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LEGEND Digital Torque Amplifier SGDG User`s Manual

1. 54 Rotary Motor Mounting 29 Rotary Motors Alignment 31 Mounting Direction unie seeds 31 Location eee tended 30 Shaft Tolerance 31 Vibration Class 33 Vibration Resistance 33 RES 33 SJEL episc e 33 eds 33 SGMPEHz deed 33 SGMSEH aset eet 33 SO MU iit eie ies 33 Hunaway i derea aa Tae EEE ieina EEEa 56 S Scale Polarity Error 56 Serial Converter Applied 7 JZDP A003 YAA 6 JZDP A004 6 JZDP AO005 Leti ee 6 006 6 JZDPzAO008 6 Servo Alarm Output cis coo iicet 41 Servomotor 53 Comprehensive 53 External iss LE 53 NOISE Lie tte deat eee tud 53 Oil Seal nt s 53 Vibration ecd 53 Maximum Capacity 5 Vibration Resistance and Class 33 56006 0161 5 SGEMW ec mt 3 SGLTW 80 3 SGETW 20A te tesis 3
2. 3 3 Power Noise Filter Tao rower ON Don Met t E MC1 Surge Supressor e M ej Lic SGDG OOGT Ge Servo amplifier L2C 24V 12V enna SVON 5 4 24V 12V CN1 27 DE OFF avio CN1 13 e 3310 SV Ol JALM mw CN1 14 ay AUi ah 1 35 JALM umm DB OFR RY2 av RUN gt DBOFF CN1 15 At RUN RUN Toa CMD IN CN1 3 AD 2 orce Reference CN1 4 EE Encoder PBO Divided PBO Output PCO PCO 26 SN75ALS174 or similar product 2 5 Standard Connection Examples 3 Phase Power Specification SGDG 10GT SGDG 15GT Power 90V 253V Ac 5 Emergency Power Stop Power GT Digital lt lt Motor N 24V 12V RY10 CNi34 JALM A CN1 35 as ALM run Noise Filter OFF T RY10 MC1 Ll MC1 Surge Supressor e MCT 4 LLL L2 A 189 L1C SGDG Torque Amplifier L2C q p ome SVON 3 24V 12V CN1 27 DE OFF 3 3KQ 1 2525 VON mE m CN1 14 744 i gt DB OFF AY 1 15 Af 4 CMD IN CN1 3 Torque 1 A D Force Reference GND CN1 4 RUN
3. 3 Linear Motors Encoder Scale Pitch 29 Mounting eI EE 29 En6odet x iiec 29 29 Main Circuit alia 9 Terminal 9 Main Circuit Power Error 56 59 Model Serial Converter Unit 6 Model Number 1 Linear 2 Rotary Motor 1 Oil Seals EE 32 Output Circuits 21 Output Signals RUN eredi ec dave Ee gd 43 Overcurrent 55 0 55 55 55 Peripherals 1 24 Power Line Zee AMORE 13 Stripping ot eevee endear ec creto nee 14 Terminal Processing 14 Power ON Sequence 13 Protection Sequence Design PT 41 R Regen Circuit Error 55 Regenerative Resistor Selection 47 Regenerative Resistors 500W Capacity Amps 48 500W Capacity Amps 51 Energy Calculation 51 External i tg HI 48 Relays
4. 24 2 5 Standard Connection Examples 26 Single phase Power Specification SGDG 01GT SGDG 04GT 26 3 Phase Power Specification SGDG 10GT SGDG 15GT 27 Chapter 3 Setup 29 3 1 Linear Motor 29 3 2 Rotary Motor Mounting 3 e ode eek 29 Storage Temperature 30 Mounting te Em 30 AlignmenL oen eoe ciu uU se E mud 31 MOUNTING DIE as ecole manet iique bitis dam 31 Shaft Tolerance Ranges 31 Oil and Water 5 32 CHS SEES 32 Vibration Resistance n ue 33 3 3 Digital Torque Amplifier Installation 2 nnen 34 Storage arenaene ote pt pe rests lade aera 34 Mounting Conditions ends 34 3 4 Switch die EE 37 SW1 Function Selection Switch dip switches 37 SW2 Linear Scale Pitch Setting rotary switch 37 SW3 PG Divider Setting rotary switch 38 V1 0 E 39 Combinations with Rotary Motors 39 Linear Motor Combinations 40 Serial Conversion Unit and Applicable 40 Chapter 4 Description of Functions 4
5. ER Disconnect all power and 5 min WARNING before servicing May cause electric shock k nn Do not touch heat sink when power is CAUTION cause burn LPS I Use proper grounding techniques Mounting Position of Warning Label Ground Mark Figure A Attachment Position of Warning Label and Ground Mark vi Table of Contents Safety Related Symbols ee io ee Ra i aui aida i Icon DIS Play susen li Outline of Manual wA AA AE iii Safety M iv Inspection Upon Receipt iv ler Le E VIE EE oA V Maintenance Inspection V General Cautionary vi Warming Label e Chapter 1 Interpretation of Model Number 1 TX Rotary NPE RDS NES 1 1 2 Linear Motor T VDO uiuis coder ed te ceu b bores De 2 Dx Bia EB on 2 T 3 Coreless KEE 2 MOORE OM Hisce rto tei e doe te tal etas uti bate e 2 LA T Type GOL Liane e a eint Set nde eee 3 MOOR OIL epe adito E 3 1 9 FType Fon 4
6. Note The motor side socket is connected to the connector for the SGMAH SGMPH servomotor encoder Note The SGMGH and SGMSH servomotor encoder connectors are shown below e Plug L type MS3108B20 298 or e Straight 53106 20 295 Cable Clamp MS3057 12A Yaskawa provides a dedicated cable for the encoder For details see the following document Sigma II Servo System Product Catalog Supplement Doc G MIS99001x Sigma 23 2 4 Cable Specifications and Peripheral Devices 2 4 Cable Specifications and Peripheral Devices Ratings and specifications for peripheral devices as well as cable specifications for digital torque amplifiers are summarized in the tables below CAUTION Wiring Precautions Do not bundle or run power and signal lines together in the same duct Keep power and signal lines at least 11 81 30cm apart Use twisted pair or shielded multi core twisted pair wires for signal and encoder PG feedback lines The maximum lengths for signal lines are as follows Maximum of 9 84ft 300cm for reference input lines Maximum of 65 6ft 20m for PG feedback lines e Use a cable with 164 ft 50m specifications for distances over 65 6ft 20m Cable Specifications SGDG Wire Size AWG in mm External Terminal Name Terminal Symbol 01GT 04GT T 11 12 16 AWG HIV 0 002 Main circuit power input terminals Single Phase 1 25 14 AWG 0 003 2 0
7. Be sure wiring is exposed when power is turned ON Failure to do so may result in electrical shock Do not touch the terminals for five minutes following power OFF Electrical shock may result due to residual voltage ACAUTION Do not change the wiring while power is ON Doing so may result in electrical shock or injury General Cautionary Items Cautionary Items Regarding Usage The figures contained in this manual may for purposes of detailed explanation be drawn with covers and safety shields removed When operating this product be sure to return all standard covers and shields to their original locations and operate the product in accordance with this manual The figures contained in this manual are representative examples and may differ from the product recieved Appropriate modifications may be made to this manual due to improvements or specification changes in the product or to improve the ease of use of the manual itself In the event of such changes the document number of the manual will be updated and issued as a revision To order additional copies of this manual contact your Yasakwa representative or the nearest Yaskawa sales office printed on the back of this manual with the document number written on the cover Yaskawa assumes no responsibility for products modified by the customer as they fall outside the warranty Warning Label f KA TE SMT AIC
8. Encoder PBO Divided PBO Output SN75ALS174 or similar product 2 2 Input Signals Connector CN1 Terminal Array List The CNI terminal array and its specifications are shown below CN1 Terminal Layout Encoder Torque Encoder Divided Force Divided Output A IN Reference Output A phase Input phase Encoder Divided Output B phase Encoder Divided Output B Encoder Divided Output C phase Encoder RUN Signal Divided Output Output C phase 27 Speed 10 RUN RUN Signal Monitor Output 1V 1000 9 Monitor 5V Max E E External 24V Power Em Servo ON S ON DB OFF Signal Input Se Signal Input Note 1 Do not use empty terminals for relays Note 2 Connect the I O signal cable shield wire to the connector shell This is connected to the frame ground on the digital torque amplifier side connector CN1 Specifications Specification for Applied Receptacle Model Connector Used in Digital Torque Soldering Case Manufacturer Name Amplifier Type 10236 52A2JL type 10136 3000VE 10336 52A0 00 t M Inc 17 2 2 Input Signals Signal Names and Their Functions The names and functions of the digital torque amplifier I O signals are shown below Input Signals 5 14 Servo 26 The inverter output is enabled to provide power to the motor DB OFF DB Release Common 15 A free run state has resulted by releasing the DB 24VIN T Sequ
9. sdure D PPS Dias Jonu 1opooug PPS 91989 1010 1492 PPS uoneorjroedg 1 IULEN lopooug OCIOUI TCTTI E 1951 0006 pe oseyd c A00COV K ddns SION xog LDSTDADS L901I 5q05S 63 Appendix B Installation Conditions for Directives Cable Core and Cable Clamp The Cable Core Attach the core on the cable as shown below Cable Model Note The diagram shows two turns of the cable Quantity ar Cable Manufacturer Tokin Corp Se The table below shows the cable and position where the core is attached Cable Name Mounting Position ofthe Core Position of the Core Controller Cable eal EE LI controller and digital torque ampli Servomotor Cable Near the digital torgue amplifier and the ser vomotor Encoder Cable Near the digital torgue amplifier and the ser vomotor Cable Clamp The figure below shows the cable shield using a piece of conductive metal Example of Cable Clamp Cable Shield Cable sheath stripped Fix and ground the cable shield using a piece of conductive metal CH Remove paint on mounting surface of ground plate Clamp 64 Appendix B Installation Conditions for Dire
