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Servopack SGDB UserManual

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115 views351 pages

Servopack SGDB UserManual

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jmtortu
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> Series SGMB/SGDB USER'S MANUAL AC Servomotor and Driver (200V: 22 to 37kW, 400V: 22 to 55kW) SGMB Servomotor SGDB SERVOPACK YASKAWA, MANUAL NO. SIEZ-S800-16.1 Safety Information ‘The following conventions are used to indicate precautions in this manual. Failure to heed precau- tions provided in this manual can resultin serious or possibly even fatal injury or damage to the prod- ots or to related equipment and systems, ZXWARNING | Indicates precautions that, if not heeded, could possibly result in loss of life or serious injury ZX Caution indicates precautions thet, ifnot heeded, could result in relatively serious or minor injury, damage to the product, or fauty operation. OYaskawa, 2000 Allrights reserved. No part of this publication may be reproduced, stored ina retrieval system, or transmitted, in any form, or by any means, mechanical, electronic, photocopying, recording, or otherwise, without the prior written permission of ‘Yaskawa. No patent liability is assumed with respect to the use of the information contained herein. Moreover, because ‘Yaskawa is constantly striving to improve its high-quality products, the information contained in this manual is subject to ‘change without notice. Every precaution has been taken in the preparation of this manual. Nevertheless, Yaskawa as- sures no responsibility for errors or omissions. Neither is any liability assumed for damages resulting from the use ofthe information contained in this publication, Visual Aids <4EXAMPLED (ito > IMPORTANT ‘The following aids are used to indicate certain types of information for easier reference, Indicates application examples. Indicates supplemental information. Indicates important information that should be memorized. ‘Techical ems placed in bold inthe ext ae briefly explained i “TERMS” section a the bottom ofthe page. The following kind of echnical terms are explained: Technical terms that ned tbe expainedowsers who arenot very familiar with servo systems oelecronic devices and technica terms Specific to F-Series Servo ha need to be x Plaine in descriptions of fonctions. The text indicated by this con explains the operating procedure using Hand-held Type Digital Operator (Type: JUSP-OPO2A-1). The text indicated by this icon explains the operating procedure using Mount Type Digital Operator (Type: JUSP-OPO3A). OVERVIEW OVERVIEW Visual Aids ee wv Overview i : 4 Using Tis Mara : xi ‘TABLE OF CONTENTS v Satoty Precautions ai 1 FOR FIRST-TIME USERS OF AC SERVOS Vet 1.4 Basie Undorstanding of AC Serves... 7 1-2 1.2 Configuration of Sorvo System 1-5 1.3 Features of J-Series Servos an 2 BASIC USES OF 3-SERIES PRODUCTS 24 2.1 Precautions .. 2-2 22 Inetaaion - 2-8 2.3 Conecion and Wiring : 2 24 Conducting a Test Run ee 227 3. APPLICATIONS OF 5-SERIES PRODUCTS. 31 ‘3.1 Seting the Parametors According to Machino Characteristics. 9-5 22 Sating Parameters According to Host Controller 313 93 Seting Up the = SERVOPACK 3-44 3.4 Setting the Stop Mose 3-49 {35 Running the Motor Smoothly q : 3-56 36 Minimizing Positioning Time 3-60 3.7 Forming a Protective Sequence 3-69 3.8 Special Wiring - a2 4 USING THE DIGITAL OPERATOR peseee Ad 4.1 Basic Operations 42 4.2 Using te Functions 47 5 SERVO SELECTION AND DATA SHEETS .. 5-1 5.4 Selecting a Z-Series Ser 5-4 5.2 SGMB Servomotor 7 on 5.3 SERVOPACK Ratings and Specticatons eevee. ‘54 S-Series Dimensional Drawings ......... 5-25 58 Specicatons and Dimensional Drawings of Peripheral Devices, 5-95. 6 INSPECTION, MAINTENANCE, AND TROUBLESHOOTING ... fetes Gel 6.1 Inspection and Maintenance: 6-2 162 Troubleshooting 6-5 A Servo Adjustment An 1B COMPARISON WITH PREVIOUS SERVOPACKS » Bet © Ustotv0 signals i cy D Listof Parameters .... Dea E _Ustof Alam Displays E-t se eeeee «++. Index -1 INDEX . —_—————_—_—_—_——— (ABLE OF CONTENTS Visual Aids . iv Overview - ae xi Using This Manuai "| xii 1 FOR FIRST-TIME USERS OF AC SERVOS............... 1-1 1.1 Basic Understanding of AC Servos 1-2 1.1.4 Servo Mochaniems . 1-2 1.4.2 Technical Terms 14 1.2 Configuration of Servo System 1-5 1.3 Features of 2-Series Servos 1.8.1 Outline eae 1.3.2 Using the SGDB SERVOPACK .. 2 BASIC USES OF 5-SERIES PRODUCTS ... 2.1 Precautions 2.2 Installation 22.1. Checking on Delivery . 2.2.2 Instaling the Servomotor 2.2.3 Allowable Thrust and Radial Shaft Loads . 2.24 Installing the SERVOPACK 2.28 Power Loss .. i 2.3 Connection and Wiring . 2.3.1 Connecting to Peripheral Devices .... 2.3.2 Main Circuit Wiring and Power ON Sequence .. 2.3.3 Examples of Connecting YO Signal Terminals .. 24 Conducting a Test Run . 2.4.4 Test Run in Two Steps ....... 2 2.4.2 Stop t: Conducting a Test Run for Motor without Load... ee 2.43 Step 2: Conducting a Test Fun with the Motor Connected 1 the Machine 2- 2 2.4.4 Supplementary information on Test Run 2.4.5 Minimum Parameters Required and Input Signals 3 APPLICATIONS OF =-SERIES PRODUCTS .......... 3.1 Setting the Parameters According to Machine Characteristics . 8.1.1. Changing the Direction of Motor Rotation . 8.1.2 Setting the Overtravel Limit Function TABLE OF CONTENTS ——<$_$ Eee 3.2 Setting Parameters According to Host Controller 3.2.1 Inputting the Speed Reference 3.2.2 inputting the Position Reference 3.2.3 Using Encoder Outputs .. 3.2.4 Using Contact YO Signals 3.2.5 Using the Electronic Gear . 3.2.6 Using Torque Control 3.2.7 Using the Torque Feed-forward Function... 7 3.2.8 Using Torque Restiction by Analog Volage Reference .. 3.2.9 Using the Reference Pulse Inhibit Function (INHIBIT) .. 3.2.10 Using the Reference Pulse Input Filter Selection Function . 3.2.11 Using the Analog Monitor «[Link]: : 3.3 Setting Up the & SERVOPACK . eur 3-44 33.1 Selting Parameters .... 7 peteeterensetenitu tt ea 244, 9.32 Setting the Jog Speed .... eee 3-45 3.3.3 Setting the Number of Encoder PUISOS .........ssceseeveseevsesrsesesesee 946: 3.34 Setting the Motor Model ........ . 3-47 3.3.8 Adjusting the Encoder Supply Voltage : 3-48, 3.4 Setting the Stop Mode . 3.4.1 Adjusting the Offset ‘42 Using the Dynamic Brake (08) 3.433 Using the Zoro-Clamp . 3.4.4 Using the Holding Brake 3.5 Running the Motor Smoothly . 3.5.1 Using the Soft Start Function 3.5.2 Using the Smoothing Function 3.5.3 Adjusting the Gain. 3.5.4 Adjusting the Offset s 3.5.5 Setting the Torque Reference Fitr Tine Constant ........0.... e © weave geeess8 eeaas 8 3.6 Minimizing Positioning Time . 3.6.1 Using the Autotuning Function 3.6.2 Setting the Servo Gain....... 9.6.3 Using Feedforward Contr. . 9.6.4 Using Proportional Control 3.6.5 Setting the Speed Bias ... 3.6.6 Using the Mode Switch weveve e 3.7 Forming a Protective Sequence . 3.7.4 Using the Servo Alarm Output and Alarm Code Output. 3.7.2 Using the Servo ON Input Signal 13.7.3 Using the Positioning Complete Signal .... 3.7.4 Using the Speed Coincidence Output Signal . 3.7.5 Using the Running Output Signal .. 3.766 Using the Ot Waring and Alarm Output Signals 3.7.7 Using the Servo Ready Output Signal 3.7.8 Handling of Power Loss ......+.++++ yeaae B 8 ———— 3.8 Special Wiring . 3.8.1 Wiring Instructions ... 98.8.2 Wiring for Noise Control ............ 3.8.3 Using More Than One Servo Drive 3.8.4 Using the Regenerative Resistor Units 3.8.5 Using an Absolute Encoder ..... 8.8.6 Connector Terminal Layouts seeeee 3=82 4 USING THE DIGITAL OPERATOR . 4.1 Basic Operations . 4.1.1 Connecting the Digital Operator 4.4.2 Key Functions «0.4... 4.1.3 Rosotting Servo Alarms... : 4.1.4 Basic Functions and Mode Selection .. 4.1.5 Operation in Status Display Mode . 7 4.4.6 Operation in Parameter Setting Mode... : 4.4.7 Operation in Monitor Mode ....... eee ere 4 4.2 Using the Functions 4.2.1 Operation in Alarm Trace-back Mode 4.2.2 Operation Using the Digital Operator 423 Autotuning . : 4244 Reference Otfset Automatic Adjustment .. 42.8 Reference Offset Manual Adjustment Mode 4.2.6 Clearing Alarm Trace-back Data 4.2.7 Checking the Software Version 4.2.8 Current Detection Orfset Manual Adjustment Mode . 5 SERVO SELECTION AND DATA SHEETS . 5.1 Selecting a E-Series Servo 5.1.1 Selecting a Servomotor ......... 5.1.2 Selecting a SERVOPACK ...., 6.1.3 Selecting a Digital Operator 5.2 SGMB Servomotor .... 52.1 Ratings and Spectications ...........eeseveesseee 5.2.2 Mechanical Characteristics .... Seen 5.3 SERVOPACK Ratings and Specifications . 5.3.1 Combined Specifications ... et 5.3.2 Ratings and Specifications ..... Seat 5.33 Overload Characteristics ...... 5.3.4 Starting Time and Stopping Time 5.3.8 Load Moment of Inertia 5.3.6 Overhanging Loads . 5.4 3-Series Dimensional Drawings . 5.4.1. Servomotor Dimensional Drawings. 5.4.2 SERVOPACK Dimensional Drawings . 