Yaskawa Sigma II User Manual
AC Servo Drives
Σ-II Series
SGMVH
/SGDM/SGDH
USER'S MANUAL
SGMVH Servomotor
SGDM/SGDH SERVOPACKs
POWER
8CN
O
P
E
CN3
R
A
T
O
R
T DATA/SEEMOD/
CN5
CN3
KSERVOPAC
S -HDG
＊＊＊＊
AYASKAW
CN1
DC
480 V460
V
CHARGE
DC
400 V 0 V440
380
DU
DWDV B1
B2
24N
24P
V
V
CN2
MANUAL NO. SIEP S800000 59A
Outline
Selections
Servomotor Specifications and
Dimensional Drawings
SERVOPACK Specifications and
Dimensional Drawings
Specifications and Dimensional Drawings of
Cables and Peripheral Devices
Wiring
Digital Operator/Panel Operator
Operation
Adjustments
Inspection, Maintenance,
and Troubleshooting
Appendix
1
2
3
4
5
6
7
8
9
10
11
Copyright © 2008 YASKAWA ELECTRIC CORPORATION
All rights reserved. No part of this publication may be reproduced, stored in a retrieval system,
or transmitted, in any form, or by any means, mechanical, electronic, photocopying, recording,
or otherwise, without the prior written permission of Yaskawa. No patent liability is assumed
with respect to the use of the information contained herein. Moreover, because Yaskawa is constantly striving to improve its high-quality products, the information contained in this manual is
subject to change without notice. Every precaution has been taken in the preparation of this
manual. Nevertheless, Yaskawa assumes no responsibility for errors or omissions. Neither is
any liability assumed for damages resulting from the use of the information contained in this
publication.
About this Manual
Intended Audience
This manual is intended for the following users.
•
Those selecting Σ-II Series servo drives or peripheral devices for Σ-II Series servo drives.
•
Those wanting to know about the ratings and characteristics of Σ-II Series servo drives.
•
•
•
•
Description of Technical Terms
The terms in this manual are defined as follows:
• Servomotor or motor = Σ-II Series SGMVH servomotor.
• SERVOPACK = Σ-II Series SGDM/SGDH amplifier.
• Servo drive = A set including a servomotor and servo amplifier.
• Servo system = A servo control system that includes the combination of a servo drive with a host
• Parameter number = Numbers that the user inputs toward the SERVOPACK.
designing Σ-II Series servo drive systems.
Those
Those installing or wiring Σ-II Series servo drives.
Those performing trial operation or adjustments of Σ-II Series servo drives.
Those maintaining or inspecting Σ-II Series servo drives.
controller and peripheral devices.
iii
IMPORTANT
INFO
EXAMPLE
TERMS
Quick access to your required information
Read the chapters marked with 9 to get the information required for your purpose.
Chapter
Chapter 1
Outline
Chapter 2
Selections
Chapter 3
Servomotor Specifications
and Dimensional Drawings
Chapter 4
SERVOPACK Specifications
and Dimensional Drawings
Chapter 5
Specifications and
Dimensional Drawings of
Cables and Peripheral
Devices
Chapter 6
Wiring
Chapter 7
Digital Operator/Panel
Operator
Chapter 8
Operation
Chapter 9
Adjustments
Chapter 10
Inspection, Maintenance,
and Troubleshooting
Chapter 11
Appendix
SERVOPACKs,
Servomotors,
and Peripheral
Devices
Ratings and
Character-
istics
System
Design
Panel
Configura-tion
and Wiring
Trial Operation
and Servo
Adjustment
Inspection and
Maintenance
9
9
9999
9999
9999
99 9
99
9
9
9
9999
iv
Visual Aids
■
The following aids are used to indicate certain types of information for easier reference.
• Indicates important information that should be memorized, including precautions such as alarm dis-
plays to avoid damaging the devices.
• Indicates supplemental information.
• Indicates application examples.
• Indicates definitions of difficult terms or terms that have not been previously explained in this man-
ual.
Indication of Reverse Signals
■
In this manual, the names of reverse signals (ones that are valid when low) are written with a forward slash (/)
before the signal name, as shown in the following example:
• S-ON
=
/S-ON
• P-CON
Related Manuals
■
=
/P-CON
Refer to the following manuals as required.
Manual Name Manual Number Contents
-II Series SGMH/SGDH
Σ
Digital Operator Operation Manual
-II Series SERVOPACKs
Σ
Personal Computer Monitoring Software
Operation Manual
-II Series SGDH
Σ
Fully Closed Interface Unit
User’s Manual
Type: JUSP-FC100
-II Series SGDH MECHATROLINK
Σ
Application Module User’s Manual
Type: JUSP-NS100
-II Series SGDH MECHATROLINK-II
Σ
Application Module User’s Manual
Type: JUSP-NS115
-II Series SGDH
Σ
DeviceNet Application Module
User’s Manual
Type: JUSP-NS300
-II Series SGDH PROFIBUS-DP
Σ
Application Module User’s Manual
Type: JUSP-NS500
TOE-S800-34 Provides detailed information on the operating method
SIE-S800-35 Describes the using and the operating methods on soft-
SIE-C718-5 Provides detailed information on the fully closed con-
SIE-C718-4 Provides detailed information on MECHATROLINK
SIEPC71080001 Provides detailed information on MECHATROLINK-II
SIE-C718-6 Provides detailed information on DeviceNet communi-
SIE-C718-8 Provides detailed information on PROFIBUS-DP
of JUSP-OP02A-2 type Digital Operator (option
device).
ware that changes the local personal computer into the
monitor equipment for the Σ-II Series servomotor.
trol of the JUSP-FC100 interface unit.
communications.
communications.
cations.
communications.
v
WARNING
CAUTION
PROHIBITED
MANDATORY
Safety Information
The following conventions are used to indicate precautions in this manual. Failure to heed precautions provided
in this manual can result in serious or possibly even fatal injury or damage to the products or to related equipment
and systems.
Indicates precautions that, if not heeded, could possibly result in loss of life or serious
injury.
Indicates precautions that, if not heeded, could result in relatively serious or minor
injury, damage to the product, or faulty operation.
In some situations, the precautions indicated could have serious consequences if not heeded.