10. D Lpl pt p 10mm or more 30mm or more Mount the digital torque amplifier so that the front side faces the operator Side by side Installation When installing digital torque amplifier side by side as shown in the figure above allow at least 0 39in 10mm between and at least 1 97in 50mm above and below each digital torque amplifier Install cooling fans above the digital torque amplifiers to avoid excessive temperature rise and to maintain even temperature inside the control panel 3 4 Switch Settings 3 4 Switch Settings SW1 Function Selection Switch dip switches Switch No At OFF At ON Default Setting Status After DB Stop Release DB after Continue DB after During Base Block motor stop motor stop ON DC P Input AC P Input 3 Input Power Selection Moe wid Sg Compatible Compatible 4 Linear Scale Polarity B phase progression A phase progression ad oe Reversal U V W direction U V W direction ena SAAD y linear motor is used Regen Overload Alarm or 3 No Yes ON Warning Feedback Pulse Reversed Not reversed ON B phase Reversal Command Direction Reversed Not reversed Reversal ww SW2 Linear Scale Pitch Setting rotary switch 3 o em ELEM 5 me The default setting is 0 0 u m 37 3 4 Switch Settings SW3 PG Divider Setting rotary switch For a 13 bit Rotary Motor PG Divider Setting Setting PG Divider Setting 8192 P R 0080 3000 P R
11. Host Controller Connection Examples 57 Connecting the Galil IMC 1900 2900 57 A 2 Connecting the Delta Tau 2 58 Connecting the MEI 22 2 nennen iwa 59 AA Connecting the Acroloop 8010 60 Appendix B Installation Conditions for EMC Directives 61 Installation Conditions 61 The Cable SEES 64 CE vira 64 1 1 Rotary Motor Type 1 Interpretation of Model Number 1 1 Rotary Motor Type SGMPH 01AAA2SD L seMPH only w o brake or oil seal 5 1 Series Servo Motor Series Name C w 24V brake E 8 Shaft Specification Straight no ke Volta ge Sraight w 200V 6 Straight w key and tap S Straight vim D Motor Capacity KW SGMGH SGMSH 1500 3000 Design Revision Order A SGMAH SGMPH SGMGH 1500 r min SGMSH For high precision machine tools E SGMPH Waterproof Spec IP67 3 Serial Encoder Specifications scMAH sGMsH A 13 bit Incremental C 17 bit Incremental Standard O Option 1 100V is only for use with SGMAH SGMPH
12. C Humidity 90 RH or less Vibration 0 5G 4 9m s Do not allow freezing or condensation to occur Use an ambient temperature of 45 or less to maintain long term reliability Mounting Direction Mount in a vertical direction on a wall as shown in the figure below Cool the digital torque amplifier either with natural convection or a fan Be sure to maintain this direction Securely fix the digital torque amplifier to the mounting surface by using the mounting holes at 2 4 locations the number of holes will differ depending on capacity Surface Mounting Ventilation Cooling Mount the amplifier with sufficient peripheral space around the digital torque amplifier consideration of the above figure so as to achieve sufficient cooling by either a fan or natural convection 35 3 3 Digital Torque Amplifier Installation 36 Digital Torque Amplifier Mounting Standards Observe the standards for mounting into a control panel shown in the figure below including those cases where multiple digital torque amplifiers are installed in parallel within a control panel hereafter referred to as a parallel platform 50mm or 9 ES n ell D Lp ILp IJL p 0 D Lpttptt_p
13. 8000 P R 9 2500 P R 7200 P R 2048 P R mo amme 5 mme me m The default setting is 0 2048 4 4 at host controller For a 17 bit Rotary Motor me sp mm The default setting is 0 16384 4 4x at host controller Overspeed alarm will activate at motor speeds of 2500rpm or higher For Linear Motors Not used default setting is 0 1 20 38 3 5 Combinations 3 5 Combinations Digital Torque amplifier and motor combinations are shown below Combinations with Rotary Motors SGMAH Digital Torque Amplifier Model Compatible Motor Models SGDG 01GT SGMAH A3B SGMAH ASB SGMAH A3A SGMAH ASA SGMAH 01A SGDG 04GT SGMAH 01B SGMAH 02B SGMAH 02A SGMAH 04A SGDG 10GT SGMAH 08A SGMPH Digital Torque Amplifier Model Compatible Motor Models SGDG 04GT SGMPH 01B SGMPH 02B SGMPH 02A SGMPH 04A SGDG 10GT SGMPH 08A SGDG 15GT SGMPH 15A SGMGH Digital Torque Amplifier Model Compatible Motor Models SGDG 10GT SGMGH 05 SGMGH 09 SGDG 15GT SGMGH 13 39 3 5 Combinations SGMSH Digital Torque Amplifier Model Compatible Motor Models SGDG 10GT SGMSH 10 SGDG 15GT SGMSH 15 Linear Motor Combinations Digital Torque Amplifier Model Linear Motor Models SGDG 01GT SGLGW 40A140A SGDG 04GT SGLGW 40A253A SGLGW 40A365A S
14. RUN PAO PAO Encoder PBO Divided PBO Output SN75ALS174 or similar product For single phase applications use terminals L1 L3 for the main power connection 27 Notes 3 1 Linear Motor Mounting 3 Setup 3 1 Linear Motor Mounting Inthe case of linear motors various changes can occur according to the direction of the motor mounting and the direction of the encoder mounting Therefore perform setup carefully Careless setup may result in injury Motor Mounting and Encoder Mounting Mount so that the motor forward direction matches the encoder forward direction Setting the Linear Encoder Scale Pitch Upon completing mounting and wiring feed control power only input SW2 the correct linear scale pitch used by each application Alarm 0 SW setting error is output at the initial power ON because the initial value is assumed to be 0 This ceases occurring if the correct value is set in SW2 and the power cycled 3 2 Rotary Motor Mounting The servomotor can be mounted in both the horizontal or vertical direction However mistaking the mounting direction or mounting in an inappropriate location may shorten motor life or lead to unexpected accidents Correctly mount the motor according to the following cautionary items ACAUTION Do not connect the servomotor directly to a commercial power source This will damage the motor The
15. servo motors of 0 2kW or less 1 2 Linear Motor 1 2 Linear Motor Type Motor Coils SGL 40A 140 AW W Motor Coil Voltage A 200V Option Specifications P w Hall sensor only W w Hall sensor and Linear X Series Motor Serial Converter The Serial Converter is Motor Type required for operation with G Core less LEGEND Digital Torque T T type iron core Amplifiers F F type iron core Design Revision Order Type Magnet Track Length Height of Magnets 1 3 Core less Type Motor Coil 16 L1 254 T JUL Max Cont External Dimensions mm Mass Thrust Thrust k N I Jf 2 22 30 Model SGLGW 40A140A P 40A253A P 40A365A P 60A140A P 60A253A P 60A365A P 80 1 4 1 4 T Type Iron Core Motor Coil Type SGLTW 20A SGLTW 35A A P Min 100 DEI Sensor Type SGLTW 40A A P SGLTW 80A A P W Min 64 40 Model Max Cont SGLTW Thrust Thrust N N 380 mes eme 1 5 Iron Core 1 5 F Type Iron Core Motor Coil Min 50 L Sg Hall Gensor 1200 2400 800 Lm 1 6 Digital Torque Amplifier 1 6 Digital Torque Amplifier SGDG 10G T SGDG Servo Amplifier Maximum applied motor capacity see table below Voltage G 90V 253V Model T Torqu
16. 0 4 112222222 41 4 1 Torque PForce 4COnRILEOL sjaa 41 4 2 Protection Sequence Design 41 42 DB ORF PU ono LO Hh 43 RUN Signal RIO REM itis 43 4 3 Encoder Signal ONU ace nd eden taedet iude 44 ee 45 Table of Contents Output Phase FOM uote tecnico a a Dep 45 PG Divider Setting ctio eot eot chalet ten ta eor eap cot cix oue gi led 46 4 4 Analog os 47 4 5 Regenerative Resistor Selection 1 000222221 47 External Regen Resistors 48 For Digital Torque Amplifiers of 400W Capacity or Less 48 For Digital Torque Amplifiers of 500W Capacity or More 51 Calculating Regen Energy us race Er Et Sa ea 51 Chapter 5 Servo System Maintenance Inspection 53 5 1 Motor e ecd eed 53 5 2 Digital Torque Amplifier 54 Component Replacement Timeline 54 iG 54 Saa epe Poe ava te cede EV emiratet MADE AMU RA MA MAKANYA 55 FSEOMEN i M D EE 55 Alarm EG RR RR RE 55 Appendix
17. Motor TR 4 1 6 Digital Torque Amplifier 5 1 7 Serial Converter 6 Chapter 2 Wiring E 9 2 1 Main Circuit E at 9 Main Circuit Terminal Names and Functions 9 Example of Typical Main Circuit 12 Power ON Sequence Design eese nen 13 Power Line Size and Peripheral 13 Digital Torque Amplifier Power Loss EE 13 Main Circuit Terminal Block Wiring 13 Power Terminal Processing 22 22 14 Peripheral Device Types and Capacities 15 22 Input Signals NE 16 Table of Contents Example of I O Signal Connection 2 2 16 Connector CN1 Terminal Array 17 GN Specifications Perd iot ox ule tes 17 I O Signal Names and Their Functions 18 Command Input Circuit and Interface 20 Sequence Input Circuit and 20 Output Circuits and Interfaces ctore 21 2 3 Wiring to the Encoder eau 22 2 4 Cable Specifications and Peripheral Devices
