SGDH User`s Manual Supplement for Linear Sigma Series
Contents
1. SO1 CN1 25 26 output from COIN Signal Mapping output terminal internal setting speed 502 CN1 27 28 output from selection output terminal 503 1 29 30 output from output terminal 0 __ 02 Asabove 9 Unused 1 Note NEAR Signal Wapping 95 fee gt 501 1 25 26 Terminal 0 Nooutput signal inversion Output Signal Inversion i 502 CN1 27 28 Terminal 0 No output signal inversion Output Signal Inversion 2 SO3 CN1 29 30 Terminal No output signal inversion Output Signal Inversion Output signal inversion E Note 1 If multiple signals are assigned to the same output circuit the output is done by OR logic Notel 2 Note 2 Undetected signals are assumed to be OFF according to the control mode For example the COIN signal is assumed to be OFF in the speed control mode Note 3 WARN Signal Types Overload Regent Overload Option Warning 41 5 2 5 Auxiliary Function List 5 2 5 Auxiliary Function List The auxiliary function list is shown below wor Fn007 Write Results of Online Autotuning Operation to Mass Ratio Data EEPROM Absolute Encoder Multi Turn Setting setup operation and Encoder Fn008 Alarm Reset Fn009 Automatic Adjustment of Analog speed force Reference Offsets Fn013 Change Multi Turn Limit Sett2. 5 2 1 User Parameter List User Difference Setting Factory No Positioning Completion Command E Pn504 NEAR Signal Width 1 250 256 Pn505 Overflow Level Command 1 32767 Units Brake Command Servo OFF Lag Time Servo OFF Brake Sequence PnS08 Command Wait Time 10 100 Pelated Pn509 Momentary Stop Hold Time 20 1000 Parameters Input Signal Selection 1Note Input Signal Selection 2Ncte Input Signal Selection 3Note Input Signal Selection 4Ncte Output Signal Selection Output Signal Selection Output Signal Selection Sequence use Related Output Signal Inversion Pn512 Parameters Lam Setting Note 2 continued Pn580 Zero Clamp Level 0 5000 Pn581 Zero Speed Level 15000 Speed Coincidence Signal e Pn582 Output Band 0 100 Unit Changed Pn583 Brake Command Output S Speed Level Pn600 Regenerative Resistor E Capacity 3 Other Parameters m Reserved Parameters device Pn601 not use e 2 32 1 2 3 4 5 6 Note 7 The settings in user parameter Pn111 are enabled when user parameter Pn110 1 is 0 When this user parameter is changed it is necessary to turn the main and control power OFF and ON again in order to enable the function However Pn110 1 and Pn110 2 are enabled online This is normally set to 0 Set to the capacity of the regenerative resistor if
3. Reverse current imit ON at 7 gt ON Comecta Module FG Conrectthe shield wire to the connector module 1 represents twisted pair wire 2 The 1 time filter time constant is 47 s Max Usage Vdtage DC30V Max Output Current DC50mA 2 2 2 Three Phase Power Specification 2 2 2 Three Phase Power Specification Three phase 200 230 10 50 60Hz R S T 2 lt Power Power Alarm P rocessin ee ibe Attach a surge supressor to the magnetic contactor and relay cdl D a B1 B2 1MC 3 Li 13 Servo Amplifier SG DH Seal Converter Unit Linear Scale C Always grourd gt A process shield wire terminals Speed Reference 2V 10V Raed Speed ALO1 Alarm Code Output Max Use Voltage DC30V ThrustReference ALO2 Max Output Curent 1V 10V R amp ed Thrust 1 a ALO3 150 Pus PUIS 5 7 14 i Pa RA mo 33 cow 14 Po se P 34 A Phase f 100 35 Encoder Divided Output Position CLR s OR 15 5 gt Applied Line Red ver Reference 36 PBO Tlmade SN 5175 r 12 me 19 or MC3486 equivalent device gt PCO 19 PL1 PCO Collector PL2 8 13 Reference 18 PL3 Speed Coincidence Detection 24V 24V A7 fof 25 f Jp Servo ON E Fe l Nat
4. Force Constant Name 615 65 615 666 066 656 Constant Electrical Time 5 Constant B type B type B type B type B type Temperature These items and force speed characteristics are the values ata motor winding temperature of 100 C during operation in combination with a servo amplifier The others are at 20 C Note Continuous Force shows the continuous allowable force when the following aluminum boards heat sinks are attached as a cooling means at an ambient temperature of 20 C Applied Device Heat Sink Size Types 40A140A 40A253A 125x254x13 mm 60A140A Applied Device Heat Sink Size Types 40A365A 60A253A 305 380 13 60 65 6 1 1 2 Force Speed Characteristics The force speed characteristics of the SGLGW linear motors are shown below SGLGW 40A140A SGLGW 40A253A 6 0 5 0 Speed 40 pon Speed m s Force N Force N SGLGW 60A253A SGLGW 60A365A Speed m s Force N Force N 6 1 1 SGLGW Type Linear Motor 6 1 1 3 Dimensional Drawing of Motor SGLGW TLILIALILILIALI 9197 OV Source 3 50654 1 350669 1 4 Emply Counterpart Model Number 7 Empty 3507 80 1 Socle t 350570 3 or Empty 350689 3 Ebctr amp al Ange Dai Ichi De Inc Counter part Mo del Numb er Foe Sener Oo mie dor Pole Senso Output 9 9 When the moto rmoves nthe dire
5. Position Control Options Use V REF as the speed feed forward input Nore the notch filter in the force reference Reserved Reserved Parameters d not use Notch Filter Function Selection Command input filter using line driver signal 3 Filter Selection 5 2 3 Input Signal Selection List The input signal selection list is shown below User Parameter Digit Name Settin Content Factory No Position g Setting Set the input signal assignment used in the sequence the same as the Note1 Note2 Input Signal Assignment SGDB servo amplifier Note Mode Note3 The above input signal assignments can be freely set Input from SIO CN 1 40 input terminal Note8 Input from 51 CN1 41 input terminal Input from SI2 CN 1 42 input terminal E Input from 13 CN 1 43 input terminal 3 Input from 514 CN1 44 input terminal Input from 15 CN 1 45 input terminal 6 Input from SI6 1 46 input terminal Signal fixed at enabled 8 Signal fixed at disabled S ON Signal Mapping Inverted signal input from SIO CN1 Servo ON at L 40 input terminal Inverted signal input from 51 CN1 41 input terminal Inverted signal input from SI2 1 42 input terminal otel Inverted signal input from SI3 CN1 t 43 input terminal Inverted signal input from SI4 CN1 44 input terminal Inverted signal input from SI5 1 E 45 input terminal Inverted signal inp
6. YASKAWA A World of Automation Solutions Series SGDH User s Manual Supplement for Linear Sigma Series Upon receipt of the product and prior to initial operation read these instructions thoroughly and retain for future reference AWARNING YASKAWA manufactures component parts that can be used ina 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 products 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 This manual deals with the s
7. 11ms 2 times in directions Operational Temperature Storage Temperature Range Humidity Range 20 909cRH no condensing Input analog pitch subdivided by 1 256 250kHz CMOS Level 0 55 20 80 C 1 The current consumption of the linear encoder and Hall sensors is notincluded in this value 2 The system may malfunction if signals outside of this range are applied to these inputs 6 2 2 Analog Input Timing Input the analog signals in the timing shown in the figure below cos and sin the complementary signals 180 from the cos and sin signals The voltage specifications for cos cos and sin sin are the same Ref and Ref are input to the converter Therefore be sure to input the signals so that they offset as shown in the figure below The output data is counted up when input as shown in the figure below cos cos sin sin Input Voltage Range 1 5 3 5V Ref Ref Input Voltage Range 1 5 3 5V 100 cos sin sin Ref Ref Index Output Position Countup Direction gt 6 2 3 Cautionary Items on Usage 1 Never measure the insulation resistance or insulation resist voltage 2 Because this signal inputs a minute analog signal accurate position data cannot be output if there is noise in the analog signal Therefore make the analog signal cable wiring as short as possible and carry out proper shielding processing 3 Usein places free from H5S gas
