USER`S MANUAL
Contents
1. 10 200 to 230 V s 50 60Hz kan DI sie igolioto 0 La o pouo ee a a ama BI Be THS1 6 e a RY1 iN PM 1 E PMI2 D2D3D4 1 Line filter PI P2 F AC Servomotor a i FU1 4 chance A DI A R7 U H i DR A d wy U A i 1MC xxi C1 oa af Vv 1 i R8 w 44 E S T AK tr 4c Aw N2 N1 Le 0 1 Gate drive over i Relay Voltage Gate drive current protector xc me Sensor 4 s i Voltage t Sensor Interface le O 42 F KA ai WA poo eS Lic For battery a in gt 5V 1 connection DC DC 415V 1 Po con 1 i L2C 23 verter ok es ep ASIC 71 gt 5 PWM control H 12v A 1 Power Power 25 V OFF ON SA CPU Sr 0 f Pb e ov POWER iti imc Surge Monitor display position and speed suppressor f 7_ calculations Hoo l And Analog voltage ao gt Sequence I O L Open during servo RY alarm Sons cN3 cnio T J j Analog monitor Digital Operator output for su personal computer pervision RE EA RIA a CN10 I I I Fully closed PG CN4 3 4 DI x Power supply 3 3 Fully Closed Encoder Signals Connector CN4 3 3 Fully Closed Encoder Signals Connector CN4 This section describes the wiring required to connect the fully closed encoder signals connector CN4 t2. O 5 For SERVOPACK 6 0 kW to 7 5 kW When the Option Unit has been mounted correctly the SERVOPACK will appear as shown in the following asa Installation This chapter describes precautions for X II Series product installation The SGDH SERVOPACKs are base mounted servo controller Incorrect installation will cause problems Always observe the installation precau tions shown in this chapter 2 1 Storage Conditions 2 2 Installation Site WI iii Di lira da 2 4 Installation Installation 2 1 Storage Conditions Store the SERVOPACK within the following temperature range when it is stored with the power cable disconnected 20 to 85 C PD 2 Il Series SGDH SERVOPACK with Option Unit mounted 2 2 Installation Site Take the following precautions at the installation site Situation Installation Precaution Installation in a Control Design the control panel size unit layout and cooling method so that Panel the temperature around the SERVOPACK does not exceed 55 C Installation Near a Minimize heat radiated from the heating unit as well as any tempera Heating Unit ture rise caused by natural convection so that the temperature around the SERVOPACK does not exceed 55 C Installation Near a Install a vibration isolator
3. ON and OFF Install a surge suppressor on the magnetic contac tor SIN Magnetic contactor Powe Regenerative Resistor If the capacity of the internal regenerative resistor is insufficient remove the wire between B2 and B3 and connect an external regenerative resistor to terminals B1 and B2 3 3 are Magnetic Contactor ao 98 Fully Closed Encoder Hl serles fete Connector kit model JZSP VEPO2 00 Turns the servo Oo supply E d ncoder Power Supply for Brake ground RES line Cable Brake Encoder Used for a Servomotor with a brake power Connector r Regenerative _ resistor lt gptional I ae n Connectors 3 2 SERVOPACK Internal Block Diagrams Single phase The following sections show an internal block diagram for the SERVOPACK with an Option Unit 30 to 400 W 200 V and 30 to 200 W 100 V Models
4. A fa E aM CCD KUA M P TE 2 fro AS m Z 9 Y A lee D AO ee if aa 130 5 12 pu 295 180 7 09 j Approx mass 3 0 kg 6 61 Ib Ratings Specifications and Dimensional Drawings 6 2 2 SERVOPACKs SGDH 20AE 30AE Three phase 200 V 2 0 kW 3 0 kW rf Ty ma AAA GS Ta AN E 130 5 12 gt E cs 180 7 09 l Approx mass 4 0 kg 8 82 Ib i m UE HER HH Approx mass 5 7 kg 12 57 Ib 6 6 250 9 84 6 2 Dimensional Drawings SGDH 60AE 75AE Three phase 200 V 6 0 kW 7 5 kW 250 9 84 ai SERVOPACK 200V sedii ERA cons 2 pn o TATA Te y yaxama 818 18188 OUL e O Y DI Sua PON milza a ABB E ER WA aiana i ees ist Fart e x gt AD SN QD TS YS 6 7 y al J Se UO 235 9 25 Approx mass 15 0 kg 33 07 Ib 6 Troublesh
5. Note 1 Use shielded twisted pair cables with AWG24 or AWG26 wires The fin ished cable outside diameter must be 11 6 mm max 2 The JZSP VEPO2 Connector Kit is available 3 6 3 4 Examples of Combined Connections 3 4 Examples of Combined Connections The following diagrams show examples of combined connections 3 4 1 Single phase Power Supp ly Specifications for Position Control Single phase 200 to 230 VAC or Single phase 110 to 115 VAC 10 R T 50 60 Hz 50 60 Hz oO O i 1MCCB Noise filt Power Power Alarm oise filter i sE processing 5 OFF ON MC olo i 7 20 imc SUP x________ __ Be sure to attach a surge suppressor to the ex Ji citation coil of the magnetic contactor and relay Connect to gt ground Be sure to prepare the end of shield properly remem eee Fully closed speed ws e A Phase B Position reference CLR Power su for open col lector refer ence Backup battery 2 8 to 4 5V 2 and position detector Fully closed PG power supply Alarm code output Maximum operating voltage 30 VDC Maximum operating current 20 mA DC ALO1 ALO2 ALO3 Servo ON when 1Ry turns ON P operation when 2Ry turns ON PAO PAO PG dividing ratio output PBO Applicable l