18. SGLTW 40A 3 Smoothing Capacitor 54 Specifications 65 Storage Temperature 30 Switch Setting Function Selection 37 Linear Scale Pitch 37 PG Divider 13 bit 38 17 38 Linear Motor 38 PG Divider Setting 38 Switch Setting Error 55 Switch Settings 37 T Terminal Block Connection 14 Torque Control Description esi eder TN 41 T Type Iron Core Magnet Track 3 U Undervoltage 55 WINING WEE 9 Encoder 22 Main Cireoun 9 12 Terminal 13 Er YASKAWA A World of Automation Solutions YASKAWA ELECTRIC AMERICA INC 2121 Norman Drive South Waukegan IL 60085 U S A Phone 847 887 7000 Fax 847 887 7310 Internet http www yaskawa com MOTOMAN INC 805 Liberty Lane West Carrollton OH 45449 U S A Phone 937 847 6200 Fax 937 847 6277 Internet ht
19. block When inserting the power lines be sure that they do not short against the surrounding material due to exposed wire cores Power lines that have been mistakenly pulled out by excessive force should be re stripped then connected Servo amplifiers with capacities of 1 5kW or less consist of a connector type terminal block for the main circuit Wire the terminal block by the following procedure 18 2 1 Main Circuit Wiring Connection Method 1 3 Strip the insulation of the power lines used 8 315 35 in Open the terminal block wiring insertion area with tool There two opening methods as shown in figures A and B Figure A shows opening by prying with an accessory lever Figure B shows opening by forcibly pressing the driver insertion aperture with either flathead screwdriver head width 3 0 3 5mm 118 138 in or a 210 120J type driver from Wago Inc The work can be done using either of the methods in Figure A or Figure B Figure A Figure B Insert the core of the power line into the opening Release the lever or the pressure on the driver after insertion Power Terminal Processing Strip the insulation on the power line The useable line sizes are as follows 14 e Solid Conductor 0 5 01 6mm Stranded Conductor AWG28 AWGI2 2 1 Main Circuit Wiring Peripheral Device Types and Capacities Table 2 3 Shows Servopack device Types and c
20. for continuing alarm related output signals is shown below Prepare an external 24V usage power source No 24V power source is integrated in the digital torque amplifier The photocoupler output signal is handled as follows Output gt ALM 1 34 Servo Alarm Output Output ALM CN1 35 Signal ground for servo alarm output The output is ON when the digital torque amplifier detects an error 41 4 2 Protection Sequence Design Be sure to configure the external circuit so that the main power to the digital torque amplifier goes OFF at alarm output CN1 34 35 is closed WI CN1 34 35 is open FF Stat OFF State et sii level High Alarm State Servo ON Input Serial Input Signal The basic connection method and for Servo ON S ON is displayed below This is used to forcibly stop the servomotor in non powered state Amplifier Upper Level Device Switches the motor between a powered and a non powered state Motor Powered When ON Sends power to the motor This is State CNI 14 is the normal RUN state this is called Servo ON The motor runs L level the 4state according to the input signals Sets the motor to a non powered state Operation is not possible this Motor Non Powered When OFF is the Servo OFF state Do not State CNI 14 i S OFF perform Servo OFF while the motor TES Operation is not eve is running except during an possible emergenc
21. of the LEGEND Digital torque amplifier Methods for mounting and wiring servomotor and amplifiers How to use the various functions Ratings and specifications for standard device types Maintenance and Inspection M For additional information on Sigma II servomotor please refer to the following documents Sigma II Servo System Product Catalog Supplement Doc G MIS99001x Sigma Sigma II Series Servo System User s Manual Doc YEA S800 32 2x Linear Servomotor Product Catalog 5800 39 10 Safety Notes In this manual we will describe important cautionary items which should always be observed regarding usage inspection upon receipt of product mounting wiring operation and maintenance inspection Inspection Upon Receipt of Product Use the servomotors and amplifiers in the designated combinations See 3 5 Combinations on page 39 Failure to do so may result in fire or unit failure Mounting Never use this product in an area where water may splash in a corrosive or flammable atmosphere or next to flammable items Doing so may result in electric shock or fire B Wiring AM WARNING Besure to connect the ground terminal of the digital torque amplifier to a grounding electrode 1000 or less Failure to do so may result in electric shock or fire Wiring Precautions Do not bundle or run power and signal lines together in the same duct Keep power and
22. ohm power resistor and alarm relay contacts The regen capacity of this unit is 60W before derating The convection cool capacity is 12W Capacity increases to 30W with forced air cooling When this external regen unit is used 5 of SWI in the SGDG 01GT should be turned OFF to avoid erroneous alarms The following is the dimension and specifications of the JUSP RG08D Dimensional Drawings Nameplate 4 5 Regenerative Resistor Selection Regenerative Unit Specifications JUSP RG08 EET A MM Regenerative Working Voltage 380Vdc Regenerative Processing Current Regenerative resistance 50 2 60W Regenerative resistance Error Detection Function disconnection regenerative transistor fault overvoltage Normally closed contact open Alarm Output when protective function 200V operation ok operates Dimensions in mm 5W x 160H x 130D inches 2 17W x 6 30H x 5 31D SGDG 04GT The SGDG 04GT has terminals for connecting an external regen resistor of higher capacity However the SGDG 04GT does not automatically recognize this external regen resistor and it doesn t activate the regen IGBT Thus when an external resistor is connected the regen energy is still processed by internal regen capacity The alarm 4 overvoltage will occur if the regen energy is too high To add external regen capability to the SGDG 04GT one of the following methods may be used 1 Use external regen unit JUSP RGO8D Refer to the informa
23. servomotor will not run without a dedicated digital torque amplifier 29 3 2 Rotary Motor Mounting Before Mounting The shaft end is treated with a rust preventative agent Before mounting the motor wipe off this rust preventative agent with a cloth soaked in thinner When removing the rust preventative agent be sure that the thinner does not contact any other parts of the servomotor Rust preventative Agent Storage Temperature Store the servomotor within the temperature range below when storing without electrical feed 20 60 C Temperature Range Mounting Location The SGMLJH servomotor is intended for use indoors Use in an environment meeting the following conditions ndoors in a location free from corrosive or explosive gas A location with good ventilation with little dust grime or steam A location with an ambient temperature between 0 40 C e A location with a relative humidity of 2096 8046 no condensation location easy to inspect and clean 30 3 2 Rotary Motor Mounting Alignment Upon mating to the machine make sure the motor shaft core and the machine shaft core are coupled in a straight line Mount the servomotor so that it falls within the alignment accuracy in the figure below The maximum deviation at all four sides cannot exceed 0 03mm rotated with the coupling The maximum deviation at all four sides cannot exceed 0 03mm rotated with
24. signal lines at least 11 81 30cm apart Use twisted pair or shielded multi core twisted pair wires for signal and encoder PG feedback lines The maximum lengths for signal lines are as follows Maximum of 9 84ft 300cm for reference input lines Maximum of 65 6ft 20m for PG feedback lines e Use a cable type UL20276 SB for distances over 65 6ft 20m Do not connect a three phase power supply to the digital torque amplifier output terminals U V and W Doing so may result in injury or fire Securely fasten the screws for the power terminals and motor terminals Failure to do say may result in fire Operation To prevent unexpected accidents test the motor with the motor shaft not connected to a machine or load To prevent unexpected accidents run with limit switches or stoppers attached to both ends of the magnet track Failure to do so may result in injury Set parameters before operating the motor in connection with a machine Operating without making these settings may result in machine runaway and damage After mounting on the machine prior to the start of operation make sure the emergency stop can be applied at any time Failure to do so may result in injury Do not touch the heat sink while the unit is running The high temperature may result in burns Maintenance Inspection Never touch the inside of the digital torque amplifier Doing so may result in electrical shock
