Yaskawa Sigma-5 User Manual

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AC Servo Drives

-V Series

USER’S MANUAL Design and Maintenance

Rotational Motor MECHATROLINK-III Communications Reference

SGDV SERVOPACK SGMJV/SGMAV/SGMPS/SGMGV/SGMSV/SGMCS Servomotors

MANUAL NO. SIEP S800000 64H

Outline

Panel Display and

Operation of Digital Operator

Wiring and Connection

Operation

Adjustments

Utility Functions (Fn)

Monitor Displays (Un)

Fully-closed Loop Control

Troubleshooting

Appendix

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

About this Manual

This manual describes information required for designing, testing, adjusting, and maintaining Σ-V Series SERVOPACKs.

Keep this manual in a location where it can be accessed for reference whenever required. Manuals outlined on the following page must also be used as required by the application.

 Description of Technical Terms

The following table shows the meanings of terms used in this manual.

Te rm Meaning

Cursor Input position indicated by Digital Operator

Servomotor

SERVOPACK Σ-V Series SGDV servo amplifier

Servo Drive

Servo System

M-III Model

Servo ON Power to motor ON

Servo OFF Power to motor OFF

Base Block (BB)

Servo Lock

Main Circuit Cable

Σ-V Series SGMJV, SGMAV, SGMPS, SGMGV, SGMSV, or SGMCS (Direct Drive) servomotor

A set including a servomotor and SERVOPACK (i.e., a servo amplifier)

A servo control system that includes the combination of a servo drive with a host controller and peripheral devices

MECHATROLINK-III communications reference used for SERVOPACK interface

Power supply to motor is turned OFF by shutting off the base current to the power transistor in the current amplifier.

A state in which the motor is stopped and is in position loop with a position reference of 0.

Cables which connect to the main circuit terminals, including main circuit power supply cables, control power supply cables, servomotor main circuit cables, and others.

 IMPORTANT Explanations

The following icon is displayed for explanations requiring special attention.

• Indicates important information that should be memorized, as well as precautions, such as alarm displays, that do not involve potential damage to equipment.

iii

Pn406

Emergency Stop Torque

Setting Range

0% to 800% 1% 800 After change

Setting Unit Factory Setting When Enabled

Classification

Setup



Parameter Meaning When Enabled Classification

Pn002

After restart

n.0 [Factory setting]

n.1

Uses the absolute encoder as an incremental encoder.

Uses the absolute encoder as an absolute encoder.

Setup

Parameter number

Position

Torque

Control methods for which the parameter applies.

Speed

: Speed control

: Position control

: Torque control

Indicates the parameter setting before shipment.

Indicates when a change to the parameter will be effective.

Indicates the parameter classification.

Indicates the minimum setting unit for the parameter.

Torque

Position Speed

Indicates the setting range for the parameter.

The notation “n.” indicates a parameter for selecting functions. Each  corresponds to the setting value of that digit. The notation shown here means that the third digit is 1.

This section explains the selections for the function.

• Parameters for Selecting Functions

Rotation

1st digit

2nd digit

3rd digit

4th digit

Digital Operator Display

(Display Example for Pn002)

Digit Notation Setting Notation

Meaning Notation Meaning

Pn002.0

Pn002.1

Pn002.2

Pn002.3

Indicates the value for the 1st digit of parameter Pn002.

Indicates the value for the 2nd digit of parameter Pn002.

Indicates the value for the 3rd digit of parameter Pn002.

Indicates the value for the 4th digit of parameter Pn002.

Pn002.0 = x or n.x

Pn002.1 = x or n.x

Indicates that the value for the 1st digit of parameter Pn002 is x.

Indicates that the value for the 2nd digit of parameter Pn002 is x.

Pn002.2 = x or n.x

Pn002.3 = x or n.x

Indicates that the value for the 3rd digit of parameter Pn002 is x.

Indicates that the value for the 4th digit of parameter Pn002 is x.

Notation

MECHA

 Notation Used in this Manual

• Notation for Reverse Signals

The names of reverse signals (i.e., ones that are valid when low) are written with a forward slash (/) before the signal name.

Notation Example

= /BK

• Notation for Parameters

The notation depends on whether the parameter requires a value setting (parameter for numeric settings) or requires the selection of a function (parameter for selecting functions).

• Parameters for Numeric Settings

Notation Example

 Manuals Related to the Σ-V Series

Refer to the following manuals as required.

Name

Σ-V Series User's Manual Setup Rotational Motor

(No.: SIEP S800000 43) Σ-V Series

Product Catalog (No.: KAEP S800000 42)

Σ-V Series User's Manual Design and Maintenance Rotational Motor/ MECHATROLINK-III Communications Reference (this manual)

Σ-V Series User’s Manual MECHATROLINK-III Standard Servo Profile Commands (No.: SIEP S800000 63)

Σ-V Series User’s Manual Operation of Digital Operator (No.: SIEP S800000 55)

Σ-V Series AC SERVOPACK SGDV Safety Precautions (No.: TOBP C710800 10)

Σ Series Digital Operator Safety Precautions (No.: TOBP C730800 00)

AC SERVOMOTOR Safety Precautions (No.: TOBP C230200 00)

Selecting

Models and

Peripheral

Devices



 

Ratings and

Specifications

System

Design

 



Panels and

Wiring



Trial

Operation



Trial

Operation

and Servo

Adjustment

Maintenance

and

Inspection



 Trademarks

MECHATROLINK is a trademark of the MECHATROLINK Members Association.

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 to indicate that fire is prohibited as follows:

Indicates compulsory actions that must be performed. For example, this symbol would be used to indicate that grounding is compulsory as follows:

Safety Precautions

This section describes important precautions that must be followed during storage, transportation, installation, wiring, operation, maintenance, inspection, and disposal. Be sure to always observe these precautions thoroughly.

• Never touch any rotating servomotor parts during operation.

Failure to observe this warning may result in injury.

• Before starting operation with a machine connected, make sure that an emergency stop can be applied at any time.

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

• Never touch the inside of the SERVOPACKs.

Failure to observe this warning may result in electric shock.

• Do not remove the cover of the power supply terminal block while the power is ON.

Failure to observe this warning may result in electric shock.

• After the power is turned OFF or after a voltage resistance test, do not touch terminals while the CHARGE lamp is ON.

Residual voltage may cause electric shock.

• Follow the procedures and instructions provided in the manuals for the products being used in the trial operation.

Failure to do so may result not only in faulty operation and damage to equipment, but also in personal injury.

• The output range of the rotational serial data for the Σ-V absolute position detecting system is different from that of earlier systems for 12-bit and 15-bit encoders. As a result, the infinite-length positioning system of the Σ Series must be changed for use with products in the Σ-V Series.

• The multiturn limit value need not be changed except for special applications.

Changing it inappropriately or unintentionally can be dangerous.

• If the Multiturn Limit Disagreement alarm occurs, check the setting of parameter Pn205 in the SERVOPACK to be sure that it is correct.

If Fn013 is executed when an incorrect value is set in Pn205, an incorrect value will be set in the encoder. The alarm will disappear even if an incorrect value is set, but incorrect positions will be detected, resulting in a dangerous situation where the machine will move to unexpected positions.

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

Failure to observe this warning may result in electric shock.

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

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

• Do not modify the product.

Failure to observe this warning may result in injury, damage to the equipment, or fire.

• Provide appropriate braking devices on the machine side to ensure safety. The holding brake on a servomotor with a brake is not a braking device for ensuring safety.

Failure to observe this warning may result in injury.

• Do not come close to the machine immediately after resetting an instantaneous power interruption 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 according to local electrical codes (100 Ω or less for a SERVOPACK with a 100 V, 200 V power supply, 10 Ω or less for a SERVOPACK with a 400 V power supply).

Improper grounding may result in electric shock or fire.

WARNING

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

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

• The person who designs a system using the safety function (Hard Wire Baseblock function) must have full knowledge of the related safety standards and full understanding of the instructions in this manual.

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

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 Storage and Transportation

CAUTION

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

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

• Locations subject to direct sunlight

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

• Locations subject to humidity outside the range specified in the storage/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

• Do not hold the product by the cables, motor shaft, or encoder while transporting it.

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.

• If disinfectants or insecticides must be used to treat packing materials such as wooden frames, pallets, or plywood, the packing materials must be treated before the product is packaged, and methods other than fumigation must be used. Example: Heat treatment, where materials are kiln-dried to a core temperature of 56 minutes or more.

If the electronic products, which include stand-alone products and products installed in machines, are packed with fumigated wooden materials, the electrical components may be greatly damaged by the gases or fumes resulting from the fumigation process. In particular, disinfectants containing halogen, which includes chlorine, fluorine, bromine, or iodine can contribute to the erosion of the capacitors.

°C for 30

 Installation

• Never use the product in an environment subject to water, corrosive gases, flammable 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 or malfunction.

• Do not cover the inlet or outlet ports 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

viii

 Wiring

CAUTION

• Be sure to wire correctly and securely.

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

• Do not connect a commercial power supply to the U, V, or W terminals for the servomotor connection.

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

• Securely connect the main circuit terminals.

Failure to observe this caution may result in fire.

• Do not bundle or run the main circuit cables together with the I/O signal cables or the encoder cables in the same duct. Keep the main circuit cables separated from the I/O signal cables and the encoder cables with a gap of at least 30 cm.

Placing these cables too close to each other may result in malfunction.

• Use shielded twisted-pair cables or screened unshielded twisted-pair cables for I/O signal cables and the encoder cables.

• The maximum wiring length is 3 m for I/O signal cables, 50 m for encoder cables or servomotor main circuit cables, and 10 m for control power supply cables for the SERVOPACK with a 400-V power supply (+24 V, 0 V).

• Do not touch the power supply terminals while the CHARGE lamp is ON after turning power OFF because high voltage may still remain in the SERVOPACK.

Make sure the charge indicator is OFF first before starting to do wiring or inspections.

• Be sure to observe the following precautions when wiring the SERVOPACK main circuit terminal blocks.

• Do not turn the SERVOPACK power ON until all wiring, including the main circuit terminal blocks, has been completed.

• Remove detachable main circuit terminals from the SERVOPACK prior to wiring.

• Insert only one power line per opening in the main circuit terminals.

• Make sure that no part of the core wire comes into contact with (i.e., short-circuits) adjacent wires.

• Install a battery at either the host controller or the SERVOPACK, but not both.

It is dangerous to install batteries at both ends simultaneously, because that sets up a loop circuit between the batteries.

• Always use the specified power supply voltage.

An incorrect voltage may result in fire or malfunction.

• 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 equipment.

• 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 form of potential interference 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

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

• Do not reverse the polarity of the battery when connecting it.

Failure to observe this caution may damage the battery, the SERVOPACK or servomotor, or cause an explosion.

• Wiring or inspection must be performed by a technical expert.

• Use a 24-VDC power supply with double insulation or reinforced insulation.

 Operation

CAUTION

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

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

• Conduct trial operation on the servomotor alone with the motor shaft disconnected from the machine to avoid accidents.

Failure to observe this caution may result in injury.

• During trial operation, confirm that the holding brake works correctly. Furthermore, secure system safety against problems such as signal line disconnection.

• Before starting operation with a machine connected, change the parameter 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.

• Do not turn the power ON and OFF more than necessary.

Do not use the SERVOPACK for applications that require the power to turn ON and OFF frequently. Such applications will cause elements in the SERVOPACK to deteriorate. As a guideline, at least one hour should be allowed between the power being turned ON and OFF once actual operation has been started.

• When carrying out JOG operation (Fn002), origin search (Fn003), or EasyFFT (Fn206), forcing movable machine parts to stop does not work for forward overtravel or reverse overtravel. Take necessary precautions.

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

• When using the servomotor for a vertical axis, install safety devices to prevent workpieces from falling due to alarms or overtravels. Set the servomotor so that it will stop in the zero clamp state when overtravel occurs.

Failure to observe this caution may cause workpieces to fall due to overtravel.

• When not using the turning-less function, set the correct moment of inertia ratio (Pn103).

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

• Do not touch the SERVOPACK heat sinks, 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 or damage to the equipment 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 damage to the equipment, fire, or injury.

• Do not use the holding brake of the servomotor for braking.

Failure to observe this caution may result in malfunction.

• An alarm or warning may occur if communications are performed with the host controller while the SigmaWin+ or Digital Operator is operating.

If an alarm or warning occurs, it may stop the current process and stop the system.

 Maintenance and Inspection

CAUTION

• Do not disassemble the SERVOPACK and the servomotor.

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

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

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

• When replacing the SERVOPACK, resume operation only after copying the previous SERVOPACK parameters to the new SERVOPACK.

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

 Disposal

CAUTION

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

 General Precautions

Observe the following general precautions

• The products shown in illustrations 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.

• 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.

to ensure safe application.

Warranty

(1) Details of Warranty

 Warranty Period

 Warranty Scope

(2) Limitations of Liability

The warranty period for a product that was purchased (hereinafter called “delivered product”) is one year from the time of delivery to the location specified by the customer or 18 months from the time of shipment from the Yaskawa factory, whichever is sooner.

Yaskawa shall replace or repair a defective product free of charge if a defect attributable to Yaskawa occurs during the warranty period above. This warranty does not cover defects caused by the delivered product reaching the end of its service life and replacement of parts that require replacement or that have a limited service life.

This warranty does not cover failures that result from any of the following causes.

1. Improper handling, abuse, or use in unsuitable conditions or in environments not described in product catalogs or manuals, or in any separately agreed-upon specifications

2. Causes not attributable to the delivered product itself

3. Modifications or repairs not performed by Yaskawa

4. Abuse of the delivered product in a manner in which it was not originally intended

5. Causes that were not foreseeable with the scientific and technological understanding at the time of shipment from Yaskawa

6. Events for which Yaskawa is not responsible, such as natural or human-made disasters

1. Yaskawa shall in no event be responsible for any damage or loss of opportunity to the customer that arises due to failure of the delivered product.

2. Yaskawa shall not be responsible for any programs (including parameter settings) or the results of program execution of the programs provided by the user or by a third party for use with programmable Yaskawa products.

3. The information described in product catalogs or manuals is provided for the purpose of the customer purchasing the appropriate product for the intended application. The use thereof does not guarantee that there are no infringements of intellectual property rights or other proprietary rights of Yaskawa or third parties, nor does it construe a license.

4. Yaskawa shall not be responsible for any damage arising from infringements of intellectual property rights or other proprietary rights of third parties as a result of using the information described in catalogs or manuals.

xii

(3) Suitability for Use

1. It is the customer’s responsibility to confirm conformity with any standards, codes, or regulations that apply if the Yaskawa product is used in combination with any other products.

2. The customer must confirm that the Yaskawa product is suitable for the systems, machines, and equipment used by the customer.

3. Consult with Yaskawa to determine whether use in the following applications is acceptable. If use in the application is acceptable, use the product with extra allowance in ratings and specifications, and provide safety measures to minimize hazards in the event of failure.

• Outdoor use, use involving potential chemical contamination or electrical interference, or use in conditions or environments not described in product catalogs or manuals

• Nuclear energy control systems, combustion systems, railroad systems, aviation systems, vehicle systems, medical equipment, amusement machines, and installations subject to separate industry or government regulations

• Systems, machines, and equipment that may present a risk to life or property

• Systems that require a high degree of reliability, such as systems that supply gas, water, or electricity, or systems that operate continuously 24 hours a day

• Other systems that require a similar high degree of safety

4. Never use the product for an application involving serious risk to life or property without first ensuring that the system is designed to secure the required level of safety with risk warnings and redundancy, and that the Yaskawa product is properly rated and installed.

5. The circuit examples and other application examples described in product catalogs and manuals are for reference. Check the functionality and safety of the actual devices and equipment to be used before using the product.

6. Read and understand all use prohibitions and precautions, and operate the Yaskawa product correctly to prevent accidental harm to third parties.

(4) Specifications Change

The names, specifications, appearance, and accessories of products in product catalogs and manuals may be changed at any time based on improvements and other reasons. The next editions of the revised catalogs or manuals will be published with updated code numbers. Consult with your Yaskawa representative to confirm the actual specifications before purchasing a product.

xiii

Harmonized Standards

 North American Safety Standards (UL)

Model

SERVOPACK SGDV UL508C (E147823)

•SGMJV

•SGMAV

Servomotor

•SGMPS

• SGMGV

•SGMSV

UL Standards

(UL File No.)

UL1004 (E165827)

 European Directives

Model European Directives Harmonized Standards

Machinery Directive 2006/42/EC

SERVOPACK SGDV

•SGMJV

•SGMAV

Servomotor

•SGMPS

• SGMGV

•SGMSV

EMC Directive 2004/108/EC

Low Voltage Directive 2006/95/EC

EMC Directive 2004/108/EC

Low Voltage Directive 2006/95/EC

EN ISO13849-1: 2008 EN 954-1

EN 55011 group 1 class A EN 61000-6-2 EN 61800-3

EN 50178 EN 61800-5-1

EN 55011 group 1 class A EN 61000-6-2 EN 61800-3

EN 60034-1 EN 60034-5

xiv

 Safety Standards

Model Safety Standards Standards

EN ISO13849-1: 2008

Safety of Machinery

SERVOPACK SGDV

Functional Safety

EMC IEC 61326-3-1

EN 954-1 IEC 60204-1

IEC 61508 series IEC 62061 IEC 61800-5-2

 Safe Performance

Items Standards Performance Level

Safety Integrity Level

Probability of Dangerous Failure per Hour

Category EN 954-1 Category 3

Performance Level EN ISO 13849-1 PL d (Category 3)

Mean Time to Dangerous Failure of Each Channel

Average Diagnostic Coverage EN ISO 13849-1 DCave: Low

Stop Category IEC 60204-1 Stop category 0

Safety Function IEC 61800-5-2 STO

Proof test Interval IEC 61508 10 years

IEC 61508 SIL2

IEC 62061 SILCL2

IEC 61508 IEC 62061

EN ISO 13849-1 MTTFd: High

PFH ⇐ 1.7×10 (0.17% of SIL2)

-9

[1/h]

Chapter 1 Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-1

1.1 Σ-V Series SERVOPACKs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2

1.2 Part Names . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2

1.3 SERVOPACK Ratings and Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3

1.3.1 Ratings. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3

1.3.2 Basic Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-5

1.3.3 MECHATROLINK-III Function Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-8

1.4 SERVOPACK Internal Block Diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-9

1.4.1 Single-phase 100 V, SGDV-R70F21A, -R90F21A, -2R1F21A Models . . . . . . . . . . . . . . . 1-9

1.4.2 Single-phase 100 V, SGDV-2R8F21A Model. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-9

1.4.3 Single-phase 200 V, SGDV-120A21A008000 Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-10

1.4.4 Three-phase 200 V, SGDV-R70A21, -R90A21, -1R6A21 Models . . . . . . . . . . . . .1-10

1.4.5 Three-phase 200 V, SGDV-2R8A21 Model. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-11

1.4.6 Three-phase 200 V, SGDV-3R8A21A, -5R5A21A, -7R6A21A Models . . . . . . . . . . . . . . 1-11

1.4.7 Three-phase 200 V, SGDV-120A21A Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-12

1.4.8 Three-phase 200 V, SGDV-180A21A, -200A21A Models . . . . . . . . . . . . . . . . . . . . . . . . 1-12

1.4.9 Three-phase 200 V, SGDV-330A21A Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-13

1.4.10 Three-phase 200 V, SGDV-470A21A, -550A21A Models . . . . . . . . . . . . . . . . . . . . . . . 1-13

1.4.11 Three-phase 200 V SGDV-590A21A, -780A21A Models . . . . . . . . . . . . . . . . . . . . . . . . 1-14

1.4.12 Three-phase 400 V, SGDV-1R9D21A, -3R5D21A, -5R4D21A Models . . . . . . . . . . . . . 1-14

1.4.13 Three-phase 400 V, SGDV-8R4D21A, -120D21A Models . . . . . . . . . . . . . . . . . . . . . . . 1-15

1.4.14 Three-phase 400 V, SGDV-170D21A Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-15

1.4.15 Three-phase 400 V, SGDV-210D21A, -260D21A Models . . . . . . . . . . . . . . . . . . . . . . . 1-16

1.4.16 Three-phase 400 V, SGDV-280D21A, -370D21A Models . . . . . . . . . . . . . . . . . . . . . . . 1-16

1.5 Examples of Servo System Configurations . . . . . . . . . . . . . . . . . . . . . . . . . 1-17

1.5.1 Connecting to SGDV-F21A SERVOPACK . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-17

1.5.2 Connecting to SGDV-A21 SERVOPACK. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-18

1.5.3 Connecting to SGDV-D21A SERVOPACK . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-20

1.6 SERVOPACK Model Designation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-21

1.7 Inspection and Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-22

About this Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . iii

Safety Precautions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . vii

Warranty. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xii

Harmonized Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xiv

xvi

Chapter 2 Panel Display and Operation of Digital Operator . . . . . . . . . . . .2-1

2.1 Panel Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2

2.1.1 Status Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-2

2.1.2 Alarm and Warning Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-2

2.1.3 Hard Wire Base Block Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-2

2.1.4 Overtravel Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2

2.2 Operation of Digital Operator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3

2.3 Utility Functions (Fn). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3

2.4 Parameters (Pn) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4

2.4.1 Parameter Classification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-4

2.4.2 Notation for Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4

2.4.3 Setting Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-5

2.5 Monitor Displays (Un) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-7

Chapter 3 Wiring and Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-1

3.1 Main Circuit Wiring. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2

3.1.1 Main Circuit Terminals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2

3.1.2 Using a Standard Power Supply

(Single-phase 100 V, Three-phase 200 V, or Three-phase 400 V) . . . . . . . . . . . . . . . . . .3-3

