How it Works
YASKAWA
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SJME-04AMA41
User Manual
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YASKAWA SJME-01AMA41, SJME-02AMA41, SJME-04AMA41, SJME-08AMA41, SJME-01AMA4C User Manual

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YA S K A WA
AC SERVO DRIVES
JUNMA SERI ES
SJME SERVOMOTOR
SJDE SERVOPACK
YA S K A WA
6
<
Allowable Load Inertia Moment and Allowable Regenerative Frequency with Regenerative Unit
>
Power Supply Voltage: 230 VPower Supply Voltage: 200 V
0 4500
2.1
3.6
6.9
3000
0
10
8
6
4
2
Regenerative unit not required.
SJDE-08(750W)
0 4500
1.1
1.9
3.0
3000
0
5
4
3
2
1
Regenerative unit not required.
SJDE-04(400W)
0 45003000
0
0.6
0.5
0.4
0.3
0.2
0.1
SJDE-01(100W)
0 4500
3.7
5.3
8.5
3000
0
10
8
6
4
2
Regenerative unit not required.
SJDE-08(750W)
0 45003000
0
5
1
2
3
4
Regenerative unit not required.
SJDE-04(400W)
SJDE-02(200W)
1.8
2.8
3.9
1.3
2.4
Load moment of inertia
(
×
10
-4
kg
m
2
)
Speed (min
-1
)
Load moment of inertia
(
×
10
-4
kg
m
2
)
Speed (min
-1
)
Load moment of inertia
(
×
10
-4
kg
m
2
)
Speed (min
-1
)
Load moment of inertia
(
×
10
-4
kg
m
2
)
Speed (min
-1
)
Load moment of inertia
(
×
10
-4
kg
m
2
)
Speed (min
-1
)
Load moment of inertia
(
×
10
-4
kg
m
2
)
Speed (min
-1
)
Load moment of inertia
(
×
10
-4
kg
m
2
)
Speed (min
-1
)
Load moment of inertia
(
×
10
-4
kg
m
2
)
Speed (min
-1
)
0 45003000
SJDE-01(100W)
0
0.6
0.5
0.4
0.3
0.2
0.1
Regenerative unit not required.
Regenerative unit not required.
Regenerative unit not required.
0 45003000
30 rotations/min
60 rotations /min
30 rotations/min
60 rotations /min
30 rotations/min
12 rotations/min
60 rotations /min
12 rotations/min
6 rotations/min
30 rotations/min
12 rotations/min
6 rotations/min
30 rotations/min
30 rotations/min
12 rotations/min
60 rotations /min
0 4500
0.8
1.8
3000
0
3
2.5
2
1.5 1
0.5
0
3
2.5
2
1.5 1
0.5
Regenerative unit not required.
SJDE-02(200W)
Note: An overvoltage alarm will occur without a required regenerative unit.
The graphs below show the capacity absorbed regenerative energy and allowable regenerative frequency of the SERVOPACKs with regenerative units connected. The graphs show values for horizontal axis. For the vertical axis, refer to the JunmaSize+: AC Servomotor Selection Software.
Selection of Devices
Selection of Devices
Precautions when Selecting Peripheral Devices
Regenerative Units
The rotational energy of driven machines, including servomotor, is returned to the SERVOPACK as electric power. This is called regenerative power. The power is absorbed by the smoothing capacitor. When the capacitor has reached its limit in power absorption, the excess is then consumed by the regenerative unit. The servomotor is driven in the regeneration state in the following circumstances
:
• While decelerating to a stop during acceleration and deceleration operation.
• During continuous operation on the vertical axis.
•
During continuous operation with the servomotor rotated from the load side (negative load).
7
A magnetic contactor is required to make the AC power to SERVOPACK ON/OFF sequence externally. Be sure to attach a spark killer to the excitation coil of the magnetic contactor.
If selecting a molded-case circuit breaker, observe the following precautions.
• Do not touch the regenerative units as they reach high temperatures. Use heat-resistant, non­flammable wiring and make sure that the wiring does not touch the units. For connecting wire size when connecting a unit, refer to P16.
• The regenerative unit has three error detection functions: regenerative resistor burnout, regenerative transistor failure, and overvoltage detection. When these functions are tripped, the built-in alarm relay will operate and the C1 and C2 output terminals of the regenerative unit will be opened.
• Construct a sequence so that the power supply (through L1 and L2) to the SERVOPACK will be always shut OFF when the alarm relay operates. Two to three seconds are required to reset the alarm relay once the alarm relay operates. The alarm state will return to normal when the main capacitor in the SERVOPACK finishes discharging.
• The instantaneous maximum output of SERVOPACK is approximately 3 times the rated output. The output can last up to 3 seconds. Accordingly, select a molded-case circuit breaker whose breaking time is 5 seconds or more at 300% of SERVOPACK rated current. The general-purpose low-speed acting molded­case circuit breakers are applicable.
• The consumption of other controllers must be considered when selecting a molded-case circuit breaker.
• The power-supply capacity per SERVOPACK when using a servomotor is described in
n
SERVOPACKs
and Applicable Peripheral Devices
on page 4. If using several SERVOPACKs, select a molded-case circuit breaker with a capacity larger than the effective load current, which is calculated from the total power supply capacity.
• The allowable inrush current for a low-speed acting molded-case circuit breaker is approximately 10 times the rated current for 0.02 seconds.
• If several SERVOPACKs are being used at the same time, select a molded-case circuit breaker with an allowable current (20 ms) greater than the total inrush current of the SERVOPACK.
• Refer to
n
SERVOPACKs and Applicable Peripheral Devices
on page 4 for more information on the
SERVOPACK's inrush current.
• Install a noise filter on the power supply line for peripheral equipment as necessary.
• Use a noise filter to prevent noise interference. If the equipment is to be used near private houses or may
receive noise interference, install a noise filter on the input side of the power supply line. Because the SJDE SERVOPACK is designed as an industrial device, it provides no mechanism to prevent noise interference.
• Install the input reference device and noise filter as close to the SERVOPACK as possible.
<Caution>
<Maximum Input Current >
< Inrush Current >
Selection of Devices
Molded-case Circuit Breaker (MCCB)
Noise Filter
Magnetic Contactor
• It is recommended to use a general-purpose circuit breaker of the rated current 200 mA or more, or a circuit breaker for inverters (for high-frequency).
•
High-frequency current may leak through the armature of a servomotor when switching in the SERVOPACKs.
Earth Leakage Breaker
8
Voltage
Description
01 02
200 VAC
04 08
Applicable SERVOPACK Rated Output
*
1
Rated Torque
*1,*
2
Instantaneous Peak Torque
*
1
Rated Current
*
1
Instantaneous Max. Current
*
1
Rated Speed
*
1
Max. Speed
*
1
Torque Constant Rotor Moment of Inertia Rated Power Rate
*
1
Rated Angular Acceleration
*
1
Time Rating
Thermal Class
Vibration Class
Withstand Voltage Insulation Resistance Enclosure
Impact Resistance
Vibration Resistance
01
100
0.318
0.955
0.84
2.5
02
200
0.637
1.91
1.1
3.3 3000 4500
04
400
1.27
3.82
2.0
6.0
08
750
2.39
7.16
3.7
11.1
0.413
0.0634
16.0
50200
Continuous
B
15µm or below
1500 VAC for one minute
500 VDC, 10 MΩ min.
0.645
0.330
12.3
19300
0.682
0.603
26.7
21100
0.699
1.50
38.1
15900
Description
*
:
To obtain the motor moment of inertia with a brake, add the holding brake moment of inertia to the rotor moment of inertia. The rated power
rate and angular acceleration of the motor will change according to the motor moment of inertia.
Notes: 1 The holding brake is only used to hold the load and cannot be used to stop the servomotor.
2 Do not use the holding brake when the servo is on. Failure to observe this caution may result in an overload in the SERVOPACK or a
decrease in the brake life.
01 02
24 VDC
±10%
04 08
Rated Voltage Holding Brake Moment of Inertia
*
Capacity Min. Holding Torque (Static Friction Torque) Coil Resistance Rated Current Brake Release Time Rise Time for Holding Torque
kgm
2
×
10
-4
W N
m Ω(at 20˚C) A(at 20˚C) ms ms
0.0075 6
0.318 96
0.25
0.064
6.9
1.27 83
0.29
80 max.
100 max.
0.171
7.7
2.39 75
0.32
How to Read a Gragh of Speed and Torque Characteristics
Speed (min
-1
)
Speed (min
-1
)
Speed (min
-1
)
Speed (min
-1
)
Speed (min
-1
)