Indicates prohibited actions that must not be performed. For example, this symbol
would be used as follows to indicate that fire is prohibited: .
Indicates compulsory actions that must be performed. For example, this symbol would
be used as follows to indicate that grounding is compulsory: .
vi
Notes for Safe Operation
WARNING
Read this manual thoroughly before checking products on delivery, storage and transportation, installation,
wiring, operation and inspection, and disposal of the AC servo drive.
• Never touch any rotating motor parts while the motor is running.
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.
• Never touch the inside of the SERVOPACKs.
Failure to observe this warning may result in electric shock.
• Do not touch terminals for five minutes after the power is turned OFF.
Residual voltage may cause electric shock.
• Do not touch terminals for five minutes after voltage resistance test.
Residual voltage may cause electric shock.
• Follow the procedures and instructions for trial operation precisely as described in this
manual.
Malfunctions that occur after the servomotor is connected to the equipment not only damage the
equipment, but may also cause an accident resulting in death or injury.
• The multiturn limit value must be changed only for special applications.
Changing it inappropriately or unintentionally can be dangerous.
• If the Multiturn Limit Disagreement alarm (A.CC) 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 front cover, cables, connectors, or optional items while the power is ON.
Failure to observe this warning may result in electric shock.
• Installation, disassembly, or repair must be performed only by authorized personnel.
Failure to observe this warning may result in electric shock or injury.
• Do not damage, press, exert excessive force or place heavy objects on the cables.
Failure to observe this warning may result in electric shock, stopping operation of the product, or
burning.
• Provide an appropriate stopping device on the machine side to ensure safety.
A holding brake for a servomotor with brake is not a stopping device for ensuring safety.
Failure to observe this warning may result in injury.
• Do not come close to the machine immediately after resetting momentary power loss to
avoid an unexpected restart.
Take appropriate measures to ensure safety against an unexpected restart.
Failure to observe this warning may result in injury.
• Do not modify products.
Failure to observe this warning may result in injury or damage to products.
• Connect the ground terminal to electrical codes (ground resistance: 100
Improper grounding may result in electric shock or fire.
or less).
Ω
vii
CAUTION
CAUTION
CAUTION
Checking on Delivery
• Always use the servomotor and SERVOPACK in one of the specified combinations.
Failure to observe this caution may result in fire or malfunction.
Storage and Transportation
• Do not store or install the product in the following places.
• Locations subject to direct sunlight.
• Locations subject to temperatures outside the range specified in the storage or installation temperature conditions.
• Locations subject to humidity outside the range specified in the storage or installation humidity conditions.
• Locations subject to condensation as the result of extreme changes in temperature.
• Locations subject to corrosive or flammable gases.
• Locations subject to dust, salts, or iron dust.
• Locations subject to exposure to water, oil, or chemicals.
• Locations subject to shock or vibration.
Failure to observe this caution may result in fire, electric shock, or damage to the product.
• Do not hold the product by the cables or motor shaft 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.
Installation
• Never use the products in an environment subject to water, corrosive gases, inflammable gases, or
combustibles.
Failure to observe this caution may result in electric shock or fire.
• Do not step on or place a heavy object on the product.
Failure to observe this caution may result in injury.
• Do not cover the inlet or outlet parts and prevent any foreign objects from entering the product.
Failure to observe this caution may cause internal elements to deteriorate resulting in malfunction or fire.
C for 30
°
viii
• Be sure to install the product in the correct direction.
Failure to observe this caution may result in malfunction.
Installation（cont’d
CAUTION
WARNING
Host Controller
Servo OFF
PG
M
Thermal
protector
Main circuit
magnetic
contactors
Main circuit
power supply
SERVOPACK
• 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.
Wiring
• Connect the ground terminal to electrical codes (ground resistance: 100 Ω or less).
Improper grounding may result in electric shock or fire.
• Use the thermal protector built into the servomotor according to either of the two following methods.
SGMVH servomotors are cooled by a fan. If the fan is defective or power to the fan is disconnected, heat from the
motor may result in burns or fire.
Method 1:
• Wire the output from the thermal protector to the host controller and turn OFF the servo when the thermal
protector operates.
）
Method 2:
• Wire the thermal protector to the operating circuit of the main circuit magnetic contactors or the host
controller and turn OFF the main circuit magnetic contactor when the thermal protector operates.
Main circuit
magnetic
Main circuit
power supply
To main circuit
magnetic contactors
contactors
SERVOPACK
Host controller or operating circuit
of main circuit magnetic contactors
M
PG
Thermal
protector
ix
CAUTION
• Do not connect a three-phase power supply to the U, V, or W output terminals.
Failure to observe this caution may result in injury or fire.
• Securely connect the power supply terminals and motor output terminals.
Failure to observe this caution may result in fire.
• Do not bundle or run power and signal lines together in the same duct. Keep power and signal lines
separated by at least 30 cm.
• Use twisted-pair shielded wires or multi-core twisted pair shielded wires for signal and encoder (PG)
feedback lines.
The maximum length is 3 m for reference input lines and is 20 m for PG feedback lines.
• Do not touch the power terminals for five minutes after turning power OFF because high voltage may still
remain in the SERVOPACK.
Make sure the charge indicator is turned OFF first before starting an inspection.
• Avoid frequently turning power ON and OFF.
Since the SERVOPACK has a capacitor in the power supply, a high charging current flows for 0.2 seconds when
power is turned ON. Frequently turning power ON and OFF causes main power devices such as capacitors and fuses
to deteriorate, resulting in unexpected problems.
• Install the battery at either the host controller or the SERVOPACK.
It is dangerous to install batteries at both simultaneously, because that sets up a loop circuit between the batteries.
• Be sure to wire correctly and securely.
Failure to observe this caution may result in motor overrun, injury, or malfunction.
• Always use the specified power supply voltage.
An incorrect voltage may result in burning.
• Take appropriate measures to ensure that the input power supply is supplied within the specified voltage
fluctuation range. Be particularly careful in places where the power supply is unstable.
An incorrect power supply may result in damage to the product.
• Install external breakers or other safety devices against short-circuiting in external wiring.
Failure to observe this caution may result in fire.