3.1.3 Using the SERVOPACK with Single-phase, 200 V Power Input . . . . . . . . . . . . . . . . . . . 3-11

3.1.4 Using the SERVOPACK with a DC Power Input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-14

3.1.5 Using More Than One SERVOPACK . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-16

3.1.6 General Precautions for Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-17

3.2 I/O Signal Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-18

3.2.1 I/O Signal (CN1) Names and Functions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-18

3.2.2 Safety Function Signal (CN8) Names and Functions. . . . . . . . . . . . . . . . . . . . . . . . . . . .3-19

3.2.3 Example of I/O Signal Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-20

3.3 I/O Signal Allocations. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-21

3.3.1 Input Signal Allocations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-21

3.3.2 Output Signal Allocations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-23

3.4 Examples of Connection to Host Controller. . . . . . . . . . . . . . . . . . . . . . . . . 3-24

3.4.1 Sequence Input Circuit. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-24

3.4.2 Sequence Output Circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-25

3.5 Wiring MECHATROLINK-III Communications . . . . . . . . . . . . . . . . . . . . . . . 3-27

3.6 Encoder Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-28

3.6.1 Encoder Signal (CN2) Names and Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-28

3.6.2 Encoder Connection Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-28

3.7 Connecting Regenerative Resistors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-30

3.7.1 Connecting Regenerative Resistors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-30

3.7.2 Setting Regenerative Resistor Capacity. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-32

3.8 Noise Control and Measures for Harmonic Suppression. . . . . . . . . . . . . . . 3-33

3.8.1 Wiring for Noise Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-33

3.8.2 Precautions on Connecting Noise Filter. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-35

3.8.3 Connecting a Reactor for Harmonic Suppression . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-36

Chapter 4 Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-1

4.1 MECHATROLINK-III Communications Settings . . . . . . . . . . . . . . . . . . . . . . 4-3

4.1.1 Setting Switches S1, S2, and S3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-3

4.2 MECHATROLINK-III Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-4

4.3 Basic Functions Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-4

4.3.1 Servomotor Rotation Direction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-4

4.3.2 Overtravel. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-5

4.3.3 Software Limit Settings. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-8

4.3.4 Holding Brakes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-9

4.3.5 Stopping Servomotors after SV_OFF Command or Alarm Occurrence. . . . . . . . . . . . . . 4-14

4.3.6 Instantaneous Power Interruption Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-16

4.3.7 SEMI F47 Function (Torque Limit Function for Low DC Power Supply Voltage

for Main Circuit) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-17

4.3.8 Setting Motor Overload Detection Level . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-20

4.4 Trial Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-22

4.4.1 Inspection and Checking before Trial Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-22

4.4.2 Trial Operation via MECHATROLINK-III . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-23

4.4.3 Electronic Gear . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-24

4.4.4 Encoder Output Pulses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-26

4.4.5 Setting Encoder Output Pulse . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-27

4.5 Test Without Motor Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-28

4.5.1 Motor Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-28

4.5.2 Motor Position and Speed Responses. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-29

4.5.3 Limitations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-30

4.5.4 Digital Operator Displays during Testing without Motor . . . . . . . . . . . . . . . . . . . . . . . . . . 4-31

xvii

4.6 Limiting Torque . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-32

4.6.1 Internal Torque Limit. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-32

4.6.2 External Torque Limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-33

4.6.3 Checking Output Torque Limiting during Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-34

4.7 Absolute Encoders . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-35

4.7.1 Connecting the Absolute Encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-36

4.7.2 Absolute Data Request (SENS ON Command) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-38

4.7.3 Battery Replacement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-39

4.7.4 Absolute Encoder Setup and Reinitialization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-41

4.7.5 Absolute Data Reception Sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-42

4.7.6 Multiturn Limit Setting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-47

4.7.7 Multiturn Limit Disagreement Alarm (A.CC0) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-48

4.7.8 Absolute Encoder Origin Offset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-49

4.8 Other Output Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-50

4.8.1 Servo Alarm Output Signal (ALM) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-50

4.8.2 Warning Output Signal (/WARN) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-50

4.8.3 Rotation Detection Output Signal (/TGON) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-51

4.8.4 Servo Ready Output Signal (/S-RDY) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-51

4.8.5 Speed Coincidence Output Signal (/V-CMP) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-52

4.8.6 Positioning Completed Output Signal (/COIN) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-53

4.8.7 Positioning Near Output Signal (/NEAR) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-54

4.8.8 Speed Limit Detection Signal (/VLT) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-55

4.9 Safety Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-57

4.9.1 Hard Wire Base Block (HWBB) Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-57

4.9.2 External Device Monitor (EDM1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-63

4.9.3 Application Example of Safety Functions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-65

4.9.4 Confirming Safety Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-66

4.9.5 Connecting a Safety Function Device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-67

4.9.6 Precautions for Safety Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-69

Chapter 5 Adjustments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-1

5.1 Type of Adjustments and Basic Adjustment Procedure . . . . . . . . . . . . . . . . .5-3

5.1.1 Adjustments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-3

5.1.2 Basic Adjustment Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-4

5.1.3 Monitoring Operation during Adjustment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-5

5.1.4 Safety Precautions on Adjustment of Servo Gains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-8

5.2 Tuning-less Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-11

5.2.1 Tuning-less Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-11

5.2.2 Tuning-less Levels Setting (Fn200) Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-14

5.2.3 Related Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-16

5.3 Advanced Autotuning (Fn201) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-17

5.3.1 Advanced Autotuning. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-17

5.3.2 Advanced Autotuning Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-20

5.3.3 Related Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-26

5.4 Advanced Autotuning by Reference (Fn202) . . . . . . . . . . . . . . . . . . . . . . . . 5-27

5.4.1 Advanced Autotuning by Reference. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-27

5.4.2 Advanced Autotuning by Reference Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-29

5.4.3 Related Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-33

5.5 One-parameter Tuning (Fn203) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-34

5.5.1 One-parameter Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-34

5.5.2 One-parameter Tuning Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-35

5.5.3 One-parameter Tuning Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-41

5.5.4 Related Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-42

5.6 Anti-Resonance Control Adjustment Function (Fn204) . . . . . . . . . . . . . . . . 5-43

5.6.1 Anti-Resonance Control Adjustment Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-43

5.6.2 Anti-Resonance Control Adjustment Function Operating Procedure . . . . . . . . . . . . . . . . 5-44

5.6.3 Related Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-48

xviii

5.7 Vibration Suppression Function (Fn205) . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-49

5.7.1 Vibration Suppression Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-49

5.7.2 Vibration Suppression Function Operating Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . .5-50

5.7.3 Related Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-53

5.8 Additional Adjustment Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-54

5.8.1 Switching Gain Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-54

5.8.2 Manual Adjustment of Friction Compensation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-58

5.8.3 Current Control Mode Selection Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-60

5.8.4 Current Gain Level Setting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-60

5.8.5 Speed Detection Method Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-60

5.8.6 Backlash Compensation Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-61

5.9 Compatible Adjustment Function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-67

5.9.1 Feedforward Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-67

5.9.2 Mode Switch (P/PI Switching) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-68

5.9.3 Torque Reference Filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-70

5.9.4 Position Integral . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-72

Chapter 6 Utility Functions (Fn) . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-1

6.1 List of Utility Functions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-2

6.2 Alarm History Display (Fn000). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-3

6.3 JOG Operation (Fn002) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-4

6.4 Origin Search (Fn003) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-6

6.5 Program JOG Operation (Fn004) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-8

6.6 Initializing Parameter Settings (Fn005) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-13

6.7 Clearing Alarm History (Fn006) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-14

6.8 Offset Adjustment of Analog Monitor Output (Fn00C) . . . . . . . . . . . . . . . . . 6-15

6.9 Gain Adjustment of Analog Monitor Output (Fn00D) . . . . . . . . . . . . . . . . . . 6-17

6.10 Automatic Offset-Signal Adjustment of the Motor Current Detection Signal

(Fn00E) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-19

6.11 Manual Offset-Signal Adjustment of the Motor Current Detection Signal

(Fn00F) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-20

6.12 Write Prohibited Setting (Fn010) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-22

6.13 Servomotor Model Display (Fn011) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-24

6.14 Software Version Display (Fn012) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-25

6.15 Resetting Configuration Errors in Option Modules (Fn014). . . . . . . . . . . . 6-26

6.16 Vibration Detection Level Initialization (Fn01B) . . . . . . . . . . . . . . . . . . . . . 6-27

6.17 Display of SERVOPACK and Servomotor ID (Fn01E) . . . . . . . . . . . . . . . . 6-29

6.18 Display of Servomotor ID in Feedback Option Module (Fn01F) . . . . . . . . 6-31

6.19 Origin Setting (Fn020) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-33

6.20 Software Reset (Fn030). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-34

6.21 EasyFFT (Fn206). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-35

6.22 Online Vibration Monitor (Fn207). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-39

Chapter 7 Monitor Displays (Un) . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-1

7.1 List of Monitor Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-2

7.2 Viewing Monitor Displays. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-3

7.3 Monitoring Input Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-4

7.3.1 Interpreting Input Signal Display Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-4

7.3.2 Input Signal Display Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-5

xix

7.4 Monitoring Output Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-6

7.4.1 Interpreting Output Signal Display Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-6

7.4.2 Output Signal Display Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-6

7.5 Monitoring Safety Input Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-7

7.5.1 Interpreting Safety Input Signal Display Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-7

7.5.2 Safety Input Signal Display Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-7

Chapter 8 Fully-closed Loop Control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-1

8.1 System Configuration and Connection Example for SERVOPACK

with Fully-closed Loop Control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-2

8.1.1 System Configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-2

8.1.2 Internal Block Diagram of Fully-closed Loop Control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-3

8.1.3 Serial Converter Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-4

8.1.4 Example of Connections to External Encoders . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-6

8.1.5 Encoder Output Pulse Signals from SERVOPACK with an External Encoder

by Renishaw plc. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-7

8.1.6 Precautions When Using an External Incremental Encoder by Magnescale . . . . . . . . . . . 8-8

8.2 SERVOPACK Startup Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-11

8.3 Parameter Settings for Fully-closed Loop Control . . . . . . . . . . . . . . . . . . . . 8-13

8.3.1 Motor Rotation Direction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-14

8.3.2 Sine Wave Pitch (Frequency) for an External Encoder . . . . . . . . . . . . . . . . . . . . . . . . . . 8-16

8.3.3 Setting Encoder Output Pulses (PAO, PBO, and PCO) . . . . . . . . . . . . . . . . . . . . . . . . . . 8-16

8.3.4 External Absolute Encoder Data Reception Sequence . . . . . . . . . . . . . . . . . . . . . . . . . .8-17

8.3.5 Electronic Gear . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-20

8.3.6 Alarm Detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-21

8.3.7 Analog Monitor Signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-22

8.3.8 Speed Feedback Method during Fully-closed Loop Control . . . . . . . . . . . . . . . . . . . . . . 8-22

Chapter 9 Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-1

9.1 Alarm Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-2

9.1.1 List of Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-2

9.1.2 Troubleshooting of Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-7

9.2 Warning Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-23

9.2.1 List of Warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-23

9.2.2 Troubleshooting of Warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-25

9.3 Monitoring Communication Data on Occurrence of an Alarm or Warning . . 9-30

9.4 Troubleshooting Malfunction Based on Operation and

Conditions of the Servomotor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-31

Chapter 10 Appendix. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-1

10.1 List of Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-2

10.1.1 Utility Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-2

10.1.2 Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-3

10.1.3 MECHATROLINK-III Common Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-37

10.2 List of Monitor Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-45

10.3 Parameter Recording Table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-46

Index. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Index-1

Revision History

1

Outline

Outline

1.1 Σ-V Series SERVOPACKs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-2

1.2 Part Names . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2

1.3 SERVOPACK Ratings and Specifications . . . . . . . . . . . . . . . . . . . . . . . . . 1-3

1.3.1 Ratings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3

1.3.2 Basic Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-5

1.3.3 MECHATROLINK-III Function Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-8

1.4 SERVOPACK Internal Block Diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . .1-9

1.4.1 Single-phase 100 V, SGDV-R70F21A, -R90F21A, -2R1F21A Models . . . . . . . . . . . . 1-9

1.4.2 Single-phase 100 V, SGDV-2R8F21A Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-9

1.4.3 Single-phase 200 V, SGDV-120A21A008000 Model . . . . . . . . . . . . . . . . . . . . . . . . 1-10

1.4.4 Three-phase 200 V, SGDV-R70A21, -R90A21, -1R6A21 Models . . . . . . . . . . 1-10

1.4.5 Three-phase 200 V, SGDV-2R8A21 Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-11

1.4.6 Three-phase 200 V, SGDV-3R8A21A, -5R5A21A, -7R6A21A Models . . . . . . . . . . . 1-11

1.4.7 Three-phase 200 V, SGDV-120A21A Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-12

1.4.8 Three-phase 200 V, SGDV-180A21A, -200A21A Models . . . . . . . . . . . . . . . . . . . . . 1-12

1.4.9 Three-phase 200 V, SGDV-330A21A Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-13

1.4.10 Three-phase 200 V, SGDV-470A21A, -550A21A Models . . . . . . . . . . . . . . . . . . . . 1-13

1.4.11 Three-phase 200 V SGDV-590A21A, -780A21A Models . . . . . . . . . . . . . . . . . . . . 1-14

1.4.12 Three-phase 400 V, SGDV-1R9D21A, -3R5D21A, -5R4D21A Models . . . . . . . . . . 1-14

1.4.13 Three-phase 400 V, SGDV-8R4D21A, -120D21A Models . . . . . . . . . . . . . . . . . . . 1-15

1.4.14 Three-phase 400 V, SGDV-170D21A Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-15

1.4.15 Three-phase 400 V, SGDV-210D21A, -260D21A Models . . . . . . . . . . . . . . . . . . . . 1-16

1.4.16 Three-phase 400 V, SGDV-280D21A, -370D21A Models . . . . . . . . . . . . . . . . . . . . 1-16

1.5 Examples of Servo System Configurations . . . . . . . . . . . . . . . . . . . . . . .1-17

1.5.1 Connecting to SGDV-F21A SERVOPACK . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-17

1.5.2 Connecting to SGDV-A21 SERVOPACK . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-18

1.5.3 Connecting to SGDV-D21A SERVOPACK . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-20

1.6 SERVOPACK Model Designation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-21

1.7 Inspection and Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-22

1-1

1 Outline

Refer to 1.6 SERVOPACK Model Designation.

Refer to 4.1.1 Setting Switches S1, S2, and S3.

Refer to 3.1 Main Circuit Wiring.

Refer to 3.8.3 Connecting a Reactor for Harmonic Suppression.

Refer to 3.1 Main Circuit Wiring.

Note: When not using the safety function, use the SERVO-

PACK with the safety function’s jumper connector (JZSP-CVH05-E, provided as an accessory) inserted. For the connecting method, refer to 3.2.2 Safety Func- tion Signal (CN8) Names and Functions. For details on how to use the safety function, refer to

4.9 Safety Function.

Refer to 5.1.3 Monitoring Operation during Adjustment.

Refer to 2.1.1 Status Display.

Refer to 3.5 Wiring MECHATROLINK-III Communications.

Refer to 3.2 I/O Signal Connections.

Refer to 3.6 Encoder Connection.

Refer to 3.7 Connecting Regenerative Resistors.

1.1 Σ-V Series SERVOPACKs

The Σ-V Series SERVOPACKs are designed for applications that require frequent high-speed, high-precision positioning. The SERVOPACK makes the most of machine performance in the shortest time possible, thus contributing to improving productivity.

1.2 Part Names

This section describes the part names of SGDV SERVOPACK for MECHATROLINK-III communications reference.

Serial number

DIP switch (S3)

Used to set MECHATROLINK communications.

Rotary switches (S1 and S2)

Used to set MECHATROLINK station address.

Nameplate (Found on side of SERVOPACK.)

Indicates the SERVOPACK model and ratings.

Charge indicator

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

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

Connects external regenerative resistors.

DC reactor terminals for harmonic suppression

Connects a DC reactor for harmonic suppression.

Servomotor terminals

Connects the main circuit cable for servomotor.

Ground terminal

Be sure to connect to protect against electrical shock.

With front cover open

LED indicator (CN)

Lights when the SERVOPACK normally receives a CONNECT command.

Communications LED indicators (L1 and L2)

Indicates that data is being transmitted between the SERVOPACK and the MECHATROLINK system.

CN5 Analog monitor connector

Used to monitor motor speed, torque reference, and other values through a special cable (option).

Panel display

Indicates the servo status with a seven-segment LED display.

Input voltage

Front cover

SERVOPACK model

MECHATROLINK-III communications connectors

Connects MECHATROLINK-III-supported devices.

CN3 Connector for digital operator

Connects a digital operator (option, JUSP-OP05A-1-E) or a personal computer (RS422). Refer to Σ-V Series Product Catalog (No. KAEPS 800000 42) and Σ-V Series User’s Manual, Operation of Digital Operator (No. SIEP S800000 55).

CN7 Connector for personal computer (USB connector)

Communicates with a personal computer. Use the connection cable (No: JZSP-CVS06-02-E).

CN1 I/O signal connector

Used for reference input signals and sequence I/O signals.

CN8 Connector for safety function devices

Connects a safety function device.

CN2 Encoder connector

Connects the encoder in the servomotor.

1-2

1.3 SERVOPACK Ratings and Specifications

Outline

+10% –15%

1.3 SERVOPACK Ratings and Specifications

This section describes the ratings and specifications of SERVOPACKs.

1.3.1 Ratings

Ratings of SERVOPACKs are as shown below.

(1) SGDV with Single-phase, 100-V Rating

SGDV (Single Phase, 100 V) R70 R90 2R1 2R8

Continuous Output Current [Arms] 0.66 0.91 2.1 2.8

Instantaneous Max. Output Current [Arms] 2.1 2.9 6.5 9.3

Regenerative Resistor * None or external

Main Circuit Power Supply

Control Power Supply

Overvoltage Category III

∗ Refer to 3.7 Connecting Regenerative Resistors for details.

Single-phase, 100 to 115 VAC , 50/60 Hz

(2) SGDV with Single-phase, 200-V Rating

SGDV (Single Phase, 200 V)

Continuous Output Current [Arms] 11.6

Instantaneous Max. Output Current [Arms] 28

Regenerative Resistor

Main Circuit Power Supply

Control Power Supply

Built-in or external

Single-phase, 220 to 230 VAC , 50/60 Hz

Overvoltage Category III

∗1. The official model number is SGDV-120A21A008000. ∗2. Refer to 3.7 Connecting Regenerative Resistors for details.

120

(3) SGDV with Three-phase, 200-V Rating

SGDV (Three Phase, 200 V) R70 R90 1R6 2R8 3R8 5R5 7R6 120 180 200 330 470 550 590 780

Continuous Output Current [Arms]

Instantaneous Max. Output Current [Arms]

Regenerative Resistor

Main Circuit Power Supply

Control Power Supply

Overvoltage Category III

0.66 0.91 1.6 2.8 3.8 5.5 7.6 11.6 18.5 19.6 32.9 46.9 54.7 58.6 78.0

2.1 2.9 5.8 9.3 11.0 16.9 17 28 42 56 84 110 130 140 170

None or external Built-in or external External

Three-phase, 200 to 230 VAC , 50/60 Hz

Single-phase, 200 to 230 VAC , 50/60 Hz

∗ Refer to 3.7 Connecting Regenerative Resistors for details.

1-3

1 Outline

+10% –15%

1.3.1 Ratings

(4) SGDV with Three-phase, 400-V Rating

SGDV (Three Phase, 400 V) 1R9 3R5 5R4 8R4 120 170 210 260 280 370

Continuous Output Current [Arms]

Instantaneous Max. Output Current [Arms]

Regenerative Resistor

1.9 3.5 5.4 8.4 11.9 16.5 20.8 25.7 28.1 37.2

5.5 8.5 14 20 28 42 55 65 70 85

Built-in or external External

Main Circuit Power Supply

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

Control Power Supply 24 VDC ±15%

Overvoltage Category III

∗ Refer to 3.7 Connecting Regenerative Resistors for details.

1-4

Outline

1.3.2 Basic Specifications

Basic specifications of SERVOPACKs are shown below.

Drive Method Sine-wave current drive with PWM control of IGBT

Feedback Encoder: 13-bit (incremental), 17-bit, 20-bit (incremental/absolute)

Surrounding Air Temperature

Storage Temperature -20°C to +85°C

Ambient Humidity 90% RH or less

Storage Humidity 90% RH or less

Vibration Resistance

Operating Conditions

Shock Resistance

Protection Class IP10

Pollution Degree 2

0°C to +55°C

4.9 m/s

19.6 m/s

1.3 SERVOPACK Ratings and Specifications

With no freezing or condensation

An environment that satisfies the following conditions.

• Free of corrosive or flammable gases

• Free of exposure to water, oil, or chemicals

• Free of dust, salts, or iron dust

Altitude 1000 m or less

Others

Harmonized Standards

Mounting

Speed Control Range

Speed Regu-

Performance

lation

Torque Control Tolerance (Repeatability)

Soft Start Time Setting

Load Regulation

Volta ge Regulation

Temperature Regulation

Free of static electricity, strong electromagnetic fields, magnetic fields or exposure to radioactivity

UL508C EN50178, EN55011 group1 class A, EN61000-6-2, EN61800-3, EN61800-

5-1, EN954-1, IEC61508-1 to 4

Standard: Base-mounted Optional: Rack-mounted or duct-ventilated

1:5000 (The lower limit of the speed control range must be lower than the point at which the rated torque does not cause the servomotor to stop.)

0% to 100% load: ±0.01% max. (at rated speed)

Rated voltage ±10%: 0% (at rated speed)

25 ± 25

°C: ±0.1% max. (at rated speed)

±1%

0 to 10 s (Can be set individually for acceleration and deceleration.)

1-5

1 Outline

1.3.2 Basic Specifications

I/O Signals

Communications Function

LED Display Panel display (seven-segment), CHARGE, L1, L2, and CN indicators

MECHATROLINK-III Communications Setting Switches

Analog Monitor (CN5)

Dynamic Brake (DB)

Regenerative Processing

Overtravel Prevention (OT)

Protective Function

Utility Function Gain adjustment, alarm history, JOG operation, origin search, and so on.

Encoder Output Pulse

Sequence Input

Sequence Output

RS422A Communications (CN3)

USB Communications (CN7)

Input Signals which can be allocated

Fixed Output Servo alarm (ALM) output

Output Signals which can be allocated

Interface

1:N Communications

Axis Address Setting

Interface Personal computer (can be connected with SigmaWin+)

Communications Standard

(cont’d)

Phase A, B, C: line driver Encoder output pulse: any setting ratio (Refer to 4.4.5.)

Number of Channels

Functions

Number of Channels

Functions

Digital operator (JUSP-OP05A-1-E), personal computer (can be connected with SigmaWin+)

N = Up to 15 stations possible at RS422A

Set by parameter

Complies with standard USB1.1. (12 Mbps)

Rotary Switch (S1, S2)

DIP Switch (S3) Number of pins: Four pins (Refer to 4.1.1)

Number of points: 2 Output voltage: ± 10VDC (linearity effective range ± 8 V) Resolution: 16 bits Accuracy: Max. output current: ± 10 mA Settling time (

Activated when a servo alarm or overtravelling occurs or when the power supply for the main circuit or servomotor is OFF.

Included

Dynamic brake stop, deceleration to a stop, or free run to a stop at P-OT or N-OT

Overcurrent, overvoltage, insufficient voltage, overload, regeneration error, and so on.

