YASKAWA SGLGW, SGLFW, SGLTW, SGDH SERVOPACK User Manual

Linear Series SGL□□/SGDH

USER'S MANUAL

SGLGW/SGLFW/SGLTW Linear Servomotors
SGDH SERVOPACK

YASKAWA

YASKAWA

YA S K A WA

 MANUAL NO. YEA-SIA-S800-39.21

Copyright © 2004 YASKAWA ELECTRIC AMERICA

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

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.

WARNING

CAUTION

PROHIBITED

MANDATORY

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.

iii

Notes for Safe Operation

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

WARNING

• 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.

iv

WARNING

• Provide an appropriate stopping device on the machine side to ensure safety. A holding brake for a
servomotor with brake is not a stopping device for ensuring 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



CAUTION

• 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



CAUTION

• 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.

v

Installation



CAUTION

• 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 antimagnetic cover.

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

Cover

Magnetic way

• 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.

vi

Wiring



CAUTION

• 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
SERVOPACK.

• 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.

vii

CAUTION

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

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



CAUTION

• 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.

The workpiece may fall during overtraveling.

• When not using the normal 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.

viii

Maintenance and Inspection



CAUTION

• 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



CAUTION

• 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.

ix

CONTENTS

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

1 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

2 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, Magnetic Contactors, Surge Suppressors
and DC Reactors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -2-12

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

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

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

x

3 Digital Operator/Panel Operator

3.1 Functions on Digital Operator/Panel Operator - - - - - - - - - - - 3-2

3.1.1 Connecting the Digital Operator - - - - - - - - - - - - - - - - - - - - - - - - - - -3-2

3.1.2 Key Names and Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-3

3.1.3 Basic Mode Selection and Operation - - - - - - - - - - - - - - - - - - - - - - - -3-4

3.1.4 Status Display - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-6

3.2 Operation in Utility Function Mode (Fn) - - - - - - - - - - - 3-8

3.2.1 List of Utility Function Modes - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-8

3.2.2 Alarm Traceback Data Display (Fn000)- - - - - - - - - - - - - - - - - - - - - - -3-9

3.2.3 JOG Mode Operation (Fn002) - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-10

3.2.4 Zero-point Search Mode (Fn003) - - - - - - - - - - - - - - - - - - - - - - - - - - 3-11

3

.2.5 Parameter Settings Initialization (Fn005)- - - - - - - - - - - - - - - - - - - - -3-12

3.2.6 Alarm Traceback Data Clear (Fn006) - - - - - - - - - - - - - - - - - - - - - - -3-13

3.2.7 Automatic Offset-adjustment of Motor Current Detection Signal
(Fn00E)- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-14

3.2.8 Manual Offset-adjustment of Motor Current Detection Signal
(Fn00F) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-15

3.2.9 Password Setting (Protects Parameters from Being Changed)
(Fn010) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-16

3.2.10 Motor Models Display (Fn011) - - - - - - - - - - - - - - - - - - - - - - - - - - -3-17

3.2.11 Software Version Display (Fn012)- - - - - - - - - - - - - - - - - - - - - - - - -3-18

3.2.12 Application Module Detection Results Clear (Fn014) - - - - - - - - - - -3-19

3.3 Operation in Parameter Setting Mode (Pn)- - - - - - - - 3-20

3.3.1 Setting Parameters- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-20

3.3.2 Input Circuit Signal Allocation - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-24

3.3.3 Output Circuit Signal Allocation - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-28

3.4 Operation in Monitor Mode (Un) - - - - - - - - - - - - - - - 3-30

3.4.1 List of Monitor Modes- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-30

3.4.2 Sequence I/O Signal Monitor Display- - - - - - - - - - - - - - - - - - - - - - - 3-31

3.4.3 Operation in Monitor Mode - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-32

3.4.4 Monitor Display of Reference Pulse Counter
and Feedback Pulse Counter - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-33

3.4.5 Allowable Maximum Motor Speed for Dividing Ratio Monitor
(For the software version 32 or later) - - - - - - - - - - - - - - - - - - - - - - - 3-34

3.4.6 Hall Sensor Signal Monitor
(For the software version 32 or later) - - - - - - - - - - - - - - - - - - - - - - - 3-34