• Take appropriate and sufficient countermeasures for each when installing systems in the following
locations.
• Locations subject to static electricity or other forms of noise.
• Locations subject to strong electromagnetic fields and magnetic fields.
• Locations subject to possible exposure to radioactivity.
• Locations close to power supplies including power supply lines.
Failure to observe this caution may result in damage to the product.
• Do not reverse the polarity of the battery when connecting it.
Failure to observe this caution may damage the battery or cause it to explode.
x
Operation
CAUTION
• Conduct trial operation on the servomotor alone with the motor shaft disconnected from machine to avoid
any unexpected accidents.
Failure to observe this caution may result in injury.
• Before starting operation with a machine connected, change the settings to match the parameters of the
machine.
Starting operation without matching the proper settings may cause the machine to run out of control or malfunction.
• Forward run prohibited (P-OT) and reverse run prohibited (N-OT) signals are not effective during zero point
search mode using parameter Fn003.
• When using the servomotor for a vertical axis, install the safety devices to prevent workpieces to fall off due
to occurrence of alarm or overtravel. Set the servomotor so that it will stop in the zero clamp state at
occurrence of overtravel.
Failure to observe this caution may cause workpieces to fall off due to overtravel.
• Do not touch the SERVOPACK heatsinks, regenerative resistor, or servomotor while power is ON or soon
after the power is turned OFF.
Failure to observe this caution may result in burns due to high temperatures.
• Do not make any extreme adjustments or setting changes of parameters.
Failure to observe this caution may result in injury due to unstable operation.
• When an alarm occurs, remove the cause, reset the alarm after confirming safety, and then resume
operation.
Failure to observe this caution may result in injury.
• Do not use the servo brake of the servomotor for ordinary braking.
Failure to observe this caution may result in malfunction.
• Do not turn the Servo ON or OFF unless necessary.
Failure to observe this caution may cause internal parts to deteriorate.
xi
CAUTION
CAUTION
Maintenance and Inspection
• When replacing the SERVOPACK, transfer the previous SERVOPACK parameters to the new
SERVOPACK before resuming operation.
Failure to observe this caution may result in damage to the product.
• Do not attempt to change wiring while the power is ON.
Failure to observe this caution may result in electric shock or injury.
•
Do not disassemble the servomotor.
Failure to observe this caution may result in electric shock or injury.
Disposal
• When disposing of the products, treat them as ordinary industrial waste.
General Precautions
Note the following to ensure safe application.
• The drawings presented in this manual are sometimes shown without covers or protective guards. Always replace
the cover or protective guard as specified first, and then operate the products in accordance with the manual.
• The drawings presented in this manual are typical examples and may not match the product you received.
• This manual is subject to change due to product improvement, specification modification, and manual
improvement. When this manual is revised, the manual code is updated and the new manual is published as a next
edition.
• If the manual must be ordered due to loss or damage, inform your nearest Yaskawa representative or one of the
offices listed on the back of this manual.
• Yaskawa will not take responsibility for the results of unauthorized modifications of this product. Yaskawa shall
not be liable for any damages or troubles resulting from unauthorized modification.
xii
CONTENTS
About this Manual - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -iii
Safety Information - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - vi
Notes for Safe Operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - vii
1 Outline
1.1 Checking Products - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2
1.1.1 Check Items - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2
1.1.2 Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2
1.1.3 SERVOPACKs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2
1.2 Examples of Servo System Configurations - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-3
1.2.1 Three-phase, 200 V Series- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-3
1.2.2 Three-phase, 400 V Series- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4
1.3 Applicable Standards - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-5
1.3.1 North American Safety Standards (UL) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-5
CE Marking- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-5
1.3.2
2 Selections
2.1 Servomotor Model Designations - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2
2.2 SERVOPACK Model Designations - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-3
Σ-II Series SERVOPACKs and Applicable Servomotor - - - - - - - - - - - - - - - - - - - 2-4
2.3
2.4 Selecting Cables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-5
2.4.1 Cables for SGMVH Servomotor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-5
2.5 Selecting Peripheral Devices - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-6
2.5.1 Special Options- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-6
2.5.2 Molded-case Circuit Breaker and Fuse Capacity - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-8
2.5.3 Noise Filters, Magnetic Contactors, and Brake Power Supply Units - - - - - - - - - - - - - - - - - - - 2-9
2.5.4 Regenerative Resistor Units - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-9
2.5.5 Dynamic Brake (DB) Units - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-10
2.5.6 Thermal Relays- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-11
3 Servomotor Specifications and Dimensional Drawings
3.1 Ratings and Specifications of SGMVH (1500 min-1) - - - - - - - - - - - - - - - - - - - - - 3-2
-1
3.2 Ratings and Specifications of SGMVH (800 min
) - - - - - - - - - - - - - - - - - - - - - - 3-6
3.3 Mechanical Specifications of Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-9
3.3.1 Precautions on Servomotor Installation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-9
3.3.2 Allowable Radial and Thrust Loads - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-13
3.3.3 Mechanical Tolerance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-14
3.3.4 Direction of Servomotor Rotation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-14
3.3.5 Impact Resistance- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-14
3.3.6 Vibration Resistance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-14
xiii
3.3.7 Vibration Class - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-15
3.4 Dimensional Drawings of SGMVH Servomotors (1500 min-1) - - - - - - - - - - - - - 3-16
3.5 Dimensional Drawings of SGMVH Servomotors (800 min
-1
) - - - - - - - - - - - - - - 3-22
4 SERVOPACK Specifications and Dimensional Drawings
4.1 SERVOPACK Ratings and Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-2
4.1.1 Three-phase 200 V - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-2
4.1.2 Three-phase 400 V - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-2
4.1.3 SERVOPACK Ratings and Specific
4.2 SERVOPACK Installation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-5
4.3 SERVOPACK Internal Block Diagrams - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-7
