Yaskawa SGDB Instrukcja Użytkownika

YASKAWAYA S K A WAMANUAL NO. TSE-S800-16E AC Servomotors and Driver SGMG/SGMS/SGMD/SGM/SGMP Servomotors SGDB Servopack

CONTENTS− xi −3.3.1 Setting Parameters 100...3.3.2 Setting the Jog Speed 101...

APPLICATIONS OF Σ-SERIES PRODUCTS3.2.7 Using Torque Control88J Selecting Torque ControlUse the following parameter to select level 3 or level 4 torque

3.2 Setting Parameters According to Host Controller89Cn-2B Control ModeIn the Torque Control mode (/P-CON is OFF):• T-REF reference controls torque.•

APPLICATIONS OF Σ-SERIES PRODUCTS3.2.7 Using Torque Control90Cn-2B Control ModePosition Control $ Torque ControlThis mode allows switching between pos

3.2 Setting Parameters According to Host Controller91Examples: +3 V input → Rated torque in forward direction+9 V input → 300% of rated torque in forw

APPLICATIONS OF Σ-SERIES PRODUCTS3.2.7 Using Torque Control92• Using /P-CON Signal→ Input /P-CON 1CN-41Proportional Control, etc. For Speed/TorqueCont

3.2 Setting Parameters According to Host Controller93Cn-14TCRLMTSpeed Limit for TorqueControlUnit:min−1SettingRange: 0 to10000FactorySetting:10000For

APPLICATIONS OF Σ-SERIES PRODUCTS3.2.8 Using Torque Feed-forward Function943.2.8 Using Torque Feed-forward FunctionFor speed control (analog reference

3.2 Setting Parameters According to Host Controller95•This function cannot be used with the function for torque restriction by analog voltagereference

APPLICATIONS OF Σ-SERIES PRODUCTS3.2.9 Using Torque Restriction by Analog Voltage Reference96This function cannot be used for torque control.Torque re

3.2 Setting Parameters According to Host Controller973.2.10 Using the Reference Pulse Inhibit Function (INHIBIT)This function causes the SERVOPACK to

CONTENTS− xii −4.1.4 Basic Functions and Mode Selection 181...4.1.5 Operation in Status Display Mode 182...

APPLICATIONS OF Σ-SERIES PRODUCTS3.2.11 Using the Reference Pulse Input Filter Selection Function98J Relationship between INHIBIT Signal and Reference

3.2 Setting Parameters According to Host Controller993.2.12 Using the Analog MonitorThe following two analog voltage monitor signals are output.Output

APPLICATIONS OF Σ-SERIES PRODUCTS3.3.1 Setting Parameters1003.3 Setting Up the Σ SERVOPACKThis section describes how to set parameters to operate the

3.3 Setting Up theΣ SERVOPACK1013.3.2 Setting the Jog SpeedUse the following parameter to set or modify a motor speed when operating the Σ-seriesServo

APPLICATIONS OF Σ-SERIES PRODUCTS3.3.3 Setting the Number of Encoder Pulses1023.3.3 Setting the Number of Encoder PulsesTo ensure that the Σ-series Se

3.3 Setting Up theΣ SERVOPACK1033.3.4 Setting the Motor TypeTo ensure that the Σ-series Servo System operates properly, set the type of the servomo-to

APPLICATIONS OF Σ-SERIES PRODUCTS3.3.5 Adjusting the Encoder Supply Voltage1043.3.5 Adjusting the Encoder Supply VoltageThe encoder power voltage at t

3.4 Setting Stop Mode1053.4 Setting Stop ModeThis section describes how to stop the motor properly.3.4.1 Adjusting OffsetJ “Why Does not the Motor Sto

APPLICATIONS OF Σ-SERIES PRODUCTS3.4.2 Using Dynamic Brake106For detailed adjustment procedures, refer to the following sections.Adjustment MethodAuto

3.4 Setting Stop Mode1073.4.3 Using Zero-ClampThe zero-clamp function is used for a system in which the host controller does not form aposition loop b

CONTENTS− xiii −5.6.9 Cable With 1CN Connector and One End Without Connector 485...5.6.10 Circuit Breaker 486...

APPLICATIONS OF Σ-SERIES PRODUCTS3.4.4 Using Holding Brake108J SettingsSet in the following parameter the motor speed level at which zero-clamp is to

3.4 Setting Stop Mode109When using the holding brake, turn ON and OFF the brake with the following timing be-cause a delay occurs. The brake interlock

APPLICATIONS OF Σ-SERIES PRODUCTS3.4.4 Using Holding Brake cont.110J Connection ExampleUse SERVOPACK contact output-signal /BK and brake power supply

3.4 Setting Stop Mode111Example:/BK is output to 1CN-27 and 1CN-28.Cn-2D=j4jPresetvalueFunction0/COIN, /V-CMP(Can be allocated to 1CN-25 and 1CN-26 on

APPLICATIONS OF Σ-SERIES PRODUCTS3.4.4 Using Holding Brakecont.112J SettingsSet the following parameters to adjust brake ON timing so that holding bra

3.5 Running the Motor Smoothly1133.5 Running the Motor SmoothlyThis section explains how to run the servomotor smoothly.3.5.1 Using the Soft Start Fun

APPLICATIONS OF Σ-SERIES PRODUCTS3.5.3 Adjusting Gain1143.5.2 Using the Smoothing FunctionThe smoothing function adjusts constant-frequency reference

3.5 Running the Motor Smoothly1153.5.4 Adjusting OffsetIf reference voltage from the host controller or external circuit has an offset in the vicinity

APPLICATIONS OF Σ-SERIES PRODUCTS3.5.5 Setting the Torque Reference Filter Time Constant cont.116J Switching Torque Reference FilterThe following memo

3.6 Minimizing Positioning Time1173.6 Minimizing Positioning TimeThis section describes how to minimize positioning time.3.6.1 Using Autotuning Functi

11FOR FIRST-TIME USERS OF ACSERVOSThis chapter is intended for first-time users of AC servos. It describes the ba-sic configuration of a servo mechani

APPLICATIONS OF Σ-SERIES PRODUCTS3.6.2 Setting Servo Gain cont.118J Setting Speed LoopSet the following parameters related to speed loop as necessary.

3.6 Minimizing Positioning Time119Cn-1EOVERLVOverflowUnit: 256ReferencesSettingRange: 1to 32767FactorySetting:1024For Position ControlOnlySet in this

APPLICATIONS OF Σ-SERIES PRODUCTS3.6.5 Setting Speed Bias120• P Control: Proportional controlCn-2B Control Mode Selection FactorySetting: 0For Speed C

3.6 Minimizing Positioning Time1213.6.6 Using Mode SwitchUse the mode switch for the following purposes:• To prevent overshoot during acceleration or

APPLICATIONS OF Σ-SERIES PRODUCTS3.6.6 Using Mode Switch cont.122J Selecting a Mode SwitchSERVOPACKs can use four types of mode switches. To select a

3.6 Minimizing Positioning Time123When Speed Reference Is Used as a Detection Point of Mode SwitchIf a speed reference exceeds the value set in pa-ram

APPLICATIONS OF Σ-SERIES PRODUCTS3.6.6 Using Mode Switch cont.124When Error Pulse Is Used as a Detection Point of Mode SwitchThis is for position cont

3.6 Minimizing Positioning Time125Cn-01 Bit CMode Switch Selection FactorySetting: 0For Speed Control andPosition ControlCn-01 Bit DMode Switch Select

APPLICATIONS OF Σ-SERIES PRODUCTS3.6.6 Using Mode Switch cont.126Memory SwitchCn-01Mode Switch Set-tingParameter UnitBit D Bit C Bit BtingParameterUni

3.7 Forming a Protective Sequence1273.7 Forming a Protective SequenceThis section describes how to use I/O signals from the SERVOPACK to form a protec

FOR FIRST-TIME USERS OF AC SERVOS21.1 Servo MechanismsYou may be familiar with the following terms:• Servo• Servo mechanism• Servo control systemIn fa

APPLICATIONS OF Σ-SERIES PRODUCTS3.7.1 Using Servo Alarm Output and Alarm Code Output cont.128J Open Collector Output Signals ALO1, ALO2, and ALO3Outp

3.7 Forming a Protective Sequence129J Relationship between Alarm Display and Alarm Code OutputAlarm Display and Alarm Code Output:AlarmAlarm Code Outp

APPLICATIONS OF Σ-SERIES PRODUCTS3.7.2 Using Servo ON Input Signal130When the servo alarm (ALM) is output, eliminate the cause of the alarm and the tu

3.7 Forming a Protective Sequence131NOTE Do not use the /S-ON signal to start or stop the motor. Always use an input reference tostart and stop the mo

APPLICATIONS OF Σ-SERIES PRODUCTS3.7.3 Using Positioning Complete Signal cont.132Output → /COIN 1CN-25Positioning Complete Output For PositionControl

3.7 Forming a Protective Sequence133Set the number of error pulses in the following parameter to adjust output timing of COIN(positioning complete out

APPLICATIONS OF Σ-SERIES PRODUCTS3.7.4 Using Speed Coincidence Output Signal1343.7.4 Using Speed Coincidence Output SignalThis section describes how t

3.7 Forming a Protective Sequence135Example: Outputting a /V-CMP signalCn-2D=jj0(/V-CMP is output to 1CN-25 and 1CN-26 only.)PresetValueFunction0/COIN

APPLICATIONS OF Σ-SERIES PRODUCTS3.7.5 Using Running Output Signal1363.7.5 Using Running Output SignalThis section describes how to wire and use photo

3.7 Forming a Protective Sequence137PresetvalueFunction0/COIN, /V-CMP(Can be allocated to 1CN-25 and 1CN-26 only.)1 /TGON2 /S-RDY3 /CLT4 /BK5 Overload

1 . 1 Servo Mechanisms3Servo system could be defined in more detail as a mechanism that:• Moves at a specified speed and• Locates an object in a spec

APPLICATIONS OF Σ-SERIES PRODUCTS3.7.6 Using OL Warning and Alarm Output Signals1383.7.6 Using OL Warning and Alarm Output SignalsThis section describ

3.7 Forming a Protective Sequence1391s place Select the 1CN-25 and 1CN-26 (/COIN, /V-CMP) functions.10s place Select the 1CN-27 and 1CN-28 (/TGON) fun

APPLICATIONS OF Σ-SERIES PRODUCTS3.7.7 Using Servo Ready Output Signal1403.7.7 Using Servo Ready Output SignalThis section describes how to wire and u

3.7 Forming a Protective Sequence141PresetValueFunction0/COIN, /V-CMP(Can be allocated to 1CN-25 and 1CN-26 only.)1 /TGON2 /S-RDY3 /CLT4 /BK5 Overload

APPLICATIONS OF Σ-SERIES PRODUCTS3.8.1 Wiring Instructions1423.8 Special WiringThis section describes special wiring methods including the one for noi

3.8 Special Wiring143NOTE Use a noise filter to prevent noise interference.(For details, refer to the following Caution.)• If the servo is to be used

APPLICATIONS OF Σ-SERIES PRODUCTS3.8.2 Wiring for Noise Control144MCCB or Fuse for Each Power CapacitySERVOPACKTypePower Capacity PerSERVOPACK (kVA)(s

3.8 Special Wiring145The following is an example of wiring for noise control.Noise filter*ServomotorSGDBSERVOPACK(Casing)• Operation relay se-quence•

APPLICATIONS OF Σ-SERIES PRODUCTS3.8.2 Wiring for Noise Control cont.146J Noise Filter InstallationUse an inhibit type noise filter to prevent noisefr

3.8 Special Wiring147Always observe the following installation and wiring instructions. Incorrect use of a noisefilter halves its benefits.• Separate

FOR FIRST-TIME USERS OF AC SERVOS43) Servo control systemServo control system is almost synonymous with servo mechanism but places the focus onsystem

APPLICATIONS OF Σ-SERIES PRODUCTS3.8.2 Wiring for Noise Control cont.148• Connect the noise filter ground wire directly to the ground plate.Do not con

3.8 Special Wiring1493.8.3 Using More Than One Servo DriveJ Example of Wiring More than One Servo DrivePower supplyNoise filterPowerOFFPowerONSGDBSERV

APPLICATIONS OF Σ-SERIES PRODUCTS3.8.3 Using More Than One Servo Drive cont.150Multiple servos can share a single MCCB or noise filter. Always select

3.8 Special Wiring1513.8.4 Using Regenerative Resistor UnitsSERVOPACKs of 6.0 kW or higher have no built-in regenerative resistor. For such SER-VOPACK

APPLICATIONS OF Σ-SERIES PRODUCTS3.8.5 Using an Absolute Encoder152A regenerative resistor reaches approximately 90°C when it is used at 20% of the ra

3.8 Special Wiring153J Standard Connection Diagram for an Absolute Encoder Mounted on a Servomotor• Interface CircuitHost controllerBatteryLine receiv

APPLICATIONS OF Σ-SERIES PRODUCTS3.8.5 Using an Absolute Encoder cont.154NOTE If the SEN signal is to be turned O F F, then ON again, it must remain a

3.8 Special Wiring155NOTE Incorrect settings of the above parameters may result in abnormal motor operation. Toprevent this, always set the parameter

APPLICATIONS OF Σ-SERIES PRODUCTS3.8.5 Using an Absolute Encoder cont.156The setup procedure is as follows:1Discharging Electricity from the Encoder•

3.8 Special Wiring157Outline of Absolute SignalThe absolute encoder outputs PAO, PBO,PCO and PSO as shown on the right.SignalNameStatus ContentsPAOIni

