Yaskawa Sigma II User Manual

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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

480 V460

CHARGE

400 V 0 V440

380

DWDV B1

24N

24P

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

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

9999

99 9

9999

Visual Aids

■

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

• Indicates important information that should be memorized, including precautions such as alarm 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 SGMH/SGDH

Digital Operator Operation Manual

-II Series SERVOPACKs

Personal Computer Monitoring Software Operation Manual

-II Series SGDH

Fully Closed Interface Unit User’s Manual Type: JUSP-FC100

-II Series SGDH MECHATROLINK

Application Module User’s Manual Type: JUSP-NS100

-II Series SGDH MECHATROLINK-II

Application Module User’s Manual Type: JUSP-NS115

-II Series SGDH

DeviceNet Application Module User’s Manual Type: JUSP-NS300

-II Series SGDH PROFIBUS-DP

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.

cations.

communications.

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: .

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).

vii

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

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

Thermal protector

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.

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.

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

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

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

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.

RATING

DATE

140

1500

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

400 V 0 V440

DWDV B1

380 V

DC 24N

DC 24P

CHARGE

S-HDG

㧖㧖㧖㧖

T DATA/SEEMOD/

KSERVOPAC

AYASKAW

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ߩᕟࠇ޽ࠅ

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

Outline

1.2 Examples of Servo System Configurations

RST

CN3

CN1

DB24

DBON

DB24

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

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

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

DBON

Dynamic Brake Unit

DB24

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

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8

&9&8 $

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$

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㧖㧖㧖㧖

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1.2.2 Three-phase, 400 V Series

1-4

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 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

EN61000-6-2

EN50082-2

EN61000-6-2

1-5

2

Selections

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

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

Rated Output A



−



3rd digit:

Voltage

A:200V,D:400V

Code

Remarks

Standard

ޓޓSpecifications

17-bit absolute encoder

20-bit absolute encoder

17-bit incremental encoder

: Available

Option

5th digit: Rated Speed

Code

Specifications

6th digit: Shaft End, Mounting Method

Code

RemarksޓޓSpecifications

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)

Foot-mounted, straight without key

Standard

Option

Standard

1st + 2nd digits: Rated Output (kW)

Code

Rated Output





5th digit: Rated Speed B: 1500 min

-1

D: 800 min

-1

Flangemounted

Mounting Method

: Available

With Brake

Rated Speed (min

-1

)

Rated

Output

(kW)

With Oil Seal and Dust Seal



Foot-

mounted

1500

800

Flange-

mounted











Foot-

mounted

: Not available

−

2.1 Servomotor Model Designations

(1) Available Models

2-2

Selections

2.2 SERVOPACK Model Designations

Code

Rated Output

Code

Specificatioins

Code

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

Rated Output



2BSGDH - A E B

Code



  

1st + 2nd digits

3rd digit

4th digit

5th digit

Code

Specificatioins

Code

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



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

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

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)'

ෂޓ㒾

WARNING

ᗵ㔚ߩᕟࠇ޽ࠅ

ㅢ㔚෸߮㔚Ḯࠝࡈᓟ5 ಽ㑆ޔ┵ሶㇱߦ⸅ࠆߥ

ᔅߕࠕ㧙ࠬ✢ࠍ ធ⛯ߖࠃ

Use proper

1 2 ' 4 # 6 1 4

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88



8

&9&8 $

$

0

2

.4 .5



.6

789

2.4 Selecting Cables

Encoder Cable

dMain

Circuit Cable

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

5.3

−

2-5

2 Selections

Personal computer



Digital operator

Host controller

I/O signal cable



Connection cable for digital operator

Connection cable for personal computer







.4 .5

.6

789

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8

88

8

&9&8 $

 8

&% 0

$

&% 2

%*#4)'

5*&)

㧖㧖㧖㧖

6#5''/1& 

-5'4812#%

#;#5-#9

1 2 ' 4 # 6 1

%0

%0

219'4

%0

WARNING

ෂޓ㒾

ㅢ㔚෸߮㔚Ḯࠝࡈᓟ5 ಽ㑆ޔ┵ሶㇱߦ⸅ࠆߥ

electric shock.

Disconnect all power

May cause

ᗵ㔚ߩᕟࠇ޽ࠅ

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

NS300

5 4

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



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



.4 .5

.6

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8

&9&8 $



8

&% 0

$

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5*&)

㧖㧖㧖㧖

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electric shock.

Disconnect all power

May cause

ᗵ㔚ߩᕟࠇ޽ࠅ

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

2.5 Selecting Peripheral Devices

Selections

CN1

CN3

Operator

end

SERVOPACK

end

CN3

Personal

computer end

SERVOPACK

end

Personal

computer end

SERVOPACK

end

Personal

computer end

SERVOPACK

end

CN5

SERVOPACK end

Monitor end

CN8

Name Length Type Specifications

Connector terminal block

converter unit

I/O Signal Cables

Cable with loose wires at one end

d Digital Operator

Connection Cable for Digital Operator

JUSP-TA50PG

1 m JZSP-CKI01-1

2 m JZSP-CKI01-2

3 m JZSP-CKI01-3

JUSP-OP02A-2

1m JZSP-CMS00-1

1.5m JZSP-CMS00-2

2 m JZSP-CMS00-3

Terminal block and 0.5 m connection cable

Loose wires at host controller end

With connection cable (1 m)

Required only when the digital operator model: JUSP-OP02A-1 for Σ-I series is used.

D-Sub 25-pin (For PC98)

Refer-

ence

5.5.4

5.4.1

5.5.2

2 m JZSP-CMS01

Connection Cable for Personal Computer

Analog Monitor Cable

2 m JZSP-CMS02

2 m JZSP-CMS03

1 m

JZSP-CA01 or DE9404559

JZSP-BA01-1

Battery for Absolute Encoder

Application Module

⑦

∗

* For details, refer to the manuals of each application module.

ER6VC3

JUSP-NS100

JUSP-NS115

JUSP-NS300

JUSP-FC100

JUSP-NS500

D-Sub 9-pin (For DOS/V)

Half-pitch 14-pin (For PC 98)

To connect to a host controller,

3.6 V, 2000 mAh, manufactured by Toshiba Battery Co., Ltd.

MECHATROLINK-I application module (NS100)

MECHATROLINK-II application module (NS115)

DeviceNet application module (NS300)

Fully-closed application module (FC100)

PROFIBUS-DP application module (NS500)

5.5.1

5.5.3

5.5.6

5.5.15

5.5.16

5.5.18

5.5.17

2-7

2 Selections

2.5.2 Molded-case Circuit Breaker and Fuse Capacity

Select a input fuse or molded-case circuit breaker that comply with UL standard.

SERVOPACK Model

SGDM-2BADB SGDH-2BAEB

SGDM-3ZADB SGDH-3ZAEB

SGDM-3GADB SGDH-3GAEB

SGDH-2BDEB

SGDH-3ZDEB

SGDH-3GDEB

SGDH-4EDEB

SGDH-5EDEB

SGDH-9ZDEB

* 1. Nominal value at the rated load.

* 2. Cutoff characteristics (25 * 3. The values will vary, depending on the 24 VDC control power supply used. Note: Do not use a fast-acting fuse. Because the SERVOPACK’s power supply is a capacitor

input type, a fast-acting fuse may blow when the power is turned ON.

Power Supply

Capacity per

SERVOPACK

∗1

(kVA)

Current Capacity of the

Molded-case Circuit Breaker

and the Fuse (A)

∗2

Inrush Current (A)

Main Circuit

Power Supply

36.7 150 300 30

50.1 200 300 30

61.8 225 600 30

36.7 100 140

50.1 150 565

61.8 150 565

75.2 225 1130

91.9 225 1130

125.3 300 170

°C): 200% for two seconds min. and 700% for 0.01 seconds min.

Control Circuit Power Supply

(10)

2-8

2.5 Selecting Peripheral Devices

Selections

2.5.3 Noise Filters, Magnetic Contactors, and Brake Power Supply Units

SERVOPACK Model Recommended Noise Filter Magnetic Contactor Brake Power Supply Unit

SGDM-2BADB SGDH-2BAEB

SGDM-3ZADB SGDH-3ZAEB

SGDM-3GADB SGDH-3GAEB

SGDH-2BDEB

SGDH-3ZDEB

SGDH-3GDEB

FN258L-130-35 SC-N6 (125A)

FN258L-180-07 SC-N8 (180A)

FN359P-250-99 SC-N10 (220A)

FN258L-180-07 SC-N6 (125A)

FN258L-180-07 SC-N8 (180A)

c24 VDC brake (provided by a customer)

d90 VDC brake

• LPDE-1H01 for 100 VAC input

• LPSE-2H01 for 200 VAC input

SGDH-4EDEB

SGDH-5EDEB

SGDH-9ZDEB

Note: 1. If some SERVOPACKs are wired at the same time, select the proper magnetic contactors accord-

ing to the total capacity.

2. The following table shows the manufacturers of each device.

Peripheral Device Manufacturer

Noise Filter Schaffner Electronic

Magnetic Contactor Fuji Electric Co., Ltd.

Brake Power Supply Unit

FN359P-250-99 SC-N10 (220A)

FN359P-300-99 SC-N11 (300A)

Yaskawa Controls Co., Ltd.

2.5.4 Regenerative Resistor Units

SERVOPACK

Model

Regenerative Resistor Unit Model

Resistance (Ω)

Resistance Capacity (W)

Allowable Load Moment of Inertia (×10

Allowable Duty 2% ED at maximum speed and torque deceleration.

-4

kg·m2)

SGDM- 2BADB 3ZADB 3GADB −

SGDH- 2BAEB 3ZAEB 3GAEB 2BDEB 3ZDEB 3GDEB 4EDEB 5EDEB 9ZDEB

JUSP-

RA08 RA09 RA11 RA12 RA13 RA14 RA15 RA16 RA25

2.4 1.8 1.6 9 6.7 5 4 3.8 2.1

2400 4800 4800 3600 3600 4800 6000 7200 16800

1830 2490 2875 1830 2490 2875 5355 6450 9020

2-9

2 Selections

2.5.5 Dynamic Brake (DB) Units

Externally attach a dynamic brake resistor to the SERVOPACK to dissipate regenerative energy when using the dynamic brake function. The dynamic brake resistor does not need to be installed if the dynamic brake function is not required.

Dynamic Brake

(DB) Unit Model

JUSP–DB01

JUSP–DB02

JUSP–DB03

JUSP–DB04

JUSP–DB05

JUSP–DB06

JUSP–DB12

SERVOPACK Model Resistance

SGDM- SGDH-

2BADB, 3ZADB 2BAEB, 3ZAEB 180 W, 0.3 Ω

3GADB 3GAEB 180 W, 0.3 Ω

−

2BDEB, 3ZDEB 180 W, 0.8 Ω

3GDEB 180 W, 0.8 Ω

4EDEB 180 W, 0.8 Ω

5EDEB 300 W, 0.8 Ω

9ZDEB 600 W, 0.9 Ω

Specifications

(Star Wiring )

DB Contactor and

Surge Absorption Unit

Built into the SERVOPACK

Built into Dynamic Brake Unit

Built into the SERVOPACK

Built into Dynamic Brake Unit

Use the dynamic brake unit under the following conditions. Contact your Yaskawa representative before using the unit under conditions more severe than those specified below.

• Allowable load moment of inertia: 5 times the load moment of inertia

• Allowable duty: Less than one DB stop per hour at maximum rotation speed

2-10

Selections

2.5.6 Thermal Relays

2.5 Selecting Peripheral Devices

Dynamic Brake

(DB) Unit and Regenerative

Resistor

Unit Model

JUSP-DB01 JUSP-DB02

JUSP-DB03 JUSP-DB04 JUSP-DB05

JUSP-DB06 TR-N3H/3 7 A 7 to 11 A 9 A

JUSP-DB12 TR-N3H/3 9 A 9 to 13 A 12 A

JUSP-RA08 TR-N3H/3 12 A 12 to 18 A 14 A

JUSP-RA09 TR-N3H/3 18 A 18 to 26 A 23 A

JUSP-RA11 TR-N3H/3 18 A 18 to 26 A 24 A

JUSP-RA12 TR-N3H/3 7 A 7 to 11 A 9 A

JUSP-RA13 TR-N3H/3 9 A 9 to 13 A 10 A

JUSP-RA14 TR-N3H/3 12 A 12 to 18 A 14 A

JUSP-RA15 TR-N3H/3 12 A 12 to 18 A 17 A

JUSP-RA16 TR-N3H/3 18 A 18 to 26 A 19 A

JUSP-RA25 TR-N3H/3 34 A 34 to 50 A 40 A

Thermal Relay

Model

TR-N3H/3 9 A 9 to 13 A 10 A

TR-N3H/3 7 A 7 to 11 A 7 A

Thermal Relay Current Range

Thermal Relay

Manufacturer

Current

Fuji Electric Co., Ltd.