4.3.1 Three-phase 200 V, 22 kW, 30 kW Models - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-7
4.3.2 Three-phase 200 V, 37 kW Model - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-8
4.3.3 Three-phase
4.3.4 Three-phase
4.3.5 Three-phase
4.3.6 Three-phase 400 V, 90 kW Model - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-10
400 V, 22 kW, 30 kW Models - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-9
400 V, 37 kW Model - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-9
400 V, 45 kW, 55 kW Models - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-10
4.4 SERVOPACK’s Power Supply Capacities and Power Losses - - - - - - - - - - - - - 4-11
4.5 SERVOPACK Overload Characteristics and Allowable Load Moment of Inertia 4-12
4.5.1 Overload Characteristics - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-12
4.5.2 Starting and Stopping Time - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-13
4.5.3 Load Moment of Inertia - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-14
ations - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-3
4.6 SERVOPACK Dimensional Drawings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-16
4.6.1 Three-phase 200 V, 22 kW, 30 kW Models - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-16
4.6.2 Three-phase 200 V, 37 kW Model - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-17
4.6.3 Three-phase 400 V, 22 kW Model - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-18
Three-phase 400 V, 30 kW Model - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-19
4.6.4
4.6.5 Three-phase 400 V, 37 kW Model - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-20
4.6.6 Three-phase 400 V, 45 kW, 55 kW Models - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-20
4.6.7 Three-phase 400 V, 90 kW Model - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-21
5 Specifications and Dimensional Drawings of Cables and Peripheral Devices
5.1 SERVOPACK Main Circuit Wire Size - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-2
5.1.1 Wiring Cables to Main Circuit Terminals - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-2
Three-phase 200 V - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-3
5.1.2
5.1.3 Three-phase 400 V - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-4
5.2 Encoder Cables for CN2 Connector - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-6
5.2.1 Encoder Cable with Connectors on Both Ends - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-6
5.2.2 Cable with Loose Wire at Encoder End- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-7
5.3 Connectors and Cables for Encoder Signals - - - - - - - - - - - - - - - - - - - - - - - - - - 5-8
xiv
5.4 I/O Signal Cables for CN1 Connector - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-10
5.4.1 Standard Cables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-10
5.4.2 Connector Type and Cable Size - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-10
5.4.3 Connection Diagram - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-12
5.5 Peripheral Devices - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-13
5.5.1 Cables for Connecting Personal Computers- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-13
5.5.2 Digital Operator- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-14
5.5.3 Cables for Analog Monitor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-15
5.5.4 Connector Terminal Block Converter Unit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-16
5.5.5 Brake Power Supply Unit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-17
5.5.6 Absolute Encoder Battery- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-18
5.5.7 Molded-case Circuit Breaker (MCCB) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-19
5.5.8 Noise Filter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-20
5.5.9 Surge Absorber- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-22
5.5.10 Regenerative Resistor Unit- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-23
5.5.11 Dynamic Brake (DB) Unit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-29
5.5.12 Thermal Relays - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-36
5.5.13 Variable Resistor for Speed and Torque Setting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-39
5.5.14 Encoder Signal Converter Unit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-40
5.5.15 MECHATROLINK Application Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-41
5.5.16 DeviceNet Application Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-42
5.5.17 PROFIBUS-DP Application Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-43
5.5.18 Fully-closed Application Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-44
6 Wiring
6.1 Wiring Main Circuit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-2
6.1.1 Names and Functions of M
6.1.2 Typical Main Circuit Wiring Examples - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-4
6.2 Wiring Encoders - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-8
6.2.1 Connecting an Encoder (CN2) and Output Signals from the SERVOPACK (CN1) - - - - - - - - - 6-8
6.2.2 Encoder Connector (CN2) Terminal Layout - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-9
6.3 I/O Signal Connections - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-10
6.3.1 Example of I/O Signal Connection- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-10
6.3.2 I/O Signal Connector (CN1) Terminal Layout - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-11
6.3.3 I/O Signal (CN1) Names and Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-12
6.3.4 Interface Circuit- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-14
6.4 Others - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-17
6.4.1 Wiring Precautions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-17
6.4.2 Wiring for Noise Control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-18
6.4.3 Using More Than One SERVOPACK- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-22
6.4.4 Extending Encoder Cables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-24
ain Circuit Terminals - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-2
xv
7 Digital Operator/Panel Operator
7.1 Functions on Digital Operator/Panel Operator - - - - - - - - - - - - - - - - - - - - - - - - - 7-2
7.1.1 Connecting the Digital Operator - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -7-2
7.1.2 Key Names and Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -7-3
7.1.3 Basic Mode Selection and Operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -7-4
7.1.4 Status Display - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -7-5
7.2 Operation in Utility Function Mode (Fn) - - - - - - - - - - - - - - - - - - - - - - - - - 7-7
7.2.1 List of Utility Function Modes - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -7-7
7.2.2 Alarm Traceback Data Display (Fn000)- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -7-8
7.2.3 Zero-point Search Mode (Fn003) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -7-9
7.2.4 Parameter Settings Initialization (Fn005)- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-10
7.2.5 Alarm Traceback Data Clear (Fn006) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-11
7.2.6 Manual Zero Adjustment and Gain Adjustment of Analog Monitor Output (Fn00C, Fn00D) - -7-12
7.2.7 Offset Adjustment of Motor Current Detection Signal (Fn00E, Fn00F) - - - - - - - - - - - - - - - - -7-15
7.2.8 Password Setting (Protects Parameters from Being Changed) (Fn010) - - - - - - - - - - - - - - - -7-17
7.2.9 Motor Models Display (Fn011) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-18
