AC Servo Drives DC Power Input Σ
Contents
1. 2 5 2 2 3 Connecting Servomotor to Machine 2 6 2 2 4 Protective Structure 2 7 2 2 5 Other PESA co ee ee ea ee ee a EA 2 8 2 3 SERVOPACK Installation 0 2 0 0 teens 2 9 2 3 1 Orientation UAE E eee YA eed 2 9 2 3 2 Installation Standards 2 10 2 4 EMC Installation Conditions 2 11 2 4 1 SGDV OOOE21A M II Model 2 11 2 4 2 Other Precautions AA tae ae ee ce a ede 2 12 INVITAN and Gonmecont geen AAA wien ee ees eee ene 3 1 3 11 Precautions Tor Wining 2 sc esada eee TA rt Saeed a 3 2 3 2 System Configuration Diagram 3 3 3 2 1 Connecting to SGDV OOOEO1A SERVOPACK Analog Voltage Pulse Train Modelos sais ea ln de e o ln trae bane teh de 3 3 3 2 2 Connecting to SGDV OOOE11A SERVOPACK M II Model 3 4 3 2 3 Connecting to SGDV OOOE21A SERVOPACK M II Model 3 5 3 3 Main Circuit Wiring EU IA Ata Lees 3 6 3 3 1 Names and Functions of Main Circuit Terminals 3 6 3 3 2 SERVOPACK Main Circuit Cable 3 7 3 3 3 Typical Main Circuit Wiring Examples 3 9 4 Trial Operation Checking Servomotor Operation 4 1 ANIQUILAR ee db 4 2 4 2 Inspection and Checking before2. When using a detector or a breaker for leakage current select the appropriate one by considering the grounding conditions and the leakage current of noise fil ter For details contact the manufacturer of the noise filter Incorrect wiring or incorrect voltage application to the output circuit may cause short circuit The above failures will prevent the holding brake from working which may damage the machine or cause an accident resulting in death or injury Inverting the polarity of the brake signal BK i e positive logic will prevent the holding brake from working in case of its signal line disconnection If this setting is absolutely necessary check the operation and confirm that there are no safety problems 3 2 System Configuration Diagram 3 2 System Configuration Diagram 3 2 1 Connecting to SGDV OHOEO1A SERVOPACK Analog Voltage Pulse Train Model SGDV OOOES1A SERVOPACK or SGDV OOOEP1A SERVOPACK AAA ZO Non isolated AC DC converter for control power supply Noise filter Eliminates external noise from the power line Battery case when an absolute encoder is used Servomotor main circuit cable N Magnetic contactor Turns the servo ON and OFF Install a surge absorber Power supply Ui 9 Power supply O Single phase 100 200 VAC n R T Molded case circuit break
3. CN3 SERVOPACK ma L lg 12 1QF Molded case circuit breaker 1PL Indicator lamp c1 CN1 an 24 V 1FLT Noise filter 1SA Surge absorber c2 8 ALM y 1KM Magnetic contactor 1D Flywheel diode Y Ja lt for main power supply 2D_ Flywheel diode 2 P 1Ry Relay 3D Flywheel diode 11 COM_SG 3D lt 2Ry Relay 4 3Ry Relay ov 3 10 IMPORTANT In DC power input 2 V Series SERVOPACKs all ground terminals for the four sequence output signals are named COM SG There fore do not connect the ALM output signal of multiple SERVO PACKS in series 4 Trial Operation Checking Servomotor Operation This chapter describes how to perform trial operation 4 1 Ouftline 4 2 4 2 Inspection and Checking before Trial Operation 4 3 4 3 JOG Operation Using a Digital Operator 4 6 4 4 JOG Operation Using SigmaWint 4 9 Trial Operation Checking Servomotor Operation PE as 4 Trial Operation Checking Servomotor Operation 4 1 Outline The trial operation described here is a JOG operation for servomotors not connected to machinery without a load The purpose of this trial operation is to check whether the SERVOPACK and servomotor are properly connected and whether the servomo tor is operating normally To conduct trial operation executed from the host controller for the servomotor with out
4. R T A Molded case S circuit breaker 6 MCCB B Protects the power Host controller line by shutting the il 1 0 signal cable y Z circuit OFF when overcurrent is Encoder cable Cc detected Noise filter Non isolated Eliminates AC DC converter external noise from the power line Battery case when an absolute H encoder is used Personal Magnetic A Connection cable computer contactor m 5 2 for personal ums the servo ON and OFF 4 e computer Install ata a surgo a Dic Power supply cable 3 E 2 4 Ls Anal Cable f 100 200 VAC wire for Connection cable monitor able tor i F power AT for analog monitor unit analog Non isolated supply K g monitor AC DC converter unit for main circuit power f ju EES supply Brake power supply Used for a servomotor with a brake Magnetic contactor Turns the brake power supply ON and OFF Install a surge absorber Li SGMMV Servomotor Use a 24 VDC power supply Not included Wiring and Connection 3 6 3 Wiring and Connection 3 3 1 Names and Functions of Main Circuit Terminals 3 3 Main Circuit Wiring The names specifications and functions of the main circuit terminals required for trial operation are given below 3 3 1 Names and Functions of Main Circuit Terminals Analog Voltage Models M II Models M III Models Pulse Train Models Terminal 5 BAA Connector Symbols Pin
5. 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 lt Note gt Do not connect the digital operator and the analog monitor cable to the SERVOPACK during operations Connect them only when the machinery is stopped during mainte nance 2 12 3 Wiring and Connection This chapter describes how to set up the wiring and connections reguired for trial operation For more information on the wiring and connection refer to the following manuals DC Power Input 2 V Series User s Manual Design and Maintenance Rotational Motor Analog Voltage Reference and Pulse Train Reference SIEP S800000 81 e DC Power Input 2 V Series User s Manual Design and Maintenance Rotational Motor MECHATROLINK II Communications Reference SIEP S800000 82 DC Power Input 2 V Series User s Manual Design and Maintenance Rotational Motor MECHATROLINK III Communications Reference SIEP S800000 83 3 1 Precautions for Wiring 3 2 3 2 System Configuration Diagram 3 3 3 2 1 Connecting to SGDV OHOEO1A SERVOPACK Analog Voltage Pulse Train Model 3 3 3 2 2 Connecting to SGDV OHOHE11A SERVOPACK M II Model 3 4 3 2 3 Connecting to SGDV OOOE21A SERVOPACK M III Model 3 5 3 3 Main Circuit WINGU Wawa 3 6 3 3 1 Names and Fu
6. e Do not connect anything to the servomotor shaft 4 4 4 2 Inspection and Checking before Trial Operation E Checking the Main Circuit Power Supply Servomotor and Encoder Wiring Once again check the main circuit power supply servomotor and encoder wiring that was described in Chapter 3 Wiring and Connection Encoder cable Ne Main circuit cable for servomotor Power supply Note Do not connect the I O signal cable to the CN1 connector in trial operations a Trial Operation Checking Servomotor Operation P a 4 Trial Operation Checking Servomotor Operation 4 3 JOG Operation Using a Digital Operator This section describes the procedure for executing a JOG operation using a digital operator The following illustration shows how to connect the digital operator 2 V series JUSP OP05A 1 E Digital Operator SGDV Te g 2 202 SERVOPACK lt Digital operator junction connector Model JZSP CF1S00 A3 E Insert securely into SERVOPACK CN5 connector The digital operator can be connected or removed while the SERVOPACK power is ON The digital operator is available for both SERVOPACKs with analog voltage reference and SERVOPACKs with pulse train reference IMPORTANT The tuning less function is by default set enabled When the tun ing less function is enabled the gain may be
7. e Use a molded case circuit breaker 1QF or fuse to protect the servo system IMPORTANT Always use a molded case circuit breaker 1QF or fuse to pro tect the servo system from accidents involving different power system voltages or other accidents Install a ground fault detector The SERVOPACK does nat have a built in protective circuit for grounding To configure a safer system install a ground fault detector against overloads and short circuiting or install a ground fault detector combined with a molded case circuit breaker Do nat frequently turn power ON and OFF Frequently turning power ON and OFF causes elements inside the SERVOPACK to deteriorate Do not use the servo drive with an application that requires frequently turning power ON and OFF After the actual operation starts the allowable interval for turn ing power ON and OFF is one hour or longer The following wiring examples show the DC Power Input 2 V Series SGDV SER VOPACK Analog voltage reference model SGDV OOOES1A OOO 1R7 2R9 SGDV SERVOPACK Insulated AC DC converter for main 1Kkm Circuit power supply Insulated AC DC converter for control circuit power supply For servo 1Ry alarm display N Servo 1PL power supply OFF Ry 1KM D EA 1KM 1SA 1Ry Relay 10F Molded cas
