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Junma Users Manual

1. Green Yellow T Servomotor main circuit cable CNB connector for relaying CNA CNB Motor Note Pin numbers are given on the connector as well Confirm all pin numbers 32 3 9 Wiring the Servomotor Main Circuit Cable Connector CNB Connection Diagram for Standard Servomotor Main Circuit Cable If a user prepared servomotor main circuit cable is used refer to the following connection diagram for the standard cable JZSP CHMO00 O10 Cable with Connectors on Both Ends and wire the servomotor main circuit cable Motor end SERVOPACK end a Connector crimp type Receptacle 5557 06R 210 Terminal 5556T Chain or 5556TL Loose wires Molex M4 crimped terminal Connector crimp type Receptacle F32FSS 04V KY Rececontact SF3F 01GF P2 0 or SF3F 41GF P2 0 UST Mfg Co Ltd Servomotor Connector Viewed from cable insertion side SERVOPACK Connector Viewed from soldered side 4 5 6 Pin No Signal Name Lead Color ET Pin No Signal Name Lead Color 1 Phase U Red Phase U Red 2 Phase V White Phase V White 9 Phase W Blue t Phase W Blue 4 FG Green Yellow i 5 6 Shielded cable Crimped terminal FG Green Yellow Connect the FG pin to the grounding terminal of the SERVOPACK B Servomotors with Brakes Connector for servom
2. o o oooooooooo 14 B Reference Display REF seller II 14 B Alarm Display AL1 AL2 and ALS 0 0 ce ees 14 2 INSTALLATION oir sa De ce OE Es 15 2 1 Installation ConditioHs u uk du d e en Ran dd cs TOS re 15 2 2 Installation Method 322 oe Shela Saba eame en Rom d Qon ah LC Re dem eaves 16 B Installation Method and Direction llle 16 E Space between SERVOPACK Units llle 16 exilium 17 1 Precautions om Wiring sia bette Pac eere esce bared e Pase etd 17 B Protection for Power Supply Line llle 17 B Caution for Grounding 00 hn 17 I Caution for able c eso Lr di daa mede Iob que dudo el et 17 I Other Precautions ide avete opos wea wont and Chee ha ERR RUD UR Does 18 I Power OSS asst didici Aid ii uod Mae ex D ditte ur ie 18 B Molded Case Circuit Breaker MCCB or Fuse Capacity Relation to Power Supply Gapaciiy ansiada OCA d nee aua a cube fo qr aol en dera 19 E Noise Prevelitlorl udi end ec dope ati ee oar a e end aud pec seca asa ld 20 93 2 y S Ter CONNU UON ecc oia ee ans abut pt ce eaten dpt man ae 23 39 Standard CoDWmectloria s od dod ar ERE t ER e ER ee EY Pe d ed ea 24 3 4 Installation and Wiring Conditions on CE Marking llle 25 B Attaching the Ferrite Core llle 26 E Eda a the Cable sr atari EE ca a UU ee rado 26 ESNE BOX uuu iba mak cid wa diae od X ba dod ad Eod ee Todi do Rad Marl 26 3 5 SERVOPACKs and Applicable P
3. Recommended Noise Filters Power SERVOPACK Model Recommended Noise Filters Supply Voltage Wi EE ted SJDE 01 APA to R7A FIZP105 BE Single phase 250 VAC 5A Block O4APA OY Transformatoren SJDE 08APA OY R7A FIZP109 BE Single phase 250 VAC 9A Elektronik GmbH amp Co KG 21 3 1 Precautions on Wiring Filter dimensions for model R7A FIZP105 BE Filter dimensions for model R7A FIZP109 BE 22 3 2 System Configuration 3 2 System Configuration Power supply Single phase 200 VAC L1 L2 Molded case circuit breaker To protect the equipment and wiring always connect a molded case circuit breaker Noise filter Used to eliminate suppress noise from power lines for CE marking requirements SJDE SERVOPACKs N CAUTION Never open the protective cover for the connector Do not use the connector since the connector is reserved for adjustment by the manufacturer If the connector is used a SERVOPACK failure may result Surge protector To protect the system from lightening surge Magnetic contactor Used to turn OFF the servo power supply when using a regenerative unit or in case of emergency Used for a servomotor with a brake Ps e I O signal cable CJ series PLC Used for a power supply harmonic Encoder cable for relay suppression e e e lp Mp em em e em e c e m m m P Fuse
4. Do not set 8 through F 1 The factory setting is O If the machine vibrates this value must be changed 2 If the machine vibrates when starting or stopping the machine set a larger value 9 The value depends on conditions such as the level of command acceleration and deceleration the machine rigidity and the motor resolution PULSE switch 4 Select the correct servomotor capacity with these values if using a step reference that has no acceleration or deceleration time Description OJJA jy N B Reference Display REF Indicators Reference Pulses Lit orange Blinks orange Input Lit green Blinks green Input Lit yellow for 1s when the clear signal is input B Alarm Display AL1 AL2 and AL3 Indicators Meaning of Alarm Meaning of Alarm AL1 O AL1 m AL2 y Normal AL2 H Overcurrent AL3 O AL3 BH AL1 B AL1 O SERVOPACK s built in AL2 O Speed error AL E ardon AL3 O AL3 BH AL1 O AL1 m AL2 m Overload AL m System error AL3 O AL3 B AL1 AL2 dum Rotary switch for AL3 O Encoder error AL3 E o reference pulse setting Blinks at regular PULSE changed intervals AL1 O AL2 O Voltage error AL3 BH 14 2 1 Installation Conditions 2 Installation The following shows the installation location and method of the SERVOPACK Installation Conditions Operating temperature 0 C to 55 C Operating humidity 90 RH or less with no condensation Sto
5. motor Increase the set value on the reference filter FIL rotary switch 6 1 Regular Inspections 6 Inspections 6 1 Regular Inspections For inspection and maintenance of the SERVOPACK follow the inspection procedures in the following table at least once every year Other routine inspections are not required Exterior At least once a year Check for dust dirt and oil on Clean with cloth or com the surfaces pressed air Loose Screws Check for loose connector Tighten any loose screws SCrews 6 2 Part s Life Expectancy The following electric or electrical parts are subject to mechanical wear or deterioration over time If an unusual noise or vibration occurs refer to the life expectancy table and contact your OYMC repre sentative After examining the part in question we will determine whether the parts should be replaced or not When the part has expired before the expected time further inspection will be required Life Expectancy Life Expectancy Comments Cooling Fan 30 000 hours Life depends on operation conditions Check that there is no unusual noise or vibration Note 1 The life expectancy listed in the table is a reference period that may be affected by the environ mental and operating conditions 2 The recommended models of the replacement cooling fans are SJDE 01APA to JZSP CHFO08 1 Sun Wa Technos Co Ltd O4APA OY http www sunwa co jp SJDE 08APA OY JZSP CHF08 2 54
6. short circuiting or install an earth leakage breaker combined with a wiring circuit breaker for ground protection 19 3 1 Precautions on Wiring B Noise Prevention Example of Wiring for Noise Prevention O i O Min wire size 3 5 mm 4 Casing e Operation relay sequence l m e User signal generating circuit Min wire Bize MIR 3 5 mm P C 2 AVR 1LF P l Pa Min wire size gt 2 mm or larger Casing Casing Casing Min wire size Min wire size 3 5 mm 1 Casing y 4 PEE KKA Grounding plate Groudning Ground to one point only Min grounding resistance 100 Q 1 For the wires connected to the casings for installation purposes use wires with a diameter of 3 5 mm or larger Flat braided copper wires are recommended 2 Use twisted pair wires for section P Correct Grounding e Servomotor frame grounding Be sure to connect the FG grounding terminal on the frame of the servomotor to the grounding termi nal on the SERVOPACK e Be sure to ground the grounding terminal of the SERVOPACK e f the wires of the servomotor s main circuit are laid in a metal conduit ground the conduit and the grounding box One point grounding must be used 20 3 1 Precautions on Wiring Noise Filters Use noise filters to prevent any noise interference from the power supply line The following table lists the recommended noise filters
7. Crimp type Gray E Solder type Black Receptacle 5557 12R 210 Plug and Cable Cover Set 54599 1005 Shell Kit 36310 3200 008 Terminals 5556T2 Chain or Plug Housing 51209 1001 Receptacle 36210 0100FD 3M 5556T2L Loose wires Crimp Terminals 59351 8087 Chain or i Molex 59351 8187 Loose wires Molex SERVOPACK Connector Servomotor Connector Viewed from soldered side Viewed from cable insertion side 97531 Signal Name Lead Color pasv_ Red 2 PGOGND 3 Phase A EENN NECI 25 Yellow 6 PhaseB Yellow White PET Las EN EUM Pin No Lead Color a Pav Black 9 PhaseA Blue 4 PhaseA Blue White 6 PhaseB Yellow White 8 PhaseU Gray IN EI 10 Ena 7 Pressu Gm pt I Shell Shield 1 3 4 5 7 0 1 2 Shield wire Note Pin numbers are given on the connector as well 35 3 11 Wiring I O Connectors 3 11 Wiring I O Connectors Controller Y OMRON 200v SJDE DAJAPA OY a El Power supply Note Do not apply excessive force when connecting or disconnecting the cable or the connector Damage to the cable or connectors may cause the product to stop operating or malfunction power supply line and servomotor main circuit cable e Be sure that the maximum wiring length of the I O cable is 3 m e The longer the I O cable is the lower the maximum transmission
8. Lights Corrective Action Check and correct the servomo tor wiring Correct the servomotor circuits or cable Replace the servomo tor Before turning ON the power supply make sure that the cir cuit is correctly grounded with out a short circuit Check and correct the wiring Replace the SERVOPACK Replace the servomotor Reconsider and correct the load and operating conditions Reconsider the installation con ditions so that the ambient tem perature will be 55 C or less The servomotor is operating in Reduce the load excess of the rated output The built in cooling fan of the SERVOPACK stopped operat ing The SERVOPACK and servomo tor capacities do not match each other Replace the cooling fan Refer to the catalog and select the proper combination of SER VOPACK and servomotor capacities A SERVOPACK fault occurred Replace the SERVOPACK The servomotor burned out 49 Check the balance of the resis tance between servomotor phases If there is any unbal ance replace the servomotor 5 1 Alarm Indicator Lights Conditions at Alarm Occur Cause Corrective Action rence AL1 I SERVO Power was The cooling fan built into the Refer to Section 6 and PACK turned ON or SERVOPACK stopped replace the cooling fan ers PE ag e The air inlet of the cooling Inspect the cooling fan fan motor opera AL3 A fan is blocked with dirt or stopped tion i other fore
