¥Y YASKAWA AC Servo Drives x-V Series USER'S MANUAL Design and Maintenance Rotational Motor . Analog Voltage and Pulse Train Reference SGDV SERVOPACK SGMJV/SGMAV/SGMPS/SGMGV/SGMSV/SGMCS Servomotors outine Panel Operator (2 Wiring and Connection (ER Trial Operation QZ Operation GE Adusimens (Gl Utility Functions (FnOO0) Monitor Displays (Uno00) @Ey Fully-closed Loop Control QE Troubleshooting GON rovers GECopyright © 2007 YASKAWA ELECTRIC CORPORATION, Allrights reserved. No part of this publication may be reproduced, stored in a retrieval system, or transmitted, in any form, or by any means, mechanical, electronic, photocopying, recording, or otherwise, without the prior written permission of Yaskawa. No patent liability is assumed ‘with respect to the use of the information contained herein. Moreover, because Yaskavwa is con- tantly striving to improve its high-quality products, the information contained in this manual is subject to change without notice. Every precaution has been taken in the preparation of this ‘manual. Nevertheless, Yaskawa assumes no responsibility for errors or omissions. Neither is ‘anv liability assumed for damaves resulting frorn the use of the information contained in thisAbout this Manual ‘This manual describes information required for designing, testing, adjusting, and maintaining 2-V Series SERVOPACKs, Keep this manual in a location where it can be accessed for reference whenever required. Manuals outlined on the following page must also be used as required by the application. ™ Description of Technical Terms ‘The following table shows the meanings of terms used in this manual. Term ‘Cursor Servometor 'SERVOPACK Servo Dive Servo System ‘Analog Pulse Mode! ‘Servo ON ‘Servo OFF Base Block (BB) ‘Servo Lock Main Circuit Cable ‘Meaning input position indicated by Di Operator EV Series SGMIV, SGMAV, SGMPS, SGMGV, (Direct Drive) servamotor EV Series SGDV servo amplifier [A set including a servomotor and SERVOPACK (ce, a servo ampli fier) ‘A servo control system that includes the combination of a servo drive ‘witha host controller and peripheral devices ‘Analog voltage und pulse train reference used for SERVOPACK inter- face Power to motor ON Power to motor OFF ‘Power supply to motor is tumed OFF by shut ng off the base current to the power transistor in the current amplifier. [A state in which the motors stopped and isin position Toop with a position reference of 0, (Cables which connect to the main circuit terminals, including main ieuit power supply cables, control power supply cables, servomotor ‘main circuit eabls, and others, ™ IMPORTANT Explanations The following icon is displayed for explanations requiring special attention. IMPORTANT™ Notation Used in this Manual + Notation for Reverse Signals ‘The names of reverse signals (i.e., ones that are valid when low) are written with a forward slash (/) before the signal name. Notation Example ‘BK = /BK + Notation for Parameters ‘The notation depends on whether the parameter requires a value setting (parameter for numeric settings) or requires the selection of a function (parameter for selecting functions) + Parameters for Numeric Settings Emergency Stop Torque SetingRange | Seting Unt | FactorySeting | WhenEnabled | Classification J_|~ c%100% 4 = acne se indicates the | frdicates the recates the minum seting unt[parmeteseting |[ungetotne || dates nccaes the seting orth parareer [before shipment” || ameter willbe |] Pan range forthe parameter. sect fone a + Parameters for Selecting Functions Parameter Meaning When Enabled | Classification nfl G0 | Uses the absolute encoder as an noo _|[Factory sting] | absolute encoder. prerrestat | Setup nao Uses the absolute encoder as an \ incremental encoder. Fararater (The rolston NUTT "indicates a parareter_) [Ths secon ears Te ber for selecting functions. Each OI corresponds to _ | (selections for the function. the setting valve ofthat digit The notation shown here means thatthe third digits 2. Notation Example Panel Operator Display (Display Example for Pn002) (-EEEE) Digit Notation Setting Notation IL ‘Notation Meaning ‘Notation ‘Meaning Indicates fe ae fe || Prog o =x lncates athe volver he Trista promo [teat mance im | OM: eet eS Indeatsthevabeforte | P0021 =x Indicates thatthe value othe 2ndedgt P0021. [and dgtot prmeerPrO02| of nH Hx | 2nd dit of paraneer POM? sx Indicates te afore || PrOg2.2 => |Incats thatthe vlufor the sat Prome2 [ties renee Pram | or nif | Suda prone Pr nda fe ave ore || Prog 3 =x incats thatthe volver he Ath cégit P0023 [ath digtor parameter POO? |} or n.xAl UB | Ath cigt of parameter PrOO2is x.™ Manuals Related to the 5-V Series Refer to the following manuals as required Modebsard | Ratings and| System |Panelsand| Til sd Peripheral |Specfications| Design Wiring | Operation iif EV Series User's Manual ‘Setup Rotational Motor (No.: SIEP $800000 43) EV Series, Product Catalog a (No.: KAEP $800000 42) EV Series User's Manual Design and Maintenance Rotational Motor! ‘Analog Voltage and Pulse Train Reference (this manual) EV Series User's Manual Operation of Digital Operator| (No.: SIEP $800000 55) EV Series, ‘AC SERVOPACK SGDV Safety Precautions (No.: TOBP C710800 10) Series Digital Operator Safety Precautions (No,: TOBP C730800 00) ‘AC SERVOMOTOR Safety Precautions (No.: TOBP C230200 00) = Safety Information The following conventions are used to indicate precautions in this manual. Failure to heed precautions pro- vided in this manual can result in serious or possibly even fatal injury or damage to the products orto related equipment and systems. Z\ WARNING ZA\ CAUTION © PROHIBITED @ MANDATORY Indicates precautions that, f not heeded, could possibly resultin loss of life oF serious injury. Indicates precautions that, if not heeded, could result in relatively serious ‘or minor injury, damage to the product, or fauity operation. In some situations, the precautions indicated could have serious ‘consequences ifnot heeded. Indicates prohibited actions that must not be performed. For example, this symbol would be used to indicate that fre is prohibited as follows: ® Indicates compulsory actions that must be performed. For example, this symbol would be used to indicate that grounding is compulsory as follows:Safety Precautions ‘This section describes important precautions that must be followed during storage, transportation, installation, wiring, operation, maintenance, inspection, and disposal. Be sure to always observe these precautions thor- ‘oughly. Z\ WARNING + Never touch any rotating servemotor parts during operation. Failure to observe this warning may est in injury + Before starting operation with a machine connected, make sure that an emergency stop can be applied at any time. Fale to observe this wamting may result ia injury o damage tothe equipment + Never touch the inside ofthe SERVOPACKs. Failure to observe this warning may result i electric shock. + Do not remove the cover of the power supply terminal block while the power is ON. Fail to observe this warning may result i electric shock. + Afior the power is tumed OFF or after a voltage resistance test, do not touch terminals while the CHARGE lamp is ON. Residual voltage may cause electric shock + Fallow the procedures and instructions provided inthe manuals forthe products being used in the tial operation Failure todo so may result no only in faulty operation and damage to equipment, but also in personal injury. + The output range of the rotational serial data forthe $V absolute posiion detecting systems cfer- ent from that of earier systoms for 12-bit and 15-bit encoders. As a resull. the infite-length posi- toning system ofthe Z Series must be changed for use with products inthe E-V Series. + The mutitum limit value need not be changed except for special applications. Changing it inappropriately oF unintentionally can be dangerous. + ifthe Multum Limit Disagreement alarm occurs, check the setting of parameter Pn206 in the SER- VOPAGK to be sure that itis correct. IF 0013 i exeuted when am incorect value isetin Pa20S, an ncotet value willbe stn the encoder. The lem will disappear even fan incorrect vale is st but incortet postions willbe detected, resulting ina dangerous situation where the machine wi move to unexpected postions + Do not remove the top front cover, cables, connectors, or optional tems from the SERVOPACK while the power is ON. Failure to observe this warning may result electric shock, + Do not damage, pul, exert excessive force on, or place heavy objects on the cables. Failure to observe tis warning may eslt in elect shock, stopping operation ofthe product, o fe. + Do not modify the product. Failure to observe this waming may result in injury, damage tothe equipment, o ire. + Provide appropriate braking devices on the machine side to ensure safety. The holding brake on a servomotor with a brake isnot a braking device for ensuring safely. Fale to observe this warning may esl in injury + Do not come cose tothe machine immediately after resetting an instantaneous power interruption to avoid an unexpected restart. Take appropriate measures to ensure safety against an unexpected restart Fale to observe this warning may esl in injury @ Coreen aroun torial according to local lect codos (1000 oss fora SERVOPACK witha 100 V, 200 V power supply, 10 2 orless for a SERVOPACK with a 400 V power supply) Improper grounding may result in elettc shock o ire. ] * Niisaton, deanna of cept must be prtared ony by sutesznd parson Failure to observe this waming may result in electric shock o¢ injury. + The person who designs a system using the safety function (Hard Wire Baseblock function) must hhave full knowledge of the related safety standards and full understanding ofthe instructions in this manual, Failure to observe this waming may result in injury or damage to the equipment.Storage and Transportation A\ CAUTION Do not store or install the product inthe following locations. ire to observe this caution may result in fre, electric shock, or damage to the equipment, *+ Locations subject to direct sunlight *+ Locations subject to temperatures outside the range specified inthe storagefnstallation temperature condi- tions + Locations subject to humidity outside the range specified inthe storage/nstallation humidity conditions + Locations subject to condensation as the result of extreme changes in temperature + Locations subject to corrosive or flammable gases + Locations subject to dust, salts, or iron dust Locations subject to exposure to water oil or chemicals + Locations subject to shock or vibration Do not hold the product by the cables, motor shaft, or encoder while transporting it Failure to observe this eaution may result in injury or malfunction. Do not piace any load exceeding the limit specified on the packing box. Failure to observe this eaution may result in injury or malfunction. If disinfectants or insecticides must be used to treat packing materials such as wooden frames, pal~ lets, or plywood, the packing materials must be treated before the product is packaged, and meth- ‘ods other than fumigation must be used. Example: Heat treatment, where materials are kln-dried to a core temperature of 56°C for 30, ‘minutes or more. Ifthe electron products, which include stand-alone products and products installed in machines, are packed With fumigated wooden materials, the electrical components may be greatly damaged by the gases or fumes. resulting from the fumigation process. In particular, disinfectants containing halogen, which includes chlo- ‘ne, flucrine, bromine, or iodine can contribute to the erosion ofthe capacitors. = Installation A\ CAUTION Never use the product in an environment subject to water, corosive gases, flammable gases, or ‘combustibles. Failure to observe this caution may result in eletre shock ofr. Do not step on or place a heavy object on the product. Failure to observe this caution may result in injury or malfunction. Do not cover the inlet or outlet ports and prevent any foreign objects from entering the product Failure to observe this caution may cause intemal clements to deteriorate resulting in malfunction or fire. Be sure to install the product in the correct direction. Failure to observe this caution may result in malfunction. Provide the specified clearances between the SERVOPACK and the control panel or with other devices. Failure t observe this caution may result in fire or malfunction Do not apply any strong impact. Failure to observe this caution may result in malfunction.= Wiring A\ CAUTION Be sure to wire correctly and securely Failure to observe this caution may result in motor overrun, injury, or malfunction. Do not connect a commercial power supply to the U, V, or W terminals forthe servomotor connec- tion, Failure to observe this caution may result in injury or fire. Securely connect the main circuit terminals. Failure to observe this caution may result in fre. Do not bundle or run the main circuit cables together withthe VO signal cables or the encoder cables in the same duct. Keep the main circuit cables separated from the V/O signal cables and the encoder cables with a gap of atleast 30 cm, Placing these cables too close to each other may result in malfunction Use shielded twisted-pair cables or screened unshielded twisted-pair cables for VO signal cables and the encoder cables, “The maximum wiring length is 3 m for /O signal cables, 50 m for encoder cables or servomotor ‘main circuit cables, and 10 m for control power supply cables for the SERVOPACK with a 400-V power supply (+24 V, OV). Do not touch the power supply terminals while the CHARGE lamp is ON after turning power OFF because high voltage may stil remain in the SERVOPACK. “Make sure the charge indicator is OFF frst before starting to-do witing or inspections. Be sure to observe the following precautions when wiring the SERVOPACK main circuit terminal blocks. + Do not turn the SERVOPACK power ON until all wiring including the main circuit terminal blocks, has ‘been completed. + Remove detachable main circuit terminals from the SERVOPACK prior to wiring, + Insert only one power line per opening in the main cireuit terminals. + Make sure that no part of the core wire comes into contact with (.e.,shor-crcuits) adjacent wires Install a battery at either the host controller or the SERVOPACK, but not both. tis dangerous to install batteries at both ends simultancously, because that sets up a loop circuit between the batteries. ‘Always use the specified power supply voltage. ‘An incorrect voltage may result in fire or malfunction. Make sure that the polarity is correct. Incorrect polarity may eause ruptures or damage. Take appropriate measures to ensure that the input power supply is supplied within the specified voltage fluctuation range. Be particularly careful in places where the power supply is unstable. incorrect power supply may result in damage to the equipment. Install external breakers or other safety devices against short-circuiting in extemal wiring, Failure to observe this caution may result in fire. ‘Take appropriate and sulficient countermeasures for each form of potential interference when installing systems in the following locations. * Locations subject to static electricity or other forms of noise + Locations subject to strong electromagnetic fields and magnetic fields + Locations subject to possible exposure to nidioactivity + Locations close to power supplies Failure to observe this caution may result in damage tothe equipment. Do not reverse the polarity ofthe battery when connecting it Failure to observe this caution may damage the battery, the SERVOPACK or servomotor, or cause an explo- ‘Wiring or inspection must be performed by a technical expert. Use a 24-VDC power supply with double insulation or reinforced insulation= Operation A\ CAUTION ‘+ Always use the servomotor and SERVOPACK in one of the specified combinations. Failure to observe this caution may result in Fire or malfunction ‘+ Conduct trial operation on the servomotor alone with the motor shaft disconnected from the machine to avoid accidents, Failure to observe this caution may result in injury + During trial operation, confirm that the holding brake works corectly. Furthermore, secure system ‘safety against problems such as signal line disconnection, + Before starting operation with a machine connected, change the parameter settings to match the parameters of the machine, Starting operation without matching the proper settings may cause the machine to run out of controler mal- function + Donot turn the power ON and OFF more than necessary. Do not use the SERVOPACK tor applications that require the power to turn ON and OFF frequently. Such applications will cause elements in the SERVOPACK to deteriorate, ‘Asa guideline, atleast one hour should be allowed between the power being turned ON and OFF once actual ‘opetation has been started + When carrying out JOG operation (Fn002), origin search (Fn003), or EasyFFT (Fn206), forcing movable machine parts to stop does not work for forward overtravel or reverse overtravel. Take necessary precautions, Failure to observe this caution may result in damage tothe equipment. + When using the servomotor fora vertical axis, install safety devices to prevent workpieces from fall ing due to alarms or overtravels. Set the servomotor so that it will stop in the zero clamp state when ‘overtravel occurs. Failure to observe this caution may cause workpieces to fll due to overtavel + When not using the turning ess function, set the correct moment of inertia ratio (Pn103). Setting an incorrect moment of inertia ratio may cause machine vibration, + Donot touch the SERVOPACK heat sinks, regenerative resistor, or servomotor while power is ON. (oF soon after the power is turned OFF. Failure to observe this caution may result in burs due to high temperatures, + Dornot make any extreme adjustments or setting changes of parameters, Failure to observe this caution may result in injury or damage tothe equipment de to unstable operation. + When an alarm occurs, remove the cause, reset the alarm after confirming safety, and then resume operation. Failure to observe this caution may result in damage tothe equipment, fire, or injury. + Donot use the holding brake of the servomotor for braking, Failure to observe this caution may result in malfunction. + An alarm or waming may occur if communications are performed with the host controller while the SigmaWin+ or Digital Operator is operating Ian alarm or warning occurs, it may stop the curent process and stop the system ™ Maintenance and Inspection Z\ CAUTION ‘+ Donot disassemble the SERVOPACK and the servomator. Failure to observe this caution may result in electric shock oF injury + Donot attempt to change wiring while the power is ON. Failure to observe this caution may result in eletrc shock oF injury + When replacing the SERVOPACK, resume operation only after copying the previous SERVOPACK parameters to the new SERVOPACK. Failure to observe this caution may result in damage tothe equipment. = Disposal A\ CAUTION™ General Precautions Observe the following general precautions to ensure safe application. *+ The products shown in illustrations in this manual are sometimes shown without covers or protective guards. Always replace the cover or protective guard as specified first, and then operate the products in accordance with, the manual + The drawings presented in this manual are typical examples and may not match the product you recived. + Ifthe manual must be ordered due to loss or damage, inform your nearest Yaskawa representative or one ofthe offices listed on the back of this manualWarranty (1) Details of Warranty ™ Warranty Period (2) The warranty period fora product that was purchased (hereinafter called “delivered product”) is one year from the time of delivery to the location specified by the customer or 18 months from the time of shipment from the YYaskawa factory, whichever is sooner. Warranty Scope ‘Yaskawa shall replace or repair a defective product free of charge if'a defect attributable to Yaskawa occurs: during the warranty period above. This warranty does not cover defects caused by the delivered product reach ing the end ofits service lie and replacement of parts that require replacement or that have a limited service lite. This warranty does not cover failures that result from any ofthe following causes. 1. Improper handling, abuse, oF use in unsuitable conditions or in environments not described in product cata- logs or manuals, oF in any separately agreed-upon specifications 2. Causes not atuibutabe to the delivered product itself 3. Modifications or repairs not performed by Yaskawa 4, Abuse ofthe delivered product in a manner in which it was not originally intended 5. Causes that were not foreseeable with the scientific and technological understanding at the time of ship- ‘ment from Yaskawa 6, Events for which Yaskawa isnot responsible, such as natural or human-made disasters Limitations of Liability 1. Yaskawa shall in no event be responsible for any damage or loss of opportunity othe customer that arises de to failure ofthe delivered product. 2. Yaskawa shall not be responsible for any programs (including parameter settings) or the results of program execution ofthe programs provided by the user or by a third party for use with programmable Yaskawa product 3. The information described in product catalogs or manuals is provided forthe purpose ofthe customer pur- chasing the appropriate product forthe intended application. The use thereof does not guarantee tha there are no infringements of intellectual property rights or other proprietary rights of Yaskawa or third parties, ror does it construe a licens. 