8. Winding Resistance Loss on p 23 motor winding resistor t 28 i deceleration period Calculated according to Energy Absorbable by Servo Amplifier on p 26 Calculation of energy absorbable by the servo amplifier Derives the energy consumed by the regenerative resistor Ex Es E_ EmtEc Calculates the needed regenerative i W 2 Note 1 The 0 2 in the Wy calculation is the value when 20 usage load is assumed for the regenerative resistor 4 2 1 Study by Regenerative Energy Calculation Note 2 The units for each symbol are shown below Content Servo system kinetic energy Consumption Energy due to loss in the load system during the deceleration period Consumption Energy due to loss in the linear motor winding resistor Energy absorbable by servo amplifier Deceleration stop period Linear motor repeat run period An external regenerative resistor is not needed if the value of Wx in the above calculations does not exceed the processing capability of the integrated regenerative resistor If the power exceeds the processing capability of the regenerative resistor integrated in the servo amplifier install an external regenerative resistor with the capacity W obtained in the above calculations When the load loss in procedure 2 is unclear make the calculations assuming 0 Calculate the necessary regenerati ve resistor capacity W by adding the fo
9. Do not insert live wires as this may lead to device failure 5 When simultaneously using multiple axes be sure to use a shielded cable for each axis rather than combining multiple axes into one shielded cable 69 6 2 4 Dimensional Drawings 6 2 4 Dimensional Drawings 6 2 4 1 JZDP A004 North American Market Standard 4 04 2 Hole 2 4 40 Hole UNC Tap 2 042 Hole 1 Upper Level Controller Serial Data Output Dai Ichi Denko 17 Series Connector Connector 17JE 13090 02 D2C soc ket 6 S Phase Output 8 9 _ 2 Linear Scale Analog Signal Input Dai Ichi Denko 17 Series Connector Connector 1 7JE 13150 02 D8C socket 2 3 4 5 7 10 Sin V24 Ti S i 2 3 4 5 6 Empty 9 10 Note 1 Donotuse empty pins Note 2 Can b e co ted dire to a Renish aw sc analog 1Vp p D sub 15 pin However BID DIR c ann ot be con necte d Note 3 When changing the cale origin specif ication s ch ang e within the conn ector on the scale side Note 4 U pha se V phase an d W ph ase in puts are intem aly pulled up at 1 3 Linear Scale Pole Sensor Signal Input Denko 17 Connector 17 13090 PNG 7 Case 70 6 3 Suggested Cables 6 3 1 Suggested Cable List The location of use for the suggested cables
10. 2x3 10 Hole 10Hole 10 10 10 Hole 2x6 2x10 2x14 2x6 2x10 x8L 8L M6 8 x 8 E 59 6 1 3 SGLFW Type Linear Motor 6 1 3 SGLFW Type Linear Motor 6 1 3 1 Standard Linear Motor Ratings Specifications Time Rating Continuous Insulation Resist Voltage AC1500V 1min Insulation Resistance DC500V 10M 9 or Protection Method Self cooling higher Ambient Temperature 0 40 Ambient Humidity 20 80 no condensation Excitation Type Permanent magnet Ratings Specifications for SGLFW Type Standard Linear Motor Linear Motor Models SGLFW 090A 120A 120A 230A 200A 380A 200A 380A Cont Output w MO 200 AREPAN ERN 200 1 4 220 4 4 1 3 3 6 6 2 Cont Force Ame Cont Current Arms Peak Force N Ams N Peak Current Arms K Moving Coil Mass Kg 40 200 400 22 37 69 64 2 Force Constant BEMF Constant 3 3 6 0 4 3 5 5 32 Electrical Time Constant Mechanica Time s 1 9 3 0 Constant C Allowable Winding 130 130 130 130 130 130 130 Temperature B type type Btype B type Btype Btype B type These items and force speed characteristics are the values at a motor winding temperature of 100 C during 25 400 0 7 6 3 3 0 j 0 7 12 2 9 4 1
11. Always tune No Do Speed Feedback Compensation Function Selection Autotuning None Viscous Friction Friction Compensation None Compensation Function Selection Friction Compensation Small Friction Compensation Large Reserved Parameters do not use E Symbol Pulse Positive Logic A phase B phase 1x positive logic A phase B phase 2x positive logic A phase B phase 4x positive logic Command Pulse Status u i Symbol Pulse Negative Logic 6 CW CCW negative logic A phase B phase 1x negative logic A phase B phase 2x negative logic A phase B phase 4x negative logic Pn200 Position Control 37 User Parameter No Pn200 Position Control continued Pn207 Position Control Function Switch Pn408 Force Related Function Switch 5 2 2 Switch List Digit Factory Clear deviation counter with signal at level 1 Clear the deviation counter at upward signal transfer CLEAR Signal Status TETA 2 Clear deviation counter with signal at L level Clear the deviation counter at 3 downward signal transfer Clear deviation counter during base block Do not clear deviation counter Clear only with CLR signal Clear deviation counter at alarm occurrence 1 Command input filter using open collector signal Position reference Filter oO Accel Decel Filter Selection Average Motion Filer
12. LS OFF ON when ready ax Usage Voltage nosov ON ax Output Current DC50 Connector Shell FG Comect the shield wire tothe connector shell 1 represents a twisted pair wire 2 The 1 time filter time constant is 47 s 3 Enabled by user parameter setting 4 Connect external regenerative resistor between terminal 1 2 for servo amplifiers with capacities of 6 0k W or greater There is no terminal B3 17 3 1 1 Motor Mounting and Encoder Mounting 3 Linear Motor Setup AXCAUTION Be conscientious in setup as linear motors can undergo various status changes due to the installation direction and encoder mounting direction Failure todo so may result in injury 3 1 Installation and Setting 3 1 1 Motor Mounting and Encoder Mounting Be sure that the forward direction of the motor and of the encoder match when installing 1 See 6 1 Linear Motors for the forward motor direction 2 See 6 2 Serial Converter Unit JZDP A004 00 for forward encoder direction Setting of Linear Encoder Scale Pitch After completion of the installation and wiring feed the control power only and input the correct linear pitch pn280 to be used for each application Alarm A 80 linear encoder scale pitch setting error will be output when the power is first input because the initial value is 0 This will be resolved upon setting a normal value into Pn280
13. Name Document Content Number gt 1 Series SGMHLI SGDH User s Manual SI S800 32 1 Servo Selection and Datasheets gt I Series SGMH LI SGDH User s Manual SI S800 32 2 Design Maintenance Explains selection of the 2 Il series servo device type and capacity Explains gt Il series servo installation wiring test run usage of the various functions as well as maintenance and testing Safety Notes This manual deals with cautionary items that must be observed in using the product as well as in inspection upon receipt installation wiring running maintaining and testing Inspection Upon Receipt of Product AA CAUTION Use the linear motor and servo amplifier in a designated combination Failure to due so may result in fire or unit failure B installation A CAUTION Never use this product in an area exposed to water where the atmosphere is corrosive or flammable or next to inflammable substances Failure to observe this may result in electrical shock and or fire m Wiring AWARNING Be sure to connect the grounding terminal to the grounding pole D class grounding Failure to observe this may result in electrical shock and or fire AXCAUTION Do connect the three phase power supply to servo amplifier output terminals U V and W Doing so may result in injury and or fire Securely tighten the screws on the power terminals and motor output termi
14. Processing Attach a surge supressor to the mageti c contactor rd coil D 1MC B1 B2 B3 ES 3 Q L2 9 9 J v Servo Amplifier wo 1 SGDH Serial Conversion Unit Linear Scale P x Perform proper temi ral Always ground m gt 2 rocessing of shield wire External Thrust Limit Thrust Feed P E Fawad 4 1V 10V Raed Speed 1 ALOI Alam Code Output La Usage Voltage DC30V Max Oupu Current PUS 7 1500 PUS 2 ty P gt AP hase GENTE nt CON 4 ch 34 A Phase 1500 i 35 Ercoder Divided Output Position CLR gt CLR D 5 gt 7 PBO Applied Lire Driver eiser ai oo 715 S 19d or MC3486 equivalent s PL Power for Open Collector PL2 53 Commend Je K 4 24 47 ik de COIN Posiitoning Complete ON at ON Jo A ON Y k COIN ON positioning completion Ar La Propatioral Control gt P Operation at2Ry ON g PContol 4 TGON TGON Output tt 285 TGON ON at or above setting value F awad Run Prohibit a PLS 42 Forward Prohibit OFF anm N LS Reverse Run BAN WP 5 Servo Ready Output Reverse Fun Prohibit at NLS un D 3E gt Proh