2-11

3

Servomotor Specifications and Dimensional Drawings

Servomotor Specifications and

Dimensional Drawings

3.1 Ratings and Specifications of SGMVH (1500 min-1) - - - - - - - 3-2

3.2 Ratings and Specifications of SGMVH (800 min-1) - - - - - - - - 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

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

-1

Servomotors (800 min

) - - - - - - - - - - - - - - - - - - - - - - - - - 3-22

3-1

3 Servomotor Specifications and Dimensional Drawings

3.1 Ratings and Specifications of SGMVH (1500 min-1)

(1) Ratings and Specifications

• Time Rating: Continuous

• Vibration Class: V15

• Insulation Resistance: 500 VDC,

10 MΩ min.

• Surrounding Air Temperature: 0 to 40°C

• Excitation: Permanent magnet

• Mounting: Flange-mounted (standard)

• Thermal Class: F

• Withstand Voltage: 200 V Servomotors: 1500 VAC for one minute 400 V Servomotors: 1800 VAC for one minute

• Enclosure: Totally enclosed, cooled separately, IP44

• Ambient Humidity: 20% to 80% (no condensation)

• Drive Method: Timing belt or coupling

Foot-mounted (semi-standard)

(a) 200 V Class

Voltage Class 200 V

Servomotor Model SGMVH- 2BAB3ZAB3GAB

∗

N·m

Arms

-1

min

-1

min

N·m/Arms

-4

×10

kg·m2

kW/s

rad/s

Rated Output

Rated Torque

Stall Torque

Instantaneous

Peak Torque

Rated Current

Instantaneous

Max. Current

Rated Speed

Max. Speed

Torque Constant

Rotor Moment of Inertia J

Rated Power

∗

Rate

Rated Angular

Acceleration

Note: Refer to the next page for the notes.

22 30 37

140 191 236

350 478 589

88 120 152

240 350 460

1500

2000

1.72 1.72 1.68

366 498 595

536 733 933

3827 3536 3960

3-2

3.1 Ratings and Specifications of SGMVH (1500 min-1)

Servomotor Specifications and Dimensional Drawings

(b) 400 V Class

Voltage Class 400 V

Servomotor Model SGMVH- 2BDB3ZDB3GDB4EDB5EDB7EDB

Rated

Output

Rated

Torque

Stall

Torque

∗

N·m

Instantaneous Peak

Torque

Rated

Current

∗

N·m

Arms

Instantaneous Max.

Current

∗

Rated Speed ∗min

Max. Speed ∗min

Torque Constant

Rotor Moment of Inertia J

Rated Power

∗

Rate

Rated Angular

Acceleration

Arms

N·m/Arms

×10

kg·m2

kW/s

rad/s

∗

-1

-4

* These items and torque-motor speed characteristics quoted in combination with SGDM/SGDH

SERVOPACK are at an armature winding temperature of 20°C.

Note: These characteristics are values with the following iron plate (heat sink) attached for

cooling. SGMVH-2B, 3Z and 3G: SGMVH-4E, 5E and 7E:

22 30 37 45 55 75

140 191 236 286 350 477

350 478 589

715

875 1193

44 60 76 102 117 150

120 170 230 280 340 450

1500

2000

3.44 3.44 3.36 3.09 3.15 3.35

366 498 595 1071 1290 1804

536 733 933 767 950 1265

3827 3536 3960 2675 2715 2645

650 × 650 × 35

740 × 520 × 27

3-3

3 Servomotor Specifications and Dimensional Drawings

2000

1500

1000

500

100 200 300 400

SGMVH-2BAB SGMVH-3ZAB

2000

1500

1000

500

200 400 600

SGMVH-3GAB

2000

1500

1000

500

200 400 600

Torque (Nm)

Motor speed

(min-1)

Torque (Nm)

Motor speed

(min-1)

Torque (Nm)

Motor speed

(min-1)

: Continuous Duty Zone

: Intermittent Duty Zone

(2) Torque-Motor Speed Characteristics (200 V class)

3-4

3.1 Ratings and Specifications of SGMVH (1500 min-1)

Servomotor Specifications and Dimensional Drawings

(3) Torque-Motor Speed Characteristics (400 V class)

SGMVH-3ZDB

2000

SGMVH-2BDB

2000

Motor speed

(min-1)

Motor speed

(min-1)

1500

1000

500

2000

1500

1000

500

1500

Motor speed

(min-1)

1000

100 200 300 400

Torque (Nm)

SGMVH-3GDB

200 400 600

Torque (Nm)

500

2000

Motor

1500

speed

(min-1)

1000

500

200 400 600

Torque (Nm)

SGMVH-4EDB

200 400 600 800

Torque (Nm)

Motor speed

(min-1)

2000

1500

1000

500

SGMVH-5EDB

300 600 900

Torque (Nm)

SGMVH-7EDB

2000

1500

Motor speed

(min-1)

1000

500

: Continuous Duty Zone

: Intermittent Duty Zone

400 800 1200

Torque (Nm)

3-5

3 Servomotor Specifications and Dimensional Drawings

3.2 Ratings and Specifications of SGMVH (800 min-1)

(1) Ratings and Specifications

• Time Rating: Continuous

• Vibration Class: V15

• Insulation Resistance: 500 VDC, 10 MΩ min.

• Surrounding Air Temperature: 0 to 40°C

• Excitation: Permanent magnet

• Mounting: Flange-mounted (standard) Foot-mounted (semi-standard)

(a) 200 V Class

Voltage Class 200 V

Servomotor Model

SGMVH-

Rated Output

Rated Torque

Stall Torque

∗

Instantaneous Peak Torque

Rated Current

∗

Instantaneous Max. Current

Rated Speed

Max. Speed

∗

Torque Constant N·m/Arms

Rotor Moment of Inertia J

Rated Power Rate

∗

Rated Angular Acceleration ∗rad/s

Note: Refer to the next page for the notes.

∗

N·m

Arms

-1

min

-1

min

x10-4 kg·m

kW/s

• Thermal Class: F

• Withstand Voltage: 200 V Servomotors: 1500 VAC for one minute 400 V Servomotors: 1800 VAC for one minute

• Enclosure: Totally enclosed, cooled separately, IP44

• Ambient Humidity: 20% to 80% (no condensation)

• Drive Method: Timing belt or coupling

2BAD3ZAD3GAD

22 30 37

262 358 442

526 752 930

104 150 195

240 340 460

800

1300

2.73 2.50 2.34

705 1290 1564

979 994 1248

372627772824

3-6

3.2 Ratings and Specifications of SGMVH (800 min-1)

Servomotor Specifications and Dimensional Drawings

(b) 400 V Class

Voltage Class 400 V

Servomotor Model

SGMVH-

Rated Output

Rated Torque

Stall Torque

∗

Instantaneous Peak Torque

Rated Current

∗

Instantaneous Max. Current

Rated Speed

Max. Speed

∗

N·m

∗

N·m

Arms

∗

Arms

-1

min

-1

min

Torque Constant N·m/Arms

Rotor Moment of Inertia J

Rated Power Rate

∗

Rated Angular Acceleration ∗rad/s

x10

kW/s

-4

kg·m2

* These items and torque-motor speed characteristics quoted in combination with SGDM/SGDH

SERVOPACK are at an armature winding temperature of 20°C.

Note: These characteristics are values with the following iron plates (heat sinks) attached for

cooling. SGMVH-2B: 650 × 650 × 35 mm SGMVH-3Z, 3G and 4E: 740 × 520 × 27 mm

2BDD3ZDD3GDD4EDD

22 30 37 45

262 358 442 537

526 752 930 1182

52 75 98 110

120 170 230 280

800

1300

5.46 5.00 4.68 5.21

705 1290 1564 1804

979 994 1248 1600

3726 2777 2824 2978

3-7

3 Servomotor Specifications and Dimensional Drawings

1500

1000

500

200 400 600

SGMVH-2BAD

1500

1000

500

400 800 1200

SGMVH-3GAD

1500

1000

500

200 400 600

800

SGMVH-3ZAD

ABAB

Motor speed

(min

-1

)

Torque (Nm)

Motor speed

(min-1)

Torque (Nm)

Motor speed

(min

-1

)

Torque (Nm)

: Continuous Duty Zone

: Intermittent Duty Zone

2000

1500

1000

500

400 800 1200

SGMVH-3GDD

2000

1500

1000

500

200 400 600

SGMVH-2BDD

2000

1500

1000

500

200 400 600 800

SGMVH-3ZDD

2000

1500

1000

500

400

800

1200

SGMVH-4EDD

Motor speed

(min

-1

)

Torque (Nm)

Motor

speed

(min-1)

Torque (Nm)

Motor

speed

(min

-1

)

Torque (Nm)

Motor speed

(min-1)

Torque (Nm)

: Continuous Duty Zone

: Intermittent Duty Zone

(2) Torque-Motor Speed Characteristics (200 V class)

(3) Torque-Motor Speed Characteristics (400 V class)

3-8

Servomotor Specifications and Dimensional Drawings

3.3 Mechanical Specifications of Servomotors

CAUTION

Do not connect

Measure this distance at four different positions on the circumference. The difference between the maximum and minimum measurements must be

0.06 mm or less. (Turn together with coupling.)

Alignment Accuracy

Measure this distance at four different positions on the circumference. The difference between the maximum and minimum measurements must be

0.05 mm or less. (Turn together with coupling.)

Alignment Accuracy

3.3.1 Precautions on Servomotor Installation

Servomotors can be installed either horizontally or vertically.

The service life of the servomotor will be shortened or unexpected problems will occur if the servomotor is installed incorrectly or in an inappropriate location. Always observe the following installation instructions.

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

The servomotor cannot operate without the proper SERVOPACK.

3.3 Mechanical Specifications of Servomotors

Storage Temperature and Humidity

Installation Site Servomotors are designed for indoor use. Install the servomotor in environments that satisfy the follow-

Alignment Align the shaft of the servomotor with the shaft of the

Store the servomotor within the following temperature range if it is stored with the power cable disconnected.

Surrounding air temperature during storage: -20 to 60°C Ambient humidity during storage: 80%RH or less (with no condensation)

ing conditions.

• Free of corrosive or explosive gases.

• Well-ventilated and free of dust and moisture.

• Surrounding air temperature of 0 to 40°C

• Relative humidity of 20% to 80% with no condensation.

• Facilitates inspection and cleaning

equipment, and then couple the shafts. Install the servomotor so that alignment accuracy falls within the range described on the left.

Vibration may occur and damage the bearings and the encoder if the shafts are not correctly aligned.

Connect the servomotor to a machine in a way that prevents the application of concentric loads or rotary unbalanced loads on the motor shaft.

When installing, do not hit the shafts with a hammer etc., as impacts may result in malfunction.

Orientation Servomotors can be installed either horizontally or vertically.

3-9

3 Servomotor Specifications and Dimensional Drawings

Through shaft section:

Shaft

Flange

This refers to the gap where the shaft protrudes from the end of the motor.

IMPORTANT

Anticorrosive paint is coated here.

3.3.1 Precautions on Servomotor Installation

Handling Oil and Water

If the servomotor is used in a location that is subject to water drops, make sure of the servomotor protective specifications (except for through shaft section). If the servomotor is used in a location that is subject to water or oil mist, use a servomotor with an oil seal to seal the through shaft section.

Precautions on Using Servomotor With Oil Seal

• The oil surface must be under the oil seal lip.

• Use an oil seal in favorably lubricated condition.

• When using a servomotor with its shaft pointed upward, be sure that oil will not stay in the oil seal lips.

Cable Stress Make sure there are no bends or tension on the power lines.

Especially be careful to wire signal line cables so that they are not subject to stress because the core wires are very thin at only 0.2 to 0.3 mm.

Connectors Observe the following precautions:

• Make sure there is no foreign matters such as dust and metal chips in the connector before connecting.

• When the connectors are connected to the motor, be sure to connect the end of servomotor main circuit cables before connecting the encoder cable’s end. If the encoder cable’s end is connected first, the encoder may be damaged because of the voltage differences between frame grounds.

• Make sure of the pin arrangement.

• Do not apply shock to resin connectors. Otherwise, they may be damaged.

• When handling a servomotor with its cables connected, hold the servomotor or the connectors. Otherwise, the cables will be damaged.

• When bending cables are used, wiring must be performed so that excessive stress will not be applied to the connector section. Failure to observe this caution may damage the connector.

1. Before starting installation, thoroughly remove the anticorrosive paint that coats the end of the motor shaft.

2. Vibration from improper alignment of shafts will damage the bearings.

3. Do not allow direct impact to be applied to the shafts when installing the coupling as the encoder mounted on the opposite end of the shaft may be damaged.

3-10

3.3 Mechanical Specifications of Servomotors

Servomotor Specifications and Dimensional Drawings

Terminal Terminal Screw

M10 M10

1,1b M4Thermostat

Motor

Ground

Symbol

Terminal Terminal Screw

Thermostat

Motor

Ground

Symbol

U,V,W

230

236

249

Plate

Ground bolt

Ground bolt Terminal block for motor leads

Terminal block for motor leads

Plate

Terminal block for thermostat

Motor lead exit

U,V,W

M10 M10

1,1b M4

220

(5)

236

(5)

Unitsmm



 D

U V

Wring the Motor Terminal Box

Wiring the Servomotor Fan

• Connect the servomotor power lines (U, V, and W) to the servomotor terminal block (M10) in the servomotor terminal box. Connect the ground wire to the ground bolt (M10) in the terminal box.

• The servomotor has a built-in thermostat. Wire the thermostat leads (l, lb) to the terminal block (M4) in the servomotor’s terminal box.