4. Yaskawa shall not be responsible for any damage arising from infringements of intellectual property rights or other proprietary rights of third partis as a result of using the information described in catalogs or man- uals(3) (4) Suitability for Use Itis the customer's responsibilty to confirm conformity with any standards, codes, or egulations that apply ithe Yaskawa producti used in combination with any other products. 2. The customer must confirm that the Yaskawa product is suitable for the systems, machines, and equipment used by the eustomer. 3. Consult with Yaskawa to determine whether use in the following applications is acceptable. Ifuse in the application is acceptable, use the produet with extra allowance in ratings and specifications, and provide safety measures to minimize hazards in the event of failure. + Outdoor use, use involving potential chemical contamination or electrical interference, or use in condi- tions or environments not described in product catalogs or manuals + Nuclear energy control systems, combustion systems, railroad systems, aviation systems, vehicle sys- tems, medical equipment, amusement machines, and installations subject to separate industry or gov cemment regulations + Systems, machines, and equipment that may presenta risk to life or property + Systems that require a high degree of reliability, such as systems that supply gas, water, or electricity, or systems that operate continuously 24 hours a day + Other systems that require a similar high degree of safety 4, Never use the product for an application involving serious risk to life or property without first ensuring that the system is designed to secure the required level of safety with risk warnings and redundancy, and that the ‘Yaskawa product is properly rated and installed. 5. The ciruit examples and other application examples described in product catalogs and manuals are for ref: erence. Check the functionality and safety ofthe actual devices and equipment to be used before using the product. 6, Read and understand all use prohibitions and precautions, and operate the Yaskawa product correctly to prevent accidental harm to third partes, Specifications Change ‘The names, specifications, appearance, and accessories of products in product catalogs and manuals may be changed at any time based on improvements and other reasons. The next editions ofthe revised catalogs or ‘manuals wil be published with updated eode numbers. Consult with your Yaskawa representative to confirm the actual specifications before purchasing a product.Harmonized Standards = North American Safety Standards (UL) c US LISTED cA US UL Standards y (UL File No.) SERVOPACK |SGDV ULSONC (E147823) > SMV + SOMAV Servomotor | + scMPs ‘UL 100$ €E165827) + SGMGV + SGMSV = European Directives CES Hose [ Eiropean Dress Fan Saas Machnay Divers EN BOTS 208 2onwsrec Evo ex 01 pap aaa servoracx fsoov — [EMCDieaive | EN cromee2 2 Evsisons Ton Wage Dine JENS sss Evatsons 7a Tame EN SOIT A op TWA EMC Deine TEGAN EMC Bisse TiN toons ‘Servomotor + SGMPS EN 61800-3 SGMGV [Taw vompebeeaie [ENO + SGMSV, 2006/95/EC_ EN 60034-5Safety Standards Oy Model [Safety Standards Siandards ENISO13849-1; 2008 Safety of Machinery [EN 954-1 TEC 6204-1 servorack —|scpv TEC 61508 series Funetional Safety |IEC 62061 TEC 61800-5.2 EMC TEC 6132651 Safe Performance Teme Standards Performance Level ee TEC 61508 SIL? eee TEC @2061 SILELE angerausFalurepertiow [ECSU PH = 1.10 [1] ee cee 1EC 62061 (0.17% of SIL2) Category ENE Category3 Performance Level ENISO TRAST PL Ad (Category 3) en Tineto Dangorous Fale oF EG Yan aso a5 Rear ‘Average Diagnostic Coverage EN ISO 1389-1 Dave: Low Stop Category TEC a204-1 Sop category 0 Safety Funciion TEC 6180052 STO Proof test interval TEC 6IS08 TO yearContents ‘About this Manual i Safety Precautions Warranty, Harmonized Standards Chapter 1 Outline . 1.1 E-V Series SERVOPACKs 1.2 Part Names . 4.3 SERVOPACK Ratings and Speiicatons 4.3.4 Ratings 43.2 Basic Specifications 1.3.3. SpeediPosition Torque Contra. : 1.4 SERVOPACK intemal Block Diagrams 1.4.1 Single-phase 100 V, SGDV-R70FO1A, -ROOFOTA, -2R1FOTA Models 4.42 Single-phase 100 V, SGDV-2R8FO1A Model 4.4.3 Single-phase 200 V, SGDV-120A01A008000 Model 4.4.4 Three-phase 200 V, SGDV-R70A01D,, -R9QA01D, -IREAO1C Models 1.4.5 Three-phase 200 V, SGDV-2RBA01CI Model 1.4.6 Three-phase 200 V, SGDV.3RBAO1A, -SRSAOIA, -7REAO1A Models 4.4.7 Three-phase 200 V, SGDV-120A01A Model... 41.4.8 Three-phase 200 V, SGDV-180A01A, -200A01A Models 1.49 Three-phase 200 V, SGDV-330A01A Model 1.4.10 Three-phase 200 V, SGDV-470A01A, -550A01A Models 1.4.11 Three-phase 200 V SGDV-580A01A, -780A01A Models. 4.4.12 Three-phase 400 V, SGDV-1R9DO1A, -3RSDO1A, -SRADOIA Models... 4.4.13 Three-phase 400 V, SGDV-BR4DO1A, -120001A Models. 4.4.14 Three-phase 400 V, SGDV-170D01A Model 4.4.15 Three-phase 400 V, SGDV-210001A, -260001A Models, 1.4.16 Three-phase 400 V, SGDV-280D01A, -370D01A Models, 1.5 Examples of Servo System Configurations 41.5.1. Connecting to SGDV-CIOOFO1A SERVOPACK 4.5.2. Connecting to SGDV-CIDDIAD1D SERVOPACK. 41.5.3 Connecting to SGDV-CIDID01A SERVOPACK 1.6 SERVOPACK Model Designation 1.7 Inspection and Maintenance Chapter 2 Panel Operator . 124 2.1 Overview . eee ees 2.41.4 Names and Functions 22 2.122 Display Selection 22 213 Status Display 23 2.2 Utility Functions (FnOOO) . 24 2.3 Parameters (PnOO0) papabsbecnorbensereced es 23.1 Parameter Classification 25 23.2 Nolation for Parameters... 2 ae 22s 2.3.3 Setting Parameters 28 2.4 Monitor Displays (UnCI010). 29Chapter 3 Wiring and Connection......0......0eeee eee eeee eee BH 3.1 Main Circuit Wiring... 0.2.0... .ec eee eeeeeeeeeeeeesees 2132 3.4.4 Main Circuit Terminals 32 3.4.2 Using a Standard Power Supply (Single-phase 100 V, Three-phase 200 V, or Three-phase 400 V) 33 3.4.3 Using the SERVOPACK with Single-phase, 200 V Power Input 3.4.4 Using the SERVOPACK with a DC Power Input 3.1.5 Using More Than One SERVOPACK. 3.4.6 General Precautions for Wiring 3.2/0 Signal Connections. 3.2.4 lO Signal (CN1) Names and Functions... 3.222 Safety Function Signal (CN8) Names and Functions. 3.2.3 Example of I/O Signal Connections in Speed Control 3.2.4 Example of 1/0 Signal Connections in Position Control 3.2.5 Example of IO Signal Connections in Torque Control. 3.3 V/O Signal Allocations... . 3.3.1 Input Signal Allocations 3.3.2 Output Signal Allocations 3.4 Examples of Connection to Host Controller 3.4.1 Reference Input Circuit 3.4.2 Sequence Input Circuit 3.4.3 Sequence Output Circuit 3.5 Encoder Connection 3.5.1 Encoder Signal (CN2) Names and Functions 3.8.2 Encoder Connection Examples 3.6 Connecting Regenerative Resistors. . 3.6.1. Connecting Regenerative Resistors 3.6.2 Setting Regenerative Resistor Capacity = 3.7 Noise Control and Measures for Harmonic Suppression .- 3.7.4 Wiring for Noise Control S : 3.7.2 Precautions on Connecting Noise Filter. 3.7.3. Connecting a Reactor for Harmonic Suppression Chapter 4 Trial Operation . 4.1. Inspection and Checking before Trial Operation 4.2 Trial Operation for Servomotor without Load ween 4.3 Trial Operation for Servomotor without Load from Host Reference 43 4.3.1 Inspecting Connection and Status of Input Signals. 45 4.3.2 Trial Operation in Speed Control... .. 147 4:33 Trial Operation under Position Control from the Host Controller with the SERVOPACK Used for Speed Control 48 4.3.4 Trial Operation in Position Control 49 4.4 Trial Operation with the Servomotor Connected to the Machine . 410 4.5 Trial Operation of Servomotor with Brakes. cette eee 41 4.6 Test Without Motor Function. . . 2412 4.8.1 Motor Information... .. covtesetieerstessententessesteress nr sode12, 4.6.2 Motor Position and Speed Responses. 413 4.633 Limitations 44 4.84 Operator Displays during Testing without Motor 415Chapter 5 Operation 0.2... 0... e cece eevee eee eeee eee BA 5.1 Control Method Selection. 5.2 Basic Functions Settings 52.1 Servo ON Signal 52.2 Servomotor Rotation Direction 52.3 Overtravel 5.2.4 Holding Brakes 152.5 Stopping Servomotors aftr /S-ON Tured OFF or Alarm Occurrence 526 Instantaneous Power Interuption Setings 52.7 SEMI F47 Function (Torque Limit Function for Low DC Power Supply Voltage for Main Circuit) 5.2.8 Setting Motor Overload Detection Level 5.3 Speed Control 53.1 Basic Setings for Speed Control. 53.2 Reference Ofset Adjustment 53.3 Soft Start 5.3.4 Speed Reference Fitter 53.5 Zero Clamp Function 5.36 Encoder Output Pulses 5.37 Setting Encoder Output Pulse 5.38 Setting Speed Coincidence Signal. 5.4 Position Control . 54.1 Basic Settings for Postion Contra. 5.4.2 Clear Signal Setting 554.3 Reference Pulse Input Multiplication Switching Function. 5.4.4 Electronic Gear 54.5 Smoothing 554.6 Positioning Completed Signal 54,7 Positioning Near Signal 548 Reference Pulse Inhibit Function. 5.5 Torque Control 55.1 Basic Settings for Torque Control 55.2 Reference Ofset Adjustment 5.5.3 Torque Reference Fitter 55.4 Speed Limit in Torque Control 5.6 Internal Set Speed Control . 56.1 Basic Setings for Speed Control with an intemal Set Speed . 56.2 Example of Operating with Internal Set Speeds. 5.7 Combination of Control Methods 57.4. Switching Internal Set Speed Control (Pn000.1 = 4, 5, oF 6) 5.7.2 Switching Other Than internal Set Speed Control (Pn000.1 = 7, 8 or 8) 573 Switching Other Than internal Set Speed Control (Pn000.1 = A or B. 5.8 Limiting Torque. 5.8.1 Internal Torque Limit. 58.2 Extomal Torque Limit 5.8.3 Torque Limiting Using an Analog Voltage Reference 5.8.4 Torque Limiting Using an External Torque Limit and Analog Voltage Reference 58.5 Checking Output Torque Limiting during Operation 5.9 Absolute Encoders. . 5.9.1 Connecting the Absolute Encoder... 59.2 Absolute Data Request Signal (SEN). 5.9.3 Battery Replacement 5.9.4 Absolute Encoder Setup and Reiniialization 5.95 Absolute Data Reception Sequence 59.8 Mulitum Limit Seting 5.9.7 Multum Limit Disagreement Alarm (A GCO). 5-3 5-4 517 5.20 5-22 5:22 523 5.28 5-28 5.27 5.29 530 2 88t 5-32 5-33 5.37 25-38 539 542 543 2545 5-46 546 547 115-50 5-52 552 5-55 5555.10 Other Output Signals 5-79 5.10.1. Servo Alarm Output Signal (ALM) and ‘Aaarm Code Output Signals (ALO, ALO2, and ALO3) 5-79 5.10.2 Waming Output Signal (WARN) 5-80 5.10.3 Rotation Detection Output Signal (TGON) ... even 581 5.104 Servo Ready Output Signal ('S-ROY) 581 5.11 Safety Function. . bec ee 5.11.1 Hard Wire Base Block (HWBB) Function. 5-82 5.11.2 Extemal Device Monitor (EDM1) 5-86 5.11.3 Application Example of Safety Functions. 5-88 5.11.4 Confiming Safety Functions 5-89 5.11.5 Precautions for Safety Functions 5-89 Chapter 6 Adjustments... 02.0 e eee e eee eect eee 1 8.1 Type of Adustments and Basic Adjustment Procedure 6.41.1 Adjustments... 6.1.2 Basic Adjustment Procedure 6.1.3 Monitoring Operation during Adjustment 6.1.4 Safety Precautions on Adjustment of Servo Gains 6.2 Tuning-less Function . . 6.2.1 Tuning-less Function 6.22 Tuning-ess Levels Setting (F200) Procedure 6.23 Related Parameters 6.3 Advanced Autotuning (Fn201) 6.3.1 Advanced Autotuning 6.32 Advanced Autotuning Procedure 6.3.3 Related Parameters 6.4 Advanced Autotuning by Reference (Fn202) 6.4.1 Advanced Autotuning by Reference. 6.4.2 Advanced Autotuning by Reference Procedure 6.4.3 Related Parameters 6.5 One-parameter Tuning (Fn203) . 6.5.1 One-parameter Tuning 6.5.2 One-parameter Tuning Procedure 6.5.3 One-parameter Tuning Example 6.54 Related Parameters 6.6 AntiResonance Control Adjustment Function (Fn204) . 6.6.1 Anti-Resonance Control Adjustment Function 6.6.2 Anti-Resonance Control Adjustment Function Operating Procedure. 6-49 6.6.3 Related Parameters 6-53 6.7 Vibration Suppression Function (Fn205) Gbonnesee - 6-54 6.7.1 Vibration Suppression Function 654 6.7.2 Vibration Suppression Function Operating Procedure. 655 6.7.3 Related Parameters 6.8 Additional Adjustment Function . 6.8.1. Switching Gain Settings 6.8.2 Manual Adjustment of Friction Compensation 6-63 6.8.3 Current Control Mode Selection Function 6-65 6.8.4 Current Gain Level Setting. ............+. : e woe 685 6.8.5 Speed Detection Method Selection 6-65 6.9 Compatible Adjustment Function ..... . cette eee ee 666 6.9.1 Feedforward Reference o o . 6-86 6.9.2 Torque Feedforward 6-66 6.9.3 Speed Feedforward 6-68 6.9.4 Proportional Control 6-69 6.9.5 Mode Switch (P/PI Switching) 670 6.9.6 Torque Reference Filter. on bones 6-72 6.9.7 Position Integral 6-74Chapter 7 Utility Functions (FnOIOIO). 0... eee eee eee TA 7.4 List of Utility Functions........... fete ee eens ceeeee eee TD 7.2 Alarm History Display (Fn000)...... 6801 odondadouososonceceole) 7.3 JOG Operation (Fn002) 14 7.4 Origin Search (Fn003)........... panne pepeco err 7.5 Program JOG Operation (F004) cece cee TB 7.6 Initializing Parameter Settings (Fn005) ad cece cess TAZ 7.7 Clearing Alarm History (Fn006) 73 7.8 Offset Adjustment of Analog Monitor Output (Fn00C) . cee 7-14 7.9 Gain Adjustment of Analog Monitor Output (Fn00D)........... 7-16 7.10 Automatic Offset-Signal Adjustment of the Motor Current Detection Signal (Fn00E)..... 718 7.11 Manual Offset-Signal Adjstent ot of the Motor Current Detection Signal (FnOOF)......... 9 7.42 Write Prohibited Setting (F010) .. 7-20 7.13. Servomotor Model Display (Fn011) 7-22 7.14 Software Version Display (Fn012) . cece TOM 7.48 Resetting Configuration Errors in Option Modules (Fn014)............ 7-25 7.16 Vibration Detection Level Initialization (Fn01B) 7-26 7.17 Display of SERVOPACK and Servomotor ID (Fn01E). 7-28 7.18 Display of Servomotor ID in Feedback Option Module (Fn01F) ....... . 7-30 7.19 Origin Setting (Fn020) = be oan 7-32 7.20 Software Reset (F030) 7-33 7.21 EasyFFT (Fn206) 7-34 7.22 Online Vibration Monitor (Fn207). . cece eeeeeeeeeee eee TST Chapter 8 Monitor Displays (UnO1O0). . . . . 841 8.1 List of Monitor Displays 82 8.2 Viewing Monitor Displays 83 8.3 Reading 32-bit Data in Decimal Displays. 84 8.4 Monitoring Input Signals ......... preaoaboo pape 85 8.4.1 Displaying Input Signal Status 85 8.42 Interpreting Input Signal Display Status 85 8.4.3 Input Signal Display Example 86 8.5 Monitoring Output Signals ........ cee cece eee BT 85.1 Displaying Output Signal Siatus 87 852 Interpreting Output Signal Display Status 88 85.3 Output Signal Display Example 88 8.6 Monitoring Safety Input Signals... . cece cee 89 86.1 Displaying Safety Input Signals 89 8622 Interpreting Safety Input Signal Display Status 89 8.6.3 Safety Input Signal Display Example 10 8.7 Monitor Display at Power ON. = 810Chapter 9 Fully-closed Loop Control. 00.2... 0.0. ece ee eee eee OH 9.1. System Configuration and Connection Example for SERVOPACK with Fully-closed Loop Control. 92 9.4.4. System Configuration, 92 9.4.2 Intemal Block Diagram of Fullyclosed Loop Control 93 9.4.3 Serial Converter Unit 93 9.1.4 Example of Connections to External Encoders. 95 9.4.5 Encoder Output Pulse Signals from SERVOPACK with an Extemal Encoder by Renishaw ple. 96 94.6 Precautions When Using an External Incremental Encoder by Magnescale o7 9.2 SERVOPACK Startup Procedure . 9-40 9.3 Parameter Settings for Fully.closed Loop Control ............ = 942 9.3.1 Motor Rotation Direction 9-13 9.3.2 Sine Wave Pitch (Frequency) for an External Encoder 015, 9.3.3 Setting Encoder Output Pulses (PAO, PBO, and PCO). a5 94 External AbeouieErender Data Reception Sequence 916 9.3.5 Electronic Gear ...... woes 9-19 9.36 Alarm Detection 9-20 9.3.7 Analog Monitor Signal . an 921 9.38 Speed Feedback Method during Fully-ciosed Loop Control 921 Chapter 10 Troubleshooting ee a] 10.1 Alarm Displays : 210-2 40.1.4 Uist of Alarms 102 10.12 Troubleshooting of Alarms 106 10.2 Waming Displays 10-20 10.21 List of Wamings 10-20 10.22 Troubleshooting of Warnings 10-21 10.3 Troubleshooting Malfunction Based on Operation and Conditions of the Servomotor : 10-24 Chapter 11 Appendix. . ios M4 11.1 Connection to Host Controller. . sees sees 11-2 13.4 Connection to MP2200§MP2300 Motion Module SVA-01 112 11.12 Connection to MP920 Servo Module SVA-OTA 113 11.13 Connection to OMRON's Motion Control Unit 14 11.14 Connection © OMRON's Position Contrl Unit 2.2. sss. eG 41.15 Connection to MITSUBISHI AD72 Positioning Module (SERVOPACK in Speed Contro) 116 11.16 Connection to MITSUBISHI ADS Positioning Module (SERVOPACK in Position Conta} “7 11.1.7 Connection to MITSUBISH's QD7S011 Positioning Module (SERVOPACK in Position Contra) 118 11.2 List of Parameters. . . neeeeee see . “ 11-9 112.4 Usiity Functions 19 1122 Parameters. in-10 11.3 List of Monitor Displays. 11-35 11.4 Parameter Recording Table 11-36 index index) Revision HistoryOutline 1.1 E-V Series SERVOPACKs 4-2 1.2 Part Names .. 1-2 1.3 SERVOPACK Ratings and Specifications 1-3, 43:1 Ratings 13 1.3.2 Basic Specifications 15 133 SpeedPosiionTorque Control 18 1.4 SERVOPACK Internal Block Diagrams 1-9 1.4.1 Single-phase 100 V, SGOV-R7OFOTA, -ROOFOIA,-2RIFOIA Models 19 114.2 Single-phase 100 V, SGOV.2RBFOTA Model +9 4.43 Single-phase 200 V, SGDV-120A01A008000 Model 10 4.4.4 Three-phase 200 V, SGDV-R7OADICL -ROOAOIC, REACTED Models +10 114.5 Thvee-phase 200 V, SGDV-2READICI Model oat 44 Three-phase 200 V, SGDV-GREADIA,-SRSAOTA, -7REAGIA Models ar 447 Three-phase 200 V, SGDV-120A01A Model 112 448 Three-phase 200 V, SGDV-180AD'A, 200ADiA Modes +12 449 Three-phase 200 V, SGDV-330A01A Model 119 114.10 Three-phase 200 V, SGOV-47OAOTA,-SSOAOTA Modeis 113 114.11 Three-phase 200 V SGDV-SBQAOTA,-TBOAD1A Models 14 114.12 Three-phase 400 V, SGOV-IRODOTA,-3RSDOTA, -SRADOTA Models 144 4.4.3 Three-phase 400 V, SGDV.ARADOIA, -120001A Modes 145 4.4.14 Thwee-phase 400 V, SGDV-170D01A Model 145 14.18 Three phase 400 V, SGDV-210D01A, -260001A Models 146 114.18 Three-phase 400 V, SGDV-280D01A, -270D01A Models 146 1.5 Examples of Servo System Configurations AAT 1.5:1 Connecting to SGDV-CIGOFO1A SERVOPACK 17 115.2 Connecting to SGDV-CIDOAN1L SERVOPACK +18 115.3 Connecting to SGDV-CIDTID01A SERVOPACK +20 1.6 SERVOPACK Model Designation 1-21 1.7 Inspection and Maintenance 1-22 B Outline1 Outine 1.1 ¥V Series SERVOPACKs ‘The E-V Series SERVOPACKs are designed for applications that require frequent high-speed, high-pre~ cision positioning. The SERVOPACK makes the most of machine performance in the shortest time possi- be, thus contributing to improving productivity 1.2 Part Names ‘This section describes the part names of SGDV SERVOPACK for analog voltage and pulse train reference. Sef nurber Pana display sad delay SERVOPACK ‘aus dom runes ardoher ‘ous wher pooretes ae ra, falcto2 1 Over Panel operate Frontcover. ——____] Narreplat Fourdon side of SERVOPACK.) Traces he SERVOPICK esos ng Chargeindcar igi en temo ccatpoer su ON ares Rasiya taal coor revo charge Thre donetih be SEROPER nen ae poe as nvr sce Man cet power supp teins ‘se ran ct pne su nae Fete io] Main Cxcut vig Conta pomer sup terminals Use congo iyo. fot 31 man Creu Weng Regenerate esstor conacing tomes Comacs eel regeeae resists Rehrio 36 comecing Regonerave Resistors ¢ sac teas meri sugpsson aero 473 Connecti a React fo Ferman Supression Senoeetor terns oo oo on oo COs a oo Coma he ran crest ce for senor peteio 31 Man Creut Weng Grow ternal Bese cons ORT TS SOE a Retr 3 Nain Cra Wiing (CS Analog montarconmecar sedi renter mr peed Bue derveeadoter abs trout 2 pcan Far 26.1.3 Montxing Operation during Adtran Panel operstor keys ‘Usedset ramets. eke 21 Oversew Inna votage ‘SERVOPACK mode -Rehrto 1.6 SERVOPACK Model Designation (CN3 Comet for ctl operoar or apesialconpuer Son 2) ns EV Senes Users Mor Opera on of Dpto! Operter ho’ SE S000 89) (CNT Commer for personal computer (USB conect Conmsicas wt pn orgu, sete conrcion cae 25P C5052} (€N1 VO signal comector seston np sas ad sence 0 sep Fete» 3.210 Spal Comectons. (es Comectarforsafey ncn devices Cored aly uncon Gee Not Wan ot ug esa tn, se SERVO PACK uh te sy ncn mow carer Uasp-cmis pended inser Forte comeceg mod nde 3.27 Stey Fneton Signal (CN) Names and uncon Fora nt eae freon ero SL Safety Fencion (0N2 Encoder comector ‘ornate enc ne snort Rater 35 Encoder Connon113. SERVOPACK Ratings and Spectications 1.3. SERVOPACK Ratings and Specifications This section describes the ratings and specifications of SERVOPACKS. 