Yaskawa Sigma Mini User Manual

AC Servomotors and Driver

SGMM Servomotor
SGDF Servopack

YASKAWA

YA S K A WA

MANUAL NO. SIE-S800-27C

Safety Information

The following conventions are used to indicate precautions in this manual. Failure to heed precautions pro-

vided in this manual may result in serious or possibly even fatal injury or damage to the products or to re-

lated equipment and systems.

WARNING

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

CAUTION

Indicates precautions that, if not heeded, could result in relatively serious or minor injury, damage to the

product, or faulty operations.

In some instances, items described in

CAUTION

may also result in a serious accident.

— iii —

Visual Aids

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

.

Indicates references for additional information.

TERMS

Speed/Torque

Positions

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

Indicates information that is applicable only to Servopacks for speed/torque con­trol (Model SGDF-jjCS).
If neither this icon nor the following icon appears, the description is applicable to
both types of Servopack.

Indicates information that is applicable only to Servopacks for position control
(Model SGDF-jjCP).

If neither this icon nor the previous icon appears, the description is applicable to
both types of Servopack.

Indicates information explaining the operating procedure using Hand-held Digital
Operator (Model JUSP-OP02A-3).

—iv—

CONTENTS

Safety Precautions xi...................................................

CHAPTER 1 BASIC OPERATION 1-1..................................

1.1 Precautions 1-2.............................................................

1.2 Installation 1-4.............................................................

1.2.1 Checking on Delivery 1-4..............................................

1.2.2 Installing the Servomotor 1-6...........................................

1.2.3 Installing the Servopack 1-9............................................

1.2.4 Power Loss 1-11......................................................

1.3 Connection and Wiring 1-12....................................................

1.3.1 Connecting to Peripheral Devices 1-12....................................

1.3.2 Main Circuit Wiring and Power ON Sequence 1-14..........................

1.3.3 Examples of Connecting Host Controllers 1-16..............................

1.4 Conducting a Test Run 1-23....................................................

1.4.1 Test Run in Two Steps 1-23.............................................

1.4.2 Step 1: Test Run for Servomotor without Load 1-24..........................

1.4.3 Step 2: Test Run with the Servomotor Connected to the Machine 1-28............

1.4.4 Supplementary Information on Test Run 1-29...............................

1.4.5 Minimum Parameters and Input Signals 1-30...............................

CHAPTER 2 APPLICATIONS 2-1......................................