Servomotors

Servomotors
Impact acceleration: 490 m/s2 in three directions — vertical, side to side, and front to back. Impact occurrences: 2
Vibration acceleration: 49 m/s
2
in three directions
—
vertical, side to side, and front to back.
Totally enclosed, self-cooled, IP55 (excluding shaft opening and connectors)
–
Motor output at the rated operating point Torque at the rated operating point Maximum instantaneous torque of the motor Current flowing to the motor at the rated operating point Maximum instantaneous current that is allowed to flow to the motor Speed at the rated operating point Highest possible speed Generated torque ratio for current flowing to the motor Inertia moment at the rotor shaft Motor output per unit time The theoretical angular acceleration(also called torque-to-
inertia ratio) at the rated torque "Continuous rating" means that the temperature of the servomotor in continuous operation
under specified conditions will not exceed a specified temperature or other limitation. Highest allowable temperature for armature winding: 130˚C The maximum vibration amplitude of the motor expressed in units of
micrometers on the condition that the vibration is measured with a vibrometer parallel to the shaft and in two directions perpendicular to the shaft.
– –
Level of protection from dust and water drops Impact resistance of the motor in three directions (up and
down, left and right, and back and forth) with the motor shaft mounted horizontally
Vibration resistance of the motor in three directions (up and down, left and right, and back and forth) with the motor shaft mounted horizontally
– – –
Torque against an external force to hold the shaft Resistance of the built-in coil in the brake Current that flows when the brake is released Time from when the power for the holding brake is turned on until the brake is released. Time from when the power for the holding brake is turned off until the brake reaches the set torque.
Ratings and Specifications
Holding Brake Specifications
Speed / Torque Characteristics
Servomotor Model: SJME- A
SJDE- A W N
m
N
m Arms Arms min
-1
min
-1
Nm/Arms kgm
2
×
10
-4
kw/s
rad/s
2
Servomotor Model:SJME- A
*
1: These items and speed/ torque characteristics quoted in combination with an SJDE SERVOPACK are at an
armature winding temperature of 100˚C. Other values quoted at 20˚C.
*
2: The rated torques listed here are the values for the continuous allowable torque at 40˚C with an aluminum heatsink
(250 mm
×
250 mm × 6 mm) attached.
A
B
SJME-04A
Torque(Nm
)
3000
4000
2000
1000
5000
0
012 34
The output torque will decrease if the speed exceeds the rated speed.
Rated torque The same torque is output at any rotation speed.
B. Repetitive operating range
Range where the motor can be operated for a short time, provided that the effective torque of the motor is within the continuous operating range.
A. Continuous operating range
Safe range allowing the continuous operation of the servomotor. The effective torque must be within this range.
Rated operating point
SJME-01A SJME-02A SJME-04A SJME-08A
Torque(Nm
)
Torque(Nm
)
Torque(Nm
)
Torque(Nm
)
0 0.25 1.000.750.50
0
3000
4000
2000
1000
5000
AB
AB
3000
4000
2000
1000
5000
0
0 0.5 2.01.51.0
AB
3000
4000
2000
1000
5000
0
012 34
3000
4000
2000
1000
5000
0
AB
02 4 68
Note: Solid lines show the torque/speed characteristics of the servomotor at 200 VAC, and the broken lines show them at 230 VAC.
9
2531
1 2 3 4 5 6
64
123456
78910
1112
Motor Connector Specifications
Plug:
5559-06P-210
Terminal (No.1 to 3, 5, 6):
5558T(chained) or 5558TL(detached)
Grounding Pin (No.4):
30490-2002(chained) or 30490-2012 (detached) (Manufacture: Molex Japan Co., Ltd)
Plug:
5559-12P-210
Terminal:
5558T2(chained) or 5558T2L(detached) (Manufacture: Molex Japan Co., Ltd)
Encoder Connector Specifications
Phase U Phase V Phase W
F G
– –
Red
White
Blue
Green/Yellow
– –
Phase U Phase V
Phase W
F G Brake Brake
Red
White
Blue
Green/Yellow
Red
Black
No brake With brake
1.8
3
3
46 dia.
2-4.3 dia.
Cross Section A-A
Type
SJME-
Approx. Mass
kg
LLL
01AMA41
01AMA4C
119 16494139
0.5
0.8
1 2 3 4 5 6 7 8
9 10 11 12
PG5V
PG0V(GND)
Phase A
+
Phase A
–
Phase B
+
Phase B
–
Phase /Z
Phase U Phase V
Phase W
–
FG
Red
Black
Blue
Blue/White
Yellow
Yellow/White
Purple
Gray
Green
Orange
–
Shield
LA
dia.
4-LZ
dia.
Cross Section A-A
3
5
5
Type
SJME-
Approx. Mass
kg
LLLLR
02AMA41
02AMA4C
04AMA41
04AMA4C
08AMA41
08AMA4C
125.5
165.5
95.5
135.5 30
40
LG
6
8
LE
3
3
S
14
16
LB
50
70
LC
60
80LD35
–––
–
LF20LA
70
90
LZ
5.5
7
QK
20
30
148.5
188.5
118.5
158.5
173 216
133 176
0.9
1.5
1.3
1.9
2.6
3.5
Servomotors
0
-0.011
0
-0.011
0
-0.039
0
-0.046
Dimensions
Units: mm
100W
200W to 750W
40
LC
Encoder cable
Servomotor main circuit cable
Encoder connector
300±30
300±30
LL
L
LG
LE
0.06 dia.
A
LB
dia.
S
dia.
A
0.03
Motor connector
0.08 A
A
A
LD
LF dia.
QK
LR
0.08 A
A
Encoder connector
Servomotor main circuit cable
Encoder cable
300±30
300±30
0.03
A
A
2.5
5
25LL
L
0.06 dia.
A
14
Motor connector
Holding brake (de-energization operation)
Note: Only for servomotors with brakes
Holding brake torque = Motor rated torque
Power supply: 24 VDC
8 dia.
0
-0.009
30 dia.
0
-0.033
Holding brake (de-energization operation) Power supply: 24 VDC
Note: Only for servomotors with brakes
Holding brake torque = Motor rated torque
10
SERVOPACK model SJDE-
Description01APA 02APA 04APA 08APA
Max. applicable servomotor capacity [kW]
Cooling method Operating temperature Operating humidity Storage temperature Storage humidity
Installation site
Altitude Vibration resistance Shock resistance
Operating conditions
Power loss at rated output [W]
Input control method
Output control method
Voltage Frequency Capacity at rated
output [kVA]
Input power supply (for main circuit and control circuit)
Input signal for reference
Pulse type
Pulse resolution
Clear input signal Servo ON input signal
Alarm output signal
Brake output signal
Origin output signal
Dynamic brake (DB)
LED display Reference filter
Regenerative processing
0.1 0.2 0.4 0.75
0.40 0.75 1.2 2.2
14 16 24 35
0.6×10
-4
Allowable load inertia [kgm2]
*
1
3×10
-4
5×10
-4
10×10
-4
Select one of the following signals:
1. CCW + CW
2. Sign + pulse train
3. CCW + CW (logic reversal)
4. Sign + pulse train (logic reversal)
Capacitor-input type, single-phase full-wave rectification with resistance to prevent inrush currents.
PWM control, sine wave power driven system
Feedback Analog output encoder
Select one of the following signals:
1. 1000 pulses/rev (Open collector/line driver) 75 kpps max.
2. 2500 pulses/rev (Open collector/line driver) 187.5 kpps max.
3. 5000 pulses/rev (Line driver) 375 kpps max.
4. 10000 pulses/rev (Line driver) 750 kpps max.
Single-phase 200 V to 230 VAC, +10% to –15%
50/60Hz ±5%
Clears the positioning error when turned ON. Turns the servomotor on or off. OFF if an alarm occurs.
Note: OFF for 2s when power is turned ON.
External signal to control brakes. Turn ON to release the brake.
Positioning completed output signal
ON if the current position is equal to the reference position ± 10 pulses.
ON if the motor is at the origin. (Width: 1/500 rev)
Note: Use the pulse edge that changes the signal from OFF
to ON.
Optional (If the regenerated energy is too large, install a regenerative unit.)
5 (PWR, REF, AL1, AL2, AL3) Select one of eight levels with FIL switch.
Forced cooling (built-in fan) 0˚C to +55˚C 90% RH or less (with no condensation)
–
20˚C to +70˚C
90% RH or less (with no condensation)
Operated at main power OFF, servo alarm, servo OFF. (OFF after motor stops; ON if the motor power is off.)
• Free of corrosive gases
• Free of dust and iron powder
• Clean and dry
1000 m or below
4.9m/s
2
19.6m/s
2
Designated pulse type and pulse resolution with PULSE switch.
Motor capacity that the SERVOPACK can drive.
Continuous output current [Arms]
0.84 1.1 2.0 3.7
Current that the SERVOPACK can output continuously.
Instantaneous max. output current [Arms]
2.5 3.3 6.0 11.1
Maximum current that the SERVOPACK can output instantaneously.
Power supply capacity required to operate a motor at the rated output.
Electric power emitted as heat from the SERVOPACK while operating the motor at the rated torque and rated speed.