1.2 Servo Configuration51.2 Servo ConfigurationThe following diagram illustrates a servo system in detail:Position orspeedreferenceHost controllerServ

APPLICATIONS OF Σ-SERIES PRODUCTS3.8.5 Using an Absolute Encoder cont.158Absolute Data Transmitting Sequence1. Set the SEN signal athigh level.2. Afte

3.8 Special Wiring159•Incremental Pulse and Home PositionPulse:Initial incremental pulses which pro-vide absolute data are first divided bythe frequen

APPLICATIONS OF Σ-SERIES PRODUCTS3.8.5 Using an Absolute Encoder cont.160JAlarm DisplayWhen a 12-bit absolute encoder is used, the following alarms ar

3.8 Special Wiring161J Absolute Encoder Home Position Error DetectionCn-02 Bit 1Absolute Encoder HomePosition Error DetectionFactorySetting: 0For Spee

APPLICATIONS OF Σ-SERIES PRODUCTS3.8.6 Extending an Encoder Cable1623.8.6 Extending an Encoder CableBoth incremental and absolute encoders have a stan

3.8 Special Wiring163J 50-meter (164 ft.) Extension CableCut this cable 30 cm (0.98 ft.) or less from each end.Be sure to connecteach wire correctly(s

APPLICATIONS OF Σ-SERIES PRODUCTS3.8.7 Using SGDB SERVOPACK with High Voltage Line164Connect cables of the same color to each other as shown in the ta

3.8 Special Wiring165Select appropriate power transformer capacity according to the following table.SERVOPACKTypePower Supply Capacity PerSGDA SERVOPA

APPLICATIONS OF Σ-SERIES PRODUCTS3.8.8 Connector Terminal Layouts1663.8.8 Connector Terminal LayoutsThis section describes connector terminal layouts

3.8 Special Wiring1672CN Terminal Layout1PG0V112PG0VPGpowersup-1 PG0VPGpower sup-12BATBattery (+) (forblt112 PG0VPGpower sup-ply 0 V3 PG0VPGpowersup-p

FOR FIRST-TIME USERS OF AC SERVOS6Servo components (1) to (5) are outlined below:(1) Controlled systemIn the previous figure, the controlled system is

APPLICATIONS OF Σ-SERIES PRODUCTS3.8.8 Connector Terminal Layouts cont.168J Connectors for Absolute Encoder[SGM and SGMP series]Items to be Prepared b

3.8 Special Wiring169J Connectors for Incremental Encoder[SGMG, SGMD and SGMS series]BlueWhite/BlueYellowWhite/YellowGreenWhite/GreenRedBlackItems to

APPLICATIONS OF Σ-SERIES PRODUCTS3.8.8 Connector Terminal Layouts cont.170J Connectors for Absolute Encoder[SGMG, SGMD and SGMS series]Items to be Pre

3.8 Special Wiring171J Connectors and Terminals for Standard-type Motor without Brake[SGM and SGMP series]Cap: 172159-1Socket: 170362-1 or 170366-1M4

APPLICATIONS OF Σ-SERIES PRODUCTS3.8.8 Connector Terminal Layouts cont.172J Connectors and Terminals for Motor with Brake[SGM and SGMP series]M4 crimp

3.8 Special Wiring173J Connectors and Terminals for Standard-type Motor without Brake[SGMG, SGMD and SGMS series]A Phase UB Phase VC Phase WDFrame gro

APPLICATIONS OF Σ-SERIES PRODUCTS3.8.8 Connector Terminal Layouts cont.174J Connectors and Terminals for Motor with Brake[SGMG, SGMD and SGMS series](

3.8 Special Wiring175J Connectors for Digital Operator• JUSP-OP02A-1 (Hand-held Type) • JUSP-OP03A (Mount Type)Fits directly into“OPERATOR” on theSERV

4177USING THE DIGITAL OPERATORThis chapter describes the basic operation of the digital operator and the con-venient features it offers.All constant s

USING THE DIGITAL OPERATOR4.1.1 Connecting the Digital Operator1784.1 Basic OperationsThis section describes the basic operations using the Digital O

1.2 Servo Configuration7(2) Servomotor(a) DC servomotor and AC servomotorServomotors are divided into two types: DC servomotors and AC servomotors.DC

4.1 Basic Operations1794.1.2 Digital Operator FunctionsThe Digital Operator allows the user to set parameters, send commands, and display op-erating s

USING THE DIGITAL OPERATOR4.1.3 Resetting Servo Alarms180Mounted Digital OperatorKey Name FunctionUPUP KeyPress to display the parameter settings and

4.1 Basic Operations1814.1.4 Basic Functions and Mode SelectionDigital Operator operation allows status display, parameter setting, operating referenc

USING THE DIGITAL OPERATOR4.1.5 Operation in Status Display Mode1824.1.5 Operation in Status Display ModeThe status display mode displays the SERVOPA

4.1 Basic Operations183Bit Data DescriptionControl Power ON Lit when SERVOPACK control power ON. Not lit whenSERVOPACK control power OFF.Base Block Li

USING THE DIGITAL OPERATOR4.1.5 Operation in Status Display Modecont.184Bit Data DescriptionControl Power ON Lit when SERVOPACK control power ON. Not

4.1 Basic Operations185For Torque ControlCodeBit DataSpeedCoincidenceBase BlockControl Power ONSpeed Reference InputTorque Reference InputPower ReadyT

USING THE DIGITAL OPERATOR4.1.6 Operation in Parameter Setting Mode1864.1.6 Operation in Parameter Setting ModeJ Parameter TypesTwo types of paramete

4.1 Basic Operations187J Using the Setting Mode for Constant Settings (Cn-03 to Cn-2D)The constant settings (Cn-03 to Cn-23) allow setting of a consta

USING THE DIGITAL OPERATOR4.1.6 Operation in Parameter Setting Mode cont.188For JUSP-OP03A1. PressMODE/SETto select the parameter settingmode.2. Pres

PREFACEThe rapid progress being made in today’s automation and informationtechnologies is resulting in a growing need for even more-advanced motioncon

FOR FIRST-TIME USERS OF AC SERVOS8(c) Performance of servomotorA servomotor must have “instantaneous power” so that it can start as soon as astart ref

4.1 Basic Operations189J Using the Setting Mode for Memory Switches (Cn-01, Cn-02)Turn the bits of the memory switches ON and OFF to select the functi

USING THE DIGITAL OPERATOR4.1.6 Operation in Parameter Setting Mode cont.1908. PressDATAENTERonce more to display the parameternumber again.Refer to

4.1 Basic Operations1914.1.7 Operation in Monitor ModeThe monitor mode allows the reference values input into the SERVOPACK, I/O signal status,and SER

USING THE DIGITAL OPERATOR4.1.7 Operation in Monitor Mode cont.192J Monitor Mode DisplaysMonitorNumberMonitor DisplayActual motor speed Units: min−1.

4.1 Basic Operations193MonitorNoRelated I/O Signal, ParameterDescriptionBitNoUn-061 Input reference pulse 1CN-7 (PLUS), 1CN-8 (/PULS)2 Input pulse sig

USING THE DIGITAL OPERATOR4.2.1 Operation in Alarm Trace-back Mode1944.2 Using the FunctionsThis section describes how to use the basic operations de

4 . 2 Using the Functions195J Using the Alarm Trace-back ModeFollow the procedure below to determine which alarms occurred previously.For JUSP-OP02A-

USING THE DIGITAL OPERATOR4.2.1 Operation in Alarm Trace-back Mode cont.196J Alarm Display ContentsThe table below lists the alarms displayed in the

.4 . 2 Using the Functions197* This function prevents overrun.The following are operator-related alarms which are not recorded by alarm trace-back.Di

USING THE DIGITAL OPERATOR4.2.2 Operation Using the Digital Operator cont.198J Operation Using the Digital OperatorUse the following procedure to ope

1.2 Servo Configuration9(4) Servo amplifierA servo amplifier is required to operate an AC servomotor.The following figure illustrates the configuratio

4 . 2 Using the Functions1997. Press the and keys to operate the mo-tor.8. PressDSPLSETto revert to . This setsthe s ervo O FF status (motor power tu

USING THE DIGITAL OPERATOR4.2.2 Operation Using the Digital Operator cont.2006. PressDATAto set the servo ON status (motorpower turned ON).7. Press t

.4 . 2 Using the Functions2014.2.3 AutotuningNo experience required to achieve optimum settings.The SERVOPACK contains a built-in autotuning function

USING THE DIGITAL OPERATOR4.2.3 Autotuning cont.2021. Press theDSPLSET(orMODE/SET) key to cancel autotuning.2. Press theDSPLSET(orMODE/SET) key once

4 . 2 Using the Functions203• When performing autotuning, set the P-CON signal to OFF status.• When using the mode switching function, perform autotu

USING THE DIGITAL OPERATOR4.2.3 Autotuning cont.204J Using AutotuningFollow the procedure below to run autotuning.For JUSP-OP02A-11. PressDSPLSETto s

4 . 2 Using the Functions2058. PressJOGSVONto set the servo ON status.9. Press the and keys to operate the mo-tor.10.When autotuning is complete, the

USING THE DIGITAL OPERATOR4.2.3 Autotuning cont.2064. Press theUPandDOWNkeys to change the datato 05.5. PressMODE/SETto display the machine rigidity.

.4 . 2 Using the Functions20711. Release theUPandDOWNkeys to revert to thedisplay.12.PressDATAto return to the setting mode display.This ends autotun

USING THE DIGITAL OPERATOR4.2.4 Reference Offset Automatic Adjustment cont.208J Using the Reference Offset Automatic Adjustment ModeFollow the proced

FOR FIRST-TIME USERS OF AC SERVOS10(5) Host controllerA host controller controls a servo amplifier by specifying a position or speed as a setpoint.For

4 . 2 Using the Functions209For JUSP-OP03A1. Follow the procedure below to set the motor intooperating mode.(1) Input the (intended) 0V reference vol

USING THE DIGITAL OPERATOR4.2.5 Reference Offset Manual Adjustment Mode2104.2.5 Reference Offset Manual Adjustment ModeSpeed reference offset manual

4 . 2 Using the Functions211Follow the procedure below to manually adjust the reference voltage.For JUSP-OP02A-11. PressDSPLSETto select the paramete

USING THE DIGITAL OPERATOR4.2.5 Reference Offset Manual Adjustment Mode cont.2129. PressDSPLSETto return to the parameter datadisplay.10.PressDATAENT

4 . 2 Using the Functions2139. PressMODE/SETto return to the parameter datadisplay.10.PressDATAto return to the setting mode display.This ends the re

USING THE DIGITAL OPERATOR4.2.6 Clearing Alarm Trace-back Data cont.214For JUSP-OP03A1. PressMODE/SETto select the parameter settingmode.2. Press the

4 . 2 Using the Functions2154.2.7 Checking Motor SpecificationsThis mode used for maintaining the motor.When Cn-00 is set to 00-04, this mode is used

USING THE DIGITAL OPERATOR4.2.8 Checking Software Version2164.2.8 Checking Software VersionThis mode is used for maintaining the motor.When Cn-00 is

4 . 2 Using the Functions2174.2.9 Current Detection Offset Manual Adjustment ModeCurrent detection offset manual adjustment is performed at Yaskawa b

USING THE DIGITAL OPERATOR4.2.9 Current Detection Offset Manual Adjustment Mode cont.2187. Press the and keys to adjust theamount of current detectio

1.3 Features ofΣ -Series Servos111.3 Features ofΣ-Series ServosThis section describes the features of Σ-Series servos.1.3.1 Servomotor TypeΣ-Series SG

4 . 2 Using the Functions2198. PressMODE/SETto return to the parameter datadisplay.9. PressDATAto return to the parameter settingmode display. This e

5221SERVO SELECTION ANDDATA SHEETSThis chapter describes how to select Σ-Series servo drives and peripheral de-vices.The section also presents the spe

Chapter Table of Contents, Continued2225.6 Specifications and Dimensional Drawings ofPeripheral Devices 442...5.6.1 Cable Specific

5.1Selecting aΣ -Series Servo2235.1 Selecting a Σ-Series ServoThis section describes how to select the Σ-Series servomotor, SERVOPACK, and Digital Op-

USING THE DIGITAL OPERATOR5.1.1 Selecting a Servomotorcont.224ModelsEach model ofΣ-Series Servomotor can be identified by specifying an 8-digit alphan

5.1Selecting aΣ -Series Servo225Flowchart for Servomotor SelectionThe actual selection of the SGMG, SGMS or SGMD servomotor is performed accordingto t

USING THE DIGITAL OPERATOR5.1.1 Selecting a Servomotor cont.226SGMj-jjjjjA__Gravity load + oilEnd servomotor selectionFrom previous page (A)5) Select

5.1Selecting aΣ -Series Servo227*1 Rated output (motor capacity)KW(HP)SeriesG S DCode1500 min−11000 min−13000 min−12000 min−103 0.3 (0.40)05 0.45 (0.6

USING THE DIGITAL OPERATOR5.1.1 Selecting a Servomotor cont.228 J Selecting an SGMP-15A ServomotorSelect an SGMP-15A servomotor according to the serv

5.1Selecting aΣ -Series Servo229Flowchart for Servomotor SelectionThe actual selection of the SGMP-15A servomotor is conducted according to the follow

FOR FIRST-TIME USERS OF AC SERVOS1.3.3 How to Use the SGDB SERVOPACKs121.3.3 How to Use the SGDB SERVOPACKsJ Using SERVOPACK for Speed ControlThe mos