• Terminal Box

• 22 kW to 37 kW (1500 min

• 22 kW (800 min

-1

)

-1

)

• 45 kW to 75 kW (1500 min

• 30 kW to 45 kW (800 min

-1

)

-1

)

Wire the servomotor fan leads U(A), V(B), and W(C) so that the direction of air flows according to the following diagram. If the air flows in the opposite direction, change the wiring of any of the two phases U, V, and W

Protecting the Servomotor Fan

Installing the Servomotor Fan

Servomotor

Direction of cooling air

The servomotor fan has a built-in thermal protector, as shown in the following diagram, that operates at 140°C ±5%. To protect the servomotor fan from overcurrent, use with a 2-A no-fuse breaker.

To maximize the cooling capacity of the servomotor fan, install the fan at least 200 mm from the inlet side of the servomotor as shown in the following diagram.

Cooling air

200 mm min.

Servomotor

3-11

3 Servomotor Specifications and Dimensional Drawings

+5VDC

DATA-

DATA+

BATTBATT+

AK B C D E F G H J

L M N P R S T

FG㧔Frame ground㧕

Plug: JA06A-20-29S-J1-EB Cable clamp: JL04-2022CKE㧔㧕

Receptacle: 97F3102E20-29P Applicable plug㧔purchased by a customer.㧕

(

)

+5VDC

DATA-

DATA+

AK B C D E F G H J

L M N P R S T

FG㧔Frame ground㧕

Plug: JA06A-20-29S-J1-EB Cable clamp: JL04-2022CKE㧔㧕

Receptacle: 97F3102E20-29P Applicable plug㧔purchased by a customer.㧕

Fan terminal㧔㨁㧕 Fan terminal㧔㨂㧕 Fan terminal㧔㨃㧕

A B C D

Plug: CE05-6A18-10SD-B-BSS Cable clamp: CE3057-10A-㧔D265㧕

Receptacle: CE05-2A18-10PD-B Applicable plug㧔purchased by a customer.㧕

3.3.1 Precautions on Servomotor Installation

Encoder-end Connector Specifications

Absolute Encoder

Incremental Encoder

Fan Connector Specifications

3-12

Servomotor Specifications and Dimensional Drawings

3.3.2 Allowable Radial and Thrust Loads

The following table shows the allowable loads applied to the SGMVH servomotor shaft end.

Design the mechanical system so radial and thrust loads applied to the servomotor shaft end during operation falls within the ranges shown in the following table.

Note that even when using a servomotor below the allowable radial load, the following imbalance or the loads may damage the bearings.

• The imbalance of parts that are connected to the shaft end

• Rotating loads generated by unmatched concentricity, when the bearing is attached to the extended shaft end.

(1) 1500 min-1 Series

3.3 Mechanical Specifications of Servomotors

Servomotor Model

SGMVH-

2BAB, 2BDB 3ZAB, 3ZDB 3GAB, 3GDB 4EDB 5EDB 7EDB

Note: Allowable radial and thrust loads shown above are the maximum values that could be

applied to the shaft end from motor torque or other loads.

Allowable Radial Load

Fr [N]

5880 2156 100

6272 2156 100

7448 2156 100

7840 2156 100

8428 2156 110

10100 2156 120

Allowable Thrust

Load

Fs [N]

(2) 800 min-1 Series

Servomotor Model

SGMVH-

2BAD, 2BDD 3ZAD, 3ZDD 3GAD, 3GDD 4EDD

Note: Allowable radial and thrust loads shown above are the maximum values that could be

applied to the shaft end from motor torque or other loads.

Allowable Radial Load

Fr [N]

7448 2156 100

8428 2156 110

10100 2156 120

Allowable Thrust

Load

Fs [N]

[mm]

3-13

3 Servomotor Specifications and Dimensional Drawings

Positive direction

Impact applied to the servomotor

Vertical

Front to back

Horizontal shaft

Side to side

3.3.3 Mechanical Tolerance

The following table shows tolerances for the servomotor’s output shaft and installation area. For more details on tolerances, refer to the dimensional drawing of the individual servomotor.

Tolerance T. I. R. (Total Indicator Reading) Reference Diagram

Perpendicularity between the flange face and output shaft : 0.05

Mating concentricity of the flange O.D. : 0.025

Run-out at the end of the shaft : 0.03

3.3.4 Direction of Servomotor Rotation

Positive rotation of the servomotor is counterclockwise when viewed from the load.

3.3.5 Impact Resistance

Mount the servomotor with the axis horizontal. The servomotor will withstand the following vertical impacts:

• Impact acceleration: 490 m/s

• Impact occurrences: 2

Vertical

Horizontal shaft

Impact applied to the servomotor

3.3.6 Vibration Resistance

Mount the servomotor with the axis horizontal. The servomotor will withstand the following vibration acceleration in three directions: Vertical, side to side, and front to back. The amount of vibration the servomotor endures will vary depending on the application. Check the vibration acceleration being applied to your servomotor for each application.

• Vibration acceleration: 24.5 m/s

3-14

Servomotor Specifications and Dimensional Drawings

3.3.7 Vibration Class

TERMS

Position for measuring vibration

The vibration class 1for the servomotors at rated motor speed is as follows.

• Vibration class: V15

3.3 Mechanical Specifications of Servomotors

Vibration Class

A vibration class of V15 indicates a total vibration amplitude of 15 μm maximum on the servomotor during rated rotation.

3-15

3 Servomotor Specifications and Dimensional Drawings

265

300

غ250

250

220

167

116

149

(Encoder, fan)

20 5

230

-0.046

140

230

163

(Motor lead exit)

غ250

(Flange)

45 45

353

658

518

+0.030

+0.011

144

147

Cooling air

Fan connector

Encoder connector

φ13.5

φ61

Motor lead exit

Opening for motor lead when terminal box plate is replaced.

Hanging bolt available

Units: mm Approx. mass: 95 kg

φ0.05 A

0.05 A

0.03

140

R1.6

3.4 Dimensional Drawings of SGMVH Servomotors (1500 min-1)

22 kW (-2BAB, -2BDB)

(1)

• Shaft End Specifications

Specifications Shaft End

Straight, without key

Straight, with key and tap *

* Shaft end key is a JIS B 1301-1996 horizontal key (key slot tightening type).

140

R1.6

140

110

-0.043

-0.110

M20 screw depth 40

3-16

Servomotor Specifications and Dimensional Drawings

(2) 30 kW (-3ZAB, -3ZDB)

250

140564

704

116190

+0.030

+0.011

230

-0.046

193

399

140230

0.03

φ61

φ0.05 A

0.05 A

265

300

250

220

167

149

(Encoder, fan)

163

(Motor lead exit)

250

(Flange)

45 45

φ13.5

Opening for motor lead when terminal box plate is replaced.

Encoder connector

Fan connector

Motor lead exit

Hanging bolt available

Cooling air

Units: mm Approx. mass: 110 kg

140

R1.6

140

110

R1.6

M20 screw depth 40

-0.110

-0.043

3.4 Dimensional Drawings of SGMVH Servomotors (1500 min-1)

• Shaft End Specifications

Specifications Shaft End

Straight, without key

Straight, with key and tap *

* Shaft end key is a JIS B 1301-1996 horizontal key (key slot tightening type).

3-17

3 Servomotor Specifications and Dimensional Drawings

265

300

250

220

167

149

(Encoder, fan)

163

(Motor lead exit)

250

(Flange)

45 45

250

+0.030

+0.011

230

-0.046

233

439

140

744

604

520

230

230 116

180

4-φ13.5

Hanging bolt available

0.03

φ0.05 A

0.05 A

Cooling air

Opening for motor lead when terminal box plate is replaced.

Fan connector

Encoder connector

Motor lead exit

Units: mm Approx. mass: 120 kg

(3) 37 kW (-3GAB, -3GDB)

• Shaft End Specifications

Specifications Shaft End

Straight, without key

Straight, with key and tap *

R1.2

140

110

140

* Shaft end key is a JIS B 1301-1996 horizontal key (key slot tightening type).

R1.2

140

-0.043

-0.110

M20 screw depth 40

3-18

Servomotor Specifications and Dimensional Drawings

(4) 45 kW (-4EDB)

300

350

300

220

530

φ75

+0.030

+0.011

φ250

-0.046

437

145652

797

222236

280

(Flange)

3030

174

(Encoder, fan)

487

277

201

(Motor lead exit)

210

258

Cooling air

Motor lead exit

0.03

Opening for motor lead when terminal box plate is replaced.

φ61

Hanging bolt available

Fan connector

Encoder connector

4-φ17.5

0.05 A

φ0.05 A

Units: mm Approx. mass: 165 kg

145

140

R2.5

3.4 Dimensional Drawings of SGMVH Servomotors (1500 min-1)

• Shaft End Specifications

Specifications Shaft End

Straight, without key

Straight, with key and tap *

* Shaft end key is a JIS B 1301-1996 horizontal key (key slot tightening type).

145

R2.5

110

-0.052

-0.110

M20 screw depth 40

7.5

140

3-19

3 Servomotor Specifications and Dimensional Drawings

300

350

220

280

(Flange)

3030

174

(Encoder, fan)

258

201

(Motor lead exit)

210

300

145697

842

267236

482

+0.030

+0.011

250

-0.046

532

322

Opening for motor lead when terminal box plate is replaced.

Hanging bolt available

Cooling air

Motor lead exit

0.03

4-φ17.5

Encoder connector

Fan connector

0.05

Units: mm Approx. mass: 185 kg

145

140

R2.5

(5) 55 kW (-5EDB)

• Shaft End Specifications

Specifications Shaft End

Straight, without key

Straight, with key and tap *

* Shaft end key is a JIS B 1301-1996 horizontal key (key slot tightening type).

R2.5

145

140

110

-0.052

-0.110

M20 screw depth 40

7.5

3-20

Servomotor Specifications and Dimensional Drawings

(6) 75 kW (-7EDB)



300

220

30 5

175

973

798

572

357

+0.035

+0.013

250

-0.046

236

30 30



280

(Flange)

210

258

201

(Motor lead exit)

174

(Encoder, fan)

622

412

300

350

Opening for motor lead when terminal box plate is replaced.

Hanging bolt available

Cooling air

Motor lead exit

0.03

0.05

φ0.05

Encoder connector

Fan connector

4-φ17.5

Units: mm Approx. mass: 225 kg

175

170

R2.5

• Shaft End Specifications

3.4 Dimensional Drawings of SGMVH Servomotors (1500 min-1)

Specifications Shaft End

Straight, without key

Straight, with key and tap *

175

R2.5

170

140

-0.052

-0.110

M20screw depth 40

* Shaft end key is a JIS B 1301-1996 horizontal key (key slot tightening type).

3-21

3 Servomotor Specifications and Dimensional Drawings

250

265

300

250

220

167

149

(Encoder, fan)

163

(Motor lead exit)

250

(Flange)

45 45

140

116

20 5

230

-0.046

230

+0.030

+0.011

794

654

230

283

489

280

Fan connector

Encoder connector

Motor lead exit

4-φ13.5

Hanging bolt available

0.03

φ0.05 A

0.05 A

Cooling air

Opening for motor lead when terminal box plate is replaced.

Units: mm Approx. mass: 135 kg

140

110

M20 screw depth 40

R1.2

-0.110

-0.043

3.5 Dimensional Drawings of SGMVH Servomotors (800 min-1)

(1) 22 kW (-2BAD, -2BDD)

• Shaft End Specifications

Specifications Shaft End

Straight, without key

Straight, with key and tap *

* Shaft end key is a JIS B 1301-1996 horizontal key (key slot tightening type).

140

R1.2

140

3-22

Servomotor Specifications and Dimensional Drawings

(2) 30 kW (-3ZAD, -3ZDD)

300

350

220

280

(Flange)

3030

174

(Encoder, fan)

201

(Motor lead exit)

210

300

145697

842

267236

482

+0.030

+0.011

250

-0.046

532

322

258

Opening for motor lead when terminal box plate is replaced.

Hanging bolt available

Cooling air

Motor lead exit

0.03

φ61

4-φ17.5

Encoder connector

Fan connector

0.05 A

φ0.05 A

Units: mm Approx. mass: 185 kg

3.5 Dimensional Drawings of SGMVH Servomotors (800 min-1)

• Shaft End Specifications

Specifications Shaft End

Straight, without key

Straight, with key and tap *

R2.5

145

110

140

* Shaft end key is a JIS B 1301-1996 horizontal key (key slot tightening type).

145

R2.5

140

-0.052

-0.110

screw depth 40

M20

7.5

3-23

3 Servomotor Specifications and Dimensional Drawings

300

350

220

280

(Flange)

3030

174

(Encoder, fan)

201

(Motor lead exit)

210

300

145

236

+0.030

+0.011

250

-0.046

372

582

317

532

747

892

258

Opening for motor lead when terminal box plate is replaced.

Hanging bolt available

Cooling air

Motor lead exit

0.03

φ61

4-φ17.5

Encoder connector

Fan connector

0.05 A

φ0.05 A

Units: mm Approx. mass: 205 kg

145

140

R2.5

145

140

7.5

110

R2.5

M20

screw depth 40

-0.110

-0.052

(3) 37 kW (-3GAD, -3GDD)

• Shaft End Specifications

Specifications Shaft End

Straight, without key

Straight, with key and tap *

* Shaft end key is a JIS B 1301-1996 horizontal key (key slot tightening type).