6. Pn000 0 Function Selection Basic Switches Direction Selection See 5 2 Fully Closed Encoder Specifications Use the following parameters to conduct trial operation with fully closed encoder specifica tions Pn002 3 Usage of fully closed encoder See 5 2 Pn206 Number of fully closed pulses See 5 2 Parameter Settings and Functions This chapter describes how to set parameters and use functions when using fully closed system specifications 5 1 Fully Closed System 5 2 5 1 1 Fully Closed Control 5 2 5 1 2 Fully Closed System Specifications 5 2 5 2 Setting Parameters 5 4 5 1 Parameter Settings and Functions 5 1 2 Fully Closed System Specifications 5 1 Fully Closed System 5 1 1 Fully Closed Control In previous SERVOPACKs a semi closed method was used to control the motor In the SGDH SERVOPACK however a fully closed loop can be created using the parameter settings With this function even more precise control is achieved because control involves the detection of the position and speed of actual machine operation Fully closed control Torque Mechanism in gt Speed and Servomotor cluding back control at the 3 lash and friction Power machine end Load torque Speed Current Detection position current Controlled mac
7. E Ratings Specifications and Dimensional Drawings 6 2 2 SERVOPACKs 6 2 2 SERVOPACKs Dimensional drawings of the Base mounted Standard SERVOPACKs with Option Unit mounted are shown below MH Base mounted Models Unit mm in SGDH A3AE to 02AE Single phase 200 V 30 to 200 W SGDH A3AE to 01BE Single phase 100 V 30 to 100 W ral Approx mass 1 0 kg 2 21 Ib SGDH 04AE Single phase 200 V 400 W SGDH 02BE Single phase 100 V 200 W OR A i el ul CU 95 3 74 gt 75 2 95 130 5 12 Approx mass 1 3 kg 2 87 Ib 6 4 6 2 Dimensional Drawings SGDH O5AE to 10AE Three phase 200 V 0 5 to 1 0 kW A ora mts a nt H Yy ee Pra 110 4 33 pia 295 le 180 7 09 gt Approx mass 1 9 kg 4 19 Ib SGDH 15AE Three phase 200 V 1 5 kW
8. Replace the fully closed encoder or turn ON the power Replace SERVOPACK At power ON D During Servomotor A B operation C D Cause A Fully closed encoder wiring error faulty con tact or open circuit B There is noise in the fully closed encoder wir ing C The fully closed encoder is defective or OFF D SERVOPACK is defective E Although no fully closed encoder is con nected the Pn002 3 parameter is set to 1 2 3 or 4 Set the Pn002 3 parameter to 0 E A C7 7 1 Troubleshooting Problems with Alarm Displays A C7 Fully Closed Encoder Phase C Open Circuit Alarm Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 ON OFF ON OFF At power ON During Servomotor operation Status and Remedy for Alarm When Servo ON S ON D signal turns ON Note OFF Output transistor is OFF alarm state ON Output transistor is ON mop nOn Cause Remedy Fully closed encoder wiring error faulty con tact or open circuit Check the wiring and check that the connec tor is fully inserted on the encoder side There is noise in the fully closed encoder wir ing Separate the fully closed encoder wiring from the main circuit The fully closed encoder is defective or OFF Replace the fully closed encoder or turn ON the power SERVOPACK is defective Replace SERVOPACK Although
9. 6 3 6 2 1 Option Unit 6 3 6 2 2 SEAVOPAGCKS tai faeccedraidds rirerire 6 4 Ratings Specifications and Dimensional Drawings 6 1 Ratings and Specifications The following table shows ratings and specifications for the Option Unit Table 6 1 Option Unit Ratings and Specifications Item Details Applicable SERVOPACK All SGDH E models Installation Method Mounted on the SGDH SERVOPACK Basic Specifications Power Consumption W 0 5 max External Dimensions mm 20 x 142 x 128 W x Hx D Specifications Encoder Pulse Output Form Approx Mass 0 2 0 44 kg Ib Fully Closed System Fully Closed 5 V differential line driver output complies with EIA Standard RS 422A Fully Closed Encod er Pulse Signal Form 90 Phase difference 2 phase differential pulse phase A phase B Maximum Receivable Frequency for SERVOPACK 1 Mbps Power Supply for Fully Closed Encod er To be prepared by customer Internal Functions Protection Fully closed encoder open circuit detection Reverse Rotation Set by parameters 6 2 Dimensional Drawings 6 2 Dimensional Drawings Dimensional drawings of the Option Unit and SERVOPACKs are shown below 6 2 1 Option Unit Dimensions of the Option Unit are shown below i 128 5 04 0 79 Approx mass 0 2 kg 0 44 Ib 24 0 94
10. A3 to 02BE R M4 x 6 round head screws Must be provided by customer mounted SGDH A3 to S0AE R with spring washer and Note Make sure that spring washers and plain SGDH 05 to 30DE R_ plain washer washers are used for mounting Otherwise the screw for connecting ground wire sticks out from the other side of the flange and the SERVOPACK cannot be mounted properly Duct SGDH 60 75AE P M4 x 8 round head screws Use the screw of the front panel ventilated with spring washer and plain washer 1 Remove the connector cover from the CN10 connector on the SERVOPACK EF askawaSERVOPACK SGDH MODE SER Y DATA cance Powe 2 Mount the Option Unit on the SERVOPACK Connector Connect to SERVOPACK CN10 Connector cover SERVOPACK connector CN1 A E YASKAWASERVOPACK SGDH A so OK Ol NJE lle Me fol 0009 0000 0 000090 QD amp deS 1 4 1 3 Mounting the Option Unit 3 For grounding connect a ground wire of the Option Unit to the point marked G on the SERVOPACK GROUND WIRE y YASKAWA SERVOPACK SGDH GROUND WIRE W Yaskawa servopaok zov OH mo
11. II Series Servodrive systems Those installing or wiring X II Series Servodrives Those performing trial operation or adjustments of X II Series Servodrives Those maintaining or inspecting 2 11 Series Servodrives E Description of Technical Terms In this manual the following terms are defined as follows Option Unit JUSP FC100 Servomotor X II Series SGMAH SGMPH SGMGH SGMSH or SGMDH Servomotor e SERVOPACK 2 11 Series SGDH E SERVOPACK Servodrive A set including a Servomotor and Servo Amplifier Servo System A servo control system that includes the combination of a Servodrive with a host computer and peripheral devices E Indication of Reverse Signals In this manual the names of reverse signals ones that are valid when low are written with a forward slash before the signal name as shown in the following examples e S ON e P CON viii Safety Precautions Safety Precautions The following precautions are for checking products upon delivery installation wiring operation maintenance and inspections E Checking Products upon Delivery A CAUTION e Always use the Servomotor and SERVOPACK in one of the specified combinations Not doing so may cause fire or malfunction E Installation A CAUTION e Never use the products in an environment subject to water corrosive gases inflammable gases or combustibles Doing so may result in