USING THE DIGITAL OPERATOR5.1.1 Selecting a Servomotor cont.230SGMP-15Aj12_SGMP-15Aj1jSSGMP-15Aj14_SGMP-15Aj1jBSGMP-15Aj1jDSGMP-15Aj1jPWith/without ke

5.1Selecting aΣ -Series Servo231Machine Data TableFill out the machine data table below as an aid to selecting the drive system. When themachine data

USING THE DIGITAL OPERATOR5.1.1 Selecting a Servomotorcont.232Roll FeederPfLoad J Jℓkg¡cm2(lb¡in2.)Press forceTension F kg (lb)Press force P kg (lb)Ro

5.1Selecting aΣ -Series Servo2335.1.2 Selecting a SERVOPACKSelect an SGDB SERVOPACK according to the servo system to be used. Each type canbe identifi

.USING THE DIGITAL OPERATOR5.1.2 Selecting a SERVOPACKcont.234Select an SGDB SERVOPACK according to the motor to be used. The following tableshows the

5.1Selecting aΣ -Series Servo2355.1.3 Selecting a Digital OperatorThe following two types of Digital Operator are available.The two types cannot be us

USING THE DIGITAL OPERATOR5.1.3 Selecting a Digital Operatorcont.236The Digital Operator is selected according to the flowchart below.Flowchart for Di

5.2SGM Servomotor2375.2 SGM ServomotorThis section presents tables of ratings and specifications for SGMG, SGMS, SGMD andSGMP servomotors. Refer to th

USING THE DIGITAL OPERATOR5.2.1 Ratings and Specificationscont.238Servomotor SGMG05AjA 09AjA 13AjA 20AjA 30AjA 44AjA 55AjA 75AjA 1AAjA 1EAjARated Outp

5.2SGM Servomotor239NOTE The ratings and specifications above refer to a standard servomotor.Add the numerical values below to the moment of inertia v

1.3 Features ofΣ -Series Servos13J Using SERVOPACK for Torque ControlSERVOPACK for torque control can be used as shown below:PositionmonitoringPositio

USING THE DIGITAL OPERATOR5.2.1 Ratings and Specificationscont.240Torque-Motor Speed Characteristics• SGMG-05AjA • SGMG-09AjA• SGMG-13AjA • SGMG-20AjA

5.2SGM Servomotor241• SGMG-55AjA • SGMG-75AjA• SGMG-1AAjAMotorSpeed(min−1)MotorSpeed(min−1)MotorSpeed(min−1)• SGMG-1EAjA3000AB0050100 150 250TORQUE(N·

USING THE DIGITAL OPERATOR5.2.1 Ratings and Specifications cont.242J SGMG Servomotors with Standard Backlash Gears (Rated Motor Speed is 1500 min−1)R

5.2 SGM Servomotor243ServomotorModelSGMG-GearInertia× 10−4Kg·m2(× 10−3lb·in·s2)GearServomotorServomotorModelSGMG-GearInertia× 10−4Kg·m2(× 10−3lb·in·s2

USING THE DIGITAL OPERATOR5.2.1 Ratings and Specifications cont.244ServomotorModelSGMG-GearInertia× 10−4Kg·m2(× 10−3lb·in·s2)GearServomotorServomotor

5.2 SGM Servomotor245Gear Lubrication• Grease Lubricating Type (4095 to 4115)The gearbox is filled at the factory.• Oil Lubricating Type (4130 to 4190

USING THE DIGITAL OPERATOR5.2.1 Ratings and Specifications cont.246ServomotorModelServomotor GearGearInertiaLoad InertiaattheMotorModelSGMG-OutputkWR

5.2 SGM Servomotor247ServomotorModelSGMG-Load Inertiaat the MotorShaft(Servomotor+ Gear)×10−4kg·m2(×10−3lb·in·s2)GearInertia×10−4kg·m2(×10−3lb·in·s2)G

USING THE DIGITAL OPERATOR5.2.1 Ratings and Specifications cont.248ConfigurationThis simple planetary gear mechanism is equipped with four planetary

5.2 SGM Servomotor249J SGMG Servomotors (Rated Motor Speed is 1000 min−1)Ratings and SpecificationsTime rating: continuousThermal class: FVibration cl

FOR FIRST-TIME USERS OF AC SERVOS1.3.3 How to Use the SGDB SERVOPACKs cont.14The host controller can send a position reference (pulse train) to the S

USING THE DIGITAL OPERATOR5.2.1 Ratings and Specifications cont.250NOTE The ratings and specifications above refer to a standard servomotor.Add the n

5.2 SGM Servomotor251Torque-Motor Speed Characteristics• SGMG-03AjB • SGMG-06AjB• SGMG-09AjB • SGMG-12AjB• SGMG-20AjB • SGMG-30AjBMotorSpeed(min−1)Mot

USING THE DIGITAL OPERATOR5.2.1 Ratings and Specifications cont.252• SGMG-44AjB • SGMG-60AjBMotorSpeed(min−1)MotorSpeed(min−1)A: Continuous Duty Zone

5.2 SGM Servomotor253ServomotorModelServomotor GearLoad Inertia attheMotorGearInertiaModelSGMG-OutputkWRatedSpeedmin−1RatedTorqueN·m(lb·in)GearRatioRa

USING THE DIGITAL OPERATOR5.2.1 Ratings and Specifications cont.254ServomotorModelSGMG-GearInertia×10−4Kg·m2(×10−3lb·in·s2)Load Inertia atthe MotorSh

5.2 SGM Servomotor255ConfigurationThis configuration accurately and efficiently transmits Servomotor power.A gear (Cyclo) is used in combination with

USING THE DIGITAL OPERATOR5.2.1 Ratings and Specifications cont.256JSGMG Servomotors with Low-backlash Gears (Rated Motor Speed is 1000 min−1)Ratings

5.2 SGM Servomotor257ServomotorModelSGMG-Load Inertiaat the MotorShaft(Servomotor+ Gear)×10−4kg·m2(×10−3lb·in·s2)GearInertia×10−4kg·m2(×10−3lb·in·s2)G

USING THE DIGITAL OPERATOR5.2.1 Ratings and Specifications cont.258ConfigurationThissimple planetary gear mechanism is equipped with four planetary g

5.2 SGM Servomotor259J SGMS ServomotorsRatings and SpecificationsTime rating: continuousThermal class: FVibration class: 15µm or belowWithstand voltag

215BASIC USES OF Σ-SERIESPRODUCTSThis chapter describes the first things to do whenΣ-Series products are deliv-ered. It also explains the most fundame

USING THE DIGITAL OPERATOR5.2.1 Ratings and Specifications cont.260NOTE The ratings and specifications above refer to a standard servomotor.Add the n

5.2 SGM Servomotor261J SGMS Servomotor (Rated Motor Speed is 1000 r/min) Torque-Motor SpeedCharacteristics• SGMS-10AjA • SGMS-15AjA• SGMS-20AjA • SGMS

USING THE DIGITAL OPERATOR5.2.1 Ratings and Specifications cont.262J SGMS Servomotors with Low-backlash GearsRatings and SpecificationsTime rating: c

5.2 SGM Servomotor263ServomotorModelSGMS-Load Inertiaat the MotorShaft(Servomotor+ Gear)×10−4kg·m2(×10−3lb·in·s2)GearInertia×10−4kg·m2(×10−3lb·in·s2)G

USING THE DIGITAL OPERATOR5.2.1 Ratings and Specifications cont.264Output torque Motor speedEfficiency EfficiencyConfigurationThis simple planetary g

5.2 SGM Servomotor265J SGMD Servomotors with Holding BrakeRatings and SpecificationsTime rating: continuousThermal class: FVibration class: 15µm or be

USING THE DIGITAL OPERATOR5.2.1 Ratings and Specifications cont.266Torque-Motor Speed Characteristics• SGMD-22AjAAB • SGMD-32AjAAB• SGMD-40AjAABMotor

5.2 SGM Servomotor267J SGMP Servomotors (1.5kW)Ratings and SpecificationsTime rating: continuousThermal class: BVibration class: 15µm or belowWithstan

USING THE DIGITAL OPERATOR5.2.1 Ratings and Specifications cont.268Type SGMP- 04A 08A 15ATypeSGMPItem04A08A15AHoldingbrakeMomentofInertia¢10−4kg¡m20.

5.2 SGM Servomotor2695.2.2 Mechanical CharacteristicsJ Allowable Radial Load, Allowable Thrust LoadThe output shaft allowable loads for SGMj servomoto

BASIC USES OF Σ-SERIES PRODUCTS2.1.1 Notes on Use162.1 PrecautionsThis section provides notes on using Σ-Series products.2.1.1 Notes on UseNOTE Alway

USING THE DIGITAL OPERATOR5.2.2 Mechanical Characteristics cont.270J Mechanical ToleranceThe tolerances of the SGMj servomotor output shaft and insta

5.2 SGM Servomotor271J Vibration ResistanceMount the servomotor with the axis horizontal.The servomotor must withstand the followingvibration accelera

USING THE DIGITAL OPERATOR5.2.3 Option Specifications2725.2.3 Option SpecificationsOption specifications for SGMG, SGMS, and SGMD servomotors are des

5.2 SGM Servomotor273J Shaft Specifications for SGMG, SGMS, and SGMD ServomotorsSGMj−jjjjj jjjShaft specificationsBlank : Standard (straight without k

USING THE DIGITAL OPERATOR5.2.3 Option Specifications cont.274TypeCo-Specifi-SGMS- SGMG- SGMD-depcation10152030405003B 06B 09B 12B 20B 30B 44B 60B −1

5.2SGM Servomotor275JBrake, Oil Seal SpecificationSGMj − jjjjjjjj¬ Standard f Non-standardCodeSpecifications SGMS SGMG SGMDBlank Option not provided (

USING THE DIGITAL OPERATOR5.2.3 Option Specifications cont.276J Lead SpecificationsSGMj−jjjjjjjj¬ Standard f Non-standardCodeSpecifications Outgoing-

5.2SGM Servomotor277J 90 ° Bending Support SpecificationsStandard receptacle centerReceptacle(From center of the motor)KL1KL2ABC(From center of the mo

USING THE DIGITAL OPERATOR5.2.3 Option Specifications cont.278J Specifications of Lead with MS Connectors• Servomotor end5005063 max.2144ConnectorCa

5005063 max.2144Insertion-type pin terminalCableWaterproof groundSupportStandardreceptaclecenter6886(From center of SGMS-10, -15, -20 servomotors)(Fr

2 . 1 Precautions17Always follow the specified installation method.The SERVOPACK generates heat. Install theSERVOPACK so that it can radiate heat fre

¡ Incremental Encoder Wiring Specifications¡ Encoder plug¡ Encoder plug¡ 12-bit Absolute Encoder (1024 P/R) Wiring Specifications* Terminal to dischar

¡ Encoder plug¡ 15-bit Absolute Encoder (8192 P/R) Wiring Specifications5.2 SGM Servomotor2811 A channel output Blue2 /A channel output White/Blue3 B

SERVO SELECTION AND DATA SHEETS5.3.1 Combined Specifications2825.3 SERVOPACK Ratings and SpecificationsThis section presents tables of SGDB SERVOPACK

5.3 SERVOPACK Ratings and Specifications283SGMGSSERVOPACKSGDB-05ADG10ADG15ADG20ADG30ADG44ADG60ADG75ADG1AADG1EADGGSeriesMotorTypeSGMG-05AjA09AjA13AjA20

SERVO SELECTION AND DATA SHEETS5.3.1 Combined Specifications cont.284SGMSSSERVOPACKSGDB-10ADS 15ADS 20ADS 30ADS 44ADS 50ADSSSeriesMotorTypeSGMS-10AjA1

5.3 SERVOPACK Ratings and Specifications2855.3.2 Ratings and SpecificationsThe ratings and specifications of the SGDB SERVOPACK are shown below. Refer

SERVO SELECTION AND DATA SHEETS5.3.2 Ratings and Specifications cont.286SERVOPACK SGDB- 03 05 07 10 15 20 30 44 50 60 75 1A 1ESpeed/TorqueControlModeI

5.3 SERVOPACK Ratings and Specifications287SERVOPACK SGDB- 1E1A7560504430201510070503Built-inFunc-tionsCom-mu-nica-iInterface Digital Operator (mount

SERVO SELECTION AND DATA SHEETS5.3.3 Overload Characteristics2885.3.3 Overload CharacteristicsThe SERVOPACK has a built-in overload protective functio

5.3 SERVOPACK Ratings and Specifications2895.3.4 Starting Time and Stopping TimeThe motor starting time (tr) and stopping time (tf) under constant loa

− iv −NOTES FOR SAFE OPERATIONRead this manual thoroughly before installation, operation, maintenance or inspection of the AC ServoDrives. In this man

BASIC USES OF Σ-SERIES PRODUCTS2.2.2 Servomotors182.2 InstallationThis section describes how to check Σ-Series products on delivery and how to instal

SERVO SELECTION AND DATA SHEETS5.3.5 Load Inertia2905.3.5 Load InertiaThe larger the load inertia becomes, the worse the movement response of the load

5.3 SERVOPACK Ratings and Specifications2915.3.6 Overhanging LoadsA servomotor may not be operated under an overhanging load, that is a load which ten

USING THE DIGITAL OPERATOR5.4.1 Servomotor Dimensional Drawings2925.4 Σ-Series Dimensional DrawingsThis section presents dimensional drawings of theΣ

5.4 Σ -Series Dimensional Drawings293J SGMG-jjAjA Servomotor (1500 min−1)Incremental encoder (8192 P/R)4-øLZMTG Holes(0.0008)(0.0016)(ø0.0016)0.04(0.0