1.3.1 Ratings Ratings of SERVOPACKs are as shown below, (1) SGDV with Single-phase, 100-V Rating ‘SGDV (Single Phase, T00V) R70 [RO | ART | ARB ‘Continuous Output Current [Arms] 0.66 O91 20 28 Instantaneous Max. Output Current [Arms] 21 29 65 93 Regenerative Resistor” [None or extemal Main Grcuit Power Supply Sing-phase, 100 t 115 VAC “1, 5060 Fz Control Power Supply ‘Single-phase, 100 wo 115 VAC "$5, 50/60 Hz ‘Overvollage Category —=~=~“‘*‘~*~*~*«~d + Refer to 36 Connecting Regenerative Resistors for deals (2) SGDV with Single-phase, 200-V Rating ‘SGDV (Single Phase, 200 V) 12077 Cr i Instantaneous Max. Output Curent(Ams] Regenerative Resistor? or extemal Main Circuit Power Supply single-phase, 220 to 230 VAC “1, 80/60 Hz Control Power Supply Single-phase, 220 1 230 VAC Overvoliage Category 0 “1. The official mode! number is SGDV-120A01A 008000, 92. Refer to 36 Comecting Rergnerative Resistors for details. (3) SGDV with Three-phase, 200-V Rating out ‘SGDV (Three Phase, 200 V)|R70|R90] 1R6|2R8]3R|5RS|7RG| 120] 180|200] 330470] 550] 590 | 780 Continuous Output Current | 9.65/91] 16 | 28 | 38 | ss | 7.6 |11.6]185] 196] 329] 469) s47|s86|780 [Arms] instantaneous Max. Output | > | > Caveat pores) 21/29|s8|93 | 10/169] 17 | 28 | 42 | 6 | s4 | 110) 130] 140] 170 Regenerative Resistor” [None orextemal [Built-in or extemal [extemal Main Circuit Power Supply [Three-phase, 200 0 230 VAC: "i, 50160 Haz Control Power Supply |Singlesphase,200 to 230 VAC “I, 50160 Hz Overvaliage Category * Refer to 36 Comecting Regenerative Resistors for details.1 Outine Tar Raings (4) SGDV with Three-phase, 400-V Rating SDV (Tee Phase OWI] TRG | SRS | BRE | BRE | Tao WO | 20 | zo | 280 | aro Geran Oupaecurent T's Tas | s4 | a4 | uno | ass | 208 | 257 | ani | 32 pace Wa OR Teena wpe|ul»|»|els|e| ws Regenerative Resistor” Built-in or external -Extemal Main Circuit Power Supply | Three-phase, 380 10 480 VAC |, $0160 Hz Control Power Supply [24 VDCEIS% Overvotage Category |i Refer to 366 Connecting Regenerative Resistors for detail.113. SERVOPACK Ratings and Spectications 1.3.2. Basic Specifications tions of SERVOPACKs are shown below. Basie speci Drive Method Sinewave eureatdive wilh PWM contol of GBT Feedback Encoder: 13-bit (incremental), 17-bit, 204 (inrementaabsohate) Surrounding Ar Temper orc ay gs Eras Cw +88C Storage Temperature | 20°C w s85°C ‘Ambient Humidity [90% RH or less With no freezing or condensation Storage Humidity [0% Rit orles Vibration Resistance [49 mit Operating [ShockResistance [196m Conditions Protection Class Po ‘An environment hat satisfies the following conditions + Free of corrosive or flammable gases + Free of exposure to water, oil or chemicals Polition Degree 2 + Free of dus, sls, riton dust Attude 1000 merle : Free of static electricity strong elecromagnetieRelds, magnetic Hels or ened exposure oraoactivity ULs0RC Harmonized Standards ENSOI7S, ENSSOI1/A2 group class, EN61000-6-2, EN618003, ENGISO0(5-1, ENDS TECBISOSI (0-4 Suandard:Base-mounted Mounting Optional: Rack-mouned or dutventiated T5000 (The lower limit ofthe speed contra ange must be lower than the Speed Control Range | point at which the rated torque does not cause the servomotor to stop.) Load ; ertation | 10 100% oad: £0.01% max. (at raed speed) Speed Regu. | MOtaDe on | Rated voltage +1084: 06 (at rated speed) Perfor. {lation"® mance lemperature e max. (at ated Fee ar® [253225 °C: 40.1% max. (at rated speed) Torque Contit Tolerance 21% |Repeaiabilty) Sof Star Time ees 0 1010's (Can be set individually for acceleration and deceleration.)1 Outine 132 Basic Specifications (conta) Phase A,B, Coline driver [Encoder Output Pulse | Encoder ‘output pulse: any setting ratio (Refer to 537.) Fixed Input SEN signal Number of ‘Channels ee 7 Seno ON (SON) + Proportional control (P-CON) + Forward run prohibited (P-O7), reverse run prohibited won + Alarm eset (ALM-RST) ‘Sequence | Input ‘+ Forward external torque limit (/P-CL), reverse external input | Sionals torque limit (N-CL) wich can | long | Ineral ct sped section ('SPD-D, 'SPD-A, ‘SPD-B) be allocated * Control selection (/C-SEL) + Zero clamping (/ZCLAMP) + Reference pulse inhibit (INHIBIT) + Gain selection (G-SEL) Lo + Reference pulse input mukiplication switching ee (PSEL) ‘gral ‘Signal allocations can be performed, and positive and negative logic ean be changed. Fixed Output | Servo alarm (ALN), alam code (ALOT, ALO2, ALO3) oatputs Number of ‘Channels noe + Positioning completion (COIN) + Speed coincidence detection (V-CMP) + Rotation dtetion (TGON) + Servo ready (S-RDY) Sequence | eos + Torque limit detection (CLT) utput | Signals + Spoat limit detection (VLT) be allocated [Functions | Brake /BK) + Waming (WARN) + Near (NEAR) + Reference pulse input mukiplication switching ouput (PSELA) Signal allocations can be performed, and positive and negative logic canbe changed. ‘co | Digital operat UTUSP-OPOSA-1-E, penonal computer (can be connested asta ‘with SigmaWin+) sia [aN Commu- | Canmunica- |N~ Up to 18 stations posible at RS422A ications | tors Communi- |(CN3) = cations S JAdress | Set by parameter oe Setting [USB [Interface [Personal computer (can be connected with Sigma Wint) ‘Commu: FEommunica- nications | tons ‘Complies with standard USB1.1. (12 Mbps) (CN7) ‘Standard TED Display CHARGE indicator Panel Operator Func- [Display Unit |Five 7segment LEDs tons ‘Switches | Four push switches ‘Number of points 2 Output voltage: 1OVDC (linearity effective range 8 V) Resolution: 16 bits ‘Analog Monitor (CNS) Accuracy: 20 mV (Typ) Max. output current 10m Settling time (4 1%): 1.2 ms (Typ)113. SERVOPACK Ratings and Spectications (conta) Dynamie Brake (DB) ‘Retivated when a servo alam or overiavelling occurs or when the power ‘supply forthe main circuit or servomotor is OFF. Regenerative Processing Included = ‘Overtravel Prevention (OT) Dynamic brake stop, deceleration toa sop, o Fee rn toa stop a P-OT or NOT ‘Overcurrent, overvoliage, nsulicient vollage, overload, regeneration eon, Protective Function cans Usiity Function Gain adjustment, alarm history, JOG operation origin search, and so on. Input THWBBI, /HWBB2: Basoblock signal for power module Safety Function (Ouiput __ | EDM: Monitoring status of internal safety circuit (fixed ourpu) ‘Standards? | EN9S4 Cateyory 3, IE61508 SIL2 ‘Option Module Fully-closed module, safety module ‘1, Speed regulation by load regulation is defined as follows: Spe! redatin (_ Noloud mater spud - Tol ond motor sat Rated or seed — #2. Refer to 13.1 Ratings for details on regenerative resistors 3. Perform risk assessment for te system and be sure that the safety requirements are fulfilled.1 Outine 33 SpeedPosiion Torque Control 1.3.3 Speed/Position/Torque Control ‘The following table shows the basi specifications at speed position/torque contol Control Method ‘Specifications | ‘010 10's (Can be st individually for acceleration and Performance |Soft Stat Time Setting | 10 10s(Can + Max. put vollage: 212.V Grward speed reference with positive reference) Reference Voltage + Factory setting: 6 VDC at rated speed Input Signals Ip gain scting can be varied ‘Speed Control Input impedance ‘Approx. 4K2 Circuit Time Constant [30s Rolation Deaton Selection | With P contol signal pee ‘With forward reverse external tor init signal (apecd 1 Pe . {03 selection. Speed Select Servometor stops or another contol method is used when bath are OFF Feedforward Compensation [09610 100% Performance | Positioning Completed meee 0 to 1073741824 reference units Selec one of them Type Sign + pube tain, CW + CCW pulse tain, or two-phase pulse tin with 0° phase diferent Form For Tine diver open collector Line driver Sign + pulse waia, CW + CCW pulse tain: 4 Mpps on “Two-ptase pul train with 90° phase diffe Position Control Reference [Max input | [xyht Input Signats | Pulse |PUBEFTE | nen Collector mou So ‘quency ‘Sign + pulse train, CW + CCW pulse train: 200 kpps “Two-phase pulse rain wth 90° phase differential 200 kpps Reference Pulse Input rule eet | 1 0 100:imes Switching Position eror clear Clear Signal For line driver, open collector ~ Ma input vole: #12 V rward torque reference with postive reference) Reference Voltage + Factory setting: 3 VDC at rated torque Torque Control | Input Signals, leu gain setting ean be varied input impedance Amora, KO Circuit Time Constant [16s{4 SERVOPACK Internal Block Diagrams: 1.4 SERVOPACK Internal Block Diagrams 1.4.1 Single-phase 100 V, SGDV-R70F01A, -R90F01A, -2R1F01A Models a, rs1 Outine 3 Single-phase 200 V, SGDV-120AD1A008000 Model 1.4.3 Single-phase 200 V, SGDV-120A01A008000 Model ne of Main crest power suey + The following SERVOPACKs do not have cooling fans: SGDV-OD00008{4 SERVOPACK Internal Block Diagrams: 1.4.5 Three-phase 200 V, SGDV-2R8A010 Model = c anne i LHe ‘+ The following SERVOPACKS do not have cooling fans: SGDV-OOOOOOR 1.4.6 Three-phase 200 V, SGDV-3R8A01A, -5R5A01A, -7R6A01A Models Outline a1 Outine TAT Tiree phase 200 V, SGOV-120A01A Model 1.4.7 Three-phase 200 V, SGDV-120A01A Model Main crest ie ete1.4.9 Three-phase 200 V, SGDV-330A01A Model {4 SERVOPACK Internal Block Diagrams: Outline a1 Outine TAT Thres;phase 200V SGDV-S9OADIA, -7B0ADTA Models 1.4.11 Three-phase 200 V SGDV-590A01A, -780A01A Models Te Be Maina $12 poms. su! Las verso mince bo PTT) | E =m, nie oe & so ee{4 SERVOPACK Internal Block Diagrams: 1.4.13 Three-phase 400 V, SGDV-8R4D01A, -120D01A Models Outline a1 Outine A175 Thee-phase 400 V, SGDV-2T0D01A, -260007A Models 1.4.15 Three-phase 400 V, SGDV-210D01A, -260D01A Models Petal dv dv duly I at Main circuit GL ~ ower supe it I} we fm Jor ial a 1 vv Sonnet mer ov. r (The2avoc 32 wef ohh Fab TSA t J fase | # 11.5 Examples of Servo System Configurations 1.5 Examples of Servo System Configurations This section describes examples of basic servo system configuration 1.5.1 Connecting to SGDV-OOOF01A SERVOPACK Power supply Single-phase 100 VAC RT scov-0 8 Foi a SERVOPACK “ Personal Connection cable fordigtal operator computer & Connection cable foe personal computer Host controller WO signal cable = [tj ee rusia te wate oo vac 2 a } - dered eM 3 i a ac 1 q Meee B Outline Wher using he safer function, specially forthe safety function. 1. Usea24-VDC power supply. (Not included.) #2. Before connecting an external regenerative resistor to the SERVOPACK. refer to 3.6 Connecting Regenerative Resis-1 Outine 52 Connecting SGDV-IGCIADIO SERVOPACK 1.5.2 Connecting to SGDV-OINDA010 SERVOPACK (1) Using a Three-phase, 200-V Power Supply sGpv-f BB ao1a SERVOPACK ‘Connection cable for digtal operator ee ‘Connection cable faeces 4 4 ce asap es cable hee When nating hes \se the SERVO PACK wt See sky deci USELBE grows osan essays a When using the safety function, insert aconnextion cable specifically forthe safety function ho Seley nncton devs sculyiscmayiscmps sVISGMSV/SGMC: omar +1, Use a24-VDC power supply. (Not included.) using a 90-VDC power supply fora brake, however, use one of the following power supplies. + For 200-V input voltage: LPSE-2H01-E + For 100-V input voltage: LPDE-IHOI-E For details, refer to 3-V Series Product Catalog(No.: KAEP S800000 42), +2, Before connecting an extemal regenerative resistor to the SERVOPACK, refer to 36 Connecting Regenerative Resis- tors1.5 Examples of Servo System Configurations (2) Using a Single-phase, 200-V Power Supply ‘The Z-V Series 200 V SERVOPACK generally specifies three-phase power input but some models can be used witha single phase 200 V power supply. Refer to 31.3 Usngthe SERVOPACK with Sg phase, 200 V Power Input for details, Powers Si p20 vac Moided-case cieut breaker fwecey Noise fter Serato scbv-f BB aol Digtal — metic ~~ SERVOPACK operator Personal computer Host controller ¢ When not using the safety func feagere Usethe SERVOPACK wh te say Acton arper comer 2o0vac USP CUMGRE vided as an accessor) inserted 2 ls Brake power supply ao SI Gastegsoomenr When sone oe furcton 4 arta correction cole spectcaly oat aevele #1, Usea24-VDC power supply. (Not included.) 42). Before connecting an exteral regenerative resistor to the SERVOPACK, refer to 36 Comecting Regenerative Pesis tas1 Outine 153. Conneding SGDV-CIGIEIDOTA SERVOPAGK 1.5.3 Connecting to SGDV-OOOD01A SERVOPACK ‘Three phase 00 VAC ST Molded-case Sreut beaker iecey Noise ter Dita! pomaeene scov-088 oa oper feats Magretc SERVOPACK Conpecton cate Persea {erga operat Goma forpersonal compar 10200 vac : eaaee (a— ee ‘When not using the safety function, Use the SERVOPACK with the safety UESPCVNGEE prov son accessory) inserted. oa When using the safety function, Inserta cormecton cable speciically forthe sofety urehon. Ch- a softy incon covets Encoder cable SGMSVISGMGV Senomoior #1, Use a24-VDC power supply with double insulation or reinforced insulation. (The 24-VDC power supply is not included ) Do not use the same 24-VDC power supply forthe brakes. +2. Before connecting an extemal regenerative resistor tothe SERVOPACK, refer to 36 Connecting Regenerative Resis- tors #3. Use a24-VDC power supply for abrake. (Not included.) fusing a90-VDC power supply fora brake, however, use one of te following power supplies. + For 200-V input voltage: LPSE-2H01-E + For 100-V input voltage: LPDE-IHO1-E For details, refer to 5:V Series Product Catalog(No.: KAEP $800000 42),416 SERVOPACK Model Designation 1.6 SERVOPACK Model Designation This section shows SERVOPACK model designation, SGDV - 2R8 A 01 A 000 00 O Series eer TTT) (REET mcr] coue |RSS] [Ee [ Vane ae eee (aN) Ff =v ‘Code [Specification aa} a0] [Ra = Feats ov ET hae ae ze} waa] 008 BSB age ane SpeTTaTS—]] [TIFF PATA Sa BSS] weet or [rae em es | art] 04 De [analog wolage and pulse Wain rae se [os beenatteenar eT] 078 7 SOUT conmrarieatons TRE 7 fe TINK communications a ee rats ar [2 —] | 2 ARO corm =| ee So} ap aaa eer Seno => 75 a Saaa = ee ‘780° 15 ‘007 |Rack-mounted > [os azar = assed an a Saleen oe [Re | ae ysis bie BF ee =p ‘370° 15 “1, These amplifiers can be powered with single or three-phase #2. SGDV-I20ATIIA008000 special version ofthe 1.5 kW amplifier can be used for single-phase operation, #3. SGDV-4704, $504, 596A, -780A, -210D, -260D, -280D, and -370D are duct-ventilated types. ‘4. A resistor for the dynamic brake isnot included. An extemal resistor forthe dynamic brake ean only be used with '400-V SERVOPACKs. Note: Ifthe option codes digits 8 to 13 are all zeros, they re omitted.1 Outine 1.7 (1) (2) Inspection and Maintenance This section describes the inspection and maintenance of SERVOPACK. 'SERVOPACK Inspection For inspection and maintenance of the SERVOPACK, follow the inspection procedures inthe following table at least once every year. Other routine inspections are not required. Tem Frequency Procedure ‘Comments ‘Cheek for dust, drt, and oil Exterior Seaseance Clean with compressed air Atleast once a year [Check for Toose teminal Loose Screws block and connector Tighten any loose serews, SERVOPACK's Parts Replacement Schedule ‘The following electric or electronic parts are subject to mechanical wear or deterioration over time. To avoid failure, replace these parts at the frequency indicated, Refer to the standard replacement period in the following table and contact your Yaskawa representative. ‘After an examination of the part in question, we will determine whether the parts should be replaced or not “The parameters of any SERVOPACKs overhauled by Yaskawa ae reset to the Tacory setings before shipping. Be sure to confirm tha the parameters are propery st before starting operation. IMPORTANT Pat Ces Operating Conditions Cooling Fan 4105 yeas ‘Smoothing Capacitor 7 8 years + Surrounding Air Temperature: Annwal average of Other Aluminum Eiearaiis swe Capacitor yan + Load Factor: 0% max ae + Operation Rate: 20 hurd max Fuses TOyeas2 Panel Operator 2.1 Overview 22 2.1.1. Names and Functions 222 2.1.2 Display Selection 222 2.1.3 Status Display .... : vie 123 2.2 Utility Functions (FnOOO) ....... sononoE ee 2.3 Parameters (PnO1O0) 25 23.1 Parameter Classification 25 2.3.2 Notation for Parameters 25 23.3 Setting Parameters 26 2.4 Monitor Displays (UnOOO) ...... GopHoGa oe 2 t g é z a2 Panel Operator Tia Names and Functions: 2.1 Overview 2.1.1 Names and Functions Panel operator consists of display part and keys. Parameter setting, status display, execution of utility function, and monitoring of the SERVOPACK operation are enabled using the panel operator. ‘The names and functions of the keys on the panel operator are as follows. Function + To select display. + Tosset the st valu "To increase the st value To decrease the sot valve KO] key Name Sane o Key. oe aS BREE « [ostastut bood Key. Keys + To display the sei value by pressing this key for one Second + To move tothe next digit con the let when lashing. ‘Note: To reset the servo alarm, press the UP Key and the DOWN Key simultaneously. Be sure to remove the ceuse and then reset the alarm, 2.1.2. Display Selection Press the MODEVSET Key to make a selection in the following order. Power ON ‘ ress (@) ie Ib|b + Status Dspay (Referto 21:3) —+ pres (@) one second —+ F100: uy Fueton waar (Refer to 2.2.) {for one second,—» Pri 8 : Parameter Seting (Referto 23) ors (ors 8: Hy @ (Refer to 2.4.)2.1 Overview 2.1.3 Status Display The display shows the following status (=] | Jol) —S— Biba Code Code Weaning Weaning Code Basebiock Reverse Run Prohibited Servo OFF (srvomotr power OFF) Hoek) | Norivore Safety Function FRE) | 82%, ox enomower poner OX) Piel) | trestevorack is bacticted byte safety function. (Example: Run Status) |Test without Motor fun | india ate ex without a ori Flan) si [intrest Stays depen on fae hosts oem sed SERVO” Forward Run Prohibited aaoromy) > PACK. Porworr retetnos |Retero 46 Tt Wit Mor Puv- EASE) ice | tenforesis For D) Fass tn tam nde Control Power ON Lights when SERVOPACK control power is ON. [ ‘Baseblock i Lights when the servomotor is OFF. in speed control: Speed Coincidence (V-CMP) Lights when the difference between the servomotor speod and reference speed isthe same as or less than the value set in P03. (Factory setting: 10 min") = + Always lights in torque contol "Note: If there is nose in the reference voltage during speed contro, the horizontal line (-) atthe far left edge g % g é z a ] ‘of the panel operator display may flash, Refer to 3.7.1 Wiring for Noise Conta and take a preventive == In position control: Positioning Completion (/COIN) Lights if enor between postion reference and actual motor position is less than the value set in PnS22. (Fac~ tory seting: 7 reference units) Rotation Detection (/TGON) Lights if motor speed exceeds the value set in PnS02. (Factory setting: 20 min) in speed control: Speed Reference Input Lights if input speed reference exceeds the value set in PnS02, (Factory setting: 20 mi In position control: Reference Pulse Input Lights if reference pulse is input. In torque controk: Torque Reference Input alo Lights if input torque reference excoeds preset value (10% ofthe rated torque), In position control: Clear Signal input Lights when clear signal is input Power Ready Lights when main circuit power supply is ON,2 Panel Operator 2.2 — Utility Functions (FnOOO) ‘The utility functions are related tothe setup and adjustment ofthe SERVOPACK. In this case, the panel operator displays numbers beginning with Fa, (FRISICS) Display Example for Origin Search ‘The following table outlines the procedures necessary for an origin search (Fn003). sep | Oaplayater ae Gaal In ss the ey to select the wit fanetin . | (Fase pres MODESET Keys ey ‘se rainy 8s the UP or to select Ft 2 | (FERIDICIS) | (© fells) ©) |ressurepounko mse e ia Press the DATAVSHIFT Key fr approximately one see- FL dk Slr ‘ond, and the display shown on the left appears. ‘ 7 Press the MODE/SET Key to turn the servomotor power SIF ON The display shown on the Tel peas Pressing the UP Key will rotate the servomotor inthe for ‘ward direction. Pressing the DOWN Key will rotate the Servomotor inthe reverse direction. The rotation direction ofthe servomotor changes according tothe setting of Pr 00.0 as shown inthe following table, 5 Parameter UP Key_| DOWN Key IC Pn000 = cul oom | cw cow ‘Note: Direction when viewed from the load of he servo- smote. ‘When te srvomoior origin search completed the di . rs play flashes JLja|r ‘At this moment, the servomotor i servolocked atthe ori iaplay Tse in pulse position, Press the DATA/SHIFT Key for approximately one sec ond. "F003" is displayed again, 7 |FlAlGiG}3 oat @ _| To enable the change inthe setting, turn the power OFF and ON again23 Parameters (PnCI0) 2.3 Parameters (PnOOD) This section describes the classifications, methods of notation, and settings for parameters given in this man- wal. 2.3.1 Parameter Classification Parameters of the B-V Series SERVOPACK are classified into two types of parameters. One type of parame- ters is required for setting up the basic conditions for operation and the other type is required for tuning param- eters that are required to adjust servomotor characteristics. Classification Meaning Display Method Setting Method Parameters required for | Always displayed (Factory | Set each parameter individu- eee setup. setting: Pa00B.0 ~ 0) ally Parameters Tor tng con- Tuning Parameters trol gain and other parame- | Set Pn00B.0 to 1 ters. ‘There is no need to set each parameter individually. There are two types of notation used for parameters, one for parameter that requires a value setting (parameter for numeric settings) and one for parameter that requires the selection of a function (parameter for selecting. functions). ‘The notation and settings for both types of parameters are described next. 2.3.2 Notation for Parameters (1) Parameters for Numeric Settings “The coriol methods for which the paramere apples, (Speed: Speed cont Tepe corel g Emergency Stop Torque g Pn406 B Seng Range | Seting Unt | FadorySeting | WhenErebied | Cassifeaton é f|rmaam me a mm 3 AL 1 t he 7 Indicates the Indicates the Indicates when a Inco pescera —]Seemanaee emeseea| matecrciue |] pwr a range forthe pera. Pent I eetve assicaion o (2) Parameters for Selecting Functions J. L Parameter Meaning ‘When Enabled | Classification inf 0B Uses the absolute encoder as an pnoc2 _||Factory seting) | absokte encoder, oe ean niga Uses the absolute encoder as an \ \ incremental encoder. (Parameter (The notation HUTT indicates 8 parameter) (Ths sation ema re [umber [scene fore functon for selecting functions. Each B corresponds to the setting value ofthat digt. The notation [shown here means that the third digit is 12 Panel Operator 2333 Seting Parameters + Notation Example Panel Operator Display (Display Example for Pn002) MIAInI9 Digit Notation ‘Setting Notation Af Noaton| Meaning Notation Meaning Indcates te vate tre || Prog 0 =x |incts tat te vole fhe Trsesor pronzo [eGpcwanenrnam || SOME [sc prone Py Ex Indcaes fe vave re || Pnoge.t =x |rdcaes tat he value forthe 2ndcigt PrOo2a [image paneer Pro|| gr nf {dl |2ndagt! prone POs ndcatestevave ate || Pn092.2 => indicts tat he vl the Srdigt Pm002.2._ |r dita parameter Pr002 || or nl 1B | 3 of parameter P02 is x ndcaes te vabe fae P0023 =x [lndcaes tat he value othe anda P0023 [tnagtal parses’ Prot || Grnodl DD [4h aight poorer Pron bx 2.3.3. Setting Parameters (1) How to Make Numeric Settings Using Parameters This section describes how to make numeric setings using parameters. = Parameters with Setting Ranges of Up to Five Digits ‘The example below shows how to change the speed loop gain (Pn 00) from "40.0" to "100.0." Stop | ipiay ater Operation SSA ress the MODE/SET Key to sees the parameter setting 1 1Pa100 is not displayed, pres the UP or the DOWN Key Fin id lu toselet Pao, Press the DATAVSHIFT Key for approximately one see- 2 (000 nd. The current data of Pa 100i payed. Press the DATASHIFT Key to see 3 (GGG "4 wll ah and be able tobe changed. «\(o" ag] iG Keep pressing the UP Key until 0100.0 is displayed. * Press the MODE/SET Key. The vac flahes ands saved 5 |[B] NGIGIG) | fefie ee: | eta torte seed ioop gin (100) i changed fom ESR | Seed [ego to o0.0." | Press the DATA/SHIFT Key for approximately one sec- © |PaLIp)| © © © feseaens23 Parameters (PnCI0) ™ Parameters with Setting Ranges of Six Digits or More Panel operator displays five digits. When the parameter number is more than six digits, values are displayed and set as shown belo “Top two digits Lefemast fash display shows digits positon. The digits dsplay and value ‘Mears paramete's vai. soton 19) four dis numbers displayed ‘The example below shows how to set the positioning completed width (PnS22) to "0123456789." ‘Sep | Deeley ‘after Keys Operation siete) y Press the MODE/SET Key to select the parameter setting If P22 is not displayed, press the DATAVSHIFT Key, the UP Key, or the DOWN Key to select Pas22. Press the DATASHIFT Key for approximately one soe- ‘ond, The current data for bottom four digits of PaS22 are displayed. (In tis case, "0007" is displayed.) Press the DATA/SHIFT Key to move to other digits, and change the value by pressing the UP/DOWN Key. (inthis case, "6789" is set) Press the DATA/SHIFT Key. The middle four digits willbe displayed. (inthis case, "0000" is displayed.) Press the DATA/SHIFT Key to move to other digits, and change the value by pressing the UP/DOWN Key. (inthis ease, "2345" is set) Press the DATA/SHIFT Key. The top two digits will be splayed. (in this case, "0" is displayed.) Press the DATA/SHIFT Key to move to other digit, and change the value by pressing the UP/DOWN Key. (In this, ase, "01" i set) ‘The valu "0123456789" is et. g % g é z a2 Panel Operator 2333 Seting Parameters (2) (cont'd) sep | Display shor Keys Operation Press the MODE/SET Key to save the value tothe SER. VOPACK. During saving top two digits lash. After the saving is completed, press the DATA SHIFT Key for approximately one second, "Pu522" is displayed again, PASE) Setting negative numbers + For the parameters that accept a negative value setting, display "0000000000" and then press the DOWN Key to set negative numbers + When setting negative numbers, the value increases by pressing the DOWN Key and decreases by pressing the UP Key. + Press the DATA/SHIFT Key to move to other digits. + A.