Yaskawa Σ-III User Manual

ACサーボパック

Σ-IIIシリーズ

安全上のご注意

SGDS-A

形式：

SGDS-F
SGDS-B

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-III Series

SAFETY PRECAUTIONS

Model: SGDS-A
SGDS-F
SGDS-B

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. TOBP S800000 00J

Copyright © 2004

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

1 Introduction

This safety precautions manual covers Σ-III series SERVOPACK controlling Σ-III series AC

servomotor. To properly use the Σ-III series SERVOPACK, read this safety precautions manual

and user’s manual (see the following table) thoroughly, and retain for easy reference for inspec­tions and maintenance, and so on. Make sure that these manuals reach the end user.

2 Reference Manuals

This table lists related reference manuals:

Σ-III Series SGMS/SGDS User’s Manual SIEPS80000000

Σ-III Series SGMS/SGDS Digital Operator INSTRUCTIONS TOBPS80000001

Σ-III Series SGMS/SGDS User’s Manual

For DeviceNet communications

Σ-III Series SGMS/SGDS User’s Manual
For MECHATROLINK-II communications

Linear Σ Series SGL/SGDS User’s Manual SIEPS80000016

3 General Precautions

The following describes general precautions. Note the following to ensure safe application.

• The drawings presented in this manual are sometimes shown without covers or protec-

tive guards. Always replace the cover or protective guard as specified first, and then

operate the products in accordance with the manual.

• The drawings presented in this manual are typical examples and may not match the

product you received.

• This manual is subject to change due to product improvement, specification modifica-

tion, and manual improvement. When this manual is revised, the manual code is

updated and the new manual is published as a next edition. The edition number appears

on the front and back covers.

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

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

• Yaskawa will not take responsibility for the results of unauthorized modifications of this

product. Yaskawa shall not be liable for any damages or troubles resulting from unau-

thorized modification.

1 Introduction

Manual Titles Manual No.

SIEPS80000002

SIEPS80000011

E-1

4 Safety Information

WARNING

CAUTION

PROHIBITED

MANDATORY

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

cautions provided in this manual can result in serious or possibly even fatal injury or damage to

the products or to related equipment and systems.

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

injury.

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

damage to the product, or faulty operation.

In some situations, the precautions indicated could have series consequences if not heeded.

Indicates prohibited actions that must not be performed. For example, this symbol would

be used to indicate that fire is prohibited as follows: .

Indicates compulsory actions that must be performed. For example, this symbol

would be used as follows to indicate that grounding is compulsory: .

E-2

5 Notes for Safe Operation

WARNING

Read this manual thoroughly before checking products on delivery, storage and transportation,

installation, wiring, operation and inspection, and disposal of the AC servo drives.

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

Failure to observe this warning may result in injury.

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

applied at any time.

Failure to observe this warning may result in injury.

• Never touch the inside of the SERVOPACKs.

Failure to observe this warning may result in electric shock.

• Do not remove the panel cover while the power is ON.

Failure to observe this warning may result in electric shock.

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

Residual voltage may cause electric shock.

• Do not touch terminals for five minutes after voltage resistance test.

Residual voltage may cause electric shock.

• Follow the procedures and instructions for trial operation precisely as noted in the Σ-ΙΙΙ series User’s

Manual (Manual No.: SIEPS80000000A).

• Follow the procedures and instructions for the trial operation as noted in the applicable manual for

that product.

Malfunctions that occur after the servomotor is connected to the equipment not only damage the equipment,
but may also cause an accident resulting in death or injury.

• The output range of multi-turn data for Σ-ΙΙΙ series absolute detection system differs from that for con-

ventional systems (15-bit encoder and 12-bit encoder). Especially when “Infinite length positioning

system” of conventional type is to be configured with Σ-ΙΙΙ series, be sure to make the system modi-

fication.

• The multi-turn limit value must be changed only for special applications.

Changing it inappropriately or unintentionally can be dangerous.

• If the Multi-turn Limit Disagreement alarm occurs, check the setting of parameter Pn205 in the SER-

VOPACK to be sure that it is correct.

If Fn013 is executed when an incorrect value is set in Pn205, an incorrect value will be set in the encoder. The
alarm will disappear even if an incorrect value is set, but incorrect positions will be detected, resulting in a dan­gerous situation where the machine will move to unexpected positions.

5 Notes for Safe Operation

E-3

• Do not remove the front cover, cables, connectors, or optional items while the power is ON.

WARNING

CAUTION

Failure to observe this warning may result in electric shock.

• Do not damage, press, exert excessive force or place heavy objects on the cables.

Failure to observe this warning may result in electric shock, stopping operation of the product, or burning.

• Do not modify the product.

Failure to observe this warning may result in injury or damage to the product.

• Provide an appropriate stopping device on the machine side to ensure safety. A holding brake for a

servomotor with brake is not a stopping device for ensuring safety.

Failure to observe this warning may result in injury.