4 Operation

4.1 Trial Operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-4

4.2 Trial Operation Using SERVOPACK Internal References - - - 4-6

4.2.1 SERVOPACK Setup Procedure- - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-6

4.2.2 Setup Procedure Using Linear Servomotors with Hall Sensors- - - - - - 4-6

4.2.3 Setup Procedure Using Linear Servomotors without Hall Sensors - - 4-12

xi

xvi

4.3 Trial Operation for Linear Servomotor without Load

from Host Reference - - - - - - - -

4.3.1 Servo ON Command from the Host - - - - - - - - - - - - - - - - - - - - - - - - 4-22

4.3.2 Operating Procedure in Speed Control Mode (Pn000 = n.0) - - 4-24

4.3.3 Operating Procedure in Position Control Mode (Pn000 = n.1) - 4-26

- - - - - - - - - - - - - - - - - - - 4-22

Trial O

4.4
to

.5 Control Mode Selection- - - - - - - - - - - - - - - - - - - - - - - - - - 4-29

4

.6 Setting Common Basic Functions - - - - - - - - - - - - - - - - - - 4-30

4

4.6.1 Setting the Servo ON Signal - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-30

4.6.2 Switching the Linear Servomotor Movement Direction- - - - - - - - - - - 4-31

4.6.3 Setting the Overtravel Limit Function - - - - - - - - - - - - - - - - - - - - - - - 4-32

4.6.4 Selecting the Stop

4.6.5 Instantaneous Power Loss Settings- - - - - - - - - - - - - - - - - - - - - - - - 4-35

4.6.6 Motor Maximum Speed (For the software version 32 or later)- - - - - - 4-35

peration with the Linear Servomotor Connected

the Machine

- - - - -

- - - - - - - - - - - - - - - - - - - - - - - - - - - 4-28

ping Method After Servo OFF - - - - - - - - - - - - - - - 4-34

4.7 Operating Using Speed Control with Analog Reference - - - 4-36

4.7.1 Setting Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-36

4.7.2 Setting Input Signals - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-37

4.7.3 Adjusting Offset - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-38

4

.7.4 Soft Start- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-41

4.7.5 Speed Reference Filter- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-41

4.7.6 Using the Zero Clamp Function- - - - - - - - - - - - - - - - - - - - - - - - - - - 4-41

4.7.7 Encoder Signal Output - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-43

4.7.8 Speed Coincidence Output - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-45

4.8 Operating Using Position Control- - - - - - - - - - - - - - - - - - - 4-46

4.8.1 Setting Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-46

4.8.2 Setting the Electronic Gear - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-48

4.8.3 Position Reference - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-51

4.8.4 Smoothing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-55

4.8.5 Positioning Completed Output Signal - - - - - - - - - - - - - - - - - - - - - - -4-56

4.8.6 Positioning Near Signal- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-57

4.8.7 Reference Pulse Inhibit Function (INHIBIT)- - - - - - - - - - - - - - - - - - -4-58

4.9 Operating Using Force Control - - - - - - - - - - - - - - - - - - - - 4-59

4.9.1 Setting Parameters- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-59

4.9.2 Force Reference Input - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-59

4.9.3 Adjusting the Force Reference Offset - - - - - - - - - - - - - - - - - - - - - - -4-60

4.9.4 Limiting Linear Servomotor Speed during Force Control- - - - - - - - - -4-62

4.10 Operating Using Speed Control

with

an Internally Set Speed - - - - - - - - - - - - - - - - - - - - - 4-64

4.10.1 Setting Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-64

4.10.2 Input Signal Settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-65

4.10.3 Operating Using an Internally Set Speed- - - - - - - - - - - - - - - - - - - -4-65

xv

xii

4.11 Limiting Force- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-67

4.11.1 Internal Force Limit (Limiting Maximum Output Force) - - - - - - - - - -4-67

4.11.2 External Force Limit (Output Force Limiting by Input Signals) - - - - -4-68

4.11.3 Force Limiting Using an Analog Voltage Reference - - - - - - - - - - - -4-70

4.11.4 Force Limiting Using an External Force Limit
and Analog Voltage Reference - - - - - - - - - - - - - - - - - - - - - - - - - - -4-71

