15

4.7.2 Single-phase 200 V: 400 W (04AE) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-16

4.7.3 Three-phase 200 V: 500 W/750 W/1.0 kW (05AE/08AE/10AE) - - - - - - - - - - - - - - - - - - - - - 4-17

4.7.4 Three-phase 200 V: 1.5 kW (15AE) Three-phase 400 V: 500 W/750 W/1.0 kW/1.5 kW (05DE/08DE/10DE/15DE) - - - - - - - - - - - 4-18

4.7.5 Three-phase 200 V: 2.0 kW/3.0 kW (20AE/30AE) Three-phase 400 V: 2.0 kW/3.0 kW (20DE/30DE) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-19

4.7.6 Three-phase 200 V: 5.0 kW (50AE) Three-phase 400 V: 5.0 kW (50DE) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-20

4.7.7 Three-phase 200 V: 7.5 kW (75AE)- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-21

4.7.8 Three-phase 400 V: 7.5 kW (75DE)- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-22

Specifications and Dimensional Drawings of Serial Converter Unit

5.1 Serial Converter Unit Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-2

5.2 Analog Signal Input Timing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-3

5.3 Dimensional Drawings of Serial Converter Unit - - - - - - - - - - - - - - - - - - - - - - - - 5-4

5.3.1 Linear Scale with Cable for Hall Sensor by Heidenhain - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-4

5.3.2 Linear Scale with Cable for Hall Sensor by Renishaw - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-6

Specifications and Dimensional Drawings of Cables and Peripheral Devices

6.1 Linear Servomotor Main Circuit Cables- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-2

6.2 Cables for Connecting Serial Converter Units - - - - - - - - - - - - - - - - - - - - - - - - - 6-7

6.3 Cables for Connecting Linear Scales - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-8

6.4 Cables for Connecting Hall Sensors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-9

6.5 Flexible Cables- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-10

6.6 SERVOPACK Main Circuit Wire Size - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-12

6.6.1 Cable Types- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -6-12

6.6.2 Single-phase 200 V - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -6-13

6.6.3 Three-phase 200 V - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -6-13

6.6.4 Three-phase 400 V - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -6-14

6.7 I/O Signal Cables for CN1 Connector - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-15

6.7.1 Standard Cables- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -6-15

6.7.2 Connector Type and Cable Size- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-15

6.7.3 Connection Diagram - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -6-17

6.8 Peripheral Devices - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-18

6.8.1 Cables for Connecting Personal Computers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-18

6.8.2 Digital Operator - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-18

6.8.3 Cables for Analog Monitor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -6-19

6.8.4 Connector Terminal Block Converter Unit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-20

6.8.5 External Regenerative Resistor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-21

6.8.6 Regenerative Resistor- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -6-22

6.8.7 Molded-case Circuit Breaker (MCCB) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -6-23

6.8.8 Noise Filter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -6-24

6.8.9 DC Reactor for Harmonic Suppression - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -6-28

6.8.10 MECHATROLINK application module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -6-30

6.8.11 DeviceNet application module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -6-31

6.8.12 PROFIBUS-DP application module- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-32

6.8.13 INDEXER application module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -6-34

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Wiring

7.1 Linear Servomotor Installation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-2

7.1.1 Introduction - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -7-2

7.1.2 SGLGW and SGLGM Linear Servomotors (Coreless Types)- - - - - - - - - - - - - - - - - - - - - - - - -7-4

7.1.3 SGLFW and SGLFM Linear Servomotor (F-shaped with Core) - - - - - - - - - - - - - - - - - - - - - - -7-7

7.1.4 SGLTW and SGLTM Linear Servomotor (T Type with Iron Core) - - - - - - - - - - - - - - - - - - - - - 7-11

7.2 Wiring Main Circuit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-16

7.2.1 Names and Functions of Main Circuit Terminals - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -7-16

7.2.2 Wiring Main Circuit Power Supply Connector (Spring Type) - - - - - - - - - - - - - - - - - - - - - - - -7-18

7.2.3 Typical Main Circuit Wiring Examples - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-19

7.3 Wiring Encoders- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-22

7.3.1 Connecting an Encoder (CN2) and Output Signals from the SERVOPACK- - - - - - - - - - - - - - 7-22