15. SUB 15 Connectors marked with an asterisk are not available from Yaskawa Electric America Inc in North American markets Please locally source the appropriately sized Hi flex cable from reputable local suppliers wire size shown in AWG classification Haidenhain linear encoders use the JZSP CLL 20 conversion cable provided as an option O be 01 1m 03 3m or 05 5m Consult Yaskawa Electric America for availability 72 6 3 2 Dimensional Drawings of Suggested Cables 6 3 2 Dimensional Drawings of Suggested Cables Dimensional drawings cables 2 and 4 in the above table are shown below 6 3 2 1 Cable with Terminal on Both Ends Servo Side gt lt Serial Converter Unit Side 17 Series Connector ct or 551 00 0600 Connector 17 JE 23090 02 9 pi n Plug J Dai Ic hi D enko Mo ex J apa 6 3 2 2 Hall Sensor Dedicated Cable lt Converter Unit S ide gt Pde gt 17 S Connect Conn ector 17 230 90 0 2 9 pin Dai Ichi Denko lt Converter Unit Side gt S cale Head Side 73 6 3 2 Dimensional Drawings of Suggested Cables 74 YASKAWA A World of Automation Salutions YASKAWA ELECTRIC AMERICA INC Chicago CorporateHeadquarters 2121 Norman Drive South Waukegan IL 60085 U S A Phone 847 887 7000 Fax 847 887 7310 Intemet http Www yas kawa com MOTOMAN INC 805 Liberty Lane West
16. Standard Linear Motor Ratings Specifications Time Rating Continuous Insulation Resist Voltage AC1500V 1min Insulation Resistance DC500V 10M or Protection Method Self cooling higher Ambient Temperature 0 40 C Ambient Humidity 20 80 no condensation Excitation Type Permanent magnet Ratings Specifications for SGLTW Type Standard Linear Motor Linear Motor Models 20A 35A SGLTW 170A 320A 460A 170A 320A Continuous Force N Arms 61 0 61 0 67 5 Continuous Current Peak Force Peak Current Moving Coil Mass Force Constant BEMF Constant Electrical Time Constant V m s 1 22 5 Mechanical Time 75 65 64 5 2 48 46 Constant x 130 130 130 130 130 130 type type type 8 type type Linear Motor Models N o o 6 1 2 SGLTW Type Linear Motor Linear Motor Models 400A 600A 400A 600A 101 8 Current Mass Force BEMF Ea Electrical Time Constant a Mechanical Time ms Constant Allowable 130 B 130 B 130 B 130 B inang s type type type type Temperature p p yp These items and force speed characteristics are the values at a motor winding temperature of 100 C during operation in combination with a servo amplifier All other values apply to winding temperatures
17. Tl made 5 75175 MC3486 equivalent 1 La ijs PA Proportional Cortrol 2 E apon _ 41 Y 35 gt p operation Tn 2 27 gt Foward Run Prohibit b 24 24 47 0 N CMP Speed Coincidence Detection N CMP ON at speed coincidere detection Servo ON at 1Ry ON P Operation at 2Ry ON TGON Output Forward Run Prohibit atP LS or above set value OFF 242 LI S T Y 3E gt Reverse Run Prohibit T 24 2 T JALN RST 44 Y 3 oe AlarmReset CIN 5 _ Forward Current limit 6 Jos 2 46 Reverse Pun Prohibit at NLS OFF ISRDY Servo Ready Output S RDY ON when ready Alam Reset at 3Ry ALM Servo Alam Output Forward Current Limit at6Ry ON a ALM OFF atal am Reverse Current Limit imi gt Reverse Current Limit at 7 5 ON Photocoupler Output ON lax Usage Voltage DC30V lax OutputCurrert DC50 R Connector Stell FG Connect the shield wire to the conrecior shell 1 represents a twisted pair wire 2 The 1 time filter time constant is 47 s 3 Enabled by user parameter setting 4 Connect external regenerative resistor between terminal 1 2 for servo amplifiers with capacities of 6 0k W or greater There is no terminal B3 16 22 5 Force Con
18. and a list of the cables is shown below SGDH Servo Amplifier Serial Converter Unit JZDP A00 4 Linear Encoder provided by customer Usage Locations for Suggested Cables 71 6 3 1 Suggested Cable List Suggested Cable List JZSP CMM01 03 JZSP CMM01 05 JZSP CMM01 10 JZSP CMM01 15 JZSP CMM01 20 Currently under planning Currently under i Or JZSP CLNTT 01 JZSP CLN11 03 JZSP CLN11 05 SGLRW 20 JZSP CLN11 10 and JZSP CLN11 15 SGLFW 35 JZSP CLN21 01 JZSP CLN21 03 JZSP CLN21 05 JZSP CLN21 10 JZSP CLN21 15 JZSP CLN39 01 JZSP CLN39 03 For SGLGW all series Power Cable Between servo for main amplifier motor circuit terminal SGLFW 50 SGLFW 1Z SGLTW 20 and SGLTW SGLTW 40 and SGLTW JZSP CLN39 05 80 JZSP CLN39 10 JZSP CLN39 15 Cable with Connectors on Both Ends Hall Sensor Dedicated Cable Between servo amplifier serial converter output Between serial converter and hall sensor module Special Cable for Renishaw Linear JZSP CLP20 05 JZSP CLP20 10 JZSP CLP20 15 JZSP CLP20 20 JZSP CLL10 03 JZSP CLL10 05 JZSP CLL10 10 JZSP CLL10 15 JZSP CLL10 20 JZSP CLL00 05 JZSP CLLOO 10 5m D SUB 15 pin 10m D SUB 15 pin Encoder Encoders 15m D SUB 15 pin Dedicated JZSP CLLOO 15 Cable JZSP CLL00 20 Special Cable for JZSP CLL 2 20 01 Heidenhain Linear JZSP CLL 2 20 03 Encoder JZSP CLL 2 20 05 1m D SUB 15 pin 3m D SUB 15 pin 5m D
19. and cycling the power Verification of Feedback Pulse The feedback pulse verification method is shown below 1 Connect the encoder wire to 2 Verify whetherthe feedback pulseis received correctly by feeding control power and manually move the motor Verify the feedback pulse in user parameter Un00D Feedback Pulse Monitor Verify that the feedback pulse variation is the value setin Un00D by moving the motor for a desired distance In addition verify thatthe value of Un004 Motor electrical angle monitor returns to its original value by moving the motor across only two magnets on the motor magnet slide 3 2 Test Run Using Panel Operator After setting the resolution and verifying the feedback pulse perform a test run by the following operation 1 Feed main power 2 Try moving the linear motor by operating the panel operator 3 Verify that the linear motor is working normally runaway may occur 1 When turning the servo for the first time stand away from the motor as motor 19 2 To prevent danger during motor setup the factory settings for the force limit parameters Pn483 484 are extremely small Factory Setting 10 3 Press the key on the panel operator to raise the parameter to the force used when driving the motor forward 1 Perform magnetic polarity detection before moving the motor if no Hall sensor is used For details See 4 1 Linear Motor Polarity Detection only when the
20. c Serial Converter Unit Linear Scde Perform proper temi processing of the shi dd wires ALO1 Alam Code autput ThistReference ALO2 Max Usage Voltage DC30V 23 V x 10V Rated Thiust ALO3 Max DC20mA PULS PUS Br cw P jus g A ph 1 1900 33 L lt o 55 4 PAO Fhna vos Encoder Divided output 1500 354 Position CLR CLR e 15 Applied Line Receiver Reference JAR ue 36 PBO 5 75175 d YEN 3 19 or MC3486 equivalent device PCO Power for PL1 cdlector command N CMP Sp d Cdncidence Detection COIN ON atspeed mideme detection Servo ON at1RyON Posi tioning Completion ON at positioning completion control gt P operation 2Ry ON 8 27 Output Y 20 TGON ON when at or above the set value Forward run prohibit a P LS run pohitit OFF dnm NLS gt Feverse SRDY Ready Output Reverse run prohibit at N LS OFF NOT 43 i S RDY _ ON when ready 1 jai ose T gt Alam res Alarm resetat 3Ry AL M PST e 44 20 754 bet 31 ALM Alarm Output Fawad side ALM OFF at alam Forward curert limitON at 5 b 35 gt eves limit ON 6Ry aw Reverse side reverse limit Photocoupler Output
21. m SGLTW 20A320A P 024 SGLFW 1ZA380A P 11 2 Wiring 2 1 Connection With Peripheral Devices 2 1 1 Single Phase Main Circuit 115V or 208V Specification Connected to motion module Wiring Breaker MCCB Source AC200V Sing le Pha se 2 RST Use d fo rp ower line protection Shuts OFF the Inein the Wiring ewntof Breaker overcurrent JUSP O P02A 2 Sets the various user parameters displays operation status and alarms Can communic ate with PC Nois e Filter Attac hed to prevent external noisef rom the powerline Noise Filter SLJ E s I Con nec tor Cable Model JZ P CMS01 03 Magnetic Contactor HI Series Tums servo po ver a ON OFF Usewith a S The customer surge supressor 3 E attache d must provide the following Linear measuring Magnetic Q system Contactor Source Linear guides Grounding Regenerative Resis tor Optional Regenerative Resistor Conn ect an extem al regen erative resistor between temin als 1 2 ifrege rative capac ity is insu fficie nt Hall Sensor Unit Core less Linear Motor 2 1 2 Three Phase Main Circuit 208V Specification 2 1 2 Three Phase Main Circuit 208V Specification Upp er Level Connectable to Yaskawa upper level dow With Motion Module MP910 MP 920 MP930 Power Source Wiri