± 20 mV (Typ)

7 ch

• Homing deceleration switch (/DEC)

• External latch (/EXT 1 to 3)

• Forward run prohibited (P-OT), reverse run prohibited (N-OT)

• Forward external torque limit (/P-CL), reverse external torque limit (/N-CL)

Signal allocations can be performed, and positive and negative logic can be changed.

3 ch

• Positioning completion (/COIN)

• Speed coincidence detection (/V-CMP)

• Rotation detection (/TGON)

• Servo ready (/S-RDY)

• Torque limit detection (/CLT)

• Speed limit detection (/VLT)

• Brake (/BK)

• Warning (/WARN)

• Near (/NEAR)

Signal allocations can be performed, and positive and negative logic can be changed.

Position: 16 positions × 2 (Refer to 4.1.1)

± 1%): 1.2 ms (Typ)

1-6

1.3 SERVOPACK Ratings and Specifications

Outline

Speed regulation =

No-load motor speed Total load motor speed

Rated motor

speed

100%

Rotation

Input /HWBB1, /HWBB2: Baseblock signal for power module

Safety Function

Output EDM1: Monitoring status of internal safety circuit (fixed output)

Standards

EN954 Category 3, IEC61508 SIL2

Option Module Fully-closed module, safety module

∗1. Speed regulation by load regulation is defined as follows:

∗2. Refer to 1.3.1 Ratings for details on regenerative resistors. ∗3. Perform risk assessment for the system and be sure that the safety requirements are fulfilled.

(cont’d)

1-7

1 Outline

1.3.3 MECHATROLINK-III Function Specifications

The following table shows the specifications of MECHATROLINK-III.

Function Specifications

MECHATROLINK-III Communication

Reference Method

Communication Protocol

Station Address

Baud Rate 100 Mpbs

Transmission Cycle

Number of Transmission Bytes

Control Method

Reference Input

Profile

MECHATROLINK-III

03H to EFH (Max. number of stations: 62) Use the rotary switches S1 and S2 to set the station address.

125 μs, 250 μs, 500 μs, 750 μs, and 1.0 ms to 4.0 ms (increments of 0.5 ms)

16, 32, or 48 bytes per station Use the DIP switch S3 to select the number of words.

Position, speed, or torque control with MECHATROLINKIII communication

MECHATROLINK commands (sequence, motion, data setting/reference, monitoring, or adjustment)

MECHATROLINK-III standard servo profile MECHATROLINK-II-compatible profile

1-8

1.4 SERVOPACK Internal Block Diagrams

Outline

B1/ B2

L1C

L2C

CHARGE

ENC

Control power supply

Main circuit power supply

Control power supply

±12 V

+5 V

+17 V

Current

sensor

Dynamic brake circuit

Servomotor

Gate drive

Voltage

sensor

Voltage

sensor

Varistor

Gate drive overcurrent protector

Temperature

sensor

Relay drive

12 V

Fan

+ –

CN3 CN7 CN8

CN2

I/O

I/F

CN1

CN6A

CN6B

CN5

MECHATROLINK-III communications

CPU

(Position/speed

calculation, etc.)

Panel display

Digital operator

Personal computer

Signal for safety fuction

Encoder output pulse

I/O signal

Analog monitor output

ASIC

(PWM control, etc.)

Analog voltage converter

M-III

1.4 SERVOPACK Internal Block Diagrams

1.4.1 Single-phase 100 V, SGDV-R70F21A, -R90F21A, -2R1F21A Models

1.4.2 Single-phase 100 V, SGDV-2R8F21A Model

Varistor

Main circuit power supply

Control power supply

L1C

Varistor

Voltage

sensor

Relay

drive

L2C

Control

power

–

supply

Panel display

Digital operator

+ – + –

CHARGE

Voltage

sensor

±12 V

+5 V

+17 V

CN3 CN7 CN8

Personal computer

B1/ B2

Gate drive

Gate drive overcurrent protector

(PWM control, etc.)

(Position/speed

calculation, etc.)

ASIC

CPU

Temperature

sensor

Fan

+12 V

Dynamic brake circuit

Current sensor

Analog voltage converter

I/O

I/F

Signal for safety fuction

CN2

CN5

CN1

CN6A

CN6B

Analog monitor output

Encoder output pulse

I/O signal

MECHATROLINK-III communications

Servomotor

ENC

1-9

1 Outline

B1/ B2 B3

L1C

L2C

ENC

CHARGE

+15V × 4

±12 V

+5 V

Current

sensor

Dynamic brake circuit

Servomotor

Gate drive

Voltage

sensor

Overheat protector,

overcurrent protector

Voltage

sensor

Varistor

Relay

drive

Fan 2 Fan 1

Control power supply

±12 V ±12 V

–

+ –

Main circuit power supply

Control power supply

CN3 CN7 CN8

CN2

I/O

I/F

CN1

CN6A

CN6B

CN5

MECHATROLINK-III communications

CPU

(Position/speed

calculation, etc.)

Panel display

Digital operator

Personal computer

Signal for safety fuction

Encoder output pulse

Analog monitor output

ASIC

(PWM control, etc.)

Analog voltage converter

I/O signal

B1/ B2 B3

L1C

L2C

ENC

CHARGE

+17 V

±12 V

+5 V

Current

sensor

Dynamic brake circuit

Servomotor

Gate drive

Voltage

sensor

Voltage

sensor

Varistor

Gate drive overcurrent protector

Temperature

sensor

Relay drive

Control power supply

+ –

Main circuit power supply

Control power supply

Fan

+12 V

CN3 CN7 CN8

CN2

I/O

I/F

CN1

CN6A

CN6B

CN5

MECHATROLINK-III communications

CPU

(Position/speed

calculation, etc.)

Panel display

Digital operator

Personal computer

Signal for safety fuction

Encoder output pulse

Analog monitor output

ASIC

(PWM control, etc.)

Analog voltage converter

I/O signal

M-III

1.4.3 Single-phase 200 V, SGDV-120A21A008000 Model

1.4.4 Three-phase 200 V, SGDV-R70A21, -R90A21, -1R6A21 Models

1-10

∗ The following SERVOPACKs do not have cooling fans: SGDV-B.

Outline

1.4.5 Three-phase 200 V, SGDV-2R8A21 Model

B1/ B2 B3

L1C

L2C

ENC

CHARGE

+17 V

±12 V

+5 V

Current sensor

Dynamic brake circuit

Servomotor

Gate drive

Voltage sensor

Varistor

Gate drive overcurrent protector

Temperature

sensor

Relay drive

Control power supply

+ –

Main circuit power supply

Control power supply

CN3 CN7 CN8

CN2

I/O

I/F

CN1

CN6A

CN6B

CN5

MECHATROLINK-III communications

CPU

(Position/speed

calculation, etc.)

Panel display

Digital operator

Personal computer

Signal for safety fuction

Encoder output pulse

Analog monitor output

ASIC

(PWM control, etc.)

Analog voltage converter

I/O signal

Fan

+12 V

M-III

B1/ B2 B3

L1C

L2C

ENC

CHARGE

+17 V

±12 V

+5 V

Current

sensor

Dynamic brake circuit

Servomotor

Gate drive

Voltage

sensor

Voltage

sensor

Varistor

Gate drive overcurrent protector

Temperature

sensor

Relay drive

Fan

Control power supply

±12 V

+ –

Main circuit power supply

Control power supply

CN3 CN7 CN8

CN2

I/O

I/F

CN1

CN6A

CN6B

CN5

MECHATROLINK-III communications

CPU

(Position/speed

calculation, etc.)

Panel display

Digital operator

Personal computer

Signal for safety fuction

Encoder output pulse

Analog monitor output

ASIC

(PWM control, etc.)

Analog voltage converter

I/O signal

M-III

1.4 SERVOPACK Internal Block Diagrams

∗ The following SERVOPACKs do not have cooling fans: SGDV-B.

1.4.6 Three-phase 200 V, SGDV-3R8A21A, -5R5A21A, -7R6A21A Models

1-11

1 Outline

B1/ B2 B3

L1C

L2C

ENC

CHARGE

+15 V × 4

±12 V

+5 V

Current

sensor

Dynamic brake circuit

Servomotor

Gate drive

Overheat protector,

overcurrent protector

Voltage

sensor

Voltage

sensor

Varistor

Relay

drive

Fan

Control power supply

±12 V

+ –

Main circuit power supply

Control power supply

CN3 CN7 CN8

CN2

I/O

I/F

CN1

CN6A

CN6B

CN5

MECHATROLINK-III communications

CPU

(Position/speed

calculation, etc.)

Panel display

Digital operator

Personal computer

Signal for safety fuction

Encoder output pulse

Analog monitor output

ASIC

(PWM control, etc.)

Analog voltage converter

I/O signal

M-III

B1/ B2 B3

L1C

L2C

ENC

CHARGE

–

+15 V × 4

±12 V

+5 V

Current

sensor

Dynamic brake circuit

Servomotor

Gate drive

Voltage

sensor

Overheat protector,

overcurrent protector

Voltage

sensor

Varistor

Relay

drive

Fan 2 Fan 1

Control power supply

±12 V ±12 V

+ –

Main circuit power supply

Control power supply

CN3 CN7 CN8

CN2

I/O

I/F

CN1

CN6A

CN6B

CN5

MECHATROLINK-III communications

CPU

(Position/speed

calculation, etc.)

Panel display

Digital operator

Personal computer

Signal for safety fuction

Encoder output pulse

Analog monitor output

ASIC

(PWM control, etc.)

Analog voltage converter

I/O signal

M-III

1.4.7 Three-phase 200 V, SGDV-120A21A Model

1.4.8 Three-phase 200 V, SGDV-180A21A, -200A21A Models

1-12

Outline

1.4.9 Three-phase 200 V, SGDV-330A21A Model

B1/ B2 B3

L1C

L2C

ENC

CHARGE

Varistor

+ –

–

+15 V × 4

±12 V

+5 V

Current

sensor

Dynamic brake circuit

Servomotor

Gate drive

Voltage

sensor

Voltage sensor

Varistor

Temperature

sensor

Thyristor

drive

Fan 2 Fan 1

Overheat protector,

overcurrent protector

Control power supply

±12 V ±12 V

Main circuit power supply

Control power supply

I/O signal

CN3 CN7 CN8

CN2

I/O

I/F

CN1

CN6A

CN6B

CN5

MECHATROLINK-III communications

CPU (Position/speed calculation, etc.)

Panel display

Digital operator

Personal computer

Signal for safety fuction

Encoder output pulse

Analog monitor output

ASIC

(PWM control, etc.)

Analog voltage converter

M-III

1.4 SERVOPACK Internal Block Diagrams

1.4.10 Three-phase 200 V, SGDV-470A21A, -550A21A Models

B1/ B2

Varistor

Main circuit power supply

Control power supply

L1C

L2C

Varistor

Voltage

sensor

Thyristor

drive

+ –

Control power supply

Panel display

CN3 CN7 CN8

Digital operator

+ –

CHARGE

Voltage

sensor

+15 V × 4

+5 V

12 V

Personal computer

overcurrent protector

Overheat protector,

Gate drive

ASIC

(PWM control, etc.)

CPU

(Position/speed

calculation, etc.)

Temperature

sensor

Fan 1 Fan 2 Fan 3

12 V ±12 V ±12 V

Dynamic brake circuit

Current sensor

CN2

CN5

Analog voltage converter

I/O

CN6A

I/F

CN6B

Signal for safety fuction

CN1

Servomotor

ENC

Analog monitor output

Encoder output pulse

I/O signal

MECHATROLINK-III communications

1-13

1 Outline

M-III

1.4.11 Three-phase 200 V SGDV-590A21A, -780A21A Models

Main circuit power supply

Control power supply

L1C

L2C

Varistor

Voltage sensor

Thyristor

drive

Control

power

–

supply

B1/ B2

+ –

CHARGE

Overheat protector,

overcurrent protector

Gate drive

ASIC

CPU

Temperature

sensor

Panel display

+15 V × 4

+5 V

12 V

Voltage

sensor

(PWM control, etc.)

(Position/speed

calculation, etc.)

CN3 CN7 CN8

Digital operator

Personal computer

Fan 1 Fan 2 Fan 3

12 V ±12 V ±12 V

Dynamic brake circuit

Current

sensor

CN2

CN5

Analog voltage converter

CN1

I/O

CN6A

I/F

CN6B

Signal for safety fuction

Servomotor

ENC

Analog monitor output

Encoder output pulse

I/O signal

MECHATROLINK-III communications

1.4.12 Three-phase 400 V, SGDV-1R9D21A, -3R5D21A, -5R4D21A Models

Main circuit power supply

Control power supply

(The 24 VDC power supply is not included.)

1 2

+24 V

0 V

Varistor

Voltage

sensor

+ –

Relay drive

Control power supply

Panel display

Digital operator

B1/ B2 B3

–

+15 V × 4

+5 V

±12 V

CHARGE

Voltage

sensor

Overheat protector, overcurrent protector

Gate drive

ASIC

(PWM control, etc.)

CPU

(Position/speed

calculation, etc.)

CN3 CN7 CN8

Personal computer

Signal for safety fuction

Current sensor

Analog voltage converter

Fan

±12 V

Dynamic brake circuit

I/O

I/F

CN2

CN5

CN1

CN6A

CN6B

Servomotor

ENC

Analog monitor output

Encoder output pulse

I/O signal

MECHATROLINK-III communications

1-14

1.4 SERVOPACK Internal Block Diagrams

Outline

B1/ B2 B3

1 2

+24 V

0 V

ENC

CHARGE

+15 V × 4

+5 V

±12 V

–

Current

sensor

Servomotor

Gate drive

Voltage

sensor

Voltage

sensor

Relay drive

Control power supply

Overheat protector, overcurrent protector

Dynamic brake circuit

Varistor

±12 V ±12 V

Fan 1 Fan 2

–

Main circuit power supply

Control power supply

(The 24 VDC power supply is not included.)

CN3 CN7 CN8

CN2

I/O

I/F

CN1

CN6A

CN6B

CN5

MECHATROLINK-III communications

CPU

(Position/speed

calculation, etc.)

Panel display

Digital operator

Personal computer

Signal for safety fuction

Encoder output pulse

Analog monitor output

ASIC

(PWM control, etc.)

Analog voltage converter

I/O signal

M-III M-III

1.4.13 Three-phase 400 V, SGDV-8R4D21A, -120D21A Models

1.4.14 Three-phase 400 V, SGDV-170D21A Model

Varistor

Main circuit power supply

Control power supply

(The 24 VDC power supply is not included.)

1 2

+24 V

0 V

Voltage

sensor

–

Relay drive

Control power supply

Panel display

Digital operator

–

CHARGE

–

+15 V × 4

+5 V

±12 V

CN3 CN7 CN8

Personal computer

B1/ B2 B3

Voltage

sensor

(PWM control, etc.)

(Position/speed

calculation, etc.)

Overheat protector, overcurrent protector

Gate drive

ASIC

CPU

Fan

Dynamic brake circuit

Current

sensor

Analog voltage converter

I/O

I/F

Signal for safety fuction

±12 V

CN6A

CN6B

CN2

CN5

CN1

Servomotor

ENC

Analog monitor output

Encoder output pulse

I/O signal

MECHATROLINK-III communications

1-15

1 Outline

M-III

1.4.15 Three-phase 400 V, SGDV-210D21A, -260D21A Models

Main circuit power supply

Control power supply

(The 24 VDC power supply is not included.)

1 2

+24 V

0 V

Varistor

Voltage

sensor

–

B1/ B2

–

CHARGE

–

Overheat protector,

overcurrent protector

Relay drive

Control power supply

Panel display

+15 V × 4

+5 V

±12 V

Voltage

sensor

(PWM control, etc.)

Gate drive

ASIC

CPU

(Position/speed

calculation, etc.)

CN3 CN7 CN8

Digital operator

Personal computer

Fan 1 Fan 2 Fan 3

+24 V +24 V +24 V

Dynamic brake circuit

Current

sensor

CN2

CN5

Analog voltage converter

I/O

CN6A

I/F

CN6B

Signal for safety fuction

CN1

Servomotor

ENC

Analog monitor output

Encoder output pulse

I/O signal

MECHATROLINK-III communications

1.4.16 Three-phase 400 V, SGDV-280D21A, -370D21A Models

B1/ B2

Varistor

Main circuit power supply

Control power supply

(The 24 VDC power supply is not included.)

1 2

+24 V

0 V

Voltage

sensor

–

Control

power supply

Panel display

–

CHARGE

–

Overheat protector,

overcurrent protector

Thyristor

drive

+15 V × 4

+5 V

±12 V

Voltage

sensor

Gate drive

ASIC

(PWM control, etc.)

CPU

(Position/speed

calculation, etc.)

CN3 CN7 CN8

Digital operator

Personal computer

Fan 1 Fan 2 Fan 3

+24 V +24 V +24 V

Dynamic brake circuit

Current

sensor

CN2

CN5

Analog voltage converter

I/O

CN6A

I/F

CN6B

Signal for safety fuction

CN1

Servomotor

ENC

Analog monitor output

Encoder output pulse

I/O signal

MECHATROLINK-III communications

1-16

1.5 Examples of Servo System Configurations

Outline

Servomotor main circuit cable

Encoder cable

Battery case

Brake power supply

Magnetic contactor

Regenerative resistor

Noise filter

Molded-case circuit breaker (MCCB)

Magnetic contactor

I/O signal cable

SGDV-F21A

SERVOPACK

SGMJV/SGMAV/SGMPS/SGMCS

Servomotor

Power supply Single-phase 100 VAC

R T

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

Eliminates external noise from the power line.

Used for a servomotor with a brake.

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

Turns the brake power supply ON and OFF. Install a surge absorber.

(when an absolute encoder

is used.)

Personal computer

Connection cable for personal computer

Digital operator

When not using the safety function, use the SERVOPACK with the safety function’s jumper connector (JZSP-CVH05-E, provided as an accessory) inserted

When using the safety function, insert a connection cable specially for the safety function.

Safety function devices

Connection cable for digital operator

100 VAC

Host controller

Connect to the MECHATROLINK-III

100V

1.5 Examples of Servo System Configurations

This section describes examples of basic servo system configuration.

1.5.1 Connecting to SGDV-F21A SERVOPACK

∗1. Use a 24-VDC power supply. (Not included.) ∗2. Before connecting an external regenerative resistor to the SERVOPACK, refer to 3.7 Connecting Regenerative Resis-

tors.

1-17

1 Outline

Servomotor main circuit cable

Encoder cable

Battery case

Brake power supply

∗1

Magnetic contactor

∗2

Noise filter

Molded-case circuit breaker (MCCB)

Magnetic contactor

I/O signal cable

SGDV-A21 SERVOPACK

SGMJV/SGMAV/SGMPS/ SGMGV/SGMSV/SGMCS Servomotor

Power supply Three-phase 200 VAC

R S T

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

Eliminates external noise from the power line.

Used for a servomotor with a brake.

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

Turns the brake power supply ON and OFF. Install a surge absorber.

(when an absolute encoder is used.)

Personal computer

Connection cable for personal computer

Digital operator

When not using the safety function, use the SERVOPACK with the safety function’s jumper connector (JZSP-CVH05-E, provided as an accessory) inserted.

When using the safety function, insert a connection cable specifically for the safety function.

Safety function devices

Connection cable for digital operator

200 VAC

Host controller

Regenerative resistor

Connect to the MECHATROLINK-III

1.5.2 Connecting to SGDV-A21 SERVOPACK

(1) Using a Three-phase, 200-V Power Supply

1-18

∗1. Use a 24-VDC power supply. (Not included.)

If using a 90-VDC power supply for a brake, however, use one of the following power supplies.

• For 200-V input voltage: LPSE-2H01-E

• For 100-V input voltage: LPDE-1H01-E For details, refer to

∗2. Before connecting an external regenerative resistor to the SERVOPACK, refer to 3.7 Connecting Regenerative Resis-

tors.

-V Series Product Catalog (No.: KAEP S800000 42).

1.5 Examples of Servo System Configurations

Outline

Brake power supply

∗

Servomotor main circuit cable

Encoder cable

Battery case

Magnetic contactor

Regenerative resistor

Noise filter

Molded-case circuit breaker (MCCB)

Magnetic contactor

Host controller

When not using the safety function, use the SERVOPACK with the safety function’s jumper connector (JZSP-CVH05-E, provided as an accessory) inserted.

When using the safety function, insert a connection cable specifically for the safety function.

Safety function devices

I/O signal cable

SGDV-



A21

SERVOPACK

SGMJV/SGMAV/SGMPS/SGMCS

Servomotor

Power supply

Single-phase 200 VAC

R T

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

Eliminates external noise from the power line.

Used for a servomotor with a brake.

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

Turns the brake power supply ON and OFF. Install a surge absorber.

(when an absolute encoder is used.)

Connection cable for digital operator

Connection cable for personal computer

Digital operator

Personal computer

∗

200 VAC

Connect to the MECHATROLINK-III

(2) Using a Single-phase, 200-V Power Supply

The Σ-V Series 200 V SERVOPACK generally specifies a three-phase power input but some models can be used with a single-phase 200 V power supply. Refer to 3.1.3 Using the SERVOPACK with Single-phase, 200 V Power Input for details.

∗1. Use a 24-VDC power supply. (Not included.) ∗2. Before connecting an external regenerative resistor to the SERVOPACK, refer to 3.7 Connecting Regenerative Resis-

tors.

1-19

1 Outline

1.5.3 Connecting to SGDV-D21A SERVOPACK

Power supply Three-phase 400 VAC

R S T

Molded-case circuit breaker (MCCB)

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

Noise filter

Eliminates external noise from the power line.

Magnetic contactor

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

100/200 VAC

DC power supply (24 V)

SGDV-D21A SERVOPACK

Connection cable for digital operator

Connection cable for personal computer

I/O signal cable

Connect to the MECHATROLINK-III

Digital operator

Personal computer

Host controller

Regenerative

resistor

Brake power

UWRRN[

Used for a servomotor with a 90 V brake.

Magnetic contactor

Turns the brake power supply ON and OFF. Install a surge absorber.

Battery case

(when an absolute encoder is used.)

Servomotor main circuit cable

SGMGV/SGMSV Servomotor

When not using the safety function, use the SERVOPACK with the safety function’s jumper connector (JZSP-CVH05-E, provided as an accessory) inserted.

When using the safety function, insert a connection cable specifically for the safety function.

Safety function devices

Encoder cable

1-20

∗1. Use a 24-VDC power supply with double insulation or reinforced insulation. (The 24-VDC power supply is not

included.) Do not use the same 24-VDC power supply for the brakes.