7.3.2 Encoder Connector (CN2) Terminal Layout - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -7-22

7.4 Examples of I/O Signal Connections - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-23

7.4.1 Speed Control Mode - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -7-23

7.4.2 Position Control Mode - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-24

7.4.3 Force Control Mode- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-25

7.4.4 I/O Signal Connector (CN1) Terminal Layout - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-26

7.4.5 I/O Signal (CN1) Names and Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-27

7.4.6 Interface Circuit- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-29

7.5 Others - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-32

7.5.1 Wiring Precautions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-32

7.5.2 Wiring for Noise Control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-33

7.5.3 Using More Than One SERVOPACK- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-36

7.5.4 Operating Conditions on 400-V Power Supply Voltage - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-37

7.5.5 DC Reactor for Harmonic Suppression - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-38

7.6 Connecting Regenerative Resistors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-39

7.6.1 Regenerative Power and Regenerative Resistance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-39

7.6.2 Connecting External Regenerative Resistors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-39

Digital Operator/Panel Operator

8.1 Functions on Digital Operator/Panel Operator - - - - - - - - - - - - - - - - - - - - - - - - - 8-2

8.1.1 Connecting the Digital Operator - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-2

8.1.2 Key Names and Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-3

8.1.3 Basic Mode Selection and Operation- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-4

8.1.4 Status Display - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-6

8.2 Operation in Utility Function Mode (Fn) - - - - - - - - - - - - - - - - - - - - - - - - - 8-8

8.2.1 List of Utility Function Modes - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-8

8.2.2 Alarm Traceback Data Display (Fn000) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-9

8.2.3 JOG Mode Operation (Fn002) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-10

8.2.4 Zero-point Search Mode (Fn003) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-11

8.2.5 Parameter Settings Initialization (Fn005) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-12

8.2.6 Alarm Traceback Data Clear (Fn006) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-13

8.2.7 Automatic Offset-adjustment of Motor Current Detection Signal (Fn00E) - - - - - - - - - - - - - - 8-14

8.2.8 Manual Offset-adjustment of Motor Current Detection Signal (Fn00F) - - - - - - - - - - - - - - - - 8-15

8.2.9 Password Setting (Protects Parameters from Being Changed) (Fn010) - - - - - - - - - - - - - - - 8-16

8.2.10 Motor Models Display (Fn011) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-17

8.2.11 Software Version Display (Fn012) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-18

8.2.12 Application Module Detection Results Clear (Fn014)- - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-19

8.3 Operation in Parameter Setting Mode (Pn) - - - - - - - - - - - - - - - - - - - - - - 8-20

8.3.1 Setting Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-20

8.3.2 Input Circuit Signal Allocation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-24

8.3.3 Output Circuit Signal Allocation- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-28

8.4 Operation in Monitor Mode (Un) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-30

8.4.1 List of Monitor Modes - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-30

xvii

8.4.2 Sequence I/O Signal Monitor Display - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -8-31

8.4.3 Operation in Monitor Mode - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-32

8.4.4 Monitor Display of Reference Pulse Counter and Feedback Pulse Counter - - - - - - - - - - - - -8-33

8.4.5 Allowable Maximum Motor Speed for Dividing Ratio Monitor (For the software version 32 or later) 8-34

8.4.6 Hall Sensor Signal Monitor (For the software version 32 or later) - - - - - - - - - - - - - - - - - - - - 8-35

Operation

9.1 Trial Operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-4

9.2 Trial Operation Using SERVOPACK Internal References - - - - - - - - - - - - - - - - - 9-6

9.2.1 SERVOPACK Setup Procedure - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -9-6

9.2.2 Setup Procedure Using Linear Servomotors with Hall Sensors - - - - - - - - - - - - - - - - - - - - - - -9-6

9.2.3 Setup Procedure Using Linear Servomotors without Hall Sensors - - - - - - - - - - - - - - - - - - - - 9-12

9.3 Trial Operation for Linear Servomotor without Load from Host Reference - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-22