22. of 20 C Note Continuous Force shows the continuous allowable value when the following aluminum plates heat sinks are attached as a cooling means at an ambient temperature of 20 C App 12 Heat Sink Size 20A170A UNS 35A170A 20A320A 20A460A 35A320A 400 500 40 35A460A 40A400A 40A600A B0A400A 609 762 5 80 600 6 1 2 2 Force Speed Characteristics The force speed characteristics of the SGLTW linear motors are shown below SGLTW 20A170A SGLTW 20A320A Speed m s 0 100 200 300 400 200 400 600 800 SGLTW 20A460A SGLTW 35A170A Speed N 0 400 800 1200 1600 0 200 400 600 800 Force N Force N SGLTW 35A320A Speed m s Speed m s 0 400 800 1200 1600 0 50 1000 1500 2000 Force N Force N 55 6 1 2 SGLTW Type Linear Motor 6 1 2 3 Dimensional Drawing of Motor 1 SGLTW A LILILILI e 52 1 1 FD O ora rra a ary hen perasa Magnet Track Model SGLTM 56 6 1 2 4 Dimensional Drawing of Motor 2 SGLTW LILIALILILIALI RUNS DNO ta pae kan Dim Dim Dim i Dim Unit Mass Magnet Track L3 H1 H2 H4 sN Kg Model SGLT M 103 83 39 140 120 100 57 57 6 1 2 SGLTW Type Linear Motor 6 1 2 5 Dimensional Drawing of Magnet Track SGLT
23. pulse queue reference Internal Setting Speed Control 000 1 Control Format Selection contact reference Force Control analog reference Selection Position Control pulse queue 7 reference Speed Control analog reference User Digit Facto Parameter Setting Content ory No Position Setting Stop motor by dynamic braking DB Stop Method at Servo OFF 1 Stop motor by DB the release D or Alarm Occurrence 5 Do not use DB let motor coast to stop Stop by DB or coasting same stop method as in 001 0 Assume the force set in Pn406 to be the maximum value decelerate the motor to stop the go to a servo lock state Stop Method at Overtravel OT Assume the force set in Pn406 to be the maximum value decelerate the motor to stop the go to free run state Not DC Power Input Compatible Input AC power from terminals L1 L2 and L3 DC Power Input Compatible Input DC power from the 1 power inputs 001 Application Function Selection AC DC Power Input Selection AL01 ALO2 and ALO3 output warning codes only AL01 ALO2 and ALO3 output both alarm codes and warning codes However the ALM signal output stays ON normal during warning output 1 Use T REF after inputting external force limit Speed Position Control 2 Use T REF after inputting force feed Option T REF assignment forward Use the T REF terminal as the external force limit i
24. 0A 50 200 4000 FE 3500 12 380 1ZA200A 50A380A 3000 500 0 100 200 300 25 4 2 3 Energy Absorbable by Servo Amplifier 4 2 3 Energy Absorbable by Servo Amplifier The relationship between servo amplifier input source voltage and absorbable energy is shown below 4 2 3 1 100V Servo Amplifiers 1 SGDH 01BE 02BE Energy Absorbable by Motor J AC Input Source Voltage Vrms 4 2 3 2 200V Servo Amplifiers 1 SGDH 05AE 10AE 01AE 04AE 15 20 30AE 120 100 E 04A SERE 10 SEES sum B A Absorbable Energy J SS HH s 20 SS dens 0 180 200 220 240 260 AC Input Power Voltage Vrms 26 2 SGDH 50AE 75AE BHENEFEN e Lo AC Input Source Voltage Vrms 27 5 2 1 User Parameter List 5 Differences Between Rotary Motors and Linear Motors 5 1 Terms Units Rotary Type Linear Type Linear Scale Pitch P r Encoder Resolution Pulse Scale Pitch Resolution 5 2 User Parameters 5 2 1 User Parameter List The user Parameter List is shown below User Difference Parameter From Rotary etting No Type Basic Function Selection Function Selection iud 7 Function Selection F
25. 1 1 4 1 500 12 37 4 1 9 S S operation in combination with a servo amplifier other values apply to a winding temperature of 20 Note Continuous Force shows the continuous allowable force value when the following aluminum plates heat sinks are attached as a cooling means at an ambient temperature of 20 Appii Device Heat Sink Size Types 20A090A 125x125x1 20A120A aa S 35A120A 400 50040 mm 60 6 1 3 2 Force Speed Characteristics The force speed characteristics of the SGLFW linear motors are shown below SGLFW 20A090A Speed m s Speed m s 0 50 100 150 200 250 Force N SGLFW 50A200A Speed m s 61 SGLFW 20A120A 0 40 80 120 140 Force N SGLFW 35A230A Speed m s 0 0 100 200 300 400 500 Force N SGLFW 50A380A Speed m s Force N 6 1 3 SGLFW Type Linear Motor SGLFW 1ZA380A Speed ms Speed 4 m s 0 400 800 12001400 0 1000 2000 3000 Force N Force N greater L1 2 Screw 4 40 UNC N 0 8 w magret cover Gap 1 wo maget cover T he di edion of motor motion is inthe direction o f the arrow h the above figure wien a curent is fbwedin tle U V W phase order Pole Sensor Connedo r Motor Connedo Co mection Specifiations Specificato rs Pole Sensa Ou put Sigal 9 6 The relato rship between pole sensor signalsS Sv and Sw and the inverse power of each o
26. Carrollton OH 45449 U S A Phone 937 847 6200 Fax 937 847 6277 Intemet http www motoman com YASKAWA ELECTRIC CORPORATION New Pier Takeshiba South Tower 1 16 1 Kaigan Minatoku Tokyo 105 0022 apan Phone 81 3 5402 4511 Fax 81 3 5402 4580 Internet http w wwyaskawa co jo YASKAWA ELETRICO DO BRASIL OMERCIO LTDA Avenida Fagundes Filho 620 Bairro S aude Sao Paolo SP Brasil 04304 000 Phone 55 5071 2552 55 11 5581 8795 Intemet http www yaskawa com br YASKAWA ELECTRIC EUROPE GmbH Am Kronberger Hang 2 65824 S chwalbach Germany Phone 49 6196 569 300 F ax 49 6196 888 301 Intemet http www yas MOTOMAN ROBOTICS AB Box 5045 38525 Torsas Sweden Phone 46 486 48800 ax 46 486 41410 Intemet http Avww motoman se MOTOMAN ROBOTEC GmbH KammerfeldstraBe 1 85391 Alleshausen Germany Phone 49 8166 900 Fax 49 8166 9039 Intemet http www motoman de YASKAWA ELECTRIC UK LTD 1 HuntHill Orchardton Woods Cumbemauld G 68 9LF Scotland United Kingdom Phone 44 12 3673 5000 F ax 44 12 3645 8182 Internet htip www yaskawa co uk YASKAWA ELECTRIC KOREA CORPORATION Paik Nam Bldg 901 188 3 1 Ga Euljiro Loong Gu Seoul Korea Phone 82 2 776 7844 Fax 82 2 753 263 YASKAWA ELECTRIC SINGAPORE LTD Head Office 151 Lorong Chuan 04 01 N ew Tech Park Singapore 556741 SINGAPORE Phone 65 282 3003 Fax 65 289 3003 TAIPEI OF FICE AND YATEC ENGINEERING CORPOR ATON 10F 146 Sung C
27. M LILILILILIA Applicable only to North American Markets Magnet Track Model D 20324 205400Y gt B 20756AY ES 353240 P 35756 40405 Ds 756 405 742 337 5 742 387 5 ol 945 405 675 877 5 337 5 607 5 927 5 387 5 657 5 594 202 5 472 5 742 5 202 5 472 5 742 5 198 202 5 236 5 247 5 202 5 236 5 247 5 67 5 67 5 67 5 67 5 67 5 67 5 607 5 657 5 877 5 927 5 ul E 5 5 3 1 925 92 5 92 5 92 5 202 5 202 5 202 5 202 5 19 190 190 190 10 170 170 170 131 131 131 15 150 3 1 N oj Aj N 92 5 202 5 190 170 131 150 20 39 103 162 132 116 LE o 8 51 N gt NI Dimensions gt ry a an A Q 100 100 15 15 34 5 34 5 Q T ki T N N N 4 9 140 140 140 120 120 12 0 100 100 2 4 2 2 2x3 2x4 2x2 2x3 2x4 10 Hole 10 Hole 10 Hole 10 Hole 10 Hole 10 Hole 10Hole 2x14 2x6 2x10 2x14 2x6 2x 10 2x14 M6x8L 10L x10L M8 x 106 M8x10L M8x10L M8 x 10L 92 92 B B A e 2x2 2x3 2x4 2x2
28. Power Specification 2 2 2Three Phase Power Specification sess 2 2 Slin Position Control OGG aiiis omi b bes d mds 2 2 41 Speed Control Mode cee ce cee neces cae eee cee sess serene 2 25 Force Control Mode e Rh rea Rr 3 Linear Motor Setup E DEEP 3 1 Installation and Setting 3 1 1Motor Mounting and Encoder 3 1 2Setting of Linear Encoder Scale Pitch 3 1 3Verification of Feedback 2 ene 3 2 Test Run Using Panel Operator ut Noon GQ O O GO N N co sd 2 1 2Three Phase Main Circuit 208V Specification 13 13 14 15 12 16 17 18 18 2 18 18 19 4 Parameter Setting and Description of Functions 4 1 Linear Motor Polarity Detection only when there is no Hall sensor 4 2 Calculation of Needed Regenerative Resistor Capacity 4 2 1Study by Regenerative Energy 4 2 1 1 Calculation Procedure SOLO pata 4 2 2Linear Motor Winding Resistance Loss 4 2 2 SGLGW Type Linear Motors 4 2 2 2 SGLTW
29. Type Linear Motors 4 2 2 3SGLFW Type Linear Motors 4 2 3Energy Absorbable by Servo Ampliir 4 2 3 1100V Servo Amplifiers PE en 5 Differences Between Rotary Motors and Linear Motors S OTIS 5 2 User Parameters 4 0 01 1 enn em ren nnn e 5 2 1 User Parameter List utere ze icin eb ti es 5 2 2Switch List 5 2 3Input Signal Selection List 5 2 4Output Signal Selection List 5 2 9A Xilary 5 2 6Monitor Mode List 5 3 Alarm Display o Oe ete 5 4 Warning Display List eati ido cu tutt atra a the 6 Ratings and Specifications 6 1 Linear Motors 6 1 1 8GLGW Linear Motor 6 1 1 1 Standard Linear Motor Ratings Specifications 1 1 2Force Speed Characteristics 1 3Dimensional Drawing of Motor SGLGW O ei E 1 1 5 Structural Diagram of SGLGW 2 6 1 2 SGLTW Type Linear Motor 1 2 1 Standard Linear Motor Ratings Specifications 1 2 2 Force Speed Characteristics 1 2 3Dimensional Drawing of Motor 1 SGLTW O 1 2 4Dimensional Drawing of Motor 2 SGLTW TI 1 2 5Dimensional Drawi