5.4.3 Digital Operator Dimensional Drawings cesses 5225 TABLE OF CONTENTS ——§s Ee 5.5 Specifications and Dimensional Drawings of Peripheral Devices 5.8.1 Cable Spectications and Peripheral Devices 2 5-35 5.52 1CN Connector .. Poe eet eee ee ay 55.3 Connector Terminal Block Converter Unit 5-39 55.4 Cable With 1CN Connector and One End Without Connector .......cs.00... BAT 5.5.5 2CN Encoder Connector on SERVOPACK End . 5-42 5.5.6 Encoder Cables 5-43 5.5.7 Battery for Absolute Encoder 5-48 5.5.8 Brake Power Supply 7 7 5-49 5.5.9 Circuit Breaker ae 5-50 6.6.10 Noise Fiter . : 8-51 5.6.11 Surge Suppressor .... 5-52 5.5.12 Regenerative Resistor Unit i : : 5-53 5.5.13 Dynamic Brake (DB) Unit... 7 ceteeeees 8°87 5.5.14 Thormal Relays........ Race aen a ve 8-83 ‘5.5.18 Variable Resistor or Speed Seting 5-66 ‘5.5.16 Encoder Signal Convertor Unit... ates 5-64 5.5.17 Cables for Connecting PC and SERVOPACK . 5-66 6 INSPECTION, MAINTENANCE, AND TROUBLESHOOTING .... 6.1 Inspection and Maintenance 2 6.1.1 Servomotor -........ ae cee 6-2 6.1.2 SERVOPACK cette 699 6-4 5 see 6 6.1.3 Replacing Battory for Absolte Encoder .. 6.2 Troubleshooting . 6.2.1 Troubleshooting Problems with Alarm Display eae : 6.2.2 Troubleshooting Problems With No Alarm Display «..... a 6 6.23 Intemal Connection Diagram and instrument Connection Examples... 6 A Servo Adjustment . A.1 E-Series AC SERVOPACK Gain Adjustment ....... A.1.1 E-Series AC SERVOPACKs and Gain Adjustment Methods AA.2 Basic Rules for Gain Adjustment a A2 Adjusting a Speed-contro! SERVOPACK ... ‘A2.1 Adjusting Using Auto-tuning ......... A2.2 Manual Adjustment ‘A.3 Adjusting a Position-control SERVOPACK ‘A3.1_ Adjusting Using Auto-tuning .......... A3.2 Manual Adjustment A4 Guidelines for Gain Settings According to Load Inertia Ratio . A-12 B COMPARISON WITH PREVIOUS SERVOPACKS, 5.1 Functional Differences B.1.1. Dynamic Brake (DB) . B.1.2 Contact Input Speed Control B.2 Different Parameters and Alarms B21 Parameters... e eee veeeees B22 Alams List of VO Signals . List of Parameters .......... . E List of Alarm Displays ....... : INDEX.... Overview {Manual Contents ‘This manual provides E-Series users with information on the following: © An overview of servo systems for first-time users. © Checking the product on delivery and basic applications of the servo. © Servo applications. © Selecting an appropriate servo for your needs and placing an order. © Inspection and maintenance. ——_—— Using This Manual Basic Terms Unless otherwise specified, the following definitions are used: Servomotor: E-Series SGMB servomotor SERVOPACK: An amplifier (Trademark of Yaskawa servo amplifier "E-Series SGDB SERVO- PACK") ‘Servodrive: A servomotor and an amplifier (SGDB SERVOPACK) ‘Servo system: A complete servo control system consisting of servodrive, host controller, and pe- ripheral devices Safety Precautions Safety Precautions ‘The following precautions are for checking products on delivery, installation, wiring, operation, ‘maintenance, and inspection. Checking Products on Delivery ‘© Use the specified combination of servomotor and SERVOPACK. Failure to observe this caution may lead to fire or failure | © Neveruse the equipment where it may be exposed to splashes of water, corrosive or flammable installation A\ Caution gases, or near flammable materials, Failure to observe this tion may lead to electic shack ot fire, ‘Wiring A, WARNING '* Grounding must be in accordance with the national code and consistent with sound local practic: Failure to observe this warning may rsult in electric shock or fire ‘# Use the thermal protactor built into the servomotor according to ether ofthe two following meth- 'SGMB servomotors are cooled by a fan. Ithe fanis defective or power to the fans disconnected, heat from ods. the motor may result in burn or fre. + Method 1: Wire the output romthe thermal protectorto the host controllerand tum OFF the servo when the | thermal protector operates. an crocs sae cor nee £ + Method 2: troller and tum OFF the main ctcuit when the thermal protector operates. vowel seRvomacK Sorensen comars Wire the thermal protector tothe operating circuit of the main crcut contactors or the host con- ce A, Caution + Do not connect three-phase power suppl to output terminals@) (Cana @. Faitue to observe this caution may result in personal injury offre, '* Securely tighten screws on the power supply and motor output terminals, Failure to observe this caution may result in a fire. Safety Precawions W Operation A, WARNING ‘© Never touch any rotating motor parts during operation, Failure to observe this warning may result in personal injury. ao A! Caution ‘© To avoid inadvertent accidents, run the servomotor only in test run (without load). Failure to observe this caution may result in personal injury | * Betore starting operation with a load connected, set up parameters suitable for the machine. Starting operation without seting up parameters may result in overrun failure. ‘© Before starting operation with a load connected, make sure emergency-stop procedures are in place. Failure to observe this caution may result in personal injury ‘© During operation, do not touch the heat sink, Failure to observe this caution may result in burns. Maintenance and inspection ‘A, WARNING '* Be sure to tum OFF power before inspection or maintenance. Failure to observe this warning may result in electri shock, '* Never open the terminal cover while power is ON, and never tum ON power when the terminal ‘cover is open. Failure vo observe this warning may result in electri shock. ‘© After tuning OF F power, wait at least five minutes before servicing the product, Failure to observe this warning may result in residus electric charges causing electrie shock A\ Caution © Do not disassemble the servomotor. Failure to observe this caution may result in electnc shock or personal injury —7—_—_—_—Ooooo A\ Caution '» Never change wiring while power is ON. Failure to observe tis caution may result in electric shock or personal injury, Safety Precautions ———_—_— EE General Precautions Note the following to ensure safe application. ‘+ Some drawings in this manual are shown withthe protective cover or shields removed, in order to describe the detail with more clarity. Make sure all covers and shields are replaced before oper- ating this product. * Some drawings in this manual are shown as ty product. al example and may differ from the shipped ‘+ This manual may be modified when necessary because of improvement of the product, modifi- cation or changes in specifications. | Such modification is made as a revision by renewing the manual No. + Toordera copy of this manual, if your copy has been damaged or lost, contact your YASKAWA | representative listed on the last page stating the manual No, on the front cover. | + YASKAWA is not responsible for accidents or damages due to any modification of the product ‘made by the user since that will void our guarantee. FOR FIRST-TIME USERS OF AC SERVOS ‘This chapter is intended for first-time users of AC servos. It describes ‘the basic configuration ofa servo mechanism and basic technical terms relating to servos. Users who already have experience in using a servo should also take a look at this chapter to understand the features of E-Series AC Servos. 1.1 Basic Understanding of AC Servos ....... 1-2 1.1.1 Servo Mechanisms ........ o 1-2 1.1.2 Technical Terms ........ See EEE | 1.2. Configuration of Servo System 1.3 Features of E-Series Servos . 13.4 OutiNe...ecesecsseeeseeseee ee a 1.82 Using the SGDB SERVOPACK ....scsescseee 1212 FOR FIRST-TIME USERS OF AC SERVOS 1.11 Servo Mechanisms, 1.1 Basic Understanding of AC Servos ‘This section describes the basic configuration of a servo mechanism and technical terms relating to servos and also explains the features of E-Series AC Servos. 