12. beneath the SERVOPACK to avoid sub Source of Vibration jecting it to vibration Installation at a Site Corrosive gas does not have an immediate effect on the SERVO Exposed to Corrosive PACK but will eventually cause electronic components and contac Gas tor related devices to malfunction Take appropriate action to avoid corrosive gas Other Situations Do not install the SERVOPACK in hot or humid locations or loca tions subject to excessive dust or iron powder in the air 2 2 2 3 Orientation 2 3 Orientation Install the SERVOPACK perpendicular to the wall as shown in the figure The SERVOPACK must be oriented this way because it is designed to be cooled by natural convection or cooling fan Secure the SERVOPACK using 2 to 4 mounting holes The number of holes depends on the SER VOPACK capacity a Sani D SO cc a Su y van seme 5 ji Wall rant ec UU ee 7 Installation 2 4 Installation Follow the procedure below to install multiple SERVOPACKs side by side in a control panel Cooling fan Cooling fan 50 mm 1 97 in min T o0 oog ooo J o 9 Lp ttep JL p 50 mm 1 97 in min ni ta 2A 10 mm 0 39 in min MH SERVOPACK Orientation Install the SERVOPACK perpendicular to
13. no fully closed encoder is con nected the Pn002 3 parameter is set to 1 2 3 or 4 Set the Pn002 3 parameter to 0 Although no fully closed encoder for phase C is connected the Pn002 3 parameter is set to 2 or 4 Set the Pn002 3 parameter to 1 or 3 HM Supplementary Information on A C6 and A C7 When Pn002 3 0 neither A C6 nor A C7 will be detected When Pn002 3 1 or 3 only A C6 will be detected When Pn002 3 2 or 4 both A C6 and A C7 will be detected When Pn002 3 1 2 3 or 4 open circuit will be detected while the motor is ON even if the control mode is not fully closed control mode such as jogging mode Open circuit is detected when no current flows through the terminating resistor inside the SERVOPACK Therefore alarm A C6 or A C7 will also be activated when the power supply for the fully closed PG line driver is shut down 7 3 Troubleshooting 7 2 Troubleshooting Problems with No Alarm Display Refer to the tables below to identify the cause of a problem which causes no alarm display and take the remedy described Also refer to 9 2 2 Troubleshooting Problems with No Alarm Display of the X I Series SGMUIH SGDH User s Manual SIE S800 32 2 Contact your Yaskawa representative if the problem cannot be solved by the described procedures Table 7 1 Troubleshooting Problems with No Alarm Display Symptom Cause Remedy When a command is input
14. the motor reverses out of control The fully closed encoder phases are incor rect Correct the wiring or the Pn002 3 setting When a command is input the motor continues to run No fully closed encoder pulses are output Check the fully closed encoder I SERIES SGDH FULLY CLOSED INTERFACE UNIT USER S MANUAL IRUMA BUSINESS CENTER 480 Kamifujisawa Iruma Saitama 358 8555 Japan Phone 81 42 962 5696 Fax 81 42 962 6138 YASKAWA ELECTRIC AMERICA INC 2121 Norman Drive South Waukegan IL 60085 U S A Phone 1 847 887 7000 Fax 1 847 887 7370 MOTOMAN INC HEADQUARTERS 805 Liberty Lane West Carrollton OH 45449 U S A Phone 1 937 847 6200 Fax 1 937 847 6277 YASKAWA ELETRICO DO BRASIL COM RCIO LTD A Avenida Fagundes Filho 620 Bairro Saude Sao Paulo SP Brazil CEP 04304 000 Phone 55 11 5071 2552 Fax 55 11 5581 8795 YASKAWA ELECTRIC EUROPE GmbH Am Kronberger Hang 2 65824 Schwalbach Germany Phone 49 6196 569 300 Fax 49 6196 569 398 Motoman Robotics Europe AB Box 504 S38525 Torsas Sweden Phone 46 486 48800 Fax 46 486 41410 Motoman Robotec GmbH Kammerfeldstrafe 1 85391 Allershausen Germany Phone 49 8166 90 100 Fax 49 8166 90 103 YASKAWA ELECTRIC UK LTD 1 Hunt Hill Orchardton Woods Cumbernauld G68 9LF United Kingdom Phone 44 1236 735000 Fax 44 1236 458182 YASKAWA ELECTRIC KOREA CORPORATION Kfpa Bldg 1201 35 4 Youido dong Yeongdungpo Ku Seoul 150 010 Korea Phone 82 2 784 7844
15. Fax 82 2 784 8495 YASKAWA ELECTRIC SINGAPORE PTE LTD 151 Lorong Chuan 04 01 New Tech Park Singapore 556741 Singapore Phone 65 6282 3003 Fax 65 6289 3003 YASKAWA ELECTRIC SHANGHAI CO LTD 4F No 18 Aona Road Waigaogiao Free Trade Zone Pudong New Area Shanghai 200131 China Phone 86 21 5866 3470 Fax 86 21 5866 3869 YATEC ENGINEERING CORPORATION 4F No 49 Wu Kong 6 Rd Wu Ku Industrial Park Taipei Taiwan Phone 886 2 2298 3676 Fax 886 2 2298 3677 YASKAWA ELECTRIC HK COMPANY LIMITED Rm 2909 10 Hong Kong Plaza 186 191 Connaught Road West Hong Kong Phone 852 2803 2385 Fax 852 2547 5773 BEIJING OFFICE Room No 301 Office Building of Beijing International Club 21 Jianguomenwai Avenue Beijing 100020 China Phone 86 10 6532 1850 Fax 86 10 6532 1851 TAIPEI OFFICE 9F 16 Nanking E Rd Sec 3 Taipei Taiwan Phone 886 2 2502 5003 Fax 886 2 2505 1280 SHANGHAI YASKAWA TONGJI M amp E CO LTD 27 Hui He Road Shanghai China 200437 Phone 86 21 6553 6060 Fax 86 21 5588 1190 BEIJING YASKAWA BEIKE AUTOMATION ENGINEERING CO LTD 30 Xue Yuan Road Haidian Beijing P R China Post Code 100083 Phone 86 10 6233 2782 Fax 86 10 6232 1536 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 CORPORATION YASKAWA In the event that the end user of this produc
