Yaskawa Σ-V User Manual
AC Servo Drives
-V Series
USER’S MANUAL
Design and Maintenance
Linear Motor
Command Option Attachable Type
SGDV SERVOPACK
SGLGW/SGLFW/SGLTW/SGLC/SGT Linear Servomotors
MANUAL NO. SIEP S800000 66H
Outline
Panel Display and
Operation of Digital Operator
Wiring and Connection
Operation
Adjustments
Utility Functions (Fn)
Monitor Displays (Un)
Troubleshooting
Appendix
1
2
3
4
5
6
7
8
9
Copyright © 2009 YASKAWA ELECTRIC CORPORATION
All rights reserved. No part of this publication may be reproduced, stored in a retrieval system,
or transmitted, in any form, or by any means, mechanical, electronic, photocopying, recording,
or otherwise, without the prior written permission of Yaskawa. No patent liability is assumed
with respect to the use of the information contained herein. Moreover, because Yaskawa is constantly striving to improve its high-quality products, the information contained in this manual is
subject to change without notice. Every precaution has been taken in the preparation of this
manual. Nevertheless, Yaskawa assumes no responsibility for errors or omissions. Neither is
any liability assumed for damages resulting from the use of the information contained in this
publication.
About this Manual
This manual describes information required for designing, testing, adjusting, and maintaining Σ-V Series
SERVOPACKs.
Keep this manual in a location where it can be accessed for reference whenever required. Manuals outlined on
the following page must also be used as required by the application.
Description of Technical Terms
The following table shows the meanings of terms used in this manual.
Te rm Meaning
Cursor Input position indicated by Digital Operator
Servomotor Σ-V S e r i es S G L GW, SG L F W, S GLTW, S G L C linear servomotor or SGT linear slider
SERVOPACK Σ-V Series SGDV servo amplifier of command option attachable type
Servo Drive A set including a servomotor and SERVOPACK (i.e., a servo amplifier)
Servo System
Servo ON Power to motor ON
Servo OFF Power to motor OFF
Base Block (BB)
Servo Lock
Main Circuit Cable
Zero-speed Stopping Stopping the servomotor by setting the speed reference to 0
Linear Scale Connection
Cables
A servo control system that includes the combination of a servo drive with a host controller and peripheral devices
Power supply to motor is turned OFF by shutting off the base current to the power
transistor in the current SERVOPACK.
A state in which the motor is stopped and is in position loop with a position reference
of 0.
Cables which connect to the main circuit terminals, including main circuit power supply cables, control power supply cables, servomotor main circuit cables, and others.
A set of cables including a cable for connecting serial converter unit, a cable for connecting linear scale, and a cable for connecting hall sensor
IMPORTANT Explanations
The following icon is displayed for explanations requiring special attention.
• Indicates important information that should be memorized, as well as precautions, such as
alarm displays, that do not involve potential damage to equipment.
iii
Parameter Meaning When Enabled Classification
Pn002
After restart
n.0
[Factory setting]
n.1
Uses the absolute linear scale as
an incremental linear scale.
Uses the absolute linear scale as
an absolute linear scale.
Setup
Parameter
number
Position
Force
Control methods for which the parameter applies.
Speed
: Speed control
: Position control
: Force control
Indicates the
parameter setting
before shipment.
Indicates when a
change to the
parameter will be
effective.
Indicates the
parameter
classification.
Indicates the
minimum setting unit
for the parameter.
Indicates the setting
range for the parameter.
The notation “n.” indicates a parameter
for selecting functions. Each corresponds to
the setting value of that digit. The notation shown
here means that the third digit is 1.
This section explains the
selections for the function.
Pn311
Vibration Detection Sensitivity
Classification
Setting Range Setting Unit Factory Setting When Enabled
50 to 500 1%
100 Immediately Tuning
Speed
Position
Force
Parameter
number
• Parameters for Selecting Functions
1st digit
2nd digit
3rd digit
4th digit
Digital Operator Display
(Display Example for Pn002)
Digit Notation Setting Notation
Meaning Notation Meaning
Pn002.0
Pn002.1
Pn002.2
Pn002.3
Indicates the value for the
1st digit of parameter Pn002.
Indicates the value for the
2nd digit of parameter Pn002.
Indicates the value for the
3rd digit of parameter Pn002.
Indicates the value for the
4th digit of parameter Pn002.
Pn002.0 = x
or n.x
Pn002.1 = x
or n.x
Indicates that the value for the
1st digit of parameter Pn002 is x.
Indicates that the value for the
2nd digit of parameter Pn002 is x.
Pn002.2 = x
or n.x
Pn002.3 = x
or n.x
Indicates that the value for the
3rd digit of parameter Pn002 is x.
Indicates that the value for the
4th digit of parameter Pn002 is x.
Notation
Notation Used in this Manual
• Notation for Reverse Signals
The names of reverse signals (i.e., ones that are valid when low) are written with a forward slash (/) before the
signal name.
Notation Example
BK
= /BK
• Notation for Parameters
The notation depends on whether the parameter requires a value setting (parameter for numeric settings) or
requires the selection of a function (parameter for selecting functions).
• Parameters for Numeric Settings
iv
Notation Example
Manuals Related to the Σ-V Series
Refer to the following manuals as required.
Name
Σ-V Series
User’s Manual
Setup
Linear Motor
(No.: SIEP S800000 44)
Σ-V Series
Product Catalog
(No.: KAEP S800000 42)
Σ-V Series
User's Manual
Design and Maintenance
Linear Motor/
Command Option
Attachable Type
(this manual)
Σ-V Series/Σ-V Series
for Large-Capacity Models
User’s Manual
INDEXER Module
(No.: SIEP C720829 02)
Σ-V Series/Σ-V Series
for Large-Capacity Models
User’s Manual
DeviceNet Module
(No.: SIEP C720829 07)
Σ-V Series
User’s Manual
Operation of Digital Operator
(No.: SIEP S800000 55)
Σ-V Series
AC SERVOPACK SGDV
Safety Precautions
(No.: TOBP C710800 10)
Σ Series
Digital Operator
Safety Precautions
(No.: TOBP C730800 00)
AC SERVOMOTOR
Safety Precautions
(No.: TOBP C230200 00)
Selecting
Models and
Peripheral
Ratings and
Specifications
System
Design
Panels and
Wiring
Trial
Operation
Devices
−−− −−
−−−−
−− −
− −
− −
−−−−
−− −−
−−−−−−
−−− −−
Trial
Operation
and Servo
Adjustment
Maintenance
and
Inspection
v
WARNING
CAUTION
PROHIBITED
MANDATORY
Safety Information
The following conventions are used to indicate precautions in this manual. Failure to heed precautions provided in this manual can result in serious or possibly even fatal injury or damage to the products or to related
equipment and systems.
Indicates precautions that, if not heeded, could possibly result in loss of
life or serious injury.
Indicates precautions that, if not heeded, could result in relatively serious
or minor injury, damage to the product, or faulty operation.