3-24

Servomotor Specifications and Dimensional Drawings

(4) 45 kW (-4EDD)

170

140

175

R2.5

M20 screw depth 40

-0.110

-0.052

236 357

Fan connector

Encoder connector

973

572

798

3.5 Dimensional Drawings of SGMVH Servomotors (800 min-1)

175

0.05

Opening for motor lead when terminal box plate is replaced.

0.05

280

(Flange)

30 30

Cooling air

300

Motor lead exit

φ61

• Shaft End Specifications

Specifications Shaft End

Straight, without key

Straight, with key and tap *

622

412

174

(Encoder, fan)

201

(Motor lead exit)

258

350

+0.035

+0.013

-0.046

250

0.03

220

4-φ17.5

300

Hanging bolt available

210

Units: mm Approx. mass: 225 kg

175

R2.5

170

* Shaft end key is a JIS B 1301-1996 horizontal key (key slot tightening type).

3-25

4

SERVOPACK Specifications and Dimensional Drawings

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 400 V, 37 kW Model 400 V, 45 kW, 55 kW Models

ations

- - - - - - - - - - - - - - - - - - - - - 4-3

- - - - - - - - - - - - - - - - - - - - 4-9

- - - - - - - - - - - - - - - - - - - - - - - - - - 4-9

- - - - - - - - - - - - - - - - - - - 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

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

4.6.4

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

- - - - - - - - - - - - - - - - - - - - - - - - - 4-19

4-1

4 SERVOPACK Specifications and Dimensional Drawings

CAUTION

4.1.1 Three-phase 200 V

4.1 SERVOPACK Ratings and Specifications

• Take appropriate measures to ensure that the input power supply is supplied within the specified voltage range.

An incorrect input power supply may result in damage to the SERVOPACK. If the voltage exceeds these values, use a step-down transformer so that the voltage will be within the specified range.

4.1.1 Three-phase 200 V

The value of the input power supply voltage is maximum 253 Vrms.

SERVOPACK Model

Max. Applicable Servomotor Capacity (kW)

Continuous Output Current (Arms)

Max. Output Current (Arms) Input Power Supply Main Circuit Three-phase 200 to 230 VAC +10% to -15%, 50/60 Hz

Control Circuit Single-phase 200 to 220 VAC +10% to -15%, 50 Hz

Configuration Base-mounted

4.1.2 Three-phase 400 V

The value of the input power supply voltage is maximum 528 Vrms.

SERVOPACK Model SGDH- 2BDEB 3ZDEB 3GDEB 4EDEB 5EDEB 9ZDEB

Max. Applicable Servomotor Capacity (kW)

Continuous Output Current (Arms)

Max. Output Current (Arms) Input Power Supply Main Circuit Three-phase 380 to 480 VAC +10% to -15%, 50/60 Hz

Control Circuit 24 VDC ±15%

For Control Actuator Single-phase 380 to 480 VAC, 50/60 Hz, 150 VA

Configuration Base-mounted

SGDM- 2BADB 3ZADB 3GADB

SGDH- 2BAEB 3ZAEB 3GAEB

22 30 37

110 148 195

240 340 460

Single-phase 200 to 230 VAC +10% to -15%, 60 Hz

22 30 37 45 55 75

52.2 75 98 127 150 210

120 170 230 280 340 580

4-2

4.1 SERVOPACK Ratings and Specifications

SERVOPACK Specifications and Dimensional Drawings

4.1.3 SERVOPACK Ratings and Specific

Basic Specifications

Speed and Torque Control Modes

Position Control Modes

I/O Signals

Control Method Three-phase full-wave rectification IGBT-PWM (sine-wave driven)

Feedback Serial encoder: 17-bit (incremental/absolute)

Conditions

Ambient/Storage Temperature Ambient/Storage Humidity 90% RH or less (with no condensation)

∗1

Vibration/Shock Resistance

Perfor-

Speed Control Range 1:5000 (The lowest speed of the speed control range is the speed at which

mance

Speed Regula-

∗2

tion

Load Regulation 0 to 100% load: ±0.01% or less (at rated speed) Voltage Regulation Rated voltage ±10%: 0% (at rated speed)

Temperature Regulation

Frequency Characteristics 100 Hz (at JL = JM)

Torque Control Tolerance (Repeatability)

Soft Start Time Setting 0 to 10 s (Can be set individually for acceleration and deceleration.)

Input Signals

Speed Reference

Reference Voltage

∗3

Input

Input Impedance About 14 kΩ Circuit Time Constant About 47 μs

To rq u e

Reference Voltage

∗3

Reference Input

Input Impedance About 14 kΩ Circuit Time Constant About 47 μs

Performance

Contact Speed Reference

Bias Setting Feed Forward Compensation 0 to 100% (setting resolution: 1%)

Rotation Direction Selection

Speed Selection With forward/reverse external torque limit signal (speed 1 to 3 selection),

Positioning Completed Width Setting

Input Signals

Reference Pulse

Type Sign + pulse train, 90° phase difference 2-phase pulse train (phase A +

Form Line driver (+5 V level), open collector (+5 V or +12 V level)

Frequency Maximum 500/200 kpps (line driver/open collector)

Control Signal Clear signal (input pulse form identical to reference pulse)

Built-in Open Collector Power

Supply

∗4

Position Output Form Phase-A, -B, -C line driver

Frequency Dividing Ratio

Sequence Input Signal allocation can

be modified.

Sequence Output Fixed Output Servo alarm, 3-bit alarm codes

Signal allocation can be modified.

ations

0 to +55°C/-20 to +85°C

/19.6 m/s

4.9 m/s

the servomotor will not stop with a rated torque load.)

25 ± 25°C: ±0.1% or less (at rated speed)

±2%

±6 VDC (Variable setting range: ±2 to ±10 VDC) at rated speed, input

voltage: maximum ±12 V (servomotor forward rotation with positive reference)

±3 VDC (Variable setting range: ±1 to ±10 VDC) at rated torque, input voltage: maximum ±12 V (positive torque reference with positive reference)

With P control signal

servomotor stops or another control method is used when both are OFF.

0 to 450 min

0 to 250 reference units (setting resolution: 1 reference unit)

phase B), or CCW + CW pulse train

+12 V (1kΩ resistor built in)

Phase-S line driver (only with an absolute encoder)

Any

Servo ON, P control (or Control mode switching, forward/reverse motor rotation by internal speed setting, zero clamping, reference pulse prohibited), forward run prohibited (P-OT), reverse run prohibited (N-OT), alarm reset, forward external torque limit, and reverse external torque limit (or internal speed selection)

Select three signals from the following: Positioning completed (speed coincidence), servomotor rotation detection, servo ready, torque limit, speed limit, brake interlock, warning, NEAR signal.

-1

(setting resolution: 1 min-1)

4-3

4 SERVOPACK Specifications and Dimensional Drawings

Speed reguration

No-load motor speed – Total load motor speed

Rated motor speed

× 100%

4.1.3 SERVOPACK Ratings and Specific

ations

Internal Functions

Dynamic Brake Operated at main power OFF, servo alarm, servo OFF or overtravel.

Overtravel Stop Dynamic brake stop at P-OT or N-OT, deceleration to a stop, or coast to a

stop

Electronic Gear 0.01 ≤ B/A ≤ 100

Protection Overcurrent, overvoltage, low voltage, overload, regeneration error, main

circuit detection section error, heat sink overheated, no power supply, overflow, overspeed, encoder error, overrun, CPU error, parameter error

LED Display Charge, Power, five 7-segment LEDs × 5 digits (built-in Digital Operator

functions)

CN5Analog Monitoring Analog monitor connector built in for monitoring speed, torque and other

reference signals.

Speed: 1 V/1000 min

-1

Torque: 1 V/ rated torque Position error pulses: 0.05 V/1 reference units or 0.05 V/100 reference

units

Communications Connected Devices Digital Operator (hand-held model), RS-422A port such as for a personal

computer (RS-232C ports under certain conditions)

1:N Communications Up to N = 14 for RS-422A ports

Axis Address Setting Set with parameters.

Functions Status display, parameter setting, monitor display, alarm trace-back dis-

play, JOG operations, speed/torque reference signal and other drawing functions

Others Reverse rotation connection, zero-point search, automatic servomotor ID,

DC reactor connection terminal for harmonic suppressions

* 1. Use the SERVOPACK within the surrounding air temperature range. When enclosed in a control

panel, internal temperatures must not exceed the ambient temperature range.

* 2. Speed regulation is defined as follows:

The motor speed may change due to voltage variations or amplifier drift and changes in processing resistance due to temperature variation. The ratio of speed changes to the rated speed represent speed regulation due to voltage and temperature variations.

* 3. Forward is clockwise viewed from the non-load side of the servomotor. (Counterclockwise viewed

from the load and shaft end)

* 4. The built-in open collector power supply is not electrically insulated from the control circuit in the

SERVOPACK.

4-4

4.2 SERVOPACK Installation

SERVOPACK Specifications and Dimensional Drawings

WARNING

4.2 SERVOPACK Installation

The SGDM/SGDH SERVOPACKs can be mounted on a base. Incorrect installation will cause problems. Always observe the following installation instructions.

• After voltage resistance test, wait at least five minutes before servicing the product. (Refer to “Voltage Resistance Test” on the following page.)

Failure to observe this warning may result in electric shock.

• Connect the main circuit wires, control wires, and main circuit cables of the motor correctly.

Incorrect wiring will result in failure of the SERVOPACK.

Storage Store the SERVOPACK within the following temperature range if it is stored with the power cable discon-

nected. Temperature: -20 to 85°C

Humidity: 90% RH or less (with no condensation)

Installation Site Installation in a Control Panel

Design the control panel size, unit layout, and cooling method so the temperature around the SERVOPACK does not exceed 55°C.

Installation Near a Heating Unit

Minimize the heat radiating from the heating unit as well as any temperature rise caused by natural convection so the temperature around the SERVOPACK does not exceed 55 °C.

Installation Near a Source of Vibration

Install a vibration isolator on the SERVOPACK to avoid subjecting it to vibration.

Installation at a Site Exposed to Corrosive Gas

Corrosive gas does not have an immediate effect on the SERVOPACK but will eventually cause the electronic components and contactor-related devices to malfunction. Take appropriate action to avoid corrosive gas.

Other Situations

Do not install the SERVOPACK in hot, humid locations or locations subject to water, cutting oil, excessive dust, iron powder, and radioactivity in the air.

Orientation Install the SERVOPACK perpendicular to the wall as shown in the figure.

50 mm min. (ventilation exhaust)

POWER

8CN

O P E R A T O R

T DATA/SEEMOD/

CN5

CN3

ෂޓ㒾

WARNING

ᗵ㔚ߩᕟࠇ޽ࠅ

ㅢ㔚෸߮㔚Ḯࠝࡈᓟ5 ಽ㑆ޔ┵ሶㇱߦ⸅ࠆߥ!

May cause electric shock.

Disconnect all power and wait 5 min. before servicing.

ᔅߕࠕ㧙ࠬ✢ࠍ ធ⛯ߖࠃ

Use proper

grounding techniques.

480 V460

400 V 0 V440

380

DWDV B1

24N

CHARGE

L1/R L2/S

+2-+1

DC 24P

L3/T

S-HDG

UVW

KSERVOPAC

㧖㧖㧖㧖

AYASKAW

50 mm min.

50 mm min. (ventilation intake)

120 mm min.

Air flow

4-5

4 SERVOPACK Specifications and Dimensional Drawings

Fan

50 mm min.

100 mm min.

120 mm min.

Fan



.4 .5

.6

789

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8

&9&8 $

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&% 0

$

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1 2 ' 4 # 6 1

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219'4

%0

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electric shock.

Disconnect all power

May cause

ᗵ㔚ߩᕟࠇ޽ࠅ

before servicing.

and wait 5 min.

grounding techniques.

ធ⛯ߖࠃ

Use proper

ᔅߕࠕ㧙ࠬ✢ࠍ



.4 .5

.6

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&9&8 $

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electric shock.

Disconnect all power

May cause

ᗵ㔚ߩᕟࠇ޽ࠅ

before servicing.

and wait 5 min.

grounding techniques.

ធ⛯ߖࠃ

Use proper

ᔅߕࠕ㧙ࠬ✢ࠍ



.4 .5

.6

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electric shock.

Disconnect all power

May cause

ᗵ㔚ߩᕟࠇ޽ࠅ

before servicing.

and wait 5 min.

grounding techniques.

ធ⛯ߖࠃ

Use proper

ᔅߕࠕ㧙ࠬ✢ࠍ



.4 .5

.6

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electric shock.

Disconnect all power

May cause

ᗵ㔚ߩᕟࠇ޽ࠅ

before servicing.

and wait 5 min.

grounding techniques.

ធ⛯ߖࠃ

Use proper

ᔅߕࠕ㧙ࠬ✢ࠍ

Installation Follow the procedure below to install multiple SERVOPACKs side by side in a control panel.

SERVOPACK Orientation

Install the SERVOPACK perpendicular to the wall so the front panel containing connectors faces outward.

Cooling

As shown in the figure above, allow sufficient space around each SERVOPACK for cooling by cooling fans or natural convection.

Side-by-side Installation

When installing SERVOPACKs side by side as shown in the figure above, allow at least 100 mm between and at least 120 mm above and below each SERVOPACK. Allow the space for eyebolts on both sides of the SERVOPACK.