16. IONIAHON 5 oss contccensce ame can ideas caste ten eames ens 2 3 2 4 Installation AI arena ara a Cate ra at arate ei 2 4 3 Connectors 3 1 Connecting to Peripheral Devices 3 2 3 1 1 Single phase 100 V or 200 V Main Circuit Specifications 3 2 3 1 2 Three phase 200 V Main Circuit Specifications 3 3 3 2 SERVOPACK Internal Block Diagrams 3 4 3 3 Fully Closed Encoder Signals Connector CN4 3 5 3 3 1 Fully Closed Encoder Connection Example 3 5 3 3 2 CN4 Connector Terminal Layout 3 6 3 4 Examples of Combined Connections 3 7 3 4 1 Single phase Power Supply Specifications for Position Control 3 7 3 4 2 Three phase Power Supply Specifications for Position Control 3 8 4 Trial Operation 4 1 Check Items before Trial Operation 4 2 4 2 Parameters Required for Trial Operation 4 2 5 6 7 Parameter Settings and Functions 5 1 Fully Closed System 0000 rei 5 1 1 Fully Closed Control cece E E E E AET eees 5 1 2 Fully Closed System Specifications 5 2 Setting Parameters 00000 eee eee eens Ratings Specifications and Dimensional Drawings 6 1 Ratings and Specifi
17. X I SERIES SGDH FULLY CLOSED INTERFACE UNIT USER S MANUAL MODEL JUSP FC100 7 YASKAWA MANUAL NO SIE C718 5 Safety Information Safety Information The following conventions are used to indicate precautions in this manual Failure to heed precau tions provided in this manual can result in serious or possibly even fatal injury or damage to the prod ucts or to related equipment and systems N WARNING Indicates precautions that if not heeded could possibly result in loss of life or serious injury A CAUTION Indicates precautions that if not heeded could result in relatively serious or minor injury damage to the product or faulty operation PROHIBITED Indicates actions that must never be taken The warning symbols for ISO and JIS standards are different as shown below A D The ISO symbol is used in this manual Both of these symbols appear on warning labels on Yaskawa products Please abide by these warning labels regardless of which symbol is used Yaskawa 1999 All rights reserved No part of this publication may be reproduced stored in a retrieval system or transmitted in any form or by any means mechanical electronic photocopying recording or otherwise without the prior written permission of Yaskawa No patent liability is assumed with respect to the use of the information contained herein Moreover because Yaskawa is constantly striving to improve its high quality p
18. ZSP CMS01 to 03 TT iue Le ipj A Aa Magnetic Contactor ti Dolls Li 4 HI Series A Bol 1 4 Fully Closed Encoder I Do i o t H stor ki j Turns th servo r ood ew LI Connector kit model JZSP VEP02 ON and OFF ey Z Install a surge D suppressor on the magnetic Magnetic contactor contactor Power o yi supply ground Encoder line Cable Encoder Connector Power Supply for Brake Used for a Servomotor with a brake sa SI Regenerative resistor z gption man eL Regenerative Resistor Connect an external regenerative resistor to terminals B1 and B2 if the regenerative capacity is insufficient _ 3 2 3 1 2 Three phase 200 V Main Molded case Circuit Breaker MCCB Power supply Three phase 200 VAC ST Protects the pow er line by shutting the circuit OFF when overcurrent is detected Molded case circuit breaker Noise Filter Used to eliminate external noise from the power line Noise filter 3 1 Connecting to Peripheral Devices Circuit Specifications Digital Operator JUSP OP02A 2 Allows the user to set parameters or opera tion references and to display operation or alarm status Communication is also possible with a person al computer MY YASKAWA SERVOPACK SGDH Cable model JZSP CMS01 to 03
19. cations 6 2 Dimensional DrawingS eee eee eens 622 1 Optio Unit i KIA ete el Ga Sa ee te E aed Anta i Gh RA 6 2 2 SERVOPACKS atte Ae Troubleshooting 7 1 Troubleshooting Problems with Alarm Displays 7 2 Troubleshooting Problems with No Alarm Display vi Overview E About this Manual Overview This manual provides the following information for the 2 II Series SGMLJH SGDH LJE Servo drives Procedures for installing and wiring the SERVOPACK and Option Unit Procedures for trial operation of the Servodrive Ratings and specifications for standard models Procedures for maintenance and inspection E Related Manuals Refer to the following manuals as required Read this manual carefully to ensure the proper use of X II Series Servodrives Also keep this manu al in a safe place so that it can be referred to whenever necessary Manual Number H SGDH SIE S800 32 1 Describes the procedure used to select II Series Servodrives and capacities II Series SGM User s Manual Servo Selection and Data Sheets X II Series SGM IH SGDH SIE S800 32 2 Provides detailed information on SGDH User s Manual SERVOPACKs Design and Maintenance vii Using This Manual H Intended Audience This manual is intended for the following users Those designing 2