In some situations, the precautions indicated could have serious
consequences if not heeded.
Indicates prohibited actions that must not be performed. For example,
this symbol would be used to indicate that fire is prohibited as follows:
Indicates compulsory actions that must be performed. For example, this
symbol would be used to indicate that grounding is compulsory as
follows:
vi
Safety Precautions
This section describes important precautions that must be followed during storage, transportation, installation,
wiring, operation, maintenance, inspection, and disposal. Be sure to always observe these precautions thoroughly.
• If you have a pacemaker or any other electronic medical device, do not go near the magnetic way of
the servomotor.
Failure to observe this warning may result in the malfunction of the medical device.
• Be sure to use nonmagnetic tools when installing or working close to the servomotor.
(Example: a beryllium-copper alloy hexagonal wrench set, made by NGK Insulators, Ltd.)
• Never touch the servomotor or machinery during operation.
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 or damage to the equipment.
• Before wiring, install the SERVOPACK and the servomotor.
Failure to observe this warning may result in electric shock.
• Never touch the inside of the SERVOPACKs.
Failure to observe this warning may result in electric shock.
• Do not remove the cover of the power supply terminal block while the power is ON.
Failure to observe this warning may result in electric shock.
• Do not touch the power supply terminals while the CHARGE lamp is ON after turning power OFF
because high voltage may still remain in the SERVOPACK. Make sure the CHARGE lamp is OFF
first before starting to do wiring or inspections.
Residual voltage may cause electric shock.
• Follow the procedures and instructions provided in the manuals for the products being used in the
trial operation.
Failure to do so may result not only in faulty operation and damage to equipment, but also in personal injury.
• Do not remove the top front cover, cables, connectors, or optional items from the SERVOPACK
while the power is ON.
Failure to observe this warning may result in electric shock or equipment damage.
• Do not damage, pull, exert excessive force on, or place heavy objects on the cables.
Failure to observe this warning may result in electric shock, stopping operation of the product, or fire.
• Do not modify the product.
Failure to observe this warning may result in injury, damage to the equipment, or fire.
• Provide appropriate braking devices on the machine side to ensure safety.
Failure to observe this warning may result in injury.
• Do not come close to the machine immediately after resetting an instantaneous power interruption
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 according to local electrical codes (100 Ω or less for a SERVOPACK
with a 100 V, 200 V power supply, 10 Ω or less for a SERVOPACK with a 400 V power supply).
Improper grounding may result in electric shock or fire.
WARNING
• Installation, disassembly, or repair must be performed only by authorized personnel.
Failure to observe this warning may result in electric shock or injury.
• The person who designs a system using the safety function (Hard Wire Baseblock function) must
have full knowledge of the related safety standards and full understanding of the instructions in this
manual.
Failure to observe this warning may result in injury or damage to the equipment.
vii
Storage and Transportation
CAUTION
• Be sure to store the magnetic way in the package that was used for delivery.
• Do not store or install the product in the following locations.
Failure to observe this caution may result in fire, electric shock, or damage to the equipment.
• 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
• Do not hold the servomotor by the cables while transporting it.
Failure to observe this caution may result in injury or malfunction.
• Do not place any load exceeding the limit specified on the packing box.
Failure to observe this caution may result in injury or malfunction.
• If disinfectants or insecticides must be used to treat packing materials such as wooden frames, pallets, or plywood, the packing materials must be treated before the product is packaged, and methods other than fumigation must be used.
Example: Heat treatment, where materials are kiln-dried to a core temperature of 56
minutes or more.
If the electronic products, which include stand-alone products and products installed in machines, are packed
with fumigated wooden materials, the electrical components may be greatly damaged by the gases or fumes
resulting from the fumigation process. In particular, disinfectants containing halogen, which includes chlorine, fluorine, bromine, or iodine can contribute to the erosion of the capacitors.
°
C for 30
viii
Installation
Cover
Magnetic way
• When unpacking and installing magnetic way, check that no metal fragments or magnetized objects
near the magnetic because they may be affected by the magnetic attraction of the magnetic way.
Failure to observe this caution may result in injury or damage to the magnetic way's magnets.
• Do not use the magnetic way near metal or other magnetized objects.
Failure to observe this caution may result in injury.
• Do not place clocks, magnetic cards, floppy disks, or measuring instruments close to the magnetic
way.
Failure to observe this caution may result in malfunction or damage to these items by the magnetic force.
• Securely mount the servomotor onto the machine.
If the servomotor is not mounted securely, it may loosen during operation.
• Do not carry the magnetic way by its magnet protection cover.
Failure to observe this caution may result in injury by the cover’s edge or the shape of the cover may become
distorted.
CAUTION
• When removing the dummy plate for reducing magnetic force used for the SGLFW magnetic way,
pay attention to the magnetic attraction of the magnetic way. Do not place the removed plate close
to the magnetic way.
Failure to observe this caution may result in injury or damage to the magnetic way’s magnets or the magnet
protection cover.
• Install SERVOPACKs, servomotors, and regenerative resistors on nonflammable objects.
Installation directly onto or near flammable objects may result in fire.
• Never use the product in an environment subject to water, corrosive gases, flammable gases, or
combustibles.
Failure to observe this caution may result in electric shock or fire.
• Do not step on or place a heavy object on the product.
Failure to observe this caution may result in injury or malfunction.
• 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.
ix
Wiring
CAUTION
• Be sure to wire correctly and securely.
Failure to observe this caution may result in motor overrun, injury, or malfunction.
• Securely tighten the cable connector screws and securing mechanism.
If the connector screws and securing mechanism are not secure, they may loosen during operation.
• Use cables with a radius, heat resistance, and flexibility suitable for the system.
• If the SERVOPACK malfunctions, turn OFF the main circuit’s power supply of the SERVOPACK.
The continuous flow of a large current may cause fire.
• Use a noise filter to minimize the effects of electromagnetic damage.
Failure to observe this caution may result in electromagnetic damage to electronic devices used near the SERVOPACK.
• Do not connect a commercial power supply to the U, V, or W terminals for the servomotor connection.
Failure to observe this caution may result in injury or fire.
• Securely connect the main circuit terminals.
Failure to observe this caution may result in fire.
• Do not bundle or run the main circuit cables together with the I/O signal cables or the linear scale
connection cables in the same duct. Keep the main circuit cables separated from the I/O signal
cables and the linear scale connection cables with a gap of at least 30 cm.
Placing these cables too close to each other may result in malfunction.
• Use shielded twisted-pair cables or screened unshielded twisted-pair cables for I/O signal cables
and the linear scale connection cables.
• Make sure that the length of each cable is equal to or shorter than the maximum wiring length listed
here.
• I/O signal cables: 3 m
• Connection cables for linear servomotor main circuit: 20 m
• Connection cables for serial converter unit: 20 m
• Connection cables for linear scale: 15 m
• Connection cables for hall sensor: 15 m
• Control power supply cables for the SERVOPACK with a 400-V power supply (+24 V, 0 V):10 m
• Be sure to observe the following precautions when wiring the SERVOPACK main circuit terminal
blocks.