9. OY 200W SJDE 04APA OY 400W Power Loss with SERVOPACK Rated Output Main Max Applicable SERVOPACK Output Main Control Circuit Servomotor Model No Current Circuit Circuit Power Capacity Effective Power Power Supply kW A W SJDE 02APA OY B Power Loss i Note Valued obtained with the servomotor with the rated output 18 3 1 Precautions on Wiring B Molded Case Circuit Breaker MCCB or Fuse Capacity Relation to Power Supply Capac ity MCCB or Fuse Capacity Relation to Power Supply Capacity Main SERVOPACK Applicable Ser MCCB External Fuse Inrush Circuit vomotor Model Current Model No Current Power Capac Model No Capacity Capacity Power Supply A Supply ity Arms Capacity kW Arms SJDE 01APA OY SJME 01APA OY S 15 JDE 02APA OY SJME 02APA OY SJDE 04APA OY SJME 04APA OY EART SJDE 08APA OY SJME 08APA OY OKLK 030 T mE 30 1 Valued obtained with the servomotor with the rated output 2 Fuse manufactured by Littelfuse Inc Ground Fault The ground protection circuit is designed for ground fault inside the motor windings while the e motor is running Therefore it may not protect the system under the following conditions e A low resistance ground fault occurs between the main circuit cable and connector for the servomotor e The power supply is turned ON during a ground fault To configure a safer system install an earth leakage breaker for protection against overloads and
10. Vcc is 5V R1 through R3 180 Q Note The following signal logic applies for an open collector output Tri to Tr3 ON Equivalent to high level input Tr1 to Tr3 OFF Equivalent to low level input E Twisted pair wires 39 3 13 Connection Example of Output Signal 3 13 Connection Example of Output Signal Set the load so that the output current i will fall within 50 mA or less Photocoupler output Per output signal e Max voltage 30VDC Max current 50m ADC 24VDC Power Supply 24V SERVOPACK A OV 40 3 14 EMG Sequence 3 14 EMG Sequence A WARNING e Make the emergency stop circuit to turn OFF the Servo ON signal as well as the main circuit power supply when the EMG emergency stop signal turns ON The residual voltage rotates the servomotor for a few seconds after the power supply has turned OFF which may result in injury or damage to the equipment e Use the power ON OFF signals or the servo ON OFF signals only when necessary to IMPORTANT turn the servomotor s power supply ON or OFF Failure to observe this caution may result in unpredictable performance of the servo motor Power supply Single phase 200VAC to 230VAC 50 60Hz L1 L2 J Noise filter Power Power ON OFF SERVOPACK 41 3 15 Explanation of I O Signals 3 15 Explanation of I O Signals Pulse train references are given to control the position of the servomotor The following pulse train form
11. as stipulated in the Foreign Exchange and Foreign Trade Regulations Therefore be sure to follow all procedures and submit all relevant documentation according to any and all rules regulations and laws may apply Specifications are subject to change without notice for ongoing product modifications and improvements 2006 OMRON Yaskawa Motion Control All rights reserved Note Specifications subject to change without notice Manual No TOEP C71080601 01 OY yy OMRON
12. the power supply of the main circuit when the EMG emergency stop signal turns ON Because of residual voltage the servomotor rotates for a few seconds after the power supply has turned OFF This may result in injury or damage to the equipment Make sure that the EMG means the stop of the motor rotation Never touch any rotating motor parts while the motor is running Failure to observe this warning may result in injury Before starting operation with a machine connected make sure that an emergency stop can be applied at any time Also design the circuit s power supply to be automatically cut off if S ON signal is OFF and an emergency stop occurs at the same time Failure to observe this warning may result in injury Never touch the inside of the SERVOPACKs Failure to observe this warning may result in electric shock Do not touch terminals for five minutes after the power is turned OFF Residual voltage may cause electric shock Follow the procedures and instructions for trial operation precisely as described in this manual Malfunctions that occur after the servomotor is connected to the equipment not only dam age the equipment but may also cause an accident resulting in death or injury Do not remove the front cover cables connectors or optional items while the power is ON Failure to observe this warning may result in electric shock Installation wiring advice on inspection and malfunction must be performed only
13. 2 e BEBE nd DES PRA ew lt j m s 3 B Caution for Cable e For wiring use the specified cables Use cables that are as short as possible e Do not bend or apply tension to cables The conductor of a signal cable is very thin 0 08 to 0 12 mm so handle the cables carefully 17 3 1 Precautions on Wiring B Other Precautions e Make sure that the emergency stop circuit turns OFF the S ON signal as well as the power supply of the main circuit Refer to 3 14 EMG Sequence e An overtravel function is not provided for the SERVOPACK For system safety include a sequence so that the S ON signal will turn OFF when the limit switch is activated e f the servomotor is used to drive a vertical axis install a safety device with an alarm function to pre vent the workpiece from falling down Failure to observe this precaution may result in injury or dam age to the equipment from fallen workpieces e Install an interlock system in the circuit to avoid any accident when opening or closing the machine s protective cover e Whether the electricity is served or not to the motor do not use the motor being rotated from the out side e When restarting the power supply soon after turning OFF alarm may occur to the SERVOPACK Refer to the power supply holding time in the following table to restart the power supply correctly SERVOPACK Min Waiting Time BE NEL bea aids SJDE 01APA OY 100W SJDE 02APA
14. 6 3 Replacement of Cooling Fan 6 3 Replacement of Cooling Fan A WARNING e Do not open the SERVOPACK case for five minutes after the LED PWR is turned OFF Residual voltage may cause electric shock e Disconnect all power and wait at least 15 minutes before replacing the cooling fan Failure to observe this caution may cause burns due to heatsink s high temperature Be sure that the cooling fan is positioned in the correct direction when it is installed Failure to observe this caution may result in the malfunction of the SERVOPACK SERVOPACKs of 100 to 400 W 1 Open the case of the SERVOPACK Insert the tip of a straight edge screw Front of Case driver into the three notches on the SERVOPACK SERVOPACK one by one and pry the case off 2 Lift up to remove the case 55 6 3 Replacement of Cooling Fan 3 Disconnect the cable of the cooling fan from the fan connector on the SERVO PACK 4 Unscrew the cooling fan and remove it 5 Install the new cooling fan Type JZSP CHFO068 1 CAUTION Before installing the new cooling fan make sure that the arrow on the heatsink and the arrow on the fan face the same direction as shown in the diagram 6 Secure the new cooling fan on the SERVOPACK with mounting screws 7 Connect the cooling fan cable to the fan connector on the SERVOPACK CAUTION Make sure that the wiring layout of the cable matches that shown in the diagram 8 Reattach the case
15. CCW input Check the wiring of the ser vomotor main circuit cable phases U V and W and the encoder cable Check the coupling to the machine system Operate the servomotor with no load i e disconnect the servomotor from the machine Wire the cables correctly Review and adjust the machine Operate the servomotor with no load i e disconnect the servomotor from the machine Reduce the load Replace the servomotor and SERVOPACK with ones with higher capacities Check the wiring of the pulse signal wires of the host con troller and SERVOPACK Check the reference pulse types of the controller and the SERVOPACK Correct the wiring Set the pulse type of the SERVOPACK according to the reference pulse type of the controller Reconsider the installation conditions so that the ambi ent temperature will be 40 C or less Cool down the servo motor with a fan or cooler Be sure that the ambient temperature around the ser vomotor is 40 C or less The ventilation is obstructed Check to see if ventilation is Provide good ventilation obstructed The servomotor is over loaded The holding brake power is turned ON Operate the servomotor with Reduce the load the load no load i e disconnect the servomotor from the machine LI the servomotor and SERVOPACK with ones with higher capacities Check to see if the holding brake power is turned ON Design the circuit so t
16. ED display 5 PWE REF AL1 AL2 AL3 Reference filter Select one of eight levels with FIL switch Cooling method Forced cooling built in fan 7 2 Overload Protection Characteristics The SERVOPACK provides a function to protect the servomotor and SERVOPACK from overloads Built in functions e f an overload alarm occurs remove the cause of the alarm and wait for at least one minute Turn SH ON the servomotor again after the servomotor has cooled sufficiently If the operation of the servo e motor is repeated within a short time the servomotor coil may burn out e Use a correct combination of the SERVOPACK and servomotor e Overload protection characteristics are the values used when the motor attached to the aluminum heatsink 250 mm x 250 mm x 6 mm 23 62 in x 23 62 in x 0 24 in at the ambient temperature of 40 C 104 F Make sure to use the SERVOPACK in the recommended operating conditions The overload protection characteristics are shown below JME 01 100W 1000 8 Example If the Servomotor torque is 300 zo ae ae EEE an overload alarm will occur in us as a approximately two seconds plo EEE 100 150 200 250 300 Motor torque SJME 02 200W to SJME 08 750W 1000 pff EE aie atin aia i Se eG 100 Ye ee eee ee Tme ECCLE 100 150 200 250 300 Motor torque 96 Note The servomotor torque is given as a percentage of the rated tor
