Yaskawa Σ-II User Manual

Download

ACサーボパック

Σ-IIシリーズ

取扱説明書

MECHATROLINKインタフェースモジュール

形式：JUSP-NS100 対象サーボパック形式：SGDH-E-

製品を安全にお使い頂くために，本書を必ずお読みください。また，本書をお手元に保管していただくとともに，最終的に本製品をご使用になるユーザー様のお手元に確実に届けられるよう，お取り計らい願います。

AC SERVOPACK

Σ-II Series

INSTRUCTIONS

MECHATROLINK Interface Module

Model: JUSP-NS100 Applicable SERVOPACK Model: SGDH-E-

To properly use the product, read this manual thoroughly and retain for easy reference, inspection, and maintenance. Ensure the end user receives this manual.

MANUAL NO. TOB-C718-4C

本書の内容の一部または全部を，当社の文書による許可なしに，転載または複製することは，固くお断りします。

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.

株式会社　安川電機　

YASKAWA ELECTRIC CORPORATION

はじめに

■ 本書の構成

この取扱説明書は，日本語編と英語編で構成しています。

•

日本語編：　J-1 ページ～ J-25 ページに掲載

•

英語編：　　E-1 ページ～ E-25 ページに掲載

必要に応じて，ご活用ください。

■ 本書の対象読者

本書は下記の方々を対象読者としています。

•

Σ-II シリーズサーボパックの到着時の点検を行う方

•

Σ-II シリーズサーボパックの盤組み込みや配線を行う方

•

Σ-II シリーズサーボパックの操作や運転を行う方

•

Σ-II シリーズサーボパックの保守や点検を行う方

INTRODUCTION

Manual Contents

■

This manual consists of Japanese Version and English Version.

• Japanese Version: Described on pages J-1 to J-25.

• English Version: Described on pages E-1 to E-25.

Use the Japanese Version or English Version as needed.

User Instructions

■

Use these instructions for the following jobs:

•

Checking Σ-II Series SERVOPACK on delivery

•

Installing Σ-II Series SERVOPACK

•

Wiring Σ-II Series SERVOPACK

•

Operating Σ-II Series SERVOPACK

•

Inspecting and maintenance of Σ-II Series SERVOPACK

iii

Σ-II Series

MECHATROLINK Interface Module - - - - - - - - - - - - - - E-1

SYMBOLS FOR SAFE OPERATION NOTES FOR SAFE OPERATION

- - - - - - - - - - - - - - - - - - - - - - - E-4

- - - - - - - - - - - - - - - - - - - - - - - - - E-4

- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-8

PAR TS

CHECKING ON DELIVERY

2.1

Checking Items

2.2

Appearance and Nameplate

2.3

Type Designation

2.4

Mounting NS100 Module

INSTALLATION

3.1

Storage

3.2

Installation Sites

3.3

Orientation

3.4

Installation Precations

WIRING

4.1

MECHATROLINK Connection Example

4.2

Precautions on Wiring

OPERATION

5.1

Precautions at Test Run

5.2

Precautions at Operation

- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-14

- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-14

- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-15

- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-17

- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-20

- - - - - - - - - - - - - - - - - - - - - - - E-9

- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-10

- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-11

- - - - - - - - - - - - - - - - - - - - - - - - - E-11

- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-15

- - - - - - - - - - - - - - - - - - - - - - - - - - - E-16

- - - - - - - - - - - - - - - - - - - - - - - - - - - E-19

- - - - - - - - - - - - - - - - - - - - - - - - - E-20

- - - - - - - - - - - - - - - - - - - - - - - - E-21

INSPECTION AND MAINTENANCE

- - - - - - - - - - - - - - - - - - - - - - E-10

- - - - - - - - - - - - - - E-18

- - - - - - - - - - - - - - - - E-22

MEASURES TO SATISFY THE EMC DIRECTIVE

7.1

MECHATROLINK Communication Cable

7.2

Fully Closed Encoder Cable

7.3

The Core on the Cable

7.4

Cable Clamp

7.5

Wiring Examples

- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-24

- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-25

- - - - - - - - - - - - - - - - - - - - - - E-23

- - - - - - - - - - - - - - - - - - - - - - - - - - E-23

- - - - - - E-23

- - - - - - - - - - - - - E-23

INSTRUCTIONS

Series

Σ-II

MECHATROLINK Interface Module

Σ-II Series MECHATROLINK Interface Module

SYMBOLS FOR SAFE OPERATION NOTES FOR SAFE OPERATION

- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-8

PAR TS

CHECKING ON DELIVERY

2.1

Checking Items

2.2

Appearance and Nameplate

2.3

Type Designation

2.4

Mounting NS100 Module

INSTALLATION

3.1

Storage

3.2

Installation Sites

3.3

Orientation

3.4

Installation Precations

WIRING

- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-17

4.1

MECHATROLINK Connection Example

4.2

Precautions on Wiring

OPERATION

5.1

Precautions at Test Run

5.2

Precautions at Operation

- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-10

- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-11

- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-14

- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-14

- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-15

- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-15

- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-20

- - - - - - - - - - - - - - - - - - - - - - - E-9

- - - - - - - - - - - - - - - - - - - - - - - - - E-11

- - - - - - - - - - - - - - - - - - - - - - - - - - - E-16

- - - - - - - - - - - - - - - - - - - - - - - - - - - E-19

- - - - - - - - - - - - - - - - - - - - - - - - - E-20

- - - - - - - - - - - - - - - - - - - - - - - - E-21

- - - - - - - - - - - - - - - - - - - - - - - E-4

- - - - - - - - - - - - - - - - - - - - - - - - - E-4

- - - - - - - - - - - - - - - - - - - - - - E-10

- - - - - - - - - - - - - - E-18

- - - - - - - - - - - E-1

INSPECTION AND MAINTENANCE

E-1

- - - - - - - - - - - - - - - - E-22

MEASURES TO SATISFY THE EMC DIRECTIVE

7.1

MECHATROLINK Communication Cable

7.2

Fully Closed Encoder Cable

7.3

The Core on the Cable

7.4

Cable Clamp

7.5

Wiring Examples

- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-24

- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - E-25

- - - - - - - - - - - - - - - - - - - - - - E-23

- - - - - - - - - - - - - - - - - - - - - - - - - - E-23

- - - - - - E-23

- - - - - - - - - - - - - E-23

E-2

This instruction manual covers Σ-II series SGDH MECHATROLINK Interface Module

(hereinafter called NS100 Module), which is an application module to be connected to Σ-II

series SGDH SERVOPACK for MECHATROLINK.

To properly use the application module, read this manual thoroughly and retain for easy ref-

erence for inspections and maintenance etc.

Reference materials are listed below:

Manual Titles manual No.

Σ-II series SGMH/SGDH User’s Manual Servo Selection and Data Sheets

Σ-II series SGMH/SGDH User’s Manual Design and Maintenance

Σ-II series SGDH MECHATROLINK Interface Module User’s Manual SIE-C718-4

AC SERVOMOTOR INSTRUCTIONS TOE-C231-2

Σ-II series SGDH Instruction Manual TOB-S800-32

SIE-S800-32.1

SIE-S800-32.2

E-3

SYMBOLS FOR SAFE OPERATION

In this manual, the NOTES FOR SAFE OPERATION are classified as “WARNING” or

“CAUTION”. The following symbols are used.

WARNING

CAUTION

Indicates a potentially hazardous situation which, if not avoided, could result in

death or serious personal injury.

Indicates a potentially hazardous situation which, if not avoided, may result in

minor or moderate personal injury and/or damage to the equipment.

In some instances, items described in may also result in a serious accident.

In either case, follow these important items.

NOTES FOR SAFE OPERATION

Read this manual thoroughly before installation, operation, maintenance or inspection of the

AC Servo Drives.

 CHECKING ON DELIVERY

• Do not apply or use the NS100 Module in conjunction with SGDH SERVOPACK

version 12.

There is a potential for an unintended servomotor brake release with the NS100 Module in connection with the SGDH SERVOPACK version 12 and in connection with Σ-II motors with holding brakes.

AN UNINTENDED RELEASE COULD RESULT IN INJURY TO PERSONS OR EQUIPMENT IN CLOSE PROXIMITY TO ANY MECHINERY CONTROLLED BY THE SERVO SYSTEM. IN CLOSE PROXIMITY TO ANY MACHINERY CONTROLLED BY THE SERVO SYSTEM. In this product combination the motor holding brake will release 3 seconds after power is supplied to the SGDH SERVOPACK even though the SERVOPACK is disabled (SERVO ON signal is OFF).