1.1.1 Servo Mechanisms You may be familiar with the following terms: * servo Servo mechanism ‘© Servo control system In fact, these terms are synonymous. They have the following meaning: A control mechanism that monitors physical quantities such as specified positions, Jn short, a servo mechanism is like a servant who does tasks faithfully and quickly according. to his master’s instructions. Infact, “servo” originally derives from the word “servant.” Servo mechanism Asst pans Inds Sundd 8) ting sen mechs ined amen hat ‘ss the position, direction, oraretation of ancbject asa process variable conto system follow any changes ‘na target vale (et point) “More simply, a servo mechanism is cotol mechanism that monitors piysical quate such as specified pos tons. Feedback contol is normally pesfrmed by a servo mechanism (Source: JIS BOIS!) Servo system could be defined in more detail as a mechanism that; © Moves at a specified speed and © Locates an object in a specified position 1.1 Basic Understanding of AC Servos To develop such a servo system, an automatic control system involving feedback control must be designed. This automatic control system can be illustrated in the following block diagram: Configuration of Servo System ‘Speciied positon + servo ‘Servo emcee! ‘apa amptter |] motor ae Feedback part | Datector | Machine postion a output ‘This servo system is an automatic control system that detects the machine position (output data) feeds back the data to the input side, compares it with the specified position (input data), and moves the machine by the difference between the compared data, {In other words, the servo system is @ system to control the output data to match the specified input data. 1, for example, the specified position changes, the servo system will reflect the changes. In the above example, input data is defined as a position, but input data can be any physical ‘quantities such as orientation (angle), water pressure, or voltage. Position, speed, force (torque), electrie current, and so on are typical controlled values for a servo system. ‘Feedback control ‘A contol method in which process variables ave returned othe inp side o form a clos oop. ti als called losed-oop conte ‘a negative signals retuned othe inp side, called negative feedback conto. Noma, negative fcc conto is wed to sabiiz the system. I feedhack nx rtured the control method scaled open oop central 1s FOR FIRST-TIME USERS OF AC SERVOS ————————— 1-12 Technical Term 1.1.2 Technical Terms ‘The main technical terms used in this manual are as follows: © Servo mechanism © Servo Normally, servo is synonymous with servo mechanism, However, because “mechanism” is omitted, the meaning becomes somewhat ambiguous. Servo may referto the entire servo ‘mechanism but may also refer to an integral part ofa servo mechanism such as a servomo- {or or a servo amplifier. This manual also follows this convention in the use of the term © Servo control system ‘Servo control system is almost synonymous with servo mechanism but places the focus, fon system control. In this manual, the term “servo system" is also used as a synonym of servo control system, Related Terms: Meaning Servomotor General servomotors or Vaskawa SGM servomotors, In some cases, a position detector (encoder is included in a servomotor. SERVOPACK "Trademark of Yaskawa servo amplifier “SGDB SERVOPACK. [Servo drive 'A servomotor and amplifier pai. Also called “servo.” Servo system ‘A closed control system consisting ofa host controller, servo drive and coniroled system to form a servo mechanism. Host controler ‘Servo system 12 Conitguraton of Sorvo System 1.2 Configuration of Servo System ‘The following diagram illustrates a servo system in detail Position or speed ‘elerance {Input (1) Contotied system: Mechanical system for which te position or speed isto be controlled. ‘This includes a drive system that transmits torque from a servomoto: (2) Servomotor: ‘A main actuator that moves a controlled system. Two types are avail- able: AC servomotor and DC servomotor. (3) Detector: A position or speed detector. Normally, an encoder mounted on a mo- pes tor is used as a position detector (4) Servo ampli ‘An amplifier that processes an error signal to correct the difference between a reference and feedback data and operates the servomotor accordingly. A servo amplifier consists of a comparator, which pro- cesses error signals, and a power amplifier, which operates the servo- motor, (5) Host controller: A device that controls a servo amplifier by specifying a position or speed as a set point FOR FIRST-TIME USERS OF AC SERVOS $$ ‘Servo components (1) to (5) are outlined below: 1, Controlled system In the previous figure, the controlled system is a movable table for which the position or speed is controlled. The movable table is driven by 2 ball screw and is connected to the servomotor via gears. So, the drive system consist of: a) Gears + Ball Serew ‘This drive system is most commonly used because the power transmission ratio (gear ratio) can be freely set to ensure high positioning accuracy. However, play in the gears aus be minimized. ‘The following drive system is also possible when the controlled system is a movable table: b)Coupling + Ball Screw ‘When the power transmission rato is 1:1, a coupling is useful because it has no play. This drive system is widely used for machining tools. ©) Timing Belt + Trapezoidal Screw Thread A timing belt isa coupling device that = allows the power transmission ratio be set freely and that has no play. ‘A trapezoidal screw thread does not “Trapoldel provide excellent positioning accura- ‘cy, So can be treated as a minor cou- pling device. Servomotor Ting belt To develop an excellent servo system, it is important to sclect a rigid drive system that thas no play, Configure the controlled system by using an appropriate drive system for the control purpose, nial Also called a dive mechanism, ‘Adsivesystem connect an actuator uch asa servomtor to acontolledsysemand serves at amechaical conta ‘component that ansmtstonuetothe controlled system, erienttesthe controled sytem, andconvers motion fom statin 0 linear motion ad vice ver. 2. Servomotor ‘a) DC Servomotor and AC Servomotor Servomotors are divided into two types: DC servomotors and AC servomnotors DC servomotors are driven by direct current (DC). They have a long history, Up until {he 19805, the term "servomotor” used to imply a DC servomotor. From 1984, AC servomotors were emerging as a result of rapid progress in micropro- cessor technology. Driven by alternating current (AC), AC servomotors are now wide- Iy used because of the following advantages: + Easy maintenance: No brush + High speed: No limitation in rectification rate ‘Note however that servomotors and SERVOPACKS use some parts that are subject to ‘mechanical wear or aging. For preventive maintenance, inspect and replace parts at regular intervals For details, refer to Chapter 6 Inspection, Maintenance, and Troubleshooting. B)AC Servomotor AC servomotors ate divided into two types: Synchronous type and induction type. The synchronous type is more commonly used. Fora synchronous type servomotor, motor speed is controlled by changing the frequen- cy of alternating current ‘A synchronous type servomotor provides strong holding torque when stopped, so this {ype is ideal when precise positioning is required. Use this type for a servo mechanism for position control. ‘The following figure illustrates the structure of a synchronous type servomotor: Light receiving Rotary disc element Amature Housing Front cap Lightamiting oro Cal Ball bearing ‘Shaft Rotor core Postion elector Magnet fencover) Load wire Yaskawa SGMG servomotors are ofthe synchronous type. ©) Performance of Servomotor ‘A servomotor must have “instantaneous power” so that it can start as soon as a start reference is received. ‘The term “power rating (kW/s)" is used to represent instantancous power. refers tothe electric power (kW) that a servomotor generates per second. ‘The greater the power rating, the more powerful the servomotor. FOR FIRST-TIME USERS OF AC SERVOS LL 3. Detector ‘[Link] system requires a position or speed detector. It uses an encoder mounted on a ser- vvomotor for this purpose Encoders are divided into the following two types: ‘a) Incremental Encoder ‘An incremental encoder is a pulse generator, which generates a certain number of pulses per revolution (¢.g., 2,000 pulses per revolution). If this encoder is connected 1o the mechanical system and one pulse is defined as a certain length (c.g., 0,001 mm), it can be used as a position detector. However, this encoder does not detect an absolute position and merely outputs a pulse train, Hence zero point return operation must be performed before positioning, ‘The following figure illustrates the operation principle of a pulse generator: Phasea MM MME Phase A puse tain PraseB MM BM Phase 8 puso train Prasez Fe sit "ght oeahving ‘lement Rotary sit 1b) Absolute Encoder ‘An absolute encoder is designed to detect an absolute angle of rotation as well as 10 perform the general functions of an incremental encoder. With an absolute encoder, therefore, it is possible to create a system that does not require zero point return opera- tion atthe beginning of each operation, Difference between an absolute and incremental encoder: ‘An absolute encoder will keep track of the motor shaft position even if system power is lost and some motion occurs during that period of time. The incremental encoder is incapable of the above. 