30. an external regenerative resistor is installed The set value is ignored The upper limit is the maximum output capacity W of the applied servo amplifier The initial value is set to 0 Therefore alarm A 80 will be output when the power is first turned ON The alarm will not be output if this user parameter is set to the correct value and the power turned ON again The factory setting is set small to prevent danger in motor setup Raise the force to the amount used after setup is finished 5 2 2 Switch List 5 2 2 Switch List The switch List is shown below User Sh Digit ber Name Content Setting Motion Direction Selection Reverse 1 Speed Control analog reference 1 Force Control analog reference Speed Control analog reference 40090 Speed Control analog reference Zero Clamp Position Control pulse queue reference Position Control inhibit Axis Address Sets servo amplifier axis address Rotary Linear Actuation 0 Actuate as rotary Selection with encoder i RE wang disconnected uate as linear Position Control pulse queue reference Force Control analog reference Position Control pulse queue reference Force Control analog reference Internal Setting Speed Control 3 contact reference Internal Setting Speed Control 4 contact Reference Speed Control analog reference Internal Setting Speed Control 5 contact reference Position Control
31. ction 5V Source indicated by the in the figure the relationship between the po sens r gu aul sas Su m ad 5 5 1 inverse po wer of each mo tor phase 5 Flag 3507791 AMP beco mes as shown h the f igure at right Pin Type 7 3505613 or Connecto r 17JE 23090 02 D8C 3 50690 3 1 3 5 5 Dim Dim Dim Dim Dim Dim Dim Unit Unit Mass 1 12 13 14 15 16 H1 sN1 Kg SGLGM o 125 9 es 9 amp s o sss 2625 2575 srs Gs 6 5 085 snum ae ais so 525 270 exor vas s 525 3 047 2625 2575 375 Gs 5 5 050 enum Few ae ais 525 20 14 50 6 1 1 4 Dimensional Drawing of Magnet Track SGLGM TILILILILIA 0 1 0 3 L1 1 unit Warring Level A a aA Sp Qo 9 o ONPE N Mourtirg Hole M4TapDepth 4mm Magnet Track Dim Dim Dim ue Mass Model 11 12 H1 Kg SGLGM 45 5 amp 85 e Fee 36 ss s Rom m we s lt 60450A 51 6 1 1 5 Structural Diagram of SGLGW 78 98 6 1 1 SGLGW Type Linear Motor 52 6 1 2 SGLTW Type Linear Motor 6 1 2 1
32. d if the polarity detection does not complete normally 2 Alarm 5 is also generated if the main power is cut off during polarity detection If an alarm occurs perform polarity detection again after resetting the alarm Do not touch the motor during polarity detection 1 Polarity detection is executed by moving the motor Therefore the motor will move somewhat during detection 2 Polarity detection is not performed when the overtravel OT signal is OFF RUN prohibited Perform polarity detection again after releasing the OT signal 3 Be sure to set Pn50A 0 input signal assignment mode to 1 if the P DET polarity detection start signal is used assigned to a desired input terminal The setting in Pn50D 3 P DET signal mapping is not enabled if the setting of Pn50A 0 0 is 0 20 21 4 2 Calculation of Needed Regenerative Resistor Capacity 4 2 4 Study by Regenerative Energy Calculation The procedure is shown for calculating the regenerative resistor capacity when operating accel decel by the run cycle shown in the figure below VM Motor Speed Speed Motor Force 4 2 1 1 Calculation Procedure The capacity calculation procedure is shown below Derives the kinetic energy of the servo Eg MVy2 2 system Derives Consumption Energy due to loss 2 in the load system during the EL VvFitp 2 1 Value according to Linear Motor Calculates loss energy for the linear oum 3
33. e safety related content Be sure to observe text annotated with these safety symbols as their content is important AW ARNING Mis operation may result 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 Items marked with AA CAUTION may entail serious ramifications As either of these symbols contains important content be sure to observe them Icon Display The following icons have been designed so that the classification of the content of the explanation can be easily discerned The icons are displayed at needed locations to assist in comprehension Important matters to be memorized In addition this item serves as a light warning of a level not entailing damage to machine such as an alarm display etc Displays programming examples operation examples etc Exp Shows supplementary items and convenient functions Terminology Explanation of difficult to understand specialist terminology as well as for technical terms that were not previously explained Outline of Manual Thank you for purchasing our unified Linear Rotary gt I type AC servo amplifier Vi This manual deals with the stand alone installation wiring test run etc of a Plug amp Play linear rotary type 2 II series AC servo See the following manuals for other items Document
34. er Maximum Applicable Motor Capacity see table below Voltage A 208 240V AC B 115V 0 2kW or less for 115V Model E Force Speed Position Control option unit compatible Maximum Capacity of Applied Motor Maximum C apacity Maximum Capacity Symbol on Applied Symbol on Applied end Motor Motor 1 4 2 Magnet Track Applied Motor Types Motor Model Applicable Servo Amplifier SGLGW ep 1 6 Serial Converter Unit JZDP 4 AAA Converter Unit Type see table below Compatible Motor Number Varies according to the compatible motor see table below Serial Converter Units Classified by Model and Shape Scale Used Servo Sensor Y N 2 Renishaw Conversion JZDP A004 nC cable for Heiden hain scales is available Serial Converter Units and Applicable Motor Chart The serial converter contains the motor ID winding data as well as the data that enables the system to be Plug and Play When used with Yaskawa s SGDH Servo Drive the correct Serial Converter must also be used to operate the system Mis matching the motor coil and serial converter will cause system malfunction To ensure the proper match a serial converter with the correct P N and a motor coil are shipped together from the factory 1 4 2 Magnet Track Serial Converter Units and Applied Motors JZDP A004 L1L1L1 Model JZDP A004 OO0 ______ 006 SGLGWA3SAP 08 SGLFW 20A120 P
35. eration 0 300 0 Unit Changed Position Control Command Ratio Ratio tases toco Position Reference Accel Position Control Function Average Position Pn208 Porn Motion 9 0 01ms 0 6400 Pn280 Linear Scale PitchNote 6 0 65535 Newly Added Pulse 281 Encoder Resolution Scale 1 256 20 Pn280 150 3000 Pn305 Soft Start Acceleration Time 0 10000 0 Pn306 Soft Start Deceleration Time ms 0 10000 Seats Reference Filter Pn308 Sp PE Pier time 0 01ms 0 65535 Constant Pn380 Internal Setting Speed 1 mm s 0 5000 User Pn381 Internal Setting Speed 2 mm s 0 5000 pa changed Pn382 Internal Setting Speed 3 mm s 0 5000 Factory setting Pn383 JOG Speed mm s 0 5000 50 changed Unit changed 30 Force Related Parameters 31 User Parameter No Continuou Pn400 s Force Pn401 Force Reference Filter Time 001ms Constant Pn404 Forward External Force Limit Reverse External Force Limit Pn406 Emergency Stop Force 0 1V Force Reference Input Gain 408 Force Related Function Switch Pn409 Notch Filter Frequency Pn484 Reverse Force Limit Speed Limit During force Control Forward Force Limit o e 7 Difference From Rotary Type User parameter no 0 5000 5000 changed Factory Setting Factory setting changed Unit changed User Parameter No Changed Factory Setting Changed
36. f the motor 5 i Vu Vv and Ww when the movesin the direction of the arrow inthe 5 3507794 above d r am amp shownin the figure at z Ph Pin 350218 3 or right H Connedo r 17 E 23090 02 D8C 350547 3 No 1 3 Dai Ichi Denko Inc 32065451 350669 1 4 Counterpart Model Numbers Counterpart w Socket Typ Connedo 17 E 13090 02 D8C 0 180 360 540 Studs 17L 002C or 17L 002C 1 Ebctrial Angle C 62 SGLFW 20A090A L SGLFW 35A120A L 2 M4 Tap 5 5L 6 M4 Tap 5 5L 6 1 3 SGLFW Type Linear Motor SGLFW 35A230A 12 M4 Tap 5 5L 300 60 5 65 127 _ v Sos 255 _ sss 360 ss 360 20A090AL1 5 17 5 5 25 7 33 75 7 57 5 Thread Details for Mounting 5 Dim Dim Dim 4 5 Magnet Track Model SGLFM 20000A 35 1ZLILILIA 6 1 3 SGLFW Type Linear Motor 6 1 3 4 Dimensional Drawing of Magnet Track SGLFM TILILILILIA ER 20324 20540 20756 35540AC Fic ENG s m FEN A IIR psp 2x6 2 10 2 14 2x6 2x10 2 6 2x10 2 14 Hoe wth Hole wah hoe wih 4 8 Hole 48Hole 4 8Hde 4 8Hole 48 ud 5 8 Hole 5 8 Hole 58 Hole Fadng Facing Facing 1 5Depth 1 5 Depth 1 5Depth Dimens