∗2. Before connecting an external regenerative resistor to the SERVOPACK, refer to 3.7 Connecting Regenerative Resis-

tors.

∗3. Use a 24-VDC power supply for a brake. (Not included.)

If using a 90-VDC power supply for a brake, however, use one of the following power supplies.

• For 200-V input voltage: LPSE-2H01-E

• For 100-V input voltage: LPDE-1H01-E

For details, refer to Σ-V Series Product Catalog (No.: KAEP S800000 42).

Outline

1.6 SERVOPACK Model Designation

SGDV

Series

SGDV Σ-V Series

1st + 2nd + 3rd digits: Current

Voltage Code

Max. Allowable Motor Capacity

(kW)

100 V

R70 0.05

R90 0.1

2R1 0.2

2R8 0.4

200 V

R70

0.05

R90

0.1

1R6

0.2

2R8

0.4

3R8 0.5

5R5

0.75

7R6 1

120

1.5

180 2

200 3

330 5

470

550

7.5

590

780

400 V

1R9 0.5

3R5 1

5R4 1.5

8R4 2

120 3

170 5

210

260

7.5

280

370

4th digit: Voltage

Code Voltage

F 100 V

A 200 V

D 400 V

5th + 6th digits: Interface Specifications

Code Interface

Analog voltage and pulse train reference, rotational servomotor

Analog voltage and pulse train reference, linear servomotor

MECHATROLINK-II communications reference, rotational servomotor

MECHATROLINK-II communications reference, linear servomotor

MECHATROLINK-III communications reference, rotational servomotor

MECHATROLINK-III communications reference, linear servomotor

11th + 12th digits: Software Specifi-

cation

Code Specification

00 Standard

–

7th digit: Design

Revision Order

1st + 2nd + 3rd digits

4th digit

5th + 6th digits

7th digit

2R8 A

8th + 9th + 10th digits

000

8th + 9th + 10th digits: Hardware Specifications

Code Specifications

000 Base-mounted (standard)

001

Rack-mounted

002 Varnished

003

Rack-mounted

and Varnished

008

Single-phase, 200-V Power Supply (SGDV-120A1A008000)

020

Dynamic brake (DB)

11th + 12th digits

13th digit

13th digit: Parameter Specification

Code Specification

0 Standard

This section shows SERVOPACK model designation.

1.6 SERVOPACK Model Designation

∗1. These amplifiers can be powered with single or three-phase. ∗2. SGDV-120A1A008000, a special version of the 1.5 kW amplifier can be used for single-phase operation. ∗3. SGDV-470A, -550A, -590A, -780A, -210D, -260D, -280D, and -370D are duct-ventilated types. ∗4. A resistor for the dynamic brake is not included. An external resistor for the dynamic brake can only be used with

400-V SERVOPACKs.

Note: If the option codes digits 8 to 13 are all zeros, they are omitted.

1-21

1 Outline

1.7 Inspection and Maintenance

This section describes the inspection and maintenance of SERVOPACK.

(1) SERVOPACK Inspection

For inspection and maintenance of the SERVOPACK, follow the inspection procedures in the following table at least once every year. Other routine inspections are not required.

Item Frequency Procedure Comments

Exterior

At least once a year

Loose Screws

(2) SERVOPACK’s Parts Replacement Schedule

The following electric or electronic parts are subject to mechanical wear or deterioration over time. To avoid failure, replace these parts at the frequency indicated.

Refer to the standard replacement period in the following table and contact your Yaskawa representative. After an examination of the part in question, we will determine whether the parts should be replaced or not.

Check for dust, dirt, and oil on the surfaces.

Check for loose terminal block and connector screws.

Clean with compressed air.

Tighten any loose screws.

The parameters of any SERVOPACKs overhauled by Yaskawa are reset to the factory settings before shipping. Be sure to confirm that the parameters are properly set before starting operation.

Part

Cooling Fan 4 to 5 years

Smoothing Capacitor 7 to 8 years

Other Aluminum Electrolytic Capacitor

Relays –

Fuses 10 years

Standard Replacement

Period

5 years

Operating Conditions

• Surrounding Air Temperature: Annual average of

30°C

• Load Factor: 80% max.

• Operation Rate: 20 hours/day max.

1-22

2

Panel Display and Operation of Digital Operator

Panel Display and

Operation of Digital Operator

2.1 Panel Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2

2.1.1 Status Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2

2.1.2 Alarm and Warning Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2

2.1.3 Hard Wire Base Block Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2

2.1.4 Overtravel Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-2

2.2 Operation of Digital Operator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3

2.3 Utility Functions (Fn) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-3

2.4 Parameters (Pn) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-4

2.4.1 Parameter Classification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4

2.4.2 Notation for Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4

2.4.3 Setting Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5

2.5 Monitor Displays (Un) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-7

2-1

2 Panel Display and Operation of Digital Operator

MECHA

Status Display

Unlit Unlit Unlit Unlit

MECHA

46and64

2.1.1 Status Display

2.1 Panel Display

The servo status can be checked on the panel display of the SERVOPACK. Also, if an alarm or warning occurs, its alarm or warning number is displayed.

2.1.1 Status Display

The display shows the following status.

Display Meaning

Rotation Detection (/TGON)

Lights if motor speed exceeds the value set in Pn502. (Factory setting: 20 min

Baseblock

Lights for baseblock (Servomotor power OFF).

Reference Input

Lights when a reference is being input.

Control Power Supply ON

Lights when the control power is being supplied.

2.1.2 Alarm and Warning Display

If an alarm or warning occurs, the display will change in the following order.

Example: Alarm A.E60

Status Display

Unlit Unlit Unlit Unlit Unlit

-1

)

2-2

2.1.3 Hard Wire Base Block Display

If a hard wire base block (HWBB) occurs, the display will change in the following order.

2.1.4 Overtravel Display

If overtravelling occurs, the display will change in the following order.

Overtravel at forward rotation (P-OT)

Current status

Overtravel at reverse rotation (N-OT)

Current status

Overtravel at forward/reverse rotation

Current status

Panel Display and Operation of Digital Operator

2.2 Operation of Digital Operator

BB − FUNCTION− Fn002:JOG Fn003:Z− Search Fn004:Program JOG Fn005:Prm Init

BB − Z − Search−

Un000=0 00000 Un002=0 00000 Un003=0 0000000774 Un00D=0 0000000000

Parameter

key

Pn000

n.0

CCW CW

n.1

CW CCW

BB − Z − Search−

Un000=0 00000 Un002=0 00000 Un003=0 0000000000 Un00

D=0 0000001D58

Operation examples of utility functions (Fn), parameters (Pn) and monitor displays (Un) when using a digital operator are described in this chapter.

Operations can be also performed with SigmaWin+.

2.2 Operation of Digital Operator

For more information on the usage of the digital operator, refer to Digital Operator (No.: SIEP S800000 55).

2.3 Utility Functions (Fn)

The utility functions are related to the setup and adjustment of the SERVOPACK.

The digital operator shows numbers beginning with Fn. The following table outlines the procedures necessary for an origin search (Fn003).

Step Display after Operation Keys Operation

RUN − Z − Search−

Un000=0 00000

Un002=0 00000 Un003=0 0000000774 Un00

D=0 0000000000

-V Series USER’S MANUAL Operation of

Press the Key to view the main menu for the utility function.

Use the or Key to move through the list and select Fn003.

Press the Key. The display changes to the Fn003 execution display.

Press the Key. The status display changes from "BB" to "RUN", and the servomotor power turns ON. Note: If the servomotor is already at the zero position,

"-Complete-" is displayed.

Pressing the Key will rotate the servomotor in the

forward direction. Pressing the Key will rotate the servomotor in the reverse direction. The rotation direction of the servomotor changes according to the setting of Pn000.0 as shown in the following table.

RUN − Complete−

Un000=0 00000

Un002=0 00000 Un003=0 0000000000 Un00D=0 0000001D58

Note: Direction when viewed from the load of the ser-

vomotor.

Press the or Key until the servomotor stops. If the origin search completed normally, "-Complete-" is displayed on the right top on the screen.

When the origin search is completed, press the Key.

The status display changes from "RUN" to "BB", and the servomotor turns OFF. The display "-Complete-" changes to "-Z-Search-."

BB − FUNCTION− Fn002:JOG

Fn003:Z− Search Fn004:Program JOG Fn005:Prm Init

Press the Key. The display returns to the main menu of the utility

function.

7 To enable the change in the setting, turn the power OFF and ON again.

2-3

2 Panel Display and Operation of Digital Operator

(2) Parameters for Selecting Functions

Rotation

2.4.1 Parameter Classification

2.4 Parameters (Pn)

This section describes the classifications, methods of notation, and settings for parameters given in this manual.

2.4.1 Parameter Classification

Parameters of the Σ-V Series SERVOPACK are classified into two types of parameters. One type of parameters is required for setting up the basic conditions for operation and the other type is required for tuning parameters that are required to adjust servomotor characteristics.

Classification Meaning Display Method Setting Method

Setup Parameters

Tuning Parameters

There are two types of notation used for parameters, one for parameter that requires a value setting (parameter for numeric settings) and one for parameter that requires the selection of a function (parameter for selecting functions).

Parameters required for setup.

Parameters for tuning control gain and other parameters.

Always displayed (Factory setting: Pn00B.0 = 0)

Set Pn00B.0 to 1.

Set each parameter individually.

There is no need to set each parameter individually.

The notation and settings for both types of parameters are described next.

2.4.2 Notation for Parameters

(1) Parameters for Numeric Settings

Emergency Stop Torque

Pn406

Parameter number

Indicates the setting range for the parameter.

Pn002

Setting Range

0% to 800% 1% 800 After change



Setting Unit Factory Setting When Enabled

Indicates the minimum setting unit for the parameter.

Parameter Meaning When Enabled Classification

n.0 [Factory setting]

n.1

Uses the absolute encoder as an absolute encoder.

Uses the absolute encoder as an incremental encoder.

The control methods for which the parameters applies.

: Position control

Speed

: Speed control

Indicates the parameter setting before shipment.

Position

Position Speed

Indicates when a change to the parameter will be effective.

Torque

After restart

: Torque control

Classification

Setup

Indicates the parameter classification.

Setup

Parameter number

The notation “n.” indicates a parameter for selecting functions. Each  corresponds to the setting value of that digit. The notation shown here means that the third digit is 1.

2-4

This section explains the selections for the function.

Panel Display and Operation of Digital Operator

• Notation Example

1st digit

2nd digit

3rd digit

4th digit

Digital Operator Display

(Display Example for Pn002)

Digit Notation Setting Notation

Meaning Notation Meaning

Pn002.0

Pn002.1

Pn002.2

Pn002.3

Indicates the value for the 1st digit of parameter Pn002.

Indicates the value for the 2nd digit of parameter Pn002.

Indicates the value for the 3rd digit of parameter Pn002.

Indicates the value for the 4th digit of parameter Pn002.

Pn002.0 = x or n.x

Pn002.1 = x or n.x

Indicates that the value for the 1st digit of parameter Pn002 is x.

Indicates that the value for the 2nd digit of parameter Pn002 is x.

Pn002.2 = x or n.x

Pn002.3 = x or n.x

Indicates that the value for the 3rd digit of parameter Pn002 is x.

Indicates that the value for the 4th digit of parameter Pn002 is x.

Notation

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MECHA

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46and 64

㧮㧮ޓޓޓޓޓޓ㧙㧼㧾㧹㧛㧹㧻㧺㧙㧼㨚㧟㧜㧠㧩㧜㧜㧡㧜㧜㨁㨚㧜㧜㧞㧩ޓ㧜㧜㧜㧜㧜㨁㨚㧜㧜㧤㧩ޓ㧜㧜㧜㧜㧜㨁㨚㧜㧜㧰㧩㧜㧜㧜㧜㧜㧜㧜㧜

46and 64

㧮㧮ޓޓޓޓޓޓ㧙㧼㧾㧹㧛㧹㧻㧺㧙㧼㨚㧟㧜㧠㧩㧜㧜㧡㧜㧜㨁㨚㧜㧜㧞㧩ޓ㧜㧜㧜㧜㧜㨁㨚㧜㧜㧤㧩ޓ㧜㧜㧜㧜㧜㨁㨚㧜㧜㧰㧩㧜㧜㧜㧜㧜㧜㧜㧜

46and 64

㧮㧮ޓޓޓޓޓޓ㧙㧼㧾㧹㧛㧹㧻㧺㧙㧼㨚㧟㧜㧠㧩㧜㧝㧜㧜㧜㨁㨚㧜㧜㧞㧩ޓ㧜㧜㧜㧜㧜㨁㨚㧜㧜㧤㧩ޓ㧜㧜㧜㧜㧜㨁㨚㧜㧜㧰㧩㧜㧜㧜㧜㧜㧜㧜㧜

46and 64

2.4.3 Setting Parameters

(1) How to Make Numeric Settings Using Parameters

The following example shows how to change the setting of parameter Pn304 (JOG speed) to 1000 min-1.

2.4 Parameters (Pn)

Step Display after Operation Keys Operation

Press the Key to select the main menu of parameters and monitor displays.

Press the or Key to move the cursor to "Un."

Press the or Key to change "Un" to "Pn."

Press the Key to move the cursor to the column on the right of "Pn."

Press the arrow keys to display "Pn304".

To move the cursor to different columns: , Key

To change the settings: , Key

Press the Key to move the cursor to the one’s place of Pn304.

Press the Key twice to move the cursor to the hundred’s place of Pn304.

Press the Key five times to change the setting to "1000."

2-5

2 Panel Display and Operation of Digital Operator

㧮㧮ޓޓޓޓޓޓ㧙㧼㧾㧹㧛㧹㧻㧺㧙㧼㨚㧟㧜㧠㧩㧜㧝㧜㧜㧜㨁㨚㧜㧜㧞㧩ޓ㧜㧜㧜㧜㧜㨁㨚㧜㧜㧤㧩ޓ㧜㧜㧜㧜㧜㨁㨚㧜㧜㧰㧩㧜㧜㧜㧜㧜㧜㧜㧜

46and 64

㧮㧮ޓޓޓޓޓޓ㧙㧼㧾㧹㧛㧹㧻㧺㧙㨁㨚㧜㧜㧜㧩ޓ㧜㧜㧜㧜㧜㨁㨚㧜㧜㧞㧩ޓ㧜㧜㧜㧜㧜㨁㨚㧜㧜㧤㧩ޓ㧜㧜㧜㧜㧜㨁㨚㧜㧜㧰㧩㧜㧜㧜㧜㧜㧜㧜㧜

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2.4.3 Setting Parameters

Step Display after Operation Keys Operation

(cont’d)

Press the Key to write the settings.

(2) How to Select Functions Using Parameters

The following example shows how to set the function section for insufficient voltage of the application function select switch 8 (Pn008) to 1

Step Display after Operation Keys Operation

"detects warning and limits torque by host controller."

Press the Key to select the main menu of param- eters and monitor displays.

Press the or Key to move the cursor to "Un."

Press the or Key to change "Un" to "Pn."

Press the Key three times to move the cursor to the column on the right of "Pn."

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㧚

Press the Key to display "Pn008."

Press the Key to move the cursor to "Pn008.0."

Press the Key once to move the cursor to "Pn008.1."

Press the Key to change the setting of "Pn008.1" to "1."

Press the Key to write the settings.

2-6

Panel Display and Operation of Digital Operator

2.5 Monitor Displays (Un)

㧮㧮ޓޓޓޓޓޓ㧙㧼㧾㧹㧛㧹㧻㧺㧙㨁㨚㧜㧜㧜㧩ޓ㧜㧜㧜㧜㧜㨁㨚㧜㧜㧞㧩ޓ㧜㧜㧜㧜㧜㨁㨚㧜㧜㧤㧩ޓ㧜㧜㧜㧜㧜㨁㨚㧜㧜㧰㧩㧜㧜㧜㧜㧜㧜㧜㧜

MECHA

Shows the setting of Un000 (motor rotating speed) as 0 min-1.

The monitor displays can be used for monitoring the reference values, I/O signal status, and SERVOPACK internal status.

For details, refer to 7.2 Viewing Monitor Displays.

The digital operator shows numbers beginning with Un.

The following four settings are the factory settings.

2.5 Monitor Displays (Un)

2-7

3

Wiring and Connection

Wiring and Connection

3.1 Main Circuit Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-2

3.1.1 Main Circuit Terminals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2

3.1.2 Using a Standard Power Supply

(Single-phase 100 V, Three-phase 200 V, or Three-phase 400 V) . . . . . . . . . . . . . . . 3-3

3.1.3 Using the SERVOPACK with Single-phase, 200 V Power Input . . . . . . . . . . . . . . . . 3-11

3.1.4 Using the SERVOPACK with a DC Power Input . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-14

3.1.5 Using More Than One SERVOPACK . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-16

3.1.6 General Precautions for Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-17

3.2 I/O Signal Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-18

3.2.1 I/O Signal (CN1) Names and Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-18

3.2.2 Safety Function Signal (CN8) Names and Functions . . . . . . . . . . . . . . . . . . . . . . . . 3-19

3.2.3 Example of I/O Signal Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-20

3.3 I/O Signal Allocations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-21

3.3.1 Input Signal Allocations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-21

3.3.2 Output Signal Allocations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-23

3.4 Examples of Connection to Host Controller . . . . . . . . . . . . . . . . . . . . . . 3-24

3.4.1 Sequence Input Circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-24

3.4.2 Sequence Output Circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-25

3.5 Wiring MECHATROLINK-III Communications . . . . . . . . . . . . . . . . . . . .3-27

3.6 Encoder Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-28

3.6.1 Encoder Signal (CN2) Names and Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-28

3.6.2 Encoder Connection Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-28

3.7 Connecting Regenerative Resistors . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-30

3.7.1 Connecting Regenerative Resistors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-30

3.7.2 Setting Regenerative Resistor Capacity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-32

3.8 Noise Control and Measures for Harmonic Suppression . . . . . . . . . . . . 3-33

3.8.1 Wiring for Noise Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-33

3.8.2 Precautions on Connecting Noise Filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-35

3.8.3 Connecting a Reactor for Harmonic Suppression . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-36

3-1

3 Wiring and Connection

3.1.1 Main Circuit Terminals

3.1 Main Circuit Wiring

The names and specifications of the main circuit terminals are given below.

Also this section describes the general precautions for wiring and precautions under special environments.

3.1.1 Main Circuit Terminals

Terminal

Symbols

L1, L2

Main circuit power in-

L1, L2, L3

L1C, L2C

24 V, 0 V D

B1/ , B2

put terminals

Control power input terminals

External regenera-

tive resistor connection terminals

Name Model SGDV-

: Main circuit terminals

F

A

D

F

A

R70F, R90F, 2R1F, 2R8F, R70A, R90A, 1R6A, 2R8A

3R8A, 5R5A, 7R6A, 120A, 180A, 200A, 330A, 1R9D, 3R5D, 5R4D, 8R4D, 120D, 170D

470A, 550A, 590A, 780A, 210D, 260D, 280D, 370D

Specification

Single-phase 100 to 115 V, +10% to -15% (50/60 Hz)

Three-phase 200 to 230 V, +10% to -15% (50/60 Hz)

Three-phase 380 to 480 V, +10% to -15% (50/60 Hz)

Single-phase 100 to 115 V, +10% to -15% (50/60 Hz)

Single-phase 200 to 230 V, +10% to -15% (50/60 Hz)

24 VDC,

If the regenerative capacity is insufficient, connect an external regenerative resistor between B1/ and

B2. Note: The external regenerative resistor is not

If the internal regenerative resistor is insufficient, remove the lead or shorting bar between B2 and B3 and connect an external regenerative resistor

between B1/ and B2. Note: The external regenerative resistor is not

Connect a regenerative resistor unit between B1/ and B2.

Note: The regenerative resistor unit is not included.

±15%

included.

3-2

Wiring and Connection

Terminal Symbols

DC reactor connection terminal for pow-

1, 2

B1/

2 or

U, V, W

∗1. Do not short-circuit between B1/ and B2. It may damage the SERVOPACK. ∗2. The DC reactor connection terminals are short-circuited when the SERVOPACK is shipped from the factory: 1 and

er supply harmonic suppression

Main circuit positive terminal

Main circuit negative terminal

Servomotor connection terminals

Ground terminals (× 2)

Name Model SGDV-

A D

Use for connecting to the servomotor.

Use for connecting the power supply ground terminal and servomotor ground terminal.

3.1.2 Using a Standard Power Supply (Single-phase 100 V, Three-phase 200 V, or Three-phase 400 V)

3.1 Main Circuit Wiring

(cont’d)

Specification

If a countermeasure against power supply harmonic waves is needed, connect a DC reactor between 1 and 2.

Use when DC power supply input is used.

(1) Wire Types

Use the following type of wire for main circuit.

Cable Type

Symbol Name

IV 600 V grade polyvinyl chloride insulated wire 60

HIV 600 V grade heat-resistant polyvinyl chloride insulated wire 75

The following table shows the wire sizes and allowable currents for three wires. Use wires with specifications equal to or less than those shown in the table.

•

600 V grade heat-resistant polyvinyl chloride insulated wire (HIV)

Nominal

AWG Size

20 0.5 19/0.18 39.5 6.6 5.6 4.5

19 0.75 30/0.18 26.0 8.8 7.0 5.5

18 0.9 37/0.18 24.4 9.0 7.7 6.0

16 1.25 50/0.18 15.6 12.0 11.0 8.5

14 2.0 7/0.6 9.53 23 20 16

12 3.5 7/0.8 5.41 33 29 24

10 5.5 7/1.0 3.47 43 38 31

8 8.0 7/1.2 2.41 55 49 40

6 14.0 7/1.6 1.35 79 70 57

4 22.0 7/2.0 0.85 91 81 66

Cross Sec-

tion Area

(mm

)

Configuration

(Number of

Wires/mm

Conductive

Resistance

)

(Ω/km)

Allowable Current at Surrounding Air Temper-

Allowable Conductor Temperature °C

ature (A)

30°C 40°C 50°C

Note: The values in the table are for reference only.

3-3

3 Wiring and Connection

3.1.2 Using a Standard Power Supply (Single-phase 100 V, Three-phase 200 V, or Three-phase 400 V)

(2) Main Circuit Wires

This section describes the main circuit wires for SERVOPACKs.

• The specified wire sizes are for use when the three lead cables are bundled and when

the rated electric current is applied with a surrounding air temperature of 40°C.

• Use a wire with a minimum withstand voltage of 600 V for the main circuit.

• If cables are bundled in PVC or metal ducts, take into account the reduction of the allowable current.