- (minus) sign is displayed when the top two di How to Select Functions Using Parameters ‘The parameter setting for selecting functions is used to select and set the function allocated to each digit dis- played on the panel operator. are displayed. ‘The example below shows how to change the setting of Pn000.1 (control method selection) of the Pn000 (basic function select switch 0) from speed control to position control sep | Osplayater Kes Operation FIFI) | ‘wiete! © Rrasomenteresiscrmansyat 1 ‘ei (e © [ities esis esse Ur cee DOWN RS PrISIGIS) | eects 8. eet J | Press the DATA/SHIFT Key for approximately one sec- 2 | (ADIIGIG)) © © © Ce! oeeeunasscmmess Tic DATASET Kay oss es 5 FIAIAIG) | ee of curent data. Au "0" on the second digit will flash and be able to be Sone Prsthe UP Key oe cage "n00107 : GLa {Sette conta metnd positon conta) A Preshe MODEISET Key. The ve Masha saved 5 ale The cone meted chnge om spe ono! Ps JU te wa cou Pa lrcane — FIRIT)| © ee fet [Rgragpatasier i xapposinney ones 6 |(A,aae © 0 (el Jetta eaten 7 Tosa digs kc ig pe OFF ON aia24 Monitor Displays (UnO100) 2.4 Monitor Displays (UnOOO) ‘The monitor displays can be used for monitoring the reference values, UO signal status, and SERVOPACK internal status. For details, refer to 82 Viewing Monitor Displays. ‘The panel operator displays numbers beginning with Un, Tanya uyjnjuju}u Display Example for Motor Rotating Speed ‘The following table outlines the procedures necessary to view the motor rotating speed (Un000), sep | Diplay ater keys ‘Operation 1 |(GTRIGIGIG) | (ee © © jrrssine toveser Key sett ne monitor dpa. 1F U0 ot displayed, pres the UP othe DOWN Key : IGID) | © eee) © fesse Pres the DATAVSHIFT Key for approxima ne second . NSIC] | © © © B% Jroainay te daa oF Goo, : ITI) | © © fie) | Pres te DATASHIFT Key for approxima oe second gI| © e&,_oreumso espa ofmenitor mbes 1). g % g é z a3 Wiring and Connection 3.1. Main Circuit Wiring 32 3.41.1. Main Circuit Terminals 32 3.1.2 Using a Standard Power Supply (Single-phase 100 V, Three-phase 200 V, or Three-phase 400 V) cone 88 3.1.3 Using the SERVOPACK with Single-phase, 200 V Power Input att 3.1.4 Using the SERVOPACK with a DC Power Input .........20cc00cecseee creas AB: 3.1.5 Using More Than One SERVOPACK 347 3.1.6 General Precautions for Wiring 318 3.2 VO Signal Connections peconucoeoneo9H0a006 23-19 3.2.1 VO Signal (CN1) Names and Functions 319 3.2.2 Safety Function Signal (CN8) Names and Functions 321 32.3 Example of VO Signal Connections in Speed Control 322 3.2.4 Example of VO Signal Connections in Position Control... 13:23 325 Example of UO Signal Connections in Torque Control 328 3.3 /O Signal Allocations 3:25 3.3.1 Input Signal Allocations 3:25 33.2 Output Signal Allocations 3.28 3.4 Examples of Connection to Host Controller 3-33 34.1 Reference input Circuit 3.33 3.4.2 Sequence Input Circuit - ~ : Siete 385 34.3 Sequence Output Circuit 337 3.5 Encoder Connection 3:39 3.5.1 Encoder Signal (CN2) Names and Functions .........ceeseeeesevseee renee 98D 35.2 Encoder Connection Examples 3.38 3.6 Connecting Regenerative Resistors 341 3.6.1 Connecting Regenerative Resistors - : cone 362 Setting Regenerative Resistor Capacity 343 3.7 Noise Control and Measures for Harmonic Suppression 344 3.7.1. Wiring for Noise Control 344 3.7.2 Precautions on Connecting Noise Filter 346 3.7.3 Connecting a Reactor for Harmonic Suppression — 387 B Wiring and Connection3 Wiing and Connection Sa Main Croat Terminals 3.1. Main Circuit Wiring ‘The names and specifications of the main circuit terminals are given below. Also this section describes the general precautions for wiring and precautions under special environments 3.1.1 Main Circuit Terminals Terminal Perel Name ‘Model Sebv-0000 ‘Specification Single-phase 100 0 115 V, ute oe “10% to 15% (50/60 Ht) Main circuit power in- Te: phase 200 10230 V. Litas _ [Put terminals fees OP 0 15% (50/60 He) ee cos “Tiree phase 380 10 $80 V, “+1O%6to 15% (50/60 He) = ibe 15 0 UC, L2C | Control power input ‘Single-phase 200 to 230 V, terminals pons ' 10% to 15% (50/60 Ha) wow_| ooo 24 VDC #15% Tribe regenerative capacity i insullicient, connect OF, ROOF, 2R1F, | an extemal regenerative rsistorbetween BI/ and ARSE, R7DA, ROA, |B ROA, RSA "Note: The extemal regenerative resistor not included. Trike intrmal regenerative resistor insulin 1 |fatemal regenera, /3RSA,SRSA.7REA, | remove the lead or shorting bar between B2 and B3 B1/0, B2"* _|tive resistor connec- | 120A, 180A, 200A,” | SY Coeneet an external regcosative esiion tion terminals | 330A, IROD. RS, ae ‘sRqD, Ra, 1200, |B inp Note: The etal regenerive resi int 470A, 550K, S808, | Connect a regenerative resistor uit between B/S : and BD, Note: The regmnerative resistor units not included,3.1. Main Creut Wing (conta) Sune Name Model Scbv-0000 ‘Specification DC reacior connec 1a countermeasure against power supply harmonic 2 |tion terminal for pow- | ODA e162? [Paes [DoD aves ede comet a BC ear between O1 suppression aie Main crcut postive [OOO oe oe ‘Use when DC power supply input is used. S2oro [Main crcuitnegatve |OOOA ower supply input terminal oop ‘Servomotor Cannes uv.w | Benromotor Use for connecting tothe servomotor. © rand einai caning is power py aN aa en eave BE “1, Do not short-circuit between BI/© and B2. It may damage the SERVOPACK. #2. The DC reactor connection terminals are short-circuited when the SERVOPACK is shipped from the factory: 01 and ©2 3.1.2. Using a Standard Power Supply (Single-phase 100 V, Three-phase 200 V, or Three-phase 400 V) (1) Wire Types Use the following type of wire for main circuit Cable Type ‘Alowable Conductor Temperature °C ‘Symbol Name TV [600° grade polyvinyl chloride insulated wire 60 HIV [600° grade heat-resistant poyvinl chloride insulated wire 75 The following table shows the wire sizes and allowable currents for three wires. Use wires with specifications ‘equal to or less than those shown in the table. + 600 V grade heat-resistant polyvinyl chloride insulated wire (HIV) Te | Gontguaton | conauve [Mowat Covent Surounding A Toner ‘Awe Size | Gon‘area, | (Number of | Resisiance (on?) Wiresimm?) | (Q/km) 30°C 40°C 50°C 20 05 190.18 395 66 56 45 9 O75 3008 260 ae 70 35 7 0 T7018 a 30 77 60 16 125 307018 156 720 110 ¥5 4 20 706 953 B 20 16 2 35 70s sal B 3 a 70 35 7k 3a7 a 8 ED ¥ x0 72 zal 5 @ o 6 140 Tks 135 7 70 7 + 20 730 O85 ai a « Note: The values in the table are for reference only. 8 Wiring and Connection3 Wiing and Connection 371.2 Using a Standard Power Supply (Single-phase 100 V, Three-phase 200 V, or Three-phase 400 V) (2) Main Circuit Wires This section describes the main eireuit wires for SERVOPACKs, ~The specified wre sizes are foruse when the tree lead cables are bundled and when 08 the raed eleciic certs eppted wih a suounding ar temperature of 40°C. + Use awie wih a minimum withstand votage of 60 V forthe main cuit. IMPORTANT = ifcables are bunded in PVC or metal ducts, take into account the reduction ofthe allowable current. + Use a heat-resistant wire under high surrounding air or panel temperatures, where polyvinyl chloride insulated wires will rapidly deteriorate. '™ Single-phase, 100 V Fennel — SGbV.BOOF Symbols R70 | ROO | 2R1 | 2RB > |Main Grcuit power input termi- uy, i [Mae HIVI25 HIv20 LIC, L2C_| Control power input terminals HIVI25 u,v, w | SvoneIer comedian tem ane , External regenerative resistor BIO, B2 | connection terminals ee @ | Ground terminal HIV20 or langer ™ Three-phase, 200 V ‘Terminal a ‘SGDV-GKA (Unit: mm) Sms [R70]R90] 1R6|2RB]SRB|SRS]7RG] 120] 180] 200]330|470|550|590| 780 LI, 2, [Main crcuit power in- 35 [HIV|HIVIHIV| saryon es HIV12s niv20 vss [HIV /EIVIEIN] iy22.0 [Control power input Lic, Lac] Conta HIvi2s HIV|IV| HIV Hivi.2s niv20— [RIVHIVTHIV) yavig0 | nrv22.0 Exfemalregenerative : 1/0, 82)resetorcamecton vies tavliny]iy| yuvgo | ruv220 terminals a © [Ground terminal HIV20 or larger ™ Three-phase, 400 V Terminal SGDV-CIOOD (Unit: mm?) Symbols to TRO] ARS | SRA] BRS] 120 | 170 | 210 | 260 | 280 | 370 Main circuit power input term HV | HIV | HIV Litais [Main nivi2s | mivzo | avs | HIV] HIV] HIV 24V,0V__| Control power input terminals HIVIaS Servomotor connection termi HIV HIV | HIV uyw [Sev uivi2s | mv20 [BY] anys | HV HV >| External regenerative resistor HV HV | HIV BY.B2 | connection terminals ae pry | eee [ees] [C%5 @ | Ground terminal HIV20 oF larger3.1. Main Creut Wing (3) Typical Main Circuit Wiring Examples Note the following points when designing the power ON sequence. + Design the power ON sequence so that main power is tumed OFF when a servo alarm signal (ALM) is output + The ALM signal i output for a maximum of five seconds when the contol power is tumed ON, Take this into cansid- ‘ration when designing the power ON sequence. Design the sequence so the ALM signal is activated and the alarm detection relay (IRy) i turned OFF to stop the main circuits power supply to the SERVOPACK. onto! power supply —| 5.05 rex Aspe + Select the power supply specifications forthe parts in accordance withthe input power supply. ~ When turing ON the contol power supply and the main cru power supply, tum 6 them ON at the same time or turn the main circuit power supply after the control ‘power supply. When tuming OFF the power supplies, first turn the power for the main IMPORTANT —__oicut OFF and then tum OFF the contol power supply The typical main circuit wiring examples are shown below. A\ WARNING * Do not touch the power supply terminals after turning OFF the power. High voltage may sil remain in the ‘SERVOPACK, resulting in electric shock. When the voltage is discharged, the charge indicator wil turn OFF. Make sure the charge indicator is OFF before starting wiring or inspections. ™ Single-phase 100 V, SGDV-OOIOF (SGDV-R7OF, -R9OF, -2R1F, -2R8F) RT SERVOPACK Scovill GF § 3 8 i & 2 Fasano cul ary samaspion Sh) aus IBY WL Aum— 10 ‘Servo power Servo power 2 SUpPY'ON. SupSyOFF 1KM ik 5A aKM_aRy 24 lo BA 10F Melded-case cieitbreaker 1 treater amp AFUE Noise fer SA: Surge absorber {UKM: Magnetic cortactr(forcortol powersupply) 2S: Surge absorber 22KM: Magnetic contactor (for main circuit power Supply) 35: Surge absorber any: Rely 1D: Flyuhee ode3 Wiing and Connection ‘S12 Using @ Standard Power Supply (Single-phase 100 V, Thwes-phase 200 V, or Three-phase 400 V) ™ Three-phase 200 V, SGDV-OODA + SGDV-R7OA, -R9DA, -1R6A, -2RBA, -IRBA, -SRSA, -7REA, -120A, -180A, -200A, -330A, RST) SERVOPACK scovl0Ga apy dams BL [Servo pover Seno SUBYON. SUPBYOFF aynq ae 15A akM__aRy aa BA 10F: Molded-case cicuttbreaker PL Indicatorlamp IFLE:Naisefiter SA: Surge absorber 2KM: Magnetic contactor (for contol power supply) 2A: Surge absorber 22kM: Magnetic contactor for main cuit power supply) 3SA: Surge absorber Ry: Reby 10: Flywheel diode + For the SGDV-R70A, -R9OA, -IR6A, -2R8A, terminals B2 and B3 are not short-circuited. Do no short-circuit these terminals + SGDV-470A, -550A, -590A, -780A api senvopack SeOvRrOt 1oF o's BA QF: Molded.case circuitbreaker 1PL Indcatorlarme FLT Noise fer SA: Surge absorber KM: Magnetic contactor (for cortrol power supply) 2S: Surge absorber _2KM; Magnetic contactor (for main circuit power supply) 3SA: Surge absorber3.1. Main Creut Wing ™ Three-phase 400 V, SGDV-OOOD + SGDV-ARSD, -3RSD, -5RAD, -BRAD, -1200, 1700 10" 7 SERVOPACK scovBiD 5= g EK» aS) Forseno cm ‘RAV slamdspey) oe ay ay a1) ALM Seno power Servo poner Ft ov sen | en ALM = a 3 x AcM— > _9\ UPBYON. SUDDIVOFF 44 ie = akM_aRy = BA 1: Molded case crcult breaker PL Indicator larmp FLT Noise fer SA: Surge absorber {UKM Magnetic contactor (for contol power supply) _-2SA: Surge absorber 2KM: Magnetic contactor (for main crcult power supply) 3SA: Surge absorber + SGDV-210D, -260D, -280D, -370D ike Rey ib Fane dose 5 sesvaract Sena u FT) gy ¥ 2 B ‘1KM ce Beery | aay xo) ay ta (For servo} ——¢ cna av ary oo H| 24° | ae By a Gl a1 Am-i5 ov Seno poner Serv power miami 9) ‘supplyON — supplyOFF 1KM be “fy oe 3A [Regenerative] KM _1Ry ag [resistor unit a 10F: Molded case crt bresker We indcotoriamp IP Nese ter 1k: Surge absorber {UKM Magnetic contactor (for corto! power supply) 2S Surge absorber 22KM: Magnetic contactor (or main cut power supply) 3SA: Surge absorber Ry: Relay 1D: Flywheel code 8 Wiring and Connection ry3 Wiing and Connection ‘S12 Using @ Standard Power Supply (Single-phase 100 V, Thwes-phase 200 V, or Three-phase 400 V) (4) Power Supply Capacities and Power Losses ‘The following table shows the SERVOPACK’s power supply capacities and power losses, anes 7 | See (agen See ome | ee eee) oe ‘Supply | Capacity ‘SGDv- [kVA] (Arms) Loss. wy Loss [WV] kw} Ww 02 ‘2RIF 07 2 44 = " 0.2 IR6A 06 16 BS - 200 20 ‘180A 4 18.5 mg a 2 60 ‘470A 107 469 M4 180)" 7 T 390A aT 36 iT 50)? m ‘Three- 30 1200 7 19 1087 * * Sov 50 1700 Ti7 163 | 16h1 6 3 7S +2600" 44 25.7 2186 (180y a 1S 370D 306 37.2 403.8 aso)" 0 “+1. The value in parentheses is forthe JUSP-RAOAE regenerative resistor unit #2. The value in parentheses is for the JUSP-RAOS-E regenerative resistor unit “3. The in parentheses is forthe JUSP-RAIS-E regenerative resistor unit. +4. The value in parentheses is for the JUSP-RAI9-E regenerative resistor unit Note 1 4 ‘SGDV-R70F, -ROOF, -2RIF, -2RSF, -R7OA, -RODA, -IROA, and -2R8A SERVOPACKS do not have built-in ‘regenerative resistors. Connect an external regenerative resistor if the regenerative energy exceeds the specified value. SGDV-470A, -550A, -590A, -780A, -210D, -260D, -280D, and -370D SERVOPACKs do not have built-in ‘regenerative resistor. Make sure that a regenerative resisor unit or an external regenerative resistors connected. Refer to 36 Connecting Regenerative Pesistors for details Regenerative resistor power losses are the allowable losses. Take the following actions ifthis value is exceeded. ‘Remove the lead or shorting bar between terminals B2 and B3 on the SERVOPACK main eiruit for SGDV- SEA, -SRSA, -TR6A,-120A, -IS0A, -200A, -330A, and 400-V SERVOPACKs. slnstll an external regenerative resistor. Refer to 36 Connecting Regenerative Resistor for details ‘Both the regenerative resistor unit and the extemal regenerative resistor are no included.3.1. Main Creut Wing (5) How to Select Molded-case Circuit Breaker and Fuse Capacities The following table shows the SERVOPACK’s current capacities and inrush current, Select a molded-case circuit breaker and fuses in aecordance with these speci van | Maximum | seevo. [Power Sup-| Current Capactiy Tanush Curent ein | Appicabie | SERVO | plycapacty a Power | Servomotor! Moga) | perSER- | Main Circuit] Gir | Main Circuit] Conia supply | Capacty | scpv. | VORACK | tas] | fame) | (ADP | fao-p} 00s | _RTOF 02 15 ‘Single- or ROOF, 03 25 phase, 038 16s 35 nase oz RIF 07 5 of IRF 1a 10 aos | —R7oa | 02 10 ar ROA] 03 To 0 a2 iRoA | 06 20 oa | RRA 7 30 o2 05] 3RRA ia 30 i a7s | SRSA 6 30 three. To[ TRA] 33 60 phase, 15 TOA 32 7 Ey 20 is0A 4 37 02s 3 30 200A 39 5 50 SOA 75 5 0 ~a70a | 107 B 03 ass 75 0a | 146 7 Tr 30a | 217 = oas 109 48 5 THA | _296 B 0s TROD Tr ia 10 | 3Rs | 33 29 12 ” 13 sR] 35 a3 Z0__| aR] 45 a we Three- 30 1200 TA 86 14 phase, - ooo 30 Trop [ 7 14s 37 30 nay | 124 174 us uM 75 2600 | 14a a7 7 2x0 | 219 ae 7 “ is S10 wa asa aoa Note 1. To comply withthe EU low voluge directive, connect a fuse to the input side as protection against accidents caused by short-circuts Select fuses or molded-case circuit breakers that are compliant with UL standards. ‘The table above also provides the net values of current capacity and inrush current, Selecta fuse and a molded case citcuit breaker which meet the breaking charactristis shown below. + Main circuit, control eieuit: No breaking at three times the current values shown in the table for Ss + Ineush current: No breaking at the curent values shown in the table For 20 ms Wiring and Connection 83 Wiing and Connection ‘S12 Using @ Standard Power Supply (Single-phase 100 V, Thwes-phase 200 V, or Three-phase 400 V) 2. The following restrictions apply to UL standard compliance conditions. ‘SERVOPACK Model SGOV- Restrictions 180A, 200A Available rated current for modeled-case circuit breaker: 40 A or less ~ Available rated curent for non-time delay fuse: 70 A or les 3308 + Available rated curent for time delay fuse: 40 A o less + Do not use single wires. + Available rated current for molded-case circuit breaker: 60 A or less ATOA, 550A + Available rated current for non-time delay fuse or tme delay fuse: 60 A or Tess + Available rated current for moldad-case circuit breaker: 100 A or Fes. + Available rated curent for non-time delay fuse or time delay fuse: 100 A or ‘590A, 780A Tess (Available rated curent fora non-time delay, Clas J fuse ora faster fuse: 125, Aco less) ~ Available rated current for molded-case circuit breaker 60 A or les 2100, 2600 + Available rated curent for non-time-delay fuse: 60 A or less + Available rated curent foe time delay fuse: 35 of less Available vated current for molded-case circuit breaker 80 A or less 2800, 3700 + Available rated current for non-time delay fuse: 125 A or less + Available rated current foe time delay fuse: 75 A of less3.1. Main Creut Wing 3.1.3 Using the SERVOPACK with Single-phase, 200 V Power Input Some models ofE-V series three-phase 200 V power input SERVOPACK can be used also with a single-phase 200 V power supply. ‘The following models support a single-phase 200-V power input, SGDV-R70A, -R9DA, -IR6A, -2R8A, -SRSA ‘When using the SERVOPACK with single-phase, 200 V power input, set parameter Pn0OB.2 to L ‘There is no need to change the parameter for a SGDV-120A01A008000 SERVOPACK because it uses a sin- gle-phase 200 V power supply. (1) Parameter Setting '™ Single-phase Power Input Selection Paneer Meaning el ee GOD | Enables use of tee pase power up fo ee ase ory scting)_| SERV Ce cara RICTncpeaay ce] | Se ables uso ingl-plase power ply Trtrepane 9.0100 SERVOPACK. Z\ WARNING + If single-phase 200 V is input to a SERVOPACK with a single-phase power input without changing the set- ting of PnOOB.2 to 1 (single-phase power input), a main circuit cable open phase alarm (A.F10) will be detected. + SERVOPACK models other than those for single-phase 200-V power input do not support single-phase power input. Ia single-phase 200 Vis input to the SERVOPACK that do not suppor single-phase power input, the main circuit cable open phase alarm (AF 10) will be detected. + When using a single-phase 200 V power supply the SGDV-R70A, -R90A, -1RGA, -2RBA, or -SR5A SER- \VOPACK may not be able to produce the same servomotor torque-speed characteristics as using a three- phase 200 V power input. Refer to the giagram of each servomotor torque-speed characteristics in EV Series Product Catalog (No.: KAEP $800000 42). (2) Main Circuit Power Input Terminals Connect a single-phase 200 V power supply of the following specifications to L1 and L2 terminals, ‘The specifications of the power supplies other than the main ci phase power supply input, t power supply are the same as for three B Wiring and Connection ore Name Model SGDV-ODA ‘Specifications Single-phase 200 V to 230 V, vain [iaincicat poner [ATERIORG 2H TS tiny inpatients [= ingegase 220 V 330. ao “AP to 15% ($0160 He) i = R70, ROO, IRG, IRB, SRS | None 1. Do not use L3 terminal. 