25. the circuit between output terminals C1 and C2 is opened c When an external resistor is used remove the shorting jumper between Y4 and Y5 Then connect the resistor between P Y3 and Y4 d The resistance value of the external resistor should be 500 min SGDG 04GTY22P Connect the regen resistor between terminals B1 B2 on the SGDG 04GTY22P digital torque amplifier Amplifier SGDG 04GTY22P Regen Resistor The regen resistor is provided by the customer 4 5 Regenerative Resistor Selection For Digital Torque Amplifiers of 500W Capacity or More Open terminals B2 B3 on the digital torque amplifier remove the wire and connect the regen resistor between terminals B1 B2 Amplifier Regen Resistor Be sure to remove the lead wire between B2 B3 The regen reistor is supplied by the customer The regen resistor reaches high temperatures Use wires with high temperature insulation and make sure the wires do not come into contact with the regen resistor When an external resistor is connected turn OFF 5 of SW1 Be sure the energy capacity of the resistor is adequate to dissipate the regen energy of the load Calculating Regen Energy For the procedure to calculate regen resistor capacity please refer to Chapter 5 of the Sigma II Series Servo System User s Manual Doc YEA SIA S800 32 2x 51 Notes 5 1 Motor Inspection 5 Servo System Maintenance Inspection 5 1 e Motor Inspec
26. 1061 5 SGDG15GT 5 Combination Linear 40 Serial Conversion Unit 40 jene 40 Combination 56 Combinations SGMAH cone cM Rv 39 SGMGH mel 39 mu E 39 Connection Examples 3 Phase 27 Single Phase 26 Connector Encoder Terminal Array 23 17 Terminal Array 17 Control Panel 35 Cooling Fan 54 Core less Type Magnet Track 2 D Delta Tau 2 58 Digital Torque Amplifier Amplifier Fault 56 Component Replacement 54 erem 35 InSpeGtlOn inderne 54 Cleaning 54 Component Fault 54 SC GWS 54 Installation 34 Model 5 Mounting 35 Mounting Location 34 Mou
27. 4 3 Encoder Signal Output 4 3 Encoder Signal Output The output signal following division within the digital torque amplifier of the encoder output can be output to an external device Digital Torque Upper Level Amplifier Device Encoder Serial Data i Division 1B Phase Circuit BM The output circuit is a line driver output Connect in consideration of the following circuit Digital Torque Upper Level Device Amplifier Line Receiver C Phase 45 V ov Smoothing ov Connector Shell Shield Wire Capacitor to Shows a twisted pair wire Applied Line Receiver SN75175 or MC3486 equivalent R Termination Resistance 220 470f4 b Decoupling Capacitor 0 1 1 After Division This means the output converted to the set pulse ratio based on the pulse data from the encoder mounted on the motor The unit here is No of Pulses Rotation 44 4 3 Encoder Signal Output B O Signals The details on the output signal are as follows Output gt PAO CN1 20 Encoder Output A phase Output PAO CNI 21 Encoder Output A phase Output gt PBO CN1 22 Encoder Output B phase Output gt PBO CN1 23 Encoder Output B phase Output gt PCO CN1 24 Encoder Output C phase Output gt PCO 1 25 Encoder Output C phase The divided encoder signal is output The division ratio is set in the following switches Encoder Division Rati Setting Output
28. D is on P2 connector OUT 32 through OUT 63 are on P3 connector 60 Appendix B Installation Conditions for Directives Appendix B Installation Conditions for EMC Directives The following conditions must be satisfied to adapt a combination SGM H servomotor and an SGDG digital torque amplifier to EMC directives EN55011 2 and EN61000 6 2 Installation Conditions This section describes the installation conditions that satisfy EMC guidelines for each model of the SGDG digital torque amplifier Also it describes the EMC installation conditions satisfied under test conditions prepared by Yaskawa The actual EMC level may differ depending on actual system configuration wiring and other conditions 61 Appendix B Installation Conditions for Directives 22914 e p arys pue xr duet HONU 21929 aqo Tov 21929 21929 100 plenus aqro monu OD uoneongi eds Jopooud CITI E 1070 9495 seyd o Surg A00COV K ddns Vue 11970 90995 1910 5058 62 Appendix B Installation Conditions for Directives Teru eAnonpuoo jo 9991d v Sursn 5 o qvo 18 pue
29. Er YASKAWA A World of Automation Solutions LEGEND Digital Torque Amplifier SGDG User s Manual Upon receipt of the product and prior to initial operation read these instructions thoroughly and retain for future reference Safety Related Symbols The following symbols are used in this manual according to the safety related content Be sure to observe text annotated with these safety symbols as their content is important WARNING Mis operation may result in a hazardous condition with the possibility of death or serious injury CAUTION Mis operation may result ina hazardous condition with the possibility of serious or light injury as well as material damage Furthermore the items annotated with a ACAUTI ON may result in serious consequences depending on the situation Be sure to observe these as they highlight important content WARNING YASKAWA manufactures component parts that can be used in a wide variety of industrial applications The selection and application of YASKAWA prod ucts remain the responsibility of the equipment designer or end user YASKAWA accepts no responsibility for the way its products are incorporated into the final system design Under no circumstances should any YASKAWA product be incorporated into any product or design as the exclusive or sole safety control Without excep tion all controls should be designed to detect faults dynamically under all cir cumstances All pr
30. F Improper combination of motor and digital torque amplifier capacities Improper motor combination Failure of A D converter used in command input Servo amplifier system error Polarity setting of the linear motor scale A B phases is reversed Appendix Host Controller Connection Examples Appendix A Host Controller Connection Examples This appendix provides examples of SGDG digital torque amplifier connection to typical host controllers Please refer to the manuals of the host controllers for more details before actually connecting to them A 1 Connecting the Galil IMC 1900 2900 LEGEND Galil Minimum Servo Interface SGDG 1 IMC 1900 2900 P Twisted Pair n Axis Designation X Y Zor W Caution Galil motion controllers allow to reverse the loop and encoder polarity with the MT and CE commands Check applicable Galil product manuals for the appropriate procedure on proper loop and encoder phasing Incorrect phasing may cause the motor to run away 57 58 Appendix Host Controller Connection Examples A 2 Connecting the Delta Tau PMAC2 LEGEND Delta Tau PMAC2 Minimum Servo Interface SGDG ON1 P z Twisted Pair n Axis Designation 1 or 2 when n 1 x 5 and 2 when n 2 x 7 and y 3 Note Jumper 1 to 2 on E1 to power ACC 8E digital 5V circuitry from PMAC2 through flat cable on JMACH port Jumper pini to 2 on E4 axis n 1 and on E7 axis n 2 for normally open re
31. Fax 852 2547 5773 YASKAWA ELECTRIC KOREA CORPORATION Kfpa Bldg 1201 35 4 Youido dong Yeongdungpo Ku Seoul 150 010 Korea Phone 82 2 784 7844 Fax 82 2 84 8495 YASKAWA ELECTRIC SINGAPORE PTE LTD 151 Lorong Chuan 04 01 New Tech Park Singapore 556741 Singapore Phone 65 282 3003 Fax 65 289 3003 TAIPEI OFFICE AND YATEC ENGINEERING CORPORATION Shen Hsiang Tang Sung Chiang Building 10F 146 Sung Chiang Road Taipei Taiwan Phone 886 2 2563 0010 Fax 886 2 2567 4677 YASKAWA ELECTRIC TAIWAN CORPORATION Shen Hsiang Tang Sung Chiang Building 10F 146 Sung Chiang Road Taipei Taiwan Phone 886 2 2563 0010 Fax 886 2 2567 4677 YASKAWA ELECTRIC EUROPE GmbH Am Kronberger Hang 2 65824 Schwalbach Germany Phone 49 6196 569 300 Fax 49 6196 888 301 Internet http www yaskawa de MOTOMAN ROBOTEC GmbH Kammerfeldstrabe 1 85391 Allershausen Germany Phone 49 8166 900 Fax 49 8166 9039 YASKAWA ELECTRIC UK LTD 1 Hunt Hill Orchardton Woods Cumbernauld G68 9LF United Kingdom Phone 44 12 3673 5000 Fax 44 12 3645 8182 MOTOMAN ROBOTICS EUROPE AB Box 504 838525 Torsas Sweden Phone 46 486 48800 Fax 46 486 41410 Yaskawa Electric America Inc July 2009 YEA SIA LGD 1 2F Printed in U S A