8. the motor temperature may rise considerably In this case take following counter measures Reduce the load ratio e Reconsider the motor heating conditions e Install a cooling fan to forcedly cool the motor Installation 2 6 2 Installation 2 2 3 Connecting Servomotor to Machine 2 2 3 Connecting Servomotor to Machine The end of the motor shaft is coated with anticorrosive paint Thoroughly remove the paint prior to installation Align the shaft of the servomotor with the shaft of the machine and then couple the shafts Install the servomotor so that alignment accuracy falls within the following range Vibration will damage the bearings or encoders if the shafts are not properly aligned Do not allow direct impact to be applied to the shafts when installing the coupling as the encoder mounted on the opposite end of the shaft may be damaged Alignment Accuracy Measure this distance at four different positions on the circumference The difference between the maximum and minimum measurements must be 0 03 mm or less Turn together with coupling 2 2 Servomotor Installation 2 2 4 Protective Structure The servomotor protective structure is described below Model Protective Structure SGMMV BOE IP42 SGMMV ADE IP55 Except through shaft section Flange Through shaft section This refers to the gap where the shaft protrudes from the end of the motor p I
9. AC SERVOPACK Y SGDV Safety Precautions TOBP C710829 06 gt Series Digital Operator Safety Precautions TOBP C730800 00 E Safety Information The following conventions are used to indicate precautions in this manual Failure to heed precautions provided in this manual can result in serious or possibly even fatal injury or damage to the products or to related equipment and systems A WARNING A CAUTION amp PROHIBITED MANDATORY Indicates precautions that if not heeded could possibly result in loss of life or serious injury Indicates precautions that if not heeded could result in relatively serious or minor injury damage to the product or faulty operation In some situations the precautions indicated could have serious consequences if not heeded Indicates prohibited actions that must not be performed For example this symbol would be used to indicate that fire is prohibited as follows Y Indicates compulsory actions that must be performed For example this symbol would be used as follows to indicate that grounding is compulsory Safety Precautions This section describes important precautions that must be followed during storage transportation installation wiring operation maintenance inspection and disposal Be sure to always observe these precautions thoroughly A WARNING e Never touch any rotating servomotor parts
10. No Name Description LI 6 Main circuit input terminal 94 VDC 15 or L2 3 Main circuit input terminal 48 VDC 15 Cl 5 Control power input terminal CN3 24 VDC 15 C2 4 Control power input terminal Connect to the ground ter L 1 2 Ground terminal minal of the power supply U 1 Servomotor connection terminal phase U v 2 Servomotor connection terminal Connectto the servomotor phase V CN4 wW 3 Servomotor connection terminal phase W L 4 Ground termi al Connect to the ground ter minal of the servomotor 3 3 Main Circuit Wiring 3 3 2 SERVOPACK Main Circuit Cable Use the following cables for main circuit of the SERVOPACK These cables are man ufactured by YASKAWA Controls Co Ltd WA Terminal SERVOPACK Model SGDV able Symos 1R7E 2R9E For power supply E JZSP CF1G00 00 E JZSP CF1M00 O0 E For servomotors without brakes JZSP CF1IM10 00 E For servomotor U V For servomotors with brakes main circuit W JZSP CF1M20 00 E For servomotors without brakes flexible type JZSP CF1M30 O0 E For servomotors with brakes flexible type If you make cables by yourself read the following items IMPORTANT Wire sizes are selected for three cables per bundle at 40 C sur rounding air temperature with the rated current Use the withstand voltage wires for 100 V or more Use the wires whose outside diameter of insulator is 1 85 mm or
11. ON S ON E Manuals Related to the DC Power Input 2 V Series Refer to the following manuals as reguired Name Selecting Models and Peripheral Devices Ratings and Specifi cations System Design Panels and Wiring Trial Operation Trial Operation and Servo Adjustment Maintenance and Inspection Z V Series Product Catalog KAEP S800000 42 Y Y DC Power Input Y2 V Series User s Manual Design and Maintenance Rotational Motor Analog Voltage Reference and Pulse Train Reference SIEP S800000 81 DC Power Input Y2 V Series User s Manual Design and Maintenance Rotational Motor MECHATROLINK II Communications Reference SIEP S800000 82 2 V Series User s Manual MECHATROLINK II Command SIEP S800000 54 2 V Series User s Manual Operation of Digital Operator SIEP S800000 55 Y2 V Series User s Manual MECHATROLINK III Command SIEP S800000 63 cont d Selecting Name and Peripheral Devices Trial Ratings A Models ana Panels Trial Operation Maintenance Specifi Design cations System and and Servo Inspection Adjustment and Wiring Operation DC Power Input 2 V Series User s Manual Design and Maintenance Y Rotational Motor MECHATROLINK III Communications Reference SIEP S800000 83 AC SERVOMOTOR Safety Precautions TOBP C230200 00 DC Power Input 2 V Series
12. Trial Operation 4 3 4 3 JOG Operation Using a Digital Operator 4 6 4 4 JOG Operation Using SigmaWint 4 9 Revision History Overview of Setup This chapter describes how to set up the DC power input 2 V series of servo drives Overview of Setup 1 1 1 Overview of Setup This chapter describes the flow of the setup procedure from installation until a JOG operation A digital operator and an engineering tool called SigmaWin that can be used with a PC are available to set up a servo drive A CAUTION An alarm or warning may be generated if communications are executed with the host controller during operation using SigmaWin or the digital operator If an alarm or warning is generated the process currently being executed may be aborted and the system may stop Be sure to read 4 2 Inspection and Checking before Trial Opera tion IMPORTANT e The digital operator is available for both SERVOPACKs with ana log voltage reference and SERVOPACKs with pulse train refer ence Operation Reference in this manual eae and Chapter 2 Installation y Perform the required wiring and o f connections for a JOG operation Chapter 3 Wiring and Connection y Perform a JOG operation for the Chapter 4 Trial Operation Checking servomotor using the digital operator Servomotor Operation or S
13. change it LET foo min 1 Operation a OJ sevo Serva ON Servo ON Servo ON JOG Speed Setting Click FO The display changes from Pris04 JOG Speed Be tay a fo Imin 1 Edit Servo OFF to Servo ON and is lit in green Operation 5 a Trial Operation Checking Servomotor Operation 4 13 4 Trial Operation Checking Servomotor Operation cont d Step Operation Display e Start JOG operation iy JOG Speed Setting When you click Oo the servomotor Pn304 JOG Speed 3 i i foo Imin 1 Edit will rotate in the forward direction When Reverse id you click mu it will rotate in reverse 6 a O Servo ON Confirm that the servomotor operation is cor rect At the same time carefully inspect the servomotor s condition and check the follow ing points in particular If a problem is found correct it Is there any unusual vibration e Is there any unusual sound Is the temperature rising unusually high e Servo OFF r JOG Speed Setting Click Pn304 JOG Speed zA Evo min 1 Screen display will return to the display shown at step 4 Operation 7 Of Servo OFF E oN Terminate JOG operation ces 8 You will return to the main window Click El to end JOG operation Refer to the online manual for SigmaWin for details Follow the steps below to view the online manual lt How to view the online manual gt Turn ON the computer Open the Manual f