2. The official mode! number is SGDV-120A01A 0080003 Wiing and Connection ‘3113 Using the SERVOPACK wit Single-phase, 200 V Power Input (3) Main Circuit Wire for SERVOPACKs LI,L2 [Main circuit power input terminals HIVL2S HIV20 HIVSS TIC, LC _ [Control power input terminals HIVI25 U,V, W__|Servomotor conection eninals Tavis Tivo External regenerative resistor 6m B10, 82 HIVL.2s @ | Ground terminal HIV20 or larger The official model number is SGDV-120A01 A008000,3.1. Main Creut Wing (4) Wiring Example with Single-phase 200-V Power Supply Input ™ SERVOPACK with Single-phase, 200-V Power Supply Applicable SERVOPACK Model: SGDV-R70A, -R9OA, -IR6A, -2R8A, -SRSA, and -120A01 4008000. seovaeb a| ums 2RY aim= 15 ov ‘Seno power Seno power SUDBYON. SuppyOFF ak BA 10F: Motded case creut breaker PL treater tarp IFLE Note er 38a: Suge steoter 1KM Magnetic contac (fo corto power supply) 238A: Suge absorber 2kMe Magnets contador Vor ain creutpower sippy) SSA. Suge absorber Ry: Rewy 1D: Fhywet dose (5) Power Supply Capacities and Power Losses The following table shows SERVOPACK’s power supply capacities and power losses when using single- phase 200 V power supply. poem Power Supply Regenerative | Control | Total Main Creut | Applicable | SERvoPACK| FONE" SUPPY | output | Main rout | Reganeratve | Conch | Total Power |Servomotor| Model | £28 Per | Curent | Power Loss | presistor |) Creu | ower Sir | Gavaiy’| SDV. et ae Ww wn | wn 005 RTA 02 Os | 52 m2 oy ROA 03 091] 7a aa sob pheco,| TR6A a7 16 [ a7 - [307 200 04 RRA 12 3a | mS [a 075 SRSA 19 a5] sa7 = 77 18 720A" 4 m6 | 2 0 zB [vo02 ‘© The official model number is SGDV-120A01A 008000 Note 1. SGDV-R70A, -ROOA, -1R6A, and -2R8A SERVOPACKs do not have built-in regenerative resistors Ifthe regen- ‘erative energy exceeds the specified value, connect an external regenerative resistor between BI/ 9 and B2. 2. Regenerative resistor power loses are allowable losses. Take the following action i his value i exceeded. + Remove the lead or shorting bar between terminals B2 and B3 on the SERVOPACK main circuit of SGDV- SRSA, -120A SERVOPACKs, + Install an external regenerative esistor between external regenerative resistor connection tenminals BI/ and. BD, 3. Extemal regenerative resistors are not included. 8 Wiring and Connection3 Wiing and Connection 3.1.3 Using the SERVOPACK with Single-phase, 200 V Power Input (6) How to Select Molded-case Circuit Breaker and Fuse Capacities ‘The following table shows the SERVOPACK’s current capacities and inrush current when using single-phase 200 V power supply. Select a molded:-case circuit breaker and fuses in accordance with these specifications. a Cee servo. | Power Supply ‘Current Capacity Inrush Current ‘Main Circuit | Applicable Powe Sup |" yomatr | PACK Mode! SERORSK | main craat | C28 CH | pan circuit | Contol Py spac iKvAy tame) | it) | taal | git 05 708 02 2 of 790A, a3 3 . single pve, |? RGA a7 3 02 . 200v oa RRA 2 3 o SRSA 3 9 : 1s 1208" 4 16 025 . + The official model number is SGDV-120A01 A008000. [Note 1. To comply with the EU low voltage directive, connect a fuse to the input sie as protection against accidents caused by short-cireuits Select the fuse forthe input side that are compliant with UL standards. The table above also provides the net values of current capacity and inrush curent. Selecta fuse and a molded- case circuit breaker which meet the breaking characteristics shown below. ‘Main circuit, contro circuit: No breaking at three times the current values shown in the table for $s snush current: No breaking at the current values shown in the table for 20 ms. 2. The following restrictions apply to UL standard compliance conditions for SGDV-120A01A 008000 SERVO- PACKS. Current rating when using molded-case circuit breaker: 40 A max,3.1. Main Creut Wing 3.1.4 Using the SERVOPACK with a DC Power Input (1) Parameter Setting ‘When using a DC power supply, make sure to set the parameter Pn001.2 to 1 (DC power input supported) before inputting DC power. Parameter ‘Meaning [When Enabled | Classification rLDOGIE | Enables use of AC power input Pn0O) [eC | rable we of DC power input comes | cee Observe the following precautions, ZX WARNING Either AC or DC power can be input to the 200-V, 400-V SERVOPACKS. Always set Pn001.2o 1 to spec- ify a DC power input before inputting DC power. Only AC power can be input to the 100-V SERVOPACKs. IDC power is input without changing the parameter setting, the SERVOPACK’s internal elements will burn and ‘may eause fire or damage o the equipment With a DC power input time is required to discharge electricity after the main power supply is tumed OFF. ‘A high residual voltage may remain in the SERVOPACK afler the power supply is tumed OFF. Be careful otto get an electric shock. Install fuses on the wires if DC power is used. ‘Servomotor returns a regenerated energy to the power supply. The SERVOPACK that can use a DC power supply isnot capable of processing the regenerated energy. Provide measures to process the regenerated energy on the power supply. With @ DC power input, connect an external inrush current limit circuit, Failure to observe this caution may result in damage tothe equipment, (2) DC Power Supply Input Terminals for the Main and Control Circuits 1 Three-phase, 200 V for SGDV-OODA (GOO = R70, RIO, 1R6, 2RB, 3RB, 5R5, 7R6, 120, 180, 200, 330) § "Terminal Symbols Name Specifications 8 Bie Min circuit poste ternal 27010320 VDC 5 62 ‘Main circuit negative terminal ovpe z 16,126 Control power input erinal 20010250 VAC 2 ™ Three-phase 200-V SGDV-OO0A = (GOO = 470, 550, 590, 780) “Terminal Symbols Name ‘Specifications: a ve ‘Main circuit positive 27010 320 VOC e ‘Main circuit negative terminal ‘ove UG, L2G Cont power input einal 30010250 VAC ™ Three-phase, 400 V for SGDV-OOOD (COO = 1R9, 3R5, 5R4, BR4, 120, 170, 210, 260, 280, 370) Terminal Symbols Name Specifications B® ‘Main circuit positive terminal S13 10.688 VDC e2 Main circuit negative terminal VDC 2aV,0V ‘Control power input terminal 24 VOCS3 Wiing and Connection ‘S14 Using the SERVOPACK with DC Power Input (3) Wiring Example with DC Power Supply Input m 200-V SERVOPACK SGDV-OOOA YW = = Sem dy ST ow we = ee eee fame] 31am + 28Y ~~ es t—~____@--} 32, -10 ve ‘Servo power Servo power a aut searee Sea g ae x ee sacarne so te ese KM: Magnetic cortactor (for corto! power supply) 25: Surge absorber 2KM: Magnetic contactor (formain crcitpower supp) 3SA: Surge absorber Ry. Relay 2D: Flywheel ode + Terminal names differ depending on mode! of SERVOPACK. Refer to (2) DC Power Supply Input Terminals for the ‘Mainand Control Circuits ™ 400-V SERVOPACK SGDV-OOO0D wil Fi 4oov SERVOpACK (380 scovue Lee) = ae av yt ue ty jamb ov 2A 10: Molded case cieut breaker PL tector arp FLT Nose ter 154 Suge abeorber 1: Magnetic contactor for cart power surey) 28, Surge absorber 2k: Magnetic contactor for ein Cut powe’ supp) 3S, Suge absorber Ay. Relay 3D Fyne dose © Terminal names differ denending on model of SERVOPACK. Refer to (2) DC Power Succiv Input Terminals for the3.1. Main Creut Wing 3.1.5 Using More Than One SERVOPACK This section shows an example of the wiring and the precautions when more than one SERVOPACK is used. (1) Wiring Example Connect the alarm output (ALM) terminals for three SERVOPACKS in series to enable alarm detection relay IRY to operate. When the alarm occurs, the ALM output signal transistor is turned OFF. ee Lo op =} je = — —— LE SERVOPACK Servorotor neloy en {m Sr 7 pt nay “9 Fagard eee alas /sSEEE Cresent ‘Seno power Sevo power “ LL SERVOPACK. supplyON supplyOFF ayy, So ‘Servorotor Relay 5 toa aay 3 {w) § e oJ] oe be | & = 1oF: Motes-ase cut ener Piinoseme’ — Hor hope oracor fy senvorack Sener: tro pone 8 aes: pre coe " tera ak over ue) 7 IF pathorony od Ea Somes | ae 38a: Suge absorer uate 33h Save tee, : ioe Func (2) Precautions Multiple SERVOPACKs can share a single mokded-case circuit breaker (IQF) or noise filter. Always select a rmolded- torque \Enables control switching | 5:72 Hg espe ‘psc wih Tp non Zang | - a Reference speed is zero when ON. Tete le Wit poston somali casplasaap pag Ey ened ops etoenes pe apt on O8 Fava Win oncel veto, Sop mmo vor a |poumes : nor fg fps’ [interes ahwse | 523 emer |e nated Common Faved eral rect | acivaeocivaesexatonpe tint fe | $82 ce las fae ft su mee 8 [ietct Tneral a pad | Win lace opel mal sa Ses | sicaeg |i aopeacings REST [| Ra Reso : Ceol powerpc sig Note: The 24 VDC power supply is not included. SEN 7) [ta pal whem ing an atin 353 BATE) 2} | cosine pits ah care tcl cy 337 part) [2 |SomretZcthnurcrarcucwar ny acimat | 254 sD /SPD-A 331 ‘SPDB | igre 53 feast [StS |e tamingiousipat ontecargtiotecintuciow: | 543 icctaw |tais [RONTRONPORNOE nce NeLawaLesn | 38 INHIBIT | cated sm. se poot [vase [516 [tmp spedvccen pu votag ange 12 Vm ay Wiring and Connection 83 Wiing and Connection {32.1 VO Signal (ONT) Names and Functions (cont'd) Refer Contra ‘Signal Control | Sonal | pin No, Function ence rus 7 Tnput pulse modes: Select ne of them. mis |s + Sizn- pulse tain a sign |r| + WCW pulse rain Position isin | 12 + Tworphase pulse train wth 90° phase differential cur fis eR TIS] crear postion ror daring postion cont 542 as Torque | T:REF —|9(10) | nputs torque reference Input voltage range: 12 Vmax 583 585 ‘Nove: Pin numbers in parentheses (india signa! grounds (2) Output Signals Rater Control} Signal i PinNo. Function nce ALM 3 ALT) servo alarm: Turns OFF when an enor detected 5101 TIGONT [37 | Deseo during servonanor ration: Tums ON when the ervonotar | 5 0,5 PGON- |28 fis roatingat a sped higher than the moor speed setting ‘S-RDY [20 ]Servo ready. Turns ON when the SERVOPACK is ready wascepethe | gq RDY- [30 {sero ON(S-ON) signal PAO 35 Phase signal mao [34 "eral _| Encoder output pulse signals for two-phase pulse P80 35 train with 9° phase differential 536 Bo |36 emma 598 co] 19 commen |%2, [18 [tas-csignat | Origin pute ouput signal ator 370) ‘aLo2 —|[38(1) | Atrm code ouput: Outputs 3-it alarm codes. s101 ALO3— |39(1) Connected vo rams ground ifthe eld wire oth VO signal ables Pa on connected to the connector shell. = 543 Signals 347 thatean |The folowing output signals canbe changed to allocate functions: | $47 feallo. | /TGON,/S-RDY, and V-CMP (COIN) ea fed 5.10.2 35] fapen contra i selotd the wignal tus ON when ts motor sponds Speed 26 within the setting range and it matches the reference speed value. a 25 Ifpositionconuol is selected, the signal tums ON when the numberof | 5.44 26 | postion sor sachs the val set Psion 3 B | Output signals of power supply for open-collector reference 341 8 i 0 2 Reserved |- [24 | Donot use hese pins. . 8 ° 50 [Note 1. Pin numbers in parentheses () indicate signal grounds 2) The functions allocated to /TGON.. DY. tnd /V-CMP (/COIN) output signals can be changed by using the3.2 (WO Signal Connections 3.2.2 Safety Function Signal (CN8) Names and Functions The following table shows the terminal layout of safety function signals (CNS), ‘Signal Name Pin No. Function TAWBBI 4 TAwBBr. 3 [rh a at For hard wire baseblock input. Bascblock (meworcurent ff) wen = 6 Hard baseblock 2 ee aa oer ame EDMIF 3 [ON when he HAWBBT and Monitored circuit stats utp 1 /HWBB2 spats are input and the EDMI- 7 SERVOPACK enters a baseblock state. 7 = Zr ‘© Domot use pins 1 and 2 because they are connected tothe intemal circuits Wiring and Connection 83 Wiing and Connection ‘323 Example of YO Signal Connections in Speed Control 3.2.3. Example of I/O Signal Connections in Speed Control Connection example in speed contol is as shown below, speedrsrece (Max. input a (CoNTy ‘ongelarse: [ox {aoa pi} sls we aor| Atmeede cane OFF fi} Sapam Meee cceratonpe mol Meceeacee finivTorqse teed [oy rate) 9. 38 fe Ao Snows a fine Jun ‘ ‘ee are Teenie Erte out +2V) a ‘Pulse phase A’ soialz ase s socup bay? rear up Beau vance ss Enact < ay. 4 Take ceyant SEN sire? 2 ov sav" ean 47 33K eee sont aol [Fst — (CSA wnen on con a Ft tS (sean aS ce , te RENO nore] fea bo eam senoreny tnt BERG ow | mmasral HET |b sK [ol sane. enn bo tea int rats = nau (Uri when ON) 3] ee, Setyoalarmout = FC] am Beaemauy ioeeeteeose mays TE a anv. Svich weeny) 4 roe] | pw.) 3, fa] | cow Softy freon device 3 wes2,) 6 EL ov nee.) s__, Ha] peo: SERVORACK cee a1, F corsets twisted pir wires 7 *tncap tac +3. Enabled the yramete sting +s TS Comecshelgto Photocouper oe Max operating votage: Bia opt curert Somoc ‘Connect when using an absolute encoder. When the encoder cable with the battery case is connected, do not connect ‘The 24-VDC power supply is not included, Use a24-VDC power supply with double insulation or reinforced insula- ‘When using the safety function, a safety function device must be connected and the wiring that is necessary to at vate the safety function must be done to turn ON the servemotor power. When not using the safety function, use the 'SERVOPACK with the JZSP-CVH0S-E Plug (provided as an accessory) inserted into the CNS. Always use line receivers to receive the output signals.3.2 (WO Signal Connections 3.2.4 Example of I/O Signal Connections in Position Control Connection example in position control is as shown below. SERVOPACK Puls, Puls. Lat russe Paton, | SH SIGN. rSce | 58) ich ca 42 cn. san BAT ‘Back battery 2 2ewasy CF sv: EH SEN sigralinput® soi 2 ov sav? _cuvm,l a7 3310 ABeenowE___s.00,6a z cont UT fea ee peaterico cones eee wen On wcon,l a 3] 20.) cone (hen getoara retake Ren OF) STGONS noon. ene tp ode Reesenn Sank be seas) Srmbaah nny Tit peta tae AY Begaptanest Sen reatyoume EEA ow FCS aun ONS (anewheneny F Ae sre ‘am (Gr eran oa pes terete \ (near oe av nee ep Sate trcton device eC, Ley \ eomn. ~ SERVOPACK é] Cornectr Ser 2 3, “4 85. 76 Comes ie F presets twist ee wes CCnmcren sing an sl car When th enor abl with he batey cs canes do ot const Steaphan The 24-VDC power supply is not included. Use a 24-VDC power supply with double insulation of reinforced insula Wc ing the fey finn ae futo dries mus be comet a he wig hai eco ac tazihe fey fon tbe done tm OV dc coms power When rung he sty nc we he SERVOPACK with 75P-CVIMSE Pg (pone mss ad eC eee es 8 Wiring and Connection ry3 Wiing and Connection {325 Example of 10 Signal Connections in Torque Contol 3.2.5 Example of I/O Signal Connections in Torque Control Connection example in torque contol is as shown below. semvonscx { a CENT] ee peotgeeint? a vaael Ba pate c oor a ose iy aan, Wanseeaec rt ur ToS nos) Mee Sintcinwe Bente Teaandeone [I arace| 9 {ao (ox put q iw = 10 33), PAO | 6 atm TS egome oan a Bact ater? = << encode oun | SRE ELL erat a SES | CSE Se Rea Eo 7 Ras FS eet Sen salou? 2 ov sav" savin! a7 3340. = * sumer 2210, iss HERB wnerow sont aol [f4=X] sy 25, MT+ Speed limit output > tS eEhammow | reonal BERT [FeCl Sores, re tH et coral [ERK] Fee enorme : = {]25)) con. (ON wen he mer see | Phtocouse up. RAE won| ol ffs y Semeenesn) | oe velsaore eS ptcumee - bot KO Sane Sma GeSRREom | amassial FECT [FCT oo) senor (Sneash = icpesaestany ree nt ole] [eC] CL sxeaumame as ae: 3 Sree aam Seamaaremeor | clas UE aay Fe ,—8\yeomns eZ, Safety function device 5 ie ov Se eee eae renee es ‘When the control method is set to intemal set speed control with a contact reference, to 3, signal /P-CON (CNI-41) will function as /SPD-D, signal /P-CL (CNI-45) as /S (CN1-46) as /SPD-B, when Pn000.1 is set and signal /N-CL, es Control Method Selection = ee ee O-_| Spee conrot 7 | Psion co z 3 [nema saps cote [mma set spend conta = Spend conta oe ‘5 | Intemal set speed control <> Position control (SPD-A | /SPD-B @ [ternal set speed control ‘<> Torque control por} Nor |/ALM 7 [Pasion conte» Spee conral [Postion const e> Tove conto 9 Ts contra Spee eon thcaa | Useaa ‘A | Speed control ¢> Speed control with zero clamp function eee Uses as INHIBIT Position contol © Postion contol with reference pulse inhibit function B Wiring and Connection3 Wiing and Connection 331 Input Signal Alocatons Input signal allocation at fictory setting can be checked using the parameters PaSOA and PnSOB. ale} ig a a L— Uses input terial wth factory setting, Allocates /S-ON signal to CN1-40. Allocates /P-CON signal to CN1-41. Allocates /P-OT signal to CN1-42. ] ‘— Allocates N-OT signal to CN1-43. ‘Allocates /ALM-RST signal to CN1-44. Allocates /P-CL signal to CN1-45. Allocates /N-CL signal to CN1-46. (2) Changing Input Signal Allocations oO IMPORTANT * Inverting the polarity of the Servo ON, forward run prohibited, and reverse run pronib- ited signals from the factory setting will prevent the main circuit's power supply from being turned OFF or the overtravel function from working in case of signal line discon-_ nections or other failures. If this setting is absolutely necessary, check the operation and confirm that there are ‘no safety problems, + When two or more signals are allocated to the same input circuit, input signal level is valid forall allocated signals, resulting in an unexpected machine operation. ‘When changing input signal allocations, set PnSOA.0 to | to enable making the changes. Input signals are allocated as shown in the following table. Refer to the Interpreting the Input Sgnel Allocation Tables and change the allocations accordingly. < Level at which input signal allocations are valid. ‘The parameter set values to be used are shown, Signals are allocated to CN1 pins according to the selected set values, ‘Values in cells in bold lines are the factory settings. Inpit sional Names (vataty| Input CNL Pin Nurbers Yer eran ee ndPerameers | Level | Sigal vane! [40] 41] 42) 43] 44] 45] 46| AlwaysON | AWays OFF Seno on 7SON T2/3f*1316 7 8 soa. a | son ho al Bi C|DlElF If always ON (7) or always OFF (8) s set, signals will be processed in the SERVOPACK, which wil edrrirate the need for wiring changes.33 VO Signal Allocations Connection Not Reauies Nt Pn Numbers Input Signal Names _| Validity | Input Sig- (SERVOPACK judges and Parameters Level nal the connection) ao] 41 | 4243 | 44 | 45 | ae | ANE Avan Seno on TSN TREE, Tf Paso8.2 H[-sox-p> yale e|D[E| F Se | econ [ols ]2|s|- [se Reference 7 | 8 PnsoA.2 u | reon [| a Forward RunProhibited |_| Por | 0 | 1 7 8 soa. [_ | Reverse Run Prohibited |! Nor [oft 7 a nso8.0 T_pwor [9 [a ‘am Reset 1 [ARWERST| | 1 : soe. 1 ALARMS] [A Fore Exel L | ma [ols Torque Limit 7 8 Pns08.2 u | ra [ola Reverse External L ML Jo} ‘que Lint 7 | 8 Pns08.3 |. Switchingsenomaor | «| sev |olil2|s|a|s|e Rotation Direction 7 8 § nsoc.0 u [smo [olalalclolelr z boa | arse oleae lal 3 Conta 7 g Pn5OC.1 H spa | 9) A|B D/E/|F 2 = — rr hLlLrc Control 7 Pn50C.2 H B 9)A) B/C) DI E/F Conte Method vfs [ol [2]sla]sfo Selecton 7 Pnsoc.3 u | esx folalelelolelr Zero Camp Teco lol tetas fey ns00.0 [acca | oA BCP DT ETE Si Ne Pn50D.1 H indipiT | 9 TA] B/C) D/E|F Gain Changcover Tex polite [sy aps[ey nso0.2 H [ose [> [als [ep> [ele ReterncoPuseimpa | «| msi |o|i|2|s|a|s|e ‘Multiplication Switching 7 Posts rr ML3 Wiing and Connection 331 Input Signal Alocatons (3) Example of Input Signal Allocation ‘The procedure to replace Servo ON ('S-ON) signal allocated on CN1-40 and Forward External Torque Limit (P-CL) allocated on CN1-45 is shown below. Pns0A, ‘508, (GIG) GIGIE[L[3) S ul Al (2) fm ca Operation Press the MODE/SET Key to select the parameter setting. Ifa parameter other than PnSOA is displayed, press the UP or DOWN Key to set Pas, Press the DATA/SHIFT Key for approximately one second to |-O) 3 We co coJ}(o 2 Wn display the current data of PnsOA. lel a i20N waa on NE) Fak saneine aa nnarl 3 lc] ig { |(PnS0A.0 = 1). (Sequence input signals canbe freely et.) Press the DATASHIFT Key to select the second digit from the right. Press the UP key to set 10"5." (Changes the allocation of /S-ON from CN1-40 to CN1-45,) Fa = fy Press the MODEISET Key. "The data flashes and is saved ral == * | i 5 E : Press the DATA/SHIFT Key for approximately one second to return othe display PasOA, Press the UP key to display PnSOB. Press the DATASHIFT display the curent data of P ((P-CL is allocated on CNI-45,) Press the DATASHIFT Key right, Press the UP Key to set (Changes the allocation of /P-CL from CNI-45 to CNI-40.) ce Hef 7 alg ~ le Display ashes. — | A a| on C3] (ES) | fe] | a) a C}} [-C] | (-c] | (C5) | [cS fe Press the MODE/SET Key. The value lashes and is saved. 5 Pes the DATAUSHIET Key for approximately one eon « |(PAISIS|b (9 |retento tnaiayPasOB. SON s mapped on CNIS, ral Soa | and P-CL is mapped on CN1-40. ¥2_[ To enable the change in the setting, turn the power OFF and ON again,33 10 Signal Allocations (4) 3.3.2 (1) < Input signal polarities are as follows when sequence input circuit is connected to a sink a source circuit, polarities are reversed, For details, refer to 34.2 Saquence Input Cirauit. ‘Signal Tevel Voliage Level | Contact ‘ON Low (L) evel ov Close OFF Tigh (evel RV ‘Open Checking Input Signals Input signal status ean be checked using the input signal monitor (Un00S). As for the input signal monitor (Un005), refer to 84 Monitoring Input Signals. Output Signal Allocations Output signals can be allocated to VO signal connectors (CN1) in accordance with the parameter setting of PnSOE, PnSOF, PnS10, and Pn512. Checking Factory Settings Factory settings can be checked using the following parameters. Pnsoe alse] 1) L— allocates /COIN signal to CN1-25, 26. Allocates /V-CMP signal to CN1-25, -26 Allocates /TGON signal to CN1-27, -28. Allocates /S-RDY signal to CN1-29, -30. POF § Alalala 3 ea a 5 L— Not to use/CLT signal z Not to use VLT signal z Not to use /BK signal 5 Not to use AVARN signal. A a ‘— Not to use NEAR signal Reserved (Cannot be changed) Notto use /PSELA signal Reserved (Cannot be changed)3 Wiing and Connection 332 Ouiput Signal Alocatons in W L— Not to invert CN1-25, -26 output signals. Not to invert CN1-27, -28 output signals Not to invert CN1-29, -30 output signals. Reserved (Cannot be changed) (2) Changing Output Signal Allocations pletion (ICOIN) signal in speed contro is “invalid.” + Inverting the polarity ofthe brake signal (/BK), ie. positive logic, will prevent the hold- IMPORTANT ling brake from working in case of its signal line disconnection. If this setting is absolutely necessary, check the operation and confirm that there are ‘no safety problems, + When two or more signals are allocated to the same output circuit, a signal is output with OR logie circuit oO * The signals not detected are considered as “Invalid.” For example, Positioning Com- ‘Output signals are allocated as shown in the following table Refer to the Interpreting the Output Signal Allocation Tables and change the allocations aecordingly. The parameter set values to be used are shown. Signals are allocated to CN1 pins according to the selected set values. Values in cells in bold lines are the factory settings. ‘Outpt Signal Names CCNIPin Numbers invalid and Parameters | OuutSional | —p5 (767 ZB 29130), | _O retusell Position eton Booring Com ‘COIN 2 3 o ‘Output Signal Names and Parameters ‘Positioning Completion Pn50E.0 ‘Speed Coincidence Detection PnS0E.1 “Rotation Detection | PnS0E.2 ‘Servo Ready PnS0E.3 “Torque Limit Detection, Pn50F.0 “Speed Limit Detection PnSOF.1. Brake PnSOF.233 VO Signal Allocations (conte) ‘Output Signal Names CNT Pin Numbers: Invalid and Parameters | MPU Signe! 