4.11.5 Checking Output Force Limiting during Operation - - - - - - - - - - - - -4-72

4.12 Control Mode Selection- - - - - - - - - - - - - - - - - - - - - - - - - 4-73

4.12.1 Setting Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-73

4.12.2 Switching the Control Mode - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-73

4.13 Other Output Signals - - - - - - - - - - - - - - - - - - - - - - - - - - 4-75

4.13.1 Servo Alarm Output (ALM) and Alarm Code Output

(ALO1, ALO2, ALO3) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-75

4.13.2 Warning Output (/WARN)- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-76

4.13.3 Running Output Signal (/TGON)- - - - - - - - - - - - - - - - - - - - - - - - - -4-76

4.13.4 Servo Ready (/S-RDY) Output - - - - - - - - - - - - - - - - - - - - - - - - - - -4-77

5 Adjustments

5.1 Autotuning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-2

5.1.1 Servo Gain Adjustment Methods - - - - - - - - - - - - - - - - - - - - - - - - -5-2

5.1.2 List of Servo Adjustment Functions- - - - - - - - - - - - - - - - - - - - - - - -5-3

5.2 Online Autotuning- - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-5

5.2.1 Online Autotuning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-5

5.2.2 Online Autotuning Procedure - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-6

5.2.3 Selecting the Online Autotuning Execution Method - - - - - - - - - - - -5-7

5.2.4 Machine Rigidity Setting for Online Autotuning - - - - - - - - - - - - - - -5-8

5.2.5 Method for Changing the Machine Rigidity Setting - - - - - - - - - - - - -5-9

5.2.6 Saving the Results of Online Autotuning - - - - - - - - - - - - - - - - - - - 5-10

5.2.7 Procedure for Saving the Results of Online Autotuning- - - - - - - - - 5-11

5.3 Manual Tuning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-12

5.3.1 Explanation of Servo Gain - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-12

5.3.2 Servo Gain Manual Tuning - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-13

5.3.3 Position Loop Gain- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-13

5.3.4 Speed Loop Gain - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-14

5.3.5 Speed Loop Integral Time Constant - - - - - - - - - - - - - - - - - - - - - - 5-14

5.4 Servo Gain Adjustment Functions - - - - - - - - - - - - - - - - 5-15

5.4.1 Feed-forward Reference- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-15

5.4.2 Force Feed-forward - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-16

5.4.3 Speed Feed-forward- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-17

5.4.4 Proportional Control Operation
(Proportional Operation Reference) - - - - - - - - - - - - - - - - - - - - - - 5-18

5.4.5 Using the Mode Switch (P/PI Switching)- - - - - - - - - - - - - - - - - - - 5-19

5.4.6 Setting the Speed Bias - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-22

5.4.7 Speed Feedback Filter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-22

5.4.8 Speed Feedback Compensation - - - - - - - - - - - - - - - - - - - - - - - - 5-23

5.4.9 Switching Gain Settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-25

5.4.10 Force Reference Filter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-26

5.5 Analog Monitor- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-29

xvixiii

6 Inspection, Maintenance, and Troubleshooting

6.1 Troubleshooting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-2

6.1.1 Alarm Display Table - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-2

6.1.2 Warning Display- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-4

6.1.3 Alarm Display Table when the Application Module is Used - - - - - - - 6-5

6.1.4 Warning Display Table when the Application Module is Used - - - - - 6-6

6.1.5 Troubleshooting of Alarm and Warning- - - - - - - - - - - - - - - - - - - - - 6-7