Environmental Conditions in the Control Panel

Surrounding Air Temperature:0 to 55°C Humidity: 90% RH or less

Vibration: 4.9 m/s

Condensation and Freezing: None Surrounding Air Temperature for Long-term Reliability: 45°C or less

Voltage Resistance Test

Conduct voltage resistance tests under the following conditions.

• Voltage: 1500 Vrms AC for one minute

• Braking current: 100 mA

• Frequency: 50 or 60 Hz

• Voltage applied points

200 V series: Between the ground terminals and the point where terminals L1C/r, L3C/t, L1/R, L2/S, L3/T

are connected.

400 V series: Between the ground terminals and the point where terminals 480 V, 460 V, 440 V, 400 V, 380 V,

0 V, L1/R, L2/S, L3/T are connected.

4-6

SERVOPACK Specifications and Dimensional Drawings

4.3 SERVOPACK Internal Block Diagrams

FIL

1KM

L1/R

+ 1

+ 2

TRM7

TRM1 to TRM6

FU1 to 3

C1 to C4

CHARGE

SA1 to SA3

3PWB

200 VAC

1KM

(5Ry) Open during servo alarm

1CN

3CN

L1C/r

L3C/t

+5V

2PWB

2CN

L2/S

L3/T

200 VAC

DCCT1

DCCT2

DCCT3

MC2

DU DV

RST

UVW

200 VAC

MC1

FAN

㨪ޓ

㨪ޓ

FAN1 to FAN2

1QF

Servomotor

Three-phase 200 to 230 VAC (50/60 Hz)

Regenerative resistor (option)

DB resistor (option)

From detection circuit

DC/DC converter

Power for drive

Drive circuit

Current sensor

Sensor circuit

Position/speed calculation circuit

Control input

Digital operator (personal computer)

Power OFF

Power ON

Surge absorber

4.3 SERVOPACK Internal Block Diagrams

4.3.1

Three-phase 200 V, 22 kW, 30 kW Models

4-7

4 SERVOPACK Specifications and Dimensional Drawings

4.3.2 Three-phase 200 V, 37 kW Model

Three-phase 200 to 230 VAC (50/60 Hz)

1QF

FIL

1KM

+ 1

+ 2

L1/R

L2/S

L3/T

SA1 to SA3

MC1

200 VAC

From detection circuit

CHARGE

MC1

Regenerative resistor (option)

TRM1

TRM6

TRM7

C1 to C4

FU1 to 3

DU DV DW

DB resistor (option)

From detection circuit

DCCT1

DCCT2

DCCT3

DB unit (option)

RST

UVW

FAN

L1C/r

L3C/t

Power OFF

(5Ry) Open during servo alarm

3PWB

㨪ޓ

㨪ޓ

Power ON

1KM

200 VAC

FAN1 to FAN2

DC/DC converter

Control input

Digital operator (personal computer)

1KM

Surge absorber

+5V

Power for drive

1CN

3CN

2PWB

Drive circuit

Sensor circuit

Position/speed calculation circuit

Current sensor

2CN

Servomotor

4-8

4.3 SERVOPACK Internal Block Diagrams

SERVOPACK Specifications and Dimensional Drawings

D/A

A/D

I/O

CN5 CN3

CN10

CN2

CN8

CN1

1PCB

2PCB

+5V

+24V

+15V

43CN

3PCB

200 VAC

FAN1

215V

480V

460V

440V

400V

380V

600V 4A

DC24P

DC24N

MC2

DCCT1

DB24DBON

DCCT2

DCCT3

DB24

DBON

+-+

TRM1 to TRM6

C1 to C4

TRM7

CHARGE

MC1

200 VAC

C64

C65

C61 to C63

L1/R

DM1

to DM3

L2/S

L3/T

B1 B2

FU1

FU4

MC2

SA1 to SA3

Digital operator

DC reactor connection terminals

Main circuit power input terminals (380 to 480 VAC)

Main circuit minus terminal

Control power input terminals (24 VDC)

Control power input terminals (380 to 480 VAC)

Ground terminal

VaristorVari st or

Varistor

DC/DC converter

Voltage sensor

Relay drive Voltage sensor

Voltage sensor gate drive

Gate drive

Interface

Regenerative resistor

Regenerative resistor unit connection terminals

Motor connection terminals

Thermostat 1 Thermostat 2

Panel operator

(Option unit)

ASIC (PWM control, etc.)

CPU

(Position/speed calculation, etc.)

Current sensor

Battery

PG output

Reference pulse input

Speed/torque reference input

Sequence input

Analog monitor

Dynamic brake unit connection terminals

D/A

A/D

I/O

CN5 CN3

CN10

CN2

CN8

CN1

1PCB

2PCB

+5V

+24V

+15V

43CN

3PCB

DC24P

DC24N

DCCT1

DB24

DBON

DCCT2

DCCT3

DB24

DBON

+-+

TRM1 to TRM6

C1 to C4

TRM7

CHARGE

MC1

200 VAC

DM1 to DM3

C64

C65

C61 to C63

L1/R

L2/S

L3/T

B1 B2

FU1

FU4

FAN1

215V

480V

460V

440V

400V

380V

600V 4A

FAN2

200 VAC

SA1 to SA3

DU DV DW

Panel operator

Digital operator

DC reactor connection terminals

Main circuit power input terminals (380 to 480 VAC)

Main circuit minus terminal

Control power input terminals (24 VDC)

Control power input terminals (380 to 480 VAC)

Ground terminal

Varistor

VaristorVa ri sto r

DC/DC converter

Voltage sensor

Relay drive

Voltage sensor

Voltage sensor gate drive

Gate drive

Interface

Regenerative resistor

Regenerative resistor unit connection terminals

Motor connection terminals

Thermostat 1

Thermostat 2

(Option unit)

ASIC (PWM control, etc.)

CPU

(Position/speed calculation, etc.)

Battery

PG output

Reference pulse input

Speed/torque reference input

Sequence input

Analog monitor

Current sensor

4.3.3

Three-phase

400 V, 22 kW, 30 kW Models

4.3.4

Three-phase

400 V, 37 kW Model

4-9

4 SERVOPACK Specifications and Dimensional Drawings

L1/R

SA1 to SA3

DM1 to DM6

C1 to C6

L2/S

L3/T

DC24P

2PCB

3PCB

1PCB

DC24N

480 V

460 V

440 V

400 V

380 V

FU5

0 V

MC1

200 VAC

CHARGE

B1 B2

TRM13

TRM1 to TRM12

FU2 FU1

DU DV DW

DCCT1

DCCT2

DCCT3

DBON DB24

+5 V +24 V

+15 V

200 VAC

FAN1

FAN2

CN10

CN5 CN3

CN2

CN8

CN1

D/A

A/D

I/O

Thermostat

+-+-+

Panel operator

DC reactor connection terminals

Main circuit power input terminals (380 to 480 VAC)

Main circuit minus terminal

Control power input terminals (24 VDC)

Control power input terminals (380 to 480 VAC)

Ground terminal

DC/DC converter

Voltage sensor

Relay drive

Voltage sensor

Voltage sensor gate drive

Gate drive

Interface

Regenerative resistor

Regenerative resistor unit connection terminals

Motor connection terminals

(Option unit)

ASIC (PWM control, etc.)

CPU (Position/speed calculation, etc.)

Battery

PG output

Reference pulse input

Speed/torque reference input

Sequence input

Analog monitor

Digital operator

Current sensor

4.3.5 Three-phase

400 V, 45 kW, 55 kW Models

4.3.5

DC reactor connection terminals

Main circuit power input terminals (380 to 480 VAC)

Main circuit minus terminal

Control power input terminals (24 VDC)

Control power input terminals (380 to 480 VAC)

Ground terminal

Three-phase

L1/R

L2/S

L3/T

DC24P

DC24N

480V

460V

440V

400V

380V

600V 4A

SA1 to SA3

C61 to C63

2PCB

215V

400 V, 45 kW, 55 kW Models

C64

C65

DM1 to DM3

Varistor

VaristorVa ri sto r

+5V

DC/DC converter

200 VAC

+24V

+15V

FAN1

FAN2

200 VAC

Voltage sensor

MC1

Relay drive

Thermostat 1 Thermostat 2

CHARGE

Voltage sensor

Panel operator

3PCB

(Option unit)

C1 to C4

+-+

Voltage sensor gate drive

Regenerative resistor

B1 B2

TRM7

FU4

1PCB

CN10

D/A

Analog monitor

Regenerative resistor unit connection terminals

TRM1 to TRM6

DU DV DW

FU1

Gate drive

43CN

Interface

ASIC (PWM control, etc.)

CPU

(Position/speed calculation, etc.)

CN5 CN3

Digital operator

DCCT1

DCCT2

DCCT3

DB24

DBON

Current sensor

DBON

A/D

I/O

CN2

CN8

CN1

DB24

Motor connection terminals

Ground terminal

Battery

PG output

Reference pulse input

Speed/torque reference input

Sequence input

4-10

4.3.6 Three-phase 400 V, 90 kW Model

4.4 SERVOPACK’s Power Supply Capacities and Power Losses

SERVOPACK Specifications and Dimensional Drawings

4.4 SERVOPACK’s Power Supply Capacities and Power Losses

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

Main Circuit Power

Supply

Three-phase 200 VAC SGDM-2BADB

Three-phase 400 VAC SGDH-2BDEB

SERVOPACK

Model

SGDM-3ZADB

SGDM-3GADB

SGDH-2BAEB

SGDH-3ZAEB

SGDH-3GAEB

SGDH-3ZDEB

SGDH-3GDEB

SGDH-4EDEB

SGDH-5EDEB

SGDH-9ZDEB

Output

Current

(Effective

Value )

110 670

148 980 1052

195 1700 120 1820

110 670

148 980 1052

195 1700 120 1820

52.2 650

72 970 1090

90 1140 1260

127 1440 1560

150 1720 1840

210 2500 2620

Main Circuit Power Loss

Control

Circuit Power

Loss

120

To ta l

Power

Loss

742

770

4-11

4 SERVOPACK Specifications and Dimensional Drawings

TERMS

Operating time (s)

Rated current Maximum current

Motor current

Approx.

Rated current

+ Maximum current

10000

1000

100

10000

1000

100

10000

1000

100

10000

1000

100

4.5.1 Overload Characteristics

4.5 SERVOPACK Overload Characteristics and Allowable Load Moment of Inertia

4.5.1 Overload Characteristics

SERVOPACKs have a built-in overload protective function that protects the SERVOPACKs and servomotors from overload. Allowable power for the SERVOPACKs is limited by the overload protective function as shown in the figure below.

The overload detection level is set under hot start 40°C.

conditions at a servomotor surrounding air temperature of

4-12

Hot Start

A hot start indicates that both the SERVOPACK and the servomotor have run long enough at the rated load to be thermally saturated.

SERVOPACK Specifications and Dimensional Drawings

4.5.2 Starting and Stopping Time

tr =

tf =

Starting time:

Stopping time:

 nM (JM + JL)



(TPM - TL)

[s]

 nM (JM + JL)



(TPM + TL)

Motor torque (current amplitude)

Motor speed

Time

The motor starting time (tr) and stopping time (tf) under a constant load are calculated using the following formulas. Motor viscous torque and friction torque are ignored.

4.5 SERVOPACK Overload Characteristics and Allowable Load Moment of Inertia

Motor speed (min

Motor rotor moment of inertia (kgxm

Load converted to shaft moment of inertia (kgxm

: Instantaneous peak motor torque when combined with a SERVOPACK (Nxm)

: Load torque (Nxm)

-1

)

Calculate the torque from the motor current using servomotor torque constant × motor current (effective value).

The following figure shows the motor torque and motor speed timing chart.

4-13

4 SERVOPACK Specifications and Dimensional Drawings

4.5.3 Load Moment of Inertia

The larger the load moment of inertia, the worse the movement response of the load.

The size of the load moment of inertia (J moment of inertia of each servomotor (J

An overvoltage alarm is likely to occur during deceleration if the load moment of inertia exceeds the 5 times of load moment of inertia. Take one of the following steps if this occurs.

• Reduce the torque limit.

• Reduce the deceleration rate.

• Reduce the maximum motor speed.

If the alarm cannot be cleared, contact your Yaskawa Application Engineering Department.

(1) Allowable Load Moment of Inertia at the Motor Shaft

The rotor moment of inertia ratio is the value for a servomotor without a gear and a brake.

) allowable when using a servomotor is limited to within 5 times the

1500 min

800 min

-1

Series

Servomotor Model

Series

SGMVH-2BAB SGMVH-3ZAB SGMVH-3GAB SGMVH-2BDB SGMVH-3ZDB SGMVH-3GDB SGMVH-4EDB SGMVH-5EDB SGMVH-7EDB SGMVH-2BAD SGMVH-3ZAD SGMVH-3GAD SGMVH-2BDD SGMVH-3ZDD SGMVH-3GDD SGMVH-4EDD

Allowable Load Moment of Inertia

-4

（×

kg·m

1830

2490

2975

1830

2490

2975

5355

6450

9020

3525

6450

7820

3525

6450

7820

9020

）

4-14

4.5 SERVOPACK Overload Characteristics and Allowable Load Moment of Inertia

SERVOPACK Specifications and Dimensional Drawings

Servomotor

Tension

Servomotor

Servomotor rotated repeatedly at a constant speed to maintain the tension.