Type of pulse train signal to drive motor, input into the SERVOPACK. For CCW+CW, input both forward and reverse rotation pulse trains.
Number of reference pulses required to rotate the motor one turn
Only one point of origin per rotation
Method that stops the motor by short-circuiting the internal circuit of the SERVOPACK.
Function to consume rotational power generated when the motor is rotated by external force. This function is required for a high load moment of inertia.
Protection
*
2
Speed errors, overload, encoder errors, voltage errors, overcurrents, disablement of the built-in cooling fan, system errors.
Note: No built-in circuit for ground protection.
–
–
–
–
–
–
–
–
–
–
–
–
– – –
– –
–
–
–
–
–

SERVOPACKs

SERVOPACKs
I/O SignalsBuilt-in functions
Ratings and Specifications
*
1: Be sure to use the motor with in the allowable load inertia moment.
The operation of the motor will become unstable if the allowable load Inertia moment is exceeded.
*
2: The ground protection circuit is designed for ground fault inside the motor windings while the motor is running.
Therefore, it may not protect the system under the following conditions.
• A low-resistance ground fault occurs in the main circuit cable or in the connector of the cable for the servomotor.
• The power supply is turned ON during a ground fault.
To configure a safer system, install an earth leakage breaker to protect against both overloads and shortcircuits, or install an earth leakage breaker for ground protection and a molded-case circuit breaker.
Installation category (overvoltage category): Pollution degree: 2 Protection class: IP1X (EN50178)
Speed or position detector fixed on the motor shaft opposite the load side.
Maximum allowable moment of inertia converted into the moment of inertia at the motor shaft of the machine.
11
SERVOPACKs
Dimensions
Units: mm
SJDE-01, 02 (100W, 200W)
SJDE-04 (400W)
SJDE-08 (750W)
(17)
5
105
7
5
140
35
(4.5)
(5)
(14)
(5)
(28)
Cooling fan
Airflow
Airflow
2-M4 mounting holes
(
Mounting pitch
)
Mounting Hole Diagram
Nameplate
(75)
YASKAWA ELECTRIC
MADE IN CHINA
105
5
7
40
140
5130 ± 0.5
(14)(17)
(4.5)
(5)
(5)
(33)
(75)
Cooling fan
Airflow
Nameplate
Airflow
2-M4 mounting holes
(
Mounting pitch
)
Mounting Hole Diagram
Visible ovutline
YASKAWA ELECTRIC
MADE IN CHINA
Nameplate
5
145
140
130 ± 0.5
70
141730
5
(75)
(4.5)
(13)
(5)
Airflow
Airflow
2-M4 mounting holes
(
Mounting pitch
)
Mounting Hole Diagram
Visible outline
Cooling fan
YASKAWA ELECTRIC
MADE IN CHINA
(35)
(44)(17)
130 ± 0.5
130
120
4.5
12.5
15
10
5
(10)
(5)
7
19
40
140
Ground terminal with 2
×
M4 screws
4.5 dia.holes
CN1
CN2
CNA
CNB
200V
YASKAWA
SJDE- 04 APA
PULSE
FIL
REF
AL1 AL2 AL3
C
0
8
9
A
B
D
E
F
4
5
3
2
6
7
1
C
0
8
9
A
B
D
E
F
4
5
3
2
6
7
1
C N 1
C N 2
PWR
CNA CNB
L1
L2
+
U
V
W
-
130
120
12.5
15
4.5
10
5
(10)
(5)
140
7
19
35
Ground terminal with 2
×
M4 screws
CN1
CN2
4.5 dia.holes
CNB
200V
YASKAWA
SJDE- 02 APA
PULSE
FIL
REF
AL1 AL2 AL3
C
0
8
9
A
B
D
E
F
4
5
3
2
6
7
1
C
0
8
9
A
B
D
E
F
4
5
3
2
6
7
1
C N 1
C N
2
PWR
L1
L2
+
U
V
W
-
CNA CNB
CNA
140
130 5(5)
10(10) 120
12.5 15
14 30
70
17
4.5 CNA
CNB
CN1
CN2
4.5 dia.holes
200V
YASKAWA
SJDE- 08 APA
PULSE
FIL
C N 1
C N 2
PWR
CNA CNB
L1
L2
+
U
V
W
-
REF
AL1 AL2 AL3
C
0
8
9
A
B
D
E
F
4
5
3
2
6
7
1
C
0
8
9
A
B
D
E
F
4
5
3
2
6
7
1
Ground terminal with 2
×
M4 screws
12
Pulse
Setting
Value
Reference Pulse
Connection Method
Reference
Pulse Type
Reference
Pulse
Resolution
(P/REV)
Description
Time between
Set Reference and
Completed Positioning
(Settling Time)
*
3
Acceleration/
Deceleration Time for Step Reference
*
4
Filter
Setting
Value*
1
Do not set 8 through F.
Small filter time constant (short positioning time)
Large filter time constant (little vibration with a long positioning time)
0*
2
1 2 3 4 5 6 7
8 to F
45ms 50ms 60ms 65ms 70ms 80ms 85ms
170ms
100 to 200ms 110 to 220ms 130 to 260ms 150 to 300ms 170 to 340ms 200 to 400ms 250 to 500ms
500 to 1000ms
Open collector
or line driver
Line driver
Open collector
or line driver
Line driver
Open collector
or line driver
Line driver
Open collector
or line driver
Line driver
CW + CCW Positive logic
CW + CCW Negative logic
Sign + pulse sequence, Positive logic
Sign + pulse sequence, Negative logic
0 1 2 3 4 5 6 7 8
9 A B C D E F
1000 2500 5000
10000
1000 2500 5000
10000
1000 2500 5000
10000
1000 2500 5000
10000
PULS SIGN
CW CCW
CW CCW
PULS SIGN
SERVOPACKs
SERVOPACKs
*
1:
If the machine vibrates when starting or stopping the machine, set a larger value.
*
2:
The factory setting is 0. Not necessary to change this value
unless machine vibrates.
*
3:
The value changes depending on conditions such as the level of command acceleration and deceleration, the rigidity of the motor drive of the machine, and the motor resolution.
*
4:
Select the appropriate servomotor capacity with these values if using a step reference without any acceleration or deceleration time.
Part Names and Functions
Reference Pulse Setting (PULSE) Reference Filter Setting (FIL)
Notes
:
1
Make settings after turning OFF the power.
2 The factory setting is 0.
YASKAWA
C N 1
SJDE- 04 APA
PULSE
FIL
REF
AL1 AL2 AL3
C N 2
L1 L2
＋
−
U
V
W
PWR
CNBCNA
9
F
A
E
B
D
C
4
5
6
7
0
1
8
2
3
9
F
A
E
B
D
C
4
5
6
7
0
1
8
2
3
200V
Connectors for power supply / regenerative unit (CNA)
Connector for motor main circuit cable (CNB)
Encoder connector (CN2)
Alarm indicators (AL1 to AL3)
Reference indicator (REF)
Input voltage
Type
Rotary switch for reference filter setting (FIL)
Rotary switch for reference pulse setting (PULSE)
Power supply indicator (PWR)
Ground terminal
I/O signal connector (CN1)
PULSE FIL
C
0
8
9
A
B
D
E
F
4
5
3
2
6
7
1
C
0
8
9
A
B
D
E
F
4
5
3
2
6
7
1
13
: Lit : OFF
AL1
AL2
AL3
AL1
AL2
AL3
AL1
AL2
AL3
AL1
AL2
AL3
AL1
AL2
AL3
AL1
AL2
AL3
AL1
AL2
AL3
AL1
AL2
AL3
AL1
AL2
AL3
Indicators
Meaning of Alarm
Normal
Speed error
Overload
Overcurrent
Cooling fan in SERVOPACK stopped
System error
Rotary switch for reference pulse setting (PULSE) changed.
Blinks at regular intervals.
Encoder error
Voltage error
Indicators
Meaning of Alarm
Pin No. Symbol Signal Name
1 2 3 4
L1 L2
+
-
Power supply input terminals
Regenerative unit connection terminals
Lit orange.
Blinks orange.
Lit green.
Blinks green.
OFF
OFF
ON
ON
—
Input
—
Input
Pin No. Symbol Signal Name
1 2 3 4 5
PG5V PG0V
A+
A-
B+
PG power supply +5 V
PG power supply 0 V
Phase A+
Phase A-
Phase B+
Phase B-
Phase /Z
Phase U Phase V
Phase W
Pin No. Symbol Signal Name
6 7 8 9
10
B-
/Z
U V
W
Pin No. I/O I/OSymbol Signal Name
1 2 3 4 5 6 7
CW, PULS /CW, /PULS CCW, SIGN
/CCW, /SIGN
+24VIN
/S-ON
SG-COM
External input power supply
Servo ON
Output signal ground
Reverse rotation pulse,
reference pulse
Forward rotation pulse,
reference sign
Input Input Input Input Input Input
Output
Input
Input Output Output Output Output Output
-
Pin No. Symbol Signal Name
8
9 10 11 12 13 14
Shell
CLR
/CLR
PCO
SG-PCO
ALM
/BK
/COIN
-
Position error
pulse clear
Phase-C signal
Phase-C signal ground
Servo alarm
Brake
Positioning completed
FG
Pin No. Symbol Signal Name
1 2 3 4
U V
W
-
Phase U
Phase V Phase W Not used
Indicators*
Motor
Power
Reference
Pulses
*
:
Lit yellow for 1 s when the clear signal is input.
SERVOPACKs
Reference (REF) Alarm (AL1, AL2, and AL3)
Connector for Power Supply/ Regenerative Unit (CNA)
I/O Signal Connector (CN1)
Encoder Connector (CN2)
Connector for Motor Main Circuit Cable (CNB)
1
2
3
4
A
4321
N
1
2
3
4
A
4321
N
14 8
1
9
9
1
210
14
Notes: 1 AVR1 : 24-VDC power supply for brake
AVR2 : 24-VDC power supply for sequence
SW1: Power OFF switch SW2: Power ON switch MC1: Magnetic contactor Ry1: Relay for brake
2 The ground protection circuit is designed for ground fault inside the motor windings while the motor is running.
Therefore, it may not protect the system under the following conditions.
• A low-resistance ground fault occurs between the main circuit cable and connector for the servomotor.
• The power supply is turned ON during a ground fault.
To configure a safer system, install an earth leakage breaker to protect against both overloads and shortcircuits, or install an earth leakage breaker for ground protection and a molded-case circuit breaker.
Manufactures of Components