2.1 Setting Parameters According to Machine Characteristics 2-4.........................

2.1.1 Changing Motor Rotation Direction 2-4...................................

2.1.2 Torque Limit 2-5.....................................................

2.2 Setting Parameters According to Host Controller 2-9...............................

2.2.1 Speed References 2-9.................................................

2.2.2 Position References 2-13...............................................

2.2.3 Encoder Output 2-17..................................................

2.2.4 Contact I/O 2-21......................................................

2.2.5 Electronic Gear 2-24...................................................

2.2.6 Contact Input Speed Control 2-28........................................

2.2.7 Torque Control 2-32...................................................

2.2.8 Reference Pulse Inhibit Function (INHIBIT) 2-36............................

2.2.9 Reference Pulse Input Filter Selection Function 2-37.........................

2.3 Setting Up the Σ-Series Servopack 2-38...........................................

2.3.1 Parameters 2-38......................................................

2.3.2 Jog Speed 2-39.......................................................

2.4 Setting Stop Mode 2-40.......................................................

2.4.1 Offset Adjustment 2-40................................................

2.4.2 Zero-clamp 2-41......................................................

2.4.3 Holding Brake 2-43...................................................

2.5 Running the Motor Smoothly 2-46...............................................

2.5.1 Soft Start Function 2-46................................................

2.5.2 Smoothing 2-47......................................................

—v—

CONTENTS

2.5.3 Gain Adjustment 2-47.................................................

2.5.4 Offset Adjustment 2-48................................................

2.5.5 Torque Reference Filter Time Constant 2-48................................

2.6 Minimizing Positioning Time 2-49...............................................

2.6.1 Autotuning 2-49......................................................

2.6.2 Servo Gain 2-49......................................................

2.6.3 Feed-forward Control 2-51..............................................

2.6.4 Proportional Control 2-51...............................................

2.6.5 Setting Speed Bias 2-52................................................

2.6.6 Mode Switch 2-53....................................................

2.6.7 Speed Loop Compensation 2-58..........................................

2.7 Designing a Protective Sequence 2-60............................................

2.7.1 Servo Alarm Output 2-60...............................................

2.7.2 Servo ON Input Signal 2-62.............................................

2.7.3 Positioning Complete Output 2-63........................................

2.7.4 Speed Coincidence Output 2-64..........................................

2.7.5 Running Output Signal 2-65.............................................

2.8 Special Wiring 2-67..........................................................

2.8.1 Wiring Precautions 2-67................................................

2.8.2 Wiring for Noise Control 2-69...........................................

2.8.3 Using More Than One Servo Drive 2-73...................................

2.8.4 Connector Terminal Layouts 2-74........................................

CHAPTER 3 USING THE DIGITAL OPERATOR 3-1.....................

3.1 Basic Operations 3-2.........................................................

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

3.1.2 Resetting Servo Alarms 3-3............................................

3.1.3 Basic Functins and Mode Selection 3-4...................................

3.1.4 Operation in Status Display Mode 3-5....................................

3.1.5 Operation in Parameter Setting Mode 3-7.................................

3.1.6 Operation in Monitor Mode 3-9.........................................

3.2 Applications 3-13............................................................

3.2.1 Operation in Alarm Traceback Mode 3-13..................................

3.2.2 Operation Using the Digital Operator 3-15.................................

3.2.3 Autotuning 3-16......................................................

3.2.4 Reference Offset Automatic Adjustment 3-21...............................

3.2.5 Reference Offset Manual Adjustment 3-22.................................

3.2.6 Clearing Alarm Traceback Data 3-25......................................

3.2.7 Checking Motor Type 3-26..............................................

3.2.8 Checking Software Version 3-26.........................................

CHAPTER 4 SERVO SELECTION AND DATA SHEETS 4-1...............

4.1 Selecting a Servo Drive 4-3...................................................

4.1.1 Selecting a Servomotor 4-3............................................

—vi—

CONTENTS

4.1.2 Selecting a Servopack 4-9.............................................

4.2 Servomotor Ratings and Characteristics 4-11.......................................

4.2.1 Ratings and Specifications 4-11..........................................

4.2.2 Mechanical Characteristics 4-16..........................................

4.3 Servopack Ratings and Characteristics 4-18........................................

4.3.1 Ratings and Specifications 4-18..........................................

4.3.2 Overload Characteristics 4-25...........................................

4.3.3 Starting Time and Stopping Time 4-26.....................................

4.3.4 Overhanging Loads 4-26...............................................

4.3.5 In-rush Current and Power Loss 4-27......................................

4.4 Servo Drive Dimensional Drawings 4-28..........................................

4.4.1 Servomotor Dimensional Drawings 4-28...................................

4.4.2 Servomotor Dimensional Drawings: European Safety Standards 4-37............

4.4.3 Servopack Dimensional Drawings 4-45....................................

4.4.4 Digital Operator Dimensional Drawings 4-46...............................

4.5 Selecting Peripheral Devices 4-47...............................................

4.5.1 Selecting Peripheral Devices 4-47........................................

4.6 Specifications and Dimensional Drawings of Peripheral Devices 4-50...................

4.6.1 Cable Specifications and Peripheral Devices 4-50............................

4.6.2 Motor Cables 4-51....................................................

4.6.3 Encoder Cables 4-54...................................................

4.6.4 Connector Kits 4-56...................................................

4.6.5 Cable with CN1 Connector at One End Only 4-61...........................

4.6.6 Circuit Breaker 4-61...................................................

4.6.7 Noise Filter 4-62......................................................

4.6.8 Magnetic Contactor 4-62...............................................

4.6.9 Surge Suppressor 4-64.................................................

4.6.10 Variable Resistor for Speed Setting 4-64...................................

4.6.11 Encoder Signal Converter Unit 4-65......................................

4.6.12 Cables for Connecting PC and Servopack 4-67..............................

CHAPTER 5 INSPECTION AND MAINTENANCE 5-1....................

5.1 Servo Drive Inspection and Maintenance 5-2......................................

5.1.1 Servomotors 5-2.....................................................

5.1.2 Servopack 5-3.......................................................

5.2 Error Diagnosis and Troubleshooting 5-4.........................................

5.2.1 Troubleshooting Problems with Alarm Display 5-4..........................

5.2.2 Troubleshooting Problems With No Alarm Display 5-13......................

5.2.3 Servopack Connection Diagrams 5-15.....................................

CHAPTER 6 EMC DIRECTIVE MEASURES 6-1.........................