IMPORTANT

(2) Overhanging Loads

A servomotor may not be operated with an overhanging load, which tends to continuously rotate the motor. Fig.

4.1 shows a typical example of such a load.

• DO NOT use the servomotor with the Vertical Axis Motor Drive without Counterweight

• DO NOT use the servomotor with the Feeding Motor Drive

Fig. 4.1 Examples of Overhanging Loads

• Never operate servomotors with an overhanging load. Doing so will cause the SERVOPACKs’ regenerative brake to be applied continuously and the regenerative energy of the load may exceed the allowable range causing damage to the SERVOPACK.

• The regenerative brake capacity of the SGDH SERVOPACKs is rated for short-term operation approximately equivalent to the time it takes to decelerate to a stop.

4-15

4 SERVOPACK Specifications and Dimensional Drawings

Ventilation

CN1 CN2

L1C/r L3C/t

CN3

- +1

+2 L1/R L2/S L3/T

UVW

DWB1DV

589

167

24.5

14.5×2=29

112

103

45×8=360

450

500

174

285

359

475

500

12.5

Units: mm Approx.mass: 55 kg

CN1 CN2

L1C/r L3C/t

CN3

- +1

+2 L1/R L2/S L3/T

UVW

DWB1DV

589

167

24.5

14.5×2=29

112

103

45×8=360

450

500

174

285

475

500

12.5

05050505

CN6A

CN6B CN4

359

Ventilation

Units: mm Approx.mass: 55 kg

4.6.1 Three-phase 200 V, 22 kW, 30 kW Models

4.6 SERVOPACK Dimensional Drawings

4.6.1 Three-phase 200 V, 22 kW, 30 kW Models

(1) SGDM-2BADB, -3ZADB

4-16

(2) SGDH-2BAEB, -3ZAEB

SERVOPACK Specifications and Dimensional Drawings

4.6.2 Three-phase 200 V, 37 kW Model

L1C/r L3C/t

   .4 .5 .6 7 8 9

&$10&$



DU DV DW

B2B1

CN3

CN2

CN1

639

167 24.5

14.5×2=29

112

13 155 47 54

45×8=360

500

550

285

203

12.5

475

12.5

500

359

Ventilation

Units: mm Approx.mass: 60 kg

-+1+2

L1/R L2/S L3/T U

0505

203

285

639

12.5

500

475

12.5

458=360

500

550

㧔20㧕

CN2CN1

155

.%V

.%T

CN6A

CN6B CN4

CN3

167

24.5

14.5×2=29

112

B2B1

DVDU

DB 24

DB ON

359

Ventilation

Units: mm Approx.mass: 60 kg

(1) SGDM-3GADB

4.6 SERVOPACK Dimensional Drawings

(2) SGDH-3GAEB

4-17

4 SERVOPACK Specifications and Dimensional Drawings

+2-+1

L1/R L2/S

L3/T

CN1

CN2

NS100

480 V460

400 V 0 V440

DWDV B1

380 V

DC 24N

DC 24P

CN3

459

12.5

500

475

12.5

64 25

24.5×8=196

320

370

㧔25㧕

116

142

167

107

12×4=48

5×8=40

46.5

CN6A

CN6B

CN4

128

348

306

302

215

152

Ventilation

Units: mm Approx.mass: 40 kg

4.6.3 Three-phase 400 V, 22 kW Model

(1) SGDH-2BDEB

4-18

SERVOPACK Specifications and Dimensional Drawings

4.6.4 Three-phase 400 V, 30 kW Model

(1) SGDH-3ZDEB

459

12.5

4.6 SERVOPACK Dimensional Drawings

Ventilation

500

475

12.5

107

186

151

8×5=40

480V460V440V400V380V0

14.5

12×2=24

DU DWDV B1

+2+1−

L1/R L2/S L3/T U V W

24N

24P

27×8=216

320

370

CN3

NS100

CN6A

46.5

CN6B

CN2CN1

CN4

142

116

(25)

128

152

215

302

306

348

Units: mm Approx.mass: 40 kg

4-19

4 SERVOPACK Specifications and Dimensional Drawings

- +1 +2 L1/R L2/S L3/T U V W

1234

CN1

CN2

CN3

DVDU

380 V

DB 24

DB ON

B1 B2

480 V460 V400 V440

DC 24P

0 V

DC 24N

NS100

589

12.5

475

12.5

56.5

45×8=360

450 500

㧔25㧕

17.5

116

142

CN6A

CN6B

CN4

46.5

294

14.5

12×2=24

8×5=40

259

215

197

149

174

215

302

306

348

128

Ventilation

Units: mm Approx.mass: 60 kg

- +1 +2 L1/R L2/S L3/T U V W

1234

CN1

CN2

CN3

DB 24

DC 24N

400 V

460 V

DC 24P

480 V

440 V380

B2B1

DB ON

0 V

NS100

639

12.5

475

12.5

56.5

122

550

500

45×8=360

㧔25㧕

17.5

116

142

CN6A

CN4

CN6B

46.5

199

247

265

8×5=40

12×2=24

311

353

348

306

302

215

204

128

Ventilation

Units: mm Approx.mass: 65 kg

4.6.5 Three-phase 400 V, 37 kW Model

(1) SGDH-3GDEB

4.6.6 Three-phase 400 V, 45 kW, 55 kW Models

(1) SGDH-4EDEB, -5EDEB

4-20

SERVOPACK Specifications and Dimensional Drawings

4.6.7 Three-phase 400 V, 90 kW Model

24 450 24

498

20 1060

110 0

611

395

4×M12 mounting holes

Units: mm Approx.mass: 130 kg

(1) SGDH-9ZDEB

4.6 SERVOPACK Dimensional Drawings

4-21

5

Specifications and Dimensional Drawings of Cables and Peripheral Devices

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

5.1.2

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

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

- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-3

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

5-1

5 Specifications and Dimensional Drawings of Cables and Peripheral Devices

IMPORTANT

5.1.1 Wiring Cables to Main Circuit Terminals

5.1 SERVOPACK Main Circuit Wire Size

1. Wire sizes were selected for three cables per bundle at 40°C surrounding air temperature with the rated

current.

2. Use cable with a minimum withstand voltage of 600 V for main circuits.

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

4. Use heat-resistant cables under high surrounding air or panel temperatures where normal vinyl cables will rapidly deteriorate.

5. Use cables within the allowable moment of inertia.

6. Do not use cables under continuous regenerative state.

5.1.1 Wiring Cables to Main Circuit Terminals

Use the following UL-certified copper cables (rated 75°C, 600 V) and round crimped terminals (UL standard compliant) when connecting cables to main circuit terminals. Crimp the terminal with the recommended crimping tool. Yaskawa recommends the crimped terminals manufactured by J.S.T. Mfg. Co., Ltd.

Cable Size

(AWG)

1.25 (16)

(14)

3.5/5.5 (12/10)

(8)

(6)

(4)

30/38

(3/2)

50/60

(1/0/2/0)

(3/0)

Terminal Screw

Size

M3.5 R1.25-3.5 0.8 to 0.88

M4 R1.25-4 1.2 to 1.5

M4 R2-4 1.2 to 1.5

M5 R2-5 2.0 to 2.5

M4 R5.5-4 1.2 to 1.5

M5 R5.5-5 2.0 to 2.5

M6 R5.5-6 4.0 to 4.6

M4 8-4 1.2 to 1.5

M5 R8-5 2.0 to 2.5

M5 R14-5 2.0 to 2.5

M8 R14-8 9.0 to 11.0

M6 R22-6 4.0 to 4.6

M8 R22-8 9.0 to 11.0

M10 R22-10 17.5 to 20.5

M6 38-6 4.0 to 4.6

M8 R38-8 9.0 to 11.0

M10 R38-10 17.5 to 20.5

M8 R60-8 9.0 to 11.0

M10 R60-10 17.5 to 20.5

M10 R80-10 17.5 to 20.5

Crimped Terminal

Typ e

Tightening Torque

Nxm

5-2

Specifications and Dimensional Drawings of Cables and Peripheral Devices

5.1.2 Three-phase 200 V

5.1 SERVOPACK Main Circuit Wire Size

SERVOPACK

Model

SGDM-ADB

SGDH-AEB

Terminal Symbol

L1/R, L2/S, L3/T

-, +1, +2

U, V, W M8 9.0 to 11.0

L1C/r, L3C/t M4 1.2 to 1.5

B1, B2 M8 9.0 to 11.0

DU, DV, DW M5 2.0 to 2.5

L1/R, L2/S, L3/T

-, +1, +2

U, V, W M8 9.0 to 11.0

L1C/r, L3C/t M4 1.2 to 1.5

B1, B2 M8 9.0 to 11.0

DU, DV, DW M5 2.0 to 2.5

L1/R, L2/S, L3/T

-, +1, +2

U, V, W M10 17.5 to 20.5

L1C/r, L3C/t M4 1.2 to 1.5

B1, B2 M8 9.0 to 11.0

DU, DV, DW M5 2.0 to 2.5

DBON, DB24 M3.5 0.8 to 0.88

Terminal

Screw Size

M10 17.5 to 20.5

M8 9.0 to 11.0

M10 17.5 to 20.5

M8 9.0 to 11.0

M10 17.5 to 20.5

M8 9.0 to 11.0

Tightening Torque

Nxm

Applicable Cable

Range

(AWG)

30 to 80

(3 to 3/0)

30 to 60

(3 to 2/0)

0.75 to 2

(18 to 14)

14 to 38

(6 to 2)

3.5 to 8

(12 to 8)

30 to 60

(3 to 2/0)

30 to 80

(3 to 3/0)

30 to 60

(3 to 2/0)

0.75 to 2

(18 to 14)

14 to 38

(6 to 2)

3.5 to 8

(12 to 8)

30 to 60

(3 to 2/0)

30 to 80

(3 to 3/0)

30 to 80

(3 to 3/0)

0.75 to 2

(18 to 14)

14 to 38

(6 to 2)

3.5 to 8

(12 to 8)

0.75 to 2

(18 to 14)

30 to 60

(3 to 2/0)

Recommended

Cable Size

(AWG)

(3)

(2)

1.25 (16)

(6)

3.5

(12)

(2)

(1/0)

(2/0)

1.25 (16)

(6)

3.5

(12)

(2/0)

(3/0)

1.25 (16)

(4)

5.5

(10)

1.25 (16)

(2/0)

5-3

5 Specifications and Dimensional Drawings of Cables and Peripheral Devices

5.1.3 Three-phase 400 V

SERVOPACK

Model

SGDH-DEB

Terminal Symbol

L1/R, L2/S, L3/T

-, +1, +2

U, V, W M8 9.0 to 11.0

DC24P, DC24N M4 1.2 to 1.5

B1, B2 M4 1.2 to 1.5

0 V, 380 V, 400 V

440 V, 460 V, 480 V

DU, DV, DW M4 1.2 to 1.5

L1/R, L2/S, L3/T

-, +1, +2

U, V, W M8 9.0 to 11.0

DC24P, DC24N M4 1.2 to 1.5

B1, B2 M5 2.0 to 2.5

0 V, 380 V, 400 V

440 V, 460 V, 480 V

DU, DV, DW M4 1.2 to 1.5

L1/R, L2/S, L3/T

-, +1, +2

U, V, W M10 17.5 to 20.5

DC24P, DC24N M4 1.2 to 1.5

B1, B2 M5 2.0 to 2.5

380 V, 400 V

0 V,

440 V, 460 V, 480 V

DU, DV, DW M5 1.2 to 1.5

DBON, DB24 M3.5 0.8 to 0.88

Terminal

Screw Size

M8 9.0 to 11.0

M3.5 0.8 to 0.88

M8 9.0 to 11.0

M3.5 0.8 to 0.88

M8 9.0 to 11.0

M10 17.5 to 20.5

M3.5 0.8 to 0.88

M8 9.0 to 11.0

Tightening Torque

Nxm

Applicable Cable

Range

(AWG)

14 to 38

(6 to 2)

14 to 38

(6 to 2)

0.75 to 2

(18 to 14)

2 to 5.5

(14 to 10)

0.75 to 2

(18 to 14)

2 to 5.5

(14 to 10)

14 to 38

(6 to 2)

14 to 38

(6 to 2)

14 to 38

(6 to 2)

0.75 to 2

(18 to 14)

8 to 14

(8 to 6)

0.75 to 2

(18 to 14)

2 to 5.5

(14 to 10)

22 to 38

(4 to 2)

22 to 80

(4 to 3/0)

30 to 80

(3 to 3/0)

0.75 to 2

(18 to 14)

8 to 14

(8 to 6)

0.75 to 2

(18 to 14)

0.75 to 5.5

(18 to 10)

0.75 to 2

(18 to 14)

30 to 38

(3 to 2)

Recommended

Cable Size

(AWG)

(6)

1.25

(16)

5.5

(10)

1.25

(16)

(14)

(6)

(4)

1.25

(16)

(8)

1.25

(16)

(14)

(4)

(3)

1.25

(16)

)

1.25

(16)

3.5

(12)

1.25

(16)

(3)