• Do not turn the SERVOPACK power ON until all wiring, including the main circuit terminal blocks, has
been completed.
• If a connector is used for the main circuit terminals, remove the connector from the SERVOPACK before
you wire it.
• Insert only one wire into one opening in the main circuit connector.
• Make sure that no part of the core wire comes into contact with (i.e., short-circuits) adjacent wires.
• Do not connect the SERVOPACK for 200 V directly to a voltage of 400 V.
The SERVOPACK will be destroyed.
• When connecting an External Regenerative Resistor to the SGDV-3R8A, -5R5A, -7R6A, -120A,
-180A, -200A, -330A, -1R9D, -3R5D, -5R4D, -8R4D, -120D, or -170D, first remove the lead wire
between the B2 and B3 terminals on the SERVOPACK, and then connect the External Regenerative Resistor.
There is a risk of SERVOPACK failure.
• Always use the specified power supply voltage.
An incorrect voltage may result in fire or malfunction.
• Make sure that the polarity is correct.
Incorrect polarity may cause ruptures or damage.
• 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 equipment.
• Install external breakers or other safety devices against short-circuiting in external wiring.
Failure to observe this caution may result in fire.
• Take appropriate and sufficient countermeasures for each form of potential interference when
installing systems in the following locations.
• Locations subject to static electricity or other forms of noise
• Locations subject to strong electromagnetic fields and magnetic fields
• Locations subject to possible exposure to radioactivity
• Locations close to power supplies
Failure to observe this caution may result in damage to the equipment.
• Wiring or inspection must be performed by a technical expert.
•
Use a
24-VDC power supply with double insulation or reinforced insulation.
x
Operation
• Do not stand within the machine's range of motion during operation.
Failure to observe this caution may result in injury.
• Always use the servomotor and SERVOPACK in one of the specified combinations.
Failure to observe this caution may result in fire or malfunction.
• Before operation, install limit switches or stoppers at the ends of the range of movement to prevent
unexpected accidents.
Failure to observe this caution may result in injury.
• During trial operation, confirm that the holding brake works correctly. Furthermore, secure system
safety against problems such as signal line disconnection.
Failure to observe this caution may result in injury or equipment damage.
• Before starting operation with a machine connected, change the parameter 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.
• Do not turn the power ON and OFF more than necessary.
Do not use the SERVOPACK for applications that require the power to turn ON and OFF frequently. Such
applications will cause elements in the SERVOPACK to deteriorate.
As a guideline, at least one hour should be allowed between the power being turned ON and OFF once actual
operation has been started.
• When carrying out JOG operation (Fn002), origin search (Fn003), or EasyFFT (Fn206), forcing
movable machine parts to stop does not work for forward overtravel or reverse overtravel. Take
necessary precautions.
Failure to observe this caution may result in damage to the equipment.
• When using the servomotor for a vertical axis, install safety devices to prevent workpieces from falling due to alarms or overtravels. Set the servomotor so that it will stop in the zero clamp state when
overtravel occurs.
Failure to observe this caution may cause workpieces to fall due to overtravel.
• When not using the turning-less function, set the correct mass ratio (Pn103).
Setting an incorrect mass ratio may cause machine vibration.
• Do not touch the SERVOPACK heat sinks, 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 or damage to the equipment due to unstable operation.
• If an alarm occurs, shut down the main circuit power supply.
Failure to observe this caution may result in fire due to regenerative resistor overheating caused by regenerative transistor failure.
• When an alarm occurs, remove the cause, reset the alarm after confirming safety, and then resume
operation.
Failure to observe this caution may result in damage to the equipment, fire, or injury.
• An alarm or warning may occur if communications are performed with the host controller while the
SigmaWin+ or Digital Operator is operating.
If an alarm or warning occurs, it may stop the current process and stop the system.
CAUTION
Maintenance and Inspection
• Do not disassemble the SERVOPACK and the servomotor.
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 copying the previous SERVOPACK
parameters to the new SERVOPACK.
Failure to observe this caution may result in damage to the equipment.
CAUTION
xi
Disposal Precautions
CAUTION
• Correctly discard the product as stipulated by regional, local, and municipal laws and regulations. Be sure to include these contents in all labelling and warning notifications on the
final product as necessary.
General Precautions
Observe the following general precautions
to ensure safe application.
• The products shown in illustrations in this manual are sometimes shown without covers or protective guards.
Always replace the cover or protective guard as specified first, and then operate the products in accordance with
the manual.
• The drawings presented in this manual are typical examples and may not match the product you received.
• If the manual must be ordered due to loss or damage, inform your nearest Yaskawa representative or one of the
offices listed on the back of this manual.
xii
Warranty
(1) Details of Warranty
Warranty Period
Warranty Scope
(2) Limitations of Liability
The warranty period for a product that was purchased (hereinafter called “delivered product”) is one year from
the time of delivery to the location specified by the customer or 18 months from the time of shipment from the
Yaskawa factory, whichever is sooner.
Yaskawa shall replace or repair a defective product free of charge if a defect attributable to Yaskawa occurs
during the warranty period above. This warranty does not cover defects caused by the delivered product reaching the end of its service life and replacement of parts that require replacement or that have a limited service
life.
This warranty does not cover failures that result from any of the following causes.
1. Improper handling, abuse, or use in unsuitable conditions or in environments not described in product catalogs or manuals, or in any separately agreed-upon specifications
2. Causes not attributable to the delivered product itself
3. Modifications or repairs not performed by Yaskawa
4. Abuse of the delivered product in a manner in which it was not originally intended
5. Causes that were not foreseeable with the scientific and technological understanding at the time of shipment from Yaskawa
6. Events for which Yaskawa is not responsible, such as natural or human-made disasters
1. Yaskawa shall in no event be responsible for any damage or loss of opportunity to the customer that arises
due to failure of the delivered product.
2. Yaskawa shall not be responsible for any programs (including parameter settings) or the results of program
execution of the programs provided by the user or by a third party for use with programmable Yaskawa
products.
3. The information described in product catalogs or manuals is provided for the purpose of the customer purchasing the appropriate product for the intended application. The use thereof does not guarantee that there
are no infringements of intellectual property rights or other proprietary rights of Yaskawa or third parties,
nor does it construe a license.
4. Yaskawa shall not be responsible for any damage arising from infringements of intellectual property rights
or other proprietary rights of third parties as a result of using the information described in catalogs or manuals.
xiii
(3) Suitability for Use
1. It is the customer’s responsibility to confirm conformity with any standards, codes, or regulations that
apply if the Yaskawa product is used in combination with any other products.
2. The customer must confirm that the Yaskawa product is suitable for the systems, machines, and equipment
used by the customer.
3. Consult with Yaskawa to determine whether use in the following applications is acceptable. If use in the
application is acceptable, use the product with extra allowance in ratings and specifications, and provide
safety measures to minimize hazards in the event of failure.