USING THE DIGITAL OPERATOR5.4.1 Servomotor Dimensional Drawings cont.294in mm (inches)TypeSGMG-L LL LM LR LT KB1 KB2 IE KL1 KL205A2A 196(7.72)138(5.4

5.4 Σ -Series Dimensional Drawings295in mm (inches)TypeSGMGFlange dimensionsypSGMG-LA LB LC LE LF1 LF2 LG LH LJ1 LJ2 LZ05A2A 145(5.71)1100− 0.035(4.33

USING THE DIGITAL OPERATOR5.4.1 Servomotor Dimensional Drawings cont.296in mm (inches)TypeSGMG-Shaft end dimensionsApprox.massSGMGS S1 Qmasskg(lb)05A

5.4 Σ -Series Dimensional Drawings297• Connector Wiring on Detector SideReceptacle: MS3102A20-29PPlug (To be prepared by customer) (L type): MS3108B20

USING THE DIGITAL OPERATOR5.4.1 Servomotor Dimensional Drawings cont.298Incremental encoder (8192 P/R) with brake• 0.5 to 4.4kWMTG Holes(0.0008)(0.00

5.4 Σ -Series Dimensional Drawings299in mm (inches)TypeSGMG-L LL LM LR LT KB1 KB2 KL1 KL205A2AAB 234(9.21)176(6.93)129(5.08)58(2.28)47(1.85)56(2.20)15

2.2 Installation19J Model NumbersStandard ServomotorsSGM S − 10 A 6 Aj jMotor capacity(See the following table.)StandardA: YASKAWA StandardOption spec

USING THE DIGITAL OPERATOR5.4.1 Servomotor Dimensional Drawings cont.300in mm (inches)TypeSGMG-Shaft end dimensionsApprox.massSGMGS S1 Qmasskg(lb)05A

5.4 Σ -Series Dimensional Drawings301• 5.5 to 15kWMTG Holes(0.0016)(ø0.0016)0.04(0.0016)For 1AA2AAB and1EA2AAB onlyA0.06 (0.002)Detailed View of Shaft

USING THE DIGITAL OPERATOR5.4.1 Servomotor Dimensional Drawings cont.302in mm (inches)TypeSGMGFlange dimensionsypSGMG-LA LB LC LE LF1 LF2 LG LH LJ1 L

5.4 Σ -Series Dimensional Drawings303Absolute encoder (15bit : 8192 P/R, 12 bit : 1024 P/R)MTG Holes(0.0008)(0.0016)(ø0.0016)0.04(0.0016)(55ASA, 75ASA

USING THE DIGITAL OPERATOR5.4.1 Servomotor Dimensional Drawings cont.304in mm (inches)TypeSGMG-L LL LM LR LT KB1 KB2 IE KL1 KL205ASA 210(8.27)152(5.9

5.4 Σ -Series Dimensional Drawings305in mm (inches)TypeSGMGFlange dimensionsypSGMG-LA LB LC LE LF1 LF2 LG LH LJ1 LJ2 LZ05ASA 145(5.71)1100− 0.035(4.33

USING THE DIGITAL OPERATOR5.4.1 Servomotor Dimensional Drawings cont.306in mm (inches)TypeSGMG-Shaft end dimensionsApprox.massSGMGS S1 Qmasskg(lb)05A

5.4 Σ -Series Dimensional Drawings307• Connector Wiring on Detector SideReceptacle: MS3102A20-29PPlug (To be prepared by customer) (L type): MS3108B20

USING THE DIGITAL OPERATOR5.4.1 Servomotor Dimensional Drawings cont.308Absolute encoder (15bit : 8192 P/R, 12 bit : 1024 P/R), with brake• 0.5 to 4.

5.4 Σ -Series Dimensional Drawings309in mm (inches)TypeSGMG-L LL LM LR LT KB1 KB2 KL1 KL205ASAAB 248(9.76)190(7.48)129(5.08)58(2.28)61(2.40)56(2.20)16

BASIC USES OF Σ-SERIES PRODUCTS2.2.2 Servomotorscont.20Servomotors with GearsSGM G − 05 A 2 A S A RjStandardA: YASKAWA StandardGear ratio(See the fol

USING THE DIGITAL OPERATOR5.4.1 Servomotor Dimensional Drawings cont.310in mm (inches)TypeSGMG-Shaft end dimensionsApprox.massSGMGS S1 Qmasskg(lb)05A

5.4 Σ -Series Dimensional Drawings311• 5.5 to 15kWMTG Holes(0.0016)(ø0.0016)0.04(0.0016)For 1AASAAB and1EASAAB onlyA0.06 (0.002)Detailed View of Shaft

USING THE DIGITAL OPERATOR5.4.1 Servomotor Dimensional Drawings cont.312in mm (inches)TypeSGMGFlange dimensionsypSGMG-LA LB LC LE LF1 LF2 LG LH LJ1 L

5.4 Σ -Series Dimensional Drawings313Standard backlash gear (1500 min−1), without brake•Foot-mounted typeGrease-lubrication type servomotorsφSh6VDetai

USING THE DIGITAL OPERATOR5.4.1 Servomotor Dimensional Drawings cont.314MotortypeSGMG-Shaftcenterallowableradial loadNCBARKL2KL1KB2KB1LTLMLLLGearrati

5.4 Σ -Series Dimensional Drawings315MotortypeSGMG-Approx.masskg (lb)Shaft end dimensionsFoot dimensionsMotortypeSGMG-Approx.masskg (lb)VWUTSQKQZXCXRN

USING THE DIGITAL OPERATOR5.4.1 Servomotor Dimensional Drawings cont.316Oil-lubrication type servomotorsφSh6VDetailed Viewof Shaft End4-φZMTGHolesOil

5.4 Σ -Series Dimensional Drawings317in mm (inches)Motor Foot dimensions Shaft end dimensionsApprox.typeSGMG-E F G K M N XR XC Z Q QK S T U W Vmasskg

USING THE DIGITAL OPERATOR5.4.1 Servomotor Dimensional Drawings cont.318• Flange-mounted typeGrease-lubrication type servomotorsφSh6φLBf8VDetailed Vi

5.4 Σ -Series Dimensional Drawings319in mm (inches)Motor Flange dimensions Shaft end dimensionstypeSGMGLA LB LC LE LG LR N LZ Q QK S T U W V05A2ATAR13

2.2 Installation21Gear Ratio (Varies with Gear Type.)Code Specification SGMG SGMSA1/6 S, T*B1/11 S, TC1/21 S, T11/5 L L21/9 L L51/20 L* L71/29 or 1/33

USING THE DIGITAL OPERATOR5.4.1 Servomotor Dimensional Drawings cont.320Oil-lubrication type small size servomotorsφSh6φLBf8VDetailed Viewof Shaft En

5.4 Σ -Series Dimensional Drawings321Oil-lubrication type large size servomotorsφSh6φLBf8VDetailed Viewof Shaft EndOil outlet plugOil inlettapOil outl

USING THE DIGITAL OPERATOR5.4.1 Servomotor Dimensional Drawings cont.322in mm (inches)Motor Flange dimensions Shaft end dimensionstypeSGMGLA LB LC LE

5.4 Σ -Series Dimensional Drawings323Low-backlash gear (1500 min−1), without brake•Frange-mountedtypeGrease-lubrication type small size servomotorsφSh

USING THE DIGITAL OPERATOR5.4.1 Servomotor Dimensional Drawings cont.324Grease-lubrication type large size servomotorsφSh6φLBh7Detailed Viewof Shaft

5.4 Σ -Series Dimensional Drawings325in mm (inches)Motor type Flange dimensions Shaft end dimensionsypSGMG-LA LB LC LE LG N LZ S Q QK QR T U W05A2AL5K

d tap×L(Motor)(Motor)(Motor)USING THE DIGITAL OPERATOR5.4.1 Servomotor Dimensional Drawings cont.326Shaft end tap specificationsin mm (inches)Gear ty

5.4 Σ -Series Dimensional Drawings327J SGMG-jjAjB Servomotor (1000 min−1)Incremental encoder (8192 P/R)MTG Holes(0.0008)(0.0016)(ø0.0016)0.04(0.0016)(

USING THE DIGITAL OPERATOR5.4.1 Servomotor Dimensional Drawings cont.328in mm (inches)TypeSGMG-L LL LM LR LT KB1 KB2 IE KL1 KL203A2B 196(7.72)138(5.4

5.4 Σ -Series Dimensional Drawings329in mm (inches)TypeSGMG-Shaft end dimensionsApprox.massSGMGS S1 Qmasskg(lb)03A2B190− 0.013(0.750− 0.0005)30(1.18)4

BASIC USES OF Σ-SERIES PRODUCTS2.2.3 SERVOPACKs222.2.3 SERVOPACKsJ External Appearance and Nameplate ExamplesΣ-Series SGDBSERVOPACKSERVOPACK modelSer

USING THE DIGITAL OPERATOR5.4.1 Servomotor Dimensional Drawings cont.330• Connector Wiring on Detector SideReceptacle: MS3102A20-29PPlug (To be prepa

5.4 Σ -Series Dimensional Drawings331Incremental encoder (8192 P/R), with brake• 0.3 to 3.0kWMTG Holes(0.0008)(0.0016)(ø0.0016)Detailed View of Shaft

USING THE DIGITAL OPERATOR5.4.1 Servomotor Dimensional Drawings cont.332in mm (inches)TypeSGMGFlange dimensionsypSGMG-LA LB LC LE LF1 LF2 LG LH LJ1 L

5.4 Σ -Series Dimensional Drawings333in mm (inches)TypeSGMG-Shaft end dimensionsApprox.massSGMGS S1 Qmasskg(bl)03A2BAB190− 0.013(0.750−0.0005)30(1.18)

USING THE DIGITAL OPERATOR5.4.1 Servomotor Dimensional Drawings cont.334• 4.4 to 6.0kWMTG Holes(0.0016)(ø0.0016)0.04(0.0016)Detailed View of Shaft En

5.4 Σ -Series Dimensional Drawings335in mm (inches)TypeSGMG-Shaft end dimensionsApprox.massSGMGS S1 Qmasskg(lb)44A2BAB420− 0.016(1.650− 0.0006)45(1.77

USING THE DIGITAL OPERATOR5.4.1 Servomotor Dimensional Drawings cont.336Absolute encoder (15bit : 8192 P/R, 12 bit : 1024 P/R)(3.94)MTG Holes(0.0008)

5.4 Σ -Series Dimensional Drawings337in mm (inches)TypeSGMG-L LL LM LR LT KB1 KB2 IE KL1 KL203ASB 210(8.27)152(5.98)92(3.62)58(2.28)60(2.36)65(2.56)13

USING THE DIGITAL OPERATOR5.4.1 Servomotor Dimensional Drawings cont.338in mm (inches)TypeSGMG-Shaft end dimensionsApprox.massSGMGS S1 Qmasskg(lb)03A

5.4 Σ -Series Dimensional Drawings339• Connector Wiring on Detector SideReceptacle: MS3102A20-29PPlug (To be prepared by customer) (L type): MS3108B20

2.2 Installation23Motor Capacity (kW)Maximum ApplicableServomotor CapacitySymbolCapacity Maximum ApplicableServomotor CapacitySymbolCapacity030.3444.4

USING THE DIGITAL OPERATOR5.4.1 Servomotor Dimensional Drawings cont.340Absolute encoder (15bit : 8192 P/R, 12 bit : 1024 P/R), with brake• 0.3 to 3.

5.4 Σ -Series Dimensional Drawings341in mm (inches)TypeSGMGFlange dimensionsypSGMG-LA LB LC LE LF1 LF2 LG LH LJ1 LJ2 LZ03ASBAB 145(5.71)1100−0.035(4.3

USING THE DIGITAL OPERATOR5.4.1 Servomotor Dimensional Drawings cont.342in mm (inches)TypeSGMG-Shaft end dimensionsApprox.massSGMGS S1 Qmasskg(lb)03A

5.4 Σ -Series Dimensional Drawings343• 4.4 to 6.0kWMTG Holes(ø0.0016)(0.0016)0.04(0.0016)Detailed View of Shaft Endin mm (inches)TypeSGMG-L LL LM LR L

USING THE DIGITAL OPERATOR5.4.1 Servomotor Dimensional Drawings cont.344in mm (inches)TypeSGMG-Shaft end dimensionsApprox.massSGMGS S1 Qmasskg(lb)44A

5.4 Σ -Series Dimensional Drawings345Standard backlash gear (1000 min−1), without brake• Foot-mounted typeGrease-lubrication type servomotorsφSh6VDeta

USING THE DIGITAL OPERATOR5.4.1 Servomotor Dimensional Drawings cont.346Motor typeSGMG-Approx.masskg (lb)Shaftcenterallowableradial loadNCBARKL2KL1KB

5.4 Σ -Series Dimensional Drawings347Motor typeSGMG-Shaft end dimensionsFoot dimensionsMotor typeSGMG-VWUTSQKQZXCXRNMKGFE06A2BSAR 75(2.95)90(3.54)12(0

USING THE DIGITAL OPERATOR5.4.1 Servomotor Dimensional Drawings cont.348Oil-lubrication type servomotorsφSh6VDetailed Viewof Shaft End4-φZMTG HolesOi

5.4 Σ -Series Dimensional Drawings349in mm (inches)Motor type Foot dimensions Shaft end dimensionsSGMG-E F G K M N XR XC Z Q QK S T U W V20A2BS7R 185(

BASIC USES OF Σ-SERIES PRODUCTS2.2.4 Installing the Servomotor242.2.4 Installing the ServomotorServomotor SGMj type can be installed either horizonta