Connection Diagram

Connection Diagram
Example
Spark killer Flywheel diode Relay for brake Varistor
Okaya Electric Industries Co., Ltd.: Toshiba Corp.: Omron Corp.: Nippon Chemi-Con Corp
.:
CRE-50500 1NH42 MY series TNR7V121K
Power supply Single-phase 200 V to 230 VAC 50/60Hz
AVR1
*
24-V power supply
Brake
V
W
FG
U
V
W
U
V
W
U
/Z
B
—
B
+
A
—
A
+
PG0V
PG5VCW,PULS
/CW,/PULS
CCW,SIGN
/CCW,/SIGN
CLR
/CLR
PCO
SG-PCO
+24VIN
/S-ON
ALM
/BK
/COIN
SG-COM
2
3
4
1
2
3
4
5
6
7
8
9
10
12
1
2
3
4
1
2
3
4
8
9
5
6
7
Shell
Shell
Shield
Shield
Flywheel diode
10
11
12
13
14
1L1
L2
+
2
3
1
2
3
4
5
6
7
8
9
10
1
6
5
Varistor
200 V to 230 VAC
+
24V
0V
Molded-case circuit breaker
SERVOPACK
Controller
Regenerative unit
JUSP-
RG08D
Servomotor
Encoder
Surge protector
Spark killer
L1
SW1
MC1
MC1
Ry1
Ry1
C1 C2
+
Y4 Y5
SW2
MC1
L2
75Ω
75Ω
75Ω
75Ω
75Ω
75Ω
2.2kΩ
CNA CNB
CN1 CN2
3.4kΩ
+
24V
0V
Noise
filter
Reactor
AVR2 24-V power supply
200 V to 230 VAC
—
—
*
:
Prepare a 24-VDC power supply
for the brake separate from the sequence power supply.
15
Main Circuit Wiring
SERVOPACK Main Circuit Wire Size and Tightning Torque
Symbol Name
Cable Types
Allowable
Conductor
Temperature
PVC
IV
HIV
Normal vinyl cable
600-V vinyl cable
Temperature-resistant vinyl cable
–
60˚C
75˚C
AWG Size
Nominal Cross
Section Diameter
mm
2
Conductive
Resistance
Ω /mm
Allowable Current at
Ambient Temperature A
Configuration
Number of wires/mm
2
20
—
18 16 14
0.5
0.75
0.9
1.25
2.0
19/0.18 30/0.18 37/0.18 50/0.18
7/0.6
39.5
26.0
24.4
15.6
9.53
6.6
8.8
9.0
12.0 23
5.6
7.0
7.7
11.0 20
30˚C40˚C50˚C
4.5
5.5
6.0
8.5 16
Connection Diagram
Cable Types
600-V Heat-resistant Vinyl Cables (HIV)
Note: The values in the table are only for reference.
•
SJDE SERVOPACKs are suitable where the power supply is less than 5000 Arms (230 V rms max.).
•
SERVOPACKs must be used with UL-listed fuses or circuit breakers, in accordance with the National Electrical Code (NEC).
•
Use 75 ˚C heat-resistant copper wires or an equivalent.
•
Wire sizes are selected for three cables per bundle at 40 ˚C ambient temperature with the rated current.
•
Use cables with a minimum withstand voltage of 600 V for main circuits.
•
If cables are bundled in PVC or metal ducts, consider the reduction ratio of the allowable current.
•
Use heat-resistant cables under high ambient or panel temperatures where normal vinyl cables
will rapidly deteriorate.
•
Do not use cables under continuous regenerative state.
The following table shows the wire size and allowable current for three cables. Use a cable whose specifications meet or are less than the values in the table.
16
CapacityWSERVOPACK
Type
Terminal Symbol
100 200 400 750
SJDE-01A SJDE-02A SJDE-04A SJDE-08A
L1, L2
HIV1.25mm
2
HIV1.25mm
2
Wiring length:
20 m max.
HIV1.25mm
2
Wiring length:
0.5 m max.
HIV2.0mm
2
M4 1.2 to 1.4Nm
U, V, W +, –
Connector Name and Symbol
I/O signal
connector
Encoder signal
connector
Item Specifications
Wire Size Terminal Screw Size Tightening Torque
HIV 2.0 mm2 min.
<Signal Line Wire Sizes>
The following wires are used for the CN1 and CN2 connectors on the SERVOPACK.
CN2
CN1
Connection Diagram
Connection Diagram
Power Supply Input Terminals (L1, L2), Motor Connection Terminals (U, V, W), and Regenerative Unit Connection Terminals (+, –)
Ground Terminal ( )
Note
:
Connectors are used for all wiring.
Use twisted-pair wires or shielded twisted-pair
wires.
3m
AWG24(0.2 mm
2
), AWG26(0.12 mm2),
AWG28(0.08 mm
2
)
8 mm dia. max.
Use the cables specified by Yaskawa or use
shielded twisted-pair wires.
20m
AWG22 (0.33 mm2) and AWG26 (0.12 mm2)
Used AWG22 for the encoder power supply and
AWG26 for signal lines.
9 mm dia. max.
Cable
Maximum cable length
Applicable wires
Finished cable outer diameter
Cable
Maximum cable length
Applicable wires
Finished cable outer diameter
17
•
Only an electrical engineer should perform the wiring.
•
Design the circuit so that both the /S-ON signal and the main-circuit power supply turn
OFF at an emergency stop.
•
An overtravel function is not provided for the SERVOPACK. To configure a safer system, include a function so that the /S-ON signal will turn OFF when the limit switch is activated.
•
If the servomotor is used to drive a vertical axis, install a safety device such as a counterweight to prevent the workpiece from falling down when an alarm occurs. Failure to observe this precaution may result in injury or damage to the equipment from fallen workpieces.
•
Use a molded-case circuit breaker and fuse to protect the power supply line from high
voltage. The SJDE SERVOPACK connects directly to a commercial power supply without a transformer, so always use a circuit breaker and fuse to protect the SERVOPACK from accidental high voltage.
•
The ground protection circuit is designed for ground fault inside the motor windings while the motor is running. Therefore, it may not protect the system under the following conditions.
A low-resistance ground fault occurs between the main circuit cable and connector
for the servomotor.
The power supply is turned ON during a ground fault.
To configure a safer system, install an earth leakage breaker to protect against both overloads and shortcircuits, or install an earth leakage breaker for ground protection and a molded-case circuit breaker.
•
The distance between a power line (such as a power supply line or servomotor cable)
and a signal line must be at least 30 cm. Do not put the power and signal lines in the same duct, and do not bundle them together.
•
The longer a pulse line is, the lower the maximum frequency of the line is.
•
Customers must purchase a 24 VDC power supply with double-shielded enclosure.
•
Install an interlock system in the circuit to avoid any accident when opening or closing
the machine’s protective cover.
• To
ground a SERVOPACK, follow these conditions.
Use as thick a cable as possible (HIV 2.0 mm2 or thicker) for grounding.
A ground resistance of 100Ω or less is recommended.
Ground to one point only.
Connection Diagram
Wiring Precautions
Caution for Grounding
•
For wiring, use the specified cables. Use cables that are as short as possible.
•
Do not bend exessively or apply tension to cables. The conductor of a signal cable is
very thin (0.08 to 0.12 mm
2
), so handle the cables carefully.
Caution for Cable
200V
YASKAWA
SJDE-04 APA
CTL AL1 AL2 AL3
9
F
A
E
B
D
C
4
5
6
7
8
0
1
2
3
9
F
A
E
B
D
C
4
5
6
7
8
0
1
2
3
C N 1
C N 2
PWR
L1 L2
+
CNA CNB
U
V
W
-
200V
YASKAWA
SJDE-04 APA
FIL
PULSE
FIL
PULSE
FIL
PULSE
CTL AL1 AL2 AL3
9
F
A
E
B
D
C
4
5
6
7
8
0
1
2
3
9
F
A
E
B
D
C
4
5
6
7
8
0
1
2
3
C N 1
C N 2
PWR
L1 L2
+
CNA CNB
U
V
W
-
200V
YASKAWA
SJDE-04 APA
CTL AL1 AL2 AL3
9
F
A
E
B
D
C
4
5
6
7
8
0
1
2
3
9
F
A
E
B
D
C
4
5
6
7
8
0
1
2
3
C N 1
C N 2
PWR
L1 L2
+
CNA CNB
U
V
W
-
18
Pulse train references are given to control the position of the servomotor. The following pulse train output forms are supported from the host controller.
•
Line driver output
•
+24-V open-collector output
•
+12-V open-collector output
•
+5-V open-collector output
Servo ON (/S-ON)
Positioning completed (/COIN)
Clear (CLR)
Motor ON
Brake (/BK)
Sign + pulse train
Motor ON
Brake released
L
H
H
ON
ON
ON
t4
t3
t2
t1
*
1:
The interval from when the servo ON signal is turned ON until the reference pulse is input must be at least 40 ms, or the reference pulse may not be received by the SERVOPACK. If a motor with a brake is in used, more time will be required to release the brake. Therefore, provide an interval of at least 100 ms.
*
2:
The error counter clear signal must be ON for at least 20 µs. If the reference pulse is stopped when the clear signal is turned ON, the motor will stop at that position.
*
3:
The lag time for the brake is 100 ms. Use a relay for brakes with an operating time of 30 ms or less.
Notes: 1 The maximum lag time from the moment that an error or fault was detected until the
alarm signal turns ON is 2ms.
2 If using the phase-C output signal, use an edge when the signal changes from OFF
to ON at the beginning, so that the changes in the waveform from ON to OFF are round edged.
Reference Pulse Signal Form Electrical Specifications Remarks
Sign + pulse train input (SIGN + PULS signal)
Sign (SIGN): High = Forward reference Low = Reverse reference
Maximum reference frequency: 750 kpps (187.5 kpps for an open-collector output)
CW pulse + CCW pulse
Maximum reference frequency: 750 kpps (187.5 kpps for an open-collector output)
Forward reference
Reverse reference
t1
t2 t3
T
SIGN
PULS
Forward reference
Reverse reference
t1
T
CW
CCW
–
(SIGN)
(PULS)
Connection Diagram
Connection Diagram
Explanation of I/O Signals
I/O Signal Timing Examples
t1: Approx. 40 ms t2: Approx. 130 ms
*
3
t3 40 ms
*
1
(Motor with brake: 100 ms)
t1, t2, t3 > 3µs
0.65µs
( /T)
×
100 50%
t1 >
3µs
0.65µs
( /T)
100 50%
t4 20 µs
*
2
2ms max.
Alarm detection
ALM
PCO
Edge when the signal changes from OFF to ON
19
Applicable line driver: SN75174 or MC3487 (Manufactured by Texas Instruments or equivalent)
Set the R1 through R3 current limit resistors so that input current (i) will fall within the following range. Input current (i) = 7 mA to 15 mA
*
:
Twisted-pair wires
Examples:
•
When Vcc is +24 V: R1 through R3 = 2.2 kΩ
•
When Vcc is +12 V: R1 through R3 = 1 kΩ
•
When Vcc is +5 V: R1 through R3 = 180 Ω
Note: The following signal logic applies for
an open-collector output.
Tr1 to Tr 3 ON Equivalent to high level input
Equivalent to low level inputTr1 to Tr 3 OFF
Connection Diagram
Connection Examples of Input Signal
Set the load so that the output current (i) will fall within 50 mA or less.
Photocoupler output (per output signal)
•
Max. voltage: 30 VDC
•
Max. current: 50 mADC
Connection Example of Output Signal
Line Driver Output
Open-collector Output
*
:
Twisted-pair wires
SERVOPACK
24-V Power supply
Photocoupler
Load
Load
Load
Load
10
50mA max.
+24V 0V
11
7
13
14
12
SG-PCO
ALM
/COIN
BK
SG-COM
PCO
CN1
SERVOPACK
Photocoupler
Host controller
1
2
9
8
4
3
/PULS
SIGN
/SIGN
CLR
/CLR
PULS
75Ω
7mA
＊
CN1
75Ω
75Ω
75Ω
75Ω
75Ω
6
5
3.4kΩ
/S-ON
+24VIN
0V
24-V Power supply
+24V
Photocoupler
1
2
9
8
4
3
/PULS
SIGN
/SIGN
CLR
/CLR
PULS
＊
Vcc
R1
i
R2
Tr1
Tr2
Tr3
R3
i
i
75Ω
75Ω
75Ω
75Ω
75Ω
75Ω
SERVOPACK
Photocoupler
Host controller
7mA
CN1
6
5
3.4kΩ
/S-ON
+24VIN
0V
24-V Power supply
+24V
20