14. during operation Failure to observe this warning may result in injury Before starting operation with a machine connected make sure that an emergency stop can be applied at any time Failure to observe this warning may result in injury or damage to the equipment Never touch the inside of the SERVOPACKs Failure to observe this warning may result in electric shock Immediately after the power is turned OFF or after a voltage resistance test do not touch terminals Residual voltage may cause electric shock e Follow the procedures and instructions provided in the manuals for the products being used in the trial operation Failure to do so may result not only in faulty operation and damage to equipment but also in personal injury The multiturn limit value need not be changed except for special applica tions Changing it inappropriately or unintentionally can be dangerous e Ifthe Multiturn Limit Disagreement alarm occurs check the setting of parameter Pn205 in the SERVOPACK to be sure that it is correct If Fn013 is executed when an incorrect value is set in Pn205 an incorrect value will be set in the encoder The alarm will disappear even if an incorrect value is set but incorrect positions will be detected resulting in a dangerous situation where the machine will move to unexpected positions Do not remove the cables or connectors from the SERVOPACK while the power is ON Failure to observe this warning may result in
15. electric shock Do not damage pull exert excessive force on or place heavy objects on the cables Failure to observe this warning may result in electric shock stopping operation of the product or fire Do not modify the product Failure to observe this warning may result in injury damage to the equipment or fire Provide appropriate braking devices on the machine side to ensure safety The holding brake on a servomotor with a brake is not a braking device for ensuring safety Failure to observe this warning may result in injury Do not come close to the machine immediately after resetting an instanta neous power interruption to avoid an unexpected restart Take appropriate measures to ensure safety against an unexpected restart Failure to observe this warning may result in injury A WARNING Connect the ground terminal according to local electrical codes 100 Q or less Improper grounding may result in electric shock or fire e Installation disassembly or repair must be performed only by authorized personnel Failure to observe this warning may result in electric shock or injury E Storage and Transportation A CAUTION Do not store or install the product in the following locations Failure to observe this caution may result in fire electric shock or damage to the equipment e Locations subject to direct sunlight e Locations subject to temperatures outside the range sp
16. less If cables are bundled in PVC or metal ducts take into account the reduction of the allowable current Use a heat resistant wire under high surrounding air or panel temperatures The length of cables for power supply is 10 m max and the length of cables for servomotor main circuit is 50 m max SERVOPACK Model SGDV Cable Remarks 1R7E 2R9E Connector 43025 0600 6 poles Contact 43030 0001 gt Wa eee Rated voltage For main circuit 8 CN3 for g 300 V power power supply UL1007 AWG20 Rated temperature supply L1 L2 80 C For control circuit Batony otage power supply UL1007 AWG20 Rated temperature C1 C2 80 C Made by Molex Japan Co Ltd Wiring and Connection 3 8 3 Wiring and Connection 3 3 2 SERVOPACK Main Circuit Cable cont d SERVOPACK Model SGDV Cable Remarks 1R7E 2R9E Connector 43025 0400 4 poles SERVOPACK side 3 P Contact SERVOPACK side 43030 0001 Connector servomotor side 43020 0401 4 poles CN4 for without brake servo motor Connector main servomotor side 43020 0601 6 poles circuit with brake Contact servomotor side 43031 0001 Power line for servo Rated voltage motor main circuit 300 V U V W brake UL1007 AWG20 Rated temperature power supply Made by Molex Japan Co Ltd 3 3 Main Circuit Wiring 3 3 3 Typical Main Circuit Wiring Examples
17. load or for the servomotor connected to the machine refer to the following man uals DC Power Input 2 V Series User s Manual Design and Maintenance Rotational Motor Analog Voltage Reference and Pulse Train Reference SIEP S800000 81 DC Power Input 2 V Series User s Manual Design and Maintenance Rotational Motor MECHATROLINK II Communications Reference SIEP S800000 82 DC Power Input 2 V Series User s Manual Design and Maintenance Rotational Motor MECHATROLINK III Communications Reference SIEP S800000 83 A CAUTION Conduct trial operation on the servomotor alone with the motor shaft discon nected from the machine to avoid any unexpected accidents If it is unavoidable to perform trial operation while connected to a machine then always make sure that an emergency stop can be immediately executed 4 2 Inspection and Checking before Trial Operation 4 2 Inspection and Checking before Trial Operation To ensure safe and correct trial operation inspect and check the following items before starting trial operation E Servomotors Inspect and check the following items and take appropriate measures before per forming trial operation if any problem exists e Are all wiring and connections correct e Are all nuts and bolts securely tightened If the servomotor has a brake is the brake released beforehand To release the brake apply the specified voltage 24 VDC The following diagram shows an example of
18. play the SigmaWin startup screen ra SigmaWin English Edition 2 cont d 5 Once SigmaWin is started the connec tion window is displayed Note F is used for operation with no SERVOPACK connected Click CY Search to search for the con nected SERVOPACK 8 um F corran recrea al i Connection Window 4 4 JOG Operation Using SigmaWin cont d Step Operation Display 6 Search Condition Setting window is open Select only E V Select 2 V Mm fizv and click Search A dialog box will open first to tell you a z search has started and then the search mg eale munio ee result will be shown in the connection Lae oe window Paw roz r Aws Note If the message Servopack not a eee found is displayed refer to 2 2 Selecting a SERVOPACK of Sig G ss T Corton maWin English Edition Online oo Manual YE_Applications gt Man NA A o ual a 2 cont d E _ Search Condition Setting Window 7 Select the SERVOPACK to be connected Click Connect Place the cursor over Sl the SERVOPACK to be connected and uk i ase then click on it ikama late The main window of SigmaWin will then open pa FCs Run test operation Test Run R gt Jog J 1 Select Test Run first and then select Jog E 9 J J from the menu on the main window Th mwaa ama Smee ee toed ARTETA Main Window Trial Operation Checkin
19. servomotor s condition and check the following points in particu lar If a problem is found correct it Is there any unusual vibration e Are there any unusual sound Is the temperature rising unusually high BB After confirming that the servomotor is Pn304 00500 running correctly press the E 6 Un000 00000 Un002 00000 Un00D 0000000000 Key BB is displayed as the status and the servomotor power turns OFF a Trial Operation Checking Servomotor Operation T ay 4 8 4 Trial Operation Checking Servomotor Operation cont d Step Display after operation Keys Operation FUNCTION Alm History Press the Z Key to return to the 4 OIG main menu of the Utility Function Z Search mode Program JOG BB PRM MON Un000 00000 a i 8 Un002 00000 Press the M3 Key twice to return to Un008 0000000000 UnOOD 0000000000 the initial display step 1 E Alarm Display An alarm is automatically displayed if a problem occurs for some reason Check the alarm using the user s manual for the corresponding SERVOPACK refer to W Manu als Related to the DC Power Input 37 V Series on page iv and apply the appropriate measures ALARM 00001207196 00000032651 00000009043 Error Display The following messages will be displayed if a communications error occurs between the SERVOPACK and the digital operator due to a connection problem such as poor connector co