37. g Displays and Warning Code Outputs are shown in the table below Warning Display and Output List Warnin Warning Code Output Warning Object Displ 9 Warning Name Warning Content splay ALOI ALO2 ALO3 Warning displayed before reaching an Overload overload A 71 or A 72 alarm An alarm may result if operation is continued as is Battery warning message displayed when Battery Warning an absolute encoder is used as an absolute encoder ABE Warning displayed before reaching a Regent Overload regen overload A 32 alarm an alarm may result if operation is continued as is Output transistor ON x Output transistor OFF warning state 47 6 1 1 SGLGW Type Linear Motor 6 Ratings and Specifications 6 1 Linear Motors 611 SGLGW Type Linear Motor 6 1 1 1 Standard Linear Motor Ratings Specifications Time Rating Continuous Insulation Resist Voltage AC1500V 1min Insulation Resistance DC500V 10M or Protection Methods Self cooling air higher cooling Ambient Temperature 0 40 C Ambient Humidity 20 80 no condensation Excitation Type Permanent magnet Ratings Specifications for SGLGW Type Standard Linear Motor Linear Motor Model SGLGW 40A140A 40A253A 40 365 60A140A 60 253 60 65 Continuous Output Emm pem e als a os Peak 140 20 420 220 40 660 Peak Curent Moving Coil Mass kg 059 0 65 04 07 113
38. hiang Road Taipei Taiwan Phone 886 2 2563 0010 F ax 886 2 2567 4677 YAS KAWA J ASON HK COMPANY LIMITED Rm 2909 10 Hong Kong Plaza 186 191 ConnaughtR oad West Hong Kong Phone 852 2803 2385 Fax 852 2547 5773 ING OFFICE Room No 301 Building of Beijing International Club 21 ianguomanwai Avenue Beijing 100020 China Phone 86 10 6532 1850 Fax 86 10 6532 1851 SHANGHAIOFFICE 27H uiHe Road Shanghai 200437 C hina Phone 86 21 6553 6600 Fax 86 21 6531 4242 SHANGHAIYASK AWA TONJ IM amp E CO LTD 21 H uiHe Road Shanghai 200437 C hina Phone 86 21 6533 2828 Fax 86 21 6553 6677 Internet htip www yaskawa tongji com ING YASKAWA BEIKE AUTOMATION ENGINEERING C O LTD 30Xue Yuan Road H aidian Beijing 100083 China Phone 86 10 6232 9943 Fax 86 10 6234 5002 SHOUGANG MOTOMAN ROBOT CO LTD 7 Yongchang North Street Beijing Economic Technological Development Area Beijing 100076 China Phone 86 10 6788 0551 Fax 86 10 6788 2878 YEA TAICHUNG OF FICE IN TAIWAIN B1 6F No 51 Section 2 Kung Y i Road Taichung City Taiwan R O C Phone 886 4 2320 2227 886 4 2320 2239 gt lt Yaskawa Electric America Inc July 2001 Printed In U S A YEA SIA S800 39 1 1
39. ibit h JS RDY ON when ready OFF RE RY ae 83 Alarm Reset 5 Alam Resetat 3RyON 60 Servo Alarm Output my Forward Current PEO ALM Alarm Off F awad Curent Umit at 68 P CL 45 Limit ON p e EARS gt r Pphotocaupler Output 5 gt Reverse CurrentLim it ON Reverse Current Limit at 7Ry 46 35 Usage Voltage DC30V ON Oupu Current DCMA Connedor Shell FG Conrect the the comector shell 1 represents a twisted pair wire 2 The 1 time filter time constant is 47 s 3 Connect an external regenerative resistor between terminal 1 2 for servo amplifiers with capacities of 6 0kW or greater There is no terminal B3 4 Enabled by user parameter setting 15 2 2 4 In Speed Control Mode 2 2 4 n Speed Control Mode 10 AC200V 230V 15 50 60 2 1MCCB Alarm Processing Attach a surge supressor to the magnetic contactor and relay coil Servo Amplifier SGDH Serial Converter Unit Linear Scale Perfom proper terminal processing for shield wre Speed Reference 2V 10V Rated Speed ALO1 Alarm Code Output Max Usage Voltage DC30V ALO2 Output Current ALO3 DC20mA External Thrust Limit Thrust Feed 3 1V 10V Rated Speed Ercoder Output PBO Applied Line Receiver
40. ing at Multi Turn Limit Non Coincidence A CC Alarm Occurrence Clear Result of Option Unit Detection 42 5 2 6 Monitor Mode List The monitor mode list shown below User Parameter No Display Content Actual WotorMoton Speed mms Un001 Speed Reference input Un002 Internal Force Reference Percentage of rated force mm s Un003 Electrical Angle 1 Number of pulses from origin Un004 Electrical Angle 2 ny ny 96 ny 96 96 96 Degrees from origin electrical angle Un007 Speed of Input Reference Pulse Deviation Counter Value ULT Position Deviation Value at 100 rated force Un009 Cumulative Load Rate Displays the effective force for a 10sec cycle Value at 10096 processable Un00A Rated Load Factor Tegan power Displays ihe regen consumption power for a 10sec period Value at 100 processable DB Resistor Consumption Power power during dynamic brake operation Displays DB Input Reference Pulse Counter Displayed in hexadecimals Un00D Feedback Pulse Counter Displayed in hexadecimals consumption current for a Number of S PG Communication Displayed in decimals Un104 Errors common to rotary and linear 10sec cycle 5 2 6 Monitor Mode List 5 3 Alarm Display List The ON OFF relationships for Alarm Displays and Alarm Outputs are shown in the table below Alarm Display and Output List Alarm Code O
41. ions 66 6 1 4 Mechanical Limitations The mechanical limitations for 2 II Series linear motors are shown below 6 1 4 1 Shock Resistance The shock resistance is as follows Shock Acceleration 98m s 10G No of Shocks 2 6 1 4 2 Vibration Resistance The vibration resistance in up down left right and back forth directions is as follows Vibration Acceleration 24 5m s 2 5G 6 1 4 3 Installation Maintain the following air gaps when installing the 2 Series linear motor Also make sure that the motor and stator do notintervene during the stroke Core less Motors all Types Gap 0 8mm SGLTW SGLTW 20A000 SGLTW 35A000 SGLTW 40A0 00 SGLTW 80A0 0 0 67 6 2 1 Characteristics Specifications SGLFW 8 SGLFW 20A000 SGLFW 50A000 SGLFW 1ZA000 6 2 Serial Converter Unit JZDP A004 6 2 1 Characteristics Specifications Electrical Characteristics Mechanical Characteristics Environment Item Content 5 0VDC 5 Ripple inclusion rate of 5 or Power Supply Voltage less Current Consumption 420mA Type 350mA Max at power up Output Resolution Maximum Frequency Response Analog Input Signal 2 Differential Input 0 4 1 2V Cos Sin Ref Input Signal Level 1 5 3 5V Hall Sensor Signal Input Mass 150g Dimensions 90x60x23mm Vibration Resistance 98nvs Max 10 2500H2 directions Shock Resistance 980
42. llowing items to the above calculation procedure when a run period occurs in the continuous regeneration mode for the up or down axis e Run period energy for the continuous run mode J Where Linear motor speed for above run period m s Linear motor generated force for continuous regeneration mode run period Run time for the above sec e Energy consumed by regenerative resistor Needed Regenerative Resistor Capacity W 0 2xT 23 4 2 2 Linear Motor Winding Resistance Loss The relationship between the linear motor generated force and the winding resistance loss is given below 4 2 2 1 SGLGW Type Linear Motors 1 SGLGW 60A365 40A365 60A253 40A253 50A140 40A140 Loss W 0 50 100 150 200 250 300 Force 4 2 2 Linear Motor Winding Resistance Loss 4 2 2 2 SGLTW Type Linear Motors 1 Loss W 2 Loss W SGLTW 35A460A 35A320A 35 170 20 460 20 2 20A170A 4000 3500 35A 460A a x 35A 170A d 20A 320A 2500 20 1704 2000 1500 1000 T 0 100 200 300 Force SGLTW 80A600 80A400 40A600 40 A400 8000 7000 6000 40A600 40A400 6 24 4 2 2 3 SGLFW Type Linear Motors 1 SGLFW 35A230A 35A120A 20A120A 20 090 1200 35A 120A Y 20A120A L Loss W 200 300 2 SGLFW 1ZA380A 1ZA200A 50A38
43. moved When operating this product be sure that al safety covers and shields are returned to their original positions before operating The figures displayed in this manual are representative examples and may differ from the product received This manual may be revised where appropriate due to product improvements specification changes or for purposes of improved ease of use for the manual itself The document number will be updated and issued as a revision with regard to these changes To order a new manual due to damage or loss of this one please contact the nearest Yaskawa sales office listed on the back of this manual with the document number listed on the front Yaskawa assumes no responsibility for modifications made to the product by the customer as they fall outside the scope of the warranty Vill 1X 1 1 1 Motor Coils 1 Interpretation of Model Number The model numbering conventions are shown below 1 1 Linear Motor Models 1 1 1 Motor Coils SGLG W 40 A 140 AW Linear gt Series ow Motor W With Hall Sensor module and a Serial Converter module standard Model configuration serial converter is G Coreless GW required for operation with Sigma II T Iron Core FW Iron Core FW P With a Hall Sensor module only without a serial converter when order W Motor Coils for a replacement motor coil only Always use W for normal orders Height of Magnets Design Revision Order Voltage Coil Leng