32. GLGW 60A140A SGLGW 60A253A SGLFW 20A090A SGLFW 20A 120A SGLFW 35A120A SGDG 10GT SGLTW 20A320A SGLTW 35A170A SGLTW 35A320A SGLFW 35A230A SGLFW 50A200A SGLGW 60A365A SGLTW 20A170A SGDG 15GT SGLFW 50A380A SGLFW 1ZA200A Serial Conversion Unit and Applicable Motors Serial Conversion Unit Model Serial Conversion Unit Model JZDP A00 0 0 Applicable Motors JZDP A00 Applicable Motors SGLGW 40A140A P SGLTW 20A460A P SGLGW 40A253A P SGLTW 35A170A P SGLGW 40A365A P SGLTW 35A320A P SGLGW 60A 140A P SGLTW 35A460A P SGLGW 60A253A P SGLFW 20A090A P SGLFW 20A 120A P SGLFW 35A230A P SGLFW 50A200A P SGLFW 50A380A P SGLFW 1ZA200A P SGLFW 1ZA380A P SGLTW 20A320A P mm saman mm SORS Om 7 40 4 1 Torque Force Control 4 Description of Functions 4 1 Torque Force Control This is the torque force control dedicated mode This control mode inputs the torque force reference from CMD IN CN1 3 amp 1 4 Amplifier CMD IN SG 4 2 Protection Seguence Design This section describes the methods for integrating a protective seguence for safety purposes using I O signals from the digital torque amplifier Servo Alarm Output Digital Torque Amplifier 24V Power 24V Photocoupbr Photocoupler Output per CN1 34 ALM XL Output Max Usage voltage DC30V Max Usage Current DC50mA mita The basic method
33. However use a motor with an oil seal attached when needed to set through to the shaft section In addition mount the motor with the connectors facing downward Through Shaft Section Cable Stress Do not bend or stretch the power line In particular be careful to wire the signal cable so that they are not subject to stress because its core is very thin 0 2 0 3mm 1 Through Shaft Section This refers to the gap where the shaft protrudes from the end of the motor 32 3 2 Rotary Motor Mounting Vibration Resistance Mount the servomotor with the shaft positioned horizontally The servomotor will withstand the following levels of vibration on all three axes front to back X vertical Y and side to side Z SGMAH SGMPH 49m s 5G e SGMSH SGMGH SGMDH and SGMUH 24 5m s 2 5G Vertical Front to b to back ap Horizontal shaft Side d Side applied to the servomotor 3 2 1 Vibration Class The vibration class for SGMLIH servomotors operating at rated speed is 15 maximum Position for measuring VH 33 3 3 Digital Torque Amplifier Installation 3 3 Digital Torque Amplifier Installation The SGDG digital torque amplifier is a base mounted digital torque amplifier Mount it properly according to the following cautionary items as mistakes in the mounting method can lead to failure of the unit Storage Conditions Store the digital torque amplifier within the temperature range
34. Phase Form In Forward Operati i peration 90 In Reverse Operation 90 gt K K LJ U A Phase A E C Phase __ NEM C Phase ___ L 1 SG CNI 2 Signal Ground Connect on the upper level device 45 4 3 Encoder Signal Output PG Divider Setting Set the pulse division ratio by the following switches Delivery Setting Range Setting PG Divider 16 000 131 072 Rotary 17 bit 65 536 1000 8192 Rotary 13 bit 1 256 1 2 Linear Motor 1 20 Set the number of output pulses output by the encoder output signals PAO PAO PBO PBO Setting Output Terminals 1 20 Amplifier 1 21 Servo Motor 1 22 Encoder PBO CN1 23 me A Phase Output B Phase Serial Data This divides the pulses from the motor encoder PG by the number of pulses set there then outputs it The setting value is the number of output pulses per motor rotation Set this to match the command unit of the machine controller The setting range differs according to the encoder used 46 4 4 Analog Monitor 4 4 Analog Monitor The following signals can be monitored in the analog voltage form 28 Analog Monitor 1 Motor speed 1V 1000r min 1V 1000mm sec 29 Analog Monitor 2 Torque 5V Max Torque The analog monitor output voltage is 8VDC Max The output voltage will invert if it exceeds 8VDC 4 5 Regenerative Resistor Selection When the s
35. SGLTW 20A460A P SGLGW 40A365A P SGLTW 35A460A P SGLFW 20A090A P SGLTW 35A 170A P SGLTW 35A320A P SGLFW 35A120A P SGLFW 35A230A P SGLFW 50A200A P SGLTW 80A600A P SGLFW 50A380A P mw 012 Notes 2 1 Main Circuit Wiring 2 Wiring 2 1 Main Circuit Wiring Here we will show representative examples of main circuit wiring the functions of the main circuit terminals as well as the power input sequence etc Observe the following cautionary items when wiring Do not pass the power line and signal lines through the same duct or bundle them together Keep the power line and signal lines at least 30cm apart when wiring Usea twist pair wire or multi core twisted pair bundled shield wire for the signal and encoder lines The maximum wiring length is 3m for the command input line and 20m for the encoder feedback line Do not touch the power terminal for 5 min after power OFF as a high voltage may remain even after power OFF Perform inspection work after checking that the CHARGE lamp has gone out Do not turn the power ON OFF frequently Limit ON OFF repetition to one time per minute Because the digital torque amplifier has a capacitor in its power unit a large charging current charging time 0 2sec will be fed at power ON For this reason frequent power ON OFF switching degrades the main circuit element within the digital torque amplifier e S
36. Servomotor connection terminals U V W 16 AWG HIV 0 002 1 25 Control power supply terminals L1C L2C Control NO signal connector CN1 Twisted pair or shielded twisted pair wires Core wire at least 28 AWG 0 0002 0 12 tinned annealed copper twisted wires PG signal connector CN2 Finished cable dimensions maximum 0 63 16mm for CN1 0 27 6 8mm for CN2 Ground terminal 14 AWG HIV 0 003 2 0 Main circuit power input terminals 12122103 Three phase 14 AWG HIV 0 003 2 0 Servomotor connection terminals U V W Control power supply terminals LIC L2C 16 AWG HIV 0 002 1 25 Control I O signal connector CNI Twisted pair or shielded twisted pair wires PG signal connector CN2 Core wire at least 28 AWG 0 0002 0 12 tinned annealed copper twisted wires Finished cable dimensions maximum 0 63in 16mm for and 0 271 6 8mm for CN2 Ground terminal Notes UN ges 24 14 AWG HIV 0 003 2 0 Wire sizes were selected for three cables per bundle at 40 ambient temperature with the rated current Use cables with a minimum withstand voltage of 600V for main circuits If cables are bundled in PVC or metal ducts consider the reduction ratio of the allowable current Use heat resistant cable under high ambient or panel temperatures where normal vinyl cable will rapidly deteriorate 2 4 Cable Specifications and Peripheral Devices The following table shows t
37. apacities Table 2 3 Peripheral Device Types and Capacities Main Power Supply MCCB or Circuit Capacity Per Fuse Noise Filter Magnetic Power Capacity Amplifier Capacity ud Specifi Contactor Supply kW Arms cations Single 10A or FN2070 Phase Equivalent ME 3 607 250VAC 6A Single Phase 200V Single 20A or FN2070 Phase Equivalent 0 4 04 1 2 G 10 07 250VAC 10 Three Phase FN258L Equivalent The noise filter is manufactured by Schaffner Corp 15 16 2 2 Input Signals 2 2 Input Signals Example of I O Signal Connection e A typical example of I O signal connection is shown below Power 90V 253V AC 3 3 Power Noise Filter Stop Ore ON RY10 MC1 bd 1 LA MC1 Surge Supressor e e HH 9 LL L1C SGDG GT Digital Torque Amplifier L2C Ent 26 SVON 5 24V 12V CN1 27 4 3 3KQ CN1 13 e 777 mE pg mo K OQ SON CN1 14 Au V a DB OFR RY2 5 o DBOFF 5 CN1 15 4 RUN CMD IN CN1 3 Torque A D Force t PA Reference GND 1 4 ON 2 24V 12V RY10 A CN1 34 JALM 4 ac CN1 35 PAO
38. below when storing without electrical feed Temperature Range 20 85 C LEGEND SGDG Digital Torque Amplifier Mounting Conditions Location The following points should be kept in mind with regard to the mounting location Installation Design the control panel size digital torque amplifier Mounted in a Control installation and cooling method so that the ambient Panel temperature of the digital torque amplifier does not exceed 55 Suppress the temperature rise due to radiated heat and Mounted Near a Heat convection from the heat generating object so that the Generating Object ambient temperature of the digital torque amplifier does not exceed 55 Attach vibration preventative brackets to the digital torque amplifier mounting surface so that the vibrations are not communicated to the digital torque amplifier Mounted Near a Vibration Source 34 3 3 Digital Torque Amplifier Installation Installation Take measures to prevent the influx of corrosive gas The gas will have no immediate effect but will lead to device Mounted in a Location Exposed to Corrosive G failures in the electronic components and contact related as devices Do not install in areas with high temperature or humidity Others or where the atmosphere contains dust or iron particles Control Panel Environmental Conditions e Digital Torque Amplifier Ambient Temperature 0 55