2575) —T a7 (28) [ 29S) | _(not use Feterence Pug Wipers | ase, | : ' Pns10.2 ‘pnsiz0=t Fan aeRO TCNTES CRT 7 PnSi21=1 Polarity inversion of CN1-27 (28) (Not invert at fac- Pn512.2=1 Polarity inversion of CN1-29 (30) tory setting) § 3 8 i & 23 Wiing and Connection 332 Output Signal Alocatons (3) Example of Output Signal Allocation ‘The procedure to set Rotation Detection (/TGON) signal of factory setting to “Invalid” and allocate Brake Interlock (/BK) signal is shown below. Pree sor qe INNA AIJe| 1) [AlZIGIG|G) 2° | IATA) ater AIG [AlG|2]G[G) Sap [PRT HRTORRE | — Fas am BIE]| carteltat Tro te MODESET Ko hs tig parameter other than PaSOE is displayed, press the a Noda 9 4 | or DOWN Key to select PaSOE. 9 | Press the DATA/SHIFT Key for approximately one second F) | to display the current data of PSOE. Ska | ('TGON is allocated on CNI-27 (28)) aor Press the DATASHIFT Key to select the third digit fom the right. Press the DOWN Key to set "0." ‘yo | (Sets TGON "ovalid”) C3}) (Aay) foo e Press the MODESET Key. i ‘Theda shes and ised a | Pree the DATA/SHIFT Key or apron ons vsond 5 (6) | creams dap Paso — Press he UP Ke to dplay PRO 6 iO) O] PlnISIGlF sam | Pre the DATA/SHIFT Kay or approxima one sco > |OARAP Pa) | toatl tre caren da of PusOe C ju Sed | (BK is set to "Invalid.") Press the DATASHIFT Key to select the third digit fom : eee Display flashes. eee ~ ea Press the DATA/SHIFT Key for approximately one second ARISIF (el | capers ne 11 [To enable the change inthe setting, turn the power OFF and ON again, (4) Checking Output Signals ‘Output signal status can be checked using the output signal monitor (Uin006). As forthe output signal monitor pg ogra peter ameter,3.4 a (1) (2) 3.4 Examples of Connection o Host Controller Examples of Connection to Host Controller This section shows examples of SERVOPACK VO signal connection to the host controller. Reference Input Circuit Analog Input Circuit CNI connector terminal, 5-6 (speed reference input) and 9-10 (torque reference input) are explained below. Analog signals are either speed or torque reference signals atthe impedance below. + Reference speed input: Approx. 14 kQ + Reference torque input: Approx. 14 kO ‘The maximum allowable voltages for input signals is +12 V. ‘Analog Voltage Input Circuit (VAY “Analog Voliage input Circuit (Wiring Example)” SERVOPACK SERVOPACK Host controller 1.840 (1/2 W) min, VREF oF Vb 2sHp-zo8/ oval ‘5G APPOXITKO min 2k ov ‘This wiring example is for forward operation Position Reference Input Circuit NI connector terminals, 7-8 (reference pulse input), 11-12 (reference sign input) and 14-15 (clear input) are explained below. The output circuits forthe reference pulse and position error clear signal from the host con- troller can be cither a line-driver output or open-collector output, The position reference input circuits are shown below by output type. ‘Open-collector Output ee Pen ee ened i p00 4710 ‘Host Controller SERVOPACK ee ali masa ysl ee Seen 4 ostoneets ry ieee Gavesica sooner Le Ifthe above formula isnot satisfied, 7 a crane iamemeeememeat, | | Y | ee res rape tad z inwersion may occur for the reference Jess at ON) a See ee uperatecas Wiring and Connection 83 Wiing and Connection ‘San Reference Input Crcut o IMPORTANT * Precaution when host controller uses open collectors with customer-supplied power. ‘Before wiring, confirm that the specifications ofthe host controller satisfy the values ‘shown in the following table. If these conditions are not satisfied, the SERVOPACK may malfunction, __Pulkup voltage (Voc) | 24 ores Vor less Pulk-up resistance (R1) ELE ROM! ISH iow a7 Circuit example of open-controlier output or Pian I eR sy & VWeispiav3.4.2 (1) 3.4 Examples of Connection o Host Controller Sequence Input Circuit Photocoupler Input Circuit NI connector terminals 40 to 47 are explained below. The sequence input circuit interface is connected through a relay or open-collector transistor circuit. When connecting through a relay, use a low-current relay. Ifa low-current relay is not used, a faulty contact may result. Relay Circuit Example ‘Open-collector Circult Example ‘SERVOPACK SERVOPACK. 2avoc | wavin 33k Vs-onec |¥$+K] 2avoc | avin 33KO £ (15-0N, ec Note: The 24 VDC extemal power supply capacity must be SO mA minimum, For SEN input signal circuit, refer to 5.9.2 Absolute Data Request Signal (SEN). ‘The SERVOPACK'S inpat circuit uses bidirectional photocoupler. Select either the sink circuit or the source circuit according to the specifications required for each machine, Nee «Temescal n23 325 lo eer pp nr ern as = a ae SERVOPACK input rae SSERVOPACK input 3 eect fees : — _— & _| a mo * Input Signal Polarities Input Signal Polarities ‘Voltage | ‘Voltage signal | Lever | oes? | Contact | signal | Level | Yotage | Contact Low (L) ‘High (H) ou om | me | ev | am | ow | MBM | aw | cm or | FAO | av | om | om | oe® | ov | om3 Wiing and Connection ‘a2 Sequence input Grout (2) Safety Input Circuit As for wiring input signals for safety function, input signals make common 0 V. Its necessary to make an input signal redundant Tnput Signal Connection Example ‘SERVOPACK 24. power supply switeh itch pawoert 6 3310, ‘mwoor,) 33340 Ni |mwes2s)6 2210, savos2,)s??'0 Fuse || E3.4 Examples of Connection o Host Controller 3.4.3. Sequence Output Circuit Four types of SERVOPACK output circuit are avilable. cuit Ifa short-circuit occurs asa result of any ofthese causes, the holding brake will not IMPORTANT work. This could damage the machine or cause an accident resutingin death or injury (1) Open-collector Output Circuit NI connector terminals 37 to 39 (alarm code output) are explained below. Alarm code signals (ALO1, ALO2, ALO3) are output from open-collector transistor output circuits. Connect ‘an open-collector output citcuit through a photocoupler, relay or line receiver circuit. oe Incorrect wiring or incorrect voltage application to the output circuit may cause shor-cir- Photocoupier Circuit Example Relay Creat ample SERVOPACK roca SERVOPACK sone HP ice Line Receiver Circuit Example ‘SERVOPACK eal ov Note: The maxinuum allowable voltage and maximum curent capacity for open-collector ouput circuits areas fllows. + Noluge: 30 VDC + Current 20 mA DC (2) Photocoupler Output Circuit Photocoupler output circuits are used for servo alarm (ALM), servo ready (/S-RDY), and other sequence out- put signal circuits. Connect a photocoupler output circuit through a relay or line receiver circuit, Wiring and Connection 8 Relay Circuit Example Line Receiver Circuit Example SERVOPACK Ss 'SERVOPACK semvoc 7 ~ as f tt oO ++, ov Note: The maximum allowable voltage and th allowable range of eurent capacity for photocoupler output circuits are as follows + Voltage: 30 VDC3 Wiing and Connection 343 Sequence Ouiput Creut (3) Line Driver Output Circuit NI connector terminals, 33-34 (phase-A signal), 35-36 (phase-B signal), and 19-20 (phase-C signal) are explained below. ‘These terminals output the following signals via the line-driver output circuits + Output signals for which encoder serial data is converted as two phases pulses (PAO, /PAO, PBO, /PBO) + Origin pulse signals (PCO, /PCO) Connect the line-driver output circuit through a line receiver circuit at the host controller Line Receiver Circuit Example ‘SERVOPACK Host Controller cable tne receiver) SASS Oe equivalent ia? A (4) Safety Output Circuit ‘The external device monitor (EDM1) for safety output signals is explained below. ‘A.configuration example for the EDMI output signal is shown in the following diagram, SERVOPACK, _fiestcormuer_ a 24 Power Supply + leone | 3 1 om = Specifications Type | Signal Name | Pin No, | Ouput Sia ‘Meaning ON Both the /HWBBT and//HWBB2 signals are working no Output | EDMI fetag eat. N87 Ope ‘The /HWBBI signal, the /HWBB2 signal, or both are not working normal ng normally Electrical characteristics of EDM signal areas follows Htems ‘Characteristic Remarks Maximum Aowable Votlage sovoe | Maximum Current 3omADe Maximum Voltage Drop at ON Tov Volage between EDMIF to EDMI-at currents SO mA as 7" Time fom the change in HWBBI or HWBB2 until the Maximum Delay Time 20 aoeton mass3.5 Encader Connect 3.5 3.5.1 3.5.2 (1) Encoder Connection This section describes the encoder signal (CN2) names, functions, and connection examples. Encoder Signal (CN2) Names and Functions The following table shows the names and functions of encoder signals (CN2), ‘Signal Name PinNo. Funation PGSV 1 Encoder power supply =5 V PGOV 2 Encoder power supply 0V BAT Cy 3 Battery BAT OE + Batery PS 3 Serial data (>) 7S 6 Serial data) ‘Shield Shall 7 + Those donot aed to be connected for an incremental encoder. Encoder Connection Examples ‘The following diagrams show connection examples of the encoder, the SERVOPACK, and the host controller. Incremental Encoder senvornce Hat cower F orl ret Bano ronal node se 6 aA Zr a (CN2] {APBO 4 a > Phase 8 & we JP2 mass, pleco? { es) 6 eco} Li >—PhaseC tmneewnant | 5 ontnaee g & 4 (cu) = ov——_ ov cece st (shal Shielded wire oper ‘Applicable ine receiver: SN7SALS175 or MC3486 ‘manufactured by Texas, Instuments, or the equivalent R (terrinating resistance): 20 470.0 ‘1, The pin arrangement for wiring connectors varies in accordance with the servomotor tht is wed. 2 represents shielded twisted-pair wires3 Wiing and Connection 1352 Encoder Comection Exampes (2) Absolute Encoder SERVOPACK Host controter A Phase a PAO. 3 20 PAO a Phase 8 528 t “a m 8 PreseC, 39). eco 20,C1ECO- ©] Se scotcatle ne receiver SN7SALSI7S or MC34E6, Aig traratachredby Tos tL insturerts,orthe eaulert (terminating resistance! 220.0 470.0 “+1, The pin amangement for wiring connector varie in accordance wih the servomaor hs sed. S #2. TIZP : represents shielded wistedpair wires. +43, When using an absolute encoder, provide power by installing an encoder cable with a JUSP-BAOI-E Battery Case or install a battery on the host controller.36 Connecting Regenerative Resistors 3.6 3.6.1 a @ Connecting Regenerative Resistors {Ifthe built-in regenerative resistor is insufficient, connect an external regenerative resistor by one of the fol- lowing methods and set the regenerative resistor capacity (P1600). As for precautions on selecting a regenera- tive resistor and its specifications, refer to 3-V Series Product Catalog (No.: KAEP $800000 42). ZA\ WARNING + Be sure to connect the regenerative resistor correctly. Do not short-circuit between B1/ and B2. Doing so may result in fie or damage to the regenerative resistor or SERVOPACK, Connecting Regenerative Resistors The following instructions show how to connect the regenerative resistors and SERVOPACKs. SERVOPACKs: Model SGDV-R7OF, -ROOF, -2R1F, -2R8F, -R70A, -R9OA, -1R6A, -2R8A Connect an external regenerative resistor between the B1/© and B2 terminals on the SERVOPACK. After connecting a resistor, elect the capacity. For more information on how to set the capacity of regenerative resistors, refer to 36.2 Setting Regenerative SERVOPACKs: Model SGDV-3R8A, -5R5A, -7R6A, -120A, -180A, -200A, -330A, -1R9D, -3R5D, -5R4D, -8R4D, -120D, -170D Disconnect the wiring between the SERVOPACK’s B2 and B3 terminals and connect an external regenerative resistor between the B1/© and B2 terminals. After connecting the resistor, select the capacity. For more infor- ‘mation on how to set the capacity of regenerative resistors, refer to 3.6.2 Setting Regenerative Resistor Capac- ity. B Wiring and Connection Note: Be sure to take out the lead wire between the B2 and BS tenminals Eniaged View3 Wiing and Connection 3161 Connecting Regeneraive Resistors (3) SERVOPACKs: Model SGDV-470A, -550A, -590A, -780A, -210D, -260D, -280D, - 370D [No built-in regenerative resistor is provided, so the external regenerative resistor is required. The regenerative resistor units are as follows "Note: The regenerative resistor unit is constructed from a number of resistors Nan ean |< Repleabie | ~Ropcabe SERVOPACK Medel | Regenerative | FS: Power Supply | A OV | Resstorunt | ‘mee (0) aaa 470A TUSP-RADEE | 625 | Four 25 220 W resistors are somesed Tree phase npr oN 550A, 590A, 780A | JUSP-RAOS-E. 3.13 Eight 25 9 (220 W) resistors are connected eet 7100, 2800 oe eee oe Tree-phase cahtrecomected pile amv 280D, 3700 JUSP-RAL9-E 14.25 _ | Four series of two 28.5 Q (220 W) resistors conn comesed mp Connect the B1/@ and B2 terminals of the SERVOPACK to the RI and R2 terminals of the regenerative resis- tor unit, ‘When using a regenerative resistor unit, leave Pn600 at its factory setting. Set Pra600 when using a non- YASKAWA external regenerative resistor. ‘SERVOPACK i e | aoe bax, “/YOO O)@e jodi efeeppiolel36 Connecting Regenerative Resistors 3.6.2 Setting Regenerative Resistor Capacity ‘When using an extemal regenerative resister, set the Pn600 so thatthe regenerative resistor capacity is equiva- Tent to the resistor capacity. ZA\ WARNING + If parameter Pn600 is set to O while an extemal regenerative resistor is connected, the regenerative over- load alarm (A.320) may not be detected. If the regenerative overload alarm (A.320) is not detected cor- rectly, the extemal regenerative resistor may be damaged and an injury or fire may resut. generative Resistor Capacity (Sezai) 8 (Poston) = pre09 | _ Seting Range Uni Factory Sating | When Enabled Oto SERVOPACK ae tow ° Immediately | Setup Be sure to set the regenerative resistor capacity (Pn600) to a value that is in accordance with the allowable capacity of the actual external regenerative resistor being used. Note 1. 1 Pn600 isnot set tothe optimum value, alarm A:320 will occu. 2. When set tothe factory setting (Pn600 ~ 0), the SERVOPACK’S built-in resistor or Yaskawa's regenerative resis- tor unit has been used, ‘The setting will vary with the cooling method of external regenerative resistor: + For natural convection cooling: Set the value to a maximum 20% of the actually installed regenerative resistor capacity (W). + For forced convection cooling: Set the value to a maximum $0% of the actually installed regenerative resistor capacity (W). Example: Set 20 W (100 W x 20%) for the 100-W external regenerative resistor with natural convection ‘cooling method: Pn600 = 2 (unit: 10 W) the resistor temperature increases to between 200 °C and 300°C. The resistors must 'be used at or below the rated values. Check with the manufacturer forthe resistor's IMPORTANT load characteristics, + For safety, use the external regenerative resistors with thermoswitches. oe * When the external regenerative resistors for power are used atthe rated load ratio, § : 8 i & 23 Wiing and Connection 37:1 Wing for Noise Control 3.7 Noise Control and Measures for Harmonic Suppression ‘This section describes the wiring for noise control and the DC reactor for harmonie suppression. 3.7.1 Wiring for Noise Control oO ~ Because the SERVOPACK is designed as an industrial device, k provides no mecha nism to prevent noise interference. + The SERVOPACK uses high-speed switching elements in the main circuit. Therefore IMPORTANT Peripheral devices may receive switching noise. If the equipment is to be used near private houses or i radio interference is a problem, take countermeasures against noise, + If instalation conditions by the EMC directive must be met, refer to 2.4 EMC Installa- tion Conditions in :V Series User's Manual Setup Rotational Motor (No.: SIEP '$800000 43), ‘The SERVOPACK uses microprocessors. Therefore it may receive switching noise from peripheral devices ‘To provent the noise from the SERVOPACK or the peripheral devices from causing a malfunction of any one of these devices, take the following precautions against noise as required. + Position the input reference device and noise filter as close to the SERVOPACK as possible. + Always install a surge absorber in the relay, solenoid and electromagnetic contactor coils. + Do not bundle of run the main circuit cables together with the /O signal cables or the encoder cables in the same duct. Keep the main circuit cables separated from the /O signal cables and the encoder cables with a ‘gap of at least 30 em, + Do not share the power supply with an electric welder or electrical discharge machine. When the SERVO- PACK is placed near a high-frequency generator, install a noise filter on the input side of the main circuit owe supply cables and contol power supply cables. As forthe wiring of oie fier, refer to (1) Noe F- + Take the grounding measures correctly. As for the grounding, refer to (2) Conect Grounding.3,7 Noise Control and Measures for Harmonic Suppression (1) (2) Noise Filter ‘The SERVOPACK has a built-in microprocessor (CPU), so protect it from external noise as much as possible by installing a noise filter in the appropriate place. The following is an example of wiring for noise control. _ + Operatonreay : sequence | Signal generation eit (otnekded) i ‘1, For ground wires connected to the ground plate, use a thick wire witha thickness ofa least 2.0 mm? (preferably, plain stitch cooper wir). 22, L should be wisted pair wires. 23, Whom sing anise fier, follow the prcations in 37:2 Precautions on Comexting Noise Filter: Correct Grounding Take the following grounding measures to prevent the malfunction due to noise. Grounding the Motor Frame Always connect servomotor frame terminal FG to the SERVOPACK ground terminal ©. Also be sure to ground the ground terminal © Wiring and Connection 8 Ifthe servomotor is grounded via the machine, a switching noise current will flow from the SERVOPACK ‘main circuit through servomotor stray capacitance. The above grounding is required to prevent the adverse effects of switching noise. Noise on the I/O Signal Cable Ifthe VO signal cable receives noise, ground the 0 V line (SG) of the VO signal cable. Ifthe servomotor main circuit cable is accommodated in a metal conduit, ground the conduit and its junction box. For all grounding, ground at one point only.3 Wiing and Connection 37.2 Precauitons on Conneding Nowe Fiter 3.7.2 Precautions on Connecting Noise Filter ‘This section describes the precautions on installing a noise filter. (1). Noise Filter Brake Power Supply Use the following noise filter at the brake power input for 400-W or less servomotors with holding brakes. MODEL: FN2070-6/07 (Manufactured by SCHAFFNER Electronic.) (2) Precautions on Using Noise Filters Always observe the following installation and wiring instructions. ‘Some nose filers have large leakage currents. The grounding measures taken also 8 affects the extent of the leakage current. necessary, select an appropriate leakage ou rent detector orleakage current breaker taking into account the grounding measures that IMPORTANT are used and leakage curent rom the noise fier. Contac the manufacturer ofthe noise fiter for details Do not put the input and output lines in the same duct or bundle them together. wncorect [Cone oD rare pte iar h Granite rn at xis Sepere tase cass ‘Separate the noise fiter ground wire from the output lines. Do not accommodate the noise filter ground wire, output lines and other signal lines in the same duct or bundle them together. incored Conect nase [4 ye ‘The gourd wire > | cantecoseto inputines. Grourd pate Ground pate3,7 Noise Control and Measures for Harmonic Suppression Connect the noise filter ground wire directly to the ground plate. Do not connect the noise filter ground wire to other ground wires. = _ tes | ue = = im) ®@) |@ | Fess rn J {fa noise fiter is located inside a control panel, first connect the noise filter ground wire and the ground wires from other devices inside the control panel to the ground plate for the control panel, then ground the plates. Goud oud late Gone Wiring and Connection 3.7.3 Connecting a Reactor for Harmonic Suppression ‘The SERVOPACK has reactor connection terminals for power supply harmonic suppression that can be used as required, Refer to °V Saries Prodct Catalog(No.: KAEP $800000 42) for precautions on selecting an AC ‘or DC reactor and its specifications. Connect a reactor as shown in the following diagram, ‘SERVOPAGK with 100-VAC Power Input "SERVOPACK with 200/400-VAC Power Input Power SERVOPACK SERVOPACK SUPY AC reactor ocean [a 901 Qa es $62 Note 1. Connection terminals for DC reactor 6 and 62 are short-circuited at shipment, Remove the lead wire for short-cieuit, and connect a DC reactor. 