• Use a heat-resistant wire under high surrounding air or panel temperatures, where polyvinyl chloride insulated wires will rapidly deteriorate.

 Single-phase, 100 V

Terminal

Symbols

L1, L2

L1C, L2C Control power input terminals HIV1.25

U, V, W

B1/ , B2

Main circuit power input terminals

Servomotor connection terminals

External regenerative resistor connection terminals

Ground terminal HIV2.0 or larger

Name

R70 R90 2R1 2R8

SGDV-F

HIV1.25 HIV2.0

 Three-phase, 200 V

Te rm i na l Symbols

L1, L2, L3Main circuit power in-

L1C, L2C

U, V, W

B1/ , B2

put terminals

Control power input terminals

Servomotor connection terminals

External regenerative resistor connection terminals

Name

R70 R90 1R6 2R8 3R8 5R5 7R6 120 180 200 330 470 550 590 780

HIV1.25 HIV2.0 HIV3.5

HIV1.25 HIV2.0

HIV1.25

SGDV-A (Unit: mm2)

HIV1.25

HIV

3.5

HIV

2.0

HIV

5.5

HIV

3.5

HIV

5.5

HIV

8.0

HIV

5.5

HIV

8.0

14.0

HIV14.0 HIV22.0

HIV8.0 HIV22.0

HIV22.0

3-4

Ground terminal HIV2.0 or larger

 Three-phase, 400 V

Terminal

Symbols

L1, L2, L3

24V, 0V Control power input terminals HIV1.25

U, V, W

B1/ , B2

Main circuit power input terminals

Servomotor connection terminals

External regenerative resistor connection terminals

Ground terminal HIV2.0 or larger

Name

1R9 3R5 5R4 8R4 120 170 210 260 280 370

HIV1.25 HIV2.0 HIV3.5

HIV1.25 HIV2.0

SGDV-D (Unit: mm2)

HIV1.25

HIV

3.5

HIV

2.0

HIV

HIV5.5

HIV3.5

5.5

HIV

8.0

HIV

8.0

HIV

5.5

HIV

14.0

HIV

14.0

HIV

8.0

3.1 Main Circuit Wiring

Wiring and Connection

ENC

U V

0 V

1Ry

−

2KM

1KM

CN1

1QF

+24 V

B1/

3SA

1Ry

1PL

1KM

2KM

1SA

1KM

1Ry

1KM

2SA

L1C L2C

ALM

1FLT

1PL: Indicator lamp 1SA: Surge absorber 2SA: Surge absorber 3SA: Surge absorber 1D: Flywheel diode

1QF: Molded-case circuit breaker 1FLT: Noise filter 1KM: Magnetic contactor (for control power supply) 2KM: Magnetic contactor (for main circuit power supply) 1Ry: Relay

SERVOPACK

SGDV-F

(For servo

alarm display)

supply ON

Servo power

supply OFF

Servo power

MECHA

(3) Typical Main Circuit Wiring Examples

Note the following points when designing the power ON sequence.

• Design the power ON sequence so that main power is turned OFF when a servo alarm signal (ALM) is output.

• The ALM signal is output for a maximum of five seconds when the control power is turned ON. Take this into consideration when designing the power ON sequence. Design the sequence so the ALM signal is activated and the alarm detection relay (1Ry) is turned OFF to stop the main circuit’s power supply to the SERVOPACK.

Control power supply

ALM signal

5.0 s max.

• Select the power supply specifications for the parts in accordance with the input power supply.

• When turning ON the control power supply and the main circuit power supply, turn them ON at the same time or turn the main circuit power supply after the control power supply. When turning OFF the power supplies, first turn the power for the main circuit OFF and then turn OFF the control power supply.

The typical main circuit wiring examples are shown below.

WARNING

• Do not touch the power supply terminals after turning OFF the power. High voltage may still remain in the SERVOPACK, resulting in electric shock. When the voltage is discharged, the charge indicator will turn OFF. Make sure the charge indicator is OFF before starting wiring or inspections.

 Single-phase 100 V, SGDV-F (SGDV-R70F, -R90F, -2R1F, -2R8F)

3-5

3 Wiring and Connection

2KM

ENC

U V

0 V

1Ry

−

B2 B3

CN1

1KM

L1C

L2C

1QF

S T

1FLT

+24 V

3SA

B1/

1PL

1KM

2KM

1SA

2SA

1KM

1Ry

1KM

ALM

1Ry

1PL: Indicator lamp 1SA: Surge absorber 2SA: Surge absorber 3SA: Surge absorber 1D: Flywheel diode

1QF: Molded-case circuit breaker 1FLT: Noise filter 1KM: Magnetic contactor (for control power supply) 2KM: Magnetic contactor (for main circuit power supply) 1Ry: Relay

SERVOPACK SGDV-A

(For servo

alarm display)

supply ON

Servo power

supply OFF

Servo power

MECHA

2KM

ENC

U V

0 V

1Ry

1KM

L1C

L2C

1QF

S T

1FLT

+24 V

3SA

B1/

1PL

1KM

2KM

1SA

2SA

−

CN1

1KM

1Ry

1KM

ALM

1Ry

SGDV-A

Regenerative resistor unit

(For servo

alarm display)

supply ON

Servo power

supply OFF

Servo power

SERVOPACK

1QF: Molded-case circuit breaker 1FLT: Noise filter 1KM: Magnetic contactor (for control power supply) 2KM: Magnetic contactor (for main circuit power supply) 1Ry: Relay

1PL: Indicator lamp 1SA: Surge absorber 2SA: Surge absorber 3SA: Surge absorber 1D: Flywheel diode

MECHA

3.1.2 Using a Standard Power Supply (Single-phase 100 V, Three-phase 200 V, or Three-phase 400 V)

 Three-phase 200 V, SGDV-A

• SGDV-R70A, -R90A, -1R6A, -2R8A, -3R8A, -5R5A, -7R6A, -120A, -180A, -200A, -330A

∗ For the SGDV-R70A, -R90A, -1R6A, -2R8A, terminals B2 and B3 are not short-circuited. Do not short-circuit these

terminals.

• SGDV-470A, -550A, -590A, -780A

3-6

Wiring and Connection

 Three-phase 400 V, SGDV-D

ENC

U V

0 V

1Ry

1QF

R S T

1FLT

+24 V

3SA

B2 B3

B1/

1PL

1KM

2KM

1SA

2SA

2KM

L2 L3

24 V

−

1KM

0 V

−

CN1

1KM

1Ry

1KM

ALM

1Ry

1QF: Molded-case circuit breaker 1FLT: Noise filter 1KM: Magnetic contactor (for control power supply) 2KM: Magnetic contactor (for main circuit power supply) 1Ry: Relay

1PL: Indicator lamp 1SA: Surge absorber 2SA: Surge absorber 3SA: Surge absorber 1D: Flywheel diode

DC power

supply 24 V

(For servo

alarm display)

supply ON

Servo power

supply OFF

Servo power

SERVOPACK

SGDV-D

MECHA

• SGDV-1R9D, -3R5D, -5R4D, -8R4D, -120D, -170D

3.1 Main Circuit Wiring

• SGDV-210D, -260D, -280D, -370D

1QF

3SA

1FLT

Servo power

supply ON

1KM

1QF: Molded-case circuit breaker 1FLT: Noise filter 1KM: Magnetic contactor (for control power supply) 2KM: Magnetic contactor (for main circuit power supply) 1Ry: Relay

2KM

DC power supply (24 V)

1Ry

Servo power

supply OFF

1Ry

−

(For servo

alarm display)

1PL

1KM

1SA 2KM

2SA

1KM

SERVOPACK SGDV-D

L1 L2 L3

24 V 0 V

B1/

1 2

Regenerative resistor unit

CN1

ALM

−

ALM

1PL: Indicator lamp 1SA: Surge absorber 2SA: Surge absorber 3SA: Surge absorber 1D: Flywheel diode

ENC

1Ry

+24 V

0 V

3-7

3 Wiring and Connection

3.1.2 Using a Standard Power Supply (Single-phase 100 V, Three-phase 200 V, or Three-phase 400 V)

(4) Power Supply Capacities and Power Losses

The following table shows the SERVOPACK’s power supply capacities and power losses.

Main Circuit Power

Supply

Singlephase, 100 V

Threephase, 200 V

Threephase, 400 V

Maximum

Applicable

Servomotor

Capacity

[kW]

SERVOPACK

Model

SGDV-

Power Supply

Capacity per

SERVOPACK

[kVA]

Output

Current

[Arms]

Main Circuit Power

Loss

[W]

Regenerative

Resistor

Power Loss

[W]

Control

Circuit Power

Loss [W]

0.05 R70F 0.2 0.66 5.4

0.1 R90F 0.3 0.91 7.8 24.8

0.2 2R1F 0.7 2.1 14.4 31.4

–17

0.4 2R8F 1.4 2.8 25.6 42.6

0.05 R70A 0.2 0.66 5.1

0.1 R90A 0.3 0.91 7.3 24.3

0.2 1R6A 0.6 1.6 13.5 30.5

0.4 2R8A 1 2.8 24.0 41.0

–

0.5 3R8A 1.4 3.8 20.1

0.75 5R5A 1.6 5.5 43.8 68.8

1.0 7R6A 2.3 7.6 53.6 78.6

1.5 120A 3.2 11.6 65.8 10

2.0 180A 4 18.5 111.9

3.0 200A 5.9 19.6 113.8 161.4

5.0 330A 7.5 32.9 263.7 36 27 326.7

6.0 470A 10.7 46.9 279.4

(180)

7.5 550A 14.6 54.7 357.8

11 590A 21.7 58.6 431.7

15 780A 29.6 78 599.0 647.0

(350)

0.5 1R9D 1.1 1.9 24.6

1.0 3R5D 2.3 3.5 46.1 81.1

14 21

1.5 5R4D 3.5 5.4 71.3 106.3

2.0 8R4D 4.5 8.4 77.9

3.0 120D 7.1 11.9 108.7 161.7

28 25

5.0 170D 11.7 16.5 161.1 36 24 221.1

6.0 210D 12.4 20.8 172.7

7.5 260D 14.4 25.7 218.6 245.6

11 280D 21.9 28.1 294.6

15 370D 30.6 37.2 403.8 433.8

(180)

(350)

To ta l

Power

Loss [W]

22.4

22.1

45.1

97.8

149.9

312.4

390.8

479.7

59.6

130.9

199.7

324.6

3-8

∗1. The value in parentheses is for the JUSP-RA04-E regenerative resistor unit. ∗2. The value in parentheses is for the JUSP-RA05-E regenerative resistor unit. ∗3. The value in parentheses is for the JUSP-RA18-E regenerative resistor unit. ∗4. The value in parentheses is for the JUSP-RA19-E regenerative resistor unit.

Note 1. SGDV-R70F, -R90F, -2R1F, -2R8F, -R70A, -R90A, -1R6A, and -2R8A SERVOPACKs do not have built-in

regenerative resistors. Connect an external regenerative resistor if the regenerative energy exceeds the specified value.

2. SGDV-470A, -550A, -590A, -780A, -210D, -260D, -280D, and -370D SERVOPACKs do not have built-in regenerative resistors. Make sure that a regenerative resistor unit or an external regenerative resistor is connected. Refer to 3.7 Connecting Regenerative Resistors for details.

3. Regenerative resistor power losses are the allowable losses. Take the following actions if this value is exceeded.

•Remove the lead or shorting bar between terminals B2 and B3 on the SERVOPACK main circuit for SGDV-

3R8A, -5R5A, -7R6A, -120A, -180A, -200A, -330A, and 400-V SERVOPACKs.

•Install an external regenerative resistor. Refer to 3.7 Connecting Regenerative Resistors for details.

4. Both the regenerative resistor unit and the external regenerative resistor are not included.

Wiring and Connection

(5) How to Select Molded-case Circuit Breaker and Fuse Capacities

The following table shows the SERVOPACK’s current capacities and inrush current. Select a molded-case circuit breaker and fuses in accordance with these specifications.

3.1 Main Circuit Wiring

Main Circuit Power Supply

Singlephase, 100 V

Threephase, 200 V

Threephase, 400 V

Maximum

Applicable

Servomotor

Capacity

[kW]

0.05 R70F 0.2 1.5

0.1 R90F 0.3 2.5

0.2 2R1F 0.7 5

0.4 2R8F 1.4 10

0.05 R70A 0.2 1.0

0.1 R90A 0.3 1.0

0.2 1R6A 0.6 2.0

0.4 2R8A 1 3.0

0.5 3R8A 1.4 3.0

0.75 5R5A 1.6 6.0

1.0 7R6A 2.3 6.0

1.5 120A 3.2 7.3

3.0 200A 5.9 15

5.0 330A 7.5 25

7.5 550A 14.6 37

11 590A 21.7 54

15 780A 29.6 73

0.5 1R9D 1.1 1.4

1.0 3R5D 2.3 2.9

1.5 5R4D 3.5 4.3

2.0 8R4D 4.5 5.8

3.0 120D 7.1 8.6

5.0 170D 11.7 14.5 57

6.0 210D 12.4 17.4

7.5 260D 14.4 21.7

11 280D 21.9 31.8

15 370D 30.6 43.4

SERVO-

PAC K Model

SGDV-

Power Sup-

ply Capacity

per SERVOPACK

[kVA]

Current Capacity Inrush Current

Main Circuit

[Arms]

Control

Circuit [Arms]

0.38 16.5 35

0.2

0.252.0 180A 4 9.7

0.3 65.56.0 470A 10.7 29

0.45 109 48

1.2 17

1.4

1.5 34

1.7 68

Main Circuit

[A0-p]

Control

Circuit

[A0-p]

–

Note 1. To comply with the EU low voltage directive, connect a fuse to the input side as protection against accidents

caused by short-circuits. Select fuses or molded-case circuit breakers that are compliant with UL standards. The table above also provides the net values of current capacity and inrush current. Select a fuse and a moldedcase circuit breaker which meet the breaking characteristics shown below.

• Main circuit, control circuit: No breaking at three times the current values shown in the table for 5 s.

• Inrush current: No breaking at the current values shown in the table for 20 ms.

3-9

3 Wiring and Connection

3.1.2 Using a Standard Power Supply (Single-phase 100 V, Three-phase 200 V, or Three-phase 400 V)

2. The following restrictions apply to UL standard compliance conditions.

SERVOPACK Model SGDV- Restrictions

180A, 200A Available rated current for modeled-case circuit breaker: 40 A or less

• Available rated current for non-time delay fuse: 70 A or less

330A

470A, 550A

590A, 780A

210D, 260D

280D, 370D

• Available rated current for time delay fuse: 40 A or less

• Do not use single wires.

• Available rated current for molded-case circuit breaker: 60 A or less

• Available rated current for non-time delay fuse or time delay fuse: 60 A or less

• Available rated current for molded-case circuit breaker: 100 A or less.

• Available rated current for non-time delay fuse or time delay fuse: 100 A or less

(Available rated current for a non-time delay, Class J fuse or a faster fuse: 125 A or less)

• Available rated current for molded-case circuit breaker: 60 A or less.

• Available rated current for non-time-delay fuse: 60 A or less.

• Available rated current for time delay fuse: 35 A or less

• Available rated current for molded-case circuit breaker: 80 A or less

• Available rated current for non-time delay fuse: 125 A or less

• Available rated current for time delay fuse: 75 A or less

3-10

Wiring and Connection

3.1.3 Using the SERVOPACK with Single-phase, 200 V Power Input

Some models of Σ-V series three-phase 200 V power input SERVOPACK can be used also with a single-phase 200 V power supply.

The following models support a single-phase 200-V power input. SGDV-R70A, -R90A, -1R6A, -2R8A, -5R5A

When using the SERVOPACK with single-phase, 200 V power input, set parameter Pn00B.2 to 1.

3.1 Main Circuit Wiring

There is no need to change the parameter for a SGDVphase 200 V power supply.

(1) Parameter Setting

 Single-phase Power Input Selection

Parameter Meaning

n.0

Pn00B

• If single-phase 200 V is input to a SERVOPACK with a single-phase power input without changing the setting of Pn00B.2 to 1 (single-phase power input), a main circuit cable open phase alarm (A.F10) will be detected.

• SERVOPACK models other than those for single-phase 200-V power input do not support single-phase power input. If a single-phase 200 V is input to the SERVOPACK that do not support single-phase power input, the main circuit cable open phase alarm (A.F10) will be detected.

• When using a single-phase 200 V power supply, the SGDV-R70A, -R90A, -1R6A, -2R8A, or -5R5A SERVOPACK may not be able to produce the same servomotor torque-speed characteristics as using a threephase 200 V power input. Refer to the diagram of each servomotor torque-speed characteristics in Series Product Catalog (No.: KAEP S800000 42).

[Factory setting]

n.1

Enables use of three-phase power supply for three-phase SERVOPACK.

Enables use of single-phase power supply for three-phase SERVOPACK.

120A21A008000 SERVOPACK because it uses a single-

When

Enabled

After restart Setup

WARNING

Classification

-V

(2) Main Circuit Power Input Terminals

Connect a single-phase 200 V power supply of the following specifications to L1 and L2 terminals.

The specifications of the power supplies other than the main circuit power supply are the same as for threephase power supply input.

Terminal Symbols

L1, L2

∗1. Do not use L3 terminal. ∗2. The official model number is SGDV-120A21A008000.

Main circuit power input terminals

– R70, R90, 1R6, 2R8, 5R5 None

Name Model SGDV-A

R70, R90, 1R6, 2R8, 5R5

120

Specifications

Single-phase 200 V to 230 V, +10% to -15% (50/60 Hz)

Single-phase 220 V to 230 V, +10% to -15% (50/60 Hz)

3-11

3 Wiring and Connection

1PL

1KM

2KM

1SA

2SA

0 V

1Ry

2KM

B2 B3

U V

1QF

1FLT

+24 V

ENC

1 2

L1C

1KM

L2C

3SA

B1/

−

CN1

1KM

1Ry

1KM

ALM

1Ry

1PL 1SA 2SA 3SA 1D:

: Indicator lamp : Surge absorber : Surge absorber : Surge absorber Flywheel diode

1QF: Molded-case circuit breaker 1FLT: Noise filter 1KM: Magnetic contactor (for control power supply) 2KM: Magnetic contactor (for main circuit power supply) 1Ry: Relay

SERVOPACK

SGDV-A

(For servo

alarm display)

supply ON

Servo power

supply OFF

Servo power

MECHA

3.1.3 Using the SERVOPACK with Single-phase, 200 V Power Input

(3) Main Circuit Wire for SERVOPACKs

Terminal

Symbols

L1, L2

Name

R70 R90 1R6 2R8 5R5 120*

Main circuit power input terminals

Model SGDV-A (Unit: mm2)

HIV1.25 HIV2.0 HIV3.5

L1C, L2C Control power input terminals HIV1.25

U, V, W

B1/ , B2

Servomotor connection terminals

External regenerative resistor connection terminals

HIV1.25 HIV2.0

HIV1.25

Ground terminal HIV2.0 or larger

∗ The official model number is SGDV-120A21A008000.

(4) Wiring Example with Single-phase 200-V Power Supply Input

 SERVOPACK with Single-phase, 200-V Power Supply

Applicable SERVOPACK Model: SGDV-R70A, -R90A, -1R6A, -2R8A, -5R5A, and -120A21A008000.

3-12

3.1 Main Circuit Wiring

Wiring and Connection

(5) Power Supply Capacities and Power Losses

The following table shows SERVOPACK’s power supply capacities and power losses when using single-

phase 200 V power supply.

Main Circuit

Power Supply

Single-phase, 200 V

Maximum

Applicable

Servomotor

Capacity

[kW]

0.05 R70A 0.2 0.66 5.2

0.1 R90A 0.3 0.91 7.4 24.4

0.2 1R6A 0.7 1.6 13.7 30.7

0.4 2R8A 1.2 2.8 24.9 41.9

0.75 5R5A 1.9 5.5 52.7 8 77.7

1.5

∗ The official model number is SGDV-120A21A008000. Note 1. SGDV-R70A, -R90A, -1R6A, and -2R8A SERVOPACKs do not have built-in regenerative resistors. If the regen-

2. Regenerative resistor power losses are allowable losses. Take the following action if this value is exceeded.

3. External regenerative resistors are not included.

SERVOPACK

Model

SGDV-

120A

erative energy exceeds the specified value, connect an external regenerative resistor between B1/ and B2.

• Remove the lead or shorting bar between terminals B2 and B3 on the SERVOPACK main circuit of SGDV5R5A, -120A SERVOPACKs.

• Install an external regenerative resistor between external regenerative resistor connection terminals B1/ and B2.

Power Supply

Capacity per

SERVOPACK

[kVA]

4 11.6 68.2 10 22 100.2

Output

Current

[Arms]

Main Circuit Power Loss

[W]

(6) How to Select Molded-case Circuit Breaker and Fuse Capacities

The following table shows the SERVOPACK’s current capacities and inrush current when using single-phase

200 V power supply. Select a molded-case circuit breaker and fuses in accordance with these specifications.

Regenerative

Resistor

Power Loss

[W]

–

Control

Circuit

Power Loss

[W]

To ta l

Power

Loss

[W]

22.2

Main Circuit

Power Sup-

ply

Single-phase, 200 V

Maximum

Applicable Ser-

vomotor

Capacity

[kW]

0.05 R70A 0.2 2

0.1 R90A 0.3 2

0.2 1R6A 0.7 3

0.4 2R8A 1.2 5

0.75 5R5A 1.9 9

1.5

∗ The official model number is SGDV-120A21A008000. Note 1. To comply with the EU low voltage directive, connect a fuse to the input side as protection against accidents

caused by short-circuits. Select the fuse for the input side that are compliant with UL standards. The table above also provides the net values of current capacity and inrush current. Select a fuse and a moldedcase circuit breaker which meet the breaking characteristics shown below.

•Main circuit, control circuit: No breaking at three times the current values shown in the table for 5 s.

•Inrush current: No breaking at the current values shown in the table for 20 ms.

2. The following restrictions apply to UL standard compliance conditions for SGDV-120A21A008000 SERVOPA CK s. Current rating when using molded-case circuit breaker: 40 A max.

SERVO-

PACK Model

SGDV-

120A

Power Supply

Capacity per

SERVOPACK

[kVA]

4160.25

Current Capacity Inrush Current

Main Circuit

[Arms]

Control Cir-

cuit

[Arms]

0.2

Main Circuit

[A0-p]

Control Cir-

cuit

[A0-p]

3-13

3 Wiring and Connection

3.1.4 Using the SERVOPACK with a DC Power Input

(1) Parameter Setting

When using a DC power supply, make sure to set the parameter Pn001.2 to 1 (DC power input supported) before inputting DC power.