39. ctives Noise Filter for Brake Power Supply FN2070 6 07 Made by Schaffner for servomotors of 0 4kW or less Cable Specifications Shielded cables should be used for the following cables AC power input line cable between the power supply and the noise filter Servomotor cable between the digital torque amplifier and the servomotor Encoder cable between the digital torque amplifier and the servomotor Controller cable between the digital torque amplifier and the controller Recommended Ferrite Cores Controller Cable ESD SR 25 Tokin Encoder Cable 400W or lower ESD SR 25 Servomotor Cable IkW or higher PC40T90x13 5x74 B Shielded Box A shielded box a closed metallic enclosure should be used for shielding electromagnetic interference The structure of the box should allow the main body door cooling unit etc to be attached to the ground The box opening should be as small as possible 65 Notes INDEX A Acroloop ACR 8010 60 Alarms 7 Segment LED 55 Analog Monttor 47 B Brake Power Noise Filter 65 C Gc D 65 Ferrite Cores 65 Cable 64 Cable Core Attachment RID 64 Cables Specifications 24 Capacity SGDG 04GT 5 5006
40. e Force Control Maximum Capacity of Applied Motor Applied Motor Maximum Capacity Note Keep the following in mind in SGDG digital torque amplifier and SGDG SGLL W servomotor combinations The SGDG 01GT can drive motors of 30 200W rated output The SGDG 04GT can drive motors of 100 750W rated output The SGDG 10GT can drive motors of 300W 2kW rated output The SGDG 15GT can drive motors of 750W 3kW rated output Since LEGEND servo drives are applicable to a wider range motor and driver combinations the output power of the drive will dictate the available maximum motor power even if the maximum output power of the motor is larger than that of the connected drive Specific speed torque performance will vary depending on such power supply conditions as voltage number of available phases etc 1 7 Serial Converter Unit 1 7 Serial Converter Unit JZDP AAA Conversion unit type see table below Compatible Motor Numbers Varies according to compatible motors see table below Serial Converter Unit Type Model Classifications Usage Scale Hall Sensor Y N JZDP By Haidenhain A003 JZDP By Renishaw A004 Note US Market dedicated By Renishaw By Haidenhain B m N N Y Y Y 1 7 Serial Converter Unit Serial Converter Units and Applied Motors Serial Converter Unit Model Applied Motor Serial Converter Unit Model Applied Motor JZDP A00 0 ER JZDP A00 0 He SGLGW 40A140A P
41. ence signal control power input 24V power supply provided by customer CMD IN Torque Force Reference Input Torque 3 e 10 10VDC 10V Peak Motor Torque Output Signals ALM 34 Servo Alarm ALM 35 Turns OFF due to error detection 20 21 2 2 phase pulse A phase B phase B phase Signal Conversion Encoder Output Signal 23 D and origin pulse C phase signal 24 25 Base Block Release Signal Output during base block release SPD MON Speed Monitor 1V 1000rpm Linear Scale 1 V 1000mm sec TORQUE MON 5V Max Torque The frame ground in connected upon connection of the I O signal cable FG Shell shield wire to the connector shell A phase Signal Common C phase Signal 18 2 2 Input Signals Output Signals Continued Open Terminal Reserved Note Do not use empty terminals for relays etc 19 2 2 Input Signals Interface Circuit An example is given below of connection of the digital torque amplifier I O signals to an upper level device Command Input Circuit and Interface Analog Input Circuit The analog signal is the torque reference signal The input impedance is as follows Command Input CMD IN Approx 14kQ The maximum allowable voltage for the input signal is 12 10V Peak Motor Torque Amplifier 1 8k Q 1 2W or more 3 25HP 10B 2kQ 12V Sequence Input Circuit and Interface Amplifier Amplifier DC24V 50mAor mo
42. ent Display SW2 SW3 not set during linear motor Switch Setting Error ZU combination DE BN Regen resistor disconnection WAR Regen transistor short Regen Circuit Error The regen energy exceeds the capacity of the regen resistor t 8 The main circuit voltage exceeds 420V B Detected when the motor speed exceeds the Overspeed maximum speed Undervoltage The main circuit voltage is below 70V Operation for several seconds or tens of seconds at a torque force greatly in excess of E Overload the rating Continuous operation above the rated torque force 55 5 3 Alarms Ataro Alarm Name Display Encoder Communication Error Runaway Detection Encoder Failure Main Circuit Power Error Reset at SCON signal ON Combination Error Digital Torque Amplifier Fault Linear Motor Scale Polarity Error LED will blink at warning before alarm 56 Communication error between encoder and digital torque amplifier Communication between the encoder and digital torque amplifier failed three times in succession Motor runaway Checksum error in EEPROM within encoder Error in the number of pulses in encoder rotation Error in EEPROM within encoder Error in communication data between encoder and digital torque amplifier DC input with AC input settings for main circuit power or AC input with DC input settings Main circuit power was frequently tuned ON OF
43. ervomotor is operated in electrical generator mode the servo amplfier will absorb electrical power This is called regenerative power Although the regenerative power is absorbed by charging the smoothing capacitor of the digital torque amplifier the regenerative power will be further consumed by the regen resistor if the chargeable energy limit of the capacitor is exceeded The servomotor is operated in the regen electrical generator mode in the following situations Deceleration to stop time during acceleration deceleration operation Vertical axis load Continuous operation where the servomotor continues rotating from the load side overhauling load The capacity of the regenerative resistor integrated within the digital torque amplifier is designed for short term operation only such as the deceleration to stop period Operation is not possible with an overhauling load Install an external regen resistor if the regen power exceeds the processing capability of the digital torque amplifier The specifications of regen resistors integrated in digital torque amplifiers and the regen power they can process average are shown below Integrated Regen Resistor Regen Power Minimum Applied Digital Torque Specifications Processed by Total Amplifier Integrated Resistance Resistance Capacity W Resistor W Q sooner pp fm regen capacity average which can be processed is 20 rating of the regenerative resis
44. he Encoder The wiring of the digital torque amplifier to the encoder is described here Connection to Encoder CN2 and Output Signal Processing from Digital Torque Amplifier CN1 Digital Torque Amplifier ONS A phase _ _ Incremental D s 234 Encoder _ 1 35 f 1 36 4 PBO p CN2 C 5 lx 2 5 Cphase p 1 19 1 20 D 6 2 6 Output Line Driver Applied Line TI SN75ALS194 Receiver or equivalent TI SN75175 2 1 PG5V or equivalent Gy 2 2 gt PGOV 1 1 0 33mr 9 J SEA Shell 1 2 Shell Shield Connector Wire L Shell d provided by customer SGM AH SGMGH SCH SH Only 22 2 3 Wiring to the Encoder Encoder Connector CN2 Terminal Array and Models The CN2 terminal arrays and models are shown below CN2 Terminal Array Encoder Power 2 Encoder Power Encoder Serial Signal Encoder Serial Signal Input Input CN2 Connectors CN2 Connectors Model of Applied Plug or socket Model Connector Used Plug soldered in Digital type digital torque amplifier side connector 53460 0611 55100 0600 54280 0600 Japan Molex Inc Note The plug and socket on the digital torque amplifier side are a set product FA1394 from Japan Molex Inc Socket soldered type motor side connector Manufacturer Name Torque Amplifier
45. here should be no grime Clean with air or cloth Cleaning minimum dust or oil on the unit There should be no Once per year looseness in the terminal Loose Screws V Tighten minimum block and connector mounting screws There should be no changes Component Fault Once per year n in coloration due to heat Consult Yaskawa in Unit or Board minimum damage or wire breakage Component Replacement Timeline The components in the table below are subject to mechanical wear or degradation over time Inspect these periodically for purposes of preventative maintenance Digital torque amplifiers overhauled by Yaskawa are shipped with their system switches returned to their factory default settings Be sure to verify these switches before operating Table 5 3 Periodic Inspection of Components Standard Component Name Replacement Replacement Method Other Period Cooling Fan Replace with a new item Repl ith item determine b inspection Discharge Capacitor on 5 Replace with a new board determine ears Printed Circuit Board by inspection Use Conditions Ambient Temperature Yearly average 309 Load Ratio 80 or less Operation Rate 20 hours or less per day 54 5 3 Alarms 5 3 Alarms POWER ON Green LED turns ON at control power ON CHARGE LED Red LED turns ON at main circuit power ON 7 Segment LED Base Block Normal Status Servo ON Alarm List Alarm Alarm Name Cont