• Outdoor use, use involving potential chemical contamination or electrical interference, or use in conditions or environments not described in product catalogs or manuals
• Nuclear energy control systems, combustion systems, railroad systems, aviation systems, vehicle systems, medical equipment, amusement machines, and installations subject to separate industry or government regulations
• Systems, machines, and equipment that may present a risk to life or property
• Systems that require a high degree of reliability, such as systems that supply gas, water, or electricity, or
systems that operate continuously 24 hours a day
• Other systems that require a similar high degree of safety
4. Never use the product for an application involving serious risk to life or property without first ensuring that
the system is designed to secure the required level of safety with risk warnings and redundancy, and that the
Yaskawa product is properly rated and installed.
5. The circuit examples and other application examples described in product catalogs and manuals are for reference. Check the functionality and safety of the actual devices and equipment to be used before using the
product.
6. Read and understand all use prohibitions and precautions, and operate the Yaskawa product correctly to
prevent accidental harm to third parties.
(4) Specifications Change
The names, specifications, appearance, and accessories of products in product catalogs and manuals may be
changed at any time based on improvements and other reasons. The next editions of the revised catalogs or
manuals will be published with updated code numbers. Consult with your Yaskawa representative to confirm
the actual specifications before purchasing a product.
xiv
Harmonized Standards
North American Safety Standards (UL)
Model
SERVOPACK SGDV UL508C (E147823)
EU Directives
Model EU Directives Harmonized Standards
Machinery Directive
2006/42/EC
EMC Directive
SERVOPACK SGDV
2014/30/EU
Low Voltage Directive
2014/35/EU
RoHS Directive
2011/65/EU
Safety Standards
UL Standards
(UL File No.)
EN ISO13849-1: 2015
EN 55011 group1 classA
EN 61000-6-2
EN 61000-6-4
EN 61800-3 (Category C2, Second Environment)
EN 50178
EN 61800-5-1
EN 50581
Model Safety Standards Standards
EN ISO13849-1: 2015
IEC 60204-1
IEC 61508 series
IEC 62061
IEC 61800-5-2
SERVOPACK SGDV
Safety of Machinery
Functional Safety
EMC IEC 61326-3-1
• Safety Performance
Items Standards Performance Level
Safety Integrity Level
Probability of Dangerous Failure per Hour
Performance Level EN ISO 13849-1 PL d (Category 3)
IEC 61508 SIL2
IEC 62061 SILCL2
IEC 61508
IEC 62061
PFH = 1.7 × 10
(0.17% of SIL2)
-9
[1/h]
xv
(cont’d)
Items Standards Performance Level
Mean Time to Dangerous Failure of Each
Channel
Average Diagnostic Coverage EN ISO 13849-1 DCavg: Low
Stop Category IEC 60204-1 Stop category 0
Safety Function IEC 61800-5-2 STO
Proof test Interval IEC 61508 10 years
EN ISO 13849-1 MTTFd: High
xvi
Contents
Chapter 1 Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-1
1.1 Σ-V Series SERVOPACKs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2
1.2 SERVOPACKs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2
1.3 Part Names . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2
1.4 SERVOPACK Ratings and Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3
1.4.1 Ratings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3
1.4.2 Basic Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-4
1.5 SERVOPACK Internal Block Diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-7
1.5.1 Single-phase 100 V, SGDV-R70FE5A, -R90FE5A, -2R1FE5A Models . . . . . . . . . . . . . . . 1-7
1.5.2 Single-phase 100 V, SGDV-2R8FE5A Model. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-8
1.5.3 Three-phase 200 V, SGDV-R70AE5A, -R90AE5A, -1R6AE5A Models . . . . . . . . . . . . . . .1-8
1.5.4 Three-phase 200 V, SGDV-2R8AE5A Model. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-9
1.5.5 Three-phase 200 V, SGDV-3R8AE5A, -5R5AE5A, -7R6AE5A Models . . . . . . . . . . . . . . .1-9
1.5.6 Three-phase 200 V, SGDV-120AE5A Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-10
1.5.7 Three-phase 200 V, SGDV-180AE5A, -200AE5A Models . . . . . . . . . . . . . . . . . . . . . . . .1-10
1.5.8 Three-phase 200 V, SGDV-330AE5A Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-11
1.5.9 Three-phase 200 V, SGDV-550AE5A Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-11
1.5.10 Three-phase 400 V, SGDV-1R9DE5A, -3R5DE5A, -5R4DE5A Models. . . . . . . . . . . . . 1-12
1.5.11 Three-phase 400 V, SGDV-8R4DE5A, -120DE5A Models. . . . . . . . . . . . . . . . . . . . . . .1-12
1.5.12 Three-phase 400 V, SGDV-170DE5A Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-13
1.5.13 Three-phase 400 V, SGDV-260DE5A Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-13
1.6 Examples of Servo System Configurations . . . . . . . . . . . . . . . . . . . . . . . . . 1-14
1.6.1 Connecting to SGDV-FE5A SERVOPACK . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-14
1.6.2 Connecting to SGDV-AE5A SERVOPACK . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-15
1.6.3 Connecting to SGDV-DE5A SERVOPACK . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-17
1.7 SERVOPACK Model Designation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-18
1.8 Servo Drive Maintenance and Inspection . . . . . . . . . . . . . . . . . . . . . . . . . . 1-19
1.8.1 SERVOPACK Inspection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-19
1.8.2 SERVOPACK’s Parts Replacement Schedule . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-19
1.8.3 Servomotor Inspection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-20
About this Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . iii
Safety Precautions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . vii
Warranty. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xiii
Harmonized Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xv
Chapter 2 Panel Display and Operation of Digital Operator . . . . . . . . . . . .2-1
2.1 Panel Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2
2.1.1 Status Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2
2.1.2 Alarm and Warning Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-2
2.1.3 Hard Wire Base Block Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-2
2.1.4 Overtravel Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2
2.2 Operation of Digital Operator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3
2.3 Utility Functions (Fn) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3
2.4 Parameters (Pn) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4
2.4.1 Parameter Classification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-4
2.4.2 Notation for Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-4
2.4.3 Setting Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-5
2.5 Monitor Displays (Un). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-7
xvii
Chapter 3 Wiring and Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-1
3.1 Main Circuit Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2
3.1.1 Main Circuit Terminals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-2
3.1.2 Using a Standard Power Supply
(Single-phase 100 V, Three-phase 200 V, or Three-phase 400 V) . . . . . . . . . . . . . . . . . . 3-3
3.1.3 Using the SERVOPACK with Single-phase, 200 V Power Input . . . . . . . . . . . . . . . . . . . 3-11
3.1.4 Using the SERVOPACK with a DC Power Input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-14
3.1.5 Using More Than One SERVOPACK. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-18
3.1.6 General Precautions for Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-19
3.2 I/O Signal Connections. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-20
3.2.1 I/O Signal (CN1) Names and Functions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-20
3.2.2 Safety Function Signal (CN8) Names and Functions. . . . . . . . . . . . . . . . . . . . . . . . . . . .3-21
3.2.3 Example of I/O Signal Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-22
3.3 I/O Signal Allocations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-23
3.3.1 Input Signal Allocations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-23
3.3.2 Output Signal Allocations. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-25
3.4 Examples of Connection to Host Controller . . . . . . . . . . . . . . . . . . . . . . . . . 3-26
3.4.1 Sequence Input Circuit. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-26
3.4.2 Sequence Output Circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-27
3.5 Wiring Communications Using Command Option Modules . . . . . . . . . . . . . 3-29
3.6 Linear Scale Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-30
3.6.1 Linear Scale Signal (CN2) Names and Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-30