Installation

Installation
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 precautions in this section when installing a servomotor.
•
If the relay cables are connected to the motor, be sure to connect the end for the servomotor's main-circuit
cables before connecting the end for the encoder cable. If the encoder cable's end is connected first, the encoder may become damaged because of the voltage differences between the Frame Ground (FG) pins on the servomotor and the grounding terminal of the SERVOPACK.
•
If using cables that are not made by Yaskawa, ensure that connector pins and cables are correctly
configured.
•
Make sure there is no foreign matter (such as dust and metal chips) in the connector before connecting.
•
When handling a servomotor with its cables connected, hold the servomotor or the connectors and cables
will be damaged.
The protective structure of the servomotors is designed with an IP55 rating.
•
The servomotor can be used in a location that is subject to water drops, except for the connector and the
section where the shaft passes through.
•
Do not use the servomotor in a location that is subject to oil mist.
Counterclockwise
Through shaft section
Shaft
Flange
This refers to the gap where the shaft protrudes from the end of the motor.
Positive rotation of the servomotor is counterclockwise when viewed from the load.
Servomotor Installation
Precautions
Installation Conditions
Waterproof Specifications
Direction of Servomotor Rotation
Note: Do not directly connect the servomotor to a commercial power line. This will damage the servomotor.
Environment
Operating temperature Operating humidity Installation sites
Storage conditions
Altitude
Environment
0˚C to +40˚C without freezing 20% to 80%RH with no condensation
• Indoors
• Free of corrosive or explosive gases
• Well-ventilated and free of dust and moisture
• Facilitates inspection and cleaning
If the power cable is disconnected, store the motor under these conditions. Temperature: -20˚C to +60˚C without freezing Humidity: 20% to 80%RH with no condensation 1000 m or below above sea level
21
Installation
The motor main circuit cable, encoder cable, and relay cable cannot be used for applications in which the cables are moved, twisted, or rotated to a small bending radius. The cable bending radius in the center of the cable must be a of 15 mm or larger. If the cables need to be bent, consult your Yaskawa representative.
Horizontal Vertical
Cable trap
Anticorrosive coating
Motor installation plate
Mounting screw
Washer
Nut
<Precautions>
Bending radius R = 15
•
The motor can be installed horizontally or vertically. If the motor is mounted vertically, provide a cable trap
so that water drops do not enter the motor. If the motor is installed with the axis pointing up, take preventative measures so that oil does not splash on the motor from other parts of the machine such as the gearbox.
•
Do not bend or pull excessively any cables, the lead openings, and the junctions of the cables.
The cores in the encoder cable and the brake signal line in the main circuit cable are only 0.2 mm
2
or 0.3
mm
2
. Be sure to protect them from stress.
•
The end of the motor shaft is coated with an anticorrosive coating. Thoroughly remove the coating prior to
installation, or it will not be possible to couple the motor to the mechanical system.
•
Use the mounting holes (two for 100-W models and four for 200- to 750-W models) on the motor installation
surface to secure the motor.
•
Do not apply shock directly to the output shaft or encoder when mounting the motor, because the
servomotor shaft is directly coupled to the encoder. The encoder may be damaged by the shock.
Installation Direction
Installation Method
22
Coupling
Measure this distance at four different positions on the circumference. The difference between the maximum and minimum measurements must be 0.03 mm or less.
Alignment Accuracy
Note: When measuring the difference, turn
the motor and the coupling together.
Servomotor Model
SJME-
Allowable
Radial Load
N
Distance
from Flange
mm
Allowable Thrust Load
N
Direction A or B
01A 02A 04A 08A
78 245 245 392
54 74 74
147
20 25 25 35
Allowable Thrust Load
Distance from Flange
Allowable Radial Load
A
A
A
Perpendicularity between the flange face and output shaft
Run-out at the end of the shaft
Matching concentricity of the flange
AB
Installation
Installation
Design the mechanical system so that, during operation, the thrust and radial loads applied to the servomotor shaft do not exceed the range shown in the table below.
The following diagram shows tolerances for the servomotor's output shaft and installation area.
0.03 mm
0.08 mm
0.06 dia. mm
Coupling to the Machine
Allowable Loads
Mechanical Tolerance TIR (Total Indicator Reading)
Observe the following precautions when coupling the servomotor with the drive axis of the machine.
•
Align the shaft of the servomotor with the shaft of the equipment, and then couple the shafts.
•
Make sure that the motor and the machine are accurately aligned.
Failure to observe this caution may result in damage to the motor axis or deterioration of the standard life of the servomotor by an eccentric load. Keep the eccentric load as small as possible.
•
A metal disk coupling designed for servomotors is recommended to maintain the response characteristics and durability of the servomotor.
•
When attaching the coupling to the shaft of the servomotor, do not hammer the axis or near the encoder.
Such shocks and vibrations may cause the encoder to malfunction.
23
Installation Site Notes
Installation in a control panel
Installation near a heating unit
Installation near a source of vibration
Installation at a site exposed to corrosive gas
SERVOPACK installation plate
M4 screw
200V
YASKAWA
SJDE- 04 APA
PULSE
FIL
CTL AL1 AL2 AL3
1
7
2
6
3
5
4
C
D
E
F
0
8
9
A
B
1
7
2
6
3
5
4
C
D
E
F
0
8
9
A
B
C N 1
C N 2
PWR
L1
L2
+
CNA CNB
U
V
W
-
200V
YASKAWA
SJDE- 04 APA
PULSE
FIL
CTL AL1 AL2 AL3
1
7
2
6
3
5
4
C
D
E
F
0
8
9
A
B
1
7
2
6
3
5
4
C
D
E
F
0
8
9
A
B
C N 1
C N 2
PWR
L1
L2
+
CNA CNB
U
V
W
-
200V
YASKAWA
SJDE- 04 APA
PULSE
FIL
CTL AL1 AL2 AL3
1
7
2
6
3
5
4
C
D
E
F
0
8
9
A
B
1
7
2
6
3
5
4
C
D
E
F
0
8
9
A
B
C N 1
C N 2
PWR
L1
L2
+
CNA CNB
U
V
W
-
200V
YASKAWA
SJDE- 04 APA
PULSE
FIL
CTL AL1 AL2 AL3
1
7
2
6
3
5
4
C
D
E
F
0
8
9
A
B
1
7
2
6
3
5
4
C
D
E
F
0
8
9
A
B
C N 1
C N 2
PWR
L1
L2
+
CNA CNB
U
V
W
-
50 mm min.
50 mm min.30 mm min. 10 mm min.
Installation
Be sure to keep a space between adjacent SERVOPACK units if they are mounted inside the control panel so that the units can be cooled.
SERVOPACK Installation
Installation Conditions
Installation Method
Space between SERVOPACK Units
•
Install the SERVOPACK perpendicular to the wall. The SERVOPACK contains a built-in fan for cooling and must be mounted in the specified direction.
•
Connect the mounting holes securely to the mounting surface with M4 screws (two mounting holes).
Install a vibration isolator beneath the SERVOPACK to avoid subjecting it to vibration.
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.
Installation at a contaminated site
Take appropriate action to avoid any contaminants such as dust, iron particles, water drops, or oil mist. Contamination will cause the electronic components to malfunction.
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.
Design the control panel size, unit layout, and cooling method so the temperature around the SERVOPACK does not exceed 55˚C.
Note: The maximum ambient temperature for long-term reliability is 45˚C.
Airflow
Airflow
24
Servomotor Main-circuit Cables with Connectors at both Ends (for Relays)
Cable Model Contact
KUNSHAN FUJIX IMPORT
AND EXPORT TARDE CO.,LTD.
Manufacturer
Fujix Co., Ltd
Motor Type Length (L)
No brake
With brakes
JZSP-CHM000-05 JZSP-CHM000-10 JZSP-CHM030-05 JZSP-CHM030-10
5m
10m
5m
10m
Wire ColorSignalPin No.
Red
White
Blue
—
Green/Yellow
Phase U
Phase V
Phase W
—
F G
*
1
2
3
4
Crimped terminals
Wire ColorSignal
Red
White
Blue
Green/Yellow
—
—
Phase U
Phase V
Phase W
F G
—
—
Pin No.
1
2
3
4
5
6
123
456
SERVOPACK end
SERVOPACK end
SERVOPACK-end Connector Servomotor-end Connector
M4 crimped terminals
L
14
14
Connector (crimp type) Receptacle:5557-06R-210 Terminal: 5556T(chained) or
5556TL(detached) (Molex Japan Co., Ltd.)
Connector (crimp type) Receptacle:
5557-06R-210
Terminal:
5556T(chained) or 5556TL(detached) (Molex Japan Co., Ltd.)
Motor end
L
50mm
50mm
Motor end
M4 crimped terminals
*
:
Connect the FG pin to the grounding terminal of the SERVOPACK.
Wire ColorSignalPin No.
Red
White
Blue
—
Green/Yellow
Black
Black
Phase U
Phase V
Phase W
—
F G
*
1
Brake
*
2
Brake
*
2
Wire ColorSignal
Red
White
Blue
Green/Yellow
Black
Black
Phase U
Phase V
Phase W
F G
Brake
Brake
Pin No.
1 2 3 4 5 6
1
2
3
4
Crimped terminals
Crimped terminals
Crimped terminals
SERVOPACK-end Connector Servomotor-end Connector
*
1:
Connect the FG pin to the grounding terminal of the SERVOPACK.
*
2:
No polarity for connection to the brake.
123
456
Connector (crimp type) Receptacle: F32FSS-04V-KY Terminal: SF3F-01GF-P2.0 or SF3F-41GF-P2.0
(J.S.T. Mfg. Co., Ltd.)
Connector (crimp type) Receptacle:
F32FSS-04V-KY
Terminal:
SF3F-01GF-P2.0 or SF3F-41GF-P2.0 (J.S.T. Mfg. Co., Ltd.)