17. ERVOPACK occurred 51 5 2 Troubleshooting for Malfunctions when Alarm Indicators Are Not Lit Servomotor turns for a moment and stops Servomotor turns even without a ref erence Servomotor turns in the wrong direc tion Servomotor operation is not stable Motor over heated The holding brake does not work The wiring of the servomotor main circuit cable and encoder cable is incorrect The reference pulse input is not correct Check the order of phases U V and W in the servomotor main circuit cable and the wiring of the encoder cable Check the reference pulse Set the suitable reference type pulse type Check the voltage of the ref Connect a resistor according erence pulse to the voltage Correct the wiring The SERVOPACK is faulty PH Replace the SERVOPACK The CW and CCW inputs are connected backward The servomotor main circuit cable or encoder cable is not wired correctly Misalignment of the coupling connecting the servomotor shaft and machine loose screws or load torque changes resulting form pul ley and gear engagement The load moment of inertia exceeds the permissible value of the SERVOPACK The connection of the pulse signal wires is incorrect The ambient temperature around the servomotor is too high Check the reference pulse types of the controller and the SERVOPACK Connect the CW pulse signal to the CW input and the CCW pulse signal to the
18. Ltd Servomotor Connector SERVOPACK Connector Viewed from cable insertion side Viewed from soldered side 1 4 Pin No Signal Name Lead Color Pin No Signal Name Lead Color 1 Phase U Red 1 l 1 Phase U Red 2 Phase V White 2 Phase V White S Phase W Blue t Phase W Blue 4 FG Green Yellow Shielded cable 4 5 Brake Black 6 Brake Black Bc eM Crimped terminal FG 1 Green Yellow Nee Crimped terminal Brake Black Crimped terminal Brake Black 1 Connect the FG pin to the grounding terminal of the SERVOPACK 2 No polarity for connection to the brake 34 3 10 Wiring the Encoder Connector CN2 3 10 Wiring the Encoder Connector CN2 OMRON 200V SJDE DAJAPA OY e EEN Separate by 300 mm or more Power Supply power supply line and servomotor main circuit cable e Do not bundle with or run the encode cable in the same duct as power lines e Be sure that the maximum wiring length of the encoder cable is 20 m Nore e Separate the encoder cable at least 300 mm from power lines i e high voltage lines such as the B Connection Diagram for Standard Encoder Cable If a user prepared encoder cable is used for relaying refer to the following connection diagram for the standard cable JZSP CHP800 LILI Cable with Connectors on Both Ends and wire the encoder cable SERVOPACK end Motor end L Yi
19. Manual No TOEP C71080601 01 OY MEN JUNMA SERIES SERVO DRIVE Model SJDE C 1 APA 0Y USER S MANUAL mui ae Wn Vip Y OMRON Copyright 2006 YASKAWA ELECTRIC CORPORATION All rights reserved No part of this publication may be reproduced stored in a retrieval system or transmitted in any form or by any means mechanical electronic photocopying recording or otherwise without the prior written permission of Yaskawa No patent liability is assumed with respect to the use of the information contained herein Moreover because Yaskawa is constantly striving to improve its high quality products the information contained in this manual is subject to change without notice Every precaution has been taken in the preparation of this manual Nev ertheless Yaskawa assumes no responsibility for errors or omissions Neither is any liability assumed for damages resulting from the use of the information contained in this publication Introduction This instruction manual describes the JUNMA series AC SERVOPACKs To properly use the JUNMA series AC SERVOPACK read these instructions thoroughly and retain for easy reference for inspections maintenance and so on Make sure that the end user receives this manual Related Manuals Refer to the following manuals as required JUNMA series AC SERVOMOTOR INSTRUCTIONS TOEPC23026101 Safety Information The following conventions are used to indicate precautions in
20. N 2 989 AMERICAS AREA XS USER SA KE 08159 Use ae R techniques EB T OEE INS 72 A ENER 1 2 Checking Products Confirm that the following items have been delivered together with the SERVOPACK Verify that the ordered product as received by the model number marked on the nameplate on the SERVOPACK If you find any irregularities such as incorrect SERVOPACK model damages and missing parts or items contact your OYMC representative or the dealer from whom you purchased the products OSJDE SERVOPACK Nameplate SERVOPACK WOEL SIGE UMAPA OY SERVOPACK Applicable o GE en men Model power supply ER ot i xr Applicable motor Order number OM 604194 141 1 capacity Serial number S H DOOTY 3265990007 Al E us ww ce VASA Aor GR ONNA One screwdriver for selecting GOne copy of this the pulse and setting the filter Instruction Manual LY Connector Part Number JZSP CHG9 1 11 1 3 Model Designation 1 3 Model Designation SJDE 02 AP A OY JUNMA series SERVOPACK SJDE E Applicable servomotor capacity Code Output W 01 100 02 200 04 400 08 750 Power supply voltage A 200 VAC Interface specification P Pulse train reference Design revision order A 1 4 SERVOPACKs and Applicable Servomotors 1 5 Part Names and Functions 1 5 Part Names and Functions Input voltage Rotary switch for reference pulse setting PULSE Reference indicator REF Al
21. To protect the equipment always install fuses AN WARNING Correctly connect the connectors CNA and CNB Incorrect wiring may result in electric shock injury or damage to the equipment After wiring install the connectors as explained in 3 8 Wiring the Power Supply Regenerative Unit Connector CNA and 3 9 Wiring the Servomotor Main Circuit Cable Connector CNB Motor main circuit cable for relay Connectors for motor main circuit cable CNB Connectors for power SJME supply regenerative unit CNA Servomotors Used for a regenerative unit Used if regenerative energy is high RE ON To the control circuits of magnetic contactor CSC ss Prepare a 24 VDC power supply for the brake separately from the sequence power supply 23 3 3 Standard Connection 3 3 Standard Connection Power supply Single phase 200 V to 230 VAC 50 60Hz L1 L2 de ol Molded case circuit breaker ES Surge protector Noise filter AVR1 MC1 24V power supply Ry1 m CW PULS 1 70 CW PULS T tad CCW SIGN 3 790 l morta eee 4 75Q 8 152 l CLR m eru I I l I l l l 24VIN 5 o C e Y S ON E 12 3 4kQ ALM N JL hiel AS aed d at W ee con E O HB M per Prepare a 24 VDC power supply SG COM Is for the brake separate from the cw D TT O 2 seq
22. and cover to the SERVOPACK in their original positions mas Pick the cable up and then pull it out Mounting von Y y ww VA Fit the edge O of the cooling fan into the position O circled here i JL A i RE L D r DN gt gt l Arrow on the heatsink side ed Arrows on the cooling fan side mooo K Q Place the cooling fan cable as shown here 56 6 3 Replacement of Cooling Fan 750 W SERVOPACKs 5 ED o O3 a o G 20 c y gc Open the case of the SERVOPACK 1 meme Front of SERVOPACK 57 edge screw driver into the three notches on the from the fan connector on the SERVO Insert the tip of a straight case and the two on the cover on the PACK SERVOPACK one by one and pry the case off 2 Pull the case and the cover off of the SERVOPACK 3 Disconnect the cable of the cooling fan 6 3 Replacement of Cooling Fan 4 Remove the two mounting screws of the cooling fan Mounting screws 5 Install the new cooling fan Thread the cooling fan cable through Diagram the opening as shown in the dia 5 gt gram A CAUTION Make sure that the arrow on the heatsink and the arrow on the fan face the same direction as shown in the diagram B Make sure the direct
23. arm indicators AL1 to AL3 Rotary switch for reference filter setting FIL This connector is for factory use only I O signal connector CN1 Do not use Power supply indicator Encoder connector CN2 Connector for motor main Ground terminal circuit cable CNB Connector for power supply regenerative unit CNA B Reference Pulse Setting PULSE Reference Set Pulse Reference Pulse Reference Value Resolution Connection Method Pulse Type 2500 or line driver Negative logic 5000 aes PULS UU UU 10000 ine driver SIGN PT Note 1 Make settings after turning OFF the power 2 The factory setting is 0 P REV 4 Lum or line driver Positive MEETS 5000 Line driver 3 ae wo 4 Open collector CW CCW Eo or eae 8 Open collector Mark pulse sequence 9 or line driver Positive logic Line driver ia B SIGN o C Open collector Mark pulse sequence D E F 13 1 5 Part Names and Functions B Reference Filter Setting Rotary Switch FIL Acceleration Approx Time between a Deceleration Completing Reference and e a Time for Step Completing Positioning Value Reference Settling Time 3 o 100 to 200 ms Small filter time 110 to 220 ms constant short 130 to 260 ms positioning time 150 to 300 ms uu 170 to 340 ms Large filter time constant 200 to 400 ms little vibration 250 to 500 ms with a long 500 to 1000 ms positioning time 8toF