• Do not come close to the machine immediately after resetting momentary power loss to avoid an

unexpected restart. Take appropriate measures to ensure safety against an unexpected restart.

Failure to observe this warning may result in injury.

• Connect the ground terminal to electrical codes (ground resistance: 100 Ω or less).

Improper grounding may result in electric shock or fire.

• Installation, disassembly, or repair must be performed only by authorized personnel.

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

 Checking on Delivery

• Always use the servomotor and SERVOPACK in one of the specified combinations.

Failure to observe this caution so may result in fire or malfunction.

E-4

5 Notes for Safe Operation

CAUTION

CAUTION

 Storage and Transportation

• Do not store or install the product in the following places.

• Locations subject to direct sunlight.

• Locations subject to temperatures outside the range specified in the storage/installation temperature conditions.

• Locations subject to humidity outside the range specified in the storage/installation humidity conditions.

• Locations subject to condensation as the result of extreme changes in temperature.

• Locations subject to corrosive or flammable gases.

• Locations subject to dust, salts, or iron dust.

• Locations subject to exposure to water, oil, or chemicals.

• Locations subject to shock or vibration.

Failure to observe this caution may result in fire, electric shock, or damage to the product.

• Do not hold the product by the cables or motor shaft while transporting it.

Failure to observe this caution may result in injury or malfunction.

• Do not place any load exceeding the limit specified on the packing box.

Failure to observe this caution may result in injury or malfunction.

• If disinfectants or insecticides must be used to treat packing materials such as wooden frames, pallets, or

plywood, the packing materials must be treated before the product is packaged, and methods other than

fumigation must be used.

Example: Heat treatment, where materials are kiln-dried to a core temperature of 56°C for 30

minutes or more.

If the electronic products, which include stand-alone products and products installed in machines, are packed with
fumigated wooden materials, the electrical components may be greatly damaged by the gases or fumes resulting from
the fumigation process. In particular, disinfectants containing halogen, which includes chlorine, fluorine, bromine, or
iodine can contribute to the erosion of the capacitors.

 Installation

• Never use the products in an environment subject to water, corrosive gases, inflammable gases, or com-

bustibles.

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

• Do not step on or place a heavy object on the product.

Failure to observe this caution may result in injury.

• Do not cover the inlet or outlet ports and prevent any foreign objects from entering the product.

Failure to observe this caution may cause internal elements to deteriorate resulting in malfunction or fire.

• Be sure to install the product in the correct direction.

Failure to observe this caution may result in malfunction.

• Provide the specified clearances between the SERVOPACK and the control panel or with other devices.

Failure to observe this caution may result in fire or malfunction.

• Do not apply any strong impact.

Failure to observe this caution may result in malfunction.

E-5

 Wiring

CAUTION

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

Failure to observe this caution may result in injury or fire.

• Securely connect the power supply terminal screws and motor output terminal screws.

Failure to observe this caution may result in fire.

• Do not bundle or run power and signal lines together in the same duct. Keep power and signal lines sepa-

rated by at least 30 cm (11.81 in).

• Use twisted-pair shielded wires or multi-core twisted pair shielded wires for signal and encoder (PG) feed-

back lines.

The maximum length is 3 m (118.11 in) for reference input lines and is 20 m (787.40 in) for PG feedback lines.

• Do not touch the power terminals for 5 minutes after turning power OFF because high voltage may still

remain in the SERVOPACK.

Make sure the charge indicator is out first before starting an inspection.

• Avoid frequently turning power ON and OFF. Do not turn power ON or OFF more than once per minute.

Since the SERVOPACK has a capacitor in the power supply, a high charging current flows for 0.2 seconds when
power is turned ON. Frequently turning power ON and OFF causes main power devices like capacitors and fuses to
deteriorate, resulting in unexpected problems.

• Observe the following precautions when wiring main circuit terminal blocks.

• Remove the terminal block from the SERVOPACK prior to wiring.

• Insert only one wire per terminal on the terminal block.

• Make sure that the core wire is not electrically shorted to adjacent core wires.

• Do not connect the SERVOPACK for 100 V and 200 V directly to a voltage of 400 V.

The SERVOPACK will be destroyed.

• Install the battery at either the host controller or the battery unit of the encoder.

It is dangerous to install batteries at both simultane ously, because that sets up a loop circuit between the batteries.

• Be sure to wire correctly and securely.

Failure to observe this caution may result in motor overrun, injury, or malfunction.

• Always use the specified power supply voltage.

An incorrect voltage may result in burning.

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

fluctuation range. Be particularly careful in places where the power supply is unstable.

An incorrect power supply may result in damage to the product.

• Install external breakers or other safety devices against short-circuiting in external wiring.

Failure to observe this caution may result in fire.

E-6

5 Notes for Safe Operation

CAUTION

CAUTION

• Take appropriate and sufficient countermeasures for each when installing systems in the following loca-

tions.

• Locations subject to static electricity or other forms of noise.

• Locations subject to strong electromagnetic fields and magnetic fields.