3.6.2 Serial Converter Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-30
3.6.3 Linear Scale Connection Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-33
3.7 Connecting Regenerative Resistors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-37
3.7.1 Connecting Regenerative Resistors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-37
3.7.2 Setting Regenerative Resistor Capacity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-39
3.8 Noise Control and Measures for Harmonic Suppression . . . . . . . . . . . . . . . 3-40
3.8.1 Wiring for Noise Control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-40
3.8.2 Precautions on Connecting Noise Filter. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-42
3.8.3 Connecting a Reactor for Harmonic Suppression . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-43
Chapter 4 Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-1
4.1 Option Module Function Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-3
4.2 Settings for Common Basic Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-4
4.2.1 Inspection and Checking before Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-4
4.2.2 Servomotor Movement Direction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-4
4.2.3 Overtravel. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-6
4.2.4 Electronic Gear . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-9
4.2.5 Encoder Output Pulses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-12
4.2.6 Setting Encoder Output Pulse . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-18
4.2.7 Holding Brakes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-19
4.2.8 Stopping Servomotors after Servo OFF Command or Alarm Occurrence . . . . . . . . . . . . 4-23
4.2.9 Instantaneous Power Interruption Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-25
4.2.10 Motor Maximum Speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-26
4.2.11 SEMI F47 Function
(Force Limit Function for Low DC Power Supply Voltage for Main Circuit). . . . . . . . . . . 4-26
4.2.12 Setting Motor Overload Detection Level . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-29
4.3 Test Without Motor Function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-31
4.3.1 Motor Information. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-31
4.3.2 Motor Position and Speed Responses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-32
4.3.3 Limitations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-32
4.3.4 Digital Operator Displays during Testing without Motor . . . . . . . . . . . . . . . . . . . . . . . . . . 4-33
4.4 Limiting Force. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-34
4.4.1 Internal Force Limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-34
4.4.2 External Force Limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-35
4.4.3 Checking Output Force Limiting during Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-36
xviii
4.5 Absolute Linear Scales . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-37
4.5.1 Absolute Data Request (Sensor ON Command) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-37
4.5.2 Absolute Data Reception Sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-38
4.6 Other Output Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-41
4.6.1 Servo Alarm Output Signal (ALM) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-41
4.6.2 Warning Output Signal (/WARN) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-41
4.6.3 Movement Detection Output Signal (/TGON). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-42
4.6.4 Servo Ready Output Signal (/S-RDY) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-42
4.6.5 Speed Coincidence Output Signal (/V-CMP) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-43
4.6.6 Positioning Completed Output Signal (/COIN) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-44
4.6.7 Positioning Near Output Signal (/NEAR) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-45
4.6.8 Speed Limit Detection Signal (/VLT) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-46
4.7 Safety Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-48
4.7.1 Hard Wire Base Block (HWBB) Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-48
4.7.2 External Device Monitor (EDM1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-53
4.7.3 Application Example of Safety Functions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-55
4.7.4 Confirming Safety Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-56
4.7.5 Safety Device Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-57
4.7.6 Precautions for Safety Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-58
Chapter 5 Adjustments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-1
5.1 Type of Adjustments and Basic Adjustment Procedure . . . . . . . . . . . . . . . . . 5-3
5.1.1 Adjustments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-3
5.1.2 Basic Adjustment Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-4
5.1.3 Monitoring Operation during Adjustment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-5
5.1.4 Safety Precautions on Adjustment of Servo Gains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-8
5.2 Tuning-less Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-10
5.2.1 Tuning-less Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-10
5.2.2 Tuning-less Levels Setting (Fn200) Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-12
5.2.3 Related Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-14
5.3 Advanced Autotuning (Fn201) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-15
5.3.1 Advanced Autotuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-15
5.3.2 Advanced Autotuning Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-18
5.3.3 Related Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-24
5.4 Advanced Autotuning by Reference (Fn202). . . . . . . . . . . . . . . . . . . . . . . . 5-25
5.4.1 Advanced Autotuning by Reference. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-25
5.4.2 Advanced Autotuning by Reference Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-27
5.4.3 Related Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-31
5.5 One-parameter Tuning (Fn203) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-32
5.5.1 One-parameter Tuning. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-32
5.5.2 One-parameter Tuning Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-33
5.5.3 One-parameter Tuning Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-39
5.5.4 Related Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-41
5.6 Anti-Resonance Control Adjustment Function (Fn204) . . . . . . . . . . . . . . . . 5-42
5.6.1 Anti-Resonance Control Adjustment Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-42
5.6.2 Anti-Resonance Control Adjustment Function Operating Procedure . . . . . . . . . . . . . . . .5-43
5.6.3 Related Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-47
5.7 Vibration Suppression Function (Fn205) . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-48
5.7.1 Vibration Suppression Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-48
5.7.2 Vibration Suppression Function Operating Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . .5-49
5.7.3 Related Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-52
5.8 Additional Adjustment Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-53
5.8.1 Switching Gain Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-53
5.8.2 Manual Adjustment of Friction Compensation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-57
5.8.3 Current Control Mode Selection Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-59
5.8.4 Current Gain Level Setting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-59
5.8.5 Speed Detection Method Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-59
xix
5.9 Compatible Adjustment Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-60
5.9.1 Feedforward Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-60
5.9.2 Mode Switch (P/PI Switching) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-61
5.9.3 Force Reference Filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-63
5.9.4 Position Integral . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-65
Chapter 6 Utility Functions (Fn) . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-1
6.1 List of Utility Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-2
6.2 Alarm History Display (Fn000) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-3
6.3 JOG Operation (Fn002) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-4
6.4 Origin Search (Fn003) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-6
6.5 Program JOG Operation (Fn004). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-8