CAUTION

WARNING

(Ref.No.)

E-9

E-4

CAUTION

• There is a limitation in the combination of the software version of the SGDH SER-

VOPACK and the software version of the NS100 Module.

When the software version of the SGDH SERVOPACK is 11 or lower: Applicable to

all the versions of the NS100

When the software version of the SGDH SERVOPACK is 12 or higher: Applicable

to version 7 or higher of the NS100

When the wrong combination is used, an alarm A.BF SYSTEM ERROR (operation error)

may occur.

• When SGDH SERVOPACK is used with a NS100 Module mounted, the parame-

ters are automatically set so that the NS100 Module can be operated from the first

power ON.

For details of parameter setting methods, refer to Σ-II Series SGM/SGDH User’s Manual Desine and Maintenance (SIE-S800-32.2).

 INSTALLATION

CAUTION

• Never use the equipment where it may be exposed to splashes of water, corrosive

or flammable gases, or near flammable materials.

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

 WIRING

WARNING

• SERVOPACK grounding must be in accordance with the national code and consis-

tent with sound local practices.

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

(Ref.No.)

E-9

E-10

(Ref.No.)

E-14

(Ref.No.)

E-17

CAUTION

• Do not connect three-phase power supply to SERVOPACK output terminals U, V,

and W.

Failure to observe this caution may lead to personal injury or fire.

• Securely tighten screws on the power supply and motor output terminals.

Failure to observe this caution may result in a fire.

E-5

(Ref.No.)

E-17

 OPERATION

CAUTION

• To avoid inadvertent accidents, run the servomotor only in test run (without load).

Failure to observe this caution may result in personal injury.

• Before starting operation with a load connected, set up parameters suitable for the

machine.

Starting operation without setting up parameters may result in machine overrun or failure.

• Before starting operation with a load connected, make sure emergency-stop proce-

dures are in place.

Failure to observe this caution may result in personal injury.

• During operation, do not touch the SERVOPACK’S heatsink.

Failure to observe this caution may result in burns.

 INSPECTION AND MAINTENANCE

WARNING

• Never touch the inside of the SERVOPACKs.

Failure to observe this warning may result in electric shock.

• Never open the terminal cover while power is ON, and never turn ON power when

the terminal cover is open.

Failure to observe this warning may result in electric shock.

• After turning OFF power, wait at least five minutes before servicing the product.

Otherwise, residual electric charges may result in electric shock.

(Ref.No.)

E-20

E-21

(Ref.No.)

E-22

CAUTION

• Never change wiring while power is ON.

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

E-6

(Ref.No.)

E-22

 General Precautions

Note the following to ensure safe application.

• Some drawings in this manual are shown with the protective cover or shields removed, in order to describe the detail with more clarity. Make sure all covers and shields are replaced before operating this product.

• Some drawings in this manual are shown as typical example and may differ from the shipped product.

• This manual may be modified when necessary because of improvement of the product, modification or changes in specifications. Such modification is made as a revision by renewing the manual No.

• To order a copy of this manual, if your copy has been damaged or lost, contact your YASKAWA representative listed on the last page stating the manual No. on the front cover.

• YASKAWA is not responsible for accidents or damages due to any modification of the product made by the user since that will void our guarantee.

WARNING LABEL

NS100

S W

A R

S W

C N

SERVOPACK warning label position

Disconnect all power and wait 5 min.

WARNING

before servcing. May cause electric shock.

Do not touch heat sink when power is ON.

CAUTION

May cause burn.

Use proper grounding techniques.

YASKAWA

SERVOPACK

SGDH- 200 V

C N

SERVOPACK Warning Label and Grounding Mark Position

E-7

1 PARTS

The NS100 Module parts names are as follows:

NS100

C A 6 A

C A 6 B

C A 4

Ground wire for connecting to SERVOPACK

Rotary switch (SW1) for MECHATROLINK station address settings

LED (A) for alarm

LED (R) for MECHATROLINK communication

DIP switch (SW2) for MECHATROLINK communication settings

Nameplate with operation module type and serial No.