6.1 Servo Drive Inspection and Maintenance 6-2......................................

6.1.1 What are EN Standards? 6-2............................................

6.1.2 What is the CE Marking? 6-2...........................................

— vii —

CONTENTS

6.1.3 EMC Directive 6-2...................................................

6.1.4 TÜV Certification Body Authorized by EU 6-3.............................

6.2 Measures to Satisfy the EMC Directive 6-4.......................................

6.2.1 Applicable Servomotors 6-4............................................

6.2.2 Applicable Noise Filter 6-4............................................

6.2.3 Applicable Power Supply 6-4...........................................

6.2.4 Motor Cables 6-4....................................................

6.2.5 Encoder Cables 6-5...................................................

6.2.6 Control I/O 6-7......................................................

6.2.7 Digital Operator and Monitoring by Personal Computer 6-7...................

6.2.8 Cable Core 6-7......................................................

6.2.9 Wiring Examples 6-8.................................................

APPENDICES

A Servo Adjustment A-1........................................................

A.1 Σ-Series AC Servopack Gain Adjustment A-2......................................

A.1.1 Σ-Series AC Servopacks and Gain Adjustment Methods A-2..................

A.1.2 Basic Rules for Gain Adjustment A-3.....................................

A.2 Adjusting a Speed-control Servopack A-4..........................................

A.2.1 Adjusting Using Autotuning A-4........................................

A.2.2 Manual Adjustment A-5...............................................

A.3 Adjusting a Position-control Servopack A-8........................................

A.3.1 Adjusting Using Autotuning A-8........................................

A.3.2 Manual Adjustment A-9...............................................

A.4 Gain Setting References A-13....................................................

A.4.1 Guidelines for Gain Settings According to Load Inertia Ratio A-13..............

B List of I/O Signals B-1........................................................

C List of Parameters C-1........................................................

D List of Alarm Displays D-1....................................................

INDEX Index 1...........................................................

— viii —

Overview

About this Manual

This manual provides the following information for users of Σ-Series Servomotors and Servo Drives.

• An overview of Servo Systems for first-time users.

• Checking the product on delivery and basic applications of the Servo.

• Servo applications.

• Selecting an appropriate Servo for your needs and placing an order.

• Inspection and maintenance.

Using this Manual

Manual Structure

All chapters in this manual are classified into one or more of three areas according to their contents: A, B,
and C. Refer to the applicable chapters for the information required.

A: Chapters explaining how to select a Servo: For users who wish to gain a basic understanding of

Σ-Series products or who need to select an appropriate Servo.

B:

Chapters explaining how to design a Servo System: For users who intend to design, install, and op­erate a Σ-Series Servo Control System.

C: Chapters explaining maintenance: For users who are going to maintain and troubleshoot Σ-Series

products.

Chapter

CHAPTER 1 Basic Operation 1-1 B........................................ .........

CHAPTER 2 Applications 2-1 B........................................... .........

CHAPTER 3 Using the Digital Operator

CHAPTER 4 Servo Selection and Data Sheets 4-1 A, B........................ .........

CHAPTER 5 Inspection and Maintenance 5-1 C............................ .........

CHAPTER 6 EMC Directive Measures

APPENDICES

Title Page Area

Describes steps to take when product is received, plus basic
wiring and application methods.

Describes the effective usage of Σ-Series features according
to application.

.............................. .........

Describes operating procedures for Σ-Series Servos, turning
features ON and OFF, setting control constants, etc.

Describes selection methods for Σ-Series Servos and periph­erals and provides Servo specifications.

Describes user maintenance and troubleshooting.

................................ .........

Provides the measures to conform to EN standards.

A

Servo Adjustment A-1

B List of I/O Signals B-1 A, B, C....................................... ........

C List of Parameters C-1 B, C....................................... ........

D List of Alarm Displays D-1 B, C.................................... ........

....................................... ........

3-1

6-1

B

B

B, C

INDEX

.............................................................. ....

Index 1

—ix—

A, B, C

BASIC USES OF Σ-SERIES PRODUCTS

Basic Terms

Meaning of Basic Terms

Unless otherwise specified, the following definitions are used in this manual.

Servomotor: Σ-Series SGMM Servomotor.

Servopack: Σ-Series SGDF Servopack.