20. electric shock or fire E Wiring A WARNING e Connect the SERVOPACK ground terminal effectively to a system grounding conductor or grounding electrode 10089 or less Improper grounding may result in electric shock or fire A CAUTION e Do not connect a three phase power supply to SERVOPACK U V or W output terminals Doing so may result in injury or fire e Securely fasten the power supply terminal screws and motor output terminal screws Not doing so may result in fire ix E Operation A WARNING e Never touch any rotating motor parts while the motor is running Doing so may result in injury A CAUTION e Conduct trial operation on the Servomotor alone with the motor shaft disconnected from machine to avoid any unexpected accidents Not doing so may result in injury e Before starting operation with a machine connected change the settings to match the parameters of the machine Starting operation without matching the proper settings may cause the machine to run out of control or mal function e Before starting operation with a machine connected make sure that an emergency stop can be applied at any time Not doing so may result in injury e Do not touch the heat sinks during operation Doing so may result in burns due to high temperatures E Maintenance and Inspection A WARNING Never touch the inside of the SERVOPACKs Doing
21. er control mode semi closed control will be per formed which differs from ordinary control with regard to the following points PAO PBO and PCO output signals are fully closed encoder pulses Fully closed encoder open circuit can be detected HM Selecting Motor Encoders Either incremental or absolute encoders can be used When using an absolute encoder note that semi closed control differs from ordinary control with regard to the following points No SEN signal input is required The PAO signal does not contain absolute value information fully closed encoder pulses will be output If absolute value information on the motor encoder is required use the PSO sig nal Parameter Settings and Functions 5 2 Setting Parameters This section describes the parameters that must be set when using an Option Unit M Fully Closed Encoder Set the method for using the fully closed encoder Pn002 3 Fully Closed Encoder Usage Method Factory Position Control Setting 0 The setting details are as follows Parameters Setting Meaning Pn002 3 0 Fully closed encoder is not used Factory setting 1 Fully closed encoder is used without phase C 2 Fully closed encoder is used with phase C 3 Fully closed encoder is used in Reverse Rotation Mode without phase C 4 Fully closed encoder is used in Reverse Rotation Mode with phase C Setting this para
22. for Trial Operation 4 2 Trial Operation 4 1 Check Items before Trial Operation Conduct trial operation after wiring has been completed Inspect and check the following items when performing trial operation and be sure to conduct trial operation safely Refer to Chapter 4 Trial Operation of the X II Series SGML_IH SGDH User s Manual SIE 800 32 2 for details on trial operation Before conducting trial operation for fully closed control check the fully closed encoder and other relevant settings If the settings are incorrect there will be a risk of the motor going out of control Conduct initial trial operation by setting the Pn505 parameter over flow level to 1 minimum value to check the operation at low speed 4 2 Parameters Required for Trial Operation 4 This section describes the minimum parameters reguired for trial operation with fully closed en coder specifications Parameters Refer to 7 1 6 Operation in User Constant Setting Mode of the X IT Series SGM_IH SGDH User s Manual SIE S800 32 2 for details on the setting of each parameter Turn OFF power once after changing any parameter The change will be valid when power is turned ON again Pn202 Electronic Gear Ratio Numerator See 5 2 Pn203 Electronic Gear Ratio Denominator See 5 2 Changing Servomotor Rotation Direction Use the following parameter to reverse the direction of rotation
23. hine Parameters must be set when using fully closed control Refer to 5 2 Setting Parameters for de tails 5 1 2 Fully Closed System Specifications This section describes the fully closed system specifications of the SGDH SERVOPACK when an Option Unit is mounted E Fully Closed Encoder Pulse Output Form 5 V Differential line driver output complies with EIA Standard RS 422A E Fully Closed Encoder Pulse Signal Form 90 Phase difference 2 phase differential pulse phase A phase B Maximum receivable frequency for SERVOPACK 1 Mbps Phase A oA ied kb fl Phase B DE pan Pan PEE 1121314 gt 02s t1 t2 13 t4 l Forward rotation Reverse rotation 5 1 Fully Closed System E Encoder Signal Output from SERVOPACK Ifsettings are made to use fully closed encoder pulses refer to 5 2 Setting Parameters the PAO PBO and PCO output signal terminals of the CN1 connector on the SGDH SERVOPACK will directly output fully closed encoder pulses Encoder dividing ratio settings will be ignored If settings are made to use fully closed encoder pulses in reverse rotation mode PBO output sig nals will be inverted M Control Mode Fully closed control is applicable to position control mode only This mode can be switched to another control mode during operation Refer to 5 3 5 Control Mode Selection of the 2 Z Series SGMIH SGDH User s Manual SIE S800 32 2 for details If position control mode is switched to anoth