6.1.6 Troubleshooting for Malfunction without Alarm Display- - - - - - - - - 6-17

6.2 Inspection and Maintenance - - - - - - - - - - - - - - - - - - - - 6-22

6.2.1 Linear Servomotor Inspection

6.2.2 SERVOPACK Inspection- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-22

6.2.3 SERVOPACK’s Parts Replacement Schedule- - - - - - - - - - - - - - - 6-23

- - - - - - - - - - - - - - - - - - - - - - - - - - 6-22

7 Appendix

7.1 Linear Servomotor Capacity Selection Examples- - - - - - - 7-2

7.2 Calculating the Required Capacity

of Regenerative Resistor

7.2.1 Simple Calculation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-4

7.2.2 Calculating the Regenerative Energy - - - - - - - - - - - - - - - - - - - - - - 7-6

s- - - - - - - - - - - - - - - - - - - - - - - 7-4

7.3 Connection to Host Controller - - - - - - - - - - - - - - - - - - - 7-13

73.1 Example of Connection to MP920 4-axes Analog Module
SVA-01 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-13

7.3.2 Example of Connection to CP-9200SH Servo Controller Module
SVA (SERVOPACK in Speed Control Mode)- - - - - - - - - - - - - - - - 7-14

7.3.3 Example of Connection to MEMOCON GL120/130 Series
Motion Module MC20 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-15

7.3.4 Example of Connection to MEMOCON GL60/70 Series
Positioning Module B2813 (SERVOPACK in Position Control Mode) 7-16

7.3.5 Example of Connection to OMRON’s Motion Control Unit- - - - - - - 7-17

7.3.6 Example of Connection to OMRON’s Position Control Unit - - - - - - 7-18

7.3.7 Example of Connection to OMRON’s Position Control Unit

00-NC221 (SERVOPACK in Speed Control Mode)- - - - - - - - - -7-19

C5

7.3.8 Example of Connection to OMRON’s Position Control Unit
C500-NC112 (SERVOPACK in Position Control Mode)- - - - - - - - -7-20

7.3.9 Example of Connection to Mitsubishi’s AD72 Positioning Unit
(SERVOPACK in Speed Control Mode)- - - - - - - - - - - - - - - - - - - -7-21

7.3.10 Example of Connection to Mitsubishi’s AD75 Positioning Unit

(SERVOPACK in Position Control Mode)- - - - - - - - - - - - - - - - - -7-22

7.4 List of Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-23

7.4.1 Utility Functions List - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-23

7.4.2 List of Parameters- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-24

7.4.3 Monitor Modes - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-40

7.5 Parameter Recording Table- - - - - - - - - - - - - - - - - - - - - 7-41

xiv

xvii

1

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

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

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.

CoilassemblyandMagneticway

Nameplate

Servomotor
model

Ratings

OrderNo.
SerialNo.

CORELESSLINEARSERVOMOTOR

SGLGW-40A140B

WA

94 0.8

N

47

O/N

S/N

YASKAWAELECTRICCORPORATIONJAPAN

Ins.

B

1-2

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

SGLTW and SGLTM Linear Servomotors with T-type Iron Core

1.1 Checking Products

SGLFWandSGLFM

SGLTWandSGLTM

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

1.1.3 SERVOPACKs

Coilassembly

Servomotor
model

Ratings

OrderNo.
SerialNo.

Magneticway

Servomotor
model

OrderNo.
SerialNo.

Nameplate

LinearSERVOMOTOR

TYPE

SGLFW-35A120A

200 W

1.3 A

80 N
200 V

2.5 m/s

O/N
S/N

YASKAWAELECTRICMADEINJAPAN

DATE

Nameplate

YASKAWA

TYPE:

SGLFM-20756A

O/N

S/N

MADEINJAPAN DATE

ins.B

1

SGDHfor30Wto5.0kW SGDHfor7.5kW

SERVOPACK
SERVOPACK
model

Applicable
powersupply

Serial
number

MODEL

AC-INPUT AC-OUTPUT
VOLTS
Hz
PHASE
AMPS

S/N

YASKAWAELECTRIC

SGDH-30AE

200-230
60/60
3

18.6

VOLTS
PHASE
AMPS
KU(MP)

412808-15-1

MADEINJAPAN

0-230
3

24.8

3.0(4.0)

Applicable
motor
capacity

1-3

1 Outline

1.1.4 Serial Converter Units

1.1.4 Serial Converter Units

Nameplate

Serial
converter
model

OrderNo.

SerialNo.