4. Servo amplifier ‘A servo amplifier is required to operate an AC servomotor, ‘The following figure illustrates the configuration of a servo amplifier: A servo amplifier consists of the following two sections: £8) Comparator ‘A comparator consists of a comparison function and a contol function. The compari- son function compares reference input (position or speed) with a feedback signal and generates a differential signal ‘The conttol function amplifies and transforms the differential signal. In other words, it performs proportional (P) control or proportionalfintegral (PI) control. (It is not important if you do not understand these conirol terms completely at this point) byPower Amplifier ‘A power amplifier nuns the servomotor at a speed oF torque proportional to the output ‘oF the comparator. In other words, from the commercial power supply of 50/60 Hz, it generates alternating current with a frequency proportional othe reference speed and runs the servomotor with this current, 4 Proprionansga Pond contol provides more accurate potion or sped comtrl than propetonl conto, which is more cammonty ed, FOR FIRST-TIME USERS OF AC SERVOS _—_—_—_—_—_—_—_—_——OOOOO———————— 5. Host Controller A host controller controls a servo amplifier by specifying a position or speed as a set point. For speed reference, a position control loop may be formed in the host controller when a position feedback signal is received. Yaskawa PROGIC-8 is a typical host controller. © PROGICS ‘A programmable machine console combine with servo amplifier fr speed control (maximum eight ais coauol, the PROGIC.8 ean provide pasion conto “The PROGIC:S also provides programmable conte functions, 13 Features of Series ET 1.3 Features of £-Series Servos A E-Series Servo consists of an SGMB servomotor and an SGDB SERVOPACK. 1.3.1 Outline ures: Rated rotation | Voltage Maximum [Rated our speed torque put Maximum rotation speed Ts00 min | 200V 200% 221037 kW 2000 r/min 250% (6 models) a0 2210 55 kW same (10 models) an ‘SGDB model SERVOPACKs allow the control of speed, pos! and torque. ‘Speed contro (analog reference) Accepts an analog voltage speed reference. '* Position control (pulse reference) Accepts a pulse tain position reference ‘SGDB SERVOPACK Torque control (analog reference) ‘Accepts an analog voltage torque reference FOR FIRST-TIME USERS OF AC SERVOS {G08 SERVO! 132 Using 1.3.2 Using the SGDB SERVOPACK ‘The most common use of a SERVOPACK for speed control is shown below: Using the SERVOPACK for Speed Control 25 Pai contatloon Positon codes 5 SERVOPACK rence (Speed contol med) Power (Analog anliler vottage) | , : Torque Positon = Speed (current) SERRE eee rain Peston esc racer Servomotor ‘As shown in the above figure, a position control loop is formed in the host controller. The host controller compares a position reference with a position feedback signal and sends the processed result to the SERVOPACK as a speed reference. In this way the host controller can be freed from performing the servo mechanism control. ‘The SERVOPACK undertakes the speed control loop and subsequent control processing. ‘The Yaskawa programmable machine controller PROGIC-8 is used as a typical host con- roller. 13 Features of -Sores Servos Using the SERVOPACK for Torque Control Host contotar > Postion monitoring Positon ‘SERVOPACK Information Torque {torque control mods) ier f ‘ Servometor gees | * pee Ee ae ‘The host controller outputs a torque reference to contral the SERVOPACK. It also receives ‘a pulge train (position information) from the SERVOPACK and uses it to monitor the posi- tion, ™@ Using the SERVOPACK for Position Control Host controter Postion mentoring ‘The host controller can send a position reference (pulse train) to the SERVOPACK to per- form positioning or interpolation. ‘This type of SERVOPACK contains a position controt loop. Parameters can be used to select either of the following pulse trains: a FOR FIRST-TIME USERS OF AC SERVOS a 1.82 Using the SGDB SERVOPAGK ‘a) Code and pulse train 1b) Two-phase pulse train with 90° phase difference ©) Forward and reverse pulse trains ‘The host controller receives a pulse train (position information) from the SERVO- PACK and uses it (o monitor the position, @ Parameters A Digital Operator can be used to set parameters for a SERVOPACK as follows: a) Setting parameters to enable or disable each function b)Setting parameters required for functions to be used Set parameters according to the servo system to be set up. BASIC USES OF 2-SERIES PRODUCTS ‘This chapter describes the first things to do when E-Series products are de- livered. It also explains the most fundamental way’ of connecting and op- ‘rating E-Series products. Both first-time and experienced servo users must read this chapter, 2.1 Precautions ......... 2-2 2.2 Installation ...... : 2-5 2.2.1 Checking on Delivery ....... 2-5 2.22 Instaling the Servomotor .. ci 2-7 2.23 Allowable Thrust and Racial Shaft Loads 2-10 2.24 Inaaling the SERVOPACK 2.25 Power Loss 2.3 Connection and Wiring .. 2.3.1 Connecting o Peripheral Devices «......... 2.32 Main Creu Wiring and Power ON Sequence ... 2-17 2.3.3 Examples of Connecting VO Signal Terminals ... 2-23 2.4 Conducting a Test Run .. 2-27 2.4.4 Tost Run in Two Steps .. stot amt 2.42 Step 1: Conducting a Test Run for Motor without Load ... sessereseess 2-29 2.4.3 Step 2: Conducting a Test Run with the Motor Connected to the Machine : 2-33 2.4.4 Supplementary Information on Test Run ........ 2-34 2.4.5 Minimum Parameters Required and Input Signals. 2-36 BASIC USES OF E-SERIES PRODUCTS Se 2.1 Precautions ‘This section provides notes on using E-Series products, EE> 4 ptt foro ning io ease safe use Use 200/400-VAC power supply ‘Use a 200-VAC or 400-VAC power supply according (o the servomotor model. Pope gio sio eevee comet ors verte diy in de power eqeey monty] (Direct conection 1 he power tegcney ply sue wee will damage the servomotor.) a, Damage wi est Do not change wiring when power is ON. Always urn the power OFF before connecting or ds- oF connecting a connector. (POWER ana (Except for Digital Operator (Models: JUSP- (CHARGE lamp) OPO2A-1, JUSP-OPO3A)) ‘Always turn the é power OFF bore Eannectng or ‘faconmesing ‘connector. Note that residual voltage still remains in the SERVOPACK even after the power is turned OFF. Even after the power is turned OFF, residual electric ae ‘charge still remains in the capacitor inside the SER- | 2 | VOPACK. To prevent an electric shock, always wait = / CHARGE lamp for the CHARGE lamp to go OFF before starting in- spection (if necessary). 22 Always follow the specified installation method. ‘The SERVOPACK generates heat. Install the SER- VOPACK so that it can radiate heat freely. Note also that the SERVOPACK must be in an environment fice from condensation, vibration and shock. Perform noise reduction and grounding properly. Provide sufcient clearance ae ambiont— | ge, temperature: | owsse If the signal line is noisy, vibration or malfunction csing will result. ‘SERVOPAGI Sal] senomotor ‘© Separate high-voltage cables from low-voltage cables. HO © Use cables as short as possible «# esform the grounding withthe ground resistance * Grn wtn of 10082 or less forthe servomotor and SERVO- 400 or ss) PACK. Never use a line filter for the power supply inthe motor ciruit. Conduct a voltage resistance test under the following conditions. ‘© Voltage: 1500 Vers AC, one minute Om condata trrent limit: 100 tontaoe tet © Current limit: 100 mA ‘onstane Frequ i onan avon Frequency: 50/60 H, conan * Voltage application points: Between L1/Cr, L3CH, LU/R, L2/S, L3/T terminals and frame ground (connect terminals securely). Use a fast-response type ground-fault interrupter. For a ground-fault interrupter, always use a fast-re- Ground taultinerrupter sponse type or one designed for PWM inverters. Do GOOD GOOD POOR not use a time-delay type, Fastresponse || ForPWAA [Tine delay pe inverter || ype Do not perform continuous operation under overhanging load. ‘Continuous operation cannot be performed by rotat- ing the motor from the load and applying regenera tive braking. Regenerative braking by the SERVO- PACK ean be applied only for a short period, such as the motor deceleration time, 2a Servomotor | Donat ‘eoenrae baking cena. BASIC USES OF 3-SERIES PRODUCTS ere The servomotor cannot be operated by turning the power ON and OFF. Frequently turning the power ON and OFF causes the SERVOPACK internal circuit elements to deteriorate, Always stan fs or stop the servomotor by using reference pulses. oi fom Power er supply 9 SIS Do nat stro stop by turing power ON and OFF. 22 Insaiaton 2.2 Installation This section describes how to check E-Series products on delivery and how to install them. 2.2.1 Checking on Delivery ‘When E-Series products are delivered, check the following items: ‘Check Rems Remarks (Check ifthe delivered products are the | Check the models marked on the nameplates of servornotor| ‘ones you ordered, and SERVOPACK (ee the following table), ‘Check if the motor shaft orales Tithe motor shat is smoothly tamed by hand, itis normal smoothly. However, if the motor has brakes, it cannot be turned manually. (Check Tor damage. (Check the overall appearance, and check for damage or scratches resulting from transportation, [Check serous or Toosness (Check for looseness by using a sorowdriver as necessary. If any of the above items are faulty or incorrect, contact the dealer from which you purchased the products or your nearest local sales representative |» | BASIC USES OF 3-SERIES PRODUCTS 2211 Checking on Delvery c “Appearance ‘Nameplate Wodel— ana shee SGMB-2BA2A00 [— Rate ut TOT TTT | ete ne [— Serato ms! aaa Femme z FB AG SERVO WOTOR a. oF be oS ecooen || | 2 ection aaa ae || bee ee mtr =e Settee | |Etoemerrm en cone | | Herre Pinon | | Seopa Senor TERT Core] |S — | a ee scl eae yea ae Soo mee SER- bia VO. [be] iame PAC) plate Series SGDB ‘SERVOPACK =a a 228 26 22 instalation —_———$_$$—$_$_$_——————— 2.2.2 Installing the Servomotor ‘The SGMB servomotor can be installed either horizontally or vertically, However, ifthe servo- ‘motor is installed incorrectly or in an inappropriate location, the service life will be shortened ‘or unexpected problems will occur. To prevent this, always observe the installation instructions described below. ‘When using the models with an oi seal, installing the motor with the output shaft up may cause cil to enter the motor depending on the operating conditions. Check the operating conditions, Before installation: Anticorrosive paint is coated on the edge of the motor shaft to prevent it from rusting during storage. Clean off the anticorrosive paint thoroughly using a cloth before installing the motor, “Antcorrosive paint is ‘coated ere, Storage: ‘When the servomotor isto be stored with the power cable disconnected, stor it inthe following temperature range: Between -20°C and 60°C BASIC USES OF 3-SERIES PRODUCTS. 