24. aution may result in burns due to high temperatures e When an alarm occurs remove the cause turn OFF the power and ON again after confirm ing safety and then resume operation Failure to observe this caution may result in injury e Do not use the holding brake of the servomotor for ordinary braking Failure to observe this caution may result in malfunction B Maintenance and Inspection A WARNING e Do not open the SERVOPACK case for 5 minutes after the power supply lamp PWR LED goes out High voltage may remain in the SERVOPACK after the power supply has been turned OFF e After turning OFF the power supply wait 15 minutes before replacing the cooling fan Failure to observe this caution may result in burns because the cooling fan is hot e Mount the cooling fan in the correct way explained in 6 3 Replacement of Cooling Fan Mounting the cooling fan in the incorrect direction may result in the breakdown of the SER VOPACK e Do not attempt to change wiring while the power is ON Failure to observe this caution may result in electric shock or injury B Disposal AX WARNING e When disposing of the products treat them as general industrial waste B General Precautions Note the following to ensure safe application e 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 ac
25. by authorized personnel Failure to observe this warning may result in fire electric shock or injury Do not damage press exert excessive force or place heavy objects on the cables or the cables between other objects where they might be pinched Failure to observe this warning may result in electric shock stopping operation of the product or burning Provide an appropriate stopping device on the machine side to ensure safety A holding brake for a servomotor with brake is not a stopping device for ensuring safety Failure to observe this warning may result in injury A WARNING e Do not come close to the machine immediately after resetting momentary power loss to avoid an unexpected restart Take appropriate measures to ensure safety against an unexpected restart Failure to observe this warning may result in injury e Do not modify the product Failure to observe this warning may result in injury or damage to the product e Be sure to correctly ground the SERVOPACK and the servomotor e Connect the SERVOPACK s ground terminal to electrical codes ground resistance 100 Q or less Improper grounding may result in electric shock or fire B Checking on Delivery A WARNING e Always use the servomotor and SERVOPACK in one of the specified combinations Failure to observe this caution may result in fire or malfunction B Storage and Transportation AX WARNING e Do not store or install the product in the fol
26. cordance with the manual e The drawings presented in this manual are typical examples and may not match the product you received e 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 e f the manual must be ordered due to loss or damage inform your nearest representative of OMRON YASKAWA Motion Control B V OYMC or one of the offices listed on the back of this manual e OYMC will not take responsibility for the results of unauthorized modifications of this product OYMC shall not be liable for any damages or troubles resulting from unauthorized modification CONTENTS ATFOGUCTIOMN rerea E RUE EET a has Ses eee AA ee TEST 2 Related WIAMUAIS 342 uum p Medea ee e Md e RD A M cn oe 2 Safety IntolrmiallOE ita eda id eg 2 Notes for Safe Operation 0 ce ee eee 3 1 BEFORE USE sutura Gd esas bh PACA HE Red Bow Bap 1e 11 DARE aepo tc ose Gated EUMD E 11 iz GHecC king PIGGUClS uou duris e ote Pees wor ERE IE RUE ed ure EE d 11 13 Model DESIGN ALION t ct iens edo as reum dr pre ioter de os doen d duse d ect ee as 12 1 4 SERVOPACKs and Applicable Servomotors 0000 cc eee eee 12 LS PatliNames and FUNGUONS 2d tot nee chien dedos 13 B Reference Pulse Setting PULSE 0 0 ccs 13 B Reference Filter Setting Rotary Switch FIL
27. d Replace the SERVOPACK Servo OFF sta The servomotor did not stop Reconsider the load conditions tus three seconds after the SERVO Check t if th t PACK is set to servo OFF sta SOR 1D Sec HIS GENOMA is being rotated by an external tus force 47 5 1 Alarm Indicator Lights Alarm Alam Conditions at Displa howe Alarm Occur Cause Corrective Action Elsa rence Encoder Power was The encoder wiring and the con Correct the encoder wiring AL1 A error turned ON or tact are incorrect during servo motor opera tion Noise interference occurred due Use twisted pair or shielded to incorrect encoder cable twisted pair cables with a core specifications of at least 0 12 mm AL2 fj AL3 Noise interference occurred The wiring distance must be because the wiring distance for 20 m maximum the encoder cable is too long The encoder cable is discon Replace the encoder cable nected An zero point error occurred Replace the servomotor An encoder fault occurred Voltage Power was The AC power supply voltage Make sure the AC power volt AL1 error turned ON exceeded the permissible age is within the specified range range AL2 The power supply was turned Wait until the REF indicator is ALS U ON again before the power sup OFF and turn ON the power ply to the SERVOPACK was supply again completely OFF A SERVOPACK fault occurred Replace the SERVOPACK Normal opera The AC power supply volta
28. e SERVOPACK error turned ON AL1 AL2 Servo was Phases U V and W in the ser Correct the servomotor wiring AL3 i turned ON vomotor are wired to the wrong terminals The encoder wiring is incorrect Malfunction occurred due to Take measures against noise for noise interference in the the encoder wiring encoder wiring A SERVOPACK fault occurred Replace the SERVOPACK Servomotor Phases U V and W in the ser Check and correct the servomo operation was vomotor are wired to the wrong tor wiring started or was terminals switched to high speed operation Malfunction occurred due to Take measures against noise for noise interference in the the encoder wiring encoder wiring The encoder wiring is incorrect The position pulse reference Input the correct reference input has exceeded 10 000 value pulses per revolution A SERVOPACK fault occurred Replace the SERVOPACK 46 5 1 Alarm Indicator Lights Alarm epee Conditions at j Alarm Occur Corrective Action Display Name Mia Overload Power was A SERVOPACK fault occurred Replace the SERVOPACK turned ON Servo was Servomotor main circuit cable Check and correct the servomo turned ON wiring is incorrect or a contact in tor wiring servomotor wiring is faulty Encoder cable wiring is incor rect or a contact in encoder wir ing is faulty A SERVOPACK fault occurred Replace the SERVOPACK The servomo Servomotor main circuit cable Check and co
29. e SERVOPACK to the power supply regenerative unit connector 1 Remove the connector from the SERVOPACK Make sure to remove the connector from the SERVOPACK when wiring 2 Strip the outer coating Straighten the wire core with your fingers to prevent the wires from unwinding pow 3 Open the wire terminal on the power supply connector housing plug with the tool lever for wiring using the procedure shown in Fig A or B e Insert the connection hook end of the provided tool into the slot as shown in Fig A Tool must be purchased by the customer e Use a standard flat blade screwdriver blade width of 2 5 to 3 0 mm 0 09 to 0 12 in Put the blade into the slot as shown in Fig B and press down firmly to open the wire terminal Either the procedure shown in Fig A or B can be used to open the wire insert opening Tool Type J FAT OT JST Mfg Co Ltd 4 Insert the wire core into the opening and then close the opening by releasing the tool hook or remov ing the screwdriver B Wire Size AWG14 to AWG22 Size o1 6mm to q0 65mm Sheath Dimension q3 8mm to o1 7mm 30 3 8 Wiring the Power Supply Regenerative Unit Connector CNA 5 Connect the connector to the SERVOPACK After wiring the connector reconnect the connector to the SERVOPACK Power supply Single phase 200 VAC e a Molded case circuit breaker YY OMRON 200V SJDE 04 APA OY Cx RE PULSE FEE A J Fer Git CNA co
30. ee if the coupling Balance the coupling is unbalanced Check for the noise and vibration around the bear ings Foreign matter looseness or deformation on the machine movable section Be sure that the twisted pair or shielded twisted pair cable with a core of at least 0 08 mm is used The wiring distance must be 3 m max Check to see if a shielded twisted pair cable with a core of at least 0 12 mm is being used Check the length of the encoder cable Check to see if the encoder cable is damaged Check to see if the encoder cable is bundled with high current lines or near high cur rent lines Check to see if the machine is correctly grounded prop erly Vibration from the machine occurred or servomotor installation is incorrect Mounting surface accuracy securing alignment etc Check the set value on the reference filter FIL rotary switch 53 If there is a fault contact your OYMC representative Contact the machine manu facturer Use the specified input signal cables Shorten the wiring distance for input signal cable to 3 m or less Use a cable that meets the encoder cable specifications The wiring distance must be 20 m or less Modify the encoder cable layout so the cable is not subjected to surge Install a surge protector on the encoder cable Ground the machine separately from the PG s FG Reduce vibration from the machine or secure the servo
31. ence pulse from the controller and then check that the machine is running in the correct direction and at the correct rate designed by the settings The machine may momentarily make a sound after the machine moves This is due to the setting of the automatic filter in the servo and is not an error Filter Settings e f the machine vibrates or if the positioning completed signal COIN repeatedly turns ON and OFF after the servomotor stops turn the FIL rotary switch from O to 1 and then to 0 again If the Select the FIL E ARIES machine still vibrates gradually increase the setting on the FIL setting with the I rotary switch from 0 to 7 until the optimum setting is reached rotary switch Ee Note Use the screwdriver to change the set ting on the rotary switch Never use the screwdriver for any purpose other than setting the rotary switch 45 5 1 Alarm Indicator Lights 5 Troubleshooting If the servomotor does not operate correctly due to setting failures wiring faults or other problems refer to this section and take corrective actions Contact your OYMC representative if the problem cannot be solved by the corrective actions described here e When taking a corrective action turn OFF the power remove the cause of the alarm and then turn ON the power again 5 1 Alarm Indicator Lights E Alam Conditions at Alarm Occur Corrective Action Display Name rence Speed Power was A SERVOPACK fault occurred Replace th