46. lay contact between AMP ENAn an ENAn Appendix Host Controller Connection Examples A 3 Connecting the MEI PCX DSP LEGEND MEI PCX DSP Minimum Servo Interface SGDG ON1 CMD IN Analog P Twisted Pair n Axis Designation 0 1 2 Signals may be from different connectors on MEI controller Consult MEI DSP Series Motion Controller Installation Guide for details 59 Appendix Host Controller Connection Examples A 4 Connecting the Acroloop ACR 8010 LEGEND Acroloop ACR 8010 Minimum Servo Interface han apes VI SGDG CN1 3 CMD IN ASIG x Torque Reference should be E OND AGND 2 n 9 p 20 PAD CHAn 1 og 4 22 PRO CHBn PBO P i 23 4 o n 24 H MRKn P o5 PCO 26 SV ONS OUT y I Servo on should be mapped to one of these 33 GND AGND digital outputs CASE E P Twisted Pair n Axis Designation 0 1 2 0 2 2 x Analog output number y Digital output number Encoder type is Differential Line Driver 5 Volt Outputs so Pullups should be removed Encoders 0 3 are on P1A connector Encoders 4 7 are on P1B connector ASIG 0 and AGND 0 through ASIG 7 and GND 7 are on P2 connector AGN
47. nting Standards 36 Power LOSS 13 Storage June 34 Use Conditions 54 Discharge Capacitor 54 EMC Directives 61 SGDG 01GT 0461 62 SGDG 10GT 1561 63 Encoder Communication 56 Encoder Failure 56 Encoder Signal 44 Encoder Signals Signals eere 45 Output Phase Form 45 POG BIEN 46 F Type Iron Core Magnet Track 4 Fuses 54 G IMC 1900 2900 57 Input Circuits 2 20 20 Input Signals Connection 2 2 2 16 DB OFF eiecit da d 43 18 5 ee 18 Servo 2 2 2 42 L Linear Motor Model Core less Type 2 F Type Iron 4 Magnet Track 2 Iron
48. oducts designed to incorporate a component part manufactured by YASKAWA must be supplied to the end user with appropriate warnings and instructions as to that part s safe use and operation Any warn ings provided by YASKAWA must be promptly provided to the end user YASKAWA offers an express warranty only as to the quality of its products in conforming to standards and specifications published in YASKAWA s manual NO OTHER WARRANTY EXPRESS OR IMPLIED IS OFFERED YASKAWA assumes no liability for any personal injury property damage losses or claims arising from misapplication of its products Icon Display The following icons were designed so as to aid in understanding the type of descriptive content The icons are displayed where needed to aid in comprehension Major items which should be memorized In addition this can be a minor item which does not reach the level of damage to the machine such as the generation of an alarm display This shows programming operation examples etc This shows supplemental information and convenient functions to remember Terminology This explains difficult to understand technical terminology and technical terms which have not been previously explained Outline of Manual Thank you for purchasing the LEGEND Digital torque amplifier Use this product with a full understanding of conditions such as product specifications usage limits etc This manual explains the following areas for users
49. re 1 YA E oos et I DC24V 50mA or more Amplifier DC24V 50mA or more This is connected by a relay or open collector transistor circuit Select a low current type when connecting by relay If low current relay is not used this may cause a connection fault 20 2 2 Input Signals Output Circuits and Interfaces The output signal circuits of the digital torque amplifier are of the three types shown below Configure the input circuit on the upper level device to match each of these output circuits Connection with Line Driver Output Circuits The output signals PAO PAO PBO PBO where the encoder serial data was converter to a 2 phase A phase B phase pulse and the origin pulse signal PCO PCO are output by the line driver circuit The upper level device receives these through the line receiver circuit See 2 3 Wiring to the Encoder for an example of the connection circuit Connection with Photocoupler Output Circuit Servo alarms and other output signals for sequence use are configured in the photocoupler output circuit They are connected through the relay and line driver circuits Digital Torque M Told DC5V 12V DC5V 24V Amplifier Side Digital Torque Amplifier Side Note The maximum allowable voltage and current capacity of the photocoupler output circuit are as follows Voltage DC30V Max Current DC50mA Max 21 2 3 Wiring to the Encoder 2 3 Wiring to t
50. reactor between 91 92 Connection is normally not needed 2 1 Main Circuit Wiring SYSTEM EATSINK Side 4 OPTION BOARD Under the cover gt gt MAIN POWER gt INDICATOR 22 CONTROL POWER MAIN INDICATOR POWER TERMINAL STATUS INDICATOR PM CONTROL 59 POWER gt WARNING TERMINAL LABEL MOTOR CONNECTION TERMINAL SIGNAL CONNECTOR 1 m d lc ENCODER CONNECTOR TERMINAL CN2 11 2 1 Main Circuit Wiring Example of Typical Main Circuit Wiring A typical wiring example is shown in the figure below Power 90V 253V Sio y Power Power Noise Filter OFF ON p L MC RY10 MC1 1 H j Surge Supressor SGDG 9 Digital Torque Amplifier GT Figure Main Circuit Wiring Example 12 2 1 Main Circuit Wiring Power ON Sequence Design Keep the following in mind when designing a Power ON Sequence Design the power feed sequence so that the power goes OFF if a Servo Alarm is output See Figure A Main Circuit Wiring Example on page 12 Hold down the power ON button for at least two seconds The digi
51. tal torque amplifier will output a Servo Alarm signal for at most two seconds at power ON This is necessary for digital torque amplifier initial setting Power ___ 2 05 gt TJ Power Line Size Peripheral Devices See the Sigma II Series Servo System User s Manual Servo Selection and Data Sheet edition Document Number YEA SIA S800 32 2x Servo Alarm ALM Output Signal Digital Torque Amplifier Power Loss The digital torque amplifier power loss at continuous output is shown in Table 2 2 below Table 2 2 Digital Torque Amplifier Power Loss at Continuous Output Max Output Main Regen Control Main Applied Digital Torque Current Circuit Resistor Circuit Circuit Motor Amplifier Model actual Power Power Power Capacity Loss W LossW Loss W on pe ner Note The regen resistor power loss is the allowable power loss Take the following measures if this value is exceeded Remove the lead wire of the digital torque amplifier s integrated regen resistor and install an external regen resistor Furthermore the external regen resistor is an option For details on regen resistors see 4 5 Regenerative Resistor Selection Main Circuit Terminal Block Wiring Method Observe the following cautionary items when wiring Perform wiring after removing the terminal block from the digital torque amplifier unit Insert one wire into each power line insertion aperture in the terminal
52. the coupling 1 Improper alignment can lead to vibration which risks damaging the shaft coupling 2 When mounting the coupling do not apply shock directly to the shaft This may damage the encoder mounted on the shaft end opposite the load e Mounting Direction The SGMLJH servomotor can be mounted in either the horizontal or vertical directions Shaft Tolerance Ranges Design machine systems so that the thrust loads and radial loads applied to the servomotor shaft during operation fall within the tolerances in Table 3 1 The allowable radial loads shown in the table are the maximum loads that can be applied to the end of the output shaft 1 Thrust Load Radial Load Fr Thrust Load Fs The shaft load applied parrallel to the shaft core Radial Load Fr Shaft load applied at a right angle to the shaft core Motor rs Shaft 31 3 2 Rotary Motor Mounting N N AB N SGMPH 3 5 2 4 1 Sp 4 5 0A 5A oo Table 3 1 Allowable Radial Load Allowable Thrust Load for Servomotors 3585 Allowable Allowable Motor Model Radial Load Fr Thrust Load Fs Reference Diagram N kgf N kgf Se me EL 7 2 68 7 54 5 5 SGMAH pos meno qu o 18705 0 E Oil and Water Countermeasures It is possible to take protective measures for motor operation in areas where water or oil may drip