Servo Drive: A set including an SGMM/SGDF Servomotor and an SGDF Servopack

Servo System: A complete Servo control system consisting of Servo Drive, host controller, and

peripheral devices.

Description of Technical Terms

Technical terminology that appears as bold in text is explained briefly at the bottom of the page.

—x—

Safety Precautions

The following precautions are for checking products upon delivery, installation, wiring, operation,

maintenance and inspections.

Checking Products upon Delivery

J

D Always use the Servomotor and Servopack in one of the specified combinations.

Not doing so may cause fire or malfunction.

Installation

J

D Never use the products in an environment subject to water, corrosive gases, inflammable gases,

or combustibles

Doing so may result in electric shock or fire.

!

CAUTION

!

CAUTION

Wiring

J

!

WARNING

D Ground the equipment ground terminal according to electrical codes (ground resistance: 100 Ω or

less).

Improper grounding may result in electric shock or fire.

!

CAUTION

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

Doing so may result in injury or fire.

D Securely fasten the power supply terminal screws and motor output terminal screws.

Not doing so may result in fire.

—xi—

BASIC USES OF Σ-SERIES PRODUCTS

Operation

J

D Never touch any rotating motor parts while the motor is running.

Doing so may result in injury.

D Conduct trial operation on the Servomotor alone with the motor shaft disconnected from machine

to avoid any unexpected accidents.

Not doing so may result in injury.

D Before starting operation with a machine connected, change the settings to match the user’s

constants of the machine.

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

!

WARNING

!

CAUTION

D Before starting operation with a machine connected, make sure that an emergency stop can be

applied at any time.

Not doing so may result in injury.

D Do not touch the heat sinks during operation.

Doing so may result in burns due to high temperatures.

Maintenance and Inspection

J

!

WARNING

D Never touch the inside of the Servopacks.

Doing so may result in electric shock.

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

Residual voltage may cause electric shock.

!

CAUTION

D Do not disassemble the Servomotor.

Doing so may result in electric shock or injury.

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

Doing so may result in electric shock or injury.

— xii —

General Precautions

J

Note the following to ensure safe application.

S 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.

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

received.

S 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. The edition number appears on the front and back covers.

S If the manual must be ordered due to loss or damage, inform your nearest Yaskawa representa-

tive or one of the offices listed on the back of this manual.

S Yaskawa will not take responsibility for the results of unauthorized modifications of this prod-

uct. Yaskawa shall not be liable for any damages or troubles resulting from unauthorized modifi­cation.

— xiii —

BASIC USES OF Σ-SERIES PRODUCTS

Yaskawa, 1999

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.

— xiv —

BASIC OPERATION

This chapter describes the initial procedures when Σ-Series products are de­livered. It also explains the basic methods of connecting and operating Σ-Se-
ries products. Both first-time and experienced servo users
chapter.

1.1 Precautions 1-2...............................

1.2 Installation 1-4...............................

1.2.1 Checking on Delivery 1-4................................

1.2.2 Installing the Servomotor 1-6.............................

1.2.3 Installing the Servopack 1-9..............................

1.2.4 Power Loss 1-11........................................

1

must read

1

this

1.3 Connection and Wiring 1-12.....................

1.3.1 Connecting to Peripheral Devices 1-12......................

1.3.2 Main Circuit Wiring and Power ON Sequence 1-14............

1.3.3 Examples of Connecting Host Controllers 1-16................

1.4 Conducting a Test Run 1-23.....................

1.4.1 Test Run in Two Steps 1-23...............................

1.4.2 Step 1: Test Run for Servomotor without Load 1-24............

1.4.3 Step 2: Test Run with the Servomotor Connected to

the Machine 1-28........................................

1.4.4 Supplementary Information on Test Run 1-29.................

1.4.5 Minimum Parameters and Input Signals 1-30..................

— 1-1 —

BASIC OPERATION

1.1 Precautions

This section provides precautions that must be observed when using Σ-Series products.

1

Do not connect the Servomotor directly to a commercial power supply.

Do not plug the Servomotor directly into the com­mercial power supply. Direct connection to the

Do not connect
directly.

commercial power supply will damage the Servo­motor. The Servomotor cannot operate without a
Servopack.

200 V or
100 V power
supply

Damage will result!

Do not connect or disconnect the connector when power is ON.

Always turn the power OFF before connecting or

Not lit

disconnecting a connector, except for the connec­tor for the Digital Operator.