9.3.1 Servo ON Command from the Host - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-22

9.3.2 Operating Procedure in Speed Control Mode (Pn000 = n.0)- - - - - - - - - - - - - - - - - - - -9-24

9.3.3 Operating Procedure in Position Control Mode (Pn000 = n.1) - - - - - - - - - - - - - - - - - -9-26

Trial Operation with the Linear Servomotor Connected to the Machine

9.4

- - - - - - 9-28

9.5 Control Mode Selection- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-29

9.6 Setting Common Basic Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-30

9.6.1 Setting the Servo ON Signal - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -9-30

9.6.2 Switching the Linear Servomotor Movement Direction - - - - - - - - - - - - - - - - - - - - - - - - - - - -9-31

9.6.3 Setting the Overtravel Limit Function - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-32

9.6.4 Selecting the Stopping Method After Servo OFF - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-34

9.6.5 Instantaneous Power Loss Settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-35

9.6.6 Motor Maximum Speed (For the software version 32 or later) - - - - - - - - - - - - - - - - - - - - - - -9-35

9.7 Operating Using Speed Control with Analog Reference - - - - - - - - - - - - - - - - - 9-36

9.7.1 Setting Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-36

9.7.2 Setting Input Signals - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -9-37

9.7.3 Adjusting Offset - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-38

9.7.4 Soft Start - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-41

9.7.5 Speed Reference Filter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -9-41

9.7.6 Using the Zero Clamp Function - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -9-41

9.7.7 Encoder Signal Output - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -9-43

9.7.8 Speed Coincidence Output - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-46

xviii

9.8 Operating Using Position Control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-47

9.8.1 Setting Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-47

9.8.2 Setting the Electronic Gear - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -9-49

9.8.3 Position Reference - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-52

9.8.4 Smoothing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-55

9.8.5 Positioning Completed Output Signal - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-57

9.8.6 Positioning Near Signal - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-58

9.8.7 Reference Pulse Inhibit Function (INHIBIT) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-59

9.9 Operating Using Force Control- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-60

9.9.1 Setting Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-60

9.9.2 Force Reference Input - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-60

9.9.3 Adjusting the Force Reference Offset - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-61

9.9.4 Limiting Linear Servomotor Speed during Force Control - - - - - - - - - - - - - - - - - - - - - - - - - - 9-63

9.10 Operating Using Speed Control with an Internally Set Speed - - - - - - - - - - - - 9-65

9.10.1 Setting Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-65

9.10.2 Input Signal Settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-66

9.10.3 Operating Using an Internally Set Speed - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-66

9.11 Limiting Force - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-68

9.11.1 Internal Force Limit (Limiting Maximum Output Force)- - - - - - - - - - - - - - - - - - - - - - - - - - - 9-68

9.11.2 External Force Limit (Output Force Limiting by Input Signals)- - - - - - - - - - - - - - - - - - - - - - 9-69

9.11.3 Force Limiting Using an Analog Voltage Reference- - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-71

9.11.4 Force Limiting Using an External Force Limit and Analog Voltage Reference- - - - - - - - - - - 9-72

9.11.5 Checking Output Force Limiting during Operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-73

9.12 Control Mode Selection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-74

9.12.1 Setting Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-74

9.12.2 Switching the Control Mode - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-74

9.13 Other Output Signals- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-76

9.13.1 Servo Alarm Output (ALM) and Alarm Code Output (ALO1, ALO2, ALO3) - - - - - - - - - - - - 9-76

9.13.2 Warning Output (/WARN) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-77

9.13.3 Running Output Signal (/TGON) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-77

9.13.4 Servo Ready (/S-RDY) Output - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-78

Adjustments

10.1 Autotuning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-2

10.1.1 Servo Gain Adjustment Methods - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-2

10.1.2 List of Servo Adjustment Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-3

10.2 Online Autotuning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-5

10.2.1 Online Autotuning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-5

10.2.2 Online Autotuning Procedure - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-6

10.2.3 Selecting the Online Autotuning Execution Method - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-7

10.2.4 Machine Rigidity Setting for Online Autotuning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-8

10.2.5 Method for Changing the Machine Rigidity Setting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-9

10.2.6 Saving the Results of Online Autotuning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-10

10.2.7 Procedure for Saving the Results of Online Autotuning - - - - - - - - - - - - - - - - - - - - - - - - - -10-11

xix

10.3 Manual Tuning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-12

10.3.1 Explanation of Servo Gain - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-12