USING THE DIGITAL OPERATOR5.4.1 Servomotor Dimensional Drawings cont.350• Frange-mounted TypeGrease-lubrication type servomotorsφSh6φLBf8VDetailed Vi

5.4 Σ -Series Dimensional Drawings351in mm (inches)Motor type Flange dimensions Shaft end dimensionsSGMG-LA LB LC LE LG LR N LZ Q QK S T U W V03A2BTAR

USING THE DIGITAL OPERATOR5.4.1 Servomotor Dimensional Drawings cont.352Oil-lubrication type small size servomotorsφSh6φLBf8VDetailed Viewof Shaft En

5.4 Σ -Series Dimensional Drawings353Motor typeSGMG-Shaft end dimensionsFrange dimensionsMotor typeSGMG-VWUTSQKQLZNLRLGLELCLBLA44A2BTAR 230(9.06)7.87+

USING THE DIGITAL OPERATOR5.4.1 Servomotor Dimensional Drawings cont.354in mm (inches)Motor type Flange dimensions Shaft end dimensionsSGMG-LA LB LC

5.4 Σ -Series Dimensional Drawings355Standard backlash gear (1000 min−1), without brake• Flange-mounted typeGrease-lubrication type small size servomo

USING THE DIGITAL OPERATOR5.4.1 Servomotor Dimensional Drawings cont.356Grease-lubrication type large size servomotorsφSh6Detailed Viewof Shaft Endin

5.4 Σ -Series Dimensional Drawings357in mm (inches)Motor type Flange dimensions Shaft end dimensionsypSGMG-LA LB LC LE LG N LZ S Q QK QR T U W03A2BL7K

d tap ×L(Motor)(Motor)(Motor)USING THE DIGITAL OPERATOR5.4.1 Servomotor Dimensional Drawings cont.358Shaft end tap specificationsin mm (inches)Gear t

5.4 Σ -Series Dimensional Drawings359J SGMS-jjA ServomotorIncremental encoder (4096 P/R)MTG Holes(0.0008)(ø0.0016)(0.0016)Detailed View of Shaft Endin

2.2 Installation25Installation sites:The servomotor SGMj type is designed for indoor use.Install servomotor in an environment which meets the followin

USING THE DIGITAL OPERATOR5.4.1 Servomotor Dimensional Drawings cont.360in mm (inches)TypeSGMSFlange dimensionsypSGMS-LA LB LC LE LF LG LH LJ LZ10A6A

5.4 Σ -Series Dimensional Drawings361in mm (inches)TypeSGMS-Shaft end dimensionsApprox.massSGMSS S1 Qmasskg(lb)10A6A240− 0.013(0.940− 0.0005)30(1.18)4

USING THE DIGITAL OPERATOR5.4.1 Servomotor Dimensional Drawings cont.362• Connector Wiring on Detector SideReceptacle: MS3102A20-29PPlug (To be prepa

5.4 Σ -Series Dimensional Drawings363Incremental encoder (4096 P/R), with brakeMTG Holes(0.0008)(ø0.0016)(0.0016)Detailed View of Shaft Endin mm (inch

USING THE DIGITAL OPERATOR5.4.1 Servomotor Dimensional Drawings cont.364in mm (inches)TypeSGMSFlange dimensionsypSGMS-LA LB LC LE LF LG LH LJ LZ10A6A

5.4 Σ -Series Dimensional Drawings365in mm (inches)TypeSGMS-Shaft end dimensionsApprox.massSGMSS S1 Qmasskg(lb)10A6AAB240− 0.013(0.940− 0.0005)30(1.18

USING THE DIGITAL OPERATOR5.4.1 Servomotor Dimensional Drawings cont.366Absolute encoder (15bit : 8192 P/R)(3.94)MTG Holes(ø0.0016)(0.0016)(0.0008)De

5.4 Σ -Series Dimensional Drawings367in mm (inches)TypeSGMSFlange dimensionsypSGMS-LA LB LC LE LF LG LH LJ LZ10ASA 115(4.53)950− 0.035(3.740− 0.0014)1

USING THE DIGITAL OPERATOR5.4.1 Servomotor Dimensional Drawings cont.368in mm (inches)TypeSGMS-Shaft end dimensionsApprox.massSGMSS S1 Qmasskg(lb)10A

5.4 Σ -Series Dimensional Drawings369• Connector Wiring on Detector SideReceptacle: MS3102A20-29PPlug (To be prepared by customer) (L type): MS3108B20

BASIC USES OF Σ-SERIES PRODUCTS2.2.4 Installing the Servomotor cont.26A precision detector (encoder) is mounted on the opposite-drive end of the serv

USING THE DIGITAL OPERATOR5.4.1 Servomotor Dimensional Drawings cont.370Absolute encoder (15bit : 8192 P/R, 12 bit : 1024 P/R), with brakeMTG Holes(ø

5.4 Σ -Series Dimensional Drawings371in mm (inches)TypeSGMSFlange dimensionsypSGMS-LA LB LC LE LF LG LH LJ LZ10ASAAB 115(4.53)950− 0.035(3.740− 0.0014

USING THE DIGITAL OPERATOR5.4.1 Servomotor Dimensional Drawings cont.372in mm (inches)TypeSGMS-Shaft end dimensionsApprox.massSGMSS S1 Qmasskg(lb)10A

5.4 Σ -Series Dimensional Drawings373Low backlash gear (3000 min−1), without brake• Flange-mounted typeGrease-lubrication type small size servomotorsφ

USING THE DIGITAL OPERATOR5.4.1 Servomotor Dimensional Drawings cont.374Grease-lubrication type large size servomotorsφSh6φLBh7Detailed Viewof Shaft

5.4 Σ -Series Dimensional Drawings375Motor typeSGMS-Approx.masskg (lb)Shaftcenterallowableradial loadNRKL2KL1KB2KB1LTLRLMLLLGearratioGear type50A6AL1K

USING THE DIGITAL OPERATOR5.4.1 Servomotor Dimensional Drawings cont.376Motor typeSGMS-Shaft end dimensionsFrange dimensionsMotor typeSGMS-WUTQRQKQSL

d tap×L(Motor)(Motor)(Motor)5.4 Σ -Series Dimensional Drawings377Shaft end tap specificationsin mm (inches)Gear type ShaftdiameterSShaftlengthQd × LBL

USING THE DIGITAL OPERATOR5.4.1 Servomotor Dimensional Drawings cont.378JSGMD-jjA ServomotorIncremental encoder (4096 P/R)Incremental encoder (4096 P

5.4 Σ -Series Dimensional Drawings379in mm (inches)TypeSGMDFlange dimensionsypSGMD-LA LB LC LE LF LG LH LJ LZ22A6A 235(9.25)2000−0.046(7.870− 0.0018)2

2.2 Installation272.2.5 Installing the SERVOPACKΣ-Series SGDB SERVOPACK is a base-mount typeservo controller.Incorrect installation will cause problem

USING THE DIGITAL OPERATOR5.4.1 Servomotor Dimensional Drawings cont.380• Connector Wiring on Detector SideReceptacle: MS3102A20-29PPlug (To be prepa

5.4 Σ -Series Dimensional Drawings381Absolute encoder (12-bit : 1024 P/R)Absolute encoder (12-bit : 1024 P/R), with brakeThese dimensional drawing is

USING THE DIGITAL OPERATOR5.4.1 Servomotor Dimensional Drawings cont.382in mm (inches)TypeSGMGFlange dimensionsypSGMG-LA LB LC LE LF LG LH LJ LZ22AWA

5.4 Σ -Series Dimensional Drawings383• Connector Wiring on Detector sideReceptacle: MS3102A20-29PPlug (To be prepared by customer) (L type): MS3108B20

USING THE DIGITAL OPERATOR5.4.1 Servomotor Dimensional Drawings cont.384J SGMP-15A ServomotorSGMP ServomotorIncremental Encoder without brake (SGMP-1

5.4 Σ -Series Dimensional Drawings385• Details of Motor and Encoder PlugsPin: 350218-6 or 350547-6/C channel outputPhase U RedPhase V WhitePhase W Blu

USING THE DIGITAL OPERATOR5.4.1 Servomotor Dimensional Drawings cont.386SGMP ServomotorIncremental Encoder with brake (SGMP-15A31jB, C Servomotor)• 1

5.4 Σ -Series Dimensional Drawings3875) The electromagnetic brake is only to hold the load in position and cannot be used to stopthe motor.• Details o

USING THE DIGITAL OPERATOR5.4.1 Servomotor Dimensional Drawings cont.388SGMP ServomotorAbsolute Encoder with brake (SGMP-15AWjj Servomotor)•1.5kWName

5.4 Σ -Series Dimensional Drawings389•Details of Motor and Encoder Plugs/Z channel outputSocket: 350536-6 to 350550-6Phase U RedPhase V WhitePhase W B

− v −WARNING(WIRING)S Grounding must be in accordance with the national code and consistentwith sound local practices.Failure to observe this warning

BASIC USES OF Σ-SERIES PRODUCTS2.2.5 Installing the SERVOPACK cont.28Installation method:When installing multiple SERVOPACKs side by side in a contro

USING THE DIGITAL OPERATOR5.4.1 Servomotor Dimensional Drawings cont.390SGMP ServomotorAbsolute Encoder with brake (SGMP-15AWjjB,C Servomotor)•1.5kWN

5.4 Σ -Series Dimensional Drawings3915) The electromagnetic brake is only to hold the load in position and cannot be used to stopthe motor.• Details o

USING THE DIGITAL OPERATOR5.4.1 Servomotor Dimensional Drawings cont.392Connectors on Detector and Motor SidesThere are two types for connectors on d

5.4 Σ -Series Dimensional Drawings393Motor TypeConnectors on Detector SideypReceptacle L-shaped Plug Straight Plug Cable ClampSGMS-10AjAMS3102A20-29P

USING THE DIGITAL OPERATOR5.4.1 Servomotor Dimensional Drawings cont.394Connectors for SGMj Servomotors with Holding BrakeMotor TypeConnectors on Mot

5.4 Σ -Series Dimensional Drawings395Motor TypeConnectors on Detector SideypReceptacle L-shaped Plug Straight Plug Cable ClampSGMS-10AjAMS3102A20-29P

USING THE DIGITAL OPERATOR5.4.1 Servomotor Dimensional Drawings cont.396• IP67-based ConnectorsIP67-based Connectors for SGMj Servomotors without Hol

5.4 Σ -Series Dimensional Drawings397*1 The SGMG-55AjA, -75AjA, -1AAjA, -1EAjA, -44AjB, and -60AjB motors donot contain an End Bell. For these motors,

USING THE DIGITAL OPERATOR5.4.1 Servomotor Dimensional Drawings cont.398IP67-based Connectors for SGMj Servomotors with Holding BrakeMotor Type Recep

5.4 Σ -Series Dimensional Drawings399*1 The SGMG-55AjA, -75AjA, -1AAjA, 1EAjA, -44AjB, and -60AjB motors donot contain an End Bell. For these motors,

2.2 Installation29Power lossPower loss of SERVOPACK is given below:Power loss for rated outputSERVOPACKtypeOutputcurrent(RMS value)APower lossin mainc

USING THE DIGITAL OPERATOR5.4.2 SERVOPACK Dimensional Drawings4005.4.2 SERVOPACK Dimensional DrawingsThe dimension drawings of the SGDB SERVOPACK are

5.4 Σ -Series Dimensional Drawings401J SERVOPACK with Heat Sink Mounted Inside PanelSGDB-03ADj to 15ADj (0.3 to 1.5 kW; 0.4 to 2.0 HP)Approx. Mass: 4

USING THE DIGITAL OPERATOR5.4.2 SERVOPACK Dimensional Drawings cont.402SGDB-20ADj to 30ADj (2.0 to 3.0 kW; 2.7 to 4.0 HP)Approx. Mass: 5 kg (11.02 lb

5.4 Σ -Series Dimensional Drawings403SGDB-44ADj to 50ADj (4.4 to 5.0 kW; 5.9 to 6.7 HP)Approx. Mass: 8 kg (17.63 lb)2-φ6 (0.24) MTG Holes(Digital Oper

USING THE DIGITAL OPERATOR5.4.2 SERVOPACK Dimensional Drawings cont.404SGDB-60ADjto 75ADj (6.0 to 7.5 kW; 8.0 to 10 HP)Grounding Terminal M8Main Circ

5.4 Σ -Series Dimensional Drawings405SGDB-1AADjto 1EADj (11 to 15kW; 15 to 20HP)Cooling FanDirection of Air FlowMTG HoleNameplate(Digital Operator)Con

USING THE DIGITAL OPERATOR5.4.2 SERVOPACK Dimensional Drawings cont.406JSERVOPACK with Heat Sink Mounted Outside Panel (option)A duct ventilation typ

5.4 Σ -Series Dimensional Drawings407SGDB-03ADjto 15ADj-PMTG Holes(Digital Operator)Heat SinkRegenerative ResistorFanExternal Terminal(M4 Screw)Ground

USING THE DIGITAL OPERATOR5.4.2 SERVOPACK Dimensional Drawings cont.408SGDB-20ADj, 30ADj-PMTG Holes(Digital Operator)Heat SinkRegenerative ResistorFa

5.4 Σ -Series Dimensional Drawings409SGDB-44ADj, 50ADj-PDetailed View of Terminal ArrangementMTG Holes(Digital Operator)Heat SinkRegenerative Resistor

BASIC USES OF Σ-SERIES PRODUCTS2.3.1 Connecting to Peripheral Devices302.3 Connection and WiringThis section describes how to connect Σ-Series produc