SERIALCONVERTER

MODELJZDP-A006-156

For:-

O/N

S/N

YASKAWAELECTRICCORPORATION

--

JAPAN

1-4

1.2 Product Part Names

1.2.1 Linear Servomotors

Coreless SGLGW and SGLGM

(1)

Magneticway

Hallsensorcable

Maincircuitcableforlinearservomotor

1.2 Product Part Names

1

Coilassembly

Hallsensorunit

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

Coilassembly

Hallsensorcable

Hallsensor
unit

Maincircuitcablefor
linearservomotor

SGLTW and SGLTM With T-type Iron Core

(3)

Coilassembly

Hallsensorcable

Magneticway

Spacerfor
installation

Hallsensorunit

Maincircuitcablefor
linearservomotor

Magneticway

1-5

1 Outline

1.2.2 SERVOPACKs

1.2.2 SERVOPACKs

(1) SGDH for 50 W to 5.0 kW

Withthefrontcoveropen

MODE/SET DATA/

CHARGE POWER

CN5Analogmonitorconnector

Usedtomonitormotorspeed,force
reference,andothervaluesthrough
aspecialcable.
Referto5.5 Analog Monitor

Paneldisplay

5-digit,7-segmentLEDusedtodisplay
SERVOPACKstatus,alarmstatus,andother
valueswhenparametersareinput.
Referto3.1.2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.

Controlpowersupplyterminals

Usedforcontrolpowersupplyinput.

Regenerative
resistorconnectingterminals

Usedtoconnectexternalregenerativeresistors.

Servomotorterminals

Connectstotheservomotorpowerline.

YASKAWA

MODE/SET

YASKAWA

SERVOPACK

SGDH-

CHARGE POWER

DATA/

Frontcover

SERVOPACKmodel

Referto2.3SERVOPACKModel

Designations.

Panelkeys

Usedtosetparameters.

PowerONindicator



LightswhenthecontrolpowersupplyisON.

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.

Nameplate(sideview)

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

CN2Encoderconnector

Connectstotheencoderintheservomotor.

Groundterminal

Besuretoconnecttoprotectagainstelectricalshock.

1-6

(2) SGDH for 7.5 kW

1.2 Product Part Names

SERVOPACKmodel

CN3Connectorfor
personalcomputer
monitoringand
digitaloperator

Chargeindicator

Controlcircuit

∗

terminal

SERVOPACK 200V

SGDH-

Ve r.

YASKAWA

CHARGE

L1C

L2C

Powerindicator

POWER

MODE/SET

CN3

CN1 CN2

Paneloperator

DATA/

CN8

CN5

BATTERY

!

WARNING

Paneldisplay

1

CN5Analog
monitorconnector

Panelswitch

CN2Encoderconnector

CN1I/Osignalconnector

Nameplate(sideview)

Servomotorterminals:U,V,W

Groundterminal

Maincircuitpowersupply
terminals:L1,L2,L3

L1 L2 L3

+

B2B1

U

VW

Regenerativeresistor
connectingterminals:B1,B2

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

nal block by the SERVOPACK model.

∗

1-7

1 Outline

1.3.1 Single-phase, 200 V Main Circuit

1.3 Examples of Servo System Configurations

This section describes examples of basic servo system configuration.

1.3.1 Single-phase, 200 V Main Circuit

Powersupply
Single-phase200VAC

Molded-case
circuitbreaker
(MCCB)

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

(Referto2.7.2)

Noisefilter

Eliminatesexternal
noisefromthepower
line.

(Referto2.7.3)

RT

Magnetic
contactor

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

Referto

2.7.3)

SGDH-AE
SERVOPACK

YASKAWA
SERVOPACK

SGDH-

200V

Digital
operator

(Referto2.7.)

Regenerative
resistor

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

(Referto2.7.4.)

MODE/SET

CHARGE POWER

L1

L2

+1

+2

-

L1C
L2C

B1
B2

U

V

W

Maincircuitcablefor
linearservomotor

(Referto2.6.)

DATA/

C
N
3

C
N
1

C
N

Encoder
cable

(Referto2.6.)

Connectioncable
fordigitaloperator

Connectioncable
forpersonalcomputer

I/Osignalcable

(Referto2.7.1.)

(Referto2.7.1.)

Connectioncable
forserialconverterunit

(Referto2.6.)

Serialconverterunit

(Referto2.5.)

Personalcomputer

Hostcontroller

Connectioncable
forhallsensor

(Referto2.6.)