20. 003 YASKAWA ELECTRIC SHANGHAI CO LTD No 18 Xizang Zhong Road 17F Harbour Ring Plaza Shanghai 200001 China Phone 86 21 5385 2200 Fax 86 21 5385 3299 YASKAWA ELECTRIC SHANGHAI CO LTD BEIJING OFFICE Room 1011 Tower W3 Oriental Plaza No 1 East Chang An Ave Dong Cheng District Beijing 100738 China Phone 86 10 8518 4086 Fax 86 10 8518 4082 YASKAWA ELECTRIC TAIWAN CORPORATION 9F 16 Nanking E Rd Sec 3 Taipei 104 Taiwan Phone 886 2 2502 5003 Fax 886 2 2505 1280 Y YASKAWA YASKAWA ELECTRIC CORPORATION 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 relevant regulations 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 that may apply Specifications are subject to change without notice for ongoing product modifications and improvements 2007 2011 YASKAWA ELECTRIC CORPORATION All rights reserved MANUAL NO SIEP S800000 80A Published in Japan November 2011 11 11 10 10 4 Original instructions
21. Y YASKAWA AC Servo Drives DC Power Input 2 V Series USER S MANUAL Setup Rotational Motor SGDV SERVOPACK SGMMV Servomotor Cc wzo ezo NZO T BEBES ASSESS ZO Overview of Setup EN Installation En Wiring and Connection E Trial Operation Checking Servomotor Operation MANUAL NO SIEP S800000 80A Copyright 2011 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 photo copying recording or otherwise without the prior written permission of Yaskawa No patent liability is assumed with respect to the use of the information contained herein Moreover because Yaskawa is constantly striving to improve its high quality products the information contained in this manual is subject to change without notice Every precaution has been taken in the preparation of this manual Nevertheless Yaskawa assumes no responsibility for errors or omissions Neither is any liability assumed for damages resulting from the use of the information contained in this publication About this Manual This manual describes procedures reguired for installation wiring and connecting DC power input 2 V Series servo drives including a JOG operation for servomotors not connected to machinery Be sure to re
22. afety Precautions TOBP C710829 06 Conditions EMC Directive Certification is required after installation in the user s machine under the conditions outlined in 2 4 EMC Installation Conditions of this manual 2 2 2 2 1 2 2 2 2 2 Servomotor Installation Servomotor Installation Orientation Servomotors can be installed either horizontally or vertically Installation Standards The motor rated specifications rated output rated torque and rated speed are the continuous allowable values at an ambient temperature of 40 C when servomotors are installed with heat sinks For more information on heat sinks refer to 3 V Series Product Catalog KAEP S800000 42 When a motor is mounted on a small surface the motor temperature may rise consid erably because of the limited heat radiating abilities of the surface To restrict the temperature rise you should either mount a heat sink or limit the electrical thermal and mechanical stress on the motor derating Refer to 3 V Series Product Catalog KAEP S800000 42 for the relation between heat sink size and derating The data in the catalog is given only for reference as the actual temperature rise depends on how the heat sink motor mounting section is fixed on the installation surface and what material is used for the motor mounting section Always check the actual motor tem perature If the servomotor is covered or ifa heating element is installed near the servomotor
23. circuit CN3 Power supply Noise Single phase 200 VAC filter e supply m 2 CN4 U V W Servomotor I amp CN3 l C1 C2 al Control power LO supply DC 24 VDC 9 ACI Encoder CN2 I Clamp CN3 FG MECHATROLINK III O controller a CN6A CN6B o Host controller Symbol Cable Name Specification O T O signal cable Shield cable Servomotor main circuit cable Shield cable Encoder cable Shield cable Power supply cable Without shield cable MECHATROLINK III communication cable Shield cable Installation 2 11 2 Installation 2 4 2 Other Precautions 2 4 2 Other Precautions E Recommended Noise Filter For more information on recommended noise filters refer to 3 V Series Product Cat alog KAEP S800000 42 E Fixing the Cable Fix and ground the cable shield using a piece of conductive metal Example of Cable Clamp Shield cable sheath stripped Host controller side D gt T Ground plate 6 Fix and ground the cable shield NI using a piece of conductive metal Remove paint on mounting surface E Shield Box A shield box which is a closed metallic enclosure is effective as reinforced shielding against electromagnetic interference EMI from SERVOPACKs
24. ds E North American Safety Standards UL Aus Model UL Standards SERVOPACK SGDV UL508C Servomotor SGMMV UL1004 Underwriters Laboratories Inc E European Standards EC YA VA Model Low Voltage EMC Directive Directive EMI EMS EN55011 SERVOPACK SGDV EN61800 5 1 group I class A paN61 8003 EN61800 3 bs 1EC60034 1 ENSS011 1EC60034 5 EN61800 3 SETVomotor SGMMV 1Ec60034 8 Soup lciassA EN61000 6 2 1EC60034 9 i Note Because SERVOPACKs and servomotors are built into machines certification is required after installation in the user s product xiv Contents Aboutthis Manual mini id we iii Safety Precautions 0000 a ea E ee a tees vi Warranty ssi Moi es td ee Pee xii Applicable Standards ii AA ra KIA KK wa KATAA xiv Overview Ol S et pig eae ene ee eres ee ee nee ae nee e eee 1 1 25 InStallatione teres AA ka ornate a een ec ga nee ene ee E 2 1 2 1 Installation Environment and Applicable Standards 2 2 2 1 1 Servomotor Installation Environment 2 2 2 1 2 SERVOPACK Installation Environment 2 3 2 1 3 Installation Conditions for Applicable Standards 2 4 2 2 Servomotor Installation 2 5 2D Orientation act td sere ste ai wee dt pende 2 5 2 2 2 Installation Standards
25. e circuit breaker 1PL Indicator lamp 1FLT Noise filter 1SA Surge absorber 1KM Magnetic contactor 1D Flywheel diode for main power supply Wiring and Connection 3 Wiring and Connection 3 3 3 Typical Main Circuit Wiring Examples E Precautions When Using More Than One SERVOPACK This section shows an example of the wiring when more than one SERVOPACK is used and the precautions e Wiring Example Analog model The alarm output ALM terminals in each SERVOPACK individually operate differ ent alarm detection relays 1Ry 2Ry and 3Ry respectively When the alarm occurs the ALM output signal transistor is turned OFF R T 10 1FLT Insulated AC DC converter for main circuit power supply 1KM r ar i oe Relay CN3 SERVOPACK terminal Servomotor ET a L2 Insulated AC DC Relay converter for control terminal ci CN1 IR 24 V circuit power supply co 8 Ji ALM y gt E 1Ry For servo alarm display 11 com sG 1D N Relay 2Ry 1PL terminal ov CNS SERVOPACK Servomotor Ral L1 elay terminal 7 K 12 Servo Servo power power 24 V supply supply C1 CN1 2Ry ON OFF 1KM c2 8 AMM y 1Ry 2Ry 3Ry vik LI T a a rey gt 11 A COM_SG 2D 1KM ISA al ov
26. ecified in the storage installation temperature conditions e Locations subject to humidity outside the range specified in the storage instal lation humidity conditions e Locations subject to condensation as the result of extreme changes in tempera ture Locations subject to corrosive or flammable gases Locations subject to dust salts or iron dust Locations subject to exposure to water oil or chemicals Locations subject to shock or vibration Do not hold the product by the cables motor shaft or encoder while trans porting it Failure to observe this caution may result in injury or malfunction Do not place any load exceeding the limit specified on the packing box Failure to observe this caution may result in injury or malfunction If disinfectants or insecticides must be used to treat packing materials such as wooden frames pallets or plywood the packing materials must be treated before the product is packaged and methods other than fumigation must be used Example Heat treatment where materials are kiln dried to a core temperature of 56 C for 30 minutes or more If the electronic products which include stand alone products and products installed in machines are packed with fumigated wooden materials the electrical components may be greatly damaged by the gases or fumes resulting from the fumigation process In particular disinfectants containing halogen which includes chlorine fluorine bromine or iodine can cont