10.3.2 Servo Gain Manual Tuning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-13

10.3.3 Position Loop Gain - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -10-13

10.3.4 Speed Loop Gain - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-14

10.3.5 Speed Loop Integral Time Constant - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-14

10.4 Servo Gain Adjustment Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-15

10.4.1 Feed-forward Reference - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-15

10.4.2 Force Feed-forward - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-16

10.4.3 Speed Feed-forward - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-17

10.4.4 Proportional Control Operation (Proportional Operation Reference) - - - - - - - - - - - - - - - - - 10-18

10.4.5 Using the Mode Switch (P/PI Switching) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-19

10.4.6 Setting the Speed Bias - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-22

10.4.7 Speed Feedback Filter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-22

10.4.8 Speed Feedback Compensation- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-23

10.4.9 Switching Gain Settings- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-25

10.4.10 Force Reference Filter- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-26

10.5 Analog Monitor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-29

Inspection, Maintenance, and Troubleshooting

11.1 Troubleshooting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-2

11.1.1 Alarm Display Table- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-2

11.1.2 Warning Display - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-4

11.1.3 Alarm Display Table when the Application Module is Used - - - - - - - - - - - - - - - - - - - - - - - - 11-5

11.1.4 Warning Display Table when the Application Module is Used - - - - - - - - - - - - - - - - - - - - - - 11-6

11.1.5 Troubleshooting of Alarm and Warning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-7

11.1.6 Troubleshooting for Malfunction without Alarm Display - - - - - - - - - - - - - - - - - - - - - - - - - - 11-17

11.2 Inspection and Maintenance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-22

11.2.1 Linear Servomotor Inspection

11.2.2 SERVOPACK Inspection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-22

11.2.3 Parts Replacement Schedule - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-23

- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-22

Appendix

12.1 Linear Servomotor Capacity Selection Examples- - - - - - - - - - - - - - - - - - - - - 12-2

12.2 Calculating the Required Capacity of Regenerative Resistors - - - - - - - - - - - - 12-4

12.2.1 Simple Calculation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -12-4

12.2.2 Calculating the Regenerative Energy - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -12-7

12.3 Connection to Host Controller - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-16

12.3.1 Example of Connection to MP2200/MP2300 2-axes Motion Module SVA-01 - - - - - - - - - - 12-16

12.3.2 Example of Connection to OMRON’s Motion Control Unit - - - - - - - - - - - - - - - - - - - - - - - 12-17

12.3.3 Example of Connection to OMRON’s Position Control Unit - - - - - - - - - - - - - - - - - - - - - - 12-18

12.3.4 Example of Connection to OMRON’s Position Control Unit C500-NC221 (SERVOPACK in Speed Control Mode)- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-19

12.3.5 Example of Connection to OMRON’s Position Control Unit C500-NC112 (SERVOPACK in Position Control Mode)- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-20

12.3.6 Example of Connection to Mitsubishi’s AD72 Positioning Unit (SERVOPACK in Speed Control Mode) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-21

12.3.7 Example of Connection to Mitsubishi’s AD75 Positioning Unit (SERVOPACK in Position Control Mode)- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-22

12.4 List of Parameters- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-23

12.4.1 Utility Functions List - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-23

12.4.2 List of Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-24

12.4.3 Monitor Modes - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-40

12.5 Parameter Recording Table - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-41

INDEX

Revision History

xxi

xxii

Outline

1.1 Checking Products - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2

1.1.1 Check Items - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2

1.1.2 Linear Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2

1.1.3 SERVOPACKs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-3

1.1.4 Serial Converter Units - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4

1.2 Product Part Names - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-5

1.2.1 Linear Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-5

1.2.2 SERVOPACKs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-6

1.3 Examples of Servo System Configurations - - - - - - - - - - - - - - - - - - - - - - - 1-8

1.3.1 Single-phase, 200 V Main Circuit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-8

1.3.2 Three-phase, 200 V Main Circuit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-9

1.3.3 Three-phase, 400 V Main Circuit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-10

1.4 Applicable Standards - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-11

1.4.1 North American Safety Standards (UL, CSA) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-11

1.4.2 CE Marking - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-11

1-1

1 Outline

CORELESS LINEAR SERVO MOTOR

SGLGW-40A140B

94 0.8 47

Ins.

O/N

S/N

YASKAWA ELECTRIC CORPORATION JAPAN

Servomotor model

Ratings

Serial No.

Nameplate

Order No.

y Coil assembly and Magnetic way

1.1.1 Check Items

1.1 Checking Products

1.1.1 Check Items

Check the following items when the products are delivered.

Check Items Comments

Are the delivered products the ones that were ordered?