7.2.10 Software Version Display (Fn012) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -7-19
7.2.11 Application Module Detection Results Clear (Fn014) - - - - - - - - - - - - - - - - - - - - - - - - - - - -7-20
7.3 Operation in Parameter Setting Mode (Pn)- - - - - - - - - - - - - - - - - - - - - - 7-21
7.3.1 Setting Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-21
7.3.2 Input Circuit Signal Allocation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -7-24
7.3.3 Output Circuit Signal Allocation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-27
7.4 Operation in Monitor Mode (Un) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-29
7.4.1 List of Monitor Modes - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-29
8 Operation
8.1 Trial Operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-4
Trial Operation for Servomotor without Load - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -8-6
8.1.1
8.1.2 Trial Operation for Servomotor without Load from Host Reference - - - - - - - - - - - - - - - - - - - -8-9
Trial Operation with the Servomotor Connected to the Machine
8.1.3
8.1.4 Servomotor with Brakes - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-16
8.1.5 Position Control by Host Controller - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -8-16
8.2 Control Mode Selection- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-17
8.3 Setting Common Basic Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-18
8.3.1 Setting the Servo ON Signal - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-18
8.3.2 Switching the Servomotor Rotation Direction- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -8-19
8.3.3 Setting the Overtravel Limit Function - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-20
8.3.4 Setting for Holding Brakes - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -8-22
8.3.5 Selecting the Stopping Method After Servo OFF - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -8-26
8.3.6 Instantaneous Power Loss Settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-27
- - - - - - - - - - - - - - - - - - - - -8-15
xvi
8.4 Absolute Encoders - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-28
8.4.1 Interface Circuits - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -8-29
8.4.2 Selecting an Absolute Encoder - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -8-30
8.4.3 Handling Batteries - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-30
8.4.4 Replacing Batteries - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-31
8.4.5 Absolute Encoder Setup (Fn008) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-32
8.4.6 Absolute Encoder Reception Sequence- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-33
8.4.7 Multiturn Limit Setting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-36
8.4.8 Multiturn Limit Setting When Multiturn Limit Disagreement (A.CC) Occurred - - - - - - - - - - - - 8-37
8.5 Operating Using Speed Control with Analog Reference - - - - - - - - - - - - - - - - - 8-38
8.5.1 Setting Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-38
8.5.2 Setting Input Signals - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-39
8.5.3 Adjusting Offset- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-40
8.5.4 Soft Start - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-43
8.5.5 Speed Reference Filter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-43
8.5.6 Using the Zero Clamp Function - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-43
8.5.7 Encoder Signal Output - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-45
8.5.8 Speed Coincidence Output- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-48
8.6 Operating Using Position Control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-49
8.6.1 Setting Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-49
8.6.2 Setting the Electronic Gear- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-51
8.6.3 Position Reference - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-54
8.6.4 Smoothing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-57
8.6.5 Positioning Completed Output Signal - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-58
8.6.6 Positioning Near Signal - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-59
8.6.7 Reference Pulse Inhibit Function (INHIBIT) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-60
8.6.8 Reference Pulse Input Multiplication Switching Function - - - - - - - - - - - - - - - - - - - - - - - - - - 8-61
8.7 Operating Using Torque Control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-63
8.7.1 Setting Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-63
8.7.2 Torque Reference Input - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-63
8.7.3 Adjusting the Reference Offset - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-64
8.7.4 Limiting Servomotor Speed during Torque Control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-66
8.8 Operating Using Speed Control with an Internally Set Speed - - - - - - - - - - - - - 8-68
8.8.1 Setting Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-68
8.8.2 Input Signal Settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-69
8.8.3 Operating Using an Internally Set Speed - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-69
8.9 Limiting Torque - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-71
8.9.1 Internal Torque Limit (Limiting Maximum Output Torque) - - - - - - - - - - - - - - - - - - - - - - - - - - 8-71
8.9.2 External Torque Limit (Output Torque Limiting by Input Signals) - - - - - - - - - - - - - - - - - - - - - 8-72
8.9.3 Torque Limiting Using an Analog Voltage Reference- - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-73
8.9.4 Torque Limiting Using an External Torque Limit and Analog Voltage Reference- - - - - - - - - - 8-74
8.9.5 Checking Output Torque Limiting during Operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-75
8.10 Control Mode Selection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-76
8.10.1 Setting Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-76
8.10.2 Switching the Control Mode - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-76
xvii
8.11 Other Output Signals- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-77
8.11.1 Servo Alarm Output (ALM) and Alarm Code Output (ALO1, ALO2, ALO3) - - - - - - - - - - - - - 8-77
8.11.2 Warning Output (/WARN)- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-78
8.11.3 Servomotor running Output Signal (/TGON) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-78
8.11.4 Servo Ready (/S-RDY) Output - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -8-79
9 Adjustments
9.1 Autotuning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-2
9.1.1 Servo Gain Adjustment Methods - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -9-2
9.1.2 List of Servo Adjustment Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -9-2
9.2 Online Autotuning- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-4
9.3 Manual Tuning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-4
9.3.1 Explanation of Servo Gain - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -9-4
9.3.2 Servo Gain Manual Tuning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -9-5
9.3.3 Position Loop Gain - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -9-5
9.3.4 Speed Loop Gain - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -9-6
9.3.5 Speed Loop Integral Time Constant - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -9-6
9.4 Servo Gain Adjustment Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-7