27. ement machines and installations subject to separate industry or government regulations e Systems machines and equipment that may present a risk to life or property e Systems that require a high degree of reliability such as systems that supply gas water or electricity or systems that operate continuously 24 hours a day e Other systems that require a similar high degree of safety 4 Never use the product for an application involving serious risk to life or property without first ensuring that the system is designed to secure the required level of safety with risk warnings and redundancy and that the Yaskawa product is prop erly rated and installed 5 The circuit examples and other application examples described in product cata logs and manuals are for reference Check the functionality and safety of the actual devices and equipment to be used before using the product 6 Read and understand all use prohibitions and precautions and operate the Yaskawa product correctly to prevent accidental harm to third parties Specifications Change The names specifications appearance and accessories of products in product cata logs and manuals may be changed at any time based on improvements and other rea sons The next editions of the revised catalogs or manuals will be published with updated code numbers Consult with your Yaskawa representative to confirm the actual specifications before purchasing a product xiii Applicable Standar
28. er MCCB Protects the power Lt line by shutting the circuit OFF when overcurrent is Encoder cable O detected ji id 100 200 VAC wire for Non isolate power AC DC converter SUPPIY for main circuit power supply Brake power supply Used for a servomotor with a brake Gok Magnetic contactor Tums the brake power supply ON and OFF Install a surge absorber SGMMV Servomotor Use a 24 VDC power supply Not included Digital j operator Relay cable for digital operato WA eaceanm 1 Digital g I operator I cable for Analog h l analog monitor 1 monitor unit Unit Cable for I I I oe gt analog l monitor r Personal Connection cable computer for personal computer Ct Wiring and Connection 3 Wiring and Connection 3 2 2 Connecting to SGEDV OOOE11A SERVOPACK M II Model 3 2 2 Connecting to SGDV OOOE11A SERVOPACK M II Model Power supply Single phase 100 200 VAC Molded case circuit breaker MCCB Protects the power line by shutting the circuit OFF when overcurrent is detected Noise filter Eliminates extemal noise from the power line Non isolated AC DC converter Magnetic main circuit contactor cable Turns the servo ON and OFF Install a surge Servomotor for control power
29. fer to this manual and perform setup operations correctly Keep this manual in a location where it can be accessed for reference whenever required E Description of Technical Terms The following table shows the meanings of terms used in this manual Term Meaning Servomotor 2 Vmini Series SGMMV servomotor SERVOPACK DC power input 2 V Series SGDV SERVOPACK Servo Drive A set including a servomotor and a SERVOPACK e a servo amplifier Servo System A servo control system that includes the combination of a servo drive with a host controller and peripheral devices Analog voltage model Analog voltage reference is used for the SERVOPACK interface Pulse train model Pulse train reference is used for the SERVOPACK interface M II model MECHATROLINK II communications reference is used for the SERVOPACK interface M III model MECHATROLINK III communications reference is used for the SERVOPACK interface E Important Explanations The following icon is displayed for explanations requiring special attention e Indicates important information that should be memorized as well as precautions such as alarm displays that do not involve potential damage IMPORTANT to equipment E Notation Used in this Manual 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 example Example S
30. g method For details refer to 2 3 SERVOPACK Installation Mounting Near a Heating Unit To prevent the temperature around the SERVOPACK from exceeding 55 C suppress radiant heat from the heating unit and temperature rise due to convection Mounting Near a Vibration Source To prevent vibration from being transmitted to the SERVOPACK install a vibration isolator underneath the SERVOPACK Mounting to a Location Exposed to Corrosive Gas Take measures to prevent exposure to corrosive gas Corrosive gases will not imme diately affect the SERVOPACK but will eventually cause electronic components and contactor related devices to malfunction Other Locations Do not mount the SERVOPACK in locations subject to high temperatures high humidity dripping water cutting oil dust iron filings or radiation lt Note gt When storing the SERVOPACK with the power OFF store it in an environment with the following temperature and humidity 20 to 85 C 90 RH or less with no condensation Installation 2 4 2 Installation 2 1 3 Installation Conditions for Applicable Standards 2 1 3 Installation Conditions for Applicable Standards Applicable UL508C Standards EN55011 group classA EN61000 6 2 EN61800 3 EN61800 5 1 Operating Pollution degree 2 Conditions Protection class IP10 UL Standard and Low Voltage Directive Satisfy the conditions outlined in DC Power Input 2 V Series AC SERVO Installation PACK SGDV S
31. g Servomotor Operation 4 11 4 Trial Operation Checking Servomotor Operation cont d Step Operation Display 2 Warnings for the JOG operation window will be displayed Read them and click A WARNING is dangerous to operate this funcion because the servomotor wil rotate Ahanya De sure to check the user s manual beteen operating Pay parlicader atleriion to the Tobin points 1 Perform safety checks around moving parts White the operation bution la being depressed the servomotor wil run of the JOG speed set Execute after having confemed that Operation wal prosent no danger 2 Forward Run Promise P OT Reverse Run Pronit N OT is dantind Tha Forward Run Prohib P OT Reversa Run Prohibit NOT signals sen disabled during JOG operation Ihe servomotor wil nol stop even if the PLOTALOT signals ara passed When operating caratuly verity the action end posBON of the servomctorimechine Clicking the OK button to start the JOG operation esa E Warnings for the JOG Operation Window 3 The JOG operation window is open Operation AXIS 0 3 cont d r JOG Speed Setting Pn304 JOG Speed Eso min 1 Operation O Servo ON JI Servo OFF Qi JOG Operation Window 4 4 JOG Operation Using SigmaWin cont d Step Operation Display Set the JOG speed The motor speed is set to 500 min Click AA if you need to
32. igmaWin eTrial Operation Using the Digital Operator 254 3 JOG Operation Using a Digital Operator eTrial Operation Using SigmaWin 4 4 JOG Operation Using SigmaWin 2 Installation This chapter describes how to install the servomotor and the SERVOPACK 2 1 Installation Environment and Applicable Standards 2 2 2 1 1 Servomotor Installation Environment 2 2 2 1 2 SERVOPACK Installation Environment 2 3 2 1 3 Installation Conditions for Applicable Standards 2 4 2 2 Servomotor Installation 2 5 2 2 1 Orientation 2 5 2 2 2 Installation Standards 2 5 2 2 3 Connecting Servomotor to Machine 2 6 2 2 4 Protective Structure 2 7 2 2 5 Other Precautions 2 8 2 3 SERVOPACK Installation 2 9 2 3 1 Orientation ui IIIA ee ee 2 9 2 3 2 Installation Standards 2 10 2 4 EMC Installation Conditions 2 11 2 4 1 SGDV OOOE21A M II Model 2 11 2 4 2 Other Precautions 2 12 Installation 2 1 2 Installation 2 1 1 Servomotor Installation Environment 2 1 Installation Environment and Applicable Standards The instal
33. input power supply is correct Incorrect polarity may cause damage Always use the specified power supply voltage An incorrect voltage may result in fire or malfunction Take appropriate measures to ensure that the input power supply is sup plied within the specified voltage fluctuation range An incorrect power supply may result in damage to the equipment Install external breakers or other safety devices against short circuiting in external wiring Failure to observe this caution may result in fire Take appropriate and sufficient countermeasures for each form of potential interference when installing systems in the following locations 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 Failure to observe this caution may result in damage to the equipment Do not reverse the polarity of the battery when connecting it Failure to observe this caution may damage the battery the SERVOPACK or ser vomotor or cause an explosion Wiring or inspection must be performed by a technical expert Use a 24 VDC or 48 VDC power supply with double insulation or rein forced insulation Failures caused by incorrect wiring or wrong voltage application in the brake circuit may damage the equipment or cause an accident resulting in death or injury Follow the procedu