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

If any of the above items are faulty or incorrect, contact your Yaskawa representative or the dealer from whom you purchased the products.

1.1.2 Linear Servomotors

The location of the nameplate varies depending on the model of the linear servomotor. The nameplate is affixed on both the coil assembly and the magnetic way.

(1) Coreless SGLGW and SGLGM Linear Servomotors

Check the model numbers marked on the nameplates on the linear servomotor and SERVOPACK. (Refer to the descriptions of model numbers in the following section.)

may have occurred during shipping.

1-2

(2) SGLFW and SGLFM Linear Servomotors with F-type Iron Core and

Linear SERVO MOTOR

TYPE

200 W

1.3 A

80 N 200 V

2.5 m/s ins.B

O/N S/N

YASKAWA ELECTRIC MADE IN JAPAN

DATE

SGLFW-35A120A

Servomotor model

Ratings

Serial No.

Nameplate

Order No.

Servomotor model

Serial No.

Order No.

y Coil assembly

y Magnetic way

y SGLFW and SGLFM

y SGLTW and SGLTM

YASKAWA

TYPE:

O/N

S/N

MADE IN JAPAN DATE

SGLFM-20756A

Serial number

S/N

YASKAWA ELECTRIC

MADE IN JAPAN

412808-15-1

SERVOPACK

MODEL

AC-INPUT AC-OUTPUT VOLTS Hz PHASE AMPS

200-230 50/60 3

18.6

VOLTS PHASE AMPS KU (MP)

0-230 3

24.8

3.0 (4.0)

SGDH-30AE

y SGDH for 50 W to 5.0 kW y SGDH for 7.5 kW

SERVOPACK model

Applicable power supply

Applicable motor capacity

SGLTW and SGLTM Linear Servomotors with T-type Iron Core

1.1 Checking Products

Note: The location of the nameplate varies depending on the model and capacity of the linear servomotor.

1.1.3 SERVOPACKs

1-3

1 Outline

Nameplate

SERIAL CONVERTER

MODEL JZDP-D006-156

YASKAWA ELECTRIC CORPORATION

JAPAN

For : -

O/N

S/N

Serial No.

Order No.

Serial converter model

1.1.4 Serial Converter Units

1-4

1.2 Product Part Names

Magnetic way

Coil assembly

Hall sensor unit

Main circuit cable for linear servomotor

Hall sensor cable

Magnetic way

Coil assembly

Hall sensor unit

Main circuit cable for linear servomotor

Hall sensor cable

Magnetic way

Coil assembly

Hall sensor unit

Main circuit cable for linear servomotor

Spacer for installation

Hall sensor cable

1.2.1 Linear Servomotors

Coreless SGLGW and SGLGM

(1)

1.2 Product Part Names

(2) SGLFW and SGLFM With F-type Iron Core

SGLTW and SGLTM With T-type Iron Core

(3)

1-5

1 Outline

Refer to 2.3 SERVOPACK Model

Designations.

With the front cover open

SERVOPACK model

YASKAWA

SERVOPACK

SGDH-

MODE/SET

CHARGE POWER

DATA/

MODE/SET DATA/

CHARGE POWER

Panel display

5-digit, 7-segment LED used to display SERVOPACK status, alarm status, and other values when parameters are input. Refer to 8.1.2 Key Names and Functions.

Panel operator Charge indicator

Lights when the main circuit power supply is ON and stays lit as long as the main circuit power supply capacitor remains charged. Therefore, do not touch the SERVOPACK even after the power supply is turned OFF if the indicator is lit.

Main circuit power supply terminals

Used for main circuit power supply input. Refer to 7.2 Wiring Main Circuit.

Used for control power supply input. Refer to 7.2 Wiring Main Circuit.

Control power supply terminals

Used to connect external regenerative resistors. Refer to 7.6 Connecting Regenerative Resistors.

Regenerative resistor connecting terminals

Refer to 7.2 Wiring Main Circuit.

Ground terminal

Be sure to connect to protect against electrical shock.

Servomotor terminals

Connects to the servomotor power line. Refer to 7.2 Wiring Main Circuit.

CN5 Analog monitor connector

Used to monitor motor speed, force reference, and other values through a special cable. Refer to 6.8.3 Cables for Analog Monitor or

10.5 Analog Monitor.

Front cover

Power ON indicator

Lights when the control power supply is ON.