9.4.1 Feed-forward Reference - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -9-7
9.4.2 Torque Feed-forward- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -9-7
9.4.3 Speed Feed-forward - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -9-8
9.4.4 Proportional Control Operation (Proportional Operation Reference)- - - - - - - - - - - - - - - - - - - -9-9
9.4.5 Using the Mode Switch (P/PI Switching) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-10
9.4.6 Setting the Speed Bias - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -9-13
9.4.7 Speed Feedback Filter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -9-13
9.4.8 Speed Feedback Compensation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -9-13
9.4.9 Switching Gain Settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -9-14
9.4.10 Torque Reference Filter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -9-16
9.5 Analog Monitor- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-20
10 Inspection, Maintenance, and Troubleshooting
10.1 Troubleshooting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-2
10.1.1 Alarm Display Table - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -10-2
10.1.2 Warning Display - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-4
10.1.3 Alarm Display Table when the Application Module is Used - - - - - - - - - - - - - - - - - - - - - - - -10-5
10.1.4 Warning Display Table when the Application Module is Used - - - - - - - - - - - - - - - - - - - - - - 10-6
10.1.5 Troubleshooting of Alarm and Warning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -10-7
10.1.6 Troubleshooting for Malfunction without Alarm Display - - - - - - - - - - - - - - - - - - - - - - - - - - 10-16
xviii
10.2 Inspection and Maintenance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-20
10.2.1 Servomotor Inspection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-20
10.2.2 SERVOPACK Inspection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-20
10.2.3 SERVOPACK’s Parts Replacement Schedule - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-21
11 Appendix
11.1 Servomotor Capacity Selection Examples - - - - - - - - - - - - - - - - - - - - - - - - - - 11-2
11.1.1 Selection Example for Speed Control- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-2
11.1.2 Selection Example for Position Control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-4
11.2 Connection to Host Controller - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-7
Example of Connection to MP2200/MP2300 Motion Module SVA-01 - - - - - - - - - - - - - - - - 11-7
11.2.1
11.2.2 Example of Connection to MP920 4-axes Analog Module SVA-01 - - - - - - - - - - - - - - - - - - 11-8
11.2.3 Example of Connection to OMRON’s Motion Control Unit - - - - - - - - - - - - - - - - - - - - - - - - 11-9
11.2.4 Example of Connection to OMRON’s Position Control Unit - - - - - - - - - - - - - - - - - - - - - - -11-10
11.2.5 Example of Connection to MITSUBISHI’s AD72 Positioning
Unit (SERVOPACK in Speed Control Mode) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -11-11
11.2.6 Example of Connection to MITSUBISHI’s AD75 Positioning Unit
(SERVOPACK in Position Control Mode)- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -11-12
11.3 List of Parameters- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-13
11.3.1 Utility Functions List - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -11-13
11.3.2 List of Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -11-14
11.4 Parameter Recording Table - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-29
INDEX
Revision History
xix
1
Outline
1
Outline
1.1 Checking Products - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -1-2
1.1.1 Check Items - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2
1.1.2 Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2
1.1.3 SERVOPACKs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2
1.2 Examples of Servo System Configurations - - - - - - - - - - - - -1-3
1.2.1 Three-phase, 200 V Series - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-3
1.2.2 Three-phase, 400 V Series - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4
1.3 Applicable Standards - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-5
1.3.1 North American Safety Standards (UL) - - - - - - - - - - - - - - - - - - - - - - 1-5
CE Marking
1.3.2
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-5
1-1
1 Outline
Manufacturing date
Serial number
Servomotor model
Rated output
Rated rotation speed
SGMVH
servomotor
AC SERVO MOTOR
TYPE
SGMVH - 2BDCA
kw N.m
min
SER.NO.
A
RATING
DATE
22
140
1500
58
CONT.
K7A500 101 - 004
9708
ENCODER
UTMAH- B12BDYR11
17 bit
YASKAWA ELECTRIC CORPORATION
JAPAN
-1
Σ-II Series SGDM and SGDH
SERVOPACKs
SERVOPACK model
Serial number
Output power
Applicable power supply
SERVOPACK
SGDH - 3ZDEB
AC-INPUT AC-OUTPUT
MODEL
VOLTS 380- 480
Hz 50/60
PHASE 3
AMPS 145
VOLTS 0 - 480
PHASE 3
AMPS 175
30.0 (40.2)
S / N R7C303 - 221 - 4
YASKAWA ELECTRIC
MADE IN JAPAN
kW (HP)
+2-+1
L1/R L2/S
L3/T
UVW
480 V460
V
DU
400 V 0 V440
V
DWDV B1
380
V
DC
24N
B2
DC
24P
CHARGE
S-HDG
㧖㧖㧖㧖
T DATA/SEEMOD/
KSERVOPAC
AYASKAW
R
O
P
E
R
A
T
O
CN3
8CN
POWER
CN5
WARNING
ෂޓ㒾
ㅢ㔚߮㔚Ḯࠝࡈᓟ5
ಽ㑆ޔ┵ሶㇱߦ⸅ࠆߥ!
electric shock.
Disconnect all power
May cause
ᗵ㔚ߩᕟࠇࠅ
before servicing.
and wait 5 min.
grounding techniques.
ធ⛯ߖࠃ
Use proper
ᔅߕࠕ㧙ࠬ✢ࠍ
1.1.1 Check Items
1.1 Checking Products
The following procedure is used to check the AC servo drives of Σ-ΙΙ Series products on delivery.
1.1.1 Check Items
Check the following items when Σ-ΙΙ Series products are delivered.
Check Items Comments
Are the delivered products the ones
that were ordered?
Does the servomotor shaft rotate
smoothly?
Is there any damage? Check the overall appearance, and check for damage or scratches that
If any of the above items are faulty or incorrect, contact your Yaskawa representative or the dealer from whom
you purchased the products.
1.1.2 Servomotors
Check the model numbers marked on the nameplates on the servomotor and SERVOPACK. (Refer to the descriptions of model numbers in
the following section.)
The servomotor shaft is normal if it can be turned smoothly by hand.
Servomotors with brakes, however, cannot be turned manually.
may have occurred during shipping.
1.1.3 SERVOPACKs
1-2
1
Outline
1.2 Examples of Servo System Configurations
U
V
W
B1
B2
RST
CN3
CN1
DB24
DU
DV
DW
DBON
DB24
DU
DV
DW
DBON
Regenerative
Resistor Unit
Power supply for
cooling fan
Power supply
Three-phase 200 VAC
SGMVH
servomotor
SGDM/SGDH SERVOPACK
Host controller
Connect the SGDM/SGDH SERVOPACK
to a Yaskawa or an other manufacturer’s
host controller.
Digital Operator
Allows the user to set parameters or
operation reference and display
operation status or alarm status.
(JUSP-OP02A-2)
Cable model:
Personal computer
Hand-held type
1-meter cable included
Molded-case circuit
breaker (MCCB)
Used to protect power
supply line.
Noise filter
Used to eliminate external noise from power
supply line.
Magnetic contactor *
Turns the servo ON or
OFF.
Brake power supply
Used for SGMVH
servomotor with brake.
LPSE-2H01
(For 200 V input)
Dynamic Brake (DB)
Unit
*
Use a surge absorber
for the magnetic contactor.
Brake power supply
Dynamic Brake Unit
Used if dynamic brake
function is required for the
SERVOPACK.
Note: The Dynamic Brake (DB) Unit DBON and
DB24 terminals can be used with SERVOPACKs of 37 kW or more only.
MP900/MP2000 Series
JZSP-CMS01 to 03
L1/R
L2/S
L3/T
L3C/t
L1C/r
- +1
+2 L1/R L2/S L3/T
UVW
CN2
CN3
CN1
TDATA/SEEMOD/
SERVOPACK
YASK AWA
R
O
P
E
R
A
T
O
CN3
8CN
POWER
CN5
SGDH-
㧖㧖㧖㧖
This section describes examples of basic servo system configuration.