• Locations subject to possible exposure to radioactivity.

• Locations close to power supplies.

Failure to observe this caution may result in damage to the product.

• Do not reverse the polarity of the battery when connecting it.

Failure to observe this caution may damage the battery or cause it to explode.

 Operation

• Conduct trial operation on the servomotor alone with the motor shaft disconnected from machine to avoid

any unexpected accidents.

Failure to observe this caution may result in injury.

• Before starting operation with a machine connected, change the settings to match the parameters of the

machine.

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

• Forward run prohibited (P-OT) and reverse run prohibited (N-OT) signals are not effective during JOG

mode operation using parameter Fn002 and zero point search mode using parameter Fn003.

• When using the servomotor for a vertical axis, install the safety devices to prevent workpieces to fall off due

to occurrence of alarm or overtravel. Set the servomotor so that it will stop in the zero clamp state at occur-

rence of overtravel.

Failure to observe this caution may cause workpieces to fall off due to overtravel.

• When not using the normal autotuning, set to the correct moment of inertia ratio.

Setting to an incorrect moment of inertia ratio may cause vibration.

• Do not touch the SERVOPACK heatsinks, regenerative resistor, or servomotor while power is ON or soon

after the power is turned OFF.

Failure to observe this caution may result in burns due to high temperatures.

• Do not make any extreme adjustments or setting changes of parameters.

Failure to observe this caution may result in injury due to unstable operation.

• When an alarm occurs, remove the cause, reset the alarm after confirming safety, and then resume opera-

tion.

Failure to observe this caution may result in injury.

• Do not use the servo brake of the servomotor for ordinary braking.

Failure to observe this caution may result in malfunction.

E-7

 Maintenance and Inspection

CAUTION

CAUTION

• Do not disassemble the SERVOPACK.

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

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

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

• When replacing the SERVOPACK, resume operation only after transferring the previous SERVOPACK

parameters to the new SERVOPACK.

Failure to observe this caution may result in damage to the product.

 Disposal

• When disposing of the products, treat them as ordinary industrial waste.

E-8

6 Checking Products on Delivery

Disconnect all power and wait 5 min.
before servicing. May cause electric shock.

Use proper grounding techniques.

CAUTION

WARNING

5

Do not touch heat sink when power is ON.
May cause burn.

SERVOPACK warning label

SERVOPACK type

SERVOPACK nameplate

Serial number

Applicable
power supply

Applicable
servomotor capacity

SGDS-02A01A

AC-OUTPUT

S/N

O/N

AC-INPUT

SERVOPACK

MODEL

YASKAWA ELECTRIC

MADE IN JAPAN

The following procedure is used to check Σ-ΙΙΙ Series products upon delivery. Check the follow-

ing items when Σ-ΙΙΙ Series products are delivered.

Check Items Comments

Are the delivered products the ones that
were ordered?

Is there any damage?

Are there any loose screws? Check screws for looseness using a screwdriver.

If any of the above items are faulty or incorrect, contact your Yaskawa sales representative or

the dealer from whom you purchased the products.

7 Warning Label

The following illustration shows the SERVOPACK warning label.

6 Checking Products on Delivery

Check the model numbers marked on the nameplates of
the SERVOPACK.

Check the overall appearance, and check for damage or
scratches that may have occurred during shipping.

8 Nameplate

The following illustration shows the SERVOPACK nameplate

E-9

.

9 Installation

Cooling fan

Cooling fan

30 mm (1.2 in.) or more

10 mm (0.4 in.) or more

50 mm (2 in.) or more

50 mm (2 in.) or more

Observe the following precautions when installing SERVOPACK.

• Install SERVOPACK perpendicular to the wall so that the front panel (digital operator

mounted face) faces outward.

• Firmly secure the SERVOPACK through two or three mounting holes depending on the

SERVOPACK capacity.

• Install SERVOPACK so that SERVOPACK can be cooled by natural convection or fan.

 Installation Sites

For installation sites, use proper care with the following notes.

Situation Notes on Installation

• Design the control panel size, unit layout, and cooling
method so that the temperature around the periphery of the

When installed in a control panel

When installed near a heating unit

When installed near a source of
vibration

When installed in a place receiving
corrosive gases

Others

SERVOPACK does not exceed 55°C.

• When installing multiple SERVOPACKs side by side in a
control panel, install cooling fans and provide sufficient
space around each SERVOPACK to allow cooling by fan
and natural convection.

Suppress radiation heat from the heating unit and a tempera­ture rise caused by convection so that the temperature around
the periphery of the SERVOPACK does not exceed 55

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

Corrosive gases do not immediately affect the SERVOPACK
but will eventually cause contactor-related devices to malfunc­tion. Take appropriate action to protect against corrosive gases.

• Avoid installation in a hot and humid place or where exces­sive dust or iron powder is present in the air.

• Be sure there is no condensation or freezing.

• Keep the surrounding air temperature 45 °C or less to ensure
long-term reliability.

°C.

E-10