USING THE DIGITAL OPERATOR5.4.2 SERVOPACK Dimensional Drawings cont.410SGDB-60ADj, 75ADj-P187.9(7.40)(42.1)(1.66)(77.5)(3.05)138.8(5.40)133.7(52.6)(1

5.4 Σ -Series Dimensional Drawings411SGDB-1AADj-P, -1EADj-PCooling FanDirection of Air FlowMTG HoleNameplate(DigitalOperator)r,tControl Circuit Termin

USING THE DIGITAL OPERATOR5.4.3 Digital Operator Dimensional Drawings4125.4.3 Digital Operator Dimensional DrawingsThe following two types of Digital

5.4 Σ -Series Dimensional Drawings413JUSP-OP03AApprox. Mass: 0.02 kg (0.041lb)(0.59)(2.13)(2.26)Dimensions in mm (inches)5

SERVO SELECTION AND DATA SHEETS5.5.1 Selecting Peripheral Devices4145.5 Selecting Peripheral DevicesThis section shows how to select peripheral device

5.5 Selecting Peripheral Devices415<Flowchart for peripheral device selection>Start peripheral device selectionWhat is motortype?What is motorop

SERVO SELECTION AND DATA SHEETS5.5.1 Selecting Peripheral Devices cont.416(a)2) Select encoder cableIncremental encoderor absolute encoder?Absolute en

5.5 Selecting Peripheral Devices417AbsoluteSelect one of the followingaccording to cable length.Select one of the followingaccording to cable length.S

SERVO SELECTION AND DATA SHEETS5.5.1 Selecting Peripheral Devices cont.4181) Select motor cablesNo brake/Withbrake?No brakeWith brakeWith connector an

5.5 Selecting Peripheral Devices419(a)’2) Select encoder cableIncrementalencoder or absoluteencoder?Absolute encoderIncrementalencoderConnector bothen

Molded-case circuitbreaker (MCCB)Used to protectpower supplyline. Shuts thecircuit off ifovercurrent isdetected.Noise filterUsed to eliminate external

SERVO SELECTION AND DATA SHEETS5.5.1 Selecting Peripheral Devices cont.420AbsoluteConnector bothendsSERVOPACK endwithout connectorCable onlySelect one

5.5 Selecting Peripheral Devices421from (b)3) Select 1CN connector forreference input.Connector kit, terminalblock unit, or cable withoutconnector at

SERVO SELECTION AND DATA SHEETS5.5.1 Selecting Peripheral Devices cont.422(c)5) Select magnetic contactor andsurge suppressor.MagneticcontactorHI-jjED

5.5 Selecting Peripheral Devices423Select plug, BackShellor End Bell, andcable clampaccording to themotor type.Select plugaccording to themotor type.A

SERVO SELECTION AND DATA SHEETS5.5.2 Order List4245.5.2 Order ListOrder lists are given below for the servomotors, SERVOPACKs, digital operators, andp

5.5 Selecting Peripheral Devices425JPeripheral DevicesFor SGM, SGMS, SGMD servomotors (See page 434 for SGMP-15A servomotor)•ConnectorK11Main Circuit

SERVO SELECTION AND DATA SHEETS5.5.2 Order List cont.426K12Main Circuit Connectors on Motor Side (with Brake)(Purchase Separately)Motor TypeConnectors

5.5 Selecting Peripheral Devices427K13Encoder Connectors on Motor Side(Purchase Separately)Connectors on Encoder SideQtyPlugCable Clamp Receptacle*yL-

SERVO SELECTION AND DATA SHEETS5.5.2 Order List cont.428K15Enclosure IP67 Main Circuit Connectors on Motor Side (without Brake)(Purchase Separately)Mo

5.5 Selecting Peripheral Devices429K16Enclosure IP67 Main Circuit Connectors on Motor Side (with Brake)(Purchase Separately)Motor Type Receptacle Plug

BASIC USES OF Σ-SERIES PRODUCTS2.3.1 Connecting to Peripheral Devices cont.32• Connector terminal block conversion unit (Type: JUSP-TA50P)The terminal

SERVO SELECTION AND DATA SHEETS5.5.2 Order List cont.430K17IP67-based Encoder Connectors on Motor Side(Purchase Separately)Receptacle PlugEnd Bell: Ma

5.5 Selecting Peripheral Devices431• Brake Power Supply (for Motor with Brake)(Purchase Separately)Brake Power Supply Type QtyLPSE-2H01 (for 200 V AC

SERVO SELECTION AND DATA SHEETS5.5.2 Order List cont.432E13Cables for Incremental Encoder(Cable with L-shaped Plug) (Purchase Separately)Cable Type Qt

5.5 Selecting Peripheral Devices433E16Cables for Absolute Encoder(Cable with L-shaped Plug) (Purchase Separately)Cable Type QtyDE9407237-1 3m (9.8 ft)

SERVO SELECTION AND DATA SHEETS5.5.2 Order List cont.434C2Connector-to-terminal Conversion Unit(Purchase Separately)Converter Unit Type QtyJUSP-TA50PC

5.5 Selecting Peripheral Devices435M2Cables for Servomotor without Brake(Cable Only) (Purchase Separately)Customer to attach connector and amplifier t

SERVO SELECTION AND DATA SHEETS5.5.2 Order List cont.436M4Cables for Servomotor with Brake(Cable Only) (Purchase Separately)Customer to attach connect

5.5 Selecting Peripheral Devices437• ConnectorK1Connector (for SGMP-15A)(Purchase Separately)Connector Kit Type QtyDP9420016-1 (Incremental encoder, n

SERVO SELECTION AND DATA SHEETS5.5.2 Order List cont.438• Cables for Incremental EncoderE1Cables for Incremental Encoder(Connector Both Ends) (Purchas

5.5 Selecting Peripheral Devices439E4Cables for Absolute Encoder(Connector Both Ends) (Purchase Separately)Cable Type QtyDP9320088-1 3m (9.8 ft)DP9320

2.3 Connection and Wiring33c) Cable with connectors on both side (L-shape plug on encoder side)LengthCable typeLengthIncremental Absolute3m (9.8ft) DE

SERVO SELECTION AND DATA SHEETS5.5.2 Order List cont.440E6Cables for Absolute Encoder(Cable Only) (Purchase Separately)Customer to attach connector to

5.5 Selecting Peripheral Devices441• Regenerative Resistor Unit(Purchase Separately)Regenerative Resistor Unit Type QtyJUSP-RA04JUSP-RA05• Variable Re

SERVO SELECTION AND DATA SHEETS5.6.1 Cable Specifications and Peripheral Devices4425.6 Specifications and Dimensional Drawings of PeripheralDevicesThi

5.6 Specifications and Dimensional Drawings of Peripheral Devices443ExternalTerminalNameSGDB TypeTerminalCable Size (mm2)TerminalNameTerminalSymbol30

SERVO SELECTION AND DATA SHEETS5.6.1 Cable Specifications and Peripheral Devices cont.444J Peripheral DevicesSERVOPACKtypeSGDB-Motor type MotorSelecti

5.6 Specifications and Dimensional Drawings of Peripheral Devices445The appropriate cables for SERVOPACK connectors 1CN and 2CN are shown in thetable

SERVO SELECTION AND DATA SHEETS5.6.2 Motor Cables4465.6.2 Motor CablesSelect an appropriate motor cable that meets the customer’s service conditions b

5.6 Specifications and Dimensional Drawings of Peripheral Devices447JCables for Motor with Brake (with connector and AMP terminals)Type L in mm (feet

SERVO SELECTION AND DATA SHEETS5.6.3 Connector cont.448Always order the connectors under the following conditions:•Connectors for all cables (required

5.6 Specifications and Dimensional Drawings of Peripheral Devices449•IP67-based EnvironmentWaterproof Plug MS (D190)Waterproof Angle Back Shell CE-XX

BASIC USES OF Σ-SERIES PRODUCTS2.3.2 Main Circuit Wiring and Power ON Sequence342.3.2 Main Circuit Wiring and Power ON SequenceThe following diagram

SERVO SELECTION AND DATA SHEETS5.6.3 Connector cont.450•Standard Environment•When using Standard Motor (without Brake)Motor TypeConnectors on Motor Si

5.6 Specifications and Dimensional Drawings of Peripheral Devices451MS3106B Straight Plug ShellDimensions are mm (inches)ShellSizeJoint ScrewALength

SERVO SELECTION AND DATA SHEETS5.6.3 Connector cont.452MS3106A Straight Plug ShellDimensions are mm (inches)ShellSizeJoint ScrewALength ofJoint Portio

5.6 Specifications and Dimensional Drawings of Peripheral Devices453• When using Motor with BrakeMotor TypeConnectors on Motor SideypReceptacle L-sha

SERVO SELECTION AND DATA SHEETS5.6.3 Connector cont.454• IP67-based Environment• When Using IP67-based Motor (without Brake)Motor Type Receptacle Plug

5.6 Specifications and Dimensional Drawings of Peripheral Devices455• When Using IP67-based Motor (with Brake)Motor Type Receptacle PlugEnd Bell: Man

SERVO SELECTION AND DATA SHEETS5.6.3 Connector cont.456MS(D190) Series: Plug for ConduitMS3106A20-29S (D190)GasketH or lessDimensions are mm (inches)S

5.6 Specifications and Dimensional Drawings of Peripheral Devices457CE-XXBA-S (XXX)Angle Back Shell (for MS(D190))Screw AO−RingL1 or lessL2 or lessW

SERVO SELECTION AND DATA SHEETS5.6.3 Connector cont.458PartNumberShellSizeOverallLengthAOutsideDiameterBEffectiveScrewLengthC(D) E F G H SetScrewVAtta

5.6 Specifications and Dimensional Drawings of Peripheral Devices459Plug: JL04-6APositioning KeyScrew V(Conduit Mounting Dimensions)ConduitScrew ADim

2.3 Connection and Wiring35Form a power ON sequence as follows:• Form a power ON sequence so that the power is turned OFF when a servo alarm signalis

SERVO SELECTION AND DATA SHEETS5.6.3 Connector cont.460End Bell (Straight): JL04-jjEBPlugEnd BellScrew VDimensions are mm (inches)ShellSizeScrew V ØA

5.6 Specifications and Dimensional Drawings of Peripheral Devices461Cable Clamp: JL04-jCK(::)F (Clamped Range)Screw WB (On the Rim)Dimensions are mm

SERVO SELECTION AND DATA SHEETS5.6.3 Connector cont.462A connector kit is required in the following cases:• If motor cable only is purchased (whether

5.6 Specifications and Dimensional Drawings of Peripheral Devices463• Motor With BrakeCap: 172160-1Socket: 170362-1 or 170366-1(0.17)(0.55)(0.93)4.2(

SERVO SELECTION AND DATA SHEETS5.6.3 Connector cont.464J Common to the SGMG, SGMS, SGMD, SGM and SGMP TypesOnly one type of encoder connector is avail

5.6 Specifications and Dimensional Drawings of Peripheral Devices465• CaseFor 10320-52A0Diagram of Assembled Connector (for reference)(0.22)(0.94)(0.

SERVO SELECTION AND DATA SHEETS5.6.4 Brake Power Supply466*1 Manufactured by AMP.*2 Manufactured by 3M.*3 Including one spare.• For SGMP-15A TypeConne

5.6 Specifications and Dimensional Drawings of Peripheral Devices467• Dimensional DrawingsManufactured by Yaskawa Controls Co., Ltd.NamePlateLead Wir

SERVO SELECTION AND DATA SHEETS5.6.4 Brake Power Supply cont.468• Internal Circuit for 100 VAC Input (LPDE-1H01)BlueAC SideWhiteDiode BridgeSurge Supp

5.6 Specifications and Dimensional Drawings of Peripheral Devices4695.6.5 Encoder CablesThe dimensions and appearance of the encoder cables are shown

BASIC USES OF Σ-SERIES PRODUCTS2.3.3 Connection to Host Controller362.3.3 Connection to Host ControllerThe SGDB SERVOPACK can be connected to the fol

SERVO SELECTION AND DATA SHEETS5.6.5 Encoder Cables cont.470Cables for Incremental Encoder (without Connector on Encoder End)UL Shield Wire, Composite

5.6 Specifications and Dimensional Drawings of Peripheral Devices471Cables for Absolute Encoder (with Straight Plug)UL Shield Wire, Composite KQVV-SW

SERVO SELECTION AND DATA SHEETS5.6.5 Encoder Cables cont.472Cables for Absolute Encoder (without Connector on Encoder End)UL Shield Wire, Composite KQ

5.6 Specifications and Dimensional Drawings of Peripheral Devices473Cables for Incremental Encoder (without Connector on Both Ends)Cable AWG22 x 3C,

SERVO SELECTION AND DATA SHEETS5.6.5 Encoder Cables cont.474Type L in mm (feet)DP8409123-13000+ 1000(10+ 0.330)DP8409123-25000+ 1000(16.7+ 0.330)DP840

5.6 Specifications and Dimensional Drawings of Peripheral Devices475J For the SGM and SGMP TypesCables for Incremental Encoder (Connector Both Ends)C

SERVO SELECTION AND DATA SHEETS5.6.5 Encoder Cables cont.476Cables for Incremental Encoder (SERVOPACK End without Connector)Cap: 172161-1 (9-pin)Socke

5.6 Specifications and Dimensional Drawings of Peripheral Devices477Cables for Absolute Encoder (SERVOPACK End without Connector)Cap: 172163-1 (15-pi

SERVO SELECTION AND DATA SHEETS5.6.5 Encoder Cables cont.478Cables for Incremental Encoder (Cable Only)Cable AWG22 x 3C, AWG26 x 4PType L in mm (feet)

5.6 Specifications and Dimensional Drawings of Peripheral Devices479Cables for Absolute Encoder (Cable Only)Cable AWG22 x 3C, AWG26 x 6PType L in mm

2.3 Connection and Wiring37JConnection to OMRON Position Control Unit C500-NC112SERVOPACK for Position Control(ON when proximityis detected)SERVOPACKI

SERVO SELECTION AND DATA SHEETS5.6.6 Battery for Absolute Encoder480CableSpecificationIncremental Encoder (YaskawaDrg. #B9400064)Absolute Encoder (Yas

5.6 Specifications and Dimensional Drawings of Peripheral Devices4815.6.7 1CN ConnectorThis connector is required to connect the host controller to 1

SERVO SELECTION AND DATA SHEETS5.6.7 1CN Connector cont.482• CaseFor 10350-52A0Diagram of Assembled Connector (for reference)(0.22)(0.94)(0.5)39.0 (1.