Cables / Peripheral Devices

Cables / Peripheral Devices
Specifications
Dimensions / Wiring Specifications
JZSP-CHM000-
oo
(For motors without brakes)
JZSP-CHM030-
oo
(For motors with brakes)
Note: Contact your Yaskawa representative for the servomotor main-circuit cables of 3m, 15m, and 20m.
25
Connectors for Servomotor Main-circuit Cables
PartsType Manufacturer Contact
Molex Japan Co., Ltd.
Molex Interconnect(Shanghai)Co.,Ltd.
Receptacle Terminal
Crimp type
Crimping tool
Model
5557-06R-210
57027-5000
5556T(chained) or 5556TL(detached)
Connectors for Battery Case, Regenerative Unit, and Servomotor Main-circuit Cables
Model
Manufacturer
Contact
04JFAT-SBXGF-N
04JFAT-SAYGF-N
J-FAT-OT
J.S.T. Mfg. Co., Ltd.
J.S.T.(SHANGHAI) CO LTD
J.S.T.(H.K) CO LTD
PartsType
For battery case/ regenerative unit
For servomotor main-circuit cables
Tool to remove wires
Spring type
CNA connector
CNB connector
4
A
JST
NY
321
4321
5.08
15.24
20.44
29.04
34.24
6.76.7
13.2
13.2
29
7
20.3
A
4321
N
4
A
JST
RX
321
4321
5.08
15.24
20.44
29.04
34.24
29
A
4321
N
123
456
11.6
10.7
19.6
13.8
Cables / Peripheral Devices
Specifications
Dimensions
Units: mm
Dimensions
Units: mm
Specifications
Power Supply/Regenerative Unit Connector 04JFAT-SBXGF-N
Tool to Remove Wires J-FAT-OT
Servomotor Main Circuit Cable Connector 04JFAT-SAYGF-N
Shanghai
Shenzhen
Shanghai
Shenzhen
Molex Hong Kong China Ltd., Shenzhen Office
26
Encoder Cables with Connectors at both Ends (for Relay)
Contact
SHANGHAI SUN-WA TECHNOS CO.,LTD
Model Manufacturer
Sun-Wa Technos Corporation
Length (L)
JZSP-CHP800-05 JZSP-CHP800-10
5m
10m
Pin No. Signal Wire Color
Red
Black
Blue
Blue/White
Yellow
Yellow/White
Purple
Gray
Green
Orange
Shield wire
1 2 3 4 5 6 7 8 9
10
Shell
PG5V
PG0V(GND
)
Phase A+
Phase A
—
Phase B+
Phase B
—
Phase /Z
Phase U Phase V
Phase W
—
Pin No. Signal Wire Color
Red
Black
Blue
Blue/ White
Yellow
Yellow/White
Purple
Gray
Green
Orange
—
Shield
1 2 3 4 5 6 7 8
9 10 11 12
PG5V
PG0V(GND
)
Phase A+
Phase A
—
Phase B+
Phase B
—
Phase /Z Phase U Phase V
Phase W
—
FG
SERVOPACK end
Plug and cable cover set : 54599-1005 Plug housing :
51209-1001
Crimped terminals:
59351-8087(chained) or 59351-8187(detached) (Molex Japan Co., Ltd.)
L
Motor end
Receptacle : 5557-12R-210 Terminal : 5556T2(chained) or
5556T2L(detached) (Molex Japan Co., Ltd.)
123456
789 111210
12
910
Shield wire
Cables / Peripheral Devices
Cables / Peripheral Devices
Specifications
Dimensions
Wiring Specifications
Note: Contact your Yaskawa representative for the encoder cables of 3m, 15m, and 20m.
•
Crimp type (Gray)
Shell kit : 36310-3200-008 Receptacle : 36210-0100FD
•
Solder type (Black)
27
Connectors for Encoder Cables
Parts Manufacturer Contact
Molex Japan Co., Ltd.
Receptacle
Terminal
Crimping tool
Model
5557-12R-210
57026-5000
5556T2(chained) or 5556T2L(detached)
PartsType
Type
Manufacturer
Contact
Molex Japan Co., Ltd.
Sumitomo 3M Ltd.
Plug and cable cover set
Plug and cable cover set Plug connector
Receptacle
Shell kit
Plug housing
Crimping tool
Crimp terminal
Crimp type (gray)
Crimp type
Soldered type (gray)
Soldered type (black)
Model
54599-1005 51209-1001
54599-1005
57401-5300
54593-1011
36210-0100FD
36310-3200-008
59351-8087(chained) or 59351-8187(detached)
26.4
123456
789 111210
12
9
11
40
15 22.7
10
Cables / Peripheral Devices
Specifications
Motor End
SERVOPACK End
Motor End
SERVOPACK End
Dimensions
Units: mm
Molex Interconnect(Shanghai)Co.,Ltd.
Molex Hong Kong China Ltd., Shenzhen Office
Molex Interconnect(Shanghai) Co.,Ltd.
Molex Hong Kong China Ltd., Shenzhen Office
SHANGHAI SUN-WA TECHNOS CO.,LTD
11.6
19.6
10.7
Shanghai
Shenzhen
Shanghai
Shenzhen
28
Cables for I/O Signals
Connectors for I/O Signals
Cable Model Length (L) Manufacturer Contact
Sun-Wa Technos Corporation
JZSP-CHI003-01 JZSP-CHI003-02 JZSP-CHI003-03
1m 2m 3m
PartsType Manufacturer Contact
Sumitomo 3M Ltd.
Shell kit Plug
Soldered type
Models
10314-52A0-008 10114-3000VE
29.5
12.7
8.5
23.6
7.0
18.2
39.0
23.8
5.2
2.54
1.27
Pin No.2
Pin No.1
13.6
7.62
15
˚
1.27
18.2
5.1
(
6.6
)
19.3
(
2.9
)
2.3
12.7
9.1
7.5
3M
100
L
+
10
–
0
(
5.6 dia.
)
Connector(14P) : 10114-6000EL Shell : 10314-52A0-008 (Sumitomo 3M Ltd.)
Cable (black) HP-SB/20276SR AWG
#
28×7P
UL20276 VW-1
Host controller endSERVOPACK end
Lead Color
Signal Code
Signal
Code
Signal Name Signal Name
Marking
Dots DotsColor
Pin No.
Orange
Light gray
White
Yellow
Black
Red
Black
Red
Black
Red
Black
1 2 3 4 5 6 7
1
Lead
Color
Marking
Color
Pin No.
Yellow
Pink
Orange
Light gray
-
Red
Black
Red
Black
Red
Black
Red
8
9 10 11 12 13 14
Shell
1
2
-
CW, PULS /CW, /PULS CCW, SIGN
/CCW, /SIGN
+24VIN
/S-ON
SG-COM
External input power supply
Servo ON
Reverse rotation pulse,
reference pulse
Forward rotation pulse,
reference signal
CLR /CLR PCO
SG-PCO
ALM
/BK
/COIN
-
Position error
pulse clear
Phase-C signal
Phase-C signal ground
Servo alarm
Brake
Positioning completed
FG
Output signal ground
Cables / Peripheral Devices
Cables / Peripheral Devices
Dimensions
Units: mm
Specifications
Wiring Specifications
Specifications
Dimensions
Units: mm
Shell Kit Plug
SHANGHAI SUN-WA TECHNOS CO.,LTD
SHANGHAI SUN-WA TECHNOS CO.,LTD
29
Model Specifications
20A 35A
Manufacturer
Yaskawa Controls Co., Ltd.
Contact
YASKAWA ELECTRICH (SHANGHAI) CO.,LTD.
HI-11J HI-15J
Dimensions
Mounting Hole
Dimensions
Terminal Symbols
9
35
76
61
34.5
4.5
a
b
2U
1RST
44
10.1
13
8.2
41
74.5
78.5
8.2
10.4
4
Auxiliary contact terminal M3.5
Main contact terminal M3.5
Coil terminal M3.5
VW
2 × M4 mounting holes
34
5
52
48
15.5
NO
NC
Auxiliary Contact
Structure
Dimensions
Mounting Hole
Dimensions
Terminal Symbols
91
35
65
4.5
76
54
9
39
RS
UWV
T
a
b
45.5
15.3
51
8.2
9.6
3
Main contact terminal M4
Coil terminal M3.5
Auxiliary contact terminal M3.5
11. 3
10.8
9.6
85
50
29
1
2
4
8.2
5.2
35
5
75
70
2 × M4 mounting holes
NONC
Auxiliary Contact
Structure
Magnetic Contactor
NO
R
U
A1
1
2
NCA2
S
V
3
4
T
W
5
6
1
2
13
14
NO A1 NCA2
R
U
1
2
S
V
3
4
T
W
5
6
1
2
11
12
NO
R
U
A1
1
2
NCA2
S
V
3
4
T
W
5
6
1
2
21
22
3
4
13
14
Cables / Peripheral Devices
Specifications
Dimensions
Units: mm
HI-11J
HI-15J
30
Cables / Peripheral Devices
Cables / Peripheral Devices
Specifications
External Fuse
Model
15Arms
600V
SJDE-01 to 04
Manufacturer Contact
Applicable
SERVOPACKs
Rated
Voltage
Fusing
Time
Rated
Current
Littelfuse Inc.
Within 2 s at 200%
KUNSHAN FUJIX IMPORT
AND EXPORT TARDE CO.,LTD.
KUNSHAN FUJIX IMPORT
AND EXPORT TARDE CO.,LTD.
0KLK015.T
30Arms
SJDE-08
0KLK030.T
Model Type
Screw terminal, 2 poles
L60030M2SQ
Copper box lug, 2 polesL60030M2C
38.1
10.31
36.49
76.2
31.75
Manufacturer Contact
Littelfuse Inc.
Fuse
Dimensions
Units: mm
Fuse
Fuse Block
Fuse Block
31
Cables / Peripheral Devices
Specifications
Model Specifications
Single-phase 250 VAC, 6A Single-phase 250 VAC, 10A Single-phase 250 VAC, 16A
Manufacturer
Contact
Schaffner Electronic
Schaffner Shanghai
Co.,LTD.
FN2070-6/07 FN2070-10/07 FN2070-16/07
Model A
FN2070-6/07 FN2070-10/07
113.5
±
1
156
±
1
B
103
±
0.3
143
±
0.3
C
94
±
1
130.5
±
1
D
4.4
±
0.1
5.3
±
0.1
Side viewTop view
D
57.5±1
6
±
0.1
45.4
±
1.2
38±0.5
32.4
±
0.5
8.4
±
0.5
0.9
±
0.1
25±0.2
ACB
Contact terminal
Side viewTop view
Contact terminal
P/N/E
140
+5
-
0
57.6
±
1
1.2
±
0.1
8.6
±
0.5
40±0.2
7.4
±
0.1
51
±
0.2
66
±
0.3
85.5
±
1
4.4
±
0.1
119
±
0.5
109
±
0.3
98.5
±
1
Noise Filter
P/N/E
140
+5
-
0
Dimensions
Units: mm
FN2070-6/07, FN2070-10/07
FN2070-16/07
32
Cables / Peripheral Devices
Cables / Peripheral Devices
Model
Manufacturer ContactJUSP-RG08D
Resistance Allowable
regenerative energy
Regenerative operating voltage
Regenerative processing current
Error detection
Alarm output
50Ω
12W
380 Vdc
8 Adc
Disconnection of regenerative resistance, failure of regenerative transistor, or overvoltage
NC contact (Opens if a protective function is used.) Contact specifications: 250 VAC, 1.5A (inductive load)
Approx. mass : 1.0kg
6
25
50
16015130
15
6
5
25
149
130
(15.5)
Nameplate
6-dia. hole
M4 screw for ground terminal
(Y4)
(Y5)
YASKAWA
C1
C2
+(Y3)
-
AL-0V
AL-RE
RE-ON
POWER
REGENERATIVE UNIT JUSP-RG08D
Regenerative Unit
Dimensions Internal Connection Diagram
4.2 dia. ±0.5
Case
Connection cables
11
±
1
28.5
±
1.0
28
±
1
200
+30
-0
5.5
±
1.0
4.5
±
0.5
41±1
12
12
Model Manufacturer Contact
Okaya Electric Industries Co., Ltd.
OKAYA HONG KONG TRADING LIMITED
Single-phase
250 VAC
Specifications
R
C
M-601BQZ-4
Surge Protector (For lightning surge protection)
M4 screw for external terminal
Specifications
Specifications
Dimensions
Units: mm
Dimensions
Units: mm
Yaskawa Electric Corporation
YASKAWA ELECTRIC (SHANGHAI) CO.,LTD.
33
Cables / Peripheral Devices
Model Manufacturer
Yaskawa Controls Co., Ltd.
Inductance (mH)
45.0
20.0
5.0
2.0
Rated Current (A)
1.0
2.0
3.0
5.0
X5052 X5053 X5054 X5056
Model
Dimensions mm
A
35 35 35 35
B
52 52 52 52
C
80 90 80 80
D
95
105
95 95
E
30 35 30 30
F
40 45 40 40
G
45 50 45 45
H
4 4 4 4
I
4.3
4.3
4.5
4.3
Approx. Mass
kg
0.4
0.6
0.4
0.4
X5052 X5053 X5054 X5056
4×H dia. Notch
Nameplate
A
E F
D
G
I dia.
C
B
AC Reactor
Model Applicable SERVOPACKs
JZSP-CHF08-1 JZSP-CHF08-2
SJDE-01 to 04 SJDE-08
Sun-Wa Technos Corporation
Manufacturer Contact
Replacement Cooling Fan
Specifications
Specifications
Dimensions
Units: mm
External Views
JZSP-CHF08-1 JZSP-CHF08-2
Contact
YASKAWA ELECTRICH (SHANGHAI) CO.,LTD.
SHANGHAI SUN-WA TECHNOS CO.,LTD
34
Cables / Peripheral Devices
Cables / Peripheral Devices
Fujix Co., Ltd
Molex Japan Co., Ltd
JST. Mfg. Co., Ltd.
Sun-Wa Technos Corporation
Sumitomo 3M Ltd.
Representative in China
Manufacture
Schaffner Electronic
Yaskawa Electric Corporation
Okaya Electric Industries Co., Ltd.
Yaskawa Controls Co., Ltd.
Littelfuse Inc.
Shanghai
Kunshan Fujix Import and Export Trade Co.,Ltd
Okaya Hong Kong Trading Limited.
Okaya Hong Kong Trading Limited.
Okaya Hong Kong Trading Limited.
Kunshan Fujix Import and Export Trade Co.,Ltd
Yaskawa Electroc (Shanghai) Co.,Ltd.
Shanghai Sun-Wa Technos Co.,Ltd
Shanghai
Shanghai
Hong Kong
Shenzhen
Shenzhen
Hong Kong
Representative in China
Manufacture
Contact Information
35