53. tion The procedures for simple daily maintenance of the servomotor are shown in Table 5 1 Because AC servomotors are brushless simple daily inspection is sufficient The inspection periods in the table are standard scales Determine the usage conditions and environment and then decide an appropriate inspection period Do not disassemble the servomotor for maintenance inspection Contact your Yaskawa representative or sales office if the servomotor is to be disassembled Table 5 1 Servomotor Inspection Inspection Inspection Inspection Work Notes Item Period Content Check fe The level should not b ge ii Inspect by touch or hearing 2 vibration or noise greater than normal External According to soili Inspection conditions Changing the oil Once every 5 000 Remove from machine and Only for motors with oil seal hours minimum replace seals Every 20 000 hours The customer should not Comprehensive Contact your Yaskawa 5 years disassemble clean the Inspection service department minimum servomotor 53 5 2 Digital Torque Amplifier Inspection 5 2 Digital Torque Amplifier Inspection Digital torque amplifier inspection is summarized in the table below Although there is no need for daily inspection perform inspections at least once per year Table 5 2 Digital Torque Amplifier Inspection Inspection Inspection Measures Taken at Inspection Content Item Period Error Unit Board Orice per year T
54. tion in the table above for more details When this external regen unit is used 5 of SW in SGDG 04GT should be turned OFF to avoid erroneous alarms or 2 Use SGDG 04GTY22P for external regen application only If the user knows that the application requires extra regen capacity the Y mod unit must be ordered With Y22P mod two 2 external regen resistors RHSOO0N25_ohmK wired in series must be connected to the SGDH 04GT at all times These resistors should be connected across terminals B1 and B2 The convection cool capacity of these two resistors in series is 120W The capacity increases to 300W with forced air cooling Therefore the items required are 1 x SGDG 04GTY22P 2x RH500N25 ohmK 49 4 5 Regenerative Resistor Selection 50 Connecting the JUSP RG08D to the SGDG 01GT SGDG 04GT Servopack Servomotor Single phase 200 230 VAC 100 115 Regenerative unit oer JUSP RGOBC Ei Ime Qlo4 Om wg WA Shorting jumper Remove when i IMC sy i i external resistor is used Alarm i H i ML Regenerative unit JUSP RGOB8D A regenerative unit has the following fault detection functions Detecting disconnection in a regenerative resistor Detecting faults in a regenerative resistor Detecting overvoltage b When one of these fault detection functions operates the internal alarm relay is actuated Then
55. tor capacity integrated within the digital torque amplifier When installing an external regen resistor make the resistance the same as that of the resistor integrated within the digital torque amplifier When using several resistors with small resistance combined in group to increase the capacity W of the regen resistor select resistors so that the value including the resistance error is equal to or greater than the minimum allowable resistance in the above table 47 4 5 Regenerative Resistor Selection e 48 Approx Mass 1 kg 2 20 Ib External Regen Resistors 1 If the power resistor is used at the rated load rate resistor temperatures will reach 200 300 Be sure to derate before using Check with the manufacturer for the load characteristics of the resistor Use at a load rating of 20 or less when using natural cooling natural convection cooling and at 50 or less when forced air cooling is used 2 For safety reasons we recommend the use of resistors with thermostatic switches For Digital Torque Amplifiers of 400W Capacity or Less SGDG 01GT The SGDG 01GT does not have the regen transistor built in even though there are terminals for connecting an external regen resistor Therefore for external regen requirement the JUSP RGOSD external regen unit must be used This unit connects directly across the DC bus It is a self contained unit consisting of bus sensing circuitry switching IGBT 50
56. tp Avww motoman com YASKAWA ELETRICO DO BRASIL COMERCIO LTDA Avenida Fagundes Filho 620 Bairro Saude Sao Paolo SP Brasil CEP 04304 000 Phone 55 11 5071 2552 Fax 55 11 5581 8795 Internet http Awww yaskawa com br YASKAWA ELECTRIC CORPORATION New Pier Takeshiba South Tower 1 16 1 Kaigan Minatoku Tokyo 105 6891 Japan Phone 81 3 5402 4511 Fax 81 3 5402 4580 Internet http www yaskawa co jp YASKAWA ELECTRIC SHANGHAI CO LTD 4F No 18 Aona Road Waigaoqiao Free Trade Zone Pudong New Area Shanghai 200131 China Phone 86 21 5866 3470 Fax 86 21 5866 3869 BEIJING OFFICE Room No 301 Office Building of Beijing International Club 21 Jianguomanwai Avenue Beijing 100020 China Phone 86 10 6532 1850 Fax 86 10 6532 1851 SHANGHAI OFFICE 27 Hui He Road Shanghai 200437 China Phone 86 21 6553 6600 Fax 86 21 6531 4242 SHANGHAI M amp E CO LTD 27 Hui He Road Shanghai 200437 China Phone 86 21 6533 2828 Fax 86 21 6553 6677 BEIJING YASKAWA BEIKE AUTOMATION ENGINEERING CO LTD 30 Xue Yuan Road Haidian Beijing 100083 P R China Phone 86 10 6232 9943 Fax 86 10 6234 5002 SHOUGANG MOTOMAN ROBOT CO LTD 7 Yongchang North Street Beijing Economic Technological Investment amp Development Area Beijing 100076 P R China Phone 86 10 6788 0551 Fax 86 10 6788 2878 YASKAWA ELECTRIC HK COMPANY LIMITED Rm 2909 10 Hong Kong Plaza 186 191 Connaught Road West Hong Kong Phone 852 2803 2385
57. uitable for use on a circuit capable of delivering not more than 5000 A symmetrical Main Circuit Terminal Names and Functions Table 2 1 Main Circuit Terminal Names and their Functions Terminal Code 100W 400W 11 12 orL1 Main Circuit Power Single Phase 90 253 V L2 L3 Input Terminal 1 0kW 1 5kW Three Phase 90 253 V U V W Motor Connection Connected to motor Terminal Lic L2C Fowerinput eie Phase 00 258 V Terminal Perform Ground Processing by connecting with the power De placos Ground Terminal grounding terminal and the motor grounding terminal 2 1 Main Circuit Wiring Table 2 1 Main Circuit Terminal Names and their Functions Continued Terminal Code B2 or External Regen B1 B2 B3 Resistor Connection Terminal High Frequency Harmonic Suppressing DC Reactor Connection Terminal Main Circuit Load Terminal 10 100W 400W 1 0kW 1 5kW Function Connection not normally needed Connect an external regen resistor provided by customer between B1 B2 if regen capability is insufficient Note There is no B3 terminal B2 B3 is normally shorted using the integrated regen resistor If the capacity of the internal regen resistor is insufficient connect an external regen resistor provided by customer between B1 B2 with B2 B3 open wiring removed This is normally shorted between 1 2 If harmonic frequency suppression is needed connect a DC
58. y stop Do not start stop the motor by using the S ON signal Always start stop the motor with an input command 42 4 2 Protection Sequence Design DB OFF Input Sequence Input Signal The basic connection and handling method for the DB OFF signal is shown below This is used to forcibly release the DB stop state during Servo OFF from the upper level device 24V Powe 24V Upper Level Device Amplifier 24VIN CN1 13 3 3kQ C gt Input DBOFF CN1 15 Input DB OFF CN1 15 DB OFF Switches the motor between a powered and a non powered state When ONCNI 15 DB stop at Servo OFF is L level DB Stop State DB stop at Servo OFF DB Stop Release When OFFCNI 15 is H level Releases the DB stop and goes to Release DB stop free run at Servo OFF according to an input signal RUN Signal Output Photocoupler Output Signal The basic connection method and handling method for the RUN signal is shown below This output signal indicates that the base block on the output inverter is released and power is being applied to the motor 24V Power 24v ov Digital Torque Amplifier Photocoupler Output per Output Max Use Voltage DC30V Max Output Current DC50mA Output gt RUN 1 7 RUN Signal Output CN1 7 10 is closed ON State is level L Base Block CNI 7 10 is Base Block Released 43
59. ypes of cables It is used in conjunction with the preceding tables Cable Type Temperature Rating of Conductor Composition Standard polyvinyl chloride cable 600V PVC cable Temperature resistant vinyl cable The following table specifies the appropriate cables for CN1 and CN2 digital torque amplifier connectors Wire sizes were selected with the expectation of three cables per bundle at an ambient temperature of 40 at the rated current level Description Cable Specification Use twisted pair or shielded twisted pair wire Applicable wire AWG 24 26 28 30 Finished cable Dimension 0 63 016 0 maximum Cable Use Yaskawa cable or shielded twisted pair wire Applicable wire AWG 24 26 28 30 Use 22 AWG 0 0005in 0 34mm for the encoder power supply and 26 AWG 0 0002 in 0 14mm for other signals These conditions permit wiring distances up to 65 6ft 20m Finished cable Dimension 0 27 6 8 maximum 25 2 5 Standard Connection Examples 2 5 Standard Connection Examples Single phase Power Specification SGDG 01GT SGDG 04GT Power 90V 253V AC

LEGEND Digital Torque Amplifier SGDG User`s Manual

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