5.6 Specifications and Dimensional Drawings of Peripheral Devices4835.6.8 Connector Terminal Block Converter UnitA connector terminal block converter

SERVO SELECTION AND DATA SHEETS5.6.8 Connector Terminal Block Converter Unit cont.484The relationships between terminal block pin numbers and signal n

5.6 Specifications and Dimensional Drawings of Peripheral Devices4855.6.9 Cable With 1CN Connector and One End Without ConnectorUse a cable with no c

SERVO SELECTION AND DATA SHEETS5.6.11 Noise Filter4865.6.10 Circuit BreakerThe customer should purchase a circuit breaker (MCCB) of appropriate capaci

5.6 Specifications and Dimensional Drawings of Peripheral Devices487in mm (inches)PartsNameA B C D E F G H I JLF-310 180(7.09)170(6.69)60 (2.36) 25 (

SERVO SELECTION AND DATA SHEETS5.6.12 Magnetic Contactor4885.6.12 Magnetic ContactorA magnetic connector turns ON and OFF the servo. Be sure to attach

5.6 Specifications and Dimensional Drawings of Peripheral Devices489ModelTerminal SymbolsMounting HoleDimensions [mm (in)]External Dimensions [mm (in

− vi −CAUTION(OPERATION)S To avoid inadvertent accidents, run the servomotor only in test run (with-out load).Failure to observe this caution may resu

BASIC USES OF Σ-SERIES PRODUCTS2.3.3 Connection to Host Controllercont.38JConnection to MITSUBISHI Positioning Unit AD72SERVOPACK for Speed/Torque Co

SERVO SELECTION AND DATA SHEETS5.6.14 Regenerative Resistor Unit4905.6.13 Surge SuppressorAttach a surge suppressor to the magnetic contactor to preve

5.6 Specifications and Dimensional Drawings of Peripheral Devices491J Terminal NumbersUnits: mm (inches)Type W H D M1 M2 Approx.massJUSP-RA04 220 (8.

SERVO SELECTION AND DATA SHEETS5.6.16 Encoder Signal Converter Unit4925.6.16 Encoder Signal Converter UnitUnit to convert the encoder signal output fr

5.6 Specifications and Dimensional Drawings of Peripheral Devices493J SpecificationsThe encoder signal converter unit specifications are as follows:T

SERVO SELECTION AND DATA SHEETS5.6.17 Cables for Connecting PC and SERVOPACK4945.6.17 Cables for Connecting PC and SERVOPACKSpecial cables for connect

5.6 Specifications and Dimensional Drawings of Peripheral Devices495•Shift Control: None•Communications Method: Semi-duplexJConnecting-circuit Specif

SERVO SELECTION AND DATA SHEETS5.6.17 Cables for Connecting PC and SERVOPACK cont.496JCable for Connecting SERVOPACK and IBM PC (IBM Compatible PC)Use

5.6 Specifications and Dimensional Drawings of Peripheral Devices497J Cable for connecting SERVOPACK and NEC PC−98 half−pitch connectorUse Yaskawa DE

6499INSPECTION, MAINTENANCE,AND TROUBLESHOOTINGThis chapter describes the basic inspections and maintenance to be carriedout by the customer.In additi

INSPECTION, MAINTENANCE, AND TROUBLESHOOTING6.1.1 Servomotor5006.1 Inspection and MaintenanceThis section describes the basic inspections and maintena

2.3 Connection and Wiring39JConnection to MITSUBISHI Positioning Unit AD75SERVOPACK for Position Control+−+24v024V1RyCN1CN1STOPDOGREADYPGOPULSESIGNCLE

6.1 Inspection and Maintenance5016.1.2 SERVOPACKFor inspection and maintenance of the SERVOPACK, follow the inspection procedures in thetable below at

INSPECTION, MAINTENANCE, AND TROUBLESHOOTING6.1.3 Replacing Battery for Absolute Encoder5026.1.3 Replacing Battery for Absolute EncoderBattery replace

6.2 Troubleshooting5036.2 TroubleshootingThis section describes causes and remedies for problems which cause an alarm display andfor problems which re

INSPECTION, MAINTENANCE, AND TROUBLESHOOTING6.2.1 Troubleshooting Problems with Alarm Display cont.504J A.00Display and OutputsDigital OperatorDi ldAl

6.2 Troubleshooting505J A.02Display and OutputsDigital OperatorDi ldAlarm OutputgpDisplay andAlarmNameAlarm Code OutputAlarm OutputAlarmNameALO1 ALO2

INSPECTION, MAINTENANCE, AND TROUBLESHOOTING6.2.1 Troubleshooting Problems with Alarm Display cont.506J A.10Display and OutputsDigital OperatorDi ldAl

6.2 Troubleshooting507J A.30Display and OutputsDigital OperatorDi ldAlarm OutputgpDisplay andAlarmNameAlarm Code OutputAlarm OutputAlarmNameALO1 ALO2

INSPECTION, MAINTENANCE, AND TROUBLESHOOTING6.2.1 Troubleshooting Problems with Alarm Display cont.508J A.31Display and OutputsDigital OperatorDi ldAl

6.2 Troubleshooting509J A.40Display and OutputsDigital OperatorDi ldAlarm OutputgpDisplay andAlarmNameAlarm Code OutputAlarm OutputAlarmNameALO1 ALO2

INSPECTION, MAINTENANCE, AND TROUBLESHOOTING6.2.1 Troubleshooting Problems with Alarm Display cont.510J A.51Display and OutputsDigital OperatorDi ldAl

BASIC USES OF Σ-SERIES PRODUCTS2.4.1 Test Run in Two Steps402.4 Conducting a Test RunThis section describes how to conduct a full test run. The test r

6.2 Troubleshooting511J A.71, A.72Display and OutputsDigital OperatorDi ldAlarm OutputgpDisplay andAlarmNameAlarm Code OutputAlarm OutputAlarmNameALO1

INSPECTION, MAINTENANCE, AND TROUBLESHOOTING6.2.1 Troubleshooting Problems with Alarm Display cont.512J A.80Display and OutputsDigital OperatorDi ldAl

6.2 Troubleshooting513J A.81Display and OutputsDigital OperatorDi ldAlarm OutputgpDisplay andAlarmNameAlarm Code OutputAlarm OutputAlarmNameALO1 ALO2

INSPECTION, MAINTENANCE, AND TROUBLESHOOTING6.2.1 Troubleshooting Problems with Alarm Display cont.514J A.82Display and OutputsDigital OperatorDi ldAl

6.2 Troubleshooting515J A.83Display and OutputsDigital OperatorDi ldAlarm OutputgpDisplay andAlarmNameAlarm Code OutputAlarm OutputAlarmNameALO1 ALO2

INSPECTION, MAINTENANCE, AND TROUBLESHOOTING6.2.1 Troubleshooting Problems with Alarm Display cont.516J A.84Display and OutputsDigital OperatorDi ldAl

6.2 Troubleshooting517J A.85Display and OutputsDigital OperatorDi ldAlarm OutputgpDisplay andAlarmNameAlarm Code OutputAlarm OutputAlarmNameALO1 ALO2

INSPECTION, MAINTENANCE, AND TROUBLESHOOTING6.2.1 Troubleshooting Problems with Alarm Display cont.518J A.A1Display and OutputsDigital OperatorDi ldAl

6.2 Troubleshooting519J A.b1Display and OutputsDigital OperatorDi ldAlarm OutputgpDisplay andAlarmNameAlarm Code OutputAlarm OutputAlarmNameALO1 ALO2

INSPECTION, MAINTENANCE, AND TROUBLESHOOTING6.2.1 Troubleshooting Problems with Alarm Display cont.520J A.C1Display and OutputsDigital OperatorDi ldAl

2.4 Conducting a Test Run41Step 1:Conducting a test run for the motor without load Check that the motor is wired correctly...Operate the mo-tor with

6.2 Troubleshooting521J A.C2Display and OutputsDigital OperatorDi ldAlarm OutputgpDisplay andAlarmNameAlarm Code OutputAlarm OutputAlarmNameALO1 ALO2

INSPECTION, MAINTENANCE, AND TROUBLESHOOTING6.2.1 Troubleshooting Problems with Alarm Display cont.522J A.C3Display and OutputsDigital OperatorDi ldAl

6.2 Troubleshooting523J A.C4Display and OutputsDigital OperatorDi ldAlarm OutputgpDisplay andAlarmNameAlarm Code OutputAlarm OutputAlarmNameALO1 ALO2

INSPECTION, MAINTENANCE, AND TROUBLESHOOTING6.2.1 Troubleshooting Problems with Alarm Display cont.524J A.F1Display and OutputsDigital OperatorDi ldAl

6.2 Troubleshooting525J A.F3Display and OutputsDigital OperatorDi ldAlarm OutputgpDisplay andAlarmNameAlarm Code OutputAlarm OutputAlarmNameALO1 ALO2

INSPECTION, MAINTENANCE, AND TROUBLESHOOTING6.2.1 Troubleshooting Problems with Alarm Display cont.526J CPF00Display and OutputsDigital OperatorDi ldA

6.2 Troubleshooting527J CPF01Display and OutputsDigital OperatorDi ldAlarm OutputgpDisplay andAlarmNameAlarm Code OutputAlarm OutputAlarmNameALO1 ALO2

INSPECTION, MAINTENANCE, AND TROUBLESHOOTING6.2.1 Troubleshooting Problems with Alarm Display cont.528J A.99Display and OutputsDigital OperatorDi ldAl

6.2 Troubleshooting5296.2.2 Troubleshooting Problems With No Alarm DisplayRefer to the tables below to identify the cause of a problem which causes no

INSPECTION, MAINTENANCE, AND TROUBLESHOOTING6.2.2 Troubleshooting Problems With No Alarm Display cont.530Symptom RemedyInspectionCauseServomotor vibra

BASIC USES OF Σ-SERIES PRODUCTS2.4.2 Step 1: Conducting a Test Run for Motor without Load422.4.2 Step 1: Conducting a Test Run for Motor without LoadC

6.2 Troubleshooting5316.2.3 Internal Connection Diagram and Instrument ConnectionExamplesThe SGDB SERVOPACK internal connection diagram and instrument

INSPECTION, MAINTENANCE, AND TROUBLESHOOTING6.2.3 Internal Connection Diagram and Instrument Connection Examples cont.532• 2.0kW to 3.0kWThree-phase20

6.2 Troubleshooting533• 4.4kW to 5.0kWThree-phase200 to 230VAC(50/60 Hz)Line filterPowerONPowerOFFSurgesuppressorOpen whenServo alarmoccurs.Voltagedet

INSPECTION, MAINTENANCE, AND TROUBLESHOOTING6.2.3 Internal Connection Diagram and Instrument Connection Examples cont.534• 6.0kW to 15.0 kWVoltagedete

6.2 Troubleshooting535J Instrument connection examplesThree-Phase 200 to 230VAC(50/60 Hz)+10−15%Noise filter Noise filter eliminates external noiseSer

INSPECTION, MAINTENANCE, AND TROUBLESHOOTING6.2.3 Internal Connection Diagram and Instrument Connection Examples cont.536(from previous page)Servo ON

6.2 Troubleshooting537J Connection method between SERVOPACK and Encoder• In case of incremental encoderIncremental encoderOutput line driverT-I madeSN

AppendixA539Servo AdjustmentThis appendix presents the basic rules for Σ-Series AC SERVOPACK gainadjustment, describes various adjustment techniques,

SERVO ADJUSTMENTA.1.1 Σ -Series AC SERVOPACKs and Gain Adjustment Methods540A.1Σ-Series AC SERVOPACK Gain AdjustmentThis section gives some basic info

A.1 Σ -Series AC SERVOPACK Gain Adjustment541A.1.2 Basic Rules for Gain Adjustment1) The servo system comprises three feedback systems: position loop,

2.4 Conducting a Test Run43J Using the Digital OperatorOperate the motor with the Digital Operator. Checkthat the motor runs normally.Refer to Section

SERVO ADJUSTMENTA.2.1 Adjusting Using Auto-tuning542A.2 Adjusting a Speed-control SERVOPACKThis section gives examples of adjusting the gains of a spe

A.2 Adjusting a Speed-control SERVOPACK543J If Auto-tuning is UnsuccessfulAuto-tuning may be unsuccessful (the end of auto-tuning not displayed) for m

SERVO ADJUSTMENTA.2.2 Manual Adjustment cont.544However, the integration time constant must be increased to prevent machine vibrationif the load inert

A.2 Adjusting a Speed-control SERVOPACK5453. Determine the speed loop integration time constant (Cn-05), by observing the posi-tioning setting time an

SERVO ADJUSTMENTA.3.1 Adjusting Using Auto-tuning546A.3 Adjusting a Position-control SERVOPACKThis section gives examples of adjusting the gains of a

A.3 Adjusting a Position-control SERVOPACK547J If Auto-tuning is UnsuccessfulAuto-tuning may be unsuccessful (the end of auto-tuning not displayed) fo

SERVO ADJUSTMENTA.3.2 Manual Adjustment cont.548However, the integration time constant must be increased to prevent machine vibrationif the load inert

A.3 Adjusting a Position-control SERVOPACK549J Functions to Improve ResponseThe mode switch, feed-forward, and bias functions improve response.However

SERVO ADJUSTMENTA.3.2 Manual Adjustment cont.550The adjustment procedures described above are common for all Yaskawa digital AC SER-VOPACKs. However,

A.4 Gain Setting References551A.4 Gain Setting ReferencesThis section presents tables of load inertia values for reference when adjusting the gain.A.4

BASIC USES OF Σ-SERIES PRODUCTS2.4.2 Step 1: Conducting a Test Run for Motor without Load cont.44J Turning Servo (Motor) ONTurn the servo ON as follow

SERVO ADJUSTMENTA.4.1 Guidelines for Gain Settings According to Load Inertia Ratio cont.552Load/Inertia Ratio(GDL2/GDM2)Position Loop Gain(Cn-1A) [1/s

A.4 Gain Setting References553When a speed-control SERVOPACK is used, set the position loop gain at the host con-troller.If the position loop gain can

AppendixB555List of I/O SignalsThis appendix lists I/O signal terminals (connector 1CN) on SERVOPACKswhich connect to a host controller or external ci

LIST OF I/O SIGNALS556List of Input Output SignalsNumber “x.x.x” in box represents a section number corresponding to each signal name. Forexample,3.2.