222 Instaling the Servomotor oe Installation sites: ‘The SGMB servomotor is designed for indoor use. Install servomotor in an environment which meets the following conditions 1. Free from corrosive and explosive gases 2, Wel-ventilated and free from dust and moisture 3. Ambient temperature of O10 40°C 4. Relative humidity of 20% to 80% (non-condensing) 5. Inspection and cleaning can be performed easily 6. Altitude of 1000 m max. If the servomotor is used in a location subject to water ot oil mist, the motor can be protected by taking necessary precautions on the motor side. However, if the shaft opening is to be sealed, specify the motor with oil seal, Install with the electrical connector facing downward. Alignment Align the shaft ofthe servomotor with that of the equipment to be controlled, then connect the shafts with couplings. Install the servomotor so that alignment accuracy falls within the range shown below. Measure this stance a! four efferent positions inthe circumerenca. ‘The iferance between the maximum and minimum measurements ‘must be 0.03 ram ort. Tun together wi courings) € iy Measure this distance at four aeront posttons in te | _ creumterence. The diference between the maxima arcs ‘minimum measurements must be 0.03 rm ot legs, (Tum 4 — together with coupings) 1. If the shafts are aot aligned property, vibration will occur, resulting in damage tothe bearings. 2. A precision detector (encoder) is mounted onthe opposite-drive end of the servomotor. To mount a cou- pling, always protec the shaft from impacts that could damage the detector, '3. Before mounting the pinion ger directly tothe motor output shaft consult your Yaskawa sles represent an [rete] + sions a Refers tothe space where de shat comes ou from the motor. 28 Wiring the Servomotor Power Lines ‘Connect the servomotor power lines (U, V, and W) to the servomotor terminal block (M10) im the servomotor terminal box. Connect the ground wire to the ground serew in the terminal box Wiring the Servomotor Fan Wire the servomotor fan leads U(A), V(B), and W(C) so that the direction of air flows accord- ing to the following diagram. If the air flows inthe opposite direction, change the wiring of any ofthe two phases U,V, and W. D> | soromer Direction of coolair Protecting the Servomotor Fan ‘The servomotor fan has a built-in thermal protector, as shown in the following diagram, that ‘operates at 140°C + 5%. To protect the servomotor fan from overcurrent, use with a 2-A no- fuse breaker. Installing the Servomotor Fan ‘To maximize the cooling capacity of the servomotor fan, install the fan at least 200 mm from the inlet side of the servomotor as shown in the following diagram. s Coot air Servometor ? £200 me min. 29 B BASIC USES OF E-SERIES PRODUCTS ——— 223 Alowable Tet end Rodel Sraftcoacs Servomotor Connector Specifications ‘© Encoder Connector on Servomotor ‘The connector specifications for the encoder on the servomotor are as follows: Encoder Connectors 1 Plug Cable Clamp Receptacle Ushaped ‘Straight TAQRA-20-298-TA-EB' or [TAG6A-20298-1-EB™ or | sonoamcKEeny? Fo; | TTF STOIERO- DOP 1MS3108B20-295 153106820298. MS3057-12A 2+ indicates the cable diameter. -— — Tobe prepared by the customer x +1, Connector at servomotor i rely provided. +2, Manufactored by Japan Aviation Electronics Inds, Lid +3. Waerpoot (Fan Connector on Servomotor ‘The connector specifications forthe fan on the servomotor are as follows: Fan Connectors Plug ‘Cable Clamp Receptacle” L-shaped Straight |CEDS-SATE-10SD-B-BAS™? | CEDS-GATB-10SD-B-BSS™> | cE3057-10n« (DOES) oy | CEOS TATE 1OPD E> Jor MS3108B 8.108 or MS3106616-108 1MS3057-10A, indicates the cable diameter. Tos prepared by the customer ———— +1. Connector at ihe servomoto i leady provided. +2, Manufacture by Daiichi Dens Kogyo Co, Lid 73. Waterproof 2.2.3 Allowable Thrust and Radial Shaft Loads Design the mechanical system so thatthe thrust load and radial load applied to the servomo- ‘or shaft during operation fall within the ranges shown in the following table, 3 Tn naan and A tat ‘Shaft-end load applied paralle! 10 the centerline of the shaft — 1. aoa | ‘Shafl-end loa applied perpendicular to the cence of he shal 22 Installation Tiowabie | —Atowable Secomater | gedit tows | Tut tote | qty | meternce Drawing Fr [Nb] Fs [N(ibh)) si SGMB-TEATY “wo a2] “ais | TOTTI im SeMBZAS| era | aise TORAH Hel SGMB3GADU | 7448 67s) | 2156485) | 100.9% ee SGMB-4EALIO] | 7840 (1763) 2156 (485) 100 (3.94) . ea SaumsEACE| wa | aRecaH [Tova "Note: Allowable rail and dust loads shown above ae the maximum vals that could be ap pled w he shar end BASIC USES OF E-SERIES PRODUCTS ‘224 Instaling he SERVOPACK 2.2.4 Installing the SERVOPACK ‘E-Series SGDB SERVOPACK is a base-mounting servo controler. Incorrect installation will cause problems. Always observe the installation instructions de- serbed below. Storage: When the SERVOPACKistobe stored withthe pow. a cx cable disconnected, store i inthe following tem- peraure range: Between -20°C and 85°C Installation sites: ‘Sao SeAvoPACK ‘Situation Toias on intalation Design the contol panel size, unit layout, and cooling method When installed in contol pane] | so thatthe temperature around the periphery ofthe SERVOPACK does not exceed 55°C. ‘Suppress radiation heat from the heating unit and a temperature ‘When installed near a heating unit rise caused by convection so thatthe temperature around the Periphery ofthe SERVOPACK does not exceed 55°C. [When insalled near a source of | Install a vibration isolator undemeath the SERVOPACK to vibration prevent it from receiving vibration, Corrosive gases do not immediately afect the SERVOPACK When installed in 2 place receiving | but will eventually cause contactor-elated devices to corrosive gases ‘malfunction. Take appropriate action to prevent conrsive sases, ‘Avoid instalation ina hot and humid place or where excessive dust or iron powder is present inthe ait Others Orientation: tt Install the SERVOPACK perpendicular to the wall as shown in the figure. =f z ‘The SERVOPACK must be orientated as shown in the figure, Firmly secure the SERVOPACK through three ot four mounting holes. tt Ventitation 22 instalation Installation method: ‘When installing multiple SERVOPACKs side by side in a control panel, observe the following installation method: ee REG oomarme 50mm or more | 2 | = Install SERVOPACK perpendicular to the wall so that the front pane! (digital operator ‘mounted face) faces outward, 2, Provide sufficient space around each SERVOPACK to allow cooling by fan and natural convection 3. When installing SERVOPACKs side by side, provide at least 10 mm space between them ‘and a least 50 mm space above and below them as shown in the figure above. Install cool- ing fans above the SERVOPACKs to prevent the temperature around each SERVOPACK from increasing excessively and also to maintain the temperature inside the control panel evenly. 4. Maintain the following conditions inside the control panel: ‘© Ambient temperature for SERVOPACK: 0 to 55°C + Humidity: 90%RH or less ‘* Vibration: 4.9 ms? ‘© Condensation and freezing: None ‘+ Ambient temperature to ensure long-term reliability: 45°C or less 2.2.5 Power Loss Power loss of SERVOPACK is given below: ‘Ouiput | Power Loss | PowerLose SERVOPACK | Current inMain | inControt | Tot! Power Model | (RMS Value) | Circuit Circuit 7 A w w SGDB-2BAD 120 670 B 7a SGDB-IZAD 195 380 i052 ‘SGDB-IGAD 710 1700 13 190 3605-2800 650 770 'SGD8.5Z00 570 i060 ‘SGDRAGDD 1140 1260 [SGDB-4EDD 1640 1360 SGDB-5EDD 1730 180 BASIC USES OF E-SERIES PRODUCTS "28.1 Connecting to Peripheral Devious = 2.3 Connection and Wiring ‘This section describes how to connect E-Series products to peripheral devices and explains a typi- cal example of wiring the main circuit, It also describes an example of connecting to main host controllers, 2.3.1 Connecting to Peripheral Devices This seetion shows a standard example of connecting E-Series products to peripheral devices and briefly explains how to connect to exch peripheral device. 