Always turn OFF
the power before
connecting or
disconnecting a
connector.

Do not perform inspection or maintenance work for at least 5 minutes after the
power is turned OFF.

Even after the power is turned OFF, residual volt­age still remains in the capacitor inside the Servo­pack. If inspection is to be performed after the
power is turned OFF, always wait at least 5 min-

Careful!

Residual
voltage remains
in capacitor

utes to avoid the risk of an electrical shock.

Wait at least 5
minutes

Install the Servopack at least 10 mm from other devices.

The Servopack generates heat. Configure the
system layout so that the Servopack is located
where it can radiate heat freely. The Servopack
must be installed in an environment free from con­densation, vibration, and shock.

— 1-2 —

Ambient
temperature:
0to50°C

Provide sufficient
clearance.

10 mm

Perform noise reduction and grounding properly.

1.1Precautions

If the signal line is noisy, vibration or malfunction
will result.

Install the system according to the following pre-

Casing

Servopack

Signal

line

cautions.

D Separate high-voltage cables from low-voltage cables.
D Use cables as short as possible.
D Be sure to ground (ground resistance 100 Ω or

less) for the Servomotor and Servopack.

D Never use a noise filter for the power supply

between the Servomotor and Servopack.

Do not perform continuous operation under overhanging load.

Continuous operation cannot be performed by ro­tating the motor from the load and applying regen­erative braking. Regenerative braking by the Ser­vopack can be applied only for a short period,
such as when the motor is stopped.

Do not apply regenerative
braking continuously.

Do not operate the Servomotor by turning the power ON and OFF.

Servomotor

Be sure to ground
(less than 100 Ω).

Servomotor

1

Frequently turning the power ON and OFF causes
the internal circuit elements to deteriorate. Always
start or stop the Servomotor by using reference
pulses.

Servopack

Power
supply

Do not start and stop by
turning power ON and OFF

— 1-3 —

1

BASIC OPERATION

1.2.1 Checking on Delivery

1.2 Installation

This section describes how to check Σ-Series products on delivery and how to install
them.

1.2.1 Checking on Delivery

When Σ-Series products are delivered, check the following items.

Check Items

Check if the delivered products are
the ones you ordered.

Check if the motor shaft rotates
smoothly.

Check for damage. Check the overall appearance, and check for damage

Check screws for looseness. Check for looseness by using a screwdriver.

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

Check the types marked on the nameplates of
Servomotor and Servopack (see the following table).

If the motor shaft is smoothly turned by hand, it is
normal. If the motor has brakes, however, it cannot be
turned manually.

or scratches resulting from transportation.

Remarks

— 1-4 —

Servo­motors

Appearance Nameplate Type

Standard Servomotors

Σ-Series
SGMM Servomotor

Rated output
A1: 10 W B3: 3 W
A2: 20 W B5: 5 W
A3: 30 W B9: 10 W
Supply voltage
B: 100 VAC
C: 24 VDC
S: EC safety standards, 24 VDC

(10 W, 20 W)

Encoder specifications
3: 2048 P/R incremental encoder
F: 1024 P/R incremental encoder

Design revision order

Shaft specifications
2: Straight without key
3: Straight with flat seat

Option
C: With brake (24 VDC)

Servomotors with Reduction Gears

Σ-Series
SGMM Servomotor

Rated output

A1: 10 W
A2: 20 W
A3: 30 W

Supply voltage

B: 100 VAC
C: 24 VDC
S: EC safety standards, 24 VDC

(10 W, 20 W)

Encoder specifications

3: 2048 P/R incremental encoder
With reduction gears
Gear ratio

A: 1.5 1: 1/5
B: 1/16 2: 1/16
C: 1/25 3: 1/25
(10/20 W) (30 W)

Shaft specifications
2: Straight without key
6: Straight with key and tap

Option
C: With brake (24 VDC)

Σ-Series
SGMM Servomotor

Rated output
Servomotor model

G89526−1−1−10

Serial number

Rated speed

Manufacturing
date

Rated output
current

98/8

1.2Installation

1

A

Servo­packs

SGDF­A1CS

DC24V

SERVOPACK

CN3

RDY
ALM

CN4

CN2/PG

CN1/IO

Σ-Series SGDF
Servopack

C
N
5

Applicable power supply

Servopack model

Serial number

Applicable
motor capacity

Σ-Series
SGDF Servopack

Rated output
A1: 10 W B3: 3 W

A2: 20 W B5: 5 W
A3: 30 W B9: 10 W

Supply voltage
C: 24 VDC

Type
S: For speed/torque control
P: For position control

— 1-5 —

1

BASIC OPERATION

1.2.2 Installing the Servomotor

1.2.2 Installing the Servomotor

Servomotors can be installed either horizontally or vertically. If, however, the Servomotor is
installed incorrectly or in an inappropriate location, the service life will be shortened or unex­pected problems will occur. To prevent this, always follow the installation instructions de­scribed below and install properly.