44. n Limit Non Multi turn limit data between A CC SE Note 3 encoder and servo amplifier Coincidence do not match Alarm Code Output Alarm Object Alarm Display Position deviation pulse exceeds the value set in user parameter Pn505 One phase is missing within the 3 phase main circuit power Communication not possible Undefined Digital Operator between the digital operator Communication Error JUSP OP02A 2 and the servo amplifier state Output transistor ON x Output transistor OFF alarm state Note 2 A 08 will always appear at the very first powering up of the unit The alarm will go out if the customer inputs the correct values and cycles the power Note 3 Displayed in 30W 100W Note 4 Cannot be released by the alarm reset ALM RST signal Release the alarm by removing the cause ofthe alarm then turning the power OFF Note 5 Installed in version upgrade SGDM O DA only Note 6 Servo amplifiers with capacities of 6kW or greater will display a Main Circuit Voltage Error Detection alarm in A40 This means that either an overvoltage or undervoltage error has occurred Excessive Position Deviation Power Line Phase Loss For details on these alarms see 9 2 Error Diagnosis and Corrective Measures in the gt II Series SGM L H SGDH User s Manual Design and Maintenance SI S800 32 2 5 4 Warning Display List The ON OFF relationships for Warnin
45. nals Failure to due so may result in fire B Running AXCAUTION To prevent unexpected accidents operate after mounting limit switches or stoppers to the ends of the slider Failure to do so may result in injury When operating the device after installation on its counterpart machine set user parameters matching that machine beforehand Operating without setting these parameters may result in machine runaway or failure Vii AA CAUTION Before starting operation after installing the unit on its counterpart machine always have the device in a state capable of emergency stop Failure to do so may result in injury Donottouch the heat sink during operation This may result in burns due to high temperatures B Maintenance Inspection AWARNING Never touch the interior of the servo amplifier Failure to do so may result in electrical shock Be sure the terminal cover is in place when power is fed Failure to do so may result in electrical shock Donottouch the terminals until at least 5 minutes after power shutoff Failure to do so may result in electrical shock due to residual voltage AA CAUTION Donot modify the wiring while power is ON Doing so may result in electrical shock or injury General Cautionary Items Keep in Mind While Using the Product Because the diagrams in this manual describe detailed items they are sometimes drawn with covers and safety shields re
46. ng Breaker MCCB Three Phase User for power line protection Shuts the circuit OFF Digital Ope rator Wiring the event of an overcurrent JUSP OP02A 2 Sets the various user parameters displays Operation status and alarms Can comnunicae with PC Noise Filter Attatched to preventexternal noise from the power line Conrector Cable Model JZ 501 08 Magn etic Contactor HI Series SNE The following surge supressor devices are provided by the custo mer Linear Measure ment System Linear Guides Source Groundi ng L2 L3 L1C L2C F Regenerative Resistor optional Regenerative Re sistor If the interna regenerative resistor capacity is insufficient remove the connection beween terminals B 2 83 then conrectan external regenerati ve resistor between terni nals 1 82 Linear Motor with Core 122 HS Cale br Hal Sensor Unit X E 754 12 13 2 2 Standard Connection Examples Standard connection examples for servo amplifiers are shown by specification 2 2 1 Single Phase Power Specification Singe Phase 200 230 1 50 60HZ 2 Single Phase AC 100V 1 15V 410 50 60H z AMA Alam Processing contactor ard relay coil Servo Amplifier SGDH Speed Reference 2V 10V Rated Speed Attach a surge suppressor to the magneti
47. ng of Magnet Track SGLTM LILILILI oooooloooo Applicable only to North American Markets 1 4 Dimensional Drawing of Track 000004 6 1 3SGLFW Type Linear Motor 6 1 3 1 Standard Linear Motor Ratings Specifications 6 1 3 2Force Speed Characteristics 6 1 3 3Motor Dimensional Drawing SGLFW 5 6 1 3 4Dimensional Drawing of Magnet Track SGLFM 6 1 4Mechanical Limitations 00 nnn nne reen 6 1 4 1 Shock Resistance 0 0 6 1 4 2 Vibration Resistance 6 1 4 3Installation 6 2 Serial Converter Unit it UZDP A A004 7 6 2 1Characteristics Specifications 6 2 2A alg Input te iub COS eee eee ated 6 2 3Cautionary Items on Usage 6 2 4Dimensional Drawings 6 2 4 1 JZDP A004 North American Market Standard 6 3 Suggested Gables en a deba ta N d 6 3 1Suggested Cable List 6 3 2Dimensional Drawings l Suggested Gables 6 3 2 1 Cable with Terminal on Both Ends 6 3 2 2Hall Sensor Dedicated Cable 3 6 3 2 3Encoder Dedicated iii Safety Related Symbols The following symbols are used in this manual according to th
48. nput when P CL and N CL are enabled Use V REF after inputting external speed limit Warning CodeOutput Selection Pn002 Application Function Selection S O 1 za Force Control Option V REF assignment 1 35 5 2 2 Switch List User Digit Ventor Motion Speed IV I000mmY Command Unit Position Deviation 0 05V 100 Command Unit Command Pulse Frequency mm s Pn003 Monier 6 Motor Run Speedx4 1 250 2 Application 1 Analog Monitor 2 Speed 0 Function Reference Monitor Selection I C Reserved Parameter do not use E F BE MN 03 Reserved Feen Hall Sensor Selection A phase progression U W phase order 1 B phase progression U V W phase order 1 080 Machine Selection Applications Motor Phase Order Selection 36 User Parameter Dipi Setting Content Position Setting internal force reference as Level Setting 10 Takes speed reference as a condition Level Setting Pn10D Mode Switch Selection Takes acceleration as a condition Pn10B Level Setting Pn10E Gain 3 Takes deviation pulse as a condition Related Level Setting Pn10F Applications No mode switch function 00 PI Control IP Control e E Reserved Parameter do not use Timing at initial run only Online Autotuning Method
49. re is no Hall sensor 2 Input signal verification and verification of operation by external command is the same as in a rotary motor For details see chapter 32 2 Test Run of 2 II II Series SGMH O SGDH User s Manual Design Maintenance SI 8800 32 2 See 7 2 2 Test Run with Digital Operator in the 2 H II Series SGMH SGDH User s Manual Design Maintenance SES800 32 2 3 1 3 Verification of Feedback Pulse 4 Parameter Setting and Description of 4 1 Functions Here we will describe the functions dedicated to the linear SGDH servo amplifier See Chapter 5 Parameter Setting and Description of Functions in the Series SGM L SGDH User s Manual Design Maintenance SI S800 32 2 for the other functions Linear Motor Polarity Detection only when there is no Hall sensor If No Hall Sensor is set in the user parameters Pn080 0 1 then polarity detection must be performed after power ON Polarity detection starts after P DET signal input according to the input signal assignment Pn50D 3 The following figure shows the signal timing during polarity detection P DET Polarity Detection Start S RDY Polarity Detection Start Motor Power ON Servo Ready Servo Ready run possible Following completion of polarity detection a SERVO READY state will result and power can be fed to the motor by S ON input 1 A polarity Detection Alarm 5 is generate
50. speed coincidence detection ON at 1Ry ON SON 40 5 mn 264 N CMP Positioning Completion 555 CON positioning complet en a Proportional Control P Operation at ON EAE CON 41 3h 5 eration RE 27 TGON Output Ko a ON at sd value or higher Fawad Run Prohibit at P LS ho 42 9 30 gt Forward Run Prohibit OFF 29 eae A SRDY Sewo Output 2 N LS 3 5 pu Reverse Run Prohibit a N LS 5 43 30 gt Reverse Run Prohibit AES S RDY at ready OFF m B i gt gt Reset Alarm Reset at 3Ry ON LM RST 444 Bee Alam Output R Forward Current Limit ALM OFF at dam PCL 45 gt on Vus F award Current Limit ON at 6Ry OI 7 uH Rif con 3c Reverse Current Limit Photocoupler Output Reverse CurentLimit a 7Ry ON NCL 4 46 1 ON Max Usage Voltage DC30V Conrector S hell FG Connect the shild line to the connector shell 1 represents a twisted pair wire 2 The 1 time filter time constant is 47 s Max Output Current DC50m 3 Connect external regenerative resistor between terminal B1 B2 for servo amplifiers with capacities of 6 0kW or greater There is no terminal B3 14 22 3 Position Control Mode Three phase AC200V 230V 10 50 60 2 T 1MCCB B Noise Filter D Power Power EN OFF ON 1MC Alarm