Selection of Servomotor Size

Selection of Servomotor Size
JunmaSize+ is software designed for the capacity selection of servomotors in the Junma series.
•
The latest product information.
•
A wizard system with conversational mode to select optimal servomotors.
•
References and reuses previously input and stored data.
Cables / Peripheral DevicesSelection of Servomotor Size
AC Servomotor Selection Software: JunmaSize+
Features
Servomotor Selection Screen
36
Selection of Servomotor Size
Selection of Servomotor Size
Motions Rotational Motion
Linear Motion
Horizontal Axis Vertical Axis
Mechanical Configuration
Speed Diagram
Travel Distance (m)
Min. Starting Time (S
)
Min. Braking Time (S
)
Running Power (W)
Acceleration Power (W)
Load axis speed (min
-1
)
Motor Speed (min
-1
)
Effective Load Torque at Motor Shaft
(
N
m
)
Required Starting Torque (
N
m
)
Required Braking Torque (
N
m
)
Effective
Torque(Nm
)
Effective Load Inertia at Motor Shaft (kg
m2)
Rotational Motion
Linear Motion
Servomotor
R =
2
Servomotor
Lead :
P
B
Lead :
P
B
Servomotor
Counterbalance
Speed
Speed
For motion of vertical axis
Torque
Torque
Cycle time
t
(s)
0
9.8
×
µ
M
P
B
P
B
2π
N
M
(
J
M + JL
)
2
<Inertia for motor shaft>
At gear input side
Solid cylinder
= 7.87 × 10
3
(
kg/m
3
)
= 2.70
×
10
3
(
kg/m
3
)
8
1
L
(m)
At gear output side
V
V
T
p
T
L
T
S
tat
c
t
m
t
e
t
d
V
M
C
N
R
NN
=
N
M
=
N
R
V P
B
2
t
a
+ 2
t
c
+
t
d
Where
t
a
=
t
d,
P
B
: Ball screw lead (m)
M
:
Mass of linear-motion unit (kg)
M
C
:
Mass of counterbalance (kg)
M
µ
M
1/R
1/R
1/R
60
V
N
=
V P
B
J
L3
J
L3
J
L2
J
L1
J
L1
J
L1
J
L3
J
L2
J
L2
T
T
L
=
T
L
=
J
L
=
J
L1
+
J
L2
+
J
L3
J
L1
=
(
M + M
C
)
J
L1
=
M
2π
R
9.8
×
(
M
–
M
C
)
P
B
T
L
=
2
P
B
2π
R
J
K
=
M
K
D
2
or
J
K
=
L
D
4
J
L2
=
J
K
J
L3
=
J
K
R
2
t
am
=
2π
N
M
(
J
M + JL
)
t
dm
=
2π
N
M
T
L
60
P
0
=
2π
60
N
M
P
a
=
J
L
t
a
2π
N
M
(
J
M + JL
)
60
×
t
a
T
P
=
+
TL
2π
N
M
(
J
M + JL
)
60
×
t
d
T
S
=
–
T
L
T
P
2
t
a + TL
2
t
c + TS
2
t
d
T
rms
=
t
T
P
2
t
a + TL 2
(
t
c + te) + TS
2
t
d
T
rms
=
t
D
(m)
Formulas for Selecting Servomotor Capacity
R =
(
tm – ta
)
60
V
32
: Mass (kg) : Density (kg/m
3
)
Iron
Aluminum
M
K
Load axis speed (min-1) Load speed (m/min) Effective load torque at motor shaft (Nm) Friction coefficient
N
:
V
:
T
:
µ :
:Gear ratio :Combined efficiency :Servomotor maximum torque (Nm)
1/R
T
M
R
2π
R
2π
R
π
60
(
T
M
–
T
L
)
60
(
T
M + TL
)
37
<Inertia for motor shaft>
At gear input side
At gear output side
J
L2
J
L1
J
L1
J
L3
J
L3
J
L3
J
L2
J
L3
2
P
B
J
L1
=
M
2π
R
or
Linear Motion
Rack & Pinion Chain and Timing Belt
Speed
Speed
Torque
Torque
Cycle time
t
(s)
0
2π
N
M
(
J
M + JL
)
2
Solid cylinder
8
1
32
L
(m)
V
T
p
T
L
T
S
tat
c
t
m
t
e
t
d
N
=
N
M
=
N
R
V P
B
R =
(
tm – ta
)
Where
t
a
=
t
d
,
d
p
: Pitch diameter (m)
Z
p
: Number of gear
L
p
: Pitch (m)
P
B
= Zp
Lp or π
dp
R =
60 2
Vt
a
+ 2
t
c
+
t
d
60
V
T
L
=
J
L
=
J
L1
+
J
L2
+
J
L3
J
K
=
MK D
2
J
K
=
LD
4
J
L2
=
J
K
J
L3
=
J
K
R
2
t
am
=
2π
N
M
(
J
M + JL
)
t
dm
=
2π
N
M
T
L
60
P
0
=
2π
60
N
M
P
a
=
J
L
t
a
2π
N
M
(
J
M + JL
)
60
×
t
a
T
P
=
+
TL
2π
N
M
(
J
M + JL
)
60
×
t
d
T
S
=
–
T
L
T
P 2 ta + TL 2 tc + TS 2 td
T
rms
=
t
D
(m)
1/R
W
1/R
dp, Zp
dp, Zp
W
Lp
Lp
Selection of Servomotor Size
Motions
Mechanical Configuration
Speed Diagram
Travel Distance (m)
Min. Starting Time (S
)
Min. Braking Time (S
)
Running Power (W
)
Acceleration Power (W
)
Load axis speed (min
-1
)
Motor Speed (min
-1
)
Effective Load Torque at Motor Shaft
(
N
m
)
Required Starting Torque (
N
m
)
Required Braking Torque (
N
m
)
Effective
Torque(Nm
)
Effective Load Inertia at Motor Shaft (kg
m2)
Linear Motion
M
K
: Mass (kg) : Density (kg/m
3
)
Iron
Aluminum
Rotational Motion
2π
R
µ
µ
: Load axis speed (min-1) : Load speed (m/min) :
Effective load torque at motor shaft (Nm)
: Friction coefficient
µ
N V T
π
9.8
×
M
P
B
+ 2π
T
µ
60
(
T
M
–
T
L
)
M
:
Mass of linear-motion unit (kg)
1/R
:
Gear ratio
η :
Combined efficiency
T
M
:
Servomotor maximum torque (Nm)
60
(
T
M + TL
)
= 7.87 × 10
3
(
kg/m
3
)
= 2.70
× 10
3
(
kg/m
3
)
38
n
60
60 40
60
×
0.5
30
Mechanical Specifications
Time (s)
Reference pulse
Load speed
Speed
(m/min)
30
t
1.2
ta tc td ts
V
•
Load axis speed
2πR η
µ
9.8 M
PB
+ 2π
T
30
0.201
•
Motor speed
Where acceleration time (
t
a
) = deceleration time (
t
d
) and
setting time (
t
c
) = 0.1 s when the filter setting of the FIL rotary switch is 0.
Cycle time
NM = N
R=149
×
5= 745
(
min
-1
)
2π
× 5 ×
0.9
0.2
×
9.8
× 4 ×
0.201 + 2π
×
0.05
•
Load speed
•
Mass of linear-motion unit
•
Pulley diameter
•
Pulley thickness
•
Coupling mass
•
Coupling outer diameter
•
Gear A outer diameter
•
Gear A thickness
•
Gear B outer diameter
•
Gear B thickness
•
Gear density
•
Gear ratio
•
Positioning frequency
•
Traveling distance
•
Positioning interval
•
Friction coefficient
•
Effective load torque
at motor shaft
•
Combined efficiency
:
:
:
:
:
:
:
:
:
:
:
:
:
:
:
:
:
:
= 30m/min
= 4kg
= 0.064m
= 0.02m
= 2690kg/m
3
= 0.03m
= 0.02m
= 0.02m
= 0.1m
= 0.02m
= 7870kg/m
3
= 5
= 40 times/min
= 0.5m
= 1.2
S max.
= 0.2
= 0.05N
m
= 0.9
(
90%
)
V
M
D
P
LP
MC
DC
DA
LA
DB
LB
A
, B
R
n
tm
µ
T
η
t
= = = 1.5 (s)
t
a
=
t
d
=
t
m
–
t
s
–
= 1.2 – 0.1
–
= 0.1 (s)
t
c
=
t
m
–
t
s
–
t
a
–
t
d
= 1.2 – 0.1 – 0.1 – 0.1 = 0.9 (s)
60
×
V
N = =
= 149
(
min
-1
)
P
B
=
πd
= π ×
0.064
=
0.201
J
L
=
J
L1
+
J
L2
+
J
L3
= (1.639 +
0.687 +
0.362) ×
10
-4
= 2.69
×
10-4 (kgm
2
)
P
B
V
T
L
= = 0.0669
(
N
m
)
=
32
π
J
i
5
2
1
8
1
•
Linear motion
•
Load-shaft motion: Pulley
×
2 + Gear B
•
Motor-shaft motion: Gear A + Coupling
2
πR 2π
×
5
0.201
2
2
J
L1
=
M
=1.639
×
10-4 (kgm
2
)
= 4
×
P
B
×
× (2690
×
0.02
× (0.064
)
4
×
2 + 7870
×
0.02
× (0.1
)4)
= 0.687
×
10-4 (kgm
2
)
=
J
L2
=
32
π
R
2
×
0.3
× (0.03
)
2
= 0.362
×
10-4 (kgm
2
)
×
7870
×
0.02
× (0.02
)
4
+
J
L3
=
ρ
ρ
Σ
Constant-speed time :
Acceleration time :
Gear B
Load
Servomotor
Pulley
Gear A
Coupling
Selection of Servomotor Size
Selection of Servomotor Size
Servomotor Selection Example
Speed Diagram
Speed
Effective Torque at Motor Shaft
Effective Load Moment of Inertia at Motor Shaft
39
60
2π
60
2π
2
2
Conditions
From these conditions, the following selections are recommended :
Servomotor : SJME-02AMA4
SERVOPACK : SJDE-02APA
0.1
2.69
×
10
-4
60 60
2π
×
745
×
0.0669
2π
N
M
T
L
==
5.2(W
)
P
o
=
=
16.4(W
)
×
745 ×=
N
M
P
a
=
J
L
t
a
Required Starting Torque
60
t
a
2π
N
M
(
J
M
+
J
L
)
+
T
L
=
T
P
=
T
S
=
T
rms
=
T
P
2
t
a
+
T
L
2
t
c
+
T
S
2
t
d
=
t
+ 0.0669 = 0.309(Nm
)
<
1.91(Nm
)
= Instantaneous peak torque
Therefore, the servomotor can be used.
<
1.91(Nm
)
= Instantaneous peak torque
Therefore, the servomotor can be used.
= 0.1032(N
m
)
<
0.637(Nm
)
=Rated torque
Therefore, the servomotor can be used.
60
×
0.1
2π
×
745
× (0.417 + 2.69) ×
10
-
4
60
×
0.1
2π
×
745
× (0.417 + 2.69) ×
10
-
4
Required Braking Torque
Effective Torque
Therefore the recommended selection of servomotors and SERVOPACKs has sufficient capacity and can be used.
–
T
L
=
–
0.0669 = 0.175(Nm
)
(
0.297
)
2
×
0.1+(0.0669
)
2
×
0.9 +
(
0.177
)
2
×
0.1
1.5
<Ratings>
•
Rated output
•
Rated speed
•
Maximum speed
•
Rated torque
•
Instantaneous peak torque
•
Rotor moment of inertia
•
Allowable load inertia of SERVOPACK
:
200(W
)
:
3000(min
-1
)
:
4500(min
-1
)
:
0.637(N
m
)
:
1.91(N
m
)
:
0.417
×10
-4
(
kg
m
2
)
:
3
×10
-4
(
kg
m
2
)
60
t
a
2π
N
M
(
J
M
+
J
L
)
Selection of Servomotor Size
Load Running Power
Load Acceleration Power
Recomended Servomotor Selections
Servomotor Check
P
a
+
P
o
=(1 to 2)
×
Motor rated output
T
L
Motor rated torque
N
M
Motor rated speed or maximum speed
J
L
Allowable load inertia of SERVOPACK
40
Servomotor Selection Example
Speed Diagram
Speed
Effective Torque at Motor Shaft
Effective Load Moment of Inertia at Motor Shaft
Load Running Power
Mechanical Specifications
Time (s)
Reference pulse
Load speed
Speed
(m/min)
15
t
1.2
ta tc td ts
V
Linear motion unit
Ball screw
Coupling
Servomotor
•
Load axis speed
15
0.005
2πR
η
µ
9.8
M
P
B
•
Motor speed
Because of direct coupling, the gear ratio is 1/R = 1/1. Then,
NM = N
R=3000
×
1=3000
(
min
-1
)
2π
× 1 ×
0.9
0.2
×
9.8
× 80 ×
0.005
•
Positioning frequency
•
Traveling distance
•
Positioning interval
•
Friction coefficient
•
Combined efficiency
:
:
:
:
:
:
:
= 15m/min
= 80kg
= 0.8m
= 0.016m
= 0.005m
= 0.3kg
= 0.03m
=
40 times/min
= 0.25m
= 1.2
S max.
= 0.2
= 0.9
(
90%
)
V
M
L
B
DB
PB
MC
DC
n
t
m
µ
η
v
60 60
2π
×
3000
×
0.139
N = =
= 3000
(
min
-1
)
P
B
V
T
L
= = = 0.139
(
N
m
)
2
2
32
8
1
8
1
•
Linear motion
•
Ball screw
•
Coupling
J
L
=
J
L1
+
J
B
+
J
C
= 1.25 × 10-4 (kgm
2
)
J
L1
=
M
= 80
×
= 0.507
×
10-4 (kgm
2
)
2πR
P
B
2
×
1
0.005
π
J
B
= ρ
L
B
D
B
4
=
×
7.87
×
103 ×
0.8
× (0.016
)
4
= 0.405
×
10-4 (kgm
2
)
J
C
=
M
C
D
C
2
=
×
0.3
× (0.03
)
2
= 0.338
×
10-4 (kgm
2
)
2π
N
M
T
L
P
o
=
= =
43.7
(W)
n
60 60
40
60
×
0.5
30
Where acceleration time (
t
a
) = deceleration time (
t
d
) and
setting time (
t
c
) = 0.1 s when the filter setting of the FIL rotary switch is 0.
Cycle time
t
= = = 1.5 (s)
t
a
=
t
d
=
t
m
—
t
s
—
= 1.2
—
0.1
—
= 0.1 (s)
t
c
=
t
m
—
t
s
—
t
a
—
t
d
= 1.2
—
0.1
—
0.1
—
0.1 = 0.9 (s)
60
×
V
Constant-speed time :
Acceleration time :
Selection of Servomotor Size
Selection of Servomotor Size
32
ππ
•
Load speed
•
Mass of linear motion unit
•
Ball screw length
•
Ball screw diameter
•
Ball screw lead
•
Coupling mass
•
Coupling outer diameter
41
Required Starting Torque
60
t
a
2π
N
M
(
J
M
+
J
L
)
+
T
L
=
T
P
=
T
S
=
T
rms
=
T
P
2
t
a
+
T
L
2
t
c
+
T
S
2
t
d
=
t
<
1.91(Nm)=
Instantaneous peak torque
Therefore, the servomotor can be used.
60
×
0.1
2π
×
3000
× (0.417 + 1.25) ×
10
-
4
60
×
0.1
2π
×
3000
× (0.417 + 1.25) ×
10
-
4
Required Braking Torque
Effective Torque
Therefore the recommended selection of servomotors and SERVOPACKs has sufficient capacity and can be used.
—
T
L
=
<
1.91(Nm)=
Instantaneous peak torque
Therefore, the servomotor can be used.
(
0.662
)
2
×
0.1+
(0.139
)
2
×
0.9 +
(
0.384
)
2
×
0.1
1.5
0.225(Nm
)
<
0.637(Nm)=
Rated torque
Therefore, the servomotor can be used.
<Ratings>
60
t
a
2π
N
M
(
J
M
+
J
L
)
Selection of Servomotor Size
Load Acceleration Power
Recommended Servomotor Selections
Servomotor Check
Conditions
From these conditions, the following selections are recommended :
Servomotor : SJME-02AMA4
SERVOPACK : SJDE-02APA
+ 0.139 0.662(N
m
)
—
0.139 0.384(Nm
)
60
2π
60
2π
2
2
0.1
1.25
×
10
-4
=
123.4(W
)
×
3000 ×=
N
M
P
a
=
J
L
t
a
P
a
+
P
o
=(1 to 2)
×
Motor rated output
T
L
Motor rated torque
N
M
Motor rated speed or maximum speed
J
L
Allowable load inertia of SERVOPACK
•
Rated output
•
Rated speed
•
Maximum speed
•
Rated torque
•
Instantaneous peak torque
•
Rotor moment of inertia
•
Allowable load inertia of SERVOPACK
:
200(W
)
:
3000(min
-1
)
:
4500(min
-1
)
:
0.637(N
m
)
:
1.91(N
m
)
:
0.417
×10
-4
(
kg
m
2
)
:
3
×
10
-4
(
kg
m
2
)
42