32. ency Pulse type Select one of the following signals 1 CCW CW Input signal for 2 Sign pulse train reference 3 CCW CW logic reversal Designated pulse 4 Sign pulse train logic reversal type and pulse Pulse resolu Select one of the following signals resolution with tion 4 PULSE switch 1000 pulses rev Open collector line driver 75 kpps max 2 2500 pulses rev Open collector line driver 187 5 kpps max 3 5000 pulses rev Line driver 375 kpps max 4 10000 pulses rev Line driver 750 kpps max Clear input signal Clears the positioning error when turned ON Servo ON input signal Turns the servomotor on or off I O Signals Alarm output signal OFF if an alarm occurs Note OFF for 2s when power is turned ON Brake output signal External signal to control brakes Turn ON to release the brake Positioning completed output ON if the current position is equal to the reference position 10 signal pulses External signal to control brakes Origin output signal ON if the motor is at the origin Width 1 500 rev Note Use the pulse edge that changes the signal from OFF to ON 60 7 2 Overload Protection Characteristics SERVOPACK model SJDE 01APA OY 02APA OY 04APA OY 08APA OY Dynamic brake DB Operated at main power OFF servo alarm servo OFF OFF after motor stops ON if the motor power is off Regenerative processing Optional If the regenerated energy is too large install a regenerative unit L
33. eripheral Devices LL 27 310 Mam Circuit MINO DUE a icr Gen ar prc o Ee d acu ate peo QU E Rd 27 3 7 SERVOPACK Main Circuit Wire Size eee 28 BR Cable Wess cu aux don da dede AE ARAU ARA ai 28 B Wire Size and Allowable Current 0 00000 cee eee 28 B Power Supply Input Terminals L1 L2 Motor Connection Terminals U V W and Regenerative Unit Connection Terminals 28 E Ground Terminal es umet teta ie a dida 28 W Encoder signal connector 2 3 5 eine Deos d dex dont ee Debo id eae qe 29 BK O signal CONECTO a seo duced ce EC d ey dore oe deas gat ats 29 3 8 Wiring the Power Supply Regenerative Unit Connector CNA 30 MANITO OIZSS E LP T Ter Tr 30 B Connector for Power Supply Regenerative Unit CNA 31 3 9 Wiring the Servomotor Main Circuit Cable Connector CNB 32 B Servomotors without Brakes llle 32 B Servomotors with Brakes leeeeel eee 33 3 10 Wiring the Encoder Connector CN2 2 0 ccc ees 35 B Connection Diagram for Standard Encoder Cable 35 3 11 Wiring I O Connectors o ooccococcco hn 36 B Connection Diagram for Standard I O Cable supplied by Yaskawa Electric Company ee ees 36 B Connection Diagram and Description for the General purpose control cables R7A CPZLILILIS supplied by OMRON Company 000000 e
34. es 37 3 12 Connection Examples of Input Signal 0 0 cc ees 39 E Line Driver OUtbulE 4 3 2c ant a ose ears be Re eRe A eoa hae ac RENS 39 I OpenscollectorOUTDUL aii ood ie A a A ia dit 39 3 13 Connection Example of Output Signal oooooonooononnoo o 40 3 14 ENGCOSQquelleB aim th op Bm apt on tete ba a te ah ee a arado 41 3 15 Explaniation or VO SIONES 30d A A Aa 42 A TRIAL OF ERATION sita daa dd 44 S TROUBLESHOOTING 3333 2 292 EA 46 SsT Alar indicator Lights Siria a he darte qr teni ep eo eti dard qs 46 5 2 Troubleshooting for Malfunctions when Alarm Indicators Are Not Lit 51 OG INSPECTIONS 2 252 2 a Ie ca oo SU aC e Ea o4 6 1 Regular Inspectioris x22 code bed uere eR a a key 54 6 2 Part s Life EXpGGtancy s quie es beet A deb dob aen a 54 6 3 Replacement of Cooling Fan llle 55 CEO IG AON Ss dede meo arin de eundo eO ware EP ee de d 60 CAL SPSCIICAIIONS MP Mx 60 7 2 Overload Protection Characteristics llle 61 1 1 Warning Label 1 Before Use 1 1 Warning Label A warning label is located on the side of the SERVOPACK SERVOPACK s Warning Label Read manual before installing SANAA PARERE ages ENVIA AS ARDE Disconnect all power and wait 5 min WARNING before servicing May cause electric shock AN E PICAR MMT AMENER Bs ESTU SA 781 M68 BEDENDO Do not touch heatsink when power is ON and Aw power is OFF 15 min after May cause burn x EACH MR S
35. frequency will be SH e Separate the I O cable at least 300 mm from power lines i e high voltage lines such as the B Connection Diagram for Standard I O Cable supplied by Yaskawa Electric Company If a user prepared I O cable is used for relaying refer to the following connection diagram for the standard cable JZSP CHIO003 LILI Cable with Connector and wire the encoder cable SERVOPACK end Host controller end Plug 14P 10114 6000EL Shell Kit 10314 52A0 008 3M Pin I O Code Signal Name Lead Dot Mark No Color GEM Input CW PULS Reverse pulse Black Reference pulse SERVOPAOK C itor Flug Input CW PULS Red Black Red Black Red Black Red Black Orange Light gray White Yellow Pink Red 1 Orange 2 Black Red Light Black gray Red Viewed from soldered side 8 9 1011121314 1 2 3 Input Forward pulse A Input Reference sign 5 Input External input power supply 6 7 8 Input S ON Servo ON Output SG COM Output signal ground Input Position deviation Pulse 9 Input CLR clear 10 Output Phase C signal LM K 1234567 11 Output SG PCO Phase C signal ground 12 Output A Servo alarm 13 Output Brake 14 Output COIN Positioning completion Note Pin numbers are given on the connector as well G ea 36 3 11 Wiring I O Connectors B Connection Diagram and Description for the General purpose control cables R7A CPZI I IS supplied by OMRON Company A Ge
36. ge Make sure the AC power volt tion exceeded the permissible age is within the specified range range The servomotor speed is high Reconsider the load and opera and load moment of inertia is tion conditions excessive The regenerative unit is not con Calculate the regenerative nected or the selection of the energy and connect a regenera regenerative unit is wrong tive unit with sufficient process ing capacity A SERVOPACK fault occurred Replace the SERVOPACK 48 Alarm Alarm Display Name AL1 B AL2 AL3 J Overcurr ent Conditions at Alarm Occur rence Power was turned ON Phases U V and W in the ser vomotor are wired to the wrong terminals The ground wire is caught on other terminals A short circuit occurred between ground and U V or W of the servomotor main circuit cable A short circuit occurred between phase U V or W of the servomotor main circuit cable The Regenerative Unit is wired incorrectly A short circuit occurred between ground and U V or W of the SERVOPACK A short circuit occurred between ground and U V or W of the servomotor A short circuit occurred between phase U V or W of the servomotor The load is excessive or beyond the capacity of regeneration processing The installation conditions of the SERVOPACK are not suitable the SERVOPACK is influenced by the mounting direction mounting space or ambient heat 5 1 Alarm Indicator
37. hat the holding brake is turned OFF when the holding brake needs to hold the load when the servomotor comes to a stop 52 5 2 Troubleshooting for Malfunctions when Alarm Indicators Are Not Lit Servomotor does not stop operation smoothly or at all when servo is turned OFF Abnormal noise from Servomotor or machine vibrates The servomotor is over loaded A stop circuit fault occurred Mounting not secured Defective bearings Vibration source on the driven machine Noise interference due to incorrect input signal cable specifications Noise interference because the input signal cable is longer than the applicable range Noise interference because the encoder cable specifica tions are incorrect Noise interference because the encoder cable is longer than the applicable range Noise is entering the encoder cable because the sheath is damage Excessive noise interference on encoder cable FG potential varies due to the influence of machines such as a welder at the ser vomotor Excessive vibration and shock on the encoder The filter setting is improper Check to see if the load is excessive or the servomotor speed is too high Reconsider the load condi tions and replace the SER VOPACK Replace the SERVOPACK Check to see if there are any Tighten the mounting screws loose mounting screws Check to see if the coupling Align the coupling is misaligned Check to s
38. ign matter Alarm Alarm Display Name AL1 D Power was A SERVOPACK fault Replace the SERVOPACK turned ON occurred Contact your OYMC repre AL2 ll sentative AL3 ll ALA E I Refer Power was Turn ON the power again ence turned ON or The operation of the servo AL2 A ap pulse set during servo motor can continue during ting rotary motor opera display of this alarm AL3 i switch tion Flashing at PULSE regular changed intervals 50 5 2 Troubleshooting for Malfunctions when Alarm Indicators Are Not Lit 5 2 Troubleshooting for Malfunctions when Alarm Indicators Are Not Lit Troubleshooting for malfunctions that occur with the servomotor even though the alarm indicators do not light are listed below Perform the appropriate corrective actions accordingly Take corrective actions for the shaded items only after turning the servo system OFF PWR indica The wiring of the power Check the power supply to Set the power supply input tor does not cable is incorrect be sure it is within the per within the permissible power light when missible voltage range supply voltage range d js Check the wiring of the Correct the wiring urne i power supply input Check the connection cable for the regenerative unit is correctly wired Servomotor The servo ON S ON input Check to see if the REF indi Turn ON the servo ON signal does not is OFF cator is lit green or wire the servomotor cor rota