6.6 Initializing Parameter Settings (Fn005) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-12
6.7 Clearing Alarm History (Fn006) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-13
6.8 Offset Adjustment of Analog Monitor Output (Fn00C) . . . . . . . . . . . . . . . . . 6-14
6.9 Gain Adjustment of Analog Monitor Output (Fn00D) . . . . . . . . . . . . . . . . . . 6-16
6.10 Automatic Offset-Signal Adjustment of the Motor Current Detection
Signal (Fn00E) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-18
6.11 Manual Offset-Signal Adjustment of the Motor Current Detection
Signal (Fn00F) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-19
6.12 Write Prohibited Setting (Fn010) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-21
6.13 Servomotor Model Display (Fn011) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-23
6.14 Software Version Display (Fn012) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-24
6.15 Resetting Configuration Errors in Option Modules (Fn014) . . . . . . . . . . . . 6-25
6.16 Vibration Detection Level Initialization (Fn01B) . . . . . . . . . . . . . . . . . . . . . 6-26
6.17 Display of SERVOPACK and Servomotor ID (Fn01E) . . . . . . . . . . . . . . . . 6-28
6.18 Origin Setting (Fn020) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-30
6.19 Software Reset (Fn030) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-31
6.20 Polarity Detection (Fn080) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-32
6.21 EasyFFT (Fn206) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-33
6.22 Online Vibration Monitor (Fn207) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-36
xx
Chapter 7 Monitor Displays (Un) . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-1
7.1 List of Monitor Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-2
7.2 Viewing Monitor Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-3
7.3 Monitoring Input Signals. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-4
7.3.1 Interpreting Input Signal Display Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-4
7.3.2 Input Signal Display Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-5
7.4 Monitoring Output Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-6
7.4.1 Interpreting Output Signal Display Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-6
7.4.2 Output Signal Display Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-6
7.5 Monitoring Safety Input Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-7
7.5.1 Interpreting Safety Input Signal Display Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-7
7.5.2 Safety Input Signal Display Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-7
Chapter 8 Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-1
8.1 Alarm Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-2
8.1.1 List of Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-2
8.1.2 Troubleshooting of Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-6
8.2 Warning Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-25
8.2.1 List of Warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-25
8.2.2 Troubleshooting of Warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-26
8.3 Troubleshooting Malfunction Based on Operation and Conditions
of the Servomotor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-30
Chapter 9 Appendix. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-1
9.1 List of Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-2
9.2 Parameter Recording Table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-22
Index. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Index-1
Revision History
xxi
1
Outline
1
Outline
1.1 Σ-V Series SERVOPACKs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2
1.2 SERVOPACKs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-2
1.3 Part Names . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-2
1.4 SERVOPACK Ratings and Specifications . . . . . . . . . . . . . . . . . . . . . . . . . 1-3
1.4.1 Ratings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3
1.4.2 Basic Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-4
1.5 SERVOPACK Internal Block Diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-7
1.5.1 Single-phase 100 V, SGDV-R70FE5A, -R90FE5A, -2R1FE5A Models . . . . . . . . . . . 1-7
1.5.2 Single-phase 100 V, SGDV-2R8FE5A Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-8
1.5.3 Three-phase 200 V, SGDV-R70AE5A, -R90AE5A, -1R6AE5A Models . . . . . . . . . . . 1-8
1.5.4 Three-phase 200 V, SGDV-2R8AE5A Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-9
1.5.5 Three-phase 200 V, SGDV-3R8AE5A, -5R5AE5A, -7R6AE5A Models . . . . . . . . . . . 1-9
1.5.6 Three-phase 200 V, SGDV-120AE5A Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-10
1.5.7 Three-phase 200 V, SGDV-180AE5A, -200AE5A Models . . . . . . . . . . . . . . . . . . . . 1-10
1.5.8 Three-phase 200 V, SGDV-330AE5A Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-11
1.5.9 Three-phase 200 V, SGDV-550AE5A Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-11
1.5.10 Three-phase 400 V, SGDV-1R9DE5A, -3R5DE5A, -5R4DE5A Models . . . . . . . . . 1-12
1.5.11 Three-phase 400 V, SGDV-8R4DE5A, -120DE5A Models . . . . . . . . . . . . . . . . . . . 1-12
1.5.12 Three-phase 400 V, SGDV-170DE5A Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-13
1.5.13 Three-phase 400 V, SGDV-260DE5A Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-13
1.6 Examples of Servo System Configurations . . . . . . . . . . . . . . . . . . . . . . .1-14
1.6.1 Connecting to SGDV-FE5A SERVOPACK . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-14
1.6.2 Connecting to SGDV-AE5A SERVOPACK . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-15
1.6.3 Connecting to SGDV-DE5A SERVOPACK . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-17
1.7 SERVOPACK Model Designation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-18
1.8 Servo Drive Maintenance and Inspection . . . . . . . . . . . . . . . . . . . . . . . . 1-19
1.8.1 SERVOPACK Inspection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-19
1.8.2 SERVOPACK’s Parts Replacement Schedule . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-19
1.8.3 Servomotor Inspection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-20
1-1
1 Outline
CN5 Analog monitor connector
Used to monitor motor speed, force
reference, and other values through
a special cable (option).
Panel display
Connects external regenerative resistors.
Used for control power supply input.
Charge indicator
Front cover
CN3 Connector for digital operator
CN1 I/O signal connector
Used to connect sequence I/O signals.
Nameplate (Found on side of SERVOPACK.)
Indicates the SERVOPACK model and ratings.
CN7 Connector for personal computer
(USB connector)
Communicates with a personal computer.
Use the connection cable (model: JZSP-CVS06-02-E).
CN2 Linear scale connector
Connects a serial converter unit or a linear scale.
Ground terminal
Be sure to connect to protect against electrical shock.
Main circuit power supply terminals
Used for main circuit power supply input.
Control power supply terminals
Servomotor terminals
Connects the main circuit cable for servomotor.
SERVOPACK model
Regenerative resistor connecting terminals
Input voltage
CN8 Connector for safety function devices
DC reactor terminals for harmonic suppression
Connects DC reactor for harmonic suppression.
With front cover open
Refer to the manual for the connected
command option module.
Lights when the main circuit power supply is ON
and stays lit as long as the internal capacitor
remains charged. Therefore, do not touch the
SERVOPACK even after the power supply is
turned OFF if the indicator is lit.
It may result in electric shock.
Serial number
Rotary switch (SW 1)
Refer to the manual for the connected
command option module.
DIP switch (SW 2)
Indicates the servo status with a seven-segment LED
display.
Power LED indicator (POWER)
Indicates that the control power is being supplied.
Communications LED indicator (COM)
Not used. Normally OFF.
Connects a safety function device.
Note: When not using a safety function device, use the
SERVOPACK with the safety function’s jumper
connector inserted (the factory default state).
For the connecting method, refer to 3.2.2 Safety
Function Signal (CN8) Names and Functions.
For details on how to use the safety function, refer to 4.7 Safety Function.
Refer to 2.1.1 Status Display.
Refer to 1.7 SERVOPACK Model Designation.
Refer to 3.2 I/O Signal Connections.
Refer to 3.6 Linear Scale Connection.
Refer to 3.1 Main Circuit Wiring.
Refer to 3.1 Main Circuit Wiring.
Refer to 3.8.3 Connecting a Reactor for Harmonic
Suppression.
Refer to 3.7 Connecting Regenerative Resistors.
Refer to 3.1 Main Circuit Wiring.
Refer to 3.1 Main Circuit Wiring.
Refer to 5.1.3 Monitoring Operation during
Adjustment.