Connection to Host Controller

Connection to Host Controller
+
-
+24V
+24V
I/O power supply
SJDE SERVOPACK
L2
L1
Servomotor
024V
CS1W-NC133/233/433
positioning unit
SJDE SERVOPACK
/CCW,/SIGN
CLR
/CLR
SG-PCO
CW,PULS
/CW,/PULS
CCW,SIGN
PCO
/COIN-
Twisted-pair wires
5V power supply
for pulse output
5V GND for pulse output
Positioning completion signal
24 V power supply for output
24 V GND for output
CCW(+) output
CCW(-) output
CW(+) output
CW(-) output
Origin input signal
Origin input common
Error counter
reset output
X-axis CW limit input
X-axis CCW limit input
X-axis immediate stop input
X-axis origin proximity limit input
X-axis external interrupt input
Input common
Connector shell
+
-
+24V
024
+24
V
V
I/O power supply
Servomotor
Notes: 1 Omron = Omron Corporation
2 Only signals between
Yaskawa's SJDE
SERVOPACK
and Omron's CS1W­NC133/233/433 positioning unit are shown in the diagram.
Wiring to Mitsubishi's
QD75D
o
Positioning Unit
Wiring to Omron's CS1W-NC133/233/433 Positioning Unit
+
-
CN1
READY
CLEAR
2.2k
Ω
10
9
8
4
2
1
7
12
11
6
5
/S-ON
+24VIN
10
11 6 7
8
1
12
14
18
17
15
13
16
CW,PULS
CLR
CCW,SIGN
/CW,/PULS
/CLR
/CCW,/SIGN
ALM
SG-COM
PCO
SG-PCO
2
3
CN2
L2
L1
W
V
A(1) B
(2)
C
(3)
D
(4)
U
M
PG
CN1
A3
A5
A6
A7
A4
2
10
11
4
1
9
8
A15
A11
A14
A12
A2
A1
A8
A20
A22
A23
A21
A19
3
A24
14
7
12
5
6
+24VIN
/S-ON
SG-COM
ALM
+5V
+
-
+24V
024
+24
V
V
L2
L1
CN2
W
V
A(1) B
(2)
C
(3)
D
(4)
U
M
PG
FLS
RLS
PG024
PGO
QD75D
positioning unit
Notes: 1 Mitsubishi = Mitsubishi Electric Corporation
2 Only signals between
Yaskawa's SJDE
SERVOPACK
and Mitsubishi's QD75D
positioning
unit are shown in the diagram.
43

Product Standard Life

Product Standard Life
Part RemarksStandard Life
Cooling fan The service life varies with the operating conditions.
Check for abnormal sounds or vibration during inspection.
The service life varies with the operating conditions. Check for abnormal sounds or vibration during inspection.
30,000 hours
Part RemarksStandard Life
Bearings
20,000 hours
Connection to Host ControllerProduct Standard Life
SERVOPACKs
Servomotors
Note: The following cooling fans are available for replacement
(manufactured by Sun-Wa Technos Corporation).
•
SJDE-01 to 04 : JZSP-CHF08-1
•
SJDE-08 : JZSP-CHF08-2
Servodrive parts are subject to deterioration caused by mechanical friction and aging.
•
The following standard service life is for reference only. The service life varies with environmental conditions and application methods. Refer to the standard life provided in the table and contact your Yaskawa representative to determine whether part replacement is required. If a problem occurs, inspection is necessary regardless of the length of the service life.
44

Terminology

Terminology
l
Servo OFF
The state in which the motor is free and not controlled and power is
not supplied to the motor.
l
Servo ON
The state in which the motor is controlled and power is supplied to
the motor.
l
H level
When the digital signal is at high level (5 V for TTL levels).
l
L level
When the digital signal is at low level (0 V for TTL levels).
l
Rising edge
Where an electric signal shifts from low level to high level.
l
Position settling time
The SERVOPACK drives the motor with a pulse train input for
position reference. The position settling time is the time from when
the pulse train input is completed until the positioning error is within
the acceptable range.
l
Overload
The state in which the torque integrated over a certain period
exceeds a preset allowable value.
l
Momentary power interruption
The state where the supply of voltage to the SERVOPACK turns
OFF momentarily.
l
Open collector
An IC with an output collector that is open or a circuit using such an IC.
l
Line driver
An IC with a relatively long-distance signal transmission method, or
the circuit using such an IC.
l
Momentary power hold time
The maximum time that the voltage of the main circuit can be
maintained without generating an alarm during a momentary
interruption of power.
l
Noise countermeasures
A method to prevent or suppress noise that may disturb the signal
lines resulting in malfunctions. Countermeasures should be taken
so that noise is not radiated from the SERVOPACK and so that the
SERVOPACK is not adversely influenced by external noise.
l
D-grade grounding
A grounding method with a grounding resistance of 100 Ω or less.
l
Frame ground
Frame ground (FG). Connected to the shield wire of the cable.
l
Signal ground
The signal ground (SG) is a signal level of 0 V.
l
Forward rotation and reverse rotation
With Yaskawa's AC servomotors, forward rotation is the CCW
direction and reverse rotation is the CW direction as seen from the
load side of the motor.
l
Motor with brake
The brake is used while the motor is not rotating. Do not use the
brake to stop the motor during operation. The servo must remain off
while the brake is functioning.
l
Centering precision
The mechanical precision between the two shafts of the rotating
machines coupled together. Centering precision usually refers to
the difference in position between the axes of the motor shaft and
the load shaft.
l
Allowable thrust load
The maximum allowable load applied parallel to the axis of the
motor shaft.
l
Allowable radial load
The maximum allowable load applied vertically to the axis of the
motor shaft.
l
Short circuit breaker
A device that automatically shuts off the circuit when the low-
voltage line has a ground fault.
l
Magnetic contactor
A magnetic switch that turns power ON and OFF.
l
Surge protector
A device that absorbs external voltages, such as lightning surges,
to prevent the malfunctioning and destruction of peripheral
electronic circuits.
l
Noise filter
A device installed to prevent external noise from power lines.
l
Servomotor size selection software
Software used to select servomotors and SERVOPACKs.
Product name: JunmaSize+
l
Coupling
A joint that connects the motor shaft and load shaft. The coupling
can absorb differences between the position of the motor shaft and
the load shaft to a certain extent. Couplings are available in metal
disk types, Oldham types, and bellows types. Metal disk couplings
are recommended for the optimum performance of the servomotor
and have good durability.
SERVOPACKs Servomotors
Peripheral Devices
45
Q. What are the features of a servomotor?
A. Compared with a stepping motor, a servomotor can output constant torque in low- to high-speed ranges.
Unlike a stepping motor, which causes problems with vibration, noise, and heat generation, a servomotor ensures smooth rotation without loss of control.
Q. What features does the JUNMA servodrive have compared with other servodrives?
A. Conventional servodrives require settings for a variety of functions, including servo gain settings. The
JUNMA servodrive works with minimal adjustments of two rotary switches instead of parameters. Therefore, high-performance control is ensured with the same ease as a stepping motor.
Q. What machines can the JUNMA be used for?
A. The JUNMA can be used for almost all machines, including timing belts and ball screws. The JUNMA
cannot be used if the installation precision exceeds the recommended precision specified
in Coupling to
the Machine
(page 22).
Q. What is "Servo ON"?
A. It refers to the application of power to the servomotor by turning ON the /S-ON I/O signal. When power is
applied to the motor, the position of the motor shaft will be locked unless a reference is input. In the servo ON state, the servomotor is in a servo-locked state and will not move even if external force is applied.
Q. The red indicator on the front panel of the SERVOPACK is lit and the servomotor stopped
operating. What should be done?
A. The alarm has been turned on. The meaning of alarms and corrections vary with the display on the
indicator and the number of indicators that light. For details, refer to
Alarm
(page 13).
Q. Why does the REF (green indicator) blink while the motor is in operation?
A. The REF blinks to indicate that a reference pulse is being input (i.e., the motor is rotating).Do not touch
the machine or motor shaft while the REF is blinking, no matter how slowly the motor is turning. For details, refer to
Part Names and Functions
(page 12).
Q. When is the FIL rotary switch for the reference filter setting used?
A. The FIL switch is used to smooth the reference input to the SERVOPACK. The initial value (0) may be
used in most cases. If the machine vibrates, increase the value. The higher the value is, the smoother the motion becomes but the longer the position settling time will be. Settings up to 7 are available.
Q. The servomotor generates noise after the servomotor is turned on or after the value of the FIL
rotary switch for reference filter setting is changed. What should be done?
A. The JUNMA starts vibration detection when the servo is turned on, and makes automatic adjustments if
needed. While making these adjustments, some noise may be generated. Once the adjustments are made, the adjusted value will be used until the setting of the FIL rotary switch for reference filter is changed. Therefore, no further noise will be generated.
Q. The machine vibrates. What should be done?
A. The JUNMA detects machine vibration and makes automatic adjustments. Any unusual noise while the
machine is running may be caused by errors in the automatic adjustments. Increase the Reference Filter Setting (FIL) by one, and then return to the previous setting. JUNMA will now be able to make the correct automatic adjustments.

FAQs

FAQs
TerminologyFAQs
46

Revision History

Revision History
The revision dates and numbers of the revised catalogs are given on the bottom of the back cover.
Date of printing
Date of original publication
Revision number
Date of Printing
July 2004
Rev. No.
–
Section
–
Revised Content
First edition: Based on the Japanese version of the JUNMA Series catalog printed in July 2004. (Catalog No.: KAJP S800000 23A)
July 2005 –
All chapters
All chapters
P4: Connection to Peripheral
Devices
P4: SERVOPACKs and Applicable
Servomotors
P5: Cable and Connectors
P8: Speed/Torque Characteristics
P10: Ratings and Specifications
P12: Reference Filter Setting (FIL)
P14: Connection Diagram
P17: Wiring Precautions
P18: Explanation of I/O Signals
P19: Connection Example of Input
Signal
P19: Connection Example of Output
Signal
P30: External Fuse
P34: Contact Information
Second edition: Based on the Japanese version of the JUNMA Series catalog printed in February 2005. (Catalog No.: KAJP S800000 23B)
Revision: Exterior of SERVOPACK and
servomotor.
Addition: Contact information in China.
(Cables and peripheral devices)
Addition: Cautions and Warnings. Revision: Drawings in the system configuration.
Revised.
Revised.
Revision: Repetitive operating range.
Revision: Power loss at rated output.
Revision: Acceleration/Deceleration Time for
Step Reference.
Revised.
Revised.
Addition: Notes on the lag time for the alarm
signal and the phase-C output signal.
Revision: Connection diagrams.
Added.
Added.
Added.
Printed in Japan July 2005 04-7©
LITERATURE NO. KAEP S800000 23B
1
1
47
MEMO
Revision History
JUNMA SER I ES
 Printed in Japan July 2005 04-7
LITERATURE NO. KAEP S800000 23B
-01
2004-2005
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