Parameter Meaning When Enabled Classification

Pn001

Observe the following precautions.

n.0 Enables use of AC power input.

n.1 Enables use of DC power input.

WARNING

• Either AC or DC power can be input to the 200-V, 400-V SERVOPACKs. Always set Pn001.2 to 1 to specify a DC power input before inputting DC power. Only AC power can be input to the 100-V SERVOPACKs.

If DC power is input without changing the parameter setting, the SERVOPACK’s internal elements will burn and may cause fire or damage to the equipment.

• With a DC power input, time is required to discharge electricity after the main power supply is turned OFF. A high residual voltage may remain in the SERVOPACK after the power supply is turned OFF. Be careful not to get an electric shock.

• Install fuses on the wires if DC power is used.

• Servomotor returns a regenerated energy to the power supply. The SERVOPACK that can use a DC power supply is not capable of processing the regenerated energy. Provide measures to process the regenerated energy on the power supply.

• With a DC power input, connect an external inrush current limit circuit.

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

After restart Setup

(2) DC Power Supply Input Terminals for the Main and Control Circuits

 Three-phase, 200 V for SGDV-A

( = R70, R90, 1R6, 2R8, 3R8, 5R5, 7R6, 120, 180, 200, 330)

Terminal Symbols Name Specifications

B1/

L1C, L2C Control power input terminal 200 to 230 VAC

 Three-phase 200-V SGDV-A

( = 470, 550, 590, 780)

Terminal Symbols Name Specifications

B1/

L1C, L2C Control power input terminal 200 to 230 VAC

 Three-phase, 400 V for SGDV-D

( = 1R9, 3R5, 5R4, 8R4, 120, 170, 210, 260, 280, 370)

Terminal Symbols Name Specifications

B1/

24 V, 0 V Control power input terminal 24 VDC±15%

Main circuit positive terminal 270 to 320 VDC

Main circuit negative terminal 0 VDC

Main circuit positive terminal 270 to 320 VDC

Main circuit negative terminal 0 VDC

Main circuit positive terminal 513 to 648 VDC

Main circuit negative terminal 0 VDC

3-14

Wiring and Connection

(3) Wiring Example with DC Power Supply Input

MECHA

 200-V SERVOPACK SGDV-A

RS T

1QF

3SA

1FLT

2KM

Servo power

supply ON

AC/DC

1KM

1Ry

Servo power supply OFF

alarm display)

1FU

(For servo

1PL

1KM

200-V SERVOPACK

SGDV-A

B1/

L1C

L2C

CN1

ALM

3.1 Main Circuit Wiring

ENC

+24 V

1Ry

−

0 V

1KM

1QF: Molded-case circuit breaker 1FLT: Noise filter 1KM: Magnetic contactor (for control power supply) 2KM: Magnetic contactor (for main circuit power supply) 1Ry: Relay

1Ry

1SA 2KM

2SA

1PL: Indicator lamp 1SA: Surge absorber 2SA: Surge absorber 3SA: Surge absorber 1D: Flywheel diode

∗ Terminal names differ depending on model of SERVOPACK. Refer to (2) DC Power Supply Input Terminals for the

Main and Control Circuits.

 400-V SERVOPACK SGDV-D

R S T

1QF

3SA

1FLT

2KM

1Ry

AC/DC

alarm display)

(For servo

400-V SERVOPACK

1FU

1KM

SGDV-D

24 V

0 V

CN1

ALM

ENC

+24 V

1Ry

−

0 V

Servo power

supply ON

1KM

1QF: Molded-case circuit breaker 1FLT: Noise filter 1KM: Magnetic contactor (for control power supply) 2KM: Magnetic contactor (for main circuit power supply) 1Ry: Relay

Servo power

supply OFF

1Ry

1PL

1KM

1SA 2KM

2SA

1PL: Indicator lamp 1SA: Surge absorber 2SA: Surge absorber 3SA: Surge absorber 1D: Flywheel diode

∗ Terminal names differ depending on model of SERVOPACK. Refer to (2) DC Power Supply Input Terminals for the

Main and Control Circuits.

3-15

3 Wiring and Connection

RS T

1QF

2KM

1Ry

+24 V

L1 L2 L3

L1C

0 V

L2C

1FLT

L1 L2 L3

L1C

L2C

L1C

L2C

3SA

1KM

1PL

1KM

2KM

1SA

2SA

CN1

1KM

1Ry

1KM

ALM+

ALM−

CN1

ALM−

CN1

ALM−

1Ry

ALM+

SERVOPACK

Servomotor

Relay

terminal

Relay

terminal

Relay

terminal

1QF: 1FLT: 1KM: Magnetic contactor (for control power supply) 2KM: (for main circuit power supply) 1Ry: 1PL: 1SA: 2SA: 3SA: 1D:

Molded-case circuit breaker Noise filter

Relay

Magnetic contactor

Indicator lamp Surge absorber

SERVOPACK

Surge absorber Surge absorber Flywheel diode

supply ON

Power supply

Relay terminal

(For servo alarm

display)

Servo power

supply OFF

Servo power

MECHA

3.1.5 Using More Than One SERVOPACK

This section shows an example of the wiring and the precautions when more than one SERVOPACK is used.

(1) Wiring Example

Connect the alarm output (ALM) terminals for three SERVOPACKs in series to enable alarm detection relay 1RY to operate. When the alarm occurs, the ALM output signal transistor is turned OFF.

3-16

(2) Precautions

Multiple SERVOPACKs can share a single molded-case circuit breaker (1QF) or noise filter. Always select a molded-case circuit breaker or noise filter that has enough capacity for the total power supply capacity (load conditions) of the SERVOPACKs.

Wiring and Connection

3.1.6 General Precautions for Wiring

• Use a molded-case circuit breaker (1QF) or fuse to protect the main circuit.

The SERVOPACK connects directly to a commercial power supply; it is not isolated through a transformer or other device. Always use a molded-case circuit breaker (1QF) or fuse to protect the servo system from accidents involving different power system voltages or other accidents.

• Install a ground fault detector.

The SERVOPACK does not have a built-in protective circuit for grounding. To configure a safer system, install a ground fault detector against overloads and short-circuiting, or install a ground fault detector combined with a molded-case circuit breaker.

• Do not turn the power ON and OFF more than necessary.

• Do not use the SERVOPACK for applications that require the power to turn ON and OFF frequently. Such applications will cause elements in the SERVOPACK to deteriorate.

• As a guideline, at least one hour should be allowed between the power being turned ON and OFF once actual operation has been started.

3.1 Main Circuit Wiring

To ensure safe, stable application of the servo system, observe the following precautions when wiring.

• Use the connection cables specified in the

-V Series Product Catalog (No.: KAEP S800000 42). Design

and arrange the system so that each cable will be as short as possible.

• Use shielded twisted-pair cables or screened unshielded twisted-pair cables for I/O signal cables and encoder cables.

• Observe the following precautions when wiring the ground.

• Use a cable as thick as possible (at least 2.0 mm

• Grounding to a resistance of 100 Ω or less for 100-V, 200-V SERVOPACKs, 10 Ω or less for 400-V SER-

VOPACKs is recommended.

• Be sure to ground at only one point.

• Ground the servomotor directly if the servomotor is insulated from the machine.

• The signal cable conductors are as thin as 0.2 mm

or 0.3 mm2. Do not impose excessive bending force or

tension.

3-17

3 Wiring and Connection

3.2.1 I/O Signal (CN1) Names and Functions

3.2 I/O Signal Connections

This section describes the names and functions of I/O signals (CN1). Also connection examples by control method are shown.

3.2.1 I/O Signal (CN1) Names and Functions

The following table shows the names and functions of I/O signals (CN1).

(1) Input Signals

Signal Pin No. Name Function

P-OT (/SI1) N-OT (/SI2)

/DEC (/SI3)

/EXT 1 (/SI4) /EXT 2 (/SI5) /EXT 3 (/SI6)

/SI0 13

+24VIN 6

BAT (+) BAT (-)1415

/P-CL /N-CL

Note 1. The allocation of the input signals (/SI1 to /SI6) can be changed. For details, refer to 3.3.1 Input Signal Alloca-

7 8

10 11 12

Can be allocated

tions.

2. If the Forward run prohibited/ Reverse run prohibited function is used, the SERVOPACK is stopped by software controls, not by electrical or mechanical means. If the application does not satisfy the safety requirements, add an external circuit for safety reasons as required.

Forward run prohibited, Reverse run prohibited

Homing deceleration switch signal

External latch signal 1 External latch signal 2 External latch signal 3

General-purpose input signal

Control power supply for sequence signal

Battery (+) input signal Battery (−) input signal

Forward external torque limit Reverse external torque limit

With overtravel prevention: Stops servomotor when movable part travels beyond the allowable range of motion.

Connects the deceleration limit switch for homing. −

Connects the external signals that latch the current feedback pulse counter.

Used for general-purpose input. Monitored in the I/O monitor field of MECHATROLINK-II.

Control power supply input for sequence signals. Allowable voltage fluctuation range: 11 to 25 V Note: The 24 VDC power supply is not included.

Connecting pin for the absolute encoder backup battery. Do not connect when the encoder cable with the battery case is used.

The allocation of an input signal to a pin can be changed in accordance with the function required.

Refer-

ence

Section

4.3.1

−

3.4.1

3.6.2

4.7.1

−

3-18

Wiring and Connection

(2) Output Signals

Signal Pin No. Name Function

ALM+ ALM-

/BK+ (/SO1+) /BK(/SO1-)

/SO2+ /SO2/SO3+ /SO3-

/COIN /V-CMP /TGON /S-RDY /CLT /VLT /WARN /NEAR

PA O /PAO

PBO /PBO

PCO /PCO

SG 16 Signal ground

FG Shell Frame ground

3 4

23 24 25 26

Can be allocated

17 18

19 20

21 22

Servo alarm output signal

Brake interlock signal

General-purpose output signal

Positioning completion Speed coincidence detection Rotation detection servo ready Torque limit Speed limit detection

War ni ng Near

Phase-A signal

Phase-B signal

Phase-C signal Origin pulse output signal

Turns OFF when an error is detected. −

Controls the brake. The brake is released when the signal turns ON. Allocation can be changed to general-purpose output signals (/SO1+, /SO1-).

Used for general-purpose output. Note: Set the parameter to allocate a function.

The allocation of an output signal to a pin can be changed in accordance with the function required.

Encoder output pulse signals for two-phase pulse train with 90° phase differential

Connects to the 0 V pin on the control circuit of the host controller.

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

3.2 I/O Signal Connections

Refer-

ence

Section

4.3.2

−

4.4.4

4.7.5

−

Note: The allocation of the output signals (/SO1 to /SO3) can be changed. For details, refer to 3.3.2 Output Signal Alloca-

tions.

3.2.2 Safety Function Signal (CN8) Names and Functions

The following table shows the terminal layout of safety function signals (CN8).

Signal Name Pin No. Function

/HWBB1+ 4

/HWBB1- 3

/HWBB2+ 6

/HWBB2- 5

EDM1+ 8

EDM1- 7

–

∗ Do not use pins 1 and 2 because they are connected to the internal circuits.

Hard wire baseblock input 1

Hard wire baseblock input 2

Monitored circuit status output 1

–

For hard wire baseblock input. Baseblock (motor current off) when OFF.

ON when the /HWBB1 and the /HWBB2 signals are input and the SERVOPACK enters a baseblock state.

3-19

3 Wiring and Connection

SO1+ / BK+

SO1- / BK-

/SO2+

/SO2-

/SO3+

ALM+

ALM-

+24 VIN

+24 V

3.3 kΩ

/SI0

P-OT

N-OT

/DEC

/EXT1

/EXT2

/EXT3

BAT+

BAT-

/SO3-

SERVOPACK

∗

PBO

PCO

/PBO

PAO

/PAO

/PCO

EDM1+

EDM1-

/HWBB1+

/HWBB1-

/HWBB2+

/HWBB2-

24V

Safety function device

∗

ޓޓޓޓޓޓ

CN8

Encoder output pulse phase A

Encoder output pulse phase B

Encoder output pulse phase C

Applicable line receiver: SN75ALS175 or MC3486 manufactured by Texas Instruments or the equivalent

Photocoupler output

Max. operating voltage: 30 VDC

Max. output current: 50 mA DC

Connect shield to connector shell.

Connector shell

SERVOPACK

Switch

Fuse

Generalpurpose

Servo alarm output (OFF for an alarm)

Brake (Brake released when ON)

Reverse run prohibited (Prohibited when OFF)

Forward run prohibited (Prohibited when OFF)

External latch signal 1 (Latched when ON)

External latch signal 2 (Latched when ON)

External latch signal 3 (Latched when ON)

Homing deceleration switch (Decelerated when ON)

Control power supply for sequence signal

Backup battery (2.8 to 4.5 V)

∗

46and64

3.2.3 Example of I/O Signal Connections

The following diagram shows a typical connection example.

3-20

∗1. represents twisted-pair wires. ∗2. Connect when using an absolute encoder. When the encoder cable with the battery case is connected, do not connect

a backup battery.

∗3. The 24-VDC power supply is not included. Use a 24-VDC power supply with double insulation or reinforced insula-

tion.

∗4. When using the safety function, a safety function device must be connected and the wiring that is necessary to acti-

vate the safety function must be done to turn ON the servomotor power. When not using the safety function, use the SERVOPACK with the JZSP-CVH05-E Plug (provided as an accessory) inserted into the CN8.

∗5. Always use line receivers to receive the output signals. Note: The functions allocated to the input signals /DEC, P-OT, N-OT, /EXT1, /EXT2, and /EXT3 and the output signals

/SO1, /SO2, and /SO3 can be changed by using the parameters. Refer to 3.3.1 Input Signal Allocations and 3.3.2 Output Signal Allocations.

Wiring and Connection

3.3 I/O Signal Allocations

Input Signal Names

and Parameters

Valid-

ity

Level

Input

Signal

CN1 Pin Numbers

Connection Not

Required

(SERVOPACK

judges the connec-

tion)

13 7 8 9 10 11 12

Always ONAlways

OFF

Forward Run Prohibited

Pn50A.3

H P-OT0123456

L/P-OT9ABCDEF

Level at which input signal allocations are valid.

The parameter set values to be used are shown. Signals are allocated to CN1 pins according to the selected set values. Values in cells in bold lines are the factory settings.

If always ON (7) or always OFF (8) is set, signals will be processed in the SERVOPACK, which will eliminate the need for wiring changes.

This section describes the I/O signal allocations.

3.3.1 Input Signal Allocations

• Inverting the polarity of the forward run prohibited and reverse run prohibited signals from the factory setting will prevent the overtravel function from working in case of signal line disconnections or other failures. If this setting is absolutely necessary, check the operation and confirm that there are no safety problems.

• When two or more signals are allocated to the same input circuit, input signal level is valid for all allocated signals, resulting in an unexpected machine operation.

Input signals are allocated as shown in the following table.

Refer to the Interpreting the Input Signal Allocation Tables and change the allocations accordingly.

3.3 I/O Signal Allocations

3-21

3 Wiring and Connection

3.3.1 Input Signal Allocations

Input Signal Names

and Parameters

Forward Run Prohibited

Pn50A.3

Reverse Run Prohibited

Pn50B.0

Forward External Torque Limit

Pn50B.2

Reserve External Torque Limit

Pn50B.3

Homing Deceleration LS

Pn511.0

External Latch Signal 1

Pn511.1

External Latch Signal 2

Pn511.2

External Latch Signal 3

Pn511.3

Val id-

ity

Level

Input

Signal

13 7 8 9 10 11 12

H P-OT0123456

L/P-OT9ABCDEF

HN-OT0123456

L /N-OT 0 A B C D E F

L /P-CL0123456

HP-CL9ABCDEF

L/N-CL0123456

HN-CL9ABCDEF

L /DEC0123456

HDEC9ABCDEF

L EXT1****456

H/EXT1****DEF

L EXT2****456

H/EXT2****DEF

L EXT3****456

H/EXT3****DEF

CN1 Pin Numbers

Connection Not

Required

(SERVOPACK

judges the connec-

tion)

Always ONAlways

OFF

∗ Always set to "Invalid."

3-22

Wiring and Connection

3.3.2 Output Signal Allocations

Output Signal

CN1 Pin Numbers

Invalid

㧔not use㧕

1/ (2) 23/ (24) 25/ (26)

Brake

Pn50F.2

/BK 1 2 3 0

The parameter set values to be used are shown. Signals are allocated to CN1 pins according to the selected set values. Values in cells in bold lines are the factory settings.

Output Signal Names

and Parameters

MECHA

• The signals not detected are considered as "Invalid." For example, Positioning Completion (/COIN) signal in speed control is "Invalid."

• Inverting the polarity of the brake signal (/BK), i.e. positive logic, will prevent the holding brake from working in case of its signal line disconnection. If this setting is absolutely necessary, check the operation and confirm that there are no safety problems.

• When two or more signals are allocated to the same output circuit, a signal is output with OR logic circuit.

Output signals are allocated as shown in the following table.

Refer to the Interpreting the Output Signal Allocation Tables and change the allocations accordingly.

3.3 I/O Signal Allocations

Output Signal Names

and Parameters

Positioning Completion

Pn50E.0

Speed Coincidence Detection

Pn50E.1

Rotation Detection

Pn50E.2

Servo Ready

Pn50E.3

Torque Limit Detection

Pn50F.0

Speed Limit Detection

Pn50F.1

Brake

Pn50F.2

Warning

Pn50F.3

Near

Pn510.0

Pn512.0=1 Polarity inversion of CN1-1(2)

Pn512.1=1 Polarity inversion of CN1-23(24)

Pn512.2=1 Polarity inversion of CN1-25(26)

Output Signal

/COIN 1 2 3 0

/V-CMP 1 2 3 0

/TGON 1 2 3 0

/S-RDY 1 2 3 0

/CLT 1 2 3 0

/VLT 1 2 3 0

/BK 1 2 3 0

/WARN 1 2 3 0

/NEAR 1 2 3 0

1/ (2) 23/ (24) 25/ (26)

CN1 Pin Numbers

Invalid

(not use)

(Not invert at

factory setting)

3-23

3 Wiring and Connection

3.3 kΩ

/DEC, etc.

SERVOPACK

24 VDC

+24 VIN

24 VDC

3.3 kΩ

/DEC, etc.

SERVOPACK

+24 VIN

24 V

−

SERVOPACK input

3.4.1 Sequence Input Circuit

3.4 Examples of Connection to Host Controller

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

3.4.1 Sequence Input Circuit

(1) Photocoupler Input Circuit

CN1 connector terminals 6 to 13 are explained below.

The sequence input circuit interface is connected through a relay or open-collector transistor circuit. When connecting through a relay, use a low-current relay. If a low-current relay is not used, a faulty contact may result.

Relay Circuit Example Open-collector Circuit Example

Note: The 24 VDC external power supply capacity must be 50 mA minimum.

The SERVOPACK’s input circuit uses bidirectional photocoupler. Select either the sink circuit or the source circuit according to the specifications required for each machine.

Note: • The connection example in 3.2.3 shows sink circuits.

• The ON/OFF polarity differs between when a sink circuit is connected and when a source circuit is connected.

Sink Circuit Source Circuit

24 V

−

Input Signal Polarities Input Signal Polarities

Signal Level

OFF

Low (L)

level

High (H)

level

SERVOPACK input

Voltage

Level

0 V Close ON

24 V Open OFF

Contact Signal Level

High (H)

level

Low (L)

level

Voltage

Level

24 V Close

0 V Open

Contact

3-24

Wiring and Connection

(2) Safety Input Circuit

SERVOPACK

5 to 12 VDC

As for wiring input signals for safety function, input signals make common 0 V. It is necessary to make an input signal redundant.

Input Signal Connection Example

24-V power supply

Switch

Fuse

/HWBB1+

/HWBB1-

/HWBB2+

3.4.2 Sequence Output Circuit

/HWBB2-

SERVOPACK

CN8

3.3 kΩ

3.4 Examples of Connection to Host Controller

Three types of SERVOPACK output circuit are available.

Incorrect wiring or incorrect voltage application to the output circuit may cause short-circuit.

If a short-circuit occurs as a result of any of these causes, the holding brake will not work. This could damage the machine or cause an accident resulting in death or injury.

(1) Photocoupler Output Circuit

Photocoupler output circuits are used for servo alarm (ALM), servo ready (/S-RDY), and other sequence output signal circuits. Connect a photocoupler output circuit through a relay or line receiver circuit.

Relay Circuit Example Line Receiver Circuit Example

SERVOPACK

Note: The maximum allowable voltage and the allowable range of current capacity for photocoupler output circuits are as

follows.

• Voltage: 30 VDC

• Current: 5 to 50 mA DC

5 to 24 VDC

Relay

3-25

3 Wiring and Connection

SERVOPACK Host Controller

Applicable line receiver: SN75ALS175 or the equivalent

220 to 470 Ω

EDM1+

EDM1-

0 V

CN8

24 V Power Supply

SERVOPACK

Host controller

3.4.2 Sequence Output Circuit

(2) Line Driver Output Circuit

CN1 connector terminals, 17-18 (phase-A signal), 19-20 (phase-B signal), and 21-22 (phase-C signal) are explained below.

These terminals output the following signals via the line-driver output circuits.

• Output signals for which encoder serial data is converted as two phases pulses (PAO, /PAO, PBO, /PBO)

• Origin pulse signals (PCO, /PCO)

Connect the line-driver output circuit through a line receiver circuit at the host controller.

Line Receiver Circuit Example

(3) Safety Output Circuit

The external device monitor (EDM1) for safety output signals is explained below.

A configuration example for the EDM1 output signal is shown in the following diagram.

 Specifications

Type Signal Name Pin No.

Output EDM1

CN8-8 CN8-7

Output Sta-

tus

OFF

Both the /HWBB1 and /HWBB2 signals are working normally.

The /HWBB1 signal, the /HWBB2 signal, or both are not working normally.

Meaning

Electrical characteristics of EDM1 signal are as follows.

Items Characteristic Remarks

Maximum Allowable Voltage 30 VDC − Maximum Current 50 mADC −

Maximum Voltage Drop at ON 1.0 V Voltage between EDM1+ to EDM1- at current is 50 mA.

Maximum Delay Time 20 ms

3-26

Time from the change in /HWBB1 or /HWBB2 until the change in EDM1.