2 Reactors are not included. (Sold separately’) alee eeeeeeeS4 Trial Operation 4.1 Inspection and Checking before Trial Operation 42 4.2 Trial Operation for Servomotor without Load... 4-2 43 Trial Operation for Servomotor without Load from Host Reference 43 4.3.1 Inspecting Connection and Status of Input Signals 45 4.3.2 Trial Operation in Speed Control 47 4.3.3 Trial Operation under Position Contra from the Host Controller with the SERVOPACK Used for Speed Control 48 4.3.4 Trial Operation in Position Control 49 44 Trial Operation with the Servomotor Connected to the Machine 4-10 4.5 Trial Operation of Servomotor with Brakes att 4.6 Test Without Motor Function 5 4412 4.6.1 Motor Information 412 4.6.2 Motor Position and Speed Responses 413 4.63 Limitations 414 4.6.4 Operator Displays during Testing without Motor 415 8 ‘Trial Operation4 Trial Operation 4.1 (1) (2) 4.2 Inspection and Checking before Trial Operation ‘To ensure safe and correct trial operation, inspect and check the following items before starting trial operation, Servomotors Inspect and check the followin, problem exists items, and take appropriate measures before performing trial operation if any + Are all wiring and connections correct?” + Are all nuts and bolts securely tightened? + Ifthe servomotor has an oil seal, is the seal undamaged and is the servomotor oiled?” ‘Note: When performing trial operation on a servomotor that has been stored for along period of time, perform the inspec- tion according to the procedures described in 1.7 Inspection and Maintenance. SERVOPACKs Inspect and check the following items, and take appropriate measures before performing trial operation if any problem exists + Are all wiring and connections correct?” + Is the correct power supply voltage being supplied to the SERVOPACK? Trial Operation for Servomotor without Load For the trial operation for servomotor without load, refer to 3-V Series User's Manual, Setup, Rotational Motor (No.: SIEP $800000 43).4.3 Trial Operation for Servomotor without Load from Host Reference 4.3 Trial Operation for Servomotor without Load from Host Reference Check the following items before performing trial operation of the servomotor without load from host refer- * Check that servomotor operation reference input from the host controller to the SERVOPACK and 1/O sig- nals are set properly. * Check that the wiring between the host controller and SERVOPACK and the polarity of the wiring are cor- rect, + Check that all operation settings for the SERVOPACK are correct, Perform the trial operation using the following procedure, Confirm the check items and precautions, before tral operation. Refer to 4.1 Inspection and Checking before Trial Operation. Preparations ee | | Check the connection and status of the input 1 | signal circuits. | | Referto 4.3.1 Inspecting Connection | | and Status of input Signals. ‘Trial Operation in Speed Control Refer to 4.3.2 Trial Operation in Speed Control, ‘Trial Operation in Position Cont Refer to 4.3.4 Trial Operation in Position Control Position Control with Host Controller Refer to 4.3.3 Trial Operation under Position Control from the Host Controller with the ‘SERVOPACK Used for Speed Control ‘rial Operation in Each Contol TialOperaton [”perormthe ual operation ofthe servorakor with the mechine InCombinaton | ‘Refer to Tal Operation wih the Servorotor Comected othe Machine. Note: To perform trial operation ofa servomotor witha brake, refer to 4.5 Tal Operation of Servontar with Brakes B ‘Trial Operation4 Trial Operation A\ CAUTION Before performing trial operation of the servomotor alone under references from the host controller, be sure that the servomotor has no load (.e., the coupling and belt are removed from the servomotor) to prevent ‘unexpected accidents Bene ona ‘Tobost controler (Secure he maker fange tS te machine, but do not4.3 Trial Operation for Servomotor without Load from Host Reference 4.3.1 Inspecting Connection and Status of Input Signals Check the items instep | before trial operation ofthe servomotor under speed control and postion control ref= erences from the host controller. Check the connection and status of input signals using the following procedure. ‘Step Operation Reference [Connect the necessary input signals to the UO signal connector (CNI) under the following eon- | Refer tothe following connes- ditions. tion diagrams, + Iemust be possible to input servo ON signal (/S-ON), + The forward run prohibited (P-OT) and reverse run prohibited (N-OT) input signals must be | 32.3 Example of /0 Sorel ON (L level) (ie, the servomotor must be able to run in forward and reverse). ‘Connections in Speed Control Settings: CNI-42 and CN1-43 must be ON (low) or PnSOA.3 and PnSOB.0 must be set to 8 to | 224 Branple of /O Sgral disable the forward and reverse un prohibited function ‘Connections in Postion Can- ‘trol 225 Banple of /O Sgal ‘Connections in Tarque Control 1 cut Note: ‘+ Return the settings tothe previous ones after completing trial operation ‘+ Make sure that there is no reference input. 5.9 Absolute Enondars + If Pn002.2is set to 1 the absolute encoder can temporarily be sed as an incremental encode, | 5.11 Safety Function ‘which makes it possible to perform trial operation of the Servomotor without Fa008 and SEN | 3.2.9 Safety Function Signal signal settings. (CNB Nanes and Functions ‘Connect a safety function device to CN8 when using the safety function For the connecting method, refer to (1) Connecting a Safety Function Device. 2 | Connect the connector ofthe host controller to the UO signal connector (CNI). "Turn ON the SERVOPACK power and make sure thatthe panel operator display is as shown below. blo oO ‘84 Monitoring Input Sgnals ‘Check the input signal using the input signal monitor (Un005) from the pane! operator. Ith dis-| 3.1 Input Signal Allocations. play isnot the same as shown below, corret the input signal seting qed jer ef fu Inpstsigral LED display por icon Nor SOR iL Top hs when ppt 1 }+— sionals igh teva 1+ Botomights when input ‘Sores lowlevel JAM RST ee t N EP, Now: + If.an absolute encoder is being used, tum ON the SEN signal. The servomotor will not tum ‘ON when only the servo ON signal 'S-ON) is input + When the SEN signal is checked using the monitor display the top of the LED will light ‘because the SEN signal is high when ON. + Input signals can be also checked using wiring check function of SigmaWint.4 Trial Operation ‘F317 inspecting Connecton and Status of input Signals (conta) ‘Step Operation Reference Tnput the /S-ON signal, then make sure thatthe display ofthe panel operator sas shown below. 4 10.1 Alarm Displays {fan alarm display appears, correct itaccording to 10.1 AlarmDisplays Ifthe cause of alarm is not corrected the servo ON signal cannot be input and the servomotor cannot be tured on, “This compiles all preparations for tal operation. Perform tial operation in cach conirol 732 Tal Operaionin Speed method. Cortrol 433 Thial Operation under . Position Control fromthe Host Controller withthe SERVO- PACK Used for Speer Control 434 Tal Operation in Posi- tion Cortrad (1) Connecting a Safety Function Device Connect a safety function device using the following procedure. Remove the servomotor connection terminal connector while pressing the lock. Applicable SERVOPACKs: SGDV-R70R, -ROOF, -2R1F, -R7OA, -ROOA, -IR6A, -2R8A, -IROD, -3RSD, -SR4D For SERVOPACK models nat listed above it snot necessary to remove the servomotor connection ter ‘inal connector. Goto step 2 2 Reo the servomotor orracton tam corrector whl pressing te ck4.3 Tal Operation for Servomotor without Loa from Host Reference 4.3.2 2. Slide the lock injector ofthe safety function's jumper connector to the SERVOPACK side to unlock and remove the safety function's jumper connector. Lockinjector Safety function's 2 Remove he softy cons jumperconnector per comectr wile the lock ‘eco sid tte SERVOPACK ie Note: The safety function jumper connector may be damaged if removed while the lock is still on. 3. Connect a safety function device to CNB. Note: When not using the safety function, use the SERVOPACK with the safety function’s jumper connector (IZSP- CVHOS-E provided as an accessory) inserted in CNS. Ifthe SERVOPACK is used without the jumper connector inserted into CNS, no current will flow to the servomotor and no torgue willbe output. In this case, displayed on the panel operator or the digital operator. Trial Operation in Speed Control Perform the following steps for trial operation in speed control. The steps are specified on the condition that input signal wiring for the speed control has been completed according to 4.3.1. Inspecting Connection and. Hb" will be ‘Sahs of Input Sgnals. Sep Operation Foference 1 [Recheck in power spl nde opt signa cuts dum ON SERVO. [343 Bansedt JOS PACK contol power sup. Comecionsin Spo 2 | Adjust the speed reference input gain (Pn300). So 3 [Tum ON tema crt power suppl f the SERVOPACK = Cec it spon referee ipl (he volgs btween V.REF and SG) Wand 14, |!UMON thesero ON (SON) spat signa 532 Reference Offt ‘Note: If the servomotor rotates at a very low speed with the speed reference input at | Adjustment OV. adjust the reference fit tha the srvometer will trate Gradualiy increase the voltage ofthe peed reference input the vollage Between 5 | V-REF and SG) from 0 V. ‘53.1 Basi Settings for Note:The factory sting is 6 Vat the riod poe emcee 6 [cask te pede vatc wing montrdptay U0 gi ee Malar 7 | chook the motor ating spect using the monitor display (Un000). eee 3] Chak thatthe values in iep and wap 7 (UnIOT and Und) are Salo cahowier : Cec tie motor tation direction 9 | ‘Note: To switch the motor rotation diretion without changing the polarity of ke | 32 Semone Rear analog speed reference, refer to 522 Servancior Paton Diretion come TO” | Retunthe peed erence input to OV = 7 "Tum OFF the servo ON signal (S-ON). § z -4 Trial Operation ‘33 Tal Operation under Positon Goniral from the Host Controller with the SERVOPAGK Used for Speed Gono! 4.3.3 Trial Operation under Position Control from the Host Controller with the SERVOPACK Used for Speed Control ‘To operate the SERVOPACK in speed control under the position control from the host controller, check the ‘operation ofthe servomotor after finishing th tral operation explained in 4.3.2 Trial Operation in Speed Con- ‘to ‘Step ‘Operation Reference Recheck the power supply andthe ip signal circuits, and um ON the SERVO- | 323 Example of JO Sg- 1 ‘mal Connections in Speed PACK control power supply. ‘Contre, 2 | Adjust the speed reference input gain (Pn300). San Ceased 3 | Set the encoder output pulses (Pu212), 337 Sating Enooder 4 [Turn ON the main circuit power supply of the SERVOPACK. 5 ‘Check that speed reference input (the vollage between VAREF and SG) is 0 V, and §5_ | MON the servo ON (/S-ON) input signal 532 Reference Ofiset Note: Ifthe servomotor rotates ata very low speed with the speed reference input at | Adjuster (OV, adjust the reference offst so thatthe servomotor will nt rotate ‘To check the speed of the servomotor, execute a constant speed reference ata low speed through the host controle. «g_| Extmple: Visually check tha the servomotor rotates once per second witha speed | 81 List of Monitor Dis reference of 60 min" lays: Note: Ifthe speed ofthe servomotor is not corect, check the reference sent by the host controller. ‘To check the rotation of the servomotor, execute a simple positioning reference through the host controller. Example: Input a reference that is equivalent toa single rotation ofthe servomotor 7 “Toconfim thatthe servomotor moved a single rotation, do a visual check |! Ustof Monitor Dis- ‘or check the rotational angle 1 (Un003 [pulse}) lays Note: Ifthe rotation of the servomotor isnot correct, check the reference sent bythe host controller. | Retum the speed reference input to OV. = [Turn OFF the servo ON signal (S-ON)_ Sj4.3 Tal Operation for Servomotor without Loa from Host Reference 4.3.4 Trial Operation in Position Control Perform the following steps for trial operation in position control. The steps are specified on the condition that input signal wiring for the position control has been completed according to 43.1 Inspecting Connection and Sa- ‘tusof Input Sgrals. ‘Step ‘Operation Reference 7 [Risk poner ag ats psig cies atomon esenvo. [224 Bale TOS5 Redeemer orn | Setthe reference pulse form with Pn200.0 according tothe output pulse form ofthe [54.1 Basi Satings for host pulse reference form. Position Control Set the reference unit, and then set the electronic gear ratio aording tothe host eon- 3 | rote. The electronic gear ratio is st in Pn20E and Pa210, [eimai Tum ON the main circuit power supply ofthe SERVOPACK. = 5 [Turn ON the servo ON(S-ON) input signal = (Output a Tow-speed pulse reference for an easy-to-check number of rotations (eg, one rotation) from the host controller. 8 | ‘Note: To ensure safety, set the reference pulse speed so that the motor speed will be ‘round 100 min" [Check the number of reference pulses inputto the SERVOPACK from the changes in 7 |e input reference pulse monitor before and after the reference. S The input reference pulse can be checked with Un00C. [Check the actual number of motor rotations from the changes i the Feedback pulse 8 | monitor before and ater the reference. - The feedback pulse can be checked with Un00D. 9 | Cheek that step 7 and step 8 satisfy the following formula, {Un00D = Und0C> (P20E/Pn210) ‘Check thatthe servomotor is rotating inthe direction specified by the reference. 10 | Note: To switch the moter rotation direction without changing the polarity of the | 52.2 Sevormtar Rota- input pulse, refer to 52.2 Servonptor Rotation Direction. ton Direction, Input a pulse reference for a comparatively large number of motor rotations from the 11 | host controller so thatthe servomotor will rotate ata constant speed. ~ ‘Check the reference pulse speed input to the SERVOPACK from the input reference pulse speed monitor (min). pacts us soc cab ich with Ua, Note: Obtain Un007 from the following formula (i the model uses a 20-bit encodes) § Prat 1 urea Dratteerce pte Poa ee i 12 input pulse speed} puiseysfl ay z a Récacerpnpiewed — Ceraic ‘enor — 2 gee ratio puse 143, | Check the motor rotating speed (min). The motor rotating speed can be checked with Un000. [Check thatthe values instep 12 and step 13 (Un007 and Un000) are equal to each other "5_| Stop the pulse reference and turn OFF the servo ON signal (S-ON). = “44 Trial Operation 4.4 Trial Operation with the Servomotor Connected to the Machine Perform the following steps for trial operation when the servomotor is connected to the machine. ‘The steps are specified on the condition that trial operation for servomotor without load has been completed in ‘each control method Z\ WARNING ‘machine, but may also cause an accident resulting in death or injury. ‘+ Malfunctions that occur after the servomotor is connected to the machine may not only damage the Enable the overtravel signals (P-OT and N-OT) during trial operation with the servomotor e cannected tothe machin o provide aprotecive ncton, IMPORTANT ‘Step Operation ‘Reference Tat ON ie cnnclper acne cea pne entender mah ontpwilon aed epee kasi ach sary tania Oe remain When cng fey con conta fy non deve oN ar wee sey Wheat sine ty con ne he SERVOPACKwithheneyueson | 23 258 Fution e- 1 er Serra tn ee | CN RTERNODACK vo were omereamecer seed ine OK mea reruatvon sna sect ssoeac em iccanat isso ras | S2sQrruaed Th eabnged sear pas eae ee apatonee val -Tihenebenon wivpnie ae theses tere pen ron MrGpeuy tage nae sone acess ee ae SEER Seca oes opeae rset Sati nay pnts Taco il wal 53 Gal Cae 2 3 Raton Cn 85 ber con pe a ano WH ng AW TTT 5 . ‘Seawe the muir flange © ‘he machine, and instal it (onthe load shat. Turn ON the power tothe machine (host contolle) and then check thatthe SERVO- PACK is servo OFF status. Check again that the protective function instep I operates 4 | normaly. Note: For steps 4 to 8, take advance measures for emergency stop so thatthe servo ‘motor can stop Safely when an error occurs during operation 525 Sopping Servor>- ‘ors after SON Tumest ‘OFF or Alarm Ooo4.5 Trial Operation of Servomotor with Brakes (conta) Step Operation Reference Perform tral operation with the srvomotor connected tothe machine, following ‘each section in 43 Thial Operation for Servontor without Load fromHost Refer- | 4.3 Trial Operation for 5 ene ‘Servonior without Load [Check that the trial operation is completed with as the trial operation for servomotor | ftamHost Reference without load. Also check the settings for machine such as reference unit, fg _| Cheek the setings oF parameters for control method used set in step 2 again ~ Check thatthe servomotor rotates matching the machine operating specifications. ‘Adjust the serve gain and improve the servomotor response characteristics, ir neces sary 7 | Note: The servomotor will not be broken in completely during the tial operation. | 6 Adjustments Therefore let te system run fora sufficient amount of addtional time to censure that itis properly broken in Waite the parameter set for maintenance in 1.4 Paramaer Recording Table Then the trial operation with the servomoter connected to the machine is completed Note: Ifthe optional digital operator is used, parameters can be saved. Sigma Win+, ‘whieh i a tol for supporting the servo drive, can then manage the saved parameters in files. 114 Paraneter Record. ing Tae 4.5 Trial Operation of Servomotor with Brakes Observe the following precautions when performing a trial operation of servomotor with brake. * When checking the brake operation, take advance measures to prevent vibration due to gravity acting on the ‘machine or external forces. + Cheek the servomotor operation and holding brake operation with the servomotor separated from the machine. If both operations are correct, connect the servomotor to the machine and perform trial operation. Holding brake operation of the servomotor with brake can be controlled with the brake signal (/BK) of the SERVOPACK. For wiring on a servomotor with brakes and setting parameters, refer to 5:2.4 Holding Brakes, IMPORTANT _ ual. Failures caused by incorrect wiring or wrong voltage application inthe brake circult may damage the equipment or cause an accident resulting in death or injury. Follow the pro- cedures and instructions for wiring and tial operation precisely as described in this man- B ‘Trial Operation4 Trial Operation F61 Motortafomation 4.6 4.6.1 (1) (2) Test Without Motor Function ‘The test without @ motor is used to check the operation of the host controller and peripheral devices by simu- lating the operation of the servomotor in the SERVOPACK, i.e, without actually operating a servomotor. This function enables you to check wiring, verify the system while debugging, and verify parameters, thus shorten- ing the time required for setup work and preventing damage to the machine that may result from possible mal- functions. The operation of the motor can be checked during performing this function regardless of whether the motor is actually connected or not. SERVOPACK Use Pn00C.0 to enable or disable the test without a motor, When Parameter ‘Meaning B Classification ‘.0000 Disables the test without a motor. Pnooc | [Factory setting] After restart | Setup noooL Enables the test without a motor. Motor Information ‘The motor information that is used for atest without a motor is given below. When Motor is Connected Ifa motor is connected, the information from the connected motor is used for the motor and encoder scale information. The set values of PnO0C.1 and PnO0C.2 are not used. When Motor is Not Connected ‘The information for the virtual motor that is stored in the SERVOPACK is used. The set values of Pn00C.1 and Pn00C.2 are used for the encoder information. Encoder Resolution ‘The encoder information for the motor is set in Pn0OC. 1. The setting of Pn00C.1 is not used for an external encoder with fully-closed loop control. Wher Parameter Meaning aa nooo Sets the encoder resolution forthe test without a motor [Factory setting] |10 13 bit ‘he encoder resolution forthe test without a motor 1020 bits Pnooc After restart |Setup nooo46 Test Without Motor Function ™ Encoder Type (3) (4) 4.6.2 ‘The encoder information for the motor is set in Pn00C.2. An external encoder with fully-closed loop control is always regarded as an incremental encoder. os mare im, [oonacsion ‘8.0000 ‘Sets an incremental encoder as an encoder type for the [Factory setting} | test without a motor. Pn00c Aferrestat | Setup [Sets an absolte encoder as an encoder type for the tet without a motor When External Encoder for Fully-closed Loop Control is Connected ‘The information from an external encoder is used as the encoder information, a.o100 When External Encoder for Fully-closed Loop Control is Not Connected ‘The encoder information stored in the SERVOPACK is used for the encoder information. + Resolution: 256 + Incremental encoder Motor Position and Speed Responses For the test without a motor, the following responses are simulated for references from the host controller according tothe gain stings for postion or speed control + Servomotor position vomotor speed + Encoder positon The load model, however, willbe a rigid system withthe moment of inertia ratio that is set in P03 8 ‘Trial OperationLimitations ‘The following functions cannot be used during the test without a motor. + Regeneration and dynamic brake operation + Brake output signal (The brake output signal ean be checked with the 1/O signal monitor function of the Sig- ‘maWin+) + Ttems marked with "*" in the following utility function table, Fa000 [Alarm iso dplay o ° F002 [106 operation o 9 F003 [Origin sear o 3 F004 [Progam 10G operation 3 5 008 [naling artery o 3 F006 | Cerng alr istry 3 ° F008 [Aol coer mula ee and ecor alr in a 009 | Automate wing of analog pest rq erence oie ° ° FnOOA _| Manual servo tuning of speed reference offset oO J F008 Manca sew unig of oq teres oft 3 9 F000 | Ofc ajc of alg meni pat o o Fn00D _| Gain adjusimen oF aloe monitor ouput ° 9 FNOOE | Automatic offset-signal adjustment of the motor current detection signal oO [a F010 | Wr poked ting ° o FnOTT— |Sevometor mode play o 9 Fn012 | Software version display Oo oO ro [iaminnaicee Raa esos PGT Fat 3 Foote | “FoO1E [Dipliy of SERVOPACK an ervonte 1D ° ° ‘Display of servomotor ID in feedback option module 3° oO | ° ‘Anti-resonance control adjustment function ‘Vibration suppression fanetion (Online vibration monitor Note: O: Can be used >: Cannot be used4.6.4 (1) o8 (2) 46 Test Without Motor Function Operator Displays during Testing without Motor The status display changes as shown below to show that the test without a motor is being executed. Display on Panel Operator +The test without a motor operation in progress is indicated with 1 = bb] SS [ESE ployed alteately Sia ion @ St [Power isemplied whe sevomowne bb [Foner sevomotoris OFF Pot > not > [Forward orevene an prhibied Pot @ (St | Forward rani prohibited pet © S| Revere nis prokibied “Hb © 1S ard-vire base Block at) a Note: The test without a motor status i not displayed during alarm occurs (AOD). Display on Digital Operator An asterisk (+) i displayed before status display to indicate the test without a motor operation is in progress. vee ~PRMTMON-| Unooz= 00000 unooe= 0000000000 unooo= 0000000000 (Example: Status of power to the servomotor is OFF) ‘Status ‘Supplied to the servomotor. OFF Forward oF reverse run is prohibited Forward ran is prohibited: Revers run prohibited Ta bard-wire base block (aaa) sate Note: The test without a motor status is not displayed during alarm oceurs (A OO). B ‘Trial Operation5 Operation 5.1 Control Method Selection 53 5.2 Basic Functions Settings Benen esanneneane 54 52.1 Servo ON Signal 54 522 ServomotorRotton Becton 55 523 Overtavel 56 524 Holding Brakes 58 525 Stopping Servomotors ater /S-ON Turned OFF or Alam Occurence et 526 Instantaneous Power Ineruption Setings 516 527 SEMIF47 Function (Torque Limit Function fr Low DC Power Supply Votage fr Main Cc)... 