1.2.1 Three-phase, 200 V Series
1.2 Examples of Servo System Configurations
1-3
1 Outline
Regenerative
Resistor Unit
U
V
W
B1
B2
0V
Power supply for
cooling fan
Power supply
Three-phase 400 VAC
RST
SGMVH
servomotor
SGDH SERVOPACK
Host controller
Connect the SGDH SERVOPACK to a
Yaskawa or an other manufacturer’s
host controller.
Digital Operator
Allows the user to set parameters or
operation reference and display
operation status or alarm status.
(JUSP-OP02A-2)
Cable model:
Personal computer
Hand-held type
1-meter cable included
Molded-case circuit
breaker (MCCB)
Used to protect power
supply line.
Noise filter
Used to eliminate external noise from power
supply line.
Magnetic contactor *
Turns the servo ON or
OFF.
Brake power supply
Used for SGMVH
servomotor with brake.
LPSE-2H01
(For 200 V input)
Power transformer
Used to switch between
200 V to 400 V.
Dynamic Brake (DB)
Unit
*
Use a surge absorber
for the magnetic contactor.
CN3
CN1
Brake power supply
DB24
DU
DV
DW
DBON
Dynamic Brake Unit
DB24
DU
DV
DW
DBON
Used if dynamic brake
function is required for the
SERVOPACK.
Note: The Dynamic Brake (DB) Unit DBON and
DB24 terminals can be used with SERVOPACKs of 37 kW or more only.
MP900/MP2000 Series
JZSP-CMS01 to 03
380 to 480V
L1/R
L2/S
L3/T
DC24N
DC24P
DC power
supply
(24 VDC)
+
-
CN2
CN3
CN1
8
8
&7
88
8
&9&8 $
8
&%
0
$
&%
2
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5*&)
㧖㧖㧖㧖
6#5''/1&
-5'4812#%
#;#5-#9
4
1
2
'
4
#
6
1
%0
%0
219'4
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1.2.2 Three-phase, 400 V Series
1.2.2 Three-phase, 400 V Series
1-4
1
Outline
1.3 Applicable Standards
1.3.1 North American Safety Standards (UL)
Model
SERVOPACK SGDH
Servomotor SGMVH
* 1. 200 V SERVOPACKs and servomotors have not obtained certification showing compliance
with UL standards.
* 2. 75 kW SERVOPACKs and servomotors have not obtained certification showing compliance
with UL standards.
* 3. Underwriters Laboratories Inc.
∗1
Voltage
400 V 22 kW to 55 kW UL508C(E147823)
400 V 22 kW to 55 kW UL1004(E165827)
Capacity∗2
∗3
Standards
UL
(UL File No.)
1.3 Applicable Standards
1.3.2 CE Marking
The SGDH SERVOPACK and SGMVH servomotor have not obtained certification showing compliance with CE
marking, but, the following models comply with its standards.
Model
SERVOPACK SGDH
Servomotor SGMVH
* A low voltage directive-compliant model is in development.
Note: Because SERVOPACKs and servomotors are built-in type, reconfirmation is required after
being installed in the final product.
∗
Voltage
400 V 22 kW to 55 kW EN50178
400 V 22 kW to 55 kW
Capacity
∗
Low Voltage
Directive
(compliant)
–
EMC Directive (compliant)
EMI EMS
EN55011
class A group 1
∗
EN55011
class A group 1
EN50082-2
or
EN61000-6-2
EN50082-2
or
EN61000-6-2
1-5
2
Selections
2
Selections
2.1 Servomotor Model Designations - - - - - - - - - - - - - - - - - - - - - 2-2
2.2 SERVOPACK Model Designations - - - - - - - - - - - - - - - - - - - 2-3
2.3 Σ-II Series SERVOPACKs and Applicable Servomotor - - - - - 2-4
2.4 Selecting Cables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -2-5
2.4.1 Cables for SGMVH Servomotor - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-5
2.5 Selecting Peripheral Devices - - - - - - - - - - - - - - - - - - - - - - - 2-6
2.5.1 Special Options - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-6
2.5.2 Molded-case Circuit Breaker and Fuse Capacity - - - - - - - - - - - - - - - - 2-8
2.5.3 Noise Filters, Magnetic Contactors, and Brake Power
Supply Units - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-9
2.5.4 Regenerative Resistor Units - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-9
2.5.5 Dynamic Brake (DB) Units - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-10
2.5.6 Thermal Relays - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-11
2-1
2 Selections
SGMVH − 2B A 2 B 2 N
4th digit: Serial Encoder
7th digit: Brake and Oil Seal
Code
N
1
S
B
C
D
E
F
G
Specifications
Standard (without options)
With dust seal
With oil seal
With 90-VDC brake
With 24-VDC brake
With oil seal and 90-VDC brake
With oil seal and 24-VDC brake
With dust seal and 90-VDC brake
With dust seal and 24-VDC brake
1st + 2nd digits:
Rated Output
(kW)
Code
2B
3Z
3G
4E
5E
7E
Rated Output A
−
−
−
D
3rd digit:
Voltage
A:200V,D:400V
Code
2
3
C
Remarks
Standard
ޓޓSpecifications
17-bit absolute encoder
20-bit absolute encoder
17-bit incremental encoder
: Available
Option
5th digit: Rated Speed
Code
B
D
Specifications
6th digit: Shaft End, Mounting Method
Code
6
RemarksޓޓSpecifications
Flange-mounted, straight without key
Flange-mounted, straight with key
and shaft end tap (
×1)
1st +
2nd
digits
3rd
digit
4th
digit
5th
digit
6th
digit
7th
digit
: Not available
−
1500 min
-1
800 min
-1
Foot-mounted, straight with key
and shaft end tap (
×1)
K
L
Foot-mounted, straight without key
2
Standard
Option
22
30
37
45
55
75
Standard
1st + 2nd digits:
Rated Output (kW)
Code
Rated
Output
BD
5th digit: Rated Speed
B: 1500 min
-1
,
D: 800 min
-1
Flangemounted
Mounting Method
: Available
With
Brake
With
Brake
Rated
Speed
(min
-1
)
Rated
Output
(kW)
With Oil
Seal and
Dust Seal
Foot-
mounted
1500
800
22
30
37
45
55
75
22
30
37
45
Flange-
mounted
22
30
37
45
55
75
2B
3Z
3G
4E
5E
7E
Foot-
mounted
: Not available
−
2.1 Servomotor Model Designations
(1) Available Models
2-2
2
Selections
2.2 SERVOPACK Model Designations
Code
2B
3Z
3G
Rated Output
22
30
37
Code
D
Specificatioins
Code
2B
3Z
3G
A
Code
B
Specificatioins
2BSGDM - A D B
5th digit: Applicable Servomotor Model
1st + 2nd digits (kW)
3rd digit: Power Supply
Voltage A: 200 V
4th digit: Model
SGMVH
Servomotor
For torque, speed and position control
1st +
2nd
digits
3rd
digit
4th
digit
5th
digit
: Available
Code
2B
3Z
3G
4E
5E
9Z
Rated Output
22
30
37
45
55
75
D
Δ
Δ
Δ
2BSGDH - A E B
Code
2B
3Z
3G
4E
5E
9Z
A
1st +
2nd
digits
3rd
digit
4th
digit
5th
digit
Code
E
Specificatioins
Code
B
Specificatioins
5th digit: Applicable Servomotor Model
1st + 2nd digits (kW)
3rd digit: Power Supply Voltage
A: 200 V, D: 400 V
4th digit: Model
SGMVH
Servomotor
For torque, speed and position control
: Available
: Option
: Not available
Δ
Select the SERVOPACK according to the applied servomotor.