3.5 Wiring MECHATROLINK-III Communications

Wiring and Connection

DC24V

DC 0V

MP2300

YASKAWA

TEST

ޓ ޓ

Option

RDY

ALM

RUN

ERR

BAT

MON

CNFG

INT

SUP

STOP

SW1

OFF ON

BATTERY

CPU I/O

M-I/II

SVC-01

ERR

LK2

RUN

LK1

M/S

ONOFF

M-III

SERVOPACK

Lock injector

1. Slide the lock injector to the SERVOPACK side.

2. Remove the connector while the lock injector is slid to the SERVOPACK side.





M-III

3.5 Wiring MECHATROLINK-III Communications

The following diagram shows an example of connections between a host controller and a SERVOPACK. Connect the MECHATROLINK-III communications cables to the CN6A and CN6B on the SERVOPACK as shown below.

Note: The length of the cable between stations (L1, L2 ... Ln) must be 75 m maximum.

For removing the MECHATROLINK-III communications cable connectors from the SERVOPACK, refer to the following procedure. Slide the lock injector of the connector to the SERVOPACK side to unlock and remove the MECHATROLINK-III communications cable connectors.

Note: The MECHATROLINK-III communications cable connector may be damaged if it is removed without being

unlocking.

3-27

3 Wiring and Connection

46an d64

3.6.1 Encoder Signal (CN2) Names and Functions

3.6 Encoder Connection

This section describes the encoder signal (CN2) names, functions, and connection examples.

3.6.1 Encoder Signal (CN2) Names and Functions

The following table shows the names and functions of encoder signals (CN2).

Signal Name Pin No. Function

PG 5 V 1 Encoder power supply +5 V

PG 0 V 2 Encoder power supply 0 V

BAT (+)* 3 Battery (+)

BAT (-)* 4 Battery (-)

PS 5 Serial data (+)

/PS 6 Serial data (-)

Shield Shell –

∗ These do not need to be connected for an incremental encoder.

3.6.2 Encoder Connection Examples

The following diagrams show connection examples of the encoder, the SERVOPACK, and the host controller.

(1) Incremental Encoder

Incremental encoder

∗1

ENC

(Shell)

∗1. The pin arrangement for wiring connectors varies in accordance with the servomotor that is used.

∗2

/PS

PG5 V

PG0 V

Shielded wire

CN2

5 6

Output line-driver SN75ALS174 manufactured by Texas Instruments or the equivalent

Connector shell

SERVOPACK

Phase A

Phase B

Phase C

0 V

Connector shell

Host controller

CN1

17 18

19 20

21 22

/P AO

PBO

/PBO

PCO

/PCO

∗2

CN1

Applicable line receiver:

R (terminating resistance): 220 to 470 Ω

SN75ALS175 or MC3486 manufactured by Texas Instruments,

0 V

Phase A

Phase B

Phase C

or the equivalent

3-28

∗2. : represents shielded twisted-pair wires.

Wiring and Connection

(2) Absolute Encoder

/PCO

ENC

3 4

14 15

BAT BAT

(+)

(-)

CN2

17 18

19 20

CN1

PBO

/PBO

PCO

CN1

5 6

1 2

PG5 V PG0 V

PS /PS

BAT(+)

BAT(-)

0 V

Absolute encoder

(Shell)

SERVOPACK

Phase A

Phase B

Phase C

Connector shell

∗2

∗3

∗2

∗1

Phase A

Phase B

Phase C

Host controller

Battery

Output line-driver SN75ALS174 manufactured by Texas Instruments or the equivalent

R (terminating resistance): 220 to 470 Ω

Applicable line receiver:

SN75ALS175 or MC3486 manufactured by Texas Instruments,

or the equivalent

46and 64

3.6 Encoder Connection

∗1. The pin arrangement for wiring connectors varies in accordance with the servomotor that is used.

∗2. : represents shielded twisted-pair wires.

∗3. When using an absolute encoder, provide power by installing an encoder cable with a JUSP-BA01-E Battery Case or

install a battery on the host controller.

3-29

3 Wiring and Connection

M-III

Enlarged View

M-III

3.7.1 Connecting Regenerative Resistors

3.7 Connecting Regenerative Resistors

If the built-in regenerative resistor is insufficient, connect an external regenerative resistor by one of the following methods and set the regenerative resistor capacity (Pn600). As for precautions on selecting a regenera-

tive resistor and its specifications, refer to Σ-V Series Product Catalog (No.: KAEP S800000 42).

WARNING

• Be sure to connect the regenerative resistor correctly. Do not short-circuit between B1/ and B2.

Doing so may result in fire or damage to the regenerative resistor or SERVOPACK.

3.7.1 Connecting Regenerative Resistors

The following instructions show how to connect the regenerative resistors and SERVOPACKs.

(1) SERVOPACKs: Model SGDV-R70F, -R90F, -2R1F, -2R8F, -R70A, -R90A, -1R6A,

-2R8A

Connect an external regenerative resistor between the B1/ and B2 terminals on the SERVOPACK. After connecting a resistor, select the capacity. For more information on how to set the capacity of regenerative resistors, refer to 3.7.2 Setting Regenerative Resistor Capacity.

Enlarged View

(2) SERVOPACKs: Model SGDV-3R8A, -5R5A, -7R6A, -120A, -180A, -200A, -330A,

-1R9D, -3R5D, -5R4D, -8R4D, -120D, -170D

Disconnect the wiring between the SERVOPACK’s B2 and B3 terminals and connect an external regenerative resistor between the B1/ and B2 terminals. After connecting the resistor, select the capacity. For more information on how to set the capacity of regenerative resistors, refer to 3.7.2 Setting Regenerative Resistor Capac- ity.

Note: Be sure to take out the lead wire between the B2 and B3 terminals.

3-30

3.7 Connecting Regenerative Resistors

Wiring and Connection

Regenerative Resistor Unit

JUSP-RA-E

SERVOPACK

M-III

(3) SERVOPACKs: Model SGDV-470A, -550A, -590A, -780A, -210D, -260D, -280D, -

370D

No built-in regenerative resistor is provided, so the external regenerative resistor is required. The regenerative resistor units are as follows:

Note: The regenerative resistor unit is constructed from a number of resistors.

Main Circuit

Power Supply

Three-phase 200 V

Three-phase 400 V

Applicable

SERVOPACK Model

SGDV-

470A JUSP-RA04-E

550A, 590A, 780A JUSP-RA05-E

210D, 260D JUSP-RA18-E

280D, 370D JUSP-RA19-E

Applicable Regenerative Resistor Unit

Resis-

tance (Ω)

6.25

3.13

14.25

Specifications

Four 25 Ω (220 W) resistors are connected in parallel.

Eight 25 Ω (220 W) resistors are connected in parallel.

Two series of two 18 Ω (220 W) resistors each are connected in parallel.

Four series of two 28.5 Ω (220 W) resistors each are connected in parallel.

Connect the B1/ and B2 terminals of the SERVOPACK to the R1 and R2 terminals of the regenerative resistor unit.

When using a regenerative resistor unit, leave Pn600 at its factory setting. Set Pn600 when using a nonYASKAWA external regenerative resistor.

3-31

3 Wiring and Connection

Torque

3.7.2 Setting Regenerative Resistor Capacity

When using an external regenerative resistor, set the Pn600 so that the regenerative resistor capacity is equivalent to the resistor capacity.

WARNING

• If parameter Pn600 is set to 0 while an external regenerative resistor is connected, the regenerative overload alarm (A.320) may not be detected. If the regenerative overload alarm (A.320) is not detected correctly, the external regenerative resistor may be damaged and an injury or fire may result.

Classification

Pn600

Regenerative Resistor Capacity 　

Setting Range Unit Factory Setting When Enabled

0 to SERVOPACK

capacity

10 W 0 Immediately Setup

Speed

Position

Be sure to set the regenerative resistor capacity (Pn600) to a value that is in accordance with the allowable capacity of the actual external regenerative resistor being used.

Note 1. If Pn600 is not set to the optimum value, alarm A.320 will occur.

2. When set to the factory setting (Pn600 = 0), the SERVOPACK’s built-in resistor or Yaskawa’s regenerative resistor unit has been used.

The setting will vary with the cooling method of external regenerative resistor:

• For natural convection cooling: Set the value to a maximum 20% of the actually installed regenerative resistor capacity (W).

• For forced convection cooling: Set the value to a maximum 50% of the actually installed regenerative resistor capacity (W).

Example: Set 20 W (100 W × 20%) for the 100-W external regenerative resistor with natural convection cooling method: Pn600 = 2 (unit: 10 W)

• When the external regenerative resistors for power are used at the rated load ratio,

the resistor temperature increases to between 200 °C and 300 °C. The resistors must be used at or below the rated values. Check with the manufacturer for the resistor’s load characteristics.

• For safety, use the external regenerative resistors with thermoswitches.

3-32

3.8 Noise Control and Measures for Harmonic Suppression

Wiring and Connection

3.8 Noise Control and Measures for Harmonic Suppression

This section describes the wiring for noise control and the DC reactor for harmonic suppression.

3.8.1 Wiring for Noise Control

• Because the SERVOPACK is designed as an industrial device, it provides no mechanism to prevent noise interference.

• The SERVOPACK uses high-speed switching elements in the main circuit. Therefore peripheral devices may receive switching noise. If the equipment is to be used near private houses or if radio interference is a problem, take countermeasures against noise.

• If installation conditions by the EMC directive must be met, refer to 2.4 EMC Installa-

tion Conditions in

S800000 43).

The SERVOPACK uses microprocessors. Therefore it may receive switching noise from peripheral devices.

To prevent the noise from the SERVOPACK or the peripheral devices from causing a malfunction of any one of these devices, take the following precautions against noise as required.

-V Series User's Manual Setup Rotational Motor (No.: SIEP

• Position the input reference device and noise filter as close to the SERVOPACK as possible.

• Always install a surge absorber in the relay, solenoid and electromagnetic contactor coils.

• Do not share the power supply with an electric welder or electrical discharge machine. When the SERVOPACK is placed near a high-frequency generator, install a noise filter on the input side of the main circuit power supply cables and control power supply cables. As for the wiring of noise filter, refer to (1) Noise Fil- ter shown below.

• Take the grounding measures correctly. As for the grounding, refer to (2) Correct Grounding.

3-33

3 Wiring and Connection

L2C

L1C

CN2

CN1

ENC

(FG)

SERVOPACK

Servomotor

Operation relay sequence

Signal generation circuit (not included)

power

(Ground plate)

2.0 mm min.

200 VAC

Noise filter

∗3

∗2

2.0 mm

min .

Ground: Ground to an independent ground

Noise

filter

2.0 mm

min .

∗1

3.8.1 Wiring for Noise Control

(1) Noise Filter

The SERVOPACK has a built-in microprocessor (CPU), so protect it from external noise as much as possible by installing a noise filter in the appropriate place.

The following is an example of wiring for noise control.

∗1. For ground wires connected to the ground plate, use a thick wire with a thickness of at least 2.0 mm2 (preferably,

plain stitch cooper wire).

∗2. should be twisted-pair wires. ∗3. When using a noise filter, follow the precautions in 3.8.2 Precautions on Connecting Noise Filter.

(2) Correct Grounding

Take the following grounding measures to prevent the malfunction due to noise.

 Grounding the Motor Frame

Always connect servomotor frame terminal FG to the SERVOPACK ground terminal . Also be sure to ground the ground terminal .

If the servomotor is grounded via the machine, a switching noise current will flow from the SERVOPACK main circuit through servomotor stray capacitance. The above grounding is required to prevent the adverse effects of switching noise.

 Noise on the I/O Signal Cable

If the I/O signal cable receives noise, ground the 0 V line (SG) of the I/O signal cable. If the servomotor main circuit cable is accommodated in a metal conduit, ground the conduit and its junction box. For all grounding, ground at one point only.

3-34

Wiring and Connection

3.8.2 Precautions on Connecting Noise Filter

Noise Filter

The ground wire can be close to input lines.

Ground plate

Incorrect

Correct

This section describes the precautions on installing a noise filter.

(1) Noise Filter Brake Power Supply

Use the following noise filter at the brake power input for 400-W or less servomotors with holding brakes.

MODEL: FN2070-6/07 (Manufactured by SCHAFFNER Electronic.)

(2) Precautions on Using Noise Filters

Always observe the following installation and wiring instructions.

Some noise filters have large leakage currents. The grounding measures taken also affects the extent of the leakage current. If necessary, select an appropriate leakage current detector or leakage current breaker taking into account the grounding measures that are used and leakage current from the noise filter. Contact the manufacturer of the noise filter for details.

Do not put the input and output lines in the same duct or bundle them together.

3.8 Noise Control and Measures for Harmonic Suppression

Incorrect

Ground plate

Noise Filter

Ground plate

Noise Filter

Ground plate

Correct

Noise Filter

Separate these circuits

Separate the noise filter ground wire from the output lines. Do not accommodate the noise filter ground wire, output lines and other signal lines in the same

duct or bundle them together.

3-35

3 Wiring and Connection

Shielded ground wire

Noise Filter

SERVOPACK SERVOPACK SERVOPACK SERVOPACK

Ground plate

Incorrect

Correct

Noise Filter

Control Panel

Ground

SERVOPACK

Ground plate

SERVOPACK

AC reactor

Power supply

3.8.3 Connecting a Reactor for Harmonic Suppression

Connect the noise filter ground wire directly to the ground plate. Do not connect the noise filter ground wire to other ground wires.

If a noise filter is located inside a control panel, first connect the noise filter ground wire and the ground wires from other devices inside the control panel to the ground plate for the control panel, then ground the plates.

3-36

3.8.3 Connecting a Reactor for Harmonic Suppression

The SERVOPACK has reactor connection terminals for power supply harmonic suppression that can be used as required. Refer to or DC reactor and its specifications.

Connect a reactor as shown in the following diagram.

SERVOPACK with 100-VAC Power Input SERVOPACK with 200/400-VAC Power Input

Note 1. Connection terminals for DC reactor 1 and 2 are short-circuited at shipment. Remove the lead wire for

short-circuit, and connect a DC reactor.

2. Reactors are not included. (Sold separately.)

3. DC reactors cannot be connected to SERVOPACKs with a single-phase 100-V power input.

-V Series Product Catalog (No.: KAEP S800000 42) for precautions on selecting an AC

DC reactor

SERVOPACK



4

Operation

Operation

4.1 MECHATROLINK-III Communications Settings . . . . . . . . . . . . . . . . . . . . 4-3

4.1.1 Setting Switches S1, S2, and S3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-3

4.2 MECHATROLINK-III Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-4

4.3 Basic Functions Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-4

4.3.1 Servomotor Rotation Direction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-4

4.3.2 Overtravel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-5

4.3.3 Software Limit Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-8

4.3.4 Holding Brakes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-9

4.3.5 Stopping Servomotors after SV_OFF Command or Alarm Occurrence . . . . . . . . . . 4-14

4.3.6 Instantaneous Power Interruption Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-16

4.3.7 SEMI F47 Function

(Torque Limit Function for Low DC Power Supply Voltage for Main Circuit) . . . . . . . 4-17

4.3.8 Setting Motor Overload Detection Level . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-20

4.4 Trial Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-22

4.4.1 Inspection and Checking before Trial Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-22

4.4.2 Trial Operation via MECHATROLINK-III . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-23

4.4.3 Electronic Gear . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-24

4.4.4 Encoder Output Pulses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-26

4.4.5 Setting Encoder Output Pulse . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-27

4.5 Test Without Motor Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-28

4.5.1 Motor Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-28

4.5.2 Motor Position and Speed Responses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-29

4.5.3 Limitations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-30

4.5.4 Digital Operator Displays during Testing without Motor . . . . . . . . . . . . . . . . . . . . . . . 4-31

4.6 Limiting Torque . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-32

4.6.1 Internal Torque Limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-32

4.6.2 External Torque Limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-33

4.6.3 Checking Output Torque Limiting during Operation . . . . . . . . . . . . . . . . . . . . . . . . . 4-34

4-1

4 Operation

4.7 Absolute Encoders . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-35

4.7.1 Connecting the Absolute Encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-36

4.7.2 Absolute Data Request (SENS ON Command) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-38

4.7.3 Battery Replacement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-39

4.7.4 Absolute Encoder Setup and Reinitialization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-41

4.7.5 Absolute Data Reception Sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-42

4.7.6 Multiturn Limit Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-47

4.7.7 Multiturn Limit Disagreement Alarm (A.CC0) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-48

4.7.8 Absolute Encoder Origin Offset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-49

4.8 Other Output Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-50

4.8.1 Servo Alarm Output Signal (ALM) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-50

4.8.2 Warning Output Signal (/WARN) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-50

4.8.3 Rotation Detection Output Signal (/TGON) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-51

4.8.4 Servo Ready Output Signal (/S-RDY) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-51

4.8.5 Speed Coincidence Output Signal (/V-CMP) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-52

4.8.6 Positioning Completed Output Signal (/COIN) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-53

4.8.7 Positioning Near Output Signal (/NEAR) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-54

4.8.8 Speed Limit Detection Signal (/VLT) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-55

4.9 Safety Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-57

4.9.1 Hard Wire Base Block (HWBB) Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-57

4.9.2 External Device Monitor (EDM1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-63

4.9.3 Application Example of Safety Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-65

4.9.4 Confirming Safety Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-66

4.9.5 Connecting a Safety Function Device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-67

4.9.6 Precautions for Safety Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-69

4-2

4.1 MECHATROLINK-III Communications Settings

Operation

M-III

4.1 MECHATROLINK-III Communications Settings

This section describes the switch settings necessary for MECHATROLINK-III communications.

4.1.1 Setting Switches S1, S2, and S3

The DIP switch S3 is used to make the settings for MECHATROLINK-III communications.

The station address is set using the rotary switches S1 and S2.

OFF

1234

L1 L2

4 5

3 4

(1) Settings of the Rotary Switches S1 and S2

Set the station address using the rotary switches S1 and S2.

Station Address S1 S2

00H to 02H: Disabled (Do not use these addresses.)

03H (Factory setting) 0 3

04H 0 4

・・・

EFH E F

F0H to FFH: Disabled (Do not use these addresses.)

00 to 2

F0 to F

(2) Settings of the DIP Switch S3

ᴾ

The following table shows the settings of the DIP switch (S3).

S3 Function Setting

1 2 Number of transmission bytes

OFF OFF 16 byte

Pins 1 and 2

Sets the number of transmission bytes.

ON OFF 32 byte

OFF ON 48 byte

ON ON

Reserved. (Do not use this setting.)

Pin 3 Reserved. (Do not change.) OFF

Pin 4 Reserved. (Do not change.) OFF

• When using the MECHATROLINK-III standard servo profile, set the number of transmission bytes to either 32 or 48.

• When using the MECHATROLINK-II-compatible profile, set the number of transmission bytes to either 16 or 32.

• Turn the power OFF and then ON again to enable the new settings.

Factory

setting

1: OFF

2: ON

4-3

4 Operation

CCW

Phase B advanced

Time

Encoder output pulse

PAO

PBO

Motor speed

Torque reference

Motor speed

Phase A advanced

Time

Encoder output pulse

Motor speed

Torque reference

Motor speed

PAO

PBO

4.3.1 Servomotor Rotation Direction

4.2 MECHATROLINK-III Commands

For information on the MECHATROLINK-III commands, refer to Σ-V Series User’s Manual MECHATROLINK-III Standard Servo Profile Commands (No: SIEP S800000 63).

4.3 Basic Functions Settings

4.3.1 Servomotor Rotation Direction

The servomotor rotation direction can be reversed with parameter Pn000.0 without changing the polarity of the speed/position reference. This causes the rotation direction of the servomotor to change, but the polarity of the signal, such as encoder output pulses, output from the SERVOPACK does not change. (refer to 4.4.4 Encoder Output Pulses)

The standard setting for forward rotation is counterclockwise (CCW) as viewed from the load end of the servomotor.

Pn000

Parameter



0 Sets CCW as forward direction. [Factory setting]



1 Sets CW as forward direction. (Reverse Rotation Mode)

Forward/

Reverse Ref-

erence

Forward Reference

Reverse Reference

Forward Reference

Reverse Reference

Direction of Motor Rotation and Encoder Output Pulse

Motor speed

CCW

Torque reference

Motor speed

Time

Torque reference

Time

Motor speed

Encoder output pulse

PAO

PBO

Encoder output pulse

PAO

PBO

Phase B advanced

Phase A advanced

Applicable Over-

travel (OT)

P-OT

N-OT

P-OT

N-OT

4-4

Note: SigmaWin+ trace waveforms are shown in the above table.

Operation

4.3.2 Overtravel

CN1

P-OT

N-OT

Limit switch

SERVOPACK

Limit switch

Forward direction

Servomotor

46 and 64

The overtravel limit function forces movable machine parts to stop if they exceed the allowable range of motion and turn ON a limit switch.

For rotating application such as disc table and conveyor, overtravel function is not necessary. In such a case, no wiring for overtravel input signals is required.

• Installing limit switches

For machines that move using linear motion, connect limit switches to P-OT and N-OT of CN1 as shown below to

prevent machine damage. To prevent a contact fault or disconnection from causing accidents, make sure that the limit

switches are normally closed.

4.3 Basic Functions Settings

CAUTION

• Axes to which external force is applied in overtravel

Vertical axes:

Occurrence of overtravel may cause a workpiece to fall, because the /BK signal is on, that is when the brake is

released. Set the parameter (Pn001 = n.1) to bring the servomotor to zero clamp state after stopping to prevent

a workpiece from falling.

Other axes to which external force is applied:

Overtravel will bring about a baseblock state after the servomotor stops, which may cause the servomotor to be

pushed back by the load’s external force. To prevent this, set the parameter (Pn001 = n.1) to bring the servo-

motor to zero clamp state after stopping.

For details on how to set the parameter, refer to (3) Servomotor Stopping Method When Overtravel is Used.

(1) Signal Setting

Type Name

P-OT CN1-7

Input

N-OT CN1-8

Rotation in the opposite direction is possible during overtravel by inputting the reference.

Connector

Pin Number

Setting Meaning

Forward run allowed. Normal operation status.

OFF Forward run prohibited. Forward overtravel.

ON Reverse run allowed. Normal operation status.

OFF Reverse run prohibited. Reverse overtravel.

(2) Overtravel Function Setting

Parameters Pn50A and Pn50B can be set to enable or disable the overtravel function.

If the overtravel function is not used, no wiring for overtravel input signals will be required.

Parameter Meaning

n.1



Pn50A

Pn50B

A parameter can be used to re-allocate input connector number for the P-OT and N-OT signals. Refer to 3.3.1 Input Signal Allocations for details.