24. ine receiver PBO SN75175 made by TI or MC3486 equivalent PCO PCO 3 s PSO Phase S rotation count PSO Serial data output SG Applicable line receiver SN75175 made by TI Si N ite or MC3486 equivalent P control P operation 1 4 COIN Positioning completed Reverse run COIN ON when positioning has been completed Reverse run prohibited when N LS turns OFF Forward run prohibited when P LS turns OFF prohibited Forward run 3 prohibited SPY ALM RSJr44 I 2K gt Alarm reset a ez Alarm reset when 3Ry turns ON hi gt a Reverse cur 7 S RDY Servo ready output Reverse run current limit ON when 6Ry turns ON O IN CL 4 46 J_ 2a rent limit ON 1 S RDY ON when ready Forward run current limit ON when 7Ry turns ON 1 3P represents twisted pair wires 2 Connect when using an absolute encoder 3 Valid when using an absolute encoder Forward cur rent limit ON Servo alarm output OFF for an alarm Photocoupler Outputs Maximum operating voltage 30 VDC Maximum operating current 50 mA DC FG Connect shield to connector shell 4 Connect the ground wire of the Option Unit to the point marked G on the SERVOPACK Refer to 1 3 Mounting the Option Unit 3 7 Connectors 3 4 2 Three phase Power Supply Specifications for Position Control 3 4 2 Three phase Power Supply Specifications fo
25. l Layout 3 3 4 Examples of Combined Connections 3 3 4 1 Single phase Power Supply Specifications for Position Control 3 7 3 4 2 Three phase Power Supply Specifications for Position Control 3 8 Connectors 3 1 1 Single phase 100 V or 200 V Main Circuit Specifications 3 1 Connecting to Peripheral Devices This section provides examples of standard X II Series product connections to peripheral devices It also briefly explains how to connect each peripheral device 3 1 1 Single phase 100 V or 200 V Main Circuit Specifications Molded case Circuit Breaker MCCB Protects the pow er line by shutting the circuit OFF when overcurrent is detected Power supply Single phase 200 VAC R T Digital Operator JUSP OP02A 2 Allows the user to set parameters or opera tion references and to display operation or alarm status Communication is also possible with a personal computer Molded case circuit breaker Noise Filter Used to eliminate external noise from the power line Y YASKAWA SERVOPACK _ 200V7 SGDH cm 7 Personal Computer JOQG x09 A al Tone f i noli gt DI nol A ooje E E poje 3 Cable model J
26. liable for any damages or troubles resulting from unauthorized modifi cation xi Checking Products and Part Names This chapter describes the procedure for checking 2 11 Series products and the Option Unit upon delivery It also describes the names of product parts 1 1 Checking Products on Delivery 1 2 1 2 Product Part Names 1 3 1 3 Mounting the Option Unit 1 4 Checking Products and Part Names 1 1 Checking Products on Delivery The following procedure is used to check products upon delivery Check the following items when products are delivered Check Items Comments Are the delivered products the ones Check the model numbers marked on the nameplates that were ordered of the Option Unit Refer to the descriptions of model numbers on following pages Is there any damage Check the overall appearance and check for damage or scratches that may have occurred during shipping Can the Option Unit be installed on Check the model number given on the SERVOPACK the SERVOPACK used nameplate The model number must contain SGDH and E as shown below to support the Option Unit SGDH E If any of the above items are faulty or incorrect contact your Yaskawa sales representative or the deal er from whom you purchased the products E External Appearance and Nameplate Examples Option Unit model n
27. meter to 0 allows operation to be performed in ordinary semi closed control mode When changes have been made to this parameter turn OFF the power once The set value will become effective when the power is turned ON again HM Number of Fully Closed Encoder Pulses Set the number of fully closed encoder pulses for each motor rotation When the number of fully closed encoder pulses per motor rotation is not an integer set the clos est integer Error will occur in the speed monitor for position loop gain feed forward and reference pulse but no position displacement will occur Set the number of pulses with a multiplication factor of 1 Pn206 Number of Fully Closed Unit Setting Factory Position Encoder Pulses Range Setting Control P R 513 to 65535 16384 When changes have been made to this parameter turn OFF the power once The set value will become effective when the power is turned ON again 5 4 5 2 Setting Parameters MW Electronic Gears The electronic gear settings for fully closed operation are different from those for semi closed operations For information on the parameters refer to 5 2 5 Using the Electronic Gear Function of the X II Series SGML H SGDH User s Manual SIE S800 32 2 SERVOPACK Position reference pulse x1 Elec Deviation Speed _ _ gt x2 H tronic gt current SNO Machine ___ counter motor x4 gear lo
28. o the fully closed encoder 3 3 1 Fully Closed Encoder Connection Example The following diagram shows an example of CN4 connections SERVOPACK CN4 Input line receiver Made by TI SN75175 Connector shell ji P Twisted pair cable Note The SERVOPACK does not provide power supply for the fully closed PG so it must be provided by the customer Connectors 3 3 2 CN4 Connector Terminal Layout 3 3 2 CN4 Connector Terminal Layout The following diagram shows the CN4 connector terminal layout and connector specifications mM CN4 Connector Terminal Layout 1 SG GND 11 2 SG GND 12 3 ISG GND 13 4 7 14 FC Fully closed PG input for 5 phase C 15 FC Fully closed PG input for 6 16 FA Fully closed phase C PG input for 7 phase A 17 FA Fully closed 3 PG input for 8 18 FB Fully closed phase A PG input for 9 phase B 19 FB Fully closed ia PG input for 10 _ A 20 YA phase B Note 1 Do not connect anything to empty terminals 2 Connect the cable shield to the connector shell It is connected to the frame ground FG through the connector on the SERVOPACK end E CN4 Specifications Specifications for Applicable Receptacles SERVOPACK Connectors Soldered Case Manufacturer 10220 52A2JL 10120 3000VE 10320 52A0 008 SUMITOMO 3M LTD 20 pin Right Angle Plug