1-8

Linearscale

(Tobeprovidedby
users.)

(Referto2.7.5.)

Hallsensorunit

CorelessLinearServomotor

1.3.2 Three-phase, 200 V Main Circuit

Power supply
Three-phase 200 VAC

Molded-case
circuit breaker
(MCCB)

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

(Refer to 2.7.2.)

Noise filter

Eliminates external noise
from the power line.

(Refer to 2.7.3.)

R S T

*1: The positive terminal for the main circuit is only available for use

in the three-phase (200 VAC, 7.5 kW or more) SERVOPACKs.

Do not use the positive terminals 1 or 2.

*2: Before connecting an external regenerative resistor to
the SERVOPACK, be sure to disconnect the lead between terminals
B2 and B3.

1.3 Examples of Servo System Configurations

1

Regenerative
resistor

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

(Refer to 2.7.4.)

Magnetic
contactor

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

(Refer to

2.7.3.)

*2

*1

SGDH-AE
SERVOPACK

YASKAWA

200V

SERVOPACK

SGD

H-

MODE/SET

DATA/

CHARGE POWER

L1

C
N

L2

3

L3

1

2

C
N
1

L1C

L2C

B1

B2

B3

C

U

N
2

V

W

Connection cable for
digital operator

Connection cable for
personal computer

(Refer to 2.7.1.)

I/O signal cable

(Refer to 2.7.1.)

Digital
operator

(Refer to 2.7.1.)

Personal computer

Host controller

Connection cable for
serial converter unit

(Refer to 2.6.)

Serial converter unit

(Refer to 2.5.)

Main circuit cable for
linear servomotor

(Refer to 2.6.)

Linear scale
(To be provided by
users)

(Refer to 2.7.5.)

Encoder
cable

(Refer to 2.6.)

Connection cable
for hall sensor

(Refer to 2.6.)

Linear servomotor with core

1-9

1 Outline

1.3.3 Three-phase, 400 V Main Circuit

1.3.3 Three-phase, 400 V Main Circuit

Power supply
Three-phase 400 VAC

R S T

Molded-case
circuit breaker
(MCCB)

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

(Refer to 2.7.2.)

Noise filter

Eliminates external
noise from the power
line.

(Refer to2.7.3.)

Magnetic
contactor

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

Refer to

2.7.3.)

*1: Use a 24 VDC power supply (To be provided by users).

*2: Before connecting an external regenerative resistor to
the SERVOPACK, be sure to disconnect the lead between terminals
B2 and B3.

Digital

SGDH-DE

operator

(Refer to 2.7.1.)

SERVOPACK

Connection cable

YASKAWA
SERVOPACK

SGD

H-

200V

for digital operator

Personal computer

*1

+

DC power
supply
(24 VDC)

−

Regenerative
resistor

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

(Refer to 2.7.4.)

*2

MODE/SET

DATA/

CHARGE POWER

L1

C
N

L2

3

L3

1

2

C
N
1

24V

0V

B1

B2

B3

C

U

N
2

V

W

Connection cable
for personal computer

(Refer to 2.7.1.)

I/O signal cable

(Refer to 2.7.1.)

Host controller

Connection cable for
serial convertr unit

(Refer to 2.6.)

Serial convertr unit

(Refer to 2.5.)

Main circuit cable for
linear servomotor

(Refer to 2.6.)

Encoder
cable

(Refer to 2.6.)

Connection cable
for hall sensor

(Refer to 2.6.)

Linear scale
(To be provided by
users.)

(Refer to 2.7.5.)

1-10

Linear servomotor
wirh core

1.4 Applicable Standards

Σ-II Series servodrives conform to the following overseas standards.

1.4.1 North American Safety Standards (UL, CSA)

1.4 Applicable Standards

1.4.2

Model

SERVOPACK • SGDH

* 1. Underwriters Laboratories Inc.
* 2. Canadian Standards Association.