34. lation environment and the applicable standards for servomotors and SERVOPACKs are described in this section 2 1 1 Servomotor Installation Environment E Ambient temperature 0 to 40 C E Ambient humidity 80 RH or less with no condensation E Altitude 1 000 m or less E Vibration resistance The servomotor will withstand the following Front to vibration acceleration in three directions vertical Vanticai 7 side to side and front to back Vibration Acceleration Side to side A Servomotor Model at Flange bA La horizontai SGMMV 49 m s Impact applied to the servomotor E Shock resistance 490 m s at servomotor flange Impact occurrences 2 E Installation site An environment that satisfies the following conditions Indoors and free of corrosive or explosive gases e Well ventilated and free of dust and moisture e Facilitates inspection and cleaning e Free of high magnetic field 2 1 Installation Environment and Applicable Standards 2 1 2 SERVOPACK Installation Environment E Surrounding air temperature O to 55 C E Ambient humidity 90 RH or less with no condensation E Altitude 1 000 m or less E Vibration resistance 4 9 m s Shock resistance 19 6 m s Installation Precautions Mounting in a Control Panel To prevent the temperature around the SERVOPACK from exceeding 55 C take into account the size of the control panel the layout of the SERVOPACK and the coolin
35. n circuit cables together with the I O signal cables or the encoder cables in the same duct Keep the servo motor main circuit cables separated from the I O signal cables and encoder cables by at least 30 cm Placing these cables too close to each other may result in malfunction Use shielded twisted pair cables or screened unshielded twisted pair cables for I O signal cables and the encoder cables The maximum wiring length is 3 m for I O signal cables 50 m for servomo tor main circuit cables and encoder cables and 10 m for power supply cables Install the battery in the battery unit of the encoder cable with a battery unit Voltage remains in the SERVOPACK even after the power supply is turned OFF To prevent electric shock do not touch the input terminals for the main circuit power supply or those for the control power supply Before wiring or inspections confirm that the SERVOPACK has completely dis charged A CAUTION Be sure to observe the following precautions when wiring the SERVO PACK main circuit terminal blocks Do not turn the SERVOPACK power ON until all wiring including the main circuit terminal blocks has been completed Remove detachable power supply input connectors or motor connectors from the SERVOPACK before wiring Make sure that the wiring for both the main circuit power supply and control power supply is correct Incorrect wiring may cause damage Make sure that the polarity of the
36. nctions of Main Circuit Terminals 3 6 3 3 2 SERVOPACK Main Circuit Cable 3 7 3 3 3 Typical Main Circuit Wiring Examples 3 9 A Wiring and Connection 3 1 3 2 3 Wiring and Connection 3 1 Precautions for Wiring A CAUTION Be sure to wire correctly and securely Failure to observe this caution may result in motor overrun injury or malfunction Do not connect a commercial power supply to the U V or W terminals for the ser vomotor connection Failure to observe this caution may result in injury or fire Do not bundle or run the servomotor main circuit cables together with the I O sig nal cables or the encoder cables in the same duct Keep the servomotor main cir cuit cables separated from the I O signal cables and encoder cables by at least 30 cm Placing these cables too close to each other may result in malfunction Use shielded twisted pair cables or screened unshielded twisted pair cables for I O signal cables and the encoder cables The maximum wiring length is 3 m for I O signal cables 50 m for servomotor main circuit cables and encoder cables and 10 m for power supply cables Voltage remains in the SERVOPACK even after the power supply is turned OFF To prevent electric shock do not touch the input terminals for the main circuit power supply or those for the control power supply Before wiring or inspections confirm that the SERVOPACK has completely discharged
37. nstallation 2 7 2 8 2 Installation 2 2 5 Other Precautions 2 2 5 Other Precautions E Cable Stress Make sure there are no bends or tension on the servomotor main circuit cables and encoder cables Be especially careful to wire encoder cables so that they are not subject to stress because the core wires are very thin at only 0 2 or 0 3 mm E Connectors Observe the following precautions Make sure there is no foreign matters such as dust and metal chips in the connector before connecting When the connectors are connected to the motor be sure to connect the end of ser vomotor main circuit cables before connecting the encoder cable s end If the encoder cable s end is connected the encoder may break because of the volt age differences between FG Make sure of the pin arrangement Do not apply shock to resin connectors Otherwise they may be damaged When handling a servomotor with its cables connected hold the servomotor or the connectors and cables will be damaged Be sure not to apply stress on the connector The connector may be damaged by stress E Radial and Thrust loads Design the mechanical system so thrust and radial loads applied to the servomotor shaft end during operation fall within the allowable ranges of each motor Refer to 2 V Series Product Catalog KAEP S800000 42 for the allowable ranges 2 3 2 3 1 2 3 SERVOPACK Installation SERVOPACK Installation Orientation The DC power in
38. ntact Check the connections and turn the power ON again If the prob lem still persists the digital operator or SERVOPACK must be replaced CPFOO COM ERR OP8SV CPFO1 COM ERR OP amp SV 4 4 JOG Operation Using SigmaWin 4 4 JOG Operation Using SigmaWin This section describes the procedure for executing a JOG operation using Sig maWin In the following example test run procedures are explained using the JOG operation window of Test Run on the main menu of SigmaWin The tuning less function is by default set enabled When the tuning less function is enabled the gain may be so increased to cause vibra IMPORTANT tion during no load operation If vibration occurs disable the tuning less function by setting the parameter Pn170 0 to 0 Step Operation Display Connect a computer Use a connection cable to connect a SERVO PACK to a computer which has SigmaWin installed SERVOPACK 1 CN7 Connection cable for personal computer Model JZSP CVS06 02 E Start SigmaWin and open the main win dow 1 Turn ON the SERVOPACK d 2 2 Turn ON the computer YE Applicatio 3 Double click the YE Applications folder ns on the desktop a Trial Operation Checking Servomotor Operation D to 4 Trial Operation Checking Servomotor Operation cont d Step Operation Display 4 Double click the SigmaWin icon to dis
39. nvection 10 mm or more When the space between SERVOPACKs is less than 10 mm select fans that will circulate air at a wind velocity of 0 2 m s or more when a wind gauge is installed 10 mm away from the bottom of the SERVOPACK Inside the Control Panel The conditions inside the control panel should be the same as the environmental con ditions of the SERVOPACK Refer to 2 1 2 SERVOPACK Installation Environment 2 4 2 4 1 2 4 EMC Installation Conditions EMC Installation Conditions This section describes the recommended installation conditions that satisfy EMC guidelines when combining a SGDV SERVOPACK in the DC power input 2 V series with a SGMMV servomotor in the 2 Vmini series The recommended installation conditions for SERVOPACKs with MECHA TROLINK II communications are described here For SERVOPACKs with a differ ent interface refer to the following installation conditions The following illustration shows the EMC installation conditions satisfied in test con ditions prepared by Yaskawa The actual EMC level may differ depending on the actual system s configuration wiring and other conditions However because this product is built in check that the following conditions are still met after being installed in the user s product The applicable standards are EN55011 group 1 class A EN61800 3 and EN61000 6 2 SGDV OOOE21A M III Model SGDV OO0OE21A 000 1R7 2R9 Shield box SERVOPACK Main