2.3 Connection and Wiring 1CN Host controlier ‘SERVOPACK is Compattie wih most PLC motion controls. and indexers. MEMOCON GL 120, GL130 Programmable Logie Gontrollar with Maton Conto! Mock BASIC USES OF E-SERIES PRODUCTS 23:1 Connacting to Peripheral Devicas Connector terminal block conversion unit (Model: JUSP-TASOP) ‘The terminal block allows connection to a host controller. ne 5 meter cate with Sexveonnectr Cable with 1CN connector and one end without connector Im (3.34) DE9406969-1 2m (6.64) DE9406969.2 1eN 3m (9.8ft) DE9406969.3, ICN connector kit (Model: DP9406970) D 10N Cable for PG ‘This cable is used to connect the encoder of servomotor to the SERVOPACK. ‘The following three types of cables are available according to encoder types. © Cable with a igle connector (without connector on encoder end) aa Cable Model (= Incremental | Absolute ‘am eR) | JZSP-VBPO0-03 | JZSP-VBP10-0S 5m (16.41) | JZSP-VBPO0-05 | JZSP-VBP 10-05 10m (@2.8t) | JZSP-VBPOO-10 | JZSP-VBP10-10 15m (49.28) | JZSP-VBPOO-15 | JZSP-VBP10.15 [20m (65.6) | JZSP-VBPO0-20 | JZSP-VBP10-20 ‘© Cable with connectors on both ends (straight plug on encoder end) = Sais a C===CD Incremental_| Absolute ‘Sm (@.88) | JZSP-VBPO1-03_| JASP-VBP11-08 ‘5m (16.4) | JZSP-VBPO1-05 | JASP-VBP11-05 10m (32.8) | JZSP-VBPOT-10 | JASP-VBPIT-10 18m (49.28) [ JZSP-VBPO1-15 | JASP-VBPII-15 20m (65.6H) | JZSP-VBPO%-20 | JASP-VBP1I-20. ‘Connection and Wing ‘© Cable with connectors on both ends (L-shape plug on encoder end) Cable Model Length | increment | abasta Cr) saan | wesrvarneas | ese VarTES Sarean | ieerveranos | eSnveraes 10m (32.8it} | JZSP-VBP02-10 | JZSP-VBP12-10 femean Wesrveriat | WeeeVer ee Hamuzen azsr'vercaao | aesp-verrez9 Soe oat pain Cmoas Gieerioneketca oe (30 ‘sou 2.3.2 Main Circuit Wiring and Power ON Sequence ™@ 200-V Power Supply ‘The following table shows the name and description of each main circuit terminal: Terminal Terminal | Name Description Ti, 2s, | Main power input | Three-phase 200 to 230 VAC! . SW6OH2 cena or uavew [Mio connection | ys connect moor. ict, | ont powerinpx | SBE phase 20010 220 VAG =, 30 He LICK ‘terminals ‘Single phase 200 to 230 VAC * 4%. 60 Hz. © x2 | Grounderinal | Comected vo ground (or power ground nd motor ground, vin [Berecor sed for power spp Ramonic suppression acon seg 72 | comecon ermina_|shor-dretes) Regenerative 1,82 [Restor Unt | Usod comet the regenerative resistor conection ein = [RBBB Norma, external connection snot egei DO, DV. Dynamic Brake Ua BU; DV. | Dynamic Brake Unit | se connect te Dynamic Brake nit DEON, | Dynamic Brake Unit | Used connea the Dynamic Bake Unit the DBON and DBZ 1x26" _|comecon minal terminal (when uning 3k W SERVOPACKS on). ‘The following diagrams show typical examples of wiring the main circuit for Z-Series prod- vets: BASIC USES OF E-SERIES PRODUCTS 232 Main Grout Winng and Power ON Sequence © Using 200 V, 22 kW oF 30 KW “Three-phase 200 0 290 VAC + 10 (60/60 He) Asi) on) re IMCCB: Circuit breaker (for nverter type) FI: Note fiter 3MC: Contactor thy, olay. 1PL: Lamp for display SUP: Surge suppressor 1D: Flywheel Sade 2.3 Connection and Wiring © Using 200 v, 37 kw “Tnvoe-phase 200 to 230 VAC * 12° (50/60 Ha} rl 4 wees FL SERVOPAGK Re psaoe cr} OF de, UEP Es Tr Aum {21D On Ee att IY Me ‘SP + AMCCB: Circuit breaker (for avertor type) FI: Nolo fir MC: Contactor Wy: Flay 3PLL_ Lamp for display SUP: Surge suppreseor 1D; Flywheel diode BASIC USES OF E-SERIES PRODUCTS ‘2.32 Main Cireuit Wiring and Power ON Sequence rs eae SES eee i 400-V Power Supply ‘The following table shows the name and description of each main circuit terminal: Terminal ti Seu Name Description LR. Ty, PSeeee veges eee eee EeCaeeee| Las, [Main power input | Thee-phase 380 to 460 VAC 9g, S060 or | ermin vu,v.w | Mater connection 1 Used to connect motor terminal Licie, | Comrot power input | SiH Phase 200 0 220 VAC Pap, 50 iz 3c | temo Single pase 200 230 VAC 25,60 Ha © x2 | Grown eminal_—_| Conecad wo prod For power ground and motor found. sea [Cet nay_| Ueto protect aginst harmonies actor sein: short cred) Regsnetve 1,82 | Resor Vat | Used to connect the epenertve resistor, connection terminal 7 Bain ret negative | oymaiy, extemal conection i not required terminal DU, DV, | Dynamic Brake Unit : ny i Bw | Dynamic Brake Unit | Used to connect the Dynamic Brake Uni DBON, | Dynamic Brake Unit | Used to connect the Dynamic Brake Unitto the DBON and DB2S B24 [connection terminal _| terminals (when using 37-kW and [Link] SERVOPACKS only ‘The following diagrams show typical examples of wiring the main circuit for E-Series prod- ucts: 220 2.3 Connection and Wiring © Using 400 V, 22 kW or 30 kW Three-phase 380 to 460 VAC * 12% (60/60 He) FL wees) ii c er KDro Apa: 10 Ov /CLT ‘outputs the signal shown on the | «stays indication mode: + Monitor mode Un-05 bit 4 right. cata Parameter Setting: 6r-2D = 0003, 030,300 Examples of Use: + Forced stopping + Holding workpiece by robot cLMIF Unit: [Seating | Factory | For SpeedTorque Cr-1B | Forward Exema | % | Range: Oto | Setting: | Control and Position ‘Torque Limit 800 100 Control CLMIR Unie [Setting | Factory | For Speed"Torque eng | Reverse Exemal | % | Range: Oto | Seiting: | Control and Position [Torque Limit 800 100 Control ‘This Funct ‘Sets a torque limit value when torque is restricted by external contact input. is valid when Cn-2B is set 100, 1, 2,7, 8, 9,10, 11. ‘When PCL CIGN-45) is input “Applies torque restriction at specified in Ch-18 When IN-CL (ICN-46) 5 input “Applies torque re ition as specified in C19 For torque restriction by analog voltage reference, refer to Section 3.2.8 Using Torque Re- striction by Analog Voltage Reference. on B APPLICATIONS OF 2-SERIES PRODUCTS ‘31.3 Restricting Torque af re oar ae Peace ‘© Using the /P-CL. and /N-CL Signals This section describes how to use input signals /P-CL and /N-CL. as torque limit input signals, WO power supply SGD8 SERVOPACK 200m Host contr ee RCE tcp Forward External Torque Limit | For Specd Torque ‘Control and Position Control Reverse External Torque Limit | For Speed/Torgue OU er MTOR CCOR iepus Control and Position Control ‘These signals are for forward and reverse exter- Output Signal for Torque Restriction nal torque (current) limit input. ‘This function is useful in forced stopping. Function + cot * Status indication mode bt data 1 Monitor mode Un.06 bit ¢ + Parameter Sting e-20 = 003, 030.309 low lev Pop {lowlevel ‘ON: ICN-45 6 at_] Torque restriction applies during forward rotaion, | Limit value= CoB [OFF 1CN-Sis [Tu eon dos st ply Sang vad high tv. totaton, Nowa operation seu |_——"| nex [Howler ‘ON: 1CN-46 is at_| Torque restition applies during reverse rotation, | Limit value +19 ‘OFF: 1CN-46 sat | Torque restriction does not apply during reverse igh level rotation. Normal operation status. GeeSY> Ts tncion is changea ro anower uncon depending onthe sing bit af memory switch Co-2B (ee below. ‘The signal shown on the above are output while torque is being restricted Tose /P-CL and /N-CL. as torque limi input signals, set the following constant. n-28 | Conivol Mode Selection Factory] For SpeniTorque Conrol and Setting: 0__| Position Coatrat 3.2 Setting Parameters According to Host Controller ———— 3.2 Setting Parameters According to Host Controller This section describes how to connect a E-series Servo to a host controller and how to set parame~ ters, 3.2.1 Inputting the Speed Reference Input a speed reference by using the following input signal “speed reference input.” Since this signal can be used in different ways, set the optimum reference input for the system to be created. ‘SGDB SERVOPACK 18> Torque ‘Torquacotorence relerence ou anlage ‘Speed referance input relerence {@enaiog votage ip) {P: Rprosentstwisted-pair cables, er ‘Speed Reference Input For Speed Control Only For Speed Control 1CN-5 Teste Use these signals when speed control (analog reference) mode is selected (Cn-2B is set 100, 4, 7,9, or 10). For ordinary speed control, always wire the V- REF and SG terminals. Motor speed is controlled in proportion to the in- put voltage between V-REF and SG. © Standard Example: Cr-03 = 500: This setting means that 6 V is 3000 r/min Examples: +6 V input -» 3000 r/min in forward direction +1 V input —> 500 r/min in forward direction 3 V input > 1500 r/min in reverse direction Parameter Cn-03 ean be used to change the voltage input range. + Example of Input Circuit 28 ro (See the figure on the right) $9 te W arma For noise control, always use twisted-pair cables. “ ual 2 ons Recommended Variable Resistor for Speed “sa 06 Setting: Model 25HP-10B manufactured by Sakae ‘Teushin Kogyo Co., Lu. 3 APPLICATIONS OF 3-SERIES PRODUCTS Inputing he Speed Reference ‘When position control is performed by a host controller such as a programmable controller, connect V-REF and SG-V to speed reference ‘output terminals on the host controller. In this cease, adjust Cn-03 according to output voltage specifications, The internal -£12 V power