CE Marking

Model

SERVOPACK • SGDH

* TÜV Product Services GmbH

U

R

C

L

US

C

LISTED

∗1

UL

Standards (UL File No.) CSA∗2 Standards

UL508C(E147823)

Low Voltage

Directive

EN50178

EMI EMS

EN55011

class A group 1

CSA C22.2

No.14

EMC Directive

R

US

EN50082-2

or

EN61000-6-2

Certifications

UL

Certifications

TÜV PS

∗

1

Because SERVOPACKs and linear servomotors are built-in type, reconfirmation is
required after being installed in the final product.

1-11

2

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

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, Magnetic Contactors, Surge Suppressors and DC Reactors - - - - - - - - 2-12

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

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

2

2-1

2 Selections

2.1.1 Coil Assembly

2.1 Linear Servomotor Model Designation

This section describes how to check the model and ratings of the linear servomotor. The alphanumeric codes
after SGL- indicate the specifications.

2.1.1 Coil Assembly

40 A 140 A P

Voltage

200VAC

A

400VAC

D

LinearΣSeries
Linearservomotor

ServomotorModel

Code

Specifications

G

Coreless

F-typeironcore

F

T-typeironcore

T

W:Coilassembly

Magnetheight

WGSGL

2.1.2 Magnetic Way

SGL 40 225 A C

GM

D

CableConnectorforMainCircuitCable

Code

MSconnectororconnectormade

−

byTycoElectronicsAMPK.K.

ConnectormadebyInterconnectron

D

Code

P

C

Withhallsensorandforcedcooling

H

Designrevisionorder

A,B,C

Lengthofcoilassembly

Specifications

Options

Specifications

Withhallsensor

Forcedcooling

LinearΣSeries
Linearservomotor

Model

Code

Specifications

G

Coreless

F

F-typeironcore

T

T-typeironcore

M:Magneticway

Magnetwidth

2-2

Designrevisionorder

A,B,C

Lengthofmagneticway

Code

C

Withmagnetcover

-M

Highthrustforce

Options

Specifications Remarks

Onlyforlinearservomotors
withanironcore

Onlyforcorelesstypes

2.2 SERVOPACK Model Designation

Select the SERVOPACK according to the applied linear servomotor.

10SGDH-AE

2.2 SERVOPACK Model Designation

RatedOutputofApplicableServomotor(kW)

Code

A5

01

02

04

05

08

RatedOutput

0.05

0.10

0.20

0.40

0.45

0.75

Code

Code

10

15

20

30

50

75

PowerSupplyVoltage

A

D

Single/Three-phase,200V

RatedOutput

Voltage

Three-phase,400V

1.0

1.5

2.0

3.0

5.0

7.5

Code Specifications

-

Base-mounted

-P

Duct-ventilated

-R

Rack-mounted

Code

Forforce,speed,andpositioncontrol

E

Applicableforvariousapplicationmodules

MountingMethod

RatedOutputof
ApplicableServomotor(kW)

0.05to7.5

7.5

0.05to5.0

Model(Fixed)

Remarks

2

2-3

2 Selections

2.3

Σ-II Series SERVOPACKs and Applicable Linear Servomotors

Linear Σ Series Linear Servomotor

SGLGW
(Coreless)

17 models

SGLFW
(With F-type iron core)

12 models

When a
Standard­force
Magnetic
Way is used.

When a
High-force
Magnetic
Way is used.

30A050B

30A080B

40A140B

40A253B

40A365B

60A140B

60A253B

60A365B

90A200A

90A370A

90A535A

40A140B

40A253B

40A365B

60A140B

60A253B

60A365B

20A090A

20A120A

35A120A

35A230A

50A200B

50A380B

1ZA200B

1ZA380B

35D120A

35D230A

50D200B

50D380B

1ZD200B

1ZD380B

Σ-II Series SGDH SERVOPACK

Single-phase

200 VAC

A5AE −−

01AE −−
01AE −−
02AE −−
04AE −−
02AE −−
04AE −−

− 08AE −

− 15AE −

− 20AE −

− 30AE −

02AE −−
04AE −−

− 05AE −

02AE −−

− 05AE −

− 10AE −

02AE −−
02AE −−
02AE −−

− 05AE −

− 08AE −

− 15AE −

− 15AE −

− 20AE −

−−05DE

−−05DE

−−10DE

−−15DE

−−15DE

−−20DE

Three-phase

200 VAC

Three-phase

400 VAC

2-4