5-4

5.1 SERVOPACK Main Circuit Wire Size

Specifications and Dimensional Drawings of Cables and Peripheral Devices

SERVOPACK

Model

SGDH-DEB

Terminal Symbol

L1/R, L2/S, L3/T

-, +1, +2

U, V, W M10 17.5 to 20.5

DC24P, DC24N M4 1.2 to 1.5

B1, B2 M6 4.0 to 4.6

0 V, 380 V, 400 V

440 V, 460 V, 480 V

DU, DV, DW M4 1.2 to 1.5

DBON, DV24 M3.5 0.8 to 0.88

L1/R, L2/S, L3/T

-, +1, +2

U, V, W M10 17.5 to 20.5

DC24P, DC24N M4 1.2 to 1.5

B1, B2 M6 4.0 to 4.6

0 V, 380 V, 400 V

440 V, 460 V, 480 V

DU, DV, DW M4 1.2 to 1.5

DBON, DB24 M3.5 0.8 to 0.88

L1/R, L2/S, L3/T

-, +1, +2

U, V, W M10 17.5 to 20.5

, DC24N

DC24P

B1, B2 M8 9.0 to 11.0

0 V, 380 V, 400 V

440 V, 460 V, 480 V

DU, DV, DW M6 4.0 to 4.6

DBON, DB24 M3.5 0.8 to 0.88

Terminal

Screw Size

M10 17.5 to 20.5

M3.5 0.8 to 0.88

M8 9.0 to 11.0

M10 17.5 to 20.5

M3.5 0.8 to 0.88

M8 9.0 to 11.0

M10 17.5 to 20.5

M4 1.2 to 1.5

M3.5 0.8 to 0.88

M8 9.0 to 11.0

Tightening Torque

Nxm

Applicable Cable

Range

(AWG)

30 to 80

(3 to 3/0)

30 to 80

(3 to 3/0)

0.75 to 2

(18 to 14)

14 to 22

(6 to 4)

0.75 to 2

(18 to 14)

2 to 5.5

(14 to 10)

0.75 to 2

(18 to 14)

38 to 50

(2 to 1/0)

30 to 80

(3 to 3/0)

30 to 80

(3 to 3/0)

0.75 to 2

(18 to 14)

14 to 22

(6 to 4)

0.75 to 2

(18 to 14)

2 to 5.5

(14 to 10)

0.75 to 2

(18 to 14)

50 to 60

(1/0 to 2/0)

30 to 80

(6 to 3/0)

30 to 80

(6 to 3/0)

0.75 to 2

(18 to 14)

30 to 50

(3 to 1/0)

0.75 to 2

(18 to 14)

5.5 to 14 (10 to 6)

0.75 to 2

(18 to 14)

50 to 60

(1/0 to 2/0)

Recommended

Cable Size

(AWG)

(3)

(2)

1.25

(16)

(6)

1.25 (16)

3.5

(12)

1.25 (16)

(2)

(1/0)

1.25 (16)

(6)

1.25 (16)

3.5

(12)

1.25 (16)

(1/0)

(3/0)

(1/0)

1.25 (16)

(3)

1.25 (16)

5.5

(10)

1.25 (16)

(1/0)

5-5

5 Specifications and Dimensional Drawings of Cables and Peripheral Devices

MS3106B2029S (DDK Ltd.) MS305712A Cable clamp

㧸

SERVOPACK end Encoder end

Crimped connector (Molex Japan Co., Ltd.)

Finished dimension φ6.5 mm

Crimped connector (Molex Japan Co., Ltd.)

MS3108B2029S (DDK Ltd.) MS305712A Cable clamp

SERVOPACK end Encoder end

Finished dimension φ6.5 mm

5.2.1 Encoder Cable with Connectors on Both Ends

5.2 Encoder Cables for CN2 Connector

When assembling the encoder cable, refer to 5.3 Connectors and Cables for Encoder Signals.

5.2.1 Encoder Cable with Connectors on Both Ends

(1) Cable With a SERVOPACK Connector and Encoder Straight Plug

Cable Type

JZSP-CMP21-03

JZSP-CMP21-05

JZSP-CMP21-10

JZSP-CMP21-15

JZSP-CMP21-20

Cable Length

(L)

3 m

5 m

10 m

15 m

20 m

Dimensional Drawing

(2) Cable With a SERVOPACK Connector and Encoder L-shaped Plug

Cable Type

JZSP-CMP22-03

JZSP-CMP22-05

JZSP-CMP22-10

JZSP-CMP22-15

JZSP-CMP22-20

Cable Length

(L)

3 m

5 m

10 m

15 m

20 m

Dimensional Drawing

5-6

Specifications and Dimensional Drawings of Cables and Peripheral Devices

5.2.2 Cable with Loose Wire at Encoder End

Plug

Cable clamp

Cable

Plug

Cable clamp

Cable

HGF

(1) Cable Type

5.2 Encoder Cables for CN2 Connector

Cable Type

Cable Length

JZSP-CMP23-03

JZSP-CMP23-05

JZSP-CMP23-10

JZSP-CMP23-15

JZSP-CMP23-20

(2) Encoder-end Connector

Contact Yaskawa Controls Co., Ltd.

Connector on

Servomotor

MS3102A20-29P

Straight MS3106B20-29S

L-shaped MS3108B20-29S

(L)

Dimensional Drawing

3 m

5 m

10 m

15 m

20 m

Crimped connector (Molex Japan Co., Ltd.)

Plug

(Manufactured by DDK Ltd.)

Type Model

Finished dimension φ6.5 mm

Cable Clamp

(Manufactured by

DDK Ltd.)

MS3057-12A

Encoder endSERVOPACK end

60 mm

1 2 3 4 5 6

Wire markers

(3) Encoder Plug Connector Pin Arrangement

Absolute Encoder Connection Specifications Incremental Encoder Connection Specifications

Pin No. Signal Lead Color Pin No. Signal Lead Color

−−

PS Blue

/PS White/blue

−−

PG0V Inner shield

PG5V Red

J FG (Frame ground)

−−

BAT(−) White/orange

BAT(+) Orange

Outer shield

J FG (Frame ground)

−−

PS Blue

/PS White/blue

−−

PG0V Inner shield

PG5V Red

−−

Outer shield

5-7

5 Specifications and Dimensional Drawings of Cables and Peripheral Devices

Plug connector (Soldered)

18.4

37.4

5.3 Connectors and Cables for Encoder Signals

(1) Cable Type

Cable Type Cable Length

JZSP-CMP29-05

JZSP-CMP29-10

JZSP-CMP29-15

JZSP-CMP29-20

JZSP-CMP29-30

JZSP-CMP29-40

JZSP-CMP29-50

(2) SERVOPACK-end Connector for CN2

Model Manufacturer Dimensional Drawing

5 m

10 m

15 m

20 m

30 m

40 m

50 m

Units: mm

JZSP-CMP9-1

Molex Japan Co., Ltd.

(3) Encoder-end Connector

Connector on

Servomotor

MS3102A20-29P

* Manufactured by DDK Ltd.

Straight Plug * L-shaped Plug * Cable Clamp *

MS3106B20-29S MS3108B20-29S MS3057-12A

Encoder-end Connector Type

5-8

Specifications and Dimensional Drawings of Cables and Peripheral Devices

(4) Encoder Cable Specifications

Blue

Orange

Orange/

white

Blue/ white

Red

HGF

Cable Type JZSP-CMP29-

Basic Specifications

Finished Dimension

Internal Configuration and Lead Colors

Yaskawa Standard Specifications (Standard Length)

5 m, 10 m, 15 m, 20 m, 30 m, 40 m, 50 m

5.3 Connectors and Cables for Encoder Signals

T/20276-SP (SP)

AWG26 × 2P, AWG16 × 1P

φ7.0 mm

(5) Encoder Plug Connector Pin Arrangement

Absolute Encoder Connection Specifications Incremental Encoder Connection Specifications

Pin No. Signal Lead Color Pin No. Signal Lead Color

−−

PS Blue

/PS White/blue

−−

PG0V Inner shield

PG5V Red

J FG (Frame ground)

−−

BAT(−) White/orange

BAT(+) Orange

Outer shield

J FG (Frame ground)

−−

PS Blue

/PS White/blue

−−

PG0V Inner shield

PG5V Red

−−

Outer shield

5-9

5 Specifications and Dimensional Drawings of Cables and Peripheral Devices

5.4.1 Standard Cables

5.4 I/O Signal Cables for CN1 Connector

5.4.1 Standard Cables

For the connection diagram, refer to 5.4.3 Connection Diagram.

(1) Cable Types

Cable Type Cable Length (L)

JZSP-CKI01-1

JZSP-CKI01-2

JZSP-CKI01-3

(2) Dimensional Drawing

1 m

2 m

3 m

SERVOPACK end

Connector: 10150-6000EL(50P)

Shell: 10350-52A0-008

∗

Sleeve F2 (black)

∗

Cable (black) SSRFPVV-SB AWG#28 × 25P UL20276 VW-1SC

* Manufactured by Sumitomo 3M Ltd.

5.4.2 Connector Type and Cable Size

Use the following connector and wire when assembling the cable. The CN1 connector includes a set of case and a connector.

Connector Type

JZSP-CKI9

Type Qty Type Qty

10350-52A0-008

* Manufactured by Sumitomo 3M Ltd.

(1) Dimensional Drawing of Case

Case Connector

∗

17.0

φ2.8 mm wire markers

+10

100 mm

1 set 10150-3000VE* 1

14.0

5-10

39.0

23.8

5.7

41.1

52.4

18.0

46.5

12.7

Units: mm

Specifications and Dimensional Drawings of Cables and Peripheral Devices

(2) Dimensional Drawing of Connector

2.54

Units: mm

1.27

Pin No. 26

Pin No. 1

15q

2.3

㧟㧹

5.1

36.7

30.48

1.27

41.1

(6.6)

19.3

(2.9)

12.7

9.1

7.5

5.4 I/O Signal Cables for CN1 Connector

(3) Cable Size

Item Specifications

Cable Use twisted-pair or twisted-pair shielded wire.

Applicable Wires AWG24, 26, 28, 30 Finished Dimension φ16 mm or less

5-11

5 Specifications and Dimensional Drawings of Cables and Peripheral Devices

PL1

SEN

V-REF

PULS

/PULS

T-REF

SIGN

/SIGN

PL2

/CLR

CLR

−

PL3

PCO

/PCO

BAT(+)

BAT(-)

−

/V-CMP+

/V-CMP-

/TGON+

/TGON-

/S-RDY+

/S-RDY-

ALM+

ALM-

PAO

/PAO

PBO

/PBO

ALO1

ALO2

ALO3

/S-ON

/P-CON

P-OT

N-OT

/ALM-RST

/P-CL

/N-CL

+24VIN

PSO

/PSO

−

Host controller end

Pin No.

Lead Color

Signal

Marking

Color

Lead

Marker No.

Orange

Gray

Orange

Gray

White

Yellow

Pink

Orange

Gray

White

Gray

Yellow

Pink

Orange

Gray

White

Red

Black

Red

Black

Red

Black

Red

Black

Red

Black

Red

Black

Red

Black

Red

Black

Red

Black

Red

Black

Red

Black

SERVOPACK end

Case

Yellow

Pink

Orange

Gray

White

Yellow

Pink

Orange

Gray

White

Yellow

Pink

Yellow

Red

Black

Red

Black

Red

Black

Red

Black

Red

Black

Red

Black

Red

Black

Red

Black

Red

Black

Red

Black

Red

Black

Shield

represents twisted-pair wires.

Dots

5.4.3 Connection Diagram

5-12

Specifications and Dimensional Drawings of Cables and Peripheral Devices

5.5 Peripheral Devices

Personal computer end

Signal Pin No.

Case

SERVOPACK end

SignalPin No.

−

0 V

−

−−

RXD TXD

0 V RTS CTS

3 2 7 4 5 1

/TXD /RXD

2 4

Shield wire

38 39

14 7

× M2.6 screws

2000

±50

Half-pitch connector Plug: 10114-3000VE Shell: 10314-52A0-008 (Sumitomo 3M Ltd.)

D-sub connector (9-pin) 17JE1309002㧔D8A㧕 (DDK Ltd.)

29.5

Personal computer end

SERVOPACK end

Cable type: AWG26

3C UL2464

Units: mm

Personal computer end

Signal Pin No.

Case

SERVOPACK end

SignalPin No.

−

0 V

−

−−

RXD TXD

0 V RTS CTS

2 3 5 7 8

Case

/TXD /RXD

2 4

Shield wire

Label

14 7

× M2.6 screws

Half-pitch connector Plug: 101143000VE Shell: 1031452A0008 (Sumitomo 3M Ltd.)

Half-pitch connector Plug: 101143000VE Shell: 1031452F0008 (Sumitomo 3M Ltd.)

29.5

Personal computer end

SERVOPACK end

Cable: AWG26

3C UL2464

2000±50

29.5

Units: mm

Personal computer end

Signal Pin No.

Case

SERVOPACK end

SignalPin No.

−

0 V

−

−−

RXD TXD RTS CTS

GND

1 9

4 14 12

Case

/TXD /RXD

2 4

Shield wire

5.5.1 Cables for Connecting Personal Computers

(1) For 25-pin Connector Cable for NEC PC-98 Series PC

(a) Cable Type: JZSP-CMS01

(b) Dimensional Drawing

5.5 Peripheral Devices

Personal computer end

D-sub connector (25-pin) 17JE-23250-02㧔D8A㧕 (DDK Ltd.)