supply can be used. a ies =a | rena “Maximum ouput current 30 mA Vokage: 12 V2 V 8.2 Setting Parameters According to Host Contot a cit common Set constant Cn-2B to select one of the following control modes, cn-28 Control Mode Selection | Factory For SpeedToraue Control and Setting: 0_| Postion Conteol ona8 Sating Control Method ‘Speed Control pon S008 SERVOPACK ‘This is normal speed control. + Speed reference is input from V-REF (ICN). + IP-CON (ICN-A1) signal is used to switch be- i. tween P control and Pl control. TCR ]Piconrat nen TCN-Al is at | Peontol ov, Position/Torque Control +» Speed Control | __ SGDB SERVOPAGK ‘This control mode can be switched between Pome —7 Positiontorque contol and speed contro Vt tens * Speed reference is input from V-REF (ICN-5), | crwaimapes oe + IP-CON (1CN-41) is used to switch the contol |" _P-CON) 7-9 | mode between postion/torque contol and speed control ICN is | Position/Torque control pen ICN-41 isat | Speed control ov ~ | Zero-clamp Speed Control au SDB SERVOPAGK This speed control allows the zere-clamp. ‘ines _v.ner| funtion tobe set when the motor sops.. '+ Speed reference is input from V-REF (ICN‘S). + ECON CICN-AD signals wed ote | nasa The signat logic for open collector output i as follows. When Tri is ON Equivalent to high level pat ‘When Tel is OFF “Equivalent to low evel inpot ‘The power supply inside the Host controler ‘S@D8 SERVOPACK ‘SERVOPACK can be used If this power supply is used, it will not be isolated from 0 wea \V in the SERVOPACK. 1.5 Vorless when ON I Selecting the Reference Pulse Form Use the following memory switch to select the reference pulse form to be used: Reference Pulse Inpat |For Postion Control Only Reference Pulse Input | For Position Control Only Reference Sign Input | For Position Control Only For Position Control Only em Tong yaa em ol nec) eee TSC ae ‘The motor only rotates at an angle proportional to the input pulse. Reference Sign Input Reference Buse Form Selection | Factory] For Postzon Control Only eee Setting: 0 Reference Poise Form Selection [Factory | For Position Control Only cn-2 Bits saaee cma pus [ Reese Plle Form Sesion [Fanny {Fr Postion Cnr On 2 Sotting Parameters According to Host Controller Sets the form of a reference pulse that is exter- teat nally output tothe SERVOPACK. mee snore n Sets the pulse form according tthe host control- ct ler specifications ° Set also the input pulse logic in bit D of Cn-02. Cn.02 Refer Fert | ence | Motor Forward Run Ret: | Motor Reverse Run Ref- pao )B ] Be [Be | se | pase erence erence BY LR] BT stutipier Ses me a pulse gon A | ey SL oF Eon: rain ee tren SS, Two ofr fo] x1 Tite pulse he Po opr f a] oe fe) ee UL | a —jprase | Sy SUT | ewig Vfo}o} xa [eitier fakes | PSL eas nn ofols paves | cox ox a pate | eho LLL Set, Le ofolo fee | ek, TT son =e conn Bor! ofrfol xr [Re 1 pulse ae He Bef off] oe ee) eek as setting) coy |, rfofo en (Sey TV foow™ | Sepa | Sew puse | sown oe APPLICATIONS OF E-SERIES PRODUCTS ‘322 Inputing tho Postion Roteronce, Input Pulse Multiply Function: d - ‘When the reference form is two-phase pulse "ernow train with 90° phase difference, the inpot pulse" — 4 2 ‘multiply function can be used. ome ‘The lecwonic gear function can so be wsedto ts LL convert input pulses. Sev os Example of YO Signal Generation Timing sewoon I on —_- : aL ts 20ms te BS oho {inn pater Gn atte 0} 12 40ms Base block San puso ( tan our 7 oe TL nee eme rani + iS (ep seer poem Note: Theintervaltrom hetime the servo ON signalisturned ON unt reference puseisinputmustbe atleast 40 ms. Otherwise, the reference pulse may nat be input. “The err countorclear (CLR) signal mustbe ONTor atleast 20}. Otherwise, becomes inva 3-0 82 Sotting Parameters According to Host Cont Allowable Voltage Level and Timing for Reference Pulse Input = jen pulse train input "The signs for each (SIGNS PULS sina) | 8% Gee Ww——— | tees puls ae as Maimen reece | use | follows frequency 435 Eppt Wd Sis @ratarence ereineree | O: Low le Binge WF diferent worphase oe ak Parana Coon ne, pulse train yt 4 and 5) is used to (ohiase A+ pase B) nas Sitch the input pulse Maximum reference aaa : Y \L | muttiptier mode. rata 1 multi meee 350 kop, se aneetitta reemp ee x2 malipbir bec ed 300 kos rinse rosie x4 moll Eater | 200 kor ee CCW pulse + OW pase Ce Maximum reference ee frequency: 450 kpps oo i IS Oni If Stone toon Exo sa I Clearing the Error Counter ‘The following describes how to clear the error counter, Pera Costs Ciena [Fos Poston Coa input CLA 1cN-144 | a eo Setting the CLR signal to high level does the fol- 'SGDB SERVOPACK Towing ae ‘Sets the error counter inside the SERVOPACK to 0. — oo *= Prohibits position loop control od Use this signal to clear the esror counter from the host controller. Bit A of memory switch Cn-02 can be set so that the error counter is cleared only once when the leading edge of an input pulse rises. 32 APPLICATIONS OF 3-SERIES PRODUCTS: ‘82.3 Using Encoder Outputs Error Counter Cear Signal | Factory] For Postion Control Only CMO2BIA | selection Setting: 0 Selects the pulse form of error counter clear signal CLR (ICN-15). ‘Setting Weaning Clears the error counter when the CLR om 7 signal is set at high level. Eror pulses do outs cass © | notaccumulate while the signal remains at Feri high eve ‘Clears the ero counter only once when ae 7 1 | the rising edge of the CLR sunal ess. ists ceseacyercoutingaer_| 3.2.3 Using Encoder Outputs Encoder output signals divided inside the SERVOPACK can be output externally. These sig nals can be used to form a position control loop in the host controller © Divided (or dividing) “Dividing” means converting a inpot pose tin fom the encoder movoted onthe motor aconding othe pest. pulse density and eurputing the converted puke. The writ epics per evolution, 3.2 Seting Parameters According to Host Contrllar ‘The output circuit is for line driver output. Connect each signal line according to the fol lowing cireuit diagram, 'SGDB SERVOPACK Host eontralor ne receiver PhaseA —[>—106291 ow ope ARs Phase B IM. Phase c ae phe. of met oa 1P: Represents twisted: pair cables Line rocoiver used: SN75175 manufactured by Texas Instruments nc. oF MC3486 (or equivaiont) Rlorminaton resistor: 22010 4700 ‘© (decoupling capactior: 0.1 wF MO Signals VO signals are desribed below. > RRP fcodcr Ourpar Phase-A [Fox SpecdTorque Control Output — PAO 1CN-33 Output Ease Cua . Ne3 For Speed/Torque Control ray Ue and Position Control RREIEIE coder Outpt Phase | For Speed/Torque Conaot Coe emo TOE For Spoed/Toraue Co For Spoed/Torque Control and Position Control PORTO SEI Ecoder Out Phase-C | For Speed/Torque Control Cot ee econo] For Spoed/Torgue Co ent LORETO PI [code Output PhaseIC | For Speed/Torque Control Output FL TstoMmTea ectag Pocoer Output Phase-/B and Position Conteol Divided encoder signals are output Always connect these signal terminals when a position loop is formed in the host controlter to perform position control, Seta dividing. allo set ‘GeOA PORAT ‘The dividing ratio setting is not relevant to the gear ratio setting (Cn-24, 25) for the elec: tronic gear function of the SERVOPACK when used for position control the following parameter. ivie a3 APPLICATIONS OF E-SERIES PRODUCTS. ‘328 Using Encoser Outs Output Phase Form Incremental Encoder Forwardrotation +H 8% Reverse rotation Hee eens icles gan mee TL reo LO cree se Apsolute Encoder Fomacroiin ——-oHHeer—Reversrotton few ree LIL pen “LOLS em TLL ores SLL rave — TL roe — PL rs ere) ‘SEN Signal Input For Speed Torque Control Only ‘Signal Ground For Speed/Torque Control rece Only or Speed Torque Control and Position Control Encoder Output Phase-5 | Por Speed/Torque Coniral 4nd Position Control Batiey or Speed/Toraue Control and Position Control Banery For Speed/Torque Control [Link] Position Control__ | Encoder Output Phase S Output . PSO 1CN-48 Colle Se Toole) Taney ae Ten a] Te -7 Uner er Use these signals (SEN to BATO) for absolute encoders. For details, refer to Section 3.8.5 Using an Absolute Encoder. : Signal Ground For Speed Tongue Conor er sal and Position Control Frame Ground For Speed/Torgue Contot oo maemo and Position Conical SG: Connect to 0 V on the host controller, FG: Connect tothe cable shielded wire. 324 3.2 Setting Parameters According to Host Contolla I Setting the Type of Encoder Use the following memory switch to specify the type of the encoder to be used. Encoder Type Selesion ] Faciory | For Speed/Torque Control and coor ‘Seung: 0__ | Position Control Sots the encoder type according tothe servomotor type as shown in the table, [After changing the memory switch setting, always turn the power OFF, then ON. Wotor Type | _ Number of Encoder Pulses Par Revolution (PIA) ‘encoder Setting specifications 2 Thevemenial encoder 3192 pulses per revohation ° é Tneremental encoder: 4096 palses per revolution w ‘Absolute encode: 1024 pulses per revolution 3 ‘Absolute encoder: 8192 pulse pr evolution Setting the Pulse Dividing Ratio Set the pulse dividing ratio in the following parameter. PGRAT