39. ion a of the arrows on the fan 4 is the same as this diagram 6 Secure the fan on the SERVOPACK with mounting screws 58 6 3 Replacement of Cooling Fan 7 Turn the SERVOPACK over and then connect the cooling fan cable to the fan connector on the SERVOPACK 09 CAUTION Make sure that the wiring f Lie layout of the cable matches that shown in the diagram t me EJ O y 8 Reattach the case and cover to the SERVOPACK in their original positions Ll Place the cooling fan cable as shown here 59 7 1 Specifications Specifications 7 1 Specifications SERVOPACK model SJDE 01APA OY 02APA OY 04APA OY 08APA OY Max applicable servomotor capacity 0 1 0 4 0 75 kW amp a E 0 2 Continuous output current Arms 1 1 3 Instantaneous max output current 2 3 11 1 Arms Input pow Voltage Single phase 200 V to 230 VAC 10 to 15 for main cir cuit and con Capacity at rated out 0 40 0 75 1 2 2 2 trol circuit put kVA Input control method Capacitor input type single phase full wave rectification with resistance to prevent inrush currents Output control method PWM control sine wave power driven system Feedback Analog output encoder Allowable load inertia kgm 0 6x 104 10x 104 Leakage current Power sup 5 mA or less ply frequency High fre 2 5 AO p Motor cable length 20 m max qu
40. lowing places Failure to observe this caution may result in damage to the product e Locations subject to direct sunlight e Locations subject to temperatures outside the range specified in the storage or installa tion temperature conditions e Locations subject to humidity outside the range specified in the storage or installation humidity conditions e Locations subject to condensation as the result of extreme changes in temperature e Locations subject to corrosive or flammable gases e Locations subject to dust salts or iron dust e Locations subject to exposure to water oil or chemicals e Locations subject to shock or vibration S e Do not hold the product by the cables or motor shaft while transporting it Failure to observe this caution may result in injury or malfunction S e Do not place any load exceeding the limit specified on the packing box Failure to observe this caution may result in injury or malfunction B Installation A WARNING e Make sure to follow the conditions on 2 7 Installation Conditions Failure to observe this caution may result in electric shock fire or SERVOPACK s malfunc tion Do not step on or place a heavy object on the product Failure to observe this caution may result in injury Do not cover the inlet or outlet parts and prevent any foreign objects such as metalic frag ment or combustibles from entering the product Failure to observe this caution may cause internal elements
41. neral purpose Control Cable connects to the Servo Driver s Control I O Connector CN1 There is no connector on the controller end Wire a connector to match the controller if you are connecting to a Position Control Unit and a compatible cable is not available or if the drive is connected to a controller manufactured by another company Cable Models Length L Outer Diameter of the Weight cable Connection Configuration and Dimensions k 309 Controller end Servo Driver end C i C gt D R7D ZP T 12 7 Wiring 4 ooe GONSGN s Wem em s Wesen RN Peo e s m n EUST Orange Black ZCOM Connector plug 10114 3000VE Sumitomo 3M Connector case 10314 52A0 008 Sumitomo 3M Wires with the same wire color and the same number of marks are twisted pairs 37 3 11 Wiring I O Connectors Connector Pin Arrangement 38 3 12 Connection Examples of Input Signal 3 12 Connection Examples of Input Signal B Line Driver Output Applicable line driver SN75174 or MC3487 Manufactured by Texas Instruments or equivalent SERVOPACK E Twisted pair wires B Open collector Output Set the current limit resistors R1 through R3 so that the input current i will be within the following range Input Current i 7 mA to 15 mA 24VDC Power Supply 24V SERVOPACK Examples When Vcc is 24V R1 through R3 2 2 kQ e When Vcc is 12V R1 through R3 1 kQ When
42. nnector Power supply Regenerative Unit connector 2 JZSP CHG9 1 This connector is supplied with the servopa Note 1 Pull lightly on the wires to confirm that they are securely connected 2 Be sure that none of the insulating sheaths of the wires are caught in the springs B Connector for Power Supply Regenerative Unit CNA Pin No Symbol Signal Name A U Power supply input terminals pe Regenerative unit connection ter 31 3 9 Wiring the Servomotor Main Circuit Cable Connector CNB 3 9 Wiring the Servomotor Main Circuit Cable Connector CNB Wire the connector for the servomotor main circuit cable CNB in the same way as the connector for the power supply regenerative unit CNA Refer to the previous section for details and the procedure OMRON 200V SJDE D4 APA OY Zi EE f e The distance between the cable for the servomotor s main circuit and the encoder as IMPORTANT well as the I O cable is 300 mm or more e Do not bundle or run the servomotor main circuit cable in the same duct with other cables Be sure that the maximum wiring length of the servomotor main circuit cable is 20 m B Servomotors without Brakes Connector for servomotor main circuit cable OAJFAT SAYGF N JST Mfg Co Ltd Connector provided with Servomotor main circuit cable Red Phase U White Phase V Blue Phase W Green Yellow FG
43. otor main circuit cable 04JFAT SAYGF N JST Mfg Co Ltd Connector provided with Servomotor main circuit cable Red Phase U White Phase V Blue Phase W Green Yellow Black Black Servomotor main circuit cable for relaying Note 1 Prepare a double insulated 24 VDC power supply 2 Connect the varistor in parallel with the 24 V power supply terminal and GND terminal to suppress the surge voltage resulting from the holding brake turned ON and OFF 3 Pin numbers are given on the connector as well 33 3 9 Wiring the Servomotor Main Circuit Cable Connector CNB 4 If using the servomotor to drive a vertical axis provide a circuit to turn the holding brake ON so that the movable section will not be pulled down by gravity when the power supply of the SERVO PACK is turned OFF Connection Diagram for Standard Servomotor Main Circuit Cable If a user prepared servomotor main circuit cable is used refer to the following connection diagram for the standard cable JUZSP CHMO30 LILI Cable with Connectors on Both Ends and wire the servomotor main circuit cable Motor end i SERVOPACK end 50mm Connector crimp type Receptacle 5557 06R 210 Terminal 5556T Chain or 5556TL Loose wires Molex M4 crimped terminal Connector crimp type Receptacle F32FSS 04V KY Rececontact SF3F 01GF P2 0 or SF3F 41GF P2 0 JST Mfg Co
44. que 61 OMRON EUROPE BV Wegalaan 67 69 NL 2132 JD Hoofddorp The Netherlands Tel 31 0 23 568 13 00 Fax 31 0 23 568 13 88 www omron industrial com France Tel 33 0 1 56 63 70 00 www omron fr Austria Tel 43 0 1 80 19 00 www omron at Belgium Tel 32 0 2 466 24 80 www omron be Germany Tel 49 0 2173 680 00 www omron de Czech Republic Tel 420 234 602 602 www omron cz Hungary Tel 36 0 1 399 30 50 www omron hu Denmark Tel 45 43 440011 www omron dk Italy Tel 39 02 32 681 www omron it Middle East amp Africa Tel 31 0 23 568 11 00 www omron industrial com Finland Tel 358 0 207 464 200 www omron fi Manufacturer YASKAWA ELECTRIC CORPORATION YASKAWA Netherlands Tel 31 0 23 568 11 00 www omron nl Norway Tel 47 0 22 65 75 00 www omron no Poland Tel 48 0 22 645 78 60 www omron com pl Portugal Tel 351 21 942 94 00 www omron pt Russia Tel 7 095 745 26 64 www omron ru Spain Tel 34 913 777 900 www omron es Sweden Tel 46 0 8 632 35 00 www omron se Switzerland Tel 41 0 41 748 13 13 www omron ch Turkey Tel 90 0 216 474 00 40 Pbx www omron com tr United Kingdom Tel 44 0 870 752 08 61 www omron co uk In the event that the end user of this product 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 relevand regulations
45. rage temperature 20 C to 70 C Storage humidity 90 RH or less with no condensation Installation site Free of corrosive gases Free of dust and iron powder Clean and dry Altitude 1000 m or below Shock resistance 19 6m s Operating conditions Installation category overvoltage category I Pollution degree 2 Protection class IP10 EN50178 Installation in a control Design the control panel size unit layout and cooling method so panel the temperature around the SERVOPACK does not exceed 55 C Installation near a Minimize the heat radiating from the heating unit as well as any heating unit temperature rise caused by natural convection so the temperature around the SERVOPACK does not exceed 55 C Installation Site Installation near a Install a vibration isolator beneath the SERVOPACK to avoid subjecting source of vibration it to vibration Installation at a site Corrosive gas does not have an immediate effect on the SERVOPACK exposed to corrosive but will eventually cause the electronic components and contactor gas related devices to malfunction Take appropriate action to avoid corro sive gas 15 2 2 Installation Method 2 2 Installation Method B installation Method and Direction e Install the SERVOPACK perpendicular to the wall The SERVOPACK contains a built in fan for cooling and must be mounted in the specified direction e Connect the mounting holes securely to the mounting surface with M4 scre
46. re e Take appropriate and sufficient countermeasures for each when installing systems in the following locations Failure to observe this caution may result in damage to the product e Locations subject to static electricity or other forms of noise e Locations subject to strong electromagnetic fields and magnetic fields e Locations subject to possible exposure to radioactivity e Locations close to power supplies including power supply lines e Do not reverse the polarity of the battery when wiring with regenerative unit Failure to observe this caution may result in damage to the product B Operation Al WARNING e Conduct trial operation on the servomotor alone with the motor shaft disconnected from machine to avoid any unexpected accidents Failure to observe this caution may result in injury e Before starting any operation with a machine connected change the settings of the SER VOPACK s reference pulse with the PULSE rotary switch to match those of the machine Starting operation without matching the proper settings may cause the machine to run out of control or malfunction e When using the servomotor for a vertical axis install safety devices to prevent workpieces from falling off because of alarms Workpiece s falling off may result in injury or malfunction e Do not touch the SERVOPACK heatsinks regenerative unit or servomotor while power is ON or soon after the power is turned OFF Failure to observe this c