Connects a digital operator (option, model: JUSPOP05A-1-E) or a personal computer (RS422).
Refer to Σ-V Series Product Catalog (No.: KAEP
S800000 42) and
Σ
-V Series User’s Manual, Operation
of Digital Operator (No.: SIEP S800000 55).
1.1 Σ-V Series SERVOPACKs
The Σ-V Series SERVOPACKs are designed for applications that require frequent high-speed, high-precision
positioning. The SERVOPACK makes the most of machine performance in the shortest time possible, thus
contributing to improving productivity.
1.2 SERVOPACKs
The command option attachable type SERVOPACK is used with command option modules. For reference
methods, I/O signals, and other operations, refer to the manual for the command option module that is connected.
1.3 Part Names
This section describes the part names of an SGDV Command Option-attachable SERVOPACK.
1-2
1.4 SERVOPACK Ratings and Specifications
1
Outline
1.4 SERVOPACK Ratings and Specifications
This section describes the ratings and specifications of SERVOPACKs.
1.4.1 Ratings
Ratings of SERVOPACKs are as shown below.
(1) SGDV with Single-phase, 100-V Rating
SGDV (Single Phase, 100 V) R70 R90 2R1 2R8
Continuous Output Current [Arms] 0.66 0.91 2.1 2.8
Instantaneous Max. Output Current [Arms] 2.1 2.9 6.5 9.3
Regenerative Resistor * None or external
Main Circuit Power Supply Single-phase, 100 to 115 VAC, +10% to -15%, 50/60 Hz
Control Power Supply Single-phase, 100 to 115 VAC, +10% to -15%, 50/60 Hz
Overvoltage Category III
∗ Refer to 3.7 Connecting Regenerative Resistors for details.
(2) SGDV with Three-phase, 200-V Rating
(Three Phase, 200 V)
SGDV
Continuous Output Current
[Arms]
Instantaneous Max. Output
Current [Arms]
Regenerative Resistor
Main Circuit Power Supply Three-phase, 200 to 230 VAC, +10% to -15%, 50/60 Hz
Control Power Supply Single-phase, 200 to 230 VAC, +10% to -15%, 50/60 Hz
Overvoltage Category III
∗ Refer to 3.7 Connecting Regenerative Resistors for details.
R70 R90 1R6 2R8 3R8 5R5 7R6 120 180 200 330 550
0.66 0.91 1.6 2.8 3.8 5.5 7.6 11.6 18.5 19.6 32.9 54.7
2.1 2.9 5.8 9.3 11.0 16.9 17 28 42 56 84 130
*
None or external Built-in or external External
(3) SGDV with Three-phase, 400-V Rating
SGDV
(Three Phase, 400 V)
Continuous Output Current
[Arms]
Instantaneous Max. Output
Current [Arms]
Regenerative Resistor
Main Circuit Power Supply Three-phase, 380 to 480 VAC, +10% to -15%, 50/60 Hz
Control Power Supply 24 VDC ±15%
Overvoltage Category III
*
1R9 3R5 5R4 8R4 120 170 260
1.9 3.5 5.4 8.4 11.9 16.5 25.7
5.5 8.5 14 20 28 42 65
Built-in or external External
∗ Refer to 3.7 Connecting Regenerative Resistors for details.
1-3
1 Outline
Linear scale pitch of absolute linear scale
Signal resolution
*1
=
Number of divisions on absolute linear scale
Linear scale pitch of incremental linear scale
Signal resolution
*2
=
Number of divisions on serial converter unit
1.4.2 Basic Specifications
1.4.2 Basic Specifications
Basic specifications of SERVOPACKs are shown below.
Drive Method Sine-wave current drive with PWM control of IGBT
• Absolute linear scale
Feedback
Ambient Operating Temperature
• Incremental linear scale
0°C to +55°C
Storage Temperature -20°C to +85°C
90% RH or
less
90% RH or
less
2
4.9 m/s
19.6 m/s
2
With no freezing or condensation
An environment that satisfies the following conditions.
Operating
Conditions
Ambient Humidity
Storage Humidity
Vibration Resistance
Shock Resistance
Protection Class IP10
• Free of corrosive or flammable gases
• Free of exposure to water, oil, or chemicals
Pollution Degree 2
• Free of dust, salts, or iron dust
Altitude 1000 m or less
Others
Free of static electricity, strong electromagnetic fields, magnetic fields or
exposure to radioactivity
Harmonized Standards Refer to Harmonized Standards in the preface for details.
Mounting
Performance
Speed Control Range
Load
Regulation
Speed
Regu-
lation
*3
Volta ge
Regulation
Temperature
Regulation
Standard: Base-mounted
Optional: Rack-mounted or duct-ventilated
1:5000 (The lower limit of the speed control range must be lower than the
point at which the rated force does not cause the servomotor to stop.)
0% to 100% load: ±0.01% max. (at rated speed)
Rated voltage ±10%: 0% (at rated speed)
°
25 ± 25
C: ±0.1% max. (at rated speed)
Force Control
Tolerance
±1%
(Repeatability)
1-4
1.4 SERVOPACK Ratings and Specifications
1
Outline
(cont’d)
Encoder Output Pulse
Input
Sequence
Input
I/O
Signals
Sequence
Output
RS422A
Communications
Communications
Function
LED Display Panel display (seven-segment), CHARGE, POWER, and COM indicators
Analog Monitor (CN5)
Dynamic Brake (DB)
Regenerative Processing
Overtravel Prevention (OT)
Protective Function
Utility Function Gain adjustment, alarm history, JOG operation, origin search, and so on.
Safety Function
(CN3)
USB
Communications
(CN7)
Signals
which can
be allocated
Fixed Output Servo alarm (ALM) output
Output
Signals
which can
be allocated
Interface
1:N
Communica-
tions
Axis
Address
Setting
Interface Personal computer (can be connected with SigmaWin+)
Communica-
tions
Standard
Input /HWBB1, /HWBB2: Baseblock signal for power module
Output EDM1: Monitoring status of internal safety circuit (fixed output)
Standards
Phase A, B, C: line driver
Encoder output pulse: any setting ratio (Refer to 4.2.6.)
Number of
Channels
Functions
Number of
Channels
Functions
Digital operator (model: JUSP-OP05A-1-E)
Personal computer (can be connected with SigmaWin+)
N = Up to 15 stations possible at RS422A
Set by parameter
Complies with standard USB1.1. (12 Mbps)
Number of points: 2
Output voltage: ± 10VDC (linearity effective range ± 8 V)
Resolution: 16 bits
Accuracy:
Max. output current:
Settling time (
Activated when a servo alarm or overtraveling occurs or when the power
supply for the main circuit or servomotor is OFF.
Included
Dynamic brake stop, deceleration to a stop, or free run to a stop at P-OT or
N-OT
Overcurrent, overvoltage, insufficient voltage, overload, regeneration error,
and so on.