40. older Open the YE Applications folder Open SigmaWin English Edition Online Manual Revision History The revision dates and numbers of the revised manuals are given at the bottom of the back cover MANUAL NO SIEP S800000 80A Published in Japan November 2011 11 11 Date of publication L Date of original publication Bee NA Section Revised Contents November 2011 First edition AC Servo Drives DC Power Input 2 V Series USER S MANUAL Setup Rotational Motor IRUMA BUSINESS CENTER SOLUTION CENTER 480 Kamifujisawa Iruma Saitama 358 8555 Japan Phone 81 4 2962 5151 Fax 81 4 2962 6138 YASKAWA AMERICA INC 2121 Norman Drive South Waukegan IL 60085 U S A Phone 800 YASKAWA 800 927 5292 or 1 847 887 7000 Fax 1 847 887 7310 YASKAWA ELETRICO DO BRASIL LTDA Avenida Fagundes Filho 620 Sao Paulo SP CEP 04304 000 Brazil Phone 55 11 3585 1100 Fax 55 11 5581 8795 YASKAWA EUROPE GmbH HauptstraBe 185 Eschborn 65760 Germany Phone 49 6196 569 300 Fax 49 6196 569 398 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 7F Doore Bldg 24 Yeoido dong Yeoungdungpo gu Seoul 150 877 Korea Phone 82 2 784 7844 Fax 82 2 784 8495 YASKAWA ELECTRIC SINGAPORE PTE LTD 151 Lorong Chuan 04 01 New Tech Park 556741 Singapore Phone 65 6282 3003 Fax 65 6289 3
41. on e Conduct trial operation on the servomotor alone with the motor shaft dis connected from the machine to avoid accidents Failure to observe this caution may result in injury During trial operation confirm that the holding brake works correctly Fur thermore secure system safety against problems such as signal line dis connection Before starting operation with a machine connected change the parameter settings to match the parameters of the machine Starting operation without matching the proper settings may cause the machine to run out of control or malfunction Do not turn the power ON and OFF more than necessary Do not use the SERVOPACK for applications that require the power to turn ON and OFF frequently Such applications will cause elements in the SERVOPACK to deteriorate As a guideline at least one hour should be allowed between the power being turned ON and OFF once actual operation has been started When carrying out JOG operation Fn002 origin search Fn003 or Easy FFT Fn206 forcing movable machine parts to stop does not work for for ward overtravel or reverse overtravel Take necessary precautions Failure to observe this caution may result in damage to the equipment When using the servomotor for a vertical axis install safety devices to pre vent workpieces from falling due to alarms or overtravels Set the servomo tor so that it will stop in the zero clamp state when overtravel occurs Failu
42. or manuals is provided for the purpose of the customer purchasing the appropriate product for the intended application The use thereof does not guarantee that there are no infringements of intellectual property rights or other proprietary rights of Yaskawa or third par ties nor does it construe a license 4 Yaskawa shall not be responsible for any damage arising from infringements of intellectual property rights or other proprietary rights of third parties as a result of using the information described in catalogs or manuals 3 4 Suitability for Use 1 It is the customer s responsibility to confirm conformity with any standards codes or regulations that apply if the Yaskawa product is used in combination with any other products 2 The customer must confirm that the Yaskawa product is suitable for the systems machines and equipment used by the customer 3 Consult with Yaskawa to determine whether use in the following applications is acceptable If use in the application is acceptable use the product with extra allowance in ratings and specifications and provide safety measures to minimize hazards in the event of failure e Outdoor use use involving potential chemical contamination or electrical interference or use in conditions or environments not described in product catalogs or manuals e Nuclear energy control systems combustion systems railroad systems avia tion systems vehicle systems medical equipment amus
43. pe Yaskawa shall replace or repair a defective product free of change if a defect attribut able to Yaskawa occurs during the warranty period above This warranty does not cover defects caused by the delivered product reaching the end of its service life and replacement of parts that require replacement or that have a limited service life This warranty does not cover failures that result from any of the following causes 1 Improper handling abuse or use in unsuitable conditions or in environments not described in product catalogs or manuals or in any separately agreed upon spec ifications Causes not attributable to the delivered product itself Modifications or repairs not performed by Yaskawa 4 Abuse of the delivered product in a manner in which it was not originally intended 5 Causes that were not foreseeable with the scientific and technological under standing at the time of shipment from Yaskawa 6 Events for which Yaskawa is not responsible such as natural or human made disasters Limitations of Liability 1 Yaskawa shall in no event be responsible for any damage or loss of opportunity to the customer that arises due to failure of the delivered product 2 Yaskawa shall not be responsible for any programs including parameter set tings or the results of program execution of the programs provided by the user or by a third party for use with programmable Yaskawa products 3 The information described in product catalogs
44. put 2 V series SERVOPACKs are base mounted The SERVO PACKs must be mounted with a vertical orientation Firmly secure the SERVOPACK onto the mounting surface at the two locations where the mounting holes are Installation 2 Installation 2 3 2 Installation Standards 2 3 2 2 10 Installation Standards Observe the standards for mounting SERVOPACKs in control panels including those for the mounting SERVOPACKs side by side in one control panel as shown in the following illustration SERVOPACK Mounting Orientation Mount the SERVOPACK vertically to the wall with the front panel facing out Cooling Refer to the following diagram and leave sufficient space for cooling by fans and nat ural convection Mounting SERVOPACKs Side by Side in a Control Panel Fan Fan KN A ENT 40 mm or more FA Ba A y AAA n n E con coso n panes an la Cu emne an lt gt gt gt 10mm 10mm 40 mm or more or more or more or more Mounting differs with cooling method Leave sufficient space on each side and at the top and the bottom of each SERVO PACK Space between SERVOPACKs differs with the cooling method as shown in the following table Cooling Method Per Side Top and Bottom Fan 1 mm or more 40 mm or more Natural Co
45. re to observe this caution may cause workpieces to fall due to overtravel e When not using the tuning less function set the correct moment of inertia ratio Pn103 Setting an incorrect moment of inertia ratio may cause machine vibration Do not touch the SERVOPACK heat sinks or servomotor while power is ON or soon after the power is turned OFF Failure to observe this caution may result in burns due to high temperatures Do not make any extreme adjustments or setting changes of parameters Failure to observe this caution may result in injury or damage to the equipment due to unstable operation When an alarm occurs remove the cause reset the alarm after confirming safety and then resume operation Failure to observe this caution may result in damage to the equipment fire or injury A CAUTION Do not use the holding brake of the servomotor for braking Failure to observe this caution may result in malfunction The servomotor will decelerate to a stop if the main circuit or the control circuit power supply turns OFF during operation without turning servo OFF An alarm or warning may occur if communications are performed with the host controller while the SigmaWin or Digital Operator is operating If an alarm or warning occurs it may stop the current process and stop the system Maintenance and Inspection AA CAUTION Do not disassemble the SERVOPACK and the servomotor Failure to ob