55731 ALM+Alarm output3.7.132 ALM−p33 PAO A phase output signal3.2.334 /PAO35 PBOB phase output signal3.2.336 /PBOppg37 ALO1Alarm code output3.7.138 A

LIST OF I/O SIGNALS558*1 Signals used for analog referenceFor speed controlSpecifica-tionsSpeed control Speed control with torque limitby analog volta

559*3 Analog monitor signalsControlmode---------- Speed mode Position con-trolTorque controlSetting1CNTerminalnumberCn-02Bit 6 = 0Cn-02Bit 6 = 116 TRQ

AppendixC561List of ParametersΣ-Series SERVOPACKs provide many functions, and have parameterscalled “parameters” to allow the user to select each func

LIST OF USER CONSTANTS562List of Parameters (Parameter Setting)Category Parame-ter No.Code Name Unit LowerLimitUpperLimitFactorySettingRe-marksCn-00 N

563Category Re-marksFactorySettingUpperLimitLowerLimitUnitNameCodeParame-ter No.Cn-06 EMGTRQ Emergency stoptorque% 0 800 800Cn-13 TCRFGN Torque refere

2.4 Conducting a Test Run45S Does the reference speed match the actual motor speed?S Does the motor stop when no reference is input?Un-00Actual motor

LIST OF USER CONSTANTS564List of Parameters (Memory Switch Setting) (1)Param-eter No.BitNo.Setting FactorySettingInput signalbl /di blCn-01 00 10pgena

565Parame-ter No.BitNo.Setting FactorySettingEncoder selec-iCn-01 E0 1*2tionUses incremental encoder. Uses absolute encoder.Reserved F Reserved : Sett

LIST OF USER CONSTANTS566List of Parameters (Memory Switch Setting) (2)Pa-rame-terNo.Bit No. Setting Facto-ry Set-tingRotation direc-iliCn-02 00 10tio

567*1 Control method selection (Cn-2B) setting valuesSetting values Control method0 Speed control (analog reference)1 Position control (pulse train re

LIST OF USER CONSTANTS568• Factory settingsSERVOPACKmodelsApplicable mo-tor typeCn-2A Cn-11Cn-0ACn-03SGDB-05ADGSGMG-05AjA1428192 250SGDB-10ADGSGMG-09A

AppendixD569List of Alarm DisplaysSGDB SERVOPACK allows up to 10 last alarms to be displayed at a digitaloperator. This function is called a trace-bac

LIST OF ALARM DISPLAYS570Alarm DisplayAlarmDi lAlarm OutputAlarm Name Meaning RemarksDisplayon DigitalAlarm Code OutputALMOut-gonDigitalOperatorALO1 A

571AlarmDisplayon DigitalOperatorRemarksMeaningAlarm NameAlarm OutputAlarmDisplayon DigitalOperatorRemarksMeaningAlarm NameALMOut-putAlarm Code Output

LIST OF ALARM DISPLAYS572Alarm Dis-lAlarm OutputAlarm Name Meaning Remarksplay onDigital Op-Alarm Code OutputALMOut-gDigitalOperatorALO1 ALO2 ALO3Out-

INDEX573INDEXNumbers1CN connectordimensional drawings, 481specifications, 4811CN connector kit, 31Aabsolute dataexchange sequence, 156transmitting seq

BASIC USES OF Σ-SERIES PRODUCTS2.4.3 Step 2: Conducting a Test Run with the Motor Connected to the Machine46Cn-24,Cn-25 Electronic gear ratio (see pag

INDEX574meaning, 5Digital Operator, 31Digital Operators, 14alarm traceback mode, 194autotuning, 201connection, 178dimensional drawings, 412mode select

INDEX575impact resistance, 270INHIBIT function. See reference pulse inhibit functioninput pulse multiply function, 71input signal terminalsalarm reset

INDEX576overhanging loadprecautions, 17Servomotors, 291overloadalarm, 138characteristics, Servopacks, 28 8warning, 138overtravel limit function, 56lim

INDEX577installation, 27instrument connection examples, 531internal connection diagram, 531maintenance, 501meaning, 4overload characteristics, 28 8pos

INDEX578mode switch ON/OFF, 124mode switch selection, 125motor selection, 103motor speeds, 84N-OT input signal, 56number of encoder pulses, 102, 154op

YASKAWAYASKAWA ELECTRIC CORPORATION03-4 94-C23-065LIRUMA BUSINESS CENTER480, Kamifujisawa, Iruma, Saitama 358-8555, JapanPhone 81-42-962-5696 F

2.4 Conducting a Test Run472. Connect the servomotor to the machine.Refer to Section 2.2.4 Installing the Servo-motor.3. Perform autotuning.Tune the S

− vii −Manual ContentsThis manual providesΣ-Series users with information on the following:•An overview of servo systems for first-time users.•Checkin

BASIC USES OF Σ-SERIES PRODUCTS2.4.4 Supplementary Information on Test Run cont.48SERVOPACK uses the brake interlock output (BK) signal to control hol

2.4 Conducting a Test Run49NOTE Check the motor operation with the motor disconnected from the machine. If the host con-troller does not perform posit

BASIC USES OF Σ-SERIES PRODUCTS2.4.5 Minimum Parameters Required and Input Signals cont.50• For position controlCn-02 bits 3, 4 and 5Reference pulse f

351APPLICATIONS OF Σ-SERIESPRODUCTSThis chapter is prepared for readers who wish to learn more about the applica-tions ofΣ-series products after fully

Chapter Table of Contents, Continued523.4 Setting Stop Mode 105...3.4.1 Adjusting Offset 105...3.4

53Before Reading this ChapterThis chapter describes how to use each 1CN connector I/O signal for the SGDB SERVO-PACK and how to set the corresponding

APPLICATIONS OF Σ-SERIES PRODUCTS3.1.1 Changing the Direction of Motor Rotation543.1 Setting Parameters According to MachineCharacteristicsThis sectio

3.1 Setting Parameters According to Machine Characteristics55J Setting Reverse Rotation ModeReverse rotation mode can be set in either of the followin

APPLICATIONS OF Σ-SERIES PRODUCTS3.1.2 Setting the Overtravel Limit Function563.1.2 Setting the Overtravel Limit FunctionThe overtravel limit function

3.1 Setting Parameters According to Machine Characteristics57Bit Setting Meaning0Uses the P-OT input signal for prohibiting forward rotation. (Forward

.TERMS− viii −Basic TermsUnless otherwise specified, the following definitions are used:Servomotor:Σ-Series SGMG/SGMD/SGMS/SGM/SGMP servomotorSERVOPAC

APPLICATIONS OF Σ-SERIES PRODUCTS3.1.2 Setting the Overtravel Limit Function58Cn-06EMGTRQEmergency StopTorqueUnit:%SettingRange: 0 toMaximumTorqueFact

3.1 Setting Parameters According to Machine Characteristics593.1.3 Restricting TorqueThe SERVOPACK can provide the following torque control:• Torque r

APPLICATIONS OF Σ-SERIES PRODUCTS3.1.3 Restricting Torque60• Using /CLT SignalThis section describes how to use contact output signal /CLT as a torque

3.1 Setting Parameters According to Machine Characteristics61J How to Set Level 2: External Torque LimitFirst, use a contact input signal to make the

APPLICATIONS OF Σ-SERIES PRODUCTS3.1.3 Restricting Torque62• Using /P-CL and /N-CL SignalsThis section describes how to use input signals /P-CL and /N

3.1 Setting Parameters According to Machine Characteristics63To use /P-CL and /N-CL as torque limit input signals, set the following constant.Cn-2BCon

APPLICATIONS OF Σ-SERIES PRODUCTS3.2.1 Inputting Speed Reference643.2 Setting Parameters According to Host ControllerThis section describes how to con

3.2 Setting Parameters According to Host Controller65J Example of Input Circuit(See the figure on the right)For noise control, always use twisted-pair

APPLICATIONS OF Σ-SERIES PRODUCTS3.2.1 Inputting Speed Reference66Cn-2BSettingControl Method4Speed Control (Contact Reference) $ SpeedControl (Analog

3.2 Setting Parameters According to Host Controller67•Using /P-CON Signal:→ Input /P-CON 1CN-41Proportional Control, etc. For Speed Controland Positio

− ix −Yaskawa, 1995All rights reserved. No part of thispublication may be reproduced, stored in a retrieval system, or transmitted, in any form, orby

APPLICATIONS OF Σ-SERIES PRODUCTS3.2.2 Inputting Position Reference68Sets the voltage range for speed reference inputV-REF (1CN-5). Sets this paramete

3.2 Setting Parameters According to Host Controller69Connection Example 1: Line Driver OutputLine Driver Used:SN75174 manufactured byTexas Instruments

APPLICATIONS OF Σ-SERIES PRODUCTS3.2.2 Inputting Position Reference70J Selecting the Reference Pulse FormUse the following memory switch to select the

3.2 Setting Parameters According to Host Controller71Cn-02Motor Reverse RunReferenceMotor Forward RunReferenceRefer-encePulseFormInputPulseMultipli-er

APPLICATIONS OF Σ-SERIES PRODUCTS3.2.2 Inputting Position Reference72Allowable Voltage Level and Timing for Reference Pulse InputReference Pulse Form

3.2 Setting Parameters According to Host Controller73Cn-02 Bit AError Counter Clear SignalSelectionFactorySetting: 0For Position Control OnlySelects t

APPLICATIONS OF Σ-SERIES PRODUCTS3.2.3 Using Encoder Outputs74The output circuit is for line driver output. Connect each signal line according to the

3.2 Setting Parameters According to Host Controller75Output Phase FormForward rotation Reverse rotationIncremental EncoderPhase APhase BPhase CPhase A

APPLICATIONS OF Σ-SERIES PRODUCTS3.2.3 Using Encoder Outputs76J Selecting the Encoder TypeUse the following memory switch to specify the type of the e

3.2 Setting Parameters According to Host Controller773.2.4 Using Contact I/O SignalsJ Contact Input Signal Terminal ConnectionsThese signals are used

CONTENTS− x −CHAPTER 1 FOR FIRST-TIME USERS OF AC SERVOS 1...1.1 Servo Mechanisms 2...

APPLICATIONS OF Σ-SERIES PRODUCTS3.2.4 Using Contact I/O Signals78J Contact Output Signal Terminal ConnectionsThese output signals are usedto indicate

3.2 Setting Parameters According to Host Controller793.2.5 Using Electronic GearThe electronic gear function enables the motor travel distance per inp

APPLICATIONS OF Σ-SERIES PRODUCTS3.2.5 Using Electronic Gear803. Determine the reference unit to be used.Reference unit is the minimum unit of positio

3.2 Setting Parameters According to Host Controller816. Set the electronic gear ratio in the parameters below.Reduce the electronic gear ratioBAto t

APPLICATIONS OF Σ-SERIES PRODUCTS3.2.5 Using Electronic Gear82J Examples of Setting an Electronic Gear Ratio for Different Load MechanismsBall ScrewRe

3.2 Setting Parameters According to Host Controller833.2.6 Using Contact Input Speed ControlThe contact input speed control function provides easy-to-

APPLICATIONS OF Σ-SERIES PRODUCTS3.2.6 Using Contact Input Speed Control84Setting Meaning Input Signal0, 1, 2,789Does not usethecontact/P-CON (1CN-41)

3.2 Setting Parameters According to Host Controller85In the SERVOPACK, a speed reference is mul-tiplied by the preset acceleration or decelera-tion va

APPLICATIONS OF Σ-SERIES PRODUCTS3.2.6 Using Contact Input Speed Control86Input signal /P-CON is used to specify the direction of motor rotation.→ Inp

3.2 Setting Parameters According to Host Controller87Note When the parameter Cn-2B is set to 5, the soft start function works only in contactinput spe