51. tand alone installation wiring test run etc of a unified linear rotary type AC servomotor See the following manual for other items Sigma Il Series Servo System Users Manual YEA SIA S800 32 2B Table Of Contents 1 Interpretation of Model Number loh linear Motor Models oco zone feo o ele eae once CC 1 2 Coreless Type P geal 1 3 1Motor Coil 1 3 1 1 TYPE SGLTW 20A000A P SGLTW 35ALILDILIA P 1 1 2 SGLTW 40ALILILIA P 80ALILILIA P 1232 Track aeq 154 Ryne WOM LP WASIMGIONG OM CTS 14 2Magrel Track o 1 5 Servo Ampli Ps s oi hea 1 6 Serial Converter Unit toe ette S CPI eM 2 1 Connection With Peripheral Devices 2 1 1Single Phase Main Circuit 115V or 208 2 2 Standard Connection Examples ee 2 2 1Single Phase
52. th A 200V 240VAG 1 1 2 Magnet Tracks SGL M 40 225 Linear X Series Servo _ Motor Options Standard on Coreless F and T types only Motor C With magnet covers G Coreless GW Y With base and magnet covers T Iron Core TW VN Core FW Design Revision Order Length of Magnets M Magnet Trac Tracks in mm See drawings on later pages Motor Magnet Width Z0mm 35mm 40mm 50mm 60mm 80mm 888588 1 2 Core less 1 2 1 Motor Coil 16 L1 254 External Dimensions mm Mass 5 _ __ External Dimensions mm 450 60360 60405 60450 1 3 Iron Core 1 3 1 Motor Coil 1 3 1 1 901 2 SGLTW 35 Minimum 100 1 3 1 2 SGLTW 40ALILILIAP SGLTW 80ALILILIA P wd a Minimum 64 1 3 2 Magnet Track Peak Continuous External Dimensions mm Mass SGLTW 20A320A P 20A460A P Faso eeo 220 ro 3 Fass 12 100 s 68 2000 o o e w 1 3 2 Magnet Track 0 L 20 80945 1 4 F Type Core 1 44 1 Motor Coil Minimum 50 Hall Sensor Continuou s Force 1 4 2 Magnet Track 1 4 2 Magnet Track 1 5 Servo Amplifiers SGDH 10 Series SGDH Servo Amplifi
53. ting Overlosidicaniindaus Continuous operation at a j torque or force exceeding the maximum load rating The kinetic energy in DB dynamic braking operation exceeds the capacity of the DE resistor mm mmu 1 Overload frequently repeated Heat Sink Overheat Servo amplifier heat sink has Encoder Backup Encoder power is completely Alarm Note 2 down and position data is cleared Encoder Sum Check Error in encoder memory sum m qur Alarm backup battery Encoder Absolute Error in absolute data The encoder operated at Encoder Overspeed excessive speed when power was fed encoder is too high Final mai Error converter Emme mima Reference A D Error reference A D converter System Alarm 5 2 6 Monitor Mode List Alarm Name Alarm Content ALO1 ALO2 ALO3 Rotary Runaway Prevention 1 Detection Runaway linear motor nee Detection of linear motor Position Error olarity position failed Detection p Encode CLEAR Error The multi turn value of the n absolute encoder has been ACS Multi lurik cleared or the settings are Setting Errore 2 9 incorrect x x Encoder Communication not possible 9 Communication between encoder and servo ErrorNote 2 amplifier ACA Encoder Parameter Encoder parameters are ErrorNote 2 corrupted Encoder Echo back Content of the encoder A Cb Note 2 Error ote communication is erroneous Multi Tur
54. trol Mode Three Phase 200 230 19 60 8Hz Power Power OFF ON Alam Processing Attach a surge suppressor to the magretic cortactor and relay mil Servo Amplifier SGDH Serial Converter Unit Linear Scale Perform proper temi processing shiddlire Extemal Speed Limit 3 2V 10V Rated Speed ALO1 Alam Code Output ALO2 Max Usage Voltage DC30V ALO3 Max Output Curent DC20mA Thrust Reference 1V 10V Rated Thrust Encoder Divi ded Output PBO Applied Line Reca ver PBO Tkmade 5 5175 or MC3486 equivalent PCO PCO 24V 24V 47 Speed Limit Output 3 NLT ON in speed li mit Servo ON at1Ry ON 2 UD jx 254 T so da apas a 54 2 I ott Proportional Control 4 I gt p qeration 2 274 TGON TGON Output TGON ON at or above setting 2 P Operation at Ay ON Forward Run Prohibit Foward Run Prohibit at P LS OFF x d sone MEE 94 LIS NOT Y gt Reverse Rin Prohibit 30 BEER E y Alam Reset AlarmRes amp d at 3Ry T E 4 72 Sigk Servo Alam Output CI Forward Currert ALM OFF atAlarm Forward Current Limit ON at 6Ry 735 gt Limit ON ON 2 Reverse Curent Limit Photocoupler Output Reverse Current Limit ON at 7Ry ae 35 1 on ISRDY geryo Read Output Reverse Run Prohibit N
55. unction isi Application Switch ras Selection Function Selection 2 eserve arameters do Function Selection ________ Aetlcaton Swto 6 No 28 User Difference Parameter Name Unit 5 From Rotary No 9 9 100 Speed Loop Gain 12000 101 Speed Loop Integral Time 0 01ms 15 51200 2000 Constant 102 Position Loop Gain 1 2000 Pn103 Mass Ratio 0 10000 Name Changed Pn104 2nd Speed Loop Gain 1 2000 Pn105 2nd Speed Loop Integral 0 01ms 15 51200 2000 Time Constant 106 2nd Position Loop Gain 15 108 Bias Acceleration Width EI Pn109 Feed Forward Constant Gain Related Application Mode Switch Force Name Gain i Online Autotuning related ee 110 a NEA RE 0010 Parameters Switch Speed Feedback 609 1 2 indien Parameters do O 15 12000 1 12000 es es p me 1 p MI ENS NI a wg proe c E oum 3 ETE 82222101 ow E 1 NE 4 Gain Related Parameters continued Position Related Parameters Speed Related Parameters 5 2 1 User Parameter List User Difference Parameter Name Unit ba From Rotary No 9 9 Reserved Parameter do 123 0 100 Mode Switch Speed _ Parameter pig Reference mnis 05009 No Changed Pn182 Mode Switch Accel
56. ut from SI6 CN1 F 46 input terminal P CON Signal Mapping P AeaBova 1 51 control at L P OT Signal Mapping Ft overtravel at 39 5 2 3 Input Signal Selection List User 224 Parameter Digit Name Content 2 Position Setting No N OT Signal Mapping Asabov 3 513 overtravel at H ALM RST Signal Mapping sabo ve 4 514 alarm reset at L As above 8 Disabled P CL Signal Mapping force limit at L N CL Signal Mapping force limit at L SPD D Signal Mapping internal setting speed selection SPD B Signal Mapping internal setting speed selection C SEL Signal Mapping control mode switching ZCLAMP Signal Mapping zero clamp INHIBIT Signal Mapping command pulse inhibit G SEL Signal Mapping 8 gain switching ied Note 1 Inthe servo amplifier function interchange mode where Pn50A 0 0 only settings Pn50A 1 7 Pn50A 3 8 and Pn50B 0 8 are possible Note 2 When Pn50A 1 1 the zero clamp function by P CON signal cannot be used Note 3 If Pn080 0 is set to 1 no polarity sensor set PnS0A 0 1 and set Pn50D 3 to any value desired The motor cannot be driven unless polarity detection is performed g SPD A Signal Mapping m 5 2 4 Output Signal Selection List The output signal selection listis shown below nd Digit Parameter Positi Setting Content No Osten Setting
57. utput Alarm Object Alarm Display ALO1 ALO2 ALO3 a amo Malm Soren Linear Parameter Error in servo amplifier CorruptionN 2 EEPROM data Main Circuit Sensor Error in individual detection Error data for the power circuit A user parameter value Parameter Setting Error Note 2 exceeding the setting range was set Avalue outside the setting range was previously set or TS saved in a user parameter ser Parameter in Note 2 Pn080 0 1 even though Setting Error i Hall sensor is attached or pn080 0 0 even though no Hall sensor is attached Improper combination of Combination Error motor and servo amplifier capacity Linear Scale Pitch Value of Pn280 is at factory Setting Error setting Heating current is flowed to Overcurrent or heat IGBT sink overheatote 2 or servo amplifier heat sink has overheated Regenerative Resistor Disconnection Regent Error Regenerative transistor failure Regeneration energy has Regent Overload exceeded the capacity of the regenerative resistor DC power fed in AC power Main Power input mode Connection Error AC power fed in DC power input mode Alarm Code Output Alarm Alarm Object Alai Alarm Name Alarm Content Display ALO1 ALO2 ALO3 Rotary Linear Asi Motor speed is too high Encoder output frequency Operated for several to sever Overload momentary lens of seconds at torque or maximum load force greatly exceeding the ra
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