2.2 SERVOPACK Model Designations
2-3
2 Selections
2.3 Σ-II Series SERVOPACKs and Applicable Servomotor
Servomotor
SGMVH-
2B
3Z
1500 min
800 min
Note: =A: 200 V, D: 400 V
Be sure to match the voltage ratio on the servomotor and the SERVOPACK.
-1
-1
3G
4ED
5ED
7ED
2B
3Z
3G
4ED
SGDM- SGDH-
200 V 200 V 400 V
2BADB 2BAEB 2BDEB
3ZADB 3ZAEB 3ZDEB
3GADB 3GAEB 3GDEB
– – 4EDEB
– – 5EDEB
– – 9ZDEB
2BADB 2BAEB 2BDEB
3ZADB 3ZAEB 3ZDEB
3GADB 3GAEB 3GDEB
– – 4EDEB
SERVOPACK
2-4
2
Selections
2.4 Selecting Cables
CN2
Encoder
end
SERVOPACK
end
Encoder
end
SERVOPACK
end
2.4.1 Cables for SGMVH Servomotor
219'4
%0
6 & #6#5''/1&
%0
%0
-5'4812#%
5*&)
㧖㧖㧖㧖
#;#5-#9
May cause
electric shock.
Disconnect all power
and wait 5 min.
before servicing.
grounding techniques.
%*#4)'
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1
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2.4 Selecting Cables
1
c
Encoder
Cable
dMain
Circuit
Cable
2
Name Length Type Specifications
3 m JZSP-CMP23-03
Cable with loose
wire at encoder
end
5 m JZSP-CMP23-05
10 m JZSP-CMP23-10
15 m JZSP-CMP23-15
20 m JZSP-CMP23-20
3 m JZSP-CMP21-03
5 m JZSP-CMP21-05
Cable with a
straight plug
10 m JZSP-CMP21-10
15 m JZSP-CMP21-15
20 m JZSP-CMP21-20
3 m JZSP-CMP22-03
SERVOPACK
end
Cable with an
L-shaped plug
5 m JZSP-CMP22-05
10 m JZSP-CMP22-10
15 m JZSP-CMP22-15
20 m JZSP-CMP22-20
5 m JZSP-CMP29-05
10 m JZSP-CMP29-10
Cables
15 m JZSP-CMP29-15
20 m JZSP-CMP29-20
50 m max.
30 m JZSP-CMP29-30
40 m JZSP-CMP29-40
50 m JZSP-CMP29-50
Cables
Not available.
For details, refer to chapter 5.
Encoder
end
Refer-
ence
5.2.2
5.2.1
5.2.1
5.3
−
2-5
2 Selections
Personal
computer
Digital operator
Host controller
I/O signal cable
Connection cable
for digital operator
Connection cable
for personal computer
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electric shock.
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ᗵ㔚ߩᕟࠇࠅ
before servicing.
and wait 5 min.
grounding techniques.
ធ⛯ߖࠃ
Use proper
ᔅߕࠕ㧙ࠬ✢ࠍ
NS100
S
W
1
S
W
2
A
R
C
N
6
A
C
N
6
B
C
N
4
5
4
0
9
6
1
2
7
8
3
3
5
4
0
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6
1
2
7
8
NS300
5
4
0
9
6
1
2
7
8
3
X
10
X
1
D
R
C
N
11
M
S
N
S
FC100
MECHATROLINK-I
application
module
(NS100)
DeviceNet
application
module
(NS300)
Fully-closed
application
module
(FC100)
PROFIBUS-DP
application
module
(NS500)
Connector
CN6A
CN11
CN6
CN4
CN11
CN6
CN4CN4
CN6B
CN4
6
NS500
NS115
S
W
1
S
W
2
A
R
C
N
6
A
C
N
6
B
C
N
4
MECHATROLINK-II
application
module
(NS115)
CN6A
CN6B
CN4
CN3
CN8
MODE/SET DATA/
POWER
CN5
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ෂޓ㒾
ㅢ㔚߮㔚Ḯࠝࡈᓟ5
ಽ㑆ޔ┵ሶㇱߦ⸅ࠆߥ
electric shock.
Disconnect all power
May cause
ᗵ㔚ߩᕟࠇࠅ
before servicing.
and wait 5 min.
grounding techniques.
ធ⛯ߖࠃ
Use proper
ᔅߕࠕ㧙ࠬ✢ࠍ
Analog monitor cable
Battery for absolute encoder
2.5.1 Special Options
2.5 Selecting Peripheral Devices
2.5.1 Special Options
2-6
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