29. ooting This chapter describes troubleshooting procedures for Servodrives with an Option Unit 7 1 Troubleshooting Problems with Alarm Displays 7 2 7 2 Troubleshooting Problems with No Alarm Display 7 4 Troubleshooting 7 1 Troubleshooting Problems with Alarm Displays This section describes alarms that will be added when an Optional Unit is mounted Refer to the X I Series SGM_IH SGDH User s Manual SIE S800 32 2 for details on alarms not listed in this sec tion Problems that occur in the Servodrives are displayed on the panel operator as A or CPF A however does not indicate an alarm Refer to the following sections to identify the cause of an alarm and the action to be taken Contact your Yaskawa representative if the problem cannot be solved by the described procedures E A C6 A C6 Fully Closed Encoder Phase A B Open Circuit Alarm Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 p ON OFF ON OFF Note OFF Output transistor is OFF alarm state ON Output transistor is ON Status and Remedy for Alarm When Servo ON S ON signal turns ON Remedy Check the wiring and check that the connec tor is fully inserted on the encoder side Separate the fully closed encoder wiring from the main circuit
30. op Encoder signal output x4 ra Fully closed PG Parameter Settings and Functions E Reverse Rotation Settings The settings shown in the following table must be made in order to used the Reverse Rotation Mode Making the settings carefully Errors may cause the motor to run out of control Direction of Relation Pn000 0 Setting Pn002 3 Setting Relation Motor as between Fully Between Fully Viewed from Closed PG Closed PG Load for during Forward during CCW Forward Rotation Input Rotation as Rotation Phase Viewed from Motor load Input Phase CCW direction Figure 5 1 0 1 3 Figure 5 1 Figure 5 2 2 4 Figure 5 2 CW direction Figure 5 1 1 1 3 Figure 5 1 Figure 5 2 2 4 Figure 5 2 Fully Closed PG Input Fully Closed PG Input Phase A Phase A 7 a Phase B Phase B ji Time Time Figure 5 1 Figure 5 2 Both Pn000 0 and Pn002 3 can be used to change the rotational direction during normal opera tion If the motor runs out of control change either Pn000 0 or Pn002 3 When Pn002 3 is set to 2 or 4 PBO output signals will be inverted 5 6 Ratings Specifications and Dimensional Drawings This chapter provides the ratings specifications and dimensional drawings of the Option Unit 6 1 Ratings and Specifications 6 2 6 2 Dimensional Drawings
31. operation when 2Ry turns ON A Da t 3 KAFA EA par 4 ICOIN Positioning completed 43 cas ath Y Sy tae Reverse run prohibited when N LS turns OFF N OT 2 prohibited rl ISIN ON when positioning is completsd P LS por 42 iy st e Forward run y 7 ITGON TGON output Reverse run prohibited when P LS turns OFF f Q_O o 4 prohibited ya sl di ji ON when the set value is exceeded SRY ALM RS Alarm reset TGON Alarm reset when 3Ry turns ON 7 0 O Reverse cur S RDY Servo ready output SBY nor has 4 thr imi an Reverse current limit ON when 6Ry turns ON O 2al rentlimitON gt 1 S RDY ON when ready Forward cur Forward current limit ON when 7Ry turns ON eo O rent limitON i 7 ALM Servo alarm output LE 824 ALM OFF for an alarm bal of Connector shell FG Photocoupler output Connect ehil to connector Shall Maximum operating voltage 30 VDC Be ie SENSE ee Maximum operating current 50 mA DC 1 3P represents twisted pair wires 3 Valid when using an absolute encoder 2 Connect when using an absolute encoder 4 Connect the ground wire of the Option Unit to the point marked G on the SERVOPACK Refer to 1 3 Mounting the Option Unit 3 8 Trial Operation This chapter describes the check items before trial operation and the pa rameters required for trial operation 4 1 Check Items before Trial Operation 4 2 4 2 Parameters Required
32. r Position Control R Ss T L Three phase 200 to 230 VAC 19 or Three phase 100to 115 VAC 19 1MCCB RE 50 60 Hz ii 50 60 Hz Bee Alarm Noise filter Power Power AR processing OFF ON imc proces olo i Cesi mao iMc SUP V 1 Be sure to attach a surge suppressor to the excitation coil of the magnetic contactor and relay SERVOPACK i Optical encoder Be sure to prepare the end of shield properly Mi Fully closed speed _ and position detector Ya id Fully closed PG power supply Connect to ground PULS W ER te ee Phase A D SIGN ALO1 Alarm code output cew Maximum operating voltage Phase B ALO2 30 VDC Position reference CLR ALO3 Maximum operating current 20 mA DC PAO Power sup PL1 PAO ply for open collector ref PG dividing ratio output PBO Applicable line receiver erences PBO SN75175 made by TI or MC3486 equivalent Backup battery 2 8 to 4 5V 2 t PCO PCO l ae 5V 3 Phase S rotation count SEN signal input 2 PSO Serial data output OVw PSO Applicable line receiver 24V 2 SG SN75175 made by TI or av col Re Servo ON MC3486 equivalent Servo ON when 1Ry turns ON O O P trol 2Ry P CON 41 32g h contro A oak P operation P