46. res and instructions for wiring and trial operation precisely as described in this manual When using a detector or a breaker for leakage current select the appro priate one by considering the grounding conditions and the leakage current of noise filter For details contact the manufacturer of the noise filter Incorrect wiring or incorrect voltage application to the output circuit may cause short circuit The above failures will prevent the holding brake from working which may dam age the machine or cause an accident resulting in death or injury Inverting the polarity of the brake signal BK i e positive logic will pre vent the holding brake from working in case of its signal line disconnection If this setting is absolutely necessary check the operation and confirm that there are no safety problems Provide separate AC DC power supplies for the main circuits and for con trols Failure to observe this caution may result in malfunction A CAUTION Do not connect devices such as motors or solenoids that greatly change the load or devices such as electromagnetic switches that generate surge voltages to the controller power line Failure to observe this caution may result in deterioration of the internal elements or a blown fuse Operation A CAUTION Always use the servomotor and SERVOPACK in one of the specified com binations Failure to observe this caution may result in fire or malfuncti
47. ribute to the erosion of the capaci tors vii viii E Installation AA CAUTION Never use the product in an environment subject to water corrosive gases flammable gases or combustibles Failure to observe this caution may result in electric shock or fire Do not step on or place a heavy object on the product Failure to observe this caution may result in injury or malfunction Do not cover the inlet or outlet ports and prevent any foreign objects from entering the product Failure to observe this caution may cause internal elements to deteriorate resulting in malfunction or fire Be sure to install the product in the correct direction Failure to observe this caution may result in malfunction Provide the specified clearances between the SERVOPACK and the con trol panel or with other devices Failure to observe this caution may result in fire or malfunction Do not apply any strong impact Failure to observe this caution may result in malfunction E Wiring A CAUTION Be sure to wire correctly and securely Failure to observe this caution may result in motor overrun injury or malfunction Do not connect a commercial power supply to the U V or W terminals for the servomotor connection Failure to observe this caution may result in injury or fire Securely connect the main circuit terminals Failure to observe this caution may result in fire Do not bundle or run the servomotor mai
48. serve this caution may result in electric shock or injury Do not attempt to change wiring while the power is ON Failure to observe this caution may result in electric shock or injury When replacing the SERVOPACK resume operation only after copying the previous SERVOPACK parameters to the new SERVOPACK Failure to observe this caution may result in damage to the equipment Disposal AA CAUTION When disposing of the products treat them as ordinary industrial waste General Precautions Observe the following general precautions to ensure safe application The products shown in illustrations in this manual are sometimes shown without covers or protective guards Always replace the cover or protective guard as specified first and then operate the products in accordance with the manual The drawings presented in this manual are typical examples and may not match the product you received Ifthe manual must be ordered due to loss or damage inform your nearest Yaskawa representative or one of the offices listed on the back of this man ual xi xii Warranty 1 2 Details of Warranty E Warranty Period The warranty period for a product that was purchased hereafter called delivered product is one year from the time of delivery to the location specified by the cus tomer or 18 months from the time of shipment from the Yaskawa factory whichever is sooner Warranty Sco
49. so increased to cause vibration during no load operation If vibration occurs dis able the tuning less function by setting the parameter Pn170 0 to 0 Step Display after operation Keys Operation BB Un Un Un Un PRM MON 000 00000 002 00000 008 0000000000 00D 0000000000 Turn ON the power to the SERVO PACK A message saying that the file list is being loaded will appear and then the parameter monitor mode will appear 4 6 4 3 JOG Operation Using a Digital Operator cont d Step Display after operation Keys Operation FUNCTION Press the Key to view the main i MODEISET 2 ee eee menu of the Utility Function mode Z Search Press the A Key or V Key to Program JOG select Fn002 Pn304 00500 Press the Key 3 A Ano The display changes to the execution Un002 00000 display of Fn002 Un00D 0000000000 RUN Pee 0000 Press the Key RUN is dis 4 Un000 00000 SB played as the status and the servomo Un002 00000 tor power turns ON Un00D 0000000000 Press the Key to rotate the ser vomotor in the forward direction and press the Key to rotate it in reverse The servomotor will operate while the key is being pressed The factory setting is 500 min Forward RUN rotation Pn304 00500 5 Un000 00000 Un002 00000 Reverse Un00D 0000000000 rotation Confirm that the servomotor operation is correct At the same time carefully inspect the
50. supply ri Encoder cable JI a SGDV OOOE11A SERVOPACK Battery case when an absolute encoder is used O DWOZONDOZO absorber A E 100 200 VAC wire for Non isolated Po AC DC converter SUPPIY for main circuit power supply Brake power supply Used for a servomotor with a brake Magnetic contactor Turns the brake power supply ON and OFF Install a surge absorber SGMMV Servomotor Use a 24 VDC power supply Not included _ zo mal Power supply cable tozo ZO azo S Connect to the MECHATROLINK II it Host controller I O signal cable Personal Connection cable computer for personal computer TT Analog Connection cable monitor Cable for E analog for analog monitor unit E monitor unit os 3 2 System Configuration Diagram 3 2 3 Connecting to SGDV OOMOE21A SERVOPACK M NI Model SGDV OOOE21A SERVOPACK cir Connect to the ED MECHATROLINK IIT Power supply Tie Single phase 100 200 VAC N
51. the circuit wiring needed to release the holding brake before a trial operation An Example of Wiring for Circuits Insulated AC DC Servomotor with Power converter for main SERVOPACK holding brake supply circuit power supply Insulated AC DC converter for control circuit power supply Brake power supply A 24 VDC power supply for the brake is not included a Trial Operation Checking Servomotor Operation P w 4 Trial Operation Checking Servomotor Operation Configure the relay circuit to apply the holding brake by the emer Q gency stop IMPORTANT Relay Circuit Example SERVOPACK 5 to 24 VDC Emergency stop Photocoupler ed sl 2 e _ E SERVOPACKs Inspect and check the following items and take appropriate measures before per forming trial operation if any problem exists e Are all installation wiring and connections correct Is the correct power supply voltage being supplied to the SERVOPACK E Installing the Servomotor and SERVOPACK Install the servomotor and SERVOPACK according to the installation conditions Secure the mounting plate of the servomotor to the equipment Do not connect any load to the shaft lt Note gt e Be sure to secure the servomotor to the equipment or the servomotor may turn over when it starts rotating
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