47. rminals U V W and Regenerative Unit Connection Terminals Capacity SERVOPACK Type Terminal Symbol Gu SJDE 01APA OY HIV1 25 mm HIV1 25mm HIV1 25mm SJDE 02APA OY Wiring length Wiring length 20 m max 0 5 m max SJDE 04APA OY HIV2 0 mm SJDE 08APA OY Note Connectors are used for all wiring B Ground Terminal 9 Terminal Screw Size Tightening Torque 28 3 7 SERVOPACK Main Circuit Wire Size B Encoder signal connector Item Specifications Cable Use OYMC specified wires or shielded twisted pair wires Maximum cable length 20 m Applicable wires AWG22 0 33 mm and AWG26 0 12 mm Used AWG22 for the encoder power supply and AWG26 for signal lines Finished cable outer o9 mm max diameter E O signal connector Cable Use twisted pair wires or shielded twisted pair wires Maximum cable length 3 m Applicable wires AWG24 0 2 mm AWG26 0 12 mm AWG28 0 08 mm Finished cable outer 48 mm max diameter 29 3 8 Wiring the Power Supply Regenerative Unit Connector CNA 3 8 Wiring the Power Supply Regenerative Unit Connector CNA Al WARNING e Observe the following precautions when wiring main circuit connector e Remove the connector from the SERVOPACK prior to wiring e Insert only one wire per terminal opening on the connector e Make sure that the core wire is not electrically shorted to adjacent core wires Use the following procedure when connecting th
48. rrect the servomo tor did not wiring is incorrect or a contact in tor wiring operation fora servomotor wiring is faulty reference input ae Encoder cable wiring is incor from the con rect or a contact in the cable is troller faulty The starting torque exceeds the Reconsider and correct the maximum torque load operating conditions and servomotor capacity A SERVOPACK fault occurred Replace the SERVOPACK AL1 AL2 B AL3 AL1 AL2 J AL3 Normal opera The effective torque continued Reconsider the load and opera tion over the period of the rated tion conditions torque or the starting torque greatly exceeds the rated torque Reconsider the servomotor Capacity and use a servomotor with a larger capacity Drop in power supply voltage Make sure that the power sup ply voltage is within the permis sible range The servomotor coil burned out Measure the coil resistance If the coil burned out replace the servomotor The servomotor was operated Measure the voltage of the with the holding brake engaged brake terminals and release the brake The ambient temperature Reconsider the installation con around the servomotor ditions so that the ambient tem exceeded 55 C perature will be 55 C or less The installation conditions of the SERVOPACK are not suitable the SERVOPACK is influenced by the mounting direction mounting space or ambient objects A SERVOPACK fault occurre
49. s for high frequency 3 6 Main Circuit Wiring e SJDE SERVOPACKs are suitable where the power supply is less than 5000 Arms 230 V max e SERVOPACKs must be used with UL listed fuses or circuit breakers in accordance with the National Electrical Code NEC e Use 75 C heat resistant copper wires or an equivalent 2f 3 7 SERVOPACK Main Circuit Wire Size 3 7 SERVOPACK Main Circuit Wire Size B Cable Types as Allowable Conductor Temperature Temperature resistant vinyl cable e Wire sizes are selected for three cables per bundle at 40 C ambient temperature with the rated cur rent e Use cables with a minimum withstand voltage of 600 V for main circuits e f cables are bundled in PVC or metal ducts consider the reduction ratio of the allowable current e Use heat resistant cables under high ambient or panel temperatures where normal vinyl cables will rapidly deteriorate e Do not use cables under continuous regenerative state B Wire Size and Allowable Current The following table shows the wire size and allowable current for three cables Use a cable whose spec ifications meet or are less than allowable current in the table e 600 V Heat resistant Vinyl Cables HIV Nominal Cross Configuration Conductive Section Diameter Number of Resistance wires mm ee ms s 9 Note The values in the table are only for reference B Power Supply Input Terminals L1 L2 Motor Connection Te
50. s from the host controller are supported e Line driver output e 24 V open collector output e 12 V open collector output e 5 V open collector output I O Signal Timing Examples Servo ON S ON ON pa i Motor ON t1 Approx 40 ms t2 Approx 130 ms 3 Motor ON H as ee t3 240 ms t Brake very L Brake released 0 Motor with brake 100 ms H sien H T Sign pulse train t3 L PuLsy c 3 Lu Wm c nuu Positioning completed ew I mM _T x 1 ON ON Clear CLR ee He 1 The interval from when the servo ON signal is turned ON until the reference pulse is input must be at least 40 ms or the reference pulse may not be received by the SERVOPACK If a motor with a brake is in used more time will be required to release the brake Therefore provide an interval of at least 100 ms 2 The error counter clear signal must be ON for at least 20 us If the reference pulse is stopped when the clear signal is turned ON the motor will stop at that position 3 The lag time for the brake is 100 ms Use a relay for brakes with an operating time of 30 ms or less Note 1 The maximum lag time from the time that the error or fault is detected until the time that the alarm signal is turned ON is 2 ms Alarm detection es ALM E o HE 2ms max t4 gt 20 us 2 If using the phase C output signal use an edge when the signal changes from OFF to ON at the start so that the wave form will rise af
51. spection Avoid frequently turning power ON and OFF Do not turn power ON or OFF more than once per minute Since the SERVOPACK has a capacitor in the power supply a high charging current flows for 0 2 seconds when power is turned ON Frequently turning power ON and OFF causes main power devices such as capacitors and fuses to deteriorate resulting in unexpected problems Al WARNING e e Observe the following precautions when wiring connector for power supply regenerative unit e Remove the connector for power supply regenerative unit from the SERVOPACK prior to wiring e Insert only one wire per terminal on the connector for power supply regenerative unit e Make sure that the core wire is not electrically shorted to adjacent core wires e Be sure to wire correctly and securely Failure to observe this caution may result in motor overrun injury or malfunction e Always use the specified power supply voltage of single phase 200 V to 230 V without connecting directly to a voltage of 400 V The SERVOPACK will be destroyed e Take appropriate measures to ensure that the input power supply is supplied within the specified voltage fluctuation range Be particularly careful in places where the power sup ply is unstable An incorrect power supply may result in damage to the product e Install external breakers or other safety devices against short circuiting in external wiring Failure to observe this caution may result in fi
52. system s configuration wiring and other conditions Ground Plate Brake power supply SERVOPACK L1 L2 T motor Surge protector i i Encoder Regenerative unit Cable joint Power Supply Single phase 200 VAC Cable joint Host controller Symbol Cable Name I O Signals cable Servomotor Main Circuit cable Encoder cable AC Line cable 25 3 4 Installation and Wiring Conditions on CE Marking B Attaching the Ferrite Core Coil the motor main circuit cable as a connection around the ferrite core with two turns then attach them by the SERVOPACK Refer to the diagram in the previous page Cable two turns Ferrite core Note Recommended Ferrite core Model ESD SR 25 Tokin Corp B Fixing the Cable Fix and ground the cable shield using a piece of conductive metal e Example of Cable Clamp Shield cable sheath stripped Host controller side So Fix and ground the cable shield A E using a piece of conductive metal Ground plate Remove paint on mounting surface B Shield Box A shield box which is a closed metallic enclosure should be used for shielding magnetic interference The structure of the box should allow the main body door and cooling unit to be attached to the ground The box opening should be as small as possible 26 3 5 SERVOPACKs and Applicable Peripheral Devices 3 5 SERVOPACKs and Applicable Peripheral Devices Po
53. te for ref rectly if the REF indicator is lit erence input orange from the con troller The reference pulse settings Check to see if the REF indi Wire the servomotor correctly are incorrect cator is flashing or set the pulse type of the SERVOPACK according to the reference pulse type of the controller if the REF indi cator is not lit Check the reference pulse Set the pulse type of the types of the controller and SERVOPACK according to the SERVOPACK the reference pulse type of the controller The wiring of the servomotor Check the wiring Correct the wiring main circuit cable is incor rect The wiring of the encoder cable is incorrect The wiring of the I O signal Check the wiring of the refer Correct the wiring connector CN1 is incorrect ence pulse Check the reference pulse Set the pulse type of the type SERVOPACK according to the reference pulse type of the controller Check the voltage of the ref Connect a resistor according erence pulse to the voltage The power is not turned ON Check the power supply and Turn ON the power the status of PWR indicator Check the voltage between Correct the power ON circuit the power supply terminals Both CW input and CCW Check the wiring of the refer Input either the CW pulse sig input are ON simultaneously ence pulses nal or CCW pulse signal Be sure to turn OFF all terminals with no input signals A SERVOPACK fault Replace the S