33. roducts the information contained in this manual is subject to change without notice Every precaution has been taken in the preparation of this manual Nevertheless Yaskawa as sumes no responsibility for errors or omissions Neither is any liability assumed for damages resulting from the use of the information contained in this publication iii Visual Aids The following aids are used to indicate certain types of information for easier reference lt EXAMPLEb Indicates application examples 0Linro DI Indicates supplemental information IMPORTANT Indicates important information that should be memorized including precautions such as alarm displays to avoid damaging the devices Indicates definitions of difficult terms or terms that have not been previously explained in this manual CONTENTS CONTENTS Safety Information iii VISUGIAIUSS cnc ili sicari Rie Rete Re eee ee ae RS Oe iv OVEIVIOW sco ata ESTRATTE LIE Bake a heen vii UsingThisManual vili Safety Pi AI ix 1 Checking Products and Part Names 1 1 Checking Products on Delivery 1 2 1 2Product Part NameS siriani rari 1 3 1 3 Mounting the Option Unit 1 4 2 Installation 2 1 Storage Conditions 2 2 2 2 Installation Site RA eet ose 2 2 2 3 OF
34. so may result in electric shock e Do not remove the panel cover while the power is ON Doing so may result in electric shock e Do not touch terminals for five minutes after the power is turned OFF Residual voltage may cause electric shock A CAUTION e Do not disassemble the Servomotor Doing so may result in electric shock or injury e Do not attempt to change wiring while the power is ON Doing so may result in electric shock or injury Safety Precautions E General Precautions Note the following to ensure safe application The drawings presented in this manual are sometimes shown without covers or protective guards Always replace the cover or protective guard as specified first and then operate the products in accordance with the manual The drawings presented in this manual are typical examples and may not match the product you received This manual is subject to change due to product improvement specification modification and manual improvement When this manual is revised the manual code is updated and the new manual is published as a next edition The edition number appears on the front and back covers If the manual must be ordered due to loss or damage inform your nearest Yaskawa representa tive or one of the offices listed on the back of this manual Yaskawa will not take responsibility for the results of unauthorized modifications of this prod uct Yaskawa shall not be
35. t is to be the military and said product is to be employed in any weapons systems or the manufacture thereof the export will fall under the relevant regulations as stipulated in the Foreign Exchange and Foreign Trade Regulations Therefore be sure to follow all procedures and submit all relevant MANUAL NO SIE C718 5 documsntation according to any and all rules regulations and laws that may apply Printed in Japan June 2002 99 4 amp Specifications are subject to change without notice 2 50 for ongoing product modifications and improvements oast
36. the wall so that the front panel containing connectors faces outward mM Cooling As shown in the figure above provide sufficient space around each SERVOPACK for cooling by cooling fans or natural convection HM Side by side Installation When installing SERVOPACKs side by side as shown in the figure above provide at least 10 mm 0 39 in between and at least 50 mm 1 97 in above and below each SERVOPACK Install cool ing fans above the SERVOPACKs to maintain a constant temperature inside the control panel and to prevent an excessive temperature rise around each SERVOPACK MW Environmental Conditions in the Control Panel Ambient Temperature 0 to 55 C Humidity 90 RH or less Vibration 0 5 G 4 9 m s Condensation and Freezing None Ambient Temperature for Long term Reliability 45 C max Connectors This chapter describes the procedure used to connect X II Series products to peripheral devices when an Option Unit is mounted and provides exam ples of combined connections 3 1 Connecting to Peripheral Devices 3 2 3 1 1 Single phase 100 V or 200 V Main Circuit Specifications 3 2 3 1 2 Three phase 200 V Main Circuit Specifications 3 3 4 3 2 SERVOPACK Internal Block Diagrams 3 3 3 Fully Closed Encoder Signals Connector GNA aston oy fae baw na ele wate ees 3 3 3 1 Fully Closed Encoder Connection Example 3 3 3 2 CN4 Connector Termina
37. umber Option Unit Name SERVOPACK FULLY CLOSED I F UNIT MODEL JUSP FC100 VER 000000 S N V81003 69 YASKAWA ELECTRIC MADE IN JAPAN Serial number Version Figure 1 2 Nameplate Figure 1 1 External Appearance of the Option Unit 1 2 Product Part Names MH Model Numbers Option Unit JUSP FC10 0 SERVOPACK peripheral device 7 Type of device FC10 Fully Closed Interface Unit 1 2 Product Part Names Design Revision Order The following diagram illustrates the product part names of the Option Unit Ground wire Connect to the terminal marked as G on the SGDH SERVOPACK Nameplate Indicates the model and serial numbers of the Option Unit CN4 Connector Used for fully closed encoder Figure 1 3 Option Unit Checking Products and Part Names 1 3 Mounting the Option Unit Mount a fully closed I F unit type JUSP FC100 on a SGDH SERVOPACK in the following manner Provide the screws for connecting ground wire as shown below Mounting Method SERVOPACK Type Screw Remarks Base SGDH A3 to 02BE M3 x 10 round head screws Must be provided by customer mounted SGDH A3 to 10AE with spring washer and plain washer SGDH 15 to SOAE M4 x 10 round head screw Must be provided by customer SGDH 05 to 30DE with spring washer and plain washer SGDH 60 75AE M4 x 8 round head screws Use the screw of the front panel with spring washer and plain washer Rack SGDH
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