*6
EN ISO13849-1 PL d (Category 3), IEC61508 SIL2
7 ch
• Forward run prohibited (P-OT), reverse run prohibited (NOT)
• Forward external force limit (/P-CL), reverse external force
limit (/N-CL)
• General-purpose input signal (/SI0 to /SI6)
Signal allocations can be performed, and positive and negative
logic can be changed.
3 ch
• Positioning completion (/COIN)
• Speed coincidence detection (/V-CMP)
• Movement detection (/TGON)
• Servo ready (/S-RDY)
• Force limit detection (/CLT)
• Speed limit detection (/VLT)
• Brake (/BK)
• Warning (/WARN)
• Near (/NEAR)
• General-purpose input signal (/SO1 to /SO3)
Signal allocations can be performed, and positive and negative
logic can be changed.
±
20 mV (Typ)
±
10 mA
±
1%): 1.2 ms (Typ)
*5
*4
*4
1-5
1 Outline
1.4.2 Basic Specifications
Option Module Fully-closed module, safety module, or command option module
∗1. The signal resolution depends on the absolute linear scale being used. For details, refer to 4.2.4 Electronic Gear.
∗2. The signal resolution depends on the serial converter unit and linear scale being used. For details, refer to 3.6.2 Serial
Converter Unit and 4.2.4 Electronic Gear.
∗3. Speed regulation by load regulation is defined as follows:
Speed regulation =
For information on the functions, refer to the manual of the connected command option module.
∗4.
∗5. Refer to 1.4.1 Ratings for details on regenerative resistors.
∗6. Perform risk assessment for the system and be sure that the safety requirements are fulfilled.
No-load motor speed Total load motor speed
-
Rated motor
speed
×
(cont’d)
100%
1-6
1.5 SERVOPACK Internal Block Diagrams
1
Outline
1.5 SERVOPACK Internal Block Diagrams
1.5.1 Single-phase 100 V, SGDV-R70FE5A, -R90FE5A, -2R1FE5A Models
Main circuit
power supply
Control power
supply
* This external input signal is used by the option module.
For details, refer to the manual of the connected option module.
L1
L2
L1C
L2C
Varistor
Varistor
Voltage
sensor
Relay
drive
+
–
Control
power
supply
Panel display
+
–
+
–
Voltage
sensor
±12 V
+5 V
+17 V
CHARGE
Command option
module
B1/ B2
Gate drive
Temperature
Gate
drive
(PWM control, etc.)
(Position/speed
calculation, etc.)
sensor
ASIC
CPU
overcurrent
protector
Current
sensor
Analog
voltage
converter
CN10*CN3 CN7 CN8
Digital
operator
Personal
computer
Signal for safety function
Fan
+
Dynamic
brake circuit
I/O
12 V
CN2
CN5
CN1
U
V
W
Servomotor
ENC
Analog monitor
output
Encoder output
pulse
I/O signal
M
1-7
1 Outline
L1
L2
L1C
L2C
B1/ B2
U
V
W
CHARGE
M
ENC
+12 V
±12 V
+5 V
+17 V
Control
power
supply
Current
sensor
Dynamic
brake circuit
Servomotor
Gate
drive
Voltage
sensor
Voltage
sensor
Varistor
Varistor
Gate drive
overcurrent
protector
Temperature
sensor
Relay
drive
Fan
+
–
+
–
+
–
Control power
supply
Main circuit
power supply
CN10*CN3 CN7 CN8
CPU
(Position/speed
calculation, etc.)
Panel display
Digital
operator
Personal
computer
Signal for safety function
Command option
module
* This external input signal is used by the option module.
For details, refer to the manual of the connected option module.
CN2
I/O
CN1
CN5
Encoder output
pulse
Analog monitor
output
ASIC
(PWM control, etc.)
Analog
voltage
converter
I/O signal
L1
B1/ B2 B3
L2
L3
1
2
L1C
L2C
U
V
W
ENC
M
CHARGE
+17 V
±12 V
+5 V
Current
sensor
Dynamic
brake circuit
Servomotor
Gate
drive
Voltage
sensor
Voltage
sensor
Varistor
Varistor
Gate drive
overcurrent
protector
Temperature
sensor
Relay
drive
Control
power
supply
+
–
+
–
Main circuit
power supply
Control power
supply
+12 V
Fan
CN10*CN3 CN7 CN8
CPU
(Position/speed
calculation, etc.)
Panel display
Digital
operator
Personal
computer
Signal for safety function
Command option
module
* This external input signal is used by the option module.
For details, refer to the manual of the connected option module.
CN2
I/O
CN1
CN5
Encoder output
pulse
Analog monitor
output
ASIC
(PWM control, etc.)
Analog
voltage
converter
I/O signal
1.5.2 Single-phase 100 V, SGDV-2R8FE5A Model
1.5.2 Single-phase 100 V, SGDV-2R8FE5A Model
1.5.3 Three-phase 200 V, SGDV-R70AE5A, -R90AE5A, -1R6AE5A Models
1-8
1
Outline
1.5.4 Three-phase 200 V, SGDV-2R8AE5A Model
1.5 SERVOPACK Internal Block Diagrams
Main circuit
power supply
Control power
supply
* This external input signal is used by the option module.
For details, refer to the manual of the connected option module.
L1
L2
L3
1
2
L1C
L2C
Varistor
Varistor
Voltage
sensor
+
–
Relay
drive
Control
power
supply
CHARGE
Panel display
+17 V
+5 V
±12 V
B1/ B2 B3
+
–
Voltage
sensor
Gate
Temperature
drive
(PWM control, etc.)
(Position/speed
calculation, etc.)
sensor
ASIC
CPU
Gate drive
overcurrent
protector
CN10*CN3 CN7 CN8
Command option
module
Digital
operator
Personal
computer
Fan
+12 V
Dynamic
brake circuit
Current
sensor
CN2
CN5
Analog
voltage
converter
CN1
I/O
Signal for safety function
U
V
W
Servomotor
ENC
Analog monitor
output
Encoder output
pulse
I/O signal
M
1.5.5 Three-phase 200 V, SGDV-3R8AE5A, -5R5AE5A, -7R6AE5A Models
Main circuit
power supply
Control power
supply
L1
L2
L3
1
2
L1C
L2C
Varistor
Varistor
Voltage
sensor
B1/ B2 B3
+
+17 V
+5 V
±12 V
–
Voltage
sensor
Gate
Temperature
drive
(PWM control, etc.)
(Position/speed
calculation, etc.)
sensor
CPU
ASIC
Gate drive
overcurrent
protector
CHARGE
Relay
drive
Control
+
power
–
supply
Panel display
Current
sensor
Analog
voltage
converter
Dynamic
brake circuit
I/O
Fan
±12 V
CN2
CN5
CN1
U
V
W
Analog monitor
output
Encoder output
pulse
I/O signal
Servomotor
M
ENC
CN10*CN3 CN7 CN8
Command option
module
Digital
operator
Personal
computer
Signal for safety function
* This external input signal is used by the option module.
For details, refer to the manual of the connected option module.
1-9
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