54. ter a set time lag PCO 42 3 15 Explanation of I O Signals Reference Pulse Signal Form Electrical Specifications Sign pulse train input Sign SIGN SIGN PULS signal t1 t2 t3 gt 3us High Forward t 2 0 65ys reference Maximum reference frequency een Low Reverse 750 kpps 187 5 kpps for an reference open collector outp ut Forward reference Reverse reference CW pulse CCW pulse Nin LL Maximum reference frequency cew Lz 1 2 0 65us 750 kpps 187 5 kpps for an t T x100 lt 50 open collector output t1 gt 3us Forward reference Reverse reference 43 4 Trial Operation Use the following procedure to perform trial operation 1 Installation Install the SERVOPACK and servomotor under the installation condi tions Do not connect the servomotor shaft to the machine Wire the power supply connector servomotor main circuit cable encoder cable and the I O signal cable correctly following the pro a cedures in Section 3 with the E Lm If a servomotor with a brake is used connect all signal cables switch s including those for the brake power supply and the relay Use the PULSE rotary switch to select the type of controller s out put pulse and set the resolution of the servomotor Note Use the screwdriver to change the set ting on the rotary switch Never use the screwdriver for any purpose other than setting the rotary switch Turn ON the power and confirm
55. that the REF indicator is lit orange or green If the indicator is orange turn ON the servo ON S ON input signal and check that the color of the REF indicator changes g OMRON from orange to green SJDE D4JAPA OY Check that the e If the REF indicator is not orange or green or the indicator of the color of the REF AL1 AL2 or AL3 alarm is red refer to Section 5 Troubleshooting indicator changes and clear the alarm to orange or green Input the reference pulse from the controller and then check on the number of the pulses and servomotor s rotational direction Make sure the servomotor rotates in the correct direction while the REF indicator is blinking green f the servomotor does not rotate according to the reference refer to Section 5 Troubleshooting and clear the alarm Set the servomotor to servo OFF servomotor OFF status to turn OFF the power Couple the servomotor shaft to the machine under the conditions outlined in the servomotor instructions 44 6 Protective Functions Turn ON the power activate the servo ON S ON input signal and check that the color of the REF indicator changes from orange to green The machine may momentarily make a sound after the servo is turned ON This is due to the setting of the automatic filter in the servo and is not an error Check that all the protective functions such as the emergency stop and holding brake functions are working correctly Input the refer
56. this manual Failure to heed these precau tions can result in serious or possibly even fatal injury or damage to the products or to related equipment and systems Indicates precautions that if not heeded could possibly result in loss of life or serious injury WARNING Indicates precautions that if not heeded could result in relatively serious or minor A CAUTION injury damage to the product or faulty operation In some situations the precautions indicated could have serious consequences if not heeded Indicates prohibited actions that must not be performed For example this sym PROHIBITED bol would be used as follows to indicate that fire is prohibited Indicates compulsory actions that must be performed For example this symbol MANDATORY would be used as follows to indicate that grounding is compulsory Notes for Safe Operation Read these instructions thoroughly before checking products on delivery storage and transportation installation wiring operation and inspection and disposal of the AC SERVOPACK A WARNING S e Be sure to correctly connect the SERVOPACK connectors CNA and CNB Incorrect wiring may result in electric shock injury or damage to the equipment For the wiring method refer to 3 8 Wiring the Power Supply Regenerative Unit Connector CNA and 3 9 Wiring the Servomotor Main Circuit Cable Connector CNB Make sure that the emergency stop circuit turns OFF the Servo ON signal and
57. to deteriorate resulting in mal function or fire Be sure to install the product in the correct direction Failure to observe this caution may result in malfunction Provide the specified clearances between the SERVOPACK and the control panel or with other devices Failure to observe this caution may result in fire or malfunction SERVOPACK is precision equipment Do not apply any strong impact Failure to observe this caution may result in malfunction B Wiring A WARNING Do not connect a three phase power supply to the U V or W output terminals Failure to observe this caution may result in injury or fire Securely connect the power supply terminals regenerative unit connection terminal and motor main circuit cable terminals Failure to observe this caution may result in fire Do not bundle or run power and signal lines together in the same duct Keep power and signal lines separated by at least 30 cm 11 81 in Failure to observe this caution may result in malfunction Use twisted pair shielded wires or multi core twisted pair shielded wires for I O signal cable and encoder cable The maximum length is 3 m 118 11 in for reference input lines and is 20 m 787 40 in for PG feedback lines Do not touch the power terminals for five minutes after turning the power supply LED PWR are OFF because high voltage may still remain in the SERVOPACK Make sure the charge indicator is turned OFF first before starting an in
58. uence power supply Note 1 AVR1 24 VDC power Parts example supply for brake AVR2 24 VDC power sup Okaya Electric Industries Co Ltd CRE 50500 ply for sequence i Toshiba Corporation 1NH42 SW1 Power OFF switch MRON tion MY SW2 Power ON switch OMRON Corporation series MC Magnetic contactor i Nippon Chemi Con Corporation TNR7V121K Ry1 Brake relay 3 4 Installation and Wiring Conditions on CE Marking 2 The ground protection circuit is designed for ground fault inside the motor windings while the motor is running Therefore it may not protect the system under the following conditions e A low resistance ground fault occurs between the main circuit cable and connector for the servomotor e The power supply is turned ON during a ground fault To configure a safer system install an earth leakage breaker for protection against overloads and short circuiting or install an earth leakage breaker combined with a wiring circuit breaker for ground protection Prepare a 24 VDC power supply for sequence separately from the 24 VDC power supply for brake 3 4 Installation and Wiring Conditions on CE Marking To adapt a combination of a SUME servomotor and a SJDE SERVOPACK to EMC Directives EN55011 group 1 class A and EN61000 6 2 the following conditions must be satisfied After installing the SER VOPACK do a test run to make sure that the machine operates correctly The actual EMC level may differ depending on the actual
59. wer Current Current Magnetic Noise Fil Surge AC Supply Capacity of Capacity Contac ter Protector Reactor Type Capa Capacity Molded case and Model tor city per Circuit of Exter SERVO Breaker nal Fuse PACK Arms SJDE 100 W 0 40 4 30 Hi 14J R7A X5052 01APA OY FIZP105 601BQZ SJDE 200 W 0 75 owns BE X5053 02APA OY SJDE 400 W 1 2 O4APA OY SJDE 750 W 2 2 16 OKLK HI 15J R7A 08APA OY 030 T FIZP109 30 Arms Manufacturer Littelfuse Yaskawa Yaskawa Inc Controls Controls Co Ltd i Industries Co Ltd 1 Nominal value at the rated load The specified derating is required to select the appropriate molded case circuit breaker 2 Cut off characteristics 25 C 200 two seconds min and 700 0 01 seconds min Note 1 The ground protection circuit is designed for ground fault inside the motor windings while the motor is running Therefore it may not protect the system under the following conditions e A low resistance ground fault occurs between the main circuit cable and connector for the ser vomotor e The power supply is turned ON during a ground fault To configure a safer system install an earth leakage breaker for protection against overloads and short circuiting or install an earth leakage breaker combined with a wiring circuit breaker for ground protection 2 Itis recommended to use a general purpose circuit breaker of the rated current 200 mA or more or a circuit breaker for inverter
60. ws two mounting holes SERVOPACK installation plate M4 screw E Space between SERVOPACK Units e Be sure to keep a space between adjacent SERVOPACK units if they are mounted inside the control panel so that the units can be cooled e Do not cover the inlet or outlet parts and prevent any foreign objects such as metalic fragment or combustibles from entering the product Failure to observe this caution may cause internal elements to deteriorate resulting in malfunction or fire Imm 4 Air outlet direction 16 3 1 Precautions on Wiring 3 Wiring 3 1 Precautions on Wiring A WARNING e Be sure to correctly ground the SERVOPACK and the servomotor e Wiring must be performed by an authorized person qualified in electrical work B Protection for Power Supply Line e Use a molded case circuit breaker and fuse to protect the power supply line from high voltage The SJDE SERVOPACK connects directly to a commercial power supply without a transformer so always use a circuit breaker and fuse to protect the SERVOPACK from accidental high voltage E Caution for Grounding Consider the following conditions when grounding the SERVOPACK e For a ground wire use as thick a cable as possible 2 0 mm or thicker e A ground resistance of 100 or less is recommended e Ground to one point only

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