114

25 13

Cable type: AWG263C UL2464

2M2.6 screws

Half-pitch connector Plug: 10114-3000VE Shell: 10314-52A0-008 (Sumitomo 3M Ltd.)

2000±50



M2.6 screws

SERVOPACK end

Units: mm

(2) D-sub, 9-pin Connector Cable for IBM PC Compatible

(a) Cable Type: JZSP-CMS02

(b) Dimensional Drawing

(3) 14-pin Half-pitch Connector Cable for NEC PC-98 Series PC

(a) Cable Type: JZSP-CMS03

(b) Dimensional Drawing

5-13

5 Specifications and Dimensional Drawings of Cables and Peripheral Devices

Digital Operator

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electric shock.

Disconnect all power

May cause

ᗵ㔚ߩᕟࠇ޽ࠅ

before servicing.

and wait 5 min.

grounding techniques.

ធ⛯ߖࠃ

Use proper

ᔅߕࠕ㧙ࠬ✢ࠍ

2 × φ4.5 mounting holes

125

135

Units: mm

18.5 7

YASKAWA

(8)

29.5

2101

8111

Digital Operator end

Units: mm

SERVOPACK end

17.3

29.5

20.2

5.5.2 Digital Operator

(1) Model JUSP-OP02A-2 with a 1m-connection Cable

(2) Dimensional Drawing

(3) Other Types of the Applicable Connection Cables: JZSP-CMS00-

5-14

* Order your cable from Yaskawa Controls Co., Ltd. in the following cases.

• When you need a longer cable than the cable supplied with the digital operator.

• When you need additional cables.

Cable Type Cable Length

JZSP-CMS00-1

JZSP-CMS00-2

JZSP-CMS00-3

(L)

1 m

1.5 m

2 m

Specifications and Dimensional Drawings of Cables and Peripheral Devices

5.5.3 Cables for Analog Monitor

Cable for Analog Monitor

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.6

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electric shock.

Disconnect all power

May cause

ᗵ㔚ߩᕟࠇ޽ࠅ

before servicing.

and wait 5 min.

grounding techniques.

ធ⛯ߖࠃ

Use proper

ᔅߕࠕ㧙ࠬ✢ࠍ

Socket: DF11-4DS-2C

∗

Connector: DF11-2428SCF

∗

1000 ޓmm

-0

+20

White Red

Black Black

Viewed from the cable

(1) Cable Type: JZSP-CA01 (DE9404559)

Connect the specified cables to CN5 connector for monitoring the analog monitor signals. For details, refer to

9.5 Analog Monitor.

Note: Specify the cable type either JZSP-CA01 or DE9404559 when ordering the cable for analog moni-

tor.

(2) Dimensional Drawing

5.5 Peripheral Devices

* Manufactured by Hirose Electric Corporation.

(3) Specifications

Pin No. Cable Color Signal Monitoring Item

3 and 4

Red

White

Black (2 cables)

Analog Monitor 2

Motor speed: 1V/1000 min

Analog Monitor 1 Torque reference: 1V/100% rated torque GND (0 V) −

Note: The above monitoring items are the factory settings. The monitoring items can be changed by set-

ting the parameter Pn003. Refer to 9.5 Analog Monitor.

-1

5-15

5 Specifications and Dimensional Drawings of Cables and Peripheral Devices

1 19 33

16 32 50

SERVOPACK

Connector terminal block converter unit model: JUSP-TA50PG

CN1

Attached cable length: 500

+50

-0

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electric shock.

Disconnect all power

May cause

ᗵ㔚ߩᕟࠇ޽ࠅ

before servicing.

and wait 5 min.

grounding techniques.

ធ⛯ߖࠃ

Use proper

ᔅߕࠕ㧙ࠬ✢ࠍ

1 19 33

16 32 50

Terminal block (50P) M3.5 screw

Connector plug (50P)

MR-50RMD2

15.5

3.53.5

29.5

2×φ3.5

247.5 3.5

3.5

2×M3 screw holes

247.5

20.5

43.5

Can be fixed on DIN rail

(62)

Units: mm

With terminal block cover removed

500

SERVOPACK end connector (50P) 10150-6000EL (Sumitomo 3M Ltd.)

Shell

10350-52AO-008 (Sumitomo 3M Ltd.)

Cable (black) AWG#2825P UL20276 VW-1SC

Connector terminal block converter unit end connector (50P)

MRP-50F01 (Honda Tsushin Kogyo Co., Ltd.) Case

MR-50L

(Honda Tsushin Kogyo Co., Ltd.)

+50 0

Units: mm

5.5.4 Connector Terminal Block Converter Unit

(1) Model: JUSP-TA50PG

The connection between the connector terminal block converter and the SERVOPACK is shown below.

(2) Dimensional Drawings of Terminal Block

(3) Dimensional Drawing of Cable

5-16

Specifications and Dimensional Drawings of Cables and Peripheral Devices

5.5.5 Brake Power Supply Unit

Yellow

White

Red

Black

AC side

180 to 230 V

Diode

Surge absorber

DC (Brake) side

No polarity

Surge absorber

(1) Model: LPSE-2H01, LPDE-1H01

Contact Yaskawa Controls Co., Ltd.

• 200 V input: LPSE-2H01

• 100 V input: LPDE-1H01

(2) Specifications

• Rated output voltage: 90 VDC

• Maximum output current: 1.0 ADC

• Lead wire length: 500 mm each

• Maximum surrounding air temperature: 60°C

• Lead wires: Color coded. Refer to the table below.

AC Input End Brake End

100 V 200 V

Blue/White Yellow/White Red/Blue

(3) Dimensional Drawing

5.5 Peripheral Devices

2 Mounting holes φ3 (Spot facing φ5.5 and 4 long㧕

Nameplate

Lead wire

Units: mm

(4) Internal Circuits

The brake power supply circuit can be opened and closed either on AC or DC side. However, if the wiring distance on DC side is too long, the brake circuit may not operate normally due to the influence of switching noises. When switching the circuit on AC side, install a surge absorber model CR50500BL (sold as spark quencher) for the brake power supply near the brake coil to reduce the influence of switching noises. When switching the circuit on DC side, the influence of the switching noise is minimal, even without installing a surge absorber. However, the surge voltage at switching may damage the brake coil. Install a surge absorber near the brake coil to prevent the damage to the brake coil in addition to the built-in surge absorber.

(a) Internal Circuit for 200 VAC

Brake Power Supply Model: LPSE-2H01

5-17

5 Specifications and Dimensional Drawings of Cables and Peripheral Devices

Blue

White

Red

Black

AC side

90 to 120 V

Diode bridge

Surge absorber

DC (Brake) side No polarity

PROHIBITED

ޓRed

Connector

2ޓBlack

㧗



14.5

50±5

Lithium battery ER3V

3.6 V 1000 mAh Manufactured by Toshiba Battery Co., Ltd.

Units: mm

5.5.6 Absolute Encoder Battery

(b) Internal Circuit for 100 VAC

Brake Power Supply Model: LPDE-1H01

 Brake Power Supply Unit for the 24 VDC

The brake power supply unit for the 24 VDC is not provided by Yaskawa. When using the servomotor with a 24-VDC brake, the brake power supply unit is to be provided by the customer.

5.5.6 Absolute Encoder Battery

When using an absolute encoder, a backup battery is required to prevent the position data from being lost at power OFF. Install one of the following absolute encoder batteries. There are two types of battery: Battery to be mounted on the SERVOPACK and battery to be connected to the

host controller.

• Install the absolute encoder battery on either the SERVOPACK or the host controller.

Installing the batteries both on the SERVOPACK and host controller configures a loop in the circuit between two batteries, which damages the circuit.

(1) Battery Mounted on SERVOPACK

(a) Model

JZSP-BA01-1

(b) Dimensional Drawing

(2) Battery Connected to the Host Controller

When connecting the battery to the host controller, select the battery in accordance with the specifications of the host controller. Use the battery ER6 VC3 or the equivalent:

3.6 V, 2000 mAh manufactured by Toshiba Battery Co., Ltd.

5-18

Specifications and Dimensional Drawings of Cables and Peripheral Devices

5.5.7 Molded-case Circuit Breaker (MCCB)

IMPORTANT

If selecting a molded-case circuit breaker, observe the following precautions.

 Circuit Breakers

• Select a breaker for inverters.

• High-frequency current leaks from the servomotor armature because of switching operations inside the SERVOPACK.

(1) Maximum Input Current

• The instantaneous maximum output of SERVOPACK is 3 times of the rated output for maximum 3 seconds. Accordingly, select a circuit breaker whose operating time is 5 seconds or more at 300% of SERVOPACK rated current. The general-purpose and low-speed acting molded-case circuit breakers are applicable.

• The power supply capacity per SERVOPACK when using a servomotor is described in 2.6.2 Molded-case Circuit Breaker and Fuse Capacity. Select a circuit breaker with the capacity larger than the effective load current (when using multiple SERVOPACKs) calculated from the total power supply capacity.

• The power consumption of other controllers must be considered when selecting a circuit breaker.

5.5 Peripheral Devices

(2) Inrush Current

• Refer to 2.6.2 Molded-case Circuit Breaker and Fuse Capacity for SERVOPACK inrush current.

• The allowable inrush current for a low-speed acting circuit breaker is approximately 10 times of the rated current for 0.02 seconds.

• When turning ON multiple SERVOPACKs simultaneously, select a molded-case circuit breaker with the allowable current for 20 ms larger than the total inrush current shown in 2.6.2 Molded-case Circuit Breaker and Fuse Capacity.

5-19

Yaskawa Sigma II User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

About this Manual

Safety Information

Notes for Safe Operation

CONTENTS

1 Outline

1.1.1 Check Items

1.1 Checking Products

1.1.2 Servomotors

1.1.3 SERVOPACKs

1.2 Examples of Servo System Configurations

1.2.1 Three-phase, 200 V Series

1.2.2 Three-phase, 400 V Series

1.3 Applicable Standards

1.3.1 North American Safety Standards (UL)

1.3.2 CE Marking

2 Selections

2.1 Servomotor Model Designations

2.2 SERVOPACK Model Designations

2.4 Selecting Cables

2.4.1 Cables for SGMVH Servomotor

2.5.1 Special Options

2.5 Selecting Peripheral Devices

2.5.2 Molded-case Circuit Breaker and Fuse Capacity

2.5.3 Noise Filters, Magnetic Contactors, and Brake Power Supply Units

2.5.4 Regenerative Resistor Units

2.5.5 Dynamic Brake (DB) Units

2.5.6 Thermal Relays

3 Servomotor Specifications and Dimensional Drawings

3.1 Ratings and Specifications of SGMVH (1500 min-1)

3.2 Ratings and Specifications of SGMVH (800 min-1)

3.3 Mechanical Specifications of Servomotors

3.3.1 Precautions on Servomotor Installation

3.3.2 Allowable Radial and Thrust Loads

3.3.3 Mechanical Tolerance

3.3.4 Direction of Servomotor Rotation

3.3.5 Impact Resistance

3.3.6 Vibration Resistance

3.3.7 Vibration Class

3.4 Dimensional Drawings of SGMVH Servomotors (1500 min-1)

3.5 Dimensional Drawings of SGMVH Servomotors (800 min-1)

4 SERVOPACK Specifications and Dimensional Drawings

4.1.1 Three-phase 200 V

4.1 SERVOPACK Ratings and Specifications

4.1.2 Three-phase 400 V

4.1 SERVOPACK Ratings and Specifications

4.2 SERVOPACK Installation

4.3 SERVOPACK Internal Block Diagrams

Three-phase 200 V, 22 kW, 30 kW Models

4.3.2 Three-phase 200 V, 37 kW Model

4.3.6 Three-phase 400 V, 90 kW Model

4.4 SERVOPACK’s Power Supply Capacities and Power Losses

4.5.1 Overload Characteristics

4.5 SERVOPACK Overload Characteristics and Allowable Load Moment of Inertia

4.5.2 Starting and Stopping Time

4.5.3 Load Moment of Inertia

4.6.1 Three-phase 200 V, 22 kW, 30 kW Models

4.6 SERVOPACK Dimensional Drawings

4.6.2 Three-phase 200 V, 37 kW Model

4.6.3 Three-phase 400 V, 22 kW Model

4.6.4 Three-phase 400 V, 30 kW Model

4.6.5 Three-phase 400 V, 37 kW Model

4.6.6 Three-phase 400 V, 45 kW, 55 kW Models

4.6.7 Three-phase 400 V, 90 kW Model

5 Specifications and Dimensional Drawings of Cables and Peripheral Devices

5.1.1 Wiring Cables to Main Circuit Terminals

5.1 SERVOPACK Main Circuit Wire Size

5.1.2 Three-phase 200 V

5.1.3 Three-phase 400 V

5.2.1 Encoder Cable with Connectors on Both Ends

5.2 Encoder Cables for CN2 Connector

5.2.2 Cable with Loose Wire at Encoder End

5.3 Connectors and Cables for Encoder Signals

5.4.1 Standard Cables

5.4 I/O Signal Cables for CN1 Connector

5.4.2 Connector Type and Cable Size

5.4.3 Connection Diagram

1

Outline

2

Selections

3

Servomotor Specifications and Dimensional Drawings

4

SERVOPACK Specifications and Dimensional Drawings

5

Specifications and Dimensional Drawings of Cables and Peripheral Devices