[Factory setting]

n.8



2

[Factory setting]

8

Inputs the Forward Run Prohibited (P-OT) signal from CN1-7.

Disables the Forward Run Prohibited (P-OT) signal. Allows constant forward rotation.

Inputs the Reverse Run Prohibited (N-OT) signal from CN1-8.

Disables the Reverse Run Prohibited (N-OT) signal. Allows constant reverse rotation.

When

Enabled

After restart Setup

Classification

4-5

4 Operation

Torque

4.3.2 Overtravel

(3) Servomotor Stopping Method When Overtravel is Used

There are three servomotor stopping methods when an overtravel is used.

• Dynamic brake By short-circuiting the electric circuits, the servomotor comes to a quick stop.

• Decelerate to a stop Stops by using emergency stop torque.

• Coast to a stop Stops naturally, with no control, by using the friction resistance of the servomotor in operation.

After servomotor stopping, there are two modes.

• Coast mode Stopped naturally, with no control, by using the friction resistance of the servomotor in operation.

• Zero clamp mode A mode forms a position loop by using the position reference zero.

The servomotor stopping method when an overtravel (P-OT, N-OT) signal is input while the servomotor is operating can be set with parameter Pn001.

Mode After Stop-

ping

Coast

Zero clamp

When Enabled Classification

After restart Setup

Pn001

Parameter Stop Method

n.00

[Factory setting]

n.01

n.02 Coast

n.1

n.2 Coast

Deceleration to a stop

• A servomotor under torque control cannot be decelerated to a stop. The servomotor is stopped with the dynamic braking (DB) or coasts to a stop according to the setting of Pn001.0. After the servomotor stops, the servomotor will enter a coast state.

• For details on servomotor stopping methods after the SV_OFF command is received or an alarm occurs, refer to 4.3.5 Stopping Servomotors after SV_OFF Command or Alarm Occurrence.

 When Servomotor Stopping Method is Set to Decelerate to Stop

Emergency stop torque can be set with Pn406.

Pn406

Emergency Stop Torque

Setting Range Setting Unit Factory Setting When Enabled

0 to 800 1% 800 Immediately Setup

Speed

Position

Classification

4-6

• The setting unit is a percentage of the rated torque.

• The factory setting is 800% so that the setting is large enough a value to operate the servomotor at maximum torque. The maximum value of emergency stop torque that is actually available, however, is limited to the maximum torque of the servomotor.

4.3 Basic Functions Settings

Operation

Overtravel input signal

㧔P-OT, N-OT signals㧕

Overtravel warning

㧔A.9A0㧕

Servomotor power

Warning not detected.

OFF ON

Enabled

Disabled

Enabled

Disabled

Warning status

Normal operation

Motion command

ALM_CLR command

Command

MECHA

(4) Overtravel Warning Function

This function detects an overtravel warning (A.9A0) if overtravel occurs while the servomotor power is ON. Using this function enables notifying the host controller when the SERVOPACK detects overtravel even if the overtravel signal is ON only momentarily.

To use the overtravel warning function, set digit 4 of Pn00D to 1 (detects overtravel warning).

Note: The overtravel warning function is supported by software version 001A or later. The software version can be

checked with Fn012. For details, refer to 6.14 Software Version Display (Fn012).

 Warning Output Timing

<Notes>

• Warnings are detected for overtravel in the same direction as the reference.

• Warnings are not detected for overtravel in the reverse direction from the reference. Example:A warning will not be output for a forward reference even if the N-OT signal (reverse run prohibited)

turns ON.

• A warning can be detected in either the forward or reverse direction, when there is no reference.

• A warning will not be detected when the servomotor power is OFF even if overtravel occurs.

• A warning will not be detected when the servomotor power changes from OFF to ON even if overtravel status exists.

• To clear the overtravel warning, send a Clear Warning or Alarm command (ALM_CLR) regardless of the status of the servomotor power and the overtravel signal. If the warning is cleared by this method during an overtravel state, the occurrence of the warning will not be indicated until the overtravelling is corrected and reset.

• The overtravel warning will be detected when the software limit is in effect.

CAUTION

• The overtravel warning function only detects warnings. It does not affect on stopping for overtravel or motion operations at the host controller. The next step (e.g., the next motion or other command) can be executed even if an overtravel warning exists. However, depending on the processing specifications and programming for warnings in the host controller, operation may be affected when an overtravel warning occurs (e.g., motion may stop or not stop). Confirm the specifications and programming in the host controller.

• When an overtravel occurs, the SERVOPACK will perform stop processing for overtravel. Therefore, when an overtravel warning occurs, the servomotor may not reach the target position specified by the host controller. Check the feedback position to make sure that the axis is stopped at a safe position.

 Related Parameter

Parameter Meaning When Enabled Classification

n.0

Pn00D

[Factory setting]

n.1 Detects overtravel warning.

Does not detect overtravel warning.

Immediately Setup

4-7

4 Operation

Position

4.3.3 Software Limit Settings

The software limits set limits in software for machine movement that do not use the overtravel signals (P-OT and N-OT). If a software limit is exceeded, an emergency stop will be executed in the same way as it is for overtravel.

(1) Software Limit Function

The software limit function can be enabled or disabled.

Use the parameter Pn801.0 to enable the software limit function.

The software limit function can be enabled under the following conditions. Under all other circumstances, the software limits will not be enabled even if a software limit is exceeded.

• The ZRET command has been executed.

• REFE = 1 using the POS_SET command.

Enable or disable the software limits using one of the following settings.

Parameter Description When Enabled Classification

n.0 Software limits enabled in both direction.

n.1 Forward software limit enabled.

Pn801

n.2 Reverse software limit enabled.

n.3

[Factory setting]

Immediately Setup

Both software limits disabled.

(2) Software Limit Check using References

Enable or disable software limit checks when target position references such as POSING or INTERPOLATE are input. When the input target position exceeds the software limit, a deceleration stop will be performed from the software limit set position.

Parameter Description When Enabled Classification

Pn801

n.0

[Factory setting]

n.1 Software limit check using references.

No software limit check using references.

Immediately Setup

(3) Software Limit Setting

Set software limits value in the positive and negative directions.

Because the limit zone is set according to the forward or reverse direction, the reverse limit must be less than the forward limit.

Forward Software Limit

Pn804

Pn806

Setting Range Setting Unit Factory Setting When Enabled

-1073741823 to 1073741823

Reverse Software Limit

Setting Range Setting Unit Factory Setting When Enabled

-1073741823 to 1073741823

1 Reference Unit 819191808 Immediately Setup

1 Reference Unit -819191808 Immediately Setup

Classification

4-8

Operation

4.3.4 Holding Brakes

Rotation

Servo ON command (SV_ON)

Servomotor power

Brake signal (/BK)

Brake contact part (lining)

Position reference/ Speed reference

Motor speed

OFF

Brake release Brake applied

Brake applied

MECHA

A holding brake is a brake used to hold the position of the movable part of the machine when the SERVOPACK is turned OFF so that movable part does not move due to gravity or external forces. Holding brakes are built into servomotors with brakes.

The holding brake is used in the following cases.

4.3 Basic Functions Settings

Vertical Shaft



Servomotor

Holding brake

Prevents the movable part from moving due to its own weight when the power is OFF.

Movable part of machine

Shaft with External Force Applied



External force

Prevents the movable part (table) from moving due to external force.

Movable part of machine Servomotor

• The brake built into the servomotor with brakes is a de-energization brake, which is used only to hold and cannot be used for braking. Use the holding brake only to hold a stopped servomotor.

There is a delay in the braking operation. Set the following ON/OFF timing.

Holding brake

∗1. The operation delay time of the brake depends on the model. For details, refer to Brake Operation Delay Time shown

∗2. After the SV_ON command has been sent and 50 ms has passed since the brake was released, output the reference

∗3. Use Pn506, Pn507, and Pn508 to set the timing of when the brake will be activated and when the servomotor power

below.

from the host controller to the SERVOPACK.

will be turned OFF.

4-9

4 Operation

ENC

CN2

AC DC

BK-RY

+24 V

L1 L2

L3 L1C

L2C

(/BK+)

(/BK-)

CN1

0 V

BK-R Y

: Brake control relay

A 24 VDC power supply is not included.

Brake power supply for 90 V Input voltage 200-V models: LPSE-2H01-E

Input voltage 100-V models: LPDE-1H01-E

Servomotor with holding brake

SERVOPACK

Power supply

Red

Black

Blue or

yellow

White

Brake power supply

DC side

AC side

Rotation

4.3.4 Holding Brakes

SGMJV-A5 to 04

SGMJV-08 80 100

SGMAV-A5 to 04 60 100

SGMAV-06 to 10 80 100

SGMPS-01, -08 20 100

SGMPS-02, -04, -15 40 100

SGMGV-03 to 20

SGMGV-30, -44 170 100 (24 VDC), 80 (90 VDC)

SGMGV-55, -75, -1A 170 80

SGMGV-1E 250 80

SGMSV-10 to 25 170 80

SGMSV-30 to 50 100 80

Note: The above operation delay time is an example when the power supply is turned ON and OFF on the DC side.

Brake Operation Delay Time

Model Voltage Brake Release Time (ms) Brake Applied Time (ms)

60 100

24 VDC

100 80

24 VDC,

90 VDC

Be sure to evaluate the above times on the actual equipment before using the application.

(1) Wiring Example

Use the brake signal (/BK) and the brake power supply to form a brake ON/OFF circuit. The following diagram shows a standard wiring example.

The timing can be easily set using the brake signal (/BK).

4-10

4.3 Basic Functions Settings

Operation

Relay Circuit Example

• Select the optimum surge absorber in accordance with the applied brake current and brake power supply. When using the LPSE-2H01-E power supply: Z10D471 (Made by SEMITEC Corporation) When using the LPDE-1H01-E power supply: Z10D271 (Made by SEMITEC Corporation) When using the 24-V power supply: Z15D121 (Made by SEMITEC Corporation)

• After the surge absorber is connected, check the total time the brake is applied for the system. Depending on the surge absorber, the total time the brake is applied can be changed.

• Configure the relay circuit to apply the holding brake by the emergency stop.

SERVOPACK

Photocoupler

5 to 24 VDC

Emergency stop

• The allocation of the /BK signal can be changed. Refer to (3) Brake Signal (/BK) Allocation to set the parameter Pn50F.

• When using a 24-V brake, separate the 24-VDC power supply from other power supplies, such as the one used for the I/O signals of CN1 connectors. Always install the 24-VDC power supply separately. If the power supply is shared, the I/O signals might malfunction.

(2) Brake Signal (/BK) Setting

This output signal controls the brake. The allocation of the /BK signal can be changed. Refer to (3) Brake Signal (/BK) Allocation for allocation.

The /BK signal turns OFF (applies the brake) when an alarm is detected or the SV_OFF command is received. The brake OFF timing can be adjusted with Pn506.

Type Name

Output /BK CN1-1, CN1-2

Connector

Pin Number

Setting Meaning

ON (closed) Releases the brake.

OFF (open) Applies the brake.

The /BK signal is still ON during overtravel and the brake is still released.

4-11

4 Operation

Speed

Position

Torque

MECHA

4.3.4 Holding Brakes

(3) Brake Signal (/BK) Allocation

Use parameter Pn50F.2 to allocate the /BK signal.

Connector

Parameter

Pin Number

Meaning

When

Enabled

+ Terminal - Terminal

n.0 – – The /BK signal is not used.

Pn50F

n.1 [Factory

CN1-1 CN1-2

setting]

n.2 CN1-23 CN1-24

n.3 CN1-25 CN1-26

The /BK signal is output from output terminal CN1-1, 2.

The /BK signal is output from output terminal CN1-23, 24.

The /BK signal is output from output terminal CN1-25, 26.

After

restart

When multiple signals are allocated to the same output terminal, the signals are output with OR logic. For the /BK signal, do not use the output terminal that is already being used for another signal.

(4) Brake ON Timing after the Servomotor Stops

When the servomotor stops, the /BK signal turns OFF at the same time as the SV_OFF command is received. Use parameter Pn506 to change the timing to turn OFF the servomotor power after the SV_OFF command has been received.

Classifica-

tion

Setup

Brake Reference-Servo OFF Delay Time

Pn506

Setting Range Setting Unit Factory Setting When Enabled

0 to 50 10 ms 0 Immediately Setup

• When using the servomotor to control a vertical axis, the machine movable part may shift slightly depending on the brake ON timing due to gravity or an external force. To eliminate this slight shift, set parameter so that the power to the servomotor turns OFF after the brake is applied.

• This parameter changes the brake ON timing while the servomotor is stopped.

The servomotor will turn OFF immediately when an alarm occurs, regardless of the setting of this parameter. The machine movable part may shift due to gravity or external force before the brake operates.

SV_OFF command

output

/BK

Power to motor

Servo ON

Brake released

(ON)

Power to motor

Servo OFF

Brake applied

(OFF)

Pn506

Classification

No power to motor

4-12

4.3 Basic Functions Settings

Operation

Speed

Position

Torque

46 and 64

(5) Brake Signal (/BK) Output Timing during Servomotor Rotation

If an alarm occurs while the servomotor is rotating, the servomotor will come to a stop and the brake signal (/BK) will be turned OFF. The timing of brake signal (/BK) output can be adjusted by setting the brake reference output speed level (Pn507) and the waiting time for brake signal when motor running (Pn508).

Note: If the servomotor is set so that it comes to a zero-speed stop for an alarm, follow the information in (4) Brake ON

Timing after the Servomotor Stops after the servomotor comes to a stop for a zero position reference.

Brake Reference Output Speed Level

Pn507

Setting Range Setting Unit Factory Setting When Enabled

0 to 10000

Waiting Time for Brake Signal When Motor Running

Pn508

Setting Range Setting Unit Factory Setting When Enabled

10 to 100 10 ms 50 Immediately Setup

/BK Signal Output Conditions When Servomotor Rotating

The /BK signal goes to high level (brake ON) when either of the following conditions is satisfied:

• When the motor speed falls below the level set in Pn507 after the power to the servomotor is turned OFF.

• When the time set in Pn508 is exceeded after the power to the servomotor is turned OFF.

1 min

-1

SV_OFF command

or alarm or power OFF

Motor speed

Power to motor

/BK output

Torque

Classification

100 Immediately Setup

Speed

Servo ON

Brake

released

(ON)

Servo OFF

Pn-507

Brake applied

(OFF)

Pn508

OFF

Classification

Motor stopped by applying DB or by coastingPn001.0

• The servomotor will be limited to its maximum speed even if the value set in Pn507 is higher than the maximum speed.

• Do not allocate the rotation detection signal (/TGON) and the brake signal (/BK) to the same terminal. The /TGON signal will otherwise be turned ON by the falling speed on a vertical axis, and the brake may not operate. For the /BK signal, do not use the terminal that is already being used for another signal.

4-13

4 Operation

4.3.5 Stopping Servomotors after SV_OFF Command or Alarm Occurrence

The servomotor stopping method can be selected after the SV_OFF command is received or an alarm occurs.

• Dynamic braking (DB) is used for emergency stops. The DB circuit will operate frequently if the power is turned ON and OFF or the SV_ON command and SV_OFF command are received with a reference input applied to start and stop the servomotor, which may result in deterioration of the internal elements in the SERVOPACK. Use speed input references or position references to start and stop the servomotor.

• If the main circuit power supply or the control power supply is turned OFF but the SV_OFF command has not been received, the stopping method for servomotor cannot be set in the parameters. Use the following method to stop the servomotor.

If turning OFF the main circuit power supply, but the SV_OFF command has not been received, the servomotor will be stopped by dynamic braking.

If turning OFF the control power supply, but the SV_OFF command has not been received, the stopping method will vary with the SERVOPACK model. Two stopping methods are available.

• SERVOPACK models for servomotors that stop by coasting: SGDV-330A, -470A, -550A, -590A, -780A, -280D, -370D

• SERVOPACK models for servomotors that stops by dynamic braking: All SERVOPACKs other than those listed for coasting.

• If the servomotor must be stopped by coasting rather than by dynamic braking when the main circuit power supply or the control power supply is turned OFF but the SV_OFF command has not been received, arrange the sequence externally so the current will be cut off for servomotor wires U, V, and W.

• To minimize the coasting distance of the servomotor to come to a stop when an alarm occurs, the zero-speed stopping method is factory-set for alarms to which the zerospeed stop method is applicable. The DB stopping method may be more suitable than the zero-speed stopping method, however, depending on the application. For example, for multiple axes coupling operation (a twin-drive operation), machinery damage may result if a zero-speed stop alarm occurs for one of the coupled shafts and the other shaft stops by dynamic brake. In such cases, change the method to the DB stopping method.

(1) Stopping Method for Servomotor after SV_OFF Command is Received

Use Pn001.0 to select the stopping method for the servomotor after the SV_OFF command is received.

Parameter Stop Mode Mode After Stopping When Enabled Classification

n.0

[Factory setting]

Pn001

Note: Similar to the Coast Mode, the n.0 setting (which stops the servomotor by dynamic braking and then holds it

n.1 Coast

n.2 Coast Coast

in Dynamic Brake Mode) does not generate any braking force when the servomotor stops or when it rotates at very low speed.

After restart Setup

4-14

4.3 Basic Functions Settings

Operation

(2) Stopping Method for Servomotor When an Alarm Occurs

There are two types of alarms (Gr.1 and Gr.2) that depend on the stopping method when an alarm occurs. Select the stopping method for the servomotor when an alarm occurs using Pn001.0 and Pn00B.1.

The stopping method for the servomotor for a Gr.1 alarm is set to Pn001.0.

The stopping method for the servomotor for a Gr.2 alarm is set to Pn00B.1.

Refer to the information on alarm stopping methods in 9.1.1 List of Alarms.

 Stopping Method for Servomotor for Gr.1 Alarms

The stopping method of the servomotor when a Gr.1 alarm occurs is the same as that in (1) Stopping Method for Servomotor after SV_OFF Command is Received.

Mode After Stop-

ping

When Enabled Classification

After restart Setup

Pn001

Parameter Stop Mode

n.0

[Factory setting]

n.1 Coast

n.2 Coast Coast

 Stopping Method for Servomotor for Gr.2 Alarms

Parameter

Pn00B Pn001

n.0

n.0 [Factory setting]

n.1

∗ Zero-speed stopping: The speed reference is set to 0 to stop quickly. Note: The setting of Pn00B.1 is effective for position control and speed control. Pn00B.1 will be ignored for torque control

and only the setting of Pn001.0 will be valid.

[Factory setting]

n.1

n.2

n.0

[Factory setting]

n.1

n.2 Coast

Stop Mo de

Zero-speed stopping*

Mode After

Coast

Stopping

When

Enabled

After

restart

Classifica-

Setup

tion

4-15

Yaskawa Sigma-5 User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

About this Manual

Safety Precautions

Warranty

Harmonized Standards

Contents

1 Outline

1.2 Part Names

1.3 SERVOPACK Ratings and Specifications

1.3.1 Ratings

1.3.2 Basic Specifications

1.3.3 MECHATROLINK-III Function Specifications

1.4 SERVOPACK Internal Block Diagrams

1.4.1 Single-phase 100 V, SGDV-R70F21A, -R90F21A, -2R1F21A Models

1.4.2 Single-phase 100 V, SGDV-2R8F21A Model

1.4.3 Single-phase 200 V, SGDV-120A21A008000 Model

1.4.6 Three-phase 200 V, SGDV-3R8A21A, -5R5A21A, -7R6A21A Models

1.4.7 Three-phase 200 V, SGDV-120A21A Model

1.4.8 Three-phase 200 V, SGDV-180A21A, -200A21A Models

1.4.9 Three-phase 200 V, SGDV-330A21A Model

1.4.10 Three-phase 200 V, SGDV-470A21A, -550A21A Models

1.4.11 Three-phase 200 V SGDV-590A21A, -780A21A Models

1.4.12 Three-phase 400 V, SGDV-1R9D21A, -3R5D21A, -5R4D21A Models

1.4.13 Three-phase 400 V, SGDV-8R4D21A, -120D21A Models

1.4.14 Three-phase 400 V, SGDV-170D21A Model

1.4.15 Three-phase 400 V, SGDV-210D21A, -260D21A Models

1.4.16 Three-phase 400 V, SGDV-280D21A, -370D21A Models

1.5 Examples of Servo System Configurations

1.6 SERVOPACK Model Designation

1.7 Inspection and Maintenance

2 Panel Display and Operation of Digital Operator

2.1.1 Status Display

2.1 Panel Display

2.1.2 Alarm and Warning Display

2.1.3 Hard Wire Base Block Display

2.1.4 Overtravel Display

2.2 Operation of Digital Operator

2.4.1 Parameter Classification

2.4.2 Notation for Parameters

2.4.3 Setting Parameters

3 Wiring and Connection

3.1.1 Main Circuit Terminals

3.1 Main Circuit Wiring

3.1.2 Using a Standard Power Supply (Single-phase 100 V, Three-phase 200 V, or Three-phase 400 V)

3.1.3 Using the SERVOPACK with Single-phase, 200 V Power Input

3.1.4 Using the SERVOPACK with a DC Power Input

3.1.5 Using More Than One SERVOPACK

3.1.6 General Precautions for Wiring

3.2.1 I/O Signal (CN1) Names and Functions

3.2 I/O Signal Connections

3.2.2 Safety Function Signal (CN8) Names and Functions

3.2.3 Example of I/O Signal Connections

3.3.1 Input Signal Allocations

3.3 I/O Signal Allocations

3.3.2 Output Signal Allocations

3.4.1 Sequence Input Circuit

3.4 Examples of Connection to Host Controller

3.4.2 Sequence Output Circuit

3.5 Wiring MECHATROLINK-III Communications

3.6.1 Encoder Signal (CN2) Names and Functions

3.6 Encoder Connection

3.6.2 Encoder Connection Examples

3.7.1 Connecting Regenerative Resistors

3.7 Connecting Regenerative Resistors

3.7.2 Setting Regenerative Resistor Capacity

3.8 Noise Control and Measures for Harmonic Suppression

3.8.1 Wiring for Noise Control

3.8.2 Precautions on Connecting Noise Filter

3.8.3 Connecting a Reactor for Harmonic Suppression

4 Operation

4.1 MECHATROLINK-III Communications Settings

4.1.1 Setting Switches S1, S2, and S3

4.3.1 Servomotor Rotation Direction

4.2 MECHATROLINK-III Commands

4.3 Basic Functions Settings

4.3.2 Overtravel

4.3.3 Software Limit Settings

1

Outline

2

Panel Display and Operation of Digital Operator

3

Wiring and Connection

4

Operation