Before Installation

The edge of the motor shaft has an anticorrosive coating. Carefully and thoroughly clean
off the anti-corrosive coating using a cloth moistened with thinner before installing the
motor. Make sure that the thinner is completely wiped off.

Anticorrosive coating

Do not get thinner on any other parts of the Servomotor when cleaning the shaft.

Note

Storage Temperature

When the Servomotor is to be stored with the power cable disconnected, store it within
the following temperature range.

Between −20 and 60°C

Installation Site

The Servomotors are designed for indoor use.
Install the Servomotor in an environment which meets the following conditions:

Free from corrosive and explosive gases

•

Well-ventilated and free from dust and moisture

•

Ambient temperature of 0°Cto40°C

•

Relative humidity of 20% to 80% (with no condensation)

•

Inspection and cleaning can be performed easily

•

If the Servomotor is used in a location subject to water or oil mist, install a shield cover
over the Servomotor to prevent water or oil mist from entering the Servomotor.

— 1-6 —

1.2Installation

Alignment

Align the shaft of the Servomotor with that of the equipment to be controlled, then connect
the shafts with couplings. Install the Servomotor so that alignment accuracy falls within
the range shown in the following diagram.

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

0.03 mm or less. (Turn together with couplings)

Measure this distance at four different positions in the
circumference. The difference between the maximum and minimum
measurements must be 0.03 mm or less. (Turn together with
couplings)

1

Note

If the shafts are not aligned properly, vibration will occur, resulting in damage to the bearings.

— 1-7 —

BASIC OPERATION

()

()

()

()

Fs

()()

()

()

1.2.2 Installing the Servomotorcont.

Allowable Load on Shaft End

1

Mechanical shock to the shaft end must be less than 490 m/s

2

and must be applied no

more than twice.
Design the mechanical system so that thrust load and radial load applied to the Servo­motor shaft end during operation falls within the range shown in the following table.

Servomotor Model

SGMM-

Standard

With Gears

A1C31jj

A2C31jj

A3C31jj

B3CF1j

B5CF1j

B9CF1j

A1C3JAjj

A2C3JAjj

A1C3JBjj

A2C3JBjj

A1C3JCjj

A2C3JCjj

Allowable

Radial Load

Fr [N(lb)]

34.1 (7.7)

44.1 (9.9)

8 (1.8) 4.0 (0.90)

10 (2.2)

51.9 (11.7) 47.0 (10.5)

76.4 (17.2)

89.2 (20.1)

Allowable

Thrust Load

Fs [N(lb)]

14.7 (3.3)

Reference Drawing

Fr

Fs

TERMS

Note a) The box (j) at the end of the model number is for the shaft specifications.

b) The allowable load is applied to the shaft end.

Thrust load and radial load

Fr

Thrust load (Fs): Shaft-end load applied parallel to the
centerline of a shaft

Motor

Fs

Radial load (Fr): Shaft-end load applied perpendicular to
the centerline of a shaft

— 1-8 —

Shaft end

1.2.3 Installing the Servopack

The SGDF Servopack is a book-shaped compact ser­vo controller.
Incorrect installation will cause malfunctions. Always
observe the following precautions when installing the
Servopack.

Storage:

When the Servopack is to be stored with the pow­er cable disconnected, store it within the following
temperature range:

Between −20 °C and 85 °C

C

SERVOPACK

RDY
ALM

CN1/IO

N
5

SGDF­A1CS

DC24V

CN3

CN4

CN2/PG

SGDF Servopack

1.2Installation

1

Installation Site

Situation Notes on Installation

Design the control panel size, Servopack layout, and

Installed in a control panel

cooling method so that the ambient temperature of the
Servopack does not exceed 50°C.

Suppress radiation heat from the heating unit and a rise

Installed near a heating unit

in temperature caused by convection so that the ambient
temperature of the Servopack does not exceed 50°C.