MECHATROLINK communication connectors (CN6A and CN6B)

Fully closed encoder signal connector (CN4)

E-8

2 CHECKING ON DELIVERY

• Do not apply or use the NS100 Module in conjunction with the SGDH NS100 SERVOPACK

version 12.

There is a potential for an unintended servomotor brake release with the NS100 Module in connection with the SGDH SERVOPACK version 12 and in connection with Σ-II motors with holding brakes. AN UNINTENDED RELEASE COULD RESULT IN INJURY TO PERSONS OR EQUIPMENT IN CLOSE PROXIMITY TO ANY MECHINERY CONTROLLED BY THE SERVO SYSTEM. IN CLOSE PROXIMITY TO ANY MACHINERY CONTROLLED BY THE SERVO SYSTEM. In this product combination the motor holding brake will release 3 seconds after power is supplied to the SGDH SERVOPACK even though the SERVOPACK is disabled (SERVO ON signal is OFF).

Note: The brake release above occurs only when the software version 12 of

the SGDH SERVOPACK and any versions of the NS100 Module are used together. It does not occur when only the SGDH SERVOPACK is used or is used with any application modules other than the NS100 Module. Check the software version of the SGDH SERVOPACK on the front face underneath the model number or in the parameter Fn012. Version tool:

∗∗∗ 12

Monitor mode: Fn012.

WARNING

The lower two digits of the software version

CHECKING ON DELIVERY

CAUTION

• There is a limitation in the combination of the software version of the SGDH SERVOPACK and

the software version of the NS100 Module.

When the software version of the SGDH SERVOPACK is 11 or lower: Applicable to all the ver-

sions of the NS100 Module

When the software version of the SGDH SERVOPACK is 12 or higher: Applicable to version 7

or higher of the NS100 Module

When the wrong combination is used, an alarm A.BF SYSTEM ERROR (operation error) may occur.

Note: Check the software version as follows:

Software version of the SGDH SERVOPACK: Lower two digit of the version tool

Software version of the NS100 Module: Lower two digits of the version number in the nameplate

E-9

∗∗∗ 12

∗∗∗ 07

• When SGDH SERVOPACK is used with a NS100 Module mounted, the parameters are auto-

matically set so that the NS100 Module can be operated from the first power ON.

For details of parameter setting methods, refer to Σ-II Series SGM/SGDH User’s Manual Desine and Maintenance (SIE-S800-32.2).

2.1 Checking Items

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

Check Items Remarks

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 or scratches

Check if SERVOPACK is the type applicable for NS100 Module?

If any of the above items are faulty or incorrect, contact the dealer from which you pur-

chased the products or your nearest local sales representative.

2.2 Appearance and Nameplate

CAUTION

Check the types marked on the nameplates of the NS100 Module.

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

resulting from transportation.

Check the nameplate of SERVOPACK.

SERVOPACK Type SGDH

-E- c d “SGDH” in c, and “E” in d

NS100

S W 1

S W 2

C N 6 A

C N 6 B

C N 4

NS100 module

Order Number Protection class

SERVOPACK 1P1X MECHATROLINK APPLICATION MODULE

MODEL JUSP-NS100 VER. 01000

CE marking

UL marking

E-10

2.3 Type Designation

CHECKING ON DELIVERY

SERVOPACK peripheral device

Model NS10: MECHATROLINLK interface

Design revision order

2.4 Mounting NS100 Module

Mount a NS100 Module on a SGDH SERVOPACK in the following manner. Provide the

screws for connecting ground wire as shown below.

Mounting

Method

Base mounted

Rack mounted

Duct ventilated

SERVOPACK Type Screw Remarks

SGDH-A3 to 02BE SGDH-A3 to 10AE

SGDH-15 to 50AE SGDH-05 to 50DE

SGDH-60 to 1EAE

SGDH-60 to 1EDE

SGDH-A3 to 02BE-R SGDH-A3 to 50AE-R SGDH-05 to 50DE-R

SGDH-60 to 1EAE-P

SGDH-60 to 1EDE-P

1. Remove the connector cover mounted on CN10 of SERVOPACK.

SERVOPACK

JUSP

×10 round head screws