Panel keys

Used to set parameters. Refer to 8.1.2 Key Names and Functions.

Refer to 6.8.1 Cables for Connecting Personal Computer and 6.8.2 Digital Operator.

CN3 Connector for personal computer monitoring and digital operator

Used to communicate with a personal computer or to connect a digital operator.

CN1 I/O signal connector

Used for reference input signals and sequence I/O signals. Refer to 7.4 Examples of I/O Signal Connections.

Nameplate (side view)

Indicates the SERVOPACK model and ratings. Refer to 1.1.3 SERVOPACKs.

CN2 Encoder connector

Connects to the serial converter unit. Refer to 7.3 Wiring Encoders.

INFO

1.2.2 SERVOPACKs

(1) SGDH for 50 W to 5.0 kW

 Connecting terminal of DC Reactor

For connecting a reactor, refer to 7.5.5 DC Reactor for Harmonic Suppression.

1-6

(2) SGDH for 7.5 kW

L1 L2 L3

B2B1

WARNING

MODE/SET

Ve r.

POWER

CHARGE

SGDH-

SERVOPACK 200V

YASKAWA

Power indicator

Panel operator

Charge indicator

L1C

CN1 CN2

L2C

Main circuit power supply terminals: L1, L2, L3

Servomotor terminals: U, V, W

Regenerative resistor connecting terminals: B1, B2

CN3 Connector for personal computer monitoring and digital operator

Nameplate (side view)

CN2 Encoder connector

CN1 I/O signal connector

Control circuit terminal

SERVOPACK model

Ground terminal

DATA/

BATTERY

Panel display

CN5 Analog monitor connector

Panel switch

CN8

CN5

CN3

∗

1.2 Product Part Names

* Control circuit terminal and regenerative resistor connecting terminals differ the position of the termi-

nal block by the SERVOPACK model. Refer to Chapter 4 SERVOPACK Specifications and Dimensional Drawings for details.

SERVOPACK model SGDH-75AE: Refer to 4.7.7 Three-phase 200 V: 7.5 kW (75AE). SERVOPACK model SGDH-75DE: Refer to 4.7.8 Three-phase 400 V: 7.5 kW (75DE).

1-7

1 Outline

Regenerative resistor

Noise filter

Molded-case circuit breaker (MCCB)

Magnetic contactor

Digital operator

Personal computer

Host controller

Connection cable for digital operator

Connection cable for personal computer

(Refer to 2.6.1.)

(Refer to 2.6.4.)

(Refer to 2.6.5.)

Refer to

2.6.3)

(Refer to 2.6.3)

(Refer to 2.6.2)

I/O signal cable

Note : To connect a DC reactor, refer to

7.5.5 DC Reactor for Harmonic Suppression.

SGDH-AE SERVOPACK

Power supply Single-phase 200 VAC

Protects the power supply line by shutting the circuit OFF when an overcurrent is detected.

Eliminates external noise from the power line.

Connect an external regenerative resistor to terminals B1 and B2 if the regenerative capacity is insufficient.

Turns the servo ON and OFF. Install a surge suppressor.

Linear scale (To be provided by

users.)

Hall sensor unit

Connection cable for hall sensor

Encoder cable

Main circuit cable for linear servomotor

Serial converter unit

Connection cable for serial converter unit

(Refer to 2.5.)

(Refer to 2.4.)

R T

C N 3

C N 1

L1C L2C

B1 B2

+ 1

MODE/SET

DATA/

CHARGE POWER

C N

SGDH-

SERVOPACK

200V

YASKAWA

+ 2

Coreless Linear Servomotor

1.3.1 Single-phase, 200 V Main Circuit

1.3 Examples of Servo System Configurations

1.3.1 Single-phase, 200 V Main Circuit

This section describes examples of basic servo system configuration.

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+ 395 hidden pages

Yaskawa SGDH User Manual

About this Manual

Related Manuals

Safety Information

Notes for Safe Operation

CONTENTS

Outline

1.1.1 Check Items

1.1 Checking Products

1.1.2 Linear Servomotors

1.1.3 SERVOPACKs

1.1.4 Serial Converter Units

1.2 Product Part Names

1.2.1 Linear Servomotors

1.2.2 SERVOPACKs

1.3.1 Single-phase, 200 V Main Circuit

1.3 Examples of Servo System Configurations