5417 528 Seting Motor Overload Detection Level 520 5.3 Speed Control 5-22 53.1 Basic Setings for Speed Control 522 532 Reference Ofset Adjustment 523 533 Sof San 526 53.4 Speed Reference Fiter 526 53.5 Zero Clamp Funcon 527 53.6 Encoder Output Pulses 529 5.3.7 Setting Encoder Output Pulse 5-30 s 53.8 Soting Speed Coincidence Signal sae 5.4 Position Control sanaee saenenees . . eee 5-32 & 54.1 Basi Setings for Postion Control 523 542 Clear Sigal Seting 537 54.3 Reference Puise Input Mulipicaton Switching Function 538 54.4 Electronic Gear 529 545 Smoohing 542 54.6 Postioning Completed Signal 543 547 Postioning Near Signal 5-44 548 Reference Pulse Init Function 545 5.5 Torque Control ..... cee a en 55.1 Basic Stings for Torque Contol --. 546 55.2 Reference Ofset Adjusimert 547 55.3 Torque Reference Fier ‘50 55.4 Speed Limit in Torque Control . — 5505 Operation 56 Intemal Set Speed Control 552 5.6.1 Basic Settings for Speed Control with an Intemal Set Speed 552 5.6.2 Example of Operating with Internal Set Speeds. = 5-54 5.7 Combination of Control Methods ee 5.7.1 Switching Itemal Set Speed Control (Pn000.1 = 4,5, or 6) 555 5.12 Switching Other Than Intemal Set Speed Control (Pr000.1 = 7,8 or 9) 558 5.7.3 Switching Other Than intemal Set Speed Control (Pn000.1 = A or B) ...- 558 5.8 Limiting Torque sosonee Gboespoo0oneeG 5.8.1 Internal Torque Limit 559 5.8.2 External Torque Limit 5-60 5.8.3 Torque Limiting Using an Analog Voltage Reference 561 58.4 Torque Limiting Using an External Torque Limit and Analog Voltage Reference .. 5-63, 5.8.5 Checking Output Torque Limiting during Operation 5-65 5.9 Absolute Encoders 5-66 5.9.1 Connecting the Absolute Encoder 587 5.9.2 Absolute Data Request Signal (SEN) 5-69 5.9.3 Battery Replacement 5.70 5.94 Absolute Encoder Setup and Reinitaization 5-73 5.9.5 Absolute Data Reception Sequence 6-74 5.9.6 Multitum Limit Setting 577 5.9.7 Multum Limit Disagreement Alarm (A.CCO) 5-78 5.10 Other Output Signals 5-79 5.10.1 Servo Alarm Output Signal (ALM) and ‘Alarm Code Output Signals (ALO1, ALO2, and ALO3) 579 5.102 Warning Output Signal (WARN) 5-80 5.103 Rotation Detection Output Signal (TGON) 581 5.10.4 Servo Ready Output Signal /S-RDY) 581 5.11 Safety Function . Gopsgaao6an6 5-82 5.11.1 Hard Wire Base Block (HWBB) Function 5-82 5.11.2 Extemal Device Monitor (EDM1) 5-86 5.11.3 Application Example of Safety Functions 5-88 5.11.4 Confirming Safety Functions 5-89 5.11.5 Precautions for Safety Functions 5.895.1 Control Method Selection 5.1 Control Method Selection The contol method supported by the SGDV SERVOPACK are deseribed below: ‘The control method can be selected with parameter Pn 000, ‘Control Mathod Selection Pn00.4 contol Desergton Faference Controls servrcior speed by ens of an analog vllge speed erence, Une the olay tee. ngo00 53 Spat Speed Cond te conta speed 3 IFacor sting] + Far poston control using the encoder pulse ouput fom he SERVOPACK to fm a pontoon the control enol te osion of te machine By mews of ule wala postion efrenc, nooo Position Control ‘Controls the position with the number of input pulses, and con- ea trols the spon withthe ipa pae equency. Cae when pos tioning reuited Contos te seroma: opt orqu by means oF av analog nooo Torque Cont ‘ollage tongue reference, Useto out he required amoun of | STE torque for operations suchas topping on contact. ‘aes te tsinput signals P-CON (SPD-D),P-CL (SPD-A), and IN-CL (SPD-B) to contro the speed as set in advance inthe | 56 Inna 0030 nema Set Speed Con-| SERVOPACK. Tce aperaing pecs canbe stin the SER- | "St Sed an VOPACK. Control ‘When selecting this contol, an analog erences not necessary a Tatemal Set Speed Con- ae ‘trol <> Speed Control Totemal Set Speed Con- ae ‘tol © Position Control Internal Set Speed Con- | These are switching modes for using the four control methods i ioe tole Torue Conte | gen above in combination 57 Onnkims tion Cons Foskion Controle) Select the control switching method that best suits the applica ae Speed Control tion pec Co Mites Poston Conta e> a Torque Control Torque Control © ioe Spee Control Speed Controle Speed S35 7A0 nooan CCostolwith Zero" |The zero clamp function canbe wsed in speed contra, Camprim § ‘Clap Function ‘ton Pasion Go sian & oe Peniton Contol with | The reference pulse inhibit funtion cn be used in position con- Reference Pulse Inhibit | tol Funetion|5 Operation 521 Servo ON Sgnal 5.2 5.2.1 (1) (2) Basic Functions Settings Servo ON Signal This sets the servo ON signal ('S-ON) that determines whether the servomotor power is ON or OFF. Signal Setting Te | Name | genes sating ara Servometor power is ON. Servomtor on opt son [ents canbe operate. (Factory seting] [or Servomotor powers OFF. Servono- tor canot be operated. "Note: Use parameter PnSOA.| to allocate the /S-ON signal to another terminal. For details, refer to 33.1 Input Signal Allo- ‘cations for details, IMPORTANT ‘Always input the servo ON signal before inpulting the speed posiionvtorque reference to start or stop the servomotor. Do not input the references first and then use the servo ON signal or tum ON/OFF the AC power supply to start or stop. Doing so will degrade inter- nal elements and lead to accident. Input the servo ON signal while the servomotor stops. While the servomotor is rotating, the servo ON signal cannot be input. Settings for Continuous Servo ON Signal Parameter PaSOA.1 can be used to enable the Servo ON condition constantly Parameter When Meaning Enabieg | ©iassification OOOO | Inputs the servo ON signal from the input terminal pn50A _| (Factory setting} | CNI-40, Afterrestart | Setup T.OG7G _ [Constantly enables the servo ON signal o IMPORTANT 'SERVOPACK operation will be possible (e., power will be supplied) when the main cir- ‘uit power supply is tured ON if the servo ON signal is set to be always enabled. When inputting speedipositior/torque reference, be sure to implement safety measures for ‘unexpected operation ofthe servomotor and machine. 'SERVOPACK operation will be possible (.., power will be supplied) when an alarm is reset after an alarm occurs. The servomotor or machine may operate unexpectedly if an alarm is reset while a reference is being input.5.2 Basie Functions Settings 5.2.2 Servomotor Rotation Direction The servomotor rotation direction can be reversed with parameter Pn000.0 without changing the polaity of the speed position reference. This causes the rotation direction of the servomotor to change, but the polarity of the signal, such as encoder output pulss, output from the SERVOPACK does not change. (refer to 5.36 Encoder Output Pulses) The standard seting for forward rotation is counterclockwise (CCW) as viewed from the load end ofthe ser- vomotor peed) ble Over Paranotor Reverse Ret-| Direcon of Motor Rotation and Encoder Ouput Puse | APpleable ver- erence tno specs "forereerence Encoder oun puso Forward mun Reference [a me ea cow peo JULIL Phases n.OO0 oe speed moors Sets COW as for ward direction Neral [Factory seting] Torque reference Ercader oupatplse Revers wre PAOTLILIL erase teisene | soonces_ |N-OT 0. Gn | Net speed P00 Moo peat 7 ares eos oveutndse gem, | sre PAO Por n.oo001 Ww eso JULL Prose Sets CW as for Motor speed ward drecion. Mowe (Revere Rotation = Revere 5 se PAO reset | or omen CH so SUU etree ‘Note: SigmaWin+ trace waveforms are shown in the above table Operation5 Operation 523 Overravel 5.2.3 Overtravel ‘The overtravel limit function forces movable machine parts to stop if they exceed the allowable range of ‘motion and turn ON a limit switeh. For rotating application such as disc table and conveyor, overtravel function is not necessary. In such a case, ‘no wiring for overtravel input signals is required. A\ CAUTION * Installing limit switches For machines that move using linear motion, connect limit switches to P-OT and N-OT of CNI as shown below to ‘prevent machine damage. To prevent a contact fault or disconnection from causing accidents, make sue thatthe limit ‘witches are normally closed, —_ oe ia ‘in une Tor, fem a | ‘Axes to which external force is applied in overtravel Vertical axes: Occurrence of overtravel may cause a workpiece to fill, because the /BK signal i on, that is when the brake is released. Set the parameter (Pn001 = n,CICI1) to bring the servomoor to zero clamp sate after stopping to prevent 4 workpiece from fling (Other axes to whieh extemal force is applied ‘Overtravel will bring about a baseblock state alter the servomotor stops, which may cause the servomotor to be pushed back by the loads extemal fore, To prevent this, set the parameter (Pa001 ~ n.CICOIC) to bring the servo ‘motor to zero clamp state after stopping, For details on how to se the parameter, refer to (3) Sevontor Stopping Mathod When Overtravel is Used (1) Signal Setting Type | Name es Setting Meaning oN Forward run allowed por nie Normal operation status Input OFF Forward run prohibited. Forward overtavel ON Reverse rum allowed. Normal operation status Nor nies oe OFF Revers run prohibited: Revere overtavel Rotation in the opposite direction is possible during overtravel by inputting the reference. ‘are held, A clear signal (CLR) inputis required to clear the error pulses. ipa a sl omg ca Ce IMPORTANT5.2 Basie Functions Settings (2) Overtravel Function Setting Parameters PaS0A and PaSOB can be set to enable or disable the overtravel function. Ifthe overtravel function is not used, no wiring for overtravel input signals will be required. Parameter Meaning ener, | Classitction 2000 taut the Forward Run Probl (P-OT) sigal rom Fact setting) | CNI-A2 Cee a i na ka RTT Heal kis he Farad Ran Pohibied (OT) NBEO | Allows constant forward rotation. Aterresart | Sup TEENS [Fae | apts the Reverse Run Prohibited (NOT) signal rom ty seting) (CNIS. rao ee ahs he Reverse Run Prohibi el M08 [Allows constant ever ration ‘A parameter can be used to re-allocate input connector number for the P-OT and N-OT signals. Refer to 33.1 Input Signal Allocations for details. (3) Servomotor Stopping Method When Overtravel is Used ‘There are three servomotor stopping methods when an overtravel is used. + Dynamic brake By short-circuiting the electri circuits, the servomotor comes to a quick stop. + Decelerate to.a stop ‘Stops by using emergency stop torque. * Coast to a stop ‘Stops naturally, with no control, by using the friction resistance of the servomotor in operation. Afier servomotor stopping, there are two modes. + Coast mode ‘Stopped naturally, with no control, by using the friction resistance of the servomotor in operation, + Zero clamp mode ‘A mode forms a position loop by using the position reference zero. ‘The servomotor stopping method when an overtravel (P-OT, N-OT) signal is input while the servomotor is, ‘operating can be set with parameter Pn001. Parameter ‘sop Method [28° Afer SPT wen Enabled] Czssicaton 7.000000 [Factory setting) DB nooo beer! Poot Aferrestat | Setup neo Coast nooo a Zero clamp oe celeron oastop |S + A servomotor under torque control cannot be decelerated to a stop. The servomotor is stopped with the dynamic braking (DB) or coasts to a stop according to the setting of P0010. After the servomotor stops, the servomotor will enter a coast state. + For details on servomotor stopping methods after the /S-ON (Servo ON) signal turns OFF or an alarm ‘occurs, refer to 5.2.5 Sipping Servontors after /S ON Tumed OFF or Alarm Occurrence, Operation5 Operation 523 Overravel ™ When Servomotor Stopping Method is Set to Decelerate to Stop Emengency stop torque can be set with Pn406, Eneaeny Sop Toate 0 a0 Cissteten Pn406 | Setting Range Setting Unit Factory Setting | When Enabled oma * m0 Tit — [Sap + The setting unit isa pereentage of the rated torque. + The factory setting is 800% so thatthe setting i large enough a value to operate the servomotor at maximum torque. The maximum value of emergency stop torque that is actually available, however, is limited to the maximum torque of the servomotor. (4) Overtravel Warning Function This function detects an overtravel warning (A.9A0) if overtravel occurs while the servomotor power is ON. Using this function enables notifying the host controller when the SERVOPACK detects overtravel even ifthe covertravel signal is ON only momentarily Tose the overtravel warning function, set digit 4of PnOOD to I (detects overtravel warning). [Note:The overtravel waming funtion is supported by software version OOLA ot ate. The software version can be ‘checked with Fn012. For details, refer to 7.14 Software Version Display (Fr012). = Warning Output Timing OFF on Servorrotor power Overtravel input signal Disabled|Eratied Disabled [Ena Disabled (P-OT, NOT signals) Overtavel waming Norra status a3 [eee ___Oresean, cot *+ Wamings are detected for overtravel in the same direction as the reference. + Warnings are not detected for overtravel inthe reverse direction from the reference. Example:A waming will not be output for a forward reference even ifthe N-OT signal (reverse run prohibited) tums ON. + A waming can be detected in ether the forward or reverse direction, when there is no reference. + A waming will not be detected when the servomotor power is OFF even ifovertravel occurs + A waming will not be detected when the servomotor power changes from OFF to ON even if overtravel status +The waming output will be held for one second after the overtravel status no longer exists and it will then be cleared automaticaly. ZA\ CAUTION + The overtravel warning function only detects wamings. It does not affect on stopping for overtravel or ‘motion operations at the host controller. The next step (e.g., the next motion or other command) can be. ‘executed even if an overtravel warning exists. However, depending on the processing specications and ‘programming for warnings in the host controller, operation may be affected when an overtravel waming ‘occurs (e.g,, motion may stop or not stop). Confirm the specifications and programming in the host control- ler. + When an overtravel occurs, the SERVOPACK will perform stop processing for overtravel. Therefore, when {an overtravel warning occurs, the servomotor may not reach the target position specified by the host con- troller. Check the feedback position to make sure that the axis is stopped at a safe postion. ™ Related Parameter Parameter Weaning, [When Enabled] Classification +n.0000 poop |{Factor setting) | PPS detect overravel warning Inmveiiaaly a5.2 Basie Functions Settings 5.2.4 Holding Brakes A holding brake is brake used to hold the position of the movable part of the machine when the SERVO- PACK is turned OFF so that movable part does not move due to gravity or external forces. Holding brakes are built into servomotors with brakes. ‘The holding brake is used in the following cases. vec sia Ut wth Bera Fareed one fteral Mable pr racine talingtake ee _/ Seve | Few rv or velit Segeweee pons poewtenoate sat tae Wowie pmit ——_formawejase boas ote ~The brake bit rio he sewonotor wih rakes a deanerjzaton brake, hich = Q _—_senseiscanscratbeu ertating Use te aes baton ha a stopped servomotor. IMPORTANT ‘There is a delay in the braking operation, Set the following ON/OFF timing. Seno ON signal “OFF on OF (Son) OFF ON, OFF Servomcter power t = Brake signal vBk) OFF | on OF Brake contact part Searle Brake release Brake applied (iseg) 1 Bt Positon reference/ _OV Cc, ‘Speed reference i Motor speed : i ‘1, The operation delay time ofthe brake depends on the model. For details, refer to Brake Operation Delay Timeshown, below: "2. After the/S-ON signal has turned ON and 50 ms has passed since the brake was released, output the reference from the host controller to the SERVOPACK. #3. Use PnS06, P07, and Pn508 to set the timing of when the brake will be activated and when the servomoter power will be tumed OFF.5 Operation 52a Hordng Brakes Brake Operation Delay Time Model Votage | Brake Release Time (ms) | Brake Applied Time (ms) SGMIV-AS 1 04 @ 10 SGMIVOG @ 100 'SGMAVAS t6 04 @ 10 SGMAV-0610 10 hie w 700) ‘SGMPS-01, 08 20 10 ‘SGMPS-02,-04, 15 w 100 SGMGV-05 16 20 100 ® SGMGV30, 44 170 100 24 VO, 8 G0 VDG) SGMGVS5,-75, 1K 24-voc, 170 » SGMGVIE 99 voc 350 o SGMSV-10 10 5 170 ® SGMSV.30 10 50 100 0 Note: The above operation delay time is an example when the power supply is tumed ON and OFF on the DC side. Be sure to evaluate the above times on the actual equipment before using the application (1), Wiring Example ‘Use the brake signal BK) and the brake power supply to form a brake ON/OFF circuit. The following dia ‘gram shows a standard wiring example, ‘The timing can be easily set using the brake signal (/BK), Senomotr wat Fong SERVOPACK tae toasty dy u ae v 2 w Oat AC side OC side 4 Broke power Bhi or st UY ag RY Wrie[ac oc|pieck BK-RY: Brake contol relay Brake power supply for90V_ Input voltage 200-V models: LPSE-2HOL-E Input votage 100-V models: LPDE-1HOL-E ‘A 24,VDC power supply is not included.5.2 Basie Functions Settings IMPORTANT * Select the optimum surge absorber in accordance with the applied brake current and ‘brake power supply. When using the LPSE-2H01- power supply: 2100471 (Made by SEMITEC. Corporation) When using the LPDE-1H01-E power supply: 2100271 (Made by SEMITEC Corporation) When using the 24-V power supply: Z15D121 (Made by SEMITEC Corporation) + Alter the surge absorber is connected, check the total time the brake is applied forthe system. Depending on the surge absorber, the total ime the brake is applied can be changed. + Configure the relay circuit to apply the holding brake by the emergency stop. Relay Circuit Example: 'SERVOPACK SAE rene sp Procol , + The brake signal (/BK) cannot be used with factory settings. The output signal must be allocated. Refer to (3) Brake Signal /BK) Allocation to set the parameter PnSOF. + When using a 24-V brake, separate the 24-VDC power supply from other power sup- plies, such as the one used for the UO signals of CN1 connectors. Always install the 24-VDC power supply separately. Ifthe power supply is shared, the I/O signals might ‘malfunction, (2) Brake Signal (/BK) Setting ‘This output signal controls the brake. The output signal must be allocated with PaSOF. Refer to (3) Brake Sig- ral (/BK) Allocation for allocation. ‘The /BK signal turns OFF (applies the brake) when an alarm is detected or the /S-ON signal is tumed OFF. The brake OFF timing can be adjusted with PnS06. Connector Type Name Care Setting Meaning ‘ON (closed) Releases the brake ouput {aK Must be allocated [OFF (open) ‘Apples the Brake 0 IMPORTANT The /BK signal s sill ON during overtravel and the brake is stil released. Operation5 Operation 52a Hordng Brakes (3) Brake Signal (/BK) Allocation ‘The brake signal (/BK) is not allocated at shipment. Use parameter PnSOF.2 to allocate the /BK signal me ‘When | Classifica~ in Nurser Parameter Meaning 2s Terminal | ~Teminal nO fFsconyset | — rae ig is et wed the Seige | The BK seal xp om ouput prsor [POTD [eweas [owas [TR BK Helos ane | coun 5 > > "The (BK signals output from ouput)" cam ieee eee terminal CN1-27, 28. : Saw The BK signa soap From oapat 9 |CNT29 ee terminal CN1-29, 30. When mulipe signals ae alocated othe same ovput terminal, the signals are ovipad 8 with OR loge. For the BK signal, do not use the ouput terminal hat is already being ted for another signal IMPORTANT (4) Brake ON Timing after the Servomotor Stops ‘When the servomotor stops, the /BK signal tums OFF at the same time as the /S-ON signal is trmed OFF. Use parameter PnS06 to change the timing to turn OFF the servomotor power after the /S-ON signal has turned OFF. Brake Reference-Servo OFF Delay Time (Speed a PnS06 | Setting Range Setting Unit | Factory Setting | When Enabled 01050 Toms 0 Tinmediately ‘Setup When using the ervomotorw contol vertical ea Dieticmachnemovable pr may sastity [SNE | oy pao — pening on the bake ON ming de to ra oF an external force. To eliminate this slight shif, set ee parameter so that the power to the servomotor turns on, OF OFF after the Brake is applied. Powertoetr | former + This parameter changes the brake ON timing while saa the servomotr is topped trod “The servrtor wil um OFF immediatly when an alarm occurs, regardless ofthe set 8 tng ofthis parameter. The machine movable par may shi ue to gray or extemal force before the brake operates, IMPORTANT