Installed near a source of
vibration

Install a vibration isolator underneath the Servopack to
prevent it from receiving vibration.

Corrosive gases do not immediately affect the Servopack
Installed in a place subject to
corrosive gases

but will eventually cause contactor-related devices to

malfunction. Take appropriate action to prevent corrosive

gases.

Others

Do not install in a hot and humid place or where

excessive dust or iron powder is present in the air.

Orientation:

Install the Servopack perpendicular to the wall as
shown in the figure.

The Servopack must be orientated as shown in
the figure because it is designed to be cooled by
natural convection.

• Firmly secure the Servopack to the mounting
surface through the mounting holes.

— 1-9 —

Ventilation

BASIC OPERATION

1.2.3 Installing the Servopackcont.

Installation Method

When installing multiple Servopacks side by side in a control panel, observe the following
installation method.

1

30 mm
or more

Fan 50 mm or more

10 mm
or more

Fan

50 mm or more

Servopack Orientation

Install Servopack perpendicular to the wall so that the front panel faces outward. The
front panel is the side to which the Digital Operator is connected.

Cooling

Provide sufficient space around each Servopack to allow cooling by natural convection
or fans as shown in the above diagram.

Adjacent Installation

When installing Servopacks side by side, provide at least 10 mm space between them
and at least 50 mm space above and below them as shown in the figure above. Install
cooling fans above the Servopacks to prevent the temperature around each Servopack
from increasing excessively and also to maintain the temperature inside the control panel
evenly.

Control Panel Environment Conditions

• Ambient temperature for Servopack: 0 °Cto50°C

• Humidity: 90% RH or less

• Vibration: 9.8 m/s

2

• Condensation and freezing: None

• Ambient temperature to ensure long-term reliability: 40 °C or less

— 1-10 —

1.2.4 Power Loss

The amount of power lost by Servopacks at the rated output is shown in the following table.

1.2Installation

Servopack Type Capacity (W) Inrush Current

(Aop)

SGDF-A1C 10 3.8 2.1 7

SGDF-A2C 20 3.8 2.0 7

SGDF-A3C 30 3.8 2.9 7

SGDF-B3C 3 3.8 1.3 7

SGDF-B5C 5 3.8 1.3 7

SGDF-B9C 10 3.8 1.5 7

Output Current

(A rms)

Power Loss (W)

1

— 1-11 —

1

BASIC OPERATION

1.3.1 Connecting to Peripheral Devices

1.3 Connection and Wiring

This section describes how to connect Σ-Series products to peripheral devices and
explains a typical example of wiring the main circuit. It also describes an example of
connecting to main host controllers.

1.3.1 Connecting to Peripheral Devices

This section shows a standard example of connecting Σ-Series products to peripheral de­vices and briefly explains which peripheral devices can be connected and in which locations
to connect them.

— 1-12 —

1.3Connection and Wiring

Molded-case circuit
breaker (MCCB)

Used to protect
power supply line.
Shuts the circuit
OFF when
overcurrent is
detected.

Noise filter

Used to eliminate external
noise from power supply line.

Molded-case
circuit breaker

Noise
filter

Power supply:
Single-phase
200 or 100 VAC

Host
Controller

MP910, MP920,
MP930, and MP−SG1 with a Motion Module

Connect the SGDP SERVOPACK to a
Yaskawa host controller.

Digital Operator

Personal computer

Connecting cable: JZSP-CFS01 to 03

Allows the user to
set parameters or
operation references
and display
operation status or
alarm status.
Personal computers
can also be used.

JUSP-OP02A-3

1

Magnetic contactor

Turns the Servo
ON or OFF.
Use a surge
suppressor for
the magnetic
contactor.

Model:
HI-Series

AC/DC power supply

Supplies Servopack
with 24 VDC.

Magnetic
contactor

AC/DC
power
supply

Power supply
ground line

Encoder cable

Motor cable

— 1-13 —

BASIC OPERATION

1.3.2 Main Circuit Wiring and Power ON Sequence

1.3.2 Main Circuit Wiring and Power ON Sequence

This section shows a typical example of wiring the main circuit for Σ-Series Servo, and de­scribes the main circuit terminal functions and power ON sequence.