Unit] Seting For SpeedTorque cmon | Dividing Ratio Seting | PAR | Range: 1610 ‘Control and Postion 32768 Conte! Sets the number of output pulses for PG output Sees signals (PAO, /PAO, PBO and /PBO). Sea,,, SODBSERVORACK. PAD HE) Pulses from motor encoder (PG) are divided by peer Perea the preset number of pulses before being output tee ‘The number of output pulses per revolution is set in this parameter. Set this value according to the reference unit of the machine or controller to be used. ‘The setting range varies according to the encoder used, Preset value: 16 Setting example: 0 PO RAARRARARRAAARARRAT Tepe eeeeeeeeec + revokaton Motor Type Number of Encoder Pulses Per Revolution | Setting Range Encoder ‘Specifications z Tneremental encoder, €192 pulses per revolution Tet 192 3 Incremental encoder: 2048 pulses per revolution 16 10 2088, 6 Tbcremental encoder 4096 pulses per revolution 1619 4096 Ww "Absolute encoder: 1034 pulses per revolution 1610 1024 s ‘Absolute encoder: 8192 pulses per revolution 1610 192 as APPLICATIONS OF E-SERIES PRODUCTS. ———<—<—————————— '324 Using Contact 10 Signal After changing the parameter setting, always turn the power OFF, then ON. 3.2.4 Using Contact I/O Signals ‘These signals are used to control SGDB SERVOPACK operation. Connect these signal ter- ‘minals as necessary. @ Contact Input Signal Terminal Connections Connect the contact input signals as follows: ‘SGDB SERVOPACK Tron sor Host controler =] me 3. | aa [ ee IMPORTANT Provide an extemal UO power supply separately ‘There are no power terminals available from the SGDB SERVOPACK outputs signals externally. External Power Supply: 24 +1 VDC 50 mA or more YYaskawa recommends that this external power supply be the same type as forthe output circuit, Crees heer 24 V VO Power Supply | For Specd/Torque Ul Control and Control 3.26 “This external power supply input terminalis he following comat inp signals; [SS common i Contact Input Signals: /P-CL. INCL 1S-ON Por NOT 3.2 Setng Paramaters According to Host Contos 'SGDB SERVOPACK (ICN-45) (ICN-46) (ICN-40) Connect an extomal VO powor supply PP-CON — (ICN-41) (1CN-42) (ICN-43) JALMRST (ICN-44) ‘These output signals are used Contact Output Signal Terminal Connections 'SGDB SERVOPACK to indicate SGDB SERVOPACK ‘operation status. eerste sos ae Rae) Protosupler output Per cutput Maximum operational vatlage: 30 VOC Maximum output current: 50 mA DC ‘Open colecter ipa Per output Maximum operational bgt valage: 30 VDC ‘Maximurp output currant: 20 ma DC Voy Sot IMPORTANT Provide an extemal VO power supply separately ‘There are no power terminals to which the SGDB SERVOPACK outputs signals externally. ‘Yaskawa recommends that this external power supply be the same type as forthe input circuit, a0 APPLICATIONS OF E-SERIES PRODUCTS OE eee ‘32.5 Using he Electronic Gear 3.2.5 Using the Electronic Gear The electronic gear function enables the motor travel distance per input reference pulse 10 be set to any value. It allows the host controler to perform control without having to consider the ‘machine gear ratio and the numberof encoder pulses. When Electronic Gear Function ‘When Electronic Gear Function Is Not Used is Used Workpiece Reference Workpiace eee Dee Number of all screw encodor pitch 6mm zi Bal sow xls 2.048 ose pic 6 mm Z ‘Machine conctions end rearanee unt “To move a workpiece 10 mm, ‘must be defined for the slectronic gear for ‘One revolution is equivalent to & mn, €0 funeton beforshand ‘6 = 1.6668 revolutions} 2048 x4 (puses) is equivalent to one revotuton, £0 see eee "1.6606 x 2,048 x4 = 10,653 (pulses) Tomove a workpiece 10 A otal of 19653 puises must be input asa relarence. alco unis i, 0 “The host controller needs 1 make tis calculation. Setting the Electronic Gear Calculate the electronic gear ratio (BJA) according to the procedure below and set the value in Cn-24 and Cn-25, ‘Check the machine specifications. Gamal ‘ems related to electronic gear: 2 Gear ratio Ball screw pitch Ball screw piteh Gearratio ~ Pulley diameter 2 Check the number of encoder pulses for the SGMD] servomotor, Motor Type Encoder Type ‘Number of Encoder Encoder Pulses Per Revolution Specifications (PR) 2 Tneremental encoder m2 6 4096 w “Absolue encoder 1024 s 3192 ™ same ax parameter Ca-1 seins. 328 3.2 Setting Paramatars According to Host Controter 3. Determine the reference unit to be used. Reference unit is the minimum unit of position To move a table 0,001 mm units Sn ne "Reference uni 0.001 mm ‘data used for moving the load. —. (Minimum unit of reference from host control- ler) 1 Examples Ht] 0.01 mm, 0.001 mm, 0.1°, 0.01 inch Determine the reterence unit according to ‘machine specications and posttoning ‘accuracy Reference input of one pulse moves the load by ‘one reference unit Example: When reference unit is | um Ifa reference of 50,000 pulses is input, the toad moves $0 mm (50,000 x 1 wm). 4. Determine the load travel distance per revolution of load shaft in reference units, Lod rave tance per revotion of tad shat (in reference units) ‘Load travel distance per revolution of load shal (a wot of stance) Reference uit Example: When ball screw pitch is 5 mm and reference unit is 0.001 mm 590.001 = 5,000 (reference units) Disc Table Belt & Pulley S wn | MY Odes) (=o a. | ae 5, Detemine the electronic gear rato( 2) If the Toad shaft makes “n” revolutions when the motor shaft makes “m” revolutions, the ‘gear ratio of motor shaft and load shaft is Blecronic yer rte Number of encoder pulses x4 2 Travel distance pe evolution of lad shat (in veterence unis) ss IMPORTANT] “Make sure thatthe electronic gear ratio meets the following condition: 01 « orice (8) = wo the electronic gear ratio i outside this range, the SERVOPACK does not work properly. In this case, modify the foad configuration or reference unt. APPLICATIONS OF E-SERIES PRODUCTS ‘82.5 Using the Electone Gear aH 6. Set the electronic gear ratio in the parameters below. ‘Reduce the electronic gear ratio (8) to their lowest terms so that both A and B are an inte- {ger smaller than 65535, then set A and B in the following parameters, (2) feet | ea teenie parte numerator —— [[en25 | RATA” Electronic gear ratio (denominator) LORE LRATA Blecwronie gear ratio (denominator) } ‘This is all that is required to set the electronic gear, RATE Unit | Seting —] Factory] For Foston Gm24 | Flecironic Gear Ratio |None |Range: | | Seting:4 | Conta! Only (Numerator) 10.65835 RATA Unite | Seting [Factory | For Fositon Cm25 | Electronic Gear Ratio | None Setting: 1 | Control Only Denominator) Set the electronic gear ratio according to ma- yn, $a chine specifications. ‘ce See (Faas wom “nnn | Fee | Blectronic gear ratio, . [(Number of encoder pulses) x 4] x [Motor shaft rotating speed] [Reference unit (load travel distance per revolution of load shaft)] x [Load shaft ro. A tating speed) Note that the parameter settings must meet the following condition: 01 = (2) = 100 a, 3-30 8.2 Setting Paramotors According to Host Contolar @ Examples of Setting an Electronic Gear Ratio for Different Load Mechanisms Ball Screw Relerence uri; 0001 mm — Traveldstance por. Sm gog9 Tovatson ofeas att ~ COBH Load shat Blctonicgearratio (Q) = 2068 x 4x 1. Gags Bal serow Prosat (“Guaa [an Incremental pich: 8mm values | O72 |_8182 rcoder ones | 6000 2068 pulses per revolution Dise Table ear revolusoneticaa ebott = “20° = 9600 Reference unt Gora eae 34 ‘Becenie georrao (8) = Gx 4x 9. Gone Load sat an fe Incremental encoder Preset Gage | GaSe 2048 pubes po revluton vaher | 2724 Frc nee ‘Travel distance 3.14 x 100mm Reterence unt 0.0254 mm oper = Sid 100mm Load shalt revolution of load shaft ‘C.6254mm ~ 12962 2) _ 1008x224 _ ones ear ato: Electronic gear ato oy Pally danet: soorrate (Bi) ~ saat xe - St 00mm onsod _ eoise ‘Absolute encoder: ="aae2 “bravo «| Pueset | naa | 0152 4024 pulsos par revolution vaues enas | 61610 APPLICATIONS OF E-SERIES PRODUCTS ‘826 Using Torque Contot @ Control Block Diagram for Position Control son enone ee am ex fone feta as Sesion |] Smt] Fae oe = sate Bt] | oe br nua a ie He fs Het) rade pica oon 7. Set the travel distance in the parameters 3.2.6 Using Torque Control ‘The SERVOPACK can provide the following torque control: + Torque restriction > Level 1: To restrict the maximum output torque to protect the ‘machine or workpiece '~ _Level2: To restict torque after the motor moves the machine toa specified position + Torque control Level 3: To always contol output torque, not speed Level 4: To switch between torque control and other control ‘This section describes how 10 use levels 3 and 4 of the torque control function. ™ Selecting Torque Control Use the following parameter to select Ievel 3 or level 4 torque control Control More Selection | Factory] For Speed/Torque Control Led Sewing: 0 | and position Contol ‘This is dedicated torque control. A motor torque reference valuc is externally input into the SERVOPACK to control torque. Examples of Use: Tension control Pressure control a2

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