Typical Wiring Example

Single-phase 100 VAC
(50/60 Hz)

1

QF

FIL

ONOFF

MC Ry

QF: Circuit breaker
FIL: Noise filter
MC: Contactor
Ry: Relay
PL: Patrol light
SUP: Surge suppressor
D: Flywheel diode

Ry

MC

SUP

+24 V

024V

MC

Power
supply

Ry

Servopack

CN3 CN4

24 VDC

GND

CN1

7

ALM

3

SG-COM

Servomotor

M

PG

Overview and Functions of Main Circuit Terminals

The following tables show the name and description of each main circuit terminal function.

Terminal

Name Description

Symbol

CN3 Main input terminal

24 VDC ±10%

CN4 Motor connection terminal Connect U to the red motor terminal,

V to the white motor terminal, and W
to the blue motor terminal.

Ground terminal Connect to a ground and to the motor

(green).

CN3

1

2 GND

3 24 VDC

CN4

1 Phase U

2 Phase V

3 Phase W

4

— 1-14 —

1.3Connection and Wiring

Designing the Power ON Sequence

Observe the following precautions when designing the power ON sequence.

• Design a power ON sequence so that the power is turned OFF when a servo alarm signal is
output. (See the previous circuit diagram.)

• Hold down the power ON push-button for at least two seconds. The Servopack outputs a
servo alarm signal for approximately two seconds or less when the power is turned ON. This
operation is required to initialize the Servopack.

Power supply

Servo alarm (ALM) output signal

1

Wiring Precautions

• After turning the power OFF, do not touch the power terminals for 5 minutes. Residual volt­age may remain in the Servopack.

• Avoidfrequently turning the power ON and OFF.The Servopack has a capacitor in the pow­er supply, so a high charging current flows when the power is turned ON. Therefore, fre­quently turning the power ON and OFF causes the main power devices (such as capacitors
and fuses) to deteriorate, resulting in unexpected problems.

— 1-15 —

1

BASIC OPERATION

1.3.3 Examples of Connecting Host Controllers

1.3.3 Examples of Connecting Host Controllers

This section provides typical examples of connecting Servopacks to main host controllers.
Connection to other host controllers is also possible. Connect to the host controller according
to the connection examples shown below by referring to technical documentation for the host
controller.

Note This section describes signals related to the Servopack only. For other signals, refer to the

relevant technical documentation.

Example of Connecting to PROGIC-8

Servopack for Speed/Torque Control

Speed/Torque

Yaskawa

PROGIC-8

/PA

/PA

PB

/PB

PC

/PC

D/A

GND

+24OUT

SVON

PCON

(Reserved)

SVALM

OUT

O

24

(connector frame)

FG

1

2

3

4

5

6

7

8

19

11

12

16

15

17

Servopack

24VDC
GND

*1

CN1SV1

PAO

14

/PAO

15

PBO

16

/PBO

17

PCO

18

/PCO

19

12

V-REF (T-REF)

SG

13

+24VIN

9

*2

/S-ON

/P-CON

/ALMRST

7

ALM

3

SG-COM

U

V

W

CN2

*2

*2

M

PG

*1 These pin numbers are also applicable to SV2 to SV4.

*2 Set input signals IN1 and IN2 in the parameters.

— 1-16 —

Example of Connecting to GL-series B2833 Positioning Module

Servopack for Speed/Torque Control

1.3Connection and Wiring

Speed/Torque

+12V

−12V

+5V

0V

ServomotorServopack

+24 V

V

0

24

CN2

1Ry

Yaskawa

JAMSC-B2833

1

33

SERVO NORMAL

20

DECEL LS

25

START

3

STOP

2
45
46
47
30
31
32
48
49
50
10
11
12

D/A OUTPUT

0V
0V

PA

/PA

PB

/PB

PC

/PC

0V
0V
0V

FG

ALARM

23

16
17
18
19
14
15

20

36

CN2

6
7

CN1

1
2
3

CN2

2Ry

+12V

DC24V
GND

CN1

12

V-REF (T-REF)

SG

13
20

FG

14

PAO
/PAO

15

PBO

16
17

/PBO
PCO

18

/PCO

19

*1 The ALM signal is output for approximately
two seconds when the power is turned ON.
Consider this when designing the power ON
sequence.
Use the ALM signal to operate the alarm
detection relay (relay 1Ry) and turn OFF the
power supply to the Servopack.

+24VIN

/S-ON

ALM

SG-COM

U

V

W

M

1

PG

CN2

CN1

9

1

7

3

+24 V 0

1Ry

*1

V

24

— 1-17 —